diff --git a/episode_0003/left.actions.eef_pose/data.csv b/episode_0003/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba4223b73b67239493e660a77653404e464f1ef0
--- /dev/null
+++ b/episode_0003/left.actions.eef_pose/data.csv
@@ -0,0 +1,486 @@
+timestamp_ns,elapsed_ms,x,y,z,r1,r2,r3,r4,r5,r6,gripper
+1789729556530065232,0,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729556563477825,33,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729556596779647,66,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729556630117690,100,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729556663458912,133,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729556696791186,166,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729556730125460,200,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729556763452935,233,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729556796792807,266,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729556830201911,300,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729556863524638,333,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729556896874728,366,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729556930200024,400,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729556963530998,433,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729556996862273,466,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557030188501,500,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557063533799,533,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557096895564,566,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557130168111,600,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557163442678,633,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557196773910,666,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557230169016,700,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557263446332,733,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557296773985,766,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557330108776,800,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557363443228,833,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557396772931,866,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557430111081,900,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557463454530,933,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557496780204,966,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557530180098,1000,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557563441569,1033,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557596773861,1066,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557630102913,1100,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557663440534,1133,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557696772886,1166,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557730168352,1200,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557763436730,1233,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557796771481,1266,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557830155930,1300,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557863444083,1333,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557896770517,1366,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557930167452,1400,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557963398170,1433,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729557996764363,1466,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558030105415,1500,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558063441073,1533,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558096774282,1566,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558130103483,1600,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558163432843,1633,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558196768471,1666,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558230094982,1700,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558263442328,1733,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558296764800,1766,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558330110406,1800,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558363438576,1833,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558396774894,1866,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558430106494,1900,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558463438423,1933,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558496781170,1966,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558530127386,2000,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558563435192,2033,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558596772330,2066,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558630100690,2100,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558663448816,2133,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558696771867,2166,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558730103297,2200,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558763430938,2233,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558796768516,2266,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558830158170,2300,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558863439303,2333,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558896840965,2366,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558930098163,2400,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558963437721,2433,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729558996772679,2466,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559030107730,2500,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559063439756,2533,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559096770463,2566,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559130098560,2600,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559163436845,2633,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559196768422,2666,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559230102008,2700,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559263441663,2733,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559296769670,2766,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559330106335,2800,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559363430404,2833,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559396765570,2866,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559430099176,2900,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559463429283,2933,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559496767948,2966,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559530161868,3000,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559563440279,3033,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559596771325,3066,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559630095774,3100,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559663432119,3133,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559696769424,3166,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559730099681,3200,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559763432368,3233,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559796768244,3266,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559830100800,3300,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559863429837,3333,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559896767852,3366,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559930097519,3400,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559963430346,3433,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729559996770370,3466,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560030096599,3500,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560063428692,3533,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560096768934,3566,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560130098377,3600,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560163433000,3633,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560196779030,3666,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560230096276,3700,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560263432718,3733,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560296768621,3766,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560330056265,3800,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560363438915,3833,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560396831463,3866,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560430102742,3900,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560463435615,3933,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560496768358,3966,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560530104570,4000,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560563435623,4033,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560596767977,4066,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560630099220,4100,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560663431783,4133,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560696772644,4166,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560730099388,4200,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560763437870,4233,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560796770853,4266,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560830099127,4300,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560863434120,4333,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560896769052,4366,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560930096196,4400,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560963433478,4433,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729560996768441,4466,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561030093926,4500,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561063435633,4533,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561096779900,4566,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561130101182,4600,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561163435741,4633,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561196771230,4666,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561230157575,4700,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561263437228,4733,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561296771917,4766,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561330100337,4800,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561363435586,4833,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561396769335,4866,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561430103224,4900,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561463437863,4933,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561496769963,4966,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561530098693,5000,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561563501495,5033,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561596771550,5066,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561630101460,5100,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561663427291,5133,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561696765759,5166,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561730101567,5200,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561763435086,5233,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561796772205,5266,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561830097906,5300,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561863431395,5333,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561896780630,5366,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561930174644,5400,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561963440460,5433,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729561996771450,5466,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562030104999,5500,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562063437984,5533,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562096774909,5566,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562130101975,5600,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562163432261,5633,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562196770345,5666,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562230104060,5700,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562263435126,5733,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562296770001,5766,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562330099357,5800,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562363435411,5833,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562396765637,5866,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562430100592,5900,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562463429178,5933,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562496773990,5966,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562530098888,6000,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562563430713,6033,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562596765818,6066,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562630105271,6100,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562663436717,6133,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562696780729,6166,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562730098259,6200,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562763431604,6233,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562796765499,6266,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562830100823,6300,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562863432319,6333,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562896774382,6366,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562930100229,6400,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562963437083,6433,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729562996768109,6466,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563030105222,6500,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563063434673,6533,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563096782210,6566,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563130104644,6600,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563163434266,6633,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563196773245,6666,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563230102786,6700,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563263431748,6733,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563296775177,6766,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563330100169,6800,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563363426352,6833,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563396770340,6866,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563430097142,6900,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563463429783,6933,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563496769362,6966,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563530102213,7000,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563563443572,7033,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563596768864,7066,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563630091298,7100,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563663436966,7133,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563696767037,7166,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563730095749,7200,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563763426560,7233,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563796767729,7266,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563830153027,7300,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563863436650,7333,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563896768521,7366,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563930105751,7400,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563963429204,7433,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729563996771603,7466,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564030095625,7500,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564063429441,7533,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564096774404,7566,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564130100402,7600,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564163430469,7633,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564196763855,7666,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564230094212,7700,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564263428557,7733,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564296767642,7766,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564330098708,7800,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564363425486,7833,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564396767100,7866,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564430101206,7900,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564463431253,7933,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564496766298,7966,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564530105733,8000,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564563467052,8033,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564596773564,8066,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564630107990,8100,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564663433698,8133,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564696774842,8166,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564730110647,8200,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564763434515,8233,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564796769831,8266,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564830106626,8300,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564863391304,8333,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564896769619,8366,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564930103085,8400,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564963438320,8433,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729564996774515,8466,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565030110550,8500,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565063434673,8533,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565096778512,8566,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565130102235,8600,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565163431666,8633,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565196767377,8666,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565230098968,8700,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565263431519,8733,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565296771478,8766,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565330105789,8800,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565363430882,8833,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565396765462,8866,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565430097644,8900,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565463434464,8933,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565496764175,8966,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565530099466,9000,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565563463989,9033,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565596804268,9066,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565630100508,9100,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565663432639,9133,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565696767849,9166,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565730095702,9200,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565763431562,9233,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565796757724,9266,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565830089646,9300,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565863430905,9333,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565896763366,9366,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565930104045,9400,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565963428208,9433,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729565996763548,9466,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566030104046,9500,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566063463965,9533,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566096765138,9566,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566130115989,9600,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566163436628,9633,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566196772913,9666,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566230159795,9700,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566263443222,9733,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566296758602,9766,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566330107734,9800,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566363436480,9833,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566396770506,9866,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566430102141,9900,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566463433287,9933,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566496769272,9966,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566530107486,10000,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566563436043,10033,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566596771977,10066,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566630101944,10100,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566663431040,10133,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566696770294,10166,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566730105069,10200,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566763493231,10233,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566796777028,10266,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566830101846,10300,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566863428273,10333,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566896773156,10366,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566930106381,10400,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566963429659,10433,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729566996764764,10466,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567030096247,10500,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567063427337,10533,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567096771824,10566,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567130109313,10600,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567163430265,10633,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567196765104,10666,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567230106232,10700,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567263425295,10733,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567296767192,10766,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567330103431,10800,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567363427163,10833,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567396766761,10866,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567430099121,10900,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567463428662,10933,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567496764961,10966,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567530137521,11000,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567563465411,11033,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567596773027,11066,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567630100888,11100,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567663437027,11133,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567696769657,11166,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567730141697,11200,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567763439615,11233,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567796772645,11266,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567830166900,11300,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567863439684,11333,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567896770204,11366,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567930103904,11400,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567963458508,11433,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729567996768514,11466,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568030108340,11500,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568063436715,11533,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568096772837,11566,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568130104131,11600,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568163434905,11633,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568196775537,11666,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568230166137,11700,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568263438175,11733,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568296765440,11766,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568330101612,11800,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568363431317,11833,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568396764000,11866,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568430100013,11900,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568463429577,11933,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568496763421,11966,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568530101123,12000,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568563455451,12033,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568596762871,12066,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568630099973,12100,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568663437716,12133,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568696793604,12166,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568730099444,12200,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568763435467,12233,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568796764781,12266,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568830102733,12300,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568863432628,12333,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568896762832,12366,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568930102704,12400,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568963431378,12433,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729568996770280,12466,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569030168406,12500,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569063443777,12533,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569096781113,12566,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569130108261,12600,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569163495745,12633,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569196771616,12666,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569230103043,12700,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569263433251,12733,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569296768597,12766,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569330103104,12800,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569363435671,12833,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569396768968,12866,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569430099925,12900,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569463431933,12933,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569496768509,12966,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569530092838,13000,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569563436332,13033,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569596769559,13066,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569630093698,13100,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569663429145,13133,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569696768030,13166,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569730091720,13200,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569763431375,13233,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569796774200,13266,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569830097519,13300,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569863436874,13333,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569896772371,13366,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569930095700,13400,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569963433276,13433,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729569996768992,13466,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570030100887,13500,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570063432488,13533,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570096771997,13566,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570130103557,13600,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570163433818,13633,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570196769238,13666,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570230104107,13700,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570263429319,13733,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570296771727,13766,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570330100978,13800,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570363440427,13833,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570396769388,13866,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570430100938,13900,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570463431879,13933,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570496766948,13966,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570530099069,14000,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570563433599,14033,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570596769708,14066,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570630099279,14100,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570663434079,14133,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570696766179,14166,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570730096890,14200,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570763443467,14233,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570796771458,14266,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570830101099,14300,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570863432270,14333,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570896767199,14366,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570930101279,14400,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570963441048,14433,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729570996759921,14466,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571030093749,14500,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571063430311,14533,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571096774831,14566,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571130100866,14600,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571163448485,14633,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571196769581,14666,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571230097925,14700,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571263435237,14733,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571296762711,14766,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571330094205,14800,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571363442434,14833,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571396763210,14866,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571430100992,14900,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571463437164,14933,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571496767577,14966,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571530105269,15000,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571563498928,15033,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571596748231,15066,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571630096780,15100,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571663431453,15133,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571696759307,15166,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571730098788,15200,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571763431652,15233,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571796758526,15266,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571830100127,15300,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571863497215,15333,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571896763354,15366,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571930099906,15400,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571963438497,15433,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729571996770571,15466,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572030102701,15500,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572063492623,15533,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572096766982,15566,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572130099098,15600,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572163430454,15633,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572196765039,15666,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572230097784,15700,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572263425511,15733,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572296756807,15766,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572330095371,15800,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572363425477,15833,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572396760972,15866,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572430096817,15900,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572463422794,15933,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572496759119,15966,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572530096343,16000,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572563492494,16033,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572596775291,16066,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572630101898,16100,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
+1789729572663428455,16133,0.6869185566902161,0.032602425664663315,-0.21382276713848114,-0.9998428341217658,-0.00963371606184605,0.014882828030838232,-0.009231532429141438,0.9995965865654685,0.02685968979109149,0.4
diff --git a/episode_0003/left.actions.joint_position/data.csv b/episode_0003/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..10e4caaa003d7b21e29bf90fefd439df4ae6feed
--- /dev/null
+++ b/episode_0003/left.actions.joint_position/data.csv
@@ -0,0 +1,486 @@
+timestamp_ns,elapsed_ms,j1,j2,j3,j4,j5,j6,j7,gripper
+1789729556530065232,0,0.8364500999450684,-1.8975207805633545,-1.006442904472351,1.381097674369812,-0.16050121188163757,0.5947096347808838,0.70332932472229,0.4
+1789729556563477825,33,0.8364601731300354,-1.897520661354065,-1.0064436197280884,1.3810969591140747,-0.1604967564344406,0.5947022438049316,0.7033221125602722,0.4
+1789729556596779647,66,0.8364701271057129,-1.8975205421447754,-1.0064462423324585,1.3810973167419434,-0.1604921668767929,0.5947006940841675,0.7033200263977051,0.4
+1789729556630117690,100,0.836476743221283,-1.8975194692611694,-1.006446361541748,1.3810982704162598,-0.16048835217952728,0.5946989059448242,0.7033179998397827,0.4
+1789729556663458912,133,0.8364841341972351,-1.8975204229354858,-1.0064494609832764,1.381098747253418,-0.16048572957515717,0.594689130783081,0.7033188939094543,0.4
+1789729556696791186,166,0.8364943265914917,-1.8975247144699097,-1.006449818611145,1.381098747253418,-0.16048337519168854,0.5946799516677856,0.7033177018165588,0.4
+1789729556730125460,200,0.8365025520324707,-1.897526741027832,-1.006450891494751,1.3810986280441284,-0.16047601401805878,0.5946704745292664,0.70330810546875,0.4
+1789729556763452935,233,0.8365091681480408,-1.8975274562835693,-1.0064507722854614,1.3810977935791016,-0.16046825051307678,0.5946623086929321,0.7032936811447144,0.4
+1789729556796792807,266,0.836521327495575,-1.8975282907485962,-1.0064499378204346,1.3810985088348389,-0.16046255826950073,0.5946542620658875,0.7032962441444397,0.4
+1789729556830201911,300,0.8365291953086853,-1.897528886795044,-1.0064524412155151,1.381098747253418,-0.16045834124088287,0.594650387763977,0.7032962441444397,0.4
+1789729556863524638,333,0.8365367650985718,-1.8975297212600708,-1.0064553022384644,1.381098985671997,-0.16045500338077545,0.594646692276001,0.7032961845397949,0.4
+1789729556896874728,366,0.8365466594696045,-1.897533655166626,-1.0064605474472046,1.3810981512069702,-0.1604532152414322,0.5946344137191772,0.7032961249351501,0.4
+1789729556930200024,400,0.8365534543991089,-1.8975372314453125,-1.0064617395401,1.3810969591140747,-0.16044913232326508,0.5946259498596191,0.7032962441444397,0.4
+1789729556963530998,433,0.8365611433982849,-1.89754056930542,-1.006461501121521,1.3810955286026,-0.16044390201568604,0.594619631767273,0.7032962441444397,0.4
+1789729556996862273,466,0.8365747928619385,-1.8975435495376587,-1.0064616203308105,1.381094217300415,-0.16043728590011597,0.5946035385131836,0.7032943367958069,0.4
+1789729557030188501,500,0.8365837931632996,-1.8975437879562378,-1.0064611434936523,1.3810932636260986,-0.16043396294116974,0.5945910215377808,0.7032923698425293,0.4
+1789729557063533799,533,0.836590051651001,-1.8975447416305542,-1.0064616203308105,1.3810936212539673,-0.16043058037757874,0.5945906043052673,0.7032914161682129,0.4
+1789729557096895564,566,0.8365981578826904,-1.897544026374817,-1.006462812423706,1.38109290599823,-0.16042622923851013,0.5945897698402405,0.7032909989356995,0.4
+1789729557130168111,600,0.8366035223007202,-1.897545337677002,-1.006468415260315,1.381093144416809,-0.1604238748550415,0.5945873856544495,0.7032908797264099,0.4
+1789729557163442678,633,0.8366096019744873,-1.8975472450256348,-1.0064706802368164,1.381091594696045,-0.16041961312294006,0.5945769548416138,0.7032880783081055,0.4
+1789729557196773910,666,0.836618185043335,-1.8975507020950317,-1.0064716339111328,1.3810882568359375,-0.16041284799575806,0.5945631265640259,0.7032743096351624,0.4
+1789729557230169016,700,0.8366239070892334,-1.8975505828857422,-1.0064712762832642,1.3810855150222778,-0.16040505468845367,0.594551682472229,0.7032634019851685,0.4
+1789729557263446332,733,0.8366320729255676,-1.897550106048584,-1.0064716339111328,1.3810851573944092,-0.16039830446243286,0.5945433974266052,0.7032608985900879,0.4
+1789729557296773985,766,0.8366395831108093,-1.8975505828857422,-1.0064736604690552,1.3810852766036987,-0.1603948026895523,0.5945383310317993,0.7032608389854431,0.4
+1789729557330108776,800,0.8366469740867615,-1.8975504636764526,-1.0064737796783447,1.3810865879058838,-0.160394087433815,0.5945315361022949,0.7032596468925476,0.4
+1789729557363443228,833,0.8366528153419495,-1.8975504636764526,-1.0064749717712402,1.3810855150222778,-0.160391703248024,0.5945277214050293,0.7032594680786133,0.4
+1789729557396772931,866,0.8366641402244568,-1.897552251815796,-1.0064765214920044,1.3810855150222778,-0.1603894829750061,0.5945128798484802,0.7032609581947327,0.4
+1789729557430111081,900,0.8366747498512268,-1.897553563117981,-1.0064764022827148,1.381084680557251,-0.16038453578948975,0.5944973826408386,0.7032592296600342,0.4
+1789729557463454530,933,0.8366833925247192,-1.8975532054901123,-1.0064756870269775,1.381084680557251,-0.1603773683309555,0.594491183757782,0.7032546401023865,0.4
+1789729557496780204,966,0.8366929292678833,-1.8975533246994019,-1.0064754486083984,1.3810855150222778,-0.16036967933177948,0.5944746136665344,0.7032473087310791,0.4
+1789729557530180098,1000,0.8366955518722534,-1.897552728652954,-1.006475806236267,1.381085753440857,-0.1603659987449646,0.594468891620636,0.7032464742660522,0.4
+1789729557563441569,1033,0.836698055267334,-1.897552251815796,-1.0064772367477417,1.3810861110687256,-0.16036516427993774,0.5944691896438599,0.7032470107078552,0.4
+1789729557596773861,1066,0.8366993069648743,-1.8975547552108765,-1.006480097770691,1.3810856342315674,-0.16036419570446014,0.5944688320159912,0.703246533870697,0.4
+1789729557630102913,1100,0.8367016315460205,-1.8975580930709839,-1.0064849853515625,1.3810863494873047,-0.16036167740821838,0.5944669842720032,0.7032455801963806,0.4
+1789729557663440534,1133,0.8367030620574951,-1.897560715675354,-1.0064870119094849,1.3810858726501465,-0.16035905480384827,0.594463586807251,0.7032461762428284,0.4
+1789729557696772886,1166,0.8367061018943787,-1.8975657224655151,-1.0064892768859863,1.381085991859436,-0.16035428643226624,0.5944618582725525,0.7032399773597717,0.4
+1789729557730168352,1200,0.8367074728012085,-1.8975673913955688,-1.0064910650253296,1.3810863494873047,-0.16035042703151703,0.5944594740867615,0.7032309174537659,0.4
+1789729557763436730,1233,0.8367103338241577,-1.8975685834884644,-1.0064927339553833,1.381087303161621,-0.16034798324108124,0.5944605469703674,0.7032292485237122,0.4
+1789729557796771481,1266,0.8367140889167786,-1.8975690603256226,-1.006499171257019,1.3810878992080688,-0.16034549474716187,0.5944594740867615,0.7032280564308167,0.4
+1789729557830155930,1300,0.8367140293121338,-1.8975690603256226,-1.0065042972564697,1.3810887336730957,-0.16034312546253204,0.5944592952728271,0.7032288312911987,0.4
+1789729557863444083,1333,0.8367155194282532,-1.8975727558135986,-1.0065054893493652,1.3810877799987793,-0.1603408306837082,0.5944591760635376,0.7032290697097778,0.4
+1789729557896770517,1366,0.836718738079071,-1.8975764513015747,-1.0065068006515503,1.3810880184173584,-0.1603383719921112,0.5944548845291138,0.703228235244751,0.4
+1789729557930167452,1400,0.8367229104042053,-1.8975815773010254,-1.0065066814422607,1.3810877799987793,-0.16033445298671722,0.594448983669281,0.7032259106636047,0.4
+1789729557963398170,1433,0.836724579334259,-1.8975838422775269,-1.0065065622329712,1.3810874223709106,-0.16033174097537994,0.5944432020187378,0.7032206654548645,0.4
+1789729557996764363,1466,0.8367260694503784,-1.897584319114685,-1.0065083503723145,1.3810880184173584,-0.16032998263835907,0.5944437980651855,0.7032187581062317,0.4
+1789729558030105415,1500,0.8367268443107605,-1.8975841999053955,-1.0065112113952637,1.381089210510254,-0.16032841801643372,0.5944438576698303,0.7032186388969421,0.4
+1789729558063441073,1533,0.8367288708686829,-1.8975841999053955,-1.0065131187438965,1.3810902833938599,-0.16032938659191132,0.5944425463676453,0.7032191157341003,0.4
+1789729558096774282,1566,0.8367315530776978,-1.8975881338119507,-1.0065199136734009,1.3810902833938599,-0.1603279560804367,0.5944391489028931,0.7032203674316406,0.4
+1789729558130103483,1600,0.8367347121238708,-1.8975939750671387,-1.00652277469635,1.3810893297195435,-0.16032691299915314,0.5944342613220215,0.7032195329666138,0.4
+1789729558163432843,1633,0.8367368578910828,-1.8975995779037476,-1.0065255165100098,1.3810889720916748,-0.1603241264820099,0.5944308042526245,0.703219473361969,0.4
+1789729558196768471,1666,0.8367385268211365,-1.8976026773452759,-1.0065268278121948,1.3810893297195435,-0.16031958162784576,0.5944300293922424,0.7032060623168945,0.4
+1789729558230094982,1700,0.8367404937744141,-1.8976013660430908,-1.006527304649353,1.3810895681381226,-0.16031663119792938,0.5944293141365051,0.7032026052474976,0.4
+1789729558263442328,1733,0.836742103099823,-1.8976012468338013,-1.006528615951538,1.3810890913009644,-0.1603144407272339,0.5944294333457947,0.7032004594802856,0.4
+1789729558296764800,1766,0.8367424607276917,-1.8976014852523804,-1.0065327882766724,1.381088376045227,-0.16031281650066376,0.594430685043335,0.7032025456428528,0.4
+1789729558330110406,1800,0.8367431163787842,-1.8976048231124878,-1.0065361261367798,1.3810888528823853,-0.16031330823898315,0.594428539276123,0.7032021880149841,0.4
+1789729558363438576,1833,0.8367456197738647,-1.8976109027862549,-1.006540060043335,1.3810889720916748,-0.1603134721517563,0.5944253206253052,0.7032006978988647,0.4
+1789729558396774894,1866,0.836750328540802,-1.8976197242736816,-1.0065428018569946,1.381089448928833,-0.16030791401863098,0.5944215655326843,0.7031998038291931,0.4
+1789729558430106494,1900,0.8367534875869751,-1.8976227045059204,-1.0065436363220215,1.381089448928833,-0.16030296683311462,0.5944178104400635,0.7031933069229126,0.4
+1789729558463438423,1933,0.8367549180984497,-1.8976223468780518,-1.0065442323684692,1.3810888528823853,-0.16030041873455048,0.5944163799285889,0.7031888365745544,0.4
+1789729558496781170,1966,0.836757481098175,-1.8976213932037354,-1.0065443515777588,1.3810893297195435,-0.16029877960681915,0.5944135785102844,0.70319002866745,0.4
+1789729558530127386,2000,0.836759090423584,-1.8976216316223145,-1.0065518617630005,1.3810888528823853,-0.16029895842075348,0.5944133400917053,0.7031914591789246,0.4
+1789729558563435192,2033,0.8367592692375183,-1.8976248502731323,-1.0065559148788452,1.3810889720916748,-0.16029715538024902,0.5944118499755859,0.7031911611557007,0.4
+1789729558596772330,2066,0.8367637991905212,-1.8976287841796875,-1.0065577030181885,1.381088137626648,-0.1602948158979416,0.594409704208374,0.7031915783882141,0.4
+1789729558630100690,2100,0.8367645144462585,-1.8976314067840576,-1.0065580606460571,1.3810877799987793,-0.1602921336889267,0.5944034457206726,0.7031900882720947,0.4
+1789729558663448816,2133,0.8367658257484436,-1.8976348638534546,-1.0065609216690063,1.3810878992080688,-0.1602901965379715,0.5944017767906189,0.7031866312026978,0.4
+1789729558696771867,2166,0.8367700576782227,-1.897635817527771,-1.0065655708312988,1.3810888528823853,-0.16028769314289093,0.5943966507911682,0.703178346157074,0.4
+1789729558730103297,2200,0.8367704749107361,-1.8976376056671143,-1.0065691471099854,1.3810886144638062,-0.16028335690498352,0.594396710395813,0.703175961971283,0.4
+1789729558763430938,2233,0.8367720246315002,-1.8976428508758545,-1.006569743156433,1.3810877799987793,-0.1602819561958313,0.5943986177444458,0.7031765580177307,0.4
+1789729558796768516,2266,0.8367738723754883,-1.8976447582244873,-1.0065782070159912,1.3810878992080688,-0.16028037667274475,0.5943970084190369,0.7031782865524292,0.4
+1789729558830158170,2300,0.8367750644683838,-1.8976469039916992,-1.0065850019454956,1.3810888528823853,-0.16027842462062836,0.5943984389305115,0.7031773924827576,0.4
+1789729558863439303,2333,0.8367775082588196,-1.897651195526123,-1.0065858364105225,1.3810875415802002,-0.16027520596981049,0.5943976044654846,0.703175961971283,0.4
+1789729558896840965,2366,0.8367795944213867,-1.8976593017578125,-1.0065854787826538,1.3810875415802002,-0.1602715402841568,0.5943949222564697,0.7031710743904114,0.4
+1789729558930098163,2400,0.8367795348167419,-1.897659420967102,-1.006585955619812,1.381088137626648,-0.16026926040649414,0.5943920016288757,0.7031676769256592,0.4
+1789729558963437721,2433,0.8367807269096375,-1.8976577520370483,-1.0065865516662598,1.381088376045227,-0.16026850044727325,0.5943893194198608,0.7031669020652771,0.4
+1789729558996772679,2466,0.836782693862915,-1.897657036781311,-1.0065886974334717,1.3810888528823853,-0.16026684641838074,0.5943899750709534,0.7031664848327637,0.4
+1789729559030107730,2500,0.8367835879325867,-1.897658109664917,-1.0065885782241821,1.3810886144638062,-0.16026677191257477,0.5943899750709534,0.7031683921813965,0.4
+1789729559063439756,2533,0.8367844820022583,-1.8976587057113647,-1.006591796875,1.3810884952545166,-0.16026726365089417,0.5943856239318848,0.7031685709953308,0.4
+1789729559096770463,2566,0.836786150932312,-1.8976593017578125,-1.0065958499908447,1.3810880184173584,-0.1602662354707718,0.594379186630249,0.7031669020652771,0.4
+1789729559130098560,2600,0.836786687374115,-1.8976619243621826,-1.0065953731536865,1.3810876607894897,-0.16026580333709717,0.5943771004676819,0.7031665444374084,0.4
+1789729559163436845,2633,0.8367875218391418,-1.8976640701293945,-1.0065964460372925,1.3810867071151733,-0.1602628231048584,0.5943722724914551,0.7031652331352234,0.4
+1789729559196768422,2666,0.8367874026298523,-1.897664189338684,-1.0065983533859253,1.3810880184173584,-0.16026180982589722,0.5943720936775208,0.7031641602516174,0.4
+1789729559230102008,2700,0.8367882370948792,-1.8976640701293945,-1.0065996646881104,1.3810887336730957,-0.1602599322795868,0.5943738222122192,0.703163206577301,0.4
+1789729559263441663,2733,0.8367899656295776,-1.8976638317108154,-1.006602168083191,1.3810887336730957,-0.1602587103843689,0.5943736433982849,0.7031644582748413,0.4
+1789729559296769670,2766,0.8367903232574463,-1.8976658582687378,-1.0066051483154297,1.3810884952545166,-0.16025826334953308,0.594372570514679,0.7031631469726562,0.4
+1789729559330106335,2800,0.8367909789085388,-1.8976681232452393,-1.0066083669662476,1.381088376045227,-0.16025805473327637,0.5943692326545715,0.7031619548797607,0.4
+1789729559363430404,2833,0.8367928266525269,-1.8976713418960571,-1.006609559059143,1.381087303161621,-0.1602579802274704,0.5943639278411865,0.7031619548797607,0.4
+1789729559396765570,2866,0.8367958664894104,-1.8976750373840332,-1.006609559059143,1.3810869455337524,-0.16025544703006744,0.5943609476089478,0.7031564116477966,0.4
+1789729559430099176,2900,0.8367975950241089,-1.8976774215698242,-1.0066088438034058,1.381086826324463,-0.16025376319885254,0.594360888004303,0.7031530737876892,0.4
+1789729559463429283,2933,0.8367993235588074,-1.8976774215698242,-1.0066170692443848,1.381087303161621,-0.16025197505950928,0.5943619012832642,0.7031528949737549,0.4
+1789729559496767948,2966,0.836798906326294,-1.8976787328720093,-1.00662100315094,1.3810875415802002,-0.16025066375732422,0.5943635106086731,0.7031532526016235,0.4
+1789729559530161868,3000,0.8368009924888611,-1.8976833820343018,-1.0066224336624146,1.3810871839523315,-0.1602494865655899,0.5943634510040283,0.7031551599502563,0.4
+1789729559563440279,3033,0.8368022441864014,-1.8976867198944092,-1.0066238641738892,1.3810874223709106,-0.16025009751319885,0.5943601131439209,0.7031542658805847,0.4
+1789729559596771325,3066,0.8368040323257446,-1.8976891040802002,-1.0066261291503906,1.381087064743042,-0.16024842858314514,0.5943507552146912,0.7031497955322266,0.4
+1789729559630095774,3100,0.8368061184883118,-1.8976930379867554,-1.0066254138946533,1.3810877799987793,-0.16024699807167053,0.5943474173545837,0.7031453251838684,0.4
+1789729559663432119,3133,0.8368083834648132,-1.8976925611495972,-1.0066256523132324,1.3810875415802002,-0.16024446487426758,0.5943453311920166,0.7031456232070923,0.4
+1789729559696769424,3166,0.8368090987205505,-1.8976939916610718,-1.0066277980804443,1.3810886144638062,-0.1602427363395691,0.5943472981452942,0.7031447291374207,0.4
+1789729559730099681,3200,0.8368096947669983,-1.8976942300796509,-1.0066295862197876,1.381089448928833,-0.16024206578731537,0.5943474173545837,0.7031447887420654,0.4
+1789729559763432368,3233,0.8368120193481445,-1.8976960182189941,-1.0066356658935547,1.3810889720916748,-0.16024109721183777,0.5943464636802673,0.7031448483467102,0.4
+1789729559796768244,3266,0.8368154764175415,-1.897705078125,-1.0066375732421875,1.3810876607894897,-0.16024141013622284,0.5943449139595032,0.7031441926956177,0.4
+1789729559830100800,3300,0.8368201851844788,-1.8977116346359253,-1.0066381692886353,1.3810867071151733,-0.1602391004562378,0.5943397283554077,0.703143298625946,0.4
+1789729559863429837,3333,0.8368226289749146,-1.8977131843566895,-1.0066394805908203,1.3810861110687256,-0.16023507714271545,0.5943356156349182,0.7031431198120117,0.4
+1789729559896767852,3366,0.836823582649231,-1.8977129459381104,-1.0066406726837158,1.3810862302780151,-0.16023188829421997,0.5943316221237183,0.703137218952179,0.4
+1789729559930097519,3400,0.8368237614631653,-1.8977131843566895,-1.0066413879394531,1.3810861110687256,-0.16023243963718414,0.5943325161933899,0.703133761882782,0.4
+1789729559963430346,3433,0.8368238806724548,-1.8977129459381104,-1.0066472291946411,1.3810861110687256,-0.16023267805576324,0.5943325757980347,0.7031344175338745,0.4
+1789729559996770370,3466,0.8368244767189026,-1.8977136611938477,-1.0066478252410889,1.381086826324463,-0.1602293699979782,0.5943330526351929,0.7031347751617432,0.4
+1789729560030096599,3500,0.8368256092071533,-1.8977162837982178,-1.0066479444503784,1.3810861110687256,-0.1602298468351364,0.5943334102630615,0.7031351327896118,0.4
+1789729560063428692,3533,0.836828351020813,-1.8977196216583252,-1.0066514015197754,1.3810862302780151,-0.16022983193397522,0.5943306088447571,0.7031335234642029,0.4
+1789729560096768934,3566,0.8368311524391174,-1.8977258205413818,-1.0066531896591187,1.3810851573944092,-0.1602264642715454,0.5943264365196228,0.7031328678131104,0.4
+1789729560130098377,3600,0.8368315696716309,-1.8977282047271729,-1.0066550970077515,1.3810855150222778,-0.1602243334054947,0.5943252444267273,0.7031302452087402,0.4
+1789729560163433000,3633,0.83683180809021,-1.897728681564331,-1.0066578388214111,1.381085753440857,-0.1602218747138977,0.5943265557289124,0.7031295299530029,0.4
+1789729560196779030,3666,0.8368318676948547,-1.897728443145752,-1.0066617727279663,1.381085991859436,-0.16022127866744995,0.5943265557289124,0.7031275033950806,0.4
+1789729560230096276,3700,0.8368324041366577,-1.897729754447937,-1.0066618919372559,1.3810852766036987,-0.1602226048707962,0.5943257808685303,0.7031279802322388,0.4
+1789729560263432718,3733,0.8368326425552368,-1.8977298736572266,-1.0066626071929932,1.3810845613479614,-0.16022136807441711,0.5943253636360168,0.7031281590461731,0.4
+1789729560296768621,3766,0.8368334770202637,-1.897732138633728,-1.0066641569137573,1.3810827732086182,-0.1602211445569992,0.5943213105201721,0.703127384185791,0.4
+1789729560330056265,3800,0.8368344902992249,-1.8977349996566772,-1.0066648721694946,1.38108229637146,-0.16022084653377533,0.5943149328231812,0.7031245231628418,0.4
+1789729560363438915,3833,0.8368359208106995,-1.8977380990982056,-1.0066683292388916,1.3810827732086182,-0.16022010147571564,0.5943112969398499,0.7031164765357971,0.4
+1789729560396831463,3866,0.8368374705314636,-1.8977423906326294,-1.006670355796814,1.3810819387435913,-0.16021521389484406,0.5943111181259155,0.7031164765357971,0.4
+1789729560430102742,3900,0.8368378281593323,-1.8977426290512085,-1.00667142868042,1.381080985069275,-0.16021400690078735,0.5943107008934021,0.7031176686286926,0.4
+1789729560463435615,3933,0.8368393182754517,-1.8977421522140503,-1.0066776275634766,1.381081223487854,-0.16021433472633362,0.5943120718002319,0.7031195759773254,0.4
+1789729560496768358,3966,0.8368416428565979,-1.8977439403533936,-1.0066858530044556,1.3810813426971436,-0.16021302342414856,0.5943099856376648,0.703120231628418,0.4
+1789729560530104570,4000,0.8368434309959412,-1.897747278213501,-1.0066856145858765,1.3810826539993286,-0.1602119505405426,0.5943083167076111,0.7031189799308777,0.4
+1789729560563435623,4033,0.8368444442749023,-1.8977524042129517,-1.0066859722137451,1.3810832500457764,-0.16021126508712769,0.5943065285682678,0.7031172513961792,0.4
+1789729560596767977,4066,0.8368467688560486,-1.8977525234222412,-1.0066864490509033,1.3810832500457764,-0.16020773351192474,0.5943018794059753,0.7031125426292419,0.4
+1789729560630099220,4100,0.8368468284606934,-1.8977515697479248,-1.0066882371902466,1.3810839653015137,-0.16020548343658447,0.5943032503128052,0.7031099796295166,0.4
+1789729560663431783,4133,0.8368470072746277,-1.8977516889572144,-1.0066889524459839,1.3810838460922241,-0.16020417213439941,0.5943031311035156,0.7031099200248718,0.4
+1789729560696772644,4166,0.8368481397628784,-1.8977513313293457,-1.0066941976547241,1.3810852766036987,-0.16020527482032776,0.5943030714988708,0.7031108736991882,0.4
+1789729560730099388,4200,0.8368495106697083,-1.8977525234222412,-1.0066967010498047,1.3810853958129883,-0.16020530462265015,0.5943015813827515,0.7031116485595703,0.4
+1789729560763437870,4233,0.836851954460144,-1.8977538347244263,-1.0066957473754883,1.3810858726501465,-0.16020514070987701,0.5943007469177246,0.7031118273735046,0.4
+1789729560796770853,4266,0.8368560075759888,-1.897754430770874,-1.0066947937011719,1.3810856342315674,-0.1602051705121994,0.5942915081977844,0.7031105756759644,0.4
+1789729560830099127,4300,0.8368570804595947,-1.8977556228637695,-1.00669527053833,1.3810856342315674,-0.1602037250995636,0.594290554523468,0.7031095027923584,0.4
+1789729560863434120,4333,0.8368568420410156,-1.897755742073059,-1.0066949129104614,1.3810862302780151,-0.16020368039608002,0.5942882895469666,0.7031068205833435,0.4
+1789729560896769052,4366,0.8368567228317261,-1.8977552652359009,-1.0066959857940674,1.3810876607894897,-0.16020187735557556,0.5942879319190979,0.7031036615371704,0.4
+1789729560930096196,4400,0.8368568420410156,-1.8977546691894531,-1.006697177886963,1.3810890913009644,-0.160201296210289,0.5942897796630859,0.7031042575836182,0.4
+1789729560963433478,4433,0.8368584513664246,-1.8977560997009277,-1.006699562072754,1.3810893297195435,-0.1602008193731308,0.5942894220352173,0.7031049728393555,0.4
+1789729560996768441,4466,0.8368610739707947,-1.897762656211853,-1.0067085027694702,1.3810888528823853,-0.16020071506500244,0.5942861437797546,0.7031054496765137,0.4
+1789729561030093926,4500,0.8368633389472961,-1.8977686166763306,-1.0067111253738403,1.3810887336730957,-0.16019906103610992,0.5942825078964233,0.7031053900718689,0.4
+1789729561063435633,4533,0.8368654251098633,-1.8977717161178589,-1.0067113637924194,1.3810884952545166,-0.16019752621650696,0.5942810773849487,0.7031042575836182,0.4
+1789729561096779900,4566,0.8368666172027588,-1.8977727890014648,-1.006710410118103,1.381087064743042,-0.16019566357135773,0.5942795276641846,0.7031035423278809,0.4
+1789729561130101182,4600,0.8368669152259827,-1.8977720737457275,-1.0067105293273926,1.3810877799987793,-0.1601947695016861,0.5942775011062622,0.7031018733978271,0.4
+1789729561163435741,4633,0.8368683457374573,-1.8977724313735962,-1.0067110061645508,1.3810880184173584,-0.1601952612400055,0.5942789316177368,0.7031010985374451,0.4
+1789729561196771230,4666,0.836868405342102,-1.8977739810943604,-1.006714105606079,1.3810882568359375,-0.16019569337368011,0.5942783355712891,0.7031024694442749,0.4
+1789729561230157575,4700,0.8368698954582214,-1.8977771997451782,-1.0067161321640015,1.3810878992080688,-0.16019536554813385,0.5942772626876831,0.703102171421051,0.4
+1789729561263437228,4733,0.8368716239929199,-1.8977781534194946,-1.0067226886749268,1.381088137626648,-0.16019411385059357,0.594275176525116,0.7031007409095764,0.4
+1789729561296771917,4766,0.8368722200393677,-1.897781252861023,-1.0067245960235596,1.3810880184173584,-0.1601915806531906,0.594272792339325,0.7030964493751526,0.4
+1789729561330100337,4800,0.8368727564811707,-1.8977879285812378,-1.006724238395691,1.3810877799987793,-0.1601887345314026,0.594272255897522,0.7030923962593079,0.4
+1789729561363435586,4833,0.8368743062019348,-1.897789478302002,-1.0067248344421387,1.3810878992080688,-0.160187229514122,0.5942724347114563,0.703092634677887,0.4
+1789729561396769335,4866,0.8368750214576721,-1.897788643836975,-1.0067261457443237,1.381088376045227,-0.1601869910955429,0.594271183013916,0.7030951976776123,0.4
+1789729561430103224,4900,0.8368783593177795,-1.8977875709533691,-1.006729245185852,1.3810887336730957,-0.16018632054328918,0.5942720770835876,0.7030950784683228,0.4
+1789729561463437863,4933,0.836882472038269,-1.8977915048599243,-1.0067286491394043,1.3810886144638062,-0.16018624603748322,0.5942709445953369,0.7030952572822571,0.4
+1789729561496769963,4966,0.8368839025497437,-1.897796869277954,-1.0067288875579834,1.3810871839523315,-0.16018620133399963,0.5942649841308594,0.7030951380729675,0.4
+1789729561530098693,5000,0.8368837237358093,-1.8977973461151123,-1.0067301988601685,1.3810877799987793,-0.1601857841014862,0.5942586064338684,0.7030944228172302,0.4
+1789729561563501495,5033,0.8368827700614929,-1.8977975845336914,-1.00673246383667,1.3810880184173584,-0.16018474102020264,0.594255805015564,0.7030944228172302,0.4
+1789729561596771550,5066,0.8368834853172302,-1.8978008031845093,-1.0067335367202759,1.3810876607894897,-0.16018366813659668,0.5942561626434326,0.7030947804450989,0.4
+1789729561630101460,5100,0.8368856310844421,-1.8978028297424316,-1.0067342519760132,1.3810882568359375,-0.1601843386888504,0.5942574143409729,0.7030947208404541,0.4
+1789729561663427291,5133,0.8368868231773376,-1.897802472114563,-1.0067412853240967,1.3810871839523315,-0.16018374264240265,0.5942568182945251,0.7030941843986511,0.4
+1789729561696765759,5166,0.8368887305259705,-1.897804856300354,-1.0067436695098877,1.3810869455337524,-0.16018250584602356,0.5942569375038147,0.7030947804450989,0.4
+1789729561730101567,5200,0.8368908762931824,-1.8978129625320435,-1.006743311882019,1.381085991859436,-0.16018211841583252,0.5942555665969849,0.7030949592590332,0.4
+1789729561763435086,5233,0.8368924856185913,-1.8978145122528076,-1.00674307346344,1.381085753440857,-0.16018033027648926,0.594254195690155,0.7030941843986511,0.4
+1789729561796772205,5266,0.8368919491767883,-1.8978146314620972,-1.0067436695098877,1.3810862302780151,-0.16017742455005646,0.5942498445510864,0.7030903697013855,0.4
+1789729561830097906,5300,0.8368932604789734,-1.8978142738342285,-1.0067447423934937,1.3810862302780151,-0.1601780652999878,0.5942490100860596,0.7030839323997498,0.4
+1789729561863431395,5333,0.8368940353393555,-1.8978149890899658,-1.0067460536956787,1.381087303161621,-0.16017696261405945,0.5942493081092834,0.7030835747718811,0.4
+1789729561896780630,5366,0.8368971347808838,-1.8978140354156494,-1.0067510604858398,1.3810876607894897,-0.1601761281490326,0.5942498445510864,0.7030842304229736,0.4
+1789729561930174644,5400,0.8368983268737793,-1.8978148698806763,-1.0067529678344727,1.3810876607894897,-0.16017507016658783,0.5942486524581909,0.7030848860740662,0.4
+1789729561963440460,5433,0.8368999361991882,-1.89781653881073,-1.00675368309021,1.3810871839523315,-0.16017518937587738,0.5942429304122925,0.7030844688415527,0.4
+1789729561996771450,5466,0.8369014859199524,-1.8978191614151,-1.0067534446716309,1.3810869455337524,-0.1601746529340744,0.5942381024360657,0.7030840516090393,0.4
+1789729562030104999,5500,0.836901843547821,-1.8978195190429688,-1.006752848625183,1.3810863494873047,-0.16017423570156097,0.5942357182502747,0.7030816674232483,0.4
+1789729562063437984,5533,0.8369011878967285,-1.8978193998336792,-1.0067535638809204,1.3810861110687256,-0.16017305850982666,0.5942323207855225,0.703079104423523,0.4
+1789729562096774909,5566,0.8369012475013733,-1.8978195190429688,-1.0067538022994995,1.3810861110687256,-0.16017211973667145,0.5942295789718628,0.7030773162841797,0.4
+1789729562130101975,5600,0.836902379989624,-1.8978198766708374,-1.006756067276001,1.3810863494873047,-0.16017243266105652,0.594230592250824,0.7030784487724304,0.4
+1789729562163432261,5633,0.8369024991989136,-1.8978204727172852,-1.0067623853683472,1.3810865879058838,-0.16017353534698486,0.594231128692627,0.7030789256095886,0.4
+1789729562196770345,5666,0.8369039297103882,-1.897821068763733,-1.0067627429962158,1.3810856342315674,-0.16017337143421173,0.5942291617393494,0.7030780911445618,0.4
+1789729562230104060,5700,0.8369069695472717,-1.897823452949524,-1.0067617893218994,1.381084680557251,-0.16017214953899384,0.5942233800888062,0.7030785083770752,0.4
+1789729562263435126,5733,0.8369077444076538,-1.8978255987167358,-1.006762146949768,1.3810856342315674,-0.16017186641693115,0.594218373298645,0.7030782103538513,0.4
+1789729562296770001,5766,0.8369079232215881,-1.8978244066238403,-1.0067620277404785,1.3810858726501465,-0.1601724624633789,0.5942190885543823,0.7030774354934692,0.4
+1789729562330099357,5800,0.8369072079658508,-1.8978239297866821,-1.006763219833374,1.3810862302780151,-0.16017137467861176,0.5942193269729614,0.7030766010284424,0.4
+1789729562363435411,5833,0.8369072079658508,-1.8978239297866821,-1.0067634582519531,1.3810865879058838,-0.1601707488298416,0.5942203998565674,0.703076958656311,0.4
+1789729562396765637,5866,0.8369078040122986,-1.8978252410888672,-1.0067654848098755,1.3810871839523315,-0.16017025709152222,0.5942201018333435,0.70307856798172,0.4
+1789729562430100592,5900,0.8369078636169434,-1.8978255987167358,-1.0067702531814575,1.381088137626648,-0.1601702868938446,0.5942212343215942,0.7030785083770752,0.4
+1789729562463429178,5933,0.836908221244812,-1.8978275060653687,-1.0067713260650635,1.381087303161621,-0.16017068922519684,0.5942198038101196,0.7030785083770752,0.4
+1789729562496773990,5966,0.8369091153144836,-1.8978291749954224,-1.0067716836929321,1.3810880184173584,-0.1601695567369461,0.5942189693450928,0.7030770182609558,0.4
+1789729562530098888,6000,0.8369103074073792,-1.897829532623291,-1.006772518157959,1.3810887336730957,-0.16016963124275208,0.5942171812057495,0.7030755877494812,0.4
+1789729562563430713,6033,0.8369110226631165,-1.8978289365768433,-1.0067722797393799,1.3810888528823853,-0.16016855835914612,0.5942152142524719,0.7030750513076782,0.4
+1789729562596765818,6066,0.8369117975234985,-1.897829294204712,-1.006772756576538,1.381089448928833,-0.16016912460327148,0.5942144989967346,0.7030758857727051,0.4
+1789729562630105271,6100,0.8369121551513672,-1.8978301286697388,-1.0067740678787231,1.381089448928833,-0.16016876697540283,0.5942127108573914,0.7030755281448364,0.4
+1789729562663436717,6133,0.8369135856628418,-1.897831916809082,-1.0067768096923828,1.3810889720916748,-0.1601690798997879,0.5942106246948242,0.7030773758888245,0.4
+1789729562696780729,6166,0.836918294429779,-1.8978383541107178,-1.006778597831726,1.3810880184173584,-0.16016781330108643,0.5942018032073975,0.7030766010284424,0.4
+1789729562730098259,6200,0.8369208574295044,-1.8978418111801147,-1.0067787170410156,1.3810882568359375,-0.16016785800457,0.5941994786262512,0.7030752301216125,0.4
+1789729562763431604,6233,0.8369206190109253,-1.8978424072265625,-1.0067784786224365,1.3810877799987793,-0.1601676493883133,0.5941996574401855,0.7030742168426514,0.4
+1789729562796765499,6266,0.8369202017784119,-1.8978432416915894,-1.0067793130874634,1.381087303161621,-0.16016651690006256,0.594200074672699,0.7030730247497559,0.4
+1789729562830100823,6300,0.836920440196991,-1.8978444337844849,-1.0067799091339111,1.3810877799987793,-0.16016660630702972,0.5942004323005676,0.7030735015869141,0.4
+1789729562863432319,6333,0.8369206190109253,-1.8978445529937744,-1.0067827701568604,1.3810880184173584,-0.1601676195859909,0.5942014455795288,0.703074038028717,0.4
+1789729562896774382,6366,0.836921751499176,-1.8978458642959595,-1.0067888498306274,1.381087303161621,-0.16016648709774017,0.5942003726959229,0.7030746340751648,0.4
+1789729562930100229,6400,0.8369213938713074,-1.8978471755981445,-1.0067883729934692,1.3810864686965942,-0.16016671061515808,0.5941942930221558,0.7030740976333618,0.4
+1789729562963437083,6433,0.8369221687316895,-1.8978487253189087,-1.0067881345748901,1.3810852766036987,-0.16016581654548645,0.5941935181617737,0.7030724287033081,0.4
+1789729562996768109,6466,0.8369234800338745,-1.897849678993225,-1.0067882537841797,1.3810845613479614,-0.16016575694084167,0.5941914916038513,0.7030709981918335,0.4
+1789729563030105222,6500,0.8369235992431641,-1.89784836769104,-1.0067883729934692,1.38108491897583,-0.16016483306884766,0.5941893458366394,0.7030683755874634,0.4
+1789729563063434673,6533,0.8369229435920715,-1.8978482484817505,-1.006789207458496,1.3810853958129883,-0.160166397690773,0.5941897034645081,0.7030665278434753,0.4
+1789729563096782210,6566,0.8369254469871521,-1.8978482484817505,-1.0067893266677856,1.3810862302780151,-0.16016529500484467,0.5941912531852722,0.7030671238899231,0.4
+1789729563130104644,6600,0.8369268774986267,-1.8978493213653564,-1.006790041923523,1.3810865879058838,-0.16016612946987152,0.594191312789917,0.703069269657135,0.4
+1789729563163434266,6633,0.8369278907775879,-1.8978501558303833,-1.0067917108535767,1.3810869455337524,-0.16016484797000885,0.5941909551620483,0.7030692100524902,0.4
+1789729563196773245,6666,0.8369299173355103,-1.897851824760437,-1.0067908763885498,1.3810863494873047,-0.16016530990600586,0.5941852927207947,0.7030676007270813,0.4
+1789729563230102786,6700,0.8369298577308655,-1.8978521823883057,-1.0067917108535767,1.3810856342315674,-0.1601647436618805,0.594176709651947,0.703067421913147,0.4
+1789729563263431748,6733,0.8369293808937073,-1.8978527784347534,-1.0067917108535767,1.3810858726501465,-0.16016553342342377,0.5941749215126038,0.703067421913147,0.4
+1789729563296775177,6766,0.8369296193122864,-1.8978534936904907,-1.0067919492721558,1.3810858726501465,-0.16016508638858795,0.594173789024353,0.7030673027038574,0.4
+1789729563330100169,6800,0.8369309902191162,-1.8978536128997803,-1.0067936182022095,1.3810858726501465,-0.1601661592721939,0.5941764116287231,0.7030675411224365,0.4
+1789729563363426352,6833,0.8369322419166565,-1.8978543281555176,-1.0067962408065796,1.3810855150222778,-0.1601652354001999,0.5941755175590515,0.7030678391456604,0.4
+1789729563396770340,6866,0.8369347453117371,-1.8978573083877563,-1.0068001747131348,1.3810851573944092,-0.16016605496406555,0.5941738486289978,0.7030684947967529,0.4
+1789729563430097142,6900,0.8369352221488953,-1.8978630304336548,-1.0068013668060303,1.3810844421386719,-0.16016682982444763,0.5941706895828247,0.7030662894248962,0.4
+1789729563463429783,6933,0.8369355201721191,-1.8978662490844727,-1.0068018436431885,1.381083369255066,-0.1601652354001999,0.5941684246063232,0.7030649781227112,0.4
+1789729563496769362,6966,0.8369354605674744,-1.8978657722473145,-1.0068024396896362,1.3810838460922241,-0.1601637601852417,0.5941669344902039,0.7030587196350098,0.4
+1789729563530102213,7000,0.8369355201721191,-1.8978654146194458,-1.0068026781082153,1.3810837268829346,-0.16016332805156708,0.5941668152809143,0.7030589580535889,0.4
+1789729563563443572,7033,0.8369354009628296,-1.8978650569915771,-1.0068047046661377,1.3810844421386719,-0.16016294062137604,0.5941675305366516,0.7030603289604187,0.4
+1789729563596768864,7066,0.8369359374046326,-1.8978674411773682,-1.0068085193634033,1.3810851573944092,-0.16016235947608948,0.5941709876060486,0.7030594944953918,0.4
+1789729563630091298,7100,0.8369386196136475,-1.8978688716888428,-1.0068116188049316,1.3810850381851196,-0.1601622849702835,0.594169557094574,0.703059196472168,0.4
+1789729563663436966,7133,0.8369388580322266,-1.8978718519210815,-1.0068166255950928,1.381085753440857,-0.16016270220279694,0.5941671133041382,0.7030592560768127,0.4
+1789729563696767037,7166,0.8369408845901489,-1.8978760242462158,-1.0068159103393555,1.3810844421386719,-0.16016118228435516,0.5941646695137024,0.7030594944953918,0.4
+1789729563730095749,7200,0.8369407057762146,-1.8978761434555054,-1.0068162679672241,1.3810844421386719,-0.16016075015068054,0.5941591858863831,0.7030599117279053,0.4
+1789729563763426560,7233,0.8369408845901489,-1.8978763818740845,-1.0068159103393555,1.3810843229293823,-0.16016057133674622,0.5941601991653442,0.7030583620071411,0.4
+1789729563796767729,7266,0.8369409441947937,-1.8978757858276367,-1.0068172216415405,1.3810850381851196,-0.16016192734241486,0.5941600203514099,0.7030584216117859,0.4
+1789729563830153027,7300,0.8369421362876892,-1.8978755474090576,-1.0068188905715942,1.38108491897583,-0.1601615846157074,0.5941607356071472,0.7030597925186157,0.4
+1789729563863436650,7333,0.8369426727294922,-1.897876501083374,-1.006819725036621,1.38108491897583,-0.16016077995300293,0.5941594243049622,0.703060507774353,0.4
+1789729563896768521,7366,0.836944043636322,-1.8978790044784546,-1.0068188905715942,1.3810845613479614,-0.16016243398189545,0.5941555500030518,0.7030605673789978,0.4
+1789729563930105751,7400,0.836944580078125,-1.8978806734085083,-1.0068198442459106,1.381083607673645,-0.16016115248203278,0.5941498875617981,0.7030579447746277,0.4
+1789729563963429204,7433,0.8369444012641907,-1.8978811502456665,-1.0068206787109375,1.3810830116271973,-0.16016122698783875,0.5941465497016907,0.7030582427978516,0.4
+1789729563996771603,7466,0.8369444608688354,-1.8978803157806396,-1.0068219900131226,1.3810828924179077,-0.16016089916229248,0.5941464304924011,0.7030578255653381,0.4
+1789729564030095625,7500,0.8369444012641907,-1.8978805541992188,-1.0068235397338867,1.3810837268829346,-0.16016031801700592,0.5941469073295593,0.7030579447746277,0.4
+1789729564063429441,7533,0.8369457125663757,-1.8978815078735352,-1.0068236589431763,1.381083607673645,-0.1601618230342865,0.5941469669342041,0.7030579447746277,0.4
+1789729564096774404,7566,0.8369463682174683,-1.8978842496871948,-1.0068278312683105,1.3810830116271973,-0.16016048192977905,0.5941494107246399,0.703059196472168,0.4
+1789729564130100402,7600,0.836946964263916,-1.8978855609893799,-1.0068289041519165,1.381083369255066,-0.16016048192977905,0.5941463708877563,0.703058123588562,0.4
+1789729564163430469,7633,0.8369476795196533,-1.897887945175171,-1.0068291425704956,1.381083607673645,-0.16016076505184174,0.5941460728645325,0.7030569911003113,0.4
+1789729564196763855,7666,0.836948037147522,-1.89788818359375,-1.0068299770355225,1.3810842037200928,-0.16016140580177307,0.594142735004425,0.7030545473098755,0.4
+1789729564230094212,7700,0.836948812007904,-1.8978872299194336,-1.0068305730819702,1.3810844421386719,-0.1601598560810089,0.5941414833068848,0.7030537128448486,0.4
+1789729564263428557,7733,0.8369497656822205,-1.8978872299194336,-1.0068304538726807,1.3810855150222778,-0.16016033291816711,0.5941388607025146,0.703053891658783,0.4
+1789729564296767642,7766,0.8369516134262085,-1.8978880643844604,-1.0068299770355225,1.3810853958129883,-0.16016007959842682,0.5941410064697266,0.7030549049377441,0.4
+1789729564330098708,7800,0.8369547724723816,-1.897889256477356,-1.0068333148956299,1.3810858726501465,-0.160159632563591,0.5941387414932251,0.7030545473098755,0.4
+1789729564363425486,7833,0.8369575142860413,-1.8978909254074097,-1.0068360567092896,1.3810861110687256,-0.16015861928462982,0.5941330194473267,0.7030572891235352,0.4
+1789729564396767100,7866,0.8369627594947815,-1.897902250289917,-1.0068358182907104,1.381085991859436,-0.16015826165676117,0.5941298007965088,0.7030556797981262,0.4
+1789729564430101206,7900,0.8369635343551636,-1.8979051113128662,-1.0068367719650269,1.3810853958129883,-0.16015660762786865,0.5941269993782043,0.703053891658783,0.4
+1789729564463431253,7933,0.8369628190994263,-1.8979054689407349,-1.0068376064300537,1.3810851573944092,-0.1601572483778,0.5941267609596252,0.7030537128448486,0.4
+1789729564496766298,7966,0.8369624614715576,-1.8979041576385498,-1.0068385601043701,1.3810852766036987,-0.1601565182209015,0.5941265821456909,0.7030553221702576,0.4
+1789729564530105733,8000,0.8369629979133606,-1.8979036808013916,-1.0068397521972656,1.3810856342315674,-0.1601569950580597,0.5941276550292969,0.7030556201934814,0.4
+1789729564563467052,8033,0.8369637727737427,-1.8979054689407349,-1.0068436861038208,1.38108491897583,-0.16015566885471344,0.5941281318664551,0.7030560970306396,0.4
+1789729564596773564,8066,0.8369660973548889,-1.8979072570800781,-1.006845235824585,1.3810851573944092,-0.16015610098838806,0.5941272377967834,0.703055739402771,0.4
+1789729564630107990,8100,0.8369666337966919,-1.8979079723358154,-1.0068467855453491,1.3810850381851196,-0.1601548194885254,0.5941247940063477,0.7030553221702576,0.4
+1789729564663433698,8133,0.8369663953781128,-1.8979130983352661,-1.0068469047546387,1.3810839653015137,-0.16015443205833435,0.5941237211227417,0.7030532956123352,0.4
+1789729564696774842,8166,0.8369665741920471,-1.8979172706604004,-1.006847620010376,1.381082534790039,-0.1601536124944687,0.5941223502159119,0.7030463814735413,0.4
+1789729564730110647,8200,0.836966335773468,-1.8979167938232422,-1.0068483352661133,1.3810837268829346,-0.16015271842479706,0.594122052192688,0.7030463218688965,0.4
+1789729564763434515,8233,0.8369660973548889,-1.897915244102478,-1.0068511962890625,1.3810837268829346,-0.1601514369249344,0.5941240191459656,0.7030466198921204,0.4
+1789729564796769831,8266,0.8369668126106262,-1.8979154825210571,-1.0068540573120117,1.3810837268829346,-0.16015107929706573,0.5941264033317566,0.7030481696128845,0.4
+1789729564830106626,8300,0.836967945098877,-1.8979170322418213,-1.0068535804748535,1.3810831308364868,-0.16015246510505676,0.5941217541694641,0.7030491828918457,0.4
+1789729564863391304,8333,0.8369707465171814,-1.8979188203811646,-1.00685453414917,1.381083369255066,-0.16015112400054932,0.5941168069839478,0.7030482888221741,0.4
+1789729564896769619,8366,0.8369750380516052,-1.8979198932647705,-1.0068565607070923,1.3810834884643555,-0.16015057265758514,0.5941120386123657,0.7030463814735413,0.4
+1789729564930103085,8400,0.8369750380516052,-1.8979216814041138,-1.0068572759628296,1.3810828924179077,-0.16014905273914337,0.5941112041473389,0.703045666217804,0.4
+1789729564963438320,8433,0.8369747996330261,-1.8979235887527466,-1.006857991218567,1.3810821771621704,-0.16014951467514038,0.5941116809844971,0.7030432820320129,0.4
+1789729564996774515,8466,0.8369737863540649,-1.8979241847991943,-1.0068596601486206,1.3810827732086182,-0.16014865040779114,0.5941091775894165,0.7030445337295532,0.4
+1789729565030110550,8500,0.8369747996330261,-1.8979241847991943,-1.0068626403808594,1.3810826539993286,-0.16014869511127472,0.5941113233566284,0.7030452489852905,0.4
+1789729565063434673,8533,0.8369756937026978,-1.897927165031433,-1.006862759590149,1.381082534790039,-0.16015036404132843,0.5941116809844971,0.7030457258224487,0.4
+1789729565096778512,8566,0.8369765281677246,-1.8979312181472778,-1.006864070892334,1.3810793161392212,-0.16014990210533142,0.5941088795661926,0.7030450701713562,0.4
+1789729565130102235,8600,0.8369766473770142,-1.897933840751648,-1.00686514377594,1.3810782432556152,-0.16015008091926575,0.594098687171936,0.7030442953109741,0.4
+1789729565163431666,8633,0.8369779586791992,-1.897934079170227,-1.0068641901016235,1.3810770511627197,-0.16015012562274933,0.5940990447998047,0.7030444145202637,0.4
+1789729565196767377,8666,0.8369770050048828,-1.8979331254959106,-1.0068645477294922,1.381077527999878,-0.16014842689037323,0.5941012501716614,0.7030441164970398,0.4
+1789729565230098968,8700,0.8369771242141724,-1.8979332447052002,-1.0068655014038086,1.3810776472091675,-0.16014814376831055,0.5941020250320435,0.7030436396598816,0.4
+1789729565263431519,8733,0.8369773626327515,-1.8979332447052002,-1.0068674087524414,1.3810778856277466,-0.1601489931344986,0.5941027402877808,0.703043520450592,0.4
+1789729565296771478,8766,0.8369775414466858,-1.8979350328445435,-1.0068717002868652,1.3810782432556152,-0.16014906764030457,0.5941009521484375,0.7030419111251831,0.4
+1789729565330105789,8800,0.8369797468185425,-1.8979369401931763,-1.0068718194961548,1.3810783624649048,-0.16014833748340607,0.5940975546836853,0.7030426859855652,0.4
+1789729565363430882,8833,0.836980938911438,-1.897938847541809,-1.0068714618682861,1.381077766418457,-0.1601477563381195,0.5940968990325928,0.7030426859855652,0.4
+1789729565396765462,8866,0.8369811177253723,-1.8979378938674927,-1.0068720579147339,1.3810774087905884,-0.16014809906482697,0.5940914750099182,0.7030429840087891,0.4
+1789729565430097644,8900,0.8369829654693604,-1.8979381322860718,-1.0068721771240234,1.3810787200927734,-0.16014784574508667,0.5940899848937988,0.7030424475669861,0.4
+1789729565463434464,8933,0.8369829058647156,-1.8979371786117554,-1.0068730115890503,1.3810797929763794,-0.16014739871025085,0.594092607498169,0.7030419111251831,0.4
+1789729565496764175,8966,0.8369829058647156,-1.8979370594024658,-1.006874918937683,1.3810808658599854,-0.16014699637889862,0.5940933227539062,0.7030419707298279,0.4
+1789729565530099466,9000,0.836982250213623,-1.897936224937439,-1.006877064704895,1.3810796737670898,-0.16014569997787476,0.5940941572189331,0.7030426859855652,0.4
+1789729565563463989,9033,0.8369830250740051,-1.8979384899139404,-1.0068777799606323,1.3810791969299316,-0.16014541685581207,0.5940934419631958,0.7030437588691711,0.4
+1789729565596804268,9066,0.8369845747947693,-1.8979430198669434,-1.0068784952163696,1.3810778856277466,-0.16014596819877625,0.5940852761268616,0.7030434012413025,0.4
+1789729565630100508,9100,0.8369842767715454,-1.8979434967041016,-1.0068793296813965,1.3810786008834839,-0.1601460874080658,0.5940812230110168,0.7030422687530518,0.4
+1789729565663432639,9133,0.8369847536087036,-1.8979419469833374,-1.0068804025650024,1.3810778856277466,-0.16014520823955536,0.5940790772438049,0.7030414938926697,0.4
+1789729565696767849,9166,0.8369860649108887,-1.8979421854019165,-1.006880760192871,1.3810774087905884,-0.1601458489894867,0.594079852104187,0.703042209148407,0.4
+1789729565730095702,9200,0.8369870185852051,-1.8979424238204956,-1.0068806409835815,1.3810780048370361,-0.16014601290225983,0.5940805673599243,0.7030417919158936,0.4
+1789729565763431562,9233,0.836986780166626,-1.8979434967041016,-1.0068843364715576,1.381077527999878,-0.16014567017555237,0.5940825343132019,0.7030434012413025,0.4
+1789729565796757724,9266,0.8369868993759155,-1.8979495763778687,-1.0068858861923218,1.3810780048370361,-0.1601458191871643,0.5940812826156616,0.703042209148407,0.4
+1789729565830089646,9300,0.8369874954223633,-1.8979518413543701,-1.0068860054016113,1.381077766418457,-0.16014538705348969,0.5940784215927124,0.7030414342880249,0.4
+1789729565863430905,9333,0.8369879126548767,-1.8979518413543701,-1.006886601448059,1.3810772895812988,-0.16014528274536133,0.5940760374069214,0.7030402421951294,0.4
+1789729565896763366,9366,0.8369879126548767,-1.8979517221450806,-1.0068873167037964,1.3810776472091675,-0.16014353930950165,0.5940737724304199,0.7030391693115234,0.4
+1789729565930104045,9400,0.8369877934455872,-1.8979512453079224,-1.006887674331665,1.381077527999878,-0.1601436287164688,0.594075620174408,0.7030400037765503,0.4
+1789729565963428208,9433,0.8369876742362976,-1.8979511260986328,-1.00688898563385,1.381077766418457,-0.16014432907104492,0.5940760970115662,0.703039824962616,0.4
+1789729565996763548,9466,0.8369899392127991,-1.8979518413543701,-1.0068891048431396,1.3810781240463257,-0.1601441353559494,0.5940756797790527,0.7030405402183533,0.4
+1789729566030104046,9500,0.8369947075843811,-1.8979530334472656,-1.006892204284668,1.3810787200927734,-0.1601443886756897,0.5940738916397095,0.7030399441719055,0.4
+1789729566063463965,9533,0.8369975686073303,-1.8979569673538208,-1.0068920850753784,1.3810782432556152,-0.16014492511749268,0.5940698385238647,0.7030401825904846,0.4
+1789729566096765138,9566,0.8369991183280945,-1.8979607820510864,-1.0068917274475098,1.381076693534851,-0.16014432907104492,0.5940631031990051,0.7030397057533264,0.4
+1789729566130115989,9600,0.8369994163513184,-1.8979610204696655,-1.006892204284668,1.3810770511627197,-0.16014429926872253,0.5940598249435425,0.7030392289161682,0.4
+1789729566163436628,9633,0.836999237537384,-1.8979617357254028,-1.006892442703247,1.3810772895812988,-0.1601444035768509,0.5940600633621216,0.7030393481254578,0.4
+1789729566196772913,9666,0.8370001316070557,-1.897961139678955,-1.006893277168274,1.3810782432556152,-0.16014458239078522,0.5940617918968201,0.7030413746833801,0.4
+1789729566230159795,9700,0.8370007276535034,-1.8979603052139282,-1.0068936347961426,1.3810791969299316,-0.16014423966407776,0.5940623879432678,0.7030415534973145,0.4
+1789729566263443222,9733,0.8370005488395691,-1.8979620933532715,-1.0068944692611694,1.3810780048370361,-0.1601441353559494,0.5940617918968201,0.7030410170555115,0.4
+1789729566296758602,9766,0.8370018601417542,-1.897966742515564,-1.006895899772644,1.3810749053955078,-0.16014385223388672,0.5940597653388977,0.7030415534973145,0.4
+1789729566330107734,9800,0.8370016813278198,-1.897969126701355,-1.0068961381912231,1.381072759628296,-0.16014432907104492,0.5940565466880798,0.7030400037765503,0.4
+1789729566363436480,9833,0.8370006680488586,-1.897969126701355,-1.00689697265625,1.381072759628296,-0.1601436585187912,0.5940524935722351,0.7030385732650757,0.4
+1789729566396770506,9866,0.837001383304596,-1.8979684114456177,-1.0068985223770142,1.3810724020004272,-0.16014422476291656,0.5940537452697754,0.7030373215675354,0.4
+1789729566430102141,9900,0.8370012640953064,-1.8979679346084595,-1.006899118423462,1.381072998046875,-0.16014458239078522,0.5940544605255127,0.7030372619628906,0.4
+1789729566463433287,9933,0.8370015025138855,-1.8979682922363281,-1.006899356842041,1.381073236465454,-0.1601441353559494,0.5940560102462769,0.7030379176139832,0.4
+1789729566496769272,9966,0.8370020985603333,-1.897969126701355,-1.0068997144699097,1.3810738325119019,-0.1601443886756897,0.5940535664558411,0.7030390501022339,0.4
+1789729566530107486,10000,0.8370023965835571,-1.8979713916778564,-1.0069010257720947,1.3810739517211914,-0.1601453572511673,0.5940526127815247,0.7030379176139832,0.4
+1789729566563436043,10033,0.8370031118392944,-1.8979727029800415,-1.0069024562835693,1.3810745477676392,-0.16014446318149567,0.5940483808517456,0.7030358910560608,0.4
+1789729566596771977,10066,0.8370036482810974,-1.897976040840149,-1.006903052330017,1.3810733556747437,-0.1601439118385315,0.5940457582473755,0.7030304074287415,0.4
+1789729566630101944,10100,0.8370037078857422,-1.8979759216308594,-1.006902813911438,1.3810734748840332,-0.1601419597864151,0.5940470695495605,0.7030284404754639,0.4
+1789729566663431040,10133,0.8370037078857422,-1.8979750871658325,-1.0069057941436768,1.3810734748840332,-0.1601426899433136,0.5940478444099426,0.7030296325683594,0.4
+1789729566696770294,10166,0.8370041847229004,-1.8979740142822266,-1.0069066286087036,1.3810735940933228,-0.1601436883211136,0.5940495729446411,0.7030336856842041,0.4
+1789729566730105069,10200,0.8370048999786377,-1.8979750871658325,-1.0069074630737305,1.3810728788375854,-0.1601434051990509,0.594048261642456,0.7030343413352966,0.4
+1789729566763493231,10233,0.8370065093040466,-1.8979758024215698,-1.0069111585617065,1.3810733556747437,-0.16014379262924194,0.5940417051315308,0.7030357718467712,0.4
+1789729566796777028,10266,0.8370078802108765,-1.8979781866073608,-1.006911277770996,1.3810737133026123,-0.16014273464679718,0.5940374732017517,0.7030317783355713,0.4
+1789729566830101846,10300,0.8370084166526794,-1.8979805707931519,-1.0069106817245483,1.381073236465454,-0.16014228761196136,0.5940371751785278,0.7030298113822937,0.4
+1789729566863428273,10333,0.8370092511177063,-1.897981882095337,-1.0069104433059692,1.3810735940933228,-0.1601419895887375,0.5940371751785278,0.7030282020568848,0.4
+1789729566896773156,10366,0.8370089530944824,-1.89798104763031,-1.0069113969802856,1.3810747861862183,-0.16014233231544495,0.594037652015686,0.7030298113822937,0.4
+1789729566930106381,10400,0.8370091319084167,-1.8979805707931519,-1.0069142580032349,1.3810741901397705,-0.16014248132705688,0.5940377116203308,0.7030297517776489,0.4
+1789729566963429659,10433,0.8370093703269958,-1.8979804515838623,-1.0069160461425781,1.3810734748840332,-0.16014283895492554,0.5940377712249756,0.7030304074287415,0.4
+1789729566996764764,10466,0.8370099663734436,-1.8979809284210205,-1.0069164037704468,1.3810734748840332,-0.1601424664258957,0.5940371155738831,0.7030311226844788,0.4
+1789729567030096247,10500,0.837010383605957,-1.8979817628860474,-1.0069160461425781,1.3810735940933228,-0.16014212369918823,0.5940356254577637,0.7030304074287415,0.4
+1789729567063427337,10533,0.8370105028152466,-1.8979828357696533,-1.0069160461425781,1.3810733556747437,-0.1601419746875763,0.5940349102020264,0.7030298709869385,0.4
+1789729567096771824,10566,0.8370099067687988,-1.8979840278625488,-1.0069174766540527,1.3810744285583496,-0.16014216840267181,0.5940355658531189,0.7030292749404907,0.4
+1789729567130109313,10600,0.8370109796524048,-1.8979833126068115,-1.0069172382354736,1.3810762166976929,-0.16014109551906586,0.5940369963645935,0.7030305862426758,0.4
+1789729567163430265,10633,0.8370118141174316,-1.8979824781417847,-1.0069183111190796,1.3810769319534302,-0.1601424515247345,0.5940346121788025,0.7030318975448608,0.4
+1789729567196765104,10666,0.837012767791748,-1.8979823589324951,-1.0069196224212646,1.3810765743255615,-0.16014167666435242,0.5940349102020264,0.7030342221260071,0.4
+1789729567230106232,10700,0.8370132446289062,-1.8979836702346802,-1.0069222450256348,1.3810768127441406,-0.160142719745636,0.5940322875976562,0.7030335664749146,0.4
+1789729567263425295,10733,0.8370140194892883,-1.8979864120483398,-1.0069220066070557,1.3810758590698242,-0.16014286875724792,0.5940261483192444,0.7030318975448608,0.4
+1789729567296767192,10766,0.8370160460472107,-1.8979899883270264,-1.0069222450256348,1.3810746669769287,-0.16014161705970764,0.5940227508544922,0.7030301094055176,0.4
+1789729567330103431,10800,0.8370163440704346,-1.8979895114898682,-1.0069220066070557,1.381075143814087,-0.16014191508293152,0.594019889831543,0.7030295729637146,0.4
+1789729567363427163,10833,0.837015688419342,-1.8979897499084473,-1.0069223642349243,1.3810755014419556,-0.1601412296295166,0.5940186977386475,0.7030288577079773,0.4
+1789729567396766761,10866,0.8370167016983032,-1.8979897499084473,-1.0069235563278198,1.381076693534851,-0.16014157235622406,0.5940224528312683,0.7030290365219116,0.4
+1789729567430099121,10900,0.8370164036750793,-1.8979897499084473,-1.0069243907928467,1.3810763359069824,-0.16014237701892853,0.5940231680870056,0.7030307650566101,0.4
+1789729567463428662,10933,0.8370175957679749,-1.897990345954895,-1.006927490234375,1.3810757398605347,-0.16014139354228973,0.594020426273346,0.703031063079834,0.4
+1789729567496764961,10966,0.8370226621627808,-1.8979923725128174,-1.0069268941879272,1.381075382232666,-0.1601414829492569,0.5940165519714355,0.7030311822891235,0.4
+1789729567530137521,11000,0.8370221257209778,-1.8979978561401367,-1.006926417350769,1.3810735940933228,-0.16014160215854645,0.5940149426460266,0.7030302286148071,0.4
+1789729567563465411,11033,0.837022066116333,-1.8979978561401367,-1.0069266557693481,1.3810737133026123,-0.16014128923416138,0.594014585018158,0.7030289769172668,0.4
+1789729567596773027,11066,0.8370218276977539,-1.8979971408843994,-1.0069280862808228,1.381074070930481,-0.16014201939105988,0.594013512134552,0.7030271887779236,0.4
+1789729567630100888,11100,0.8370223045349121,-1.8979978561401367,-1.0069289207458496,1.3810739517211914,-0.16014112532138824,0.594016432762146,0.7030276656150818,0.4
+1789729567663437027,11133,0.837022602558136,-1.8979977369308472,-1.0069302320480347,1.3810735940933228,-0.16014066338539124,0.5940179228782654,0.7030276656150818,0.4
+1789729567696769657,11166,0.8370218873023987,-1.8979979753494263,-1.006933569908142,1.3810728788375854,-0.1601417362689972,0.5940162539482117,0.7030291557312012,0.4
+1789729567730141697,11200,0.8370232582092285,-1.8979991674423218,-1.0069324970245361,1.381072759628296,-0.160141259431839,0.594012439250946,0.7030289769172668,0.4
+1789729567763439615,11233,0.8370276093482971,-1.8979997634887695,-1.0069321393966675,1.3810726404190063,-0.1601414531469345,0.5940054059028625,0.7030277848243713,0.4
+1789729567796772645,11266,0.837027907371521,-1.8980001211166382,-1.0069329738616943,1.3810722827911377,-0.16014130413532257,0.5940001606941223,0.703026533126831,0.4
+1789729567830166900,11300,0.8370274305343628,-1.8980029821395874,-1.0069326162338257,1.3810721635818481,-0.1601405292749405,0.5940008759498596,0.7030276656150818,0.4
+1789729567863439684,11333,0.8370272517204285,-1.8980028629302979,-1.0069329738616943,1.3810722827911377,-0.16014084219932556,0.5940027832984924,0.70302814245224,0.4
+1789729567896770204,11366,0.837026834487915,-1.898003339767456,-1.0069340467453003,1.3810718059539795,-0.16014182567596436,0.5940038561820984,0.7030287384986877,0.4
+1789729567930103904,11400,0.8370278477668762,-1.8980042934417725,-1.0069358348846436,1.3810741901397705,-0.16014233231544495,0.5940039753913879,0.7030290365219116,0.4
+1789729567963458508,11433,0.8370311856269836,-1.8980040550231934,-1.00693678855896,1.3810745477676392,-0.16014191508293152,0.594003438949585,0.7030292749404907,0.4
+1789729567996768514,11466,0.837031364440918,-1.8980101346969604,-1.0069379806518555,1.3810724020004272,-0.16014130413532257,0.5940014123916626,0.7030277252197266,0.4
+1789729568030108340,11500,0.8370312452316284,-1.898018717765808,-1.0069388151168823,1.3810678720474243,-0.1601417362689972,0.593999445438385,0.7030261754989624,0.4
+1789729568063436715,11533,0.8370302319526672,-1.8980194330215454,-1.006941318511963,1.3810675144195557,-0.16014106571674347,0.5939981341362,0.7030273079872131,0.4
+1789729568096772837,11566,0.8370296955108643,-1.8980183601379395,-1.0069472789764404,1.3810676336288452,-0.16013744473457336,0.5939968228340149,0.703027069568634,0.4
+1789729568130104131,11600,0.8370310068130493,-1.89801824092865,-1.0069471597671509,1.3810677528381348,-0.1601381003856659,0.5939984917640686,0.7030271291732788,0.4
+1789729568163434905,11633,0.8370313048362732,-1.8980194330215454,-1.0069471597671509,1.3810662031173706,-0.16013865172863007,0.5939986705780029,0.7030271887779236,0.4
+1789729568196775537,11666,0.8370321393013,-1.898026943206787,-1.0069472789764404,1.3810632228851318,-0.16013963520526886,0.5939971804618835,0.7030279040336609,0.4
+1789729568230166137,11700,0.8370335102081299,-1.8980262279510498,-1.006947636604309,1.3810629844665527,-0.1601390391588211,0.5939940214157104,0.7030272483825684,0.4
+1789729568263438175,11733,0.8370334506034851,-1.898025631904602,-1.0069485902786255,1.3810641765594482,-0.16013871133327484,0.5939889550209045,0.7030261158943176,0.4
+1789729568296765440,11766,0.8370364308357239,-1.8980258703231812,-1.006948709487915,1.381065011024475,-0.16013853251934052,0.5939871668815613,0.7030229568481445,0.4
+1789729568330101612,11800,0.8370363116264343,-1.8980262279510498,-1.0069493055343628,1.381064534187317,-0.1601368486881256,0.5939867496490479,0.7030212879180908,0.4
+1789729568363431317,11833,0.8370360136032104,-1.8980270624160767,-1.006949543952942,1.3810639381408691,-0.16013707220554352,0.5939896106719971,0.7030225396156311,0.4
+1789729568396764000,11866,0.8370362520217896,-1.8980263471603394,-1.006954550743103,1.3810648918151855,-0.16013643145561218,0.5939887762069702,0.7030230164527893,0.4
+1789729568430100013,11900,0.8370371460914612,-1.8980261087417603,-1.006956696510315,1.3810652494430542,-0.16013692319393158,0.5939878821372986,0.7030248045921326,0.4
+1789729568463429577,11933,0.837037205696106,-1.898029088973999,-1.006956696510315,1.3810651302337646,-0.16013742983341217,0.5939879417419434,0.7030254006385803,0.4
+1789729568496763421,11966,0.8370380997657776,-1.898032784461975,-1.0069568157196045,1.3810635805130005,-0.16013740003108978,0.5939856767654419,0.7030214667320251,0.4
+1789729568530101123,12000,0.8370370268821716,-1.8980371952056885,-1.0069563388824463,1.3810628652572632,-0.16013659536838531,0.593984842300415,0.7030209898948669,0.4
+1789729568563455451,12033,0.8370382785797119,-1.8980367183685303,-1.0069574117660522,1.38106369972229,-0.16013577580451965,0.593981921672821,0.7030215263366699,0.4
+1789729568596762871,12066,0.837039053440094,-1.8980352878570557,-1.0069606304168701,1.3810646533966064,-0.1601356565952301,0.5939814448356628,0.7030221819877625,0.4
+1789729568630099973,12100,0.8370388746261597,-1.8980354070663452,-1.0069608688354492,1.3810641765594482,-0.16013513505458832,0.5939827561378479,0.7030223608016968,0.4
+1789729568663437716,12133,0.8370392918586731,-1.898036003112793,-1.006961703300476,1.3810628652572632,-0.1601358950138092,0.593982994556427,0.7030237913131714,0.4
+1789729568696793604,12166,0.8370394110679626,-1.8980381488800049,-1.0069621801376343,1.3810617923736572,-0.16013576090335846,0.5939812660217285,0.7030240893363953,0.4
+1789729568730099444,12200,0.8370388746261597,-1.8980375528335571,-1.006961464881897,1.3810620307922363,-0.16013643145561218,0.5939807891845703,0.703022301197052,0.4
+1789729568763435467,12233,0.8370391726493835,-1.8980367183685303,-1.0069645643234253,1.3810639381408691,-0.160135880112648,0.5939762592315674,0.7030209898948669,0.4
+1789729568796764781,12266,0.8370391130447388,-1.8980369567871094,-1.0069661140441895,1.381064534187317,-0.16013574600219727,0.5939786434173584,0.7030212879180908,0.4
+1789729568830102733,12300,0.8370388150215149,-1.898037075996399,-1.0069657564163208,1.3810641765594482,-0.16013523936271667,0.5939793586730957,0.7030213475227356,0.4
+1789729568863432628,12333,0.8370394706726074,-1.8980374336242676,-1.0069661140441895,1.3810638189315796,-0.16013500094413757,0.5939775705337524,0.7030224800109863,0.4
+1789729568896762832,12366,0.8370422720909119,-1.8980376720428467,-1.0069679021835327,1.3810659646987915,-0.16013562679290771,0.5939770340919495,0.7030239105224609,0.4
+1789729568930102704,12400,0.8370465040206909,-1.8980380296707153,-1.0069680213928223,1.3810681104660034,-0.1601358950138092,0.5939743518829346,0.7030227184295654,0.4
+1789729568963431378,12433,0.8370470404624939,-1.898041009902954,-1.0069676637649536,1.381068468093872,-0.1601356565952301,0.5939726829528809,0.7030221819877625,0.4
+1789729568996770280,12466,0.8370466828346252,-1.8980432748794556,-1.0069680213928223,1.3810665607452393,-0.16013602912425995,0.5939733386039734,0.7030206918716431,0.4
+1789729569030168406,12500,0.8370468616485596,-1.8980425596237183,-1.0069681406021118,1.3810681104660034,-0.16013537347316742,0.5939691662788391,0.7030209302902222,0.4
+1789729569063443777,12533,0.8370480537414551,-1.8980419635772705,-1.0069689750671387,1.3810678720474243,-0.1601356714963913,0.5939702987670898,0.7030227184295654,0.4
+1789729569096781113,12566,0.8370491862297058,-1.8980426788330078,-1.0069681406021118,1.381068229675293,-0.16013559699058533,0.5939708948135376,0.7030247449874878,0.4
+1789729569130108261,12600,0.8370494842529297,-1.8980432748794556,-1.00696861743927,1.3810676336288452,-0.16013644635677338,0.5939712524414062,0.703025758266449,0.4
+1789729569163495745,12633,0.8370499610900879,-1.8980443477630615,-1.0069690942764282,1.3810676336288452,-0.1601376086473465,0.5939681529998779,0.7030231356620789,0.4
+1789729569196771616,12666,0.8370514512062073,-1.8980449438095093,-1.0069693326950073,1.381067156791687,-0.16013652086257935,0.5939601063728333,0.7030200362205505,0.4
+1789729569230103043,12700,0.837051272392273,-1.8980484008789062,-1.0069689750671387,1.381066083908081,-0.16013601422309875,0.5939590334892273,0.7030192017555237,0.4
+1789729569263433251,12733,0.8370521068572998,-1.8980501890182495,-1.00696861743927,1.3810665607452393,-0.1601363569498062,0.5939603447914124,0.7030177712440491,0.4
+1789729569296768597,12766,0.8370509147644043,-1.8980488777160645,-1.0069692134857178,1.3810667991638184,-0.16013634204864502,0.5939616560935974,0.703018844127655,0.4
+1789729569330103104,12800,0.83705073595047,-1.898047924041748,-1.006971001625061,1.3810672760009766,-0.16013666987419128,0.5939650535583496,0.7030208110809326,0.4
+1789729569363435671,12833,0.8370522856712341,-1.8980491161346436,-1.006971836090088,1.381067156791687,-0.16013741493225098,0.5939648151397705,0.7030213475227356,0.4
+1789729569396768968,12866,0.8370528817176819,-1.8980497121810913,-1.0069715976715088,1.3810667991638184,-0.16013723611831665,0.593961775302887,0.7030210494995117,0.4
+1789729569430099925,12900,0.8370530009269714,-1.8980497121810913,-1.0069719552993774,1.3810663223266602,-0.16013659536838531,0.5939621329307556,0.7030200958251953,0.4
+1789729569463431933,12933,0.8370530605316162,-1.898051381111145,-1.0069717168807983,1.381066083908081,-0.16013720631599426,0.5939595103263855,0.703019380569458,0.4
+1789729569496768509,12966,0.8370526432991028,-1.8980516195297241,-1.006971001625061,1.3810663223266602,-0.16013595461845398,0.5939585566520691,0.7030184864997864,0.4
+1789729569530092838,13000,0.8370526432991028,-1.8980512619018555,-1.0069725513458252,1.3810666799545288,-0.1601353883743286,0.5939580798149109,0.703018069267273,0.4
+1789729569563436332,13033,0.8370532989501953,-1.8980510234832764,-1.0069754123687744,1.3810662031173706,-0.1601361632347107,0.5939580202102661,0.7030193209648132,0.4
+1789729569596769559,13066,0.8370553255081177,-1.8980518579483032,-1.0069750547409058,1.3810663223266602,-0.160136878490448,0.5939582586288452,0.7030197381973267,0.4
+1789729569630093698,13100,0.8370577692985535,-1.8980525732040405,-1.0069749355316162,1.3810663223266602,-0.16013742983341217,0.5939538478851318,0.7030203938484192,0.4
+1789729569663429145,13133,0.8370590806007385,-1.898055076599121,-1.0069751739501953,1.3810659646987915,-0.16013702750205994,0.5939497351646423,0.7030207514762878,0.4
+1789729569696768030,13166,0.8370599150657654,-1.898055911064148,-1.0069760084152222,1.3810656070709229,-0.16013668477535248,0.5939487814903259,0.7030195593833923,0.4
+1789729569730091720,13200,0.8370609283447266,-1.8980581760406494,-1.0069764852523804,1.3810656070709229,-0.16013742983341217,0.5939447283744812,0.7030192017555237,0.4
+1789729569763431375,13233,0.8370609283447266,-1.898059368133545,-1.0069764852523804,1.3810652494430542,-0.16013643145561218,0.5939460396766663,0.7030196189880371,0.4
+1789729569796774200,13266,0.8370609283447266,-1.8980590105056763,-1.0069773197174072,1.381065845489502,-0.16013574600219727,0.5939478874206543,0.7030205130577087,0.4
+1789729569830097519,13300,0.8370605707168579,-1.8980592489242554,-1.0069791078567505,1.3810653686523438,-0.16013559699058533,0.5939497351646423,0.7030210494995117,0.4
+1789729569863436874,13333,0.8370605111122131,-1.8980604410171509,-1.00697922706604,1.3810653686523438,-0.16013582050800323,0.5939483642578125,0.7030206918716431,0.4
+1789729569896772371,13366,0.8370616436004639,-1.8980613946914673,-1.00697922706604,1.3810656070709229,-0.16013513505458832,0.5939464569091797,0.7030196189880371,0.4
+1789729569930095700,13400,0.8370625972747803,-1.898061990737915,-1.0069798231124878,1.381065845489502,-0.16013610363006592,0.5939450263977051,0.7030187249183655,0.4
+1789729569963433276,13433,0.8370621204376221,-1.8980623483657837,-1.006978988647461,1.3810663223266602,-0.1601347178220749,0.5939458012580872,0.703018844127655,0.4
+1789729569996768992,13466,0.8370628952980042,-1.8980627059936523,-1.0069788694381714,1.381065845489502,-0.16013455390930176,0.5939443707466125,0.703016459941864,0.4
+1789729570030100887,13500,0.8370622396469116,-1.8980616331100464,-1.0069804191589355,1.3810654878616333,-0.16013407707214355,0.5939434766769409,0.7030179500579834,0.4
+1789729570063432488,13533,0.8370620608329773,-1.8980621099472046,-1.0069828033447266,1.3810659646987915,-0.16013532876968384,0.5939447283744812,0.7030187845230103,0.4
+1789729570096771997,13566,0.8370636105537415,-1.8980634212493896,-1.0069838762283325,1.3810659646987915,-0.16013626754283905,0.5939428806304932,0.7030206322669983,0.4
+1789729570130103557,13600,0.8370651602745056,-1.8980659246444702,-1.0069851875305176,1.3810654878616333,-0.16013671457767487,0.5939377546310425,0.7030205130577087,0.4
+1789729570163433818,13633,0.8370658755302429,-1.8980674743652344,-1.006985068321228,1.3810652494430542,-0.16013595461845398,0.593937337398529,0.7030209302902222,0.4
+1789729570196769238,13666,0.8370654582977295,-1.8980668783187866,-1.0069845914840698,1.3810653686523438,-0.16013438999652863,0.5939347147941589,0.7030192613601685,0.4
+1789729570230104107,13700,0.8370662331581116,-1.8980660438537598,-1.0069836378097534,1.3810653686523438,-0.16013513505458832,0.5939337611198425,0.7030183672904968,0.4
+1789729570263429319,13733,0.8370656967163086,-1.8980658054351807,-1.0069842338562012,1.381065845489502,-0.16013522446155548,0.5939347743988037,0.703018307685852,0.4
+1789729570296771727,13766,0.8370659947395325,-1.898064374923706,-1.0069845914840698,1.3810657262802124,-0.1601356863975525,0.5939342975616455,0.7030199766159058,0.4
+1789729570330100978,13800,0.8370671272277832,-1.8980656862258911,-1.0069853067398071,1.3810654878616333,-0.16013552248477936,0.5939337611198425,0.703021764755249,0.4
+1789729570363440427,13833,0.8370673060417175,-1.8980672359466553,-1.0069860219955444,1.3810648918151855,-0.1601354032754898,0.5939344763755798,0.7030214071273804,0.4
+1789729570396769388,13866,0.8370673060417175,-1.8980687856674194,-1.0069868564605713,1.3810657262802124,-0.16013549268245697,0.593932569026947,0.7030192613601685,0.4
+1789729570430100938,13900,0.8370671272277832,-1.898068904876709,-1.0069878101348877,1.3810657262802124,-0.1601354032754898,0.5939316749572754,0.7030166387557983,0.4
+1789729570463431879,13933,0.8370671272277832,-1.8980695009231567,-1.0069878101348877,1.381066083908081,-0.16013561189174652,0.593930721282959,0.703014075756073,0.4
+1789729570496766948,13966,0.8370661735534668,-1.8980697393417358,-1.0069894790649414,1.3810664415359497,-0.16013626754283905,0.5939305424690247,0.7030132412910461,0.4
+1789729570530099069,14000,0.8370667695999146,-1.8980685472488403,-1.0069900751113892,1.3810679912567139,-0.16013659536838531,0.5939325094223022,0.7030155062675476,0.4
+1789729570563433599,14033,0.8370670676231384,-1.898069143295288,-1.0069904327392578,1.3810677528381348,-0.160135418176651,0.5939320921897888,0.7030163407325745,0.4
+1789729570596769708,14066,0.8370682597160339,-1.8980686664581299,-1.0069913864135742,1.3810665607452393,-0.16013571619987488,0.5939295291900635,0.7030171751976013,0.4
+1789729570630099279,14100,0.8370691537857056,-1.898071050643921,-1.0069910287857056,1.3810670375823975,-0.16013650596141815,0.5939252376556396,0.7030160427093506,0.4
+1789729570663434079,14133,0.8370700478553772,-1.8980742692947388,-1.0069910287857056,1.3810666799545288,-0.16013650596141815,0.5939247012138367,0.7030143737792969,0.4
+1789729570696766179,14166,0.837069571018219,-1.8980756998062134,-1.0069911479949951,1.3810667991638184,-0.16013577580451965,0.5939252376556396,0.7030145525932312,0.4
+1789729570730096890,14200,0.8370696306228638,-1.8980742692947388,-1.0069926977157593,1.3810670375823975,-0.1601361632347107,0.593925416469574,0.7030152082443237,0.4
+1789729570763443467,14233,0.8370711207389832,-1.8980745077133179,-1.0069940090179443,1.3810675144195557,-0.1601359248161316,0.5939260125160217,0.7030172348022461,0.4
+1789729570796771458,14266,0.8370728492736816,-1.8980756998062134,-1.0069955587387085,1.3810675144195557,-0.16013574600219727,0.5939256548881531,0.7030192017555237,0.4
+1789729570830101099,14300,0.8370726704597473,-1.8980762958526611,-1.0069963932037354,1.3810670375823975,-0.1601359248161316,0.5939248204231262,0.7030185461044312,0.4
+1789729570863432270,14333,0.837072491645813,-1.898077130317688,-1.00699782371521,1.3810662031173706,-0.1601359099149704,0.5939232707023621,0.7030181288719177,0.4
+1789729570896767199,14366,0.8370727300643921,-1.8980799913406372,-1.00699782371521,1.3810644149780273,-0.16013534367084503,0.5939205288887024,0.7030157446861267,0.4
+1789729570930101279,14400,0.8370724320411682,-1.8980804681777954,-1.00699782371521,1.3810646533966064,-0.16013482213020325,0.5939199328422546,0.703015148639679,0.4
+1789729570963441048,14433,0.8370722532272339,-1.8980803489685059,-1.0069983005523682,1.3810646533966064,-0.16013501584529877,0.5939202308654785,0.7030144929885864,0.4
+1789729570996759921,14466,0.8370720744132996,-1.8980803489685059,-1.0069999694824219,1.3810651302337646,-0.1601352095603943,0.5939212441444397,0.7030155658721924,0.4
+1789729571030093749,14500,0.8370722532272339,-1.8980807065963745,-1.0069999694824219,1.381064772605896,-0.16013500094413757,0.5939217209815979,0.7030165195465088,0.4
+1789729571063430311,14533,0.837073028087616,-1.898081660270691,-1.0070000886917114,1.381065011024475,-0.16013579070568085,0.593920111656189,0.703016459941864,0.4
+1789729571096774831,14566,0.8370732665061951,-1.8980830907821655,-1.0070009231567383,1.3810639381408691,-0.16013647615909576,0.5939177870750427,0.7030153274536133,0.4
+1789729571130100866,14600,0.8370727896690369,-1.8980847597122192,-1.0070011615753174,1.3810635805130005,-0.16013579070568085,0.5939163565635681,0.7030152678489685,0.4
+1789729571163448485,14633,0.8370717763900757,-1.8980848789215088,-1.007001280784607,1.3810628652572632,-0.1601351499557495,0.5939152836799622,0.703014075756073,0.4
+1789729571196769581,14666,0.8370727896690369,-1.8980845212936401,-1.0070009231567383,1.3810635805130005,-0.160133957862854,0.5939151644706726,0.7030132412910461,0.4
+1789729571230097925,14700,0.8370737433433533,-1.8980844020843506,-1.0070010423660278,1.381063461303711,-0.1601352095603943,0.5939160585403442,0.703014612197876,0.4
+1789729571263435237,14733,0.837075412273407,-1.8980848789215088,-1.0070021152496338,1.3810638189315796,-0.16013509035110474,0.5939149856567383,0.7030157446861267,0.4
+1789729571296762711,14766,0.8370776772499084,-1.8980867862701416,-1.0070042610168457,1.3810632228851318,-0.16013525426387787,0.5939121246337891,0.7030172944068909,0.4
+1789729571330094205,14800,0.837080717086792,-1.8980885744094849,-1.007003664970398,1.3810625076293945,-0.1601359248161316,0.5939047336578369,0.7030164003372192,0.4
+1789729571363442434,14833,0.8370828628540039,-1.8980902433395386,-1.007004737854004,1.3810603618621826,-0.16013486683368683,0.5938969254493713,0.7030150294303894,0.4
+1789729571396763210,14866,0.8370832204818726,-1.8980940580368042,-1.0070050954818726,1.3810542821884155,-0.1601346880197525,0.5938932299613953,0.7030153274536133,0.4
+1789729571430100992,14900,0.8370824456214905,-1.8980939388275146,-1.007004976272583,1.381052851676941,-0.16013523936271667,0.5938917994499207,0.7030148506164551,0.4
+1789729571463437164,14933,0.8370822668075562,-1.8980937004089355,-1.0070046186447144,1.381052851676941,-0.16013512015342712,0.5938927531242371,0.7030141949653625,0.4
+1789729571496767577,14966,0.8370822072029114,-1.898093342781067,-1.0070056915283203,1.3810533285140991,-0.16013579070568085,0.5938915014266968,0.7030162811279297,0.4
+1789729571530105269,15000,0.8370819687843323,-1.8980934619903564,-1.0070065259933472,1.3810524940490723,-0.1601356863975525,0.5938899517059326,0.7030161619186401,0.4
+1789729571563498928,15033,0.8370820879936218,-1.8980941772460938,-1.007007122039795,1.3810516595840454,-0.1601368486881256,0.5938893556594849,0.703016459941864,0.4
+1789729571596748231,15066,0.8370817303657532,-1.8980965614318848,-1.0070072412490845,1.3810490369796753,-0.1601363569498062,0.5938847064971924,0.7030156850814819,0.4
+1789729571630096780,15100,0.837081789970398,-1.898097276687622,-1.0070081949234009,1.381048560142517,-0.16013537347316742,0.5938841104507446,0.7030139565467834,0.4
+1789729571663431453,15133,0.8370813727378845,-1.8980965614318848,-1.007008671760559,1.3810482025146484,-0.16013558208942413,0.5938829779624939,0.7030136585235596,0.4
+1789729571696759307,15166,0.8370810747146606,-1.8980969190597534,-1.0070090293884277,1.3810484409332275,-0.16013550758361816,0.5938844084739685,0.7030149102210999,0.4
+1789729571730098788,15200,0.8370816707611084,-1.898097038269043,-1.0070096254348755,1.3810489177703857,-0.1601353883743286,0.5938841104507446,0.7030145525932312,0.4
+1789729571763431652,15233,0.8370820879936218,-1.8980966806411743,-1.0070102214813232,1.381048560142517,-0.160135880112648,0.5938820242881775,0.7030155062675476,0.4
+1789729571796758526,15266,0.8370832800865173,-1.898097038269043,-1.00701105594635,1.3810487985610962,-0.1601356714963913,0.5938819050788879,0.7030156254768372,0.4
+1789729571830100127,15300,0.8370837569236755,-1.8980989456176758,-1.0070115327835083,1.381049394607544,-0.16013549268245697,0.5938815474510193,0.7030147910118103,0.4
+1789729571863497215,15333,0.8370839953422546,-1.8981003761291504,-1.0070116519927979,1.3810486793518066,-0.16013571619987488,0.5938775539398193,0.7030149102210999,0.4
+1789729571896763354,15366,0.837083101272583,-1.898101568222046,-1.0070116519927979,1.3810501098632812,-0.16013604402542114,0.5938777923583984,0.7030136585235596,0.4
+1789729571930099906,15400,0.837083101272583,-1.8981016874313354,-1.0070123672485352,1.3810502290725708,-0.16013623774051666,0.5938782095909119,0.7030139565467834,0.4
+1789729571963438497,15433,0.8370826244354248,-1.898101806640625,-1.0070139169692993,1.381050705909729,-0.16013608872890472,0.5938794016838074,0.703015148639679,0.4
+1789729571996770571,15466,0.8370830416679382,-1.898102045059204,-1.007016658782959,1.381050705909729,-0.16013628244400024,0.593878984451294,0.7030155062675476,0.4
+1789729572030102701,15500,0.837083101272583,-1.8981019258499146,-1.0070171356201172,1.3810515403747559,-0.16013719141483307,0.593878984451294,0.7030156850814819,0.4
+1789729572063492623,15533,0.8370838165283203,-1.8981014490127563,-1.0070176124572754,1.3810508251190186,-0.16013669967651367,0.5938772559165955,0.7030143737792969,0.4
+1789729572096766982,15566,0.8370838165283203,-1.8981043100357056,-1.0070172548294067,1.3810505867004395,-0.1601363718509674,0.5938749313354492,0.7030138969421387,0.4
+1789729572130099098,15600,0.8370828628540039,-1.898103952407837,-1.0070174932479858,1.3810503482818604,-0.16013562679290771,0.5938746333122253,0.7030128836631775,0.4
+1789729572163430454,15633,0.8370826840400696,-1.898104190826416,-1.0070178508758545,1.3810497522354126,-0.16013550758361816,0.5938751697540283,0.7030120491981506,0.4
+1789729572196765039,15666,0.837083637714386,-1.8981035947799683,-1.0070178508758545,1.3810503482818604,-0.16013576090335846,0.5938759446144104,0.7030122876167297,0.4
+1789729572230097784,15700,0.8370839357376099,-1.8981045484542847,-1.0070191621780396,1.3810503482818604,-0.1601356714963913,0.5938746929168701,0.7030128836631775,0.4
+1789729572263425511,15733,0.8370839357376099,-1.8981051445007324,-1.0070207118988037,1.381049633026123,-0.16013655066490173,0.5938762426376343,0.7030125856399536,0.4
+1789729572296756807,15766,0.8370842933654785,-1.8981071710586548,-1.0070209503173828,1.381049633026123,-0.1601351648569107,0.593874454498291,0.7030127048492432,0.4
+1789729572330095371,15800,0.8370845317840576,-1.8981077671051025,-1.0070210695266724,1.3810499906539917,-0.1601346731185913,0.5938723683357239,0.7030131816864014,0.4
+1789729572363425477,15833,0.8370844721794128,-1.898106336593628,-1.0070208311080933,1.3810503482818604,-0.16013504564762115,0.5938720107078552,0.7030128836631775,0.4
+1789729572396760972,15866,0.8370835185050964,-1.8981069326400757,-1.0070215463638306,1.3810505867004395,-0.16013512015342712,0.5938729643821716,0.7030131816864014,0.4
+1789729572430096817,15900,0.8370835781097412,-1.8981080055236816,-1.0070215463638306,1.3810505867004395,-0.16013552248477936,0.5938722491264343,0.7030141949653625,0.4
+1789729572463422794,15933,0.8370839357376099,-1.8981077671051025,-1.0070219039916992,1.381050705909729,-0.1601361334323883,0.5938737988471985,0.7030138373374939,0.4
+1789729572496759119,15966,0.8370856046676636,-1.8981082439422607,-1.0070222616195679,1.381050944328308,-0.16013559699058533,0.5938732624053955,0.7030147314071655,0.4
+1789729572530096343,16000,0.8370893597602844,-1.8981091976165771,-1.0070226192474365,1.3810498714447021,-0.16013512015342712,0.5938693284988403,0.7030139565467834,0.4
+1789729572563492494,16033,0.8370923399925232,-1.8981131315231323,-1.007023811340332,1.3810505867004395,-0.16013573110103607,0.5938637256622314,0.7030131220817566,0.4
+1789729572596775291,16066,0.8370936512947083,-1.8981168270111084,-1.0070233345031738,1.3810503482818604,-0.16013382375240326,0.5938637852668762,0.7030119895935059,0.4
+1789729572630101898,16100,0.8370938897132874,-1.898116946220398,-1.0070239305496216,1.3810502290725708,-0.16013465821743011,0.5938623547554016,0.7030110359191895,0.4
+1789729572663428455,16133,0.8370929956436157,-1.8981170654296875,-1.007023811340332,1.3810499906539917,-0.1601339876651764,0.5938634872436523,0.703012228012085,0.4
diff --git a/episode_0003/left.observation.state.eef_pose/data.csv b/episode_0003/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f43df0f3e06846dfe829fda430af91207e62f6ad
--- /dev/null
+++ b/episode_0003/left.observation.state.eef_pose/data.csv
@@ -0,0 +1,486 @@
+timestamp_ns,elapsed_ms,x,y,z,r1,r2,r3,r4,r5,r6,gripper
+1789729556530065232,0,0.677929162979126,0.03283596411347389,-0.21511612832546234,-0.999948283250605,-0.009175301344940906,0.004410003643838011,-0.009045566864273852,0.9995503242003393,0.02858893416774776,0.0399399995803833
+1789729556563477825,33,0.6779298186302185,0.03283485397696495,-0.21511022746562958,-0.9999482225836243,-0.009179625636639484,0.004407075290010158,-0.009049982961198248,0.9995503450342442,0.028586807811162674,0.0399399995803833
+1789729556596779647,66,0.6779318451881409,0.03283338248729706,-0.21510426700115204,-0.9999482267343791,-0.009177266540721615,0.004400216865838965,-0.009047820074679172,0.999550361494165,0.028586916549989693,0.0399399995803833
+1789729556630117690,100,0.6779323220252991,0.03283281996846199,-0.2151004523038864,-0.9999482639324719,-0.009176657611865783,0.00439773747903867,-0.009047276158753921,0.9995503295497882,0.028588205774100973,0.0399399995803833
+1789729556663458912,133,0.6779323816299438,0.03282991424202919,-0.21509738266468048,-0.9999482828315196,-0.009172967050965337,0.004398603420189485,-0.00904359816615467,0.9995505826188008,0.028580520148647728,0.0399399995803833
+1789729556696791186,166,0.6779314875602722,0.03282971307635307,-0.21509304642677307,-0.9999482929071444,-0.009175705893361507,0.00439670952415402,-0.00904642721655965,0.9995507855726377,0.02857252598470917,0.03993000090122223
+1789729556730125460,200,0.6779303550720215,0.03282877802848816,-0.21508976817131042,-0.9999481891968176,-0.009182046818947952,0.004399057542882603,-0.009052715437003157,0.9995508317173095,0.028568919581547197,0.03993000090122223
+1789729556763452935,233,0.6779292821884155,0.032828424125909805,-0.21508671343326569,-0.9999481737211771,-0.009192719764360834,0.00440188392344688,-0.00906330586870633,0.9995507501809932,0.028568415280511072,0.03993000090122223
+1789729556796792807,266,0.6779288053512573,0.03282811492681503,-0.2150803804397583,-0.9999481092159157,-0.009188432601669322,0.004399910932149191,-0.009059087308065178,0.999550853506304,0.028566137185109395,0.03993000090122223
+1789729556830201911,300,0.6779298186302185,0.03282658010721207,-0.21507622301578522,-0.999948050245663,-0.009184869417516416,0.0043966204233738156,-0.009055629126559196,0.9995509445083793,0.02856404851494368,0.03993000090122223
+1789729556863524638,333,0.6779309511184692,0.0328248105943203,-0.21507228910923004,-0.999948206277081,-0.009181692338728606,0.0043930689872076975,-0.009052568147767406,0.99955105532111,0.02856114179043634,0.03993000090122223
+1789729556896874728,366,0.677931547164917,0.032821521162986755,-0.21506822109222412,-0.99994832128555,-0.009179910656425231,0.004391215957138145,-0.009050899055934121,0.9995514328376981,0.02854845675282755,0.03993000090122223
+1789729556930200024,400,0.6779308319091797,0.032821085304021835,-0.21506546437740326,-0.9999481587894159,-0.009179045844349695,0.004391785439623448,-0.009050044843696096,0.9995516031700614,0.028542761915329017,0.03993000090122223
+1789729556963530998,433,0.6779301762580872,0.032821815460920334,-0.21506176888942719,-0.9999483292267264,-0.009178489996990065,0.004390778949166013,-0.009049529017086493,0.9995516760138353,0.028540375679286807,0.03993000090122223
+1789729556996862273,466,0.6779289245605469,0.03282079100608826,-0.21505524218082428,-0.9999483372331759,-0.009178811204597154,0.004391919109408183,-0.009049855159900783,0.99955190345289,0.028532305792445825,0.0399399995803833
+1789729557030188501,500,0.6779282689094543,0.03281961753964424,-0.21505038440227509,-0.9999481865648381,-0.009179563118941553,0.004393518952389985,-0.009050585741240819,0.9995520473634251,0.028527030981229506,0.0399399995803833
+1789729557063533799,533,0.6779288649559021,0.0328197218477726,-0.2150469273328781,-0.9999482053105582,-0.009178917033062933,0.004389578824071362,-0.009050049182949067,0.9995520340087101,0.02852766909692446,0.0399399995803833
+1789729557096895564,566,0.6779306530952454,0.03281914070248604,-0.21504148840904236,-0.9999482681357694,-0.009175577586121947,0.004383576302871117,-0.009046871981146537,0.9995520008829373,0.028529837471628225,0.0399399995803833
+1789729557130168111,600,0.6779325604438782,0.032816167920827866,-0.21503905951976776,-0.9999483703676382,-0.009171369608602925,0.004379685263383174,-0.009042798810382785,0.9995521747730595,0.02852503645693214,0.0399399995803833
+1789729557163442678,633,0.6779321432113647,0.03281445801258087,-0.21503648161888123,-0.999948435778047,-0.009171493826188804,0.004381966142695117,-0.00904288613338473,0.999552346795398,0.02851898085834309,0.0399399995803833
+1789729557196773910,666,0.6779311895370483,0.03281392157077789,-0.2150323987007141,-0.9999482627809182,-0.009183017742924085,0.004384237065398029,-0.009054368838977575,0.9995524149395261,0.028512948126306305,0.0399399995803833
+1789729557230169016,700,0.6779301762580872,0.03281332924962044,-0.21502919495105743,-0.9999482423995163,-0.00918955658005435,0.004389151570830007,-0.009060768316856902,0.9995523762962308,0.028512270390967525,0.0399399995803833
+1789729557263446332,733,0.6779298782348633,0.0328122116625309,-0.21502487361431122,-0.9999482171357803,-0.009187853709735124,0.0043904544794176326,-0.009059033137729215,0.9995524172484598,0.028511385802812414,0.0399399995803833
+1789729557296773985,766,0.6779305934906006,0.032810647040605545,-0.21502092480659485,-0.9999481372098944,-0.009184948163228773,0.004388197301294158,-0.009056206118581395,0.9995525233265925,0.028508563959927936,0.0399399995803833
+1789729557330108776,800,0.6779303550720215,0.03280926123261452,-0.21501734852790833,-0.9999482399681014,-0.009185924233044648,0.004387429374460082,-0.009057225800923833,0.9995526498608607,0.028503803996629308,0.0399399995803833
+1789729557363443228,833,0.6779313683509827,0.032808393239974976,-0.21501360833644867,-0.9999482060633695,-0.009183903515202303,0.004384515186303268,-0.009055294437855426,0.9995527017923651,0.02850259599395996,0.0399399995803833
+1789729557396772931,866,0.6779308319091797,0.03280588611960411,-0.21500840783119202,-0.999948141603445,-0.009181627941429186,0.004385285256467862,-0.009053047251059484,0.999553025273604,0.028491963101630716,0.0399399995803833
+1789729557430111081,900,0.6779294610023499,0.03280440345406532,-0.21500340104103088,-0.9999481696198009,-0.00918179613732283,0.004388584889594389,-0.009053155782144728,0.9995532343917296,0.028484591740754656,0.0399399995803833
+1789729557463454530,933,0.6779290437698364,0.032804232090711594,-0.21499864757061005,-0.9999482014350471,-0.00918282866706216,0.004388570719708648,-0.009054183102550739,0.9995531931834895,0.02848571155295143,0.0399399995803833
+1789729557496780204,966,0.6779264807701111,0.03280219808220863,-0.2149951457977295,-0.9999480186734813,-0.00918669413537692,0.004396500367833068,-0.009057851172968263,0.9995533415828003,0.02847933654803104,0.0399399995803833
+1789729557530180098,1000,0.677925705909729,0.03280108794569969,-0.21499422192573547,-0.9999482202736032,-0.009184882233549655,0.004400250921179987,-0.009055939297518441,0.9995533953657862,0.02847805845860215,0.0399399995803833
+1789729557563441569,1033,0.6779265999794006,0.032800208777189255,-0.2149927169084549,-0.9999482161386712,-0.00918271878237548,0.004397932900392634,-0.009053843365724065,0.9995534189265484,0.02847789765212861,0.0399399995803833
+1789729557596773861,1066,0.6779271960258484,0.03279947489500046,-0.21499261260032654,-0.9999481303170918,-0.009182206707054427,0.004396084045353868,-0.00905339815077584,0.999553509113431,0.02847487276576225,0.0399399995803833
+1789729557630102913,1100,0.6779274344444275,0.03279753774404526,-0.21499305963516235,-0.9999482084335747,-0.009180699715373074,0.004395659973073916,-0.009051930062306736,0.9995536829583499,0.028469236949503082,0.0399399995803833
+1789729557663440534,1133,0.6779269576072693,0.03279687464237213,-0.21499337255954742,-0.9999481063702818,-0.009178951649671682,0.004397307286637323,-0.009050152543207027,0.9995538010939287,0.028465653235000478,0.0399399995803833
+1789729557696772886,1166,0.6779259443283081,0.03279716148972511,-0.21499359607696533,-0.999948248433344,-0.009184361284022925,0.004397498818612754,-0.009055570316528337,0.9995538480577887,0.0284622824366296,0.0399399995803833
+1789729557730168352,1200,0.6779253482818604,0.03279649466276169,-0.21499398350715637,-0.999948199584755,-0.009191212675052487,0.004399481056386753,-0.009062370556841923,0.9995538346176649,0.028460590183429932,0.0399399995803833
+1789729557763436730,1233,0.6779256463050842,0.03279607370495796,-0.2149929702281952,-0.999948194074904,-0.009191236810309686,0.0043974115440033705,-0.009062454442678572,0.9995538396344589,0.028460387166032546,0.0399399995803833
+1789729557796771481,1266,0.6779277920722961,0.03279254585504532,-0.2149914801120758,-0.9999480819787776,-0.009186906612030681,0.004394185896157872,-0.0090582360750824,0.9995539907410715,0.02845642150516604,0.0399399995803833
+1789729557830155930,1300,0.6779288053512573,0.032789722084999084,-0.21499237418174744,-0.9999482529398556,-0.009181372009232754,0.004394784162730659,-0.00905269774028749,0.999554108679364,0.02845404211427994,0.0399399995803833
+1789729557863444083,1333,0.6779285669326782,0.032790448516607285,-0.21499234437942505,-0.9999482061709959,-0.009181311904028143,0.004393577445406166,-0.00905267962331603,0.9995541558048814,0.028452391958854302,0.0399399995803833
+1789729557896770517,1366,0.6779274344444275,0.03279031068086624,-0.21499209105968475,-0.9999480666749747,-0.009182506843020827,0.004394769742224608,-0.00905386301096242,0.9995542844561256,0.028447494413114,0.0399399995803833
+1789729557930167452,1400,0.6779254078865051,0.032791245728731155,-0.2149917185306549,-0.9999481586055761,-0.009186284370776232,0.004397064902837481,-0.009057597762086533,0.9995543966578448,0.028442363721874114,0.0399399995803833
+1789729557963398170,1433,0.6779237985610962,0.03279133141040802,-0.2149919718503952,-0.9999480625679671,-0.009191674275664743,0.004400951361280957,-0.009062890772166663,0.9995544439456169,0.028439015377670095,0.0399399995803833
+1789729557996764363,1466,0.6779242157936096,0.032790638506412506,-0.21499155461788177,-0.999948051503728,-0.009191849600772633,0.004399851110735171,-0.009063099108230938,0.9995544532585465,0.02843862154579455,0.0399399995803833
+1789729558030105415,1500,0.6779247522354126,0.03278885409235954,-0.2149917483329773,-0.9999480111655368,-0.009189063249500501,0.004399850571271104,-0.0090603205100738,0.999554518995622,0.028437195856321762,0.0399399995803833
+1789729558063441073,1533,0.6779252886772156,0.03278734162449837,-0.21499104797840118,-0.9999481570302347,-0.00918796402370822,0.004398630344053191,-0.0090592715760727,0.9995546213296078,0.028433933876683398,0.0399399995803833
+1789729558096774282,1566,0.677926242351532,0.03278430178761482,-0.2149912714958191,-0.999948151504733,-0.009183838319883559,0.004397275595589452,-0.00905522601121323,0.9995549025274088,0.02842533573917141,0.0399399995803833
+1789729558130103483,1600,0.6779256463050842,0.03278392553329468,-0.2149912416934967,-0.9999481584311483,-0.009185922613233538,0.004396789528844655,-0.00905736121633532,0.9995551147508647,0.028417191810738318,0.0399399995803833
+1789729558163432843,1633,0.677924633026123,0.032783810049295425,-0.21499203145503998,-0.9999482206362746,-0.009186326806477536,0.004397700728583091,-0.009057768269093141,0.9995552872412852,0.02841099470792942,0.0399399995803833
+1789729558196768471,1666,0.6779236197471619,0.0327841117978096,-0.21499256789684296,-0.9999479526285593,-0.009198442433857909,0.004398757024582407,-0.009069853873689762,0.9995552063718339,0.02840998304110786,0.0399399995803833
+1789729558230094982,1700,0.6779239773750305,0.032783541828393936,-0.21499128639698029,-0.9999480065732713,-0.009199105939273634,0.004398797665180733,-0.00907050710855185,0.999555146411886,0.028411884482029862,0.0399399995803833
+1789729558263442328,1733,0.6779246926307678,0.03278298303484917,-0.21499019861221313,-0.9999480337056523,-0.00919886974495807,0.004397487130357251,-0.009070303768630408,0.9995551212874677,0.02841283343126918,0.0399399995803833
+1789729558296764800,1766,0.6779264211654663,0.03278122469782829,-0.21498990058898926,-0.9999480168866419,-0.009193003500249305,0.004395138886537875,-0.00906450931902604,0.9995551913594118,0.02841221686594142,0.0399399995803833
+1789729558330110406,1800,0.6779263019561768,0.032779909670352936,-0.2149910032749176,-0.9999480696047351,-0.00919358697683244,0.004395218271396849,-0.009065120750556583,0.9995553715823131,0.02840568116936821,0.0399399995803833
+1789729558363438576,1833,0.6779258251190186,0.032778993248939514,-0.21499179303646088,-0.999948041274697,-0.009196595478979191,0.004394035103596213,-0.009068205356585951,0.9995556104847566,0.028396288374122402,0.0399399995803833
+1789729558396774894,1866,0.6779237985610962,0.032779760658741,-0.2149924784898758,-0.9999480666696288,-0.00919851795109659,0.004394838030205455,-0.009070139210688572,0.9995558058716651,0.028388792454407452,0.0399399995803833
+1789729558430106494,1900,0.6779225468635559,0.0327799916267395,-0.21499207615852356,-0.9999480079601395,-0.009203807299698955,0.0043968121552683676,-0.009075380061325453,0.9995558164632116,0.02838674452583645,0.03993000090122223
+1789729558463438423,1933,0.677922785282135,0.03277958929538727,-0.21499112248420715,-0.9999480331661192,-0.009206092212480201,0.004397072825732555,-0.009077652523418354,0.9995557704236249,0.028387639423153477,0.03993000090122223
+1789729558496781170,1966,0.6779227256774902,0.032778847962617874,-0.2149897813796997,-0.9999480216463073,-0.009203449809491662,0.004397926668349651,-0.009074988853249375,0.9995558061991502,0.028387231128542415,0.03993000090122223
+1789729558530127386,2000,0.677925705909729,0.03277479112148285,-0.21498894691467285,-0.9999481168465703,-0.009196845998527681,0.0043936500875771944,-0.0090685325066173,0.9995560090674197,0.028382150774544222,0.03993000090122223
+1789729558563435192,2033,0.6779256463050842,0.03277337923645973,-0.21499040722846985,-0.9999479791745265,-0.009195532436093596,0.004394557865235623,-0.00906721631273512,0.9995561587496997,0.028377298257232193,0.03993000090122223
+1789729558596772330,2066,0.6779257655143738,0.032773539423942566,-0.21498866379261017,-0.9999481176285758,-0.009195095683702673,0.0043917535030226235,-0.009066875656481474,0.9995562622422716,0.02837376243611882,0.03993000090122223
+1789729558630100690,2100,0.6779239177703857,0.03277338296175003,-0.21498973667621613,-0.9999479938332112,-0.009196691413996745,0.004396822169953717,-0.00906834735459468,0.9995563720289583,0.02836942351766829,0.03993000090122223
+1789729558663448816,2133,0.6779236197471619,0.03277266025543213,-0.21499046683311462,-0.999948107762018,-0.009199364043277104,0.004397009844962035,-0.009071034036373925,0.9995564720155034,0.0283650424536355,0.0399399995803833
+1789729558696771867,2166,0.6779241561889648,0.0327695794403553,-0.21498934924602509,-0.9999479380231953,-0.009203914565080627,0.004397182548364166,-0.009075605715684222,0.9995566000679067,0.028359066013839716,0.0399399995803833
+1789729558730103297,2200,0.6779245138168335,0.03276849538087845,-0.2149900197982788,-0.9999479191772704,-0.009202516221379544,0.004397730229745288,-0.009074195509103631,0.9995566317504951,0.02835840034402685,0.0399399995803833
+1789729558763430938,2233,0.6779241561889648,0.03277023881673813,-0.2149900645017624,-0.9999478703488507,-0.009204045863822063,0.00439468092546916,-0.009075818967209437,0.9995566661673257,0.028356667289969,0.0399399995803833
+1789729558796768516,2266,0.6779263019561768,0.0327659547328949,-0.21499019861221313,-0.9999481502647669,-0.009196773706631075,0.004392410225340152,-0.009068646402495942,0.9995569290452373,0.02834969645910019,0.0399399995803833
+1789729558830158170,2300,0.6779278516769409,0.0327630490064621,-0.21499082446098328,-0.9999480287906624,-0.00919340075527434,0.004389868587365675,-0.009065366739262358,0.9995570808988937,0.028345389704696605,0.0399399995803833
+1789729558863439303,2333,0.6779274344444275,0.03276417404413223,-0.2149902880191803,-0.9999479828864701,-0.009195122110131515,0.004388499152365535,-0.00906713372346668,0.9995571108747626,0.028343767154422526,0.0399399995803833
+1789729558896840965,2366,0.6779245734214783,0.032766636461019516,-0.21499188244342804,-0.9999480739275026,-0.009203768062141727,0.004390545129307867,-0.009075742450587409,0.9995571793978618,0.028338596356338088,0.0399399995803833
+1789729558930098163,2400,0.6779236793518066,0.03276599943637848,-0.2149927020072937,-0.9999480420657825,-0.00920574647057367,0.004394223150947799,-0.009077621143397866,0.9995571936272483,0.02833749272239364,0.0399399995803833
+1789729558963437721,2433,0.6779237985610962,0.0327647365629673,-0.2149919718503952,-0.9999480236034444,-0.009204656999108928,0.004395599059682832,-0.009076496180590655,0.9995572222130952,0.028336844569927716,0.0399399995803833
+1789729558996772679,2466,0.6779248714447021,0.03276347368955612,-0.2149907648563385,-0.9999480344170479,-0.009202217605152977,0.004393625628108046,-0.009074111869950848,0.9995572334472972,0.028337211743906365,0.0399399995803833
+1789729559030107730,2500,0.6779248118400574,0.032763924449682236,-0.21499042212963104,-0.9999480182230716,-0.009201086957993505,0.004392738443904431,-0.0090730094584963,0.9995572598459902,0.028336633312749854,0.0399399995803833
+1789729559063439756,2533,0.6779252290725708,0.03276165947318077,-0.2149905562400818,-0.999948100652285,-0.009199418551583963,0.004393783934527797,-0.00907133774708396,0.999557431074809,0.02833112855651427,0.0399399995803833
+1789729559096770463,2566,0.6779256463050842,0.03275870159268379,-0.21499040722846985,-0.999947921045701,-0.009198055621847985,0.004395859205771243,-0.009069946136463796,0.9995576232651772,0.028324791248204195,0.0399399995803833
+1789729559130098560,2600,0.6779245734214783,0.03275950625538826,-0.21499094367027283,-0.9999480865725907,-0.009200252401518203,0.004397071380991093,-0.009072119716944795,0.9995576761685202,0.028322229620006956,0.0399399995803833
+1789729559163436845,2633,0.6779235601425171,0.03275918588042259,-0.2149914652109146,-0.9999480013788447,-0.009200562574356946,0.004400529168842098,-0.009072345925221575,0.9995577589114368,0.028319236287116786,0.0399399995803833
+1789729559196768422,2666,0.6779235005378723,0.0327579490840435,-0.21499234437942505,-0.9999479591016491,-0.009200007045556615,0.004401733210162979,-0.009071763506585848,0.9995578063880491,0.02831774675899929,0.0399399995803833
+1789729559230102008,2700,0.6779239773750305,0.032757457345724106,-0.21499204635620117,-0.9999479932078912,-0.00919892640221448,0.004400664005613173,-0.009070707937638034,0.9995577820415402,0.02831894440521651,0.0399399995803833
+1789729559263441663,2733,0.6779250502586365,0.032756075263023376,-0.21499109268188477,-0.9999479686428163,-0.009195127787127902,0.004399005123259636,-0.009066961830853135,0.9995578410671236,0.028318060127274367,0.0399399995803833
+1789729559296769670,2766,0.6779254078865051,0.032754939049482346,-0.21499165892601013,-0.9999481034582278,-0.009195430490766423,0.004398581815554166,-0.009067293443586708,0.9995579417516064,0.028314400857043488,0.0399399995803833
+1789729559330106335,2800,0.6779254078865051,0.03275333344936371,-0.21499240398406982,-0.9999479419798769,-0.009195806203901742,0.0043994806910423925,-0.009067670154005518,0.9995580997937836,0.028308699219879458,0.0399399995803833
+1789729559363430404,2833,0.6779247522354126,0.03275296837091446,-0.21499226987361908,-0.9999480119712216,-0.009196931981223486,0.004400468149522293,-0.009068795286453237,0.9995582579187231,0.028302755570232957,0.0399399995803833
+1789729559396765570,2866,0.6779236197471619,0.032753873616456985,-0.2149917632341385,-0.9999479288906472,-0.009203697771853618,0.00440075974191686,-0.009075563808431527,0.9995582791589083,0.028299835549628536,0.0399399995803833
+1789729559430099176,2900,0.6779229640960693,0.03275506943464279,-0.21499133110046387,-0.9999479220949641,-0.009208089128841914,0.004399994120188669,-0.00907997618003825,0.9995582457043917,0.028299602046519944,0.0399399995803833
+1789729559463429283,2933,0.6779258847236633,0.03275070711970329,-0.21499080955982208,-0.9999480565567271,-0.009201466789617183,0.004396275729282362,-0.009073478756541756,0.9995584096150578,0.028295896793855243,0.0399399995803833
+1789729559496767948,2966,0.6779267191886902,0.032749272882938385,-0.2149917483329773,-0.9999480073093214,-0.009198582557117932,0.004395202072794689,-0.009070634139713193,0.999558485037876,0.028294143808222844,0.0399399995803833
+1789729559530161868,3000,0.6779264211654663,0.03274999186396599,-0.2149917483329773,-0.999948145740706,-0.009198070822834506,0.004393148590740547,-0.009070197121264575,0.9995585893372317,0.02829060003147338,0.0399399995803833
+1789729559563440279,3033,0.6779255867004395,0.03274957090616226,-0.2149924337863922,-0.9999479732359411,-0.009200649579790991,0.0043939338376565796,-0.009072781033776019,0.9995587382550825,0.02828450816038614,0.0399399995803833
+1789729559596771325,3066,0.6779242753982544,0.03274774178862572,-0.21499302983283997,-0.9999479874165562,-0.009204256842515288,0.004399019962551015,-0.009076280049820043,0.9995589299934516,0.028276609082877123,0.0399399995803833
+1789729559630095774,3100,0.6779223680496216,0.032748691737651825,-0.21499356627464294,-0.9999478685191647,-0.009211228533085458,0.0044009756730440195,-0.00908321329884051,0.9995589853048862,0.028272426894899037,0.0399399995803833
+1789729559663432119,3133,0.6779224276542664,0.032748352736234665,-0.2149922102689743,-0.9999478855184596,-0.009209070538845225,0.0044014085918631235,-0.009081041131742913,0.9995589881121881,0.02827302540880512,0.0399399995803833
+1789729559696769424,3166,0.6779226064682007,0.032747782766819,-0.2149927020072937,-0.9999478649404121,-0.009208552730220098,0.004400345772771799,-0.009080556950346642,0.9995590132727715,0.028272291153356242,0.0399399995803833
+1789729559730099681,3200,0.6779229044914246,0.03274679183959961,-0.21499288082122803,-0.9999478270487197,-0.00920717932354238,0.004400134689901848,-0.00907919630246783,0.9995590636672066,0.028270946021900778,0.0399399995803833
+1789729559763432368,3233,0.6779248118400574,0.03274400904774666,-0.21499215066432953,-0.9999479264669704,-0.009203489195729848,0.00439682610500617,-0.009075624023485645,0.9995592358472953,0.028266005326895223,0.0399399995803833
+1789729559796768244,3266,0.6779240369796753,0.032745543867349625,-0.21499218046665192,-0.9999479242250857,-0.009208793819454105,0.00439280373207683,-0.00908107977758971,0.9995594272877557,0.028257482180505958,0.0399399995803833
+1789729559830100800,3300,0.6779225468635559,0.03274672105908394,-0.21499134600162506,-0.9999479751160341,-0.009212411466047054,0.004392413321480921,-0.00908473789362958,0.9995595815111973,0.02825085081614008,0.0399399995803833
+1789729559863429837,3333,0.6779220700263977,0.032746173441410065,-0.21499072015285492,-0.9999479231075057,-0.009210405055222082,0.004394354269309841,-0.009082686057898637,0.9995596520854354,0.028249012988060387,0.0399399995803833
+1789729559896767852,3366,0.6779215335845947,0.03274501860141754,-0.21499082446098328,-0.9999478892433116,-0.00921361707519784,0.0043977573062623475,-0.009085806318000949,0.9995596569788463,0.028247836493642382,0.0399399995803833
+1789729559930097519,3400,0.6779220104217529,0.03274482488632202,-0.21499058604240417,-0.9999478824601289,-0.009216989484249916,0.004396199123495408,-0.009089222485679626,0.9995596326925087,0.028247597005649664,0.0399399995803833
+1789729559963430346,3433,0.6779240369796753,0.032741572707891464,-0.2149907499551773,-0.9999480171657398,-0.00921226422101629,0.004394108896745431,-0.009084575202661812,0.9995597792762531,0.02824390541423967,0.0399399995803833
+1789729559996770370,3466,0.6779235601425171,0.03274157643318176,-0.21499118208885193,-0.9999480438746664,-0.009210190847041572,0.00439539964146518,-0.009082461821794157,0.9995597717205434,0.028244852584705094,0.0399399995803833
+1789729560030096599,3500,0.6779235601425171,0.0327424556016922,-0.2149907946586609,-0.9999479966088884,-0.009211665707754446,0.004393199960816496,-0.009084005968910236,0.9995598051756569,0.028243171669911235,0.03994999825954437
+1789729560063428692,3533,0.677923858165741,0.03274108096957207,-0.21499042212963104,-0.9999478147222689,-0.009213084744174385,0.004391526166461091,-0.009085501643935276,0.9995599737265607,0.028236723239844816,0.03994999825954437
+1789729560096768934,3566,0.6779225468635559,0.03274167329072952,-0.2149907797574997,-0.9999478879801227,-0.009214688261938234,0.00439242688545014,-0.009087106330973357,0.9995601241844463,0.028230880876624703,0.03993000090122223
+1789729560130098377,3600,0.6779220104217529,0.032741207629442215,-0.2149917334318161,-0.9999478141487119,-0.009216423553198627,0.004393656789383164,-0.009088818407895882,0.9995601822375643,0.028228273738590534,0.03993000090122223
+1789729560163433000,3633,0.6779226660728455,0.032740164548158646,-0.21499206125736237,-0.9999478171964211,-0.009214174211604422,0.0043931105599592365,-0.009086584867147416,0.999560199707022,0.028228374047843223,0.03993000090122223
+1789729560196779030,3666,0.677923858165741,0.032737959176301956,-0.21499234437942505,-0.9999479976836987,-0.009213038473024847,0.004392394787835219,-0.009085479324137226,0.9995602678724608,0.028226317397868482,0.03993000090122223
+1789729560230096276,3700,0.6779239773750305,0.03273816034197807,-0.21499201655387878,-0.9999479418324633,-0.009213918514493366,0.0043910608611396635,-0.009086405845249348,0.9995603154570742,0.028224333583957806,0.03993000090122223
+1789729560263432718,3733,0.6779242753982544,0.03273804113268852,-0.2149917185306549,-0.9999479526556325,-0.009212631590178355,0.004390951064885698,-0.009085120745931508,0.9995603164029421,0.028224713761248937,0.03993000090122223
+1789729560296768621,3766,0.6779242753982544,0.03273753821849823,-0.21499165892601013,-0.9999478336614003,-0.00921352450624372,0.004391493195512458,-0.009086017630525934,0.9995604272075994,0.028220499817604827,0.0399399995803833
+1789729560330056265,3800,0.6779229640960693,0.03273708373308182,-0.21499232947826385,-0.9999478974029314,-0.009217627282741895,0.004394784214758104,-0.009090054789164467,0.9995605646069008,0.028214333297615284,0.0399399995803833
+1789729560363438915,3833,0.6779226064682007,0.032735493034124374,-0.2149931639432907,-0.9999477105565266,-0.009225042751876446,0.004395654248581793,-0.009097473620867623,0.999560683515109,0.028207727858253713,0.0399399995803833
+1789729560396831463,3866,0.6779221296310425,0.03273607790470123,-0.21499355137348175,-0.9999479176539952,-0.009223656897835403,0.0043956721259280004,-0.009096092987432452,0.9995607274885734,0.028206616363356408,0.0399399995803833
+1789729560430102742,3900,0.6779226660728455,0.03273572400212288,-0.21499314904212952,-0.9999479208568802,-0.009220982763036515,0.0043951853899980315,-0.009093433105893386,0.9995607487170828,0.028206721537903618,0.0399399995803833
+1789729560463435615,3933,0.6779253482818604,0.03273236006498337,-0.21499226987361908,-0.9999478359585359,-0.009214622216447556,0.004390792853596205,-0.009087212898165695,0.9995608912108759,0.028203675174968437,0.0399399995803833
+1789729560496768358,3966,0.6779274940490723,0.03272813931107521,-0.21499206125736237,-0.9999478726153443,-0.0092087398341869,0.004388325301427258,-0.009081435659732413,0.9995611462939594,0.028196494522297784,0.0399399995803833
+1789729560530104570,4000,0.6779259443283081,0.03272880241274834,-0.2149926722049713,-0.9999480128616429,-0.009212039030069246,0.00438953414423056,-0.009084715678436757,0.9995612143485468,0.02819302654535383,0.0399399995803833
+1789729560563435623,4033,0.6779242753982544,0.03272968903183937,-0.21499410271644592,-0.9999478658760046,-0.009216608686399909,0.004390673095797229,-0.009089275683840036,0.999561319553593,0.028187825575745996,0.0399399995803833
+1789729560596767977,4066,0.6779235601425171,0.03272899612784386,-0.21499335765838623,-0.9999478336592986,-0.009219167578939591,0.004393463933796388,-0.009091760268243543,0.9995613286806103,0.02818670065715218,0.0399399995803833
+1789729560630099220,4100,0.6779240369796753,0.032727986574172974,-0.21499352157115936,-0.9999478739566214,-0.009218720091656363,0.004393595061632144,-0.009091302611584973,0.9995612925276217,0.028188130585649857,0.0399399995803833
+1789729560663431783,4133,0.6779241561889648,0.03272773325443268,-0.21499353647232056,-0.9999478820897929,-0.009217628525030398,0.004393946759559075,-0.009090200228491928,0.9995612944389205,0.028188418327494424,0.0399399995803833
+1789729560696772644,4166,0.6779258251190186,0.03272435814142227,-0.21499350666999817,-0.9999479882623332,-0.009213572632883672,0.004391733782596148,-0.009086230111948111,0.9995614633980906,0.02818370710413256,0.0399399995803833
+1789729560730099388,4200,0.6779263019561768,0.03272312134504318,-0.21499329805374146,-0.9999478900040972,-0.009211961695190955,0.0043908823654595745,-0.009084660008602249,0.9995615762114329,0.028180211094353987,0.0399399995803833
+1789729560763437870,4233,0.6779258251190186,0.032723814249038696,-0.21499226987361908,-0.9999478604188439,-0.009213318330940554,0.0043898355731934405,-0.009086050466255404,0.9995615932272909,0.028179159061587546,0.0399399995803833
+1789729560796770853,4266,0.6779245734214783,0.032723069190979004,-0.21499061584472656,-0.9999479355346315,-0.009215784189469878,0.004392902038015064,-0.009088455969542896,0.9995617342146597,0.028173382548678703,0.0399399995803833
+1789729560830099127,4300,0.6779242753982544,0.032723069190979004,-0.2149905264377594,-0.9999479085786971,-0.009216470206177853,0.004393228310078804,-0.00908913698109107,0.9995617549133542,0.028172428319581878,0.0399399995803833
+1789729560863434120,4333,0.6779233813285828,0.032722849398851395,-0.21499119699001312,-0.9999478623781475,-0.009219653646022608,0.00439567593386773,-0.009092257888176924,0.9995617722512394,0.02817080601848433,0.0399399995803833
+1789729560896769052,4366,0.6779230237007141,0.03272189199924469,-0.2149919718503952,-0.9999478581829984,-0.009220896924328644,0.004397741259120744,-0.009093443226827317,0.999561765325003,0.02817066930486316,0.0399399995803833
+1789729560930096196,4400,0.6779232621192932,0.032721154391765594,-0.21499232947826385,-0.9999478688806727,-0.009218971784804658,0.004397418755070777,-0.009091526160230817,0.9995617722212956,0.028171043300308615,0.0399399995803833
+1789729560963433478,4433,0.6779237985610962,0.032720159739255905,-0.2149919718503952,-0.9999477946292039,-0.009217308908027537,0.004395847018868327,-0.009089920461272867,0.9995618614370966,0.028168395035268287,0.0399399995803833
+1789729560996768441,4466,0.677925169467926,0.0327167771756649,-0.21499277651309967,-0.9999479239498132,-0.009214868753922918,0.004392657159628383,-0.00908762848433358,0.9995622305703089,0.02815603379279291,0.0399399995803833
+1789729561030093926,4500,0.6779241561889648,0.032716620713472366,-0.2149936407804489,-0.999947954031303,-0.009216157410744153,0.004393151696373583,-0.009088937155237575,0.9995624269977958,0.02814863741053132,0.0399399995803833
+1789729561063435633,4533,0.6779234409332275,0.032717347145080566,-0.21499334275722504,-0.9999478892697347,-0.009218324455247536,0.004392780539614469,-0.009091124487620365,0.9995624718257117,0.02814633875511975,0.0399399995803833
+1789729561096779900,4566,0.6779230833053589,0.03271832317113876,-0.21499250829219818,-0.9999479105943585,-0.009219235468270602,0.004392927274080286,-0.009092027487893763,0.9995624421954213,0.028147099564015978,0.0399399995803833
+1789729561130101182,4600,0.6779225468635559,0.032717712223529816,-0.2149927169084549,-0.9999478915750717,-0.009220035493457528,0.004395154461171148,-0.009092767697815847,0.9995624541619201,0.02814643547524942,0.0399399995803833
+1789729561163435741,4633,0.6779232025146484,0.03271767124533653,-0.21499177813529968,-0.9999478882218564,-0.00922096730042055,0.00439235560567451,-0.009093778412278094,0.9995624486194191,0.02814630571887831,0.0399399995803833
+1789729561196771230,4666,0.6779236793518066,0.03271624818444252,-0.214992493391037,-0.9999477787786166,-0.009218715400523363,0.004391823309772893,-0.009091560464216848,0.9995625785307757,0.028142407372696777,0.0399399995803833
+1789729561230157575,4700,0.6779237389564514,0.03271598741412163,-0.21499253809452057,-0.9999479052282092,-0.009219489296064668,0.004390382469876614,-0.009092393080662649,0.9995626831221911,0.028138424205887524,0.0399399995803833
+1789729561263437228,4733,0.6779254078865051,0.03271236643195152,-0.2149924337863922,-0.999947986969407,-0.009216343671625302,0.004389058924350901,-0.009089311807799452,0.9995628682859853,0.02813284191864674,0.0399399995803833
+1789729561296771917,4766,0.6779245734214783,0.03271202743053436,-0.21499350666999817,-0.9999478886268465,-0.009220000115970886,0.004390878776879756,-0.009092931904310394,0.9995629333140147,0.028129360976884343,0.0399399995803833
+1789729561330100337,4800,0.6779224276542664,0.03271440044045448,-0.21499526500701904,-0.999947801448388,-0.009227167679832365,0.004392150582123958,-0.009100075305368688,0.9995629549332802,0.02812628241737891,0.0399399995803833
+1789729561363435586,4833,0.6779223084449768,0.032714590430259705,-0.2149949073791504,-0.9999477831761647,-0.009226704187106805,0.00439128872798355,-0.009099639241085367,0.9995629773279242,0.028125627417806005,0.0399399995803833
+1789729561396769335,4866,0.6779226660728455,0.032713383436203,-0.2149946093559265,-0.999947752705947,-0.00922263884721997,0.004391683310053303,-0.009095569456717963,0.9995630450699743,0.028124535807421882,0.0399399995803833
+1789729561430103224,4900,0.677924633026123,0.03271150961518288,-0.21499228477478027,-0.9999479803655169,-0.009219587241608894,0.0043873105720448466,-0.009092643731587892,0.9995630831824829,0.028124128700652565,0.0399399995803833
+1789729561463437863,4933,0.6779240965843201,0.03271280229091644,-0.2149907350540161,-0.9999478903765151,-0.009222305270038944,0.0043842747779521025,-0.009095460865869575,0.9995631478216946,0.028120919627724728,0.0399399995803833
+1789729561496769963,4966,0.6779224872589111,0.03271360322833061,-0.21499142050743103,-0.9999479263176028,-0.009225765177030245,0.004386203981065803,-0.009098898655381247,0.999563318676945,0.028113734088488062,0.0399399995803833
+1789729561530098693,5000,0.6779212355613708,0.0327119417488575,-0.21499279141426086,-0.9999477744612044,-0.00922593012218955,0.004391612557899044,-0.009098936715865126,0.999563469603128,0.028108354201682693,0.0399399995803833
+1789729561563501495,5033,0.6779210567474365,0.032710347324609756,-0.21499411761760712,-0.9999476915856831,-0.009223980906567026,0.004394635709986272,-0.009096917078041538,0.9995635706629203,0.02810541327539562,0.0399399995803833
+1789729561596771550,5066,0.6779206991195679,0.03271092474460602,-0.21499454975128174,-0.9999478750983246,-0.009224380274672967,0.004393712521393305,-0.009097351311498596,0.9995636217282153,0.02810345794956049,0.0399399995803833
+1789729561630101460,5100,0.6779209971427917,0.03271117061376572,-0.21499378979206085,-0.9999478215305895,-0.009225732379851838,0.00439049259773544,-0.009098802174312436,0.9995636624532942,0.0281015392795411,0.0399399995803833
+1789729561663427291,5133,0.6779239177703857,0.032707344740629196,-0.21499289572238922,-0.9999479581852668,-0.009220605162658713,0.004387018274101484,-0.009093791375109406,0.9995638106367152,0.0280978907409311,0.0399399995803833
+1789729561696765759,5166,0.677924394607544,0.032706886529922485,-0.21499241888523102,-0.9999478937497206,-0.00921920245772901,0.004384809778922985,-0.009092461884497298,0.9995638875837484,0.028095582884587935,0.0399399995803833
+1789729561730101567,5200,0.6779226660728455,0.03270941227674484,-0.21499314904212952,-0.9999479646966749,-0.009224281609822534,0.0043833841389509555,-0.009097606743019897,0.999564008205603,0.028089626241876522,0.0399399995803833
+1789729561763435086,5233,0.6779221296310425,0.03270995616912842,-0.21499264240264893,-0.9999479491149055,-0.009225210805524735,0.004383584117600793,-0.009098532534994493,0.9995640152883273,0.028089074292705775,0.0399399995803833
+1789729561796772205,5266,0.6779208183288574,0.03270904719829559,-0.21499404311180115,-0.9999478987115609,-0.009227180794900758,0.004389128366450973,-0.00910035446821883,0.9995640483154451,0.02808730867448473,0.03993000090122223
+1789729561830097906,5300,0.67792147397995,0.03270821273326874,-0.21499314904212952,-0.9999478604929168,-0.009233064408864167,0.004387624607872602,-0.009106284294851729,0.9995640323767536,0.02808595403381273,0.03993000090122223
+1789729561863431395,5333,0.6779213547706604,0.032707635313272476,-0.2149934023618698,-0.9999478319477793,-0.009232547572868404,0.004387666763443994,-0.009105771202950636,0.9995640656448637,0.02808493611862689,0.03993000090122223
+1789729561896780630,5366,0.6779237985610962,0.03270460665225983,-0.2149915099143982,-0.9999477781017094,-0.00922722902011333,0.004383387453760404,-0.009100583746182807,0.999564167653516,0.028082985953053804,0.03993000090122223
+1789729561930174644,5400,0.6779240965843201,0.03270374983549118,-0.2149912565946579,-0.9999477249388615,-0.0092253403226218,0.004383116613526708,-0.009098712182510228,0.9995642380477802,0.028081086210004692,0.03993000090122223
+1789729561963440460,5433,0.677923321723938,0.03270303085446358,-0.21499115228652954,-0.9999478147343832,-0.009226515791575863,0.004385217817528418,-0.009099852815735764,0.9995643760361304,0.028075805175554427,0.03993000090122223
+1789729561996771450,5466,0.6779220104217529,0.03270323947072029,-0.21499137580394745,-0.9999476876943545,-0.009228599967803924,0.004387539086796342,-0.009101892076215784,0.999564484177916,0.028071292921355996,0.03993000090122223
+1789729562030104999,5500,0.6779215931892395,0.03270340710878372,-0.21499119699001312,-0.9999476652776542,-0.009231279854916574,0.004388817475673236,-0.009104538760460457,0.9995644821759581,0.028070505966732256,0.0399399995803833
+1789729562063437984,5533,0.6779209971427917,0.03270261362195015,-0.2149920016527176,-0.9999476202371709,-0.009232680907000617,0.004392220118174079,-0.009105851279868588,0.9995645147738589,0.028068919267712284,0.0399399995803833
+1789729562096774909,5566,0.677920401096344,0.03270214423537254,-0.21499241888523102,-0.9999478167260827,-0.009233917815136106,0.004394620782149995,-0.009107027321671513,0.9995645456162887,0.02806744104620995,0.0399399995803833
+1789729562130101975,5600,0.67792147397995,0.03270108625292778,-0.21499183773994446,-0.99994777957944,-0.009231553151891815,0.0043920632307239,-0.00910474147810738,0.9995646040886517,0.02806609968901984,0.0399399995803833
+1789729562163432261,5633,0.6779235601425171,0.032697733491659164,-0.21499226987361908,-0.999947878230119,-0.0092277201291798,0.004389242353011024,-0.009101012234127875,0.9995647785015688,0.028061097512454936,0.0399399995803833
+1789729562196770345,5666,0.6779237985610962,0.032697614282369614,-0.21499131619930267,-0.999947840621735,-0.0092285479287907,0.004388519203221428,-0.009101866215813867,0.999564808401653,0.028059755168391626,0.0399399995803833
+1789729562230104060,5700,0.6779226660728455,0.032698214054107666,-0.21499021351337433,-0.9999477401848265,-0.009229658109142842,0.004390039056775763,-0.009102949987142499,0.9995648987817097,0.028056183141197573,0.0399399995803833
+1789729562263435126,5733,0.6779209971427917,0.0326976515352726,-0.21499139070510864,-0.9999478238988349,-0.009231196847152318,0.0043939757222713795,-0.009104403417183465,0.9995650397470184,0.028050689679281662,0.0399399995803833
+1789729562296770001,5766,0.6779214143753052,0.03269742801785469,-0.21499089896678925,-0.9999478500593206,-0.009231674399313843,0.00439313815993641,-0.00910489992002826,0.9995650091204493,0.028051620072748685,0.0399399995803833
+1789729562330099357,5800,0.6779215931892395,0.032696682959795,-0.21499145030975342,-0.999947858988548,-0.009230778046734792,0.004394057392376298,-0.009103976670807742,0.9995650085339806,0.028051940654893175,0.0399399995803833
+1789729562363435411,5833,0.6779215931892395,0.0326966717839241,-0.21499162912368774,-0.9999476380375134,-0.009229940348904843,0.0043939002370829774,-0.009103140806571429,0.9995649987604097,0.02805255838686403,0.0399399995803833
+1789729562396765637,5866,0.6779217720031738,0.03269577771425247,-0.2149920016527176,-0.9999478078165733,-0.00922752163684883,0.00439361305017775,-0.00910074248471469,0.999565089458182,0.028050105842295798,0.0399399995803833
+1789729562430100592,5900,0.6779230833053589,0.032693274319171906,-0.21499264240264893,-0.9999477213539518,-0.00922466529034715,0.004392017144443448,-0.009097946332279122,0.9995652018226976,0.028047007695328793,0.0399399995803833
+1789729562463429178,5933,0.6779231429100037,0.03269313648343086,-0.21499283611774445,-0.9999478771559387,-0.009225313106253193,0.004391571881425773,-0.009098620077136348,0.9995652783625931,0.028044062420839448,0.0399399995803833
+1789729562496773990,5966,0.6779224276542664,0.032693278044462204,-0.2149931937456131,-0.9999478331497333,-0.009227132279949434,0.004392307967198615,-0.009100425207752328,0.9995653057605848,0.028042499938803533,0.0399399995803833
+1789729562530098888,6000,0.677922248840332,0.03269245848059654,-0.21499307453632355,-0.9999477629954729,-0.009228391703093685,0.004392735279020757,-0.00910168380075922,0.9995653643742142,0.02804000165549011,0.0399399995803833
+1789729562563430713,6033,0.6779218912124634,0.03269219025969505,-0.21499279141426086,-0.9999477612730141,-0.009228211243927087,0.004394357329606337,-0.009101458248445826,0.9995653679576215,0.028039947156260573,0.0399399995803833
+1789729562596765818,6066,0.6779218912124634,0.03269175440073013,-0.21499261260032654,-0.999947713567626,-0.009227633147331486,0.004393996891776785,-0.00910089839543466,0.9995654208785679,0.02803824187674565,0.0399399995803833
+1789729562630105271,6100,0.6779217720031738,0.03269099444150925,-0.2149929702281952,-0.9999478842167611,-0.009227437693254348,0.00439490133053326,-0.009100688930594736,0.9995654904822936,0.028035829723161626,0.0399399995803833
+1789729562663436717,6133,0.6779223680496216,0.03268980607390404,-0.21499264240264893,-0.9999477630456013,-0.009225053715414926,0.004393654172327229,-0.009098360940059787,0.9995656332458666,0.02803149385596831,0.0399399995803833
+1789729562696780729,6166,0.6779208183288574,0.03268955647945404,-0.2149922251701355,-0.9999477079804433,-0.009228221479620968,0.004395160576069647,-0.009101534007781043,0.9995658976502068,0.028021033366238655,0.0399399995803833
+1789729562730098259,6200,0.6779199838638306,0.03269008547067642,-0.21499182283878326,-0.9999478270907369,-0.009231881304303103,0.004394390863683579,-0.009105233769540177,0.9995659831979004,0.02801678057842085,0.0399399995803833
+1789729562763431604,6233,0.6779198050498962,0.03269057348370552,-0.214991956949234,-0.9999478337141303,-0.009233323366561054,0.004394369595943081,-0.009106674761793353,0.9995659633538064,0.028017020368652553,0.0399399995803833
+1789729562796765499,6266,0.6779199242591858,0.032690539956092834,-0.21499235928058624,-0.9999475991813591,-0.009233699006199966,0.0043944058103247245,-0.009107048591480042,0.9995659560523164,0.028017157563348116,0.0399399995803833
+1789729562830100823,6300,0.6779198050498962,0.03269052132964134,-0.2149927169084549,-0.9999478000240651,-0.009233675024151126,0.004394007836749383,-0.009107042005392748,0.9995659937469132,0.028015816385212625,0.0399399995803833
+1789729562863432319,6333,0.6779209971427917,0.032689034938812256,-0.2149926722049713,-0.9999477427125596,-0.009231801133426754,0.004391759595939196,-0.009105241305322254,0.9995660679091305,0.02801375494029707,0.0399399995803833
+1789729562896774382,6366,0.677922785282135,0.03268617391586304,-0.21499256789684296,-0.9999478569528077,-0.009227197881331412,0.004389710192655512,-0.009100717839787503,0.9995662339041322,0.028009302046520967,0.0399399995803833
+1789729562930100229,6400,0.67792147397995,0.032685935497283936,-0.21499347686767578,-0.9999477367825296,-0.009228962585096371,0.004394061664880411,-0.009102380022725839,0.9995663383675335,0.0280050329637077,0.0399399995803833
+1789729562963437083,6433,0.6779213547706604,0.032686710357666016,-0.21499301493167877,-0.9999477304226208,-0.009231197350239861,0.004393457679970514,-0.009104631871749869,0.9995663241589455,0.02800480818975793,0.0399399995803833
+1789729562996768109,6466,0.6779212355613708,0.0326867550611496,-0.21499238908290863,-0.9999476809526335,-0.009233121019983997,0.004393109091274224,-0.009106572761739068,0.9995663559081557,0.02800304359355564,0.0399399995803833
+1789729563030105222,6500,0.6779209971427917,0.032685939222574234,-0.21499241888523102,-0.9999476765739865,-0.009234333151137752,0.004395291880117095,-0.009107724064947531,0.9995663494475331,0.028002899904838483,0.0399399995803833
+1789729563063434673,6533,0.6779212951660156,0.03268535062670708,-0.21499283611774445,-0.9999476394607232,-0.009236499309063,0.0043948265893244635,-0.009109908563184728,0.9995663666040049,0.028001576747134632,0.0399399995803833
+1789729563096782210,6566,0.677921712398529,0.03268538787961006,-0.2149914801120758,-0.9999476694848004,-0.009235222149614603,0.004392437024120233,-0.009108693780019533,0.9995663480112376,0.02800263567482475,0.0399399995803833
+1789729563130104644,6600,0.6779218912124634,0.03268521651625633,-0.21499092876911163,-0.9999476149627629,-0.009233877297520775,0.004390637307246235,-0.009107408869056267,0.9995664145951259,0.028000676211938854,0.0399399995803833
+1789729563163434266,6633,0.6779221296310425,0.03268452361226082,-0.21499086916446686,-0.9999478180166281,-0.009232619808962941,0.00439033540615743,-0.009106166196006469,0.9995664614042078,0.027999410827662753,0.0399399995803833
+1789729563196773245,6666,0.6779211163520813,0.032684627920389175,-0.2149902731180191,-0.9999476960128593,-0.009236190593149163,0.004392109896125427,-0.009109706202153466,0.9995665507936057,0.02799506717052599,0.0399399995803833
+1789729563230102786,6700,0.677919864654541,0.0326831191778183,-0.21499118208885193,-0.999947776573576,-0.009235792570781316,0.004398180183436686,-0.009109164786626172,0.9995667129395985,0.027989454144144676,0.0399399995803833
+1789729563263431748,6733,0.6779192686080933,0.0326828733086586,-0.21499191224575043,-0.9999477148878069,-0.009236628548664451,0.0043997824101904654,-0.009109965892314408,0.9995667671153103,0.02798725822634882,0.0399399995803833
+1789729563296775177,6766,0.6779189109802246,0.03268282860517502,-0.2149921953678131,-0.999947681546173,-0.009236904837293454,0.004400622703679,-0.009110224123577308,0.9995667980047099,0.027986070717994957,0.0399399995803833
+1789729563330100169,6800,0.6779203414916992,0.03268229961395264,-0.2149910032749176,-0.999947677951613,-0.009236143090306608,0.004396192089121089,-0.009109587179139695,0.9995668080159411,0.027985920252940995,0.0399399995803833
+1789729563363426352,6833,0.6779211759567261,0.03268102556467056,-0.2149905115365982,-0.9999476224203641,-0.009233855399516589,0.004395045124139367,-0.009107341694261094,0.9995668843403361,0.02798392431714887,0.0399399995803833
+1789729563396770340,6866,0.6779221892356873,0.03267950192093849,-0.21498984098434448,-0.9999476896593855,-0.009232900275836908,0.004391796454658575,-0.009106506245196589,0.9995670637102139,0.02797778889843967,0.0399399995803833
+1789729563430097142,6900,0.677920937538147,0.03268010541796684,-0.21499128639698029,-0.9999477263722991,-0.009238451797510962,0.004392383939275284,-0.009112072714371276,0.9995672143933967,0.027970592803396928,0.0399399995803833
+1789729563463429783,6933,0.6779201030731201,0.03268074989318848,-0.214991956949234,-0.9999476575955892,-0.009240527309689802,0.0043936845405102756,-0.009114122504289028,0.999567264238422,0.027968143234774513,0.0399399995803833
+1789729563496769362,6966,0.6779196858406067,0.03268004208803177,-0.2149924486875534,-0.9999476462461918,-0.00924538932295197,0.004395758331376912,-0.009118926548761085,0.9995672312120358,0.027967757977571138,0.0399399995803833
+1789729563530102213,7000,0.677919864654541,0.03267988562583923,-0.21499229967594147,-0.9999476588971361,-0.009244506312586548,0.004395879911563996,-0.009118038379761334,0.999567226694125,0.02796820905748991,0.0399399995803833
+1789729563563443572,7033,0.677920401096344,0.03267865628004074,-0.21499262750148773,-0.9999476383850086,-0.009241364726703234,0.004395604435360217,-0.009114909133970055,0.9995672759948199,0.02796746668130081,0.0399399995803833
+1789729563596768864,7066,0.6779214143753052,0.032677698880434036,-0.2149931639432907,-0.9999475814328389,-0.009240802249057774,0.004392151182843097,-0.009114452857553738,0.9995673376230275,0.027965412095298514,0.03993000090122223
+1789729563630091298,7100,0.6779224276542664,0.032676201313734055,-0.21499207615852356,-0.9999477104614298,-0.009239821978978116,0.004389532691600185,-0.009113564333076293,0.9995674555686535,0.02796148650235688,0.03993000090122223
+1789729563663436966,7133,0.6779227256774902,0.03267378732562065,-0.21499361097812653,-0.9999477354799646,-0.009238653856692234,0.004389953390773971,-0.009112420400078283,0.9995676795575265,0.027953851248829945,0.03993000090122223
+1789729563696767037,7166,0.6779216527938843,0.03267538920044899,-0.21499323844909668,-0.999947666068036,-0.009240696341643206,0.004389827674655091,-0.009114477143568445,0.9995677301568813,0.027951370888385348,0.03993000090122223
+1789729563730095749,7200,0.6779206395149231,0.03267441689968109,-0.21499405801296234,-0.9999475654993373,-0.009240010993941727,0.0043943062201870975,-0.009113683714631005,0.9995678375126087,0.027947789553747174,0.03993000090122223
+1789729563763426560,7233,0.6779206395149231,0.0326748751103878,-0.21499384939670563,-0.9999475895347536,-0.009241806947044788,0.004393444541577507,-0.009115499030927017,0.9995677969018609,0.027948650262973666,0.03993000090122223
+1789729563796767729,7266,0.6779211759567261,0.0326736718416214,-0.2149939388036728,-0.9999475395918604,-0.009241255734585728,0.004392954639843622,-0.009114970028712812,0.9995678518031631,0.02794685877910893,0.0399399995803833
+1789729563830153027,7300,0.6779221296310425,0.03267282620072365,-0.21499308943748474,-0.9999477721055869,-0.009238324512167927,0.00439087601330234,-0.009112098984811868,0.9995678843152775,0.02794663369763852,0.0399399995803833
+1789729563863436650,7333,0.6779220104217529,0.03267251327633858,-0.2149931639432907,-0.9999477313215701,-0.00923722017449343,0.00439140756618249,-0.009110987019834963,0.9995679352684521,0.027945173377928168,0.0399399995803833
+1789729563896768521,7366,0.677920937538147,0.032673049718141556,-0.21499314904212952,-0.9999475971759277,-0.009240382421273261,0.004392150444032572,-0.009114149616588043,0.9995680403902913,0.02794038080619582,0.0399399995803833
+1789729563930105751,7400,0.6779201030731201,0.03267235308885574,-0.2149936407804489,-0.9999477200102267,-0.009242644421244981,0.004395509211123586,-0.00911633621583421,0.9995681355332633,0.027936264630863808,0.0399399995803833
+1789729563963429204,7433,0.6779198050498962,0.03267161175608635,-0.21499405801296234,-0.9999476429984582,-0.009242102423277922,0.0043975090456590624,-0.009115751438016371,0.9995682177176299,0.02793351416963684,0.0399399995803833
+1789729563996771603,7466,0.6779204607009888,0.03267071768641472,-0.21499380469322205,-0.9999476431024528,-0.009240905160325262,0.0043971452644603025,-0.009114564778647262,0.9995682285562677,0.027933513450718702,0.0399399995803833
+1789729564030095625,7500,0.6779205799102783,0.03266991674900055,-0.21499435603618622,-0.9999476178841793,-0.009239613854215224,0.004397335059434997,-0.009113272881428946,0.999568265630305,0.027932608013833456,0.0399399995803833
+1789729564063429441,7533,0.677920937538147,0.0326700322329998,-0.21499358117580414,-0.999947569425788,-0.009240989198507871,0.004394998064810772,-0.009114720995136143,0.9995683011301847,0.027930864742651114,0.0399399995803833
+1789729564096774404,7566,0.677922248840332,0.032669126987457275,-0.21499374508857727,-0.999947755307508,-0.009237726784652529,0.004391555971012289,-0.009111564674500344,0.9995683831021903,0.027928962041694757,0.0399399995803833
+1789729564130100402,7600,0.6779216527938843,0.032668374478816986,-0.21499434113502502,-0.9999476460865682,-0.009239071698368061,0.004393273468052992,-0.009112879324283575,0.9995684801192739,0.02792505994653823,0.0399399995803833
+1789729564163430469,7633,0.6779211759567261,0.032668814063072205,-0.2149946689605713,-0.999947577629847,-0.009241805414732926,0.004392684865579757,-0.009115639804222178,0.9995685233593465,0.02792261074783867,0.0399399995803833
+1789729564196763855,7666,0.6779206395149231,0.032667726278305054,-0.2149951457977295,-0.9999477162846206,-0.009244271848248418,0.0043947161061250115,-0.009118065231237895,0.9995686006433848,0.02791905332508607,0.0399399995803833
+1789729564230094212,7700,0.6779207587242126,0.03266702964901924,-0.21499474346637726,-0.9999477276142383,-0.00924332259656327,0.00439570547016074,-0.00911708685800336,0.9995685981641813,0.027919461645956257,0.0399399995803833
+1789729564263428557,7733,0.6779201030731201,0.03266644850373268,-0.21499480307102203,-0.9999476562092204,-0.00924374630353965,0.004397328138984472,-0.009117477037104178,0.9995686658324711,0.027916910997015484,0.0399399995803833
+1789729564296767642,7766,0.6779205203056335,0.03266726806759834,-0.21499350666999817,-0.9999476911313803,-0.009243318207684292,0.004394140219158932,-0.009117132220552127,0.9995686344589243,0.02791814704724023,0.0399399995803833
+1789729564330098708,7800,0.6779212951660156,0.03266540542244911,-0.2149924337863922,-0.9999475649097267,-0.009242075683540994,0.004392287900404816,-0.0091159628854964,0.9995687717530003,0.027913611778587685,0.0399399995803833
+1789729564363425486,7833,0.6779210567474365,0.03266356885433197,-0.21499203145503998,-0.9999476316962532,-0.009238145078700355,0.004393868733424733,-0.009112018327415261,0.9995689795071239,0.027907459771281097,0.0399399995803833
+1789729564396767100,7866,0.6779184937477112,0.03266651928424835,-0.21499215066432953,-0.9999475897715053,-0.009247246217828058,0.0043913276378698875,-0.009121233514743105,0.9995691757417978,0.027897419257153385,0.0399399995803833
+1789729564430101206,7900,0.6779176592826843,0.03266661614179611,-0.21499276161193848,-0.9999475004050205,-0.009249363514901746,0.00439288029196086,-0.009123321606642917,0.9995692457901615,0.027894225951007556,0.0399399995803833
+1789729564463431253,7933,0.6779178380966187,0.032666221261024475,-0.21499326825141907,-0.9999474653570546,-0.009249466114558189,0.004392899965864076,-0.009123429462679125,0.9995692798712493,0.027892969112678617,0.0399399995803833
+1789729564496766298,7966,0.6779182553291321,0.03266526758670807,-0.21499331295490265,-0.9999477205202543,-0.009245897197720811,0.0043936444005892375,-0.009119838393450905,0.9995692959936374,0.027893567447760167,0.0399399995803833
+1789729564530105733,8000,0.6779190897941589,0.03266455605626106,-0.21499280631542206,-0.9999477162625912,-0.009244754971858046,0.00439190905402434,-0.009118745691470878,0.9995693105144615,0.027893404157481184,0.0399399995803833
+1789729564563467052,8033,0.6779202818870544,0.03266322240233421,-0.21499276161193848,-0.9999476528677105,-0.009241821317823614,0.004389700736084128,-0.009115885295072871,0.9995694005107713,0.02789111319938882,0.0399399995803833
+1789729564596773564,8066,0.6779205799102783,0.03266271576285362,-0.21499201655387878,-0.9999475598356138,-0.009242645676212843,0.00438758878587687,-0.00911678369356246,0.9995694856342876,0.0278877679423606,0.0399399995803833
+1789729564630107990,8100,0.6779204607009888,0.03266176953911781,-0.21499226987361908,-0.9999477340152811,-0.009241741534282328,0.004389020910164595,-0.009115850701660582,0.9995695582855729,0.027885470155150385,0.0399399995803833
+1789729564663433698,8133,0.6779192686080933,0.03266327828168869,-0.21499358117580414,-0.9999476333725166,-0.009246699490444873,0.0043892966101517035,-0.009120815825711562,0.999569613365027,0.02788187159960588,0.0399399995803833
+1789729564696774842,8166,0.677918553352356,0.03266424313187599,-0.2149943709373474,-0.9999475434331118,-0.009255316211327774,0.004389123292058617,-0.00912944902392357,0.9995696240402379,0.027878663163490282,0.0399399995803833
+1789729564730110647,8200,0.6779182553291321,0.03266346454620361,-0.21499508619308472,-0.9999475322238527,-0.009254207547029871,0.004390840380842639,-0.009128294823645753,0.9995696456517068,0.027878266132321725,0.0399399995803833
+1789729564763434515,8233,0.6779197454452515,0.03266189992427826,-0.21499481797218323,-0.9999475730138778,-0.00925019776825892,0.004389385817936832,-0.009124320322222376,0.9995696415545583,0.027879714080299725,0.0399399995803833
+1789729564796769831,8266,0.6779211759567261,0.03266077861189842,-0.21499429643154144,-0.9999475664748747,-0.009246550057750451,0.004386191312918385,-0.009120764114888142,0.999569681186494,0.027879456368056412,0.0399399995803833
+1789729564830106626,8300,0.677920401096344,0.032660793513059616,-0.2149941325187683,-0.9999476820894768,-0.00924768778386801,0.004387590147701841,-0.00912188289861867,0.9995697936048205,0.02787506044474216,0.0399399995803833
+1789729564863391304,8333,0.6779196858406067,0.03266000375151634,-0.21499361097812653,-0.9999475561146096,-0.009248421271122291,0.004389180682152702,-0.009122592802434944,0.9995699129493488,0.02787054732727897,0.0399399995803833
+1789729564896769619,8366,0.6779199838638306,0.03265848010778427,-0.2149917483329773,-0.9999476586969973,-0.009249423567324954,0.004388223849943097,-0.00912364401045328,0.9995700393304889,0.02786567100280155,0.0399399995803833
+1789729564930103085,8400,0.6779195666313171,0.032658711075782776,-0.21499231457710266,-0.9999476277825468,-0.00924994085276295,0.00438903668714794,-0.00912414361736561,0.9995700655729242,0.027864565880509302,0.0399399995803833
+1789729564963438320,8433,0.6779197454452515,0.032659053802490234,-0.21499258279800415,-0.9999475915789349,-0.009253146628542801,0.004387707525219733,-0.009127391196885899,0.9995700721211808,0.027863267256276383,0.0399399995803833
+1789729564996774515,8466,0.6779190897941589,0.03265781328082085,-0.21499419212341309,-0.9999475081822045,-0.009250768783764837,0.004391152051359676,-0.009124932284459111,0.9995701777454278,0.027860282600339514,0.0399399995803833
+1789729565030110550,8500,0.6779207587242126,0.03265656530857086,-0.21499338746070862,-0.9999474940761819,-0.009247956508979006,0.004387463257799901,-0.009122226148926237,0.9995702172043872,0.02785975264887124,0.0399399995803833
+1789729565063434673,8533,0.6779205203056335,0.032657310366630554,-0.21499347686767578,-0.9999476464895807,-0.009250289170397543,0.00438536114014876,-0.009124630768292572,0.9995702814246017,0.02785666215627692,0.0399399995803833
+1789729565096778512,8566,0.6779206991195679,0.03265802934765816,-0.21499307453632355,-0.9999475488025138,-0.00925207481996886,0.0043838830127605945,-0.009126473152451142,0.9995703624401492,0.02785315066218688,0.0399399995803833
+1789729565130102235,8600,0.6779189705848694,0.032656800001859665,-0.21499444544315338,-0.9999475465037939,-0.009253954158025327,0.004390222679273436,-0.009128215494146438,0.999570586490669,0.027844538167645563,0.0399399995803833
+1789729565163431666,8633,0.6779193878173828,0.03265766799449921,-0.21499305963516235,-0.9999475796248358,-0.009254495569425208,0.0043879682969183865,-0.009128813896286109,0.9995705481302516,0.027845719253383916,0.03993000090122223
+1789729565196767377,8666,0.6779195070266724,0.032657597213983536,-0.21499352157115936,-0.9999476566017427,-0.009253034109095705,0.004388437052574147,-0.009127327113424254,0.9995704847048538,0.02784848376679836,0.03993000090122223
+1789729565230098968,8700,0.6779199242591858,0.0326571948826313,-0.21499349176883698,-0.9999476538024483,-0.00925275026953153,0.004387600872795138,-0.00912706712038459,0.9995704900036204,0.027848378718278513,0.03993000090122223
+1789729565263431519,8733,0.6779207587242126,0.03265611454844475,-0.214993417263031,-0.999947614302374,-0.009251986278672488,0.004386013179365063,-0.009126354195987316,0.9995705362912721,0.02784695049745987,0.03993000090122223
+1789729565296771478,8766,0.6779213547706604,0.03265395388007164,-0.2149943709373474,-0.9999474632668666,-0.00925188769415394,0.00438599182012209,-0.009126281435986847,0.999570688114206,0.027841522934410855,0.03993000090122223
+1789729565330105789,8800,0.6779205203056335,0.03265395388007164,-0.21499401330947876,-0.999947606927234,-0.00925204297297138,0.004386970406358263,-0.009126425243199681,0.9995707814767781,0.02783812482149128,0.03993000090122223
+1789729565363430882,8833,0.6779201626777649,0.03265470638871193,-0.21499361097812653,-0.9999475813287779,-0.009253086226401752,0.004386259679488797,-0.00912749213489561,0.9995707973772382,0.02783720393953156,0.03993000090122223
+1789729565396765462,8866,0.677919864654541,0.03265330195426941,-0.2149936407804489,-0.9999474924662162,-0.009251983068655455,0.00438951085269761,-0.009126313802986376,0.9995708967252277,0.027834022079378656,0.0399399995803833
+1789729565430097644,8900,0.6779194474220276,0.032652854919433594,-0.2149932086467743,-0.9999474422102765,-0.00925269065351746,0.004389859463074672,-0.009127019810490532,0.9995709404846354,0.027832218718041903,0.0399399995803833
+1789729565463434464,8933,0.6779199242591858,0.03265237808227539,-0.21499322354793549,-0.9999474870259828,-0.00925191513120219,0.004388810880000433,-0.009126266269126463,0.9995709026961176,0.027833823168104743,0.0399399995803833
+1789729565496764175,8966,0.6779202818870544,0.03265124186873436,-0.21499374508857727,-0.9999476966116843,-0.00925036659458157,0.004388771292373152,-0.009124724249819796,0.9995709457094701,0.027832785513557747,0.0399399995803833
+1789729565530099466,9000,0.6779215335845947,0.03265028074383736,-0.21499352157115936,-0.9999477324129713,-0.009246671081458555,0.004387840249680846,-0.009121050085305995,0.9995709437634517,0.02783405965234184,0.0399399995803833
+1789729565563463989,9033,0.6779213547706604,0.03265052288770676,-0.21499362587928772,-0.9999476717952662,-0.009246387396413213,0.00438722776836048,-0.009120793662563954,0.9995710068618021,0.02783187711070284,0.0399399995803833
+1789729565596804268,9066,0.6779197454452515,0.032650385051965714,-0.21499423682689667,-0.9999476659516411,-0.009249502838516725,0.004390323086332172,-0.009123862618663766,0.9995712226943603,0.02782311857319825,0.0399399995803833
+1789729565630100508,9100,0.6779187917709351,0.03264928609132767,-0.21499541401863098,-0.999947555643369,-0.009250648825236966,0.004394027106429274,-0.009124923624240774,0.9995713228623292,0.027819171074114298,0.0399399995803833
+1789729565663432639,9133,0.6779194474220276,0.032648079097270966,-0.2149946689605713,-0.9999475570415444,-0.009249033435024784,0.004394664058783854,-0.009123290917772447,0.999571336387519,0.027819220510984313,0.0399399995803833
+1789729565696767849,9166,0.6779201626777649,0.03264814242720604,-0.21499353647232056,-0.9999475562129956,-0.009248577066153237,0.004391990434773721,-0.009122909188303267,0.9995713410662784,0.027819177454477297,0.0399399995803833
+1789729565730095702,9200,0.6779202222824097,0.03264819458127022,-0.21499311923980713,-0.9999475531059461,-0.009249284203123235,0.0043908848556309475,-0.009123647305360834,0.9995713375337438,0.027819062305915104,0.0399399995803833
+1789729565763431562,9233,0.6779216527938843,0.03264690935611725,-0.2149934023618698,-0.9999475146831314,-0.009245493968138542,0.004388342449990191,-0.009119935628975638,0.9995714104151115,0.02781765995420879,0.0399399995803833
+1789729565796757724,9266,0.6779201626777649,0.03264753893017769,-0.21499553322792053,-0.9999475670470857,-0.009249818216851887,0.004389001919124263,-0.00912427096264357,0.9995715566712733,0.027810982802711607,0.0399399995803833
+1789729565830089646,9300,0.6779192686080933,0.03264777734875679,-0.21499605476856232,-0.9999474791482978,-0.00925180700775048,0.004390553930462251,-0.009126230546385549,0.9995716264271861,0.02780783202908493,0.0399399995803833
+1789729565863430905,9333,0.6779192090034485,0.03264722228050232,-0.214995875954628,-0.9999474347368136,-0.009252565587690408,0.004391454606682146,-0.009126971231344518,0.9995716639484915,0.027806239902239904,0.0399399995803833
+1789729565896763366,9366,0.6779187321662903,0.03264644369482994,-0.21499647200107574,-0.9999476454380689,-0.009252178123528972,0.004394196147039717,-0.009126512380486333,0.9995716955341922,0.027805256744937955,0.0399399995803833
+1789729565930104045,9400,0.6779193878173828,0.032646410167217255,-0.2149961292743683,-0.9999474443125003,-0.009250700338108358,0.004392628301315177,-0.009125072487931946,0.9995716716699395,0.02780658548052971,0.0399399995803833
+1789729565963428208,9433,0.677919864654541,0.032645635306835175,-0.21499626338481903,-0.9999476556345199,-0.009250304811070129,0.004391836583911217,-0.009124703647129265,0.9995717022575509,0.027805608531031725,0.0399399995803833
+1789729565996763548,9466,0.6779199838638306,0.032645661383867264,-0.21499517560005188,-0.9999476262359814,-0.009249945565230507,0.004390223438041149,-0.009124394276657347,0.9995717347281645,0.027804542453514033,0.0399399995803833
+1789729566030104046,9500,0.6779211759567261,0.03264390304684639,-0.21499286592006683,-0.9999475007871943,-0.009249460155247117,0.004386140513348183,-0.00912404345064107,0.9995718640190275,0.027800008071363146,0.0399399995803833
+1789729566063463965,9533,0.6779202222824097,0.03264453262090683,-0.21499231457710266,-0.9999475864329113,-0.009252226012638635,0.004385851299489405,-0.009126841800052306,0.9995719912028299,0.027794516811321307,0.0399399995803833
+1789729566096765138,9566,0.6779186725616455,0.03264518082141876,-0.2149924784898758,-0.9999474283367047,-0.009255114921127369,0.004388592241551932,-0.009129679897916057,0.9995721229749095,0.02778884431820216,0.0399399995803833
+1789729566130115989,9600,0.6779180765151978,0.032644376158714294,-0.2149929255247116,-0.9999475876932187,-0.009255488919985231,0.004391010782271964,-0.009129999823124292,0.9995721988257288,0.027786012025430063,0.0399399995803833
+1789729566163436628,9633,0.6779178977012634,0.032644420862197876,-0.21499337255954742,-0.9999475649356768,-0.009255747007967895,0.00439102025437668,-0.00913026135623678,0.9995722191943418,0.027785193181240543,0.0399399995803833
+1789729566196772913,9666,0.6779184937477112,0.03264383599162102,-0.21499280631542206,-0.9999475767798591,-0.009252919977394004,0.004389255302273562,-0.009127482438794875,0.9995722331196258,0.02778560506425514,0.0399399995803833
+1789729566230159795,9700,0.6779186725616455,0.032643359154462814,-0.21499258279800415,-0.9999475884173334,-0.00925192356151828,0.00438906418009424,-0.009126489767467652,0.9995722306237147,0.02778602093398688,0.0399399995803833
+1789729566263443222,9733,0.6779187917709351,0.03264359012246132,-0.21499277651309967,-0.9999475494195562,-0.009252803874275154,0.004388504183380922,-0.009127391810940385,0.9995722614300812,0.02778461611977217,0.0399399995803833
+1789729566296758602,9766,0.6779190897941589,0.03264441713690758,-0.21499226987361908,-0.9999476814315802,-0.009253731971025317,0.004386050166568095,-0.009128405473702625,0.9995723588906693,0.02778077762433252,0.0399399995803833
+1789729566330107734,9800,0.6779187917709351,0.0326448492705822,-0.2149924635887146,-0.9999475950244268,-0.009256686385239311,0.0043865714913891235,-0.009131358723331194,0.9995724181386441,0.027777674672462116,0.0399399995803833
+1789729566363436480,9833,0.6779179573059082,0.03264384716749191,-0.21499374508857727,-0.999947520673423,-0.009257322165173262,0.004390817890099143,-0.009131888831658733,0.9995724871287031,0.027775017304740975,0.0399399995803833
+1789729566396770506,9866,0.677919328212738,0.03264300525188446,-0.2149927318096161,-0.9999475278083263,-0.009257213280953427,0.004387963020755283,-0.009131858032780146,0.9995724806361034,0.027775261037324847,0.0399399995803833
+1789729566430102141,9900,0.6779195666313171,0.03264250606298447,-0.21499288082122803,-0.9999475210870388,-0.009256811685338656,0.0043875892237753645,-0.009131468090837197,0.9995724909970193,0.027775016277069766,0.0399399995803833
+1789729566463433287,9933,0.6779197454452515,0.03264269232749939,-0.21499280631542206,-0.9999475425953654,-0.00925595039613936,0.004386538638868223,-0.009130632696001003,0.9995724772898155,0.027775784269032978,0.0399399995803833
+1789729566496769272,9966,0.6779190897941589,0.03264223411679268,-0.21499323844909668,-0.9999474595641316,-0.009255456088173113,0.004388198887388254,-0.009130106386128118,0.9995725650133647,0.027772799573265176,0.0399399995803833
+1789729566530107486,10000,0.6779189109802246,0.03264192119240761,-0.21499381959438324,-0.999947592448525,-0.009257704669694054,0.004387734985039693,-0.00913238463325067,0.9995726497123179,0.02776900302461456,0.0399399995803833
+1789729566563436043,10033,0.677918016910553,0.03264080733060837,-0.2149946242570877,-0.999947471398241,-0.009259285710882631,0.004390712983757886,-0.009133902694590473,0.9995727565100907,0.02776465838928972,0.0399399995803833
+1789729566596771977,10066,0.6779173612594604,0.032641321420669556,-0.21499508619308472,-0.9999473732074662,-0.009266120154678942,0.004391159176332253,-0.009140738570841227,0.9995727918035548,0.027761137610913818,0.0399399995803833
+1789729566630101944,10100,0.6779172420501709,0.03264174610376358,-0.21499507129192352,-0.9999474361514797,-0.00926713960371961,0.004391352144110704,-0.00914174173318627,0.9995727195495129,0.02776340935095764,0.0399399995803833
+1789729566663431040,10133,0.6779187321662903,0.032639890909194946,-0.21499483287334442,-0.9999474017331793,-0.009263599982596446,0.004389457036900793,-0.009138261812584994,0.9995727862741983,0.027762152062188017,0.0399399995803833
+1789729566696770294,10166,0.6779198050498962,0.03263933211565018,-0.21499402821063995,-0.9999474189421371,-0.00925887297242959,0.004387059492213526,-0.009133600255536965,0.9995728122554487,0.02776275033755327,0.03993000090122223
+1789729566730105069,10200,0.6779199242591858,0.03263910114765167,-0.21499377489089966,-0.9999476133569634,-0.009258061221420671,0.004386712230035988,-0.00913280581589851,0.9995728636249213,0.027761163556065737,0.03993000090122223
+1789729566763493231,10233,0.6779199838638306,0.03263615071773529,-0.21499399840831757,-0.9999476401129688,-0.009254940458234058,0.004389117269758391,-0.009129654971924521,0.9995731041029384,0.02775354026183775,0.03993000090122223
+1789729566796777028,10266,0.6779186129570007,0.0326361246407032,-0.21499450504779816,-0.9999475248121019,-0.00926001537952619,0.004391741320327287,-0.009134674484350189,0.9995731729854057,0.02774940699655279,0.03993000090122223
+1789729566830101846,10300,0.6779179573059082,0.032637231051921844,-0.2149946540594101,-0.9999474966094135,-0.00926364846493465,0.004391352365596828,-0.009138321683333405,0.9995731676945071,0.027748396751603857,0.03993000090122223
+1789729566863428273,10333,0.67791748046875,0.03263771906495094,-0.21499468386173248,-0.9999474718166956,-0.00926626391715915,0.0043911050309557165,-0.009140947141898921,0.9995731683677505,0.027747507711630183,0.03993000090122223
+1789729566896773156,10366,0.6779176592826843,0.03263675048947334,-0.2149951308965683,-0.9999474565799011,-0.009263733457717386,0.004391544063586264,-0.00913840803518204,0.9995732069355739,0.027746954409955206,0.03993000090122223
+1789729566930106381,10400,0.6779190897941589,0.03263511508703232,-0.21499469876289368,-0.9999474240929642,-0.009261356523376105,0.004389792224392347,-0.009136086029252102,0.9995732610421155,0.027745769390458693,0.03993000090122223
+1789729566963429659,10433,0.6779201030731201,0.03263424336910248,-0.21499423682689667,-0.9999474026595683,-0.009259510546328283,0.004388179292668284,-0.009134289070441618,0.9995732992326899,0.027744984811064553,0.0399399995803833
+1789729566996764764,10466,0.6779199838638306,0.03263412415981293,-0.2149941623210907,-0.9999476179666829,-0.00925868729987106,0.0043882874608572875,-0.009133467014861896,0.9995733298903093,0.027744152519338417,0.0399399995803833
+1789729567030096247,10500,0.6779194474220276,0.03263430297374725,-0.21499431133270264,-0.9999475852764306,-0.009260032087450767,0.0043893471742163254,-0.009134787381435559,0.999573350322515,0.027742981537595832,0.0399399995803833
+1789729567063427337,10533,0.6779190897941589,0.03263455256819725,-0.21499456465244293,-0.9999475544982537,-0.009261192898782272,0.0043896882213529855,-0.009135943447648981,0.9995733704430576,0.027741875758442586,0.0399399995803833
+1789729567096771824,10566,0.6779187917709351,0.03263404965400696,-0.21499581634998322,-0.9999474964568578,-0.009261894443983395,0.004390120695999171,-0.00913664245864865,0.9995734220412454,0.027739785945922673,0.0399399995803833
+1789729567130109313,10600,0.6779186129570007,0.032633885741233826,-0.21499556303024292,-0.9999475324482034,-0.00925986572572235,0.004390095387556907,-0.009134609191439047,0.9995734047355651,0.02774107926072536,0.0399399995803833
+1789729567163430265,10633,0.6779187917709351,0.03263251110911369,-0.21499529480934143,-0.9999474524639869,-0.009258297550590131,0.004390600661294868,-0.009133041014653533,0.9995734991445889,0.027738192958156577,0.0399399995803833
+1789729567196765104,10666,0.6779196262359619,0.03263183310627937,-0.21499453485012054,-0.9999474546325906,-0.009254312931202538,0.0043891699552057566,-0.009129097219484248,0.9995735334296277,0.027738255395775676,0.0399399995803833
+1789729567230106232,10700,0.6779197454452515,0.03263024613261223,-0.21499508619308472,-0.9999475510977804,-0.00925468315462517,0.00438955125620491,-0.009129480518432338,0.9995736718981224,0.027733139712535222,0.0399399995803833
+1789729567263425295,10733,0.6779183745384216,0.032630447298288345,-0.21499556303024292,-0.9999474028480901,-0.009258478521277994,0.004392592515232649,-0.009133215004249393,0.9995737855256588,0.027727813397698173,0.0399399995803833
+1789729567296767192,10766,0.6779175996780396,0.032631151378154755,-0.21499526500701904,-0.9999475403935416,-0.009261714782014398,0.0043928020842222745,-0.009136461137947891,0.9995738565605056,0.027724184255662043,0.0399399995803833
+1789729567330103431,10800,0.6779170036315918,0.03263053297996521,-0.21499545872211456,-0.9999474883236312,-0.009262323180220319,0.004395013850748478,-0.009137016765978482,0.9995739032750884,0.027722316540717894,0.0399399995803833
+1789729567363427163,10833,0.6779164671897888,0.032630208879709244,-0.2149963229894638,-0.9999474645346891,-0.009262659268634649,0.004397097124951066,-0.009137299008300986,0.9995739242191428,0.02772146824087455,0.0399399995803833
+1789729567396766761,10866,0.6779174208641052,0.03262990713119507,-0.21499574184417725,-0.9999474886848572,-0.009261926055857702,0.004393574691890837,-0.00913665960133984,0.9995739063841532,0.027722322079986362,0.0399399995803833
+1789729567430099121,10900,0.677918016910553,0.03262950852513313,-0.21499569714069366,-0.9999474751131949,-0.009259931530708991,0.004392417958049431,-0.00913470016216837,0.9995739381446669,0.02772182233085765,0.0399399995803833
+1789729567463428662,10933,0.6779186725616455,0.03262777626514435,-0.2149953693151474,-0.9999473849167613,-0.009257347776069206,0.004392422516189503,-0.009132132402295852,0.9995740520330045,0.02771856074804853,0.0399399995803833
+1789729567496764961,10966,0.6779184341430664,0.03262816369533539,-0.21499280631542206,-0.999947525952436,-0.009259093223839089,0.004390216100180871,-0.009133954627345252,0.9995741329878707,0.02771504189198175,0.0399399995803833
+1789729567530137521,11000,0.6779171824455261,0.03263009712100029,-0.21499411761760712,-0.9999474182396377,-0.009263804980963944,0.0043905854159821955,-0.00913867241451923,0.9995741973205816,0.0277111656825183,0.0399399995803833
+1789729567563465411,11033,0.6779170632362366,0.03262995928525925,-0.21499423682689667,-0.9999474155573282,-0.009264727737826077,0.004391053682329046,-0.009139582300673106,0.9995741915693398,0.027711073117300266,0.0399399995803833
+1789729567596773027,11066,0.6779174208641052,0.03262864798307419,-0.21499456465244293,-0.999947365111022,-0.009265580851502746,0.004391624868156613,-0.009140427734182006,0.9995742341984337,0.027709256212502066,0.0399399995803833
+1789729567630100888,11100,0.6779181361198425,0.03262888267636299,-0.2149941623210907,-0.9999474043123631,-0.009264301237946538,0.004389042635598136,-0.009139213537780454,0.9995742064740893,0.027710656917844717,0.0399399995803833
+1789729567663437027,11133,0.6779190301895142,0.03262852877378464,-0.2149936407804489,-0.9999474261318724,-0.00926302001819815,0.004387055199789336,-0.009137984185592278,0.9995741962071479,0.027711432687498365,0.0399399995803833
+1789729567696769657,11166,0.6779199838638306,0.03262653201818466,-0.21499423682689667,-0.9999475620864822,-0.009259841906410137,0.004386950596615862,-0.009134827365919218,0.9995743277937889,0.02770772761302444,0.0399399995803833
+1789729567730141697,11200,0.6779188513755798,0.0326269194483757,-0.21499404311180115,-0.9999474958649779,-0.009261394523901942,0.004389031482766206,-0.009136332878520573,0.9995743799477358,0.02770534930909182,0.0399399995803833
+1789729567763439615,11233,0.6779183149337769,0.0326262041926384,-0.21499192714691162,-0.9999473624078652,-0.009263427707674831,0.004389835678616491,-0.009138365406071292,0.9995744946987439,0.027700537628186958,0.0399399995803833
+1789729567796772645,11266,0.6779177188873291,0.03262510150671005,-0.21499234437942505,-0.9999474934019097,-0.009264306285670982,0.0043930911780380305,-0.009139171572876586,0.9995745943497314,0.02769667666425459,0.0399399995803833
+1789729567830166900,11300,0.6779168248176575,0.032626304775476456,-0.214993417263031,-0.9999474670057196,-0.009264870247793027,0.00439348683560949,-0.009139728801026054,0.9995746155861907,0.02769572619752756,0.0399399995803833
+1789729567863439684,11333,0.6779173016548157,0.03262634947896004,-0.21499328315258026,-0.9999474938659134,-0.009264217103409904,0.004391961151038467,-0.009139113622195057,0.999574594562812,0.027696688055393895,0.0399399995803833
+1789729567896770204,11366,0.6779178977012634,0.03262614458799362,-0.21499338746070862,-0.9999474743780015,-0.009263685116104738,0.004390385558328711,-0.009138628715998152,0.9995746187301706,0.02769597560552591,0.0399399995803833
+1789729567930103904,11400,0.6779175996780396,0.032624900341033936,-0.21499410271644592,-0.9999473781830335,-0.00926335932773376,0.00439044506894067,-0.009138317549098602,0.9995747178560889,0.027692499748584683,0.0399399995803833
+1789729567963458508,11433,0.6779184937477112,0.03262418508529663,-0.21499207615852356,-0.9999475951319083,-0.009262124683043875,0.004387669910864872,-0.00913716377710528,0.9995747502942813,0.027691711060948362,0.0399399995803833
+1789729567996768514,11466,0.6779175996780396,0.032625462859869,-0.21499314904212952,-0.9999474573598415,-0.00926627132035944,0.004387364249567123,-0.009141340394975897,0.9995748497638584,0.027686740901909115,0.0399399995803833
+1789729568030108340,11500,0.6779170632362366,0.03262804448604584,-0.21499402821063995,-0.999947292869894,-0.00927254289974008,0.004384827150489023,-0.009147707349874388,0.9995749560598646,0.027680798844178765,0.0399399995803833
+1789729568063436715,11533,0.6779173016548157,0.03262678161263466,-0.21499504148960114,-0.9999474688666032,-0.009269695074827819,0.004386137319492706,-0.00914483484937563,0.9995750448049473,0.027678544421188438,0.0399399995803833
+1789729568096772837,11566,0.6779186725616455,0.03262323886156082,-0.21499592065811157,-0.9999474236314492,-0.009263111309554982,0.00438791470601632,-0.009138212034643213,0.9995751508297648,0.027676902014912463,0.0399399995803833
+1789729568130104131,11600,0.6779192686080933,0.032623469829559326,-0.21499480307102203,-0.9999474428483348,-0.009263407421896368,0.00438509926631285,-0.00913858267672883,0.9995751285448653,0.027677584539453435,0.0399399995803833
+1789729568163434905,11633,0.6779197454452515,0.03262406587600708,-0.21499422192573547,-0.9999474371295864,-0.009264185568295155,0.004383144686367282,-0.009139415543121546,0.9995751268502161,0.027677370678204836,0.0399399995803833
+1789729568196775537,11666,0.6779189705848694,0.03262650594115257,-0.2149946540594101,-0.9999475225229539,-0.009268525757507378,0.004380588463097912,-0.009143850418267247,0.999575239462945,0.027671839159688197,0.0399399995803833
+1789729568230166137,11700,0.6779190301895142,0.032625712454319,-0.21499377489089966,-0.9999474901755101,-0.009268128905777308,0.004381519987592027,-0.009143433382561648,0.9995752755575215,0.027670672866216547,0.0399399995803833
+1789729568263438175,11733,0.677918016910553,0.032623957842588425,-0.214994877576828,-0.999947378051731,-0.009268256936655422,0.004386272923291967,-0.009143448759767164,0.9995753870210626,0.02766664029106011,0.0399399995803833
+1789729568296765440,11766,0.677918016910553,0.03262350708246231,-0.21499350666999817,-0.9999473293342585,-0.009271528453243829,0.004385320651116789,-0.009146753528156668,0.9995754054563892,0.027664881628781345,0.0399399995803833
+1789729568330101612,11800,0.6779179573059082,0.03262344375252724,-0.21499371528625488,-0.9999473398396663,-0.00927203036381944,0.004386057093552147,-0.009147233124854735,0.9995753904304585,0.027665266105846503,0.0399399995803833
+1789729568363431317,11833,0.6779184937477112,0.032624151557683945,-0.21499356627464294,-0.9999473772792309,-0.00927118426376949,0.004383578555647757,-0.009146449587590703,0.9995753604963736,0.02766660682461004,0.0399399995803833
+1789729568396764000,11866,0.677919864654541,0.032620884478092194,-0.21499399840831757,-0.9999475239559446,-0.009266464431347406,0.004383458070826091,-0.009141750282450982,0.9995754955852727,0.02766327991044348,0.03993000090122223
+1789729568430100013,11900,0.6779205799102783,0.0326194204390049,-0.2149936556816101,-0.9999474600548162,-0.009263435502426271,0.004382631731707907,-0.009138756071500592,0.9995755872067031,0.027660957782412322,0.03993000090122223
+1789729568463429577,11933,0.677919864654541,0.03262025862932205,-0.21499444544315338,-0.9999473911649845,-0.00926504141114057,0.004382253952880996,-0.009140383363409969,0.9995756412175005,0.027658467791475298,0.03993000090122223
+1789729568496763421,11966,0.677919328212738,0.03262125328183174,-0.21499450504779816,-0.9999475377142171,-0.009271186007837925,0.0043817723537677026,-0.009146554336114568,0.999575676366402,0.02765515882907423,0.03993000090122223
+1789729568530101123,12000,0.6779177784919739,0.03262285143136978,-0.214996337890625,-0.9999474638459149,-0.009274391172036241,0.004383449870619154,-0.00914972431384861,0.999575720869319,0.0276525012861626,0.03993000090122223
+1789729568563455451,12033,0.6779175400733948,0.03262156620621681,-0.21499617397785187,-0.9999474058372815,-0.009272483044497107,0.004385240131825403,-0.00914777718465389,0.9995757966373755,0.027650406043416793,0.03993000090122223
+1789729568596762871,12066,0.6779186129570007,0.03261912986636162,-0.21499593555927277,-0.9999473544721793,-0.00926873996365235,0.004384758744311538,-0.009144057456932198,0.999575882369699,0.027648536411420534,0.03993000090122223
+1789729568630099973,12100,0.6779190897941589,0.032619353383779526,-0.21499571204185486,-0.9999473906538503,-0.009268011953595227,0.004383687515767287,-0.009143353248424909,0.9995758527819912,0.02764983914330838,0.0399399995803833
+1789729568663437716,12133,0.6779199242591858,0.032619327306747437,-0.21499499678611755,-0.999947374235497,-0.009266662117094964,0.004381410655921866,-0.009142069590711805,0.9995758813236667,0.027649231476397827,0.0399399995803833
+1789729568696793604,12166,0.6779196262359619,0.03261958435177803,-0.21499530971050262,-0.9999475466495287,-0.009267221434866694,0.004381671653012498,-0.00914263256097769,0.9995759421411268,0.02764684792079879,0.0399399995803833
+1789729568730099444,12200,0.677919328212738,0.032619643956422806,-0.2149956077337265,-0.9999475470612342,-0.009269544054590859,0.00438265937762321,-0.00914492693739504,0.9995759204725861,0.027646872721076046,0.0399399995803833
+1789729568763435467,12233,0.6779190301895142,0.032616645097732544,-0.21499668061733246,-0.9999474088949971,-0.009268154550398006,0.004386543463549605,-0.009143453866731294,0.9995760718188604,0.02764188651843683,0.0399399995803833
+1789729568796764781,12266,0.6779195666313171,0.03261615335941315,-0.21499694883823395,-0.9999474125482328,-0.009266925681855885,0.004385012314264295,-0.009142267146731444,0.9995760792860267,0.02764200890314631,0.0399399995803833
+1789729568830102733,12300,0.6779196262359619,0.032616570591926575,-0.21499688923358917,-0.9999474441417351,-0.009266810523946224,0.004384709697528236,-0.009142155086597836,0.9995760487384704,0.02764315081075747,0.0399399995803833
+1789729568863432628,12333,0.6779195070266724,0.032616350799798965,-0.21499666571617126,-0.9999474080202813,-0.0092655958598859,0.004385257763156352,-0.009140931812800457,0.9995760960815957,0.027641843042623095,0.0399399995803833
+1789729568896762832,12366,0.6779198050498962,0.03261490538716316,-0.21499589085578918,-0.9999475558081485,-0.009263757559716757,0.004383699211025105,-0.00913915248328201,0.999576203340463,0.02763855348597305,0.0399399995803833
+1789729568930102704,12400,0.6779194474220276,0.032614000141620636,-0.2149943709373474,-0.9999474596069504,-0.009265501454243163,0.004383025561128313,-0.009140930468636222,0.9995762833333848,0.02763507162749303,0.0399399995803833
+1789729568963431378,12433,0.6779180765151978,0.03261483088135719,-0.21499526500701904,-0.9999473729848096,-0.009268344715780516,0.004384339989346826,-0.009143750896531425,0.999576343883781,0.02763194782593314,0.0399399995803833
+1789729568996770280,12466,0.6779184341430664,0.03261571377515793,-0.21499525010585785,-0.9999473538510792,-0.009270999583006412,0.004382325412642668,-0.00914646359028699,0.9995763383015365,0.027631251930421142,0.0399399995803833
+1789729569030168406,12500,0.6779173016548157,0.032614510506391525,-0.2149960845708847,-0.9999475191079994,-0.009270072407788262,0.004386814335099857,-0.009145425123371746,0.9995764204944101,0.027628623515350052,0.0399399995803833
+1789729569063443777,12533,0.6779182553291321,0.032614100724458694,-0.21499495208263397,-0.9999475333540155,-0.009267480424885642,0.004384306440975304,-0.009142900974804892,0.9995764298042564,0.027629121940394272,0.0399399995803833
+1789729569096781113,12566,0.677918016910553,0.03261477127671242,-0.21499446034431458,-0.9999475380341727,-0.009266469204369169,0.00438335376731102,-0.009141915656211327,0.9995764343148553,0.027629284725337034,0.0399399995803833
+1789729569130108261,12600,0.677918553352356,0.032614827156066895,-0.21499399840831757,-0.9999475231194861,-0.009265889127560486,0.004381636500402016,-0.00914138571687301,0.999576454338897,0.02762873541389322,0.0399399995803833
+1789729569163495745,12633,0.6779180765151978,0.032614272087812424,-0.21499431133270264,-0.999947414765334,-0.009269581897907189,0.004382683884619252,-0.009145066359153773,0.9995765287477845,0.027624824533053455,0.0399399995803833
+1789729569196771616,12666,0.6779168248176575,0.03261324763298035,-0.21499432623386383,-0.9999472790229726,-0.009272509301450562,0.004387492475965993,-0.00914788273043816,0.9995766380378882,0.02761993638735302,0.0399399995803833
+1789729569230103043,12700,0.6779158711433411,0.0326145701110363,-0.2149951159954071,-0.9999474614290296,-0.00927546683639282,0.004387953923080865,-0.009150835826180682,0.9995766668003242,0.02761791877283397,0.0399399995803833
+1789729569263433251,12733,0.6779155731201172,0.03261536732316017,-0.21499507129192352,-0.999947441431112,-0.009278520263242076,0.004386410422604971,-0.009153934049586619,0.9995766584493255,0.027617194293839034,0.0399399995803833
+1789729569296768597,12766,0.6779160499572754,0.032614827156066895,-0.21499547362327576,-0.9999472387676716,-0.009276212578111877,0.0043865930112791385,-0.009151616189473098,0.9995766440319505,0.027618482550486868,0.0399399995803833
+1789729569330103104,12800,0.6779173612594604,0.03261399269104004,-0.21499519050121307,-0.999947513611158,-0.009272533049105653,0.0043838657217651796,-0.009148007213864589,0.9995766411647278,0.027619783673061997,0.0399399995803833
+1789729569363435671,12833,0.6779177188873291,0.03261379152536392,-0.21499446034431458,-0.9999474588585737,-0.00927260038936911,0.004381789861542668,-0.009148141017478685,0.9995766949908116,0.027617790800341803,0.0399399995803833
+1789729569396768968,12866,0.6779171228408813,0.03261367604136467,-0.21499449014663696,-0.9999474029790081,-0.009273340281253028,0.00438350594685428,-0.009148842656717239,0.9995767442301605,0.02761577585783461,0.0399399995803833
+1789729569430099925,12900,0.67791748046875,0.032613638788461685,-0.21499419212341309,-0.9999474224618501,-0.009273542787817418,0.004382875885122574,-0.009149059199897752,0.9995767228169252,0.027616479322322238,0.0399399995803833
+1789729569463431933,12933,0.6779166460037231,0.032613907009363174,-0.21499478816986084,-0.9999473387765463,-0.00927597110934219,0.004384342296248955,-0.009151460193877586,0.9995767842523527,0.027613459557033298,0.0399399995803833
+1789729569496768509,12966,0.6779157519340515,0.03261426463723183,-0.21499545872211456,-0.9999473465381257,-0.009276913686173121,0.004386657430942462,-0.009152337224161195,0.9995767681058713,0.027613753571390558,0.0399399995803833
+1789729569530092838,13000,0.6779161095619202,0.03261319175362587,-0.21499568223953247,-0.9999473214546315,-0.009275728889004707,0.004387076113089022,-0.009151145543665175,0.9995768041402082,0.02761284385104847,0.0399399995803833
+1789729569563436332,13033,0.6779175400733948,0.03261157125234604,-0.21499504148960114,-0.999947507164455,-0.009272661699287806,0.004384785910614992,-0.009148151578490752,0.9995768847516877,0.027610918864738564,0.0399399995803833
+1789729569596769559,13066,0.6779177784919739,0.032611995935440063,-0.21499377489089966,-0.9999474910776145,-0.009273411303161082,0.00438230630183501,-0.009148972014421976,0.9995768936063012,0.02761032630626282,0.0399399995803833
+1789729569630093698,13100,0.6779173016548157,0.03261151537299156,-0.21499286592006683,-0.9999473857249213,-0.00927376817058357,0.004383093305996252,-0.009149324737943158,0.9995769956901345,0.027606512664451795,0.0399399995803833
+1789729569663429145,13133,0.6779162883758545,0.03261158987879753,-0.21499305963516235,-0.9999472700079395,-0.00927469898190626,0.004384768724753771,-0.009150228433390849,0.9995771029555427,0.027602328199112056,0.0399399995803833
+1789729569696768030,13166,0.6779164671897888,0.03261127322912216,-0.21499277651309967,-0.9999474704830704,-0.009275609868330956,0.004384283522396924,-0.009151158739506695,0.9995771323950173,0.027600955228347854,0.0399399995803833
+1789729569730091720,13200,0.677915632724762,0.032610975205898285,-0.2149931639432907,-0.9999473305432842,-0.009277615052781117,0.004385803788101604,-0.009153144771547174,0.9995772539425253,0.027595893460126947,0.0399399995803833
+1789729569763431375,13233,0.6779154539108276,0.03261170908808708,-0.21499332785606384,-0.9999473513476804,-0.009277402729745617,0.004385139176023931,-0.009152947357005474,0.9995772350264606,0.027596644227461227,0.0399399995803833
+1789729569796774200,13266,0.6779159307479858,0.03261139616370201,-0.21499334275722504,-0.9999473803206766,-0.009275377651998502,0.004384271413465483,-0.009150942106947762,0.9995772246255423,0.0275976859941611,0.0399399995803833
+1789729569830097519,13300,0.6779168844223022,0.03261084482073784,-0.21499335765838623,-0.999947387409982,-0.009273514198506555,0.004382424756800951,-0.0091491290969061,0.9995772344741372,0.027597930245783144,0.0399399995803833
+1789729569863436874,13333,0.6779163479804993,0.03261088579893112,-0.2149939090013504,-0.999947333060329,-0.009274697586565232,0.004383401010374434,-0.009150294250142195,0.999577278004174,0.027595966959391635,0.0399399995803833
+1789729569896772371,13366,0.6779158115386963,0.032610878348350525,-0.21499377489089966,-0.9999472867788566,-0.00927611856791905,0.004384199411451289,-0.00915170045807106,0.9995773112590924,0.027594295819622645,0.0399399995803833
+1789729569930095700,13400,0.6779158115386963,0.032610420137643814,-0.21499352157115936,-0.9999474558317489,-0.009277658375593942,0.004383787133879297,-0.009153262717565527,0.9995773663086625,0.027591784806283395,0.0399399995803833
+1789729569963433276,13433,0.677915096282959,0.03261105716228485,-0.2149941772222519,-0.9999472533408329,-0.009277626989790164,0.004385114162548456,-0.00915318870784411,0.9995773308874737,0.027593091034589096,0.0399399995803833
+1789729569996768992,13466,0.6779150366783142,0.03261111304163933,-0.2149936854839325,-0.9999472358262642,-0.009280170058990022,0.0043851113428939985,-0.009155733834375668,0.9995773249488296,0.027592461817536006,0.0399399995803833
+1789729570030100887,13500,0.6779155731201172,0.03260991722345352,-0.21499387919902802,-0.9999474661039258,-0.009276584088099114,0.004385993220405269,-0.009152126284455222,0.9995773662244832,0.027592164905120464,0.0399399995803833
+1789729570063432488,13533,0.6779164671897888,0.03260878473520279,-0.21499423682689667,-0.9999474065272318,-0.009275178105899201,0.004384158764848205,-0.009150781437393313,0.9995774384765326,0.027589992780691748,0.0399399995803833
+1789729570096771997,13566,0.6779166460037231,0.03260818123817444,-0.21499375998973846,-0.9999473118304414,-0.009273945808370498,0.004383178573833833,-0.009149592558185139,0.9995775443281298,0.02758655103802273,0.0399399995803833
+1789729570130103557,13600,0.6779159903526306,0.03260748088359833,-0.21499387919902802,-0.9999473832487493,-0.009275133714044589,0.0043845905496626815,-0.009150769191883127,0.9995777004138248,0.027580505130500553,0.0399399995803833
+1789729570163433818,13633,0.6779155731201172,0.0326080359518528,-0.21499384939670563,-0.9999473637399798,-0.009275387889501876,0.004384499939644068,-0.009151029050902157,0.9995777175541618,0.027579797565577165,0.03993000090122223
+1789729570196769238,13666,0.6779147982597351,0.03260777145624161,-0.2149944007396698,-0.9999473606596936,-0.009276159943646802,0.004387892209970511,-0.0091517078404422,0.9995777139492766,0.02757970313082469,0.03993000090122223
+1789729570230104107,13700,0.6779147386550903,0.032607849687337875,-0.2149936556816101,-0.9999473639453327,-0.009277605046313857,0.004387773484745163,-0.00915315511292631,0.999577697334633,0.027579825139839264,0.0399399995803833
+1789729570263429319,13733,0.6779149174690247,0.03260749951004982,-0.21499401330947876,-0.9999473697465739,-0.009277151016050903,0.004387638603567796,-0.009152703995524444,0.9995776957048311,0.02758003392825536,0.0399399995803833
+1789729570296771727,13766,0.6779155135154724,0.032606836408376694,-0.21499337255954742,-0.9999473787822237,-0.009274600558925096,0.004387292244794141,-0.009150162531424698,0.9995777101318564,0.02758035421961221,0.0399399995803833
+1789729570330100978,13800,0.6779155731201172,0.03260677680373192,-0.21499304473400116,-0.9999473337077218,-0.009273031456033178,0.004386305662645347,-0.009148628803021162,0.9995777695004785,0.027578710813689254,0.0399399995803833
+1789729570363440427,13833,0.6779158115386963,0.0326070711016655,-0.21499305963516235,-0.9999473167669719,-0.00927369915077476,0.004384981343505113,-0.009149335591770603,0.9995777801095562,0.027578091688208194,0.0399399995803833
+1789729570396769388,13866,0.6779150366783142,0.03260656073689461,-0.2149941623210907,-0.9999474567568956,-0.009276503357949217,0.004386742477912852,-0.009152106777303659,0.999577852829149,0.027574537530625637,0.0399399995803833
+1789729570430100938,13900,0.677915096282959,0.03260597959160805,-0.21499446034431458,-0.999947424933965,-0.009278539060382344,0.004387250609885914,-0.009154133064941835,0.9995778659317632,0.02757338984661341,0.0399399995803833
+1789729570463431879,13933,0.6779146194458008,0.03260592371225357,-0.21499492228031158,-0.9999473855164425,-0.009281717725801171,0.004388153142041327,-0.009157292295998314,0.9995778761318584,0.027571970976248198,0.0399399995803833
+1789729570496766948,13966,0.6779147982597351,0.032604921609163284,-0.21499581634998322,-0.9999473321931291,-0.009281932655400178,0.004388598197279148,-0.009157503866044574,0.9995779274886664,0.027570038403100492,0.0399399995803833
+1789729570530099069,14000,0.6779152750968933,0.032604239881038666,-0.21499553322792053,-0.9999473530806411,-0.009278819634295466,0.004387435646831649,-0.009154420536407781,0.9995779351668326,0.027570783881948405,0.0399399995803833
+1789729570563433599,14033,0.6779151558876038,0.03260423243045807,-0.2149955779314041,-0.9999473485130526,-0.009277407328994937,0.0043878470517359595,-0.009152998202144567,0.9995779527991382,0.02757061672704638,0.0399399995803833
+1789729570596769708,14066,0.6779159307479858,0.0326034277677536,-0.2149943858385086,-0.9999473115114661,-0.009275635121885784,0.00438714460379267,-0.009151252252791231,0.9995780060129437,0.027569266556340434,0.0399399995803833
+1789729570630099279,14100,0.6779144406318665,0.03260347247123718,-0.2149951457977295,-0.9999474055075857,-0.0092792756804068,0.004389590651032086,-0.009154848387566934,0.9995781170635244,0.027564046840737384,0.0399399995803833
+1789729570663434079,14133,0.6779138445854187,0.03260437026619911,-0.2149953991174698,-0.9999473357821289,-0.00928294206208643,0.004388828975674913,-0.009158546109371645,0.9995781528371697,0.027561520763953275,0.0399399995803833
+1789729570696766179,14166,0.6779133081436157,0.032604850828647614,-0.21499623358249664,-0.9999473243414041,-0.009283298290787396,0.004389403904449672,-0.009158888297161986,0.999578161057178,0.027561108892255774,0.0399399995803833
+1789729570730096890,14200,0.6779142618179321,0.03260355442762375,-0.2149958610534668,-0.9999473219814554,-0.009280820907757005,0.004388684450844968,-0.009156432066097784,0.9995781861656556,0.027561014172714417,0.0399399995803833
+1789729570763443467,14233,0.6779148578643799,0.03260290250182152,-0.2149951457977295,-0.9999473008961526,-0.009277958984692188,0.004386871560674917,-0.009153624709697165,0.9995782333840704,0.027560233755119352,0.0399399995803833
+1789729570796771458,14266,0.6779153347015381,0.03260240703821182,-0.21499444544315338,-0.9999474843981273,-0.009275662053185127,0.004385063766324622,-0.009151387688576998,0.9995783091739185,0.02755822894559173,0.0399399995803833
+1789729570830101099,14300,0.6779154539108276,0.03260200470685959,-0.21499472856521606,-0.9999474444380267,-0.009276109667424832,0.004385212334681085,-0.009151837772387632,0.9995783449975437,0.02755677979673563,0.0399399995803833
+1789729570863432270,14333,0.6779156923294067,0.03260136395692825,-0.21499496698379517,-0.9999473884769063,-0.009275963967847536,0.004385457887651739,-0.009151694793131313,0.9995784022888804,0.0275547486237119,0.0399399995803833
+1789729570896767199,14366,0.6779151558876038,0.03260217234492302,-0.21499516069889069,-0.9999473201596707,-0.009279703999092712,0.004386045043299532,-0.009155428750010644,0.9995784361596716,0.02755227917243786,0.0399399995803833
+1789729570930101279,14400,0.6779146194458008,0.032602258026599884,-0.21499572694301605,-0.9999473063123328,-0.009280452306017912,0.004387308401769355,-0.009156144324138487,0.9995784432585745,0.02755178382453749,0.0399399995803833
+1789729570963441048,14433,0.6779149174690247,0.032601963728666306,-0.21499580144882202,-0.9999473000554704,-0.009280744282057387,0.004386973378597073,-0.009156446467763034,0.9995784467764153,0.027551555746473687,0.0399399995803833
+1789729570996759921,14466,0.6779154539108276,0.03260107710957527,-0.2149960845708847,-0.9999472799518032,-0.00927862528785392,0.004386144818077,-0.009154354475883891,0.9995784862917448,0.027550816947211777,0.0399399995803833
+1789729571030093749,14500,0.6779155731201172,0.03260134160518646,-0.21499589085578918,-0.9999472890804433,-0.009277759431384789,0.0043855051053837794,-0.00915350502134812,0.999578485069017,0.027551143530831053,0.0399399995803833
+1789729571063430311,14533,0.6779152154922485,0.03260121867060661,-0.214995875954628,-0.999947221592647,-0.009278854400755113,0.004385689393473993,-0.009154605873557362,0.9995785424360837,0.02754869589909788,0.0399399995803833
+1789729571096774831,14566,0.6779152154922485,0.03260099142789841,-0.21499590575695038,-0.999947379531076,-0.00928069638723955,0.004385713085971583,-0.009156460075201935,0.9995786058568017,0.027545779697751065,0.0399399995803833
+1789729571130100866,14600,0.677914559841156,0.032601211220026016,-0.2149968147277832,-0.9999473319495615,-0.009281227617643044,0.00438731429666598,-0.009156955051552014,0.99957864870708,0.027544059885774054,0.0399399995803833
+1789729571163448485,14633,0.6779143810272217,0.032601188868284225,-0.21499738097190857,-0.9999473311804883,-0.009281963312252842,0.004388799658417555,-0.009157649714086943,0.999578642881178,0.027544040457341094,0.0399399995803833
+1789729571196769581,14666,0.6779140830039978,0.03260127082467079,-0.21499699354171753,-0.9999473530224714,-0.009282336291335739,0.004389169969947589,-0.0091580086755742,0.9995786176642246,0.02754483643268915,0.0399399995803833
+1789729571230097925,14700,0.6779147386550903,0.03260122612118721,-0.2149960845708847,-0.9999473487155517,-0.009281443297831968,0.004386776244602125,-0.00915718263308242,0.9995786298973893,0.027544666951620996,0.0399399995803833
+1789729571263435237,14733,0.6779149770736694,0.03260050714015961,-0.21499547362327576,-0.9999472954963495,-0.009279853906634416,0.00438605626699474,-0.009155622631139693,0.9995786976361049,0.02754272671993567,0.0399399995803833
+1789729571296762711,14766,0.6779154539108276,0.0325995534658432,-0.21499459445476532,-0.9999474153130503,-0.009278080786892663,0.004384663987368162,-0.00915390849164762,0.9995788322916023,0.027538409969929543,0.0399399995803833
+1789729571330094205,14800,0.6779143214225769,0.0325993187725544,-0.21499355137348175,-0.9999472532428526,-0.009281063110334985,0.004386603522073608,-0.009156863640665215,0.999578966991634,0.027532536624540443,0.0399399995803833
+1789729571363442434,14833,0.6779139041900635,0.03259852156043053,-0.2149926871061325,-0.9999473517870956,-0.009282049864584335,0.0043889401333230115,-0.009157809340384931,0.999579097935339,0.027527468559435463,0.0399399995803833
+1789729571396763210,14866,0.6779148578643799,0.03259998559951782,-0.2149912714958191,-0.9999473012142701,-0.009282999180430603,0.004386422581141303,-0.009158836078069247,0.9995791393961753,0.027525620972138065,0.0399399995803833
+1789729571430100992,14900,0.6779150366783142,0.032600048929452896,-0.2149912565946579,-0.9999472918891537,-0.009283646825261962,0.004386841805722802,-0.009159473519888314,0.999579142794969,0.02752528542446904,0.0399399995803833
+1789729571463437164,14933,0.6779150366783142,0.03260037302970886,-0.21499116718769073,-0.9999473228879243,-0.009284370217822404,0.004386494184209866,-0.00916020097153176,0.9995791051049695,0.027526412307572523,0.0399399995803833
+1789729571496767577,14966,0.6779151558876038,0.032599352300167084,-0.214991495013237,-0.9999472698065066,-0.009281778962938338,0.0043872861127850354,-0.009157597868925914,0.9995791821401012,0.02752448039860185,0.0399399995803833
+1789729571530105269,15000,0.6779154539108276,0.03259878233075142,-0.2149915248155594,-0.9999472405006011,-0.009281104120302487,0.004387767369967122,-0.009156914989578923,0.9995792177060121,0.027523415700978604,0.0399399995803833
+1789729571563498928,15033,0.6779158115386963,0.03259870782494545,-0.2149912565946579,-0.9999471996176856,-0.00928145894648731,0.004386593405541376,-0.009157308866051305,0.9995792551369652,0.027521924894894398,0.0399399995803833
+1789729571596748231,15066,0.6779152154922485,0.032599128782749176,-0.21499164402484894,-0.9999473524607498,-0.00928315249400121,0.004388655600816534,-0.009158959505626875,0.9995793252714701,0.027518829573366967,0.0399399995803833
+1789729571630096780,15100,0.6779153347015381,0.03259887918829918,-0.21499179303646088,-0.9999473352494983,-0.009284039464899575,0.004388849314716085,-0.009159843719478377,0.999579334314473,0.027518206728123416,0.0399399995803833
+1789729571663431453,15133,0.6779155135154724,0.03259824961423874,-0.21499185264110565,-0.9999473208046432,-0.009283607878695305,0.0043895222082929695,-0.009159396231863575,0.9995793528134885,0.027517683590318504,0.0399399995803833
+1789729571696759307,15166,0.677915632724762,0.032598331570625305,-0.21499216556549072,-0.9999473294100556,-0.009282309946171753,0.004388959293835714,-0.009158112816265872,0.9995793561117607,0.027517990894974646,0.0399399995803833
+1789729571730098788,15200,0.6779156923294067,0.03259795904159546,-0.21499201655387878,-0.9999473095357989,-0.009282373422198537,0.004388820623784331,-0.009158183436245387,0.9995793753676853,0.027517267767375564,0.0399399995803833
+1789729571763431652,15233,0.6779159307479858,0.032597195357084274,-0.2149917036294937,-0.9999472655376918,-0.009280985541136225,0.004389219128712401,-0.009156792550066059,0.9995794321780908,0.027515666505079434,0.03993000090122223
+1789729571796758526,15266,0.6779161691665649,0.032596830278635025,-0.2149912267923355,-0.9999472391605433,-0.009280535062474553,0.004388252678267517,-0.00915637326713132,0.9995794625651264,0.02751470186047345,0.03993000090122223
+1789729571830100127,15300,0.677915632724762,0.03259691223502159,-0.21499180793762207,-0.999947178675838,-0.009282226258799198,0.004388472348024208,-0.009158067994965723,0.9995795074385425,0.027512507209653248,0.03993000090122223
+1789729571863497215,15333,0.6779149174690247,0.032596759498119354,-0.2149921953678131,-0.9999473223822575,-0.009283038907566238,0.004390538875385729,-0.009158839523390777,0.9995795948250392,0.027509076481121365,0.03993000090122223
+1789729571896763354,15366,0.6779139041900635,0.03259690850973129,-0.21499371528625488,-0.9999472766563626,-0.009285541195253658,0.00439221515804139,-0.009161302513121469,0.9995796176506617,0.027507426780910005,0.03993000090122223
+1789729571930099906,15400,0.6779141426086426,0.03259655088186264,-0.21499383449554443,-0.9999472604251034,-0.009284940441669576,0.004391705003613182,-0.009160718751912633,0.9995796393455616,0.027506832644312106,0.03993000090122223
+1789729571963438497,15433,0.6779146194458008,0.03259582445025444,-0.21499431133270264,-0.9999472492119135,-0.009282663907011589,0.004391217513276091,-0.009158458371420387,0.9995796714822807,0.027506417242426418,0.0399399995803833
+1789729571996770571,15466,0.6779154539108276,0.03259431570768356,-0.21499428153038025,-0.9999471863392093,-0.009280635821675084,0.004390217354805769,-0.009156469163662043,0.9995797528778034,0.027504120835032935,0.0399399995803833
+1789729572030102701,15500,0.6779154539108276,0.03259382024407387,-0.21499454975128174,-0.999947390840384,-0.00928072925878888,0.0043902042967491044,-0.009156568657413308,0.9995797858851493,0.027502889670011924,0.0399399995803833
+1789729572063492623,15533,0.6779157519340515,0.03259331360459328,-0.2149938941001892,-0.9999473786049156,-0.009281036970899437,0.004390305025479442,-0.009156875552071564,0.9995797952870389,0.02750244571431294,0.0399399995803833
+1789729572096766982,15566,0.677914559841156,0.03259402886033058,-0.2149948626756668,-0.9999472937811968,-0.00928346132837506,0.0043921090539008785,-0.009159263751840212,0.9995798579197106,0.027499373485586502,0.0399399995803833
+1789729572130099098,15600,0.6779144406318665,0.03259386494755745,-0.2149953991174698,-0.9999473107247026,-0.00928363120450014,0.004393454423018854,-0.009159393729320522,0.9995798395933665,0.02749999652073685,0.0399399995803833
+1789729572163430454,15633,0.6779147982597351,0.03259391337633133,-0.21499529480934143,-0.9999473198364732,-0.009284195525063084,0.00439264507807011,-0.009159978537170781,0.9995798251819396,0.02750032564548991,0.0399399995803833
+1789729572196765039,15666,0.677915096282959,0.032593727111816406,-0.2149946242570877,-0.9999473312007456,-0.009283738160791987,0.0043914195581263304,-0.009159553102628493,0.9995798178890694,0.027500732439531633,0.0399399995803833
+1789729572230097784,15700,0.6779150366783142,0.032593123614788055,-0.21499498188495636,-0.9999472669590219,-0.009282927363996002,0.00439184749644143,-0.009158741710043767,0.9995798896117016,0.027498395110938604,0.0399399995803833
+1789729572263425511,15733,0.6779161095619202,0.03259273245930672,-0.2149946391582489,-0.999947251859171,-0.00928280010888725,0.004389051047217424,-0.009158693895345644,0.9995799055188674,0.027497832579247664,0.0399399995803833
+1789729572296756807,15766,0.6779152154922485,0.03259304165840149,-0.2149953544139862,-0.9999471978604795,-0.009283218117341214,0.004390792758111952,-0.009159073013246382,0.9995799558416383,0.027495876615616893,0.0399399995803833
+1789729572330095371,15800,0.677914559841156,0.032592784613370895,-0.21499578654766083,-0.9999471509794395,-0.009282809365353873,0.004392649891260964,-0.009158621315757386,0.9995800066906044,0.027494178144597318,0.0399399995803833
+1789729572363425477,15833,0.6779146790504456,0.03259234130382538,-0.2149955779314041,-0.9999471636718353,-0.009282613870613202,0.004393121283533026,-0.009158410797541691,0.9995799958704558,0.027494641742736383,0.0399399995803833
+1789729572396760972,15866,0.6779146194458008,0.03259221464395523,-0.21499642729759216,-0.9999471510306179,-0.00928229513237629,0.004393320103596769,-0.009158088854783236,0.9995800114659609,0.027494181881487646,0.0399399995803833
+1789729572430096817,15900,0.6779143214225769,0.03259241208434105,-0.21499671041965485,-0.9999473509382355,-0.009282204640270228,0.004393574393282244,-0.00915799792654333,0.9995800507928887,0.02749278389011053,0.0399399995803833
+1789729572463422794,15933,0.6779149174690247,0.032592322677373886,-0.21499624848365784,-0.9999473626576261,-0.009282479357888512,0.004391668613180668,-0.009158322916171574,0.9995800363081778,0.02749320230798385,0.0399399995803833
+1789729572496759119,15966,0.6779149770736694,0.03259218484163284,-0.21499548852443695,-0.9999473437224569,-0.009281418526688444,0.004390838305856437,-0.00915728849689852,0.9995800649044007,0.027492506926822247,0.0399399995803833
+1789729572530096343,16000,0.6779152750968933,0.03259188309311867,-0.21499323844909668,-0.9999472724895349,-0.009282235991166178,0.004389356162853707,-0.009158158407468473,0.9995801283570402,0.027489909473690344,0.0399399995803833
+1789729572563492494,16033,0.677914023399353,0.032591283321380615,-0.21499338746070862,-0.999947287606755,-0.009285333662607843,0.004390543313050631,-0.009161260052158358,0.9995803230474314,0.027481795898700756,0.0399399995803833
+1789729572596775291,16066,0.6779130101203918,0.03259279578924179,-0.2149936407804489,-0.9999472561467657,-0.009288202197302718,0.004390249773295739,-0.009164140885104456,0.9995803279835258,0.027480655792572643,0.0399399995803833
+1789729572630101898,16100,0.6779131293296814,0.032592251896858215,-0.21499358117580414,-0.9999472044836144,-0.009289285215363333,0.004390282175450646,-0.009165231340330857,0.9995803696175125,0.027478777356378232,0.0399399995803833
+1789729572663428455,16133,0.6779130697250366,0.03259262442588806,-0.21499405801296234,-0.9999472400336211,-0.009287832285711659,0.004390609610355286,-0.009163763956260132,0.9995803475425804,0.02748006990296261,0.0399399995803833
diff --git a/episode_0003/left.observation.state.joint_position/data.csv b/episode_0003/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..caaeb625ccb57cb5e446b242928e4f60b9482da6
--- /dev/null
+++ b/episode_0003/left.observation.state.joint_position/data.csv
@@ -0,0 +1,486 @@
+timestamp_ns,elapsed_ms,j1,j2,j3,j4,j5,j6,j7,gripper
+1789729556530065232,0,0.8364500999450684,-1.8975207805633545,-1.006442904472351,1.381097674369812,-0.16050121188163757,0.5947096347808838,0.70332932472229,0.0399399995803833
+1789729556563477825,33,0.8364601731300354,-1.897520661354065,-1.0064436197280884,1.3810969591140747,-0.1604967564344406,0.5947022438049316,0.7033221125602722,0.0399399995803833
+1789729556596779647,66,0.8364701271057129,-1.8975205421447754,-1.0064462423324585,1.3810973167419434,-0.1604921668767929,0.5947006940841675,0.7033200263977051,0.0399399995803833
+1789729556630117690,100,0.836476743221283,-1.8975194692611694,-1.006446361541748,1.3810982704162598,-0.16048835217952728,0.5946989059448242,0.7033179998397827,0.0399399995803833
+1789729556663458912,133,0.8364841341972351,-1.8975204229354858,-1.0064494609832764,1.381098747253418,-0.16048572957515717,0.594689130783081,0.7033188939094543,0.0399399995803833
+1789729556696791186,166,0.8364943265914917,-1.8975247144699097,-1.006449818611145,1.381098747253418,-0.16048337519168854,0.5946799516677856,0.7033177018165588,0.03993000090122223
+1789729556730125460,200,0.8365025520324707,-1.897526741027832,-1.006450891494751,1.3810986280441284,-0.16047601401805878,0.5946704745292664,0.70330810546875,0.03993000090122223
+1789729556763452935,233,0.8365091681480408,-1.8975274562835693,-1.0064507722854614,1.3810977935791016,-0.16046825051307678,0.5946623086929321,0.7032936811447144,0.03993000090122223
+1789729556796792807,266,0.836521327495575,-1.8975282907485962,-1.0064499378204346,1.3810985088348389,-0.16046255826950073,0.5946542620658875,0.7032962441444397,0.03993000090122223
+1789729556830201911,300,0.8365291953086853,-1.897528886795044,-1.0064524412155151,1.381098747253418,-0.16045834124088287,0.594650387763977,0.7032962441444397,0.03993000090122223
+1789729556863524638,333,0.8365367650985718,-1.8975297212600708,-1.0064553022384644,1.381098985671997,-0.16045500338077545,0.594646692276001,0.7032961845397949,0.03993000090122223
+1789729556896874728,366,0.8365466594696045,-1.897533655166626,-1.0064605474472046,1.3810981512069702,-0.1604532152414322,0.5946344137191772,0.7032961249351501,0.03993000090122223
+1789729556930200024,400,0.8365534543991089,-1.8975372314453125,-1.0064617395401,1.3810969591140747,-0.16044913232326508,0.5946259498596191,0.7032962441444397,0.03993000090122223
+1789729556963530998,433,0.8365611433982849,-1.89754056930542,-1.006461501121521,1.3810955286026,-0.16044390201568604,0.594619631767273,0.7032962441444397,0.03993000090122223
+1789729556996862273,466,0.8365747928619385,-1.8975435495376587,-1.0064616203308105,1.381094217300415,-0.16043728590011597,0.5946035385131836,0.7032943367958069,0.0399399995803833
+1789729557030188501,500,0.8365837931632996,-1.8975437879562378,-1.0064611434936523,1.3810932636260986,-0.16043396294116974,0.5945910215377808,0.7032923698425293,0.0399399995803833
+1789729557063533799,533,0.836590051651001,-1.8975447416305542,-1.0064616203308105,1.3810936212539673,-0.16043058037757874,0.5945906043052673,0.7032914161682129,0.0399399995803833
+1789729557096895564,566,0.8365981578826904,-1.897544026374817,-1.006462812423706,1.38109290599823,-0.16042622923851013,0.5945897698402405,0.7032909989356995,0.0399399995803833
+1789729557130168111,600,0.8366035223007202,-1.897545337677002,-1.006468415260315,1.381093144416809,-0.1604238748550415,0.5945873856544495,0.7032908797264099,0.0399399995803833
+1789729557163442678,633,0.8366096019744873,-1.8975472450256348,-1.0064706802368164,1.381091594696045,-0.16041961312294006,0.5945769548416138,0.7032880783081055,0.0399399995803833
+1789729557196773910,666,0.836618185043335,-1.8975507020950317,-1.0064716339111328,1.3810882568359375,-0.16041284799575806,0.5945631265640259,0.7032743096351624,0.0399399995803833
+1789729557230169016,700,0.8366239070892334,-1.8975505828857422,-1.0064712762832642,1.3810855150222778,-0.16040505468845367,0.594551682472229,0.7032634019851685,0.0399399995803833
+1789729557263446332,733,0.8366320729255676,-1.897550106048584,-1.0064716339111328,1.3810851573944092,-0.16039830446243286,0.5945433974266052,0.7032608985900879,0.0399399995803833
+1789729557296773985,766,0.8366395831108093,-1.8975505828857422,-1.0064736604690552,1.3810852766036987,-0.1603948026895523,0.5945383310317993,0.7032608389854431,0.0399399995803833
+1789729557330108776,800,0.8366469740867615,-1.8975504636764526,-1.0064737796783447,1.3810865879058838,-0.160394087433815,0.5945315361022949,0.7032596468925476,0.0399399995803833
+1789729557363443228,833,0.8366528153419495,-1.8975504636764526,-1.0064749717712402,1.3810855150222778,-0.160391703248024,0.5945277214050293,0.7032594680786133,0.0399399995803833
+1789729557396772931,866,0.8366641402244568,-1.897552251815796,-1.0064765214920044,1.3810855150222778,-0.1603894829750061,0.5945128798484802,0.7032609581947327,0.0399399995803833
+1789729557430111081,900,0.8366747498512268,-1.897553563117981,-1.0064764022827148,1.381084680557251,-0.16038453578948975,0.5944973826408386,0.7032592296600342,0.0399399995803833
+1789729557463454530,933,0.8366833925247192,-1.8975532054901123,-1.0064756870269775,1.381084680557251,-0.1603773683309555,0.594491183757782,0.7032546401023865,0.0399399995803833
+1789729557496780204,966,0.8366929292678833,-1.8975533246994019,-1.0064754486083984,1.3810855150222778,-0.16036967933177948,0.5944746136665344,0.7032473087310791,0.0399399995803833
+1789729557530180098,1000,0.8366955518722534,-1.897552728652954,-1.006475806236267,1.381085753440857,-0.1603659987449646,0.594468891620636,0.7032464742660522,0.0399399995803833
+1789729557563441569,1033,0.836698055267334,-1.897552251815796,-1.0064772367477417,1.3810861110687256,-0.16036516427993774,0.5944691896438599,0.7032470107078552,0.0399399995803833
+1789729557596773861,1066,0.8366993069648743,-1.8975547552108765,-1.006480097770691,1.3810856342315674,-0.16036419570446014,0.5944688320159912,0.703246533870697,0.0399399995803833
+1789729557630102913,1100,0.8367016315460205,-1.8975580930709839,-1.0064849853515625,1.3810863494873047,-0.16036167740821838,0.5944669842720032,0.7032455801963806,0.0399399995803833
+1789729557663440534,1133,0.8367030620574951,-1.897560715675354,-1.0064870119094849,1.3810858726501465,-0.16035905480384827,0.594463586807251,0.7032461762428284,0.0399399995803833
+1789729557696772886,1166,0.8367061018943787,-1.8975657224655151,-1.0064892768859863,1.381085991859436,-0.16035428643226624,0.5944618582725525,0.7032399773597717,0.0399399995803833
+1789729557730168352,1200,0.8367074728012085,-1.8975673913955688,-1.0064910650253296,1.3810863494873047,-0.16035042703151703,0.5944594740867615,0.7032309174537659,0.0399399995803833
+1789729557763436730,1233,0.8367103338241577,-1.8975685834884644,-1.0064927339553833,1.381087303161621,-0.16034798324108124,0.5944605469703674,0.7032292485237122,0.0399399995803833
+1789729557796771481,1266,0.8367140889167786,-1.8975690603256226,-1.006499171257019,1.3810878992080688,-0.16034549474716187,0.5944594740867615,0.7032280564308167,0.0399399995803833
+1789729557830155930,1300,0.8367140293121338,-1.8975690603256226,-1.0065042972564697,1.3810887336730957,-0.16034312546253204,0.5944592952728271,0.7032288312911987,0.0399399995803833
+1789729557863444083,1333,0.8367155194282532,-1.8975727558135986,-1.0065054893493652,1.3810877799987793,-0.1603408306837082,0.5944591760635376,0.7032290697097778,0.0399399995803833
+1789729557896770517,1366,0.836718738079071,-1.8975764513015747,-1.0065068006515503,1.3810880184173584,-0.1603383719921112,0.5944548845291138,0.703228235244751,0.0399399995803833
+1789729557930167452,1400,0.8367229104042053,-1.8975815773010254,-1.0065066814422607,1.3810877799987793,-0.16033445298671722,0.594448983669281,0.7032259106636047,0.0399399995803833
+1789729557963398170,1433,0.836724579334259,-1.8975838422775269,-1.0065065622329712,1.3810874223709106,-0.16033174097537994,0.5944432020187378,0.7032206654548645,0.0399399995803833
+1789729557996764363,1466,0.8367260694503784,-1.897584319114685,-1.0065083503723145,1.3810880184173584,-0.16032998263835907,0.5944437980651855,0.7032187581062317,0.0399399995803833
+1789729558030105415,1500,0.8367268443107605,-1.8975841999053955,-1.0065112113952637,1.381089210510254,-0.16032841801643372,0.5944438576698303,0.7032186388969421,0.0399399995803833
+1789729558063441073,1533,0.8367288708686829,-1.8975841999053955,-1.0065131187438965,1.3810902833938599,-0.16032938659191132,0.5944425463676453,0.7032191157341003,0.0399399995803833
+1789729558096774282,1566,0.8367315530776978,-1.8975881338119507,-1.0065199136734009,1.3810902833938599,-0.1603279560804367,0.5944391489028931,0.7032203674316406,0.0399399995803833
+1789729558130103483,1600,0.8367347121238708,-1.8975939750671387,-1.00652277469635,1.3810893297195435,-0.16032691299915314,0.5944342613220215,0.7032195329666138,0.0399399995803833
+1789729558163432843,1633,0.8367368578910828,-1.8975995779037476,-1.0065255165100098,1.3810889720916748,-0.1603241264820099,0.5944308042526245,0.703219473361969,0.0399399995803833
+1789729558196768471,1666,0.8367385268211365,-1.8976026773452759,-1.0065268278121948,1.3810893297195435,-0.16031958162784576,0.5944300293922424,0.7032060623168945,0.0399399995803833
+1789729558230094982,1700,0.8367404937744141,-1.8976013660430908,-1.006527304649353,1.3810895681381226,-0.16031663119792938,0.5944293141365051,0.7032026052474976,0.0399399995803833
+1789729558263442328,1733,0.836742103099823,-1.8976012468338013,-1.006528615951538,1.3810890913009644,-0.1603144407272339,0.5944294333457947,0.7032004594802856,0.0399399995803833
+1789729558296764800,1766,0.8367424607276917,-1.8976014852523804,-1.0065327882766724,1.381088376045227,-0.16031281650066376,0.594430685043335,0.7032025456428528,0.0399399995803833
+1789729558330110406,1800,0.8367431163787842,-1.8976048231124878,-1.0065361261367798,1.3810888528823853,-0.16031330823898315,0.594428539276123,0.7032021880149841,0.0399399995803833
+1789729558363438576,1833,0.8367456197738647,-1.8976109027862549,-1.006540060043335,1.3810889720916748,-0.1603134721517563,0.5944253206253052,0.7032006978988647,0.0399399995803833
+1789729558396774894,1866,0.836750328540802,-1.8976197242736816,-1.0065428018569946,1.381089448928833,-0.16030791401863098,0.5944215655326843,0.7031998038291931,0.0399399995803833
+1789729558430106494,1900,0.8367534875869751,-1.8976227045059204,-1.0065436363220215,1.381089448928833,-0.16030296683311462,0.5944178104400635,0.7031933069229126,0.03993000090122223
+1789729558463438423,1933,0.8367549180984497,-1.8976223468780518,-1.0065442323684692,1.3810888528823853,-0.16030041873455048,0.5944163799285889,0.7031888365745544,0.03993000090122223
+1789729558496781170,1966,0.836757481098175,-1.8976213932037354,-1.0065443515777588,1.3810893297195435,-0.16029877960681915,0.5944135785102844,0.70319002866745,0.03993000090122223
+1789729558530127386,2000,0.836759090423584,-1.8976216316223145,-1.0065518617630005,1.3810888528823853,-0.16029895842075348,0.5944133400917053,0.7031914591789246,0.03993000090122223
+1789729558563435192,2033,0.8367592692375183,-1.8976248502731323,-1.0065559148788452,1.3810889720916748,-0.16029715538024902,0.5944118499755859,0.7031911611557007,0.03993000090122223
+1789729558596772330,2066,0.8367637991905212,-1.8976287841796875,-1.0065577030181885,1.381088137626648,-0.1602948158979416,0.594409704208374,0.7031915783882141,0.03993000090122223
+1789729558630100690,2100,0.8367645144462585,-1.8976314067840576,-1.0065580606460571,1.3810877799987793,-0.1602921336889267,0.5944034457206726,0.7031900882720947,0.03993000090122223
+1789729558663448816,2133,0.8367658257484436,-1.8976348638534546,-1.0065609216690063,1.3810878992080688,-0.1602901965379715,0.5944017767906189,0.7031866312026978,0.0399399995803833
+1789729558696771867,2166,0.8367700576782227,-1.897635817527771,-1.0065655708312988,1.3810888528823853,-0.16028769314289093,0.5943966507911682,0.703178346157074,0.0399399995803833
+1789729558730103297,2200,0.8367704749107361,-1.8976376056671143,-1.0065691471099854,1.3810886144638062,-0.16028335690498352,0.594396710395813,0.703175961971283,0.0399399995803833
+1789729558763430938,2233,0.8367720246315002,-1.8976428508758545,-1.006569743156433,1.3810877799987793,-0.1602819561958313,0.5943986177444458,0.7031765580177307,0.0399399995803833
+1789729558796768516,2266,0.8367738723754883,-1.8976447582244873,-1.0065782070159912,1.3810878992080688,-0.16028037667274475,0.5943970084190369,0.7031782865524292,0.0399399995803833
+1789729558830158170,2300,0.8367750644683838,-1.8976469039916992,-1.0065850019454956,1.3810888528823853,-0.16027842462062836,0.5943984389305115,0.7031773924827576,0.0399399995803833
+1789729558863439303,2333,0.8367775082588196,-1.897651195526123,-1.0065858364105225,1.3810875415802002,-0.16027520596981049,0.5943976044654846,0.703175961971283,0.0399399995803833
+1789729558896840965,2366,0.8367795944213867,-1.8976593017578125,-1.0065854787826538,1.3810875415802002,-0.1602715402841568,0.5943949222564697,0.7031710743904114,0.0399399995803833
+1789729558930098163,2400,0.8367795348167419,-1.897659420967102,-1.006585955619812,1.381088137626648,-0.16026926040649414,0.5943920016288757,0.7031676769256592,0.0399399995803833
+1789729558963437721,2433,0.8367807269096375,-1.8976577520370483,-1.0065865516662598,1.381088376045227,-0.16026850044727325,0.5943893194198608,0.7031669020652771,0.0399399995803833
+1789729558996772679,2466,0.836782693862915,-1.897657036781311,-1.0065886974334717,1.3810888528823853,-0.16026684641838074,0.5943899750709534,0.7031664848327637,0.0399399995803833
+1789729559030107730,2500,0.8367835879325867,-1.897658109664917,-1.0065885782241821,1.3810886144638062,-0.16026677191257477,0.5943899750709534,0.7031683921813965,0.0399399995803833
+1789729559063439756,2533,0.8367844820022583,-1.8976587057113647,-1.006591796875,1.3810884952545166,-0.16026726365089417,0.5943856239318848,0.7031685709953308,0.0399399995803833
+1789729559096770463,2566,0.836786150932312,-1.8976593017578125,-1.0065958499908447,1.3810880184173584,-0.1602662354707718,0.594379186630249,0.7031669020652771,0.0399399995803833
+1789729559130098560,2600,0.836786687374115,-1.8976619243621826,-1.0065953731536865,1.3810876607894897,-0.16026580333709717,0.5943771004676819,0.7031665444374084,0.0399399995803833
+1789729559163436845,2633,0.8367875218391418,-1.8976640701293945,-1.0065964460372925,1.3810867071151733,-0.1602628231048584,0.5943722724914551,0.7031652331352234,0.0399399995803833
+1789729559196768422,2666,0.8367874026298523,-1.897664189338684,-1.0065983533859253,1.3810880184173584,-0.16026180982589722,0.5943720936775208,0.7031641602516174,0.0399399995803833
+1789729559230102008,2700,0.8367882370948792,-1.8976640701293945,-1.0065996646881104,1.3810887336730957,-0.1602599322795868,0.5943738222122192,0.703163206577301,0.0399399995803833
+1789729559263441663,2733,0.8367899656295776,-1.8976638317108154,-1.006602168083191,1.3810887336730957,-0.1602587103843689,0.5943736433982849,0.7031644582748413,0.0399399995803833
+1789729559296769670,2766,0.8367903232574463,-1.8976658582687378,-1.0066051483154297,1.3810884952545166,-0.16025826334953308,0.594372570514679,0.7031631469726562,0.0399399995803833
+1789729559330106335,2800,0.8367909789085388,-1.8976681232452393,-1.0066083669662476,1.381088376045227,-0.16025805473327637,0.5943692326545715,0.7031619548797607,0.0399399995803833
+1789729559363430404,2833,0.8367928266525269,-1.8976713418960571,-1.006609559059143,1.381087303161621,-0.1602579802274704,0.5943639278411865,0.7031619548797607,0.0399399995803833
+1789729559396765570,2866,0.8367958664894104,-1.8976750373840332,-1.006609559059143,1.3810869455337524,-0.16025544703006744,0.5943609476089478,0.7031564116477966,0.0399399995803833
+1789729559430099176,2900,0.8367975950241089,-1.8976774215698242,-1.0066088438034058,1.381086826324463,-0.16025376319885254,0.594360888004303,0.7031530737876892,0.0399399995803833
+1789729559463429283,2933,0.8367993235588074,-1.8976774215698242,-1.0066170692443848,1.381087303161621,-0.16025197505950928,0.5943619012832642,0.7031528949737549,0.0399399995803833
+1789729559496767948,2966,0.836798906326294,-1.8976787328720093,-1.00662100315094,1.3810875415802002,-0.16025066375732422,0.5943635106086731,0.7031532526016235,0.0399399995803833
+1789729559530161868,3000,0.8368009924888611,-1.8976833820343018,-1.0066224336624146,1.3810871839523315,-0.1602494865655899,0.5943634510040283,0.7031551599502563,0.0399399995803833
+1789729559563440279,3033,0.8368022441864014,-1.8976867198944092,-1.0066238641738892,1.3810874223709106,-0.16025009751319885,0.5943601131439209,0.7031542658805847,0.0399399995803833
+1789729559596771325,3066,0.8368040323257446,-1.8976891040802002,-1.0066261291503906,1.381087064743042,-0.16024842858314514,0.5943507552146912,0.7031497955322266,0.0399399995803833
+1789729559630095774,3100,0.8368061184883118,-1.8976930379867554,-1.0066254138946533,1.3810877799987793,-0.16024699807167053,0.5943474173545837,0.7031453251838684,0.0399399995803833
+1789729559663432119,3133,0.8368083834648132,-1.8976925611495972,-1.0066256523132324,1.3810875415802002,-0.16024446487426758,0.5943453311920166,0.7031456232070923,0.0399399995803833
+1789729559696769424,3166,0.8368090987205505,-1.8976939916610718,-1.0066277980804443,1.3810886144638062,-0.1602427363395691,0.5943472981452942,0.7031447291374207,0.0399399995803833
+1789729559730099681,3200,0.8368096947669983,-1.8976942300796509,-1.0066295862197876,1.381089448928833,-0.16024206578731537,0.5943474173545837,0.7031447887420654,0.0399399995803833
+1789729559763432368,3233,0.8368120193481445,-1.8976960182189941,-1.0066356658935547,1.3810889720916748,-0.16024109721183777,0.5943464636802673,0.7031448483467102,0.0399399995803833
+1789729559796768244,3266,0.8368154764175415,-1.897705078125,-1.0066375732421875,1.3810876607894897,-0.16024141013622284,0.5943449139595032,0.7031441926956177,0.0399399995803833
+1789729559830100800,3300,0.8368201851844788,-1.8977116346359253,-1.0066381692886353,1.3810867071151733,-0.1602391004562378,0.5943397283554077,0.703143298625946,0.0399399995803833
+1789729559863429837,3333,0.8368226289749146,-1.8977131843566895,-1.0066394805908203,1.3810861110687256,-0.16023507714271545,0.5943356156349182,0.7031431198120117,0.0399399995803833
+1789729559896767852,3366,0.836823582649231,-1.8977129459381104,-1.0066406726837158,1.3810862302780151,-0.16023188829421997,0.5943316221237183,0.703137218952179,0.0399399995803833
+1789729559930097519,3400,0.8368237614631653,-1.8977131843566895,-1.0066413879394531,1.3810861110687256,-0.16023243963718414,0.5943325161933899,0.703133761882782,0.0399399995803833
+1789729559963430346,3433,0.8368238806724548,-1.8977129459381104,-1.0066472291946411,1.3810861110687256,-0.16023267805576324,0.5943325757980347,0.7031344175338745,0.0399399995803833
+1789729559996770370,3466,0.8368244767189026,-1.8977136611938477,-1.0066478252410889,1.381086826324463,-0.1602293699979782,0.5943330526351929,0.7031347751617432,0.0399399995803833
+1789729560030096599,3500,0.8368256092071533,-1.8977162837982178,-1.0066479444503784,1.3810861110687256,-0.1602298468351364,0.5943334102630615,0.7031351327896118,0.03994999825954437
+1789729560063428692,3533,0.836828351020813,-1.8977196216583252,-1.0066514015197754,1.3810862302780151,-0.16022983193397522,0.5943306088447571,0.7031335234642029,0.03994999825954437
+1789729560096768934,3566,0.8368311524391174,-1.8977258205413818,-1.0066531896591187,1.3810851573944092,-0.1602264642715454,0.5943264365196228,0.7031328678131104,0.03993000090122223
+1789729560130098377,3600,0.8368315696716309,-1.8977282047271729,-1.0066550970077515,1.3810855150222778,-0.1602243334054947,0.5943252444267273,0.7031302452087402,0.03993000090122223
+1789729560163433000,3633,0.83683180809021,-1.897728681564331,-1.0066578388214111,1.381085753440857,-0.1602218747138977,0.5943265557289124,0.7031295299530029,0.03993000090122223
+1789729560196779030,3666,0.8368318676948547,-1.897728443145752,-1.0066617727279663,1.381085991859436,-0.16022127866744995,0.5943265557289124,0.7031275033950806,0.03993000090122223
+1789729560230096276,3700,0.8368324041366577,-1.897729754447937,-1.0066618919372559,1.3810852766036987,-0.1602226048707962,0.5943257808685303,0.7031279802322388,0.03993000090122223
+1789729560263432718,3733,0.8368326425552368,-1.8977298736572266,-1.0066626071929932,1.3810845613479614,-0.16022136807441711,0.5943253636360168,0.7031281590461731,0.03993000090122223
+1789729560296768621,3766,0.8368334770202637,-1.897732138633728,-1.0066641569137573,1.3810827732086182,-0.1602211445569992,0.5943213105201721,0.703127384185791,0.0399399995803833
+1789729560330056265,3800,0.8368344902992249,-1.8977349996566772,-1.0066648721694946,1.38108229637146,-0.16022084653377533,0.5943149328231812,0.7031245231628418,0.0399399995803833
+1789729560363438915,3833,0.8368359208106995,-1.8977380990982056,-1.0066683292388916,1.3810827732086182,-0.16022010147571564,0.5943112969398499,0.7031164765357971,0.0399399995803833
+1789729560396831463,3866,0.8368374705314636,-1.8977423906326294,-1.006670355796814,1.3810819387435913,-0.16021521389484406,0.5943111181259155,0.7031164765357971,0.0399399995803833
+1789729560430102742,3900,0.8368378281593323,-1.8977426290512085,-1.00667142868042,1.381080985069275,-0.16021400690078735,0.5943107008934021,0.7031176686286926,0.0399399995803833
+1789729560463435615,3933,0.8368393182754517,-1.8977421522140503,-1.0066776275634766,1.381081223487854,-0.16021433472633362,0.5943120718002319,0.7031195759773254,0.0399399995803833
+1789729560496768358,3966,0.8368416428565979,-1.8977439403533936,-1.0066858530044556,1.3810813426971436,-0.16021302342414856,0.5943099856376648,0.703120231628418,0.0399399995803833
+1789729560530104570,4000,0.8368434309959412,-1.897747278213501,-1.0066856145858765,1.3810826539993286,-0.1602119505405426,0.5943083167076111,0.7031189799308777,0.0399399995803833
+1789729560563435623,4033,0.8368444442749023,-1.8977524042129517,-1.0066859722137451,1.3810832500457764,-0.16021126508712769,0.5943065285682678,0.7031172513961792,0.0399399995803833
+1789729560596767977,4066,0.8368467688560486,-1.8977525234222412,-1.0066864490509033,1.3810832500457764,-0.16020773351192474,0.5943018794059753,0.7031125426292419,0.0399399995803833
+1789729560630099220,4100,0.8368468284606934,-1.8977515697479248,-1.0066882371902466,1.3810839653015137,-0.16020548343658447,0.5943032503128052,0.7031099796295166,0.0399399995803833
+1789729560663431783,4133,0.8368470072746277,-1.8977516889572144,-1.0066889524459839,1.3810838460922241,-0.16020417213439941,0.5943031311035156,0.7031099200248718,0.0399399995803833
+1789729560696772644,4166,0.8368481397628784,-1.8977513313293457,-1.0066941976547241,1.3810852766036987,-0.16020527482032776,0.5943030714988708,0.7031108736991882,0.0399399995803833
+1789729560730099388,4200,0.8368495106697083,-1.8977525234222412,-1.0066967010498047,1.3810853958129883,-0.16020530462265015,0.5943015813827515,0.7031116485595703,0.0399399995803833
+1789729560763437870,4233,0.836851954460144,-1.8977538347244263,-1.0066957473754883,1.3810858726501465,-0.16020514070987701,0.5943007469177246,0.7031118273735046,0.0399399995803833
+1789729560796770853,4266,0.8368560075759888,-1.897754430770874,-1.0066947937011719,1.3810856342315674,-0.1602051705121994,0.5942915081977844,0.7031105756759644,0.0399399995803833
+1789729560830099127,4300,0.8368570804595947,-1.8977556228637695,-1.00669527053833,1.3810856342315674,-0.1602037250995636,0.594290554523468,0.7031095027923584,0.0399399995803833
+1789729560863434120,4333,0.8368568420410156,-1.897755742073059,-1.0066949129104614,1.3810862302780151,-0.16020368039608002,0.5942882895469666,0.7031068205833435,0.0399399995803833
+1789729560896769052,4366,0.8368567228317261,-1.8977552652359009,-1.0066959857940674,1.3810876607894897,-0.16020187735557556,0.5942879319190979,0.7031036615371704,0.0399399995803833
+1789729560930096196,4400,0.8368568420410156,-1.8977546691894531,-1.006697177886963,1.3810890913009644,-0.160201296210289,0.5942897796630859,0.7031042575836182,0.0399399995803833
+1789729560963433478,4433,0.8368584513664246,-1.8977560997009277,-1.006699562072754,1.3810893297195435,-0.1602008193731308,0.5942894220352173,0.7031049728393555,0.0399399995803833
+1789729560996768441,4466,0.8368610739707947,-1.897762656211853,-1.0067085027694702,1.3810888528823853,-0.16020071506500244,0.5942861437797546,0.7031054496765137,0.0399399995803833
+1789729561030093926,4500,0.8368633389472961,-1.8977686166763306,-1.0067111253738403,1.3810887336730957,-0.16019906103610992,0.5942825078964233,0.7031053900718689,0.0399399995803833
+1789729561063435633,4533,0.8368654251098633,-1.8977717161178589,-1.0067113637924194,1.3810884952545166,-0.16019752621650696,0.5942810773849487,0.7031042575836182,0.0399399995803833
+1789729561096779900,4566,0.8368666172027588,-1.8977727890014648,-1.006710410118103,1.381087064743042,-0.16019566357135773,0.5942795276641846,0.7031035423278809,0.0399399995803833
+1789729561130101182,4600,0.8368669152259827,-1.8977720737457275,-1.0067105293273926,1.3810877799987793,-0.1601947695016861,0.5942775011062622,0.7031018733978271,0.0399399995803833
+1789729561163435741,4633,0.8368683457374573,-1.8977724313735962,-1.0067110061645508,1.3810880184173584,-0.1601952612400055,0.5942789316177368,0.7031010985374451,0.0399399995803833
+1789729561196771230,4666,0.836868405342102,-1.8977739810943604,-1.006714105606079,1.3810882568359375,-0.16019569337368011,0.5942783355712891,0.7031024694442749,0.0399399995803833
+1789729561230157575,4700,0.8368698954582214,-1.8977771997451782,-1.0067161321640015,1.3810878992080688,-0.16019536554813385,0.5942772626876831,0.703102171421051,0.0399399995803833
+1789729561263437228,4733,0.8368716239929199,-1.8977781534194946,-1.0067226886749268,1.381088137626648,-0.16019411385059357,0.594275176525116,0.7031007409095764,0.0399399995803833
+1789729561296771917,4766,0.8368722200393677,-1.897781252861023,-1.0067245960235596,1.3810880184173584,-0.1601915806531906,0.594272792339325,0.7030964493751526,0.0399399995803833
+1789729561330100337,4800,0.8368727564811707,-1.8977879285812378,-1.006724238395691,1.3810877799987793,-0.1601887345314026,0.594272255897522,0.7030923962593079,0.0399399995803833
+1789729561363435586,4833,0.8368743062019348,-1.897789478302002,-1.0067248344421387,1.3810878992080688,-0.160187229514122,0.5942724347114563,0.703092634677887,0.0399399995803833
+1789729561396769335,4866,0.8368750214576721,-1.897788643836975,-1.0067261457443237,1.381088376045227,-0.1601869910955429,0.594271183013916,0.7030951976776123,0.0399399995803833
+1789729561430103224,4900,0.8368783593177795,-1.8977875709533691,-1.006729245185852,1.3810887336730957,-0.16018632054328918,0.5942720770835876,0.7030950784683228,0.0399399995803833
+1789729561463437863,4933,0.836882472038269,-1.8977915048599243,-1.0067286491394043,1.3810886144638062,-0.16018624603748322,0.5942709445953369,0.7030952572822571,0.0399399995803833
+1789729561496769963,4966,0.8368839025497437,-1.897796869277954,-1.0067288875579834,1.3810871839523315,-0.16018620133399963,0.5942649841308594,0.7030951380729675,0.0399399995803833
+1789729561530098693,5000,0.8368837237358093,-1.8977973461151123,-1.0067301988601685,1.3810877799987793,-0.1601857841014862,0.5942586064338684,0.7030944228172302,0.0399399995803833
+1789729561563501495,5033,0.8368827700614929,-1.8977975845336914,-1.00673246383667,1.3810880184173584,-0.16018474102020264,0.594255805015564,0.7030944228172302,0.0399399995803833
+1789729561596771550,5066,0.8368834853172302,-1.8978008031845093,-1.0067335367202759,1.3810876607894897,-0.16018366813659668,0.5942561626434326,0.7030947804450989,0.0399399995803833
+1789729561630101460,5100,0.8368856310844421,-1.8978028297424316,-1.0067342519760132,1.3810882568359375,-0.1601843386888504,0.5942574143409729,0.7030947208404541,0.0399399995803833
+1789729561663427291,5133,0.8368868231773376,-1.897802472114563,-1.0067412853240967,1.3810871839523315,-0.16018374264240265,0.5942568182945251,0.7030941843986511,0.0399399995803833
+1789729561696765759,5166,0.8368887305259705,-1.897804856300354,-1.0067436695098877,1.3810869455337524,-0.16018250584602356,0.5942569375038147,0.7030947804450989,0.0399399995803833
+1789729561730101567,5200,0.8368908762931824,-1.8978129625320435,-1.006743311882019,1.381085991859436,-0.16018211841583252,0.5942555665969849,0.7030949592590332,0.0399399995803833
+1789729561763435086,5233,0.8368924856185913,-1.8978145122528076,-1.00674307346344,1.381085753440857,-0.16018033027648926,0.594254195690155,0.7030941843986511,0.0399399995803833
+1789729561796772205,5266,0.8368919491767883,-1.8978146314620972,-1.0067436695098877,1.3810862302780151,-0.16017742455005646,0.5942498445510864,0.7030903697013855,0.03993000090122223
+1789729561830097906,5300,0.8368932604789734,-1.8978142738342285,-1.0067447423934937,1.3810862302780151,-0.1601780652999878,0.5942490100860596,0.7030839323997498,0.03993000090122223
+1789729561863431395,5333,0.8368940353393555,-1.8978149890899658,-1.0067460536956787,1.381087303161621,-0.16017696261405945,0.5942493081092834,0.7030835747718811,0.03993000090122223
+1789729561896780630,5366,0.8368971347808838,-1.8978140354156494,-1.0067510604858398,1.3810876607894897,-0.1601761281490326,0.5942498445510864,0.7030842304229736,0.03993000090122223
+1789729561930174644,5400,0.8368983268737793,-1.8978148698806763,-1.0067529678344727,1.3810876607894897,-0.16017507016658783,0.5942486524581909,0.7030848860740662,0.03993000090122223
+1789729561963440460,5433,0.8368999361991882,-1.89781653881073,-1.00675368309021,1.3810871839523315,-0.16017518937587738,0.5942429304122925,0.7030844688415527,0.03993000090122223
+1789729561996771450,5466,0.8369014859199524,-1.8978191614151,-1.0067534446716309,1.3810869455337524,-0.1601746529340744,0.5942381024360657,0.7030840516090393,0.03993000090122223
+1789729562030104999,5500,0.836901843547821,-1.8978195190429688,-1.006752848625183,1.3810863494873047,-0.16017423570156097,0.5942357182502747,0.7030816674232483,0.0399399995803833
+1789729562063437984,5533,0.8369011878967285,-1.8978193998336792,-1.0067535638809204,1.3810861110687256,-0.16017305850982666,0.5942323207855225,0.703079104423523,0.0399399995803833
+1789729562096774909,5566,0.8369012475013733,-1.8978195190429688,-1.0067538022994995,1.3810861110687256,-0.16017211973667145,0.5942295789718628,0.7030773162841797,0.0399399995803833
+1789729562130101975,5600,0.836902379989624,-1.8978198766708374,-1.006756067276001,1.3810863494873047,-0.16017243266105652,0.594230592250824,0.7030784487724304,0.0399399995803833
+1789729562163432261,5633,0.8369024991989136,-1.8978204727172852,-1.0067623853683472,1.3810865879058838,-0.16017353534698486,0.594231128692627,0.7030789256095886,0.0399399995803833
+1789729562196770345,5666,0.8369039297103882,-1.897821068763733,-1.0067627429962158,1.3810856342315674,-0.16017337143421173,0.5942291617393494,0.7030780911445618,0.0399399995803833
+1789729562230104060,5700,0.8369069695472717,-1.897823452949524,-1.0067617893218994,1.381084680557251,-0.16017214953899384,0.5942233800888062,0.7030785083770752,0.0399399995803833
+1789729562263435126,5733,0.8369077444076538,-1.8978255987167358,-1.006762146949768,1.3810856342315674,-0.16017186641693115,0.594218373298645,0.7030782103538513,0.0399399995803833
+1789729562296770001,5766,0.8369079232215881,-1.8978244066238403,-1.0067620277404785,1.3810858726501465,-0.1601724624633789,0.5942190885543823,0.7030774354934692,0.0399399995803833
+1789729562330099357,5800,0.8369072079658508,-1.8978239297866821,-1.006763219833374,1.3810862302780151,-0.16017137467861176,0.5942193269729614,0.7030766010284424,0.0399399995803833
+1789729562363435411,5833,0.8369072079658508,-1.8978239297866821,-1.0067634582519531,1.3810865879058838,-0.1601707488298416,0.5942203998565674,0.703076958656311,0.0399399995803833
+1789729562396765637,5866,0.8369078040122986,-1.8978252410888672,-1.0067654848098755,1.3810871839523315,-0.16017025709152222,0.5942201018333435,0.70307856798172,0.0399399995803833
+1789729562430100592,5900,0.8369078636169434,-1.8978255987167358,-1.0067702531814575,1.381088137626648,-0.1601702868938446,0.5942212343215942,0.7030785083770752,0.0399399995803833
+1789729562463429178,5933,0.836908221244812,-1.8978275060653687,-1.0067713260650635,1.381087303161621,-0.16017068922519684,0.5942198038101196,0.7030785083770752,0.0399399995803833
+1789729562496773990,5966,0.8369091153144836,-1.8978291749954224,-1.0067716836929321,1.3810880184173584,-0.1601695567369461,0.5942189693450928,0.7030770182609558,0.0399399995803833
+1789729562530098888,6000,0.8369103074073792,-1.897829532623291,-1.006772518157959,1.3810887336730957,-0.16016963124275208,0.5942171812057495,0.7030755877494812,0.0399399995803833
+1789729562563430713,6033,0.8369110226631165,-1.8978289365768433,-1.0067722797393799,1.3810888528823853,-0.16016855835914612,0.5942152142524719,0.7030750513076782,0.0399399995803833
+1789729562596765818,6066,0.8369117975234985,-1.897829294204712,-1.006772756576538,1.381089448928833,-0.16016912460327148,0.5942144989967346,0.7030758857727051,0.0399399995803833
+1789729562630105271,6100,0.8369121551513672,-1.8978301286697388,-1.0067740678787231,1.381089448928833,-0.16016876697540283,0.5942127108573914,0.7030755281448364,0.0399399995803833
+1789729562663436717,6133,0.8369135856628418,-1.897831916809082,-1.0067768096923828,1.3810889720916748,-0.1601690798997879,0.5942106246948242,0.7030773758888245,0.0399399995803833
+1789729562696780729,6166,0.836918294429779,-1.8978383541107178,-1.006778597831726,1.3810880184173584,-0.16016781330108643,0.5942018032073975,0.7030766010284424,0.0399399995803833
+1789729562730098259,6200,0.8369208574295044,-1.8978418111801147,-1.0067787170410156,1.3810882568359375,-0.16016785800457,0.5941994786262512,0.7030752301216125,0.0399399995803833
+1789729562763431604,6233,0.8369206190109253,-1.8978424072265625,-1.0067784786224365,1.3810877799987793,-0.1601676493883133,0.5941996574401855,0.7030742168426514,0.0399399995803833
+1789729562796765499,6266,0.8369202017784119,-1.8978432416915894,-1.0067793130874634,1.381087303161621,-0.16016651690006256,0.594200074672699,0.7030730247497559,0.0399399995803833
+1789729562830100823,6300,0.836920440196991,-1.8978444337844849,-1.0067799091339111,1.3810877799987793,-0.16016660630702972,0.5942004323005676,0.7030735015869141,0.0399399995803833
+1789729562863432319,6333,0.8369206190109253,-1.8978445529937744,-1.0067827701568604,1.3810880184173584,-0.1601676195859909,0.5942014455795288,0.703074038028717,0.0399399995803833
+1789729562896774382,6366,0.836921751499176,-1.8978458642959595,-1.0067888498306274,1.381087303161621,-0.16016648709774017,0.5942003726959229,0.7030746340751648,0.0399399995803833
+1789729562930100229,6400,0.8369213938713074,-1.8978471755981445,-1.0067883729934692,1.3810864686965942,-0.16016671061515808,0.5941942930221558,0.7030740976333618,0.0399399995803833
+1789729562963437083,6433,0.8369221687316895,-1.8978487253189087,-1.0067881345748901,1.3810852766036987,-0.16016581654548645,0.5941935181617737,0.7030724287033081,0.0399399995803833
+1789729562996768109,6466,0.8369234800338745,-1.897849678993225,-1.0067882537841797,1.3810845613479614,-0.16016575694084167,0.5941914916038513,0.7030709981918335,0.0399399995803833
+1789729563030105222,6500,0.8369235992431641,-1.89784836769104,-1.0067883729934692,1.38108491897583,-0.16016483306884766,0.5941893458366394,0.7030683755874634,0.0399399995803833
+1789729563063434673,6533,0.8369229435920715,-1.8978482484817505,-1.006789207458496,1.3810853958129883,-0.160166397690773,0.5941897034645081,0.7030665278434753,0.0399399995803833
+1789729563096782210,6566,0.8369254469871521,-1.8978482484817505,-1.0067893266677856,1.3810862302780151,-0.16016529500484467,0.5941912531852722,0.7030671238899231,0.0399399995803833
+1789729563130104644,6600,0.8369268774986267,-1.8978493213653564,-1.006790041923523,1.3810865879058838,-0.16016612946987152,0.594191312789917,0.703069269657135,0.0399399995803833
+1789729563163434266,6633,0.8369278907775879,-1.8978501558303833,-1.0067917108535767,1.3810869455337524,-0.16016484797000885,0.5941909551620483,0.7030692100524902,0.0399399995803833
+1789729563196773245,6666,0.8369299173355103,-1.897851824760437,-1.0067908763885498,1.3810863494873047,-0.16016530990600586,0.5941852927207947,0.7030676007270813,0.0399399995803833
+1789729563230102786,6700,0.8369298577308655,-1.8978521823883057,-1.0067917108535767,1.3810856342315674,-0.1601647436618805,0.594176709651947,0.703067421913147,0.0399399995803833
+1789729563263431748,6733,0.8369293808937073,-1.8978527784347534,-1.0067917108535767,1.3810858726501465,-0.16016553342342377,0.5941749215126038,0.703067421913147,0.0399399995803833
+1789729563296775177,6766,0.8369296193122864,-1.8978534936904907,-1.0067919492721558,1.3810858726501465,-0.16016508638858795,0.594173789024353,0.7030673027038574,0.0399399995803833
+1789729563330100169,6800,0.8369309902191162,-1.8978536128997803,-1.0067936182022095,1.3810858726501465,-0.1601661592721939,0.5941764116287231,0.7030675411224365,0.0399399995803833
+1789729563363426352,6833,0.8369322419166565,-1.8978543281555176,-1.0067962408065796,1.3810855150222778,-0.1601652354001999,0.5941755175590515,0.7030678391456604,0.0399399995803833
+1789729563396770340,6866,0.8369347453117371,-1.8978573083877563,-1.0068001747131348,1.3810851573944092,-0.16016605496406555,0.5941738486289978,0.7030684947967529,0.0399399995803833
+1789729563430097142,6900,0.8369352221488953,-1.8978630304336548,-1.0068013668060303,1.3810844421386719,-0.16016682982444763,0.5941706895828247,0.7030662894248962,0.0399399995803833
+1789729563463429783,6933,0.8369355201721191,-1.8978662490844727,-1.0068018436431885,1.381083369255066,-0.1601652354001999,0.5941684246063232,0.7030649781227112,0.0399399995803833
+1789729563496769362,6966,0.8369354605674744,-1.8978657722473145,-1.0068024396896362,1.3810838460922241,-0.1601637601852417,0.5941669344902039,0.7030587196350098,0.0399399995803833
+1789729563530102213,7000,0.8369355201721191,-1.8978654146194458,-1.0068026781082153,1.3810837268829346,-0.16016332805156708,0.5941668152809143,0.7030589580535889,0.0399399995803833
+1789729563563443572,7033,0.8369354009628296,-1.8978650569915771,-1.0068047046661377,1.3810844421386719,-0.16016294062137604,0.5941675305366516,0.7030603289604187,0.0399399995803833
+1789729563596768864,7066,0.8369359374046326,-1.8978674411773682,-1.0068085193634033,1.3810851573944092,-0.16016235947608948,0.5941709876060486,0.7030594944953918,0.03993000090122223
+1789729563630091298,7100,0.8369386196136475,-1.8978688716888428,-1.0068116188049316,1.3810850381851196,-0.1601622849702835,0.594169557094574,0.703059196472168,0.03993000090122223
+1789729563663436966,7133,0.8369388580322266,-1.8978718519210815,-1.0068166255950928,1.381085753440857,-0.16016270220279694,0.5941671133041382,0.7030592560768127,0.03993000090122223
+1789729563696767037,7166,0.8369408845901489,-1.8978760242462158,-1.0068159103393555,1.3810844421386719,-0.16016118228435516,0.5941646695137024,0.7030594944953918,0.03993000090122223
+1789729563730095749,7200,0.8369407057762146,-1.8978761434555054,-1.0068162679672241,1.3810844421386719,-0.16016075015068054,0.5941591858863831,0.7030599117279053,0.03993000090122223
+1789729563763426560,7233,0.8369408845901489,-1.8978763818740845,-1.0068159103393555,1.3810843229293823,-0.16016057133674622,0.5941601991653442,0.7030583620071411,0.03993000090122223
+1789729563796767729,7266,0.8369409441947937,-1.8978757858276367,-1.0068172216415405,1.3810850381851196,-0.16016192734241486,0.5941600203514099,0.7030584216117859,0.0399399995803833
+1789729563830153027,7300,0.8369421362876892,-1.8978755474090576,-1.0068188905715942,1.38108491897583,-0.1601615846157074,0.5941607356071472,0.7030597925186157,0.0399399995803833
+1789729563863436650,7333,0.8369426727294922,-1.897876501083374,-1.006819725036621,1.38108491897583,-0.16016077995300293,0.5941594243049622,0.703060507774353,0.0399399995803833
+1789729563896768521,7366,0.836944043636322,-1.8978790044784546,-1.0068188905715942,1.3810845613479614,-0.16016243398189545,0.5941555500030518,0.7030605673789978,0.0399399995803833
+1789729563930105751,7400,0.836944580078125,-1.8978806734085083,-1.0068198442459106,1.381083607673645,-0.16016115248203278,0.5941498875617981,0.7030579447746277,0.0399399995803833
+1789729563963429204,7433,0.8369444012641907,-1.8978811502456665,-1.0068206787109375,1.3810830116271973,-0.16016122698783875,0.5941465497016907,0.7030582427978516,0.0399399995803833
+1789729563996771603,7466,0.8369444608688354,-1.8978803157806396,-1.0068219900131226,1.3810828924179077,-0.16016089916229248,0.5941464304924011,0.7030578255653381,0.0399399995803833
+1789729564030095625,7500,0.8369444012641907,-1.8978805541992188,-1.0068235397338867,1.3810837268829346,-0.16016031801700592,0.5941469073295593,0.7030579447746277,0.0399399995803833
+1789729564063429441,7533,0.8369457125663757,-1.8978815078735352,-1.0068236589431763,1.381083607673645,-0.1601618230342865,0.5941469669342041,0.7030579447746277,0.0399399995803833
+1789729564096774404,7566,0.8369463682174683,-1.8978842496871948,-1.0068278312683105,1.3810830116271973,-0.16016048192977905,0.5941494107246399,0.703059196472168,0.0399399995803833
+1789729564130100402,7600,0.836946964263916,-1.8978855609893799,-1.0068289041519165,1.381083369255066,-0.16016048192977905,0.5941463708877563,0.703058123588562,0.0399399995803833
+1789729564163430469,7633,0.8369476795196533,-1.897887945175171,-1.0068291425704956,1.381083607673645,-0.16016076505184174,0.5941460728645325,0.7030569911003113,0.0399399995803833
+1789729564196763855,7666,0.836948037147522,-1.89788818359375,-1.0068299770355225,1.3810842037200928,-0.16016140580177307,0.594142735004425,0.7030545473098755,0.0399399995803833
+1789729564230094212,7700,0.836948812007904,-1.8978872299194336,-1.0068305730819702,1.3810844421386719,-0.1601598560810089,0.5941414833068848,0.7030537128448486,0.0399399995803833
+1789729564263428557,7733,0.8369497656822205,-1.8978872299194336,-1.0068304538726807,1.3810855150222778,-0.16016033291816711,0.5941388607025146,0.703053891658783,0.0399399995803833
+1789729564296767642,7766,0.8369516134262085,-1.8978880643844604,-1.0068299770355225,1.3810853958129883,-0.16016007959842682,0.5941410064697266,0.7030549049377441,0.0399399995803833
+1789729564330098708,7800,0.8369547724723816,-1.897889256477356,-1.0068333148956299,1.3810858726501465,-0.160159632563591,0.5941387414932251,0.7030545473098755,0.0399399995803833
+1789729564363425486,7833,0.8369575142860413,-1.8978909254074097,-1.0068360567092896,1.3810861110687256,-0.16015861928462982,0.5941330194473267,0.7030572891235352,0.0399399995803833
+1789729564396767100,7866,0.8369627594947815,-1.897902250289917,-1.0068358182907104,1.381085991859436,-0.16015826165676117,0.5941298007965088,0.7030556797981262,0.0399399995803833
+1789729564430101206,7900,0.8369635343551636,-1.8979051113128662,-1.0068367719650269,1.3810853958129883,-0.16015660762786865,0.5941269993782043,0.703053891658783,0.0399399995803833
+1789729564463431253,7933,0.8369628190994263,-1.8979054689407349,-1.0068376064300537,1.3810851573944092,-0.1601572483778,0.5941267609596252,0.7030537128448486,0.0399399995803833
+1789729564496766298,7966,0.8369624614715576,-1.8979041576385498,-1.0068385601043701,1.3810852766036987,-0.1601565182209015,0.5941265821456909,0.7030553221702576,0.0399399995803833
+1789729564530105733,8000,0.8369629979133606,-1.8979036808013916,-1.0068397521972656,1.3810856342315674,-0.1601569950580597,0.5941276550292969,0.7030556201934814,0.0399399995803833
+1789729564563467052,8033,0.8369637727737427,-1.8979054689407349,-1.0068436861038208,1.38108491897583,-0.16015566885471344,0.5941281318664551,0.7030560970306396,0.0399399995803833
+1789729564596773564,8066,0.8369660973548889,-1.8979072570800781,-1.006845235824585,1.3810851573944092,-0.16015610098838806,0.5941272377967834,0.703055739402771,0.0399399995803833
+1789729564630107990,8100,0.8369666337966919,-1.8979079723358154,-1.0068467855453491,1.3810850381851196,-0.1601548194885254,0.5941247940063477,0.7030553221702576,0.0399399995803833
+1789729564663433698,8133,0.8369663953781128,-1.8979130983352661,-1.0068469047546387,1.3810839653015137,-0.16015443205833435,0.5941237211227417,0.7030532956123352,0.0399399995803833
+1789729564696774842,8166,0.8369665741920471,-1.8979172706604004,-1.006847620010376,1.381082534790039,-0.1601536124944687,0.5941223502159119,0.7030463814735413,0.0399399995803833
+1789729564730110647,8200,0.836966335773468,-1.8979167938232422,-1.0068483352661133,1.3810837268829346,-0.16015271842479706,0.594122052192688,0.7030463218688965,0.0399399995803833
+1789729564763434515,8233,0.8369660973548889,-1.897915244102478,-1.0068511962890625,1.3810837268829346,-0.1601514369249344,0.5941240191459656,0.7030466198921204,0.0399399995803833
+1789729564796769831,8266,0.8369668126106262,-1.8979154825210571,-1.0068540573120117,1.3810837268829346,-0.16015107929706573,0.5941264033317566,0.7030481696128845,0.0399399995803833
+1789729564830106626,8300,0.836967945098877,-1.8979170322418213,-1.0068535804748535,1.3810831308364868,-0.16015246510505676,0.5941217541694641,0.7030491828918457,0.0399399995803833
+1789729564863391304,8333,0.8369707465171814,-1.8979188203811646,-1.00685453414917,1.381083369255066,-0.16015112400054932,0.5941168069839478,0.7030482888221741,0.0399399995803833
+1789729564896769619,8366,0.8369750380516052,-1.8979198932647705,-1.0068565607070923,1.3810834884643555,-0.16015057265758514,0.5941120386123657,0.7030463814735413,0.0399399995803833
+1789729564930103085,8400,0.8369750380516052,-1.8979216814041138,-1.0068572759628296,1.3810828924179077,-0.16014905273914337,0.5941112041473389,0.703045666217804,0.0399399995803833
+1789729564963438320,8433,0.8369747996330261,-1.8979235887527466,-1.006857991218567,1.3810821771621704,-0.16014951467514038,0.5941116809844971,0.7030432820320129,0.0399399995803833
+1789729564996774515,8466,0.8369737863540649,-1.8979241847991943,-1.0068596601486206,1.3810827732086182,-0.16014865040779114,0.5941091775894165,0.7030445337295532,0.0399399995803833
+1789729565030110550,8500,0.8369747996330261,-1.8979241847991943,-1.0068626403808594,1.3810826539993286,-0.16014869511127472,0.5941113233566284,0.7030452489852905,0.0399399995803833
+1789729565063434673,8533,0.8369756937026978,-1.897927165031433,-1.006862759590149,1.381082534790039,-0.16015036404132843,0.5941116809844971,0.7030457258224487,0.0399399995803833
+1789729565096778512,8566,0.8369765281677246,-1.8979312181472778,-1.006864070892334,1.3810793161392212,-0.16014990210533142,0.5941088795661926,0.7030450701713562,0.0399399995803833
+1789729565130102235,8600,0.8369766473770142,-1.897933840751648,-1.00686514377594,1.3810782432556152,-0.16015008091926575,0.594098687171936,0.7030442953109741,0.0399399995803833
+1789729565163431666,8633,0.8369779586791992,-1.897934079170227,-1.0068641901016235,1.3810770511627197,-0.16015012562274933,0.5940990447998047,0.7030444145202637,0.03993000090122223
+1789729565196767377,8666,0.8369770050048828,-1.8979331254959106,-1.0068645477294922,1.381077527999878,-0.16014842689037323,0.5941012501716614,0.7030441164970398,0.03993000090122223
+1789729565230098968,8700,0.8369771242141724,-1.8979332447052002,-1.0068655014038086,1.3810776472091675,-0.16014814376831055,0.5941020250320435,0.7030436396598816,0.03993000090122223
+1789729565263431519,8733,0.8369773626327515,-1.8979332447052002,-1.0068674087524414,1.3810778856277466,-0.1601489931344986,0.5941027402877808,0.703043520450592,0.03993000090122223
+1789729565296771478,8766,0.8369775414466858,-1.8979350328445435,-1.0068717002868652,1.3810782432556152,-0.16014906764030457,0.5941009521484375,0.7030419111251831,0.03993000090122223
+1789729565330105789,8800,0.8369797468185425,-1.8979369401931763,-1.0068718194961548,1.3810783624649048,-0.16014833748340607,0.5940975546836853,0.7030426859855652,0.03993000090122223
+1789729565363430882,8833,0.836980938911438,-1.897938847541809,-1.0068714618682861,1.381077766418457,-0.1601477563381195,0.5940968990325928,0.7030426859855652,0.03993000090122223
+1789729565396765462,8866,0.8369811177253723,-1.8979378938674927,-1.0068720579147339,1.3810774087905884,-0.16014809906482697,0.5940914750099182,0.7030429840087891,0.0399399995803833
+1789729565430097644,8900,0.8369829654693604,-1.8979381322860718,-1.0068721771240234,1.3810787200927734,-0.16014784574508667,0.5940899848937988,0.7030424475669861,0.0399399995803833
+1789729565463434464,8933,0.8369829058647156,-1.8979371786117554,-1.0068730115890503,1.3810797929763794,-0.16014739871025085,0.594092607498169,0.7030419111251831,0.0399399995803833
+1789729565496764175,8966,0.8369829058647156,-1.8979370594024658,-1.006874918937683,1.3810808658599854,-0.16014699637889862,0.5940933227539062,0.7030419707298279,0.0399399995803833
+1789729565530099466,9000,0.836982250213623,-1.897936224937439,-1.006877064704895,1.3810796737670898,-0.16014569997787476,0.5940941572189331,0.7030426859855652,0.0399399995803833
+1789729565563463989,9033,0.8369830250740051,-1.8979384899139404,-1.0068777799606323,1.3810791969299316,-0.16014541685581207,0.5940934419631958,0.7030437588691711,0.0399399995803833
+1789729565596804268,9066,0.8369845747947693,-1.8979430198669434,-1.0068784952163696,1.3810778856277466,-0.16014596819877625,0.5940852761268616,0.7030434012413025,0.0399399995803833
+1789729565630100508,9100,0.8369842767715454,-1.8979434967041016,-1.0068793296813965,1.3810786008834839,-0.1601460874080658,0.5940812230110168,0.7030422687530518,0.0399399995803833
+1789729565663432639,9133,0.8369847536087036,-1.8979419469833374,-1.0068804025650024,1.3810778856277466,-0.16014520823955536,0.5940790772438049,0.7030414938926697,0.0399399995803833
+1789729565696767849,9166,0.8369860649108887,-1.8979421854019165,-1.006880760192871,1.3810774087905884,-0.1601458489894867,0.594079852104187,0.703042209148407,0.0399399995803833
+1789729565730095702,9200,0.8369870185852051,-1.8979424238204956,-1.0068806409835815,1.3810780048370361,-0.16014601290225983,0.5940805673599243,0.7030417919158936,0.0399399995803833
+1789729565763431562,9233,0.836986780166626,-1.8979434967041016,-1.0068843364715576,1.381077527999878,-0.16014567017555237,0.5940825343132019,0.7030434012413025,0.0399399995803833
+1789729565796757724,9266,0.8369868993759155,-1.8979495763778687,-1.0068858861923218,1.3810780048370361,-0.1601458191871643,0.5940812826156616,0.703042209148407,0.0399399995803833
+1789729565830089646,9300,0.8369874954223633,-1.8979518413543701,-1.0068860054016113,1.381077766418457,-0.16014538705348969,0.5940784215927124,0.7030414342880249,0.0399399995803833
+1789729565863430905,9333,0.8369879126548767,-1.8979518413543701,-1.006886601448059,1.3810772895812988,-0.16014528274536133,0.5940760374069214,0.7030402421951294,0.0399399995803833
+1789729565896763366,9366,0.8369879126548767,-1.8979517221450806,-1.0068873167037964,1.3810776472091675,-0.16014353930950165,0.5940737724304199,0.7030391693115234,0.0399399995803833
+1789729565930104045,9400,0.8369877934455872,-1.8979512453079224,-1.006887674331665,1.381077527999878,-0.1601436287164688,0.594075620174408,0.7030400037765503,0.0399399995803833
+1789729565963428208,9433,0.8369876742362976,-1.8979511260986328,-1.00688898563385,1.381077766418457,-0.16014432907104492,0.5940760970115662,0.703039824962616,0.0399399995803833
+1789729565996763548,9466,0.8369899392127991,-1.8979518413543701,-1.0068891048431396,1.3810781240463257,-0.1601441353559494,0.5940756797790527,0.7030405402183533,0.0399399995803833
+1789729566030104046,9500,0.8369947075843811,-1.8979530334472656,-1.006892204284668,1.3810787200927734,-0.1601443886756897,0.5940738916397095,0.7030399441719055,0.0399399995803833
+1789729566063463965,9533,0.8369975686073303,-1.8979569673538208,-1.0068920850753784,1.3810782432556152,-0.16014492511749268,0.5940698385238647,0.7030401825904846,0.0399399995803833
+1789729566096765138,9566,0.8369991183280945,-1.8979607820510864,-1.0068917274475098,1.381076693534851,-0.16014432907104492,0.5940631031990051,0.7030397057533264,0.0399399995803833
+1789729566130115989,9600,0.8369994163513184,-1.8979610204696655,-1.006892204284668,1.3810770511627197,-0.16014429926872253,0.5940598249435425,0.7030392289161682,0.0399399995803833
+1789729566163436628,9633,0.836999237537384,-1.8979617357254028,-1.006892442703247,1.3810772895812988,-0.1601444035768509,0.5940600633621216,0.7030393481254578,0.0399399995803833
+1789729566196772913,9666,0.8370001316070557,-1.897961139678955,-1.006893277168274,1.3810782432556152,-0.16014458239078522,0.5940617918968201,0.7030413746833801,0.0399399995803833
+1789729566230159795,9700,0.8370007276535034,-1.8979603052139282,-1.0068936347961426,1.3810791969299316,-0.16014423966407776,0.5940623879432678,0.7030415534973145,0.0399399995803833
+1789729566263443222,9733,0.8370005488395691,-1.8979620933532715,-1.0068944692611694,1.3810780048370361,-0.1601441353559494,0.5940617918968201,0.7030410170555115,0.0399399995803833
+1789729566296758602,9766,0.8370018601417542,-1.897966742515564,-1.006895899772644,1.3810749053955078,-0.16014385223388672,0.5940597653388977,0.7030415534973145,0.0399399995803833
+1789729566330107734,9800,0.8370016813278198,-1.897969126701355,-1.0068961381912231,1.381072759628296,-0.16014432907104492,0.5940565466880798,0.7030400037765503,0.0399399995803833
+1789729566363436480,9833,0.8370006680488586,-1.897969126701355,-1.00689697265625,1.381072759628296,-0.1601436585187912,0.5940524935722351,0.7030385732650757,0.0399399995803833
+1789729566396770506,9866,0.837001383304596,-1.8979684114456177,-1.0068985223770142,1.3810724020004272,-0.16014422476291656,0.5940537452697754,0.7030373215675354,0.0399399995803833
+1789729566430102141,9900,0.8370012640953064,-1.8979679346084595,-1.006899118423462,1.381072998046875,-0.16014458239078522,0.5940544605255127,0.7030372619628906,0.0399399995803833
+1789729566463433287,9933,0.8370015025138855,-1.8979682922363281,-1.006899356842041,1.381073236465454,-0.1601441353559494,0.5940560102462769,0.7030379176139832,0.0399399995803833
+1789729566496769272,9966,0.8370020985603333,-1.897969126701355,-1.0068997144699097,1.3810738325119019,-0.1601443886756897,0.5940535664558411,0.7030390501022339,0.0399399995803833
+1789729566530107486,10000,0.8370023965835571,-1.8979713916778564,-1.0069010257720947,1.3810739517211914,-0.1601453572511673,0.5940526127815247,0.7030379176139832,0.0399399995803833
+1789729566563436043,10033,0.8370031118392944,-1.8979727029800415,-1.0069024562835693,1.3810745477676392,-0.16014446318149567,0.5940483808517456,0.7030358910560608,0.0399399995803833
+1789729566596771977,10066,0.8370036482810974,-1.897976040840149,-1.006903052330017,1.3810733556747437,-0.1601439118385315,0.5940457582473755,0.7030304074287415,0.0399399995803833
+1789729566630101944,10100,0.8370037078857422,-1.8979759216308594,-1.006902813911438,1.3810734748840332,-0.1601419597864151,0.5940470695495605,0.7030284404754639,0.0399399995803833
+1789729566663431040,10133,0.8370037078857422,-1.8979750871658325,-1.0069057941436768,1.3810734748840332,-0.1601426899433136,0.5940478444099426,0.7030296325683594,0.0399399995803833
+1789729566696770294,10166,0.8370041847229004,-1.8979740142822266,-1.0069066286087036,1.3810735940933228,-0.1601436883211136,0.5940495729446411,0.7030336856842041,0.03993000090122223
+1789729566730105069,10200,0.8370048999786377,-1.8979750871658325,-1.0069074630737305,1.3810728788375854,-0.1601434051990509,0.594048261642456,0.7030343413352966,0.03993000090122223
+1789729566763493231,10233,0.8370065093040466,-1.8979758024215698,-1.0069111585617065,1.3810733556747437,-0.16014379262924194,0.5940417051315308,0.7030357718467712,0.03993000090122223
+1789729566796777028,10266,0.8370078802108765,-1.8979781866073608,-1.006911277770996,1.3810737133026123,-0.16014273464679718,0.5940374732017517,0.7030317783355713,0.03993000090122223
+1789729566830101846,10300,0.8370084166526794,-1.8979805707931519,-1.0069106817245483,1.381073236465454,-0.16014228761196136,0.5940371751785278,0.7030298113822937,0.03993000090122223
+1789729566863428273,10333,0.8370092511177063,-1.897981882095337,-1.0069104433059692,1.3810735940933228,-0.1601419895887375,0.5940371751785278,0.7030282020568848,0.03993000090122223
+1789729566896773156,10366,0.8370089530944824,-1.89798104763031,-1.0069113969802856,1.3810747861862183,-0.16014233231544495,0.594037652015686,0.7030298113822937,0.03993000090122223
+1789729566930106381,10400,0.8370091319084167,-1.8979805707931519,-1.0069142580032349,1.3810741901397705,-0.16014248132705688,0.5940377116203308,0.7030297517776489,0.03993000090122223
+1789729566963429659,10433,0.8370093703269958,-1.8979804515838623,-1.0069160461425781,1.3810734748840332,-0.16014283895492554,0.5940377712249756,0.7030304074287415,0.0399399995803833
+1789729566996764764,10466,0.8370099663734436,-1.8979809284210205,-1.0069164037704468,1.3810734748840332,-0.1601424664258957,0.5940371155738831,0.7030311226844788,0.0399399995803833
+1789729567030096247,10500,0.837010383605957,-1.8979817628860474,-1.0069160461425781,1.3810735940933228,-0.16014212369918823,0.5940356254577637,0.7030304074287415,0.0399399995803833
+1789729567063427337,10533,0.8370105028152466,-1.8979828357696533,-1.0069160461425781,1.3810733556747437,-0.1601419746875763,0.5940349102020264,0.7030298709869385,0.0399399995803833
+1789729567096771824,10566,0.8370099067687988,-1.8979840278625488,-1.0069174766540527,1.3810744285583496,-0.16014216840267181,0.5940355658531189,0.7030292749404907,0.0399399995803833
+1789729567130109313,10600,0.8370109796524048,-1.8979833126068115,-1.0069172382354736,1.3810762166976929,-0.16014109551906586,0.5940369963645935,0.7030305862426758,0.0399399995803833
+1789729567163430265,10633,0.8370118141174316,-1.8979824781417847,-1.0069183111190796,1.3810769319534302,-0.1601424515247345,0.5940346121788025,0.7030318975448608,0.0399399995803833
+1789729567196765104,10666,0.837012767791748,-1.8979823589324951,-1.0069196224212646,1.3810765743255615,-0.16014167666435242,0.5940349102020264,0.7030342221260071,0.0399399995803833
+1789729567230106232,10700,0.8370132446289062,-1.8979836702346802,-1.0069222450256348,1.3810768127441406,-0.160142719745636,0.5940322875976562,0.7030335664749146,0.0399399995803833
+1789729567263425295,10733,0.8370140194892883,-1.8979864120483398,-1.0069220066070557,1.3810758590698242,-0.16014286875724792,0.5940261483192444,0.7030318975448608,0.0399399995803833
+1789729567296767192,10766,0.8370160460472107,-1.8979899883270264,-1.0069222450256348,1.3810746669769287,-0.16014161705970764,0.5940227508544922,0.7030301094055176,0.0399399995803833
+1789729567330103431,10800,0.8370163440704346,-1.8979895114898682,-1.0069220066070557,1.381075143814087,-0.16014191508293152,0.594019889831543,0.7030295729637146,0.0399399995803833
+1789729567363427163,10833,0.837015688419342,-1.8979897499084473,-1.0069223642349243,1.3810755014419556,-0.1601412296295166,0.5940186977386475,0.7030288577079773,0.0399399995803833
+1789729567396766761,10866,0.8370167016983032,-1.8979897499084473,-1.0069235563278198,1.381076693534851,-0.16014157235622406,0.5940224528312683,0.7030290365219116,0.0399399995803833
+1789729567430099121,10900,0.8370164036750793,-1.8979897499084473,-1.0069243907928467,1.3810763359069824,-0.16014237701892853,0.5940231680870056,0.7030307650566101,0.0399399995803833
+1789729567463428662,10933,0.8370175957679749,-1.897990345954895,-1.006927490234375,1.3810757398605347,-0.16014139354228973,0.594020426273346,0.703031063079834,0.0399399995803833
+1789729567496764961,10966,0.8370226621627808,-1.8979923725128174,-1.0069268941879272,1.381075382232666,-0.1601414829492569,0.5940165519714355,0.7030311822891235,0.0399399995803833
+1789729567530137521,11000,0.8370221257209778,-1.8979978561401367,-1.006926417350769,1.3810735940933228,-0.16014160215854645,0.5940149426460266,0.7030302286148071,0.0399399995803833
+1789729567563465411,11033,0.837022066116333,-1.8979978561401367,-1.0069266557693481,1.3810737133026123,-0.16014128923416138,0.594014585018158,0.7030289769172668,0.0399399995803833
+1789729567596773027,11066,0.8370218276977539,-1.8979971408843994,-1.0069280862808228,1.381074070930481,-0.16014201939105988,0.594013512134552,0.7030271887779236,0.0399399995803833
+1789729567630100888,11100,0.8370223045349121,-1.8979978561401367,-1.0069289207458496,1.3810739517211914,-0.16014112532138824,0.594016432762146,0.7030276656150818,0.0399399995803833
+1789729567663437027,11133,0.837022602558136,-1.8979977369308472,-1.0069302320480347,1.3810735940933228,-0.16014066338539124,0.5940179228782654,0.7030276656150818,0.0399399995803833
+1789729567696769657,11166,0.8370218873023987,-1.8979979753494263,-1.006933569908142,1.3810728788375854,-0.1601417362689972,0.5940162539482117,0.7030291557312012,0.0399399995803833
+1789729567730141697,11200,0.8370232582092285,-1.8979991674423218,-1.0069324970245361,1.381072759628296,-0.160141259431839,0.594012439250946,0.7030289769172668,0.0399399995803833
+1789729567763439615,11233,0.8370276093482971,-1.8979997634887695,-1.0069321393966675,1.3810726404190063,-0.1601414531469345,0.5940054059028625,0.7030277848243713,0.0399399995803833
+1789729567796772645,11266,0.837027907371521,-1.8980001211166382,-1.0069329738616943,1.3810722827911377,-0.16014130413532257,0.5940001606941223,0.703026533126831,0.0399399995803833
+1789729567830166900,11300,0.8370274305343628,-1.8980029821395874,-1.0069326162338257,1.3810721635818481,-0.1601405292749405,0.5940008759498596,0.7030276656150818,0.0399399995803833
+1789729567863439684,11333,0.8370272517204285,-1.8980028629302979,-1.0069329738616943,1.3810722827911377,-0.16014084219932556,0.5940027832984924,0.70302814245224,0.0399399995803833
+1789729567896770204,11366,0.837026834487915,-1.898003339767456,-1.0069340467453003,1.3810718059539795,-0.16014182567596436,0.5940038561820984,0.7030287384986877,0.0399399995803833
+1789729567930103904,11400,0.8370278477668762,-1.8980042934417725,-1.0069358348846436,1.3810741901397705,-0.16014233231544495,0.5940039753913879,0.7030290365219116,0.0399399995803833
+1789729567963458508,11433,0.8370311856269836,-1.8980040550231934,-1.00693678855896,1.3810745477676392,-0.16014191508293152,0.594003438949585,0.7030292749404907,0.0399399995803833
+1789729567996768514,11466,0.837031364440918,-1.8980101346969604,-1.0069379806518555,1.3810724020004272,-0.16014130413532257,0.5940014123916626,0.7030277252197266,0.0399399995803833
+1789729568030108340,11500,0.8370312452316284,-1.898018717765808,-1.0069388151168823,1.3810678720474243,-0.1601417362689972,0.593999445438385,0.7030261754989624,0.0399399995803833
+1789729568063436715,11533,0.8370302319526672,-1.8980194330215454,-1.006941318511963,1.3810675144195557,-0.16014106571674347,0.5939981341362,0.7030273079872131,0.0399399995803833
+1789729568096772837,11566,0.8370296955108643,-1.8980183601379395,-1.0069472789764404,1.3810676336288452,-0.16013744473457336,0.5939968228340149,0.703027069568634,0.0399399995803833
+1789729568130104131,11600,0.8370310068130493,-1.89801824092865,-1.0069471597671509,1.3810677528381348,-0.1601381003856659,0.5939984917640686,0.7030271291732788,0.0399399995803833
+1789729568163434905,11633,0.8370313048362732,-1.8980194330215454,-1.0069471597671509,1.3810662031173706,-0.16013865172863007,0.5939986705780029,0.7030271887779236,0.0399399995803833
+1789729568196775537,11666,0.8370321393013,-1.898026943206787,-1.0069472789764404,1.3810632228851318,-0.16013963520526886,0.5939971804618835,0.7030279040336609,0.0399399995803833
+1789729568230166137,11700,0.8370335102081299,-1.8980262279510498,-1.006947636604309,1.3810629844665527,-0.1601390391588211,0.5939940214157104,0.7030272483825684,0.0399399995803833
+1789729568263438175,11733,0.8370334506034851,-1.898025631904602,-1.0069485902786255,1.3810641765594482,-0.16013871133327484,0.5939889550209045,0.7030261158943176,0.0399399995803833
+1789729568296765440,11766,0.8370364308357239,-1.8980258703231812,-1.006948709487915,1.381065011024475,-0.16013853251934052,0.5939871668815613,0.7030229568481445,0.0399399995803833
+1789729568330101612,11800,0.8370363116264343,-1.8980262279510498,-1.0069493055343628,1.381064534187317,-0.1601368486881256,0.5939867496490479,0.7030212879180908,0.0399399995803833
+1789729568363431317,11833,0.8370360136032104,-1.8980270624160767,-1.006949543952942,1.3810639381408691,-0.16013707220554352,0.5939896106719971,0.7030225396156311,0.0399399995803833
+1789729568396764000,11866,0.8370362520217896,-1.8980263471603394,-1.006954550743103,1.3810648918151855,-0.16013643145561218,0.5939887762069702,0.7030230164527893,0.03993000090122223
+1789729568430100013,11900,0.8370371460914612,-1.8980261087417603,-1.006956696510315,1.3810652494430542,-0.16013692319393158,0.5939878821372986,0.7030248045921326,0.03993000090122223
+1789729568463429577,11933,0.837037205696106,-1.898029088973999,-1.006956696510315,1.3810651302337646,-0.16013742983341217,0.5939879417419434,0.7030254006385803,0.03993000090122223
+1789729568496763421,11966,0.8370380997657776,-1.898032784461975,-1.0069568157196045,1.3810635805130005,-0.16013740003108978,0.5939856767654419,0.7030214667320251,0.03993000090122223
+1789729568530101123,12000,0.8370370268821716,-1.8980371952056885,-1.0069563388824463,1.3810628652572632,-0.16013659536838531,0.593984842300415,0.7030209898948669,0.03993000090122223
+1789729568563455451,12033,0.8370382785797119,-1.8980367183685303,-1.0069574117660522,1.38106369972229,-0.16013577580451965,0.593981921672821,0.7030215263366699,0.03993000090122223
+1789729568596762871,12066,0.837039053440094,-1.8980352878570557,-1.0069606304168701,1.3810646533966064,-0.1601356565952301,0.5939814448356628,0.7030221819877625,0.03993000090122223
+1789729568630099973,12100,0.8370388746261597,-1.8980354070663452,-1.0069608688354492,1.3810641765594482,-0.16013513505458832,0.5939827561378479,0.7030223608016968,0.0399399995803833
+1789729568663437716,12133,0.8370392918586731,-1.898036003112793,-1.006961703300476,1.3810628652572632,-0.1601358950138092,0.593982994556427,0.7030237913131714,0.0399399995803833
+1789729568696793604,12166,0.8370394110679626,-1.8980381488800049,-1.0069621801376343,1.3810617923736572,-0.16013576090335846,0.5939812660217285,0.7030240893363953,0.0399399995803833
+1789729568730099444,12200,0.8370388746261597,-1.8980375528335571,-1.006961464881897,1.3810620307922363,-0.16013643145561218,0.5939807891845703,0.703022301197052,0.0399399995803833
+1789729568763435467,12233,0.8370391726493835,-1.8980367183685303,-1.0069645643234253,1.3810639381408691,-0.160135880112648,0.5939762592315674,0.7030209898948669,0.0399399995803833
+1789729568796764781,12266,0.8370391130447388,-1.8980369567871094,-1.0069661140441895,1.381064534187317,-0.16013574600219727,0.5939786434173584,0.7030212879180908,0.0399399995803833
+1789729568830102733,12300,0.8370388150215149,-1.898037075996399,-1.0069657564163208,1.3810641765594482,-0.16013523936271667,0.5939793586730957,0.7030213475227356,0.0399399995803833
+1789729568863432628,12333,0.8370394706726074,-1.8980374336242676,-1.0069661140441895,1.3810638189315796,-0.16013500094413757,0.5939775705337524,0.7030224800109863,0.0399399995803833
+1789729568896762832,12366,0.8370422720909119,-1.8980376720428467,-1.0069679021835327,1.3810659646987915,-0.16013562679290771,0.5939770340919495,0.7030239105224609,0.0399399995803833
+1789729568930102704,12400,0.8370465040206909,-1.8980380296707153,-1.0069680213928223,1.3810681104660034,-0.1601358950138092,0.5939743518829346,0.7030227184295654,0.0399399995803833
+1789729568963431378,12433,0.8370470404624939,-1.898041009902954,-1.0069676637649536,1.381068468093872,-0.1601356565952301,0.5939726829528809,0.7030221819877625,0.0399399995803833
+1789729568996770280,12466,0.8370466828346252,-1.8980432748794556,-1.0069680213928223,1.3810665607452393,-0.16013602912425995,0.5939733386039734,0.7030206918716431,0.0399399995803833
+1789729569030168406,12500,0.8370468616485596,-1.8980425596237183,-1.0069681406021118,1.3810681104660034,-0.16013537347316742,0.5939691662788391,0.7030209302902222,0.0399399995803833
+1789729569063443777,12533,0.8370480537414551,-1.8980419635772705,-1.0069689750671387,1.3810678720474243,-0.1601356714963913,0.5939702987670898,0.7030227184295654,0.0399399995803833
+1789729569096781113,12566,0.8370491862297058,-1.8980426788330078,-1.0069681406021118,1.381068229675293,-0.16013559699058533,0.5939708948135376,0.7030247449874878,0.0399399995803833
+1789729569130108261,12600,0.8370494842529297,-1.8980432748794556,-1.00696861743927,1.3810676336288452,-0.16013644635677338,0.5939712524414062,0.703025758266449,0.0399399995803833
+1789729569163495745,12633,0.8370499610900879,-1.8980443477630615,-1.0069690942764282,1.3810676336288452,-0.1601376086473465,0.5939681529998779,0.7030231356620789,0.0399399995803833
+1789729569196771616,12666,0.8370514512062073,-1.8980449438095093,-1.0069693326950073,1.381067156791687,-0.16013652086257935,0.5939601063728333,0.7030200362205505,0.0399399995803833
+1789729569230103043,12700,0.837051272392273,-1.8980484008789062,-1.0069689750671387,1.381066083908081,-0.16013601422309875,0.5939590334892273,0.7030192017555237,0.0399399995803833
+1789729569263433251,12733,0.8370521068572998,-1.8980501890182495,-1.00696861743927,1.3810665607452393,-0.1601363569498062,0.5939603447914124,0.7030177712440491,0.0399399995803833
+1789729569296768597,12766,0.8370509147644043,-1.8980488777160645,-1.0069692134857178,1.3810667991638184,-0.16013634204864502,0.5939616560935974,0.703018844127655,0.0399399995803833
+1789729569330103104,12800,0.83705073595047,-1.898047924041748,-1.006971001625061,1.3810672760009766,-0.16013666987419128,0.5939650535583496,0.7030208110809326,0.0399399995803833
+1789729569363435671,12833,0.8370522856712341,-1.8980491161346436,-1.006971836090088,1.381067156791687,-0.16013741493225098,0.5939648151397705,0.7030213475227356,0.0399399995803833
+1789729569396768968,12866,0.8370528817176819,-1.8980497121810913,-1.0069715976715088,1.3810667991638184,-0.16013723611831665,0.593961775302887,0.7030210494995117,0.0399399995803833
+1789729569430099925,12900,0.8370530009269714,-1.8980497121810913,-1.0069719552993774,1.3810663223266602,-0.16013659536838531,0.5939621329307556,0.7030200958251953,0.0399399995803833
+1789729569463431933,12933,0.8370530605316162,-1.898051381111145,-1.0069717168807983,1.381066083908081,-0.16013720631599426,0.5939595103263855,0.703019380569458,0.0399399995803833
+1789729569496768509,12966,0.8370526432991028,-1.8980516195297241,-1.006971001625061,1.3810663223266602,-0.16013595461845398,0.5939585566520691,0.7030184864997864,0.0399399995803833
+1789729569530092838,13000,0.8370526432991028,-1.8980512619018555,-1.0069725513458252,1.3810666799545288,-0.1601353883743286,0.5939580798149109,0.703018069267273,0.0399399995803833
+1789729569563436332,13033,0.8370532989501953,-1.8980510234832764,-1.0069754123687744,1.3810662031173706,-0.1601361632347107,0.5939580202102661,0.7030193209648132,0.0399399995803833
+1789729569596769559,13066,0.8370553255081177,-1.8980518579483032,-1.0069750547409058,1.3810663223266602,-0.160136878490448,0.5939582586288452,0.7030197381973267,0.0399399995803833
+1789729569630093698,13100,0.8370577692985535,-1.8980525732040405,-1.0069749355316162,1.3810663223266602,-0.16013742983341217,0.5939538478851318,0.7030203938484192,0.0399399995803833
+1789729569663429145,13133,0.8370590806007385,-1.898055076599121,-1.0069751739501953,1.3810659646987915,-0.16013702750205994,0.5939497351646423,0.7030207514762878,0.0399399995803833
+1789729569696768030,13166,0.8370599150657654,-1.898055911064148,-1.0069760084152222,1.3810656070709229,-0.16013668477535248,0.5939487814903259,0.7030195593833923,0.0399399995803833
+1789729569730091720,13200,0.8370609283447266,-1.8980581760406494,-1.0069764852523804,1.3810656070709229,-0.16013742983341217,0.5939447283744812,0.7030192017555237,0.0399399995803833
+1789729569763431375,13233,0.8370609283447266,-1.898059368133545,-1.0069764852523804,1.3810652494430542,-0.16013643145561218,0.5939460396766663,0.7030196189880371,0.0399399995803833
+1789729569796774200,13266,0.8370609283447266,-1.8980590105056763,-1.0069773197174072,1.381065845489502,-0.16013574600219727,0.5939478874206543,0.7030205130577087,0.0399399995803833
+1789729569830097519,13300,0.8370605707168579,-1.8980592489242554,-1.0069791078567505,1.3810653686523438,-0.16013559699058533,0.5939497351646423,0.7030210494995117,0.0399399995803833
+1789729569863436874,13333,0.8370605111122131,-1.8980604410171509,-1.00697922706604,1.3810653686523438,-0.16013582050800323,0.5939483642578125,0.7030206918716431,0.0399399995803833
+1789729569896772371,13366,0.8370616436004639,-1.8980613946914673,-1.00697922706604,1.3810656070709229,-0.16013513505458832,0.5939464569091797,0.7030196189880371,0.0399399995803833
+1789729569930095700,13400,0.8370625972747803,-1.898061990737915,-1.0069798231124878,1.381065845489502,-0.16013610363006592,0.5939450263977051,0.7030187249183655,0.0399399995803833
+1789729569963433276,13433,0.8370621204376221,-1.8980623483657837,-1.006978988647461,1.3810663223266602,-0.1601347178220749,0.5939458012580872,0.703018844127655,0.0399399995803833
+1789729569996768992,13466,0.8370628952980042,-1.8980627059936523,-1.0069788694381714,1.381065845489502,-0.16013455390930176,0.5939443707466125,0.703016459941864,0.0399399995803833
+1789729570030100887,13500,0.8370622396469116,-1.8980616331100464,-1.0069804191589355,1.3810654878616333,-0.16013407707214355,0.5939434766769409,0.7030179500579834,0.0399399995803833
+1789729570063432488,13533,0.8370620608329773,-1.8980621099472046,-1.0069828033447266,1.3810659646987915,-0.16013532876968384,0.5939447283744812,0.7030187845230103,0.0399399995803833
+1789729570096771997,13566,0.8370636105537415,-1.8980634212493896,-1.0069838762283325,1.3810659646987915,-0.16013626754283905,0.5939428806304932,0.7030206322669983,0.0399399995803833
+1789729570130103557,13600,0.8370651602745056,-1.8980659246444702,-1.0069851875305176,1.3810654878616333,-0.16013671457767487,0.5939377546310425,0.7030205130577087,0.0399399995803833
+1789729570163433818,13633,0.8370658755302429,-1.8980674743652344,-1.006985068321228,1.3810652494430542,-0.16013595461845398,0.593937337398529,0.7030209302902222,0.03993000090122223
+1789729570196769238,13666,0.8370654582977295,-1.8980668783187866,-1.0069845914840698,1.3810653686523438,-0.16013438999652863,0.5939347147941589,0.7030192613601685,0.03993000090122223
+1789729570230104107,13700,0.8370662331581116,-1.8980660438537598,-1.0069836378097534,1.3810653686523438,-0.16013513505458832,0.5939337611198425,0.7030183672904968,0.0399399995803833
+1789729570263429319,13733,0.8370656967163086,-1.8980658054351807,-1.0069842338562012,1.381065845489502,-0.16013522446155548,0.5939347743988037,0.703018307685852,0.0399399995803833
+1789729570296771727,13766,0.8370659947395325,-1.898064374923706,-1.0069845914840698,1.3810657262802124,-0.1601356863975525,0.5939342975616455,0.7030199766159058,0.0399399995803833
+1789729570330100978,13800,0.8370671272277832,-1.8980656862258911,-1.0069853067398071,1.3810654878616333,-0.16013552248477936,0.5939337611198425,0.703021764755249,0.0399399995803833
+1789729570363440427,13833,0.8370673060417175,-1.8980672359466553,-1.0069860219955444,1.3810648918151855,-0.1601354032754898,0.5939344763755798,0.7030214071273804,0.0399399995803833
+1789729570396769388,13866,0.8370673060417175,-1.8980687856674194,-1.0069868564605713,1.3810657262802124,-0.16013549268245697,0.593932569026947,0.7030192613601685,0.0399399995803833
+1789729570430100938,13900,0.8370671272277832,-1.898068904876709,-1.0069878101348877,1.3810657262802124,-0.1601354032754898,0.5939316749572754,0.7030166387557983,0.0399399995803833
+1789729570463431879,13933,0.8370671272277832,-1.8980695009231567,-1.0069878101348877,1.381066083908081,-0.16013561189174652,0.593930721282959,0.703014075756073,0.0399399995803833
+1789729570496766948,13966,0.8370661735534668,-1.8980697393417358,-1.0069894790649414,1.3810664415359497,-0.16013626754283905,0.5939305424690247,0.7030132412910461,0.0399399995803833
+1789729570530099069,14000,0.8370667695999146,-1.8980685472488403,-1.0069900751113892,1.3810679912567139,-0.16013659536838531,0.5939325094223022,0.7030155062675476,0.0399399995803833
+1789729570563433599,14033,0.8370670676231384,-1.898069143295288,-1.0069904327392578,1.3810677528381348,-0.160135418176651,0.5939320921897888,0.7030163407325745,0.0399399995803833
+1789729570596769708,14066,0.8370682597160339,-1.8980686664581299,-1.0069913864135742,1.3810665607452393,-0.16013571619987488,0.5939295291900635,0.7030171751976013,0.0399399995803833
+1789729570630099279,14100,0.8370691537857056,-1.898071050643921,-1.0069910287857056,1.3810670375823975,-0.16013650596141815,0.5939252376556396,0.7030160427093506,0.0399399995803833
+1789729570663434079,14133,0.8370700478553772,-1.8980742692947388,-1.0069910287857056,1.3810666799545288,-0.16013650596141815,0.5939247012138367,0.7030143737792969,0.0399399995803833
+1789729570696766179,14166,0.837069571018219,-1.8980756998062134,-1.0069911479949951,1.3810667991638184,-0.16013577580451965,0.5939252376556396,0.7030145525932312,0.0399399995803833
+1789729570730096890,14200,0.8370696306228638,-1.8980742692947388,-1.0069926977157593,1.3810670375823975,-0.1601361632347107,0.593925416469574,0.7030152082443237,0.0399399995803833
+1789729570763443467,14233,0.8370711207389832,-1.8980745077133179,-1.0069940090179443,1.3810675144195557,-0.1601359248161316,0.5939260125160217,0.7030172348022461,0.0399399995803833
+1789729570796771458,14266,0.8370728492736816,-1.8980756998062134,-1.0069955587387085,1.3810675144195557,-0.16013574600219727,0.5939256548881531,0.7030192017555237,0.0399399995803833
+1789729570830101099,14300,0.8370726704597473,-1.8980762958526611,-1.0069963932037354,1.3810670375823975,-0.1601359248161316,0.5939248204231262,0.7030185461044312,0.0399399995803833
+1789729570863432270,14333,0.837072491645813,-1.898077130317688,-1.00699782371521,1.3810662031173706,-0.1601359099149704,0.5939232707023621,0.7030181288719177,0.0399399995803833
+1789729570896767199,14366,0.8370727300643921,-1.8980799913406372,-1.00699782371521,1.3810644149780273,-0.16013534367084503,0.5939205288887024,0.7030157446861267,0.0399399995803833
+1789729570930101279,14400,0.8370724320411682,-1.8980804681777954,-1.00699782371521,1.3810646533966064,-0.16013482213020325,0.5939199328422546,0.703015148639679,0.0399399995803833
+1789729570963441048,14433,0.8370722532272339,-1.8980803489685059,-1.0069983005523682,1.3810646533966064,-0.16013501584529877,0.5939202308654785,0.7030144929885864,0.0399399995803833
+1789729570996759921,14466,0.8370720744132996,-1.8980803489685059,-1.0069999694824219,1.3810651302337646,-0.1601352095603943,0.5939212441444397,0.7030155658721924,0.0399399995803833
+1789729571030093749,14500,0.8370722532272339,-1.8980807065963745,-1.0069999694824219,1.381064772605896,-0.16013500094413757,0.5939217209815979,0.7030165195465088,0.0399399995803833
+1789729571063430311,14533,0.837073028087616,-1.898081660270691,-1.0070000886917114,1.381065011024475,-0.16013579070568085,0.593920111656189,0.703016459941864,0.0399399995803833
+1789729571096774831,14566,0.8370732665061951,-1.8980830907821655,-1.0070009231567383,1.3810639381408691,-0.16013647615909576,0.5939177870750427,0.7030153274536133,0.0399399995803833
+1789729571130100866,14600,0.8370727896690369,-1.8980847597122192,-1.0070011615753174,1.3810635805130005,-0.16013579070568085,0.5939163565635681,0.7030152678489685,0.0399399995803833
+1789729571163448485,14633,0.8370717763900757,-1.8980848789215088,-1.007001280784607,1.3810628652572632,-0.1601351499557495,0.5939152836799622,0.703014075756073,0.0399399995803833
+1789729571196769581,14666,0.8370727896690369,-1.8980845212936401,-1.0070009231567383,1.3810635805130005,-0.160133957862854,0.5939151644706726,0.7030132412910461,0.0399399995803833
+1789729571230097925,14700,0.8370737433433533,-1.8980844020843506,-1.0070010423660278,1.381063461303711,-0.1601352095603943,0.5939160585403442,0.703014612197876,0.0399399995803833
+1789729571263435237,14733,0.837075412273407,-1.8980848789215088,-1.0070021152496338,1.3810638189315796,-0.16013509035110474,0.5939149856567383,0.7030157446861267,0.0399399995803833
+1789729571296762711,14766,0.8370776772499084,-1.8980867862701416,-1.0070042610168457,1.3810632228851318,-0.16013525426387787,0.5939121246337891,0.7030172944068909,0.0399399995803833
+1789729571330094205,14800,0.837080717086792,-1.8980885744094849,-1.007003664970398,1.3810625076293945,-0.1601359248161316,0.5939047336578369,0.7030164003372192,0.0399399995803833
+1789729571363442434,14833,0.8370828628540039,-1.8980902433395386,-1.007004737854004,1.3810603618621826,-0.16013486683368683,0.5938969254493713,0.7030150294303894,0.0399399995803833
+1789729571396763210,14866,0.8370832204818726,-1.8980940580368042,-1.0070050954818726,1.3810542821884155,-0.1601346880197525,0.5938932299613953,0.7030153274536133,0.0399399995803833
+1789729571430100992,14900,0.8370824456214905,-1.8980939388275146,-1.007004976272583,1.381052851676941,-0.16013523936271667,0.5938917994499207,0.7030148506164551,0.0399399995803833
+1789729571463437164,14933,0.8370822668075562,-1.8980937004089355,-1.0070046186447144,1.381052851676941,-0.16013512015342712,0.5938927531242371,0.7030141949653625,0.0399399995803833
+1789729571496767577,14966,0.8370822072029114,-1.898093342781067,-1.0070056915283203,1.3810533285140991,-0.16013579070568085,0.5938915014266968,0.7030162811279297,0.0399399995803833
+1789729571530105269,15000,0.8370819687843323,-1.8980934619903564,-1.0070065259933472,1.3810524940490723,-0.1601356863975525,0.5938899517059326,0.7030161619186401,0.0399399995803833
+1789729571563498928,15033,0.8370820879936218,-1.8980941772460938,-1.007007122039795,1.3810516595840454,-0.1601368486881256,0.5938893556594849,0.703016459941864,0.0399399995803833
+1789729571596748231,15066,0.8370817303657532,-1.8980965614318848,-1.0070072412490845,1.3810490369796753,-0.1601363569498062,0.5938847064971924,0.7030156850814819,0.0399399995803833
+1789729571630096780,15100,0.837081789970398,-1.898097276687622,-1.0070081949234009,1.381048560142517,-0.16013537347316742,0.5938841104507446,0.7030139565467834,0.0399399995803833
+1789729571663431453,15133,0.8370813727378845,-1.8980965614318848,-1.007008671760559,1.3810482025146484,-0.16013558208942413,0.5938829779624939,0.7030136585235596,0.0399399995803833
+1789729571696759307,15166,0.8370810747146606,-1.8980969190597534,-1.0070090293884277,1.3810484409332275,-0.16013550758361816,0.5938844084739685,0.7030149102210999,0.0399399995803833
+1789729571730098788,15200,0.8370816707611084,-1.898097038269043,-1.0070096254348755,1.3810489177703857,-0.1601353883743286,0.5938841104507446,0.7030145525932312,0.0399399995803833
+1789729571763431652,15233,0.8370820879936218,-1.8980966806411743,-1.0070102214813232,1.381048560142517,-0.160135880112648,0.5938820242881775,0.7030155062675476,0.03993000090122223
+1789729571796758526,15266,0.8370832800865173,-1.898097038269043,-1.00701105594635,1.3810487985610962,-0.1601356714963913,0.5938819050788879,0.7030156254768372,0.03993000090122223
+1789729571830100127,15300,0.8370837569236755,-1.8980989456176758,-1.0070115327835083,1.381049394607544,-0.16013549268245697,0.5938815474510193,0.7030147910118103,0.03993000090122223
+1789729571863497215,15333,0.8370839953422546,-1.8981003761291504,-1.0070116519927979,1.3810486793518066,-0.16013571619987488,0.5938775539398193,0.7030149102210999,0.03993000090122223
+1789729571896763354,15366,0.837083101272583,-1.898101568222046,-1.0070116519927979,1.3810501098632812,-0.16013604402542114,0.5938777923583984,0.7030136585235596,0.03993000090122223
+1789729571930099906,15400,0.837083101272583,-1.8981016874313354,-1.0070123672485352,1.3810502290725708,-0.16013623774051666,0.5938782095909119,0.7030139565467834,0.03993000090122223
+1789729571963438497,15433,0.8370826244354248,-1.898101806640625,-1.0070139169692993,1.381050705909729,-0.16013608872890472,0.5938794016838074,0.703015148639679,0.0399399995803833
+1789729571996770571,15466,0.8370830416679382,-1.898102045059204,-1.007016658782959,1.381050705909729,-0.16013628244400024,0.593878984451294,0.7030155062675476,0.0399399995803833
+1789729572030102701,15500,0.837083101272583,-1.8981019258499146,-1.0070171356201172,1.3810515403747559,-0.16013719141483307,0.593878984451294,0.7030156850814819,0.0399399995803833
+1789729572063492623,15533,0.8370838165283203,-1.8981014490127563,-1.0070176124572754,1.3810508251190186,-0.16013669967651367,0.5938772559165955,0.7030143737792969,0.0399399995803833
+1789729572096766982,15566,0.8370838165283203,-1.8981043100357056,-1.0070172548294067,1.3810505867004395,-0.1601363718509674,0.5938749313354492,0.7030138969421387,0.0399399995803833
+1789729572130099098,15600,0.8370828628540039,-1.898103952407837,-1.0070174932479858,1.3810503482818604,-0.16013562679290771,0.5938746333122253,0.7030128836631775,0.0399399995803833
+1789729572163430454,15633,0.8370826840400696,-1.898104190826416,-1.0070178508758545,1.3810497522354126,-0.16013550758361816,0.5938751697540283,0.7030120491981506,0.0399399995803833
+1789729572196765039,15666,0.837083637714386,-1.8981035947799683,-1.0070178508758545,1.3810503482818604,-0.16013576090335846,0.5938759446144104,0.7030122876167297,0.0399399995803833
+1789729572230097784,15700,0.8370839357376099,-1.8981045484542847,-1.0070191621780396,1.3810503482818604,-0.1601356714963913,0.5938746929168701,0.7030128836631775,0.0399399995803833
+1789729572263425511,15733,0.8370839357376099,-1.8981051445007324,-1.0070207118988037,1.381049633026123,-0.16013655066490173,0.5938762426376343,0.7030125856399536,0.0399399995803833
+1789729572296756807,15766,0.8370842933654785,-1.8981071710586548,-1.0070209503173828,1.381049633026123,-0.1601351648569107,0.593874454498291,0.7030127048492432,0.0399399995803833
+1789729572330095371,15800,0.8370845317840576,-1.8981077671051025,-1.0070210695266724,1.3810499906539917,-0.1601346731185913,0.5938723683357239,0.7030131816864014,0.0399399995803833
+1789729572363425477,15833,0.8370844721794128,-1.898106336593628,-1.0070208311080933,1.3810503482818604,-0.16013504564762115,0.5938720107078552,0.7030128836631775,0.0399399995803833
+1789729572396760972,15866,0.8370835185050964,-1.8981069326400757,-1.0070215463638306,1.3810505867004395,-0.16013512015342712,0.5938729643821716,0.7030131816864014,0.0399399995803833
+1789729572430096817,15900,0.8370835781097412,-1.8981080055236816,-1.0070215463638306,1.3810505867004395,-0.16013552248477936,0.5938722491264343,0.7030141949653625,0.0399399995803833
+1789729572463422794,15933,0.8370839357376099,-1.8981077671051025,-1.0070219039916992,1.381050705909729,-0.1601361334323883,0.5938737988471985,0.7030138373374939,0.0399399995803833
+1789729572496759119,15966,0.8370856046676636,-1.8981082439422607,-1.0070222616195679,1.381050944328308,-0.16013559699058533,0.5938732624053955,0.7030147314071655,0.0399399995803833
+1789729572530096343,16000,0.8370893597602844,-1.8981091976165771,-1.0070226192474365,1.3810498714447021,-0.16013512015342712,0.5938693284988403,0.7030139565467834,0.0399399995803833
+1789729572563492494,16033,0.8370923399925232,-1.8981131315231323,-1.007023811340332,1.3810505867004395,-0.16013573110103607,0.5938637256622314,0.7030131220817566,0.0399399995803833
+1789729572596775291,16066,0.8370936512947083,-1.8981168270111084,-1.0070233345031738,1.3810503482818604,-0.16013382375240326,0.5938637852668762,0.7030119895935059,0.0399399995803833
+1789729572630101898,16100,0.8370938897132874,-1.898116946220398,-1.0070239305496216,1.3810502290725708,-0.16013465821743011,0.5938623547554016,0.7030110359191895,0.0399399995803833
+1789729572663428455,16133,0.8370929956436157,-1.8981170654296875,-1.007023811340332,1.3810499906539917,-0.1601339876651764,0.5938634872436523,0.703012228012085,0.0399399995803833
diff --git a/episode_0003/left.observation.state/data.jsonl b/episode_0003/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cc5cdeb62ce44253ad1be708676f9e10d6cd28e3
--- /dev/null
+++ b/episode_0003/left.observation.state/data.jsonl
@@ -0,0 +1,485 @@
+{"timestamp_ns": 1789729556530065232, "elapsed_ms": 0, "source_timestamp_ns": 1789729556525230473, "q": [0.8364500999450684, -1.8975207805633545, -1.006442904472351, 1.381097674369812, -0.16050121188163757, 0.5947096347808838, 0.70332932472229], "theta": [0.8385297060012817, -1.8956025838851929, -1.0046411752700806, 1.3626924753189087, -0.1610785871744156, 0.5946329832077026, 0.7032809257507324], "dq": [0.00033254711888730526, 0.001309916377067566, 0.0009996001608669758, -1.4179131540004164e-05, -0.003509418573230505, 0.001406869268976152, -0.0010583685943856835], "dtheta": [0.00014866347191855311, 5.2215586038073525e-05, -0.00017945778381545097, 0.00032540448592044413, 0.000748510065022856, -0.0011959541589021683, -0.001462874817661941], "tau": [55.59000015258789, 23.689998626708984, 5.484000205993652, -26.332000732421875, -2.5440001487731934, 2.620000123977661, -0.5800000429153442], "tau_des": [0.6185057759284973, -0.42568981647491455, -0.1944793164730072, -0.6912054419517517, 0.8965832591056824, -1.0960205793380737, -0.5372241139411926], "tau_dot": [80.78523254394531, 52.978878021240234, 47.25637435913086, -42.54463195800781, 64.90420532226562, -48.46071243286133, -17.371723175048828], "tau_ext": [-16.762619018554688, -41.66413497924805, 31.78166389465332, 31.364974975585938, 9.497608184814453, -2.9875478744506836, -0.10301422327756882], "tcp_pose": [0.677929162979126, 0.03283596411347389, -0.21511612832546234, -0.0022703451104462147, -0.004555740859359503, 0.9998850226402283, 0.014285766519606113], "tcp_vel": [-0.000346414337400347, -0.0003126754018012434, -0.00023647431225981563, -0.0005725016235373914, 0.0013329362263903022, 0.0009663326200097799], "flange_pose": [0.6786296963691711, 0.028553830459713936, -0.06517889350652695, -0.0022703451104462147, -0.004555740859359503, 0.9998850226402283, 0.014285766519606113], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.97073364257812, 15.117937088012695, 28.18543815612793, 0.35499727725982666, -24.1043643951416, 1.8191111087799072], "ext_wrench_in_world": [-108.23352443225028, 14.925100446031317, -27.26528625956332, -0.14543710663778545, -24.04485126911835, -2.505902368550868]}
+{"timestamp_ns": 1789729556563477825, "elapsed_ms": 33, "source_timestamp_ns": 1789729556555263021, "q": [0.8364601731300354, -1.897520661354065, -1.0064436197280884, 1.3810969591140747, -0.1604967564344406, 0.5947022438049316, 0.7033221125602722], "theta": [0.8385397791862488, -1.8956022262573242, -1.0046417713165283, 1.3626919984817505, -0.16107402741909027, 0.5946255922317505, 0.7032730579376221], "dq": [-0.001332949846982956, -0.0020532123744487762, -0.0006813052459619939, -0.0007680107373744249, -0.0019039621111005545, 0.00023471619351767004, 0.002122702542692423], "dtheta": [0.0002596486883703619, -0.0001083847600966692, -0.0001868790277512744, -0.00016711109492462128, 0.00023129429609980434, -0.0004223735595587641, -0.0001841586927184835], "tau": [55.59000015258789, 23.689998626708984, 5.468000411987305, -26.296001434326172, -2.5840001106262207, 2.684000015258789, -0.5840000510215759], "tau_des": [0.49944740533828735, -0.48945891857147217, -0.193802148103714, -0.5765681862831116, 0.9247572422027588, -1.1498819589614868, -0.5532492399215698], "tau_dot": [12.937520980834961, -12.289810180664062, -37.53928756713867, -5.672020435333252, -98.02960205078125, 64.29073333740234, -29.66776466369629], "tau_ext": [-16.762733459472656, -41.686065673828125, 31.779451370239258, 31.358783721923828, 9.49104118347168, -2.9877493381500244, -0.09468809515237808], "tcp_pose": [0.6779298186302185, 0.03283485397696495, -0.21511022746562958, -0.0022689071483910084, -0.004557926207780838, 0.9998850226402283, 0.014284704811871052], "tcp_vel": [4.44389515905641e-05, -8.940301631810144e-05, 0.0001411073317285627, -0.000235245272051543, -1.06363886516192e-05, -1.8981036191689782e-05], "flange_pose": [0.6786299347877502, 0.028553036972880363, -0.06517299264669418, -0.0022689071483910084, -0.004557926207780838, 0.9998850226402283, 0.014284704811871052], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.96034240722656, 15.136122703552246, 28.204355239868164, 0.3630039095878601, -24.109230041503906, 1.8251311779022217], "ext_wrench_in_world": [-108.22337092345572, 14.943386930492698, -27.284071739551198, -0.15331579326564182, -24.04962227275826, -2.511973657160135]}
+{"timestamp_ns": 1789729556596779647, "elapsed_ms": 66, "source_timestamp_ns": 1789729556595230708, "q": [0.8364701271057129, -1.8975205421447754, -1.0064462423324585, 1.3810973167419434, -0.1604921668767929, 0.5947006940841675, 0.7033200263977051], "theta": [0.8385500311851501, -1.8956023454666138, -1.004644513130188, 1.3626925945281982, -0.16106876730918884, 0.5946248769760132, 0.7032703757286072], "dq": [0.0017393697053194046, 0.002020281972363591, 0.001327651203610003, 0.0006236870540305972, -0.00010218779789283872, -0.0006110157119110227, 0.0003513739793561399], "dtheta": [0.0002391746820649132, -0.0004827246011700481, -2.6207975679426454e-05, 2.7693384254234843e-05, 0.00036757372436113656, 0.00018291625019628555, -0.00036727002589032054], "tau": [55.529998779296875, 23.69999885559082, 5.4800004959106445, -26.280000686645508, -2.5920000076293945, 2.6640000343322754, -0.5760000348091125], "tau_des": [0.518903911113739, -0.4306440055370331, -0.2426770180463791, -0.5791826248168945, 0.9236553907394409, -1.170825719833374, -0.5487273931503296], "tau_dot": [-73.2138671875, 102.39340209960938, 73.06404113769531, 23.558246612548828, -27.031047821044922, 12.804919242858887, -64.44790649414062], "tau_ext": [-16.758333206176758, -41.705596923828125, 31.787620544433594, 31.366315841674805, 9.49150276184082, -2.994067430496216, -0.09787577390670776], "tcp_pose": [0.6779318451881409, 0.03283338248729706, -0.21510426700115204, -0.0022654617205262184, -0.004556795582175255, 0.9998850226402283, 0.014284777455031872], "tcp_vel": [-9.534845594316721e-05, 0.0001769141963450238, -4.182025804766454e-06, -4.136668940191157e-05, -0.00016969366697594523, 0.0004680901183746755], "flange_pose": [0.6786309480667114, 0.028551539406180382, -0.06516702473163605, -0.0022654617205262184, -0.004556795582175255, 0.9998850226402283, 0.014284777455031872], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.95294952392578, 15.1697998046875, 28.224021911621094, 0.37901759147644043, -24.11284637451172, 1.8312047719955444], "ext_wrench_in_world": [-108.2161524304904, 14.977938193875344, -27.30353952326602, -0.16936375867642744, -24.053209774263667, -2.518082803432888]}
+{"timestamp_ns": 1789729556630117690, "elapsed_ms": 100, "source_timestamp_ns": 1789729556625223086, "q": [0.836476743221283, -1.8975194692611694, -1.006446361541748, 1.3810982704162598, -0.16048835217952728, 0.5946989059448242, 0.7033179998397827], "theta": [0.838556706905365, -1.895601749420166, -1.0046451091766357, 1.3626928329467773, -0.16106398403644562, 0.5946236848831177, 0.7032687067985535], "dq": [0.00012683233944699168, -0.0016834614798426628, -0.0005118519184179604, -0.0004080627695657313, 0.0010856465669348836, -0.0003667061682790518, -0.0015376100782305002], "dtheta": [9.684450924396515e-05, 0.00012586421507876366, 0.0003194606979377568, -0.00024126554490067065, 0.0009204584639519453, 0.00012985696957912296, 0.00013884133659303188], "tau": [55.52000045776367, 23.65999984741211, 5.452000141143799, -26.284000396728516, -2.556000232696533, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.4801657497882843, -0.5076600909233093, -0.24452319741249084, -0.5261527299880981, 0.8962090015411377, -1.1928247213363647, -0.5638564825057983], "tau_dot": [-50.47092819213867, -178.94212341308594, -33.42121505737305, -21.07173728942871, 4.992094993591309, -4.551882743835449, 11.878908157348633], "tau_ext": [-16.738859176635742, -41.70281982421875, 31.802894592285156, 31.352514266967773, 9.494053840637207, -2.996431589126587, -0.0998842641711235], "tcp_pose": [0.6779323220252991, 0.03283281996846199, -0.2151004523038864, -0.0022642207331955433, -0.004556507337838411, 0.9998850226402283, 0.014285428449511528], "tcp_vel": [-5.8749465097207576e-05, 0.0002705046790651977, 0.00016738740669097751, 0.0010915634920820594, 0.0002253234852105379, -0.0005509026814252138], "flange_pose": [0.678631067276001, 0.028550779446959496, -0.06516321748495102, -0.0022642207331955433, -0.004556507337838411, 0.9998850226402283, 0.014285428449511528], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.9615249633789, 15.179911613464355, 28.201955795288086, 0.38306719064712524, -24.109989166259766, 1.8306821584701538], "ext_wrench_in_world": [-108.2246395427575, 14.987439194008239, -27.281403225207775, -0.1734451388206481, -24.0504025241313, -2.517492888993484]}
+{"timestamp_ns": 1789729556663458912, "elapsed_ms": 133, "source_timestamp_ns": 1789729556655279138, "q": [0.8364841341972351, -1.8975204229354858, -1.0064494609832764, 1.381098747253418, -0.16048572957515717, 0.594689130783081, 0.7033188939094543], "theta": [0.8385642170906067, -1.8956023454666138, -1.0046478509902954, 1.362693190574646, -0.1610623002052307, 0.5946148633956909, 0.7032689452171326], "dq": [0.0006622712244279683, -0.00041073100874200463, -0.0010320479050278664, -0.0015710755251348019, -0.0020716276485472918, -0.0022300484124571085, 0.002737718401476741], "dtheta": [0.00054730981355533, -0.00047036679461598396, 6.209395360201597e-05, 8.155372779583558e-05, -0.00017660739831626415, -0.0008109326008707285, -0.00013736127584706992], "tau": [55.5, 23.69999885559082, 5.444000244140625, -26.288002014160156, -2.5840001106262207, 2.6520001888275146, -0.5680000185966492], "tau_des": [0.4859028160572052, -0.4516313970088959, -0.22441217303276062, -0.5828564167022705, 0.9364382028579712, -1.15218985080719, -0.5568667054176331], "tau_dot": [-243.78622436523438, -89.75971984863281, -26.96468734741211, 31.600414276123047, -27.848623275756836, -12.614840507507324, -29.22623634338379], "tau_ext": [-16.74051284790039, -41.698978424072266, 31.80328941345215, 31.35427474975586, 9.493792533874512, -2.994676351547241, -0.10494273900985718], "tcp_pose": [0.6779323816299438, 0.03282991424202919, -0.21509738266468048, -0.002264609793201089, -0.004554664716124535, 0.999885082244873, 0.01428158674389124], "tcp_vel": [-0.00018787142471410334, 1.675935709499754e-05, 0.00012058587890351191, -0.000995463109575212, 5.058630267740227e-05, 0.0006267252028919756], "flange_pose": [0.6786311864852905, 0.02854902297258377, -0.0651601180434227, -0.002264609793201089, -0.004554664716124535, 0.999885082244873, 0.01428158674389124], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.9621810913086, 15.193778991699219, 28.198640823364258, 0.3875787854194641, -24.10729217529297, 1.8293802738189697], "ext_wrench_in_world": [-108.22537249633814, 15.001385514660369, -27.277719681007532, -0.17806477650333388, -24.047804024563415, -2.515909389792693]}
+{"timestamp_ns": 1789729556696791186, "elapsed_ms": 166, "source_timestamp_ns": 1789729556695226661, "q": [0.8364943265914917, -1.8975247144699097, -1.006449818611145, 1.381098747253418, -0.16048337519168854, 0.5946799516677856, 0.7033177018165588], "theta": [0.8385744690895081, -1.895607829093933, -1.0046486854553223, 1.3626930713653564, -0.1610596477985382, 0.5946062803268433, 0.7032682299613953], "dq": [-0.00029843769152648747, -9.368693281430751e-05, -0.0019054062431678176, -0.0009371361811645329, -0.004204068332910538, -0.0014211139641702175, -0.00031217248761095107], "dtheta": [0.0004785704950336367, -0.0003614137531258166, -0.00010504858801141381, 7.631544576724991e-05, 4.270404315320775e-05, -0.000659955432638526, -0.0009337540250271559], "tau": [55.52000045776367, 23.65999984741211, 5.4800004959106445, -26.30000114440918, -2.568000078201294, 2.628000020980835, -0.5520000457763672], "tau_des": [0.492719829082489, -0.44426727294921875, -0.21185073256492615, -0.5878099799156189, 0.9393240213394165, -1.1520264148712158, -0.5419420003890991], "tau_dot": [-168.56845092773438, -54.71487808227539, 14.434104919433594, 22.852657318115234, -2.2172768115997314, -61.1225471496582, 13.76632308959961], "tau_ext": [-16.73980140686035, -41.67658233642578, 31.79802703857422, 31.3524227142334, 9.500940322875977, -2.991217613220215, -0.10768373310565948], "tcp_pose": [0.6779314875602722, 0.03282971307635307, -0.21509304642677307, -0.0022636642679572105, -0.0045560565777122974, 0.9998851418495178, 0.01427758950740099], "tcp_vel": [-0.00011731714039342478, -6.724442937411368e-05, 9.870665235212073e-05, -0.0007795637939125299, 4.640554470825009e-05, 0.0011061789700761437], "flange_pose": [0.678629994392395, 0.02855002135038376, -0.0651557445526123, -0.0022636642679572105, -0.0045560565777122974, 0.9998851418495178, 0.01427758950740099], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.96528625488281, 15.185266494750977, 28.198793411254883, 0.37892505526542664, -24.106847763061523, 1.8254132270812988], "ext_wrench_in_world": [-108.2283891515697, 14.992334803760189, -27.278434398886855, -0.16932538357079657, -24.047414163667266, -2.511777791539145]}
+{"timestamp_ns": 1789729556730125460, "elapsed_ms": 200, "source_timestamp_ns": 1789729556725250241, "q": [0.8365025520324707, -1.897526741027832, -1.006450891494751, 1.3810986280441284, -0.16047601401805878, 0.5946704745292664, 0.70330810546875], "theta": [0.8385826945304871, -1.8956096172332764, -1.00464928150177, 1.3626928329467773, -0.16105245053768158, 0.5945972204208374, 0.7032588720321655], "dq": [7.758112042210996e-05, -0.0005522379651665688, 0.0003908965736627579, -0.0006950786919333041, -0.0023432483430951834, -0.002784433774650097, -0.0005064993165433407], "dtheta": [0.00027527177007868886, 2.3603701265528798e-05, -0.00040252614417113364, -3.116674270131625e-05, 0.00041070286533795297, -0.0018733410397544503, -0.0003000121214427054], "tau": [55.55999755859375, 23.65999984741211, 5.496000289916992, -26.30000114440918, -2.568000078201294, 2.6720001697540283, -0.5920000076293945], "tau_des": [0.5490759015083313, -0.48780471086502075, -0.14144909381866455, -0.6381696462631226, 0.9189419150352478, -1.1098542213439941, -0.5542219877243042], "tau_dot": [-76.92852783203125, -17.649824142456055, 40.36371612548828, -50.86178207397461, -21.879558563232422, 54.269039154052734, -68.92317962646484], "tau_ext": [-16.754758834838867, -41.65726089477539, 31.780193328857422, 31.357255935668945, 9.503360748291016, -2.9912667274475098, -0.10568780452013016], "tcp_pose": [0.6779303550720215, 0.03282877802848816, -0.21508976817131042, -0.0022648752201348543, -0.004559214226901531, 0.9998851418495178, 0.01427577342838049], "tcp_vel": [-0.00019333297677803785, -0.0004893045988865197, -6.166540697449818e-05, -0.0011892217444255948, 0.0012079465668648481, -0.0001858486793935299], "flange_pose": [0.6786292195320129, 0.028549635782837868, -0.06515245139598846, -0.0022648752201348543, -0.004559214226901531, 0.9998851418495178, 0.01427577342838049], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.96513366699219, 15.154638290405273, 28.195180892944336, 0.36754241585731506, -24.1047306060791, 1.8233551979064941], "ext_wrench_in_world": [-108.22810092727967, 14.960831673455104, -27.275502934748374, -0.15780584698809552, -24.045262342154114, -2.5096225629514155]}
+{"timestamp_ns": 1789729556763452935, "elapsed_ms": 233, "source_timestamp_ns": 1789729556755259055, "q": [0.8365091681480408, -1.8975274562835693, -1.0064507722854614, 1.3810977935791016, -0.16046825051307678, 0.5946623086929321, 0.7032936811447144], "theta": [0.8385893106460571, -1.895611047744751, -1.00464928150177, 1.36269211769104, -0.16104431450366974, 0.594589352607727, 0.7032433152198792], "dq": [-0.001205321867018938, 0.003064474556595087, -4.477628681343049e-05, 0.0014564812881872058, -0.0007236695382744074, -0.0005407901480793953, 0.00019512922153808177], "dtheta": [0.00024317535280715674, -0.0005671471008099616, -0.00013543193927034736, -0.00013134289474692196, -0.0007661172421649098, 0.00032751759863458574, -0.0005315751186572015], "tau": [55.53999710083008, 23.709999084472656, 5.4760003089904785, -26.292001724243164, -2.5360000133514404, 2.636000156402588, -0.5520000457763672], "tau_des": [0.5064191818237305, -0.41977858543395996, -0.25033292174339294, -0.5739169716835022, 0.9621134400367737, -1.173555612564087, -0.5194448828697205], "tau_dot": [-19.193618774414062, 46.65020751953125, 13.394132614135742, 52.3238410949707, 32.940101623535156, -32.09004211425781, 61.08620071411133], "tau_ext": [-16.73659896850586, -41.684268951416016, 31.791990280151367, 31.351099014282227, 9.48873233795166, -2.9899234771728516, -0.09127325564622879], "tcp_pose": [0.6779292821884155, 0.032828424125909805, -0.21508671343326569, -0.002266363240778446, -0.004564530681818724, 0.9998851418495178, 0.014275502413511276], "tcp_vel": [0.00016276405949611217, 0.00011520754196681082, 0.00014800902863498777, -0.0006912360549904406, -0.0010773047106340528, 0.0012127526570111513], "flange_pose": [0.67862868309021, 0.02854936756193638, -0.06514939665794373, -0.002266363240778446, -0.004564530681818724, 0.9998851418495178, 0.014275502413511276], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.96004486083984, 15.158611297607422, 28.202123641967773, 0.3710937201976776, -24.105947494506836, 1.8277543783187866], "ext_wrench_in_world": [-108.22331742706659, 14.963877856549814, -27.282054272323332, -0.16111683701473145, -24.04638885152206, -2.514025813467279]}
+{"timestamp_ns": 1789729556796792807, "elapsed_ms": 266, "source_timestamp_ns": 1789729556795257904, "q": [0.836521327495575, -1.8975282907485962, -1.0064499378204346, 1.3810985088348389, -0.16046255826950073, 0.5946542620658875, 0.7032962441444397], "theta": [0.8386011719703674, -1.895611047744751, -1.00464928150177, 1.3626927137374878, -0.1610373705625534, 0.5945814847946167, 0.7032435536384583], "dq": [0.0008003038237802684, 0.0009121272014454007, -0.0021406335290521383, -0.003409669967368245, -0.00019264011643826962, 0.0009943509940057993, -0.0005302946083247662], "dtheta": [0.00016648748714942485, -7.604641723446548e-05, 0.0002449603925924748, 0.00012327745207585394, 2.0610006686183624e-05, 0.0002575651160441339, 6.764740101061761e-05], "tau": [55.53999710083008, 23.719999313354492, 5.460000038146973, -26.312002182006836, -2.568000078201294, 2.6520001888275146, -0.5760000348091125], "tau_des": [0.5234833359718323, -0.44962039589881897, -0.2682848274707794, -0.5838277339935303, 0.9200370907783508, -1.1713470220565796, -0.5407826900482178], "tau_dot": [5.6930975914001465, -15.489274978637695, -26.211570739746094, 25.043912887573242, -5.496287822723389, -47.80335235595703, -32.45503234863281], "tau_ext": [-16.755102157592773, -41.70861053466797, 31.79267692565918, 31.361186981201172, 9.482035636901855, -2.9896907806396484, -0.09298831969499588], "tcp_pose": [0.6779288053512573, 0.03282811492681503, -0.2150803804397583, -0.0022653411142528057, -0.004562404006719589, 0.9998851418495178, 0.014274372719228268], "tcp_vel": [-6.927263893885538e-05, 0.00017581242718733847, 7.634328358108178e-05, 0.00020980395493097603, -0.00017121745622716844, 0.00015710442676208913], "flange_pose": [0.6786279082298279, 0.028549397364258766, -0.06514304876327515, -0.0022653411142528057, -0.004562404006719589, 0.9998851418495178, 0.014274372719228268], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.9666519165039, 15.18026065826416, 28.20856475830078, 0.38203108310699463, -24.116674423217773, 1.8334006071090698], "ext_wrench_in_world": [-108.23003189125313, 14.986041736748678, -27.288094754276354, -0.1720806025481129, -24.057055392900335, -2.519873976857942]}
+{"timestamp_ns": 1789729556830201911, "elapsed_ms": 300, "source_timestamp_ns": 1789729556825236806, "q": [0.8365291953086853, -1.897528886795044, -1.0064524412155151, 1.381098747253418, -0.16045834124088287, 0.594650387763977, 0.7032962441444397], "theta": [0.8386096358299255, -1.89561128616333, -1.0046519041061401, 1.362693190574646, -0.1610332876443863, 0.5945781469345093, 0.7032442688941956], "dq": [-0.0017570152413100004, 0.003976167179644108, 0.002185999182984233, -0.0020198975689709187, 0.0018454119563102722, 0.0009524386841803789, 0.00035830624983645976], "dtheta": [-0.00018649733101483434, -5.838823926751502e-05, -0.00034110547858290374, 7.108693534974009e-05, -0.00023492977197747678, -0.0010004928335547447, 0.0001251923677045852], "tau": [55.599998474121094, 23.709999084472656, 5.444000244140625, -26.284000396728516, -2.56000018119812, 2.6600000858306885, -0.5560000538825989], "tau_des": [0.6124738454818726, -0.4639367461204529, -0.16588616371154785, -0.6526546478271484, 0.9182880520820618, -1.1287087202072144, -0.5531572699546814], "tau_dot": [130.00454711914062, 23.305444717407227, -18.479290008544922, 0.651797890663147, -7.103878974914551, -9.449835777282715, 24.38284683227539], "tau_ext": [-16.753963470458984, -41.69508743286133, 31.779529571533203, 31.36311912536621, 9.485042572021484, -2.99629545211792, -0.09774208068847656], "tcp_pose": [0.6779298186302185, 0.03282658010721207, -0.21507622301578522, -0.002263665897771716, -0.004560648463666439, 0.9998851418495178, 0.014273339882493019], "tcp_vel": [-0.00012438645353540778, -0.0003587160026654601, -0.0002888527815230191, -0.0011020891834050417, 0.0007660893024876714, -0.0001596069778315723], "flange_pose": [0.6786283850669861, 0.028548168018460274, -0.06513886898756027, -0.002263665897771716, -0.004560648463666439, 0.9998851418495178, 0.014273339882493019], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.97240447998047, 15.181855201721191, 28.211748123168945, 0.3873765468597412, -24.119461059570312, 1.8318525552749634], "ext_wrench_in_world": [-108.23566985598785, 14.988001994565689, -27.29159496541297, -0.1774705007131028, -24.059938604420797, -2.518333724972022]}
+{"timestamp_ns": 1789729556863524638, "elapsed_ms": 333, "source_timestamp_ns": 1789729556855252959, "q": [0.8365367650985718, -1.8975297212600708, -1.0064553022384644, 1.381098985671997, -0.16045500338077545, 0.594646692276001, 0.7032961845397949], "theta": [0.838617205619812, -1.8956122398376465, -1.0046552419662476, 1.3626933097839355, -0.16103017330169678, 0.594575047492981, 0.7032449841499329], "dq": [-0.0002034326462307945, -0.000538498570676893, 0.0002455044013913721, 0.0010974558535963297, -0.001681291963905096, -0.0016478775069117546, 0.0021936430130153894], "dtheta": [0.00011371532309567556, 0.0003118203894700855, -0.0001300569565501064, 0.00015816616360098124, 0.0005520139820873737, -0.0008401944069191813, 0.00019116379553452134], "tau": [55.55999755859375, 23.65999984741211, 5.440000057220459, -26.288002014160156, -2.576000213623047, 2.628000020980835, -0.5560000538825989], "tau_des": [0.5358545184135437, -0.5239458084106445, -0.16022425889968872, -0.6009833812713623, 0.9027769565582275, -1.1486339569091797, -0.5646286606788635], "tau_dot": [70.194580078125, -30.960575103759766, -56.67670440673828, -11.457327842712402, -16.56734275817871, -64.68143463134766, -7.836053371429443], "tau_ext": [-16.76180076599121, -41.70228958129883, 31.804359436035156, 31.352527618408203, 9.48906135559082, -2.994436264038086, -0.10506190359592438], "tcp_pose": [0.6779309511184692, 0.0328248105943203, -0.21507228910923004, -0.0022618609946221113, -0.004559088498353958, 0.9998852014541626, 0.01427189726382494], "tcp_vel": [-0.00014258321607485414, -0.0002874440688174218, -4.914555393042974e-05, -0.00014944483700674027, 0.0009180243941955268, -0.0007522954838350415], "flange_pose": [0.6786289811134338, 0.028546826913952827, -0.0651349350810051, -0.0022618609946221113, -0.004559088498353958, 0.9998852014541626, 0.01427189726382494], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.9446792602539, 15.20004940032959, 28.207719802856445, 0.3900666832923889, -24.109119415283203, 1.828536033630371], "ext_wrench_in_world": [-108.20794693455173, 15.006591755410975, -27.28760090120943, -0.1803058244707392, -24.04972757365804, -2.5146428109334154]}
+{"timestamp_ns": 1789729556896874728, "elapsed_ms": 366, "source_timestamp_ns": 1789729556895231803, "q": [0.8365466594696045, -1.897533655166626, -1.0064605474472046, 1.3810981512069702, -0.1604532152414322, 0.5946344137191772, 0.7032961249351501], "theta": [0.838626503944397, -1.8956166505813599, -1.0046608448028564, 1.3626922369003296, -0.16102850437164307, 0.5945636034011841, 0.7032456994056702], "dq": [2.86670692730695e-05, 0.0002890183823183179, 0.0005276709562167525, 0.0012911754893139005, 0.0005473153432831168, -0.0013266868190839887, -0.0004948144778609276], "dtheta": [0.0003396145475562662, 0.0001013983492157422, 6.58406424918212e-05, 0.00015333550982177258, -0.0012300892267376184, -0.0001856511808000505, -6.187079998198897e-05], "tau": [55.56999969482422, 23.639999389648438, 5.456000328063965, -26.304000854492188, -2.5880000591278076, 2.6560001373291016, -0.5600000023841858], "tau_des": [0.45012131333351135, -0.5260469317436218, -0.16966478526592255, -0.5482670068740845, 0.9674403071403503, -1.1727772951126099, -0.5489146709442139], "tau_dot": [34.23609161376953, 51.041961669921875, 16.755817413330078, 37.44173812866211, -34.42060852050781, 19.199995040893555, -39.27310562133789], "tau_ext": [-16.72648811340332, -41.66331100463867, 31.801860809326172, 31.33958625793457, 9.492243766784668, -2.9895029067993164, -0.11260948330163956], "tcp_pose": [0.677931547164917, 0.032821521162986755, -0.21506822109222412, -0.0022608928848057985, -0.00455822516232729, 0.9998853206634521, 0.014265558682382107], "tcp_vel": [0.00015068349603097886, -0.0001386316871503368, 0.0002753036969806999, -0.0008558733388781548, -0.0007377949077636003, 0.0007515153847634792], "flange_pose": [0.6786292791366577, 0.028545435518026352, -0.0651308074593544, -0.0022608928848057985, -0.00455822516232729, 0.9998853206634521, 0.014265558682382107], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.93571472167969, 15.183916091918945, 28.19716453552246, 0.3776768147945404, -24.097536087036133, 1.820361852645874], "ext_wrench_in_world": [-108.19870808573836, 14.990088048478274, -27.27795331555543, -0.1680199859124726, -24.038300284503798, -2.5058913051784404]}
+{"timestamp_ns": 1789729556930200024, "elapsed_ms": 400, "source_timestamp_ns": 1789729556925230570, "q": [0.8365534543991089, -1.8975372314453125, -1.0064617395401, 1.3810969591140747, -0.16044913232326508, 0.5946259498596191, 0.7032962441444397], "theta": [0.8386342525482178, -1.8956197500228882, -1.004662036895752, 1.3626914024353027, -0.16102419793605804, 0.5945554971694946, 0.7032456994056702], "dq": [-0.0023084688000380993, 0.001585576101206243, -0.0018069385550916195, 0.002333712065592408, 0.0018384922295808792, 0.00023873301688581705, 0.004074386321008205], "dtheta": [0.0002897948434110731, -0.00027590227546170354, -1.4108616142038954e-06, 1.7840107830124907e-05, 0.0006028315401636064, -0.00023003004025667906, 0.0001483875821577385], "tau": [55.52000045776367, 23.65999984741211, 5.468000411987305, -26.336000442504883, -2.56000018119812, 2.6480002403259277, -0.5520000457763672], "tau_des": [0.5234479904174805, -0.4481334090232849, -0.20432014763355255, -0.5967594981193542, 0.9200332760810852, -1.1559842824935913, -0.5635359287261963], "tau_dot": [-52.538902282714844, -35.56078338623047, -37.047725677490234, -31.141874313354492, 66.78694915771484, -14.395346641540527, -3.7940673828125], "tau_ext": [-16.743431091308594, -41.66532897949219, 31.807710647583008, 31.36043930053711, 9.502760887145996, -2.9896576404571533, -0.11709456145763397], "tcp_pose": [0.6779308319091797, 0.032821085304021835, -0.21506546437740326, -0.0022611585445702076, -0.0045577953569591045, 0.9998853206634521, 0.014262710697948933], "tcp_vel": [-0.00014272159023676068, 8.306238305522129e-05, 3.087281220359728e-05, 7.441604793712031e-06, 0.00023646683257538825, -0.00029059743974357843], "flange_pose": [0.6786285638809204, 0.02854585275053978, -0.06512802094221115, -0.0022611585445702076, -0.0045577953569591045, 0.9998853206634521, 0.014262710697948933], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.96330261230469, 15.160526275634766, 28.185211181640625, 0.36725160479545593, -24.100542068481445, 1.8162214756011963], "ext_wrench_in_world": [-108.22602880487287, 14.966050109516505, -27.266580836442156, -0.1575703174932221, -24.041341373115113, -2.501747141637672]}
+{"timestamp_ns": 1789729556963530998, "elapsed_ms": 433, "source_timestamp_ns": 1789729556955241613, "q": [0.8365611433982849, -1.89754056930542, -1.006461501121521, 1.3810955286026, -0.16044390201568604, 0.594619631767273, 0.7032962441444397], "theta": [0.8386425971984863, -1.8956233263015747, -1.004662275314331, 1.3626900911331177, -0.16101938486099243, 0.594549298286438, 0.703245222568512], "dq": [-0.0021549465600401163, -0.0022902239579707384, 0.0007099075592122972, -0.0017556771636009216, -0.0034104178193956614, 0.0015507707139477134, -0.0047347103245556355], "dtheta": [0.0001559543889015913, -6.785194273106754e-05, -0.00022937965695746243, 8.110218186629936e-05, 0.0003906789352186024, 2.3995840820134617e-05, -7.919775089249015e-05], "tau": [55.529998779296875, 23.639999389648438, 5.4760003089904785, -26.316001892089844, -2.5360000133514404, 2.632000207901001, -0.5480000376701355], "tau_des": [0.5281948447227478, -0.4780867099761963, -0.17048664391040802, -0.5911287069320679, 0.9217442274093628, -1.1627302169799805, -0.5632001161575317], "tau_dot": [-32.8527946472168, -21.25911521911621, 37.5843505859375, -5.741506576538086, 78.01786041259766, -62.216575622558594, -0.5428789854049683], "tau_ext": [-16.74283790588379, -41.65480041503906, 31.79194450378418, 31.357885360717773, 9.497384071350098, -2.992192268371582, -0.11831307411193848], "tcp_pose": [0.6779301762580872, 0.032821815460920334, -0.21506176888942719, -0.0022606458514928818, -0.004557527136057615, 0.9998853802680969, 0.014261519536376], "tcp_vel": [1.1690276551235002e-05, -9.083544136956334e-05, 7.529128197347745e-06, 1.5527455616393127e-05, 3.2480635127285495e-05, -0.00024105461488943547], "flange_pose": [0.6786277890205383, 0.02854694053530693, -0.06512431800365448, -0.0022606458514928818, -0.004557527136057615, 0.9998853802680969, 0.014261519536376], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.97960662841797, 15.130157470703125, 28.18901824951172, 0.35843920707702637, -24.103572845458984, 1.8121281862258911], "ext_wrench_in_world": [-108.24203863514079, 14.935647978006765, -27.27132842699861, -0.14872246871885264, -24.044412430894564, -2.4977236887160172]}
+{"timestamp_ns": 1789729556996862273, "elapsed_ms": 466, "source_timestamp_ns": 1789729556995252799, "q": [0.8365747928619385, -1.8975435495376587, -1.0064616203308105, 1.381094217300415, -0.16043728590011597, 0.5946035385131836, 0.7032943367958069], "theta": [0.8386558294296265, -1.895625352859497, -1.004662275314331, 1.3626887798309326, -0.161012664437294, 0.5945335626602173, 0.7032433152198792], "dq": [0.0025061466731131077, -0.0003772960335481912, 0.0008157682605087757, 0.0006765395519323647, 0.0006682663806714118, -0.0001387932279612869, 0.004643672611564398], "dtheta": [0.0002606686612125486, -0.00017323734937235713, -0.0004101879021618515, 0.00019094138406217098, -8.385768160223961e-05, -0.0006917475257068872, -0.00023950496688485146], "tau": [55.56999969482422, 23.709999084472656, 5.4760003089904785, -26.292001724243164, -2.556000232696533, 2.6480002403259277, -0.5440000295639038], "tau_des": [0.5341739654541016, -0.4653494358062744, -0.15071061253547668, -0.6225847005844116, 0.9371910095214844, -1.1347780227661133, -0.5589594841003418], "tau_dot": [22.952560424804688, 154.39028930664062, 28.567367553710938, -2.175398588180542, 7.304956436157227, -15.375968933105469, -9.500300407409668], "tau_ext": [-16.739694595336914, -41.66917037963867, 31.79107093811035, 31.357223510742188, 9.484594345092773, -2.987851142883301, -0.11790379136800766], "tcp_pose": [0.6779289245605469, 0.03282079100608826, -0.21505524218082428, -0.0022611997555941343, -0.004557688720524311, 0.9998854398727417, 0.014257480390369892], "tcp_vel": [-4.5593718823511153e-05, -0.0003267437859904021, -5.4251413530437276e-05, -0.0010028670076280832, 0.00023322709603235126, 0.0001608946913620457], "flange_pose": [0.6786267161369324, 0.028547128662467003, -0.06511776149272919, -0.0022611997555941343, -0.004557688720524311, 0.9998854398727417, 0.014257480390369892], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.98269653320312, 15.113544464111328, 28.191020965576172, 0.3573586940765381, -24.110342025756836, 1.8097617626190186], "ext_wrench_in_world": [-108.24502174858442, 14.9188120643929, -27.27379609016452, -0.1475638303242285, -24.051256324402807, -2.4953616183832463]}
+{"timestamp_ns": 1789729557030188501, "elapsed_ms": 500, "source_timestamp_ns": 1789729557025253811, "q": [0.8365837931632996, -1.8975437879562378, -1.0064611434936523, 1.3810932636260986, -0.16043396294116974, 0.5945910215377808, 0.7032923698425293], "theta": [0.8386642336845398, -1.8956255912780762, -1.0046613216400146, 1.362687587738037, -0.16100861132144928, 0.5945218801498413, 0.7032414078712463], "dq": [0.0011671320535242558, 9.555346332490444e-05, 0.00022153508325573057, 8.632111712358892e-05, 0.001374884508550167, -0.0002962015278171748, -0.0005952155333943665], "dtheta": [0.0005586085026152432, -0.0001455233432352543, -0.00011869290756294504, 3.352286512381397e-05, -8.571944636059925e-05, -0.0006031923112459481, 0.00044783795601688325], "tau": [55.52000045776367, 23.729999542236328, 5.488000392913818, -26.312002182006836, -2.5440001487731934, 2.6480002403259277, -0.5720000267028809], "tau_des": [0.4489256739616394, -0.4951445460319519, -0.18209049105644226, -0.566080629825592, 0.94193434715271, -1.1513707637786865, -0.5692431330680847], "tau_dot": [-77.43428802490234, 105.7593002319336, 19.693462371826172, -19.654088973999023, 44.11408615112305, -38.93568801879883, -36.547916412353516], "tau_ext": [-16.74513816833496, -41.65963363647461, 31.782238006591797, 31.351131439208984, 9.486031532287598, -2.9885427951812744, -0.11189433187246323], "tcp_pose": [0.6779282689094543, 0.03281961753964424, -0.21505038440227509, -0.002261993009597063, -0.004558059386909008, 0.9998854398727417, 0.014254838228225708], "tcp_vel": [6.873887741676299e-06, -0.0001301544689340517, 0.0002523803850635886, -0.0006525313947349787, -0.0001473654992878437, -0.0003659849753603339], "flange_pose": [0.6786262392997742, 0.02854674868285656, -0.0651128813624382, -0.002261993009597063, -0.004558059386909008, 0.9998854398727417, 0.014254838228225708], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.95563507080078, 15.118589401245117, 28.199180603027344, 0.3597533404827118, -24.107351303100586, 1.8108547925949097], "ext_wrench_in_world": [-108.21809921148684, 14.924107351155369, -27.28183825422098, -0.14997571936147652, -24.048271100223534, -2.4962309129392266]}
+{"timestamp_ns": 1789729557063533799, "elapsed_ms": 533, "source_timestamp_ns": 1789729557055336279, "q": [0.836590051651001, -1.8975447416305542, -1.0064616203308105, 1.3810936212539673, -0.16043058037757874, 0.5945906043052673, 0.7032914161682129], "theta": [0.8386704325675964, -1.895625352859497, -1.0046617984771729, 1.362687110900879, -0.16100548207759857, 0.5945221185684204, 0.7032409310340881], "dq": [-0.00023504655109718442, -0.0020714844577014446, -0.001131277997046709, -0.0015473001403734088, 0.0008282038616016507, -0.0006612197030335665, 1.7533660866320133e-05], "dtheta": [0.0001325867197010666, 0.00023625569883733988, -0.0003664456307888031, -7.478769111912698e-05, -0.0006894799880683422, 0.0008621950983069837, -0.00019596816855482757], "tau": [55.53999710083008, 23.709999084472656, 5.484000205993652, -26.304000854492188, -2.568000078201294, 2.6600000858306885, -0.5600000023841858], "tau_des": [0.42538225650787354, -0.5654212832450867, -0.13399004936218262, -0.501387894153595, 0.9569784998893738, -1.2031952142715454, -0.5599559545516968], "tau_dot": [72.04524993896484, -22.323638916015625, 3.605391502380371, 37.96010971069336, -17.115148544311523, 14.753658294677734, -38.4552116394043], "tau_ext": [-16.748476028442383, -41.68035888671875, 31.775495529174805, 31.357505798339844, 9.48819351196289, -2.994075298309326, -0.11015474051237106], "tcp_pose": [0.6779288649559021, 0.0328197218477726, -0.2150469273328781, -0.00226002000272274, -0.004557763691991568, 0.9998854398727417, 0.014255166985094547], "tcp_vel": [0.0004978978540748358, -0.00016972415323834866, 0.00032817063038237393, 0.00012085847993148491, -0.0013485187664628029, 0.00013011878763791174], "flange_pose": [0.6786262392997742, 0.02854675054550171, -0.06510942429304123, -0.00226002000272274, -0.004557763691991568, 0.9998854398727417, 0.014255166985094547], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.94581604003906, 15.132281303405762, 28.213069915771484, 0.3671908676624298, -24.107738494873047, 1.8151687383651733], "ext_wrench_in_world": [-108.20835216134904, 14.938367535710107, -27.29578996770513, -0.1574352032082913, -24.04860171789225, -2.5005382600946766]}
+{"timestamp_ns": 1789729557096895564, "elapsed_ms": 566, "source_timestamp_ns": 1789729557095258895, "q": [0.8365981578826904, -1.897544026374817, -1.006462812423706, 1.38109290599823, -0.16042622923851013, 0.5945897698402405, 0.7032909989356995], "theta": [0.8386786580085754, -1.8956247568130493, -1.0046632289886475, 1.3626867532730103, -0.16100189089775085, 0.5945225954055786, 0.7032411694526672], "dq": [0.00030318135395646095, -0.002631031209602952, 0.002077112440019846, 0.0010504701640456915, 0.0007613249472342432, -0.00012240864452905953, -0.0028511383570730686], "dtheta": [0.0003298427036497742, -0.00021146559447515756, 9.81958000920713e-05, -4.886444003204815e-05, 0.00045352388406172395, 0.00012066156341461465, -0.0001823839993448928], "tau": [55.529998779296875, 23.760000228881836, 5.444000244140625, -26.2760009765625, -2.572000026702881, 2.684000015258789, -0.5640000104904175], "tau_des": [0.4564110040664673, -0.46827608346939087, -0.23461048305034637, -0.5308541655540466, 0.9237576723098755, -1.195532202720642, -0.5631033778190613], "tau_dot": [32.77318572998047, 146.82400512695312, -34.11212921142578, 7.43025541305542, 16.012338638305664, 43.878292083740234, -22.52830696105957], "tau_ext": [-16.72953224182129, -41.7105712890625, 31.79654312133789, 31.361175537109375, 9.496471405029297, -2.9967265129089355, -0.11728969216346741], "tcp_pose": [0.6779306530952454, 0.03281914070248604, -0.21504148840904236, -0.0022570001892745495, -0.004556134343147278, 0.9998854398727417, 0.014256268739700317], "tcp_vel": [-3.833469236269593e-05, 0.00017660796584095806, 0.00016456384037155658, 0.00029509668820537627, -0.00018308463040739298, 0.00013062995276413858], "flange_pose": [0.6786271929740906, 0.028545835986733437, -0.06510398536920547, -0.0022570001892745495, -0.004556134343147278, 0.9998854398727417, 0.014256268739700317], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.97482299804688, 15.148181915283203, 28.203519821166992, 0.37809982895851135, -24.114696502685547, 1.8180127143859863], "ext_wrench_in_world": [-108.23724379303376, 14.954145922098364, -27.286277190723336, -0.16835944684588883, -24.05556959612254, -2.503586153845018]}
+{"timestamp_ns": 1789729557130168111, "elapsed_ms": 600, "source_timestamp_ns": 1789729557125258664, "q": [0.8366035223007202, -1.897545337677002, -1.006468415260315, 1.381093144416809, -0.1604238748550415, 0.5945873856544495, 0.7032908797264099], "theta": [0.8386843800544739, -1.8956257104873657, -1.0046693086624146, 1.3626863956451416, -0.16099996864795685, 0.5945206880569458, 0.7032416462898254], "dq": [0.0012582597555592656, -0.0010325268376618624, 0.0008314578444696963, -0.0022277450188994408, -0.001029915758408606, -0.0006259066285565495, -0.00097975367680192], "dtheta": [0.00047724248724989593, -0.0001309108774876222, 0.00019062466162722558, 0.00016698773833923042, 0.0001880675699794665, -0.0005906412843614817, -0.0002473558415658772], "tau": [55.52000045776367, 23.719999313354492, 5.4800004959106445, -26.312002182006836, -2.572000026702881, 2.684000015258789, -0.5480000376701355], "tau_des": [0.4626704752445221, -0.4730539321899414, -0.20927169919013977, -0.5573717951774597, 0.9305968284606934, -1.175379753112793, -0.5661780834197998], "tau_dot": [-91.6016845703125, 99.36763000488281, 84.59552764892578, -6.305070877075195, 21.35935401916504, 29.75267219543457, -19.643430709838867], "tau_ext": [-16.712059020996094, -41.70010757446289, 31.806148529052734, 31.347164154052734, 9.495162010192871, -2.9951155185699463, -0.117605060338974], "tcp_pose": [0.6779325604438782, 0.032816167920827866, -0.21503905951976776, -0.0022550139110535383, -0.00455406354740262, 0.9998854994773865, 0.014253880828619003], "tcp_vel": [-0.00019712888752110302, 3.1679519452154636e-05, 0.0001378500455757603, -0.00033959271968342364, 0.0002613662800285965, 0.0004051619325764477], "flange_pose": [0.6786284446716309, 0.02854357473552227, -0.06510153412818909, -0.0022550139110535383, -0.00455406354740262, 0.9998854994773865, 0.014253880828619003], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.98674774169922, 15.168304443359375, 28.18633460998535, 0.384446382522583, -24.115337371826172, 1.8190765380859375], "ext_wrench_in_world": [-108.24910016054531, 14.973983706223915, -27.268970143000388, -0.17479569428108216, -24.056249315130053, -2.504525979703753]}
+{"timestamp_ns": 1789729557163442678, "elapsed_ms": 633, "source_timestamp_ns": 1789729557155258744, "q": [0.8366096019744873, -1.8975472450256348, -1.0064706802368164, 1.381091594696045, -0.16041961312294006, 0.5945769548416138, 0.7032880783081055], "theta": [0.8386905193328857, -1.895627498626709, -1.004671335220337, 1.3626853227615356, -0.16099613904953003, 0.5945104360580444, 0.7032390236854553], "dq": [-0.00103671639226377, 0.0014163722516968846, 0.00015156014706008136, -0.0021479602437466383, -0.0027605989016592503, -0.0013657163362950087, -0.0014972947537899017], "dtheta": [0.0004603952693287283, -0.00012437530676834285, 3.063976691919379e-05, -0.00018816946248989552, 0.00041693050297908485, -4.642475687433034e-05, 0.0005260241450741887], "tau": [55.52000045776367, 23.68000030517578, 5.484000205993652, -26.304000854492188, -2.556000232696533, 2.6480002403259277, -0.5200000405311584], "tau_des": [0.42504945397377014, -0.5195881128311157, -0.17803236842155457, -0.5109987258911133, 0.9288802742958069, -1.194597840309143, -0.5859034061431885], "tau_dot": [-115.22212982177734, -22.76320457458496, 42.475303649902344, 9.762459754943848, 11.397218704223633, -6.881488800048828, 72.145263671875], "tau_ext": [-16.730424880981445, -41.669769287109375, 31.799222946166992, 31.352542877197266, 9.49456787109375, -2.9935264587402344, -0.11989593505859375], "tcp_pose": [0.6779321432113647, 0.03281445801258087, -0.21503648161888123, -0.0022561412770301104, -0.004554116167128086, 0.9998855590820312, 0.014250846579670906], "tcp_vel": [6.383380241459236e-05, 0.00011157180415466428, 0.00032135104993358254, 0.0002614340337458998, -0.0003208100679330528, -0.0006808823673054576], "flange_pose": [0.6786283254623413, 0.02854277566075325, -0.06509894132614136, -0.0022561412770301104, -0.004554116167128086, 0.9998855590820312, 0.014250846579670906], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.99504852294922, 15.16089916229248, 28.178390502929688, 0.37900757789611816, -24.112415313720703, 1.816211223602295], "ext_wrench_in_world": [-108.25735960361406, 14.966097303783508, -27.26105433336052, -0.16937224684205962, -24.053375533426912, -2.5014557170042884]}
+{"timestamp_ns": 1789729557196773910, "elapsed_ms": 666, "source_timestamp_ns": 1789729557195263009, "q": [0.836618185043335, -1.8975507020950317, -1.0064716339111328, 1.3810882568359375, -0.16041284799575806, 0.5945631265640259, 0.7032743096351624], "theta": [0.8386991620063782, -1.8956317901611328, -1.0046718120574951, 1.3626810312271118, -0.1609889417886734, 0.5944968461990356, 0.7032245993614197], "dq": [-0.0011159527348354459, -0.0009844712913036346, -0.002056233352050185, 0.0006593642174266279, 2.842875983333215e-05, 0.0014534599613398314, 0.00011242065374972299], "dtheta": [0.00014666547940578312, -0.00023481730022467673, 0.00014170164649840444, 7.75323060224764e-05, 0.00017269427189603448, -0.0008888171869330108, -0.00012065834744134918], "tau": [55.47999954223633, 23.670000076293945, 5.492000102996826, -26.296001434326172, -2.56000018119812, 2.6480002403259277, -0.5560000538825989], "tau_des": [0.5602576732635498, -0.41319742798805237, -0.2196335792541504, -0.6289771795272827, 0.9273646473884583, -1.142259955406189, -0.551810622215271], "tau_dot": [-78.25631713867188, -8.696743965148926, 59.11721420288086, 73.46269989013672, 7.58387565612793, -7.995265483856201, 18.689483642578125], "tau_ext": [-16.73614501953125, -41.642860412597656, 31.784879684448242, 31.361398696899414, 9.488726615905762, -2.988595724105835, -0.10541193187236786], "tcp_pose": [0.6779311895370483, 0.03281392157077789, -0.2150323987007141, -0.002257345011457801, -0.004559868481010199, 0.9998855590820312, 0.014247811399400234], "tcp_vel": [-0.00029818707844242454, 4.3649702092807274e-06, -0.00011255143908783793, -0.0006015848484821618, 0.0007254519150592387, 0.0003154326695948839], "flange_pose": [0.6786277890205383, 0.028543157503008842, -0.06509482860565186, -0.002257345011457801, -0.004559868481010199, 0.9998855590820312, 0.014247811399400234], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.99317932128906, 15.126082420349121, 28.18458366394043, 0.3623006343841553, -24.111419677734375, 1.8131803274154663], "ext_wrench_in_world": [-108.25543728611791, 14.930074067968775, -27.26809659534919, -0.15238880123511553, -24.052330317865223, -2.4983249305880157]}
+{"timestamp_ns": 1789729557230169016, "elapsed_ms": 700, "source_timestamp_ns": 1789729557225229227, "q": [0.8366239070892334, -1.8975505828857422, -1.0064712762832642, 1.3810855150222778, -0.16040505468845367, 0.594551682472229, 0.7032634019851685], "theta": [0.8387050032615662, -1.8956323862075806, -1.004671335220337, 1.362677812576294, -0.16098032891750336, 0.594485878944397, 0.7032126188278198], "dq": [-0.0010544832330197096, 0.000809033343102783, 0.000799414177890867, -0.0007760677835904062, 0.001410437049344182, -0.00023757418966852129, 0.0033093467354774475], "dtheta": [0.0004978366778232157, 2.980350109282881e-05, 0.0002072056959150359, 5.35780745849479e-05, -0.0003331304178573191, -0.0005244491039775312, 0.0009148126700893044], "tau": [55.5099983215332, 23.709999084472656, 5.484000205993652, -26.308000564575195, -2.5480000972747803, 2.6640000343322754, -0.5960000157356262], "tau_des": [0.45763644576072693, -0.5001662969589233, -0.21061526238918304, -0.5570496916770935, 0.9412222504615784, -1.1668845415115356, -0.5618127584457397], "tau_dot": [-75.73749542236328, 33.661190032958984, 57.722660064697266, -1.6359453201293945, 12.523198127746582, -4.433398723602295, -34.05257034301758], "tau_ext": [-16.732973098754883, -41.65650177001953, 31.785385131835938, 31.362062454223633, 9.482099533081055, -2.9884090423583984, -0.0918935015797615], "tcp_pose": [0.6779301762580872, 0.03281332924962044, -0.21502919495105743, -0.0022598470095545053, -0.0045631034299731255, 0.9998855590820312, 0.014247453771531582], "tcp_vel": [-2.7773719921242446e-05, -1.0884402399824467e-05, 0.0003013394307345152, -0.0004304874164517969, -0.00015080187586136162, -0.0005828277789987624], "flange_pose": [0.6786275506019592, 0.02854267507791519, -0.06509163230657578, -0.0022598470095545053, -0.0045631034299731255, 0.9998855590820312, 0.014247453771531582], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.00444793701172, 15.110810279846191, 28.191232681274414, 0.3604525029659271, -24.11737823486328, 1.8196189403533936], "ext_wrench_in_world": [-108.26682935395188, 14.914166574013754, -27.274608312985066, -0.1503716206624616, -24.05808871412091, -2.5049207208276454]}
+{"timestamp_ns": 1789729557263446332, "elapsed_ms": 733, "source_timestamp_ns": 1789729557255245912, "q": [0.8366320729255676, -1.897550106048584, -1.0064716339111328, 1.3810851573944092, -0.16039830446243286, 0.5945433974266052, 0.7032608985900879], "theta": [0.8387120962142944, -1.8956323862075806, -1.0046718120574951, 1.3626768589019775, -0.16097265481948853, 0.5944782495498657, 0.7032088041305542], "dq": [-0.0018242599908262491, -0.0017887449357658625, -0.0010787710780277848, -0.0024132628459483385, -2.020812826231122e-05, 0.0005156459519639611, 1.53403543663444e-05], "dtheta": [0.000482075905892998, 4.193685163045302e-05, 7.577634733024752e-06, 8.515992522006854e-05, -3.956016371375881e-05, -0.0005517255631275475, 8.10527490102686e-05], "tau": [55.53999710083008, 23.6299991607666, 5.456000328063965, -26.312002182006836, -2.552000045776367, 2.624000072479248, -0.5800000429153442], "tau_des": [0.46685051918029785, -0.4988040626049042, -0.19533409178256989, -0.565975546836853, 0.934489905834198, -1.16267991065979, -0.5528225898742676], "tau_dot": [-68.63290405273438, -149.9659423828125, -50.33241271972656, 23.720462799072266, -36.09864044189453, -76.45206451416016, -1.5434054136276245], "tau_ext": [-16.738502502441406, -41.68471145629883, 31.785608291625977, 31.364418029785156, 9.471285820007324, -2.99042010307312, -0.08959992974996567], "tcp_pose": [0.6779298782348633, 0.0328122116625309, -0.21502487361431122, -0.002260484267026186, -0.004562243819236755, 0.9998855590820312, 0.014247010461986065], "tcp_vel": [-1.8596449081087485e-05, -0.00011424292461015284, 0.00024204689543694258, -0.0003984798677265644, -1.3565108019975014e-05, -5.500529005075805e-05], "flange_pose": [0.6786274313926697, 0.028541691601276398, -0.06508729606866837, -0.002260484267026186, -0.004562243819236755, 0.9998855590820312, 0.014247010461986065], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.01277160644531, 15.125299453735352, 28.200632095336914, 0.37137678265571594, -24.128082275390625, 1.8274219036102295], "ext_wrench_in_world": [-108.27533753952183, 14.928999875222123, -27.283427344746684, -0.1612787677577583, -24.0686681724288, -2.5129559051230235]}
+{"timestamp_ns": 1789729557296773985, "elapsed_ms": 766, "source_timestamp_ns": 1789729557295238700, "q": [0.8366395831108093, -1.8975505828857422, -1.0064736604690552, 1.3810852766036987, -0.1603948026895523, 0.5945383310317993, 0.7032608389854431], "theta": [0.8387205600738525, -1.895632028579712, -1.0046740770339966, 1.3626768589019775, -0.16096904873847961, 0.5944737195968628, 0.703208327293396], "dq": [0.0005294448346830904, 0.0008165535400621593, 0.000386197556508705, 0.001430616481229663, 0.0014974550576880574, -0.0004417920717969537, 0.0014702238840982318], "dtheta": [0.0003079964662902057, -0.0001836700103012845, -0.00038362224586308, -1.0849980753846467e-05, 5.185640475247055e-05, -0.0001611764164408669, 0.0002474284847266972], "tau": [55.52000045776367, 23.739999771118164, 5.468000411987305, -26.312002182006836, -2.5320000648498535, 2.640000104904175, -0.5760000348091125], "tau_des": [0.4988335371017456, -0.49838000535964966, -0.1527378112077713, -0.5710490942001343, 0.9330570697784424, -1.1700855493545532, -0.5644919872283936], "tau_dot": [-46.212894439697266, 84.76756286621094, -10.172313690185547, -19.228792190551758, 75.74897766113281, -30.07440185546875, -27.55889320373535], "tau_ext": [-16.73419761657715, -41.69295883178711, 31.78913116455078, 31.36420440673828, 9.475342750549316, -2.991806983947754, -0.09548582136631012], "tcp_pose": [0.6779305934906006, 0.032810647040605545, -0.21502092480659485, -0.002259328728541732, -0.004560810513794422, 0.9998855590820312, 0.014245607890188694], "tcp_vel": [0.00011244450433878228, -0.00017714124987833202, 0.00011557127436390147, -0.00044898627675138414, -0.0002801707305479795, -0.00042026571463793516], "flange_pose": [0.6786277890205383, 0.02854054421186447, -0.0650833323597908, -0.002259328728541732, -0.004560810513794422, 0.9998855590820312, 0.014245607890188694], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.00822448730469, 15.147409439086914, 28.215496063232422, 0.38230201601982117, -24.131898880004883, 1.8298063278198242], "ext_wrench_in_world": [-108.27095450745281, 14.951801681038674, -27.297963738081272, -0.1722438451783324, -24.072522110113216, -2.515333158742952]}
+{"timestamp_ns": 1789729557330108776, "elapsed_ms": 800, "source_timestamp_ns": 1789729557325262344, "q": [0.8366469740867615, -1.8975504636764526, -1.0064737796783447, 1.3810865879058838, -0.160394087433815, 0.5945315361022949, 0.7032596468925476], "theta": [0.8387276530265808, -1.8956315517425537, -1.0046741962432861, 1.3626773357391357, -0.1609680950641632, 0.594467282295227, 0.7032078504562378], "dq": [0.0004674794618040323, -0.0006720771198160946, -0.0002299878979101777, 0.0002616875572130084, -0.003415096551179886, -0.0007605018327012658, -0.00034117972245439887], "dtheta": [8.622989116702229e-05, -2.3970718757482246e-05, 1.4719505088578444e-05, -5.19501008966472e-05, 0.00016057466564234346, 0.0003487327485345304, -0.0008025821298360825], "tau": [55.52000045776367, 23.719999313354492, 5.4760003089904785, -26.32000160217285, -2.5400002002716064, 2.684000015258789, -0.5520000457763672], "tau_des": [0.5106362104415894, -0.4649412930011749, -0.20731058716773987, -0.5677463412284851, 0.9298632740974426, -1.1819748878479004, -0.5394824743270874], "tau_dot": [-18.54269790649414, 66.5277099609375, 48.246620178222656, -30.6324520111084, 49.18642807006836, 87.40070343017578, 50.819156646728516], "tau_ext": [-16.72617530822754, -41.7033805847168, 31.8001708984375, 31.35791015625, 9.478079795837402, -2.9867429733276367, -0.10051694512367249], "tcp_pose": [0.6779303550720215, 0.03280926123261452, -0.21501734852790833, -0.0022589408326894045, -0.004561309237033129, 0.999885618686676, 0.014243227429687977], "tcp_vel": [7.081295916577801e-05, 9.138641325989738e-05, 0.0001018877956084907, 0.0003528179368004203, -0.0003210501454304904, 0.0007228784379549325], "flange_pose": [0.6786274313926697, 0.02853987365961075, -0.06507973372936249, -0.0022589408326894045, -0.004561309237033129, 0.999885618686676, 0.014243227429687977], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0166015625, 15.160547256469727, 28.209863662719727, 0.38621190190315247, -24.135984420776367, 1.829176425933838], "ext_wrench_in_world": [-108.27941670140018, 14.964458628838944, -27.292081467837328, -0.1760875671986223, -24.07667180276021, -2.514688462051067]}
+{"timestamp_ns": 1789729557363443228, "elapsed_ms": 833, "source_timestamp_ns": 1789729557355231701, "q": [0.8366528153419495, -1.8975504636764526, -1.0064749717712402, 1.3810855150222778, -0.160391703248024, 0.5945277214050293, 0.7032594680786133], "theta": [0.8387337923049927, -1.8956314325332642, -1.0046756267547607, 1.3626770973205566, -0.1609661877155304, 0.5944641828536987, 0.7032080888748169], "dq": [0.001765314256772399, 0.002336672507226467, 0.0011585296597331762, -0.0006772888009436429, -0.0006828464101999998, -0.0003326426085550338, -0.00041655098902992904], "dtheta": [-2.393233990005683e-05, -0.0003436563129071146, -0.00022449319658335298, -0.00020990672055631876, 0.0007814869750291109, -0.0009629267151467502, -0.00022757895931135863], "tau": [55.52000045776367, 23.689998626708984, 5.456000328063965, -26.316001892089844, -2.572000026702881, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.5888875722885132, -0.4235226809978485, -0.18538789451122284, -0.631048858165741, 0.9079692959785461, -1.1438449621200562, -0.5584010481834412], "tau_dot": [-89.96236419677734, -135.5709228515625, 1.7750530242919922, -9.705473899841309, -13.239964485168457, -3.38688588142395, 42.83539962768555], "tau_ext": [-16.746349334716797, -41.71075439453125, 31.784534454345703, 31.37110137939453, 9.490110397338867, -2.994279384613037, -0.10298826545476913], "tcp_pose": [0.6779313683509827, 0.032808393239974976, -0.21501360833644867, -0.002257466781884432, -0.004560321103781462, 0.999885618686676, 0.014242632314562798], "tcp_vel": [-0.0002257566957268864, -7.923677912913263e-05, -0.00021064210159238428, -0.000420581636717543, 0.0009392712381668389, -0.00014332126011140645], "flange_pose": [0.6786280274391174, 0.028539180755615234, -0.06507599353790283, -0.002257466781884432, -0.004560321103781462, 0.999885618686676, 0.014242632314562798], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.01958465576172, 15.162270545959473, 28.22254180908203, 0.38601547479629517, -24.136356353759766, 1.8282662630081177], "ext_wrench_in_world": [-108.28236413668498, 14.966700573867518, -27.305026540549036, -0.17592472241470752, -24.077070285129558, -2.51376221784995]}
+{"timestamp_ns": 1789729557396772931, "elapsed_ms": 866, "source_timestamp_ns": 1789729557395229398, "q": [0.8366641402244568, -1.897552251815796, -1.0064765214920044, 1.3810855150222778, -0.1603894829750061, 0.5945128798484802, 0.7032609581947327], "theta": [0.8387451171875, -1.895632028579712, -1.0046778917312622, 1.3626770973205566, -0.1609640270471573, 0.5944494009017944, 0.7032092809677124], "dq": [0.0023021697998046875, 0.000546021037735045, -0.0011215370614081621, 0.00011628906213445589, -0.0004114627081435174, -0.00045898646931163967, -0.0006771705811843276], "dtheta": [0.0004787897632922977, -0.00017050447058863938, -0.0004004625661764294, 6.011930599925108e-05, 0.0007004339131526649, -0.00038929336005821824, 0.0011169593781232834], "tau": [55.54999923706055, 23.689998626708984, 5.452000141143799, -26.356000900268555, -2.56000018119812, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.4855937957763672, -0.5185967087745667, -0.12249577790498734, -0.5762989521026611, 0.9198171496391296, -1.1588561534881592, -0.5920023322105408], "tau_dot": [-43.42835998535156, -46.28985595703125, 2.454033851623535, -41.57374954223633, 25.33132553100586, 25.931629180908203, 27.32000160217285], "tau_ext": [-16.730154037475586, -41.7138786315918, 31.803956985473633, 31.359643936157227, 9.49420166015625, -2.9900081157684326, -0.11074919253587723], "tcp_pose": [0.6779308319091797, 0.03280588611960411, -0.21500840783119202, -0.0022578113712370396, -0.004559190012514591, 0.9998856782913208, 0.014237315393984318], "tcp_vel": [-2.0093990826808295e-07, -0.00019429466919973493, 0.00012343809066805989, -0.00024092615058179945, 0.00015688648272771388, -0.0016532563604414463], "flange_pose": [0.6786275506019592, 0.02853826805949211, -0.065070740878582, -0.0022578113712370396, -0.004559190012514591, 0.9998856782913208, 0.014237315393984318], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.03138732910156, 15.170489311218262, 28.201452255249023, 0.38819777965545654, -24.136293411254883, 1.8267635107040405], "ext_wrench_in_world": [-108.29412765321702, 14.974158010209663, -27.283746282562788, -0.17815585380755672, -24.07709652175682, -2.5119923662533052]}
+{"timestamp_ns": 1789729557430111081, "elapsed_ms": 900, "source_timestamp_ns": 1789729557425254471, "q": [0.8366747498512268, -1.897553563117981, -1.0064764022827148, 1.381084680557251, -0.16038453578948975, 0.5944973826408386, 0.7032592296600342], "theta": [0.8387556672096252, -1.8956329822540283, -1.004677176475525, 1.3626765012741089, -0.16095922887325287, 0.5944346189498901, 0.7032066583633423], "dq": [-0.0005196090787649155, 0.0011436993954703212, 0.001592225511558354, -0.0013111521257087588, 6.21720973867923e-05, -0.0003921387542504817, -0.0006322096451185644], "dtheta": [0.00022930999693926424, -0.00016129678988363594, 1.7413432942703366e-05, -3.409082637517713e-05, 0.001062208553776145, -0.00038540843524970114, -0.001072270912118256], "tau": [55.57999801635742, 23.68000030517578, 5.460000038146973, -26.332000732421875, -2.556000232696533, 2.6640000343322754, -0.5520000457763672], "tau_des": [0.5190457105636597, -0.432463675737381, -0.20615680515766144, -0.6049362421035767, 0.9137139916419983, -1.1470311880111694, -0.5463818907737732], "tau_dot": [54.66631317138672, -16.428268432617188, -33.56204605102539, 8.38332462310791, 17.20599937438965, 47.25075912475586, -4.6875529289245605], "tau_ext": [-16.75310707092285, -41.711273193359375, 31.797483444213867, 31.3636474609375, 9.49227523803711, -2.9872660636901855, -0.10989615321159363], "tcp_pose": [0.6779294610023499, 0.03280440345406532, -0.21500340104103088, -0.0022594453766942024, -0.004559258930385113, 0.9998857378959656, 0.014233620837330818], "tcp_vel": [-0.0002025674475589767, 7.74971631471999e-05, -7.3512833296263125e-06, 0.0003238616045564413, 0.0005979703855700791, 0.0006066831992939115], "flange_pose": [0.6786266565322876, 0.028537895530462265, -0.06506571173667908, -0.0022594453766942024, -0.004559258930385113, 0.9998857378959656, 0.014233620837330818], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.01568603515625, 15.178021430969238, 28.218595504760742, 0.38446947932243347, -24.132802963256836, 1.824247121810913], "ext_wrench_in_world": [-108.27866622151814, 14.98209480831365, -27.30049766779901, -0.17445094012603488, -24.0736636105393, -2.509215104655044]}
+{"timestamp_ns": 1789729557463454530, "elapsed_ms": 933, "source_timestamp_ns": 1789729557455275805, "q": [0.8366833925247192, -1.8975532054901123, -1.0064756870269775, 1.381084680557251, -0.1603773683309555, 0.594491183757782, 0.7032546401023865], "theta": [0.8387640118598938, -1.8956326246261597, -1.0046765804290771, 1.3626762628555298, -0.16095228493213654, 0.5944284200668335, 0.7032013535499573], "dq": [-9.48560336837545e-05, 0.002838439540937543, -0.001222100923769176, 0.00019282982975710183, -0.0010778194991871715, -0.000513978477101773, 0.003066134639084339], "dtheta": [0.00046530572581104934, 9.488931391388178e-05, 8.424890256719664e-05, 0.00016444841457996517, -0.0006158925243653357, -0.0003395199018996209, -0.0002473152126185596], "tau": [55.47999954223633, 23.709999084472656, 5.496000289916992, -26.280000686645508, -2.552000045776367, 2.6680002212524414, -0.5680000185966492], "tau_des": [0.4076797366142273, -0.5274310111999512, -0.18433444201946259, -0.5347480773925781, 0.9539557695388794, -1.1698150634765625, -0.5526956915855408], "tau_dot": [-107.65343475341797, 54.38763427734375, 60.57604217529297, 37.55401611328125, 17.490211486816406, 53.92151641845703, -3.339099645614624], "tau_ext": [-16.730243682861328, -41.68620300292969, 31.781780242919922, 31.357276916503906, 9.487496376037598, -2.9871695041656494, -0.10586628317832947], "tcp_pose": [0.6779290437698364, 0.032804232090711594, -0.21499864757061005, -0.0022594481706619263, -0.004559773951768875, 0.9998857378959656, 0.014234179630875587], "tcp_vel": [5.3250594646669924e-05, -0.00010982793173752725, 0.0002866846916731447, -0.0005736093153245747, -0.0003977009328082204, 0.0006187375984154642], "flange_pose": [0.678626298904419, 0.028537558391690254, -0.06506097316741943, -0.0022594481706619263, -0.004559773951768875, 0.9998857378959656, 0.014234179630875587], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.00383758544922, 15.166802406311035, 28.231489181518555, 0.38104769587516785, -24.131650924682617, 1.8230940103530884], "ext_wrench_in_world": [-108.2667920237646, 14.971275668795007, -27.31374122221691, -0.17100965961453218, -24.072510834228062, -2.508071629787259]}
+{"timestamp_ns": 1789729557496780204, "elapsed_ms": 966, "source_timestamp_ns": 1789729557495243589, "q": [0.8366929292678833, -1.8975533246994019, -1.0064754486083984, 1.3810855150222778, -0.16036967933177948, 0.5944746136665344, 0.7032473087310791], "theta": [0.8387736678123474, -1.895633339881897, -1.0046757459640503, 1.362676739692688, -0.1609441190958023, 0.5944124460220337, 0.7031942009925842], "dq": [0.00013133618631400168, -0.0028255211655050516, -0.0006687208078801632, -0.0014340789057314396, 8.80036095622927e-05, -0.00031673230114392936, 0.00037862552562728524], "dtheta": [5.1358492783037946e-05, 2.0714867787319236e-05, 0.00012105266068829224, -7.742383604636416e-05, 0.0002642125473357737, -0.001239864039234817, 0.00047206220915541053], "tau": [55.529998779296875, 23.65999984741211, 5.496000289916992, -26.336000442504883, -2.5480000972747803, 2.6480002403259277, -0.5640000104904175], "tau_des": [0.5119074583053589, -0.4833851158618927, -0.19960549473762512, -0.6135437488555908, 0.9127974510192871, -1.120382308959961, -0.565755307674408], "tau_dot": [4.210056781768799, -90.91262817382812, 71.994384765625, -2.540353536605835, -16.925493240356445, -47.16413116455078, 41.643646240234375], "tau_ext": [-16.720186233520508, -41.6900520324707, 31.781530380249023, 31.35138511657715, 9.480097770690918, -2.9856791496276855, -0.09912000596523285], "tcp_pose": [0.6779264807701111, 0.03280219808220863, -0.2149951457977295, -0.0022634256165474653, -0.004561657551676035, 0.9998857378959656, 0.014230969361960888], "tcp_vel": [-0.0002609297225717455, -0.00010134685726370662, -8.082951535470784e-05, -0.0005114042432978749, 0.001022284384816885, -0.0005294445436447859], "flange_pose": [0.6786248683929443, 0.028536491096019745, -0.0650574341416359, -0.0022634256165474653, -0.004561657551676035, 0.9998857378959656, 0.014230969361960888], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.99578857421875, 15.158246994018555, 28.227386474609375, 0.38305234909057617, -24.132556915283203, 1.8263133764266968], "ext_wrench_in_world": [-108.25892012379579, 14.962083597643643, -27.309163607344402, -0.17294698245576276, -24.07336012014629, -2.5111500925774237]}
+{"timestamp_ns": 1789729557530180098, "elapsed_ms": 1000, "source_timestamp_ns": 1789729557525281519, "q": [0.8366955518722534, -1.897552728652954, -1.006475806236267, 1.381085753440857, -0.1603659987449646, 0.594468891620636, 0.7032464742660522], "theta": [0.8387768864631653, -1.8956329822540283, -1.0046762228012085, 1.362676739692688, -0.16093981266021729, 0.5944076776504517, 0.7031927704811096], "dq": [0.002152365632355213, -0.0002740698982961476, 0.001430273987352848, 0.0014666973147541285, -0.0009737879736348987, 0.0019489929545670748, 0.0019820223096758127], "dtheta": [-0.000567386974580586, -0.00032408328843303025, -3.933163679903373e-05, -0.0003674801846500486, 0.0010564721887931228, -0.0005078737740404904, 5.435270577436313e-05], "tau": [55.53999710083008, 23.760000228881836, 5.4720001220703125, -26.308000564575195, -2.5440001487731934, 2.6480002403259277, -0.5760000348091125], "tau_des": [0.6230972409248352, -0.41227924823760986, -0.2226218730211258, -0.65569007396698, 0.8813942074775696, -1.1205527782440186, -0.5643489360809326], "tau_dot": [30.729516983032227, 149.000244140625, 3.9569499492645264, 23.572065353393555, 56.478721618652344, -38.63225173950195, -32.95894241333008], "tau_ext": [-16.74524688720703, -41.71451950073242, 31.771770477294922, 31.36690902709961, 9.482325553894043, -2.989192008972168, -0.09925432503223419], "tcp_pose": [0.677925705909729, 0.03280108794569969, -0.21499422192573547, -0.0022652847692370415, -0.0045607262291014194, 0.9998857975006104, 0.014230323024094105], "tcp_vel": [-0.00029002921655774117, 0.00013838773884344846, -0.00046354494406841695, 0.0002694143622647971, 0.0012306870194151998, -0.0004966787528246641], "flange_pose": [0.67862468957901, 0.02853557839989662, -0.06505651026964188, -0.0022652847692370415, -0.0045607262291014194, 0.9998857975006104, 0.014230323024094105], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0079116821289, 15.154891967773438, 28.226444244384766, 0.38714832067489624, -24.141429901123047, 1.8290023803710938], "ext_wrench_in_world": [-108.27108287771611, 14.958751642797653, -27.307878953639516, -0.17702780974691137, -24.082193288365023, -2.5140403292002254]}
+{"timestamp_ns": 1789729557563441569, "elapsed_ms": 1033, "source_timestamp_ns": 1789729557555254875, "q": [0.836698055267334, -1.897552251815796, -1.0064772367477417, 1.3810861110687256, -0.16036516427993774, 0.5944691896438599, 0.7032470107078552], "theta": [0.838778555393219, -1.8956326246261597, -1.0046770572662354, 1.3626772165298462, -0.16093860566616058, 0.594408392906189, 0.7031932473182678], "dq": [0.0017925475258380175, -0.0008761310600675642, -0.0007579483208246529, 0.0024381771218031645, 0.003225187072530389, 0.0019648890011012554, 0.000457726011518389], "dtheta": [0.00020258466247469187, 2.5949022528948262e-05, 2.507737917767372e-05, 0.00016891992709133774, -0.00033421412808820605, -0.0008187848725356162, 0.00013987069542054087], "tau": [55.52000045776367, 23.76999855041504, 5.4760003089904785, -26.316001892089844, -2.5400002002716064, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.46697020530700684, -0.5165464878082275, -0.1866396814584732, -0.5855483412742615, 0.9264256954193115, -1.1361370086669922, -0.5635947585105896], "tau_dot": [46.63625717163086, 110.23603820800781, 1.0382622480392456, -20.242490768432617, 54.646244049072266, 3.0528995990753174, 9.743206977844238], "tau_ext": [-16.713966369628906, -41.71036911010742, 31.781932830810547, 31.36640167236328, 9.484435081481934, -2.994523525238037, -0.10286111384630203], "tcp_pose": [0.6779265999794006, 0.032800208777189255, -0.2149927169084549, -0.0022641101386398077, -0.004559661261737347, 0.9998857975006104, 0.014230250380933285], "tcp_vel": [-0.00013137247879058123, -0.00017877215577755123, 5.167437393538421e-06, -0.0008051376789808273, 0.00037944779614917934, 9.237515041604638e-05], "flange_pose": [0.678625226020813, 0.028534717857837677, -0.0650549978017807, -0.0022641101386398077, -0.004559661261737347, 0.9998857975006104, 0.014230250380933285], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.02639770507812, 15.15769100189209, 28.219755172729492, 0.3930964469909668, -24.145999908447266, 1.8313219547271729], "ext_wrench_in_world": [-108.28946644067467, 14.961419822145414, -27.301284851685047, -0.1829913088520697, -24.086749881449084, -2.51645997914437]}
+{"timestamp_ns": 1789729557596773861, "elapsed_ms": 1066, "source_timestamp_ns": 1789729557595240375, "q": [0.8366993069648743, -1.8975547552108765, -1.006480097770691, 1.3810856342315674, -0.16036419570446014, 0.5944688320159912, 0.703246533870697], "theta": [0.8387798070907593, -1.895634651184082, -1.0046799182891846, 1.3626774549484253, -0.16093742847442627, 0.5944088697433472, 0.7031934261322021], "dq": [0.0002609111543279141, -4.911122960038483e-05, -0.0006538105080835521, 0.0005477792001329362, 0.0009402602445334196, -0.0004636257071979344, -0.002157502342015505], "dtheta": [-9.030051296576858e-05, 0.00010767576895887032, -0.000262038956861943, -0.0002428302977932617, -0.00017713158740662038, -0.00036882227868773043, 0.0005459359963424504], "tau": [55.47999954223633, 23.670000076293945, 5.4720001220703125, -26.352001190185547, -2.564000129699707, 2.6640000343322754, -0.5680000185966492], "tau_des": [0.45649799704551697, -0.5663023591041565, -0.13946090638637543, -0.5423583984375, 0.923201322555542, -1.1602662801742554, -0.5784500241279602], "tau_dot": [-150.6036834716797, -18.099519729614258, 46.585205078125, -65.10943603515625, 47.28437042236328, 10.06286907196045, -68.01078796386719], "tau_ext": [-16.70102882385254, -41.70201873779297, 31.786142349243164, 31.35789680480957, 9.487598419189453, -2.995537757873535, -0.10923737287521362], "tcp_pose": [0.6779271960258484, 0.03279947489500046, -0.21499261260032654, -0.0022631753236055374, -0.0045594219118356705, 0.9998857975006104, 0.014228742569684982], "tcp_vel": [0.00014707200170960277, -0.00020011271408293396, 3.7316054658731446e-05, -0.0003013205132447183, 8.514082765032072e-06, -0.0007329385844059289], "flange_pose": [0.6786255240440369, 0.028534436598420143, -0.06505489349365234, -0.0022631753236055374, -0.0045594219118356705, 0.9998857975006104, 0.014228742569684982], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.04935455322266, 15.153343200683594, 28.198888778686523, 0.39396244287490845, -24.14543914794922, 1.8282743692398071], "ext_wrench_in_world": [-108.3122269073321, 14.956241716720744, -27.280698194219248, -0.1838554320406811, -24.08629145468496, -2.513321778645393]}
+{"timestamp_ns": 1789729557630102913, "elapsed_ms": 1100, "source_timestamp_ns": 1789729557625291072, "q": [0.8367016315460205, -1.8975580930709839, -1.0064849853515625, 1.3810863494873047, -0.16036167740821838, 0.5944669842720032, 0.7032455801963806], "theta": [0.8387821912765503, -1.8956378698349, -1.004684567451477, 1.362678050994873, -0.16093574464321136, 0.5944079160690308, 0.7031927704811096], "dq": [0.001057771616615355, 0.00042968892375938594, 0.0005306329112499952, -0.0008762432844378054, -0.0010233053471893072, -0.000910334987565875, -0.0008997139520943165], "dtheta": [9.064745245268568e-05, -0.0003466016205493361, -0.00017361306527163833, 0.00014774451847188175, 0.0006067173671908677, -0.00012023877206956968, -0.000492935418151319], "tau": [55.529998779296875, 23.65999984741211, 5.460000038146973, -26.308000564575195, -2.568000078201294, 2.640000104904175, -0.5600000023841858], "tau_des": [0.5080680847167969, -0.4597143828868866, -0.1946282833814621, -0.6017454266548157, 0.9121605157852173, -1.1444568634033203, -0.5600796341896057], "tau_dot": [33.27334213256836, 23.448251724243164, 72.29340362548828, 8.686881065368652, -3.0339906215667725, -38.86781311035156, 8.945828437805176], "tau_ext": [-16.70869255065918, -41.68521499633789, 31.800067901611328, 31.367155075073242, 9.4959077835083, -3.000398635864258, -0.10760804265737534], "tcp_pose": [0.6779274344444275, 0.03279753774404526, -0.21499305963516235, -0.0022629396989941597, -0.004558677785098553, 0.9998858571052551, 0.014225926250219345], "tcp_vel": [-0.00017774691514205188, 1.5769013543831534e-06, -0.000180309871211648, -0.00015222092042677104, 0.00038643996231257915, 0.0002925488806795329], "flange_pose": [0.6786257028579712, 0.028533339500427246, -0.06505530327558517, -0.0022629396989941597, -0.004558677785098553, 0.9998858571052551, 0.014225926250219345], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07110595703125, 15.125226020812988, 28.16716957092285, 0.38455623388290405, -24.1397762298584, 1.826317310333252], "ext_wrench_in_world": [-108.33353985582683, 14.927042537469346, -27.249832843234696, -0.1745263741783874, -24.080614233045257, -2.511110022809002]}
+{"timestamp_ns": 1789729557663440534, "elapsed_ms": 1133, "source_timestamp_ns": 1789729557655289052, "q": [0.8367030620574951, -1.897560715675354, -1.0064870119094849, 1.3810858726501465, -0.16035905480384827, 0.594463586807251, 0.7032461762428284], "theta": [0.8387836217880249, -1.8956410884857178, -1.0046865940093994, 1.362678050994873, -0.16093382239341736, 0.5944050550460815, 0.7031932473182678], "dq": [-0.004208594560623169, 0.0018063937313854694, 0.002438405528664589, 0.0037766089662909508, -0.0008789576822891831, -0.002536436542868614, -0.001561462297104299], "dtheta": [-0.00014195070252753794, -1.3789404874842148e-05, -0.00019877291924785823, 4.628549504559487e-05, -0.00012686525587923825, -0.00018895453831646591, 0.00047074531903490424], "tau": [55.529998779296875, 23.619998931884766, 5.448000431060791, -26.296001434326172, -2.5480000972747803, 2.6680002212524414, -0.5640000104904175], "tau_des": [0.5122798085212708, -0.5245881676673889, -0.14837998151779175, -0.5921769142150879, 0.9151397347450256, -1.1436139345169067, -0.5805070996284485], "tau_dot": [101.83806610107422, -47.6927604675293, -27.33059310913086, 65.26277923583984, 47.22249221801758, 19.732587814331055, -7.0310468673706055], "tau_ext": [-16.719158172607422, -41.68113327026367, 31.807527542114258, 31.369951248168945, 9.496634483337402, -2.998718738555908, -0.11451166868209839], "tcp_pose": [0.6779269576072693, 0.03279687464237213, -0.21499337255954742, -0.002263742731884122, -0.004557796288281679, 0.9998858571052551, 0.014224132522940636], "tcp_vel": [-3.933615971618565e-06, -0.00015311212337110192, -0.00014294497668743134, -0.00036802998511120677, 0.0002023339766310528, -0.0005186415510252118], "flange_pose": [0.6786254048347473, 0.028533218428492546, -0.06505560874938965, -0.002263742731884122, -0.004557796288281679, 0.9998858571052551, 0.014224132522940636], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07952880859375, 15.119791030883789, 28.157445907592773, 0.37635278701782227, -24.133493423461914, 1.82233464717865], "ext_wrench_in_world": [-108.34188595071629, 14.921345831056122, -27.240109683631218, -0.16640742463132138, -24.074380869153917, -2.506899308473884]}
+{"timestamp_ns": 1789729557696772886, "elapsed_ms": 1166, "source_timestamp_ns": 1789729557695229653, "q": [0.8367061018943787, -1.8975657224655151, -1.0064892768859863, 1.381085991859436, -0.16035428643226624, 0.5944618582725525, 0.7032399773597717], "theta": [0.8387860655784607, -1.895646333694458, -1.0046889781951904, 1.362678050994873, -0.16092903912067413, 0.5944041013717651, 0.7031877040863037], "dq": [-0.000742470845580101, 0.0014063272392377257, -0.0005563792656175792, -0.0017991128843277693, -0.00011118383554276079, 0.002023557899519801, 0.0001419840264134109], "dtheta": [0.00018853729125112295, -0.00010235382796963677, 0.00012113199773011729, -0.00017590353672858328, 2.1161731638130732e-05, 0.000704807520378381, -0.00043124507647007704], "tau": [55.5, 23.68000030517578, 5.452000141143799, -26.34800148010254, -2.568000078201294, 2.684000015258789, -0.5840000510215759], "tau_des": [0.4027862846851349, -0.5125183463096619, -0.23184797167778015, -0.5048004984855652, 0.930820107460022, -1.1903948783874512, -0.5526947975158691], "tau_dot": [-55.8570671081543, 88.88579559326172, -27.24839973449707, -30.5321102142334, 19.239978790283203, 27.21961212158203, -50.418968200683594], "tau_ext": [-16.691190719604492, -41.63531494140625, 31.789072036743164, 31.356416702270508, 9.4928617477417, -2.9907450675964355, -0.11092973500490189], "tcp_pose": [0.6779259443283081, 0.03279716148972511, -0.21499359607696533, -0.002263869158923626, -0.004560503177344799, 0.9998859167098999, 0.014222439378499985], "tcp_vel": [0.00017024156113620847, 0.0002432276523904875, 0.0002611258823890239, 0.0005780194187536836, -0.000825012568384409, 0.0005281342891976237], "flange_pose": [0.6786245107650757, 0.028534013777971268, -0.06505580991506577, -0.002263869158923626, -0.004560503177344799, 0.9998859167098999, 0.014222439378499985], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08515167236328, 15.080750465393066, 28.14371109008789, 0.35981765389442444, -24.131237030029297, 1.817798376083374], "ext_wrench_in_world": [-108.34717631739518, 14.881201074474806, -27.22750005395109, -0.14974228139113946, -24.072111909689106, -2.502292096492763]}
+{"timestamp_ns": 1789729557730168352, "elapsed_ms": 1200, "source_timestamp_ns": 1789729557725263584, "q": [0.8367074728012085, -1.8975673913955688, -1.0064910650253296, 1.3810863494873047, -0.16035042703151703, 0.5944594740867615, 0.7032309174537659], "theta": [0.8387874364852905, -1.8956483602523804, -1.004691481590271, 1.3626787662506104, -0.16092471778392792, 0.5944026708602905, 0.7031785845756531], "dq": [0.0012874114327132702, -0.0016755749238654971, 0.0010124411201104522, 1.427385814167792e-05, -0.005547068547457457, 0.0016740375431254506, -0.0016452716663479805], "dtheta": [-5.427333599072881e-05, -0.00018074896070174873, -6.004832903272472e-05, 0.0002677472948562354, 0.0009171759593300521, -0.0002595610567368567, -0.0007631928310729563], "tau": [55.5, 23.670000076293945, 5.432000160217285, -26.288002014160156, -2.564000129699707, 2.6600000858306885, -0.5720000267028809], "tau_des": [0.5651151537895203, -0.42591121792793274, -0.23094472289085388, -0.6464993953704834, 0.8947611451148987, -1.1270424127578735, -0.5417571663856506], "tau_dot": [-9.709232330322266, -56.1932373046875, -19.22792625427246, 34.97312545776367, 23.003406524658203, 16.687942504882812, 17.84148406982422], "tau_ext": [-16.716419219970703, -41.6590461730957, 31.801156997680664, 31.370206832885742, 9.488354682922363, -2.999875068664551, -0.09889986366033554], "tcp_pose": [0.6779253482818604, 0.03279649466276169, -0.21499398350715637, -0.002264905022457242, -0.004563916474580765, 0.9998859167098999, 0.01422158069908619], "tcp_vel": [-0.00031771560315974057, -7.772836397634819e-06, -0.00031806324841454625, 7.748375355731696e-05, 0.0009329122258350253, 0.0003813785151578486], "flange_pose": [0.6786242127418518, 0.028533609583973885, -0.0650561973452568, -0.002264905022457242, -0.004563916474580765, 0.9998859167098999, 0.01422158069908619], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09492492675781, 15.067953109741211, 28.136228561401367, 0.357102632522583, -24.131404876708984, 1.819736123085022], "ext_wrench_in_world": [-108.3569538426108, 14.867317190327704, -27.2201542429627, -0.14687471426048126, -24.07220496618048, -2.50420427600786]}
+{"timestamp_ns": 1789729557763436730, "elapsed_ms": 1233, "source_timestamp_ns": 1789729557755234431, "q": [0.8367103338241577, -1.8975685834884644, -1.0064927339553833, 1.381087303161621, -0.16034798324108124, 0.5944605469703674, 0.7032292485237122], "theta": [0.8387896418571472, -1.8956488370895386, -1.0046930313110352, 1.3626794815063477, -0.1609223186969757, 0.5944041013717651, 0.7031757235527039], "dq": [0.0006473989924415946, -0.0001783988409442827, 0.0010040110209956765, 0.001666346681304276, -0.0015741469105705619, -0.0003242220846004784, 0.00044335107668302953], "dtheta": [0.000250036217039451, 0.00020345252414699644, -3.073714833590202e-05, -4.846954470849596e-05, 4.415177318151109e-05, 0.00014307512901723385, 0.0004772772954311222], "tau": [55.47999954223633, 23.689998626708984, 5.444000244140625, -26.328001022338867, -2.556000232696533, 2.688000202178955, -0.5600000023841858], "tau_des": [0.39757537841796875, -0.5711830854415894, -0.18918423354625702, -0.5095632672309875, 0.9232319593429565, -1.1792174577713013, -0.565175473690033], "tau_dot": [-86.29032135009766, -0.14650367200374603, 23.792743682861328, -19.76372528076172, 3.4113168716430664, 58.80445098876953, 51.64934158325195], "tau_ext": [-16.697750091552734, -41.674686431884766, 31.806324005126953, 31.359214782714844, 9.489953994750977, -3.0000369548797607, -0.096417635679245], "tcp_pose": [0.6779256463050842, 0.03279607370495796, -0.2149929702281952, -0.0022638700902462006, -0.004563943482935429, 0.9998859167098999, 0.01422148384153843], "tcp_vel": [0.00015799212269484997, -4.183380224276334e-05, 0.00026250086375512183, 0.0002779998758342117, -0.0003693606413435191, -0.000670573499519378], "flange_pose": [0.6786242127418518, 0.028533216565847397, -0.06505519151687622, -0.0022638700902462006, -0.004563943482935429, 0.9998859167098999, 0.01422148384153843], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09329223632812, 15.106781005859375, 28.139427185058594, 0.3690437972545624, -24.131595611572266, 1.8251718282699585], "ext_wrench_in_world": [-108.35563200011869, 14.9062259491039, -27.22248083771161, -0.15883305586783533, -24.072351357154385, -2.5095865168444296]}
+{"timestamp_ns": 1789729557796771481, "elapsed_ms": 1266, "source_timestamp_ns": 1789729557795227619, "q": [0.8367140889167786, -1.8975690603256226, -1.006499171257019, 1.3810878992080688, -0.16034549474716187, 0.5944594740867615, 0.7032280564308167], "theta": [0.8387926816940308, -1.8956493139266968, -1.0047005414962769, 1.362681269645691, -0.1609192043542862, 0.5944041013717651, 0.7031750082969666], "dq": [0.0010515076573938131, -0.00027106355992145836, -0.00032309594098478556, -0.0007237389218062162, -0.000498487614095211, -0.00014325775555334985, -0.002390847774222493], "dtheta": [0.0006292445468716323, -0.00034551878343336284, -0.00014685657515656203, -0.0001641251874389127, 0.0006406886968761683, -0.0001856283488450572, -0.000131544322357513], "tau": [55.529998779296875, 23.639999389648438, 5.436000347137451, -26.304000854492188, -2.5480000972747803, 2.688000202178955, -0.5480000376701355], "tau_des": [0.35183507204055786, -0.5325180888175964, -0.19911152124404907, -0.49318069219589233, 0.9307477474212646, -1.1806085109710693, -0.5619088411331177], "tau_dot": [-59.43680953979492, -126.54472351074219, -32.034446716308594, -15.71764850616455, 25.9739990234375, 43.86098861694336, 27.477344512939453], "tau_ext": [-16.7015323638916, -41.696224212646484, 31.799945831298828, 31.35650634765625, 9.488640785217285, -3.0060973167419434, -0.09815143048763275], "tcp_pose": [0.6779277920722961, 0.03279254585504532, -0.2149914801120758, -0.002262217691168189, -0.004561806097626686, 0.9998859167098999, 0.014219513162970543], "tcp_vel": [3.45640437444672e-05, 6.795044464524835e-05, 0.0003155489976052195, 2.1391368136391975e-05, -0.0003157182945869863, -0.00011706726945703849], "flange_pose": [0.6786258220672607, 0.02853027544915676, -0.06505367159843445, -0.002262217691168189, -0.004561806097626686, 0.9998859167098999, 0.014219513162970543], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.069580078125, 15.137751579284668, 28.143369674682617, 0.3838708996772766, -24.1248779296875, 1.8295789957046509], "ext_wrench_in_world": [-108.33206688555056, 14.937872710310883, -27.22605665496565, -0.17383637269718413, -24.06565684747995, -2.5136413241221733]}
+{"timestamp_ns": 1789729557830155930, "elapsed_ms": 1300, "source_timestamp_ns": 1789729557825254991, "q": [0.8367140293121338, -1.8975690603256226, -1.0065042972564697, 1.3810887336730957, -0.16034312546253204, 0.5944592952728271, 0.7032288312911987], "theta": [0.8387933373451233, -1.895649790763855, -1.0047061443328857, 1.3626823425292969, -0.16091753542423248, 0.5944048166275024, 0.7031762003898621], "dq": [6.756992661394179e-05, -0.0015170464757829905, -0.0016172872856259346, -0.0012441612780094147, 0.002721172058954835, 0.000972467300016433, 0.00020890601444989443], "dtheta": [0.00022845613420940936, -0.0002364037645747885, -0.00034461586619727314, 0.00013958265481051058, 0.0007153902552090585, 3.750476480490761e-06, 0.00017654316616244614], "tau": [55.52000045776367, 23.69999885559082, 5.440000057220459, -26.308000564575195, -2.580000162124634, 2.6720001697540283, -0.5680000185966492], "tau_des": [0.46015623211860657, -0.5340681076049805, -0.14175193011760712, -0.5630035400390625, 0.9094831347465515, -1.1588971614837646, -0.5788874626159668], "tau_dot": [48.04671859741211, 10.161357879638672, -38.58077621459961, -10.901589393615723, -40.241817474365234, -19.359222412109375, -22.82150650024414], "tau_ext": [-16.69784927368164, -41.69411087036133, 31.803293228149414, 31.353727340698242, 9.490836143493652, -3.005408525466919, -0.10582782328128815], "tcp_pose": [0.6779288053512573, 0.032789722084999084, -0.21499237418174744, -0.002262471942231059, -0.004559037275612354, 0.9998859763145447, 0.014218327589333057], "tcp_vel": [-5.0019480113405734e-05, -9.636821050662547e-05, -5.4672716942150146e-05, -2.929573383880779e-05, 0.0001730502990540117, -0.0006351820775307715], "flange_pose": [0.6786268949508667, 0.02852780371904373, -0.06505455821752548, -0.002262471942231059, -0.004559037275612354, 0.9998859763145447, 0.014218327589333057], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.04796600341797, 15.159527778625488, 28.144495010375977, 0.3924889862537384, -24.11983299255371, 1.8293471336364746], "ext_wrench_in_world": [-108.31058945363431, 14.9604031509376, -27.22663014593355, -0.1826330139134001, -24.060704913778345, -2.5131705796997656]}
+{"timestamp_ns": 1789729557863444083, "elapsed_ms": 1333, "source_timestamp_ns": 1789729557855234926, "q": [0.8367155194282532, -1.8975727558135986, -1.0065054893493652, 1.3810877799987793, -0.1603408306837082, 0.5944591760635376, 0.7032290697097778], "theta": [0.8387942910194397, -1.8956537246704102, -1.0047085285186768, 1.3626823425292969, -0.16091607511043549, 0.5944052934646606, 0.7031764388084412], "dq": [0.0005840366939082742, -0.0005054755602031946, 0.0006544720963574946, -0.0005081192357465625, -0.0009317556978203356, -0.003000721801072359, -0.0008140952559188008], "dtheta": [0.0002090454363496974, -0.0006610880955122411, 0.00022791845549363643, -0.00025498084141872823, 0.0005796198965981603, 1.7903157640830614e-05, 0.00037153667653910816], "tau": [55.44999694824219, 23.670000076293945, 5.448000431060791, -26.316001892089844, -2.576000213623047, 2.6680002212524414, -0.5680000185966492], "tau_des": [0.4488563537597656, -0.45659855008125305, -0.2583567798137665, -0.5385624170303345, 0.9108529686927795, -1.1767653226852417, -0.5727646946907043], "tau_dot": [-121.9781494140625, 28.922569274902344, -30.83449935913086, -45.50740432739258, -51.304542541503906, -19.715700149536133, -20.933095932006836], "tau_ext": [-16.685216903686523, -41.68642807006836, 31.822187423706055, 31.34701156616211, 9.495231628417969, -3.00197172164917, -0.10802487283945084], "tcp_pose": [0.6779285669326782, 0.032790448516607285, -0.21499234437942505, -0.002261864487081766, -0.004559017717838287, 0.9998859763145447, 0.014217505231499672], "tcp_vel": [-0.00018335669301450253, 0.0004126190906390548, 2.6260502636432648e-05, 0.00017092360940296203, -2.2655653083347715e-05, -0.00013069057604297996], "flange_pose": [0.6786264777183533, 0.02852877601981163, -0.0650545135140419, -0.002261864487081766, -0.004559017717838287, 0.9998859763145447, 0.014217505231499672], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05955505371094, 15.160165786743164, 28.136619567871094, 0.3898063600063324, -24.120271682739258, 1.8264590501785278], "ext_wrench_in_world": [-108.32211298491661, 14.96067179895466, -27.21884574337331, -0.1799313142726552, -24.061204941735966, -2.510268747237788]}
+{"timestamp_ns": 1789729557896770517, "elapsed_ms": 1366, "source_timestamp_ns": 1789729557895229124, "q": [0.836718738079071, -1.8975764513015747, -1.0065068006515503, 1.3810880184173584, -0.1603383719921112, 0.5944548845291138, 0.703228235244751], "theta": [0.8387978672981262, -1.8956574201583862, -1.0047099590301514, 1.3626824617385864, -0.16091345250606537, 0.5944012403488159, 0.7031752467155457], "dq": [-0.001234418828971684, -0.001748901093378663, 0.00013382546603679657, -2.1081759769003838e-05, -0.0036719723138958216, 8.484299905830994e-05, 0.002483990741893649], "dtheta": [-9.262306411983445e-05, 2.7413692805566825e-05, -0.0004547518619801849, 5.1578215789049864e-05, -0.00038577313534915447, 0.0004326440976001322, 0.0005038640229031444], "tau": [55.5099983215332, 23.69999885559082, 5.500000476837158, -26.32400131225586, -2.556000232696533, 2.684000015258789, -0.5440000295639038], "tau_des": [0.4586752951145172, -0.5804246068000793, -0.11447723954916, -0.5390220284461975, 0.9265974760055542, -1.1753026247024536, -0.5812836289405823], "tau_dot": [-31.321664810180664, 57.84090042114258, 82.01261138916016, -28.6674861907959, 7.146949291229248, 66.85181427001953, 55.06878662109375], "tau_ext": [-16.707115173339844, -41.637943267822266, 31.786880493164062, 31.355331420898438, 9.495223999023438, -2.9991092681884766, -0.11087263375520706], "tcp_pose": [0.6779274344444275, 0.03279031068086624, -0.21499209105968475, -0.00226245797239244, -0.004559612367302179, 0.9998859763145447, 0.014215052127838135], "tcp_vel": [0.0002523281436879188, -0.00022759866260457784, -2.153080640709959e-05, -0.00025840476155281067, -0.0005364576354622841, -0.0006297159707173705], "flange_pose": [0.6786255240440369, 0.028529375791549683, -0.06505425274372101, -0.00226245797239244, -0.004559612367302179, 0.9998859763145447, 0.014215052127838135], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06327056884766, 15.117829322814941, 28.126354217529297, 0.37313568592071533, -24.11794090270996, 1.8207119703292847], "ext_wrench_in_world": [-108.32544666791972, 14.917763044545667, -27.209721810083355, -0.16322945434023603, -24.058897914890178, -2.5044126999651706]}
+{"timestamp_ns": 1789729557930167452, "elapsed_ms": 1400, "source_timestamp_ns": 1789729557925251207, "q": [0.8367229104042053, -1.8975815773010254, -1.0065066814422607, 1.3810877799987793, -0.16033445298671722, 0.594448983669281, 0.7032259106636047], "theta": [0.8388013243675232, -1.8956621885299683, -1.0047099590301514, 1.362682580947876, -0.16091009974479675, 0.5943952798843384, 0.7031726241111755], "dq": [-0.0011811149306595325, -0.0014738739700987935, 0.0015512070385739207, -0.0015669030835852027, 0.002005557529628277, -0.003341841511428356, -0.00456403149291873], "dtheta": [-7.303005259018391e-05, -0.000184002477908507, -3.5431287415121915e-06, 0.00017802113143261522, -0.0007212211494334042, 0.0009461037116125226, -0.00047309446381404996], "tau": [55.48999786376953, 23.649999618530273, 5.460000038146973, -26.308000564575195, -2.576000213623047, 2.6760001182556152, -0.5400000214576721], "tau_des": [0.46602848172187805, -0.49175533652305603, -0.22264276444911957, -0.5497620701789856, 0.9367649555206299, -1.1817880868911743, -0.547492265701294], "tau_dot": [-57.08757781982422, -24.25374984741211, 0.13199467957019806, 32.604740142822266, -26.633264541625977, 61.15664291381836, 59.884517669677734], "tau_ext": [-16.71991729736328, -41.651153564453125, 31.787433624267578, 31.361011505126953, 9.493515968322754, -2.9965713024139404, -0.11232024431228638], "tcp_pose": [0.6779254078865051, 0.032791245728731155, -0.2149917185306549, -0.0022636204957962036, -0.0045614903792738914, 0.9998860359191895, 0.014212476089596748], "tcp_vel": [0.00014138477854430676, 0.00011642238678177819, -1.6742877051001415e-05, -6.859404675196856e-05, -0.000912922085262835, 0.0009989881655201316], "flange_pose": [0.6786238551139832, 0.028531087562441826, -0.06505385041236877, -0.0022636204957962036, -0.0045614903792738914, 0.9998860359191895, 0.014212476089596748], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05009460449219, 15.098575592041016, 28.139272689819336, 0.365884006023407, -24.117656707763672, 1.818300485610962], "ext_wrench_in_world": [-108.31227498775452, 14.898453945438416, -27.223073916679944, -0.1558837066583893, -24.058629250030542, -2.5019016197581125]}
+{"timestamp_ns": 1789729557963398170, "elapsed_ms": 1433, "source_timestamp_ns": 1789729557955230402, "q": [0.836724579334259, -1.8975838422775269, -1.0065065622329712, 1.3810874223709106, -0.16033174097537994, 0.5944432020187378, 0.7032206654548645], "theta": [0.8388027548789978, -1.8956644535064697, -1.004710078239441, 1.362682580947876, -0.16090793907642365, 0.594389796257019, 0.7031677961349487], "dq": [-0.00239354046061635, 0.00015636786702089012, -3.302717232145369e-06, 0.00016828931984491646, -0.0014840071089565754, -6.733202462783083e-05, 0.004035656806081533], "dtheta": [-0.00021117369760759175, -0.0003697463544085622, 9.217456681653857e-05, 2.670776484592352e-05, 0.00015994583372958004, -0.00013040618796367198, -0.000854348880238831], "tau": [55.47999954223633, 23.65999984741211, 5.448000431060791, -26.288002014160156, -2.576000213623047, 2.6640000343322754, -0.5680000185966492], "tau_des": [0.5546178221702576, -0.4062212407588959, -0.27211055159568787, -0.6267406344413757, 0.9074992537498474, -1.1381468772888184, -0.5351919531822205], "tau_dot": [-5.174445152282715, -24.822223663330078, -32.7529296875, 32.952919006347656, 3.454991340637207, 33.15046310424805, -37.46514892578125], "tau_ext": [-16.713815689086914, -41.66764831542969, 31.7977352142334, 31.35430145263672, 9.496630668640137, -2.992786407470703, -0.11105296015739441], "tcp_pose": [0.6779237985610962, 0.03279133141040802, -0.2149919718503952, -0.0022655942011624575, -0.004564161412417889, 0.9998860359191895, 0.014210786670446396], "tcp_vel": [-0.00023141100245993584, 0.0001451363496016711, -0.0002877427905332297, -0.00021297532657627016, 0.0004254612431395799, 0.0010850473772734404], "flange_pose": [0.678622841835022, 0.02853168547153473, -0.06505408883094788, -0.0022655942011624575, -0.004564161412417889, 0.9998860359191895, 0.014210786670446396], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0364990234375, 15.099640846252441, 28.15453338623047, 0.3629610240459442, -24.117450714111328, 1.8171242475509644], "ext_wrench_in_world": [-108.2989463764795, 14.899399475975333, -27.237990640337667, -0.15283686594073445, -24.058439192934966, -2.500650850451395]}
+{"timestamp_ns": 1789729557996764363, "elapsed_ms": 1466, "source_timestamp_ns": 1789729557995226619, "q": [0.8367260694503784, -1.897584319114685, -1.0065083503723145, 1.3810880184173584, -0.16032998263835907, 0.5944437980651855, 0.7032187581062317], "theta": [0.8388040661811829, -1.8956646919250488, -1.0047123432159424, 1.362682819366455, -0.16090553998947144, 0.5943907499313354, 0.7031658887863159], "dq": [-0.0013467881362885237, 0.0005518736434169114, 0.00021951767848804593, -0.0020258293952792883, -0.0003204513050150126, -0.0005561906727962196, -0.002472844673320651], "dtheta": [-0.00018384390568826348, -0.00018032005755230784, 2.6948733648168854e-05, 8.086957677733153e-05, 0.0003032637760043144, 0.000346997519955039, -0.00046973591088317335], "tau": [55.46999740600586, 23.689998626708984, 5.456000328063965, -26.304000854492188, -2.580000162124634, 2.636000156402588, -0.5480000376701355], "tau_des": [0.5231772661209106, -0.4562794268131256, -0.25196656584739685, -0.5916476845741272, 0.9013146758079529, -1.159577488899231, -0.5459331274032593], "tau_dot": [-64.75484466552734, -39.258846282958984, 13.148506164550781, -15.255494117736816, -53.422332763671875, -77.76699829101562, 9.132622718811035], "tau_ext": [-16.698030471801758, -41.67811584472656, 31.79974365234375, 31.356882095336914, 9.498692512512207, -2.9967074394226074, -0.10131663829088211], "tcp_pose": [0.6779242157936096, 0.032790638506412506, -0.21499155461788177, -0.0022650444880127907, -0.004564257338643074, 0.9998860359191895, 0.014210592024028301], "tcp_vel": [-0.00010474048758624122, 0.00012838236580137163, -0.00019811923266388476, 0.000254238722845912, 0.00014968104369472712, 0.00044532553874887526], "flange_pose": [0.6786230802536011, 0.028531048446893692, -0.06505367159843445, -0.0022650444880127907, -0.004564257338643074, 0.9998860359191895, 0.014210592024028301], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06117248535156, 15.11101245880127, 28.136613845825195, 0.36857694387435913, -24.126535415649414, 1.8247690200805664], "ext_wrench_in_world": [-108.32361069988268, 14.910000728792513, -27.219771827766927, -0.1583987571471281, -24.06735536364654, -2.508517039303322]}
+{"timestamp_ns": 1789729558030105415, "elapsed_ms": 1500, "source_timestamp_ns": 1789729558025231562, "q": [0.8367268443107605, -1.8975841999053955, -1.0065112113952637, 1.381089210510254, -0.16032841801643372, 0.5944438576698303, 0.7032186388969421], "theta": [0.8388049006462097, -1.8956648111343384, -1.004716157913208, 1.362683892250061, -0.16090410947799683, 0.5943912267684937, 0.7031663656234741], "dq": [0.0020023651886731386, 0.00105767953209579, 0.0003927841316908598, -5.4878517403267324e-05, -0.00039537742850370705, -0.00017369131091982126, 0.00013373143156059086], "dtheta": [-3.160198730256525e-06, 0.00012934239930473268, -0.0003310216998215765, -2.4371511244680732e-05, 0.00010303183807991445, 0.0005143950693309307, 0.00031130819115787745], "tau": [55.48999786376953, 23.689998626708984, 5.428000450134277, -26.304000854492188, -2.5880000591278076, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.44149473309516907, -0.5760552883148193, -0.16055575013160706, -0.5270417332649231, 0.9093589782714844, -1.1791043281555176, -0.5721646547317505], "tau_dot": [15.580881118774414, 43.398590087890625, -26.493085861206055, 29.110593795776367, -23.046092987060547, -9.174073219299316, -11.747687339782715], "tau_ext": [-16.702987670898438, -41.6616096496582, 31.788095474243164, 31.359331130981445, 9.500354766845703, -2.998131275177002, -0.10479118674993515], "tcp_pose": [0.6779247522354126, 0.03278885409235954, -0.2149917483329773, -0.0022650212049484253, -0.0045628659427165985, 0.9998860359191895, 0.014209882356226444], "tcp_vel": [0.00023595959646627307, -0.0001275428949156776, 7.919337804196402e-05, 0.00029774411814287305, -0.00044480766518972814, -0.000703801226336509], "flange_pose": [0.678623616695404, 0.02852947823703289, -0.06505387276411057, -0.0022650212049484253, -0.0045628659427165985, 0.9998860359191895, 0.014209882356226444], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07527160644531, 15.11149787902832, 28.14219856262207, 0.3707171380519867, -24.13070297241211, 1.8267335891723633], "ext_wrench_in_world": [-108.33769769131635, 14.910777293576889, -27.225301106492036, -0.1605771056882972, -24.07148807944575, -2.5105555917494384]}
+{"timestamp_ns": 1789729558063441073, "elapsed_ms": 1533, "source_timestamp_ns": 1789729558055237363, "q": [0.8367288708686829, -1.8975841999053955, -1.0065131187438965, 1.3810902833938599, -0.16032938659191132, 0.5944425463676453, 0.7032191157341003], "theta": [0.8388070464134216, -1.8956652879714966, -1.0047180652618408, 1.362684965133667, -0.16090530157089233, 0.5943900346755981, 0.7031666040420532], "dq": [0.0016135615296661854, -0.0032417771872133017, 0.0015337036456912756, -0.0005521652637980878, 0.002332239178940654, -0.0010337164858356118, 0.001238988246768713], "dtheta": [0.0003181445354130119, 2.4846418455126695e-05, 6.125290383351967e-05, -0.00015970997628755867, -0.0005255004507489502, -0.0009260931983590126, -0.00017717723676469177], "tau": [55.53999710083008, 23.65999984741211, 5.436000347137451, -26.304000854492188, -2.572000026702881, 2.6680002212524414, -0.5480000376701355], "tau_des": [0.3946165144443512, -0.5501606464385986, -0.20548902451992035, -0.5256302952766418, 0.9310048818588257, -1.1576231718063354, -0.556328535079956], "tau_dot": [116.03699493408203, -33.229095458984375, -42.84659194946289, -32.749061584472656, -21.047910690307617, 11.470255851745605, 12.89792537689209], "tau_ext": [-16.676334381103516, -41.6800651550293, 31.81852912902832, 31.343935012817383, 9.498434066772461, -2.9986722469329834, -0.11284492909908295], "tcp_pose": [0.6779252886772156, 0.03278734162449837, -0.21499104797840118, -0.002264395821839571, -0.004562328569591045, 0.9998860955238342, 0.014208254404366016], "tcp_vel": [1.5605366570525803e-05, -0.00012578684254549444, 0.00023530438193120062, -0.0007816959987394512, -2.2332824300974607e-05, 0.0004923423402942717], "flange_pose": [0.6786239743232727, 0.028528451919555664, -0.06505315750837326, -0.002264395821839571, -0.004562328569591045, 0.9998860955238342, 0.014208254404366016], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08511352539062, 15.116571426391602, 28.13017463684082, 0.37166354060173035, -24.129785537719727, 1.824242115020752], "ext_wrench_in_world": [-108.34747882435533, 14.915445781013217, -27.213278599692238, -0.1615431571882613, -24.070658483100026, -2.507956773213298]}
+{"timestamp_ns": 1789729558096774282, "elapsed_ms": 1566, "source_timestamp_ns": 1789729558095226978, "q": [0.8367315530776978, -1.8975881338119507, -1.0065199136734009, 1.3810902833938599, -0.1603279560804367, 0.5944391489028931, 0.7032203674316406], "theta": [0.8388094305992126, -1.8956681489944458, -1.0047255754470825, 1.3626850843429565, -0.16090482473373413, 0.5943862199783325, 0.7031673192977905], "dq": [-0.0010249344632029533, -0.0008896196377463639, -0.0008469680906273425, 0.0005360025097616017, -0.0018723106477409601, -0.002773907268419862, -0.0016051351558417082], "dtheta": [0.00034237984800711274, -0.00013307509652804583, 4.197773523628712e-05, -4.075105971423909e-05, -0.0001729377545416355, -0.0006070540985092521, 0.0002802018425427377], "tau": [55.5, 23.639999389648438, 5.444000244140625, -26.336000442504883, -2.6000001430511475, 2.6680002212524414, -0.5320000052452087], "tau_des": [0.4109479486942291, -0.5393557548522949, -0.19053180515766144, -0.5397400259971619, 0.9245736002922058, -1.1547633409500122, -0.5727315545082092], "tau_dot": [27.745309829711914, -27.740047454833984, 17.326583862304688, -61.66926956176758, -44.423587799072266, 9.418915748596191, 62.71220016479492], "tau_ext": [-16.70606231689453, -41.68962478637695, 31.81586265563965, 31.354408264160156, 9.503636360168457, -2.995926856994629, -0.11326750367879868], "tcp_pose": [0.677926242351532, 0.03278430178761482, -0.2149912714958191, -0.0022636696230620146, -0.004560285247862339, 0.999886155128479, 0.014203961938619614], "tcp_vel": [-4.979925506631844e-05, -3.772973286686465e-05, 0.00015814005746506155, -0.0005541279097087681, 9.937996765074786e-06, -5.721022898796946e-05], "flange_pose": [0.67862468957901, 0.02852669358253479, -0.06505333632230759, -0.0022636696230620146, -0.004560285247862339, 0.999886155128479, 0.014203961938619614], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06970977783203, 15.131183624267578, 28.138782501220703, 0.3724493682384491, -24.12481117248535, 1.8224900960922241], "ext_wrench_in_world": [-108.332148286662, 14.930646465655668, -27.22181870671803, -0.1624606336892294, -24.065764155805486, -2.5058541318238623]}
+{"timestamp_ns": 1789729558130103483, "elapsed_ms": 1600, "source_timestamp_ns": 1789729558125367815, "q": [0.8367347121238708, -1.8975939750671387, -1.00652277469635, 1.3810893297195435, -0.16032691299915314, 0.5944342613220215, 0.7032195329666138], "theta": [0.8388127088546753, -1.895674228668213, -1.0047283172607422, 1.3626842498779297, -0.16090458631515503, 0.5943812131881714, 0.7031663656234741], "dq": [0.0023524940479546785, -0.001912949257530272, 0.0018469125498086214, -0.0004075982142239809, -0.0011849980801343918, -0.00046121617197059095, 0.002992883324623108], "dtheta": [0.000231338242883794, -0.00011751124839065596, -0.00013593102630693465, 0.00023027118004392833, -0.00024224027583841234, 0.00019553180027287453, -0.0004562162794172764], "tau": [55.47999954223633, 23.579999923706055, 5.440000057220459, -26.292001724243164, -2.6040000915527344, 2.6720001697540283, -0.5600000023841858], "tau_des": [0.4338390529155731, -0.5196034908294678, -0.1784505546092987, -0.5563389658927917, 0.9344009757041931, -1.1588737964630127, -0.5567223429679871], "tau_dot": [-46.174468994140625, -100.84414672851562, -61.342552185058594, 8.273863792419434, -46.08208465576172, 23.468652725219727, 24.966903686523438], "tau_ext": [-16.705568313598633, -41.65972900390625, 31.80718421936035, 31.349597930908203, 9.50930404663086, -2.9926819801330566, -0.11644256114959717], "tcp_pose": [0.6779256463050842, 0.03278392553329468, -0.2149912416934967, -0.0022634228225797415, -0.004561339970678091, 0.9998862147331238, 0.014199887402355671], "tcp_vel": [4.3137537431903183e-05, -7.07883809809573e-05, 5.394669278757647e-05, -0.00032668738276697695, -0.0003840481804218143, 0.0006052470998838544], "flange_pose": [0.6786240339279175, 0.02852754108607769, -0.06505326181650162, -0.0022634228225797415, -0.004561339970678091, 0.9998862147331238, 0.014199887402355671], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07029724121094, 15.139187812805176, 28.143508911132812, 0.3704271912574768, -24.12348175048828, 1.820373773574829], "ext_wrench_in_world": [-108.33284660607251, 14.938324475329166, -27.226495466016807, -0.16038832193634978, -24.064497550510644, -2.503513925133376]}
+{"timestamp_ns": 1789729558163432843, "elapsed_ms": 1633, "source_timestamp_ns": 1789729558155359879, "q": [0.8367368578910828, -1.8975995779037476, -1.0065255165100098, 1.3810889720916748, -0.1603241264820099, 0.5944308042526245, 0.703219473361969], "theta": [0.8388150334358215, -1.8956795930862427, -1.004730224609375, 1.362683892250061, -0.16090290248394012, 0.5943776369094849, 0.7031668424606323], "dq": [-0.0008393716998398304, -0.00344835058785975, 3.079014641116373e-05, 0.0023335374426096678, 0.0006445778417401016, -0.0014362598303705454, 0.00167146569583565], "dtheta": [-0.00013649235188495368, -0.0005350345163606107, 4.676833214034559e-06, 0.0002346251130802557, 0.0007191139156930149, 0.0001686855684965849, 0.000607730820775032], "tau": [55.5099983215332, 23.69999885559082, 5.448000431060791, -26.32000160217285, -2.572000026702881, 2.6480002403259277, -0.5320000052452087], "tau_des": [0.5743137001991272, -0.414521187543869, -0.23014920949935913, -0.6473816633224487, 0.8926757574081421, -1.1299220323562622, -0.5770830512046814], "tau_dot": [-49.929473876953125, 122.26603698730469, -17.718013763427734, 7.228133678436279, 38.94997024536133, -3.36869740486145, 55.40553665161133], "tau_ext": [-16.704227447509766, -41.631351470947266, 31.8037109375, 31.35612678527832, 9.512344360351562, -2.9932656288146973, -0.11481736600399017], "tcp_pose": [0.677924633026123, 0.032783810049295425, -0.21499203145503998, -0.002263867063447833, -0.00456154253333807, 0.9998862743377686, 0.014196785166859627], "tcp_vel": [-0.00033174827694892883, 0.00019204671843908727, -0.00039555563125759363, 2.5190573069266975e-05, 0.0006150853005237877, -0.0006119110039435327], "flange_pose": [0.6786231398582458, 0.028528358787298203, -0.0650540366768837, -0.002263867063447833, -0.00456154253333807, 0.9998862743377686, 0.014196785166859627], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07070922851562, 15.100192070007324, 28.133621215820312, 0.35367247462272644, -24.118383407592773, 1.8174363374710083], "ext_wrench_in_world": [-108.33288900749673, 14.898846028126396, -27.217718176590903, -0.14365873661439457, -24.059346506751343, -2.5003569927469678]}
+{"timestamp_ns": 1789729558196768471, "elapsed_ms": 1666, "source_timestamp_ns": 1789729558195329700, "q": [0.8367385268211365, -1.8976026773452759, -1.0065268278121948, 1.3810893297195435, -0.16031958162784576, 0.5944300293922424, 0.7032060623168945], "theta": [0.8388175368309021, -1.8956823348999023, -1.0047308206558228, 1.3626837730407715, -0.1608981192111969, 0.5943766832351685, 0.7031529545783997], "dq": [0.0010126297129318118, 0.002863137284293771, -0.0020016960334032774, -0.002522154711186886, -0.001329844119027257, 0.000938384619075805, -0.0006225690012797713], "dtheta": [-0.00013849428796675056, 9.852907533058897e-05, 2.8148031560704112e-05, -3.389348785276525e-05, -0.00024312004097737372, 0.0003726461436599493, -0.0010809007799252868], "tau": [55.52000045776367, 23.649999618530273, 5.456000328063965, -26.312002182006836, -2.576000213623047, 2.6520001888275146, -0.5440000295639038], "tau_des": [0.4707193076610565, -0.491474986076355, -0.22168977558612823, -0.5636377930641174, 0.9322311282157898, -1.161830186843872, -0.52642822265625], "tau_dot": [7.9821648597717285, -6.27780818939209, 20.251564025878906, 41.720977783203125, -21.695323944091797, -12.694876670837402, 43.78021240234375], "tau_ext": [-16.70097541809082, -41.642459869384766, 31.79844856262207, 31.34908676147461, 9.497962951660156, -2.992652654647827, -0.10666738450527191], "tcp_pose": [0.6779236197471619, 0.0327841117978096, -0.21499256789684296, -0.0022644789423793554, -0.004567593801766634, 0.9998862147331238, 0.014196263626217842], "tcp_vel": [0.0001029873383231461, 3.468985960353166e-05, 1.4421381820284296e-05, 0.00020809902343899012, -0.00032710973755456507, 0.0011547555914148688], "flange_pose": [0.6786223649978638, 0.028528820723295212, -0.06505457311868668, -0.0022644789423793554, -0.004567593801766634, 0.9998862147331238, 0.014196263626217842], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07115936279297, 15.07538890838623, 28.132814407348633, 0.34761160612106323, -24.117860794067383, 1.8165538311004639], "ext_wrench_in_world": [-108.3333194918551, 14.872685971287193, -27.217516108394936, -0.13730979708338412, -24.058797699194507, -2.4994619862815006]}
+{"timestamp_ns": 1789729558230094982, "elapsed_ms": 1700, "source_timestamp_ns": 1789729558225375850, "q": [0.8367404937744141, -1.8976013660430908, -1.006527304649353, 1.3810895681381226, -0.16031663119792938, 0.5944293141365051, 0.7032026052474976], "theta": [0.8388192057609558, -1.8956817388534546, -1.0047309398651123, 1.3626837730407715, -0.1608947515487671, 0.5943759679794312, 0.7031484246253967], "dq": [0.0006882890593260527, 0.0003869316424243152, -0.0014018532820045948, -0.0014468099689111114, 0.0004913585144095123, 0.0006877478444948792, 0.0023499857634305954], "dtheta": [3.8026105357857887e-06, -0.00022558173805009574, -0.00014411841402761638, -0.0002217928704340011, -0.0007631538901478052, 0.00019109017739538103, 0.0002863301779143512], "tau": [55.48999786376953, 23.69999885559082, 5.436000347137451, -26.32000160217285, -2.580000162124634, 2.6480002403259277, -0.5800000429153442], "tau_des": [0.4338974952697754, -0.517379105091095, -0.208037331700325, -0.5320196151733398, 0.9445931315422058, -1.1720577478408813, -0.5498229265213013], "tau_dot": [-35.69029998779297, 61.89088439941406, -74.86369323730469, -67.75399780273438, -50.73971176147461, -26.889665603637695, -15.119058609008789], "tau_ext": [-16.71324920654297, -41.64708709716797, 31.79237174987793, 31.34906768798828, 9.497337341308594, -2.99672532081604, -0.09434283524751663], "tcp_pose": [0.6779239773750305, 0.032783541828393936, -0.21499128639698029, -0.002264508279040456, -0.0045679230242967606, 0.9998862147331238, 0.01419721357524395], "tcp_vel": [0.00021491278312169015, 5.947636509517906e-06, 0.00011119609553134069, -0.00048256872105412185, -0.0007858933531679213, 0.00014755404845345765], "flange_pose": [0.6786227226257324, 0.028527967631816864, -0.065053291618824, -0.002264508279040456, -0.0045679230242967606, 0.9998862147331238, 0.01419721357524395], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06439971923828, 15.094117164611816, 28.133607864379883, 0.35704201459884644, -24.120189666748047, 1.8232173919677734], "ext_wrench_in_world": [-108.32674508925192, 14.891471379932653, -27.217772312110995, -0.14673402030787672, -24.06101857722278, -2.506193203303866]}
+{"timestamp_ns": 1789729558263442328, "elapsed_ms": 1733, "source_timestamp_ns": 1789729558255356167, "q": [0.836742103099823, -1.8976012468338013, -1.006528615951538, 1.3810890913009644, -0.1603144407272339, 0.5944294333457947, 0.7032004594802856], "theta": [0.8388202786445618, -1.895681381225586, -1.0047322511672974, 1.3626837730407715, -0.16089282929897308, 0.5943764448165894, 0.7031457424163818], "dq": [0.0008032037876546383, 0.00018728796567302197, 0.0005001856479793787, -0.002351191360503435, 0.0010243640281260014, 0.00018089260265696794, 0.000959901895839721], "dtheta": [-0.00025735230883583426, -0.0003890377702191472, -0.00015731253370177, -0.00011006170097971335, -0.00029751777765341103, -0.00010066367394756526, -0.0007153033511713147], "tau": [55.52000045776367, 23.760000228881836, 5.468000411987305, -26.304000854492188, -2.568000078201294, 2.6600000858306885, -0.5600000023841858], "tau_des": [0.5183513760566711, -0.44743987917900085, -0.2339533567428589, -0.591171145439148, 0.9273173809051514, -1.1539721488952637, -0.5317872166633606], "tau_dot": [4.238584995269775, 140.90684509277344, 67.60176086425781, 2.3651604652404785, -20.855911254882812, -2.2189204692840576, 13.332688331604004], "tau_ext": [-16.703079223632812, -41.68842697143555, 31.79851531982422, 31.356212615966797, 9.493339538574219, -3.000539541244507, -0.09543725103139877], "tcp_pose": [0.6779246926307678, 0.03278298303484917, -0.21499019861221313, -0.002263853559270501, -0.004567813128232956, 0.9998862147331238, 0.014197691343724728], "tcp_vel": [-4.19136013078969e-05, 1.2048739336023573e-05, -0.00023639676510356367, -0.0005732265417464077, 1.1116899258922786e-05, 0.001015306799672544], "flange_pose": [0.6786232590675354, 0.028527263551950455, -0.06505221128463745, -0.002263853559270501, -0.004567813128232956, 0.9998862147331238, 0.014197691343724728], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.04877471923828, 15.127026557922363, 28.147884368896484, 0.37184807658195496, -24.120656967163086, 1.8301677703857422], "ext_wrench_in_world": [-108.31144686979155, 14.92496711914167, -27.231303287254093, -0.161569965908237, -24.061422232794015, -2.5131121878443636]}
+{"timestamp_ns": 1789729558296764800, "elapsed_ms": 1766, "source_timestamp_ns": 1789729558295324548, "q": [0.8367424607276917, -1.8976014852523804, -1.0065327882766724, 1.381088376045227, -0.16031281650066376, 0.594430685043335, 0.7032025456428528], "theta": [0.8388211727142334, -1.895681619644165, -1.0047369003295898, 1.3626841306686401, -0.16089068353176117, 0.594377875328064, 0.7031469941139221], "dq": [-0.0010934224119409919, 0.00024841949925757945, -0.0005571608198806643, -0.00047588604502379894, -0.0005551736685447395, -0.0004301182343624532, 0.0025742128491401672], "dtheta": [-0.0003847016196232289, -3.5009394196094945e-05, -0.000409901374951005, -0.00031103461515158415, -4.882336361333728e-05, -0.0004595748905558139, 0.000349003414157778], "tau": [55.47999954223633, 23.69999885559082, 5.460000038146973, -26.336000442504883, -2.580000162124634, 2.6720001697540283, -0.5680000185966492], "tau_des": [0.5025007128715515, -0.5476856231689453, -0.14589305222034454, -0.5621084570884705, 0.9103882312774658, -1.1584223508834839, -0.5694566965103149], "tau_dot": [-3.084362745285034, -40.43193054199219, -1.804409146308899, -0.46407076716423035, -46.140357971191406, 19.69429588317871, -4.159336566925049], "tau_ext": [-16.711034774780273, -41.68851089477539, 31.794933319091797, 31.359193801879883, 9.499552726745605, -2.999356269836426, -0.1035076379776001], "tcp_pose": [0.6779264211654663, 0.03278122469782829, -0.21498990058898926, -0.0022626365534961224, -0.004564897622913122, 0.9998862147331238, 0.014197395183146], "tcp_vel": [8.737187454244122e-05, -0.00023184418387245387, -0.00020308308012317866, -0.00044102140236645937, 0.0003355987719260156, -0.000624100910499692], "flange_pose": [0.6786246299743652, 0.028525589033961296, -0.06505189836025238, -0.0022626365534961224, -0.004564897622913122, 0.9998862147331238, 0.014197395183146], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06724548339844, 15.150341987609863, 28.14801788330078, 0.386067271232605, -24.130111694335938, 1.8332666158676147], "ext_wrench_in_world": [-108.32997703072583, 14.94872507003357, -27.230956919877453, -0.17585231379605226, -24.070916100345762, -2.5164019666475053]}
+{"timestamp_ns": 1789729558330110406, "elapsed_ms": 1800, "source_timestamp_ns": 1789729558325438781, "q": [0.8367431163787842, -1.8976048231124878, -1.0065361261367798, 1.3810888528823853, -0.16031330823898315, 0.594428539276123, 0.7032021880149841], "theta": [0.8388221263885498, -1.895684838294983, -1.0047401189804077, 1.3626842498779297, -0.16089092195034027, 0.5943762063980103, 0.7031471729278564], "dq": [-0.0002985358296427876, 0.0006146703963167965, 0.0011946663726121187, -0.0005581916775554419, 0.0016678815009072423, -0.0021435855887830257, 0.0014827416744083166], "dtheta": [0.00019053694268222898, 5.9308757045073435e-05, 0.00015634643204975873, -4.890276977675967e-05, -0.0012159383622929454, -0.00014802030636928976, 0.000753417145460844], "tau": [55.5, 23.68000030517578, 5.468000411987305, -26.296001434326172, -2.556000232696533, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.3845672309398651, -0.5740732550621033, -0.19699202477931976, -0.5024014115333557, 0.9478515982627869, -1.1802703142166138, -0.5641219019889832], "tau_dot": [-34.6626091003418, 138.1220245361328, 18.587066650390625, 3.5896353721618652, -2.6170244216918945, -25.20267105102539, 18.581920623779297], "tau_ext": [-16.685543060302734, -41.68484878540039, 31.80946922302246, 31.347606658935547, 9.502707481384277, -2.995173454284668, -0.10914193093776703], "tcp_pose": [0.6779263019561768, 0.032779909670352936, -0.2149910032749176, -0.0022626654244959354, -0.0045651961117982864, 0.9998862743377686, 0.014194125309586525], "tcp_vel": [0.00016136057092808187, -3.0666589736938477e-05, 0.0002600891166366637, -0.0006838729023002088, -0.000719867181032896, -1.2446333130355924e-05], "flange_pose": [0.6786244511604309, 0.028525255620479584, -0.06505298614501953, -0.0022626654244959354, -0.0045651961117982864, 0.9998862743377686, 0.014194125309586525], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08740997314453, 15.146063804626465, 28.142602920532227, 0.3840513229370117, -24.134136199951172, 1.8297384977340698], "ext_wrench_in_world": [-108.3500861571805, 14.94386543712497, -27.225672776771834, -0.17376888338802124, -24.075036918962496, -2.512841067853703]}
+{"timestamp_ns": 1789729558363438576, "elapsed_ms": 1833, "source_timestamp_ns": 1789729558355330091, "q": [0.8367456197738647, -1.8976109027862549, -1.006540060043335, 1.3810889720916748, -0.1603134721517563, 0.5944253206253052, 0.7032006978988647], "theta": [0.8388242125511169, -1.8956904411315918, -1.0047446489334106, 1.3626843690872192, -0.16089068353176117, 0.5943728685379028, 0.7031459808349609], "dq": [0.0001381371112074703, -6.407119508367032e-05, 0.00019200067617930472, -0.0005053365603089333, 0.0009099474409595132, 0.00037396265543065965, -0.00019580477965064347], "dtheta": [5.767375114373863e-05, -0.00034698800300247967, -0.00012891234655398875, 6.893087265780196e-05, -0.0003278951335232705, -9.04544212971814e-05, -0.0010632096091285348], "tau": [55.52000045776367, 23.639999389648438, 5.444000244140625, -26.308000564575195, -2.568000078201294, 2.636000156402588, -0.5520000457763672], "tau_des": [0.4728178083896637, -0.4588109254837036, -0.21381016075611115, -0.5786543488502502, 0.9432192444801331, -1.1542558670043945, -0.5296305418014526], "tau_dot": [24.984193801879883, 10.780086517333984, 7.169831275939941, -62.39530944824219, 47.769962310791016, -23.496383666992188, 10.543309211730957], "tau_ext": [-16.693403244018555, -41.656070709228516, 31.804096221923828, 31.34870719909668, 9.506757736206055, -2.9938101768493652, -0.10916350036859512], "tcp_pose": [0.6779258251190186, 0.032778993248939514, -0.21499179303646088, -0.002262073801830411, -0.00456671928986907, 0.9998863339424133, 0.01418942678719759], "tcp_vel": [-3.642263254732825e-05, -1.9551149307517335e-05, -8.502923446940258e-05, -0.0006372564821504056, -0.00018557191651780158, 0.0013996644411236048], "flange_pose": [0.6786238551139832, 0.02852574735879898, -0.06505372375249863, -0.002262073801830411, -0.00456671928986907, 0.9998863339424133, 0.01418942678719759], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09388732910156, 15.124680519104004, 28.12659454345703, 0.3734322786331177, -24.132217407226562, 1.8271379470825195], "ext_wrench_in_world": [-108.35630579113864, 14.921392182569777, -27.210527557632616, -0.16307907248051878, -24.07311917116253, -2.510008032092457]}
+{"timestamp_ns": 1789729558396774894, "elapsed_ms": 1866, "source_timestamp_ns": 1789729558395316568, "q": [0.836750328540802, -1.8976197242736816, -1.0065428018569946, 1.381089448928833, -0.16030791401863098, 0.5944215655326843, 0.7031998038291931], "theta": [0.8388287425041199, -1.8957003355026245, -1.004747748374939, 1.3626843690872192, -0.16088493168354034, 0.5943695306777954, 0.7031459808349609], "dq": [0.0001420111657353118, -0.001339402631856501, 0.0007123585673980415, 0.0010711046634241939, -9.348312596557662e-05, -0.0005457429797388613, -0.0021759113296866417], "dtheta": [-7.680110138608143e-05, 0.0002275393344461918, 0.00022942850773688406, 2.953218609036412e-05, 0.0003692877944558859, -0.0002904525608755648, 9.034281538333744e-05], "tau": [55.48999786376953, 23.60999870300293, 5.4800004959106445, -26.32000160217285, -2.572000026702881, 2.692000150680542, -0.5440000295639038], "tau_des": [0.48512566089630127, -0.4999803900718689, -0.22528739273548126, -0.581540048122406, 0.9064605832099915, -1.146785020828247, -0.5536482930183411], "tau_dot": [-30.5606689453125, -19.24187660217285, 63.40349197387695, 20.925830841064453, 2.9575393199920654, -5.107605934143066, 32.478675842285156], "tau_ext": [-16.703065872192383, -41.63100814819336, 31.817781448364258, 31.35381507873535, 9.500734329223633, -2.9948596954345703, -0.11196890473365784], "tcp_pose": [0.6779237985610962, 0.032779760658741, -0.2149924784898758, -0.0022624717094004154, -0.004567683208733797, 0.9998863935470581, 0.01418567355722189], "tcp_vel": [-0.00014838750939816236, 3.406986070331186e-05, -4.863240246777423e-05, 0.000337413715897128, 0.0005993597442284226, -0.0002748164697550237], "flange_pose": [0.6786218881607056, 0.02852764166891575, -0.06505437940359116, -0.0022624717094004154, -0.004567683208733797, 0.9998863935470581, 0.01418567355722189], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0822525024414, 15.106735229492188, 28.12615203857422, 0.35917526483535767, -24.12193489074707, 1.8196816444396973], "ext_wrench_in_world": [-108.3445558871157, 14.903133211355094, -27.210678306516513, -0.14883613213663974, -24.062940605632775, -2.5021447294233674]}
+{"timestamp_ns": 1789729558430106494, "elapsed_ms": 1900, "source_timestamp_ns": 1789729558425400778, "q": [0.8367534875869751, -1.8976227045059204, -1.0065436363220215, 1.381089448928833, -0.16030296683311462, 0.5944178104400635, 0.7031933069229126], "theta": [0.8388321399688721, -1.8957029581069946, -1.004749059677124, 1.362684965133667, -0.16087892651557922, 0.5943659543991089, 0.7031393051147461], "dq": [-0.00012623965449165553, -0.0008736494346521795, -0.0004969284636899829, 0.00026189908385276794, -0.0018727268325164914, -0.0003943720948882401, 0.0038826914969831705], "dtheta": [0.00024862567079253495, -0.00013040554767940193, -1.062166120391339e-05, 0.00031853883410803974, 0.0007768188952468336, -0.0002912218915298581, -0.00046753804781474173], "tau": [55.55999755859375, 23.68000030517578, 5.4800004959106445, -26.332000732421875, -2.556000232696533, 2.6680002212524414, -0.5560000538825989], "tau_des": [0.48971423506736755, -0.4470432996749878, -0.24689197540283203, -0.6099700927734375, 0.9079781770706177, -1.1354362964630127, -0.5377769470214844], "tau_dot": [90.77416229248047, 17.605260848999023, 19.447528839111328, -30.0320987701416, 24.93164825439453, 16.547630310058594, 32.329261779785156], "tau_ext": [-16.722980499267578, -41.613861083984375, 31.78270721435547, 31.370216369628906, 9.496341705322266, -2.998136043548584, -0.11093897372484207], "tcp_pose": [0.6779225468635559, 0.0327799916267395, -0.21499207615852356, -0.0022634915076196194, -0.004570316057652235, 0.9998863935470581, 0.014184638857841492], "tcp_vel": [-0.00026235615951009095, -1.9949917259509675e-05, -0.00010983838001266122, 7.968186764628626e-06, 0.0006410705391317606, 0.00017343809304293245], "flange_pose": [0.6786209940910339, 0.028528187423944473, -0.06505398452281952, -0.0022634915076196194, -0.004570316057652235, 0.9998863935470581, 0.014184638857841492], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0831069946289, 15.061113357543945, 28.12729263305664, 0.3459966480731964, -24.117298126220703, 1.813928484916687], "ext_wrench_in_world": [-108.34513377810504, 14.856925750166438, -27.212928690336607, -0.13555088343841162, -24.058353641749672, -2.4962702466656337]}
+{"timestamp_ns": 1789729558463438423, "elapsed_ms": 1933, "source_timestamp_ns": 1789729558455491897, "q": [0.8367549180984497, -1.8976223468780518, -1.0065442323684692, 1.3810888528823853, -0.16030041873455048, 0.5944163799285889, 0.7031888365745544], "theta": [0.8388340473175049, -1.8957030773162842, -1.00475013256073, 1.3626842498779297, -0.1608762890100479, 0.5943645238876343, 0.7031344771385193], "dq": [-0.0011779590277001262, 0.0006551415426656604, 0.000403109093895182, 0.0024548007640987635, 0.0037608183920383453, 0.000602278218138963, 1.9120714568998665e-05], "dtheta": [0.0003464531619101763, -1.9871346012223512e-05, -0.00020591319480445236, -0.00023609562776982784, 5.3357056458480656e-05, 0.0005399570218287408, 0.0006476049893535674], "tau": [55.48999786376953, 23.76999855041504, 5.452000141143799, -26.288002014160156, -2.5400002002716064, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.35042306780815125, -0.5668941736221313, -0.20516370236873627, -0.474173903465271, 0.9358648061752319, -1.1948248147964478, -0.5571722388267517], "tau_dot": [-4.421424388885498, 90.3406982421875, -2.700993776321411, -44.21001434326172, -0.9902551770210266, 25.278440475463867, 48.56684875488281], "tau_ext": [-16.689592361450195, -41.64665603637695, 31.783632278442383, 31.33970069885254, 9.483842849731445, -2.991257667541504, -0.09935171902179718], "tcp_pose": [0.677922785282135, 0.03277958929538727, -0.21499112248420715, -0.0022636400535702705, -0.004571455530822277, 0.9998863935470581, 0.014185083098709583], "tcp_vel": [0.00032384402584284544, 2.650764145073481e-05, 0.0003802423016168177, 0.00037256116047501564, -0.0009619237971492112, -0.0008585297618992627], "flange_pose": [0.6786212921142578, 0.028527650982141495, -0.06505302339792252, -0.0022636400535702705, -0.004571455530822277, 0.9998863935470581, 0.014185083098709583], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06259155273438, 15.063889503479004, 28.135969161987305, 0.35236048698425293, -24.120046615600586, 1.8173139095306396], "ext_wrench_in_world": [-108.32472620811, 14.85991263234069, -27.221570660922982, -0.14185100192065003, -24.061061614156227, -2.4997257430242885]}
+{"timestamp_ns": 1789729558496781170, "elapsed_ms": 1966, "source_timestamp_ns": 1789729558495392006, "q": [0.836757481098175, -1.8976213932037354, -1.0065443515777588, 1.3810893297195435, -0.16029877960681915, 0.5944135785102844, 0.70319002866745], "theta": [0.8388362526893616, -1.8957024812698364, -1.0047507286071777, 1.3626844882965088, -0.1608748584985733, 0.594361424446106, 0.7031349539756775], "dq": [0.0011344635859131813, 0.0005945549346506596, -0.000705945654772222, -0.0008206801721826196, -0.00015811032790225, -0.0008791614091023803, 0.0031651139724999666], "dtheta": [-4.1884406527969986e-05, 0.0003297281509730965, -0.00020345443044789135, -1.4659700354968663e-05, -1.5430212442879565e-05, -0.0009115178836509585, -0.00011809702846221626], "tau": [55.5099983215332, 23.719999313354492, 5.4720001220703125, -26.308000564575195, -2.568000078201294, 2.6600000858306885, -0.5760000348091125], "tau_des": [0.4635297954082489, -0.548674464225769, -0.1807708442211151, -0.5718427896499634, 0.9133874177932739, -1.1399040222167969, -0.547836184501648], "tau_dot": [-12.336487770080566, 90.38697814941406, 6.985222339630127, -43.377925872802734, -59.7246208190918, 1.6571627855300903, -54.18645095825195], "tau_ext": [-16.7019100189209, -41.707374572753906, 31.796083450317383, 31.339460372924805, 9.488774299621582, -2.9925830364227295, -0.10346581786870956], "tcp_pose": [0.6779227256774902, 0.032778847962617874, -0.2149897813796997, -0.002264047274366021, -0.004570128861814737, 0.9998863935470581, 0.014184880070388317], "tcp_vel": [-1.536204399599228e-05, -0.000351087684975937, -3.7688962038373575e-05, -0.00048121539293788373, 0.000642676604911685, -0.00021741203090641648], "flange_pose": [0.6786212921142578, 0.028526971116662025, -0.06505168229341507, -0.002264047274366021, -0.004570128861814737, 0.9998863935470581, 0.014184880070388317], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.03898620605469, 15.149670600891113, 28.160037994384766, 0.3838956654071808, -24.129796981811523, 1.8271589279174805], "ext_wrench_in_world": [-108.30199654906572, 14.946829849594113, -27.243212375309295, -0.17340756571770297, -24.07081948097955, -2.5096946713643518]}
+{"timestamp_ns": 1789729558530127386, "elapsed_ms": 2000, "source_timestamp_ns": 1789729558525438556, "q": [0.836759090423584, -1.8976216316223145, -1.0065518617630005, 1.3810888528823853, -0.16029895842075348, 0.5944133400917053, 0.7031914591789246], "theta": [0.8388379216194153, -1.8957027196884155, -1.004758358001709, 1.362684726715088, -0.1608748584985733, 0.594361424446106, 0.7031359076499939], "dq": [-0.0017258068546652794, -0.0007665315642952919, -0.00039363099494948983, -0.0006080975872464478, -0.0023536914959549904, 0.0013469498371705413, -0.001899985014460981], "dtheta": [-0.00023492689069826156, 0.00019763936870731413, -0.00026668881764635444, -0.0004052653384860605, 0.00014706341607961804, -0.00020805861277040094, 0.00021201319759711623], "tau": [55.56999969482422, 23.719999313354492, 5.464000225067139, -26.32400131225586, -2.556000232696533, 2.6560001373291016, -0.5800000429153442], "tau_des": [0.43055394291877747, -0.5823121070861816, -0.14454242587089539, -0.5161582231521606, 0.919197678565979, -1.1713833808898926, -0.5657011866569519], "tau_dot": [60.43722152709961, 91.25642395019531, 9.112945556640625, -6.54844856262207, 6.279775142669678, -67.89930725097656, -9.57341480255127], "tau_ext": [-16.70048713684082, -41.690582275390625, 31.77608871459961, 31.347248077392578, 9.492266654968262, -2.9927098751068115, -0.10978838056325912], "tcp_pose": [0.677925705909729, 0.03277479112148285, -0.21498894691467285, -0.0022618507500737906, -0.004566863179206848, 0.9998864531517029, 0.01418235618621111], "tcp_vel": [0.0001910022838274017, -0.00014980898413341492, 2.9922790417913347e-05, 0.0001638300745980814, 6.922246393514797e-05, -0.0006720549426972866], "flange_pose": [0.678623616695404, 0.02852366678416729, -0.06505083292722702, -0.0022618507500737906, -0.004566863179206848, 0.9998864531517029, 0.01418235618621111], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.02527618408203, 15.161088943481445, 28.171464920043945, 0.39083290100097656, -24.133773803710938, 1.8287265300750732], "ext_wrench_in_world": [-108.28822779030396, 14.959268503855249, -27.2549143496257, -0.1804632563693535, -24.07482542646141, -2.5112233643181194]}
+{"timestamp_ns": 1789729558563435192, "elapsed_ms": 2033, "source_timestamp_ns": 1789729558555326327, "q": [0.8367592692375183, -1.8976248502731323, -1.0065559148788452, 1.3810889720916748, -0.16029715538024902, 0.5944118499755859, 0.7031911611557007], "theta": [0.8388381600379944, -1.8957055807113647, -1.0047627687454224, 1.362684726715088, -0.1608739048242569, 0.5943604707717896, 0.7031357288360596], "dq": [0.0004722289741039276, -0.0013822586042806506, 0.0005631147068925202, 0.0030740690417587757, -8.853353938320652e-05, -0.0007322115707211196, 0.0008502479759044945], "dtheta": [-0.00023243452596943825, -0.0005124227027408779, -0.0003499709418974817, -0.0001097180211218074, 0.0009252323070541024, -0.0007313449750654399, -0.0002713414723984897], "tau": [55.529998779296875, 23.670000076293945, 5.440000057220459, -26.30000114440918, -2.56000018119812, 2.6600000858306885, -0.5400000214576721], "tau_des": [0.563080906867981, -0.43495944142341614, -0.18957343697547913, -0.6366413831710815, 0.8981533050537109, -1.1235839128494263, -0.5579499006271362], "tau_dot": [187.1182861328125, 25.365232467651367, 4.914220809936523, 5.563691139221191, 56.82048034667969, 2.951843500137329, 32.091224670410156], "tau_ext": [-16.716346740722656, -41.72087097167969, 31.813318252563477, 31.366540908813477, 9.503704071044922, -2.998471260070801, -0.10982688516378403], "tcp_pose": [0.6779256463050842, 0.03277337923645973, -0.21499040722846985, -0.002262284280732274, -0.00456620566546917, 0.9998864531517029, 0.014179929159581661], "tcp_vel": [-0.0002892139891628176, -7.139464287320152e-05, -0.00043900703894905746, -0.0004424401849973947, 0.0010919588385149837, -0.00014430770534090698], "flange_pose": [0.6786236763000488, 0.028522983193397522, -0.06505227088928223, -0.002262284280732274, -0.00456620566546917, 0.9998864531517029, 0.014179929159581661], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05237579345703, 15.16061782836914, 28.17381477355957, 0.39006513357162476, -24.13813591003418, 1.8279261589050293], "ext_wrench_in_world": [-108.31533686737829, 14.958622382472052, -27.257136719914918, -0.1796855154378348, -24.079213188220287, -2.510433311980077]}
+{"timestamp_ns": 1789729558596772330, "elapsed_ms": 2066, "source_timestamp_ns": 1789729558595327110, "q": [0.8367637991905212, -1.8976287841796875, -1.0065577030181885, 1.381088137626648, -0.1602948158979416, 0.594409704208374, 0.7031915783882141], "theta": [0.8388416171073914, -1.8957098722457886, -1.0047647953033447, 1.3626844882965088, -0.1608719825744629, 0.5943585634231567, 0.7031362056732178], "dq": [0.0008568539633415639, 0.0006459904252551496, -0.0013375007547438145, -0.0008499870309606194, -0.0008136325632221997, -0.0010857159504666924, 0.004216980654746294], "dtheta": [0.00015505046758335084, -0.00041494829929433763, 3.446704795351252e-05, -0.00013289089838508517, 0.0002719872281886637, 5.85142697673291e-05, 0.0007913786103017628], "tau": [55.47999954223633, 23.649999618530273, 5.452000141143799, -26.316001892089844, -2.6040000915527344, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.4216565191745758, -0.4991992115974426, -0.2266547828912735, -0.5273286700248718, 0.9210866093635559, -1.1751339435577393, -0.5725879669189453], "tau_dot": [-32.22919464111328, 96.36182403564453, -31.649600982666016, -49.388031005859375, -25.806602478027344, -13.154586791992188, 2.445101499557495], "tau_ext": [-16.650678634643555, -41.649505615234375, 31.810588836669922, 31.349241256713867, 9.502541542053223, -2.9983367919921875, -0.11259667575359344], "tcp_pose": [0.6779257655143738, 0.032773539423942566, -0.21498866379261017, -0.002260870998725295, -0.004566011019051075, 0.9998865127563477, 0.014178167097270489], "tcp_vel": [-6.29984715487808e-05, 0.00019490314298309386, 2.751722786342725e-05, -6.28021007287316e-06, -0.00012142438936280087, -0.0006621567881666124], "flange_pose": [0.678623378276825, 0.02852366864681244, -0.06505051255226135, -0.002260870998725295, -0.004566011019051075, 0.9998865127563477, 0.014178167097270489], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12174987792969, 15.129226684570312, 28.11214256286621, 0.377775102853775, -24.138469696044922, 1.8248621225357056], "ext_wrench_in_world": [-108.38405226879861, 14.924809873526742, -27.196435800432287, -0.16738188334640539, -24.07952937399824, -2.5073498944830233]}
+{"timestamp_ns": 1789729558630100690, "elapsed_ms": 2100, "source_timestamp_ns": 1789729558625303708, "q": [0.8367645144462585, -1.8976314067840576, -1.0065580606460571, 1.3810877799987793, -0.1602921336889267, 0.5944034457206726, 0.7031900882720947], "theta": [0.8388426899909973, -1.8957128524780273, -1.0047653913497925, 1.3626837730407715, -0.16086934506893158, 0.5943530797958374, 0.7031354308128357], "dq": [0.0021455043461173773, 0.0013076580362394452, -0.0004705873434431851, -0.0004903585067950189, -0.000828615331556648, -0.0003035321715287864, 0.0018067301716655493], "dtheta": [-7.828471279935911e-05, -4.693518712883815e-05, 0.00010018288594437763, -7.687744073336944e-05, 0.00018609357357490808, -8.865763811627403e-05, -0.0005597008857876062], "tau": [55.53999710083008, 23.59000015258789, 5.464000225067139, -26.328001022338867, -2.56000018119812, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.46519938111305237, -0.48875629901885986, -0.23152147233486176, -0.5628936886787415, 0.9146840572357178, -1.1563221216201782, -0.5454949736595154], "tau_dot": [42.94322967529297, -27.549991607666016, -12.217184066772461, -32.47125244140625, 37.28538513183594, -10.623424530029297, 36.76676559448242], "tau_ext": [-16.712820053100586, -41.641380310058594, 31.790372848510742, 31.36537742614746, 9.500865936279297, -2.99650239944458, -0.11499862372875214], "tcp_pose": [0.6779239177703857, 0.03277338296175003, -0.21498973667621613, -0.0022634065244346857, -0.004566777963191271, 0.9998865127563477, 0.01417598407715559], "tcp_vel": [-7.459962216671556e-05, 8.290408732136711e-05, -5.26056501257699e-05, 0.00013343188038561493, 0.00020252613467164338, 0.0005480481195263565], "flange_pose": [0.678622305393219, 0.028524169698357582, -0.06505155563354492, -0.0022634065244346857, -0.004566777963191271, 0.9998865127563477, 0.01417598407715559], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11724090576172, 15.079221725463867, 28.1101131439209, 0.36058488488197327, -24.13239860534668, 1.8197520971298218], "ext_wrench_in_world": [-108.37924149461324, 14.874516721721612, -27.195366061735147, -0.1501975307344202, -24.073458906128995, -2.5020388882333617]}
+{"timestamp_ns": 1789729558663448816, "elapsed_ms": 2133, "source_timestamp_ns": 1789729558655306239, "q": [0.8367658257484436, -1.8976348638534546, -1.0065609216690063, 1.3810878992080688, -0.1602901965379715, 0.5944017767906189, 0.7031866312026978], "theta": [0.8388440608978271, -1.895716667175293, -1.0047688484191895, 1.3626834154129028, -0.16086694598197937, 0.5943516492843628, 0.7031323313713074], "dq": [-0.00014265713980421424, -0.0010285882744938135, -0.0003622476651798934, 0.002090388908982277, -0.0014600902795791626, 0.003076686291024089, -0.00253381603397429], "dtheta": [0.0001342500327154994, -0.00014595134416595101, -0.0001806579384719953, 0.0002682026824913919, -0.00035633958759717643, 0.00015501590678468347, -0.0006763299461454153], "tau": [55.47999954223633, 23.639999389648438, 5.4160003662109375, -26.312002182006836, -2.576000213623047, 2.6480002403259277, -0.5720000267028809], "tau_des": [0.4552837312221527, -0.49232062697410583, -0.2009914219379425, -0.5739923119544983, 0.9371461272239685, -1.1530399322509766, -0.5387768745422363], "tau_dot": [-49.43616485595703, -134.71414184570312, -12.052621841430664, -22.61786651611328, -25.35006332397461, -22.69339942932129, -32.09065628051758], "tau_ext": [-16.703601837158203, -41.643192291259766, 31.79092788696289, 31.35482406616211, 9.500029563903809, -2.990018367767334, -0.1123364195227623], "tcp_pose": [0.6779236197471619, 0.03277266025543213, -0.21499046683311462, -0.002263509202748537, -0.004568117670714855, 0.9998865723609924, 0.014173788949847221], "tcp_vel": [2.2732760044164024e-05, -0.00010878202738240361, -3.491750612738542e-05, -0.0004944423562847078, -0.000309284107061103, 0.0008831631275825202], "flange_pose": [0.6786220073699951, 0.028524106368422508, -0.06505227833986282, -0.002263509202748537, -0.004568117670714855, 0.9998865723609924, 0.014173788949847221], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09712219238281, 15.0609130859375, 28.130229949951172, 0.3532012701034546, -24.131174087524414, 1.8167455196380615], "ext_wrench_in_world": [-108.35909544411135, 14.856560082747523, -27.216131674723986, -0.1427469849867106, -24.07226354286733, -2.4989256659122434]}
+{"timestamp_ns": 1789729558696771867, "elapsed_ms": 2166, "source_timestamp_ns": 1789729558695290257, "q": [0.8367700576782227, -1.897635817527771, -1.0065655708312988, 1.3810888528823853, -0.16028769314289093, 0.5943966507911682, 0.703178346157074], "theta": [0.8388475775718689, -1.8957176208496094, -1.004773736000061, 1.3626835346221924, -0.16086336970329285, 0.5943466424942017, 0.7031242251396179], "dq": [0.00021621664927806705, 0.0023037069477140903, 0.00038842333015054464, -0.0019857340957969427, -0.0028096374589949846, -0.0003500254824757576, -0.0007040296914055943], "dtheta": [0.00021827009913977236, 2.9645272661582567e-05, -0.0001714090903988108, -5.027681982028298e-05, 0.00032631735666655004, -0.0001565504790050909, -0.00039359781658276916], "tau": [55.5, 23.68000030517578, 5.4760003089904785, -26.30000114440918, -2.576000213623047, 2.640000104904175, -0.5800000429153442], "tau_des": [0.403994619846344, -0.5382328033447266, -0.17892691493034363, -0.5375365614891052, 0.9309200644493103, -1.155361533164978, -0.5442212820053101], "tau_dot": [-17.49065589904785, 27.233922958374023, 13.482569694519043, -32.83039474487305, -14.162813186645508, 4.798748016357422, -34.050968170166016], "tau_ext": [-16.669448852539062, -41.64445495605469, 31.79462242126465, 31.349376678466797, 9.49433708190918, -2.997135639190674, -0.10049252212047577], "tcp_pose": [0.6779241561889648, 0.0327695794403553, -0.21498934924602509, -0.002263614209368825, -0.0045703984797000885, 0.9998865723609924, 0.014170794747769833], "tcp_vel": [5.8173864090349525e-05, -9.530055831419304e-05, 0.00012523363693617284, 4.3867948988918215e-05, -2.518899054848589e-05, 6.798290996812284e-05], "flange_pose": [0.6786226034164429, 0.028521927073597908, -0.0650511309504509, -0.002263614209368825, -0.0045703984797000885, 0.9998865723609924, 0.014170794747769833], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10885620117188, 15.072370529174805, 28.116817474365234, 0.3566969633102417, -24.134763717651367, 1.8209500312805176], "ext_wrench_in_world": [-108.37094159114773, 14.86686590043722, -27.202424236226125, -0.14611959631915744, -24.075780285618347, -2.503070943684706]}
+{"timestamp_ns": 1789729558730103297, "elapsed_ms": 2200, "source_timestamp_ns": 1789729558725314133, "q": [0.8367704749107361, -1.8976376056671143, -1.0065691471099854, 1.3810886144638062, -0.16028335690498352, 0.594396710395813, 0.703175961971283], "theta": [0.8388478755950928, -1.8957194089889526, -1.0047776699066162, 1.362683653831482, -0.16085880994796753, 0.5943466424942017, 0.7031217813491821], "dq": [0.001975912367925048, -0.0006523580523207784, 0.001479008118622005, 0.003375404980033636, 0.0014610049547627568, -0.0012209949782118201, 0.0003215980832464993], "dtheta": [-0.0001857257739175111, -0.0002627718495205045, -0.00041760626481845975, 2.4569002562202513e-05, -0.0004110975714866072, -0.0001820397301344201, 4.49788203695789e-05], "tau": [55.47999954223633, 23.69999885559082, 5.448000431060791, -26.34800148010254, -2.572000026702881, 2.6760001182556152, -0.5840000510215759], "tau_des": [0.5081222057342529, -0.49936723709106445, -0.1534733772277832, -0.6013458967208862, 0.9351947903633118, -1.1366511583328247, -0.550826370716095], "tau_dot": [-130.03977966308594, -151.07107543945312, 24.740459442138672, -76.19618225097656, -66.4180679321289, 57.26084899902344, -16.39999008178711], "tau_ext": [-16.719533920288086, -41.67417526245117, 31.78549575805664, 31.353965759277344, 9.488889694213867, -2.9924092292785645, -0.09880291670560837], "tcp_pose": [0.6779245138168335, 0.03276849538087845, -0.2149900197982788, -0.002263876609504223, -0.004569696262478828, 0.9998865723609924, 0.014170462265610695], "tcp_vel": [4.17272858612705e-05, -0.0002152563101844862, -0.00022458161402028054, -0.0008499939576722682, -1.4756913515157066e-05, 7.413126149913296e-05], "flange_pose": [0.6786230206489563, 0.028520939871668816, -0.06505180150270462, -0.002263876609504223, -0.004569696262478828, 0.9998865723609924, 0.014170462265610695], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09260559082031, 15.09147834777832, 28.13897132873535, 0.3669314980506897, -24.136953353881836, 1.826511263847351], "ext_wrench_in_world": [-108.35496236768893, 14.886875100156384, -27.22404983874642, -0.15639457619497124, -24.07790713128284, -2.508630750538329]}
+{"timestamp_ns": 1789729558763430938, "elapsed_ms": 2233, "source_timestamp_ns": 1789729558755310116, "q": [0.8367720246315002, -1.8976428508758545, -1.006569743156433, 1.3810877799987793, -0.1602819561958313, 0.5943986177444458, 0.7031765580177307], "theta": [0.8388497829437256, -1.8957253694534302, -1.0047786235809326, 1.3626834154129028, -0.16085734963417053, 0.5943492650985718, 0.7031224966049194], "dq": [0.0022546453401446342, -0.0008339439518749714, 0.0031262633856385946, 0.002255890052765608, 0.0009905885672196746, -0.0007007113308645785, -0.0027325968258082867], "dtheta": [0.0002822650712914765, -0.00012683149543590844, 0.00015060542500577867, -0.00024235376622527838, 6.365755689330399e-05, 0.00041442166548222303, 0.00010163520346395671], "tau": [55.439998626708984, 23.649999618530273, 5.428000450134277, -26.308000564575195, -2.552000045776367, 2.6640000343322754, -0.5560000538825989], "tau_des": [0.3600441813468933, -0.5273329615592957, -0.24311673641204834, -0.48378297686576843, 0.9356160759925842, -1.1915171146392822, -0.54804927110672], "tau_dot": [-48.247215270996094, -48.00236129760742, 26.25949478149414, -33.504878997802734, 56.05245590209961, -14.017616271972656, -4.978059768676758], "tau_ext": [-16.66943359375, -41.68006134033203, 31.81810188293457, 31.32596206665039, 9.484090805053711, -2.995406150817871, -0.10630623996257782], "tcp_pose": [0.6779241561889648, 0.03277023881673813, -0.2149900645017624, -0.002262359019368887, -0.00457048462703824, 0.9998865723609924, 0.014169600792229176], "tcp_vel": [0.00014002354873809963, 0.00023666044580750167, 0.00031207306892611086, 0.0004508968850132078, -0.0007044349913485348, 5.625161975331139e-06], "flange_pose": [0.6786221861839294, 0.02852294221520424, -0.0650518387556076, -0.002262359019368887, -0.00457048462703824, 0.9998865723609924, 0.014169600792229176], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07816314697266, 15.143671035766602, 28.14249038696289, 0.38210320472717285, -24.134788513183594, 1.8273228406906128], "ext_wrench_in_world": [-108.34095018706498, 14.93906420638462, -27.226508407154867, -0.17154421088701535, -24.075864429751757, -2.5092733496366004]}
+{"timestamp_ns": 1789729558796768516, "elapsed_ms": 2266, "source_timestamp_ns": 1789729558795287845, "q": [0.8367738723754883, -1.8976447582244873, -1.0065782070159912, 1.3810878992080688, -0.16028037667274475, 0.5943970084190369, 0.7031782865524292], "theta": [0.8388518691062927, -1.8957273960113525, -1.0047872066497803, 1.3626834154129028, -0.16085496544837952, 0.5943483114242554, 0.7031242251396179], "dq": [-0.0005687555531039834, 3.84364539058879e-05, 0.0001503689563833177, -0.001567716826684773, 0.0010733131784945726, 0.0002732337743509561, 0.0011117998510599136], "dtheta": [8.713592978892848e-05, -7.204600115073845e-05, -0.0002583647728897631, -5.1367725973250344e-05, -0.00011013585753971711, -0.000756888824980706, 0.0003430048527661711], "tau": [55.41999816894531, 23.65999984741211, 5.4720001220703125, -26.36400032043457, -2.564000129699707, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.4440574645996094, -0.5453501343727112, -0.13394491374492645, -0.5647140145301819, 0.9329589605331421, -1.140300989151001, -0.567916989326477], "tau_dot": [-123.56912231445312, 39.81636047363281, -13.914985656738281, -46.39117431640625, -14.295723915100098, -18.53724479675293, 21.416074752807617], "tau_ext": [-16.694599151611328, -41.61516571044922, 31.784786224365234, 31.355043411254883, 9.490264892578125, -3.002274513244629, -0.11064224690198898], "tcp_pose": [0.6779263019561768, 0.0327659547328949, -0.21499019861221313, -0.002261156216263771, -0.004566872492432594, 0.999886691570282, 0.01416612695902586], "tcp_vel": [-2.0419309294084087e-05, -0.00023842958034947515, -3.063882468268275e-05, -0.0007533625466749072, 0.0003112643025815487, -0.0004047535767313093], "flange_pose": [0.6786239743232727, 0.02851969376206398, -0.06505193561315536, -0.002261156216263771, -0.004566872492432594, 0.999886691570282, 0.01416612695902586], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.04778289794922, 15.124730110168457, 28.116174697875977, 0.3759411573410034, -24.116853713989258, 1.820558786392212], "ext_wrench_in_world": [-108.31010556226397, 14.920261443243666, -27.20123087777042, -0.16568218670447166, -24.058088595322904, -2.5018636379813044]}
+{"timestamp_ns": 1789729558830158170, "elapsed_ms": 2300, "source_timestamp_ns": 1789729558825331576, "q": [0.8367750644683838, -1.8976469039916992, -1.0065850019454956, 1.3810888528823853, -0.16027842462062836, 0.5943984389305115, 0.7031773924827576], "theta": [0.8388530611991882, -1.8957293033599854, -1.0047937631607056, 1.3626835346221924, -0.1608520895242691, 0.5943502187728882, 0.7031237483024597], "dq": [-0.0016915376763790846, 0.00013070163549855351, -0.00045795421465300024, -0.0009884764440357685, -0.003518481273204088, 0.0013383303303271532, 2.3775684894644655e-05], "dtheta": [-0.00036686399835161865, 0.00018335587810724974, -0.00010677627142285928, 8.785662066657096e-05, 7.261660357471555e-05, 5.8362074923934415e-06, 0.00033775929477997124], "tau": [55.53999710083008, 23.639999389648438, 5.468000411987305, -26.304000854492188, -2.568000078201294, 2.688000202178955, -0.5400000214576721], "tau_des": [0.5087249279022217, -0.5497575998306274, -0.11688658595085144, -0.5873280167579651, 0.9169999957084656, -1.1468324661254883, -0.5730360150337219], "tau_dot": [-3.238353729248047, 66.42056274414062, 37.99040985107422, 24.49264907836914, -5.615843772888184, 73.83992004394531, -10.52856731414795], "tau_ext": [-16.701797485351562, -41.6265754699707, 31.796770095825195, 31.374910354614258, 9.493160247802734, -3.006514549255371, -0.11185094714164734], "tcp_pose": [0.6779278516769409, 0.0327630490064621, -0.21499082446098328, -0.002259851898998022, -0.004565209150314331, 0.999886691570282, 0.014163983054459095], "tcp_vel": [-3.741705950233154e-05, -0.00012363799032755196, -0.000244631664827466, 6.499182927655056e-05, 0.0004485803365241736, -0.000562035187613219], "flange_pose": [0.6786251664161682, 0.028517432510852814, -0.06505253911018372, -0.002259851898998022, -0.004565209150314331, 0.999886691570282, 0.014163983054459095], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09950256347656, 15.063485145568848, 28.10719108581543, 0.36026671528816223, -24.12352180480957, 1.8162851333618164], "ext_wrench_in_world": [-108.36110533747032, 14.858560575448646, -27.19410336090867, -0.15000246700783906, -24.064740752632506, -2.4977469502370235]}
+{"timestamp_ns": 1789729558863439303, "elapsed_ms": 2333, "source_timestamp_ns": 1789729558855477590, "q": [0.8367775082588196, -1.897651195526123, -1.0065858364105225, 1.3810875415802002, -0.16027520596981049, 0.5943976044654846, 0.703175961971283], "theta": [0.8388552069664001, -1.8957338333129883, -1.0047941207885742, 1.3626827001571655, -0.1608489751815796, 0.5943495035171509, 0.7031227350234985], "dq": [-0.000590018811635673, 0.0015608599642291665, 0.0004987095599062741, -0.0002938103280030191, 0.0008815863984636962, 0.00015622982755303383, 0.002167324535548687], "dtheta": [0.000248552969424054, 0.00031110801501199603, 0.00019614437769632787, -0.00010677424870664254, -0.0003409881319385022, 0.001353636966086924, 0.00016143833636306226], "tau": [55.46999740600586, 23.60999870300293, 5.456000328063965, -26.268001556396484, -2.56000018119812, 2.680000066757202, -0.5480000376701355], "tau_des": [0.29425951838493347, -0.6260432004928589, -0.16849248111248016, -0.42084696888923645, 0.9509850144386292, -1.2260982990264893, -0.5637466907501221], "tau_dot": [-14.96626091003418, -26.636249542236328, 36.69456481933594, -3.1233644485473633, -34.48961639404297, 63.685970306396484, 15.97762393951416], "tau_ext": [-16.67211151123047, -41.63825607299805, 31.800893783569336, 31.345489501953125, 9.488495826721191, -3.0021002292633057, -0.112953782081604], "tcp_pose": [0.6779274344444275, 0.03276417404413223, -0.2149902880191803, -0.0022591757588088512, -0.0045660813339054585, 0.999886691570282, 0.01416317280381918], "tcp_vel": [0.000411745480960235, 0.00022652455663774163, 0.0005013456684537232, 0.0010893667349591851, -0.0014809691347181797, -9.23239640542306e-05], "flange_pose": [0.6786245107650757, 0.0285187978297472, -0.06505199521780014, -0.0022591757588088512, -0.0045660813339054585, 0.999886691570282, 0.01416317280381918], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10694885253906, 15.064706802368164, 28.104326248168945, 0.36142194271087646, -24.1221923828125, 1.814112663269043], "ext_wrench_in_world": [-108.36853704592536, 14.859401029963676, -27.191346319499253, -0.15111453502735836, -24.06348830934238, -2.4954940818542535]}
+{"timestamp_ns": 1789729558896840965, "elapsed_ms": 2366, "source_timestamp_ns": 1789729558895295390, "q": [0.8367795944213867, -1.8976593017578125, -1.0065854787826538, 1.3810875415802002, -0.1602715402841568, 0.5943949222564697, 0.7031710743904114], "theta": [0.8388573527336121, -1.895742654800415, -1.0047942399978638, 1.3626823425292969, -0.16084562242031097, 0.594347357749939, 0.7031174898147583], "dq": [0.0004209986364003271, -0.002288275631144643, -0.000702412857208401, -0.0027312987949699163, 0.00030025606974959373, 0.0007907424587756395, 0.0015719783259555697], "dtheta": [-0.00024789353483356535, 0.0003050808154512197, 0.00015822748537175357, -0.000248495489358902, 0.0013254377990961075, -0.0006721735699102283, -0.00015372279449366033], "tau": [55.53999710083008, 23.69999885559082, 5.448000431060791, -26.340002059936523, -2.56000018119812, 2.6640000343322754, -0.5600000023841858], "tau_des": [0.4986661970615387, -0.5030605792999268, -0.20536912977695465, -0.5823701024055481, 0.8874081969261169, -1.1414350271224976, -0.5548595190048218], "tau_dot": [72.40310668945312, 77.99613952636719, -6.123922824859619, -11.2185640335083, 3.091545820236206, -4.82157564163208, 13.039634704589844], "tau_ext": [-16.702470779418945, -41.64459228515625, 31.79127311706543, 31.33981704711914, 9.488452911376953, -2.996178388595581, -0.10337913036346436], "tcp_pose": [0.6779245734214783, 0.032766636461019516, -0.21499188244342804, -0.0022602479439228773, -0.004570395220071077, 0.9998867511749268, 0.014160571619868279], "tcp_vel": [-0.00023319323372561485, 3.24507818731945e-05, -0.00014341884525492787, 0.0008549554040655494, 0.0013352370588108897, -0.0006979338941164315], "flange_pose": [0.6786220073699951, 0.02852204442024231, -0.06505356729030609, -0.0022602479439228773, -0.004570395220071077, 0.9998867511749268, 0.014160571619868279], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05933380126953, 15.097883224487305, 28.099071502685547, 0.36767643690109253, -24.115570068359375, 1.8170565366744995], "ext_wrench_in_world": [-108.3213842673056, 14.891771698760365, -27.185223280933304, -0.15723888799406632, -24.0568574584279, -2.4980963349436394]}
+{"timestamp_ns": 1789729558930098163, "elapsed_ms": 2400, "source_timestamp_ns": 1789729558925476046, "q": [0.8367795348167419, -1.897659420967102, -1.006585955619812, 1.381088137626648, -0.16026926040649414, 0.5943920016288757, 0.7031676769256592], "theta": [0.8388574123382568, -1.8957427740097046, -1.0047943592071533, 1.3626829385757446, -0.16084274649620056, 0.5943442583084106, 0.7031129002571106], "dq": [-0.0006688773282803595, 0.000474264204967767, -0.0009875252144411206, -0.0002888846502173692, 0.001014579669572413, -0.0009633910376578569, -0.0015372881898656487], "dtheta": [-9.567740198690444e-05, -2.0648451027227566e-05, 0.0001259293785551563, -0.00014688489318359643, 0.0003978028835263103, 0.000567834242247045, -0.0003880104050040245], "tau": [55.47999954223633, 23.68000030517578, 5.4760003089904785, -26.34800148010254, -2.580000162124634, 2.6640000343322754, -0.5560000538825989], "tau_des": [0.4578225314617157, -0.48758596181869507, -0.2362339198589325, -0.5458271503448486, 0.917949914932251, -1.1733554601669312, -0.5402882695198059], "tau_dot": [-72.99723052978516, 17.84845542907715, 4.984691143035889, -5.911501884460449, -48.44469451904297, 0.2690216898918152, 17.45307731628418], "tau_ext": [-16.710006713867188, -41.65510177612305, 31.79010772705078, 31.356971740722656, 9.487590789794922, -2.998549461364746, -0.09787753969430923], "tcp_pose": [0.6779236793518066, 0.03276599943637848, -0.2149927020072937, -0.0022620982490479946, -0.004571359604597092, 0.9998867511749268, 0.01416000910103321], "tcp_vel": [4.122415339224972e-05, 0.0002211704122601077, 3.344565993756987e-05, 0.0007693258812651038, -0.00020286388462409377, 0.00023253857216332108], "flange_pose": [0.6786216497421265, 0.028521578758955002, -0.06505438685417175, -0.0022620982490479946, -0.004571359604597092, 0.9998867511749268, 0.01416000910103321], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.04769134521484, 15.1002197265625, 28.119626998901367, 0.36899006366729736, -24.117990493774414, 1.822553038597107], "ext_wrench_in_world": [-108.30998851964961, 14.894550207494767, -27.205374916887195, -0.1585174963504102, -24.059136528577522, -2.5036254524180217]}
+{"timestamp_ns": 1789729558963437721, "elapsed_ms": 2433, "source_timestamp_ns": 1789729558955337814, "q": [0.8367807269096375, -1.8976577520370483, -1.0065865516662598, 1.381088376045227, -0.16026850044727325, 0.5943893194198608, 0.7031669020652771], "theta": [0.8388586640357971, -1.8957417011260986, -1.0047948360443115, 1.3626831769943237, -0.16084131598472595, 0.5943409204483032, 0.7031112313270569], "dq": [0.0009900068398565054, -0.0020734535064548254, 0.00011471786274341866, 3.541450496413745e-05, 0.0010400654282420874, -0.0007133737672120333, -0.0012252237647771835], "dtheta": [0.00017430479056201875, -0.0003580194606911391, 0.00010253000073134899, -0.00014618919522035867, -0.0013745898613706231, -0.00011914915376110002, -0.0003360351547598839], "tau": [55.44999694824219, 23.649999618530273, 5.460000038146973, -26.2760009765625, -2.5320000648498535, 2.6640000343322754, -0.5680000185966492], "tau_des": [0.4118327796459198, -0.48413723707199097, -0.23696723580360413, -0.5359257459640503, 0.9670770764350891, -1.1654027700424194, -0.5313270092010498], "tau_dot": [-123.20356750488281, -40.153263092041016, -18.125099182128906, 24.6489315032959, 47.46189498901367, -41.10756301879883, 7.144697666168213], "tau_ext": [-16.667078018188477, -41.67342758178711, 31.787965774536133, 31.35472869873047, 9.484830856323242, -2.997375965118408, -0.09968969970941544], "tcp_pose": [0.6779237985610962, 0.0327647365629673, -0.2149919718503952, -0.0022627769503742456, -0.004570805933326483, 0.9998867511749268, 0.014159683138132095], "tcp_vel": [0.0001294773246627301, 7.447404641425237e-05, 0.00018206523964181542, -0.0010468469699844718, -0.0009384481236338615, 0.0013903271174058318], "flange_pose": [0.6786220073699951, 0.028520414605736732, -0.06505366414785385, -0.0022627769503742456, -0.004570805933326483, 0.9998867511749268, 0.014159683138132095], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09051513671875, 15.084190368652344, 28.128467559814453, 0.3722064793109894, -24.13367462158203, 1.8264938592910767], "ext_wrench_in_world": [-108.3527268276643, 14.878483626933917, -27.214339287131672, -0.16163930082161487, -24.074733291964193, -2.5079788433881265]}
+{"timestamp_ns": 1789729558996772679, "elapsed_ms": 2466, "source_timestamp_ns": 1789729558995322800, "q": [0.836782693862915, -1.897657036781311, -1.0065886974334717, 1.3810888528823853, -0.16026684641838074, 0.5943899750709534, 0.7031664848327637], "theta": [0.8388603329658508, -1.8957409858703613, -1.004797101020813, 1.362683892250061, -0.16083891689777374, 0.5943413972854614, 0.7031112313270569], "dq": [0.0014052771730348468, -0.00039695220766589046, 0.0011733717983588576, 0.0003749322786461562, -0.0005581403383985162, -0.00019929665722884238, 0.0015045645413920283], "dtheta": [0.00018259220814798027, 0.00018529391672927886, -0.0002883770503103733, -8.483064448228106e-05, 0.00043857257696799934, 0.0003325756115373224, -0.0006004120805300772], "tau": [55.5099983215332, 23.76999855041504, 5.428000450134277, -26.296001434326172, -2.5480000972747803, 2.684000015258789, -0.5440000295639038], "tau_des": [0.3822910189628601, -0.5800407528877258, -0.15842196345329285, -0.4991496503353119, 0.922653079032898, -1.1837087869644165, -0.5497826337814331], "tau_dot": [10.497564315795898, 117.97677612304688, -5.997028350830078, -1.7436649799346924, -3.768819570541382, 56.7507438659668, 41.77238464355469], "tau_ext": [-16.67769432067871, -41.68124008178711, 31.781991958618164, 31.347389221191406, 9.486464500427246, -3.001063585281372, -0.10571855306625366], "tcp_pose": [0.6779248714447021, 0.03276347368955612, -0.2149907648563385, -0.0022617739159613848, -0.004569599870592356, 0.9998867511749268, 0.014159874059259892], "tcp_vel": [0.0002206728677265346, -0.00011393978638807312, 0.0002027796144830063, 0.0004950839793309569, -0.00036841825931333005, 8.742735190025996e-06], "flange_pose": [0.6786227822303772, 0.028519093990325928, -0.06505245715379715, -0.0022617739159613848, -0.004569599870592356, 0.9998867511749268, 0.014159874059259892], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10553741455078, 15.103005409240723, 28.131343841552734, 0.38575083017349243, -24.145856857299805, 1.8290624618530273], "ext_wrench_in_world": [-108.36784250457684, 14.897508478993746, -27.216822930562497, -0.17513818354631536, -24.08696072951393, -2.5108416909612403]}
+{"timestamp_ns": 1789729559030107730, "elapsed_ms": 2500, "source_timestamp_ns": 1789729559025356379, "q": [0.8367835879325867, -1.897658109664917, -1.0065885782241821, 1.3810886144638062, -0.16026677191257477, 0.5943899750709534, 0.7031683921813965], "theta": [0.8388609290122986, -1.8957417011260986, -1.0047976970672607, 1.3626840114593506, -0.16083939373493195, 0.5943411588668823, 0.7031121850013733], "dq": [-0.0003578185860533267, 0.0010699344566091895, 9.283852705266327e-05, -0.00012895386316813529, -0.002511347411200404, 0.0004275243263691664, -0.001228191307745874], "dtheta": [5.794093158328906e-05, -0.0001251231733476743, 0.000147398590343073, -0.00017091253539547324, -6.122055492596701e-05, 0.000704091158695519, -0.00018016104877460748], "tau": [55.55999755859375, 23.69999885559082, 5.464000225067139, -26.272001266479492, -2.56000018119812, 2.6480002403259277, -0.5560000538825989], "tau_des": [0.39803194999694824, -0.5220463275909424, -0.2419096976518631, -0.49405863881111145, 0.925887942314148, -1.1995809078216553, -0.5490986704826355], "tau_dot": [105.07829284667969, -67.11780548095703, 3.520606279373169, 65.89271545410156, -9.126474380493164, -39.635284423828125, 3.8882529735565186], "tau_ext": [-16.70541000366211, -41.7260856628418, 31.81072998046875, 31.342121124267578, 9.487937927246094, -2.9998843669891357, -0.106601282954216], "tcp_pose": [0.6779248118400574, 0.032763924449682236, -0.21499042212963104, -0.002261321060359478, -0.004569041542708874, 0.9998867511749268, 0.014159588143229485], "tcp_vel": [0.00013643081183545291, 0.00025755309616215527, 0.00017169490456581116, 0.0005221295868977904, -0.0007199408137239516, 0.00035746811772696674], "flange_pose": [0.6786225438117981, 0.028519630432128906, -0.0650520995259285, -0.002261321060359478, -0.004569041542708874, 0.9998867511749268, 0.014159588143229485], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06941986083984, 15.158573150634766, 28.141399383544922, 0.3985067903995514, -24.137346267700195, 1.8293100595474243], "ext_wrench_in_world": [-108.33223667448367, 14.953775191364276, -27.225563592249433, -0.18799677995130004, -24.07856550472365, -2.510778414810184]}
+{"timestamp_ns": 1789729559063439756, "elapsed_ms": 2533, "source_timestamp_ns": 1789729559055440122, "q": [0.8367844820022583, -1.8976587057113647, -1.006591796875, 1.3810884952545166, -0.16026726365089417, 0.5943856239318848, 0.7031685709953308], "theta": [0.8388620615005493, -1.8957418203353882, -1.0048006772994995, 1.362684726715088, -0.16084010899066925, 0.5943371057510376, 0.7031133770942688], "dq": [-0.0011170299258083105, 0.00028396444395184517, 0.00016641299589537084, -0.0009340589167550206, -7.448020369338337e-06, -0.00042063870932906866, 0.0020529425237327814], "dtheta": [0.0002161191077902913, 0.0001059475980582647, -0.0002606388006825, -9.799802501220256e-05, 0.00031176183256320655, -0.0006097379373386502, 0.0011354509042575955], "tau": [55.5, 23.65999984741211, 5.484000205993652, -26.288002014160156, -2.568000078201294, 2.6480002403259277, -0.5600000023841858], "tau_des": [0.4101727306842804, -0.5946835875511169, -0.13504286110401154, -0.5299541354179382, 0.91112220287323, -1.1565160751342773, -0.5870267748832703], "tau_dot": [73.6858901977539, 44.15951156616211, 39.2767219543457, 37.0467414855957, -13.51645278930664, -17.075584411621094, -29.63568115234375], "tau_ext": [-16.704580307006836, -41.69124984741211, 31.79228401184082, 31.349912643432617, 9.494903564453125, -2.9984664916992188, -0.1108359545469284], "tcp_pose": [0.6779252290725708, 0.03276165947318077, -0.2149905562400818, -0.0022618193179368973, -0.004568206146359444, 0.9998868107795715, 0.014156834222376347], "tcp_vel": [4.392523260321468e-05, -0.00023022471577860415, 0.00011242477194173262, -0.00024127494543790817, 0.0002882496628444642, -0.0015627150423824787], "flange_pose": [0.6786230802536011, 0.02851819060742855, -0.06505221128463745, -0.0022618193179368973, -0.004568206146359444, 0.9998868107795715, 0.014156834222376347], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.04463195800781, 15.176556587219238, 28.162952423095703, 0.3993642330169678, -24.1323299407959, 1.8280421495437622], "ext_wrench_in_world": [-108.30771595498321, 14.972616385977597, -27.246681947440955, -0.18893588031487366, -24.073608697762495, -2.509232106182957]}
+{"timestamp_ns": 1789729559096770463, "elapsed_ms": 2566, "source_timestamp_ns": 1789729559095449759, "q": [0.836786150932312, -1.8976593017578125, -1.0065958499908447, 1.3810880184173584, -0.1602662354707718, 0.594379186630249, 0.7031669020652771], "theta": [0.8388639092445374, -1.895742654800415, -1.004804253578186, 1.3626844882965088, -0.16083914041519165, 0.5943306684494019, 0.7031121850013733], "dq": [-0.000908162328414619, -0.000669320987071842, -3.666483098641038e-05, -0.003313689026981592, 0.0002988043415825814, -0.0006486159400083125, -0.0012299333466216922], "dtheta": [-0.0001954338513314724, 4.45677105744835e-05, -0.00010271413339069113, -0.00014845181431155652, 0.00035418462357483804, 0.0001417719613527879, -0.000959241297096014], "tau": [55.529998779296875, 23.69999885559082, 5.468000411987305, -26.316001892089844, -2.5880000591278076, 2.6600000858306885, -0.5640000104904175], "tau_des": [0.46563664078712463, -0.5256789326667786, -0.17298434674739838, -0.5547552108764648, 0.9142338037490845, -1.1602739095687866, -0.5459784865379333], "tau_dot": [47.01467514038086, 59.60210418701172, -48.316585540771484, -21.25904655456543, -8.809513092041016, 11.510114669799805, -34.31455612182617], "tau_ext": [-16.691999435424805, -41.66024398803711, 31.771800994873047, 31.358190536499023, 9.503883361816406, -2.9970779418945312, -0.1117825135588646], "tcp_pose": [0.6779256463050842, 0.03275870159268379, -0.21499040722846985, -0.0022628328297287226, -0.0045675174333155155, 0.9998868107795715, 0.014153662137687206], "tcp_vel": [4.056432226207107e-05, 6.0164270507812034e-06, -7.154460035962984e-05, 0.0003700211236719042, 0.0001051037761499174, 0.0006335129146464169], "flange_pose": [0.6786237955093384, 0.028516186401247978, -0.06505203247070312, -0.0022628328297287226, -0.0045675174333155155, 0.9998868107795715, 0.014153662137687206], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05521392822266, 15.125509262084961, 28.158924102783203, 0.3822404444217682, -24.132587432861328, 1.826326608657837], "ext_wrench_in_world": [-108.31785061731965, 14.921351706682815, -27.24393134309337, -0.17183984258911245, -24.073772787415937, -2.507446448463218]}
+{"timestamp_ns": 1789729559130098560, "elapsed_ms": 2600, "source_timestamp_ns": 1789729559125431368, "q": [0.836786687374115, -1.8976619243621826, -1.0065953731536865, 1.3810876607894897, -0.16026580333709717, 0.5943771004676819, 0.7031665444374084], "theta": [0.838864266872406, -1.8957457542419434, -1.0048041343688965, 1.3626843690872192, -0.16083866357803345, 0.5943285226821899, 0.7031124234199524], "dq": [-0.0015791031764820218, 0.00021079147700220346, -0.0008647908689454198, -0.0019648561719805002, 0.001089894212782383, 0.00014588210615329444, -0.00035171708441339433], "dtheta": [-0.00011049598833778873, -0.0001292092929361388, -0.00039390381425619125, 0.0002689987886697054, -0.0010285105090588331, -0.0009493108373135328, 0.0002935997908934951], "tau": [55.44999694824219, 23.69999885559082, 5.4760003089904785, -26.296001434326172, -2.580000162124634, 2.6520001888275146, -0.5400000214576721], "tau_des": [0.5267878770828247, -0.5170961022377014, -0.12900608777999878, -0.6321563720703125, 0.9355549812316895, -1.1143370866775513, -0.5610015392303467], "tau_dot": [-71.03404235839844, -62.282466888427734, 21.343069076538086, -13.213279724121094, 0.419827401638031, 7.115804195404053, 41.0114860534668], "tau_ext": [-16.70018196105957, -41.69247055053711, 31.7770938873291, 31.362560272216797, 9.50572395324707, -2.9914743900299072, -0.10951151698827744], "tcp_pose": [0.6779245734214783, 0.03275950625538826, -0.21499094367027283, -0.0022634484339505434, -0.0045686098746955395, 0.9998868703842163, 0.014152375049889088], "tcp_vel": [-6.92639296175912e-05, -0.0004527536511886865, -0.0002784361713565886, -0.0017622396117076278, 0.00035953562473878264, 0.0001524062390672043], "flange_pose": [0.6786229610443115, 0.028517378494143486, -0.0650525614619255, -0.0022634484339505434, -0.0045686098746955395, 0.9998868703842163, 0.014152375049889088], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10421752929688, 15.101188659667969, 28.161972045898438, 0.3759598135948181, -24.148923873901367, 1.8278474807739258], "ext_wrench_in_world": [-108.36671052667987, 14.896367933129367, -27.247361121730314, -0.16536825292172497, -24.090008046478342, -2.509394772336027]}
+{"timestamp_ns": 1789729559163436845, "elapsed_ms": 2633, "source_timestamp_ns": 1789729559155312973, "q": [0.8367875218391418, -1.8976640701293945, -1.0065964460372925, 1.3810867071151733, -0.1602628231048584, 0.5943722724914551, 0.7031652331352234], "theta": [0.8388652801513672, -1.8957480192184448, -1.0048048496246338, 1.3626840114593506, -0.16083578765392303, 0.5943235158920288, 0.7031109929084778], "dq": [-0.0005115807871334255, -0.0012136425357311964, 0.0002928465837612748, -0.00230447668582201, 0.00016759133723098785, 0.00029793032445013523, -0.0006730527384206653], "dtheta": [0.00017072453920263797, 0.0001491219300078228, -0.0004953552852384746, 0.00011831026495201513, -0.0003180343483109027, 3.1115701858652756e-05, -0.00027940646396018565], "tau": [55.459999084472656, 23.649999618530273, 5.492000102996826, -26.296001434326172, -2.568000078201294, 2.6760001182556152, -0.5520000457763672], "tau_des": [0.4225226640701294, -0.5854032039642334, -0.11851223558187485, -0.5463494062423706, 0.93017578125, -1.15322744846344, -0.558375358581543], "tau_dot": [-114.17452239990234, -38.482147216796875, 12.136015892028809, -31.73885726928711, -12.671009063720703, 67.28881072998047, -0.591614305973053], "tau_ext": [-16.67058753967285, -41.67816162109375, 31.773752212524414, 31.3433895111084, 9.497933387756348, -2.9884026050567627, -0.1134241446852684], "tcp_pose": [0.6779235601425171, 0.03275918588042259, -0.2149914652109146, -0.0022651725448668003, -0.004568743985146284, 0.9998868703842163, 0.014150870032608509], "tcp_vel": [0.00024473309167660773, -0.000357123528374359, 0.00010985590051859617, -0.0004489152051974088, -0.0004402926133479923, 2.5832790925051086e-05], "flange_pose": [0.6786224246025085, 0.028517508879303932, -0.06505308300256729, -0.0022651725448668003, -0.004568743985146284, 0.9998868703842163, 0.014150870032608509], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10368347167969, 15.10071849822998, 28.15846824645996, 0.37717965245246887, -24.154273986816406, 1.8279781341552734], "ext_wrench_in_world": [-108.36625419580712, 14.895686305335019, -27.24354775644226, -0.16654090635929902, -24.09537096591668, -2.5095980795215334]}
+{"timestamp_ns": 1789729559196768422, "elapsed_ms": 2666, "source_timestamp_ns": 1789729559195283970, "q": [0.8367874026298523, -1.897664189338684, -1.0065983533859253, 1.3810880184173584, -0.16026180982589722, 0.5943720936775208, 0.7031641602516174], "theta": [0.8388648629188538, -1.8957476615905762, -1.0048065185546875, 1.3626840114593506, -0.16083411872386932, 0.5943230390548706, 0.7031098008155823], "dq": [0.0018824141006916761, 0.00024230685085058212, 0.000818859611172229, -0.001706051523797214, 0.0005105464369989932, -0.0018808511085808277, 0.002703144447878003], "dtheta": [-5.104114734422183e-06, 0.00030602686456404626, -0.0006993975839577615, -0.00015815517690498382, 0.0002518669643905014, -0.0008019919623620808, 0.0007361001335084438], "tau": [55.48999786376953, 23.689998626708984, 5.468000411987305, -26.316001892089844, -2.552000045776367, 2.636000156402588, -0.5440000295639038], "tau_des": [0.4627036154270172, -0.6246410608291626, -0.06674101203680038, -0.5678439736366272, 0.9019783139228821, -1.1313953399658203, -0.5870931148529053], "tau_dot": [-63.63690185546875, 25.291959762573242, -7.2361626625061035, 27.1729736328125, 54.95015335083008, -96.71167755126953, 37.26066207885742], "tau_ext": [-16.696563720703125, -41.64693832397461, 31.75771713256836, 31.350971221923828, 9.500362396240234, -2.9956514835357666, -0.11237819492816925], "tcp_pose": [0.6779235005378723, 0.0327579490840435, -0.21499234437942505, -0.0022657671943306923, -0.004568459466099739, 0.9998868703842163, 0.014150123111903667], "tcp_vel": [0.0001920964423334226, -0.0005539218545891345, 7.7809318099753e-06, -0.0004988524015061557, 0.00042273697908967733, -0.0015773215563967824], "flange_pose": [0.6786225438117981, 0.02851649932563305, -0.06505394726991653, -0.0022657671943306923, -0.004568459466099739, 0.9998868703842163, 0.014150123111903667], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08140563964844, 15.087483406066895, 28.15012550354004, 0.3728916049003601, -24.14679527282715, 1.8248904943466187], "ext_wrench_in_world": [-108.34384283329149, 14.882444710702206, -27.23557464023021, -0.16232274755773593, -24.087947090026468, -2.506282451540533]}
+{"timestamp_ns": 1789729559230102008, "elapsed_ms": 2700, "source_timestamp_ns": 1789729559225288303, "q": [0.8367882370948792, -1.8976640701293945, -1.0065996646881104, 1.3810887336730957, -0.1602599322795868, 0.5943738222122192, 0.703163206577301], "theta": [0.8388655781745911, -1.8957476615905762, -1.0048080682754517, 1.362684965133667, -0.16083267331123352, 0.5943242311477661, 0.7031095623970032], "dq": [0.0006714446353726089, -2.7416215743869543e-05, 0.0006417269469238818, 0.00084288528887555, -0.0005811168230138719, 0.0001773450057953596, -0.002211688319221139], "dtheta": [3.6500041460385546e-05, -0.0002829016011673957, -0.00010360837768530473, 0.00036142455064691603, -0.001087296404875815, 0.00021164369536563754, -0.000627879926469177], "tau": [55.5, 23.689998626708984, 5.452000141143799, -26.280000686645508, -2.576000213623047, 2.680000066757202, -0.5560000538825989], "tau_des": [0.49330928921699524, -0.4870850145816803, -0.2045833319425583, -0.5955792665481567, 0.9351027011871338, -1.1496803760528564, -0.5412129163742065], "tau_dot": [87.9986343383789, -20.145105361938477, -9.78637409210205, 44.275428771972656, -19.368671417236328, 20.2163143157959, -11.869612693786621], "tau_ext": [-16.69438934326172, -41.68179702758789, 31.778034210205078, 31.36366081237793, 9.50514030456543, -2.998664617538452, -0.1109233871102333], "tcp_pose": [0.6779239773750305, 0.032757457345724106, -0.21499204635620117, -0.0022652277257293463, -0.004567925352603197, 0.9998868703842163, 0.014150725677609444], "tcp_vel": [1.2917298590764403e-05, -8.640212763566524e-05, -0.00011274308781139553, -0.0010179014643654227, -0.0005577910924330354, 0.0013994871405884624], "flange_pose": [0.678622841835022, 0.028515825048089027, -0.06505366414785385, -0.0022652277257293463, -0.004567925352603197, 0.9998868703842163, 0.014150725677609444], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09223937988281, 15.076008796691895, 28.153284072875977, 0.3709290027618408, -24.145633697509766, 1.8256007432937622], "ext_wrench_in_world": [-108.35454165934165, 14.871115393197535, -27.239105863447044, -0.1603976028419928, -24.08674468776673, -2.506997408987024]}
+{"timestamp_ns": 1789729559263441663, "elapsed_ms": 2733, "source_timestamp_ns": 1789729559255284119, "q": [0.8367899656295776, -1.8976638317108154, -1.006602168083191, 1.3810887336730957, -0.1602587103843689, 0.5943736433982849, 0.7031644582748413], "theta": [0.8388670086860657, -1.8957475423812866, -1.0048109292984009, 1.3626848459243774, -0.16083171963691711, 0.5943242311477661, 0.7031105160713196], "dq": [-0.0016896375454962254, 0.001481587183661759, 0.0001876549213193357, 0.0016582026146352291, 0.0009092636173591018, -0.0002905554138123989, -0.0009683977114036679], "dtheta": [0.00022053484281059355, 3.945550270145759e-05, 0.0001304056349908933, 0.00010331480734748766, 0.0008460020180791616, 0.0003925661148969084, 0.0002593719691503793], "tau": [55.52000045776367, 23.68000030517578, 5.408000469207764, -26.2760009765625, -2.576000213623047, 2.684000015258789, -0.5520000457763672], "tau_des": [0.4265501797199249, -0.5536272525787354, -0.20925739407539368, -0.5306323766708374, 0.8842660784721375, -1.1746917963027954, -0.5762686133384705], "tau_dot": [53.163795471191406, -18.935657501220703, -19.486835479736328, 26.018335342407227, 55.11170959472656, 53.143375396728516, 37.795955657958984], "tau_ext": [-16.677095413208008, -41.696556091308594, 31.804582595825195, 31.350902557373047, 9.50133991241455, -2.9981255531311035, -0.11295061558485031], "tcp_pose": [0.6779250502586365, 0.032756075263023376, -0.21499109268188477, -0.002264369511976838, -0.0045660389587283134, 0.9998868703842163, 0.014150291681289673], "tcp_vel": [-6.774962821509689e-05, 0.00016180700913537294, 9.745894931256771e-05, 0.0008340587373822927, 8.211161912186071e-05, -0.0006567466189153492], "flange_pose": [0.678623616695404, 0.028514567762613297, -0.06505270302295685, -0.002264369511976838, -0.0045660389587283134, 0.9998868703842163, 0.014150291681289673], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10271453857422, 15.103816986083984, 28.139951705932617, 0.379080206155777, -24.14470100402832, 1.8265960216522217], "ext_wrench_in_world": [-108.36510448031251, 14.898825482147348, -27.22513894167068, -0.16864869782079228, -24.085860783597646, -2.507909354984228]}
+{"timestamp_ns": 1789729559296769670, "elapsed_ms": 2766, "source_timestamp_ns": 1789729559295276280, "q": [0.8367903232574463, -1.8976658582687378, -1.0066051483154297, 1.3810884952545166, -0.16025826334953308, 0.594372570514679, 0.7031631469726562], "theta": [0.8388676643371582, -1.8957493305206299, -1.004814624786377, 1.3626844882965088, -0.1608324497938156, 0.5943232774734497, 0.7031102776527405], "dq": [-0.0010188603773713112, 0.0011786377290263772, -0.0002982802106998861, 0.001555121154524386, -0.00348269403912127, 0.001095065614208579, -0.0008775416645221412], "dtheta": [0.0003153043217025697, -0.0002223750198027119, -0.00020254639093764126, -0.00042034932994283736, 0.0002456817892380059, -0.0005505632143467665, 8.978106779977679e-05], "tau": [55.529998779296875, 23.600000381469727, 5.4720001220703125, -26.284000396728516, -2.5880000591278076, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.3865799903869629, -0.5675404667854309, -0.17146696150302887, -0.5053070187568665, 0.9128741025924683, -1.1677446365356445, -0.5733453035354614], "tau_dot": [13.44616413116455, -122.12925720214844, 50.17477035522461, 87.84838104248047, -12.247450828552246, 5.125866889953613, -4.694581031799316], "tau_ext": [-16.695632934570312, -41.687705993652344, 31.80358123779297, 31.35152244567871, 9.505114555358887, -2.9922633171081543, -0.12032410502433777], "tcp_pose": [0.6779254078865051, 0.032754939049482346, -0.21499165892601013, -0.002264151582494378, -0.004566197283565998, 0.9998869299888611, 0.014148461632430553], "tcp_vel": [0.00010432779527036473, -3.5058015782851726e-05, 0.00024144718190655112, -0.0002604532928671688, -0.00016177777433767915, -0.00027227806276641786], "flange_pose": [0.6786239147186279, 0.02851398102939129, -0.06505324691534042, -0.002264151582494378, -0.004566197283565998, 0.9998869299888611, 0.014148461632430553], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10971069335938, 15.132941246032715, 28.12964630126953, 0.3806290924549103, -24.14336585998535, 1.8226261138916016], "ext_wrench_in_world": [-108.37230864886075, 14.927447081164997, -27.214086421325128, -0.1701823112762531, -24.08466194292186, -2.5038084156478617]}
+{"timestamp_ns": 1789729559330106335, "elapsed_ms": 2800, "source_timestamp_ns": 1789729559325366462, "q": [0.8367909789085388, -1.8976681232452393, -1.0066083669662476, 1.381088376045227, -0.16025805473327637, 0.5943692326545715, 0.7031619548797607], "theta": [0.8388686776161194, -1.8957513570785522, -1.0048182010650635, 1.3626842498779297, -0.1608324497938156, 0.5943206548690796, 0.703109085559845], "dq": [0.0011371758300811052, 0.0011561611900106072, 0.000449245679192245, -0.001981965498998761, -0.0001723591994959861, -0.0018910346552729607, -0.002381796482950449], "dtheta": [-0.00033407623413950205, 2.597817001515068e-05, -0.0002385957195656374, -1.1089977306255605e-05, 0.0002553361700847745, -0.0012666829861700535, -0.0009311409667134285], "tau": [55.529998779296875, 23.6299991607666, 5.4800004959106445, -26.332000732421875, -2.6000001430511475, 2.640000104904175, -0.5760000348091125], "tau_des": [0.573504626750946, -0.49891921877861023, -0.14676111936569214, -0.6505522131919861, 0.8915369510650635, -1.1060891151428223, -0.5535590648651123], "tau_dot": [6.473117351531982, -115.25223541259766, 7.910652160644531, -51.741153717041016, -51.11355972290039, -38.39543151855469, -39.66067123413086], "tau_ext": [-16.71605682373047, -41.6531982421875, 31.78838348388672, 31.36781120300293, 9.51291561126709, -2.9994142055511475, -0.1152963787317276], "tcp_pose": [0.6779254078865051, 0.03275333344936371, -0.21499240398406982, -0.0022645907010883093, -0.00456638541072607, 0.9998869299888611, 0.014145608060061932], "tcp_vel": [-0.00025202397955581546, -0.0003187545808032155, -0.0003920708841178566, -0.0007912528235465288, 0.001322749420069158, 0.0006329293828457594], "flange_pose": [0.6786240935325623, 0.028513234108686447, -0.06505396962165833, -0.0022645907010883093, -0.00456638541072607, 0.9998869299888611, 0.014145608060061932], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10383605957031, 15.108222007751465, 28.146808624267578, 0.3696531057357788, -24.139604568481445, 1.8201643228530884], "ext_wrench_in_world": [-108.36631915193955, 14.903079020459442, -27.231960780138913, -0.15922198298315046, -24.080885332590842, -2.50115178711005]}
+{"timestamp_ns": 1789729559363430404, "elapsed_ms": 2833, "source_timestamp_ns": 1789729559355345372, "q": [0.8367928266525269, -1.8976713418960571, -1.006609559059143, 1.381087303161621, -0.1602579802274704, 0.5943639278411865, 0.7031619548797607], "theta": [0.838871955871582, -1.8957555294036865, -1.0048199892044067, 1.3626834154129028, -0.16083194315433502, 0.5943156480789185, 0.703109085559845], "dq": [0.0017416016198694706, 0.00048210754175670445, -0.001305628102272749, 0.00026935379719361663, 0.000914858072064817, -0.0010829080129042268, 0.001079031964763999], "dtheta": [0.00035347178345546126, -0.00032820337219163775, -0.0002375817857682705, -0.0001695879764156416, 0.00042889712494798005, 0.0005824846448376775, 0.00011499204993015155], "tau": [55.48999786376953, 23.69999885559082, 5.444000244140625, -26.316001892089844, -2.5880000591278076, 2.680000066757202, -0.5440000295639038], "tau_des": [0.3910282850265503, -0.5496910810470581, -0.17719322443008423, -0.50761479139328, 0.9150510430335999, -1.1792864799499512, -0.5725386738777161], "tau_dot": [-80.29141998291016, 142.2796173095703, -66.26224517822266, -18.789098739624023, -25.964847564697266, 75.03913879394531, -20.02469253540039], "tau_ext": [-16.688608169555664, -41.64252853393555, 31.79777717590332, 31.348779678344727, 9.51224422454834, -2.9940474033355713, -0.1173693910241127], "tcp_pose": [0.6779247522354126, 0.03275296837091446, -0.21499226987361908, -0.002265078714117408, -0.004566947929561138, 0.9998869895935059, 0.01414263155311346], "tcp_vel": [0.00018452164658810943, 0.00012007307668682188, 0.0002361255610594526, 0.0003488427901174873, -0.0007644621655344963, -0.00034072797279804945], "flange_pose": [0.678623616695404, 0.02851376309990883, -0.06505381315946579, -0.002265078714117408, -0.004566947929561138, 0.9998869895935059, 0.01414263155311346], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09994506835938, 15.083724975585938, 28.12641716003418, 0.3586477041244507, -24.130754470825195, 1.8195908069610596], "ext_wrench_in_world": [-108.3621537622908, 14.877765311678433, -27.212275842162796, -0.14826934072065107, -24.07196921644115, -2.5002328805559144]}
+{"timestamp_ns": 1789729559396765570, "elapsed_ms": 2866, "source_timestamp_ns": 1789729559395310890, "q": [0.8367958664894104, -1.8976750373840332, -1.006609559059143, 1.3810869455337524, -0.16025544703006744, 0.5943609476089478, 0.7031564116477966], "theta": [0.8388744592666626, -1.8957597017288208, -1.0048205852508545, 1.362682819366455, -0.1608297973871231, 0.5943125486373901, 0.7031031250953674], "dq": [-0.0023058836814016104, 0.0018495735712349415, 0.0004316529375500977, 0.0014720452018082142, -0.00011992353392997757, -0.0022822341416031122, -0.0016961094224825501], "dtheta": [0.0002544357848819345, -0.00014741280756425112, -0.00045469877659343183, -0.00035325164208188653, -0.00043693516636267304, -0.00018560131138656288, 4.418858225108124e-06], "tau": [55.5, 23.709999084472656, 5.432000160217285, -26.312002182006836, -2.6000001430511475, 2.700000047683716, -0.5560000538825989], "tau_des": [0.3811085522174835, -0.5803596377372742, -0.1442921757698059, -0.5050040483474731, 0.9381192326545715, -1.1673914194107056, -0.5602765679359436], "tau_dot": [-100.02066802978516, -2.5373072624206543, -81.20806884765625, -3.886969804763794, -47.53374481201172, 85.75209045410156, -14.836851119995117], "tau_ext": [-16.700016021728516, -41.654457092285156, 31.789621353149414, 31.34964370727539, 9.509893417358398, -2.996255397796631, -0.11199165135622025], "tcp_pose": [0.6779236197471619, 0.032753873616456985, -0.2149917632341385, -0.002265265677124262, -0.0045703318901360035, 0.9998869895935059, 0.014141162857413292], "tcp_vel": [0.00033015452208928764, -0.0001994684134842828, 0.0002763719530776143, -0.000589245930314064, -0.0007832121336832643, -3.373963409103453e-05], "flange_pose": [0.6786224842071533, 0.028515109792351723, -0.065053291618824, -0.002265265677124262, -0.0045703318901360035, 0.9998869895935059, 0.014141162857413292], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08903503417969, 15.067651748657227, 28.135509490966797, 0.3511182367801666, -24.126750946044922, 1.8181959390640259], "ext_wrench_in_world": [-108.35124884555795, 14.861242380789097, -27.22188212932068, -0.1406075760315893, -24.067945891679347, -2.498688008989065]}
+{"timestamp_ns": 1789729559430099176, "elapsed_ms": 2900, "source_timestamp_ns": 1789729559425336638, "q": [0.8367975950241089, -1.8976774215698242, -1.0066088438034058, 1.381086826324463, -0.16025376319885254, 0.594360888004303, 0.7031530737876892], "theta": [0.8388758897781372, -1.8957618474960327, -1.0048205852508545, 1.3626830577850342, -0.1608271598815918, 0.5943127870559692, 0.703099250793457], "dq": [0.0019504933152347803, 0.0014696227153763175, 0.0012103986227884889, 0.0008191235829144716, -0.0012339265085756779, 0.001648603705689311, 0.002584809437394142], "dtheta": [0.00025720958365127444, -8.445990533800796e-05, -2.635742748680059e-05, -7.288354390766472e-05, 0.00035810910048894584, -0.0003216442419216037, 0.00014538662799168378], "tau": [55.43000030517578, 23.60999870300293, 5.432000160217285, -26.296001434326172, -2.616000175476074, 2.6520001888275146, -0.5680000185966492], "tau_des": [0.42759835720062256, -0.5251697897911072, -0.22174423933029175, -0.5446042418479919, 0.9061554074287415, -1.1574864387512207, -0.555699348449707], "tau_dot": [-51.586700439453125, -98.51473236083984, -40.99333953857422, 70.7210693359375, -125.65235137939453, -29.748863220214844, -15.105391502380371], "tau_ext": [-16.690237045288086, -41.66148376464844, 31.791946411132812, 31.348398208618164, 9.505121231079102, -2.9985451698303223, -0.10619892179965973], "tcp_pose": [0.6779229640960693, 0.03275506943464279, -0.21499133110046387, -0.0022649134043604136, -0.004572533071041107, 0.9998869895935059, 0.014141042716801167], "tcp_vel": [-3.865715189022012e-05, -1.2171356047474546e-06, 0.00011435672786319628, -2.6050405722344294e-05, 0.000121616008982528, -0.0003096876898780465], "flange_pose": [0.678621768951416, 0.028516342863440514, -0.06505285948514938, -0.0022649134043604136, -0.004572533071041107, 0.9998869895935059, 0.014141042716801167], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0716781616211, 15.099347114562988, 28.1416072845459, 0.3644367754459381, -24.124996185302734, 1.823354721069336], "ext_wrench_in_world": [-108.3342534520771, 14.892773773177762, -27.227243393974973, -0.1538577515143157, -24.066169951359086, -2.503731057365148]}
+{"timestamp_ns": 1789729559463429283, "elapsed_ms": 2933, "source_timestamp_ns": 1789729559455338462, "q": [0.8367993235588074, -1.8976774215698242, -1.0066170692443848, 1.381087303161621, -0.16025197505950928, 0.5943619012832642, 0.7031528949737549], "theta": [0.8388775587081909, -1.8957622051239014, -1.004828929901123, 1.3626832962036133, -0.1608249992132187, 0.5943139791488647, 0.703099250793457], "dq": [0.0007707629702053964, -0.0023124755825847387, 0.00048209980013780296, -0.0013416382716968656, 0.00280738715082407, 0.0004908598493784666, 0.005082499701529741], "dtheta": [-1.1377526789146941e-05, 5.304077785694972e-05, -0.00030931553919799626, 4.11859264204395e-06, 0.00031068839598447084, 0.00024436420062556863, -8.348024130100384e-05], "tau": [55.48999786376953, 23.670000076293945, 5.4760003089904785, -26.316001892089844, -2.572000026702881, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.4441108703613281, -0.5719480514526367, -0.13808536529541016, -0.5404590964317322, 0.9101770520210266, -1.166922926902771, -0.5650424957275391], "tau_dot": [11.09463882446289, 65.43272399902344, 13.327552795410156, -15.593653678894043, -8.522250175476074, -58.49056625366211, 4.255105972290039], "tau_ext": [-16.69805908203125, -41.631065368652344, 31.763465881347656, 31.35039520263672, 9.501825332641602, -2.9984796047210693, -0.1041540801525116], "tcp_pose": [0.6779258847236633, 0.03275070711970329, -0.21499080955982208, -0.0022629990708082914, -0.004569252487272024, 0.9998870491981506, 0.01413920521736145], "tcp_vel": [0.00011679733142955229, -0.0001265585597138852, -8.336689461430069e-06, 0.0001929720165207982, -9.875482646748424e-05, -0.0003469846269581467], "flange_pose": [0.6786240935325623, 0.02851252816617489, -0.0650523230433464, -0.0022629990708082914, -0.004569252487272024, 0.9998870491981506, 0.01413920521736145], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06980895996094, 15.083874702453613, 28.135616302490234, 0.3642737567424774, -24.125715255737305, 1.826734185218811], "ext_wrench_in_world": [-108.33201550553332, 14.87777183791962, -27.22216213033801, -0.15385355217997562, -24.066799899662154, -2.5070423666777537]}
+{"timestamp_ns": 1789729559496767948, "elapsed_ms": 2966, "source_timestamp_ns": 1789729559495314438, "q": [0.836798906326294, -1.8976787328720093, -1.00662100315094, 1.3810875415802002, -0.16025066375732422, 0.5943635106086731, 0.7031532526016235], "theta": [0.8388779163360596, -1.8957630395889282, -1.0048325061798096, 1.3626835346221924, -0.16082333028316498, 0.5943163633346558, 0.7030990123748779], "dq": [0.00019544275710359216, -0.0022305173333734274, -0.00038960715755820274, 2.3075524950399995e-05, 0.002305229427292943, 0.00022986196563579142, -0.0009654707973822951], "dtheta": [0.00018487741181161255, -7.78274770709686e-05, -9.046833292813972e-05, -4.094741143489955e-06, -0.0005512378411367536, -0.00010672696953406557, -0.0006514656124636531], "tau": [55.48999786376953, 23.739999771118164, 5.456000328063965, -26.288002014160156, -2.580000162124634, 2.680000066757202, -0.5480000376701355], "tau_des": [0.4091818928718567, -0.556288480758667, -0.16592489182949066, -0.5266435146331787, 0.9352185726165771, -1.1694245338439941, -0.5504208207130432], "tau_dot": [-66.93942260742188, -3.4112300872802734, 14.344870567321777, 39.33144760131836, -18.58652687072754, 20.707359313964844, 18.422401428222656], "tau_ext": [-16.7089900970459, -41.67343521118164, 31.803428649902344, 31.35965347290039, 9.498404502868652, -3.000370740890503, -0.11024781316518784], "tcp_pose": [0.6779267191886902, 0.032749272882938385, -0.2149917483329773, -0.0022624379489570856, -0.0045678201131522655, 0.9998870491981506, 0.014138334430754185], "tcp_vel": [0.0001058112975442782, -8.177975541912019e-05, 0.00013225125439930707, -0.0005223051412031054, -0.000459304079413414, 0.0009475942351855338], "flange_pose": [0.6786247491836548, 0.028511350974440575, -0.06505324691534042, -0.0022624379489570856, -0.0045678201131522655, 0.9998870491981506, 0.014138334430754185], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0687255859375, 15.092748641967773, 28.147655487060547, 0.3671499788761139, -24.127593994140625, 1.8245387077331543], "ext_wrench_in_world": [-108.33099625015986, 14.887256125474646, -27.234094023097203, -0.15676885977853583, -24.068770220575168, -2.5048465307986136]}
+{"timestamp_ns": 1789729559530161868, "elapsed_ms": 3000, "source_timestamp_ns": 1789729559525379166, "q": [0.8368009924888611, -1.8976833820343018, -1.0066224336624146, 1.3810871839523315, -0.1602494865655899, 0.5943634510040283, 0.7031551599502563], "theta": [0.8388793468475342, -1.8957674503326416, -1.0048341751098633, 1.3626835346221924, -0.16082260012626648, 0.5943163633346558, 0.7031002044677734], "dq": [-0.000872531090863049, 0.0016208625165745616, -0.0014293912099674344, -0.0006476702983491123, -0.0006308096926659346, 0.0018288834253326058, 0.0005889004096388817], "dtheta": [0.0006258075009100139, 0.00022695014195051044, -9.832339128479362e-05, -7.40030882298015e-05, 0.0001047732584993355, 0.000588804017752409, -1.4460963484452805e-06], "tau": [55.5, 23.65999984741211, 5.444000244140625, -26.26000213623047, -2.5880000591278076, 2.6680002212524414, -0.5840000510215759], "tau_des": [0.2776990830898285, -0.6486316323280334, -0.1502528190612793, -0.4257928431034088, 0.9301066994667053, -1.2122138738632202, -0.571439266204834], "tau_dot": [66.02146911621094, 16.22119903564453, 30.708303451538086, 32.52579879760742, -32.00177764892578, 7.316298484802246, -92.8978042602539], "tau_ext": [-16.658632278442383, -41.666507720947266, 31.815153121948242, 31.327119827270508, 9.494730949401855, -2.9992809295654297, -0.11150722950696945], "tcp_pose": [0.6779264211654663, 0.03274999186396599, -0.2149917483329773, -0.0022613995242863894, -0.004567582625895739, 0.9998871088027954, 0.014136566780507565], "tcp_vel": [0.000352564180502668, -6.566206593561219e-06, 0.0005777232581749558, 0.0005982228904031217, -0.0011043965350836515, -0.0003036310081370175], "flange_pose": [0.6786240935325623, 0.02851260080933571, -0.06505323201417923, -0.0022613995242863894, -0.004567582625895739, 0.9998871088027954, 0.014136566780507565], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06434631347656, 15.134896278381348, 28.141096115112305, 0.3786368668079376, -24.123241424560547, 1.8228415250778198], "ext_wrench_in_world": [-108.3269047664315, 14.929197875746071, -27.22664273441824, -0.16829346754171073, -24.064581933157893, -2.502891851679122]}
+{"timestamp_ns": 1789729559563440279, "elapsed_ms": 3033, "source_timestamp_ns": 1789729559555346718, "q": [0.8368022441864014, -1.8976867198944092, -1.0066238641738892, 1.3810874223709106, -0.16025009751319885, 0.5943601131439209, 0.7031542658805847], "theta": [0.838880717754364, -1.895770788192749, -1.004835844039917, 1.3626841306686401, -0.16082285344600677, 0.5943130254745483, 0.7030997276306152], "dq": [0.001157711143605411, -0.0009783463319763541, 0.0008568320772610605, -0.0037179263308644295, 0.0002842648245859891, 0.0002516201348043978, 0.0014185064937919378], "dtheta": [-1.8507782442611642e-05, -0.00021121434110682458, -0.0005819991929456592, -7.551513590442482e-06, -0.0002478158858139068, -0.0010541469091549516, -0.00012852769577875733], "tau": [55.529998779296875, 23.65999984741211, 5.4760003089904785, -26.304000854492188, -2.568000078201294, 2.6600000858306885, -0.5560000538825989], "tau_des": [0.502564013004303, -0.5295212268829346, -0.10978581011295319, -0.6048084497451782, 0.9233385920524597, -1.1254096031188965, -0.5648800730705261], "tau_dot": [28.817983627319336, 74.138671875, 12.105637550354004, 25.63017463684082, 49.96719741821289, -47.81990432739258, -7.299834251403809], "tau_ext": [-16.691551208496094, -41.653541564941406, 31.80006217956543, 31.35991859436035, 9.505982398986816, -3.0006449222564697, -0.11195952445268631], "tcp_pose": [0.6779255867004395, 0.03274957090616226, -0.2149924337863922, -0.002261796500533819, -0.004568873438984156, 0.9998871088027954, 0.014133515767753124], "tcp_vel": [-2.6079991584992968e-05, -0.00044087698915973306, -0.00020325729565229267, -0.001365737640298903, 0.00048523684381507337, 2.292394856340252e-05], "flange_pose": [0.6786234378814697, 0.028513096272945404, -0.06505389511585236, -0.002261796500533819, -0.004568873438984156, 0.9998871088027954, 0.014133515767753124], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07769775390625, 15.127396583557129, 28.108963012695312, 0.3747943639755249, -24.121980667114258, 1.8225204944610596], "ext_wrench_in_world": [-108.34009675111682, 14.92022271008275, -27.19468828779224, -0.16440021438314634, -24.06331114899181, -2.502405280714824]}
+{"timestamp_ns": 1789729559596771325, "elapsed_ms": 3066, "source_timestamp_ns": 1789729559595330522, "q": [0.8368040323257446, -1.8976891040802002, -1.0066261291503906, 1.381087064743042, -0.16024842858314514, 0.5943507552146912, 0.7031497955322266], "theta": [0.838883101940155, -1.8957736492156982, -1.004838466644287, 1.3626843690872192, -0.16082164645195007, 0.5943044424057007, 0.7030963897705078], "dq": [-0.0009530454990454018, 7.359111623372883e-05, 0.0023711815010756254, -0.0019897983875125647, -0.0017860454972833395, -0.0012178855249658227, 0.0012748729204759002], "dtheta": [1.768904439813923e-05, 6.279216177063063e-05, 0.00020152927027083933, -2.077383396681398e-05, -0.00041462815715931356, -6.648361159022897e-05, -0.0001879407063825056], "tau": [55.5099983215332, 23.619998931884766, 5.444000244140625, -26.288002014160156, -2.572000026702881, 2.640000104904175, -0.5840000510215759], "tau_des": [0.4528495669364929, -0.5259745717048645, -0.20077164471149445, -0.5614439249038696, 0.9239837527275085, -1.1514357328414917, -0.5503746867179871], "tau_dot": [-39.88439178466797, -23.56220817565918, -57.286643981933594, -3.344024658203125, 13.141494750976562, -31.88726806640625, -61.020118713378906], "tau_ext": [-16.70835304260254, -41.6247673034668, 31.78448486328125, 31.356081008911133, 9.504145622253418, -2.999988079071045, -0.1127709373831749], "tcp_pose": [0.6779242753982544, 0.03274774178862572, -0.21499302983283997, -0.00226434669457376, -0.004570649936795235, 0.9998871684074402, 0.014129549264907837], "tcp_vel": [5.323862296791049e-06, 5.6996952480403706e-05, 7.734070823062211e-05, -0.00011317685130052269, -0.00015505541523452848, 0.0005157585255801678], "flange_pose": [0.6786229014396667, 0.028512461110949516, -0.06505446881055832, -0.00226434669457376, -0.004570649936795235, 0.9998871684074402, 0.014129549264907837], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07276153564453, 15.075528144836426, 28.123445510864258, 0.3558323383331299, -24.11834144592285, 1.8190840482711792], "ext_wrench_in_world": [-108.3349481348785, 14.868220745452906, -27.21022871396461, -0.14538110508720736, -24.059616520014163, -2.498758646597012]}
+{"timestamp_ns": 1789729559630095774, "elapsed_ms": 3100, "source_timestamp_ns": 1789729559625330747, "q": [0.8368061184883118, -1.8976930379867554, -1.0066254138946533, 1.3810877799987793, -0.16024699807167053, 0.5943474173545837, 0.7031453251838684], "theta": [0.8388852477073669, -1.895776391029358, -1.004838466644287, 1.362684965133667, -0.16081973910331726, 0.5943008661270142, 0.7030918598175049], "dq": [-0.0008370713330805302, -0.00027937101549468935, -0.0012524946359917521, -0.0014047081349417567, 0.001022240612655878, -0.0012625064700841904, -0.0007754378602840006], "dtheta": [0.00013546065019909292, -0.0002367739361943677, -0.00031158432830125093, 0.00022846325009595603, -0.0010172087932005525, 0.0003058364673051983, 0.00010024869698099792], "tau": [55.52000045776367, 23.65999984741211, 5.4720001220703125, -26.288002014160156, -2.5960001945495605, 2.6520001888275146, -0.5640000104904175], "tau_des": [0.4664199650287628, -0.512217104434967, -0.16956031322479248, -0.5833869576454163, 0.9476689100265503, -1.1461445093154907, -0.5462120771408081], "tau_dot": [15.863631248474121, -18.84156036376953, 24.164304733276367, -0.7812924981117249, -88.73715209960938, -10.692296981811523, -12.598921775817871], "tau_ext": [-16.694833755493164, -41.65294647216797, 31.79376792907715, 31.343990325927734, 9.500304222106934, -2.9973673820495605, -0.1034839078783989], "tcp_pose": [0.6779223680496216, 0.032748691737651825, -0.21499356627464294, -0.0022653641644865274, -0.004574126563966274, 0.9998871684074402, 0.01412744540721178], "tcp_vel": [0.00017603822925593704, -0.00016933221195358783, 2.1025776732130907e-05, -0.000938184792175889, -0.0008414448820985854, 0.0004325763729866594], "flange_pose": [0.6786212921142578, 0.028514046221971512, -0.0650549829006195, -0.0022653641644865274, -0.004574126563966274, 0.9998871684074402, 0.01412744540721178], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06100463867188, 15.085042953491211, 28.130481719970703, 0.3596581816673279, -24.118141174316406, 1.8215067386627197], "ext_wrench_in_world": [-108.32346716565937, 14.87716664501412, -27.216899530478127, -0.14905645238670398, -24.05939469484356, -2.5010564972878178]}
+{"timestamp_ns": 1789729559663432119, "elapsed_ms": 3133, "source_timestamp_ns": 1789729559655334540, "q": [0.8368083834648132, -1.8976925611495972, -1.0066256523132324, 1.3810875415802002, -0.16024446487426758, 0.5943453311920166, 0.7031456232070923], "theta": [0.8388875722885132, -1.8957767486572266, -1.004838228225708, 1.362684965133667, -0.16081686317920685, 0.5942989587783813, 0.7030918598175049], "dq": [0.00016503187362104654, -0.0004064515233039856, 0.0008357742917723954, 0.0013330834917724133, -0.0024417585227638483, 0.0012560863979160786, 0.0005633956170640886], "dtheta": [4.02704936277587e-05, -0.00011875104246428236, 0.00011938309762626886, -8.891004108591005e-05, -6.512591789942235e-05, -0.0006266876007430255, 0.0005593735259026289], "tau": [55.5099983215332, 23.670000076293945, 5.4760003089904785, -26.296001434326172, -2.564000129699707, 2.6680002212524414, -0.5720000267028809], "tau_des": [0.48328888416290283, -0.5004867911338806, -0.2196068912744522, -0.5900267958641052, 0.9080022573471069, -1.1327757835388184, -0.5604164600372314], "tau_dot": [-107.63823699951172, -68.77274322509766, 37.30635070800781, -39.24302291870117, 28.262006759643555, 16.02492332458496, -26.53749656677246], "tau_ext": [-16.706157684326172, -41.659053802490234, 31.782880783081055, 31.350852966308594, 9.501028060913086, -2.994685649871826, -0.10190074890851974], "tcp_pose": [0.6779224276542664, 0.032748352736234665, -0.2149922102689743, -0.0022655667271465063, -0.004573043901473284, 0.9998871684074402, 0.014127746224403381], "tcp_vel": [-0.00013626899453811347, 1.4454211850534193e-05, -2.778764428512659e-05, -0.00041364881326444447, 0.0003802255087066442, -0.0003584939113352448], "flange_pose": [0.6786214113235474, 0.02851361595094204, -0.06505361944437027, -0.0022655667271465063, -0.004573043901473284, 0.9998871684074402, 0.014127746224403381], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05502319335938, 15.099651336669922, 28.13981819152832, 0.3657764196395874, -24.12303924560547, 1.8266990184783936], "ext_wrench_in_world": [-108.31764198449363, 14.892337498153998, -27.225789142260552, -0.1552071693782273, -24.06419855324929, -2.5063724509067247]}
+{"timestamp_ns": 1789729559696769424, "elapsed_ms": 3166, "source_timestamp_ns": 1789729559695295779, "q": [0.8368090987205505, -1.8976939916610718, -1.0066277980804443, 1.3810886144638062, -0.1602427363395691, 0.5943472981452942, 0.7031447291374207], "theta": [0.8388880491256714, -1.8957771062850952, -1.0048400163650513, 1.3626854419708252, -0.16081446409225464, 0.5943006277084351, 0.7030911445617676], "dq": [-0.0015147634549066424, 0.0020301626063883305, 0.00035245262552052736, -4.325617919676006e-05, -0.0007100582006387413, -0.000591087038628757, 0.00010780151933431625], "dtheta": [-8.47108822199516e-05, -0.00031491179834119976, -4.020048072561622e-05, 0.00015185783558990806, 0.0006684722029604018, 0.0008531870553269982, 8.804769095149823e-06], "tau": [55.5, 23.709999084472656, 5.452000141143799, -26.336000442504883, -2.5920000076293945, 2.688000202178955, -0.5480000376701355], "tau_des": [0.5185418128967285, -0.4646696448326111, -0.23638568818569183, -0.592893660068512, 0.8913639783859253, -1.1603224277496338, -0.5546518564224243], "tau_dot": [35.450923919677734, 36.57795333862305, -23.06681251525879, -19.312894821166992, -60.52641296386719, 38.697757720947266, 34.55635070800781], "tau_ext": [-16.7094783782959, -41.679141998291016, 31.782005310058594, 31.353002548217773, 9.501306533813477, -3.0000669956207275, -0.10789665579795837], "tcp_pose": [0.6779226064682007, 0.032747782766819, -0.2149927020072937, -0.002265030052512884, -0.004572793375700712, 0.9998871684074402, 0.014127382077276707], "tcp_vel": [-7.981961243785918e-05, 0.00022276744130067527, -0.00017853127792477608, 0.0006262168753892183, -8.077017264440656e-05, -0.00019369638175703585], "flange_pose": [0.6786214113235474, 0.02851315401494503, -0.06505411863327026, -0.002265030052512884, -0.004572793375700712, 0.9998871684074402, 0.014127382077276707], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05036926269531, 15.118969917297363, 28.149410247802734, 0.3759480118751526, -24.127437591552734, 1.8282907009124756], "ext_wrench_in_world": [-108.31317162694891, 14.911997214457866, -27.234978201775103, -0.16535540842516733, -24.068645426512546, -2.5080258074169084]}
+{"timestamp_ns": 1789729559730099681, "elapsed_ms": 3200, "source_timestamp_ns": 1789729559725319538, "q": [0.8368096947669983, -1.8976942300796509, -1.0066295862197876, 1.381089448928833, -0.16024206578731537, 0.5943474173545837, 0.7031447887420654], "theta": [0.8388890624046326, -1.8957780599594116, -1.0048420429229736, 1.3626859188079834, -0.16081470251083374, 0.5943006277084351, 0.7030911445617676], "dq": [0.003335175570100546, 0.00031851461972109973, 0.0005654346896335483, 0.003516718279570341, 0.000808939803391695, -0.001330127357505262, 0.001898455317132175], "dtheta": [-0.0003309625608380884, -0.0001718935527605936, 0.00018795188225340098, 0.00021239179477561265, -0.0009012885857373476, 0.00023712514666840434, 4.3292686314089224e-05], "tau": [55.5099983215332, 23.649999618530273, 5.448000431060791, -26.32000160217285, -2.5400002002716064, 2.684000015258789, -0.5520000457763672], "tau_des": [0.5526584982872009, -0.4650023579597473, -0.23529945313930511, -0.6212921738624573, 0.9157671928405762, -1.1434880495071411, -0.5463041663169861], "tau_dot": [123.76896667480469, -8.229406356811523, 10.102882385253906, -10.380340576171875, 74.30213928222656, 47.69081115722656, 19.97169303894043], "tau_ext": [-16.69025230407715, -41.68585968017578, 31.806196212768555, 31.34475326538086, 9.50272274017334, -3.0008740425109863, -0.10896249860525131], "tcp_pose": [0.6779229044914246, 0.03274679183959961, -0.21499288082122803, -0.002264911774545908, -0.0045721097849309444, 0.9998871684074402, 0.014126711525022984], "tcp_vel": [-9.608342224964872e-05, 8.739159238757566e-05, -0.000258898944593966, -0.0005349956918507814, -0.00011529016774147749, 0.000731715583242476], "flange_pose": [0.6786216497421265, 0.028512364253401756, -0.0650542825460434, -0.002264911774545908, -0.0045721097849309444, 0.9998871684074402, 0.014126711525022984], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06990814208984, 15.124958038330078, 28.139707565307617, 0.3810754120349884, -24.129379272460938, 1.8285144567489624], "ext_wrench_in_world": [-108.33269218388705, 14.917640419273436, -27.225068445725817, -0.17049830473771413, -24.0706302856966, -2.5082495170641304]}
+{"timestamp_ns": 1789729559763432368, "elapsed_ms": 3233, "source_timestamp_ns": 1789729559755293829, "q": [0.8368120193481445, -1.8976960182189941, -1.0066356658935547, 1.3810889720916748, -0.16024109721183777, 0.5943464636802673, 0.7031448483467102], "theta": [0.8388915657997131, -1.8957799673080444, -1.0048476457595825, 1.3626856803894043, -0.16081422567367554, 0.5942996740341187, 0.7030913829803467], "dq": [0.0002467032754793763, -0.0002097180695272982, -0.0022696172818541527, 0.0023994650691747665, 0.0003826742176897824, 0.0007522570085711777, -0.0009938734583556652], "dtheta": [0.00029879555222578347, -0.00015977198199834675, -9.918794967234135e-05, 0.00022621071548201144, 0.0004279466229490936, 0.00015161538613028824, -0.0007192384218797088], "tau": [55.529998779296875, 23.619998931884766, 5.452000141143799, -26.328001022338867, -2.564000129699707, 2.6680002212524414, -0.5760000348091125], "tau_des": [0.43911316990852356, -0.5155057907104492, -0.18892891705036163, -0.5624205470085144, 0.9124515652656555, -1.1564397811889648, -0.549858033657074], "tau_dot": [20.29378318786621, 32.0516471862793, -34.24367904663086, 7.409691333770752, 19.22755241394043, -11.946148872375488, -53.58311080932617], "tau_ext": [-16.701555252075195, -41.655174255371094, 31.78148651123047, 31.341501235961914, 9.505189895629883, -3.00524640083313, -0.11147365719079971], "tcp_pose": [0.6779248118400574, 0.03274400904774666, -0.21499215066432953, -0.0022632202599197626, -0.004570293705910444, 0.999887228012085, 0.014124251902103424], "tcp_vel": [-6.361085252137855e-05, 2.8483252663136227e-06, 3.0933235393604264e-05, 5.6583157856948674e-05, -4.639696271624416e-05, 0.0005507902824319899], "flange_pose": [0.6786230206489563, 0.028510315343737602, -0.0650535374879837, -0.0022632202599197626, -0.004570293705910444, 0.999887228012085, 0.014124251902103424], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0499038696289, 15.12879467010498, 28.137537002563477, 0.3806491792201996, -24.119707107543945, 1.8259739875793457], "ext_wrench_in_world": [-108.3125676190746, 14.921861910479379, -27.223314931595812, -0.17022795012824157, -24.061041862282565, -2.5053208778806204]}
+{"timestamp_ns": 1789729559796768244, "elapsed_ms": 3266, "source_timestamp_ns": 1789729559795312324, "q": [0.8368154764175415, -1.897705078125, -1.0066375732421875, 1.3810876607894897, -0.16024141013622284, 0.5943449139595032, 0.7031441926956177], "theta": [0.8388953804969788, -1.895789623260498, -1.0048494338989258, 1.3626846075057983, -0.16081494092941284, 0.5942984819412231, 0.7030913829803467], "dq": [0.0016406254144385457, 0.0016898256726562977, -0.00021766718418803066, 0.0006806793971918523, -0.0012364707654342055, 3.726297654793598e-05, -0.0004673737857956439], "dtheta": [0.00021352972544264048, -0.0009613670408725739, -9.575944568496197e-05, -0.00018136708240490407, -0.00040191347943618894, -0.0006255681510083377, 0.0003104338829871267], "tau": [55.459999084472656, 23.649999618530273, 5.440000057220459, -26.32400131225586, -2.56000018119812, 2.6560001373291016, -0.5440000295639038], "tau_des": [0.47818925976753235, -0.41373705863952637, -0.24196361005306244, -0.5913264155387878, 0.9415339231491089, -1.1404350996017456, -0.5521147847175598], "tau_dot": [-79.75978088378906, -63.34160614013672, -36.3117561340332, -18.641185760498047, 64.53954315185547, -6.071192264556885, 16.35833168029785], "tau_ext": [-16.714677810668945, -41.67282485961914, 31.821399688720703, 31.341793060302734, 9.502880096435547, -2.9984793663024902, -0.11156801879405975], "tcp_pose": [0.6779240369796753, 0.032745543867349625, -0.21499218046665192, -0.0022612272296100855, -0.004572983831167221, 0.9998872876167297, 0.014119992032647133], "tcp_vel": [-0.00016985881666187197, 0.00013789506920147687, -0.00010299618588760495, -0.001330705126747489, -0.00012798774696420878, 0.0004759302537422627], "flange_pose": [0.6786217093467712, 0.028513126075267792, -0.06505352258682251, -0.0022612272296100855, -0.004572983831167221, 0.9998872876167297, 0.014119992032647133], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0187759399414, 15.140929222106934, 28.141267776489258, 0.3750036358833313, -24.105722427368164, 1.8224252462387085], "ext_wrench_in_world": [-108.28153692940214, 14.933573290348146, -27.227408880180047, -0.1645543816206848, -24.04713366492354, -2.50119963360884]}
+{"timestamp_ns": 1789729559830100800, "elapsed_ms": 3300, "source_timestamp_ns": 1789729559825297942, "q": [0.8368201851844788, -1.8977116346359253, -1.0066381692886353, 1.3810867071151733, -0.1602391004562378, 0.5943397283554077, 0.703143298625946], "theta": [0.8389005661010742, -1.8957966566085815, -1.0048500299453735, 1.362683892250061, -0.16081351041793823, 0.5942937135696411, 0.7030911445617676], "dq": [0.00029651992372237146, 3.84784652851522e-05, 0.002063536085188389, 0.001983129419386387, -0.0022643336560577154, 1.164930290542543e-05, 0.0009934185072779655], "dtheta": [9.56225412664935e-05, 0.00032126749283634126, -4.9275490709987935e-06, -0.00022798725694883615, 0.0001675383682595566, -8.854925113155332e-07, -0.0001667929464019835], "tau": [55.47999954223633, 23.60999870300293, 5.464000225067139, -26.32400131225586, -2.568000078201294, 2.6560001373291016, -0.5600000023841858], "tau_des": [0.38335973024368286, -0.5679234266281128, -0.18451838195323944, -0.5054270029067993, 0.9263269901275635, -1.1720494031906128, -0.549845278263092], "tau_dot": [-27.257362365722656, -2.2893877029418945, 72.55414581298828, -16.495302200317383, 17.164459228515625, -50.11555862426758, -25.268444061279297], "tau_ext": [-16.69803237915039, -41.61676788330078, 31.803668975830078, 31.344118118286133, 9.508232116699219, -2.990222930908203, -0.1120837852358818], "tcp_pose": [0.6779225468635559, 0.03274672105908394, -0.21499134600162506, -0.0022610423620790243, -0.004574802704155445, 0.9998873472213745, 0.014116671867668629], "tcp_vel": [0.00017415889305993915, -4.176998118055053e-05, 0.0002477613161318004, 0.00047060009092092514, -0.00019235670333728194, -0.00018076271226163954], "flange_pose": [0.6786201596260071, 0.028515299782156944, -0.06505265831947327, -0.0022610423620790243, -0.004574802704155445, 0.9998873472213745, 0.014116671867668629], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05291748046875, 15.107678413391113, 28.12946891784668, 0.359087198972702, -24.112730026245117, 1.8187110424041748], "ext_wrench_in_world": [-108.31536190050801, 14.899114347519276, -27.216552182542337, -0.14846901799179313, -24.05411351019863, -2.497595439615504]}
+{"timestamp_ns": 1789729559863429837, "elapsed_ms": 3333, "source_timestamp_ns": 1789729559855312523, "q": [0.8368226289749146, -1.8977131843566895, -1.0066394805908203, 1.3810861110687256, -0.16023507714271545, 0.5943356156349182, 0.7031431198120117], "theta": [0.8389025330543518, -1.8957984447479248, -1.004852294921875, 1.3626835346221924, -0.16080966591835022, 0.5942891836166382, 0.7030911445617676], "dq": [-0.001491557341068983, 0.0006576143787242472, -0.00013345360639505088, 0.00029529797029681504, -0.00016078517364803702, -0.0012412011856213212, 0.0005420248489826918], "dtheta": [0.00014447282592300326, 0.00015024837921373546, -0.0003424685855861753, -4.2293188016628847e-05, 0.0002844034170266241, 0.0002838917716871947, -0.00032214511884376407], "tau": [55.5099983215332, 23.60999870300293, 5.4760003089904785, -26.268001556396484, -2.572000026702881, 2.6520001888275146, -0.5600000023841858], "tau_des": [0.39969179034233093, -0.5627503991127014, -0.15803025662899017, -0.5219711065292358, 0.9241975545883179, -1.1682779788970947, -0.5534623861312866], "tau_dot": [12.580530166625977, -69.57992553710938, 20.221609115600586, 54.3450813293457, -19.767202377319336, 2.359605550765991, -7.6510725021362305], "tau_ext": [-16.71290397644043, -41.60456085205078, 31.787654876708984, 31.35318946838379, 9.504900932312012, -2.9916346073150635, -0.1110292300581932], "tcp_pose": [0.6779220700263977, 0.032746173441410065, -0.21499072015285492, -0.002261994406580925, -0.0045737880282104015, 0.9998873472213745, 0.014115750789642334], "tcp_vel": [0.0002164219185942784, -0.00016012307605706155, 0.00015173450810834765, 0.00028129000565968454, -0.00035378499887883663, -0.00019048148533329368], "flange_pose": [0.678619921207428, 0.028515029698610306, -0.06505202502012253, -0.002261994406580925, -0.0045737880282104015, 0.9998873472213745, 0.014115750789642334], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07022094726562, 15.055158615112305, 28.12847137451172, 0.34010612964630127, -24.11575698852539, 1.8158413171768188], "ext_wrench_in_world": [-108.33220540153948, 14.84659609530805, -27.21678187451946, -0.1295009599921264, -24.05704960128229, -2.494850893541622]}
+{"timestamp_ns": 1789729559896767852, "elapsed_ms": 3366, "source_timestamp_ns": 1789729559895294607, "q": [0.836823582649231, -1.8977129459381104, -1.0066406726837158, 1.3810862302780151, -0.16023188829421997, 0.5943316221237183, 0.703137218952179], "theta": [0.8389033675193787, -1.8957984447479248, -1.004853367805481, 1.3626831769943237, -0.1608055830001831, 0.5942851305007935, 0.7030851244926453], "dq": [0.0005857989308424294, -0.0005410502781160176, -0.0003410106000956148, -0.0017358990153297782, 0.0005766548565588892, -0.0005490362527780235, -0.003627319820225239], "dtheta": [0.00025615395861677825, 0.00016184516425710171, 0.00013463916548062116, -0.00020753634453285486, 0.0002541353751439601, -0.0006436443654820323, -0.0009473421960137784], "tau": [55.5, 23.69999885559082, 5.444000244140625, -26.30000114440918, -2.6000001430511475, 2.6760001182556152, -0.5600000023841858], "tau_des": [0.3932935297489166, -0.5228452682495117, -0.23002509772777557, -0.5332352519035339, 0.9210545420646667, -1.1507278680801392, -0.5316595435142517], "tau_dot": [31.1627254486084, -21.69367790222168, -17.654558181762695, 21.438499450683594, -96.14283752441406, 31.49071502685547, 29.165700912475586], "tau_ext": [-16.708520889282227, -41.64960479736328, 31.80147933959961, 31.340009689331055, 9.48912239074707, -2.9895851612091064, -0.10893993079662323], "tcp_pose": [0.6779215335845947, 0.03274501860141754, -0.21499082446098328, -0.002263715723529458, -0.004575371276587248, 0.9998873472213745, 0.014115151017904282], "tcp_vel": [-2.0248124201316386e-05, -1.709611024125479e-05, 0.00022743691806681454, 6.683232641080394e-05, 0.0002202440082328394, 0.000774940534029156], "flange_pose": [0.678619921207428, 0.028514059260487556, -0.06505213677883148, -0.002263715723529458, -0.004575371276587248, 0.9998873472213745, 0.014115151017904282], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0406494140625, 15.080756187438965, 28.153553009033203, 0.35046154260635376, -24.116355895996094, 1.8158918619155884], "ext_wrench_in_world": [-108.30312485430187, 14.872780888518811, -27.240910694494037, -0.13978168735318858, -24.05774566044513, -2.4948432949940886]}
+{"timestamp_ns": 1789729559930097519, "elapsed_ms": 3400, "source_timestamp_ns": 1789729559925337241, "q": [0.8368237614631653, -1.8977131843566895, -1.0066413879394531, 1.3810861110687256, -0.16023243963718414, 0.5943325161933899, 0.703133761882782], "theta": [0.838903546333313, -1.8957988023757935, -1.0048543214797974, 1.3626834154129028, -0.1608053594827652, 0.5942853689193726, 0.7030808329582214], "dq": [0.00037905178032815456, -0.0004997781361453235, -0.000647725653834641, 0.0005308976978994906, 0.0025108240079134703, -0.0012826642487198114, -0.001937352935783565], "dtheta": [2.3468717699870467e-05, -0.00020362090435810387, -2.4579905584687367e-05, 0.0003840312419924885, -0.00034141651121899486, 0.0003445505572017282, -0.0009457801934331656], "tau": [55.54999923706055, 23.760000228881836, 5.440000057220459, -26.308000564575195, -2.56000018119812, 2.6720001697540283, -0.5560000538825989], "tau_des": [0.487496942281723, -0.4522465765476227, -0.2433576136827469, -0.5964944958686829, 0.9309618473052979, -1.1511383056640625, -0.5205445289611816], "tau_dot": [70.60079193115234, 154.5662841796875, -41.98859786987305, -15.122654914855957, 13.78209400177002, 14.527482986450195, 20.63187599182129], "tau_ext": [-16.7022705078125, -41.662052154541016, 31.789148330688477, 31.343608856201172, 9.493514060974121, -2.994492530822754, -0.10030460357666016], "tcp_pose": [0.6779220104217529, 0.03274482488632202, -0.21499058604240417, -0.0022629599552601576, -0.0045770686119794846, 0.9998873472213745, 0.014115030877292156], "tcp_vel": [-8.054029603954405e-05, 2.8803742679883726e-06, -0.00014994348748587072, -0.00036991681554354727, -0.00019851412798743695, 0.001306115766055882], "flange_pose": [0.6786202192306519, 0.028513899073004723, -0.06505189836025238, -0.0022629599552601576, -0.0045770686119794846, 0.9998873472213745, 0.014115030877292156], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.04650115966797, 15.112051010131836, 28.153610229492188, 0.36535727977752686, -24.12350845336914, 1.8210222721099854], "ext_wrench_in_world": [-108.30926867302499, 14.903638101207315, -27.240230512898545, -0.15455046514283635, -24.064888687096307, -2.5001029555935927]}
+{"timestamp_ns": 1789729559963430346, "elapsed_ms": 3433, "source_timestamp_ns": 1789729559955300805, "q": [0.8368238806724548, -1.8977129459381104, -1.0066472291946411, 1.3810861110687256, -0.16023267805576324, 0.5943325757980347, 0.7031344175338745], "theta": [0.8389034867286682, -1.895798921585083, -1.004860281944275, 1.362683653831482, -0.1608051061630249, 0.5942858457565308, 0.7030813097953796], "dq": [0.0010307965567335486, -0.0004073773743584752, -0.00023823074297979474, 0.0013733812374994159, -0.004015487618744373, -0.0008847367716953158, -0.0016647828742861748], "dtheta": [-0.0004432287532836199, 0.0002527099277358502, -0.0001044953751261346, 2.3071959276421694e-06, -0.0016792579554021358, -0.0004093047755304724, -0.00024759810185059905], "tau": [55.46999740600586, 23.739999771118164, 5.440000057220459, -26.34400177001953, -2.580000162124634, 2.684000015258789, -0.5800000429153442], "tau_des": [0.4941052794456482, -0.5483288168907166, -0.14431196451187134, -0.5828354954719543, 0.9525267481803894, -1.1421756744384766, -0.5385133624076843], "tau_dot": [-132.9027557373047, 124.93341827392578, -27.02402687072754, -16.32840347290039, -51.05551528930664, 45.7966423034668, -9.404165267944336], "tau_ext": [-16.715538024902344, -41.649349212646484, 31.769094467163086, 31.34908103942871, 9.497854232788086, -2.998946189880371, -0.10042546689510345], "tcp_pose": [0.6779240369796753, 0.032741572707891464, -0.2149907499551773, -0.0022618731018155813, -0.004574724938720465, 0.9998874068260193, 0.014113194309175014], "tcp_vel": [0.00015802631969563663, -0.0003149559488520026, -0.00014093307254370302, -0.0011899812379851937, -0.00021486706100404263, 0.0009468584903515875], "flange_pose": [0.6786219477653503, 0.02851119637489319, -0.06505203992128372, -0.0022618731018155813, -0.004574724938720465, 0.9998874068260193, 0.014113194309175014], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.04739379882812, 15.111145973205566, 28.154027938842773, 0.37126100063323975, -24.126062393188477, 1.8270328044891357], "ext_wrench_in_world": [-108.31002692506279, 14.90314701735031, -27.240954553670488, -0.16056666837240224, -24.067334836855746, -2.5060691121698127]}
+{"timestamp_ns": 1789729559996770370, "elapsed_ms": 3466, "source_timestamp_ns": 1789729559995318750, "q": [0.8368244767189026, -1.8977136611938477, -1.0066478252410889, 1.381086826324463, -0.1602293699979782, 0.5943330526351929, 0.7031347751617432], "theta": [0.8389037847518921, -1.8957997560501099, -1.0048624277114868, 1.3626835346221924, -0.16080248355865479, 0.5942867994308472, 0.7030820250511169], "dq": [0.0012986662331968546, -3.315110006951727e-05, -0.0024153294507414103, -0.0004476194444578141, -0.0004886521492153406, 0.0010388102382421494, 0.0013431820552796125], "dtheta": [-0.0001486456603743136, -0.00028486474184319377, -0.00035140648833476007, 6.793866486987099e-05, 0.0002879614767152816, -0.0005693204584531486, 4.316116246627644e-05], "tau": [55.40999984741211, 23.689998626708984, 5.420000076293945, -26.32400131225586, -2.580000162124634, 2.6720001697540283, -0.5560000538825989], "tau_des": [0.5359762907028198, -0.48265719413757324, -0.17345012724399567, -0.6216482520103455, 0.9028946757316589, -1.128818392753601, -0.5584726929664612], "tau_dot": [-181.9658966064453, -17.74007797241211, -34.59678649902344, -36.35725021362305, -32.90433883666992, 4.89463996887207, -15.513904571533203], "tau_ext": [-16.687496185302734, -41.69429397583008, 31.813739776611328, 31.344831466674805, 9.497069358825684, -3.004171848297119, -0.10305209457874298], "tcp_pose": [0.6779235601425171, 0.03274157643318176, -0.21499118208885193, -0.0022625059355050325, -0.004573678132146597, 0.9998874068260193, 0.01411366742104292], "tcp_vel": [-0.00016258892719633877, -0.00019250223704148084, -0.00032322428887709975, -0.0006678478675894439, 0.0006836985121481121, -0.00023453250469174236], "flange_pose": [0.6786215901374817, 0.028511056676506996, -0.06505247205495834, -0.0022625059355050325, -0.004573678132146597, 0.9998874068260193, 0.01411366742104292], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07333374023438, 15.143516540527344, 28.136005401611328, 0.38418665528297424, -24.128814697265625, 1.8299893140792847], "ext_wrench_in_world": [-108.33618008327426, 14.935006641748554, -27.221756381176085, -0.17353367066935996, -24.070118914907855, -2.509067647167513]}
+{"timestamp_ns": 1789729560030096599, "elapsed_ms": 3500, "source_timestamp_ns": 1789729560025310661, "q": [0.8368256092071533, -1.8977162837982178, -1.0066479444503784, 1.3810861110687256, -0.1602298468351364, 0.5943334102630615, 0.7031351327896118], "theta": [0.8389051556587219, -1.895802617073059, -1.0048630237579346, 1.3626829385757446, -0.160802960395813, 0.5942872762680054, 0.7030827403068542], "dq": [-3.289125015726313e-05, -0.0013656861847266555, -0.0009827392641454935, 0.0011593715753406286, -0.00032248557545244694, 1.6546704500797205e-05, -0.0022464890498667955], "dtheta": [-0.00012811843771487474, 2.3099832105799578e-05, -0.0003188882546965033, -0.0001617967354832217, 0.0003710419114213437, 0.0004120705125387758, 0.00021496435510925949], "tau": [55.48999786376953, 23.69999885559082, 5.456000328063965, -26.34400177001953, -2.576000213623047, 2.6640000343322754, -0.5760000348091125], "tau_des": [0.4454258680343628, -0.5553287267684937, -0.16849568486213684, -0.5274025797843933, 0.9074967503547668, -1.1786720752716064, -0.5629331469535828], "tau_dot": [22.57767677307129, 81.716064453125, -23.642641067504883, -38.98733901977539, -4.202409744262695, -4.71732234954834, -70.29399108886719], "tau_ext": [-16.68362045288086, -41.6654167175293, 31.803314208984375, 31.34340476989746, 9.496792793273926, -3.002347707748413, -0.10933146625757217], "tcp_pose": [0.6779235601425171, 0.0327424556016922, -0.2149907946586609, -0.0022614127956330776, -0.004574432969093323, 0.9998874068260193, 0.01411283016204834], "tcp_vel": [0.0001748971699271351, -6.048481009202078e-05, -8.684862223162781e-06, 0.0004056238103657961, -0.00020337979367468506, -0.0006956138531677425], "flange_pose": [0.678621232509613, 0.02851218916475773, -0.0650520771741867, -0.0022614127956330776, -0.004574432969093323, 0.9998874068260193, 0.01411283016204834], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09491729736328, 15.154210090637207, 28.106958389282227, 0.3891488015651703, -24.130043029785156, 1.8289985656738281], "ext_wrench_in_world": [-108.35768638998367, 14.94447167165678, -27.19258916610976, -0.17843855199608763, -24.0714247817688, -2.508050601779791]}
+{"timestamp_ns": 1789729560063428692, "elapsed_ms": 3533, "source_timestamp_ns": 1789729560055320315, "q": [0.836828351020813, -1.8977196216583252, -1.0066514015197754, 1.3810862302780151, -0.16022983193397522, 0.5943306088447571, 0.7031335234642029], "theta": [0.8389075398445129, -1.895806074142456, -1.004866123199463, 1.3626819849014282, -0.1608027070760727, 0.5942851305007935, 0.7030810713768005], "dq": [0.00041965756099671125, 2.486529410816729e-06, 0.0012926171766594052, -0.0006100496975705028, -0.0008338048355653882, 0.0008850382291711867, 0.0016622390830889344], "dtheta": [2.8369244319037534e-05, -0.0002934968506451696, -0.00028324747108854353, 0.00012396836245898157, -0.0010304111056029797, -7.538033969467506e-05, -0.0008197337156161666], "tau": [55.53999710083008, 23.619998931884766, 5.4760003089904785, -26.336000442504883, -2.6080000400543213, 2.6720001697540283, -0.5600000023841858], "tau_des": [0.44993990659713745, -0.4934972822666168, -0.186037078499794, -0.564198911190033, 0.9559905529022217, -1.1578441858291626, -0.5295196175575256], "tau_dot": [42.42268371582031, 42.73749923706055, -7.042654514312744, -20.491037368774414, -71.7818374633789, 22.38794708251953, 10.879426002502441], "tau_ext": [-16.706253051757812, -41.61477279663086, 31.77713394165039, 31.36548614501953, 9.50546932220459, -2.998558282852173, -0.10998531430959702], "tcp_pose": [0.677923858165741, 0.03274108096957207, -0.21499042212963104, -0.0022605713456869125, -0.004575161729007959, 0.9998874068260193, 0.01410960778594017], "tcp_vel": [9.991692058974877e-05, -0.0001779869053279981, -6.255110201891512e-05, -0.0011553148506209254, -0.0005540498532354832, 0.0014101340202614665], "flange_pose": [0.6786213517189026, 0.02851177752017975, -0.06505168229341507, -0.0022605713456869125, -0.004575161729007959, 0.9998874068260193, 0.01410960778594017], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11080169677734, 15.087116241455078, 28.110092163085938, 0.36823487281799316, -24.131000518798828, 1.8236051797866821], "ext_wrench_in_world": [-108.37294947552213, 14.877017505993738, -27.197830309099427, -0.1574527299495782, -24.072357628338885, -2.5026237557330577]}
+{"timestamp_ns": 1789729560096768934, "elapsed_ms": 3566, "source_timestamp_ns": 1789729560095341935, "q": [0.8368311524391174, -1.8977258205413818, -1.0066531896591187, 1.3810851573944092, -0.1602264642715454, 0.5943264365196228, 0.7031328678131104], "theta": [0.8389096856117249, -1.8958120346069336, -1.0048682689666748, 1.3626811504364014, -0.16079935431480408, 0.5942808389663696, 0.7030800580978394], "dq": [0.0007774961413815618, -0.0022693751379847527, 0.0017151193460449576, 0.0022645392455160618, -0.0022847240325063467, 0.0030598717276006937, -0.0007545872358605266], "dtheta": [0.0005694073624908924, -0.0004985701525583863, -5.1543775043683127e-05, 5.146372859599069e-05, -0.00013209058670327067, 0.0010331691009923816, -0.0003285323327872902], "tau": [55.44999694824219, 23.65999984741211, 5.428000450134277, -26.30000114440918, -2.576000213623047, 2.6520001888275146, -0.5440000295639038], "tau_des": [0.33846625685691833, -0.4948560893535614, -0.2540106773376465, -0.48103368282318115, 0.949008584022522, -1.2018895149230957, -0.539005696773529], "tau_dot": [-77.14983367919922, -31.667837142944336, 12.53993034362793, 30.610660552978516, -36.62838363647461, -17.5025634765625, 42.99580383300781], "tau_ext": [-16.674888610839844, -41.63401794433594, 31.797727584838867, 31.337398529052734, 9.498150825500488, -2.9923486709594727, -0.10901185125112534], "tcp_pose": [0.6779225468635559, 0.03274167329072952, -0.2149907797574997, -0.0022610195446759462, -0.004575963597744703, 0.9998874664306641, 0.014106681570410728], "tcp_vel": [0.00019728843471966684, 0.00026188319316133857, 0.00034084226354025304, 0.0001620412222109735, -0.001407351577654481, 0.0006826608441770077], "flange_pose": [0.6786201596260071, 0.02851325087249279, -0.06505201011896133, -0.0022610195446759462, -0.004575963597744703, 0.9998874664306641, 0.014106681570410728], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10945129394531, 15.04727554321289, 28.117006301879883, 0.3512033522129059, -24.130168914794922, 1.8207900524139404], "ext_wrench_in_world": [-108.3713165205783, 14.837065940588227, -27.20586763186471, -0.14037946899632336, -24.07146371321901, -2.499720059121657]}
+{"timestamp_ns": 1789729560130098377, "elapsed_ms": 3600, "source_timestamp_ns": 1789729560125293773, "q": [0.8368315696716309, -1.8977282047271729, -1.0066550970077515, 1.3810855150222778, -0.1602243334054947, 0.5943252444267273, 0.7031302452087402], "theta": [0.8389107584953308, -1.8958144187927246, -1.0048705339431763, 1.3626810312271118, -0.16079671680927277, 0.5942798852920532, 0.703076958656311], "dq": [0.0003777778765652329, -0.0017098728567361832, -0.0003767300513572991, 0.0013907816028222442, 0.0005210674135014415, 0.00013183357077650726, -0.0017821360379457474], "dtheta": [0.0005123889422975481, 0.00018818896205630153, -0.0004315277037676424, -3.532808841555379e-05, 0.0003785669105127454, -0.001092122052796185, -0.0008749440894462168], "tau": [55.439998626708984, 23.68000030517578, 5.452000141143799, -26.328001022338867, -2.572000026702881, 2.692000150680542, -0.5760000348091125], "tau_des": [0.37305721640586853, -0.5651781558990479, -0.15123659372329712, -0.5346271991729736, 0.9284440279006958, -1.1427804231643677, -0.539587140083313], "tau_dot": [-73.63435363769531, 64.48119354248047, 39.086769104003906, 2.7136502265930176, -0.009342912584543228, 80.32720947265625, -28.377885818481445], "tau_ext": [-16.68657875061035, -41.630550384521484, 31.782386779785156, 31.341182708740234, 9.49393367767334, -2.995570182800293, -0.10508047789335251], "tcp_pose": [0.6779220104217529, 0.032741207629442215, -0.2149917334318161, -0.0022616407368332148, -0.00457682553678751, 0.9998874664306641, 0.014105373062193394], "tcp_vel": [6.300135282799602e-05, -0.0004319919680710882, 0.0002400023804511875, -0.0005894573987461627, 0.0003331103944219649, 0.0002561112924013287], "flange_pose": [0.6786198019981384, 0.02851317636668682, -0.06505296379327774, -0.0022616407368332148, -0.00457682553678751, 0.9998874664306641, 0.014105373062193394], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09443664550781, 15.081058502197266, 28.117685317993164, 0.36242201924324036, -24.13058853149414, 1.8219157457351685], "ext_wrench_in_world": [-108.35667159157084, 14.870730984708018, -27.205566865533306, -0.15155993262395795, -24.071961602266494, -2.500744646439768]}
+{"timestamp_ns": 1789729560163433000, "elapsed_ms": 3633, "source_timestamp_ns": 1789729560155293200, "q": [0.83683180809021, -1.897728681564331, -1.0066578388214111, 1.381085753440857, -0.1602218747138977, 0.5943265557289124, 0.7031295299530029], "theta": [0.8389108777046204, -1.895815134048462, -1.0048730373382568, 1.3626811504364014, -0.16079409420490265, 0.5942815542221069, 0.7030757665634155], "dq": [0.00038187895552255213, -0.002467654412612319, 0.0009903953177854419, 0.00013479248445946723, 0.0005475474172271788, -0.002014525467529893, -3.877736162394285e-06], "dtheta": [0.00037388462806120515, -0.00029133717180229723, 0.00021931632363703102, -1.1092417480540462e-05, 0.0002514659718144685, -0.0007796697318553925, -0.00043693830957636237], "tau": [55.52000045776367, 23.65999984741211, 5.464000225067139, -26.316001892089844, -2.556000232696533, 2.6600000858306885, -0.5680000185966492], "tau_des": [0.43151700496673584, -0.4600287675857544, -0.26777684688568115, -0.5649643540382385, 0.917738676071167, -1.1472160816192627, -0.5386813282966614], "tau_dot": [3.7440638542175293, -45.58530807495117, 19.76607894897461, -20.875476837158203, 25.43119239807129, -7.9143595695495605, -16.26321792602539], "tau_ext": [-16.698843002319336, -41.656166076660156, 31.794572830200195, 31.34876823425293, 9.49178695678711, -3.001086711883545, -0.10256784409284592], "tcp_pose": [0.6779226660728455, 0.032740164548158646, -0.21499206125736237, -0.002261352026835084, -0.00457570469006896, 0.9998874664306641, 0.014105427078902721], "tcp_vel": [-0.0002460102259647101, 0.00010349942022003233, 7.44570279493928e-05, -0.0004214121727272868, 0.00040392903611063957, 0.0006634393939748406], "flange_pose": [0.6786203980445862, 0.02851211652159691, -0.06505328416824341, -0.002261352026835084, -0.00457570469006896, 0.9998874664306641, 0.014105427078902721], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08570098876953, 15.087589263916016, 28.119503021240234, 0.3655065596103668, -24.12887954711914, 1.8236092329025269], "ext_wrench_in_world": [-108.34795589644767, 14.877637258458398, -27.207295360969376, -0.1547205123162917, -24.070233451590042, -2.5023782743330827]}
+{"timestamp_ns": 1789729560196779030, "elapsed_ms": 3666, "source_timestamp_ns": 1789729560195322498, "q": [0.8368318676948547, -1.897728443145752, -1.0066617727279663, 1.381085991859436, -0.16022127866744995, 0.5943265557289124, 0.7031275033950806], "theta": [0.8389108180999756, -1.8958150148391724, -1.0048764944076538, 1.3626811504364014, -0.16079241037368774, 0.5942820310592651, 0.7030731439590454], "dq": [-0.0017803669907152653, -0.0005749542615376413, -0.00031961299828253686, -0.0009106041397899389, -0.0018716217018663883, 0.0003050793893635273, -0.000255630788160488], "dtheta": [3.508609006530605e-05, -0.00021804033895023167, -3.958849629270844e-05, -0.00016036306624300778, 7.038879994070157e-05, 0.0006820939597673714, -6.0692604165524244e-05], "tau": [55.46999740600586, 23.739999771118164, 5.460000038146973, -26.340002059936523, -2.556000232696533, 2.6760001182556152, -0.5680000185966492], "tau_des": [0.4246117174625397, -0.5145495533943176, -0.21738000214099884, -0.5171760320663452, 0.9223994016647339, -1.1879854202270508, -0.55060213804245], "tau_dot": [39.753662109375, 151.59658813476562, 58.87831497192383, -37.73771286010742, 22.770009994506836, 23.192272186279297, -45.623390197753906], "tau_ext": [-16.68693733215332, -41.67166519165039, 31.80477523803711, 31.354162216186523, 9.488764762878418, -3.0028626918792725, -0.10126078873872757], "tcp_pose": [0.677923858165741, 0.032737959176301956, -0.21499234437942505, -0.002260981360450387, -0.004575144033879042, 0.9998875260353088, 0.014104400761425495], "tcp_vel": [0.00014306137745734304, 0.00018555871793068945, 0.00010041458153864369, 0.00039471115451306105, -0.000654839735943824, 9.818802209338173e-05], "flange_pose": [0.6786214113235474, 0.028510218486189842, -0.0650535598397255, -0.002260981360450387, -0.004575144033879042, 0.9998875260353088, 0.014104400761425495], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07276916503906, 15.10820484161377, 28.12826919555664, 0.3773927688598633, -24.12430763244629, 1.825104832649231], "ext_wrench_in_world": [-108.33521604067157, 14.898676290739589, -27.215643050981996, -0.16667989662791552, -24.065735865481976, -2.5036426985431115]}
+{"timestamp_ns": 1789729560230096276, "elapsed_ms": 3700, "source_timestamp_ns": 1789729560225307408, "q": [0.8368324041366577, -1.897729754447937, -1.0066618919372559, 1.3810852766036987, -0.1602226048707962, 0.5943257808685303, 0.7031279802322388], "theta": [0.8389109373092651, -1.8958150148391724, -1.0048770904541016, 1.362680435180664, -0.16079336404800415, 0.5942815542221069, 0.7030731439590454], "dq": [-0.0010315971449017525, -0.0007667392492294312, 0.0004959596553817391, 0.0007020486518740654, -0.00035730970557779074, 0.000934577954467386, 0.0005372888408601284], "dtheta": [-0.00013628228043671697, -0.0003916759160347283, -5.663987758453004e-05, 6.236059562070295e-05, -0.0008128128247335553, -0.0005486797890625894, 0.0002518187102396041], "tau": [55.5, 23.639999389648438, 5.444000244140625, -26.316001892089844, -2.572000026702881, 2.6560001373291016, -0.5760000348091125], "tau_des": [0.5164226293563843, -0.4615434408187866, -0.21486403048038483, -0.6042468547821045, 0.9315541386604309, -1.1421822309494019, -0.5485755801200867], "tau_dot": [70.9391860961914, -97.931396484375, -19.1175594329834, -22.478300094604492, -16.715333938598633, -19.735244750976562, -59.005001068115234], "tau_ext": [-16.665637969970703, -41.67395782470703, 31.80906867980957, 31.345409393310547, 9.493896484375, -3.0016934871673584, -0.10081552714109421], "tcp_pose": [0.6779239773750305, 0.03273816034197807, -0.21499201655387878, -0.002260316163301468, -0.00457559572532773, 0.9998875260353088, 0.014103410765528679], "tcp_vel": [-0.00013121278607286513, -7.16594877303578e-05, -0.00023525072901975363, -0.0012274966575205326, 0.00014176515105646104, 0.00044490129221230745], "flange_pose": [0.6786214113235474, 0.028510715812444687, -0.06505322456359863, -0.002260316163301468, -0.00457559572532773, 0.9998875260353088, 0.014103410765528679], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10735321044922, 15.11533260345459, 28.11417007446289, 0.3819345533847809, -24.13343048095703, 1.828356385231018], "ext_wrench_in_world": [-108.36977394874611, 14.904934940103114, -27.201372494539264, -0.1711288884504075, -24.07480999646121, -2.5070832438312527]}
+{"timestamp_ns": 1789729560263432718, "elapsed_ms": 3733, "source_timestamp_ns": 1789729560255300007, "q": [0.8368326425552368, -1.8977298736572266, -1.0066626071929932, 1.3810845613479614, -0.16022136807441711, 0.5943253636360168, 0.7031281590461731], "theta": [0.8389114737510681, -1.895815134048462, -1.0048778057098389, 1.3626799583435059, -0.16079241037368774, 0.5942808389663696, 0.7030736207962036], "dq": [0.0006807761383242905, -0.00038391316775232553, 0.00040584843372926116, 0.0018641309579834342, 0.0018836723174899817, 0.0004479935159906745, 0.0012211913708597422], "dtheta": [-0.00029717152938246727, 0.00023660797160118818, 1.571956636325922e-05, -0.00020809704437851906, 0.0014812859008088708, -5.08182893099729e-05, 0.0006268675206229091], "tau": [55.459999084472656, 23.689998626708984, 5.452000141143799, -26.304000854492188, -2.56000018119812, 2.6640000343322754, -0.5600000023841858], "tau_des": [0.4982675611972809, -0.5398853421211243, -0.19790291786193848, -0.5563950538635254, 0.8638180494308472, -1.1667778491973877, -0.5757825970649719], "tau_dot": [-50.99081039428711, 22.751758575439453, 56.83290481567383, 36.550575256347656, 25.271320343017578, -6.726813793182373, -15.286574363708496], "tau_ext": [-16.68741798400879, -41.65450668334961, 31.794700622558594, 31.35301399230957, 9.497431755065918, -2.99812388420105, -0.10453249514102936], "tcp_pose": [0.6779242753982544, 0.03273804113268852, -0.2149917185306549, -0.0022602530661970377, -0.004574952647089958, 0.9998875260353088, 0.01410360261797905], "tcp_vel": [-0.0001354773121420294, 7.519574865000322e-05, -0.00016497129399795085, 0.0011894336203113198, 0.0010100536746904254, -0.001627536490559578], "flange_pose": [0.6786216497421265, 0.02851053699851036, -0.06505292654037476, -0.0022602530661970377, -0.004574952647089958, 0.9998875260353088, 0.01410360261797905], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12822723388672, 15.107623100280762, 28.106945037841797, 0.3782147467136383, -24.140214920043945, 1.8295834064483643], "ext_wrench_in_world": [-108.39052115525261, 14.896982920653311, -27.194282182068015, -0.16738410027769865, -24.081521425184377, -2.508526785397228]}
+{"timestamp_ns": 1789729560296768621, "elapsed_ms": 3766, "source_timestamp_ns": 1789729560295284866, "q": [0.8368334770202637, -1.897732138633728, -1.0066641569137573, 1.3810827732086182, -0.1602211445569992, 0.5943213105201721, 0.703127384185791], "theta": [0.8389122486114502, -1.8958171606063843, -1.0048792362213135, 1.3626786470413208, -0.16079241037368774, 0.5942765474319458, 0.7030729055404663], "dq": [-0.0012743581319227815, -0.001253618160262704, 1.7501070033176802e-05, 0.0006974437274038792, -0.00026397244073450565, 0.00032900439691729844, -0.0019186886493116617], "dtheta": [-0.00017113419016823173, -9.603642683941871e-05, 0.0002006450667977333, 5.45854854863137e-05, 0.0007445912924595177, 0.0004913308075629175, -0.0003382860741112381], "tau": [55.459999084472656, 23.649999618530273, 5.436000347137451, -26.32400131225586, -2.564000129699707, 2.688000202178955, -0.5600000023841858], "tau_des": [0.4946568012237549, -0.47178348898887634, -0.25838133692741394, -0.5637127161026001, 0.8903959393501282, -1.1752879619598389, -0.5464595556259155], "tau_dot": [-35.54853439331055, 19.975624084472656, -38.63220977783203, -23.106966018676758, 46.92418670654297, 29.884506225585938, -24.502796173095703], "tau_ext": [-16.704471588134766, -41.67458724975586, 31.801225662231445, 31.362401962280273, 9.50374984741211, -2.9965333938598633, -0.10826827585697174], "tcp_pose": [0.6779242753982544, 0.03273753821849823, -0.21499165892601013, -0.0022605208214372396, -0.004575400147587061, 0.9998875260353088, 0.014101493172347546], "tcp_vel": [-0.00016029209655243903, 0.0002581765584181994, -0.00016314061940647662, 0.0008105351007543504, 0.0003094335552304983, 0.00012699955550488085], "flange_pose": [0.6786217093467712, 0.028510667383670807, -0.06505284458398819, -0.0022605208214372396, -0.004575400147587061, 0.9998875260353088, 0.014101493172347546], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11885070800781, 15.106202125549316, 28.126476287841797, 0.37349653244018555, -24.140777587890625, 1.8263789415359497], "ext_wrench_in_world": [-108.38125029757991, 14.895985755633825, -27.21389501247926, -0.16262542096684798, -24.08214140885681, -2.5052585459614036]}
+{"timestamp_ns": 1789729560330056265, "elapsed_ms": 3800, "source_timestamp_ns": 1789729560325304208, "q": [0.8368344902992249, -1.8977349996566772, -1.0066648721694946, 1.38108229637146, -0.16022084653377533, 0.5943149328231812, 0.7031245231628418], "theta": [0.8389132618904114, -1.8958206176757812, -1.0048803091049194, 1.362677812576294, -0.16079266369342804, 0.5942701101303101, 0.7030700445175171], "dq": [-2.697844320209697e-05, -0.0022915818262845278, 0.0003582821227610111, -0.0005362186348065734, -0.0015767484437674284, -0.0009251320734620094, 0.0010705760214477777], "dtheta": [-0.0003334234352223575, -0.00023779086768627167, -3.485729394014925e-05, -0.0002459068491589278, 0.0005715170409530401, -0.0008746653329581022, -0.00036102093872614205], "tau": [55.47999954223633, 23.649999618530273, 5.484000205993652, -26.308000564575195, -2.576000213623047, 2.680000066757202, -0.5520000457763672], "tau_des": [0.5563803315162659, -0.4389764964580536, -0.234560027718544, -0.6236510276794434, 0.8935133218765259, -1.1282273530960083, -0.541806161403656], "tau_dot": [-60.97697448730469, 26.188631057739258, 40.07358932495117, 15.895901679992676, -19.61322021484375, 21.334707260131836, 47.53584289550781], "tau_ext": [-16.687501907348633, -41.634521484375, 31.78308868408203, 31.357847213745117, 9.50395393371582, -2.9949965476989746, -0.10884938389062881], "tcp_pose": [0.6779229640960693, 0.03273708373308182, -0.21499232947826385, -0.0022621809039264917, -0.004577435087412596, 0.9998875856399536, 0.01409839652478695], "tcp_vel": [-0.000268295785645023, 2.5314079721283633e-07, -0.0003352955973241478, -0.0002724074583966285, 0.001092993887141347, 0.00016089031123556197], "flange_pose": [0.6786208748817444, 0.02851114608347416, -0.06505350023508072, -0.0022621809039264917, -0.004577435087412596, 0.9998875856399536, 0.01409839652478695], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1294937133789, 15.078828811645508, 28.117843627929688, 0.36479097604751587, -24.142745971679688, 1.8248497247695923], "ext_wrench_in_world": [-108.39175327433325, 14.867666845478537, -27.20573329309821, -0.15380395974012903, -24.08408796980787, -2.503673906837137]}
+{"timestamp_ns": 1789729560363438915, "elapsed_ms": 3833, "source_timestamp_ns": 1789729560355306904, "q": [0.8368359208106995, -1.8977380990982056, -1.0066683292388916, 1.3810827732086182, -0.16022010147571564, 0.5943112969398499, 0.7031164765357971], "theta": [0.8389148712158203, -1.8958237171173096, -1.0048835277557373, 1.3626782894134521, -0.16079193353652954, 0.5942658185958862, 0.7030611634254456], "dq": [-0.0027484025340527296, -0.0003298092051409185, -0.003163907676935196, -0.0008375823381356895, -0.003181363455951214, -0.0009882192825898528, -0.0014384512323886156], "dtheta": [0.0002817281929310411, -6.522519106511027e-05, -0.00042562285671010613, 0.00010113965254276991, 4.810751852346584e-05, 0.0003256203490309417, -0.0010100415674969554], "tau": [55.53999710083008, 23.65999984741211, 5.424000263214111, -26.308000564575195, -2.6000001430511475, 2.6760001182556152, -0.5680000185966492], "tau_des": [0.4130411744117737, -0.5214924812316895, -0.17748090624809265, -0.5413808226585388, 0.9406642913818359, -1.1649820804595947, -0.5219421982765198], "tau_dot": [99.51268005371094, 34.24305725097656, -16.103071212768555, 2.681689739227295, -53.581268310546875, 30.073368072509766, 39.85118103027344], "tau_ext": [-16.675457000732422, -41.632755279541016, 31.786151885986328, 31.36155891418457, 9.502705574035645, -2.9919981956481934, -0.10101539641618729], "tcp_pose": [0.6779226064682007, 0.032735493034124374, -0.2149931639432907, -0.002262653084471822, -0.004581144079566002, 0.9998875856399536, 0.014095082879066467], "tcp_vel": [0.0002000260865315795, -0.0001801854814402759, 0.0001364839554298669, -0.00013039894110988826, -0.0005833812174387276, 0.0007357528083957732], "flange_pose": [0.6786206960678101, 0.028510551899671555, -0.06505429744720459, -0.002262653084471822, -0.004581144079566002, 0.9998875856399536, 0.014095082879066467], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15419006347656, 15.047586441040039, 28.111780166625977, 0.3552747070789337, -24.14847183227539, 1.825412631034851], "ext_wrench_in_world": [-108.41626860082967, 14.83505262244947, -27.200455630114035, -0.14406142566332042, -24.089725375453177, -2.5042805086716213]}
+{"timestamp_ns": 1789729560396831463, "elapsed_ms": 3866, "source_timestamp_ns": 1789729560395299421, "q": [0.8368374705314636, -1.8977423906326294, -1.006670355796814, 1.3810819387435913, -0.16021521389484406, 0.5943111181259155, 0.7031164765357971], "theta": [0.8389167189598083, -1.895827293395996, -1.0048859119415283, 1.3626773357391357, -0.16078689694404602, 0.5942660570144653, 0.7030602097511292], "dq": [0.001799402991309762, 0.0005029554013162851, -0.000851918535772711, 0.0009450324578210711, 0.0028365948237478733, -0.003245759755373001, 0.0001852920831879601], "dtheta": [0.0003339025133755058, 7.51991756260395e-05, -1.0069830977954553e-06, 1.1373665984137915e-05, 0.00020412741287145764, 0.0012650766875594854, -0.0003587669925764203], "tau": [55.47999954223633, 23.69999885559082, 5.432000160217285, -26.312002182006836, -2.56000018119812, 2.6520001888275146, -0.5520000457763672], "tau_des": [0.36006563901901245, -0.5445916056632996, -0.23391690850257874, -0.4788920283317566, 0.9286201000213623, -1.2052944898605347, -0.5339981913566589], "tau_dot": [-50.093360900878906, -12.42546558380127, 30.872900009155273, 21.792661666870117, 5.821964263916016, -9.162137985229492, 20.22890281677246], "tau_ext": [-16.69227409362793, -41.661231994628906, 31.810821533203125, 31.33625602722168, 9.494056701660156, -2.9913926124572754, -0.09785120189189911], "tcp_pose": [0.6779221296310425, 0.03273607790470123, -0.21499355137348175, -0.002262649592012167, -0.004580452106893063, 0.9998876452445984, 0.014094527810811996], "tcp_vel": [0.00029615021776407957, 0.00018891223589889705, 0.0003708603326231241, 0.0010038996115326881, -0.0011794959427788854, 0.00016561972734052688], "flange_pose": [0.6786202192306519, 0.028511304408311844, -0.06505468487739563, -0.002262649592012167, -0.004580452106893063, 0.9998876452445984, 0.014094527810811996], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12620544433594, 15.086212158203125, 28.121931076049805, 0.3611227571964264, -24.142173767089844, 1.8286442756652832], "ext_wrench_in_world": [-108.3886637209748, 14.874324894906628, -27.20965167401735, -0.15001480615800994, -24.083395590085132, -2.507280626984301]}
+{"timestamp_ns": 1789729560430102742, "elapsed_ms": 3900, "source_timestamp_ns": 1789729560425389975, "q": [0.8368378281593323, -1.8977426290512085, -1.00667142868042, 1.381080985069275, -0.16021400690078735, 0.5943107008934021, 0.7031176686286926], "theta": [0.8389173746109009, -1.8958276510238647, -1.0048868656158447, 1.3626768589019775, -0.16078521311283112, 0.5942662954330444, 0.7030618786811829], "dq": [0.0017808973789215088, -0.0010515210451558232, 0.0017672914545983076, 0.0005580356810241938, 0.0014863467076793313, -0.0018175807781517506, 0.0001336565474048257], "dtheta": [-4.493104279390536e-05, 0.00023828190751373768, -0.00026534308562986553, -0.00031288727768696845, -0.0008870978490449488, 0.0004672252689488232, 0.0002796270127873868], "tau": [55.459999084472656, 23.729999542236328, 5.444000244140625, -26.308000564575195, -2.5440001487731934, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.38616207242012024, -0.599507212638855, -0.16273902356624603, -0.48218491673469543, 0.9424318671226501, -1.1930131912231445, -0.54921954870224], "tau_dot": [-56.150657653808594, 144.1935577392578, -11.04778003692627, 14.83273983001709, 47.257972717285156, -13.262527465820312, 2.2897377014160156], "tau_ext": [-16.70178985595703, -41.66795349121094, 31.801700592041016, 31.34337043762207, 9.4895601272583, -2.9961915016174316, -0.10220178961753845], "tcp_pose": [0.6779226660728455, 0.03273572400212288, -0.21499314904212952, -0.0022623876575380564, -0.004579118452966213, 0.9998876452445984, 0.014094584621489048], "tcp_vel": [0.0004727384075522423, -0.00014498780365101993, 0.0002915016666520387, -5.96944555582013e-05, -0.0011273690033704042, -0.00019372717360965908], "flange_pose": [0.6786206364631653, 0.02851093001663685, -0.0650542825460434, -0.0022623876575380564, -0.004579118452966213, 0.9998876452445984, 0.014094584621489048], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09575653076172, 15.129082679748535, 28.137022018432617, 0.37350258231163025, -24.1364688873291, 1.8288776874542236], "ext_wrench_in_world": [-108.35862346004129, 14.918175288918668, -27.223712065921948, -0.16251014531084473, -24.077800119185316, -2.5073013374737774]}
+{"timestamp_ns": 1789729560463435615, "elapsed_ms": 3933, "source_timestamp_ns": 1789729560455282719, "q": [0.8368393182754517, -1.8977421522140503, -1.0066776275634766, 1.381081223487854, -0.16021433472633362, 0.5943120718002319, 0.7031195759773254], "theta": [0.8389187455177307, -1.895826816558838, -1.004893183708191, 1.362676978111267, -0.1607854664325714, 0.5942684412002563, 0.7030637860298157], "dq": [-0.0003880877629853785, 0.0013839497696608305, -0.0009489197982475162, -0.00014398193161468953, 0.0037800981663167477, 0.0005954410880804062, 0.00037460835301317275], "dtheta": [0.0003154716978315264, -0.0002315093151992187, -3.030843799933791e-05, -0.00018151097174268216, -0.0006925020716153085, 0.000226570715312846, -4.744485704577528e-05], "tau": [55.529998779296875, 23.639999389648438, 5.4160003662109375, -26.32400131225586, -2.56000018119812, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.3582836091518402, -0.5459569692611694, -0.20151257514953613, -0.4824642539024353, 0.9509005546569824, -1.1924073696136475, -0.5473732948303223], "tau_dot": [133.12098693847656, -105.75736236572266, -38.56970977783203, -15.002967834472656, -20.406375885009766, -19.85899543762207, -2.509106397628784], "tau_ext": [-16.681396484375, -41.65943145751953, 31.795560836791992, 31.35255241394043, 9.493520736694336, -3.0004703998565674, -0.10630841553211212], "tcp_pose": [0.6779253482818604, 0.03273236006498337, -0.21499226987361908, -0.002260139910504222, -0.0045759729109704494, 0.9998876452445984, 0.014093078672885895], "tcp_vel": [0.00022359572176355869, 7.325413025682792e-05, 0.0003072110121138394, -0.000368996785255149, -0.0010262875584885478, 0.0005314557929523289], "flange_pose": [0.6786226630210876, 0.028508014976978302, -0.06505338847637177, -0.002260139910504222, -0.0045759729109704494, 0.9998876452445984, 0.014093078672885895], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08656311035156, 15.121493339538574, 28.146196365356445, 0.3764957785606384, -24.133792877197266, 1.8268790245056152], "ext_wrench_in_world": [-108.34918918243089, 14.911538295660574, -27.233660878217936, -0.16565994944077275, -24.075215655206293, -2.505143232905274]}
+{"timestamp_ns": 1789729560496768358, "elapsed_ms": 3966, "source_timestamp_ns": 1789729560495275966, "q": [0.8368416428565979, -1.8977439403533936, -1.0066858530044556, 1.3810813426971436, -0.16021302342414856, 0.5943099856376648, 0.703120231628418], "theta": [0.8389212489128113, -1.8958290815353394, -1.0049011707305908, 1.362676978111267, -0.1607840210199356, 0.5942667722702026, 0.7030659317970276], "dq": [0.000596412573941052, 0.0008973345393314958, 0.003806414781138301, 0.0038126586005091667, -0.0021207714453339577, 0.0014998542610555887, 0.00039171348907984793], "dtheta": [1.0997505341947544e-05, -0.00010600002860883251, -0.0002588215284049511, -0.00040079449536278844, 0.000261736597167328, -0.00013798197323922068, 0.0003207823901902884], "tau": [55.529998779296875, 23.639999389648438, 5.444000244140625, -26.284000396728516, -2.5840001106262207, 2.6640000343322754, -0.5560000538825989], "tau_des": [0.4070567190647125, -0.5760003924369812, -0.12502026557922363, -0.5064815878868103, 0.9247783422470093, -1.174721121788025, -0.5731803774833679], "tau_dot": [139.497802734375, -4.981731414794922, -7.980545997619629, 51.07304382324219, -35.283836364746094, 34.54674530029297, -3.8174378871917725], "tau_ext": [-16.67334747314453, -41.67154312133789, 31.815271377563477, 31.35352897644043, 9.495180130004883, -2.998539924621582, -0.12198465317487717], "tcp_pose": [0.6779274940490723, 0.03272813931107521, -0.21499206125736237, -0.002258848398923874, -0.004573057405650616, 0.9998877048492432, 0.014089499600231647], "tcp_vel": [0.0001559368974994868, -3.788522371905856e-05, 0.00010358306462876499, 5.741689892602153e-05, -0.00015661433280911297, -0.0006364277796819806], "flange_pose": [0.6786243915557861, 0.028504863381385803, -0.06505315005779266, -0.002258848398923874, -0.004573057405650616, 0.9998877048492432, 0.014089499600231647], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1291275024414, 15.098275184631348, 28.117263793945312, 0.3729655146598816, -24.140104293823242, 1.8198235034942627], "ext_wrench_in_world": [-108.39124983366, 14.887562723557556, -27.205589258415813, -0.16217429255791949, -24.08170740967184, -2.4981120690330916]}
+{"timestamp_ns": 1789729560530104570, "elapsed_ms": 4000, "source_timestamp_ns": 1789729560525284090, "q": [0.8368434309959412, -1.897747278213501, -1.0066856145858765, 1.3810826539993286, -0.1602119505405426, 0.5943083167076111, 0.7031189799308777], "theta": [0.8389235138893127, -1.8958325386047363, -1.0049012899398804, 1.3626775741577148, -0.1607828140258789, 0.5942651033401489, 0.7030647397041321], "dq": [0.00144512252882123, -0.002491420367732644, -0.001314703025855124, 0.0016927086981013417, -0.002341238548979163, 0.00012855920067522675, -0.0001238571130670607], "dtheta": [-0.0001427569513907656, 2.1678064513253048e-05, 5.87371141591575e-05, 0.00012568313104566187, -0.00027325833798386157, 0.0001834685099311173, -0.00033535665716044605], "tau": [55.5099983215332, 23.6299991607666, 5.444000244140625, -26.32400131225586, -2.556000232696533, 2.692000150680542, -0.5520000457763672], "tau_des": [0.4759150743484497, -0.5166037678718567, -0.17804184556007385, -0.5678467154502869, 0.9258599281311035, -1.1605433225631714, -0.5480659604072571], "tau_dot": [15.538217544555664, -65.23662567138672, -43.800941467285156, 30.681848526000977, 38.95103073120117, 33.09342575073242, -4.730280876159668], "tau_ext": [-16.69131851196289, -41.64384078979492, 31.798587799072266, 31.35234260559082, 9.495140075683594, -2.9961254596710205, -0.12183524668216705], "tcp_pose": [0.6779259443283081, 0.03272880241274834, -0.2149926722049713, -0.002259467961266637, -0.004574702121317387, 0.9998877644538879, 0.014087758027017117], "tcp_vel": [-2.2282074496615678e-05, 1.1573149095056579e-05, -9.990418038796633e-05, -6.69621949782595e-05, -3.7098812754265964e-05, 0.0005289494292810559], "flange_pose": [0.6786230206489563, 0.028506049886345863, -0.06505374610424042, -0.002259467961266637, -0.004574702121317387, 0.9998877644538879, 0.014087758027017117], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12332916259766, 15.087495803833008, 28.120197296142578, 0.36538517475128174, -24.136714935302734, 1.8131552934646606], "ext_wrench_in_world": [-108.38544884107064, 14.876470130394791, -27.208775253348392, -0.15451728517026303, -24.078446666532155, -2.4913002323612203]}
+{"timestamp_ns": 1789729560563435623, "elapsed_ms": 4033, "source_timestamp_ns": 1789729560555359008, "q": [0.8368444442749023, -1.8977524042129517, -1.0066859722137451, 1.3810832500457764, -0.16021126508712769, 0.5943065285682678, 0.7031172513961792], "theta": [0.8389251232147217, -1.8958380222320557, -1.004901647567749, 1.3626775741577148, -0.160782590508461, 0.5942639112472534, 0.7030635476112366], "dq": [0.0005736597231589258, 0.0025992896407842636, 0.0003928225487470627, 0.00029420186183415353, -0.00018491214723326266, 0.001144929090514779, -0.000973205897025764], "dtheta": [-1.397632422595052e-05, -0.0004924130043946207, -8.933055505622178e-05, 3.4019030863419175e-05, -0.00024539243895560503, -0.00038896806654520333, 0.0003176157479174435], "tau": [55.48999786376953, 23.600000381469727, 5.428000450134277, -26.32000160217285, -2.580000162124634, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.5148032307624817, -0.4487682282924652, -0.20263437926769257, -0.6109939217567444, 0.9286479949951172, -1.1361671686172485, -0.5528606176376343], "tau_dot": [-49.2663688659668, -123.1171875, -63.40515899658203, 42.318695068359375, -38.388336181640625, 28.14093589782715, 24.122440338134766], "tau_ext": [-16.7169189453125, -41.657352447509766, 31.791749954223633, 31.351917266845703, 9.49500560760498, -2.995767116546631, -0.11729118227958679], "tcp_pose": [0.6779242753982544, 0.03272968903183937, -0.21499410271644592, -0.002260057721287012, -0.004576984792947769, 0.9998877644538879, 0.014085149392485619], "tcp_vel": [-0.00015711439482402056, 1.0449294677528087e-05, -0.00019975550821982324, -0.0008502413984388113, 0.00018145490321330726, 0.00010046536772279069], "flange_pose": [0.6786215305328369, 0.028507720679044724, -0.06505515426397324, -0.002260057721287012, -0.004576984792947769, 0.9998877644538879, 0.014085149392485619], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10252380371094, 15.084197044372559, 28.139118194580078, 0.3636968731880188, -24.133407592773438, 1.8129823207855225], "ext_wrench_in_world": [-108.36480055768838, 14.873257483222927, -27.227832045612395, -0.15275044930161957, -24.075143776249334, -2.4909158562952807]}
+{"timestamp_ns": 1789729560596767977, "elapsed_ms": 4066, "source_timestamp_ns": 1789729560595281763, "q": [0.8368467688560486, -1.8977525234222412, -1.0066864490509033, 1.3810832500457764, -0.16020773351192474, 0.5943018794059753, 0.7031125426292419], "theta": [0.8389275074005127, -1.8958386182785034, -1.0049023628234863, 1.3626770973205566, -0.1607792228460312, 0.5942591428756714, 0.7030590176582336], "dq": [-0.0012297630310058594, 9.430748468730599e-05, 0.0001954150211531669, 0.0010527269914746284, 0.0006676880875602365, 0.0013169992016628385, -0.0006694394978694618], "dtheta": [7.262764847837389e-05, -0.0002802002418320626, 0.00013234872312750667, 6.116172153269872e-05, -0.00011476596409920603, 0.0004041617503389716, 0.0001142202818300575], "tau": [55.5, 23.619998931884766, 5.448000431060791, -26.308000564575195, -2.56000018119812, 2.6480002403259277, -0.5680000185966492], "tau_des": [0.46114641427993774, -0.47753822803497314, -0.2336224913597107, -0.5628188252449036, 0.9253168106079102, -1.1641714572906494, -0.5452793836593628], "tau_dot": [57.940650939941406, -80.33868408203125, -12.599845886230469, -32.962833404541016, -44.95408248901367, 6.550386428833008, -6.265336990356445], "tau_ext": [-16.700374603271484, -41.647579193115234, 31.78750228881836, 31.355758666992188, 9.493160247802734, -2.99433970451355, -0.10354989767074585], "tcp_pose": [0.6779235601425171, 0.03272899612784386, -0.21499335765838623, -0.002261468442156911, -0.0045782458037137985, 0.9998877644538879, 0.014084577560424805], "tcp_vel": [-3.62303908332251e-05, 0.00019925140077248216, 1.46164609304833e-06, 3.3457825338700786e-05, -0.00034702307311818004, 0.00023005307593848556], "flange_pose": [0.6786212921142578, 0.028507202863693237, -0.06505440175533295, -0.002261468442156911, -0.0045782458037137985, 0.9998877644538879, 0.014084577560424805], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07638549804688, 15.066605567932129, 28.13399314880371, 0.35865676403045654, -24.128076553344727, 1.8163272142410278], "ext_wrench_in_world": [-108.33859367758399, 14.855461264552023, -27.223035590098554, -0.14771982535043435, -24.069677724793983, -2.4941031384840358]}
+{"timestamp_ns": 1789729560630099220, "elapsed_ms": 4100, "source_timestamp_ns": 1789729560625281429, "q": [0.8368468284606934, -1.8977515697479248, -1.0066882371902466, 1.3810839653015137, -0.16020548343658447, 0.5943032503128052, 0.7031099796295166], "theta": [0.8389281630516052, -1.8958375453948975, -1.0049045085906982, 1.3626779317855835, -0.16077634692192078, 0.594260573387146, 0.703057050704956], "dq": [0.0006060603773221374, -0.0004013461002614349, -0.0006535584107041359, -8.765752136241645e-05, 0.0003275961789768189, -0.0007747573545202613, -0.0009760589455254376], "dtheta": [0.00024420637055300176, 5.212075848248787e-05, -0.0001480343780713156, 0.00018302295939065516, 0.0005899498937651515, -0.0007646353915333748, -0.0007409746176563203], "tau": [55.46999740600586, 23.68000030517578, 5.452000141143799, -26.36800193786621, -2.556000232696533, 2.6680002212524414, -0.5600000023841858], "tau_des": [0.46447139978408813, -0.5146805047988892, -0.1774827539920807, -0.5900190472602844, 0.907599925994873, -1.134155035018921, -0.5399523377418518], "tau_dot": [-49.91628646850586, -29.397085189819336, -50.130699157714844, -28.376174926757812, 17.995534896850586, -10.180282592773438, 42.089473724365234], "tau_ext": [-16.681072235107422, -41.65109634399414, 31.785512924194336, 31.35085678100586, 9.488385200500488, -2.9955549240112305, -0.10362284630537033], "tcp_pose": [0.6779240369796753, 0.032727986574172974, -0.21499352157115936, -0.0022615341003984213, -0.004578019492328167, 0.9998877644538879, 0.01408529281616211], "tcp_vel": [-0.0001786601060302928, -0.00021114046103321016, -4.42461168859154e-05, -0.0002904139691963792, 0.0007398156449198723, 0.0003216105105821043], "flange_pose": [0.678621768951416, 0.028505979105830193, -0.06505458056926727, -0.0022615341003984213, -0.004578019492328167, 0.9998877644538879, 0.01408529281616211], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07422637939453, 15.081827163696289, 28.1411075592041, 0.3650051951408386, -24.133018493652344, 1.821832537651062], "ext_wrench_in_world": [-108.33660333101541, 14.870984409445688, -27.229690673071502, -0.15405989122526254, -24.074517434188795, -2.4997520004083387]}
+{"timestamp_ns": 1789729560663431783, "elapsed_ms": 4133, "source_timestamp_ns": 1789729560655281416, "q": [0.8368470072746277, -1.8977516889572144, -1.0066889524459839, 1.3810838460922241, -0.16020417213439941, 0.5943031311035156, 0.7031099200248718], "theta": [0.8389283418655396, -1.8958371877670288, -1.0049049854278564, 1.362677812576294, -0.16077420115470886, 0.5942608118057251, 0.7030565738677979], "dq": [-0.0008356990292668343, 0.0014838740462437272, 0.0012599859619513154, -0.001231605769135058, -0.000800618261564523, -0.0013236482627689838, 0.0013236590893939137], "dtheta": [6.669764843536541e-05, 0.0007388253579847515, -5.4194173571886495e-05, -0.00016399577725678682, 0.001240342389792204, 0.0006541147013194859, -0.0009065513149835169], "tau": [55.5099983215332, 23.689998626708984, 5.440000057220459, -26.32000160217285, -2.568000078201294, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.3742143213748932, -0.6304575204849243, -0.15597184002399445, -0.47677457332611084, 0.8896195888519287, -1.1955621242523193, -0.547143280506134], "tau_dot": [110.24952697753906, 41.67838668823242, -18.106416702270508, 39.2737922668457, -10.65090274810791, 7.912473201751709, 17.998682022094727], "tau_ext": [-16.680639266967773, -41.671836853027344, 31.793012619018555, 31.352636337280273, 9.48434829711914, -2.9990203380584717, -0.1030907928943634], "tcp_pose": [0.6779241561889648, 0.03272773325443268, -0.21499353647232056, -0.0022617029026150703, -0.0045774709433317184, 0.9998877644538879, 0.014085437171161175], "tcp_vel": [0.00024721023510210216, -2.5314802769571543e-05, 0.0003072900581173599, 0.001810582005418837, -5.136438994668424e-05, -0.0003565498045645654], "flange_pose": [0.6786219477653503, 0.028505681082606316, -0.06505459547042847, -0.0022617029026150703, -0.0045774709433317184, 0.9998877644538879, 0.014085437171161175], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11210632324219, 15.0903959274292, 28.13259506225586, 0.37559744715690613, -24.144521713256836, 1.8257157802581787], "ext_wrench_in_world": [-108.37451298927135, 14.87908679850255, -27.22073103743431, -0.1645922848280576, -24.086003061114926, -2.5039181764312404]}
+{"timestamp_ns": 1789729560696772644, "elapsed_ms": 4166, "source_timestamp_ns": 1789729560695270924, "q": [0.8368481397628784, -1.8977513313293457, -1.0066941976547241, 1.3810852766036987, -0.16020527482032776, 0.5943030714988708, 0.7031108736991882], "theta": [0.8389297723770142, -1.8958367109298706, -1.0049099922180176, 1.3626797199249268, -0.16077587008476257, 0.5942608118057251, 0.7030573487281799], "dq": [-0.0003597692120820284, 0.00029768748208880424, -0.0018917266279459, -0.0003643344098236412, 0.0004383153864182532, -0.0013302008155733347, -0.0011633889516815543], "dtheta": [-0.00011351710418239236, -6.545313954120502e-05, -8.198714203899726e-05, 4.2856507207034156e-05, -0.0004680091515183449, 1.6664573195157573e-05, -0.00023263673938345164], "tau": [55.54999923706055, 23.670000076293945, 5.428000450134277, -26.304000854492188, -2.56000018119812, 2.6640000343322754, -0.5520000457763672], "tau_des": [0.4773101210594177, -0.5303412675857544, -0.16109447181224823, -0.5680942535400391, 0.9267106056213379, -1.158318042755127, -0.5500392913818359], "tau_dot": [181.5338897705078, -14.407845497131348, -8.886055946350098, 23.81804084777832, 0.3521406948566437, 9.169119834899902, 6.148952960968018], "tau_ext": [-16.678030014038086, -41.6689567565918, 31.790571212768555, 31.36086654663086, 9.49439811706543, -3.003697156906128, -0.10650349408388138], "tcp_pose": [0.6779258251190186, 0.03272435814142227, -0.21499350666999817, -0.0022605571430176497, -0.004575463943183422, 0.9998878240585327, 0.014083090238273144], "tcp_vel": [3.548954555299133e-05, -6.446679617511109e-05, -7.962538074934855e-05, -0.000404288963181898, -0.00015594759315717965, 0.00048483541468158364], "flange_pose": [0.6786232590675354, 0.02850300818681717, -0.06505454331636429, -0.0022605571430176497, -0.004575463943183422, 0.9998878240585327, 0.014083090238273144], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13162994384766, 15.086895942687988, 28.122743606567383, 0.37975403666496277, -24.14739990234375, 1.82632577419281], "ext_wrench_in_world": [-108.39383651473152, 14.87544083211364, -27.211210872127506, -0.16881689743666276, -24.088912206100186, -2.504478106810369]}
+{"timestamp_ns": 1789729560730099388, "elapsed_ms": 4200, "source_timestamp_ns": 1789729560725356809, "q": [0.8368495106697083, -1.8977525234222412, -1.0066967010498047, 1.3810853958129883, -0.16020530462265015, 0.5943015813827515, 0.7031116485595703], "theta": [0.8389316201210022, -1.8958375453948975, -1.0049124956130981, 1.3626803159713745, -0.16077515482902527, 0.5942593812942505, 0.7030580043792725], "dq": [0.0001933205348905176, -0.0001601466501597315, -0.0010613288031890988, -0.0003890743537340313, 0.001762576401233673, 0.0004390840185806155, -0.001031696330755949], "dtheta": [0.000340939499437809, -0.0001962067763088271, -8.424751285929233e-05, -0.00027715691248886287, 0.0006791438208892941, -0.0003005160833708942, 0.000647710170596838], "tau": [55.439998626708984, 23.719999313354492, 5.456000328063965, -26.32000160217285, -2.576000213623047, 2.6720001697540283, -0.5560000538825989], "tau_des": [0.39076781272888184, -0.5649651885032654, -0.16057799756526947, -0.5115782022476196, 0.9102098345756531, -1.1695297956466675, -0.5772890448570251], "tau_dot": [-80.84866333007812, 104.59709930419922, 3.0476725101470947, -35.321537017822266, -31.5797176361084, 2.180488348007202, -19.893877029418945], "tau_ext": [-16.68438720703125, -41.66660690307617, 31.800443649291992, 31.35207176208496, 9.496135711669922, -3.0023856163024902, -0.1103532537817955], "tcp_pose": [0.6779263019561768, 0.03272312134504318, -0.21499329805374146, -0.002260112203657627, -0.0045746685937047005, 0.9998878240585327, 0.014081345871090889], "tcp_vel": [9.051405868376605e-06, 6.487069913418964e-05, 0.00020202404994051903, 0.0001823380880523473, 3.13416967401281e-05, -0.000988437794148922], "flange_pose": [0.6786235570907593, 0.028502291068434715, -0.06505431234836578, -0.002260112203657627, -0.0045746685937047005, 0.9998878240585327, 0.014081345871090889], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12213897705078, 15.10107421875, 28.125825881958008, 0.37924039363861084, -24.14213752746582, 1.8253358602523804], "ext_wrench_in_world": [-108.38444140941482, 14.889865051009945, -27.214081652830718, -0.16838269993648905, -24.08368372757804, -2.5032586862565145]}
+{"timestamp_ns": 1789729560763437870, "elapsed_ms": 4233, "source_timestamp_ns": 1789729560755284774, "q": [0.836851954460144, -1.8977538347244263, -1.0066957473754883, 1.3810858726501465, -0.16020514070987701, 0.5943007469177246, 0.7031118273735046], "theta": [0.8389345407485962, -1.8958386182785034, -1.0049116611480713, 1.3626806735992432, -0.16077539324760437, 0.594258189201355, 0.7030580043792725], "dq": [0.003567523555830121, 0.0013170231832191348, -0.002106813946738839, -0.0013229514006525278, 0.0027637036982923746, 0.0007323241443373263, 0.00023238267749547958], "dtheta": [-7.49344189898693e-06, -4.657212775782682e-05, 0.0003059794835280627, -0.00018752797041088343, 0.00030306715052574873, -0.0007048484985716641, 0.0002198590082116425], "tau": [55.53999710083008, 23.68000030517578, 5.452000141143799, -26.30000114440918, -2.572000026702881, 2.6680002212524414, -0.5400000214576721], "tau_des": [0.4578949511051178, -0.5171577334403992, -0.2125997245311737, -0.5572627782821655, 0.9035623669624329, -1.1535937786102295, -0.5603974461555481], "tau_dot": [59.21134567260742, -21.639650344848633, 24.28067398071289, 19.983154296875, 0.861098051071167, 33.89955139160156, 43.446231842041016], "tau_ext": [-16.685354232788086, -41.67991256713867, 31.801851272583008, 31.34349822998047, 9.496647834777832, -2.995417356491089, -0.11061489582061768], "tcp_pose": [0.6779258251190186, 0.032723814249038696, -0.21499226987361908, -0.0022595960181206465, -0.004575355444103479, 0.9998878240585327, 0.014080820605158806], "tcp_vel": [-0.00021568428201135248, 0.00012861177674494684, -2.3736403818475083e-05, -5.2137238526484e-06, 0.0006609640549868345, -0.00015438809350598603], "flange_pose": [0.6786229014396667, 0.028503146022558212, -0.065053291618824, -0.0022595960181206465, -0.004575355444103479, 0.9998878240585327, 0.014080820605158806], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11017608642578, 15.120793342590332, 28.12632179260254, 0.3823591470718384, -24.139291763305664, 1.8254832029342651], "ext_wrench_in_world": [-108.37265213708108, 14.909523775683365, -27.214204230252477, -0.17149240090321258, -24.080866638249706, -2.50328715548298]}
+{"timestamp_ns": 1789729560796770853, "elapsed_ms": 4266, "source_timestamp_ns": 1789729560795277721, "q": [0.8368560075759888, -1.897754430770874, -1.0066947937011719, 1.3810856342315674, -0.1602051705121994, 0.5942915081977844, 0.7031105756759644], "theta": [0.8389375805854797, -1.8958399295806885, -1.0049108266830444, 1.3626809120178223, -0.16077563166618347, 0.5942481756210327, 0.7030578255653381], "dq": [0.0027436763048171997, 0.0012454802636057138, -0.0005739622283726931, -0.0008407452260144055, -0.0007771577802486718, -0.0009241426596418023, -0.0020918683148920536], "dtheta": [0.0003323538403492421, -0.00015801482368260622, 0.00035925486008636653, 0.00027149758534505963, -0.00026941101532429457, -0.00015884266758803278, 0.0006317108636721969], "tau": [55.529998779296875, 23.689998626708984, 5.460000038146973, -26.26000213623047, -2.6000001430511475, 2.6640000343322754, -0.5760000348091125], "tau_des": [0.41764986515045166, -0.5178142189979553, -0.22902911901474, -0.5519927144050598, 0.9221267700195312, -1.1576825380325317, -0.5599027872085571], "tau_dot": [21.12347984313965, -12.877129554748535, 2.9259395599365234, 5.801966190338135, -57.738121032714844, 4.687038421630859, -47.607791900634766], "tau_ext": [-16.698692321777344, -41.67367172241211, 31.79225730895996, 31.352413177490234, 9.501982688903809, -2.990436553955078, -0.11481983959674835], "tcp_pose": [0.6779245734214783, 0.032723069190979004, -0.21499061584472656, -0.0022611331660300493, -0.004576573148369789, 0.9998878836631775, 0.014077921397984028], "tcp_vel": [-0.00018991382967215031, 0.00014839478535577655, 8.083851571427658e-05, -0.00031838330323807895, -1.1142235962324776e-05, -7.724926399532706e-05], "flange_pose": [0.6786221265792847, 0.02850327081978321, -0.0650516003370285, -0.0022611331660300493, -0.004576573148369789, 0.9998878836631775, 0.014077921397984028], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09227752685547, 15.107179641723633, 28.15481185913086, 0.3742484748363495, -24.140979766845703, 1.8229314088821411], "ext_wrench_in_world": [-108.35488241016438, 14.89645445885618, -27.242904964921898, -0.16330249944854633, -24.08256590865107, -2.5006792066978694]}
+{"timestamp_ns": 1789729560830099127, "elapsed_ms": 4300, "source_timestamp_ns": 1789729560825279977, "q": [0.8368570804595947, -1.8977556228637695, -1.00669527053833, 1.3810856342315674, -0.1602037250995636, 0.594290554523468, 0.7031095027923584], "theta": [0.8389379382133484, -1.8958410024642944, -1.0049110651016235, 1.362681269645691, -0.16077394783496857, 0.5942467451095581, 0.7030563354492188], "dq": [0.0010610556928440928, 0.0004004847432952374, -0.0006017196574248374, -0.0006841585854999721, -0.0019325497560203075, 0.0001263212616322562, 0.0011719305766746402], "dtheta": [-0.00031384883914142847, 0.00014721904881298542, 0.00012661554501391947, -0.00021856553212273866, 0.0006934574921615422, 0.0005017934599891305, -0.00010941224900307134], "tau": [55.47999954223633, 23.670000076293945, 5.4760003089904785, -26.312002182006836, -2.5920000076293945, 2.6600000858306885, -0.5600000023841858], "tau_des": [0.464924693107605, -0.5405517816543579, -0.20007994771003723, -0.5363712906837463, 0.892463207244873, -1.1762285232543945, -0.5556930303573608], "tau_dot": [-93.460693359375, -21.53277015686035, 24.87656593322754, 6.884912014007568, -46.29090881347656, -5.2459001541137695, 57.195072174072266], "tau_ext": [-16.701019287109375, -41.64815902709961, 31.771808624267578, 31.35171890258789, 9.49944019317627, -2.988875150680542, -0.11117051541805267], "tcp_pose": [0.6779242753982544, 0.032723069190979004, -0.2149905264377594, -0.002261298941448331, -0.004576914943754673, 0.9998878836631775, 0.014077442698180676], "tcp_vel": [1.439123570889933e-05, 0.00019635653006844223, -6.446746556321159e-05, 0.001074819010682404, 0.00017896323697641492, -0.0003315499343443662], "flange_pose": [0.6786218881607056, 0.0285034142434597, -0.06505150347948074, -0.002261298941448331, -0.004576914943754673, 0.9998878836631775, 0.014077442698180676], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08078002929688, 15.096656799316406, 28.166200637817383, 0.3685014545917511, -24.143390655517578, 1.8223090171813965], "ext_wrench_in_world": [-108.34336177054655, 14.886261691378476, -27.254615934546916, -0.1575151398136203, -24.08494278857045, -2.500127131385179]}
+{"timestamp_ns": 1789729560863434120, "elapsed_ms": 4333, "source_timestamp_ns": 1789729560855282813, "q": [0.8368568420410156, -1.897755742073059, -1.0066949129104614, 1.3810862302780151, -0.16020368039608002, 0.5942882895469666, 0.7031068205833435], "theta": [0.8389376401901245, -1.895841360092163, -1.0049110651016235, 1.3626818656921387, -0.16077394783496857, 0.5942448377609253, 0.7030541896820068], "dq": [-0.0013057880569249392, 0.0007340269512496889, -0.0013354163384065032, -0.0012932828394696116, 0.0008486104197800159, -0.0009915478294715285, 0.0013010333059355617], "dtheta": [-0.00012817923561669886, -0.00011217209248570725, 0.00010380613821325824, 3.789306720136665e-05, -0.00015175173757597804, -0.0009759274544194341, 0.00023078414960764349], "tau": [55.47999954223633, 23.689998626708984, 5.484000205993652, -26.304000854492188, -2.56000018119812, 2.6600000858306885, -0.5600000023841858], "tau_des": [0.5185303092002869, -0.49057653546333313, -0.20676472783088684, -0.6165204048156738, 0.9061702489852905, -1.1239796876907349, -0.5511333346366882], "tau_dot": [-42.17081069946289, 5.878894329071045, 58.65218734741211, 25.04142189025879, 1.6977375745773315, 14.239029884338379, -28.834144592285156], "tau_ext": [-16.696884155273438, -41.6558952331543, 31.774873733520508, 31.354639053344727, 9.499155044555664, -2.9898338317871094, -0.10827109217643738], "tcp_pose": [0.6779233813285828, 0.032722849398851395, -0.21499119699001312, -0.002262541325762868, -0.00457849120721221, 0.9998878836631775, 0.01407662220299244], "tcp_vel": [-0.0002685349027160555, -8.157083357218653e-05, -0.0002301250206073746, -0.0007720158901065588, 0.0008526283199898899, 3.0983170290710405e-05], "flange_pose": [0.6786214113235474, 0.02850344590842724, -0.06505218148231506, -0.002262541325762868, -0.00457849120721221, 0.9998878836631775, 0.01407662220299244], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0868911743164, 15.079144477844238, 28.156875610351562, 0.3653148114681244, -24.145854949951172, 1.823271632194519], "ext_wrench_in_world": [-108.34938377515577, 14.868047850448088, -27.245522103821802, -0.15423996641121238, -24.08735416088086, -2.501132779638412]}
+{"timestamp_ns": 1789729560896769052, "elapsed_ms": 4366, "source_timestamp_ns": 1789729560895273361, "q": [0.8368567228317261, -1.8977552652359009, -1.0066959857940674, 1.3810876607894897, -0.16020187735557556, 0.5942879319190979, 0.7031036615371704], "theta": [0.8389376401901245, -1.8958407640457153, -1.0049117803573608, 1.3626830577850342, -0.16077204048633575, 0.594244122505188, 0.7030501365661621], "dq": [0.0021746577695012093, 0.00274937623180449, 2.4584229322499596e-05, -0.0006755447247996926, 0.0034042722545564175, -0.00012616760795935988, -0.00397470174357295], "dtheta": [-0.00016676286759320647, 0.00017667753854766488, -9.101187606574968e-05, -1.7058895537047647e-05, 0.0005270661786198616, -0.00010126593406312168, -0.0002788015699479729], "tau": [55.52000045776367, 23.670000076293945, 5.464000225067139, -26.308000564575195, -2.564000129699707, 2.6520001888275146, -0.5640000104904175], "tau_des": [0.4903735816478729, -0.5423169136047363, -0.17923860251903534, -0.5766783356666565, 0.8909754753112793, -1.1500635147094727, -0.5485381484031677], "tau_dot": [41.184017181396484, -4.886197090148926, -21.777019500732422, -23.401033401489258, -5.239702224731445, 12.068416595458984, 4.067381381988525], "tau_ext": [-16.696430206298828, -41.66689682006836, 31.775312423706055, 31.36185646057129, 9.504651069641113, -2.995896100997925, -0.10399515926837921], "tcp_pose": [0.6779230237007141, 0.03272189199924469, -0.2149919718503952, -0.0022635823115706444, -0.004579098429530859, 0.9998878836631775, 0.01407654769718647], "tcp_vel": [-4.219597758492455e-05, -7.775238191243261e-05, -0.00011278962483629584, 0.0003455926780588925, 0.0004841955378651619, -0.00019629277812782675], "flange_pose": [0.6786214113235474, 0.028502510860562325, -0.06505295634269714, -0.0022635823115706444, -0.004579098429530859, 0.9998878836631775, 0.01407654769718647], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12618255615234, 15.069768905639648, 28.145288467407227, 0.36765533685684204, -24.15386390686035, 1.8283593654632568], "ext_wrench_in_world": [-108.38860863411448, 14.85784912218168, -27.233809681581164, -0.15650642568620696, -24.09523865729938, -2.50642969852185]}
+{"timestamp_ns": 1789729560930096196, "elapsed_ms": 4400, "source_timestamp_ns": 1789729560925285414, "q": [0.8368568420410156, -1.8977546691894531, -1.006697177886963, 1.3810890913009644, -0.160201296210289, 0.5942897796630859, 0.7031042575836182], "theta": [0.8389378190040588, -1.8958412408828735, -1.004913568496704, 1.362685203552246, -0.16077131032943726, 0.5942455530166626, 0.7030503749847412], "dq": [-0.0005854903720319271, -0.0011612485395744443, 0.001963786780834198, 0.000839392829220742, 0.0005140344728715718, -0.0006338325329124928, -0.00019053586584050208], "dtheta": [-0.0001950152509380132, 0.00030672032153233886, -0.0003668185672722757, 0.00014328751421999186, 0.0002475088695064187, 0.000571655691601336, -0.0004461086937226355], "tau": [55.44999694824219, 23.670000076293945, 5.440000057220459, -26.296001434326172, -2.576000213623047, 2.684000015258789, -0.5400000214576721], "tau_des": [0.47701919078826904, -0.5864853262901306, -0.13357429206371307, -0.557464599609375, 0.8974011540412903, -1.1674689054489136, -0.5508618354797363], "tau_dot": [-8.636161804199219, -46.57930374145508, -15.931396484375, -12.928956985473633, 8.444432258605957, 27.516847610473633, 48.34272003173828], "tau_ext": [-16.670686721801758, -41.67744445800781, 31.785757064819336, 31.35808753967285, 9.504321098327637, -2.9981791973114014, -0.10400103777647018], "tcp_pose": [0.6779232621192932, 0.032721154391765594, -0.21499232947826385, -0.002263408387079835, -0.004578137770295143, 0.9998878836631775, 0.014076737686991692], "tcp_vel": [0.00017947184096556157, -0.0002124332677340135, -8.031823381315917e-05, 0.00044112501200288534, -0.00011483065463835374, -0.0001457061734981835], "flange_pose": [0.6786215305328369, 0.028501715511083603, -0.0650533065199852, -0.002263408387079835, -0.004578137770295143, 0.9998878836631775, 0.014076737686991692], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14195251464844, 15.07739543914795, 28.13558578491211, 0.372997522354126, -24.15753173828125, 1.8318589925765991], "ext_wrench_in_world": [-108.40436462142084, 14.86527311988707, -27.223855723726384, -0.16187690631610321, -24.098854440752525, -2.510016875850802]}
+{"timestamp_ns": 1789729560963433478, "elapsed_ms": 4433, "source_timestamp_ns": 1789729560955298437, "q": [0.8368584513664246, -1.8977560997009277, -1.006699562072754, 1.3810893297195435, -0.1602008193731308, 0.5942894220352173, 0.7031049728393555], "theta": [0.83893883228302, -1.895842432975769, -1.0049164295196533, 1.3626859188079834, -0.16077156364917755, 0.5942445993423462, 0.7030510902404785], "dq": [0.001516912248916924, -0.0020140267442911863, 0.0023887231945991516, 0.0013450748519971967, 0.0011196053819730878, -0.0014102834975346923, 0.0031670783646404743], "dtheta": [-0.00039359513903036714, -0.0002450622559990734, -9.926583152264357e-05, 1.6593454347457737e-05, 5.1775106840068474e-05, -0.00010304583702236414, 0.0001776060671545565], "tau": [55.459999084472656, 23.670000076293945, 5.440000057220459, -26.288002014160156, -2.5480000972747803, 2.6440000534057617, -0.5760000348091125], "tau_des": [0.5600226521492004, -0.488136351108551, -0.1928628832101822, -0.6180285811424255, 0.8928117752075195, -1.1424477100372314, -0.5568985342979431], "tau_dot": [-54.33955383300781, 6.337192058563232, 19.895017623901367, 8.553159713745117, 62.13328170776367, -19.30745506286621, -23.31869125366211], "tau_ext": [-16.687068939208984, -41.68415451049805, 31.807636260986328, 31.35237693786621, 9.504944801330566, -2.9990668296813965, -0.11026419699192047], "tcp_pose": [0.6779237985610962, 0.032720159739255905, -0.2149919718503952, -0.0022626048885285854, -0.004577320534735918, 0.9998878836631775, 0.014075418934226036], "tcp_vel": [-0.00014961569104343653, 1.5453579180757515e-06, -0.0003683242539409548, -0.0002907594316639006, 0.0004875606391578913, -0.00010675800149329007], "flange_pose": [0.6786218285560608, 0.0285011138767004, -0.06505294144153595, -0.0022626048885285854, -0.004577320534735918, 0.9998878836631775, 0.014075418934226036], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14263153076172, 15.097131729125977, 28.122421264648438, 0.3776456415653229, -24.150833129882812, 1.8306097984313965], "ext_wrench_in_world": [-108.40509375354905, 14.884731499131773, -27.210349779340177, -0.16661563989369124, -24.092243089369003, -2.5084958607591896]}
+{"timestamp_ns": 1789729560996768441, "elapsed_ms": 4466, "source_timestamp_ns": 1789729560995271850, "q": [0.8368610739707947, -1.897762656211853, -1.0067085027694702, 1.3810888528823853, -0.16020071506500244, 0.5942861437797546, 0.7031054496765137], "theta": [0.8389413952827454, -1.8958487510681152, -1.0049253702163696, 1.3626856803894043, -0.16077131032943726, 0.5942419767379761, 0.7030515670776367], "dq": [-0.0007787570357322693, -0.002900384832173586, -0.002033904194831848, 0.001515491516329348, -0.0012898097047582269, -0.0005580995348282158, 5.6271404901053756e-05], "dtheta": [-3.319156530778855e-05, -0.0003429932694416493, -3.795664451899938e-05, 0.00012207920372020453, -0.00026392212021164596, -0.0006154769798740745, 0.0006185577949509025], "tau": [55.529998779296875, 23.600000381469727, 5.4720001220703125, -26.288002014160156, -2.5840001106262207, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.5156645178794861, -0.49731355905532837, -0.16542603075504303, -0.6168662309646606, 0.9163077473640442, -1.127630352973938, -0.5666203498840332], "tau_dot": [34.03117752075195, -80.2967758178711, 45.70887756347656, 52.891258239746094, -12.658061981201172, -0.1695905178785324, 41.72685241699219], "tau_ext": [-16.689533233642578, -41.66318130493164, 31.806232452392578, 31.340822219848633, 9.507233619689941, -2.9973320960998535, -0.1101519837975502], "tcp_pose": [0.677925169467926, 0.0327167771756649, -0.21499277651309967, -0.002260964596644044, -0.004576136823743582, 0.999888002872467, 0.014069246128201485], "tcp_vel": [-0.00021273494348861277, -5.909448009333573e-05, -0.00022922412608750165, -0.0009180474444292486, 0.000456979003502056, -0.00023478970979340374], "flange_pose": [0.6786227226257324, 0.028499580919742584, -0.06505369395017624, -0.002260964596644044, -0.004576136823743582, 0.999888002872467, 0.014069246128201485], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10464477539062, 15.120141983032227, 28.118881225585938, 0.376695841550827, -24.136985778808594, 1.827738642692566], "ext_wrench_in_world": [-108.36717619979349, 14.907905180838384, -27.20687197347572, -0.1658275860377318, -24.078504319606584, -2.5049434588105597]}
+{"timestamp_ns": 1789729561030093926, "elapsed_ms": 4500, "source_timestamp_ns": 1789729561025284197, "q": [0.8368633389472961, -1.8977686166763306, -1.0067111253738403, 1.3810887336730957, -0.16019906103610992, 0.5942825078964233, 0.7031053900718689], "theta": [0.838943600654602, -1.8958555459976196, -1.004928469657898, 1.3626853227615356, -0.16076964139938354, 0.5942384004592896, 0.7030515670776367], "dq": [-0.00025456389994360507, -0.0001751201634760946, 0.003259957069531083, 0.0013926979154348373, 0.0014133943477645516, -1.2033298844471574e-05, -0.0017564354930073023], "dtheta": [0.00014618810382671654, -0.00040546353557147086, -4.688505578087643e-05, -2.6791039999807253e-05, 0.0007655103108845651, 8.617990715720225e-06, -0.00017546243907418102], "tau": [55.529998779296875, 23.619998931884766, 5.428000450134277, -26.296001434326172, -2.572000026702881, 2.6640000343322754, -0.5480000376701355], "tau_des": [0.47481754422187805, -0.47905346751213074, -0.19217297434806824, -0.5851407647132874, 0.9073418378829956, -1.1448233127593994, -0.5558936595916748], "tau_dot": [88.27932739257812, -41.3874397277832, -15.174731254577637, 55.4295768737793, 21.65946388244629, 16.157468795776367, 18.621631622314453], "tau_ext": [-16.68531608581543, -41.632606506347656, 31.811296463012695, 31.341394424438477, 9.504578590393066, -2.9943509101867676, -0.1114054024219513], "tcp_pose": [0.6779241561889648, 0.032716620713472366, -0.2149936407804489, -0.00226120394654572, -0.004576785955578089, 0.9998880624771118, 0.014065544120967388], "tcp_vel": [-0.0001530785666545853, 0.00015371222980320454, -7.367295620497316e-05, 0.00016652996418997645, 0.0002302501379745081, -1.5167292986006942e-05], "flange_pose": [0.6786217093467712, 0.02850053273141384, -0.0650545284152031, -0.00226120394654572, -0.004576785955578089, 0.9998880624771118, 0.014065544120967388], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09044647216797, 15.105194091796875, 28.1114501953125, 0.3650399148464203, -24.1256103515625, 1.8226158618927002], "ext_wrench_in_world": [-108.35283950722378, 14.892541217073333, -27.199991286884128, -0.1542210918848822, -24.067189199600517, -2.499375410042223]}
+{"timestamp_ns": 1789729561063435633, "elapsed_ms": 4533, "source_timestamp_ns": 1789729561055296872, "q": [0.8368654251098633, -1.8977717161178589, -1.0067113637924194, 1.3810884952545166, -0.16019752621650696, 0.5942810773849487, 0.7031042575836182], "theta": [0.8389460444450378, -1.8958581686019897, -1.0049288272857666, 1.362685203552246, -0.16076795756816864, 0.5942369699478149, 0.7030513286590576], "dq": [0.00214743590913713, 0.001555127208121121, -0.00018140365136787295, -0.001307984464801848, 0.000525281298905611, 0.00045923382276669145, 0.0027647411916404963], "dtheta": [-4.2036353988805786e-05, 0.000283347733784467, -0.00045305280946195126, 9.114733984461054e-05, -0.0010248449398204684, 0.0003060988674405962, 0.00017421628581359982], "tau": [55.529998779296875, 23.6299991607666, 5.432000160217285, -26.336000442504883, -2.5440001487731934, 2.6520001888275146, -0.5560000538825989], "tau_des": [0.4242512583732605, -0.6174634695053101, -0.07782004773616791, -0.5392756462097168, 0.9473965167999268, -1.160607933998108, -0.5593050718307495], "tau_dot": [-44.46963882446289, 8.638384819030762, -24.17171859741211, -46.401329040527344, 36.406890869140625, -23.43528175354004, -0.23148876428604126], "tau_ext": [-16.705066680908203, -41.61249542236328, 31.793136596679688, 31.349353790283203, 9.502599716186523, -2.9909253120422363, -0.1141439750790596], "tcp_pose": [0.6779234409332275, 0.032717347145080566, -0.21499334275722504, -0.002261028392240405, -0.004577874671667814, 0.9998880624771118, 0.014064393006265163], "tcp_vel": [0.0003787183959502727, -0.0003744146379176527, 0.00010929574636975303, -0.0005682621267624199, -0.0008224693592637777, -0.00010647923045326024], "flange_pose": [0.6786209940910339, 0.0285016056150198, -0.06505422294139862, -0.002261028392240405, -0.004577874671667814, 0.9998880624771118, 0.014064393006265163], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09012603759766, 15.074563980102539, 28.111997604370117, 0.35047245025634766, -24.123233795166016, 1.817552924156189], "ext_wrench_in_world": [-108.35226493161093, 14.861644476088724, -27.20147869102729, -0.13959906253439328, -24.064827761797048, -2.494256443014399]}
+{"timestamp_ns": 1789729561096779900, "elapsed_ms": 4566, "source_timestamp_ns": 1789729561095300262, "q": [0.8368666172027588, -1.8977727890014648, -1.006710410118103, 1.381087064743042, -0.16019566357135773, 0.5942795276641846, 0.7031035423278809], "theta": [0.8389476537704468, -1.8958593606948853, -1.0049279928207397, 1.362684726715088, -0.16076605021953583, 0.5942350625991821, 0.7030506134033203], "dq": [-0.0011596439871937037, -0.0006892803939990699, -0.0007978175999596715, -0.00019728351617231965, 0.0008558441768400371, -0.0003584245278034359, 0.002667811932042241], "dtheta": [-0.0004027599934488535, -0.00022303848527371883, -9.58779055508785e-05, 0.00011481697583803907, 6.447109626606107e-05, -0.0002524067822378129, 0.0004495168395806104], "tau": [55.529998779296875, 23.65999984741211, 5.436000347137451, -26.280000686645508, -2.56000018119812, 2.6680002212524414, -0.5640000104904175], "tau_des": [0.577417254447937, -0.4700310230255127, -0.18416772782802582, -0.642654299736023, 0.8980615735054016, -1.1273963451385498, -0.5607834458351135], "tau_dot": [41.91871643066406, -12.86629581451416, -14.839773178100586, 41.95744323730469, 15.972108840942383, -8.499930381774902, -25.04660987854004], "tau_ext": [-16.725862503051758, -41.655418395996094, 31.794198989868164, 31.34673309326172, 9.493881225585938, -2.9941234588623047, -0.11221645772457123], "tcp_pose": [0.6779230833053589, 0.03271832317113876, -0.21499250829219818, -0.002261109882965684, -0.004578328225761652, 0.9998880624771118, 0.014064772054553032], "tcp_vel": [-0.00021486126934178174, -4.458431794773787e-05, -0.00042970385402441025, -0.00041962540126405656, 0.0007043344667181373, -0.0003789407492149621], "flange_pose": [0.6786206364631653, 0.02850246988236904, -0.06505338102579117, -0.002261109882965684, -0.004578328225761652, 0.9998880624771118, 0.014064772054553032], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07252502441406, 15.085442543029785, 28.138364791870117, 0.3563147485256195, -24.125587463378906, 1.815616488456726], "ext_wrench_in_world": [-108.33490403343536, 14.87334393055141, -27.22757836132136, -0.14538919357116986, -24.067286919279077, -2.492379628750228]}
+{"timestamp_ns": 1789729561130101182, "elapsed_ms": 4600, "source_timestamp_ns": 1789729561125283645, "q": [0.8368669152259827, -1.8977720737457275, -1.0067105293273926, 1.3810877799987793, -0.1601947695016861, 0.5942775011062622, 0.7031018733978271], "theta": [0.8389484286308289, -1.8958591222763062, -1.0049278736114502, 1.362684965133667, -0.16076532006263733, 0.5942326784133911, 0.7030491828918457], "dq": [0.0007514107855968177, 0.002322552027180791, -0.0009482193272560835, 0.0020806032698601484, -0.0006681672530248761, -0.0017119027907028794, 0.0002644557971507311], "dtheta": [-0.00014183435996528715, 9.954917914001271e-05, 0.00014651456149294972, -0.00018229118722956628, 0.00030408421298488975, 0.00048038436216302216, 0.00029265129705891013], "tau": [55.5099983215332, 23.6299991607666, 5.4800004959106445, -26.284000396728516, -2.572000026702881, 2.6520001888275146, -0.5720000267028809], "tau_des": [0.45215699076652527, -0.5437811613082886, -0.20488275587558746, -0.5371806621551514, 0.8997145891189575, -1.1728336811065674, -0.5590322613716125], "tau_dot": [8.473111152648926, 11.932440757751465, 3.233015775680542, 6.178595542907715, -15.908636093139648, 21.449914932250977, -7.733487606048584], "tau_ext": [-16.70482635498047, -41.65604019165039, 31.793594360351562, 31.348310470581055, 9.495635986328125, -2.9947190284729004, -0.10788329690694809], "tcp_pose": [0.6779225468635559, 0.032717712223529816, -0.2149927169084549, -0.0022622274700552225, -0.0045787133276462555, 0.9998880624771118, 0.014064433984458447], "tcp_vel": [6.675579788861796e-05, 0.00018362727132625878, 5.243039777269587e-05, 0.0007734781829640269, -0.0001454030571039766, -0.00046524812933057547], "flange_pose": [0.678620457649231, 0.0285019613802433, -0.06505359709262848, -0.0022622274700552225, -0.0045787133276462555, 0.9998880624771118, 0.014064433984458447], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05042266845703, 15.10147762298584, 28.146509170532227, 0.36254188418388367, -24.123184204101562, 1.8177368640899658], "ext_wrench_in_world": [-108.31305894395817, 14.889699035963803, -27.235134817688305, -0.1516339297347772, -24.064884355708518, -2.49438733311465]}
+{"timestamp_ns": 1789729561163435741, "elapsed_ms": 4633, "source_timestamp_ns": 1789729561155290481, "q": [0.8368683457374573, -1.8977724313735962, -1.0067110061645508, 1.3810880184173584, -0.1601952612400055, 0.5942789316177368, 0.7031010985374451], "theta": [0.8389493823051453, -1.8958592414855957, -1.0049283504486084, 1.3626853227615356, -0.16076557338237762, 0.5942341089248657, 0.7030484676361084], "dq": [-0.0019160693045705557, 0.003059585113078356, -5.1019560487475246e-05, -0.0012671472504734993, 0.001152664772234857, -0.0012252582237124443, 0.0020413894671946764], "dtheta": [-0.0004510584694799036, 4.5852564653614536e-05, -6.21928702457808e-05, 0.0001056817636708729, 0.000868560338858515, -0.00025445863138884306, -0.0005023299599997699], "tau": [55.5, 23.639999389648438, 5.464000225067139, -26.296001434326172, -2.572000026702881, 2.6760001182556152, -0.5640000104904175], "tau_des": [0.5734497308731079, -0.47999656200408936, -0.19285492599010468, -0.6341676115989685, 0.8776061534881592, -1.1332929134368896, -0.546541154384613], "tau_dot": [0.07858516275882721, -133.8333282470703, 30.53895378112793, 34.806819915771484, -4.134646892547607, 14.55632209777832, -42.71567916870117], "tau_ext": [-16.71268081665039, -41.66239547729492, 31.785005569458008, 31.354644775390625, 9.500600814819336, -2.995638370513916, -0.10766960680484772], "tcp_pose": [0.6779232025146484, 0.03271767124533653, -0.21499177813529968, -0.0022608344443142414, -0.0045791990123689175, 0.9998880624771118, 0.014064374379813671], "tcp_vel": [-0.00027087482158094645, -4.7106481360970065e-05, -0.0004430359695106745, 0.0003094679268542677, 0.001175026991404593, -3.149698386550881e-05], "flange_pose": [0.6786206960678101, 0.02850193716585636, -0.06505265086889267, -0.0022608344443142414, -0.0045791990123689175, 0.9998880624771118, 0.014064374379813671], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05934143066406, 15.100006103515625, 28.14108657836914, 0.366366446018219, -24.12838363647461, 1.8219702243804932], "ext_wrench_in_world": [-108.32187626933407, 14.887889695077774, -27.230021492547166, -0.15540127363758596, -24.069998202461527, -2.4987464372847956]}
+{"timestamp_ns": 1789729561196771230, "elapsed_ms": 4666, "source_timestamp_ns": 1789729561195298130, "q": [0.836868405342102, -1.8977739810943604, -1.006714105606079, 1.3810882568359375, -0.16019569337368011, 0.5942783355712891, 0.7031024694442749], "theta": [0.838949978351593, -1.8958598375320435, -1.0049307346343994, 1.3626853227615356, -0.16076579689979553, 0.5942345857620239, 0.7030494213104248], "dq": [-0.001070075435563922, 6.087630390538834e-05, 0.0005551330978050828, -0.0009506270871497691, 0.0011386977275833488, 0.0009118436137214303, -0.0019224088173359632], "dtheta": [0.0001097791173378937, 0.0002746178361121565, 0.00016953598242253065, -0.00019382387108635157, 3.752327984329895e-06, -0.00040256913052871823, 0.0001805629872251302], "tau": [55.48999786376953, 23.670000076293945, 5.420000076293945, -26.304000854492188, -2.5920000076293945, 2.680000066757202, -0.5680000185966492], "tau_des": [0.39915433526039124, -0.584572434425354, -0.18124544620513916, -0.5162404179573059, 0.911673903465271, -1.1671779155731201, -0.5593894124031067], "tau_dot": [-46.1041145324707, -145.20718383789062, 7.187956809997559, -21.240835189819336, -62.07203674316406, -13.644292831420898, 6.323751926422119], "tau_ext": [-16.690969467163086, -41.68585968017578, 31.796663284301758, 31.3470516204834, 9.499178886413574, -3.0000417232513428, -0.110459104180336], "tcp_pose": [0.6779236793518066, 0.03271624818444252, -0.214992493391037, -0.0022605436388403177, -0.004578081425279379, 0.9998880624771118, 0.0140624288469553], "tcp_vel": [4.038379483972676e-05, -1.3244663932709955e-05, 0.00020545505685731769, 0.00016167532885447145, 9.937586582964286e-05, -0.00026824738597497344], "flange_pose": [0.6786211133003235, 0.02850109525024891, -0.06505335122346878, -0.0022605436388403177, -0.004578081425279379, 0.9998880624771118, 0.0140624288469553], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0716323852539, 15.110712051391602, 28.14950180053711, 0.3760204017162323, -24.133676528930664, 1.8254915475845337], "ext_wrench_in_world": [-108.33425431312158, 14.898850146398084, -27.23819750767365, -0.16507533786654704, -24.07528820423387, -2.5022792713392374]}
+{"timestamp_ns": 1789729561230157575, "elapsed_ms": 4700, "source_timestamp_ns": 1789729561225299368, "q": [0.8368698954582214, -1.8977771997451782, -1.0067161321640015, 1.3810878992080688, -0.16019536554813385, 0.5942772626876831, 0.703102171421051], "theta": [0.8389511704444885, -1.8958631753921509, -1.0049329996109009, 1.362685203552246, -0.16076579689979553, 0.5942338705062866, 0.7030489444732666], "dq": [0.0020057533401995897, 0.0004664128355216235, -0.0008498032111674547, -0.0005842645769007504, -0.0006806317833252251, -0.0004450700362212956, -0.001608143444173038], "dtheta": [0.00020556562230922282, -0.0004402243939694017, 7.467301475116983e-05, 7.791636744514108e-05, 0.00032280318555422127, -0.00023614976089447737, 6.261068483581766e-05], "tau": [55.52000045776367, 23.600000381469727, 5.460000038146973, -26.316001892089844, -2.564000129699707, 2.6600000858306885, -0.5640000104904175], "tau_des": [0.46574831008911133, -0.47036293148994446, -0.22846704721450806, -0.5778792500495911, 0.9107980132102966, -1.1523281335830688, -0.553106427192688], "tau_dot": [82.91549682617188, -103.76070404052734, 30.193384170532227, -23.089359283447266, 32.13080978393555, 24.660364151000977, -33.65874481201172], "tau_ext": [-16.67106056213379, -41.66166687011719, 31.80867576599121, 31.332178115844727, 9.500897407531738, -3.001478910446167, -0.10970909148454666], "tcp_pose": [0.6779237389564514, 0.03271598741412163, -0.21499253809452057, -0.002259819535538554, -0.004578482825309038, 0.9998881220817566, 0.014060438610613346], "tcp_vel": [-0.00021664680389221758, 0.00014112099597696215, -7.53694839659147e-05, -0.0002780680952128023, 0.00024057179689407349, 0.00012352466001175344], "flange_pose": [0.6786209344863892, 0.02850143052637577, -0.06505338102579117, -0.002259819535538554, -0.004578482825309038, 0.9998881220817566, 0.014060438610613346], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07706451416016, 15.142857551574707, 28.130462646484375, 0.38439828157424927, -24.130197525024414, 1.8259997367858887], "ext_wrench_in_world": [-108.33986147494383, 14.930202668280385, -27.218456998965166, -0.17346403885123265, -24.071883755461297, -2.5025571652007765]}
+{"timestamp_ns": 1789729561263437228, "elapsed_ms": 4733, "source_timestamp_ns": 1789729561255301916, "q": [0.8368716239929199, -1.8977781534194946, -1.0067226886749268, 1.381088137626648, -0.16019411385059357, 0.594275176525116, 0.7031007409095764], "theta": [0.8389525413513184, -1.895864725112915, -1.0049388408660889, 1.362684965133667, -0.16076532006263733, 0.5942319631576538, 0.7030482292175293], "dq": [-0.0005969760823063552, 0.0018299794755876064, -0.00017503075650893152, 0.0010947349946945906, 0.0014952505007386208, -0.0015704900724813342, 0.00017249828670173883], "dtheta": [6.773655513825361e-06, 0.00018601061310619116, -0.0004910169518552721, 8.758791955187917e-05, 0.00021980107703711838, -0.00025396759156137705, -5.5566786613781005e-05], "tau": [55.459999084472656, 23.639999389648438, 5.4800004959106445, -26.32000160217285, -2.580000162124634, 2.6640000343322754, -0.5600000023841858], "tau_des": [0.44841766357421875, -0.5989826917648315, -0.07372842729091644, -0.5607351660728455, 0.9172706007957458, -1.1486248970031738, -0.5669400095939636], "tau_dot": [-97.80980682373047, 75.7517318725586, -15.821647644042969, -62.18763732910156, -15.170967102050781, 6.962954044342041, -17.367815017700195], "tau_ext": [-16.692739486694336, -41.59701919555664, 31.771364212036133, 31.34869956970215, 9.506210327148438, -3.000819444656372, -0.10927083343267441], "tcp_pose": [0.6779254078865051, 0.03271236643195152, -0.2149924337863922, -0.002259122906252742, -0.004576925653964281, 0.9998881816864014, 0.014057653024792671], "tcp_vel": [0.00010355397535022348, -0.0003668034332804382, -5.2969764510635287e-05, -0.0002542441652622074, 0.00021978694712743163, -0.000516027444973588], "flange_pose": [0.6786223649978638, 0.02849864587187767, -0.06505325436592102, -0.002259122906252742, -0.004576925653964281, 0.9998881816864014, 0.014057653024792671], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.080810546875, 15.093700408935547, 28.1065731048584, 0.36827388405799866, -24.122730255126953, 1.823159098625183], "ext_wrench_in_world": [-108.34296547348954, 14.88054789759771, -27.19617581353104, -0.15746685523134274, -24.064364343994324, -2.4994444629145582]}
+{"timestamp_ns": 1789729561296771917, "elapsed_ms": 4766, "source_timestamp_ns": 1789729561295304896, "q": [0.8368722200393677, -1.897781252861023, -1.0067245960235596, 1.3810880184173584, -0.1601915806531906, 0.594272792339325, 0.7030964493751526], "theta": [0.8389535546302795, -1.8958667516708374, -1.0049400329589844, 1.362685203552246, -0.160762220621109, 0.5942293405532837, 0.7030448317527771], "dq": [0.0018367713782936335, 0.0014285700162872672, 0.0019111160654574633, 0.002295014914125204, -0.0007897967007011175, -0.0017411599401384592, -0.0005048345192335546], "dtheta": [0.00018126708164345473, -0.0001090762234525755, -2.4054781533777714e-05, -0.00021163502242416143, 0.0008720924379304051, 0.0009656910551711917, -0.0003433779929764569], "tau": [55.47999954223633, 23.65999984741211, 5.4760003089904785, -26.312002182006836, -2.572000026702881, 2.6440000534057617, -0.5760000348091125], "tau_des": [0.38775157928466797, -0.5495249629020691, -0.1843230128288269, -0.4957904517650604, 0.9122103452682495, -1.193455457687378, -0.5529515743255615], "tau_dot": [48.526161193847656, -45.33060073852539, 43.95612716674805, -54.05308532714844, -11.495367050170898, -50.51528549194336, -48.2122802734375], "tau_ext": [-16.69792938232422, -41.60270690917969, 31.76815414428711, 31.352943420410156, 9.506420135498047, -3.0012645721435547, -0.10929959267377853], "tcp_pose": [0.6779245734214783, 0.03271202743053436, -0.21499350666999817, -0.002260050503537059, -0.004578744992613792, 0.9998881816864014, 0.014055904000997543], "tcp_vel": [0.0001623826683498919, 0.00027301686350256205, 0.00022201066894922405, 0.0011997411493211985, -0.0006165541708469391, -0.00014099273539613932], "flange_pose": [0.6786218285560608, 0.028498833999037743, -0.06505431234836578, -0.002260050503537059, -0.004578744992613792, 0.9998881816864014, 0.014055904000997543], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08106994628906, 15.035719871520996, 28.12212371826172, 0.34828516840934753, -24.11957550048828, 1.820231556892395], "ext_wrench_in_world": [-108.34287319652934, 14.822534102096263, -27.213208291703527, -0.1374103577994448, -24.061118221765085, -2.496432677804272]}
+{"timestamp_ns": 1789729561330100337, "elapsed_ms": 4800, "source_timestamp_ns": 1789729561325302665, "q": [0.8368727564811707, -1.8977879285812378, -1.006724238395691, 1.3810877799987793, -0.1601887345314026, 0.594272255897522, 0.7030923962593079], "theta": [0.8389545679092407, -1.8958734273910522, -1.0049397945404053, 1.362684726715088, -0.1607590913772583, 0.5942288637161255, 0.7030407786369324], "dq": [0.00019499615882523358, 0.0024037673138082027, 0.00039046999881975353, 0.002130383625626564, 0.002230517566204071, 0.0019793466199189425, 0.0023301735054701567], "dtheta": [1.972591780941002e-05, -9.050683729583398e-05, 0.0002255650470033288, -0.0006772616179659963, 0.0009294812334701419, -0.000748449529055506, 0.00025872793048620224], "tau": [55.44999694824219, 23.639999389648438, 5.4800004959106445, -26.288002014160156, -2.568000078201294, 2.6520001888275146, -0.5879999995231628], "tau_des": [0.44280576705932617, -0.5051391124725342, -0.22995145618915558, -0.5417696237564087, 0.8977684378623962, -1.1533291339874268, -0.5526151657104492], "tau_dot": [-79.88668823242188, -84.22206115722656, 15.195761680603027, -73.66266632080078, -42.96846008300781, -17.599254608154297, -40.020469665527344], "tau_ext": [-16.663766860961914, -41.64619827270508, 31.78777503967285, 31.322341918945312, 9.49085521697998, -2.9903299808502197, -0.1034955382347107], "tcp_pose": [0.6779224276542664, 0.03271440044045448, -0.21499526500701904, -0.002260729670524597, -0.004582323133945465, 0.9998881816864014, 0.014054353348910809], "tcp_vel": [-9.647652041167021e-05, 0.00022845396597404033, 0.00013944208330940455, 0.0005526628228835762, 0.0005954356747679412, -0.0006438952987082303], "flange_pose": [0.6786198616027832, 0.02850167453289032, -0.06505604833364487, -0.002260729670524597, -0.004582323133945465, 0.9998881816864014, 0.014054353348910809], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08724975585938, 15.058698654174805, 28.114601135253906, 0.3579326272010803, -24.12853240966797, 1.8234883546829224], "ext_wrench_in_world": [-108.34936709673887, 14.844372359338134, -27.204926409212014, -0.14682125462704484, -24.070077471012223, -2.499823163413086]}
+{"timestamp_ns": 1789729561363435586, "elapsed_ms": 4833, "source_timestamp_ns": 1789729561355302983, "q": [0.8368743062019348, -1.897789478302002, -1.0067248344421387, 1.3810878992080688, -0.160187229514122, 0.5942724347114563, 0.703092634677887], "theta": [0.8389561772346497, -1.8958754539489746, -1.0049399137496948, 1.3626853227615356, -0.1607569307088852, 0.5942286252975464, 0.7030405402183533], "dq": [-0.0005776628968305886, -0.0029513142071664333, -0.0007092603482306004, 2.9109360184520483e-06, 0.0010044022928923368, -0.0013429431710392237, 0.00035484350519254804], "dtheta": [-0.0002541317662689835, -0.0003618571790866554, -0.00018437982362229377, -0.0001374851999571547, 0.0004595982318278402, -0.0004725717008113861, 0.00016442665946669877], "tau": [55.57999801635742, 23.619998931884766, 5.464000225067139, -26.312002182006836, -2.572000026702881, 2.692000150680542, -0.5600000023841858], "tau_des": [0.5583472847938538, -0.4514584243297577, -0.199184849858284, -0.6295868158340454, 0.8997511863708496, -1.1307467222213745, -0.5501267313957214], "tau_dot": [108.80044555664062, -82.2813491821289, -23.722511291503906, -28.67881965637207, -26.006668090820312, 39.9393310546875, 31.168155670166016], "tau_ext": [-16.70992088317871, -41.65410614013672, 31.774551391601562, 31.347339630126953, 9.485150337219238, -2.9978675842285156, -0.10054564476013184], "tcp_pose": [0.6779223084449768, 0.032714590430259705, -0.2149949073791504, -0.0022602940443903208, -0.0045820982195436954, 0.9998881816864014, 0.014054028317332268], "tcp_vel": [-0.00018653235747478902, -1.101335419662064e-05, -0.0003198691119905561, -0.0003312760090921074, 0.000702335441019386, -0.0003168151306454092], "flange_pose": [0.6786196231842041, 0.028501959517598152, -0.06505569070577621, -0.0022602940443903208, -0.0045820982195436954, 0.9998881816864014, 0.014054028317332268], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06266021728516, 15.092328071594238, 28.11786651611328, 0.37142959237098694, -24.13006591796875, 1.8264868259429932], "ext_wrench_in_world": [-108.32506959244783, 14.878337964620624, -27.20745622944, -0.1603264164792119, -24.07165218177123, -2.502788835071078]}
+{"timestamp_ns": 1789729561396769335, "elapsed_ms": 4866, "source_timestamp_ns": 1789729561395313462, "q": [0.8368750214576721, -1.897788643836975, -1.0067261457443237, 1.381088376045227, -0.1601869910955429, 0.594271183013916, 0.7030951976776123], "theta": [0.8389573693275452, -1.8958745002746582, -1.0049412250518799, 1.3626859188079834, -0.1607562154531479, 0.5942269563674927, 0.7030419707298279], "dq": [0.0009047228377312422, 0.0007351465173996985, -0.0012511878740042448, -0.0013155632186681032, -0.0019511820282787085, 0.0027579190209507942, -0.002420521341264248], "dtheta": [-0.00020017777569592, 0.00018776897923089564, -4.5025767576589715e-06, -7.30125029804185e-05, -0.0005789711722172797, -0.0004334253608249128, 0.00029229078791104257], "tau": [55.5099983215332, 23.670000076293945, 5.4800004959106445, -26.32000160217285, -2.576000213623047, 2.6560001373291016, -0.5680000185966492], "tau_des": [0.48741617798805237, -0.5482733249664307, -0.1648024469614029, -0.5770902633666992, 0.917072594165802, -1.1471774578094482, -0.555112898349762], "tau_dot": [40.70356369018555, -44.20428466796875, -0.7175758481025696, 8.362580299377441, -23.09607696533203, -32.14677047729492, -29.83449363708496], "tau_ext": [-16.72121810913086, -41.65275955200195, 31.764545440673828, 31.369770050048828, 9.490227699279785, -3.0003678798675537, -0.10899428278207779], "tcp_pose": [0.6779226660728455, 0.032713383436203, -0.2149946093559265, -0.0022604602854698896, -0.004580064211040735, 0.9998881816864014, 0.014053486287593842], "tcp_vel": [3.491784809739329e-05, -0.0001527032582089305, -4.9465103074908257e-05, -0.00046586981625296175, 0.00015556439757347107, -0.00010090718569699675], "flange_pose": [0.6786200404167175, 0.028500912711024284, -0.06505540013313293, -0.0022604602854698896, -0.004580064211040735, 0.9998881816864014, 0.014053486287593842], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0412826538086, 15.085729598999023, 28.14948081970215, 0.37273550033569336, -24.12757110595703, 1.8246351480484009], "ext_wrench_in_world": [-108.30373015890258, 14.873237425691709, -27.239311804443197, -0.16174504350091706, -24.069224593182984, -2.500835595063168]}
+{"timestamp_ns": 1789729561430103224, "elapsed_ms": 4900, "source_timestamp_ns": 1789729561425307191, "q": [0.8368783593177795, -1.8977875709533691, -1.006729245185852, 1.3810887336730957, -0.16018632054328918, 0.5942720770835876, 0.7030950784683228], "theta": [0.8389608263969421, -1.8958734273910522, -1.004944086074829, 1.3626861572265625, -0.16075573861598969, 0.59422767162323, 0.7030414938926697], "dq": [0.0005191847449168563, -0.001053798128850758, -0.0006922725006006658, 8.93014803295955e-05, -3.4570177376735955e-05, -0.0011213087709620595, 0.00152494665235281], "dtheta": [0.000147140453918837, 0.00039434549398720264, -0.000616509176325053, -0.0001866087841335684, 0.00029146159067749977, 0.0013692378997802734, -0.0003905536141246557], "tau": [55.5099983215332, 23.670000076293945, 5.424000263214111, -26.292001724243164, -2.568000078201294, 2.636000156402588, -0.5600000023841858], "tau_des": [0.31696924567222595, -0.6810680627822876, -0.07506866753101349, -0.4280087351799011, 0.9287314414978027, -1.2240015268325806, -0.5618161559104919], "tau_dot": [0.8273198008537292, -59.74101257324219, -39.489742279052734, 1.852038025856018, -7.8440117835998535, -34.705989837646484, 17.704761505126953], "tau_ext": [-16.663820266723633, -41.6248664855957, 31.760944366455078, 31.33881950378418, 9.490927696228027, -2.996795892715454, -0.10938239842653275], "tcp_pose": [0.677924633026123, 0.03271150961518288, -0.21499228477478027, -0.002258251653984189, -0.004578569438308477, 0.9998882412910461, 0.014053295366466045], "tcp_vel": [0.0006317418883554637, -0.00018366228323429823, 0.0003985164512414485, 0.0010847417870536447, -0.001378904446028173, -0.0005307068931870162], "flange_pose": [0.6786213517189026, 0.028499092906713486, -0.0650530681014061, -0.002258251653984189, -0.004578569438308477, 0.9998882412910461, 0.014053295366466045], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07850646972656, 15.058012008666992, 28.14569854736328, 0.3692683279514313, -24.13797378540039, 1.8229875564575195], "ext_wrench_in_world": [-108.34051784118871, 14.845402893482824, -27.236626808989797, -0.1582383004032773, -24.079637462294293, -2.499488251315103]}
+{"timestamp_ns": 1789729561463437863, "elapsed_ms": 4933, "source_timestamp_ns": 1789729561455319807, "q": [0.836882472038269, -1.8977915048599243, -1.0067286491394043, 1.3810886144638062, -0.16018624603748322, 0.5942709445953369, 0.7030952572822571], "theta": [0.8389651775360107, -1.895877718925476, -1.004944086074829, 1.3626863956451416, -0.1607559770345688, 0.5942262411117554, 0.7030419707298279], "dq": [0.001113391132093966, -6.035026672179811e-05, 0.0015179456677287817, 0.00010609469609335065, 0.000493172905407846, 0.0001362969633191824, -0.0006599407061003149], "dtheta": [0.00015428061306010932, -9.262443199986592e-05, 0.00019308520131744444, 0.00010421518527437001, 2.816051164700184e-05, 0.0010954146273434162, -0.0005712182610295713], "tau": [55.529998779296875, 23.65999984741211, 5.424000263214111, -26.284000396728516, -2.56000018119812, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.37818560004234314, -0.5268506407737732, -0.23423394560813904, -0.48872119188308716, 0.9286484718322754, -1.209291934967041, -0.5380678176879883], "tau_dot": [-11.876192092895508, -81.37781524658203, -42.771728515625, 0.5037968754768372, 15.278078079223633, 12.405595779418945, 20.023136138916016], "tau_ext": [-16.694149017333984, -41.68880844116211, 31.813114166259766, 31.344005584716797, 9.491247177124023, -2.9976136684417725, -0.10774694383144379], "tcp_pose": [0.6779240965843201, 0.03271280229091644, -0.2149907350540161, -0.002256745705381036, -0.004579953383654356, 0.9998882412910461, 0.014051694422960281], "tcp_vel": [0.00010386597568867728, 0.0002883202978409827, 0.00016352857346646488, 0.0007304326281882823, -0.0008383720414713025, 0.0007431292324326932], "flange_pose": [0.6786203980445862, 0.028500864282250404, -0.06505149602890015, -0.002256745705381036, -0.004579953383654356, 0.9998882412910461, 0.014051694422960281], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09529876708984, 15.099922180175781, 28.1326847076416, 0.37947845458984375, -24.141033172607422, 1.8247889280319214], "ext_wrench_in_world": [-108.35758712927473, 14.886391777271772, -27.22274537273136, -0.16835497123020618, -24.082747476409512, -2.5012540377681063]}
+{"timestamp_ns": 1789729561496769963, "elapsed_ms": 4966, "source_timestamp_ns": 1789729561495284016, "q": [0.8368839025497437, -1.897796869277954, -1.0067288875579834, 1.3810871839523315, -0.16018620133399963, 0.5942649841308594, 0.7030951380729675], "theta": [0.8389673829078674, -1.8958842754364014, -1.0049448013305664, 1.3626859188079834, -0.16075573861598969, 0.5942198038101196, 0.7030424475669861], "dq": [0.000969810935202986, -0.0011609782231971622, 0.0008962078136391938, 0.0016382342437282205, -0.00012577493907883763, -0.0014970795018598437, -0.0020697962027043104], "dtheta": [8.219238225137815e-05, 2.263849091832526e-05, -0.00023088669695425779, 0.00018753958283923566, 3.551865302142687e-05, 0.0001265506725758314, 0.0008260257891379297], "tau": [55.53999710083008, 23.6299991607666, 5.4760003089904785, -26.316001892089844, -2.5920000076293945, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.43807658553123474, -0.5543321371078491, -0.16039904952049255, -0.5483207106590271, 0.9177823662757874, -1.1663658618927002, -0.5666439533233643], "tau_dot": [63.73382568359375, 129.76504516601562, 60.867279052734375, 4.972582817077637, -19.00822639465332, -17.68951416015625, -1.050919771194458], "tau_ext": [-16.70391273498535, -41.623355865478516, 31.792083740234375, 31.33506965637207, 9.496953010559082, -2.9905147552490234, -0.11435512453317642], "tcp_pose": [0.6779224872589111, 0.03271360322833061, -0.21499142050743103, -0.0022577180061489344, -0.0045816777274012566, 0.9998883008956909, 0.014048092067241669], "tcp_vel": [4.6289456804515794e-05, -0.0001475289900554344, -2.230638528999407e-05, -0.00013708812184631824, -5.7633213145891204e-05, -0.0009962809272110462], "flange_pose": [0.6786190271377563, 0.028502751141786575, -0.06505215167999268, -0.0022577180061489344, -0.0045816777274012566, 0.9998883008956909, 0.014048092067241669], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.04566955566406, 15.122847557067871, 28.14957618713379, 0.37132713198661804, -24.12278175354004, 1.819831371307373], "ext_wrench_in_world": [-108.30835022037974, 14.90966469482203, -27.239108625446473, -0.16026769827180704, -24.064586608326863, -2.495647255341643]}
+{"timestamp_ns": 1789729561530098693, "elapsed_ms": 5000, "source_timestamp_ns": 1789729561525281485, "q": [0.8368837237358093, -1.8977973461151123, -1.0067301988601685, 1.3810877799987793, -0.1601857841014862, 0.5942586064338684, 0.7030944228172302], "theta": [0.8389678001403809, -1.89588463306427, -1.0049457550048828, 1.3626857995986938, -0.16075526177883148, 0.594213604927063, 0.7030419707298279], "dq": [0.0015775697538629174, -0.0005450440221466124, -0.0007686962489970028, -0.0021260366775095463, 0.00025872260448522866, 0.0010229157051071525, 0.0004785589699167758], "dtheta": [6.513462722068653e-05, 0.00029176234966143966, -0.00017953195492736995, -0.0002436651411699131, -0.0007362443720921874, -0.0002447743609081954, 0.00014878380170557648], "tau": [55.5, 23.639999389648438, 5.492000102996826, -26.312002182006836, -2.576000213623047, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.38532641530036926, -0.600092351436615, -0.14173413813114166, -0.5110722184181213, 0.9403794407844543, -1.1652755737304688, -0.5519080758094788], "tau_dot": [-4.3408522605896, 80.75267791748047, 11.327367782592773, 16.603689193725586, -32.954898834228516, 35.74901580810547, 19.111652374267578], "tau_ext": [-16.701513290405273, -41.585750579833984, 31.77340316772461, 31.347816467285156, 9.498798370361328, -2.9910929203033447, -0.11090286821126938], "tcp_pose": [0.6779212355613708, 0.0327119417488575, -0.21499279141426086, -0.002260410925373435, -0.004581728484481573, 0.9998883008956909, 0.014045389369130135], "tcp_vel": [0.0003015043039340526, -0.00022831371461506933, 0.0002622992906253785, -0.0003759931423701346, -0.0005362978554330766, -9.41480029723607e-05], "flange_pose": [0.6786186099052429, 0.028501901775598526, -0.06505351513624191, -0.002260410925373435, -0.004581728484481573, 0.9998883008956909, 0.014045389369130135], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.04682922363281, 15.062560081481934, 28.140756607055664, 0.34989607334136963, -24.120004653930664, 1.8150328397750854], "ext_wrench_in_world": [-108.30906907111977, 14.848976902643894, -27.231482622120357, -0.13884953546222414, -24.061761259053487, -2.4907352119511144]}
+{"timestamp_ns": 1789729561563501495, "elapsed_ms": 5033, "source_timestamp_ns": 1789729561555306008, "q": [0.8368827700614929, -1.8977975845336914, -1.00673246383667, 1.3810880184173584, -0.16018474102020264, 0.594255805015564, 0.7030944228172302], "theta": [0.8389673829078674, -1.8958851099014282, -1.0049480199813843, 1.3626859188079834, -0.16075478494167328, 0.5942107439041138, 0.7030419707298279], "dq": [-0.001119579072110355, 0.0012868538033217192, 0.0017836716724559665, 0.0010467424290254712, -0.0011744919465854764, 2.2454253212345066e-06, 0.00014535772788804024], "dtheta": [-0.0004136068746447563, -4.3666892452165484e-05, -0.0001427421666448936, 0.0001944646646734327, 0.0001332787360297516, 0.0006053991965018213, 0.0009925904450938106], "tau": [55.47999954223633, 23.639999389648438, 5.444000244140625, -26.288002014160156, -2.5960001945495605, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.5659381747245789, -0.502509355545044, -0.16886475682258606, -0.6265918612480164, 0.892987072467804, -1.1409869194030762, -0.5715019702911377], "tau_dot": [80.60939025878906, 6.9120025634765625, 37.61241149902344, 91.79972076416016, -34.327980041503906, 12.153266906738281, 15.618978500366211], "tau_ext": [-16.70036506652832, -41.61256790161133, 31.77908706665039, 31.355770111083984, 9.495835304260254, -2.991666316986084, -0.1101020872592926], "tcp_pose": [0.6779210567474365, 0.032710347324609756, -0.21499411761760712, -0.0022619019728153944, -0.00458073616027832, 0.9998883008956909, 0.014043914154171944], "tcp_vel": [-3.4046224755002186e-05, 1.5901800907158758e-06, -0.00032989130704663694, 0.0002387628483120352, 0.00016826674982439727, -0.0011211007367819548], "flange_pose": [0.678618848323822, 0.02850075252354145, -0.06505481898784637, -0.0022619019728153944, -0.00458073616027832, 0.9998883008956909, 0.014043914154171944], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0732192993164, 15.018651962280273, 28.13005256652832, 0.3384787440299988, -24.125686645507812, 1.8149281740188599], "ext_wrench_in_world": [-108.33506138843136, 14.804672970013915, -27.22162056332491, -0.12743466956066885, -24.067345519116113, -2.4907686208712927]}
+{"timestamp_ns": 1789729561596771550, "elapsed_ms": 5066, "source_timestamp_ns": 1789729561595288823, "q": [0.8368834853172302, -1.8978008031845093, -1.0067335367202759, 1.3810876607894897, -0.16018366813659668, 0.5942561626434326, 0.7030947804450989], "theta": [0.8389683365821838, -1.8958874940872192, -1.0049489736557007, 1.3626854419708252, -0.16075405478477478, 0.5942116975784302, 0.7030414938926697], "dq": [6.129661051090807e-05, 0.0005145507166162133, 0.0018790417816489935, 0.0001240608689840883, 0.0012164887739345431, -0.00014322342758532614, -0.0013552465243265033], "dtheta": [-9.011496877064928e-05, 0.0001266756880795583, -3.439185820752755e-05, -0.00016233749920502305, 0.0004739293653983623, -0.0005425692070275545, 0.00044925438123755157], "tau": [55.459999084472656, 23.65999984741211, 5.408000469207764, -26.304000854492188, -2.5840001106262207, 2.636000156402588, -0.5200000405311584], "tau_des": [0.491316020488739, -0.5281668901443481, -0.18109966814517975, -0.5872899889945984, 0.8926090002059937, -1.136594533920288, -0.564275860786438], "tau_dot": [-28.334077835083008, -10.293171882629395, -19.889684677124023, -11.063155174255371, -38.21189498901367, -78.1004409790039, 61.037113189697266], "tau_ext": [-16.69772720336914, -41.67079162597656, 31.8104190826416, 31.349971771240234, 9.496777534484863, -2.9936203956604004, -0.11310362070798874], "tcp_pose": [0.6779206991195679, 0.03271092474460602, -0.21499454975128174, -0.002261438639834523, -0.004580944310873747, 0.9998883605003357, 0.014042937196791172], "tcp_vel": [-7.631973858224228e-05, -7.72219427744858e-05, -5.3643263527192175e-05, 0.00010318931890651584, 0.0006337716476991773, -0.0008335746824741364], "flange_pose": [0.6786183714866638, 0.02850162237882614, -0.065055251121521, -0.002261438639834523, -0.004580944310873747, 0.9998883605003357, 0.014042937196791172], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09375762939453, 15.071345329284668, 28.132373809814453, 0.3560490906238556, -24.134641647338867, 1.8169363737106323], "ext_wrench_in_world": [-108.35606920711837, 14.857121836153274, -27.222500645235552, -0.14491982890217625, -24.0764072438842, -2.492903659659127]}
+{"timestamp_ns": 1789729561630101460, "elapsed_ms": 5100, "source_timestamp_ns": 1789729561625288141, "q": [0.8368856310844421, -1.8978028297424316, -1.0067342519760132, 1.3810882568359375, -0.1601843386888504, 0.5942574143409729, 0.7030947208404541], "theta": [0.8389708995819092, -1.8958896398544312, -1.0049498081207275, 1.3626859188079834, -0.16075453162193298, 0.5942133665084839, 0.7030414938926697], "dq": [-0.0009346890146844089, 0.003243387211114168, 0.0028790810611099005, -0.0007912120781838894, -3.153337456751615e-05, 0.001563485711812973, 0.0030878696125000715], "dtheta": [0.00018568536324892193, 0.00047470597201026976, -5.9623707784339786e-05, 0.00027460939600132406, -0.0002680265752132982, 0.00033160741440951824, 0.0004271558136679232], "tau": [55.5099983215332, 23.619998931884766, 5.444000244140625, -26.292001724243164, -2.5880000591278076, 2.6760001182556152, -0.5640000104904175], "tau_des": [0.4036940038204193, -0.6009807586669922, -0.15403185784816742, -0.5299607515335083, 0.9193549752235413, -1.1694713830947876, -0.5600956678390503], "tau_dot": [40.99924850463867, 58.669151306152344, -51.38412857055664, -14.886171340942383, -54.164833068847656, -6.710331916809082, -17.665586471557617], "tau_ext": [-16.692468643188477, -41.6251220703125, 31.796680450439453, 31.34166145324707, 9.497593879699707, -2.998157024383545, -0.11415289342403412], "tcp_pose": [0.6779209971427917, 0.03271117061376572, -0.21499378979206085, -0.0022598339710384607, -0.004581645131111145, 0.9998883605003357, 0.014041983522474766], "tcp_vel": [0.0001774460542947054, -0.00019178161164745688, 0.00020070858590770513, 0.00020499483798630536, -0.0003720453241840005, -0.0006028493517078459], "flange_pose": [0.6786181330680847, 0.028502153232693672, -0.06505446881055832, -0.0022598339710384607, -0.004581645131111145, 0.9998883605003357, 0.014041983522474766], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0879898071289, 15.096234321594238, 28.13130760192871, 0.36147215962409973, -24.131574630737305, 1.8164199590682983], "ext_wrench_in_world": [-108.35045527601736, 14.881824388890973, -27.221139633946112, -0.1503272888870259, -24.07341099485859, -2.4922324385110173]}
+{"timestamp_ns": 1789729561663427291, "elapsed_ms": 5133, "source_timestamp_ns": 1789729561655300826, "q": [0.8368868231773376, -1.897802472114563, -1.0067412853240967, 1.3810871839523315, -0.16018374264240265, 0.5942568182945251, 0.7030941843986511], "theta": [0.8389725089073181, -1.8958899974822998, -1.0049570798873901, 1.3626854419708252, -0.16075405478477478, 0.5942133665084839, 0.7030414938926697], "dq": [0.001043891068547964, -0.0022855072747915983, 0.0005425711278803647, -0.001395763480104506, 0.003697020700201392, -0.0010147611610591412, -8.146509935613722e-05], "dtheta": [0.0004696712421718985, 0.00012082105240551755, -6.771393964299932e-05, 0.0001104420080082491, -2.5799748982535675e-05, -0.0009516807622276247, -0.0005928532918915153], "tau": [55.529998779296875, 23.600000381469727, 5.456000328063965, -26.34400177001953, -2.580000162124634, 2.680000066757202, -0.5560000538825989], "tau_des": [0.3815414011478424, -0.5628177523612976, -0.14975905418395996, -0.5425748229026794, 0.9320754408836365, -1.1449894905090332, -0.5479119420051575], "tau_dot": [41.0449104309082, -47.132816314697266, -8.390066146850586, -51.98343276977539, -21.422508239746094, 5.9012837409973145, 0.03138691186904907], "tau_ext": [-16.7133846282959, -41.61803436279297, 31.779163360595703, 31.34527587890625, 9.503276824951172, -3.004182815551758, -0.1138177290558815], "tcp_pose": [0.6779239177703857, 0.032707344740629196, -0.21499289572238922, -0.002258052583783865, -0.004579110071063042, 0.9998884201049805, 0.014040172100067139], "tcp_vel": [-6.151042907731608e-05, -0.00024590882821939886, 0.00019502603390719742, -0.0006520403549075127, 0.00028646198916248977, 0.000518630666192621], "flange_pose": [0.6786205172538757, 0.02849886380136013, -0.0650535598397255, -0.002258052583783865, -0.004579110071063042, 0.9998884201049805, 0.014040172100067139], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05448150634766, 15.06524658203125, 28.124059677124023, 0.354449987411499, -24.113967895507812, 1.8156356811523438], "ext_wrench_in_world": [-108.31646169537619, 14.8514111409243, -27.21534629253846, -0.1435762715730178, -24.055777446037048, -2.490897971978669]}
+{"timestamp_ns": 1789729561696765759, "elapsed_ms": 5166, "source_timestamp_ns": 1789729561695289720, "q": [0.8368887305259705, -1.897804856300354, -1.0067436695098877, 1.3810869455337524, -0.16018250584602356, 0.5942569375038147, 0.7030947804450989], "theta": [0.8389747142791748, -1.8958929777145386, -1.0049598217010498, 1.3626854419708252, -0.16075287759304047, 0.5942133665084839, 0.7030419707298279], "dq": [0.001246635802090168, 0.00044649976189248264, 0.0009401146089658141, 0.0006777287926524878, 0.0011178158456459641, -0.0003396162355784327, -0.0030399926472455263], "dtheta": [-7.368780643446371e-05, -0.0001920445793075487, -4.8851776227820665e-05, 0.00022045108198653907, -0.0002749669656623155, -0.0006299573578871787, -0.0005514883669093251], "tau": [55.46999740600586, 23.579999923706055, 5.436000347137451, -26.308000564575195, -2.572000026702881, 2.6560001373291016, -0.5400000214576721], "tau_des": [0.5058290958404541, -0.48155882954597473, -0.17347699403762817, -0.6121096014976501, 0.9242818355560303, -1.134167194366455, -0.5456700921058655], "tau_dot": [-74.02701568603516, -85.39972686767578, 31.575782775878906, 19.044933319091797, -12.634073257446289, -52.910945892333984, 18.353179931640625], "tau_ext": [-16.716543197631836, -41.65106964111328, 31.801469802856445, 31.34954833984375, 9.505830764770508, -3.0010986328125, -0.11939890682697296], "tcp_pose": [0.677924394607544, 0.032706886529922485, -0.21499241888523102, -0.002256933366879821, -0.004578426945954561, 0.9998884201049805, 0.014039024710655212], "tcp_vel": [-0.00021719152573496103, -0.00013145749107934535, -0.00025711828493513167, -0.0008802838856354356, 0.0005447528092190623, 0.00084792694542557], "flange_pose": [0.6786206960678101, 0.028498748317360878, -0.0650530681014061, -0.002256933366879821, -0.004578426945954561, 0.9998884201049805, 0.014039024710655212], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.04574584960938, 15.080244064331055, 28.127880096435547, 0.357293039560318, -24.108043670654297, 1.8143764734268188], "ext_wrench_in_world": [-108.3077992364497, 14.866678359593042, -27.219057571248594, -0.14649513671894665, -24.049922839198352, -2.489405658614281]}
+{"timestamp_ns": 1789729561730101567, "elapsed_ms": 5200, "source_timestamp_ns": 1789729561725357971, "q": [0.8368908762931824, -1.8978129625320435, -1.006743311882019, 1.381085991859436, -0.16018211841583252, 0.5942555665969849, 0.7030949592590332], "theta": [0.8389769196510315, -1.8959014415740967, -1.004960298538208, 1.3626846075057983, -0.16075310111045837, 0.5942121744155884, 0.703042209148407], "dq": [-0.0012333408230915666, -0.0019310342613607645, -0.0008660561870783567, -3.995431325165555e-05, -0.0017399986973032355, 0.00028426889912225306, 0.0018238360062241554], "dtheta": [-0.0002656270225998014, -9.369145118398592e-05, 4.5182383473729715e-05, 1.3961206377643975e-06, 3.2258365081361262e-06, 2.2684394934913144e-05, 0.000171293257153593], "tau": [55.47999954223633, 23.600000381469727, 5.432000160217285, -26.30000114440918, -2.572000026702881, 2.6680002212524414, -0.5680000185966492], "tau_des": [0.5047537684440613, -0.4825359582901001, -0.20031017065048218, -0.5857915282249451, 0.9154766798019409, -1.1555476188659668, -0.5537554621696472], "tau_dot": [-35.424072265625, 8.801408767700195, 41.73737335205078, -58.49977493286133, 22.94399642944336, 16.62397575378418, -30.539419174194336], "tau_ext": [-16.71290397644043, -41.649810791015625, 31.812705993652344, 31.348255157470703, 9.503666877746582, -3.0009756088256836, -0.11279752105474472], "tcp_pose": [0.6779226660728455, 0.03270941227674484, -0.21499314904212952, -0.0022562425583601, -0.004580982960760593, 0.9998884797096252, 0.014036042615771294], "tcp_vel": [-9.394776861881837e-05, 5.599239011644386e-05, -0.00020372220024000853, -2.5544084564899094e-05, 0.0002706841332837939, -7.884997467044741e-05], "flange_pose": [0.6786187291145325, 0.028502168133854866, -0.0650537759065628, -0.0022562425583601, -0.004580982960760593, 0.9998884797096252, 0.014036042615771294], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05428314208984, 15.10753345489502, 28.133012771606445, 0.36255311965942383, -24.111968994140625, 1.8146958351135254], "ext_wrench_in_world": [-108.31664375630329, 14.893306273990353, -27.223632998706574, -0.15159425289343267, -24.053901566621956, -2.4896692789813453]}
+{"timestamp_ns": 1789729561763435086, "elapsed_ms": 5233, "source_timestamp_ns": 1789729561755300944, "q": [0.8368924856185913, -1.8978145122528076, -1.00674307346344, 1.381085753440857, -0.16018033027648926, 0.594254195690155, 0.7030941843986511], "theta": [0.8389788269996643, -1.8959029912948608, -1.004960536956787, 1.362683892250061, -0.16075167059898376, 0.5942105054855347, 0.7030412554740906], "dq": [-0.002133716596290469, 0.0021150324027985334, 0.0003777919337153435, -0.001602540141902864, 0.00014339134213514626, -0.0017143975710496306, -0.0021082768216729164], "dtheta": [0.0002084975567413494, 0.0003357408568263054, -0.00017094942450057715, -1.1177663509442937e-05, -0.0004104053368791938, -0.00028732678038068116, 0.00020929226593580097], "tau": [55.52000045776367, 23.639999389648438, 5.440000057220459, -26.340002059936523, -2.5840001106262207, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.372108519077301, -0.5981462597846985, -0.14237196743488312, -0.5062307715415955, 0.9363896250724792, -1.1724334955215454, -0.5581196546554565], "tau_dot": [-31.454391479492188, 0.981141984462738, -37.154075622558594, -11.14284896850586, -31.776094436645508, 1.0893549919128418, 14.21739387512207], "tau_ext": [-16.689725875854492, -41.58999252319336, 31.79412269592285, 31.332197189331055, 9.498249053955078, -2.994014024734497, -0.11226028949022293], "tcp_pose": [0.6779221296310425, 0.03270995616912842, -0.21499264240264893, -0.0022563477978110313, -0.004581446759402752, 0.9998884797096252, 0.014035765081644058], "tcp_vel": [0.00019803387112915516, -0.0002649703819770366, 0.00023764767684042454, -0.0002969755732920021, -0.00027610029792413116, -0.00032128815655596554], "flange_pose": [0.6786182522773743, 0.028502797707915306, -0.06505326926708221, -0.0022563477978110313, -0.004581446759402752, 0.9998884797096252, 0.014035765081644058], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05250549316406, 15.08399486541748, 28.10911750793457, 0.35238924622535706, -24.108003616333008, 1.8139389753341675], "ext_wrench_in_world": [-108.31456032208182, 14.86900814118464, -27.200403501723226, -0.1414415504903053, -24.0498669021809, -2.488832543060245]}
+{"timestamp_ns": 1789729561796772205, "elapsed_ms": 5266, "source_timestamp_ns": 1789729561795352642, "q": [0.8368919491767883, -1.8978146314620972, -1.0067436695098877, 1.3810862302780151, -0.16017742455005646, 0.5942498445510864, 0.7030903697013855], "theta": [0.8389782905578613, -1.8959026336669922, -1.004961609840393, 1.3626835346221924, -0.16074831783771515, 0.5942064523696899, 0.7030379176139832], "dq": [-0.00018558866577222943, -0.0003554982540663332, -0.001441705389879644, 0.0019450305262580514, 0.000954898598138243, 0.0007890689303167164, 0.001356606837362051], "dtheta": [-0.0002466867445036769, 7.134647603379562e-05, 4.769722181663383e-06, -1.2677072845690418e-05, 0.0006954395794309676, 0.00028929224936291575, 0.00024058151757344604], "tau": [55.46999740600586, 23.689998626708984, 5.4800004959106445, -26.296001434326172, -2.568000078201294, 2.6480002403259277, -0.5760000348091125], "tau_des": [0.5105665326118469, -0.4990744888782501, -0.20750083029270172, -0.5844737887382507, 0.8888640999794006, -1.1572003364562988, -0.5575827956199646], "tau_dot": [-107.76133728027344, -6.805023670196533, 53.77572250366211, 6.743031978607178, -7.686641216278076, -15.265910148620605, -23.020843505859375], "tau_ext": [-16.723962783813477, -41.620418548583984, 31.777612686157227, 31.3558406829834, 9.495368003845215, -2.994065761566162, -0.11125929653644562], "tcp_pose": [0.6779208183288574, 0.03270904719829559, -0.21499404311180115, -0.002259129425510764, -0.0045823948457837105, 0.9998884797096252, 0.014034867286682129], "tcp_vel": [-7.117593486327678e-05, 7.859476318117231e-05, -0.00016432763368356973, 0.0006833595689386129, 0.0004104302206542343, -0.0006797507521696389], "flange_pose": [0.6786177754402161, 0.02850216068327427, -0.06505466252565384, -0.002259129425510764, -0.0045823948457837105, 0.9998884797096252, 0.014034867286682129], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05062103271484, 15.055193901062012, 28.140501022338867, 0.3453461825847626, -24.113033294677734, 1.8124942779541016], "ext_wrench_in_world": [-108.31273944954489, 14.840853631156204, -27.232019814471872, -0.13431255470881306, -24.05487471896842, -2.4875161418693876]}
+{"timestamp_ns": 1789729561830097906, "elapsed_ms": 5300, "source_timestamp_ns": 1789729561825416164, "q": [0.8368932604789734, -1.8978142738342285, -1.0067447423934937, 1.3810862302780151, -0.1601780652999878, 0.5942490100860596, 0.7030839323997498], "theta": [0.8389796614646912, -1.895902395248413, -1.0049623250961304, 1.3626830577850342, -0.16074879467487335, 0.5942052602767944, 0.7030311822891235], "dq": [0.0012325713178142905, 0.002036537043750286, -1.2182273167127278e-05, -0.00036726039252243936, 0.0008470222819596529, 0.0008556563989259303, -0.0003245964180678129], "dtheta": [-9.805047739064321e-05, -1.6450072507723235e-05, 9.486771887168288e-06, -0.0003117640735581517, -0.0005363254458643496, -0.00018062617164105177, 0.00023596968094352633], "tau": [55.44999694824219, 23.65999984741211, 5.452000141143799, -26.292001724243164, -2.568000078201294, 2.6760001182556152, -0.5720000267028809], "tau_des": [0.432700514793396, -0.526106059551239, -0.20401179790496826, -0.5329602360725403, 0.9347683787345886, -1.1686055660247803, -0.5421392321586609], "tau_dot": [-84.37316131591797, -81.046875, 9.188133239746094, 4.819879055023193, -13.043848991394043, 33.07676315307617, 14.74605655670166], "tau_ext": [-16.682422637939453, -41.646034240722656, 31.79233169555664, 31.33791160583496, 9.490813255310059, -2.990647315979004, -0.10735611617565155], "tcp_pose": [0.67792147397995, 0.03270821273326874, -0.21499314904212952, -0.002258415799587965, -0.0045853485353291035, 0.9998884797096252, 0.014034186489880085], "tcp_vel": [0.00013247398601379246, 3.775600134758861e-06, 9.177631000056863e-05, -0.00027955390396527946, -0.0003028021892532706, 3.47240456903819e-05], "flange_pose": [0.6786181926727295, 0.02850153110921383, -0.06505376845598221, -0.002258415799587965, -0.0045853485353291035, 0.9998884797096252, 0.014034186489880085], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05443572998047, 15.068364143371582, 28.155506134033203, 0.35361379384994507, -24.12411117553711, 1.816558599472046], "ext_wrench_in_world": [-108.3167896953561, 14.853729251540885, -27.246816363737572, -0.14235228533467575, -24.065914251388623, -2.491821611163439]}
+{"timestamp_ns": 1789729561863431395, "elapsed_ms": 5333, "source_timestamp_ns": 1789729561855427769, "q": [0.8368940353393555, -1.8978149890899658, -1.0067460536956787, 1.381087303161621, -0.16017696261405945, 0.5942493081092834, 0.7030835747718811], "theta": [0.8389810919761658, -1.8959025144577026, -1.0049641132354736, 1.362683892250061, -0.16074784100055695, 0.5942059755325317, 0.7030297517776489], "dq": [-0.0009306767024099827, -6.853155355202034e-05, 0.0006722113466821611, 0.0005329567939043045, -1.3802525245409925e-05, -3.953709529014304e-05, 0.0008109636255539954], "dtheta": [5.7031593314604834e-05, -0.00016164792759809643, -0.0005555052193813026, 0.00025018624728545547, -2.4843247956596315e-05, 0.0007909638225100935, 0.00048586406046524644], "tau": [55.52000045776367, 23.689998626708984, 5.420000076293945, -26.316001892089844, -2.552000045776367, 2.6680002212524414, -0.5640000104904175], "tau_des": [0.45747315883636475, -0.5373334884643555, -0.14653851091861725, -0.5569268465042114, 0.9252287745475769, -1.1731623411178589, -0.5558205246925354], "tau_dot": [14.365874290466309, 10.467604637145996, -33.870914459228516, 36.28192901611328, 36.41505432128906, 18.1688232421875, -6.924643516540527], "tau_ext": [-16.705385208129883, -41.678531646728516, 31.7984561920166, 31.344247817993164, 9.49166202545166, -2.9954373836517334, -0.0982104018330574], "tcp_pose": [0.6779213547706604, 0.032707635313272476, -0.2149934023618698, -0.0022584309335798025, -0.004585091024637222, 0.9998884797096252, 0.014033677987754345], "tcp_vel": [0.0002078840770991519, -0.00018385502335149795, -5.900478208786808e-05, -0.00011853051546495408, -0.0006302745314314961, -0.0007334233960136771], "flange_pose": [0.6786181330680847, 0.028501108288764954, -0.0650540143251419, -0.0022584309335798025, -0.004585091024637222, 0.9998884797096252, 0.014033677987754345], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06490325927734, 15.10753345489502, 28.139223098754883, 0.3701665699481964, -24.13140869140625, 1.8240910768508911], "ext_wrench_in_world": [-108.3275309948023, 14.892355954247272, -27.229405480681724, -0.15888514520407648, -24.07315263738776, -2.4994588585323005]}
+{"timestamp_ns": 1789729561896780630, "elapsed_ms": 5366, "source_timestamp_ns": 1789729561895370965, "q": [0.8368971347808838, -1.8978140354156494, -1.0067510604858398, 1.3810876607894897, -0.1601761281490326, 0.5942498445510864, 0.7030842304229736], "theta": [0.8389841914176941, -1.8959014415740967, -1.004968523979187, 1.362684965133667, -0.16074736416339874, 0.5942059755325317, 0.703029990196228], "dq": [0.002998948097229004, 0.002919871360063553, -0.002220009919255972, 0.0001672802318353206, 0.000923353189136833, -0.0009885492036119103, 0.0035070336889475584], "dtheta": [0.0001529086148366332, 0.00018556107534095645, -4.4119893573224545e-05, 0.00017557870887685567, -0.00011448805162217468, 0.0007714643725194037, -0.0001332509855274111], "tau": [55.5, 23.69999885559082, 5.456000328063965, -26.328001022338867, -2.56000018119812, 2.6760001182556152, -0.5800000429153442], "tau_des": [0.37612977623939514, -0.580650806427002, -0.16828769445419312, -0.4955913722515106, 0.9314871430397034, -1.1967315673828125, -0.5480780005455017], "tau_dot": [4.4990034103393555, 47.860897064208984, 7.457955360412598, -21.390151977539062, -14.816947937011719, 49.574378967285156, -43.132102966308594], "tau_ext": [-16.716856002807617, -41.67302703857422, 31.792953491210938, 31.351041793823242, 9.493285179138184, -2.9982306957244873, -0.09976018965244293], "tcp_pose": [0.6779237985610962, 0.03270460665225983, -0.2149915099143982, -0.002256249776110053, -0.004582464229315519, 0.9998884797096252, 0.014032718725502491], "tcp_vel": [0.00018803862622007728, 9.436047321287333e-07, 0.00017521786503493786, 0.00044247607002034783, -0.0006769141182303429, 5.057327143731527e-05], "flange_pose": [0.678619921207428, 0.028498360887169838, -0.06505211442708969, -0.002256249776110053, -0.004582464229315519, 0.9998884797096252, 0.014032718725502491], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0605697631836, 15.13644790649414, 28.161909103393555, 0.38085100054740906, -24.132225036621094, 1.8292731046676636], "ext_wrench_in_world": [-108.32337005880112, 14.92245713621111, -27.251783230453892, -0.16970272283416385, -24.07392583238126, -2.5045695831957695]}
+{"timestamp_ns": 1789729561930174644, "elapsed_ms": 5400, "source_timestamp_ns": 1789729561925386069, "q": [0.8368983268737793, -1.8978148698806763, -1.0067529678344727, 1.3810876607894897, -0.16017507016658783, 0.5942486524581909, 0.7030848860740662], "theta": [0.8389853835105896, -1.895902156829834, -1.0049701929092407, 1.362684965133667, -0.16074568033218384, 0.5942045450210571, 0.7030304670333862], "dq": [-5.901158874621615e-05, 0.0013732491061091423, 0.0006966510554775596, -0.0012469993671402335, 0.00020551511261146516, -0.0010593555634841323, 0.0019112227018922567], "dtheta": [0.00033889460610225797, 0.00023393426090478897, 0.00017211878730449826, 7.544882100773975e-05, 0.0008156868861988187, -2.8897522497572936e-05, 0.00022286859166342765], "tau": [55.5099983215332, 23.69999885559082, 5.456000328063965, -26.292001724243164, -2.564000129699707, 2.6560001373291016, -0.5680000185966492], "tau_des": [0.36705246567726135, -0.5786280035972595, -0.18865999579429626, -0.5010343790054321, 0.9044938087463379, -1.1818069219589233, -0.5618343949317932], "tau_dot": [129.1570281982422, 48.01544952392578, 39.72237014770508, 7.93101692199707, -1.4120060205459595, -0.035398874431848526, -21.581998825073242], "tau_ext": [-16.706275939941406, -41.68246078491211, 31.808937072753906, 31.344905853271484, 9.4937744140625, -2.994980573654175, -0.10348516702651978], "tcp_pose": [0.6779240965843201, 0.03270374983549118, -0.2149912565946579, -0.0022560968063771725, -0.004581524059176445, 0.9998884797096252, 0.014031771570444107], "tcp_vel": [-6.800947448937222e-05, 6.441745063057169e-05, 0.0002045378350885585, 0.0007270225323736668, 0.0002551089273765683, -0.0006986351800151169], "flange_pose": [0.6786201000213623, 0.028497787192463875, -0.0650518611073494, -0.0022560968063771725, -0.004581524059176445, 0.9998884797096252, 0.014031771570444107], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0527114868164, 15.148301124572754, 28.16666030883789, 0.3831707835197449, -24.130002975463867, 1.828784465789795], "ext_wrench_in_world": [-108.31560617764148, 14.934662876048886, -27.256293634979468, -0.17208487606848846, -24.07174427347595, -2.503962958064394]}
+{"timestamp_ns": 1789729561963440460, "elapsed_ms": 5433, "source_timestamp_ns": 1789729561955327542, "q": [0.8368999361991882, -1.89781653881073, -1.00675368309021, 1.3810871839523315, -0.16017518937587738, 0.5942429304122925, 0.7030844688415527], "theta": [0.8389877080917358, -1.8959029912948608, -1.0049703121185303, 1.3626844882965088, -0.16074590384960175, 0.5941983461380005, 0.7030309438705444], "dq": [-0.0009790511103346944, 0.0019813794642686844, 0.00038980256067588925, 0.000807592470664531, -0.0025000968016684055, 0.0003823359729722142, -0.00010838352318387479], "dtheta": [-0.00043850616202689707, 9.168757242150605e-05, 7.688527693971992e-05, -0.00017201538139488548, -0.00011482000991236418, -0.0011988236801698804, -0.00040296060615219176], "tau": [55.529998779296875, 23.69999885559082, 5.448000431060791, -26.316001892089844, -2.580000162124634, 2.6440000534057617, -0.5600000023841858], "tau_des": [0.5283637642860413, -0.4967063367366791, -0.17870664596557617, -0.6130062341690063, 0.911312997341156, -1.1259196996688843, -0.5422395467758179], "tau_dot": [-31.894657135009766, 24.785736083984375, 4.624512195587158, -21.804906845092773, -35.38693618774414, -31.17560386657715, -1.6762585639953613], "tau_ext": [-16.716041564941406, -41.6826171875, 31.7982234954834, 31.34633445739746, 9.499889373779297, -2.99615216255188, -0.10677435249090195], "tcp_pose": [0.677923321723938, 0.03270303085446358, -0.21499115228652954, -0.0022571433801203966, -0.0045821028761565685, 0.99988853931427, 0.014029123820364475], "tcp_vel": [-0.00023641220468562096, -0.00014857722271699458, -0.000316215940983966, -0.0006370356422849, 0.0011566533939912915, 0.0004607852315530181], "flange_pose": [0.6786196827888489, 0.028497865423560143, -0.06505173444747925, -0.0022571433801203966, -0.0045821028761565685, 0.99988853931427, 0.014029123820364475], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06520080566406, 15.144021987915039, 28.155723571777344, 0.38228070735931396, -24.133501052856445, 1.8280441761016846], "ext_wrench_in_world": [-108.32807896239484, 14.929689418229247, -27.245283613529573, -0.17113587141864486, -24.075266854094583, -2.5031970627319935]}
+{"timestamp_ns": 1789729561996771450, "elapsed_ms": 5466, "source_timestamp_ns": 1789729561995363264, "q": [0.8369014859199524, -1.8978191614151, -1.0067534446716309, 1.3810869455337524, -0.1601746529340744, 0.5942381024360657, 0.7030840516090393], "theta": [0.8389891386032104, -1.8959060907363892, -1.0049701929092407, 1.3626844882965088, -0.16074542701244354, 0.5941928625106812, 0.7030311822891235], "dq": [-0.00182080187369138, -0.0029177223332226276, -0.0016162110259756446, 0.0015375805087387562, 0.0010796845890581608, -0.0008663898333907127, 5.433175101643428e-05], "dtheta": [-5.0201935664517805e-05, -0.00022821698803454638, -0.000245088740484789, 8.219053415814415e-05, -0.00011906267172889784, 5.2709117881022394e-05, 0.0007830567192286253], "tau": [55.459999084472656, 23.600000381469727, 5.452000141143799, -26.284000396728516, -2.5920000076293945, 2.684000015258789, -0.5680000185966492], "tau_des": [0.4727136194705963, -0.5192163586616516, -0.16487905383110046, -0.5745375156402588, 0.9209424257278442, -1.1537601947784424, -0.5642792582511902], "tau_dot": [-68.84513854980469, -166.1455078125, 1.9849876165390015, 41.262203216552734, -66.54381561279297, 46.677345275878906, -18.15572166442871], "tau_ext": [-16.70874786376953, -41.659610748291016, 31.787288665771484, 31.354562759399414, 9.496476173400879, -2.9928410053253174, -0.10746103525161743], "tcp_pose": [0.6779220104217529, 0.03270323947072029, -0.21499137580394745, -0.002258308231830597, -0.004583133850246668, 0.99988853931427, 0.014026859775185585], "tcp_vel": [4.070351678819861e-06, -8.38736305013299e-05, -0.00013594837218988687, -0.00041603416320867836, -4.4766460632672533e-05, -0.0007243130239658058], "flange_pose": [0.6786187291145325, 0.028498755767941475, -0.06505193561315536, -0.002258308231830597, -0.004583133850246668, 0.99988853931427, 0.014026859775185585], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.052001953125, 15.140416145324707, 28.176950454711914, 0.3775898218154907, -24.133800506591797, 1.8258253335952759], "ext_wrench_in_world": [-108.31504010493255, 14.926450431432881, -27.26648177972113, -0.16638723658152946, -24.075596789416146, -2.5008985655690394]}
+{"timestamp_ns": 1789729562030104999, "elapsed_ms": 5500, "source_timestamp_ns": 1789729562025413923, "q": [0.836901843547821, -1.8978195190429688, -1.006752848625183, 1.3810863494873047, -0.16017423570156097, 0.5942357182502747, 0.7030816674232483], "theta": [0.8389894366264343, -1.8959065675735474, -1.004969835281372, 1.3626837730407715, -0.16074447333812714, 0.5941900014877319, 0.7030287981033325], "dq": [-0.0009995911968871951, 0.001131648663431406, 0.00020110164768993855, -0.002957158489152789, 0.0012007689801976085, 0.00031265875441022217, -0.001442244159989059], "dtheta": [0.00017517978267278522, 0.00022800736769568175, 6.994324940023944e-05, -8.139140845742077e-05, 0.0002561071014497429, -0.0005582761368714273, 2.991073051816784e-05], "tau": [55.52000045776367, 23.600000381469727, 5.464000225067139, -26.316001892089844, -2.564000129699707, 2.6640000343322754, -0.5560000538825989], "tau_des": [0.4006366729736328, -0.5590501427650452, -0.19043412804603577, -0.5328029990196228, 0.9143070578575134, -1.156986117362976, -0.5486130118370056], "tau_dot": [91.6527328491211, -41.92448806762695, 5.036988258361816, 27.3738956451416, -9.86209774017334, 16.400989532470703, -1.1526449918746948], "tau_ext": [-16.67091941833496, -41.635467529296875, 31.78960418701172, 31.33587646484375, 9.498351097106934, -2.99124813079834, -0.1056184470653534], "tcp_pose": [0.6779215931892395, 0.03270340710878372, -0.21499119699001312, -0.0022589643485844135, -0.004584465641528368, 0.99988853931427, 0.014026460237801075], "tcp_vel": [-3.207606641808525e-05, -8.28377524157986e-05, 0.0001419161562807858, 5.47982745047193e-05, 0.0003460037405602634, -0.00027501743170432746], "flange_pose": [0.6786184906959534, 0.028499046340584755, -0.06505175679922104, -0.0022589643485844135, -0.004584465641528368, 0.99988853931427, 0.014026460237801075], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07723999023438, 15.104727745056152, 28.14470672607422, 0.3701898753643036, -24.13626480102539, 1.8254835605621338], "ext_wrench_in_world": [-108.33987680373794, 14.889328383944001, -27.235016344435667, -0.1589022245490668, -24.078003723799444, -2.5006391340326246]}
+{"timestamp_ns": 1789729562063437984, "elapsed_ms": 5533, "source_timestamp_ns": 1789729562055371854, "q": [0.8369011878967285, -1.8978193998336792, -1.0067535638809204, 1.3810861110687256, -0.16017305850982666, 0.5942323207855225, 0.703079104423523], "theta": [0.8389889597892761, -1.8959070444107056, -1.0049701929092407, 1.362683892250061, -0.16074302792549133, 0.5941859483718872, 0.7030266523361206], "dq": [0.0011602339800447226, -0.0005618069553747773, -0.00011556999379536137, 0.000608505797572434, 0.0010010048281401396, 0.00048237162991426885, -0.0016972580924630165], "dtheta": [0.00016178743680939078, -0.0002783019153866917, -0.0003604191879276186, 3.795971497311257e-05, 0.0016002992633730173, -0.000292334210826084, 0.0005269843968562782], "tau": [55.5099983215332, 23.619998931884766, 5.444000244140625, -26.292001724243164, -2.5840001106262207, 2.6560001373291016, -0.5840000510215759], "tau_des": [0.4879333972930908, -0.49752992391586304, -0.1820332109928131, -0.5960701107978821, 0.8791164755821228, -1.137729525566101, -0.5655165314674377], "tau_dot": [-23.355358123779297, -56.98408508300781, -23.285646438598633, 4.8865814208984375, -41.28226852416992, -14.759724617004395, -58.52732467651367], "tau_ext": [-16.694499969482422, -41.636741638183594, 31.781688690185547, 31.353118896484375, 9.497452735900879, -2.995903968811035, -0.10296668857336044], "tcp_pose": [0.6779209971427917, 0.03270261362195015, -0.2149920016527176, -0.0022606716956943274, -0.004585144110023975, 0.99988853931427, 0.014025657437741756], "tcp_vel": [-0.00020605653116945177, -5.7712168199941516e-05, -0.0001741361920721829, 0.0003427633782848716, 0.0008761654607951641, -0.0014685735804960132], "flange_pose": [0.6786184310913086, 0.028498496860265732, -0.06505255401134491, -0.0022606716956943274, -0.004585144110023975, 0.99988853931427, 0.014025657437741756], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09423065185547, 15.071394920349121, 28.129714965820312, 0.3606885075569153, -24.13712501525879, 1.8248475790023804], "ext_wrench_in_world": [-108.35660658805772, 14.855236382525435, -27.220548669344133, -0.14936512603788876, -24.078797935061136, -2.5000297898075736]}
+{"timestamp_ns": 1789729562096774909, "elapsed_ms": 5566, "source_timestamp_ns": 1789729562095472515, "q": [0.8369012475013733, -1.8978195190429688, -1.0067538022994995, 1.3810861110687256, -0.16017211973667145, 0.5942295789718628, 0.7030773162841797], "theta": [0.8389888405799866, -1.8959068059921265, -1.0049700736999512, 1.3626837730407715, -0.16074280440807343, 0.5941835641860962, 0.7030256986618042], "dq": [-0.0015608113026246428, -0.001961370697245002, 0.0009114632266573608, -0.0017025426495820284, 0.0018200273625552654, -0.001640958129428327, 0.0011853937758132815], "dtheta": [-0.00014641952293459326, -0.00013281439896672964, 0.0002450678439345211, 2.5463266865699552e-05, -0.0003149524563923478, -0.0011908240849152207, 0.00034816935658454895], "tau": [55.46999740600586, 23.75, 5.448000431060791, -26.316001892089844, -2.5480000972747803, 2.6440000534057617, -0.5720000267028809], "tau_des": [0.5359302759170532, -0.4609780013561249, -0.23974044620990753, -0.637224555015564, 0.9053750038146973, -1.1133288145065308, -0.5425555109977722], "tau_dot": [-42.42533874511719, 130.488037109375, -28.418569564819336, -57.33686447143555, 68.1650619506836, -49.46853256225586, -47.876312255859375], "tau_ext": [-16.697410583496094, -41.67811584472656, 31.789039611816406, 31.351791381835938, 9.494783401489258, -2.9980976581573486, -0.10410432517528534], "tcp_pose": [0.677920401096344, 0.03270214423537254, -0.21499241888523102, -0.0022618770599365234, -0.004585747141391039, 0.9998885989189148, 0.014024910517036915], "tcp_vel": [-0.00033821610850282013, -4.0602695662528276e-05, -0.00024645065423101187, -0.0009325696155428886, 0.000981296761892736, 0.0001203662104671821], "flange_pose": [0.6786181926727295, 0.028498252853751183, -0.06505297124385834, -0.0022618770599365234, -0.004585747141391039, 0.9998885989189148, 0.014024910517036915], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09027862548828, 15.095768928527832, 28.133853912353516, 0.3719322085380554, -24.139328002929688, 1.8279036283493042], "ext_wrench_in_world": [-108.35297941505996, 14.879576696064833, -27.223782949222365, -0.16057843926214105, -24.08102208293459, -2.503060462986594]}
+{"timestamp_ns": 1789729562130101975, "elapsed_ms": 5600, "source_timestamp_ns": 1789729562125293869, "q": [0.836902379989624, -1.8978198766708374, -1.006756067276001, 1.3810863494873047, -0.16017243266105652, 0.594230592250824, 0.7030784487724304], "theta": [0.8389897346496582, -1.8959072828292847, -1.0049721002578735, 1.3626837730407715, -0.16074328124523163, 0.5941842794418335, 0.7030264139175415], "dq": [-0.0004461768257897347, -0.001185522647574544, 0.0008578434935770929, 0.002512746723368764, 0.0021916120313107967, -0.00035023875534534454, 0.0014741983031854033], "dtheta": [0.0001322954922216013, 0.00014842783275526017, -5.629253064398654e-05, 3.19377395499032e-05, 0.0007580838864669204, -0.001055838307365775, -0.00015644925588276237], "tau": [55.48999786376953, 23.69999885559082, 5.496000289916992, -26.30000114440918, -2.5880000591278076, 2.6760001182556152, -0.5640000104904175], "tau_des": [0.4637453258037567, -0.5320768356323242, -0.18316416442394257, -0.5878982543945312, 0.8924216032028198, -1.1296249628067017, -0.5492033958435059], "tau_dot": [7.908315181732178, 28.955665588378906, 73.55108642578125, -60.70363998413086, -56.93155288696289, 36.22278594970703, -40.048118591308594], "tau_ext": [-16.689062118530273, -41.6728401184082, 31.78813934326172, 31.345666885375977, 9.500255584716797, -2.9941585063934326, -0.10637804120779037], "tcp_pose": [0.67792147397995, 0.03270108625292778, -0.21499183773994446, -0.0022605787962675095, -0.0045845843851566315, 0.9998885989189148, 0.014024248346686363], "tcp_vel": [-0.00022580896620638669, -0.00019394193077459931, -6.608540570596233e-05, -0.00016217601660173386, 0.00108897325117141, -0.0003729127929545939], "flange_pose": [0.678618848323822, 0.02849739044904709, -0.06505238264799118, -0.0022605787962675095, -0.0045845843851566315, 0.9998885989189148, 0.014024248346686363], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09081268310547, 15.120031356811523, 28.14520263671875, 0.3806736469268799, -24.143383026123047, 1.8298293352127075], "ext_wrench_in_world": [-108.35368205734008, 14.904361374797825, -27.234741834895516, -0.16934182120953084, -24.08510498945537, -2.505029493251032]}
+{"timestamp_ns": 1789729562163432261, "elapsed_ms": 5633, "source_timestamp_ns": 1789729562155305306, "q": [0.8369024991989136, -1.8978204727172852, -1.0067623853683472, 1.3810865879058838, -0.16017353534698486, 0.594231128692627, 0.7030789256095886], "theta": [0.8389902114868164, -1.895908236503601, -1.0049784183502197, 1.362683892250061, -0.16074399650096893, 0.5941849946975708, 0.7030273675918579], "dq": [0.0012163338251411915, -0.00212052371352911, 0.0017074579373002052, 0.00039020623080432415, -0.004027283750474453, 0.0011359677882865071, 0.0016589962178841233], "dtheta": [0.0001574412453919649, -0.0003486163914203644, -0.0004046687390655279, 3.949661549995653e-05, -0.00018368962628301233, 9.881868754746392e-05, 0.0005484746070578694], "tau": [55.48999786376953, 23.65999984741211, 5.432000160217285, -26.288002014160156, -2.5320000648498535, 2.6560001373291016, -0.5440000295639038], "tau_des": [0.43627995252609253, -0.5442008376121521, -0.13373586535453796, -0.553422212600708, 0.9310690760612488, -1.159103274345398, -0.563919723033905], "tau_dot": [-64.11539459228516, -58.35000228881836, -0.9142544865608215, 45.00398635864258, 91.25691223144531, -8.833250999450684, 12.957902908325195], "tau_ext": [-16.675168991088867, -41.65953063964844, 31.783674240112305, 31.34855079650879, 9.503486633300781, -2.9943020343780518, -0.10770490765571594], "tcp_pose": [0.6779235601425171, 0.032697733491659164, -0.21499226987361908, -0.002259130124002695, -0.004582693334668875, 0.9998886585235596, 0.014021757058799267], "tcp_vel": [0.00010398328595329076, -0.00012552598491311073, -9.9540602604975e-06, -0.0005915664369240403, -0.00041426249663345516, -0.0004932320443913341], "flange_pose": [0.6786205172538757, 0.028494780883193016, -0.06505277752876282, -0.002259130124002695, -0.004582693334668875, 0.9998886585235596, 0.014021757058799267], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10275268554688, 15.100729942321777, 28.13123893737793, 0.3754405379295349, -24.146175384521484, 1.8289302587509155], "ext_wrench_in_world": [-108.36524599983726, 14.884844321792299, -27.221657848963886, -0.16416401551158138, -24.08788486125328, -2.5041126723817295]}
+{"timestamp_ns": 1789729562196770345, "elapsed_ms": 5666, "source_timestamp_ns": 1789729562195331655, "q": [0.8369039297103882, -1.897821068763733, -1.0067627429962158, 1.3810856342315674, -0.16017337143421173, 0.5942291617393494, 0.7030780911445618], "theta": [0.8389917016029358, -1.895909309387207, -1.004978895187378, 1.3626835346221924, -0.16074423491954803, 0.5941828489303589, 0.7030271291732788], "dq": [-0.0011039638193324208, -0.0012259500799700618, 0.0009690157021395862, -0.0034493338316679, -0.0028326937463134527, -6.193713488755748e-05, 0.0003290077147539705], "dtheta": [0.00027531650266610086, -0.00011929003812838346, 8.155555406119674e-05, -0.00010305002797394991, -0.0006820331327617168, -0.00041961963870562613, -0.0004020023625344038], "tau": [55.5099983215332, 23.689998626708984, 5.436000347137451, -26.272001266479492, -2.564000129699707, 2.6600000858306885, -0.5680000185966492], "tau_des": [0.37526944279670715, -0.5463584661483765, -0.1897808164358139, -0.5165181159973145, 0.9459688067436218, -1.166766881942749, -0.537941038608551], "tau_dot": [-24.24628257751465, 146.3404541015625, -9.685874938964844, 64.26634979248047, 51.33518600463867, 14.6997652053833, -24.835845947265625], "tau_ext": [-16.691404342651367, -41.66221618652344, 31.805084228515625, 31.342498779296875, 9.50484848022461, -2.9983768463134766, -0.11027836799621582], "tcp_pose": [0.6779237985610962, 0.032697614282369614, -0.21499131619930267, -0.0022587713319808245, -0.004583113826811314, 0.9998886585235596, 0.014021086506545544], "tcp_vel": [5.4808926506666467e-05, -1.4276591173256747e-05, 0.00020990738994441926, -0.0006735916249454021, -0.0004030757991131395, 0.0009113322594203055], "flange_pose": [0.6786206364631653, 0.028494862839579582, -0.06505182385444641, -0.0022587713319808245, -0.004583113826811314, 0.9998886585235596, 0.014021086506545544], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.107421875, 15.10726547241211, 28.135601043701172, 0.37261566519737244, -24.13958168029785, 1.826108694076538], "ext_wrench_in_world": [-108.36998708725214, 14.891329413702405, -27.225913898432857, -0.16136427003280646, -24.08135049442522, -2.5010875700996666]}
+{"timestamp_ns": 1789729562230104060, "elapsed_ms": 5700, "source_timestamp_ns": 1789729562225329765, "q": [0.8369069695472717, -1.897823452949524, -1.0067617893218994, 1.381084680557251, -0.16017214953899384, 0.5942233800888062, 0.7030785083770752], "theta": [0.8389942646026611, -1.8959109783172607, -1.0049785375595093, 1.3626823425292969, -0.16074375808238983, 0.5941766500473022, 0.703027606010437], "dq": [-0.0003116829611826688, 0.00030921801226213574, -0.0004264813906047493, -0.0005644132033921778, -0.0014769185800105333, -0.0005468144663609564, 0.00175428856164217], "dtheta": [6.345393921947107e-05, 0.00017139983538072556, 0.000219769382965751, -0.00016233776113949716, 0.0004333054821472615, -0.0007526305271312594, -0.00047419933252967894], "tau": [55.529998779296875, 23.60999870300293, 5.460000038146973, -26.2760009765625, -2.564000129699707, 2.6640000343322754, -0.5560000538825989], "tau_des": [0.41982346773147583, -0.5386556386947632, -0.20552417635917664, -0.5448461174964905, 0.9068201184272766, -1.1502532958984375, -0.5419926047325134], "tau_dot": [114.87850189208984, -28.145917892456055, 39.7423095703125, 54.31499099731445, 11.763392448425293, 16.08558464050293, -7.487784385681152], "tau_ext": [-16.68578338623047, -41.63449478149414, 31.79462242126465, 31.338733673095703, 9.502318382263184, -2.9935617446899414, -0.11397450417280197], "tcp_pose": [0.6779226660728455, 0.032698214054107666, -0.21499021351337433, -0.0022595308255404234, -0.004583662375807762, 0.9998886585235596, 0.014019295573234558], "tcp_vel": [-0.000149964660522528, 1.3784032489638776e-05, 5.695255094906315e-05, 0.0001401761983288452, 0.000671223911922425, 0.0002656399447005242], "flange_pose": [0.6786197423934937, 0.02849600277841091, -0.06505070626735687, -0.0022595308255404234, -0.004583662375807762, 0.9998886585235596, 0.014019295573234558], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10110473632812, 15.103679656982422, 28.128999710083008, 0.3689395487308502, -24.1348876953125, 1.8236416578292847], "ext_wrench_in_world": [-108.36366421843829, 14.887398834019432, -27.21933581473962, -0.15769620489704228, -24.076702886282906, -2.49841937727684]}
+{"timestamp_ns": 1789729562263435126, "elapsed_ms": 5733, "source_timestamp_ns": 1789729562255324286, "q": [0.8369077444076538, -1.8978255987167358, -1.006762146949768, 1.3810856342315674, -0.16017186641693115, 0.594218373298645, 0.7030782103538513], "theta": [0.8389949202537537, -1.8959132432937622, -1.0049786567687988, 1.3626824617385864, -0.16074350476264954, 0.5941716432571411, 0.703027606010437], "dq": [-0.0015410669147968292, 0.003699171356856823, -0.0005328975967131555, 0.00015230393910314888, 0.002550226403400302, -0.0001317881979048252, 0.0040018996223807335], "dtheta": [-0.0001863871148088947, 9.463140486332122e-06, 1.4584469681722112e-05, -0.00017096137162297964, -0.000514341751113534, -0.0001982841786229983, 0.0002214055712101981], "tau": [55.48999786376953, 23.65999984741211, 5.452000141143799, -26.308000564575195, -2.576000213623047, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.46296507120132446, -0.53327876329422, -0.182036891579628, -0.5658799409866333, 0.9237467050552368, -1.1473655700683594, -0.5490750670433044], "tau_dot": [-61.76089096069336, 44.62171173095703, 20.83017921447754, 24.038122177124023, -19.7141170501709, -15.611994743347168, -40.552799224853516], "tau_ext": [-16.7125186920166, -41.629302978515625, 31.781082153320312, 31.351730346679688, 9.505489349365234, -2.993536949157715, -0.11607539653778076], "tcp_pose": [0.6779209971427917, 0.0326976515352726, -0.21499139070510864, -0.0022614970803260803, -0.004584410227835178, 0.9998887181282043, 0.014016536995768547], "tcp_vel": [5.734636579290964e-05, -2.9323808121262118e-05, -2.6793455617735162e-05, -0.00033572822576388717, -7.465842645615339e-05, 4.587017610901967e-05], "flange_pose": [0.6786186695098877, 0.028496267274022102, -0.0650518611073494, -0.0022614970803260803, -0.004584410227835178, 0.9998887181282043, 0.014016536995768547], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07487487792969, 15.084354400634766, 28.128490447998047, 0.3592894673347473, -24.126909255981445, 1.8189350366592407], "ext_wrench_in_world": [-108.33738644128734, 14.867989924670976, -27.219145414914838, -0.14806946171788643, -24.06878473365734, -2.4933994294251094]}
+{"timestamp_ns": 1789729562296770001, "elapsed_ms": 5766, "source_timestamp_ns": 1789729562295320344, "q": [0.8369079232215881, -1.8978244066238403, -1.0067620277404785, 1.3810858726501465, -0.1601724624633789, 0.5942190885543823, 0.7030774354934692], "theta": [0.8389943838119507, -1.895912766456604, -1.0049785375595093, 1.362682819366455, -0.16074350476264954, 0.5941721200942993, 0.7030268907546997], "dq": [-0.0011348333209753036, -0.00025673871277831495, 0.0005155098042450845, 0.0021690179128199816, -0.0001800316385924816, -0.0010268851183354855, 0.001358740613795817], "dtheta": [5.428280928754248e-06, 0.00011369663116056472, 0.00013168284203857183, 5.4135507525643334e-05, -0.0010166019201278687, -0.0004012948484160006, -6.491919975815108e-06], "tau": [55.5099983215332, 23.729999542236328, 5.460000038146973, -26.304000854492188, -2.5840001106262207, 2.6720001697540283, -0.5360000133514404], "tau_des": [0.43224072456359863, -0.5475046038627625, -0.19190406799316406, -0.556344747543335, 0.9350365400314331, -1.1500834226608276, -0.5404980182647705], "tau_dot": [56.6351203918457, 139.00550842285156, -0.4780071973800659, -41.28357696533203, -43.627197265625, -3.3094935417175293, 56.7620964050293], "tau_ext": [-16.682634353637695, -41.6487922668457, 31.794300079345703, 31.345800399780273, 9.504207611083984, -2.9942984580993652, -0.1127317026257515], "tcp_pose": [0.6779214143753052, 0.03269742801785469, -0.21499089896678925, -0.0022610838059335947, -0.00458465376868844, 0.9998887181282043, 0.01401700358837843], "tcp_vel": [2.96401085506659e-05, -0.0001059864298440516, 5.821173908771016e-05, -0.0007566506392322481, -0.00017931449110619724, 0.0006050696829333901], "flange_pose": [0.6786189675331116, 0.02849590592086315, -0.0650513768196106, -0.0022610838059335947, -0.00458465376868844, 0.9998887181282043, 0.01401700358837843], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08631134033203, 15.0687255859375, 28.13948631286621, 0.3555454909801483, -24.132274627685547, 1.818444848060608], "ext_wrench_in_world": [-108.34871561268636, 14.852544577850477, -27.230600884659573, -0.14426109082399236, -24.074124669895966, -2.4930990922164984]}
+{"timestamp_ns": 1789729562330099357, "elapsed_ms": 5800, "source_timestamp_ns": 1789729562325321433, "q": [0.8369072079658508, -1.8978239297866821, -1.006763219833374, 1.3810862302780151, -0.16017137467861176, 0.5942193269729614, 0.7030766010284424], "theta": [0.8389940857887268, -1.8959121704101562, -1.0049787759780884, 1.3626830577850342, -0.16074232757091522, 0.5941716432571411, 0.7030264139175415], "dq": [0.0018382478738203645, -0.0032890215516090393, -0.002244346309453249, -0.0013702657306566834, 0.0014962786808609962, 0.00105720991268754, -0.0021948725916445255], "dtheta": [0.00017515815852675587, 0.000287226983346045, 0.00037905058707110584, -0.00010737772390712053, 9.6720083092805e-05, -0.00041892577428370714, 0.00017774724983610213], "tau": [55.48999786376953, 23.68000030517578, 5.456000328063965, -26.296001434326172, -2.56000018119812, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.3951705992221832, -0.5695038437843323, -0.21902020275592804, -0.5240586400032043, 0.9043080806732178, -1.1614078283309937, -0.551167368888855], "tau_dot": [-17.02289390563965, -15.30280590057373, -19.04520034790039, 7.28547477722168, 67.0318832397461, -14.467820167541504, 18.49393653869629], "tau_ext": [-16.675561904907227, -41.66585922241211, 31.78861427307129, 31.355960845947266, 9.506745338439941, -2.9981908798217773, -0.11147727817296982], "tcp_pose": [0.6779215931892395, 0.032696682959795, -0.21499145030975342, -0.0022615378256887197, -0.004584198817610741, 0.9998887181282043, 0.014017162844538689], "tcp_vel": [-6.168866093503311e-05, 8.591746882302687e-05, 0.00021681126963812858, 0.00030202840571291745, 0.00023354910081252456, -0.00016431929543614388], "flange_pose": [0.6786192655563354, 0.02849511243402958, -0.06505193561315536, -0.0022615378256887197, -0.004584198817610741, 0.9998887181282043, 0.014017162844538689], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11895751953125, 15.076878547668457, 28.132549285888672, 0.36362922191619873, -24.142702102661133, 1.8221195936203003], "ext_wrench_in_world": [-108.38141382165425, 14.860304111754923, -27.22318994717174, -0.15229047199409435, -24.084518388767144, -2.497036730927674]}
+{"timestamp_ns": 1789729562363435411, "elapsed_ms": 5833, "source_timestamp_ns": 1789729562355331130, "q": [0.8369072079658508, -1.8978239297866821, -1.0067634582519531, 1.3810865879058838, -0.1601707488298416, 0.5942203998565674, 0.703076958656311], "theta": [0.8389942646026611, -1.8959118127822876, -1.0049796104431152, 1.3626834154129028, -0.16074182093143463, 0.5941725969314575, 0.7030266523361206], "dq": [3.2329226087313145e-05, 0.0019036546582356095, 0.00048183073522523046, -0.00019854988204315305, 0.0013291345676407218, 0.0013236807426437736, 0.00397702120244503], "dtheta": [-0.0001275706890737638, -0.00018946283671539277, -0.00016950853751040995, -0.00012538599548861384, 1.1947713574045338e-05, 0.0003419594431761652, -0.0006313660414889455], "tau": [55.459999084472656, 23.709999084472656, 5.464000225067139, -26.288002014160156, -2.568000078201294, 2.6760001182556152, -0.5560000538825989], "tau_des": [0.4629344940185547, -0.5165688991546631, -0.19774582982063293, -0.5521761775016785, 0.9110246300697327, -1.1685222387313843, -0.5390776991844177], "tau_dot": [-134.74659729003906, 14.421683311462402, 23.421472549438477, 47.782249450683594, -5.89361572265625, -18.981277465820312, -21.91458511352539], "tau_ext": [-16.68701171875, -41.67941665649414, 31.791610717773438, 31.352073669433594, 9.507035255432129, -2.9990322589874268, -0.11220948398113251], "tcp_pose": [0.6779215931892395, 0.0326966717839241, -0.21499162912368774, -0.002261454937979579, -0.004583780653774738, 0.9998886585235596, 0.01401747390627861], "tcp_vel": [8.989149500848725e-05, 4.10915890824981e-05, -5.798496204079129e-05, 5.7099026889773086e-05, -0.0002963119186460972, 0.000604410597588867], "flange_pose": [0.6786192655563354, 0.028495008125901222, -0.0650521069765091, -0.002261454937979579, -0.004583780653774738, 0.9998886585235596, 0.01401747390627861], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12733459472656, 15.08318042755127, 28.129968643188477, 0.3694317042827606, -24.14640998840332, 1.8246265649795532], "ext_wrench_in_world": [-108.38981924131942, 14.866561570151523, -27.220403857249913, -0.15809039763630198, -24.088206312640267, -2.4996362294691705]}
+{"timestamp_ns": 1789729562396765637, "elapsed_ms": 5866, "source_timestamp_ns": 1789729562395329947, "q": [0.8369078040122986, -1.8978252410888672, -1.0067654848098755, 1.3810871839523315, -0.16017025709152222, 0.5942201018333435, 0.70307856798172], "theta": [0.8389946818351746, -1.895912528038025, -1.0049819946289062, 1.362683892250061, -0.16074232757091522, 0.5941723585128784, 0.7030280828475952], "dq": [0.0006595918093807995, -0.0014296050649136305, -0.0012610828271135688, 0.0012435493990778923, 0.0020145177841186523, -0.0007137040374800563, 0.000773595180362463], "dtheta": [0.0002716883027460426, -0.00019695438095368445, -5.4249325330602005e-05, 0.00019397182040847838, -3.922133328160271e-05, -0.0003059320442844182, -0.00035424125962890685], "tau": [55.46999740600586, 23.639999389648438, 5.464000225067139, -26.304000854492188, -2.568000078201294, 2.6600000858306885, -0.5040000081062317], "tau_des": [0.4419896900653839, -0.518403947353363, -0.2023095041513443, -0.5687555074691772, 0.9104318022727966, -1.1509208679199219, -0.5466681718826294], "tau_dot": [-28.437570571899414, -59.58427047729492, 57.91875457763672, -35.34928894042969, 42.39906311035156, -5.726613998413086, 80.46593475341797], "tau_ext": [-16.67504119873047, -41.69508743286133, 31.802841186523438, 31.353242874145508, 9.509649276733398, -3.0007483959198, -0.1195833683013916], "tcp_pose": [0.6779217720031738, 0.03269577771425247, -0.2149920016527176, -0.00226128869690001, -0.004582575988024473, 0.9998887181282043, 0.014016250148415565], "tcp_vel": [-0.00010364754416514188, -6.025374386808835e-05, 4.628774604498176e-06, -0.000514846236910671, 6.720993405906484e-05, 0.0005074896034784615], "flange_pose": [0.678619384765625, 0.02849447913467884, -0.06505247950553894, -0.00226128869690001, -0.004582575988024473, 0.9998887181282043, 0.014016250148415565], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13964080810547, 15.101664543151855, 28.121110916137695, 0.3792468309402466, -24.14887237548828, 1.8251054286956787], "ext_wrench_in_world": [-108.40220758542513, 14.884870312927923, -27.211047234742658, -0.16794207594306138, -24.09075053603601, -2.5000818110338825]}
+{"timestamp_ns": 1789729562430100592, "elapsed_ms": 5900, "source_timestamp_ns": 1789729562425425242, "q": [0.8369078636169434, -1.8978255987167358, -1.0067702531814575, 1.381088137626648, -0.1601702868938446, 0.5942212343215942, 0.7030785083770752], "theta": [0.8389950394630432, -1.8959131240844727, -1.0049870014190674, 1.3626846075057983, -0.16074280440807343, 0.5941735506057739, 0.7030283212661743], "dq": [0.0007665755692869425, -0.0010654100915417075, -0.00024823739659041166, 0.0019252104684710503, -0.001099209301173687, -0.001819302444346249, -0.0009168058168143034], "dtheta": [0.0002510641061235219, 6.183797086123377e-05, 0.0001429692783858627, 0.00037325508310459554, 0.0005186041817069054, 0.0007530607981607318, -0.00015494551917072386], "tau": [55.529998779296875, 23.639999389648438, 5.424000263214111, -26.284000396728516, -2.5880000591278076, 2.6440000534057617, -0.527999997138977], "tau_des": [0.4238533675670624, -0.5533334016799927, -0.19756793975830078, -0.5407145619392395, 0.8947828412055969, -1.1768805980682373, -0.5572739243507385], "tau_dot": [82.57884979248047, -116.20122528076172, 4.317648887634277, -35.54830551147461, -18.27109718322754, -68.48841857910156, 6.803733825683594], "tau_ext": [-16.673099517822266, -41.662986755371094, 31.805530548095703, 31.354124069213867, 9.510855674743652, -3.001722812652588, -0.12439832091331482], "tcp_pose": [0.6779230833053589, 0.032693274319171906, -0.21499264240264893, -0.0022604637779295444, -0.004581162706017494, 0.9998887181282043, 0.014014707878232002], "tcp_vel": [-5.3165756980888546e-05, 0.00014410828589461744, 7.289361383300275e-05, 0.0007378068985417485, -0.00019319273997098207, -3.3238469768548384e-05], "flange_pose": [0.6786203980445862, 0.028492435812950134, -0.06505309045314789, -0.0022604637779295444, -0.004581162706017494, 0.9998887181282043, 0.014014707878232002], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1376724243164, 15.094886779785156, 28.111074447631836, 0.3751354515552521, -24.143596649169922, 1.8208537101745605], "ext_wrench_in_world": [-108.4000444781355, 14.878056806447296, -27.201435507082547, -0.16392355893106694, -24.085565479624208, -2.4956278953884996]}
+{"timestamp_ns": 1789729562463429178, "elapsed_ms": 5933, "source_timestamp_ns": 1789729562455342163, "q": [0.836908221244812, -1.8978275060653687, -1.0067713260650635, 1.381087303161621, -0.16017068922519684, 0.5942198038101196, 0.7030785083770752], "theta": [0.8389952778816223, -1.8959147930145264, -1.0049880743026733, 1.3626841306686401, -0.16074350476264954, 0.5941723585128784, 0.7030278444290161], "dq": [-0.00024516781559213996, -0.0014519160613417625, -0.0004882320645265281, 0.001145323971286416, 0.0015654712915420532, -0.001591402804479003, -0.0006015637191012502], "dtheta": [0.0003372965147718787, -0.0001631559425732121, -7.849692337913439e-05, 5.3672873036703095e-05, -0.00014612689847126603, 8.41196597320959e-05, 0.0004990470479242504], "tau": [55.48999786376953, 23.619998931884766, 5.440000057220459, -26.2760009765625, -2.580000162124634, 2.6640000343322754, -0.5440000295639038], "tau_des": [0.3965575397014618, -0.5695517063140869, -0.16872376203536987, -0.5242529511451721, 0.9172678589820862, -1.1710857152938843, -0.5675860047340393], "tau_dot": [-3.4794890880584717, -103.90702056884766, -10.830235481262207, 59.20384216308594, 31.697113037109375, -22.50926399230957, 8.661417961120605], "tau_ext": [-16.677513122558594, -41.66157531738281, 31.81009864807129, 31.35243034362793, 9.511566162109375, -2.9970290660858154, -0.11988098919391632], "tcp_pose": [0.6779231429100037, 0.03269313648343086, -0.21499283611774445, -0.002260238863527775, -0.004581492859870195, 0.9998887777328491, 0.01401323452591896], "tcp_vel": [6.978818419156596e-05, -2.633516487549059e-06, 0.0001736237754812464, -0.00024015204689931124, -0.00044921619701199234, -0.00035719716106541455], "flange_pose": [0.6786203980445862, 0.028492741286754608, -0.06505328416824341, -0.002260238863527775, -0.004581492859870195, 0.9998887777328491, 0.01401323452591896], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15081024169922, 15.091877937316895, 28.110008239746094, 0.3681619465351105, -24.143857955932617, 1.8174591064453125], "ext_wrench_in_world": [-108.41314623653666, 14.874746571386657, -27.20049147316725, -0.15691518350392508, -24.085864854342024, -2.4922017699788728]}
+{"timestamp_ns": 1789729562496773990, "elapsed_ms": 5966, "source_timestamp_ns": 1789729562495374121, "q": [0.8369091153144836, -1.8978291749954224, -1.0067716836929321, 1.3810880184173584, -0.1601695567369461, 0.5942189693450928, 0.7030770182609558], "theta": [0.8389964699745178, -1.8959169387817383, -1.004988193511963, 1.3626844882965088, -0.16074280440807343, 0.5941718816757202, 0.7030266523361206], "dq": [0.0005575094255618751, 0.00042874610517174006, -0.0007748818607069552, 0.002109110588207841, 3.042852767976001e-05, 0.0008005115087144077, -0.0006237204652279615], "dtheta": [7.591600592604664e-07, -2.8520593332359567e-05, 0.00013882582425139844, -0.00015479885041713715, 0.00014200879377312958, 0.0005043251439929008, 0.00028700599796138704], "tau": [55.459999084472656, 23.6299991607666, 5.456000328063965, -26.288002014160156, -2.568000078201294, 2.680000066757202, -0.5480000376701355], "tau_des": [0.4275909662246704, -0.5544580221176147, -0.20485243201255798, -0.5206132531166077, 0.9006944298744202, -1.1829806566238403, -0.5610029697418213], "tau_dot": [-34.807159423828125, -2.2399096488952637, 6.469440937042236, 50.209659576416016, 47.890926361083984, -1.846602439880371, 6.0435261726379395], "tau_ext": [-16.680274963378906, -41.62874984741211, 31.801607131958008, 31.34619903564453, 9.51408863067627, -2.999934434890747, -0.11581503599882126], "tcp_pose": [0.6779224276542664, 0.032693278044462204, -0.2149931937456131, -0.002260616049170494, -0.004582399036735296, 0.9998887777328491, 0.01401244942098856], "tcp_vel": [8.155895193340257e-05, 0.0002041539701167494, 0.00011443242692621425, 0.0005726529052481055, -0.00037605129182338715, -0.00028548514819703996], "flange_pose": [0.6786198019981384, 0.028493119403719902, -0.06505362689495087, -0.002260616049170494, -0.004582399036735296, 0.9998887777328491, 0.01401244942098856], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14189910888672, 15.069562911987305, 28.09876251220703, 0.3575934171676636, -24.134830474853516, 1.8182507753372192], "ext_wrench_in_world": [-108.40402700534752, 14.851967897899904, -27.18986028901273, -0.14639085174830613, -24.076725810420772, -2.4927484735281085]}
+{"timestamp_ns": 1789729562530098888, "elapsed_ms": 6000, "source_timestamp_ns": 1789729562525357705, "q": [0.8369103074073792, -1.897829532623291, -1.006772518157959, 1.3810887336730957, -0.16016963124275208, 0.5942171812057495, 0.7030755877494812], "theta": [0.8389979004859924, -1.8959169387817383, -1.004988431930542, 1.3626850843429565, -0.16074255108833313, 0.5941699743270874, 0.7030249834060669], "dq": [0.00014068334712646902, 0.00039365552947856486, 0.000860348460264504, 0.000358826742740348, 0.0032916332129389048, 0.00235078320838511, -0.0036465125158429146], "dtheta": [-3.1629435397917405e-05, -7.792721589794382e-05, -1.8549206288298592e-05, 1.2146160770498682e-05, -0.0002497592067811638, 0.0009254544274881482, 0.00027062842855229974], "tau": [55.48999786376953, 23.670000076293945, 5.440000057220459, -26.280000686645508, -2.576000213623047, 2.6520001888275146, -0.5800000429153442], "tau_des": [0.4351366460323334, -0.55775386095047, -0.18632739782333374, -0.5262037515640259, 0.9122284054756165, -1.186509609222412, -0.5579488277435303], "tau_dot": [-9.456436157226562, -41.81207275390625, -2.9329049587249756, 8.462471961975098, 12.262314796447754, 19.54339599609375, -64.98260498046875], "tau_ext": [-16.67749786376953, -41.64480209350586, 31.792724609375, 31.34092903137207, 9.513031005859375, -2.9989511966705322, -0.11379724740982056], "tcp_pose": [0.677922248840332, 0.03269245848059654, -0.21499307453632355, -0.002260832814499736, -0.004583028610795736, 0.9998887777328491, 0.014011197723448277], "tcp_vel": [0.0001805754582164809, 0.00013867695815861225, 7.490557618439198e-05, 0.00037164363311603665, -0.0007950724684633315, -0.00011300676123937592], "flange_pose": [0.6786197423934937, 0.028492676094174385, -0.06505350023508072, -0.002260832814499736, -0.004583028610795736, 0.9998887777328491, 0.014011197723448277], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12580871582031, 15.066007614135742, 28.09349822998047, 0.3570961654186249, -24.128923416137695, 1.8193883895874023], "ext_wrench_in_world": [-108.38791048432165, 14.848209451873506, -27.184761827046422, -0.14592309225215033, -24.07079130216056, -2.493661874500883]}
+{"timestamp_ns": 1789729562563430713, "elapsed_ms": 6033, "source_timestamp_ns": 1789729562555357484, "q": [0.8369110226631165, -1.8978289365768433, -1.0067722797393799, 1.3810888528823853, -0.16016855835914612, 0.5942152142524719, 0.7030750513076782], "theta": [0.8389983773231506, -1.8959163427352905, -1.0049879550933838, 1.362686038017273, -0.16074134409427643, 0.5941683053970337, 0.7030235528945923], "dq": [-0.00014935478975530714, 0.0008974617812782526, 0.0009894127724692225, -0.0007426106021739542, 0.0002715466544032097, -0.0010797367431223392, -0.0022738559637218714], "dtheta": [-0.0002102426951751113, 0.00020874771871604025, -3.71915812138468e-05, 0.00017050567839760333, 0.00024256270262412727, 0.00061666255351156, 0.0001971443125512451], "tau": [55.52000045776367, 23.639999389648438, 5.464000225067139, -26.264001846313477, -2.576000213623047, 2.688000202178955, -0.5640000104904175], "tau_des": [0.48847728967666626, -0.5668963193893433, -0.17002257704734802, -0.5660892128944397, 0.8854287266731262, -1.1673452854156494, -0.5617498159408569], "tau_dot": [0.28888633847236633, -81.89750671386719, 17.267709732055664, 10.405141830444336, -19.09665298461914, 18.7244815826416, 17.110673904418945], "tau_ext": [-16.700965881347656, -41.67890930175781, 31.791385650634766, 31.358917236328125, 9.513551712036133, -2.998440980911255, -0.1096937507390976], "tcp_pose": [0.6779218912124634, 0.03269219025969505, -0.21499279141426086, -0.0022616423666477203, -0.004582927096635103, 0.9998887777328491, 0.014011166989803314], "tcp_vel": [3.8379996112780645e-05, -3.703623576711834e-07, -0.0001084123578038998, 0.0005861936951987445, 8.175488801498432e-06, -0.0004855568113271147], "flange_pose": [0.6786195635795593, 0.028492417186498642, -0.06505321711301804, -0.0022616423666477203, -0.004582927096635103, 0.9998887777328491, 0.014011166989803314], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12110900878906, 15.081916809082031, 28.113502502441406, 0.3629967272281647, -24.136280059814453, 1.8244593143463135], "ext_wrench_in_world": [-108.38349026788346, 14.864732835917932, -27.204157879811433, -0.1517883561100337, -24.078057368428848, -2.4989092014474825]}
+{"timestamp_ns": 1789729562596765818, "elapsed_ms": 6066, "source_timestamp_ns": 1789729562595343674, "q": [0.8369117975234985, -1.897829294204712, -1.006772756576538, 1.381089448928833, -0.16016912460327148, 0.5942144989967346, 0.7030758857727051], "theta": [0.8389987349510193, -1.8959165811538696, -1.0049885511398315, 1.3626869916915894, -0.16074134409427643, 0.5941685438156128, 0.7030242681503296], "dq": [-0.0007934739696793258, 0.00017595713143236935, -0.0006244985852390528, 0.0014641756424680352, -0.0012167226523160934, 0.0014317539753392339, -0.002354118274524808], "dtheta": [-0.00020661484450101852, 5.126362884766422e-05, -0.00013501636567525566, 0.00017045495042111725, -0.0004769077931996435, -0.00025270096375606954, -9.573272836860269e-05], "tau": [55.54999923706055, 23.6299991607666, 5.484000205993652, -26.32000160217285, -2.556000232696533, 2.692000150680542, -0.5480000376701355], "tau_des": [0.5106319785118103, -0.5443155169487, -0.16182860732078552, -0.5976414680480957, 0.9021980166435242, -1.1441963911056519, -0.5532186031341553], "tau_dot": [149.2786407470703, -130.87225341796875, 87.16401672363281, -20.681991577148438, 73.59642791748047, 47.100154876708984, 14.015708923339844], "tau_ext": [-16.692787170410156, -41.65593719482422, 31.77665901184082, 31.33905792236328, 9.51021957397461, -2.998828649520874, -0.11348556727170944], "tcp_pose": [0.6779218912124634, 0.03269175440073013, -0.21499261260032654, -0.002261454239487648, -0.004582642577588558, 0.9998887777328491, 0.014010315760970116], "tcp_vel": [-3.464019391685724e-05, -0.00019563523528631777, -0.0001978574728127569, -0.0006068894290365279, 0.00022539409110322595, 0.000264006172074005], "flange_pose": [0.6786195039749146, 0.028492236509919167, -0.06505303829908371, -0.002261454239487648, -0.004582642577588558, 0.9998887777328491, 0.014010315760970116], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09088897705078, 15.10713005065918, 28.131513595581055, 0.3747376501560211, -24.134248733520508, 1.8279839754104614], "ext_wrench_in_world": [-108.35356633522132, 14.890733757087894, -27.221653623711546, -0.163576339600044, -24.076040752750803, -2.502282978650469]}
+{"timestamp_ns": 1789729562630105271, "elapsed_ms": 6100, "source_timestamp_ns": 1789729562625324848, "q": [0.8369121551513672, -1.8978301286697388, -1.0067740678787231, 1.381089448928833, -0.16016876697540283, 0.5942127108573914, 0.7030755281448364], "theta": [0.8389994502067566, -1.8959171772003174, -1.0049892663955688, 1.3626872301101685, -0.16074112057685852, 0.5941668748855591, 0.7030242681503296], "dq": [-0.0033411800395697355, -0.0025075783487409353, -0.00033329869620501995, -0.0010294605745002627, -0.0016933351289480925, -0.0012408242328092456, -0.0012510231463238597], "dtheta": [-3.342178388265893e-05, -0.00010044356167782098, -6.40079888398759e-05, 6.0645183111773804e-05, -0.00021968389046378434, -0.0008653716067783535, -0.0008261549519374967], "tau": [55.48999786376953, 23.60999870300293, 5.452000141143799, -26.30000114440918, -2.572000026702881, 2.684000015258789, -0.5440000295639038], "tau_des": [0.5024176239967346, -0.5098229050636292, -0.1881628781557083, -0.6072507500648499, 0.9022239446640015, -1.1307741403579712, -0.5397014617919922], "tau_dot": [69.28498840332031, -92.04006958007812, 4.5817975997924805, -60.55961227416992, 9.064745903015137, 15.525776863098145, 17.512754440307617], "tau_ext": [-16.69464111328125, -41.67422866821289, 31.791820526123047, 31.343969345092773, 9.5115327835083, -3.002406120300293, -0.11750718206167221], "tcp_pose": [0.6779217720031738, 0.03269099444150925, -0.2149929702281952, -0.002261899411678314, -0.004582541063427925, 0.9998888373374939, 0.014009106904268265], "tcp_vel": [-0.0001680002169450745, -0.00016927682736422867, -0.00016348691133316606, -0.0008483693818561733, 0.0005721369525417686, 0.0010002856142818928], "flange_pose": [0.6786195635795593, 0.02849183976650238, -0.06505338847637177, -0.002261899411678314, -0.004582541063427925, 0.9998888373374939, 0.014009106904268265], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07636260986328, 15.10976791381836, 28.121885299682617, 0.37580984830856323, -24.12941551208496, 1.825838327407837], "ext_wrench_in_world": [-108.33904118383397, 14.893189112925123, -27.21195964297303, -0.164689161607088, -24.071285625329693, -2.4999394829892756]}
+{"timestamp_ns": 1789729562663436717, "elapsed_ms": 6133, "source_timestamp_ns": 1789729562655331216, "q": [0.8369135856628418, -1.897831916809082, -1.0067768096923828, 1.3810889720916748, -0.1601690798997879, 0.5942106246948242, 0.7030773758888245], "theta": [0.8390009999275208, -1.8959195613861084, -1.0049922466278076, 1.3626866340637207, -0.16074134409427643, 0.5941644906997681, 0.7030264139175415], "dq": [0.0006597214378416538, 0.001269437954761088, 0.0006685387343168259, -0.00026540912222117186, -0.00020036632486153394, 0.0007048530387692153, 0.0001303329918300733], "dtheta": [2.1878329789615236e-05, -0.00039132856181822717, -0.0001587297156220302, -0.00031936130835674703, -0.00041256850818172097, -0.0004223162541165948, 0.0004543582326732576], "tau": [55.53999710083008, 23.670000076293945, 5.452000141143799, -26.264001846313477, -2.5960001945495605, 2.684000015258789, -0.527999997138977], "tau_des": [0.44899046421051025, -0.5392540097236633, -0.1730107069015503, -0.5495700240135193, 0.9142001867294312, -1.1567327976226807, -0.567358136177063], "tau_dot": [60.15222930908203, 40.10344314575195, 22.930828094482422, 43.24253845214844, -13.017680168151855, 32.371864318847656, 29.663341522216797], "tau_ext": [-16.685016632080078, -41.65078353881836, 31.799388885498047, 31.3453426361084, 9.515122413635254, -3.0003304481506348, -0.12195570021867752], "tcp_pose": [0.6779223680496216, 0.03268980607390404, -0.21499264240264893, -0.0022612493485212326, -0.0045813629403710365, 0.9998888373374939, 0.014006944373250008], "tcp_vel": [5.545892781810835e-05, -6.6802840592572466e-06, 1.8435446691000834e-05, -0.0007428372628055513, -0.00022397925204131752, -0.00011473279300844297], "flange_pose": [0.678619921207428, 0.028491295874118805, -0.06505303829908371, -0.0022612493485212326, -0.0045813629403710365, 0.9998888373374939, 0.014006944373250008], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08734893798828, 15.103089332580566, 28.119613647460938, 0.37137874960899353, -24.128002166748047, 1.8222625255584717], "ext_wrench_in_world": [-108.34988538020961, 14.886486994187232, -27.21003165342058, -0.16030822235101794, -24.069942523611417, -2.496241100175182]}
+{"timestamp_ns": 1789729562696780729, "elapsed_ms": 6166, "source_timestamp_ns": 1789729562695368633, "q": [0.836918294429779, -1.8978383541107178, -1.006778597831726, 1.3810880184173584, -0.16016781330108643, 0.5942018032073975, 0.7030766010284424], "theta": [0.8390056490898132, -1.8959264755249023, -1.0049946308135986, 1.3626855611801147, -0.16074016690254211, 0.5941554307937622, 0.7030259370803833], "dq": [0.0011494247009977698, -0.001561544369906187, -5.547213368117809e-05, 0.000147927989019081, 0.0038073211908340454, 0.00030356543720699847, 0.0011245358036831021], "dtheta": [-0.00021730181470047683, -0.00048740796046331525, 0.00012558620073832572, 0.00025312069919891655, 0.0008834301261231303, 0.00022787034686189145, 0.0004058180784340948], "tau": [55.5099983215332, 23.649999618530273, 5.4160003662109375, -26.308000564575195, -2.556000232696533, 2.6600000858306885, -0.5600000023841858], "tau_des": [0.5800633430480957, -0.42855599522590637, -0.23943275213241577, -0.6535748243331909, 0.8710842132568359, -1.128769874572754, -0.563315749168396], "tau_dot": [-51.55713653564453, 119.93206787109375, -22.70728874206543, -14.676328659057617, 52.94995880126953, 12.327861785888672, -51.47480392456055], "tau_ext": [-16.72144889831543, -41.6387939453125, 31.81104850769043, 31.35081672668457, 9.514816284179688, -2.9938836097717285, -0.12213606387376785], "tcp_pose": [0.6779208183288574, 0.03268955647945404, -0.2149922251701355, -0.0022620006930083036, -0.004582948051393032, 0.9998888969421387, 0.014001705683767796], "tcp_vel": [-0.0003952495171688497, 0.00026195860118605196, -0.0004446785897016525, 0.00026874407194554806, 0.0007890670676715672, -0.0004468827391974628], "flange_pose": [0.6786185503005981, 0.028492620214819908, -0.0650525763630867, -0.0022620006930083036, -0.004582948051393032, 0.9998888969421387, 0.014001705683767796], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0896987915039, 15.089826583862305, 28.11748695373535, 0.3577709197998047, -24.122102737426758, 1.8149584531784058], "ext_wrench_in_world": [-108.35219071364541, 14.872515474514232, -27.208270337834623, -0.1466469766898631, -24.064151112377793, -2.4885820455962313]}
+{"timestamp_ns": 1789729562730098259, "elapsed_ms": 6200, "source_timestamp_ns": 1789729562725297920, "q": [0.8369208574295044, -1.8978418111801147, -1.0067787170410156, 1.3810882568359375, -0.16016785800457, 0.5941994786262512, 0.7030752301216125], "theta": [0.8390086889266968, -1.8959300518035889, -1.0049947500228882, 1.3626853227615356, -0.16073991358280182, 0.594152569770813, 0.7030245065689087], "dq": [0.0009732242906466126, 5.920515832258388e-06, 0.0009281461243517697, 0.002927358727902174, -0.0007100676302798092, 0.0015092208050191402, -0.0010583075927570462], "dtheta": [0.00014298174937721342, 0.0001881909993244335, -0.0003736235375981778, -3.187235779478215e-05, 0.0008037694497033954, 0.0003313449560664594, -0.00027159397723153234], "tau": [55.5, 23.619998931884766, 5.456000328063965, -26.288002014160156, -2.576000213623047, 2.6600000858306885, -0.527999997138977], "tau_des": [0.4106588363647461, -0.5881548523902893, -0.13629236817359924, -0.5334204435348511, 0.8985899686813354, -1.1622397899627686, -0.5575475096702576], "tau_dot": [14.890267372131348, 7.470183849334717, 25.170467376708984, 24.61779022216797, 39.96455764770508, -7.1560821533203125, 39.92707443237305], "tau_ext": [-16.701778411865234, -41.5943717956543, 31.792373657226562, 31.341787338256836, 9.511442184448242, -2.990872383117676, -0.11689046025276184], "tcp_pose": [0.6779199838638306, 0.03269008547067642, -0.21499182283878326, -0.0022616316564381123, -0.004584787879139185, 0.9998889565467834, 0.01399957574903965], "tcp_vel": [0.00017079107055906206, -0.00014642697351519018, 0.00011841038940474391, 0.0006371937924996018, -0.00010109828872373328, -0.0005759468185715377], "flange_pose": [0.6786176562309265, 0.028493788093328476, -0.06505215167999268, -0.0022616316564381123, -0.004584787879139185, 0.9998889565467834, 0.01399957574903965], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07440948486328, 15.06386661529541, 28.123144149780273, 0.34250131249427795, -24.116609573364258, 1.8120176792144775], "ext_wrench_in_world": [-108.33672482731731, 14.846352046183815, -27.214870647966343, -0.13132398415698687, -24.058612748151162, -2.4854535156816318]}
+{"timestamp_ns": 1789729562763431604, "elapsed_ms": 6233, "source_timestamp_ns": 1789729562755322294, "q": [0.8369206190109253, -1.8978424072265625, -1.0067784786224365, 1.3810877799987793, -0.1601676493883133, 0.5941996574401855, 0.7030742168426514], "theta": [0.8390083909034729, -1.8959311246871948, -1.0049943923950195, 1.3626853227615356, -0.16074039041996002, 0.5941528081893921, 0.7030245065689087], "dq": [-0.00026119223912246525, -0.00019358495774213225, -0.0017092307098209858, -0.0021359191741794348, -0.0019614496268332005, -0.0004784418852068484, 0.0004884913796558976], "dtheta": [3.369938349351287e-05, -0.00013114559988025576, 0.00028817736892960966, 9.499827137915418e-05, -0.0007180829998105764, -0.000495604588650167, 0.0009028873173519969], "tau": [55.46999740600586, 23.6299991607666, 5.444000244140625, -26.280000686645508, -2.5840001106262207, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.47364863753318787, -0.5072470903396606, -0.22941520810127258, -0.5893581509590149, 0.9140623807907104, -1.1382502317428589, -0.5583429932594299], "tau_dot": [-86.40035247802734, -59.26609420776367, 2.6190900802612305, 27.315919876098633, 24.347463607788086, 15.278937339782715, 40.30188751220703], "tau_ext": [-16.701519012451172, -41.62126922607422, 31.796131134033203, 31.343320846557617, 9.515088081359863, -2.9953067302703857, -0.11831149458885193], "tcp_pose": [0.6779198050498962, 0.03269057348370552, -0.214991956949234, -0.0022616316564381123, -0.004585508722811937, 0.9998889565467834, 0.013999694027006626], "tcp_vel": [-0.00015604461077600718, 5.054954453953542e-05, -4.02605437557213e-05, -0.0007425640942528844, 0.0001372687256662175, -0.00018701376393437386], "flange_pose": [0.6786174774169922, 0.02849424257874489, -0.06505229324102402, -0.0022616316564381123, -0.004585508722811937, 0.9998889565467834, 0.013999694027006626], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07083129882812, 15.056145668029785, 28.12410545349121, 0.33952435851097107, -24.115297317504883, 1.812384843826294], "ext_wrench_in_world": [-108.33310186098895, 14.838544795096968, -27.21606211589552, -0.12832612810424887, -24.05726289627867, -2.4858026204811843]}
+{"timestamp_ns": 1789729562796765499, "elapsed_ms": 6266, "source_timestamp_ns": 1789729562795310013, "q": [0.8369202017784119, -1.8978432416915894, -1.0067793130874634, 1.381087303161621, -0.16016651690006256, 0.594200074672699, 0.7030730247497559], "theta": [0.8390083312988281, -1.8959320783615112, -1.0049951076507568, 1.3626853227615356, -0.1607384830713272, 0.5941532850265503, 0.7030235528945923], "dq": [0.0006401989958249032, -7.506313704652712e-05, -0.0005931704072281718, 0.0007011241395957768, 0.0027766781859099865, 9.150449477601796e-05, -0.0011471438920125365], "dtheta": [1.1342023753968533e-05, -0.0002844089176505804, -0.00019676749070640653, -0.0002786851837299764, 0.00015985954087227583, 0.0013599337544292212, -0.00030886419699527323], "tau": [55.5099983215332, 23.6299991607666, 5.420000076293945, -26.2760009765625, -2.568000078201294, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.4032631516456604, -0.5350397825241089, -0.21259064972400665, -0.49475353956222534, 0.9146739840507507, -1.2024140357971191, -0.5453925728797913], "tau_dot": [-33.02955627441406, -67.79647064208984, -40.275230407714844, 23.998493194580078, 2.7860493659973145, 19.535043716430664, -0.9866337180137634], "tau_ext": [-16.692649841308594, -41.63780975341797, 31.78948974609375, 31.33904457092285, 9.507536888122559, -2.9958419799804688, -0.11717813462018967], "tcp_pose": [0.6779199242591858, 0.032690539956092834, -0.21499235928058624, -0.0022616528440266848, -0.004585696384310722, 0.9998888969421387, 0.013999762944877148], "tcp_vel": [0.00033340646768920124, 0.0002543161972425878, 0.00017871112504508346, 0.0008128835470415652, -0.0012461603619158268, 0.00019596851780079305], "flange_pose": [0.6786176562309265, 0.02849418856203556, -0.06505268812179565, -0.0022616528440266848, -0.004585696384310722, 0.9998888969421387, 0.013999762944877148], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06864166259766, 15.070262908935547, 28.12102699279785, 0.3490930497646332, -24.118240356445312, 1.8158079385757446], "ext_wrench_in_world": [-108.33103320271901, 14.852553073986982, -27.212592792470634, -0.13787448447728406, -24.06019694874025, -2.4892681118788023]}
+{"timestamp_ns": 1789729562830100823, "elapsed_ms": 6300, "source_timestamp_ns": 1789729562825284819, "q": [0.836920440196991, -1.8978444337844849, -1.0067799091339111, 1.3810877799987793, -0.16016660630702972, 0.5942004323005676, 0.7030735015869141], "theta": [0.8390085101127625, -1.8959330320358276, -1.0049958229064941, 1.3626854419708252, -0.1607387214899063, 0.5941532850265503, 0.7030237317085266], "dq": [-0.000599727442022413, 4.252602229826152e-05, 6.012983067194e-05, -0.00023643819440621883, 0.0006170235574245453, 7.017137249931693e-05, 0.002243613125756383], "dtheta": [-0.00022244328283704817, -0.00018349188030697405, -0.00012607756070792675, -0.00018100088345818222, -0.00040729177999310195, -0.000272996025159955, -0.00014441330858971924], "tau": [55.48999786376953, 23.69999885559082, 5.436000347137451, -26.288002014160156, -2.564000129699707, 2.6720001697540283, -0.527999997138977], "tau_des": [0.4980766475200653, -0.5044263005256653, -0.20119361579418182, -0.5837748050689697, 0.9099753499031067, -1.148026466369629, -0.5449222922325134], "tau_dot": [-5.279056072235107, 8.2784423828125, -4.437346458435059, 4.8166069984436035, 26.918745040893555, 13.729144096374512, 62.24541091918945], "tau_ext": [-16.693696975708008, -41.64921188354492, 31.794723510742188, 31.350332260131836, 9.506195068359375, -2.9966118335723877, -0.1180119439959526], "tcp_pose": [0.6779198050498962, 0.03269052132964134, -0.2149927169084549, -0.0022614505141973495, -0.004585688468068838, 0.9998889565467834, 0.013999092392623425], "tcp_vel": [2.0525862055364996e-05, -5.246082946541719e-05, -0.00012893542589154094, -0.0005434962222352624, 1.4635329534939956e-05, 0.000382779398933053], "flange_pose": [0.6786174178123474, 0.028494372963905334, -0.06505303829908371, -0.0022614505141973495, -0.004585688468068838, 0.9998889565467834, 0.013999092392623425], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0782470703125, 15.077019691467285, 28.129064559936523, 0.3554585874080658, -24.12472915649414, 1.8158975839614868], "ext_wrench_in_world": [-108.34072556191829, 14.859408648907408, -27.220460042169993, -0.14418044719998735, -24.06674253712247, -2.489479336629035]}
+{"timestamp_ns": 1789729562863432319, "elapsed_ms": 6333, "source_timestamp_ns": 1789729562855286348, "q": [0.8369206190109253, -1.8978445529937744, -1.0067827701568604, 1.3810880184173584, -0.1601676195859909, 0.5942014455795288, 0.703074038028717], "theta": [0.8390087485313416, -1.8959332704544067, -1.0049986839294434, 1.3626855611801147, -0.16073967516422272, 0.5941544771194458, 0.7030247449874878], "dq": [-0.0007864352082833648, -0.0001379025197820738, -0.0011926254956051707, -0.0003715375205501914, 0.0013289556372910738, 0.0015328259905800223, 0.0014540510019287467], "dtheta": [5.750968921347521e-05, -0.00013256625970825553, -0.00020057987421751022, 0.00016678018437232822, -0.0007387971854768693, 0.0005050527979619801, 0.0004696543328464031], "tau": [55.47999954223633, 23.65999984741211, 5.4120001792907715, -26.304000854492188, -2.6120002269744873, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.44022810459136963, -0.555619478225708, -0.16955241560935974, -0.5461245775222778, 0.9241551756858826, -1.171895980834961, -0.5589112639427185], "tau_dot": [-24.241436004638672, 127.55692291259766, -65.27539825439453, -6.549358367919922, -75.73413848876953, -40.178951263427734, 24.1743106842041], "tau_ext": [-16.70263671875, -41.644779205322266, 31.789823532104492, 31.348751068115234, 9.507516860961914, -2.9984612464904785, -0.11948172748088837], "tcp_pose": [0.6779209971427917, 0.032689034938812256, -0.2149926722049713, -0.002260308712720871, -0.00458476971834898, 0.9998889565467834, 0.013998068869113922], "tcp_vel": [0.00017350235430058092, -7.599173841299489e-05, 3.253853356000036e-05, -0.00045326483086682856, -0.000764422002248466, -9.747031435836107e-05], "flange_pose": [0.6786182522773743, 0.028493190184235573, -0.06505299359560013, -0.002260308712720871, -0.00458476971834898, 0.9998889565467834, 0.013998068869113922], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08243560791016, 15.074597358703613, 28.129592895507812, 0.35710176825523376, -24.125839233398438, 1.81553316116333], "ext_wrench_in_world": [-108.34480486370454, 14.857109950334959, -27.221313559443665, -0.14585097270468664, -24.067882306452834, -2.489090159969676]}
+{"timestamp_ns": 1789729562896774382, "elapsed_ms": 6366, "source_timestamp_ns": 1789729562895362485, "q": [0.836921751499176, -1.8978458642959595, -1.0067888498306274, 1.381087303161621, -0.16016648709774017, 0.5942003726959229, 0.7030746340751648], "theta": [0.8390093445777893, -1.8959349393844604, -1.0050050020217896, 1.362684965133667, -0.1607389599084854, 0.5941532850265503, 0.7030249834060669], "dq": [0.0017947321757674217, -0.0009589942055754364, 0.0008171272347681224, 0.0015922364545986056, -0.002113611903041601, -0.00026894337497651577, -0.0002840200031641871], "dtheta": [-1.6375914128730074e-05, 0.0001922257652040571, -0.000550845346879214, -0.00023311914992518723, 0.00024411428603343666, 0.0005675936117768288, -0.00010861241025850177], "tau": [55.5, 23.619998931884766, 5.444000244140625, -26.272001266479492, -2.580000162124634, 2.6640000343322754, -0.5640000104904175], "tau_des": [0.39194852113723755, -0.6373308897018433, -0.08567927777767181, -0.49358516931533813, 0.9118092060089111, -1.1867460012435913, -0.5684700608253479], "tau_dot": [-15.812016487121582, -86.96951293945312, 11.653785705566406, 45.5040397644043, 21.942623138427734, -15.92414665222168, -39.27993392944336], "tau_ext": [-16.68828010559082, -41.64558792114258, 31.81460189819336, 31.344528198242188, 9.510010719299316, -3.0003440380096436, -0.1204170510172844], "tcp_pose": [0.677922785282135, 0.03268617391586304, -0.21499256789684296, -0.0022592416498810053, -0.004582487512379885, 0.9998890161514282, 0.013995851390063763], "tcp_vel": [0.0003956890432164073, -0.00020876598136965185, 0.00016463884094264358, 0.00044865382369607687, -0.0006433631060644984, -0.0005927694728597999], "flange_pose": [0.6786197423934937, 0.02849099226295948, -0.06505286693572998, -0.0022592416498810053, -0.004582487512379885, 0.9998890161514282, 0.013995851390063763], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09612274169922, 15.08456802368164, 28.11536979675293, 0.3601340055465698, -24.1254825592041, 1.815468430519104], "ext_wrench_in_world": [-108.3583909195553, 14.866928118782592, -27.207049246354288, -0.1489911277888425, -24.067565950565445, -2.488895678337437]}
+{"timestamp_ns": 1789729562930100229, "elapsed_ms": 6400, "source_timestamp_ns": 1789729562925333652, "q": [0.8369213938713074, -1.8978471755981445, -1.0067883729934692, 1.3810864686965942, -0.16016671061515808, 0.5941942930221558, 0.7030740976333618], "theta": [0.8390092253684998, -1.8959373235702515, -1.0050048828125, 1.3626835346221924, -0.16073919832706451, 0.5941473245620728, 0.7030249834060669], "dq": [0.0011240835301578045, 0.0010783501202240586, -0.00028350710636004806, -1.3524433597922325e-05, -0.003797654528170824, -0.0013118443312123418, 0.0005875183269381523], "dtheta": [-0.00027016401872970164, -3.1378618587041274e-05, 0.0004517535853665322, -0.00025035100406967103, 0.0003788677277043462, -0.0006516061839647591, 0.0008307641837745905], "tau": [55.47999954223633, 23.600000381469727, 5.468000411987305, -26.288002014160156, -2.580000162124634, 2.6520001888275146, -0.527999997138977], "tau_des": [0.5219517350196838, -0.5010859966278076, -0.2298218309879303, -0.6008474230766296, 0.8765581250190735, -1.1342968940734863, -0.5705549716949463], "tau_dot": [-39.0112190246582, -67.48615264892578, 36.36049270629883, -8.567095756530762, 19.41905975341797, -1.0690404176712036, 68.48360443115234], "tau_ext": [-16.70337677001953, -41.630462646484375, 31.80497169494629, 31.353172302246094, 9.513995170593262, -3.0000598430633545, -0.12029685825109482], "tcp_pose": [0.67792147397995, 0.032685935497283936, -0.21499347686767578, -0.0022614197805523872, -0.004583344329148531, 0.9998890161514282, 0.013993704691529274], "tcp_vel": [-0.000292603624984622, 0.00023031121236272156, -0.00016153632896021008, 0.00021410314366221428, 0.0009380351984873414, -0.0007261005230247974], "flange_pose": [0.6786190271377563, 0.028491400182247162, -0.06505376100540161, -0.0022614197805523872, -0.004583344329148531, 0.9998890161514282, 0.013993704691529274], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09175109863281, 15.08561897277832, 28.111398696899414, 0.3555629849433899, -24.119220733642578, 1.8131067752838135], "ext_wrench_in_world": [-108.35415444614051, 14.86759735337567, -27.202666326235384, -0.14443415328616055, -24.061341685302917, -2.4862753450663297]}
+{"timestamp_ns": 1789729562963437083, "elapsed_ms": 6433, "source_timestamp_ns": 1789729562955341680, "q": [0.8369221687316895, -1.8978487253189087, -1.0067881345748901, 1.3810852766036987, -0.16016581654548645, 0.5941935181617737, 0.7030724287033081], "theta": [0.8390098810195923, -1.895939588546753, -1.0050047636032104, 1.3626827001571655, -0.1607389599084854, 0.5941463708877563, 0.7030232548713684], "dq": [0.0009867344051599503, 9.923080506268889e-05, 8.275065920315683e-05, 0.0005694402498193085, 0.002778621157631278, 0.0011224668705835938, -0.001340228714980185], "dtheta": [-0.0003272506583016366, 3.242898310418241e-05, 0.00016743796004448086, -9.068264625966549e-05, 0.0002447025617584586, -0.0005626992206089199, -0.0006863059825263917], "tau": [55.5099983215332, 23.670000076293945, 5.444000244140625, -26.30000114440918, -2.5920000076293945, 2.628000020980835, -0.5400000214576721], "tau_des": [0.5331015586853027, -0.48938149213790894, -0.2135932743549347, -0.6126774549484253, 0.8876737356185913, -1.1334961652755737, -0.54073166847229], "tau_dot": [23.03312110900879, 52.776546478271484, 26.028486251831055, 32.969947814941406, -45.57207489013672, -46.03095626831055, 44.694740295410156], "tau_ext": [-16.710283279418945, -41.61324691772461, 31.788509368896484, 31.351930618286133, 9.5152587890625, -2.9956202507019043, -0.11791770160198212], "tcp_pose": [0.6779213547706604, 0.032686710357666016, -0.21499301493167877, -0.0022611329331994057, -0.004584466107189655, 0.9998890161514282, 0.013993591070175171], "tcp_vel": [-0.00022048591927159578, 2.8703847419819795e-05, -0.0002468455058988184, -2.9603417715406977e-05, 0.0008492721244692802, 0.0006453365786001086], "flange_pose": [0.678618848323822, 0.028492208570241928, -0.0650532990694046, -0.0022611329331994057, -0.004584466107189655, 0.9998890161514282, 0.013993591070175171], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09174346923828, 15.057744026184082, 28.112340927124023, 0.34574630856513977, -24.118215560913086, 1.8127087354660034], "ext_wrench_in_world": [-108.35391416135103, 14.839512684957926, -27.204457777505716, -0.13456998771475154, -24.060258327975262, -2.4858872503987106]}
+{"timestamp_ns": 1789729562996768109, "elapsed_ms": 6466, "source_timestamp_ns": 1789729562995339066, "q": [0.8369234800338745, -1.897849678993225, -1.0067882537841797, 1.3810845613479614, -0.16016575694084167, 0.5941914916038513, 0.7030709981918335], "theta": [0.8390111923217773, -1.8959410190582275, -1.005004644393921, 1.362682580947876, -0.1607387214899063, 0.5941442251205444, 0.7030220627784729], "dq": [-0.000529072480276227, 0.0021492941305041313, -0.0021937754936516285, 0.0009223938104696572, 0.000490336213260889, -0.0008455683710053563, -0.0005107650067657232], "dtheta": [-3.610864723668783e-06, -0.00018666876712813973, -0.0004769946390297264, 0.00026319085736759007, 0.0003184728557243943, -0.0006026955088600516, 0.0003466577036306262], "tau": [55.529998779296875, 23.619998931884766, 5.464000225067139, -26.284000396728516, -2.5880000591278076, 2.640000104904175, -0.5520000457763672], "tau_des": [0.5241368412971497, -0.5230779647827148, -0.13882684707641602, -0.6256511211395264, 0.8924087882041931, -1.1245067119598389, -0.56492018699646], "tau_dot": [85.36530303955078, -98.04319763183594, 31.526853561401367, -4.2569499015808105, -4.537578582763672, -48.30842971801758, 14.438082695007324], "tau_ext": [-16.686744689941406, -41.61875534057617, 31.783727645874023, 31.350263595581055, 9.5093355178833, -2.9946627616882324, -0.11127955466508865], "tcp_pose": [0.6779212355613708, 0.0326867550611496, -0.21499238908290863, -0.0022609680891036987, -0.004585432354360819, 0.9998890161514282, 0.01399270724505186], "tcp_vel": [-0.00014997668040450662, -0.00033127720234915614, -0.0002959503617603332, -0.0007912808796390891, 0.0007060888456180692, -0.0006774913053959608], "flange_pose": [0.6786187291145325, 0.02849251963198185, -0.06505265831947327, -0.0022609680891036987, -0.004585432354360819, 0.9998890161514282, 0.01399270724505186], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10346984863281, 15.049599647521973, 28.119211196899414, 0.34654760360717773, -24.12738609313965, 1.8173521757125854], "ext_wrench_in_world": [-108.36561644601082, 14.831198444542734, -27.211567506769164, -0.1352619364680684, -24.069307082942974, -2.490739772657052]}
+{"timestamp_ns": 1789729563030105222, "elapsed_ms": 6500, "source_timestamp_ns": 1789729563025344997, "q": [0.8369235992431641, -1.89784836769104, -1.0067883729934692, 1.38108491897583, -0.16016483306884766, 0.5941893458366394, 0.7030683755874634], "theta": [0.8390116095542908, -1.8959392309188843, -1.0050045251846313, 1.3626827001571655, -0.1607387214899063, 0.5941418409347534, 0.7030194401741028], "dq": [0.00010740761354099959, 0.00013121284428052604, 0.0021986409556120634, -0.0009275251068174839, 0.0019584365654736757, -0.001893271110020578, -0.0032097690273076296], "dtheta": [-8.927186718210578e-05, 0.00019916526798624545, 0.0002804789401125163, -1.2323534065217245e-05, 0.00022251647897064686, -0.0009489195654168725, -0.0006402938161045313], "tau": [55.5099983215332, 23.709999084472656, 5.452000141143799, -26.288002014160156, -2.572000026702881, 2.6600000858306885, -0.5600000023841858], "tau_des": [0.49239376187324524, -0.5162420272827148, -0.2228327840566635, -0.5972740054130554, 0.8870161175727844, -1.1315393447875977, -0.5377098321914673], "tau_dot": [20.679264068603516, 4.110739707946777, 20.00991439819336, 49.60436248779297, 80.87728118896484, -16.420635223388672, 9.555609703063965], "tau_ext": [-16.69371223449707, -41.63654708862305, 31.783809661865234, 31.347909927368164, 9.511350631713867, -2.993616819381714, -0.10942630469799042], "tcp_pose": [0.6779209971427917, 0.032685939222574234, -0.21499241888523102, -0.0022620675154030323, -0.004586023278534412, 0.9998890161514282, 0.013992629013955593], "tcp_vel": [-0.00026232434902340174, -3.550003748387098e-05, -0.00010703387670218945, -0.000145124809932895, 0.0009909694781526923, 0.0006009353674016893], "flange_pose": [0.6786187887191772, 0.028491728007793427, -0.06505268812179565, -0.0022620675154030323, -0.004586023278534412, 0.9998890161514282, 0.013992629013955593], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09889221191406, 15.054401397705078, 28.128990173339844, 0.34926727414131165, -24.131332397460938, 1.820390224456787], "ext_wrench_in_world": [-108.36120561882495, 14.836177928964448, -27.220994257244413, -0.13793589683282437, -24.073192414338212, -2.4938709159549295]}
+{"timestamp_ns": 1789729563063434673, "elapsed_ms": 6533, "source_timestamp_ns": 1789729563055361143, "q": [0.8369229435920715, -1.8978482484817505, -1.006789207458496, 1.3810853958129883, -0.160166397690773, 0.5941897034645081, 0.7030665278434753], "theta": [0.839011013507843, -1.8959388732910156, -1.005004644393921, 1.362682819366455, -0.16073991358280182, 0.5941418409347534, 0.7030172944068909], "dq": [0.0010168150765821338, 0.00022355947294272482, -0.0006396498065441847, 0.000769801321439445, -1.1274280950601678e-05, -0.001434443169273436, -0.0031455992721021175], "dtheta": [-0.00031762104481458664, 0.00029010127764195204, -6.777956150472164e-05, -2.697061609069351e-05, -0.0015349357854574919, -0.0005576170515269041, -0.000659074867144227], "tau": [55.46999740600586, 23.709999084472656, 5.436000347137451, -26.296001434326172, -2.568000078201294, 2.6440000534057617, -0.5520000457763672], "tau_des": [0.4812733232975006, -0.5674187541007996, -0.15630431473255157, -0.5765177011489868, 0.9331926107406616, -1.1448367834091187, -0.5289151072502136], "tau_dot": [-18.556232452392578, 31.977157592773438, -15.332277297973633, 34.94314956665039, 39.315792083740234, -51.284549713134766, 40.189910888671875], "tau_ext": [-16.699247360229492, -41.6694221496582, 31.78662872314453, 31.354036331176758, 9.51198959350586, -2.994699001312256, -0.10785545408725739], "tcp_pose": [0.6779212951660156, 0.03268535062670708, -0.21499283611774445, -0.002261847024783492, -0.004587111063301563, 0.9998890161514282, 0.013991965912282467], "tcp_vel": [0.00014687817019876093, -0.0003133355639874935, -5.830204099765979e-05, -0.001127430354245007, -0.00017165945610031486, 0.0012777438387274742], "flange_pose": [0.6786190271377563, 0.028491340577602386, -0.06505310535430908, -0.002261847024783492, -0.004587111063301563, 0.9998890161514282, 0.013991965912282467], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1084976196289, 15.076364517211914, 28.1456356048584, 0.3589435815811157, -24.14048957824707, 1.8249410390853882], "ext_wrench_in_world": [-108.37110726260028, 14.858236926476923, -27.237047092981555, -0.1474959638718866, -24.082311347586884, -2.4986021025527814]}
+{"timestamp_ns": 1789729563096782210, "elapsed_ms": 6566, "source_timestamp_ns": 1789729563095276315, "q": [0.8369254469871521, -1.8978482484817505, -1.0067893266677856, 1.3810862302780151, -0.16016529500484467, 0.5941912531852722, 0.7030671238899231], "theta": [0.839013934135437, -1.895938754081726, -1.0050050020217896, 1.3626832962036133, -0.16073919832706451, 0.5941430330276489, 0.7030177712440491], "dq": [0.0017387792468070984, 0.0008989027701318264, -0.00024505038163624704, -0.0025368384085595608, 0.0010993132600560784, 0.002108937129378319, 0.0030370792374014854], "dtheta": [0.0001244203158421442, 0.0001219588375533931, 7.084695425874088e-06, -6.37691919109784e-05, -0.00015554545097984374, -0.00010525735706323758, -0.00039177003782242537], "tau": [55.55999755859375, 23.68000030517578, 5.452000141143799, -26.332000732421875, -2.5920000076293945, 2.688000202178955, -0.5600000023841858], "tau_des": [0.401410847902298, -0.5758613348007202, -0.19518429040908813, -0.5167179107666016, 0.9090823531150818, -1.1759506464004517, -0.5429187417030334], "tau_dot": [87.76099395751953, -30.28147315979004, -33.8267822265625, -34.63239669799805, -2.0511484146118164, 50.552555084228516, -26.54754066467285], "tau_ext": [-16.673429489135742, -41.6646614074707, 31.7893123626709, 31.33997917175293, 9.51501178741455, -2.9991111755371094, -0.10808027535676956], "tcp_pose": [0.677921712398529, 0.03268538787961006, -0.2149914801120758, -0.0022606458514928818, -0.0045864880084991455, 0.9998890161514282, 0.013992502354085445], "tcp_vel": [8.335322490893304e-05, -4.723070378531702e-05, 0.00015016419638413936, -3.192408257746138e-05, -0.000191012179129757, 0.00039371431921608746], "flange_pose": [0.6786190867424011, 0.02849121205508709, -0.06505174189805984, -0.0022606458514928818, -0.0045864880084991455, 0.9998890161514282, 0.013992502354085445], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11833953857422, 15.1068754196167, 28.133398056030273, 0.3739972710609436, -24.144306182861328, 1.8317692279815674], "ext_wrench_in_world": [-108.381085821787, 14.888469904777264, -27.224158677290063, -0.162570774882699, -24.086071507167365, -2.50549468366457]}
+{"timestamp_ns": 1789729563130104644, "elapsed_ms": 6600, "source_timestamp_ns": 1789729563125254032, "q": [0.8369268774986267, -1.8978493213653564, -1.006790041923523, 1.3810865879058838, -0.16016612946987152, 0.594191312789917, 0.703069269657135], "theta": [0.8390156626701355, -1.895939588546753, -1.0050060749053955, 1.3626831769943237, -0.16073943674564362, 0.5941427946090698, 0.7030196785926819], "dq": [0.001087878132238984, 0.0013430722756311297, -0.0009877788834273815, 0.0012440523132681847, 0.0004335088888183236, 0.00010032857971964404, -0.0019493530271574855], "dtheta": [-8.000938396435231e-05, 2.2980200810707174e-05, -0.0001513665192760527, -0.00026385835371911526, -0.000766049837693572, -0.0001520356017863378, 0.0009354202775284648], "tau": [55.52000045776367, 23.68000030517578, 5.436000347137451, -26.312002182006836, -2.5880000591278076, 2.632000207901001, -0.5400000214576721], "tau_des": [0.41218551993370056, -0.6042876839637756, -0.1596337854862213, -0.5077398419380188, 0.9171546101570129, -1.1799728870391846, -0.5688236951828003], "tau_dot": [-16.392580032348633, 41.76091384887695, 5.9862284660339355, -80.36151885986328, 1.7155094146728516, -58.42405700683594, 16.249858856201172], "tau_ext": [-16.69704246520996, -41.67220687866211, 31.78464698791504, 31.35282325744629, 9.515429496765137, -3.001343250274658, -0.11183583736419678], "tcp_pose": [0.6779218912124634, 0.03268521651625633, -0.21499092876911163, -0.002259732224047184, -0.004585830494761467, 0.9998890161514282, 0.013991528190672398], "tcp_vel": [0.00021843466674908996, -0.00011734951112885028, 0.00010772832320071757, -0.0005076261586509645, -0.00046255701454356313, -0.0006695082993246615], "flange_pose": [0.6786190271377563, 0.02849133312702179, -0.06505119800567627, -0.002259732224047184, -0.004585830494761467, 0.9998890161514282, 0.013991528190672398], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11743927001953, 15.107818603515625, 28.134105682373047, 0.3758106529712677, -24.14210319519043, 1.8308959007263184], "ext_wrench_in_world": [-108.38012810457167, 14.889532690670261, -27.225069478334344, -0.16442769307373922, -24.083915286947647, -2.504505563636643]}
+{"timestamp_ns": 1789729563163434266, "elapsed_ms": 6633, "source_timestamp_ns": 1789729563155558386, "q": [0.8369278907775879, -1.8978501558303833, -1.0067917108535767, 1.3810869455337524, -0.16016484797000885, 0.5941909551620483, 0.7030692100524902], "theta": [0.839016854763031, -1.8959405422210693, -1.0050079822540283, 1.362683653831482, -0.1607389599084854, 0.5941425561904907, 0.7030194401741028], "dq": [-3.334626626383397e-06, -0.0022174508776515722, -8.856459317030385e-05, 0.00043801634456031024, 0.0006493640830740333, 0.00012547906953841448, -0.0017191185615956783], "dtheta": [0.0003526236687321216, -0.000253128120675683, 3.247370113967918e-05, 0.00024287852284032851, 6.279429362621158e-05, 0.00033766840351745486, 0.0010131426388397813], "tau": [55.53999710083008, 23.689998626708984, 5.440000057220459, -26.292001724243164, -2.580000162124634, 2.6760001182556152, -0.5560000538825989], "tau_des": [0.40504875779151917, -0.5558814406394958, -0.2128169685602188, -0.5237658619880676, 0.8997313976287842, -1.1830748319625854, -0.572272002696991], "tau_dot": [129.9910888671875, 68.43162536621094, 30.89752769470215, 47.31808853149414, 25.10678482055664, -5.73330020904541, -21.9263916015625], "tau_ext": [-16.71856689453125, -41.6743049621582, 31.79851531982422, 31.359935760498047, 9.518213272094727, -3.0010569095611572, -0.11335486173629761], "tcp_pose": [0.6779221296310425, 0.03268452361226082, -0.21499086916446686, -0.00225956947542727, -0.004585205111652613, 0.999889075756073, 0.013990896753966808], "tcp_vel": [-4.3042731704190373e-05, 0.00010330371151212603, 9.061889431905001e-05, -5.1760009228019044e-05, -0.00033908034674823284, -0.0008251387625932693], "flange_pose": [0.6786191463470459, 0.0284908264875412, -0.0650511234998703, -0.00225956947542727, -0.004585205111652613, 0.999889075756073, 0.013990896753966808], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09510040283203, 15.11151123046875, 28.150362014770508, 0.37263330817222595, -24.13538360595703, 1.8275971412658691], "ext_wrench_in_world": [-108.35787236862271, 14.89398578392924, -27.241366844248702, -0.16132576254043515, -24.077264466304605, -2.5010035021543446]}
+{"timestamp_ns": 1789729563196773245, "elapsed_ms": 6666, "source_timestamp_ns": 1789729563195255223, "q": [0.8369299173355103, -1.897851824760437, -1.0067908763885498, 1.3810863494873047, -0.16016530990600586, 0.5941852927207947, 0.7030676007270813], "theta": [0.8390185236930847, -1.895942211151123, -1.0050076246261597, 1.3626832962036133, -0.16073967516422272, 0.5941363573074341, 0.7030184864997864], "dq": [-0.0005880720564164221, -6.535741704283282e-05, -0.002262688707560301, 0.0024452735669910908, -0.0008434125338681042, 0.002765280194580555, 0.00036674426519311965], "dtheta": [-0.00038181268610060215, 2.9696384444832802e-05, 0.0004624328576028347, -9.540387509332504e-06, -0.0007858493481762707, 0.00019403916667215526, -0.0006076410063542426], "tau": [55.53999710083008, 23.649999618530273, 5.456000328063965, -26.316001892089844, -2.6040000915527344, 2.6640000343322754, -0.5440000295639038], "tau_des": [0.4878197908401489, -0.4978873133659363, -0.26956310868263245, -0.5621992349624634, 0.9080583453178406, -1.171842336654663, -0.5269463658332825], "tau_dot": [142.76893615722656, 29.643449783325195, 30.262847900390625, -19.68229103088379, -28.465282440185547, 0.9515079855918884, 10.353713035583496], "tau_ext": [-16.715566635131836, -41.65372085571289, 31.806547164916992, 31.34400177001953, 9.517160415649414, -2.9934487342834473, -0.10898087173700333], "tcp_pose": [0.6779211163520813, 0.032684627920389175, -0.2149902731180191, -0.0022604716941714287, -0.004586983006447554, 0.999889075756073, 0.013988716527819633], "tcp_vel": [-8.183439786080271e-05, 0.0002233679551864043, -0.00013402945478446782, -3.647773337434046e-05, -7.778257713653147e-05, 0.0013422627234831452], "flange_pose": [0.6786184310913086, 0.028491586446762085, -0.06505050510168076, -0.0022604716941714287, -0.004586983006447554, 0.999889075756073, 0.013988716527819633], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08856964111328, 15.1227388381958, 28.147539138793945, 0.3677797019481659, -24.129653930664062, 1.8265990018844604], "ext_wrench_in_world": [-108.35153183151778, 14.904682098723493, -27.238136461579007, -0.1564378542993761, -24.07153183104082, -2.4997614168941666]}
+{"timestamp_ns": 1789729563230102786, "elapsed_ms": 6700, "source_timestamp_ns": 1789729563225254744, "q": [0.8369298577308655, -1.8978521823883057, -1.0067917108535767, 1.3810856342315674, -0.1601647436618805, 0.594176709651947, 0.703067421913147], "theta": [0.8390190601348877, -1.8959428071975708, -1.0050079822540283, 1.3626830577850342, -0.16073967516422272, 0.59412682056427, 0.7030177712440491], "dq": [-0.0020172183867543936, -0.0016225697472691536, 0.0011055528884753585, -0.001497108256444335, 1.7397933333995752e-05, -0.0017361992504447699, -0.0013397288275882602], "dtheta": [-6.417337863240391e-05, -0.00010087996633956209, -5.910691834287718e-05, -0.0001276213733945042, -0.00048721482744440436, -0.00029992457712069154, -1.6187626897590235e-05], "tau": [55.529998779296875, 23.639999389648438, 5.456000328063965, -26.288002014160156, -2.576000213623047, 2.636000156402588, -0.5640000104904175], "tau_des": [0.460060715675354, -0.539287805557251, -0.1982589215040207, -0.5635358095169067, 0.9081764221191406, -1.15058171749115, -0.5479007959365845], "tau_dot": [-5.315056324005127, 50.98381423950195, -6.917700290679932, 22.294925689697266, 19.5266170501709, -63.555782318115234, -29.200794219970703], "tau_ext": [-16.70954704284668, -41.627079010009766, 31.787025451660156, 31.34723663330078, 9.520692825317383, -2.9895882606506348, -0.1089954525232315], "tcp_pose": [0.677919864654541, 0.0326831191778183, -0.21499118208885193, -0.0022634908091276884, -0.004586747847497463, 0.9998891353607178, 0.013985895551741123], "tcp_vel": [3.9188227674458176e-05, -5.995289029669948e-05, -1.3815346392220818e-05, -0.0005379817448556423, -9.992471314035356e-05, 0.0002996960829477757], "flange_pose": [0.6786180734634399, 0.028490932658314705, -0.06505139172077179, -0.0022634908091276884, -0.004586747847497463, 0.9998891353607178, 0.013985895551741123], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08290100097656, 15.098132133483887, 28.151256561279297, 0.3559117913246155, -24.128021240234375, 1.825463891029358], "ext_wrench_in_world": [-108.34581499412646, 14.88012829728996, -27.2419985280215, -0.14460418945871187, -24.06983608166591, -2.4984957914677195]}
+{"timestamp_ns": 1789729563263431748, "elapsed_ms": 6733, "source_timestamp_ns": 1789729563255253964, "q": [0.8369293808937073, -1.8978527784347534, -1.0067917108535767, 1.3810858726501465, -0.16016553342342377, 0.5941749215126038, 0.703067421913147], "theta": [0.8390193581581116, -1.89594304561615, -1.0050081014633179, 1.3626830577850342, -0.16074064373970032, 0.5941246747970581, 0.7030182480812073], "dq": [0.000499742804095149, 0.00021104092593304813, 0.0005035634967498481, 0.0015045118052512407, -0.001152428099885583, 0.0008716005831956863, 0.0002331379073439166], "dtheta": [7.509532588301226e-05, -6.700043741147965e-05, 0.00013780841254629195, -0.0003128059906885028, -0.0007912368746474385, 0.0009178085601888597, 0.0005229792441241443], "tau": [55.52000045776367, 23.709999084472656, 5.448000431060791, -26.292001724243164, -2.56000018119812, 2.6520001888275146, -0.5520000457763672], "tau_des": [0.3721960186958313, -0.5815808773040771, -0.22490374743938446, -0.4778830111026764, 0.9205629229545593, -1.1984999179840088, -0.5541894435882568], "tau_dot": [19.02662467956543, 69.96550750732422, -19.106212615966797, 34.76774597167969, 74.82624053955078, 8.386224746704102, -19.118764877319336], "tau_ext": [-16.695138931274414, -41.635868072509766, 31.788856506347656, 31.340312957763672, 9.51583194732666, -2.9878435134887695, -0.11336760222911835], "tcp_pose": [0.6779192686080933, 0.0326828733086586, -0.21499191224575043, -0.0022642926778644323, -0.004587157163769007, 0.9998891353607178, 0.013984792865812778], "tcp_vel": [0.0003534708812367171, 0.0002448219165671617, 0.00034759665140882134, 0.00032332720002159476, -0.0014000276569277048, -1.3135058907209896e-05], "flange_pose": [0.6786177158355713, 0.02849101833999157, -0.06505212187767029, -0.0022642926778644323, -0.004587157163769007, 0.9998891353607178, 0.013984792865812778], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08705139160156, 15.077581405639648, 28.151702880859375, 0.3488852083683014, -24.13197135925293, 1.8245139122009277], "ext_wrench_in_world": [-108.34983571390784, 14.85940873135973, -27.24286305787564, -0.13752115571014376, -24.07375178077586, -2.497634224132874]}
+{"timestamp_ns": 1789729563296775177, "elapsed_ms": 6766, "source_timestamp_ns": 1789729563295259004, "q": [0.8369296193122864, -1.8978534936904907, -1.0067919492721558, 1.3810858726501465, -0.16016508638858795, 0.594173789024353, 0.7030673027038574], "theta": [0.8390197157859802, -1.8959434032440186, -1.0050089359283447, 1.3626831769943237, -0.16073967516422272, 0.5941234827041626, 0.7030180096626282], "dq": [-0.00039856924558989704, 0.0016837212024256587, -9.774020145414397e-05, -0.001308872946538031, -0.00247603259049356, 0.00043447926873341203, -0.002920765895396471], "dtheta": [-0.00032273423857986927, 0.00018080264271702617, 4.029112824355252e-05, 0.00018115829152520746, 0.0002485506411176175, -0.0005270125111564994, 8.603920286986977e-05], "tau": [55.48999786376953, 23.60999870300293, 5.436000347137451, -26.304000854492188, -2.572000026702881, 2.6480002403259277, -0.5680000185966492], "tau_des": [0.5617899298667908, -0.517038881778717, -0.20418596267700195, -0.6387965679168701, 0.8668646812438965, -1.1216325759887695, -0.552898108959198], "tau_dot": [58.14177322387695, -97.02963256835938, 22.249509811401367, -32.358642578125, 11.988786697387695, -80.20953369140625, -43.33002853393555], "tau_ext": [-16.71833038330078, -41.64024353027344, 31.786670684814453, 31.358888626098633, 9.523968696594238, -2.995609998703003, -0.11209139227867126], "tcp_pose": [0.6779189109802246, 0.03268282860517502, -0.2149921953678131, -0.002264712005853653, -0.004587290808558464, 0.9998891353607178, 0.013984196819365025], "tcp_vel": [-0.00023762541241012514, -0.00013135549670550972, -0.00032422554795630276, -0.0001344190095551312, 0.0010193033376708627, -0.0002756493631750345], "flange_pose": [0.6786174774169922, 0.028491152450442314, -0.06505239754915237, -0.002264712005853653, -0.004587290808558464, 0.9998891353607178, 0.013984196819365025], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0983657836914, 15.068260192871094, 28.14971160888672, 0.34933191537857056, -24.13504981994629, 1.8235023021697998], "ext_wrench_in_world": [-108.36108210134681, 14.849868319961528, -27.24101155818718, -0.13793037271932598, -24.076864326914325, -2.4966783213005077]}
+{"timestamp_ns": 1789729563330100169, "elapsed_ms": 6800, "source_timestamp_ns": 1789729563325255286, "q": [0.8369309902191162, -1.8978536128997803, -1.0067936182022095, 1.3810858726501465, -0.1601661592721939, 0.5941764116287231, 0.7030675411224365], "theta": [0.8390212655067444, -1.8959438800811768, -1.0050108432769775, 1.3626832962036133, -0.16074064373970032, 0.5941261053085327, 0.7030184864997864], "dq": [0.0006408990011550486, -0.000575701124034822, 0.0008012692560441792, -0.002214104402810335, 0.0008410016307607293, 9.3479422503151e-05, -0.000731191597878933], "dtheta": [-0.00043624150566756725, -6.427620974136516e-05, -0.0002015610079979524, -0.00011225436901440844, -0.0005423685652203858, 0.0015348331071436405, -0.0007743032765574753], "tau": [55.56999969482422, 23.670000076293945, 5.464000225067139, -26.304000854492188, -2.5920000076293945, 2.684000015258789, -0.5560000538825989], "tau_des": [0.4661127030849457, -0.5464306473731995, -0.19892378151416779, -0.5228952169418335, 0.9110226035118103, -1.200658917427063, -0.5343647003173828], "tau_dot": [135.19833374023438, -54.96827697753906, 70.83222961425781, -13.457023620605469, -9.497275352478027, -10.489175796508789, -14.861193656921387], "tau_ext": [-16.707931518554688, -41.649024963378906, 31.8052978515625, 31.348812103271484, 9.523841857910156, -2.996717691421509, -0.11722909659147263], "tcp_pose": [0.6779203414916992, 0.03268229961395264, -0.2149910032749176, -0.0022624912671744823, -0.004586941096931696, 0.9998891353607178, 0.013984132558107376], "tcp_vel": [0.0003605493111535907, 0.0001331615203525871, -5.63421672268305e-05, 0.0005578190321102738, -0.0012005477910861373, 0.0009221014333888888], "flange_pose": [0.6786182522773743, 0.028490636497735977, -0.06505120545625687, -0.0022624912671744823, -0.004586941096931696, 0.9998891353607178, 0.013984132558107376], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10643005371094, 15.077112197875977, 28.1339168548584, 0.35043635964393616, -24.131689071655273, 1.8231732845306396], "ext_wrench_in_world": [-108.36902106737904, 14.858280124309799, -27.225421822752864, -0.13907110510009976, -24.07352459842085, -2.4962484963612437]}
+{"timestamp_ns": 1789729563363426352, "elapsed_ms": 6833, "source_timestamp_ns": 1789729563355267153, "q": [0.8369322419166565, -1.8978543281555176, -1.0067962408065796, 1.3810855150222778, -0.1601652354001999, 0.5941755175590515, 0.7030678391456604], "theta": [0.8390234708786011, -1.8959444761276245, -1.0050139427185059, 1.3626830577850342, -0.16073967516422272, 0.5941251516342163, 0.7030184864997864], "dq": [0.0009769777534529567, 0.00045849179150536656, -0.0005587663035839796, 0.0010193217312917113, -0.0023184900637716055, 0.0012822007993236184, 0.0004506935947574675], "dtheta": [3.329595347167924e-05, -0.0002612870594020933, 9.457746637053788e-05, -0.00011721334158210084, 0.000869722047355026, -0.0008592784870415926, 0.00021408773318398744], "tau": [55.54999923706055, 23.65999984741211, 5.428000450134277, -26.292001724243164, -2.5960001945495605, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.4890739321708679, -0.5017502903938293, -0.23144835233688354, -0.5880793333053589, 0.8694778084754944, -1.1395273208618164, -0.5612152218818665], "tau_dot": [76.18092346191406, 13.96618938446045, -17.50944709777832, 22.89604949951172, -34.35035705566406, 37.84626007080078, -13.368326187133789], "tau_ext": [-16.715133666992188, -41.65472412109375, 31.807857513427734, 31.349767684936523, 9.524901390075684, -3.001715660095215, -0.11676572263240814], "tcp_pose": [0.6779211759567261, 0.03268102556467056, -0.2149905115365982, -0.0022618973162025213, -0.004585807677358389, 0.9998891353607178, 0.013983139768242836], "tcp_vel": [-0.0003269571752753109, 7.71911654737778e-05, -0.00016678778047207743, -8.851033635437489e-05, 0.0010401614708825946, -0.00045307326945476234], "flange_pose": [0.6786189079284668, 0.02848966047167778, -0.06505069881677628, -0.0022618973162025213, -0.004585807677358389, 0.9998891353607178, 0.013983139768242836], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08494567871094, 15.0929536819458, 28.13627052307129, 0.3538077473640442, -24.120615005493164, 1.8209879398345947], "ext_wrench_in_world": [-108.34762745738045, 14.874571795539053, -27.22758142800717, -0.14258495458764328, -24.062552161513704, -2.4936916905458006]}
+{"timestamp_ns": 1789729563396770340, "elapsed_ms": 6866, "source_timestamp_ns": 1789729563395251528, "q": [0.8369347453117371, -1.8978573083877563, -1.0068001747131348, 1.3810851573944092, -0.16016605496406555, 0.5941738486289978, 0.7030684947967529], "theta": [0.8390267491340637, -1.895947813987732, -1.0050182342529297, 1.362682580947876, -0.16073991358280182, 0.5941234827041626, 0.7030189633369446], "dq": [-0.002711039036512375, 0.0003103220369666815, -0.0006027661729604006, -0.000250201701419428, -0.0011246639769524336, 1.1491869372548535e-05, 0.000579117622692138], "dtheta": [8.002136019058526e-05, 6.901063170516863e-05, -0.00015607272507622838, -0.00016131105076055974, -0.000607617839705199, 0.0006341817788779736, 0.000912532617803663], "tau": [55.5099983215332, 23.670000076293945, 5.452000141143799, -26.284000396728516, -2.556000232696533, 2.6480002403259277, -0.5560000538825989], "tau_des": [0.35846468806266785, -0.6375100612640381, -0.1458548754453659, -0.4693828225135803, 0.9212200045585632, -1.1994822025299072, -0.5738804936408997], "tau_dot": [23.24471664428711, 130.64381408691406, 40.396339416503906, 22.200754165649414, 106.7197036743164, -8.216958045959473, 1.640501618385315], "tau_ext": [-16.714679718017578, -41.63556671142578, 31.806394577026367, 31.353166580200195, 9.525397300720215, -2.9983162879943848, -0.11509572714567184], "tcp_pose": [0.6779221892356873, 0.03267950192093849, -0.21498984098434448, -0.0022602523677051067, -0.004585359711199999, 0.9998891949653625, 0.01398007944226265], "tcp_vel": [0.0003518233716022223, -1.8094800907419994e-05, 0.0002603611210361123, 7.7003103797324e-05, -0.0010496311588212848, -0.0007713455124758184], "flange_pose": [0.6786194443702698, 0.02848905138671398, -0.06504999846220016, -0.0022602523677051067, -0.004585359711199999, 0.9998891949653625, 0.01398007944226265], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07550811767578, 15.09133529663086, 28.138113021850586, 0.3506367802619934, -24.113618850708008, 1.8197638988494873], "ext_wrench_in_world": [-108.33808040732242, 14.87302700126225, -27.22995890257347, -0.13948627490551457, -24.055579053677054, -2.492139813063416]}
+{"timestamp_ns": 1789729563430097142, "elapsed_ms": 6900, "source_timestamp_ns": 1789729563425239702, "q": [0.8369352221488953, -1.8978630304336548, -1.0068013668060303, 1.3810844421386719, -0.16016682982444763, 0.5941706895828247, 0.7030662894248962], "theta": [0.8390279412269592, -1.89595365524292, -1.005018711090088, 1.3626819849014282, -0.16074064373970032, 0.5941203832626343, 0.7030172944068909], "dq": [-0.000552983139641583, 0.0013303565792739391, 0.002068860689178109, 0.0016666710143908858, 0.0015538092702627182, 0.0021690174471586943, 0.0010356836719438434], "dtheta": [-0.00019975053146481514, -0.00020836436306126416, -0.00013038108590990305, -8.323464135173708e-05, -0.000683430815115571, -0.00014307285891845822, -7.531927258241922e-05], "tau": [55.529998779296875, 23.649999618530273, 5.456000328063965, -26.308000564575195, -2.6000001430511475, 2.6560001373291016, -0.5640000104904175], "tau_des": [0.4807993769645691, -0.5171758532524109, -0.18661172688007355, -0.5746533870697021, 0.9221779704093933, -1.15228271484375, -0.5430242419242859], "tau_dot": [-45.427391052246094, 79.10054779052734, 36.66039276123047, -23.158920288085938, -16.028820037841797, 21.430559158325195, -8.27745532989502], "tau_ext": [-16.721904754638672, -41.621952056884766, 31.797794342041016, 31.353145599365234, 9.523079872131348, -2.998502254486084, -0.1131695955991745], "tcp_pose": [0.677920937538147, 0.03268010541796684, -0.21499128639698029, -0.002260568318888545, -0.004588139243423939, 0.9998892545700073, 0.013976472429931164], "tcp_vel": [4.377450386527926e-05, -6.524845230160281e-05, -0.0001273089146707207, -0.0007078672642819583, -0.00017990455671679229, 0.0004928336711600423], "flange_pose": [0.6786182522773743, 0.028490738943219185, -0.06505141407251358, -0.002260568318888545, -0.004588139243423939, 0.9998892545700073, 0.013976472429931164], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07461547851562, 15.082905769348145, 28.1373233795166, 0.34593820571899414, -24.112268447875977, 1.8197860717773438], "ext_wrench_in_world": [-108.33720454843458, 14.863786260348094, -27.229460018091622, -0.13466734868590485, -24.054203942644943, -2.491971444958516]}
+{"timestamp_ns": 1789729563463429783, "elapsed_ms": 6933, "source_timestamp_ns": 1789729563455241852, "q": [0.8369355201721191, -1.8978662490844727, -1.0068018436431885, 1.381083369255066, -0.1601652354001999, 0.5941684246063232, 0.7030649781227112], "theta": [0.839028537273407, -1.895957112312317, -1.0050193071365356, 1.3626810312271118, -0.16073919832706451, 0.5941182374954224, 0.7030163407325745], "dq": [-4.2545041651465e-05, 0.0008602500893175602, 0.0020342853385955095, 0.00025115127209573984, -0.0032578902319073677, -0.0019196681678295135, -0.0021615733858197927], "dtheta": [0.00010867478704312816, -0.0002868541923817247, 0.00022676440130453557, 0.0001505963155068457, -0.0004654705699067563, -0.0006974203861318529, -8.473559137200937e-05], "tau": [55.47999954223633, 23.68000030517578, 5.4160003662109375, -26.308000564575195, -2.5880000591278076, 2.6760001182556152, -0.5600000023841858], "tau_des": [0.48309528827667236, -0.4687509834766388, -0.25095075368881226, -0.6032388210296631, 0.9136930704116821, -1.1339994668960571, -0.536198079586029], "tau_dot": [-80.69805908203125, 37.618690490722656, -21.09531021118164, -17.513195037841797, -14.140496253967285, -47.457359313964844, -20.235855102539062], "tau_ext": [-16.7066707611084, -41.6119384765625, 31.797359466552734, 31.345142364501953, 9.52016544342041, -2.9973819255828857, -0.11192259937524796], "tcp_pose": [0.6779201030731201, 0.03268074989318848, -0.214991956949234, -0.002261227462440729, -0.004589170683175325, 0.9998892545700073, 0.013975242152810097], "tcp_vel": [-0.0002547070907894522, 3.7729201721958816e-05, -0.00010750015644589439, -0.0008995807147584856, 0.0003526153741404414, 0.0007347173523157835], "flange_pose": [0.6786175966262817, 0.028491754084825516, -0.0650520846247673, -0.002261227462440729, -0.004589170683175325, 0.9998892545700073, 0.013975242152810097], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0728759765625, 15.06066608428955, 28.128765106201172, 0.3394007086753845, -24.110401153564453, 1.8184672594070435], "ext_wrench_in_world": [-108.33528845920895, 14.841040178978885, -27.221432952981782, -0.1280940721610473, -24.052320291733277, -2.4905702746438654]}
+{"timestamp_ns": 1789729563496769362, "elapsed_ms": 6966, "source_timestamp_ns": 1789729563495257219, "q": [0.8369354605674744, -1.8978657722473145, -1.0068024396896362, 1.3810838460922241, -0.1601637601852417, 0.5941669344902039, 0.7030587196350098], "theta": [0.8390284180641174, -1.8959577083587646, -1.0050199031829834, 1.3626806735992432, -0.1607379913330078, 0.5941175222396851, 0.7030093669891357], "dq": [0.00043139810441061854, 0.001206298591569066, -0.0010570152662694454, -0.001500595360994339, 0.00110923545435071, 0.0007873344584368169, -0.0005656896391883492], "dtheta": [-5.3081785154063255e-05, 0.0002136926632374525, -3.9458183891838416e-05, 0.0002136454713763669, -0.0014718176098540425, -0.0007160279783420265, -0.0006498285802081227], "tau": [55.459999084472656, 23.65999984741211, 5.420000076293945, -26.30000114440918, -2.5840001106262207, 2.6560001373291016, -0.5760000348091125], "tau_des": [0.46885448694229126, -0.5446358323097229, -0.18192735314369202, -0.5911423563957214, 0.9369267821311951, -1.1346583366394043, -0.5193567276000977], "tau_dot": [-47.76286315917969, -41.1495475769043, 9.445114135742188, 19.687288284301758, 24.80196189880371, -44.18840789794922, 3.0833628177642822], "tau_ext": [-16.7017765045166, -41.64912033081055, 31.806625366210938, 31.356550216674805, 9.518916130065918, -3.0016274452209473, -0.10065171867609024], "tcp_pose": [0.6779196858406067, 0.03268004208803177, -0.2149924486875534, -0.0022622973192483187, -0.0045915874652564526, 0.9998892545700073, 0.01397503912448883], "tcp_vel": [4.166548387729563e-05, -0.00034203188261017203, -3.068476507905871e-05, -0.0013686290476471186, -7.867771637393162e-05, 0.0013461292255669832], "flange_pose": [0.6786175966262817, 0.02849111147224903, -0.0650525763630867, -0.0022622973192483187, -0.0045915874652564526, 0.9998892545700073, 0.01397503912448883], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0952377319336, 15.078445434570312, 28.125268936157227, 0.35019734501838684, -24.117902755737305, 1.8244075775146484], "ext_wrench_in_world": [-108.35792343883652, 14.857969508155715, -27.21712438696763, -0.13873754183940118, -24.059754207188533, -2.496660551358564]}
+{"timestamp_ns": 1789729563530102213, "elapsed_ms": 7000, "source_timestamp_ns": 1789729563525256080, "q": [0.8369355201721191, -1.8978654146194458, -1.0068026781082153, 1.3810837268829346, -0.16016332805156708, 0.5941668152809143, 0.7030589580535889], "theta": [0.8390287756919861, -1.8959577083587646, -1.005020260810852, 1.3626799583435059, -0.1607375144958496, 0.594117283821106, 0.7030086517333984], "dq": [0.0006996855372563004, 0.00011739419278455898, -0.00047648686449974775, -0.0011086480226367712, -0.0012260287767276168, -0.0010841134935617447, 0.0003004896570928395], "dtheta": [2.535528619773686e-05, -6.067435606382787e-05, -0.0002185511402785778, -0.0001659164554439485, -0.0004817893204744905, 0.00018772066687233746, -0.0004982283571735024], "tau": [55.48999786376953, 23.649999618530273, 5.484000205993652, -26.292001724243164, -2.6000001430511475, 2.6720001697540283, -0.5720000267028809], "tau_des": [0.4205317199230194, -0.5527865886688232, -0.19320887327194214, -0.5279508233070374, 0.9226102828979492, -1.1729241609573364, -0.5308017730712891], "tau_dot": [-55.95305633544922, -11.292754173278809, 19.770639419555664, -0.958027184009552, -8.690705299377441, 51.01176452636719, -17.116125106811523], "tau_ext": [-16.677682876586914, -41.64185333251953, 31.798452377319336, 31.34667205810547, 9.516616821289062, -3.0016205310821533, -0.10130861401557922], "tcp_pose": [0.677919864654541, 0.03267988562583923, -0.21499229967594147, -0.002262352965772152, -0.004591144621372223, 0.9998892545700073, 0.013975265435874462], "tcp_vel": [0.0002276921150041744, -7.505986286560073e-05, 0.00012232329754624516, -0.00026347042876295745, -0.0006502412725239992, 0.0006219415226951241], "flange_pose": [0.6786177158355713, 0.028490886092185974, -0.06505242735147476, -0.002262352965772152, -0.004591144621372223, 0.9998892545700073, 0.013975265435874462], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11505126953125, 15.090492248535156, 28.11139488220215, 0.35862529277801514, -24.124879837036133, 1.8302948474884033], "ext_wrench_in_world": [-108.37777150415906, 14.869548638562541, -27.20281155721386, -0.147150429639099, -24.066640522968676, -2.5027143604602933]}
+{"timestamp_ns": 1789729563563443572, "elapsed_ms": 7033, "source_timestamp_ns": 1789729563555265188, "q": [0.8369354009628296, -1.8978650569915771, -1.0068047046661377, 1.3810844421386719, -0.16016294062137604, 0.5941675305366516, 0.7030603289604187], "theta": [0.8390290141105652, -1.8959572315216064, -1.0050218105316162, 1.3626799583435059, -0.1607370376586914, 0.5941182374954224, 0.7030093669891357], "dq": [-0.0011349422857165337, -0.0005917234811931849, -0.002980806864798069, 0.0021616658195853233, -0.0009954835986718535, -0.0008630691445432603, -0.0022773374803364277], "dtheta": [-5.2237937779864296e-05, 0.000273931393167004, 0.00023432944726664573, -3.1611948543286417e-06, -0.00043948969687335193, 0.0009069761144928634, 0.0005683613126166165], "tau": [55.44999694824219, 23.649999618530273, 5.448000431060791, -26.284000396728516, -2.5960001945495605, 2.6680002212524414, -0.5640000104904175], "tau_des": [0.4107297658920288, -0.5934464335441589, -0.21328803896903992, -0.5042708516120911, 0.9041164517402649, -1.1939778327941895, -0.553038477897644], "tau_dot": [-157.59913635253906, -55.35737228393555, -1.986789584159851, 34.95034408569336, -37.951873779296875, 19.682857513427734, -43.314571380615234], "tau_ext": [-16.693004608154297, -41.64919662475586, 31.780431747436523, 31.35110092163086, 9.51241397857666, -2.9983890056610107, -0.10245998948812485], "tcp_pose": [0.677920401096344, 0.03267865628004074, -0.21499262750148773, -0.0022621916141361, -0.004589576739817858, 0.9998892545700073, 0.013974898494780064], "tcp_vel": [0.00021387834567576647, 0.00016133359167724848, 0.00019934665760956705, 0.0006715046474710107, -0.0007899733609519899, -0.0003652823797892779], "flange_pose": [0.6786182522773743, 0.028489764779806137, -0.06505275517702103, -0.0022621916141361, -0.004589576739817858, 0.9998892545700073, 0.013974898494780064], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11306762695312, 15.076655387878418, 28.11663818359375, 0.3614271879196167, -24.1313419342041, 1.8320167064666748], "ext_wrench_in_world": [-108.37563189429501, 14.856202525092897, -27.20849003873231, -0.1499761082071291, -24.07307902126204, -2.5045861880674636]}
+{"timestamp_ns": 1789729563596768864, "elapsed_ms": 7066, "source_timestamp_ns": 1789729563595256561, "q": [0.8369359374046326, -1.8978674411773682, -1.0068085193634033, 1.3810851573944092, -0.16016235947608948, 0.5941709876060486, 0.7030594944953918], "theta": [0.839029848575592, -1.8959590196609497, -1.0050263404846191, 1.3626799583435059, -0.1607365608215332, 0.5941210985183716, 0.7030088901519775], "dq": [-0.0004758770519401878, 0.0006624931120313704, 0.0028634050395339727, -0.000682514684740454, 0.0016906452365219593, -0.00020633508393075317, -0.0016105928225442767], "dtheta": [0.00018238795746583492, -7.925277895992622e-05, 8.479045391140971e-06, -0.00010463463695487007, 0.0007951893494464457, 0.0006837371038272977, 0.0004937156336382031], "tau": [55.5099983215332, 23.689998626708984, 5.404000282287598, -26.2760009765625, -2.572000026702881, 2.6640000343322754, -0.5640000104904175], "tau_des": [0.40746256709098816, -0.5629963278770447, -0.21219287812709808, -0.5068793296813965, 0.8866816163063049, -1.1923291683197021, -0.5605971813201904], "tau_dot": [22.775224685668945, 48.5103759765625, 17.161516189575195, 52.70831298828125, -25.759132385253906, 11.957465171813965, -22.338884353637695], "tau_ext": [-16.693721771240234, -41.67713928222656, 31.809438705444336, 31.353288650512695, 9.514639854431152, -3.0039925575256348, -0.10272615402936935], "tcp_pose": [0.6779214143753052, 0.032677698880434036, -0.2149931639432907, -0.002260456560179591, -0.0045893220230937, 0.9998892545700073, 0.013973879627883434], "tcp_vel": [7.568457658635452e-05, 0.0002117994154104963, 0.00015980970056261867, 0.0009452865924686193, -0.00032730860402807593, -0.0009085107012651861], "flange_pose": [0.6786187291145325, 0.028489109128713608, -0.06505328416824341, -0.002260456560179591, -0.0045893220230937, 0.9998892545700073, 0.013973879627883434], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12335205078125, 15.102198600769043, 28.131486892700195, 0.3707829713821411, -24.137435913085938, 1.8334546089172363], "ext_wrench_in_world": [-108.38611493225476, 14.882059208292556, -27.222979625334183, -0.159287165996168, -24.079221649673684, -2.50610467015899]}
+{"timestamp_ns": 1789729563630091298, "elapsed_ms": 7100, "source_timestamp_ns": 1789729563625236577, "q": [0.8369386196136475, -1.8978688716888428, -1.0068116188049316, 1.3810850381851196, -0.1601622849702835, 0.594169557094574, 0.703059196472168], "theta": [0.8390325307846069, -1.8959606885910034, -1.0050299167633057, 1.3626797199249268, -0.1607370376586914, 0.5941201448440552, 0.7030091285705566], "dq": [-0.001381223788484931, -0.00020574350492097437, -0.0015328257577493787, 0.0007689676131121814, 0.0008152495720423758, 0.0021500922739505768, 0.001562771969474852], "dtheta": [-0.00020276522263884544, 8.472741319565102e-05, -0.0003049824736081064, 0.00015331605391111225, 0.0006742057157680392, 0.00047264399472624063, -0.0004297033592592925], "tau": [55.5099983215332, 23.6299991607666, 5.452000141143799, -26.292001724243164, -2.580000162124634, 2.6640000343322754, -0.5760000348091125], "tau_des": [0.490231454372406, -0.5535733699798584, -0.15196073055267334, -0.569763720035553, 0.8878488540649414, -1.1670788526535034, -0.5474264621734619], "tau_dot": [13.217652320861816, -0.8116633296012878, -3.4525516033172607, -16.318222045898438, 0.19177477061748505, 19.721158981323242, -37.68471145629883], "tau_ext": [-16.69733238220215, -41.628517150878906, 31.800111770629883, 31.346477508544922, 9.51456069946289, -2.9998269081115723, -0.10425607860088348], "tcp_pose": [0.6779224276542664, 0.032676201313734055, -0.21499207615852356, -0.002259131520986557, -0.0045888544991612434, 0.9998893141746521, 0.013971922919154167], "tcp_vel": [1.7501193724456243e-05, -0.00010058306361315772, -0.00019885669462382793, 0.0005103513249196112, 0.00023242000315804034, -0.00020275518181733787], "flange_pose": [0.6786193251609802, 0.028488198295235634, -0.06505216658115387, -0.002259131520986557, -0.0045888544991612434, 0.9998893141746521, 0.013971922919154167], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.120849609375, 15.118847846984863, 28.116613388061523, 0.37045878171920776, -24.131397247314453, 1.831567406654358], "ext_wrench_in_world": [-108.38360863599986, 14.898307260175812, -27.20800339434866, -0.1590258102825341, -24.07324492280916, -2.503957200088307]}
+{"timestamp_ns": 1789729563663436966, "elapsed_ms": 7133, "source_timestamp_ns": 1789729563655239047, "q": [0.8369388580322266, -1.8978718519210815, -1.0068166255950928, 1.381085753440857, -0.16016270220279694, 0.5941671133041382, 0.7030592560768127], "theta": [0.8390334248542786, -1.8959637880325317, -1.0050342082977295, 1.362679362297058, -0.1607370376586914, 0.5941177606582642, 0.703009843826294], "dq": [0.0017543949652463198, 0.0010722377337515354, 0.00029409409034997225, -0.0008187463390640914, 6.509490049211308e-05, -0.0019406260689720511, 0.0012595399748533964], "dtheta": [-0.00013884762302041054, -0.00025061817723326385, -8.9000195657718e-07, 0.00021442661818582565, -0.000220308851567097, -0.001012573018670082, -0.00025177199859172106], "tau": [55.52000045776367, 23.6299991607666, 5.460000038146973, -26.304000854492188, -2.5840001106262207, 2.6680002212524414, -0.5600000023841858], "tau_des": [0.5520973801612854, -0.47387564182281494, -0.18132764101028442, -0.6519912481307983, 0.9064473509788513, -1.1130387783050537, -0.5413769483566284], "tau_dot": [1.358810305595398, 40.49941635131836, 90.78076171875, 26.0650577545166, -7.791085243225098, 34.18673324584961, -9.286335945129395], "tau_ext": [-16.717262268066406, -41.62303161621094, 31.803241729736328, 31.357275009155273, 9.519018173217773, -2.9985454082489014, -0.10595138370990753], "tcp_pose": [0.6779227256774902, 0.03267378732562065, -0.21499361097812653, -0.0022593161556869745, -0.004588276147842407, 0.9998893737792969, 0.013968104496598244], "tcp_vel": [-0.0003393367805983871, -0.00014314136933535337, -0.00036140414886176586, -0.0011072201887145638, 0.000948570144828409, 0.000599009043071419], "flange_pose": [0.6786196827888489, 0.02848692797124386, -0.06505367904901505, -0.0022593161556869745, -0.004588276147842407, 0.9998893737792969, 0.013968104496598244], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10301971435547, 15.08790111541748, 28.118852615356445, 0.35632580518722534, -24.122652053833008, 1.8275165557861328], "ext_wrench_in_world": [-108.36550069793599, 14.867516194711158, -27.21126098733247, -0.14498263415610818, -24.064504963293853, -2.4995415297224426]}
+{"timestamp_ns": 1789729563696767037, "elapsed_ms": 7166, "source_timestamp_ns": 1789729563695249935, "q": [0.8369408845901489, -1.8978760242462158, -1.0068159103393555, 1.3810844421386719, -0.16016118228435516, 0.5941646695137024, 0.7030594944953918], "theta": [0.8390355110168457, -1.8959681987762451, -1.0050331354141235, 1.3626785278320312, -0.1607348769903183, 0.5941160917282104, 0.7030091285705566], "dq": [0.00034188630525022745, 0.001177739119157195, -0.002287538954988122, 0.00022003067715559155, 0.003084508702158928, 0.0003084057243540883, 0.0016648523742333055], "dtheta": [0.0002958079567179084, -0.0001580897660460323, 6.287664291448891e-05, 0.00017751179984770715, 0.00011974338121945038, 0.0006708988221362233, 0.00020909564045723528], "tau": [55.47999954223633, 23.60999870300293, 5.428000450134277, -26.292001724243164, -2.568000078201294, 2.6680002212524414, -0.5680000185966492], "tau_des": [0.40523776412010193, -0.5400972366333008, -0.20867905020713806, -0.527202308177948, 0.9129184484481812, -1.1815279722213745, -0.5503581166267395], "tau_dot": [-74.55387115478516, -49.938899993896484, -37.61006546020508, -20.01481819152832, 25.72627830505371, 34.41012191772461, 1.8450334072113037], "tau_ext": [-16.710067749023438, -41.603363037109375, 31.793113708496094, 31.352432250976562, 9.51147174835205, -2.993528366088867, -0.11007919162511826], "tcp_pose": [0.6779216527938843, 0.03267538920044899, -0.21499323844909668, -0.002259261906147003, -0.0045893010683357716, 0.9998893737792969, 0.013966862112283707], "tcp_vel": [3.997161184088327e-05, 0.0001612199266673997, 0.00014437623030971736, 0.00033260355121456087, -0.0005684446077793837, -0.00011353586887707934], "flange_pose": [0.6786185503005981, 0.028488904237747192, -0.065053291618824, -0.002259261906147003, -0.0045893010683357716, 0.9998893737792969, 0.013966862112283707], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09237670898438, 15.05748176574707, 28.12882423400879, 0.3407354950904846, -24.11882972717285, 1.8214142322540283], "ext_wrench_in_world": [-108.35465381528113, 14.83719663172037, -27.22217855339303, -0.12934983288927315, -24.060717033713505, -2.493343605628666]}
+{"timestamp_ns": 1789729563730095749, "elapsed_ms": 7200, "source_timestamp_ns": 1789729563725246866, "q": [0.8369407057762146, -1.8978761434555054, -1.0068162679672241, 1.3810844421386719, -0.16016075015068054, 0.5941591858863831, 0.7030599117279053], "theta": [0.8390361070632935, -1.895967960357666, -1.0050327777862549, 1.3626785278320312, -0.1607346385717392, 0.5941108465194702, 0.7030086517333984], "dq": [0.0006955927237868309, -0.0024426544550806284, 4.619307946995832e-05, -0.0003792770148720592, 0.001227569067850709, 0.00042476592352613807, -0.0030637895688414574], "dtheta": [2.3700351448496804e-05, -0.00021056186233181506, 3.702140020322986e-05, -0.0001098744323826395, 0.0005263257189653814, -0.0005441763205453753, -0.0002613314427435398], "tau": [55.5099983215332, 23.68000030517578, 5.456000328063965, -26.30000114440918, -2.6000001430511475, 2.6560001373291016, -0.5720000267028809], "tau_des": [0.4926678538322449, -0.4919421672821045, -0.2100106030702591, -0.598048985004425, 0.8919520378112793, -1.1347891092300415, -0.5452653169631958], "tau_dot": [-36.49174118041992, 23.49123191833496, -2.1491236686706543, 35.59829330444336, -21.639413833618164, 18.517070770263672, -17.440738677978516], "tau_ext": [-16.7120304107666, -41.627872467041016, 31.787250518798828, 31.352436065673828, 9.507072448730469, -2.994957208633423, -0.10636534541845322], "tcp_pose": [0.6779206395149231, 0.03267441689968109, -0.21499405801296234, -0.002261487999930978, -0.004588931333273649, 0.9998893737792969, 0.013965061865746975], "tcp_vel": [-0.00019362225430086255, 5.465764115797356e-05, -0.0001005554513540119, -9.700050577521324e-05, 0.0005956951063126326, 0.00013191350444685668], "flange_pose": [0.6786181926727295, 0.02848847396671772, -0.06505409628152847, -0.002261487999930978, -0.004588931333273649, 0.9998893737792969, 0.013965061865746975], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0892105102539, 15.052328109741211, 28.126445770263672, 0.34282487630844116, -24.12218475341797, 1.8201428651809692], "ext_wrench_in_world": [-108.35154084020503, 14.831981978196577, -27.219531040646313, -0.1314297976999722, -24.064134339745188, -2.492069603861126]}
+{"timestamp_ns": 1789729563763426560, "elapsed_ms": 7233, "source_timestamp_ns": 1789729563755241868, "q": [0.8369408845901489, -1.8978763818740845, -1.0068159103393555, 1.3810843229293823, -0.16016057133674622, 0.5941601991653442, 0.7030583620071411], "theta": [0.8390366435050964, -1.895967721939087, -1.005031943321228, 1.3626787662506104, -0.160734161734581, 0.5941113233566284, 0.7030074596405029], "dq": [-0.0005150259239599109, -0.0011901406105607748, 0.000554665457457304, -0.0013295164098963141, 0.0031672955956310034, -0.0006833584629930556, 0.002654735464602709], "dtheta": [-0.0002078163524856791, -4.3747437302954495e-05, -7.201621338026598e-05, 0.00016723480075597763, -0.00025750318309292197, 0.001005513477139175, -0.0004673353978432715], "tau": [55.529998779296875, 23.65999984741211, 5.428000450134277, -26.316001892089844, -2.56000018119812, 2.6600000858306885, -0.5800000429153442], "tau_des": [0.4882719814777374, -0.5221874117851257, -0.1961107850074768, -0.5682059526443481, 0.9089359045028687, -1.17332923412323, -0.535675048828125], "tau_dot": [18.0488224029541, 20.19314193725586, -42.97185516357422, 17.507286071777344, 33.44264602661133, -8.871831893920898, -67.00132751464844], "tau_ext": [-16.706459045410156, -41.65076446533203, 31.79081153869629, 31.34923553466797, 9.51053524017334, -2.991570234298706, -0.10777350515127182], "tcp_pose": [0.6779206395149231, 0.0326748751103878, -0.21499384939670563, -0.0022610716987401247, -0.004589834250509739, 0.9998893737792969, 0.013965492136776447], "tcp_vel": [0.00012503044854383916, 8.142991282511503e-05, -9.67619926086627e-05, 0.00032482805545441806, -0.0005967579782009125, 0.00059102987870574], "flange_pose": [0.6786181330680847, 0.028488805517554283, -0.06505389511585236, -0.0022610716987401247, -0.004589834250509739, 0.9998893737792969, 0.013965492136776447], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0892333984375, 15.06063175201416, 28.138113021850586, 0.3485037386417389, -24.129064559936523, 1.8230735063552856], "ext_wrench_in_world": [-108.35169701005503, 14.840436883243745, -27.231041074806654, -0.13701402475533286, -24.07097994141762, -2.4951874117784087]}
+{"timestamp_ns": 1789729563796767729, "elapsed_ms": 7266, "source_timestamp_ns": 1789729563795250557, "q": [0.8369409441947937, -1.8978757858276367, -1.0068172216415405, 1.3810850381851196, -0.16016192734241486, 0.5941600203514099, 0.7030584216117859], "theta": [0.8390370011329651, -1.8959671258926392, -1.0050327777862549, 1.362679123878479, -0.1607348769903183, 0.594110369682312, 0.7030079364776611], "dq": [-0.00013762204616796225, -0.0012219316558912396, -0.0003788454632740468, 0.0007006649975664914, -0.001532484544441104, 0.0012816722737625241, 0.0001742718304740265], "dtheta": [0.00021053093951195478, 0.0001383468188578263, -5.023465564590879e-05, 0.00041576093644835055, -0.00037944913492538035, -0.00030876058735884726, -0.0012680410873144865], "tau": [55.5, 23.639999389648438, 5.440000057220459, -26.304000854492188, -2.556000232696533, 2.6560001373291016, -0.5680000185966492], "tau_des": [0.45492756366729736, -0.5359560251235962, -0.17967644333839417, -0.5879268050193787, 0.9175137281417847, -1.1428800821304321, -0.5219583511352539], "tau_dot": [-0.6223093867301941, -124.23007202148438, -79.60916137695312, 12.23963737487793, 37.226593017578125, -41.832637786865234, -32.255306243896484], "tau_ext": [-16.69013214111328, -41.66399383544922, 31.789182662963867, 31.35158920288086, 9.508970260620117, -2.998610019683838, -0.11082164198160172], "tcp_pose": [0.6779211759567261, 0.0326736718416214, -0.2149939388036728, -0.0022608188446611166, -0.0045895641669631, 0.9998893737792969, 0.013964598067104816], "tcp_vel": [-6.967987428652123e-05, -0.00022362956951837987, -8.472809895465616e-06, -0.0005996717954985797, 9.567841334501281e-05, 0.0014228476211428642], "flange_pose": [0.6786185503005981, 0.02848786674439907, -0.06505398452281952, -0.0022608188446611166, -0.0045895641669631, 0.9998893737792969, 0.013964598067104816], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10221862792969, 15.084518432617188, 28.150074005126953, 0.36220821738243103, -24.13874053955078, 1.8265693187713623], "ext_wrench_in_world": [-108.36493304882794, 14.864537207977616, -27.242354047227362, -0.15065765319050456, -24.08068521833328, -2.498849093452568]}
+{"timestamp_ns": 1789729563830153027, "elapsed_ms": 7300, "source_timestamp_ns": 1789729563825239341, "q": [0.8369421362876892, -1.8978755474090576, -1.0068188905715942, 1.38108491897583, -0.1601615846157074, 0.5941607356071472, 0.7030597925186157], "theta": [0.8390371799468994, -1.8959671258926392, -1.0050336122512817, 1.3626788854599, -0.1607348769903183, 0.5941113233566284, 0.7030105590820312], "dq": [-0.0016738848062232137, -0.0007390093524008989, 0.0024883646983653307, -0.0008800540817901492, 0.0007684995071031153, 0.0006299772066995502, -0.002378135919570923], "dtheta": [0.0002747397229541093, 1.5908274235698627e-06, 6.16204779362306e-05, 0.0001297227863688022, -0.00041209993651136756, 0.00011311040725558996, 0.00035062944516539574], "tau": [55.48999786376953, 23.709999084472656, 5.464000225067139, -26.308000564575195, -2.6040000915527344, 2.6720001697540283, -0.5600000023841858], "tau_des": [0.3981533348560333, -0.5791328549385071, -0.18180719017982483, -0.5243781805038452, 0.9162629246711731, -1.1741255521774292, -0.5562123656272888], "tau_dot": [-40.53891372680664, 63.35982131958008, 75.34790802001953, -11.241900444030762, -46.85496139526367, 28.83179473876953, -10.531171798706055], "tau_ext": [-16.67974853515625, -41.64470291137695, 31.786182403564453, 31.34153938293457, 9.508520126342773, -2.99735689163208, -0.11596212536096573], "tcp_pose": [0.6779221296310425, 0.03267282620072365, -0.21499308943748474, -0.002259758533909917, -0.0045881131663918495, 0.9998894333839417, 0.013964492827653885], "tcp_vel": [6.5325599280186e-05, -2.576390443209675e-06, 0.00017890943854581565, -0.0002178385475417599, -0.0004546953132376075, -6.190982094267383e-05], "flange_pose": [0.6786192059516907, 0.028487052768468857, -0.06505312025547028, -0.002259758533909917, -0.0045881131663918495, 0.9998894333839417, 0.013964492827653885], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10865783691406, 15.083280563354492, 28.135330200195312, 0.36503103375434875, -24.138565063476562, 1.8243494033813477], "ext_wrench_in_world": [-108.37119185649762, 14.86314092263035, -27.22785108748152, -0.15353699347999308, -24.080597923674418, -2.496608049909598]}
+{"timestamp_ns": 1789729563863436650, "elapsed_ms": 7333, "source_timestamp_ns": 1789729563855255227, "q": [0.8369426727294922, -1.897876501083374, -1.006819725036621, 1.38108491897583, -0.16016077995300293, 0.5941594243049622, 0.703060507774353], "theta": [0.8390381336212158, -1.8959681987762451, -1.005034327507019, 1.3626788854599, -0.1607348769903183, 0.5941098928451538, 0.7030105590820312], "dq": [0.00034385797334834933, -0.0004736608825623989, -8.150540088536218e-05, 0.0017962176352739334, -0.0026164499577134848, 0.0005509775364771485, -0.0037762459833174944], "dtheta": [0.000187513796845451, 9.160170884570107e-05, -0.00015921743761282414, -2.845535345841199e-05, -0.00018015025125350803, 0.0002588256902527064, -0.0004434048605617136], "tau": [55.55999755859375, 23.689998626708984, 5.440000057220459, -26.30000114440918, -2.6040000915527344, 2.6720001697540283, -0.5600000023841858], "tau_des": [0.3897843658924103, -0.595975935459137, -0.15673433244228363, -0.5092031359672546, 0.915036141872406, -1.18083918094635, -0.5477923154830933], "tau_dot": [90.82210540771484, -14.9583740234375, 46.19560241699219, 49.00300979614258, -21.068069458007812, 22.7401180267334, -11.087377548217773], "tau_ext": [-16.684682846069336, -41.65489959716797, 31.794784545898438, 31.344722747802734, 9.514365196228027, -2.999981641769409, -0.11861776560544968], "tcp_pose": [0.6779220104217529, 0.03267251327633858, -0.2149931639432907, -0.002260013250634074, -0.004587559029459953, 0.9998894333839417, 0.013963762670755386], "tcp_vel": [0.00020187035261187702, -8.110760973067954e-05, 0.00020262585894670337, 4.214335058350116e-05, -0.0005688659730367362, 0.00035936039057560265], "flange_pose": [0.6786191463470459, 0.028486959636211395, -0.06505319476127625, -0.002260013250634074, -0.004587559029459953, 0.9998894333839417, 0.013963762670755386], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10784912109375, 15.086024284362793, 28.136737823486328, 0.36532729864120483, -24.13608169555664, 1.8221464157104492], "ext_wrench_in_world": [-108.3704125154482, 14.866009280848488, -27.229150646659487, -0.1538733578870577, -24.078183325835088, -2.494299887185387]}
+{"timestamp_ns": 1789729563896768521, "elapsed_ms": 7366, "source_timestamp_ns": 1789729563895363871, "q": [0.836944043636322, -1.8978790044784546, -1.0068188905715942, 1.3810845613479614, -0.16016243398189545, 0.5941555500030518, 0.7030605673789978], "theta": [0.8390399813652039, -1.8959705829620361, -1.005034327507019, 1.3626787662506104, -0.1607356071472168, 0.5941060781478882, 0.7030107975006104], "dq": [0.0018072021193802357, -0.0002959546691272408, -0.0015359220560640097, -0.0014439404476433992, 0.0024453308433294296, -0.00033856098889373243, -0.0027703524101525545], "dtheta": [-0.00017351914721075445, -0.00014319135516416281, 0.0001372611295664683, -4.827111479244195e-05, -0.00039505737368017435, 0.0007789541850797832, 0.0008907004958018661], "tau": [55.53999710083008, 23.68000030517578, 5.484000205993652, -26.304000854492188, -2.5880000591278076, 2.6600000858306885, -0.5360000133514404], "tau_des": [0.4648389518260956, -0.539252519607544, -0.2126585841178894, -0.5424972176551819, 0.9043910503387451, -1.18129301071167, -0.5619086027145386], "tau_dot": [171.39776611328125, 129.82550048828125, 70.12120056152344, 15.298613548278809, 9.17928409576416, -29.955289840698242, 1.5276907682418823], "tau_ext": [-16.697351455688477, -41.63839340209961, 31.79736328125, 31.358774185180664, 9.513607025146484, -2.994706630706787, -0.11986128985881805], "tcp_pose": [0.677920937538147, 0.032673049718141556, -0.21499314904212952, -0.0022603957913815975, -0.00458914041519165, 0.9998894333839417, 0.013961360789835453], "tcp_vel": [9.664952813182026e-05, 0.00022206615540198982, -9.987997145799454e-06, 0.00026824427186511457, -0.000604452972766012, -0.0005049791070632637], "flange_pose": [0.6786182522773743, 0.028488216921687126, -0.06505315005779266, -0.0022603957913815975, -0.00458914041519165, 0.9998894333839417, 0.013961360789835453], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13190460205078, 15.064200401306152, 28.1329402923584, 0.3557870090007782, -24.138521194458008, 1.8181694746017456], "ext_wrench_in_world": [-108.39431653829463, 14.843390859902096, -27.225854367995208, -0.14421792600340222, -24.080657028434413, -2.490318927000607]}
+{"timestamp_ns": 1789729563930105751, "elapsed_ms": 7400, "source_timestamp_ns": 1789729563925473604, "q": [0.836944580078125, -1.8978806734085083, -1.0068198442459106, 1.381083607673645, -0.16016115248203278, 0.5941498875617981, 0.7030579447746277], "theta": [0.8390404582023621, -1.8959728479385376, -1.0050349235534668, 1.3626785278320312, -0.1607348769903183, 0.5940994024276733, 0.7030091285705566], "dq": [-0.0016652944032102823, 0.0003903303004335612, 0.0007144167902879417, -0.0011331874411553144, 0.0033939701970666647, 0.000735329813323915, 0.0015748338773846626], "dtheta": [-0.00014817423652857542, -0.0002498711401131004, 0.0001266061735805124, 0.00020050683815497905, 0.0006118061719462276, 0.00011987398465862498, -0.0004012957215309143], "tau": [55.529998779296875, 23.6299991607666, 5.456000328063965, -26.30000114440918, -2.6120002269744873, 2.6560001373291016, -0.5440000295639038], "tau_des": [0.5461955666542053, -0.4554038643836975, -0.24148692190647125, -0.6292905211448669, 0.879550576210022, -1.137839674949646, -0.5383464694023132], "tau_dot": [6.095419883728027, -5.559244155883789, 1.2392277717590332, 19.583965301513672, -31.160032272338867, -0.6980239748954773, 7.852829456329346], "tau_ext": [-16.703401565551758, -41.609500885009766, 31.785415649414062, 31.35238265991211, 9.516035079956055, -2.9905056953430176, -0.1195993423461914], "tcp_pose": [0.6779201030731201, 0.03267235308885574, -0.2149936407804489, -0.002262081252411008, -0.004590252414345741, 0.9998894929885864, 0.013959291391074657], "tcp_vel": [-0.00028000958263874054, 0.00016665748262312263, -0.0002938034012913704, 0.0002403937396593392, 0.0005864147678948939, 0.000346559303579852], "flange_pose": [0.6786178946495056, 0.028488144278526306, -0.06505362689495087, -0.002262081252411008, -0.004590252414345741, 0.9998894929885864, 0.013959291391074657], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12445831298828, 15.03731918334961, 28.131006240844727, 0.34288376569747925, -24.13700294494629, 1.8149324655532837], "ext_wrench_in_world": [-108.38674081687405, 14.816176027353132, -27.224406492038998, -0.13126751485005647, -24.079121134444478, -2.4869970904563523]}
+{"timestamp_ns": 1789729563963429204, "elapsed_ms": 7433, "source_timestamp_ns": 1789729563955413050, "q": [0.8369444012641907, -1.8978811502456665, -1.0068206787109375, 1.3810830116271973, -0.16016122698783875, 0.5941465497016907, 0.7030582427978516], "theta": [0.8390403985977173, -1.8959732055664062, -1.005035400390625, 1.3626781702041626, -0.1607353538274765, 0.5940960645675659, 0.7030088901519775], "dq": [0.002485274337232113, -0.00018218019977211952, 0.0010787209030240774, -0.0006329143652692437, 0.00017665309133008122, 0.0008978943806141615, 0.001888012164272368], "dtheta": [-0.00012083160982001573, 0.00024523702450096607, -8.825260010780767e-05, -0.0001858065224951133, -0.0009788135066628456, -9.019269054988399e-05, 5.4871787142474204e-05], "tau": [55.46999740600586, 23.670000076293945, 5.452000141143799, -26.30000114440918, -2.580000162124634, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.43790966272354126, -0.5951237678527832, -0.15191152691841125, -0.5428824424743652, 0.9219884872436523, -1.1569702625274658, -0.5469053983688354], "tau_dot": [-22.173288345336914, 15.916655540466309, 15.770800590515137, 9.076821327209473, -19.911935806274414, -1.657012701034546, 13.491737365722656], "tau_ext": [-16.68917465209961, -41.6126823425293, 31.78491973876953, 31.348806381225586, 9.517096519470215, -2.991849899291992, -0.11588352173566818], "tcp_pose": [0.6779198050498962, 0.03267161175608635, -0.21499405801296234, -0.0022630710154771805, -0.00458997068926692, 0.9998894929885864, 0.013957912102341652], "tcp_vel": [0.0002578179119154811, -0.0001681094290688634, 0.00013911354471929371, -0.00043489530798979104, -0.000528535689227283, 0.00023502724070567638], "flange_pose": [0.6786178946495056, 0.02848781645298004, -0.0650540441274643, -0.0022630710154771805, -0.00458997068926692, 0.9998894929885864, 0.013957912102341652], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12281036376953, 15.020597457885742, 28.121259689331055, 0.3358481526374817, -24.13409996032715, 1.8154243230819702], "ext_wrench_in_world": [-108.38494107394041, 14.799186920329577, -27.214965191267893, -0.1242786829776633, -24.07614747653265, -2.487371674426302]}
+{"timestamp_ns": 1789729563996771603, "elapsed_ms": 7466, "source_timestamp_ns": 1789729563995392576, "q": [0.8369444608688354, -1.8978803157806396, -1.0068219900131226, 1.3810828924179077, -0.16016089916229248, 0.5941464304924011, 0.7030578255653381], "theta": [0.8390401601791382, -1.895972728729248, -1.0050363540649414, 1.362678050994873, -0.1607348769903183, 0.5940953493118286, 0.7030086517333984], "dq": [0.0027102255262434483, -0.001823322381824255, -0.0022589764557778835, 0.0007406816002912819, -3.109860699623823e-06, -0.0008869764860719442, 0.0006997664459049702], "dtheta": [-0.00016964104725047946, 9.231240255758166e-05, -0.0002646009670570493, 6.224086246220395e-05, -0.00022255608928389847, -0.0001497713674325496, 9.148985554929823e-05], "tau": [55.44999694824219, 23.639999389648438, 5.456000328063965, -26.292001724243164, -2.5920000076293945, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.5019859671592712, -0.5636963248252869, -0.142551988363266, -0.5929244160652161, 0.8971829414367676, -1.141004204750061, -0.554412305355072], "tau_dot": [-77.12096405029297, -62.210567474365234, -24.378873825073242, 30.6547794342041, -19.96747398376465, -30.76936149597168, -7.914394855499268], "tau_ext": [-16.69577980041504, -41.63328552246094, 31.78399085998535, 31.35498809814453, 9.512228012084961, -2.994443416595459, -0.1105898842215538], "tcp_pose": [0.6779204607009888, 0.03267071768641472, -0.21499380469322205, -0.0022628807928413153, -0.004589374642819166, 0.9998894929885864, 0.013957913964986801], "tcp_vel": [5.4496955272043124e-05, -0.00022424367489293218, -0.0001285098842345178, -0.0003724092384800315, 0.00012835918460041285, -0.00020228828361723572], "flange_pose": [0.6786184906959534, 0.02848692238330841, -0.0650537833571434, -0.0022628807928413153, -0.004589374642819166, 0.9998894929885864, 0.013957913964986801], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13545227050781, 15.041407585144043, 28.1268367767334, 0.34524887800216675, -24.14132308959961, 1.8204106092453003], "ext_wrench_in_world": [-108.3977703280043, 14.8201566382373, -27.219942543841977, -0.13366420456832803, -24.083315125207452, -2.4925165096386093]}
+{"timestamp_ns": 1789729564030095625, "elapsed_ms": 7500, "source_timestamp_ns": 1789729564025426262, "q": [0.8369444012641907, -1.8978805541992188, -1.0068235397338867, 1.3810837268829346, -0.16016031801700592, 0.5941469073295593, 0.7030579447746277], "theta": [0.8390397429466248, -1.8959730863571167, -1.0050384998321533, 1.3626785278320312, -0.1607346385717392, 0.5940958261489868, 0.7030091285705566], "dq": [0.004873728379607201, 0.001313855405896902, -0.0015727854333817959, -3.5069861041847616e-05, -0.0007203815039247274, -0.00042296669562347233, -0.0011225830530747771], "dtheta": [-0.000261222681729123, 0.0002038767415797338, -1.3082491932436824e-05, 0.00026082078693434596, 4.478085429582279e-06, -0.0012288718717172742, 0.0004315804108045995], "tau": [55.5099983215332, 23.719999313354492, 5.436000347137451, -26.316001892089844, -2.5920000076293945, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.579789936542511, -0.5321621298789978, -0.1567888855934143, -0.6669371724128723, 0.8727129697799683, -1.0999630689620972, -0.5616203546524048], "tau_dot": [15.127613067626953, 118.32840728759766, -3.39462947845459, -7.138583660125732, -43.059226989746094, 7.370406627655029, -20.551279067993164], "tau_ext": [-16.68905258178711, -41.643558502197266, 31.792327880859375, 31.35651206970215, 9.514975547790527, -2.995131015777588, -0.11289428919553757], "tcp_pose": [0.6779205799102783, 0.03266991674900055, -0.21499435603618622, -0.0022629646118730307, -0.00458872877061367, 0.9998894929885864, 0.013957462273538113], "tcp_vel": [-0.0003294115304015577, -0.0003106937219854444, -0.00037397912819869816, -0.0008089584880508482, 0.0014104830333963037, -0.0005093268700875342], "flange_pose": [0.6786186099052429, 0.028486257418990135, -0.06505433470010757, -0.0022629646118730307, -0.00458872877061367, 0.9998894929885864, 0.013957462273538113], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15023040771484, 15.043232917785645, 28.124723434448242, 0.3498263359069824, -24.147293090820312, 1.8225675821304321], "ext_wrench_in_world": [-108.41254035544947, 14.821900538840143, -27.21770784286467, -0.13822850695910313, -24.089266771198, -2.4947973818779103]}
+{"timestamp_ns": 1789729564063429441, "elapsed_ms": 7533, "source_timestamp_ns": 1789729564055350692, "q": [0.8369457125663757, -1.8978815078735352, -1.0068236589431763, 1.381083607673645, -0.1601618230342865, 0.5941469669342041, 0.7030579447746277], "theta": [0.8390404582023621, -1.895973563194275, -1.0050392150878906, 1.3626785278320312, -0.1607358306646347, 0.5940958261489868, 0.7030091285705566], "dq": [0.0012539426097646356, -0.00015886005712673068, -0.0008909404859878123, 0.00014480878598988056, 0.0025035878643393517, 0.0013701730640605092, 0.0013007110683247447], "dtheta": [-6.0463826230261475e-05, -0.0001881745847640559, -0.00010123561514774337, 2.139806565537583e-05, -0.0011781495995819569, -0.000971946690697223, -0.0007767352508381009], "tau": [55.5099983215332, 23.670000076293945, 5.440000057220459, -26.296001434326172, -2.6040000915527344, 2.684000015258789, -0.5440000295639038], "tau_des": [0.49654820561408997, -0.5102248787879944, -0.18199053406715393, -0.6072947382926941, 0.9273163676261902, -1.1281416416168213, -0.5284109711647034], "tau_dot": [83.69868469238281, -7.461747646331787, 28.43130111694336, 1.750098466873169, -51.799156188964844, 81.89635467529297, -29.50371551513672], "tau_ext": [-16.67806053161621, -41.65977096557617, 31.805727005004883, 31.354917526245117, 9.515864372253418, -3.0001165866851807, -0.1169775202870369], "tcp_pose": [0.677920937538147, 0.0326700322329998, -0.21499358117580414, -0.0022618018556386232, -0.004589434713125229, 0.9998894929885864, 0.013956594280898571], "tcp_vel": [-5.9017071180278435e-05, -0.00024069685605354607, -0.0001257237745448947, -0.0015802045818418264, 0.00010801348253153265, 0.0015116562135517597], "flange_pose": [0.6786186099052429, 0.02848662994801998, -0.0650535523891449, -0.0022618018556386232, -0.004589434713125229, 0.9998894929885864, 0.013956594280898571], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15392303466797, 15.064900398254395, 28.12117576599121, 0.3568226993083954, -24.1457576751709, 1.82308828830719], "ext_wrench_in_world": [-108.41637024103585, 14.843228776537455, -27.213820781103088, -0.14520173056033686, -24.087786636547747, -2.495203090606667]}
+{"timestamp_ns": 1789729564096774404, "elapsed_ms": 7566, "source_timestamp_ns": 1789729564095318705, "q": [0.8369463682174683, -1.8978842496871948, -1.0068278312683105, 1.3810830116271973, -0.16016048192977905, 0.5941494107246399, 0.703059196472168], "theta": [0.8390408158302307, -1.8959754705429077, -1.0050437450408936, 1.3626784086227417, -0.1607348769903183, 0.5940982103347778, 0.7030103206634521], "dq": [0.0017091089393943548, 0.001463380642235279, -0.0007015911978669465, -0.0006542396731674671, -0.0005186463822610676, 0.0016790878726169467, 0.00013261244748719037], "dtheta": [0.00021371155162341893, -0.00013813858095090836, -0.00029939666274003685, 0.00011631612869678065, 0.0003912226820830256, 0.001617281581275165, 0.0002555995888542384], "tau": [55.54999923706055, 23.59000015258789, 5.440000057220459, -26.34800148010254, -2.572000026702881, 2.688000202178955, -0.5680000185966492], "tau_des": [0.39136624336242676, -0.5940435528755188, -0.15786059200763702, -0.4905456304550171, 0.9016913175582886, -1.2095650434494019, -0.5657146573066711], "tau_dot": [198.6984405517578, -72.07996368408203, 36.6659049987793, -40.44633102416992, 35.60494613647461, -5.123542785644531, -50.76744079589844], "tau_ext": [-16.675317764282227, -41.638282775878906, 31.792219161987305, 31.350082397460938, 9.517565727233887, -3.0015008449554443, -0.11839700490236282], "tcp_pose": [0.677922248840332, 0.032669126987457275, -0.21499374508857727, -0.00226005376316607, -0.004587829578667879, 0.9998895525932312, 0.01395565364509821], "tcp_vel": [0.00031234545167535543, 0.00013568218855652958, 0.00018774413911160082, 0.000938614655751735, -0.0012149709509685636, -0.0006106788059696555], "flange_pose": [0.678619384765625, 0.02848600223660469, -0.06505370885133743, -0.00226005376316607, -0.004587829578667879, 0.9998895525932312, 0.01395565364509821], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15790557861328, 15.07392406463623, 28.109413146972656, 0.36070516705513, -24.14288330078125, 1.821380376815796], "ext_wrench_in_world": [-108.42023765475236, 14.852185626266758, -27.20219627779652, -0.14917202016871758, -24.085001200400807, -2.4933538968270565]}
+{"timestamp_ns": 1789729564130100402, "elapsed_ms": 7600, "source_timestamp_ns": 1789729564125436307, "q": [0.836946964263916, -1.8978855609893799, -1.0068289041519165, 1.381083369255066, -0.16016048192977905, 0.5941463708877563, 0.703058123588562], "theta": [0.8390412926673889, -1.895977258682251, -1.0050443410873413, 1.3626784086227417, -0.1607348769903183, 0.5940948724746704, 0.703010082244873], "dq": [0.002306927228346467, 0.0003193767333868891, 0.00017823325470089912, -0.00023097661323845387, 0.001695947372354567, -0.001397865591570735, -1.894294109661132e-05], "dtheta": [0.00036567504866980016, -0.00018880127754528075, 0.0003269606386311352, 7.356551213888451e-05, -8.877328218659386e-05, -0.0005117421387694776, 0.0011877983342856169], "tau": [55.52000045776367, 23.649999618530273, 5.4160003662109375, -26.296001434326172, -2.6040000915527344, 2.6720001697540283, -0.5400000214576721], "tau_des": [0.43055862188339233, -0.5415050983428955, -0.2199074923992157, -0.5585131645202637, 0.8971924781799316, -1.151673436164856, -0.5716405510902405], "tau_dot": [-3.055595636367798, -33.18577194213867, -10.697993278503418, 18.72286033630371, -20.53052520751953, 48.58211135864258, 47.66218185424805], "tau_ext": [-16.692768096923828, -41.64043045043945, 31.801084518432617, 31.358972549438477, 9.518226623535156, -3.000471353530884, -0.12013252824544907], "tcp_pose": [0.6779216527938843, 0.032668374478816986, -0.21499434113502502, -0.0022609129082411528, -0.0045884945429861546, 0.9998895525932312, 0.013953696936368942], "tcp_vel": [-0.00019318950944580138, 0.00013470527483150363, 0.00012582000636029989, -0.00036918133264407516, 0.00016865662473719567, -0.0007581892423331738], "flange_pose": [0.6786190271377563, 0.028485842049121857, -0.0650542825460434, -0.0022609129082411528, -0.0045884945429861546, 0.9998895525932312, 0.013953696936368942], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.16487884521484, 15.055765151977539, 28.110750198364258, 0.3547632098197937, -24.141464233398438, 1.8192780017852783], "ext_wrench_in_world": [-108.42711727314686, 14.833753096434188, -27.20388511840977, -0.14320490527183755, -24.083596440588032, -2.4911442265110035]}
+{"timestamp_ns": 1789729564163430469, "elapsed_ms": 7633, "source_timestamp_ns": 1789729564155320567, "q": [0.8369476795196533, -1.897887945175171, -1.0068291425704956, 1.381083607673645, -0.16016076505184174, 0.5941460728645325, 0.7030569911003113], "theta": [0.8390418887138367, -1.8959792852401733, -1.00504469871521, 1.3626784086227417, -0.1607358306646347, 0.5940941572189331, 0.7030088901519775], "dq": [0.0001501553924754262, -0.0009127631201408803, 0.0007604514248669147, -0.0011284620268270373, -0.0013004300417378545, -0.004760028328746557, 0.001354831620119512], "dtheta": [0.0003321027325000614, -3.682966053020209e-05, -1.4799871678405907e-05, 4.055716999573633e-05, -0.0004847401287406683, 0.0006146964151412249, -0.00029013858875259757], "tau": [55.46999740600586, 23.619998931884766, 5.432000160217285, -26.316001892089844, -2.5840001106262207, 2.6680002212524414, -0.527999997138977], "tau_des": [0.37472331523895264, -0.5759254693984985, -0.1892743855714798, -0.502633810043335, 0.9253072142601013, -1.1879698038101196, -0.5422084331512451], "tau_dot": [-76.07292175292969, 7.808231353759766, -19.148801803588867, -10.975314140319824, -18.101932525634766, 4.447033405303955, 68.8226318359375], "tau_ext": [-16.677772521972656, -41.63444900512695, 31.803272247314453, 31.339618682861328, 9.517936706542969, -2.996077299118042, -0.1173565685749054], "tcp_pose": [0.6779211759567261, 0.032668814063072205, -0.2149946689605713, -0.002260632114484906, -0.004589868243783712, 0.9998895525932312, 0.013952470384538174], "tcp_vel": [0.00023131616762839258, 5.7689554523676634e-05, 0.00030511742806993425, 4.1736238927114755e-05, -0.0010453843278810382, 0.0005649932427331805], "flange_pose": [0.6786184906959534, 0.028486646711826324, -0.06505461037158966, -0.002260632114484906, -0.004589868243783712, 0.9998895525932312, 0.013952470384538174], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.138671875, 15.063477516174316, 28.114564895629883, 0.3526405990123749, -24.134729385375977, 1.8185946941375732], "ext_wrench_in_world": [-108.4010238025568, 14.841446591334325, -27.20770057674623, -0.14107299422449476, -24.07687041448487, -2.490223687412728]}
+{"timestamp_ns": 1789729564196763855, "elapsed_ms": 7666, "source_timestamp_ns": 1789729564195369600, "q": [0.836948037147522, -1.89788818359375, -1.0068299770355225, 1.3810842037200928, -0.16016140580177307, 0.594142735004425, 0.7030545473098755], "theta": [0.8390424847602844, -1.895979642868042, -1.0050452947616577, 1.3626790046691895, -0.1607353538274765, 0.5940905809402466, 0.7030065059661865], "dq": [-0.00010327320342184976, 0.0007228559697978199, 0.0004091095761395991, 0.0008768041734583676, 0.000702999415807426, 0.0007132375612854958, -0.0002303544752066955], "dtheta": [0.00035150707117281854, -0.0005149430362507701, -0.0002809618308674544, 0.0002948968030977994, -0.0004866417730227113, -0.0004074042954016477, -0.0001479119382565841], "tau": [55.52000045776367, 23.670000076293945, 5.440000057220459, -26.340002059936523, -2.572000026702881, 2.6760001182556152, -0.5600000023841858], "tau_des": [0.4777323603630066, -0.49282699823379517, -0.18304741382598877, -0.6085456013679504, 0.9221586585044861, -1.1336784362792969, -0.5407781600952148], "tau_dot": [49.454254150390625, 3.0202255249023438, -4.461827754974365, 14.715625762939453, 37.080101013183594, 78.6556625366211, -9.335345268249512], "tau_ext": [-16.683658599853516, -41.63542175292969, 31.79777717590332, 31.352602005004883, 9.519948959350586, -2.998986005783081, -0.11057163774967194], "tcp_pose": [0.6779206395149231, 0.032667726278305054, -0.2149951457977295, -0.0022616565693169832, -0.0045910910703241825, 0.999889612197876, 0.013950683176517487], "tcp_vel": [-9.31545437197201e-05, -0.00015863859152887017, -6.771057815058157e-05, -0.001298725139349699, -0.0001676307147135958, 0.0006214610766619444], "flange_pose": [0.678618311882019, 0.0284860972315073, -0.06505507230758667, -0.0022616565693169832, -0.0045910910703241825, 0.999889612197876, 0.013950683176517487], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1428451538086, 15.058069229125977, 28.093950271606445, 0.35051247477531433, -24.133285522460938, 1.8212977647781372], "ext_wrench_in_world": [-108.405142859181, 14.835060984997492, -27.18706339392366, -0.13891594669179325, -24.07534141034842, -2.4928082530549704]}
+{"timestamp_ns": 1789729564230094212, "elapsed_ms": 7700, "source_timestamp_ns": 1789729564225353855, "q": [0.836948812007904, -1.8978872299194336, -1.0068305730819702, 1.3810844421386719, -0.1601598560810089, 0.5941414833068848, 0.7030537128448486], "theta": [0.8390432000160217, -1.8959789276123047, -1.005046010017395, 1.3626792430877686, -0.1607346385717392, 0.594089150428772, 0.7030060291290283], "dq": [-0.000825943483505398, -0.0008640074520371854, 0.0010650793556123972, -0.0016180885722860694, -0.000673124857712537, -8.506215817760676e-05, -0.00017106780433095992], "dtheta": [0.00012848741607740521, 0.00015999322931747884, -9.701500857772771e-06, 6.816750101279467e-05, 0.00025686860317364335, 0.0008114628144539893, 0.00040244238334707916], "tau": [55.46999740600586, 23.709999084472656, 5.432000160217285, -26.308000564575195, -2.5920000076293945, 2.6560001373291016, -0.5400000214576721], "tau_des": [0.42024362087249756, -0.5949448943138123, -0.17536383867263794, -0.5241060853004456, 0.8923145532608032, -1.1815333366394043, -0.5594522953033447], "tau_dot": [-97.1927490234375, 50.177001953125, 4.866235256195068, 9.75855827331543, -17.280866622924805, 15.829659461975098, 52.55543899536133], "tau_ext": [-16.677064895629883, -41.63762283325195, 31.790822982788086, 31.35251235961914, 9.516310691833496, -2.9964420795440674, -0.1077456995844841], "tcp_pose": [0.6779207587242126, 0.03266702964901924, -0.21499474346637726, -0.0022621455136686563, -0.004590609110891819, 0.999889612197876, 0.013950886204838753], "tcp_vel": [0.00016345156473107636, 8.051137410802767e-05, 0.0001749048533383757, 0.0007615110953338444, -0.0005377553752623498, -0.0006674299365840852], "flange_pose": [0.6786184906959534, 0.028485340997576714, -0.06505466252565384, -0.0022621455136686563, -0.004590609110891819, 0.999889612197876, 0.013950886204838753], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15950012207031, 15.046545028686523, 28.09292221069336, 0.35083287954330444, -24.139423370361328, 1.8245353698730469], "ext_wrench_in_world": [-108.42169999517377, 14.82347310849632, -27.186170702228775, -0.13922080970364867, -24.08138818665474, -2.4962239980867453]}
+{"timestamp_ns": 1789729564263428557, "elapsed_ms": 7733, "source_timestamp_ns": 1789729564255334172, "q": [0.8369497656822205, -1.8978872299194336, -1.0068304538726807, 1.3810855150222778, -0.16016033291816711, 0.5941388607025146, 0.703053891658783], "theta": [0.8390443325042725, -1.8959791660308838, -1.005046010017395, 1.3626798391342163, -0.1607348769903183, 0.5940860509872437, 0.7030067443847656], "dq": [0.0013922704383730888, 0.0007908496190793812, 0.0008079778635874391, -0.0029905347619205713, -0.0004826743097510189, 5.5756961955921724e-05, -0.00013216599472798407], "dtheta": [7.411978003801778e-05, -0.00043168693082407117, -0.00016145760309882462, 0.000281690590782091, -0.00047689443454146385, -0.0004738762218039483, 0.0005705945659428835], "tau": [55.5099983215332, 23.719999313354492, 5.420000076293945, -26.292001724243164, -2.6000001430511475, 2.6520001888275146, -0.5600000023841858], "tau_des": [0.5330352783203125, -0.4925755262374878, -0.18613168597221375, -0.6383045315742493, 0.9028952717781067, -1.1224589347839355, -0.5548827648162842], "tau_dot": [71.12201690673828, 101.90077209472656, -59.292057037353516, 52.675785064697266, 5.183276653289795, -20.928207397460938, 0.22879260778427124], "tau_ext": [-16.694202423095703, -41.66514587402344, 31.79934310913086, 31.354251861572266, 9.52083969116211, -2.9955697059631348, -0.11078862845897675], "tcp_pose": [0.6779201030731201, 0.03266644850373268, -0.21499480307102203, -0.0022629539016634226, -0.0045908126048743725, 0.999889612197876, 0.013949606567621231], "tcp_vel": [-0.0001790686947060749, -0.00012448799679987133, -0.00022705172887071967, -0.00119388394523412, 0.0002125737810274586, -7.447502139257267e-05], "flange_pose": [0.6786180734634399, 0.028485145419836044, -0.06505470722913742, -0.0022629539016634226, -0.0045908126048743725, 0.999889612197876, 0.013949606567621231], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.16229248046875, 15.061083793640137, 28.113248825073242, 0.3551224172115326, -24.147069931030273, 1.8273767232894897], "ext_wrench_in_world": [-108.4247692814639, 14.838429461697173, -27.20593568583064, -0.14344713699517142, -24.0889983613281, -2.4991968191626612]}
+{"timestamp_ns": 1789729564296767642, "elapsed_ms": 7766, "source_timestamp_ns": 1789729564295331917, "q": [0.8369516134262085, -1.8978880643844604, -1.0068299770355225, 1.3810853958129883, -0.16016007959842682, 0.5941410064697266, 0.7030549049377441], "theta": [0.8390470743179321, -1.895979404449463, -1.005046010017395, 1.362680435180664, -0.1607348769903183, 0.5940879583358765, 0.7030072212219238], "dq": [0.0014715332072228193, -0.00044659170089289546, -0.0001384797360515222, -0.002643574494868517, -0.003858658717945218, -0.00020838691852986813, 0.0012653706362470984], "dtheta": [0.00015985555364750326, -0.00018531228124629706, 3.8812620914541185e-05, 7.700036076130345e-05, -0.00032852820004336536, 9.00747618288733e-05, 0.0003535811265464872], "tau": [55.529998779296875, 23.639999389648438, 5.452000141143799, -26.304000854492188, -2.5920000076293945, 2.6680002212524414, -0.5600000023841858], "tau_des": [0.44287407398223877, -0.5428895950317383, -0.2095617949962616, -0.5519641041755676, 0.9039267301559448, -1.166485071182251, -0.5524149537086487], "tau_dot": [92.48368072509766, -35.7469367980957, 25.74344825744629, -39.704444885253906, 18.779605865478516, 6.823464870452881, -45.700050354003906], "tau_ext": [-16.688270568847656, -41.674503326416016, 31.804134368896484, 31.348180770874023, 9.517106056213379, -2.9948830604553223, -0.11612097918987274], "tcp_pose": [0.6779205203056335, 0.03266726806759834, -0.21499350666999817, -0.002261359943076968, -0.00459061935544014, 0.999889612197876, 0.013950232416391373], "tcp_vel": [3.3410444757464575e-06, 5.21738147654105e-05, 5.838013021275401e-05, -0.00030403301934711635, -0.0003253017785027623, -9.815172234084457e-06], "flange_pose": [0.6786180734634399, 0.028485776856541634, -0.06505343317985535, -0.002261359943076968, -0.00459061935544014, 0.999889612197876, 0.013950232416391373], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14090728759766, 15.092637062072754, 28.12692642211914, 0.36266028881073, -24.145475387573242, 1.8262962102890015], "ext_wrench_in_world": [-108.40364363438196, 14.870629529081896, -27.21914650804215, -0.15099663700112764, -24.08750107717318, -2.4980700345460183]}
+{"timestamp_ns": 1789729564330098708, "elapsed_ms": 7800, "source_timestamp_ns": 1789729564325414818, "q": [0.8369547724723816, -1.897889256477356, -1.0068333148956299, 1.3810858726501465, -0.160159632563591, 0.5941387414932251, 0.7030545473098755], "theta": [0.8390496969223022, -1.8959805965423584, -1.0050489902496338, 1.3626809120178223, -0.1607346385717392, 0.5940855741500854, 0.7030074596405029], "dq": [-0.00010201974509982392, -0.0010129500878974795, -0.0032477721106261015, -0.0015749302692711353, 0.002961736638098955, 0.00029545772122219205, 0.0018683752277866006], "dtheta": [-0.00017067026055883616, -0.0003766639856621623, 3.6573106626747176e-05, -0.00013351631059776992, 0.00012950504606124014, -0.00041375996079295874, -0.0016603986732661724], "tau": [55.54999923706055, 23.6299991607666, 5.464000225067139, -26.312002182006836, -2.5920000076293945, 2.6480002403259277, -0.5480000376701355], "tau_des": [0.5098769664764404, -0.45854341983795166, -0.23196446895599365, -0.6008710861206055, 0.901710569858551, -1.144269347190857, -0.5163870453834534], "tau_dot": [68.23375701904297, 39.95172119140625, -10.955909729003906, 6.621828556060791, 34.589534759521484, -52.730159759521484, -13.286776542663574], "tau_ext": [-16.706897735595703, -41.6579704284668, 31.790142059326172, 31.35662841796875, 9.517650604248047, -2.99676251411438, -0.1206650584936142], "tcp_pose": [0.6779212951660156, 0.03266540542244911, -0.2149924337863922, -0.002260414883494377, -0.004590016324073076, 0.999889612197876, 0.013947970233857632], "tcp_vel": [-0.00019202762632630765, 0.00010043568909168243, -0.00022362683375831693, -0.00036192656261846423, 0.00041412762948311865, 0.0018547128420323133], "flange_pose": [0.6786185503005981, 0.028484588488936424, -0.065052330493927, -0.002260414883494377, -0.004590016324073076, 0.999889612197876, 0.013947970233857632], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11490631103516, 15.092798233032227, 28.138973236083984, 0.3627735376358032, -24.139497756958008, 1.823486089706421], "ext_wrench_in_world": [-108.377631764155, 14.871376205610485, -27.231570701529613, -0.15117601490946972, -24.081616496212614, -2.4949851420396696]}
+{"timestamp_ns": 1789729564363425486, "elapsed_ms": 7833, "source_timestamp_ns": 1789729564355489621, "q": [0.8369575142860413, -1.8978909254074097, -1.0068360567092896, 1.3810861110687256, -0.16015861928462982, 0.5941330194473267, 0.7030572891235352], "theta": [0.8390520811080933, -1.8959825038909912, -1.0050513744354248, 1.3626806735992432, -0.160734161734581, 0.5940793752670288, 0.703009843826294], "dq": [-0.0014004508266225457, 0.0005185879999771714, 0.0003573712019715458, 0.00041145129944197834, -0.003231578739359975, -0.0007242857827804983, -0.0007056347676552832], "dtheta": [7.701763388467953e-05, 0.00015712704043835402, 8.683013584231958e-05, -1.5322786566684954e-05, 0.0006812680512666702, -0.0011494950158521533, 0.0007994341431185603], "tau": [55.529998779296875, 23.689998626708984, 5.424000263214111, -26.32400131225586, -2.5880000591278076, 2.6560001373291016, -0.5400000214576721], "tau_des": [0.47269880771636963, -0.5756587982177734, -0.1564771980047226, -0.5925216674804688, 0.871921181678772, -1.1235178709030151, -0.5775163173675537], "tau_dot": [47.77501678466797, 79.03056335449219, -45.219505310058594, -47.010501861572266, 10.303559303283691, 40.96628952026367, 29.001811981201172], "tau_ext": [-16.71580696105957, -41.639366149902344, 31.79603385925293, 31.361377716064453, 9.524337768554688, -2.991305112838745, -0.1282307207584381], "tcp_pose": [0.6779210567474365, 0.03266356885433197, -0.21499203145503998, -0.002261163666844368, -0.004588047042489052, 0.9998896718025208, 0.013944894075393677], "tcp_vel": [-0.0002717525348998606, -0.0001286837359657511, -7.646289304830134e-05, -0.00015069924120325595, 0.001206628861837089, -0.001196403638459742], "flange_pose": [0.6786184906959534, 0.028483673930168152, -0.06505190581083298, -0.002261163666844368, -0.004588047042489052, 0.9998896718025208, 0.013944894075393677], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11122131347656, 15.062353134155273, 28.148761749267578, 0.34984421730041504, -24.136655807495117, 1.8176530599594116], "ext_wrench_in_world": [-108.37369849721217, 14.841506137978179, -27.242147739086995, -0.1383439582635215, -24.07883367267339, -2.4889831468268486]}
+{"timestamp_ns": 1789729564396767100, "elapsed_ms": 7866, "source_timestamp_ns": 1789729564395340133, "q": [0.8369627594947815, -1.897902250289917, -1.0068358182907104, 1.381085991859436, -0.16015826165676117, 0.5941298007965088, 0.7030556797981262], "theta": [0.8390578627586365, -1.8959943056106567, -1.005051612854004, 1.3626803159713745, -0.1607324779033661, 0.5940757989883423, 0.7030088901519775], "dq": [-0.00012789104948751628, 0.0005455157952383161, 0.0003492753894533962, -0.0011751212878152728, 0.000140238887979649, 0.002876097336411476, -0.0018323824042454362], "dtheta": [0.000153980145114474, -0.0006330586620606482, -5.500981569639407e-05, -7.121587259462103e-05, 0.0008174191461876035, -0.0008785426616668701, 0.0004675790842156857], "tau": [55.56999969482422, 23.59000015258789, 5.460000038146973, -26.268001556396484, -2.568000078201294, 2.6520001888275146, -0.5360000133514404], "tau_des": [0.5075185894966125, -0.4401758909225464, -0.2333672195672989, -0.6262744665145874, 0.8903642892837524, -1.1191493272781372, -0.5543402433395386], "tau_dot": [98.4808578491211, 4.567654132843018, 15.930217742919922, 26.709856033325195, 9.769073486328125, 31.10407257080078, 29.069644927978516], "tau_ext": [-16.704755783081055, -41.61161804199219, 31.796649932861328, 31.35171890258789, 9.515983581542969, -2.987521171569824, -0.1253100335597992], "tcp_pose": [0.6779184937477112, 0.03266651928424835, -0.21499215066432953, -0.0022599336225539446, -0.004592626355588436, 0.9998897314071655, 0.013939867727458477], "tcp_vel": [-0.00036468933103606105, 8.845241245580837e-05, -0.00022180222731549293, -0.0005325870588421822, 0.0009024288738146424, -0.0005259088356979191], "flange_pose": [0.6786156296730042, 0.02848813496530056, -0.06505197286605835, -0.0022599336225539446, -0.004592626355588436, 0.9998897314071655, 0.013939867727458477], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1270980834961, 15.044357299804688, 28.145492553710938, 0.33745086193084717, -24.139284133911133, 1.8103889226913452], "ext_wrench_in_world": [-108.38945907058148, 14.822016039931942, -27.239746337143224, -0.1256667508623384, -24.081574817148404, -2.4816087175714627]}
+{"timestamp_ns": 1789729564430101206, "elapsed_ms": 7900, "source_timestamp_ns": 1789729564425342874, "q": [0.8369635343551636, -1.8979051113128662, -1.0068367719650269, 1.3810853958129883, -0.16015660762786865, 0.5941269993782043, 0.703053891658783], "theta": [0.8390584588050842, -1.8959980010986328, -1.0050528049468994, 1.3626800775527954, -0.16073057055473328, 0.594072699546814, 0.7030072212219238], "dq": [0.0007540961960330606, -0.00022774240642320365, 0.0018181224586442113, -0.000938232580665499, 0.002274798694998026, 0.0029958379454910755, 0.0015429246705025434], "dtheta": [0.00011653859837679192, -0.00015069740766193718, -0.00016659147513564676, -0.0002805408730637282, 0.000443217228166759, -5.5468379287049174e-05, -0.0004581740649882704], "tau": [55.5099983215332, 23.649999618530273, 5.440000057220459, -26.328001022338867, -2.576000213623047, 2.6560001373291016, -0.527999997138977], "tau_des": [0.4242415428161621, -0.5212152600288391, -0.19944490492343903, -0.5480014681816101, 0.9096583724021912, -1.1548032760620117, -0.5369299054145813], "tau_dot": [-91.5492935180664, 31.18672752380371, 22.961994171142578, -62.41458511352539, -20.403215408325195, -22.088581085205078, 45.81586837768555], "tau_ext": [-16.735078811645508, -41.596927642822266, 31.788185119628906, 31.354005813598633, 9.506552696228027, -2.993243932723999, -0.12140030413866043], "tcp_pose": [0.6779176592826843, 0.03266661614179611, -0.21499276161193848, -0.0022607173305004835, -0.004593677818775177, 0.9998897314071655, 0.013938264921307564], "tcp_vel": [7.958525384310633e-05, 2.880481770262122e-05, 0.00010772770474432036, 0.00018432862998452038, -0.00012013040395686403, 0.0001532055757706985], "flange_pose": [0.6786150336265564, 0.02848871424794197, -0.0650525689125061, -0.0022607173305004835, -0.004593677818775177, 0.9998897314071655, 0.013938264921307564], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07267761230469, 15.024941444396973, 28.142501831054688, 0.32713210582733154, -24.119922637939453, 1.805620551109314], "ext_wrench_in_world": [-108.33492350019293, 14.802710162693943, -27.23741990457711, -0.1154554518721086, -24.062267259242812, -2.4762700646011733]}
+{"timestamp_ns": 1789729564463431253, "elapsed_ms": 7933, "source_timestamp_ns": 1789729564455399491, "q": [0.8369628190994263, -1.8979054689407349, -1.0068376064300537, 1.3810851573944092, -0.1601572483778, 0.5941267609596252, 0.7030537128448486], "theta": [0.8390583395957947, -1.8959988355636597, -1.0050535202026367, 1.3626800775527954, -0.16073080897331238, 0.5940724611282349, 0.7030072212219238], "dq": [0.0010002211201936007, -0.0004932849551551044, -0.001118647982366383, -0.000991299981251359, -0.0008675469434820116, 0.0019821380265057087, 0.0033393288031220436], "dtheta": [0.0003686505078803748, 0.0002551871875766665, 0.0002840198576450348, 5.462925764732063e-05, -0.0008188261417672038, -0.0001069137651938945, -9.949970990419388e-05], "tau": [55.47999954223633, 23.689998626708984, 5.424000263214111, -26.32400131225586, -2.568000078201294, 2.6720001697540283, -0.5320000052452087], "tau_des": [0.3605079650878906, -0.5729545950889587, -0.21427439153194427, -0.5187511444091797, 0.9339796304702759, -1.1631768941879272, -0.5338109135627747], "tau_dot": [-38.8754768371582, 122.05741119384766, -36.550514221191406, -47.693729400634766, -0.33689072728157043, 22.028522491455078, 32.944000244140625], "tau_ext": [-16.722402572631836, -41.615901947021484, 31.796951293945312, 31.352951049804688, 9.502406120300293, -2.9916269779205322, -0.1189112439751625], "tcp_pose": [0.6779178380966187, 0.032666221261024475, -0.21499326825141907, -0.002260725013911724, -0.004593730438500643, 0.9998897314071655, 0.013937636278569698], "tcp_vel": [0.00012246733240317553, -3.3844676181615796e-06, 0.0003717404615599662, -0.00023912206233944744, -0.0006099804304540157, 0.0005935640656389296], "flange_pose": [0.6786152124404907, 0.028488507494330406, -0.0650530755519867, -0.002260725013911724, -0.004593730438500643, 0.9998897314071655, 0.013937636278569698], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06524658203125, 15.03107738494873, 28.156688690185547, 0.329946905374527, -24.1185245513916, 1.8052762746810913], "ext_wrench_in_world": [-108.32761661922129, 14.809261349878232, -27.25148032774682, -0.11827867319718975, -24.06090852396803, -2.475844316810198]}
+{"timestamp_ns": 1789729564496766298, "elapsed_ms": 7966, "source_timestamp_ns": 1789729564495381161, "q": [0.8369624614715576, -1.8979041576385498, -1.0068385601043701, 1.3810852766036987, -0.1601565182209015, 0.5941265821456909, 0.7030553221702576], "theta": [0.8390579223632812, -1.8959980010986328, -1.00505530834198, 1.362680435180664, -0.16073057055473328, 0.5940729379653931, 0.7030084133148193], "dq": [0.0006503871991299093, 0.0019460686016827822, -0.0007320629665628076, 0.0014705599751323462, 0.0029909273143857718, -0.0002493135689292103, 0.003939682152122259], "dtheta": [-0.0005158644635230303, 0.0004134438931941986, 0.00028474972350522876, 0.000268634146777913, -0.0003831443900708109, 9.250055154552683e-05, 0.0007900205091573298], "tau": [55.56999969482422, 23.689998626708984, 5.448000431060791, -26.296001434326172, -2.576000213623047, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.557623565196991, -0.5385143160820007, -0.19293095171451569, -0.6282703280448914, 0.8829628229141235, -1.134300947189331, -0.5582963824272156], "tau_dot": [147.5680694580078, 62.82212448120117, 12.836100578308105, 15.785253524780273, 14.76114273071289, 10.298036575317383, -10.206356048583984], "tau_ext": [-16.70041275024414, -41.6418571472168, 31.800334930419922, 31.3582820892334, 9.503469467163086, -3.0004491806030273, -0.11832603812217712], "tcp_pose": [0.6779182553291321, 0.03266526758670807, -0.21499331295490265, -0.002261073561385274, -0.0045919399708509445, 0.9998897910118103, 0.0139379370957613], "tcp_vel": [-0.00013141438830643892, -2.8553555239341222e-05, -0.00028948913677595556, 0.00015291110321413726, 0.0005612701061181724, -0.0006139766774140298], "flange_pose": [0.6786157488822937, 0.02848746068775654, -0.06505312025547028, -0.002261073561385274, -0.0045919399708509445, 0.9998897910118103, 0.0139379370957613], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1033706665039, 15.050259590148926, 28.131816864013672, 0.346549391746521, -24.128503799438477, 1.8098787069320679], "ext_wrench_in_world": [-108.36576551194258, 14.827793136861525, -27.22582595555043, -0.13489849888089606, -24.07090691163959, -2.4806643989915687]}
+{"timestamp_ns": 1789729564530105733, "elapsed_ms": 8000, "source_timestamp_ns": 1789729564525322827, "q": [0.8369629979133606, -1.8979036808013916, -1.0068397521972656, 1.3810856342315674, -0.1601569950580597, 0.5941276550292969, 0.7030556201934814], "theta": [0.8390582799911499, -1.895998477935791, -1.0050561428070068, 1.3626803159713745, -0.16073057055473328, 0.5940738916397095, 0.7030079364776611], "dq": [0.0020463045220822096, -0.001454898971132934, 0.0015501725720241666, -0.0025453376583755016, -6.5101703512482345e-06, 0.0007567419088445604, -0.00028356743860058486], "dtheta": [-0.00024310655135195702, 0.0002300145133631304, 0.0002496203815098852, -3.159621337545104e-05, -0.0007719562272541225, -0.0012059453874826431, -0.000661082100123167], "tau": [55.53999710083008, 23.670000076293945, 5.432000160217285, -26.292001724243164, -2.6040000915527344, 2.684000015258789, -0.5360000133514404], "tau_des": [0.5048943161964417, -0.5188457369804382, -0.20231640338897705, -0.6135450005531311, 0.9095852971076965, -1.1207839250564575, -0.5300905704498291], "tau_dot": [89.88803100585938, 9.122528076171875, -13.619904518127441, 57.7548828125, -62.98906707763672, 62.48784255981445, 19.879966735839844], "tau_ext": [-16.69451141357422, -41.656734466552734, 31.797697067260742, 31.349573135375977, 9.507353782653809, -3.001511573791504, -0.11904080957174301], "tcp_pose": [0.6779190897941589, 0.03266455605626106, -0.21499280631542206, -0.002260197652503848, -0.004591381177306175, 0.9998897910118103, 0.01393786072731018], "tcp_vel": [-0.00018210572306998074, -0.00016835109272506088, -0.00014280570030678064, -0.0009166813106276095, 0.0007634182693436742, 0.001134249847382307], "flange_pose": [0.6786162257194519, 0.028486773371696472, -0.06505262106657028, -0.002260197652503848, -0.004591381177306175, 0.9998897910118103, 0.01393786072731018], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10213470458984, 15.071196556091309, 28.12864112854004, 0.3574700951576233, -24.12885856628418, 1.8135582208633423], "ext_wrench_in_world": [-108.3646415620613, 14.848763756965056, -27.22226329818344, -0.14585566671014463, -24.07126021464037, -2.4843010696569583]}
+{"timestamp_ns": 1789729564563467052, "elapsed_ms": 8033, "source_timestamp_ns": 1789729564555304813, "q": [0.8369637727737427, -1.8979054689407349, -1.0068436861038208, 1.38108491897583, -0.16015566885471344, 0.5941281318664551, 0.7030560970306396], "theta": [0.8390592932701111, -1.8960001468658447, -1.0050599575042725, 1.3626799583435059, -0.16072937846183777, 0.5940748453140259, 0.7030081748962402], "dq": [0.0008156973053701222, -0.0016037749592214823, 0.0012640502536669374, -0.0028877612203359604, -0.0007125058909878135, -0.0007292604423128068, -0.0038493613246828318], "dtheta": [5.656036228174344e-05, -0.00027216525631956756, -0.00017199467401951551, -0.000327756890328601, 0.0014383792877197266, 0.0003549108805600554, -0.0002901405096054077], "tau": [55.5099983215332, 23.670000076293945, 5.396000385284424, -26.304000854492188, -2.5880000591278076, 2.6680002212524414, -0.5600000023841858], "tau_des": [0.43787533044815063, -0.5246984362602234, -0.19382496178150177, -0.5362178683280945, 0.879398763179779, -1.1720430850982666, -0.5573123097419739], "tau_dot": [116.7587890625, -29.50139808654785, -43.16533660888672, -17.88736343383789, -4.648377418518066, -1.5944584608078003, -27.220003128051758], "tau_ext": [-16.697345733642578, -41.67679977416992, 31.814855575561523, 31.354230880737305, 9.512197494506836, -3.0049188137054443, -0.11927872151136398], "tcp_pose": [0.6779202818870544, 0.03266322240233421, -0.21499276161193848, -0.0022590679582208395, -0.004589932505041361, 0.9998897910118103, 0.013936723582446575], "tcp_vel": [-4.13471570936963e-06, 0.0002053045463981107, 1.6769892681622878e-05, 0.0010036180028691888, 0.0001450284180464223, -0.000506626209244132], "flange_pose": [0.6786171197891235, 0.028485776856541634, -0.0650525614619255, -0.0022590679582208395, -0.004589932505041361, 0.9998897910118103, 0.013936723582446575], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10205078125, 15.092750549316406, 28.131872177124023, 0.36577004194259644, -24.128822326660156, 1.8163340091705322], "ext_wrench_in_world": [-108.36466504388876, 14.87065421793897, -27.225167538551162, -0.1542332359589935, -24.07122860589603, -2.486983984589358]}
+{"timestamp_ns": 1789729564596773564, "elapsed_ms": 8066, "source_timestamp_ns": 1789729564595398395, "q": [0.8369660973548889, -1.8979072570800781, -1.006845235824585, 1.3810851573944092, -0.16015610098838806, 0.5941272377967834, 0.703055739402771], "theta": [0.839061439037323, -1.8960026502609253, -1.0050618648529053, 1.3626799583435059, -0.16073033213615417, 0.5940741300582886, 0.7030079364776611], "dq": [0.001079971669241786, 0.0005178065621294081, -0.003303109435364604, 0.0006278936052694917, 0.0005307018873281777, -0.0014192034723237157, 0.0021923973690718412], "dtheta": [6.18509657215327e-05, 0.00010403696069261059, -1.6473941286676563e-05, -0.00010551409650361165, -5.478969100636277e-08, -0.00012378880637697875, -0.00012535459245555103], "tau": [55.5099983215332, 23.649999618530273, 5.452000141143799, -26.316001892089844, -2.6000001430511475, 2.6480002403259277, -0.5560000538825989], "tau_des": [0.41044142842292786, -0.574087381362915, -0.16734282672405243, -0.5311856269836426, 0.9105437397956848, -1.165402889251709, -0.551696240901947], "tau_dot": [13.951772689819336, 124.18553924560547, -81.32554626464844, -5.662187576293945, -37.801143646240234, -22.033554077148438, -2.8619139194488525], "tau_ext": [-16.685022354125977, -41.59809875488281, 31.788957595825195, 31.353303909301758, 9.513358116149902, -3.0013675689697266, -0.11729195713996887], "tcp_pose": [0.6779205799102783, 0.03266271576285362, -0.21499201655387878, -0.00225801020860672, -0.0045903632417321205, 0.9998897910118103, 0.013935054652392864], "tcp_vel": [6.470939115388319e-05, -3.8908427086425945e-05, 0.00010489932901691645, 4.700178760685958e-05, -6.193034641910344e-05, 3.0462953873211518e-05], "flange_pose": [0.6786170601844788, 0.028485769405961037, -0.06505180895328522, -0.00225801020860672, -0.0045903632417321205, 0.9998897910118103, 0.013935054652392864], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12010955810547, 15.07492446899414, 28.11208724975586, 0.3578556180000305, -24.127761840820312, 1.8159065246582031], "ext_wrench_in_world": [-108.38242263869604, 14.851936451840926, -27.206090030323022, -0.1463013747098823, -24.07011573088351, -2.486482094568021]}
+{"timestamp_ns": 1789729564630107990, "elapsed_ms": 8100, "source_timestamp_ns": 1789729564625330793, "q": [0.8369666337966919, -1.8979079723358154, -1.0068467855453491, 1.3810850381851196, -0.1601548194885254, 0.5941247940063477, 0.7030553221702576], "theta": [0.8390614986419678, -1.8960038423538208, -1.0050630569458008, 1.3626796007156372, -0.16072985529899597, 0.5940717458724976, 0.703007698059082], "dq": [0.002517986111342907, -0.000833287660498172, -0.001368086552247405, -0.0009789152536541224, 0.0013073901645839214, 0.001906465389765799, -0.0008968674228526652], "dtheta": [2.0322313503129408e-05, -5.4996955441311e-05, 0.00023974680516403168, -0.00012021388829452917, 0.0006816062377765775, -0.00047849438851699233, 0.000536583480425179], "tau": [55.54999923706055, 23.639999389648438, 5.460000038146973, -26.292001724243164, -2.6040000915527344, 2.684000015258789, -0.5680000185966492], "tau_des": [0.46170181035995483, -0.5287371873855591, -0.2072887420654297, -0.571113109588623, 0.8823704123497009, -1.1466652154922485, -0.5656889081001282], "tau_dot": [94.11270904541016, -0.0784248486161232, 30.352405548095703, 36.38089370727539, -46.39821243286133, 36.4129638671875, -22.251985549926758], "tau_ext": [-16.696598052978516, -41.600032806396484, 31.770450592041016, 31.360593795776367, 9.516160011291504, -3.0001931190490723, -0.11632559448480606], "tcp_pose": [0.6779204607009888, 0.03266176953911781, -0.21499226987361908, -0.002258714521303773, -0.004589903634041548, 0.9998898506164551, 0.013933902606368065], "tcp_vel": [-0.00022537230688612908, 0.00014395116886589676, -4.6371515054488555e-05, 0.0002893664641305804, 0.0007131322054192424, -0.0007168494048528373], "flange_pose": [0.6786171793937683, 0.028485169634222984, -0.06505205482244492, -0.002258714521303773, -0.004589903634041548, 0.9998898506164551, 0.013933902606368065], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12232208251953, 15.018619537353516, 28.11800193786621, 0.34210023283958435, -24.12775230407715, 1.8154168128967285], "ext_wrench_in_world": [-108.38417433510772, 14.795834025102456, -27.213444241777164, -0.13056967208426637, -24.069979849418388, -2.4860055571301047]}
+{"timestamp_ns": 1789729564663433698, "elapsed_ms": 8133, "source_timestamp_ns": 1789729564655303381, "q": [0.8369663953781128, -1.8979130983352661, -1.0068469047546387, 1.3810839653015137, -0.16015443205833435, 0.5941237211227417, 0.7030532956123352], "theta": [0.8390612602233887, -1.896009922027588, -1.0050638914108276, 1.3626785278320312, -0.16072890162467957, 0.5940710306167603, 0.7030057907104492], "dq": [0.0010927452240139246, -0.00047869308036752045, 0.0009299787343479693, -0.0026974997017532587, -0.00028625401319004595, -0.0012921071611344814, -2.6440524379722774e-05], "dtheta": [0.0001729372888803482, -0.0002843912807293236, 6.57256314298138e-05, -0.00011228054063394666, -0.0005517458193935454, 0.0009359397809021175, 0.0005355990724638104], "tau": [55.48999786376953, 23.709999084472656, 5.440000057220459, -26.23200035095215, -2.572000026702881, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.3892824351787567, -0.5396603941917419, -0.2162986844778061, -0.5050532817840576, 0.929476797580719, -1.1919900178909302, -0.5519760847091675], "tau_dot": [-38.13400650024414, 98.47260284423828, -19.165468215942383, 48.24302291870117, 10.523571014404297, 59.916969299316406, 13.689155578613281], "tau_ext": [-16.696168899536133, -41.63894271850586, 31.78461456298828, 31.34833335876465, 9.514945983886719, -2.998027801513672, -0.11378062516450882], "tcp_pose": [0.6779192686080933, 0.03266327828168869, -0.21499358117580414, -0.002258878666907549, -0.004592384677380323, 0.9998898506164551, 0.013932096771895885], "tcp_vel": [0.00023300459724850953, 0.0002501722483430058, 0.00023841419897507876, 0.00016140966909006238, -0.0012400939594954252, -3.2510270102648064e-05], "flange_pose": [0.6786160469055176, 0.028487222269177437, -0.06505334377288818, -0.002258878666907549, -0.004592384677380323, 0.9998898506164551, 0.013932096771895885], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10613250732422, 15.036540031433105, 28.128662109375, 0.34715378284454346, -24.12843132019043, 1.8181041479110718], "ext_wrench_in_world": [-108.36827877357925, 14.813556146022604, -27.223698570030503, -0.13551011973130964, -24.070640088090173, -2.488601850802585]}
+{"timestamp_ns": 1789729564696774842, "elapsed_ms": 8166, "source_timestamp_ns": 1789729564695290699, "q": [0.8369665741920471, -1.8979172706604004, -1.006847620010376, 1.381082534790039, -0.1601536124944687, 0.5941223502159119, 0.7030463814735413], "theta": [0.8390610814094543, -1.8960143327713013, -1.005064606666565, 1.3626775741577148, -0.16072769463062286, 0.5940693616867065, 0.7029981017112732], "dq": [-0.00031509704422205687, -0.0018238478805869818, 0.0009786455193534493, 0.0002629346854519099, 0.004526568576693535, 0.0018013325752690434, -0.0027688827831298113], "dtheta": [-1.1148425983265042e-05, -0.0001950562873389572, -0.0001000711927190423, 0.00011930085020139813, 0.00037254238850437105, -0.00038728807703591883, -4.238351539243013e-05], "tau": [55.5099983215332, 23.559999465942383, 5.444000244140625, -26.332000732421875, -2.568000078201294, 2.6520001888275146, -0.5720000267028809], "tau_des": [0.513300895690918, -0.47348982095718384, -0.21171431243419647, -0.6188568472862244, 0.9003015160560608, -1.1329900026321411, -0.5353844165802002], "tau_dot": [12.60684585571289, -95.6887435913086, -7.061959743499756, 3.997406482696533, 4.479789733886719, -83.38560485839844, -12.578548431396484], "tau_ext": [-16.675487518310547, -41.61727523803711, 31.782278060913086, 31.326194763183594, 9.500870704650879, -2.9948642253875732, -0.10670321434736252], "tcp_pose": [0.677918553352356, 0.03266424313187599, -0.2149943709373474, -0.0022588446736335754, -0.004596697632223368, 0.9998898506164551, 0.013930482789874077], "tcp_vel": [-0.00019060162594541907, -5.561401485465467e-05, -0.00019878442981280386, -0.00029849738348275423, 0.0005735455779358745, -7.606219878653064e-05], "flange_pose": [0.678615391254425, 0.028488673269748688, -0.06505411863327026, -0.0022588446736335754, -0.004596697632223368, 0.9998898506164551, 0.013930482789874077], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06529998779297, 15.080002784729004, 28.11212158203125, 0.36042726039886475, -24.122644424438477, 1.8224045038223267], "ext_wrench_in_world": [-108.32789068223713, 14.85589498238689, -27.20620168071278, -0.14864744216973774, -24.064867975115042, -2.492603717340994]}
+{"timestamp_ns": 1789729564730110647, "elapsed_ms": 8200, "source_timestamp_ns": 1789729564725342138, "q": [0.836966335773468, -1.8979167938232422, -1.0068483352661133, 1.3810837268829346, -0.16015271842479706, 0.594122052192688, 0.7030463218688965], "theta": [0.8390609622001648, -1.896013855934143, -1.0050653219223022, 1.3626784086227417, -0.16072674095630646, 0.5940696001052856, 0.7029978632926941], "dq": [0.0005233804113231599, 0.0010650437325239182, -0.002109294990077615, -0.0017557016108185053, 0.0005104318843223155, -0.0008654295816086233, 0.0008530495688319206], "dtheta": [0.0003030365041922778, -1.2717940080619883e-05, 2.481937144693802e-06, 5.859319935552776e-05, 0.0002929740003310144, -0.00028781278524547815, 0.0008166872430592775], "tau": [55.47999954223633, 23.670000076293945, 5.436000347137451, -26.34800148010254, -2.580000162124634, 2.6720001697540283, -0.5680000185966492], "tau_des": [0.4337555468082428, -0.5410340428352356, -0.20149248838424683, -0.5639764070510864, 0.9009478092193604, -1.1499576568603516, -0.5545040965080261], "tau_dot": [33.668434143066406, 102.07317352294922, -7.605847358703613, 19.458145141601562, 38.27894592285156, -39.69267654418945, -12.126606941223145], "tau_ext": [-16.693056106567383, -41.62424850463867, 31.78322410583496, 31.38332748413086, 9.510371208190918, -3.0028250217437744, -0.10148114711046219], "tcp_pose": [0.6779182553291321, 0.03266346454620361, -0.21499508619308472, -0.002259694505482912, -0.004596131853759289, 0.9998898506164551, 0.01393028162419796], "tcp_vel": [-5.5543157941428944e-05, -3.092423503403552e-05, 0.00011881306272698566, -5.1314651500433683e-05, 0.00014737500168848783, -0.0009526201756671071], "flange_pose": [0.6786152720451355, 0.028487958014011383, -0.06505482643842697, -0.002259694505482912, -0.004596131853759289, 0.9998898506164551, 0.01393028162419796], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12332153320312, 15.046079635620117, 28.109458923339844, 0.35505589842796326, -24.1365966796875, 1.8250302076339722], "ext_wrench_in_world": [-108.38561732146668, 14.82148404472028, -27.2040515602633, -0.1431921100868962, -24.07869229130102, -2.4956307395399135]}
+{"timestamp_ns": 1789729564763434515, "elapsed_ms": 8233, "source_timestamp_ns": 1789729564755308758, "q": [0.8369660973548889, -1.897915244102478, -1.0068511962890625, 1.3810837268829346, -0.1601514369249344, 0.5941240191459656, 0.7030466198921204], "theta": [0.8390610814094543, -1.896012544631958, -1.0050681829452515, 1.3626786470413208, -0.16072578728199005, 0.5940717458724976, 0.7029983401298523], "dq": [0.002143263118341565, 0.0004095255571883172, 0.0009546202491037548, -0.00021685755928047001, 0.0019039278849959373, -0.00014730851398780942, 0.0007518972270190716], "dtheta": [-0.00017875868070404977, -5.485742804012261e-05, 0.0001000601114355959, 0.00022056732268538326, 0.0002374485629843548, -0.0008355851168744266, 0.0004029947449453175], "tau": [55.459999084472656, 23.649999618530273, 5.448000431060791, -26.292001724243164, -2.6000001430511475, 2.6600000858306885, -0.5640000104904175], "tau_des": [0.5624521374702454, -0.48202934861183167, -0.2056121975183487, -0.6520203351974487, 0.8826293349266052, -1.1178172826766968, -0.5494067668914795], "tau_dot": [0.21925853192806244, 6.9084038734436035, -19.723485946655273, -22.047231674194336, -42.563446044921875, -40.25436782836914, 16.1391658782959], "tau_ext": [-16.67063331604004, -41.6076774597168, 31.7763614654541, 31.37267303466797, 9.508587837219238, -3.0024421215057373, -0.10282737761735916], "tcp_pose": [0.6779197454452515, 0.03266189992427826, -0.21499481797218323, -0.0022589426953345537, -0.0045941355638206005, 0.9998898506164551, 0.013931013643741608], "tcp_vel": [-0.00036100632860325277, -8.613684622105211e-05, -0.0003450968360994011, -0.0005039667012169957, 0.0011625458719208837, -0.0003730329335667193], "flange_pose": [0.6786165237426758, 0.028486168012022972, -0.06505457311868668, -0.0022589426953345537, -0.0045941355638206005, 0.9998898506164551, 0.013931013643741608], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.19664001464844, 15.003947257995605, 28.100547790527344, 0.3469025790691376, -24.15140151977539, 1.8265135288238525], "ext_wrench_in_world": [-108.45840740077158, 14.778918603988277, -27.196131322171436, -0.13500413762207714, -24.093369823829516, -2.4975974164698354]}
+{"timestamp_ns": 1789729564796769831, "elapsed_ms": 8266, "source_timestamp_ns": 1789729564795288808, "q": [0.8369668126106262, -1.8979154825210571, -1.0068540573120117, 1.3810837268829346, -0.16015107929706573, 0.5941264033317566, 0.7030481696128845], "theta": [0.8390614986419678, -1.8960131406784058, -1.0050709247589111, 1.3626785278320312, -0.16072458028793335, 0.594075083732605, 0.7029995322227478], "dq": [-0.0011736509623005986, -0.00011710902617778629, 0.001637083594687283, -0.0002594325633253902, -0.0013954477617517114, 0.0010158853838220239, -0.0010251505300402641], "dtheta": [-8.582702321291436e-06, 0.0002929120964836329, -0.0005697521264664829, 0.00021458514675032347, 0.0010303285671398044, 0.00043951114639639854, -8.229447121266276e-05], "tau": [55.52000045776367, 23.689998626708984, 5.4160003662109375, -26.2760009765625, -2.5440001487731934, 2.6480002403259277, -0.5400000214576721], "tau_des": [0.4604823887348175, -0.6076425909996033, -0.09599356353282928, -0.5564457178115845, 0.8816437125205994, -1.1679247617721558, -0.56169593334198], "tau_dot": [22.436920166015625, -30.46816062927246, -39.75357437133789, -8.409238815307617, 57.56967544555664, -8.955843925476074, 11.865144729614258], "tau_ext": [-16.662572860717773, -41.65077209472656, 31.79180908203125, 31.334503173828125, 9.506715774536133, -3.0015347003936768, -0.11093682795763016], "tcp_pose": [0.6779211759567261, 0.03266077861189842, -0.21499429643154144, -0.0022573196329176426, -0.004592334385961294, 0.9998898506164551, 0.013930896297097206], "tcp_vel": [0.00012466062617022544, -0.0002997044357471168, -8.017078653210774e-05, 0.000659116602037102, 0.0002348024572711438, -0.0010626226430758834], "flange_pose": [0.6786174774169922, 0.02848508022725582, -0.06505405157804489, -0.0022573196329176426, -0.004592334385961294, 0.9998898506164551, 0.013930896297097206], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.16973114013672, 15.045785903930664, 28.08393669128418, 0.35972970724105835, -24.14543914794922, 1.8270677328109741], "ext_wrench_in_world": [-108.4316635940107, 14.820914952433137, -27.178828500957806, -0.14796742422985307, -24.087513273207534, -2.4979238507783283]}
+{"timestamp_ns": 1789729564830106626, "elapsed_ms": 8300, "source_timestamp_ns": 1789729564825324960, "q": [0.836967945098877, -1.8979170322418213, -1.0068535804748535, 1.3810831308364868, -0.16015246510505676, 0.5941217541694641, 0.7030491828918457], "theta": [0.8390622735023499, -1.8960144519805908, -1.0050708055496216, 1.3626782894134521, -0.16072553396224976, 0.5940710306167603, 0.7029998302459717], "dq": [0.0008084701839834452, -0.0009020853904075921, -0.0015889949863776565, -0.00035455968463793397, 0.0032340646721422672, 0.0001895557506941259, -0.001692193211056292], "dtheta": [-4.3691896280506626e-05, -8.096121746348217e-05, 3.7239864468574524e-05, -0.00022564316168427467, 0.0002615439298097044, 0.0007230037008412182, 0.00014430799637921154], "tau": [55.54999923706055, 23.729999542236328, 5.436000347137451, -26.284000396728516, -2.572000026702881, 2.6680002212524414, -0.5640000104904175], "tau_des": [0.42568063735961914, -0.5472525954246521, -0.20387926697731018, -0.5167075991630554, 0.9028264880180359, -1.1895301342010498, -0.5507138967514038], "tau_dot": [-4.189104080200195, 84.1072769165039, -50.57238006591797, 12.350675582885742, -1.5653403997421265, 16.12976837158203, -24.65028953552246], "tau_ext": [-16.70386505126953, -41.69437789916992, 31.80967140197754, 31.349905014038086, 9.50450325012207, -3.006040573120117, -0.11717873811721802], "tcp_pose": [0.677920401096344, 0.032660793513059616, -0.2149941325187683, -0.0022580167278647423, -0.004592898301780224, 0.9998899102210999, 0.013928692787885666], "tcp_vel": [0.00014421412197407335, 0.00022008386440575123, 0.00010989304428221658, 0.0007274993695318699, -0.0005239865276962519, -0.00026165894814766943], "flange_pose": [0.6786169409751892, 0.02848575823009014, -0.06505387276411057, -0.0022580167278647423, -0.004592898301780224, 0.9998899102210999, 0.013928692787885666], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10614776611328, 15.1188325881958, 28.111814498901367, 0.3788001239299774, -24.13317108154297, 1.825487732887268], "ext_wrench_in_world": [-108.3689333688093, 14.895048831081743, -27.204856164029128, -0.16711694674741256, -24.075482010748928, -2.495812357539659]}
+{"timestamp_ns": 1789729564863391304, "elapsed_ms": 8333, "source_timestamp_ns": 1789729564855307126, "q": [0.8369707465171814, -1.8979188203811646, -1.00685453414917, 1.381083369255066, -0.16015112400054932, 0.5941168069839478, 0.7030482888221741], "theta": [0.8390653729438782, -1.8960163593292236, -1.0050712823867798, 1.362678050994873, -0.16072481870651245, 0.5940660238265991, 0.7029995322227478], "dq": [-0.0002872860641218722, 0.0010793755063787103, -0.0006190346321091056, 0.0011382356751710176, -0.0011859678197652102, 0.0014478187076747417, 0.0018599266186356544], "dtheta": [0.00014870180166326463, 0.00021736296184826642, -0.000353459850884974, -0.0002755672612693161, 0.00019495976448524743, -0.0006410282221622765, 0.0006610624841414392], "tau": [55.52000045776367, 23.6299991607666, 5.456000328063965, -26.284000396728516, -2.572000026702881, 2.640000104904175, -0.5520000457763672], "tau_des": [0.40074536204338074, -0.622136652469635, -0.11248216778039932, -0.5279879570007324, 0.9059317708015442, -1.1539913415908813, -0.5675193071365356], "tau_dot": [53.12074279785156, -15.63864517211914, -11.676264762878418, -17.859663009643555, 14.427538871765137, -32.59134292602539, -7.97564172744751], "tau_ext": [-16.683544158935547, -41.64122772216797, 31.784170150756836, 31.366647720336914, 9.504467964172363, -3.0040533542633057, -0.11477074772119522], "tcp_pose": [0.6779196858406067, 0.03266000375151634, -0.21499361097812653, -0.00225880672223866, -0.004593259189277887, 0.9998899102210999, 0.0139264315366745], "tcp_vel": [0.00016959381173364818, -0.0002931539202108979, 0.00018011579231824726, -0.00020640213915612549, 0.0001285853941226378, -0.0011908556334674358], "flange_pose": [0.6786164045333862, 0.028485648334026337, -0.06505332142114639, -0.00225880672223866, -0.004593259189277887, 0.9998899102210999, 0.0139264315366745], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1151123046875, 15.115348815917969, 28.129257202148438, 0.37943413853645325, -24.13722801208496, 1.8230109214782715], "ext_wrench_in_world": [-108.37800004834826, 14.891764188827235, -27.222249247468003, -0.16768812853045245, -24.079623413250204, -2.4933375544232828]}
+{"timestamp_ns": 1789729564896769619, "elapsed_ms": 8366, "source_timestamp_ns": 1789729564895293814, "q": [0.8369750380516052, -1.8979198932647705, -1.0068565607070923, 1.3810834884643555, -0.16015057265758514, 0.5941120386123657, 0.7030463814735413], "theta": [0.8390700221061707, -1.89601731300354, -1.0050722360610962, 1.3626779317855835, -0.16072410345077515, 0.594061017036438, 0.7029978632926941], "dq": [-0.000445111800218001, 0.0018949052318930626, 0.0016790686640888453, -0.0001429965632269159, -0.002176752546802163, 0.0003391806676518172, 0.0008136066608130932], "dtheta": [0.0003471026138868183, -0.0001077749184332788, 3.0891165806679055e-05, -0.00034042049082927406, 0.00017072561604436487, 0.00033276795875281096, -0.00030219467589631677], "tau": [55.53999710083008, 23.600000381469727, 5.460000038146973, -26.296001434326172, -2.556000232696533, 2.628000020980835, -0.5640000104904175], "tau_des": [0.3300468921661377, -0.5714554786682129, -0.19846521317958832, -0.4738755226135254, 0.9264893531799316, -1.1896198987960815, -0.5404897332191467], "tau_dot": [-29.679073333740234, -152.4571533203125, -29.682483673095703, 31.587289810180664, 73.58802795410156, -73.56919860839844, -11.339592933654785], "tau_ext": [-16.67717933654785, -41.59436798095703, 31.769296646118164, 31.36417007446289, 9.50717830657959, -2.997379779815674, -0.10969837009906769], "tcp_pose": [0.6779199838638306, 0.03265848010778427, -0.2149917483329773, -0.0022583240643143654, -0.0045937723480165005, 0.9998899698257446, 0.013923993334174156], "tcp_vel": [0.00020757746824529022, 0.00017861576634459198, 0.0003807756584137678, 0.0004600723332259804, -0.0007763762259855866, 0.00023982941638678312], "flange_pose": [0.6786165833473206, 0.028484854847192764, -0.06505144387483597, -0.0022583240643143654, -0.0045937723480165005, 0.9998899698257446, 0.013923993334174156], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.17724609375, 15.001632690429688, 28.104106903076172, 0.34852683544158936, -24.14845085144043, 1.8205102682113647], "ext_wrench_in_world": [-108.43896423201186, 14.776578979445967, -27.20018622323203, -0.1366413010815296, -24.09063744688055, -2.4911691379581806]}
+{"timestamp_ns": 1789729564930103085, "elapsed_ms": 8400, "source_timestamp_ns": 1789729564925330627, "q": [0.8369750380516052, -1.8979216814041138, -1.0068572759628296, 1.3810828924179077, -0.16014905273914337, 0.5941112041473389, 0.703045666217804], "theta": [0.839069664478302, -1.8960187435150146, -1.0050724744796753, 1.362677812576294, -0.16072291135787964, 0.5940595865249634, 0.7029971480369568], "dq": [0.00011023905972251669, 0.0007516882615163922, -0.00019758378039114177, 0.0001415298174833879, 0.001532794558443129, -0.0003380420967005193, 0.0006112678092904389], "dtheta": [-3.8178262911969796e-05, 0.00010034005390480161, 8.097355021163821e-05, -5.333301305654459e-05, 0.00014588904741685838, 0.00012499488366302103, -0.0001818978344090283], "tau": [55.529998779296875, 23.719999313354492, 5.432000160217285, -26.256000518798828, -2.56000018119812, 2.640000104904175, -0.5720000267028809], "tau_des": [0.43764495849609375, -0.5470259785652161, -0.19257062673568726, -0.5494968891143799, 0.9057374596595764, -1.162232756614685, -0.5417019724845886], "tau_dot": [51.893463134765625, 104.2654800415039, -32.54064178466797, -15.516402244567871, 7.798001766204834, -33.76984786987305, -3.481229066848755], "tau_ext": [-16.70981216430664, -41.64201354980469, 31.780353546142578, 31.345935821533203, 9.50647258758545, -2.9962337017059326, -0.10623933374881744], "tcp_pose": [0.6779195666313171, 0.032658711075782776, -0.21499231457710266, -0.0022587315179407597, -0.0045940265990793705, 0.9998899698257446, 0.013923438265919685], "tcp_vel": [1.586385587870609e-05, 5.53630743524991e-05, 3.431723962421529e-05, 0.0003299258532933891, 1.8506855212763185e-06, 7.919820200186223e-05], "flange_pose": [0.6786162853240967, 0.0284852534532547, -0.06505199521780014, -0.0022587315179407597, -0.0045940265990793705, 0.9998899698257446, 0.013923438265919685], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14913940429688, 15.013703346252441, 28.121509552001953, 0.34851890802383423, -24.145055770874023, 1.8228328227996826], "ext_wrench_in_world": [-108.41107953325928, 14.789301724987789, -27.217298368193113, -0.13666455625879506, -24.087181975123933, -2.4933692875445477]}
+{"timestamp_ns": 1789729564963438320, "elapsed_ms": 8433, "source_timestamp_ns": 1789729564955372338, "q": [0.8369747996330261, -1.8979235887527466, -1.006857991218567, 1.3810821771621704, -0.16014951467514038, 0.5941116809844971, 0.7030432820320129], "theta": [0.839069664478302, -1.896020531654358, -1.0050729513168335, 1.3626775741577148, -0.16072313487529755, 0.5940598249435425, 0.7029945254325867], "dq": [-0.0015423730947077274, -0.000820068409666419, 0.001189668895676732, 4.690708010457456e-06, 0.002020821440964937, 0.00018076610285788774, 0.0032692928798496723], "dtheta": [0.00021225410455372185, -0.00011274436110397801, -5.2547748055076227e-05, 0.0001883362710941583, -0.00033777207136154175, 7.005021325312555e-05, -0.0008171009249053895], "tau": [55.52000045776367, 23.639999389648438, 5.440000057220459, -26.284000396728516, -2.56000018119812, 2.6560001373291016, -0.5640000104904175], "tau_des": [0.420704185962677, -0.5196573734283447, -0.19985081255435944, -0.5562158226966858, 0.9302435517311096, -1.160648226737976, -0.521794319152832], "tau_dot": [-24.714292526245117, -89.02909851074219, -31.6584415435791, 33.31517028808594, 12.303374290466309, -33.81311798095703, 8.4011812210083], "tau_ext": [-16.705204010009766, -41.66529846191406, 31.78289031982422, 31.331159591674805, 9.499787330627441, -2.9937744140625, -0.10587087273597717], "tcp_pose": [0.6779197454452515, 0.032659053802490234, -0.21499258279800415, -0.002258086344227195, -0.004595640115439892, 0.9998899698257446, 0.013922788202762604], "tcp_vel": [1.846836858021561e-05, -4.4738801079802215e-05, 5.927695383434184e-05, -0.00038569149910472333, -0.0003398953122086823, 0.00107071571983397], "flange_pose": [0.6786162853240967, 0.028485789895057678, -0.06505226343870163, -0.002258086344227195, -0.004595640115439892, 0.9998899698257446, 0.013922788202762604], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06342315673828, 15.0935697555542, 28.14261817932129, 0.3678535521030426, -24.13019561767578, 1.8265516757965088], "ext_wrench_in_world": [-108.32620576929271, 14.870131020927976, -27.236713776709834, -0.15607038651166602, -24.0724072991405, -2.4965569623364394]}
+{"timestamp_ns": 1789729564996774515, "elapsed_ms": 8466, "source_timestamp_ns": 1789729564995284874, "q": [0.8369737863540649, -1.8979241847991943, -1.0068596601486206, 1.3810827732086182, -0.16014865040779114, 0.5941091775894165, 0.7030445337295532], "theta": [0.8390693068504333, -1.896020531654358, -1.0050747394561768, 1.3626779317855835, -0.16072218120098114, 0.5940574407577515, 0.7029961943626404], "dq": [0.00019626275752671063, 0.0006610331474803388, 0.0008464613347314298, 0.0024399945978075266, 0.0009826049208641052, -0.002316422061994672, 0.002400789875537157], "dtheta": [-0.00031606160337105393, 0.00020548483007587492, 0.0001603395357960835, 0.00012236536713317037, 0.0003317453374620527, -0.0007446662639267743, 0.00033354610786773264], "tau": [55.52000045776367, 23.6299991607666, 5.4720001220703125, -26.32000160217285, -2.552000045776367, 2.6440000534057617, -0.5640000104904175], "tau_des": [0.5566883087158203, -0.5111909508705139, -0.18802471458911896, -0.6443849205970764, 0.8779557943344116, -1.1160640716552734, -0.5510978698730469], "tau_dot": [-49.18547439575195, 19.159423828125, -0.6342462301254272, -26.06856346130371, 37.46613311767578, -40.21027374267578, -19.36067771911621], "tau_ext": [-16.701091766357422, -41.63596725463867, 31.773529052734375, 31.363935470581055, 9.500555992126465, -3.0022547245025635, -0.10562728345394135], "tcp_pose": [0.6779190897941589, 0.03265781328082085, -0.21499419212341309, -0.0022597850766032934, -0.004594430793076754, 0.9998899698257446, 0.013921290636062622], "tcp_vel": [-0.0002986626932397485, -8.959930710261688e-05, -0.00031124791712500155, -9.749548189574853e-05, 0.0012209551641717553, -0.0005055521032772958], "flange_pose": [0.6786161661148071, 0.028485000133514404, -0.06505386531352997, -0.0022597850766032934, -0.004594430793076754, 0.9998899698257446, 0.013921290636062622], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05049133300781, 15.09305477142334, 28.157087326049805, 0.3694998323917389, -24.128873825073242, 1.8260300159454346], "ext_wrench_in_world": [-108.31339507189008, 14.870312376096816, -27.250922996521364, -0.1577916629326892, -24.071122976086112, -2.495918322546616]}
+{"timestamp_ns": 1789729565030110550, "elapsed_ms": 8500, "source_timestamp_ns": 1789729565025447129, "q": [0.8369747996330261, -1.8979241847991943, -1.0068626403808594, 1.3810826539993286, -0.16014869511127472, 0.5941113233566284, 0.7030452489852905], "theta": [0.8390699028968811, -1.8960208892822266, -1.005077838897705, 1.3626775741577148, -0.16072265803813934, 0.5940593481063843, 0.7029964327812195], "dq": [0.0015832060016691685, 0.004379947204142809, -0.0001835104776546359, -0.0005776550970040262, 0.0004060181090608239, -0.0003878434654325247, 0.0020301819313317537], "dtheta": [0.0004192114865873009, 0.00015142516349442303, -0.00023885229893494397, 0.0002638025034684688, -5.0133647164329886e-05, 0.00015204177179839462, -2.982635487569496e-05], "tau": [55.44999694824219, 23.6299991607666, 5.420000076293945, -26.296001434326172, -2.5840001106262207, 2.6600000858306885, -0.5400000214576721], "tau_des": [0.3742896616458893, -0.6070083379745483, -0.13050426542758942, -0.5242743492126465, 0.9205288290977478, -1.1684067249298096, -0.5517698526382446], "tau_dot": [-94.72492218017578, -21.35997200012207, -20.472333908081055, -20.442584991455078, -23.312530517578125, 2.2510221004486084, 42.40761947631836], "tau_ext": [-16.674314498901367, -41.62116241455078, 31.776308059692383, 31.35234832763672, 9.50540542602539, -2.9996144771575928, -0.1086677759885788], "tcp_pose": [0.6779207587242126, 0.03265656530857086, -0.21499338746070862, -0.002257920103147626, -0.004593051038682461, 0.9998899698257446, 0.013921037316322327], "tcp_vel": [0.00014235041453503072, -0.0002064571453956887, 0.00021987951186019927, -0.00012289112783037126, -0.0004268611082807183, -0.00017374286835547537], "flange_pose": [0.6786172389984131, 0.02848382294178009, -0.0650530532002449, -0.002257920103147626, -0.004593051038682461, 0.9998899698257446, 0.013921037316322327], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12055206298828, 15.047847747802734, 28.13372230529785, 0.3608964681625366, -24.14288330078125, 1.8255139589309692], "ext_wrench_in_world": [-108.38278881733793, 14.824117739589258, -27.22892675845197, -0.1491169766372722, -24.08506201673948, -2.49581916957497]}
+{"timestamp_ns": 1789729565063434673, "elapsed_ms": 8533, "source_timestamp_ns": 1789729565055325790, "q": [0.8369756937026978, -1.897927165031433, -1.006862759590149, 1.381082534790039, -0.16015036404132843, 0.5941116809844971, 0.7030457258224487], "theta": [0.8390707969665527, -1.8960236310958862, -1.0050781965255737, 1.3626770973205566, -0.16072313487529755, 0.5940598249435425, 0.7029973864555359], "dq": [7.726316107437015e-05, 0.0006250370643101633, 0.00026741187321022153, 0.000189248938113451, 0.0015481775626540184, -0.00020745908841490746, 0.002228574827313423], "dtheta": [-0.00027535748085938394, -0.00041686432086862624, -2.969710658362601e-05, 5.040039468440227e-05, -0.00035592858330346644, -0.00016270352352876216, 0.0008824344258755445], "tau": [55.46999740600586, 23.600000381469727, 5.432000160217285, -26.30000114440918, -2.5920000076293945, 2.6760001182556152, -0.5760000348091125], "tau_des": [0.5397751927375793, -0.4764065444469452, -0.19491581618785858, -0.6196193695068359, 0.9090462923049927, -1.1410048007965088, -0.5565301775932312], "tau_dot": [-21.082927703857422, -170.14663696289062, -13.652205467224121, 3.67411470413208, -23.390296936035156, -0.781591534614563, -46.83619689941406], "tau_ext": [-16.66986846923828, -41.642147064208984, 31.806385040283203, 31.347753524780273, 9.505492210388184, -2.9984703063964844, -0.1083187460899353], "tcp_pose": [0.6779205203056335, 0.032657310366630554, -0.21499347686767578, -0.002256878186017275, -0.004594235215336084, 0.9998900294303894, 0.013919493183493614], "tcp_vel": [-0.00016216759104281664, 4.5801298256265e-05, -0.00032372112036682665, -0.0006890454096719623, 0.0002580730360932648, -0.00041446887189522386], "flange_pose": [0.6786167025566101, 0.02848503179848194, -0.06505312770605087, -0.002256878186017275, -0.004594235215336084, 0.9998900294303894, 0.013919493183493614], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15455627441406, 15.047442436218262, 28.101211547851562, 0.3601582646369934, -24.14554786682129, 1.8246463537216187], "ext_wrench_in_world": [-108.41661340479402, 14.822155827501133, -27.196567645651538, -0.1482886615938301, -24.087750765152744, -2.4949556367639047]}
+{"timestamp_ns": 1789729565096778512, "elapsed_ms": 8566, "source_timestamp_ns": 1789729565095329348, "q": [0.8369765281677246, -1.8979312181472778, -1.006864070892334, 1.3810793161392212, -0.16014990210533142, 0.5941088795661926, 0.7030450701713562], "theta": [0.8390722274780273, -1.8960281610488892, -1.0050790309906006, 1.362673282623291, -0.16072313487529755, 0.5940572023391724, 0.7029971480369568], "dq": [-0.0010214531794190407, 0.0010831555118784308, 0.0010782975004985929, -0.0005086867022328079, -0.00021141930483281612, 0.0002058167738141492, 0.000970616121776402], "dtheta": [0.0005017762305215001, -0.00012782905832864344, -0.0001668382901698351, -0.0001338154834229499, -0.00012062487803632393, 0.0001794069103198126, 2.8461419788072817e-05], "tau": [55.54999923706055, 23.649999618530273, 5.448000431060791, -26.304000854492188, -2.5920000076293945, 2.6560001373291016, -0.5320000052452087], "tau_des": [0.32382825016975403, -0.581351637840271, -0.17358574271202087, -0.47627004981040955, 0.9377411603927612, -1.1902352571487427, -0.5448278188705444], "tau_dot": [-28.002582550048828, 36.191524505615234, 2.4197707176208496, -23.401437759399414, -34.56839370727539, -7.581007480621338, 11.159311294555664], "tau_ext": [-16.70363998413086, -41.61577224731445, 31.794292449951172, 31.345285415649414, 9.503683090209961, -2.999032497406006, -0.11251351237297058], "tcp_pose": [0.6779206991195679, 0.03265802934765816, -0.21499307453632355, -0.002256143605336547, -0.00459514232352376, 0.9998900294303894, 0.013917738571763039], "tcp_vel": [0.00023172423243522644, -8.880040695657954e-06, 0.00038325070636346936, -8.226461795857176e-05, -0.0008635935955680907, -1.8379714674665593e-05], "flange_pose": [0.6786166429519653, 0.028486276045441628, -0.06505271047353745, -0.002256143605336547, -0.00459514232352376, 0.9998900294303894, 0.013917738571763039], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10874938964844, 15.072272300720215, 28.114330291748047, 0.3576015830039978, -24.128427505493164, 1.820505976676941], "ext_wrench_in_world": [-108.37108202141309, 14.847473242354724, -27.20940599278284, -0.14582199034933166, -24.070738249903567, -2.4902672231876113]}
+{"timestamp_ns": 1789729565130102235, "elapsed_ms": 8600, "source_timestamp_ns": 1789729565125348695, "q": [0.8369766473770142, -1.897933840751648, -1.00686514377594, 1.3810782432556152, -0.16015008091926575, 0.594098687171936, 0.7030442953109741], "theta": [0.8390727639198303, -1.8960312604904175, -1.0050793886184692, 1.362671136856079, -0.16072338819503784, 0.594046950340271, 0.7029969096183777], "dq": [-0.0002388497960055247, -2.2598018404096365e-05, -0.0016660011606290936, -0.001898790942505002, 0.0026963844429701567, -0.0008152436348609626, 0.004426038824021816], "dtheta": [3.320830728625879e-05, -0.00013996560301166028, 7.914532761787996e-05, -0.00040168725536204875, -0.00036424415884539485, 0.00012524379417300224, -0.00012276614143047482], "tau": [55.43000030517578, 23.68000030517578, 5.452000141143799, -26.336000442504883, -2.568000078201294, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.4085676074028015, -0.5265399217605591, -0.20566198229789734, -0.5273516774177551, 0.9320662617683411, -1.166229486465454, -0.5347837805747986], "tau_dot": [-156.97789001464844, 117.4441146850586, 28.531219482421875, -15.846723556518555, 21.345827102661133, 11.150559425354004, 24.93389320373535], "tau_ext": [-16.705455780029297, -41.6173210144043, 31.793167114257812, 31.36409568786621, 9.506331443786621, -2.9928178787231445, -0.11599288135766983], "tcp_pose": [0.6779189705848694, 0.032656800001859665, -0.21499444544315338, -0.002259306376799941, -0.004596047569066286, 0.9998900890350342, 0.013913414441049099], "tcp_vel": [0.00017333700088784099, 0.00015611374692525715, 0.00020871190645266324, 3.3194435673067346e-05, -0.0006302110268734396, 0.0004081127990502864], "flange_pose": [0.6786158680915833, 0.028486348688602448, -0.06505405157804489, -0.002259306376799941, -0.004596047569066286, 0.9998900890350342, 0.013913414441049099], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09989929199219, 15.040827751159668, 28.128313064575195, 0.3451533615589142, -24.12635040283203, 1.8151097297668457], "ext_wrench_in_world": [-108.36220910538425, 14.816069066959916, -27.223748041768765, -0.13333774795484352, -24.068718754877022, -2.4846602339001103]}
+{"timestamp_ns": 1789729565163431666, "elapsed_ms": 8633, "source_timestamp_ns": 1789729565155336370, "q": [0.8369779586791992, -1.897934079170227, -1.0068641901016235, 1.3810770511627197, -0.16015012562274933, 0.5940990447998047, 0.7030444145202637], "theta": [0.8390743136405945, -1.8960316181182861, -1.0050790309906006, 1.3626697063446045, -0.16072338819503784, 0.5940471887588501, 0.7029964327812195], "dq": [0.0006735328352078795, -0.00020643946481868625, -0.0006742519326508045, 0.0013589004520326853, -0.0007996468339115381, 0.0012059221044182777, -0.0012930418597534299], "dtheta": [0.0001417065504938364, -0.00027241557836532593, 0.00010863989882636815, 0.0003552048292476684, -0.0014746946981176734, -0.0001851706183515489, 0.0008132359362207353], "tau": [55.40999984741211, 23.56999969482422, 5.428000450134277, -26.30000114440918, -2.5960001945495605, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.459755003452301, -0.5014256238937378, -0.2070770114660263, -0.5914413332939148, 0.9459388852119446, -1.143391728401184, -0.5427395105361938], "tau_dot": [-134.01693725585938, -144.24281311035156, -67.96082305908203, 20.203248977661133, -49.755558013916016, -14.916830062866211, 30.379873275756836], "tau_ext": [-16.670001983642578, -41.61181640625, 31.799053192138672, 31.363550186157227, 9.509385108947754, -2.992772102355957, -0.11053580045700073], "tcp_pose": [0.6779193878173828, 0.03265766799449921, -0.21499305963516235, -0.002258185762912035, -0.004596332553774118, 0.9998900890350342, 0.013914009556174278], "tcp_vel": [-5.144611350260675e-05, -6.121843762230128e-05, -3.7291400076355785e-05, -0.0013782652094960213, -0.0004741803859360516, 0.00032434865715913475], "flange_pose": [0.678615927696228, 0.028487036004662514, -0.06505266577005386, -0.002258185762912035, -0.004596332553774118, 0.9998900890350342, 0.013914009556174278], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.16766357421875, 15.004317283630371, 28.108112335205078, 0.3361011743545532, -24.14450454711914, 1.8158764839172363], "ext_wrench_in_world": [-108.42948959502823, 14.778360118245159, -27.204499952743934, -0.12410539450096082, -24.086757096086068, -2.486001141453104]}
+{"timestamp_ns": 1789729565196767377, "elapsed_ms": 8666, "source_timestamp_ns": 1789729565195310816, "q": [0.8369770050048828, -1.8979331254959106, -1.0068645477294922, 1.381077527999878, -0.16014842689037323, 0.5941012501716614, 0.7030441164970398], "theta": [0.8390743136405945, -1.8960307836532593, -1.0050793886184692, 1.362669587135315, -0.16072218120098114, 0.5940486192703247, 0.7029966711997986], "dq": [0.0009448382188566029, 3.0856241210130975e-05, 1.831542613217607e-05, -0.00047865230590105057, -0.0008444392587989569, 0.000361040496500209, 0.0020823979284614325], "dtheta": [7.49488317524083e-05, 2.2732292563887313e-05, 0.00017597027181182057, 0.00011945800360990688, 0.0001248480548383668, -0.0006974258576519787, 0.0011259532766416669], "tau": [55.52000045776367, 23.709999084472656, 5.448000431060791, -26.308000564575195, -2.568000078201294, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.47731101512908936, -0.5292140245437622, -0.20568066835403442, -0.591309130191803, 0.8924214839935303, -1.1380048990249634, -0.5625461935997009], "tau_dot": [-19.158952713012695, 49.89481735229492, 39.72150421142578, 0.42959195375442505, 30.730968475341797, -20.806119918823242, 22.95720100402832], "tau_ext": [-16.67936897277832, -41.61860275268555, 31.7860050201416, 31.351303100585938, 9.503400802612305, -2.9968645572662354, -0.10800380259752274], "tcp_pose": [0.6779195070266724, 0.032657597213983536, -0.21499352157115936, -0.0022584162652492523, -0.00459559541195631, 0.9998900890350342, 0.013915392570197582], "tcp_vel": [-0.00023048181901685894, -3.380495763849467e-05, -7.587157597299665e-05, -0.00032296759309247136, 0.0007047960534691811, -0.0010510524734854698], "flange_pose": [0.6786161661148071, 0.028486553579568863, -0.06505314260721207, -0.0022584162652492523, -0.00459559541195631, 0.9998900890350342, 0.013915392570197582], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.18987274169922, 14.99078369140625, 28.103660583496094, 0.3359483778476715, -24.15130043029785, 1.8188639879226685], "ext_wrench_in_world": [-108.45154505849601, 14.764737958810757, -27.200235020540305, -0.12394118373224954, -24.093458527978473, -2.4892438083085024]}
+{"timestamp_ns": 1789729565230098968, "elapsed_ms": 8700, "source_timestamp_ns": 1789729565225336071, "q": [0.8369771242141724, -1.8979332447052002, -1.0068655014038086, 1.3810776472091675, -0.16014814376831055, 0.5941020250320435, 0.7030436396598816], "theta": [0.8390740752220154, -1.8960310220718384, -1.005079984664917, 1.362669825553894, -0.16072097420692444, 0.5940490961074829, 0.7029964327812195], "dq": [0.0010448037646710873, -0.00040593065205030143, 0.0008544111624360085, 0.0011216073762625456, -0.0002231849794043228, -0.0010007253149524331, 0.0019697854295372963], "dtheta": [9.827301983023062e-05, -0.00028964332886971533, -0.00048208257067017257, 0.00021563039626926184, 0.001332727144472301, 0.0001821507466956973, 0.0006527134100906551], "tau": [55.46999740600586, 23.68000030517578, 5.456000328063965, -26.32000160217285, -2.568000078201294, 2.636000156402588, -0.5680000185966492], "tau_des": [0.4994267523288727, -0.5173798203468323, -0.16034600138664246, -0.5960861444473267, 0.8753185272216797, -1.150602102279663, -0.5665547251701355], "tau_dot": [-52.20283126831055, 67.74507904052734, 27.072900772094727, -25.131454467773438, -1.7166086435317993, -32.94313049316406, -44.75271987915039], "tau_ext": [-16.708274841308594, -41.67051696777344, 31.789644241333008, 31.365407943725586, 9.506762504577637, -3.0031239986419678, -0.11514726281166077], "tcp_pose": [0.6779199242591858, 0.0326571948826313, -0.21499349176883698, -0.002257996005937457, -0.004595459438860416, 0.9998900890350342, 0.013915342278778553], "tcp_vel": [-0.0001266143808607012, -9.961645992007107e-05, -0.00023041370150167495, 0.0002981177531182766, 0.0005401329253800213, -0.0015071243979036808], "flange_pose": [0.678616464138031, 0.028486164286732674, -0.06505311280488968, -0.002257996005937457, -0.004595459438860416, 0.9998900890350342, 0.013915342278778553], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15068054199219, 15.036036491394043, 28.127086639404297, 0.35275664925575256, -24.144868850708008, 1.8205053806304932], "ext_wrench_in_world": [-108.4128497618375, 14.811013449561022, -27.222655730132367, -0.14081964088126817, -24.087139798688757, -2.4906294504712654]}
+{"timestamp_ns": 1789729565263431519, "elapsed_ms": 8733, "source_timestamp_ns": 1789729565255313248, "q": [0.8369773626327515, -1.8979332447052002, -1.0068674087524414, 1.3810778856277466, -0.1601489931344986, 0.5941027402877808, 0.703043520450592], "theta": [0.8390742540359497, -1.8960304260253906, -1.0050814151763916, 1.3626697063446045, -0.16072243452072144, 0.5940498113632202, 0.7029964327812195], "dq": [0.0008211683598347008, 0.001321067800745368, -0.00045271572889760137, 0.0019371629459783435, -0.0013245056616142392, -0.00026476988568902016, 0.0028866990469396114], "dtheta": [0.00011927966261282563, 0.0005916879163123667, 0.0002755062887445092, -0.00025048988754861057, -0.0013041115598753095, -0.00020276490249671042, 0.0007545636617578566], "tau": [55.43000030517578, 23.69999885559082, 5.444000244140625, -26.352001190185547, -2.572000026702881, 2.684000015258789, -0.5520000457763672], "tau_des": [0.3276216387748718, -0.6630474925041199, -0.16092626750469208, -0.46053069829940796, 0.9379273653030396, -1.1910414695739746, -0.553227961063385], "tau_dot": [-104.31224060058594, 185.76812744140625, -38.04153060913086, -25.0007266998291, 4.422003746032715, 19.122554779052734, -29.93644142150879], "tau_ext": [-16.672033309936523, -41.64164352416992, 31.783742904663086, 31.344436645507812, 9.502124786376953, -2.9982261657714844, -0.1111978143453598], "tcp_pose": [0.6779207587242126, 0.03265611454844475, -0.214993417263031, -0.002257193671539426, -0.004595090169459581, 0.9998900890350342, 0.013914632610976696], "tcp_vel": [0.00032884927350096405, -9.760162356542423e-05, 0.00046717055374756455, -0.00018765726417768747, -0.0007812440162524581, -0.0002678430173546076], "flange_pose": [0.6786170601844788, 0.028485296294093132, -0.06505303829908371, -0.002257193671539426, -0.004595090169459581, 0.9998900890350342, 0.013914632610976696], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13939666748047, 15.055134773254395, 28.127187728881836, 0.360956072807312, -24.14457130432129, 1.8215923309326172], "ext_wrench_in_world": [-108.40168644866839, 14.830254391498293, -27.222468917262557, -0.14904065668214997, -24.086891431610685, -2.4916378991577885]}
+{"timestamp_ns": 1789729565296771478, "elapsed_ms": 8766, "source_timestamp_ns": 1789729565295325784, "q": [0.8369775414466858, -1.8979350328445435, -1.0068717002868652, 1.3810782432556152, -0.16014906764030457, 0.5941009521484375, 0.7030419111251831], "theta": [0.8390750885009766, -1.8960317373275757, -1.0050855875015259, 1.362669825553894, -0.16072313487529755, 0.5940486192703247, 0.7029954791069031], "dq": [0.0003326859441585839, -0.0005579856224358082, -0.0017699094023555517, 0.0006274597253650427, 0.00013889897672925144, -0.0006422257865779102, 0.0026457752101123333], "dtheta": [-0.00011766220268327743, -0.00012449575297068805, -0.00045004329876974225, -0.00013859391037840396, -0.0009228455019183457, -0.00013864864013157785, -0.0011485109571367502], "tau": [55.46999740600586, 23.719999313354492, 5.428000450134277, -26.328001022338867, -2.6040000915527344, 2.6440000534057617, -0.5440000295639038], "tau_des": [0.44940951466560364, -0.5448391437530518, -0.1270616501569748, -0.5573076009750366, 0.9463125467300415, -1.1585569381713867, -0.5216850638389587], "tau_dot": [-43.50148010253906, 105.55741882324219, 0.061411626636981964, 4.683135032653809, -52.69850158691406, -36.059635162353516, 30.919004440307617], "tau_ext": [-16.69125747680664, -41.66878890991211, 31.794086456298828, 31.372028350830078, 9.509180068969727, -3.0037238597869873, -0.11154601722955704], "tcp_pose": [0.6779213547706604, 0.03265395388007164, -0.2149943709373474, -0.002257169922813773, -0.004595047328621149, 0.9998900890350342, 0.013911918736994267], "tcp_vel": [0.0002455989015288651, -0.00027164825587533414, -1.9195191271137446e-05, -0.0009584371000528336, -0.0005735463928431273, 0.0014089415781199932], "flange_pose": [0.6786175966262817, 0.02848394773900509, -0.06505396217107773, -0.002257169922813773, -0.004595047328621149, 0.9998900890350342, 0.013911918736994267], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.18441009521484, 15.042572021484375, 28.119722366333008, 0.3632798492908478, -24.156572341918945, 1.8237611055374146], "ext_wrench_in_world": [-108.44654517570282, 14.81693332706092, -27.215247066056207, -0.1512664601916042, -24.098862035363744, -2.493999035256483]}
+{"timestamp_ns": 1789729565330105789, "elapsed_ms": 8800, "source_timestamp_ns": 1789729565325347441, "q": [0.8369797468185425, -1.8979369401931763, -1.0068718194961548, 1.3810783624649048, -0.16014833748340607, 0.5940975546836853, 0.7030426859855652], "theta": [0.8390775918960571, -1.8960340023040771, -1.0050859451293945, 1.3626700639724731, -0.16072265803813934, 0.5940459966659546, 0.7029966711997986], "dq": [-0.0007385684293694794, 0.0013309436617419124, -0.0031896827276796103, -0.0021490193903446198, -0.0008999630808830261, 0.0012729914160445333, -0.00047629731125198305], "dtheta": [0.00022379739675670862, -0.0003038460563402623, -6.113644485594705e-05, 0.00014707089576404542, -0.0007798775914125144, -0.00020769938419107348, 0.0009312409674748778], "tau": [55.41999816894531, 23.670000076293945, 5.404000282287598, -26.32000160217285, -2.6080000400543213, 2.6680002212524414, -0.5720000267028809], "tau_des": [0.43899378180503845, -0.5322306156158447, -0.17591577768325806, -0.5678088665008545, 0.9314161539077759, -1.1519578695297241, -0.5566412210464478], "tau_dot": [-139.88771057128906, 149.32733154296875, -52.0330810546875, 7.032894611358643, -57.9156379699707, 15.082347869873047, -7.206696510314941], "tau_ext": [-16.673999786376953, -41.669288635253906, 31.817468643188477, 31.356040954589844, 9.5106201171875, -2.9974074363708496, -0.11432051658630371], "tcp_pose": [0.6779205203056335, 0.03265395388007164, -0.21499401330947876, -0.002257652347907424, -0.004595121834427118, 0.999890148639679, 0.01391021627932787], "tcp_vel": [-2.7609553399088327e-06, -6.0253762057982385e-05, 3.30658549501095e-05, -0.0009737580548971891, -0.00037267932202667, -0.0003095284919254482], "flange_pose": [0.6786168813705444, 0.028484458103775978, -0.06505359709262848, -0.002257652347907424, -0.004595121834427118, 0.999890148639679, 0.01391021627932787], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.18408203125, 15.065085411071777, 28.116113662719727, 0.36481571197509766, -24.154611587524414, 1.8234264850616455], "ext_wrench_in_world": [-108.4464341202341, 14.839228579226077, -27.21096236191027, -0.1528168585792189, -24.096934164533888, -2.4935208986792747]}
+{"timestamp_ns": 1789729565363430882, "elapsed_ms": 8833, "source_timestamp_ns": 1789729565355354911, "q": [0.836980938911438, -1.897938847541809, -1.0068714618682861, 1.381077766418457, -0.1601477563381195, 0.5940968990325928, 0.7030426859855652], "theta": [0.839078962802887, -1.8960356712341309, -1.0050857067108154, 1.3626701831817627, -0.16072243452072144, 0.5940450429916382, 0.7029964327812195], "dq": [-0.00020651522208936512, -0.00011767961404984817, 0.0012606368400156498, 0.001977910753339529, -0.0012291930615901947, 0.0015213515143841505, 0.001212441362440586], "dtheta": [0.00012194750888738781, -0.0001648234174354002, 3.41682716680225e-05, 5.068529935670085e-05, -0.0001953483879333362, -0.00013104102981742471, 0.0005389532307162881], "tau": [55.48999786376953, 23.639999389648438, 5.456000328063965, -26.356000900268555, -2.5880000591278076, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.4433848559856415, -0.526831865310669, -0.19688086211681366, -0.5609015822410583, 0.9150734543800354, -1.1581436395645142, -0.5509477853775024], "tau_dot": [-15.551094055175781, -71.7581787109375, 16.255067825317383, -9.01290512084961, -22.592199325561523, 21.19044303894043, -5.9321746826171875], "tau_ext": [-16.711929321289062, -41.65024185180664, 31.80172348022461, 31.34784698486328, 9.511580467224121, -2.9919826984405518, -0.10887233167886734], "tcp_pose": [0.6779201626777649, 0.03265470638871193, -0.21499361097812653, -0.0022573021706193686, -0.004595649428665638, 0.999890148639679, 0.01390975620597601], "tcp_vel": [-4.6882731112418696e-05, 2.3147560568759218e-05, 1.4138365258986596e-05, -0.0003392660291865468, -6.397000106517226e-05, -0.00028487853705883026], "flange_pose": [0.678616464138031, 0.02848535031080246, -0.06505318731069565, -0.0022573021706193686, -0.004595649428665638, 0.999890148639679, 0.01390975620597601], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.16136932373047, 15.081875801086426, 28.11624526977539, 0.36208420991897583, -24.147781372070312, 1.8234622478485107], "ext_wrench_in_world": [-108.42387244156434, 14.856087112894947, -27.210817705527855, -0.1501209758739712, -24.090083051975743, -2.493356568808652]}
+{"timestamp_ns": 1789729565396765462, "elapsed_ms": 8866, "source_timestamp_ns": 1789729565395343363, "q": [0.8369811177253723, -1.8979378938674927, -1.0068720579147339, 1.3810774087905884, -0.16014809906482697, 0.5940914750099182, 0.7030429840087891], "theta": [0.8390790224075317, -1.8960354328155518, -1.0050861835479736, 1.3626701831817627, -0.16072243452072144, 0.5940395593643188, 0.7029957175254822], "dq": [-0.0010385991772636771, 0.0004665781743824482, 0.0037837722338736057, -0.002978757256641984, 0.0005052525084465742, 0.002680716337636113, 0.00036079477285966277], "dtheta": [-0.0001895190216600895, 0.0005984470481052995, -0.00015651377907488495, -4.748244464281015e-05, -0.0006589922704733908, -0.0006601127679459751, -0.00018899250426329672], "tau": [55.5099983215332, 23.709999084472656, 5.428000450134277, -26.304000854492188, -2.56000018119812, 2.624000072479248, -0.5960000157356262], "tau_des": [0.4464608132839203, -0.6213196516036987, -0.10812786966562271, -0.5609287023544312, 0.9169291853904724, -1.1422079801559448, -0.544322669506073], "tau_dot": [-5.695167541503906, 57.02335739135742, -51.18497085571289, -22.486080169677734, 36.49085998535156, -20.637317657470703, -110.50053405761719], "tau_ext": [-16.68258285522461, -41.62813949584961, 31.785215377807617, 31.349393844604492, 9.51061725616455, -2.992539167404175, -0.11063937097787857], "tcp_pose": [0.677919864654541, 0.03265330195426941, -0.2149936407804489, -0.0022589126601815224, -0.004595078993588686, 0.999890148639679, 0.013908158987760544], "tcp_vel": [0.00015609878755640239, -0.0004035161400679499, 4.0772083593765274e-05, -0.00046807393664494157, 0.00023025830159895122, 5.2117626182734966e-05], "flange_pose": [0.6786166429519653, 0.02848442643880844, -0.06505320221185684, -0.0022589126601815224, -0.004595078993588686, 0.999890148639679, 0.013908158987760544], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13729095458984, 15.067376136779785, 28.13136100769043, 0.3546084761619568, -24.1433048248291, 1.8228867053985596], "ext_wrench_in_world": [-108.39980471471888, 14.84226720572429, -27.2261351057126, -0.14271807563335104, -24.085563099774827, -2.4926116212426073]}
+{"timestamp_ns": 1789729565430097644, "elapsed_ms": 8900, "source_timestamp_ns": 1789729565425351692, "q": [0.8369829654693604, -1.8979381322860718, -1.0068721771240234, 1.3810787200927734, -0.16014784574508667, 0.5940899848937988, 0.7030424475669861], "theta": [0.8390805125236511, -1.8960356712341309, -1.0050859451293945, 1.362671136856079, -0.16072192788124084, 0.594037652015686, 0.7029947638511658], "dq": [-0.0003090157697442919, -0.0007812281837686896, 0.0014485003193840384, 0.000226698030019179, 0.0017272352706640959, 0.0008813028689473867, 0.0012836053501814604], "dtheta": [0.0005246312357485294, 1.8324006305192597e-05, 5.260746183921583e-05, 2.600623520265799e-05, -0.00035617046523839235, 0.0003449929354246706, -0.0002517615503165871], "tau": [55.54999923706055, 23.68000030517578, 5.460000038146973, -26.304000854492188, -2.6080000400543213, 2.6560001373291016, -0.5560000538825989], "tau_des": [0.3278329074382782, -0.5832851529121399, -0.19263781607151031, -0.48836851119995117, 0.9335949420928955, -1.1830577850341797, -0.5379608869552612], "tau_dot": [33.83972930908203, 1.8768072128295898, 12.307860374450684, 7.494457244873047, -83.02350616455078, -18.0689754486084, 23.095287322998047], "tau_ext": [-16.690380096435547, -41.642547607421875, 31.78546905517578, 31.34917640686035, 9.51032829284668, -2.990276575088501, -0.11029282957315445], "tcp_pose": [0.6779194474220276, 0.032652854919433594, -0.2149932086467743, -0.00225908774882555, -0.0045954324305057526, 0.999890148639679, 0.013907255604863167], "tcp_vel": [0.00020276835130061954, 4.795744098373689e-05, 0.0004208749742247164, 3.7465939385583624e-05, -0.000952081405557692, 0.0004698672564700246], "flange_pose": [0.6786162853240967, 0.028484251350164413, -0.06505276262760162, -0.00225908774882555, -0.0045954324305057526, 0.999890148639679, 0.013907255604863167], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13204193115234, 15.062247276306152, 28.136917114257812, 0.35384607315063477, -24.146265029907227, 1.8237340450286865], "ext_wrench_in_world": [-108.39455462872525, 14.83721674837833, -27.231845620700053, -0.14191621942930208, -24.088496037518972, -2.493500800500575]}
+{"timestamp_ns": 1789729565463434464, "elapsed_ms": 8933, "source_timestamp_ns": 1789729565455319112, "q": [0.8369829058647156, -1.8979371786117554, -1.0068730115890503, 1.3810797929763794, -0.16014739871025085, 0.594092607498169, 0.7030419111251831], "theta": [0.8390804529190063, -1.896034836769104, -1.0050866603851318, 1.3626718521118164, -0.16072170436382294, 0.5940395593643188, 0.7029940485954285], "dq": [-0.00033035289379768074, 0.0003308138402644545, 0.0008080428233370185, 0.0013741543516516685, 0.0008894169004634023, -2.07840512302937e-05, 0.000363526662113145], "dtheta": [0.00020795280579477549, 0.00016718052211217582, -0.00017791833670344204, 0.00013806174683850259, -0.00018768943846225739, 0.0010669584153220057, 0.0006354365614242852], "tau": [55.529998779296875, 23.65999984741211, 5.424000263214111, -26.304000854492188, -2.56000018119812, 2.684000015258789, -0.5680000185966492], "tau_des": [0.3723818361759186, -0.6224873065948486, -0.1451636254787445, -0.494180828332901, 0.9160847663879395, -1.1951266527175903, -0.560685396194458], "tau_dot": [176.80967712402344, -103.0126953125, -43.28703689575195, 32.845130920410156, 90.36549377441406, 29.602041244506836, -41.820865631103516], "tau_ext": [-16.697214126586914, -41.65746307373047, 31.78169822692871, 31.355609893798828, 9.513571739196777, -2.9950685501098633, -0.11084812134504318], "tcp_pose": [0.6779199242591858, 0.03265237808227539, -0.21499322354793549, -0.002258561784401536, -0.004595050122588873, 0.999890148639679, 0.01390806119889021], "tcp_vel": [0.00031944780494086444, -1.875416455732193e-05, 0.00025620427913963795, 0.0005091364146210253, -0.001047142199240625, -0.0007716608815826476], "flange_pose": [0.6786166429519653, 0.02848353050649166, -0.06505278497934341, -0.002258561784401536, -0.004595050122588873, 0.999890148639679, 0.01390806119889021], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14469909667969, 15.068326950073242, 28.150562286376953, 0.3592711091041565, -24.153627395629883, 1.82596755027771], "ext_wrench_in_world": [-108.40729022328277, 14.843684748066392, -27.245348710740444, -0.14730043217938726, -24.09583922583665, -2.4959535606133]}
+{"timestamp_ns": 1789729565496764175, "elapsed_ms": 8966, "source_timestamp_ns": 1789729565495306604, "q": [0.8369829058647156, -1.8979370594024658, -1.006874918937683, 1.3810808658599854, -0.16014699637889862, 0.5940933227539062, 0.7030419707298279], "theta": [0.8390806913375854, -1.8960349559783936, -1.0050886869430542, 1.3626728057861328, -0.16072170436382294, 0.594040036201477, 0.7029940485954285], "dq": [0.001355987973511219, 0.0025077469181269407, -0.0011883302358910441, 0.00018840155098587275, 0.003481481922790408, -0.0005401066737249494, 0.0007950046565383673], "dtheta": [-7.589728920720518e-05, 7.903093501226977e-05, 1.2153199349995703e-05, -1.937496563186869e-05, 0.00024916641996242106, -0.00024762446992099285, 0.0004982595564797521], "tau": [55.439998626708984, 23.65999984741211, 5.460000038146973, -26.36400032043457, -2.580000162124634, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.4736003577709198, -0.5586397051811218, -0.16955667734146118, -0.5731966495513916, 0.8896673321723938, -1.151152491569519, -0.5600144267082214], "tau_dot": [-40.387062072753906, 43.34695053100586, 28.10848045349121, -9.979979515075684, -20.02737045288086, -17.050678253173828, -0.1078682690858841], "tau_ext": [-16.681116104125977, -41.64487075805664, 31.776451110839844, 31.356637954711914, 9.508888244628906, -3.0035221576690674, -0.10700466483831406], "tcp_pose": [0.6779202818870544, 0.03265124186873436, -0.21499374508857727, -0.002258528722450137, -0.004594277124851942, 0.9998902082443237, 0.013907543383538723], "tcp_vel": [-7.182406989159063e-05, -3.432330413488671e-05, -6.736267096130177e-05, 6.827722972957417e-05, 0.00040301831904798746, -0.0006778730312362313], "flange_pose": [0.6786169409751892, 0.028482550755143166, -0.0650532990694046, -0.002258528722450137, -0.004594277124851942, 0.9998902082443237, 0.013907543383538723], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1471176147461, 15.064565658569336, 28.132688522338867, 0.3648891746997833, -24.149789810180664, 1.827414870262146], "ext_wrench_in_world": [-108.40956699633512, 14.839545102628033, -27.22759694075487, -0.15299704512442572, -24.092017402293234, -2.49724377775926]}
+{"timestamp_ns": 1789729565530099466, "elapsed_ms": 9000, "source_timestamp_ns": 1789729565525328051, "q": [0.836982250213623, -1.897936224937439, -1.006877064704895, 1.3810796737670898, -0.16014569997787476, 0.5940941572189331, 0.7030426859855652], "theta": [0.8390806913375854, -1.896034836769104, -1.0050909519195557, 1.3626724481582642, -0.16072097420692444, 0.5940407514572144, 0.7029942870140076], "dq": [0.0024288774002343416, -0.0010104845277965069, -0.0003103771305177361, -0.00028698568348772824, -2.1094456315040588e-07, -0.0008578698616474867, -0.002305238740518689], "dtheta": [-0.00011308732064208016, 0.00013821547327097505, -0.00014111066411715, -0.0002380759542575106, 0.0006728742155246437, 7.192073826445267e-05, 0.00019561608496587723], "tau": [55.46999740600586, 23.68000030517578, 5.420000076293945, -26.340002059936523, -2.6000001430511475, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.44293713569641113, -0.5950692892074585, -0.14380088448524475, -0.5321987271308899, 0.8825337886810303, -1.1721525192260742, -0.5651927590370178], "tau_dot": [-58.97861099243164, 32.60890579223633, -7.400557518005371, 18.874778747558594, -21.623769760131836, -58.92245101928711, 16.17885971069336], "tau_ext": [-16.686420440673828, -41.65378189086914, 31.789894104003906, 31.345151901245117, 9.513256072998047, -3.002852201461792, -0.11122716218233109], "tcp_pose": [0.6779215335845947, 0.03265028074383736, -0.21499352157115936, -0.002258040476590395, -0.004592434503138065, 0.9998902082443237, 0.013908186927437782], "tcp_vel": [7.472170545952395e-05, -1.3997558198752813e-05, 1.5837746104807593e-05, 0.0006136781303212047, 0.0001999216474359855, -0.0007997038774192333], "flange_pose": [0.6786180138587952, 0.028481395915150642, -0.0650530755519867, -0.002258040476590395, -0.004592434503138065, 0.9998902082443237, 0.013908186927437782], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14866638183594, 15.064208030700684, 28.119047164916992, 0.36827579140663147, -24.145755767822266, 1.82846999168396], "ext_wrench_in_world": [-108.4109691240886, 14.839230373820525, -27.214044769443863, -0.15651205530242504, -24.08798331044008, -2.498202389890034]}
+{"timestamp_ns": 1789729565563463989, "elapsed_ms": 9033, "source_timestamp_ns": 1789729565555317265, "q": [0.8369830250740051, -1.8979384899139404, -1.0068777799606323, 1.3810791969299316, -0.16014541685581207, 0.5940934419631958, 0.7030437588691711], "theta": [0.839080810546875, -1.8960368633270264, -1.0050914287567139, 1.3626723289489746, -0.16072075068950653, 0.594040036201477, 0.7029954791069031], "dq": [0.0034552367869764566, 0.0006352972704917192, 0.0007388314697891474, -0.0007724508759565651, 0.00043613387970253825, 0.00039078047848306596, 0.0006329859606921673], "dtheta": [-0.00010549788567004725, -0.0004437389725353569, -8.129378329613246e-06, 0.00019524841627571732, 0.001139884814620018, -0.00022718797845300287, 0.0007383922929875553], "tau": [55.439998626708984, 23.689998626708984, 5.424000263214111, -26.32400131225586, -2.5880000591278076, 2.684000015258789, -0.5560000538825989], "tau_des": [0.5582444071769714, -0.4713051915168762, -0.20605088770389557, -0.6346423625946045, 0.8603542447090149, -1.1369057893753052, -0.5717523694038391], "tau_dot": [1.5416432619094849, 86.34696960449219, -23.389163970947266, 21.832538604736328, 7.6143341064453125, -6.381872177124023, -13.719517707824707], "tau_ext": [-16.685504913330078, -41.68196105957031, 31.8079776763916, 31.341888427734375, 9.512587547302246, -2.9958434104919434, -0.11309177428483963], "tcp_pose": [0.6779213547706604, 0.03265052288770676, -0.21499362587928772, -0.0022577273193746805, -0.004592299461364746, 0.9998902082443237, 0.013907097280025482], "tcp_vel": [-0.00041206550667993724, 0.0001327952923020348, -0.0004102496022824198, 0.0001096834457712248, 0.001083509880118072, -0.0010431141126900911], "flange_pose": [0.6786177158355713, 0.02848196215927601, -0.06505317240953445, -0.0022577273193746805, -0.004592299461364746, 0.9998902082443237, 0.013907097280025482], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15767669677734, 15.084636688232422, 28.1149959564209, 0.3707785904407501, -24.147733688354492, 1.8281782865524292], "ext_wrench_in_world": [-108.42012520771715, 14.859424818347776, -27.209487942645328, -0.15900034501250507, -24.089997026052355, -2.4979025339905023]}
+{"timestamp_ns": 1789729565596804268, "elapsed_ms": 9066, "source_timestamp_ns": 1789729565595342668, "q": [0.8369845747947693, -1.8979430198669434, -1.0068784952163696, 1.3810778856277466, -0.16014596819877625, 0.5940852761268616, 0.7030434012413025], "theta": [0.8390822410583496, -1.8960421085357666, -1.0050920248031616, 1.3626717329025269, -0.16072145104408264, 0.5940314531326294, 0.7029950022697449], "dq": [9.491038508713245e-05, 9.482773748459294e-05, -0.0006167523097246885, 0.0032387925311923027, -0.0008243048214353621, -0.0007475693128071725, -0.0024050299543887377], "dtheta": [0.00014265051868278533, 5.9567304560914636e-05, -0.00020714457787107676, 0.00028488930547609925, 0.0002061561099253595, -7.561023380731058e-07, -0.00018720254593063146], "tau": [55.52000045776367, 23.60999870300293, 5.432000160217285, -26.356000900268555, -2.564000129699707, 2.6600000858306885, -0.5680000185966492], "tau_des": [0.4612054228782654, -0.5560794472694397, -0.14896056056022644, -0.58277827501297, 0.8992156386375427, -1.146298885345459, -0.5508960485458374], "tau_dot": [69.9791488647461, 25.39359474182129, -34.62929153442383, 11.108246803283691, 26.633647918701172, -73.072509765625, -54.694313049316406], "tau_ext": [-16.708574295043945, -41.63105773925781, 31.794525146484375, 31.340356826782227, 9.51301383972168, -2.9925434589385986, -0.1187591627240181], "tcp_pose": [0.6779197454452515, 0.032650385051965714, -0.21499423682689667, -0.0022592763416469097, -0.004593845456838608, 0.9998902678489685, 0.01390270609408617], "tcp_vel": [-2.3816230168449692e-05, -0.00017209081852342933, -4.099757279618643e-05, -0.0001228513428941369, 0.00012985015928279608, -6.791745545342565e-05], "flange_pose": [0.6786166429519653, 0.02848314307630062, -0.06505375355482101, -0.0022592763416469097, -0.004593845456838608, 0.9998902678489685, 0.01390270609408617], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10702514648438, 15.106698989868164, 28.118865966796875, 0.36708229780197144, -24.133920669555664, 1.8229776620864868], "ext_wrench_in_world": [-108.36982446288002, 14.881472538771321, -27.212768778905, -0.15533766150838552, -24.076322680565813, -2.4921236418808412]}
+{"timestamp_ns": 1789729565630100508, "elapsed_ms": 9100, "source_timestamp_ns": 1789729565625338371, "q": [0.8369842767715454, -1.8979434967041016, -1.0068793296813965, 1.3810786008834839, -0.1601460874080658, 0.5940812230110168, 0.7030422687530518], "theta": [0.8390820622444153, -1.8960431814193726, -1.005092978477478, 1.3626720905303955, -0.16072170436382294, 0.5940266847610474, 0.7029942870140076], "dq": [-0.0020429897122085094, -0.001028746017254889, 0.0009309480665251613, -0.0009419852867722511, -0.0027721053920686245, -0.002049047499895096, 2.8180402296129614e-05], "dtheta": [9.371677151648328e-05, -9.65370491030626e-05, -0.0001686261675786227, 9.681184747023508e-05, -0.0008722069906070828, 5.1286355301272124e-05, -0.00038067364948801696], "tau": [55.529998779296875, 23.639999389648438, 5.444000244140625, -26.34800148010254, -2.5880000591278076, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.45284947752952576, -0.5435715317726135, -0.15827620029449463, -0.5769066214561462, 0.9283363819122314, -1.1459027528762817, -0.5382761359214783], "tau_dot": [71.17012023925781, -70.4019546508789, 10.747119903564453, 5.122274398803711, -19.431875228881836, 61.48722839355469, 16.516996383666992], "tau_ext": [-16.686784744262695, -41.61937713623047, 31.787946701049805, 31.360027313232422, 9.512324333190918, -2.9946422576904297, -0.11483244597911835], "tcp_pose": [0.6779187917709351, 0.03264928609132767, -0.21499541401863098, -0.0022611271124333143, -0.0045943972654640675, 0.9998902678489685, 0.01390072237700224], "tcp_vel": [0.0001410303812008351, -0.00013646192383021116, 6.0059184761485085e-05, -0.000741492141969502, -0.0006009406642988324, 0.0008247088408097625], "flange_pose": [0.6786162257194519, 0.028482643887400627, -0.06505491584539413, -0.0022611271124333143, -0.0045943972654640675, 0.9998902678489685, 0.01390072237700224], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1259994506836, 15.054459571838379, 28.12624740600586, 0.3500387668609619, -24.13746452331543, 1.8185244798660278], "ext_wrench_in_world": [-108.3884725359775, 14.829050547530086, -27.22117897023668, -0.13822309886024597, -24.079841153239368, -2.487749273176415]}
+{"timestamp_ns": 1789729565663432639, "elapsed_ms": 9133, "source_timestamp_ns": 1789729565655327835, "q": [0.8369847536087036, -1.8979419469833374, -1.0068804025650024, 1.3810778856277466, -0.16014520823955536, 0.5940790772438049, 0.7030414938926697], "theta": [0.8390823006629944, -1.8960421085357666, -1.005094289779663, 1.3626714944839478, -0.16072075068950653, 0.5940245389938354, 0.7029938101768494], "dq": [-0.0014165816828608513, 0.0003190486750099808, -0.0006242576637305319, 0.00021991659014020115, -0.0008043452980928123, 0.0009260944207198918, -0.0028071978595107794], "dtheta": [-0.00027717146440409124, 0.0001327896461589262, 1.5570954928989522e-05, -8.674567652633414e-05, 0.0007579302764497697, -0.0002478385576978326, -0.00045093754306435585], "tau": [55.48999786376953, 23.600000381469727, 5.428000450134277, -26.340002059936523, -2.5880000591278076, 2.684000015258789, -0.5440000295639038], "tau_des": [0.5273556709289551, -0.5278904438018799, -0.17204391956329346, -0.6126222014427185, 0.8722633123397827, -1.1310356855392456, -0.5482505559921265], "tau_dot": [-2.3502378463745117, -89.29886627197266, -29.21857452392578, -12.019539833068848, 12.28060245513916, 39.00840759277344, 17.249927520751953], "tau_ext": [-16.6929931640625, -41.62261199951172, 31.782644271850586, 31.38313865661621, 9.515413284301758, -2.999969244003296, -0.11459778249263763], "tcp_pose": [0.6779194474220276, 0.032648079097270966, -0.2149946689605713, -0.0022614344488829374, -0.004593585152179003, 0.9998902678489685, 0.013900747522711754], "tcp_vel": [-0.00014476990327239037, 4.61625148773237e-07, -0.0001994389749597758, 0.0004695120733231306, 0.0008062896085903049, -5.554896415560506e-05], "flange_pose": [0.678617000579834, 0.02848142758011818, -0.06505417078733444, -0.0022614344488829374, -0.004593585152179003, 0.9998902678489685, 0.013900747522711754], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1869125366211, 15.010387420654297, 28.1210880279541, 0.34175536036491394, -24.15151596069336, 1.8183434009552002], "ext_wrench_in_world": [-108.4489497465743, 14.784466892128757, -27.216910261474222, -0.12985157882562237, -24.093814651438024, -2.487996535244448]}
+{"timestamp_ns": 1789729565696767849, "elapsed_ms": 9166, "source_timestamp_ns": 1789729565695333953, "q": [0.8369860649108887, -1.8979421854019165, -1.006880760192871, 1.3810774087905884, -0.1601458489894867, 0.594079852104187, 0.703042209148407], "theta": [0.839083731174469, -1.8960424661636353, -1.005094289779663, 1.3626710176467896, -0.16072075068950653, 0.5940259695053101, 0.7029950022697449], "dq": [-0.0006662958185188472, -0.0001964361872524023, 0.0008835045155137777, -0.0004300801665522158, 0.0013293508673086762, 0.0010080882348120213, 0.0006254430627450347], "dtheta": [0.00010185036080656573, 4.414654176798649e-05, -1.4303128409665078e-05, -1.8356779037276283e-05, 0.00021016370737925172, -0.00018225576786790043, -3.0968622013460845e-05], "tau": [55.44999694824219, 23.65999984741211, 5.440000057220459, -26.304000854492188, -2.568000078201294, 2.684000015258789, -0.5560000538825989], "tau_des": [0.4392865300178528, -0.5662179589271545, -0.1672176718711853, -0.5575623512268066, 0.8958186507225037, -1.152622103691101, -0.5543918013572693], "tau_dot": [-82.80231475830078, -141.45680236816406, 19.321136474609375, -84.6591796875, 42.264198303222656, 21.066749572753906, -40.76959228515625], "tau_ext": [-16.68419647216797, -41.65138626098633, 31.785287857055664, 31.349136352539062, 9.509462356567383, -2.9964547157287598, -0.11308114230632782], "tcp_pose": [0.6779201626777649, 0.03264814242720604, -0.21499353647232056, -0.0022600945085287094, -0.004593375604599714, 0.9998902678489685, 0.01390073262155056], "tcp_vel": [-1.6970261640381068e-05, -3.1286614103009924e-05, 5.1545503083616495e-05, 4.5865086576668546e-05, 0.00013203578419052064, -0.00012382857676129788], "flange_pose": [0.6786172986030579, 0.0284814964979887, -0.06505303829908371, -0.0022600945085287094, -0.004593375604599714, 0.9998902678489685, 0.01390073262155056], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.20134735107422, 15.016345024108887, 28.116355895996094, 0.3491637706756592, -24.157068252563477, 1.8220691680908203], "ext_wrench_in_world": [-108.46333664220916, 14.7902059690976, -27.21224112732525, -0.1372306026607883, -24.099329574086685, -2.491842649990974]}
+{"timestamp_ns": 1789729565730095702, "elapsed_ms": 9200, "source_timestamp_ns": 1789729565725325616, "q": [0.8369870185852051, -1.8979424238204956, -1.0068806409835815, 1.3810780048370361, -0.16014601290225983, 0.5940805673599243, 0.7030417919158936], "theta": [0.8390836119651794, -1.896042823791504, -1.0050947666168213, 1.3626717329025269, -0.16072170436382294, 0.5940274000167847, 0.7029945254325867], "dq": [0.0013360047014430165, 0.000543636386282742, 0.00014516088413074613, 0.0008816646877676249, -0.00024976159329526126, 0.0007499674102291465, -0.0039012026973068714], "dtheta": [-0.00011228304356336594, -5.0338272558292374e-05, 1.655271989875473e-05, 0.0002517137909308076, -0.0006519480375573039, 0.00050854537403211, -0.0005413610488176346], "tau": [55.48999786376953, 23.619998931884766, 5.460000038146973, -26.256000518798828, -2.5960001945495605, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.4751262664794922, -0.5336114168167114, -0.18507887423038483, -0.5752168893814087, 0.9139169454574585, -1.162357211112976, -0.5363150835037231], "tau_dot": [-18.28008270263672, -111.63578796386719, 40.49113082885742, 68.79806518554688, -15.845975875854492, 8.727677345275879, 12.007621765136719], "tau_ext": [-16.688840866088867, -41.652584075927734, 31.778173446655273, 31.348024368286133, 9.510412216186523, -3.0018577575683594, -0.11445944756269455], "tcp_pose": [0.6779202222824097, 0.03264819458127022, -0.21499311923980713, -0.002259546425193548, -0.004593736957758665, 0.9998902678489685, 0.013900676742196083], "tcp_vel": [4.2057668906636536e-05, 9.860362297331449e-06, -9.102565672947094e-05, -0.00024169616517610848, -0.0004404569626785815, 0.0009756952640600502], "flange_pose": [0.6786171793937683, 0.028481563553214073, -0.06505261361598969, -0.002259546425193548, -0.004593736957758665, 0.9998902678489685, 0.013900676742196083], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1440658569336, 15.05542278289795, 28.12879753112793, 0.3623407483100891, -24.147829055786133, 1.8239871263504028], "ext_wrench_in_world": [-108.40645284275932, 14.830062774980092, -27.223963817352864, -0.15048028502609773, -24.09016329819065, -2.493442582610157]}
+{"timestamp_ns": 1789729565763431562, "elapsed_ms": 9233, "source_timestamp_ns": 1789729565755322789, "q": [0.836986780166626, -1.8979434967041016, -1.0068843364715576, 1.381077527999878, -0.16014567017555237, 0.5940825343132019, 0.7030434012413025], "theta": [0.8390832543373108, -1.896044135093689, -1.0050981044769287, 1.362671136856079, -0.16072145104408264, 0.5940293073654175, 0.7029954791069031], "dq": [0.00010167519212700427, -0.00033531224471516907, -0.0013137273490428925, 0.0005988363409414887, 0.001071057515218854, 0.002482237061485648, -0.0012696797493845224], "dtheta": [3.700355227920227e-05, -0.000322095729643479, -0.0008364279055967927, -0.00014007363643031567, -0.00029653284582309425, 0.0007897923933342099, 0.0010657826205715537], "tau": [55.52000045776367, 23.689998626708984, 5.460000038146973, -26.30000114440918, -2.56000018119812, 2.632000207901001, -0.5640000104904175], "tau_des": [0.41577255725860596, -0.627346932888031, -0.06140682473778725, -0.512808620929718, 0.9189922213554382, -1.1848044395446777, -0.5854630470275879], "tau_dot": [-6.489804267883301, -2.6711177825927734, -2.5393006801605225, -21.905960083007812, 30.40337562561035, -18.660341262817383, -43.844085693359375], "tau_ext": [-16.696157455444336, -41.65169143676758, 31.776927947998047, 31.33680534362793, 9.512154579162598, -2.998518228530884, -0.11377827078104019], "tcp_pose": [0.6779216527938843, 0.03264690935611725, -0.2149934023618698, -0.0022582458332180977, -0.0045918612740933895, 0.9998902678489685, 0.013899985700845718], "tcp_vel": [0.0004439527983777225, -0.00023586051247548312, 6.100293103372678e-05, -0.00036489320336841047, -0.0011460415553301573, -0.001313398708589375], "flange_pose": [0.6786181926727295, 0.02848048321902752, -0.06505289673805237, -0.0022582458332180977, -0.0045918612740933895, 0.9998902678489685, 0.013899985700845718], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0954818725586, 15.088006019592285, 28.128511428833008, 0.3691953122615814, -24.135181427001953, 1.8250927925109863], "ext_wrench_in_world": [-108.35804155330553, 14.863445964485335, -27.22328207440869, -0.15753975591428443, -24.07755662020366, -2.4941330799227113]}
+{"timestamp_ns": 1789729565796757724, "elapsed_ms": 9266, "source_timestamp_ns": 1789729565795319499, "q": [0.8369868993759155, -1.8979495763778687, -1.0068858861923218, 1.3810780048370361, -0.1601458191871643, 0.5940812826156616, 0.703042209148407], "theta": [0.8390834331512451, -1.896050214767456, -1.005099892616272, 1.362670660018921, -0.16072145104408264, 0.594028115272522, 0.702995240688324], "dq": [-0.00013609405141323805, -0.00043720545363612473, 0.0009525950881652534, 0.0007317676790989935, 0.0008844378171488643, 0.0015739628579467535, 0.0002610529772937298], "dtheta": [-0.0005640077288262546, -0.0007726897019892931, -8.187349158106372e-05, -0.0002979327109642327, 0.00040715865907259285, 0.0004952005692757666, -9.73586520558456e-06], "tau": [55.5099983215332, 23.649999618530273, 5.444000244140625, -26.284000396728516, -2.568000078201294, 2.6440000534057617, -0.5560000538825989], "tau_des": [0.5973212718963623, -0.41441720724105835, -0.22515544295310974, -0.6334896683692932, 0.8864936232566833, -1.1484688520431519, -0.5486325621604919], "tau_dot": [21.271135330200195, 2.8143069744110107, -4.619858741760254, -11.547199249267578, 57.37793731689453, -48.15319061279297, -47.4652214050293], "tau_ext": [-16.699363708496094, -41.65800857543945, 31.809961318969727, 31.362024307250977, 9.515290260314941, -3.0015017986297607, -0.11690457910299301], "tcp_pose": [0.6779201626777649, 0.03264753893017769, -0.21499553322792053, -0.0022585901897400618, -0.004594026133418083, 0.9998903274536133, 0.013896639458835125], "tcp_vel": [-0.0001464359083911404, 0.000345991225913167, -0.00046015193220227957, 0.00012175819574622437, 0.0001504513929830864, 0.0001852103159762919], "flange_pose": [0.6786168217658997, 0.028482116758823395, -0.0650550052523613, -0.0022585901897400618, -0.004594026133418083, 0.9998903274536133, 0.013896639458835125], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11370086669922, 15.086438179016113, 28.121355056762695, 0.36613985896110535, -24.13551902770996, 1.82243812084198], "ext_wrench_in_world": [-108.37629301983522, 14.86085778379922, -27.216126826946393, -0.15436572435226925, -24.077956895546066, -2.4913411643005827]}
+{"timestamp_ns": 1789729565830089646, "elapsed_ms": 9300, "source_timestamp_ns": 1789729565825401060, "q": [0.8369874954223633, -1.8979518413543701, -1.0068860054016113, 1.381077766418457, -0.16014538705348969, 0.5940784215927124, 0.7030414342880249], "theta": [0.8390841484069824, -1.8960529565811157, -1.005099892616272, 1.3626704216003418, -0.16072145104408264, 0.5940259695053101, 0.702995240688324], "dq": [-0.0008146801264956594, 0.0007521953084506094, 0.00020952089107595384, 0.0005058706738054752, -0.0006835929816588759, 0.002501407405361533, 0.0008771113934926689], "dtheta": [-0.00027971933013759553, -0.0004382556362543255, 0.00027657512691803277, 1.2432062248990405e-05, -0.0007799148443154991, 0.000886866997461766, -8.986165084934328e-06], "tau": [55.41999816894531, 23.60999870300293, 5.456000328063965, -26.308000564575195, -2.5920000076293945, 2.6760001182556152, -0.5480000376701355], "tau_des": [0.5204654932022095, -0.45658913254737854, -0.2479206919670105, -0.5930528044700623, 0.9159020781517029, -1.1652737855911255, -0.5369343161582947], "tau_dot": [-155.09857177734375, 135.3818817138672, 21.896333694458008, 23.511171340942383, 22.926006317138672, -6.280588150024414, 6.699885368347168], "tau_ext": [-16.66985511779785, -41.61360549926758, 31.796451568603516, 31.351594924926758, 9.51321792602539, -3.0006415843963623, -0.12087907642126083], "tcp_pose": [0.6779192686080933, 0.03264777734875679, -0.21499605476856232, -0.0022593727335333824, -0.004595013335347176, 0.9998903274536133, 0.013895058073103428], "tcp_vel": [-2.680584202607861e-06, 0.00036389013985171914, -0.00014517678937409073, -6.146424857433885e-05, -0.0007242715801112354, 0.0009104268392547965], "flange_pose": [0.6786161661148071, 0.02848283015191555, -0.06505550444126129, -0.0022593727335333824, -0.004595013335347176, 0.9998903274536133, 0.013895058073103428], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15026092529297, 15.038079261779785, 28.084909439086914, 0.35097774863243103, -24.13604736328125, 1.817055344581604], "ext_wrench_in_world": [-108.41231171813776, 14.81086614589575, -27.18076187732656, -0.13913014332972284, -24.078502382202863, -2.485965337918324]}
+{"timestamp_ns": 1789729565863430905, "elapsed_ms": 9333, "source_timestamp_ns": 1789729565855323961, "q": [0.8369879126548767, -1.8979518413543701, -1.006886601448059, 1.3810772895812988, -0.16014528274536133, 0.5940760374069214, 0.7030402421951294], "theta": [0.8390849232673645, -1.896053671836853, -1.0051004886627197, 1.3626705408096313, -0.16072122752666473, 0.5940240621566772, 0.7029945254325867], "dq": [-0.0011036989744752645, -0.0017544521251693368, 0.0022589932195842266, 0.001302165212109685, 0.0018223433289676905, -0.0010240315459668636, 0.0020118963439017534], "dtheta": [0.00025649683084338903, 0.00018176896264776587, -0.00011619269935181364, -2.22762373596197e-05, -0.0004147652070969343, -0.0009700660011731088, -0.0001509144640294835], "tau": [55.44999694824219, 23.60999870300293, 5.4800004959106445, -26.296001434326172, -2.5920000076293945, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.4256795644760132, -0.5816143155097961, -0.14047245681285858, -0.5686532258987427, 0.9158958792686462, -1.1333763599395752, -0.5465359091758728], "tau_dot": [-125.49150848388672, -145.52093505859375, 21.209129333496094, 39.76013946533203, -58.6741828918457, -34.73115539550781, 9.239624977111816], "tau_ext": [-16.677425384521484, -41.59144592285156, 31.780672073364258, 31.357465744018555, 9.514628410339355, -3.002645254135132, -0.11883482336997986], "tcp_pose": [0.6779192090034485, 0.03264722228050232, -0.214995875954628, -0.0022598246578127146, -0.004595388192683458, 0.9998903274536133, 0.013894258998334408], "tcp_vel": [2.6450195946381427e-05, -0.000295331614324823, 0.00015511218225583434, -0.0008172332309186459, 0.00018875840760301799, 0.00019721657736226916], "flange_pose": [0.6786162853240967, 0.02848251536488533, -0.06505532562732697, -0.0022598246578127146, -0.004595388192683458, 0.9998903274536133, 0.013894258998334408], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.18062591552734, 14.994729042053223, 28.07445526123047, 0.3397762179374695, -24.139402389526367, 1.8141855001449585], "ext_wrench_in_world": [-108.44226630446758, 14.766836760051946, -27.171311554424516, -0.12786900631187276, -24.081836093974175, -2.483200453219773]}
+{"timestamp_ns": 1789729565896763366, "elapsed_ms": 9366, "source_timestamp_ns": 1789729565895319201, "q": [0.8369879126548767, -1.8979517221450806, -1.0068873167037964, 1.3810776472091675, -0.16014353930950165, 0.5940737724304199, 0.7030391693115234], "theta": [0.8390854001045227, -1.8960543870925903, -1.0051006078720093, 1.3626704216003418, -0.16072027385234833, 0.5940216779708862, 0.7029940485954285], "dq": [0.002646407810971141, 0.001387445954605937, -0.0007920589996501803, -0.0021139231976121664, -0.0002743012155406177, -0.0006244814721867442, -0.0026159656699746847], "dtheta": [0.00018103756883647293, -0.00011839323269668967, 0.00019259830878581852, 4.011135024484247e-05, 0.0005507310852408409, -0.00028076887247152627, -1.0935583304672036e-05], "tau": [55.48999786376953, 23.6299991607666, 5.456000328063965, -26.32000160217285, -2.5920000076293945, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.4797934591770172, -0.506651759147644, -0.21821144223213196, -0.5961347222328186, 0.8826853036880493, -1.1378979682922363, -0.549211323261261], "tau_dot": [4.169438362121582, -58.697845458984375, 38.999046325683594, -67.37530517578125, -31.284908294677734, -7.388716697692871, -13.29721736907959], "tau_ext": [-16.675277709960938, -41.62760925292969, 31.777355194091797, 31.35064125061035, 9.512758255004883, -2.9965810775756836, -0.11465222388505936], "tcp_pose": [0.6779187321662903, 0.03264644369482994, -0.21499647200107574, -0.0022611902095377445, -0.004595176316797733, 0.9998903870582581, 0.013893760740756989], "tcp_vel": [-0.00019996732589788735, 0.00012774672359228134, 2.9262143925734563e-06, 0.00017061176185961813, 0.0004291925870347768, -6.713499897159636e-05], "flange_pose": [0.6786161661148071, 0.02848188765347004, -0.06505591422319412, -0.0022611902095377445, -0.004595176316797733, 0.9998903870582581, 0.013893760740756989], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.17672729492188, 14.994693756103516, 28.093570709228516, 0.34299224615097046, -24.144573211669922, 1.8181618452072144], "ext_wrench_in_world": [-108.4385250011038, 14.767382437581519, -27.19015622979824, -0.1310721949760603, -24.086926521479747, -2.4872801568210225]}
+{"timestamp_ns": 1789729565930104045, "elapsed_ms": 9400, "source_timestamp_ns": 1789729565925349905, "q": [0.8369877934455872, -1.8979512453079224, -1.006887674331665, 1.381077527999878, -0.1601436287164688, 0.594075620174408, 0.7030400037765503], "theta": [0.8390854001045227, -1.8960541486740112, -1.005100965499878, 1.3626704216003418, -0.16072027385234833, 0.594023585319519, 0.7029945254325867], "dq": [0.0024186973460018635, 0.0003890556690748781, -0.0013477016473188996, -0.0009698872454464436, -0.0016340408474206924, 0.0015105244237929583, -0.003167815040796995], "dtheta": [-9.211640281137079e-05, 0.00020421129011083394, -1.7061360040315776e-06, 0.00015049973444547504, 0.00013516549370251596, 0.001140172709710896, 0.000775257998611778], "tau": [55.459999084472656, 23.649999618530273, 5.4760003089904785, -26.336000442504883, -2.572000026702881, 2.684000015258789, -0.5800000429153442], "tau_des": [0.463161826133728, -0.5905680656433105, -0.16325050592422485, -0.5469240546226501, 0.8844669461250305, -1.17948579788208, -0.5685811042785645], "tau_dot": [-54.7918586730957, -39.8090705871582, 40.51485824584961, -73.11815643310547, 64.98894500732422, 21.735109329223633, -46.518455505371094], "tau_ext": [-16.68974494934082, -41.63932800292969, 31.771106719970703, 31.331579208374023, 9.511046409606934, -2.9952406883239746, -0.11559386551380157], "tcp_pose": [0.6779193878173828, 0.032646410167217255, -0.2149961292743683, -0.0022603992838412523, -0.004594447091221809, 0.9998903274536133, 0.013894431293010712], "tcp_vel": [0.0001708621857687831, 9.93727589957416e-05, 4.956461634719744e-05, 0.0008896136423572898, -0.0005542616709135473, -0.0009913765825331211], "flange_pose": [0.6786165833473206, 0.028481654822826385, -0.06505558639764786, -0.0022603992838412523, -0.004594447091221809, 0.9998903274536133, 0.013894431293010712], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1453628540039, 15.025973320007324, 28.10641860961914, 0.35290804505348206, -24.144834518432617, 1.8207290172576904], "ext_wrench_in_world": [-108.4074431730189, 14.79949287071401, -27.202415766899147, -0.1410288689196968, -24.0872046230299, -2.489842659980956]}
+{"timestamp_ns": 1789729565963428208, "elapsed_ms": 9433, "source_timestamp_ns": 1789729565955352217, "q": [0.8369876742362976, -1.8979511260986328, -1.00688898563385, 1.381077766418457, -0.16014432907104492, 0.5940760970115662, 0.703039824962616], "theta": [0.8390858769416809, -1.8960541486740112, -1.0051023960113525, 1.362670660018921, -0.16072097420692444, 0.5940240621566772, 0.7029947638511658], "dq": [0.00214927876368165, 0.0006108346278779209, -0.0004955735057592392, -0.0014341314090415835, 0.00192528055049479, -0.0003657327906694263, 0.00032820217893458903], "dtheta": [-3.98120864701923e-05, -6.246273551369086e-05, -7.973513856995851e-05, -0.00023982296988833696, -0.0001130647215177305, 0.0002033417986240238, 0.0002426908176857978], "tau": [55.48999786376953, 23.709999084472656, 5.424000263214111, -26.272001266479492, -2.5920000076293945, 2.688000202178955, -0.5440000295639038], "tau_des": [0.4508936107158661, -0.5665745735168457, -0.16641207039356232, -0.5445659756660461, 0.8998166918754578, -1.1673122644424438, -0.5576446056365967], "tau_dot": [46.72483444213867, 130.41111755371094, -32.31844711303711, 40.27252960205078, -11.983185768127441, 79.85811614990234, -28.108646392822266], "tau_ext": [-16.68584632873535, -41.66488265991211, 31.788728713989258, 31.3448486328125, 9.510160446166992, -3.001936197280884, -0.11623691767454147], "tcp_pose": [0.677919864654541, 0.032645635306835175, -0.21499626338481903, -0.0022599983494728804, -0.004594255704432726, 0.9998903870582581, 0.013893944211304188], "tcp_vel": [0.00014851876767352223, 4.46089543402195e-05, 8.961715502664447e-05, 0.00010199338430538774, -0.0003876822011079639, -0.00023651431547477841], "flange_pose": [0.6786169409751892, 0.028481023386120796, -0.065055713057518, -0.0022599983494728804, -0.004594255704432726, 0.9998903870582581, 0.013893944211304188], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10784912109375, 15.067201614379883, 28.11553955078125, 0.36539900302886963, -24.137537002563477, 1.822922945022583], "ext_wrench_in_world": [-108.37032238994912, 14.841319809365379, -27.210652725058367, -0.1536034077962789, -24.079967232484265, -2.4917546268890023]}
+{"timestamp_ns": 1789729565996763548, "elapsed_ms": 9466, "source_timestamp_ns": 1789729565995357354, "q": [0.8369899392127991, -1.8979518413543701, -1.0068891048431396, 1.3810781240463257, -0.1601441353559494, 0.5940756797790527, 0.7030405402183533], "theta": [0.8390880823135376, -1.8960546255111694, -1.0051032304763794, 1.3626710176467896, -0.16072145104408264, 0.5940243005752563, 0.7029957175254822], "dq": [0.0005722719361074269, -0.0016891079721972346, -0.0010418632300570607, -0.0013805651105940342, 0.0029412435833364725, -0.0005529542686417699, 8.356207399629056e-05], "dtheta": [0.00026265421183779836, 0.0001864292280515656, 3.993404970970005e-05, -0.00013004832726437598, 0.00020523862622212619, 1.8043974705506116e-05, 0.0009103950578719378], "tau": [55.52000045776367, 23.65999984741211, 5.460000038146973, -26.340002059936523, -2.572000026702881, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.3869701623916626, -0.6209213137626648, -0.16078321635723114, -0.5084578394889832, 0.8913019299507141, -1.175809383392334, -0.5740376114845276], "tau_dot": [57.43223571777344, 25.387441635131836, 43.582977294921875, -13.291178703308105, 37.625553131103516, 21.722387313842773, -17.41525650024414], "tau_ext": [-16.681194305419922, -41.63410949707031, 31.790616989135742, 31.34450912475586, 9.512373924255371, -3.00215220451355, -0.11979716271162033], "tcp_pose": [0.6779199838638306, 0.032645661383867264, -0.21499517560005188, -0.0022591869346797466, -0.004594088532030582, 0.9998903870582581, 0.013893415220081806], "tcp_vel": [0.00011917172378161922, 9.49260538618546e-06, 0.00027875188970938325, 0.0003736790094990283, -0.0002297364262631163, -0.0011415717890486121], "flange_pose": [0.6786167621612549, 0.02848120592534542, -0.06505461782217026, -0.0022591869346797466, -0.004594088532030582, 0.9998903870582581, 0.013893415220081806], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09495544433594, 15.088377952575684, 28.116525650024414, 0.3678165674209595, -24.12812614440918, 1.8205996751785278], "ext_wrench_in_world": [-108.35757777113075, 14.862643531787363, -27.211297712560697, -0.15610041274259662, -24.0706498328014, -2.4891349366498456]}
+{"timestamp_ns": 1789729566030104046, "elapsed_ms": 9500, "source_timestamp_ns": 1789729566025326136, "q": [0.8369947075843811, -1.8979530334472656, -1.006892204284668, 1.3810787200927734, -0.1601443886756897, 0.5940738916397095, 0.7030399441719055], "theta": [0.8390929102897644, -1.8960555791854858, -1.0051062107086182, 1.3626716136932373, -0.16072145104408264, 0.5940223932266235, 0.7029942870140076], "dq": [-0.0018880971474573016, 0.0008989313500933349, 0.0019321811851114035, 0.0019882656633853912, 0.000127496721688658, -0.0005511266062967479, 8.970336784841493e-05], "dtheta": [0.0001302042364841327, 3.759717947104946e-05, 4.635531877283938e-05, 6.215017492650077e-05, 0.00020746048539876938, -0.0010424271458759904, -0.0012744710547849536], "tau": [55.5, 23.60999870300293, 5.464000225067139, -26.340002059936523, -2.5920000076293945, 2.688000202178955, -0.5560000538825989], "tau_des": [0.4524039924144745, -0.5317031741142273, -0.17501822113990784, -0.5854284763336182, 0.9028104543685913, -1.1348363161087036, -0.5303953289985657], "tau_dot": [-48.03435134887695, -88.73545837402344, 9.658978462219238, 10.509411811828613, -31.9031982421875, 18.368688583374023, -14.88516616821289], "tau_ext": [-16.708412170410156, -41.615966796875, 31.771799087524414, 31.36724853515625, 9.516305923461914, -3.00197434425354, -0.12247548997402191], "tcp_pose": [0.6779211759567261, 0.03264390304684639, -0.21499286592006683, -0.0022571319714188576, -0.004593879450112581, 0.9998903870582581, 0.013891157694160938], "tcp_vel": [-0.00022457269369624555, -0.0001472048315918073, -6.150866829557344e-05, -0.000524573668371886, 0.0008023931877687573, 0.001200741739012301], "flange_pose": [0.6786174178123474, 0.028480123728513718, -0.06505228579044342, -0.0022571319714188576, -0.004593879450112581, 0.9998903870582581, 0.013891157694160938], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12428283691406, 15.038896560668945, 28.113109588623047, 0.35388171672821045, -24.132078170776367, 1.816375494003296], "ext_wrench_in_world": [-108.38631715838885, 14.812745265456977, -27.209643695631947, -0.14211155493614208, -24.074599654248807, -2.484975822560112]}
+{"timestamp_ns": 1789729566063463965, "elapsed_ms": 9533, "source_timestamp_ns": 1789729566055306333, "q": [0.8369975686073303, -1.8979569673538208, -1.0068920850753784, 1.3810782432556152, -0.16014492511749268, 0.5940698385238647, 0.7030401825904846], "theta": [0.8390952348709106, -1.8960599899291992, -1.0051066875457764, 1.3626716136932373, -0.16072170436382294, 0.5940183401107788, 0.7029945254325867], "dq": [-0.0014379795175045729, 0.0002839623484760523, -0.0029077634681016207, -5.1750699640251696e-05, -0.0029090354219079018, -0.00012788329331669956, -0.0010226309532299638], "dtheta": [7.53010535845533e-05, -0.00043071722029708326, 0.00015755344065837562, 0.00015506694035138935, -0.00026097154477611184, 0.0008398111094720662, 5.647912621498108e-05], "tau": [55.46999740600586, 23.639999389648438, 5.440000057220459, -26.32400131225586, -2.5840001106262207, 2.6600000858306885, -0.5600000023841858], "tau_des": [0.4412366449832916, -0.4964633882045746, -0.22670231759548187, -0.551172137260437, 0.9181443452835083, -1.1779837608337402, -0.5441383719444275], "tau_dot": [45.207908630371094, -18.148252487182617, 27.849708557128906, 3.094841718673706, 33.155845642089844, 7.511201858520508, -49.906211853027344], "tau_ext": [-16.71661376953125, -41.6351318359375, 31.79462432861328, 31.369970321655273, 9.517614364624023, -2.998406171798706, -0.12002529203891754], "tcp_pose": [0.6779202222824097, 0.03264453262090683, -0.21499231457710266, -0.002256993902847171, -0.0045952703803777695, 0.9998904466629028, 0.013888408429920673], "tcp_vel": [-1.969618460861966e-05, 0.00029772103880532086, -2.035827492363751e-05, 7.783414184814319e-05, -0.0006780207622796297, 0.0004918822087347507], "flange_pose": [0.6786163449287415, 0.028481580317020416, -0.06505171209573746, -0.002256993902847171, -0.0045952703803777695, 0.9998904466629028, 0.013888408429920673], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13314056396484, 15.025431632995605, 28.13675308227539, 0.3454226553440094, -24.13445281982422, 1.814478874206543], "ext_wrench_in_world": [-108.39519332336425, 14.799408536502904, -27.233731462235003, -0.13355445779240235, -24.07696170227259, -2.4830508859446567]}
+{"timestamp_ns": 1789729566096765138, "elapsed_ms": 9566, "source_timestamp_ns": 1789729566095364551, "q": [0.8369991183280945, -1.8979607820510864, -1.0068917274475098, 1.381076693534851, -0.16014432907104492, 0.5940631031990051, 0.7030397057533264], "theta": [0.8390969634056091, -1.8960645198822021, -1.0051062107086182, 1.3626705408096313, -0.16072122752666473, 0.594011664390564, 0.7029942870140076], "dq": [-0.0014042336260899901, -0.0004716525145340711, 0.0005589937791228294, 0.00014597477274946868, -0.0002725014346651733, -0.00029338369495235384, 0.001434111618436873], "dtheta": [8.101683488348499e-05, -0.00011768230615416542, 0.00016769043577369303, -0.0001371814141748473, -0.00027726564439944923, -0.000606561778113246, -0.00035336820292286575], "tau": [55.55999755859375, 23.649999618530273, 5.456000328063965, -26.280000686645508, -2.6080000400543213, 2.6600000858306885, -0.5600000023841858], "tau_des": [0.43585339188575745, -0.5147460103034973, -0.21155191957950592, -0.5663508176803589, 0.9172387719154358, -1.1439869403839111, -0.5353882908821106], "tau_dot": [95.15509033203125, 39.50386047363281, 22.145360946655273, -5.59788179397583, -33.59748840332031, 20.857290267944336, -16.02657699584961], "tau_ext": [-16.712600708007812, -41.61651611328125, 31.78891944885254, 31.33574676513672, 9.515887260437012, -2.9886586666107178, -0.11625652760267258], "tcp_pose": [0.6779186725616455, 0.03264518082141876, -0.2149924784898758, -0.002258371328935027, -0.004596702288836241, 0.9998904466629028, 0.013885562308132648], "tcp_vel": [-9.188183321384713e-05, 3.8274596590781584e-05, 4.404427818371914e-05, -0.0004688128246925771, 0.00015793256170582026, 0.0006965557113289833], "flange_pose": [0.6786152720451355, 0.028483081609010696, -0.0650518536567688, -0.002258371328935027, -0.004596702288836241, 0.9998904466629028, 0.013885562308132648], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09326934814453, 15.051972389221191, 28.13245964050293, 0.342958927154541, -24.127763748168945, 1.8163197040557861], "ext_wrench_in_world": [-108.35566292416176, 14.825716715542415, -27.228670050827763, -0.1310969773644205, -24.07021614927234, -2.484578372751954]}
+{"timestamp_ns": 1789729566130115989, "elapsed_ms": 9600, "source_timestamp_ns": 1789729566125490202, "q": [0.8369994163513184, -1.8979610204696655, -1.006892204284668, 1.3810770511627197, -0.16014429926872253, 0.5940598249435425, 0.7030392289161682], "theta": [0.8390965461730957, -1.8960654735565186, -1.0051066875457764, 1.3626703023910522, -0.16072027385234833, 0.5940085649490356, 0.7029935717582703], "dq": [0.0016928702825680375, -0.00021903762535657734, 0.0011067826999351382, 0.0016282283468171954, 0.0006420027348212898, 0.00048396451165899634, -0.0035266955383121967], "dtheta": [-0.00025475656730122864, 0.00019986112602055073, -0.0003257966891396791, 6.578469765372574e-05, 1.1308206921967212e-05, -0.000528436154127121, -0.0007021369528956711], "tau": [55.529998779296875, 23.65999984741211, 5.452000141143799, -26.316001892089844, -2.568000078201294, 2.7080001831054688, -0.5680000185966492], "tau_des": [0.5118185877799988, -0.5456839799880981, -0.12625181674957275, -0.6186373233795166, 0.9017608165740967, -1.121599555015564, -0.5376164317131042], "tau_dot": [-27.99030113220215, -20.549449920654297, -48.87919235229492, -39.08877944946289, 3.2331345081329346, 93.79682922363281, -26.282075881958008], "tau_ext": [-16.719257354736328, -41.61328125, 31.7843074798584, 31.33848762512207, 9.511408805847168, -2.989673614501953, -0.11516687273979187], "tcp_pose": [0.6779180765151978, 0.032644376158714294, -0.2149929255247116, -0.0022595764603465796, -0.004596875514835119, 0.9998905062675476, 0.013884139247238636], "tcp_vel": [-1.854650145105552e-05, -0.00033353440812788904, -0.00022148869174998254, -0.0004319803847465664, 0.0005904872086830437, 0.00035576109075918794], "flange_pose": [0.6786149740219116, 0.028482705354690552, -0.06505229324102402, -0.0022595764603465796, -0.004596875514835119, 0.9998905062675476, 0.013884139247238636], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0524673461914, 15.065451622009277, 28.145702362060547, 0.3421538770198822, -24.119796752929688, 1.8155237436294556], "ext_wrench_in_world": [-108.31511850379061, 14.839815624352186, -27.241495358617833, -0.13035766711846117, -24.062274345492114, -2.483495790770535]}
+{"timestamp_ns": 1789729566163436628, "elapsed_ms": 9633, "source_timestamp_ns": 1789729566155351258, "q": [0.836999237537384, -1.8979617357254028, -1.006892442703247, 1.3810772895812988, -0.1601444035768509, 0.5940600633621216, 0.7030393481254578], "theta": [0.83909672498703, -1.8960665464401245, -1.005106806755066, 1.3626703023910522, -0.16072002053260803, 0.5940088033676147, 0.7029938101768494], "dq": [-0.0006845541065558791, -0.0007546040578745306, -0.0004752679669763893, 0.00020977620442863554, 0.0008813149761408567, -0.001879964955151081, 0.0011261821491643786], "dtheta": [0.00044825958320870996, -0.00021205090160947293, 0.0003723095578607172, 0.00028898584423586726, 0.00010907129035331309, -0.00039964570896700025, -0.00022030636318959296], "tau": [55.459999084472656, 23.600000381469727, 5.456000328063965, -26.32400131225586, -2.5920000076293945, 2.680000066757202, -0.5520000457763672], "tau_des": [0.4314154386520386, -0.4854133427143097, -0.2530219256877899, -0.5869881510734558, 0.9058432579040527, -1.1377345323562622, -0.5360826253890991], "tau_dot": [-68.44499969482422, -128.41473388671875, 26.574317932128906, -51.54751205444336, -18.817411422729492, 46.08287811279297, -32.430179595947266], "tau_ext": [-16.713590621948242, -41.63192367553711, 31.784927368164062, 31.348833084106445, 9.511889457702637, -2.993201494216919, -0.11364094913005829], "tcp_pose": [0.6779178977012634, 0.032644420862197876, -0.21499337255954742, -0.0022595811169594526, -0.004597005434334278, 0.9998905062675476, 0.013883729465305805], "tcp_vel": [-0.0002869793970603496, 0.00015670158609282225, 7.772402022965252e-05, -0.00027852063067257404, 0.00025899632601067424, 0.000618082529399544], "flange_pose": [0.6786148548126221, 0.028482872992753983, -0.06505273282527924, -0.0022595811169594526, -0.004597005434334278, 0.9998905062675476, 0.013883729465305805], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.04251861572266, 15.06035327911377, 28.15190315246582, 0.34336549043655396, -24.11768913269043, 1.8168845176696777], "ext_wrench_in_world": [-108.30515649471927, 14.834932912999815, -27.247890981642218, -0.1315884881679792, -24.060143156336014, -2.48477243989538]}
+{"timestamp_ns": 1789729566196772913, "elapsed_ms": 9666, "source_timestamp_ns": 1789729566195310691, "q": [0.8370001316070557, -1.897961139678955, -1.006893277168274, 1.3810782432556152, -0.16014458239078522, 0.5940617918968201, 0.7030413746833801], "theta": [0.8390970826148987, -1.8960663080215454, -1.0051078796386719, 1.3626703023910522, -0.16072002053260803, 0.5940104722976685, 0.702995240688324], "dq": [0.0003636148467194289, 0.002896033925935626, 0.00023137553944252431, 0.003071477636694908, -0.0006385944434441626, -0.0006931364769116044, -0.0008412317838519812], "dtheta": [-5.213497206568718e-05, -0.0003975764848291874, -4.3563381041167304e-05, -0.00012332286860328168, -0.0005013927584514022, -0.00011069243191741407, 0.0003184353990945965], "tau": [55.459999084472656, 23.65999984741211, 5.464000225067139, -26.32000160217285, -2.576000213623047, 2.6680002212524414, -0.5480000376701355], "tau_des": [0.47010165452957153, -0.5066168904304504, -0.19663283228874207, -0.5767868161201477, 0.9154841303825378, -1.150331974029541, -0.5514077544212341], "tau_dot": [-70.8948974609375, 86.31706237792969, 70.47552490234375, -45.193302154541016, 8.012616157531738, -16.30921745300293, 27.80630111694336], "tau_ext": [-16.672992706298828, -41.62863540649414, 31.788232803344727, 31.352272033691406, 9.512038230895996, -2.999537467956543, -0.11663748323917389], "tcp_pose": [0.6779184937477112, 0.03264383599162102, -0.21499280631542206, -0.002258680062368512, -0.004595603793859482, 0.9998905062675476, 0.013883942738175392], "tcp_vel": [-6.9770826485182624e-06, 6.383826985256746e-05, -7.202015694929287e-05, -0.0006376162637025118, -0.0002446744474582374, 0.000178842106834054], "flange_pose": [0.6786152124404907, 0.02848222106695175, -0.06505215913057327, -0.002258680062368512, -0.004595603793859482, 0.9998905062675476, 0.013883942738175392], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12516021728516, 15.031986236572266, 28.123844146728516, 0.3472175896167755, -24.135425567626953, 1.8187618255615234], "ext_wrench_in_world": [-108.38731457091511, 14.805352922347218, -27.220452912650316, -0.1353509048051999, -24.077854126239806, -2.48713545493708]}
+{"timestamp_ns": 1789729566230159795, "elapsed_ms": 9700, "source_timestamp_ns": 1789729566225381845, "q": [0.8370007276535034, -1.8979603052139282, -1.0068936347961426, 1.3810791969299316, -0.16014423966407776, 0.5940623879432678, 0.7030415534973145], "theta": [0.8390973806381226, -1.8960654735565186, -1.005108118057251, 1.3626705408096313, -0.16072027385234833, 0.594011664390564, 0.7029957175254822], "dq": [0.0009586014202795923, 0.00010918837506324053, -0.0005666239303536713, 0.0006128006498329341, -0.0013414339628070593, -5.5121214245446026e-05, 0.000834802573081106], "dtheta": [2.277400744787883e-05, 0.000671924150083214, -1.8410013581160456e-05, 0.0001972921018023044, 6.26577966613695e-05, -7.861335325287655e-05, 0.0006058160797692835], "tau": [55.53999710083008, 23.670000076293945, 5.452000141143799, -26.32000160217285, -2.5960001945495605, 2.688000202178955, -0.5440000295639038], "tau_des": [0.4173230230808258, -0.6517946124076843, -0.11940541863441467, -0.5414499640464783, 0.8884620070457458, -1.1573795080184937, -0.5693764686584473], "tau_dot": [-5.818569660186768, 70.96446990966797, -1.2240017652511597, -33.86909866333008, -45.83204650878906, 32.23880386352539, -14.60860538482666], "tau_ext": [-16.669382095336914, -41.621253967285156, 31.782535552978516, 31.359668731689453, 9.510035514831543, -3.003702402114868, -0.12112657725811005], "tcp_pose": [0.6779186725616455, 0.032643359154462814, -0.21499258279800415, -0.002258578548207879, -0.004595106467604637, 0.9998905062675476, 0.01388415228575468], "tcp_vel": [8.993207302410156e-05, -0.00025358007405884564, 0.00011164333409396932, 0.0003587337851058692, 0.0002395027840975672, -0.0010704213054850698], "flange_pose": [0.6786152720451355, 0.028481684625148773, -0.06505193561315536, -0.002258578548207879, -0.004595106467604637, 0.9998905062675476, 0.01388415228575468], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15904998779297, 15.020774841308594, 28.103994369506836, 0.34970173239707947, -24.141613006591797, 1.8181346654891968], "ext_wrench_in_world": [-108.42098817831415, 14.793401630111358, -27.200787879481496, -0.1377991064140589, -24.0840781276525, -2.4866796478314708]}
+{"timestamp_ns": 1789729566263443222, "elapsed_ms": 9733, "source_timestamp_ns": 1789729566255304416, "q": [0.8370005488395691, -1.8979620933532715, -1.0068944692611694, 1.3810780048370361, -0.1601441353559494, 0.5940617918968201, 0.7030410170555115], "theta": [0.8390975594520569, -1.8960672616958618, -1.0051089525222778, 1.3626697063446045, -0.16072049736976624, 0.5940114259719849, 0.7029961943626404], "dq": [0.002126367762684822, -0.0016052264254540205, 0.0002596999693196267, 0.0009946369100362062, 0.00012860041169915348, -0.001409169752150774, -0.0008068625465966761], "dtheta": [-5.700899055227637e-05, -0.00035485054831951857, 5.686452641384676e-05, -0.00019361916929483414, 9.687770943855867e-05, -0.0006635796744376421, 0.000310349598294124], "tau": [55.54999923706055, 23.639999389648438, 5.444000244140625, -26.288002014160156, -2.580000162124634, 2.6520001888275146, -0.5400000214576721], "tau_des": [0.48842185735702515, -0.49521303176879883, -0.2118796408176422, -0.5916063189506531, 0.8948279619216919, -1.1395559310913086, -0.5545850396156311], "tau_dot": [163.27622985839844, -45.73872375488281, -2.999882459640503, 11.063742637634277, -28.441713333129883, -60.09854507446289, 20.710172653198242], "tau_ext": [-16.70119285583496, -41.65410232543945, 31.787490844726562, 31.34952735900879, 9.516615867614746, -3.0056705474853516, -0.12670229375362396], "tcp_pose": [0.6779187917709351, 0.03264359012246132, -0.21499277651309967, -0.002258301479741931, -0.004595552105456591, 0.9998905062675476, 0.01388345006853342], "tcp_vel": [-0.00018724474648479372, 7.506980909965932e-05, -0.0001379346358589828, -0.0004909781273454428, 0.0004844127979595214, -0.00010104323155246675], "flange_pose": [0.6786153316497803, 0.02848212420940399, -0.06505213677883148, -0.002258301479741931, -0.004595552105456591, 0.9998905062675476, 0.01388345006853342], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13643646240234, 15.048017501831055, 28.11756706237793, 0.3574318289756775, -24.136659622192383, 1.8166035413742065], "ext_wrench_in_world": [-108.39868505398734, 14.821084219295187, -27.21378033572212, -0.14554412009741238, -24.079244468015183, -2.4849439460751928]}
+{"timestamp_ns": 1789729566296758602, "elapsed_ms": 9766, "source_timestamp_ns": 1789729566295300709, "q": [0.8370018601417542, -1.897966742515564, -1.006895899772644, 1.3810749053955078, -0.16014385223388672, 0.5940597653388977, 0.7030415534973145], "theta": [0.8390991687774658, -1.8960723876953125, -1.0051106214523315, 1.3626670837402344, -0.16072075068950653, 0.594009280204773, 0.7029969096183777], "dq": [0.0029277796857059, -0.0009018972632475197, -0.0008766885730437934, -0.00047208444448187947, -0.0006180423079058528, 0.0013850524555891752, 0.0009595837909728289], "dtheta": [0.0003616845642682165, -0.000372403854271397, 8.53298042784445e-05, -0.00011611300578806549, -6.330249743768945e-05, -0.0009651855798438191, -0.00011389284918550402], "tau": [55.5, 23.649999618530273, 5.432000160217285, -26.292001724243164, -2.5920000076293945, 2.6640000343322754, -0.5440000295639038], "tau_des": [0.41134634613990784, -0.504173755645752, -0.22305788099765778, -0.5566398501396179, 0.9144564270973206, -1.1464654207229614, -0.5443627238273621], "tau_dot": [25.91077423095703, 87.10253143310547, 0.5247914791107178, 37.394622802734375, -16.262083053588867, 31.339317321777344, -33.481658935546875], "tau_ext": [-16.70091438293457, -41.6357536315918, 31.79877471923828, 31.344337463378906, 9.518412590026855, -3.001706600189209, -0.13204233348369598], "tcp_pose": [0.6779190897941589, 0.03264441713690758, -0.21499226987361908, -0.0022570721339434385, -0.004596037324517965, 0.9998905658721924, 0.013881534337997437], "tcp_vel": [-0.0001762496103765443, 2.220208443759475e-05, 8.648302900837734e-05, -0.000825049530249089, 0.00026489279116503894, 0.00046299141831696033], "flange_pose": [0.6786152720451355, 0.028483526781201363, -0.0650516152381897, -0.0022570721339434385, -0.004596037324517965, 0.9998905658721924, 0.013881534337997437], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08638763427734, 15.069829940795898, 28.112804412841797, 0.3594345450401306, -24.11917495727539, 1.8121336698532104], "ext_wrench_in_world": [-108.34876209729694, 14.843012059634566, -27.20895961273334, -0.1476566675564998, -24.061919431642412, -2.479889719910875]}
+{"timestamp_ns": 1789729566330107734, "elapsed_ms": 9800, "source_timestamp_ns": 1789729566325387590, "q": [0.8370016813278198, -1.897969126701355, -1.0068961381912231, 1.381072759628296, -0.16014432907104492, 0.5940565466880798, 0.7030400037765503], "theta": [0.8390994071960449, -1.8960750102996826, -1.0051110982894897, 1.3626654148101807, -0.16072097420692444, 0.5940064191818237, 0.7029954791069031], "dq": [-0.00016696148668415844, -0.0003800862468779087, 0.0028249446768313646, -0.0038602431304752827, 0.00016632932238280773, -0.0009983180789276958, -0.0012883282033726573], "dtheta": [0.0003148798132315278, 5.681888433173299e-05, 0.000296494661597535, 5.8576493756845593e-05, -0.0004082763916812837, -0.0007044643280096352, -0.0007933898014016449], "tau": [55.5, 23.56999969482422, 5.432000160217285, -26.37200164794922, -2.580000162124634, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.3932993710041046, -0.5272929668426514, -0.23185573518276215, -0.5447373390197754, 0.92188560962677, -1.1535639762878418, -0.5251043438911438], "tau_dot": [97.94975280761719, -131.70639038085938, -16.425125122070312, -2.9616007804870605, 29.673147201538086, -41.698856353759766, -18.207712173461914], "tau_ext": [-16.707494735717773, -41.59252166748047, 31.79425048828125, 31.353456497192383, 9.516654014587402, -2.9986166954040527, -0.13195519149303436], "tcp_pose": [0.6779187917709351, 0.0326448492705822, -0.2149924635887146, -0.002257346175611019, -0.0045975144021213055, 0.9998905658721924, 0.013879978097975254], "tcp_vel": [-0.00011508709576446563, -4.294193786336109e-06, 0.0001735928381094709, -0.0005129082128405571, 0.0001112754107452929, 0.0012157663004472852], "flange_pose": [0.6786150932312012, 0.028484424576163292, -0.06505179405212402, -0.002257346175611019, -0.0045975144021213055, 0.9998905658721924, 0.013879978097975254], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08203125, 15.048754692077637, 28.112590789794922, 0.3438611328601837, -24.113658905029297, 1.8051445484161377], "ext_wrench_in_world": [-108.34426997081512, 14.82157402812393, -27.2093433519212, -0.13203179408295668, -24.056463576737162, -2.4727435964807563]}
+{"timestamp_ns": 1789729566363436480, "elapsed_ms": 9833, "source_timestamp_ns": 1789729566355293405, "q": [0.8370006680488586, -1.897969126701355, -1.00689697265625, 1.381072759628296, -0.1601436585187912, 0.5940524935722351, 0.7030385732650757], "theta": [0.8390982747077942, -1.8960751295089722, -1.0051120519638062, 1.3626652956008911, -0.16072049736976624, 0.5940016508102417, 0.7029938101768494], "dq": [0.0023535925429314375, 0.00011833653115900233, -0.0025991713628172874, -0.000924496038351208, 0.00017634546384215355, 0.0015412358334288, -0.002337743528187275], "dtheta": [-0.0004930951399728656, -7.131584425223991e-05, -3.314091372885741e-05, -0.00011201597953913733, 0.0003909014048986137, -0.0012321826070547104, -0.0007342100143432617], "tau": [55.529998779296875, 23.639999389648438, 5.432000160217285, -26.292001724243164, -2.576000213623047, 2.6680002212524414, -0.5480000376701355], "tau_des": [0.5975881218910217, -0.4549284279346466, -0.19964316487312317, -0.673021137714386, 0.8782972097396851, -1.1007124185562134, -0.5324136018753052], "tau_dot": [86.06485748291016, -32.76435852050781, 0.43799880146980286, 27.671878814697266, 44.165122985839844, -6.3041276931762695, 1.1623847484588623], "tau_ext": [-16.706052780151367, -41.612632751464844, 31.796316146850586, 31.381921768188477, 9.515496253967285, -2.995408773422241, -0.12271320819854736], "tcp_pose": [0.6779179573059082, 0.03264384716749191, -0.21499374508857727, -0.0022594674956053495, -0.00459780590608716, 0.9998905658721924, 0.013878638856112957], "tcp_vel": [-0.0003533409326337278, -0.00014255476708058268, -0.0004796180874109268, -0.0005686110816895962, 0.0015207824762910604, 0.0005531444330699742], "flange_pose": [0.6786148548126221, 0.02848382666707039, -0.0650530606508255, -0.0022594674956053495, -0.00459780590608716, 0.9998905658721924, 0.013878638856112957], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15188598632812, 14.985098838806152, 28.12228775024414, 0.3256409466266632, -24.131839752197266, 1.8034387826919556], "ext_wrench_in_world": [-108.41370926819485, 14.757424090951995, -27.220080360409543, -0.11363346721362927, -24.07452204092354, -2.471558057376175]}
+{"timestamp_ns": 1789729566396770506, "elapsed_ms": 9866, "source_timestamp_ns": 1789729566395365680, "q": [0.837001383304596, -1.8979684114456177, -1.0068985223770142, 1.3810724020004272, -0.16014422476291656, 0.5940537452697754, 0.7030373215675354], "theta": [0.8390983939170837, -1.8960744142532349, -1.005113124847412, 1.3626654148101807, -0.16072075068950653, 0.5940026044845581, 0.7029926180839539], "dq": [-0.0016836760332807899, -0.001602675998583436, -0.0004927909467369318, 0.0005522231804206967, 0.002275668317452073, -0.0004206997691653669, -0.0008901032852008939], "dtheta": [-5.1721453928621486e-05, -0.0001357521687168628, 3.4453307307558134e-05, 1.7903605112223886e-05, -0.0005294643342494965, -0.000911864684894681, 9.134197171078995e-05], "tau": [55.48999786376953, 23.6299991607666, 5.464000225067139, -26.272001266479492, -2.580000162124634, 2.6440000534057617, -0.5600000023841858], "tau_des": [0.4865248203277588, -0.5120875835418701, -0.1932365447282791, -0.6003908514976501, 0.9116297960281372, -1.1320232152938843, -0.5426392555236816], "tau_dot": [-62.72416687011719, -60.13120651245117, 40.44389724731445, 44.99059295654297, 19.092050552368164, -56.169029235839844, -15.522163391113281], "tau_ext": [-16.676977157592773, -41.61591720581055, 31.78256607055664, 31.364524841308594, 9.513604164123535, -2.9930152893066406, -0.11217276006937027], "tcp_pose": [0.677919328212738, 0.03264300525188446, -0.2149927318096161, -0.0022580400109291077, -0.004597770981490612, 0.9998905658721924, 0.013878767378628254], "tcp_vel": [-0.00016407757357228547, -0.00012555965804494917, -0.00014174946409184486, -0.0010144917760044336, 0.00047692732186987996, 0.00034206578857265413], "flange_pose": [0.6786158084869385, 0.028482945635914803, -0.06505204737186432, -0.0022580400109291077, -0.004597770981490612, 0.9998905658721924, 0.013878767378628254], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.20199584960938, 14.976839065551758, 28.11577606201172, 0.32840633392333984, -24.15392303466797, 1.8126356601715088], "ext_wrench_in_world": [-108.46363156982675, 14.748542657296749, -27.21388605058647, -0.11623535016083113, -24.096365738606504, -2.481359356488687]}
+{"timestamp_ns": 1789729566430102141, "elapsed_ms": 9900, "source_timestamp_ns": 1789729566425320442, "q": [0.8370012640953064, -1.8979679346084595, -1.006899118423462, 1.381072998046875, -0.16014458239078522, 0.5940544605255127, 0.7030372619628906], "theta": [0.8390982747077942, -1.8960744142532349, -1.0051140785217285, 1.362666130065918, -0.16072027385234833, 0.5940033197402954, 0.7029923796653748], "dq": [0.0005036870134063065, 0.0010308661730960011, 0.002490461338311434, -0.0021474838722497225, 0.0004386889922898263, 0.0019218747038394213, -0.001587512670084834], "dtheta": [0.0002581147418823093, 4.25285252276808e-05, 2.1675012249033898e-05, 0.00035462723462842405, -6.972809205763042e-05, -0.00016729129129089415, -0.0009890940273180604], "tau": [55.54999923706055, 23.68000030517578, 5.420000076293945, -26.328001022338867, -2.5880000591278076, 2.6680002212524414, -0.5480000376701355], "tau_des": [0.4312102198600769, -0.5318068861961365, -0.19715310633182526, -0.5693585276603699, 0.9109233021736145, -1.1535110473632812, -0.5263065695762634], "tau_dot": [132.9536895751953, 45.25865173339844, -43.191104888916016, 7.191810607910156, -22.81047821044922, -33.089447021484375, -15.150341987609863], "tau_ext": [-16.694046020507812, -41.62989807128906, 31.792991638183594, 31.357627868652344, 9.514547348022461, -2.998842477798462, -0.11341198533773422], "tcp_pose": [0.6779195666313171, 0.03264250606298447, -0.21499288082122803, -0.0022578497882932425, -0.004597573075443506, 0.9998905658721924, 0.013878646306693554], "tcp_vel": [-0.00010081278742291033, -0.00010000464681070298, 1.72094332810957e-05, -0.00030629520188085735, 9.420023707207292e-05, 0.0010737794218584895], "flange_pose": [0.6786159873008728, 0.028482479974627495, -0.06505220383405685, -0.0022578497882932425, -0.004597573075443506, 0.9998905658721924, 0.013878646306693554], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.17719268798828, 15.004450798034668, 28.1175594329834, 0.33750179409980774, -24.149192810058594, 1.817934274673462], "ext_wrench_in_world": [-108.43907398528282, 14.776458517051658, -27.215054969269666, -0.1254068451025184, -24.091575334182924, -2.4864788167264384]}
+{"timestamp_ns": 1789729566463433287, "elapsed_ms": 9933, "source_timestamp_ns": 1789729566455384089, "q": [0.8370015025138855, -1.8979682922363281, -1.006899356842041, 1.381073236465454, -0.1601441353559494, 0.5940560102462769, 0.7030379176139832], "theta": [0.8390980362892151, -1.8960744142532349, -1.0051147937774658, 1.362666368484497, -0.16071978211402893, 0.59400475025177, 0.7029930949211121], "dq": [-0.0016089683631435037, 0.0030853934586048126, 0.00031889084493741393, -0.0002375850162934512, 0.0007624472491443157, -0.00044655497185885906, -4.7355337301269174e-05], "dtheta": [-0.00024303596001118422, 9.496735583525151e-05, -4.975107731297612e-05, 0.00018985412316396832, 0.0003404672024771571, 0.0009931887034326792, -0.0004790255334228277], "tau": [55.41999816894531, 23.68000030517578, 5.444000244140625, -26.292001724243164, -2.6040000915527344, 2.6720001697540283, -0.5600000023841858], "tau_des": [0.4790542423725128, -0.5411144495010376, -0.19105969369411469, -0.5569344758987427, 0.8889639973640442, -1.18166184425354, -0.5407643914222717], "tau_dot": [-135.26394653320312, 38.106632232666016, 44.072025299072266, 58.317935943603516, -46.28691101074219, -35.817264556884766, -29.51826286315918], "tau_ext": [-16.703271865844727, -41.63450622558594, 31.79595947265625, 31.34861183166504, 9.515524864196777, -2.998141050338745, -0.11663156747817993], "tcp_pose": [0.6779197454452515, 0.03264269232749939, -0.21499280631542206, -0.0022573203314095736, -0.004597148858010769, 0.9998905658721924, 0.013879033736884594], "tcp_vel": [5.458322266349569e-05, 8.870421152096242e-05, -0.00013892327842768282, 0.0007926453836262226, -0.00019680210971273482, 0.00019759264250751585], "flange_pose": [0.6786159873008728, 0.028482550755143166, -0.06505212187767029, -0.0022573203314095736, -0.004597148858010769, 0.9998905658721924, 0.013879033736884594], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14447784423828, 15.036855697631836, 28.12627601623535, 0.3458586633205414, -24.138404846191406, 1.818852424621582], "ext_wrench_in_world": [-108.4066560187485, 14.809509060642311, -27.223113198737995, -0.13388427824479113, -24.080841826688093, -2.4870791692767713]}
+{"timestamp_ns": 1789729566496769272, "elapsed_ms": 9966, "source_timestamp_ns": 1789729566495307130, "q": [0.8370020985603333, -1.897969126701355, -1.0068997144699097, 1.3810738325119019, -0.1601443886756897, 0.5940535664558411, 0.7030390501022339], "theta": [0.8390985727310181, -1.8960752487182617, -1.0051157474517822, 1.3626662492752075, -0.16072002053260803, 0.5940026044845581, 0.7029940485954285], "dq": [0.0027115812990814447, 0.002956930547952652, 0.0003059316659346223, -0.00048400205560028553, 0.0008450359455309808, -0.00015878304839134216, -0.0015542088076472282], "dtheta": [0.0006157070747576654, -5.366263212636113e-05, 0.00018832055502571166, -0.00012513056572061032, 0.0006291809258982539, -0.001292046974413097, 0.00011613830429269001], "tau": [55.52000045776367, 23.709999084472656, 5.456000328063965, -26.288002014160156, -2.5920000076293945, 2.6560001373291016, -0.5440000295639038], "tau_des": [0.369168758392334, -0.5548346638679504, -0.2183356136083603, -0.5325961709022522, 0.8923403024673462, -1.1478737592697144, -0.5535918474197388], "tau_dot": [88.67973327636719, 80.83027648925781, 74.77790069580078, 20.135269165039062, -55.28824234008789, -12.250798225402832, -5.540122032165527], "tau_ext": [-16.679180145263672, -41.64052963256836, 31.803964614868164, 31.346052169799805, 9.514719009399414, -3.000241279602051, -0.11694210022687912], "tcp_pose": [0.6779190897941589, 0.03264223411679268, -0.21499323844909668, -0.002258140128105879, -0.004596893675625324, 0.9998905658721924, 0.013877538032829762], "tcp_vel": [-0.00022266546147875488, -1.5806233932380565e-05, 0.0002687452360987663, -0.0003018364077433944, 0.0006722795078530908, -0.0002859942032955587], "flange_pose": [0.6786155700683594, 0.02848254330456257, -0.06505253911018372, -0.002258140128105879, -0.004596893675625324, 0.9998905658721924, 0.013877538032829762], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1285400390625, 15.070067405700684, 28.116357803344727, 0.35619932413101196, -24.13357925415039, 1.8197637796401978], "ext_wrench_in_world": [-108.39101355005914, 14.842549498881473, -27.212213887909957, -0.1442883252911324, -24.076096127951853, -2.4877383112711833]}
+{"timestamp_ns": 1789729566530107486, "elapsed_ms": 10000, "source_timestamp_ns": 1789729566525330926, "q": [0.8370023965835571, -1.8979713916778564, -1.0069010257720947, 1.3810739517211914, -0.1601453572511673, 0.5940526127815247, 0.7030379176139832], "theta": [0.8390988111495972, -1.8960771560668945, -1.0051164627075195, 1.3626657724380493, -0.16072097420692444, 0.5940014123916626, 0.7029935717582703], "dq": [-2.1614338038489223e-05, 0.0022822204045951366, 0.0003376625827513635, -0.0006485775811597705, -0.00030471436912193894, -8.770801650825888e-05, 0.0007790741510689259], "dtheta": [-6.363965076161548e-05, -4.429294858709909e-05, -0.00011937058297917247, -0.00011870532762259245, -0.00046330480836331844, -0.00018374428327661008, 0.0006040050066076219], "tau": [55.46999740600586, 23.65999984741211, 5.444000244140625, -26.272001266479492, -2.568000078201294, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.45237997174263, -0.5608016848564148, -0.16763541102409363, -0.5554201006889343, 0.9102355241775513, -1.1591249704360962, -0.5561963319778442], "tau_dot": [-117.45890808105469, 101.61319732666016, -58.172393798828125, 32.4611930847168, 50.04247283935547, -1.7017332315444946, -11.074559211730957], "tau_ext": [-16.682710647583008, -41.63204574584961, 31.796550750732422, 31.36818504333496, 9.515215873718262, -2.999663829803467, -0.11778709292411804], "tcp_pose": [0.6779189109802246, 0.03264192119240761, -0.21499381959438324, -0.0022579149808734655, -0.004598025232553482, 0.9998906254768372, 0.013875637203454971], "tcp_vel": [8.948150934884325e-05, -9.153225983027369e-05, 7.380383522104239e-06, -0.00045160562149249017, -0.0001699598360573873, -0.00041513278847560287], "flange_pose": [0.6786153316497803, 0.028482798486948013, -0.06505311280488968, -0.0022579149808734655, -0.004598025232553482, 0.9998906254768372, 0.013875637203454971], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.16417694091797, 15.052156448364258, 28.107534408569336, 0.3539591133594513, -24.140573501586914, 1.8180654048919678], "ext_wrench_in_world": [-108.42646406860457, 14.823722871227199, -27.203845452395424, -0.14192070610199378, -24.083123508104364, -2.4861533465347536]}
+{"timestamp_ns": 1789729566563436043, "elapsed_ms": 10033, "source_timestamp_ns": 1789729566555350163, "q": [0.8370031118392944, -1.8979727029800415, -1.0069024562835693, 1.3810745477676392, -0.16014446318149567, 0.5940483808517456, 0.7030358910560608], "theta": [0.8390991687774658, -1.8960785865783691, -1.0051175355911255, 1.362666130065918, -0.16072002053260803, 0.5939971208572388, 0.7029919028282166], "dq": [-0.0013460646150633693, 0.0014969748444855213, -0.0004261142748873681, -0.0009260644437745214, -0.0005220213788561523, 4.9260029300057795e-06, -0.0017827170668169856], "dtheta": [-0.00024046246835496277, -0.0001612585037946701, -0.00014560685667674989, 7.778942381264642e-05, -0.00020823550585191697, 4.286563489586115e-05, 0.00041888977284543216], "tau": [55.46999740600586, 23.559999465942383, 5.464000225067139, -26.292001724243164, -2.5880000591278076, 2.684000015258789, -0.5480000376701355], "tau_des": [0.5291928052902222, -0.5102381110191345, -0.1771865040063858, -0.6148993968963623, 0.8983067870140076, -1.1394308805465698, -0.5506012439727783], "tau_dot": [-63.21540832519531, -124.5772705078125, 23.829301834106445, 5.065674304962158, 22.609813690185547, 39.000728607177734, 30.035465240478516], "tau_ext": [-16.68995475769043, -41.597347259521484, 31.770734786987305, 31.380096435546875, 9.517939567565918, -2.9992728233337402, -0.11472848802804947], "tcp_pose": [0.677918016910553, 0.03264080733060837, -0.2149946242570877, -0.0022594048641622066, -0.004598800092935562, 0.9998906254768372, 0.013873456045985222], "tcp_vel": [-4.017503306386061e-05, -5.5715394410071895e-05, -0.00023145928571466357, -0.000360553793143481, 0.00012114418495912105, -0.0002862635301426053], "flange_pose": [0.6786149144172668, 0.0284823440015316, -0.06505389511585236, -0.0022594048641622066, -0.004598800092935562, 0.9998906254768372, 0.013873456045985222], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1998291015625, 14.991094589233398, 28.10051155090332, 0.3386360704898834, -24.15005874633789, 1.8171420097351074], "ext_wrench_in_world": [-108.46162764656569, 14.761869792300978, -27.19811045837596, -0.12647629335220875, -24.09249951576998, -2.485455240634049]}
+{"timestamp_ns": 1789729566596771977, "elapsed_ms": 10066, "source_timestamp_ns": 1789729566595343557, "q": [0.8370036482810974, -1.897976040840149, -1.006903052330017, 1.3810733556747437, -0.1601439118385315, 0.5940457582473755, 0.7030304074287415], "theta": [0.839099645614624, -1.8960808515548706, -1.005117416381836, 1.3626655340194702, -0.16071978211402893, 0.5939944982528687, 0.7029846906661987], "dq": [0.001574816182255745, -0.001015424495562911, 0.0033060219138860703, -0.0003128206299152225, -0.001383372349664569, -0.0001713551173452288, 0.0011010975576937199], "dtheta": [0.00028941192431375384, -4.764340337715112e-05, -0.00021112019021529704, -0.0003155546437483281, 4.5921402488602325e-05, -0.0008664635242894292, -4.8920137487584725e-05], "tau": [55.5099983215332, 23.689998626708984, 5.444000244140625, -26.292001724243164, -2.580000162124634, 2.6720001697540283, -0.5840000510215759], "tau_des": [0.4060537815093994, -0.5549724698066711, -0.17431838810443878, -0.5477104783058167, 0.9159079790115356, -1.14352548122406, -0.5368596911430359], "tau_dot": [57.503658294677734, 109.4109878540039, -22.286865234375, 40.2260856628418, -3.611818313598633, 51.18614959716797, -41.87452697753906], "tau_ext": [-16.684764862060547, -41.63129425048828, 31.780048370361328, 31.350542068481445, 9.513154029846191, -2.995961904525757, -0.1059885323047638], "tcp_pose": [0.6779173612594604, 0.032641321420669556, -0.21499508619308472, -0.0022596672642976046, -0.004602218046784401, 0.9998906254768372, 0.013871686533093452], "tcp_vel": [7.541894592577592e-05, -0.00017511264013592154, 0.00020904905977658927, -0.0005261607584543526, 6.977016164455563e-05, -0.00012195009912829846], "flange_pose": [0.6786143779754639, 0.02848338894546032, -0.06505434960126877, -0.0022596672642976046, -0.004602218046784401, 0.9998906254768372, 0.013871686533093452], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.17765808105469, 15.000776290893555, 28.116968154907227, 0.3399343490600586, -24.149702072143555, 1.821514368057251], "ext_wrench_in_world": [-108.43973512786468, 14.771370066903188, -27.214396322539027, -0.1276340640473075, -24.092043452637053, -2.489725275998781]}
+{"timestamp_ns": 1789729566630101944, "elapsed_ms": 10100, "source_timestamp_ns": 1789729566625329413, "q": [0.8370037078857422, -1.8979759216308594, -1.006902813911438, 1.3810734748840332, -0.1601419597864151, 0.5940470695495605, 0.7030284404754639], "theta": [0.8390999436378479, -1.896080493927002, -1.0051172971725464, 1.3626658916473389, -0.16071835160255432, 0.5939956903457642, 0.7029823064804077], "dq": [0.0006696956697851419, -0.0002020803076447919, -0.001547661842778325, 0.0012578656896948814, 1.4052966434974223e-05, 0.0014733434654772282, 0.0035911693703383207], "dtheta": [0.0003077987057622522, 9.870461508398876e-05, 0.0003307392471469939, 0.00019387161592021585, 0.0004502025549300015, -0.0008748784312047064, -0.0004276307881809771], "tau": [55.529998779296875, 23.6299991607666, 5.456000328063965, -26.304000854492188, -2.568000078201294, 2.6480002403259277, -0.5520000457763672], "tau_des": [0.459383487701416, -0.49818816781044006, -0.25435081124305725, -0.5987540483474731, 0.8891904950141907, -1.131654143333435, -0.5234524607658386], "tau_dot": [110.63935089111328, -80.90257263183594, 23.004375457763672, -21.53362274169922, 14.693470001220703, -24.855056762695312, 25.740182876586914], "tau_ext": [-16.687824249267578, -41.6309700012207, 31.779327392578125, 31.346742630004883, 9.510412216186523, -2.9970245361328125, -0.10250605642795563], "tcp_pose": [0.6779172420501709, 0.03264174610376358, -0.21499507129192352, -0.002259775996208191, -0.004602723754942417, 0.9998906254768372, 0.013872820883989334], "tcp_vel": [-0.00031831205706112087, 9.78165462584002e-06, 3.276063216617331e-05, -0.000117202136607375, 0.0008516907691955566, 0.00039504829328507185], "flange_pose": [0.6786142587661743, 0.028483476489782333, -0.06505434215068817, -0.002259775996208191, -0.004602723754942417, 0.9998906254768372, 0.013872820883989334], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14968872070312, 15.031882286071777, 28.1187686920166, 0.3517831563949585, -24.14620018005371, 1.8277592658996582], "ext_wrench_in_world": [-108.41208069487703, 14.802724213760579, -27.21539864601042, -0.13951949913704642, -24.08847421925911, -2.4958731049235894]}
+{"timestamp_ns": 1789729566663431040, "elapsed_ms": 10133, "source_timestamp_ns": 1789729566655289324, "q": [0.8370037078857422, -1.8979750871658325, -1.0069057941436768, 1.3810734748840332, -0.1601426899433136, 0.5940478444099426, 0.7030296325683594], "theta": [0.8390998244285583, -1.8960797786712646, -1.0051205158233643, 1.3626658916473389, -0.16071882843971252, 0.5939961671829224, 0.702983021736145], "dq": [0.0007084703538566828, -0.0005372111336328089, -0.0005163012538105249, -0.0014076450606808066, 0.002969518303871155, -0.0008583802846260369, -0.0034434301778674126], "dtheta": [0.00010051781282527372, -2.1128491425770335e-05, -7.637475209776312e-05, -0.00015697652997914702, 2.6884163162321784e-06, 4.1809689719229937e-05, -0.0006134701543487608], "tau": [55.459999084472656, 23.760000228881836, 5.432000160217285, -26.32400131225586, -2.568000078201294, 2.6680002212524414, -0.5640000104904175], "tau_des": [0.4220443665981293, -0.5453274846076965, -0.19360771775245667, -0.5388327836990356, 0.9122577905654907, -1.1674686670303345, -0.5273554921150208], "tau_dot": [-64.29280090332031, 166.8339385986328, -3.4049277305603027, -25.144046783447266, 19.115575790405273, 8.073836326599121, -2.2491636276245117], "tau_ext": [-16.708372116088867, -41.64373779296875, 31.774370193481445, 31.364614486694336, 9.50597858428955, -2.9990105628967285, -0.10089001059532166], "tcp_pose": [0.6779187321662903, 0.032639890909194946, -0.21499483287334442, -0.002258801134303212, -0.004600968677550554, 0.9998906254768372, 0.01387220062315464], "tcp_vel": [0.00011030359746655449, 1.0626761195453582e-06, 0.00013232741912361234, 5.762053115176968e-05, -0.0002979791024699807, 0.0005466048023663461], "flange_pose": [0.6786154508590698, 0.028481801971793175, -0.06505409628152847, -0.002258801134303212, -0.004600968677550554, 0.9998906254768372, 0.01387220062315464], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13246154785156, 15.044671058654785, 28.13005256652832, 0.3578854203224182, -24.14459800720215, 1.8304766416549683], "ext_wrench_in_world": [-108.39491950449668, 14.81632930445129, -27.22662367264999, -0.14572907570708524, -24.086856532594755, -2.498488553867076]}
+{"timestamp_ns": 1789729566696770294, "elapsed_ms": 10166, "source_timestamp_ns": 1789729566695281639, "q": [0.8370041847229004, -1.8979740142822266, -1.0069066286087036, 1.3810735940933228, -0.1601436883211136, 0.5940495729446411, 0.7030336856842041], "theta": [0.8391006588935852, -1.896079182624817, -1.0051214694976807, 1.3626657724380493, -0.16071978211402893, 0.5939978361129761, 0.7029863595962524], "dq": [9.733545448398218e-05, -0.0009916743729263544, -0.00021274230675771832, 0.0009765237336978316, 0.00016424566274508834, 0.0009422593866474926, -0.0005250839749351144], "dtheta": [2.420005876047071e-05, 0.00016350223449990153, 0.0003502261533867568, -0.00027701229555532336, -0.00019497884204611182, 6.823860894655809e-05, 0.0011192680103704333], "tau": [55.529998779296875, 23.68000030517578, 5.456000328063965, -26.308000564575195, -2.572000026702881, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.3982059061527252, -0.5932568311691284, -0.2092449963092804, -0.5023288130760193, 0.8986225724220276, -1.1850262880325317, -0.5634111166000366], "tau_dot": [74.51258087158203, -39.654029846191406, 41.65613555908203, 4.6600542068481445, 22.50095558166504, 32.638668060302734, -6.2832112312316895], "tau_ext": [-16.679542541503906, -41.66726303100586, 31.803491592407227, 31.349720001220703, 9.512773513793945, -3.000175952911377, -0.11201213300228119], "tcp_pose": [0.6779198050498962, 0.03263933211565018, -0.21499402821063995, -0.0022575710900127888, -0.004598621279001236, 0.9998906254768372, 0.013872510753571987], "tcp_vel": [7.939068018458784e-05, 0.00019531731959432364, 0.00023127270105760545, 0.00042187224607914686, -0.0002644890919327736, -0.0009192139841616154], "flange_pose": [0.6786161065101624, 0.028481148183345795, -0.0650532990694046, -0.0022575710900127888, -0.004598621279001236, 0.9998906254768372, 0.013872510753571987], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14144897460938, 15.079151153564453, 28.129060745239258, 0.3686348795890808, -24.145875930786133, 1.8291428089141846], "ext_wrench_in_world": [-108.40408158098282, 14.851213554458727, -27.22488561579145, -0.15656805703546378, -24.088268172764497, -2.497158872652354]}
+{"timestamp_ns": 1789729566730105069, "elapsed_ms": 10200, "source_timestamp_ns": 1789729566725302245, "q": [0.8370048999786377, -1.8979750871658325, -1.0069074630737305, 1.3810728788375854, -0.1601434051990509, 0.594048261642456, 0.7030343413352966], "theta": [0.8391017317771912, -1.8960802555084229, -1.0051220655441284, 1.3626655340194702, -0.16072027385234833, 0.5939968824386597, 0.702987790107727], "dq": [0.001187339541502297, -0.0013475304003804922, -0.0015600103652104735, 0.0002290732809342444, -0.0032765837386250496, -0.0008812412852421403, 0.00336924334987998], "dtheta": [0.0002717144670896232, -6.521971226902679e-05, 8.271351543953642e-05, -0.00024904980091378093, -2.3092577976058237e-05, -5.006585706723854e-05, -0.0004333173274062574], "tau": [55.57999801635742, 23.69999885559082, 5.460000038146973, -26.32000160217285, -2.6000001430511475, 2.680000066757202, -0.5360000133514404], "tau_des": [0.3693986237049103, -0.5649351477622986, -0.20734453201293945, -0.497743159532547, 0.9131403565406799, -1.1841306686401367, -0.5376095771789551], "tau_dot": [110.43238830566406, 72.59870910644531, -0.4482210874557495, 19.008546829223633, -25.62390899658203, 21.823434829711914, -10.507377624511719], "tau_ext": [-16.68403434753418, -41.651100158691406, 31.8033390045166, 31.35819435119629, 9.514094352722168, -3.000842332839966, -0.12051986902952194], "tcp_pose": [0.6779199242591858, 0.03263910114765167, -0.21499377489089966, -0.002257388085126877, -0.004598219413310289, 0.9998906850814819, 0.01387171819806099], "tcp_vel": [0.00010456445306772366, 0.00010313109669368714, 0.00027666438836604357, 0.00010221935372101143, -0.00043237642967142165, 0.0005098336259834468], "flange_pose": [0.6786162257194519, 0.028481153771281242, -0.06505302339792252, -0.002257388085126877, -0.004598219413310289, 0.9998906850814819, 0.01387171819806099], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15141296386719, 15.079474449157715, 28.120838165283203, 0.3664921820163727, -24.145008087158203, 1.8249553442001343], "ext_wrench_in_world": [-108.41398800070773, 14.851260679517505, -27.2166764479648, -0.15443246294540958, -24.08750077373982, -2.492920204541486]}
+{"timestamp_ns": 1789729566763493231, "elapsed_ms": 10233, "source_timestamp_ns": 1789729566755288921, "q": [0.8370065093040466, -1.8979758024215698, -1.0069111585617065, 1.3810733556747437, -0.16014379262924194, 0.5940417051315308, 0.7030357718467712], "theta": [0.8391034603118896, -1.8960810899734497, -1.0051252841949463, 1.3626657724380493, -0.16072049736976624, 0.5939899682998657, 0.7029892802238464], "dq": [0.001747647300362587, -0.002525764750316739, -0.00012287174467928708, -0.0008342278888449073, -0.0004387550870887935, 0.0018578723538666964, -0.0001903444790514186], "dtheta": [-2.954511728603393e-05, 5.6836925068637356e-05, 7.135334453778341e-05, -0.0001734924444463104, -0.00019814523693639785, -0.0004460563068278134, 0.000384132144972682], "tau": [55.46999740600586, 23.6299991607666, 5.448000431060791, -26.340002059936523, -2.580000162124634, 2.632000207901001, -0.527999997138977], "tau_des": [0.44584593176841736, -0.5712443590164185, -0.1605309545993805, -0.5586336255073547, 0.9033897519111633, -1.1492056846618652, -0.5579142570495605], "tau_dot": [-32.30164337158203, -20.31620979309082, -1.268296480178833, -64.02847290039062, 69.15332794189453, -102.47833251953125, 1.9861481189727783], "tau_ext": [-16.692033767700195, -41.635128021240234, 31.785266876220703, 31.378122329711914, 9.516850471496582, -3.0031371116638184, -0.1331816017627716], "tcp_pose": [0.6779199838638306, 0.03263615071773529, -0.21499399840831757, -0.0022585513070225716, -0.004596651066094637, 0.9998907446861267, 0.013867903500795364], "tcp_vel": [-3.5203161132812966e-06, -2.8286398446653038e-05, 4.36237060057465e-05, -0.000229115757974796, 0.0001511959999334067, -0.00027862098067998886], "flange_pose": [0.6786165833473206, 0.028479348868131638, -0.06505322456359863, -0.0022585513070225716, -0.004596651066094637, 0.9998907446861267, 0.013867903500795364], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.16728210449219, 15.034850120544434, 28.12517547607422, 0.35347217321395874, -24.146387100219727, 1.815187931060791], "ext_wrench_in_world": [-108.42948672806381, 14.806755294063478, -27.222041384333323, -0.14143537345460877, -24.089047961582775, -2.483067485120674]}
+{"timestamp_ns": 1789729566796777028, "elapsed_ms": 10266, "source_timestamp_ns": 1789729566795284634, "q": [0.8370078802108765, -1.8979781866073608, -1.006911277770996, 1.3810737133026123, -0.16014273464679718, 0.5940374732017517, 0.7030317783355713], "theta": [0.839105486869812, -1.8960838317871094, -1.0051257610321045, 1.3626657724380493, -0.16071978211402893, 0.5939854383468628, 0.7029856443405151], "dq": [0.002447264501824975, -6.443259917432442e-05, 0.0019377314019948244, -0.0024726931005716324, -0.0007236414239741862, 0.00038655183743685484, 0.0002969902998302132], "dtheta": [0.0002174211695091799, -2.122464866260998e-05, 6.891544762765989e-05, -0.000159847826580517, 0.00041669837082736194, -0.0005395724438130856, -0.0009901828598231077], "tau": [55.459999084472656, 23.65999984741211, 5.456000328063965, -26.272001266479492, -2.6000001430511475, 2.6480002403259277, -0.5480000376701355], "tau_des": [0.42618289589881897, -0.5294174551963806, -0.19718587398529053, -0.5636754631996155, 0.9030840396881104, -1.142585277557373, -0.5273877382278442], "tau_dot": [-94.87310791015625, 123.56991577148438, 15.032072067260742, -32.201812744140625, 2.5412211418151855, -10.777734756469727, -30.63260269165039], "tau_ext": [-16.700939178466797, -41.6199836730957, 31.78784942626953, 31.36506462097168, 9.518585205078125, -2.994481325149536, -0.12537351250648499], "tcp_pose": [0.6779186129570007, 0.0326361246407032, -0.21499450504779816, -0.002259888919070363, -0.004599174950271845, 0.9998907446861267, 0.013865824788808823], "tcp_vel": [-7.682123396079987e-05, 1.9199549569748342e-05, 0.00012050181248923764, 3.091358667006716e-05, 0.00028726839809678495, 0.0008088885806500912], "flange_pose": [0.6786156296730042, 0.02847994863986969, -0.06505371630191803, -0.002259888919070363, -0.004599174950271845, 0.9998907446861267, 0.013865824788808823], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.16899108886719, 15.003551483154297, 28.14169692993164, 0.3371453285217285, -24.14777183532715, 1.807970404624939], "ext_wrench_in_world": [-108.43113230272768, 14.775246470757606, -27.239198513611672, -0.12494691660775241, -24.09049194501442, -2.475862411926032]}
+{"timestamp_ns": 1789729566830101846, "elapsed_ms": 10300, "source_timestamp_ns": 1789729566825288125, "q": [0.8370084166526794, -1.8979805707931519, -1.0069106817245483, 1.381073236465454, -0.16014228761196136, 0.5940371751785278, 0.7030298113822937], "theta": [0.8391063213348389, -1.8960853815078735, -1.0051257610321045, 1.3626656532287598, -0.16071954369544983, 0.5939844846725464, 0.7029832601547241], "dq": [0.0008451509056612849, -0.0001079538487829268, -0.0005496650119312108, 0.002907601185142994, -0.0027818437665700912, 0.0003275593917351216, -0.0021616711746901274], "dtheta": [-2.129943277395796e-05, -0.0003427697520237416, -6.718696386087686e-05, -6.476533599197865e-05, 0.0003444754984229803, 0.0002693731803447008, 0.0002510332560632378], "tau": [55.53999710083008, 23.689998626708984, 5.4760003089904785, -26.284000396728516, -2.5840001106262207, 2.680000066757202, -0.5520000457763672], "tau_des": [0.48734259605407715, -0.49562913179397583, -0.20788829028606415, -0.5867454409599304, 0.8968919515609741, -1.1516025066375732, -0.5443094968795776], "tau_dot": [-12.823558807373047, 18.272153854370117, 36.879032135009766, 4.4175705909729, 27.418039321899414, 46.041168212890625, 50.498329162597656], "tau_ext": [-16.713298797607422, -41.632930755615234, 31.791732788085938, 31.340381622314453, 9.523272514343262, -2.9917070865631104, -0.11334268003702164], "tcp_pose": [0.6779179573059082, 0.032637231051921844, -0.2149946540594101, -0.00225971732288599, -0.004600995220243931, 0.9998907446861267, 0.013865316286683083], "tcp_vel": [-4.478928167372942e-05, 0.00014287239173427224, -8.850824815453961e-05, 0.00012876783148385584, -5.770258212578483e-05, -0.00027628932730294764], "flange_pose": [0.6786149740219116, 0.02848120965063572, -0.06505386531352997, -0.00225971732288599, -0.004600995220243931, 0.9998907446861267, 0.013865316286683083], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12166595458984, 15.030657768249512, 28.141983032226562, 0.3387061059474945, -24.136701583862305, 1.8135567903518677], "ext_wrench_in_world": [-108.38410158794568, 14.802365646075108, -27.238998237491163, -0.12654611312624686, -24.079289044018893, -2.481108345538924]}
+{"timestamp_ns": 1789729566863428273, "elapsed_ms": 10333, "source_timestamp_ns": 1789729566855287487, "q": [0.8370092511177063, -1.897981882095337, -1.0069104433059692, 1.3810735940933228, -0.1601419895887375, 0.5940371751785278, 0.7030282020568848], "theta": [0.8391069769859314, -1.8960868120193481, -1.005125880241394, 1.3626656532287598, -0.16071882843971252, 0.5939842462539673, 0.7029808759689331], "dq": [0.00078009651042521, -0.0016839606687426567, -1.8092739992425777e-05, 0.0015206311363726854, 0.003194320946931839, 0.00036607624497264624, 0.0012373997597023845], "dtheta": [-1.3109951396472752e-05, -0.00029556124354712665, -0.0002621385210659355, 6.0769147239625454e-05, -4.2615032725734636e-05, 0.000503240735270083, 0.00017174347885884345], "tau": [55.54999923706055, 23.6299991607666, 5.444000244140625, -26.292001724243164, -2.568000078201294, 2.6440000534057617, -0.5720000267028809], "tau_des": [0.48087432980537415, -0.5119879841804504, -0.185991570353508, -0.5828297138214111, 0.9090006947517395, -1.1565165519714355, -0.5393062233924866], "tau_dot": [74.42274475097656, -20.636375427246094, -24.408367156982422, 3.6213860511779785, 60.16867446899414, -36.99623489379883, -21.287254333496094], "tau_ext": [-16.699235916137695, -41.61963653564453, 31.78539276123047, 31.347328186035156, 9.518068313598633, -2.9910495281219482, -0.10428681969642639], "tcp_pose": [0.67791748046875, 0.03263771906495094, -0.21499468386173248, -0.002259609755128622, -0.004602305591106415, 0.9998907446861267, 0.013864869251847267], "tcp_vel": [8.188788342522457e-05, 7.027752417343436e-06, -7.709485362283885e-05, -0.00011985470337094739, -0.000420140364440158, -0.00013662644778378308], "flange_pose": [0.6786144375801086, 0.02848183363676071, -0.06505388021469116, -0.002259609755128622, -0.004602305591106415, 0.9998907446861267, 0.013864869251847267], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10836029052734, 15.055590629577637, 28.149211883544922, 0.3445424735546112, -24.134323120117188, 1.821524739265442], "ext_wrench_in_world": [-108.37108993412605, 14.82730336690688, -27.24563166696418, -0.13237722754968378, -24.076747449813485, -2.4889601976705826]}
+{"timestamp_ns": 1789729566896773156, "elapsed_ms": 10366, "source_timestamp_ns": 1789729566895306545, "q": [0.8370089530944824, -1.89798104763031, -1.0069113969802856, 1.3810747861862183, -0.16014233231544495, 0.594037652015686, 0.7030298113822937], "theta": [0.8391062021255493, -1.8960857391357422, -1.005126714706421, 1.362666368484497, -0.16071859002113342, 0.5939856767654419, 0.7029818296432495], "dq": [0.0005232611438259482, -0.0011731917038559914, -0.0005616933922283351, -0.00022085075033828616, -0.0014916175277903676, -0.0009443341987207532, -0.003979923203587532], "dtheta": [-0.0001815085270209238, -6.072339238016866e-05, 9.015492651087698e-06, 0.00022617843933403492, 0.000545431103091687, -0.0003888777282554656, 0.0004261725989636034], "tau": [55.459999084472656, 23.619998931884766, 5.436000347137451, -26.356000900268555, -2.624000072479248, 2.6680002212524414, -0.5640000104904175], "tau_des": [0.5616558194160461, -0.4923531115055084, -0.19690534472465515, -0.6510191559791565, 0.8724636435508728, -1.1204065084457397, -0.5494370460510254], "tau_dot": [-53.696537017822266, -91.49919128417969, 3.641098737716675, -37.077335357666016, -78.83861541748047, -31.941608428955078, -31.123380661010742], "tau_ext": [-16.726648330688477, -41.6390495300293, 31.785200119018555, 31.357563018798828, 9.510178565979004, -2.9990575313568115, -0.10688891261816025], "tcp_pose": [0.6779176592826843, 0.03263675048947334, -0.2149951308965683, -0.0022598104551434517, -0.004601038061082363, 0.9998907446861267, 0.013864594511687756], "tcp_vel": [-0.00029342310153879225, -4.3608262785710394e-05, -0.00033058496774174273, -8.634925325168297e-05, 0.0009738867520354688, -0.0006369529874064028], "flange_pose": [0.6786146759986877, 0.02848094515502453, -0.06505432724952698, -0.0022598104551434517, -0.004601038061082363, 0.9998907446861267, 0.013864594511687756], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0808334350586, 15.069711685180664, 28.158912658691406, 0.34974491596221924, -24.128576278686523, 1.8242141008377075], "ext_wrench_in_world": [-108.3437129864574, 14.842200944498467, -27.255018911063765, -0.13770635580868534, -24.0709777970042, -2.4914527256263863]}
+{"timestamp_ns": 1789729566930106381, "elapsed_ms": 10400, "source_timestamp_ns": 1789729566925390816, "q": [0.8370091319084167, -1.8979805707931519, -1.0069142580032349, 1.3810741901397705, -0.16014248132705688, 0.5940377116203308, 0.7030297517776489], "theta": [0.8391062021255493, -1.8960858583450317, -1.0051288604736328, 1.362666368484497, -0.16071859002113342, 0.5939863920211792, 0.7029818296432495], "dq": [-0.0005250544636510313, -0.0006945672212168574, -0.0011032676557078958, 0.0006673830794170499, 0.0020992893259972334, 0.001921996590681374, 0.0003893756656907499], "dtheta": [-0.0003974231076426804, -0.00036860210821032524, -0.00023782167409081012, 0.0002702769997995347, 4.313173485570587e-05, -0.0005669509409926832, 1.317012902291026e-05], "tau": [55.48999786376953, 23.65999984741211, 5.4800004959106445, -26.30000114440918, -2.576000213623047, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.6198201179504395, -0.4541148245334625, -0.17107829451560974, -0.6924362778663635, 0.8867091536521912, -1.1061196327209473, -0.5423815846443176], "tau_dot": [-36.717769622802734, 40.387386322021484, 66.80864715576172, -0.9134865403175354, -3.2035298347473145, 2.5064170360565186, 63.863399505615234], "tau_ext": [-16.70209312438965, -41.64933776855469, 31.79420280456543, 31.355737686157227, 9.514575004577637, -3.001103401184082, -0.11080963909626007], "tcp_pose": [0.6779190897941589, 0.03263511508703232, -0.21499469876289368, -0.002258915454149246, -0.004599863197654486, 0.9998907446861267, 0.013864008709788322], "tcp_vel": [-0.00032170276972465217, -0.00016108006821013987, -0.000580327061470598, -0.0009242146625183523, 0.0009930884698405862, 9.855809912551194e-05], "flange_pose": [0.6786158084869385, 0.02847948484122753, -0.06505389511585236, -0.002258915454149246, -0.004599863197654486, 0.9998907446861267, 0.013864008709788322], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11869049072266, 15.064163208007812, 28.14592170715332, 0.3549783527851105, -24.13627815246582, 1.8248136043548584], "ext_wrench_in_world": [-108.38137377992395, 14.83616942660054, -27.242229160863488, -0.14292463364102512, -24.078710828767708, -2.4922148279124827]}
+{"timestamp_ns": 1789729566963429659, "elapsed_ms": 10433, "source_timestamp_ns": 1789729566955421480, "q": [0.8370093703269958, -1.8979804515838623, -1.0069160461425781, 1.3810734748840332, -0.16014283895492554, 0.5940377712249756, 0.7030304074287415], "theta": [0.8391066789627075, -1.8960856199264526, -1.0051305294036865, 1.362666368484497, -0.16071906685829163, 0.5939871072769165, 0.7029825448989868], "dq": [-0.0007516287150792778, 0.0004903210792690516, 0.0013719856506213546, 0.0003232894523534924, -0.0012183473445475101, -0.0019285932648926973, -0.0018650663550943136], "dtheta": [-0.00038276356644928455, 0.000207773526199162, -8.524848817614838e-05, -5.612169115920551e-05, -0.0002728730032686144, 0.0003535610740073025, -0.00017399320495314896], "tau": [55.459999084472656, 23.68000030517578, 5.440000057220459, -26.336000442504883, -2.5920000076293945, 2.6640000343322754, -0.5640000104904175], "tau_des": [0.48969489336013794, -0.5736268162727356, -0.1435980349779129, -0.568446695804596, 0.9019643664360046, -1.1624902486801147, -0.5432468056678772], "tau_dot": [-133.4857177734375, 35.08502197265625, -11.350249290466309, -74.50434875488281, -6.41188907623291, 19.647563934326172, -75.52369689941406], "tau_ext": [-16.68733024597168, -41.638668060302734, 31.779054641723633, 31.363975524902344, 9.514669418334961, -3.0053796768188477, -0.11351480334997177], "tcp_pose": [0.6779201030731201, 0.03263424336910248, -0.21499423682689667, -0.0022580944932997227, -0.004598952364176512, 0.9998907446861267, 0.013863622210919857], "tcp_vel": [0.00012664907262660563, -6.0733709688065574e-05, -0.00011474934581201524, 0.00019446828810032457, -0.00011300264304736629, 0.0001091300873667933], "flange_pose": [0.6786165833473206, 0.028478724882006645, -0.06505342572927475, -0.0022580944932997227, -0.004598952364176512, 0.9998907446861267, 0.013863622210919857], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14945220947266, 15.045610427856445, 28.122264862060547, 0.35692161321640015, -24.14180564880371, 1.824487566947937], "ext_wrench_in_world": [-108.41178310419882, 14.81686307705129, -27.21914840790926, -0.14485611563854017, -24.084264646837788, -2.492015455686591]}
+{"timestamp_ns": 1789729566996764764, "elapsed_ms": 10466, "source_timestamp_ns": 1789729566995326616, "q": [0.8370099663734436, -1.8979809284210205, -1.0069164037704468, 1.3810734748840332, -0.1601424664258957, 0.5940371155738831, 0.7030311226844788], "theta": [0.8391073346138, -1.8960864543914795, -1.0051305294036865, 1.362666130065918, -0.16071954369544983, 0.5939871072769165, 0.7029832601547241], "dq": [0.0013650305336341262, -0.0001815759314922616, -0.0005150151555426419, 0.001115167047828436, -0.00045905233127996325, -0.001707597402855754, -0.0015343852574005723], "dtheta": [-0.00013265933375805616, -2.0171799405943602e-05, 7.350894156843424e-05, -0.0003528811503201723, 3.580542033887468e-05, 0.00013522349763661623, -3.8267677155090496e-05], "tau": [55.41999816894531, 23.65999984741211, 5.468000411987305, -26.34800148010254, -2.6040000915527344, 2.6720001697540283, -0.5400000214576721], "tau_des": [0.43659040331840515, -0.5625632405281067, -0.18463115394115448, -0.53044593334198, 0.9005617499351501, -1.1737940311431885, -0.5466675758361816], "tau_dot": [-185.4728240966797, -85.17520141601562, 34.17990493774414, -25.06899642944336, 8.073310852050781, -10.48137092590332, 27.49476432800293], "tau_ext": [-16.69588851928711, -41.64776611328125, 31.788856506347656, 31.36708641052246, 9.515122413635254, -3.002825975418091, -0.11822191625833511], "tcp_pose": [0.6779199838638306, 0.03263412415981293, -0.2149941623210907, -0.00225814082659781, -0.004598540719598532, 0.9998908042907715, 0.013863205909729004], "tcp_vel": [9.989617683459073e-05, 0.00013813456462230533, 7.798006845405325e-05, 0.0003452792589087039, -0.00021110741363372654, 2.4935616238508373e-05], "flange_pose": [0.6786165237426758, 0.028478730469942093, -0.06505334377288818, -0.00225814082659781, -0.004598540719598532, 0.9998908042907715, 0.013863205909729004], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.16139221191406, 15.045697212219238, 28.126691818237305, 0.3581737279891968, -24.14422607421875, 1.8222391605377197], "ext_wrench_in_world": [-108.42373439083481, 14.817028107288714, -27.223520368844795, -0.14609563007129037, -24.086759884765574, -2.4898094347008763]}
+{"timestamp_ns": 1789729567030096247, "elapsed_ms": 10500, "source_timestamp_ns": 1789729567025299056, "q": [0.837010383605957, -1.8979817628860474, -1.0069160461425781, 1.3810735940933228, -0.16014212369918823, 0.5940356254577637, 0.7030304074287415], "theta": [0.8391078114509583, -1.8960870504379272, -1.0051307678222656, 1.3626662492752075, -0.16071930527687073, 0.5939854383468628, 0.7029832601547241], "dq": [0.0006716193747706711, -0.0003036136622540653, 0.0021998845040798187, 0.0011360583594068885, 0.00045453853090293705, -0.0011304791551083326, 0.0005214499542489648], "dtheta": [-6.427461812563706e-06, -4.1204457374988124e-05, 3.827575346804224e-05, 2.259736356791109e-05, 0.00016489141853526235, -9.1362620878499e-05, 0.0002664416388142854], "tau": [55.47999954223633, 23.60999870300293, 5.444000244140625, -26.32400131225586, -2.5480000972747803, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.470464289188385, -0.5455997586250305, -0.18485170602798462, -0.5742982625961304, 0.8910477757453918, -1.1538406610488892, -0.5511491298675537], "tau_dot": [-55.01707458496094, -61.177696228027344, -25.95301055908203, -18.043621063232422, 119.74468231201172, -38.53850173950195, 30.89615821838379], "tau_ext": [-16.69838523864746, -41.637969970703125, 31.78003692626953, 31.345741271972656, 9.519058227539062, -2.998443365097046, -0.1151689663529396], "tcp_pose": [0.6779194474220276, 0.03263430297374725, -0.21499431133270264, -0.0022586772684007883, -0.004599207080900669, 0.9998908042907715, 0.013862616382539272], "tcp_vel": [-7.346782513195649e-05, 2.606382258818485e-05, -4.854177313973196e-05, 2.2351214283844456e-05, 0.00020449652220122516, -0.000297644262900576], "flange_pose": [0.6786161065101624, 0.028479088097810745, -0.06505350023508072, -0.0022586772684007883, -0.004599207080900669, 0.9998908042907715, 0.013862616382539272], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15057373046875, 15.044493675231934, 28.120492935180664, 0.3563363254070282, -24.143409729003906, 1.82167387008667], "ext_wrench_in_world": [-108.412925251851, 14.815575014192648, -27.217308581610133, -0.144233247303638, -24.085945670090158, -2.4892011883652736]}
+{"timestamp_ns": 1789729567063427337, "elapsed_ms": 10533, "source_timestamp_ns": 1789729567055313164, "q": [0.8370105028152466, -1.8979828357696533, -1.0069160461425781, 1.3810733556747437, -0.1601419746875763, 0.5940349102020264, 0.7030298709869385], "theta": [0.8391075134277344, -1.8960884809494019, -1.0051311254501343, 1.3626662492752075, -0.16071930527687073, 0.5939849615097046, 0.7029823064804077], "dq": [0.000612450297921896, 0.00044486895785667, -0.002016945043578744, -0.0001349806261714548, 0.0002862956316675991, -0.0032784035429358482, 0.0011445496929809451], "dtheta": [0.00014557463873643428, 0.00015195786545518786, -1.4170879694574978e-05, -4.332753087510355e-05, 0.0007670194027014077, -1.0981940476995078e-06, 0.00015109783271327615], "tau": [55.52000045776367, 23.68000030517578, 5.428000450134277, -26.296001434326172, -2.5880000591278076, 2.6520001888275146, -0.5400000214576721], "tau_des": [0.4289494454860687, -0.5804327726364136, -0.17564523220062256, -0.5434821248054504, 0.8803602457046509, -1.1641414165496826, -0.553511381149292], "tau_dot": [45.128780364990234, 54.36354446411133, -42.2520751953125, 16.888479232788086, -51.79497146606445, -12.080693244934082, 61.475955963134766], "tau_ext": [-16.69219970703125, -41.63863754272461, 31.781888961791992, 31.341413497924805, 9.512725830078125, -2.9950907230377197, -0.10882917791604996], "tcp_pose": [0.6779190897941589, 0.03263455256819725, -0.21499456465244293, -0.0022588532883673906, -0.00459978636354208, 0.9998908042907715, 0.013862061314284801], "tcp_vel": [-1.0990826922352426e-05, 9.632085493649356e-06, 9.918308933265507e-05, 0.0006039707805030048, 0.0002439999079797417, -0.0006951625691726804], "flange_pose": [0.6786158084869385, 0.028479505330324173, -0.06505374610424042, -0.0022588532883673906, -0.00459978636354208, 0.9998908042907715, 0.013862061314284801], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11978912353516, 15.063924789428711, 28.13547706604004, 0.3595481514930725, -24.13935089111328, 1.8244479894638062], "ext_wrench_in_world": [-108.38241565740165, 14.83554143067809, -27.231863444093996, -0.14746761455014107, -24.08184439387031, -2.4918207551644382]}
+{"timestamp_ns": 1789729567096771824, "elapsed_ms": 10566, "source_timestamp_ns": 1789729567095358718, "q": [0.8370099067687988, -1.8979840278625488, -1.0069174766540527, 1.3810744285583496, -0.16014216840267181, 0.5940355658531189, 0.7030292749404907], "theta": [0.8391065001487732, -1.8960905075073242, -1.0051323175430298, 1.362667441368103, -0.16071906685829163, 0.5939851999282837, 0.7029815912246704], "dq": [0.00032343959901481867, -0.000934516720008105, -0.0006241471855901182, -0.001142529770731926, -0.0003365683078300208, -0.00012267695274204016, -0.0009114302229136229], "dtheta": [-0.0005328042316250503, 0.00014311698032543063, 0.0002548846823628992, -5.17407497682143e-05, -6.625775131396949e-05, -0.0002147439809050411, -0.0005221004830673337], "tau": [55.41999816894531, 23.68000030517578, 5.440000057220459, -26.280000686645508, -2.580000162124634, 2.6440000534057617, -0.5840000510215759], "tau_des": [0.5649845004081726, -0.5002488493919373, -0.2123362123966217, -0.6266539096832275, 0.8810831904411316, -1.13861083984375, -0.5300731658935547], "tau_dot": [-101.53746795654297, 53.56221389770508, 33.05878829956055, 74.08743286132812, 18.972957611083984, -72.60755157470703, -80.82603454589844], "tau_ext": [-16.703296661376953, -41.649497985839844, 31.790828704833984, 31.361412048339844, 9.515427589416504, -3.0021142959594727, -0.10802184790372849], "tcp_pose": [0.6779187917709351, 0.03263404965400696, -0.21499581634998322, -0.002259069588035345, -0.004600136540830135, 0.9998908042907715, 0.013861014507710934], "tcp_vel": [-0.00017236487474292517, 6.987846427364275e-05, -0.0003008547646459192, 0.00011932624329347163, 0.0006831344217061996, 0.0006388297770172358], "flange_pose": [0.6786155700683594, 0.0284793172031641, -0.0650549829006195, -0.002259069588035345, -0.004600136540830135, 0.9998908042907715, 0.013861014507710934], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11621856689453, 15.07636547088623, 28.131750106811523, 0.3621246814727783, -24.138381958007812, 1.8274719715118408], "ext_wrench_in_world": [-108.37896344266778, 14.847772567018197, -27.227794805663176, -0.15005081625001626, -24.080821300873048, -2.4947548717723573]}
+{"timestamp_ns": 1789729567130109313, "elapsed_ms": 10600, "source_timestamp_ns": 1789729567125354961, "q": [0.8370109796524048, -1.8979833126068115, -1.0069172382354736, 1.3810762166976929, -0.16014109551906586, 0.5940369963645935, 0.7030305862426758], "theta": [0.839107096195221, -1.896089792251587, -1.005132794380188, 1.362668752670288, -0.16071859002113342, 0.5939863920211792, 0.7029827833175659], "dq": [0.004321913234889507, 0.0014797929907217622, 0.0010253615910187364, -0.0015307101421058178, 0.00047076161717996, -0.0002918209065683186, -0.0008522411808371544], "dtheta": [9.756260988069698e-05, -1.0788327927002683e-05, -0.00011546313908183947, 0.0003918041184078902, 0.0006860073772259057, 0.0015287288697436452, 0.001210025162436068], "tau": [55.46999740600586, 23.639999389648438, 5.444000244140625, -26.32000160217285, -2.580000162124634, 2.6720001697540283, -0.5560000538825989], "tau_des": [0.46091228723526, -0.5807622075080872, -0.17396791279315948, -0.5494715571403503, 0.870941698551178, -1.1887646913528442, -0.5748220682144165], "tau_dot": [37.754844665527344, 1.533608078956604, 3.1842033863067627, -38.32317352294922, -36.624656677246094, 43.04970932006836, 18.940488815307617], "tau_ext": [-16.69060516357422, -41.62668991088867, 31.78887176513672, 31.360761642456055, 9.513962745666504, -3.002851963043213, -0.10997264087200165], "tcp_pose": [0.6779186129570007, 0.032633885741233826, -0.21499556303024292, -0.0022590458393096924, -0.004599120933562517, 0.9998908042907715, 0.01386166363954544], "tcp_vel": [9.558413148624822e-05, 0.00015348909073509276, -5.162596039554046e-07, 0.0011131379287689924, -0.000563050271011889, -0.001638856832869351], "flange_pose": [0.678615391254425, 0.02847895957529545, -0.06505473703145981, -0.0022590458393096924, -0.004599120933562517, 0.9998908042907715, 0.01386166363954544], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14781188964844, 15.04974365234375, 28.116641998291016, 0.3562668263912201, -24.140567779541016, 1.825567603111267], "ext_wrench_in_world": [-108.41021117463887, 14.820706800001606, -27.21327471655538, -0.14421341726280046, -24.083001164131385, -2.492968764837996]}
+{"timestamp_ns": 1789729567163430265, "elapsed_ms": 10633, "source_timestamp_ns": 1789729567155357412, "q": [0.8370118141174316, -1.8979824781417847, -1.0069183111190796, 1.3810769319534302, -0.1601424515247345, 0.5940346121788025, 0.7030318975448608], "theta": [0.8391073346138, -1.8960893154144287, -1.0051332712173462, 1.362669587135315, -0.16071906685829163, 0.5939844846725464, 0.7029837369918823], "dq": [0.0007084612152539194, 0.0008753699949011207, -0.0010556012857705355, 2.9755188734270632e-05, -0.0005936285015195608, -0.0005419324734248221, -0.000756031135097146], "dtheta": [-4.9658683565212414e-05, 8.923370478441939e-05, -4.153880217927508e-05, -0.00020009181753266603, 0.00027474260423332453, -0.00047829109826125205, 0.0011064226273447275], "tau": [55.44999694824219, 23.65999984741211, 5.440000057220459, -26.308000564575195, -2.572000026702881, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.4698253273963928, -0.5907378196716309, -0.15218959748744965, -0.5674212574958801, 0.8771610260009766, -1.148817777633667, -0.5742698907852173], "tau_dot": [-129.05413818359375, -43.18370819091797, 17.193557739257812, 33.09028625488281, 49.52286911010742, 38.381107330322266, -9.360969543457031], "tau_ext": [-16.69095802307129, -41.6402473449707, 31.785409927368164, 31.35543441772461, 9.516640663146973, -3.004284381866455, -0.11305616050958633], "tcp_pose": [0.6779187917709351, 0.03263251110911369, -0.21499529480934143, -0.002259280998259783, -0.004598336759954691, 0.9998908042907715, 0.013860221020877361], "tcp_vel": [-2.1409872715594247e-05, -6.675119220744818e-05, 2.8322101570665836e-06, 7.75365060690092e-06, 0.0004199742979835719, -0.001367448945529759], "flange_pose": [0.6786156296730042, 0.028478017076849937, -0.06505446135997772, -0.002259280998259783, -0.004598336759954691, 0.9998908042907715, 0.013860221020877361], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13882446289062, 15.047069549560547, 28.112064361572266, 0.35583004355430603, -24.136070251464844, 1.8243763446807861], "ext_wrench_in_world": [-108.40116851110568, 14.818080190309031, -27.208803461652035, -0.143850845302613, -24.078541486086102, -2.491585456633826]}
+{"timestamp_ns": 1789729567196765104, "elapsed_ms": 10666, "source_timestamp_ns": 1789729567195349629, "q": [0.837012767791748, -1.8979823589324951, -1.0069196224212646, 1.3810765743255615, -0.16014167666435242, 0.5940349102020264, 0.7030342221260071], "theta": [0.8391080498695374, -1.8960893154144287, -1.0051348209381104, 1.362669825553894, -0.16071930527687073, 0.5939851999282837, 0.7029865980148315], "dq": [-9.32755065150559e-05, -0.0016727021429687738, 8.430882007814944e-05, -1.4270051906351e-05, 0.0011792194563895464, 0.0015168505487963557, -0.0018159529427066445], "dtheta": [-0.0002308631519554183, -0.0003022992459591478, -1.76380890479777e-05, 0.00019849257660098374, 0.00015870768402237445, 0.0006611351273022592, 2.9902468668296933e-05], "tau": [55.48999786376953, 23.639999389648438, 5.456000328063965, -26.312002182006836, -2.636000156402588, 2.680000066757202, -0.5360000133514404], "tau_des": [0.5322275161743164, -0.5064242482185364, -0.1966780722141266, -0.6026255488395691, 0.8793052434921265, -1.1616933345794678, -0.5539918541908264], "tau_dot": [-45.79326248168945, 34.30149459838867, -25.077980041503906, -35.87413024902344, -108.55757904052734, 9.818632125854492, -18.41460418701172], "tau_ext": [-16.7012939453125, -41.66450500488281, 31.7879638671875, 31.364765167236328, 9.519685745239258, -3.0054972171783447, -0.12311061471700668], "tcp_pose": [0.6779196262359619, 0.03263183310627937, -0.21499453485012054, -0.002258538268506527, -0.004596354439854622, 0.9998908042907715, 0.013860260136425495], "tcp_vel": [-0.00010013852443080395, 0.00015638502372894436, -0.0002735070011112839, 0.0001808113738661632, -2.623603904794436e-05, 8.757517935009673e-05], "flange_pose": [0.6786162257194519, 0.028477324172854424, -0.06505369395017624, -0.002258538268506527, -0.004596354439854622, 0.9998908042907715, 0.013860260136425495], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1586685180664, 15.056938171386719, 28.111061096191406, 0.36262837052345276, -24.142553329467773, 1.8232460021972656], "ext_wrench_in_world": [-108.42099899895928, 14.828167219236352, -27.207593639235526, -0.1506767711063525, -24.085115256888777, -2.490607588293397]}
+{"timestamp_ns": 1789729567230106232, "elapsed_ms": 10700, "source_timestamp_ns": 1789729567225357519, "q": [0.8370132446289062, -1.8979836702346802, -1.0069222450256348, 1.3810768127441406, -0.160142719745636, 0.5940322875976562, 0.7030335664749146], "theta": [0.8391090631484985, -1.8960903882980347, -1.005137324333191, 1.3626699447631836, -0.16072002053260803, 0.5939825773239136, 0.7029870748519897], "dq": [0.002662078244611621, -0.0002529520133975893, 0.0010981595842167735, 0.00245609600096941, -0.0014040602836757898, -0.00032506114803254604, 0.001864386722445488], "dtheta": [-5.383726238505915e-05, -0.000246712559601292, 0.0003914351109415293, -0.00014468673907686025, -0.00017939979443326592, -1.831879490055144e-05, -0.0006444116588681936], "tau": [55.48999786376953, 23.65999984741211, 5.436000347137451, -26.336000442504883, -2.5920000076293945, 2.6560001373291016, -0.5320000052452087], "tau_des": [0.4708596169948578, -0.500331461429596, -0.23731045424938202, -0.5707604289054871, 0.8979181051254272, -1.1596530675888062, -0.5351645350456238], "tau_dot": [-29.40230941772461, 10.497638702392578, -29.05069351196289, -26.18744468688965, -7.178814888000488, 1.837570071220398, -32.317283630371094], "tau_ext": [-16.70833969116211, -41.6520881652832, 31.791606903076172, 31.365673065185547, 9.521711349487305, -2.999783515930176, -0.13708913326263428], "tcp_pose": [0.6779197454452515, 0.03263024613261223, -0.21499508619308472, -0.0022587196435779333, -0.004596542567014694, 0.9998908638954163, 0.013857699930667877], "tcp_vel": [-0.0001305803598370403, 0.00030063148005865514, -1.1282051673333626e-05, 2.8809616196667776e-05, -4.099673969903961e-05, 0.0011616148985922337], "flange_pose": [0.6786164045333862, 0.028476504608988762, -0.06505423039197922, -0.0022587196435779333, -0.004596542567014694, 0.9998908638954163, 0.013857699930667877], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14385986328125, 15.038097381591797, 28.11735725402832, 0.35487762093544006, -24.139856338500977, 1.8152012825012207], "ext_wrench_in_world": [-108.40606325128631, 14.809463966808341, -27.21451460731632, -0.1429050713225062, -24.082583272718143, -2.4824018446833453]}
+{"timestamp_ns": 1789729567263425295, "elapsed_ms": 10733, "source_timestamp_ns": 1789729567255349572, "q": [0.8370140194892883, -1.8979864120483398, -1.0069220066070557, 1.3810758590698242, -0.16014286875724792, 0.5940261483192444, 0.7030318975448608], "theta": [0.8391101360321045, -1.8960931301116943, -1.005137324333191, 1.362669587135315, -0.16072075068950653, 0.5939761400222778, 0.7029861211776733], "dq": [0.001442956505343318, -0.002422681311145425, 0.0002594874822534621, 0.0017242672620341182, -0.0010394438868388534, -0.00270824134349823, -0.0007277341210283339], "dtheta": [0.0001540668454254046, 0.0001782306790119037, 0.0003507599176373333, 0.00023023666290100664, -0.001577588263899088, -0.0003333955828566104, -9.936549759004265e-05], "tau": [55.459999084472656, 23.739999771118164, 5.436000347137451, -26.272001266479492, -2.6040000915527344, 2.6640000343322754, -0.5320000052452087], "tau_des": [0.43162089586257935, -0.5701130628585815, -0.18807661533355713, -0.5711165070533752, 0.9294531345367432, -1.145184874534607, -0.5356936454772949], "tau_dot": [-82.38245391845703, 127.00920104980469, -1.7158366441726685, 34.54005432128906, -47.94032669067383, 4.2370805740356445, 6.856101989746094], "tau_ext": [-16.699499130249023, -41.64327621459961, 31.80054473876953, 31.34787368774414, 9.51943588256836, -2.991894483566284, -0.1373559683561325], "tcp_pose": [0.6779183745384216, 0.032630447298288345, -0.21499556303024292, -0.002260254230350256, -0.004598425235599279, 0.9998908638954163, 0.013855025172233582], "tcp_vel": [2.5739045668160543e-05, -6.682051753159612e-05, 0.00016524999227840453, -0.0009741889662109315, -0.00048112557851709425, 0.0011458257213234901], "flange_pose": [0.6786155104637146, 0.028477512300014496, -0.06505469232797623, -0.002260254230350256, -0.004598425235599279, 0.9998908638954163, 0.013855025172233582], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13780212402344, 15.040969848632812, 28.129234313964844, 0.34818288683891296, -24.139497756958008, 1.8076640367507935], "ext_wrench_in_world": [-108.40022525453521, 14.812160344035876, -27.22608888548743, -0.13609437776318797, -24.082385376383108, -2.474757655678724]}
+{"timestamp_ns": 1789729567296767192, "elapsed_ms": 10766, "source_timestamp_ns": 1789729567295350428, "q": [0.8370160460472107, -1.8979899883270264, -1.0069222450256348, 1.3810746669769287, -0.16014161705970764, 0.5940227508544922, 0.7030301094055176], "theta": [0.8391116857528687, -1.8960975408554077, -1.0051374435424805, 1.362668752670288, -0.16071954369544983, 0.5939720869064331, 0.7029834985733032], "dq": [0.0006140972836874425, -0.0004283962189219892, 0.0024185602087527514, 0.0015437508700415492, 0.002541265683248639, 0.00021446862956508994, 0.0010967624839395285], "dtheta": [1.2811265150958207e-05, -0.00042621648753993213, 9.01539096958004e-05, 0.00025392076349817216, -8.973499643616378e-05, -0.00021354887576308101, 0.0005976237589493394], "tau": [55.5, 23.65999984741211, 5.4720001220703125, -26.32000160217285, -2.6040000915527344, 2.6640000343322754, -0.5480000376701355], "tau_des": [0.5382134318351746, -0.47158506512641907, -0.21587419509887695, -0.6431744694709778, 0.89084792137146, -1.1245629787445068, -0.5515103936195374], "tau_dot": [-143.6494598388672, 20.20174789428711, 5.468815326690674, -0.9165958166122437, -13.464049339294434, 0.0006579139735549688, 13.77269458770752], "tau_ext": [-16.705324172973633, -41.602115631103516, 31.78772735595703, 31.342304229736328, 9.520512580871582, -2.991666555404663, -0.12590745091438293], "tcp_pose": [0.6779175996780396, 0.032631151378154755, -0.21499526500701904, -0.0022603729739785194, -0.00460004573687911, 0.999890923500061, 0.013853205367922783], "tcp_vel": [-0.00026798536418937147, 8.618724677944556e-05, -0.000243118847720325, -0.0006029794458299875, 0.0003491537063382566, -0.00015392497880384326], "flange_pose": [0.6786147356033325, 0.02847876399755478, -0.06505437195301056, -0.0022603729739785194, -0.00460004573687911, 0.999890923500061, 0.013853205367922783], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11649322509766, 15.044588088989258, 28.126890182495117, 0.34127360582351685, -24.132749557495117, 1.8065741062164307], "ext_wrench_in_world": [-108.37899258057286, 14.815458074834499, -27.22377377681195, -0.12916417646088202, -24.07561567000431, -2.4734238629532435]}
+{"timestamp_ns": 1789729567330103431, "elapsed_ms": 10800, "source_timestamp_ns": 1789729567325347310, "q": [0.8370163440704346, -1.8979895114898682, -1.0069220066070557, 1.381075143814087, -0.16014191508293152, 0.594019889831543, 0.7030295729637146], "theta": [0.8391121625900269, -1.8960975408554077, -1.005137324333191, 1.3626692295074463, -0.16072002053260803, 0.5939692258834839, 0.7029823064804077], "dq": [-0.0014878824586048722, 0.00011665726924547926, -0.0012773692142218351, -0.0009136365260928869, 0.0003875076654367149, -0.0003261701203882694, 0.0004268415505066514], "dtheta": [-0.00014329493569675833, 0.0005950470804236829, -9.899090946419165e-05, 0.0003237545897718519, -0.00022040304611437023, -1.7490880054538138e-05, -9.794111247174442e-05], "tau": [55.5, 23.59000015258789, 5.464000225067139, -26.32400131225586, -2.5840001106262207, 2.640000104904175, -0.5360000133514404], "tau_des": [0.4924541115760803, -0.6091662645339966, -0.12038133293390274, -0.6038369536399841, 0.8887494802474976, -1.1329214572906494, -0.5465420484542847], "tau_dot": [-68.0699691772461, -85.13470458984375, 11.06241226196289, -28.35036849975586, -1.3037124872207642, -14.445874214172363, 40.671348571777344], "tau_ext": [-16.705270767211914, -41.601600646972656, 31.780118942260742, 31.351224899291992, 9.515440940856934, -2.9870612621307373, -0.11223781108856201], "tcp_pose": [0.6779170036315918, 0.03263053297996521, -0.21499545872211456, -0.0022614786867052317, -0.004600336775183678, 0.999890923500061, 0.013852265663444996], "tcp_vel": [6.108335946919397e-05, -0.00030999048613011837, -5.432103353086859e-05, 4.497955887927674e-05, 0.00025949100381694734, -0.00019659330428112298], "flange_pose": [0.6786144971847534, 0.028478426858782768, -0.06505455821752548, -0.0022614786867052317, -0.004600336775183678, 0.999890923500061, 0.013852265663444996], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11843872070312, 15.01662540435791, 28.128219604492188, 0.33198273181915283, -24.132362365722656, 1.811261534690857], "ext_wrench_in_world": [-108.38075754135322, 14.787407825940274, -27.225659452206095, -0.1198897003039108, -24.075017586437497, -2.4780938045825014]}
+{"timestamp_ns": 1789729567363427163, "elapsed_ms": 10833, "source_timestamp_ns": 1789729567355350401, "q": [0.837015688419342, -1.8979897499084473, -1.0069223642349243, 1.3810755014419556, -0.1601412296295166, 0.5940186977386475, 0.7030288577079773], "theta": [0.8391119837760925, -1.896098017692566, -1.005137324333191, 1.3626692295074463, -0.16071978211402893, 0.5939685106277466, 0.7029818296432495], "dq": [-0.0011056548682972789, -3.234709583921358e-05, 0.0006286152638494968, 0.001259331009350717, 0.001372524886392057, 0.00026773521676659584, 0.0005226678913459182], "dtheta": [-9.103632328333333e-05, 0.00038300830055959523, 0.00021820196707267314, 0.00013007319648750126, -0.0004379016754683107, -0.0010050630662590265, -0.0005018560332246125], "tau": [55.459999084472656, 23.639999389648438, 5.464000225067139, -26.312002182006836, -2.576000213623047, 2.6480002403259277, -0.5480000376701355], "tau_des": [0.5137984752655029, -0.5481469631195068, -0.17944462597370148, -0.6337966918945312, 0.8903021216392517, -1.1089447736740112, -0.5321899056434631], "tau_dot": [-57.215755462646484, 15.051396369934082, 43.23420715332031, 31.339214324951172, 37.8592529296875, -65.1644515991211, 1.1442111730575562], "tau_ext": [-16.723175048828125, -41.62202072143555, 31.77524757385254, 31.365325927734375, 9.5193452835083, -2.9948935508728027, -0.11227186024188995], "tcp_pose": [0.6779164671897888, 0.032630208879709244, -0.2149963229894638, -0.0022625206038355827, -0.004600491374731064, 0.999890923500061, 0.013851836323738098], "tcp_vel": [-0.00016924685041885823, -0.0002065715816570446, -7.273539085872471e-05, -0.0005778047489002347, 0.000768334954045713, 0.0006856706459075212], "flange_pose": [0.6786142587661743, 0.028478235006332397, -0.06505542248487473, -0.0022625206038355827, -0.004600491374731064, 0.999890923500061, 0.013851836323738098], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12130737304688, 15.012096405029297, 28.13932991027832, 0.3326306939125061, -24.137165069580078, 1.816405177116394], "ext_wrench_in_world": [-108.38369787570613, 14.783101252390784, -27.236666214488928, -0.12051463090037942, -24.079684061096543, -2.4833445761022928]}
+{"timestamp_ns": 1789729567396766761, "elapsed_ms": 10866, "source_timestamp_ns": 1789729567395362524, "q": [0.8370167016983032, -1.8979897499084473, -1.0069235563278198, 1.381076693534851, -0.16014157235622406, 0.5940224528312683, 0.7030290365219116], "theta": [0.8391124606132507, -1.8960977792739868, -1.0051385164260864, 1.3626694679260254, -0.16072027385234833, 0.5939725637435913, 0.702983021736145], "dq": [0.00015894851821940392, 0.0009222899097949266, -0.0006135276053100824, -0.00132284639403224, 0.00210149516351521, -0.00027445299201644957, -0.0012197764590382576], "dtheta": [0.0003093769773840904, 0.00016943873197305948, 3.2737269066274166e-05, -0.0001607600279385224, -0.000869769835844636, 0.0009072074899449944, 0.00019324224558658898], "tau": [55.52000045776367, 23.68000030517578, 5.4720001220703125, -26.34400177001953, -2.616000175476074, 2.684000015258789, -0.5480000376701355], "tau_des": [0.3343285322189331, -0.6364794969558716, -0.16825592517852783, -0.47051316499710083, 0.9263262152671814, -1.1980031728744507, -0.5465341210365295], "tau_dot": [88.7321548461914, 75.25873565673828, 62.90639114379883, -13.127504348754883, -72.43058013916016, 19.616979598999023, 13.122478485107422], "tau_ext": [-16.675268173217773, -41.62105941772461, 31.779094696044922, 31.340091705322266, 9.519495010375977, -2.998469352722168, -0.11182709783315659], "tcp_pose": [0.6779174208641052, 0.03262990713119507, -0.21499574184417725, -0.0022607564460486174, -0.004600148182362318, 0.999890923500061, 0.013852272182703018], "tcp_vel": [0.00045124857570044696, 8.100746345007792e-05, 0.0005082343122921884, 0.0002903846325352788, -0.0015905288746580482, 0.00015228541451506317], "flange_pose": [0.6786146759986877, 0.028477801010012627, -0.06505483388900757, -0.0022607564460486174, -0.004600148182362318, 0.999890923500061, 0.013852272182703018], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12471008300781, 15.033793449401855, 28.12803840637207, 0.3462599217891693, -24.13680076599121, 1.8226608037948608], "ext_wrench_in_world": [-108.38713953820405, 14.804549014860862, -27.22513051936725, -0.13418457315145121, -24.07927069552458, -2.4895495231588884]}
+{"timestamp_ns": 1789729567430099121, "elapsed_ms": 10900, "source_timestamp_ns": 1789729567425350448, "q": [0.8370164036750793, -1.8979897499084473, -1.0069243907928467, 1.3810763359069824, -0.16014237701892853, 0.5940231680870056, 0.7030307650566101], "theta": [0.8391125202178955, -1.8960975408554077, -1.0051391124725342, 1.3626692295074463, -0.16072097420692444, 0.5939737558364868, 0.7029842138290405], "dq": [-0.0003009223728440702, 0.0016463540960103273, 0.0018989715026691556, -0.0004853673162870109, -0.0013529523275792599, 0.0006823556614108384, -0.002337549114599824], "dtheta": [-0.00029678913415409625, -6.379427941283211e-05, 0.00022642037947662175, -0.00017544798902235925, -0.0007541732047684491, -0.00019585464906413108, -9.692870662547648e-05], "tau": [55.52000045776367, 23.670000076293945, 5.448000431060791, -26.316001892089844, -2.5880000591278076, 2.680000066757202, -0.5360000133514404], "tau_des": [0.5088636875152588, -0.5235596299171448, -0.20582522451877594, -0.5936601161956787, 0.9007302522659302, -1.1463332176208496, -0.5393447875976562], "tau_dot": [95.82315826416016, 46.0753059387207, 55.11580276489258, 4.211721420288086, 21.562496185302734, -25.51161003112793, 42.50333786010742], "tau_ext": [-16.718311309814453, -41.65394592285156, 31.7806453704834, 31.37278175354004, 9.521122932434082, -3.008543014526367, -0.1165180504322052], "tcp_pose": [0.677918016910553, 0.03262950852513313, -0.21499569714069366, -0.0022601631935685873, -0.004599159583449364, 0.999890923500061, 0.013852027244865894], "tcp_vel": [-2.187322752433829e-05, 9.337528172181919e-05, -8.989910566015169e-05, -0.0003986037045251578, -4.382625047583133e-05, 0.0006942708278074861], "flange_pose": [0.6786150932312012, 0.028477473184466362, -0.06505478918552399, -0.0022601631935685873, -0.004599159583449364, 0.999890923500061, 0.013852027244865894], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14083862304688, 15.034252166748047, 28.128639221191406, 0.3520052134990692, -24.13942527770996, 1.8230794668197632], "ext_wrench_in_world": [-108.40321310307709, 14.805077450453185, -27.225780638213646, -0.13995261704004575, -24.08193665094433, -2.490003926844473]}
+{"timestamp_ns": 1789729567463428662, "elapsed_ms": 10933, "source_timestamp_ns": 1789729567455338612, "q": [0.8370175957679749, -1.897990345954895, -1.006927490234375, 1.3810757398605347, -0.16014139354228973, 0.594020426273346, 0.703031063079834], "theta": [0.8391145467758179, -1.8960984945297241, -1.0051414966583252, 1.362668752670288, -0.16072027385234833, 0.5939723253250122, 0.7029851675033569], "dq": [0.00021243173978291452, -0.000713338959030807, 6.15017197560519e-05, 0.001273600966669619, -0.0004222158167976886, 0.0007522422238253057, 0.0019828109070658684], "dtheta": [0.00032399533665739, 4.6017696149647236e-05, 0.00016140083607751876, -0.00019678729586303234, 0.0010298966662958264, -0.0009374812943860888, -2.842122921720147e-05], "tau": [55.46999740600586, 23.670000076293945, 5.440000057220459, -26.34400177001953, -2.632000207901001, 2.6760001182556152, -0.5160000324249268], "tau_des": [0.42912691831588745, -0.5654609203338623, -0.18407587707042694, -0.5660344362258911, 0.8702750205993652, -1.136582851409912, -0.5580934286117554], "tau_dot": [-33.045509338378906, -78.20401763916016, 12.185650825500488, -20.065998077392578, -94.84302520751953, 9.2114896774292, 12.059976577758789], "tau_ext": [-16.70459747314453, -41.637359619140625, 31.79743194580078, 31.348546981811523, 9.520469665527344, -3.006056070327759, -0.12347293645143509], "tcp_pose": [0.6779186725616455, 0.03262777626514435, -0.2149953693151474, -0.0022601401433348656, -0.0045978715643286705, 0.999890923500061, 0.013850399293005466], "tcp_vel": [-0.0002100811107084155, 3.792131246882491e-05, 0.0001385089271934703, 0.00027760493685491383, 0.0008470027823932469, -0.0004692136717494577], "flange_pose": [0.6786157488822937, 0.028476225212216377, -0.06505445390939713, -0.0022601401433348656, -0.0045978715643286705, 0.999890923500061, 0.013850399293005466], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12305450439453, 15.052033424377441, 28.125770568847656, 0.3564813733100891, -24.12917137145996, 1.8193047046661377], "ext_wrench_in_world": [-108.38554024158331, 14.823126076435788, -27.22254939425236, -0.1445664441912436, -24.07184078431665, -2.4858482352999673]}
+{"timestamp_ns": 1789729567496764961, "elapsed_ms": 10966, "source_timestamp_ns": 1789729567495341897, "q": [0.8370226621627808, -1.8979923725128174, -1.0069268941879272, 1.381075382232666, -0.1601414829492569, 0.5940165519714355, 0.7030311822891235], "theta": [0.8391204476356506, -1.896101474761963, -1.0051413774490356, 1.362668514251709, -0.16072027385234833, 0.5939692258834839, 0.7029851675033569], "dq": [-6.11494469922036e-05, 0.0009881127625703812, 0.0008789366693235934, 0.0003846232721116394, -0.00041831526323221624, 0.0001720459695206955, -0.001981062814593315], "dtheta": [1.3794503956887638e-06, -0.00011293875286355615, -6.061118983780034e-05, 0.00014544599980581552, 0.0007054383167997003, -0.0006194002344273031, 0.00026439098292030394], "tau": [55.459999084472656, 23.649999618530273, 5.452000141143799, -26.352001190185547, -2.6120002269744873, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.509039044380188, -0.5293792486190796, -0.16787689924240112, -0.6214376091957092, 0.8728132843971252, -1.124451994895935, -0.5595399737358093], "tau_dot": [-110.20668029785156, 71.1219482421875, -10.131379127502441, -14.92965316772461, -14.683183670043945, -8.516057968139648, -39.573997497558594], "tau_ext": [-16.745267868041992, -41.6348876953125, 31.788726806640625, 31.34938621520996, 9.528770446777344, -2.9987106323242188, -0.131058469414711], "tcp_pose": [0.6779184341430664, 0.03262816369533539, -0.21499280631542206, -0.0022590409498661757, -0.004598763305693865, 0.9998909831047058, 0.013848641887307167], "tcp_vel": [-0.00027799641247838736, -7.621881377417594e-05, -0.00022921976051293314, -0.00017357275646645576, 0.0009625525563023984, -0.0005851920577697456], "flange_pose": [0.6786152124404907, 0.02847713977098465, -0.06505186855792999, -0.0022590409498661757, -0.004598763305693865, 0.9998909831047058, 0.013848641887307167], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08015441894531, 15.063614845275879, 28.14376449584961, 0.3494220972061157, -24.117124557495117, 1.8124957084655762], "ext_wrench_in_world": [-108.34279690656157, 14.835311619455016, -27.240698211406833, -0.13753800771205202, -24.059931126434957, -2.4786550596234536]}
+{"timestamp_ns": 1789729567530137521, "elapsed_ms": 11000, "source_timestamp_ns": 1789729567525337390, "q": [0.8370221257209778, -1.8979978561401367, -1.006926417350769, 1.3810735940933228, -0.16014160215854645, 0.5940149426460266, 0.7030302286148071], "theta": [0.839120626449585, -1.8961071968078613, -1.0051411390304565, 1.362667202949524, -0.16072027385234833, 0.5939675569534302, 0.7029837369918823], "dq": [-0.0013857284793630242, 0.0007376801804639399, 0.002582058310508728, 0.0004448940744623542, -0.0008888642187230289, 3.0528390198014677e-05, -0.0008005221607163548], "dtheta": [-3.041803756786976e-05, -4.350531889940612e-05, 0.0002338325430173427, 0.00018073544197250158, -7.576667849207297e-05, -0.000655521871522069, -0.0009727416909299791], "tau": [55.46999740600586, 23.559999465942383, 5.424000263214111, -26.280000686645508, -2.6120002269744873, 2.6440000534057617, -0.5360000133514404], "tau_des": [0.5091986060142517, -0.481089323759079, -0.22805055975914001, -0.6279574632644653, 0.8959783911705017, -1.1242045164108276, -0.5207707285881042], "tau_dot": [-66.43914794921875, -149.3748321533203, -40.421939849853516, 40.79621505737305, -22.829666137695312, -12.130191802978516, 38.08671188354492], "tau_ext": [-16.725475311279297, -41.62375259399414, 31.788589477539062, 31.33901596069336, 9.526610374450684, -2.9959497451782227, -0.12846502661705017], "tcp_pose": [0.6779171824455261, 0.03263009712100029, -0.21499411761760712, -0.002259249333292246, -0.004601120948791504, 0.9998909831047058, 0.01384669728577137], "tcp_vel": [-0.00027898678672499955, -1.7355114323436283e-06, -0.00016990861331578344, -0.0004580272361636162, 0.0006770237232558429, 0.00125168077647686], "flange_pose": [0.6786139607429504, 0.02847965992987156, -0.06505317240953445, -0.002259249333292246, -0.004601120948791504, 0.9998909831047058, 0.01384669728577137], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.04601287841797, 15.074277877807617, 28.158071517944336, 0.3466058075428009, -24.11061668395996, 1.810349941253662], "ext_wrench_in_world": [-108.30890031369003, 14.846064177460487, -27.254875441802465, -0.1346584106963702, -24.053469574205362, -2.4762487620740896]}
+{"timestamp_ns": 1789729567563465411, "elapsed_ms": 11033, "source_timestamp_ns": 1789729567555373603, "q": [0.837022066116333, -1.8979978561401367, -1.0069266557693481, 1.3810737133026123, -0.16014128923416138, 0.594014585018158, 0.7030289769172668], "theta": [0.8391208052635193, -1.8961081504821777, -1.0051413774490356, 1.3626669645309448, -0.16072002053260803, 0.5939675569534302, 0.7029827833175659], "dq": [-0.0006750813336111605, 8.040726243052632e-05, 0.0026833622250705957, -0.0015885678585618734, -0.00022078175970818847, -0.001601791474968195, 0.0004539156798273325], "dtheta": [1.5771365724503994e-05, -3.0267012334661558e-05, 0.00012316937500145286, -0.0001752829266479239, -0.00022409623488783836, -0.0007289694622159004, -0.00020726564980577677], "tau": [55.52000045776367, 23.600000381469727, 5.440000057220459, -26.384000778198242, -2.580000162124634, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.46016570925712585, -0.5306470990180969, -0.20495671033859253, -0.580096960067749, 0.9015930891036987, -1.1388421058654785, -0.5361810326576233], "tau_dot": [33.278785705566406, -6.1610283851623535, -21.805225372314453, -77.47084045410156, 25.651107788085938, -7.79267692565918, -11.901905059814453], "tau_ext": [-16.69282341003418, -41.58115005493164, 31.773435592651367, 31.342756271362305, 9.523185729980469, -2.996462821960449, -0.12341077625751495], "tcp_pose": [0.6779170632362366, 0.03262995928525925, -0.21499423682689667, -0.0022594896145164967, -0.004601579159498215, 0.9998909831047058, 0.01384664885699749], "tcp_vel": [-8.290477126138285e-05, -2.0205905457260087e-05, 2.204079646617174e-05, -0.00045801803935319185, 0.0003043662873096764, 0.00042808675789274275], "flange_pose": [0.6786139607429504, 0.02847953699529171, -0.065053291618824, -0.0022594896145164967, -0.004601579159498215, 0.9998909831047058, 0.01384664885699749], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.04652404785156, 15.045208930969238, 28.141204833984375, 0.3373926877975464, -24.10884666442871, 1.8095170259475708], "ext_wrench_in_world": [-108.30909386095897, 14.816433546543783, -27.238769503899913, -0.12543703407537476, -24.051638362125196, -2.475405185002801]}
+{"timestamp_ns": 1789729567596773027, "elapsed_ms": 11066, "source_timestamp_ns": 1789729567595351464, "q": [0.8370218276977539, -1.8979971408843994, -1.0069280862808228, 1.381074070930481, -0.16014201939105988, 0.594013512134552, 0.7030271887779236], "theta": [0.8391204476356506, -1.8961071968078613, -1.0051424503326416, 1.362667441368103, -0.16072002053260803, 0.5939663648605347, 0.7029815912246704], "dq": [-0.00038753921398893, 0.0011403668904677033, -0.00016181470709852874, -0.0002160451258532703, 0.0018646492389962077, -0.000487408135086298, -0.0013605090789496899], "dtheta": [0.00031920091714709997, 5.4710970289306715e-05, 0.00035073200706392527, -7.660606934223324e-05, 0.0001667893520789221, -0.0011390267172828317, -0.0003492655814625323], "tau": [55.54999923706055, 23.65999984741211, 5.500000476837158, -26.32400131225586, -2.6040000915527344, 2.680000066757202, -0.5560000538825989], "tau_des": [0.42736542224884033, -0.5327498316764832, -0.2268078476190567, -0.5761566162109375, 0.8949595093727112, -1.1319652795791626, -0.5328329801559448], "tau_dot": [76.35420989990234, 12.0453462600708, 60.132911682128906, -12.586166381835938, -31.261993408203125, 17.379619598388672, -50.39389419555664], "tau_ext": [-16.696983337402344, -41.59745788574219, 31.757915496826172, 31.372676849365234, 9.522147178649902, -3.010962963104248, -0.11007177084684372], "tcp_pose": [0.6779174208641052, 0.03262864798307419, -0.21499456465244293, -0.0022597769275307655, -0.004602003842592239, 0.9998909831047058, 0.013845738023519516], "tcp_vel": [-0.0002392950700595975, 2.414351183688268e-05, 0.000142438686452806, -0.00033093689125962555, 0.0006746941362507641, 0.00048126018373295665], "flange_pose": [0.6786143779754639, 0.028478499501943588, -0.06505360454320908, -0.0022597769275307655, -0.004602003842592239, 0.9998909831047058, 0.013845738023519516], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11415100097656, 14.98816967010498, 28.123035430908203, 0.332987904548645, -24.122901916503906, 1.816033124923706], "ext_wrench_in_world": [-108.37613933531183, 14.758146337248204, -27.221857725573635, -0.12091494401462033, -24.065471150536276, -2.48228362756633]}
+{"timestamp_ns": 1789729567630100888, "elapsed_ms": 11100, "source_timestamp_ns": 1789729567625345097, "q": [0.8370223045349121, -1.8979978561401367, -1.0069289207458496, 1.3810739517211914, -0.16014112532138824, 0.594016432762146, 0.7030276656150818], "theta": [0.839120626449585, -1.8961081504821777, -1.005143404006958, 1.3626677989959717, -0.16071906685829163, 0.5939692258834839, 0.7029820680618286], "dq": [-0.002378009492531419, -0.0005939988768659532, -0.0005386529956012964, -0.0007934267050586641, -0.002262802328914404, -5.5078518926166e-05, -6.250939622987062e-05], "dtheta": [0.0002920243132393807, -8.389375580009073e-05, -0.000313204393023625, 6.730679888278246e-05, 0.0005345529061742127, 0.00018721033120527864, 0.0003578654723241925], "tau": [55.459999084472656, 23.709999084472656, 5.432000160217285, -26.316001892089844, -2.5920000076293945, 2.6640000343322754, -0.5520000457763672], "tau_des": [0.41669201850891113, -0.583665668964386, -0.1512821614742279, -0.54327392578125, 0.8917641639709473, -1.1657289266586304, -0.5575335621833801], "tau_dot": [-92.60968780517578, 81.59931182861328, -7.3298540115356445, -59.77876281738281, -7.532265663146973, 6.523381233215332, -4.985636234283447], "tau_ext": [-16.7055606842041, -41.6488037109375, 31.76970672607422, 31.359737396240234, 9.518475532531738, -3.0066776275634766, -0.10962631553411484], "tcp_pose": [0.6779181361198425, 0.03262888267636299, -0.2149941623210907, -0.002258480293676257, -0.004601380322128534, 0.9998909831047058, 0.013846445828676224], "tcp_vel": [8.09755947557278e-05, -9.383036376675591e-05, 0.00010348002979299054, 0.00015237215848173946, -0.00017322284111287445, -0.0008120558341033757], "flange_pose": [0.6786146759986877, 0.02847851812839508, -0.06505321711301804, -0.002258480293676257, -0.004601380322128534, 0.9998909831047058, 0.013846445828676224], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1268539428711, 15.005973815917969, 28.13157081604004, 0.3465910255908966, -24.131057739257812, 1.8231050968170166], "ext_wrench_in_world": [-108.38895504494684, 14.77623953701265, -27.230098048559952, -0.13450022482290575, -24.073550157256896, -2.4895537077986085]}
+{"timestamp_ns": 1789729567663437027, "elapsed_ms": 11133, "source_timestamp_ns": 1789729567655349528, "q": [0.837022602558136, -1.8979977369308472, -1.0069302320480347, 1.3810735940933228, -0.16014066338539124, 0.5940179228782654, 0.7030276656150818], "theta": [0.8391209244728088, -1.8961081504821777, -1.0051449537277222, 1.3626673221588135, -0.16071906685829163, 0.5939708948135376, 0.7029827833175659], "dq": [0.0005066220182925463, 0.0003322504635434598, -0.0008962237043306231, -0.0014989908086135983, -3.5576813388615847e-06, -0.0023690585512667894, -0.0005878345109522343], "dtheta": [-8.545027958462015e-05, -0.00016149869770742953, 0.00014771558926440775, -0.00010932339500868693, 0.0007686213357374072, 0.0007687099277973175, 0.0006467599305324256], "tau": [55.5099983215332, 23.619998931884766, 5.436000347137451, -26.25200080871582, -2.580000162124634, 2.680000066757202, -0.5120000243186951], "tau_des": [0.4584529399871826, -0.5413373708724976, -0.21886275708675385, -0.5402571558952332, 0.873458981513977, -1.1849769353866577, -0.559769332408905], "tau_dot": [14.337454795837402, -100.15895080566406, -8.026686668395996, 53.74668884277344, -5.124635219573975, 57.9776611328125, 87.80152130126953], "tau_ext": [-16.674251556396484, -41.65812683105469, 31.78158950805664, 31.331966400146484, 9.520489692687988, -3.0007104873657227, -0.1134781464934349], "tcp_pose": [0.6779190301895142, 0.03262852877378464, -0.2149936407804489, -0.002257479587569833, -0.0046007526107132435, 0.9998909831047058, 0.013846839778125286], "tcp_vel": [-2.9044216717011295e-05, 0.00032520462991669774, -2.4731996745686047e-05, 0.0010139793157577515, -9.387399768456817e-05, -0.0008964752778410912], "flange_pose": [0.6786152720451355, 0.028478046879172325, -0.06505269557237625, -0.002257479587569833, -0.0046007526107132435, 0.9998909831047058, 0.013846839778125286], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12110900878906, 15.066280364990234, 28.126522064208984, 0.3671308755874634, -24.136667251586914, 1.82822585105896], "ext_wrench_in_world": [-108.38366515209957, 14.836594805921042, -27.22360820166646, -0.15503750558866836, -24.079203701381097, -2.494757169620659]}
+{"timestamp_ns": 1789729567696769657, "elapsed_ms": 11166, "source_timestamp_ns": 1789729567695346304, "q": [0.8370218873023987, -1.8979979753494263, -1.006933569908142, 1.3810728788375854, -0.1601417362689972, 0.5940162539482117, 0.7030291557312012], "theta": [0.8391204476356506, -1.896108627319336, -1.0051480531692505, 1.3626673221588135, -0.16072002053260803, 0.593969464302063, 0.7029834985733032], "dq": [-0.0013783186441287398, 0.0012189458357170224, -0.0007814878481440246, 0.0009070901433005929, -0.0004676099633798003, -0.0007929369457997382, -0.001029693172313273], "dtheta": [3.8079506339272484e-05, 0.00045996540575288236, -0.00029273118707351387, 9.446687181480229e-05, -0.0002636268618516624, 0.0007682142313569784, 0.0003716068167705089], "tau": [55.52000045776367, 23.65999984741211, 5.460000038146973, -26.30000114440918, -2.5880000591278076, 2.680000066757202, -0.5400000214576721], "tau_des": [0.38657620549201965, -0.6780901551246643, -0.0873403400182724, -0.4995099604129791, 0.9050158858299255, -1.1898229122161865, -0.5636959075927734], "tau_dot": [-28.11956024169922, -3.6568896770477295, 9.925761222839355, -15.286835670471191, 28.811756134033203, 0.5956140756607056, 11.065300941467285], "tau_ext": [-16.714698791503906, -41.633846282958984, 31.77351951599121, 31.347169876098633, 9.521546363830566, -3.0028111934661865, -0.12396586686372757], "tcp_pose": [0.6779199838638306, 0.03262653201818466, -0.21499423682689667, -0.002257396699860692, -0.0045991684310138226, 0.9998910427093506, 0.0138449901714921], "tcp_vel": [0.0003709650773089379, -0.00021216859749983996, 0.00021337505313567817, 0.0004372599651105702, -0.0007726500043645501, -0.0007421915070153773], "flange_pose": [0.6786162257194519, 0.028476601466536522, -0.06505326181650162, -0.002257396699860692, -0.0045991684310138226, 0.9998910427093506, 0.0138449901714921], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08612823486328, 15.079663276672363, 28.123802185058594, 0.36692872643470764, -24.127016067504883, 1.8240265846252441], "ext_wrench_in_world": [-108.34874513035203, 14.850462538626408, -27.220742123467243, -0.1549798408769644, -24.06967968850746, -2.490203793851961]}
+{"timestamp_ns": 1789729567730141697, "elapsed_ms": 11200, "source_timestamp_ns": 1789729567725353923, "q": [0.8370232582092285, -1.8979991674423218, -1.0069324970245361, 1.381072759628296, -0.160141259431839, 0.594012439250946, 0.7030289769172668], "theta": [0.839121401309967, -1.8961100578308105, -1.0051476955413818, 1.3626668453216553, -0.16071954369544983, 0.5939658880233765, 0.7029834985733032], "dq": [9.893836249830201e-05, 0.001103474642150104, -3.880937583744526e-05, -0.001248280401341617, -0.002883585635572672, -0.0004763872711919248, -0.0031496919691562653], "dtheta": [0.00010850612306967378, -0.00037412290112115443, 0.0005149728385731578, 0.00016813899856060743, 0.00045630443491972983, -0.0003801635466516018, -0.0007728250930085778], "tau": [55.48999786376953, 23.619998931884766, 5.4720001220703125, -26.256000518798828, -2.5920000076293945, 2.680000066757202, -0.527999997138977], "tau_des": [0.5021628141403198, -0.44378942251205444, -0.28298935294151306, -0.6155969500541687, 0.8814806938171387, -1.1398290395736694, -0.5267633199691772], "tau_dot": [-45.574737548828125, -32.59296798706055, 44.50880432128906, -8.269816398620605, -29.08547592163086, 51.563331604003906, 34.945125579833984], "tau_ext": [-16.699140548706055, -41.643310546875, 31.790218353271484, 31.362834930419922, 9.52275276184082, -3.003445625305176, -0.1261683851480484], "tcp_pose": [0.6779188513755798, 0.0326269194483757, -0.21499404311180115, -0.0022584423422813416, -0.004599933046847582, 0.9998910427093506, 0.013843794353306293], "tcp_vel": [-0.0004472204891499132, 0.00033371293102391064, -0.00016536249313503504, -7.498733793909196e-06, 0.0007092402665875852, 0.0011669767554849386], "flange_pose": [0.6786154508590698, 0.028477350249886513, -0.0650530681014061, -0.0022584423422813416, -0.004599933046847582, 0.9998910427093506, 0.013843794353306293], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1053237915039, 15.058270454406738, 28.13210105895996, 0.3585556149482727, -24.129467010498047, 1.8176296949386597], "ext_wrench_in_world": [-108.36786202630842, 14.828895965242252, -27.229358704062687, -0.14652256695105453, -24.07223521645372, -2.4838560483141463]}
+{"timestamp_ns": 1789729567763439615, "elapsed_ms": 11233, "source_timestamp_ns": 1789729567755354755, "q": [0.8370276093482971, -1.8979997634887695, -1.0069321393966675, 1.3810726404190063, -0.1601414531469345, 0.5940054059028625, 0.7030277848243713], "theta": [0.8391250371932983, -1.896111011505127, -1.0051476955413818, 1.3626666069030762, -0.16072002053260803, 0.5939589738845825, 0.7029827833175659], "dq": [-0.001177705475129187, -0.0014861474046483636, -0.003024670761078596, -0.0006711783353239298, 6.406315515050665e-05, 0.0003935200220439583, -0.0025454601272940636], "dtheta": [5.3923704399494454e-05, 9.131264232564718e-05, 0.000288150244159624, -0.0002655755670275539, 5.456831058836542e-05, -8.925517613533884e-05, -5.138253254699521e-05], "tau": [55.48999786376953, 23.60999870300293, 5.468000411987305, -26.292001724243164, -2.5920000076293945, 2.628000020980835, -0.5360000133514404], "tau_des": [0.3976488411426544, -0.5741478800773621, -0.20595669746398926, -0.5217477679252625, 0.8996849060058594, -1.1681861877441406, -0.5432512760162354], "tau_dot": [-87.533447265625, 27.880924224853516, 22.567678451538086, -40.167606353759766, 1.8619030714035034, -97.10342407226562, 31.672494888305664], "tau_ext": [-16.665273666381836, -41.60557556152344, 31.77923011779785, 31.368453979492188, 9.522692680358887, -2.99841570854187, -0.12517032027244568], "tcp_pose": [0.6779183149337769, 0.0326262041926384, -0.21499192714691162, -0.0022588474676012993, -0.004600949585437775, 0.9998910427093506, 0.013841384090483189], "tcp_vel": [1.945414624060504e-05, 0.00017284404020756483, 0.0001831005938583985, 0.0003797418321482837, -7.984421972651035e-05, 0.00012278056237846613], "flange_pose": [0.6786150336265564, 0.02847735770046711, -0.06505092978477478, -0.0022588474676012993, -0.004600949585437775, 0.9998910427093506, 0.013841384090483189], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15985870361328, 15.01508617401123, 28.104366302490234, 0.3471514582633972, -24.139753341674805, 1.8147499561309814], "ext_wrench_in_world": [-108.42192178570578, 14.784103851438033, -27.202580805271293, -0.13496405387487978, -24.082503450567486, -2.481196322889119]}
+{"timestamp_ns": 1789729567796772645, "elapsed_ms": 11266, "source_timestamp_ns": 1789729567795320709, "q": [0.837027907371521, -1.8980001211166382, -1.0069329738616943, 1.3810722827911377, -0.16014130413532257, 0.5940001606941223, 0.703026533126831], "theta": [0.839125394821167, -1.896111249923706, -1.005147933959961, 1.3626660108566284, -0.16072027385234833, 0.593953013420105, 0.7029818296432495], "dq": [-0.00020808348199352622, 1.0765113984234631e-05, -0.00018682691734284163, 0.0004950304864905775, 0.001698891050182283, -0.00025855086278170347, -0.0013962503289803863], "dtheta": [5.3509418648900464e-05, 0.0003795372031163424, -0.0003032309759873897, -0.0005155830294825137, -0.0007918632472865283, 0.0005370388389565051, -0.0006716653588227928], "tau": [55.59000015258789, 23.649999618530273, 5.456000328063965, -26.272001266479492, -2.5880000591278076, 2.636000156402588, -0.5560000538825989], "tau_des": [0.31422674655914307, -0.6801875829696655, -0.10446374118328094, -0.45005732774734497, 0.9361765384674072, -1.193428874015808, -0.5357768535614014], "tau_dot": [84.09841918945312, -46.89562225341797, 3.081132650375366, -29.028236389160156, -4.143439292907715, 13.63119125366211, 0.21567745506763458], "tau_ext": [-16.688749313354492, -41.595760345458984, 31.763330459594727, 31.348791122436523, 9.519306182861328, -2.9876246452331543, -0.1232772246003151], "tcp_pose": [0.6779177188873291, 0.03262510150671005, -0.21499234437942505, -0.002260472159832716, -0.004601370543241501, 0.9998911023139954, 0.013839444145560265], "tcp_vel": [0.0006235281471163034, -0.0001506396511103958, 0.0004887289833277464, 0.00024662009673193097, -0.0014275098219513893, 0.0005500285187736154], "flange_pose": [0.6786148548126221, 0.028476839885115623, -0.06505133211612701, -0.002260472159832716, -0.004601370543241501, 0.9998911023139954, 0.013839444145560265], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.17916107177734, 14.969579696655273, 28.12445640563965, 0.3299023509025574, -24.15166664123535, 1.813242793083191], "ext_wrench_in_world": [-108.44100142632361, 14.738790532842922, -27.223547121671167, -0.11758640374983358, -24.094303344629797, -2.4800012725347553]}
+{"timestamp_ns": 1789729567830166900, "elapsed_ms": 11300, "source_timestamp_ns": 1789729567825352613, "q": [0.8370274305343628, -1.8980029821395874, -1.0069326162338257, 1.3810721635818481, -0.1601405292749405, 0.5940008759498596, 0.7030276656150818], "theta": [0.8391252160072327, -1.896113395690918, -1.0051473379135132, 1.3626657724380493, -0.16071930527687073, 0.5939527750015259, 0.7029823064804077], "dq": [-0.0009134269785135984, -0.0011706765508279204, 0.0006402602884918451, -0.0007727722986601293, 0.001294206129387021, -0.0010620108805596828, -0.0029967057052999735], "dtheta": [0.00012916307605337352, 0.00010618216037983075, -0.00012199365301057696, -0.00046432125964201987, 0.0003526942746248096, -0.0010318151907995343, 0.0005404110997915268], "tau": [55.54999923706055, 23.649999618530273, 5.4720001220703125, -26.244001388549805, -2.5920000076293945, 2.6640000343322754, -0.5520000457763672], "tau_des": [0.414237916469574, -0.601147472858429, -0.14928202331066132, -0.5460633635520935, 0.8891148567199707, -1.1383533477783203, -0.5610178709030151], "tau_dot": [-52.654335021972656, 18.485105514526367, 20.884578704833984, 13.45972728729248, -16.406343460083008, 20.38144874572754, -26.707889556884766], "tau_ext": [-16.715984344482422, -41.63908767700195, 31.76513671875, 31.35033416748047, 9.523444175720215, -2.9959723949432373, -0.11593934148550034], "tcp_pose": [0.6779168248176575, 0.032626304775476456, -0.214993417263031, -0.0022606716956943274, -0.00460165087133646, 0.9998911023139954, 0.013838967308402061], "tcp_vel": [3.780482802540064e-05, -0.00014708082017023116, 0.0001732400560285896, -0.00018983335758093745, 0.0004494778986554593, -0.000941147212870419], "flange_pose": [0.6786140203475952, 0.028478188440203667, -0.06505241245031357, -0.0022606716956943274, -0.00460165087133646, 0.9998911023139954, 0.013838967308402061], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12367248535156, 15.010185241699219, 28.157276153564453, 0.3381750285625458, -24.144264221191406, 1.8167405128479004], "ext_wrench_in_world": [-108.38605834184386, 14.780712901296763, -27.255445260454735, -0.12592982806420266, -24.08688642547464, -2.48323322069414]}
+{"timestamp_ns": 1789729567863439684, "elapsed_ms": 11333, "source_timestamp_ns": 1789729567855362782, "q": [0.8370272517204285, -1.8980028629302979, -1.0069329738616943, 1.3810722827911377, -0.16014084219932556, 0.5940027832984924, 0.70302814245224], "theta": [0.8391250371932983, -1.8961138725280762, -1.0051475763320923, 1.3626658916473389, -0.16071954369544983, 0.5939542055130005, 0.7029827833175659], "dq": [-0.0013356319395825267, 0.0028997822664678097, 0.000915605342015624, -5.596413029707037e-05, 0.0006150532863102853, 0.0026390133425593376, -0.00045852636685594916], "dtheta": [3.627128535299562e-05, -0.0003855306131299585, -0.0002558919077273458, 0.00035107365692965686, -7.630859909113497e-05, 8.66619375301525e-05, -0.0005046652513556182], "tau": [55.529998779296875, 23.670000076293945, 5.456000328063965, -26.284000396728516, -2.5880000591278076, 2.6520001888275146, -0.5440000295639038], "tau_des": [0.5133659839630127, -0.49222254753112793, -0.18503591418266296, -0.6255501508712769, 0.8988473415374756, -1.1357526779174805, -0.5347470045089722], "tau_dot": [-25.789609909057617, 78.78050231933594, -24.52391242980957, 18.85365867614746, -1.8275337219238281, -8.471635818481445, -3.9537222385406494], "tau_ext": [-16.704694747924805, -41.64289855957031, 31.767330169677734, 31.341951370239258, 9.522061347961426, -2.9981539249420166, -0.11303109675645828], "tcp_pose": [0.6779173016548157, 0.03262634947896004, -0.21499328315258026, -0.0022599066141992807, -0.0046013337559998035, 0.9998911023139954, 0.013839452527463436], "tcp_vel": [-0.00012026604963466525, -8.695383439771831e-05, -0.00024415389634668827, -0.0006394056254066527, 4.373202318674885e-05, 0.0006782794953323901], "flange_pose": [0.6786143183708191, 0.02847808413207531, -0.06505227833986282, -0.0022599066141992807, -0.0046013337559998035, 0.9998911023139954, 0.013839452527463436], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07099914550781, 15.056973457336426, 28.15006446838379, 0.35314759612083435, -24.130571365356445, 1.8231297731399536], "ext_wrench_in_world": [-108.33373080413907, 14.827867617351988, -27.24732184189955, -0.14106850950609343, -24.0731589018754, -2.489198660934611]}
+{"timestamp_ns": 1789729567896770204, "elapsed_ms": 11366, "source_timestamp_ns": 1789729567895362197, "q": [0.837026834487915, -1.898003339767456, -1.0069340467453003, 1.3810718059539795, -0.16014182567596436, 0.5940038561820984, 0.7030287384986877], "theta": [0.8391253352165222, -1.896114468574524, -1.0051482915878296, 1.3626655340194702, -0.16072002053260803, 0.5939546823501587, 0.7029837369918823], "dq": [-0.0005279541946947575, -0.0008480611722916365, 0.00034489930840209126, -0.0012105966452509165, -0.00046362692955881357, 0.00013068693806417286, 0.0019132097950205207], "dtheta": [0.00010738302808022127, -0.00012103852350264788, 8.030380558921024e-05, -0.00037584113306365907, -0.0006436636904254556, 0.0003734370111487806, 6.152801506686956e-05], "tau": [55.52000045776367, 23.6299991607666, 5.464000225067139, -26.256000518798828, -2.6040000915527344, 2.6640000343322754, -0.5320000052452087], "tau_des": [0.3725060522556305, -0.5828851461410522, -0.19897039234638214, -0.49145227670669556, 0.9196318984031677, -1.1887187957763672, -0.5433269739151001], "tau_dot": [35.33346939086914, 12.044766426086426, 21.096712112426758, 19.742305755615234, -10.247664451599121, -23.507347106933594, 55.50509262084961], "tau_ext": [-16.699161529541016, -41.617530822753906, 31.769168853759766, 31.355621337890625, 9.51781940460205, -3.0031559467315674, -0.11807043850421906], "tcp_pose": [0.6779178977012634, 0.03262614458799362, -0.21499338746070862, -0.0022591135930269957, -0.0046010795049369335, 0.9998911023139954, 0.013839100487530231], "tcp_vel": [0.0002681625192053616, 0.0001657112588873133, 0.0003043434116989374, 2.0798834157176316e-05, -0.0010204538702964783, 0.0003653236199170351], "flange_pose": [0.6786146759986877, 0.02847798354923725, -0.06505238264799118, -0.0022591135930269957, -0.0046010795049369335, 0.9998911023139954, 0.013839100487530231], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09149932861328, 15.048418998718262, 28.144296646118164, 0.35465100407600403, -24.132328033447266, 1.822980284690857], "ext_wrench_in_world": [-108.35407399354187, 14.819005657485556, -27.24188494760884, -0.14256388247996388, -24.07493454631573, -2.489074706993329]}
+{"timestamp_ns": 1789729567930103904, "elapsed_ms": 11400, "source_timestamp_ns": 1789729567925398970, "q": [0.8370278477668762, -1.8980042934417725, -1.0069358348846436, 1.3810741901397705, -0.16014233231544495, 0.5940039753913879, 0.7030290365219116], "theta": [0.8391260504722595, -1.8961158990859985, -1.0051500797271729, 1.3626666069030762, -0.16072049736976624, 0.5939551591873169, 0.7029834985733032], "dq": [-0.00041917074122466147, 0.0001514618197688833, 0.001369219389744103, 0.0008958898833952844, -0.0017471776809543371, 0.0003571328707039356, -0.0025070919655263424], "dtheta": [-0.00020973605569452047, 0.00011759782501030713, -8.471702312817797e-05, -0.00010020192712545395, -0.0006002418813295662, -7.541380182374269e-05, -9.070882515516132e-05], "tau": [55.5, 23.59000015258789, 5.432000160217285, -26.32000160217285, -2.572000026702881, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.47017034888267517, -0.5764808654785156, -0.1505519598722458, -0.5711546540260315, 0.9057396054267883, -1.1516395807266235, -0.5439911484718323], "tau_dot": [62.26047897338867, -97.3573989868164, -27.081716537475586, -67.22377014160156, 42.6401252746582, -22.301799774169922, 29.287250518798828], "tau_ext": [-16.68125343322754, -41.6254997253418, 31.78742218017578, 31.384632110595703, 9.521778106689453, -3.0079667568206787, -0.1210978701710701], "tcp_pose": [0.6779175996780396, 0.032624900341033936, -0.21499410271644592, -0.0022591331508010626, -0.004600920248776674, 0.9998911023139954, 0.013837362639605999], "tcp_vel": [0.00012128342495998368, -0.00011612456728471443, -2.6423807867104188e-05, -0.00033101707231253386, -0.00017526547890156507, 0.0002715594891924411], "flange_pose": [0.6786143779754639, 0.02847726084291935, -0.0650530681014061, -0.0022591331508010626, -0.004600920248776674, 0.9998911023139954, 0.013837362639605999], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13768005371094, 15.020479202270508, 28.13032341003418, 0.348928302526474, -24.136512756347656, 1.8191453218460083], "ext_wrench_in_world": [-108.39992821699664, 14.79020248188541, -27.228536705311704, -0.13679296027504437, -24.079179126563385, -2.4852985688896387]}
+{"timestamp_ns": 1789729567963458508, "elapsed_ms": 11433, "source_timestamp_ns": 1789729567955308544, "q": [0.8370311856269836, -1.8980040550231934, -1.00693678855896, 1.3810745477676392, -0.16014191508293152, 0.594003438949585, 0.7030292749404907], "theta": [0.8391292691230774, -1.8961162567138672, -1.0051512718200684, 1.362666368484497, -0.16072002053260803, 0.5939549207687378, 0.7029839754104614], "dq": [0.0006552388658747077, -0.0003673236060421914, 0.00109949114266783, 0.0013837674632668495, 0.0003620254574343562, 0.0005621036398224533, -0.000355160009348765], "dtheta": [-0.00013109388237353414, 9.71280169324018e-05, 0.00012052118836436421, -0.0003174165030941367, -2.822218812070787e-05, 0.0003569152031559497, 0.000161350893904455], "tau": [55.53999710083008, 23.619998931884766, 5.4800004959106445, -26.32000160217285, -2.6040000915527344, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.4098307192325592, -0.5936964154243469, -0.1784665286540985, -0.5125758647918701, 0.8981399536132812, -1.1812645196914673, -0.5520724058151245], "tau_dot": [26.101192474365234, 37.02333450317383, 12.691570281982422, 11.07370376586914, -28.31341552734375, -12.000961303710938, 9.706210136413574], "tau_ext": [-16.688552856445312, -41.579017639160156, 31.773767471313477, 31.372276306152344, 9.522141456604004, -3.004931926727295, -0.12182019650936127], "tcp_pose": [0.6779184937477112, 0.03262418508529663, -0.21499207615852356, -0.0022577352356165648, -0.0046003228053450584, 0.9998911619186401, 0.013836975209414959], "tcp_vel": [0.0001520368823548779, 0.0001532142050564289, 0.000131046210299246, 0.0005461339023895562, -0.00036711731809191406, -0.00018426537280902267], "flange_pose": [0.6786147952079773, 0.028476659208536148, -0.06505104154348373, -0.0022577352356165648, -0.0046003228053450584, 0.9998911619186401, 0.013836975209414959], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.18994140625, 14.970643043518066, 28.0932559967041, 0.33410361409187317, -24.142019271850586, 1.8156291246414185], "ext_wrench_in_world": [-108.45146538812082, 14.738991255286008, -27.19294759797881, -0.12192516855114577, -24.08464495155357, -2.481983214383046]}
+{"timestamp_ns": 1789729567996768514, "elapsed_ms": 11466, "source_timestamp_ns": 1789729567995316047, "q": [0.837031364440918, -1.8980101346969604, -1.0069379806518555, 1.3810724020004272, -0.16014130413532257, 0.5940014123916626, 0.7030277252197266], "theta": [0.8391298055648804, -1.896122932434082, -1.0051519870758057, 1.3626645803451538, -0.16071954369544983, 0.5939534902572632, 0.7029832601547241], "dq": [-0.0013093804009258747, 3.895794361596927e-05, 0.0026627692859619856, -0.0010829909006133676, -0.002291121520102024, -0.0009794228244572878, -0.003353671170771122], "dtheta": [0.00012542631884571165, -0.00018778308003675193, -9.718342880660202e-06, -0.00017804409435484558, 1.3017043784202542e-05, 0.00041650451021268964, -0.0009499253937974572], "tau": [55.53999710083008, 23.670000076293945, 5.444000244140625, -26.224000930786133, -2.5840001106262207, 2.6600000858306885, -0.5320000052452087], "tau_des": [0.4007033109664917, -0.534735918045044, -0.20837241411209106, -0.5246016383171082, 0.9147676825523376, -1.1779911518096924, -0.5242770910263062], "tau_dot": [-65.86325073242188, -15.730055809020996, -14.614194869995117, -1.758457064628601, 32.345943450927734, 13.774386405944824, 37.29807662963867], "tau_ext": [-16.726551055908203, -41.644256591796875, 31.789798736572266, 31.346948623657227, 9.525823593139648, -2.995711326599121, -0.12550051510334015], "tcp_pose": [0.6779175996780396, 0.032625462859869, -0.21499314904212952, -0.002257599728181958, -0.004602403845638037, 0.9998911619186401, 0.013834485784173012], "tcp_vel": [0.00012572466221172363, 0.00015066008199937642, 0.0001545781415188685, 0.00024125749769154936, -0.0006053764373064041, 0.0010234612273052335], "flange_pose": [0.6786139011383057, 0.028478683903813362, -0.0650520920753479, -0.002257599728181958, -0.004602403845638037, 0.9998911619186401, 0.013834485784173012], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1198959350586, 15.003620147705078, 28.136865615844727, 0.33410152792930603, -24.126968383789062, 1.8127529621124268], "ext_wrench_in_world": [-108.3819793809748, 14.773221762490737, -27.236045701365047, -0.12194603238352499, -24.069692792550953, -2.478571879606418]}
+{"timestamp_ns": 1789729568030108340, "elapsed_ms": 11500, "source_timestamp_ns": 1789729568025299855, "q": [0.8370312452316284, -1.898018717765808, -1.0069388151168823, 1.3810678720474243, -0.1601417362689972, 0.593999445438385, 0.7030261754989624], "theta": [0.8391303420066833, -1.8961313962936401, -1.0051536560058594, 1.3626599311828613, -0.16071930527687073, 0.5939511060714722, 0.7029823064804077], "dq": [-1.6303070879075676e-05, 0.0007215415243990719, 0.0004109300207346678, -0.0008928966126404703, 0.0005199959268793464, 0.0014783760998398066, -0.00043828075286000967], "dtheta": [7.632474444108084e-05, 0.00018662746879272163, -0.00011642230674624443, 0.0004934028256684542, 6.703363760607317e-05, -0.000766625686082989, -9.153733117273077e-05], "tau": [55.52000045776367, 23.69999885559082, 5.4160003662109375, -26.30000114440918, -2.6000001430511475, 2.6480002403259277, -0.5640000104904175], "tau_des": [0.5034571290016174, -0.5254496335983276, -0.16781698167324066, -0.633929431438446, 0.8983116149902344, -1.1200202703475952, -0.5345255136489868], "tau_dot": [-2.6824076175689697, 147.32752990722656, 5.107115268707275, -6.327938079833984, -25.73472785949707, -16.4599666595459, -43.76845932006836], "tau_ext": [-16.705890655517578, -41.62757110595703, 31.785621643066406, 31.32979393005371, 9.5177640914917, -2.9936063289642334, -0.12350775301456451], "tcp_pose": [0.6779170632362366, 0.03262804448604584, -0.21499402821063995, -0.0022563610691577196, -0.004605563823133707, 0.9998911619186401, 0.01383151300251484], "tcp_vel": [-0.00024006750027183443, -0.0003300734970252961, -0.0002121233264915645, -0.0006777856615372002, 0.000897393561899662, -5.690118268830702e-05], "flange_pose": [0.678613007068634, 0.028482159599661827, -0.06505295634269714, -0.0022563610691577196, -0.004605563823133707, 0.9998911619186401, 0.01383151300251484], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.03857421875, 15.080524444580078, 28.14471435546875, 0.3500606417655945, -24.113569259643555, 1.8135321140289307], "ext_wrench_in_world": [-108.30142430905846, 14.850220510944663, -27.242487520424, -0.13787246803162212, -24.056441248463457, -2.478767690393574]}
+{"timestamp_ns": 1789729568063436715, "elapsed_ms": 11533, "source_timestamp_ns": 1789729568055301376, "q": [0.8370302319526672, -1.8980194330215454, -1.006941318511963, 1.3810675144195557, -0.16014106571674347, 0.5939981341362, 0.7030273079872131], "theta": [0.8391302227973938, -1.8961317539215088, -1.005156397819519, 1.3626593351364136, -0.16071882843971252, 0.5939499139785767, 0.7029823064804077], "dq": [-0.002721683122217655, -0.0014838099014014006, 0.0012424394953995943, -0.0016069767298176885, 0.0014957888051867485, 0.001202524290420115, -0.002815874293446541], "dtheta": [-0.00021490674407687038, 0.0004196908266749233, -0.00012310226156841964, 0.000291868724161759, -0.0010285156313329935, 0.0011601968435570598, 0.0008349462295882404], "tau": [55.48999786376953, 23.549999237060547, 5.468000411987305, -26.380001068115234, -2.6040000915527344, 2.704000234603882, -0.5480000376701355], "tau_des": [0.4460965096950531, -0.616546630859375, -0.13030406832695007, -0.5431832671165466, 0.9212115406990051, -1.1801187992095947, -0.5525025725364685], "tau_dot": [14.361554145812988, -125.95362854003906, 6.7295942306518555, -31.9857177734375, -55.434967041015625, 62.31189727783203, 30.305641174316406], "tau_ext": [-16.705047607421875, -41.59042739868164, 31.77758026123047, 31.360977172851562, 9.514439582824707, -2.994610071182251, -0.11778201162815094], "tcp_pose": [0.6779173016548157, 0.03262678161263466, -0.21499504148960114, -0.002256991108879447, -0.004604133311659098, 0.9998912215232849, 0.01383038517087698], "tcp_vel": [0.0003491686948109418, -0.00013675965601578355, 5.848432920174673e-05, 0.00018071448721457273, -0.0010139216901734471, -0.0006130554829724133], "flange_pose": [0.6786134243011475, 0.02848123386502266, -0.06505395472049713, -0.002256991108879447, -0.004604133311659098, 0.9998912215232849, 0.01383038517087698], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05854797363281, 15.059391021728516, 28.138673782348633, 0.34379398822784424, -24.117355346679688, 1.8139216899871826], "ext_wrench_in_world": [-108.32116867392554, 14.8289895929177, -27.23684076967754, -0.13164481362692051, -24.060162103497078, -2.4792346234786162]}
+{"timestamp_ns": 1789729568096772837, "elapsed_ms": 11566, "source_timestamp_ns": 1789729568095293606, "q": [0.8370296955108643, -1.8980183601379395, -1.0069472789764404, 1.3810676336288452, -0.16013744473457336, 0.5939968228340149, 0.703027069568634], "theta": [0.8391301035881042, -1.8961308002471924, -1.005162000656128, 1.3626588582992554, -0.16071641445159912, 0.593948245048523, 0.7029815912246704], "dq": [-0.00014608341734856367, 0.000372548121958971, 0.0008981504361145198, -0.002143251011148095, 0.0017955941148102283, 0.0006510917446576059, 0.001334159984253347], "dtheta": [-4.455413727555424e-05, 1.5956777133396827e-05, -0.0003152828139718622, -0.000320659251883626, 0.0005467375740408897, 0.0005225702770985663, -0.0006063887849450111], "tau": [55.54999923706055, 23.649999618530273, 5.4760003089904785, -26.288002014160156, -2.5960001945495605, 2.6760001182556152, -0.5520000457763672], "tau_des": [0.42783284187316895, -0.5787127614021301, -0.13188233971595764, -0.5312103629112244, 0.8999968767166138, -1.1719305515289307, -0.5449838638305664], "tau_dot": [16.067838668823242, 26.187644958496094, 41.9450798034668, -30.365978240966797, -19.392366409301758, 38.79994583129883, 15.493243217468262], "tau_ext": [-16.686952590942383, -41.581825256347656, 31.763446807861328, 31.39874267578125, 9.513782501220703, -3.006376028060913, -0.11025365442037582], "tcp_pose": [0.6779186725616455, 0.03262323886156082, -0.21499592065811157, -0.002257830463349819, -0.0046008313074707985, 0.9998912215232849, 0.013829567469656467], "tcp_vel": [0.0002485761942807585, 4.004562470072415e-06, 0.00011510989133967087, 0.0006791807827539742, -0.0004229106998536736, 7.927358637971338e-06], "flange_pose": [0.6786150336265564, 0.02847793512046337, -0.06505482643842697, -0.002257830463349819, -0.0046008313074707985, 0.9998912215232849, 0.013829567469656467], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.18258666992188, 14.952147483825684, 28.127256393432617, 0.32585909962654114, -24.145490646362305, 1.8152915239334106], "ext_wrench_in_world": [-108.44411831270862, 14.72099431600993, -27.227685449233224, -0.11362271819407278, -24.088084705111797, -2.481421193693789]}
+{"timestamp_ns": 1789729568130104131, "elapsed_ms": 11600, "source_timestamp_ns": 1789729568125326179, "q": [0.8370310068130493, -1.89801824092865, -1.0069471597671509, 1.3810677528381348, -0.1601381003856659, 0.5939984917640686, 0.7030271291732788], "theta": [0.8391312956809998, -1.8961310386657715, -1.005162239074707, 1.3626586198806763, -0.16071641445159912, 0.5939499139785767, 0.7029818296432495], "dq": [0.0015551279066130519, 0.0036373964976519346, 0.0018193962750956416, 0.002159903524443507, 7.442511559929699e-05, 0.00023885240079835057, 0.0032315889839082956], "dtheta": [-0.00020822303486056626, 2.3661375962547027e-05, -2.328953087271657e-05, -0.0004307231865823269, 0.0004005052032880485, 0.00018719643412623554, -9.615450835553929e-05], "tau": [55.52000045776367, 23.689998626708984, 5.432000160217285, -26.216001510620117, -2.5960001945495605, 2.6440000534057617, -0.5560000538825989], "tau_des": [0.44447603821754456, -0.5654994249343872, -0.1643255054950714, -0.5339546799659729, 0.894608736038208, -1.172019362449646, -0.5500530004501343], "tau_dot": [-70.19808197021484, 106.38563537597656, -11.89401912689209, 8.163033485412598, -14.450257301330566, -29.563674926757812, 0.6433793306350708], "tau_ext": [-16.67402458190918, -41.609676361083984, 31.782865524291992, 31.37632179260254, 9.5169677734375, -3.007641553878784, -0.11543720215559006], "tcp_pose": [0.6779192686080933, 0.032623469829559326, -0.21499480307102203, -0.0022564264945685863, -0.004600998014211655, 0.9998912215232849, 0.013829914852976799], "tcp_vel": [0.00011821877706097439, 0.00012071149103576317, 4.519657522905618e-05, 0.000621746527031064, -6.812246283516288e-05, -0.00023034425976220518], "flange_pose": [0.6786152124404907, 0.02847806178033352, -0.06505371630191803, -0.0022564264945685863, -0.004600998014211655, 0.9998912215232849, 0.013829914852976799], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.23284912109375, 14.938365936279297, 28.105226516723633, 0.3287208676338196, -24.15411376953125, 1.8169236183166504], "ext_wrench_in_world": [-108.49407779849604, 14.706131719001489, -27.20611945480744, -0.11639907739554187, -24.09668384516484, -2.483296147467534]}
+{"timestamp_ns": 1789729568163434905, "elapsed_ms": 11633, "source_timestamp_ns": 1789729568155330299, "q": [0.8370313048362732, -1.8980194330215454, -1.0069471597671509, 1.3810662031173706, -0.16013865172863007, 0.5939986705780029, 0.7030271887779236], "theta": [0.8391311764717102, -1.8961325883865356, -1.0051621198654175, 1.3626571893692017, -0.16071641445159912, 0.593950629234314, 0.7029820680618286], "dq": [-0.0013857760932296515, -0.00015407204045914114, 0.002518092282116413, -0.0004498642520047724, 0.0044658612459897995, 0.0023887769784778357, 0.001445754081942141], "dtheta": [-0.0002847483556251973, -0.0003930001985281706, -0.0001867244573077187, 0.00032876621116884053, 0.0004899577470496297, 0.0007487760158255696, -0.0005496139638125896], "tau": [55.54999923706055, 23.689998626708984, 5.444000244140625, -26.248001098632812, -2.6000001430511475, 2.640000104904175, -0.5320000052452087], "tau_des": [0.554391086101532, -0.4655439853668213, -0.1883477121591568, -0.6264747977256775, 0.8888416886329651, -1.154765248298645, -0.5373197793960571], "tau_dot": [-20.031951904296875, -15.193087577819824, -2.7068099975585938, 33.4500846862793, -61.51951217651367, -33.18671798706055, 30.276775360107422], "tau_ext": [-16.715147018432617, -41.66623306274414, 31.79161834716797, 31.355693817138672, 9.514845848083496, -3.0002264976501465, -0.11860066652297974], "tcp_pose": [0.6779197454452515, 0.03262406587600708, -0.21499422192573547, -0.002255454193800688, -0.004601400811225176, 0.9998912215232849, 0.013829811476171017], "tcp_vel": [-0.0001590442261658609, 0.00010189857130171731, -0.0004214746004436165, 0.00019673969654832035, 0.0001797384029487148, 0.0004433987196534872], "flange_pose": [0.678615391254425, 0.02847868762910366, -0.06505312770605087, -0.002255454193800688, -0.004601400811225176, 0.9998912215232849, 0.013829811476171017], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1696548461914, 15.015727043151855, 28.11444091796875, 0.3475790023803711, -24.143375396728516, 1.8193780183792114], "ext_wrench_in_world": [-108.43159484011117, 14.784210191633077, -27.213681223755078, -0.13534211516802339, -24.086057487936422, -2.4853652213903756]}
+{"timestamp_ns": 1789729568196775537, "elapsed_ms": 11666, "source_timestamp_ns": 1789729568195322289, "q": [0.8370321393013, -1.898026943206787, -1.0069472789764404, 1.3810632228851318, -0.16013963520526886, 0.5939971804618835, 0.7030279040336609], "theta": [0.8391321301460266, -1.8961392641067505, -1.0051623582839966, 1.362654209136963, -0.16071714460849762, 0.5939491987228394, 0.7029825448989868], "dq": [-0.0016909614205360413, -0.0008173753158189356, 0.0011704966891556978, -0.0020373365841805935, 0.002072656061500311, -0.0010019703768193722, -0.0004368117079138756], "dtheta": [0.00038887732080183923, -4.561761670629494e-05, 3.30082984874025e-05, -4.487548358156346e-05, 0.0002858355001080781, 0.0010238446993753314, 0.0005193514516577125], "tau": [55.53999710083008, 23.559999465942383, 5.444000244140625, -26.32400131225586, -2.568000078201294, 2.6560001373291016, -0.5560000538825989], "tau_des": [0.3378489017486572, -0.5826555490493774, -0.19713908433914185, -0.46953606605529785, 0.9153147339820862, -1.209456443786621, -0.5528311133384705], "tau_dot": [67.52322387695312, -73.5355453491211, 39.38827896118164, -21.98639678955078, 45.711631774902344, -62.56451416015625, -20.874013900756836], "tau_ext": [-16.70594024658203, -41.635929107666016, 31.789655685424805, 31.346521377563477, 9.514817237854004, -2.998556613922119, -0.12051134556531906], "tcp_pose": [0.6779189705848694, 0.03262650594115257, -0.2149946540594101, -0.002254193415865302, -0.004603594541549683, 0.9998912811279297, 0.013827045448124409], "tcp_vel": [0.000230226491112262, 0.0002217845612904057, 0.0003649403515737504, 0.0008572179940529168, -0.0010165817802771926, -0.0006552817649208009], "flange_pose": [0.6786142587661743, 0.02848195843398571, -0.0650535374879837, -0.002254193415865302, -0.004603594541549683, 0.9998912811279297, 0.013827045448124409], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.07231903076172, 15.100366592407227, 28.151521682739258, 0.3643861711025238, -24.12565803527832, 1.819514274597168], "ext_wrench_in_world": [-108.33520350023993, 14.870117310745627, -27.249195927436613, -0.1521994437538231, -24.06851395336865, -2.4848051267982236]}
+{"timestamp_ns": 1789729568230166137, "elapsed_ms": 11700, "source_timestamp_ns": 1789729568225318551, "q": [0.8370335102081299, -1.8980262279510498, -1.006947636604309, 1.3810629844665527, -0.1601390391588211, 0.5939940214157104, 0.7030272483825684], "theta": [0.8391335606575012, -1.8961390256881714, -1.0051627159118652, 1.3626532554626465, -0.16071666777133942, 0.5939463376998901, 0.7029818296432495], "dq": [-0.0015645779203623533, 0.0009788519237190485, 0.000861931883264333, 0.001467233756557107, 0.0007319112191908062, 0.0006045232294127345, -0.0035192144569009542], "dtheta": [0.00021261342044454068, 0.00022312560759019107, 0.00028239257517270744, -0.00016946867981459945, 0.0004000754561275244, -0.00012298057845328003, -0.00013909499102737755], "tau": [55.47999954223633, 23.56999969482422, 5.456000328063965, -26.312002182006836, -2.6000001430511475, 2.684000015258789, -0.5400000214576721], "tau_des": [0.3721698820590973, -0.5717344880104065, -0.2092360258102417, -0.5045533180236816, 0.9031133651733398, -1.1791133880615234, -0.540500819683075], "tau_dot": [-32.772865295410156, 48.35224533081055, -20.308338165283203, 7.495832920074463, -29.88218116760254, 29.869495391845703, 50.890750885009766], "tau_ext": [-16.68886375427246, -41.56084442138672, 31.77642250061035, 31.375572204589844, 9.5139799118042, -2.9976985454559326, -0.11715766042470932], "tcp_pose": [0.6779190301895142, 0.032625712454319, -0.21499377489089966, -0.002254653722047806, -0.004603391047567129, 0.9998912811279297, 0.01382646057754755], "tcp_vel": [-2.0278892520764202e-07, 0.00013143796240910888, 0.00025434797862544656, 0.0006118806777521968, 5.076278102933429e-05, -5.770342249888927e-05], "flange_pose": [0.6786144375801086, 0.028481338173151016, -0.06505265831947327, -0.002254653722047806, -0.004603391047567129, 0.9998912811279297, 0.01382646057754755], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1243896484375, 15.013711929321289, 28.13245391845703, 0.3381556570529938, -24.131731033325195, 1.8140337467193604], "ext_wrench_in_world": [-108.3864099271613, 14.782500438748817, -27.232223010574113, -0.12590108426766655, -24.07449554610091, -2.4795813084332803]}
+{"timestamp_ns": 1789729568263438175, "elapsed_ms": 11733, "source_timestamp_ns": 1789729568255330059, "q": [0.8370334506034851, -1.898025631904602, -1.0069485902786255, 1.3810641765594482, -0.16013871133327484, 0.5939889550209045, 0.7030261158943176], "theta": [0.8391340970993042, -1.8961387872695923, -1.005164384841919, 1.3626539707183838, -0.1607161909341812, 0.5939415693283081, 0.7029808759689331], "dq": [0.0020370513666421175, -0.0006517397123388946, 0.0004889467963948846, -0.0006236094632185996, -0.0013591296738013625, -0.000304116663755849, 0.0025157607160508633], "dtheta": [-0.0004757817951031029, 1.3560689694713801e-05, -0.0001708949712337926, 0.00012260732182767242, 0.0008755153976380825, 0.0002689645334612578, -0.00028620933881029487], "tau": [55.48999786376953, 23.579999923706055, 5.460000038146973, -26.352001190185547, -2.6120002269744873, 2.640000104904175, -0.5520000457763672], "tau_des": [0.574362576007843, -0.49474889039993286, -0.16615061461925507, -0.6403456330299377, 0.8725957870483398, -1.1351957321166992, -0.5425754189491272], "tau_dot": [-54.161949157714844, -7.951923370361328, 25.146066665649414, -0.35653015971183777, -66.75849914550781, -45.73998260498047, 45.173606872558594], "tau_ext": [-16.691287994384766, -41.56900405883789, 31.762420654296875, 31.406946182250977, 9.515519142150879, -3.0053155422210693, -0.11612420529127121], "tcp_pose": [0.677918016910553, 0.032623957842588425, -0.214994877576828, -0.0022570216096937656, -0.004603426903486252, 0.9998912811279297, 0.013824433088302612], "tcp_vel": [-0.0001583610865054652, -1.777286161086522e-05, -0.0004238108522258699, 0.000552003737539053, 0.0007928270497359335, -0.00031599184148944914], "flange_pose": [0.6786141395568848, 0.02848019450902939, -0.06505373865365982, -0.0022570216096937656, -0.004603426903486252, 0.9998912811279297, 0.013824433088302612], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.20435333251953, 14.917563438415527, 28.113019943237305, 0.3149832785129547, -24.146337509155273, 1.8104673624038696], "ext_wrench_in_world": [-108.46553066712309, 14.684987922466325, -27.21465517314421, -0.10258798914395517, -24.088989699356333, -2.4764233504995063]}
+{"timestamp_ns": 1789729568296765440, "elapsed_ms": 11766, "source_timestamp_ns": 1789729568295346983, "q": [0.8370364308357239, -1.8980258703231812, -1.006948709487915, 1.381065011024475, -0.16013853251934052, 0.5939871668815613, 0.7030229568481445], "theta": [0.8391368389129639, -1.8961387872695923, -1.005164384841919, 1.362654447555542, -0.160715714097023, 0.5939391851425171, 0.7029772996902466], "dq": [0.0012922334717586637, -0.002404717030003667, 0.00029454214381985366, -0.0018900363938882947, -3.548057429725304e-05, 0.002087636152282357, -0.0008396503399126232], "dtheta": [0.0003419007989577949, -0.0003916722780559212, 0.0002518089022487402, -1.2992873053008225e-05, 0.0001755541015882045, 0.0008163868333213031, 0.00030621126643382013], "tau": [55.5099983215332, 23.719999313354492, 5.460000038146973, -26.25200080871582, -2.576000213623047, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.38390979170799255, -0.5085353851318359, -0.24899430572986603, -0.517918586730957, 0.9165417551994324, -1.1859583854675293, -0.5387306213378906], "tau_dot": [-18.11496925354004, 177.04168701171875, -6.212886333465576, -1.7280446290969849, 0.7856764793395996, 11.160222053527832, -5.961225509643555], "tau_ext": [-16.679866790771484, -41.61897659301758, 31.77881622314453, 31.35820198059082, 9.513413429260254, -2.996035099029541, -0.10835832357406616], "tcp_pose": [0.677918016910553, 0.03262350708246231, -0.21499350666999817, -0.002256564097478986, -0.0046050711534917355, 0.9998912811279297, 0.013823552057147026], "tcp_vel": [1.854810761869885e-05, 0.00039752890006639063, 0.00021348815062083304, 0.000518200860824436, -0.0007838188903406262, 1.4318439752969425e-05], "flange_pose": [0.6786139607429504, 0.028480010107159615, -0.06505236774682999, -0.002256564097478986, -0.0046050711534917355, 0.9998912811279297, 0.013823552057147026], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.26180267333984, 14.915675163269043, 28.100147247314453, 0.3223472535610199, -24.16651725769043, 1.816942572593689], "ext_wrench_in_world": [-108.52292178684583, 14.6818088776329, -27.201718583664793, -0.10971564483790598, -24.10905495879901, -2.4833799349108485]}
+{"timestamp_ns": 1789729568330101612, "elapsed_ms": 11800, "source_timestamp_ns": 1789729568325343065, "q": [0.8370363116264343, -1.8980262279510498, -1.0069493055343628, 1.381064534187317, -0.1601368486881256, 0.5939867496490479, 0.7030212879180908], "theta": [0.8391366600990295, -1.8961387872695923, -1.005164623260498, 1.3626549243927002, -0.1607142686843872, 0.5939387083053589, 0.702975332736969], "dq": [0.0012405832530930638, -0.0011934579815715551, -0.00026838836492970586, -0.003648363519459963, -0.00036698620533570647, 0.002070027869194746, 0.002538802567869425], "dtheta": [-2.1895939426030964e-05, -3.97095936932601e-06, -0.00011768591502914205, 0.00022750390053261071, 0.0005833843606524169, 0.00029689414077438414, -0.0010495579335838556], "tau": [55.52000045776367, 23.719999313354492, 5.440000057220459, -26.240001678466797, -2.568000078201294, 2.6520001888275146, -0.5360000133514404], "tau_des": [0.47892940044403076, -0.5101175308227539, -0.18804721534252167, -0.5914131999015808, 0.8970969319343567, -1.1518110036849976, -0.5205711722373962], "tau_dot": [-41.557613372802734, 11.901704788208008, -41.58766555786133, -2.1384568214416504, 3.341653823852539, 16.8814640045166, 49.77275848388672], "tau_ext": [-16.71259117126465, -41.650367736816406, 31.770713806152344, 31.346172332763672, 9.511028289794922, -2.9939115047454834, -0.10894345492124557], "tcp_pose": [0.6779179573059082, 0.03262344375252724, -0.21499371528625488, -0.002256936626508832, -0.004605316556990147, 0.9998912811279297, 0.013823742046952248], "tcp_vel": [-7.930429273983464e-05, -1.9600800442276523e-05, -0.0001380590838380158, 0.0003528880188241601, 0.000236375693930313, 0.0006740796961821616], "flange_pose": [0.6786140203475952, 0.028479889035224915, -0.0650525763630867, -0.002256936626508832, -0.004605316556990147, 0.9998912811279297, 0.013823742046952248], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.16189575195312, 15.007091522216797, 28.128557205200195, 0.3452479839324951, -24.15096092224121, 1.8237392902374268], "ext_wrench_in_world": [-108.42401564162618, 14.774853537322953, -27.227940688818812, -0.13277878783935862, -24.093528931676452, -2.4896521943349557]}
+{"timestamp_ns": 1789729568363431317, "elapsed_ms": 11833, "source_timestamp_ns": 1789729568355309445, "q": [0.8370360136032104, -1.8980270624160767, -1.006949543952942, 1.3810639381408691, -0.16013707220554352, 0.5939896106719971, 0.7030225396156311], "theta": [0.83913654088974, -1.8961389064788818, -1.0051652193069458, 1.3626550436019897, -0.1607145071029663, 0.5939415693283081, 0.7029767632484436], "dq": [0.003132898360490799, -0.0006248996360227466, -0.001058044726960361, 0.000664329796563834, 8.22279616841115e-05, 0.00022651012113783509, 0.0034283751156181097], "dtheta": [-2.789114660117775e-06, -0.00010284691961714998, 6.70648951199837e-05, -0.0002967983018606901, -0.0003166852693539113, 0.00038540002424269915, 0.0003832775983028114], "tau": [55.48999786376953, 23.639999389648438, 5.456000328063965, -26.32400131225586, -2.5920000076293945, 2.684000015258789, -0.5440000295639038], "tau_des": [0.39858779311180115, -0.5595022439956665, -0.20142371952533722, -0.5062435269355774, 0.9183630347251892, -1.1880968809127808, -0.5428772568702698], "tau_dot": [-99.02218627929688, -59.40822982788086, -12.440088272094727, -9.330450057983398, -12.388647079467773, -10.871030807495117, 41.42400360107422], "tau_ext": [-16.709863662719727, -41.658180236816406, 31.780067443847656, 31.330228805541992, 9.503996849060059, -2.991546869277954, -0.1081654354929924], "tcp_pose": [0.6779184937477112, 0.032624151557683945, -0.21499356627464294, -0.0022556947078555822, -0.004604909103363752, 0.9998912811279297, 0.013824419118463993], "tcp_vel": [0.00018061744049191475, 0.0001627619203645736, 0.0001735546247800812, 0.0001900259085232392, -0.0006703441613353789, -0.00014708885282743722], "flange_pose": [0.6786141991615295, 0.028480391949415207, -0.06505241990089417, -0.0022556947078555822, -0.004604909103363752, 0.9998912811279297, 0.013824419118463993], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06800079345703, 15.087214469909668, 28.162464141845703, 0.3645966351032257, -24.13705062866211, 1.8265633583068848], "ext_wrench_in_world": [-108.33093599153365, 14.856879188374482, -27.260276419668013, -0.152281143054056, -24.079722406763402, -2.492038668544782]}
+{"timestamp_ns": 1789729568396764000, "elapsed_ms": 11866, "source_timestamp_ns": 1789729568395323369, "q": [0.8370362520217896, -1.8980263471603394, -1.006954550743103, 1.3810648918151855, -0.16013643145561218, 0.5939887762069702, 0.7030230164527893], "theta": [0.8391364812850952, -1.896138310432434, -1.0051692724227905, 1.3626562356948853, -0.1607142686843872, 0.5939408540725708, 0.7029774785041809], "dq": [0.0006856336258351803, -0.0013326009502634406, -0.002508424688130617, -0.0002258491877000779, 0.001422622473910451, -0.00173876341432333, 0.0007353594992309809], "dtheta": [-0.00040628225542604923, 1.927104858623352e-05, 8.82165040820837e-05, 2.484185097273439e-05, 0.00021038090926595032, -0.00042205429053865373, -5.199625957175158e-05], "tau": [55.44999694824219, 23.6299991607666, 5.460000038146973, -26.336000442504883, -2.5840001106262207, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.5442429184913635, -0.5118269920349121, -0.1722022294998169, -0.6242587566375732, 0.8868101835250854, -1.1339763402938843, -0.5439051985740662], "tau_dot": [-55.71363067626953, 4.770236492156982, 20.821266174316406, 49.934791564941406, 26.183883666992188, -2.4525742530822754, 0.6056285500526428], "tau_ext": [-16.712909698486328, -41.623958587646484, 31.766956329345703, 31.389793395996094, 9.507963180541992, -3.0047833919525146, -0.11365294456481934], "tcp_pose": [0.677919864654541, 0.032620884478092194, -0.21499399840831757, -0.0022555941250175238, -0.00460255378857255, 0.9998913407325745, 0.013822760432958603], "tcp_vel": [-0.00022878259187564254, -1.3555971236201003e-05, -0.0003413478843867779, -8.85475892573595e-05, 0.0008884029812179506, -1.829476445891487e-06], "flange_pose": [0.6786155104637146, 0.0284776221960783, -0.06505284458398819, -0.0022555941250175238, -0.00460255378857255, 0.9998913407325745, 0.013822760432958603], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1232681274414, 15.044047355651855, 28.155912399291992, 0.35868585109710693, -24.146005630493164, 1.8225101232528687], "ext_wrench_in_world": [-108.38570136339946, 14.813456364655469, -27.254744998453262, -0.14638294720308262, -24.088738369913848, -2.4881805351607102]}
+{"timestamp_ns": 1789729568430100013, "elapsed_ms": 11900, "source_timestamp_ns": 1789729568425293348, "q": [0.8370371460914612, -1.8980261087417603, -1.006956696510315, 1.3810652494430542, -0.16013692319393158, 0.5939878821372986, 0.7030248045921326], "theta": [0.8391376733779907, -1.8961387872695923, -1.0051709413528442, 1.362656831741333, -0.1607147455215454, 0.5939401388168335, 0.7029789090156555], "dq": [-0.001107698422856629, -0.0024605535436421633, -0.0021932621020823717, 0.0009080791496671736, -0.002141800010576844, 0.002029504394158721, -0.003378157038241625], "dtheta": [0.00015853768854867667, -4.332558819442056e-05, -6.530645623570308e-05, -0.0001260379794985056, -0.00015703235112596303, -0.00017507180746179074, -0.0006523637566715479], "tau": [55.46999740600586, 23.709999084472656, 5.428000450134277, -26.38800048828125, -2.5880000591278076, 2.6760001182556152, -0.5440000295639038], "tau_des": [0.3943943977355957, -0.5731273889541626, -0.14745298027992249, -0.5287749767303467, 0.9224073886871338, -1.165960669517517, -0.5377469658851624], "tau_dot": [6.414315223693848, 90.77725219726562, -23.340551376342773, -12.043885231018066, 4.808516502380371, 21.119211196899414, 10.023508071899414], "tau_ext": [-16.68783187866211, -41.62709045410156, 31.786243438720703, 31.38710594177246, 9.512614250183105, -3.0031206607818604, -0.12239209562540054], "tcp_pose": [0.6779205799102783, 0.0326194204390049, -0.2149936556816101, -0.002255154773592949, -0.004601047839969397, 0.9998913407325745, 0.013821604661643505], "tcp_vel": [8.229036757256836e-05, -3.7688612792408094e-05, 0.00014031397586222738, -0.00021039159037172794, -0.00025283556897193193, 0.0007067531696520746], "flange_pose": [0.6786161065101624, 0.028476502746343613, -0.06505249440670013, -0.002255154773592949, -0.004601047839969397, 0.9998913407325745, 0.013821604661643505], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1974868774414, 14.982114791870117, 28.12611198425293, 0.3434688150882721, -24.156726837158203, 1.8176708221435547], "ext_wrench_in_world": [-108.45914422838196, 14.750303587671855, -27.22647026149692, -0.1311168948069452, -24.09945303890479, -2.4836507635350578]}
+{"timestamp_ns": 1789729568463429577, "elapsed_ms": 11933, "source_timestamp_ns": 1789729568455342867, "q": [0.837037205696106, -1.898029088973999, -1.006956696510315, 1.3810651302337646, -0.16013742983341217, 0.5939879417419434, 0.7030254006385803], "theta": [0.8391381502151489, -1.8961412906646729, -1.0051707029342651, 1.3626564741134644, -0.1607149839401245, 0.5939399003982544, 0.7029796838760376], "dq": [-0.0006399765843525529, 0.0021587421651929617, -0.0005824139807373285, -0.0012093762634322047, -0.0017223488539457321, 0.0015112311812117696, 0.0004105483239982277], "dtheta": [0.00022366063785739243, -0.00013124219549354166, 0.0001594985806150362, -0.00012054904800606892, -0.0005422814283519983, -0.000990917906165123, 0.0007832599221728742], "tau": [55.46999740600586, 23.60999870300293, 5.460000038146973, -26.34800148010254, -2.5880000591278076, 2.6640000343322754, -0.5480000376701355], "tau_des": [0.4174079895019531, -0.5582000613212585, -0.1690913587808609, -0.5574105381965637, 0.9200852513313293, -1.1442902088165283, -0.5578797459602356], "tau_dot": [-134.95091247558594, -43.68742370605469, 3.3053088188171387, -100.71463775634766, -18.710044860839844, -21.580528259277344, -42.38982009887695], "tau_ext": [-16.697484970092773, -41.66619873046875, 31.799524307250977, 31.368492126464844, 9.512344360351562, -3.001296043395996, -0.12334366142749786], "tcp_pose": [0.677919864654541, 0.03262025862932205, -0.21499444544315338, -0.0022549713030457497, -0.004601856227964163, 0.9998913407325745, 0.01382035855203867], "tcp_vel": [-0.00010431332339067012, -4.4711257942253724e-05, 0.00010689691407606006, -0.0009148184908553958, 0.0002017929800786078, -0.00027758971555158496], "flange_pose": [0.678615391254425, 0.028477715328335762, -0.06505326926708221, -0.0022549713030457497, -0.004601856227964163, 0.9998913407325745, 0.01382035855203867], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.24465942382812, 14.976966857910156, 28.11772918701172, 0.3438718318939209, -24.166976928710938, 1.814995288848877], "ext_wrench_in_world": [-108.50624131806441, 14.744246178856972, -27.2181065528234, -0.13137382752518045, -24.10978279261627, -2.4811981417183]}
+{"timestamp_ns": 1789729568496763421, "elapsed_ms": 11966, "source_timestamp_ns": 1789729568495331178, "q": [0.8370380997657776, -1.898032784461975, -1.0069568157196045, 1.3810635805130005, -0.16013740003108978, 0.5939856767654419, 0.7030214667320251], "theta": [0.8391379714012146, -1.8961448669433594, -1.0051710605621338, 1.3626556396484375, -0.1607142686843872, 0.5939375162124634, 0.7029774785041809], "dq": [0.000381728692445904, -0.00017564558947924525, 0.0014358727494254708, -0.0011388526763767004, 0.0005667292280122638, 0.0010125107364729047, 0.0012874944368377328], "dtheta": [-0.00016012610285542905, 0.0003081347094848752, 0.00010711132927099243, 1.538773358333856e-05, 0.0003502801700960845, -0.0002964285376947373, 0.0005513245705515146], "tau": [55.54999923706055, 23.6299991607666, 5.420000076293945, -26.296001434326172, -2.576000213623047, 2.6520001888275146, -0.5640000104904175], "tau_des": [0.4727047383785248, -0.569740355014801, -0.15676549077033997, -0.5763533711433411, 0.8913524746894836, -1.1493253707885742, -0.552520751953125], "tau_dot": [78.8792724609375, -39.37232208251953, -50.51001739501953, -34.369747161865234, -1.6035734415054321, -45.55436325073242, -20.383586883544922], "tau_ext": [-16.708723068237305, -41.59825897216797, 31.773208618164062, 31.335195541381836, 9.508560180664062, -2.9942057132720947, -0.11941594630479813], "tcp_pose": [0.677919328212738, 0.03262125328183174, -0.21499450504779816, -0.002254765247926116, -0.004604935180395842, 0.9998914003372192, 0.013818697072565556], "tcp_vel": [-9.700395457912236e-05, -5.657777001033537e-05, -8.073865319602191e-05, 0.0003096912696491927, 0.0006390371709130704, -0.0008671715622767806], "flange_pose": [0.6786147356033325, 0.028479207307100296, -0.0650533139705658, -0.002254765247926116, -0.004604935180395842, 0.9998914003372192, 0.013818697072565556], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11499786376953, 15.027946472167969, 28.132598876953125, 0.34599918127059937, -24.134817123413086, 1.8124727010726929], "ext_wrench_in_world": [-108.37719864801427, 14.796058599130902, -27.23223312482316, -0.1336337690179591, -24.07773503174963, -2.477698137950201]}
+{"timestamp_ns": 1789729568530101123, "elapsed_ms": 12000, "source_timestamp_ns": 1789729568525340956, "q": [0.8370370268821716, -1.8980371952056885, -1.0069563388824463, 1.3810628652572632, -0.16013659536838531, 0.593984842300415, 0.7030209898948669], "theta": [0.839137077331543, -1.8961492776870728, -1.0051710605621338, 1.3626558780670166, -0.1607135534286499, 0.593936562538147, 0.7029767632484436], "dq": [-0.0008157026604749262, -0.0010199557291343808, 0.00035396681050769985, 0.002237714361399412, -0.002567803952842951, 0.00021205154189374298, -0.00018588779494166374], "dtheta": [-0.00018662828369997442, 0.0003497765283100307, 0.00017001351807266474, 9.695625340100378e-05, 0.0006122401682659984, 0.0012284317053854465, -0.000961849233135581], "tau": [55.44999694824219, 23.619998931884766, 5.448000431060791, -26.356000900268555, -2.5880000591278076, 2.692000150680542, -0.5800000429153442], "tau_des": [0.4549942910671234, -0.5380029678344727, -0.2076101303100586, -0.5456863641738892, 0.8945173025131226, -1.1854664087295532, -0.5191829800605774], "tau_dot": [6.53964376449585, 8.85427474975586, 0.1850380301475525, 18.261863708496094, -26.987913131713867, 32.452880859375, -93.49313354492188], "tau_ext": [-16.698566436767578, -41.62277603149414, 31.78296661376953, 31.334980010986328, 9.506852149963379, -2.993130683898926, -0.11446220427751541], "tcp_pose": [0.6779177784919739, 0.03262285143136978, -0.214996337890625, -0.0022556199692189693, -0.004606529138982296, 0.9998914003372192, 0.013817360624670982], "tcp_vel": [0.00010454505536472425, 0.0002090519410558045, 3.266575004090555e-05, 0.0015001391293480992, -0.0002996535040438175, 0.0004930935683660209], "flange_pose": [0.6786134839057922, 0.02848121151328087, -0.06505513936281204, -0.0022556199692189693, -0.004606529138982296, 0.9998914003372192, 0.013817360624670982], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05107116699219, 15.06428050994873, 28.13869857788086, 0.35197025537490845, -24.120149612426758, 1.8149372339248657], "ext_wrench_in_world": [-108.31372866534356, 14.832717047899171, -27.23746634437462, -0.1396767951968902, -24.063068127221815, -2.479665349834784]}
+{"timestamp_ns": 1789729568563455451, "elapsed_ms": 12033, "source_timestamp_ns": 1789729568555360523, "q": [0.8370382785797119, -1.8980367183685303, -1.0069574117660522, 1.38106369972229, -0.16013577580451965, 0.593981921672821, 0.7030215263366699], "theta": [0.839137613773346, -1.8961488008499146, -1.0051720142364502, 1.3626561164855957, -0.1607130765914917, 0.5939339399337769, 0.7029770016670227], "dq": [-0.0010602102847769856, -0.0001690185599727556, -0.0009391240309923887, -0.0005957504617981613, 0.0013207118026912212, 6.535524153150618e-05, 0.003372677369043231], "dtheta": [0.00028217528597451746, 0.000145771584357135, -0.00025092560099437833, -0.00011716179869836196, 0.00011711967817973346, -0.00046155674499459565, -6.724587001372129e-05], "tau": [55.47999954223633, 23.649999618530273, 5.492000102996826, -26.34400177001953, -2.576000213623047, 2.6560001373291016, -0.5840000510215759], "tau_des": [0.39862123131752014, -0.5871599316596985, -0.13480430841445923, -0.5428494215011597, 0.9150844812393188, -1.1513361930847168, -0.54217529296875], "tau_dot": [-104.88577270507812, 58.06471252441406, 12.385287284851074, 22.768421173095703, 2.2683610916137695, -12.05605411529541, -62.521217346191406], "tau_ext": [-16.681808471679688, -41.601016998291016, 31.7728271484375, 31.375259399414062, 9.508373260498047, -3.0020859241485596, -0.1107088178396225], "tcp_pose": [0.6779175400733948, 0.03262156620621681, -0.21499617397785187, -0.0022564970422536135, -0.004605565220117569, 0.9998914003372192, 0.01381631102412939], "tcp_vel": [0.00012707902351394296, -0.0002231975959148258, 0.0002110958012053743, -0.0002128591586370021, -4.407936648931354e-05, -0.00027912206132896245], "flange_pose": [0.6786134839057922, 0.02848023921251297, -0.06505496054887772, -0.0022564970422536135, -0.004605565220117569, 0.9998914003372192, 0.01381631102412939], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13459777832031, 15.012639045715332, 28.1124210357666, 0.34490588307380676, -24.138845443725586, 1.817455768585205], "ext_wrench_in_world": [-108.3966766293245, 14.779745640131756, -27.21210022800407, -0.13250353337890045, -24.08162595987448, -2.4826797693934735]}
+{"timestamp_ns": 1789729568596762871, "elapsed_ms": 12066, "source_timestamp_ns": 1789729568595344525, "q": [0.837039053440094, -1.8980352878570557, -1.0069606304168701, 1.3810646533966064, -0.1601356565952301, 0.5939814448356628, 0.7030221819877625], "theta": [0.8391381502151489, -1.8961474895477295, -1.0051742792129517, 1.362656831741333, -0.1607128381729126, 0.5939339399337769, 0.7029774785041809], "dq": [0.0005468404269777238, 0.001067489618435502, -1.3450357073452324e-05, -0.00042577413842082024, 0.002457332331687212, 0.0002153862005798146, 0.0007122050155885518], "dtheta": [7.570709567517042e-05, -0.00024185107031371444, -0.0003760512045118958, -0.0001608669845154509, 0.0001889446284621954, 0.00019914809672627598, 2.144392738046008e-06], "tau": [55.459999084472656, 23.670000076293945, 5.452000141143799, -26.380001068115234, -2.568000078201294, 2.6440000534057617, -0.5360000133514404], "tau_des": [0.4411059319972992, -0.5507501363754272, -0.131907120347023, -0.5569318532943726, 0.9140589833259583, -1.1588834524154663, -0.5479949116706848], "tau_dot": [8.793028831481934, 28.204540252685547, -20.953290939331055, -37.207401275634766, 24.341999053955078, -42.31125259399414, 35.465576171875], "tau_ext": [-16.684627532958984, -41.614173889160156, 31.76451301574707, 31.379592895507812, 9.503934860229492, -3.0017757415771484, -0.11351387947797775], "tcp_pose": [0.6779186129570007, 0.03261912986636162, -0.21499593555927277, -0.002256226260215044, -0.004603699315339327, 0.9998914003372192, 0.013815381564199924], "tcp_vel": [0.00015176575107034296, -6.060772284399718e-05, 3.816324897343293e-05, -7.929249841254205e-05, -0.0003698781947605312, -0.00023913162294775248], "flange_pose": [0.6786144971847534, 0.02847808226943016, -0.06505472213029861, -0.002256226260215044, -0.004603699315339327, 0.9998914003372192, 0.013815381564199924], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.21772003173828, 14.942167282104492, 28.107894897460938, 0.3363405466079712, -24.1604061126709, 1.818483829498291], "ext_wrench_in_world": [-108.47906035378416, 14.708762460317804, -27.20924142946263, -0.12383496437318546, -24.10307384726148, -2.484296267694953]}
+{"timestamp_ns": 1789729568630099973, "elapsed_ms": 12100, "source_timestamp_ns": 1789729568625347065, "q": [0.8370388746261597, -1.8980354070663452, -1.0069608688354492, 1.3810641765594482, -0.16013513505458832, 0.5939827561378479, 0.7030223608016968], "theta": [0.8391381502151489, -1.8961472511291504, -1.005175232887268, 1.3626564741134644, -0.1607125848531723, 0.5939351320266724, 0.702978253364563], "dq": [0.0012767378939315677, 0.0017578685656189919, 0.0031055714935064316, 0.002407094929367304, 0.0019479893380776048, -0.001223882893100381, 0.003451555734500289], "dtheta": [-8.55421822052449e-05, 2.136283364961855e-05, -1.0786877737700706e-06, 7.410935359075665e-05, 0.00014512150664813817, -0.0007348590297624469, -0.0003866360639221966], "tau": [55.48999786376953, 23.68000030517578, 5.424000263214111, -26.32000160217285, -2.568000078201294, 2.6720001697540283, -0.5640000104904175], "tau_des": [0.5058424472808838, -0.5197967886924744, -0.16376687586307526, -0.6164907217025757, 0.8971923589706421, -1.1285364627838135, -0.5378420948982239], "tau_dot": [-38.09466552734375, 68.73106384277344, -19.30510902404785, -49.67908477783203, -12.678842544555664, 21.575151443481445, -19.795141220092773], "tau_ext": [-16.69964599609375, -41.64983367919922, 31.789918899536133, 31.360509872436523, 9.503458023071289, -3.0004723072052, -0.11367655545473099], "tcp_pose": [0.6779190897941589, 0.032619353383779526, -0.21499571204185486, -0.0022556886542588472, -0.004603341221809387, 0.9998914003372192, 0.01381603628396988], "tcp_vel": [-0.0001982251851586625, -0.0001267892512260005, -0.00018034072127193213, -0.00041559632518328726, 0.0007702643051743507, 0.0003198840422555804], "flange_pose": [0.6786147952079773, 0.02847810834646225, -0.0650544986128807, -0.0022556886542588472, -0.004603341221809387, 0.9998914003372192, 0.01381603628396988], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.23511505126953, 14.961716651916504, 28.106271743774414, 0.3439129889011383, -24.166584014892578, 1.8190077543258667], "ext_wrench_in_world": [-108.49658606314061, 14.728212839050208, -27.207097711440028, -0.13136801030826092, -24.109301494077577, -2.484989379580994]}
+{"timestamp_ns": 1789729568663437716, "elapsed_ms": 12133, "source_timestamp_ns": 1789729568655352935, "q": [0.8370392918586731, -1.898036003112793, -1.006961703300476, 1.3810628652572632, -0.1601358950138092, 0.593982994556427, 0.7030237913131714], "theta": [0.8391388654708862, -1.8961483240127563, -1.0051758289337158, 1.3626561164855957, -0.1607133150100708, 0.5939363241195679, 0.7029787302017212], "dq": [-0.00040286307921633124, 0.0003578455944079906, 0.0006816012319177389, 0.0031330313067883253, -0.0007326388731598854, 0.0012763688573613763, 0.0028522233478724957], "dtheta": [-0.00028955991729162633, 5.320006675901823e-05, 4.755443114845548e-06, -0.00011389317660359666, 1.0113584721693769e-05, -0.00011367827391950414, -0.000262711982941255], "tau": [55.5, 23.639999389648438, 5.448000431060791, -26.248001098632812, -2.5480000972747803, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.4902026057243347, -0.540075421333313, -0.16007116436958313, -0.5783527493476868, 0.901006817817688, -1.1553058624267578, -0.5418235659599304], "tau_dot": [-59.885562896728516, -70.16608428955078, -25.791698455810547, 21.94818687438965, 91.8036117553711, 33.893009185791016, 5.106044769287109], "tau_ext": [-16.712833404541016, -41.63639831542969, 31.777042388916016, 31.33796501159668, 9.507469177246094, -3.0016050338745117, -0.12102009356021881], "tcp_pose": [0.6779199242591858, 0.032619327306747437, -0.21499499678611755, -0.0022545396350324154, -0.004602682776749134, 0.9998914003372192, 0.013815739192068577], "tcp_vel": [-2.7720792786567472e-05, -8.330031960213091e-06, -0.00014320485934149474, 4.115697447559796e-05, 0.0002837907231878489, 0.00020953088824171573], "flange_pose": [0.6786152720451355, 0.028478169813752174, -0.0650537759065628, -0.0022545396350324154, -0.004602682776749134, 0.9998914003372192, 0.013815739192068577], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15241241455078, 15.02955150604248, 28.12214469909668, 0.35644805431365967, -24.145429611206055, 1.8176259994506836], "ext_wrench_in_world": [-108.41449956839772, 14.79735372125783, -27.22170748168946, -0.14411621418753726, -24.088311648177353, -2.4829545014157777]}
+{"timestamp_ns": 1789729568696793604, "elapsed_ms": 12166, "source_timestamp_ns": 1789729568695501257, "q": [0.8370394110679626, -1.8980381488800049, -1.0069621801376343, 1.3810617923736572, -0.16013576090335846, 0.5939812660217285, 0.7030240893363953], "theta": [0.8391385078430176, -1.8961502313613892, -1.0051758289337158, 1.3626554012298584, -0.1607130765914917, 0.5939348936080933, 0.7029787302017212], "dq": [-0.0010493746958673, -0.002366177272051573, 0.002735589863732457, 0.0019091663416475058, -0.0004865144146606326, -0.002032523276284337, 0.0038528665900230408], "dtheta": [-3.14307508233469e-05, 7.753282989142463e-05, -0.00010766672494355589, 6.855986612208653e-06, 0.0003769713803194463, -0.0011160922003909945, 0.00046325993025675416], "tau": [55.48999786376953, 23.689998626708984, 5.436000347137451, -26.34800148010254, -2.580000162124634, 2.6720001697540283, -0.5560000538825989], "tau_des": [0.4945351779460907, -0.5520526170730591, -0.1363125592470169, -0.606991171836853, 0.8887436389923096, -1.1265062093734741, -0.5593844056129456], "tau_dot": [89.39527893066406, 58.236236572265625, -12.930434226989746, -67.9439468383789, 16.69013214111328, 22.102275848388672, -23.42784881591797], "tau_ext": [-16.718828201293945, -41.67060089111328, 31.787111282348633, 31.346668243408203, 9.507002830505371, -2.999967575073242, -0.1202201098203659], "tcp_pose": [0.6779196262359619, 0.03261958435177803, -0.21499530971050262, -0.002254668390378356, -0.004602963104844093, 0.999891459941864, 0.01381454523652792], "tcp_vel": [-0.000212406535865739, -0.0002329352719243616, -0.00016518803022336215, -0.000512146158143878, 0.0010683001019060612, -0.0007723678718321025], "flange_pose": [0.6786150336265564, 0.02847878448665142, -0.06505408883094788, -0.002254668390378356, -0.004602963104844093, 0.999891459941864, 0.01381454523652792], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.04095458984375, 15.108495712280273, 28.157546997070312, 0.3712012469768524, -24.120710372924805, 1.8175230026245117], "ext_wrench_in_world": [-108.30394839480255, 14.87814792193849, -27.255411220045122, -0.1590810392619736, -24.063748470894208, -2.482045905665836]}
+{"timestamp_ns": 1789729568730099444, "elapsed_ms": 12200, "source_timestamp_ns": 1789729568725332899, "q": [0.8370388746261597, -1.8980375528335571, -1.006961464881897, 1.3810620307922363, -0.16013643145561218, 0.5939807891845703, 0.703022301197052], "theta": [0.8391386866569519, -1.8961501121520996, -1.0051758289337158, 1.3626554012298584, -0.160713791847229, 0.5939346551895142, 0.7029772996902466], "dq": [0.0013214114587754011, -0.0024833460338413715, 0.00011466194700915366, 0.0023719819728285074, -0.0018995821010321379, -0.001062189694494009, -0.001606217585504055], "dtheta": [-0.00012976780999451876, -0.00013539362407755107, -3.29723370668944e-05, 0.00010943088273052126, -3.987745367339812e-05, 8.857069042278454e-05, -0.00023345260706264526], "tau": [55.439998626708984, 23.59000015258789, 5.4760003089904785, -26.384000778198242, -2.556000232696533, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.49804529547691345, -0.5114597082138062, -0.1810724288225174, -0.5933599472045898, 0.9034546613693237, -1.1540764570236206, -0.5369947552680969], "tau_dot": [69.08454132080078, 15.508394241333008, -20.265228271484375, 7.426943302154541, 56.70655822753906, -27.28846549987793, -2.112097978591919], "tau_ext": [-16.672786712646484, -41.61781311035156, 31.770387649536133, 31.364267349243164, 9.507533073425293, -3.0023770332336426, -0.11707823723554611], "tcp_pose": [0.677919328212738, 0.032619643956422806, -0.2149956077337265, -0.002255178289487958, -0.004604117479175329, 0.999891459941864, 0.013814552687108517], "tcp_vel": [-7.382439071079716e-05, 1.1738045941456221e-05, -0.00016539501666557044, -0.00015022087609395385, 0.00011200736480532214, 0.0003380705020390451], "flange_pose": [0.6786148548126221, 0.028478844091296196, -0.06505439430475235, -0.002255178289487958, -0.004604117479175329, 0.999891459941864, 0.013814552687108517], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.10810852050781, 15.069723129272461, 28.136505126953125, 0.365604043006897, -24.138141632080078, 1.8182138204574585], "ext_wrench_in_world": [-108.37070812973188, 14.837937305716261, -27.235048004473686, -0.15327448791525794, -24.081101715185085, -2.483243116931445]}
+{"timestamp_ns": 1789729568763435467, "elapsed_ms": 12233, "source_timestamp_ns": 1789729568755322612, "q": [0.8370391726493835, -1.8980367183685303, -1.0069645643234253, 1.3810639381408691, -0.160135880112648, 0.5939762592315674, 0.7030209898948669], "theta": [0.8391385674476624, -1.8961495161056519, -1.0051777362823486, 1.362656593322754, -0.1607135534286499, 0.5939303636550903, 0.7029760479927063], "dq": [-0.0013375114649534225, -0.0017296754522249103, -0.001257223659195006, -0.001852478482760489, -0.00042130282963626087, -0.0006458204006776214, -0.0004102950042579323], "dtheta": [0.0002270731929456815, -5.527438406716101e-05, 2.444580059091095e-05, 5.903815690544434e-05, -0.00034026807406917214, -0.0005840902449563146, 0.00017779860354494303], "tau": [55.48999786376953, 23.600000381469727, 5.4760003089904785, -26.37200164794922, -2.5960001945495605, 2.6760001182556152, -0.5640000104904175], "tau_des": [0.44395843148231506, -0.5529517531394958, -0.1534689962863922, -0.5824075937271118, 0.9151445627212524, -1.13678777217865, -0.5465025305747986], "tau_dot": [91.00009155273438, -25.3913631439209, 4.594937324523926, -29.781097412109375, -20.206390380859375, 6.6534600257873535, -14.842010498046875], "tau_ext": [-16.674598693847656, -41.593509674072266, 31.74284553527832, 31.392568588256836, 9.5108003616333, -3.00486421585083, -0.11286415159702301], "tcp_pose": [0.6779190301895142, 0.032616645097732544, -0.21499668061733246, -0.0022570991422981024, -0.004603401757776737, 0.999891459941864, 0.013812052085995674], "tcp_vel": [-5.994254752295092e-05, -9.766776202013716e-05, 7.400771573884413e-05, -0.0006533649284392595, 8.689097012393177e-05, 8.834365871734917e-05], "flange_pose": [0.678615152835846, 0.028476595878601074, -0.06505543738603592, -0.0022570991422981024, -0.004603401757776737, 0.999891459941864, 0.013812052085995674], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.20826721191406, 14.952815055847168, 28.109601974487305, 0.3429649770259857, -24.1585693359375, 1.8178917169570923], "ext_wrench_in_world": [-108.46975200386149, 14.719419344958474, -27.210606179052824, -0.1304907854072267, -24.101332086901156, -2.4834635936892466]}
+{"timestamp_ns": 1789729568796764781, "elapsed_ms": 12266, "source_timestamp_ns": 1789729568795334828, "q": [0.8370391130447388, -1.8980369567871094, -1.0069661140441895, 1.381064534187317, -0.16013574600219727, 0.5939786434173584, 0.7030212879180908], "theta": [0.8391387462615967, -1.8961498737335205, -1.0051790475845337, 1.362657070159912, -0.1607135534286499, 0.5939327478408813, 0.702975332736969], "dq": [-0.0009733508341014385, -0.0024872710928320885, 0.0015623215585947037, 1.2850039638578892e-05, -0.0004745436308439821, -0.0013137059286236763, -0.0038427752442657948], "dtheta": [0.0002231253165518865, 0.0001551043678773567, 0.00011593422823352739, 0.00016791802772786468, -0.00024224573280662298, 0.0008215527632273734, 0.00026687514036893845], "tau": [55.5099983215332, 23.739999771118164, 5.456000328063965, -26.240001678466797, -2.5880000591278076, 2.6720001697540283, -0.5560000538825989], "tau_des": [0.39595428109169006, -0.5988881587982178, -0.15483668446540833, -0.5230348110198975, 0.913293182849884, -1.1818591356277466, -0.5509426593780518], "tau_dot": [-13.276239395141602, 86.9466552734375, -21.027179718017578, 62.385650634765625, -32.442359924316406, 54.47686767578125, -17.86712074279785], "tau_ext": [-16.662710189819336, -41.654788970947266, 31.762365341186523, 31.36215591430664, 9.507368087768555, -2.999002695083618, -0.10845065116882324], "tcp_pose": [0.6779195666313171, 0.03261615335941315, -0.21499694883823395, -0.0022563254460692406, -0.004602797795087099, 0.999891459941864, 0.013812118209898472], "tcp_vel": [0.00017126840248238295, 9.854224481387064e-05, 0.0002420184318907559, 0.0004777006688527763, -0.0007999052759259939, -0.0001478452904848382], "flange_pose": [0.6786154508590698, 0.028476083651185036, -0.06505570560693741, -0.0022563254460692406, -0.004602797795087099, 0.999891459941864, 0.013812118209898472], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.24287414550781, 14.95165729522705, 28.124732971191406, 0.34819942712783813, -24.178173065185547, 1.8244173526763916], "ext_wrench_in_world": [-108.50435700396692, 14.718496075416766, -27.225775439619902, -0.1356018445563064, -24.120795402618512, -2.4905090990865975]}
+{"timestamp_ns": 1789729568830102733, "elapsed_ms": 12300, "source_timestamp_ns": 1789729568825324341, "q": [0.8370388150215149, -1.898037075996399, -1.0069657564163208, 1.3810641765594482, -0.16013523936271667, 0.5939793586730957, 0.7030213475227356], "theta": [0.8391383290290833, -1.8961507081985474, -1.0051791667938232, 1.362657070159912, -0.1607130765914917, 0.5939339399337769, 0.7029755711555481], "dq": [-0.00045375662739388645, 0.00036689036642201245, 0.0005190225783735514, 0.0019366079941391945, -0.002469511004164815, 0.0009202889632433653, -0.00022616414935328066], "dtheta": [-0.0002303700748598203, -0.00037391469231806695, -3.6257806641515344e-05, 0.00012495086411945522, 0.00013103756646160036, 4.3549582187552005e-05, -2.1418813048512675e-05], "tau": [55.54999923706055, 23.75, 5.484000205993652, -26.268001556396484, -2.568000078201294, 2.6560001373291016, -0.5640000104904175], "tau_des": [0.555596113204956, -0.47775840759277344, -0.18208684027194977, -0.6346166729927063, 0.8909820318222046, -1.1390246152877808, -0.5448728203773499], "tau_dot": [130.2995147705078, 75.02510070800781, 26.099641799926758, -62.369354248046875, 48.763851165771484, 26.74256134033203, -13.830699920654297], "tau_ext": [-16.683256149291992, -41.68141555786133, 31.769039154052734, 31.335832595825195, 9.507222175598145, -3.004059314727783, -0.11007237434387207], "tcp_pose": [0.6779196262359619, 0.032616570591926575, -0.21499688923358917, -0.002256175968796015, -0.0046027409844100475, 0.999891459941864, 0.013812690041959286], "tcp_vel": [-0.00019568216521292925, 8.197598799597472e-05, -0.0003306270227767527, -0.0002625436463858932, 0.0003589461266528815, 0.00019219474052079022], "flange_pose": [0.6786155104637146, 0.028476327657699585, -0.06505566090345383, -0.002256175968796015, -0.0046027409844100475, 0.999891459941864, 0.013812690041959286], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14816284179688, 15.051995277404785, 28.128576278686523, 0.3761841058731079, -24.15871810913086, 1.831053614616394], "ext_wrench_in_world": [-108.41057608873986, 14.819819491730128, -27.227273710248618, -0.16379587334678908, -24.10142198458591, -2.4965099099246686]}
+{"timestamp_ns": 1789729568863432628, "elapsed_ms": 12333, "source_timestamp_ns": 1789729568855337629, "q": [0.8370394706726074, -1.8980374336242676, -1.0069661140441895, 1.3810638189315796, -0.16013500094413757, 0.5939775705337524, 0.7030224800109863], "theta": [0.8391388654708862, -1.8961509466171265, -1.005179524421692, 1.3626575469970703, -0.1607125848531723, 0.5939322710037231, 0.7029772996902466], "dq": [-0.0003807422472164035, 0.0006058813305571675, 0.0012694729957729578, -0.00027361346292309463, -0.0002669024979695678, -0.0006076000863686204, -0.00021316271158866584], "dtheta": [4.863955473410897e-05, 7.52560154069215e-05, -1.5526265997323208e-05, 5.332322871254291e-06, 0.0005395967164076865, -0.0012756321812048554, 0.00031226332066580653], "tau": [55.5099983215332, 23.69999885559082, 5.468000411987305, -26.32000160217285, -2.56000018119812, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.5016167163848877, -0.5519264340400696, -0.14183580875396729, -0.6180946826934814, 0.8780011534690857, -1.1183815002441406, -0.5599817037582397], "tau_dot": [-21.497661590576172, 118.17320251464844, 4.081799030303955, 42.61652374267578, 70.35396575927734, -7.965847015380859, -4.089084148406982], "tau_ext": [-16.691545486450195, -41.65623092651367, 31.7630672454834, 31.341073989868164, 9.506124496459961, -3.0016515254974365, -0.1105494350194931], "tcp_pose": [0.6779195070266724, 0.032616350799798965, -0.21499666571617126, -0.0022564386017620564, -0.004602131433784962, 0.999891459941864, 0.013812036253511906], "tcp_vel": [-0.00027787714498117566, -0.00019489062833599746, -0.0001374406710965559, -0.0004567310097627342, 0.0012226976687088609, -0.0006418980774469674], "flange_pose": [0.6786154508590698, 0.028476303443312645, -0.06505542993545532, -0.0022564386017620564, -0.004602131433784962, 0.999891459941864, 0.013812036253511906], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0780029296875, 15.097474098205566, 28.135295867919922, 0.38570117950439453, -24.141958236694336, 1.8320074081420898], "ext_wrench_in_world": [-108.34086343834899, 14.866209874170401, -27.23300255941411, -0.17350054404116555, -24.084734151989288, -2.4969265978138773]}
+{"timestamp_ns": 1789729568896762832, "elapsed_ms": 12366, "source_timestamp_ns": 1789729568895324950, "q": [0.8370422720909119, -1.8980376720428467, -1.0069679021835327, 1.3810659646987915, -0.16013562679290771, 0.5939770340919495, 0.7030239105224609], "theta": [0.8391414284706116, -1.8961509466171265, -1.0051804780960083, 1.362659215927124, -0.1607130765914917, 0.5939310789108276, 0.7029787302017212], "dq": [0.0005258562159724534, 0.0025414905976504087, -0.0011964779114350677, 0.001682368922047317, 0.00022132345475256443, 0.0034424669574946165, -0.0020030897576361895], "dtheta": [-0.00012283776595722884, 6.373323412844911e-05, -0.00033256091410294175, -6.205611862242222e-05, 0.0005053344066254795, -0.0006614348385483027, 0.000837048573885113], "tau": [55.529998779296875, 23.639999389648438, 5.464000225067139, -26.316001892089844, -2.5840001106262207, 2.640000104904175, -0.5320000052452087], "tau_des": [0.5008434653282166, -0.5904960632324219, -0.08605019003152847, -0.6006740927696228, 0.8811582922935486, -1.1321547031402588, -0.5767091512680054], "tau_dot": [94.19095611572266, 55.72976303100586, -3.4472761154174805, -17.15904426574707, 26.340805053710938, -43.31084442138672, 26.01197052001953], "tau_ext": [-16.673128128051758, -41.6207389831543, 31.761333465576172, 31.38047981262207, 9.512553215026855, -3.0058846473693848, -0.1266510784626007], "tcp_pose": [0.6779198050498962, 0.03261490538716316, -0.21499589085578918, -0.002255639061331749, -0.004601226653903723, 0.9998915195465088, 0.013810396194458008], "tcp_vel": [-6.625540117966011e-05, -0.00025889292010106146, -0.00017146111349575222, -0.00025096689932979643, 0.0007703420706093311, -0.001387534779496491], "flange_pose": [0.6786155104637146, 0.02847534790635109, -0.06505463272333145, -0.002255639061331749, -0.004601226653903723, 0.9998915195465088, 0.013810396194458008], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14889526367188, 15.034056663513184, 28.12954330444336, 0.36855629086494446, -24.153648376464844, 1.8227266073226929], "ext_wrench_in_world": [-108.41107538197686, 14.802112237102968, -27.228915161542524, -0.15624665133075183, -24.096524502563817, -2.4879690110148864]}
+{"timestamp_ns": 1789729568930102704, "elapsed_ms": 12400, "source_timestamp_ns": 1789729568925346956, "q": [0.8370465040206909, -1.8980380296707153, -1.0069680213928223, 1.3810681104660034, -0.1601358950138092, 0.5939743518829346, 0.7030227184295654], "theta": [0.8391454815864563, -1.8961515426635742, -1.0051804780960083, 1.3626608848571777, -0.160713791847229, 0.5939282178878784, 0.7029777765274048], "dq": [-0.00029469557921402156, -0.0014799583004787564, 0.0018211358692497015, -0.0004993581678718328, 0.000809602381195873, -0.0017081754049286246, 0.002135001588612795], "dtheta": [-0.0002845236158464104, -0.0003869007050525397, 6.113799372542417e-06, 2.6290619643987156e-05, 0.0003622275253292173, 0.0005018857191316783, -0.0005273145507089794], "tau": [55.47999954223633, 23.65999984741211, 5.456000328063965, -26.308000564575195, -2.580000162124634, 2.6640000343322754, -0.5440000295639038], "tau_des": [0.5254345536231995, -0.48046568036079407, -0.18565233051776886, -0.6087599396705627, 0.8951828479766846, -1.1526312828063965, -0.5384315252304077], "tau_dot": [-77.81897735595703, 52.96072769165039, 32.14989471435547, -4.423727035522461, -11.510233879089355, -3.6873879432678223, -30.6342830657959], "tau_ext": [-16.697772979736328, -41.62386703491211, 31.76371192932129, 31.385047912597656, 9.513445854187012, -3.0003092288970947, -0.12748120725154877], "tcp_pose": [0.6779194474220276, 0.032614000141620636, -0.2149943709373474, -0.0022553063463419676, -0.004602107219398022, 0.9998915195465088, 0.013808654621243477], "tcp_vel": [-0.00013223718269728124, 0.00021665918757207692, -0.0002917138917837292, 0.00025700233527459204, 0.0001143985937233083, 0.0005817541969008744], "flange_pose": [0.6786149740219116, 0.028474967926740646, -0.06505309790372849, -0.0022553063463419676, -0.004602107219398022, 0.9998915195465088, 0.013808654621243477], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.20659637451172, 14.969364166259766, 28.116302490234375, 0.34759944677352905, -24.16282844543457, 1.8149313926696777], "ext_wrench_in_world": [-108.46812754145884, 14.73626175870899, -27.21734236198667, -0.13512668946646855, -24.10573052606767, -2.4804387517937885]}
+{"timestamp_ns": 1789729568963431378, "elapsed_ms": 12433, "source_timestamp_ns": 1789729568955355835, "q": [0.8370470404624939, -1.898041009902954, -1.0069676637649536, 1.381068468093872, -0.1601356565952301, 0.5939726829528809, 0.7030221819877625], "theta": [0.8391465544700623, -1.896154761314392, -1.0051803588867188, 1.3626608848571777, -0.160713791847229, 0.5939263105392456, 0.7029774785041809], "dq": [0.000816577929072082, 1.7822319932747632e-05, 0.001987670548260212, 0.0002758640330284834, -0.001589612103998661, -0.002144272206351161, -0.00028695084620267153], "dtheta": [0.00035419524647295475, -0.0002856249047908932, 8.63682507770136e-05, 3.009318606927991e-05, -9.528866030450445e-06, -0.000641557271592319, 0.00037493888521566987], "tau": [55.529998779296875, 23.670000076293945, 5.464000225067139, -26.296001434326172, -2.616000175476074, 2.640000104904175, -0.5720000267028809], "tau_des": [0.43091848492622375, -0.5284281373023987, -0.18061333894729614, -0.5798016786575317, 0.9105597138404846, -1.138060450553894, -0.5509332418441772], "tau_dot": [72.8173599243164, 24.974470138549805, 17.98612403869629, -18.386709213256836, -76.72079467773438, -21.80846405029297, -38.51821517944336], "tau_ext": [-16.721763610839844, -41.65022659301758, 31.773527145385742, 31.357812881469727, 9.51394271850586, -2.997559070587158, -0.12774643301963806], "tcp_pose": [0.6779180765151978, 0.03261483088135719, -0.21499526500701904, -0.002255975967273116, -0.0046035232953727245, 0.9998915195465088, 0.013807086274027824], "tcp_vel": [-0.0001591113250469789, 2.3947306544869207e-05, 7.439365435857326e-05, -0.0006012729136273265, 0.00018842009012587368, -9.768932068254799e-05], "flange_pose": [0.6786138415336609, 0.02847626991569996, -0.06505397707223892, -0.002255975967273116, -0.0046035232953727245, 0.9998915195465088, 0.013807086274027824], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.16382598876953, 14.996439933776855, 28.143522262573242, 0.34882432222366333, -24.154569625854492, 1.8120830059051514], "ext_wrench_in_world": [-108.4258103354827, 14.764078175465043, -27.243897615481547, -0.13634811330843466, -24.097573310984174, -2.477282130088915]}
+{"timestamp_ns": 1789729568996770280, "elapsed_ms": 12466, "source_timestamp_ns": 1789729568995337487, "q": [0.8370466828346252, -1.8980432748794556, -1.0069680213928223, 1.3810665607452393, -0.16013602912425995, 0.5939733386039734, 0.7030206918716431], "theta": [0.839146077632904, -1.8961573839187622, -1.005180835723877, 1.3626604080200195, -0.1607133150100708, 0.5939277410507202, 0.7029758095741272], "dq": [0.0014306609518826008, -0.0003954529238399118, -0.000575770391151309, 0.0016257100505754352, -0.0007510114228352904, 0.00019919464830309153, -0.0001529528817627579], "dtheta": [5.747340037487447e-05, -4.465241727302782e-05, -0.00027696482720784843, -0.00035616251989267766, 0.0004749295476358384, 0.0002794977626763284, -6.0619877331191674e-05], "tau": [55.48999786376953, 23.639999389648438, 5.4720001220703125, -26.26000213623047, -2.5920000076293945, 2.6480002403259277, -0.5640000104904175], "tau_des": [0.4018552303314209, -0.5855053663253784, -0.13500648736953735, -0.5172246694564819, 0.9073008298873901, -1.1766360998153687, -0.5482997298240662], "tau_dot": [-90.43875885009766, 32.85493087768555, 77.293212890625, 32.43587875366211, 3.7757835388183594, 14.25767707824707, -7.37771463394165], "tau_ext": [-16.712539672851562, -41.61018753051758, 31.77103614807129, 31.332935333251953, 9.512577056884766, -2.9884910583496094, -0.11705268919467926], "tcp_pose": [0.6779184341430664, 0.03261571377515793, -0.21499525010585785, -0.0022549855057150126, -0.0046048653312027454, 0.9998915195465088, 0.013806739822030067], "tcp_vel": [0.00021981137979310006, 6.3996717472036835e-06, 0.0001624501310288906, 0.00047298011486418545, -0.0003819271514657885, -0.00043007321073673666], "flange_pose": [0.6786139607429504, 0.02847725711762905, -0.06505396217107773, -0.0022549855057150126, -0.0046048653312027454, 0.9998915195465088, 0.013806739822030067], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0777816772461, 15.048556327819824, 28.155344009399414, 0.34987685084342957, -24.134084701538086, 1.8150453567504883], "ext_wrench_in_world": [-108.34028622542886, 14.81698970819562, -27.25488089669508, -0.13753262890827775, -24.07702713397275, -2.4796566304143544]}
+{"timestamp_ns": 1789729569030168406, "elapsed_ms": 12500, "source_timestamp_ns": 1789729569025333391, "q": [0.8370468616485596, -1.8980425596237183, -1.0069681406021118, 1.3810681104660034, -0.16013537347316742, 0.5939691662788391, 0.7030209302902222], "theta": [0.8391460180282593, -1.8961567878723145, -1.0051805973052979, 1.3626614809036255, -0.1607133150100708, 0.5939236879348755, 0.7029767632484436], "dq": [0.00045775918988510966, -0.0020351470448076725, -0.0015686447732150555, -9.70497858361341e-05, 4.815839929506183e-05, 0.0024396548978984356, -0.000507980294059962], "dtheta": [2.1576583094429225e-05, 0.0003697538923006505, -5.4047002777224407e-05, 0.0003240952210035175, 0.00037919223541393876, -0.0008221960160881281, -0.0002990043140016496], "tau": [55.53999710083008, 23.639999389648438, 5.4720001220703125, -26.292001724243164, -2.568000078201294, 2.6480002403259277, -0.5240000486373901], "tau_des": [0.503931999206543, -0.5641244053840637, -0.12707579135894775, -0.6342080235481262, 0.8848189115524292, -1.1125918626785278, -0.5435390472412109], "tau_dot": [43.97195816040039, 62.28227615356445, 13.64641284942627, 46.330623626708984, 43.18205642700195, -20.10173225402832, 50.56644058227539], "tau_ext": [-16.717559814453125, -41.599937438964844, 31.763259887695312, 31.371036529541016, 9.508479118347168, -2.99654221534729, -0.11550845950841904], "tcp_pose": [0.6779173016548157, 0.032614510506391525, -0.2149960845708847, -0.002257217187434435, -0.0046043735928833485, 0.9998915791511536, 0.013805415481328964], "tcp_vel": [-0.00021045694302301854, -0.0003037672722712159, -0.00014795761671848595, -0.00024615161237306893, 0.0010444563813507557, -0.0001268503547180444], "flange_pose": [0.6786134243011475, 0.028476452454924583, -0.06505478918552399, -0.002257217187434435, -0.0046043735928833485, 0.9998915791511536, 0.013805415481328964], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.08097839355469, 15.02074146270752, 28.152576446533203, 0.34192410111427307, -24.133296966552734, 1.815205454826355], "ext_wrench_in_world": [-108.34332363784401, 14.789107070256268, -27.25242485257649, -0.12962137594383463, -24.076168094987427, -2.4797648216687196]}
+{"timestamp_ns": 1789729569063443777, "elapsed_ms": 12533, "source_timestamp_ns": 1789729569055356456, "q": [0.8370480537414551, -1.8980419635772705, -1.0069689750671387, 1.3810678720474243, -0.1601356714963913, 0.5939702987670898, 0.7030227184295654], "theta": [0.8391463160514832, -1.8961567878723145, -1.005181074142456, 1.3626611232757568, -0.1607135534286499, 0.593924880027771, 0.7029784321784973], "dq": [0.00041043467354029417, 0.002674889750778675, -0.00035001791547983885, 0.0011623529717326164, -6.0512800700962543e-05, -0.0019450942054390907, 0.0026575224474072456], "dtheta": [-0.00010442943312227726, -6.316831422736868e-05, -0.000500616617500782, -0.00035507624852471054, -0.000458739697933197, 0.0005090169725008309, -0.00016771280206739902], "tau": [55.5, 23.729999542236328, 5.468000411987305, -26.328001022338867, -2.572000026702881, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.4098190367221832, -0.6097927093505859, -0.09241652488708496, -0.517526388168335, 0.9264817237854004, -1.1776717901229858, -0.5489181280136108], "tau_dot": [35.355281829833984, 89.1751480102539, 23.354310989379883, -12.485934257507324, 7.875669479370117, 0.9371435046195984, -20.000316619873047], "tau_ext": [-16.69533348083496, -41.6097526550293, 31.766761779785156, 31.359392166137695, 9.504426002502441, -2.9957828521728516, -0.11830175668001175], "tcp_pose": [0.6779182553291321, 0.032614100724458694, -0.21499495208263397, -0.0022559466306120157, -0.004603094421327114, 0.9998915791511536, 0.013805673457682133], "tcp_vel": [0.00042414359631948173, -0.00014116153761278838, 0.00013747773482464254, -0.00011370766151230782, -0.0009829469490796328, 4.5135875552659854e-05], "flange_pose": [0.6786140203475952, 0.028475964441895485, -0.06505365669727325, -0.0022559466306120157, -0.004603094421327114, 0.9998915791511536, 0.013805673457682133], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1220703125, 14.995244026184082, 28.15196418762207, 0.33889690041542053, -24.14334487915039, 1.814286470413208], "ext_wrench_in_world": [-108.3840708517023, 14.763518021571672, -27.25260062685903, -0.12655445841585167, -24.086207419275127, -2.4791499720960246]}
+{"timestamp_ns": 1789729569096781113, "elapsed_ms": 12566, "source_timestamp_ns": 1789729569095417741, "q": [0.8370491862297058, -1.8980426788330078, -1.0069681406021118, 1.381068229675293, -0.16013559699058533, 0.5939708948135376, 0.7030247449874878], "theta": [0.83914715051651, -1.8961573839187622, -1.0051807165145874, 1.3626617193222046, -0.1607133150100708, 0.5939258337020874, 0.7029808759689331], "dq": [-0.0007550862501375377, 0.001997879007831216, 0.0012620723573490977, -0.00019620926468633115, 0.0005481987609528005, -0.001440291409380734, 0.003776204539462924], "dtheta": [-5.210995368543081e-06, -0.0001185689470730722, 5.18617634952534e-05, 0.00023019158106762916, 0.00036220456240698695, -0.0008771513239480555, -0.00022941264614928514], "tau": [55.529998779296875, 23.69999885559082, 5.464000225067139, -26.30000114440918, -2.564000129699707, 2.6640000343322754, -0.5040000081062317], "tau_des": [0.520755410194397, -0.5024129152297974, -0.17877191305160522, -0.6381873488426208, 0.8839367032051086, -1.1197569370269775, -0.5454939603805542], "tau_dot": [101.8768081665039, 15.314521789550781, 37.54487609863281, -24.173707962036133, 47.36174011230469, -29.326683044433594, 53.28211975097656], "tau_ext": [-16.688186645507812, -41.66278076171875, 31.782550811767578, 31.349464416503906, 9.507518768310547, -2.9937705993652344, -0.12928709387779236], "tcp_pose": [0.677918016910553, 0.03261477127671242, -0.21499446034431458, -0.0022554637398570776, -0.00460259523242712, 0.9998915791511536, 0.013805758208036423], "tcp_vel": [-0.00035306147765368223, -9.365291043650359e-05, -0.0002682135673239827, -0.0005342045915313065, 0.0010644647991284728, 0.0002009832242038101], "flange_pose": [0.6786136627197266, 0.02847660519182682, -0.06505316495895386, -0.0022554637398570776, -0.00460259523242712, 0.9998915791511536, 0.013805758208036423], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13851165771484, 15.022905349731445, 28.14867401123047, 0.351767897605896, -24.153596878051758, 1.8146076202392578], "ext_wrench_in_world": [-108.40070809138791, 14.791038868589915, -27.24857595832844, -0.13935456270236782, -24.096564930979483, -2.4797020888791734]}
+{"timestamp_ns": 1789729569130108261, "elapsed_ms": 12600, "source_timestamp_ns": 1789729569125331113, "q": [0.8370494842529297, -1.8980432748794556, -1.00696861743927, 1.3810676336288452, -0.16013644635677338, 0.5939712524414062, 0.703025758266449], "theta": [0.8391479849815369, -1.89615797996521, -1.0051813125610352, 1.3626617193222046, -0.1607140302658081, 0.5939265489578247, 0.7029820680618286], "dq": [-0.0019315333338454366, 0.0017232735408470035, 0.001139228348620236, 1.2347853044047952e-05, -0.0007468560361303389, 0.0009450699435546994, -0.0007920748903416097], "dtheta": [6.404011946870014e-05, 0.000190293081686832, -1.2922352652822156e-05, 0.0001298558054259047, -0.0003737179795280099, -0.0010862966300919652, 0.0006944617489352822], "tau": [55.529998779296875, 23.65999984741211, 5.444000244140625, -26.336000442504883, -2.580000162124634, 2.6480002403259277, -0.5200000405311584], "tau_des": [0.4575808346271515, -0.5915483236312866, -0.1276690810918808, -0.5886560678482056, 0.9003458023071289, -1.1322722434997559, -0.5638867020606995], "tau_dot": [42.38100051879883, 74.40170288085938, -35.929534912109375, -11.187417984008789, 33.967594146728516, -33.325374603271484, 20.95052719116211], "tau_ext": [-16.693401336669922, -41.63630676269531, 31.77715492248535, 31.333890914916992, 9.507695198059082, -2.9984941482543945, -0.14471890032291412], "tcp_pose": [0.677918553352356, 0.032614827156066895, -0.21499399840831757, -0.0022545999381691217, -0.004602317698299885, 0.9998915791511536, 0.013805488124489784], "tcp_vel": [-0.00013391108950600028, -0.00028561081853695214, -5.169046198716387e-05, -0.0008868277654983103, 0.0006701991660520434, -0.000577289960347116], "flange_pose": [0.6786139011383057, 0.028476744890213013, -0.06505270302295685, -0.0022545999381691217, -0.004602317698299885, 0.9998915791511536, 0.013805488124489784], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09698486328125, 15.05189037322998, 28.14447593688965, 0.3584378659725189, -24.14046287536621, 1.8077472448349], "ext_wrench_in_world": [-108.35937350757338, 14.820328666978995, -27.24395524426075, -0.14612208898094212, -24.08368879527013, -2.4724396837126688]}
+{"timestamp_ns": 1789729569163495745, "elapsed_ms": 12633, "source_timestamp_ns": 1789729569155329553, "q": [0.8370499610900879, -1.8980443477630615, -1.0069690942764282, 1.3810676336288452, -0.1601376086473465, 0.5939681529998779, 0.7030231356620789], "theta": [0.8391486406326294, -1.8961595296859741, -1.0051817893981934, 1.362661600112915, -0.1607147455215454, 0.5939234495162964, 0.702980637550354], "dq": [0.00010575778287602589, -0.00029220033320598304, 3.2539253879804164e-05, -0.0013102265074849129, 0.0007011410198174417, 0.0012929049553349614, -0.0009427734767086804], "dtheta": [-0.00022654389613308012, 3.409998271308723e-06, -0.00019756940309889615, -0.00018008261395152658, -0.000523336639162153, -0.0001013644941849634, -0.0006678059580735862], "tau": [55.46999740600586, 23.6299991607666, 5.460000038146973, -26.328001022338867, -2.5840001106262207, 2.6480002403259277, -0.5240000486373901], "tau_des": [0.4611688256263733, -0.5585232973098755, -0.13766399025917053, -0.5659748911857605, 0.919793426990509, -1.1559733152389526, -0.5322691798210144], "tau_dot": [-136.8954620361328, 98.37195587158203, -10.6713285446167, -49.94766616821289, 8.507682800292969, -28.813146591186523, -15.809957504272461], "tau_ext": [-16.708152770996094, -41.62126922607422, 31.776268005371094, 31.366750717163086, 9.514504432678223, -3.0020816326141357, -0.14710666239261627], "tcp_pose": [0.6779180765151978, 0.032614272087812424, -0.21499431133270264, -0.0022551401052623987, -0.004604161251336336, 0.9998915791511536, 0.01380352582782507], "tcp_vel": [0.00014083988207858056, -0.0001280983560718596, -5.141408837516792e-05, -0.0004083497042302042, -0.00021194790315348655, 0.0007910358835943043], "flange_pose": [0.6786136031150818, 0.02847677655518055, -0.06505299359560013, -0.0022551401052623987, -0.004604161251336336, 0.9998915791511536, 0.01380352582782507], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09259796142578, 15.025165557861328, 28.145313262939453, 0.34895044565200806, -24.132627487182617, 1.798763394355774], "ext_wrench_in_world": [-108.35482885863357, 14.793170046754058, -27.24549826566982, -0.13657830374482433, -24.076026820747668, -2.4631899015508636]}
+{"timestamp_ns": 1789729569196771616, "elapsed_ms": 12666, "source_timestamp_ns": 1789729569195329923, "q": [0.8370514512062073, -1.8980449438095093, -1.0069693326950073, 1.381067156791687, -0.16013652086257935, 0.5939601063728333, 0.7030200362205505], "theta": [0.8391501903533936, -1.8961604833602905, -1.0051820278167725, 1.3626612424850464, -0.1607142686843872, 0.5939146280288696, 0.702978253364563], "dq": [-0.002895212033763528, 0.0008830994484014809, 0.0004501111980061978, 0.0015261240769177675, 0.00021285425464157015, -0.0010303015587851405, -0.0032141334377229214], "dtheta": [-7.101026858435944e-05, -0.00016272020002361387, -5.712910933652893e-05, 0.0001200826300191693, -0.00035775668220594525, -0.00017292065604124218, -1.0709388334362302e-05], "tau": [55.52000045776367, 23.600000381469727, 5.440000057220459, -26.32000160217285, -2.572000026702881, 2.6480002403259277, -0.5440000295639038], "tau_des": [0.4949735105037689, -0.5198758244514465, -0.1662089079618454, -0.6130041480064392, 0.9100345969200134, -1.1324843168258667, -0.538532018661499], "tau_dot": [77.66376495361328, -86.4322280883789, -41.08602523803711, 24.47498321533203, 38.777381896972656, -5.984407424926758, -18.604503631591797], "tau_ext": [-16.69796371459961, -41.607994079589844, 31.78304672241211, 31.360748291015625, 9.515669822692871, -2.992654800415039, -0.13184677064418793], "tcp_pose": [0.6779168248176575, 0.03261324763298035, -0.21499432623386383, -0.0022575531620532274, -0.004605597350746393, 0.9998915791511536, 0.013801067136228085], "tcp_vel": [-7.016651215963066e-05, -5.919551040278748e-05, -0.00014336060849018395, -0.0005615021800622344, 8.241302566602826e-05, 0.00030098657589405775], "flange_pose": [0.6786130666732788, 0.028476495295763016, -0.06505300104618073, -0.0022575531620532274, -0.004605597350746393, 0.9998915791511536, 0.013801067136228085], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14299011230469, 14.972966194152832, 28.125497817993164, 0.3288181722164154, -24.14079475402832, 1.7974499464035034], "ext_wrench_in_world": [-108.40482227692266, 14.739525050411924, -27.226468059377776, -0.11630699781050181, -24.08405272828811, -2.462071469235877]}
+{"timestamp_ns": 1789729569230103043, "elapsed_ms": 12700, "source_timestamp_ns": 1789729569225342581, "q": [0.837051272392273, -1.8980484008789062, -1.0069689750671387, 1.381066083908081, -0.16013601422309875, 0.5939590334892273, 0.7030192017555237], "theta": [0.839149534702301, -1.8961634635925293, -1.0051820278167725, 1.3626608848571777, -0.1607140302658081, 0.593913197517395, 0.7029774785041809], "dq": [-0.0015847713220864534, 0.0010655277874320745, 0.00016505661187693477, -0.0002983763406518847, 0.0013834508135914803, 0.0009777408558875322, -0.0016389671945944428], "dtheta": [-0.0003559493343345821, -0.0001717039995128289, 9.991109982365742e-05, -0.00012498910655267537, -0.0001796004653442651, 0.0008611679077148438, 0.0006299110245890915], "tau": [55.5, 23.60999870300293, 5.448000431060791, -26.304000854492188, -2.572000026702881, 2.640000104904175, -0.5480000376701355], "tau_des": [0.5051615834236145, -0.5132565498352051, -0.20259183645248413, -0.5837368965148926, 0.8997283577919006, -1.1624058485031128, -0.545745849609375], "tau_dot": [41.95896530151367, -86.8313980102539, -28.398178100585938, -52.82637405395508, -9.63985538482666, -15.288427352905273, 3.872945547103882], "tau_ext": [-16.716712951660156, -41.61650848388672, 31.78565788269043, 31.3570499420166, 9.513382911682129, -2.991185188293457, -0.12176048755645752], "tcp_pose": [0.6779158711433411, 0.0326145701110363, -0.2149951159954071, -0.0022577994968742132, -0.004607074894011021, 0.9998916387557983, 0.013800052925944328], "tcp_vel": [7.835895667085424e-05, 0.0002527439210098237, -0.0001183035274152644, 0.00045611144741997123, -0.0004459384363144636, -0.0003847757470794022], "flange_pose": [0.678612232208252, 0.028478121384978294, -0.06505376845598221, -0.0022577994968742132, -0.004607074894011021, 0.9998916387557983, 0.013800052925944328], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14836120605469, 14.97602367401123, 28.132810592651367, 0.3265670835971832, -24.143577575683594, 1.8035874366760254], "ext_wrench_in_world": [-108.4103107652865, 14.742356445258814, -27.233651879554593, -0.11398871961434409, -24.086649574204994, -2.468244460366024]}
+{"timestamp_ns": 1789729569263433251, "elapsed_ms": 12733, "source_timestamp_ns": 1789729569255312178, "q": [0.8370521068572998, -1.8980501890182495, -1.00696861743927, 1.3810665607452393, -0.1601363569498062, 0.5939603447914124, 0.7030177712440491], "theta": [0.839149534702301, -1.8961652517318726, -1.005181908607483, 1.3626610040664673, -0.160713791847229, 0.5939146280288696, 0.7029755711555481], "dq": [0.0015702894888818264, 0.002011557575315237, 0.0009111078106798232, -0.001868979656137526, -0.0011502174893394113, -7.719417044427246e-05, -0.00036100405850447714], "dtheta": [-0.00019242240523453802, 0.0004353208641987294, -1.1227164577576332e-05, -4.819555033463985e-05, 0.0002450496540404856, -0.0013228622265160084, -0.0007413296843878925], "tau": [55.529998779296875, 23.6299991607666, 5.432000160217285, -26.316001892089844, -2.5920000076293945, 2.6640000343322754, -0.5640000104904175], "tau_des": [0.5076025128364563, -0.5457027554512024, -0.15640196204185486, -0.6282690167427063, 0.8903043270111084, -1.1097877025604248, -0.5234607458114624], "tau_dot": [28.458362579345703, 61.39813995361328, -19.611562728881836, -44.56616973876953, -22.057954788208008, 42.2291145324707, -44.944862365722656], "tau_ext": [-16.700918197631836, -41.60404968261719, 31.77895164489746, 31.35153579711914, 9.514110565185547, -2.9998252391815186, -0.11169074475765228], "tcp_pose": [0.6779155731201172, 0.03261536732316017, -0.21499507129192352, -0.0022570472210645676, -0.004608612973242998, 0.9998916387557983, 0.013799690641462803], "tcp_vel": [-0.00018295057816430926, -0.0003162322973366827, -0.0001510888250777498, -0.00036489160265773535, 0.0012651750585064292, 0.00032933111651800573], "flange_pose": [0.678611695766449, 0.02847902849316597, -0.06505373120307922, -0.0022570472210645676, -0.004608612973242998, 0.9998916387557983, 0.013799690641462803], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12445068359375, 15.007062911987305, 28.13176918029785, 0.3353659212589264, -24.136568069458008, 1.8110806941986084], "ext_wrench_in_world": [-108.38668364551486, 14.773224949488094, -27.232037070437862, -0.12280858130794277, -24.079520146893564, -2.475485669787768]}
+{"timestamp_ns": 1789729569296768597, "elapsed_ms": 12766, "source_timestamp_ns": 1789729569295318737, "q": [0.8370509147644043, -1.8980488777160645, -1.0069692134857178, 1.3810667991638184, -0.16013634204864502, 0.5939616560935974, 0.703018844127655], "theta": [0.839148998260498, -1.896164059638977, -1.0051823854446411, 1.3626610040664673, -0.1607133150100708, 0.5939162969589233, 0.7029762864112854], "dq": [-0.000512477068696171, -0.00021353759802877903, 0.0012040865840390325, -0.0015620760386809707, 0.00011922570411115885, 0.0004952916642650962, -0.0008933948120102286], "dtheta": [-0.0001245103485416621, 0.00019993520982097834, -3.414027378312312e-05, 0.00021613543503917754, 0.0006813507643528283, -0.0001543046091683209, -3.46142660418991e-05], "tau": [55.48999786376953, 23.68000030517578, 5.436000347137451, -26.32400131225586, -2.5880000591278076, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.5175625085830688, -0.5349544882774353, -0.17209680378437042, -0.6214072704315186, 0.8746605515480042, -1.1336331367492676, -0.5412163734436035], "tau_dot": [16.13997459411621, 98.17061614990234, -1.4508397579193115, 5.017035484313965, -24.86968231201172, 16.44550895690918, 4.517189025878906], "tau_ext": [-16.69276237487793, -41.614234924316406, 31.778547286987305, 31.357141494750977, 9.512195587158203, -3.0002124309539795, -0.11075283586978912], "tcp_pose": [0.6779160499572754, 0.032614827156066895, -0.21499547362327576, -0.002257125684991479, -0.004607456736266613, 0.9998915791511536, 0.01380033791065216], "tcp_vel": [-0.00016799691366031766, -9.55453360802494e-05, -0.00019694316142704338, 0.0003254213952459395, 0.0007795113488100469, -0.0004638198297470808], "flange_pose": [0.6786121726036072, 0.028478292748332024, -0.06505414098501205, -0.002257125684991479, -0.004607456736266613, 0.9998915791511536, 0.01380033791065216], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14228820800781, 15.00341796875, 28.11304473876953, 0.33944961428642273, -24.13730239868164, 1.817827582359314], "ext_wrench_in_world": [-108.40437112430051, 14.769185491552419, -27.21330217290671, -0.12697281595850538, -24.080102510580986, -2.482263327922052]}
+{"timestamp_ns": 1789729569330103104, "elapsed_ms": 12800, "source_timestamp_ns": 1789729569325314998, "q": [0.83705073595047, -1.898047924041748, -1.006971001625061, 1.3810672760009766, -0.16013666987419128, 0.5939650535583496, 0.7030208110809326], "theta": [0.839148998260498, -1.8961634635925293, -1.0051839351654053, 1.362661361694336, -0.160713791847229, 0.5939196348190308, 0.7029777765274048], "dq": [0.0012631344143301249, 0.001525785424746573, -0.0001367487566312775, 0.0016466929810121655, 0.0006678106728941202, -0.0011698775924742222, 0.0012200791388750076], "dtheta": [-0.00037191822775639594, -5.9789792430819944e-05, 5.776118996436708e-05, -3.777343226829544e-05, 0.00029387956601567566, 0.00015054541290737689, -0.00047332581016235054], "tau": [55.459999084472656, 23.68000030517578, 5.452000141143799, -26.312002182006836, -2.568000078201294, 2.6560001373291016, -0.5360000133514404], "tau_des": [0.5313602089881897, -0.5019499659538269, -0.1974283903837204, -0.6079654693603516, 0.88465416431427, -1.1508721113204956, -0.5329551696777344], "tau_dot": [-6.524393081665039, 21.16483497619629, 16.35192108154297, 11.541509628295898, 50.87802505493164, -44.54472732543945, 6.165556907653809], "tau_ext": [-16.690277099609375, -41.630409240722656, 31.785076141357422, 31.35950469970703, 9.513014793395996, -3.0035479068756104, -0.1152193695306778], "tcp_pose": [0.6779173612594604, 0.03261399269104004, -0.21499519050121307, -0.0022557396441698074, -0.0046056341379880905, 0.9998916387557983, 0.013800998218357563], "tcp_vel": [-0.00011228687799302861, 0.00010109532013302669, -0.00025690897018648684, 0.0002973128284793347, 0.000395559414755553, 0.0003811936767306179], "flange_pose": [0.6786130666732788, 0.02847725711762905, -0.06505386531352997, -0.0022557396441698074, -0.0046056341379880905, 0.9998916387557983, 0.013800998218357563], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1633529663086, 15.00953483581543, 28.105222702026367, 0.3460061252117157, -24.143280029296875, 1.820229411125183], "ext_wrench_in_world": [-108.42532610106642, 14.775324382847208, -27.205496747741066, -0.1335674709200706, -24.086068414572868, -2.4848327871472096]}
+{"timestamp_ns": 1789729569363435671, "elapsed_ms": 12833, "source_timestamp_ns": 1789729569355333744, "q": [0.8370522856712341, -1.8980491161346436, -1.006971836090088, 1.381067156791687, -0.16013741493225098, 0.5939648151397705, 0.7030213475227356], "theta": [0.8391500115394592, -1.8961642980575562, -1.0051852464675903, 1.3626617193222046, -0.160713791847229, 0.5939198732376099, 0.7029787302017212], "dq": [-0.00017668749205768108, -0.0015231900615617633, -0.001380843692459166, -0.00025874635321088135, -0.0010801804019138217, -0.0006076211575418711, 0.00011850617738673463], "dtheta": [0.00040385249303653836, -0.0005262914346531034, -0.000306389614706859, 0.0002409429580438882, -0.0003128081443719566, -7.25433710613288e-05, -0.00020209043577779084], "tau": [55.47999954223633, 23.709999084472656, 5.436000347137451, -26.328001022338867, -2.5920000076293945, 2.700000047683716, -0.527999997138977], "tau_des": [0.42782676219940186, -0.5149950385093689, -0.1721024066209793, -0.5732553005218506, 0.9255466461181641, -1.1557248830795288, -0.5364794731140137], "tau_dot": [-126.32966613769531, -48.40361022949219, -38.294769287109375, -20.540855407714844, 1.2271206378936768, 48.79228210449219, 32.657432556152344], "tau_ext": [-16.678333282470703, -41.654273986816406, 31.795183181762695, 31.34685516357422, 9.510478019714355, -3.0041556358337402, -0.12370497733354568], "tcp_pose": [0.6779177188873291, 0.03261379152536392, -0.21499446034431458, -0.0022546977270394564, -0.00460568442940712, 0.9998916387557983, 0.013800006359815598], "tcp_vel": [-1.6404179405071773e-05, -9.400305134477094e-05, 1.102470196201466e-05, -0.0009653178858570755, -0.00043002472375519574, 0.0005523099098354578], "flange_pose": [0.6786131262779236, 0.02847735583782196, -0.06505312025547028, -0.0022546977270394564, -0.00460568442940712, 0.9998916387557983, 0.013800006359815598], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15666198730469, 15.043283462524414, 28.1055965423584, 0.3579676151275635, -24.142059326171875, 1.8191560506820679], "ext_wrench_in_world": [-108.41889009925748, 14.80906910882915, -27.205223916498387, -0.14552748180604777, -24.084993655951223, -2.4836264621404194]}
+{"timestamp_ns": 1789729569396768968, "elapsed_ms": 12866, "source_timestamp_ns": 1789729569395339103, "q": [0.8370528817176819, -1.8980497121810913, -1.0069715976715088, 1.3810667991638184, -0.16013723611831665, 0.593961775302887, 0.7030210494995117], "theta": [0.8391499519348145, -1.8961641788482666, -1.0051851272583008, 1.362661361694336, -0.1607135534286499, 0.5939172506332397, 0.7029787302017212], "dq": [-0.0002765216340776533, -0.003342422191053629, 0.000489450991153717, 0.00013643200509250164, -0.0015911231748759747, -0.0005248097004368901, -0.003626477438956499], "dtheta": [1.4695094250782859e-05, 0.00023604478337801993, 5.850040543009527e-05, -0.00021584404748864472, 0.0004992903559468687, -0.0009197881445288658, -0.00044248526683077216], "tau": [55.52000045776367, 23.69999885559082, 5.468000411987305, -26.32000160217285, -2.572000026702881, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.44318652153015137, -0.5661008954048157, -0.17165698111057281, -0.5673288702964783, 0.8879392147064209, -1.1429951190948486, -0.5375477075576782], "tau_dot": [35.62028503417969, 45.05281066894531, 27.99530792236328, -2.4027090072631836, 21.553754806518555, 25.62960433959961, -7.736546993255615], "tau_ext": [-16.68253517150879, -41.6265983581543, 31.78846549987793, 31.344846725463867, 9.509854316711426, -3.003474712371826, -0.131256103515625], "tcp_pose": [0.6779171228408813, 0.03261367604136467, -0.21499449014663696, -0.002255556173622608, -0.004606044851243496, 0.9998916387557983, 0.01379899401217699], "tcp_vel": [-0.00010863615898415446, -0.0001055360771715641, 3.3756066841306165e-05, 4.783315671375021e-05, 0.0007897331961430609, 3.613056833273731e-05], "flange_pose": [0.6786128282546997, 0.028477542102336884, -0.06505314260721207, -0.002255556173622608, -0.004606044851243496, 0.9998916387557983, 0.01379899401217699], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1387710571289, 15.05583667755127, 28.097394943237305, 0.36053207516670227, -24.13454246520996, 1.8121274709701538], "ext_wrench_in_world": [-108.4011341919983, 14.821420311210995, -27.19660332192793, -0.1481141563000185, -24.077702717843312, -2.4763326475164766]}
+{"timestamp_ns": 1789729569430099925, "elapsed_ms": 12900, "source_timestamp_ns": 1789729569425244006, "q": [0.8370530009269714, -1.8980497121810913, -1.0069719552993774, 1.3810663223266602, -0.16013659536838531, 0.5939621329307556, 0.7030200958251953], "theta": [0.8391500115394592, -1.8961644172668457, -1.0051853656768799, 1.3626610040664673, -0.1607135534286499, 0.5939184427261353, 0.7029779553413391], "dq": [-0.0011038418160751462, -0.0009347214363515377, -0.0012711912859231234, 0.002446505706757307, 0.0013488823315128684, -0.000535478931851685, 0.0001952682650880888], "dtheta": [0.0002943733416032046, 0.00038561111432500184, -5.5743090342730284e-05, 3.698896034620702e-05, 0.0006609920528717339, 0.001028705737553537, -0.00027185972430743277], "tau": [55.529998779296875, 23.639999389648438, 5.440000057220459, -26.30000114440918, -2.568000078201294, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.3401874601840973, -0.6386808156967163, -0.15776270627975464, -0.4738353490829468, 0.895405113697052, -1.2052050828933716, -0.5440196990966797], "tau_dot": [43.2211799621582, 32.83270263671875, -32.10065460205078, 0.05401135981082916, 56.79772186279297, 23.16445541381836, 6.1931538581848145], "tau_ext": [-16.693058013916016, -41.61677551269531, 31.77326011657715, 31.35073471069336, 9.514477729797363, -3.0002639293670654, -0.12891241908073425], "tcp_pose": [0.67791748046875, 0.032613638788461685, -0.21499419212341309, -0.002255244180560112, -0.00460614962503314, 0.9998916387557983, 0.01379934698343277], "tcp_vel": [0.0002724507648963481, 5.7532226492185146e-05, 0.0003571830166038126, 0.0013139350339770317, -0.0007033942965790629, -0.00041091200546361506], "flange_pose": [0.6786130666732788, 0.028477398678660393, -0.06505285203456879, -0.002255244180560112, -0.00460614962503314, 0.9998916387557983, 0.01379934698343277], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12594604492188, 15.036272048950195, 28.11629295349121, 0.353916734457016, -24.13359260559082, 1.8093987703323364], "ext_wrench_in_world": [-108.38820448446545, 14.802501689868693, -27.21614754224208, -0.1414888572301926, -24.076765429623606, -2.4736249448528205]}
+{"timestamp_ns": 1789729569463431933, "elapsed_ms": 12933, "source_timestamp_ns": 1789729569455243196, "q": [0.8370530605316162, -1.898051381111145, -1.0069717168807983, 1.381066083908081, -0.16013720631599426, 0.5939595103263855, 0.703019380569458], "theta": [0.8391498923301697, -1.8961656093597412, -1.0051853656768799, 1.3626606464385986, -0.1607140302658081, 0.5939160585403442, 0.7029772996902466], "dq": [-0.0006058134604245424, -0.0014261908363550901, -0.0014144311426207423, -0.001406351220794022, 0.00010924178059212863, -0.00036532708327285945, -0.001229768036864698], "dtheta": [-7.619571260875091e-05, -0.0003723647096194327, -0.00010339789150748402, 9.840319398790598e-05, -0.0005919916438870132, -0.00018389066099189222, 0.00024656057939864695], "tau": [55.40999984741211, 23.6299991607666, 5.420000076293945, -26.288002014160156, -2.5880000591278076, 2.6480002403259277, -0.5520000457763672], "tau_des": [0.5044357180595398, -0.49675607681274414, -0.1927831619977951, -0.6095481514930725, 0.9123573899269104, -1.1435831785202026, -0.5373194217681885], "tau_dot": [-147.725830078125, -153.39434814453125, -40.86331558227539, -15.042998313903809, -11.863862991333008, -26.19937515258789, -15.728459358215332], "tau_ext": [-16.708393096923828, -41.65082550048828, 31.785724639892578, 31.359891891479492, 9.513310432434082, -3.0006237030029297, -0.12490254640579224], "tcp_pose": [0.6779166460037231, 0.032613907009363174, -0.21499478816986084, -0.0022559871431440115, -0.004607357084751129, 0.9998916387557983, 0.013797830790281296], "tcp_vel": [-7.345985795836896e-05, -3.712547186296433e-05, -0.00018389303295407444, -0.0008881750982254744, -5.820727164973505e-05, 0.0002785435935948044], "flange_pose": [0.6786124110221863, 0.028478123247623444, -0.06505342572927475, -0.0022559871431440115, -0.004607357084751129, 0.9998916387557983, 0.013797830790281296], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1209487915039, 15.035935401916504, 28.126131057739258, 0.3526994287967682, -24.13578987121582, 1.8104342222213745], "ext_wrench_in_world": [-108.38332534547061, 14.802135551706707, -27.225901994782692, -0.14020107321513164, -24.078929773249726, -2.4746527638287645]}
+{"timestamp_ns": 1789729569496768509, "elapsed_ms": 12966, "source_timestamp_ns": 1789729569495283127, "q": [0.8370526432991028, -1.8980516195297241, -1.006971001625061, 1.3810663223266602, -0.16013595461845398, 0.5939585566520691, 0.7030184864997864], "theta": [0.8391500115394592, -1.8961657285690308, -1.0051847696304321, 1.3626606464385986, -0.1607135534286499, 0.593915581703186, 0.7029755711555481], "dq": [-0.00014721998013556004, -0.0006748385494574904, 0.001247695996426046, -0.0013406445505097508, 0.0004700100398622453, 0.0007403735653497279, -0.0011784875532612205], "dtheta": [-3.757573358598165e-05, 0.0002290033589815721, 0.00019439244351815432, 0.0001897853653645143, 0.000235304469242692, -0.000101947043731343, -4.185616853646934e-05], "tau": [55.56999969482422, 23.68000030517578, 5.452000141143799, -26.308000564575195, -2.5920000076293945, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.48461538553237915, -0.541571855545044, -0.20819580554962158, -0.5933991074562073, 0.8804893493652344, -1.1488866806030273, -0.5361567735671997], "tau_dot": [76.22370147705078, 121.21900177001953, -9.343618392944336, -24.33839225769043, -5.0514960289001465, -36.89142608642578, -17.636289596557617], "tau_ext": [-16.674150466918945, -41.63822937011719, 31.778671264648438, 31.353063583374023, 9.514790534973145, -2.996962070465088, -0.11666899919509888], "tcp_pose": [0.6779157519340515, 0.03261426463723183, -0.21499545872211456, -0.002257151762023568, -0.004607812035828829, 0.9998916387557983, 0.013797971419990063], "tcp_vel": [-0.00013716323883272707, 3.84591794500011e-06, -6.265750562306494e-05, 0.0002647750952746719, 0.0004573633777908981, -7.33632332412526e-05], "flange_pose": [0.6786119341850281, 0.02847844362258911, -0.06505410373210907, -0.002257151762023568, -0.004607812035828829, 0.9998916387557983, 0.013797971419990063], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14543914794922, 15.051946640014648, 28.12370491027832, 0.35950225591659546, -24.146984100341797, 1.8169580698013306], "ext_wrench_in_world": [-108.40802672820357, 14.817751322625455, -27.222671997343888, -0.14691443567203347, -24.090001954844205, -2.4814595716590238]}
+{"timestamp_ns": 1789729569530092838, "elapsed_ms": 13000, "source_timestamp_ns": 1789729569525268971, "q": [0.8370526432991028, -1.8980512619018555, -1.0069725513458252, 1.3810666799545288, -0.1601353883743286, 0.5939580798149109, 0.703018069267273], "theta": [0.8391503691673279, -1.8961652517318726, -1.0051860809326172, 1.3626611232757568, -0.1607135534286499, 0.5939151048660278, 0.702975332736969], "dq": [-0.0004658075049519539, 0.00037364239688031375, 0.000515678315423429, -0.0005599313881248236, -0.00020826776744797826, 0.002536463551223278, -0.0009248347487300634], "dtheta": [-0.00012394807708915323, -0.0001072892700904049, -0.00022815806732978672, 0.00010506573744351044, 0.0003100567264482379, 0.0003948892990592867, -8.402702951570973e-05], "tau": [55.5099983215332, 23.6299991607666, 5.460000038146973, -26.34400177001953, -2.580000162124634, 2.6480002403259277, -0.5680000185966492], "tau_des": [0.5043459534645081, -0.5309433937072754, -0.1739136129617691, -0.5961635112762451, 0.8853578567504883, -1.155474066734314, -0.5404625535011292], "tau_dot": [39.27648162841797, -19.953155517578125, -11.805363655090332, -26.46042251586914, 7.965573787689209, -23.796489715576172, -97.19388580322266], "tau_ext": [-16.69586181640625, -41.623741149902344, 31.764198303222656, 31.35938262939453, 9.515506744384766, -3.0029780864715576, -0.11347153037786484], "tcp_pose": [0.6779161095619202, 0.03261319175362587, -0.21499568223953247, -0.002257350832223892, -0.004607217852026224, 0.9998916387557983, 0.01379751693457365], "tcp_vel": [1.1429699043219443e-05, -3.037180613318924e-05, -0.00015561362670268863, 0.00016576067719142884, 6.593447324121371e-06, -0.00016932938888203353], "flange_pose": [0.6786122918128967, 0.0284775048494339, -0.06505432724952698, -0.002257350832223892, -0.004607217852026224, 0.9998916387557983, 0.01379751693457365], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15513610839844, 15.03257942199707, 28.117794036865234, 0.3575237989425659, -24.148399353027344, 1.8216248750686646], "ext_wrench_in_world": [-108.41751218583754, 14.798242516005686, -27.217224731329036, -0.14497425300616257, -24.09127168039363, -2.4861502474709525]}
+{"timestamp_ns": 1789729569563436332, "elapsed_ms": 13033, "source_timestamp_ns": 1789729569555240507, "q": [0.8370532989501953, -1.8980510234832764, -1.0069754123687744, 1.3810662031173706, -0.1601361632347107, 0.5939580202102661, 0.7030193209648132], "theta": [0.8391507267951965, -1.8961654901504517, -1.0051888227462769, 1.3626611232757568, -0.1607142686843872, 0.5939148664474487, 0.7029765248298645], "dq": [-0.00010448300599819049, -0.00024041582946665585, 0.000826082716230303, 0.001123717869631946, 0.001966709503903985, -0.0004939318750984967, 0.0003906471247319132], "dtheta": [0.0003578551113605499, 0.0002023487613769248, 2.0199195205350406e-05, -4.5620548917213455e-05, -0.0007904369267635047, 0.0009964044438675046, -0.00012959253217559308], "tau": [55.5099983215332, 23.619998931884766, 5.436000347137451, -26.288002014160156, -2.6080000400543213, 2.6760001182556152, -0.5360000133514404], "tau_des": [0.31201398372650146, -0.6427077054977417, -0.16114294528961182, -0.4567854106426239, 0.931814968585968, -1.2099672555923462, -0.538483738899231], "tau_dot": [72.06464385986328, -138.52066040039062, -2.5342929363250732, 46.6940803527832, -53.06989669799805, 40.83949661254883, 8.598029136657715], "tau_ext": [-16.68537139892578, -41.61357498168945, 31.77077865600586, 31.351078033447266, 9.510712623596191, -2.9974427223205566, -0.11626289039850235], "tcp_pose": [0.6779175400733948, 0.03261157125234604, -0.21499504148960114, -0.0022561801597476006, -0.0046057021245360374, 0.9998916983604431, 0.01379656232893467], "tcp_vel": [0.0004354792763479054, 6.19457132415846e-05, 0.0005024289130233228, 0.0003497942816466093, -0.0015830367337912321, 0.00041618169052526355], "flange_pose": [0.6786133646965027, 0.0284761693328619, -0.06505367159843445, -0.0022561801597476006, -0.0046057021245360374, 0.9998916983604431, 0.01379656232893467], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15026092529297, 15.008383750915527, 28.122880935668945, 0.3507881760597229, -24.147296905517578, 1.820657730102539], "ext_wrench_in_world": [-108.41233140661434, 14.774522357132545, -27.223277562529432, -0.13831255582857344, -24.090138202392005, -2.4851369749810224]}
+{"timestamp_ns": 1789729569596769559, "elapsed_ms": 13066, "source_timestamp_ns": 1789729569595228871, "q": [0.8370553255081177, -1.8980518579483032, -1.0069750547409058, 1.3810663223266602, -0.160136878490448, 0.5939582586288452, 0.7030197381973267], "theta": [0.8391526341438293, -1.8961660861968994, -1.005189061164856, 1.3626611232757568, -0.1607142686843872, 0.5939148664474487, 0.7029765248298645], "dq": [0.0013213838683441281, -0.003055692883208394, 0.00011734411236830056, 0.003081854898482561, 0.000300654792226851, -0.0016749129863455892, 0.002291325479745865], "dtheta": [-3.924000702681951e-05, 7.106480188667774e-05, 0.00017577763355802745, -0.0001024436205625534, 0.00019189772137906402, -0.00034750785562209785, -0.00017554459918756038], "tau": [55.55999755859375, 23.689998626708984, 5.436000347137451, -26.292001724243164, -2.576000213623047, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.4478926658630371, -0.5519593358039856, -0.1979839950799942, -0.5587697625160217, 0.8908551335334778, -1.160727858543396, -0.5387206077575684], "tau_dot": [82.54454040527344, 78.13180541992188, 9.844849586486816, -1.1022295951843262, 66.20255279541016, -22.062496185302734, 2.2650530338287354], "tau_ext": [-16.67911720275879, -41.63985824584961, 31.799230575561523, 31.33840560913086, 9.514599800109863, -2.997511148452759, -0.1202654242515564], "tcp_pose": [0.6779177784919739, 0.032611995935440063, -0.21499377489089966, -0.002254944294691086, -0.004606094677001238, 0.9998916983604431, 0.013796270824968815], "tcp_vel": [-9.911084634950384e-05, 5.442203473648988e-05, -5.623824108624831e-06, 0.00011659658775897697, 0.0003767229209188372, 0.00013700913405045867], "flange_pose": [0.6786132454872131, 0.02847667969763279, -0.06505240499973297, -0.002254944294691086, -0.004606094677001238, 0.9998916983604431, 0.013796270824968815], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14949798583984, 15.041925430297852, 28.112844467163086, 0.3544778823852539, -24.143674850463867, 1.8190712928771973], "ext_wrench_in_world": [-108.41177230937656, 14.807683163666411, -27.21260008413551, -0.1420035537262751, -24.086597152188087, -2.4834215996333775]}
+{"timestamp_ns": 1789729569630093698, "elapsed_ms": 13100, "source_timestamp_ns": 1789729569625279889, "q": [0.8370577692985535, -1.8980525732040405, -1.0069749355316162, 1.3810663223266602, -0.16013742983341217, 0.5939538478851318, 0.7030203938484192], "theta": [0.8391554951667786, -1.8961669206619263, -1.0051891803741455, 1.3626614809036255, -0.1607149839401245, 0.5939103364944458, 0.7029770016670227], "dq": [0.0006146412924863398, 0.0013434997526928782, -0.0022926684468984604, 0.0027597907464951277, -0.0015265888068825006, -0.000493883911985904, -0.0024816610384732485], "dtheta": [0.0006060963496565819, 0.0002509730402380228, -0.0003514990967232734, 0.000419572985265404, -0.0006330847390927374, -0.0003420448338147253, -0.0004928355338051915], "tau": [55.53999710083008, 23.670000076293945, 5.448000431060791, -26.296001434326172, -2.5840001106262207, 2.628000020980835, -0.5480000376701355], "tau_des": [0.3393585979938507, -0.639396071434021, -0.10816969722509384, -0.5242185592651367, 0.931782603263855, -1.161239743232727, -0.5354690551757812], "tau_dot": [-30.767230987548828, 104.53746795654297, 12.398375511169434, -7.394012451171875, 31.805727005004883, -63.33683395385742, -48.741668701171875], "tau_ext": [-16.70233154296875, -41.64224624633789, 31.8033390045166, 31.346567153930664, 9.514147758483887, -2.9913170337677, -0.12272169440984726], "tcp_pose": [0.6779173016548157, 0.03261151537299156, -0.21499286592006683, -0.002255331492051482, -0.004606272093951702, 0.9998916983604431, 0.013794361613690853], "tcp_vel": [0.0001728365896269679, -0.0004467075923457742, 0.0002922186686191708, -0.0008932017371989787, -0.0004858180764131248, 0.0005028587765991688], "flange_pose": [0.6786128878593445, 0.02847677282989025, -0.06505148112773895, -0.002255331492051482, -0.004606272093951702, 0.9998916983604431, 0.013794361613690853], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13196563720703, 15.068109512329102, 28.122827529907227, 0.3562266230583191, -24.139156341552734, 1.8169612884521484], "ext_wrench_in_world": [-108.39455274232154, 14.83414941445031, -27.22190831041082, -0.14377661559991373, -24.08216447576651, -2.481087878244323]}
+{"timestamp_ns": 1789729569663429145, "elapsed_ms": 13133, "source_timestamp_ns": 1789729569655248846, "q": [0.8370590806007385, -1.898055076599121, -1.0069751739501953, 1.3810659646987915, -0.16013702750205994, 0.5939497351646423, 0.7030207514762878], "theta": [0.8391571640968323, -1.896169662475586, -1.0051897764205933, 1.3626611232757568, -0.1607145071029663, 0.5939062833786011, 0.7029779553413391], "dq": [0.001690436969511211, -0.0033859810791909695, -0.00028552443836815655, -0.001179940183646977, -0.0003773559583351016, 0.0014875128399580717, 0.0011521928245201707], "dtheta": [-1.1811246622528415e-05, -0.00023865628463681787, -7.299879507627338e-05, 0.00014300075417850167, 0.00028853496769443154, -8.520701521774754e-05, 0.0009059450821951032], "tau": [55.55999755859375, 23.60999870300293, 5.440000057220459, -26.292001724243164, -2.580000162124634, 2.6640000343322754, -0.5400000214576721], "tau_des": [0.4919451177120209, -0.525579035282135, -0.18148702383041382, -0.6021131873130798, 0.8867818713188171, -1.143373966217041, -0.5590067505836487], "tau_dot": [86.50670623779297, 28.55204200744629, 9.705395698547363, 40.47077941894531, 11.694817543029785, 23.581890106201172, 25.844327926635742], "tau_ext": [-16.73794937133789, -41.61563491821289, 31.78339385986328, 31.365962982177734, 9.516304016113281, -2.9953324794769287, -0.12196169793605804], "tcp_pose": [0.6779162883758545, 0.03261158987879753, -0.21499305963516235, -0.0022561659570783377, -0.0046067307703197, 0.9998916983604431, 0.013792264275252819], "tcp_vel": [-0.0001528523425804451, 9.265568223781884e-06, -0.0001799734018277377, -0.00018642166105564684, 0.0003530302783474326, -0.0009327280567958951], "flange_pose": [0.6786121726036072, 0.02847747690975666, -0.06505165249109268, -0.0022561659570783377, -0.0046067307703197, 0.9998916983604431, 0.013792264275252819], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.11089324951172, 15.058877944946289, 28.152570724487305, 0.3457604944705963, -24.13532066345215, 1.8133476972579956], "ext_wrench_in_world": [-108.37359361324867, 14.825719662396216, -27.251871979881127, -0.13331056116740533, -24.07834349937222, -2.4773143399392166]}
+{"timestamp_ns": 1789729569696768030, "elapsed_ms": 13166, "source_timestamp_ns": 1789729569695257175, "q": [0.8370599150657654, -1.898055911064148, -1.0069760084152222, 1.3810656070709229, -0.16013668477535248, 0.5939487814903259, 0.7030195593833923], "theta": [0.8391574621200562, -1.8961710929870605, -1.005190134048462, 1.362660527229309, -0.1607142686843872, 0.5939048528671265, 0.7029765248298645], "dq": [0.000331446120981127, -0.0005312144057825208, 0.0027927584014832973, -0.0007561745587736368, 0.0008302831556648016, 0.0009129145182669163, -0.0026028172578662634], "dtheta": [-0.0004955690237693489, 1.5947907741065137e-05, -0.00012162232451373711, -0.00012933087418787181, 0.0007855628500692546, -0.0008659313898533583, -0.00046098604798316956], "tau": [55.47999954223633, 23.600000381469727, 5.432000160217285, -26.304000854492188, -2.564000129699707, 2.6440000534057617, -0.5560000538825989], "tau_des": [0.5680475831031799, -0.5015325546264648, -0.17024359107017517, -0.6470961570739746, 0.8688036799430847, -1.1181186437606812, -0.5365397334098816], "tau_dot": [-50.66987609863281, -32.68526840209961, -37.18569564819336, -19.745296478271484, 28.9411678314209, -43.329917907714844, -41.13664245605469], "tau_ext": [-16.72498893737793, -41.58086395263672, 31.78268051147461, 31.355371475219727, 9.515543937683105, -2.9924228191375732, -0.12269104272127151], "tcp_pose": [0.6779164671897888, 0.03261127322912216, -0.21499277651309967, -0.002255926374346018, -0.00460719084367156, 0.9998917579650879, 0.013791576959192753], "tcp_vel": [-0.0002795697364490479, -0.00012815101945307106, -0.00044319190783426166, -6.686274718958884e-05, 0.0014298747992143035, -7.108138379408047e-05], "flange_pose": [0.678612232208252, 0.028477367013692856, -0.0650513619184494, -0.002255926374346018, -0.00460719084367156, 0.9998917579650879, 0.013791576959192753], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.09137725830078, 15.010588645935059, 28.139665603637695, 0.3269334137439728, -24.122615814208984, 1.8080698251724243], "ext_wrench_in_world": [-108.35357688410986, 14.777139494395819, -27.24046464656544, -0.11455296405661225, -24.065618365399683, -2.471737441357786]}
+{"timestamp_ns": 1789729569730091720, "elapsed_ms": 13200, "source_timestamp_ns": 1789729569725287318, "q": [0.8370609283447266, -1.8980581760406494, -1.0069764852523804, 1.3810656070709229, -0.16013742983341217, 0.5939447283744812, 0.7030192017555237], "theta": [0.8391584157943726, -1.896173357963562, -1.0051898956298828, 1.3626604080200195, -0.1607149839401245, 0.5938998460769653, 0.7029760479927063], "dq": [-0.0010509345447644591, 0.001696754596196115, 0.0031721689738333225, -0.0008353253942914307, 0.0009080712916329503, 0.0003678013745229691, 0.0005071344203315675], "dtheta": [-5.87260838074144e-05, 0.00022907950915396214, 5.316230817697942e-05, -2.514336983949761e-06, -0.0010719954734668136, -0.0006475805421359837, -1.2557814443425741e-05], "tau": [55.46999740600586, 23.649999618530273, 5.456000328063965, -26.292001724243164, -2.564000129699707, 2.6520001888275146, -0.5480000376701355], "tau_des": [0.4398113191127777, -0.5761069655418396, -0.1594700664281845, -0.5749343633651733, 0.9251796007156372, -1.1391257047653198, -0.5317559838294983], "tau_dot": [-92.46974182128906, -34.897193908691406, 44.338623046875, 15.805730819702148, 43.44526290893555, 14.909025192260742, -7.4785847663879395], "tau_ext": [-16.699586868286133, -41.605743408203125, 31.78937339782715, 31.350990295410156, 9.517688751220703, -2.9894275665283203, -0.11771015077829361], "tcp_pose": [0.677915632724762, 0.032610975205898285, -0.2149931639432907, -0.0022566886618733406, -0.004608188755810261, 0.9998917579650879, 0.0137890400364995], "tcp_vel": [5.6566019338788465e-05, -0.00021507428027689457, 4.655281009036116e-05, -0.000883940258063376, -3.0071494620642625e-05, 0.0005062510608695447], "flange_pose": [0.6786115765571594, 0.028477830812335014, -0.06505172699689865, -0.0022566886618733406, -0.004608188755810261, 0.9998917579650879, 0.0137890400364995], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12261199951172, 15.003066062927246, 28.130582809448242, 0.32562267780303955, -24.131580352783203, 1.8093935251235962], "ext_wrench_in_world": [-108.38476908925826, 14.768722020330353, -27.231371347016598, -0.11312122035302256, -24.074543258180768, -2.4731914360558376]}
+{"timestamp_ns": 1789729569763431375, "elapsed_ms": 13233, "source_timestamp_ns": 1789729569755239439, "q": [0.8370609283447266, -1.898059368133545, -1.0069764852523804, 1.3810652494430542, -0.16013643145561218, 0.5939460396766663, 0.7030196189880371], "theta": [0.8391587138175964, -1.896174430847168, -1.0051898956298828, 1.36266028881073, -0.1607142686843872, 0.5939012765884399, 0.7029758095741272], "dq": [-8.506666199536994e-05, -0.0018568113446235657, -0.00024354999186471105, -0.0009754329221323133, -0.0012389407493174076, 0.00010276748071191832, 0.0014825975522398949], "dtheta": [-0.0001164098284789361, 0.00015403317229356617, 0.00010450038826093078, -1.678066109889187e-05, 5.683654671884142e-05, -0.000299604085739702, -0.0004618814564310014], "tau": [55.53999710083008, 23.69999885559082, 5.436000347137451, -26.280000686645508, -2.5920000076293945, 2.6440000534057617, -0.5720000267028809], "tau_des": [0.46740657091140747, -0.5381774306297302, -0.1960856169462204, -0.5832804441452026, 0.8955594301223755, -1.1462055444717407, -0.5286266803741455], "tau_dot": [102.6384506225586, 161.7548828125, -33.40581130981445, 26.060823440551758, -39.382469177246094, -34.97983169555664, -65.23101043701172], "tau_ext": [-16.69805145263672, -41.623252868652344, 31.786062240600586, 31.35123634338379, 9.5155029296875, -2.9915499687194824, -0.11666470021009445], "tcp_pose": [0.6779154539108276, 0.03261170908808708, -0.21499332785606384, -0.00225635664537549, -0.004608086310327053, 0.9998917579650879, 0.01378941722214222], "tcp_vel": [-7.595134957227856e-05, -2.768021477095317e-05, -5.8850964705925435e-05, 3.229963476769626e-05, 0.0003811372444033623, 0.0004048574191983789], "flange_pose": [0.6786113977432251, 0.028478451073169708, -0.06505189836025238, -0.00225635664537549, -0.004608086310327053, 0.9998917579650879, 0.01378941722214222], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13380432128906, 15.012469291687012, 28.133337020874023, 0.33167633414268494, -24.139802932739258, 1.8140766620635986], "ext_wrench_in_world": [-108.39603857162885, 14.77813732318176, -27.233876007536942, -0.11912459066309936, -24.08268758369564, -2.4780914099306104]}
+{"timestamp_ns": 1789729569796774200, "elapsed_ms": 13266, "source_timestamp_ns": 1789729569795247698, "q": [0.8370609283447266, -1.8980590105056763, -1.0069773197174072, 1.381065845489502, -0.16013574600219727, 0.5939478874206543, 0.7030205130577087], "theta": [0.8391588926315308, -1.8961743116378784, -1.0051902532577515, 1.362660527229309, -0.1607140302658081, 0.5939034223556519, 0.7029762864112854], "dq": [-0.0012278094654902816, 0.0011603302555158734, -0.0004887758404947817, -0.0005906930309720337, 0.0004884189111180604, -0.0020752667915076017, 0.0006454506074078381], "dtheta": [0.0002501469280105084, -0.00017366754764225334, -1.156021698989207e-05, 0.00012398898252286017, 0.0001596546935616061, -0.0001996306236833334, -0.0005900688120163977], "tau": [55.5, 23.68000030517578, 5.460000038146973, -26.304000854492188, -2.5880000591278076, 2.6560001373291016, -0.5600000023841858], "tau_des": [0.4311160147190094, -0.5226539969444275, -0.20707708597183228, -0.5698220729827881, 0.9020593166351318, -1.1542171239852905, -0.5291675329208374], "tau_dot": [4.239543914794922, 120.16769409179688, 31.39543914794922, 1.9604848623275757, -33.134647369384766, -37.853084564208984, -3.6997087001800537], "tau_ext": [-16.703149795532227, -41.624752044677734, 31.788463592529297, 31.35317611694336, 9.514704704284668, -2.9970757961273193, -0.11862422525882721], "tcp_pose": [0.6779159307479858, 0.03261139616370201, -0.21499334275722504, -0.0022559112403541803, -0.004607078619301319, 0.9998917579650879, 0.013789942488074303], "tcp_vel": [-9.612611756892875e-05, 5.803644285151677e-07, 2.626679815875832e-05, -0.00023602877627126873, 6.922628381289542e-05, 0.0006335744983516634], "flange_pose": [0.678611695766449, 0.028477979823946953, -0.06505192816257477, -0.0022559112403541803, -0.004607078619301319, 0.9998917579650879, 0.013789942488074303], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12519836425781, 15.023677825927734, 28.13414192199707, 0.3395964801311493, -24.137516021728516, 1.8159795999526978], "ext_wrench_in_world": [-108.38748600350904, 14.789691741303962, -27.234486491410237, -0.12712083085093434, -24.08041982050971, -2.4799211556679626]}
+{"timestamp_ns": 1789729569830097519, "elapsed_ms": 13300, "source_timestamp_ns": 1789729569825231292, "q": [0.8370605707168579, -1.8980592489242554, -1.0069791078567505, 1.3810653686523438, -0.16013559699058533, 0.5939497351646423, 0.7030210494995117], "theta": [0.8391591906547546, -1.8961745500564575, -1.0051920413970947, 1.362660527229309, -0.1607142686843872, 0.5939053297042847, 0.7029772996902466], "dq": [-0.0009173305588774383, 0.0015213824808597565, -4.7073146561160684e-05, 0.001522449660114944, 0.0024579374585300684, -0.0024943712633103132, -0.0014342836802825332], "dtheta": [0.00028074649162590504, -8.991445611172821e-06, -0.0002914651995524764, 6.353644130285829e-05, 0.00028071083943359554, 0.00030100048752501607, 0.00021763471886515617], "tau": [55.48999786376953, 23.68000030517578, 5.396000385284424, -26.288002014160156, -2.564000129699707, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.38760820031166077, -0.6010799407958984, -0.14484530687332153, -0.521957278251648, 0.900615394115448, -1.1779193878173828, -0.5535061955451965], "tau_dot": [-97.15538024902344, 65.92051696777344, -105.89781188964844, 42.6717643737793, 60.96395492553711, -18.863656997680664, -3.1152896881103516], "tau_ext": [-16.688514709472656, -41.61534881591797, 31.779029846191406, 31.352947235107422, 9.516705513000488, -3.0015339851379395, -0.12013820558786392], "tcp_pose": [0.6779168844223022, 0.03261084482073784, -0.21499335765838623, -0.002254975726827979, -0.004606159403920174, 0.9998917579650879, 0.0137900710105896], "tcp_vel": [0.0001484981767134741, -0.00010304903844371438, 0.00015473477833438665, 0.0001412858400726691, -0.000388630258385092, -0.0005691783735528588], "flange_pose": [0.6786123514175415, 0.028477387502789497, -0.06505192816257477, -0.002254975726827979, -0.004606159403920174, 0.9998917579650879, 0.0137900710105896], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13597106933594, 15.0248441696167, 28.12447166442871, 0.344005823135376, -24.137863159179688, 1.8163176774978638], "ext_wrench_in_world": [-108.3981461710939, 14.790700435954543, -27.2249366411898, -0.1315686603681143, -24.08079749957008, -2.4802558891240296]}
+{"timestamp_ns": 1789729569863436874, "elapsed_ms": 13333, "source_timestamp_ns": 1789729569855259935, "q": [0.8370605111122131, -1.8980604410171509, -1.00697922706604, 1.3810653686523438, -0.16013582050800323, 0.5939483642578125, 0.7030206918716431], "theta": [0.8391594886779785, -1.896174669265747, -1.0051923990249634, 1.3626601696014404, -0.1607147455215454, 0.5939043760299683, 0.7029772996902466], "dq": [0.0010026419768109918, -0.0013653861824423075, -2.423648584226612e-05, 0.0006681139348074794, 0.004999379627406597, -0.0007361938478425145, 0.0011815734906122088], "dtheta": [9.039701399160549e-05, -0.00027243641670793295, -7.22955956007354e-05, 0.00017883516557049006, -0.0001444498193450272, -0.0009520663879811764, -0.00012036999396514148], "tau": [55.53999710083008, 23.639999389648438, 5.432000160217285, -26.304000854492188, -2.6000001430511475, 2.6720001697540283, -0.5360000133514404], "tau_des": [0.498245507478714, -0.4997495114803314, -0.19158242642879486, -0.6242823600769043, 0.8986327052116394, -1.126078724861145, -0.5374711155891418], "tau_dot": [169.59608459472656, -108.45612335205078, 5.802619457244873, -9.722373962402344, -39.65745544433594, 9.585254669189453, 6.786797523498535], "tau_ext": [-16.709321975708008, -41.640506744384766, 31.804244995117188, 31.361896514892578, 9.518820762634277, -3.006439685821533, -0.12005730718374252], "tcp_pose": [0.6779163479804993, 0.03261088579893112, -0.2149939090013504, -0.002255467465147376, -0.004606746602803469, 0.9998917579650879, 0.013789085671305656], "tcp_vel": [-0.00025708312750793993, -0.0001544672850286588, -0.00019972030713688582, -0.0010624566348269582, 0.0006680451915599406, 0.00038264336762949824], "flange_pose": [0.6786119937896729, 0.028477724641561508, -0.06505247205495834, -0.002255467465147376, -0.004606746602803469, 0.9998917579650879, 0.013789085671305656], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13471984863281, 15.033023834228516, 28.11897087097168, 0.34680187702178955, -24.13193702697754, 1.8161307573318481], "ext_wrench_in_world": [-108.39698807129777, 14.798553738876702, -27.219143070527544, -0.1343915914724061, -24.074910004232553, -2.4798456266241544]}
+{"timestamp_ns": 1789729569896772371, "elapsed_ms": 13366, "source_timestamp_ns": 1789729569895231012, "q": [0.8370616436004639, -1.8980613946914673, -1.00697922706604, 1.3810656070709229, -0.16013513505458832, 0.5939464569091797, 0.7030196189880371], "theta": [0.8391604423522949, -1.8961749076843262, -1.005192518234253, 1.3626594543457031, -0.1607149839401245, 0.5939027070999146, 0.7029760479927063], "dq": [6.749149179086089e-06, 0.001567300409078598, 0.0022444031201303005, 1.100847111956682e-05, 0.0006358809187076986, -1.3663469871971756e-05, -0.0032812764402478933], "dtheta": [0.00031544952071271837, 0.00024368532467633486, 9.381124982610345e-05, 9.296497410105076e-06, 0.0003372135979589075, -0.00027382533880881965, -0.000992855872027576], "tau": [55.5099983215332, 23.56999969482422, 5.448000431060791, -26.32400131225586, -2.5920000076293945, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.3802279531955719, -0.576646625995636, -0.19746726751327515, -0.5297608971595764, 0.8980926275253296, -1.1660302877426147, -0.5241850018501282], "tau_dot": [-26.705163955688477, -123.3416748046875, 35.945316314697266, -39.85919189453125, -15.766298294067383, 17.25861167907715, -25.45509147644043], "tau_ext": [-16.696090698242188, -41.62478256225586, 31.795644760131836, 31.346309661865234, 9.516490936279297, -2.9996914863586426, -0.12363708764314651], "tcp_pose": [0.6779158115386963, 0.032610878348350525, -0.21499377489089966, -0.002255872590467334, -0.004607453476637602, 0.9998917579650879, 0.013788246549665928], "tcp_vel": [8.687198373991123e-07, -4.114739203942008e-05, 0.00022818520665168762, 0.00027066696202382445, 8.756809984333813e-05, 0.0007159745437093079], "flange_pose": [0.6786115765571594, 0.028477970510721207, -0.0650523379445076, -0.002255872590467334, -0.004607453476637602, 0.9998917579650879, 0.013788246549665928], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12353515625, 15.055379867553711, 28.11780548095703, 0.3508795201778412, -24.127017974853516, 1.8141677379608154], "ext_wrench_in_world": [-108.38604560913693, 14.820771422450214, -27.21735024508605, -0.13847248186479227, -24.070089297176725, -2.477689241157481]}
+{"timestamp_ns": 1789729569930095700, "elapsed_ms": 13400, "source_timestamp_ns": 1789729569925231213, "q": [0.8370625972747803, -1.898061990737915, -1.0069798231124878, 1.381065845489502, -0.16013610363006592, 0.5939450263977051, 0.7030187249183655], "theta": [0.8391607403755188, -1.896175503730774, -1.0051931142807007, 1.3626594543457031, -0.16071593761444092, 0.5939012765884399, 0.7029755711555481], "dq": [-0.0005954634980298579, 0.001359325717203319, 0.001109256292693317, -0.001165582099929452, 0.0007500665378756821, 0.002964041894301772, 0.001622089883312583], "dtheta": [0.00041100147063843906, -2.0176119505777024e-05, 6.14204618614167e-05, -3.9938120607985184e-05, -6.65418992866762e-05, -0.00010055812890641391, -0.0006475812988355756], "tau": [55.529998779296875, 23.6299991607666, 5.448000431060791, -26.30000114440918, -2.580000162124634, 2.6680002212524414, -0.5560000538825989], "tau_des": [0.36018529534339905, -0.564306378364563, -0.2061305195093155, -0.5166345238685608, 0.9154316782951355, -1.1732257604599, -0.5250668525695801], "tau_dot": [67.56298828125, -87.2325210571289, 9.64120864868164, 4.349454402923584, 43.05168151855469, 38.35013961791992, 5.148811340332031], "tau_ext": [-16.70531463623047, -41.60013198852539, 31.781312942504883, 31.357126235961914, 9.51641845703125, -2.9949960708618164, -0.11828724294900894], "tcp_pose": [0.6779158115386963, 0.032610420137643814, -0.21499352157115936, -0.002255671191960573, -0.004608228802680969, 0.9998918175697327, 0.013786989264190197], "tcp_vel": [6.835612293798476e-05, 2.6933186745736748e-05, 0.0002878052182495594, -5.698309178114869e-05, -0.00040212756721302867, 0.0007370184757746756], "flange_pose": [0.6786115169525146, 0.02847789041697979, -0.0650520771741867, -0.002255671191960573, -0.004608228802680969, 0.9998918175697327, 0.013786989264190197], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12935638427734, 15.030145645141602, 28.122026443481445, 0.34217196702957153, -24.130043029785156, 1.8124160766601562], "ext_wrench_in_world": [-108.3916662380547, 14.795373810021323, -27.22232476185676, -0.12969118379341774, -24.07308698153898, -2.475999532581735]}
+{"timestamp_ns": 1789729569963433276, "elapsed_ms": 13433, "source_timestamp_ns": 1789729569955344895, "q": [0.8370621204376221, -1.8980623483657837, -1.006978988647461, 1.3810663223266602, -0.1601347178220749, 0.5939458012580872, 0.703018844127655], "theta": [0.8391603827476501, -1.8961762189865112, -1.0051934719085693, 1.3626596927642822, -0.16071593761444092, 0.5939019918441772, 0.7029748558998108], "dq": [-0.001110160374082625, -0.0012429545167833567, -0.000896483426913619, -0.0020094169303774834, 0.00047225109301507473, 0.0003331612388137728, -0.0017341526690870523], "dtheta": [5.2591432904591784e-05, 0.00016291724750772119, -5.195211269892752e-05, 0.00024086002667900175, -0.000609270588029176, 0.0013605805579572916, 0.001472343341447413], "tau": [55.47999954223633, 23.639999389648438, 5.408000469207764, -26.304000854492188, -2.5880000591278076, 2.6560001373291016, -0.5680000185966492], "tau_des": [0.4048585295677185, -0.6221721172332764, -0.16714441776275635, -0.5132582783699036, 0.9038950204849243, -1.1986730098724365, -0.5648044347763062], "tau_dot": [7.182157516479492, 28.529949188232422, -64.5671157836914, 18.129764556884766, 18.801761627197266, -30.68317985534668, -43.78739547729492], "tau_ext": [-16.70616912841797, -41.610374450683594, 31.791236877441406, 31.353944778442383, 9.520585060119629, -2.993802547454834, -0.11254017055034637], "tcp_pose": [0.677915096282959, 0.03261105716228485, -0.2149941772222519, -0.0022563375532627106, -0.00460820272564888, 0.9998917579650879, 0.013787640258669853], "tcp_vel": [0.00031477914308197796, 4.884470399701968e-05, 0.00017860483785625547, 0.0004531842714641243, -0.0012015873799100518, -0.0012735867640003562], "flange_pose": [0.6786109805107117, 0.028478331863880157, -0.06505273282527924, -0.0022563375532627106, -0.00460820272564888, 0.9998917579650879, 0.013787640258669853], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1313247680664, 15.022003173828125, 28.13547706604004, 0.3367292582988739, -24.13335609436035, 1.8154780864715576], "ext_wrench_in_world": [-108.39365832051868, 14.787626336403815, -27.235821787028264, -0.1242368292996032, -24.076260570734657, -2.479206686298308]}
+{"timestamp_ns": 1789729569996768992, "elapsed_ms": 13466, "source_timestamp_ns": 1789729569995251658, "q": [0.8370628952980042, -1.8980627059936523, -1.0069788694381714, 1.381065845489502, -0.16013455390930176, 0.5939443707466125, 0.703016459941864], "theta": [0.8391609787940979, -1.8961763381958008, -1.0051934719085693, 1.3626601696014404, -0.16071546077728271, 0.5939005613327026, 0.7029717564582825], "dq": [-0.0006498568691313267, -0.0006206032121554017, -0.001244253828190267, -0.003138913307338953, 0.0019394501578062773, 0.0023359202314168215, 0.0020519141107797623], "dtheta": [0.0004295345861464739, -4.435113805811852e-05, -1.7235846598850912e-06, 0.00034096019226126373, -0.0002423172991257161, -0.0002331320138182491, 0.00030384783167392015], "tau": [55.5099983215332, 23.719999313354492, 5.424000263214111, -26.30000114440918, -2.572000026702881, 2.6560001373291016, -0.5560000538825989], "tau_des": [0.4096613824367523, -0.5582608580589294, -0.20273546874523163, -0.5616890788078308, 0.9043332934379578, -1.1572802066802979, -0.5388749241828918], "tau_dot": [2.7674989700317383, 127.07415771484375, -28.511438369750977, -37.15658187866211, 16.90387725830078, -17.069149017333984, 7.032243728637695], "tau_ext": [-16.68439483642578, -41.627864837646484, 31.794719696044922, 31.348098754882812, 9.523598670959473, -2.994142532348633, -0.1104036271572113], "tcp_pose": [0.6779150366783142, 0.03261111304163933, -0.2149936854839325, -0.0022563522215932608, -0.004609474912285805, 0.9998917579650879, 0.01378732267767191], "tcp_vel": [-6.27816843916662e-05, -0.00010729169298429042, 0.00011917728988919407, -0.0005341849173419178, -0.00010525638936087489, -8.180014265235513e-05], "flange_pose": [0.6786109805107117, 0.028478484600782394, -0.06505224108695984, -0.0022563522215932608, -0.004609474912285805, 0.9998917579650879, 0.01378732267767191], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14977264404297, 15.037039756774902, 28.121105194091797, 0.3426497280597687, -24.139244079589844, 1.8219802379608154], "ext_wrench_in_world": [-108.41221363167081, 14.801796298952985, -27.220969981752397, -0.13007192581120725, -24.082023747204495, -2.485827647055793]}
+{"timestamp_ns": 1789729570030100887, "elapsed_ms": 13500, "source_timestamp_ns": 1789729570025230755, "q": [0.8370622396469116, -1.8980616331100464, -1.0069804191589355, 1.3810654878616333, -0.16013407707214355, 0.5939434766769409, 0.7030179500579834], "theta": [0.839160680770874, -1.8961756229400635, -1.0051944255828857, 1.362660527229309, -0.1607149839401245, 0.5938993692398071, 0.7029727101325989], "dq": [0.00020246578787919134, 0.00019952886214014143, -0.0004624418797902763, 0.0021982728503644466, 0.0008271768456324935, -0.0008939788676798344, -0.0022699914406985044], "dtheta": [6.686403503408656e-05, 0.0002083099534502253, -0.0001974042970687151, -6.1128907873353455e-06, 0.00046424075844697654, -0.0006870446959510446, -0.00028136064065620303], "tau": [55.52000045776367, 23.709999084472656, 5.432000160217285, -26.312002182006836, -2.6000001430511475, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.45246851444244385, -0.5822344422340393, -0.15633448958396912, -0.5754153728485107, 0.8796857595443726, -1.1446194648742676, -0.5418338775634766], "tau_dot": [67.41213989257812, 98.65971374511719, -17.878211975097656, 47.07412338256836, -50.015010833740234, -24.457931518554688, 22.68906021118164], "tau_ext": [-16.703327178955078, -41.64350128173828, 31.792219161987305, 31.361339569091797, 9.520730972290039, -2.9972784519195557, -0.11069945991039276], "tcp_pose": [0.6779155731201172, 0.03260991722345352, -0.21499387919902802, -0.0022567675914615393, -0.004607676062732935, 0.9998918175697327, 0.01378717552870512], "tcp_vel": [-5.312532084644772e-05, -0.00024456033133901656, -1.7154758097603917e-05, -0.00012668104318436235, 0.0006339565734378994, -0.00023927692382130772], "flange_pose": [0.6786116361618042, 0.02847733162343502, -0.06505243480205536, -0.0022567675914615393, -0.004607676062732935, 0.9998918175697327, 0.01378717552870512], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15675354003906, 15.042777061462402, 28.12728500366211, 0.3459319770336151, -24.144983291625977, 1.824663519859314], "ext_wrench_in_world": [-108.41924618455229, 14.80801703524294, -27.226867759187, -0.1334024627128573, -24.087717354482564, -2.488646314734016]}
+{"timestamp_ns": 1789729570063432488, "elapsed_ms": 13533, "source_timestamp_ns": 1789729570055228444, "q": [0.8370620608329773, -1.8980621099472046, -1.0069828033447266, 1.3810659646987915, -0.16013532876968384, 0.5939447283744812, 0.7030187845230103], "theta": [0.839160680770874, -1.8961759805679321, -1.0051963329315186, 1.3626604080200195, -0.160715714097023, 0.5939010381698608, 0.7029736638069153], "dq": [0.0017654037801548839, 0.0007176792132668197, 0.0023796535097062588, 0.00052754080388695, -8.549238555133343e-05, -0.0015634488081559539, 0.0014523413265123963], "dtheta": [6.176754686748609e-05, -0.0005088247125968337, -0.00013904471416026354, -0.00020882893295492977, -0.0005579054122790694, 0.0010461703641340137, 0.00010308191849617288], "tau": [55.52000045776367, 23.670000076293945, 5.424000263214111, -26.296001434326172, -2.572000026702881, 2.6520001888275146, -0.5600000023841858], "tau_des": [0.4076583683490753, -0.538973331451416, -0.20523801445960999, -0.5115413069725037, 0.9202448129653931, -1.1995422840118408, -0.5396531224250793], "tau_dot": [24.626075744628906, 67.39527893066406, 0.15566937625408173, 37.7278938293457, 45.12040710449219, -44.26068115234375, -35.183876037597656], "tau_ext": [-16.707218170166016, -41.650211334228516, 31.795360565185547, 31.361242294311523, 9.521316528320312, -2.997964859008789, -0.11612028628587723], "tcp_pose": [0.6779164671897888, 0.03260878473520279, -0.21499423682689667, -0.0022558358032256365, -0.004606988281011581, 0.9998918175697327, 0.013786095194518566], "tcp_vel": [0.00027683083317242563, 0.00023877335479483008, 0.0001415034494129941, -1.0158669283555355e-05, -0.0013698242837563157, 0.00039218334131874144], "flange_pose": [0.6786121726036072, 0.028476523235440254, -0.06505277752876282, -0.0022558358032256365, -0.004606988281011581, 0.9998918175697327, 0.013786095194518566], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.16310119628906, 15.044404983520508, 28.132083892822266, 0.34947705268859863, -24.147493362426758, 1.82414710521698], "ext_wrench_in_world": [-108.42555949748852, 14.809810301099802, -27.23182499138931, -0.1369510046878627, -24.090278648816966, -2.4881321518239496]}
+{"timestamp_ns": 1789729570096771997, "elapsed_ms": 13566, "source_timestamp_ns": 1789729570095230736, "q": [0.8370636105537415, -1.8980634212493896, -1.0069838762283325, 1.3810659646987915, -0.16013626754283905, 0.5939428806304932, 0.7030206322669983], "theta": [0.8391621708869934, -1.8961777687072754, -1.0051974058151245, 1.362660527229309, -0.1607161909341812, 0.5938986539840698, 0.7029758095741272], "dq": [0.002181864343583584, 0.002006049733608961, 0.002213530009612441, -0.002078537829220295, 0.0006310387398116291, -0.0019409211818128824, -0.0009174947626888752], "dtheta": [0.00041986373253166676, -0.00017795093299355358, 0.0001670643250690773, 7.581600948469713e-05, 8.368476846953854e-05, 0.00032859688508324325, -0.0001796018477762118], "tau": [55.46999740600586, 23.6299991607666, 5.408000469207764, -26.288002014160156, -2.5880000591278076, 2.6680002212524414, -0.5200000405311584], "tau_des": [0.3735278248786926, -0.5536066293716431, -0.22053372859954834, -0.5186967253684998, 0.904482364654541, -1.182491660118103, -0.5386293530464172], "tau_dot": [-7.353527545928955, 76.67452239990234, -58.11372375488281, 1.682945966720581, 19.25293731689453, 16.625877380371094, 45.68817138671875], "tau_ext": [-16.6884765625, -41.6507682800293, 31.813583374023438, 31.353004455566406, 9.524033546447754, -2.9968230724334717, -0.12359995394945145], "tcp_pose": [0.6779166460037231, 0.03260818123817444, -0.21499375998973846, -0.0022553293965756893, -0.004606382921338081, 0.9998918175697327, 0.013784377835690975], "tcp_vel": [7.329384061449673e-06, 0.00018753182666841894, 0.00023755458823870867, 0.00019832354155369103, -0.0005128789925947785, 0.00037375182728283107], "flange_pose": [0.6786121726036072, 0.028476431965827942, -0.06505228579044342, -0.0022553293965756893, -0.004606382921338081, 0.9998918175697327, 0.013784377835690975], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15742492675781, 15.058874130249023, 28.12672233581543, 0.3501017093658447, -24.14298439025879, 1.820043921470642], "ext_wrench_in_world": [-108.41994547610001, 14.824216754019782, -27.226251794974257, -0.13762465221526296, -24.08589877019663, -2.483820894953142]}
+{"timestamp_ns": 1789729570130103557, "elapsed_ms": 13600, "source_timestamp_ns": 1789729570125233884, "q": [0.8370651602745056, -1.8980659246444702, -1.0069851875305176, 1.3810654878616333, -0.16013671457767487, 0.5939377546310425, 0.7030205130577087], "theta": [0.8391630053520203, -1.8961797952651978, -1.005198359489441, 1.3626599311828613, -0.16071666777133942, 0.5938941240310669, 0.7029760479927063], "dq": [0.0012594388099387288, 0.0020076518412679434, 0.000860954518429935, 0.001089301542378962, -0.001219649682752788, 0.0013392894761636853, -0.002429527696222067], "dtheta": [-0.00016703427536413074, -0.00037462200270965695, -7.858031494833995e-06, 0.000172804415342398, -0.0010232632048428059, -0.0011404287070035934, -0.0004738775023724884], "tau": [55.599998474121094, 23.559999465942383, 5.436000347137451, -26.32400131225586, -2.6000001430511475, 2.6560001373291016, -0.5320000052452087], "tau_des": [0.5471164584159851, -0.46557873487472534, -0.19348157942295074, -0.663023054599762, 0.9163784980773926, -1.108283281326294, -0.5243622660636902], "tau_dot": [201.30882263183594, -56.616878509521484, 15.950715065002441, -22.628908157348633, -70.12356567382812, -43.271427154541016, -31.00056266784668], "tau_ext": [-16.696748733520508, -41.614845275878906, 31.79856300354004, 31.35483169555664, 9.522047996520996, -2.9969801902770996, -0.12902264297008514], "tcp_pose": [0.6779159903526306, 0.03260748088359833, -0.21499387919902802, -0.0022560295183211565, -0.004606973845511675, 0.9998918771743774, 0.013781349174678326], "tcp_vel": [-0.0002745130914263427, -0.00017928378656506538, -0.00034758055699057877, -0.0017614862881600857, 0.0005881034885533154, 0.0013408607337623835], "flange_pose": [0.6786117553710938, 0.028476640582084656, -0.06505238264799118, -0.0022560295183211565, -0.004606973845511675, 0.9998918771743774, 0.013781349174678326], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15467071533203, 15.040604591369629, 28.11060333251953, 0.34270986914634705, -24.137187957763672, 1.8142244815826416], "ext_wrench_in_world": [-108.41700436754472, 14.805239891584984, -27.210597925339865, -0.13023337257553905, -24.080211710173945, -2.47773006888661]}
+{"timestamp_ns": 1789729570163433818, "elapsed_ms": 13633, "source_timestamp_ns": 1789729570155229594, "q": [0.8370658755302429, -1.8980674743652344, -1.006985068321228, 1.3810652494430542, -0.16013595461845398, 0.593937337398529, 0.7030209302902222], "theta": [0.8391638994216919, -1.8961811065673828, -1.0051982402801514, 1.3626596927642822, -0.16071593761444092, 0.5938934087753296, 0.7029758095741272], "dq": [-0.0010724656749516726, -0.0014598492998629808, 2.3128479369916022e-05, 0.0007862267084419727, 0.002511444501578808, 0.00012256689660716802, -0.00026037488714791834], "dtheta": [0.00023107223387341946, -1.0358529834775254e-05, 0.00016139574290718883, -0.00011627443745965138, -0.00035761258914135396, -0.0005190671654418111, 0.0004058250633534044], "tau": [55.52000045776367, 23.619998931884766, 5.452000141143799, -26.32400131225586, -2.5880000591278076, 2.6440000534057617, -0.5240000486373901], "tau_des": [0.40094804763793945, -0.5694118142127991, -0.19433140754699707, -0.543535053730011, 0.9073653221130371, -1.156193733215332, -0.5473239421844482], "tau_dot": [24.250158309936523, -18.40894889831543, 51.51903533935547, -49.4644660949707, 23.44486427307129, -12.919333457946777, -10.08656120300293], "tau_ext": [-16.706687927246094, -41.59791564941406, 31.798370361328125, 31.356658935546875, 9.523370742797852, -2.9972290992736816, -0.1332782655954361], "tcp_pose": [0.6779155731201172, 0.0326080359518528, -0.21499384939670563, -0.0022559843491762877, -0.004607102368026972, 0.9998918771743774, 0.013780995272099972], "tcp_vel": [-9.807825335883535e-06, 7.370720595645253e-06, 0.00018450392235536128, -0.0004014382138848305, -6.714439950883389e-05, -9.290432353736833e-05], "flange_pose": [0.6786113381385803, 0.028477303683757782, -0.0650523453950882, -0.0022559843491762877, -0.004607102368026972, 0.9998918771743774, 0.013780995272099972], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14852142333984, 15.009654998779297, 28.111858367919922, 0.3294025659561157, -24.13184356689453, 1.806654691696167], "ext_wrench_in_world": [-108.41057916738978, 14.774347833170719, -27.212754010400577, -0.11693412607230838, -24.074956388917055, -2.4700571743295447]}
+{"timestamp_ns": 1789729570196769238, "elapsed_ms": 13666, "source_timestamp_ns": 1789729570195226647, "q": [0.8370654582977295, -1.8980668783187866, -1.0069845914840698, 1.3810653686523438, -0.16013438999652863, 0.5939347147941589, 0.7030192613601685], "theta": [0.8391636610031128, -1.8961808681488037, -1.0051984786987305, 1.3626590967178345, -0.1607152372598648, 0.5938905477523804, 0.7029746174812317], "dq": [-0.0016332233790308237, 0.0009568087989464402, 0.000530393561348319, -0.0024230454582720995, 0.0015316385542973876, 0.0006802913267165422, 0.0019475058652460575], "dtheta": [9.242423402611166e-06, 7.713194645475596e-05, -0.00011898746015504003, -0.00017549056792631745, -0.0002431148459436372, -0.00032840872881934047, 0.0016311814542859793], "tau": [55.52000045776367, 23.639999389648438, 5.444000244140625, -26.292001724243164, -2.576000213623047, 2.6480002403259277, -0.5440000295639038], "tau_des": [0.44120103120803833, -0.6098936200141907, -0.14427171647548676, -0.5567612051963806, 0.8900164365768433, -1.1517254114151, -0.5749945044517517], "tau_dot": [46.2691535949707, -3.7476634979248047, -3.5616023540496826, 38.98031997680664, 47.44440460205078, -0.5470622777938843, 10.20357894897461], "tau_ext": [-16.700672149658203, -41.616050720214844, 31.792776107788086, 31.351346969604492, 9.516762733459473, -2.9925711154937744, -0.12515853345394135], "tcp_pose": [0.6779147982597351, 0.03260777145624161, -0.2149944007396698, -0.002257685409858823, -0.0046074651181697845, 0.9998918771743774, 0.013780939392745495], "tcp_vel": [0.0001026624595397152, -0.00012341358524281532, 8.363582310266793e-05, -0.000291037984425202, -2.919699727499392e-05, -0.0016506456304341555], "flange_pose": [0.6786110401153564, 0.028477057814598083, -0.06505290418863297, -0.002257685409858823, -0.0046074651181697845, 0.9998918771743774, 0.013780939392745495], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13159942626953, 15.00029182434082, 28.12484359741211, 0.3260727524757385, -24.129592895507812, 1.80441415309906], "ext_wrench_in_world": [-108.39373634643094, 14.76541599582751, -27.22570087266935, -0.11360446234149067, -24.07273788126557, -2.4677666228333157]}
+{"timestamp_ns": 1789729570230104107, "elapsed_ms": 13700, "source_timestamp_ns": 1789729570225233855, "q": [0.8370662331581116, -1.8980660438537598, -1.0069836378097534, 1.3810653686523438, -0.16013513505458832, 0.5939337611198425, 0.7030183672904968], "theta": [0.839164137840271, -1.896180272102356, -1.0051982402801514, 1.3626590967178345, -0.16071546077728271, 0.5938898324966431, 0.7029734253883362], "dq": [9.132571722147986e-05, 0.0007701892754994333, -0.0007065706886351109, 0.0024410663172602654, 0.0022655241191387177, -0.0016522298101335764, 0.0007357649155892432], "dtheta": [-0.00030915727256797254, -4.8370766307925805e-05, 0.0002733553701546043, -0.0002323604712728411, 0.0005332950968295336, 0.00046258894144557416, 0.0006721020326949656], "tau": [55.5099983215332, 23.60999870300293, 5.432000160217285, -26.316001892089844, -2.5840001106262207, 2.696000099182129, -0.5400000214576721], "tau_des": [0.4931499660015106, -0.5286328196525574, -0.23429802060127258, -0.570426344871521, 0.8668466806411743, -1.1667983531951904, -0.5523023009300232], "tau_dot": [32.74126052856445, -118.84103393554688, 7.168724536895752, 3.309022903442383, 54.97815704345703, 41.897605895996094, 39.46256637573242], "tau_ext": [-16.689237594604492, -41.609222412109375, 31.793249130249023, 31.34343719482422, 9.515819549560547, -2.9852941036224365, -0.11695734411478043], "tcp_pose": [0.6779147386550903, 0.032607849687337875, -0.2149936556816101, -0.002257636282593012, -0.0046081882901489735, 0.9998918771743774, 0.01378099899739027], "tcp_vel": [-6.598720938200131e-05, 0.00032007007393985987, -9.666560799814761e-05, 0.0009022969170473516, 0.00017266081704292446, -0.0007907149265520275], "flange_pose": [0.6786109805107117, 0.02847711741924286, -0.06505215913057327, -0.002257636282593012, -0.0046081882901489735, 0.9998918771743774, 0.01378099899739027], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13971710205078, 15.005195617675781, 28.125959396362305, 0.3282826542854309, -24.138246536254883, 1.8097361326217651], "ext_wrench_in_world": [-108.40192178620357, 14.770119897484754, -27.226656307263546, -0.11572467829651036, -24.08126167312092, -2.473318468243212]}
+{"timestamp_ns": 1789729570263429319, "elapsed_ms": 13733, "source_timestamp_ns": 1789729570255256348, "q": [0.8370656967163086, -1.8980658054351807, -1.0069842338562012, 1.381065845489502, -0.16013522446155548, 0.5939347743988037, 0.703018307685852], "theta": [0.8391641974449158, -1.8961795568466187, -1.0051987171173096, 1.3626596927642822, -0.160715714097023, 0.5938907861709595, 0.7029734253883362], "dq": [-0.0002157396374968812, -0.0008616356062702835, -0.00034041755134239793, 0.0015932817477732897, 0.001684932503849268, 0.0017867834540084004, 0.0019579508807510138], "dtheta": [0.0004441937489900738, 0.0003019013674929738, -0.00045244788634590805, 0.0001279145508306101, 0.0002254918945254758, 0.0006024368922226131, 2.28012322622817e-05], "tau": [55.529998779296875, 23.689998626708984, 5.440000057220459, -26.304000854492188, -2.5960001945495605, 2.700000047683716, -0.5480000376701355], "tau_des": [0.34164196252822876, -0.6645522713661194, -0.11322205513715744, -0.4941973090171814, 0.9001579880714417, -1.185385823249817, -0.5511971712112427], "tau_dot": [70.19917297363281, 21.893037796020508, 15.60783863067627, 5.285655975341797, 5.323302268981934, 92.07190704345703, 9.80263900756836], "tau_ext": [-16.70089340209961, -41.642845153808594, 31.79631805419922, 31.34808349609375, 9.519030570983887, -2.9917662143707275, -0.11317183077335358], "tcp_pose": [0.6779149174690247, 0.03260749951004982, -0.21499401330947876, -0.002257566200569272, -0.004607961978763342, 0.9998918771743774, 0.013781104236841202], "tcp_vel": [0.0003589328844100237, -0.00025190532323904335, 0.0003591818967834115, 0.0003962089540436864, -0.0008160003344528377, -0.0006620604544878006], "flange_pose": [0.678611159324646, 0.028476735576987267, -0.06505252420902252, -0.002257566200569272, -0.004607961978763342, 0.9998918771743774, 0.013781104236841202], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14055633544922, 15.026679992675781, 28.139850616455078, 0.3364256024360657, -24.14249610900879, 1.8155755996704102], "ext_wrench_in_world": [-108.40301175402787, 14.792024996685294, -27.23995719550016, -0.12386603502099688, -24.085423612659778, -2.4792422071464775]}
+{"timestamp_ns": 1789729570296771727, "elapsed_ms": 13766, "source_timestamp_ns": 1789729570295250552, "q": [0.8370659947395325, -1.898064374923706, -1.0069845914840698, 1.3810657262802124, -0.1601356863975525, 0.5939342975616455, 0.7030199766159058], "theta": [0.8391642570495605, -1.8961782455444336, -1.0051991939544678, 1.3626596927642822, -0.16071666777133942, 0.5938905477523804, 0.7029743790626526], "dq": [0.0004570774908643216, 0.0015549826202914119, 0.00019839018932543695, -0.001478026621043682, -0.0026264896150678396, -0.0026072056498378515, 0.0007165559800341725], "dtheta": [-0.00018402123532723635, 0.00032339367317035794, -7.634118082933128e-05, 0.00012148798123234883, 0.000293805671390146, 0.000567196577321738, -0.000246943614911288], "tau": [55.5, 23.670000076293945, 5.448000431060791, -26.292001724243164, -2.6000001430511475, 2.6640000343322754, -0.5440000295639038], "tau_des": [0.4636368751525879, -0.5967194437980652, -0.16148044168949127, -0.5599668025970459, 0.8749264478683472, -1.1699098348617554, -0.5445581674575806], "tau_dot": [33.28879165649414, -36.989253997802734, 3.478053092956543, 22.5595703125, -44.670745849609375, 2.705843448638916, 22.292194366455078], "tau_ext": [-16.7038631439209, -41.65879440307617, 31.793073654174805, 31.355127334594727, 9.52495288848877, -2.995462656021118, -0.1191093772649765], "tcp_pose": [0.6779155135154724, 0.032606836408376694, -0.21499337255954742, -0.0022573762107640505, -0.0046066888608038425, 0.9998918771743774, 0.013781268149614334], "tcp_vel": [9.061861055670306e-05, -5.038635936216451e-05, -4.6752549678785726e-05, 0.0006761784898117185, -1.6690850316081196e-05, -0.00018070050282403827], "flange_pose": [0.678611695766449, 0.02847602404654026, -0.06505187600851059, -0.0022573762107640505, -0.0046066888608038425, 0.9998918771743774, 0.013781268149614334], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13111877441406, 15.063530921936035, 28.149925231933594, 0.3507269620895386, -24.142230987548828, 1.8220863342285156], "ext_wrench_in_world": [-108.39391153919581, 14.82951079390151, -27.249085354422146, -0.13825989895711552, -24.085110826074857, -2.485688187105091]}
+{"timestamp_ns": 1789729570330100978, "elapsed_ms": 13800, "source_timestamp_ns": 1789729570325241993, "q": [0.8370671272277832, -1.8980656862258911, -1.0069853067398071, 1.3810654878616333, -0.16013552248477936, 0.5939337611198425, 0.703021764755249], "theta": [0.8391647934913635, -1.8961790800094604, -1.0052005052566528, 1.3626594543457031, -0.16071714460849762, 0.5938903093338013, 0.7029767632484436], "dq": [-0.0005153579986654222, -0.0003678073117043823, -0.0007053079316392541, 0.003185474080964923, -0.0008702987106516957, -0.0003675923799164593, -0.0032790068071335554], "dtheta": [0.0005119949928484857, 0.00016934475570451468, -9.406062599737197e-05, 1.360088663204806e-05, 0.00020265852799639106, 0.00043658126378431916, 0.0003554435388650745], "tau": [55.5, 23.639999389648438, 5.408000469207764, -26.308000564575195, -2.6040000915527344, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.3216063976287842, -0.6481143832206726, -0.1608179658651352, -0.4767166078090668, 0.8957107067108154, -1.192945122718811, -0.5589085221290588], "tau_dot": [24.30231475830078, -65.78072357177734, -23.359169006347656, -4.307965278625488, 7.04449987411499, -10.840642929077148, -17.39767074584961], "tau_ext": [-16.696781158447266, -41.654052734375, 31.794525146484375, 31.3494815826416, 9.526155471801758, -2.9930942058563232, -0.12987127900123596], "tcp_pose": [0.6779155731201172, 0.03260677680373192, -0.21499304473400116, -0.0022568684071302414, -0.004605913069099188, 0.9998918771743774, 0.013780450448393822], "tcp_vel": [0.00023528339806944132, -2.114101152983494e-05, 0.00041920022340491414, 0.00046763152931816876, -0.0007397004519589245, -0.0006554006249643862], "flange_pose": [0.6786116361618042, 0.028476208448410034, -0.06505153328180313, -0.0022568684071302414, -0.004605913069099188, 0.9998918771743774, 0.013780450448393822], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13745880126953, 15.067580223083496, 28.147077560424805, 0.3529362976551056, -24.14571189880371, 1.819830298423767], "ext_wrench_in_world": [-108.40022461056058, 14.833545931803398, -27.246232114495818, -0.1404619287150575, -24.088676725331617, -2.4834801215921103]}
+{"timestamp_ns": 1789729570363440427, "elapsed_ms": 13833, "source_timestamp_ns": 1789729570355247731, "q": [0.8370673060417175, -1.8980672359466553, -1.0069860219955444, 1.3810648918151855, -0.1601354032754898, 0.5939344763755798, 0.7030214071273804], "theta": [0.8391644954681396, -1.8961803913116455, -1.0052014589309692, 1.3626590967178345, -0.16071714460849762, 0.5938907861709595, 0.7029765248298645], "dq": [0.00036255817394703627, 0.00038477781345136464, -0.001984503585845232, 0.00044361682375892997, -0.0007919155759736896, -0.0017302535707131028, 0.0004146035062149167], "dtheta": [-0.0002690751862246543, 0.00013880532060284168, 8.808054190012626e-06, -0.00030189097742550075, -0.00013803484034724534, -5.5805947340559214e-05, -0.0005319853662513196], "tau": [55.5099983215332, 23.6299991607666, 5.428000450134277, -26.308000564575195, -2.5880000591278076, 2.6600000858306885, -0.5320000052452087], "tau_des": [0.4509503245353699, -0.5748052597045898, -0.18344007432460785, -0.5438761711120605, 0.8896666169166565, -1.1703662872314453, -0.536565899848938], "tau_dot": [47.27629089355469, -19.311965942382812, 6.961671829223633, 39.91668701171875, 3.135146141052246, -26.28330421447754, 6.000189304351807], "tau_ext": [-16.703670501708984, -41.644256591796875, 31.809255599975586, 31.351184844970703, 9.533492088317871, -2.9927690029144287, -0.13141655921936035], "tcp_pose": [0.6779158115386963, 0.0326070711016655, -0.21499305963516235, -0.002256209496408701, -0.004606256727129221, 0.9998918771743774, 0.013780143111944199], "tcp_vel": [0.00010260622366331518, 3.6019184790347936e-06, -1.050477862918342e-06, 0.00016225989384111017, -1.9746797988773324e-05, 0.0004755865375045687], "flange_pose": [0.6786116361618042, 0.028476594015955925, -0.06505154818296432, -0.002256209496408701, -0.004606256727129221, 0.9998918771743774, 0.013780143111944199], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14942932128906, 15.067184448242188, 28.148378372192383, 0.3482460677623749, -24.14550018310547, 1.8151417970657349], "ext_wrench_in_world": [-108.4121706222809, 14.832985915815604, -27.247644017210412, -0.13573267958160146, -24.088552309862685, -2.478793741765538]}
+{"timestamp_ns": 1789729570396769388, "elapsed_ms": 13866, "source_timestamp_ns": 1789729570395253411, "q": [0.8370673060417175, -1.8980687856674194, -1.0069868564605713, 1.3810657262802124, -0.16013549268245697, 0.593932569026947, 0.7030192613601685], "theta": [0.8391644358634949, -1.8961821794509888, -1.005201816558838, 1.3626594543457031, -0.1607169210910797, 0.593889594078064, 0.7029746174812317], "dq": [-0.0006046770722605288, 0.002290732227265835, 0.0006862875306978822, -0.0012948923977091908, 0.0008859745576046407, 0.0011425955453887582, -0.0033275706227868795], "dtheta": [-0.00042186962673440576, 0.000275483907898888, 0.00012543464254122227, 9.840710845310241e-05, 0.0003140576009172946, -0.00028476279112510383, 2.2351037841872312e-05], "tau": [55.48999786376953, 23.639999389648438, 5.456000328063965, -26.308000564575195, -2.6000001430511475, 2.6640000343322754, -0.5560000538825989], "tau_des": [0.5478711724281311, -0.5420162677764893, -0.188300222158432, -0.6266855597496033, 0.8614846467971802, -1.1362797021865845, -0.5443481802940369], "tau_dot": [-11.169936180114746, 56.99938201904297, 53.68865203857422, 7.681882858276367, -16.39760971069336, 1.894469976425171, 1.1189234256744385], "tau_ext": [-16.715770721435547, -41.630550384521484, 31.79979705810547, 31.366670608520508, 9.533190727233887, -2.995429754257202, -0.12647518515586853], "tcp_pose": [0.6779150366783142, 0.03260656073689461, -0.2149941623210907, -0.0022571010049432516, -0.004607650451362133, 0.9998919367790222, 0.01377835776656866], "tcp_vel": [-0.00019346698536537588, -5.354829772841185e-05, -0.00029961849213577807, 0.00023701618192717433, 0.0009298983495682478, -0.00027083660825155675], "flange_pose": [0.6786110997200012, 0.028476620092988014, -0.06505264341831207, -0.0022571010049432516, -0.004607650451362133, 0.9998919367790222, 0.01377835776656866], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15679931640625, 15.034662246704102, 28.13608741760254, 0.3357689082622528, -24.140975952148438, 1.8112475872039795], "ext_wrench_in_world": [-108.41927443675353, 14.799667651885457, -27.236088015984798, -0.12321588292221863, -24.084030704730033, -2.4747447068200255]}
+{"timestamp_ns": 1789729570430100938, "elapsed_ms": 13900, "source_timestamp_ns": 1789729570425236674, "q": [0.8370671272277832, -1.898068904876709, -1.0069878101348877, 1.3810657262802124, -0.1601354032754898, 0.5939316749572754, 0.7030166387557983], "theta": [0.8391638398170471, -1.8961825370788574, -1.0052026510238647, 1.3626590967178345, -0.1607169210910797, 0.5938886404037476, 0.7029719948768616], "dq": [-0.0002493911306373775, -0.0007514030439779162, -0.0003629717684816569, -0.002441785065457225, 0.0006298941443674266, 0.000857538019772619, -0.002389871282503009], "dtheta": [-0.00042624189518392086, 0.0002231933904113248, -3.854606984532438e-05, -3.365364682395011e-05, -0.00027332425815984607, 0.0004779545997735113, -0.0003718645893968642], "tau": [55.48999786376953, 23.60999870300293, 5.440000057220459, -26.30000114440918, -2.6000001430511475, 2.6760001182556152, -0.5520000457763672], "tau_des": [0.5018579959869385, -0.5656124353408813, -0.1736448109149933, -0.5798081159591675, 0.8876097798347473, -1.1638935804367065, -0.5323715209960938], "tau_dot": [7.909887790679932, -71.84957122802734, 25.020544052124023, 7.972435474395752, 16.08741569519043, 35.357757568359375, 49.806434631347656], "tau_ext": [-16.69855308532715, -41.605804443359375, 31.790691375732422, 31.350378036499023, 9.53154468536377, -2.9935922622680664, -0.12189539521932602], "tcp_pose": [0.677915096282959, 0.03260597959160805, -0.21499446034431458, -0.002257366431877017, -0.004608666058629751, 0.9998919367790222, 0.0137777803465724], "tcp_vel": [0.0001203060382977128, -2.4237800971604884e-05, -0.0001329560618614778, 0.00030470415367744863, -0.00013646252045873553, 0.0003303095290903002], "flange_pose": [0.6786112785339355, 0.028476212173700333, -0.06505293399095535, -0.002257366431877017, -0.004608666058629751, 0.9998919367790222, 0.0137777803465724], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.16404724121094, 15.015046119689941, 28.11494255065918, 0.3306442201137543, -24.13860321044922, 1.812731146812439], "ext_wrench_in_world": [-108.4262880270418, 14.779157733333056, -27.215423597152245, -0.11807214831126978, -24.08157367374088, -2.476156926854833]}
+{"timestamp_ns": 1789729570463431879, "elapsed_ms": 13933, "source_timestamp_ns": 1789729570455257528, "q": [0.8370671272277832, -1.8980695009231567, -1.0069878101348877, 1.381066083908081, -0.16013561189174652, 0.593930721282959, 0.703014075756073], "theta": [0.8391638994216919, -1.8961825370788574, -1.0052030086517334, 1.3626596927642822, -0.16071641445159912, 0.593887448310852, 0.7029691338539124], "dq": [0.0010474430164322257, -0.0009253277094103396, -0.0007565621053799987, 0.00017298682359978557, -0.00017521035624668002, -0.00044371053809300065, -0.0013455558801069856], "dtheta": [-0.00019087181135546416, -4.899437408312224e-05, -0.00010919331543846056, -0.00017713206761982292, -8.782964869169518e-05, 0.000769274600315839, -3.893118991982192e-05], "tau": [55.459999084472656, 23.649999618530273, 5.424000263214111, -26.288002014160156, -2.6000001430511475, 2.6760001182556152, -0.5720000267028809], "tau_des": [0.45932960510253906, -0.5593873858451843, -0.19042573869228363, -0.5488020777702332, 0.8939089775085449, -1.1783825159072876, -0.5349273681640625], "tau_dot": [-44.24306106567383, 42.89548110961914, -29.83942413330078, 64.97740173339844, -21.80602264404297, -25.343402862548828, 7.084287166595459], "tau_ext": [-16.680898666381836, -41.63105392456055, 31.80077362060547, 31.355825424194336, 9.529410362243652, -2.9952945709228516, -0.10695329308509827], "tcp_pose": [0.6779146194458008, 0.03260592371225357, -0.21499492228031158, -0.0022578362841159105, -0.0046102507039904594, 0.9998919367790222, 0.013777065090835094], "tcp_vel": [0.00020717452571261674, 0.00010339417349314317, 2.396969466644805e-05, 0.0004440465709194541, -0.0006176541210152209, -2.1557223135459935e-06], "flange_pose": [0.6786109209060669, 0.028476374223828316, -0.06505338847637177, -0.0022578362841159105, -0.0046102507039904594, 0.9998919367790222, 0.013777065090835094], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.18108367919922, 15.018972396850586, 28.109378814697266, 0.33410656452178955, -24.14325714111328, 1.8197606801986694], "ext_wrench_in_world": [-108.44340496982899, 14.782386852021864, -27.209603685431738, -0.12144982477656938, -24.086068161704894, -2.483262362566358]}
+{"timestamp_ns": 1789729570496766948, "elapsed_ms": 13966, "source_timestamp_ns": 1789729570495232906, "q": [0.8370661735534668, -1.8980697393417358, -1.0069894790649414, 1.3810664415359497, -0.16013626754283905, 0.5939305424690247, 0.7030132412910461], "theta": [0.8391633629798889, -1.8961824178695679, -1.005204677581787, 1.3626604080200195, -0.1607169210910797, 0.5938879251480103, 0.7029678821563721], "dq": [-0.0011555386008694768, 0.00021139744785614312, 0.0011461402755230665, 0.0012362052220851183, -0.0017395566683262587, -0.0033138077706098557, -0.000837110448628664], "dtheta": [0.00010157580254599452, -0.00017413333989679813, -0.00018006406025961041, -4.4225380406714976e-05, -0.00048280300688929856, -0.00016837529256008565, -0.00016435755242127925], "tau": [55.44999694824219, 23.68000030517578, 5.420000076293945, -26.308000564575195, -2.6000001430511475, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.4532773494720459, -0.5488696694374084, -0.17763769626617432, -0.5759216547012329, 0.9082766771316528, -1.1518348455429077, -0.5302989482879639], "tau_dot": [-50.325382232666016, 59.196441650390625, 14.047545433044434, -1.2937850952148438, -16.90035057067871, -24.516822814941406, 32.85224914550781], "tau_ext": [-16.683698654174805, -41.64590835571289, 31.80729866027832, 31.35471534729004, 9.526622772216797, -2.9949090480804443, -0.10168080031871796], "tcp_pose": [0.6779147982597351, 0.032604921609163284, -0.21499581634998322, -0.002258055843412876, -0.004610357340425253, 0.9998919367790222, 0.013776097446680069], "tcp_vel": [8.705213258508593e-05, -0.0001001059208647348, 4.7728481149533764e-05, -0.0006279986118897796, -0.0003379801055416465, 0.0004193674249108881], "flange_pose": [0.6786112189292908, 0.02847566269338131, -0.06505428999662399, -0.002258055843412876, -0.004610357340425253, 0.9998919367790222, 0.013776097446680069], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.19327545166016, 15.037252426147461, 28.10761260986328, 0.34234827756881714, -24.1496524810791, 1.8296071290969849], "ext_wrench_in_world": [-108.45577022983221, 14.800420431680203, -27.207262982740062, -0.1296739252285182, -24.092271080711825, -2.493198426419263]}
+{"timestamp_ns": 1789729570530099069, "elapsed_ms": 14000, "source_timestamp_ns": 1789729570525240713, "q": [0.8370667695999146, -1.8980685472488403, -1.0069900751113892, 1.3810679912567139, -0.16013659536838531, 0.5939325094223022, 0.7030155062675476], "theta": [0.8391640782356262, -1.8961818218231201, -1.0052058696746826, 1.3626612424850464, -0.16071714460849762, 0.5938898324966431, 0.7029693722724915], "dq": [0.00036752334563061595, -0.0013091618893668056, -0.00016444989887531847, 0.0009556820150464773, -0.002416100585833192, -0.001773893367499113, 0.00031104471418075264], "dtheta": [-0.00031499582109972835, 0.000144757708767429, 0.0003304159617982805, -0.0003091467369813472, -0.0006335652433335781, -6.359371764119714e-05, -0.0002148351923096925], "tau": [55.5099983215332, 23.619998931884766, 5.4120001792907715, -26.30000114440918, -2.5880000591278076, 2.692000150680542, -0.5360000133514404], "tau_des": [0.47233858704566956, -0.5559865236282349, -0.21628537774085999, -0.5613080859184265, 0.895067572593689, -1.1643234491348267, -0.5291231274604797], "tau_dot": [55.93776321411133, -113.88509368896484, -9.277381896972656, 24.431190490722656, -15.955470085144043, 45.171871185302734, 40.39142990112305], "tau_ext": [-16.68524169921875, -41.65003967285156, 31.8102970123291, 31.35399055480957, 9.526078224182129, -3.000654697418213, -0.10900964587926865], "tcp_pose": [0.6779152750968933, 0.032604239881038666, -0.21499553322792053, -0.0022574549075216055, -0.00460880808532238, 0.9998919367790222, 0.013776476494967937], "tcp_vel": [5.565876926993951e-05, 0.00014446327986661345, 3.0040413548704237e-05, 6.121144542703405e-05, -0.000137040187837556, 0.0006545177311636508], "flange_pose": [0.6786115169525146, 0.02847486548125744, -0.06505399942398071, -0.0022574549075216055, -0.00460880808532238, 0.9998919367790222, 0.013776476494967937], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.20325469970703, 15.057178497314453, 28.10003089904785, 0.35087916254997253, -24.15180778503418, 1.831153154373169], "ext_wrench_in_world": [-108.46581860907334, 14.820395359115704, -27.199205196112004, -0.1382640071874274, -24.094459780250233, -2.4947842209178313]}
+{"timestamp_ns": 1789729570563433599, "elapsed_ms": 14033, "source_timestamp_ns": 1789729570555260538, "q": [0.8370670676231384, -1.898069143295288, -1.0069904327392578, 1.3810677528381348, -0.160135418176651, 0.5939320921897888, 0.7030163407325745], "theta": [0.8391645550727844, -1.8961824178695679, -1.0052061080932617, 1.3626611232757568, -0.1607161909341812, 0.593889594078064, 0.7029703259468079], "dq": [0.0021713157184422016, 0.0010486815590411425, 0.001058859983459115, 0.0019213403575122356, -0.0031161573715507984, -0.0006512608961202204, -0.0003072335384786129], "dtheta": [0.00014864475815556943, -0.0002631235111039132, 0.00013954105088487267, 0.00021759001538157463, 0.0007821479230187833, 0.0002621267340146005, -7.259681297000498e-05], "tau": [55.46999740600586, 23.670000076293945, 5.440000057220459, -26.292001724243164, -2.6040000915527344, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.4907386302947998, -0.5034641027450562, -0.2359750121831894, -0.599788248538971, 0.8651536703109741, -1.155297040939331, -0.5410802364349365], "tau_dot": [-77.98585510253906, -66.76983642578125, 13.733365058898926, 28.237215042114258, 10.704426765441895, 2.3878021240234375, -4.02108907699585], "tau_ext": [-16.681921005249023, -41.636558532714844, 31.800844192504883, 31.350452423095703, 9.52855396270752, -3.003911256790161, -0.11788827180862427], "tcp_pose": [0.6779151558876038, 0.03260423243045807, -0.2149955779314041, -0.0022576504852622747, -0.004608099348843098, 0.9998919367790222, 0.013776393607258797], "tcp_vel": [-0.00022731153876520693, 0.00020878527720924467, -0.00010129874863196164, 0.0004263034206815064, 0.0003031616215594113, -5.930271072429605e-05], "flange_pose": [0.6786114573478699, 0.028474880382418633, -0.0650540441274643, -0.0022576504852622747, -0.004608099348843098, 0.9998919367790222, 0.013776393607258797], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1858901977539, 15.061641693115234, 28.088762283325195, 0.3548904061317444, -24.14251136779785, 1.827841877937317], "ext_wrench_in_world": [-108.44843379517296, 14.824856016161363, -27.187852185405667, -0.14237979265320425, -24.085295887436068, -2.4911961553947086]}
+{"timestamp_ns": 1789729570596769708, "elapsed_ms": 14066, "source_timestamp_ns": 1789729570595239155, "q": [0.8370682597160339, -1.8980686664581299, -1.0069913864135742, 1.3810665607452393, -0.16013571619987488, 0.5939295291900635, 0.7030171751976013], "theta": [0.8391650319099426, -1.8961821794509888, -1.0052073001861572, 1.362660527229309, -0.1607169210910797, 0.593887448310852, 0.7029719948768616], "dq": [9.565895015839487e-05, -0.0013322867453098297, 3.328532329760492e-05, -4.557110514724627e-05, 6.399559060810134e-05, 0.0007064840756356716, 0.003931132610887289], "dtheta": [-0.0002728114777710289, 8.473113120999187e-05, 0.00033846142468973994, -0.00041235718526877463, 0.0004500369541347027, 4.7168927267193794e-05, -0.0003266802814323455], "tau": [55.52000045776367, 23.6299991607666, 5.420000076293945, -26.308000564575195, -2.6000001430511475, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.4655356705188751, -0.5519006848335266, -0.227554589509964, -0.549017071723938, 0.8687729835510254, -1.1713730096817017, -0.5381178259849548], "tau_dot": [21.873498916625977, -113.7914810180664, -5.0050811767578125, -3.71136474609375, -9.203250885009766, -2.965620279312134, -24.61393165588379], "tau_ext": [-16.694522857666016, -41.64344787597656, 31.810012817382812, 31.35255241394043, 9.525557518005371, -2.997762680053711, -0.13165423274040222], "tcp_pose": [0.6779159307479858, 0.0326034277677536, -0.2149943858385086, -0.0022572840098291636, -0.004607219714671373, 0.9998919367790222, 0.013775722123682499], "tcp_vel": [-4.028092007501982e-05, 0.0002800924994517118, 1.086302290786989e-05, 0.0008274121209979057, 0.0002528191835153848, 0.00019205542048439384], "flange_pose": [0.6786120533943176, 0.02847427874803543, -0.06505284458398819, -0.0022572840098291636, -0.004607219714671373, 0.9998919367790222, 0.013775722123682499], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.17262268066406, 15.055152893066406, 28.09876251220703, 0.35073205828666687, -24.13945770263672, 1.818799614906311], "ext_wrench_in_world": [-108.43510838958385, 14.818923312786772, -27.198183052426067, -0.13824840063545518, -24.082456947192238, -2.4820592175922562]}
+{"timestamp_ns": 1789729570630099279, "elapsed_ms": 14100, "source_timestamp_ns": 1789729570625257949, "q": [0.8370691537857056, -1.898071050643921, -1.0069910287857056, 1.3810670375823975, -0.16013650596141815, 0.5939252376556396, 0.7030160427093506], "theta": [0.8391663432121277, -1.8961846828460693, -1.0052073001861572, 1.362660527229309, -0.16071787476539612, 0.5938831567764282, 0.7029717564582825], "dq": [-0.00045739131746813655, -0.000283839792245999, 0.001313479384407401, -0.0028271565679460764, -0.0010166398715227842, -0.0012364020803943276, 0.0007841181359253824], "dtheta": [-7.316943811019883e-05, -0.0002160141448257491, 0.0001657824614085257, -1.2888586752524134e-05, -0.00044262720621190965, -0.0005789580754935741, -0.00010513810411794111], "tau": [55.5, 23.6299991607666, 5.408000469207764, -26.304000854492188, -2.5880000591278076, 2.6440000534057617, -0.5600000023841858], "tau_des": [0.5084058046340942, -0.5034968256950378, -0.2204824984073639, -0.6192609667778015, 0.8926354050636292, -1.1319202184677124, -0.5313194394111633], "tau_dot": [30.50993537902832, 37.093143463134766, -48.66854476928711, 2.9718635082244873, 6.484753131866455, -31.811420440673828, -77.43437194824219], "tau_ext": [-16.69877815246582, -41.62617874145508, 31.80681800842285, 31.352962493896484, 9.529529571533203, -2.9936633110046387, -0.12916982173919678], "tcp_pose": [0.6779144406318665, 0.03260347247123718, -0.2149951457977295, -0.0022585198748856783, -0.004609028808772564, 0.999891996383667, 0.013773101381957531], "tcp_vel": [-0.00017156885587610304, 3.492489122436382e-05, -0.0001284782192669809, -0.0007003531791269779, 0.00030621347832493484, 0.0006234546308405697], "flange_pose": [0.6786109805107117, 0.028475109487771988, -0.06505358219146729, -0.0022585198748856783, -0.004609028808772564, 0.999891996383667, 0.013773101381957531], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.16651153564453, 15.045000076293945, 28.11139488220215, 0.34289175271987915, -24.138771057128906, 1.8131803274154663], "ext_wrench_in_world": [-108.4290827595945, 14.808639272299393, -27.210934973378595, -0.13030643372739414, -24.081866021608388, -2.4763309457595994]}
+{"timestamp_ns": 1789729570663434079, "elapsed_ms": 14133, "source_timestamp_ns": 1789729570655261068, "q": [0.8370700478553772, -1.8980742692947388, -1.0069910287857056, 1.3810666799545288, -0.16013650596141815, 0.5939247012138367, 0.7030143737792969], "theta": [0.8391671180725098, -1.8961881399154663, -1.0052075386047363, 1.3626604080200195, -0.16071787476539612, 0.5938831567764282, 0.7029708027839661], "dq": [-0.0005482563283294439, -0.0014968740288168192, -0.001457446487620473, 0.0014681722968816757, -3.1991072319215164e-05, 0.0007340832962654531, -0.001885659759864211], "dtheta": [0.0006083706975914538, -0.00033698719926178455, 0.00012072265235474333, 4.7050380089785904e-05, -2.0883322576992214e-05, -0.0005249173264019191, -9.046556078828871e-05], "tau": [55.48999786376953, 23.56999969482422, 5.444000244140625, -26.308000564575195, -2.580000162124634, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.39515313506126404, -0.5225121974945068, -0.23787418007850647, -0.5614086389541626, 0.9043267369270325, -1.1495076417922974, -0.5294579267501831], "tau_dot": [27.66080665588379, -70.9641342163086, 60.178977966308594, 17.624454498291016, 48.05479431152344, 21.388999938964844, -11.579997062683105], "tau_ext": [-16.671369552612305, -41.56930160522461, 31.79051399230957, 31.333444595336914, 9.530506134033203, -2.989532232284546, -0.12465457618236542], "tcp_pose": [0.6779138445854187, 0.03260437026619911, -0.2149953991174698, -0.0022581585217267275, -0.004610870033502579, 0.999891996383667, 0.013771835714578629], "tcp_vel": [-0.00011294404976069927, 7.23045741324313e-05, 0.00023996511299628764, -0.00055595429148525, -0.00014848886348772794, 0.00043223213288001716], "flange_pose": [0.6786102652549744, 0.02847638912498951, -0.06505382061004639, -0.0022581585217267275, -0.004610870033502579, 0.999891996383667, 0.013771835714578629], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15895080566406, 15.022531509399414, 28.11172866821289, 0.3302978277206421, -24.134614944458008, 1.8112788200378418], "ext_wrench_in_world": [-108.42135130007823, 14.785792217378932, -27.212043506831492, -0.11765189565340417, -24.077653800649536, -2.47431033293857]}
+{"timestamp_ns": 1789729570696766179, "elapsed_ms": 14166, "source_timestamp_ns": 1789729570695259040, "q": [0.837069571018219, -1.8980756998062134, -1.0069911479949951, 1.3810667991638184, -0.16013577580451965, 0.5939252376556396, 0.7030145525932312], "theta": [0.839166522026062, -1.8961894512176514, -1.0052077770233154, 1.362660527229309, -0.16071714460849762, 0.59388267993927, 0.702970564365387], "dq": [-0.000985009246505797, -0.0010885221417993307, 6.625444802921265e-05, 0.0003187565307598561, -0.0015406081220135093, 0.0007205009460449219, -0.000746147008612752], "dtheta": [-0.0003561431949492544, -0.00041891817818395793, 0.00018896836263593286, -3.290763925178908e-05, 2.97234182653483e-05, -0.00026471822638995945, -0.0004808703961316496], "tau": [55.5, 23.6299991607666, 5.436000347137451, -26.32000160217285, -2.5840001106262207, 2.6600000858306885, -0.5400000214576721], "tau_des": [0.5877246856689453, -0.4275873005390167, -0.26692095398902893, -0.6623485684394836, 0.8760932683944702, -1.1277050971984863, -0.5186328291893005], "tau_dot": [2.596008062362671, 10.890817642211914, -9.353605270385742, 31.645103454589844, 29.892803192138672, 9.96692943572998, 6.910758018493652], "tau_ext": [-16.71406364440918, -41.62362289428711, 31.796022415161133, 31.363372802734375, 9.532400131225586, -2.991611957550049, -0.12237036973237991], "tcp_pose": [0.6779133081436157, 0.032604850828647614, -0.21499623358249664, -0.002258447464555502, -0.004611044656485319, 0.999891996383667, 0.01377162802964449], "tcp_vel": [-0.0002920025435741991, 0.0001939779904205352, -0.00037338174297474325, -0.00032410709536634386, 0.0005939650000073016, 0.0008785344543866813], "flange_pose": [0.6786098480224609, 0.028476933017373085, -0.06505465507507324, -0.002258447464555502, -0.004611044656485319, 0.999891996383667, 0.01377162802964449], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1539535522461, 14.994081497192383, 28.112211227416992, 0.3202570676803589, -24.133447647094727, 1.8110504150390625], "ext_wrench_in_world": [-108.41611681596962, 14.75736369817058, -27.213276176284026, -0.10761408632527601, -24.07640114432292, -2.474083805440865]}
+{"timestamp_ns": 1789729570730096890, "elapsed_ms": 14200, "source_timestamp_ns": 1789729570725247492, "q": [0.8370696306228638, -1.8980742692947388, -1.0069926977157593, 1.3810670375823975, -0.1601361632347107, 0.593925416469574, 0.7030152082443237], "theta": [0.8391672968864441, -1.8961883783340454, -1.005208969116211, 1.362660527229309, -0.16071762144565582, 0.5938829183578491, 0.7029710412025452], "dq": [-0.001986290095373988, -0.0016228609019890428, 0.001361044473014772, -0.0006723746773786843, -0.0010435461299493909, -0.00015032882220111787, 0.0006423771847039461], "dtheta": [-6.011667937855236e-05, 3.7680605601053685e-05, 9.116872206504922e-06, -1.554988011776004e-05, -0.00017328953254036605, -0.00017380005738232285, -0.00039849383756518364], "tau": [55.47999954223633, 23.639999389648438, 5.420000076293945, -26.30000114440918, -2.6080000400543213, 2.6640000343322754, -0.5520000457763672], "tau_des": [0.48079413175582886, -0.5459389686584473, -0.1942516267299652, -0.589807391166687, 0.8889262676239014, -1.1487983465194702, -0.5292952656745911], "tau_dot": [26.161968231201172, -4.640720367431641, -23.81977081298828, 3.1082305908203125, -9.53279972076416, -8.883991241455078, -15.482423782348633], "tau_ext": [-16.70029067993164, -41.619606018066406, 31.7908878326416, 31.35199546813965, 9.528607368469238, -2.991532802581787, -0.12305900454521179], "tcp_pose": [0.6779142618179321, 0.03260355442762375, -0.2149958610534668, -0.0022580705117434263, -0.004609811119735241, 0.999891996383667, 0.013771585188806057], "tcp_vel": [-8.723834071133751e-06, -4.2657251469790936e-05, -2.767899422906339e-05, -0.00017670578381512314, 7.514410390285775e-05, 0.00047733105020597577], "flange_pose": [0.678610622882843, 0.028475649654865265, -0.06505428999662399, -0.0022580705117434263, -0.004609811119735241, 0.999891996383667, 0.013771585188806057], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15777587890625, 15.011789321899414, 28.126779556274414, 0.32698869705200195, -24.13956069946289, 1.8134586811065674], "ext_wrench_in_world": [-108.42011256245732, 14.775695648237729, -27.227413391264577, -0.11435842307817717, -24.082507769699433, -2.4766280367813214]}
+{"timestamp_ns": 1789729570763443467, "elapsed_ms": 14233, "source_timestamp_ns": 1789729570755237324, "q": [0.8370711207389832, -1.8980745077133179, -1.0069940090179443, 1.3810675144195557, -0.1601359248161316, 0.5939260125160217, 0.7030172348022461], "theta": [0.8391684889793396, -1.8961882591247559, -1.0052099227905273, 1.3626608848571777, -0.16071739792823792, 0.5938833951950073, 0.702972948551178], "dq": [0.0005291870329529047, -0.0011203262256458402, -0.0025741492863744497, -0.00036899655242450535, -0.00045829868759028614, 0.0023098604287952185, 0.0009844759479165077], "dtheta": [0.00038378348108381033, 0.00012533568951766938, 5.851783134858124e-05, 0.00015867280308157206, 7.862850179662928e-05, -0.00019839423475787044, 0.0007805242203176022], "tau": [55.5099983215332, 23.670000076293945, 5.396000385284424, -26.272001266479492, -2.6040000915527344, 2.6640000343322754, -0.5200000405311584], "tau_des": [0.4038515090942383, -0.6059118509292603, -0.17571452260017395, -0.5483298897743225, 0.884716808795929, -1.1600404977798462, -0.558548629283905], "tau_dot": [-10.781057357788086, 16.677215576171875, -28.636686325073242, 25.926185607910156, 14.851468086242676, -27.219768524169922, 66.83546447753906], "tau_ext": [-16.686494827270508, -41.64598083496094, 31.79865264892578, 31.348834991455078, 9.530150413513184, -2.999215841293335, -0.12425386905670166], "tcp_pose": [0.6779148578643799, 0.03260290250182152, -0.2149951457977295, -0.0022571426816284657, -0.004608393646776676, 0.999891996383667, 0.01377120241522789], "tcp_vel": [-1.3372910871112254e-05, -6.084358028601855e-05, 0.00020067350124008954, -4.514194370131008e-05, -2.2915564841241576e-05, -0.0008371194708161056], "flange_pose": [0.6786109805107117, 0.02847510762512684, -0.06505356729030609, -0.0022571426816284657, -0.004608393646776676, 0.999891996383667, 0.01377120241522789], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.16242218017578, 15.028597831726074, 28.12071990966797, 0.337003618478775, -24.141822814941406, 1.8157328367233276], "ext_wrench_in_world": [-108.42479256779252, 14.792576339488622, -27.22108107294597, -0.12442699597929321, -24.084800830935443, -2.4789015426376872]}
+{"timestamp_ns": 1789729570796771458, "elapsed_ms": 14266, "source_timestamp_ns": 1789729570795272887, "q": [0.8370728492736816, -1.8980756998062134, -1.0069955587387085, 1.3810675144195557, -0.16013574600219727, 0.5939256548881531, 0.7030192017555237], "theta": [0.8391703367233276, -1.896188735961914, -1.0052109956741333, 1.3626606464385986, -0.16071714460849762, 0.5938833951950073, 0.7029746174812317], "dq": [0.0006967090885154903, 0.004826396703720093, -0.0011184243485331535, 0.0005490584881044924, 0.0014976966194808483, -0.002942911349236965, 0.0003411088837310672], "dtheta": [-3.8902559026610106e-05, 8.878800144884735e-05, -4.5624812628375366e-05, -0.00033750987495295703, 0.0006449358770623803, 8.325419184984639e-05, 0.001323068980127573], "tau": [55.47999954223633, 23.670000076293945, 5.420000076293945, -26.304000854492188, -2.628000020980835, 2.6640000343322754, -0.5160000324249268], "tau_des": [0.43036574125289917, -0.6174129843711853, -0.15832167863845825, -0.5296350121498108, 0.8661057949066162, -1.1738556623458862, -0.5774604082107544], "tau_dot": [-125.59480285644531, 37.90616226196289, -20.941545486450195, -27.764869689941406, -50.81578826904297, -7.161170959472656, 16.66023063659668], "tau_ext": [-16.706867218017578, -41.62979507446289, 31.800289154052734, 31.351926803588867, 9.535591125488281, -2.9997551441192627, -0.13345211744308472], "tcp_pose": [0.6779153347015381, 0.03260240703821182, -0.21499444544315338, -0.00225621834397316, -0.004607259761542082, 0.9998920559883118, 0.013770205900073051], "tcp_vel": [9.035442053573206e-05, 7.216055382741615e-05, 0.00010457274038344622, 0.0006797933019697666, 8.30854696687311e-05, -0.001826835097745061], "flange_pose": [0.678611159324646, 0.02847490832209587, -0.06505286693572998, -0.00225621834397316, -0.004607259761542082, 0.9998920559883118, 0.013770205900073051], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13694763183594, 15.048288345336914, 28.120206832885742, 0.3420887887477875, -24.129743576049805, 1.813868522644043], "ext_wrench_in_world": [-108.39941358984827, 14.812674714030202, -27.220364780297167, -0.12966439492537274, -24.072829804447416, -2.476635046497435]}
+{"timestamp_ns": 1789729570830101099, "elapsed_ms": 14300, "source_timestamp_ns": 1789729570825238175, "q": [0.8370726704597473, -1.8980762958526611, -1.0069963932037354, 1.3810670375823975, -0.1601359248161316, 0.5939248204231262, 0.7030185461044312], "theta": [0.8391706943511963, -1.8961894512176514, -1.0052123069763184, 1.36266028881073, -0.16071762144565582, 0.59388267993927, 0.7029741406440735], "dq": [0.0003842284786514938, -0.0022130818106234074, -0.00043803121661767364, -0.0012451414950191975, 0.00027992442483082414, 0.0008132567163556814, 0.0022394410334527493], "dtheta": [1.6662554116919637e-05, -0.00017142323486041278, 8.226610225392506e-05, -0.00014367241237778217, -0.0002591322991065681, -0.0009659801726229489, 3.368653415236622e-05], "tau": [55.529998779296875, 23.649999618530273, 5.432000160217285, -26.328001022338867, -2.616000175476074, 2.6480002403259277, -0.5040000081062317], "tau_des": [0.47632384300231934, -0.5350742936134338, -0.19470851123332977, -0.5950520634651184, 0.8909154534339905, -1.1370290517807007, -0.5426490306854248], "tau_dot": [8.324209213256836, 98.69766998291016, -16.47150993347168, -57.273345947265625, -28.883384704589844, 8.730411529541016, 58.54904556274414], "tau_ext": [-16.713125228881836, -41.625755310058594, 31.800498962402344, 31.351308822631836, 9.535962104797363, -2.9999501705169678, -0.13905929028987885], "tcp_pose": [0.6779154539108276, 0.03260200470685959, -0.21499472856521606, -0.0022562923841178417, -0.004607484210282564, 0.9998920559883118, 0.013769480399787426], "tcp_vel": [-0.0001585358550073579, -4.7195171646308154e-05, -5.9627062000799924e-05, -0.0007848557434044778, 0.00048281275667250156, 0.00028293963987380266], "flange_pose": [0.6786112785339355, 0.028474723920226097, -0.06505313515663147, -0.0022562923841178417, -0.004607484210282564, 0.9998920559883118, 0.013769480399787426], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12399291992188, 15.041154861450195, 28.11928367614746, 0.33672019839286804, -24.123165130615234, 1.8079559803009033], "ext_wrench_in_world": [-108.38640040033593, 14.80555029210873, -27.21970219857291, -0.12431826572205318, -24.066370669226707, -2.4705321325242333]}
+{"timestamp_ns": 1789729570863432270, "elapsed_ms": 14333, "source_timestamp_ns": 1789729570855254370, "q": [0.837072491645813, -1.898077130317688, -1.00699782371521, 1.3810662031173706, -0.1601359099149704, 0.5939232707023621, 0.7030181288719177], "theta": [0.8391708731651306, -1.8961906433105469, -1.0052134990692139, 1.3626595735549927, -0.16071787476539612, 0.5938814878463745, 0.7029736638069153], "dq": [-0.0006300477543845773, 0.0005718582542613149, -0.0009488202049396932, 3.906847268808633e-05, -0.0009666402474977076, -0.0016478148754686117, 0.0002954943338409066], "dtheta": [0.00014503143029287457, 9.876160038402304e-05, -0.00018692620506044477, -8.8424829300493e-05, -0.00047113202163018286, -0.00015931235975585878, -0.0002347324916627258], "tau": [55.5099983215332, 23.649999618530273, 5.4160003662109375, -26.296001434326172, -2.6040000915527344, 2.6640000343322754, -0.5200000405311584], "tau_des": [0.40488401055336, -0.6121442317962646, -0.13883201777935028, -0.5368320941925049, 0.9069133996963501, -1.165184736251831, -0.5421974658966064], "tau_dot": [-30.98337173461914, 147.8231658935547, -20.91691780090332, 36.273624420166016, 16.873584747314453, 9.165416717529297, 30.798192977905273], "tau_ext": [-16.708301544189453, -41.6060905456543, 31.80367660522461, 31.34800148010254, 9.537468910217285, -2.995884895324707, -0.1366109549999237], "tcp_pose": [0.6779156923294067, 0.03260136395692825, -0.21499496698379517, -0.0022564094979315996, -0.0046074120327830315, 0.9998920559883118, 0.01376846432685852], "tcp_vel": [0.00018884897872339934, -0.00017334576114080846, 0.00017757073510438204, -0.00039081566501408815, -0.0004220124683342874, 0.00028853019466623664], "flange_pose": [0.6786115765571594, 0.028474388644099236, -0.06505336612462997, -0.0022564094979315996, -0.0046074120327830315, 0.9998920559883118, 0.01376846432685852], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12519073486328, 15.02945613861084, 28.12154197692871, 0.3299476206302643, -24.121509552001953, 1.8045241832733154], "ext_wrench_in_world": [-108.38750571858479, 14.79386697475351, -27.222282242130312, -0.11754912113839967, -24.064752392394883, -2.4670367902695762]}
+{"timestamp_ns": 1789729570896767199, "elapsed_ms": 14366, "source_timestamp_ns": 1789729570895228738, "q": [0.8370727300643921, -1.8980799913406372, -1.00699782371521, 1.3810644149780273, -0.16013534367084503, 0.5939205288887024, 0.7030157446861267], "theta": [0.8391714096069336, -1.8961933851242065, -1.0052131414413452, 1.3626585006713867, -0.1607169210910797, 0.5938788652420044, 0.7029722332954407], "dq": [-0.000854741781949997, -0.0021217968314886093, -4.7311841626651585e-06, -0.0014280384639278054, 0.0016418936429545283, 0.0011405365075916052, -0.002845975337550044], "dtheta": [0.0002319535706192255, 0.0003335496294312179, 0.00020736698934342712, -0.0005189247895032167, 8.936196536524221e-05, 0.000249523320235312, 5.515008888323791e-05], "tau": [55.47999954223633, 23.649999618530273, 5.420000076293945, -26.32000160217285, -2.5840001106262207, 2.6440000534057617, -0.5480000376701355], "tau_des": [0.3225853741168976, -0.6457481384277344, -0.18930302560329437, -0.4566624164581299, 0.8972693681716919, -1.1996897459030151, -0.5438238978385925], "tau_dot": [-64.23721313476562, 149.32962036132812, -27.93390464782715, -9.61202335357666, 59.77811050415039, -21.863182067871094, -3.2775135040283203], "tau_ext": [-16.702791213989258, -41.576072692871094, 31.79397201538086, 31.34270477294922, 9.532018661499023, -2.9883475303649902, -0.13153602182865143], "tcp_pose": [0.6779151558876038, 0.03260217234492302, -0.21499516069889069, -0.0022567231208086014, -0.004609280731528997, 0.9998920559883118, 0.013767223805189133], "tcp_vel": [0.00030686502577736974, 0.00016172135656233877, 0.0005200019804760814, 0.0008961647399701178, -0.0007216822705231607, -0.000269657262833789], "flange_pose": [0.6786110997200012, 0.028475573286414146, -0.0650535449385643, -0.0022567231208086014, -0.004609280731528997, 0.9998920559883118, 0.013767223805189133], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12380981445312, 15.014948844909668, 28.12063217163086, 0.319093257188797, -24.120986938476562, 1.8023414611816406], "ext_wrench_in_world": [-108.3860586845455, 14.778879614102824, -27.221754012582803, -0.1066011063713887, -24.06419586925789, -2.4648284941850624]}
+{"timestamp_ns": 1789729570930101279, "elapsed_ms": 14400, "source_timestamp_ns": 1789729570925229017, "q": [0.8370724320411682, -1.8980804681777954, -1.00699782371521, 1.3810646533966064, -0.16013482213020325, 0.5939199328422546, 0.703015148639679], "theta": [0.8391709327697754, -1.8961948156356812, -1.0052130222320557, 1.362658977508545, -0.1607169210910797, 0.5938783884048462, 0.7029708027839661], "dq": [0.0004944783868268132, -5.912130291108042e-06, 0.00039965385803952813, -0.00039728052797727287, 0.00015189326950348914, -0.001749410410411656, -0.004176573362201452], "dtheta": [-3.7490382965188473e-05, 0.00025484900106675923, 0.0002211603568866849, -0.0001431371201761067, -9.225369285559282e-05, 0.00025533599546179175, 3.9745991671225056e-05], "tau": [55.529998779296875, 23.600000381469727, 5.432000160217285, -26.316001892089844, -2.5960001945495605, 2.628000020980835, -0.5440000295639038], "tau_des": [0.42973485589027405, -0.5889896154403687, -0.20102719962596893, -0.5383605360984802, 0.8861788511276245, -1.173859715461731, -0.5392524003982544], "tau_dot": [48.058109283447266, -29.480506896972656, 35.37158966064453, -21.296010971069336, -2.707747459411621, -60.228023529052734, 1.0809916257858276], "tau_ext": [-16.705385208129883, -41.58713150024414, 31.796512603759766, 31.355539321899414, 9.529541969299316, -2.9914052486419678, -0.12545739114284515], "tcp_pose": [0.6779146194458008, 0.032602258026599884, -0.21499572694301605, -0.0022573587484657764, -0.004609646741300821, 0.9998920559883118, 0.013766972348093987], "tcp_vel": [0.00010220261901849881, 0.00010832752741407603, 0.00016264330770354718, 0.0005217068828642368, -0.00025098954210989177, -3.229885987821035e-05], "flange_pose": [0.6786108016967773, 0.02847573533654213, -0.06505411863327026, -0.0022573587484657764, -0.004609646741300821, 0.9998920559883118, 0.013766972348093987], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1412353515625, 14.99321174621582, 28.121570587158203, 0.3137494623661041, -24.127256393432617, 1.8046001195907593], "ext_wrench_in_world": [-108.40333398803267, 14.756920622578205, -27.223085573376565, -0.10119571234136365, -24.07035228223055, -2.4672701166105133]}
+{"timestamp_ns": 1789729570963441048, "elapsed_ms": 14433, "source_timestamp_ns": 1789729570955224337, "q": [0.8370722532272339, -1.8980803489685059, -1.0069983005523682, 1.3810646533966064, -0.16013501584529877, 0.5939202308654785, 0.7030144929885864], "theta": [0.8391709923744202, -1.8961948156356812, -1.0052133798599243, 1.3626583814620972, -0.16071739792823792, 0.5938786268234253, 0.7029698491096497], "dq": [-2.5751542125362903e-05, -0.0006389497430063784, -0.0008458229131065309, 0.0014812381705269217, -0.00027015621890313923, 7.336842099903151e-05, -0.0003874919202644378], "dtheta": [2.9777729650959373e-05, 0.0004993168986402452, 0.0001731708471197635, -0.00015434541273862123, 7.278300472535193e-06, -0.00013348365609999746, 0.00012106180656701326], "tau": [55.52000045776367, 23.60999870300293, 5.440000057220459, -26.288002014160156, -2.6040000915527344, 2.6640000343322754, -0.5680000185966492], "tau_des": [0.40988415479660034, -0.6298667192459106, -0.17295658588409424, -0.5290675759315491, 0.8824576139450073, -1.1696264743804932, -0.5438303351402283], "tau_dot": [46.39556884765625, 63.20840072631836, -7.477254867553711, 38.7197151184082, -22.490270614624023, -22.9119873046875, -32.851173400878906], "tau_ext": [-16.698558807373047, -41.58949279785156, 31.797767639160156, 31.34926414489746, 9.527295112609863, -2.990771770477295, -0.11627917736768723], "tcp_pose": [0.6779149174690247, 0.032601963728666306, -0.21499580144882202, -0.0022571927402168512, -0.0046097952872514725, 0.9998920559883118, 0.013766858726739883], "tcp_vel": [0.00011615277617238462, -4.213744614389725e-05, 0.00023075166973285377, 0.00048653126577846706, 8.469971362501383e-06, -0.0003588274121284485], "flange_pose": [0.6786110401153564, 0.028475472703576088, -0.06505419313907623, -0.0022571927402168512, -0.0046097952872514725, 0.9998920559883118, 0.013766858726739883], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.150634765625, 14.986760139465332, 28.115463256835938, 0.31340619921684265, -24.130029678344727, 1.8077659606933594], "ext_wrench_in_world": [-108.41264063640222, 14.750178601654362, -27.21715700240536, -0.10083388153117931, -24.07303470506133, -2.470507257506976]}
+{"timestamp_ns": 1789729570996759921, "elapsed_ms": 14466, "source_timestamp_ns": 1789729570995251923, "q": [0.8370720744132996, -1.8980803489685059, -1.0069999694824219, 1.3810651302337646, -0.1601352095603943, 0.5939212441444397, 0.7030155658721924], "theta": [0.8391703963279724, -1.8961950540542603, -1.0052143335342407, 1.3626585006713867, -0.16071714460849762, 0.5938800573348999, 0.702970564365387], "dq": [0.0003423087764531374, -0.0005349385901354253, 0.002152677159756422, -0.0002802095259539783, 0.0018777558580040932, -0.0017356938915327191, -0.0013172960607334971], "dtheta": [-0.00041343457996845245, -0.0001838165771914646, -0.0003352485073264688, -0.0002366651315242052, -3.1905670766718686e-05, 0.0009174472070299089, -6.925865454832092e-05], "tau": [55.53999710083008, 23.649999618530273, 5.440000057220459, -26.312002182006836, -2.6120002269744873, 2.684000015258789, -0.5520000457763672], "tau_des": [0.5065787434577942, -0.5557863116264343, -0.15684349834918976, -0.5676786303520203, 0.886046826839447, -1.1783616542816162, -0.5436088442802429], "tau_dot": [19.90696144104004, -76.22657012939453, 41.6448974609375, 5.27941370010376, -58.42754364013672, -2.6057088375091553, -16.43907928466797], "tau_ext": [-16.70360565185547, -41.608280181884766, 31.795743942260742, 31.353666305541992, 9.53109359741211, -2.99991512298584, -0.11376801133155823], "tcp_pose": [0.6779154539108276, 0.03260107710957527, -0.2149960845708847, -0.0022567622363567352, -0.00460874242708087, 0.9998920559883118, 0.013766493648290634], "tcp_vel": [0.00024220840714406222, 5.714513099519536e-05, -0.00014028794248588383, 0.0003657979832496494, -0.0005963781150057912, -8.419434016104788e-05], "flange_pose": [0.6786114573478699, 0.02847469411790371, -0.06505446881055832, -0.0022567622363567352, -0.00460874242708087, 0.9998920559883118, 0.013766493648290634], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1511001586914, 15.005390167236328, 28.11162757873535, 0.32322296500205994, -24.128633499145508, 1.8167016506195068], "ext_wrench_in_world": [-108.41320481211062, 14.768900418277038, -27.212908840000534, -0.11075324008589389, -24.07148597886288, -2.479340436038037]}
+{"timestamp_ns": 1789729571030093749, "elapsed_ms": 14500, "source_timestamp_ns": 1789729571025259871, "q": [0.8370722532272339, -1.8980807065963745, -1.0069999694824219, 1.381064772605896, -0.16013500094413757, 0.5939217209815979, 0.7030165195465088], "theta": [0.839170515537262, -1.8961952924728394, -1.0052140951156616, 1.362657904624939, -0.16071666777133942, 0.5938810110092163, 0.7029712796211243], "dq": [0.00015911107766442, 0.002509900601580739, -0.0014398256316781044, 0.0012462746817618608, -0.000984682934358716, 0.000206094715395011, -0.0021114787086844444], "dtheta": [-0.0001868078688858077, -9.703070827526972e-05, 4.778699076268822e-05, -7.556877244496718e-05, 0.0003766474546864629, 0.0002977335243485868, 0.0002206760982517153], "tau": [55.439998626708984, 23.649999618530273, 5.432000160217285, -26.32000160217285, -2.636000156402588, 2.688000202178955, -0.5360000133514404], "tau_des": [0.500181257724762, -0.5417251586914062, -0.20161667466163635, -0.5806395411491394, 0.8681478500366211, -1.166111946105957, -0.548921525478363], "tau_dot": [-186.81155395507812, 28.197433471679688, 32.431800842285156, -5.69835901260376, -84.80364227294922, 47.04362869262695, -13.006745338439941], "tau_ext": [-16.695886611938477, -41.635765075683594, 31.804851531982422, 31.349395751953125, 9.527493476867676, -2.9982244968414307, -0.11768211424350739], "tcp_pose": [0.6779155731201172, 0.03260134160518646, -0.21499589085578918, -0.0022564372047781944, -0.004608313553035259, 0.9998920559883118, 0.013766659423708916], "tcp_vel": [-4.8090416385093704e-05, 0.0001428467221558094, -0.00011620020814007148, 0.00042941325227729976, 0.00013051544374320656, -0.0003499215526971966], "flange_pose": [0.6786114573478699, 0.02847491018474102, -0.0650542750954628, -0.0022564372047781944, -0.004608313553035259, 0.9998920559883118, 0.013766659423708916], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14694213867188, 15.02678394317627, 28.116710662841797, 0.33296921849250793, -24.129037857055664, 1.818522572517395], "ext_wrench_in_world": [-108.40923628567849, 14.790566669732453, -27.21748286785966, -0.12052302681168285, -24.071929576345166, -2.481137123564769]}
+{"timestamp_ns": 1789729571063430311, "elapsed_ms": 14533, "source_timestamp_ns": 1789729571055254860, "q": [0.837073028087616, -1.898081660270691, -1.0070000886917114, 1.381065011024475, -0.16013579070568085, 0.593920111656189, 0.703016459941864], "theta": [0.8391709923744202, -1.896195411682129, -1.0052143335342407, 1.3626576662063599, -0.16071739792823792, 0.5938798189163208, 0.7029717564582825], "dq": [-0.0015963263576850295, 0.000644276209641248, -0.0020412157755345106, 0.0011097579263150692, 0.0019215436186641455, -0.0007362809265032411, -0.0034400851000100374], "dtheta": [-0.00011378132330719382, -0.00014504813589155674, 0.0003060978197026998, -0.00020163336012046784, 0.0002344129025004804, -0.00025533654843457043, 0.000715813017450273], "tau": [55.459999084472656, 23.670000076293945, 5.424000263214111, -26.312002182006836, -2.5840001106262207, 2.6680002212524414, -0.5480000376701355], "tau_des": [0.4923553764820099, -0.5288258194923401, -0.23195220530033112, -0.5827726125717163, 0.8689066171646118, -1.1566418409347534, -0.553130567073822], "tau_dot": [-160.21817016601562, 92.69389343261719, -43.096778869628906, 17.19038963317871, 52.057350158691406, 12.293184280395508, -5.561541557312012], "tau_ext": [-16.694595336914062, -41.620521545410156, 31.800207138061523, 31.34963035583496, 9.53195571899414, -2.9999594688415527, -0.12200827151536942], "tcp_pose": [0.6779152154922485, 0.03260121867060661, -0.214995875954628, -0.0022565312683582306, -0.004608862567692995, 0.9998920559883118, 0.013765433803200722], "tcp_vel": [-0.00016609796148259193, 0.00022638858354184777, -6.197683251230046e-05, 0.00017860313528217375, 0.0003916361602023244, -0.0005590669461525977], "flange_pose": [0.678611159324646, 0.02847515605390072, -0.06505425274372101, -0.0022565312683582306, -0.004608862567692995, 0.9998920559883118, 0.013765433803200722], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15206909179688, 15.032880783081055, 28.113943099975586, 0.3377418518066406, -24.130090713500977, 1.8186615705490112], "ext_wrench_in_world": [-108.41442670260417, 14.796350670533966, -27.21454463488323, -0.12526019201363145, -24.07302866062393, -2.4812251605840223]}
+{"timestamp_ns": 1789729571096774831, "elapsed_ms": 14566, "source_timestamp_ns": 1789729571095272289, "q": [0.8370732665061951, -1.8980830907821655, -1.0070009231567383, 1.3810639381408691, -0.16013647615909576, 0.5939177870750427, 0.7030153274536133], "theta": [0.839171290397644, -1.8961968421936035, -1.0052146911621094, 1.3626567125320435, -0.16071835160255432, 0.593877911567688, 0.702970564365387], "dq": [0.0017020019004121423, 6.468496576417238e-05, 0.0017734384164214134, 0.0012336547952145338, -0.0003931662649847567, 0.002214385662227869, -0.0011578971752896905], "dtheta": [-0.00019960361532866955, -9.436272193852346e-06, 7.425859075738117e-05, -9.937743743648753e-05, -0.0004802269395440817, 0.0004104450927115977, 0.0001679959095781669], "tau": [55.529998779296875, 23.600000381469727, 5.424000263214111, -26.284000396728516, -2.5960001945495605, 2.6520001888275146, -0.527999997138977], "tau_des": [0.4726985692977905, -0.5600286722183228, -0.19454506039619446, -0.5618593096733093, 0.8940390944480896, -1.1724258661270142, -0.5393289923667908], "tau_dot": [86.03907775878906, -26.433780670166016, 10.376680374145508, 77.27660369873047, 17.122079849243164, -21.138704299926758, 66.08589935302734], "tau_ext": [-16.718505859375, -41.633506774902344, 31.79994010925293, 31.35654640197754, 9.533207893371582, -2.9971425533294678, -0.11850042641162872], "tcp_pose": [0.6779152154922485, 0.03260099142789841, -0.21499590575695038, -0.0022565489634871483, -0.004609786439687014, 0.9998921155929565, 0.01376397255808115], "tcp_vel": [0.00011053965863538906, 9.376333764521405e-05, -3.58166903424717e-06, 6.6327367676422e-05, -0.00042813312029466033, 0.0001317904534516856], "flange_pose": [0.678611159324646, 0.028475366532802582, -0.0650542676448822, -0.0022565489634871483, -0.004609786439687014, 0.9998921155929565, 0.01376397255808115], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13749694824219, 15.0524320602417, 28.12572479248047, 0.3412990868091583, -24.129255294799805, 1.8182975053787231], "ext_wrench_in_world": [-108.400116338776, 14.816072524144206, -27.225890710144846, -0.12877855734839977, -24.072244097693176, -2.4807523356012307]}
+{"timestamp_ns": 1789729571130100866, "elapsed_ms": 14600, "source_timestamp_ns": 1789729571125266148, "q": [0.8370727896690369, -1.8980847597122192, -1.0070011615753174, 1.3810635805130005, -0.16013579070568085, 0.5939163565635681, 0.7030152678489685], "theta": [0.8391714692115784, -1.8961986303329468, -1.0052154064178467, 1.3626563549041748, -0.16071787476539612, 0.5938762426376343, 0.702970564365387], "dq": [-0.002972062211483717, -2.0336274246801622e-05, 0.00023983168648555875, 0.00125003547873348, 0.0016431125113740563, 0.0024917470291256905, -0.00041034736204892397], "dtheta": [-0.0002048656897386536, -0.00032248065690509975, -0.00012080458691343665, -8.48520066938363e-05, -0.00018928492499981076, 0.00032772921258583665, -6.642469088546932e-06], "tau": [55.53999710083008, 23.60999870300293, 5.452000141143799, -26.312002182006836, -2.624000072479248, 2.6720001697540283, -0.527999997138977], "tau_des": [0.5178226828575134, -0.5110471248626709, -0.20088127255439758, -0.5990931391716003, 0.8879526853561401, -1.1581439971923828, -0.5370052456855774], "tau_dot": [54.82407760620117, 26.973360061645508, 37.6696891784668, 25.598100662231445, -64.63329315185547, 10.182422637939453, 45.29051208496094], "tau_ext": [-16.71429443359375, -41.599979400634766, 31.793636322021484, 31.358943939208984, 9.534786224365234, -2.9934072494506836, -0.11460486054420471], "tcp_pose": [0.677914559841156, 0.032601211220026016, -0.2149968147277832, -0.0022573492024093866, -0.00461004301905632, 0.9998921155929565, 0.013763108290731907], "tcp_vel": [3.0399063689401373e-05, 8.286096999654546e-05, -0.00015035932301543653, -0.0001712002558633685, -0.0002537886321078986, 0.00022173994511831552], "flange_pose": [0.6786107420921326, 0.028475848957896233, -0.06505517661571503, -0.0022573492024093866, -0.00461004301905632, 0.9998921155929565, 0.013763108290731907], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14169311523438, 15.030662536621094, 28.12880516052246, 0.3315528333187103, -24.130252838134766, 1.8181780576705933], "ext_wrench_in_world": [-108.40417838511928, 14.794252288909266, -27.229404946441687, -0.11901408552755917, -24.07315842102967, -2.480661211540502]}
+{"timestamp_ns": 1789729571163448485, "elapsed_ms": 14633, "source_timestamp_ns": 1789729571155255189, "q": [0.8370717763900757, -1.8980848789215088, -1.007001280784607, 1.3810628652572632, -0.1601351499557495, 0.5939152836799622, 0.703014075756073], "theta": [0.8391707539558411, -1.8961988687515259, -1.0052158832550049, 1.3626554012298584, -0.1607169210910797, 0.593875527381897, 0.7029698491096497], "dq": [0.0018519592704251409, 0.0004084053507540375, 0.0005380320944823325, 0.0010700933635234833, -0.0009987442754209042, -0.0004653837240766734, -0.0007483023800887167], "dtheta": [-0.00012225931277498603, 7.858551725803409e-06, 6.780935655115172e-05, -0.00013635361392516643, 0.00012124949716962874, -0.0009437419357709587, -0.00024847881286405027], "tau": [55.46999740600586, 23.68000030517578, 5.424000263214111, -26.312002182006836, -2.6080000400543213, 2.684000015258789, -0.5320000052452087], "tau_des": [0.5234259366989136, -0.5246416926383972, -0.20270690321922302, -0.6224212050437927, 0.8719949126243591, -1.128502368927002, -0.5337772965431213], "tau_dot": [5.554752349853516, 58.780643463134766, -45.3016242980957, -6.7162675857543945, 31.152450561523438, 47.23213195800781, 25.50116729736328], "tau_ext": [-16.706172943115234, -41.593353271484375, 31.79792594909668, 31.356294631958008, 9.531599998474121, -2.9933700561523438, -0.11374478042125702], "tcp_pose": [0.6779143810272217, 0.032601188868284225, -0.21499738097190857, -0.002258096821606159, -0.0046104006469249725, 0.9998921155929565, 0.013763094320893288], "tcp_vel": [-0.0001861964410636574, -7.899731281213462e-05, -0.00013339788711164147, -0.0004128583241254091, 0.0008084162254817784, 0.00022432040714193135], "flange_pose": [0.6786107420921326, 0.02847583033144474, -0.0650557354092598, -0.002258096821606159, -0.0046104006469249725, 0.9998921155929565, 0.013763094320893288], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14772033691406, 15.011209487915039, 28.124818801879883, 0.322864294052124, -24.130321502685547, 1.8173549175262451], "ext_wrench_in_world": [-108.4100599620537, 14.774561187525567, -27.22576900181152, -0.11030752441293568, -24.073169218237606, -2.4798774388574953]}
+{"timestamp_ns": 1789729571196769581, "elapsed_ms": 14666, "source_timestamp_ns": 1789729571195251753, "q": [0.8370727896690369, -1.8980845212936401, -1.0070009231567383, 1.3810635805130005, -0.160133957862854, 0.5939151644706726, 0.7030132412910461], "theta": [0.8391717076301575, -1.8961988687515259, -1.0052160024642944, 1.362655520439148, -0.16071641445159912, 0.5938750505447388, 0.7029691338539124], "dq": [0.0011998852714896202, 1.3957162082078867e-05, -0.0016932033468037844, -0.0005394050385802984, -0.00021785407443530858, 0.0004251826321706176, -0.002492300933226943], "dtheta": [-1.0592765647743363e-05, 7.3276947659906e-05, -0.0001849749096436426, -1.1199807886441704e-05, 0.0011124941520392895, 0.0004053782904520631, -0.00020371719438116997], "tau": [55.44999694824219, 23.639999389648438, 5.424000263214111, -26.34400177001953, -2.5960001945495605, 2.6760001182556152, -0.5600000023841858], "tau_des": [0.48469576239585876, -0.5637009739875793, -0.18530511856079102, -0.5764198303222656, 0.8531074523925781, -1.1649179458618164, -0.543541431427002], "tau_dot": [-96.49987030029297, -0.328673779964447, -14.47256851196289, -40.047584533691406, -36.22153091430664, 20.36841583251953, -29.618038177490234], "tau_ext": [-16.70313262939453, -41.621280670166016, 31.793670654296875, 31.358776092529297, 9.530659675598145, -2.993163585662842, -0.1113390251994133], "tcp_pose": [0.6779140830039978, 0.03260127082467079, -0.21499699354171753, -0.0022582863457500935, -0.0046105836518108845, 0.9998921155929565, 0.013763491064310074], "tcp_vel": [7.832250048522837e-06, 2.0836901967413723e-05, -3.574747825041413e-05, 0.0009003016166388988, 0.0002456200891174376, -0.0006040245643816888], "flange_pose": [0.6786105632781982, 0.028475791215896606, -0.06505534797906876, -0.0022582863457500935, -0.0046105836518108845, 0.9998921155929565, 0.013763491064310074], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.16874694824219, 15.010030746459961, 28.115407943725586, 0.3267727792263031, -24.138076782226562, 1.8208762407302856], "ext_wrench_in_world": [-108.4310467142864, 14.772910467786403, -27.21624933674091, -0.11415317410202377, -24.08085873758588, -2.4836128907783963]}
+{"timestamp_ns": 1789729571230097925, "elapsed_ms": 14700, "source_timestamp_ns": 1789729571225258879, "q": [0.8370737433433533, -1.8980844020843506, -1.0070010423660278, 1.381063461303711, -0.1601352095603943, 0.5939160585403442, 0.703014612197876], "theta": [0.8391723036766052, -1.8961987495422363, -1.005216121673584, 1.3626556396484375, -0.16071762144565582, 0.593875527381897, 0.7029698491096497], "dq": [-0.0030387870501726866, -0.00015912196249701083, -0.0014498431701213121, -0.0016705833841115236, -0.0015625349478796124, 0.0011189691722393036, -0.0003391100326552987], "dtheta": [-5.280032564769499e-05, 0.00034516179584898055, -7.269649358931929e-05, 3.657014894997701e-05, -5.9644462453434244e-05, 0.0013227741001173854, 0.00013067186227999628], "tau": [55.52000045776367, 23.6299991607666, 5.444000244140625, -26.312002182006836, -2.5920000076293945, 2.6440000534057617, -0.5600000023841858], "tau_des": [0.41311272978782654, -0.6339508891105652, -0.16928128898143768, -0.5060765147209167, 0.8828350305557251, -1.2054903507232666, -0.5451158881187439], "tau_dot": [108.22897338867188, -53.73286056518555, 22.583406448364258, 3.3152706623077393, 52.796756744384766, -27.057825088500977, -21.336660385131836], "tau_ext": [-16.680740356445312, -41.610286712646484, 31.796669006347656, 31.35271453857422, 9.528132438659668, -2.98957896232605, -0.11058492213487625], "tcp_pose": [0.6779147386550903, 0.03260122612118721, -0.2149960845708847, -0.0022570830769836903, -0.004610153846442699, 0.9998921155929565, 0.013763412833213806], "tcp_vel": [0.00034572803997434676, 5.584428436122835e-05, 0.00020177685655653477, 0.001015750109218061, -0.0009717416251078248, -0.0004051480791531503], "flange_pose": [0.6786108613014221, 0.028475770726799965, -0.06505443900823593, -0.0022570830769836903, -0.004610153846442699, 0.9998921155929565, 0.013763412833213806], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.19944763183594, 15.010919570922852, 28.11206817626953, 0.330676406621933, -24.149822235107422, 1.8230617046356201], "ext_wrench_in_world": [-108.461660051224, 14.773514860154753, -27.213013595628528, -0.11797472073319397, -24.092575629618292, -2.4861006312064102]}
+{"timestamp_ns": 1789729571263435237, "elapsed_ms": 14733, "source_timestamp_ns": 1789729571255257167, "q": [0.837075412273407, -1.8980848789215088, -1.0070021152496338, 1.3810638189315796, -0.16013509035110474, 0.5939149856567383, 0.7030157446861267], "theta": [0.8391740918159485, -1.8961987495422363, -1.005216360092163, 1.3626558780670166, -0.16071762144565582, 0.5938743352890015, 0.7029703259468079], "dq": [0.0005135466926731169, -0.000546890078112483, 0.0006739332457073033, -0.0005524056032299995, 0.0014077757950872183, 0.001698575564660132, -0.0006905554910190403], "dtheta": [0.00019513409642968327, -6.237190973479301e-05, 0.00015296025958377868, -7.232576899696141e-05, -0.00017893168842419982, -0.0009082901524379849, -7.050762462768034e-08], "tau": [55.5099983215332, 23.56999969482422, 5.408000469207764, -26.316001892089844, -2.6040000915527344, 2.6760001182556152, -0.5360000133514404], "tau_des": [0.4467526376247406, -0.552344560623169, -0.2123444527387619, -0.5746753215789795, 0.8856199383735657, -1.1477346420288086, -0.5392410755157471], "tau_dot": [-19.21669578552246, -223.57215881347656, -32.24675369262695, -51.76349639892578, 26.157297134399414, 9.800130844116211, -15.427786827087402], "tau_ext": [-16.694965362548828, -41.62599563598633, 31.789363861083984, 31.360132217407227, 9.5297212600708, -2.9958696365356445, -0.11734878271818161], "tcp_pose": [0.6779149770736694, 0.03260050714015961, -0.21499547362327576, -0.0022567077539861202, -0.004609366413205862, 0.9998921155929565, 0.013762446120381355], "tcp_vel": [-0.00014272605767473578, -3.925419514416717e-05, 6.566887168446556e-05, -0.0006120908074080944, 0.0003836479736492038, 0.0002586323535069823], "flange_pose": [0.6786109209060669, 0.028475340455770493, -0.06505382061004639, -0.0022567077539861202, -0.004609366413205862, 0.9998921155929565, 0.013762446120381355], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.19637298583984, 15.008077621459961, 28.116127014160156, 0.33136042952537537, -24.150543212890625, 1.8227757215499878], "ext_wrench_in_world": [-108.45853494963875, 14.770933092955723, -27.217271200481125, -0.1186870277367941, -24.093315135993347, -2.4857851255057586]}
+{"timestamp_ns": 1789729571296762711, "elapsed_ms": 14766, "source_timestamp_ns": 1789729571295251612, "q": [0.8370776772499084, -1.8980867862701416, -1.0070042610168457, 1.3810632228851318, -0.16013525426387787, 0.5939121246337891, 0.7030172944068909], "theta": [0.8391773104667664, -1.8961998224258423, -1.0052177906036377, 1.3626554012298584, -0.16071835160255432, 0.593870997428894, 0.7029722332954407], "dq": [-0.0032481178641319275, -0.0020881323143839836, 0.0015502390451729298, -0.0011450655292719603, 0.00042535195825621486, -0.0020305542275309563, 0.0012171760899946094], "dtheta": [0.00013500779459718615, -0.00018479065329302102, -0.0004350411763880402, 7.436873420374468e-05, 0.00024686360848136246, 0.00034683471312746406, 8.045354479691014e-05], "tau": [55.55999755859375, 23.65999984741211, 5.4120001792907715, -26.288002014160156, -2.616000175476074, 2.6640000343322754, -0.527999997138977], "tau_des": [0.44284960627555847, -0.5827460885047913, -0.14189356565475464, -0.5566110610961914, 0.8870238661766052, -1.1700785160064697, -0.5520156621932983], "tau_dot": [57.585697174072266, 126.6328125, -42.84586715698242, 17.461454391479492, -44.45842742919922, 48.85121536254883, 2.020878791809082], "tau_ext": [-16.71083641052246, -41.62757110595703, 31.797657012939453, 31.36124038696289, 9.53353500366211, -2.9948244094848633, -0.12158813327550888], "tcp_pose": [0.6779154539108276, 0.0325995534658432, -0.21499459445476532, -0.002255989471450448, -0.004608494229614735, 0.9998921751976013, 0.01376029197126627], "tcp_vel": [0.0001271643559448421, -0.00012777031224686652, -8.024986755117425e-07, -7.741621811874211e-05, -0.00033656699815765023, -0.000395775685319677], "flange_pose": [0.678611159324646, 0.02847503125667572, -0.06505291908979416, -0.002255989471450448, -0.004608494229614735, 0.9998921751976013, 0.01376029197126627], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.17933654785156, 15.022551536560059, 28.12862205505371, 0.3353781998157501, -24.145963668823242, 1.8208810091018677], "ext_wrench_in_world": [-108.44162494811938, 14.785975652392484, -27.229656478484262, -0.12277643641511395, -24.088837393674634, -2.483643825131826]}
+{"timestamp_ns": 1789729571330094205, "elapsed_ms": 14800, "source_timestamp_ns": 1789729571325258588, "q": [0.837080717086792, -1.8980885744094849, -1.007003664970398, 1.3810625076293945, -0.1601359248161316, 0.5939047336578369, 0.7030164003372192], "theta": [0.8391806483268738, -1.8962023258209229, -1.0052177906036377, 1.3626539707183838, -0.16071882843971252, 0.593863844871521, 0.7029717564582825], "dq": [-0.0013360277516767383, -0.0021951505914330482, 0.0014192963717505336, 0.0005836500786244869, 0.0049539366737008095, 0.00010673246288206428, 0.0005863047554157674], "dtheta": [0.0001171692056232132, 5.988646444166079e-05, -0.00016394387057516724, -0.00016265707381535321, -0.00037659259396605194, -0.0004486556863412261, 0.0007661501877009869], "tau": [55.59000015258789, 23.60999870300293, 5.436000347137451, -26.336000442504883, -2.6000001430511475, 2.6680002212524414, -0.5320000052452087], "tau_des": [0.413201242685318, -0.6136094331741333, -0.14551065862178802, -0.5450088381767273, 0.8988378643989563, -1.1556698083877563, -0.5566858053207397], "tau_dot": [106.95563507080078, -11.688840866088867, 18.03609848022461, -30.697349548339844, -15.525733947753906, 18.139284133911133, 15.327774047851562], "tau_ext": [-16.720003128051758, -41.62085723876953, 31.803791046142578, 31.353912353515625, 9.53690242767334, -2.99058198928833, -0.13003167510032654], "tcp_pose": [0.6779143214225769, 0.0325993187725544, -0.21499355137348175, -0.002256966196000576, -0.004609978757798672, 0.9998921751976013, 0.013757347129285336], "tcp_vel": [0.0001269667554879561, -0.00017395107715856284, 0.00014082419511396438, -0.0004973822506144643, -0.0001477237237850204, -0.0007270768983289599], "flange_pose": [0.6786103844642639, 0.028475679457187653, -0.06505186855792999, -0.002256966196000576, -0.004609978757798672, 0.9998921751976013, 0.013757347129285336], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1558609008789, 15.026148796081543, 28.139780044555664, 0.3291366696357727, -24.138233184814453, 1.8145356178283691], "ext_wrench_in_world": [-108.41833107720417, 14.789609310016425, -27.24069673666658, -0.11650877878600015, -24.0812416779807, -2.476973292406564]}
+{"timestamp_ns": 1789729571363442434, "elapsed_ms": 14833, "source_timestamp_ns": 1789729571355254126, "q": [0.8370828628540039, -1.8980902433395386, -1.007004737854004, 1.3810603618621826, -0.16013486683368683, 0.5938969254493713, 0.7030150294303894], "theta": [0.8391830325126648, -1.896204948425293, -1.0052183866500854, 1.3626513481140137, -0.16071787476539612, 0.5938557386398315, 0.7029712796211243], "dq": [0.0004466837563086301, -0.0018859375268220901, 0.00019451120169833302, 0.0033548627980053425, -0.000854012556374073, -2.2508835172629915e-05, 0.00010095361358253285], "dtheta": [0.0001261828001588583, -0.00039420995744876564, -0.00016382840112783015, -0.0003103889466729015, -3.0715975299244747e-05, -0.001285784412175417, 0.00039757019840180874], "tau": [55.56999969482422, 23.549999237060547, 5.432000160217285, -26.316001892089844, -2.5880000591278076, 2.6600000858306885, -0.5600000023841858], "tau_des": [0.46174293756484985, -0.5292970538139343, -0.1793135702610016, -0.5986095070838928, 0.8957673907279968, -1.1213502883911133, -0.547187089920044], "tau_dot": [40.88688278198242, -140.5674591064453, 18.140459060668945, 19.046262741088867, 52.038211822509766, 14.05018138885498, -43.99782180786133], "tau_ext": [-16.7441463470459, -41.61631774902344, 31.803377151489258, 31.364334106445312, 9.540229797363281, -2.990482807159424, -0.12410422414541245], "tcp_pose": [0.6779139041900635, 0.03259852156043053, -0.2149926871061325, -0.0022581294178962708, -0.00461046164855361, 0.9998922348022461, 0.01375480554997921], "tcp_vel": [-0.0001377822773065418, -0.0001196951197925955, -4.553162580123171e-05, -0.0010800869204103947, 0.0005399771616794169, -0.00024986942298710346], "flange_pose": [0.6786103248596191, 0.028475647792220116, -0.06505097448825836, -0.0022581294178962708, -0.00461046164855361, 0.9998922348022461, 0.01375480554997921], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13644409179688, 15.021461486816406, 28.150894165039062, 0.3213517367839813, -24.131755828857422, 1.812159776687622], "ext_wrench_in_world": [-108.39900124065807, 14.785161599906148, -27.251847915360308, -0.10875392624985428, -24.074772822081844, -2.4743313293186096]}
+{"timestamp_ns": 1789729571396763210, "elapsed_ms": 14866, "source_timestamp_ns": 1789729571395253580, "q": [0.8370832204818726, -1.8980940580368042, -1.0070050954818726, 1.3810542821884155, -0.1601346880197525, 0.5938932299613953, 0.7030153274536133], "theta": [0.8391829133033752, -1.8962093591690063, -1.0052188634872437, 1.3626450300216675, -0.16071739792823792, 0.5938509702682495, 0.7029710412025452], "dq": [-0.000752418942283839, 0.0010578868677839637, 0.0015200483612716198, 0.0003499443409964442, 0.0005531145725399256, -3.6085933970753103e-05, 0.0022145905531942844], "dtheta": [-0.00021756642672698945, 5.553813934966456e-06, 1.938432797032874e-05, 2.078501711366698e-05, -0.0005361599614843726, -0.0003732886107172817, 0.0009927027858793736], "tau": [55.55999755859375, 23.559999465942383, 5.444000244140625, -26.316001892089844, -2.5920000076293945, 2.6440000534057617, -0.5560000538825989], "tau_des": [0.4846619665622711, -0.5624528527259827, -0.17486189305782318, -0.59160977602005, 0.8945464491844177, -1.1421905755996704, -0.553752064704895], "tau_dot": [107.5041275024414, -139.8082275390625, 15.15223217010498, 56.618412017822266, 18.04339027404785, -15.103761672973633, -48.61478805541992], "tau_ext": [-16.74017333984375, -41.58591079711914, 31.791353225708008, 31.37302589416504, 9.531550407409668, -2.989487409591675, -0.11890608072280884], "tcp_pose": [0.6779148578643799, 0.03259998559951782, -0.2149912714958191, -0.0022568730637431145, -0.004610955715179443, 0.9998922348022461, 0.013753886334598064], "tcp_vel": [-5.667410368914716e-05, -9.153417340712622e-05, -0.00015247787814587355, -0.0005772485164925456, 0.0002536438114475459, -0.0006728491862304509], "flange_pose": [0.6786108613014221, 0.028477387502789497, -0.06504955142736435, -0.0022568730637431145, -0.004610955715179443, 0.9998922348022461, 0.013753886334598064], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.13397216796875, 14.993486404418945, 28.152484893798828, 0.30873385071754456, -24.128040313720703, 1.8092639446258545], "ext_wrench_in_world": [-108.3962256971746, 14.757111433940947, -27.254520612396522, -0.09612797256134475, -24.071025946170554, -2.4713460510637937]}
+{"timestamp_ns": 1789729571430100992, "elapsed_ms": 14900, "source_timestamp_ns": 1789729571425267124, "q": [0.8370824456214905, -1.8980939388275146, -1.007004976272583, 1.381052851676941, -0.16013523936271667, 0.5938917994499207, 0.7030148506164551], "theta": [0.8391823768615723, -1.8962093591690063, -1.0052186250686646, 1.3626431226730347, -0.1607169210910797, 0.5938490629196167, 0.7029703259468079], "dq": [-0.0015568938106298447, 0.003179411171004176, -0.0013668301980942488, -0.002216600812971592, -0.0026264998596161604, -0.00017238734290003777, -0.002453211694955826], "dtheta": [-0.00018896543770097196, 0.0001325074554188177, 7.588005973957479e-05, -5.507819514605217e-05, -0.00046261074021458626, -0.0001733352692099288, -0.00010593258775770664], "tau": [55.46999740600586, 23.6299991607666, 5.420000076293945, -26.312002182006836, -2.6040000915527344, 2.6760001182556152, -0.5440000295639038], "tau_des": [0.45281782746315, -0.5661895871162415, -0.1890890896320343, -0.5649601221084595, 0.8998429775238037, -1.155295968055725, -0.5324991941452026], "tau_dot": [-42.14036178588867, 122.3541030883789, -37.28404235839844, 28.38231086730957, -1.1593166589736938, 28.732418060302734, 0.3314577639102936], "tau_ext": [-16.70526695251465, -41.58135223388672, 31.797685623168945, 31.359844207763672, 9.52585506439209, -2.9833786487579346, -0.11717228591442108], "tcp_pose": [0.6779150366783142, 0.032600048929452896, -0.2149912565946579, -0.0022570863366127014, -0.004611277021467686, 0.9998922348022461, 0.013753716833889484], "tcp_vel": [2.1445028323796578e-05, -4.640276893042028e-05, -4.181708209216595e-05, -0.0002219269226770848, 4.0941817132988945e-05, 0.00032261773594655097], "flange_pose": [0.6786110997200012, 0.0284775011241436, -0.06504952907562256, -0.0022570863366127014, -0.004611277021467686, 0.9998922348022461, 0.013753716833889484], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.16517639160156, 14.962114334106445, 28.147024154663086, 0.30215170979499817, -24.137590408325195, 1.809417486190796], "ext_wrench_in_world": [-108.42713650392535, 14.72523317621058, -27.249748538320855, -0.08944481931396996, -24.08050759676811, -2.471783065203873]}
+{"timestamp_ns": 1789729571463437164, "elapsed_ms": 14933, "source_timestamp_ns": 1789729571455258484, "q": [0.8370822668075562, -1.8980937004089355, -1.0070046186447144, 1.381052851676941, -0.16013512015342712, 0.5938927531242371, 0.7030141949653625], "theta": [0.8391820192337036, -1.8962091207504272, -1.005218744277954, 1.3626424074172974, -0.1607169210910797, 0.5938495397567749, 0.7029696106910706], "dq": [-0.00043852365342900157, 0.0023641956504434347, 4.0206075937021524e-05, -0.0024015316739678383, -6.331875920295715e-05, -0.0015941554447636008, -0.003023037686944008], "dtheta": [-0.00020757511083502322, 7.155886123655364e-05, 0.0002789614663925022, -0.0002400369121460244, 0.00021177154849283397, 0.0005498441751115024, -0.000236768028116785], "tau": [55.48999786376953, 23.619998931884766, 5.424000263214111, -26.34800148010254, -2.5960001945495605, 2.6680002212524414, -0.5680000185966492], "tau_des": [0.4296492636203766, -0.5532437562942505, -0.23846416175365448, -0.5263248682022095, 0.884856104850769, -1.1845091581344604, -0.5302230715751648], "tau_dot": [-40.70094299316406, -13.521673202514648, -11.867670059204102, -62.869869232177734, -28.112163543701172, 5.623824119567871, -35.31203842163086], "tau_ext": [-16.704668045043945, -41.605918884277344, 31.79788589477539, 31.36620330810547, 9.526865005493164, -2.988656997680664, -0.11371955275535583], "tcp_pose": [0.6779150366783142, 0.03260037302970886, -0.21499116718769073, -0.0022569200955331326, -0.004611639771610498, 0.9998922348022461, 0.013754280284047127], "tcp_vel": [4.896851896774024e-05, 0.0002805354888550937, 4.784570410265587e-05, 0.0008607503841631114, -0.00020237092394381762, 0.00021662282233592123], "flange_pose": [0.6786110997200012, 0.028477653861045837, -0.06504945456981659, -0.0022569200955331326, -0.004611639771610498, 0.9998922348022461, 0.013754280284047127], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.19051361083984, 14.97103214263916, 28.141021728515625, 0.3082352876663208, -24.1478214263916, 1.8131701946258545], "ext_wrench_in_world": [-108.45252761153387, 14.733699922826835, -27.24341175351603, -0.09543364091096697, -24.09068491971291, -2.4758164930865076]}
+{"timestamp_ns": 1789729571496767577, "elapsed_ms": 14966, "source_timestamp_ns": 1789729571495251889, "q": [0.8370822072029114, -1.898093342781067, -1.0070056915283203, 1.3810533285140991, -0.16013579070568085, 0.5938915014266968, 0.7030162811279297], "theta": [0.8391825556755066, -1.8962092399597168, -1.0052201747894287, 1.3626424074172974, -0.16071762144565582, 0.5938490629196167, 0.7029717564582825], "dq": [-0.0006770275067538023, 0.0007484452216885984, -0.00017877307254821062, 3.772012860281393e-05, -0.0012559992028400302, -0.001151483622379601, 0.0010263092117384076], "dtheta": [4.6884171752026305e-05, -0.0002117736730724573, 6.060853411327116e-05, 3.4595632314449176e-05, -0.0008139473502524197, 0.00038796415901742876, 0.0006113333511166275], "tau": [55.5, 23.649999618530273, 5.440000057220459, -26.332000732421875, -2.616000175476074, 2.700000047683716, -0.5480000376701355], "tau_des": [0.42044389247894287, -0.5621673464775085, -0.20395851135253906, -0.5407772660255432, 0.9105605483055115, -1.1737319231033325, -0.5452686548233032], "tau_dot": [-64.20135498046875, 47.164833068847656, -10.312780380249023, -17.42305564880371, -26.212970733642578, 108.02854919433594, -26.422475814819336], "tau_ext": [-16.705379486083984, -41.60946273803711, 31.792984008789062, 31.369394302368164, 9.529513359069824, -2.9876365661621094, -0.11723898351192474], "tcp_pose": [0.6779151558876038, 0.032599352300167084, -0.214991495013237, -0.002257293788716197, -0.004610341042280197, 0.9998922348022461, 0.013753315433859825], "tcp_vel": [0.00010293910600012168, 9.291409514844418e-05, 6.784358993172646e-05, -0.00039374936022795737, -0.0007262296858243644, 2.1252069927868433e-05], "flange_pose": [0.6786112785339355, 0.02847692370414734, -0.06504977494478226, -0.002257293788716197, -0.004610341042280197, 0.9998922348022461, 0.013753315433859825], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.212890625, 14.969528198242188, 28.132532119750977, 0.31368157267570496, -24.15561294555664, 1.8166242837905884], "ext_wrench_in_world": [-108.47483331359912, 14.731982858013188, -27.23481327314534, -0.1008884492796119, -24.098433336582946, -2.479413022492873]}
+{"timestamp_ns": 1789729571530105269, "elapsed_ms": 15000, "source_timestamp_ns": 1789729571525263264, "q": [0.8370819687843323, -1.8980934619903564, -1.0070065259933472, 1.3810524940490723, -0.1601356863975525, 0.5938899517059326, 0.7030161619186401], "theta": [0.8391820192337036, -1.8962095975875854, -1.0052207708358765, 1.3626420497894287, -0.16071739792823792, 0.5938478708267212, 0.7029717564582825], "dq": [-0.002300319727510214, 0.0005023663397878408, 0.0024954741820693016, -0.003530275309458375, -0.0023519552778452635, -0.0003179135383106768, 0.0028664881829172373], "dtheta": [-0.00029494822956621647, -0.000263251771684736, 0.00018294631445314735, 1.3821146239934023e-05, 6.0359787312336266e-05, -0.0008013726328499615, -0.0005318841431289911], "tau": [55.48999786376953, 23.639999389648438, 5.432000160217285, -26.328001022338867, -2.572000026702881, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.5462454557418823, -0.47102275490760803, -0.23411571979522705, -0.641713559627533, 0.8777159452438354, -1.1234440803527832, -0.5267533659934998], "tau_dot": [-27.479631423950195, -46.74720764160156, 29.416290283203125, -5.87076997756958, 77.5697250366211, 44.740299224853516, -4.845015525817871], "tau_ext": [-16.71166229248047, -41.62249755859375, 31.80251121520996, 31.373676300048828, 9.530649185180664, -2.9864680767059326, -0.11928069591522217], "tcp_pose": [0.6779154539108276, 0.03259878233075142, -0.2149915248155594, -0.002257527317851782, -0.00461000157520175, 0.9998922348022461, 0.013752782717347145], "tcp_vel": [-0.00035793479764834046, 5.344356395653449e-05, -0.0003704794798977673, -0.0005705824005417526, 0.0009896780829876661, 0.0008240087190642953], "flange_pose": [0.6786116361618042, 0.028476515784859657, -0.06504978984594345, -0.002257527317851782, -0.00461000157520175, 0.9998922348022461, 0.013752782717347145], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.21965789794922, 14.970022201538086, 28.13991355895996, 0.31456586718559265, -24.15924835205078, 1.8159157037734985], "ext_wrench_in_world": [-108.48164198193693, 14.732660268367425, -27.24211316489915, -0.10175343490386302, -24.10209747652218, -2.4787750875757726]}
+{"timestamp_ns": 1789729571563498928, "elapsed_ms": 15033, "source_timestamp_ns": 1789729571555258962, "q": [0.8370820879936218, -1.8980941772460938, -1.007007122039795, 1.3810516595840454, -0.1601368486881256, 0.5938893556594849, 0.703016459941864], "theta": [0.8391823172569275, -1.896210789680481, -1.005221962928772, 1.3626419305801392, -0.16071787476539612, 0.5938469171524048, 0.7029715180397034], "dq": [-0.0021459751296788454, -0.002238177228718996, -0.001308925449848175, 0.0011894296621903777, 0.002685828134417534, -0.0001854527508839965, -0.00029294370324350893], "dtheta": [-0.00031715520890429616, -7.323247700696811e-05, 4.6458226279355586e-05, -9.282730388804339e-06, -0.0007857266464270651, -0.0014343325747177005, 1.5595394870615564e-05], "tau": [55.5099983215332, 23.670000076293945, 5.408000469207764, -26.340002059936523, -2.5880000591278076, 2.684000015258789, -0.5440000295639038], "tau_des": [0.5326699614524841, -0.5211939811706543, -0.1825970709323883, -0.6384434103965759, 0.8960744738578796, -1.113027811050415, -0.5353888273239136], "tau_dot": [28.02571678161621, 122.24201965332031, -32.60074996948242, -8.736014366149902, 30.660236358642578, 54.46611022949219, 17.615461349487305], "tau_ext": [-16.713258743286133, -41.6170654296875, 31.80109405517578, 31.368227005004883, 9.529123306274414, -2.99163818359375, -0.12356983870267868], "tcp_pose": [0.6779158115386963, 0.03259870782494545, -0.2149912565946579, -0.002256939420476556, -0.0046101887710392475, 0.9998922348022461, 0.013752039521932602], "tcp_vel": [-0.000260523782344535, -0.0002325560199096799, -0.0003287040744908154, -0.001445197151042521, 0.0009757335064932704, 0.0005344030214473605], "flange_pose": [0.6786118149757385, 0.028476662933826447, -0.06504952162504196, -0.002256939420476556, -0.0046101887710392475, 0.9998922348022461, 0.013752039521932602], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.21834564208984, 14.975146293640137, 28.13827133178711, 0.3155643939971924, -24.157934188842773, 1.8139278888702393], "ext_wrench_in_world": [-108.48034206954395, 14.737669717724915, -27.24048695111766, -0.10274306172315219, -24.10085146505064, -2.4767119469314465]}
+{"timestamp_ns": 1789729571596748231, "elapsed_ms": 15066, "source_timestamp_ns": 1789729571595265744, "q": [0.8370817303657532, -1.8980965614318848, -1.0070072412490845, 1.3810490369796753, -0.1601363569498062, 0.5938847064971924, 0.7030156850814819], "theta": [0.8391821980476379, -1.8962135314941406, -1.005221962928772, 1.3626400232315063, -0.16071762144565582, 0.5938421487808228, 0.7029708027839661], "dq": [-0.00043310996261425316, -0.0003672917082440108, 0.0001560474483994767, -0.0005996295949444175, -0.001012854278087616, 0.0012377703096717596, -0.0008112994255498052], "dtheta": [0.00017414304602425545, -0.00030319858342409134, -5.50169606867712e-05, 0.0002509871846996248, -5.9737751143984497e-05, 0.00012806167069356889, 0.00015855461242608726], "tau": [55.52000045776367, 23.619998931884766, 5.436000347137451, -26.328001022338867, -2.624000072479248, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.4522905945777893, -0.5266035199165344, -0.20744305849075317, -0.5806827545166016, 0.8950324654579163, -1.1537432670593262, -0.5397758483886719], "tau_dot": [5.8207316398620605, 55.423152923583984, -0.5970985293388367, -36.250728607177734, -61.147071838378906, 9.181983947753906, 13.258625030517578], "tau_ext": [-16.701005935668945, -41.595027923583984, 31.801586151123047, 31.37412452697754, 9.527567863464355, -2.98897123336792, -0.12033308297395706], "tcp_pose": [0.6779152154922485, 0.032599128782749176, -0.21499164402484894, -0.0022579748183488846, -0.004611024633049965, 0.9998922944068909, 0.013750484213232994], "tcp_vel": [-9.113440319197252e-05, 2.6502617402002215e-05, -6.737695366609842e-05, -0.00035854027373716235, -0.00011487043229863048, 7.537628698628396e-05], "flange_pose": [0.6786115765571594, 0.02847755141556263, -0.0650499016046524, -0.0022579748183488846, -0.004611024633049965, 0.9998922944068909, 0.013750484213232994], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.22940063476562, 14.96072006225586, 28.124387741088867, 0.3111943006515503, -24.154870986938477, 1.8106303215026855], "ext_wrench_in_world": [-108.49128042724941, 14.722495399739742, -27.226782637937255, -0.098349853394825, -24.097847488191398, -2.4732751953128513]}
+{"timestamp_ns": 1789729571630096780, "elapsed_ms": 15100, "source_timestamp_ns": 1789729571625256084, "q": [0.837081789970398, -1.898097276687622, -1.0070081949234009, 1.381048560142517, -0.16013537347316742, 0.5938841104507446, 0.7030139565467834], "theta": [0.8391817808151245, -1.896214485168457, -1.0052225589752197, 1.3626395463943481, -0.16071739792823792, 0.5938407182693481, 0.7029698491096497], "dq": [-0.0016855060821399093, -0.0006301833782345057, 0.0020342168863862753, -0.003247359301894903, 0.0006598068866878748, 0.0018172998679801822, 8.319732296513394e-05], "dtheta": [-0.0002266279625473544, 0.00014928750169929117, -0.00016603399126324803, 0.00012849034101236612, -3.0258412152761593e-05, -0.00018727386486716568, -0.0005450742319226265], "tau": [55.5, 23.619998931884766, 5.424000263214111, -26.328001022338867, -2.580000162124634, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.49405285716056824, -0.5586132407188416, -0.16421206295490265, -0.5984469056129456, 0.8862555027008057, -1.142443060874939, -0.5295921564102173], "tau_dot": [-49.75604248046875, -5.221746444702148, -39.119956970214844, 13.377537727355957, 53.627628326416016, 28.281906127929688, 8.36923599243164], "tau_ext": [-16.710391998291016, -41.59269332885742, 31.7945499420166, 31.38138198852539, 9.531854629516602, -2.9896302223205566, -0.11635512113571167], "tcp_pose": [0.6779153347015381, 0.03259887918829918, -0.21499179303646088, -0.0022580763325095177, -0.0046114674769341946, 0.9998922944068909, 0.013750171288847923], "tcp_vel": [-3.453175668255426e-05, -0.00019178517686668783, -0.0001944716350408271, -0.00020734874124173075, 0.00038688769564032555, 0.00036960674333386123], "flange_pose": [0.678611695766449, 0.028477396816015244, -0.06505005061626434, -0.0022580763325095177, -0.0046114674769341946, 0.9998922944068909, 0.013750171288847923], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.24647521972656, 14.936938285827637, 28.119993209838867, 0.30335426330566406, -24.159435272216797, 1.8112168312072754], "ext_wrench_in_world": [-108.50813409003827, 14.698330815501864, -27.222958114562797, -0.09045016680190335, -24.10232258354848, -2.4740064141068205]}
+{"timestamp_ns": 1789729571663431453, "elapsed_ms": 15133, "source_timestamp_ns": 1789729571655240345, "q": [0.8370813727378845, -1.8980965614318848, -1.007008671760559, 1.3810482025146484, -0.16013558208942413, 0.5938829779624939, 0.7030136585235596], "theta": [0.8391817212104797, -1.8962146043777466, -1.0052225589752197, 1.3626400232315063, -0.16071739792823792, 0.5938400030136108, 0.7029696106910706], "dq": [0.0012378959218040109, -0.0016053575091063976, 0.001410945551469922, -0.0007157758227549493, -0.0012387102469801903, -0.002063324209302664, 0.0002627369249239564], "dtheta": [6.812079664086923e-05, 0.000419575342675671, -3.86714527849108e-05, 0.00020400834910105914, 0.0002601576561573893, 0.00022990192519500852, -0.00023819436319172382], "tau": [55.5099983215332, 23.56999969482422, 5.440000057220459, -26.316001892089844, -2.5960001945495605, 2.688000202178955, -0.5480000376701355], "tau_des": [0.4161418080329895, -0.6192851066589355, -0.1595659703016281, -0.5439662933349609, 0.8821160793304443, -1.1646963357925415, -0.5389253497123718], "tau_dot": [75.66400146484375, -89.43203735351562, 19.027786254882812, 52.88285446166992, 3.556401252746582, 54.06427001953125, 22.084001541137695], "tau_ext": [-16.68878936767578, -41.59468460083008, 31.7945613861084, 31.36359977722168, 9.528511047363281, -2.9886839389801025, -0.11561936140060425], "tcp_pose": [0.6779155135154724, 0.03259824961423874, -0.21499185264110565, -0.0022584085818380117, -0.004611247684806585, 0.9998922944068909, 0.013749908655881882], "tcp_vel": [6.723850674461573e-05, -0.0001293091190746054, 8.230365347117186e-05, 0.00048286994569934905, 4.606700167641975e-05, -0.00018781612743623555], "flange_pose": [0.6786119937896729, 0.02847684547305107, -0.06505009531974792, -0.0022584085818380117, -0.004611247684806585, 0.9998922944068909, 0.013749908655881882], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.24598693847656, 14.944746017456055, 28.12123680114746, 0.3069700598716736, -24.160024642944336, 1.8141169548034668], "ext_wrench_in_world": [-108.50773500032692, 14.706206129808079, -27.22392380616239, -0.0940858379155623, -24.102866860702225, -2.476892941046682]}
+{"timestamp_ns": 1789729571696759307, "elapsed_ms": 15166, "source_timestamp_ns": 1789729571695237909, "q": [0.8370810747146606, -1.8980969190597534, -1.0070090293884277, 1.3810484409332275, -0.16013550758361816, 0.5938844084739685, 0.7030149102210999], "theta": [0.8391810059547424, -1.8962146043777466, -1.0052237510681152, 1.362640380859375, -0.16071714460849762, 0.5938419103622437, 0.7029703259468079], "dq": [-0.0007378683076240122, 0.0016660410910844803, -0.001990743912756443, 0.0016822803299874067, -0.003031747415661812, 0.001048738369718194, -0.0028003219049423933], "dtheta": [0.00025141460355371237, 0.0004627071903087199, -0.0001350473175989464, 9.60029524321726e-07, -0.00016698235413059592, 0.0010309296194463968, 3.38624777214136e-05], "tau": [55.52000045776367, 23.60999870300293, 5.432000160217285, -26.332000732421875, -2.5920000076293945, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.3186195492744446, -0.6848224401473999, -0.1423889845609665, -0.4561285078525543, 0.9016281962394714, -1.2077574729919434, -0.5462626218795776], "tau_dot": [112.4570083618164, 49.15040588378906, 7.492417335510254, -22.416372299194336, 24.299285888671875, 28.76172637939453, 12.356391906738281], "tau_ext": [-16.688051223754883, -41.59782791137695, 31.798233032226562, 31.365453720092773, 9.523173332214355, -2.9918689727783203, -0.11547059565782547], "tcp_pose": [0.677915632724762, 0.032598331570625305, -0.21499216556549072, -0.0022581189405173063, -0.004610602278262377, 0.9998922944068909, 0.013750065118074417], "tcp_vel": [0.00043734023347496986, -5.980060814181343e-05, 0.00043101186747662723, 0.0008267959929071367, -0.0011657970026135445, -0.00037001207238063216], "flange_pose": [0.6786119937896729, 0.028476880863308907, -0.065050408244133, -0.0022581189405173063, -0.004610602278262377, 0.9998922944068909, 0.013750065118074417], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.25431823730469, 14.955448150634766, 28.10943603515625, 0.31474870443344116, -24.16230583190918, 1.8167624473571777], "ext_wrench_in_world": [-108.51607473101514, 14.716651686113295, -27.21185272536306, -0.10188539369214143, -24.10514570875753, -2.4795736282479597]}
+{"timestamp_ns": 1789729571730098788, "elapsed_ms": 15200, "source_timestamp_ns": 1789729571725246555, "q": [0.8370816707611084, -1.898097038269043, -1.0070096254348755, 1.3810489177703857, -0.1601353883743286, 0.5938841104507446, 0.7030145525932312], "theta": [0.8391813635826111, -1.8962148427963257, -1.0052242279052734, 1.3626409769058228, -0.16071714460849762, 0.5938428640365601, 0.702970564365387], "dq": [-0.0016536591574549675, 0.0010769455693662167, 0.001808012486435473, 0.0007885111845098436, 0.0014300072798505425, 0.001754631521180272, 0.0012667657574638724], "dtheta": [0.00040632509626448154, -0.0001381283364025876, 3.079631642322056e-05, 0.00011864546831930056, -1.5904286556178704e-05, 0.0004935757606290281, -0.0006155177834443748], "tau": [55.54999923706055, 23.59000015258789, 5.400000095367432, -26.34400177001953, -2.6080000400543213, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.3661341667175293, -0.5690368413925171, -0.2159026563167572, -0.512856662273407, 0.9024893045425415, -1.183989405632019, -0.5277390480041504], "tau_dot": [132.4467010498047, -32.3488655090332, -44.83729934692383, -85.70126342773438, -15.072043418884277, -27.19066619873047, -22.257640838623047], "tau_ext": [-16.673580169677734, -41.61345672607422, 31.804698944091797, 31.359691619873047, 9.522296905517578, -2.9964327812194824, -0.11500906944274902], "tcp_pose": [0.6779156923294067, 0.03259795904159546, -0.21499201655387878, -0.002258048392832279, -0.004610635805875063, 0.9998922944068909, 0.013749703764915466], "tcp_vel": [8.815339242573828e-05, 0.00011147467012051493, 0.00024066801415756345, 0.00016441642947029322, -0.0007000783225521445, 0.0007452163263224065], "flange_pose": [0.6786120533943176, 0.028476614505052567, -0.06505026668310165, -0.002258048392832279, -0.004610635805875063, 0.9998922944068909, 0.013749703764915466], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.24417877197266, 14.967745780944824, 28.10045623779297, 0.3204542398452759, -24.158803939819336, 1.8168824911117554], "ext_wrench_in_world": [-108.50600376368014, 14.72876465191308, -27.20260891198998, -0.10762128746557639, -24.101696748897886, -2.4795548373897542]}
+{"timestamp_ns": 1789729571763431652, "elapsed_ms": 15233, "source_timestamp_ns": 1789729571755262149, "q": [0.8370820879936218, -1.8980966806411743, -1.0070102214813232, 1.381048560142517, -0.160135880112648, 0.5938820242881775, 0.7030155062675476], "theta": [0.8391814827919006, -1.8962148427963257, -1.0052247047424316, 1.3626409769058228, -0.16071762144565582, 0.5938409566879272, 0.7029710412025452], "dq": [0.0003208621346857399, -0.000673619331791997, -0.00013074645539745688, 0.0026235238183289766, 0.0008902587578631938, -0.0008761516073718667, -0.001617332804016769], "dtheta": [0.000209777572308667, 0.00030890031484887004, -7.471533081115922e-06, -0.00011757879838114604, -0.0007089319406077266, -0.000944535480812192, -0.0003229962312616408], "tau": [55.48999786376953, 23.670000076293945, 5.4160003662109375, -26.30000114440918, -2.568000078201294, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.37451037764549255, -0.6328842639923096, -0.15258701145648956, -0.526802122592926, 0.9082678556442261, -1.1529262065887451, -0.5360165238380432], "tau_dot": [27.700618743896484, 102.60259246826172, -2.9405341148376465, 34.039703369140625, 13.862350463867188, 12.189248085021973, -9.75390911102295], "tau_ext": [-16.68451499938965, -41.6077995300293, 31.79730224609375, 31.36477279663086, 9.525504112243652, -3.003859519958496, -0.11933006346225739], "tcp_pose": [0.6779159307479858, 0.032597195357084274, -0.2149917036294937, -0.0022582344245165586, -0.0046099410392344, 0.9998922944068909, 0.013748903758823872], "tcp_vel": [9.601360216038302e-05, -0.0002711283741518855, 0.00023670749214943498, -0.0007641913252882659, 6.496175501524704e-06, 0.0005079657421447337], "flange_pose": [0.6786123514175415, 0.028476091101765633, -0.06504993885755539, -0.0022582344245165586, -0.0046099410392344, 0.9998922944068909, 0.013748903758823872], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.24346160888672, 14.982236862182617, 28.09345817565918, 0.32821449637413025, -24.153593063354492, 1.817742109298706], "ext_wrench_in_world": [-108.50537694362801, 14.743170187235414, -27.195199978819737, -0.11546706857103402, -24.096540299899313, -2.480197962477592]}
+{"timestamp_ns": 1789729571796758526, "elapsed_ms": 15266, "source_timestamp_ns": 1789729571795259004, "q": [0.8370832800865173, -1.898097038269043, -1.00701105594635, 1.3810487985610962, -0.1601356714963913, 0.5938819050788879, 0.7030156254768372], "theta": [0.8391820192337036, -1.896215796470642, -1.005225658416748, 1.3626413345336914, -0.16071714460849762, 0.5938411951065063, 0.7029715180397034], "dq": [0.004732313100248575, 0.00023707642685621977, 0.0029145071748644114, -0.0020420898217707872, 0.0009528513764962554, -0.00229435320943594, -0.0010005965596064925], "dtheta": [-0.00036653870483860373, 3.014171488757711e-05, -8.988570334622636e-05, 0.00011264185741310939, 0.0005465333233587444, 0.0005603712052106857, 0.0002859548549167812], "tau": [55.5, 23.579999923706055, 5.420000076293945, -26.32400131225586, -2.5840001106262207, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.5131515264511108, -0.5609748363494873, -0.1745252013206482, -0.5880455374717712, 0.8615813255310059, -1.1617803573608398, -0.5529957413673401], "tau_dot": [-6.944012641906738, -112.11820983886719, 21.823883056640625, 10.280664443969727, 58.81578826904297, -1.3072525262832642, -14.410534858703613], "tau_ext": [-16.716772079467773, -41.644203186035156, 31.801057815551758, 31.38076400756836, 9.527583122253418, -2.9975569248199463, -0.1259995996952057], "tcp_pose": [0.6779161691665649, 0.032596830278635025, -0.2149912267923355, -0.002257745945826173, -0.004609723575413227, 0.9998922944068909, 0.013748424127697945], "tcp_vel": [-5.4484895372297615e-05, 4.674879528465681e-05, -0.0002758188056759536, 0.0006049932562746108, 0.00031456962460651994, -0.000667975633405149], "flange_pose": [0.6786124110221863, 0.028475869446992874, -0.06504945456981659, -0.002257745945826173, -0.004609723575413227, 0.9998922944068909, 0.013748424127697945], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.22647857666016, 14.991629600524902, 28.10826873779297, 0.3304484188556671, -24.152223587036133, 1.8132214546203613], "ext_wrench_in_world": [-108.48851645576933, 14.753145899353889, -27.209940792259086, -0.11770076066675801, -24.095318646408998, -2.475608664178865]}
+{"timestamp_ns": 1789729571830100127, "elapsed_ms": 15300, "source_timestamp_ns": 1789729571825260511, "q": [0.8370837569236755, -1.8980989456176758, -1.0070115327835083, 1.381049394607544, -0.16013549268245697, 0.5938815474510193, 0.7030147910118103], "theta": [0.8391823172569275, -1.8962174654006958, -1.0052266120910645, 1.36264169216156, -0.16071714460849762, 0.5938407182693481, 0.7029708027839661], "dq": [0.0008348461706191301, 0.0007673059008084238, -0.0023472867906093597, -0.0014238026924431324, -0.0021393788047134876, -0.0007848256500437856, -4.812359838979319e-05], "dtheta": [-2.2998441636445932e-05, -0.00014337686297949404, 0.00013568298891186714, 0.00013224678696133196, 0.0004359337326604873, 0.001098458538763225, 1.2693893950199708e-05], "tau": [55.54999923706055, 23.59000015258789, 5.4120001792907715, -26.336000442504883, -2.564000129699707, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.4449423849582672, -0.543819785118103, -0.22771494090557098, -0.5451262593269348, 0.8767971396446228, -1.1851024627685547, -0.5410242676734924], "tau_dot": [138.30711364746094, -80.57363891601562, -54.73518753051758, 9.801980018615723, 86.66791534423828, 9.540337562561035, -23.8948974609375], "tau_ext": [-16.685230255126953, -41.61001968383789, 31.804428100585938, 31.360946655273438, 9.528369903564453, -2.9947926998138428, -0.12350981682538986], "tcp_pose": [0.677915632724762, 0.03259691223502159, -0.21499180793762207, -0.0022578623611479998, -0.0046105701476335526, 0.9998922944068909, 0.013747324235737324], "tcp_vel": [5.580213837674819e-06, 0.0002954083029180765, -2.065205444523599e-05, 0.0008927324088290334, -0.00041708588832989335, -6.83909747749567e-05], "flange_pose": [0.6786119341850281, 0.028476282954216003, -0.06505004316568375, -0.0022578623611479998, -0.0046105701476335526, 0.9998922944068909, 0.013747324235737324], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.21939086914062, 14.98617172241211, 28.110889434814453, 0.3265916407108307, -24.150766372680664, 1.8111686706542969], "ext_wrench_in_world": [-108.48142182563355, 14.747583770953392, -27.2127525143176, -0.11380750638195664, -24.093888275613644, -2.4734805547817715]}
+{"timestamp_ns": 1789729571863497215, "elapsed_ms": 15333, "source_timestamp_ns": 1789729571855255940, "q": [0.8370839953422546, -1.8981003761291504, -1.0070116519927979, 1.3810486793518066, -0.16013571619987488, 0.5938775539398193, 0.7030149102210999], "theta": [0.8391820192337036, -1.8962188959121704, -1.0052270889282227, 1.3626415729522705, -0.1607169210910797, 0.5938373804092407, 0.7029710412025452], "dq": [-0.0004508300044108182, -0.00017387879779562354, -0.00060753378784284, 0.0006824859301559627, 0.0008794143213890493, 0.00011208352952962741, 0.0017107482999563217], "dtheta": [-0.00043650445877574384, -0.0004296661354601383, -0.00028202857356518507, 0.00011004348198184744, 0.0009266942506656051, 3.05301473417785e-05, 0.0006730045424774289], "tau": [55.529998779296875, 23.6299991607666, 5.448000431060791, -26.34800148010254, -2.616000175476074, 2.6560001373291016, -0.5640000104904175], "tau_des": [0.6012471914291382, -0.4819607436656952, -0.1852630376815796, -0.6642012596130371, 0.8497570753097534, -1.1252988576889038, -0.5581169724464417], "tau_dot": [99.22676849365234, 24.52223777770996, 52.986141204833984, -68.79463195800781, -14.718961715698242, 14.853103637695312, -35.38044357299805], "tau_ext": [-16.69777488708496, -41.592872619628906, 31.797971725463867, 31.369871139526367, 9.526778221130371, -2.99333119392395, -0.12164107710123062], "tcp_pose": [0.6779149174690247, 0.032596759498119354, -0.2149921953678131, -0.0022588931024074554, -0.004610965959727764, 0.9998923540115356, 0.01374560222029686], "tcp_vel": [-0.00027755677001550794, 1.965037517948076e-05, -0.0005604061880148947, 3.082331386394799e-05, 0.0009441277361474931, -0.0010808412916958332], "flange_pose": [0.6786115169525146, 0.028476646170020103, -0.065050408244133, -0.0022588931024074554, -0.004610965959727764, 0.9998923540115356, 0.01374560222029686], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.2355728149414, 14.970559120178223, 28.10363006591797, 0.32066377997398376, -24.152833938598633, 1.811318278312683], "ext_wrench_in_world": [-108.49749376648614, 14.731444427257156, -27.20568465062285, -0.10784681984345154, -24.09590446936898, -2.4736295796162286]}
+{"timestamp_ns": 1789729571896763354, "elapsed_ms": 15366, "source_timestamp_ns": 1789729571895260812, "q": [0.837083101272583, -1.898101568222046, -1.0070116519927979, 1.3810501098632812, -0.16013604402542114, 0.5938777923583984, 0.7030136585235596], "theta": [0.839181661605835, -1.8962191343307495, -1.0052275657653809, 1.3626421689987183, -0.16071762144565582, 0.5938378572463989, 0.7029698491096497], "dq": [-0.0009379808907397091, 0.00048092129873111844, 0.000172922620549798, -0.00017850961012300104, 0.001053202198818326, 0.001890853513032198, 0.003431453136727214], "dtheta": [0.00041890685679391026, -0.00013768750068265945, -3.019072573806625e-05, 0.00016314514505211264, -3.171136631863192e-05, -0.000491107814013958, -0.001009890460409224], "tau": [55.44999694824219, 23.65999984741211, 5.420000076293945, -26.328001022338867, -2.5960001945495605, 2.6760001182556152, -0.5360000133514404], "tau_des": [0.4196659326553345, -0.5338547229766846, -0.21226295828819275, -0.5776512622833252, 0.898921012878418, -1.1411713361740112, -0.5169923305511475], "tau_dot": [-95.54903411865234, 68.619140625, -17.232559204101562, 30.607568740844727, 19.352519989013672, -12.024970054626465, 44.49810028076172], "tau_ext": [-16.691444396972656, -41.60641098022461, 31.801063537597656, 31.363649368286133, 9.52821159362793, -2.9944956302642822, -0.11838676035404205], "tcp_pose": [0.6779139041900635, 0.03259690850973129, -0.21499371528625488, -0.0022597445640712976, -0.0046122074127197266, 0.9998923540115356, 0.013744770549237728], "tcp_vel": [-8.772139699431136e-05, -8.723411156097427e-05, 0.00011543438449734822, -0.0005511229392141104, 2.917840720328968e-05, 0.0011352213332429528], "flange_pose": [0.6786107420921326, 0.028477050364017487, -0.06505192816257477, -0.0022597445640712976, -0.0046122074127197266, 0.9998923540115356, 0.013744770549237728], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.22420501708984, 14.971880912780762, 28.102794647216797, 0.31826600432395935, -24.15125274658203, 1.8134186267852783], "ext_wrench_in_world": [-108.48621695608794, 14.732530659057781, -27.204707452346447, -0.10541704677592445, -24.094248379964245, -2.475655841510612]}
+{"timestamp_ns": 1789729571930099906, "elapsed_ms": 15400, "source_timestamp_ns": 1789729571925256860, "q": [0.837083101272583, -1.8981016874313354, -1.0070123672485352, 1.3810502290725708, -0.16013623774051666, 0.5938782095909119, 0.7030139565467834], "theta": [0.8391810655593872, -1.8962188959121704, -1.005228042602539, 1.3626421689987183, -0.16071787476539612, 0.5938383340835571, 0.702970564365387], "dq": [0.0007168968440964818, -0.0010518392082303762, 0.00036917178658768535, -0.0015900499420240521, -0.001258944976143539, 0.0004722431767731905, -0.00021580184693448246], "dtheta": [-0.00010147732973564416, -0.00012000687274849042, -0.0001890783169073984, -0.00011426288256188855, 9.846175089478493e-06, -0.001133084180764854, -0.00046215354814194143], "tau": [55.48999786376953, 23.60999870300293, 5.424000263214111, -26.316001892089844, -2.6040000915527344, 2.688000202178955, -0.5480000376701355], "tau_des": [0.5139738321304321, -0.5253148078918457, -0.17712178826332092, -0.6275826692581177, 0.8825509548187256, -1.116359829902649, -0.5308183431625366], "tau_dot": [7.409282207489014, -71.92158508300781, -60.56962203979492, -33.851078033447266, -1.4501562118530273, 22.816499710083008, -17.190568923950195], "tau_ext": [-16.694589614868164, -41.6176643371582, 31.798831939697266, 31.365436553955078, 9.524924278259277, -2.998767852783203, -0.11524377763271332], "tcp_pose": [0.6779141426086426, 0.03259655088186264, -0.21499383449554443, -0.002259484026581049, -0.004611911252140999, 0.9998923540115356, 0.013744475319981575], "tcp_vel": [-0.00015885615721344948, -0.0002249907556688413, -0.00019335377146489918, -0.0008761583594605327, 0.0007999470108188689, 0.0004128004948142916], "flange_pose": [0.6786109209060669, 0.0284767784178257, -0.06505203247070312, -0.002259484026581049, -0.004611911252140999, 0.9998923540115356, 0.013744475319981575], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.22715759277344, 14.9747953414917, 28.101818084716797, 0.3224746286869049, -24.151609420776367, 1.8153001070022583], "ext_wrench_in_world": [-108.48916869978953, 14.735438478149169, -27.203702753161874, -0.10964405566953368, -24.09459370183823, -2.477513774483773]}
+{"timestamp_ns": 1789729571963438497, "elapsed_ms": 15433, "source_timestamp_ns": 1789729571955241212, "q": [0.8370826244354248, -1.898101806640625, -1.0070139169692993, 1.381050705909729, -0.16013608872890472, 0.5938794016838074, 0.703015148639679], "theta": [0.8391808271408081, -1.8962185382843018, -1.0052294731140137, 1.3626424074172974, -0.16071787476539612, 0.5938400030136108, 0.7029717564582825], "dq": [-0.002147614024579525, 0.004976754542440176, -0.0006914644036442041, -0.00036136078415438533, 0.0007806437788531184, 0.0006136146257631481, 0.0009678927017375827], "dtheta": [6.570872301381314e-06, -0.00020476977806538343, -0.00021777655638288707, 0.0001275408430956304, -8.329856427735649e-06, 0.00037566624814644456, -3.0336124837049283e-05], "tau": [55.439998626708984, 23.6299991607666, 5.432000160217285, -26.32000160217285, -2.5920000076293945, 2.6760001182556152, -0.5520000457763672], "tau_des": [0.4796864688396454, -0.5463423728942871, -0.17728345096111298, -0.5870285630226135, 0.885683536529541, -1.1547828912734985, -0.5418437123298645], "tau_dot": [-20.665739059448242, -69.661376953125, 30.04758644104004, -5.025033473968506, -16.712478637695312, -1.5510376691818237, -22.812620162963867], "tau_ext": [-16.680160522460938, -41.61564636230469, 31.792455673217773, 31.35994529724121, 9.52775764465332, -3.001784086227417, -0.12023071199655533], "tcp_pose": [0.6779146194458008, 0.03259582445025444, -0.21499431133270264, -0.002259223721921444, -0.004610776901245117, 0.9998923540115356, 0.013744271360337734], "tcp_vel": [4.094793621334247e-05, -2.575182224973105e-05, -8.153288217727095e-05, -0.00012361755943857133, -0.00026241745217703283, 3.0243838409660384e-05], "flange_pose": [0.6786112785339355, 0.028476111590862274, -0.06505250930786133, -0.002259223721921444, -0.004610776901245117, 0.9998923540115356, 0.013744271360337734], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.2166748046875, 14.982752799987793, 28.091707229614258, 0.32870084047317505, -24.14796257019043, 1.8168238401412964], "ext_wrench_in_world": [-108.47866549780078, 14.743447817446024, -27.193482318266742, -0.1159640066718, -24.090965098808248, -2.478899424565467]}
+{"timestamp_ns": 1789729571996770571, "elapsed_ms": 15466, "source_timestamp_ns": 1789729571995231608, "q": [0.8370830416679382, -1.898102045059204, -1.007016658782959, 1.381050705909729, -0.16013628244400024, 0.593878984451294, 0.7030155062675476], "theta": [0.8391812443733215, -1.8962188959121704, -1.0052319765090942, 1.362642765045166, -0.16071835160255432, 0.5938395261764526, 0.7029722332954407], "dq": [0.0006278713117353618, 0.001974556827917695, 0.0011207204079255462, -0.000759982387535274, 6.84747938066721e-05, -0.00027063468587584794, -0.0014865455450490117], "dtheta": [9.49415989452973e-05, -7.989361620275304e-05, -7.432138227159157e-05, -9.420061542186886e-05, -0.0004371367977000773, 0.00036551689845509827, -0.00014800469216424972], "tau": [55.46999740600586, 23.649999618530273, 5.4120001792907715, -26.304000854492188, -2.616000175476074, 2.6720001697540283, -0.5360000133514404], "tau_des": [0.4143153131008148, -0.58632892370224, -0.1711372584104538, -0.5360680222511292, 0.9028195142745972, -1.1711912155151367, -0.5402004718780518], "tau_dot": [-110.16802215576172, -43.49476623535156, -14.87204360961914, 51.200904846191406, -23.552236557006836, -4.884995460510254, 4.3114848136901855], "tau_ext": [-16.680822372436523, -41.629066467285156, 31.80478286743164, 31.356428146362305, 9.532308578491211, -3.0051021575927734, -0.12412410229444504], "tcp_pose": [0.6779154539108276, 0.03259431570768356, -0.21499428153038025, -0.002258704509586096, -0.004609772469848394, 0.9998923540115356, 0.013743127696216106], "tcp_vel": [0.0001884359953692183, 2.750882413238287e-05, 0.00015620398335158825, -8.475501090288162e-05, -0.0007163701229728758, 0.00036844631540589035], "flange_pose": [0.6786119937896729, 0.028474945574998856, -0.06505246460437775, -0.002258704509586096, -0.004609772469848394, 0.9998923540115356, 0.013743127696216106], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.21707153320312, 15.005685806274414, 28.083738327026367, 0.3388685882091522, -24.14527702331543, 1.817123293876648], "ext_wrench_in_world": [-108.47917766600239, 14.766305354345365, -27.185028512952428, -0.12620327725145303, -24.08837225468752, -2.479025286333191]}
+{"timestamp_ns": 1789729572030102701, "elapsed_ms": 15500, "source_timestamp_ns": 1789729572025243613, "q": [0.837083101272583, -1.8981019258499146, -1.0070171356201172, 1.3810515403747559, -0.16013719141483307, 0.593878984451294, 0.7030156850814819], "theta": [0.8391816020011902, -1.89621901512146, -1.005232572555542, 1.3626430034637451, -0.16071906685829163, 0.5938395261764526, 0.7029731869697571], "dq": [0.001413355697877705, -0.002553351456299424, 0.001645336509682238, -4.3071413529105484e-05, 0.0002963475708384067, -0.0012573979329317808, -0.00044205685844644904], "dtheta": [-1.4980759260652121e-05, 0.00024616337032057345, -0.00011622989404713735, 0.0002913293137680739, -0.0008641137974336743, 0.0008825729019008577, -0.00015171793347690254], "tau": [55.529998779296875, 23.619998931884766, 5.432000160217285, -26.32000160217285, -2.620000123977661, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.43162110447883606, -0.6204503774642944, -0.13805702328681946, -0.5486931204795837, 0.9060140252113342, -1.1734153032302856, -0.5395256280899048], "tau_dot": [119.80895233154297, 63.82733154296875, 18.257469177246094, -12.714397430419922, -18.39952850341797, -5.532922267913818, 11.23581600189209], "tau_ext": [-16.6722469329834, -41.617733001708984, 31.809024810791016, 31.35258674621582, 9.533255577087402, -3.001659870147705, -0.13236242532730103], "tcp_pose": [0.6779154539108276, 0.03259382024407387, -0.21499454975128174, -0.002258695662021637, -0.004609820432960987, 0.9998924136161804, 0.013742511160671711], "tcp_vel": [0.00026961363619193435, -0.00011407290730858222, 9.804618457565084e-05, -1.816506301111076e-05, -0.0009379960247315466, 0.0004095944750588387], "flange_pose": [0.6786119937896729, 0.028474632650613785, -0.06505273282527924, -0.002258695662021637, -0.004609820432960987, 0.9998924136161804, 0.013742511160671711], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.2221908569336, 15.008000373840332, 28.07833480834961, 0.3373696506023407, -24.14263916015625, 1.813905954360962], "ext_wrench_in_world": [-108.48429358867396, 14.768378875998659, -27.17956189210712, -0.12471121202076031, -24.085813013038933, -2.475713498053519]}
+{"timestamp_ns": 1789729572063492623, "elapsed_ms": 15533, "source_timestamp_ns": 1789729572055265164, "q": [0.8370838165283203, -1.8981014490127563, -1.0070176124572754, 1.3810508251190186, -0.16013669967651367, 0.5938772559165955, 0.7030143737792969], "theta": [0.8391820192337036, -1.8962194919586182, -1.005232810974121, 1.362642526626587, -0.16071882843971252, 0.5938383340835571, 0.7029724717140198], "dq": [-0.00017266486247535795, -0.0004370661044958979, 0.0024603374768048525, -0.0017828424461185932, 0.00021102871687617153, 0.0016471081180498004, -0.002546255476772785], "dtheta": [9.60356555879116e-05, 0.00016920901543926448, -0.00020589763880707324, -7.841840124456212e-05, 0.00029605432064272463, -0.00016970779688563198, -0.0004940470680594444], "tau": [55.52000045776367, 23.670000076293945, 5.424000263214111, -26.284000396728516, -2.5960001945495605, 2.6560001373291016, -0.5400000214576721], "tau_des": [0.4246903955936432, -0.6106153130531311, -0.137426495552063, -0.5517764091491699, 0.8838387727737427, -1.154970407485962, -0.5410388112068176], "tau_dot": [61.73825454711914, 127.20465850830078, -8.31502628326416, 22.512739181518555, 27.62253189086914, -8.169343948364258, -18.28599739074707], "tau_ext": [-16.677448272705078, -41.60016632080078, 31.797016143798828, 31.35470962524414, 9.531877517700195, -2.992249011993408, -0.13258996605873108], "tcp_pose": [0.6779157519340515, 0.03259331360459328, -0.2149938941001892, -0.0022587471175938845, -0.004609974101185799, 0.9998924136161804, 0.013742288574576378], "tcp_vel": [9.326383587904274e-05, -0.0001540943922009319, 9.55293799052015e-05, 0.00011492468911455944, 5.382896779337898e-05, 6.332701013889164e-05], "flange_pose": [0.6786122918128967, 0.028474194929003716, -0.0650520771741867, -0.0022587471175938845, -0.004609974101185799, 0.9998924136161804, 0.013742288574576378], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.2246322631836, 14.983865737915039, 28.082393646240234, 0.32704371213912964, -24.14437484741211, 1.8090587854385376], "ext_wrench_in_world": [-108.48653991677446, 14.744297489283777, -27.18426828680845, -0.11434019476872609, -24.087586382721554, -2.4709505510948806]}
+{"timestamp_ns": 1789729572096766982, "elapsed_ms": 15566, "source_timestamp_ns": 1789729572095262239, "q": [0.8370838165283203, -1.8981043100357056, -1.0070172548294067, 1.3810505867004395, -0.1601363718509674, 0.5938749313354492, 0.7030138969421387], "theta": [0.8391821980476379, -1.8962208032608032, -1.005232572555542, 1.3626428842544556, -0.16071859002113342, 0.5938369035720825, 0.7029715180397034], "dq": [-0.002718874951824546, 0.000763032294344157, -0.0016540406504645944, 0.0006235891487449408, -0.0010565172415226698, -0.0007726229378022254, 0.0015839291736483574], "dtheta": [7.664123404538259e-05, -0.0002498481480870396, 0.00038400848279707134, 0.0004554282932076603, -0.0002915110671892762, 0.0007067504920996726, -0.0003393093356862664], "tau": [55.5, 23.59000015258789, 5.444000244140625, -26.30000114440918, -2.5920000076293945, 2.6760001182556152, -0.5480000376701355], "tau_des": [0.496234267950058, -0.4873885214328766, -0.2595674693584442, -0.6106904149055481, 0.8871493339538574, -1.15351140499115, -0.5250414609909058], "tau_dot": [-40.99592208862305, -69.68540954589844, 9.273149490356445, -9.312386512756348, 70.13506317138672, 52.04631805419922, -43.436676025390625], "tau_ext": [-16.694063186645508, -41.60639953613281, 31.79741668701172, 31.36382484436035, 9.537310600280762, -2.9947760105133057, -0.129435732960701], "tcp_pose": [0.677914559841156, 0.03259402886033058, -0.2149948626756668, -0.0022596586495637894, -0.004611177369952202, 0.9998924136161804, 0.01374074537307024], "tcp_vel": [-0.00018489126523490995, 0.00028849142836406827, -0.0001002701319521293, 7.981308590387926e-05, -0.00029358736355789006, 0.0009927676292136312], "flange_pose": [0.6786113977432251, 0.028475375846028328, -0.06505303084850311, -0.0022596586495637894, -0.004611177369952202, 0.9998924136161804, 0.01374074537307024], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.21752166748047, 14.964818954467773, 28.102794647216797, 0.3154808282852173, -24.14723777770996, 1.806316614151001], "ext_wrench_in_world": [-108.47943423352322, 14.725536387369742, -27.205069300669095, -0.1026846139136095, -24.090423971777586, -2.4682643470474463]}
+{"timestamp_ns": 1789729572130099098, "elapsed_ms": 15600, "source_timestamp_ns": 1789729572125256507, "q": [0.8370828628540039, -1.898103952407837, -1.0070174932479858, 1.3810503482818604, -0.16013562679290771, 0.5938746333122253, 0.7030128836631775], "theta": [0.8391817808151245, -1.8962209224700928, -1.005232572555542, 1.3626432418823242, -0.16071787476539612, 0.5938369035720825, 0.7029708027839661], "dq": [0.001761921332217753, -0.001612079911865294, -0.001051660510711372, 0.0006925267516635358, -0.0002823600370902568, 0.0002283657231600955, -0.003872564760968089], "dtheta": [0.00019030361727345735, 2.6481779059395194e-05, 0.00018435610400047153, 0.0003038152353838086, 7.389899110421538e-05, 0.0004450854903552681, -9.350668551633134e-05], "tau": [55.439998626708984, 23.639999389648438, 5.436000347137451, -26.30000114440918, -2.6120002269744873, 2.688000202178955, -0.5400000214576721], "tau_des": [0.45613130927085876, -0.5549113154411316, -0.21243682503700256, -0.5807015895843506, 0.8781421184539795, -1.1562556028366089, -0.5372130870819092], "tau_dot": [-87.35707092285156, 86.0236587524414, -12.02415943145752, 58.098907470703125, -7.651488304138184, 80.7984619140625, 34.345455169677734], "tau_ext": [-16.676250457763672, -41.601139068603516, 31.801441192626953, 31.362388610839844, 9.534899711608887, -3.0009851455688477, -0.12341448664665222], "tcp_pose": [0.6779144406318665, 0.03259386494755745, -0.2149953991174698, -0.0022603338584303856, -0.004611252341419458, 0.9998924136161804, 0.013741053640842438], "tcp_vel": [-5.933926877332851e-05, 0.00011081302363891155, 5.5820819397922605e-05, 0.0002998850541189313, -0.00018619679030962288, 0.00020138878608122468], "flange_pose": [0.6786114573478699, 0.028475118800997734, -0.06505357474088669, -0.0022603338584303856, -0.004611252341419458, 0.9998924136161804, 0.013741053640842438], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.22191619873047, 14.964584350585938, 28.0931396484375, 0.31789645552635193, -24.145240783691406, 1.8103344440460205], "ext_wrench_in_world": [-108.48382073418121, 14.72499446004831, -27.1952496381817, -0.10513638499855721, -24.088338429892165, -2.4722296587696473]}
+{"timestamp_ns": 1789729572163430454, "elapsed_ms": 15633, "source_timestamp_ns": 1789729572155255732, "q": [0.8370826840400696, -1.898104190826416, -1.0070178508758545, 1.3810497522354126, -0.16013550758361816, 0.5938751697540283, 0.7030120491981506], "theta": [0.8391818404197693, -1.8962211608886719, -1.005232810974121, 1.3626430034637451, -0.16071787476539612, 0.5938373804092407, 0.7029700875282288], "dq": [0.00027406500885263085, -0.00031181873055174947, -0.0017098007956519723, 0.00031439532176591456, 0.00036271376302465796, -0.0019185016863048077, -0.00020544584549497813], "dtheta": [0.00010720407590270042, -0.0002978953707497567, -0.00022946565877646208, -7.071560685290024e-05, 7.923330122139305e-05, 0.0009727946599014103, 1.798344965209253e-05], "tau": [55.47999954223633, 23.619998931884766, 5.428000450134277, -26.316001892089844, -2.5920000076293945, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.43460166454315186, -0.5644510388374329, -0.18425264954566956, -0.5406604409217834, 0.8896021246910095, -1.180466890335083, -0.5421498417854309], "tau_dot": [-3.542027235031128, 26.79695701599121, -24.979488372802734, -18.06850814819336, 56.42671203613281, 4.423672199249268, -0.09117554128170013], "tau_ext": [-16.68815803527832, -41.61933135986328, 31.79474639892578, 31.360864639282227, 9.531047821044922, -2.999458074569702, -0.11760257929563522], "tcp_pose": [0.6779147982597351, 0.03259391337633133, -0.21499529480934143, -0.0022599338553845882, -0.004611539654433727, 0.9998924136161804, 0.01374121941626072], "tcp_vel": [0.00021872867364436388, 0.00013363223115447909, 0.0001076428234227933, 0.00035802365164272487, -0.0009279136429540813, -5.7626471971161664e-05], "flange_pose": [0.678611695766449, 0.028475118800997734, -0.06505347788333893, -0.0022599338553845882, -0.004611539654433727, 0.9998924136161804, 0.01374121941626072], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.23169708251953, 14.972699165344238, 28.081106185913086, 0.3240234851837158, -24.147157669067383, 1.8146264553070068], "ext_wrench_in_world": [-108.49360588502196, 14.732632729281926, -27.183037233030287, -0.11124992326008926, -24.09019276885324, -2.476553997012006]}
+{"timestamp_ns": 1789729572196765039, "elapsed_ms": 15666, "source_timestamp_ns": 1789729572195258766, "q": [0.837083637714386, -1.8981035947799683, -1.0070178508758545, 1.3810503482818604, -0.16013576090335846, 0.5938759446144104, 0.7030122876167297], "theta": [0.8391817808151245, -1.8962205648422241, -1.0052330493927002, 1.3626439571380615, -0.16071859002113342, 0.593838095664978, 0.7029708027839661], "dq": [-0.001402544672600925, -0.002119768178090453, -0.0009349033352918923, 0.002201728755608201, 0.0010845460928976536, 0.0008711219415999949, -0.0004980362136848271], "dtheta": [0.00026147611788474023, 0.0002248035598313436, 5.603446697932668e-05, -0.0001037240945152007, -0.0008936048834584653, 0.0002401712554274127, 2.4431814381387085e-05], "tau": [55.47999954223633, 23.649999618530273, 5.4120001792907715, -26.312002182006836, -2.580000162124634, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.3557286858558655, -0.6432632803916931, -0.17020241916179657, -0.49541860818862915, 0.9100645184516907, -1.1838704347610474, -0.5384029150009155], "tau_dot": [-24.907516479492188, 42.00822067260742, -53.392005920410156, 32.8109130859375, 56.58928680419922, -11.13978385925293, 1.0084630250930786], "tau_ext": [-16.676685333251953, -41.61725616455078, 31.794797897338867, 31.35700798034668, 9.53026008605957, -2.9963538646698, -0.11642947047948837], "tcp_pose": [0.677915096282959, 0.032593727111816406, -0.2149946242570877, -0.0022593189496546984, -0.004611318930983543, 0.9998924136161804, 0.013741426169872284], "tcp_vel": [0.00030434748623520136, -4.0229253500001505e-05, 0.0003940357710234821, -0.00013636604126077145, -0.0010026480304077268, 0.0003383707662578672], "flange_pose": [0.6786118149757385, 0.028474867343902588, -0.06505279988050461, -0.0022593189496546984, -0.004611318930983543, 0.9998924136161804, 0.013741426169872284], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.2245864868164, 14.990894317626953, 28.100597381591797, 0.33081939816474915, -24.151779174804688, 1.8196980953216553], "ext_wrench_in_world": [-108.48671288262409, 14.75148264913999, -27.2021781014353, -0.11803474147761316, -24.09473507510411, -2.4817311299173057]}
+{"timestamp_ns": 1789729572230097784, "elapsed_ms": 15700, "source_timestamp_ns": 1789729572225238877, "q": [0.8370839357376099, -1.8981045484542847, -1.0070191621780396, 1.3810503482818604, -0.1601356714963913, 0.5938746929168701, 0.7030128836631775], "theta": [0.8391820788383484, -1.8962212800979614, -1.0052342414855957, 1.3626443147659302, -0.16071809828281403, 0.5938371419906616, 0.7029712796211243], "dq": [0.0022083374205976725, 0.0024276222102344036, -0.00036889719194732606, -0.00076341163367033, 0.0020160467829555273, 0.000529065087903291, -0.001381140435114503], "dtheta": [0.0003278809308540076, -0.00029366713715717196, -0.0003311841282993555, 1.1791254109994043e-05, 0.0005224987398833036, 6.642912921961397e-05, 0.00024006888270378113], "tau": [55.459999084472656, 23.600000381469727, 5.424000263214111, -26.32000160217285, -2.5840001106262207, 2.684000015258789, -0.5400000214576721], "tau_des": [0.43393322825431824, -0.5730668902397156, -0.16211946308612823, -0.5625361800193787, 0.8781996369361877, -1.15697181224823, -0.5528435707092285], "tau_dot": [-9.27376937866211, -15.901823997497559, 18.041833877563477, 0.9628188610076904, 30.64055824279785, 50.53266906738281, -12.494548797607422], "tau_ext": [-16.67937660217285, -41.62499237060547, 31.79323959350586, 31.35641098022461, 9.53227710723877, -2.9995269775390625, -0.11859919875860214], "tcp_pose": [0.6779150366783142, 0.032593123614788055, -0.21499498188495636, -0.0022595219779759645, -0.004610913340002298, 0.9998924136161804, 0.013740257360041142], "tcp_vel": [3.9543883758597076e-05, -5.1303290092619136e-05, 7.662492134841159e-05, -6.882712477818131e-05, -0.00017763080541044474, -0.0005656283465214074], "flange_pose": [0.6786118149757385, 0.02847461588680744, -0.06505315005779266, -0.0022595219779759645, -0.004610913340002298, 0.9998924136161804, 0.013740257360041142], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.2223129272461, 14.998496055603027, 28.084524154663086, 0.3353152573108673, -24.150056838989258, 1.820913553237915], "ext_wrench_in_world": [-108.48443365063669, 14.758684113137996, -27.185902504713333, -0.1225720740354307, -24.09302754048947, -2.482822554361368]}
+{"timestamp_ns": 1789729572263425511, "elapsed_ms": 15733, "source_timestamp_ns": 1789729572255231554, "q": [0.8370839357376099, -1.8981051445007324, -1.0070207118988037, 1.381049633026123, -0.16013655066490173, 0.5938762426376343, 0.7030125856399536], "theta": [0.8391823172569275, -1.8962221145629883, -1.0052357912063599, 1.3626444339752197, -0.16071930527687073, 0.5938378572463989, 0.7029710412025452], "dq": [0.0022971127182245255, 0.0009329734020866454, -0.00013403048797044903, 0.0004956985940225422, -0.0007770240190438926, -0.00039691998972557485, 0.002037678612396121], "dtheta": [0.00015526096103712916, 0.00010120437218574807, -3.45259286405053e-05, 4.91578430228401e-05, -0.0006363456486724317, 0.0002815190237015486, 0.00015022339357528836], "tau": [55.5099983215332, 23.639999389648438, 5.432000160217285, -26.32000160217285, -2.5880000591278076, 2.6600000858306885, -0.5600000023841858], "tau_des": [0.4030113220214844, -0.6189283132553101, -0.15867020189762115, -0.528991162776947, 0.902292788028717, -1.1751502752304077, -0.5435187220573425], "tau_dot": [62.23906326293945, 53.209590911865234, 6.042415618896484, -61.22875213623047, 54.53823471069336, -0.24213992059230804, -29.487462997436523], "tau_ext": [-16.687816619873047, -41.61897659301758, 31.807233810424805, 31.35741424560547, 9.530182838439941, -2.9990077018737793, -0.12091895937919617], "tcp_pose": [0.6779161095619202, 0.03259273245930672, -0.2149946391582489, -0.00225812173448503, -0.004610869567841291, 0.9998924136161804, 0.01373998261988163], "tcp_vel": [0.00019176726345904171, -5.861105091753416e-05, 0.00019581519882194698, -0.00018731529416982085, -0.0006876431871205568, 0.00011201661254744977], "flange_pose": [0.678612470626831, 0.02847430482506752, -0.06505279988050461, -0.00225812173448503, -0.004610869567841291, 0.9998924136161804, 0.01373998261988163], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.21920013427734, 15.00649356842041, 28.091087341308594, 0.33581018447875977, -24.148473739624023, 1.8190852403640747], "ext_wrench_in_world": [-108.48134673423046, 14.766886306718991, -27.192568736162958, -0.12306903686010073, -24.091501216232263, -2.4809366588986026]}
+{"timestamp_ns": 1789729572296756807, "elapsed_ms": 15766, "source_timestamp_ns": 1789729572295228340, "q": [0.8370842933654785, -1.8981071710586548, -1.0070209503173828, 1.381049633026123, -0.1601351648569107, 0.593874454498291, 0.7030127048492432], "theta": [0.8391828536987305, -1.8962239027023315, -1.0052361488342285, 1.3626439571380615, -0.16071859002113342, 0.5938361883163452, 0.702970564365387], "dq": [-0.0008364009554497898, -0.0010026652598753572, 1.2813245120923966e-05, 0.0006344662397168577, 0.0005632644752040505, -2.5297922547906637e-05, -4.940748112858273e-05], "dtheta": [-0.0002312297438038513, -0.0002542927395552397, 0.000125227976241149, 0.00034225417766720057, 0.0006872615194879472, -0.000287192699033767, 0.0001767234643921256], "tau": [55.47999954223633, 23.6299991607666, 5.440000057220459, -26.32000160217285, -2.636000156402588, 2.6640000343322754, -0.5440000295639038], "tau_des": [0.5991779565811157, -0.47383183240890503, -0.2223043292760849, -0.678234875202179, 0.8462198972702026, -1.1192522048950195, -0.5450174808502197], "tau_dot": [-19.760475158691406, -11.750321388244629, 32.93905258178711, 22.548690795898438, -109.98843383789062, -17.409927368164062, -2.776348352432251], "tau_ext": [-16.70335578918457, -41.5989875793457, 31.793867111206055, 31.366519927978516, 9.537817001342773, -2.999589681625366, -0.11896129697561264], "tcp_pose": [0.6779152154922485, 0.03259304165840149, -0.2149953544139862, -0.00225899089127779, -0.004611068870872259, 0.9998924136161804, 0.01373900007456541], "tcp_vel": [-0.00044022707152180374, 8.10170968179591e-05, -0.00046731834299862385, -6.693269097013399e-05, 0.0011486322619020939, -0.00023937203513924032], "flange_pose": [0.6786118149757385, 0.02847491204738617, -0.06505350768566132, -0.00225899089127779, -0.004611068870872259, 0.9998924136161804, 0.01373900007456541], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.20459747314453, 14.990643501281738, 28.098451614379883, 0.32509204745292664, -24.14130973815918, 1.817315697669983], "ext_wrench_in_world": [-108.46668704473387, 14.751280704811162, -27.200272225494825, -0.11240285428074057, -24.084294251438568, -2.478970162492239]}
+{"timestamp_ns": 1789729572330095371, "elapsed_ms": 15800, "source_timestamp_ns": 1789729572325241062, "q": [0.8370845317840576, -1.8981077671051025, -1.0070210695266724, 1.3810499906539917, -0.1601346731185913, 0.5938723683357239, 0.7030131816864014], "theta": [0.8391831517219543, -1.8962249755859375, -1.0052363872528076, 1.3626441955566406, -0.16071835160255432, 0.5938335657119751, 0.702970564365387], "dq": [0.0010010660625994205, -6.0069243772886693e-05, -0.0013349039945751429, -0.00037549674743786454, -0.0007652395870536566, -0.001016829046420753, 0.0006604998488910496], "dtheta": [-0.0002758560294751078, -0.00016641100228298455, -2.7511201551533304e-05, 0.0002216603170381859, 0.00047363823978230357, -0.0014887872384861112, -4.605101821653079e-06], "tau": [55.459999084472656, 23.649999618530273, 5.444000244140625, -26.32400131225586, -2.6000001430511475, 2.6600000858306885, -0.5600000023841858], "tau_des": [0.6282433867454529, -0.47875505685806274, -0.18881696462631226, -0.7160812020301819, 0.8465943336486816, -1.083812952041626, -0.5440298318862915], "tau_dot": [-176.83688354492188, 11.827960968017578, 29.932636260986328, -1.9169286489486694, -18.976642608642578, 28.16668128967285, 10.790185928344727], "tau_ext": [-16.693031311035156, -41.58992385864258, 31.789630889892578, 31.354469299316406, 9.536109924316406, -2.994567394256592, -0.11867789924144745], "tcp_pose": [0.677914559841156, 0.032592784613370895, -0.21499578654766083, -0.0022599126677960157, -0.004610853735357523, 0.9998924136161804, 0.013738146983087063], "tcp_vel": [-0.0005234885029494762, -0.00021034953533671796, -0.0005450965254567564, -0.0009468754287809134, 0.0018337356159463525, -9.635224705561996e-05], "flange_pose": [0.6786114573478699, 0.02847491204738617, -0.06505393236875534, -0.0022599126677960157, -0.004610853735357523, 0.9998924136161804, 0.013738146983087063], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1961669921875, 14.98647403717041, 28.098712921142578, 0.3216780126094818, -24.138301849365234, 1.8166924715042114], "ext_wrench_in_world": [-108.45826420635709, 14.74719526245977, -27.200510674026322, -0.10902787561121198, -24.081277250704936, -2.4782379522366886]}
+{"timestamp_ns": 1789729572363425477, "elapsed_ms": 15833, "source_timestamp_ns": 1789729572355232370, "q": [0.8370844721794128, -1.898106336593628, -1.0070208311080933, 1.3810503482818604, -0.16013504564762115, 0.5938720107078552, 0.7030128836631775], "theta": [0.8391832113265991, -1.8962242603302002, -1.0052359104156494, 1.3626443147659302, -0.16071859002113342, 0.5938335657119751, 0.7029703259468079], "dq": [-0.0002484376891516149, -0.00016605477139819413, -0.0006910027586854994, 0.0009648999548517168, -0.0025467269588261843, -0.0004997183568775654, 0.0016079149208962917], "dtheta": [0.00026644140598364174, 0.0003439188585616648, -7.912695582490414e-05, 0.0003272723115514964, -0.00036758449277840555, -0.0006628191331401467, 0.0002801753580570221], "tau": [55.47999954223633, 23.689998626708984, 5.432000160217285, -26.336000442504883, -2.616000175476074, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.44552016258239746, -0.6277352571487427, -0.13668489456176758, -0.5881009697914124, 0.8808326721191406, -1.1344472169876099, -0.5505679249763489], "tau_dot": [-24.046871185302734, 69.1780776977539, -23.657861709594727, -102.72071838378906, -21.46308135986328, -0.8547472357749939, -7.519690036773682], "tau_ext": [-16.689373016357422, -41.60414123535156, 31.785810470581055, 31.354482650756836, 9.538661003112793, -2.992729425430298, -0.11299947649240494], "tcp_pose": [0.6779146790504456, 0.03259234130382538, -0.2149955779314041, -0.00226014805957675, -0.00461075222119689, 0.9998924136161804, 0.013738377951085567], "tcp_vel": [-2.62716621364234e-05, -0.00033803615951910615, 8.713889110367745e-05, -0.0006458255229517817, 0.0002766642428468913, -0.00029507282306440175], "flange_pose": [0.6786116361618042, 0.02847439795732498, -0.06505373120307922, -0.00226014805957675, -0.00461075222119689, 0.9998924136161804, 0.013738377951085567], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.20870208740234, 14.982651710510254, 28.103395462036133, 0.32084962725639343, -24.145357131958008, 1.8197444677352905], "ext_wrench_in_world": [-108.47079541568979, 14.743420653828768, -27.205183063637982, -0.1081550366852602, -24.08823693444721, -2.481497394504418]}
+{"timestamp_ns": 1789729572396760972, "elapsed_ms": 15866, "source_timestamp_ns": 1789729572395233884, "q": [0.8370835185050964, -1.8981069326400757, -1.0070215463638306, 1.3810505867004395, -0.16013512015342712, 0.5938729643821716, 0.7030131816864014], "theta": [0.8391831517219543, -1.8962242603302002, -1.0052357912063599, 1.3626441955566406, -0.16071859002113342, 0.5938347578048706, 0.7029698491096497], "dq": [-0.00193454185500741, -0.0008683436899445951, -0.0013539752690121531, -0.003578669624403119, 0.0009062233148142695, -0.0001035002205753699, 0.0023556381929665804], "dtheta": [-5.472697739605792e-05, 0.00025267849559895694, -0.00024374574422836304, 0.00014535855734720826, 0.00010072546865558252, -0.00034171066363342106, -0.00032210283097811043], "tau": [55.52000045776367, 23.65999984741211, 5.444000244140625, -26.32400131225586, -2.620000123977661, 2.6760001182556152, -0.5480000376701355], "tau_des": [0.5005601048469543, -0.59812992811203, -0.1345718502998352, -0.6065627932548523, 0.8670926094055176, -1.136336088180542, -0.5434249639511108], "tau_dot": [51.826385498046875, 0.014984071254730225, 12.531378746032715, -37.0768928527832, -22.10253143310547, 9.843393325805664, 35.020626068115234], "tau_ext": [-16.683900833129883, -41.6164665222168, 31.78327751159668, 31.352861404418945, 9.538832664489746, -2.9953033924102783, -0.1166357770562172], "tcp_pose": [0.6779146194458008, 0.03259221464395523, -0.21499642729759216, -0.002260244218632579, -0.004610592033714056, 0.9998924136161804, 0.013738147914409637], "tcp_vel": [2.716690687520895e-06, -0.0002833986363839358, -8.732509013498202e-05, -0.00021029925846960396, 0.0003990856639575213, -4.3513631680980325e-05], "flange_pose": [0.6786116361618042, 0.028474340215325356, -0.06505458056926727, -0.002260244218632579, -0.004610592033714056, 0.9998924136161804, 0.013738147914409637], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.21502685546875, 15.005558967590332, 28.109230041503906, 0.33104902505874634, -24.154142379760742, 1.825289011001587], "ext_wrench_in_world": [-108.4773573732761, 14.766441544894693, -27.21034347812597, -0.11830731489419595, -24.096962066095998, -2.487225381183298]}
+{"timestamp_ns": 1789729572430096817, "elapsed_ms": 15900, "source_timestamp_ns": 1789729572425243608, "q": [0.8370835781097412, -1.8981080055236816, -1.0070215463638306, 1.3810505867004395, -0.16013552248477936, 0.5938722491264343, 0.7030141949653625], "theta": [0.8391833901405334, -1.8962243795394897, -1.0052354335784912, 1.3626441955566406, -0.16071906685829163, 0.5938345193862915, 0.7029712796211243], "dq": [0.0008428172441199422, -0.0004978494253009558, 0.0014931223122403026, -0.0016339035937562585, -0.003125932766124606, -0.00040239881491288543, -0.002443301724269986], "dtheta": [-0.00017417098570149392, -7.107925921445712e-05, -0.00016072418657131493, -9.153654536930844e-05, -0.0005205427878536284, -0.000275385013082996, 0.0002047994057647884], "tau": [55.52000045776367, 23.709999084472656, 5.440000057220459, -26.32400131225586, -2.6120002269744873, 2.636000156402588, -0.5520000457763672], "tau_des": [0.5122829079627991, -0.5665726661682129, -0.16245794296264648, -0.6032790541648865, 0.8802302479743958, -1.1414283514022827, -0.5471760034561157], "tau_dot": [-17.415302276611328, 90.20751953125, -18.084993362426758, -38.035526275634766, -16.426584243774414, -37.21513366699219, -18.570741653442383], "tau_ext": [-16.687856674194336, -41.630496978759766, 31.790294647216797, 31.353816986083984, 9.537443161010742, -2.9996442794799805, -0.11507765203714371], "tcp_pose": [0.6779143214225769, 0.03259241208434105, -0.21499671041965485, -0.0022603673860430717, -0.0046105463989079, 0.9998924732208252, 0.013737447559833527], "tcp_vel": [5.2445000619627535e-05, -0.00013016865705139935, -9.553795825922862e-05, -0.0006070806994102895, -2.40779609157471e-05, 1.0963110980810598e-05], "flange_pose": [0.6786113381385803, 0.028474748134613037, -0.06505486369132996, -0.0022603673860430717, -0.0046105463989079, 0.9998924732208252, 0.013737447559833527], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.19977569580078, 15.01583194732666, 28.107786178588867, 0.3372744023799896, -24.14986801147461, 1.826216697692871], "ext_wrench_in_world": [-108.46219968246606, 14.776783197209603, -27.2086793493683, -0.12457847297256842, -24.092725292839425, -2.4879739928152027]}
+{"timestamp_ns": 1789729572463422794, "elapsed_ms": 15933, "source_timestamp_ns": 1789729572455235955, "q": [0.8370839357376099, -1.8981077671051025, -1.0070219039916992, 1.381050705909729, -0.1601361334323883, 0.5938737988471985, 0.7030138373374939], "theta": [0.8391842246055603, -1.896224021911621, -1.0052359104156494, 1.3626447916030884, -0.16071930527687073, 0.593835711479187, 0.7029715180397034], "dq": [0.0015869173221290112, 0.0006521078175865114, -0.002251042053103447, 0.001372229540720582, -0.0007880961638875306, -0.0012333090417087078, 0.0015078731812536716], "dtheta": [0.0005941474228166044, 0.000595660472754389, 0.00020791096903849393, -0.00017362354265060276, -0.0006760534015484154, 0.00042548138299025595, -0.0009202973451465368], "tau": [55.47999954223633, 23.68000030517578, 5.4160003662109375, -26.308000564575195, -2.5920000076293945, 2.6680002212524414, -0.5480000376701355], "tau_des": [0.2595890760421753, -0.7003473043441772, -0.17609094083309174, -0.4284417927265167, 0.9108680486679077, -1.2094134092330933, -0.5262601971626282], "tau_dot": [-58.950706481933594, 152.4423828125, -37.98136901855469, 14.803669929504395, 37.83513641357422, 17.263111114501953, -32.20231246948242], "tau_ext": [-16.67244529724121, -41.618690490722656, 31.790258407592773, 31.347854614257812, 9.533666610717773, -2.9972152709960938, -0.11956605315208435], "tcp_pose": [0.6779149174690247, 0.032592322677373886, -0.21499624848365784, -0.002259417437016964, -0.004610696341842413, 0.9998924732208252, 0.013737660832703114], "tcp_vel": [0.00045637678704224527, -7.51734205550747e-06, 0.0007721669971942902, 0.0005366713157854974, -0.001389896497130394, 0.0010050473501905799], "flange_pose": [0.6786116361618042, 0.0284745916724205, -0.06505440175533295, -0.002259417437016964, -0.004610696341842413, 0.9998924732208252, 0.013737660832703114], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1966323852539, 15.024724006652832, 28.11213493347168, 0.34080687165260315, -24.148893356323242, 1.8252310752868652], "ext_wrench_in_world": [-108.45911045812063, 14.785802353843323, -27.212995588318844, -0.1281037999473122, -24.09180984330285, -2.486957182503614]}
+{"timestamp_ns": 1789729572496759119, "elapsed_ms": 15966, "source_timestamp_ns": 1789729572495232031, "q": [0.8370856046676636, -1.8981082439422607, -1.0070222616195679, 1.381050944328308, -0.16013559699058533, 0.5938732624053955, 0.7030147314071655], "theta": [0.8391866087913513, -1.8962247371673584, -1.0052366256713867, 1.3626445531845093, -0.16072002053260803, 0.5938352346420288, 0.7029731869697571], "dq": [0.002618443686515093, 0.0007693771040067077, 0.0007863193168304861, -0.0009459358989261091, 0.0009263562969863415, -0.00010054807353299111, 0.000805505202151835], "dtheta": [3.9242793718585745e-05, 0.0002375890762777999, -8.531883941031992e-05, -3.429931166465394e-05, 2.3176895410870202e-05, -0.0009949151426553726, 0.00019018167222384363], "tau": [55.5099983215332, 23.619998931884766, 5.436000347137451, -26.32400131225586, -2.616000175476074, 2.6640000343322754, -0.5160000324249268], "tau_des": [0.4723217487335205, -0.6091635823249817, -0.14893074333667755, -0.5883586406707764, 0.866421103477478, -1.1358975172042847, -0.5532216429710388], "tau_dot": [25.869441986083984, -63.11265182495117, 35.31732940673828, -23.674116134643555, 61.91289520263672, -23.55454444885254, 39.65080261230469], "tau_ext": [-16.694019317626953, -41.61863327026367, 31.794979095458984, 31.360246658325195, 9.54298210144043, -3.0008504390716553, -0.12728968262672424], "tcp_pose": [0.6779149770736694, 0.03259218484163284, -0.21499548852443695, -0.0022589934524148703, -0.004610172472894192, 0.9998924732208252, 0.013737316243350506], "tcp_vel": [-7.518043275922537e-05, -0.0002655372372828424, -7.325692422455177e-06, -0.0004948358982801437, 0.0006764258723706007, -0.00040397554403170943], "flange_pose": [0.6786115765571594, 0.028474556282162666, -0.06505364179611206, -0.0022589934524148703, -0.004610172472894192, 0.9998924732208252, 0.013737316243350506], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.19998168945312, 15.01641845703125, 28.113285064697266, 0.3372977375984192, -24.146202087402344, 1.8212233781814575], "ext_wrench_in_world": [-108.46235046347971, 14.777596786181759, -27.214459817639774, -0.12462428478110793, -24.08919872390829, -2.4828759998024514]}
+{"timestamp_ns": 1789729572530096343, "elapsed_ms": 16000, "source_timestamp_ns": 1789729572525243704, "q": [0.8370893597602844, -1.8981091976165771, -1.0070226192474365, 1.3810498714447021, -0.16013512015342712, 0.5938693284988403, 0.7030139565467834], "theta": [0.8391907811164856, -1.896225929260254, -1.005237102508545, 1.3626439571380615, -0.16071978211402893, 0.5938318967819214, 0.7029731869697571], "dq": [-0.0014441489474847913, 0.0008487961022183299, -0.0009194811573252082, -0.00019573967438191175, -0.002044773893430829, 0.0009765489958226681, 0.0011269310489296913], "dtheta": [8.202892786357552e-05, -0.00010818280134117231, -0.00018164925859309733, -0.00012823852011933923, 0.0003798298421315849, -2.1860569177079014e-05, 0.0004842125636059791], "tau": [55.54999923706055, 23.619998931884766, 5.444000244140625, -26.328001022338867, -2.6120002269744873, 2.684000015258789, -0.5440000295639038], "tau_des": [0.4377150237560272, -0.5957300066947937, -0.16621218621730804, -0.5479012727737427, 0.8707669973373413, -1.1658974885940552, -0.5586491823196411], "tau_dot": [60.060943603515625, 10.04406452178955, 21.255369186401367, -53.1141471862793, 29.773805618286133, 24.435171127319336, 1.4048926830291748], "tau_ext": [-16.711471557617188, -41.61775207519531, 31.797109603881836, 31.356273651123047, 9.547704696655273, -2.996626853942871, -0.13334748148918152], "tcp_pose": [0.6779152750968933, 0.03259188309311867, -0.21499323844909668, -0.0022582521196454763, -0.0046105943620204926, 0.9998924732208252, 0.013736019842326641], "tcp_vel": [4.386548971524462e-05, -2.0407658666954376e-05, 3.7222413084236905e-05, 9.711024904390797e-05, -2.6284633349860087e-06, -0.0007695464882999659], "flange_pose": [0.6786116361618042, 0.02847464568912983, -0.0650513768196106, -0.0022582521196454763, -0.0046105943620204926, 0.9998924732208252, 0.013736019842326641], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.17530822753906, 15.011868476867676, 28.1177978515625, 0.3300212621688843, -24.13564682006836, 1.8151592016220093], "ext_wrench_in_world": [-108.43762885087551, 14.773241358542297, -27.21940576635011, -0.11739299220368418, -24.078753316032284, -2.476493895578665]}
+{"timestamp_ns": 1789729572563492494, "elapsed_ms": 16033, "source_timestamp_ns": 1789729572555241000, "q": [0.8370923399925232, -1.8981131315231323, -1.007023811340332, 1.3810505867004395, -0.16013573110103607, 0.5938637256622314, 0.7030131220817566], "theta": [0.8391937613487244, -1.8962295055389404, -1.0052376985549927, 1.3626439571380615, -0.16071978211402893, 0.593826413154602, 0.7029722332954407], "dq": [0.0010516616748645902, -0.002685096813365817, 0.001327639794908464, -0.0019003425259143114, 0.005994565784931183, 0.001855978392995894, -5.739411790273152e-05], "dtheta": [0.00027569543453864753, 0.0002609883085824549, -0.00018615243607200682, 5.3612166084349155e-05, -0.0005005546263419092, 0.0006353208445943892, -0.00033180764876306057], "tau": [55.5099983215332, 23.639999389648438, 5.444000244140625, -26.32400131225586, -2.6000001430511475, 2.6440000534057617, -0.5480000376701355], "tau_des": [0.35398733615875244, -0.6494645476341248, -0.14129772782325745, -0.501275897026062, 0.9087520837783813, -1.1829582452774048, -0.5360925197601318], "tau_dot": [-70.65686798095703, 17.005464553833008, -12.037760734558105, -43.2828369140625, 21.939678192138672, 4.462606906890869, -45.99061965942383], "tau_ext": [-16.72008514404297, -41.58360290527344, 31.79566192626953, 31.35224151611328, 9.543685913085938, -2.9917783737182617, -0.13106995820999146], "tcp_pose": [0.677914023399353, 0.032591283321380615, -0.21499338746070862, -0.0022588481660932302, -0.004612144082784653, 0.99989253282547, 0.01373195555061102], "tcp_vel": [0.00035675804247148335, -0.00012466931366361678, 0.0003437805571593344, 0.00015003420412540436, -0.001058743568137288, 0.0002973840164486319], "flange_pose": [0.678610622882843, 0.028475264087319374, -0.06505148112773895, -0.0022588481660932302, -0.004612144082784653, 0.99989253282547, 0.01373195555061102], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.15303039550781, 15.005010604858398, 28.128950119018555, 0.3197816014289856, -24.127696990966797, 1.8098361492156982], "ext_wrench_in_world": [-108.41541770324311, 14.766338239621975, -27.230839520774477, -0.10712928956471846, -24.070878305309833, -2.470803548202566]}
+{"timestamp_ns": 1789729572596775291, "elapsed_ms": 16066, "source_timestamp_ns": 1789729572595246714, "q": [0.8370936512947083, -1.8981168270111084, -1.0070233345031738, 1.3810503482818604, -0.16013382375240326, 0.5938637852668762, 0.7030119895935059], "theta": [0.8391943573951721, -1.8962327241897583, -1.0052378177642822, 1.3626439571380615, -0.16071787476539612, 0.5938266515731812, 0.7029708027839661], "dq": [0.0010358004365116358, 0.001539138494990766, -0.0009099405142478645, -0.0001970689045265317, -0.0009740222012624145, -0.0018999811727553606, 0.001600324991159141], "dtheta": [-9.995246364269406e-05, 0.00024079594004433602, -2.5046090740943328e-05, 0.0001667923788772896, 0.00012577704910654575, 0.0012012437218800187, -0.0006219075294211507], "tau": [55.52000045776367, 23.59000015258789, 5.428000450134277, -26.308000564575195, -2.5840001106262207, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.4427448809146881, -0.5833384990692139, -0.19307821989059448, -0.5468834042549133, 0.8815916776657104, -1.181948184967041, -0.5266533493995667], "tau_dot": [60.80107498168945, -9.095081329345703, 32.27859878540039, 52.721397399902344, 35.497562408447266, 4.421091556549072, -8.26353645324707], "tau_ext": [-16.711322784423828, -41.57414245605469, 31.786163330078125, 31.348594665527344, 9.5390625, -2.9917376041412354, -0.12732051312923431], "tcp_pose": [0.6779130101203918, 0.03259279578924179, -0.2149936407804489, -0.002258718479424715, -0.004613581579178572, 0.99989253282547, 0.01373138278722763], "tcp_vel": [0.0001930284488480538, 8.163541497197002e-05, 5.4235300922300667e-05, 0.0009331540786661208, -0.0006308082956820726, 0.00037093795253895223], "flange_pose": [0.6786095499992371, 0.028476951643824577, -0.06505172699689865, -0.002258718479424715, -0.004613581579178572, 0.99989253282547, 0.01373138278722763], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.12501525878906, 14.989128112792969, 28.1374568939209, 0.3082807660102844, -24.120101928710938, 1.8065487146377563], "ext_wrench_in_world": [-108.38733215066205, 14.750613505010861, -27.23995222536537, -0.09561347349680939, -24.06327293104024, -2.4673318079269846]}
+{"timestamp_ns": 1789729572630101898, "elapsed_ms": 16100, "source_timestamp_ns": 1789729572625240291, "q": [0.8370938897132874, -1.898116946220398, -1.0070239305496216, 1.3810502290725708, -0.16013465821743011, 0.5938623547554016, 0.7030110359191895], "theta": [0.8391945362091064, -1.8962332010269165, -1.0052380561828613, 1.3626435995101929, -0.16071835160255432, 0.5938254594802856, 0.7029696106910706], "dq": [0.0006609362899325788, -0.002055227290838957, 0.0022037923336029053, 0.002072337083518505, 0.0014423979446291924, 0.0004520336806308478, 0.0011744260555133224], "dtheta": [0.00031900207977741957, -6.58383869449608e-05, -0.00011998216359643266, -6.220532668521628e-05, -0.00043116166489198804, -0.0010197523515671492, 0.00012910419900435954], "tau": [55.52000045776367, 23.6299991607666, 5.436000347137451, -26.308000564575195, -2.6120002269744873, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.4168771803379059, -0.5768017172813416, -0.17509634792804718, -0.5719406008720398, 0.9016737341880798, -1.1349139213562012, -0.5369278192520142], "tau_dot": [-63.304752349853516, -29.586523056030273, 26.371131896972656, 42.595943450927734, -44.006103515625, -4.8060383796691895, 57.754913330078125], "tau_ext": [-16.7221736907959, -41.613807678222656, 31.8046932220459, 31.36354637145996, 9.531919479370117, -2.993903160095215, -0.12076432257890701], "tcp_pose": [0.6779131293296814, 0.032592251896858215, -0.21499358117580414, -0.0022587378043681383, -0.00461412500590086, 0.99989253282547, 0.013730442151427269], "tcp_vel": [-1.631567101867404e-05, -0.0002259907778352499, 0.0001374182029394433, -0.001024594996124506, 0.00012974743731319904, 8.423170947935432e-05], "flange_pose": [0.6786096692085266, 0.028476689010858536, -0.06505167484283447, -0.0022587378043681383, -0.00461412500590086, 0.99989253282547, 0.013730442151427269], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.14460754394531, 14.989775657653809, 28.133193969726562, 0.31129738688468933, -24.127294540405273, 1.8089940547943115], "ext_wrench_in_world": [-108.40692605102268, 14.75079233275051, -27.235613225392363, -0.09854914026179808, -24.07042819364444, -2.469915390128352]}
+{"timestamp_ns": 1789729572663428455, "elapsed_ms": 16133, "source_timestamp_ns": 1789729572655256253, "q": [0.8370929956436157, -1.8981170654296875, -1.007023811340332, 1.3810499906539917, -0.1601339876651764, 0.5938634872436523, 0.703012228012085], "theta": [0.839194118976593, -1.8962323665618896, -1.0052380561828613, 1.3626435995101929, -0.16071787476539612, 0.5938271284103394, 0.7029696106910706], "dq": [-0.0029224406462162733, 0.0023505387362092733, 0.0018872941145673394, -0.00014933000784367323, 0.0016958657652139664, 0.000756672234274447, 0.002044975757598877], "dtheta": [-0.0002404603874310851, 0.00040870686643756926, 6.870409561088309e-05, -0.00012044800678268075, -4.402205740916543e-05, 0.0006020002765581012, -0.00010568716970738024], "tau": [55.48999786376953, 23.649999618530273, 5.452000141143799, -26.308000564575195, -2.616000175476074, 2.6560001373291016, -0.5600000023841858], "tau_des": [0.4456922709941864, -0.6111560463905334, -0.18356400728225708, -0.540206789970398, 0.8759241700172424, -1.1760122776031494, -0.5371942520141602], "tau_dot": [-2.1403069496154785, -8.222654342651367, 44.976261138916016, 3.760829210281372, -37.609092712402344, -5.911683559417725, -13.096999168395996], "tau_ext": [-16.72955894470215, -41.606143951416016, 31.792367935180664, 31.35401725769043, 9.528119087219238, -2.9946298599243164, -0.11197846382856369], "tcp_pose": [0.6779130697250366, 0.03259262442588806, -0.21499405801296234, -0.0022588944993913174, -0.004613394849002361, 0.99989253282547, 0.013731089420616627], "tcp_vel": [0.00019980019715148956, 3.2767606171546504e-05, 8.780279313214123e-05, 0.0007830055546946824, -0.0003180555358994752, -0.00012837615213356912], "flange_pose": [0.6786096692085266, 0.028476865962147713, -0.06505215167999268, -0.0022588944993913174, -0.004613394849002361, 0.99989253282547, 0.013731089420616627], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.1395263671875, 15.011763572692871, 28.149341583251953, 0.31996384263038635, -24.12912368774414, 1.813912272453308], "ext_wrench_in_world": [-108.40210934889501, 14.77345454418334, -27.25111685039418, -0.10725716862844702, -24.07219878886856, -2.474874926168164]}
diff --git a/episode_0003/right.actions.eef_pose/data.csv b/episode_0003/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..24f934ad86e19f2625a449ff1910e810486b6a21
--- /dev/null
+++ b/episode_0003/right.actions.eef_pose/data.csv
@@ -0,0 +1,486 @@
+timestamp_ns,elapsed_ms,x,y,z,r1,r2,r3,r4,r5,r6,gripper
+1789729556530065232,0,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729556563477825,33,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729556596779647,66,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729556630117690,100,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729556663458912,133,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729556696791186,166,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729556730125460,200,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729556763452935,233,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729556796792807,266,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729556830201911,300,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729556863524638,333,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729556896874728,366,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729556930200024,400,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729556963530998,433,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729556996862273,466,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557030188501,500,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557063533799,533,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557096895564,566,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557130168111,600,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557163442678,633,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557196773910,666,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557230169016,700,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557263446332,733,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557296773985,766,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557330108776,800,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557363443228,833,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557396772931,866,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557430111081,900,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557463454530,933,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557496780204,966,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557530180098,1000,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557563441569,1033,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557596773861,1066,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557630102913,1100,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557663440534,1133,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557696772886,1166,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557730168352,1200,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557763436730,1233,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557796771481,1266,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557830155930,1300,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557863444083,1333,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557896770517,1366,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557930167452,1400,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557963398170,1433,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729557996764363,1466,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729558030105415,1500,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729558063441073,1533,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729558096774282,1566,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987512580961464,-0.04947258050398043,0.006956164865888166,-0.04927568753623536,0.9984444637356557,0.026087534445597263,0.8
+1789729558130103483,1600,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987520197467172,-0.049472580504012265,0.006845935299630205,-0.049278566448049316,0.9984444637356557,0.02608209585988219,0.8
+1789729558163432843,1633,0.6398155689239502,-0.116341233253479,-0.2845432162284851,-0.9987537745336672,-0.049472580504012015,0.006584955051297737,-0.04928538017691442,0.9984444637356567,0.026069218178417158,0.8
+1789729558196768471,1666,0.6398155689239502,-0.116355633253479,-0.2845432162284851,-0.9987541214669968,-0.04947258050401181,0.006532123005702356,-0.04928675911639807,0.9984444637356573,0.02606661104589016,0.8
+1789729558230094982,1700,0.6398155689239502,-0.11643493121266267,-0.2845432162284851,-0.9987541214669968,-0.049472580504011564,0.0065321230056915956,-0.04928675911639841,0.9984444637356583,0.026066611045851344,0.8
+1789729558263442328,1733,0.6398155689239502,-0.11659026998817287,-0.28455974684073,-0.998754121466997,-0.04947258050401131,0.006532123005680833,-0.04928675911639874,0.9984444637356593,0.026066611045812513,0.8
+1789729558296764800,1766,0.6398155689239502,-0.11697496386572388,-0.2846444733713422,-0.998754121466997,-0.04947258050401097,0.0065321230056664846,-0.049286759116399174,0.9984444637356606,0.026066611045760746,0.8
+1789729558330110406,1800,0.6398155689239502,-0.11740109447796877,-0.28478319173868916,-0.998754121466997,-0.0494712861739025,0.0065419184484888345,-0.049286759116399466,0.9984496053531067,0.025868918532236336,0.8
+1789729558363438576,1833,0.6398155689239502,-0.11808243325347899,-0.28511554275909734,-0.9987541214669975,-0.04946888021783701,0.006560087093931116,-0.04928675911639977,0.9984590387718376,0.025502220895834628,0.8
+1789729558396774894,1866,0.639758736270889,-0.11935794345756061,-0.28589857949379127,-0.9987541214669975,-0.04946802296817836,0.006566548279440103,-0.04928675911640014,0.9984623611575154,0.02537180970213395,0.8
+1789729558430106494,1900,0.639516311781093,-0.1206363189677647,-0.28684364888154634,-0.9987557759577583,-0.049468022968178094,0.00630988863895194,-0.049293277526217996,0.9984623611575163,0.025359143173236617,0.8
+1789729558463438423,1933,0.6391415117810931,-0.12219171488613205,-0.28792369786113814,-0.9987584618584,-0.04946802296817785,0.0058693755939669846,-0.04930445766596175,0.9984623611575173,0.025337399353938434,0.8
+1789729558496781170,1966,0.6386467199443585,-0.12418915978409123,-0.2894652243917504,-0.998761927563524,-0.049467300241773204,0.005253404266252897,-0.04932021476978239,0.9984657106766321,0.02517421335554425,0.8
+1789729558530127386,2000,0.638370360760685,-0.1255265720289892,-0.2906794447999137,-0.9987635176456597,-0.04946549444330896,0.004959907211544277,-0.04932799257987015,0.9984745339137291,0.024806335356150813,0.8
+1789729558563435192,2033,0.6381596505566033,-0.12675231080449942,-0.29189729786113827,-0.998764145191332,-0.049462841608715814,0.004858969049045207,-0.04933113505840591,0.998487816454676,0.02425942096222951,0.8
+1789729558596772330,2066,0.637918099536195,-0.1281998373351117,-0.293456889697873,-0.9987641451913318,-0.04945867561302421,0.004901192389000379,-0.04933113505840615,0.9985081622480539,0.023407029667670002,0.8
+1789729558630100690,2100,0.6377478954545623,-0.12925610672286683,-0.29443988561624035,-0.998764145191332,-0.04945659908887257,0.004922101867168134,-0.049331135058406354,0.9985179689304303,0.02298488279059754,0.8
+1789729558663448816,2133,0.6376149076994604,-0.13044185366164235,-0.2953616325550159,-0.998764145191332,-0.04945535553757998,0.004934580922399591,-0.049331135058406576,0.9985237368389412,0.022732929486674228,0.8
+1789729558696771867,2166,0.6374659934137461,-0.1321468169269485,-0.29663858765705675,-0.998764145191332,-0.049453998980422645,0.004948157745300147,-0.04933113505840683,0.9985299400960165,0.022458803300600114,0.8
+1789729558730103297,2200,0.6373527036178278,-0.1332932087636832,-0.2976881468407302,-0.9987641451913323,-0.049452714027714444,0.004960983321985286,-0.04933113505840706,0.998535731136858,0.02219983686493126,0.8
+1789729558763430938,2233,0.6372010138219095,-0.13434942917184647,-0.2988665468407302,-0.998764145191332,-0.04945125214289448,0.004975534315798819,-0.04933113505840723,0.9985422200988561,0.021906021863789468,0.8
+1789729558796768516,2266,0.6369851036178279,-0.13575201692694855,-0.3005417468407302,-0.9987641451913323,-0.04944882676476837,0.0049995811640189125,-0.049331135058407506,0.9985527546193941,0.021420442476038734,0.8
+1789729558830158170,2300,0.6368556505566034,-0.13679471896776488,-0.3017815427590976,-0.9987641451913323,-0.04944610931845055,0.005026385728873553,-0.0493311350584077,0.9985642195336493,0.020879142247777812,0.8
+1789729558863439303,2333,0.6367699607606851,-0.13768536386572405,-0.3030695754121588,-0.9987641451913323,-0.049440667121415566,0.005079637272174366,-0.04933113505840789,0.9985861276379178,0.01980365630274892,0.8
+1789729558896840965,2366,0.636706834230073,-0.1387610373351118,-0.3048082121468526,-0.9987641451913323,-0.049430341330465796,0.005179154002440469,-0.049331135058408124,0.9986239702413346,0.017793402521245585,0.8
+1789729558930098163,2400,0.6366844668831343,-0.13956336386572404,-0.30611882439175053,-0.9987641451913325,-0.04942183901449156,0.0052596681124314525,-0.04933113505840828,0.9986516303568289,0.016166641565168328,0.8
+1789729558963437721,2433,0.6366844668831343,-0.1403278536616424,-0.3074483509223627,-0.9987641451913325,-0.04941264314579935,0.00534536973211713,-0.049331135058408415,0.9986781654838021,0.014434711627075726,0.8
+1789729558996772679,2466,0.6366844668831343,-0.14117469447796896,-0.3092439754121586,-0.9987641451913329,-0.04939799142079284,0.0054791170655760155,-0.0493311350584086,0.998713582797172,0.011731097573764237,0.8
+1789729559030107730,2500,0.6366844668831343,-0.14177067815143837,-0.3106041305141994,-0.9987641451913325,-0.04938654587416965,0.005581340954057577,-0.049331135058408686,0.998735722908645,0.009664103682976318,0.8
+1789729559063439756,2533,0.6366844668831343,-0.14236158427388737,-0.31201495500399534,-0.9987641451913327,-0.04937605507460001,0.005673399818174634,-0.04933113505840876,0.9987520036471167,0.007802199992239404,0.8
+1789729559096770463,2566,0.6366844668831343,-0.14311857202898942,-0.31407688969787295,-0.9987641451913329,-0.049363250652041286,0.005783750106150732,-0.049331135058408825,0.9987669480781705,0.005569788188618666,0.8
+1789729559130098560,2600,0.6366438301484405,-0.14368438427388738,-0.31577538765705665,-0.9987641451913332,-0.04935403851338937,0.00586183952743683,-0.04933113505840884,0.9987745099863536,0.003989651033389913,0.8
+1789729559163436845,2633,0.6365889566790528,-0.14426267815143837,-0.31770050602440364,-0.9987641451913332,-0.04934458985395893,0.00594085283195963,-0.049331135058408825,0.9987796176292258,0.0023905066965808127,0.8
+1789729559196768422,2666,0.6365105240259916,-0.1450270536616424,-0.32066894684073016,-0.9987641451913332,-0.04933024411621568,0.006058819659046138,-0.049331135058408755,0.9987824783745911,2.3996897889929215e-06,0.8
+1789729559230102008,2700,0.6364298872912978,-0.14559286590654036,-0.323002301942771,-0.9987641451913329,-0.049318561705111466,0.006153190356658861,-0.04933113505840876,0.9987806549027435,-0.0019085350129823592,0.8
+1789729559263441663,2733,0.6363295281076243,-0.14615867815143832,-0.32543746928970985,-0.9987641451913334,-0.04930650671984573,0.006249053953348868,-0.049331135058408755,0.998775057449645,-0.0038501597768568602,0.8
+1789729559296769670,2766,0.6361594709647671,-0.14699495570245874,-0.3286161958203221,-0.9987641451913329,-0.049290788277456296,0.006371849905081012,-0.049331135058408665,0.9987623688785275,-0.006337951246358824,0.8
+1789729559330106335,2800,0.6359777566790528,-0.14766981284531588,-0.3310002774529751,-0.9987641451913332,-0.04927985065757978,0.006455896482474252,-0.04933113505840858,0.9987501085021265,-0.008041136787769377,0.8
+1789729559363430404,2833,0.635764401577012,-0.14835280876368323,-0.33343027745297504,-0.9987641451913336,-0.04926939199936435,0.006535234673571105,-0.049331135058408485,0.9987358666661612,-0.009649235640242046,0.8
+1789729559396765570,2866,0.6354833974953793,-0.1493021148861322,-0.3364783917386893,-0.9987641451913329,-0.04925736138520984,0.006625302226490976,-0.04933113505840823,0.9987165559152175,-0.011475193013431258,0.8
+1789729559430099176,2900,0.6353008423933385,-0.1500521148861322,-0.3385006284733832,-0.9987641451913334,-0.04925046187431156,0.006676397635879332,-0.04933113505840811,0.9987041142966084,-0.012511242978860101,0.8
+1789729559463429283,2933,0.6351360587198691,-0.15080498019225466,-0.34037559990195465,-0.9987641451913336,-0.049244798759976394,0.006718041032525815,-0.04933113505840796,0.9986931778434789,-0.013355734451634864,0.8
+1789729559496767948,2966,0.6349495117810936,-0.1517936332534792,-0.3426482611264445,-0.9987641451913334,-0.04923876238882386,0.006762141572169428,-0.04933113505840777,0.9986808160400786,-0.014250150433304378,0.8
+1789729559530161868,3000,0.634854270964767,-0.15250973937592818,-0.3441464815346077,-0.9987641451913336,-0.049234997798794214,0.006789497181509894,-0.04933113505840765,0.9986727446356971,-0.014805007114247554,0.8
+1789729559563440279,3033,0.6347690219851752,-0.153220294477969,-0.3456447019427709,-0.9987641451913336,-0.04923147868454771,0.00681496784715868,-0.04933113505840748,0.998664951664624,-0.015321665397189332,0.8
+1789729559596771325,3066,0.6346591281076241,-0.15411210672286696,-0.34765739582032196,-0.9987641451913338,-0.04922694409072915,0.006847645997929253,-0.049331135058407326,0.9986545611880434,-0.015984571691652478,0.8
+1789729559630095774,3100,0.6345927117810936,-0.15473391896776492,-0.34909557541215874,-0.9987641451913336,-0.0492238523382934,0.006869835602290454,-0.049331135058407145,0.9986472542722452,-0.01643473907169863,0.8
+1789729559663432119,3133,0.6345796505566038,-0.1552327271310302,-0.3504369794937914,-0.9987641451913336,-0.04922111368276627,0.00688943016893959,-0.04933113505840703,0.9986406327773486,-0.01683228088840082,0.8
+1789729559696769424,3166,0.6345796505566038,-0.15581907815143836,-0.3520463509223628,-0.998764145191334,-0.04921951908034148,0.006900813120512797,-0.04933113505840684,0.9986367133493227,-0.017063231367827628,0.8
+1789729559730099681,3200,0.6345690709647671,-0.15627879243715267,-0.3532902529631791,-0.998764145191334,-0.04921951908034164,0.006900813120503073,-0.04933113505840667,0.9986367133493231,-0.017063231367801777,0.8
+1789729559763432368,3233,0.6345479117810937,-0.1567657230493976,-0.35462755092236276,-0.998764145191334,-0.049219519080341806,0.006900813120493352,-0.049331135058406514,0.9986367133493236,-0.017063231367775922,0.8
+1789729559796768244,3266,0.6345479117810937,-0.1574381475391935,-0.3565283427590974,-0.9987641451913343,-0.04921951908034201,0.006900813120480388,-0.049331135058406285,0.9986367133493241,-0.017063231367741464,0.8
+1789729559830100800,3300,0.6345479117810937,-0.15792057202898943,-0.35805489786113825,-0.9987641451913343,-0.049219519080342174,0.006900813120470664,-0.04933113505840612,0.9986367133493246,-0.017063231367715617,0.8
+1789729559863429837,3333,0.6345479117810937,-0.1583603597840915,-0.3596018856162403,-0.9987641451913343,-0.04921833761666683,0.006909234579568706,-0.04933113505840596,0.998633779177631,-0.017234099896773335,0.8
+1789729559896767852,3366,0.6345479117810937,-0.15891860468205066,-0.3617337060244036,-0.9987641451913343,-0.04921598337059201,0.00692598448519478,-0.0493311350584057,0.9986278561243649,-0.01757396046155223,0.8
+1789729559930097519,3400,0.6345479117810937,-0.15930548631470373,-0.3634622529631791,-0.9987641451913345,-0.04921295017289136,0.006947504264406524,-0.049331135058405584,0.9986200761721143,-0.018010624082741986,0.8
+1789729559963430346,3433,0.6345479117810937,-0.15961689855960168,-0.3652081060244035,-0.9987641451913345,-0.049208645508847355,0.006977928590055463,-0.04933113505840541,0.998608750346727,-0.01862801236840577,0.8
+1789729559996770370,3466,0.6345479117810937,-0.1599166454983772,-0.3675885468407301,-0.9987641451913345,-0.049200998855631034,0.007031642185958649,-0.049331135058405196,0.9985878204022877,-0.019718114972225975,0.8
+1789729560030096599,3500,0.6345479117810937,-0.16011356794735682,-0.36935196724889335,-0.9987641451913345,-0.04919509685917865,0.007072815934199673,-0.04933113505840499,0.9985709686495028,-0.02055382407833473,0.8
+1789729560063428692,3533,0.6345479117810937,-0.16027984549837723,-0.37092393459583217,-0.9987641451913345,-0.04919008045734004,0.007107620194082557,-0.049331135058404765,0.99855617668278,-0.021260318024859625,0.8
+1789729560096768934,3566,0.6345479117810937,-0.16045880060041806,-0.3727933468407302,-0.9987641451913345,-0.04918614984820067,0.007134770026644831,-0.049331135058404536,0.9985442897460656,-0.02181147701039123,0.8
+1789729560130098377,3600,0.6345479117810937,-0.16056697202898948,-0.37412671826930155,-0.9987641451913349,-0.04918500707234597,0.007142643734354655,-0.049331135058404314,0.9985407853348185,-0.021971325330382492,0.8
+1789729560163433000,3633,0.6345479117810937,-0.16063831080449967,-0.3754222937795056,-0.9987641451913347,-0.04918500707234615,0.0071426437343447505,-0.04933113505840408,0.9985407853348192,-0.02197132533034928,0.8
+1789729560196779030,3666,0.6345479117810937,-0.16067991896776498,-0.3770684978611383,-0.9987641451913347,-0.049185007072346396,0.007142643734331546,-0.049331135058403766,0.9985407853348202,-0.021971325330305,0.8
+1789729560230096276,3700,0.6345479117810937,-0.16067991896776498,-0.3782005386774648,-0.9987641451913352,-0.04918500707234662,0.007142643734321643,-0.04933113505840356,0.9985407853348209,-0.021971325330271796,0.8
+1789729560263432718,3733,0.6345479117810937,-0.16067991896776498,-0.37932559173868924,-0.9987641451913354,-0.049185007072346805,0.007142643734311739,-0.04933113505840333,0.9985407853348217,-0.02197132533023859,0.8
+1789729560296768621,3766,0.6345479117810937,-0.16067991896776498,-0.3806767672488934,-0.9987641451913349,-0.04918748100889406,0.007125587149255407,-0.049331135058403044,0.9985483444133322,-0.021625054525778703,0.8
+1789729560330056265,3800,0.6345479117810937,-0.16067991896776498,-0.38137952643256684,-0.9987577113857229,-0.049325466137008944,0.0070733540784920605,-0.04946155965986625,0.9985642810765002,-0.020565278363928192,0.8
+1789729560363438915,3833,0.634534850556604,-0.16067991896776498,-0.3820355509223628,-0.9987419366508925,-0.04965442453261479,0.0069987212517336715,-0.04977984064465173,0.9985783741639634,-0.019057757408689938,0.8
+1789729560396831463,3866,0.6344641730055836,-0.16067991896776498,-0.38317777949379134,-0.9987194849357128,-0.0501184403527242,0.006894370627942014,-0.05022924727047025,0.9985935877038496,-0.01696671197951958,0.8
+1789729560430102742,3900,0.6344077485157877,-0.16067991896776498,-0.38414764888154646,-0.998702833311566,-0.050460938084052616,0.006807676779048238,-0.05055988697326982,0.9986046934528963,-0.015243491827569487,0.8
+1789729560463435615,3933,0.634367111781094,-0.16067991896776498,-0.38497682439175046,-0.9986864949300658,-0.05079719683557425,0.00670295740309039,-0.05088213424785727,0.9986177454863205,-0.013175993860097594,0.8
+1789729560496768358,3966,0.634367111781094,-0.16067991896776498,-0.38618795908562803,-0.9986713496211774,-0.05111092147471645,0.006573366855848439,-0.05117895121842421,0.9986328744171898,-0.010634711347434723,0.8
+1789729560530104570,4000,0.634367111781094,-0.16067991896776498,-0.38717737133052593,-0.998665931957049,-0.05122735927775073,0.006489530783264896,-0.051284684616286,0.9986435337544838,-0.00899853400089549,0.8
+1789729560563435623,4033,0.634367111781094,-0.16067991896776498,-0.38816678357542383,-0.9986659319570492,-0.051236705029250706,0.00641532587669094,-0.051284684616285936,0.9986555197799664,-0.007552081621197449,0.8
+1789729560596767977,4066,0.634367111781094,-0.16067991896776498,-0.389450252963179,-0.998665931957049,-0.0512467141986416,0.006334874284559998,-0.05128468461628584,0.9986661459947498,-0.005984143029799043,0.8
+1789729560630099220,4100,0.634367111781094,-0.16067991896776498,-0.3904267182693015,-0.9986659319570492,-0.051252128089399565,0.006290923196646545,-0.05128468461628581,0.9986709107049769,-0.005127692999782908,0.8
+1789729560663431783,4133,0.634367111781094,-0.16067991896776498,-0.391517077452975,-0.9986659319570494,-0.051256410920253424,0.006255932219288993,-0.05128468461628575,0.9986741786235908,-0.004445905341374595,0.8
+1789729560696772644,4166,0.634367111781094,-0.16067991896776498,-0.39298810602440354,-0.9986659319570494,-0.05126144111789986,0.00621457986304348,-0.051284684616285645,0.9986774403103069,-0.0036402388742374048,0.8
+1789729560730099388,4200,0.634367111781094,-0.16067991896776498,-0.39417346112644436,-0.9986659319570494,-0.05126389149860398,0.0061943342481099815,-0.05128468461628562,0.9986788000965802,-0.0032458221551832926,0.8
+1789729560763437870,4233,0.634367111781094,-0.16066482509021396,-0.39534444888154646,-0.9986659319570494,-0.051265439489380074,0.006181509711919133,-0.05128468461628559,0.9986795808325526,-0.0029959893065955234,0.8
+1789729560796770853,4266,0.634367111781094,-0.16055394345756088,-0.3967913876570566,-0.998647375864042,-0.051625648834126514,0.006181509711906922,-0.05164489888284578,0.9986610177970578,-0.002995989306589215,0.8
+1789729560830099127,4300,0.634367111781094,-0.1604094536616425,-0.39784079990195453,-0.9986291057017946,-0.051977862431190056,0.006181509711897762,-0.05199711729013813,0.9986427408445877,-0.002995989306584481,0.8
+1789729560863434120,4333,0.634367111781094,-0.16021542100858124,-0.3988901631672606,-0.9986109398511525,-0.052325708282640784,0.006181509711888604,-0.052344967889902574,0.9986245682861402,-0.0029959893065797456,0.8
+1789729560896769052,4366,0.634367111781094,-0.15996245774327508,-0.40025573051419944,-0.9985866070907778,-0.05278803914344947,0.0061815097118764,-0.05280730505833407,0.9986002266075003,-0.00299598930657343,0.8
+1789729560930096196,4400,0.634367111781094,-0.1597798373351118,-0.40133271826930145,-0.998568154699051,-0.05313595165812476,0.006181509711867247,-0.05315522231699069,0.9985817675025447,-0.002995989306568692,0.8
+1789729560963433478,4433,0.634367111781094,-0.1595582291718465,-0.40252564888154635,-0.9985513967852571,-0.053449947763255616,0.006181509711858092,-0.053469222701700854,0.9985650035284387,-0.0029959893065639514,0.8
+1789729560996768441,4466,0.634367111781094,-0.15918320876368325,-0.4042232325550157,-0.9985269527955785,-0.05390467028430322,0.00618150971184589,-0.0539239514170938,0.9985405507597785,-0.0029959893065576314,0.8
+1789729561030093926,4500,0.634318711781094,-0.15873375570245876,-0.4055757305141994,-0.9985056789607909,-0.0542973113582267,0.006181509711836739,-0.05431659783657894,0.9985192693421266,-0.002995989306552886,0.8
+1789729561063435633,4533,0.6342620913729308,-0.15814538835551997,-0.40693215500399527,-0.9984845029643621,-0.05468533878192857,0.006181509711827585,-0.05470463054021291,0.9984980858497096,-0.0029959893065481403,0.8
+1789729561096779900,4566,0.6342357076994615,-0.15743659651878528,-0.40850763255501565,-0.9984504693521372,-0.055303247537369024,0.0061815097118153835,-0.055322547697824145,0.9984640402960424,-0.0029959893065418085,0.8
+1789729561130101182,4600,0.6342357076994615,-0.1569656903963363,-0.4096257631672605,-0.9984208292476597,-0.05583580089958903,0.0061815097118062354,-0.05585510829587359,0.9984343898951655,-0.002995989306537058,0.8
+1789729561163435741,4633,0.6342357076994615,-0.1564142291718465,-0.4108182856162401,-0.9983918091556852,-0.056352323364002706,0.0061815097117970935,-0.05637163777326256,0.9984053598127542,-0.0029959893065323044,0.8
+1789729561196771230,4666,0.6342357076994615,-0.1556058454983771,-0.41237378765705646,-0.9983517802592206,-0.057057092380594567,0.006181509711784896,-0.057076416350698884,0.9983653172785185,-0.0029959893065259627,0.8
+1789729561230157575,4700,0.6342357076994615,-0.15512948631470364,-0.4135270366366483,-0.998320266669418,-0.05760585122004387,0.006181509711775751,-0.05762518262816883,0.9983337930647972,-0.0029959893065212026,0.8
+1789729561263437228,4733,0.6342357076994615,-0.15476683325347915,-0.41475226928970954,-0.9982897045052028,-0.058133078506114995,0.006181509711766603,-0.05815241705513673,0.9983032206893458,-0.0029959893065164404,0.8
+1789729561296771917,4766,0.6342357076994615,-0.1543179271310302,-0.4164163754121586,-0.9982544843501628,-0.058734771749572146,0.00618150971175442,-0.05875411844175368,0.9982679888758367,-0.0029959893065100896,0.8
+1789729561330100337,4800,0.6342357076994615,-0.1540081720289894,-0.4176858856162402,-0.9982312822618729,-0.059127794238419185,0.006181509711745273,-0.059147146246025725,0.9982447791694312,-0.002995989306505324,0.8
+1789729561363435586,4833,0.6342357076994615,-0.15380041692694857,-0.41902696316726057,-0.9982130575162651,-0.05943467625649355,0.006181509711736134,-0.05945403241252047,0.9982265484738253,-0.0029959893065005547,0.8
+1789729561396769335,4866,0.6342357076994615,-0.15371080060041795,-0.42079981214685236,-0.9981964083621104,-0.059713643923877985,0.006181509711723942,-0.05973300384945854,0.9982098939096907,-0.002995989306494195,0.8
+1789729561430103224,4900,0.6342357076994615,-0.15371080060041795,-0.42220286520807687,-0.99819640836211,-0.059713643923878006,0.0061815097117148025,-0.0597330038494585,0.9982098939096907,-0.002995989306489424,0.8
+1789729561463437863,4933,0.6342357076994615,-0.15371080060041795,-0.4235377713305259,-0.99819640836211,-0.05971364392387807,0.006181509711705668,-0.05973300384945851,0.9982098939096907,-0.002995989306484653,0.8
+1789729561496769963,4966,0.6342357076994615,-0.15371080060041795,-0.4248846366366484,-0.99819640836211,-0.059713643923878165,0.00618150971169349,-0.059733003849458524,0.9982098939096907,-0.002995989306478292,0.8
+1789729561530098693,5000,0.6342357076994615,-0.15371080060041795,-0.4258713141876688,-0.9981964083621104,-0.059713643923878235,0.006181509711684355,-0.05973300384945854,0.9982098939096907,-0.002995989306473522,0.8
+1789729561563501495,5033,0.6342357076994615,-0.15371080060041795,-0.4269342611264443,-0.9981964083621104,-0.05971364392387828,0.0061815097116752135,-0.05973300384945852,0.9982098939096907,-0.0029959893064687533,0.8
+1789729561596771550,5066,0.6342357076994615,-0.15371080060041795,-0.4280964815346076,-0.9981964083621104,-0.05971364392387834,0.00618150971166303,-0.0597330038494585,0.9982098939096908,-0.0029959893064623938,0.8
+1789729561630101460,5100,0.6342357076994615,-0.15371080060041795,-0.42887241622848515,-0.9981964083621104,-0.05971364392387839,0.006181509711653894,-0.059733003849458496,0.9982098939096908,-0.002995989306457622,0.8
+1789729561663427291,5133,0.6342357076994615,-0.15371080060041795,-0.42969556724889335,-0.9981964083621107,-0.059713643923878436,0.006181509711644754,-0.059733003849458476,0.9982098939096908,-0.0029959893064528524,0.8
+1789729561696765759,5166,0.6342357076994615,-0.15371080060041795,-0.4306546447999138,-0.9981964083621107,-0.0597136439238785,0.006181509711632571,-0.05973300384945847,0.9982098939096908,-0.0029959893064464924,0.8
+1789729561730101567,5200,0.6342357076994615,-0.15371080060041795,-0.4312662203101179,-0.9981964083621107,-0.059713643923878554,0.0061815097116234355,-0.059733003849458455,0.9982098939096908,-0.002995989306441723,0.8
+1789729561763435086,5233,0.6342468832096656,-0.15371080060041795,-0.431844595820322,-0.9981964083621107,-0.059713643923878616,0.0061815097116143004,-0.05973300384945846,0.9982098939096908,-0.0029959893064369545,0.8
+1789729561796772205,5266,0.6343041321892574,-0.15371080060041795,-0.4325503754121587,-0.9981964083621107,-0.05971364392387871,0.006181509711602121,-0.059733003849458476,0.9982098939096908,-0.0029959893064305963,0.8
+1789729561830097906,5300,0.6343748015770125,-0.15371080060041795,-0.43306293051419953,-0.9981964083621107,-0.059713643923878804,0.0061815097115929885,-0.05973300384945851,0.998209893909691,-0.0029959893064258275,0.8
+1789729561863431395,5333,0.6344669321892575,-0.15371080060041795,-0.43361395092236277,-0.9981964083621107,-0.05971364392387889,0.006181509711583854,-0.05973300384945854,0.998209893909691,-0.0029959893064210566,0.8
+1789729561896780630,5366,0.6345884668831352,-0.15371080060041795,-0.43431017949379136,-0.9981964083621107,-0.05971364392387902,0.0061815097115716765,-0.05973300384945859,0.998209893909691,-0.002995989306414696,0.8
+1789729561930174644,5400,0.6346766301484414,-0.15371080060041795,-0.43482271826930163,-0.9981964083621111,-0.05971364392387914,0.006181509711562543,-0.05973300384945865,0.998209893909691,-0.0029959893064099284,0.8
+1789729561963440460,5433,0.6347609240259925,-0.15371080060041795,-0.43531204071828117,-0.9981964083621111,-0.059713643923879234,0.006181509711553407,-0.05973300384945869,0.998209893909691,-0.0029959893064051613,0.8
+1789729561996771450,5466,0.6348871117810946,-0.15371080060041795,-0.4358810366366485,-0.9981964083621111,-0.05971364392387938,0.006181509711541236,-0.05973300384945875,0.998209893909691,-0.0029959893063988058,0.8
+1789729562030104999,5500,0.6350129811688497,-0.15371080060041795,-0.43632524888154645,-0.9981964083621111,-0.05971364392387946,0.006181509711532102,-0.05973300384945878,0.998209893909691,-0.002995989306394037,0.8
+1789729562063437984,5533,0.6351434872912989,-0.15371080060041795,-0.43681445704481175,-0.9981964083621115,-0.05971364392387955,0.006181509711522968,-0.0597330038494588,0.998209893909691,-0.0029959893063892665,0.8
+1789729562096774909,5566,0.6352957893321153,-0.15371080060041795,-0.4374142447999138,-0.9981964083621113,-0.059713643923879615,0.006181509711510786,-0.059733003849458795,0.9982098939096911,-0.0029959893063829087,0.8
+1789729562130101975,5600,0.635390075046401,-0.15371080060041795,-0.4378282366366485,-0.9981964083621113,-0.05971364392387965,0.00618150971150165,-0.05973300384945876,0.9982098939096911,-0.0029959893063781374,0.8
+1789729562163432261,5633,0.6354696913729315,-0.15372258835552,-0.4381818203101179,-0.9981964083621113,-0.0597136439238797,0.006181509711492514,-0.05973300384945875,0.9982098939096911,-0.002995989306373366,0.8
+1789729562196770345,5666,0.6355786301484417,-0.15378639243715267,-0.43853906112644436,-0.9981964083621113,-0.05971364392387976,0.006181509711480333,-0.05973300384945873,0.9982098939096911,-0.0029959893063670044,0.8
+1789729562230104060,5700,0.6356629240259928,-0.1538624169269486,-0.4387790856162403,-0.9981964083621113,-0.05971364392387983,0.006181509711471197,-0.059733003849458746,0.9982098939096911,-0.0029959893063622334,0.8
+1789729562263435126,5733,0.635741568923952,-0.1539545475391935,-0.439009559085628,-0.9981964083621113,-0.0597136439238799,0.006181509711462064,-0.05973300384945876,0.9982098939096911,-0.002995989306357463,0.8
+1789729562296770001,5766,0.63583511994436,-0.15408210672286696,-0.4392786774529749,-0.9981964083621118,-0.05971364392388006,0.00618150971144989,-0.059733003849458836,0.9982098939096911,-0.0029959893063511048,0.8
+1789729562330099357,5800,0.6358996587198702,-0.15419766590654044,-0.4394755835754238,-0.9981964083621118,-0.059713643923880164,0.006181509711440755,-0.059733003849458885,0.9982098939096911,-0.0029959893063463403,0.8
+1789729562363435411,5833,0.6359633566790538,-0.15433916794735675,-0.4397329631672605,-0.9981964083621118,-0.059713643923880205,0.006181509711431618,-0.05973300384945887,0.9982098939096912,-0.002995989306341571,0.8
+1789729562396765637,5866,0.6360146954545639,-0.15451267815143838,-0.44020331418766867,-0.9981964083621118,-0.059713643923880254,0.0061815097114194355,-0.059733003849458836,0.9982098939096912,-0.00299598930633521,0.8
+1789729562430100592,5900,0.6360146954545639,-0.15461721692694855,-0.440602734595832,-0.9981964083621118,-0.0597136439238803,0.006181509711410299,-0.05973300384945883,0.9982098939096912,-0.002995989306330438,0.8
+1789729562463429178,5933,0.6360146954545639,-0.1547175271310302,-0.44113994275909724,-0.9981964083621118,-0.05971364392388034,0.006181509711401163,-0.059733003849458795,0.9982098939096912,-0.0029959893063256663,0.8
+1789729562496773990,5966,0.6360146954545639,-0.1548325067228669,-0.44205140398358705,-0.998196408362112,-0.05971364392388037,0.006181509711388978,-0.05973300384945876,0.9982098939096912,-0.0029959893063193042,0.8
+1789729562530098888,6000,0.6360146954545639,-0.1548939434575608,-0.4428513713305258,-0.998196408362112,-0.05971364392388041,0.006181509711379842,-0.05973300384945873,0.9982098939096912,-0.0029959893063145338,0.8
+1789729562563430713,6033,0.6360146954545639,-0.15494503733511183,-0.44372941214685235,-0.998196408362112,-0.05971364392388046,0.006181509711370705,-0.059733003849458725,0.9982098939096913,-0.0029959893063097633,0.8
+1789729562596765818,6066,0.6360146954545639,-0.15500036794735675,-0.4449744325550157,-0.998196408362112,-0.05971364392388056,0.006181509711358527,-0.05973300384945874,0.9982098939096913,-0.002995989306303401,0.8
+1789729562630105271,6100,0.6360146954545639,-0.15500036794735675,-0.4459638937795055,-0.998196408362112,-0.05971364392388063,0.006181509711349392,-0.05973300384945875,0.9982098939096913,-0.00299598930629863,0.8
+1789729562663436717,6133,0.6360146954545639,-0.15500036794735675,-0.44688269377950557,-0.998196408362112,-0.05971364392388071,0.0061815097113402575,-0.05973300384945878,0.9982098939096913,-0.002995989306293859,0.8
+1789729562696780729,6166,0.6360146954545639,-0.15500036794735675,-0.44787742847338313,-0.9981964083621124,-0.05971364392388085,0.006181509711328081,-0.059733003849458836,0.9982098939096913,-0.002995989306287503,0.8
+1789729562730098259,6200,0.6360146954545639,-0.15500036794735675,-0.4483952407182811,-0.9981964083621124,-0.05971364392388094,0.006181509711318946,-0.05973300384945887,0.9982098939096913,-0.002995989306282736,0.8
+1789729562763431604,6233,0.6360146954545639,-0.15500036794735675,-0.44880931418766884,-0.9981964083621124,-0.05971364392388106,0.0061815097113098166,-0.059733003849458934,0.9982098939096913,-0.002995989306277969,0.8
+1789729562796765499,6266,0.6360146954545639,-0.15500036794735675,-0.4493215672488934,-0.9981964083621124,-0.059713643923881184,0.006181509711297643,-0.059733003849458975,0.9982098939096913,-0.0029959893062716145,0.8
+1789729562830100823,6300,0.6360146954545639,-0.15500036794735675,-0.44968031826930155,-0.9981964083621124,-0.059713643923881274,0.006181509711288512,-0.05973300384945901,0.9982098939096914,-0.002995989306266847,0.8
+1789729562863432319,6333,0.6360146954545639,-0.15500036794735675,-0.44995930602440354,-0.9981964083621124,-0.0597136439238814,0.006181509711279385,-0.059733003849459065,0.9982098939096914,-0.0029959893062620783,0.8
+1789729562896774382,6366,0.6360146954545639,-0.15500036794735675,-0.4503023917386892,-0.9981964083621129,-0.059713643923881565,0.006181509711267212,-0.05973300384945916,0.9982098939096914,-0.00299598930625572,0.8
+1789729562930100229,6400,0.6360146954545639,-0.15500036794735675,-0.4504903264325667,-0.9981964083621127,-0.05971364392388169,0.00618150971125808,-0.05973300384945922,0.9982098939096914,-0.002995989306250953,0.8
+1789729562963437083,6433,0.6360146954545639,-0.15500036794735675,-0.4505631509223626,-0.9981964083621127,-0.05971364392388183,0.006181509711248952,-0.0597330038494593,0.9982098939096914,-0.002995989306246186,0.8
+1789729562996768109,6466,0.6360146954545639,-0.15500036794735675,-0.4506176733713421,-0.9981964083621127,-0.05971364392388201,0.00618150971123678,-0.05973300384945941,0.9982098939096914,-0.0029959893062398288,0.8
+1789729563030105222,6500,0.6360146954545639,-0.15500036794735675,-0.4506908652080768,-0.9981964083621127,-0.059713643923882134,0.006181509711227651,-0.05973300384945947,0.9982098939096914,-0.00299598930623506,0.8
+1789729563063434673,6533,0.6360146954545639,-0.15500036794735675,-0.45073541214685225,-0.9981964083621127,-0.05971364392388225,0.006181509711218523,-0.05973300384945953,0.9982098939096914,-0.00299598930623029,0.8
+1789729563096782210,6566,0.6360146954545639,-0.15500036794735675,-0.45074541214685226,-0.9981964083621131,-0.059713643923882335,0.006181509711212436,-0.05973300384945957,0.9982098939096914,-0.0029959893062271115,0.6
+1789729563130104644,6600,0.6360146954545639,-0.15500036794735675,-0.45074541214685226,-0.9981964083621131,-0.059713643923882335,0.006181509711212436,-0.05973300384945957,0.9982098939096914,-0.0029959893062271115,0.6
+1789729563163434266,6633,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.059713643923882335,0.006181509711212436,-0.05973300384945957,0.9982098939096914,-0.0029959893062271115,0.6
+1789729563196773245,6666,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563230102786,6700,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563263431748,6733,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563296775177,6766,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563330100169,6800,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563363426352,6833,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563396770340,6866,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563430097142,6900,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563463429783,6933,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563496769362,6966,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563530102213,7000,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563563443572,7033,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563596768864,7066,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563630091298,7100,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563663436966,7133,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563696767037,7166,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563730095749,7200,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563763426560,7233,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563796767729,7266,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563830153027,7300,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563863436650,7333,0.6360146954545639,-0.15501094753919348,-0.45074541214685226,-0.9981964083621131,-0.05971364392388236,0.00618150971120939,-0.059733003849459586,0.9982098939096914,-0.0029959893062255225,0.6
+1789729563896768521,7366,0.6360146954545639,-0.15501094753919348,-0.4506460815346074,-0.9981964083621131,-0.0597136439238824,0.006181509711206345,-0.05973300384945959,0.9982098939096914,-0.002995989306223933,0.6
+1789729563930105751,7400,0.6360146954545639,-0.15501094753919348,-0.45022719990195437,-0.9981964083621131,-0.05971429756819731,0.006175192216816881,-0.05973300384945961,0.9982102052867609,-0.00289038275719993,0.6
+1789729563963429204,7433,0.6360146954545639,-0.15501094753919348,-0.44943436724889313,-0.9981964083621129,-0.059715653910850264,0.006162062234129997,-0.05973300384945955,0.9982108166872341,-0.002670898673752503,0.6
+1789729563996771603,7466,0.6360146954545639,-0.15501094753919348,-0.44744165704481154,-0.9981964083621133,-0.059717206861610375,0.006146994194337986,-0.059733003849459496,0.9982114588484416,-0.0024190235191992155,0.6
+1789729564030095625,7500,0.6360146954545639,-0.15501094753919348,-0.44577338765705643,-0.9981964083621133,-0.059717206861610396,0.006146994194328873,-0.059733003849459475,0.9982114588484416,-0.0024190235191953124,0.6
+1789729564063429441,7533,0.6360146954545639,-0.15501094753919348,-0.4440362203101177,-0.9981964083621133,-0.05971720686161042,0.006146994194319761,-0.05973300384945944,0.9982114588484416,-0.002419023519191409,0.6
+1789729564096774404,7566,0.6360146954545639,-0.15501094753919348,-0.44199169786113807,-0.9981964083621133,-0.059717206861610445,0.006146994194307611,-0.0597330038494594,0.9982114588484416,-0.002419023519186204,0.6
+1789729564130100402,7600,0.6360146954545639,-0.15501094753919348,-0.4407364407182809,-0.9981964083621133,-0.059717206861610465,0.0061469941942984985,-0.05973300384945938,0.9982114588484416,-0.0024190235191823006,0.6
+1789729564163430469,7633,0.6360146954545639,-0.15501094753919348,-0.43947794275909724,-0.9981964083621135,-0.05971834416062881,0.006135935437217216,-0.05973300384945936,0.9982118896962714,-0.0022341710139083906,0.6
+1789729564196763855,7666,0.6360146954545639,-0.15501094753919348,-0.4379033794937911,-0.9981964083621138,-0.05972123441778903,0.006107740383509599,-0.059733003849459336,0.9982128332480059,-0.0017628925404499917,0.6
+1789729564230094212,7700,0.6360146954545639,-0.15501094753919348,-0.43681968153460743,-0.9981964083621142,-0.05972289028171421,0.0060915276716993864,-0.0597330038494593,0.9982132750373979,-0.0014919082521255478,0.6
+1789729564263428557,7733,0.6360146954545639,-0.15501094753919348,-0.43550884071828094,-0.998196408362114,-0.05972357066806363,0.0060848532959674375,-0.059733003849459225,0.9982134355323125,-0.001380352816628653,0.6
+1789729564296767642,7766,0.6360146954545639,-0.15501094753919348,-0.4336669305141993,-0.998196408362114,-0.059723570668063594,0.006084853295955345,-0.05973300384945915,0.9982134355323125,-0.00138035281662553,0.6
+1789729564330098708,7800,0.6360146954545639,-0.15501094753919348,-0.43216448969787274,-0.9981858179865488,-0.059900311609298845,0.006084853295946278,-0.059909747805398095,0.9982028434862301,-0.0013803528166231875,0.6
+1789729564363425486,7833,0.6360146954545639,-0.15497722509021386,-0.43052577949379106,-0.998174063258185,-0.0600958733942096,0.0060848532959372125,-0.060105312925735795,0.9981910869088148,-0.001380352816620844,0.6
+1789729564396767100,7866,0.6360146954545639,-0.1549005148861322,-0.4282056162284849,-0.9981559821832515,-0.06039544512756289,0.006084853295925119,-0.06040488976784356,0.9981730030000994,-0.001380352816617717,0.6
+1789729564430101206,7900,0.6360146954545639,-0.15481704549837713,-0.4262201631672604,-0.99813587092817,-0.06072691105952565,0.006084853295916055,-0.06073636135158606,0.9981528886076878,-0.0013803528166153717,0.6
+1789729564463431253,7933,0.6360146954545639,-0.15466760876368324,-0.42403562439175024,-0.9981107717185997,-0.06113805639426956,0.006084853295906986,-0.06114751369542276,0.9981277855039252,-0.0013803528166130238,0.6
+1789729564496766298,7966,0.6360767117810944,-0.1543687516208261,-0.42073973867746445,-0.9980739545844923,-0.06173617853771177,0.0060848532958949,-0.061745646032937446,0.9980909626993307,-0.00138035281660989,0.6
+1789729564530105733,8000,0.6361503117810944,-0.15407564141674449,-0.41782361622848485,-0.9980336126818292,-0.0623849542568076,0.006084853295885835,-0.062394432806001064,0.9980506146388164,-0.0013803528166075377,0.6
+1789729564563467052,8033,0.6362519362708904,-0.15377741284531593,-0.41482361622848485,-0.9979818734903405,-0.06320807801414041,0.006076105534748693,-0.06321672384065924,0.9979990505233188,-0.0012413627221273668,0.6
+1789729564596773564,8066,0.6364227199443597,-0.1534018128453159,-0.41082361622848484,-0.9979130958967812,-0.06428762592439463,0.006046006178212738,-0.06429342627951243,0.997930740492629,-0.0007697513066074,0.6
+1789729564630107990,8100,0.6365729974953802,-0.15311439243715264,-0.40782361622848484,-0.9978689732816652,-0.06497178060477685,0.006014971890255466,-0.06497469257673405,0.9978868700185799,-0.00028977418923493915,0.6
+1789729564663433698,8133,0.6367220423933394,-0.15281801692694857,-0.40482361622848484,-0.9978243781674216,-0.06565609453211349,0.005982272610691169,-0.06565601011714448,0.9978422941211301,0.00021070969952512603,0.6
+1789729564696774842,8166,0.6369069485157883,-0.15240290672286697,-0.40082361622848484,-0.997760769159862,-0.06661983854967028,0.005936719391795883,-0.06661565932900261,0.997778304753777,0.0008991634118254265,0.6
+1789729564730110647,8200,0.6370422709647678,-0.1520808985596017,-0.39782361622848483,-0.997712138637836,-0.0673474484195698,0.0058999666176607745,-0.06734002846290443,0.9977290338572297,0.00144760662277646,0.6
+1789729564763434515,8233,0.6371763770872167,-0.1517356903963364,-0.39482361622848483,-0.9976603617122501,-0.0681134584603339,0.005861692993932674,-0.06810272116637564,0.9976762847500428,0.0020125151146083197,0.6
+1789729564796769831,8266,0.6373888995361964,-0.15115701284531596,-0.3908236162284848,-0.9975774702619755,-0.06929521950673116,0.006112559139299694,-0.06927889366751568,0.9975932782450614,0.0028436055416826687,0.6
+1789729564830106626,8300,0.6375978219851759,-0.15063479243715272,-0.3878236162284848,-0.9975128679351046,-0.07018898322530019,0.006448638436230247,-0.07016711192527304,0.9975289062715476,0.0035577460218895966,0.6
+1789729564863391304,8333,0.6378251117810942,-0.15007391080449967,-0.3848236162284848,-0.9974428423871182,-0.07113414129967477,0.0069072507022855814,-0.0711040640402012,0.997458721187239,0.004506839744745224,0.6
+1789729564896769619,8366,0.6380839362708901,-0.14926388631470372,-0.3808236162284848,-0.9973261303274401,-0.0726703204011988,0.00772102965165847,-0.07262429479387988,0.9973408166425983,0.00608335962825403,0.6
+1789729564930103085,8400,0.6382692995361962,-0.14868287406980576,-0.3779361223509338,-0.9972268160737847,-0.07396112111663893,0.008272234674637302,-0.07389901393951216,0.9972369405418938,0.007577608950787289,0.6
+1789729564963438320,8433,0.6384450219851757,-0.1481170454983772,-0.37526318357542365,-0.9971187478991894,-0.07534827389709417,0.008765854703381456,-0.07526553559191959,0.9971190842765859,0.009414399794161105,0.6
+1789729564996774515,8466,0.6386463117810941,-0.14735266998817317,-0.3718878203101175,-0.9969644892826826,-0.07729639593941168,0.009331360249030883,-0.07718249208439662,0.9969446972343261,0.012005564209980205,0.6
+1789729565030110550,8500,0.6387816505566043,-0.14677435978409156,-0.3695190937795053,-0.9968399086524922,-0.07884389658243346,0.009686923628787683,-0.07870721392410715,0.9968027645564829,0.01376310462279147,0.6
+1789729565063434673,8533,0.6389121566790534,-0.14614204958000993,-0.3673340162284849,-0.9967108153815072,-0.08041613595717942,0.01003970015724613,-0.08025878556830618,0.9966581664528216,0.015199558612029823,0.6
+1789729565096778512,8566,0.639086164842319,-0.1452202536616426,-0.3647177876570563,-0.9965244315231612,-0.08262950587508522,0.010555668443061807,-0.08244811771148292,0.9964571398951236,0.016597476852325866,0.6
+1789729565130102235,8600,0.6392227036178291,-0.1444441230493977,-0.36304471010603584,-0.9963684391584164,-0.08443185053805599,0.011008908380973443,-0.08423582550331218,0.9962974422310971,0.017196869062403072,0.6
+1789729565163431666,8633,0.6393568587198698,-0.1436179761106222,-0.361489461126444,-0.9962072635728834,-0.08625170017624359,0.011477465806334086,-0.08604269856028013,0.9961359037537527,0.017604410730240782,0.6
+1789729565196767377,8666,0.6395203117810943,-0.14242343733511198,-0.3595570121468522,-0.9959937732294175,-0.08859685255849933,0.012124413592222128,-0.08837321205179158,0.9959268941353019,0.017882866930675978,0.6
+1789729565230098968,8700,0.6396403117810944,-0.14147941284531604,-0.35818528969787267,-0.9958406742546182,-0.09022848891386519,0.012655879599153638,-0.0899951906692293,0.9957807836465333,0.017930325616259228,0.6
+1789729565263431519,8733,0.6397893566790536,-0.1405225393759283,-0.356893510106036,-0.9956910588761982,-0.09177635448289112,0.013282169695718606,-0.09153167681323146,0.9956396992888411,0.01798725492631085,0.6
+1789729565296771478,8766,0.6399830219851759,-0.1392164006004181,-0.3551510447999136,-0.9955090217962541,-0.09360346165415323,0.014148480081825184,-0.0933430174628968,0.9954700628630713,0.018067513229944043,0.6
+1789729565330105789,8800,0.6401183444341554,-0.1382269883555201,-0.3538441305141994,-0.9953765100873528,-0.09489660091547242,0.014840427925518606,-0.09462353352741368,0.9953479753916685,0.018132699371376987,0.6
+1789729565363430882,8833,0.6402512505566044,-0.13723428631470377,-0.35258214684073,-0.9952412588103634,-0.0961895659577763,0.015569334039020277,-0.09590316679365189,0.9952242252758308,0.018202308179770456,0.6
+1789729565396765462,8866,0.6404300587198696,-0.13589860468205076,-0.3510154856162402,-0.9950573064683339,-0.09791324281578141,0.01655154751927334,-0.09760881948880205,0.9950566399174906,0.01829758765837558,0.6
+1789729565430097644,8900,0.6405641648423185,-0.1348894046820508,-0.34995926520807696,-0.9949172072123991,-0.09920578970739713,0.01726157817849439,-0.09888829434855992,0.9949290119349763,0.018367537965780292,0.6
+1789729565463434464,8933,0.6406970709647675,-0.13387688223307123,-0.3489828488815464,-0.9947782176899245,-0.10047318279560923,0.017928668343670556,-0.10014337443733141,0.9948022354222152,0.01843412474916535,0.6
+1789729565496764175,8966,0.6408675281076246,-0.13251799243715287,-0.34775066112644437,-0.9945899169285166,-0.10216276230762343,0.018806040035123407,-0.10181671367775495,0.9946307129860658,0.018523001935230324,0.6
+1789729565530099466,9000,0.6410016832096653,-0.1314888087636835,-0.34688802439175054,-0.9944497315558898,-0.10340501679019037,0.01941993591749052,-0.10304757613622045,0.9945027671489154,0.01858610194742094,0.6
+1789729565563463989,9033,0.6411481485157877,-0.1304596250902141,-0.3460915917386893,-0.9943080749687394,-0.10464709521556817,0.020010934883307945,-0.10427866641116479,0.9943732836597831,0.018647586309482544,0.6
+1789729565596804268,9066,0.6413637974953795,-0.1290227026412345,-0.34511903663664856,-0.9941270394303363,-0.10620699982000288,0.020772642169653806,-0.10582437177857561,0.9942084625370124,0.01872792987651504,0.6
+1789729565630100508,9100,0.6415421485157877,-0.12785515162082634,-0.3445072325550159,-0.9940042458984719,-0.10723749916199138,0.021346613532196926,-0.10684413303115331,0.9940982325486324,0.01878923310053876,0.6
+1789729565663432639,9133,0.6417464587198695,-0.12665904549837737,-0.3439921386774649,-0.9938856103017433,-0.10820880444769157,0.021960151983387168,-0.1078039206708589,0.9939933547339287,0.01885538206404979,0.6
+1789729565696767849,9166,0.6420411525974207,-0.12506062100858145,-0.34337873459583224,-0.9937290037384567,-0.10948683788792458,0.022700208331169355,-0.10906803595804325,0.993853908569456,0.018935996236544555,0.6
+1789729565730095702,9200,0.6422621730055841,-0.12381344549837739,-0.3430354611264445,-0.9936225873987135,-0.11035230776028164,0.02316294417958127,-0.10992479111826932,0.993758540689782,0.018986919279329363,0.6
+1789729565763431562,9233,0.6424801076994616,-0.12254406590654067,-0.34274776316726085,-0.9935197004540077,-0.11118374291214428,0.023596188713970505,-0.11074805637046173,0.9936662105521705,0.019034968270386057,0.6
+1789729565796757724,9266,0.6427763770872167,-0.12082046590654066,-0.34241281622848535,-0.9933874206450028,-0.11224146520222987,0.02415131452995753,-0.11179529013447005,0.9935477416738566,0.01909707094109573,0.6
+1789729565830089646,9300,0.6430068015770125,-0.11952495570245902,-0.3421776162284854,-0.993289807611732,-0.11301991714770548,0.024532762228788734,-0.11256653120431964,0.9934598294238287,0.019140098583968295,0.6
+1789729565863430905,9333,0.6432356505566043,-0.11822568223307127,-0.34193918357542424,-0.9931926738734536,-0.1137854820711989,0.02492341537439358,-0.11332469556313651,0.9933727745949098,0.019184474690046457,0.6
+1789729565896763366,9366,0.6435211199443592,-0.11645298019225496,-0.34159273459583245,-0.9930677350315991,-0.11474683059211346,0.02548800714601164,-0.11427530264213184,0.9932626174166758,0.0192491051382541,0.6
+1789729565930104045,9400,0.6437239199443591,-0.11512345366164273,-0.3413105794937917,-0.9929739582512271,-0.11544915839904214,0.02596555525775905,-0.11496850410808672,0.9931815503858827,0.019304171472587294,0.6
+1789729565963428208,9433,0.6439267199443589,-0.1137939271310305,-0.3410178284733835,-0.992876451650057,-0.11617002058601783,0.026474101983573247,-0.11567962156916106,0.9930978262594403,0.019363177228704922,0.6
+1789729565996763548,9466,0.6441941648423181,-0.11201741284531622,-0.3406081794937917,-0.9927442589153015,-0.11711873972382872,0.027240359693136644,-0.11661358585128614,0.9929868392692442,0.019452728162930224,0.6
+1789729566030104046,9500,0.6443867199443589,-0.11070303733511215,-0.34027475908562843,-0.9926343094990377,-0.117896924869705,0.027882659694439742,-0.1173793598124152,0.9928951251905128,0.019528345115332545,0.6
+1789729566063463965,9533,0.6445706872912977,-0.10940752713103051,-0.3399240570448121,-0.9925139998736656,-0.11873420901030918,0.028603280676764896,-0.11820266709731156,0.9927957644487582,0.019613760059916763,0.6
+1789729566096765138,9566,0.6448121893321141,-0.10768018019225499,-0.3394538529631794,-0.9923486623669913,-0.11987072111513046,0.029582807807616254,-0.11932010677824147,0.992659763704792,0.019730829682898167,0.6
+1789729566130115989,9600,0.6449933158627265,-0.10636580468205092,-0.3391011999019549,-0.9922229850558031,-0.12072805302325931,0.030303219963642016,-0.12016336410583661,0.9925563089021743,0.019817658420201955,0.6
+1789729566163436628,9633,0.6451716505566041,-0.10502865366164275,-0.33874459582032224,-0.9920950520771921,-0.12158527532634472,0.031055248634823455,-0.12100583226253339,0.9924521258564679,0.01990895380046793,0.6
+1789729566196772913,9666,0.6454075689239511,-0.10322535570245907,-0.33825858765705685,-0.9919223765977216,-0.12271454129613521,0.03211137118229451,-0.12211426468465456,0.992313748736219,0.020038224212690085,0.6
+1789729566230159795,9700,0.6455873158627267,-0.10185751080449988,-0.3379078856162405,-0.991799024775234,-0.12350486881825737,0.03288224191079084,-0.12288930733090977,0.9922161393773503,0.020133328160931527,0.6
+1789729566263443222,9733,0.6457726791280327,-0.1004780659065407,-0.3375745468407303,-0.9916814315179665,-0.12425640252980975,0.03358995106913848,-0.1236267710161865,0.9921227367818728,0.020221193054767113,0.6
+1789729566296758602,9766,0.6460255444341552,-0.0986439434575611,-0.3371683917386895,-0.9915310811540048,-0.1252162737391288,0.03445286485125041,-0.1245694443106421,0.9920026120489926,0.020329073567521137,0.6
+1789729566330107734,9800,0.6462039607606858,-0.09729530672286721,-0.336913550922363,-0.9914202291577727,-0.12592369920576443,0.035059252631593686,-0.12526476011365764,0.9919134839276402,0.020405398212210282,0.6
+1789729566363436480,9833,0.6463726709647675,-0.09598093121266314,-0.3366686529631794,-0.9913097057351037,-0.12662485480021474,0.035654080582833717,-0.12595400891115205,0.9918246462076451,0.020480693696481166,0.6
+1789729566396770506,9866,0.6465962709647676,-0.09427966590654069,-0.33633045704481207,-0.9911508031065492,-0.12762898760759772,0.036481872532833234,-0.1269415352591004,0.9916965541847159,0.020586185761897302,0.6
+1789729566430102141,9900,0.6467609403525227,-0.09304351896776518,-0.3360570121468529,-0.9910215537438829,-0.12843839827871764,0.03714643808843452,-0.12773757310415487,0.9915925586546795,0.02067147885678752,0.6
+1789729566463433287,9933,0.6469256097402779,-0.09182566590654069,-0.33578184479991413,-0.9908885968204242,-0.12926764217910305,0.037810916105103586,-0.12855341951872415,0.9914853263697405,0.020757310122751112,0.6
+1789729566496769272,9966,0.6471451689239515,-0.09020186182490804,-0.33541495500399576,-0.990709074191199,-0.13038202338133048,0.038678912784716954,-0.12965026225234932,0.9913401236424043,0.020870284007641737,0.6
+1789729566530107486,10000,0.6473098383117066,-0.08898400876368355,-0.3351432325550162,-0.99057328687383,-0.1312157206002443,0.0393318954454982,-0.1304728269413127,0.9912314571019893,0.02090549883187124,0.6
+1789729566563436043,10033,0.6474745076994618,-0.08776615570245906,-0.3348732325550163,-0.990436602564043,-0.1320452095917744,0.03999248585997878,-0.13129545585698033,0.9911242408236666,0.02083848658176201,0.6
+1789729566596771977,10066,0.6476940668831354,-0.08614961692694885,-0.33451323255501636,-0.9902527675321648,-0.13315483718946997,0.040856403756751675,-0.13239227334666237,0.990978154426143,0.020846664199771013,0.6
+1789729566630101944,10100,0.6478587362708905,-0.08494266182490802,-0.33425501214685316,-0.9901123072568243,-0.13399478776875745,0.04150922631625757,-0.1332213006163116,0.9908662658023571,0.02088368638413493,0.6
+1789729566663431040,10133,0.6480234056586457,-0.08373570672286719,-0.33402772235093475,-0.9899698584174708,-0.13484317203253957,0.042154458614674,-0.13406426775855831,0.9907542972881727,0.020801310424606357,0.6
+1789729566696770294,10166,0.6482429648423192,-0.0821408985596019,-0.33373302847338376,-0.9897741618877522,-0.13601408379685376,0.04297996589458974,-0.13523013063497297,0.9905987364785169,0.020662890785510184,0.6
+1789729566730105069,10200,0.6484076342300744,-0.08094479243715293,-0.33351509377950617,-0.9896246057910687,-0.13690234001197368,0.043599184764381814,-0.1361148476289635,0.9904797051206613,0.02055971787335293,0.6
+1789729566763493231,10233,0.6485804342300744,-0.07974868631470396,-0.3333092896978735,-0.9894806046328908,-0.13774737829656844,0.04420172878691608,-0.13695876202946858,0.9903663799060499,0.020413991651341976,0.6
+1789729566796777028,10266,0.648820638311707,-0.07826320876368355,-0.33304184479991433,-0.9892780074221716,-0.13896444615426035,0.044921116814462626,-0.13818355057805926,0.9902034606770198,0.020060229632149148,0.6
+1789729566830101846,10300,0.6490102872912988,-0.07720363325347947,-0.3328507182693021,-0.9891297118453537,-0.13985621920334423,0.04541641878080651,-0.13909323737372786,0.9900860554617191,0.01956205758987077,0.6
+1789729566863428273,10333,0.6491942546382377,-0.07613047406980601,-0.33265817949379195,-0.9889819605829144,-0.1407343817115263,0.04591857408337216,-0.1399886252643927,0.9899691184638025,0.019087411678566445,0.6
+1789729566896773156,10366,0.6494545566790539,-0.0747548414167448,-0.33230238357542463,-0.9887605298491968,-0.1420653411425556,0.046583832585829744,-0.1413306132458932,0.9897854314910144,0.018720506608692837,0.6
+1789729566930106381,10400,0.6496803689239519,-0.07374893121266315,-0.33196079990195526,-0.9885793441167521,-0.1431628201095046,0.047066838899444435,-0.14243146535904178,0.9896306597583253,0.018558958536992843,0.6
+1789729566963429659,10433,0.6499124015770131,-0.07273302100858152,-0.3315760652080777,-0.9883923684248523,-0.1442887504314865,0.047552944582135506,-0.14355494799046362,0.9894690590406545,0.01851912818296473,0.6
+1789729566996764764,10466,0.6502009893321151,-0.07129971488613254,-0.33102198357542467,-0.9881460888443552,-0.14572221968956028,0.048294324618454565,-0.144976078395413,0.9892598054667571,0.01862723760950636,0.6
+1789729567030096247,10500,0.6504158709647682,-0.07016762509021418,-0.33059527337134303,-0.9879718798039097,-0.14670245035940652,0.04888717393422689,-0.14594623090454026,0.9891154978816473,0.018714420511991174,0.6
+1789729567063427337,10533,0.6506526791280335,-0.06897863733511214,-0.3301728407182818,-0.9878077669446323,-0.14760416777873375,0.049485606171961946,-0.14683764722326742,0.9889818765339432,0.01880301160281266,0.6
+1789729567096771824,10566,0.6509743362708905,-0.0672315271310305,-0.3296252325550164,-0.9876064934205171,-0.1486504880090981,0.050363146925975974,-0.14786847599387706,0.9888257801795055,0.018933839009572174,0.6
+1789729567130109313,10600,0.6511861974953804,-0.0658443271310305,-0.3292364325550164,-0.9874620944160664,-0.14936126653195916,0.051086438037944056,-0.14856624304008045,0.9887191016104263,0.019042309198918257,0.6
+1789729567163430265,10633,0.6513816423933396,-0.06450715978409173,-0.3288517305142,-0.9872959635813738,-0.1502080289963671,0.051809538899254874,-0.14940012067198738,0.9885913369957262,0.019151301788604753,0.6
+1789729567196765104,10666,0.6516402872912987,-0.06275720060041827,-0.3283773305142,-0.987051218157716,-0.15148489924359845,0.0527467348233621,-0.1506604593047219,0.9883972806180603,0.019293565479546915,0.6
+1789729567230106232,10700,0.6518299852504824,-0.061450400600418266,-0.3280680325550163,-0.9868589119899775,-0.15250040934532186,0.05341453898956714,-0.1516642908732572,0.9882417460871908,0.01939572541701765,0.6
+1789729567263425295,10733,0.65200831994436,-0.06014360060041826,-0.32779960806522046,-0.9866649402636924,-0.15352309136091014,0.05406436972197192,-0.15267562544798813,0.988084038133441,0.019495819551334986,0.6
+1789729567296767192,10766,0.6522442383117071,-0.058359363865724385,-0.32745486520807765,-0.9864114824111074,-0.1548497566944791,0.05489936446973914,-0.1539876828071326,0.9878778440826098,0.01962546087063379,0.6
+1789729567330103431,10800,0.6524102709647683,-0.056948751620826424,-0.32722424479991435,-0.9862348854114806,-0.15575692737112598,0.05550252582819753,-0.15488419324456684,0.9877358026774775,0.019719807099943795,0.6
+1789729567363427163,10833,0.6525670219851765,-0.05552634345756112,-0.3270228570448123,-0.9860624482502791,-0.15663624511047433,0.056088634038967064,-0.15575312198057692,0.987597310890188,0.019812029572279587,0.6
+1789729567396766761,10866,0.6527708097402785,-0.053614049580010106,-0.3267685468407307,-0.9858330995357434,-0.15779925477335058,0.05685503542101152,-0.15690252794034007,0.9874129101115974,0.019933430986090662,0.6
+1789729567430099121,10900,0.6529123117810947,-0.052179829171846846,-0.3265901958203225,-0.985662482614369,-0.15866453548406736,0.057402400177200316,-0.1577581218504918,0.987274807844313,0.020020708933010008,0.6
+1789729567463428662,10933,0.6530392668831354,-0.050745608763683586,-0.3264334121468532,-0.9855010643643449,-0.15947600701987982,0.05792283937911808,-0.15856034421390527,0.9871445893970856,0.020104150487576532,0.6
+1789729567496764961,10966,0.6531992668831356,-0.048841200600418286,-0.3262545713305266,-0.9852894402400247,-0.1605577649518969,0.058531385300115014,-0.1596314861386668,0.9869699362914173,0.020202313978265486,0.6
+1789729567530137521,11000,0.6533114219851763,-0.0474384087636836,-0.3261424162284858,-0.9851264286780017,-0.1614089810658061,0.05893267643187804,-0.16047592669729438,0.9868316511207639,0.020267444261958947,0.6
+1789729567563465411,11033,0.6534016913729315,-0.04607056386572441,-0.32604622031011843,-0.9849638893388513,-0.1622804413234367,0.05925533783849658,-0.1613422604656435,0.9866892969287724,0.02032009630984262,0.6
+1789729567596773027,11066,0.6534981403525233,-0.04422865366164278,-0.325952342759098,-0.984760346990293,-0.1633949403538545,0.05957476363628409,-0.16245212790615327,0.9865060898622144,0.020372550246035837,0.6
+1789729567630100888,11100,0.6535493485157885,-0.04283755978409176,-0.32589667745297557,-0.9846137771726489,-0.16420567771151462,0.05976792793054484,-0.163260310046989,0.9863720032892247,0.020404467416789755,0.6
+1789729567663437027,11133,0.6535891934137475,-0.041450359784091756,-0.3258499590856287,-0.9844711124126335,-0.16500319598779337,0.059921399673622894,-0.16405607539645897,0.9862394339209849,0.020429956062770302,0.6
+1789729567696769657,11166,0.6536376179035435,-0.0395420087636836,-0.3258020815346083,-0.9843098510655137,-0.16596247454335938,0.059921399673499784,-0.16501707761272844,0.9860790946934375,0.020429956062739438,0.6
+1789729567730141697,11200,0.6536711444341559,-0.03810778835552034,-0.32577034275909805,-0.9841911846019931,-0.16666474736099926,0.059921399673407434,-0.1657206130442949,0.9859611023298529,0.020429956062716338,0.6
+1789729567763439615,11233,0.6537034791280334,-0.03668145366164279,-0.3257597631672613,-0.9840699266342792,-0.16737922617575915,0.059921399673315064,-0.16643637706802997,0.9858405293371464,0.02042995606269326,0.6
+1789729567796772645,11266,0.6537140587198701,-0.034796710804499933,-0.3257597631672613,-0.9839074425201186,-0.1683317272968049,0.05992139967319189,-0.16739059257396371,0.9856789570712235,0.020429956062662534,0.6
+1789729567830166900,11300,0.6537140587198701,-0.03340951080449993,-0.3257597631672613,-0.9837860300556891,-0.16903985603544364,0.05992139967309944,-0.16809999661290742,0.9855582215343847,0.02042995606263952,0.6
+1789729567863439684,11333,0.6537140587198701,-0.032002792437152996,-0.3257597631672613,-0.9836814592405134,-0.1696443253982398,0.059929872406255406,-0.16870855698116186,0.9854552504377331,0.020380681687293976,0.6
+1789729567896770204,11366,0.6537140587198701,-0.030114123049397895,-0.3257597631672613,-0.9835434210549696,-0.17042386776443805,0.059983699416557644,-0.16950853326617601,0.9853243677410637,0.020068569595831955,0.6
+1789729567930103904,11400,0.6537140587198701,-0.02872692304939789,-0.3257597631672613,-0.9834340362767107,-0.1710384353692798,0.060027909499886116,-0.1701397919219624,0.985220729169912,0.01981327884673042,0.6
+1789729567963458508,11433,0.6537140587198701,-0.02728478427388769,-0.3257597631672613,-0.9833331906384677,-0.17159890853640866,0.060080369322132815,-0.17071971791828552,0.985126429075875,0.01951144920594243,0.6
+1789729567996768514,11466,0.6537140587198701,-0.025356653661642796,-0.3257597631672613,-0.9831985436379398,-0.17234223547841918,0.06015627696704786,-0.1714910035342551,0.9850009778904684,0.019076405888824612,0.6
+1789729568030108340,11500,0.6537140587198701,-0.02392635978409178,-0.3257597631672613,-0.9830909602161959,-0.17293523616257125,0.060212689979714434,-0.17210480935340242,0.984900101177011,0.018754340802667708,0.6
+1789729568063436715,11533,0.6537140587198701,-0.02250396794735709,-0.3257597631672613,-0.9829809952258379,-0.1735400574434701,0.06026783128119019,-0.17272996761295525,0.9847965779528308,0.01844067083436516,0.6
+1789729568096772837,11566,0.6537140587198701,-0.020615282233071377,-0.3257597631672613,-0.982823284347933,-0.1744106266768177,0.060326818627717944,-0.1736226485212665,0.9846457894017858,0.01810649976651568,0.6
+1789729568130104131,11600,0.6537140587198701,-0.01921249039633668,-0.3257597631672613,-0.9826964096437192,-0.17511065190405714,0.06036576896784968,-0.1743374574600867,0.9845234935102649,0.017886912888917507,0.6
+1789729568163434905,11633,0.6537140587198701,-0.01780187815143872,-0.3257597631672613,-0.982569027649534,-0.17580861103222592,0.06041058012276684,-0.1750521776614021,0.9844012039391442,0.017635327588802648,0.6
+1789729568196775537,11666,0.6537140587198701,-0.015909282233071375,-0.3257597631672613,-0.9823961620967461,-0.1767488651577153,0.060478255291008635,-0.17601745347884215,0.9842357673796827,0.017257180573629044,0.6
+1789729568230166137,11700,0.6537140587198701,-0.014490816926948924,-0.3257597631672613,-0.9822608121038892,-0.17748177638128546,0.060530290413575,-0.17676956156655962,0.9841059978103092,0.016967827714295586,0.6
+1789729568263438175,11733,0.6537140587198701,-0.013084114886132595,-0.3257597631672613,-0.9821249024387599,-0.17821383420453382,0.06058469532625855,-0.17752157032427077,0.9839757705627148,0.016666583786624577,0.6
+1789729568296765440,11766,0.6537140587198701,-0.011218939375928511,-0.3257597631672613,-0.9819381692077067,-0.1792121533959662,0.06066659647777763,-0.17854963244265953,0.9837972815358484,0.016215350667368792,0.6
+1789729568330101612,11800,0.6537140587198701,-0.009812237335112182,-0.3257597631672613,-0.9817962529253401,-0.1799653051650999,0.06073390057122134,-0.17932702051707056,0.9836618883376832,0.015846423710520745,0.6
+1789729568363431317,11833,0.6537140587198701,-0.008389845498377487,-0.3257597631672613,-0.9816584479203645,-0.18069248066315935,0.06080229484464239,-0.18007868958237916,0.9835305023511652,0.015473089644852696,0.6
+1789729568396764000,11866,0.6537140587198701,-0.006493323049397895,-0.3257597631672613,-0.9814738431254371,-0.18166203384207205,0.06089335531030654,-0.18108075815392352,0.9833541602840234,0.014978467161343972,0.6
+1789729568430100013,11900,0.6537140587198701,-0.005066988355520345,-0.3257597631672613,-0.9813347418101099,-0.18238806822981923,0.060964884022526325,-0.1818321914206673,0.9832213043750295,0.014591805447690915,0.6
+1789729568463429577,11933,0.6537140587198701,-0.003600898559601977,-0.3257597631672613,-0.9811974329558171,-0.18310053805831455,0.06103925395736555,-0.1825709233853165,0.9830902609675104,0.014191431395925751,0.6
+1789729568496763421,11966,0.6537140587198701,-0.0016248659065407531,-0.3257597631672613,-0.9810243478499752,-0.1839941876321995,0.06113401543410957,-0.1834979205339446,0.9829248560441584,0.013683586163313732,0.6
+1789729568530101123,12000,0.6537140587198701,-0.00014284141674483493,-0.3257597631672613,-0.9808905208444387,-0.1846831510164416,0.06120392020258459,-0.18421147805937824,0.9827964992613648,0.013310611961339204,0.6
+1789729568563455451,12033,0.6537140587198701,0.0013472320526429203,-0.3257697631672613,-0.9807561932332045,-0.18537308588480836,0.06127077985677522,-0.18492494204172386,0.9826672514955852,0.012955255650788311,0.6
+1789729568596762871,12066,0.6537140587198701,0.0033313136852959812,-0.32580976316726135,-0.9805763098216309,-0.18629398387912616,0.06135676154294538,-0.1858760807407514,0.9824936764925135,0.012500330422905982,0.6
+1789729568630099973,12100,0.6537140587198701,0.004825411644479655,-0.3258463999019552,-0.9804228713594763,-0.18702688979460572,0.06157869606443596,-0.18663131743729947,0.9823546984044715,0.012165437693634991,0.6
+1789729568663437716,12133,0.6537140587198701,0.006339762664887818,-0.3259030203101184,-0.9802633090966908,-0.1877691528501244,0.06185943805719925,-0.1873986561047048,0.9822131866326593,0.011789813190519985,0.6
+1789729568696793604,12166,0.6537140587198701,0.008438195317949041,-0.3260129958203225,-0.9800265152588503,-0.18883704444338942,0.062358640423601355,-0.18849882293336004,0.9820082126537317,0.011316538046637722,0.6
+1789729568730099444,12200,0.6537140587198701,0.010064130011826591,-0.3261414774529756,-0.9798303399403567,-0.18969364565849262,0.06283968275823108,-0.18937660709136378,0.9818427068511426,0.011018152739207284,0.6
+1789729568763435467,12233,0.65374405871987,0.01165255450162251,-0.32632279990195523,-0.9796207227158196,-0.19059802321276018,0.0633690237665412,-0.19029525624352575,0.9816671064698963,0.010835475357919,0.6
+1789729568796764781,12266,0.6537869730055842,0.013648856542438834,-0.32662546928971037,-0.9793389917146285,-0.19181848379872388,0.06403755601625041,-0.19152952833464956,0.9814287565252563,0.010678747173518858,0.6
+1789729568830102733,12300,0.6537975525974209,0.015087068787336793,-0.32687202439175117,-0.9791228615968215,-0.19276096044511296,0.06451072799720467,-0.19247652928289358,0.9812437373448979,0.010654275978613683,0.6
+1789729568863432628,12333,0.6537975525974209,0.016478244297540877,-0.3271218447999144,-0.9788988352143269,-0.19374643983037682,0.06495681233780069,-0.193459289129624,0.9810494942950244,0.01074212236652275,0.6
+1789729568896762832,12366,0.6537975525974209,0.018232227971010262,-0.327446767248894,-0.9785926235943692,-0.19509162906003738,0.06554184401884261,-0.19480101309099943,0.980782681362962,0.010858049419620337,0.6
+1789729568930102704,12400,0.6537975525974209,0.019389632052642915,-0.327698261126445,-0.9783618777377898,-0.19610572613359673,0.06595892939550797,-0.19581275356440703,0.980580264496407,0.010941225785133783,0.6
+1789729568963431378,12433,0.6537975525974209,0.020339819807744953,-0.32791524071828176,-0.978133824032456,-0.19711227840007642,0.06633982203455255,-0.19681733200234083,0.9803782691430695,0.011017586646796087,0.6
+1789729568996770280,12466,0.6537975525974209,0.02124603205264291,-0.32813918357542465,-0.9778803483259391,-0.19824325016122282,0.06670560788611168,-0.19794678322616024,0.980150015516467,0.011091352193715431,0.6
+1789729569030168406,12500,0.6537975525974209,0.021763958583255152,-0.3283052815346083,-0.9777537114771722,-0.19878779327300933,0.06694096606908245,-0.19848992068868754,0.9800396283192279,0.011139044344479303,0.6
+1789729569063443777,12533,0.6537975525974209,0.022139036134275564,-0.3285218692897103,-0.9776743726916846,-0.1990857760195986,0.067213650165686,-0.19878548916410627,0.9799790885026718,0.01119443590626765,0.6
+1789729569096781113,12566,0.6537975525974209,0.02262146878733679,-0.32884853051420004,-0.9775874490747285,-0.1993878429198261,0.06758156188890461,-0.19908404636562185,0.9799176219023619,0.011269284267895655,0.6
+1789729569130108261,12600,0.6537975525974209,0.023117950419989854,-0.32917284888154696,-0.9775226418035061,-0.19962313378333368,0.06782395756673845,-0.19931710032457306,0.9798696756524522,0.011318668427077391,0.6
+1789729569163495745,12633,0.6537975525974209,0.023618791236316387,-0.329537355003996,-0.9774617978549578,-0.19984444539552704,0.06804874266809029,-0.19953633760480644,0.9798245239163905,0.011364519667783625,0.6
+1789729569196771616,12666,0.6537975525974209,0.024265721848561284,-0.3300233631672614,-0.9773616316684459,-0.20022611330604984,0.06836478986105722,-0.19991524874318178,0.9797465332642287,0.011429080307591629,0.6
+1789729569230103043,12700,0.6537975525974209,0.024778293277132712,-0.3303959019427716,-0.9772756842357988,-0.20057507485788614,0.06857022930692871,-0.20026265863165746,0.9796750894319778,0.011471124802153194,0.6
+1789729569263433251,12733,0.6537975525974209,0.02530510144039802,-0.3307806203101185,-0.977189201392697,-0.20093270128939586,0.0687554669393606,-0.20061898834719386,0.9796017363980825,0.011509107715640928,0.6
+1789729569296768597,12766,0.6537975525974209,0.02598476674652047,-0.33128472643256746,-0.9770554598089873,-0.20147877163787375,0.06905746184694361,-0.2011628478115694,0.9794894673149566,0.011571174504002111,0.6
+1789729569330103104,12800,0.6537975525974209,0.02640783613427557,-0.33159593459583275,-0.9769646673783774,-0.20187703170847604,0.06917877393270094,-0.2015606647120653,0.9794073858778013,0.011596160090397295,0.6
+1789729569363435671,12833,0.6537975525974209,0.026699174909785777,-0.331745967248894,-0.9769092421417822,-0.20214507131056167,0.06917877393259551,-0.20182937452824437,0.9793520473500301,0.011596160090390502,0.6
+1789729569396768968,12866,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.9768985477132748,-0.2021967475329344,0.06917877393245493,-0.2018811799704692,0.9793413696178107,0.01159616009038146,0.6
+1789729569430099925,12900,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.6
+1789729569463431933,12933,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.6
+1789729569496768509,12966,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.6
+1789729569530092838,13000,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.6
+1789729569563436332,13033,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.6
+1789729569596769559,13066,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.6
+1789729569630093698,13100,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.6
+1789729569663429145,13133,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.6
+1789729569696768030,13166,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.6
+1789729569730091720,13200,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.6
+1789729569763431375,13233,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.6
+1789729569796774200,13266,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.6
+1789729569830097519,13300,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729569863436874,13333,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729569896772371,13366,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729569930095700,13400,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729569963433276,13433,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729569996768992,13466,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570030100887,13500,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570063432488,13533,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570096771997,13566,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570130103557,13600,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570163433818,13633,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570196769238,13666,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570230104107,13700,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570263429319,13733,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570296771727,13766,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570330100978,13800,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570363440427,13833,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570396769388,13866,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570430100938,13900,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570463431879,13933,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570496766948,13966,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570530099069,14000,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570563433599,14033,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570596769708,14066,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570630099279,14100,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570663434079,14133,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570696766179,14166,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570730096890,14200,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570763443467,14233,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570796771458,14266,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570830101099,14300,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570863432270,14333,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570896767199,14366,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570930101279,14400,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570963441048,14433,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729570996759921,14466,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571030093749,14500,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571063430311,14533,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571096774831,14566,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571130100866,14600,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571163448485,14633,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571196769581,14666,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571230097925,14700,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571263435237,14733,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571296762711,14766,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571330094205,14800,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571363442434,14833,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571396763210,14866,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571430100992,14900,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571463437164,14933,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571496767577,14966,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571530105269,15000,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571563498928,15033,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571596748231,15066,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571630096780,15100,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571663431453,15133,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571696759307,15166,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571730098788,15200,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571763431652,15233,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571796758526,15266,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571830100127,15300,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571863497215,15333,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571896763354,15366,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571930099906,15400,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571963438497,15433,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729571996770571,15466,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572030102701,15500,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572063492623,15533,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572096766982,15566,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572130099098,15600,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572163430454,15633,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572196765039,15666,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572230097784,15700,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572263425511,15733,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572296756807,15766,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572330095371,15800,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572363425477,15833,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572396760972,15866,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572430096817,15900,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572463422794,15933,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572496759119,15966,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572530096343,16000,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572563492494,16033,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572596775291,16066,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572630101898,16100,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
+1789729572663428455,16133,0.6537975525974209,0.026845844297540878,-0.33181441622848584,-0.976898547713277,-0.20219674753293446,0.06917877393241978,-0.20188117997046937,0.9793413696178107,0.0115961600903792,0.8
diff --git a/episode_0003/right.actions.joint_position/data.csv b/episode_0003/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..319fd951260347822b10e0f473df8e0d646fa1d6
--- /dev/null
+++ b/episode_0003/right.actions.joint_position/data.csv
@@ -0,0 +1,486 @@
+timestamp_ns,elapsed_ms,j1,j2,j3,j4,j5,j6,j7,gripper
+1789729556530065232,0,0.012936199083924294,-1.689381718635559,-0.023061782121658325,0.7515326738357544,1.6073918342590332,-0.05417138338088989,-0.9191675186157227,0.8
+1789729556563477825,33,0.013418063521385193,-1.6891754865646362,-0.02430739998817444,0.7518178224563599,1.6086848974227905,-0.054713476449251175,-0.9192073345184326,0.8
+1789729556596779647,66,0.014078534208238125,-1.688891053199768,-0.025949906557798386,0.7521940469741821,1.610388994216919,-0.05541462451219559,-0.9192585945129395,0.8
+1789729556630117690,100,0.014573564752936363,-1.6886674165725708,-0.027133507654070854,0.7524760961532593,1.6116045713424683,-0.05589267611503601,-0.9192755222320557,0.8
+1789729556663458912,133,0.015048776753246784,-1.6884479522705078,-0.028241116553544998,0.7527514100074768,1.6127545833587646,-0.05634269490838051,-0.9192955493927002,0.8
+1789729556696791186,166,0.01564728654921055,-1.688164234161377,-0.029626788571476936,0.753135085105896,1.6142081022262573,-0.05688150227069855,-0.9193592667579651,0.8
+1789729556730125460,200,0.016063954681158066,-1.687951922416687,-0.030598388984799385,0.7534361481666565,1.615228533744812,-0.057267237454652786,-0.9194136261940002,0.8
+1789729556763452935,233,0.016462573781609535,-1.6877446174621582,-0.031532566994428635,0.7537339329719543,1.616196870803833,-0.057639624923467636,-0.9194812178611755,0.8
+1789729556796792807,266,0.016955198720097542,-1.6874780654907227,-0.03266104683279991,0.7541166543960571,1.6173988580703735,-0.05808640643954277,-0.919562578201294,0.8
+1789729556830201911,300,0.01731792837381363,-1.6872766017913818,-0.03347918391227722,0.7543905973434448,1.618255376815796,-0.058385420590639114,-0.9195951819419861,0.8
+1789729556863524638,333,0.017670493572950363,-1.6870858669281006,-0.0342676006257534,0.7546594738960266,1.6190909147262573,-0.058663442730903625,-0.919642984867096,0.8
+1789729556896874728,366,0.018120218068361282,-1.6868386268615723,-0.035294562578201294,0.7550016641616821,1.620157241821289,-0.05906513333320618,-0.9197009205818176,0.8
+1789729556930200024,400,0.018461786210536957,-1.6866590976715088,-0.03603558614850044,0.7552524209022522,1.6209361553192139,-0.05933472141623497,-0.9197467565536499,0.8
+1789729556963530998,433,0.018803855404257774,-1.6864842176437378,-0.03678940609097481,0.755500853061676,1.6217249631881714,-0.05960271880030632,-0.9198055267333984,0.8
+1789729556996862273,466,0.01925206556916237,-1.6862543821334839,-0.037826038897037506,0.755815863609314,1.6228177547454834,-0.06002441793680191,-0.9198523163795471,0.8
+1789729557030188501,500,0.019591698423027992,-1.6860849857330322,-0.03863103315234184,0.7560450434684753,1.623639464378357,-0.06033831462264061,-0.9198766350746155,0.8
+1789729557063533799,533,0.019948570057749748,-1.6859232187271118,-0.03948783501982689,0.7562633156776428,1.624518632888794,-0.06069602444767952,-0.9198987483978271,0.8
+1789729557096895564,566,0.02042628824710846,-1.6857295036315918,-0.04066064581274986,0.7565159797668457,1.625714898109436,-0.061196137219667435,-0.9199160933494568,0.8
+1789729557130168111,600,0.020805690437555313,-1.6855976581573486,-0.04156120494008064,0.7566781640052795,1.6266353130340576,-0.061593156307935715,-0.9199203848838806,0.8
+1789729557163442678,633,0.021187981590628624,-1.685468316078186,-0.04244828596711159,0.7568368315696716,1.6275463104248047,-0.06194886192679405,-0.9199227094650269,0.8
+1789729557196773910,666,0.02170037478208542,-1.6852984428405762,-0.04364466667175293,0.7570557594299316,1.6288024187088013,-0.06244714558124542,-0.9199225902557373,0.8
+1789729557230169016,700,0.022082647308707237,-1.6851768493652344,-0.044535811990499496,0.7572162747383118,1.6297069787979126,-0.06282258778810501,-0.919922411441803,0.8
+1789729557263446332,733,0.0224706269800663,-1.6850533485412598,-0.045451823621988297,0.7573707103729248,1.6306480169296265,-0.0631960779428482,-0.919922411441803,0.8
+1789729557296773985,766,0.02297043614089489,-1.6848889589309692,-0.046629399061203,0.7575848698616028,1.6318737268447876,-0.06369182467460632,-0.9199211001396179,0.8
+1789729557330108776,800,0.02333090454339981,-1.6847584247589111,-0.04745355620980263,0.7577553391456604,1.6327372789382935,-0.06405166536569595,-0.9199191927909851,0.8
+1789729557363443228,833,0.023689258843660355,-1.6846249103546143,-0.04824286699295044,0.7579270601272583,1.6335625648498535,-0.06436560302972794,-0.9199191331863403,0.8
+1789729557396772931,866,0.02415851689875126,-1.6844466924667358,-0.049293018877506256,0.7581626176834106,1.6346559524536133,-0.06478828936815262,-0.919921338558197,0.8
+1789729557430111081,900,0.024485986679792404,-1.684319257736206,-0.0500236414372921,0.7583403587341309,1.6354349851608276,-0.0650937408208847,-0.9199251532554626,0.8
+1789729557463454530,933,0.024797793477773666,-1.6841942071914673,-0.05069420114159584,0.7585116624832153,1.6361587047576904,-0.06534276902675629,-0.9199277758598328,0.8
+1789729557496780204,966,0.0251949243247509,-1.6840391159057617,-0.05156256631016731,0.758719801902771,1.6370782852172852,-0.06568068265914917,-0.9199333786964417,0.8
+1789729557530180098,1000,0.025478312745690346,-1.6839334964752197,-0.05217710882425308,0.758865237236023,1.6377507448196411,-0.06591898947954178,-0.9199362397193909,0.8
+1789729557563441569,1033,0.025748837739229202,-1.683827519416809,-0.052771348506212234,0.7590125799179077,1.63837468624115,-0.06616333872079849,-0.9199405312538147,0.8
+1789729557596773861,1066,0.026105420663952827,-1.6837012767791748,-0.05355861783027649,0.7591997385025024,1.6392327547073364,-0.06648486852645874,-0.9199466705322266,0.8
+1789729557630102913,1100,0.026360228657722473,-1.6836152076721191,-0.05412883311510086,0.7593286037445068,1.639857530593872,-0.06671612709760666,-0.9199608564376831,0.8
+1789729557663440534,1133,0.02660183236002922,-1.6835308074951172,-0.054668597877025604,0.7594422101974487,1.6404166221618652,-0.06694233417510986,-0.9199736714363098,0.8
+1789729557696772886,1166,0.02691831812262535,-1.6834183931350708,-0.05538559705018997,0.7596107125282288,1.6412038803100586,-0.06724303215742111,-0.9199870228767395,0.8
+1789729557730168352,1200,0.027156507596373558,-1.683332085609436,-0.05590474605560303,0.7597416639328003,1.6417561769485474,-0.06744959205389023,-0.9200016856193542,0.8
+1789729557763436730,1233,0.027376782149076462,-1.6832441091537476,-0.05640052258968353,0.7598742842674255,1.6422719955444336,-0.06764890998601913,-0.9200146794319153,0.8
+1789729557796771481,1266,0.02765389159321785,-1.6831358671188354,-0.05706651136279106,0.7600365281105042,1.642993450164795,-0.06793238967657089,-0.9200258255004883,0.8
+1789729557830155930,1300,0.027873562648892403,-1.6830666065216064,-0.05758465826511383,0.7601379752159119,1.6435269117355347,-0.06815329194068909,-0.9200292229652405,0.8
+1789729557863444083,1333,0.02808537520468235,-1.6830049753189087,-0.05808047950267792,0.7602279186248779,1.6440738439559937,-0.06836868822574615,-0.9200363755226135,0.8
+1789729557896770517,1366,0.028372887521982193,-1.6829293966293335,-0.058744627982378006,0.7603362202644348,1.6447789669036865,-0.06866037845611572,-0.9200424551963806,0.8
+1789729557930167452,1400,0.028595954179763794,-1.6828734874725342,-0.05927707627415657,0.7604207396507263,1.6453349590301514,-0.06890419125556946,-0.9200439453125,0.8
+1789729557963398170,1433,0.028802921995520592,-1.6828216314315796,-0.059804338961839676,0.7605074644088745,1.6459052562713623,-0.0691399946808815,-0.9200433492660522,0.8
+1789729557996764363,1466,0.029086414724588394,-1.682754635810852,-0.06053740531206131,0.760611355304718,1.646659255027771,-0.06949234753847122,-0.9200432300567627,0.8
+1789729558030105415,1500,0.029318682849407196,-1.6827048063278198,-0.06111772730946541,0.7606862783432007,1.6472809314727783,-0.06974464654922485,-0.9200423359870911,0.8
+1789729558063441073,1533,0.0295538529753685,-1.6826562881469727,-0.061700139194726944,0.7607620358467102,1.6478878259658813,-0.07001954317092896,-0.9200401902198792,0.8
+1789729558096774282,1566,0.029865998774766922,-1.682586431503296,-0.06243698671460152,0.7608703374862671,1.648665189743042,-0.07034435123205185,-0.920037031173706,0.8
+1789729558130103483,1600,0.03009437955915928,-1.6825289726257324,-0.06298921257257462,0.7609531283378601,1.6492546796798706,-0.07058950513601303,-0.9200372695922852,0.8
+1789729558163432843,1633,0.030316952615976334,-1.6824707984924316,-0.06353138387203217,0.7610480189323425,1.6498254537582397,-0.0708412155508995,-0.9200364947319031,0.8
+1789729558196768471,1666,0.03060021437704563,-1.682350754737854,-0.06422337144613266,0.7612766027450562,1.6506552696228027,-0.07106178998947144,-0.9200445413589478,0.8
+1789729558230094982,1700,0.030814066529273987,-1.6822720766067505,-0.06474052369594574,0.7614426016807556,1.6512647867202759,-0.07124731689691544,-0.9200634360313416,0.8
+1789729558263442328,1733,0.031010329723358154,-1.682261347770691,-0.06523271650075912,0.7615175247192383,1.6518388986587524,-0.07141226530075073,-0.9201199412345886,0.8
+1789729558296764800,1766,0.03129938989877701,-1.6823452711105347,-0.06589022278785706,0.7615271210670471,1.6525729894638062,-0.07161556929349899,-0.920163631439209,0.8
+1789729558330110406,1800,0.03156883642077446,-1.682534098625183,-0.06641118228435516,0.7614434361457825,1.6531906127929688,-0.07172540575265884,-0.9202377796173096,0.8
+1789729558363438576,1833,0.03189605101943016,-1.6828968524932861,-0.06693226099014282,0.7612142562866211,1.6538290977478027,-0.07175613194704056,-0.9203328490257263,0.8
+1789729558396774894,1866,0.032513730227947235,-1.6837518215179443,-0.06766749173402786,0.7605171799659729,1.6547893285751343,-0.0716596320271492,-0.9204407930374146,0.8
+1789729558430106494,1900,0.03319666534662247,-1.6848636865615845,-0.06825283914804459,0.7594535946846008,1.6557095050811768,-0.07134709507226944,-0.9204773902893066,0.8
+1789729558463438423,1933,0.03415754437446594,-1.686498999595642,-0.06879692524671555,0.7579078674316406,1.6568427085876465,-0.07079849392175674,-0.9205011129379272,0.8
+1789729558496781170,1966,0.03575130179524422,-1.68932044506073,-0.06929347664117813,0.755628764629364,1.658698320388794,-0.06963591277599335,-0.920960009098053,0.8
+1789729558530127386,2000,0.03732509911060333,-1.692094326019287,-0.06955184787511826,0.7535409331321716,1.6604437828063965,-0.06837191432714462,-0.9216209650039673,0.8
+1789729558563435192,2033,0.038996078073978424,-1.6949306726455688,-0.069719597697258,0.75139981508255,1.662238597869873,-0.0668962299823761,-0.9223723411560059,0.8
+1789729558596772330,2066,0.04153217747807503,-1.6988557577133179,-0.06999540328979492,0.7481136918067932,1.6646831035614014,-0.0647219642996788,-0.9230133891105652,0.8
+1789729558630100690,2100,0.04359086602926254,-1.7016664743423462,-0.07032093405723572,0.745519757270813,1.6664440631866455,-0.06304661184549332,-0.923179566860199,0.8
+1789729558663448816,2133,0.045653048902750015,-1.704358696937561,-0.07075786590576172,0.7428836226463318,1.6682171821594238,-0.06145201250910759,-0.9232321381568909,0.8
+1789729558696771867,2166,0.0482695996761322,-1.7079191207885742,-0.07145454734563828,0.7392065525054932,1.6705780029296875,-0.05964968353509903,-0.9232115149497986,0.8
+1789729558730103297,2200,0.05009043589234352,-1.7106999158859253,-0.07201624661684036,0.7362772226333618,1.6723042726516724,-0.05842338502407074,-0.9230613112449646,0.8
+1789729558763430938,2233,0.05179796740412712,-1.71360182762146,-0.07256878167390823,0.7331910133361816,1.6739935874938965,-0.05725932866334915,-0.9228529930114746,0.8
+1789729558796768516,2266,0.053971853107213974,-1.7175122499465942,-0.07301730662584305,0.7289540767669678,1.6759634017944336,-0.05566674843430519,-0.9225357174873352,0.8
+1789729558830158170,2300,0.05565261095762253,-1.7203625440597534,-0.0731014534831047,0.7258341908454895,1.677242398262024,-0.05427778512239456,-0.9222431182861328,0.8
+1789729558863439303,2333,0.05753949657082558,-1.7231922149658203,-0.07308932393789291,0.7226939797401428,1.6785175800323486,-0.05262959375977516,-0.9219256639480591,0.8
+1789729558896840965,2366,0.060189079493284225,-1.726426124572754,-0.07307113707065582,0.7190846800804138,1.6801509857177734,-0.05009857937693596,-0.9215930104255676,0.8
+1789729558930098163,2400,0.062420058995485306,-1.7285592555999756,-0.07306009531021118,0.7167022228240967,1.6813054084777832,-0.04779837280511856,-0.9213448166847229,0.8
+1789729558963437721,2433,0.06456209719181061,-1.730210304260254,-0.07305040210485458,0.7148393392562866,1.682313323020935,-0.04545515030622482,-0.9211540222167969,0.8
+1789729558996772679,2466,0.0676882266998291,-1.7320868968963623,-0.0730394721031189,0.712485671043396,1.6835066080093384,-0.041862186044454575,-0.9207722544670105,0.8
+1789729559030107730,2500,0.0700545683503151,-1.7330914735794067,-0.0730157271027565,0.7110037803649902,1.6841672658920288,-0.03900986164808273,-0.920271098613739,0.8
+1789729559063439756,2533,0.07244426757097244,-1.7337974309921265,-0.07296876609325409,0.709888756275177,1.6847227811813354,-0.03601744771003723,-0.9199111461639404,0.8
+1789729559096770463,2566,0.07562024891376495,-1.7344671487808228,-0.07284794002771378,0.7087775468826294,1.6854002475738525,-0.0319642573595047,-0.9195254445075989,0.8
+1789729559130098560,2600,0.07807208597660065,-1.7348917722702026,-0.07273641228675842,0.7080710530281067,1.6860235929489136,-0.028930334374308586,-0.9192463755607605,0.8
+1789729559163436845,2633,0.080642931163311,-1.735318899154663,-0.072597436606884,0.7073767185211182,1.6867685317993164,-0.025843791663646698,-0.919005274772644,0.8
+1789729559196768422,2666,0.08429355174303055,-1.7359334230422974,-0.0723496675491333,0.7064110040664673,1.6879769563674927,-0.02164856158196926,-0.9187333583831787,0.8
+1789729559230102008,2700,0.08723011612892151,-1.7364037036895752,-0.07203225791454315,0.7056705355644226,1.688928484916687,-0.01829853281378746,-0.9184682369232178,0.8
+1789729559263441663,2733,0.09034933149814606,-1.7368711233139038,-0.07149124145507812,0.7049258351325989,1.6898373365402222,-0.014690718613564968,-0.9182316660881042,0.8
+1789729559296769670,2766,0.09482751041650772,-1.7374188899993896,-0.07047121971845627,0.7040119767189026,1.6910068988800049,-0.009262565523386002,-0.9179866313934326,0.8
+1789729559330106335,2800,0.09839939326047897,-1.7377887964248657,-0.06959907710552216,0.7033802270889282,1.6918538808822632,-0.004903895314782858,-0.9178364276885986,0.8
+1789729559363430404,2833,0.10208725929260254,-1.738193392753601,-0.06873378902673721,0.7027391791343689,1.692809820175171,-0.0004648479516617954,-0.9176862835884094,0.8
+1789729559396765570,2866,0.10708799213171005,-1.7388461828231812,-0.06771934777498245,0.7017871141433716,1.694259524345398,0.005373476538807154,-0.9174949526786804,0.8
+1789729559430099176,2900,0.11077059805393219,-1.739498257637024,-0.06685760617256165,0.7009682059288025,1.6954087018966675,0.009597651660442352,-0.9174039959907532,0.8
+1789729559463429283,2933,0.11437538266181946,-1.7403392791748047,-0.06590665131807327,0.6999757885932922,1.696494221687317,0.013805922120809555,-0.9173758625984192,0.8
+1789729559496767948,2966,0.11892137676477432,-1.7417958974838257,-0.06477339565753937,0.6983101963996887,1.6980161666870117,0.01897813193500042,-0.9173018932342529,0.8
+1789729559530161868,3000,0.12208164483308792,-1.7431937456130981,-0.06411735713481903,0.6966888308525085,1.699318289756775,0.02236485667526722,-0.917169451713562,0.8
+1789729559563440279,3033,0.1249505802989006,-1.744832158088684,-0.06364874541759491,0.6947129964828491,1.700705885887146,0.02526398003101349,-0.9169284105300903,0.8
+1789729559596771325,3066,0.1283472776412964,-1.7473536729812622,-0.06306324154138565,0.6915869116783142,1.7024480104446411,0.028609635308384895,-0.9164971113204956,0.8
+1789729559630095774,3100,0.13065379858016968,-1.749376893043518,-0.06251614540815353,0.6889145374298096,1.703493595123291,0.0309856366366148,-0.9159586429595947,0.8
+1789729559663432119,3133,0.132792130112648,-1.751479983329773,-0.06192926689982414,0.6860062479972839,1.7043554782867432,0.03321545943617821,-0.915256679058075,0.8
+1789729559696769424,3166,0.13549983501434326,-1.7542779445648193,-0.06107371672987938,0.6818822622299194,1.7052987813949585,0.03607262670993805,-0.9140936732292175,0.8
+1789729559730099681,3200,0.13744647800922394,-1.7562443017959595,-0.060405828058719635,0.6789238452911377,1.7059252262115479,0.03814566507935524,-0.9131931662559509,0.8
+1789729559763432368,3233,0.13931873440742493,-1.7581523656845093,-0.05978785827755928,0.6761817336082458,1.70668363571167,0.04007776081562042,-0.9124250411987305,0.8
+1789729559796768244,3266,0.14170682430267334,-1.7607238292694092,-0.05904500558972359,0.6726764440536499,1.7079355716705322,0.04242364317178726,-0.9116581082344055,0.8
+1789729559830100800,3300,0.1434362232685089,-1.7627131938934326,-0.05845728516578674,0.669963538646698,1.7088840007781982,0.044088076800107956,-0.9110358357429504,0.8
+1789729559863429837,3333,0.14519768953323364,-1.7647490501403809,-0.05779505521059036,0.6670387983322144,1.709751009941101,0.04576939344406128,-0.9103251695632935,0.8
+1789729559896767852,3366,0.14769773185253143,-1.767454743385315,-0.05672288313508034,0.6629547476768494,1.7107621431350708,0.048365745693445206,-0.9091854691505432,0.8
+1789729559930097519,3400,0.14966152608394623,-1.7693889141082764,-0.05578272417187691,0.6599037647247314,1.7113646268844604,0.05049588158726692,-0.9082334637641907,0.8
+1789729559963430346,3433,0.1516968309879303,-1.7712146043777466,-0.05475478246808052,0.6570649147033691,1.7118864059448242,0.05281919240951538,-0.9073037505149841,0.8
+1789729559996770370,3466,0.15448589622974396,-1.773470163345337,-0.05324138328433037,0.6535768508911133,1.7125476598739624,0.056138988584280014,-0.906374454498291,0.8
+1789729560030096599,3500,0.1567026525735855,-1.774853229522705,-0.05201747640967369,0.6512603759765625,1.712890625,0.058899231255054474,-0.9056183099746704,0.8
+1789729560063428692,3533,0.15908947587013245,-1.7759603261947632,-0.05081843212246895,0.6491588950157166,1.713211178779602,0.06189167499542236,-0.9048270583152771,0.8
+1789729560096768934,3566,0.16241957247257233,-1.777093529701233,-0.049408894032239914,0.6466889381408691,1.7137829065322876,0.06592997908592224,-0.9038075804710388,0.8
+1789729560130098377,3600,0.16483354568481445,-1.7777966260910034,-0.0484955795109272,0.6450547575950623,1.7142970561981201,0.06872233003377914,-0.9029667973518372,0.8
+1789729560163433000,3633,0.16705523431301117,-1.7784744501113892,-0.04764733836054802,0.64357590675354,1.7149040699005127,0.07119929790496826,-0.9023351669311523,0.8
+1789729560196779030,3666,0.16965769231319427,-1.7793840169906616,-0.046490881592035294,0.6417748332023621,1.7156609296798706,0.0741066187620163,-0.9016690850257874,0.8
+1789729560230096276,3700,0.1713336557149887,-1.7800549268722534,-0.045581065118312836,0.640541136264801,1.716147780418396,0.07594966888427734,-0.9012792706489563,0.8
+1789729560263432718,3733,0.17284533381462097,-1.7806626558303833,-0.04459802061319351,0.6394419074058533,1.7165371179580688,0.07768658548593521,-0.9009573459625244,0.8
+1789729560296768621,3766,0.1747787594795227,-1.7813739776611328,-0.04324591904878616,0.6380770802497864,1.7169311046600342,0.07990783452987671,-0.9005445241928101,0.8
+1789729560330056265,3800,0.176169753074646,-1.7818846702575684,-0.04224541038274765,0.6370352506637573,1.717178225517273,0.08151961863040924,-0.9001996517181396,0.8
+1789729560363438915,3833,0.17741739749908447,-1.7825266122817993,-0.04137052968144417,0.6358308792114258,1.7175686359405518,0.08275618404150009,-0.8998377919197083,0.8
+1789729560396831463,3866,0.17869214713573456,-1.7838459014892578,-0.04037493094801903,0.6337195634841919,1.7183951139450073,0.08355540782213211,-0.8995034694671631,0.8
+1789729560430102742,3900,0.17940714955329895,-1.785157561302185,-0.039684493094682693,0.6318607330322266,1.7191282510757446,0.08370427787303925,-0.89939945936203,0.8
+1789729560463435615,3933,0.17999033629894257,-1.786759376525879,-0.03889457881450653,0.6297255754470825,1.7199320793151855,0.08370428532361984,-0.8993793725967407,0.8
+1789729560496768358,3966,0.1807241439819336,-1.7893342971801758,-0.03760746866464615,0.6262592673301697,1.7210034132003784,0.08345439285039902,-0.8992958664894104,0.8
+1789729560530104570,4000,0.18131950497627258,-1.791477918624878,-0.03650962933897972,0.6232114434242249,1.7217546701431274,0.08323068171739578,-0.8989723920822144,0.8
+1789729560563435623,4033,0.18198782205581665,-1.7936372756958008,-0.03544694930315018,0.6200506091117859,1.7224339246749878,0.08315549790859222,-0.8984470367431641,0.8
+1789729560596767977,4066,0.18287499248981476,-1.7964143753051758,-0.03401637077331543,0.6160367131233215,1.723327875137329,0.08312240242958069,-0.897716224193573,0.8
+1789729560630099220,4100,0.18357937037944794,-1.7984380722045898,-0.032958317548036575,0.6132442951202393,1.724022626876831,0.08315052092075348,-0.8972799181938171,0.8
+1789729560663431783,4133,0.18432489037513733,-1.800307273864746,-0.031938955187797546,0.6105985641479492,1.724675178527832,0.08331601321697235,-0.8968623876571655,0.8
+1789729560696772644,4166,0.18553510308265686,-1.8025010824203491,-0.030702628195285797,0.6072530746459961,1.725409984588623,0.08396686613559723,-0.8960502743721008,0.8
+1789729560730099388,4200,0.1865650713443756,-1.8039926290512085,-0.029825720936059952,0.6047592759132385,1.7259141206741333,0.08463642746210098,-0.8952596783638,0.8
+1789729560763437870,4233,0.18774473667144775,-1.8053174018859863,-0.028974398970603943,0.6024373173713684,1.7263624668121338,0.08555080741643906,-0.8944870829582214,0.8
+1789729560796770853,4266,0.18946711719036102,-1.8068925142288208,-0.027898410335183144,0.5996685028076172,1.7270805835723877,0.0869554877281189,-0.8935959339141846,0.8
+1789729560830099127,4300,0.1908092051744461,-1.8079028129577637,-0.0271022729575634,0.5979019403457642,1.727624535560608,0.08813073486089706,-0.8930816054344177,0.8
+1789729560863434120,4333,0.19217462837696075,-1.808680534362793,-0.026316877454519272,0.596448540687561,1.7281458377838135,0.08939669281244278,-0.8928626179695129,0.8
+1789729560896769052,4366,0.19397297501564026,-1.8093494176864624,-0.025313766673207283,0.594847559928894,1.728698492050171,0.09107989817857742,-0.8925638198852539,0.8
+1789729560930096196,4400,0.19533942639827728,-1.8096065521240234,-0.024638161063194275,0.5938774347305298,1.7290830612182617,0.09240750968456268,-0.8923200964927673,0.8
+1789729560963433478,4433,0.19672857224941254,-1.8097528219223022,-0.02404901012778282,0.5930430889129639,1.7295202016830444,0.09368117153644562,-0.8921599984169006,0.8
+1789729560996768441,4466,0.1986817866563797,-1.8098806142807007,-0.02328501269221306,0.5920600891113281,1.7302343845367432,0.09550268948078156,-0.8919928073883057,0.8
+1789729561030093926,4500,0.2002345472574234,-1.8099281787872314,-0.022688843309879303,0.5913999676704407,1.730818748474121,0.09689540416002274,-0.8919240832328796,0.8
+1789729561063435633,4533,0.2018430382013321,-1.809888482093811,-0.022019797936081886,0.5908654928207397,1.7314759492874146,0.09835882484912872,-0.8919084072113037,0.8
+1789729561096779900,4566,0.2040366381406784,-1.8094913959503174,-0.02086946740746498,0.590546190738678,1.7321451902389526,0.10040302574634552,-0.8919338583946228,0.8
+1789729561130101182,4600,0.20565390586853027,-1.808935523033142,-0.01987616717815399,0.5905601978302002,1.7324751615524292,0.10200275480747223,-0.8919653296470642,0.8
+1789729561163435741,4633,0.20719636976718903,-1.8083148002624512,-0.01884506084024906,0.5906028151512146,1.7327120304107666,0.10355259478092194,-0.8920432925224304,0.8
+1789729561196771230,4666,0.2090962678194046,-1.807456612586975,-0.017431320622563362,0.5906754732131958,1.732846975326538,0.1056089848279953,-0.8922058343887329,0.8
+1789729561230157575,4700,0.21040678024291992,-1.8067487478256226,-0.016294268891215324,0.5908474326133728,1.732846975326538,0.10706157237291336,-0.8924079537391663,0.8
+1789729561263437228,4733,0.2116910070180893,-1.8060357570648193,-0.015094660222530365,0.5910809636116028,1.7328366041183472,0.10853003710508347,-0.8927035331726074,0.8
+1789729561296771917,4766,0.21350036561489105,-1.8052165508270264,-0.013493373990058899,0.5912001132965088,1.7328221797943115,0.11064490675926208,-0.8930324912071228,0.8
+1789729561330100337,4800,0.21496383845806122,-1.8047072887420654,-0.012376428581774235,0.5911539196968079,1.7328474521636963,0.11232859641313553,-0.8932518362998962,0.8
+1789729561363435586,4833,0.21648748219013214,-1.8042775392532349,-0.01125328242778778,0.5910478830337524,1.7329758405685425,0.11408782005310059,-0.8934119939804077,0.8
+1789729561396769335,4866,0.2185909003019333,-1.8038889169692993,-0.009803076274693012,0.5906983613967896,1.7332918643951416,0.11650916934013367,-0.89356529712677,0.8
+1789729561430103224,4900,0.22026605904102325,-1.8038057088851929,-0.008852222003042698,0.5901492834091187,1.7336440086364746,0.11833997070789337,-0.8935497403144836,0.8
+1789729561463437863,4933,0.22200416028499603,-1.8039113283157349,-0.007984274066984653,0.589374303817749,1.7341541051864624,0.12019041180610657,-0.893487274646759,0.8
+1789729561496769963,4966,0.22439457476139069,-1.8043038845062256,-0.00683416984975338,0.5880302786827087,1.7348506450653076,0.12275279313325882,-0.8930526971817017,0.8
+1789729561530098693,5000,0.22610683739185333,-1.804735779762268,-0.005998680833727121,0.5868877172470093,1.7353612184524536,0.12461602687835693,-0.8927153944969177,0.8
+1789729561563501495,5033,0.22765682637691498,-1.805192232131958,-0.005142060574144125,0.5857869982719421,1.735775351524353,0.12631937861442566,-0.8923593759536743,0.8
+1789729561596771550,5066,0.22948136925697327,-1.8057950735092163,-0.004064070526510477,0.5843347907066345,1.7361438274383545,0.12841397523880005,-0.8918692469596863,0.8
+1789729561630101460,5100,0.23068611323833466,-1.8062608242034912,-0.003287284169346094,0.5832404494285583,1.7363271713256836,0.1298084855079651,-0.8914570212364197,0.8
+1789729561663427291,5133,0.23180502653121948,-1.806729793548584,-0.0024870852939784527,0.5821834802627563,1.7364299297332764,0.13111570477485657,-0.8910561800003052,0.8
+1789729561696765759,5166,0.23325231671333313,-1.8073128461837769,-0.0013611873146146536,0.5808995962142944,1.7364956140518188,0.1329232156276703,-0.890652060508728,0.8
+1789729561730101567,5200,0.23428300023078918,-1.8077224493026733,-0.0005556158139370382,0.5799880623817444,1.7365343570709229,0.1342293620109558,-0.8903497457504272,0.8
+1789729561763435086,5233,0.23522686958312988,-1.808115005493164,0.00021343563275877386,0.5791075825691223,1.7365407943725586,0.13543537259101868,-0.8900284767150879,0.8
+1789729561796772205,5266,0.23635542392730713,-1.8086155652999878,0.0011323816142976284,0.5779886245727539,1.7365361452102661,0.1368805319070816,-0.8896394968032837,0.8
+1789729561830097906,5300,0.23711970448493958,-1.8089872598648071,0.0017334038857370615,0.5771359801292419,1.7365293502807617,0.13785047829151154,-0.8893043994903564,0.8
+1789729561863431395,5333,0.23781029880046844,-1.809401273727417,0.0022751865908503532,0.5762227177619934,1.736527442932129,0.13871830701828003,-0.8889692425727844,0.8
+1789729561896780630,5366,0.23870092630386353,-1.8100537061691284,0.0029010982252657413,0.5747787952423096,1.7365310192108154,0.13980425894260406,-0.8883412480354309,0.8
+1789729561930174644,5400,0.23937220871448517,-1.8106051683425903,0.0033284511882811785,0.5735602974891663,1.7365483045578003,0.14059016108512878,-0.8877902030944824,0.8
+1789729561963440460,5433,0.24004651606082916,-1.8111958503723145,0.0037599042989313602,0.5722623467445374,1.7365764379501343,0.14137904345989227,-0.8872037529945374,0.8
+1789729561996771450,5466,0.24091051518917084,-1.8120062351226807,0.004309298004955053,0.5704445242881775,1.7365822792053223,0.142399862408638,-0.8863555788993835,0.8
+1789729562030104999,5500,0.24150824546813965,-1.8126156330108643,0.004686242435127497,0.5690981149673462,1.7365797758102417,0.1430942565202713,-0.8857377767562866,0.8
+1789729562063437984,5533,0.24209140241146088,-1.8132317066192627,0.005032177083194256,0.5677138566970825,1.7365795373916626,0.14377008378505707,-0.8850886821746826,0.8
+1789729562096774909,5566,0.24286425113677979,-1.8140705823898315,0.00544152082875371,0.5658512711524963,1.7366087436676025,0.14465923607349396,-0.8841736316680908,0.8
+1789729562130101975,5600,0.24343077838420868,-1.8147006034851074,0.0057530878111720085,0.5644844770431519,1.7366560697555542,0.14531448483467102,-0.8835298418998718,0.8
+1789729562163432261,5633,0.24397698044776917,-1.8153035640716553,0.0060854218900203705,0.563181459903717,1.736686110496521,0.14595234394073486,-0.8828885555267334,0.8
+1789729562196770345,5666,0.24466408789157867,-1.8160046339035034,0.006500898394733667,0.5616652965545654,1.7367254495620728,0.14677730202674866,-0.8822221755981445,0.8
+1789729562230104060,5700,0.24509093165397644,-1.816484808921814,0.006792273372411728,0.5606822967529297,1.736744999885559,0.14732037484645844,-0.8818291425704956,0.8
+1789729562263435126,5733,0.24545764923095703,-1.8169575929641724,0.007045759353786707,0.5597476363182068,1.7367608547210693,0.14779961109161377,-0.8814100027084351,0.8
+1789729562296770001,5766,0.24587109684944153,-1.817628264427185,0.007293681148439646,0.5584946274757385,1.736774206161499,0.1483524888753891,-0.8809158802032471,0.8
+1789729562330099357,5800,0.2461455911397934,-1.8181517124176025,0.0074485414661467075,0.5575503706932068,1.7367905378341675,0.14869612455368042,-0.8805369734764099,0.8
+1789729562363435411,5833,0.24641509354114532,-1.8187196254730225,0.007584070786833763,0.5565517544746399,1.7368102073669434,0.14901858568191528,-0.8801457285881042,0.8
+1789729562396765637,5866,0.24681055545806885,-1.8195699453353882,0.007760520093142986,0.5550591349601746,1.7368379831314087,0.149485245347023,-0.8795996308326721,0.8
+1789729562430100592,5900,0.2471642643213272,-1.8202850818634033,0.007911204360425472,0.553828239440918,1.7368775606155396,0.1498897671699524,-0.8791559934616089,0.8
+1789729562463429178,5933,0.24757757782936096,-1.821038842201233,0.008114812895655632,0.5525615811347961,1.7369234561920166,0.15032874047756195,-0.8786918520927429,0.8
+1789729562496773990,5966,0.248292475938797,-1.8220936059951782,0.008459091186523438,0.5507581830024719,1.7370331287384033,0.1510692685842514,-0.878066897392273,0.8
+1789729562530098888,6000,0.24898916482925415,-1.822938084602356,0.008741567842662334,0.5492722988128662,1.7372010946273804,0.15174417197704315,-0.877551257610321,0.8
+1789729562563430713,6033,0.24982111155986786,-1.8238176107406616,0.009057626128196716,0.5476625561714172,1.7374250888824463,0.15252572298049927,-0.8769431710243225,0.8
+1789729562596765818,6066,0.2511642277240753,-1.8250255584716797,0.009486439637839794,0.5454050302505493,1.7378650903701782,0.1537749022245407,-0.876107394695282,0.8
+1789729562630105271,6100,0.2523329257965088,-1.8259392976760864,0.009818276390433311,0.5436131954193115,1.738289713859558,0.1548352837562561,-0.8754122257232666,0.8
+1789729562663436717,6133,0.25362250208854675,-1.82682466506958,0.010142206214368343,0.541809618473053,1.738787293434143,0.15600121021270752,-0.8746761083602905,0.8
+1789729562696780729,6166,0.25544002652168274,-1.827947974205017,0.010502549819648266,0.539463222026825,1.7395662069320679,0.157613143324852,-0.8737101554870605,0.8
+1789729562730098259,6200,0.2567765414714813,-1.8287482261657715,0.010711629875004292,0.5377682447433472,1.7402056455612183,0.15873557329177856,-0.8729928135871887,0.8
+1789729562763431604,6233,0.25798889994621277,-1.8294923305511475,0.010827803052961826,0.5361838340759277,1.7408112287521362,0.1597088724374771,-0.8723222613334656,0.8
+1789729562796765499,6266,0.2593276798725128,-1.830357313156128,0.010871313512325287,0.5343209505081177,1.74154794216156,0.16077880561351776,-0.8714916110038757,0.8
+1789729562830100823,6300,0.2601046860218048,-1.8309152126312256,0.010870376601815224,0.533115029335022,1.7419687509536743,0.1613459438085556,-0.8709408044815063,0.8
+1789729562863432319,6333,0.2607312798500061,-1.8314417600631714,0.010876297019422054,0.5320068001747131,1.7422971725463867,0.16179682314395905,-0.8704230189323425,0.8
+1789729562896774382,6366,0.2614295780658722,-1.832074522972107,0.010878204368054867,0.5307139158248901,1.7426775693893433,0.16225989162921906,-0.8698319792747498,0.8
+1789729562930100229,6400,0.2619112730026245,-1.8324898481369019,0.010876292362809181,0.5298849940299988,1.7429605722427368,0.16259931027889252,-0.8694881200790405,0.8
+1789729562963437083,6433,0.2623351514339447,-1.832842469215393,0.010873271152377129,0.529179036617279,1.7432042360305786,0.16291451454162598,-0.8692103624343872,0.8
+1789729562996768109,6466,0.262742280960083,-1.833195447921753,0.010870087891817093,0.5284939408302307,1.7434529066085815,0.16320326924324036,-0.8689097166061401,0.8
+1789729563030105222,6500,0.2629297077655792,-1.8333715200424194,0.010868837125599384,0.528185248374939,1.7435824871063232,0.16333675384521484,-0.8687928915023804,0.8
+1789729563063434673,6533,0.26304373145103455,-1.8334853649139404,0.010875553824007511,0.5279871821403503,1.7436678409576416,0.16342967748641968,-0.8687255382537842,0.8
+1789729563096782210,6566,0.26313358545303345,-1.833564281463623,0.010882743634283543,0.5278396606445312,1.74372398853302,0.16349370777606964,-0.8686564564704895,0.6
+1789729563130104644,6600,0.26319074630737305,-1.833580493927002,0.010880770161747932,0.5277989506721497,1.7437704801559448,0.16352927684783936,-0.8686392307281494,0.6
+1789729563163434266,6633,0.26324164867401123,-1.8335850238800049,0.010878963395953178,0.5277867317199707,1.7438207864761353,0.16357611119747162,-0.8686354756355286,0.6
+1789729563196773245,6666,0.2632775604724884,-1.8335953950881958,0.010876431129872799,0.5277768969535828,1.7438527345657349,0.1636175960302353,-0.8686324954032898,0.6
+1789729563230102786,6700,0.263286292552948,-1.833611249923706,0.010875491425395012,0.5277690291404724,1.7438679933547974,0.16363190114498138,-0.8686351776123047,0.6
+1789729563263431748,6733,0.26329025626182556,-1.8336255550384521,0.010874711908400059,0.5277648568153381,1.7438831329345703,0.1636384129524231,-0.8686400055885315,0.6
+1789729563296775177,6766,0.26329442858695984,-1.8336375951766968,0.0108742481097579,0.5277606248855591,1.7438991069793701,0.16364502906799316,-0.8686380386352539,0.6
+1789729563330100169,6800,0.2632971405982971,-1.8336421251296997,0.01087453868240118,0.5277568697929382,1.7439054250717163,0.16364502906799316,-0.8686365485191345,0.6
+1789729563363426352,6833,0.26329952478408813,-1.8336467742919922,0.010873639024794102,0.5277536511421204,1.7439079284667969,0.16364751756191254,-0.8686345219612122,0.6
+1789729563396770340,6866,0.26330387592315674,-1.833653211593628,0.010873096063733101,0.527747631072998,1.7439310550689697,0.16364900767803192,-0.8686373233795166,0.6
+1789729563430097142,6900,0.2633141577243805,-1.8336641788482666,0.010872508399188519,0.5277457237243652,1.74394690990448,0.16365499794483185,-0.8686392307281494,0.6
+1789729563463429783,6933,0.2633192241191864,-1.8336751461029053,0.010871317237615585,0.5277430415153503,1.743964433670044,0.16367481648921967,-0.8686463832855225,0.6
+1789729563496769362,6966,0.2632806599140167,-1.833685278892517,0.0108554158359766,0.5277412533760071,1.7439604997634888,0.16369222104549408,-0.868651807308197,0.6
+1789729563530102213,7000,0.2632799446582794,-1.833690881729126,0.010853256098926067,0.5277402997016907,1.7439603805541992,0.16368643939495087,-0.8686560988426208,0.6
+1789729563563443572,7033,0.2632753849029541,-1.833691120147705,0.010851917788386345,0.5277392864227295,1.7439624071121216,0.1636829823255539,-0.8686548471450806,0.6
+1789729563596768864,7066,0.2632758617401123,-1.8336912393569946,0.010850349441170692,0.5277372002601624,1.743969440460205,0.1636839359998703,-0.8686509728431702,0.6
+1789729563630091298,7100,0.2632765471935272,-1.8336924314498901,0.010848972015082836,0.527737557888031,1.743971586227417,0.16368412971496582,-0.8686492443084717,0.6
+1789729563663436966,7133,0.2632788419723511,-1.8336939811706543,0.01084837969392538,0.5277370810508728,1.7439755201339722,0.16368545591831207,-0.8686522841453552,0.6
+1789729563696767037,7166,0.2632809281349182,-1.8336998224258423,0.01084805279970169,0.5277398824691772,1.7439765930175781,0.1636870950460434,-0.8686696290969849,0.6
+1789729563730095749,7200,0.26328104734420776,-1.8337061405181885,0.010849734768271446,0.5277407169342041,1.743979573249817,0.1636865884065628,-0.8686727285385132,0.6
+1789729563763426560,7233,0.263280987739563,-1.8337085247039795,0.010850245133042336,0.5277420878410339,1.7439794540405273,0.16368448734283447,-0.8686738014221191,0.6
+1789729563796767729,7266,0.2632817327976227,-1.833709716796875,0.010850346647202969,0.5277407765388489,1.7439812421798706,0.16367973387241364,-0.8686701655387878,0.6
+1789729563830153027,7300,0.26328253746032715,-1.833709478378296,0.010850478895008564,0.5277397036552429,1.7439815998077393,0.16367775201797485,-0.8686676621437073,0.6
+1789729563863436650,7333,0.263283908367157,-1.8337103128433228,0.010849183425307274,0.5277395844459534,1.743982195854187,0.16367758810520172,-0.8686651587486267,0.6
+1789729563896768521,7366,0.2632843255996704,-1.833719253540039,0.01084961649030447,0.5277391076087952,1.7439827919006348,0.16367700695991516,-0.8686663508415222,0.6
+1789729563930105751,7400,0.26326942443847656,-1.8337236642837524,0.010844736360013485,0.5277486443519592,1.7439773082733154,0.16367408633232117,-0.8686791658401489,0.6
+1789729563963429204,7433,0.2631210684776306,-1.8337056636810303,0.010815267451107502,0.5278303623199463,1.7439526319503784,0.16358837485313416,-0.8687177300453186,0.6
+1789729563996771603,7466,0.2626197040081024,-1.8336570262908936,0.010659439489245415,0.5281434059143066,1.7438441514968872,0.1630597859621048,-0.8688974976539612,0.6
+1789729564030095625,7500,0.26175522804260254,-1.8335222005844116,0.01038072444498539,0.5287116169929504,1.7436320781707764,0.16214974224567413,-0.8691684603691101,0.6
+1789729564063429441,7533,0.26033633947372437,-1.8332079648971558,0.009951307438313961,0.5296986699104309,1.7431714534759521,0.1606973260641098,-0.8696141242980957,0.6
+1789729564096774404,7566,0.2576732635498047,-1.8325568437576294,0.009172686375677586,0.53152996301651,1.742179274559021,0.15805648267269135,-0.8703929781913757,0.6
+1789729564130100402,7600,0.2553175091743469,-1.8319790363311768,0.008640551008284092,0.5331861972808838,1.7411699295043945,0.15576677024364471,-0.871113121509552,0.6
+1789729564163430469,7633,0.2529557943344116,-1.831392765045166,0.008279088884592056,0.5349074602127075,1.7400591373443604,0.1535646617412567,-0.8719288110733032,0.6
+1789729564196763855,7666,0.25003182888031006,-1.8306819200515747,0.00805993564426899,0.5370774269104004,1.738533854484558,0.15102066099643707,-0.8730339407920837,0.6
+1789729564230094212,7700,0.24802051484584808,-1.8301844596862793,0.00802228320389986,0.538581907749176,1.7374094724655151,0.14932827651500702,-0.8738192319869995,0.6
+1789729564263428557,7733,0.2461366206407547,-1.8297393321990967,0.007987437769770622,0.5399608612060547,1.7364100217819214,0.14772529900074005,-0.8745595812797546,0.6
+1789729564296767642,7766,0.24365299940109253,-1.8291015625,0.007886459119617939,0.5417974591255188,1.7350765466690063,0.1455511897802353,-0.8754820823669434,0.6
+1789729564330098708,7800,0.24177831411361694,-1.8285034894943237,0.007764733396470547,0.5433574318885803,1.7340526580810547,0.1439506709575653,-0.8762162923812866,0.6
+1789729564363425486,7833,0.23981992900371552,-1.827810287475586,0.007587961386889219,0.5450612306594849,1.7330089807510376,0.14230071008205414,-0.8769978880882263,0.6
+1789729564396767100,7866,0.2370487004518509,-1.8266953229904175,0.007233954966068268,0.5476298332214355,1.731516718864441,0.13994969427585602,-0.8782053589820862,0.6
+1789729564430101206,7900,0.2348232865333557,-1.8257427215576172,0.0069535113871097565,0.5497994422912598,1.7303067445755005,0.13806059956550598,-0.8791834712028503,0.6
+1789729564463431253,7933,0.23244893550872803,-1.8246711492538452,0.006671631243079901,0.5521984696388245,1.7290101051330566,0.13605159521102905,-0.8803913593292236,0.6
+1789729564496766298,7966,0.22892090678215027,-1.8229484558105469,0.006330848205834627,0.555946946144104,1.7270599603652954,0.1331617385149002,-0.8823283314704895,0.6
+1789729564530105733,8000,0.2259523868560791,-1.8213675022125244,0.006011534947901964,0.5592514872550964,1.7254421710968018,0.13076220452785492,-0.8840473294258118,0.6
+1789729564563467052,8033,0.222663015127182,-1.81948721408844,0.005590084008872509,0.5629765391349792,1.7236788272857666,0.12805406749248505,-0.8859419226646423,0.6
+1789729564596773564,8066,0.2177933156490326,-1.816555142402649,0.004869564436376095,0.5683791041374207,1.7210137844085693,0.12398462742567062,-0.888608992099762,0.6
+1789729564630107990,8100,0.21387004852294922,-1.8141670227050781,0.004207557998597622,0.5726295709609985,1.7188405990600586,0.12060917168855667,-0.8905755281448364,0.6
+1789729564663433698,8133,0.2097790539264679,-1.8118107318878174,0.003538070246577263,0.5769540071487427,1.7167257070541382,0.11710432171821594,-0.8927235007286072,0.6
+1789729564696774842,8166,0.2040223479270935,-1.8088985681533813,0.0026618335396051407,0.5826718211174011,1.7139002084732056,0.11220157891511917,-0.8958340883255005,0.6
+1789729564730110647,8200,0.19946742057800293,-1.8068506717681885,0.001892373664304614,0.5867252349853516,1.7118068933486938,0.10820518434047699,-0.8980083465576172,0.6
+1789729564763434515,8233,0.19484391808509827,-1.8048745393753052,0.0011069121537730098,0.590570867061615,1.709587574005127,0.10400483012199402,-0.9001374244689941,0.6
+1789729564796769831,8266,0.18887962400913239,-1.8022974729537964,0.0002470676845405251,0.5955779552459717,1.7066289186477661,0.09875579178333282,-0.9028878808021545,0.6
+1789729564830106626,8300,0.18447265028953552,-1.8003227710723877,-0.0004124014521948993,0.5993230938911438,1.7044428586959839,0.09500794112682343,-0.9049495458602905,0.6
+1789729564863391304,8333,0.17998528480529785,-1.7983016967773438,-0.001249882159754634,0.6029738783836365,1.7022678852081299,0.09097380191087723,-0.907027006149292,0.6
+1789729564896769619,8366,0.17401987314224243,-1.7955540418624878,-0.00250590150244534,0.6074133515357971,1.6992067098617554,0.08522578328847885,-0.9092131853103638,0.6
+1789729564930103085,8400,0.16965197026729584,-1.793581247329712,-0.00342131988145411,0.6104133725166321,1.6969488859176636,0.08094119280576706,-0.9107154011726379,0.6
+1789729564963438320,8433,0.16531211137771606,-1.791759729385376,-0.004452235996723175,0.6132367253303528,1.6948274374008179,0.07647502422332764,-0.9123125076293945,0.6
+1789729564996774515,8466,0.15933513641357422,-1.7897566556930542,-0.006107599474489689,0.616549015045166,1.6924000978469849,0.06982406973838806,-0.9146379828453064,0.6
+1789729565030110550,8500,0.15480312705039978,-1.788632869720459,-0.007334790658205748,0.6185989379882812,1.6908326148986816,0.06438317149877548,-0.9164870381355286,0.6
+1789729565063434673,8533,0.15049131214618683,-1.78774094581604,-0.008325953036546707,0.6202678084373474,1.6893420219421387,0.05909296125173569,-0.9183861613273621,0.6
+1789729565096778512,8566,0.14513123035430908,-1.7866030931472778,-0.009483176283538342,0.6221492290496826,1.6873277425765991,0.05268179997801781,-0.9207684397697449,0.6
+1789729565130102235,8600,0.141337588429451,-1.7856202125549316,-0.01041425671428442,0.6235460042953491,1.685912847518921,0.048057492822408676,-0.9224545955657959,0.6
+1789729565163431666,8633,0.13782432675361633,-1.7844054698944092,-0.011280701495707035,0.6251116991043091,1.6844768524169922,0.04379450902342796,-0.9243037104606628,0.6
+1789729565196767377,8666,0.13381507992744446,-1.782312273979187,-0.012196598574519157,0.6276870965957642,1.6825544834136963,0.03905068337917328,-0.9268458485603333,0.6
+1789729565230098968,8700,0.13126178085803986,-1.7802892923355103,-0.012688305228948593,0.6300636529922485,1.6810542345046997,0.03627246990799904,-0.9288877844810486,0.6
+1789729565263431519,8733,0.12897029519081116,-1.7778711318969727,-0.013150102458894253,0.6328773498535156,1.6795425415039062,0.03390305116772652,-0.9308478832244873,0.6
+1789729565296771478,8766,0.12617141008377075,-1.774163007736206,-0.013932972215116024,0.637160062789917,1.677651047706604,0.03093649633228779,-0.9334603548049927,0.6
+1789729565330105789,8800,0.12424252182245255,-1.7711728811264038,-0.014647360891103745,0.6405441761016846,1.676342487335205,0.02880469337105751,-0.9353207349777222,0.6
+1789729565363430882,8833,0.12240926921367645,-1.7681130170822144,-0.01538950763642788,0.643974244594574,1.6750664710998535,0.026709983125329018,-0.9369885921478271,0.6
+1789729565396765462,8866,0.12011647969484329,-1.7640501260757446,-0.016441309824585915,0.6486066579818726,1.6735237836837769,0.023986585438251495,-0.9390922784805298,0.6
+1789729565430097644,8900,0.11845186352729797,-1.7610328197479248,-0.0171927772462368,0.6521322131156921,1.6724166870117188,0.021964406594634056,-0.9407519698143005,0.6
+1789729565463434464,8933,0.11684099584817886,-1.757975697517395,-0.017903804779052734,0.6556543111801147,1.6713361740112305,0.020006287842988968,-0.9424073100090027,0.6
+1789729565496764175,8966,0.11482153087854385,-1.753784418106079,-0.018744956701993942,0.6602010130882263,1.66976797580719,0.017543239519000053,-0.9443661570549011,0.6
+1789729565530099466,9000,0.11343026161193848,-1.7506158351898193,-0.019314337521791458,0.6634331345558167,1.6684648990631104,0.015889372676610947,-0.945558488368988,0.6
+1789729565563463989,9033,0.11212562769651413,-1.7475284337997437,-0.019887033849954605,0.6665842533111572,1.667211890220642,0.014254797250032425,-0.9467211365699768,0.6
+1789729565596804268,9066,0.11051054298877716,-1.7436444759368896,-0.020598214119672775,0.6708365082740784,1.6659287214279175,0.012178804725408554,-0.9485470056533813,0.6
+1789729565630100508,9100,0.10935624688863754,-1.7407777309417725,-0.02108882926404476,0.6740097999572754,1.6651251316070557,0.010685714893043041,-0.9500740766525269,0.6
+1789729565663432639,9133,0.10830425471067429,-1.7377890348434448,-0.02155083790421486,0.6771266460418701,1.6642745733261108,0.009299187920987606,-0.9512977600097656,0.6
+1789729565696767849,9166,0.10712157934904099,-1.7335903644561768,-0.022127659991383553,0.6811618804931641,1.6630772352218628,0.007631456945091486,-0.9525130987167358,0.6
+1789729565730095702,9200,0.10641451925039291,-1.7303603887557983,-0.022540070116519928,0.684013307094574,1.6621272563934326,0.006561598274856806,-0.953070878982544,0.6
+1789729565763431562,9233,0.1058487594127655,-1.7272090911865234,-0.022912712767720222,0.6869028806686401,1.661336898803711,0.005618654191493988,-0.9536117315292358,0.6
+1789729565796757724,9266,0.10516476631164551,-1.7230852842330933,-0.0232893954962492,0.6910516023635864,1.6606297492980957,0.004456763155758381,-0.9547396898269653,0.6
+1789729565830089646,9300,0.10467896610498428,-1.7199454307556152,-0.023472845554351807,0.6942960619926453,1.6602009534835815,0.003674156963825226,-0.9556893706321716,0.6
+1789729565863430905,9333,0.10424318164587021,-1.716671347618103,-0.023611880838871002,0.6975206136703491,1.6596680879592896,0.0029686461202800274,-0.9563915729522705,0.6
+1789729565896763366,9366,0.10376501828432083,-1.712161898612976,-0.023791436105966568,0.7016569972038269,1.6588298082351685,0.0021757371723651886,-0.9570923447608948,0.6
+1789729565930104045,9400,0.10346226394176483,-1.708769679069519,-0.023937491700053215,0.7046936750411987,1.6581307649612427,0.0016220536781474948,-0.9573796987533569,0.6
+1789729565963428208,9433,0.10314236581325531,-1.7055047750473022,-0.024081476032733917,0.7078539729118347,1.6575958728790283,0.001018732669763267,-0.9578941464424133,0.6
+1789729565996763548,9466,0.10261238366365433,-1.7012189626693726,-0.024225842207670212,0.7122243642807007,1.6570303440093994,9.304754348704591e-05,-0.9589069485664368,0.6
+1789729566030104046,9500,0.10215813666582108,-1.6979100704193115,-0.024336764588952065,0.7154516577720642,1.656441569328308,-0.0006555392174050212,-0.9594990611076355,0.6
+1789729566063463965,9533,0.10169710218906403,-1.6945078372955322,-0.024459565058350563,0.7185306549072266,1.655661940574646,-0.0014408632414415479,-0.959969162940979,0.6
+1789729566096765138,9566,0.1011088564991951,-1.6899513006210327,-0.024659521877765656,0.722362220287323,1.6543664932250977,-0.0024704590905457735,-0.9602072238922119,0.6
+1789729566130115989,9600,0.1006731316447258,-1.6866596937179565,-0.024811342358589172,0.7252538800239563,1.6534228324890137,-0.003269260749220848,-0.9604747295379639,0.6
+1789729566163436628,9633,0.10019813477993011,-1.683510184288025,-0.02492055669426918,0.7282217144966125,1.65263831615448,-0.004127289168536663,-0.9610753655433655,0.6
+1789729566196772913,9666,0.0994669571518898,-1.6792993545532227,-0.024977097287774086,0.7322366833686829,1.6515036821365356,-0.0053107417188584805,-0.9619882702827454,0.6
+1789729566230159795,9700,0.09887678921222687,-1.6760421991348267,-0.02498863823711872,0.7351837754249573,1.6504979133605957,-0.006214089225977659,-0.9625272750854492,0.6
+1789729566263443222,9733,0.09829547256231308,-1.6727181673049927,-0.024989139288663864,0.7380377054214478,1.6493476629257202,-0.0070785232819616795,-0.9628598093986511,0.6
+1789729566296758602,9766,0.09755480289459229,-1.6683342456817627,-0.02498108521103859,0.7417844533920288,1.6477824449539185,-0.008218535222113132,-0.9631426334381104,0.6
+1789729566330107734,9800,0.09701044857501984,-1.6651594638824463,-0.02496735192835331,0.7446447610855103,1.646812915802002,-0.009090852923691273,-0.9635493755340576,0.6
+1789729566363436480,9833,0.09646663069725037,-1.6620235443115234,-0.024907881394028664,0.7475245594978333,1.6459391117095947,-0.00989976990967989,-0.964020848274231,0.6
+1789729566396770506,9866,0.095768041908741,-1.6577407121658325,-0.024773702025413513,0.7512881755828857,1.644636631011963,-0.010870255529880524,-0.9644773006439209,0.6
+1789729566430102141,9900,0.09528261423110962,-1.6544816493988037,-0.024657847359776497,0.754035234451294,1.643574833869934,-0.011523356661200523,-0.9646884799003601,0.6
+1789729566463433287,9933,0.09483199566602707,-1.651276707649231,-0.02454777993261814,0.7567415237426758,1.642492651939392,-0.012148476205766201,-0.9649077653884888,0.6
+1789729566496769272,9966,0.09425827860832214,-1.6472476720809937,-0.02444579266011715,0.7603029012680054,1.64125657081604,-0.012988094240427017,-0.9654406905174255,0.6
+1789729566530107486,10000,0.09380706399679184,-1.6443545818328857,-0.024374468252062798,0.762851357460022,1.6404013633728027,-0.013650701381266117,-0.9659026265144348,0.6
+1789729566563436043,10033,0.09333888441324234,-1.641464114189148,-0.024289079010486603,0.7652978301048279,1.6394457817077637,-0.014332165941596031,-0.9662966728210449,0.6
+1789729566596771977,10066,0.09271927177906036,-1.6375538110733032,-0.024151258170604706,0.7684617042541504,1.638007640838623,-0.015152715146541595,-0.9666352868080139,0.6
+1789729566630101944,10100,0.09227599203586578,-1.6346213817596436,-0.02404787205159664,0.7708220481872559,1.6369343996047974,-0.0156989898532629,-0.9668858647346497,0.6
+1789729566663431040,10133,0.09185246378183365,-1.631759524345398,-0.023945674300193787,0.7731676697731018,1.6359238624572754,-0.016254469752311707,-0.967134952545166,0.6
+1789729566696770294,10166,0.0913054570555687,-1.628096342086792,-0.023807039484381676,0.7764066457748413,1.6347304582595825,-0.01699092611670494,-0.9677538275718689,0.6
+1789729566730105069,10200,0.09089755266904831,-1.625352144241333,-0.023689432069659233,0.778856098651886,1.6339062452316284,-0.01751626282930374,-0.968345046043396,0.6
+1789729566763493231,10233,0.0905209630727768,-1.6225128173828125,-0.023593928664922714,0.7811869382858276,1.6329551935195923,-0.01798400469124317,-0.9687308073043823,0.6
+1789729566796777028,10266,0.09009338170289993,-1.6185768842697144,-0.02351408638060093,0.7842000126838684,1.6315767765045166,-0.01853502355515957,-0.9689714908599854,0.6
+1789729566830101846,10300,0.08982487767934799,-1.615596055984497,-0.023488391190767288,0.7864638566970825,1.6305664777755737,-0.01888396590948105,-0.9691284894943237,0.6
+1789729566863428273,10333,0.08960161358118057,-1.6127142906188965,-0.02347676455974579,0.7887665033340454,1.629634141921997,-0.019090009853243828,-0.9694018959999084,0.6
+1789729566896773156,10366,0.08931901305913925,-1.6090184450149536,-0.02346925437450409,0.792020320892334,1.6285674571990967,-0.019234301522374153,-0.970116913318634,0.6
+1789729566930106381,10400,0.08907461166381836,-1.6063505411148071,-0.023469602689146996,0.7945067286491394,1.6278940439224243,-0.019355595111846924,-0.9708565473556519,0.6
+1789729566963429659,10433,0.08876955509185791,-1.6036961078643799,-0.023479247465729713,0.7967979907989502,1.6271644830703735,-0.019555339589715004,-0.9715155959129333,0.6
+1789729566996764764,10466,0.08828770369291306,-1.600179672241211,-0.023578008636832237,0.7994387745857239,1.6259742975234985,-0.01997561752796173,-0.9720856547355652,0.6
+1789729567030096247,10500,0.08786402642726898,-1.5976094007492065,-0.023719320073723793,0.8011912703514099,1.6250730752944946,-0.02048194780945778,-0.9723235368728638,0.6
+1789729567063427337,10533,0.08738087862730026,-1.595139503479004,-0.023873237892985344,0.8028764724731445,1.6241732835769653,-0.021149244159460068,-0.9725396633148193,0.6
+1789729567096771824,10566,0.08665087819099426,-1.5920026302337646,-0.024041704833507538,0.8051670789718628,1.6231050491333008,-0.02219396084547043,-0.9729676246643066,0.6
+1789729567130109313,10600,0.08605626225471497,-1.5896849632263184,-0.024133222177624702,0.8069380521774292,1.6223801374435425,-0.023055987432599068,-0.9733006954193115,0.6
+1789729567163430265,10633,0.08543757349252701,-1.5872248411178589,-0.024193355813622475,0.8088375926017761,1.6216167211532593,-0.023969924077391624,-0.9735742807388306,0.6
+1789729567196765104,10666,0.08463457226753235,-1.5835767984390259,-0.02425181306898594,0.8114993572235107,1.6203984022140503,-0.025164231657981873,-0.9736930727958679,0.6
+1789729567230106232,10700,0.08408677577972412,-1.580600619316101,-0.024312607944011688,0.8136032819747925,1.6193803548812866,-0.02602352574467659,-0.9737018346786499,0.6
+1789729567263425295,10733,0.08360277861356735,-1.5775468349456787,-0.0243908129632473,0.8157503008842468,1.6183693408966064,-0.026800407096743584,-0.97370845079422,0.6
+1789729567296767192,10766,0.08304816484451294,-1.573473334312439,-0.024497242644429207,0.8186794519424438,1.6170964241027832,-0.027744676917791367,-0.9737489223480225,0.6
+1789729567330103431,10800,0.08268241584300995,-1.5705288648605347,-0.02457020804286003,0.8209296464920044,1.6162608861923218,-0.02842774987220764,-0.9740715622901917,0.6
+1789729567363427163,10833,0.0823037177324295,-1.567650318145752,-0.024596845731139183,0.8232595920562744,1.615554690361023,-0.029115570709109306,-0.9744742512702942,0.6
+1789729567396766761,10866,0.0818009227514267,-1.5637043714523315,-0.024592818692326546,0.8264819979667664,1.614630103111267,-0.03000427596271038,-0.9750189185142517,0.6
+1789729567430099121,10900,0.08144271373748779,-1.5605865716934204,-0.02458619326353073,0.8289738893508911,1.6138942241668701,-0.030637189745903015,-0.9753546118736267,0.6
+1789729567463428662,10933,0.08112171292304993,-1.557343602180481,-0.024574430659413338,0.8315097093582153,1.613115668296814,-0.031223325058817863,-0.9755497574806213,0.6
+1789729567496764961,10966,0.08076968789100647,-1.5529534816741943,-0.02452884428203106,0.8350284099578857,1.6120597124099731,-0.03188202157616615,-0.9757325649261475,0.6
+1789729567530137521,11000,0.08051969110965729,-1.549712061882019,-0.02445913478732109,0.8378208875656128,1.6114411354064941,-0.032328151166439056,-0.9761302471160889,0.6
+1789729567563465411,11033,0.08026550710201263,-1.5464911460876465,-0.024358879774808884,0.8406538963317871,1.6108993291854858,-0.032753292471170425,-0.9766038656234741,0.6
+1789729567596773027,11066,0.07995305210351944,-1.5420725345611572,-0.02421928383409977,0.8443827629089355,1.6100451946258545,-0.033232592046260834,-0.9771137237548828,0.6
+1789729567630100888,11100,0.07974269241094589,-1.5386680364608765,-0.024086320772767067,0.8472109436988831,1.609350323677063,-0.03349800407886505,-0.9774176478385925,0.6
+1789729567663437027,11133,0.07956431061029434,-1.5352131128311157,-0.02392997033894062,0.850175678730011,1.6086981296539307,-0.033652372658252716,-0.9777607321739197,0.6
+1789729567696769657,11166,0.07934559881687164,-1.5306745767593384,-0.023659586906433105,0.8544906973838806,1.608031988143921,-0.03376832976937294,-0.9785892367362976,0.6
+1789729567730141697,11200,0.07914508879184723,-1.5273278951644897,-0.023379599675536156,0.8579437136650085,1.6077126264572144,-0.033796995878219604,-0.9795302152633667,0.6
+1789729567763439615,11233,0.07891680300235748,-1.5238879919052124,-0.02304619550704956,0.8613338470458984,1.6072980165481567,-0.03380334749817848,-0.9803000688552856,0.6
+1789729567796772645,11266,0.07862691581249237,-1.519128680229187,-0.02259708009660244,0.86571204662323,1.6065394878387451,-0.033781398087739944,-0.9809478521347046,0.6
+1789729567830166900,11300,0.07842856645584106,-1.5154218673706055,-0.022243769839406013,0.8691049814224243,1.6059486865997314,-0.03369618207216263,-0.9813639521598816,0.6
+1789729567863439684,11333,0.07825972139835358,-1.5119282007217407,-0.021908072754740715,0.8725519776344299,1.6054761409759521,-0.0335930660367012,-0.9819585084915161,0.6
+1789729567896770204,11366,0.07799829542636871,-1.5074495077133179,-0.021371465176343918,0.8773767352104187,1.6051543951034546,-0.03339918330311775,-0.983230710029602,0.6
+1789729567930103904,11400,0.07779747247695923,-1.5039888620376587,-0.020913539454340935,0.8808596134185791,1.6047292947769165,-0.033183272927999496,-0.9840796589851379,0.6
+1789729567963458508,11433,0.0776454508304596,-1.500468134880066,-0.020486876368522644,0.884088397026062,1.6040873527526855,-0.032872091978788376,-0.9844254851341248,0.6
+1789729567996768514,11466,0.07748031616210938,-1.4953019618988037,-0.019901784136891365,0.8887192606925964,1.6030157804489136,-0.03232676163315773,-0.9846892356872559,0.6
+1789729568030108340,11500,0.07738488912582397,-1.4915329217910767,-0.019473643973469734,0.8924028277397156,1.6023449897766113,-0.031823258846998215,-0.9851392507553101,0.6
+1789729568063436715,11533,0.07724606990814209,-1.4878597259521484,-0.019019462168216705,0.8963095545768738,1.60189688205719,-0.03135225549340248,-0.9859130382537842,0.6
+1789729568096772837,11566,0.07699926197528839,-1.4829399585723877,-0.018336988985538483,0.9012685418128967,1.6011544466018677,-0.030714664608240128,-0.9869493842124939,0.6
+1789729568130104131,11600,0.07682754844427109,-1.4791184663772583,-0.017817629501223564,0.9047635197639465,1.6003153324127197,-0.030178634449839592,-0.9872821569442749,0.6
+1789729568163434905,11633,0.07667005807161331,-1.475304365158081,-0.017313465476036072,0.9082076549530029,1.599452018737793,-0.029643738642334938,-0.9875560998916626,0.6
+1789729568196775537,11666,0.07644636183977127,-1.4704540967941284,-0.01660671830177307,0.9130055904388428,1.5985230207443237,-0.028947606682777405,-0.9883056282997131,0.6
+1789729568230166137,11700,0.07620228081941605,-1.4669818878173828,-0.016003025695681572,0.9166609048843384,1.5980409383773804,-0.02846122905611992,-0.989236056804657,0.6
+1789729568263438175,11733,0.07594063878059387,-1.4634430408477783,-0.015369076281785965,0.920071542263031,1.5973405838012695,-0.027957776561379433,-0.9899600744247437,0.6
+1789729568296765440,11766,0.07562217861413956,-1.4585201740264893,-0.014544500038027763,0.9242902994155884,1.5960547924041748,-0.027221741154789925,-0.9902993440628052,0.6
+1789729568330101612,11800,0.07541976124048233,-1.454790472984314,-0.013923902064561844,0.9274806976318359,1.5950161218643188,-0.026605801656842232,-0.990451455116272,0.6
+1789729568363431317,11833,0.07522765547037125,-1.4511878490447998,-0.013298985548317432,0.930905818939209,1.5941983461380005,-0.025965778157114983,-0.9909513592720032,0.6
+1789729568396764000,11866,0.07490076869726181,-1.4465296268463135,-0.012405871413648129,0.9356809854507446,1.5933613777160645,-0.02512328512966633,-0.9921166896820068,0.6
+1789729568430100013,11900,0.0746411457657814,-1.4429631233215332,-0.011755645275115967,0.9390096068382263,1.5926048755645752,-0.024526365101337433,-0.9927417635917664,0.6
+1789729568463429577,11933,0.07441582530736923,-1.4392666816711426,-0.011133002117276192,0.9421404600143433,1.5916142463684082,-0.023893726989626884,-0.992975652217865,0.6
+1789729568496763421,11966,0.07415725290775299,-1.434309959411621,-0.010286620818078518,0.9463289976119995,1.5902131795883179,-0.02298450469970703,-0.9931068420410156,0.6
+1789729568530101123,12000,0.0739632174372673,-1.43073570728302,-0.00964908953756094,0.9497286677360535,1.589444637298584,-0.02228870615363121,-0.9935669898986816,0.6
+1789729568563455451,12033,0.07370226830244064,-1.4272172451019287,-0.008980530314147472,0.9532772898674011,1.5888550281524658,-0.021665969863533974,-0.9943154454231262,0.6
+1789729568596762871,12066,0.07331673800945282,-1.422374963760376,-0.008064668625593185,0.9577429890632629,1.5878386497497559,-0.02083323337137699,-0.9950197339057922,0.6
+1789729568630099973,12100,0.07307339459657669,-1.4185712337493896,-0.00740413274616003,0.9607912302017212,1.5868030786514282,-0.020173799246549606,-0.9950907826423645,0.6
+1789729568663437716,12133,0.07288975268602371,-1.4147546291351318,-0.0067412639036774635,0.963830292224884,1.585693359375,-0.019467350095510483,-0.9950314164161682,0.6
+1789729568696793604,12166,0.07268715649843216,-1.409887671470642,-0.005868264939635992,0.9682288765907288,1.5845996141433716,-0.018530339002609253,-0.9951983094215393,0.6
+1789729568730099444,12200,0.0725189596414566,-1.4063040018081665,-0.005192562006413937,0.9715864658355713,1.5838983058929443,-0.01790907047688961,-0.995906412601471,0.6
+1789729568763435467,12233,0.07234906405210495,-1.402631402015686,-0.00449693389236927,0.9747574329376221,1.5830574035644531,-0.01729961670935154,-0.9963089823722839,0.6
+1789729568796764781,12266,0.07222378998994827,-1.397579312324524,-0.0036082107108086348,0.9784805774688721,1.5815441608428955,-0.016556482762098312,-0.9963393807411194,0.6
+1789729568830102733,12300,0.07221384346485138,-1.3938963413238525,-0.002932983683422208,0.9810977578163147,1.5803881883621216,-0.01599770225584507,-0.9960610866546631,0.6
+1789729568863432628,12333,0.07221592962741852,-1.3904685974121094,-0.0021962879691272974,0.9837888479232788,1.5794769525527954,-0.01543426513671875,-0.996044933795929,0.6
+1789729568896762832,12366,0.07220809161663055,-1.386204481124878,-0.0011640990851446986,0.987265944480896,1.5785051584243774,-0.014768152497708797,-0.9965450167655945,0.6
+1789729568930102704,12400,0.07218293845653534,-1.383108377456665,-0.00035411454155109823,0.9896018505096436,1.5776993036270142,-0.014326532371342182,-0.9968700408935547,0.6
+1789729568963431378,12433,0.07217205315828323,-1.3801099061965942,0.00045684355427511036,0.9917079210281372,1.5767902135849,-0.013839086517691612,-0.9970357418060303,0.6
+1789729568996770280,12466,0.07216636091470718,-1.3764965534210205,0.0015507705975323915,0.9941312074661255,1.5755118131637573,-0.013148332014679909,-0.9972094893455505,0.6
+1789729569030168406,12500,0.0721609964966774,-1.3742977380752563,0.002320697298273444,0.9957175850868225,1.5747402906417847,-0.012656278908252716,-0.9975837469100952,0.6
+1789729569063443777,12533,0.07212863862514496,-1.3725758790969849,0.003064901102334261,0.9970325827598572,1.5741270780563354,-0.012190716341137886,-0.9980127215385437,0.6
+1789729569096781113,12566,0.07207640260457993,-1.3709367513656616,0.003995971754193306,0.998214066028595,1.573344111442566,-0.011617384850978851,-0.9984217286109924,0.6
+1789729569130108261,12600,0.07203458249568939,-1.3700772523880005,0.004679813981056213,0.9987273216247559,1.5727781057357788,-0.011228164657950401,-0.9985176920890808,0.6
+1789729569163495745,12633,0.07199661433696747,-1.3693658113479614,0.005458760540932417,0.9990658760070801,1.572150707244873,-0.010788148269057274,-0.9985193014144897,0.6
+1789729569196771616,12666,0.07198691368103027,-1.3684419393539429,0.006607710849493742,0.9994948506355286,1.571329951286316,-0.010107127949595451,-0.9984605312347412,0.6
+1789729569230103043,12700,0.07199494540691376,-1.3677215576171875,0.00755810271948576,0.999797523021698,1.5706720352172852,-0.009509586729109287,-0.9983407855033875,0.6
+1789729569263433251,12733,0.07202879339456558,-1.3669538497924805,0.008521699346601963,1.0001200437545776,1.5699896812438965,-0.008852455765008926,-0.9982152581214905,0.6
+1789729569296768597,12766,0.07210828363895416,-1.3658452033996582,0.009777610190212727,1.0006356239318848,1.5691256523132324,-0.007939592003822327,-0.9980853199958801,0.6
+1789729569330103104,12800,0.07218290120363235,-1.3649954795837402,0.010702262632548809,1.0010749101638794,1.5685231685638428,-0.007260703016072512,-0.9980243444442749,0.6
+1789729569363435671,12833,0.07226205617189407,-1.364179015159607,0.011603516526520252,1.001494288444519,1.5679457187652588,-0.006579098291695118,-0.9980175495147705,0.6
+1789729569396768968,12866,0.07230570912361145,-1.363209843635559,0.01268866565078497,1.0020242929458618,1.5672708749771118,-0.0057454342022538185,-0.9980347156524658,0.6
+1789729569430099925,12900,0.07229847460985184,-1.3626900911331177,0.013365291990339756,1.0023117065429688,1.5667837858200073,-0.0051747532561421394,-0.9980546236038208,0.6
+1789729569463431933,12933,0.07224239408969879,-1.3624019622802734,0.013851027935743332,1.0024727582931519,1.5664360523223877,-0.004784786608070135,-0.9980698227882385,0.6
+1789729569496768509,12966,0.0720619186758995,-1.3623024225234985,0.014405586756765842,1.0025488138198853,1.5660207271575928,-0.0044630528427660465,-0.9980849027633667,0.6
+1789729569530092838,13000,0.07188183814287186,-1.3623110055923462,0.014810976572334766,1.0025651454925537,1.5656983852386475,-0.004245724529027939,-0.9981023669242859,0.6
+1789729569563436332,13033,0.07168606668710709,-1.3623199462890625,0.015216091647744179,1.0025743246078491,1.565370798110962,-0.004025304690003395,-0.9981265068054199,0.6
+1789729569596769559,13066,0.07144350558519363,-1.3623132705688477,0.015733767300844193,1.0025839805603027,1.5649213790893555,-0.003733403515070677,-0.9981440901756287,0.6
+1789729569630093698,13100,0.07128223776817322,-1.3623101711273193,0.0160958394408226,1.0025901794433594,1.5646096467971802,-0.003513020696118474,-0.9981498718261719,0.6
+1789729569663429145,13133,0.07112068682909012,-1.3623195886611938,0.016458647325634956,1.0025960206985474,1.5642989873886108,-0.0032896101474761963,-0.9981532096862793,0.6
+1789729569696768030,13166,0.07090363651514053,-1.3623476028442383,0.016927825286984444,1.0025969743728638,1.5639007091522217,-0.0030020778067409992,-0.9981656074523926,0.6
+1789729569730091720,13200,0.07074195146560669,-1.362370491027832,0.017257291823625565,1.002591609954834,1.5636225938796997,-0.002824041759595275,-0.99817955493927,0.6
+1789729569763431375,13233,0.07058399170637131,-1.3623876571655273,0.017588820308446884,1.0025815963745117,1.5633314847946167,-0.002634606556966901,-0.9981904625892639,0.6
+1789729569796774200,13266,0.07038026303052902,-1.3624142408370972,0.018021591007709503,1.002573013305664,1.5629608631134033,-0.0023895506747066975,-0.9981968998908997,0.6
+1789729569830097519,13300,0.07022785395383835,-1.3624382019042969,0.018340136855840683,1.0025686025619507,1.5626953840255737,-0.0022150971926748753,-0.9982063174247742,0.8
+1789729569863436874,13333,0.07008147984743118,-1.3624627590179443,0.018651684746146202,1.0025553703308105,1.5624281167984009,-0.002029135124757886,-0.9982179999351501,0.8
+1789729569896772371,13366,0.06989108771085739,-1.362492561340332,0.01907815784215927,1.0025349855422974,1.5620667934417725,-0.0017863062676042318,-0.9982250332832336,0.8
+1789729569930095700,13400,0.06974435597658157,-1.3625205755233765,0.01939791813492775,1.0025174617767334,1.561794638633728,-0.0016038173343986273,-0.998227596282959,0.8
+1789729569963433276,13433,0.06959877163171768,-1.3625487089157104,0.01971334218978882,1.002500295639038,1.5615322589874268,-0.0014080636901780963,-0.9982313513755798,0.8
+1789729569996768992,13466,0.06940601021051407,-1.362581491470337,0.020129725337028503,1.002478003501892,1.5611754655838013,-0.00117620883975178,-0.9982390403747559,0.8
+1789729570030100887,13500,0.0692656859755516,-1.362605333328247,0.020438477396965027,1.0024611949920654,1.5609158277511597,-0.000996481510810554,-0.9982462525367737,0.8
+1789729570063432488,13533,0.06912046670913696,-1.3626272678375244,0.02074192836880684,1.00245201587677,1.5606458187103271,-0.0008306496893055737,-0.9982510209083557,0.8
+1789729570096771997,13566,0.06891573965549469,-1.362657070159912,0.021164242178201675,1.0024391412734985,1.5602779388427734,-0.0005934386281296611,-0.9982578158378601,0.8
+1789729570130103557,13600,0.06876564025878906,-1.3626823425292969,0.021464280784130096,1.0024195909500122,1.5599989891052246,-0.0004257934051565826,-0.9982674717903137,0.8
+1789729570163433818,13633,0.06860588490962982,-1.3627125024795532,0.02175525203347206,1.002388834953308,1.5597405433654785,-0.00028185456176288426,-0.9982699751853943,0.8
+1789729570196769238,13666,0.06840332597494125,-1.3627614974975586,0.02215631492435932,1.0023351907730103,1.5593783855438232,-7.862834900151938e-05,-0.9982670545578003,0.8
+1789729570230104107,13700,0.0682668536901474,-1.3628021478652954,0.022463249042630196,1.0022960901260376,1.5591235160827637,9.754002530826256e-05,-0.9982661604881287,0.8
+1789729570263429319,13733,0.06815142929553986,-1.3628337383270264,0.02274753712117672,1.0022673606872559,1.5588974952697754,0.00026054520276375115,-0.9982660412788391,0.8
+1789729570296771727,13766,0.06800657510757446,-1.362868309020996,0.023098191246390343,1.0022451877593994,1.5586038827896118,0.0004691960057243705,-0.9982662796974182,0.8
+1789729570330100978,13800,0.06789422780275345,-1.3628907203674316,0.023338405415415764,1.0022315979003906,1.5584019422531128,0.0006154212169349194,-0.99826580286026,0.8
+1789729570363440427,13833,0.06777133047580719,-1.3629157543182373,0.023578010499477386,1.0022073984146118,1.558180570602417,0.0007360068848356605,-0.9982658624649048,0.8
+1789729570396769388,13866,0.06760559231042862,-1.36295485496521,0.023908527567982674,1.0021721124649048,1.5578889846801758,0.0009154672734439373,-0.9982644319534302,0.8
+1789729570430100938,13900,0.06748925149440765,-1.3629939556121826,0.02415768802165985,1.0021305084228516,1.5576741695404053,0.0010495418682694435,-0.9982630610466003,0.8
+1789729570463431879,13933,0.0673782154917717,-1.3630378246307373,0.02440211921930313,1.0020867586135864,1.5574686527252197,0.001183782471343875,-0.9982616305351257,0.8
+1789729570496766948,13966,0.06723709404468536,-1.363080620765686,0.024708764627575874,1.0020393133163452,1.5571948289871216,0.0013508660485967994,-0.9982582330703735,0.8
+1789729570530099069,14000,0.06712286174297333,-1.3631078004837036,0.024933578446507454,1.0020191669464111,1.5570040941238403,0.0014695879071950912,-0.9982585906982422,0.8
+1789729570563433599,14033,0.0670175775885582,-1.3631227016448975,0.025143101811408997,1.0020118951797485,1.5568181276321411,0.0015782651025801897,-0.9982582926750183,0.8
+1789729570596769708,14066,0.06690065562725067,-1.3631409406661987,0.025398053228855133,1.0019978284835815,1.5565927028656006,0.0017255519051104784,-0.9982589483261108,0.8
+1789729570630099279,14100,0.06682728976011276,-1.3631592988967896,0.025567185133695602,1.0019798278808594,1.5564597845077515,0.001825064653530717,-0.9982597827911377,0.8
+1789729570663434079,14133,0.06675846129655838,-1.3631858825683594,0.025733521208167076,1.0019468069076538,1.5563172101974487,0.0019183226395398378,-0.9982582926750183,0.8
+1789729570696766179,14166,0.06665895134210587,-1.3632264137268066,0.025940801948308945,1.0018932819366455,1.5561293363571167,0.0020210088696330786,-0.9982531666755676,0.8
+1789729570730096890,14200,0.06657221913337708,-1.3632582426071167,0.026107806712388992,1.0018563270568848,1.5559804439544678,0.0021000613924115896,-0.9982503652572632,0.8
+1789729570763443467,14233,0.06649068742990494,-1.3632789850234985,0.02626590058207512,1.0018377304077148,1.5558342933654785,0.002181533258408308,-0.9982463717460632,0.8
+1789729570796771458,14266,0.06639373302459717,-1.3633009195327759,0.02645358070731163,1.001827597618103,1.5556788444519043,0.002287516836076975,-0.9982465505599976,0.8
+1789729570830101099,14300,0.06633678078651428,-1.3633081912994385,0.02656329609453678,1.0018229484558105,1.5555781126022339,0.0023431675508618355,-0.9982483983039856,0.8
+1789729570863432270,14333,0.06628621369600296,-1.3633173704147339,0.0266637671738863,1.0018161535263062,1.55549156665802,0.002400234341621399,-0.9982499480247498,0.8
+1789729570896767199,14366,0.06622744351625443,-1.363336443901062,0.026796652004122734,1.0017887353897095,1.5553756952285767,0.002466379664838314,-0.9982494115829468,0.8
+1789729570930101279,14400,0.06618321686983109,-1.3633588552474976,0.026898274198174477,1.0017600059509277,1.5552887916564941,0.002516981679946184,-0.998249351978302,0.8
+1789729570963441048,14433,0.06613843888044357,-1.3633819818496704,0.026992468163371086,1.001731514930725,1.5552105903625488,0.002567252377048135,-0.9982409477233887,0.8
+1789729570996759921,14466,0.06607753038406372,-1.3634027242660522,0.027116160839796066,1.0017050504684448,1.555088758468628,0.0026338782627135515,-0.9982326030731201,0.8
+1789729571030093749,14500,0.0660301223397255,-1.3634109497070312,0.0272056981921196,1.0016963481903076,1.5550081729888916,0.002679951023310423,-0.9982315897941589,0.8
+1789729571063430311,14533,0.06598790735006332,-1.3634196519851685,0.027292827144265175,1.0016921758651733,1.5549448728561401,0.0027268375270068645,-0.9982306957244873,0.8
+1789729571096774831,14566,0.06593727320432663,-1.363426685333252,0.027407070621848106,1.00169038772583,1.5548478364944458,0.0027995461132377386,-0.9982334971427917,0.8
+1789729571130100866,14600,0.06590211391448975,-1.3634369373321533,0.02748679369688034,1.001680612564087,1.5547823905944824,0.0028432458639144897,-0.9982354640960693,0.8
+1789729571163448485,14633,0.06586597859859467,-1.3634498119354248,0.027556002140045166,1.0016672611236572,1.5547209978103638,0.0028705287259072065,-0.9982355833053589,0.8
+1789729571196769581,14666,0.06582240015268326,-1.3634698390960693,0.027631377801299095,1.0016330480575562,1.5546371936798096,0.002901331288740039,-0.9982326626777649,0.8
+1789729571230097925,14700,0.06578901410102844,-1.3634825944900513,0.02769544906914234,1.0016125440597534,1.5545756816864014,0.002930298913270235,-0.9982240796089172,0.8
+1789729571263435237,14733,0.06575240194797516,-1.3634898662567139,0.02776867337524891,1.0016074180603027,1.5545233488082886,0.0029681441374123096,-0.9982166290283203,0.8
+1789729571296762711,14766,0.06570681929588318,-1.3634955883026123,0.02787591889500618,1.0016067028045654,1.5544441938400269,0.0030383148696273565,-0.9982154369354248,0.8
+1789729571330094205,14800,0.0656769871711731,-1.363500952720642,0.027949906885623932,1.0016058683395386,1.5543859004974365,0.003092923667281866,-0.9982171654701233,0.8
+1789729571363442434,14833,0.06565006822347641,-1.3635057210922241,0.028010211884975433,1.0016014575958252,1.5543310642242432,0.0031258866656571627,-0.9982184171676636,0.8
+1789729571396763210,14866,0.06561657786369324,-1.3635177612304688,0.028077421709895134,1.0015861988067627,1.5542716979980469,0.0031579420901834965,-0.9982195496559143,0.8
+1789729571430100992,14900,0.06559348851442337,-1.3635280132293701,0.02812112867832184,1.001560926437378,1.5542242527008057,0.003173815319314599,-0.9982165694236755,0.8
+1789729571463437164,14933,0.06557198613882065,-1.3635382652282715,0.028159035369753838,1.0015419721603394,1.5541878938674927,0.00318941380828619,-0.9982063174247742,0.8
+1789729571496767577,14966,0.06554204970598221,-1.36354660987854,0.028222961351275444,1.0015314817428589,1.5541355609893799,0.0032243081368505955,-0.9981966614723206,0.8
+1789729571530105269,15000,0.06551835685968399,-1.3635516166687012,0.028280628845095634,1.0015301704406738,1.5540859699249268,0.003261096542701125,-0.9981954097747803,0.8
+1789729571563498928,15033,0.06549255549907684,-1.3635568618774414,0.02833738923072815,1.001528263092041,1.5540449619293213,0.0032961471006274223,-0.9981952905654907,0.8
+1789729571596748231,15066,0.06546682119369507,-1.3635598421096802,0.028396468609571457,1.0015201568603516,1.5539939403533936,0.003338993526995182,-0.9981968998908997,0.8
+1789729571630096780,15100,0.06544577330350876,-1.3635659217834473,0.028434721753001213,1.0015089511871338,1.5539579391479492,0.0033545854967087507,-0.9981943368911743,0.8
+1789729571663431453,15133,0.06543021649122238,-1.363577961921692,0.02846180833876133,1.0014820098876953,1.5539196729660034,0.0033597613219171762,-0.998185932636261,0.8
+1789729571696759307,15166,0.06541383266448975,-1.3635910749435425,0.02848927117884159,1.0014568567276,1.5538932085037231,0.0033700617495924234,-0.9981722831726074,0.8
+1789729571730098788,15200,0.065398670732975,-1.3635972738265991,0.028519902378320694,1.0014500617980957,1.5538694858551025,0.0033849661704152822,-0.9981653094291687,0.8
+1789729571763431652,15233,0.06538189947605133,-1.3636014461517334,0.02855588123202324,1.0014472007751465,1.5538451671600342,0.0034044585190713406,-0.9981635212898254,0.8
+1789729571796758526,15266,0.06535562127828598,-1.3636077642440796,0.02860955335199833,1.0014429092407227,1.553810954093933,0.0034382895100861788,-0.9981616735458374,0.8
+1789729571830100127,15300,0.06533998996019363,-1.3636116981506348,0.02863965928554535,1.0014421939849854,1.5537852048873901,0.0034553115256130695,-0.9981616735458374,0.8
+1789729571863497215,15333,0.06532663106918335,-1.3636151552200317,0.02865934744477272,1.0014348030090332,1.553764820098877,0.0034641644451767206,-0.9981615543365479,0.8
+1789729571896763354,15366,0.06531628966331482,-1.3636243343353271,0.028678277507424355,1.001413345336914,1.5537351369857788,0.0034717926755547523,-0.9981549382209778,0.8
+1789729571930099906,15400,0.06530885398387909,-1.3636281490325928,0.02869352139532566,1.0013983249664307,1.5537090301513672,0.003475362667813897,-0.9981454610824585,0.8
+1789729571963438497,15433,0.06530111283063889,-1.363633155822754,0.028716951608657837,1.0013861656188965,1.553679347038269,0.003490225877612829,-0.9981329441070557,0.8
+1789729571996770571,15466,0.06528525054454803,-1.3636342287063599,0.02875596284866333,1.001380205154419,1.5536617040634155,0.0035199301782995462,-0.9981209635734558,0.8
+1789729572030102701,15500,0.06527191400527954,-1.3636366128921509,0.028785105794668198,1.0013774633407593,1.5536398887634277,0.0035387983079999685,-0.9981210827827454,0.8
+1789729572063492623,15533,0.0652601346373558,-1.3636391162872314,0.02880833111703396,1.0013720989227295,1.553619623184204,0.0035537807270884514,-0.9981229305267334,0.8
+1789729572096766982,15566,0.06524519622325897,-1.3636494874954224,0.028839893639087677,1.0013543367385864,1.5535892248153687,0.003565174760296941,-0.998121440410614,0.8
+1789729572130099098,15600,0.06523656845092773,-1.3636565208435059,0.02885877899825573,1.0013389587402344,1.553557276725769,0.003574955277144909,-0.9981098771095276,0.8
+1789729572163430454,15633,0.06522674858570099,-1.3636623620986938,0.028879953548312187,1.0013257265090942,1.5535411834716797,0.003584635443985462,-0.9980975985527039,0.8
+1789729572196765039,15666,0.06521475315093994,-1.3636680841445923,0.0289068091660738,1.001307725906372,1.5535106658935547,0.0035925914999097586,-0.9980899691581726,0.8
+1789729572230097784,15700,0.06520354747772217,-1.3636716604232788,0.02892366424202919,1.0013020038604736,1.5535050630569458,0.0036067680921405554,-0.9980834722518921,0.8
+1789729572263425511,15733,0.06519102305173874,-1.3636740446090698,0.028947023674845695,1.0013008117675781,1.5534924268722534,0.003623503027483821,-0.9980769753456116,0.8
+1789729572296756807,15766,0.06517817080020905,-1.3636759519577026,0.028971388936042786,1.0012999773025513,1.5534672737121582,0.0036360230296850204,-0.9980787634849548,0.8
+1789729572330095371,15800,0.06516814976930618,-1.363679051399231,0.028987281024456024,1.0012922286987305,1.55344820022583,0.003640427952632308,-0.9980815052986145,0.8
+1789729572363425477,15833,0.06515873968601227,-1.3636835813522339,0.029004080221056938,1.0012811422348022,1.5534331798553467,0.003642552299425006,-0.998081386089325,0.8
+1789729572396760972,15866,0.065149687230587,-1.3636921644210815,0.02901839092373848,1.0012603998184204,1.5534136295318604,0.0036470992490649223,-0.9980667233467102,0.8
+1789729572430096817,15900,0.06514640152454376,-1.3636962175369263,0.02902992255985737,1.0012476444244385,1.553394079208374,0.003651433391496539,-0.9980469346046448,0.8
+1789729572463422794,15933,0.0651402473449707,-1.363702654838562,0.02904335968196392,1.001236915588379,1.5533902645111084,0.003665435593575239,-0.9980427622795105,0.8
+1789729572496759119,15966,0.06513373553752899,-1.3637070655822754,0.029066724702715874,1.001230001449585,1.5533825159072876,0.0036803490947932005,-0.9980429410934448,0.8
+1789729572530096343,16000,0.06512666493654251,-1.363709568977356,0.029079267755150795,1.001227855682373,1.553374171257019,0.0036882590502500534,-0.9980425238609314,0.8
+1789729572563492494,16033,0.0651213601231575,-1.3637123107910156,0.02909110113978386,1.001223087310791,1.5533546209335327,0.003699432360008359,-0.998041570186615,0.8
+1789729572596775291,16066,0.06511427462100983,-1.3637157678604126,0.029104188084602356,1.0012109279632568,1.5533387660980225,0.0037042605690658092,-0.9980379343032837,0.8
+1789729572630101898,16100,0.06511334329843521,-1.3637231588363647,0.02911253459751606,1.0011919736862183,1.5533277988433838,0.0037071409169584513,-0.998029887676239,0.8
+1789729572663428455,16133,0.06511237472295761,-1.3637281656265259,0.029119856655597687,1.0011757612228394,1.553316354751587,0.003710415679961443,-0.9980165958404541,0.8
diff --git a/episode_0003/right.observation.state.eef_pose/data.csv b/episode_0003/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3bac4fffa48301aeec8d2b6d9af7a6cd54913665
--- /dev/null
+++ b/episode_0003/right.observation.state.eef_pose/data.csv
@@ -0,0 +1,486 @@
+timestamp_ns,elapsed_ms,x,y,z,r1,r2,r3,r4,r5,r6,gripper
+1789729556530065232,0,0.6407595276832581,-0.12199018150568008,-0.2824929654598236,-0.9987088425405315,-0.049484287539856016,0.011494487796624417,-0.04899489036850468,0.9980160872656001,0.039539732494194874,0.08004999905824661
+1789729556563477825,33,0.6407526135444641,-0.1219874769449234,-0.282470703125,-0.9987091404363289,-0.04948034369428269,0.011471636527760877,-0.048991744917912784,0.9980159640806227,0.03954673464740231,0.08004999905824661
+1789729556596779647,66,0.6407456398010254,-0.12197864055633545,-0.28245559334754944,-0.9987091122090734,-0.04948760603711068,0.011457984883436856,-0.048999547329435886,0.9980156210323518,0.0395457296666594,0.08004999905824661
+1789729556630117690,100,0.6407427191734314,-0.1219710111618042,-0.2824527323246002,-0.9987093925643191,-0.04948121471831243,0.01146046915536486,-0.048993455914288525,0.9980170789645914,0.03951647194357162,0.08004999905824661
+1789729556663458912,133,0.6407396793365479,-0.12195698916912079,-0.2824588716030121,-0.9987094249608539,-0.04947964708843739,0.011465421832647475,-0.0489919284230304,0.9980178381646584,0.03949918808913779,0.08004999905824661
+1789729556696791186,166,0.6407315731048584,-0.12194575369358063,-0.2824673354625702,-0.9987091397392835,-0.04948743701274479,0.011445671997786788,-0.049000909718773064,0.9980186638157031,0.03946716962571864,0.08004999905824661
+1789729556730125460,200,0.6407192945480347,-0.12193530052900314,-0.282471626996994,-0.9987094770857219,-0.04948507512357372,0.01143084444876516,-0.048999340878715804,0.9980193771123411,0.03945107802989103,0.08004999905824661
+1789729556763452935,233,0.6407034397125244,-0.12192713469266891,-0.28247302770614624,-0.9987090903168032,-0.049493617807096185,0.011424273433204062,-0.04900842894751542,0.9980198061882082,0.039428927548792736,0.08004999905824661
+1789729556796792807,266,0.6406878232955933,-0.12190720438957214,-0.2824842035770416,-0.9987092123117773,-0.04949826823820015,0.0113986230265214,-0.04901420081990902,0.9980199041424183,0.03941927384610107,0.08004999905824661
+1789729556830201911,300,0.6406819820404053,-0.12189467996358871,-0.28249186277389526,-0.9987099762597478,-0.049486941561373524,0.011383051513780718,-0.049003962446197466,0.998021817756762,0.03938353834368547,0.08004999905824661
+1789729556863524638,333,0.6406763195991516,-0.12188628315925598,-0.28250089287757874,-0.9987102538024928,-0.04948460141388822,0.01135557437045788,-0.049003171390313294,0.9980232864771812,0.03934728314090379,0.08004999905824661
+1789729556896874728,366,0.6406624913215637,-0.12186916172504425,-0.28250816464424133,-0.9987102890992494,-0.04948533868590582,0.011351725025362337,-0.04900445176948537,0.998024393655373,0.03931759502677029,0.08004999905824661
+1789729556930200024,400,0.6406528353691101,-0.12185962498188019,-0.28252309560775757,-0.9987102752895705,-0.049487523827959526,0.011345386054975287,-0.049007292771065844,0.9980254757842771,0.03928657389275201,0.08004999905824661
+1789729556963530998,433,0.6406440734863281,-0.1218552216887474,-0.2825337052345276,-0.9987097201546484,-0.049500930886192486,0.01133204886268533,-0.04902172286513081,0.9980262984299212,0.03924765208193254,0.08004999905824661
+1789729556996862273,466,0.6406365036964417,-0.12183547765016556,-0.28254029154777527,-0.9987099141584719,-0.04950373370068818,0.011319016782456434,-0.049025127508460206,0.9980264282532219,0.03924010206921139,0.08004999905824661
+1789729557030188501,500,0.6406316161155701,-0.12183002382516861,-0.2825360596179962,-0.9987100493745875,-0.04949981936313068,0.011314332394446916,-0.04902183884432128,0.9980279012864115,0.039206728746471346,0.08004999905824661
+1789729557063533799,533,0.6406262516975403,-0.12182323634624481,-0.2825314998626709,-0.9987099763595779,-0.04950037413884202,0.011316144527726404,-0.04902250964230491,0.9980284209666829,0.03919265812269733,0.08004999905824661
+1789729557096895564,566,0.6406242847442627,-0.12181859463453293,-0.2825191020965576,-0.9987096126504011,-0.049507675248123356,0.011321477346932889,-0.049029802625403046,0.9980286632593529,0.0391773639028751,0.08004999905824661
+1789729557130168111,600,0.6406223177909851,-0.1218143031001091,-0.2825194001197815,-0.9987086584500613,-0.04952021207323709,0.011345782865926204,-0.049041384708606084,0.9980280688581299,0.03917800812101674,0.08004999905824661
+1789729557163442678,633,0.640626072883606,-0.1218169704079628,-0.2825220227241516,-0.9987079342388763,-0.0495313189603493,0.011353290278971966,-0.04905251974212226,0.9980284828374509,0.039153512507776496,0.08004999905824661
+1789729557196773910,666,0.6406309008598328,-0.1218152791261673,-0.28252771496772766,-0.9987078508359197,-0.04953555600462793,0.011349142793705302,-0.04905694328655115,0.9980283525637611,0.039151292962719145,0.08004999905824661
+1789729557230169016,700,0.640625536441803,-0.12182116508483887,-0.2825295627117157,-0.9987076409775253,-0.04953641880050219,0.011373777854562984,-0.04905708266981834,0.9980290145780675,0.03913424165143587,0.08004999905824661
+1789729557263446332,733,0.6406301856040955,-0.12182587385177612,-0.28252825140953064,-0.9987070700330496,-0.049547302824090006,0.01137789181177204,-0.04906807568114571,0.9980292841184928,0.03911358065178025,0.08004999905824661
+1789729557296773985,766,0.6406332850456238,-0.12182561308145523,-0.28252989053726196,-0.9987066393651105,-0.049551698734159405,0.011379964720295038,-0.049072453628140306,0.9980292598041897,0.03910870360938882,0.08004999905824661
+1789729557330108776,800,0.640630841255188,-0.12181653827428818,-0.2825393080711365,-0.9987065541941411,-0.04955002237174415,0.011394251628071561,-0.04907008952728316,0.9980289678136559,0.03911911982945231,0.08004999905824661
+1789729557363443228,833,0.6406310200691223,-0.12181156873703003,-0.2825533151626587,-0.9987064444152414,-0.04954998835928434,0.011403131086331508,-0.0490699118991961,0.9980295596992448,0.03910423903491033,0.08004999905824661
+1789729557396772931,866,0.6406291723251343,-0.12180596590042114,-0.2825668454170227,-0.9987066403131184,-0.04954647088162571,0.011413381811588463,-0.049066259323308284,0.998030494520318,0.03908496224854266,0.08004999905824661
+1789729557430111081,900,0.6406258940696716,-0.12179730087518692,-0.2825793921947479,-0.998707128828418,-0.04953727136829418,0.011412779942879446,-0.049057004177125926,0.9980306998360884,0.03909133722491162,0.08004999905824661
+1789729557463454530,933,0.6406282782554626,-0.12179150432348251,-0.2825957238674164,-0.9987078207829099,-0.04952780105310711,0.01139696536317697,-0.04904832632223827,0.998031647833167,0.039078022090091785,0.08004999905824661
+1789729557496780204,966,0.6406289935112,-0.12178445607423782,-0.28261253237724304,-0.9987079295522614,-0.04952515084590976,0.011393523239149606,-0.049046019721186426,0.9980323766666083,0.03906229838260597,0.08004999905824661
+1789729557530180098,1000,0.6406327486038208,-0.12177775055170059,-0.2826278507709503,-0.9987082353120913,-0.04952079934665721,0.01137563836144622,-0.0490423420307019,0.9980325074044932,0.03906357265177329,0.08004999905824661
+1789729557563441569,1033,0.6406282186508179,-0.12177219241857529,-0.2826390564441681,-0.9987085547371422,-0.04951526097511284,0.011383658626233958,-0.04903655072130085,0.9980329443045748,0.03905968382054224,0.08004999905824661
+1789729557596773861,1066,0.6406267881393433,-0.12176644802093506,-0.2826554775238037,-0.9987092702238183,-0.049503551809666216,0.01136631758680623,-0.049025359486123674,0.998033031989919,0.03907148814025583,0.08004999905824661
+1789729557630102913,1100,0.6406279802322388,-0.12176371365785599,-0.2826653718948364,-0.9987094106950174,-0.049506445822980596,0.011346422251749214,-0.04902889360964545,0.9980324945706412,0.03908078155801406,0.08004999905824661
+1789729557663440534,1133,0.6406253576278687,-0.12176132202148438,-0.2826727330684662,-0.9987085024347926,-0.04951941163689808,0.011358549727900423,-0.04904144515024136,0.9980320581911145,0.03907617361167943,0.08004999905824661
+1789729557696772886,1166,0.6406263113021851,-0.12175408005714417,-0.28268352150917053,-0.9987090682752318,-0.04951745364819786,0.011333837601024216,-0.049040172808938534,0.9980313335851398,0.039096276890748446,0.08004999905824661
+1789729557730168352,1200,0.6406214237213135,-0.12175364792346954,-0.2826940417289734,-0.9987091259903722,-0.04951656072740686,0.011331491026389043,-0.04903943331726922,0.9980315545741675,0.039091562539905096,0.08004999905824661
+1789729557763436730,1233,0.6406154632568359,-0.12175333499908447,-0.2826983630657196,-0.9987091959569909,-0.04951252542550172,0.011332202347692943,-0.049035512326412845,0.9980321577186041,0.03908107800477356,0.08004999905824661
+1789729557796771481,1266,0.6406181454658508,-0.12174622714519501,-0.2826966941356659,-0.9987098078904391,-0.049508434426923285,0.01130201376004878,-0.049032387401547174,0.9980317237392407,0.03909608030503947,0.08004999905824661
+1789729557830155930,1300,0.6406155824661255,-0.12174899876117706,-0.2826957404613495,-0.9987096382936134,-0.04950912370005853,0.011306389209246481,-0.049032964079893354,0.998031862116994,0.03909182220481005,0.08004999905824661
+1789729557863444083,1333,0.6406209468841553,-0.1217450276017189,-0.28269994258880615,-0.9987095332818061,-0.04951762309611199,0.011285717349650982,-0.04904197087801329,0.9980305816083589,0.03911321208722639,0.08004999905824661
+1789729557896770517,1366,0.6406218409538269,-0.12174538522958755,-0.28270578384399414,-0.9987089163411955,-0.049530294512129674,0.01128640978365078,-0.049054410367496776,0.99802938689828,0.039128095299601796,0.08004999905824661
+1789729557930167452,1400,0.6406195163726807,-0.12174751609563828,-0.28270572423934937,-0.9987084918810365,-0.049534920816278166,0.011293124107350748,-0.04905859241332303,0.9980286402676571,0.03914189075839455,0.08004999905824661
+1789729557963398170,1433,0.6406237483024597,-0.12175029516220093,-0.2826979458332062,-0.998709062736137,-0.049531484909782285,0.011266583369703063,-0.04905591609107222,0.9980279817771168,0.03916203239069116,0.08004999905824661
+1789729557996764363,1466,0.6406219601631165,-0.1217547059059143,-0.2826833724975586,-0.9987085693506375,-0.04953891456134288,0.011272081302123954,-0.04906280852588449,0.9980266911313863,0.039186280502653055,0.08004999905824661
+1789729558030105415,1500,0.6406304836273193,-0.12175954878330231,-0.2826767563819885,-0.9987084022513357,-0.049548645702508456,0.011248730532549163,-0.049073255366136645,0.9980256449491021,0.03919984318517715,0.08004999905824661
+1789729558063441073,1533,0.6406295895576477,-0.12176386266946793,-0.28267186880111694,-0.9987080043217802,-0.04955519738854969,0.011254048911028797,-0.049079326320326244,0.9980245391144693,0.039220391403254264,0.08004999905824661
+1789729558096774282,1566,0.6406301856040955,-0.12177017331123352,-0.2826733887195587,-0.9987078339351001,-0.04955952140794739,0.011252996057705023,-0.04908350374769821,0.998023784318315,0.039234368953331614,0.08004999905824661
+1789729558130103483,1600,0.6406353116035461,-0.12177032977342606,-0.2826717793941498,-0.9987075039827948,-0.04956932767609664,0.011242016791991896,-0.049093519558893996,0.998022671125994,0.03925015202051825,0.08004999905824661
+1789729558163432843,1633,0.6406324505805969,-0.12177183479070663,-0.2826690375804901,-0.9987075276091364,-0.04956634896552903,0.011241664946475272,-0.04909030725693764,0.9980220850329394,0.03926906472531888,0.08004999905824661
+1789729558196768471,1666,0.6406499147415161,-0.12177542597055435,-0.2826623320579529,-0.9987118236876669,-0.049511905977027135,0.011091804258755666,-0.049041667900198496,0.9980243861783744,0.039271353036338275,0.08004999905824661
+1789729558230094982,1700,0.6406527757644653,-0.12178142368793488,-0.2826595902442932,-0.9987145214775854,-0.04947810758237749,0.011002524605246394,-0.04901119400742969,0.9980254190325788,0.03928314731411982,0.08004999905824661
+1789729558263442328,1733,0.6406607627868652,-0.12181068956851959,-0.2826521098613739,-0.9987143565678724,-0.049502913001596247,0.010911489326740575,-0.0490395079551791,0.9980240358858189,0.03928295328897172,0.08004999905824661
+1789729558296764800,1766,0.6406482458114624,-0.12189976125955582,-0.28265562653541565,-0.9987155582181912,-0.04949532644036761,0.010839398748678238,-0.04903512674542018,0.9980255137680845,0.039250863157186455,0.08004999905824661
+1789729558330110406,1800,0.6406218409538269,-0.12203057110309601,-0.28268370032310486,-0.9987161286000603,-0.0494979489935341,0.010767169225860962,-0.049041076186980614,0.9980268779854958,0.039208717791337014,0.08004999905824661
+1789729558363438576,1833,0.6405723690986633,-0.12225008755922318,-0.28274473547935486,-0.998717265044256,-0.049491773005353956,0.01069655575106529,-0.04903875534355401,0.9980304814588336,0.039119797806241766,0.08004999905824661
+1789729558396774894,1866,0.6404806971549988,-0.12270476669073105,-0.282929390668869,-0.998718102481057,-0.049485950528650575,0.010646196876098774,-0.049037248885450795,0.9980379317655108,0.03893115753609181,0.08004999905824661
+1789729558430106494,1900,0.6404262781143188,-0.12323695421218872,-0.28320059180259705,-0.9987177657716662,-0.049508593706048654,0.010565972439343818,-0.04906578479762125,0.9980453517845951,0.03870432096672591,0.08004999905824661
+1789729558463438423,1933,0.6403230428695679,-0.12398217618465424,-0.2836718261241913,-0.9987203243744773,-0.049477141542158404,0.01047716661359819,-0.049040559847203485,0.9980553977539685,0.03847657141299958,0.08004999905824661
+1789729558496781170,1966,0.6400309205055237,-0.12529216706752777,-0.28458184003829956,-0.9987261947080648,-0.049435420401661365,0.010098287613290097,-0.049015699946120886,0.9980645212208483,0.038271039860361705,0.08004999905824661
+1789729558530127386,2000,0.6396850347518921,-0.1265871673822403,-0.2855496406555176,-0.9987303898214013,-0.04943946715696551,0.009668424170395248,-0.049037422231019756,0.9980682751459401,0.03814511101895324,0.08004999905824661
+1789729558563435192,2033,0.6393492817878723,-0.12791714072227478,-0.28660011291503906,-0.9987312572906346,-0.04951728138462597,0.009154452944437709,-0.04913642598100864,0.9980699612322748,0.03797320135136566,0.08004999905824661
+1789729558596772330,2066,0.6389551162719727,-0.12972307205200195,-0.28817179799079895,-0.9987344849761632,-0.04954275209119306,0.008663956163600071,-0.0491843645806518,0.9980823271430604,0.037584127507889475,0.08004999905824661
+1789729558630100690,2100,0.6387133598327637,-0.13101811707019806,-0.2893970012664795,-0.9987373661876915,-0.04950829759998049,0.008526253264339922,-0.04915993000263891,0.9981011684417123,0.03711278658109808,0.08004999905824661
+1789729558663448816,2133,0.638525128364563,-0.13223984837532043,-0.2905920147895813,-0.9987371304278356,-0.04952561631724513,0.008459711524469296,-0.04918483609970996,0.9981184835018635,0.036610722290176805,0.08004999905824661
+1789729558696771867,2166,0.6383196711540222,-0.13377058506011963,-0.2920931279659271,-0.9987302116437666,-0.049658406027727794,0.00847439201698083,-0.04932235461323671,0.9981306386722908,0.036090626202946605,0.08004999905824661
+1789729558730103297,2200,0.6381796002388,-0.13493674993515015,-0.29312556982040405,-0.998728915895694,-0.04968614896051625,0.008481973244940419,-0.04935346594988001,0.998141921890965,0.035734286894953594,0.08004999905824661
+1789729558763430938,2233,0.6380496621131897,-0.13612890243530273,-0.29409611225128174,-0.998728809237057,-0.04969055462847166,0.008457477927198712,-0.04936200531112561,0.9981529149467823,0.035413990680819726,0.08004999905824661
+1789729558796768516,2266,0.6378766298294067,-0.13767921924591064,-0.2954147756099701,-0.9987272377306589,-0.049716665587631464,0.008482411834592224,-0.04939074132948193,0.9981636185288919,0.03507057351307326,0.08004999905824661
+1789729558830158170,2300,0.6377413272857666,-0.13880088925361633,-0.29649895429611206,-0.9987284248476844,-0.04968614577752854,0.008543039548327025,-0.049361017882696936,0.9981748938478703,0.03479039169663983,0.08004999905824661
+1789729558863439303,2333,0.6376072764396667,-0.13992975652217865,-0.29772841930389404,-0.9987288442142819,-0.04966064007843729,0.008639522155729065,-0.04933615278542536,0.9981893144674349,0.03440983325166793,0.08004999905824661
+1789729558896840965,2366,0.6374672055244446,-0.1413225531578064,-0.29940247535705566,-0.9987275779399782,-0.0496702944517861,0.008709509688605413,-0.04935185750435507,0.9982161825159434,0.03359831718539262,0.08004999905824661
+1789729558930098163,2400,0.6373592615127563,-0.1423659473657608,-0.30075809359550476,-0.9987285996302977,-0.04963787858206174,0.008796565948960097,-0.04932665725370873,0.9982494950493986,0.032631681199182465,0.08004999905824661
+1789729558963437721,2433,0.6372842788696289,-0.14327101409435272,-0.30202746391296387,-0.9987286924170484,-0.04962384752671002,0.008847561825854403,-0.04932249662983078,0.998285144582422,0.031528737151439466,0.08004999905824661
+1789729558996772679,2466,0.6372618079185486,-0.14443154633045197,-0.3038327097892761,-0.9987253622766288,-0.049662821350154,0.009016222541127595,-0.049376333954979965,0.9983410219497342,0.029617251198013356,0.08004999905824661
+1789729559030107730,2500,0.637302041053772,-0.1451871693134308,-0.30516675114631653,-0.9987268248567025,-0.049592763590371895,0.009237747752031546,-0.04931775070749778,0.9983923457153885,0.027937135167858812,0.08004999905824661
+1789729559063439756,2533,0.6373395323753357,-0.14588910341262817,-0.30649158358573914,-0.998724881622836,-0.04959422375932859,0.009445930166910817,-0.04933330524164575,0.9984413228086638,0.026098851687203835,0.08004999905824661
+1789729559096770463,2566,0.6373739242553711,-0.1467551738023758,-0.30825135111808777,-0.9987229653622616,-0.049586460969653606,0.009682751788283206,-0.04934666878187563,0.9985027180430975,0.02360568663080284,0.08004999905824661
+1789729559130098560,2600,0.6373876929283142,-0.1473580300807953,-0.30963170528411865,-0.9987235081164287,-0.04954420982629902,0.009827287089252061,-0.049320517026668856,0.9985444082883792,0.021830051923137347,0.08004999905824661
+1789729559163436845,2633,0.6373918652534485,-0.14794524013996124,-0.31110435724258423,-0.9987232618945956,-0.04952524774488513,0.009953406946146576,-0.04931765802004758,0.9985804885502383,0.020119057531341238,0.08004999905824661
+1789729559196768422,2666,0.6373776793479919,-0.14870315790176392,-0.31324806809425354,-0.9987208601395945,-0.049541495023284934,0.010111558474775365,-0.04935443848225167,0.99861949659166,0.017978887656645973,0.08004999905824661
+1789729559230102008,2700,0.6373506784439087,-0.14926661550998688,-0.31501859426498413,-0.9987221014562244,-0.04948866788507989,0.010242137361463576,-0.04931706501161414,0.9986488650308004,0.016378992046388922,0.08004999905824661
+1789729559263441663,2733,0.6373053789138794,-0.14981935918331146,-0.31696394085884094,-0.9987225426149482,-0.04945234930094924,0.010384047594007486,-0.04929634718563434,0.9986748738283207,0.014777232198911975,0.08004999905824661
+1789729559296769670,2766,0.6372491717338562,-0.15057505667209625,-0.3198097050189972,-0.998721980150278,-0.049442412141150985,0.010478699231541646,-0.049311177560958694,0.998706079652847,0.01243278725412717,0.08004999905824661
+1789729559330106335,2800,0.6371762156486511,-0.15116313099861145,-0.3220869302749634,-0.9987207536418379,-0.04944491138686442,0.010583569695930814,-0.049333490964282904,0.9987267257507033,0.01054200701322586,0.08004999905824661
+1789729559363430404,2833,0.6370804309844971,-0.15177024900913239,-0.3244352638721466,-0.9987209690031111,-0.04942066193942888,0.010669358583826876,-0.04932943234190575,0.9987450961982721,0.008651000291510558,0.08004999905824661
+1789729559396765570,2866,0.6369122862815857,-0.15262039005756378,-0.3275877833366394,-0.9987211004801564,-0.049390174138931056,0.01080999725678093,-0.0493255043196386,0.9987637012320528,0.0061695847116738055,0.08004999905824661
+1789729559430099176,2900,0.6367409229278564,-0.1532582938671112,-0.3299682140350342,-0.9987224265240771,-0.049350138167920894,0.010875684126034957,-0.04930300988193736,0.9987734583528591,0.004559849815526065,0.08004999905824661
+1789729559463429283,2933,0.6365424394607544,-0.15395207703113556,-0.3323288559913635,-0.9987219773118252,-0.04934714159472508,0.010913813680777542,-0.04931706392570568,0.9987786428921923,0.0030082570054426536,0.08004999905824661
+1789729559496767948,2966,0.6362495422363281,-0.15493552386760712,-0.33531126379966736,-0.9987229456830162,-0.04932079204390475,0.010958788385230275,-0.04931064300768081,0.9987827759962334,0.0011945524391832538,0.08004999905824661
+1789729559530161868,3000,0.6360388398170471,-0.1556946337223053,-0.33738598227500916,-0.9987237198940022,-0.049301596062456064,0.010976923812957113,-0.04930309210339882,0.9987838540756274,0.0001344395512810504,0.08004999905824661
+1789729559563440279,3033,0.6358657479286194,-0.15644939243793488,-0.3392700254917145,-0.9987234330297852,-0.04930019424928972,0.010991724855507175,-0.04931045718493804,0.9987832783774393,-0.0006644832486611078,0.08004999905824661
+1789729559596771325,3066,0.6356770992279053,-0.15745709836483002,-0.3415504992008209,-0.9987210810507534,-0.04934254240409408,0.011018797235686606,-0.04936106212537461,0.9987799974430356,-0.0014149881120332497,0.08004999905824661
+1789729559630095774,3100,0.6355971693992615,-0.15818940103054047,-0.3431521952152252,-0.9987203702887606,-0.04934559569075951,0.011077603393497889,-0.049369653856863385,0.9987787512398294,-0.0019087687698588433,0.08004999905824661
+1789729559663432119,3133,0.63555908203125,-0.1588943600654602,-0.34467077255249023,-0.9987192772771958,-0.04933836599518487,0.011203303380204132,-0.04936755758605222,0.9987779281552344,-0.002344030212128846,0.08004999905824661
+1789729559696769424,3166,0.6355899572372437,-0.15974435210227966,-0.346642404794693,-0.9987160011006018,-0.049347030765614475,0.011450777129290152,-0.049382728456170144,0.998775845957669,-0.002855801268525353,0.08004999905824661
+1789729559730099681,3200,0.6356213092803955,-0.16032151877880096,-0.3480752110481262,-0.9987150514050669,-0.04932083502284992,0.011639897841735428,-0.049361262481870984,0.9987758261528189,-0.0032116549959634866,0.08004999905824661
+1789729559763432368,3233,0.6356179714202881,-0.16088265180587769,-0.3494565486907959,-0.9987166280919739,-0.04926901489037392,0.011732529609698596,-0.04931252008705491,0.9987774461935979,-0.003447946104711795,0.08004999905824661
+1789729559796768244,3266,0.6355768442153931,-0.1616235375404358,-0.35123246908187866,-0.9987167288609682,-0.049275767397580314,0.011705174306386937,-0.049320203715876434,0.9987767508980874,-0.003538291057749797,0.08004999905824661
+1789729559830100800,3300,0.6355504393577576,-0.16216185688972473,-0.35254955291748047,-0.9987184588405515,-0.04924873957318413,0.011667263377081225,-0.04929249720687009,0.9987782784534038,-0.003492890522494095,0.08004999905824661
+1789729559863429837,3333,0.6355577707290649,-0.16266199946403503,-0.3539183735847473,-0.9987160083167699,-0.04928818631412167,0.011704742017817696,-0.04933114384831373,0.9987766567385203,-0.0034100140289317765,0.08004999905824661
+1789729559896767852,3366,0.6356252431869507,-0.16330823302268982,-0.3558741807937622,-0.9987137676199433,-0.049318628698542095,0.011759063868145571,-0.0493622315926272,0.9987749940990093,-0.0034469011378045773,0.08004999905824661
+1789729559930097519,3400,0.6356874108314514,-0.16375470161437988,-0.3574194610118866,-0.9987130346606201,-0.049313994577896675,0.011858713313161098,-0.0493593806772101,0.9987747193948782,-0.0035653295247857486,0.08004999905824661
+1789729559963430346,3433,0.6357107758522034,-0.1642182320356369,-0.3590047359466553,-0.9987166486679306,-0.049220140577675264,0.011936926582001458,-0.049268755984565316,0.9987782782096915,-0.003813226314455038,0.08004999905824661
+1789729559996770370,3466,0.6357170939445496,-0.16481050848960876,-0.3611815869808197,-0.9987140860759056,-0.04926769633649681,0.011949191176746655,-0.04932107125782408,0.9987740861623562,-0.004213868563733736,0.08004999905824661
+1789729560030096599,3500,0.6357317566871643,-0.1651913970708847,-0.3628811836242676,-0.9987146455421849,-0.04924845841391735,0.011992722623251776,-0.04930811588489147,0.99877241266619,-0.004730487812810071,0.08004999905824661
+1789729560063428692,3533,0.6357764601707458,-0.16550928354263306,-0.36465534567832947,-0.9987130493228236,-0.04925837956853901,0.012069736079074245,-0.04932694350921035,0.9987678147987741,-0.005450197794588864,0.08004999905824661
+1789729560096768934,3566,0.6358572244644165,-0.16584041714668274,-0.36705145239830017,-0.9987079428257775,-0.04933339347307565,0.012199536616877116,-0.04941558394176725,0.9987569575380015,-0.006529926284523091,0.08004999905824661
+1789729560130098377,3600,0.6359031796455383,-0.16603220999240875,-0.3687680959701538,-0.9987103112114548,-0.04925510879876634,0.012313061397609897,-0.049346771978837786,0.9987553584252564,-0.007254659814935845,0.08004999905824661
+1789729560163433000,3633,0.6359246373176575,-0.16618900001049042,-0.370370090007782,-0.9987095343913912,-0.049256705418986496,0.012364970034170017,-0.04935488184213413,0.9987511261083988,-0.007764254090149039,0.08004999905824661
+1789729560196779030,3666,0.6359229683876038,-0.16637031733989716,-0.37230855226516724,-0.9987099192015785,-0.04925472958770858,0.012345255516649778,-0.04935777183656167,0.998747618445764,-0.008185656260393692,0.08004999905824661
+1789729560230096276,3700,0.6358991265296936,-0.16646333038806915,-0.3736216127872467,-0.9987104473033073,-0.04925331176533927,0.01231059553718359,-0.04935712810094532,0.9987469027165119,-0.008276365019889015,0.08004999905824661
+1789729560263432718,3733,0.6358730792999268,-0.16652612388134003,-0.3748528063297272,-0.9987120141203119,-0.049243004930857766,0.012229058063934253,-0.049346310125783936,0.9987472878781795,-0.008294377748539297,0.08004999905824661
+1789729560296768621,3766,0.6358336806297302,-0.16656193137168884,-0.37645429372787476,-0.9987126496599437,-0.049243531668626085,0.01217753887227633,-0.04934628515039038,0.9987473554170132,-0.00828639238233947,0.08004999905824661
+1789729560330056265,3800,0.635823667049408,-0.16656851768493652,-0.37761640548706055,-0.9987123191499323,-0.04925238276163555,0.012152770835363563,-0.04935479717909288,0.998747019164366,-0.00827620504589871,0.08004999905824661
+1789729560363438915,3833,0.6358212828636169,-0.1665474772453308,-0.37869709730148315,-0.9987112048605811,-0.04927883496197894,0.012141866679239666,-0.049377949032200934,0.9987481019308655,-0.008002935445227094,0.08004999905824661
+1789729560396831463,3866,0.6358272433280945,-0.16649655997753143,-0.3799508810043335,-0.9987011249951561,-0.049496548976860094,0.012088496509538327,-0.04958290554969777,0.998745819830988,-0.006951462655794195,0.08004999905824661
+1789729560430102742,3900,0.6358031630516052,-0.1664949208498001,-0.380770206451416,-0.9986892086962396,-0.04975488075678096,0.012022898813063891,-0.04982740065043818,0.9987409485208664,-0.005809306271307921,0.08004999905824661
+1789729560463435615,3933,0.6357755661010742,-0.16652987897396088,-0.3815624415874481,-0.9986759477141756,-0.05005863660816643,0.011845164300599356,-0.0501139275464594,0.9987337369873103,-0.004417777432840719,0.08004999905824661
+1789729560496768358,3966,0.6357300281524658,-0.16655616462230682,-0.3827158808708191,-0.9986536700713451,-0.0505421737069879,0.011673942248203128,-0.05057011073483917,0.9987182839306855,-0.0021102624339783237,0.08004999905824661
+1789729560530104570,4000,0.6357319951057434,-0.16653978824615479,-0.3836737275123596,-0.9986382757422927,-0.05085683566600061,0.011626495693919813,-0.05086274063963072,0.9987056305165821,-0.00021257562961090985,0.08004999905824661
+1789729560563435623,4033,0.6357566118240356,-0.16655361652374268,-0.38464635610580444,-0.9986272039641799,-0.05107662258405171,0.011623059930787251,-0.05106247917763823,0.9986943183819067,0.0015105590776383696,0.08004999905824661
+1789729560596767977,4066,0.635771632194519,-0.16657468676567078,-0.38592442870140076,-0.9986195247154792,-0.05123957739977824,0.011565969861526953,-0.0511994391851316,0.9986814442450096,0.003740386837332299,0.08004999905824661
+1789729560630099220,4100,0.6357241868972778,-0.16662868857383728,-0.3868820071220398,-0.9986163268418116,-0.05131591533664958,0.011503484246738582,-0.051257176465450145,0.9986711871668428,0.005344336334939415,0.08004999905824661
+1789729560663431783,4133,0.6356987953186035,-0.16667060554027557,-0.38783183693885803,-0.9986112650228085,-0.05142727191469958,0.0114313088195362,-0.051352038956444315,0.9986575962591503,0.00678037316322877,0.08004999905824661
+1789729560696772644,4166,0.6357160210609436,-0.16673250496387482,-0.38914063572883606,-0.9986096956281625,-0.05146481925150158,0.011412040235384724,-0.051373134271448864,0.9986459712426228,0.008186899434311556,0.08004999905824661
+1789729560730099388,4200,0.6357789635658264,-0.16673938930034637,-0.39016926288604736,-0.9986095096757392,-0.05145803497830781,0.011453430449949644,-0.05135573871265442,0.9986393859847514,0.009053447096775136,0.08004999905824661
+1789729560763437870,4233,0.6358353495597839,-0.16675527393817902,-0.39125216007232666,-0.9986079883716363,-0.05147119546623598,0.011534185514104931,-0.051360738504675416,0.9986332854043656,0.009676568813950084,0.08004999905824661
+1789729560796770853,4266,0.6358761787414551,-0.1667822301387787,-0.39275094866752625,-0.9986063195850867,-0.05148866136965412,0.011585408338858034,-0.051369423530177385,0.9986259341655785,0.010364644680322482,0.08004999905824661
+1789729560830099127,4300,0.6358734965324402,-0.16681036353111267,-0.3938795030117035,-0.9986048494300166,-0.05151735453125382,0.011585830171347398,-0.051393372431837295,0.9986205640534704,0.010755940714641928,0.08004999905824661
+1789729560863434120,4333,0.6358678340911865,-0.1668032556772232,-0.3950023353099823,-0.9985923615020857,-0.05176385237315048,0.011561370786172868,-0.05163667838079891,0.9986049093870081,0.011040303462146102,0.08004999905824661
+1789729560896769052,4366,0.6358932852745056,-0.1666843742132187,-0.39646226167678833,-0.9985724651910608,-0.05213625063491166,0.011621793851778861,-0.05200532484118027,0.9985829100827595,0.01129681534332716,0.08004999905824661
+1789729560930096196,4400,0.6359438300132751,-0.16654229164123535,-0.3975352942943573,-0.998556576221511,-0.052424164339559105,0.011682338340716872,-0.05229193623410832,0.9985673326233077,0.01135057825515334,0.08004999905824661
+1789729560963433478,4433,0.6359860301017761,-0.1663721352815628,-0.3986020088195801,-0.9985367630963025,-0.052779857123747165,0.011778400295977196,-0.052646048386707334,0.9985482147357975,0.011395460414452465,0.08004999905824661
+1789729560996768441,4466,0.6360310912132263,-0.1661476194858551,-0.40007680654525757,-0.9985123919717129,-0.05322553092667651,0.011830535685805447,-0.053090918217171455,0.9985244321078798,0.011415464257165851,0.08004999905824661
+1789729561030093926,4500,0.6360363364219666,-0.16595855355262756,-0.4012475609779358,-0.9984928523335392,-0.05357659074540477,0.011893613955741521,-0.05344071644849213,0.9985052339683079,0.011462437680069586,0.08004999905824661
+1789729561063435633,4533,0.6360398530960083,-0.1657261997461319,-0.40247800946235657,-0.9984744303447459,-0.05391915731800492,0.011887508827449017,-0.05378207785629516,0.9984857282460382,0.011564532893583154,0.08004999905824661
+1789729561096779900,4566,0.6360202431678772,-0.16527777910232544,-0.4042128324508667,-0.9984505675928226,-0.0543466650069249,0.01194866651125659,-0.0542067875164944,0.9984607778026148,0.01173453340184379,0.08004999905824661
+1789729561130101182,4600,0.6360252499580383,-0.164846733212471,-0.40552353858947754,-0.998431780041499,-0.054677035526609415,0.012016076214009033,-0.054535269681252545,0.9984418209465343,0.011825165244141525,0.08004999905824661
+1789729561163435741,4633,0.636052131652832,-0.1643735021352768,-0.4068007171154022,-0.9984079911835266,-0.05509143577542498,0.012100258631859434,-0.054947311257391815,0.9984178988904999,0.011937008008662112,0.08004999905824661
+1789729561196771230,4666,0.6361199021339417,-0.16374492645263672,-0.4084029495716095,-0.9983716444533355,-0.05572803013196717,0.012190340241124215,-0.05558189882405726,0.9983818380807018,0.01201490914660202,0.08004999905824661
+1789729561230157575,4700,0.6361635327339172,-0.16324137151241302,-0.4095550775527954,-0.9983427452290428,-0.05622976195356058,0.012254805208268368,-0.056081337037006324,0.9983524381108053,0.012136437780168575,0.08004999905824661
+1789729561263437228,4733,0.6361944675445557,-0.1627388894557953,-0.41070547699928284,-0.9983125442073886,-0.05675721583731208,0.012272446372658521,-0.05660665266144049,0.9983209556423237,0.01228642915554167,0.08004999905824661
+1789729561296771917,4766,0.6362316608428955,-0.16213034093379974,-0.41228875517845154,-0.9982726747321513,-0.057450848061548834,0.012297694696194766,-0.05729871770241639,0.9982802547776342,0.012385072221350268,0.08004999905824661
+1789729561330100337,4800,0.6362388134002686,-0.1617441326379776,-0.41350826621055603,-0.99824109692863,-0.05798230542099436,0.012359431086042882,-0.05783004263649427,0.9982501689902946,0.012340432387873622,0.08004999905824661
+1789729561363435586,4833,0.6362360715866089,-0.16138812899589539,-0.41476762294769287,-0.9982156366125403,-0.05841882546704731,0.012353893112870145,-0.05826707483684361,0.9982251748810611,0.012306424220627952,0.08004999905824661
+1789729561396769335,4866,0.6362298727035522,-0.16097821295261383,-0.41648077964782715,-0.998185495185617,-0.0589504948076911,0.012274307929826197,-0.058800300063965416,0.9981945052999294,0.012257829898751734,0.08004999905824661
+1789729561430103224,4900,0.6362154483795166,-0.16074827313423157,-0.4177917242050171,-0.9981647278718613,-0.05930491273242645,0.012254646635950536,-0.05915600677454968,0.9981744886162335,0.012176091528397246,0.08004999905824661
+1789729561463437863,4933,0.6362003087997437,-0.16057778894901276,-0.4191262125968933,-0.9981453847766719,-0.0596414973893515,0.012187539594573624,-0.059494187121649264,0.9981551681031439,0.012112058142357718,0.08004999905824661
+1789729561496769963,4966,0.6361634135246277,-0.16044436395168304,-0.4209403097629547,-0.9981375661677387,-0.05979196834663281,0.012103657688694924,-0.0596474131286131,0.9981477197460316,0.011971459342914992,0.08004999905824661
+1789729561530098693,5000,0.6361370086669922,-0.16039521992206573,-0.42224085330963135,-0.9981324249054497,-0.05989505198627504,0.012012559169075942,-0.05975274612169407,0.9981425714847976,0.01187503150029616,0.08004999905824661
+1789729561563501495,5033,0.6360981464385986,-0.16035470366477966,-0.4234451353549957,-0.9981318017751537,-0.05992253034961685,0.011927322704647244,-0.059781626794196255,0.998141268260317,0.011839161854569472,0.08004999905824661
+1789729561596771550,5066,0.6360741853713989,-0.16031955182552338,-0.42487210035324097,-0.9981297353843237,-0.059971764778687785,0.011840389331085964,-0.059833076708022105,0.9981393633128534,0.01173942624332781,0.08004999905824661
+1789729561630101460,5100,0.6360677480697632,-0.16029129922389984,-0.4258342683315277,-0.9981300531755164,-0.05997521880291355,0.011802018582442703,-0.059837403866781394,0.9981395277848988,0.011703336920190474,0.08004999905824661
+1789729561663427291,5133,0.636047899723053,-0.16026689112186432,-0.42674654722213745,-0.9981313739934357,-0.059956625818991784,0.011786979977061532,-0.05981910270156295,0.9981407440670066,0.011693158558747987,0.08004999905824661
+1789729561696765759,5166,0.6360090374946594,-0.16025403141975403,-0.42793363332748413,-0.9981310522751952,-0.05997686169197771,0.011716844091807479,-0.059841008681789855,0.998140279484719,0.011620509828232683,0.08004999905824661
+1789729561730101567,5200,0.6359844207763672,-0.1602456122636795,-0.4287773668766022,-0.9981315103651234,-0.05997891495133427,0.011658564442828201,-0.05984452425626603,0.998140847006446,0.011553456833179626,0.08004999905824661
+1789729561763435086,5233,0.6359670162200928,-0.16023220121860504,-0.4295588433742523,-0.9981333326965378,-0.0599605034748394,0.01161116094194499,-0.05982726164987316,0.9981424793729284,0.011501732450761415,0.08004999905824661
+1789729561796772205,5266,0.6359546184539795,-0.1602187603712082,-0.4304933249950409,-0.9981333527232839,-0.059968923713281344,0.011559815745017694,-0.059837018599108935,0.9981426299815827,0.011437722814466762,0.08004999905824661
+1789729561830097906,5300,0.6359650492668152,-0.16020646691322327,-0.43112391233444214,-0.9981335789293375,-0.05996802715744407,0.011538161952846543,-0.059836901456684875,0.998143149719982,0.011392885086400724,0.08004999905824661
+1789729561863431395,5333,0.635991096496582,-0.16020044684410095,-0.4316983222961426,-0.9981319609322119,-0.059997231960297805,0.011519156348066495,-0.05986652222003865,0.9981415725782127,0.011375429428147524,0.08004999905824661
+1789729561896780630,5366,0.6360663771629333,-0.16020222008228302,-0.43242812156677246,-0.9981318879771504,-0.05999768342641859,0.011529673207663002,-0.05986720239691007,0.99814185010763,0.0113474696555875,0.08004999905824661
+1789729561930174644,5400,0.6361413598060608,-0.16020658612251282,-0.4329722821712494,-0.9981317460170378,-0.05999618919166554,0.011558042764987857,-0.0598655540029503,0.9981420863301121,0.011335389098067415,0.08004999905824661
+1789729561963440460,5433,0.6362295150756836,-0.16020876169204712,-0.4335230886936188,-0.9981315665284984,-0.059995681893999876,0.011576286571703388,-0.05986478071807063,0.9981420657107192,0.011341287250963391,0.08004999905824661
+1789729561996771450,5466,0.6363734006881714,-0.1602056473493576,-0.4342312812805176,-0.9981306121986893,-0.060001605066344096,0.011614699423796795,-0.05987028241829086,0.9981417232741453,0.011342370494449097,0.08004999905824661
+1789729562030104999,5500,0.6364802718162537,-0.16020740568637848,-0.4347228705883026,-0.9981295453935033,-0.06001527761509288,0.011652557608701309,-0.05988339816056306,0.9981407938333544,0.011354932903489837,0.08004999905824661
+1789729562063437984,5533,0.6366018056869507,-0.16020643711090088,-0.43519914150238037,-0.9981279288961071,-0.06003421927957433,0.011693728060648506,-0.05990182752039495,0.9981396192629003,0.011360973370908642,0.08004999905824661
+1789729562096774909,5566,0.636766791343689,-0.1602199226617813,-0.43581652641296387,-0.9981282505871671,-0.06001607559326194,0.011743058492691616,-0.05988331657760382,0.9981408745554184,0.011348250190010336,0.08004999905824661
+1789729562130101975,5600,0.6368856430053711,-0.16023176908493042,-0.43627333641052246,-0.9981286228271389,-0.060009422705253404,0.011752575296725958,-0.059876408215783036,0.998141147699798,0.011360678199187915,0.08004999905824661
+1789729562163432261,5633,0.6369946002960205,-0.16023845970630646,-0.4367215633392334,-0.9981310415972557,-0.0599676292109401,0.011759968901932982,-0.05983422682439745,0.9981433939894003,0.0113855314326603,0.08004999905824661
+1789729562196770345,5666,0.6371156573295593,-0.16025272011756897,-0.4372774064540863,-0.998129600961474,-0.05999121552550313,0.011753661105940418,-0.05985789343107162,0.9981419866250223,0.011384504356466608,0.08004999905824661
+1789729562230104060,5700,0.6371895670890808,-0.1602759212255478,-0.4376285672187805,-0.9981284525144858,-0.0600163873920942,0.011722866156620304,-0.059883355083813865,0.9981404235996822,0.011387641287023445,0.08004999905824661
+1789729562263435126,5733,0.6372608542442322,-0.16031001508235931,-0.43793076276779175,-0.9981308654490864,-0.05998491366556524,0.011687391681790447,-0.05985224138054579,0.9981422732210061,0.011389100921929074,0.08004999905824661
+1789729562296770001,5766,0.6373530030250549,-0.1603948473930359,-0.4382580816745758,-0.9981305297774345,-0.05999680199379336,0.01165101625375346,-0.059864905761225,0.9981418725250093,0.01135760948408997,0.08004999905824661
+1789729562330099357,5800,0.6374163031578064,-0.16046546399593353,-0.43847596645355225,-0.9981312540447014,-0.05998833676846323,0.01163770629043187,-0.05985657713514607,0.9981423674970779,0.011358011069015989,0.08004999905824661
+1789729562363435411,5833,0.6374773979187012,-0.16055062413215637,-0.4386860132217407,-0.9981317635339946,-0.05998089038376357,0.011635251057745377,-0.05984912149835338,0.9981427819296838,0.011360881739155062,0.08004999905824661
+1789729562396765637,5866,0.6375677585601807,-0.160684272646904,-0.4389874041080475,-0.9981297516336598,-0.06001311273229988,0.011642045303947766,-0.05988138498861388,0.9981409514658255,0.011351688991517367,0.08004999905824661
+1789729562430100592,5900,0.6376296877861023,-0.16080355644226074,-0.43925294280052185,-0.9981286963349301,-0.060028821760282805,0.011648110034849682,-0.0598971406473484,0.9981401085463943,0.011342675318547706,0.08004999905824661
+1789729562463429178,5933,0.6376677751541138,-0.16092704236507416,-0.43956995010375977,-0.9981296262348271,-0.06000791806955128,0.011670403107622082,-0.059875752035298734,0.9981411631885552,0.011362771366720344,0.08004999905824661
+1789729562496773990,5966,0.6377060413360596,-0.16108696162700653,-0.44011491537094116,-0.9981289985502477,-0.06001149845494705,0.011703076233229677,-0.05987860703332912,0.9981406437355183,0.011393313557274284,0.08004999905824661
+1789729562530098888,6000,0.6377291083335876,-0.16119937598705292,-0.44063615798950195,-0.9981279532874034,-0.060024298195136536,0.011736302675498748,-0.05989060751694754,0.9981395137696836,0.011429183981069192,0.08004999905824661
+1789729562563430713,6033,0.6377549171447754,-0.1612941324710846,-0.4412567913532257,-0.9981280065361087,-0.060013042188495166,0.011781472680234734,-0.05987825719634661,0.9981396917880448,0.011478235318955846,0.08004999905824661
+1789729562596765818,6066,0.6377779841423035,-0.16141986846923828,-0.4422343969345093,-0.9981271907613667,-0.060019494667988324,0.011829673566142257,-0.05988375115272378,0.9981389565409798,0.011513467825275917,0.08004999905824661
+1789729562630105271,6100,0.6377996206283569,-0.16148866713047028,-0.4430789351463318,-0.9981263510277059,-0.06002423548374861,0.011870326013704163,-0.059887642862587596,0.9981383446589899,0.011546219212059672,0.08004999905824661
+1789729562663436717,6133,0.6378194689750671,-0.16154231131076813,-0.44399893283843994,-0.9981264336528886,-0.06001474648094332,0.011909709101691493,-0.059877620795450975,0.9981388474552313,0.011554727081508405,0.08004999905824661
+1789729562696780729,6166,0.6378376483917236,-0.1616041213274002,-0.4452713131904602,-0.9981259843257069,-0.06001112325954834,0.011956878872996539,-0.05987370797772522,0.9981392843549715,0.011537240474117902,0.08004999905824661
+1789729562730098259,6200,0.6378495097160339,-0.16163255274295807,-0.446201890707016,-0.9981265080924242,-0.05999726950243579,0.011998237074690003,-0.059859069317325306,0.998139853783973,0.01156392035530952,0.08004999905824661
+1789729562763431604,6233,0.6378640532493591,-0.1616637408733368,-0.4470308721065521,-0.9981252290712062,-0.06000480219821991,0.012066484084148729,-0.059865665321854444,0.9981392779112334,0.011579470859444782,0.08004999905824661
+1789729562796765499,6266,0.6379127502441406,-0.16170215606689453,-0.4479309320449829,-0.9981250183505987,-0.05999789204474415,0.012118238156201049,-0.05985814354584629,0.9981396829982994,0.011583437136189818,0.08004999905824661
+1789729562830100823,6300,0.6379496455192566,-0.1617192178964615,-0.4484545588493347,-0.9981239279217842,-0.05999907573734112,0.012194165048595003,-0.05985808614250496,0.9981393085418021,0.011615947309081661,0.08004999905824661
+1789729562863432319,6333,0.6379907727241516,-0.16173918545246124,-0.4488818943500519,-0.9981239329718561,-0.059983994732420366,0.012263991659910902,-0.059841667077626025,0.9981397711265183,0.011660705659741104,0.08004999905824661
+1789729562896774382,6366,0.6380305290222168,-0.16176466643810272,-0.44936174154281616,-0.998124185904292,-0.05996338410933509,0.012357070357285824,-0.05981889258506724,0.9981401033318121,0.011748803865370555,0.08004999905824661
+1789729562930100229,6400,0.6380508542060852,-0.16179005801677704,-0.44968828558921814,-0.9981232694549591,-0.05996926218790258,0.012394509207808841,-0.059823754850070715,0.9981392667266824,0.011795023163978142,0.08004999905824661
+1789729562963437083,6433,0.6380680799484253,-0.16181613504886627,-0.44997233152389526,-0.9981215959564369,-0.05998991500057407,0.012421393765423991,-0.05984383188259931,0.9981378109080296,0.011816346139774739,0.08004999905824661
+1789729562996768109,6466,0.6380797028541565,-0.16184338927268982,-0.45024678111076355,-0.9981227399761368,-0.059966409379558806,0.012445762054319076,-0.05981955690328896,0.9981388149778595,0.011854388495951329,0.08004999905824661
+1789729563030105222,6500,0.6380782127380371,-0.16186536848545074,-0.4503720998764038,-0.9981234697442123,-0.05995471388243308,0.012445302684410596,-0.05980757790315698,0.998139271830833,0.011876345161991661,0.08004999905824661
+1789729563063434673,6533,0.6380814909934998,-0.16187866032123566,-0.45045042037963867,-0.9981239021493917,-0.05995180585592355,0.012429987231030386,-0.05980462486569413,0.9981392535923712,0.01189274262361276,0.08004999905824661
+1789729563096782210,6566,0.6380822658538818,-0.16188398003578186,-0.45051318407058716,-0.9981247899764993,-0.059937221744148,0.012431931530290968,-0.05978982234492498,0.9981399618721981,0.011907718895111427,0.08004999905824661
+1789729563130104644,6600,0.6380797624588013,-0.16188034415245056,-0.4505518674850464,-0.9981249041232501,-0.059935710447821464,0.01243108388978735,-0.05978819102284601,0.9981399418797252,0.011917582555526038,0.08004999905824661
+1789729563163434266,6633,0.6380776166915894,-0.16187983751296997,-0.4505845606327057,-0.9981253802452619,-0.05993049980751919,0.012414188345162424,-0.0597831763668728,0.9981402491285343,0.01191700218649173,0.08004999905824661
+1789729563196773245,6666,0.6380739808082581,-0.16188713908195496,-0.4506050944328308,-0.9981259643100895,-0.059921741392014755,0.012399962494525095,-0.05977473136858505,0.9981408959478876,0.01190517340651194,0.07996000349521637
+1789729563230102786,6700,0.6380707025527954,-0.1618962585926056,-0.450609028339386,-0.9981266419229231,-0.059914119053915804,0.012388200226628402,-0.059767287566142635,0.9981413851354541,0.011901536958128876,0.07996000349521637
+1789729563263431748,6733,0.6380673050880432,-0.16190388798713684,-0.45061057806015015,-0.9981271411692016,-0.05990660391453127,0.012376831257758625,-0.05975987836280729,0.9981418098696891,0.011903113912703482,0.07959000021219254
+1789729563296775177,6766,0.6380650997161865,-0.16190966963768005,-0.45061275362968445,-0.9981281313504942,-0.05989430136289971,0.012364960028109178,-0.059747671695270885,0.998142507624304,0.01190588877822386,0.07881999760866165
+1789729563330100169,6800,0.6380642652511597,-0.1619103103876114,-0.4506149888038635,-0.9981284189977757,-0.05989090228581876,0.012362826900486313,-0.05974424158883581,0.9981426629502023,0.011910083503086397,0.07765000313520432
+1789729563363426352,6833,0.6380630135536194,-0.16191287338733673,-0.45061591267585754,-0.9981286422507007,-0.05988722833183732,0.012361966279010601,-0.05974059485845587,0.9981428973723326,0.011908729149071956,0.07464999705553055
+1789729563396770340,6866,0.6380645632743835,-0.16191144287586212,-0.4506204128265381,-0.9981287983775935,-0.05988562041852876,0.012348082499973639,-0.059738970786718616,0.9981428379967139,0.011921836932831189,0.06905999779701233
+1789729563430097142,6900,0.638059139251709,-0.16191715002059937,-0.4506264328956604,-0.998129553105521,-0.05987608331463794,0.012342822922853589,-0.05972945015058202,0.9981433692693414,0.011925068428015771,0.06406000256538391
+1789729563463429783,6933,0.6380594372749329,-0.1619253158569336,-0.45062774419784546,-0.9981299577412193,-0.059872252147639964,0.012322264385541994,-0.059725937973877104,0.9981436614490221,0.011918195502920241,0.06406000256538391
+1789729563496769362,6966,0.6380751132965088,-0.16194170713424683,-0.45059439539909363,-0.9981302857938976,-0.05987396369063367,0.012280516175899396,-0.05972856707181675,0.9981439190348046,0.011883389910405358,0.06086999922990799
+1789729563530102213,7000,0.6380717754364014,-0.16194500029087067,-0.45059311389923096,-0.9981302977585738,-0.0598742824781436,0.012284267404401876,-0.05972882914825576,0.9981438896850582,0.011884543852324382,0.0604499988257885
+1789729563563443572,7033,0.6380738019943237,-0.16194413602352142,-0.4505904018878937,-0.9981303292943153,-0.05987372544279114,0.012280796565166036,-0.05972827658452627,0.998143891359185,0.011887176515794795,0.0604499988257885
+1789729563596768864,7066,0.6380758285522461,-0.1619427651166916,-0.4505910277366638,-0.998130601361154,-0.05987096431417428,0.01227589519526423,-0.059725534084560924,0.9981440225258642,0.01188994561444151,0.060440000146627426
+1789729563630091298,7100,0.6380751729011536,-0.16194383800029755,-0.45059099793434143,-0.998130835330777,-0.059867688858798465,0.01227528375853009,-0.05972227078122892,0.9981442227600593,0.011889530333930061,0.060440000146627426
+1789729563663436966,7133,0.638074517250061,-0.1619444638490677,-0.45059236884117126,-0.9981308455642057,-0.05986922093350295,0.012273927435897936,-0.059723806860056565,0.9981441207065059,0.01189038854381613,0.060440000146627426
+1789729563696767037,7166,0.6380699872970581,-0.16195006668567657,-0.45059239864349365,-0.9981303357825368,-0.05987793966349214,0.012274187005229751,-0.059732559360821946,0.9981436305512983,0.011887569940730272,0.060440000146627426
+1789729563730095749,7200,0.638066828250885,-0.16195373237133026,-0.4505924582481384,-0.9981305981431525,-0.0598732374589606,0.012271988102023103,-0.0597278557228242,0.998143888228139,0.0118895640736796,0.060440000146627426
+1789729563763426560,7233,0.6380646228790283,-0.16195543110370636,-0.4505923092365265,-0.9981306100179652,-0.05987052567865929,0.012273240813098074,-0.059725116318048846,0.998144039499439,0.011890615282285856,0.060440000146627426
+1789729563796767729,7266,0.6380636692047119,-0.1619543880224228,-0.4505934715270996,-0.9981309043949114,-0.059866802834761354,0.012275678545816363,-0.05972130250859249,0.9981442091880133,0.011895533520769275,0.060440000146627426
+1789729563830153027,7300,0.6380634903907776,-0.16195331513881683,-0.450594425201416,-0.9981309294673097,-0.059865423151835614,0.012277414423875936,-0.05971987468209684,0.9981442681321193,0.011897752822643253,0.060440000146627426
+1789729563863436650,7333,0.6380624771118164,-0.16195425391197205,-0.45059481263160706,-0.9981311571120095,-0.05986236150419127,0.012278983432894255,-0.05971680715360168,0.998144462416637,0.011896855342801497,0.060440000146627426
+1789729563896768521,7366,0.6380579471588135,-0.16196025907993317,-0.4505941569805145,-0.9981316234686308,-0.059855218707670674,0.012279237043667443,-0.059709673465172045,0.9981449002735366,0.011895928104440623,0.060440000146627426
+1789729563930105751,7400,0.6380571126937866,-0.1619688868522644,-0.45058122277259827,-0.9981315105263004,-0.05985672611852356,0.012272065627802522,-0.0597113905948946,0.998144916735772,0.011885914999069191,0.060440000146627426
+1789729563963429204,7433,0.6380791664123535,-0.16198137402534485,-0.4504774510860443,-0.9981329416863454,-0.0598455279471136,0.012208529187737578,-0.059700923605305566,0.9981455648589602,0.01188406431299624,0.060440000146627426
+1789729563996771603,7466,0.6380807757377625,-0.16201910376548767,-0.45012515783309937,-0.9981343090462678,-0.05982881745646037,0.012184885660585872,-0.05968322873481561,0.998145465122057,0.011980931418012509,0.060440000146627426
+1789729564030095625,7500,0.6380934715270996,-0.16206514835357666,-0.4495158791542053,-0.9981369869124346,-0.05978926301135954,0.012165357003285759,-0.059642004498822086,0.9981461563457128,0.012127739029824811,0.060440000146627426
+1789729564063429441,7533,0.638126790523529,-0.16211293637752533,-0.4485166072845459,-0.9981376236893642,-0.05977467988879482,0.012181985458349417,-0.05962497714843295,0.9981450330796366,0.012302648422605436,0.060440000146627426
+1789729564096774404,7566,0.638218879699707,-0.16218242049217224,-0.4466383755207062,-0.9981363320474677,-0.05978164246778901,0.012242632194930865,-0.0596282448148802,0.998141964269649,0.012533613123102586,0.060440000146627426
+1789729564130100402,7600,0.6382678151130676,-0.16223862767219543,-0.4450070858001709,-0.9981364358071669,-0.05976747811398956,0.012315089362718218,-0.059610301439982104,0.9981401961334142,0.012757780819652925,0.060440000146627426
+1789729564163430469,7633,0.6382927298545837,-0.16229285299777985,-0.44340410828590393,-0.9981358506123037,-0.05976775129936578,0.01234703891604667,-0.05960704694455105,0.9981372926573234,0.012997876130234846,0.060440000146627426
+1789729564196763855,7666,0.6383036971092224,-0.16237550973892212,-0.44145622849464417,-0.9981356832503778,-0.05977822647605539,0.012309587957053857,-0.059614501505254894,0.998133346639205,0.013263987125266025,0.060440000146627426
+1789729564230094212,7700,0.6383048295974731,-0.16241879761219025,-0.44014111161231995,-0.9981354212658338,-0.05979101781206358,0.012267578318737957,-0.05962522410653732,0.9981300438398765,0.013462838747329797,0.060440000146627426
+1789729564263428557,7733,0.6383106112480164,-0.16244825720787048,-0.43891748785972595,-0.9981355104267244,-0.05980663432259942,0.012197873766463824,-0.05963861766648376,0.9981259869633384,0.013702172919672483,0.060440000146627426
+1789729564296767642,7766,0.6383171081542969,-0.16246330738067627,-0.43729591369628906,-0.9981352093959073,-0.05981753163754031,0.012173466601267087,-0.059645770425107124,0.9981212166433074,0.014014962360242899,0.060440000146627426
+1789729564330098708,7800,0.6383134722709656,-0.16247574985027313,-0.43604937195777893,-0.9981352619855974,-0.05981877917074425,0.01215747599978086,-0.059645381871761986,0.9981192302560694,0.014157355007039133,0.060440000146627426
+1789729564363425486,7833,0.6383205056190491,-0.16247953474521637,-0.43473267555236816,-0.9981348115146649,-0.059833170094693244,0.012122057068016964,-0.0596588971610954,0.9981169382459132,0.01426161377465643,0.060440000146627426
+1789729564396767100,7866,0.6383235454559326,-0.162473663687706,-0.4328368008136749,-0.9981274678474181,-0.05995290489733224,0.012124720737217203,-0.0597778765507479,0.9981090271479703,0.014316955443759145,0.060440000146627426
+1789729564430101206,7900,0.6383051872253418,-0.1624632477760315,-0.4313119351863861,-0.9981241301385171,-0.06000644140710011,0.012135138161943722,-0.059830820777783886,0.9981053567950949,0.014351635634721024,0.060440000146627426
+1789729564463431253,7933,0.6382753849029541,-0.1624361276626587,-0.4296889007091522,-0.9981130550553197,-0.06019281704591618,0.012138470116116875,-0.06001657309890028,0.9980935675454532,0.014395886827999554,0.060440000146627426
+1789729564496766298,7966,0.6382293701171875,-0.1623598337173462,-0.4272913336753845,-0.9980927643571882,-0.060539296404872565,0.012074270682364927,-0.060363292684442606,0.9980719556024095,0.014444524856727078,0.060440000146627426
+1789729564530105733,8000,0.6381988525390625,-0.162261500954628,-0.4252645671367645,-0.9980718795259234,-0.06089807059637471,0.011989850220348406,-0.060723140989577803,0.9980500434959024,0.014450281624132873,0.060440000146627426
+1789729564563467052,8033,0.6381911635398865,-0.16208381950855255,-0.4230133891105652,-0.9980450266588876,-0.06135215074611493,0.011922458637071077,-0.06117783999759892,0.9980219418908457,0.01447326857507453,0.060440000146627426
+1789729564596773564,8066,0.638260543346405,-0.16169865429401398,-0.41967472434043884,-0.9979952976080335,-0.06215571434968042,0.011923219121323637,-0.06198102679007184,0.9979719883531813,0.014500444549296804,0.060440000146627426
+1789729564630107990,8100,0.6383311152458191,-0.16134102642536163,-0.41697460412979126,-0.9979564756512123,-0.06275483664227063,0.01202378005581832,-0.06257821324674087,0.9979341087998255,0.014542406415780917,0.060440000146627426
+1789729564663433698,8133,0.6383965611457825,-0.16098947823047638,-0.4141729772090912,-0.9979152219971621,-0.06341509938643819,0.01198860187983044,-0.06323698964077229,0.9978903583321662,0.01469407636118717,0.060440000146627426
+1789729564696774842,8166,0.6384409666061401,-0.16060614585876465,-0.4102514088153839,-0.9978582148189692,-0.06434674588558081,0.011771316560518608,-0.06416709885986777,0.9978256613501748,0.015051015478638102,0.060440000146627426
+1789729564730110647,8200,0.638520359992981,-0.16029493510723114,-0.40715911984443665,-0.9978186410552583,-0.06499102306891824,0.011575034744161928,-0.06480857729468881,0.9977773966668819,0.015495639655193464,0.060440000146627426
+1789729564763434515,8233,0.6385944485664368,-0.15994690358638763,-0.4040343463420868,-0.9977707387112538,-0.06573255802487527,0.01152991942522906,-0.06554391137473609,0.9977207519334275,0.01604048067317147,0.060440000146627426
+1789729564796769831,8266,0.6386752724647522,-0.15948934853076935,-0.4000292420387268,-0.9977120814223954,-0.06664126246711959,0.011385024089267226,-0.06644644862899014,0.9976500699860744,0.016709500545649486,0.060440000146627426
+1789729564830106626,8300,0.6387589573860168,-0.15914644300937653,-0.39705079793930054,-0.9976660815141734,-0.06735733270831469,0.011195410550992616,-0.06716073080420491,0.9975956861673015,0.017096289869855903,0.060440000146627426
+1789729564863391304,8333,0.6388658881187439,-0.1587314009666443,-0.39399847388267517,-0.9976062771098981,-0.06824758134901561,0.011136008952742818,-0.06804596566476466,0.9975273277294687,0.017577742269817724,0.060440000146627426
+1789729564896769619,8366,0.6390743255615234,-0.15799586474895477,-0.3899453282356262,-0.9975265526865951,-0.06935080307969729,0.011461089711879924,-0.0691335584457097,0.9974381961502033,0.01837378848206417,0.060440000146627426
+1789729564930103085,8400,0.6392732858657837,-0.15738709270954132,-0.38699665665626526,-0.9974598304833702,-0.07025640917632829,0.011748778865199538,-0.07002518873629766,0.9973632486709412,0.019053170039270304,0.060440000146627426
+1789729564963438320,8433,0.6394311785697937,-0.1567983776330948,-0.38405242562294006,-0.9973833797097638,-0.07127585637311132,0.012092404173171478,-0.07102741162341505,0.9972765850798073,0.019862521461266054,0.060440000146627426
+1789729564996774515,8466,0.6395995616912842,-0.15602952241897583,-0.380004346370697,-0.997264083145273,-0.07284950135092731,0.012533139943677322,-0.0725700060456876,0.9971321603426688,0.02147204504459872,0.060440000146627426
+1789729565030110550,8500,0.6396737098693848,-0.1554255485534668,-0.3770083785057068,-0.9971633592538955,-0.07415873362568857,0.012873631559320087,-0.07384678239907873,0.9969992874049475,0.023217959926838783,0.060440000146627426
+1789729565063434673,8533,0.6397351622581482,-0.15480056405067444,-0.374236136674881,-0.9970494279065416,-0.07561792834419588,0.01320275945600563,-0.0752693199527933,0.9968457828771549,0.025159780364839568,0.060440000146627426
+1789729565096778512,8566,0.6398865580558777,-0.153983011841774,-0.3707955777645111,-0.9968865057474765,-0.0776672395838191,0.01360273409848932,-0.07727276291978874,0.9966318845759163,0.02745553962129247,0.060430001467466354
+1789729565130102235,8600,0.6400279998779297,-0.153317391872406,-0.36833566427230835,-0.9967580108129244,-0.07923816673875186,0.013951445806337545,-0.07880807398608433,0.9964659102477553,0.029068487138440992,0.060430001467466354
+1789729565163431666,8633,0.6401719450950623,-0.15260402858257294,-0.3660445809364319,-0.9966093519851498,-0.08101703692504736,0.01434580943531738,-0.08055190749683638,0.9962843749053998,0.030476779306550933,0.06036999821662903
+1789729565196767377,8666,0.6403306126594543,-0.15160129964351654,-0.36341598629951477,-0.996404720871388,-0.08339989882856468,0.01489935478038127,-0.08289332898502423,0.9960483116628795,0.031881917267904285,0.060270000249147415
+1789729565230098968,8700,0.6404687762260437,-0.15078848600387573,-0.3617263734340668,-0.9962387828731836,-0.0852927605759492,0.015274506710161687,-0.08476288504325297,0.9958708239913905,0.03250469180946599,0.06021000072360039
+1789729565263431519,8733,0.6406066417694092,-0.14991767704486847,-0.3601733148097992,-0.996081007166959,-0.08704854681445567,0.015661366495356543,-0.08649986287133388,0.9957105205372951,0.032837984576984836,0.06021000072360039
+1789729565296771478,8766,0.6407782435417175,-0.14865830540657043,-0.35819655656814575,-0.9958683151438901,-0.0893413721434705,0.01625534649786539,-0.08876898601986337,0.9955034194542556,0.03306068006326074,0.060169998556375504
+1789729565330105789,8800,0.6409134864807129,-0.14766299724578857,-0.3567783832550049,-0.9957100852549075,-0.09099849356824727,0.01675915661623481,-0.09040855309894383,0.9953539865486641,0.033116995361347976,0.06015999987721443
+1789729565363430882,8833,0.6410393118858337,-0.14664384722709656,-0.3554096519947052,-0.9955635436670827,-0.09248301284972715,0.017318926633628218,-0.09187436644075131,0.9952187897295297,0.03314605458874756,0.06015000119805336
+1789729565396765462,8866,0.6411579251289368,-0.14531747996807098,-0.35365843772888184,-0.995383996345635,-0.09425637473526297,0.01806102274817986,-0.09362339099863523,0.9950550501826433,0.033167863683317214,0.06015000119805336
+1789729565430097644,8900,0.6412009596824646,-0.14433903992176056,-0.3523893654346466,-0.9952483624929898,-0.09557582110417112,0.018600945639846767,-0.0949241345389979,0.9949296895312367,0.03323133554767832,0.06015000119805336
+1789729565463434464,8933,0.6412606239318848,-0.143326535820961,-0.35116633772850037,-0.9951081979248244,-0.09692333972591201,0.019118658874179434,-0.09625330384626778,0.9947993789667082,0.03330911377469152,0.06015000119805336
+1789729565496764175,8966,0.6414105892181396,-0.14187343418598175,-0.34964194893836975,-0.9949154042848083,-0.09872303531571015,0.01992453329991893,-0.0980260475462059,0.9946244933561891,0.03336181818096053,0.06013999879360199
+1789729565530099466,9000,0.6415715217590332,-0.1407589316368103,-0.3485771715641022,-0.9947744042294211,-0.09999144243538215,0.02062998478292416,-0.09927448370616578,0.994504032970739,0.033261167901955796,0.06013999879360199
+1789729565563463989,9033,0.6417042016983032,-0.1396704763174057,-0.3475668728351593,-0.9946342260275529,-0.10122392425053468,0.02136979232657249,-0.10048570221522206,0.9943850886207036,0.03318011040500027,0.06013999879360199
+1789729565596804268,9066,0.6417962312698364,-0.1383206844329834,-0.3463295102119446,-0.9944536095232879,-0.1028316303503444,0.022078788670228458,-0.10206934651097752,0.9942213784794703,0.03325204495499081,0.06013999879360199
+1789729565630100508,9100,0.6418708562850952,-0.13730286061763763,-0.34546059370040894,-0.9943075217605934,-0.10414968869566915,0.02248092968490345,-0.10337103305011369,0.9940820988802717,0.03339476313848379,0.06013999879360199
+1789729565663432639,9133,0.6420014500617981,-0.13620778918266296,-0.3446611166000366,-0.9941712567225849,-0.10533858211139276,0.02295976931454305,-0.10454276202089278,0.9939568435527864,0.03347541823454735,0.06013999879360199
+1789729565696767849,9166,0.6422715783119202,-0.1346053034067154,-0.3437425494194031,-0.9939928161448783,-0.10683433393269248,0.02376204519761585,-0.10601314173688059,0.9938006876631478,0.03348741190729983,0.06013999879360199
+1789729565730095702,9200,0.642543613910675,-0.13333947956562042,-0.34316518902778625,-0.9938652795831038,-0.1078533749025794,0.02448500671639224,-0.10701285404500571,0.9936972393290485,0.033377324767140504,0.06013999879360199
+1789729565763431562,9233,0.6427673697471619,-0.13212092220783234,-0.3426901400089264,-0.9937538584966812,-0.1087266380448454,0.025133342721175123,-0.10786850785338485,0.9936074409933372,0.033296214336752755,0.06013999879360199
+1789729565796757724,9266,0.6429697871208191,-0.13054747879505157,-0.3421539068222046,-0.9936108522087999,-0.10989944642577257,0.025680303693593892,-0.10902143769779357,0.9934780201450624,0.03340283307554523,0.06013000011444092
+1789729565830089646,9300,0.6431165337562561,-0.12933985888957977,-0.3418043851852417,-0.9935057875384956,-0.11078332641179744,0.02595076243291694,-0.10989232997722032,0.9933767485190382,0.03356056868214105,0.06013000011444092
+1789729565863430905,9333,0.6433099508285522,-0.12805664539337158,-0.3414934575557709,-0.9934080781963475,-0.1115727880025488,0.026306155558783947,-0.11066806654189817,0.9932874656400448,0.03365397484572895,0.06013000011444092
+1789729565896763366,9366,0.6436645984649658,-0.12625472247600555,-0.34113410115242004,-0.9932650140329808,-0.11269600574673741,0.026907179274793913,-0.11177361435816427,0.993164535873668,0.03362830714610779,0.06013000011444092
+1789729565930104045,9400,0.6439314484596252,-0.12490271776914597,-0.3408874571323395,-0.993172351672786,-0.1133787207892346,0.027457771870311523,-0.11244252136185375,0.9930922682634755,0.03353246260823409,0.06013000011444092
+1789729565963428208,9433,0.6441125869750977,-0.12362880259752274,-0.3406386375427246,-0.9930857438699405,-0.11403295822703649,0.027876522652250102,-0.1130834636027174,0.9930188486709565,0.03355139536924738,0.06013000011444092
+1789729565996763548,9466,0.6442946195602417,-0.12194924056529999,-0.3402736783027649,-0.9929634156918092,-0.11500104416002792,0.028255858899379732,-0.11403272437018337,0.9929025155085276,0.03378065116927757,0.060120001435279846
+1789729566030104046,9500,0.6444669365882874,-0.12063096463680267,-0.33995696902275085,-0.9928697001063522,-0.11571027097219172,0.028654858605027297,-0.11472580354024814,0.9928184492198295,0.03390453722386714,0.060120001435279846
+1789729566063463965,9533,0.6446953415870667,-0.11923879384994507,-0.3396260440349579,-0.9927552782226345,-0.11654431441363557,0.029231288358203517,-0.11554050839466455,0.9927220973243487,0.033959221498776324,0.060120001435279846
+1789729566096765138,9566,0.6450546383857727,-0.11735434085130692,-0.33917176723480225,-0.9926037802796035,-0.11757002781463688,0.030249264685578092,-0.11653877970145532,0.9926088219803296,0.03385911000835365,0.060109999030828476
+1789729566130115989,9600,0.6452503800392151,-0.11602018773555756,-0.33883070945739746,-0.9924956815160049,-0.11828357086923297,0.031007854225845177,-0.11723129089626178,0.9925289924698641,0.033808640484942476,0.060100000351667404
+1789729566163436628,9633,0.6453782916069031,-0.11474575102329254,-0.3384919762611389,-0.9923785432632948,-0.11910416138547629,0.031609701366926174,-0.11802988285911854,0.9924304540255096,0.03392257708058603,0.060100000351667404
+1789729566196772913,9666,0.6455312967300415,-0.11303317546844482,-0.33800414204597473,-0.992214172449772,-0.12025936680941862,0.032384473685788076,-0.11915445414398873,0.9922889282379875,0.034130617976115676,0.06007999926805496
+1789729566230159795,9700,0.6456925272941589,-0.11167878657579422,-0.33761608600616455,-0.9920843670256294,-0.12114406998253502,0.03305761419292105,-0.12001468500263668,0.9921811853827417,0.03424866539554469,0.06007999926805496
+1789729566263443222,9733,0.6458929777145386,-0.11028453707695007,-0.33722612261772156,-0.9919549472660556,-0.12198361061490998,0.033840817698715386,-0.12082987919885463,0.9920813646160063,0.03427397784492331,0.06007999926805496
+1789729566296758602,9766,0.6461382508277893,-0.1084466502070427,-0.3367263078689575,-0.9917973271665701,-0.12295203696500925,0.034942843901520484,-0.12176499722531739,0.9919665442476753,0.03428791513733802,0.06007000058889389
+1789729566330107734,9800,0.6462790966033936,-0.10711274296045303,-0.3363761603832245,-0.9916799368781537,-0.12370361680285016,0.035614658060832166,-0.1224911604170614,0.9918722613513735,0.03442866729747365,0.06007000058889389
+1789729566363436480,9833,0.6464213132858276,-0.10579007863998413,-0.33604565262794495,-0.9915661129494322,-0.1244548978540305,0.036160540044632095,-0.12321891491612894,0.9917756863439736,0.03461339089730786,0.06007000058889389
+1789729566396770506,9866,0.6466654539108276,-0.10396678745746613,-0.33562710881233215,-0.9914099931995115,-0.12545872473950131,0.03696081841632226,-0.12419301913849617,0.991649004286804,0.03476126181157657,0.06007000058889389
+1789729566430102141,9900,0.6468795537948608,-0.10257285833358765,-0.3353331983089447,-0.9912906232258738,-0.1262019197280804,0.03762891941517321,-0.12491527300670843,0.9915572918680874,0.03478952920789247,0.06007000058889389
+1789729566463433287,9933,0.647070050239563,-0.10121555626392365,-0.33505332469940186,-0.9911695132575247,-0.12693925427615574,0.03833487062157087,-0.12563214951436671,0.9914670078522819,0.034781258622168354,0.06007000058889389
+1789729566496769272,9966,0.6472572684288025,-0.09953057765960693,-0.3346919119358063,-0.9910062808150519,-0.12796333351868436,0.03914071296698146,-0.1266299605050151,0.9913378617628968,0.03484389750692257,0.06007000058889389
+1789729566530107486,10000,0.6473991274833679,-0.09829937666654587,-0.334415078163147,-0.9908780494297089,-0.1287855734874494,0.039685990125953,-0.1274315381318452,0.991231273459071,0.03495376449989518,0.06007000058889389
+1789729566563436043,10033,0.6475583910942078,-0.09705116599798203,-0.334128201007843,-0.9907415285643855,-0.12963972884352104,0.04030869257429681,-0.12826370176999424,0.9911208498101555,0.03504117574603477,0.06007000058889389
+1789729566596771977,10066,0.6478115916252136,-0.09536325186491013,-0.33373886346817017,-0.9905582337267735,-0.13074527263181634,0.04123164529546919,-0.12934324342449743,0.9909811615371332,0.03502374637920991,0.06007000058889389
+1789729566630101944,10100,0.6480095982551575,-0.09410759806632996,-0.33345457911491394,-0.9904193672000818,-0.1315810689732371,0.04190230704098841,-0.13016263352708132,0.9908760942060574,0.03496075405453414,0.06007000058889389
+1789729566663431040,10133,0.6481825113296509,-0.09288143366575241,-0.33318719267845154,-0.9902882812423863,-0.1323586373024353,0.04254775338827599,-0.13092284876183008,0.9907767655697386,0.034937207672664616,0.06007000058889389
+1789729566696770294,10166,0.6483201384544373,-0.0913514494895935,-0.33284687995910645,-0.9901145112437162,-0.1334147885832049,0.04328737716492012,-0.13195593701525363,0.9906381142163637,0.03498224656968019,0.06007000058889389
+1789729566730105069,10200,0.6484289765357971,-0.09019896388053894,-0.33260250091552734,-0.9899728532936336,-0.1343069722093226,0.04376417398002136,-0.1328314786756273,0.9905186493662963,0.035051435491742555,0.06007000058889389
+1789729566763493231,10233,0.6486003994941711,-0.08899276703596115,-0.3323589563369751,-0.9898238357555753,-0.13520833496239787,0.04435592755745876,-0.13371899469647447,0.9904012117560254,0.03499528618415915,0.06007000058889389
+1789729566796777028,10266,0.6488972306251526,-0.08730863034725189,-0.33205366134643555,-0.9896205671507867,-0.13638280758640714,0.04528693413894616,-0.13487856449785757,0.9902518210688672,0.0347721716620957,0.06007000058889389
+1789729566830101846,10300,0.6491280794143677,-0.0860476866364479,-0.3318409323692322,-0.9894662958272586,-0.13726430523486244,0.04598816788510368,-0.13575250620072843,0.9901405274105405,0.03453972784792533,0.06007000058889389
+1789729566863428273,10333,0.6493252515792847,-0.08488478511571884,-0.33164018392562866,-0.9893188778803581,-0.138121436543849,0.046588243824232406,-0.13660980872478046,0.9900337423388689,0.03421912298993279,0.06005999818444252
+1789729566896773156,10366,0.6495010852813721,-0.08348145335912704,-0.3313709497451782,-0.9891288086973342,-0.1392804238041046,0.04717376475597719,-0.13777696474673767,0.9898875934232466,0.0337647951629316,0.06005999818444252
+1789729566930106381,10400,0.6495992541313171,-0.08248667418956757,-0.33115363121032715,-0.988983972763436,-0.14020109084644605,0.047478857936752716,-0.1387042307475178,0.9897673365511627,0.03349261536125714,0.06005999818444252
+1789729566963429659,10433,0.6497607827186584,-0.08144260942935944,-0.33090171217918396,-0.9888221072326024,-0.141223341614751,0.047821363615479576,-0.13973089121824936,0.9896311254221081,0.03324927104512573,0.06005999818444252
+1789729566996764764,10466,0.6500810384750366,-0.07998666167259216,-0.33048734068870544,-0.9885807316037742,-0.14267424837597736,0.0484994949721671,-0.1411860236221451,0.9894377136962987,0.03285601126257931,0.06005999818444252
+1789729567030096247,10500,0.6503636240959167,-0.07885875552892685,-0.3301306366920471,-0.9883978478844766,-0.14373807745398304,0.0490814289824619,-0.14224715712184077,0.9892927149680905,0.03264460154835391,0.06005999818444252
+1789729567063427337,10533,0.650614857673645,-0.07774944603443146,-0.3297431170940399,-0.9882195482000562,-0.1447490905510991,0.04969814087665847,-0.14324906991036365,0.9891515285022552,0.03254163590311132,0.06005999818444252
+1789729567096771824,10566,0.6508831977844238,-0.07631750404834747,-0.32920587062835693,-0.9879944702834398,-0.14603601208847455,0.05040394950006166,-0.14451535589991077,0.9889647788866908,0.03261868871852927,0.06005999818444252
+1789729567130109313,10600,0.6510593891143799,-0.07523895055055618,-0.32879841327667236,-0.9878391695348587,-0.14692469675500824,0.050861144230485475,-0.14538329534730593,0.9888314340822659,0.032803842901465624,0.06005999818444252
+1789729567163430265,10633,0.6512320041656494,-0.07408637553453445,-0.32838886976242065,-0.9876882735851109,-0.14776733873080483,0.051349245851114445,-0.14620170719488568,0.9887030700617675,0.033034835991093636,0.06005999818444252
+1789729567196765104,10666,0.6515212059020996,-0.07237416505813599,-0.3278499245643616,-0.9874777459467818,-0.14888222271071266,0.05217288532293601,-0.14728541239291976,0.9885353003082763,0.03324106854849912,0.06005999818444252
+1789729567230106232,10700,0.651763379573822,-0.07099183648824692,-0.3274627923965454,-0.9873042625611941,-0.1497691233911335,0.05291173338545574,-0.14815109832949544,0.988403812215944,0.03330400769532291,0.06005999818444252
+1789729567263425295,10733,0.6520155072212219,-0.06959119439125061,-0.3271030783653259,-0.9871241592935656,-0.150686235844319,0.053662687327517805,-0.14905086061990108,0.9882687659010639,0.033296967871685235,0.06005999818444252
+1789729567296767192,10766,0.6523239016532898,-0.06774672120809555,-0.3266773521900177,-0.9868885400285994,-0.15187349685062376,0.05463817233155521,-0.15021746411337059,0.9880933444675742,0.03326041748519981,0.06005999818444252
+1789729567330103431,10800,0.6524947285652161,-0.06643308699131012,-0.3263973295688629,-0.9866950287127718,-0.15288912785876319,0.05529614848710107,-0.15121607525545544,0.9879398391020987,0.03329522281146158,0.06005999818444252
+1789729567363427163,10833,0.6526299118995667,-0.06514471769332886,-0.3261372745037079,-0.9865176935588287,-0.1538381222873387,0.05582705620533518,-0.15214438492508645,0.9877923333758302,0.033442371097054446,0.06004999950528145
+1789729567396766761,10866,0.6528110504150391,-0.06337583810091019,-0.32580679655075073,-0.9862818204998949,-0.15510109818554052,0.05649825128138011,-0.15337905913396743,0.9875938589166096,0.03366356341184623,0.06004999950528145
+1789729567430099121,10900,0.6529713869094849,-0.06197730079293251,-0.3255671560764313,-0.9860999639433001,-0.1560574024525964,0.05703599447919583,-0.15431584392386086,0.98744370633128,0.033786804076197274,0.06004999950528145
+1789729567463428662,10933,0.653151273727417,-0.06052296236157417,-0.3253472149372101,-0.9859236121169408,-0.15695361245448947,0.057621827694201544,-0.15519456853812574,0.9873035877634638,0.03385663893230628,0.06004999950528145
+1789729567496764961,10966,0.6533520817756653,-0.05859729275107384,-0.32509931921958923,-0.9857097978753435,-0.1579983886914298,0.058420155552533715,-0.15622055436544224,0.9871413454814513,0.03386892087707505,0.06004999950528145
+1789729567530137521,11000,0.6534534692764282,-0.05719505995512009,-0.32494449615478516,-0.9855495185059993,-0.15883620747936436,0.058847972733296894,-0.15704269966909476,0.9870073670896784,0.033971267180760156,0.06004999950528145
+1789729567563465411,11033,0.6535457372665405,-0.055797021836042404,-0.32480427622795105,-0.9853915049148101,-0.15968800362730518,0.059189778086346775,-0.1578774014959028,0.9868687694900533,0.03412855996211914,0.06004999950528145
+1789729567596773027,11066,0.6537147760391235,-0.053877633064985275,-0.3246203064918518,-0.985166112787323,-0.1608713164927717,0.05973505605678597,-0.15904403268723583,0.9866786229514116,0.03420952397654253,0.06004999950528145
+1789729567630100888,11100,0.6538599133491516,-0.05240657553076744,-0.324497252702713,-0.9849985651644926,-0.16173724635674602,0.06015858176244132,-0.15990204230255067,0.9865404703324939,0.03419412791312548,0.06004999950528145
+1789729567663437027,11133,0.653985857963562,-0.050947025418281555,-0.32439616322517395,-0.9848422893536632,-0.16255505803937656,0.0605109740610231,-0.16071655968144202,0.9864101749008833,0.03413436253162494,0.06004999950528145
+1789729567696769657,11166,0.6540232300758362,-0.04910736903548241,-0.324299156665802,-0.9846563334714917,-0.16358608629897137,0.06075927103769502,-0.1617424979018966,0.9862420497496396,0.034146522618440645,0.06004999950528145
+1789729567730141697,11200,0.6539914608001709,-0.04777834936976433,-0.32424116134643555,-0.9845231507395988,-0.16440348970400698,0.06070770864831598,-0.1625539387514474,0.9861041333925997,0.03427613565641918,0.06004999950528145
+1789729567763439615,11233,0.654009222984314,-0.046373769640922546,-0.3241816759109497,-0.9843900143818067,-0.1652041531744753,0.06069638485627121,-0.16334899945939058,0.985968948032392,0.03438515740145254,0.06004999950528145
+1789729567796772645,11266,0.654110848903656,-0.04438921809196472,-0.3240996301174164,-0.9842107827209503,-0.16620677454755972,0.060864836968419045,-0.16434818559563125,0.9858023537846109,0.03440049088494751,0.06004999950528145
+1789729567830166900,11300,0.6541945338249207,-0.0428517647087574,-0.32404983043670654,-0.9840827977937305,-0.16691651301476934,0.060990711518174034,-0.16505870148189633,0.9856850294058449,0.034360550821034064,0.06004999950528145
+1789729567863439684,11333,0.6541833281517029,-0.041460514068603516,-0.3240141272544861,-0.9839739737153435,-0.1675395062064617,0.06103737070940045,-0.1656823386882205,0.9855807846965388,0.03434935562125696,0.06004999950528145
+1789729567896770204,11366,0.6540765166282654,-0.039712853729724884,-0.32399773597717285,-0.9838378193143409,-0.1684401593183136,0.06075462229154993,-0.16657872997141074,0.9854230682815313,0.0345384380874566,0.06004999950528145
+1789729567930103904,11400,0.6540604829788208,-0.03832731023430824,-0.3239889144897461,-0.9837062465454418,-0.16924294528978823,0.06065283339862865,-0.16738205746615276,0.9852852345343904,0.03458688848583358,0.06004999950528145
+1789729567963458508,11433,0.6541258096694946,-0.03690279647707939,-0.3239767849445343,-0.9835943149671655,-0.16985761782276287,0.06075163456026589,-0.16800713309951587,0.9851851039634789,0.034408069700995525,0.06004999950528145
+1789729567996768514,11466,0.6542295217514038,-0.034840624779462814,-0.32396021485328674,-0.9834443055290532,-0.17062379864214766,0.06103043159602428,-0.16879732677376974,0.9850654387495011,0.03396384952596643,0.06004999950528145
+1789729568030108340,11500,0.6542104482650757,-0.0334223210811615,-0.32395702600479126,-0.9833510263796381,-0.17113574120265462,0.06110071904861199,-0.16933180687459326,0.9849858006751568,0.033611181235825904,0.06004999950528145
+1789729568063436715,11533,0.6541081070899963,-0.032072629779577255,-0.323954313993454,-0.9832701054357136,-0.17165367889516664,0.060951165091557985,-0.16986646973211367,0.984900165150213,0.0334222701127187,0.06004999950528145
+1789729568096772837,11566,0.6540583968162537,-0.03019232675433159,-0.3239383101463318,-0.9831106315427935,-0.17261512202963467,0.06080688186307591,-0.17084931372231096,0.9847386554676602,0.03317065278014525,0.06004999950528145
+1789729568130104131,11600,0.6541047096252441,-0.028695212677121162,-0.32391420006752014,-0.9829917166768822,-0.1732471019061151,0.0609338421349747,-0.17150464947805094,0.9846375139424783,0.03278906745094734,0.06004999950528145
+1789729568163434905,11633,0.6541529893875122,-0.027198605239391327,-0.3238917887210846,-0.9828722240124843,-0.1738643736002452,0.06110261272895487,-0.1721460788989322,0.9845390201690832,0.03238281210002447,0.06004999950528145
+1789729568196775537,11666,0.654076099395752,-0.025362003594636917,-0.32388103008270264,-0.9827340322414757,-0.1746326846105192,0.06113131820293499,-0.1729403428185253,0.9844123366665337,0.031999806238307504,0.06004999950528145
+1789729568230166137,11700,0.6539798974990845,-0.024038175120949745,-0.32387736439704895,-0.9826197096285474,-0.17535325284649572,0.06090800915260629,-0.1736716504549486,0.9842859712872161,0.031926241450946136,0.06004999950528145
+1789729568263438175,11733,0.653964638710022,-0.022636983543634415,-0.32386109232902527,-0.982476316630311,-0.1761757054379352,0.06084920215871137,-0.17450781871389082,0.9841435369184014,0.03175723047948176,0.06004999950528145
+1789729568296765440,11766,0.6540791988372803,-0.020627891644835472,-0.3238227367401123,-0.9822810175814061,-0.17717995225332003,0.06108535494074413,-0.17554082046504008,0.9839753271888588,0.03127262501754213,0.06004999950528145
+1789729568330101612,11800,0.6541469693183899,-0.019130965694785118,-0.3238051235675812,-0.9821456553853198,-0.1778429394078981,0.06133268963714833,-0.1762299767917713,0.9838664584933636,0.03081860321266805,0.06004999950528145
+1789729568363431317,11833,0.6541106700897217,-0.01774677447974682,-0.3238074481487274,-0.9820244002170744,-0.178493093521166,0.06138728327806986,-0.1769034916477596,0.9837565684215426,0.03046587592326855,0.06004999950528145
+1789729568396764000,11866,0.6539800763130188,-0.01598641835153103,-0.32381075620651245,-0.9818533767597768,-0.17950352812890497,0.06117566442934422,-0.1779375759528246,0.9835784117996289,0.03019482026388348,0.06004999950528145
+1789729568430100013,11900,0.6539778113365173,-0.014570539817214012,-0.3237949013710022,-0.9817027061285886,-0.18033730806317572,0.061142534549376154,-0.17879033441696357,0.9834316187449744,0.029937750215036085,0.06004999950528145
+1789729568463429577,11933,0.654049277305603,-0.01307420339435339,-0.3237699270248413,-0.981548610996138,-0.18110881168286064,0.06133521186902195,-0.17958830603873366,0.9832993692899876,0.02950239667838117,0.06004999950528145
+1789729568496763421,11966,0.6541213989257812,-0.011089093051850796,-0.3237570822238922,-0.9813674405059065,-0.18197341854363258,0.06167518831921334,-0.18049233730394243,0.9831535694928093,0.028837072142892994,0.06004999950528145
+1789729568530101123,12000,0.6540691256523132,-0.009716915898025036,-0.3237670361995697,-0.9812533536542141,-0.1825838199072237,0.0616833016322301,-0.18112755503386993,0.9830472672701406,0.02847591303518915,0.06004999950528145
+1789729568563455451,12033,0.6539693474769592,-0.008364219218492508,-0.3237687051296234,-0.9811349759413741,-0.18327697023239325,0.0615123996501815,-0.18183675905759428,0.9829215595992974,0.0282948985378772,0.06004999950528145
+1789729568596762871,12066,0.6539545059204102,-0.006421725731343031,-0.3237452507019043,-0.9809429057051298,-0.1843225687867101,0.06145125392723741,-0.18290752448002928,0.9827325567117965,0.027956392919997464,0.06004999950528145
+1789729568630099973,12100,0.6540610790252686,-0.004834037274122238,-0.32372620701789856,-0.980777966872548,-0.18512299139294836,0.061675735051976405,-0.1837349725381095,0.9825906972143637,0.027513273071578748,0.06004999950528145
+1789729568663437716,12133,0.654144287109375,-0.0032594280783087015,-0.3237353563308716,-0.9806260779116498,-0.1858169972628364,0.06200255746803088,-0.18445926863811513,0.9824692968785277,0.02699735064929526,0.06004999950528145
+1789729568696793604,12166,0.6540862917900085,-0.0013354175025597215,-0.32379767298698425,-0.9805002951743749,-0.18642686987601254,0.06216440287485314,-0.18510116026661683,0.9823622632992456,0.026494264842155224,0.06004999950528145
+1789729568730099444,12200,0.6539976596832275,9.279472578782588e-05,-0.3238614797592163,-0.9803244918619225,-0.18733477654694214,0.06220508177305671,-0.18602339516988492,0.9821933974569734,0.026294971812875878,0.06004999950528145
+1789729568763435467,12233,0.6539791822433472,0.0016149160219356418,-0.32392746210098267,-0.9801452419890084,-0.18821360955903094,0.06237712071640965,-0.18691768319124963,0.9820301184238478,0.026050448878390975,0.06004999950528145
+1789729568796764781,12266,0.6540842056274414,0.00381559319794178,-0.3240456283092499,-0.9798445829661573,-0.18953858228183165,0.06308592162860804,-0.18826787967921163,0.9817848935678714,0.025566174840630063,0.06004999950528145
+1789729568830102733,12300,0.6541568040847778,0.005441982764750719,-0.3241932690143585,-0.9796544475147999,-0.19030517261070906,0.0637276670864905,-0.18905225756225724,0.9816436063113215,0.025200696938921352,0.06004999950528145
+1789729568863432628,12333,0.654141902923584,0.006942384410649538,-0.324396014213562,-0.9794889927411825,-0.19100567829767084,0.06417347185716142,-0.18976079973934307,0.9815114908392244,0.025020653037694685,0.06004999950528145
+1789729568896762832,12366,0.6540793776512146,0.008849342353641987,-0.3247140347957611,-0.9792157338649057,-0.19226052231291105,0.06459467803477391,-0.19101097903415296,0.9812681790113621,0.02505128884796687,0.06004999950528145
+1789729568930102704,12400,0.654076874256134,0.01029635313898325,-0.3249591886997223,-0.9789808825042625,-0.19332016833035914,0.0649908035643284,-0.19206314255513512,0.9810609614004135,0.025122497196778726,0.06004999950528145
+1789729568963431378,12433,0.6541129946708679,0.011712688021361828,-0.3252025246620178,-0.9787444460219794,-0.1943536249124046,0.06546810488227238,-0.19309443074239085,0.9808590146219511,0.025102493283518212,0.06004999950528145
+1789729568996770280,12466,0.6541677713394165,0.013433076441287994,-0.325528621673584,-0.9784327539465394,-0.1956863241420815,0.06615128907588258,-0.19442788537543879,0.9805977382206319,0.025017415366370255,0.06004999950528145
+1789729569030168406,12500,0.6541579365730286,0.014469130896031857,-0.3257658779621124,-0.9782146069308908,-0.19665069500862942,0.06651887121037073,-0.1953897732015929,0.9804063981701634,0.02502262338617678,0.06004999950528145
+1789729569063443777,12533,0.6541278958320618,0.01528855413198471,-0.32598933577537537,-0.9780347831752865,-0.19746713955099374,0.06674331392895969,-0.19620044053831684,0.9802426626774677,0.02509400690176089,0.06004999950528145
+1789729569096781113,12566,0.6540977358818054,0.01609678938984871,-0.3262602388858795,-0.9778434975173034,-0.19831364709797042,0.0670341426139367,-0.19704027342310412,0.9800722848479659,0.02516833231176152,0.06004999950528145
+1789729569130108261,12600,0.6540967226028442,0.01656758226454258,-0.32646217942237854,-0.9777405384223192,-0.19874558878947757,0.06725765382007616,-0.1974654736648851,0.9799848320376507,0.025241142944922745,0.06004999950528145
+1789729569163495745,12633,0.654102623462677,0.01699766144156456,-0.3267008364200592,-0.9776487606493474,-0.19911123363476635,0.06751079421380957,-0.19782277039005847,0.9799104921415743,0.025329425955390006,0.06004999950528145
+1789729569196771616,12666,0.6541082262992859,0.017581891268491745,-0.32709088921546936,-0.9775401588430646,-0.19953662069356615,0.0678267114101989,-0.1982339892185524,0.9798232094129671,0.02549048275952459,0.06004999950528145
+1789729569230103043,12700,0.6541246175765991,0.018047966063022614,-0.3274236023426056,-0.977463886891369,-0.19982740774381869,0.06806961791272534,-0.19851440291717948,0.979763442539172,0.02560526673873792,0.06004999950528145
+1789729569263433251,12733,0.6541462540626526,0.01852783001959324,-0.3277718126773834,-0.9773820319556541,-0.2001398208974507,0.06832665861920045,-0.1988194191579325,0.9796997200105952,0.025676806142276187,0.06004999950528145
+1789729569296768597,12766,0.6541768908500671,0.019192857667803764,-0.32824671268463135,-0.9772667466753444,-0.2005930105602871,0.0686457144717072,-0.19926494566995534,0.9796073674908881,0.025746608566825424,0.06004999950528145
+1789729569330103104,12800,0.6541885137557983,0.019693585112690926,-0.3286094069480896,-0.9771808413043397,-0.2009353393737329,0.0688654157306538,-0.19960064316082357,0.979537241020762,0.025814243719264884,0.06004999950528145
+1789729569363435671,12833,0.6542026400566101,0.020174287259578705,-0.3289663791656494,-0.9770879161259673,-0.20131789952584664,0.06906611620667051,-0.1999774858861927,0.9794588104899391,0.025873574002533595,0.06004999950528145
+1789729569396768968,12866,0.6542274355888367,0.020738067105412483,-0.32936257123947144,-0.9769836476756353,-0.20176548225145718,0.06923446773478299,-0.20041981367734363,0.9793668031451246,0.025933776697549094,0.06004999950528145
+1789729569430099925,12900,0.6542401909828186,0.02102120965719223,-0.32957372069358826,-0.9769254662471172,-0.2020138615192974,0.06933391164703123,-0.20067131858492743,0.9793166242921238,0.025883835440640435,0.06004999950528145
+1789729569463431933,12933,0.6542518138885498,0.021184485405683517,-0.3296930491924286,-0.9768941505917708,-0.20215442717861615,0.06936466231372307,-0.20081417439573462,0.9792881675353884,0.025852520449225425,0.06004999950528145
+1789729569496768509,12966,0.654240071773529,0.02126832865178585,-0.3297593295574188,-0.976885591514975,-0.20219452641184738,0.06936781894206161,-0.20085244240039707,0.9792796373440691,0.025878331718982628,0.06004999950528145
+1789729569530092838,13000,0.6542282700538635,0.021285811439156532,-0.3297746479511261,-0.9768879791727467,-0.20218943940553458,0.06934830369322051,-0.20084672515709223,0.9792805065615386,0.025889789678975594,0.06004999950528145
+1789729569563436332,13033,0.6542242169380188,0.021303469315171242,-0.32977890968322754,-0.976888578392876,-0.20219774242304603,0.06931563955106501,-0.20085515120721417,0.9792786808233962,0.025893479014795773,0.06004999950528145
+1789729569596769559,13066,0.6542197465896606,0.021330684423446655,-0.3297853171825409,-0.9768858764599246,-0.2022158046395207,0.06930182081567249,-0.2008747715584901,0.9792751459231466,0.02587498057830484,0.06004999950528145
+1789729569630093698,13100,0.6542174220085144,0.02134597674012184,-0.3297940492630005,-0.9768856853459695,-0.20222094993259576,0.06928961349940632,-0.20088182766237095,0.9792743324551861,0.025850979975921062,0.06004999950528145
+1789729569663429145,13133,0.6542118191719055,0.021352825686335564,-0.3298024833202362,-0.976888549171383,-0.20221186225334953,0.06927472768359577,-0.20087480997430895,0.9792764636157913,0.025824737867744973,0.06004999950528145
+1789729569696768030,13166,0.6542050242424011,0.021353889256715775,-0.3298083543777466,-0.9768934589402734,-0.20219913503200992,0.069245123905821,-0.20086477551431414,0.9792793828154011,0.025792140766052407,0.06004999950528145
+1789729569730091720,13200,0.6542001366615295,0.021359534934163094,-0.32980889081954956,-0.9768948540438898,-0.20219846213584805,0.06922664296005296,-0.2008645564106669,0.9792795155975125,0.025788783968892837,0.06004999950528145
+1789729569763431375,13233,0.6541974544525146,0.021366139873862267,-0.3298105299472809,-0.9768940873492347,-0.2022050542925074,0.0692163431578604,-0.20087249308064709,0.9792783220345402,0.025772230831118792,0.06004999950528145
+1789729569796774200,13266,0.6541913151741028,0.021372990682721138,-0.3298153281211853,-0.9768969214903565,-0.20219749493069683,0.06919907758024627,-0.2008662338619449,0.9792800101384045,0.02575688550768357,0.06004999950528145
+1789729569830097519,13300,0.6541855335235596,0.021377280354499817,-0.3298185169696808,-0.9768997492755529,-0.20219051903456892,0.06918103245228815,-0.20085966327500865,0.9792814373169276,0.02575390605677097,0.06004999950528145
+1789729569863436874,13333,0.6541840434074402,0.02137865126132965,-0.32982125878334045,-0.9769001454919133,-0.20219377275010686,0.06916373834468398,-0.20086448172657612,0.9792809366167203,0.025735296176749523,0.06004999950528145
+1789729569896772371,13366,0.6541793942451477,0.021387070417404175,-0.3298332989215851,-0.9769006648626517,-0.20219553316484107,0.06915250186573743,-0.20086720844250183,0.9792806782496503,0.025723877941238815,0.06005999818444252
+1789729569930095700,13400,0.6541760563850403,0.0213899165391922,-0.32983946800231934,-0.9769023873004352,-0.2021909115971648,0.06914093145846553,-0.2008634903432726,0.9792817219773109,0.025713153799512833,0.06005999818444252
+1789729569963433276,13433,0.6541773676872253,0.021390428766608238,-0.329844206571579,-0.9769051371241508,-0.20218701714961296,0.06911514523121698,-0.2008613880723178,0.9792826968979857,0.025692485409724464,0.06009000167250633
+1789729569996768992,13466,0.6541730761528015,0.02139723300933838,-0.3298514485359192,-0.9769054418337035,-0.2021886276757896,0.06910348238219162,-0.20086388497490448,0.9792824524242164,0.025682206407285246,0.060189999639987946
+1789729570030100887,13500,0.6541719436645508,0.021402185782790184,-0.3298583924770355,-0.9769057409272079,-0.2021922152105297,0.06908895053992156,-0.20086843434162632,0.9792818027550784,0.02567140041017657,0.06086000055074692
+1789729570063432488,13533,0.6541655659675598,0.021405166015028954,-0.32985958456993103,-0.9769069575651976,-0.2021879432779918,0.06908608451293993,-0.20086502934718745,0.9792828057295612,0.025659831770131647,0.062199998646974564
+1789729570096771997,13566,0.6541607975959778,0.02141018770635128,-0.32985982298851013,-0.9769090350608614,-0.20218306320927276,0.06906948046455669,-0.20086161805664865,0.9792839684360873,0.02564211286277851,0.06544999778270721
+1789729570130103557,13600,0.6541582345962524,0.021410642191767693,-0.32985520362854004,-0.9769076893918993,-0.2021908801245084,0.06906784169799025,-0.20087103715089136,0.9792825989425887,0.025620683808451672,0.06544999778270721
+1789729570163433818,13633,0.6541618704795837,0.021416954696178436,-0.3298446536064148,-0.976907210030636,-0.20219769335436555,0.06905224226695643,-0.20087816023595229,0.9792811784697185,0.025619061471020832,0.07099000364542007
+1789729570196769238,13666,0.654163122177124,0.021421728655695915,-0.32984063029289246,-0.976905913426962,-0.20220481416973812,0.06905000008333723,-0.20088576245701417,0.9792797765008858,0.025613048207550948,0.07586000114679337
+1789729570230104107,13700,0.654164731502533,0.021422993391752243,-0.3298501670360565,-0.9769065297116797,-0.20220618305254956,0.06903665861050254,-0.20088775483692156,0.9792795359805948,0.02560659953405059,0.07913000136613846
+1789729570263429319,13733,0.6541635394096375,0.02142815664410591,-0.3298673629760742,-0.9769072918243289,-0.202206643361455,0.06902679547356516,-0.2008881966274051,0.9792794003661667,0.02560838403784682,0.08008000254631042
+1789729570296771727,13766,0.6541576385498047,0.02142924815416336,-0.32988429069519043,-0.9769091964690975,-0.20219932635548274,0.06902100400294081,-0.2008818946275787,0.9792810397144812,0.025595119363386876,0.08008000254631042
+1789729570330100978,13800,0.6541582345962524,0.02142951637506485,-0.32988691329956055,-0.9769115659706964,-0.2021933251169158,0.06900313361207658,-0.20087716951494639,0.9792823982264423,0.025580168009302795,0.08005999773740768
+1789729570363440427,13833,0.6541567444801331,0.02143225632607937,-0.3298826515674591,-0.9769109746712037,-0.20219619496081742,0.06900475480646412,-0.20088047332865833,0.9792818811123919,0.02557406623370384,0.08005999773740768
+1789729570396769388,13866,0.6541581749916077,0.021433712914586067,-0.3298795819282532,-0.9769119723070694,-0.20219604685522843,0.06899203366610218,-0.20088130520717182,0.9792820112228018,0.025562574591897813,0.08004999905824661
+1789729570430100938,13900,0.6541600227355957,0.021433774381875992,-0.3298836648464203,-0.9769112143279441,-0.20220069956365036,0.06898685625788686,-0.20088623889882898,0.9792810733324968,0.025559668450915174,0.08004999905824661
+1789729570463431879,13933,0.6541617512702942,0.02143152803182602,-0.3298899829387665,-0.9769114313978811,-0.20220262754559468,0.06897885538191015,-0.20088839419165364,0.9792806794324332,0.02555784095856739,0.08004999905824661
+1789729570496766948,13966,0.6541622877120972,0.02143193408846855,-0.32989510893821716,-0.9769100554245649,-0.2022086113924635,0.06898126099125056,-0.20089508902877018,0.9792795652245148,0.02554792099881764,0.08004999905824661
+1789729570530099069,14000,0.6541628241539001,0.02143368497490883,-0.3298930823802948,-0.9769117174026836,-0.20220551400766257,0.06896667463476111,-0.2008922521111936,0.9792801847597681,0.025546477720469418,0.08004999905824661
+1789729570563433599,14033,0.6541597247123718,0.02143779955804348,-0.3298912048339844,-0.9769128402722811,-0.20220110060734053,0.06896249330527571,-0.20088816444416513,0.9792811261124625,0.02554250211969533,0.08004999905824661
+1789729570596769708,14066,0.6541576385498047,0.021441299468278885,-0.3298950493335724,-0.9769130577072918,-0.20220171070809106,0.06895918509156329,-0.200889854446392,0.9792811531477466,0.025528214092410684,0.08004999905824661
+1789729570630099279,14100,0.6541599631309509,0.021444912999868393,-0.32990214228630066,-0.9769132999491663,-0.2022044984545058,0.06894583066973022,-0.20089286843294688,0.9792805588581308,0.025527243769637054,0.08004999905824661
+1789729570663434079,14133,0.6541613936424255,0.021445700898766518,-0.3299104869365692,-0.9769115845383121,-0.202212086269179,0.0689480310452936,-0.2009006367966026,0.9792790320759296,0.025524682259484677,0.08004999905824661
+1789729570696766179,14166,0.6541654467582703,0.02144595794379711,-0.32991206645965576,-0.9769089615221063,-0.20222324125805713,0.06895278847433284,-0.20091176325314208,0.9792767487058143,0.025524717638822914,0.08004999905824661
+1789729570730096890,14200,0.6541683673858643,0.021446220576763153,-0.3299095630645752,-0.9769080661559357,-0.20222849070619867,0.0689503958257629,-0.20091684635972348,0.979275632480082,0.025527540396001358,0.08004999905824661
+1789729570763443467,14233,0.654167652130127,0.02144562266767025,-0.3299061954021454,-0.9769089052869591,-0.20222516283705366,0.06894996809117193,-0.20091396003720235,0.9792763849906334,0.02552143725890027,0.08004999905824661
+1789729570796771458,14266,0.6541683673858643,0.021445099264383316,-0.32990312576293945,-0.9769119272050928,-0.2022168340893578,0.06892953828807494,-0.2009062480430132,0.9792781121299654,0.02551581768625949,0.08004999905824661
+1789729570830101099,14300,0.6541669964790344,0.021447520703077316,-0.32990068197250366,-0.9769118733884139,-0.20221802532792799,0.06892892640719395,-0.2009076641154608,0.9792779000873789,0.02551286568614386,0.08004999905824661
+1789729570863432270,14333,0.6541678309440613,0.021448666229844093,-0.3298995792865753,-0.9769120423525617,-0.20221891703093148,0.06892171814583403,-0.20090895946469262,0.9792777476078628,0.025508455211131764,0.08004999905824661
+1789729570896767199,14366,0.6541692614555359,0.02145235426723957,-0.32990437746047974,-0.9769097204267299,-0.20222879717569128,0.06892576225149474,-0.20091857022080475,0.9792756871137152,0.02551186361572899,0.08004999905824661
+1789729570930101279,14400,0.6541709899902344,0.021452514454722404,-0.32990872859954834,-0.976908119739837,-0.202236671222093,0.06892787845311943,-0.2009261708325979,0.9792740333255896,0.025515556135826234,0.08004999905824661
+1789729570963441048,14433,0.6541750431060791,0.0214514322578907,-0.32991018891334534,-0.9769086138842502,-0.20223532232230518,0.06892249280190371,-0.20092484225222457,0.9792742912069176,0.025516054588405557,0.08004999905824661
+1789729570996759921,14466,0.6541761159896851,0.021449308842420578,-0.32990846037864685,-0.9769081704423821,-0.20223514245858235,0.06892944628285289,-0.20092535348684967,0.9792744613639174,0.025505500281522542,0.08004999905824661
+1789729571030093749,14500,0.6541770100593567,0.021451285108923912,-0.32990604639053345,-0.9769083716016294,-0.20223611953306958,0.0689261570243922,-0.20092653383625175,0.9792742796912653,0.025503245745494563,0.08004999905824661
+1789729571063430311,14533,0.6541780233383179,0.021454203873872757,-0.32990768551826477,-0.9769099069396299,-0.20223217771932928,0.06891316769798728,-0.20092238394944156,0.979275006467413,0.025507953815482987,0.08004999905824661
+1789729571096774831,14566,0.6541773080825806,0.021454812958836555,-0.3299103081226349,-0.9769104540215423,-0.20223179769230482,0.06890659604442628,-0.20092277723194985,0.9792751765127572,0.025498327912409913,0.08004999905824661
+1789729571130100866,14600,0.6541773676872253,0.02145589143037796,-0.3299132287502289,-0.9769102341538827,-0.20223447410200462,0.06890365027886332,-0.20092543941418656,0.9792746124832985,0.02549906276980468,0.08004999905824661
+1789729571163448485,14633,0.6541769504547119,0.021456928923726082,-0.32991257309913635,-0.9769096270788031,-0.20223645096548656,0.06890513646733659,-0.20092697508793103,0.979274142883411,0.02550495867613012,0.08004999905824661
+1789729571196769581,14666,0.6541808247566223,0.02145591378211975,-0.32990729808807373,-0.9769062110821751,-0.20224914886687456,0.0689156059018245,-0.2009398637190109,0.9792715966579345,0.025501162803832078,0.08004999905824661
+1789729571230097925,14700,0.6541833281517029,0.021456915885210037,-0.32990598678588867,-0.9769059614147133,-0.202249720348602,0.06891893994916906,-0.2009404235755261,0.9792714914542431,0.02550083297763206,0.08004999905824661
+1789729571263435237,14733,0.6541850566864014,0.021460354328155518,-0.3299069404602051,-0.9769084533826082,-0.20224138051489482,0.06890715446901433,-0.20093182060378134,0.9792731222716436,0.025505967891550685,0.08004999905824661
+1789729571296762711,14766,0.6541863679885864,0.02146323397755623,-0.32991185784339905,-0.9769105439442047,-0.20223698118952493,0.06889188295706787,-0.2009278748330473,0.9792740381664841,0.025501927883171238,0.08004999905824661
+1789729571330094205,14800,0.6541869044303894,0.02146228216588497,-0.32991528511047363,-0.9769115726867248,-0.20223525231991543,0.06888260188368993,-0.20092693947772192,0.9792744785788053,0.025492390421687883,0.08004999905824661
+1789729571363442434,14833,0.6541858315467834,0.02146325446665287,-0.32991665601730347,-0.976911050074333,-0.20223725519129465,0.06888472313651654,-0.20092909551512628,0.9792740980920276,0.025490029550698956,0.08004999905824661
+1789729571396763210,14866,0.6541871428489685,0.021464094519615173,-0.32991665601730347,-0.9769098951685931,-0.20224277756531506,0.06888432854184101,-0.20093450372204402,0.9792729408430771,0.025491841101098034,0.08004999905824661
+1789729571430100992,14900,0.654191255569458,0.021466711536049843,-0.32991549372673035,-0.9769065688997145,-0.2022556021102496,0.06889242974106793,-0.20094720644410305,0.979270310842354,0.025492702759566277,0.08004999905824661
+1789729571463437164,14933,0.6541949510574341,0.021467752754688263,-0.32991379499435425,-0.976906580131379,-0.20225487736487782,0.06889335252188145,-0.20094642013612837,0.9792704537180975,0.02549338281640412,0.08004999905824661
+1789729571496767577,14966,0.6541966795921326,0.021469373255968094,-0.3299150764942169,-0.9769082468954453,-0.20224861470445132,0.068889480598762,-0.2009402006386911,0.9792717363993768,0.025493173694336735,0.08004999905824661
+1789729571530105269,15000,0.654195249080658,0.021468671038746834,-0.3299175202846527,-0.9769091059503927,-0.20224480220193508,0.06888845241762889,-0.20093676196073706,0.9792725748101403,0.025488069948026937,0.08004999905824661
+1789729571563498928,15033,0.6541961431503296,0.021469756960868835,-0.32991930842399597,-0.9769103062577618,-0.20224228660892934,0.06887900619179933,-0.20093436156675643,0.979273073305319,0.025487846292676142,0.08004999905824661
+1789729571596748231,15066,0.6541997194290161,0.02147131785750389,-0.32992053031921387,-0.9769091951148807,-0.20224981990590563,0.06887354135169055,-0.20094264209545132,0.9792716137469285,0.02547866673706678,0.08004999905824661
+1789729571630096780,15100,0.6542015075683594,0.021473189815878868,-0.3299192786216736,-0.9769082724974227,-0.20225319587776985,0.0688746636801481,-0.20094589510315503,0.9792709023339528,0.025480295980950418,0.08004999905824661
+1789729571663431453,15133,0.6542045474052429,0.02147335559129715,-0.3299172818660736,-0.9769058601258329,-0.20226040564129327,0.06888815607799549,-0.20095302082318384,0.979269457726889,0.02547963174899559,0.08004999905824661
+1789729571696759307,15166,0.6542100310325623,0.02147376351058483,-0.32991570234298706,-0.9769061163509234,-0.20225945103236254,0.06888844143925424,-0.20095198486883592,0.9792696440116042,0.025480674165365425,0.08004999905824661
+1789729571730098788,15200,0.6542109847068787,0.021474210545420647,-0.3299160897731781,-0.9769075806811973,-0.20225369924201875,0.06888561458915904,-0.2009461191879991,0.9792708014802562,0.025482478921021734,0.08004999905824661
+1789729571763431652,15233,0.6542118191719055,0.02147572487592697,-0.32991743087768555,-0.9769083579967714,-0.2022511714230582,0.06887929388423003,-0.20094344565267547,0.9792712731072977,0.025485359897125526,0.08004999905824661
+1789729571796758526,15266,0.6542149186134338,0.021477343514561653,-0.32991835474967957,-0.9769100699827744,-0.20224814024756435,0.0688642836201993,-0.2009404833080287,0.9792718488180611,0.025486605711239285,0.08004999905824661
+1789729571830100127,15300,0.6542143821716309,0.02147655561566353,-0.32991766929626465,-0.9769107603205391,-0.20224559245965262,0.06886167861141865,-0.20093806676466902,0.9792723832355068,0.02548511570183931,0.08004999905824661
+1789729571863497215,15333,0.654216468334198,0.021477166563272476,-0.3299151360988617,-0.9769100272579443,-0.2022496372594859,0.06886071192943556,-0.20094221580518332,0.9792715621860256,0.02548396569313449,0.08004999905824661
+1789729571896763354,15366,0.6542195081710815,0.021476157009601593,-0.3299133777618408,-0.976908012061765,-0.2022559321247585,0.06887088113725373,-0.20094879372794444,0.9792703485946437,0.025478733674429876,0.08004999905824661
+1789729571930099906,15400,0.6542209386825562,0.021477142348885536,-0.32991260290145874,-0.9769067422366655,-0.20225812997079934,0.06888334999487289,-0.20095109705868247,0.9792699618865498,0.025475456084246173,0.08004999905824661
+1789729571963438497,15433,0.6542217135429382,0.021476276218891144,-0.3299139142036438,-0.9769070730439937,-0.20225346638976474,0.06889269425327832,-0.2009468315512529,0.979271020720552,0.025468409593572716,0.08004999905824661
+1789729571996770571,15466,0.6542277336120605,0.02148105390369892,-0.32991722226142883,-0.9769094940776419,-0.20224691294898056,0.06887619965636027,-0.20094038277876658,0.9792723206456592,0.025469267412652208,0.08004999905824661
+1789729572030102701,15500,0.6542290449142456,0.021481966599822044,-0.32991793751716614,-0.976909717459324,-0.20224780224651728,0.06887145585800769,-0.20094141387954845,0.9792721409092565,0.02546807256172201,0.08004999905824661
+1789729572063492623,15533,0.654231071472168,0.021482715383172035,-0.3299175202846527,-0.9769087287524649,-0.20225287759715668,0.0688686815518357,-0.20094670070356516,0.9792711148595584,0.025465758093985547,0.08004999905824661
+1789729572096766982,15566,0.6542329788208008,0.02148321643471718,-0.32991817593574524,-0.9769071113129422,-0.20225930172290923,0.06887300658000761,-0.20095287724825034,0.9792697707320507,0.025468713585594993,0.08004999905824661
+1789729572130099098,15600,0.6542336940765381,0.021480955183506012,-0.3299170136451721,-0.9769066951525471,-0.2022568155993418,0.06888593790491887,-0.20095086529365538,0.9792704061520338,0.025460147218880846,0.08004999905824661
+1789729572163430454,15633,0.6542370915412903,0.021482862532138824,-0.32991793751716614,-0.9769079222037875,-0.20225239843901432,0.06888459181938539,-0.20094630737126495,0.9792712919095424,0.025462140090503516,0.08004999905824661
+1789729572196765039,15666,0.6542394757270813,0.021485663950443268,-0.3299187421798706,-0.9769060337059341,-0.20225761769727713,0.06889382226721708,-0.20095132395595228,0.9792702205354322,0.02546369058952591,0.08004999905824661
+1789729572230097784,15700,0.6542444229125977,0.021486667916178703,-0.32991743087768555,-0.9769079461357175,-0.20225358907999993,0.06888001921744019,-0.20094748701117535,0.9792710262419142,0.025463027007950778,0.08004999905824661
+1789729572263425511,15733,0.6542467474937439,0.021487394347786903,-0.32991719245910645,-0.9769100930310601,-0.2022461469544233,0.06886963667343064,-0.20094018429329022,0.9792725385327197,0.025462445898147834,0.08004999905824661
+1789729572296756807,15766,0.6542458534240723,0.021487098187208176,-0.3299161493778229,-0.9769098104634222,-0.20224742442782384,0.06887148615445797,-0.20094160847148368,0.9792723060846539,0.025460191674234522,0.08004999905824661
+1789729572330095371,15800,0.6542469263076782,0.021487999707460403,-0.32991456985473633,-0.9769079094863677,-0.20225515900411514,0.0688750210934217,-0.20094929473733694,0.9792707184154387,0.02546057353246156,0.08004999905824661
+1789729572363425477,15833,0.654248833656311,0.021490449085831642,-0.32991454005241394,-0.9769063414764005,-0.20226177789950228,0.06887695350498409,-0.20095551353600427,0.9792693006680757,0.025465994906680278,0.08004999905824661
+1789729572396760972,15866,0.6542531251907349,0.02149067260324955,-0.3299129009246826,-0.9769065316602028,-0.20225977096029835,0.068881790061359,-0.20095360405925933,0.9792697494134173,0.025463853154202076,0.08004999905824661
+1789729572430096817,15900,0.6542540192604065,0.02149072289466858,-0.3299137055873871,-0.976907865936262,-0.20224923477935786,0.06889264975186382,-0.20094321941505822,0.9792719857481548,0.02545976732521049,0.08004999905824661
+1789729572463422794,15933,0.6542591452598572,0.02149052359163761,-0.3299143612384796,-0.976908566356121,-0.20224959682601545,0.06888210288203822,-0.20094381874326833,0.9792719057633137,0.025458126252832225,0.08004999905824661
+1789729572496759119,15966,0.6542617678642273,0.02149292640388012,-0.32991886138916016,-0.9769086805382228,-0.20225229797529962,0.06887405627418891,-0.20094621369882718,0.9792712718546169,0.02546364848367183,0.08004999905824661
+1789729572530096343,16000,0.6542628407478333,0.021492842584848404,-0.32991844415664673,-0.9769089239945292,-0.20225176592989125,0.0688699040260734,-0.20094573291957762,0.9792713711853009,0.02546355839044323,0.08004999905824661
+1789729572563492494,16033,0.654262900352478,0.021490199491381645,-0.3299172818660736,-0.976908273755148,-0.20225308250107354,0.06887495727836337,-0.20094765676669168,0.9792712119608391,0.0254544894613693,0.08004999905824661
+1789729572596775291,16066,0.6542657017707825,0.02149168774485588,-0.32991671562194824,-0.9769070659917629,-0.20225849159617237,0.06887849187098716,-0.20095308935067624,0.9792701165387905,0.025453809314397557,0.08004999905824661
+1789729572630101898,16100,0.6542689204216003,0.021492209285497665,-0.3299187421798706,-0.976905866909604,-0.2022621060411569,0.06888475830240592,-0.2009566426445759,0.9792693871152166,0.02545381558621168,0.08004999905824661
+1789729572663428455,16133,0.6542720198631287,0.0214930959045887,-0.3299201726913452,-0.9769055823188109,-0.20226046046087687,0.06889139444011483,-0.20095506417266096,0.9792697610353581,0.025451828488657346,0.08004999905824661
diff --git a/episode_0003/right.observation.state.joint_position/data.csv b/episode_0003/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8c864c1cff30178f921bf7c4f626b22f86e38306
--- /dev/null
+++ b/episode_0003/right.observation.state.joint_position/data.csv
@@ -0,0 +1,486 @@
+timestamp_ns,elapsed_ms,j1,j2,j3,j4,j5,j6,j7,gripper
+1789729556530065232,0,0.012936199083924294,-1.689381718635559,-0.023061782121658325,0.7515326738357544,1.6073918342590332,-0.05417138338088989,-0.9191675186157227,0.08004999905824661
+1789729556563477825,33,0.013418063521385193,-1.6891754865646362,-0.02430739998817444,0.7518178224563599,1.6086848974227905,-0.054713476449251175,-0.9192073345184326,0.08004999905824661
+1789729556596779647,66,0.014078534208238125,-1.688891053199768,-0.025949906557798386,0.7521940469741821,1.610388994216919,-0.05541462451219559,-0.9192585945129395,0.08004999905824661
+1789729556630117690,100,0.014573564752936363,-1.6886674165725708,-0.027133507654070854,0.7524760961532593,1.6116045713424683,-0.05589267611503601,-0.9192755222320557,0.08004999905824661
+1789729556663458912,133,0.015048776753246784,-1.6884479522705078,-0.028241116553544998,0.7527514100074768,1.6127545833587646,-0.05634269490838051,-0.9192955493927002,0.08004999905824661
+1789729556696791186,166,0.01564728654921055,-1.688164234161377,-0.029626788571476936,0.753135085105896,1.6142081022262573,-0.05688150227069855,-0.9193592667579651,0.08004999905824661
+1789729556730125460,200,0.016063954681158066,-1.687951922416687,-0.030598388984799385,0.7534361481666565,1.615228533744812,-0.057267237454652786,-0.9194136261940002,0.08004999905824661
+1789729556763452935,233,0.016462573781609535,-1.6877446174621582,-0.031532566994428635,0.7537339329719543,1.616196870803833,-0.057639624923467636,-0.9194812178611755,0.08004999905824661
+1789729556796792807,266,0.016955198720097542,-1.6874780654907227,-0.03266104683279991,0.7541166543960571,1.6173988580703735,-0.05808640643954277,-0.919562578201294,0.08004999905824661
+1789729556830201911,300,0.01731792837381363,-1.6872766017913818,-0.03347918391227722,0.7543905973434448,1.618255376815796,-0.058385420590639114,-0.9195951819419861,0.08004999905824661
+1789729556863524638,333,0.017670493572950363,-1.6870858669281006,-0.0342676006257534,0.7546594738960266,1.6190909147262573,-0.058663442730903625,-0.919642984867096,0.08004999905824661
+1789729556896874728,366,0.018120218068361282,-1.6868386268615723,-0.035294562578201294,0.7550016641616821,1.620157241821289,-0.05906513333320618,-0.9197009205818176,0.08004999905824661
+1789729556930200024,400,0.018461786210536957,-1.6866590976715088,-0.03603558614850044,0.7552524209022522,1.6209361553192139,-0.05933472141623497,-0.9197467565536499,0.08004999905824661
+1789729556963530998,433,0.018803855404257774,-1.6864842176437378,-0.03678940609097481,0.755500853061676,1.6217249631881714,-0.05960271880030632,-0.9198055267333984,0.08004999905824661
+1789729556996862273,466,0.01925206556916237,-1.6862543821334839,-0.037826038897037506,0.755815863609314,1.6228177547454834,-0.06002441793680191,-0.9198523163795471,0.08004999905824661
+1789729557030188501,500,0.019591698423027992,-1.6860849857330322,-0.03863103315234184,0.7560450434684753,1.623639464378357,-0.06033831462264061,-0.9198766350746155,0.08004999905824661
+1789729557063533799,533,0.019948570057749748,-1.6859232187271118,-0.03948783501982689,0.7562633156776428,1.624518632888794,-0.06069602444767952,-0.9198987483978271,0.08004999905824661
+1789729557096895564,566,0.02042628824710846,-1.6857295036315918,-0.04066064581274986,0.7565159797668457,1.625714898109436,-0.061196137219667435,-0.9199160933494568,0.08004999905824661
+1789729557130168111,600,0.020805690437555313,-1.6855976581573486,-0.04156120494008064,0.7566781640052795,1.6266353130340576,-0.061593156307935715,-0.9199203848838806,0.08004999905824661
+1789729557163442678,633,0.021187981590628624,-1.685468316078186,-0.04244828596711159,0.7568368315696716,1.6275463104248047,-0.06194886192679405,-0.9199227094650269,0.08004999905824661
+1789729557196773910,666,0.02170037478208542,-1.6852984428405762,-0.04364466667175293,0.7570557594299316,1.6288024187088013,-0.06244714558124542,-0.9199225902557373,0.08004999905824661
+1789729557230169016,700,0.022082647308707237,-1.6851768493652344,-0.044535811990499496,0.7572162747383118,1.6297069787979126,-0.06282258778810501,-0.919922411441803,0.08004999905824661
+1789729557263446332,733,0.0224706269800663,-1.6850533485412598,-0.045451823621988297,0.7573707103729248,1.6306480169296265,-0.0631960779428482,-0.919922411441803,0.08004999905824661
+1789729557296773985,766,0.02297043614089489,-1.6848889589309692,-0.046629399061203,0.7575848698616028,1.6318737268447876,-0.06369182467460632,-0.9199211001396179,0.08004999905824661
+1789729557330108776,800,0.02333090454339981,-1.6847584247589111,-0.04745355620980263,0.7577553391456604,1.6327372789382935,-0.06405166536569595,-0.9199191927909851,0.08004999905824661
+1789729557363443228,833,0.023689258843660355,-1.6846249103546143,-0.04824286699295044,0.7579270601272583,1.6335625648498535,-0.06436560302972794,-0.9199191331863403,0.08004999905824661
+1789729557396772931,866,0.02415851689875126,-1.6844466924667358,-0.049293018877506256,0.7581626176834106,1.6346559524536133,-0.06478828936815262,-0.919921338558197,0.08004999905824661
+1789729557430111081,900,0.024485986679792404,-1.684319257736206,-0.0500236414372921,0.7583403587341309,1.6354349851608276,-0.0650937408208847,-0.9199251532554626,0.08004999905824661
+1789729557463454530,933,0.024797793477773666,-1.6841942071914673,-0.05069420114159584,0.7585116624832153,1.6361587047576904,-0.06534276902675629,-0.9199277758598328,0.08004999905824661
+1789729557496780204,966,0.0251949243247509,-1.6840391159057617,-0.05156256631016731,0.758719801902771,1.6370782852172852,-0.06568068265914917,-0.9199333786964417,0.08004999905824661
+1789729557530180098,1000,0.025478312745690346,-1.6839334964752197,-0.05217710882425308,0.758865237236023,1.6377507448196411,-0.06591898947954178,-0.9199362397193909,0.08004999905824661
+1789729557563441569,1033,0.025748837739229202,-1.683827519416809,-0.052771348506212234,0.7590125799179077,1.63837468624115,-0.06616333872079849,-0.9199405312538147,0.08004999905824661
+1789729557596773861,1066,0.026105420663952827,-1.6837012767791748,-0.05355861783027649,0.7591997385025024,1.6392327547073364,-0.06648486852645874,-0.9199466705322266,0.08004999905824661
+1789729557630102913,1100,0.026360228657722473,-1.6836152076721191,-0.05412883311510086,0.7593286037445068,1.639857530593872,-0.06671612709760666,-0.9199608564376831,0.08004999905824661
+1789729557663440534,1133,0.02660183236002922,-1.6835308074951172,-0.054668597877025604,0.7594422101974487,1.6404166221618652,-0.06694233417510986,-0.9199736714363098,0.08004999905824661
+1789729557696772886,1166,0.02691831812262535,-1.6834183931350708,-0.05538559705018997,0.7596107125282288,1.6412038803100586,-0.06724303215742111,-0.9199870228767395,0.08004999905824661
+1789729557730168352,1200,0.027156507596373558,-1.683332085609436,-0.05590474605560303,0.7597416639328003,1.6417561769485474,-0.06744959205389023,-0.9200016856193542,0.08004999905824661
+1789729557763436730,1233,0.027376782149076462,-1.6832441091537476,-0.05640052258968353,0.7598742842674255,1.6422719955444336,-0.06764890998601913,-0.9200146794319153,0.08004999905824661
+1789729557796771481,1266,0.02765389159321785,-1.6831358671188354,-0.05706651136279106,0.7600365281105042,1.642993450164795,-0.06793238967657089,-0.9200258255004883,0.08004999905824661
+1789729557830155930,1300,0.027873562648892403,-1.6830666065216064,-0.05758465826511383,0.7601379752159119,1.6435269117355347,-0.06815329194068909,-0.9200292229652405,0.08004999905824661
+1789729557863444083,1333,0.02808537520468235,-1.6830049753189087,-0.05808047950267792,0.7602279186248779,1.6440738439559937,-0.06836868822574615,-0.9200363755226135,0.08004999905824661
+1789729557896770517,1366,0.028372887521982193,-1.6829293966293335,-0.058744627982378006,0.7603362202644348,1.6447789669036865,-0.06866037845611572,-0.9200424551963806,0.08004999905824661
+1789729557930167452,1400,0.028595954179763794,-1.6828734874725342,-0.05927707627415657,0.7604207396507263,1.6453349590301514,-0.06890419125556946,-0.9200439453125,0.08004999905824661
+1789729557963398170,1433,0.028802921995520592,-1.6828216314315796,-0.059804338961839676,0.7605074644088745,1.6459052562713623,-0.0691399946808815,-0.9200433492660522,0.08004999905824661
+1789729557996764363,1466,0.029086414724588394,-1.682754635810852,-0.06053740531206131,0.760611355304718,1.646659255027771,-0.06949234753847122,-0.9200432300567627,0.08004999905824661
+1789729558030105415,1500,0.029318682849407196,-1.6827048063278198,-0.06111772730946541,0.7606862783432007,1.6472809314727783,-0.06974464654922485,-0.9200423359870911,0.08004999905824661
+1789729558063441073,1533,0.0295538529753685,-1.6826562881469727,-0.061700139194726944,0.7607620358467102,1.6478878259658813,-0.07001954317092896,-0.9200401902198792,0.08004999905824661
+1789729558096774282,1566,0.029865998774766922,-1.682586431503296,-0.06243698671460152,0.7608703374862671,1.648665189743042,-0.07034435123205185,-0.920037031173706,0.08004999905824661
+1789729558130103483,1600,0.03009437955915928,-1.6825289726257324,-0.06298921257257462,0.7609531283378601,1.6492546796798706,-0.07058950513601303,-0.9200372695922852,0.08004999905824661
+1789729558163432843,1633,0.030316952615976334,-1.6824707984924316,-0.06353138387203217,0.7610480189323425,1.6498254537582397,-0.0708412155508995,-0.9200364947319031,0.08004999905824661
+1789729558196768471,1666,0.03060021437704563,-1.682350754737854,-0.06422337144613266,0.7612766027450562,1.6506552696228027,-0.07106178998947144,-0.9200445413589478,0.08004999905824661
+1789729558230094982,1700,0.030814066529273987,-1.6822720766067505,-0.06474052369594574,0.7614426016807556,1.6512647867202759,-0.07124731689691544,-0.9200634360313416,0.08004999905824661
+1789729558263442328,1733,0.031010329723358154,-1.682261347770691,-0.06523271650075912,0.7615175247192383,1.6518388986587524,-0.07141226530075073,-0.9201199412345886,0.08004999905824661
+1789729558296764800,1766,0.03129938989877701,-1.6823452711105347,-0.06589022278785706,0.7615271210670471,1.6525729894638062,-0.07161556929349899,-0.920163631439209,0.08004999905824661
+1789729558330110406,1800,0.03156883642077446,-1.682534098625183,-0.06641118228435516,0.7614434361457825,1.6531906127929688,-0.07172540575265884,-0.9202377796173096,0.08004999905824661
+1789729558363438576,1833,0.03189605101943016,-1.6828968524932861,-0.06693226099014282,0.7612142562866211,1.6538290977478027,-0.07175613194704056,-0.9203328490257263,0.08004999905824661
+1789729558396774894,1866,0.032513730227947235,-1.6837518215179443,-0.06766749173402786,0.7605171799659729,1.6547893285751343,-0.0716596320271492,-0.9204407930374146,0.08004999905824661
+1789729558430106494,1900,0.03319666534662247,-1.6848636865615845,-0.06825283914804459,0.7594535946846008,1.6557095050811768,-0.07134709507226944,-0.9204773902893066,0.08004999905824661
+1789729558463438423,1933,0.03415754437446594,-1.686498999595642,-0.06879692524671555,0.7579078674316406,1.6568427085876465,-0.07079849392175674,-0.9205011129379272,0.08004999905824661
+1789729558496781170,1966,0.03575130179524422,-1.68932044506073,-0.06929347664117813,0.755628764629364,1.658698320388794,-0.06963591277599335,-0.920960009098053,0.08004999905824661
+1789729558530127386,2000,0.03732509911060333,-1.692094326019287,-0.06955184787511826,0.7535409331321716,1.6604437828063965,-0.06837191432714462,-0.9216209650039673,0.08004999905824661
+1789729558563435192,2033,0.038996078073978424,-1.6949306726455688,-0.069719597697258,0.75139981508255,1.662238597869873,-0.0668962299823761,-0.9223723411560059,0.08004999905824661
+1789729558596772330,2066,0.04153217747807503,-1.6988557577133179,-0.06999540328979492,0.7481136918067932,1.6646831035614014,-0.0647219642996788,-0.9230133891105652,0.08004999905824661
+1789729558630100690,2100,0.04359086602926254,-1.7016664743423462,-0.07032093405723572,0.745519757270813,1.6664440631866455,-0.06304661184549332,-0.923179566860199,0.08004999905824661
+1789729558663448816,2133,0.045653048902750015,-1.704358696937561,-0.07075786590576172,0.7428836226463318,1.6682171821594238,-0.06145201250910759,-0.9232321381568909,0.08004999905824661
+1789729558696771867,2166,0.0482695996761322,-1.7079191207885742,-0.07145454734563828,0.7392065525054932,1.6705780029296875,-0.05964968353509903,-0.9232115149497986,0.08004999905824661
+1789729558730103297,2200,0.05009043589234352,-1.7106999158859253,-0.07201624661684036,0.7362772226333618,1.6723042726516724,-0.05842338502407074,-0.9230613112449646,0.08004999905824661
+1789729558763430938,2233,0.05179796740412712,-1.71360182762146,-0.07256878167390823,0.7331910133361816,1.6739935874938965,-0.05725932866334915,-0.9228529930114746,0.08004999905824661
+1789729558796768516,2266,0.053971853107213974,-1.7175122499465942,-0.07301730662584305,0.7289540767669678,1.6759634017944336,-0.05566674843430519,-0.9225357174873352,0.08004999905824661
+1789729558830158170,2300,0.05565261095762253,-1.7203625440597534,-0.0731014534831047,0.7258341908454895,1.677242398262024,-0.05427778512239456,-0.9222431182861328,0.08004999905824661
+1789729558863439303,2333,0.05753949657082558,-1.7231922149658203,-0.07308932393789291,0.7226939797401428,1.6785175800323486,-0.05262959375977516,-0.9219256639480591,0.08004999905824661
+1789729558896840965,2366,0.060189079493284225,-1.726426124572754,-0.07307113707065582,0.7190846800804138,1.6801509857177734,-0.05009857937693596,-0.9215930104255676,0.08004999905824661
+1789729558930098163,2400,0.062420058995485306,-1.7285592555999756,-0.07306009531021118,0.7167022228240967,1.6813054084777832,-0.04779837280511856,-0.9213448166847229,0.08004999905824661
+1789729558963437721,2433,0.06456209719181061,-1.730210304260254,-0.07305040210485458,0.7148393392562866,1.682313323020935,-0.04545515030622482,-0.9211540222167969,0.08004999905824661
+1789729558996772679,2466,0.0676882266998291,-1.7320868968963623,-0.0730394721031189,0.712485671043396,1.6835066080093384,-0.041862186044454575,-0.9207722544670105,0.08004999905824661
+1789729559030107730,2500,0.0700545683503151,-1.7330914735794067,-0.0730157271027565,0.7110037803649902,1.6841672658920288,-0.03900986164808273,-0.920271098613739,0.08004999905824661
+1789729559063439756,2533,0.07244426757097244,-1.7337974309921265,-0.07296876609325409,0.709888756275177,1.6847227811813354,-0.03601744771003723,-0.9199111461639404,0.08004999905824661
+1789729559096770463,2566,0.07562024891376495,-1.7344671487808228,-0.07284794002771378,0.7087775468826294,1.6854002475738525,-0.0319642573595047,-0.9195254445075989,0.08004999905824661
+1789729559130098560,2600,0.07807208597660065,-1.7348917722702026,-0.07273641228675842,0.7080710530281067,1.6860235929489136,-0.028930334374308586,-0.9192463755607605,0.08004999905824661
+1789729559163436845,2633,0.080642931163311,-1.735318899154663,-0.072597436606884,0.7073767185211182,1.6867685317993164,-0.025843791663646698,-0.919005274772644,0.08004999905824661
+1789729559196768422,2666,0.08429355174303055,-1.7359334230422974,-0.0723496675491333,0.7064110040664673,1.6879769563674927,-0.02164856158196926,-0.9187333583831787,0.08004999905824661
+1789729559230102008,2700,0.08723011612892151,-1.7364037036895752,-0.07203225791454315,0.7056705355644226,1.688928484916687,-0.01829853281378746,-0.9184682369232178,0.08004999905824661
+1789729559263441663,2733,0.09034933149814606,-1.7368711233139038,-0.07149124145507812,0.7049258351325989,1.6898373365402222,-0.014690718613564968,-0.9182316660881042,0.08004999905824661
+1789729559296769670,2766,0.09482751041650772,-1.7374188899993896,-0.07047121971845627,0.7040119767189026,1.6910068988800049,-0.009262565523386002,-0.9179866313934326,0.08004999905824661
+1789729559330106335,2800,0.09839939326047897,-1.7377887964248657,-0.06959907710552216,0.7033802270889282,1.6918538808822632,-0.004903895314782858,-0.9178364276885986,0.08004999905824661
+1789729559363430404,2833,0.10208725929260254,-1.738193392753601,-0.06873378902673721,0.7027391791343689,1.692809820175171,-0.0004648479516617954,-0.9176862835884094,0.08004999905824661
+1789729559396765570,2866,0.10708799213171005,-1.7388461828231812,-0.06771934777498245,0.7017871141433716,1.694259524345398,0.005373476538807154,-0.9174949526786804,0.08004999905824661
+1789729559430099176,2900,0.11077059805393219,-1.739498257637024,-0.06685760617256165,0.7009682059288025,1.6954087018966675,0.009597651660442352,-0.9174039959907532,0.08004999905824661
+1789729559463429283,2933,0.11437538266181946,-1.7403392791748047,-0.06590665131807327,0.6999757885932922,1.696494221687317,0.013805922120809555,-0.9173758625984192,0.08004999905824661
+1789729559496767948,2966,0.11892137676477432,-1.7417958974838257,-0.06477339565753937,0.6983101963996887,1.6980161666870117,0.01897813193500042,-0.9173018932342529,0.08004999905824661
+1789729559530161868,3000,0.12208164483308792,-1.7431937456130981,-0.06411735713481903,0.6966888308525085,1.699318289756775,0.02236485667526722,-0.917169451713562,0.08004999905824661
+1789729559563440279,3033,0.1249505802989006,-1.744832158088684,-0.06364874541759491,0.6947129964828491,1.700705885887146,0.02526398003101349,-0.9169284105300903,0.08004999905824661
+1789729559596771325,3066,0.1283472776412964,-1.7473536729812622,-0.06306324154138565,0.6915869116783142,1.7024480104446411,0.028609635308384895,-0.9164971113204956,0.08004999905824661
+1789729559630095774,3100,0.13065379858016968,-1.749376893043518,-0.06251614540815353,0.6889145374298096,1.703493595123291,0.0309856366366148,-0.9159586429595947,0.08004999905824661
+1789729559663432119,3133,0.132792130112648,-1.751479983329773,-0.06192926689982414,0.6860062479972839,1.7043554782867432,0.03321545943617821,-0.915256679058075,0.08004999905824661
+1789729559696769424,3166,0.13549983501434326,-1.7542779445648193,-0.06107371672987938,0.6818822622299194,1.7052987813949585,0.03607262670993805,-0.9140936732292175,0.08004999905824661
+1789729559730099681,3200,0.13744647800922394,-1.7562443017959595,-0.060405828058719635,0.6789238452911377,1.7059252262115479,0.03814566507935524,-0.9131931662559509,0.08004999905824661
+1789729559763432368,3233,0.13931873440742493,-1.7581523656845093,-0.05978785827755928,0.6761817336082458,1.70668363571167,0.04007776081562042,-0.9124250411987305,0.08004999905824661
+1789729559796768244,3266,0.14170682430267334,-1.7607238292694092,-0.05904500558972359,0.6726764440536499,1.7079355716705322,0.04242364317178726,-0.9116581082344055,0.08004999905824661
+1789729559830100800,3300,0.1434362232685089,-1.7627131938934326,-0.05845728516578674,0.669963538646698,1.7088840007781982,0.044088076800107956,-0.9110358357429504,0.08004999905824661
+1789729559863429837,3333,0.14519768953323364,-1.7647490501403809,-0.05779505521059036,0.6670387983322144,1.709751009941101,0.04576939344406128,-0.9103251695632935,0.08004999905824661
+1789729559896767852,3366,0.14769773185253143,-1.767454743385315,-0.05672288313508034,0.6629547476768494,1.7107621431350708,0.048365745693445206,-0.9091854691505432,0.08004999905824661
+1789729559930097519,3400,0.14966152608394623,-1.7693889141082764,-0.05578272417187691,0.6599037647247314,1.7113646268844604,0.05049588158726692,-0.9082334637641907,0.08004999905824661
+1789729559963430346,3433,0.1516968309879303,-1.7712146043777466,-0.05475478246808052,0.6570649147033691,1.7118864059448242,0.05281919240951538,-0.9073037505149841,0.08004999905824661
+1789729559996770370,3466,0.15448589622974396,-1.773470163345337,-0.05324138328433037,0.6535768508911133,1.7125476598739624,0.056138988584280014,-0.906374454498291,0.08004999905824661
+1789729560030096599,3500,0.1567026525735855,-1.774853229522705,-0.05201747640967369,0.6512603759765625,1.712890625,0.058899231255054474,-0.9056183099746704,0.08004999905824661
+1789729560063428692,3533,0.15908947587013245,-1.7759603261947632,-0.05081843212246895,0.6491588950157166,1.713211178779602,0.06189167499542236,-0.9048270583152771,0.08004999905824661
+1789729560096768934,3566,0.16241957247257233,-1.777093529701233,-0.049408894032239914,0.6466889381408691,1.7137829065322876,0.06592997908592224,-0.9038075804710388,0.08004999905824661
+1789729560130098377,3600,0.16483354568481445,-1.7777966260910034,-0.0484955795109272,0.6450547575950623,1.7142970561981201,0.06872233003377914,-0.9029667973518372,0.08004999905824661
+1789729560163433000,3633,0.16705523431301117,-1.7784744501113892,-0.04764733836054802,0.64357590675354,1.7149040699005127,0.07119929790496826,-0.9023351669311523,0.08004999905824661
+1789729560196779030,3666,0.16965769231319427,-1.7793840169906616,-0.046490881592035294,0.6417748332023621,1.7156609296798706,0.0741066187620163,-0.9016690850257874,0.08004999905824661
+1789729560230096276,3700,0.1713336557149887,-1.7800549268722534,-0.045581065118312836,0.640541136264801,1.716147780418396,0.07594966888427734,-0.9012792706489563,0.08004999905824661
+1789729560263432718,3733,0.17284533381462097,-1.7806626558303833,-0.04459802061319351,0.6394419074058533,1.7165371179580688,0.07768658548593521,-0.9009573459625244,0.08004999905824661
+1789729560296768621,3766,0.1747787594795227,-1.7813739776611328,-0.04324591904878616,0.6380770802497864,1.7169311046600342,0.07990783452987671,-0.9005445241928101,0.08004999905824661
+1789729560330056265,3800,0.176169753074646,-1.7818846702575684,-0.04224541038274765,0.6370352506637573,1.717178225517273,0.08151961863040924,-0.9001996517181396,0.08004999905824661
+1789729560363438915,3833,0.17741739749908447,-1.7825266122817993,-0.04137052968144417,0.6358308792114258,1.7175686359405518,0.08275618404150009,-0.8998377919197083,0.08004999905824661
+1789729560396831463,3866,0.17869214713573456,-1.7838459014892578,-0.04037493094801903,0.6337195634841919,1.7183951139450073,0.08355540782213211,-0.8995034694671631,0.08004999905824661
+1789729560430102742,3900,0.17940714955329895,-1.785157561302185,-0.039684493094682693,0.6318607330322266,1.7191282510757446,0.08370427787303925,-0.89939945936203,0.08004999905824661
+1789729560463435615,3933,0.17999033629894257,-1.786759376525879,-0.03889457881450653,0.6297255754470825,1.7199320793151855,0.08370428532361984,-0.8993793725967407,0.08004999905824661
+1789729560496768358,3966,0.1807241439819336,-1.7893342971801758,-0.03760746866464615,0.6262592673301697,1.7210034132003784,0.08345439285039902,-0.8992958664894104,0.08004999905824661
+1789729560530104570,4000,0.18131950497627258,-1.791477918624878,-0.03650962933897972,0.6232114434242249,1.7217546701431274,0.08323068171739578,-0.8989723920822144,0.08004999905824661
+1789729560563435623,4033,0.18198782205581665,-1.7936372756958008,-0.03544694930315018,0.6200506091117859,1.7224339246749878,0.08315549790859222,-0.8984470367431641,0.08004999905824661
+1789729560596767977,4066,0.18287499248981476,-1.7964143753051758,-0.03401637077331543,0.6160367131233215,1.723327875137329,0.08312240242958069,-0.897716224193573,0.08004999905824661
+1789729560630099220,4100,0.18357937037944794,-1.7984380722045898,-0.032958317548036575,0.6132442951202393,1.724022626876831,0.08315052092075348,-0.8972799181938171,0.08004999905824661
+1789729560663431783,4133,0.18432489037513733,-1.800307273864746,-0.031938955187797546,0.6105985641479492,1.724675178527832,0.08331601321697235,-0.8968623876571655,0.08004999905824661
+1789729560696772644,4166,0.18553510308265686,-1.8025010824203491,-0.030702628195285797,0.6072530746459961,1.725409984588623,0.08396686613559723,-0.8960502743721008,0.08004999905824661
+1789729560730099388,4200,0.1865650713443756,-1.8039926290512085,-0.029825720936059952,0.6047592759132385,1.7259141206741333,0.08463642746210098,-0.8952596783638,0.08004999905824661
+1789729560763437870,4233,0.18774473667144775,-1.8053174018859863,-0.028974398970603943,0.6024373173713684,1.7263624668121338,0.08555080741643906,-0.8944870829582214,0.08004999905824661
+1789729560796770853,4266,0.18946711719036102,-1.8068925142288208,-0.027898410335183144,0.5996685028076172,1.7270805835723877,0.0869554877281189,-0.8935959339141846,0.08004999905824661
+1789729560830099127,4300,0.1908092051744461,-1.8079028129577637,-0.0271022729575634,0.5979019403457642,1.727624535560608,0.08813073486089706,-0.8930816054344177,0.08004999905824661
+1789729560863434120,4333,0.19217462837696075,-1.808680534362793,-0.026316877454519272,0.596448540687561,1.7281458377838135,0.08939669281244278,-0.8928626179695129,0.08004999905824661
+1789729560896769052,4366,0.19397297501564026,-1.8093494176864624,-0.025313766673207283,0.594847559928894,1.728698492050171,0.09107989817857742,-0.8925638198852539,0.08004999905824661
+1789729560930096196,4400,0.19533942639827728,-1.8096065521240234,-0.024638161063194275,0.5938774347305298,1.7290830612182617,0.09240750968456268,-0.8923200964927673,0.08004999905824661
+1789729560963433478,4433,0.19672857224941254,-1.8097528219223022,-0.02404901012778282,0.5930430889129639,1.7295202016830444,0.09368117153644562,-0.8921599984169006,0.08004999905824661
+1789729560996768441,4466,0.1986817866563797,-1.8098806142807007,-0.02328501269221306,0.5920600891113281,1.7302343845367432,0.09550268948078156,-0.8919928073883057,0.08004999905824661
+1789729561030093926,4500,0.2002345472574234,-1.8099281787872314,-0.022688843309879303,0.5913999676704407,1.730818748474121,0.09689540416002274,-0.8919240832328796,0.08004999905824661
+1789729561063435633,4533,0.2018430382013321,-1.809888482093811,-0.022019797936081886,0.5908654928207397,1.7314759492874146,0.09835882484912872,-0.8919084072113037,0.08004999905824661
+1789729561096779900,4566,0.2040366381406784,-1.8094913959503174,-0.02086946740746498,0.590546190738678,1.7321451902389526,0.10040302574634552,-0.8919338583946228,0.08004999905824661
+1789729561130101182,4600,0.20565390586853027,-1.808935523033142,-0.01987616717815399,0.5905601978302002,1.7324751615524292,0.10200275480747223,-0.8919653296470642,0.08004999905824661
+1789729561163435741,4633,0.20719636976718903,-1.8083148002624512,-0.01884506084024906,0.5906028151512146,1.7327120304107666,0.10355259478092194,-0.8920432925224304,0.08004999905824661
+1789729561196771230,4666,0.2090962678194046,-1.807456612586975,-0.017431320622563362,0.5906754732131958,1.732846975326538,0.1056089848279953,-0.8922058343887329,0.08004999905824661
+1789729561230157575,4700,0.21040678024291992,-1.8067487478256226,-0.016294268891215324,0.5908474326133728,1.732846975326538,0.10706157237291336,-0.8924079537391663,0.08004999905824661
+1789729561263437228,4733,0.2116910070180893,-1.8060357570648193,-0.015094660222530365,0.5910809636116028,1.7328366041183472,0.10853003710508347,-0.8927035331726074,0.08004999905824661
+1789729561296771917,4766,0.21350036561489105,-1.8052165508270264,-0.013493373990058899,0.5912001132965088,1.7328221797943115,0.11064490675926208,-0.8930324912071228,0.08004999905824661
+1789729561330100337,4800,0.21496383845806122,-1.8047072887420654,-0.012376428581774235,0.5911539196968079,1.7328474521636963,0.11232859641313553,-0.8932518362998962,0.08004999905824661
+1789729561363435586,4833,0.21648748219013214,-1.8042775392532349,-0.01125328242778778,0.5910478830337524,1.7329758405685425,0.11408782005310059,-0.8934119939804077,0.08004999905824661
+1789729561396769335,4866,0.2185909003019333,-1.8038889169692993,-0.009803076274693012,0.5906983613967896,1.7332918643951416,0.11650916934013367,-0.89356529712677,0.08004999905824661
+1789729561430103224,4900,0.22026605904102325,-1.8038057088851929,-0.008852222003042698,0.5901492834091187,1.7336440086364746,0.11833997070789337,-0.8935497403144836,0.08004999905824661
+1789729561463437863,4933,0.22200416028499603,-1.8039113283157349,-0.007984274066984653,0.589374303817749,1.7341541051864624,0.12019041180610657,-0.893487274646759,0.08004999905824661
+1789729561496769963,4966,0.22439457476139069,-1.8043038845062256,-0.00683416984975338,0.5880302786827087,1.7348506450653076,0.12275279313325882,-0.8930526971817017,0.08004999905824661
+1789729561530098693,5000,0.22610683739185333,-1.804735779762268,-0.005998680833727121,0.5868877172470093,1.7353612184524536,0.12461602687835693,-0.8927153944969177,0.08004999905824661
+1789729561563501495,5033,0.22765682637691498,-1.805192232131958,-0.005142060574144125,0.5857869982719421,1.735775351524353,0.12631937861442566,-0.8923593759536743,0.08004999905824661
+1789729561596771550,5066,0.22948136925697327,-1.8057950735092163,-0.004064070526510477,0.5843347907066345,1.7361438274383545,0.12841397523880005,-0.8918692469596863,0.08004999905824661
+1789729561630101460,5100,0.23068611323833466,-1.8062608242034912,-0.003287284169346094,0.5832404494285583,1.7363271713256836,0.1298084855079651,-0.8914570212364197,0.08004999905824661
+1789729561663427291,5133,0.23180502653121948,-1.806729793548584,-0.0024870852939784527,0.5821834802627563,1.7364299297332764,0.13111570477485657,-0.8910561800003052,0.08004999905824661
+1789729561696765759,5166,0.23325231671333313,-1.8073128461837769,-0.0013611873146146536,0.5808995962142944,1.7364956140518188,0.1329232156276703,-0.890652060508728,0.08004999905824661
+1789729561730101567,5200,0.23428300023078918,-1.8077224493026733,-0.0005556158139370382,0.5799880623817444,1.7365343570709229,0.1342293620109558,-0.8903497457504272,0.08004999905824661
+1789729561763435086,5233,0.23522686958312988,-1.808115005493164,0.00021343563275877386,0.5791075825691223,1.7365407943725586,0.13543537259101868,-0.8900284767150879,0.08004999905824661
+1789729561796772205,5266,0.23635542392730713,-1.8086155652999878,0.0011323816142976284,0.5779886245727539,1.7365361452102661,0.1368805319070816,-0.8896394968032837,0.08004999905824661
+1789729561830097906,5300,0.23711970448493958,-1.8089872598648071,0.0017334038857370615,0.5771359801292419,1.7365293502807617,0.13785047829151154,-0.8893043994903564,0.08004999905824661
+1789729561863431395,5333,0.23781029880046844,-1.809401273727417,0.0022751865908503532,0.5762227177619934,1.736527442932129,0.13871830701828003,-0.8889692425727844,0.08004999905824661
+1789729561896780630,5366,0.23870092630386353,-1.8100537061691284,0.0029010982252657413,0.5747787952423096,1.7365310192108154,0.13980425894260406,-0.8883412480354309,0.08004999905824661
+1789729561930174644,5400,0.23937220871448517,-1.8106051683425903,0.0033284511882811785,0.5735602974891663,1.7365483045578003,0.14059016108512878,-0.8877902030944824,0.08004999905824661
+1789729561963440460,5433,0.24004651606082916,-1.8111958503723145,0.0037599042989313602,0.5722623467445374,1.7365764379501343,0.14137904345989227,-0.8872037529945374,0.08004999905824661
+1789729561996771450,5466,0.24091051518917084,-1.8120062351226807,0.004309298004955053,0.5704445242881775,1.7365822792053223,0.142399862408638,-0.8863555788993835,0.08004999905824661
+1789729562030104999,5500,0.24150824546813965,-1.8126156330108643,0.004686242435127497,0.5690981149673462,1.7365797758102417,0.1430942565202713,-0.8857377767562866,0.08004999905824661
+1789729562063437984,5533,0.24209140241146088,-1.8132317066192627,0.005032177083194256,0.5677138566970825,1.7365795373916626,0.14377008378505707,-0.8850886821746826,0.08004999905824661
+1789729562096774909,5566,0.24286425113677979,-1.8140705823898315,0.00544152082875371,0.5658512711524963,1.7366087436676025,0.14465923607349396,-0.8841736316680908,0.08004999905824661
+1789729562130101975,5600,0.24343077838420868,-1.8147006034851074,0.0057530878111720085,0.5644844770431519,1.7366560697555542,0.14531448483467102,-0.8835298418998718,0.08004999905824661
+1789729562163432261,5633,0.24397698044776917,-1.8153035640716553,0.0060854218900203705,0.563181459903717,1.736686110496521,0.14595234394073486,-0.8828885555267334,0.08004999905824661
+1789729562196770345,5666,0.24466408789157867,-1.8160046339035034,0.006500898394733667,0.5616652965545654,1.7367254495620728,0.14677730202674866,-0.8822221755981445,0.08004999905824661
+1789729562230104060,5700,0.24509093165397644,-1.816484808921814,0.006792273372411728,0.5606822967529297,1.736744999885559,0.14732037484645844,-0.8818291425704956,0.08004999905824661
+1789729562263435126,5733,0.24545764923095703,-1.8169575929641724,0.007045759353786707,0.5597476363182068,1.7367608547210693,0.14779961109161377,-0.8814100027084351,0.08004999905824661
+1789729562296770001,5766,0.24587109684944153,-1.817628264427185,0.007293681148439646,0.5584946274757385,1.736774206161499,0.1483524888753891,-0.8809158802032471,0.08004999905824661
+1789729562330099357,5800,0.2461455911397934,-1.8181517124176025,0.0074485414661467075,0.5575503706932068,1.7367905378341675,0.14869612455368042,-0.8805369734764099,0.08004999905824661
+1789729562363435411,5833,0.24641509354114532,-1.8187196254730225,0.007584070786833763,0.5565517544746399,1.7368102073669434,0.14901858568191528,-0.8801457285881042,0.08004999905824661
+1789729562396765637,5866,0.24681055545806885,-1.8195699453353882,0.007760520093142986,0.5550591349601746,1.7368379831314087,0.149485245347023,-0.8795996308326721,0.08004999905824661
+1789729562430100592,5900,0.2471642643213272,-1.8202850818634033,0.007911204360425472,0.553828239440918,1.7368775606155396,0.1498897671699524,-0.8791559934616089,0.08004999905824661
+1789729562463429178,5933,0.24757757782936096,-1.821038842201233,0.008114812895655632,0.5525615811347961,1.7369234561920166,0.15032874047756195,-0.8786918520927429,0.08004999905824661
+1789729562496773990,5966,0.248292475938797,-1.8220936059951782,0.008459091186523438,0.5507581830024719,1.7370331287384033,0.1510692685842514,-0.878066897392273,0.08004999905824661
+1789729562530098888,6000,0.24898916482925415,-1.822938084602356,0.008741567842662334,0.5492722988128662,1.7372010946273804,0.15174417197704315,-0.877551257610321,0.08004999905824661
+1789729562563430713,6033,0.24982111155986786,-1.8238176107406616,0.009057626128196716,0.5476625561714172,1.7374250888824463,0.15252572298049927,-0.8769431710243225,0.08004999905824661
+1789729562596765818,6066,0.2511642277240753,-1.8250255584716797,0.009486439637839794,0.5454050302505493,1.7378650903701782,0.1537749022245407,-0.876107394695282,0.08004999905824661
+1789729562630105271,6100,0.2523329257965088,-1.8259392976760864,0.009818276390433311,0.5436131954193115,1.738289713859558,0.1548352837562561,-0.8754122257232666,0.08004999905824661
+1789729562663436717,6133,0.25362250208854675,-1.82682466506958,0.010142206214368343,0.541809618473053,1.738787293434143,0.15600121021270752,-0.8746761083602905,0.08004999905824661
+1789729562696780729,6166,0.25544002652168274,-1.827947974205017,0.010502549819648266,0.539463222026825,1.7395662069320679,0.157613143324852,-0.8737101554870605,0.08004999905824661
+1789729562730098259,6200,0.2567765414714813,-1.8287482261657715,0.010711629875004292,0.5377682447433472,1.7402056455612183,0.15873557329177856,-0.8729928135871887,0.08004999905824661
+1789729562763431604,6233,0.25798889994621277,-1.8294923305511475,0.010827803052961826,0.5361838340759277,1.7408112287521362,0.1597088724374771,-0.8723222613334656,0.08004999905824661
+1789729562796765499,6266,0.2593276798725128,-1.830357313156128,0.010871313512325287,0.5343209505081177,1.74154794216156,0.16077880561351776,-0.8714916110038757,0.08004999905824661
+1789729562830100823,6300,0.2601046860218048,-1.8309152126312256,0.010870376601815224,0.533115029335022,1.7419687509536743,0.1613459438085556,-0.8709408044815063,0.08004999905824661
+1789729562863432319,6333,0.2607312798500061,-1.8314417600631714,0.010876297019422054,0.5320068001747131,1.7422971725463867,0.16179682314395905,-0.8704230189323425,0.08004999905824661
+1789729562896774382,6366,0.2614295780658722,-1.832074522972107,0.010878204368054867,0.5307139158248901,1.7426775693893433,0.16225989162921906,-0.8698319792747498,0.08004999905824661
+1789729562930100229,6400,0.2619112730026245,-1.8324898481369019,0.010876292362809181,0.5298849940299988,1.7429605722427368,0.16259931027889252,-0.8694881200790405,0.08004999905824661
+1789729562963437083,6433,0.2623351514339447,-1.832842469215393,0.010873271152377129,0.529179036617279,1.7432042360305786,0.16291451454162598,-0.8692103624343872,0.08004999905824661
+1789729562996768109,6466,0.262742280960083,-1.833195447921753,0.010870087891817093,0.5284939408302307,1.7434529066085815,0.16320326924324036,-0.8689097166061401,0.08004999905824661
+1789729563030105222,6500,0.2629297077655792,-1.8333715200424194,0.010868837125599384,0.528185248374939,1.7435824871063232,0.16333675384521484,-0.8687928915023804,0.08004999905824661
+1789729563063434673,6533,0.26304373145103455,-1.8334853649139404,0.010875553824007511,0.5279871821403503,1.7436678409576416,0.16342967748641968,-0.8687255382537842,0.08004999905824661
+1789729563096782210,6566,0.26313358545303345,-1.833564281463623,0.010882743634283543,0.5278396606445312,1.74372398853302,0.16349370777606964,-0.8686564564704895,0.08004999905824661
+1789729563130104644,6600,0.26319074630737305,-1.833580493927002,0.010880770161747932,0.5277989506721497,1.7437704801559448,0.16352927684783936,-0.8686392307281494,0.08004999905824661
+1789729563163434266,6633,0.26324164867401123,-1.8335850238800049,0.010878963395953178,0.5277867317199707,1.7438207864761353,0.16357611119747162,-0.8686354756355286,0.08004999905824661
+1789729563196773245,6666,0.2632775604724884,-1.8335953950881958,0.010876431129872799,0.5277768969535828,1.7438527345657349,0.1636175960302353,-0.8686324954032898,0.07996000349521637
+1789729563230102786,6700,0.263286292552948,-1.833611249923706,0.010875491425395012,0.5277690291404724,1.7438679933547974,0.16363190114498138,-0.8686351776123047,0.07996000349521637
+1789729563263431748,6733,0.26329025626182556,-1.8336255550384521,0.010874711908400059,0.5277648568153381,1.7438831329345703,0.1636384129524231,-0.8686400055885315,0.07959000021219254
+1789729563296775177,6766,0.26329442858695984,-1.8336375951766968,0.0108742481097579,0.5277606248855591,1.7438991069793701,0.16364502906799316,-0.8686380386352539,0.07881999760866165
+1789729563330100169,6800,0.2632971405982971,-1.8336421251296997,0.01087453868240118,0.5277568697929382,1.7439054250717163,0.16364502906799316,-0.8686365485191345,0.07765000313520432
+1789729563363426352,6833,0.26329952478408813,-1.8336467742919922,0.010873639024794102,0.5277536511421204,1.7439079284667969,0.16364751756191254,-0.8686345219612122,0.07464999705553055
+1789729563396770340,6866,0.26330387592315674,-1.833653211593628,0.010873096063733101,0.527747631072998,1.7439310550689697,0.16364900767803192,-0.8686373233795166,0.06905999779701233
+1789729563430097142,6900,0.2633141577243805,-1.8336641788482666,0.010872508399188519,0.5277457237243652,1.74394690990448,0.16365499794483185,-0.8686392307281494,0.06406000256538391
+1789729563463429783,6933,0.2633192241191864,-1.8336751461029053,0.010871317237615585,0.5277430415153503,1.743964433670044,0.16367481648921967,-0.8686463832855225,0.06406000256538391
+1789729563496769362,6966,0.2632806599140167,-1.833685278892517,0.0108554158359766,0.5277412533760071,1.7439604997634888,0.16369222104549408,-0.868651807308197,0.06086999922990799
+1789729563530102213,7000,0.2632799446582794,-1.833690881729126,0.010853256098926067,0.5277402997016907,1.7439603805541992,0.16368643939495087,-0.8686560988426208,0.0604499988257885
+1789729563563443572,7033,0.2632753849029541,-1.833691120147705,0.010851917788386345,0.5277392864227295,1.7439624071121216,0.1636829823255539,-0.8686548471450806,0.0604499988257885
+1789729563596768864,7066,0.2632758617401123,-1.8336912393569946,0.010850349441170692,0.5277372002601624,1.743969440460205,0.1636839359998703,-0.8686509728431702,0.060440000146627426
+1789729563630091298,7100,0.2632765471935272,-1.8336924314498901,0.010848972015082836,0.527737557888031,1.743971586227417,0.16368412971496582,-0.8686492443084717,0.060440000146627426
+1789729563663436966,7133,0.2632788419723511,-1.8336939811706543,0.01084837969392538,0.5277370810508728,1.7439755201339722,0.16368545591831207,-0.8686522841453552,0.060440000146627426
+1789729563696767037,7166,0.2632809281349182,-1.8336998224258423,0.01084805279970169,0.5277398824691772,1.7439765930175781,0.1636870950460434,-0.8686696290969849,0.060440000146627426
+1789729563730095749,7200,0.26328104734420776,-1.8337061405181885,0.010849734768271446,0.5277407169342041,1.743979573249817,0.1636865884065628,-0.8686727285385132,0.060440000146627426
+1789729563763426560,7233,0.263280987739563,-1.8337085247039795,0.010850245133042336,0.5277420878410339,1.7439794540405273,0.16368448734283447,-0.8686738014221191,0.060440000146627426
+1789729563796767729,7266,0.2632817327976227,-1.833709716796875,0.010850346647202969,0.5277407765388489,1.7439812421798706,0.16367973387241364,-0.8686701655387878,0.060440000146627426
+1789729563830153027,7300,0.26328253746032715,-1.833709478378296,0.010850478895008564,0.5277397036552429,1.7439815998077393,0.16367775201797485,-0.8686676621437073,0.060440000146627426
+1789729563863436650,7333,0.263283908367157,-1.8337103128433228,0.010849183425307274,0.5277395844459534,1.743982195854187,0.16367758810520172,-0.8686651587486267,0.060440000146627426
+1789729563896768521,7366,0.2632843255996704,-1.833719253540039,0.01084961649030447,0.5277391076087952,1.7439827919006348,0.16367700695991516,-0.8686663508415222,0.060440000146627426
+1789729563930105751,7400,0.26326942443847656,-1.8337236642837524,0.010844736360013485,0.5277486443519592,1.7439773082733154,0.16367408633232117,-0.8686791658401489,0.060440000146627426
+1789729563963429204,7433,0.2631210684776306,-1.8337056636810303,0.010815267451107502,0.5278303623199463,1.7439526319503784,0.16358837485313416,-0.8687177300453186,0.060440000146627426
+1789729563996771603,7466,0.2626197040081024,-1.8336570262908936,0.010659439489245415,0.5281434059143066,1.7438441514968872,0.1630597859621048,-0.8688974976539612,0.060440000146627426
+1789729564030095625,7500,0.26175522804260254,-1.8335222005844116,0.01038072444498539,0.5287116169929504,1.7436320781707764,0.16214974224567413,-0.8691684603691101,0.060440000146627426
+1789729564063429441,7533,0.26033633947372437,-1.8332079648971558,0.009951307438313961,0.5296986699104309,1.7431714534759521,0.1606973260641098,-0.8696141242980957,0.060440000146627426
+1789729564096774404,7566,0.2576732635498047,-1.8325568437576294,0.009172686375677586,0.53152996301651,1.742179274559021,0.15805648267269135,-0.8703929781913757,0.060440000146627426
+1789729564130100402,7600,0.2553175091743469,-1.8319790363311768,0.008640551008284092,0.5331861972808838,1.7411699295043945,0.15576677024364471,-0.871113121509552,0.060440000146627426
+1789729564163430469,7633,0.2529557943344116,-1.831392765045166,0.008279088884592056,0.5349074602127075,1.7400591373443604,0.1535646617412567,-0.8719288110733032,0.060440000146627426
+1789729564196763855,7666,0.25003182888031006,-1.8306819200515747,0.00805993564426899,0.5370774269104004,1.738533854484558,0.15102066099643707,-0.8730339407920837,0.060440000146627426
+1789729564230094212,7700,0.24802051484584808,-1.8301844596862793,0.00802228320389986,0.538581907749176,1.7374094724655151,0.14932827651500702,-0.8738192319869995,0.060440000146627426
+1789729564263428557,7733,0.2461366206407547,-1.8297393321990967,0.007987437769770622,0.5399608612060547,1.7364100217819214,0.14772529900074005,-0.8745595812797546,0.060440000146627426
+1789729564296767642,7766,0.24365299940109253,-1.8291015625,0.007886459119617939,0.5417974591255188,1.7350765466690063,0.1455511897802353,-0.8754820823669434,0.060440000146627426
+1789729564330098708,7800,0.24177831411361694,-1.8285034894943237,0.007764733396470547,0.5433574318885803,1.7340526580810547,0.1439506709575653,-0.8762162923812866,0.060440000146627426
+1789729564363425486,7833,0.23981992900371552,-1.827810287475586,0.007587961386889219,0.5450612306594849,1.7330089807510376,0.14230071008205414,-0.8769978880882263,0.060440000146627426
+1789729564396767100,7866,0.2370487004518509,-1.8266953229904175,0.007233954966068268,0.5476298332214355,1.731516718864441,0.13994969427585602,-0.8782053589820862,0.060440000146627426
+1789729564430101206,7900,0.2348232865333557,-1.8257427215576172,0.0069535113871097565,0.5497994422912598,1.7303067445755005,0.13806059956550598,-0.8791834712028503,0.060440000146627426
+1789729564463431253,7933,0.23244893550872803,-1.8246711492538452,0.006671631243079901,0.5521984696388245,1.7290101051330566,0.13605159521102905,-0.8803913593292236,0.060440000146627426
+1789729564496766298,7966,0.22892090678215027,-1.8229484558105469,0.006330848205834627,0.555946946144104,1.7270599603652954,0.1331617385149002,-0.8823283314704895,0.060440000146627426
+1789729564530105733,8000,0.2259523868560791,-1.8213675022125244,0.006011534947901964,0.5592514872550964,1.7254421710968018,0.13076220452785492,-0.8840473294258118,0.060440000146627426
+1789729564563467052,8033,0.222663015127182,-1.81948721408844,0.005590084008872509,0.5629765391349792,1.7236788272857666,0.12805406749248505,-0.8859419226646423,0.060440000146627426
+1789729564596773564,8066,0.2177933156490326,-1.816555142402649,0.004869564436376095,0.5683791041374207,1.7210137844085693,0.12398462742567062,-0.888608992099762,0.060440000146627426
+1789729564630107990,8100,0.21387004852294922,-1.8141670227050781,0.004207557998597622,0.5726295709609985,1.7188405990600586,0.12060917168855667,-0.8905755281448364,0.060440000146627426
+1789729564663433698,8133,0.2097790539264679,-1.8118107318878174,0.003538070246577263,0.5769540071487427,1.7167257070541382,0.11710432171821594,-0.8927235007286072,0.060440000146627426
+1789729564696774842,8166,0.2040223479270935,-1.8088985681533813,0.0026618335396051407,0.5826718211174011,1.7139002084732056,0.11220157891511917,-0.8958340883255005,0.060440000146627426
+1789729564730110647,8200,0.19946742057800293,-1.8068506717681885,0.001892373664304614,0.5867252349853516,1.7118068933486938,0.10820518434047699,-0.8980083465576172,0.060440000146627426
+1789729564763434515,8233,0.19484391808509827,-1.8048745393753052,0.0011069121537730098,0.590570867061615,1.709587574005127,0.10400483012199402,-0.9001374244689941,0.060440000146627426
+1789729564796769831,8266,0.18887962400913239,-1.8022974729537964,0.0002470676845405251,0.5955779552459717,1.7066289186477661,0.09875579178333282,-0.9028878808021545,0.060440000146627426
+1789729564830106626,8300,0.18447265028953552,-1.8003227710723877,-0.0004124014521948993,0.5993230938911438,1.7044428586959839,0.09500794112682343,-0.9049495458602905,0.060440000146627426
+1789729564863391304,8333,0.17998528480529785,-1.7983016967773438,-0.001249882159754634,0.6029738783836365,1.7022678852081299,0.09097380191087723,-0.907027006149292,0.060440000146627426
+1789729564896769619,8366,0.17401987314224243,-1.7955540418624878,-0.00250590150244534,0.6074133515357971,1.6992067098617554,0.08522578328847885,-0.9092131853103638,0.060440000146627426
+1789729564930103085,8400,0.16965197026729584,-1.793581247329712,-0.00342131988145411,0.6104133725166321,1.6969488859176636,0.08094119280576706,-0.9107154011726379,0.060440000146627426
+1789729564963438320,8433,0.16531211137771606,-1.791759729385376,-0.004452235996723175,0.6132367253303528,1.6948274374008179,0.07647502422332764,-0.9123125076293945,0.060440000146627426
+1789729564996774515,8466,0.15933513641357422,-1.7897566556930542,-0.006107599474489689,0.616549015045166,1.6924000978469849,0.06982406973838806,-0.9146379828453064,0.060440000146627426
+1789729565030110550,8500,0.15480312705039978,-1.788632869720459,-0.007334790658205748,0.6185989379882812,1.6908326148986816,0.06438317149877548,-0.9164870381355286,0.060440000146627426
+1789729565063434673,8533,0.15049131214618683,-1.78774094581604,-0.008325953036546707,0.6202678084373474,1.6893420219421387,0.05909296125173569,-0.9183861613273621,0.060440000146627426
+1789729565096778512,8566,0.14513123035430908,-1.7866030931472778,-0.009483176283538342,0.6221492290496826,1.6873277425765991,0.05268179997801781,-0.9207684397697449,0.060430001467466354
+1789729565130102235,8600,0.141337588429451,-1.7856202125549316,-0.01041425671428442,0.6235460042953491,1.685912847518921,0.048057492822408676,-0.9224545955657959,0.060430001467466354
+1789729565163431666,8633,0.13782432675361633,-1.7844054698944092,-0.011280701495707035,0.6251116991043091,1.6844768524169922,0.04379450902342796,-0.9243037104606628,0.06036999821662903
+1789729565196767377,8666,0.13381507992744446,-1.782312273979187,-0.012196598574519157,0.6276870965957642,1.6825544834136963,0.03905068337917328,-0.9268458485603333,0.060270000249147415
+1789729565230098968,8700,0.13126178085803986,-1.7802892923355103,-0.012688305228948593,0.6300636529922485,1.6810542345046997,0.03627246990799904,-0.9288877844810486,0.06021000072360039
+1789729565263431519,8733,0.12897029519081116,-1.7778711318969727,-0.013150102458894253,0.6328773498535156,1.6795425415039062,0.03390305116772652,-0.9308478832244873,0.06021000072360039
+1789729565296771478,8766,0.12617141008377075,-1.774163007736206,-0.013932972215116024,0.637160062789917,1.677651047706604,0.03093649633228779,-0.9334603548049927,0.060169998556375504
+1789729565330105789,8800,0.12424252182245255,-1.7711728811264038,-0.014647360891103745,0.6405441761016846,1.676342487335205,0.02880469337105751,-0.9353207349777222,0.06015999987721443
+1789729565363430882,8833,0.12240926921367645,-1.7681130170822144,-0.01538950763642788,0.643974244594574,1.6750664710998535,0.026709983125329018,-0.9369885921478271,0.06015000119805336
+1789729565396765462,8866,0.12011647969484329,-1.7640501260757446,-0.016441309824585915,0.6486066579818726,1.6735237836837769,0.023986585438251495,-0.9390922784805298,0.06015000119805336
+1789729565430097644,8900,0.11845186352729797,-1.7610328197479248,-0.0171927772462368,0.6521322131156921,1.6724166870117188,0.021964406594634056,-0.9407519698143005,0.06015000119805336
+1789729565463434464,8933,0.11684099584817886,-1.757975697517395,-0.017903804779052734,0.6556543111801147,1.6713361740112305,0.020006287842988968,-0.9424073100090027,0.06015000119805336
+1789729565496764175,8966,0.11482153087854385,-1.753784418106079,-0.018744956701993942,0.6602010130882263,1.66976797580719,0.017543239519000053,-0.9443661570549011,0.06013999879360199
+1789729565530099466,9000,0.11343026161193848,-1.7506158351898193,-0.019314337521791458,0.6634331345558167,1.6684648990631104,0.015889372676610947,-0.945558488368988,0.06013999879360199
+1789729565563463989,9033,0.11212562769651413,-1.7475284337997437,-0.019887033849954605,0.6665842533111572,1.667211890220642,0.014254797250032425,-0.9467211365699768,0.06013999879360199
+1789729565596804268,9066,0.11051054298877716,-1.7436444759368896,-0.020598214119672775,0.6708365082740784,1.6659287214279175,0.012178804725408554,-0.9485470056533813,0.06013999879360199
+1789729565630100508,9100,0.10935624688863754,-1.7407777309417725,-0.02108882926404476,0.6740097999572754,1.6651251316070557,0.010685714893043041,-0.9500740766525269,0.06013999879360199
+1789729565663432639,9133,0.10830425471067429,-1.7377890348434448,-0.02155083790421486,0.6771266460418701,1.6642745733261108,0.009299187920987606,-0.9512977600097656,0.06013999879360199
+1789729565696767849,9166,0.10712157934904099,-1.7335903644561768,-0.022127659991383553,0.6811618804931641,1.6630772352218628,0.007631456945091486,-0.9525130987167358,0.06013999879360199
+1789729565730095702,9200,0.10641451925039291,-1.7303603887557983,-0.022540070116519928,0.684013307094574,1.6621272563934326,0.006561598274856806,-0.953070878982544,0.06013999879360199
+1789729565763431562,9233,0.1058487594127655,-1.7272090911865234,-0.022912712767720222,0.6869028806686401,1.661336898803711,0.005618654191493988,-0.9536117315292358,0.06013999879360199
+1789729565796757724,9266,0.10516476631164551,-1.7230852842330933,-0.0232893954962492,0.6910516023635864,1.6606297492980957,0.004456763155758381,-0.9547396898269653,0.06013000011444092
+1789729565830089646,9300,0.10467896610498428,-1.7199454307556152,-0.023472845554351807,0.6942960619926453,1.6602009534835815,0.003674156963825226,-0.9556893706321716,0.06013000011444092
+1789729565863430905,9333,0.10424318164587021,-1.716671347618103,-0.023611880838871002,0.6975206136703491,1.6596680879592896,0.0029686461202800274,-0.9563915729522705,0.06013000011444092
+1789729565896763366,9366,0.10376501828432083,-1.712161898612976,-0.023791436105966568,0.7016569972038269,1.6588298082351685,0.0021757371723651886,-0.9570923447608948,0.06013000011444092
+1789729565930104045,9400,0.10346226394176483,-1.708769679069519,-0.023937491700053215,0.7046936750411987,1.6581307649612427,0.0016220536781474948,-0.9573796987533569,0.06013000011444092
+1789729565963428208,9433,0.10314236581325531,-1.7055047750473022,-0.024081476032733917,0.7078539729118347,1.6575958728790283,0.001018732669763267,-0.9578941464424133,0.06013000011444092
+1789729565996763548,9466,0.10261238366365433,-1.7012189626693726,-0.024225842207670212,0.7122243642807007,1.6570303440093994,9.304754348704591e-05,-0.9589069485664368,0.060120001435279846
+1789729566030104046,9500,0.10215813666582108,-1.6979100704193115,-0.024336764588952065,0.7154516577720642,1.656441569328308,-0.0006555392174050212,-0.9594990611076355,0.060120001435279846
+1789729566063463965,9533,0.10169710218906403,-1.6945078372955322,-0.024459565058350563,0.7185306549072266,1.655661940574646,-0.0014408632414415479,-0.959969162940979,0.060120001435279846
+1789729566096765138,9566,0.1011088564991951,-1.6899513006210327,-0.024659521877765656,0.722362220287323,1.6543664932250977,-0.0024704590905457735,-0.9602072238922119,0.060109999030828476
+1789729566130115989,9600,0.1006731316447258,-1.6866596937179565,-0.024811342358589172,0.7252538800239563,1.6534228324890137,-0.003269260749220848,-0.9604747295379639,0.060100000351667404
+1789729566163436628,9633,0.10019813477993011,-1.683510184288025,-0.02492055669426918,0.7282217144966125,1.65263831615448,-0.004127289168536663,-0.9610753655433655,0.060100000351667404
+1789729566196772913,9666,0.0994669571518898,-1.6792993545532227,-0.024977097287774086,0.7322366833686829,1.6515036821365356,-0.0053107417188584805,-0.9619882702827454,0.06007999926805496
+1789729566230159795,9700,0.09887678921222687,-1.6760421991348267,-0.02498863823711872,0.7351837754249573,1.6504979133605957,-0.006214089225977659,-0.9625272750854492,0.06007999926805496
+1789729566263443222,9733,0.09829547256231308,-1.6727181673049927,-0.024989139288663864,0.7380377054214478,1.6493476629257202,-0.0070785232819616795,-0.9628598093986511,0.06007999926805496
+1789729566296758602,9766,0.09755480289459229,-1.6683342456817627,-0.02498108521103859,0.7417844533920288,1.6477824449539185,-0.008218535222113132,-0.9631426334381104,0.06007000058889389
+1789729566330107734,9800,0.09701044857501984,-1.6651594638824463,-0.02496735192835331,0.7446447610855103,1.646812915802002,-0.009090852923691273,-0.9635493755340576,0.06007000058889389
+1789729566363436480,9833,0.09646663069725037,-1.6620235443115234,-0.024907881394028664,0.7475245594978333,1.6459391117095947,-0.00989976990967989,-0.964020848274231,0.06007000058889389
+1789729566396770506,9866,0.095768041908741,-1.6577407121658325,-0.024773702025413513,0.7512881755828857,1.644636631011963,-0.010870255529880524,-0.9644773006439209,0.06007000058889389
+1789729566430102141,9900,0.09528261423110962,-1.6544816493988037,-0.024657847359776497,0.754035234451294,1.643574833869934,-0.011523356661200523,-0.9646884799003601,0.06007000058889389
+1789729566463433287,9933,0.09483199566602707,-1.651276707649231,-0.02454777993261814,0.7567415237426758,1.642492651939392,-0.012148476205766201,-0.9649077653884888,0.06007000058889389
+1789729566496769272,9966,0.09425827860832214,-1.6472476720809937,-0.02444579266011715,0.7603029012680054,1.64125657081604,-0.012988094240427017,-0.9654406905174255,0.06007000058889389
+1789729566530107486,10000,0.09380706399679184,-1.6443545818328857,-0.024374468252062798,0.762851357460022,1.6404013633728027,-0.013650701381266117,-0.9659026265144348,0.06007000058889389
+1789729566563436043,10033,0.09333888441324234,-1.641464114189148,-0.024289079010486603,0.7652978301048279,1.6394457817077637,-0.014332165941596031,-0.9662966728210449,0.06007000058889389
+1789729566596771977,10066,0.09271927177906036,-1.6375538110733032,-0.024151258170604706,0.7684617042541504,1.638007640838623,-0.015152715146541595,-0.9666352868080139,0.06007000058889389
+1789729566630101944,10100,0.09227599203586578,-1.6346213817596436,-0.02404787205159664,0.7708220481872559,1.6369343996047974,-0.0156989898532629,-0.9668858647346497,0.06007000058889389
+1789729566663431040,10133,0.09185246378183365,-1.631759524345398,-0.023945674300193787,0.7731676697731018,1.6359238624572754,-0.016254469752311707,-0.967134952545166,0.06007000058889389
+1789729566696770294,10166,0.0913054570555687,-1.628096342086792,-0.023807039484381676,0.7764066457748413,1.6347304582595825,-0.01699092611670494,-0.9677538275718689,0.06007000058889389
+1789729566730105069,10200,0.09089755266904831,-1.625352144241333,-0.023689432069659233,0.778856098651886,1.6339062452316284,-0.01751626282930374,-0.968345046043396,0.06007000058889389
+1789729566763493231,10233,0.0905209630727768,-1.6225128173828125,-0.023593928664922714,0.7811869382858276,1.6329551935195923,-0.01798400469124317,-0.9687308073043823,0.06007000058889389
+1789729566796777028,10266,0.09009338170289993,-1.6185768842697144,-0.02351408638060093,0.7842000126838684,1.6315767765045166,-0.01853502355515957,-0.9689714908599854,0.06007000058889389
+1789729566830101846,10300,0.08982487767934799,-1.615596055984497,-0.023488391190767288,0.7864638566970825,1.6305664777755737,-0.01888396590948105,-0.9691284894943237,0.06007000058889389
+1789729566863428273,10333,0.08960161358118057,-1.6127142906188965,-0.02347676455974579,0.7887665033340454,1.629634141921997,-0.019090009853243828,-0.9694018959999084,0.06005999818444252
+1789729566896773156,10366,0.08931901305913925,-1.6090184450149536,-0.02346925437450409,0.792020320892334,1.6285674571990967,-0.019234301522374153,-0.970116913318634,0.06005999818444252
+1789729566930106381,10400,0.08907461166381836,-1.6063505411148071,-0.023469602689146996,0.7945067286491394,1.6278940439224243,-0.019355595111846924,-0.9708565473556519,0.06005999818444252
+1789729566963429659,10433,0.08876955509185791,-1.6036961078643799,-0.023479247465729713,0.7967979907989502,1.6271644830703735,-0.019555339589715004,-0.9715155959129333,0.06005999818444252
+1789729566996764764,10466,0.08828770369291306,-1.600179672241211,-0.023578008636832237,0.7994387745857239,1.6259742975234985,-0.01997561752796173,-0.9720856547355652,0.06005999818444252
+1789729567030096247,10500,0.08786402642726898,-1.5976094007492065,-0.023719320073723793,0.8011912703514099,1.6250730752944946,-0.02048194780945778,-0.9723235368728638,0.06005999818444252
+1789729567063427337,10533,0.08738087862730026,-1.595139503479004,-0.023873237892985344,0.8028764724731445,1.6241732835769653,-0.021149244159460068,-0.9725396633148193,0.06005999818444252
+1789729567096771824,10566,0.08665087819099426,-1.5920026302337646,-0.024041704833507538,0.8051670789718628,1.6231050491333008,-0.02219396084547043,-0.9729676246643066,0.06005999818444252
+1789729567130109313,10600,0.08605626225471497,-1.5896849632263184,-0.024133222177624702,0.8069380521774292,1.6223801374435425,-0.023055987432599068,-0.9733006954193115,0.06005999818444252
+1789729567163430265,10633,0.08543757349252701,-1.5872248411178589,-0.024193355813622475,0.8088375926017761,1.6216167211532593,-0.023969924077391624,-0.9735742807388306,0.06005999818444252
+1789729567196765104,10666,0.08463457226753235,-1.5835767984390259,-0.02425181306898594,0.8114993572235107,1.6203984022140503,-0.025164231657981873,-0.9736930727958679,0.06005999818444252
+1789729567230106232,10700,0.08408677577972412,-1.580600619316101,-0.024312607944011688,0.8136032819747925,1.6193803548812866,-0.02602352574467659,-0.9737018346786499,0.06005999818444252
+1789729567263425295,10733,0.08360277861356735,-1.5775468349456787,-0.0243908129632473,0.8157503008842468,1.6183693408966064,-0.026800407096743584,-0.97370845079422,0.06005999818444252
+1789729567296767192,10766,0.08304816484451294,-1.573473334312439,-0.024497242644429207,0.8186794519424438,1.6170964241027832,-0.027744676917791367,-0.9737489223480225,0.06005999818444252
+1789729567330103431,10800,0.08268241584300995,-1.5705288648605347,-0.02457020804286003,0.8209296464920044,1.6162608861923218,-0.02842774987220764,-0.9740715622901917,0.06005999818444252
+1789729567363427163,10833,0.0823037177324295,-1.567650318145752,-0.024596845731139183,0.8232595920562744,1.615554690361023,-0.029115570709109306,-0.9744742512702942,0.06004999950528145
+1789729567396766761,10866,0.0818009227514267,-1.5637043714523315,-0.024592818692326546,0.8264819979667664,1.614630103111267,-0.03000427596271038,-0.9750189185142517,0.06004999950528145
+1789729567430099121,10900,0.08144271373748779,-1.5605865716934204,-0.02458619326353073,0.8289738893508911,1.6138942241668701,-0.030637189745903015,-0.9753546118736267,0.06004999950528145
+1789729567463428662,10933,0.08112171292304993,-1.557343602180481,-0.024574430659413338,0.8315097093582153,1.613115668296814,-0.031223325058817863,-0.9755497574806213,0.06004999950528145
+1789729567496764961,10966,0.08076968789100647,-1.5529534816741943,-0.02452884428203106,0.8350284099578857,1.6120597124099731,-0.03188202157616615,-0.9757325649261475,0.06004999950528145
+1789729567530137521,11000,0.08051969110965729,-1.549712061882019,-0.02445913478732109,0.8378208875656128,1.6114411354064941,-0.032328151166439056,-0.9761302471160889,0.06004999950528145
+1789729567563465411,11033,0.08026550710201263,-1.5464911460876465,-0.024358879774808884,0.8406538963317871,1.6108993291854858,-0.032753292471170425,-0.9766038656234741,0.06004999950528145
+1789729567596773027,11066,0.07995305210351944,-1.5420725345611572,-0.02421928383409977,0.8443827629089355,1.6100451946258545,-0.033232592046260834,-0.9771137237548828,0.06004999950528145
+1789729567630100888,11100,0.07974269241094589,-1.5386680364608765,-0.024086320772767067,0.8472109436988831,1.609350323677063,-0.03349800407886505,-0.9774176478385925,0.06004999950528145
+1789729567663437027,11133,0.07956431061029434,-1.5352131128311157,-0.02392997033894062,0.850175678730011,1.6086981296539307,-0.033652372658252716,-0.9777607321739197,0.06004999950528145
+1789729567696769657,11166,0.07934559881687164,-1.5306745767593384,-0.023659586906433105,0.8544906973838806,1.608031988143921,-0.03376832976937294,-0.9785892367362976,0.06004999950528145
+1789729567730141697,11200,0.07914508879184723,-1.5273278951644897,-0.023379599675536156,0.8579437136650085,1.6077126264572144,-0.033796995878219604,-0.9795302152633667,0.06004999950528145
+1789729567763439615,11233,0.07891680300235748,-1.5238879919052124,-0.02304619550704956,0.8613338470458984,1.6072980165481567,-0.03380334749817848,-0.9803000688552856,0.06004999950528145
+1789729567796772645,11266,0.07862691581249237,-1.519128680229187,-0.02259708009660244,0.86571204662323,1.6065394878387451,-0.033781398087739944,-0.9809478521347046,0.06004999950528145
+1789729567830166900,11300,0.07842856645584106,-1.5154218673706055,-0.022243769839406013,0.8691049814224243,1.6059486865997314,-0.03369618207216263,-0.9813639521598816,0.06004999950528145
+1789729567863439684,11333,0.07825972139835358,-1.5119282007217407,-0.021908072754740715,0.8725519776344299,1.6054761409759521,-0.0335930660367012,-0.9819585084915161,0.06004999950528145
+1789729567896770204,11366,0.07799829542636871,-1.5074495077133179,-0.021371465176343918,0.8773767352104187,1.6051543951034546,-0.03339918330311775,-0.983230710029602,0.06004999950528145
+1789729567930103904,11400,0.07779747247695923,-1.5039888620376587,-0.020913539454340935,0.8808596134185791,1.6047292947769165,-0.033183272927999496,-0.9840796589851379,0.06004999950528145
+1789729567963458508,11433,0.0776454508304596,-1.500468134880066,-0.020486876368522644,0.884088397026062,1.6040873527526855,-0.032872091978788376,-0.9844254851341248,0.06004999950528145
+1789729567996768514,11466,0.07748031616210938,-1.4953019618988037,-0.019901784136891365,0.8887192606925964,1.6030157804489136,-0.03232676163315773,-0.9846892356872559,0.06004999950528145
+1789729568030108340,11500,0.07738488912582397,-1.4915329217910767,-0.019473643973469734,0.8924028277397156,1.6023449897766113,-0.031823258846998215,-0.9851392507553101,0.06004999950528145
+1789729568063436715,11533,0.07724606990814209,-1.4878597259521484,-0.019019462168216705,0.8963095545768738,1.60189688205719,-0.03135225549340248,-0.9859130382537842,0.06004999950528145
+1789729568096772837,11566,0.07699926197528839,-1.4829399585723877,-0.018336988985538483,0.9012685418128967,1.6011544466018677,-0.030714664608240128,-0.9869493842124939,0.06004999950528145
+1789729568130104131,11600,0.07682754844427109,-1.4791184663772583,-0.017817629501223564,0.9047635197639465,1.6003153324127197,-0.030178634449839592,-0.9872821569442749,0.06004999950528145
+1789729568163434905,11633,0.07667005807161331,-1.475304365158081,-0.017313465476036072,0.9082076549530029,1.599452018737793,-0.029643738642334938,-0.9875560998916626,0.06004999950528145
+1789729568196775537,11666,0.07644636183977127,-1.4704540967941284,-0.01660671830177307,0.9130055904388428,1.5985230207443237,-0.028947606682777405,-0.9883056282997131,0.06004999950528145
+1789729568230166137,11700,0.07620228081941605,-1.4669818878173828,-0.016003025695681572,0.9166609048843384,1.5980409383773804,-0.02846122905611992,-0.989236056804657,0.06004999950528145
+1789729568263438175,11733,0.07594063878059387,-1.4634430408477783,-0.015369076281785965,0.920071542263031,1.5973405838012695,-0.027957776561379433,-0.9899600744247437,0.06004999950528145
+1789729568296765440,11766,0.07562217861413956,-1.4585201740264893,-0.014544500038027763,0.9242902994155884,1.5960547924041748,-0.027221741154789925,-0.9902993440628052,0.06004999950528145
+1789729568330101612,11800,0.07541976124048233,-1.454790472984314,-0.013923902064561844,0.9274806976318359,1.5950161218643188,-0.026605801656842232,-0.990451455116272,0.06004999950528145
+1789729568363431317,11833,0.07522765547037125,-1.4511878490447998,-0.013298985548317432,0.930905818939209,1.5941983461380005,-0.025965778157114983,-0.9909513592720032,0.06004999950528145
+1789729568396764000,11866,0.07490076869726181,-1.4465296268463135,-0.012405871413648129,0.9356809854507446,1.5933613777160645,-0.02512328512966633,-0.9921166896820068,0.06004999950528145
+1789729568430100013,11900,0.0746411457657814,-1.4429631233215332,-0.011755645275115967,0.9390096068382263,1.5926048755645752,-0.024526365101337433,-0.9927417635917664,0.06004999950528145
+1789729568463429577,11933,0.07441582530736923,-1.4392666816711426,-0.011133002117276192,0.9421404600143433,1.5916142463684082,-0.023893726989626884,-0.992975652217865,0.06004999950528145
+1789729568496763421,11966,0.07415725290775299,-1.434309959411621,-0.010286620818078518,0.9463289976119995,1.5902131795883179,-0.02298450469970703,-0.9931068420410156,0.06004999950528145
+1789729568530101123,12000,0.0739632174372673,-1.43073570728302,-0.00964908953756094,0.9497286677360535,1.589444637298584,-0.02228870615363121,-0.9935669898986816,0.06004999950528145
+1789729568563455451,12033,0.07370226830244064,-1.4272172451019287,-0.008980530314147472,0.9532772898674011,1.5888550281524658,-0.021665969863533974,-0.9943154454231262,0.06004999950528145
+1789729568596762871,12066,0.07331673800945282,-1.422374963760376,-0.008064668625593185,0.9577429890632629,1.5878386497497559,-0.02083323337137699,-0.9950197339057922,0.06004999950528145
+1789729568630099973,12100,0.07307339459657669,-1.4185712337493896,-0.00740413274616003,0.9607912302017212,1.5868030786514282,-0.020173799246549606,-0.9950907826423645,0.06004999950528145
+1789729568663437716,12133,0.07288975268602371,-1.4147546291351318,-0.0067412639036774635,0.963830292224884,1.585693359375,-0.019467350095510483,-0.9950314164161682,0.06004999950528145
+1789729568696793604,12166,0.07268715649843216,-1.409887671470642,-0.005868264939635992,0.9682288765907288,1.5845996141433716,-0.018530339002609253,-0.9951983094215393,0.06004999950528145
+1789729568730099444,12200,0.0725189596414566,-1.4063040018081665,-0.005192562006413937,0.9715864658355713,1.5838983058929443,-0.01790907047688961,-0.995906412601471,0.06004999950528145
+1789729568763435467,12233,0.07234906405210495,-1.402631402015686,-0.00449693389236927,0.9747574329376221,1.5830574035644531,-0.01729961670935154,-0.9963089823722839,0.06004999950528145
+1789729568796764781,12266,0.07222378998994827,-1.397579312324524,-0.0036082107108086348,0.9784805774688721,1.5815441608428955,-0.016556482762098312,-0.9963393807411194,0.06004999950528145
+1789729568830102733,12300,0.07221384346485138,-1.3938963413238525,-0.002932983683422208,0.9810977578163147,1.5803881883621216,-0.01599770225584507,-0.9960610866546631,0.06004999950528145
+1789729568863432628,12333,0.07221592962741852,-1.3904685974121094,-0.0021962879691272974,0.9837888479232788,1.5794769525527954,-0.01543426513671875,-0.996044933795929,0.06004999950528145
+1789729568896762832,12366,0.07220809161663055,-1.386204481124878,-0.0011640990851446986,0.987265944480896,1.5785051584243774,-0.014768152497708797,-0.9965450167655945,0.06004999950528145
+1789729568930102704,12400,0.07218293845653534,-1.383108377456665,-0.00035411454155109823,0.9896018505096436,1.5776993036270142,-0.014326532371342182,-0.9968700408935547,0.06004999950528145
+1789729568963431378,12433,0.07217205315828323,-1.3801099061965942,0.00045684355427511036,0.9917079210281372,1.5767902135849,-0.013839086517691612,-0.9970357418060303,0.06004999950528145
+1789729568996770280,12466,0.07216636091470718,-1.3764965534210205,0.0015507705975323915,0.9941312074661255,1.5755118131637573,-0.013148332014679909,-0.9972094893455505,0.06004999950528145
+1789729569030168406,12500,0.0721609964966774,-1.3742977380752563,0.002320697298273444,0.9957175850868225,1.5747402906417847,-0.012656278908252716,-0.9975837469100952,0.06004999950528145
+1789729569063443777,12533,0.07212863862514496,-1.3725758790969849,0.003064901102334261,0.9970325827598572,1.5741270780563354,-0.012190716341137886,-0.9980127215385437,0.06004999950528145
+1789729569096781113,12566,0.07207640260457993,-1.3709367513656616,0.003995971754193306,0.998214066028595,1.573344111442566,-0.011617384850978851,-0.9984217286109924,0.06004999950528145
+1789729569130108261,12600,0.07203458249568939,-1.3700772523880005,0.004679813981056213,0.9987273216247559,1.5727781057357788,-0.011228164657950401,-0.9985176920890808,0.06004999950528145
+1789729569163495745,12633,0.07199661433696747,-1.3693658113479614,0.005458760540932417,0.9990658760070801,1.572150707244873,-0.010788148269057274,-0.9985193014144897,0.06004999950528145
+1789729569196771616,12666,0.07198691368103027,-1.3684419393539429,0.006607710849493742,0.9994948506355286,1.571329951286316,-0.010107127949595451,-0.9984605312347412,0.06004999950528145
+1789729569230103043,12700,0.07199494540691376,-1.3677215576171875,0.00755810271948576,0.999797523021698,1.5706720352172852,-0.009509586729109287,-0.9983407855033875,0.06004999950528145
+1789729569263433251,12733,0.07202879339456558,-1.3669538497924805,0.008521699346601963,1.0001200437545776,1.5699896812438965,-0.008852455765008926,-0.9982152581214905,0.06004999950528145
+1789729569296768597,12766,0.07210828363895416,-1.3658452033996582,0.009777610190212727,1.0006356239318848,1.5691256523132324,-0.007939592003822327,-0.9980853199958801,0.06004999950528145
+1789729569330103104,12800,0.07218290120363235,-1.3649954795837402,0.010702262632548809,1.0010749101638794,1.5685231685638428,-0.007260703016072512,-0.9980243444442749,0.06004999950528145
+1789729569363435671,12833,0.07226205617189407,-1.364179015159607,0.011603516526520252,1.001494288444519,1.5679457187652588,-0.006579098291695118,-0.9980175495147705,0.06004999950528145
+1789729569396768968,12866,0.07230570912361145,-1.363209843635559,0.01268866565078497,1.0020242929458618,1.5672708749771118,-0.0057454342022538185,-0.9980347156524658,0.06004999950528145
+1789729569430099925,12900,0.07229847460985184,-1.3626900911331177,0.013365291990339756,1.0023117065429688,1.5667837858200073,-0.0051747532561421394,-0.9980546236038208,0.06004999950528145
+1789729569463431933,12933,0.07224239408969879,-1.3624019622802734,0.013851027935743332,1.0024727582931519,1.5664360523223877,-0.004784786608070135,-0.9980698227882385,0.06004999950528145
+1789729569496768509,12966,0.0720619186758995,-1.3623024225234985,0.014405586756765842,1.0025488138198853,1.5660207271575928,-0.0044630528427660465,-0.9980849027633667,0.06004999950528145
+1789729569530092838,13000,0.07188183814287186,-1.3623110055923462,0.014810976572334766,1.0025651454925537,1.5656983852386475,-0.004245724529027939,-0.9981023669242859,0.06004999950528145
+1789729569563436332,13033,0.07168606668710709,-1.3623199462890625,0.015216091647744179,1.0025743246078491,1.565370798110962,-0.004025304690003395,-0.9981265068054199,0.06004999950528145
+1789729569596769559,13066,0.07144350558519363,-1.3623132705688477,0.015733767300844193,1.0025839805603027,1.5649213790893555,-0.003733403515070677,-0.9981440901756287,0.06004999950528145
+1789729569630093698,13100,0.07128223776817322,-1.3623101711273193,0.0160958394408226,1.0025901794433594,1.5646096467971802,-0.003513020696118474,-0.9981498718261719,0.06004999950528145
+1789729569663429145,13133,0.07112068682909012,-1.3623195886611938,0.016458647325634956,1.0025960206985474,1.5642989873886108,-0.0032896101474761963,-0.9981532096862793,0.06004999950528145
+1789729569696768030,13166,0.07090363651514053,-1.3623476028442383,0.016927825286984444,1.0025969743728638,1.5639007091522217,-0.0030020778067409992,-0.9981656074523926,0.06004999950528145
+1789729569730091720,13200,0.07074195146560669,-1.362370491027832,0.017257291823625565,1.002591609954834,1.5636225938796997,-0.002824041759595275,-0.99817955493927,0.06004999950528145
+1789729569763431375,13233,0.07058399170637131,-1.3623876571655273,0.017588820308446884,1.0025815963745117,1.5633314847946167,-0.002634606556966901,-0.9981904625892639,0.06004999950528145
+1789729569796774200,13266,0.07038026303052902,-1.3624142408370972,0.018021591007709503,1.002573013305664,1.5629608631134033,-0.0023895506747066975,-0.9981968998908997,0.06004999950528145
+1789729569830097519,13300,0.07022785395383835,-1.3624382019042969,0.018340136855840683,1.0025686025619507,1.5626953840255737,-0.0022150971926748753,-0.9982063174247742,0.06004999950528145
+1789729569863436874,13333,0.07008147984743118,-1.3624627590179443,0.018651684746146202,1.0025553703308105,1.5624281167984009,-0.002029135124757886,-0.9982179999351501,0.06004999950528145
+1789729569896772371,13366,0.06989108771085739,-1.362492561340332,0.01907815784215927,1.0025349855422974,1.5620667934417725,-0.0017863062676042318,-0.9982250332832336,0.06005999818444252
+1789729569930095700,13400,0.06974435597658157,-1.3625205755233765,0.01939791813492775,1.0025174617767334,1.561794638633728,-0.0016038173343986273,-0.998227596282959,0.06005999818444252
+1789729569963433276,13433,0.06959877163171768,-1.3625487089157104,0.01971334218978882,1.002500295639038,1.5615322589874268,-0.0014080636901780963,-0.9982313513755798,0.06009000167250633
+1789729569996768992,13466,0.06940601021051407,-1.362581491470337,0.020129725337028503,1.002478003501892,1.5611754655838013,-0.00117620883975178,-0.9982390403747559,0.060189999639987946
+1789729570030100887,13500,0.0692656859755516,-1.362605333328247,0.020438477396965027,1.0024611949920654,1.5609158277511597,-0.000996481510810554,-0.9982462525367737,0.06086000055074692
+1789729570063432488,13533,0.06912046670913696,-1.3626272678375244,0.02074192836880684,1.00245201587677,1.5606458187103271,-0.0008306496893055737,-0.9982510209083557,0.062199998646974564
+1789729570096771997,13566,0.06891573965549469,-1.362657070159912,0.021164242178201675,1.0024391412734985,1.5602779388427734,-0.0005934386281296611,-0.9982578158378601,0.06544999778270721
+1789729570130103557,13600,0.06876564025878906,-1.3626823425292969,0.021464280784130096,1.0024195909500122,1.5599989891052246,-0.0004257934051565826,-0.9982674717903137,0.06544999778270721
+1789729570163433818,13633,0.06860588490962982,-1.3627125024795532,0.02175525203347206,1.002388834953308,1.5597405433654785,-0.00028185456176288426,-0.9982699751853943,0.07099000364542007
+1789729570196769238,13666,0.06840332597494125,-1.3627614974975586,0.02215631492435932,1.0023351907730103,1.5593783855438232,-7.862834900151938e-05,-0.9982670545578003,0.07586000114679337
+1789729570230104107,13700,0.0682668536901474,-1.3628021478652954,0.022463249042630196,1.0022960901260376,1.5591235160827637,9.754002530826256e-05,-0.9982661604881287,0.07913000136613846
+1789729570263429319,13733,0.06815142929553986,-1.3628337383270264,0.02274753712117672,1.0022673606872559,1.5588974952697754,0.00026054520276375115,-0.9982660412788391,0.08008000254631042
+1789729570296771727,13766,0.06800657510757446,-1.362868309020996,0.023098191246390343,1.0022451877593994,1.5586038827896118,0.0004691960057243705,-0.9982662796974182,0.08008000254631042
+1789729570330100978,13800,0.06789422780275345,-1.3628907203674316,0.023338405415415764,1.0022315979003906,1.5584019422531128,0.0006154212169349194,-0.99826580286026,0.08005999773740768
+1789729570363440427,13833,0.06777133047580719,-1.3629157543182373,0.023578010499477386,1.0022073984146118,1.558180570602417,0.0007360068848356605,-0.9982658624649048,0.08005999773740768
+1789729570396769388,13866,0.06760559231042862,-1.36295485496521,0.023908527567982674,1.0021721124649048,1.5578889846801758,0.0009154672734439373,-0.9982644319534302,0.08004999905824661
+1789729570430100938,13900,0.06748925149440765,-1.3629939556121826,0.02415768802165985,1.0021305084228516,1.5576741695404053,0.0010495418682694435,-0.9982630610466003,0.08004999905824661
+1789729570463431879,13933,0.0673782154917717,-1.3630378246307373,0.02440211921930313,1.0020867586135864,1.5574686527252197,0.001183782471343875,-0.9982616305351257,0.08004999905824661
+1789729570496766948,13966,0.06723709404468536,-1.363080620765686,0.024708764627575874,1.0020393133163452,1.5571948289871216,0.0013508660485967994,-0.9982582330703735,0.08004999905824661
+1789729570530099069,14000,0.06712286174297333,-1.3631078004837036,0.024933578446507454,1.0020191669464111,1.5570040941238403,0.0014695879071950912,-0.9982585906982422,0.08004999905824661
+1789729570563433599,14033,0.0670175775885582,-1.3631227016448975,0.025143101811408997,1.0020118951797485,1.5568181276321411,0.0015782651025801897,-0.9982582926750183,0.08004999905824661
+1789729570596769708,14066,0.06690065562725067,-1.3631409406661987,0.025398053228855133,1.0019978284835815,1.5565927028656006,0.0017255519051104784,-0.9982589483261108,0.08004999905824661
+1789729570630099279,14100,0.06682728976011276,-1.3631592988967896,0.025567185133695602,1.0019798278808594,1.5564597845077515,0.001825064653530717,-0.9982597827911377,0.08004999905824661
+1789729570663434079,14133,0.06675846129655838,-1.3631858825683594,0.025733521208167076,1.0019468069076538,1.5563172101974487,0.0019183226395398378,-0.9982582926750183,0.08004999905824661
+1789729570696766179,14166,0.06665895134210587,-1.3632264137268066,0.025940801948308945,1.0018932819366455,1.5561293363571167,0.0020210088696330786,-0.9982531666755676,0.08004999905824661
+1789729570730096890,14200,0.06657221913337708,-1.3632582426071167,0.026107806712388992,1.0018563270568848,1.5559804439544678,0.0021000613924115896,-0.9982503652572632,0.08004999905824661
+1789729570763443467,14233,0.06649068742990494,-1.3632789850234985,0.02626590058207512,1.0018377304077148,1.5558342933654785,0.002181533258408308,-0.9982463717460632,0.08004999905824661
+1789729570796771458,14266,0.06639373302459717,-1.3633009195327759,0.02645358070731163,1.001827597618103,1.5556788444519043,0.002287516836076975,-0.9982465505599976,0.08004999905824661
+1789729570830101099,14300,0.06633678078651428,-1.3633081912994385,0.02656329609453678,1.0018229484558105,1.5555781126022339,0.0023431675508618355,-0.9982483983039856,0.08004999905824661
+1789729570863432270,14333,0.06628621369600296,-1.3633173704147339,0.0266637671738863,1.0018161535263062,1.55549156665802,0.002400234341621399,-0.9982499480247498,0.08004999905824661
+1789729570896767199,14366,0.06622744351625443,-1.363336443901062,0.026796652004122734,1.0017887353897095,1.5553756952285767,0.002466379664838314,-0.9982494115829468,0.08004999905824661
+1789729570930101279,14400,0.06618321686983109,-1.3633588552474976,0.026898274198174477,1.0017600059509277,1.5552887916564941,0.002516981679946184,-0.998249351978302,0.08004999905824661
+1789729570963441048,14433,0.06613843888044357,-1.3633819818496704,0.026992468163371086,1.001731514930725,1.5552105903625488,0.002567252377048135,-0.9982409477233887,0.08004999905824661
+1789729570996759921,14466,0.06607753038406372,-1.3634027242660522,0.027116160839796066,1.0017050504684448,1.555088758468628,0.0026338782627135515,-0.9982326030731201,0.08004999905824661
+1789729571030093749,14500,0.0660301223397255,-1.3634109497070312,0.0272056981921196,1.0016963481903076,1.5550081729888916,0.002679951023310423,-0.9982315897941589,0.08004999905824661
+1789729571063430311,14533,0.06598790735006332,-1.3634196519851685,0.027292827144265175,1.0016921758651733,1.5549448728561401,0.0027268375270068645,-0.9982306957244873,0.08004999905824661
+1789729571096774831,14566,0.06593727320432663,-1.363426685333252,0.027407070621848106,1.00169038772583,1.5548478364944458,0.0027995461132377386,-0.9982334971427917,0.08004999905824661
+1789729571130100866,14600,0.06590211391448975,-1.3634369373321533,0.02748679369688034,1.001680612564087,1.5547823905944824,0.0028432458639144897,-0.9982354640960693,0.08004999905824661
+1789729571163448485,14633,0.06586597859859467,-1.3634498119354248,0.027556002140045166,1.0016672611236572,1.5547209978103638,0.0028705287259072065,-0.9982355833053589,0.08004999905824661
+1789729571196769581,14666,0.06582240015268326,-1.3634698390960693,0.027631377801299095,1.0016330480575562,1.5546371936798096,0.002901331288740039,-0.9982326626777649,0.08004999905824661
+1789729571230097925,14700,0.06578901410102844,-1.3634825944900513,0.02769544906914234,1.0016125440597534,1.5545756816864014,0.002930298913270235,-0.9982240796089172,0.08004999905824661
+1789729571263435237,14733,0.06575240194797516,-1.3634898662567139,0.02776867337524891,1.0016074180603027,1.5545233488082886,0.0029681441374123096,-0.9982166290283203,0.08004999905824661
+1789729571296762711,14766,0.06570681929588318,-1.3634955883026123,0.02787591889500618,1.0016067028045654,1.5544441938400269,0.0030383148696273565,-0.9982154369354248,0.08004999905824661
+1789729571330094205,14800,0.0656769871711731,-1.363500952720642,0.027949906885623932,1.0016058683395386,1.5543859004974365,0.003092923667281866,-0.9982171654701233,0.08004999905824661
+1789729571363442434,14833,0.06565006822347641,-1.3635057210922241,0.028010211884975433,1.0016014575958252,1.5543310642242432,0.0031258866656571627,-0.9982184171676636,0.08004999905824661
+1789729571396763210,14866,0.06561657786369324,-1.3635177612304688,0.028077421709895134,1.0015861988067627,1.5542716979980469,0.0031579420901834965,-0.9982195496559143,0.08004999905824661
+1789729571430100992,14900,0.06559348851442337,-1.3635280132293701,0.02812112867832184,1.001560926437378,1.5542242527008057,0.003173815319314599,-0.9982165694236755,0.08004999905824661
+1789729571463437164,14933,0.06557198613882065,-1.3635382652282715,0.028159035369753838,1.0015419721603394,1.5541878938674927,0.00318941380828619,-0.9982063174247742,0.08004999905824661
+1789729571496767577,14966,0.06554204970598221,-1.36354660987854,0.028222961351275444,1.0015314817428589,1.5541355609893799,0.0032243081368505955,-0.9981966614723206,0.08004999905824661
+1789729571530105269,15000,0.06551835685968399,-1.3635516166687012,0.028280628845095634,1.0015301704406738,1.5540859699249268,0.003261096542701125,-0.9981954097747803,0.08004999905824661
+1789729571563498928,15033,0.06549255549907684,-1.3635568618774414,0.02833738923072815,1.001528263092041,1.5540449619293213,0.0032961471006274223,-0.9981952905654907,0.08004999905824661
+1789729571596748231,15066,0.06546682119369507,-1.3635598421096802,0.028396468609571457,1.0015201568603516,1.5539939403533936,0.003338993526995182,-0.9981968998908997,0.08004999905824661
+1789729571630096780,15100,0.06544577330350876,-1.3635659217834473,0.028434721753001213,1.0015089511871338,1.5539579391479492,0.0033545854967087507,-0.9981943368911743,0.08004999905824661
+1789729571663431453,15133,0.06543021649122238,-1.363577961921692,0.02846180833876133,1.0014820098876953,1.5539196729660034,0.0033597613219171762,-0.998185932636261,0.08004999905824661
+1789729571696759307,15166,0.06541383266448975,-1.3635910749435425,0.02848927117884159,1.0014568567276,1.5538932085037231,0.0033700617495924234,-0.9981722831726074,0.08004999905824661
+1789729571730098788,15200,0.065398670732975,-1.3635972738265991,0.028519902378320694,1.0014500617980957,1.5538694858551025,0.0033849661704152822,-0.9981653094291687,0.08004999905824661
+1789729571763431652,15233,0.06538189947605133,-1.3636014461517334,0.02855588123202324,1.0014472007751465,1.5538451671600342,0.0034044585190713406,-0.9981635212898254,0.08004999905824661
+1789729571796758526,15266,0.06535562127828598,-1.3636077642440796,0.02860955335199833,1.0014429092407227,1.553810954093933,0.0034382895100861788,-0.9981616735458374,0.08004999905824661
+1789729571830100127,15300,0.06533998996019363,-1.3636116981506348,0.02863965928554535,1.0014421939849854,1.5537852048873901,0.0034553115256130695,-0.9981616735458374,0.08004999905824661
+1789729571863497215,15333,0.06532663106918335,-1.3636151552200317,0.02865934744477272,1.0014348030090332,1.553764820098877,0.0034641644451767206,-0.9981615543365479,0.08004999905824661
+1789729571896763354,15366,0.06531628966331482,-1.3636243343353271,0.028678277507424355,1.001413345336914,1.5537351369857788,0.0034717926755547523,-0.9981549382209778,0.08004999905824661
+1789729571930099906,15400,0.06530885398387909,-1.3636281490325928,0.02869352139532566,1.0013983249664307,1.5537090301513672,0.003475362667813897,-0.9981454610824585,0.08004999905824661
+1789729571963438497,15433,0.06530111283063889,-1.363633155822754,0.028716951608657837,1.0013861656188965,1.553679347038269,0.003490225877612829,-0.9981329441070557,0.08004999905824661
+1789729571996770571,15466,0.06528525054454803,-1.3636342287063599,0.02875596284866333,1.001380205154419,1.5536617040634155,0.0035199301782995462,-0.9981209635734558,0.08004999905824661
+1789729572030102701,15500,0.06527191400527954,-1.3636366128921509,0.028785105794668198,1.0013774633407593,1.5536398887634277,0.0035387983079999685,-0.9981210827827454,0.08004999905824661
+1789729572063492623,15533,0.0652601346373558,-1.3636391162872314,0.02880833111703396,1.0013720989227295,1.553619623184204,0.0035537807270884514,-0.9981229305267334,0.08004999905824661
+1789729572096766982,15566,0.06524519622325897,-1.3636494874954224,0.028839893639087677,1.0013543367385864,1.5535892248153687,0.003565174760296941,-0.998121440410614,0.08004999905824661
+1789729572130099098,15600,0.06523656845092773,-1.3636565208435059,0.02885877899825573,1.0013389587402344,1.553557276725769,0.003574955277144909,-0.9981098771095276,0.08004999905824661
+1789729572163430454,15633,0.06522674858570099,-1.3636623620986938,0.028879953548312187,1.0013257265090942,1.5535411834716797,0.003584635443985462,-0.9980975985527039,0.08004999905824661
+1789729572196765039,15666,0.06521475315093994,-1.3636680841445923,0.0289068091660738,1.001307725906372,1.5535106658935547,0.0035925914999097586,-0.9980899691581726,0.08004999905824661
+1789729572230097784,15700,0.06520354747772217,-1.3636716604232788,0.02892366424202919,1.0013020038604736,1.5535050630569458,0.0036067680921405554,-0.9980834722518921,0.08004999905824661
+1789729572263425511,15733,0.06519102305173874,-1.3636740446090698,0.028947023674845695,1.0013008117675781,1.5534924268722534,0.003623503027483821,-0.9980769753456116,0.08004999905824661
+1789729572296756807,15766,0.06517817080020905,-1.3636759519577026,0.028971388936042786,1.0012999773025513,1.5534672737121582,0.0036360230296850204,-0.9980787634849548,0.08004999905824661
+1789729572330095371,15800,0.06516814976930618,-1.363679051399231,0.028987281024456024,1.0012922286987305,1.55344820022583,0.003640427952632308,-0.9980815052986145,0.08004999905824661
+1789729572363425477,15833,0.06515873968601227,-1.3636835813522339,0.029004080221056938,1.0012811422348022,1.5534331798553467,0.003642552299425006,-0.998081386089325,0.08004999905824661
+1789729572396760972,15866,0.065149687230587,-1.3636921644210815,0.02901839092373848,1.0012603998184204,1.5534136295318604,0.0036470992490649223,-0.9980667233467102,0.08004999905824661
+1789729572430096817,15900,0.06514640152454376,-1.3636962175369263,0.02902992255985737,1.0012476444244385,1.553394079208374,0.003651433391496539,-0.9980469346046448,0.08004999905824661
+1789729572463422794,15933,0.0651402473449707,-1.363702654838562,0.02904335968196392,1.001236915588379,1.5533902645111084,0.003665435593575239,-0.9980427622795105,0.08004999905824661
+1789729572496759119,15966,0.06513373553752899,-1.3637070655822754,0.029066724702715874,1.001230001449585,1.5533825159072876,0.0036803490947932005,-0.9980429410934448,0.08004999905824661
+1789729572530096343,16000,0.06512666493654251,-1.363709568977356,0.029079267755150795,1.001227855682373,1.553374171257019,0.0036882590502500534,-0.9980425238609314,0.08004999905824661
+1789729572563492494,16033,0.0651213601231575,-1.3637123107910156,0.02909110113978386,1.001223087310791,1.5533546209335327,0.003699432360008359,-0.998041570186615,0.08004999905824661
+1789729572596775291,16066,0.06511427462100983,-1.3637157678604126,0.029104188084602356,1.0012109279632568,1.5533387660980225,0.0037042605690658092,-0.9980379343032837,0.08004999905824661
+1789729572630101898,16100,0.06511334329843521,-1.3637231588363647,0.02911253459751606,1.0011919736862183,1.5533277988433838,0.0037071409169584513,-0.998029887676239,0.08004999905824661
+1789729572663428455,16133,0.06511237472295761,-1.3637281656265259,0.029119856655597687,1.0011757612228394,1.553316354751587,0.003710415679961443,-0.9980165958404541,0.08004999905824661
diff --git a/episode_0003/right.observation.state/data.jsonl b/episode_0003/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..24f034afef41fb61f7778558f5c177c33a09522b
--- /dev/null
+++ b/episode_0003/right.observation.state/data.jsonl
@@ -0,0 +1,485 @@
+{"timestamp_ns": 1789729556530065232, "elapsed_ms": 0, "source_timestamp_ns": 1789729556525230473, "q": [0.012936199083924294, -1.689381718635559, -0.023061782121658325, 0.7515326738357544, 1.6073918342590332, -0.05417138338088989, -0.9191675186157227], "theta": [0.010594339109957218, -1.6884582042694092, -0.02463643252849579, 0.7348352670669556, 1.607224941253662, -0.05417072772979736, -0.9203106760978699], "dq": [0.014261518605053425, 0.008276589214801788, -0.045777659863233566, 0.011569468304514885, 0.042134448885917664, -0.01678585633635521, -0.0014714543940499425], "dtheta": [0.015904566273093224, 0.007205385714769363, -0.04251394048333168, 0.009790902025997639, 0.0418633297085762, -0.01807541400194168, -0.0013741895090788603], "tau": [-60.89999771118164, 1.0099999904632568, -24.6200008392334, 0.4960000216960907, -3.888000249862671, 3.184000253677368, -0.492000013589859], "tau_des": [-0.7018085718154907, 1.6227810382843018, -0.8608672618865967, -0.24105791747570038, 0.2134392261505127, -0.49691176414489746, -0.47096768021583557], "tau_dot": [65.62019348144531, -51.88002395629883, 35.140201568603516, 5.500072479248047, 21.69046974182129, 9.615912437438965, -47.24757385253906], "tau_ext": [14.557403564453125, -36.13327407836914, -36.03852844238281, 19.98246192932129, -2.5719995498657227, -6.33318567276001, 0.37139543890953064], "tcp_pose": [0.6407595276832581, -0.12199018150568008, -0.2824929654598236, -0.00623390544205904, -0.024632493034005165, 0.9994844794273376, 0.019626427441835403], "tcp_vel": [-0.0004664550069719553, -0.0003437524719629437, 0.001367543707601726, -0.001504362910054624, 0.00016033693100325763, -6.854214734630659e-05], "flange_pose": [0.6433109045028687, -0.1293860226869583, -0.09265411645174026, -0.00623390544205904, -0.024632493034005165, 0.9994844794273376, 0.019626427441835403], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.054082870483398, -52.402992248535156, -11.979879379272461, -4.613526344299316, 11.783785820007324, 0.509665846824646], "ext_wrench_in_world": [-8.311461460088298, -53.3123555276763, 10.024779854818577, 4.023379958115925, 12.008543872848358, -0.09633599159310077]}
+{"timestamp_ns": 1789729556563477825, "elapsed_ms": 33, "source_timestamp_ns": 1789729556555263021, "q": [0.013418063521385193, -1.6891754865646362, -0.02430739998817444, 0.7518178224563599, 1.6086848974227905, -0.054713476449251175, -0.9192073345184326], "theta": [0.011064786463975906, -1.6882485151290894, -0.02591073326766491, 0.7351227402687073, 1.6085121631622314, -0.054708123207092285, -0.9203492999076843], "dq": [0.012761667370796204, 0.00411725789308548, -0.04365511238574982, 0.009348937310278416, 0.0452202670276165, -0.017894171178340912, -0.0021850604098290205], "dtheta": [0.01610839180648327, 0.006748291198164225, -0.041648827493190765, 0.009746837429702282, 0.042257361114025116, -0.01732145994901657, -0.0016475857701152563], "tau": [-60.939998626708984, 1.090000033378601, -24.61600112915039, 0.5320000052452087, -3.872000217437744, 3.180000066757202, -0.46000000834465027], "tau_des": [-0.6494745016098022, 1.7285674810409546, -0.8345250487327576, -0.3104809522628784, 0.19698305428028107, -0.5095140337944031, -0.47709372639656067], "tau_dot": [-95.4845962524414, -39.702789306640625, 12.106399536132812, -14.014225959777832, 15.784455299377441, -16.83858871459961, 22.656814575195312], "tau_ext": [14.502215385437012, -36.15830612182617, -36.07830810546875, 20.007984161376953, -2.5813655853271484, -6.335752487182617, 0.3701135516166687], "tcp_pose": [0.6407526135444641, -0.1219874769449234, -0.282470703125, -0.006222532596439123, -0.024630719795823097, 0.9994844794273376, 0.019630221650004387], "tcp_vel": [-0.0004494940221775323, -0.0004169961903244257, 0.0009315792704001069, -0.0009741378598846495, -0.0005561989382840693, -0.00018204658408649266], "flange_pose": [0.6432996988296509, -0.1293848752975464, -0.09263183921575546, -0.006222532596439123, -0.024630719795823097, 0.9994844794273376, 0.019630221650004387], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.130769729614258, -52.31736373901367, -12.134018898010254, -4.594667434692383, 11.770478248596191, 0.5039618015289307], "ext_wrench_in_world": [-8.390618700351906, -53.23674047820859, 10.182434830255529, 4.005324477164516, 11.994092013075093, -0.09075873519448055]}
+{"timestamp_ns": 1789729556596779647, "elapsed_ms": 66, "source_timestamp_ns": 1789729556595230708, "q": [0.014078534208238125, -1.688891053199768, -0.025949906557798386, 0.7521940469741821, 1.610388994216919, -0.05541462451219559, -0.9192585945129395], "theta": [0.011710423976182938, -1.6879603862762451, -0.02757236734032631, 0.7355048656463623, 1.6102136373519897, -0.05540287494659424, -0.920400083065033], "dq": [0.016347458586096764, 0.006238595116883516, -0.04412546753883362, 0.011454559862613678, 0.04231681302189827, -0.01700373739004135, -0.0026341506745666265], "dtheta": [0.01600758545100689, 0.007446669973433018, -0.04182438924908638, 0.00924757495522499, 0.039292603731155396, -0.01641259901225567, -0.0008888433803804219], "tau": [-60.939998626708984, 1.0299999713897705, -24.700000762939453, 0.6080000400543213, -3.872000217437744, 3.1680002212524414, -0.4520000219345093], "tau_des": [-0.4565797448158264, 1.5753711462020874, -0.6772220134735107, -0.2321268916130066, 0.28408899903297424, -0.548197865486145, -0.4654199481010437], "tau_dot": [64.81245422363281, 85.44745635986328, -30.856950759887695, -1.5099471807479858, 6.332335948944092, -67.92021942138672, 87.50833129882812], "tau_ext": [14.457162857055664, -36.079322814941406, -36.054420471191406, 19.98798179626465, -2.5893661975860596, -6.349434852600098, 0.3655267357826233], "tcp_pose": [0.6407456398010254, -0.12197864055633545, -0.28245559334754944, -0.006215768400579691, -0.02463448792695999, 0.9994844794273376, 0.019629862159490585], "tcp_vel": [-0.0003506174252834171, -0.0006390263442881405, 0.0014511261833831668, -0.003749565687030554, 0.0010605735005810857, 0.0002745572419371456], "flange_pose": [0.6432901620864868, -0.12937596440315247, -0.09261669963598251, -0.006215768400579691, -0.02463448792695999, 0.9994844794273376, 0.019629862159490585], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.236112594604492, -52.20323944091797, -12.263343811035156, -4.572849750518799, 11.751437187194824, 0.4960663616657257], "ext_wrench_in_world": [-8.499437920682007, -53.13314841253029, 10.317273409026201, 3.9844877298561836, 11.973730729236669, -0.08332223557077059]}
+{"timestamp_ns": 1789729556630117690, "elapsed_ms": 100, "source_timestamp_ns": 1789729556625223086, "q": [0.014573564752936363, -1.6886674165725708, -0.027133507654070854, 0.7524760961532593, 1.6116045713424683, -0.05589267611503601, -0.9192755222320557], "theta": [0.012195701710879803, -1.6877367496490479, -0.0287608839571476, 0.735790491104126, 1.611432433128357, -0.05587589740753174, -0.9204161763191223], "dq": [0.015443882904946804, 0.0069067208096385, -0.04421117529273033, 0.005627371370792389, 0.038771726191043854, -0.014842153526842594, -0.00026282051112502813], "dtheta": [0.015797844156622887, 0.007186148315668106, -0.040062569081783295, 0.009748888202011585, 0.0392204187810421, -0.01613197848200798, -0.00046694863704033196], "tau": [-60.959999084472656, 0.9199999570846558, -24.796001434326172, 0.656000018119812, -3.8680002689361572, 3.2080001831054688, -0.47600001096725464], "tau_des": [-0.5487152934074402, 1.638114094734192, -0.7368212938308716, -0.3020669221878052, 0.2824132442474365, -0.5292102098464966, -0.4959549009799957], "tau_dot": [-37.76826858520508, -90.96881866455078, -74.67839813232422, 54.3320198059082, 6.709095478057861, 38.007408142089844, -45.23441696166992], "tau_ext": [14.440630912780762, -36.09101486206055, -36.0230598449707, 20.00768280029297, -2.5983383655548096, -6.3576765060424805, 0.36609992384910583], "tcp_pose": [0.6407427191734314, -0.1219710111618042, -0.2824527323246002, -0.006216586567461491, -0.024631356820464134, 0.9994848370552063, 0.01961521804332733], "tcp_vel": [-0.0005116737447679043, -0.0004071878211107105, 0.0009166587260551751, -0.002282416447997093, 0.0005050707841292024, -0.0008972003124654293], "flange_pose": [0.6432874202728271, -0.12936276197433472, -0.09261361509561539, -0.006216586567461491, -0.024631356820464134, 0.9994848370552063, 0.01961521804332733], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.302705764770508, -52.077022552490234, -12.304065704345703, -4.547684192657471, 11.738391876220703, 0.48858729004859924], "ext_wrench_in_world": [-8.571895011418048, -53.011706624145994, 10.36528075370423, 3.9601664593698325, 11.959148490114458, -0.07643233179173847]}
+{"timestamp_ns": 1789729556663458912, "elapsed_ms": 133, "source_timestamp_ns": 1789729556655279138, "q": [0.015048776753246784, -1.6884479522705078, -0.028241116553544998, 0.7527514100074768, 1.6127545833587646, -0.05634269490838051, -0.9192955493927002], "theta": [0.012662572786211967, -1.6875180006027222, -0.029867766425013542, 0.7360721230506897, 1.6125879287719727, -0.05632328987121582, -0.920434832572937], "dq": [0.015971463173627853, 0.008315297774970531, -0.033983275294303894, 0.008115332573652267, 0.03641408681869507, -0.013616278767585754, 0.00012428330956026912], "dtheta": [0.015335998497903347, 0.006928314920514822, -0.03497300297021866, 0.009529403410851955, 0.03804406151175499, -0.014156325720250607, -0.0018514359835535288], "tau": [-60.959999084472656, 0.8499999642372131, -24.860000610351562, 0.6800000071525574, -3.876000165939331, 3.2160000801086426, -0.4880000352859497], "tau_des": [-0.8417236804962158, 1.4677386283874512, -1.11367928981781, -0.20304404199123383, 0.17964772880077362, -0.4408358633518219, -0.47424209117889404], "tau_dot": [-25.315725326538086, -12.577466011047363, 16.11945915222168, 30.46921157836914, 11.391059875488281, 18.955137252807617, -18.845203399658203], "tau_ext": [14.46507453918457, -36.07949447631836, -35.9533805847168, 20.010936737060547, -2.603692054748535, -6.364816188812256, 0.36253371834754944], "tcp_pose": [0.6407396793365479, -0.12195698916912079, -0.2824588716030121, -0.0062188333831727505, -0.024630578234791756, 0.9994850158691406, 0.019606517627835274], "tcp_vel": [-0.0001283659366890788, 0.0005447212606668472, -0.0005557913682423532, 0.0005208239890635014, -0.0009796631056815386, 0.0003716810024343431], "flange_pose": [0.6432851552963257, -0.12934541702270508, -0.0926196426153183, -0.0062188333831727505, -0.024630578234791756, 0.9994850158691406, 0.019606517627835274], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.396103858947754, -51.962162017822266, -12.319073677062988, -4.52652645111084, 11.715033531188965, 0.481742799282074], "ext_wrench_in_world": [-8.670628893012648, -52.90208533945924, 10.386847564466645, 3.9402881495588007, 11.934516647391828, -0.07049940227975665]}
+{"timestamp_ns": 1789729556696791186, "elapsed_ms": 166, "source_timestamp_ns": 1789729556695226661, "q": [0.01564728654921055, -1.688164234161377, -0.029626788571476936, 0.753135085105896, 1.6142081022262573, -0.05688150227069855, -0.9193592667579651], "theta": [0.013252420350909233, -1.6872318983078003, -0.031248971819877625, 0.7364619374275208, 1.6140483617782593, -0.05685710906982422, -0.9204983711242676], "dq": [0.014207550324499607, 0.00727675249800086, -0.03160817548632622, 0.01055404357612133, 0.03727782517671585, -0.01143924705684185, -0.0013545916881412268], "dtheta": [0.014827578328549862, 0.0071540335193276405, -0.03367157652974129, 0.009941741824150085, 0.03569380193948746, -0.012667973525822163, -0.000912178831640631], "tau": [-60.959999084472656, 0.85999995470047, -24.96000099182129, 0.6960000395774841, -3.824000120162964, 3.204000234603882, -0.45600003004074097], "tau_des": [-0.8206032514572144, 1.4741255044937134, -1.0891836881637573, -0.23588493466377258, 0.22781850397586823, -0.4803183674812317, -0.48567476868629456], "tau_dot": [103.60781860351562, 92.95309448242188, 9.120813369750977, -67.826904296875, 44.512210845947266, -4.404782295227051, 44.653995513916016], "tau_ext": [14.474977493286133, -36.01276397705078, -35.86975860595703, 20.01018524169922, -2.616806745529175, -6.375528335571289, 0.369621217250824], "tcp_pose": [0.6407315731048584, -0.12194575369358063, -0.2824673354625702, -0.006208644714206457, -0.024634767323732376, 0.9994852542877197, 0.019590720534324646], "tcp_vel": [-0.00023393979063257575, 0.0002609214570838958, -0.00037014333065599203, -0.0008588865748606622, -0.0007966642151586711, -0.00077773816883564], "flange_pose": [0.6432730555534363, -0.12932828068733215, -0.09262783080339432, -0.006208644714206457, -0.024634767323732376, 0.9994852542877197, 0.019590720534324646], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.525282859802246, -51.776145935058594, -12.32122802734375, -4.489765644073486, 11.678743362426758, 0.4767920672893524], "ext_wrench_in_world": [-8.808517037206862, -52.722662646007855, 10.399277095511117, 3.9053233985667397, 11.896316777379514, -0.06685076219130624]}
+{"timestamp_ns": 1789729556730125460, "elapsed_ms": 200, "source_timestamp_ns": 1789729556725250241, "q": [0.016063954681158066, -1.687951922416687, -0.030598388984799385, 0.7534361481666565, 1.615228533744812, -0.057267237454652786, -0.9194136261940002], "theta": [0.013664502650499344, -1.6870179176330566, -0.03221604600548744, 0.736767053604126, 1.6150729656219482, -0.05724036693572998, -0.9205546975135803], "dq": [0.010784237645566463, 0.004434235859662294, -0.031100329011678696, 0.010081096552312374, 0.03231874108314514, -0.014783709309995174, -0.001879783347249031], "dtheta": [0.013476194813847542, 0.006942186038941145, -0.03176584467291832, 0.010426640510559082, 0.03308599442243576, -0.011467201635241508, -0.0017452049069106579], "tau": [-61.05999755859375, 0.8299999833106995, -25.020000457763672, 0.7080000042915344, -3.8400001525878906, 3.2200002670288086, -0.47200003266334534], "tau_des": [-0.6768476963043213, 1.5832600593566895, -1.0470664501190186, -0.3251567780971527, 0.2771953344345093, -0.49651816487312317, -0.4849906265735626], "tau_dot": [-132.9989471435547, -22.760652542114258, -11.126609802246094, 16.560932159423828, -53.90663528442383, -84.79061889648438, 8.732555389404297], "tau_ext": [14.441144943237305, -36.021236419677734, -35.84237289428711, 20.030750274658203, -2.6361207962036133, -6.38005256652832, 0.37248513102531433], "tcp_pose": [0.6407192945480347, -0.12193530052900314, -0.282471626996994, -0.006201012525707483, -0.024633778259158134, 0.9994854927062988, 0.01958286017179489], "tcp_vel": [-0.0004426087543834001, -0.00010978056525345892, 0.00010696399840526283, -0.001567756524309516, -0.0012086358619853854, -0.0006904024048708379], "flange_pose": [0.6432577967643738, -0.12931491434574127, -0.09263195842504501, -0.006201012525707483, -0.024633778259158134, 0.9994854927062988, 0.01958286017179489], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.622337341308594, -51.6310920715332, -12.326872825622559, -4.463960647583008, 11.652740478515625, 0.4760645925998688], "ext_wrench_in_world": [-8.912756186641587, -52.58273905891966, 10.412421315545881, 3.8808626490545834, 11.869050596564596, -0.06697652197756383]}
+{"timestamp_ns": 1789729556763452935, "elapsed_ms": 233, "source_timestamp_ns": 1789729556755259055, "q": [0.016462573781609535, -1.6877446174621582, -0.031532566994428635, 0.7537339329719543, 1.616196870803833, -0.057639624923467636, -0.9194812178611755], "theta": [0.01406075432896614, -1.6868079900741577, -0.03314149007201195, 0.7370671629905701, 1.6160451173782349, -0.05761265754699707, -0.9206249117851257], "dq": [0.012523753568530083, 0.009413341991603374, -0.025850730016827583, 0.010660813190042973, 0.03328742831945419, -0.014430546201765537, -0.0015806733863428235], "dtheta": [0.013241748325526714, 0.006807454861700535, -0.029913393780589104, 0.0103347422555089, 0.03162454068660736, -0.012431447394192219, -0.001198664540424943], "tau": [-61.029998779296875, 0.8899999856948853, -25.00800132751465, 0.7240000367164612, -3.7840001583099365, 3.2160000801086426, -0.5], "tau_des": [-0.8413208723068237, 1.6010233163833618, -1.1569361686706543, -0.3685974180698395, 0.30892646312713623, -0.4108806848526001, -0.4850718677043915], "tau_dot": [28.974559783935547, 117.52727508544922, -4.595858573913574, 49.236053466796875, 18.65165901184082, -19.087841033935547, -15.83800220489502], "tau_ext": [14.48375415802002, -36.03519058227539, -35.79305648803711, 20.060529708862305, -2.650822162628174, -6.394514560699463, 0.36917608976364136], "tcp_pose": [0.6407034397125244, -0.12192713469266891, -0.28247302770614624, -0.006197539158165455, -0.024638185277581215, 0.9994856119155884, 0.019571835175156593], "tcp_vel": [-0.0008396066259592772, 0.00039573825779370964, -0.00044702357263304293, 5.738587788073346e-05, 9.247859998140484e-05, -0.0012871627695858479], "flange_pose": [0.6432405710220337, -0.12930259108543396, -0.0926331877708435, -0.006197539158165455, -0.024638185277581215, 0.9994856119155884, 0.019571835175156593], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.7379732131958, -51.51812744140625, -12.302895545959473, -4.441874027252197, 11.62704849243164, 0.47237110137939453], "ext_wrench_in_world": [-9.033715987914618, -52.47464188880637, 10.395318327434294, 3.860008998716146, 11.842205668521915, -0.06427605316719383]}
+{"timestamp_ns": 1789729556796792807, "elapsed_ms": 266, "source_timestamp_ns": 1789729556795257904, "q": [0.016955198720097542, -1.6874780654907227, -0.03266104683279991, 0.7541166543960571, 1.6173988580703735, -0.05808640643954277, -0.919562578201294], "theta": [0.014552182517945766, -1.6865354776382446, -0.034274931997060776, 0.7374538779258728, 1.6172493696212769, -0.05805814266204834, -0.9207088351249695], "dq": [0.01265231054276228, 0.00654893834143877, -0.029250312596559525, 0.007890344597399235, 0.02856379561126232, -0.011120866052806377, 0.00010868817480513826], "dtheta": [0.012184119783341885, 0.007005604449659586, -0.0280186478048563, 0.00981967430561781, 0.02871507965028286, -0.01041688583791256, -0.0019268922042101622], "tau": [-61.03999710083008, 0.7799999713897705, -25.11600112915039, 0.7560000419616699, -3.8000001907348633, 3.2280001640319824, -0.46000000834465027], "tau_des": [-0.7446532249450684, 1.4429833889007568, -1.2037535905838013, -0.28949621319770813, 0.31255003809928894, -0.411521315574646, -0.4547620117664337], "tau_dot": [12.938515663146973, 112.00614929199219, -18.01873207092285, 17.063241958618164, 3.127603769302368, -40.396358489990234, 28.745359420776367], "tau_ext": [14.467629432678223, -36.00210952758789, -35.78288650512695, 20.066051483154297, -2.6770639419555664, -6.397685527801514, 0.36877134442329407], "tcp_pose": [0.6406878232955933, -0.12190720438957214, -0.2824842035770416, -0.006184645928442478, -0.02464078925549984, 0.9994857311248779, 0.019567305222153664], "tcp_vel": [-0.0004374069394543767, 0.0003055169072467834, -6.308043521130458e-05, -0.0014539790572598577, -0.00028373667737469077, 8.684438216732815e-05], "flange_pose": [0.6432200074195862, -0.12928104400634766, -0.09264422208070755, -0.006184645928442478, -0.02464078925549984, 0.9994857311248779, 0.019567305222153664], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.884961128234863, -51.38322067260742, -12.321038246154785, -4.406473159790039, 11.59897232055664, 0.4664172828197479], "ext_wrench_in_world": [-9.186906739645469, -52.34793768453343, 10.420643737600612, 3.8260547238725247, 11.812219541513818, -0.0590291090388297]}
+{"timestamp_ns": 1789729556830201911, "elapsed_ms": 300, "source_timestamp_ns": 1789729556825236806, "q": [0.01731792837381363, -1.6872766017913818, -0.03347918391227722, 0.7543905973434448, 1.618255376815796, -0.058385420590639114, -0.9195951819419861], "theta": [0.014916438609361649, -1.6863279342651367, -0.03511058911681175, 0.737734854221344, 1.618106484413147, -0.058356285095214844, -0.9207420945167542], "dq": [0.011161274276673794, 0.004767065402120352, -0.02779422327876091, 0.008757194504141808, 0.02571694552898407, -0.00813288614153862, -0.0018207321409136057], "dtheta": [0.011842310428619385, 0.00664467504248023, -0.02748185396194458, 0.009082975797355175, 0.027669914066791534, -0.009872125461697578, -0.001183694927021861], "tau": [-61.12999725341797, 0.75, -25.088001251220703, 0.7600000500679016, -3.7840001583099365, 3.244000196456909, -0.46000000834465027], "tau_des": [-0.7244516015052795, 1.4284762144088745, -1.1796863079071045, -0.29024678468704224, 0.3351519703865051, -0.4422816038131714, -0.4806651473045349], "tau_dot": [67.10148620605469, 18.301179885864258, -2.843395471572876, 17.639034271240234, -32.88375473022461, -18.856342315673828, 21.3161678314209], "tau_ext": [14.53118896484375, -35.99602508544922, -35.7487678527832, 20.067214965820312, -2.6898999214172363, -6.403264999389648, 0.36409008502960205], "tcp_pose": [0.6406819820404053, -0.12189467996358871, -0.28249186277389526, -0.006176311988383532, -0.024635381996631622, 0.9994862675666809, 0.0195496566593647], "tcp_vel": [-0.0003199935599695891, 0.00013018630852457136, 8.934350626077503e-05, -0.0020134239457547665, -0.00019967035041190684, -0.00029086158610880375], "flange_pose": [0.6432108283042908, -0.12926191091537476, -0.09265158325433731, -0.006176311988383532, -0.024635381996631622, 0.9994862675666809, 0.0195496566593647], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.965417861938477, -51.263450622558594, -12.303382873535156, -4.368481159210205, 11.58736515045166, 0.46131494641304016], "ext_wrench_in_world": [-9.274117263311012, -52.23123670013488, 10.410306731116863, 3.788878732874001, 11.798513442381363, -0.054302353370791194]}
+{"timestamp_ns": 1789729556863524638, "elapsed_ms": 333, "source_timestamp_ns": 1789729556855252959, "q": [0.017670493572950363, -1.6870858669281006, -0.0342676006257534, 0.7546594738960266, 1.6190909147262573, -0.058663442730903625, -0.919642984867096], "theta": [0.015271014533936977, -1.6861306428909302, -0.035916730761528015, 0.7380120754241943, 1.6189433336257935, -0.05863344669342041, -0.9207900762557983], "dq": [0.01097553689032793, 0.007191766519099474, -0.026476802304387093, 0.009015107527375221, 0.026465188711881638, -0.011680591851472855, -4.720826109405607e-05], "dtheta": [0.011915801092982292, 0.006568070501089096, -0.026960307732224464, 0.00877800490707159, 0.029589656740427017, -0.009181173518300056, -0.002124846912920475], "tau": [-61.0099983215332, 0.7099999785423279, -25.02800178527832, 0.8240000605583191, -3.7080001831054688, 3.2280001640319824, -0.46400001645088196], "tau_des": [-0.7918890118598938, 1.3042583465576172, -1.2463862895965576, -0.2242761254310608, 0.25399142503738403, -0.4730970561504364, -0.4606831967830658], "tau_dot": [104.9979019165039, 65.2280044555664, 60.1420783996582, -33.4615364074707, 62.351402282714844, -53.96992111206055, 22.18869400024414], "tau_ext": [14.543096542358398, -35.998130798339844, -35.75782012939453, 20.08294105529785, -2.707529306411743, -6.407772541046143, 0.36284834146499634], "tcp_pose": [0.6406763195991516, -0.12188628315925598, -0.28250089287757874, -0.006162109784781933, -0.02463458850979805, 0.9994866847991943, 0.019531866535544395], "tcp_vel": [0.00033375053317286074, 0.0005447977455332875, -0.0002921729756053537, -0.0007739064167253673, -0.002139638178050518, 0.0009041684097610414], "flange_pose": [0.6431995630264282, -0.12924690544605255, -0.09266029298305511, -0.006162109784781933, -0.02463458850979805, 0.9994866847991943, 0.019531866535544395], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.04969596862793, -51.19752502441406, -12.259968757629395, -4.336929798126221, 11.578537940979004, 0.4542423188686371], "ext_wrench_in_world": [-9.362499662487396, -52.16754878195255, 10.37203112473377, 3.757919057848322, 11.787859122257808, -0.04752554345144641]}
+{"timestamp_ns": 1789729556896874728, "elapsed_ms": 366, "source_timestamp_ns": 1789729556895231803, "q": [0.018120218068361282, -1.6868386268615723, -0.035294562578201294, 0.7550016641616821, 1.620157241821289, -0.05906513333320618, -0.9197009205818176], "theta": [0.01572410576045513, -1.6858726739883423, -0.03697635978460312, 0.73836749792099, 1.6200147867202759, -0.05903470516204834, -0.920848548412323], "dq": [0.01338981930166483, 0.0056696743704378605, -0.02389599196612835, 0.01069655455648899, 0.028225012123584747, -0.010981784202158451, -0.00285137677565217], "dtheta": [0.011568678542971611, 0.006525733973830938, -0.025558894500136375, 0.009123734198510647, 0.027564797550439835, -0.010344630107283592, -0.0014885845594108105], "tau": [-61.12999725341797, 0.6499999761581421, -25.09600067138672, 0.8440000414848328, -3.7280001640319824, 3.244000196456909, -0.4480000138282776], "tau_des": [-0.9315371513366699, 1.3305034637451172, -1.325329065322876, -0.2956990599632263, 0.3089437186717987, -0.3829822242259979, -0.4802708923816681], "tau_dot": [-27.02348518371582, 41.59513854980469, 37.491859436035156, -5.9315104484558105, 25.60335922241211, -60.286712646484375, 50.22045135498047], "tau_ext": [14.583556175231934, -35.904022216796875, -35.75872802734375, 20.054853439331055, -2.730548143386841, -6.413125514984131, 0.36307135224342346], "tcp_pose": [0.6406624913215637, -0.12186916172504425, -0.28250816464424133, -0.00615982711315155, -0.024635085836052895, 0.9994869828224182, 0.019517062231898308], "tcp_vel": [-0.0003471702802926302, 0.0007829649839550257, -0.0005474868812598288, 0.00018505447951611131, -0.0003493094409350306, -0.00013074860908091068], "flange_pose": [0.6431847214698792, -0.12922416627407074, -0.0926673412322998, -0.00615982711315155, -0.024635085836052895, 0.9994869828224182, 0.019517062231898308], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.112642288208008, -51.0497932434082, -12.30825424194336, -4.28424596786499, 11.581439018249512, 0.4488885700702667], "ext_wrench_in_world": [-9.431962505011255, -52.02479712824001, 10.42828763271607, 3.7052196851001855, 11.787942769116679, -0.041791770903066586]}
+{"timestamp_ns": 1789729556930200024, "elapsed_ms": 400, "source_timestamp_ns": 1789729556925230570, "q": [0.018461786210536957, -1.6866590976715088, -0.03603558614850044, 0.7552524209022522, 1.6209361553192139, -0.05933472141623497, -0.9197467565536499], "theta": [0.01606556959450245, -1.6856803894042969, -0.037746213376522064, 0.7386280298233032, 1.6207985877990723, -0.05930447578430176, -0.9208948016166687], "dq": [0.011516430415213108, 0.006282641552388668, -0.02869083732366562, 0.0072553688660264015, 0.02612386830151081, -0.009167001582682133, 0.0008698614547029138], "dtheta": [0.011107475496828556, 0.006791568826884031, -0.026025846600532532, 0.008501763455569744, 0.026114456355571747, -0.007859586738049984, -0.0014997358666732907], "tau": [-61.19999694824219, 0.699999988079071, -25.108001708984375, 0.8320000171661377, -3.7120001316070557, 3.2800002098083496, -0.4880000352859497], "tau_des": [-0.7969279885292053, 1.238162875175476, -1.1799300909042358, -0.23332777619361877, 0.37860971689224243, -0.4808669090270996, -0.4644016921520233], "tau_dot": [80.58767700195312, 2.5181074142456055, 17.247798919677734, 27.873817443847656, 18.38896942138672, 41.30329132080078, -35.05363464355469], "tau_ext": [14.617177963256836, -35.93564987182617, -35.775394439697266, 20.071250915527344, -2.7477195262908936, -6.419879913330078, 0.36377760767936707], "tcp_pose": [0.6406528353691101, -0.12185962498188019, -0.28252309560775757, -0.006156297866255045, -0.02463633567094803, 0.9994872808456421, 0.019501617178320885], "tcp_vel": [0.00029730971436947584, 0.00013878103345632553, 0.0003195718745701015, -0.0030957558192312717, -0.001238643191754818, 0.0007372531690634787], "flange_pose": [0.6431736350059509, -0.12920880317687988, -0.09268200397491455, -0.006156297866255045, -0.02463633567094803, 0.9994872808456421, 0.019501617178320885], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.167160987854004, -50.96430587768555, -12.251275062561035, -4.240774631500244, 11.586247444152832, 0.44503119587898254], "ext_wrench_in_world": [-9.491306462448309, -51.93967639094849, 10.37685592058668, 3.661590375480376, 11.790449318240475, -0.037588213734684246]}
+{"timestamp_ns": 1789729556963530998, "elapsed_ms": 433, "source_timestamp_ns": 1789729556955241613, "q": [0.018803855404257774, -1.6864842176437378, -0.03678940609097481, 0.755500853061676, 1.6217249631881714, -0.05960271880030632, -0.9198055267333984], "theta": [0.016407841816544533, -1.6854935884475708, -0.03852526843547821, 0.7388842105865479, 1.62159264087677, -0.059572577476501465, -0.9209533333778381], "dq": [0.012955998070538044, 0.005352130625396967, -0.023910673335194588, 0.008977556601166725, 0.026111213490366936, -0.009019909426569939, -0.00036598346196115017], "dtheta": [0.011358958669006824, 0.006273793522268534, -0.026020532473921776, 0.00831009354442358, 0.02618086338043213, -0.011221129447221756, -0.0010189985623583198], "tau": [-61.279998779296875, 0.6399999856948853, -25.080001831054688, 0.8360000252723694, -3.704000234603882, 3.2800002098083496, -0.4880000352859497], "tau_des": [-1.0360652208328247, 1.319162368774414, -1.2425166368484497, -0.3023427128791809, 0.4091832637786865, -0.39463335275650024, -0.45813900232315063], "tau_dot": [-35.989654541015625, 8.677680969238281, -2.042050838470459, -14.383837699890137, -13.433551788330078, 35.79447555541992, -28.455577850341797], "tau_ext": [14.681562423706055, -35.929847717285156, -35.785972595214844, 20.080230712890625, -2.7651283740997314, -6.426850318908691, 0.36335766315460205], "tcp_pose": [0.6406440734863281, -0.1218552216887474, -0.2825337052345276, -0.006149283144623041, -0.024643292650580406, 0.9994875192642212, 0.019482271745800972], "tcp_vel": [-0.0005473417695611715, 0.0006207402911968529, -0.00017562064749654382, -0.0004912045551463962, 0.0011392439482733607, -4.389948571770219e-06], "flange_pose": [0.6431620717048645, -0.1291971057653427, -0.0926923081278801, -0.006149283144623041, -0.024643292650580406, 0.9994875192642212, 0.019482271745800972], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.21680736541748, -50.941650390625, -12.20700740814209, -4.2123589515686035, 11.59457778930664, 0.442719042301178], "ext_wrench_in_world": [-9.54202444607396, -51.91754719509079, 10.3359188901068, 3.632670795756389, 11.797316576091347, -0.03502417305315015]}
+{"timestamp_ns": 1789729556996862273, "elapsed_ms": 466, "source_timestamp_ns": 1789729556995252799, "q": [0.01925206556916237, -1.6862543821334839, -0.037826038897037506, 0.755815863609314, 1.6228177547454834, -0.06002441793680191, -0.9198523163795471], "theta": [0.016858072951436043, -1.685250997543335, -0.03959433734416962, 0.7392113208770752, 1.6226898431777954, -0.059996724128723145, -0.9209991097450256], "dq": [0.009005293250083923, 0.004853545688092709, -0.02710540033876896, 0.008544908836483955, 0.026066290214657784, -0.009774215519428253, -0.0006923055625520647], "dtheta": [0.011368784122169018, 0.006363559048622847, -0.026779478415846825, 0.008141512982547283, 0.027643144130706787, -0.009972228668630123, -0.0012869308702647686], "tau": [-61.31999969482422, 0.5600000023841858, -25.09200096130371, 0.9040000438690186, -3.692000150680542, 3.2920000553131104, -0.45600003004074097], "tau_des": [-0.9764161705970764, 1.169270634651184, -1.2171896696090698, -0.2369655966758728, 0.3611966073513031, -0.40738528966903687, -0.4441969692707062], "tau_dot": [36.06792068481445, -22.564165115356445, -107.75253295898438, -4.3072919845581055, -0.22225703299045563, 33.79912185668945, 0.45471620559692383], "tau_ext": [14.760347366333008, -35.88890075683594, -35.81027603149414, 20.069196701049805, -2.7859344482421875, -6.432872295379639, 0.3591383695602417], "tcp_pose": [0.6406365036964417, -0.12183547765016556, -0.28254029154777527, -0.00614270381629467, -0.024644842371344566, 0.9994876384735107, 0.01947864517569542], "tcp_vel": [0.00011310721311019734, 0.0004712213121820241, 0.00011182131129316986, -0.0012537690345197916, -0.0007093934691511095, 0.000563447829335928], "flange_pose": [0.6431519985198975, -0.1291760504245758, -0.09269881993532181, -0.00614270381629467, -0.024644842371344566, 0.9994876384735107, 0.01947864517569542], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.26948070526123, -50.873348236083984, -12.172049522399902, -4.159518241882324, 11.611095428466797, 0.4379962086677551], "ext_wrench_in_world": [-9.598430054604284, -51.85059283768566, 10.304497560279804, 3.5791174989373715, 11.811013560340287, -0.029091898870007175]}
+{"timestamp_ns": 1789729557030188501, "elapsed_ms": 500, "source_timestamp_ns": 1789729557025253811, "q": [0.019591698423027992, -1.6860849857330322, -0.03863103315234184, 0.7560450434684753, 1.623639464378357, -0.06033831462264061, -0.9198766350746155], "theta": [0.017203016206622124, -1.6850740909576416, -0.04042231664061546, 0.7394488453865051, 1.6235136985778809, -0.060309767723083496, -0.921021580696106], "dq": [0.007968244142830372, 0.004360258113592863, -0.03165068104863167, 0.007217148318886757, 0.029831456020474434, -0.012011123821139336, -0.001989282201975584], "dtheta": [0.011561388149857521, 0.005930637009441853, -0.0293107982724905, 0.008153922855854034, 0.02744486555457115, -0.011901285499334335, -0.0010074533056467772], "tau": [-61.39999771118164, 0.5199999809265137, -25.020000457763672, 0.9240000247955322, -3.6720001697540283, 3.2960002422332764, -0.4960000216960907], "tau_des": [-0.8588036298751831, 1.3567231893539429, -0.9404587745666504, -0.36671826243400574, 0.4912217855453491, -0.44535329937934875, -0.4615952670574188], "tau_dot": [-32.50627899169922, -2.2951741218566895, -0.623490035533905, -32.16780090332031, -64.12403869628906, 32.315128326416016, -45.536441802978516], "tau_ext": [14.800870895385742, -35.87094497680664, -35.8433837890625, 20.05504608154297, -2.7972354888916016, -6.435831546783447, 0.352779358625412], "tcp_pose": [0.6406316161155701, -0.12183002382516861, -0.2825360596179962, -0.006139913108199835, -0.024643031880259514, 0.9994879961013794, 0.019462022930383682], "tcp_vel": [-0.0006259449874050915, -0.00025887347874231637, 0.0008693660493008792, -0.0024356592912226915, 0.001158201601356268, -7.11024840711616e-05], "flange_pose": [0.6431458592414856, -0.12916430830955505, -0.09269431233406067, -0.006139913108199835, -0.024643031880259514, 0.9994879961013794, 0.019462022930383682], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.283944129943848, -50.8073616027832, -12.144011497497559, -4.113603591918945, 11.630377769470215, 0.43031781911849976], "ext_wrench_in_world": [-9.61672949457733, -51.78399459748089, 10.280890478509136, 3.532460438406414, 11.827675065930974, -0.020513004036704405]}
+{"timestamp_ns": 1789729557063533799, "elapsed_ms": 533, "source_timestamp_ns": 1789729557055336279, "q": [0.019948570057749748, -1.6859232187271118, -0.03948783501982689, 0.7562633156776428, 1.624518632888794, -0.06069602444767952, -0.9198987483978271], "theta": [0.017565984278917313, -1.6849045753479004, -0.04129316657781601, 0.7396754622459412, 1.6243966817855835, -0.06066739559173584, -0.9210426807403564], "dq": [0.013356383889913559, 0.009876307100057602, -0.030728066340088844, 0.00847227405756712, 0.030546363443136215, -0.011181851848959923, -3.059715163544752e-05], "dtheta": [0.012331370264291763, 0.005554006434977055, -0.028437543660402298, 0.007215750869363546, 0.029169313609600067, -0.010907799936830997, -0.0008899798849597573], "tau": [-61.37999725341797, 0.5199999809265137, -24.928001403808594, 0.956000030040741, -3.6120002269744873, 3.2800002098083496, -0.46800002455711365], "tau_des": [-1.0520354509353638, 1.260085940361023, -1.0563480854034424, -0.297364741563797, 0.43958547711372375, -0.422926127910614, -0.4542999565601349], "tau_dot": [-26.347997665405273, -92.76567840576172, 7.829278469085693, 41.15898895263672, 21.544281005859375, -13.887372970581055, -23.447738647460938], "tau_ext": [14.87633228302002, -35.85569763183594, -35.87226867675781, 20.054054260253906, -2.814074754714966, -6.442984104156494, 0.35536667704582214], "tcp_pose": [0.6406262516975403, -0.12182323634624481, -0.2825314998626709, -0.00614065071567893, -0.02464333549141884, 0.999488115310669, 0.019454961642622948], "tcp_vel": [-3.297739021945745e-05, 0.00013898967881686985, -6.472660606959835e-05, -0.0012074412079527974, -0.0001016572568914853, 0.000389549823012203], "flange_pose": [0.6431406736373901, -0.12915483117103577, -0.09268965572118759, -0.00614065071567893, -0.02464333549141884, 0.999488115310669, 0.019454961642622948], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.307433128356934, -50.76266098022461, -12.103450775146484, -4.067960739135742, 11.64905834197998, 0.4250461459159851], "ext_wrench_in_world": [-9.642867759124854, -51.738841072268556, 10.243124842896195, 3.4860219642464534, 11.84385828931428, -0.014168401247884314]}
+{"timestamp_ns": 1789729557096895564, "elapsed_ms": 566, "source_timestamp_ns": 1789729557095258895, "q": [0.02042628824710846, -1.6857295036315918, -0.04066064581274986, 0.7565159797668457, 1.625714898109436, -0.061196137219667435, -0.9199160933494568], "theta": [0.018055934458971024, -1.6847015619277954, -0.04246942698955536, 0.7399404048919678, 1.6255927085876465, -0.061164259910583496, -0.9210579991340637], "dq": [0.013581041246652603, 0.005823065061122179, -0.027481498196721077, 0.006201653741300106, 0.031662337481975555, -0.012025102972984314, 0.0006834823288954794], "dtheta": [0.012674679048359394, 0.005263280589133501, -0.029623424634337425, 0.005544618703424931, 0.031091107055544853, -0.014357051812112331, -0.000768318073824048], "tau": [-61.39999771118164, 0.5999999642372131, -24.88800048828125, 0.9440000653266907, -3.5920002460479736, 3.2840001583099365, -0.46000000834465027], "tau_des": [-1.0720710754394531, 1.042885661125183, -1.0164192914962769, -0.1605135053396225, 0.42299526929855347, -0.347679078578949, -0.42401960492134094], "tau_dot": [83.00050354003906, 92.3795166015625, -32.01729202270508, -55.57054901123047, 56.5095329284668, -24.526416778564453, -30.859569549560547], "tau_ext": [14.81793212890625, -35.83463668823242, -35.98585891723633, 20.050554275512695, -2.8502683639526367, -6.4441399574279785, 0.3538079559803009], "tcp_pose": [0.6406242847442627, -0.12181859463453293, -0.2825191020965576, -0.006143198348581791, -0.024646984413266182, 0.9994881749153137, 0.019447224214673042], "tcp_vel": [0.0001838600292103365, 0.0011245999485254288, -0.00035168713657185435, 0.0015198232140392065, 0.0011809332063421607, 0.0017778010806068778], "flange_pose": [0.643139660358429, -0.1291472166776657, -0.09267715364694595, -0.006143198348581791, -0.024646984413266182, 0.9994881749153137, 0.019447224214673042], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.329397201538086, -50.74314880371094, -12.18379020690918, -4.026939392089844, 11.683588027954102, 0.4205695688724518], "ext_wrench_in_world": [-9.66426249440654, -51.72346647203622, 10.32525913622383, 3.4433311123660113, 11.876142236693042, -0.00807844209917987]}
+{"timestamp_ns": 1789729557130168111, "elapsed_ms": 600, "source_timestamp_ns": 1789729557125258664, "q": [0.020805690437555313, -1.6855976581573486, -0.04156120494008064, 0.7566781640052795, 1.6266353130340576, -0.061593156307935715, -0.9199203848838806], "theta": [0.018443889915943146, -1.6845648288726807, -0.04336383193731308, 0.7401130795478821, 1.6265119314193726, -0.06156003475189209, -0.9210604429244995], "dq": [0.013021708466112614, 0.005385034717619419, -0.034684762358665466, 0.0045658377930521965, 0.028926126658916473, -0.013518341816961765, 0.0015305064152926207], "dtheta": [0.012798321433365345, 0.004866081289947033, -0.029364675283432007, 0.005211166571825743, 0.03050971031188965, -0.011995102278888226, -4.436241852090461e-06], "tau": [-61.46999740600586, 0.4899999797344208, -24.900001525878906, 1.0, -3.568000078201294, 3.332000255584717, -0.4480000138282776], "tau_des": [-1.0823954343795776, 1.114026665687561, -0.9508918523788452, -0.17698973417282104, 0.4833375811576843, -0.380465030670166, -0.4230118989944458], "tau_dot": [45.2000846862793, -66.41679382324219, -31.594791412353516, -75.4944839477539, -12.070290565490723, 47.57888412475586, 6.395706653594971], "tau_ext": [14.956995964050293, -35.84269332885742, -35.97065353393555, 20.059188842773438, -2.863919496536255, -6.459768295288086, 0.349571168422699], "tcp_pose": [0.6406223177909851, -0.1218143031001091, -0.2825194001197815, -0.006155475974082947, -0.02465302310883999, 0.9994879364967346, 0.019447211176156998], "tcp_vel": [0.0004171761102043092, 0.0004119071236345917, -0.0002450908359605819, -0.0004142411344218999, 0.00023311260156333447, 0.0009257682249881327], "flange_pose": [0.6431424021720886, -0.12914279103279114, -0.0926775187253952, -0.006155475974082947, -0.02465302310883999, 0.9994879364967346, 0.019447211176156998], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.366613388061523, -50.717594146728516, -12.176950454711914, -3.990626811981201, 11.704695701599121, 0.4148395359516144], "ext_wrench_in_world": [-9.701873885192667, -51.69965707188544, 10.320111766052962, 3.4059569044693054, 11.895232312752519, -0.0012044380340056199]}
+{"timestamp_ns": 1789729557163442678, "elapsed_ms": 633, "source_timestamp_ns": 1789729557155258744, "q": [0.021187981590628624, -1.685468316078186, -0.04244828596711159, 0.7568368315696716, 1.6275463104248047, -0.06194886192679405, -0.9199227094650269], "theta": [0.018835563212633133, -1.6844314336776733, -0.04423410817980766, 0.7402826547622681, 1.6274200677871704, -0.06191205978393555, -0.9210606813430786], "dq": [0.013978608883917332, 0.004345536697655916, -0.03555997088551521, 0.004954141564667225, 0.031236078590154648, -0.012907933443784714, -0.0004951595910824835], "dtheta": [0.012988395057618618, 0.005074672866612673, -0.028982171788811684, 0.006026895251125097, 0.030199114233255386, -0.01267381850630045, 6.445962935686111e-05], "tau": [-61.619998931884766, 0.4599999785423279, -24.904001235961914, 1.0640000104904175, -3.57200026512146, 3.308000087738037, -0.46000000834465027], "tau_des": [-1.1895190477371216, 1.1544227600097656, -0.9399259090423584, -0.21328192949295044, 0.5241770148277283, -0.37485021352767944, -0.41871875524520874], "tau_dot": [-83.0071792602539, -10.807004928588867, -41.10498809814453, -5.837936878204346, -26.541929244995117, -12.050232887268066, -32.952606201171875], "tau_ext": [14.9834566116333, -35.834102630615234, -36.004920959472656, 20.06292724609375, -2.884049892425537, -6.463560104370117, 0.34420046210289], "tcp_pose": [0.640626072883606, -0.1218169704079628, -0.2825220227241516, -0.006159034091979265, -0.024658584967255592, 0.9994879961013794, 0.019434833899140358], "tcp_vel": [-4.4247535697650164e-05, 0.0005624235491268337, -0.0005422113463282585, 0.00026662895106710494, 0.001016639405861497, 0.0002695429138839245], "flange_pose": [0.6431474089622498, -0.1291407197713852, -0.09267997741699219, -0.006159034091979265, -0.024658584967255592, 0.9994879961013794, 0.019434833899140358], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.399348258972168, -50.6663818359375, -12.13347053527832, -3.9456913471221924, 11.726029396057129, 0.40673455595970154], "ext_wrench_in_world": [-9.737000999208359, -51.64834532140943, 10.280390553117186, 3.3600048938267197, 11.914024632949118, 0.007922241143796062]}
+{"timestamp_ns": 1789729557196773910, "elapsed_ms": 666, "source_timestamp_ns": 1789729557195263009, "q": [0.02170037478208542, -1.6852984428405762, -0.04364466667175293, 0.7570557594299316, 1.6288024187088013, -0.06244714558124542, -0.9199225902557373], "theta": [0.019358986988663673, -1.6842583417892456, -0.04539306089282036, 0.7405157685279846, 1.6286689043045044, -0.062407732009887695, -0.9210579991340637], "dq": [0.011148307472467422, 0.004919495899230242, -0.029637672007083893, 0.004852184094488621, 0.030700236558914185, -0.012579639442265034, -0.0016164941480383277], "dtheta": [0.012483271770179272, 0.004508611746132374, -0.028176892548799515, 0.005707716569304466, 0.03223058208823204, -0.012425675056874752, -0.0002507372701074928], "tau": [-61.65999984741211, 0.4399999976158142, -24.908000946044922, 1.1040000915527344, -3.5440001487731934, 3.30400013923645, -0.4400000274181366], "tau_des": [-1.1682093143463135, 1.1202189922332764, -0.9820305109024048, -0.17756135761737823, 0.4318593442440033, -0.37909388542175293, -0.40905869007110596], "tau_dot": [-2.611243724822998, 24.879640579223633, 14.731359481811523, -29.89716148376465, 3.3910977840423584, -53.8141975402832, 31.835378646850586], "tau_ext": [15.05327320098877, -35.84022521972656, -36.02831268310547, 20.05669593811035, -2.9117462635040283, -6.476146697998047, 0.34250983595848083], "tcp_pose": [0.6406309008598328, -0.1218152791261673, -0.28252771496772766, -0.00615697493776679, -0.024660751223564148, 0.9994879961013794, 0.0194337610155344], "tcp_vel": [0.0004940786748193204, 0.0008799462812021375, -0.0007212184718810022, 0.002181932097300887, -0.0013047916581854224, 0.000383102975320071], "flange_pose": [0.6431514620780945, -0.12913863360881805, -0.09268564730882645, -0.00615697493776679, -0.024660751223564148, 0.9994879961013794, 0.0194337610155344], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.426563262939453, -50.609718322753906, -12.080403327941895, -3.889801025390625, 11.757113456726074, 0.39923563599586487], "ext_wrench_in_world": [-9.767488098814745, -51.59111700250251, 10.229957501167213, 3.3027105531535224, 11.942004151747664, 0.017256483946718457]}
+{"timestamp_ns": 1789729557230169016, "elapsed_ms": 700, "source_timestamp_ns": 1789729557225229227, "q": [0.022082647308707237, -1.6851768493652344, -0.044535811990499496, 0.7572162747383118, 1.6297069787979126, -0.06282258778810501, -0.919922411441803], "theta": [0.019750041887164116, -1.684133529663086, -0.04624125733971596, 0.7406874299049377, 1.6295658349990845, -0.06277823448181152, -0.9210556745529175], "dq": [0.011877772398293018, 0.003476461162790656, -0.03671547397971153, 0.007199660874903202, 0.03117014281451702, -0.009001938626170158, -0.0002745802339632064], "dtheta": [0.013318321667611599, 0.004109486471861601, -0.029092369601130486, 0.0057200659066438675, 0.029896065592765808, -0.011476313695311546, 0.0003754769859369844], "tau": [-61.66999816894531, 0.429999977350235, -24.948001861572266, 1.100000023841858, -3.56000018119812, 3.3360002040863037, -0.4320000112056732], "tau_des": [-1.2961008548736572, 1.429900884628296, -0.8040469884872437, -0.3395770788192749, 0.6326683759689331, -0.42193084955215454, -0.4288540482521057], "tau_dot": [42.35410690307617, -93.97897338867188, 0.43027210235595703, 27.657695770263672, -1.248504400253296, 3.507969856262207, 19.70187759399414], "tau_ext": [15.114274024963379, -35.853248596191406, -36.028507232666016, 20.063934326171875, -2.935119152069092, -6.4865193367004395, 0.3339593708515167], "tcp_pose": [0.640625536441803, -0.12182116508483887, -0.2825295627117157, -0.0061690849252045155, -0.024660998955368996, 0.999488115310669, 0.019424928352236748], "tcp_vel": [-0.00030776506173424423, -0.00032789481338113546, -0.0005453117191791534, -0.000973772257566452, 0.0008218706352636218, -0.0006669188151136041], "flange_pose": [0.6431506276130676, -0.12914104759693146, -0.09268741309642792, -0.0061690849252045155, -0.024660998955368996, 0.999488115310669, 0.019424928352236748], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.445133209228516, -50.58171463012695, -12.053119659423828, -3.8615331649780273, 11.779959678649902, 0.389349102973938], "ext_wrench_in_world": [-9.787472196132624, -51.562860950045724, 10.205177494762722, 3.273477492896569, 11.963028012197148, 0.028053907308381427]}
+{"timestamp_ns": 1789729557263446332, "elapsed_ms": 733, "source_timestamp_ns": 1789729557255245912, "q": [0.0224706269800663, -1.6850533485412598, -0.045451823621988297, 0.7573707103729248, 1.6306480169296265, -0.0631960779428482, -0.919922411441803], "theta": [0.020146721974015236, -1.6840072870254517, -0.047080203890800476, 0.740854024887085, 1.630497932434082, -0.06314730644226074, -0.9210529923439026], "dq": [0.01109557505697012, 0.006227591540664434, -0.032739028334617615, 0.006429357919842005, 0.0338934101164341, -0.013798252679407597, -0.0012259938521310687], "dtheta": [0.013057469390332699, 0.004437809810042381, -0.026821985840797424, 0.005980617366731167, 0.031996533274650574, -0.012334020808339119, -2.626557761686854e-05], "tau": [-61.73999786376953, 0.5099999904632568, -24.904001235961914, 1.1440000534057617, -3.496000051498413, 3.3400001525878906, -0.4440000355243683], "tau_des": [-1.4376633167266846, 1.2232592105865479, -0.9876382946968079, -0.22651489078998566, 0.5188004970550537, -0.36976319551467896, -0.4045400023460388], "tau_dot": [-85.85852813720703, 19.5876407623291, 19.51284408569336, 16.69889259338379, 9.960590362548828, 14.67036247253418, -47.82744598388672], "tau_ext": [15.204336166381836, -35.805320739746094, -35.97981643676758, 20.044700622558594, -2.944443702697754, -6.4958343505859375, 0.3310529887676239], "tcp_pose": [0.6406301856040955, -0.12182587385177612, -0.28252825140953064, -0.006170991808176041, -0.024666469544172287, 0.9994881749153137, 0.0194145105779171], "tcp_vel": [0.0002073717041639611, 0.001161272986792028, -0.0016007110243663192, 0.0032928986474871635, -0.0007809025701135397, -0.00017320577171631157], "flange_pose": [0.6431559324264526, -0.12914177775382996, -0.09268596768379211, -0.006170991808176041, -0.024666469544172287, 0.9994881749153137, 0.0194145105779171], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.480782508850098, -50.54646682739258, -11.986867904663086, -3.831146240234375, 11.793622016906738, 0.3810743987560272], "ext_wrench_in_world": [-9.825080008768984, -51.52679408736426, 10.141870479818358, 3.2424363486501924, 11.974876253265245, 0.03694229354990739]}
+{"timestamp_ns": 1789729557296773985, "elapsed_ms": 766, "source_timestamp_ns": 1789729557295238700, "q": [0.02297043614089489, -1.6848889589309692, -0.046629399061203, 0.7575848698616028, 1.6318737268447876, -0.06369182467460632, -0.9199211001396179], "theta": [0.02066008560359478, -1.683841347694397, -0.04812733829021454, 0.7410824298858643, 1.6317099332809448, -0.06363821029663086, -0.9210477471351624], "dq": [0.011793770827353, 0.005289547611027956, -0.027308324351906776, 0.005058221518993378, 0.030769620090723038, -0.014496066607534885, -0.0003218935744371265], "dtheta": [0.012793749570846558, 0.003839238081127405, -0.025391284376382828, 0.006056307815015316, 0.028390342369675636, -0.012541655451059341, -3.010006003023591e-05], "tau": [-61.7599983215332, 0.429999977350235, -24.972002029418945, 1.1880000829696655, -3.496000051498413, 3.3480000495910645, -0.42000001668930054], "tau_des": [-1.4946883916854858, 1.4329577684402466, -0.9665447473526001, -0.3320927321910858, 0.6226099133491516, -0.3552704453468323, -0.4111270308494568], "tau_dot": [31.78713035583496, -118.1251449584961, 55.46958541870117, 2.609541893005371, 20.92849349975586, 70.87774658203125, -13.058239936828613], "tau_ext": [15.2066068649292, -35.820335388183594, -35.965763092041016, 20.050559997558594, -2.9703493118286133, -6.50483512878418, 0.3247152268886566], "tcp_pose": [0.6406332850456238, -0.12182561308145523, -0.28252989053726196, -0.00617201067507267, -0.02466866560280323, 0.999488115310669, 0.019412033259868622], "tcp_vel": [-0.0008407409186474979, 0.000606946530751884, -0.001671859878115356, 0.0025365841574966908, 0.0016755099641159177, -0.0009103573975153267], "flange_pose": [0.6431594491004944, -0.12914055585861206, -0.09268757700920105, -0.00617201067507267, -0.02466866560280323, 0.999488115310669, 0.019412033259868622], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.535618782043457, -50.50129318237305, -11.952957153320312, -3.803781032562256, 11.80197525024414, 0.3714357614517212], "ext_wrench_in_world": [-9.882264483161121, -51.4831145578524, 10.110652805715803, 3.2147713922199044, 11.98150060172088, 0.04714554769598618]}
+{"timestamp_ns": 1789729557330108776, "elapsed_ms": 800, "source_timestamp_ns": 1789729557325262344, "q": [0.02333090454339981, -1.6847584247589111, -0.04745355620980263, 0.7577553391456604, 1.6327372789382935, -0.06405166536569595, -0.9199191927909851], "theta": [0.021031159907579422, -1.6837120056152344, -0.048861000686883926, 0.7412625551223755, 1.6325620412826538, -0.06399345397949219, -0.9210426807403564], "dq": [0.012048118747770786, 0.0067040445283055305, -0.027881000190973282, 0.004713328089565039, 0.028289172798395157, -0.00972690898925066, 0.0014812926528975368], "dtheta": [0.012277638539671898, 0.004454317502677441, -0.02333754487335682, 0.006326699163764715, 0.029172999784350395, -0.010300654917955399, 0.0006285784766077995], "tau": [-61.88999938964844, 0.3799999952316284, -25.07200050354004, 1.2160000801086426, -3.4880001544952393, 3.364000082015991, -0.41200003027915955], "tau_des": [-1.552941918373108, 1.2032935619354248, -1.1430686712265015, -0.22447246313095093, 0.524480402469635, -0.3157220780849457, -0.4237615168094635], "tau_dot": [-44.96269226074219, 33.195892333984375, 12.074518203735352, -33.094234466552734, 33.73279571533203, 2.6950843334198, -5.5565314292907715], "tau_ext": [15.274667739868164, -35.81168746948242, -35.910587310791016, 20.044527053833008, -2.9805943965911865, -6.515359878540039, 0.3083380460739136], "tcp_pose": [0.640630841255188, -0.12181653827428818, -0.2825393080711365, -0.006179263349622488, -0.024667657911777496, 0.9994879961013794, 0.01941707357764244], "tcp_vel": [0.00015163345960900187, 0.0012681554071605206, -0.0020419720094650984, 0.0033627827651798725, -0.001104191760532558, -0.0012666406109929085], "flange_pose": [0.643159806728363, -0.12913332879543304, -0.09269707649946213, -0.006179263349622488, -0.024667657911777496, 0.9994879961013794, 0.01941707357764244], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.583291053771973, -50.46562194824219, -11.940381050109863, -3.7887656688690186, 11.801392555236816, 0.3584482669830322], "ext_wrench_in_world": [-9.931735481688591, -51.44947198748936, 10.099672000564173, 3.199999040915606, 11.979668693131979, 0.06033935229442305]}
+{"timestamp_ns": 1789729557363443228, "elapsed_ms": 833, "source_timestamp_ns": 1789729557355231701, "q": [0.023689258843660355, -1.6846249103546143, -0.04824286699295044, 0.7579270601272583, 1.6335625648498535, -0.06436560302972794, -0.9199191331863403], "theta": [0.02139989845454693, -1.6835811138153076, -0.049559757113456726, 0.7414446473121643, 1.6333738565444946, -0.06430244445800781, -0.9210400581359863], "dq": [0.011731733568012714, 0.004048946779221296, -0.028307152912020683, 0.005732357501983643, 0.02782564051449299, -0.008797942660748959, -0.0003981146728619933], "dtheta": [0.012384689413011074, 0.004238417372107506, -0.023348210379481316, 0.006085013970732689, 0.027635781094431877, -0.010575584135949612, 6.791402938688407e-06], "tau": [-61.88999938964844, 0.3499999940395355, -25.09600067138672, 1.224000096321106, -3.4600002765655518, 3.380000114440918, -0.3880000114440918], "tau_des": [-1.6731046438217163, 1.2370600700378418, -1.1405491828918457, -0.23253460228443146, 0.5879886746406555, -0.2969883680343628, -0.4129621684551239], "tau_dot": [38.424137115478516, 82.83906555175781, 12.285818099975586, -27.443222045898438, -49.591636657714844, -34.256649017333984, 32.19402313232422], "tau_ext": [15.298406600952148, -35.802181243896484, -35.87807083129883, 20.03285026550293, -2.9885573387145996, -6.524786472320557, 0.29762086272239685], "tcp_pose": [0.6406310200691223, -0.12181156873703003, -0.2825533151626587, -0.006183517165482044, -0.02466760203242302, 0.999488115310669, 0.01940952241420746], "tcp_vel": [-0.00027614078135229647, 0.0009654450113885105, -0.001981085631996393, 0.0025826278142631054, 0.0003370493359398097, -0.0006280201487243176], "flange_pose": [0.6431615352630615, -0.1291254460811615, -0.09271100163459778, -0.006183517165482044, -0.02466760203242302, 0.999488115310669, 0.01940952241420746], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.638713836669922, -50.3997917175293, -11.880556106567383, -3.7677810192108154, 11.797313690185547, 0.3427177965641022], "ext_wrench_in_world": [-9.991024247588564, -51.38406153100553, 10.043971379827644, 3.1794499877183036, 11.97395391873026, 0.0759271306498645]}
+{"timestamp_ns": 1789729557396772931, "elapsed_ms": 866, "source_timestamp_ns": 1789729557395229398, "q": [0.02415851689875126, -1.6844466924667358, -0.049293018877506256, 0.7581626176834106, 1.6346559524536133, -0.06478828936815262, -0.919921338558197], "theta": [0.021879691630601883, -1.683404803276062, -0.05048920959234238, 0.7416956424713135, 1.634447693824768, -0.06472063064575195, -0.9210398197174072], "dq": [0.011727097444236279, 0.0033854148350656033, -0.02427816018462181, 0.005359909497201443, 0.03030245192348957, -0.010383042506873608, -0.0014854398323222995], "dtheta": [0.011300502344965935, 0.004158256575465202, -0.021823419257998466, 0.006455193739384413, 0.028016576543450356, -0.011713501065969467, -0.00032808937248773873], "tau": [-61.93000030517578, 0.3999999761581421, -25.152000427246094, 1.2760000228881836, -3.4640002250671387, 3.392000198364258, -0.40800002217292786], "tau_des": [-1.7063754796981812, 1.193230390548706, -1.2197591066360474, -0.23652122914791107, 0.5526114702224731, -0.2334350049495697, -0.4200855791568756], "tau_dot": [-118.15133666992188, 37.02157211303711, -3.4709951877593994, -21.113754272460938, -21.086469650268555, 72.7216796875, -29.587081909179688], "tau_ext": [15.326703071594238, -35.80141067504883, -35.84169006347656, 20.03896141052246, -2.9990949630737305, -6.530722141265869, 0.2957213819026947], "tcp_pose": [0.6406291723251343, -0.12180596590042114, -0.2825668454170227, -0.006188367959111929, -0.024665802717208862, 0.999488353729248, 0.019399765878915787], "tcp_vel": [-0.0002334618184249848, 0.0016521590296179056, -0.002051109680905938, 0.005202349741011858, -0.0005153482197783887, -0.0007323265890590847], "flange_pose": [0.6431613564491272, -0.12911610305309296, -0.09272440522909164, -0.006188367959111929, -0.024665802717208862, 0.999488353729248, 0.019399765878915787], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.693365097045898, -50.34505844116211, -11.826338768005371, -3.7480907440185547, 11.793581008911133, 0.32907629013061523], "ext_wrench_in_world": [-10.049089267627984, -51.32982626384377, 9.993670807136711, 3.1601903473287956, 11.968719164425472, 0.08936988104139285]}
+{"timestamp_ns": 1789729557430111081, "elapsed_ms": 900, "source_timestamp_ns": 1789729557425254471, "q": [0.024485986679792404, -1.684319257736206, -0.0500236414372921, 0.7583403587341309, 1.6354349851608276, -0.0650937408208847, -0.9199251532554626], "theta": [0.022213000804185867, -1.6832784414291382, -0.05114171281456947, 0.7418844699859619, 1.635210633277893, -0.06502175331115723, -0.9210419654846191], "dq": [0.009352545253932476, 0.002024757908657193, -0.019942905753850937, 0.0030944140162318945, 0.026613587513566017, -0.010037160478532314, 3.0631439585704356e-05], "dtheta": [0.010721409693360329, 0.0037956945598125458, -0.020782243460416794, 0.006374472286552191, 0.023289920762181282, -0.009367616847157478, -0.0009344771970063448], "tau": [-61.959999084472656, 0.32999998331069946, -25.184001922607422, 1.2880001068115234, -3.4800002574920654, 3.388000249862671, -0.4320000112056732], "tau_des": [-1.6509591341018677, 1.371157169342041, -1.156599521636963, -0.32376283407211304, 0.674155056476593, -0.26897215843200684, -0.429727166891098], "tau_dot": [-38.65166473388672, -70.57923889160156, 3.9605655670166016, -25.937841415405273, -46.82461166381836, 16.446670532226562, -31.505102157592773], "tau_ext": [15.350485801696777, -35.849849700927734, -35.81927490234375, 20.058673858642578, -3.0113778114318848, -6.53831672668457, 0.3012084364891052], "tcp_pose": [0.6406258940696716, -0.12179730087518692, -0.2825793921947479, -0.00618805643171072, -0.02466118521988392, 0.9994884133338928, 0.019402990117669106], "tcp_vel": [-0.0008107319590635598, 0.0003789819311350584, -0.0014051537727937102, 0.0014034901978448033, 0.0008706706576049328, -0.0005449753953143954], "flange_pose": [0.643157958984375, -0.12910866737365723, -0.09273701161146164, -0.00618805643171072, -0.02466118521988392, 0.9994884133338928, 0.019402990117669106], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.724244117736816, -50.32267379760742, -11.813993453979492, -3.7430639266967773, 11.79205322265625, 0.3249410390853882], "ext_wrench_in_world": [-10.081670469113506, -51.308510964959865, 9.982231761967485, 3.155411193883063, 11.96675632794736, 0.09357686267172162]}
+{"timestamp_ns": 1789729557463454530, "elapsed_ms": 933, "source_timestamp_ns": 1789729557455275805, "q": [0.024797793477773666, -1.6841942071914673, -0.05069420114159584, 0.7585116624832153, 1.6361587047576904, -0.06534276902675629, -0.9199277758598328], "theta": [0.022529715672135353, -1.6831551790237427, -0.05174791440367699, 0.7420669794082642, 1.6359204053878784, -0.06526803970336914, -0.9210429787635803], "dq": [0.01123813260346651, 0.005789368879050016, -0.021692000329494476, 0.005763465538620949, 0.02303815446794033, -0.007138604298233986, -0.0006081258761696517], "dtheta": [0.010325870476663113, 0.004136736039072275, -0.020801756531000137, 0.006065142806619406, 0.021513788029551506, -0.008094552904367447, 0.0013428053352981806], "tau": [-62.0, 0.2800000011920929, -25.23200035095215, 1.3040000200271606, -3.4600002765655518, 3.4000000953674316, -0.4280000329017639], "tau_des": [-1.567796230316162, 1.3038228750228882, -1.1083176136016846, -0.29739031195640564, 0.6933746337890625, -0.3306575417518616, -0.47994568943977356], "tau_dot": [-79.98698425292969, -25.968734741210938, -17.744131088256836, -52.03773880004883, 1.7888106107711792, 35.67610168457031, 33.096275329589844], "tau_ext": [15.413517951965332, -35.77022933959961, -35.75519943237305, 20.018413543701172, -3.0058748722076416, -6.5552263259887695, 0.3149894177913666], "tcp_pose": [0.6406282782554626, -0.12179150432348251, -0.2825957238674164, -0.006179896183311939, -0.024656638503074646, 0.9994887113571167, 0.019396552816033363], "tcp_vel": [-0.0005670614191330969, 6.153699359856546e-05, -0.0008519189432263374, -0.0007456691819243133, 0.001114018028602004, -0.0022111295256763697], "flange_pose": [0.6431571841239929, -0.1291005164384842, -0.09275320917367935, -0.006179896183311939, -0.024656638503074646, 0.9994887113571167, 0.019396552816033363], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.73033332824707, -50.28386688232422, -11.769285202026367, -3.7346136569976807, 11.796936988830566, 0.3277737498283386], "ext_wrench_in_world": [-10.090893816221698, -51.26814287571977, 9.939623610516675, 3.1468048363605976, 11.971292626735455, 0.09093560070631632]}
+{"timestamp_ns": 1789729557496780204, "elapsed_ms": 966, "source_timestamp_ns": 1789729557495243589, "q": [0.0251949243247509, -1.6840391159057617, -0.05156256631016731, 0.758719801902771, 1.6370782852172852, -0.06568068265914917, -0.9199333786964417], "theta": [0.022931832820177078, -1.6830028295516968, -0.052541133016347885, 0.7422893047332764, 1.6368281841278076, -0.06560361385345459, -0.9210472702980042], "dq": [0.008921531960368156, 0.004308689851313829, -0.02227732352912426, 0.004618196282535791, 0.022588016465306282, -0.010146507062017918, 0.0006998505559749901], "dtheta": [0.009384457021951675, 0.003041196148842573, -0.019731519743800163, 0.005193460267037153, 0.023405615240335464, -0.008463452570140362, -2.4067159756668843e-05], "tau": [-62.0, 0.3400000035762787, -25.23200035095215, 1.3480000495910645, -3.452000141143799, 3.380000114440918, -0.4520000219345093], "tau_des": [-1.575899362564087, 1.2891958951950073, -1.1858257055282593, -0.2628767490386963, 0.6012935042381287, -0.31037530303001404, -0.45902693271636963], "tau_dot": [-15.767898559570312, 51.662452697753906, 0.5233035683631897, -27.13144874572754, -42.594478607177734, -24.807973861694336, -34.06349563598633], "tau_ext": [15.370857238769531, -35.807395935058594, -35.765464782714844, 20.030757904052734, -3.0134081840515137, -6.553976535797119, 0.3288061320781708], "tcp_pose": [0.6406289935112, -0.12178445607423782, -0.28261253237724304, -0.006177956238389015, -0.02465539425611496, 0.999488890171051, 0.01938873901963234], "tcp_vel": [-8.455400529783219e-05, 0.00037185713881626725, -0.0009176362655125558, 0.0018320548115298152, -0.0011752396821975708, -0.001035872264765203], "flange_pose": [0.6431570649147034, -0.12909053266048431, -0.09276987612247467, -0.006177956238389015, -0.02465539425611496, 0.999488890171051, 0.01938873901963234], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.711042404174805, -50.256202697753906, -11.742779731750488, -3.729728937149048, 11.808523178100586, 0.33728665113449097], "ext_wrench_in_world": [-10.073506102064496, -51.23837902052055, 9.914755397286218, 3.1412608385729888, 11.98297352690101, 0.08176597713355319]}
+{"timestamp_ns": 1789729557530180098, "elapsed_ms": 1000, "source_timestamp_ns": 1789729557525281519, "q": [0.025478312745690346, -1.6839334964752197, -0.05217710882425308, 0.758865237236023, 1.6377507448196411, -0.06591898947954178, -0.9199362397193909], "theta": [0.023218506947159767, -1.6828994750976562, -0.05311119183897972, 0.742445707321167, 1.6374924182891846, -0.0658411979675293, -0.9210489392280579], "dq": [0.01023145206272602, 0.005029498599469662, -0.016441380605101585, 0.0058283088728785515, 0.024536266922950745, -0.009749578312039375, 0.0032530648168176413], "dtheta": [0.008719696663320065, 0.00374394073151052, -0.0186744537204504, 0.005555361043661833, 0.020264361053705215, -0.00785853248089552, 0.0007865829393267632], "tau": [-61.97999954223633, 0.28999999165534973, -25.264001846313477, 1.4040000438690186, -3.452000141143799, 3.3600001335144043, -0.42000001668930054], "tau_des": [-1.521031141281128, 1.1756833791732788, -1.225951910018921, -0.21908219158649445, 0.6104885339736938, -0.31547898054122925, -0.47929003834724426], "tau_dot": [-98.55132293701172, 25.41097068786621, -48.73634719848633, -2.237354278564453, -5.123342037200928, -85.19326782226562, 45.35554122924805], "tau_ext": [15.36636734008789, -35.768795013427734, -35.75251388549805, 20.01939582824707, -3.0178537368774414, -6.553784370422363, 0.33628198504447937], "tcp_pose": [0.6406327486038208, -0.12177775055170059, -0.2826278507709503, -0.006168991327285767, -0.02465338446199894, 0.9994889497756958, 0.01938960887491703], "tcp_vel": [-0.00026721612084656954, 0.0003625283425208181, -0.0005565015599131584, 0.00039470597403123975, 6.840332207502797e-05, -0.0015934709226712584], "flange_pose": [0.643157422542572, -0.1290842443704605, -0.09278518706560135, -0.006168991327285767, -0.02465338446199894, 0.9994889497756958, 0.01938960887491703], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.70398998260498, -50.23778533935547, -11.737890243530273, -3.725613594055176, 11.811402320861816, 0.34482359886169434], "ext_wrench_in_world": [-10.067831841802017, -51.219437872397954, 9.910219507720994, 3.1369604779921203, 11.985919113490004, 0.07447627938457962]}
+{"timestamp_ns": 1789729557563441569, "elapsed_ms": 1033, "source_timestamp_ns": 1789729557555254875, "q": [0.025748837739229202, -1.683827519416809, -0.052771348506212234, 0.7590125799179077, 1.63837468624115, -0.06616333872079849, -0.9199405312538147], "theta": [0.02349197305738926, -1.6827961206436157, -0.05367453023791313, 0.7426024079322815, 1.6381034851074219, -0.06608641147613525, -0.9210527539253235], "dq": [0.007743562571704388, 0.0032535120844841003, -0.018001332879066467, 0.006314956117421389, 0.019702987745404243, -0.010127860121428967, -0.0012188984546810389], "dtheta": [0.009493979625403881, 0.0036998186260461807, -0.018974145874381065, 0.005023632198572159, 0.01945168897509575, -0.00828669685870409, -0.00019231664191465825], "tau": [-62.03999710083008, 0.23999999463558197, -25.296001434326172, 1.412000060081482, -3.4560000896453857, 3.3960001468658447, -0.4400000274181366], "tau_des": [-1.754372477531433, 1.1452933549880981, -1.2918258905410767, -0.1913946270942688, 0.6539433598518372, -0.2577284276485443, -0.46251314878463745], "tau_dot": [-9.215547561645508, -78.9360122680664, -11.883652687072754, -35.93906021118164, 16.901241302490234, -26.299888610839844, 12.390149116516113], "tau_ext": [15.39303207397461, -35.74463653564453, -35.72872543334961, 19.997692108154297, -3.0124945640563965, -6.561505317687988, 0.3353254795074463], "tcp_pose": [0.6406282186508179, -0.12177219241857529, -0.2826390564441681, -0.006172897759824991, -0.02465054765343666, 0.9994890689849854, 0.019387582316994667], "tcp_vel": [-0.0005582065205089748, 0.00031949428375810385, -0.000901881605386734, -7.060635107336566e-05, 0.001758054830133915, -0.00012263779353816062], "flange_pose": [0.6431543231010437, -0.12907788157463074, -0.09279635548591614, -0.006172897759824991, -0.02465054765343666, 0.9994890689849854, 0.019387582316994667], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.698338508605957, -50.19772720336914, -11.776666641235352, -3.7200324535369873, 11.812573432922363, 0.3462739586830139], "ext_wrench_in_world": [-10.063840672763614, -51.18057186731372, 9.950762216521959, 3.1313763409455553, 11.986850403154302, 0.073060535035367]}
+{"timestamp_ns": 1789729557596773861, "elapsed_ms": 1066, "source_timestamp_ns": 1789729557595240375, "q": [0.026105420663952827, -1.6837012767791748, -0.05355861783027649, 0.7591997385025024, 1.6392327547073364, -0.06648486852645874, -0.9199466705322266], "theta": [0.023851508274674416, -1.6826722621917725, -0.05445573106408119, 0.7428004741668701, 1.6389421224594116, -0.06640613079071045, -0.9210585355758667], "dq": [0.00868452899158001, 0.0030311017762869596, -0.016637181863188744, 0.003640402341261506, 0.022805046290159225, -0.005064392928034067, -0.0004283753805793822], "dtheta": [0.008850364945828915, 0.003070470876991749, -0.019731467589735985, 0.004855444189161062, 0.020778566598892212, -0.007084232289344072, -0.00045163670438341796], "tau": [-62.0099983215332, 0.26999998092651367, -25.292001724243164, 1.4240000247955322, -3.4240002632141113, 3.4200000762939453, -0.4520000219345093], "tau_des": [-1.6041591167449951, 1.2468106746673584, -1.212238073348999, -0.24817222356796265, 0.607846736907959, -0.30757370591163635, -0.48018884658813477], "tau_dot": [-144.6286163330078, 15.85400104522705, -18.76399040222168, 23.865625381469727, 17.57954978942871, 30.74494743347168, -23.047103881835938], "tau_ext": [15.380005836486816, -35.80229187011719, -35.73129653930664, 20.026233673095703, -3.019540309906006, -6.566312789916992, 0.3390985131263733], "tcp_pose": [0.6406267881393433, -0.12176644802093506, -0.2826554775238037, -0.006164263002574444, -0.024644818156957626, 0.9994891285896301, 0.019393734633922577], "tcp_vel": [-0.00010391188698122278, -0.00031036476138979197, -0.00018123138579539955, -0.0008986567263491452, -0.000602357613388449, -0.00028020169702358544], "flange_pose": [0.6431496143341064, -0.1290745735168457, -0.09281284362077713, -0.006164263002574444, -0.024644818156957626, 0.9994891285896301, 0.019393734633922577], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.693671226501465, -50.191471099853516, -11.751971244812012, -3.719355821609497, 11.819554328918457, 0.3469236493110657], "ext_wrench_in_world": [-10.060587912080468, -51.17315359436724, 9.925462739007676, 3.1304907361866756, 11.993770975873444, 0.07289588048709594]}
+{"timestamp_ns": 1789729557630102913, "elapsed_ms": 1100, "source_timestamp_ns": 1789729557625291072, "q": [0.026360228657722473, -1.6836152076721191, -0.05412883311510086, 0.7593286037445068, 1.639857530593872, -0.06671612709760666, -0.9199608564376831], "theta": [0.02410838194191456, -1.6825875043869019, -0.05504157394170761, 0.7429348230361938, 1.639550805091858, -0.06663691997528076, -0.921073853969574], "dq": [0.007631075568497181, 0.0013094826135784388, -0.018545489758253098, 0.004361204337328672, 0.023824695497751236, -0.006788609083741903, 1.3322624909051228e-05], "dtheta": [0.008331316523253918, 0.0028638143558055162, -0.019123658537864685, 0.004427412990480661, 0.018248025327920914, -0.007263731677085161, -1.9731747670448385e-05], "tau": [-61.84000015258789, 0.25999999046325684, -25.264001846313477, 1.4560000896453857, -3.4280002117156982, 3.4120001792907715, -0.4480000138282776], "tau_des": [-1.5543233156204224, 1.2714464664459229, -1.2151490449905396, -0.2502407133579254, 0.629665195941925, -0.3037097156047821, -0.482241153717041], "tau_dot": [140.33847045898438, 81.15354919433594, 15.373724937438965, 29.47726058959961, 111.54519653320312, 14.109468460083008, 18.75370216369629], "tau_ext": [15.344381332397461, -35.775245666503906, -35.742916107177734, 20.011350631713867, -3.022270917892456, -6.563138961791992, 0.34548279643058777], "tcp_pose": [0.6406279802322388, -0.12176371365785599, -0.2826653718948364, -0.006154462229460478, -0.024646427482366562, 0.9994890689849854, 0.01939861662685871], "tcp_vel": [-0.00046980573097243905, -0.0005634954432025552, 0.00012565188808366656, -0.0017826947150751948, 0.0008995640673674643, -0.0005492821801453829], "flange_pose": [0.6431471705436707, -0.12907378375530243, -0.09282276034355164, -0.006154462229460478, -0.024646427482366562, 0.9994890689849854, 0.01939861662685871], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.694822311401367, -50.182586669921875, -11.773216247558594, -3.72000789642334, 11.820508003234863, 0.34827354550361633], "ext_wrench_in_world": [-10.06194185118378, -51.16529084984731, 9.946329858192891, 3.1310425588458717, 11.994814944023593, 0.07176085153682002]}
+{"timestamp_ns": 1789729557663440534, "elapsed_ms": 1133, "source_timestamp_ns": 1789729557655289052, "q": [0.02660183236002922, -1.6835308074951172, -0.054668597877025604, 0.7594422101974487, 1.6404166221618652, -0.06694233417510986, -0.9199736714363098], "theta": [0.024351472035050392, -1.682504653930664, -0.05560610070824623, 0.7430546879768372, 1.6400917768478394, -0.06686413288116455, -0.9210875034332275], "dq": [0.00577614177018404, 0.002431310247629881, -0.01630784384906292, 0.003433795413002372, 0.020430145785212517, -0.007330038119107485, 0.0025942071806639433], "dtheta": [0.007904364727437496, 0.0033179798629134893, -0.018755411729216576, 0.004299982450902462, 0.018226096406579018, -0.006564571522176266, -0.0003856990661006421], "tau": [-61.87999725341797, 0.26999998092651367, -25.22800064086914, 1.4920001029968262, -3.4760000705718994, 3.440000057220459, -0.4360000193119049], "tau_des": [-1.519080400466919, 1.100376844406128, -1.2095756530761719, -0.1458943784236908, 0.6273601651191711, -0.30111074447631836, -0.4486398994922638], "tau_dot": [-16.982711791992188, 74.05805206298828, 48.37751007080078, -11.406678199768066, -65.12397766113281, 57.93795394897461, 33.348350524902344], "tau_ext": [15.289915084838867, -35.74062728881836, -35.76543426513672, 19.993234634399414, -3.0195059776306152, -6.567213535308838, 0.35031479597091675], "tcp_pose": [0.6406253576278687, -0.12176132202148438, -0.2826727330684662, -0.006160592660307884, -0.024652814492583275, 0.999488890171051, 0.01939612440764904], "tcp_vel": [6.141912308521569e-05, -0.0002715428709052503, 0.000309980969177559, -0.0019452959531918168, -1.1137853107356932e-05, 0.00038664479507133365], "flange_pose": [0.6431468725204468, -0.12907037138938904, -0.0928301140666008, -0.006160592660307884, -0.024652814492583275, 0.999488890171051, 0.01939612440764904], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.680435180664062, -50.14470291137695, -11.8340425491333, -3.716190814971924, 11.826279640197754, 0.3505880534648895], "ext_wrench_in_world": [-10.047838266276162, -51.12918865300476, 10.008808288511746, 3.1267610228927056, 12.000516454841309, 0.06961758019252726]}
+{"timestamp_ns": 1789729557696772886, "elapsed_ms": 1166, "source_timestamp_ns": 1789729557695229653, "q": [0.02691831812262535, -1.6834183931350708, -0.05538559705018997, 0.7596107125282288, 1.6412038803100586, -0.06724303215742111, -0.9199870228767395], "theta": [0.024665135890245438, -1.6823948621749878, -0.05636737123131752, 0.7432320713996887, 1.6408542394638062, -0.06716573238372803, -0.9211024045944214], "dq": [0.00824939738959074, 0.003470455761998892, -0.017405683174729347, 0.005794121418148279, 0.02109716087579727, -0.005704424809664488, -0.0007379890885204077], "dtheta": [0.007856548763811588, 0.002726507605984807, -0.01994345709681511, 0.0046547516249120235, 0.01944957859814167, -0.007938691414892673, -0.0001505208492744714], "tau": [-61.94999694824219, 0.22999998927116394, -25.316001892089844, 1.5360000133514404, -3.492000102996826, 3.4240002632141113, -0.46000000834465027], "tau_des": [-1.4954173564910889, 1.236086130142212, -1.1926449537277222, -0.24494203925132751, 0.5816449522972107, -0.2684314548969269, -0.4684617817401886], "tau_dot": [28.119962692260742, -23.97954750061035, -15.603348731994629, 62.35101318359375, -44.43301010131836, -4.911172866821289, 8.013809204101562], "tau_ext": [15.302021026611328, -35.77775192260742, -35.75606155395508, 20.004240036010742, -3.0104007720947266, -6.575467586517334, 0.3496851623058319], "tcp_pose": [0.6406263113021851, -0.12175408005714417, -0.28268352150917053, -0.006148470565676689, -0.024652007967233658, 0.9994888305664062, 0.019406486302614212], "tcp_vel": [-0.00035923183895647526, -0.0006006114417687058, 0.0005961169954389334, -0.0013200307730585337, 1.7602729940335848e-06, -0.0007044795784167945], "flange_pose": [0.6431432962417603, -0.12906718254089355, -0.0928410068154335, -0.006148470565676689, -0.024652007967233658, 0.9994888305664062, 0.019406486302614212], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.659643173217773, -50.16629409790039, -11.900030136108398, -3.731051206588745, 11.833579063415527, 0.35138532519340515], "ext_wrench_in_world": [-10.025490032511764, -51.15243865590032, 10.072334148194493, 3.1412585366879635, 12.008559655605165, 0.06926764404757432]}
+{"timestamp_ns": 1789729557730168352, "elapsed_ms": 1200, "source_timestamp_ns": 1789729557725263584, "q": [0.027156507596373558, -1.683332085609436, -0.05590474605560303, 0.7597416639328003, 1.6417561769485474, -0.06744959205389023, -0.9200016856193542], "theta": [0.024901026859879494, -1.6823114156723022, -0.056929610669612885, 0.7433682084083557, 1.641386866569519, -0.06737351417541504, -0.9211186766624451], "dq": [0.008376382291316986, 0.0046236165799200535, -0.015434963628649712, 0.006880706641823053, 0.016944294795393944, -0.005628793966025114, -0.0016961529618129134], "dtheta": [0.008005776442587376, 0.002633345779031515, -0.017835283651947975, 0.004529723431915045, 0.017195848748087883, -0.007040456868708134, -0.0007656340603716671], "tau": [-61.88999938964844, 0.22999998927116394, -25.272001266479492, 1.5200001001358032, -3.4680001735687256, 3.432000160217285, -0.46000000834465027], "tau_des": [-1.721134901046753, 1.2762627601623535, -1.3442236185073853, -0.2545987069606781, 0.6099603772163391, -0.22876928746700287, -0.4601656198501587], "tau_dot": [10.827764511108398, -111.42158508300781, 62.440311431884766, 1.6534790992736816, 53.25461196899414, 26.199472427368164, -5.140806198120117], "tau_ext": [15.346797943115234, -35.73435974121094, -35.734004974365234, 19.977161407470703, -2.9991514682769775, -6.583488941192627, 0.35234570503234863], "tcp_pose": [0.6406214237213135, -0.12175364792346954, -0.2826940417289734, -0.006147230975329876, -0.024651598185300827, 0.999488890171051, 0.019404159858822823], "tcp_vel": [-0.000682094891089946, -0.000554152182303369, -5.999286804581061e-05, -0.0013522460358217359, 0.0010467276442795992, -0.00016803600010462105], "flange_pose": [0.6431379318237305, -0.1290658712387085, -0.09285148233175278, -0.006147230975329876, -0.024651598185300827, 0.999488890171051, 0.019404159858822823], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.649946212768555, -50.14872741699219, -11.880120277404785, -3.7259421348571777, 11.837421417236328, 0.3491622507572174], "ext_wrench_in_world": [-10.01699976444164, -51.133605417190005, 10.05322690948627, 3.1360070059205776, 12.012053581045679, 0.07164986955995245]}
+{"timestamp_ns": 1789729557763436730, "elapsed_ms": 1233, "source_timestamp_ns": 1789729557755234431, "q": [0.027376782149076462, -1.6832441091537476, -0.05640052258968353, 0.7598742842674255, 1.6422719955444336, -0.06764890998601913, -0.9200146794319153], "theta": [0.025118989869952202, -1.6822257041931152, -0.057472631335258484, 0.7435046434402466, 1.6418840885162354, -0.06757509708404541, -0.9211325645446777], "dq": [0.0075323316268622875, 0.0025022162590175867, -0.018332945182919502, 0.0051924120634794235, 0.018573308363556862, -0.006324955727905035, 0.0005419367225840688], "dtheta": [0.007143390830606222, 0.002485319972038269, -0.018452761694788933, 0.004241957329213619, 0.014749969355762005, -0.006271158345043659, -0.0006834077066741884], "tau": [-61.939998626708984, 0.26999998092651367, -25.256000518798828, 1.5480000972747803, -3.4560000896453857, 3.436000108718872, -0.46400001645088196], "tau_des": [-1.4800653457641602, 1.3978188037872314, -1.110941767692566, -0.31915226578712463, 0.7364472150802612, -0.30124133825302124, -0.46722790598869324], "tau_dot": [-81.78443908691406, 136.32936096191406, -21.129783630371094, 32.89549255371094, 29.291872024536133, 40.19639205932617, -23.78268051147461], "tau_ext": [15.273550987243652, -35.755760192871094, -35.775943756103516, 19.980825424194336, -3.0026843547821045, -6.582338809967041, 0.3527556359767914], "tcp_pose": [0.6406154632568359, -0.12175333499908447, -0.2826983630657196, -0.006147418171167374, -0.02464960515499115, 0.9994890093803406, 0.019398920238018036], "tcp_vel": [-0.0008164204773493111, -0.0014049853198230267, 0.0010612411424517632, -0.004122970625758171, 0.001643696567043662, -0.000153588320245035], "flange_pose": [0.6431320309638977, -0.12906357645988464, -0.09285571426153183, -0.006147418171167374, -0.02464960515499115, 0.9994890093803406, 0.019398920238018036], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.633570671081543, -50.13735580444336, -11.9005765914917, -3.7257373332977295, 11.844045639038086, 0.34950417280197144], "ext_wrench_in_world": [-10.001130455548084, -51.122087509480444, 10.074464574192282, 3.1355201974220415, 12.018656247499711, 0.07144255836817628]}
+{"timestamp_ns": 1789729557796771481, "elapsed_ms": 1266, "source_timestamp_ns": 1789729557795227619, "q": [0.02765389159321785, -1.6831358671188354, -0.05706651136279106, 0.7600365281105042, 1.642993450164795, -0.06793238967657089, -0.9200258255004883], "theta": [0.025391312316060066, -1.682120680809021, -0.05820581689476967, 0.743668794631958, 1.6425813436508179, -0.06785953044891357, -0.921145498752594], "dq": [0.006836535409092903, 0.0003125703369732946, -0.014103797264397144, 0.0026605757884681225, 0.019530585035681725, -0.006896973121911287, -0.0013338059652596712], "dtheta": [0.0072476002387702465, 0.0023534807842224836, -0.01895867846906185, 0.0034698420204222202, 0.017796190455555916, -0.00775812566280365, -0.0006652746815234423], "tau": [-61.8599967956543, 0.1899999976158142, -25.268001556396484, 1.5760000944137573, -3.504000186920166, 3.432000160217285, -0.4360000193119049], "tau_des": [-1.4447524547576904, 1.1844139099121094, -1.191618800163269, -0.2014520764350891, 0.5843103528022766, -0.2582774758338928, -0.46115267276763916], "tau_dot": [-124.4006118774414, -43.882652282714844, -2.4253392219543457, 21.85387420654297, -53.81620788574219, -38.440162658691406, 35.6569938659668], "tau_ext": [15.253960609436035, -35.753257751464844, -35.783931732177734, 19.9627628326416, -2.993685007095337, -6.587153434753418, 0.35344722867012024], "tcp_pose": [0.6406181454658508, -0.12174622714519501, -0.2826966941356659, -0.006132475566118956, -0.024647800251841545, 0.9994890093803406, 0.01940680481493473], "tcp_vel": [-0.00019205872376915067, -0.000551267818082124, 0.0007384399650618434, -0.0015090372180566192, 0.0004671187198255211, 0.0005813240422867239], "flange_pose": [0.6431291103363037, -0.12905961275100708, -0.09285411238670349, -0.006132475566118956, -0.024647800251841545, 0.9994890093803406, 0.01940680481493473], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.585735321044922, -50.189697265625, -11.984816551208496, -3.7461390495300293, 11.859332084655762, 0.34888121485710144], "ext_wrench_in_world": [-9.950192462706616, -51.175323335712235, 10.154911343434142, 3.1552036823248506, 12.034884069472234, 0.07272229401365668]}
+{"timestamp_ns": 1789729557830155930, "elapsed_ms": 1300, "source_timestamp_ns": 1789729557825254991, "q": [0.027873562648892403, -1.6830666065216064, -0.05758465826511383, 0.7601379752159119, 1.6435269117355347, -0.06815329194068909, -0.9200292229652405], "theta": [0.025609178468585014, -1.6820533275604248, -0.05877844989299774, 0.7437703609466553, 1.643097996711731, -0.06808102130889893, -0.9211491346359253], "dq": [0.00794950406998396, 0.005409273784607649, -0.013573353178799152, 0.004036369267851114, 0.018337322399020195, -0.006049616727977991, 0.00069219566648826], "dtheta": [0.006694268435239792, 0.0023418560158461332, -0.018821053206920624, 0.003027255879715085, 0.018504470586776733, -0.007690540514886379, -0.0004416698939166963], "tau": [-61.77000045776367, 0.20999999344348907, -25.22800064086914, 1.5880000591278076, -3.4840002059936523, 3.444000244140625, -0.4400000274181366], "tau_des": [-1.3300942182540894, 1.126111626625061, -1.1269696950912476, -0.16271984577178955, 0.5785980820655823, -0.274170458316803, -0.4582805335521698], "tau_dot": [-78.22813415527344, 80.37570190429688, -39.60435104370117, 10.125723838806152, -39.62806701660156, 55.037330627441406, 41.831058502197266], "tau_ext": [15.224883079528809, -35.77937316894531, -35.80992126464844, 19.977022171020508, -2.9941823482513428, -6.589661598205566, 0.3494456112384796], "tcp_pose": [0.6406155824661255, -0.12174899876117706, -0.2826957404613495, -0.006134616676717997, -0.024648116901516914, 0.9994890093803406, 0.019404619932174683], "tcp_vel": [0.0003175208403263241, -0.000278140272712335, 0.0009617781033739448, -0.0009574375580996275, -0.0006563745555467904, 0.0008079324616119266], "flange_pose": [0.6431273221969604, -0.1290615350008011, -0.0928531289100647, -0.006134616676717997, -0.024648116901516914, 0.9994890093803406, 0.019404619932174683], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.573447227478027, -50.20355987548828, -12.006582260131836, -3.7540574073791504, 11.865147590637207, 0.34534987807273865], "ext_wrench_in_world": [-9.936872504939831, -51.18934999289074, 10.17624827965257, 3.162864715993846, 12.04094691894386, 0.07632160431080215]}
+{"timestamp_ns": 1789729557863444083, "elapsed_ms": 1333, "source_timestamp_ns": 1789729557855234926, "q": [0.02808537520468235, -1.6830049753189087, -0.05808047950267792, 0.7602279186248779, 1.6440738439559937, -0.06836868822574615, -0.9200363755226135], "theta": [0.02581936866044998, -1.6819920539855957, -0.05934121459722519, 0.7438609600067139, 1.6436299085617065, -0.06829941272735596, -0.9211565256118774], "dq": [0.006363134831190109, 0.00041954408516176045, -0.015543699264526367, 0.0031827238854020834, 0.016455333679914474, -0.008294060826301575, 0.0022144948597997427], "dtheta": [0.007218972779810429, 0.001657921471633017, -0.018606629222631454, 0.0027853462379425764, 0.016824116930365562, -0.006135821342468262, -0.00045587209751829505], "tau": [-61.7599983215332, 0.12999999523162842, -25.18800163269043, 1.6080000400543213, -3.4840002059936523, 3.432000160217285, -0.4360000193119049], "tau_des": [-1.379230260848999, 1.276609182357788, -1.1406019926071167, -0.21156425774097443, 0.5948084592819214, -0.3039867579936981, -0.45217573642730713], "tau_dot": [-129.71238708496094, -95.84369659423828, -13.881711959838867, -22.05221176147461, -1.4446134567260742, 36.105220794677734, 22.66513442993164], "tau_ext": [15.159791946411133, -35.786991119384766, -35.853572845458984, 19.983266830444336, -2.995626449584961, -6.587792873382568, 0.3505361080169678], "tcp_pose": [0.6406209468841553, -0.1217450276017189, -0.28269994258880615, -0.006124631501734257, -0.024652501568198204, 0.9994887709617615, 0.019415544345974922], "tcp_vel": [-0.00014852230378892273, -0.0012468392960727215, 0.0008612349047325552, -0.0030247957911342382, 0.0001393113925587386, 0.0003209704882465303], "flange_pose": [0.6431289911270142, -0.12906178832054138, -0.09285744279623032, -0.006124631501734257, -0.024652501568198204, 0.9994887709617615, 0.019415544345974922], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.577634811401367, -50.19331741333008, -12.085005760192871, -3.7556135654449463, 11.866792678833008, 0.34082910418510437], "ext_wrench_in_world": [-9.940298538537013, -51.18266498231547, 10.253713712650226, 3.164296965879254, 12.042516129282129, 0.08121700145581225]}
+{"timestamp_ns": 1789729557896770517, "elapsed_ms": 1366, "source_timestamp_ns": 1789729557895229124, "q": [0.028372887521982193, -1.6829293966293335, -0.058744627982378006, 0.7603362202644348, 1.6447789669036865, -0.06866037845611572, -0.9200424551963806], "theta": [0.026103707030415535, -1.681916356086731, -0.06010916084051132, 0.7439703345298767, 1.6443123817443848, -0.06859278678894043, -0.9211634993553162], "dq": [0.009310279972851276, 0.004294571001082659, -0.017268899828195572, 0.003835143754258752, 0.01795116811990738, -0.00899084098637104, -0.0018671209691092372], "dtheta": [0.007106994278728962, 0.002170001855120063, -0.01967921108007431, 0.0024035831447690725, 0.017251938581466675, -0.007303427439182997, 1.0604380804579705e-05], "tau": [-61.73999786376953, 0.17000000178813934, -25.224000930786133, 1.6400001049041748, -3.508000135421753, 3.4640002250671387, -0.4480000138282776], "tau_des": [-1.3153939247131348, 1.0875662565231323, -1.0959542989730835, -0.10126803070306778, 0.5811184644699097, -0.27424725890159607, -0.42939674854278564], "tau_dot": [83.76573944091797, -18.852760314941406, -3.305147886276245, -41.94038009643555, 15.95069694519043, 18.11358642578125, -9.937397956848145], "tau_ext": [15.162534713745117, -35.73118591308594, -35.868717193603516, 19.948041915893555, -2.979968547821045, -6.600639820098877, 0.3469061553478241], "tcp_pose": [0.6406218409538269, -0.12174538522958755, -0.28270578384399414, -0.006125284358859062, -0.024658789858222008, 0.9994884729385376, 0.01942294090986252], "tcp_vel": [0.0001441673666704446, -0.000823443231638521, 0.0012016691034659743, -0.0029014977626502514, 0.0006066253408789635, 0.0008137636468745768], "flange_pose": [0.6431302428245544, -0.12906493246555328, -0.09286339581012726, -0.006125284358859062, -0.024658789858222008, 0.9994884729385376, 0.01942294090986252], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.553007125854492, -50.19340515136719, -12.174501419067383, -3.7624831199645996, 11.878761291503906, 0.33662477135658264], "ext_wrench_in_world": [-9.913861366044445, -51.185257079302225, 10.342108292534684, 3.1704753925342204, 12.05467784814421, 0.0859828357127617]}
+{"timestamp_ns": 1789729557930167452, "elapsed_ms": 1400, "source_timestamp_ns": 1789729557925251207, "q": [0.028595954179763794, -1.6828734874725342, -0.05927707627415657, 0.7604207396507263, 1.6453349590301514, -0.06890419125556946, -0.9200439453125], "theta": [0.02632429078221321, -1.6818593740463257, -0.06071107089519501, 0.7440555691719055, 1.6448509693145752, -0.06883537769317627, -0.921165406703949], "dq": [0.006913806777447462, 0.00020065461285412312, -0.020254746079444885, 0.0026204411406069994, 0.018091317266225815, -0.00791324581950903, -0.00042469549225643277], "dtheta": [0.007027603220194578, 0.0021081892773509026, -0.019801413640379906, 0.0030292922165244818, 0.018313484266400337, -0.007711071986705065, -0.0003321976982988417], "tau": [-61.66999816894531, 0.25, -25.176000595092773, 1.6320000886917114, -3.516000270843506, 3.4760000705718994, -0.4400000274181366], "tau_des": [-1.318513035774231, 1.1653318405151367, -1.0795143842697144, -0.1597592830657959, 0.5759498476982117, -0.24276871979236603, -0.42647379636764526], "tau_dot": [61.10977554321289, 132.94863891601562, -24.298919677734375, -43.71390914916992, -56.8848991394043, 7.3673481941223145, 28.428028106689453], "tau_ext": [15.179564476013184, -35.73295593261719, -35.8720703125, 19.944705963134766, -2.972259521484375, -6.610280990600586, 0.3459632992744446], "tcp_pose": [0.6406195163726807, -0.12174751609563828, -0.28270572423934937, -0.006128855515271425, -0.024660998955368996, 0.9994882345199585, 0.01942974515259266], "tcp_vel": [4.9220216169487685e-05, -0.0007750320364721119, 0.0011786897666752338, -0.0020481813699007034, -6.202680378919467e-05, 0.0005132610094733536], "flange_pose": [0.6431293487548828, -0.12906961143016815, -0.09286345541477203, -0.006128855515271425, -0.024660998955368996, 0.9994882345199585, 0.01942974515259266], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.543286323547363, -50.172447204589844, -12.198515892028809, -3.75972580909729, 11.885775566101074, 0.3321841061115265], "ext_wrench_in_world": [-9.9045581531147, -51.16496804461464, 10.366197617499697, 3.1673827864022535, 12.061383635483264, 0.09086434817870068]}
+{"timestamp_ns": 1789729557963398170, "elapsed_ms": 1433, "source_timestamp_ns": 1789729557955230402, "q": [0.028802921995520592, -1.6828216314315796, -0.059804338961839676, 0.7605074644088745, 1.6459052562713623, -0.0691399946808815, -0.9200433492660522], "theta": [0.026529045775532722, -1.681805968284607, -0.061298009008169174, 0.7441422939300537, 1.6454020738601685, -0.06907284259796143, -0.9211651682853699], "dq": [0.008395294658839703, 0.0024001970887184143, -0.02150018699467182, 0.001005927100777626, 0.020870549604296684, -0.007919597439467907, -0.0029552800115197897], "dtheta": [0.006190635729581118, 0.0018970739329233766, -0.019669026136398315, 0.002674427581951022, 0.019918905571103096, -0.008289081044495106, -2.588709321571514e-06], "tau": [-61.66999816894531, 0.17999999225139618, -25.132001876831055, 1.6560001373291016, -3.5200002193450928, 3.452000141143799, -0.4440000355243683], "tau_des": [-1.066298484802246, 1.1041415929794312, -1.034212350845337, -0.1250714659690857, 0.4764518737792969, -0.2639368772506714, -0.4339289665222168], "tau_dot": [-113.2454605102539, -59.18221664428711, -23.49304962158203, -20.766878128051758, 22.53354263305664, 13.409096717834473, -28.350759506225586], "tau_ext": [15.083361625671387, -35.77610397338867, -35.93217468261719, 19.961406707763672, -2.9748589992523193, -6.6115522384643555, 0.34740689396858215], "tcp_pose": [0.6406237483024597, -0.12175029516220093, -0.2826979458332062, -0.006115805823355913, -0.024659471586346626, 0.9994881749153137, 0.01944015361368656], "tcp_vel": [0.0005896438960917294, -0.0003442980523686856, 0.0014387157279998064, -0.00044100143713876605, -0.0017398173222318292, 0.0003790612972807139], "flange_pose": [0.6431287527084351, -0.12907646596431732, -0.0928557738661766, -0.006115805823355913, -0.024659471586346626, 0.9994881749153137, 0.01944015361368656], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.535445213317871, -50.21168518066406, -12.272789001464844, -3.775866985321045, 11.89353084564209, 0.33032265305519104], "ext_wrench_in_world": [-9.894276075863305, -51.206789812510756, 10.43743470804166, 3.1831893466260963, 12.069837719700725, 0.09318543778093435]}
+{"timestamp_ns": 1789729557996764363, "elapsed_ms": 1466, "source_timestamp_ns": 1789729557995226619, "q": [0.029086414724588394, -1.682754635810852, -0.06053740531206131, 0.760611355304718, 1.646659255027771, -0.06949234753847122, -0.9200432300567627], "theta": [0.02680913917720318, -1.6817378997802734, -0.062096044421195984, 0.744246244430542, 1.646127462387085, -0.06942760944366455, -0.9211649298667908], "dq": [0.012603160925209522, 0.000719559786375612, -0.01816249080002308, 0.0030653071589767933, 0.02199835143983364, -0.009265422821044922, -0.0008758663316257298], "dtheta": [0.007366786245256662, 0.0018735158955678344, -0.020522557199001312, 0.0019412832334637642, 0.01952609233558178, -0.008517558686435223, 0.00021950362133793533], "tau": [-61.59000015258789, 0.17000000178813934, -25.088001251220703, 1.6920000314712524, -3.508000135421753, 3.4640002250671387, -0.4480000138282776], "tau_des": [-1.1539559364318848, 1.106795072555542, -0.9867295622825623, -0.09891136735677719, 0.5342873334884644, -0.23657159507274628, -0.417473167181015], "tau_dot": [37.13601303100586, 29.486703872680664, -58.33590316772461, 14.65330982208252, 23.350933074951172, 18.49553871154785, -2.374636173248291], "tau_ext": [15.10984992980957, -35.72501754760742, -35.929603576660156, 19.934038162231445, -2.951510190963745, -6.619252681732178, 0.33953168988227844], "tcp_pose": [0.6406219601631165, -0.1217547059059143, -0.2826833724975586, -0.006118925288319588, -0.024663062766194344, 0.9994878172874451, 0.01945219188928604], "tcp_vel": [0.00039422776899300516, -0.00046659447252750397, 0.0010347231291234493, -0.001344899064861238, 2.6144281946471892e-05, 0.000894876488018781], "flange_pose": [0.6431282758712769, -0.12908540666103363, -0.09284137189388275, -0.006118925288319588, -0.024663062766194344, 0.9994878172874451, 0.01945219188928604], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.526372909545898, -50.216121673583984, -12.350991249084473, -3.7823309898376465, 11.898904800415039, 0.323426753282547], "ext_wrench_in_world": [-9.883529210357372, -51.21410646421551, 10.514134698593576, 3.189386386049876, 12.075275815391224, 0.10048130907143343]}
+{"timestamp_ns": 1789729558030105415, "elapsed_ms": 1500, "source_timestamp_ns": 1789729558025231562, "q": [0.029318682849407196, -1.6827048063278198, -0.06111772730946541, 0.7606862783432007, 1.6472809314727783, -0.06974464654922485, -0.9200423359870911], "theta": [0.027039213106036186, -1.681687593460083, -0.06271789222955704, 0.7443206310272217, 1.6467260122299194, -0.06968212127685547, -0.9211627840995789], "dq": [0.005140756722539663, 0.004215529654175043, -0.0236691702157259, 0.0023986087180674076, 0.021190933883190155, -0.008805752731859684, 0.00022525836538989097], "dtheta": [0.0078034899197518826, 0.0016182558611035347, -0.020592818036675453, 0.0030175638385117054, 0.021050188690423965, -0.008362730965018272, 0.00013627507723867893], "tau": [-61.52000045776367, 0.17000000178813934, -25.02800178527832, 1.724000096321106, -3.500000238418579, 3.4680001735687256, -0.42000001668930054], "tau_des": [-1.145401954650879, 1.2557967901229858, -0.9757401347160339, -0.18819260597229004, 0.481692373752594, -0.26703721284866333, -0.41996219754219055], "tau_dot": [-79.08161926269531, -1.9482380151748657, 26.143535614013672, -28.869447708129883, 23.119895935058594, 81.40879821777344, 31.180007934570312], "tau_ext": [15.042598724365234, -35.73653030395508, -35.960227966308594, 19.94411277770996, -2.9447567462921143, -6.624526023864746, 0.33758488297462463], "tcp_pose": [0.6406304836273193, -0.12175954878330231, -0.2826767563819885, -0.006107517052441835, -0.024668114259839058, 0.9994876384735107, 0.019459230825304985], "tcp_vel": [8.915716898627579e-05, -0.0006830529309809208, 0.0006868845084682107, -0.0005986644537188113, -0.0008669037488289177, -0.0003029602230526507], "flange_pose": [0.6431325078010559, -0.1290930211544037, -0.09283483773469925, -0.006107517052441835, -0.024668114259839058, 0.9994876384735107, 0.019459230825304985], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.530179977416992, -50.195194244384766, -12.412378311157227, -3.781068801879883, 11.89898681640625, 0.3184903562068939], "ext_wrench_in_world": [-9.887297635680511, -51.19602758020806, 10.575357029779576, 3.18806889022759, 12.075133662631044, 0.10568078970881666]}
+{"timestamp_ns": 1789729558063441073, "elapsed_ms": 1533, "source_timestamp_ns": 1789729558055237363, "q": [0.0295538529753685, -1.6826562881469727, -0.061700139194726944, 0.7607620358467102, 1.6478878259658813, -0.07001954317092896, -0.9200401902198792], "theta": [0.027273530140519142, -1.6816394329071045, -0.06333582103252411, 0.7443962693214417, 1.64730966091156, -0.06996011734008789, -0.9211589694023132], "dq": [0.007386378012597561, 0.0012493114918470383, -0.020256130024790764, 0.0032626409083604813, 0.01727483980357647, -0.007153951097279787, -0.0008247555233538151], "dtheta": [0.007704253774136305, 0.0016818635631352663, -0.019851425662636757, 0.002605576766654849, 0.01999635435640812, -0.008683823980391026, 0.0008099424885585904], "tau": [-61.53999710083008, 0.12999999523162842, -25.04400062561035, 1.752000093460083, -3.5440001487731934, 3.444000244140625, -0.42000001668930054], "tau_des": [-1.1529006958007812, 1.2261396646499634, -0.9984518885612488, -0.15994425117969513, 0.4972078800201416, -0.22571417689323425, -0.4181280732154846], "tau_dot": [-49.22231674194336, 4.480248928070068, 51.67678451538086, 9.07353687286377, -29.21542739868164, -54.918212890625, 6.212939262390137], "tau_ext": [14.963159561157227, -35.740318298339844, -36.000892639160156, 19.935636520385742, -2.9369354248046875, -6.6235785484313965, 0.32794123888015747], "tcp_pose": [0.6406295895576477, -0.12176386266946793, -0.28267186880111694, -0.006110492628067732, -0.0246712788939476, 0.9994873404502869, 0.019469423219561577], "tcp_vel": [3.726385330082849e-05, -0.0004138228250667453, 0.0005036399234086275, -0.00028635968919843435, 1.591180443938356e-05, -0.0005343668162822723], "flange_pose": [0.6431329250335693, -0.12910117208957672, -0.09283009171485901, -0.006110492628067732, -0.0246712788939476, 0.9994873404502869, 0.019469423219561577], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.526274681091309, -50.19680404663086, -12.506908416748047, -3.7916371822357178, 11.899089813232422, 0.31052395701408386], "ext_wrench_in_world": [-9.881681776064442, -51.201368219765925, 10.668725778061223, 3.198647731052506, 12.075470574190211, 0.11375032950552484]}
+{"timestamp_ns": 1789729558096774282, "elapsed_ms": 1566, "source_timestamp_ns": 1789729558095226978, "q": [0.029865998774766922, -1.682586431503296, -0.06243698671460152, 0.7608703374862671, 1.648665189743042, -0.07034435123205185, -0.920037031173706], "theta": [0.027582330629229546, -1.6815687417984009, -0.06411106139421463, 0.7445042729377747, 1.6480504274368286, -0.07028543949127197, -0.9211539030075073], "dq": [0.006844420917332172, 0.0050689601339399815, -0.019873958081007004, 0.0012064521433785558, 0.017671577632427216, -0.009305638261139393, 0.0008193524554371834], "dtheta": [0.008109982125461102, 0.0016306743491441011, -0.019155075773596764, 0.002856032457202673, 0.01681363396346569, -0.008131834678351879, 0.0006380225531756878], "tau": [-61.52000045776367, 0.12999999523162842, -25.06800079345703, 1.752000093460083, -3.564000129699707, 3.4720001220703125, -0.4280000329017639], "tau_des": [-1.2530966997146606, 1.3987540006637573, -0.9814037084579468, -0.23985137045383453, 0.6010534167289734, -0.22161132097244263, -0.41615059971809387], "tau_dot": [67.4202880859375, -64.4983139038086, 29.069889068603516, -2.2962613105773926, -48.55351257324219, -10.684722900390625, -67.8972396850586], "tau_ext": [14.975868225097656, -35.7873420715332, -35.986209869384766, 19.95172691345215, -2.921008825302124, -6.633103847503662, 0.3104184567928314], "tcp_pose": [0.6406301856040955, -0.12177017331123352, -0.2826733887195587, -0.006110181100666523, -0.02467340975999832, 0.9994871616363525, 0.01947641372680664], "tcp_vel": [-0.0008008741424418986, -0.0009992975974455476, 0.0003342938143759966, -0.0020713687408715487, 0.0024021686986088753, -0.0007597837247885764], "flange_pose": [0.6431334614753723, -0.12911012768745422, -0.09283171594142914, -0.006110181100666523, -0.02467340975999832, 0.9994871616363525, 0.01947641372680664], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.540986061096191, -50.19505310058594, -12.565969467163086, -3.8029212951660156, 11.892498016357422, 0.29456162452697754], "ext_wrench_in_world": [-9.895472221555174, -51.202822238293145, 10.727250353707111, 3.2104007123699327, 12.068846137800078, 0.12948422706710183]}
+{"timestamp_ns": 1789729558130103483, "elapsed_ms": 1600, "source_timestamp_ns": 1789729558125367815, "q": [0.03009437955915928, -1.6825289726257324, -0.06298921257257462, 0.7609531283378601, 1.6492546796798706, -0.07058950513601303, -0.9200372695922852], "theta": [0.02780739776790142, -1.681511402130127, -0.06468594074249268, 0.7445873618125916, 1.6486122608184814, -0.07053208351135254, -0.9211517572402954], "dq": [0.006834286265075207, 0.0007847243687137961, -0.017302274703979492, 0.002959722885861993, 0.020755339413881302, -0.006194140762090683, 0.0014298225287348032], "dtheta": [0.00716063380241394, 0.0019258417887613177, -0.019236722961068153, 0.0029905394185334444, 0.01973993331193924, -0.0071548717096447945, -0.00018632435239851475], "tau": [-61.5, 0.17000000178813934, -25.09600067138672, 1.7440000772476196, -3.564000129699707, 3.496000051498413, -0.41200003027915955], "tau_des": [-0.9685347676277161, 1.1925853490829468, -0.9248480200767517, -0.11794397234916687, 0.470646470785141, -0.27308738231658936, -0.38112491369247437], "tau_dot": [2.966623306274414, -38.84760284423828, -39.033363342285156, -57.9035758972168, 22.876176834106445, 78.81070709228516, -37.352073669433594], "tau_ext": [14.924769401550293, -35.75970458984375, -35.998172760009766, 19.932682037353516, -2.9137160778045654, -6.633914947509766, 0.29758352041244507], "tcp_pose": [0.6406353116035461, -0.12177032977342606, -0.2826717793941498, -0.006104984320700169, -0.024678373709321022, 0.9994869232177734, 0.01948441192507744], "tcp_vel": [0.00040336212259717286, -0.0005368543206714094, 0.0007849951507523656, -0.001004450605250895, -0.0014499303651973605, 0.0002972132933791727], "flange_pose": [0.643136739730835, -0.1291133612394333, -0.09283021837472916, -0.006104984320700169, -0.024678373709321022, 0.9994869232177734, 0.01948441192507744], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.564069747924805, -50.197715759277344, -12.61274242401123, -3.8150784969329834, 11.882170677185059, 0.2803194522857666], "ext_wrench_in_world": [-9.917395498781358, -51.20870187105662, 10.773203179016269, 3.223119112986568, 12.058620234397312, 0.14340209528129194]}
+{"timestamp_ns": 1789729558163432843, "elapsed_ms": 1633, "source_timestamp_ns": 1789729558155359879, "q": [0.030316952615976334, -1.6824707984924316, -0.06353138387203217, 0.7610480189323425, 1.6498254537582397, -0.0708412155508995, -0.9200364947319031], "theta": [0.028027934953570366, -1.6814531087875366, -0.06524746119976044, 0.7446852326393127, 1.649156093597412, -0.07078468799591064, -0.9211491346359253], "dq": [0.005956144072115421, 0.0016581639647483826, -0.019010918214917183, 0.0029702377505600452, 0.021339332684874535, -0.010527126491069794, -0.002102718222886324], "dtheta": [0.007251384202390909, 0.0019334101816639304, -0.018669936805963516, 0.003958503250032663, 0.018847176805138588, -0.007510732859373093, 0.0005000887322239578], "tau": [-61.48999786376953, 0.11999999731779099, -25.124000549316406, 1.8360000848770142, -3.5920002460479736, 3.4640002250671387, -0.40400001406669617], "tau_des": [-1.1165645122528076, 1.3776055574417114, -0.9077410697937012, 0.07055187970399857, 0.5398761034011841, -0.1651899367570877, -0.43390488624572754], "tau_dot": [-121.61648559570312, 85.4880599975586, -13.605816841125488, -20.851476669311523, 3.109333038330078, -16.48236846923828, -10.054378509521484], "tau_ext": [14.912277221679688, -35.77863311767578, -35.980587005615234, 19.937179565429688, -2.9039463996887207, -6.643449306488037, 0.2946353852748871], "tcp_pose": [0.6406324505805969, -0.12177183479070663, -0.2826690375804901, -0.006105013191699982, -0.02467682957649231, 0.9994867444038391, 0.019493885338306427], "tcp_vel": [-0.00025972252478823066, -0.0006850964273326099, 0.0005768277333118021, -0.0007882273057475686, -0.0005447472794912755, -0.0013721123104915023], "flange_pose": [0.6431339383125305, -0.12911845743656158, -0.09282761812210083, -0.006105013191699982, -0.02467682957649231, 0.9994867444038391, 0.019493885338306427], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.567794799804688, -50.21826171875, -12.642791748046875, -3.8324785232543945, 11.877727508544922, 0.2694855034351349], "ext_wrench_in_world": [-9.919868652185379, -51.23072593067737, 10.801499243464436, 3.2408959858885553, 12.054616393952422, 0.15408321880596215]}
+{"timestamp_ns": 1789729558196768471, "elapsed_ms": 1666, "source_timestamp_ns": 1789729558195329700, "q": [0.03060021437704563, -1.682350754737854, -0.06422337144613266, 0.7612766027450562, 1.6506552696228027, -0.07106178998947144, -0.9200445413589478], "theta": [0.0283078383654356, -1.6813349723815918, -0.06595856696367264, 0.744918167591095, 1.6499505043029785, -0.07100403308868408, -0.9211550951004028], "dq": [0.0076852100901305676, 0.001649734447710216, -0.02015853114426136, 0.004801195580512285, 0.02163291908800602, -0.006869735196232796, -0.000853940611705184], "dtheta": [0.006830533035099506, 0.0034485755022615194, -0.017300134524703026, 0.00647793198004365, 0.019834497943520546, -0.004164452664554119, 4.673907096730545e-05], "tau": [-61.40999984741211, 0.07000000029802322, -25.112001419067383, 1.8760000467300415, -3.6000001430511475, 3.492000102996826, -0.42000001668930054], "tau_des": [-0.9141173958778381, 1.1322842836380005, -0.9493637681007385, -0.09743059426546097, 0.4542725682258606, -0.24492137134075165, -0.5050981640815735], "tau_dot": [12.602834701538086, -44.864906311035156, 39.40311050415039, -21.63430404663086, -7.343469619750977, -8.720735549926758, 18.025789260864258], "tau_ext": [14.86320972442627, -35.737632751464844, -35.96415710449219, 19.886638641357422, -2.8885765075683594, -6.652830123901367, 0.3026830554008484], "tcp_pose": [0.6406499147415161, -0.12177542597055435, -0.2826623320579529, -0.006029612384736538, -0.024651020765304565, 0.9994877576828003, 0.01949702762067318], "tcp_vel": [0.0004646679444704205, -0.0004699539567809552, 0.000570638629142195, -0.0013958950294181705, -0.004204283468425274, -0.001967257121577859], "flange_pose": [0.643122673034668, -0.1291240155696869, -0.09282059967517853, -0.006029612384736538, -0.024651020765304565, 0.9994877576828003, 0.01949702762067318], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.51252555847168, -50.23763656616211, -12.70045280456543, -3.8579275608062744, 11.885741233825684, 0.26281359791755676], "ext_wrench_in_world": [-9.867383667695918, -51.24911842847872, 10.855759987418626, 3.2666413840879334, 12.063437747557181, 0.1613831085327276]}
+{"timestamp_ns": 1789729558230094982, "elapsed_ms": 1700, "source_timestamp_ns": 1789729558225375850, "q": [0.030814066529273987, -1.6822720766067505, -0.06474052369594574, 0.7614426016807556, 1.6512647867202759, -0.07124731689691544, -0.9200634360313416], "theta": [0.02851993590593338, -1.6812576055526733, -0.0664839968085289, 0.7450850605964661, 1.650533676147461, -0.071189284324646, -0.9211742877960205], "dq": [0.006533696781843901, 0.0018914431566372514, -0.01799505576491356, 0.005837799981236458, 0.021326934918761253, -0.007768192794173956, -0.0022826525382697582], "dtheta": [0.0068739899434149265, 0.0014250156236812472, -0.017347706481814384, 0.00396776432171464, 0.018670998513698578, -0.004579495172947645, -0.0009569355170242488], "tau": [-61.349998474121094, 0.07000000029802322, -25.1200008392334, 1.8600001335144043, -3.5840001106262207, 3.492000102996826, -0.48000001907348633], "tau_des": [-0.88733971118927, 0.9451174139976501, -0.9791726469993591, -0.23284481465816498, 0.49428555369377136, -0.21661162376403809, -0.5172510147094727], "tau_dot": [32.54635238647461, -62.075225830078125, 2.0114901065826416, 35.34203338623047, 33.440616607666016, -5.302703857421875, -52.26824951171875], "tau_ext": [14.82616138458252, -35.826717376708984, -35.96406936645508, 19.92539405822754, -2.883650541305542, -6.650002479553223, 0.32820746302604675], "tcp_pose": [0.6406527757644653, -0.12178142368793488, -0.2826595902442932, -0.005984807386994362, -0.02463493123650551, 0.9994882941246033, 0.019504118710756302], "tcp_vel": [0.00014047400327399373, -0.001266647595912218, 0.0005919876275584102, -0.0018298182403668761, -0.0028863949701189995, -0.0004984106635674834], "flange_pose": [0.6431084275245667, -0.1291331797838211, -0.0928177461028099, -0.005984807386994362, -0.02463493123650551, 0.9994882941246033, 0.019504118710756302], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.445155143737793, -50.28615951538086, -12.76170825958252, -3.891918897628784, 11.896589279174805, 0.2716400623321533], "ext_wrench_in_world": [-9.799635242080498, -51.296422148345506, 10.912614121356597, 3.300339373010711, 12.07617396900794, 0.153100619760511]}
+{"timestamp_ns": 1789729558263442328, "elapsed_ms": 1733, "source_timestamp_ns": 1789729558255356167, "q": [0.031010329723358154, -1.682261347770691, -0.06523271650075912, 0.7615175247192383, 1.6518388986587524, -0.07141226530075073, -0.9201199412345886], "theta": [0.0287169162184, -1.6812481880187988, -0.0669785737991333, 0.7451596856117249, 1.6510826349258423, -0.07135629653930664, -0.9212339520454407], "dq": [0.00677905697375536, 0.0013911499409005046, -0.01487706694751978, 0.0044225468300282955, 0.016349704936146736, -0.0048639592714607716, -0.0011034513590857387], "dtheta": [0.006507487036287785, -0.00042192527325823903, -0.015989260748028755, 0.0012672843877226114, 0.01779945008456707, -0.005748510826379061, -0.0019573490135371685], "tau": [-61.34000015258789, -0.10999999940395355, -25.18800163269043, 1.908000111579895, -3.616000175476074, 3.51200008392334, -0.47200003266334534], "tau_des": [-0.7954136729240417, 0.47608742117881775, -1.1079075336456299, -0.09634505212306976, 0.4142910838127136, -0.19029083847999573, -0.4425828456878662], "tau_dot": [19.200294494628906, -9.544844627380371, 0.3904024660587311, 16.425182342529297, 55.03857421875, 40.116485595703125, -28.199228286743164], "tau_ext": [14.790303230285645, -35.77095031738281, -35.94200897216797, 19.919658660888672, -2.872713088989258, -6.653534889221191, 0.3540472090244293], "tcp_pose": [0.6406607627868652, -0.12181068956851959, -0.2826521098613739, -0.005939549300819635, -0.024648219347000122, 0.9994882345199585, 0.019505059346556664], "tcp_vel": [5.148088530404493e-05, -0.0012170298723503947, 0.00017973931971937418, -8.876905485522002e-05, -0.0018513869727030396, 0.0013085993705317378], "flange_pose": [0.643099308013916, -0.12916319072246552, -0.09281007945537567, -0.005939549300819635, -0.024648219347000122, 0.9994882345199585, 0.019505059346556664], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.41482162475586, -50.31975173950195, -12.827027320861816, -3.919966459274292, 11.896347045898438, 0.29035723209381104], "ext_wrench_in_world": [-9.766575805401077, -51.33126360258539, 10.975117994308656, 3.3278092337922174, 12.07812610842677, 0.1344351626172782]}
+{"timestamp_ns": 1789729558296764800, "elapsed_ms": 1766, "source_timestamp_ns": 1789729558295324548, "q": [0.03129938989877701, -1.6823452711105347, -0.06589022278785706, 0.7615271210670471, 1.6525729894638062, -0.07161556929349899, -0.920163631439209], "theta": [0.029009409248828888, -1.6813369989395142, -0.06763742119073868, 0.7451691031455994, 1.6517826318740845, -0.07156085968017578, -0.9212833642959595], "dq": [0.009749481454491615, -0.0022744620218873024, -0.01673704758286476, -0.0009844372980296612, 0.020797837525606155, -0.0067530726082623005, -0.0023530584294348955], "dtheta": [0.007531118579208851, -0.0043472046963870525, -0.01692231371998787, -0.0007042694487608969, 0.019778458401560783, -0.004252645652741194, -0.0023772241547703743], "tau": [-61.209999084472656, -0.6399999856948853, -25.192001342773438, 1.9640001058578491, -3.616000175476074, 3.492000102996826, -0.46000000834465027], "tau_des": [-0.4512883424758911, -0.13426803052425385, -1.0191994905471802, -0.31878164410591125, 0.42879998683929443, -0.20543944835662842, -0.4695192277431488], "tau_dot": [-46.20701217651367, 91.10297393798828, 13.643138885498047, 31.002513885498047, 79.00462341308594, -27.457130432128906, 16.671348571777344], "tau_ext": [14.746194839477539, -35.654762268066406, -35.918479919433594, 19.986690521240234, -2.8585567474365234, -6.654519081115723, 0.35854828357696533], "tcp_pose": [0.6406482458114624, -0.12189976125955582, -0.28265562653541565, -0.00590304983779788, -0.024645211175084114, 0.9994888305664062, 0.019489912316203117], "tcp_vel": [-0.0006449391948990524, -0.003517385106533766, -0.00013342127203941345, -0.0009314283379353583, -0.0031034937128424644, -0.0001593980414327234], "flange_pose": [0.643072783946991, -0.12924686074256897, -0.09281322360038757, -0.00590304983779788, -0.024645211175084114, 0.9994888305664062, 0.019489912316203117], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.558416366577148, -50.0682487487793, -12.834068298339844, -3.8654563426971436, 11.84227180480957, 0.30643320083618164], "ext_wrench_in_world": [-9.923410538904308, -51.08725234630727, 10.994327377038113, 3.275893696174378, 12.022060869307998, 0.11674111905586299]}
+{"timestamp_ns": 1789729558330110406, "elapsed_ms": 1800, "source_timestamp_ns": 1789729558325438781, "q": [0.03156883642077446, -1.682534098625183, -0.06641118228435516, 0.7614434361457825, 1.6531906127929688, -0.07172540575265884, -0.9202377796173096], "theta": [0.029281826689839363, -1.681530475616455, -0.06816475093364716, 0.745086133480072, 1.6523741483688354, -0.0716695785522461, -0.9213629364967346], "dq": [0.009446089155972004, -0.006285790354013443, -0.018007831647992134, -0.004816854372620583, 0.017604490742087364, -0.004204430151730776, -0.002770503982901573], "dtheta": [0.010249114595353603, -0.009158197790384293, -0.017637824639678, -0.004831037949770689, 0.019309259951114655, -0.0023480604868382215, -0.003693281440064311], "tau": [-61.03999710083008, -0.9099999666213989, -25.20400047302246, 1.940000057220459, -3.624000072479248, 3.4760000705718994, -0.45600003004074097], "tau_des": [-0.5150927901268005, -0.2237192541360855, -1.062809705734253, -0.41518622636795044, 0.47189465165138245, -0.14428311586380005, -0.4484547972679138], "tau_dot": [-81.56365203857422, -18.394622802734375, -68.90824890136719, 5.972640514373779, 57.3183708190918, -47.91334915161133, 49.60760498046875], "tau_ext": [14.694602012634277, -35.38575744628906, -35.884605407714844, 20.016950607299805, -2.84207820892334, -6.662396430969238, 0.363648384809494], "tcp_pose": [0.6406218409538269, -0.12203057110309601, -0.28268370032310486, -0.005866456776857376, -0.024647342041134834, 0.9994893670082092, 0.01946970820426941], "tcp_vel": [-0.0018628573743626475, -0.006307054776698351, -0.001396586769260466, -0.003377902554348111, -0.0009646352264098823, 0.000451870757387951], "flange_pose": [0.6430323123931885, -0.1293703317642212, -0.09284081310033798, -0.005866456776857376, -0.024647342041134834, 0.9994893670082092, 0.01946970820426941], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.914470672607422, -49.47027587890625, -12.842391967773438, -3.7071352005004883, 11.731222152709961, 0.31052854657173157], "ext_wrench_in_world": [-10.308887997229542, -50.50801089390238, 11.031157851498506, 3.123124578891282, 11.903566439743575, 0.10977908996834385]}
+{"timestamp_ns": 1789729558363438576, "elapsed_ms": 1833, "source_timestamp_ns": 1789729558355330091, "q": [0.03189605101943016, -1.6828968524932861, -0.06693226099014282, 0.7612142562866211, 1.6538290977478027, -0.07175613194704056, -0.9203328490257263], "theta": [0.029617423191666603, -1.6818970441818237, -0.06869155913591385, 0.7448585033416748, 1.6529897451400757, -0.07169735431671143, -0.9214648008346558], "dq": [0.013425921089947224, -0.012958922423422337, -0.016972195357084274, -0.008603246882557869, 0.022619908675551414, 0.0005709443357773125, -0.005473734810948372], "dtheta": [0.012986162677407265, -0.01509323250502348, -0.01713171787559986, -0.010218326933681965, 0.02029002644121647, 0.00033717293990775943, -0.0038655262906104326], "tau": [-60.81999969482422, -0.9199999570846558, -25.144001007080078, 1.7360000610351562, -3.644000291824341, 3.516000270843506, -0.492000013589859], "tau_des": [-0.03760812059044838, -0.41163694858551025, -0.980644702911377, -0.6352138519287109, 0.48895061016082764, -0.005284233018755913, -0.45779943466186523], "tau_dot": [-27.94733428955078, -133.1851806640625, -17.178144454956055, -15.201499938964844, 35.00680923461914, -4.33400821685791, -42.21585464477539], "tau_ext": [14.691509246826172, -35.3426628112793, -35.84440994262695, 20.149850845336914, -2.8277533054351807, -6.67876672744751, 0.3653947710990906], "tcp_pose": [0.6405723690986633, -0.12225008755922318, -0.28274473547935486, -0.005830008536577225, -0.024645188823342323, 0.99949049949646, 0.019426114857196808], "tcp_vel": [-0.002629572758451104, -0.009001228958368301, -0.0032670404762029648, -0.004277542233467102, -0.00041992883780039847, 4.4102580432081595e-05], "flange_pose": [0.6429685354232788, -0.12957365810871124, -0.0929010659456253, -0.005830008536577225, -0.024645188823342323, 0.99949049949646, 0.019426114857196808], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.396612167358398, -48.83021545410156, -12.883177757263184, -3.5426106452941895, 11.585744857788086, 0.31281015276908875], "ext_wrench_in_world": [-10.82237726591026, -49.89364852397256, 11.105647899264362, 2.9659708270926015, 11.750313888851249, 0.10278546538911651]}
+{"timestamp_ns": 1789729558396774894, "elapsed_ms": 1866, "source_timestamp_ns": 1789729558395316568, "q": [0.032513730227947235, -1.6837518215179443, -0.06766749173402786, 0.7605171799659729, 1.6547893285751343, -0.0716596320271492, -0.9204407930374146], "theta": [0.030248088762164116, -1.6827704906463623, -0.06942584365606308, 0.7441583275794983, 1.6539186239242554, -0.07159125804901123, -0.9215795993804932], "dq": [0.01948986016213894, -0.02556973323225975, -0.019045090302824974, -0.025365423411130905, 0.02532978355884552, 0.004167195409536362, -0.0032184261362999678], "dtheta": [0.01917903497815132, -0.02999079041182995, -0.01925368420779705, -0.02621603012084961, 0.027813060209155083, 0.007463538087904453, -0.0022038379684090614], "tau": [-60.3599967956543, -1.46999990940094, -25.04400062561035, 1.752000093460083, -3.6120002269744873, 3.7720000743865967, -0.47600001096725464], "tau_des": [0.7418171167373657, -1.8787322044372559, -0.9403185248374939, -0.87837153673172, 0.4625011384487152, 0.26384714245796204, -0.46170637011528015], "tau_dot": [5.957644939422607, 93.2618408203125, 23.65727424621582, 25.14918327331543, -3.456885814666748, 58.496604919433594, -41.10236740112305], "tau_ext": [14.59850025177002, -35.501373291015625, -35.845542907714844, 20.368051528930664, -2.816002130508423, -6.78316068649292, 0.36197587847709656], "tcp_pose": [0.6404806971549988, -0.12270476669073105, -0.282929390668869, -0.005802457220852375, -0.02464330568909645, 0.9994925260543823, 0.0193323977291584], "tcp_vel": [-0.002241355599835515, -0.015360952354967594, -0.006669968832284212, -0.006874930579215288, -0.003226841101422906, -0.0003741870750673115], "flange_pose": [0.6428655385971069, -0.1299930214881897, -0.09308421611785889, -0.005802457220852375, -0.02464330568909645, 0.9994925260543823, 0.0193323977291584], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.097168922424316, -48.22347640991211, -12.981389045715332, -3.418790102005005, 11.403107643127441, 0.31007200479507446], "ext_wrench_in_world": [-11.551410371992105, -49.32442602609675, 11.243497047399323, 2.851338480567805, 11.561810154895795, 0.09771971069496674]}
+{"timestamp_ns": 1789729558430106494, "elapsed_ms": 1900, "source_timestamp_ns": 1789729558425400778, "q": [0.03319666534662247, -1.6848636865615845, -0.06825283914804459, 0.7594535946846008, 1.6557095050811768, -0.07134709507226944, -0.9204773902893066], "theta": [0.030942268669605255, -1.6839104890823364, -0.07000043243169785, 0.7430854439735413, 1.654813528060913, -0.07125616073608398, -0.9216203689575195], "dq": [0.023426707834005356, -0.042362913489341736, -0.01925414614379406, -0.045030683279037476, 0.03129052743315697, 0.011833296157419682, -0.005120777525007725], "dtheta": [0.02684394083917141, -0.04411075636744499, -0.018237242475152016, -0.04457912966609001, 0.031042924150824547, 0.014573391526937485, -0.0018978615989908576], "tau": [-59.959999084472656, -2.369999885559082, -24.928001403808594, 2.076000213623047, -3.6720001697540283, 3.832000255584717, -0.46400001645088196], "tau_des": [1.2963688373565674, -3.1155149936676025, -0.7878795266151428, -0.2086278200149536, 0.4458371698856354, 0.2626827359199524, -0.3820633590221405], "tau_dot": [-29.320775985717773, -77.49061584472656, 50.48093795776367, -11.342427253723145, -36.26897048950195, 34.53672409057617, -36.51212692260742], "tau_ext": [14.529610633850098, -35.061927795410156, -35.78369140625, 20.317583084106445, -2.7853193283081055, -6.970073699951172, 0.3550194799900055], "tcp_pose": [0.6404262781143188, -0.12323695421218872, -0.28320059180259705, -0.005759783089160919, -0.024656055495142937, 0.9994946122169495, 0.019219860434532166], "tcp_vel": [-0.0018761387327685952, -0.02036653272807598, -0.011994333937764168, -0.008952660486102104, -0.001473713549785316, 0.0034780960995703936], "flange_pose": [0.6427939534187317, -0.13048283755779266, -0.09335356950759888, -0.005759783089160919, -0.024656055495142937, 0.9994946122169495, 0.019219860434532166], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.605796813964844, -47.666133880615234, -13.152642250061035, -3.3752002716064453, 11.323914527893066, 0.3035820722579956], "ext_wrench_in_world": [-12.08439118838722, -48.79766851551031, 11.451491383660677, 2.8114727576316385, 11.48045916768704, 0.09928451662821947]}
+{"timestamp_ns": 1789729558463438423, "elapsed_ms": 1933, "source_timestamp_ns": 1789729558455491897, "q": [0.03415754437446594, -1.686498999595642, -0.06879692524671555, 0.7579078674316406, 1.6568427085876465, -0.07079849392175674, -0.9205011129379272], "theta": [0.03191821277141571, -1.6855729818344116, -0.07053182274103165, 0.7415269017219543, 1.655916690826416, -0.07067298889160156, -0.9216461777687073], "dq": [0.035383500158786774, -0.05693701654672623, -0.015207650139927864, -0.049995992332696915, 0.04061947390437126, 0.020944399759173393, -0.0009032813832163811], "dtheta": [0.03523394092917442, -0.062285471707582474, -0.016134539619088173, -0.05578190088272095, 0.04095993936061859, 0.022814583033323288, -0.0033034207299351692], "tau": [-59.52000045776367, -2.759999990463257, -24.792001724243164, 2.200000047683716, -3.688000202178955, 3.8000001907348633, -0.46000000834465027], "tau_des": [1.7350517511367798, -3.003763437271118, -0.47817641496658325, -0.0983608067035675, 0.4346095621585846, 0.23298364877700806, -0.5510605573654175], "tau_dot": [-21.94623374938965, 35.28236770629883, 41.251922607421875, -17.3233699798584, -12.048693656921387, -31.261106491088867, -55.94276428222656], "tau_ext": [14.327919006347656, -34.74746322631836, -35.77873611450195, 20.303386688232422, -2.7567708492279053, -7.039682388305664, 0.34676384925842285], "tcp_pose": [0.6403230428695679, -0.12398217618465424, -0.2836718261241913, -0.005712288431823254, -0.02464180998504162, 0.9994974136352539, 0.01910712756216526], "tcp_vel": [-0.004858315456658602, -0.028534304350614548, -0.018462033942341805, -0.006925269030034542, -0.005505021661520004, -0.002027347218245268], "flange_pose": [0.642671525478363, -0.13118574023246765, -0.09382295608520508, -0.005712288431823254, -0.02464180998504162, 0.9994974136352539, 0.01910712756216526], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.036911964416504, -46.73552322387695, -13.346216201782227, -3.2470664978027344, 11.266918182373047, 0.29329097270965576], "ext_wrench_in_world": [-12.56076710995725, -47.89462675614836, 11.694921839778246, 2.686750039846286, 11.416783770181848, 0.10643463915753801]}
+{"timestamp_ns": 1789729558496781170, "elapsed_ms": 1966, "source_timestamp_ns": 1789729558495392006, "q": [0.03575130179524422, -1.68932044506073, -0.06929347664117813, 0.755628764629364, 1.658698320388794, -0.06963591277599335, -0.920960009098053], "theta": [0.03353187441825867, -1.6884331703186035, -0.07101690769195557, 0.7392162680625916, 1.6577298641204834, -0.06946063041687012, -0.9221121668815613], "dq": [0.044975124299526215, -0.08157142251729965, -0.006960606202483177, -0.06481824070215225, 0.05121835321187973, 0.03534460812807083, -0.014955663122236729], "dtheta": [0.04747869446873665, -0.08480153232812881, -0.009906631894409657, -0.06419124454259872, 0.05117788538336754, 0.03597034513950348, -0.018873948603868484], "tau": [-59.77000045776367, -2.4700000286102295, -24.856000900268555, 2.01200008392334, -3.7200002670288086, 3.812000274658203, -0.45600003004074097], "tau_des": [0.9142298102378845, -1.7401548624038696, -0.7896203398704529, -0.82707679271698, 0.4315013289451599, 0.2466474026441574, -0.552635908126831], "tau_dot": [19.29246711730957, -149.29627990722656, 27.14805793762207, -19.20871353149414, -11.007345199584961, -33.0290641784668, 14.201375961303711], "tau_ext": [14.223001480102539, -35.198944091796875, -35.84273147583008, 20.638582229614258, -2.7555594444274902, -7.021240234375, 0.361219584941864], "tcp_pose": [0.6400309205055237, -0.12529216706752777, -0.28458184003829956, -0.005519999656826258, -0.024625074118375778, 0.9995007514953613, 0.019009079784154892], "tcp_vel": [-0.011206092312932014, -0.03996039554476738, -0.028433453291654587, -0.00451938109472394, -0.010270990431308746, -0.0007392399129457772], "flange_pose": [0.6423053741455078, -0.132460355758667, -0.09473072737455368, -0.005519999656826258, -0.024625074118375778, 0.9995007514953613, 0.019009079784154892], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.628066062927246, -46.178810119628906, -13.656702995300293, -3.1984646320343018, 11.131370544433594, 0.29052606225013733], "ext_wrench_in_world": [-13.181193217687767, -47.377242854245054, 12.036506740814445, 2.645300917445419, 11.278904231501581, 0.10341172797543796]}
+{"timestamp_ns": 1789729558530127386, "elapsed_ms": 2000, "source_timestamp_ns": 1789729558525438556, "q": [0.03732509911060333, -1.692094326019287, -0.06955184787511826, 0.7535409331321716, 1.6604437828063965, -0.06837191432714462, -0.9216209650039673], "theta": [0.035124655812978745, -1.6912434101104736, -0.07127086818218231, 0.7370954155921936, 1.6594380140304565, -0.06814956665039062, -0.9227815866470337], "dq": [0.051665060222148895, -0.09643111377954483, -0.009424728341400623, -0.0655684843659401, 0.05616840720176697, 0.04714209958910942, -0.020953895524144173], "dtheta": [0.05595548078417778, -0.09538746625185013, -0.006377295590937138, -0.07042718678712845, 0.05966956913471222, 0.04834001883864403, -0.023956455290317535], "tau": [-60.3599967956543, -1.4199999570846558, -25.00400161743164, 1.564000129699707, -3.7680001258850098, 3.872000217437744, -0.4440000355243683], "tau_des": [0.11105972528457642, 0.06210317835211754, -0.9986873865127563, -1.1705271005630493, 0.34390196204185486, 0.24899275600910187, -0.5211247205734253], "tau_dot": [-31.270231246948242, 97.50498962402344, 7.289705276489258, -15.141317367553711, 15.147909164428711, 59.52669143676758, -30.211755752563477], "tau_ext": [14.54151725769043, -35.125396728515625, -35.67912292480469, 20.616426467895508, -2.6855854988098145, -7.049623966217041, 0.34824472665786743], "tcp_pose": [0.6396850347518921, -0.1265871673822403, -0.2855496406555176, -0.005303647834807634, -0.02463146671652794, 0.9995028972625732, 0.01895133964717388], "tcp_vel": [-0.012175971642136574, -0.04522768408060074, -0.034898750483989716, -0.005159810651093721, -0.016421090811491013, -0.0001593943015905097], "flange_pose": [0.6418768167495728, -0.13373544812202454, -0.09569680690765381, -0.005303647834807634, -0.02463146671652794, 0.9995028972625732, 0.01895133964717388], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.88561725616455, -46.008995056152344, -13.616045951843262, -3.1852316856384277, 11.067439079284668, 0.2870611250400543], "ext_wrench_in_world": [-13.45221568696802, -47.217765317226515, 12.004070168393842, 2.6351573809021605, 11.214335960341492, 0.10453373068206809]}
+{"timestamp_ns": 1789729558563435192, "elapsed_ms": 2033, "source_timestamp_ns": 1789729558555326327, "q": [0.038996078073978424, -1.6949306726455688, -0.069719597697258, 0.75139981508255, 1.662238597869873, -0.0668962299823761, -0.9223723411560059], "theta": [0.03681361302733421, -1.6941051483154297, -0.07143265753984451, 0.7349199652671814, 1.6612000465393066, -0.06663191318511963, -0.9235416650772095], "dq": [0.05944773554801941, -0.10268677026033401, -0.005208782386034727, -0.07601236552000046, 0.06341362744569778, 0.05233972892165184, -0.02635844424366951], "dtheta": [0.06131680682301521, -0.09951427578926086, -0.0060117896646261215, -0.07669657468795776, 0.06079550087451935, 0.05219186842441559, -0.024660350754857063], "tau": [-60.71999740600586, -0.23999999463558197, -24.93600082397461, 1.2160000801086426, -3.7960002422332764, 3.8360002040863037, -0.42000001668930054], "tau_des": [-0.33047786355018616, 1.3600369691848755, -1.0711084604263306, -1.5890140533447266, 0.316420316696167, 0.19533149898052216, -0.32415762543678284], "tau_dot": [84.12647247314453, 83.2861557006836, -55.86906433105469, 38.13189697265625, -43.501461029052734, 25.848567962646484, 41.38150405883789], "tau_ext": [14.770007133483887, -35.30189895629883, -35.65927505493164, 20.691974639892578, -2.6530745029449463, -7.039426326751709, 0.3362983465194702], "tcp_pose": [0.6393492817878723, -0.12791714072227478, -0.28660011291503906, -0.0050453911535441875, -0.024675650522112846, 0.9995046257972717, 0.018871450796723366], "tcp_vel": [-0.012437722645699978, -0.04678761586546898, -0.03830172121524811, -0.006970842834562063, -0.014016920700669289, 0.002558502135798335], "flange_pose": [0.6414425373077393, -0.13503742218017578, -0.09674513339996338, -0.0050453911535441875, -0.024675650522112846, 0.9995046257972717, 0.018871450796723366], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.03948211669922, -46.01481628417969, -13.372051239013672, -3.185006618499756, 11.0372314453125, 0.2727610170841217], "ext_wrench_in_world": [-13.610807930109544, -47.22135789058284, 11.761348776253772, 2.6356306803035627, 11.183863809610973, 0.11740917698191194]}
+{"timestamp_ns": 1789729558596772330, "elapsed_ms": 2066, "source_timestamp_ns": 1789729558595327110, "q": [0.04153217747807503, -1.6988557577133179, -0.06999540328979492, 0.7481136918067932, 1.6646831035614014, -0.0647219642996788, -0.9230133891105652], "theta": [0.039380282163619995, -1.69803786277771, -0.07170464843511581, 0.731598436832428, 1.6636073589324951, -0.06440448760986328, -0.9241876006126404], "dq": [0.06997240334749222, -0.10486678034067154, -0.009837825782597065, -0.0836598202586174, 0.05803528428077698, 0.051834799349308014, -0.010851503349840641], "dtheta": [0.06757325679063797, -0.09426829218864441, -0.008493456058204174, -0.08683647960424423, 0.05765961483120918, 0.056120190769433975, -0.007689114194363356], "tau": [-61.209999084472656, -0.2800000011920929, -24.98000144958496, 1.1480000019073486, -3.824000120162964, 3.820000171661377, -0.3840000033378601], "tau_des": [-0.7992488145828247, 1.3730661869049072, -1.2815872430801392, -1.0822088718414307, 0.16111421585083008, 0.1663701832294464, -0.34477564692497253], "tau_dot": [-53.12729263305664, -116.0804443359375, 42.04473876953125, -72.99849700927734, 50.28867721557617, 9.831709861755371, 11.665778160095215], "tau_ext": [14.912967681884766, -34.79256820678711, -35.69715118408203, 20.475976943969727, -2.6002097129821777, -7.004359722137451, 0.30861055850982666], "tcp_pose": [0.6389551162719727, -0.12972307205200195, -0.28817179799079895, -0.004795684479176998, -0.02469390444457531, 0.9995089769363403, 0.01868281327188015], "tcp_vel": [-0.007910117506980896, -0.04294382780790329, -0.041022058576345444, -0.013995105400681496, -0.006171834655106068, 0.0008255548891611397], "flange_pose": [0.6409518718719482, -0.13677404820919037, -0.09831317514181137, -0.004795684479176998, -0.02469390444457531, 0.9995089769363403, 0.01868281327188015], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.007184982299805, -45.86876678466797, -13.110420227050781, -3.100250005722046, 11.063648223876953, 0.2434062659740448], "ext_wrench_in_world": [-13.593118453143632, -47.060378799874286, 11.51541288295104, 2.549609870757707, 11.205059590584295, 0.14573197446144004]}
+{"timestamp_ns": 1789729558630100690, "elapsed_ms": 2100, "source_timestamp_ns": 1789729558625303708, "q": [0.04359086602926254, -1.7016664743423462, -0.07032093405723572, 0.745519757270813, 1.6664440631866455, -0.06304661184549332, -0.923179566860199], "theta": [0.04145824536681175, -1.7008204460144043, -0.07202770560979843, 0.7289903163909912, 1.665351152420044, -0.06269586086273193, -0.9243541955947876], "dq": [0.07126730680465698, -0.09455259144306183, -0.012457097880542278, -0.0932733491063118, 0.05477117374539375, 0.057269155979156494, -0.006179623305797577], "dtheta": [0.06770255416631699, -0.0888919085264206, -0.012700232677161694, -0.08953553438186646, 0.06110590323805809, 0.05286938697099686, -0.003956403583288193], "tau": [-61.52000045776367, -0.26999998092651367, -24.976001739501953, 1.2160000801086426, -3.808000087738037, 3.824000120162964, -0.3960000276565552], "tau_des": [-1.1296311616897583, 0.8083373308181763, -1.3255999088287354, -0.6867435574531555, 0.041005413979291916, 0.14428991079330444, -0.32417032122612], "tau_dot": [38.1097526550293, 70.59529113769531, 39.567745208740234, 0.770493745803833, 71.54576110839844, 31.623065948486328, -3.1444108486175537], "tau_ext": [14.995176315307617, -34.84836959838867, -35.772132873535156, 20.55126953125, -2.604177474975586, -6.969160079956055, 0.2965633273124695], "tcp_pose": [0.6387133598327637, -0.13101811707019806, -0.2893970012664795, -0.004720720928162336, -0.024679049849510193, 0.9995140433311462, 0.018448855727910995], "tcp_vel": [-0.004338852595537901, -0.038702353835105896, -0.040249790996313095, -0.013133595697581768, -0.0056754290126264095, 0.005409668665379286], "flange_pose": [0.6406793594360352, -0.13798099756240845, -0.09953481703996658, -0.004720720928162336, -0.024679049849510193, 0.9995140433311462, 0.018448855727910995], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.023893356323242, -45.69892883300781, -12.861775398254395, -2.9927070140838623, 11.07944393157959, 0.21869967877864838], "ext_wrench_in_world": [-13.6240175668069, -46.87681250623104, 11.293056086342302, 2.4420005186128284, 11.214584397970725, 0.1671313930615549]}
+{"timestamp_ns": 1789729558663448816, "elapsed_ms": 2133, "source_timestamp_ns": 1789729558655306239, "q": [0.045653048902750015, -1.704358696937561, -0.07075786590576172, 0.7428836226463318, 1.6682171821594238, -0.06145201250910759, -0.9232321381568909], "theta": [0.04352886229753494, -1.7034742832183838, -0.07246234267950058, 0.7263661026954651, 1.667116641998291, -0.06107795238494873, -0.9244087934494019], "dq": [0.07034525275230408, -0.08706824481487274, -0.013369489461183548, -0.09016579389572144, 0.0575423464179039, 0.05267998203635216, -0.0003551921108737588], "dtheta": [0.06953021138906479, -0.08762285858392715, -0.016004374250769615, -0.08595608174800873, 0.059010542929172516, 0.05055791884660721, -0.00032735129934735596], "tau": [-61.869998931884766, -0.949999988079071, -25.136001586914062, 1.5000001192092896, -3.9040002822875977, 3.7800002098083496, -0.3920000195503235], "tau_des": [-2.517828941345215, 0.8732033371925354, -1.673877477645874, -1.3035494089126587, 0.2367449700832367, 0.059188008308410645, -0.3799004554748535], "tau_dot": [56.47043991088867, -65.49385833740234, 23.142982482910156, -5.629326820373535, 9.222699165344238, 28.371814727783203, -54.76356506347656], "tau_ext": [15.092879295349121, -35.19829559326172, -35.82225799560547, 20.725948333740234, -2.612100601196289, -6.928083419799805, 0.2898726165294647], "tcp_pose": [0.638525128364563, -0.13223984837532043, -0.2905920147895813, -0.004681422375142574, -0.02468949928879738, 0.9995185732841492, 0.018198540434241295], "tcp_vel": [-0.006862001959234476, -0.03974570333957672, -0.03996869921684265, -0.016124049201607704, -0.00036990741500630975, -0.00041327119106426835], "flange_pose": [0.6404739022254944, -0.13910804688930511, -0.1007261872291565, -0.004681422375142574, -0.02468949928879738, 0.9995185732841492, 0.018198540434241295], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.071073532104492, -45.74882125854492, -12.830418586730957, -2.965029716491699, 11.082568168640137, 0.2012176662683487], "ext_wrench_in_world": [-13.669026903644722, -46.92247288804157, 11.28241701541713, 2.414126808246084, 11.215834746485895, 0.17958194419313656]}
+{"timestamp_ns": 1789729558696771867, "elapsed_ms": 2166, "source_timestamp_ns": 1789729558695290257, "q": [0.0482695996761322, -1.7079191207885742, -0.07145454734563828, 0.7392065525054932, 1.6705780029296875, -0.05964968353509903, -0.9232115149497986], "theta": [0.04613744840025902, -1.7070002555847168, -0.07316648960113525, 0.7227292656898499, 1.6694835424423218, -0.0592498779296875, -0.9243876934051514], "dq": [0.06626978516578674, -0.08167403936386108, -0.01772455871105194, -0.08782905340194702, 0.05725923180580139, 0.04547470435500145, 0.0008684519561938941], "dtheta": [0.06324692815542221, -0.09067194163799286, -0.019174573943018913, -0.09452876448631287, 0.061435721814632416, 0.04295846447348595, 0.0023975849617272615], "tau": [-62.22999954223633, -1.909999966621399, -25.476001739501953, 1.9920001029968262, -3.996000289916992, 3.81600022315979, -0.30000001192092896], "tau_des": [-2.4168050289154053, -0.8562334775924683, -1.9104396104812622, -0.7128267288208008, -0.010254008695483208, 0.14462415874004364, -0.12140825390815735], "tau_dot": [27.045459747314453, 8.530808448791504, -38.70146179199219, -35.56626892089844, 22.352693557739258, 15.459324836730957, 50.185279846191406], "tau_ext": [15.199251174926758, -34.9166259765625, -35.65700149536133, 20.606060028076172, -2.5542755126953125, -6.924238204956055, 0.26392361521720886], "tcp_pose": [0.6383196711540222, -0.13377058506011963, -0.2920931279659271, -0.004683527164161205, -0.024757035076618195, 0.9995215535163879, 0.01793794520199299], "tcp_vel": [-0.0043042246252298355, -0.038288556039333344, -0.03594787418842316, -0.011515290476381779, -0.0024090211372822523, 0.002625915454700589], "flange_pose": [0.6402673125267029, -0.14053967595100403, -0.1022237241268158, -0.004683527164161205, -0.024757035076618195, 0.9995215535163879, 0.01793794520199299], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.099994659423828, -45.63902282714844, -12.659381866455078, -2.903294324874878, 11.078452110290527, 0.17881275713443756], "ext_wrench_in_world": [-13.698760233558284, -46.80422071569395, 11.139976353263577, 2.3513596985667182, 11.208285985820012, 0.19653479842579533]}
+{"timestamp_ns": 1789729558730103297, "elapsed_ms": 2200, "source_timestamp_ns": 1789729558725314133, "q": [0.05009043589234352, -1.7106999158859253, -0.07201624661684036, 0.7362772226333618, 1.6723042726516724, -0.05842338502407074, -0.9230613112449646], "theta": [0.04794403910636902, -1.7098015546798706, -0.07374255359172821, 0.7198207974433899, 1.6712288856506348, -0.05800497531890869, -0.9242278933525085], "dq": [0.059073999524116516, -0.08201386034488678, -0.017577294260263443, -0.09481362998485565, 0.055043064057826996, 0.04216970130801201, 0.004308632109314203], "dtheta": [0.057803500443696976, -0.09685295075178146, -0.01977570354938507, -0.10011681169271469, 0.0578654408454895, 0.04096023365855217, 0.008740459568798542], "tau": [-61.73999786376953, -1.7699999809265137, -25.352001190185547, 1.908000111579895, -3.952000141143799, 3.80400013923645, -0.23200000822544098], "tau_des": [-1.4820678234100342, -0.28740954399108887, -1.4211043119430542, -1.0536668300628662, 0.1127009242773056, 0.05936882272362709, -0.20019668340682983], "tau_dot": [72.6926040649414, 19.340744018554688, -3.4751315116882324, 45.491920471191406, 20.47944450378418, 55.9581298828125, 54.60295104980469], "tau_ext": [15.163775444030762, -34.89939880371094, -35.52679443359375, 20.634117126464844, -2.529963970184326, -6.9275221824646, 0.19876636564731598], "tcp_pose": [0.6381796002388, -0.13493674993515015, -0.29312556982040405, -0.004683148581534624, -0.024771684780716896, 0.9995244145393372, 0.01775958016514778], "tcp_vel": [-0.004938963800668716, -0.04120670631527901, -0.03216874599456787, -0.012851526029407978, -0.0030403726268559694, -0.004350337199866772], "flange_pose": [0.6401255130767822, -0.14163810014724731, -0.10325375944375992, -0.004683148581534624, -0.024771684780716896, 0.9995244145393372, 0.01775958016514778], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.16357421875, -45.38545227050781, -12.406760215759277, -2.842165231704712, 11.047428131103516, 0.13996629416942596], "ext_wrench_in_world": [-13.776032332343839, -46.54181780301148, 10.913672028443507, 2.2918901035732713, 11.173054034557248, 0.2307929238924526]}
+{"timestamp_ns": 1789729558763430938, "elapsed_ms": 2233, "source_timestamp_ns": 1789729558755310116, "q": [0.05179796740412712, -1.71360182762146, -0.07256878167390823, 0.7331910133361816, 1.6739935874938965, -0.05725932866334915, -0.9228529930114746], "theta": [0.049634333699941635, -1.7127645015716553, -0.07431332767009735, 0.7167410254478455, 1.6729580163955688, -0.0568242073059082, -0.9239944219589233], "dq": [0.05711235851049423, -0.09603886306285858, -0.01474160049110651, -0.10713286697864532, 0.05298234894871712, 0.03512692451477051, 0.0006031073862686753], "dtheta": [0.05438925698399544, -0.09922230988740921, -0.016581127420067787, -0.10514557361602783, 0.055366139858961105, 0.03856915235519409, 0.006570495665073395], "tau": [-60.79999923706055, -1.1799999475479126, -24.880001068115234, 1.6440000534057617, -3.888000249862671, 3.696000099182129, -0.2240000069141388], "tau_des": [-0.33752578496932983, 0.3690430223941803, -0.9104470610618591, -0.7980437278747559, 0.08609957993030548, 0.016707755625247955, -0.1135200634598732], "tau_dot": [-2.956516742706299, 23.501039505004883, 125.0933609008789, 14.326565742492676, 40.035552978515625, -31.17070770263672, -3.0226783752441406], "tau_ext": [14.861583709716797, -35.06372833251953, -35.56364822387695, 20.753515243530273, -2.5622966289520264, -6.899506092071533, 0.146562859416008], "tcp_pose": [0.6380496621131897, -0.13612890243530273, -0.29409611225128174, -0.004666975233703852, -0.024774853140115738, 0.9995272159576416, 0.017599692568182945], "tcp_vel": [-0.0042330254800617695, -0.040265582501888275, -0.03145723044872284, -0.00919292401522398, -0.0030615339055657387, 0.0002683541679289192], "flange_pose": [0.6399879455566406, -0.1427696794271469, -0.10422210395336151, -0.004666975233703852, -0.024774853140115738, 0.9995272159576416, 0.017599692568182945], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.40161895751953, -45.29572677612305, -12.478656768798828, -2.8754286766052246, 10.965665817260742, 0.08378909528255463], "ext_wrench_in_world": [-14.01757988655711, -46.46321500832526, 11.004996527599266, 2.32963153258798, 11.091221502493465, 0.28028558216765526]}
+{"timestamp_ns": 1789729558796768516, "elapsed_ms": 2266, "source_timestamp_ns": 1789729558795287845, "q": [0.053971853107213974, -1.7175122499465942, -0.07301730662584305, 0.7289540767669678, 1.6759634017944336, -0.05566674843430519, -0.9225357174873352], "theta": [0.051788683980703354, -1.7167725563049316, -0.07478348910808563, 0.7125146389007568, 1.6750078201293945, -0.0552135705947876, -0.9236307740211487], "dq": [0.05176122486591339, -0.1004040315747261, -0.0072509851306676865, -0.10864194482564926, 0.045383479446172714, 0.03952090069651604, 0.00543364929035306], "dtheta": [0.05436292290687561, -0.0968240424990654, -0.006086116656661034, -0.10545726120471954, 0.049549400806427, 0.043473485857248306, 0.010834583081305027], "tau": [-59.849998474121094, -1.1799999475479126, -24.380001068115234, 1.8320001363754272, -3.80400013923645, 3.616000175476074, -0.22800001502037048], "tau_des": [0.5918716788291931, 0.5915024280548096, -0.689513087272644, -0.4982147514820099, 0.09797755628824234, -0.011922291480004787, -0.1355128437280655], "tau_dot": [-7.339133262634277, 34.35398483276367, 48.97400665283203, 16.229694366455078, 9.953943252563477, 2.7018091678619385, -2.3506693840026855], "tau_ext": [14.346799850463867, -34.8258056640625, -35.68098068237305, 20.577733993530273, -2.59548020362854, -6.84774923324585, 0.12517249584197998], "tcp_pose": [0.6378766298294067, -0.13767921924591064, -0.2954147756099701, -0.0046754078939557076, -0.0247885063290596, 0.9995298385620117, 0.017427584156394005], "tcp_vel": [-0.003301027463749051, -0.0373440757393837, -0.03473154455423355, -0.0061200205236673355, -0.0029944463167339563, -0.0020364969968795776], "flange_pose": [0.6398165822029114, -0.14425455033779144, -0.1055384948849678, -0.0046754078939557076, -0.0247885063290596, 0.9995298385620117, 0.017427584156394005], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.40966033935547, -45.33782196044922, -13.008890151977539, -3.002464771270752, 10.94249439239502, 0.032241884618997574], "ext_wrench_in_world": [-14.01668135477723, -46.520596586236834, 11.549589283428036, 2.4578565159767547, 11.072788136660781, 0.32607053981770395]}
+{"timestamp_ns": 1789729558830158170, "elapsed_ms": 2300, "source_timestamp_ns": 1789729558825331576, "q": [0.05565261095762253, -1.7203625440597534, -0.0731014534831047, 0.7258341908454895, 1.677242398262024, -0.05427778512239456, -0.9222431182861328], "theta": [0.053459424525499344, -1.7196711301803589, -0.07488224655389786, 0.7094122171401978, 1.6763570308685303, -0.05381357669830322, -0.9232943058013916], "dq": [0.0583101287484169, -0.09697272628545761, -0.002291825134307146, -0.11038544774055481, 0.04296306148171425, 0.0474272184073925, 0.007604587357491255], "dtheta": [0.05650657042860985, -0.0950518548488617, -0.0008220999734476209, -0.10264614969491959, 0.04233657196164131, 0.04888221621513367, 0.010575360618531704], "tau": [-59.88999938964844, -1.3700000047683716, -24.248001098632812, 1.8920000791549683, -3.760000228881836, 3.6080002784729004, -0.2160000056028366], "tau_des": [0.7810584902763367, 1.0858601331710815, -0.5191940665245056, -0.8389933109283447, 0.36258968710899353, -0.06261691451072693, -0.1962646245956421], "tau_dot": [-131.79750061035156, -20.659597396850586, -3.861046075820923, 28.61056137084961, -14.053071975708008, 54.126224517822266, 5.701201915740967], "tau_ext": [14.083642959594727, -34.852577209472656, -35.817466735839844, 20.57611083984375, -2.639502763748169, -6.810601711273193, 0.11683739721775055], "tcp_pose": [0.6377413272857666, -0.13880088925361633, -0.29649895429611206, -0.004701969679445028, -0.02477337047457695, 0.9995325803756714, 0.017286792397499084], "tcp_vel": [-0.00484468461945653, -0.037752509117126465, -0.03689355403184891, -0.009718203917145729, 0.0002507368044462055, -0.00331331929191947], "flange_pose": [0.6396899819374084, -0.1453225314617157, -0.1066209226846695, -0.004701969679445028, -0.02477337047457695, 0.9995325803756714, 0.017286792397499084], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.22740364074707, -45.34358215332031, -13.439120292663574, -3.0717334747314453, 10.990382194519043, 0.010161269456148148], "ext_wrench_in_world": [-13.83073041799006, -46.528392905695064, 11.99160437028639, 2.5252266397526375, 11.123294952208342, 0.3459629992411695]}
+{"timestamp_ns": 1789729558863439303, "elapsed_ms": 2333, "source_timestamp_ns": 1789729558855477590, "q": [0.05753949657082558, -1.7231922149658203, -0.07308932393789291, 0.7226939797401428, 1.6785175800323486, -0.05262959375977516, -0.9219256639480591], "theta": [0.055338021367788315, -1.7225263118743896, -0.07488415390253067, 0.7063044905662537, 1.6777054071426392, -0.05215609073638916, -0.9229280352592468], "dq": [0.06378664076328278, -0.09096220135688782, -0.00020812706497963518, -0.09934718161821365, 0.04248851165175438, 0.05660527944564819, 0.014442630112171173], "dtheta": [0.06329794973134995, -0.08955686539411545, 2.3839156710891984e-05, -0.0969822034239769, 0.0446753054857254, 0.058175504207611084, 0.011040217243134975], "tau": [-60.55999755859375, -1.3199999332427979, -24.36400032043457, 1.8040001392364502, -3.7960002422332764, 3.628000259399414, -0.2240000069141388], "tau_des": [-0.03889511153101921, 1.5963571071624756, -0.8086997270584106, -0.9138625860214233, 0.31636765599250793, 0.007923395372927189, -0.24354104697704315], "tau_dot": [-44.744503021240234, 85.4432601928711, -36.16298294067383, -45.702396392822266, 35.20988845825195, -76.29944610595703, -27.37908935546875], "tau_ext": [14.373948097229004, -34.82870864868164, -35.807281494140625, 20.56648063659668, -2.6526222229003906, -6.8200201988220215, 0.11279308050870895], "tcp_pose": [0.6376072764396667, -0.13992975652217865, -0.29772841930389404, -0.0047452556900680065, -0.024760687723755836, 0.9995359778404236, 0.017095353454351425], "tcp_vel": [-0.004285968840122223, -0.03700673580169678, -0.04075319692492485, -0.014521204866468906, -0.0012371331686154008, -0.004113921895623207], "flange_pose": [0.6395704746246338, -0.1463783234357834, -0.10784804075956345, -0.0047452556900680065, -0.024760687723755836, 0.9995359778404236, 0.017095353454351425], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.032461166381836, -45.273048400878906, -13.591105461120605, -3.061312675476074, 11.06760311126709, -0.00386024103499949], "ext_wrench_in_world": [-13.638049731354592, -46.4485354756825, 12.163224157456415, 2.5114280248217686, 11.19945888925983, 0.35824389867674034]}
+{"timestamp_ns": 1789729558896840965, "elapsed_ms": 2366, "source_timestamp_ns": 1789729558895295390, "q": [0.060189079493284225, -1.726426124572754, -0.07307113707065582, 0.7190846800804138, 1.6801509857177734, -0.05009857937693596, -0.9215930104255676], "theta": [0.05798003077507019, -1.7257674932479858, -0.07488143444061279, 0.7027202844619751, 1.6794328689575195, -0.04961729049682617, -0.9225369095802307], "dq": [0.0646674633026123, -0.07690979540348053, -0.001004244782961905, -0.07868634909391403, 0.04030298814177513, 0.06871691346168518, 0.008216852322220802], "dtheta": [0.07006298750638962, -0.07619015872478485, 0.00043823072337545455, -0.08354829996824265, 0.04110891744494438, 0.06861408799886703, 0.009983617812395096], "tau": [-61.099998474121094, -0.8199999928474426, -24.34800148010254, 1.7400001287460327, -3.7720000743865967, 3.5840001106262207, -0.2160000056028366], "tau_des": [-0.7488316893577576, 2.8295133113861084, -0.9126488566398621, -1.0260682106018066, 0.3275430500507355, 0.0053248330950737, -0.20307059586048126], "tau_dot": [-32.282958984375, -9.531963348388672, 32.98567199707031, 18.28032684326172, 19.89600372314453, -85.48336029052734, 6.720263481140137], "tau_ext": [14.98182201385498, -34.704261779785156, -35.714630126953125, 20.53586196899414, -2.649836540222168, -6.827195167541504, 0.10912168025970459], "tcp_pose": [0.6374672055244446, -0.1413225531578064, -0.29940247535705566, -0.004770262632519007, -0.024766867980360985, 0.9995425343513489, 0.016688648611307144], "tcp_vel": [-0.004036254715174437, -0.03470044210553169, -0.04358993470668793, -0.024466728791594505, 0.0005000527598895133, -0.0033364477567374706], "flange_pose": [0.6394361257553101, -0.147616446018219, -0.10951696336269379, -0.004770262632519007, -0.024766867980360985, 0.9995425343513489, 0.016688648611307144], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.973492622375488, -45.13313293457031, -13.08952522277832, -2.920025587081909, 11.154414176940918, -0.017719196155667305], "ext_wrench_in_world": [-13.590121075708, -46.279632011692385, 11.704362247229227, 2.3660029497294217, 11.278968314360426, 0.3670460943685476]}
+{"timestamp_ns": 1789729558930098163, "elapsed_ms": 2400, "source_timestamp_ns": 1789729558925476046, "q": [0.062420058995485306, -1.7285592555999756, -0.07306009531021118, 0.7167022228240967, 1.6813054084777832, -0.04779837280511856, -0.9213448166847229], "theta": [0.0602119155228138, -1.7279057502746582, -0.07487962394952774, 0.70033198595047, 1.6806607246398926, -0.047310709953308105, -0.9222452044487], "dq": [0.0729745626449585, -0.06134973093867302, -0.0002155929832952097, -0.07081054896116257, 0.03510589152574539, 0.07723118364810944, 0.0041532963514328], "dtheta": [0.0719711109995842, -0.06371451169252396, -0.00021029503841418773, -0.07092943787574768, 0.03893651068210602, 0.079587422311306, 0.009057548828423023], "tau": [-61.21999740600586, -0.28999999165534973, -24.272001266479492, 1.3680000305175781, -3.7160000801086426, 3.556000232696533, -0.18800000846385956], "tau_des": [-0.6836856007575989, 3.159029722213745, -0.7346657514572144, -1.3271287679672241, 0.4050908386707306, -0.1395196169614792, -0.22119532525539398], "tau_dot": [-55.03776550292969, -18.338607788085938, -53.073482513427734, -51.15399169921875, 18.914169311523438, -2.4602246284484863, 46.79917907714844], "tau_ext": [14.97713851928711, -35.095458984375, -35.80946731567383, 20.78692054748535, -2.709446668624878, -6.792668342590332, 0.10622206330299377], "tcp_pose": [0.6373592615127563, -0.1423659473657608, -0.30075809359550476, -0.004801532253623009, -0.02475225366652012, 0.9995507597923279, 0.016204271465539932], "tcp_vel": [-0.001997401937842369, -0.032975081354379654, -0.04299762472510338, -0.034994177520275116, -0.003809479298070073, -0.0026498790830373764], "flange_pose": [0.6393354535102844, -0.14847564697265625, -0.11086662858724594, -0.004801532253623009, -0.02475225366652012, 0.9995507597923279, 0.016204271465539932], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.049161911010742, -45.2011604309082, -12.799762725830078, -2.8576102256774902, 11.18344497680664, -0.02838807739317417], "ext_wrench_in_world": [-13.666004504211626, -46.330274727587394, 11.45863834586084, 2.3026302167137707, 11.30480115181564, 0.3681693049138701]}
+{"timestamp_ns": 1789729558963437721, "elapsed_ms": 2433, "source_timestamp_ns": 1789729558955337814, "q": [0.06456209719181061, -1.730210304260254, -0.07305040210485458, 0.7148393392562866, 1.682313323020935, -0.04545515030622482, -0.9211540222167969], "theta": [0.06235611066222191, -1.72956120967865, -0.07487752288579941, 0.698452889919281, 1.6817392110824585, -0.04495728015899658, -0.9220156073570251], "dq": [0.0801711305975914, -0.05037098750472069, -0.0006103352061472833, -0.06081940233707428, 0.033644694834947586, 0.07986443489789963, 0.009147979319095612], "dtheta": [0.0732039138674736, -0.051208656281232834, 0.0002547588665038347, -0.05969133600592613, 0.03578707575798035, 0.08159937709569931, 0.008342203684151173], "tau": [-61.14999771118164, -0.2800000011920929, -24.200000762939453, 1.3960000276565552, -3.688000202178955, 3.632000207901001, -0.20400001108646393], "tau_des": [-0.6779659986495972, 2.5019922256469727, -0.9475686550140381, -1.341837763786316, 0.31605812907218933, 0.03608636558055878, -0.1929437816143036], "tau_dot": [-20.321949005126953, -91.4486083984375, 18.086450576782227, -25.924795150756836, -3.0202481746673584, 24.892080307006836, 41.23151779174805], "tau_ext": [14.915828704833984, -35.56669998168945, -35.908111572265625, 21.01433753967285, -2.7648112773895264, -6.772706985473633, 0.10497823357582092], "tcp_pose": [0.6372842788696289, -0.14327101409435272, -0.30202746391296387, -0.00481325201690197, -0.024747485294938087, 0.9995595812797546, 0.015652146190404892], "tcp_vel": [-0.0010019976180046797, -0.028691308572888374, -0.043299540877342224, -0.03809484839439392, -0.0023461245000362396, -0.0007147673750296235], "flange_pose": [0.6392597556114197, -0.14917093515396118, -0.11212936788797379, -0.00481325201690197, -0.024747485294938087, 0.9995595812797546, 0.015652146190404892], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.18418312072754, -45.592769622802734, -12.715740203857422, -2.9165899753570557, 11.188700675964355, -0.03647737577557564], "ext_wrench_in_world": [-13.782655139918834, -46.71255874856007, 11.414628620835472, 2.36140695037609, 11.313113388793743, 0.3634187208072651]}
+{"timestamp_ns": 1789729558996772679, "elapsed_ms": 2466, "source_timestamp_ns": 1789729558995322800, "q": [0.0676882266998291, -1.7320868968963623, -0.0730394721031189, 0.712485671043396, 1.6835066080093384, -0.041862186044454575, -0.9207722544670105], "theta": [0.06547324359416962, -1.7314509153366089, -0.07487666606903076, 0.6960839629173279, 1.683034062385559, -0.041336774826049805, -0.9215863347053528], "dq": [0.0789569541811943, -0.04335447773337364, -0.0003344148863106966, -0.05729733780026436, 0.02769738808274269, 0.08825069665908813, 0.011959134601056576], "dtheta": [0.07673835009336472, -0.0392698310315609, 0.00015615230950061232, -0.05537812039256096, 0.02697775326669216, 0.09091278910636902, 0.014616679400205612], "tau": [-61.14999771118164, -0.9199999570846558, -24.192001342773438, 1.940000057220459, -3.688000202178955, 3.688000202178955, -0.20000000298023224], "tau_des": [-0.7041031122207642, 1.947231411933899, -0.9964160919189453, -0.6236887574195862, 0.3128351867198944, 0.08904201537370682, -0.12158052623271942], "tau_dot": [-172.18618774414062, -118.69647979736328, 43.52513885498047, 16.501956939697266, 24.195695877075195, -0.39785832166671753, 7.1764092445373535], "tau_ext": [14.942281723022461, -35.28102111816406, -35.87049865722656, 20.81403160095215, -2.775099992752075, -6.811914920806885, 0.09485597163438797], "tcp_pose": [0.6372618079185486, -0.14443154633045197, -0.3038327097892761, -0.004874170757830143, -0.024770358577370644, 0.999573290348053, 0.014694160781800747], "tcp_vel": [0.0018302961252629757, -0.025726383551955223, -0.04387276992201805, -0.0505104623734951, 0.0018227718537673354, 0.0005190158262848854], "flange_pose": [0.6392515301704407, -0.14996705949306488, -0.11392378807067871, -0.004874170757830143, -0.024770358577370644, 0.999573290348053, 0.014694160781800747], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.02187728881836, -46.00096130371094, -12.661871910095215, -3.012037992477417, 11.287348747253418, -0.04735373705625534], "ext_wrench_in_world": [-13.597499186493144, -47.08923325667168, 11.43783721527837, 2.451366677987513, 11.416829968426729, 0.3544740734520743]}
+{"timestamp_ns": 1789729559030107730, "elapsed_ms": 2500, "source_timestamp_ns": 1789729559025356379, "q": [0.0700545683503151, -1.7330914735794067, -0.0730157271027565, 0.7110037803649902, 1.6841672658920288, -0.03900986164808273, -0.920271098613739], "theta": [0.06782347708940506, -1.7324599027633667, -0.0748613104224205, 0.6946056485176086, 1.6837663650512695, -0.03846633434295654, -0.9210494160652161], "dq": [0.0800139382481575, -0.031043365597724915, -0.0015008673071861267, -0.04474840313196182, 0.019999174401164055, 0.09980402141809464, 0.017940761521458626], "dtheta": [0.0785297080874443, -0.028969962149858475, 0.0009145497460849583, -0.043476566672325134, 0.020892368629574776, 0.0982268899679184, 0.01581457257270813], "tau": [-60.959999084472656, -1.3199999332427979, -24.256000518798828, 2.1640000343322754, -3.7240002155303955, 3.692000150680542, -0.20400001108646393], "tau_des": [-0.6811663508415222, 1.99530827999115, -0.9161715507507324, -0.614081621170044, 0.4119088649749756, 0.08878690004348755, -0.2621361017227173], "tau_dot": [-84.10519409179688, -61.9371337890625, 17.0752010345459, 59.920902252197266, 27.125024795532227, -52.75404357910156, -10.720210075378418], "tau_ext": [14.95203685760498, -34.93806457519531, -35.773414611816406, 20.576799392700195, -2.7566978931427, -6.876712322235107, 0.09236341714859009], "tcp_pose": [0.637302041053772, -0.1451871693134308, -0.30516675114631653, -0.004963587503880262, -0.024737877771258354, 0.9995856881141663, 0.01385151781141758], "tcp_vel": [0.0016448799287900329, -0.024691307917237282, -0.04371272027492523, -0.05945553258061409, 0.0025967543479055166, -0.0023200050927698612], "flange_pose": [0.6393176317214966, -0.15040190517902374, -0.11524903029203415, -0.004963587503880262, -0.024737877771258354, 0.9995856881141663, 0.01385151781141758], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.555386543273926, -45.9703483581543, -12.60988712310791, -3.0335891246795654, 11.448273658752441, -0.058086905628442764], "ext_wrench_in_world": [-13.134656852168341, -47.01396924369705, 11.463843913223227, 2.4657398686004046, 11.578718607159427, 0.3498701877541973]}
+{"timestamp_ns": 1789729559063439756, "elapsed_ms": 2533, "source_timestamp_ns": 1789729559055440122, "q": [0.07244426757097244, -1.7337974309921265, -0.07296876609325409, 0.709888756275177, 1.6847227811813354, -0.03601744771003723, -0.9199111461639404], "theta": [0.07019545882940292, -1.7331684827804565, -0.07482130080461502, 0.6934982538223267, 1.6843901872634888, -0.035462141036987305, -0.920657753944397], "dq": [0.07692986726760864, -0.021046923473477364, 0.0021297417115420103, -0.034266259521245956, 0.019882140681147575, 0.10087944567203522, 0.010845998302102089], "dtheta": [0.07896851748228073, -0.019793031737208366, 0.002406980376690626, -0.03244684264063835, 0.02134065143764019, 0.10127317160367966, 0.013376984745264053], "tau": [-60.709999084472656, -1.559999942779541, -24.176000595092773, 2.2840001583099365, -3.684000253677368, 3.8480002880096436, -0.18800000846385956], "tau_des": [-0.48440831899642944, 1.1007745265960693, -0.9493497014045715, -0.4627860188484192, 0.33746933937072754, 0.14559470117092133, -0.21904297173023224], "tau_dot": [33.37199020385742, -123.4485855102539, -51.0145378112793, -1.4352792501449585, 6.45248556137085, 7.688416481018066, 20.650333404541016], "tau_ext": [14.624938011169434, -35.08636474609375, -35.841854095458984, 20.611507415771484, -2.777806043624878, -6.91800594329834, 0.08821368217468262], "tcp_pose": [0.6373395323753357, -0.14588910341262817, -0.30649158358573914, -0.005044902674853802, -0.02474183961749077, 0.9995975494384766, 0.012929809279739857], "tcp_vel": [0.00234033796004951, -0.021759480237960815, -0.04407021403312683, -0.06019452586770058, -0.0003940666210837662, -0.0017364872619509697], "flange_pose": [0.6393773555755615, -0.15075302124023438, -0.1165647879242897, -0.005044902674853802, -0.02474183961749077, 0.9995975494384766, 0.012929809279739857], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.162026405334473, -46.09024429321289, -12.746597290039062, -3.1448209285736084, 11.586091041564941, -0.06559547036886215], "ext_wrench_in_world": [-12.732193143990267, -47.096660782355364, 11.682003556514228, 2.5699340033140983, 11.722317795758693, 0.3382480980107407]}
+{"timestamp_ns": 1789729559096770463, "elapsed_ms": 2566, "source_timestamp_ns": 1789729559095449759, "q": [0.07562024891376495, -1.7344671487808228, -0.07284794002771378, 0.7087775468826294, 1.6854002475738525, -0.0319642573595047, -0.9195254445075989], "theta": [0.0733584612607956, -1.733845591545105, -0.07470586150884628, 0.6924051642417908, 1.68515145778656, -0.0314028263092041, -0.9202352166175842], "dq": [0.08005397766828537, -0.014340270310640335, 0.0017504827119410038, -0.024532603099942207, 0.018541457131505013, 0.10088334232568741, 0.009006289765238762], "dtheta": [0.07880832254886627, -0.015242265537381172, 0.00317906285636127, -0.024456966668367386, 0.0197482667863369, 0.09894941002130508, 0.010077924467623234], "tau": [-60.38999938964844, -2.1599998474121094, -23.916000366210938, 2.5440001487731934, -3.632000207901001, 3.876000165939331, -0.18800000846385956], "tau_des": [0.23219825327396393, 0.5514446496963501, -0.5165659189224243, -0.736772358417511, 0.5339229106903076, 0.19866123795509338, -0.18144702911376953], "tau_dot": [3.6383907794952393, 20.177532196044922, -9.570807456970215, 31.60538673400879, 16.664270401000977, -32.29353332519531, -7.673050403594971], "tau_ext": [14.411979675292969, -35.1014289855957, -35.9415168762207, 20.612688064575195, -2.8030552864074707, -7.014309406280518, 0.08141208440065384], "tcp_pose": [0.6373739242553711, -0.1467551738023758, -0.30825135111808777, -0.0051323710940778255, -0.024742871522903442, 0.9996124505996704, 0.011680380441248417], "tcp_vel": [0.0005846862914040685, -0.020458433777093887, -0.04407138377428055, -0.05892627313733101, 0.0013368608197197318, -0.001772299874573946], "flange_pose": [0.6394333243370056, -0.15114374458789825, -0.11831321567296982, -0.0051323710940778255, -0.024742871522903442, 0.9996124505996704, 0.011680380441248417], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.762123107910156, -46.371543884277344, -13.086376190185547, -3.347811460494995, 11.752760887145996, -0.07468727231025696], "ext_wrench_in_world": [-12.313148933144143, -47.33637957804248, 12.130421857845823, 2.76438590377045, 11.899444701397568, 0.3196789131489059]}
+{"timestamp_ns": 1789729559130098560, "elapsed_ms": 2600, "source_timestamp_ns": 1789729559125431368, "q": [0.07807208597660065, -1.7348917722702026, -0.07273641228675842, 0.7080710530281067, 1.6860235929489136, -0.028930334374308586, -0.9192463755607605], "theta": [0.07581455260515213, -1.7342771291732788, -0.07459337264299393, 0.6917134523391724, 1.6858360767364502, -0.028374195098876953, -0.9199339151382446], "dq": [0.0841950923204422, -0.015118158422410488, 0.001760907587595284, -0.023921214044094086, 0.019571974873542786, 0.10384254157543182, 0.007921187207102776], "dtheta": [0.08117975294589996, -0.013995069079101086, 0.004065916407853365, -0.021862225607037544, 0.025972556322813034, 0.10115112364292145, 0.010457322001457214], "tau": [-60.38999938964844, -2.379999876022339, -23.748001098632812, 2.576000213623047, -3.628000259399414, 3.948000192642212, -0.17600001394748688], "tau_des": [0.5597224831581116, 0.3186165690422058, -0.3430933952331543, -0.8274838328361511, 0.46295228600502014, 0.20560845732688904, -0.24874339997768402], "tau_dot": [-77.46708679199219, 23.129243850708008, 84.01626586914062, 52.81058883666992, -1.235909104347229, 93.30271911621094, 33.829200744628906], "tau_ext": [14.51768970489502, -34.991397857666016, -35.999839782714844, 20.56488037109375, -2.814724922180176, -7.083275318145752, 0.08208658546209335], "tcp_pose": [0.6373876929283142, -0.1473580300807953, -0.30963170528411865, -0.0051824115216732025, -0.02472551353275776, 0.9996225833892822, 0.010790960863232613], "tcp_vel": [0.0011308667017146945, -0.019369300454854965, -0.04622713103890419, -0.055823978036642075, -0.0028277148958295584, -0.0034980089403688908], "flange_pose": [0.6394577026367188, -0.1514083445072174, -0.11968614906072617, -0.0051824115216732025, -0.02472551353275776, 0.9996225833892822, 0.010790960863232613], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.495172500610352, -46.40732192993164, -13.23543643951416, -3.4045565128326416, 11.893925666809082, -0.07930444180965424], "ext_wrench_in_world": [-12.04364348594201, -47.340070146219894, 12.361017045926689, 2.814460279171859, 12.043598462544805, 0.30546918190550604]}
+{"timestamp_ns": 1789729559163436845, "elapsed_ms": 2633, "source_timestamp_ns": 1789729559155312973, "q": [0.080642931163311, -1.735318899154663, -0.072597436606884, 0.7073767185211182, 1.6867685317993164, -0.025843791663646698, -0.919005274772644], "theta": [0.07839791476726532, -1.7347095012664795, -0.07444941997528076, 0.6910353899002075, 1.6866449117660522, -0.025296688079833984, -0.9196721911430359], "dq": [0.0795251876115799, -0.013735462911427021, 0.0021696763578802347, -0.020602043718099594, 0.028690729290246964, 0.1015644446015358, 0.008679392747581005], "dtheta": [0.08745916932821274, -0.014724708162248135, 0.0056715188547968864, -0.0229871217161417, 0.028998348861932755, 0.10478316992521286, 0.00859061349183321], "tau": [-60.62999725341797, -2.4099998474121094, -23.68000030517578, 2.6000001430511475, -3.632000207901001, 4.039999961853027, -0.18400001525878906], "tau_des": [0.2160027027130127, 0.21555456519126892, -0.3242059051990509, -0.7728699445724487, 0.523714005947113, 0.2192697525024414, -0.21494336426258087], "tau_dot": [-19.29484748840332, 71.13365173339844, 17.43906593322754, 16.305898666381836, -39.94178771972656, 32.355369567871094, 1.180073618888855], "tau_ext": [14.795690536499023, -34.99165344238281, -36.06217575073242, 20.564842224121094, -2.836865186691284, -7.150575160980225, 0.08337045460939407], "tcp_pose": [0.6373918652534485, -0.14794524013996124, -0.31110435724258423, -0.005224197171628475, -0.024719838052988052, 0.999631404876709, 0.009934049099683762], "tcp_vel": [0.0005019368836656213, -0.01923612877726555, -0.050818175077438354, -0.05496581271290779, -0.001459320541471243, -0.0013347557978704572], "flange_pose": [0.6394696831703186, -0.1516697108745575, -0.12115223705768585, -0.005224197171628475, -0.024719838052988052, 0.999631404876709, 0.009934049099683762], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.269429206848145, -46.4544792175293, -13.165698051452637, -3.409289598464966, 12.045782089233398, -0.0812607854604721], "ext_wrench_in_world": [-11.816209079375861, -47.353314069474955, 12.369789976926706, 2.811755748709059, 12.195935962677694, 0.2896560488193591]}
+{"timestamp_ns": 1789729559196768422, "elapsed_ms": 2666, "source_timestamp_ns": 1789729559195283970, "q": [0.08429355174303055, -1.7359334230422974, -0.0723496675491333, 0.7064110040664673, 1.6879769563674927, -0.02164856158196926, -0.9187333583831787], "theta": [0.08208706229925156, -1.735328197479248, -0.07418821007013321, 0.6900963187217712, 1.6879323720932007, -0.021110057830810547, -0.9193773865699768], "dq": [0.09663858264684677, -0.014338502660393715, 0.003923662006855011, -0.023243805393576622, 0.03445754200220108, 0.11162670701742172, 0.00891669001430273], "dtheta": [0.09482353925704956, -0.015525219030678272, 0.008468346670269966, -0.024024764075875282, 0.03430718183517456, 0.10811333358287811, 0.009655582718551159], "tau": [-60.32999801635742, -2.569999933242798, -23.440000534057617, 2.684000015258789, -3.5520002841949463, 4.060000419616699, -0.18400001525878906], "tau_des": [0.5663042664527893, 0.26621052622795105, -0.06242639943957329, -0.7463590502738953, 0.5124192237854004, 0.3207907974720001, -0.18087640404701233], "tau_dot": [20.240510940551758, 22.229167938232422, -34.46158981323242, -20.606468200683594, -33.250877380371094, -13.264808654785156, 6.127450466156006], "tau_ext": [14.871548652648926, -34.96061325073242, -36.18142318725586, 20.56167221069336, -2.866405487060547, -7.2209038734436035, 0.07771296054124832], "tcp_pose": [0.6373776793479919, -0.14870315790176392, -0.31324806809425354, -0.005276859737932682, -0.024732865393161774, 0.9996408820152283, 0.008862114511430264], "tcp_vel": [-0.0001639584224903956, -0.018292386084794998, -0.05683009698987007, -0.05126239359378815, -0.0007106111734174192, -0.0023836728651076555], "flange_pose": [0.6394654512405396, -0.1520199477672577, -0.12328848242759705, -0.005276859737932682, -0.024732865393161774, 0.9996408820152283, 0.008862114511430264], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.990968704223633, -46.59776306152344, -12.961180686950684, -3.4023709297180176, 12.25010871887207, -0.08659595996141434], "ext_wrench_in_world": [-11.530844777421951, -47.45282946600984, 12.26211754995916, 2.7943731889815164, 12.400244254188232, 0.2724175931000332]}
+{"timestamp_ns": 1789729559230102008, "elapsed_ms": 2700, "source_timestamp_ns": 1789729559225288303, "q": [0.08723011612892151, -1.7364037036895752, -0.07203225791454315, 0.7056705355644226, 1.688928484916687, -0.01829853281378746, -0.9184682369232178], "theta": [0.08504430949687958, -1.7357977628707886, -0.07385365664958954, 0.6893795132637024, 1.6889386177062988, -0.01777470111846924, -0.9190981388092041], "dq": [0.10173049569129944, -0.021171677857637405, 0.009487521834671497, -0.023575644940137863, 0.03142959997057915, 0.11508679389953613, 0.009851929731667042], "dtheta": [0.0988725945353508, -0.015911782160401344, 0.014803590252995491, -0.023591719567775726, 0.03446934372186661, 0.11421110481023788, 0.008443832397460938], "tau": [-59.93000030517578, -2.5199999809265137, -23.296001434326172, 2.6120002269744873, -3.500000238418579, 4.080000400543213, -0.19600000977516174], "tau_des": [1.2035783529281616, 0.6531041264533997, 0.19522026181221008, -0.9362912178039551, 0.5566091537475586, 0.35296595096588135, -0.2334451526403427], "tau_dot": [-30.468704223632812, -64.45736694335938, 20.024696350097656, -48.41274642944336, 29.831552505493164, 89.63731384277344, -63.437923431396484], "tau_ext": [14.749603271484375, -34.91001892089844, -36.239776611328125, 20.55373764038086, -2.8923654556274414, -7.2481465339660645, 0.07740096002817154], "tcp_pose": [0.6373506784439087, -0.14926661550998688, -0.31501859426498413, -0.00532212620601058, -0.02471013180911541, 0.9996479749679565, 0.008060823194682598], "tcp_vel": [-0.0007188787567429245, -0.017928937450051308, -0.06127677112817764, -0.049606502056121826, -0.0018377096857875586, -0.0025190203450620174], "flange_pose": [0.6394480466842651, -0.15227867662906647, -0.12505406141281128, -0.00532212620601058, -0.02471013180911541, 0.9996479749679565, 0.008060823194682598], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.778236389160156, -46.60538101196289, -13.013924598693848, -3.4052770137786865, 12.378993034362793, -0.09192375093698502], "ext_wrench_in_world": [-11.318530373932118, -47.430586544073144, 12.389265554739755, 2.7914447540333978, 12.529332709584455, 0.2597847167845571]}
+{"timestamp_ns": 1789729559263441663, "elapsed_ms": 2733, "source_timestamp_ns": 1789729559255284119, "q": [0.09034933149814606, -1.7368711233139038, -0.07149124145507812, 0.7049258351325989, 1.6898373365402222, -0.014690718613564968, -0.9182316660881042], "theta": [0.08817069232463837, -1.7362587451934814, -0.07328440994024277, 0.6886597275733948, 1.6898975372314453, -0.014179110527038574, -0.918847918510437], "dq": [0.1093764379620552, -0.013958178460597992, 0.019617261365056038, -0.023812437430024147, 0.02854803204536438, 0.12661440670490265, 0.008580870926380157], "dtheta": [0.10558479279279709, -0.014665678143501282, 0.022540802136063576, -0.02349877543747425, 0.03122357465326786, 0.1284889429807663, 0.0071264165453612804], "tau": [-59.779998779296875, -2.4600000381469727, -23.424001693725586, 2.680000066757202, -3.5360002517700195, 4.104000091552734, -0.20000000298023224], "tau_des": [1.1498138904571533, 0.637977659702301, 0.03454205021262169, -0.8500179052352905, 0.5805814266204834, 0.3870099186897278, -0.2325545996427536], "tau_dot": [-108.68745422363281, 108.97716522216797, -11.977287292480469, -25.115480422973633, -8.907953262329102, 42.17250061035156, -18.730806350708008], "tau_ext": [14.539506912231445, -35.01553726196289, -36.24552536010742, 20.625404357910156, -2.914532423019409, -7.258235931396484, 0.07627346366643906], "tcp_pose": [0.6373053789138794, -0.14981935918331146, -0.31696394085884094, -0.005373133812099695, -0.024695713073015213, 0.999654233455658, 0.007258432451635599], "tcp_vel": [-0.00039289938285946846, -0.018369309604167938, -0.06687052547931671, -0.05484195053577423, -0.003187789348885417, -0.000708511215634644], "flange_pose": [0.6394146084785461, -0.15252618491649628, -0.12699493765830994, -0.005373133812099695, -0.024695713073015213, 0.999654233455658, 0.007258432451635599], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.61832332611084, -46.65974807739258, -13.195999145507812, -3.4589037895202637, 12.459918975830078, -0.09564946591854095], "ext_wrench_in_world": [-11.154281330345935, -47.45937234701239, 12.645758132259594, 2.841318378942878, 12.613096260246879, 0.2438395557866058]}
+{"timestamp_ns": 1789729559296769670, "elapsed_ms": 2766, "source_timestamp_ns": 1789729559295276280, "q": [0.09482751041650772, -1.7374188899993896, -0.07047121971845627, 0.7040119767189026, 1.6910068988800049, -0.009262565523386002, -0.9179866313934326], "theta": [0.09264566749334335, -1.7367945909500122, -0.07222268730401993, 0.6877785921096802, 1.6911238431930542, -0.008763670921325684, -0.9185900092124939], "dq": [0.11335404962301254, -0.012799300253391266, 0.024529214948415756, -0.022002477198839188, 0.02938944473862648, 0.14260593056678772, 0.005102434661239386], "dtheta": [0.11799301952123642, -0.012544490396976471, 0.029081348329782486, -0.02142995223402977, 0.028925761580467224, 0.1408250629901886, 0.006123919505625963], "tau": [-60.18000030517578, -2.950000047683716, -23.516000747680664, 2.9280002117156982, -3.516000270843506, 4.084000110626221, -0.18400001525878906], "tau_des": [-0.1167505532503128, 0.3846355378627777, -0.5695465207099915, -0.7838152050971985, 0.5564903020858765, 0.40740564465522766, -0.20197120308876038], "tau_dot": [94.35679626464844, -124.00956726074219, 32.1304931640625, 66.0911865234375, 4.454102993011475, 5.56326961517334, -0.16284513473510742], "tau_ext": [14.63057804107666, -34.90182876586914, -36.0559196472168, 20.5945987701416, -2.883824586868286, -7.277504920959473, 0.07607147097587585], "tcp_pose": [0.6372491717338562, -0.15057505667209625, -0.3198097050189972, -0.005391459446400404, -0.024696746841073036, 0.999661922454834, 0.0060852994211018085], "tcp_vel": [-0.0025697005912661552, -0.018545076251029968, -0.0758071094751358, -0.059271734207868576, 0.0017224672483280301, -0.0002241458569187671], "flange_pose": [0.6393543481826782, -0.15283608436584473, -0.1298348307609558, -0.005391459446400404, -0.024696746841073036, 0.999661922454834, 0.0060852994211018085], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.42695140838623, -46.70809555053711, -13.304667472839355, -3.550675392150879, 12.5157470703125, -0.10305558145046234], "ext_wrench_in_world": [-10.95914692817577, -47.46984782437039, 12.862893795016465, 2.9301132554265674, 12.67388026856358, 0.22144112043179132]}
+{"timestamp_ns": 1789729559330106335, "elapsed_ms": 2800, "source_timestamp_ns": 1789729559325366462, "q": [0.09839939326047897, -1.7377887964248657, -0.06959907710552216, 0.7033802270889282, 1.6918538808822632, -0.004903895314782858, -0.9178364276885986], "theta": [0.09621593356132507, -1.737154245376587, -0.07131478935480118, 0.6871727108955383, 1.692006230354309, -0.0044095516204833984, -0.9184332489967346], "dq": [0.11766199767589569, -0.010327856987714767, 0.026394562795758247, -0.02114792726933956, 0.029976118355989456, 0.14076262712478638, 0.006102311424911022], "dtheta": [0.12191080302000046, -0.01199027057737112, 0.03025112859904766, -0.01968107558786869, 0.031543027609586716, 0.15038983523845673, 0.004853381309658289], "tau": [-60.7599983215332, -3.259999990463257, -23.50400161743164, 2.9760000705718994, -3.56000018119812, 3.9840002059936523, -0.164000004529953], "tau_des": [-0.4928070604801178, -0.056067757308483124, -0.5694928169250488, -0.7764245867729187, 0.5833836197853088, 0.1455942541360855, -0.16948457062244415], "tau_dot": [-0.4204459488391876, 5.023789405822754, 23.09618377685547, 41.31060028076172, -14.262411117553711, 47.46308517456055, -12.920866966247559], "tau_ext": [14.611640930175781, -34.908756256103516, -36.189125061035156, 20.614336013793945, -2.9121665954589844, -7.188296318054199, 0.07414114475250244], "tcp_pose": [0.6371762156486511, -0.15116313099861145, -0.3220869302749634, -0.00542053347453475, -0.024702828377485275, 0.9996669292449951, 0.0051388125866651535], "tcp_vel": [-0.002208087593317032, -0.019875196740031242, -0.07790645956993103, -0.06382245570421219, -0.002914899028837681, -0.0002815664338413626], "flange_pose": [0.6392835378646851, -0.15306435525417328, -0.13210812211036682, -0.00542053347453475, -0.024702828377485275, 0.9996669292449951, 0.0051388125866651535], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.232104301452637, -46.71217727661133, -13.157644271850586, -3.5280561447143555, 12.558670043945312, -0.10774620622396469], "ext_wrench_in_world": [-10.764766735624764, -47.43862070890242, 12.803778946667606, 2.905174979158973, 12.716045686676596, 0.20278834464529544]}
+{"timestamp_ns": 1789729559363430404, "elapsed_ms": 2833, "source_timestamp_ns": 1789729559355345372, "q": [0.10208725929260254, -1.738193392753601, -0.06873378902673721, 0.7027391791343689, 1.692809820175171, -0.0004648479516617954, -0.9176862835884094], "theta": [0.09990818053483963, -1.7375469207763672, -0.07041037082672119, 0.6865586638450623, 1.692991852760315, 4.2319297790527344e-05, -0.9182750582695007], "dq": [0.12538306415081024, -0.012454839423298836, 0.025630204007029533, -0.022093119099736214, 0.03472974896430969, 0.1490315943956375, 0.0029573303181678057], "dtheta": [0.12447734922170639, -0.014319943264126778, 0.02821502462029457, -0.02172459289431572, 0.03648876026272774, 0.14683236181735992, 0.0061648814007639885], "tau": [-61.189998626708984, -3.6399998664855957, -23.576000213623047, 3.1440000534057617, -3.5840001106262207, 3.888000249862671, -0.18400001525878906], "tau_des": [-0.913843035697937, -0.4671192765235901, -0.6027615666389465, -0.7167863845825195, 0.5337081551551819, 0.1539272964000702, -0.21214435994625092], "tau_dot": [-43.53752517700195, -14.36587905883789, -22.54726791381836, -1.4644886255264282, -4.1919145584106445, 31.886337280273438, -11.356043815612793], "tau_ext": [14.907525062561035, -34.863407135009766, -36.27392578125, 20.633493423461914, -2.9243083000183105, -7.099890232086182, 0.07122804969549179], "tcp_pose": [0.6370804309844971, -0.15177024900913239, -0.3244352638721466, -0.0054400041699409485, -0.024695638567209244, 0.9996713995933533, 0.004192533437162638], "tcp_vel": [-0.0033639343455433846, -0.019767597317695618, -0.0795632153749466, -0.05990821495652199, -0.0014025006676092744, -0.0018166161607950926], "flange_pose": [0.6391863226890564, -0.1533118337392807, -0.1344531923532486, -0.0054400041699409485, -0.024695638567209244, 0.9996713995933533, 0.004192533437162638], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.025381088256836, -46.77598190307617, -12.873269081115723, -3.419795036315918, 12.615166664123535, -0.11338312178850174], "ext_wrench_in_world": [-10.558608725272192, -47.46545438288164, 12.606368007448715, 2.7943789785913196, 12.767424437228987, 0.18601921940012742]}
+{"timestamp_ns": 1789729559396765570, "elapsed_ms": 2866, "source_timestamp_ns": 1789729559395310890, "q": [0.10708799213171005, -1.7388461828231812, -0.06771934777498245, 0.7017871141433716, 1.694259524345398, 0.005373476538807154, -0.9174949526786804], "theta": [0.10490605235099792, -1.738186240196228, -0.06933567672967911, 0.6856425404548645, 1.6944763660430908, 0.005904793739318848, -0.9180732369422913], "dq": [0.13006247580051422, -0.018413091078400612, 0.02797112986445427, -0.02326352708041668, 0.03472483158111572, 0.13648277521133423, 0.006613238714635372], "dtheta": [0.12324674427509308, -0.018458982929587364, 0.027195382863283157, -0.024183720350265503, 0.03886003792285919, 0.1425986886024475, 0.005415990948677063], "tau": [-60.64999771118164, -4.110000133514404, -23.30000114440918, 3.2760002613067627, -3.51200008392334, 3.704000234603882, -0.19600000977516174], "tau_des": [-0.7063113451004028, -0.6825700402259827, -0.17551346123218536, -0.7938801050186157, 0.6543208956718445, -0.0580875389277935, -0.23690539598464966], "tau_dot": [75.24931335449219, -177.8833770751953, 3.5166659355163574, 11.51427173614502, -55.881919860839844, 81.51590728759766, -14.864143371582031], "tau_ext": [14.592742919921875, -34.651493072509766, -36.57571029663086, 20.592313766479492, -2.9875876903533936, -6.915874481201172, 0.06781530380249023], "tcp_pose": [0.6369122862815857, -0.15262039005756378, -0.3275877833366394, -0.0054796128533780575, -0.024686921387910843, 0.9996758699417114, 0.0029504739213734865], "tcp_vel": [-0.004842087160795927, -0.02075056917965412, -0.07892076671123505, -0.05625723674893379, -0.0014612372033298016, -0.002767939353361726], "flange_pose": [0.6390215754508972, -0.15368980169296265, -0.13760249316692352, -0.0054796128533780575, -0.024686921387910843, 0.9996758699417114, 0.0029504739213734865], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.702617645263672, -46.676631927490234, -12.692117691040039, -3.198535203933716, 12.68819522857666, -0.12127233296632767], "ext_wrench_in_world": [-10.243123756579243, -47.317747551303924, 12.540474352984003, 2.569939138656645, 12.829802456676328, 0.16496767648453747]}
+{"timestamp_ns": 1789729559430099176, "elapsed_ms": 2900, "source_timestamp_ns": 1789729559425336638, "q": [0.11077059805393219, -1.739498257637024, -0.06685760617256165, 0.7009682059288025, 1.6954087018966675, 0.009597651660442352, -0.9174039959907532], "theta": [0.10856668651103973, -1.7388242483139038, -0.06843402236700058, 0.6848486065864563, 1.6956446170806885, 0.010163426399230957, -0.9179776310920715], "dq": [0.12253914773464203, -0.02449067495763302, 0.034480758011341095, -0.02702748402953148, 0.040715571492910385, 0.1442093700170517, 0.0014757812023162842], "dtheta": [0.12195565551519394, -0.023921793326735497, 0.033233027905225754, -0.028838608413934708, 0.03734691068530083, 0.14418232440948486, 0.0010306020267307758], "tau": [-60.90999984741211, -4.230000019073486, -23.628000259399414, 3.3520002365112305, -3.6080002784729004, 3.7680001258850098, -0.1720000058412552], "tau_des": [-1.5346825122833252, -1.1695928573608398, -0.9051238894462585, -0.793441116809845, 0.4715564548969269, 0.03131113946437836, -0.202486053109169], "tau_dot": [114.96573638916016, 46.048397064208984, 54.816566467285156, 26.08587646484375, -11.97801685333252, 43.55686950683594, -0.3632717430591583], "tau_ext": [14.45519733428955, -34.729732513427734, -36.527366638183594, 20.667585372924805, -2.9924378395080566, -6.858073711395264, 0.06619378924369812], "tcp_pose": [0.6367409229278564, -0.1532582938671112, -0.3299682140350342, -0.005492531694471836, -0.024671224877238274, 0.9996782541275024, 0.002145107602700591], "tcp_vel": [-0.005656546447426081, -0.02174941636621952, -0.08014432340860367, -0.05250416323542595, -0.0033914793748408556, 0.00012757185322698206], "flange_pose": [0.6388475298881531, -0.15402168035507202, -0.1399814337491989, -0.005492531694471836, -0.024671224877238274, 0.9996782541275024, 0.002145107602700591], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.516622543334961, -46.64207458496094, -12.89585018157959, -3.119947671890259, 12.699520111083984, -0.12506425380706787], "ext_wrench_in_world": [-10.058054721959701, -47.25437636215245, 12.818399401689682, 2.4912234947203062, 12.837410976844673, 0.14903189484728785]}
+{"timestamp_ns": 1789729559463429283, "elapsed_ms": 2933, "source_timestamp_ns": 1789729559455338462, "q": [0.11437538266181946, -1.7403392791748047, -0.06590665131807327, 0.6999757885932922, 1.696494221687317, 0.013805922120809555, -0.9173758625984192], "theta": [0.11214210838079453, -1.7396485805511475, -0.06744448840618134, 0.6838783621788025, 1.6967421770095825, 0.01440131664276123, -0.9179469347000122], "dq": [0.117949478328228, -0.03495558723807335, 0.03151477128267288, -0.03525488078594208, 0.03641356900334358, 0.14060838520526886, -0.00031121817301027477], "dtheta": [0.11596182733774185, -0.030184034258127213, 0.032759543508291245, -0.035923462361097336, 0.03677653521299362, 0.13648584485054016, -0.0004422327328938991], "tau": [-61.59000015258789, -4.599999904632568, -23.780000686645508, 3.4760000705718994, -3.6040000915527344, 3.808000087738037, -0.18800000846385956], "tau_des": [-1.921919345855713, -1.5207527875900269, -1.0718196630477905, -0.8184347152709961, 0.45400458574295044, -0.008829955011606216, -0.13652651011943817], "tau_dot": [28.790576934814453, 22.353527069091797, -35.76103973388672, -41.37792205810547, -22.575946807861328, -29.951435089111328, -8.619457244873047], "tau_ext": [14.552230834960938, -34.52992630004883, -36.37132263183594, 20.591360092163086, -2.9598190784454346, -6.857241630554199, 0.07122572511434555], "tcp_pose": [0.6365424394607544, -0.15395207703113556, -0.3323288559913635, -0.005492446944117546, -0.024673959240317345, 0.9996795058250427, 0.0013690468622371554], "tcp_vel": [-0.005909730214625597, -0.022460781037807465, -0.07694421708583832, -0.04728115722537041, -0.003515955526381731, 0.0023154383525252342], "flange_pose": [0.6386417746543884, -0.1544206440448761, -0.14234104752540588, -0.005492446944117546, -0.024673959240317345, 0.9996795058250427, 0.0013690468622371554], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.369304656982422, -46.589256286621094, -12.823299407958984, -3.0909295082092285, 12.699936866760254, -0.1271715611219406], "ext_wrench_in_world": [-9.914168193356906, -47.17436852411045, 12.81732148809254, 2.4620609646147926, 12.8366406228127, 0.1316342571212126]}
+{"timestamp_ns": 1789729559496767948, "elapsed_ms": 2966, "source_timestamp_ns": 1789729559495314438, "q": [0.11892137676477432, -1.7417958974838257, -0.06477339565753937, 0.6983101963996887, 1.6980161666870117, 0.01897813193500042, -0.9173018932342529], "theta": [0.11665889620780945, -1.7410722970962524, -0.06625406444072723, 0.68222576379776, 1.6982723474502563, 0.019602537155151367, -0.9178699851036072], "dq": [0.11141793429851532, -0.04134990647435188, 0.0269180815666914, -0.04462011158466339, 0.03747713565826416, 0.12848453223705292, 0.003459150204434991], "dtheta": [0.10878189653158188, -0.04144704341888428, 0.02618400566279888, -0.04695552960038185, 0.04061445966362953, 0.12174279987812042, 0.003002665238454938], "tau": [-62.28999710083008, -4.769999980926514, -23.780000686645508, 3.3520002365112305, -3.5880000591278076, 3.80400013923645, -0.18800000846385956], "tau_des": [-2.8527278900146484, -0.7123579382896423, -0.9867454767227173, -1.4214844703674316, 0.62897127866745, -0.06595507264137268, -0.2016163319349289], "tau_dot": [72.8928451538086, -275.1150207519531, 41.42062759399414, 4.60152530670166, 39.753562927246094, -18.484533309936523, -24.5887508392334], "tau_ext": [14.849865913391113, -34.5526237487793, -36.43149185180664, 20.68933868408203, -2.974045753479004, -6.865392684936523, 0.07162170112133026], "tcp_pose": [0.6362495422363281, -0.15493552386760712, -0.33531126379966736, -0.0054925428703427315, -0.02466573752462864, 0.9996805787086487, 0.00046194615424610674], "tcp_vel": [-0.007197659462690353, -0.024977464228868484, -0.07169175148010254, -0.0399465337395668, -0.0024132002145051956, -0.0010186191648244858], "flange_pose": [0.6383403539657593, -0.15505953133106232, -0.1453227996826172, -0.0054925428703427315, -0.02466573752462864, 0.9996805787086487, 0.00046194615424610674], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.198963165283203, -46.408287048339844, -12.545157432556152, -2.985978841781616, 12.747382164001465, -0.1258801817893982], "ext_wrench_in_world": [-9.75690958890312, -46.96164776703822, 12.622643873423135, 2.35496899411019, 12.87905442606326, 0.1083772398499935]}
+{"timestamp_ns": 1789729559530161868, "elapsed_ms": 3000, "source_timestamp_ns": 1789729559525379166, "q": [0.12208164483308792, -1.7431937456130981, -0.06411735713481903, 0.6966888308525085, 1.699318289756775, 0.02236485667526722, -0.917169451713562], "theta": [0.11980373412370682, -1.742436408996582, -0.06555936485528946, 0.6806026101112366, 1.6995751857757568, 0.022997617721557617, -0.9177345633506775], "dq": [0.10483033210039139, -0.05067138373851776, 0.02013598196208477, -0.055105060338974, 0.04469691962003708, 0.10966025292873383, 0.004888563882559538], "dtheta": [0.10102938860654831, -0.04941514879465103, 0.01959811896085739, -0.05991464853286743, 0.04534348472952843, 0.10703887045383453, 0.007103385869413614], "tau": [-62.40999984741211, -4.460000038146973, -23.676000595092773, 3.2840001583099365, -3.57200026512146, 3.9000000953674316, -0.164000004529953], "tau_des": [-3.201986312866211, -0.7597708702087402, -0.9681943655014038, -1.4026875495910645, 0.5722590684890747, -0.010714066214859486, -0.1993718296289444], "tau_dot": [-16.786035537719727, 31.65351676940918, -51.242530822753906, 23.441699981689453, 3.246673583984375, -39.77184295654297, -5.514005184173584], "tau_ext": [15.031115531921387, -34.702842712402344, -36.572044372558594, 20.797346115112305, -2.996047019958496, -6.88911771774292, 0.06677933037281036], "tcp_pose": [0.6360388398170471, -0.1556946337223053, -0.33738598227500916, -0.0054885330609977245, -0.024659041315317154, 0.9996808767318726, -6.814393418608233e-05], "tcp_vel": [-0.005452207289636135, -0.024570850655436516, -0.06654805690050125, -0.03141697123646736, -0.0024450975470244884, 0.00016269029583781958], "flange_pose": [0.6381231546401978, -0.15561732649803162, -0.14739744365215302, -0.0054885330609977245, -0.024659041315317154, 0.9996808767318726, -6.814393418608233e-05], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.157108306884766, -46.4069938659668, -12.273582458496094, -2.9044809341430664, 12.817874908447266, -0.12993520498275757], "ext_wrench_in_world": [-9.718939312121716, -46.94492653635642, 12.400051595461315, 2.2702382807847328, 12.945534915545291, 0.09976834043838836]}
+{"timestamp_ns": 1789729559563440279, "elapsed_ms": 3033, "source_timestamp_ns": 1789729559555346718, "q": [0.1249505802989006, -1.744832158088684, -0.06364874541759491, 0.6947129964828491, 1.700705885887146, 0.02526398003101349, -0.9169284105300903], "theta": [0.12265527248382568, -1.7440392971038818, -0.0650525763630867, 0.6786141991615295, 1.7009596824645996, 0.025890350341796875, -0.9174876809120178], "dq": [0.09543227404356003, -0.05776485428214073, 0.015799935907125473, -0.068172387778759, 0.04855519160628319, 0.09425163269042969, 0.011053011752665043], "dtheta": [0.09073548763990402, -0.05502035841345787, 0.015533924102783203, -0.07220409065485, 0.04498668015003204, 0.09129786491394043, 0.010740245692431927], "tau": [-62.06999969482422, -4.409999847412109, -23.468000411987305, 3.3480000495910645, -3.576000213623047, 3.9680001735687256, -0.15600000321865082], "tau_des": [-2.7057580947875977, -0.9466301798820496, -0.7984876036643982, -1.0617306232452393, 0.4606740176677704, 0.12155182659626007, -0.14420361816883087], "tau_dot": [-89.0477523803711, -166.93255615234375, -16.665040969848633, 33.81602478027344, 30.569570541381836, 58.37312698364258, 39.24275588989258], "tau_ext": [14.88948917388916, -34.69480895996094, -36.715843200683594, 20.791725158691406, -3.015214204788208, -6.913883686065674, 0.06207996606826782], "tcp_pose": [0.6358657479286194, -0.15644939243793488, -0.3392700254917145, -0.005486080888658762, -0.024660537019371986, 0.9996806979179382, -0.0004676806565839797], "tcp_vel": [-0.003108882810920477, -0.02266516350209713, -0.06051546335220337, -0.022654784843325615, -0.0009259938960894942, 0.003362386953085661], "flange_pose": [0.6379454135894775, -0.15622031688690186, -0.1492815464735031, -0.005486080888658762, -0.024660537019371986, 0.9996806979179382, -0.0004676806565839797], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.03312873840332, -46.55271530151367, -12.306032180786133, -2.9095773696899414, 12.921012878417969, -0.13471347093582153], "ext_wrench_in_world": [-9.58753612181121, -47.074472543678354, 12.468484393091028, 2.2701967952065565, 13.048896754065241, 0.0941382307351919]}
+{"timestamp_ns": 1789729559596771325, "elapsed_ms": 3066, "source_timestamp_ns": 1789729559595330522, "q": [0.1283472776412964, -1.7473536729812622, -0.06306324154138565, 0.6915869116783142, 1.7024480104446411, 0.028609635308384895, -0.9164971113204956], "theta": [0.1260215938091278, -1.7465237379074097, -0.06441590934991837, 0.6754654049873352, 1.702687382698059, 0.029219865798950195, -0.9170457124710083], "dq": [0.0802076980471611, -0.06036782264709473, 0.016772011294960976, -0.08374671638011932, 0.04000129923224449, 0.0808197483420372, 0.015494965948164463], "dtheta": [0.080685555934906, -0.06399118155241013, 0.018329523503780365, -0.08350816369056702, 0.038476310670375824, 0.08003117144107819, 0.014387259259819984], "tau": [-61.62999725341797, -3.799999952316284, -23.392000198364258, 3.2800002098083496, -3.56000018119812, 3.992000102996826, -0.1600000113248825], "tau_des": [-2.0884342193603516, 0.44240957498550415, -0.6521915793418884, -1.316193699836731, 0.46441492438316345, 0.34668561816215515, -0.09646247327327728], "tau_dot": [-39.06576156616211, 5.270420074462891, -27.59536361694336, -15.579968452453613, 78.05399322509766, -78.04592895507812, -30.597097396850586], "tau_ext": [14.946236610412598, -35.1003532409668, -36.60240936279297, 20.864913940429688, -3.0046417713165283, -7.021286964416504, 0.061877597123384476], "tcp_pose": [0.6356770992279053, -0.15745709836483002, -0.3415504992008209, -0.005490340758115053, -0.02468380331993103, 0.9996798634529114, -0.0008432865142822266], "tcp_vel": [-0.0034422501921653748, -0.023219378665089607, -0.05597136169672012, -0.015070823952555656, 0.0013590333983302116, 0.0016525689279660583], "flange_pose": [0.6377548575401306, -0.15708525478839874, -0.15156221389770508, -0.005490340758115053, -0.02468380331993103, 0.9996798634529114, -0.0008432865142822266], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.71282958984375, -47.17917251586914, -12.448141098022461, -3.1446025371551514, 13.081153869628906, -0.13740229606628418], "ext_wrench_in_world": [-9.232909213712041, -47.67519262406314, 12.643192191411305, 2.496383907961973, 13.220626423069666, 0.08423440066178557]}
+{"timestamp_ns": 1789729559630095774, "elapsed_ms": 3100, "source_timestamp_ns": 1789729559625330747, "q": [0.13065379858016968, -1.749376893043518, -0.06251614540815353, 0.6889145374298096, 1.703493595123291, 0.0309856366366148, -0.9159586429595947], "theta": [0.12831079959869385, -1.7485527992248535, -0.06383230537176132, 0.6727822422981262, 1.7037181854248047, 0.031577110290527344, -0.9164991974830627], "dq": [0.07241618633270264, -0.06049860641360283, 0.018940994516015053, -0.09336140006780624, 0.030539564788341522, 0.07954121381044388, 0.018213165923953056], "dtheta": [0.0733867809176445, -0.06991025805473328, 0.020080097019672394, -0.09481634944677353, 0.02933647856116295, 0.07343952357769012, 0.02400936558842659], "tau": [-61.18000030517578, -3.68999981880188, -23.21200180053711, 3.4200000762939453, -3.56000018119812, 4.048000335693359, -0.18800000846385956], "tau_des": [-1.2614303827285767, 0.6740529537200928, -0.42120927572250366, -1.2202506065368652, 0.540862500667572, 0.3713166117668152, -0.17820186913013458], "tau_dot": [-26.979808807373047, 2.651536703109741, -28.941608428955078, 69.51802062988281, 3.4524364471435547, -4.953718662261963, -24.54932975769043], "tau_ext": [14.70968246459961, -35.26683044433594, -36.55195999145508, 20.786109924316406, -2.9837307929992676, -7.098417282104492, 0.0609811432659626], "tcp_pose": [0.6355971693992615, -0.15818940103054047, -0.3431521952152252, -0.005513639654964209, -0.024686725810170174, 0.999679446220398, -0.0010908477706834674], "tcp_vel": [-0.0027184621430933475, -0.02354956790804863, -0.05219486355781555, -0.013450072146952152, 0.005535835400223732, -0.002659643767401576], "flange_pose": [0.6376814842224121, -0.15772327780723572, -0.15316420793533325, -0.005513639654964209, -0.024686725810170174, 0.999679446220398, -0.0010908477706834674], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.214582443237305, -47.83008575439453, -12.460165023803711, -3.4346299171447754, 13.25385856628418, -0.13952964544296265], "ext_wrench_in_world": [-8.70219017409792, -48.29449599232049, 12.674905052539689, 2.7774269542269656, 13.407498461560388, 0.07617481182948349]}
+{"timestamp_ns": 1789729559663432119, "elapsed_ms": 3133, "source_timestamp_ns": 1789729559655334540, "q": [0.132792130112648, -1.751479983329773, -0.06192926689982414, 0.6860062479972839, 1.7043554782867432, 0.03321545943617821, -0.915256679058075], "theta": [0.1304418295621872, -1.7506933212280273, -0.06320536136627197, 0.6698687672615051, 1.7045634984970093, 0.03378105163574219, -0.9157873392105103], "dq": [0.07154480367898941, -0.07542642205953598, 0.019868582487106323, -0.1065235361456871, 0.030237939208745956, 0.07291415333747864, 0.02394922450184822], "dtheta": [0.0688067153096199, -0.0737718939781189, 0.021938705816864967, -0.09960126876831055, 0.026056978851556778, 0.0722440779209137, 0.023641688749194145], "tau": [-60.66999816894531, -3.929999828338623, -23.02800178527832, 3.5920002460479736, -3.57200026512146, 4.116000175476074, -0.20800000429153442], "tau_des": [-0.699603259563446, 1.2724528312683105, -0.13840453326702118, -1.2686185836791992, 0.6036888360977173, 0.2852766811847687, -0.15094119310379028], "tau_dot": [133.42652893066406, -115.4842300415039, -51.5237922668457, 1.4749213457107544, -29.73957633972168, 6.4182868003845215, -55.360694885253906], "tau_ext": [14.469107627868652, -35.42157745361328, -36.5866584777832, 20.77190589904785, -2.985337972640991, -7.146782875061035, 0.06808377057313919], "tcp_pose": [0.63555908203125, -0.1588943600654602, -0.34467077255249023, -0.0055711050517857075, -0.02468440681695938, 0.999678909778595, -0.0013099551433697343], "tcp_vel": [-0.0022529333364218473, -0.024454442784190178, -0.04986996948719025, -0.012583239935338497, 0.00404882337898016, -0.0015767533332109451], "flange_pose": [0.6376631855964661, -0.15834447741508484, -0.1546832174062729, -0.0055711050517857075, -0.02468440681695938, 0.999678909778595, -0.0013099551433697343], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.610350608825684, -48.57405471801758, -12.698323249816895, -3.7840890884399414, 13.442744255065918, -0.13758987188339233], "ext_wrench_in_world": [-8.058158583813153, -49.001440779122554, 12.930221458129694, 3.117130962433288, 13.613415228853809, 0.06367636181338202]}
+{"timestamp_ns": 1789729559696769424, "elapsed_ms": 3166, "source_timestamp_ns": 1789729559695295779, "q": [0.13549983501434326, -1.7542779445648193, -0.06107371672987938, 0.6818822622299194, 1.7052987813949585, 0.03607262670993805, -0.9140936732292175], "theta": [0.13314978778362274, -1.7535524368286133, -0.062302421778440475, 0.6657615303993225, 1.705485224723816, 0.03659927845001221, -0.9146071672439575], "dq": [0.06431344896554947, -0.06468521058559418, 0.023133300244808197, -0.10196267813444138, 0.0192241407930851, 0.0672823041677475, 0.03366957604885101], "dtheta": [0.06573531031608582, -0.06828960031270981, 0.022946404293179512, -0.10243679583072662, 0.020222438499331474, 0.06865154951810837, 0.03196338191628456], "tau": [-60.84000015258789, -4.529999732971191, -22.892000198364258, 3.8480002880096436, -3.6080002784729004, 4.140000343322754, -0.17600001394748688], "tau_des": [-0.9954841136932373, 0.09675561636686325, -0.49184679985046387, -0.20366045832633972, 0.4679175317287445, 0.42783787846565247, -0.1528765708208084], "tau_dot": [-54.72898483276367, -37.55093002319336, -0.024460455402731895, 8.22134780883789, -0.9015122652053833, 14.198738098144531, 7.014549732208252], "tau_ext": [14.29796314239502, -34.59954833984375, -36.598121643066406, 20.350542068481445, -2.9517982006073, -7.202157020568848, 0.07345498353242874], "tcp_pose": [0.6355899572372437, -0.15974435210227966, -0.346642404794693, -0.0056884861551225185, -0.024690397083759308, 0.9996777176856995, -0.0015688572311773896], "tcp_vel": [0.0007294693496078253, -0.019803166389465332, -0.048662588000297546, -0.011460789479315281, 0.007520740851759911, -0.001657641027122736], "flange_pose": [0.6377361416816711, -0.15909501910209656, -0.15665563941001892, -0.0056884861551225185, -0.024690397083759308, 0.9996777176856995, -0.0015688572311773896], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.786710739135742, -48.73834228515625, -13.005512237548828, -3.980050802230835, 13.698759078979492, -0.13384169340133667], "ext_wrench_in_world": [-7.220404602572453, -49.11717646558481, 13.255858998244838, 3.2999703562191005, 13.878850799609607, 0.04913676225463907]}
+{"timestamp_ns": 1789729559730099681, "elapsed_ms": 3200, "source_timestamp_ns": 1789729559725319538, "q": [0.13744647800922394, -1.7562443017959595, -0.060405828058719635, 0.6789238452911377, 1.7059252262115479, 0.03814566507935524, -0.9131931662559509], "theta": [0.13510024547576904, -1.7555676698684692, -0.06161386892199516, 0.6628067493438721, 1.7060965299606323, 0.03865313529968262, -0.9136896729469299], "dq": [0.0613255575299263, -0.064826101064682, 0.02112571895122528, -0.09149754792451859, 0.026215355843305588, 0.06359151750802994, 0.02674020268023014], "dtheta": [0.06385084241628647, -0.0665028914809227, 0.021731233224272728, -0.09447667002677917, 0.020245792344212532, 0.06804365664720535, 0.0284649059176445], "tau": [-61.459999084472656, -5.230000019073486, -23.040000915527344, 3.892000198364258, -3.628000259399414, 4.232000350952148, -0.164000004529953], "tau_des": [-1.6842255592346191, 0.1925836056470871, -0.5795415639877319, -0.7070223689079285, 0.6489514112472534, 0.3720976412296295, -0.20405375957489014], "tau_dot": [-41.94094467163086, -62.86563491821289, -26.3978328704834, -1.3787437677383423, 23.773635864257812, 37.865421295166016, 57.770912170410156], "tau_ext": [14.516233444213867, -34.43952178955078, -36.58468246459961, 20.401052474975586, -2.9409379959106445, -7.247117042541504, 0.077835313975811], "tcp_pose": [0.6356213092803955, -0.16032151877880096, -0.3480752110481262, -0.005778651684522629, -0.024678491055965424, 0.9996771812438965, -0.0017490005120635033], "tcp_vel": [-0.0011742960195988417, -0.02114550769329071, -0.046526554971933365, -0.012959696352481842, 0.005622776225209236, -0.0041573732160031796], "flange_pose": [0.6378000974655151, -0.15960291028022766, -0.1580890566110611, -0.005778651684522629, -0.024678491055965424, 0.9996771812438965, -0.0017490005120635033], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.556695938110352, -48.369529724121094, -13.0052490234375, -3.913041830062866, 13.801915168762207, -0.12731517851352692], "ext_wrench_in_world": [-7.00770150573789, -48.73247424977655, 13.270886113937365, 3.2281941521655417, 13.978495242454251, 0.037431495001791985]}
+{"timestamp_ns": 1789729559763432368, "elapsed_ms": 3233, "source_timestamp_ns": 1789729559755293829, "q": [0.13931873440742493, -1.7581523656845093, -0.05978785827755928, 0.6761817336082458, 1.70668363571167, 0.04007776081562042, -0.9124250411987305], "theta": [0.13698221743106842, -1.757507085800171, -0.06098482385277748, 0.6600460410118103, 1.706838846206665, 0.040575385093688965, -0.9128988981246948], "dq": [0.05943947285413742, -0.06905284523963928, 0.018730564042925835, -0.08468786627054214, 0.027285747230052948, 0.0618724599480629, 0.026219567283988], "dtheta": [0.06294882297515869, -0.06359060853719711, 0.01930592767894268, -0.08799021691083908, 0.0272306427359581, 0.06225493177771568, 0.022576753050088882], "tau": [-61.80999755859375, -5.019999980926514, -22.98400115966797, 3.7400002479553223, -3.620000123977661, 4.272000312805176, -0.18800000846385956], "tau_des": [-2.0912466049194336, 0.2114180028438568, -0.591799795627594, -0.9528337717056274, 0.631786048412323, 0.4504205882549286, -0.22368593513965607], "tau_dot": [-88.99996948242188, 97.01643371582031, 68.24012756347656, 20.594005584716797, -23.066787719726562, 24.879362106323242, 28.67449378967285], "tau_ext": [15.071881294250488, -34.56969451904297, -36.43737030029297, 20.6510066986084, -2.916724920272827, -7.318916320800781, 0.08098888397216797], "tcp_pose": [0.6356179714202881, -0.16088265180587769, -0.3494565486907959, -0.005822088103741407, -0.02465333789587021, 0.9996773600578308, -0.0018681096844375134], "tcp_vel": [-0.0017459646333009005, -0.0192728191614151, -0.04603114724159241, -0.00681601045653224, 0.0031381205189973116, -0.0019542593508958817], "flange_pose": [0.6378121972084045, -0.1601184457540512, -0.15947075188159943, -0.005822088103741407, -0.02465333789587021, 0.9996773600578308, -0.0018681096844375134], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.798131942749023, -47.83876037597656, -12.7016019821167, -3.7376043796539307, 13.79392147064209, -0.12196172773838043], "ext_wrench_in_world": [-7.279825475469664, -48.21193234556094, 12.980554585359325, 3.0540030800838087, 13.961696285679691, 0.030540356227612135]}
+{"timestamp_ns": 1789729559796768244, "elapsed_ms": 3266, "source_timestamp_ns": 1789729559795312324, "q": [0.14170682430267334, -1.7607238292694092, -0.05904500558972359, 0.6726764440536499, 1.7079355716705322, 0.04242364317178726, -0.9116581082344055], "theta": [0.13938911259174347, -1.7600903511047363, -0.06021969020366669, 0.6564910411834717, 1.708070993423462, 0.042905330657958984, -0.9121015071868896], "dq": [0.05653662979602814, -0.06559572368860245, 0.019288036972284317, -0.08422188460826874, 0.03536752238869667, 0.05226792395114899, 0.020610148087143898], "dtheta": [0.05862543731927872, -0.065882608294487, 0.01853397861123085, -0.09095320850610733, 0.03168434649705887, 0.05567055568099022, 0.020092539489269257], "tau": [-61.32999801635742, -4.449999809265137, -22.624000549316406, 3.4880001544952393, -3.5920002460479736, 4.160000324249268, -0.18000000715255737], "tau_des": [-1.135494351387024, 0.5300003290176392, -0.14545056223869324, -1.3304716348648071, 0.605549156665802, 0.3873979151248932, -0.14811857044696808], "tau_dot": [28.555679321289062, -33.615325927734375, 13.736821174621582, 15.236148834228516, -21.09832191467285, -53.57740783691406, 44.737056732177734], "tau_ext": [15.107400894165039, -34.76627731323242, -36.52957534790039, 20.812028884887695, -2.9379513263702393, -7.326227188110352, 0.08300938457250595], "tcp_pose": [0.6355768442153931, -0.1616235375404358, -0.35123246908187866, -0.005807293578982353, -0.024656949564814568, 0.999677300453186, -0.0019129529828205705], "tcp_vel": [-0.0006845364696346223, -0.017882073298096657, -0.04418591037392616, 0.0005625279736705124, -0.00010324619506718591, 0.0008620550506748259], "flange_pose": [0.6377649903297424, -0.16084244847297668, -0.1612466722726822, -0.005807293578982353, -0.024656949564814568, 0.999677300453186, -0.0019129529828205705], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.271502494812012, -47.51978302001953, -12.290719985961914, -3.588489532470703, 13.744933128356934, -0.11619433015584946], "ext_wrench_in_world": [-7.7730888886291005, -47.91726284978978, 12.578169567056122, 2.9073194255289336, 13.905422898946995, 0.02554817799305699]}
+{"timestamp_ns": 1789729559830100800, "elapsed_ms": 3300, "source_timestamp_ns": 1789729559825297942, "q": [0.1434362232685089, -1.7627131938934326, -0.05845728516578674, 0.669963538646698, 1.7088840007781982, 0.044088076800107956, -0.9110358357429504], "theta": [0.14113280177116394, -1.7620723247528076, -0.059609245508909225, 0.653731644153595, 1.7090028524398804, 0.04455554485321045, -0.9114519357681274], "dq": [0.059434667229652405, -0.06887789070606232, 0.021530743688344955, -0.09374076873064041, 0.032893214374780655, 0.05677197501063347, 0.02236322872340679], "dtheta": [0.056971389800310135, -0.06788213551044464, 0.02150682359933853, -0.09620388597249985, 0.028056690469384193, 0.053911227732896805, 0.022349433973431587], "tau": [-60.81999969482422, -4.299999713897705, -22.376001358032227, 3.452000141143799, -3.508000135421753, 4.152000427246094, -0.18800000846385956], "tau_des": [-0.32596635818481445, 0.7747247815132141, 0.07187477499246597, -1.4822518825531006, 0.6383724212646484, 0.4055890738964081, -0.18350708484649658], "tau_dot": [66.35509490966797, -131.9196014404297, -16.339256286621094, 34.260379791259766, 20.317138671875, -29.00632667541504, 13.193294525146484], "tau_ext": [14.968266487121582, -35.1018180847168, -36.61330032348633, 20.89149284362793, -2.9485056400299072, -7.311577796936035, 0.08589087426662445], "tcp_pose": [0.6355504393577576, -0.16216185688972473, -0.35254955291748047, -0.005788928363472223, -0.024643249809741974, 0.9996777772903442, -0.0018897121772170067], "tcp_vel": [-0.00019366851483937353, -0.01697208546102047, -0.04435023292899132, 0.0029939410742372274, 0.001768465735949576, 0.0014792383881285787], "flange_pose": [0.6377318501472473, -0.1613897830247879, -0.16256363689899445, -0.005788928363472223, -0.024643249809741974, 0.9996777772903442, -0.0018897121772170067], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.22469425201416, -47.83634567260742, -12.313623428344727, -3.6724507808685303, 13.790069580078125, -0.11263562738895416], "ext_wrench_in_world": [-7.712244823842495, -48.23141958410614, 12.59909149385205, 2.9892903804842175, 13.95454321937985, 0.021612622691367614]}
+{"timestamp_ns": 1789729559863429837, "elapsed_ms": 3333, "source_timestamp_ns": 1789729559855312523, "q": [0.14519768953323364, -1.7647490501403809, -0.05779505521059036, 0.6670387983322144, 1.709751009941101, 0.04576939344406128, -0.9103251695632935], "theta": [0.14290186762809753, -1.7641083002090454, -0.05892340838909149, 0.6507644057273865, 1.7098489999771118, 0.046229004859924316, -0.910706102848053], "dq": [0.06319677084684372, -0.06702922284603119, 0.02326853945851326, -0.10556481033563614, 0.029043005779385567, 0.058527763932943344, 0.027140093967318535], "dtheta": [0.061250656843185425, -0.06921835243701935, 0.024577295407652855, -0.10042186081409454, 0.027852902188897133, 0.05982556566596031, 0.02814025990664959], "tau": [-60.43000030517578, -4.309999942779541, -22.34400177001953, 3.620000123977661, -3.564000129699707, 4.212000370025635, -0.1680000126361847], "tau_des": [-0.43742460012435913, 1.1858242750167847, -0.09568924456834793, -1.33938467502594, 0.5489276647567749, 0.5243387818336487, -0.19682420790195465], "tau_dot": [98.84091186523438, 20.81592559814453, 1.7109378576278687, -10.260986328125, 9.44896125793457, 32.11581802368164, 87.5761947631836], "tau_ext": [14.83897876739502, -35.0495719909668, -36.610958099365234, 20.775310516357422, -2.9439988136291504, -7.309091567993164, 0.08584564179182053], "tcp_pose": [0.6355577707290649, -0.16266199946403503, -0.3539183735847473, -0.005808647722005844, -0.024662792682647705, 0.9996772408485413, -0.0018488612258806825], "tcp_vel": [0.0002776898327283561, -0.016904987394809723, -0.04781677946448326, 0.0018273319583386183, 0.0018564522033557296, -0.0019149031722918153], "flange_pose": [0.637747049331665, -0.1619052141904831, -0.16393250226974487, -0.005808647722005844, -0.024662792682647705, 0.9996772408485413, -0.0018488612258806825], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.866995811462402, -48.317142486572266, -12.419829368591309, -3.8360371589660645, 13.898006439208984, -0.1101197674870491], "ext_wrench_in_world": [-7.3276811837273765, -48.69489163866876, 12.699159134526244, 3.1467760175052946, 14.070514333117782, 0.01781936123435153]}
+{"timestamp_ns": 1789729559896767852, "elapsed_ms": 3366, "source_timestamp_ns": 1789729559895294607, "q": [0.14769773185253143, -1.767454743385315, -0.05672288313508034, 0.6629547476768494, 1.7107621431350708, 0.048365745693445206, -0.9091854691505432], "theta": [0.1453973948955536, -1.7668242454528809, -0.05782262980937958, 0.6466518044471741, 1.710828185081482, 0.048828125, -0.9095073938369751], "dq": [0.0648706704378128, -0.06388476490974426, 0.031376998871564865, -0.106472447514534, 0.021874280646443367, 0.071622334420681, 0.029999472200870514], "dtheta": [0.0638733059167862, -0.0675700232386589, 0.03048557974398136, -0.10455000400543213, 0.022049903869628906, 0.06870128214359283, 0.03136176988482475], "tau": [-60.43000030517578, -4.789999961853027, -22.444000244140625, 3.9720001220703125, -3.6480002403259277, 4.164000034332275, -0.19600000977516174], "tau_des": [-0.35617461800575256, 0.32198697328567505, -0.4188522398471832, -0.6274924874305725, 0.3920576870441437, 0.43673744797706604, -0.1292014718055725], "tau_dot": [-1.0169416666030884, -37.22968292236328, 40.03419876098633, 37.8106689453125, -17.301042556762695, -10.842915534973145, -23.442668914794922], "tau_ext": [14.767955780029297, -34.88213348388672, -36.444732666015625, 20.592147827148438, -2.8879284858703613, -7.3318095207214355, 0.08371055871248245], "tcp_pose": [0.6356252431869507, -0.16330823302268982, -0.3558741807937622, -0.005835318472236395, -0.024678194895386696, 0.9996766448020935, -0.0018680597422644496], "tcp_vel": [0.0022132701706141233, -0.015574770048260689, -0.05063540115952492, -0.0019627721048891544, 0.0019631611648947, 3.728317460627295e-05], "flange_pose": [0.6378244161605835, -0.1625438779592514, -0.1658884584903717, -0.005835318472236395, -0.024678194895386696, 0.9996766448020935, -0.0018680597422644496], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.217249870300293, -48.90194320678711, -12.4034423828125, -4.077663421630859, 14.05984878540039, -0.11277054250240326], "ext_wrench_in_world": [-6.64792046387494, -49.24672210285226, 12.679457525681764, 3.379698755343114, 14.244183832551805, 0.016349657165153138]}
+{"timestamp_ns": 1789729559930097519, "elapsed_ms": 3400, "source_timestamp_ns": 1789729559925337241, "q": [0.14966152608394623, -1.7693889141082764, -0.05578272417187691, 0.6599037647247314, 1.7113646268844604, 0.05049588158726692, -0.9082334637641907], "theta": [0.14734937250614166, -1.7687827348709106, -0.056864138692617416, 0.6435888409614563, 1.7114038467407227, 0.05096471309661865, -0.9085083603858948], "dq": [0.06624972075223923, -0.061129774898290634, 0.031340621411800385, -0.09456238150596619, 0.018310043960809708, 0.07360963523387909, 0.02874707616865635], "dtheta": [0.06578823179006577, -0.06457837671041489, 0.0338936410844326, -0.09981080144643784, 0.017664968967437744, 0.07345391064882278, 0.03271552920341492], "tau": [-60.44999694824219, -5.059999942779541, -22.59600067138672, 3.996000289916992, -3.7120001316070557, 4.200000286102295, -0.1680000126361847], "tau_des": [-0.21720556914806366, 0.7308800220489502, -0.4576825797557831, -0.6001730561256409, 0.37801307439804077, 0.49190422892570496, -0.1909486949443817], "tau_dot": [144.4684600830078, -66.30757904052734, 6.179144382476807, -14.842386245727539, -10.57951545715332, -22.96176528930664, 45.70673370361328], "tau_ext": [14.640233993530273, -34.737388610839844, -36.3358268737793, 20.502296447753906, -2.845763683319092, -7.320602893829346, 0.07792025059461594], "tcp_pose": [0.6356874108314514, -0.16375470161437988, -0.3574194610118866, -0.005883673205971718, -0.024676330387592316, 0.9996763467788696, -0.001928476383909583], "tcp_vel": [0.0010444684885442257, -0.015658697113394737, -0.05200742930173874, -0.005335406865924597, 0.002980798250064254, -0.0032942977268248796], "flange_pose": [0.6379044055938721, -0.16296693682670593, -0.16743403673171997, -0.005883673205971718, -0.024676330387592316, 0.9996763467788696, -0.001928476383909583], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.816793441772461, -48.978843688964844, -12.395294189453125, -4.174389839172363, 14.131919860839844, -0.11504179239273071], "ext_wrench_in_world": [-6.243247511679419, -49.30223027387814, 12.67352532941907, 3.4728166514116605, 14.320937093192581, 0.015145133897637317]}
+{"timestamp_ns": 1789729559963430346, "elapsed_ms": 3433, "source_timestamp_ns": 1789729559955300805, "q": [0.1516968309879303, -1.7712146043777466, -0.05475478246808052, 0.6570649147033691, 1.7118864059448242, 0.05281919240951538, -0.9073037505149841], "theta": [0.14937031269073486, -1.7706364393234253, -0.055809807032346725, 0.6407212615013123, 1.7119001150131226, 0.05329906940460205, -0.9075316786766052], "dq": [0.0666118934750557, -0.06142650172114372, 0.031004996970295906, -0.09010783582925797, 0.016333632171154022, 0.07816576957702637, 0.029412010684609413], "dtheta": [0.06919017434120178, -0.060811545699834824, 0.036240097135305405, -0.092056505382061, 0.018494663760066032, 0.0823398008942604, 0.028965484350919724], "tau": [-60.27000045776367, -4.769999980926514, -22.36800193786621, 3.7320001125335693, -3.624000072479248, 4.156000137329102, -0.19600000977516174], "tau_des": [-0.20476971566677094, 1.361541748046875, -0.3172462284564972, -1.1452561616897583, 0.4822911322116852, 0.33005422353744507, -0.319181889295578], "tau_dot": [8.331939697265625, 70.05054473876953, 36.53852081298828, -8.339475631713867, -1.2465310096740723, 43.128360748291016, -6.874866485595703], "tau_ext": [14.634273529052734, -34.82459259033203, -36.213050842285156, 20.65436363220215, -2.818434000015259, -7.310913562774658, 0.07815548777580261], "tcp_pose": [0.6357107758522034, -0.1642182320356369, -0.3590047359466553, -0.005919807590544224, -0.02463017962872982, 0.9996770024299622, -0.0020530822221189737], "tcp_vel": [0.00037107360549271107, -0.016393613070249557, -0.05381830781698227, -0.00979378167539835, -0.001109062577597797, -0.0038433431182056665], "flange_pose": [0.6379403471946716, -0.16338291764259338, -0.1690196692943573, -0.005919807590544224, -0.02463017962872982, 0.9996770024299622, -0.0020530822221189737], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.733806610107422, -48.82444381713867, -12.36343002319336, -4.196234226226807, 14.108960151672363, -0.11783190071582794], "ext_wrench_in_world": [-6.171997656066596, -49.140317912797805, 12.652892722881896, 3.497100676010344, 14.298780205493207, 0.013931852203901168]}
+{"timestamp_ns": 1789729559996770370, "elapsed_ms": 3466, "source_timestamp_ns": 1789729559995318750, "q": [0.15448589622974396, -1.773470163345337, -0.05324138328433037, 0.6535768508911133, 1.7125476598739624, 0.056138988584280014, -0.906374454498291], "theta": [0.15214607119560242, -1.7729129791259766, -0.05423395335674286, 0.6371832489967346, 1.7125308513641357, 0.0566481351852417, -0.9065439105033875], "dq": [0.06729915738105774, -0.051528338342905045, 0.03279899060726166, -0.08482635766267776, 0.015779733657836914, 0.0826604887843132, 0.02743982896208763], "dtheta": [0.07201629132032394, -0.051996368914842606, 0.0416606180369854, -0.08360009640455246, 0.013347631320357323, 0.08910165727138519, 0.027676498517394066], "tau": [-59.939998626708984, -3.9099998474121094, -22.1200008392334, 3.4120001792907715, -3.624000072479248, 3.992000102996826, -0.19600000977516174], "tau_des": [0.1604960709810257, 2.452040910720825, -0.16516552865505219, -1.1175756454467773, 0.4653974771499634, 0.32588571310043335, -0.2229854315519333], "tau_dot": [76.02830505371094, -25.51180076599121, -5.204911708831787, -45.50550079345703, -1.5120865106582642, 6.835529804229736, -38.89315414428711], "tau_ext": [14.354082107543945, -35.037620544433594, -36.337486267089844, 20.794326782226562, -2.842158794403076, -7.217411518096924, 0.07727792114019394], "tcp_pose": [0.6357170939445496, -0.16481050848960876, -0.3611815869808197, -0.005920950323343277, -0.024655181914567947, 0.9996759295463562, -0.002253646729514003], "tcp_vel": [0.0005955062806606293, -0.013553428463637829, -0.05638618394732475, -0.012920194305479527, -0.0005816900520585477, -0.0026922477409243584], "flange_pose": [0.6379452347755432, -0.16389892995357513, -0.1711968332529068, -0.005920950323343277, -0.024655181914567947, 0.9996759295463562, -0.002253646729514003], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.850062370300293, -48.851234436035156, -12.541364669799805, -4.24776029586792, 14.02788257598877, -0.11854521185159683], "ext_wrench_in_world": [-6.282215292752644, -49.16719830220602, 12.85196170981806, 3.5518181838529816, 14.220531724960171, 0.008666740260727772]}
+{"timestamp_ns": 1789729560030096599, "elapsed_ms": 3500, "source_timestamp_ns": 1789729560025310661, "q": [0.1567026525735855, -1.774853229522705, -0.05201747640967369, 0.6512603759765625, 1.712890625, 0.058899231255054474, -0.9056183099746704], "theta": [0.1543588787317276, -1.7743093967437744, -0.05293590947985649, 0.6348387002944946, 1.7128512859344482, 0.059445977210998535, -0.9057460427284241], "dq": [0.07736103981733322, -0.04690089449286461, 0.04654531925916672, -0.07840683311223984, 0.008264501579105854, 0.09322773665189743, 0.02399529330432415], "dtheta": [0.07424405217170715, -0.04099086672067642, 0.04165264591574669, -0.07448475807905197, 0.008979656733572483, 0.09824953228235245, 0.026303071528673172], "tau": [-60.29999923706055, -4.049999713897705, -22.036001205444336, 3.4760000705718994, -3.636000156402588, 3.9800002574920654, -0.18800000846385956], "tau_des": [0.5968968272209167, 1.9820094108581543, 0.05415971204638481, -0.9423114061355591, 0.5219524502754211, 0.12814809381961823, -0.18570083379745483], "tau_dot": [23.046846389770508, 2.4485840797424316, -7.012065410614014, -40.159061431884766, 17.80440902709961, 38.260536193847656, 19.968473434448242], "tau_ext": [14.475309371948242, -35.168174743652344, -36.40141296386719, 20.822349548339844, -2.8457155227661133, -7.149720668792725, 0.07358963787555695], "tcp_pose": [0.6357317566871643, -0.1651913970708847, -0.3628811836242676, -0.005936365108937025, -0.024647142738103867, 0.999675452709198, -0.0025123737286776304], "tcp_vel": [0.002536558313295245, -0.011529291979968548, -0.05644392967224121, -0.022386495023965836, -0.001688555465079844, 0.0009056042763404548], "flange_pose": [0.6379632949829102, -0.1641814112663269, -0.17289696633815765, -0.005936365108937025, -0.024647142738103867, 0.999675452709198, -0.0025123737286776304], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.691810607910156, -49.108970642089844, -12.496430397033691, -4.284382343292236, 14.04373550415039, -0.121720090508461], "ext_wrench_in_world": [-6.11239610507034, -49.41031550703582, 12.831939728163714, 3.5878345088793178, 14.238141842301895, 0.003894851552242652]}
+{"timestamp_ns": 1789729560063428692, "elapsed_ms": 3533, "source_timestamp_ns": 1789729560055320315, "q": [0.15908947587013245, -1.7759603261947632, -0.05081843212246895, 0.6491588950157166, 1.713211178779602, 0.06189167499542236, -0.9048270583152771], "theta": [0.15674449503421783, -1.7754223346710205, -0.05166422948241234, 0.6327242255210876, 1.7131526470184326, 0.06247913837432861, -0.9049102663993835], "dq": [0.0857674852013588, -0.03235381096601486, 0.03616922348737717, -0.0699719712138176, 0.01050149742513895, 0.10401959717273712, 0.02867441438138485], "dtheta": [0.08151303231716156, -0.033701714128255844, 0.04199489578604698, -0.0664680227637291, 0.009014738723635674, 0.10172125697135925, 0.029597649350762367], "tau": [-60.849998474121094, -4.75, -22.052001953125, 3.7880001068115234, -3.704000234603882, 3.864000082015991, -0.164000004529953], "tau_des": [-0.9981836080551147, 1.5273149013519287, -0.5621725916862488, -0.9244823455810547, 0.5071091651916504, 0.19488894939422607, -0.23408719897270203], "tau_dot": [-70.13912963867188, -104.16889953613281, 74.17997741699219, 4.162565231323242, -64.15817260742188, 2.3825716972351074, -22.494565963745117], "tau_ext": [14.80566692352295, -35.15966033935547, -36.42836380004883, 20.785354614257812, -2.8329811096191406, -7.08650541305542, 0.06974399834871292], "tcp_pose": [0.6357764601707458, -0.16550928354263306, -0.36465534567832947, -0.005965977441519499, -0.024654366075992584, 0.9996740818023682, -0.0028731226921081543], "tcp_vel": [0.0009655003668740392, -0.009556409902870655, -0.0607236847281456, -0.02478814497590065, 0.00260482938028872, -0.00316733680665493], "flange_pose": [0.638015866279602, -0.16436195373535156, -0.17467202246189117, -0.005965977441519499, -0.024654366075992584, 0.9996740818023682, -0.0028731226921081543], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.346468925476074, -49.46102523803711, -12.129183769226074, -4.271148681640625, 14.124606132507324, -0.12687718868255615], "ext_wrench_in_world": [-5.753007500737293, -49.73797099081236, 12.498432159391356, 3.5704240503560114, 14.318358027382468, -0.0016674781472969039]}
+{"timestamp_ns": 1789729560096768934, "elapsed_ms": 3566, "source_timestamp_ns": 1789729560095341935, "q": [0.16241957247257233, -1.777093529701233, -0.049408894032239914, 0.6466889381408691, 1.7137829065322876, 0.06592997908592224, -0.9038075804710388], "theta": [0.16006143391132355, -1.776553750038147, -0.050175782293081284, 0.6302689909934998, 1.7137012481689453, 0.06656575202941895, -0.9038230180740356], "dq": [0.08392781764268875, -0.029856344684958458, 0.032511331140995026, -0.06292292475700378, 0.014484030194580555, 0.10035201162099838, 0.0279604010283947], "dtheta": [0.08296128362417221, -0.024880534037947655, 0.03297561779618263, -0.05722698196768761, 0.01581614650785923, 0.09892728924751282, 0.03027420863509178], "tau": [-61.57999801635742, -5.639999866485596, -22.176000595092773, 4.223999977111816, -3.748000144958496, 3.824000120162964, -0.12800000607967377], "tau_des": [-2.2326040267944336, 0.15910722315311432, -0.7721861004829407, -0.3354671001434326, 0.39485669136047363, 0.036800678819417953, -0.1171485111117363], "tau_dot": [-117.7168960571289, -121.61136627197266, 20.24419593811035, 37.46745300292969, 4.519082546234131, 13.360698699951172, 40.75566101074219], "tau_ext": [14.928411483764648, -34.777259826660156, -36.5737190246582, 20.598602294921875, -2.8303675651550293, -6.975162982940674, 0.05517372861504555], "tcp_pose": [0.6358572244644165, -0.16584041714668274, -0.36705145239830017, -0.006017420440912247, -0.024695366621017456, 0.9996711015701294, -0.0034146886318922043], "tcp_vel": [0.001901095500215888, -0.007261272985488176, -0.059124454855918884, -0.026982126757502556, 0.0019081749487668276, -0.0034611786250025034], "flange_pose": [0.6381110548973083, -0.16448679566383362, -0.17706964910030365, -0.006017420440912247, -0.024695366621017456, 0.9996711015701294, -0.0034146886318922043], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.8531718254089355, -49.61387634277344, -11.571864128112793, -4.115935325622559, 14.248648643493652, -0.1377030462026596], "ext_wrench_in_world": [-5.254057759819618, -49.85718594621702, 11.99053624554519, 3.40814515856392, 14.434971060082153, -0.005565260346346745]}
+{"timestamp_ns": 1789729560130098377, "elapsed_ms": 3600, "source_timestamp_ns": 1789729560125293773, "q": [0.16483354568481445, -1.7777966260910034, -0.0484955795109272, 0.6450547575950623, 1.7142970561981201, 0.06872233003377914, -0.9029667973518372], "theta": [0.16245190799236298, -1.7772489786148071, -0.04922320693731308, 0.6286621689796448, 1.7141976356506348, 0.06939184665679932, -0.9029294848442078], "dq": [0.08325082808732986, -0.023147370666265488, 0.03236031159758568, -0.04923028126358986, 0.01942247711122036, 0.0883546769618988, 0.022933971136808395], "dtheta": [0.07757129520177841, -0.02265654318034649, 0.029601220041513443, -0.051377929747104645, 0.018246561288833618, 0.08943894505500793, 0.02549060247838497], "tau": [-61.87999725341797, -6.299999713897705, -22.316001892089844, 4.36400032043457, -3.7360000610351562, 3.8360002040863037, -0.1680000126361847], "tau_des": [-2.786858320236206, -0.36397790908813477, -0.9110099077224731, -0.37951862812042236, 0.37176454067230225, 0.03616465628147125, -0.18607328832149506], "tau_dot": [67.68889617919922, 13.697076797485352, 9.898307800292969, -26.472768783569336, 65.3283462524414, -55.032230377197266, -68.88970947265625], "tau_ext": [14.853799819946289, -34.57682418823242, -36.646209716796875, 20.5440731048584, -2.817932367324829, -6.912172317504883, 0.04510647431015968], "tcp_pose": [0.6359031796455383, -0.16603220999240875, -0.3687680959701538, -0.0060653663240373135, -0.024658598005771637, 0.9996703863143921, -0.0037781386636197567], "tcp_vel": [0.0012033312814310193, -0.006068311631679535, -0.05536612868309021, -0.02199009247124195, 0.0012306063435971737, -0.0020983547437936068], "flange_pose": [0.6381718516349792, -0.1645401567220688, -0.178787499666214, -0.0060653663240373135, -0.024658598005771637, 0.9996703863143921, -0.0037781386636197567], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.50159215927124, -49.52214813232422, -11.368379592895508, -3.9734127521514893, 14.325597763061523, -0.14836114645004272], "ext_wrench_in_world": [-4.912416324129164, -49.74072764591052, 11.818852492769667, 3.263137839551135, 14.50464347482693, -0.004506220089508017]}
+{"timestamp_ns": 1789729560163433000, "elapsed_ms": 3633, "source_timestamp_ns": 1789729560155293200, "q": [0.16705523431301117, -1.7784744501113892, -0.04764733836054802, 0.64357590675354, 1.7149040699005127, 0.07119929790496826, -0.9023351669311523], "theta": [0.1646391600370407, -1.777915358543396, -0.0483570322394371, 0.6272130608558655, 1.7147879600524902, 0.07189881801605225, -0.9022461175918579], "dq": [0.07270092517137527, -0.023828839883208275, 0.03550775349140167, -0.04428526386618614, 0.020707692950963974, 0.07928887754678726, 0.023065902292728424], "dtheta": [0.07051049917936325, -0.02235638163983822, 0.02864610031247139, -0.04634368419647217, 0.020693151280283928, 0.07793361693620682, 0.02073192223906517], "tau": [-62.02000045776367, -6.369999885559082, -22.428001403808594, 4.388000011444092, -3.7880001068115234, 3.936000108718872, -0.14000000059604645], "tau_des": [-2.892369270324707, -0.4013581871986389, -1.0118881464004517, -0.5229270458221436, 0.2617145776748657, 0.1491249054670334, -0.16128988564014435], "tau_dot": [4.885019779205322, 79.66357421875, 2.7187488079071045, -17.975086212158203, 68.12882995605469, 1.6468898057937622, 16.53995132446289], "tau_ext": [15.061898231506348, -34.475364685058594, -36.50748062133789, 20.542640686035156, -2.7755494117736816, -6.91106653213501, 0.03781300038099289], "tcp_pose": [0.6359246373176575, -0.16618900001049042, -0.370370090007782, -0.0060850270092487335, -0.024661054834723473, 0.9996691942214966, -0.004033524543046951], "tcp_vel": [0.00010077803744934499, -0.004759542644023895, -0.05160081759095192, -0.013339298777282238, -0.0002120785356964916, -0.0022886625956743956], "flange_pose": [0.6381983757019043, -0.1645997315645218, -0.1803903579711914, -0.0060850270092487335, -0.024661054834723473, 0.9996691942214966, -0.004033524543046951], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.362204074859619, -49.316551208496094, -11.207351684570312, -3.8456461429595947, 14.337848663330078, -0.1543610543012619], "ext_wrench_in_world": [-4.784571959791178, -49.52385501071556, 11.680096735941133, 3.1348881568987643, 14.510657518276933, -0.004529405048218832]}
+{"timestamp_ns": 1789729560196779030, "elapsed_ms": 3666, "source_timestamp_ns": 1789729560195322498, "q": [0.16965769231319427, -1.7793840169906616, -0.046490881592035294, 0.6417748332023621, 1.7156609296798706, 0.0741066187620163, -0.9016690850257874], "theta": [0.16719195246696472, -1.7788053750991821, -0.04718887433409691, 0.6254475712776184, 1.7155219316482544, 0.07484114170074463, -0.901516318321228], "dq": [0.060646239668130875, -0.02401582896709442, 0.028798311948776245, -0.03952471539378166, 0.017815755680203438, 0.06842309236526489, 0.01604180969297886], "dtheta": [0.057801779359579086, -0.02287578210234642, 0.02987496554851532, -0.04171149060130119, 0.017183545976877213, 0.06974121183156967, 0.01649317890405655], "tau": [-61.28999710083008, -6.099999904632568, -22.136001586914062, 4.168000221252441, -3.7920002937316895, 3.81600022315979, -0.14400000870227814], "tau_des": [-1.4578447341918945, 0.3302796185016632, -0.33309468626976013, -0.9803580045700073, 0.3508310317993164, -0.1340714544057846, -0.1641031801700592], "tau_dot": [-42.29546356201172, 35.44071960449219, 9.679276466369629, -22.294586181640625, 27.877655029296875, -32.20297622680664, -49.97368621826172], "tau_ext": [14.79593276977539, -34.51198959350586, -36.511253356933594, 20.651235580444336, -2.7508621215820312, -6.897611618041992, 0.030242864042520523], "tcp_pose": [0.6359229683876038, -0.16637031733989716, -0.37230855226516724, -0.006069979630410671, -0.02466130256652832, 0.9996684193611145, -0.00424392893910408], "tcp_vel": [0.00026367983082309365, -0.005026613362133503, -0.0440351665019989, -0.009066284634172916, -0.005428536329418421, -0.003269791603088379], "flange_pose": [0.6381890773773193, -0.16470126807689667, -0.18232940137386322, -0.006069979630410671, -0.02466130256652832, 0.9996684193611145, -0.00424392893910408], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.401113033294678, -49.027069091796875, -11.092513084411621, -3.759643793106079, 14.288009643554688, -0.16011549532413483], "ext_wrench_in_world": [-4.839402201605302, -49.232766906954524, 11.583983486169727, 3.0514789725950955, 14.456702368357535, -0.0032725725974123085]}
+{"timestamp_ns": 1789729560230096276, "elapsed_ms": 3700, "source_timestamp_ns": 1789729560225307408, "q": [0.1713336557149887, -1.7800549268722534, -0.045581065118312836, 0.640541136264801, 1.716147780418396, 0.07594966888427734, -0.9012792706489563], "theta": [0.1688363254070282, -1.7794556617736816, -0.046275828033685684, 0.6242297291755676, 1.715993046760559, 0.07670426368713379, -0.9010851383209229], "dq": [0.04816470295190811, -0.023829760029911995, 0.03311633691191673, -0.040560539811849594, 0.012892495840787888, 0.05812223255634308, 0.01220032200217247], "dtheta": [0.05214424803853035, -0.021426832303404808, 0.031190261244773865, -0.0383102186024189, 0.013365082442760468, 0.056234706193208694, 0.013504191301763058], "tau": [-60.73999786376953, -5.900000095367432, -21.852001190185547, 3.992000102996826, -3.764000177383423, 3.824000120162964, -0.10400000214576721], "tau_des": [-1.217673659324646, 0.7379337549209595, -0.2979094386100769, -1.1708135604858398, 0.37721455097198486, 0.11994767934083939, -0.1445683091878891], "tau_dot": [64.33158111572266, -88.11591339111328, -1.5810189247131348, -4.754733085632324, 20.305618286132812, 32.88549041748047, 22.433326721191406], "tau_ext": [14.371368408203125, -34.59819030761719, -36.65168762207031, 20.749897003173828, -2.758903980255127, -6.869400501251221, 0.024328557774424553], "tcp_pose": [0.6358991265296936, -0.16646333038806915, -0.3736216127872467, -0.00605153851211071, -0.024660788476467133, 0.9996683597564697, -0.00428884057328105], "tcp_vel": [-0.0016625085845589638, -0.002464759163558483, -0.04182472825050354, -0.0004261670110281557, 0.00021445307356771082, -0.002383617917075753], "flange_pose": [0.6381577849388123, -0.16477739810943604, -0.18364252150058746, -0.00605153851211071, -0.024660788476467133, 0.9996683597564697, -0.00428884057328105], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.469370365142822, -48.94102096557617, -11.420676231384277, -3.786548376083374, 14.241321563720703, -0.16438472270965576], "ext_wrench_in_world": [-4.908386346249178, -49.14624515636625, 11.916425759977194, 3.0807088232103643, 14.411434486416727, -0.0001144059196725028]}
+{"timestamp_ns": 1789729560263432718, "elapsed_ms": 3733, "source_timestamp_ns": 1789729560255300007, "q": [0.17284533381462097, -1.7806626558303833, -0.04459802061319351, 0.6394419074058533, 1.7165371179580688, 0.07768658548593521, -0.9009573459625244], "theta": [0.1703242063522339, -1.7800416946411133, -0.04530122131109238, 0.6231321692466736, 1.7163679599761963, 0.07845699787139893, -0.9007260799407959], "dq": [0.04517776146531105, -0.017232675105333328, 0.03711874410510063, -0.032053690403699875, 0.011831349693238735, 0.05590223893523216, 0.012733855284750462], "dtheta": [0.047878313809633255, -0.018169162794947624, 0.032850231975317, -0.0352775901556015, 0.010555758140981197, 0.05542035400867462, 0.009484387002885342], "tau": [-60.5099983215332, -5.62999963760376, -21.700000762939453, 3.812000274658203, -3.760000228881836, 3.7840001583099365, -0.12800000607967377], "tau_des": [-0.6081460118293762, 0.5830206274986267, -0.18755850195884705, -1.1315927505493164, 0.3135325312614441, 0.01805490255355835, -0.08587909489870071], "tau_dot": [-18.89320182800293, 9.875862121582031, 67.06917572021484, -56.44450759887695, 3.6566927433013916, 13.666751861572266, -8.74558162689209], "tau_ext": [14.181788444519043, -34.716739654541016, -36.736263275146484, 20.858972549438477, -2.7662317752838135, -6.860184192657471, 0.01705905608832836], "tcp_pose": [0.6358730792999268, -0.16652612388134003, -0.3748528063297272, -0.006010580342262983, -0.024655496701598167, 0.9996687173843384, -0.004296806175261736], "tcp_vel": [-0.00038258329732343554, -0.0009618715848773718, -0.03954917937517166, 2.9738608645857312e-05, -0.0018975910497829318, 0.0017425130354240537], "flange_pose": [0.6381160616874695, -0.1648375540971756, -0.184873566031456, -0.006010580342262983, -0.024655496701598167, 0.9996687173843384, -0.004296806175261736], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.577667713165283, -48.927066802978516, -11.800873756408691, -3.8334648609161377, 14.196072578430176, -0.17005227506160736], "ext_wrench_in_world": [-5.014224386652334, -49.13404622408204, 12.298072644891745, 3.1300109375830605, 14.368571591114554, 0.0054064605553827486]}
+{"timestamp_ns": 1789729560296768621, "elapsed_ms": 3766, "source_timestamp_ns": 1789729560295284866, "q": [0.1747787594795227, -1.7813739776611328, -0.04324591904878616, 0.6380770802497864, 1.7169311046600342, 0.07990783452987671, -0.9005445241928101], "theta": [0.17223651707172394, -1.7807213068008423, -0.04397418349981308, 0.6217628717422485, 1.716745138168335, 0.08069944381713867, -0.9002711772918701], "dq": [0.04509074240922928, -0.016997866332530975, 0.03881962224841118, -0.03392772749066353, 0.004969435278326273, 0.05650978907942772, 0.012487475760281086], "dtheta": [0.04793579876422882, -0.01629968360066414, 0.03443969413638115, -0.03397606685757637, 0.007732703350484371, 0.05706220120191574, 0.012060051783919334], "tau": [-60.689998626708984, -5.769999980926514, -21.744001388549805, 3.828000068664551, -3.7680001258850098, 3.824000120162964, -0.1080000028014183], "tau_des": [-1.1806188821792603, 0.5542693734169006, -0.5238218903541565, -1.2465837001800537, 0.30403563380241394, 0.08371123671531677, -0.13039559125900269], "tau_dot": [49.723358154296875, 2.4724390506744385, 31.140165328979492, 34.54719543457031, 6.357227325439453, 3.878265142440796, -6.933269023895264], "tau_ext": [14.350086212158203, -34.88188934326172, -36.70020294189453, 20.952999114990234, -2.753671884536743, -6.889613628387451, 0.011935784481465816], "tcp_pose": [0.6358336806297302, -0.16656193137168884, -0.37645429372787476, -0.005984924733638763, -0.024655617773532867, 0.9996688961982727, -0.004292179364711046], "tcp_vel": [-0.0002918222453445196, -0.0004228346806485206, -0.03974475339055061, -0.0014375353930518031, -0.001285123755224049, -0.0003552296257112175], "flange_pose": [0.6380670070648193, -0.16487537324428558, -0.18647488951683044, -0.005984924733638763, -0.024655617773532867, 0.9996688961982727, -0.004292179364711046], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.6567769050598145, -49.01723861694336, -11.97187328338623, -3.8902368545532227, 14.175889015197754, -0.17656932771205902], "ext_wrench_in_world": [-5.087380566004848, -49.22661415074705, 12.469991272963437, 3.1877764234272896, 14.351268001142031, 0.011709690647660892]}
+{"timestamp_ns": 1789729560330056265, "elapsed_ms": 3800, "source_timestamp_ns": 1789729560325304208, "q": [0.176169753074646, -1.7818846702575684, -0.04224541038274765, 0.6370352506637573, 1.717178225517273, 0.08151961863040924, -0.9001996517181396], "theta": [0.17362014949321747, -1.7812108993530273, -0.0430038683116436, 0.6207175850868225, 1.7169824838638306, 0.08232605457305908, -0.8998984098434448], "dq": [0.045372556895017624, -0.015007248148322105, 0.03350481763482094, -0.036311134696006775, 0.006812515202909708, 0.049393560737371445, 0.012453988194465637], "dtheta": [0.04418075829744339, -0.016992390155792236, 0.030197585001587868, -0.037219058722257614, 0.00956666562706232, 0.0503305122256279, 0.01273671630769968], "tau": [-61.18000030517578, -6.399999618530273, -21.816001892089844, 4.080000400543213, -3.7680001258850098, 3.8480002880096436, -0.10000000149011612], "tau_des": [-1.8148162364959717, -0.8947672843933105, -0.7777618169784546, -0.9556523561477661, 0.2978166937828064, -0.00109215104021132, -0.09289875626564026], "tau_dot": [-4.318660736083984, -43.422080993652344, 17.881433486938477, 61.25761413574219, 9.4681978225708, 20.619176864624023, 5.24105167388916], "tau_ext": [14.475470542907715, -34.852210998535156, -36.69975280761719, 20.93697166442871, -2.746429443359375, -6.903360843658447, 0.003489400027319789], "tcp_pose": [0.635823667049408, -0.16656851768493652, -0.37761640548706055, -0.005972650833427906, -0.024659961462020874, 0.9996688365936279, -0.004286807496100664], "tcp_vel": [0.0011149573838338256, 0.0005633779219351709, -0.03686961531639099, 0.0012234587920829654, -0.0010411987314000726, 0.0018654491286724806], "flange_pose": [0.6380523443222046, -0.16488410532474518, -0.18763694167137146, -0.005972650833427906, -0.024659961462020874, 0.9996688365936279, -0.004286807496100664], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.626196384429932, -49.16329574584961, -11.901032447814941, -3.928494691848755, 14.200063705444336, -0.1828833520412445], "ext_wrench_in_world": [-5.05033430574595, -49.3717966578907, 12.399310923749333, 3.2247403750626495, 14.377380355868729, 0.017598839053374553]}
+{"timestamp_ns": 1789729560363438915, "elapsed_ms": 3833, "source_timestamp_ns": 1789729560355306904, "q": [0.17741739749908447, -1.7825266122817993, -0.04137052968144417, 0.6358308792114258, 1.7175686359405518, 0.08275618404150009, -0.8998377919197083], "theta": [0.17486216127872467, -1.7818386554718018, -0.04218437522649765, 0.619510293006897, 1.7173640727996826, 0.0835721492767334, -0.8995101451873779], "dq": [0.03865063562989235, -0.02119539864361286, 0.03088623471558094, -0.046236712485551834, 0.017748456448316574, 0.036392610520124435, 0.011763093061745167], "dtheta": [0.03749481588602066, -0.025725165382027626, 0.024894826114177704, -0.04569472000002861, 0.017423439770936966, 0.030408523976802826, 0.011112615466117859], "tau": [-62.099998474121094, -7.170000076293945, -22.18800163269043, 4.344000339508057, -3.8600001335144043, 3.936000108718872, -0.1120000034570694], "tau_des": [-3.1381115913391113, -1.892068862915039, -1.2248315811157227, -0.9311037063598633, 0.26474952697753906, 0.10072657465934753, -0.13859988749027252], "tau_dot": [-46.43229293823242, 76.83755493164062, -6.634851932525635, -35.17814254760742, -15.235377311706543, 45.45065689086914, 8.582552909851074], "tau_ext": [14.653692245483398, -34.77016067504883, -36.678653717041016, 20.91139030456543, -2.7478795051574707, -6.922913551330566, -0.005216746125370264], "tcp_pose": [0.6358212828636169, -0.1665474772453308, -0.37869709730148315, -0.0059705148451030254, -0.024672359228134155, 0.9996691346168518, -0.004150147549808025], "tcp_vel": [0.00027550404774956405, 0.0012291492894291878, -0.03351614996790886, 0.016299206763505936, 0.0008892433252185583, 0.0030494474340230227], "flange_pose": [0.6380504369735718, -0.16491496562957764, -0.18871720135211945, -0.0059705148451030254, -0.024672359228134155, 0.9996691346168518, -0.004150147549808025], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.521770477294922, -49.232940673828125, -11.804319381713867, -3.9306180477142334, 14.250466346740723, -0.18787695467472076], "ext_wrench_in_world": [-4.942563425515513, -49.440545514957435, 12.288407567275318, 3.224097892807778, 14.427936767250257, 0.026086481656557463]}
+{"timestamp_ns": 1789729560396831463, "elapsed_ms": 3866, "source_timestamp_ns": 1789729560395299421, "q": [0.17869214713573456, -1.7838459014892578, -0.04037493094801903, 0.6337195634841919, 1.7183951139450073, 0.08355540782213211, -0.8995034694671631], "theta": [0.17613984644412994, -1.7831443548202515, -0.04128091037273407, 0.617408037185669, 1.7181780338287354, 0.08437776565551758, -0.8991470336914062], "dq": [0.026169991120696068, -0.039252281188964844, 0.020674077793955803, -0.05780462175607681, 0.021123113110661507, 0.009782915934920311, 0.008242769166827202], "dtheta": [0.02681330218911171, -0.03885321691632271, 0.020942991599440575, -0.05877762660384178, 0.02120806835591793, 0.010989825241267681, 0.006501922383904457], "tau": [-62.34000015258789, -7.440000057220459, -22.2760009765625, 4.664000034332275, -3.9040002822875977, 3.9880001544952393, -0.10400000214576721], "tau_des": [-2.561659336090088, -1.6841193437576294, -0.8130861520767212, -0.7266445159912109, 0.27892714738845825, 0.07119885832071304, -0.11743156611919403], "tau_dot": [2.6300599575042725, 19.492780685424805, 48.26818084716797, -7.156426429748535, -16.83587074279785, 50.66698455810547, -5.67704439163208], "tau_ext": [15.388153076171875, -34.41628646850586, -36.36948013305664, 20.67554473876953, -2.674431324005127, -7.010130882263184, -0.00898668635636568], "tcp_pose": [0.6358272433280945, -0.16649655997753143, -0.3799508810043335, -0.005956413224339485, -0.024778073653578758, 0.9996686577796936, -0.003624520730227232], "tcp_vel": [-0.00017701543401926756, -0.00013642887643072754, -0.027618542313575745, 0.029733650386333466, 0.0014535262016579509, 0.007556658238172531], "flange_pose": [0.6380558609962463, -0.16506361961364746, -0.18996936082839966, -0.005956413224339485, -0.024778073653578758, 0.9996686577796936, -0.003624520730227232], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.373968124389648, -49.08844757080078, -11.188770294189453, -3.8410096168518066, 14.330190658569336, -0.18843355774879456], "ext_wrench_in_world": [-4.799206453928569, -49.30748413727607, 11.618059087977977, 3.127698361882722, 14.503755870542667, 0.04236741857980636]}
+{"timestamp_ns": 1789729560430102742, "elapsed_ms": 3900, "source_timestamp_ns": 1789729560425389975, "q": [0.17940714955329895, -1.785157561302185, -0.039684493094682693, 0.6318607330322266, 1.7191282510757446, 0.08370427787303925, -0.89939945936203], "theta": [0.1768680363893509, -1.7844475507736206, -0.040651723742485046, 0.6155585646629333, 1.7189021110534668, 0.08452606201171875, -0.8990264534950256], "dq": [0.021810391917824745, -0.04331275820732117, 0.02285904996097088, -0.06524091958999634, 0.024856209754943848, 0.0012682202504947782, 0.0022368421778082848], "dtheta": [0.021829752251505852, -0.04753527045249939, 0.021957065910100937, -0.06496325880289078, 0.026539422571659088, 0.0007720734574832022, 0.003484234679490328], "tau": [-61.27000045776367, -6.690000057220459, -21.716001510620117, 4.3520002365112305, -3.7800002098083496, 3.8400001525878906, -0.1120000034570694], "tau_des": [-1.2247653007507324, -0.8410096764564514, -0.15809732675552368, -1.1536418199539185, 0.3317798376083374, 0.013815747573971748, -0.12045085430145264], "tau_dot": [37.325897216796875, 61.0519905090332, 23.868989944458008, -38.31162643432617, 47.96243667602539, -33.675716400146484, 2.062828540802002], "tau_ext": [15.464487075805664, -34.59965896606445, -36.36648941040039, 20.680078506469727, -2.672072649002075, -7.005748748779297, -0.009745395742356777], "tcp_pose": [0.6358031630516052, -0.1664949208498001, -0.380770206451416, -0.005937378387898207, -0.02490384876728058, 0.9996675848960876, -0.003053531749173999], "tcp_vel": [-0.0012003282317891717, -0.0006825596792623401, -0.02619372494518757, 0.04152393341064453, -0.0008113550720736384, 0.007246316876262426], "flange_pose": [0.6380297541618347, -0.16527877748012543, -0.19078713655471802, -0.005937378387898207, -0.02490384876728058, 0.9996675848960876, -0.003053531749173999], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.107792854309082, -49.23052978515625, -10.66016960144043, -3.8514902591705322, 14.42282485961914, -0.1874597817659378], "ext_wrench_in_world": [-4.5205224660712995, -49.4539601934504, 11.030670692970878, 3.129986266770363, 14.597496094188793, 0.05735039219527153]}
+{"timestamp_ns": 1789729560463435615, "elapsed_ms": 3933, "source_timestamp_ns": 1789729560455282719, "q": [0.17999033629894257, -1.786759376525879, -0.03889457881450653, 0.6297255754470825, 1.7199320793151855, 0.08370428532361984, -0.8993793725967407], "theta": [0.17747457325458527, -1.7860456705093384, -0.03991357982158661, 0.6134318709373474, 1.7196979522705078, 0.08452177047729492, -0.8989921808242798], "dq": [0.016309872269630432, -0.05127771198749542, 0.03412516787648201, -0.07638230919837952, 0.024231061339378357, -0.0004874960286542773, 0.0021027945913374424], "dtheta": [0.019341452047228813, -0.05763503536581993, 0.02706940285861492, -0.07429816573858261, 0.028087474405765533, -0.0009969266830012202, 0.002949556102976203], "tau": [-60.30999755859375, -6.150000095367432, -21.288000106811523, 4.160000324249268, -3.7080001831054688, 3.7320001125335693, -0.1120000034570694], "tau_des": [-0.44181951880455017, -0.27661728858947754, 0.1386856734752655, -1.6316715478897095, 0.36610913276672363, -0.36039552092552185, -0.13847656548023224], "tau_dot": [36.965728759765625, 63.11772537231445, 8.648284912109375, 49.620521545410156, 20.94495964050293, 9.401723861694336, -18.727977752685547], "tau_ext": [14.921915054321289, -35.13153076171875, -36.62886047363281, 20.814687728881836, -2.7234952449798584, -6.918603420257568, -0.003755775047466159], "tcp_pose": [0.6357755661010742, -0.16652987897396088, -0.3815624415874481, -0.005865503568202257, -0.025051504373550415, 0.999666154384613, -0.002356615150347352], "tcp_vel": [-0.001767123700119555, -0.0024196587037295103, -0.026708830147981644, 0.04872630909085274, -0.004113051574677229, 0.00591366458684206], "flange_pose": [0.6379812955856323, -0.16557882726192474, -0.19157761335372925, -0.005865503568202257, -0.025051504373550415, 0.999666154384613, -0.002356615150347352], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.723921775817871, -49.930240631103516, -10.75232219696045, -4.068085193634033, 14.525001525878906, -0.18237753212451935], "ext_wrench_in_world": [-4.087995073486265, -50.14978504278512, 11.051689581057959, 3.336911512828879, 14.711164757640315, 0.07000759090624234]}
+{"timestamp_ns": 1789729560496768358, "elapsed_ms": 3966, "source_timestamp_ns": 1789729560495275966, "q": [0.1807241439819336, -1.7893342971801758, -0.03760746866464615, 0.6262592673301697, 1.7210034132003784, 0.08345439285039902, -0.8992958664894104], "theta": [0.17824523150920868, -1.7886589765548706, -0.038701605051755905, 0.6099817752838135, 1.7207565307617188, 0.08425164222717285, -0.898891031742096], "dq": [0.017172396183013916, -0.0650162398815155, 0.034182168543338776, -0.09581291675567627, 0.03045736625790596, -0.006414623931050301, 0.003504777792841196], "dtheta": [0.0194710586220026, -0.07253406941890717, 0.033043041825294495, -0.09664702415466309, 0.025851354002952576, -0.011878379620611668, 0.006466795224696398], "tau": [-60.94999694824219, -6.029999732971191, -21.492000579833984, 4.104000091552734, -3.7760002613067627, 3.616000175476074, -0.06400000303983688], "tau_des": [-1.3427754640579224, 0.0619526244699955, -0.46266621351242065, -1.4290043115615845, 0.3074600100517273, -0.1470523476600647, -0.009485657326877117], "tau_dot": [-147.2040557861328, 81.98030853271484, 77.67147827148438, 0.3316527307033539, 19.531280517578125, 23.089534759521484, 87.55298614501953], "tau_ext": [14.789667129516602, -35.437355041503906, -36.66256332397461, 20.821033477783203, -2.7204627990722656, -6.7576446533203125, -0.0020439783111214638], "tcp_pose": [0.6357300281524658, -0.16655616462230682, -0.3827158808708191, -0.0058085257187485695, -0.0252866018563509, 0.9996626377105713, -0.0012024147436022758], "tcp_vel": [-0.003038667608052492, -0.0018335109343752265, -0.03042692318558693, 0.06262475997209549, 0.004232028033584356, 0.008675510995090008], "flange_pose": [0.6379249691963196, -0.16604359447956085, -0.19272926449775696, -0.0058085257187485695, -0.0252866018563509, 0.9996626377105713, -0.0012024147436022758], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.199612617492676, -51.09619903564453, -11.151629447937012, -4.425043106079102, 14.611017227172852, -0.17257378995418549], "ext_wrench_in_world": [-3.4784983655487682, -51.31396554174028, 11.331045024323101, 3.6821985185824957, 14.816406916832007, 0.09007086643707835]}
+{"timestamp_ns": 1789729560530104570, "elapsed_ms": 4000, "source_timestamp_ns": 1789729560525284090, "q": [0.18131950497627258, -1.791477918624878, -0.03650962933897972, 0.6232114434242249, 1.7217546701431274, 0.08323068171739578, -0.8989723920822144], "theta": [0.1788637787103653, -1.79085373878479, -0.03766944259405136, 0.6069543957710266, 1.7214938402175903, 0.08399629592895508, -0.8985511660575867], "dq": [0.02502758800983429, -0.07255526632070541, 0.03517073765397072, -0.10073089599609375, 0.024564329534769058, -0.005230805370956659, 0.015537471510469913], "dtheta": [0.021668946370482445, -0.0751916766166687, 0.03436015173792839, -0.10565438121557236, 0.023631861433386803, -0.006269080098718405, 0.015063529834151268], "tau": [-61.43000030517578, -6.420000076293945, -21.788000106811523, 4.320000171661377, -3.9040002822875977, 3.6520001888275146, -0.08400000631809235], "tau_des": [-1.485910415649414, 0.06331101059913635, -0.7399370670318604, -0.845427930355072, 0.1558680534362793, -0.0590951070189476, -0.03266461193561554], "tau_dot": [115.22943878173828, 84.65432739257812, 27.610944747924805, 23.447511672973633, -15.426706314086914, 15.017898559570312, -20.623228073120117], "tau_ext": [15.35468864440918, -34.79024887084961, -36.3287467956543, 20.51704978942871, -2.634322166442871, -6.746782302856445, -0.013707903213799], "tcp_pose": [0.6357319951057434, -0.16653978824615479, -0.3836737275123596, -0.00580876087769866, -0.02543855644762516, 0.9996594786643982, -0.000254140846664086], "tcp_vel": [-0.0010108649730682373, -0.0019773186650127172, -0.031911592930555344, 0.0593249648809433, 0.00425846828147769, 0.006318016443401575], "flange_pose": [0.6379361152648926, -0.16638709604740143, -0.1936865746974945, -0.00580876087769866, -0.02543855644762516, 0.9996594786643982, -0.000254140846664086], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.945353984832764, -51.352813720703125, -10.785089492797852, -4.449624061584473, 14.615716934204102, -0.17292237281799316], "ext_wrench_in_world": [-3.200199314029309, -51.58003874985214, 10.864400274294848, 3.7021754925577532, 14.823231563569669, 0.11807020085406794]}
+{"timestamp_ns": 1789729560563435623, "elapsed_ms": 4033, "source_timestamp_ns": 1789729560555359008, "q": [0.18198782205581665, -1.7936372756958008, -0.03544694930315018, 0.6200506091117859, 1.7224339246749878, 0.08315549790859222, -0.8984470367431641], "theta": [0.17955033481121063, -1.7930657863616943, -0.03666980192065239, 0.603797197341919, 1.722159743309021, 0.08389067649841309, -0.8980087637901306], "dq": [0.022120866924524307, -0.07262370735406876, 0.03219475969672203, -0.09943302720785141, 0.0225078072398901, -0.004238668363541365, 0.01545333955436945], "dtheta": [0.023219576105475426, -0.07301876693964005, 0.03192821890115738, -0.10480737686157227, 0.022844061255455017, -0.0031653421465307474, 0.018841544166207314], "tau": [-61.2599983215332, -6.819999694824219, -21.644001007080078, 4.25600004196167, -3.864000082015991, 3.6120002269744873, -0.07600000500679016], "tau_des": [-1.3148248195648193, -0.05809934064745903, -0.5070760250091553, -0.7123225331306458, 0.2811838686466217, -0.17157644033432007, -0.06775132566690445], "tau_dot": [97.64141845703125, 44.26422119140625, 10.925043106079102, 23.373571395874023, 26.791038513183594, -8.712431907653809, -27.174850463867188], "tau_ext": [15.469780921936035, -34.45392990112305, -36.23044204711914, 20.45404052734375, -2.597860813140869, -6.7419562339782715, -0.022053377702832222], "tcp_pose": [0.6357566118240356, -0.16655361652374268, -0.38464635610580444, -0.005829026456922293, -0.02554354816675186, 0.9996565580368042, 0.0006065938505344093], "tcp_vel": [-0.0004317417915444821, -0.0022793009411543608, -0.0315987765789032, 0.05432848259806633, 0.004713721573352814, 0.004338786005973816], "flange_pose": [0.6379767656326294, -0.1667274683713913, -0.19465939700603485, -0.005829026456922293, -0.02554354816675186, 0.9996565580368042, 0.0006065938505344093], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.87462854385376, -50.87241744995117, -10.293180465698242, -4.280331611633301, 14.588760375976562, -0.1807108372449875], "ext_wrench_in_world": [-3.1486154410355702, -51.115468527039916, 10.283908784866515, 3.531628520244121, 14.788171624193843, 0.15298505905903143]}
+{"timestamp_ns": 1789729560596767977, "elapsed_ms": 4066, "source_timestamp_ns": 1789729560595281763, "q": [0.18287499248981476, -1.7964143753051758, -0.03401637077331543, 0.6160367131233215, 1.723327875137329, 0.08312240242958069, -0.897716224193573], "theta": [0.180456280708313, -1.7959035634994507, -0.03530847653746605, 0.5997586846351624, 1.7230392694473267, 0.083823561668396, -0.8972535729408264], "dq": [0.022662529721856117, -0.07580313086509705, 0.03132694587111473, -0.09282884001731873, 0.020080041140317917, -0.0002604382170829922, 0.019353371113538742], "dtheta": [0.022860486060380936, -0.06730577349662781, 0.03454403579235077, -0.09697440266609192, 0.0206490159034729, -0.0008881185785867274, 0.019020825624465942], "tau": [-60.849998474121094, -6.399999618530273, -21.428001403808594, 3.9800002574920654, -3.888000249862671, 3.5440001487731934, -0.052000001072883606], "tau_des": [-0.880036473274231, 0.2037789672613144, -0.5099868774414062, -0.6961023807525635, 0.22033348679542542, -0.08168786019086838, -0.11075546592473984], "tau_dot": [-144.83935546875, 8.875486373901367, -33.88467788696289, 36.49406051635742, 0.20694974064826965, -58.23350143432617, 30.290992736816406], "tau_ext": [15.079800605773926, -34.314537048339844, -36.36458206176758, 20.602371215820312, -2.6241586208343506, -6.6998443603515625, -0.03551419824361801], "tcp_pose": [0.635771632194519, -0.16657468676567078, -0.38592442870140076, -0.005829107016324997, -0.02561863511800766, 0.9996533393859863, 0.0017214564140886068], "tcp_vel": [-0.0005234648706391454, -0.0007928336272016168, -0.03160000219941139, 0.05323866754770279, 0.003492190269753337, 0.0018110859673470259], "flange_pose": [0.6380026936531067, -0.16717186570167542, -0.19593846797943115, -0.005829107016324997, -0.02561863511800766, 0.9996533393859863, 0.0017214564140886068], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.3664937019348145, -49.89374542236328, -10.458829879760742, -4.029715538024902, 14.426817893981934, -0.1925632655620575], "ext_wrench_in_world": [-3.6803610687317154, -50.18704681159358, 10.345069913578495, 3.287768375317355, 14.613671004782663, 0.1999033491418769]}
+{"timestamp_ns": 1789729560630099220, "elapsed_ms": 4100, "source_timestamp_ns": 1789729560625281429, "q": [0.18357937037944794, -1.7984380722045898, -0.032958317548036575, 0.6132442951202393, 1.724022626876831, 0.08315052092075348, -0.8972799181938171], "theta": [0.18117225170135498, -1.7979404926300049, -0.03428599610924721, 0.5969386696815491, 1.7237262725830078, 0.08383095264434814, -0.8967986106872559], "dq": [0.021984368562698364, -0.0672660619020462, 0.030771711841225624, -0.09046342968940735, 0.022080469876527786, -0.0027027588803321123, 0.012744634412229061], "dtheta": [0.023888900876045227, -0.0655827671289444, 0.033962853252887726, -0.09006854146718979, 0.02408697083592415, 0.0012906499905511737, 0.013560027815401554], "tau": [-60.97999954223633, -5.690000057220459, -21.224000930786133, 3.700000286102295, -3.81600022315979, 3.620000123977661, -0.07200000435113907], "tau_des": [-1.025473713874817, 1.7742682695388794, -0.475538045167923, -1.3707284927368164, 0.21400384604930878, 0.12182271480560303, -0.0659572035074234], "tau_dot": [-68.34650421142578, 104.44287109375, 28.436716079711914, 60.84297180175781, 11.299508094787598, -11.612027168273926, -55.070533752441406], "tau_ext": [15.03388786315918, -34.89421463012695, -36.4341926574707, 20.909799575805664, -2.643611192703247, -6.708042144775391, -0.04024108499288559], "tcp_pose": [0.6357241868972778, -0.16662868857383728, -0.3868820071220398, -0.005818514619022608, -0.02565222978591919, 0.9996508359909058, 0.0025237915106117725], "tcp_vel": [-0.0017522650305181742, -0.0017546408344060183, -0.03162350878119469, 0.05237656086683273, 0.0002711210981942713, 0.001914505148306489], "flange_pose": [0.6379590630531311, -0.16753068566322327, -0.19689729809761047, -0.005818514619022608, -0.02565222978591919, 0.9996508359909058, 0.0025237915106117725], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.771839618682861, -49.78618621826172, -10.730704307556152, -4.040356636047363, 14.316704750061035, -0.2003578245639801], "ext_wrench_in_world": [-4.084350322813917, -50.11847474971275, 10.541666667075697, 3.3032885326579904, 14.50406395807123, 0.23037681073740418]}
+{"timestamp_ns": 1789729560663431783, "elapsed_ms": 4133, "source_timestamp_ns": 1789729560655281416, "q": [0.18432489037513733, -1.800307273864746, -0.031938955187797546, 0.6105985641479492, 1.724675178527832, 0.08331601321697235, -0.8968623876571655], "theta": [0.18192531168460846, -1.7998038530349731, -0.033289264887571335, 0.5942732095718384, 1.7243727445602417, 0.08398723602294922, -0.8963597416877747], "dq": [0.025044068694114685, -0.061262860894203186, 0.028447488322854042, -0.08702539652585983, 0.02149161510169506, 0.002552854362875223, 0.011087995953857899], "dtheta": [0.027099868282675743, -0.05939384922385216, 0.03061738982796669, -0.08785056322813034, 0.020525524392724037, 0.012245110236108303, 0.017598530277609825], "tau": [-61.0099983215332, -5.609999656677246, -21.224000930786133, 3.7200002670288086, -3.864000082015991, 3.80400013923645, -0.04800000041723251], "tau_des": [-0.3852076530456543, 2.0454463958740234, -0.22242631018161774, -1.1034455299377441, 0.20206120610237122, 0.1315820813179016, 0.03960020840167999], "tau_dot": [-148.0205078125, -76.04074096679688, 30.424657821655273, 33.15179443359375, 27.476207733154297, 47.29389953613281, 30.282920837402344], "tau_ext": [14.993436813354492, -34.96560287475586, -36.47031021118164, 20.873064041137695, -2.6376240253448486, -6.773169994354248, -0.04372014105319977], "tcp_pose": [0.6356987953186035, -0.16667060554027557, -0.38783183693885803, -0.005801036953926086, -0.02570388838648796, 0.9996474981307983, 0.003242220263928175], "tcp_vel": [0.0006667918059974909, -0.0022164403926581144, -0.031222963705658913, 0.03928807005286217, -0.0005291339475661516, 0.0027523061726242304], "flange_pose": [0.6379340887069702, -0.16784556210041046, -0.1978486329317093, -0.005801036953926086, -0.02570388838648796, 0.9996474981307983, 0.003242220263928175], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.857780456542969, -50.01591873168945, -10.971799850463867, -4.161529541015625, 14.318918228149414, -0.20634913444519043], "ext_wrench_in_world": [-4.1507582021700795, -50.369303036376685, 10.710097539262563, 3.4228724540343602, 14.512436525081474, 0.2558467888315941]}
+{"timestamp_ns": 1789729560696772644, "elapsed_ms": 4166, "source_timestamp_ns": 1789729560695270924, "q": [0.18553510308265686, -1.8025010824203491, -0.030702628195285797, 0.6072530746459961, 1.725409984588623, 0.08396686613559723, -0.8960502743721008], "theta": [0.18314005434513092, -1.8019757270812988, -0.0320657454431057, 0.5909231305122375, 1.725101351737976, 0.08465790748596191, -0.8955153226852417], "dq": [0.03373769670724869, -0.05515038222074509, 0.028971215710043907, -0.08387342840433121, 0.015015694312751293, 0.020466523244976997, 0.020897123962640762], "dtheta": [0.03210429474711418, -0.05021834373474121, 0.02849363349378109, -0.08499376475811005, 0.02001999132335186, 0.021306389942765236, 0.024544212967157364], "tau": [-60.40999984741211, -5.960000038146973, -20.908000946044922, 3.892000198364258, -3.8400001525878906, 3.81600022315979, -0.04800000041723251], "tau_des": [0.023500701412558556, 0.15910878777503967, -0.3323359489440918, -0.6177608370780945, 0.13810530304908752, 0.1006929874420166, 0.02718356065452099], "tau_dot": [-26.88039207458496, -84.17131805419922, 38.182716369628906, 11.848130226135254, -8.95063304901123, -8.108508110046387, -7.768775463104248], "tau_ext": [14.999211311340332, -34.85911178588867, -36.433815002441406, 20.74871253967285, -2.611753463745117, -6.913900375366211, -0.05605093017220497], "tcp_pose": [0.6357160210609436, -0.16673250496387482, -0.38914063572883606, -0.0058095562271773815, -0.025718629360198975, 0.9996445775032043, 0.00394543819129467], "tcp_vel": [0.003919740207493305, 0.0005908947787247598, -0.03318268060684204, 0.031223071739077568, -0.0008330903947353363, 0.0024167627561837435], "flange_pose": [0.6379614472389221, -0.16817446053028107, -0.19915936887264252, -0.0058095562271773815, -0.025718629360198975, 0.9996445775032043, 0.00394543819129467], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.642204284667969, -50.481632232666016, -10.984199523925781, -4.402213096618652, 14.445731163024902, -0.22124166786670685], "ext_wrench_in_world": [-3.9097589864987103, -50.838480249076696, 10.645629171004817, 3.6565844353446284, 14.651051262322355, 0.2892473578582175]}
+{"timestamp_ns": 1789729560730099388, "elapsed_ms": 4200, "source_timestamp_ns": 1789729560725356809, "q": [0.1865650713443756, -1.8039926290512085, -0.029825720936059952, 0.6047592759132385, 1.7259141206741333, 0.08463642746210098, -0.8952596783638], "theta": [0.18416950106620789, -1.8034521341323853, -0.031195327639579773, 0.5884456038475037, 1.7256022691726685, 0.0853501558303833, -0.8946996927261353], "dq": [0.03723718598484993, -0.047120675444602966, 0.028476016595959663, -0.08338300883769989, 0.018552152439951897, 0.02259873040020466, 0.025244245305657387], "dtheta": [0.036705952137708664, -0.04665742814540863, 0.027926525101065636, -0.07983627170324326, 0.016333984211087227, 0.02675168402493, 0.028243783861398697], "tau": [-60.22999954223633, -6.359999656677246, -20.904001235961914, 4.0960001945495605, -3.892000198364258, 3.872000217437744, -0.04400000348687172], "tau_des": [0.10663717240095139, 1.0258299112319946, -0.21029172837734222, -0.6647046804428101, 0.17602673172950745, 0.16255420446395874, -0.09729089587926865], "tau_dot": [-18.245769500732422, 9.852971076965332, 6.691910743713379, 1.492234706878662, 9.521858215332031, 34.12525939941406, -22.104108810424805], "tau_ext": [14.695246696472168, -34.627445220947266, -36.519439697265625, 20.616212844848633, -2.610006332397461, -6.9547953605651855, -0.06993182748556137], "tcp_pose": [0.6357789635658264, -0.16673938930034637, -0.39016926288604736, -0.005841374397277832, -0.0257126297801733, 0.9996427297592163, 0.004378090612590313], "tcp_vel": [0.002163231372833252, -0.0005906956503167748, -0.034792084246873856, 0.02383396215736866, 0.0028205127455294132, -0.002397022442892194], "flange_pose": [0.6380407214164734, -0.1683454066514969, -0.2001895159482956, -0.005841374397277832, -0.0257126297801733, 0.9996427297592163, 0.004378090612590313], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.280130863189697, -50.61707305908203, -11.296529769897461, -4.5517191886901855, 14.586263656616211, -0.232036292552948], "ext_wrench_in_world": [-3.537450348303074, -50.96685165888443, 10.908995855896897, 3.7990636848263875, 14.7986785801282, 0.31193472836996405]}
+{"timestamp_ns": 1789729560763437870, "elapsed_ms": 4233, "source_timestamp_ns": 1789729560755284774, "q": [0.18774473667144775, -1.8053174018859863, -0.028974398970603943, 0.6024373173713684, 1.7263624668121338, 0.08555080741643906, -0.8944870829582214], "theta": [0.18534620106220245, -1.8047670125961304, -0.03034364990890026, 0.5861483812332153, 1.7260475158691406, 0.08628439903259277, -0.8939008116722107], "dq": [0.04101079702377319, -0.04236939549446106, 0.02461642026901245, -0.07423774152994156, 0.014432698488235474, 0.03412522375583649, 0.026528261601924896], "dtheta": [0.04047499597072601, -0.04166298732161522, 0.028234248980879784, -0.07197292894124985, 0.01521072443574667, 0.032610934227705, 0.025346752256155014], "tau": [-60.03999710083008, -6.589999675750732, -20.836000442504883, 4.156000137329102, -3.888000249862671, 3.8400001525878906, 0.004000000189989805], "tau_des": [0.03922870382666588, 0.3879694640636444, -0.276660293340683, -0.7587282061576843, 0.26128602027893066, 0.15738683938980103, -0.07422558218240738], "tau_dot": [72.29535675048828, 52.438838958740234, -46.76890182495117, 9.710650444030762, -35.880271911621094, -70.47722625732422, 62.298423767089844], "tau_ext": [14.679739952087402, -34.59311294555664, -36.49248123168945, 20.60392189025879, -2.5839526653289795, -6.996048927307129, -0.07879894971847534], "tcp_pose": [0.6358353495597839, -0.16675527393817902, -0.39125216007232666, -0.005889782682061195, -0.025717217475175858, 0.999640941619873, 0.00468849902972579], "tcp_vel": [0.000975422328338027, -0.0009629889391362667, -0.036330729722976685, 0.018493661656975746, 0.0031331845093518496, -0.0022858763113617897], "flange_pose": [0.6381184458732605, -0.16847871243953705, -0.20127369463443756, -0.005889782682061195, -0.025717217475175858, 0.999640941619873, 0.00468849902972579], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.038328647613525, -50.60570526123047, -11.477022171020508, -4.636018753051758, 14.67947769165039, -0.24654054641723633], "ext_wrench_in_world": [-3.29286280109655, -50.95144622963789, 11.055678967783432, 3.8785785946181837, 14.895800156155088, 0.33508687320817604]}
+{"timestamp_ns": 1789729560796770853, "elapsed_ms": 4266, "source_timestamp_ns": 1789729560795277721, "q": [0.18946711719036102, -1.8068925142288208, -0.027898410335183144, 0.5996685028076172, 1.7270805835723877, 0.0869554877281189, -0.8935959339141846], "theta": [0.18706414103507996, -1.806338906288147, -0.029259799048304558, 0.5833984613418579, 1.7267638444900513, 0.08770620822906494, -0.892973005771637], "dq": [0.04562830924987793, -0.03749839961528778, 0.025926338508725166, -0.06435154378414154, 0.017992256209254265, 0.037473153322935104, 0.02083747647702694], "dtheta": [0.04385460540652275, -0.03627893328666687, 0.027077719569206238, -0.06224575266242027, 0.01890929974615574, 0.03842686116695404, 0.02077486738562584], "tau": [-60.06999969482422, -6.339999675750732, -20.736000061035156, 4.084000110626221, -3.9120001792907715, 3.9000000953674316, -0.0], "tau_des": [-0.20920675992965698, 1.360575795173645, -0.22968293726444244, -0.8926080465316772, 0.17751193046569824, 0.18969182670116425, -0.06911200284957886], "tau_dot": [-67.81364440917969, 6.951688289642334, 10.76602840423584, 67.58267974853516, -60.02290344238281, -93.11988830566406, 30.34693717956543], "tau_ext": [14.32883358001709, -34.6035270690918, -36.59847640991211, 20.646427154541016, -2.5894336700439453, -7.0188117027282715, -0.09265469759702682], "tcp_pose": [0.6358761787414551, -0.1667822301387787, -0.39275094866752625, -0.00592427933588624, -0.025723811239004135, 0.9996388554573059, 0.005031744483858347], "tcp_vel": [0.00029868006822653115, -0.0012036722619086504, -0.03746232017874718, 0.014716794714331627, -0.00024357491929549724, -0.002230800222605467], "flange_pose": [0.6381757855415344, -0.16863569617271423, -0.20277389883995056, -0.00592427933588624, -0.025723811239004135, 0.9996388554573059, 0.005031744483858347], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.931144714355469, -50.563880920410156, -11.878911018371582, -4.7361321449279785, 14.73033618927002, -0.26073628664016724], "ext_wrench_in_world": [-3.1816691881247374, -50.91566907425034, 11.422113737710731, 3.9759985921589993, 14.951409348834801, 0.358509460173593]}
+{"timestamp_ns": 1789729560830099127, "elapsed_ms": 4300, "source_timestamp_ns": 1789729560825279977, "q": [0.1908092051744461, -1.8079028129577637, -0.0271022729575634, 0.5979019403457642, 1.727624535560608, 0.08813073486089706, -0.8930816054344177], "theta": [0.18840119242668152, -1.8073503971099854, -0.028456566855311394, 0.58162921667099, 1.727307915687561, 0.08889162540435791, -0.8924275040626526], "dq": [0.04529382660984993, -0.034177638590335846, 0.027438169345259666, -0.04969450831413269, 0.017612813040614128, 0.04124801978468895, 0.015328819863498211], "dtheta": [0.04484757035970688, -0.03049812652170658, 0.02716401033103466, -0.053263433277606964, 0.017566731199622154, 0.04013168066740036, 0.013346037827432156], "tau": [-60.279998779296875, -5.62999963760376, -20.71200180053711, 3.7280001640319824, -3.876000165939331, 3.936000108718872, 0.004000000189989805], "tau_des": [-0.5832940936088562, 2.1677098274230957, -0.26211678981781006, -1.2498801946640015, 0.2225089967250824, 0.2425096035003662, -0.11051638424396515], "tau_dot": [-3.2819271087646484, 111.27713775634766, -26.82012939453125, 40.20146942138672, 49.46109390258789, -41.119571685791016, 25.139892578125], "tau_ext": [14.31539249420166, -35.083248138427734, -36.62825012207031, 20.887590408325195, -2.591693162918091, -7.047578811645508, -0.10065411031246185], "tcp_pose": [0.6358734965324402, -0.16681036353111267, -0.3938795030117035, -0.005929598584771156, -0.025737011805176735, 0.9996374845504761, 0.005227255169302225], "tcp_vel": [-0.0006916066631674767, -0.0006244595861062407, -0.03756886348128319, 0.012102251872420311, 0.00022196240024641156, 0.0021297370549291372], "flange_pose": [0.6381770372390747, -0.1687380075454712, -0.20390325784683228, -0.005929598584771156, -0.025737011805176735, 0.9996374845504761, 0.005227255169302225], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.952514171600342, -50.74980545043945, -12.118408203125, -4.856307029724121, 14.741401672363281, -0.2714187204837799], "ext_wrench_in_world": [-3.189082893434445, -51.10940444701003, 11.639996691102558, 4.095212266480377, 14.968497270148792, 0.3736780977642699]}
+{"timestamp_ns": 1789729560863434120, "elapsed_ms": 4333, "source_timestamp_ns": 1789729560855282813, "q": [0.19217462837696075, -1.808680534362793, -0.026316877454519272, 0.596448540687561, 1.7281458377838135, 0.08939669281244278, -0.8928626179695129], "theta": [0.1897617131471634, -1.8081302642822266, -0.0276593416929245, 0.580165445804596, 1.7278311252593994, 0.0901639461517334, -0.89217609167099], "dq": [0.04416843503713608, -0.025143621489405632, 0.023306673392653465, -0.043501101434230804, 0.01742641068994999, 0.04342779144644737, 0.006401709746569395], "dtheta": [0.046052224934101105, -0.022382594645023346, 0.02642439305782318, -0.04564424976706505, 0.016094885766506195, 0.04344220831990242, 0.005597563460469246], "tau": [-60.38999938964844, -5.46999979019165, -20.624000549316406, 3.628000259399414, -3.888000249862671, 3.992000102996826, 0.00800000037997961], "tau_des": [-0.9023950695991516, 2.1321351528167725, -0.33559244871139526, -1.080409049987793, 0.2011871486902237, 0.23145416378974915, 0.045013219118118286], "tau_dot": [-26.434507369995117, 117.75167083740234, 9.395859718322754, 6.900961875915527, -28.160158157348633, 3.800610303878784, 7.408310413360596], "tau_ext": [14.385029792785645, -35.27322769165039, -36.63222885131836, 20.95524024963379, -2.5883991718292236, -7.085049629211426, -0.10429833084344864], "tcp_pose": [0.6358678340911865, -0.1668032556772232, -0.3950023353099823, -0.005921694915741682, -0.025859607383608818, 0.9996336102485657, 0.005368986167013645], "tcp_vel": [0.00027575716376304626, 0.0013888465473428369, -0.037698667496442795, 0.008128021843731403, 0.00016667251475155354, 0.010614333674311638], "flange_pose": [0.638170063495636, -0.16878454387187958, -0.20502659678459167, -0.005921694915741682, -0.025859607383608818, 0.9996336102485657, 0.005368986167013645], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.956877708435059, -51.11972427368164, -12.214129447937012, -5.0084686279296875, 14.767437934875488, -0.2805992066860199], "ext_wrench_in_world": [-3.1608448099419837, -51.48412474159185, 11.717061052205908, 4.242277326181283, 15.003167634669289, 0.3856955871259543]}
+{"timestamp_ns": 1789729560896769052, "elapsed_ms": 4366, "source_timestamp_ns": 1789729560895273361, "q": [0.19397297501564026, -1.8093494176864624, -0.025313766673207283, 0.594847559928894, 1.728698492050171, 0.09107989817857742, -0.8925638198852539], "theta": [0.19155575335025787, -1.8088051080703735, -0.026628991588950157, 0.5785582065582275, 1.728386402130127, 0.09185707569122314, -0.8918318748474121], "dq": [0.04308163747191429, -0.01182329561561346, 0.026174494996666908, -0.0370476134121418, 0.010148901492357254, 0.0474565215408802, 0.007681387942284346], "dtheta": [0.045687902718782425, -0.012684330344200134, 0.02427261509001255, -0.03533327579498291, 0.011495742946863174, 0.04347562789916992, 0.009879923425614834], "tau": [-60.5, -5.96999979019165, -20.66400146484375, 3.888000249862671, -3.932000160217285, 4.0320000648498535, -0.004000000189989805], "tau_des": [-0.8950326442718506, 1.7110859155654907, -0.3306756317615509, -1.056354284286499, 0.2723652124404907, 0.32265228033065796, -0.03216053172945976], "tau_dot": [90.64897155761719, -35.72457504272461, -4.4018330574035645, 22.189197540283203, 16.379526138305664, -50.67488479614258, -22.669445037841797], "tau_ext": [14.47821044921875, -35.245235443115234, -36.64852523803711, 20.8902530670166, -2.580057382583618, -7.130860328674316, -0.1114305630326271], "tcp_pose": [0.6358932852745056, -0.1666843742132187, -0.39646226167678833, -0.005956239067018032, -0.02604508399963379, 0.999627947807312, 0.005495321471244097], "tcp_vel": [0.0003294517518952489, 0.0032941384706646204, -0.03627739101648331, 0.0028231467586010695, 0.0034374340903013945, 0.006584062706679106], "flange_pose": [0.6382101774215698, -0.16871286928653717, -0.20648722350597382, -0.005956239067018032, -0.02604508399963379, 0.999627947807312, 0.005495321471244097], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.7525787353515625, -51.5883674621582, -12.192063331604004, -5.173234939575195, 14.86526107788086, -0.289646178483963], "ext_wrench_in_world": [-2.9128227806898765, -51.945346006163334, 11.674532947711032, 4.396308733530499, 15.110816378714865, 0.3974159666615792]}
+{"timestamp_ns": 1789729560930096196, "elapsed_ms": 4400, "source_timestamp_ns": 1789729560925285414, "q": [0.19533942639827728, -1.8096065521240234, -0.024638161063194275, 0.5938774347305298, 1.7290830612182617, 0.09240750968456268, -0.8923200964927673], "theta": [0.19292733073234558, -1.809067726135254, -0.02592904306948185, 0.5775926113128662, 1.728772759437561, 0.09318852424621582, -0.8915521502494812], "dq": [0.042486101388931274, -0.005135541316121817, 0.023093486204743385, -0.031070461496710777, 0.015917232260107994, 0.0406435951590538, 0.006692028138786554], "dtheta": [0.045683495700359344, -0.00654915114864707, 0.02140677720308304, -0.029048258438706398, 0.011756114661693573, 0.042206354439258575, 0.008304102346301079], "tau": [-60.5, -6.489999771118164, -20.576000213623047, 4.076000213623047, -3.9240002632141113, 4.044000148773193, -0.004000000189989805], "tau_des": [-0.7205185294151306, 0.8056422472000122, -0.2718949019908905, -0.8185480237007141, 0.25673040747642517, 0.30241695046424866, -0.046674203127622604], "tau_dot": [34.875675201416016, -70.7901840209961, 6.217036247253418, -52.868839263916016, -69.34333038330078, 30.844655990600586, -30.03730583190918], "tau_ext": [14.635412216186523, -35.066139221191406, -36.639225006103516, 20.7630672454834, -2.5710248947143555, -7.161393165588379, -0.11187023669481277], "tcp_pose": [0.6359438300132751, -0.16654229164123535, -0.3975352942943573, -0.005987998563796282, -0.02618887647986412, 0.9996238350868225, 0.005520546808838844], "tcp_vel": [0.0007223456632345915, 0.004974249750375748, -0.035472504794597626, 0.001199019025079906, 0.004565791692584753, 0.00847390666604042], "flange_pose": [0.6382733583450317, -0.16857971251010895, -0.2075604945421219, -0.005987998563796282, -0.02618887647986412, 0.9996238350868225, 0.005520546808838844], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.4600090980529785, -51.776329040527344, -12.000990867614746, -5.226603984832764, 14.978927612304688, -0.2964957356452942], "ext_wrench_in_world": [-2.597503581617708, -52.1170774513776, 11.475493154498473, 4.439417867670851, 15.228288723799759, 0.40541693475647206]}
+{"timestamp_ns": 1789729560963433478, "elapsed_ms": 4433, "source_timestamp_ns": 1789729560955298437, "q": [0.19672857224941254, -1.8097528219223022, -0.02404901012778282, 0.5930430889129639, 1.7295202016830444, 0.09368117153644562, -0.8921599984169006], "theta": [0.19431865215301514, -1.809222936630249, -0.025317881256341934, 0.5767699480056763, 1.7292139530181885, 0.09446477890014648, -0.891355574131012], "dq": [0.045454952865839005, -0.00406083557754755, 0.021925639361143112, -0.028145743533968925, 0.0185845959931612, 0.04174993559718132, 0.007144429255276918], "dtheta": [0.0479423925280571, -0.004384103696793318, 0.018780728802084923, -0.02558516338467598, 0.014850328676402569, 0.042821455746889114, 0.006380554288625717], "tau": [-60.63999938964844, -6.819999694824219, -20.56800079345703, 4.276000022888184, -3.888000249862671, 4.1080002784729, 0.01600000075995922], "tau_des": [-0.7744115591049194, 0.5204102396965027, -0.18098939955234528, -0.7687572240829468, 0.28253597021102905, 0.3622075617313385, 0.002761711133643985], "tau_dot": [41.39685821533203, -42.73181915283203, -60.62039566040039, -26.380956649780273, 48.00030517578125, 64.21965026855469, -5.824378490447998], "tau_ext": [14.729973793029785, -34.975711822509766, -36.66870880126953, 20.678321838378906, -2.5747230052948, -7.181909084320068, -0.11501700431108475], "tcp_pose": [0.6359860301017761, -0.1663721352815628, -0.3986020088195801, -0.006037589628249407, -0.026366528123617172, 0.9996187686920166, 0.005540652200579643], "tcp_vel": [0.00020088533347006887, 0.004998622927814722, -0.03613142669200897, 7.549610745627433e-05, 0.004611666314303875, 0.009218846447765827], "flange_pose": [0.6383349299430847, -0.16841629147529602, -0.20862753689289093, -0.006037589628249407, -0.026366528123617172, 0.9996187686920166, 0.005540652200579643], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.134378433227539, -51.92888259887695, -11.869749069213867, -5.2595343589782715, 15.102320671081543, -0.2995541989803314], "ext_wrench_in_world": [-2.246272193505154, -52.252187824548386, 11.336876183960229, 4.460463952858898, 15.354769995898497, 0.40966296132092567]}
+{"timestamp_ns": 1789729560996768441, "elapsed_ms": 4466, "source_timestamp_ns": 1789729560995271850, "q": [0.1986817866563797, -1.8098806142807007, -0.02328501269221306, 0.5920600891113281, 1.7302343845367432, 0.09550268948078156, -0.8919928073883057], "theta": [0.19628751277923584, -1.809362530708313, -0.024526188150048256, 0.575807511806488, 1.7299325466156006, 0.09627974033355713, -0.8911446928977966], "dq": [0.05420556664466858, -0.0019668310414999723, 0.017878884449601173, -0.02163679152727127, 0.01810319907963276, 0.047962915152311325, 0.005962658207863569], "dtheta": [0.05108873173594475, -0.0027875311207026243, 0.02042449079453945, -0.022417766973376274, 0.017163405194878578, 0.046953704208135605, 0.0038436283357441425], "tau": [-60.5099983215332, -6.679999828338623, -20.380001068115234, 4.244000434875488, -3.8560001850128174, 4.064000129699707, 0.020000001415610313], "tau_des": [-0.683436393737793, 0.8830088376998901, -0.04765129089355469, -0.8911310434341431, 0.2832021713256836, 0.29236504435539246, 7.155235653044656e-05], "tau_dot": [157.56626892089844, 85.66111755371094, 10.468331336975098, -23.04409408569336, 31.321041107177734, 30.8131160736084, 28.034465789794922], "tau_ext": [15.021503448486328, -34.89289093017578, -36.62955093383789, 20.60968780517578, -2.5632376670837402, -7.227360248565674, -0.1208919808268547], "tcp_pose": [0.6360310912132263, -0.1661476194858551, -0.40007680654525757, -0.006065151654183865, -0.02658941224217415, 0.9996126294136047, 0.005548612680286169], "tcp_vel": [-0.0003272216999903321, 0.005203576758503914, -0.03841261565685272, -0.000142264791065827, 0.0027749589644372463, 0.00957523938268423], "flange_pose": [0.6383910179138184, -0.1681939959526062, -0.21010248363018036, -0.006065151654183865, -0.02658941224217415, 0.9996126294136047, 0.005548612680286169], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [4.775842189788818, -52.096553802490234, -11.466789245605469, -5.267886161804199, 15.250459671020508, -0.3074200451374054], "ext_wrench_in_world": [-1.8604586307876678, -52.39738032353439, 10.927033963280177, 4.454207273966129, 15.50503159211783, 0.41914766285718547]}
+{"timestamp_ns": 1789729561030093926, "elapsed_ms": 4500, "source_timestamp_ns": 1789729561025284197, "q": [0.2002345472574234, -1.8099281787872314, -0.022688843309879303, 0.5913999676704407, 1.730818748474121, 0.09689540416002274, -0.8919240832328796], "theta": [0.19784371554851532, -1.8094170093536377, -0.02390301041305065, 0.5751600861549377, 1.7305210828781128, 0.09766411781311035, -0.8910468816757202], "dq": [0.05323321372270584, -0.003929360304027796, 0.016153628006577492, -0.02027888037264347, 0.01886514388024807, 0.047246068716049194, 0.0012022648006677628], "dtheta": [0.05257072672247887, -0.0005205985507927835, 0.02171565406024456, -0.01985897496342659, 0.021279828622937202, 0.047821249812841415, 0.0025324628222733736], "tau": [-60.55999755859375, -6.329999923706055, -20.284000396728516, 4.12000036239624, -3.8440001010894775, 4.080000400543213, 0.020000001415610313], "tau_des": [-0.6890097260475159, 1.4749877452850342, 0.08103273063898087, -0.8626840710639954, 0.24905285239219666, 0.36669763922691345, 0.0005140992579981685], "tau_dot": [-95.57279205322266, 1.948928952217102, 51.77928924560547, -23.309009552001953, -9.263608932495117, 61.04009246826172, -3.313624143600464], "tau_ext": [14.973217010498047, -34.993309020996094, -36.709312438964844, 20.634422302246094, -2.585782051086426, -7.230133056640625, -0.12186127156019211], "tcp_pose": [0.6360363364219666, -0.16595855355262756, -0.4012475609779358, -0.006098284851759672, -0.026764828711748123, 0.9996076226234436, 0.005570184905081987], "tcp_vel": [0.00013229595788288862, 0.00700124679133296, -0.0401625894010067, 0.003154260106384754, 0.0002468119782861322, 0.009804550558328629], "flange_pose": [0.6384093761444092, -0.1680123656988144, -0.21127349138259888, -0.006098284851759672, -0.026764828711748123, 0.9996076226234436, 0.005570184905081987], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [4.532240390777588, -52.320823669433594, -11.324220657348633, -5.310242176055908, 15.350892066955566, -0.3106880187988281], "ext_wrench_in_world": [-1.5879085121942265, -52.60784811306023, 10.776856191587894, 4.485756947012146, 15.609092353553788, 0.4234463074209404]}
+{"timestamp_ns": 1789729561063435633, "elapsed_ms": 4533, "source_timestamp_ns": 1789729561055296872, "q": [0.2018430382013321, -1.809888482093811, -0.022019797936081886, 0.5908654928207397, 1.7314759492874146, 0.09835882484912872, -0.8919084072113037], "theta": [0.19945208728313446, -1.8093808889389038, -0.023207684978842735, 0.5746337175369263, 1.7311830520629883, 0.09912478923797607, -0.8910066485404968], "dq": [0.06005823612213135, 0.0035779555328190327, 0.021039314568042755, -0.016518661752343178, 0.02133585326373577, 0.0435955785214901, 0.002743987599387765], "dtheta": [0.05300977826118469, 0.0038831986021250486, 0.02541368640959263, -0.014512303285300732, 0.021484365686774254, 0.04950176924467087, 0.0011756914900615811], "tau": [-60.52000045776367, -5.920000076293945, -20.30000114440918, 4.111999988555908, -3.884000301361084, 4.148000240325928, 0.04000000283122063], "tau_des": [-0.5577106475830078, 2.4782609939575195, 0.18260328471660614, -0.8351565599441528, 0.14720599353313446, 0.3457949757575989, -0.02428036741912365], "tau_dot": [55.66434860229492, 158.33091735839844, -2.6096532344818115, 21.208675384521484, -31.76685333251953, 47.99114990234375, 61.42364501953125], "tau_ext": [14.894142150878906, -35.2021369934082, -36.73700714111328, 20.688623428344727, -2.5965070724487305, -7.24163293838501, -0.11991077661514282], "tcp_pose": [0.6360398530960083, -0.1657261997461319, -0.40247800946235657, -0.00609756400808692, -0.026936009526252747, 0.999602735042572, 0.005620255134999752], "tcp_vel": [0.00039618241135030985, 0.009248334914445877, -0.04160303622484207, 0.00540247792378068, -0.001586448634043336, 0.009432001039385796], "flange_pose": [0.6384135484695435, -0.16779863834381104, -0.21250413358211517, -0.00609756400808692, -0.026936009526252747, 0.999602735042572, 0.005620255134999752], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [4.312535285949707, -52.707645416259766, -11.287920951843262, -5.416563034057617, 15.436657905578613, -0.31221503019332886], "ext_wrench_in_world": [-1.3302091901727158, -52.98348363962543, 10.728094437210935, 4.581985232194657, 15.70193363657801, 0.4263003932802847]}
+{"timestamp_ns": 1789729561096779900, "elapsed_ms": 4566, "source_timestamp_ns": 1789729561095300262, "q": [0.2040366381406784, -1.8094913959503174, -0.02086946740746498, 0.590546190738678, 1.7321451902389526, 0.10040302574634552, -0.8919338583946228], "theta": [0.20162422955036163, -1.8089818954467773, -0.02202298305928707, 0.574325680732727, 1.7318556308746338, 0.10117697715759277, -0.8910064101219177], "dq": [0.05610642582178116, 0.011319534853100777, 0.03098718263208866, -0.0013423041673377156, 0.014976466074585915, 0.053713615983724594, 0.0010868367971852422], "dtheta": [0.052908312529325485, 0.01608603075146675, 0.03235124424099922, -0.0008858027867972851, 0.012703522108495235, 0.052731823176145554, 6.642116204602644e-05], "tau": [-60.82999801635742, -5.589999675750732, -20.428001403808594, 4.008000373840332, -3.8680002689361572, 4.168000221252441, -0.020000001415610313], "tau_des": [-1.0182716846466064, 2.4780421257019043, -0.13992464542388916, -0.9175416827201843, 0.20224933326244354, 0.4452597498893738, -0.10745826363563538], "tau_dot": [-75.61493682861328, -75.37625885009766, 38.12128448486328, 0.2905172109603882, 4.0198445320129395, -6.487079620361328, -41.095542907714844], "tau_ext": [14.85352897644043, -35.406978607177734, -36.68830871582031, 20.647106170654297, -2.586893320083618, -7.280951499938965, -0.11190254986286163], "tcp_pose": [0.6360202431678772, -0.16527777910232544, -0.4042128324508667, -0.006131643895059824, -0.027149323374032974, 0.9995962977409363, 0.005703099071979523], "tcp_vel": [0.0001150045427493751, 0.013284741900861263, -0.04287075251340866, 0.0034962715581059456, 0.0007506081601604819, 0.00878530740737915], "flange_pose": [0.6384081244468689, -0.16738082468509674, -0.2142394781112671, -0.006131643895059824, -0.027149323374032974, 0.9995962977409363, 0.005703099071979523], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [3.795846939086914, -53.372554779052734, -11.190469741821289, -5.638934135437012, 15.591121673583984, -0.3095998167991638], "ext_wrench_in_world": [-0.7561690375300911, -53.620557620042376, 10.607953599680524, 4.78894376945942, 15.870153893706071, 0.42513319548225204]}
+{"timestamp_ns": 1789729561130101182, "elapsed_ms": 4600, "source_timestamp_ns": 1789729561125283645, "q": [0.20565390586853027, -1.808935523033142, -0.01987616717815399, 0.5905601978302002, 1.7324751615524292, 0.10200275480747223, -0.8919653296470642], "theta": [0.2032138556241989, -1.808416485786438, -0.021009370684623718, 0.5743472576141357, 1.7321878671646118, 0.10279393196105957, -0.8910222053527832], "dq": [0.056643228977918625, 0.019425956532359123, 0.03782947361469269, 0.0012711924500763416, 0.00875553023070097, 0.05546053498983383, -0.0011594713432714343], "dtheta": [0.052313607186079025, 0.02119516395032406, 0.033429767936468124, 0.0010297693079337478, 0.008401727303862572, 0.05377611517906189, -0.001050753053277731], "tau": [-61.06999969482422, -5.799999713897705, -20.73200035095215, 4.315999984741211, -3.9280002117156982, 4.260000228881836, -0.020000001415610313], "tau_des": [-1.676310420036316, 1.3315792083740234, -0.5950697064399719, -0.610978901386261, 0.16735227406024933, 0.4891994893550873, -0.11371355503797531], "tau_dot": [16.734970092773438, -47.420040130615234, 30.93937873840332, 13.919281005859375, 13.84388542175293, -17.51279640197754, 55.41643524169922], "tau_ext": [14.792259216308594, -35.687217712402344, -36.62106704711914, 20.6589412689209, -2.585487127304077, -7.313177585601807, -0.09658302366733551], "tcp_pose": [0.6360252499580383, -0.164846733212471, -0.40552353858947754, -0.0061675189062952995, -0.027314238250255585, 0.9995913505554199, 0.005746469832956791], "tcp_vel": [0.00150098348967731, 0.01558681670576334, -0.042721912264823914, 0.0015852163778617978, 0.0023538500536233187, 0.013281122781336308], "flange_pose": [0.6384276151657104, -0.16696548461914062, -0.2155505269765854, -0.0061675189062952995, -0.027314238250255585, 0.9995913505554199, 0.005746469832956791], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [3.3440890312194824, -54.06181335449219, -11.200250625610352, -5.895684719085693, 15.71187973022461, -0.3037039041519165], "ext_wrench_in_world": [-0.2489541574950008, -54.28531783412685, 10.599551791300078, 5.033427442188374, 16.00636967267853, 0.4186133192848907]}
+{"timestamp_ns": 1789729561163435741, "elapsed_ms": 4633, "source_timestamp_ns": 1789729561155290481, "q": [0.20719636976718903, -1.8083148002624512, -0.01884506084024906, 0.5906028151512146, 1.7327120304107666, 0.10355259478092194, -0.8920432925224304], "theta": [0.2047218531370163, -1.8077846765518188, -0.01996304653584957, 0.5744021534919739, 1.732425570487976, 0.10436713695526123, -0.8910888433456421], "dq": [0.05082755535840988, 0.022488156333565712, 0.03222016617655754, 0.001116723520681262, 0.00786665827035904, 0.051644571125507355, -0.000559721898753196], "dtheta": [0.04825520142912865, 0.021506067365407944, 0.03572456166148186, 0.0020018022041767836, 0.006762729026377201, 0.05264478921890259, -0.003589258762076497], "tau": [-61.15999984741211, -6.259999752044678, -20.9320011138916, 4.6080002784729, -3.9640002250671387, 4.328000068664551, -0.036000002175569534], "tau_des": [-1.5521880388259888, 0.9680119752883911, -0.8203738927841187, -0.4644383192062378, 0.02732754498720169, 0.5863660573959351, -0.1045730784535408], "tau_dot": [5.5843400955200195, 0.5974284410476685, 18.732402801513672, -8.708181381225586, 32.61463165283203, 48.52543258666992, 86.95682525634766], "tau_ext": [14.872318267822266, -35.753292083740234, -36.463279724121094, 20.509674072265625, -2.559028387069702, -7.3595662117004395, -0.07235702872276306], "tcp_pose": [0.636052131652832, -0.1643735021352768, -0.4068007171154022, -0.006212327629327774, -0.027521105483174324, 0.9995850920677185, 0.005799940321594477], "tcp_vel": [0.0022935126908123493, 0.016182100400328636, -0.04087230563163757, 0.003453947836533189, -0.0003051281673833728, 0.014850537292659283], "flange_pose": [0.6384724974632263, -0.16651159524917603, -0.21682816743850708, -0.006212327629327774, -0.027521105483174324, 0.9995850920677185, 0.005799940321594477], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.7036051750183105, -54.960121154785156, -11.014320373535156, -6.2103071212768555, 15.876809120178223, -0.2891826033592224], "ext_wrench_in_world": [0.4609184541067589, -55.146059728646264, 10.389384109039506, 5.331716109269793, 16.190570930107302, 0.4035161019828043]}
+{"timestamp_ns": 1789729561196771230, "elapsed_ms": 4666, "source_timestamp_ns": 1789729561195298130, "q": [0.2090962678194046, -1.807456612586975, -0.017431320622563362, 0.5906754732131958, 1.732846975326538, 0.1056089848279953, -0.8922058343887329], "theta": [0.20657885074615479, -1.8069145679473877, -0.018522044643759727, 0.5744922757148743, 1.7325584888458252, 0.10645556449890137, -0.8912487030029297], "dq": [0.0416785329580307, 0.02207615040242672, 0.03842959180474281, 0.002209570724517107, 0.0003925893106497824, 0.05148789659142494, -0.0028643691912293434], "dtheta": [0.04435442015528679, 0.022742411121726036, 0.0376676581799984, 0.0040947250090539455, 0.001827903906814754, 0.050790026783943176, -0.004943440202623606], "tau": [-60.459999084472656, -6.269999980926514, -20.788000106811523, 4.703999996185303, -3.9640002250671387, 4.28000020980835, -0.1080000028014183], "tau_des": [-0.8358024954795837, 1.68012535572052, -0.4241015613079071, -0.40365323424339294, 0.09657034277915955, 0.4643671214580536, -0.13497033715248108], "tau_dot": [52.90573501586914, 0.5599865913391113, -4.86677360534668, -59.537025451660156, -39.42261505126953, 1.4920841455459595, -15.039934158325195], "tau_ext": [14.632301330566406, -35.60825729370117, -36.36515426635742, 20.317848205566406, -2.5396153926849365, -7.375402927398682, -0.03269287571310997], "tcp_pose": [0.6361199021339417, -0.16374492645263672, -0.4084029495716095, -0.006260286085307598, -0.027839291840791702, 0.9995757937431335, 0.005835648160427809], "tcp_vel": [0.0022540362551808357, 0.016479533165693283, -0.038736842572689056, 0.003287221072241664, 0.0001950355217559263, 0.015522703528404236], "flange_pose": [0.6385595202445984, -0.16589531302452087, -0.2184307724237442, -0.006260286085307598, -0.027839291840791702, 0.9995757937431335, 0.005835648160427809], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.8235503435134888, -55.72466278076172, -10.839496612548828, -6.534043312072754, 16.086450576782227, -0.2583838701248169], "ext_wrench_in_world": [1.4158827333883086, -55.858793170043235, 10.190611677913171, 5.632605312252423, 16.421625112190338, 0.37197104552103066]}
+{"timestamp_ns": 1789729561230157575, "elapsed_ms": 4700, "source_timestamp_ns": 1789729561225299368, "q": [0.21040678024291992, -1.8067487478256226, -0.016294268891215324, 0.5908474326133728, 1.732846975326538, 0.10706157237291336, -0.8924079537391663], "theta": [0.2078603059053421, -1.8061962127685547, -0.01736290194094181, 0.5746740698814392, 1.7325568199157715, 0.10792839527130127, -0.8914574980735779], "dq": [0.0393916517496109, 0.024785568937659264, 0.03714476525783539, 0.008159112185239792, 0.00012798700481653214, 0.04641639068722725, -0.006213599815964699], "dtheta": [0.04248503968119621, 0.024632958695292473, 0.03857846558094025, 0.007794950157403946, -0.0005182141903787851, 0.047925323247909546, -0.009676219895482063], "tau": [-60.099998474121094, -6.099999904632568, -20.660001754760742, 4.668000221252441, -3.9600002765655518, 4.220000267028809, -0.12400000542402267], "tau_des": [-0.34365108609199524, 1.4902640581130981, -0.2880689203739166, -0.5383610725402832, 0.1503479778766632, 0.49792516231536865, -0.13669675588607788], "tau_dot": [44.234195709228516, 1.8230810165405273, 15.790467262268066, 23.423234939575195, -25.645790100097656, -33.41413116455078, -25.05589485168457], "tau_ext": [14.283722877502441, -35.81365203857422, -36.446468353271484, 20.325016021728516, -2.5463104248046875, -7.347458839416504, -0.010813677683472633], "tcp_pose": [0.6361635327339172, -0.16324137151241302, -0.4095550775527954, -0.006295680534094572, -0.02808990329504013, 0.9995682239532471, 0.005893918685615063], "tcp_vel": [0.0014145208988338709, 0.017077181488275528, -0.03781554847955704, 0.00442604161798954, 0.0016767139313742518, 0.018544960767030716], "flange_pose": [0.638617753982544, -0.16541290283203125, -0.21958334743976593, -0.006295680534094572, -0.02808990329504013, 0.9995682239532471, 0.005893918685615063], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.2339115142822266, -56.214996337890625, -11.012582778930664, -6.755133628845215, 16.21215057373047, -0.23253966867923737], "ext_wrench_in_world": [2.062995517696752, -56.31762464018344, 10.343816256019862, 5.837742655373756, 16.562621881131378, 0.34647998307542655]}
+{"timestamp_ns": 1789729561263437228, "elapsed_ms": 4733, "source_timestamp_ns": 1789729561255301916, "q": [0.2116910070180893, -1.8060357570648193, -0.015094660222530365, 0.5910809636116028, 1.7328366041183472, 0.10853003710508347, -0.8927035331726074], "theta": [0.20912010967731476, -1.8054722547531128, -0.01612541452050209, 0.5749145150184631, 1.7325439453125, 0.10941970348358154, -0.8917721509933472], "dq": [0.043423060327768326, 0.0243025291711092, 0.04385029152035713, 0.006141376681625843, 0.0009625399252399802, 0.05135681480169296, -0.008731483481824398], "dtheta": [0.042534422129392624, 0.022936459630727768, 0.041490402072668076, 0.007346645928919315, -8.385186811210588e-05, 0.05256044119596481, -0.010396516881883144], "tau": [-59.90999984741211, -6.309999942779541, -20.648000717163086, 4.75600004196167, -4.0360002517700195, 4.168000221252441, -0.13199999928474426], "tau_des": [-0.012845062650740147, 0.9393423795700073, -0.45889362692832947, -0.715479850769043, 0.04800520837306976, 0.4590596854686737, -0.14248095452785492], "tau_dot": [53.902313232421875, 53.50325393676758, -40.24690628051758, 26.316486358642578, -13.064946174621582, -68.95589447021484, 7.892892837524414], "tau_ext": [14.25457763671875, -36.097328186035156, -36.4403190612793, 20.40222930908203, -2.4996073246002197, -7.350869178771973, 0.012292097322642803], "tcp_pose": [0.6361944675445557, -0.1627388894557953, -0.41070547699928284, -0.006308181677013636, -0.028353435918688774, 0.9995602369308472, 0.005966980010271072], "tcp_vel": [0.0015984196215867996, 0.01608576439321041, -0.03831307217478752, 0.0038221506401896477, -0.0023511035833507776, 0.017350340262055397], "flange_pose": [0.6386547684669495, -0.16493737697601318, -0.2207341343164444, -0.006308181677013636, -0.028353435918688774, 0.9995602369308472, 0.005966980010271072], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.7595965266227722, -56.867820739746094, -11.128565788269043, -7.0005316734313965, 16.306415557861328, -0.20907646417617798], "ext_wrench_in_world": [2.6048881123858814, -56.944218306803165, 10.43750728977377, 6.068374581211165, 16.673947833739646, 0.323478908261121]}
+{"timestamp_ns": 1789729561296771917, "elapsed_ms": 4766, "source_timestamp_ns": 1789729561295304896, "q": [0.21350036561489105, -1.8052165508270264, -0.013493373990058899, 0.5912001132965088, 1.7328221797943115, 0.11064490675926208, -0.8930324912071228], "theta": [0.2109040468931198, -1.8046457767486572, -0.014467832632362843, 0.5750451683998108, 1.7325236797332764, 0.11156868934631348, -0.8921400904655457], "dq": [0.04632052779197693, 0.01883760280907154, 0.036487750709056854, 0.0005801935913041234, -0.00017706776270642877, 0.05506422743201256, -0.007958812639117241], "dtheta": [0.04810476675629616, 0.01768074370920658, 0.04102496802806854, -4.42853088316042e-05, 0.00013062916696071625, 0.05513234809041023, -0.00880574993789196], "tau": [-60.119998931884766, -6.869999885559082, -20.64000129699707, 4.892000198364258, -4.044000148773193, 4.203999996185303, -0.14400000870227814], "tau_des": [-0.5750318765640259, 0.6107041835784912, -0.7252715826034546, -0.6973920464515686, 0.05241074413061142, 0.5755341649055481, -0.1718674749135971], "tau_dot": [-21.164350509643555, -91.66529846191406, -70.4491958618164, 28.28968048095703, 21.70319938659668, 45.08869552612305, -7.758630275726318], "tau_ext": [14.408255577087402, -35.83976745605469, -36.380035400390625, 20.27137565612793, -2.4193241596221924, -7.354536533355713, 0.03564264252781868], "tcp_pose": [0.6362316608428955, -0.16213034093379974, -0.41228875517845154, -0.006324289366602898, -0.02870030701160431, 0.9995499849319458, 0.006013733334839344], "tcp_vel": [-1.7327196246696985e-06, 0.014177198521792889, -0.041547320783138275, 0.002101486548781395, 0.0015722087118774652, 0.01783340983092785], "flange_pose": [0.6386994123458862, -0.16434556245803833, -0.22231771051883698, -0.006324289366602898, -0.02870030701160431, 0.9995499849319458, 0.006013733334839344], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.2718856930732727, -57.325679779052734, -11.019549369812012, -7.158596515655518, 16.395774841308594, -0.1826382279396057], "ext_wrench_in_world": [3.1563945387497823, -57.37119160008037, 10.311231748774514, 6.209145980112149, 16.776716325075565, 0.2976390242362563]}
+{"timestamp_ns": 1789729561330100337, "elapsed_ms": 4800, "source_timestamp_ns": 1789729561325302665, "q": [0.21496383845806122, -1.8047072887420654, -0.012376428581774235, 0.5911539196968079, 1.7328474521636963, 0.11232859641313553, -0.8932518362998962], "theta": [0.2123551070690155, -1.8041332960128784, -0.013300868682563305, 0.5750057697296143, 1.732546091079712, 0.11327838897705078, -0.8923920392990112], "dq": [0.04968619719147682, 0.014357571490108967, 0.033213499933481216, -0.002815624698996544, 0.0013376038987189531, 0.052571047097444534, -0.006350102834403515], "dtheta": [0.04900486394762993, 0.01670476794242859, 0.03836740180850029, -0.0022169833537191153, 0.0019031859701499343, 0.05925029143691063, -0.0075831604190170765], "tau": [-60.43000030517578, -6.730000019073486, -20.604000091552734, 4.740000247955322, -3.9240002632141113, 4.216000080108643, -0.14400000870227814], "tau_des": [-0.3835030496120453, 0.6522202491760254, -0.3237309753894806, -0.6398389935493469, 0.230538472533226, 0.3917616903781891, -0.1450069397687912], "tau_dot": [-82.64718627929688, 120.82344818115234, 77.53602600097656, -21.1761474609375, 61.485260009765625, 21.286453247070312, 34.13574981689453], "tau_ext": [14.51646614074707, -35.55298614501953, -36.406410217285156, 20.24448585510254, -2.4414191246032715, -7.339504241943359, 0.04404368996620178], "tcp_pose": [0.6362388134002686, -0.1617441326379776, -0.41350826621055603, -0.006356100086122751, -0.028966346755623817, 0.999542236328125, 0.00598884467035532], "tcp_vel": [0.0010451521957293153, 0.012825187295675278, -0.041015639901161194, -0.0020293411798775196, -0.0009417603723704815, 0.01803833618760109], "flange_pose": [0.6387189626693726, -0.1639488786458969, -0.22353726625442505, -0.006356100086122751, -0.028966346755623817, 0.999542236328125, 0.00598884467035532], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.1782396286725998, -57.15521240234375, -10.849863052368164, -7.083030700683594, 16.414928436279297, -0.17067323625087738], "ext_wrench_in_world": [3.2689891072903716, -57.19143678209585, 10.14509099975708, 6.12352420926238, 16.794915046853433, 0.2856722879858631]}
+{"timestamp_ns": 1789729561363435586, "elapsed_ms": 4833, "source_timestamp_ns": 1789729561355302983, "q": [0.21648748219013214, -1.8042775392532349, -0.01125328242778778, 0.5910478830337524, 1.7329758405685425, 0.11408782005310059, -0.8934119939804077], "theta": [0.21387335658073425, -1.8036984205245972, -0.012133285403251648, 0.5749039053916931, 1.7326757907867432, 0.11506307125091553, -0.8925833106040955], "dq": [0.0490259975194931, 0.011725329793989658, 0.04196154326200485, -0.004945346154272556, 0.004767334088683128, 0.060885459184646606, -0.004552727099508047], "dtheta": [0.04987569898366928, 0.013055454008281231, 0.03868097811937332, -0.004689587280154228, 0.006109221372753382, 0.06035662814974785, -0.006792521104216576], "tau": [-60.72999954223633, -6.549999713897705, -20.57200050354004, 4.516000270843506, -3.8960001468658447, 4.176000118255615, -0.1680000126361847], "tau_des": [-0.47757717967033386, 0.7587648034095764, -0.3441632390022278, -0.8909471035003662, 0.20471711456775665, 0.36486300826072693, -0.15780630707740784], "tau_dot": [-71.16836547851562, 146.97030639648438, -87.21997833251953, -47.330623626708984, -25.221759796142578, 36.251014709472656, 15.086363792419434], "tau_ext": [14.735527038574219, -35.798709869384766, -36.465152740478516, 20.452486038208008, -2.5348401069641113, -7.312321186065674, 0.05504840984940529], "tcp_pose": [0.6362360715866089, -0.16138812899589539, -0.41476762294769287, -0.006354145240038633, -0.029185017570853233, 0.9995359778404236, 0.005970536731183529], "tcp_vel": [0.0007356733549386263, 0.011747476644814014, -0.041814230382442474, 1.2770804460160434e-05, -0.0039488147012889385, 0.015390776097774506], "flange_pose": [0.6387157440185547, -0.16358540952205658, -0.22479651868343353, -0.006354145240038633, -0.029185017570853233, 0.9995359778404236, 0.005970536731183529], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.35940471291542053, -56.88651657104492, -10.652679443359375, -6.93724250793457, 16.39693832397461, -0.15959809720516205], "ext_wrench_in_world": [3.09487461700204, -56.92974336743146, 9.955430170607139, 5.971545744715742, 16.771256506033602, 0.2756595624062592]}
+{"timestamp_ns": 1789729561396769335, "elapsed_ms": 4866, "source_timestamp_ns": 1789729561395313462, "q": [0.2185909003019333, -1.8038889169692993, -0.009803076274693012, 0.5906983613967896, 1.7332918643951416, 0.11650916934013367, -0.89356529712677], "theta": [0.21597982943058014, -1.8033040761947632, -0.010637876577675343, 0.5745633244514465, 1.73300039768219, 0.11751008033752441, -0.8927769064903259], "dq": [0.05411010980606079, 0.008117049932479858, 0.0365426130592823, -0.01153495628386736, 0.010730555281043053, 0.061931997537612915, -0.0008952087955549359], "dtheta": [0.054161734879016876, 0.006002658978104591, 0.03498050197958946, -0.013665332458913326, 0.011051601730287075, 0.06318189203739166, -0.0016980577493086457], "tau": [-60.75, -7.049999713897705, -20.420000076293945, 4.556000232696533, -3.9120001792907715, 4.068000316619873, -0.1600000113248825], "tau_des": [-0.532957136631012, 0.16138312220573425, -0.34125974774360657, -1.0273503065109253, 0.19485725462436676, 0.2613392174243927, -0.13812799751758575], "tau_dot": [-13.31641674041748, -53.08544921875, -16.53566551208496, 48.421173095703125, -49.71363067626953, -8.820286750793457, 12.304286003112793], "tau_ext": [15.032669067382812, -35.87303924560547, -36.53311538696289, 20.5815372467041, -2.573685646057129, -7.267358303070068, 0.05854951590299606], "tcp_pose": [0.6362298727035522, -0.16097821295261383, -0.41648077964782715, -0.006315242033451796, -0.029451582580804825, 0.9995285868644714, 0.005945723969489336], "tcp_vel": [0.00032790738623589277, 0.008885785937309265, -0.04345184192061424, -0.001914589200168848, -0.004230121150612831, 0.012161130085587502], "flange_pose": [0.6386951208114624, -0.1631658524274826, -0.22650937736034393, -0.006315242033451796, -0.029451582580804825, 0.9995285868644714, 0.005945723969489336], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.6336962580680847, -56.82489776611328, -10.33948802947998, -6.778371810913086, 16.37767219543457, -0.14971251785755157], "ext_wrench_in_world": [2.8429268615146728, -56.878704780800554, 9.6491605389842, 5.8050025439315505, 16.745966989771, 0.26724488497107746]}
+{"timestamp_ns": 1789729561430103224, "elapsed_ms": 4900, "source_timestamp_ns": 1789729561425307191, "q": [0.22026605904102325, -1.8038057088851929, -0.008852222003042698, 0.5901492834091187, 1.7336440086364746, 0.11833997070789337, -0.8935497403144836], "theta": [0.2176636904478073, -1.8032207489013672, -0.009660646319389343, 0.5740188956260681, 1.7333601713180542, 0.11935865879058838, -0.8927857875823975], "dq": [0.057476956397295, 8.775213791523129e-05, 0.03132304176688194, -0.0224801953881979, 0.012777660973370075, 0.06081593409180641, 0.0008251250837929547], "dtheta": [0.057865630835294724, -0.000495236599817872, 0.030034348368644714, -0.02266286127269268, 0.014924685470759869, 0.06319079548120499, 0.0002337852056371048], "tau": [-60.689998626708984, -7.329999923706055, -20.36400032043457, 4.611999988555908, -3.876000165939331, 4.044000148773193, -0.15600000321865082], "tau_des": [-0.8734636306762695, -0.22380605340003967, -0.27460983395576477, -0.9924895763397217, 0.2885156571865082, 0.2585819959640503, -0.05538565665483475], "tau_dot": [107.32798767089844, 27.24256134033203, 31.399280548095703, 3.4335763454437256, -37.74950408935547, 25.5589599609375, 12.302718162536621], "tau_ext": [14.887299537658691, -35.713165283203125, -36.7011833190918, 20.596046447753906, -2.6022181510925293, -7.197301864624023, 0.05513819679617882], "tcp_pose": [0.6362154483795166, -0.16074827313423157, -0.4177917242050171, -0.00630525965243578, -0.02962934412062168, 0.9995236396789551, 0.00590403750538826], "tcp_vel": [-0.0002620521991048008, 0.006409863941371441, -0.04451989755034447, -0.003480649320408702, -0.0021918625570833683, 0.013083786703646183], "flange_pose": [0.6386767625808716, -0.16291974484920502, -0.22782006859779358, -0.00630525965243578, -0.02962934412062168, 0.9995236396789551, 0.00590403750538826], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.7929491400718689, -56.58262634277344, -10.249764442443848, -6.614286422729492, 16.355859756469727, -0.1497802436351776], "ext_wrench_in_world": [2.6884876496445385, -56.64350248969775, 9.568996978135107, 5.636540142695874, 16.716549811040082, 0.26785259264543304]}
+{"timestamp_ns": 1789729561463437863, "elapsed_ms": 4933, "source_timestamp_ns": 1789729561455319807, "q": [0.22200416028499603, -1.8039113283157349, -0.007984274066984653, 0.589374303817749, 1.7341541051864624, 0.12019041180610657, -0.893487274646759], "theta": [0.2194117307662964, -1.8033274412155151, -0.008782836608588696, 0.5732473731040955, 1.733879566192627, 0.1212315559387207, -0.8927419185638428], "dq": [0.0614965558052063, -0.003964866977185011, 0.03176726773381233, -0.03004882112145424, 0.017409397289156914, 0.06161965802311897, 0.003814948722720146], "dtheta": [0.056997328996658325, -0.006414813455194235, 0.02895588055253029, -0.028804048895835876, 0.01726297289133072, 0.06503265351057053, 0.0037553003057837486], "tau": [-60.66999816894531, -7.519999980926514, -20.260000228881836, 4.576000213623047, -3.8440001010894775, 3.9840002059936523, -0.14000000059604645], "tau_des": [-0.20113018155097961, -0.2694634199142456, -0.02930920384824276, -0.8929905891418457, 0.23884186148643494, 0.14812436699867249, 0.08340700715780258], "tau_dot": [119.92180633544922, -19.796260833740234, 39.97603225708008, 15.332974433898926, 48.7917366027832, -34.343379974365234, -24.043071746826172], "tau_ext": [14.882904052734375, -35.63826370239258, -36.737823486328125, 20.67520523071289, -2.6092119216918945, -7.161136150360107, 0.048869188874959946], "tcp_pose": [0.6362003087997437, -0.16057778894901276, -0.4191262125968933, -0.006271760910749435, -0.029798254370689392, 0.9995189905166626, 0.005871966015547514], "tcp_vel": [0.00026050652377307415, 0.003968451172113419, -0.043505631387233734, -0.004263961687684059, -0.005731694400310516, 0.009592455811798573], "flange_pose": [0.6386489272117615, -0.16273704171180725, -0.22915427386760712, -0.006271760910749435, -0.029798254370689392, 0.9995189905166626, 0.005871966015547514], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.995246410369873, -56.186981201171875, -10.267224311828613, -6.430436611175537, 16.308307647705078, -0.15287096798419952], "ext_wrench_in_world": [2.4817164225490504, -56.25936560808711, 9.597298159442355, 5.450231669257396, 16.660005139481125, 0.2720043736436019]}
+{"timestamp_ns": 1789729561496769963, "elapsed_ms": 4966, "source_timestamp_ns": 1789729561495284016, "q": [0.22439457476139069, -1.8043038845062256, -0.00683416984975338, 0.5880302786827087, 1.7348506450653076, 0.12275279313325882, -0.8930526971817017], "theta": [0.2218073159456253, -1.8037230968475342, -0.0076363771222531796, 0.571915864944458, 1.7345961332321167, 0.12382757663726807, -0.8923031091690063], "dq": [0.05888086557388306, -0.010443450883030891, 0.028973450884222984, -0.037879496812820435, 0.0184503011405468, 0.06528756767511368, 0.009467299096286297], "dtheta": [0.05841151997447014, -0.0133488355204463, 0.027428431436419487, -0.03783642500638962, 0.01782808266580105, 0.06500087678432465, 0.010714898817241192], "tau": [-60.90999984741211, -7.419999599456787, -20.32000160217285, 4.5320000648498535, -3.888000249862671, 3.9880001544952393, -0.07200000435113907], "tau_des": [-1.3710659742355347, 0.24655088782310486, -0.34923574328422546, -0.8240901827812195, 0.20229096710681915, 0.15205539762973785, -0.00046507621300406754], "tau_dot": [-72.83091735839844, -63.5928955078125, 33.5921745300293, -14.27401065826416, -17.095726013183594, 37.81181716918945, -8.629931449890137], "tau_ext": [14.755433082580566, -35.342529296875, -36.77375411987305, 20.604671478271484, -2.608302116394043, -7.092296123504639, 0.003101888345554471], "tcp_pose": [0.6361634135246277, -0.16044436395168304, -0.4209403097629547, -0.0062281787395477295, -0.02987426146864891, 0.9995174407958984, 0.005802467465400696], "tcp_vel": [-0.0002518280525691807, 0.0016938712215051055, -0.043939314782619476, -0.004869749303907156, -0.004305138252675533, 0.004808526020497084], "flange_pose": [0.6385948657989502, -0.1625775396823883, -0.23096786439418793, -0.0062281787395477295, -0.02987426146864891, 0.9995174407958984, 0.005802467465400696], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.2300527095794678, -55.54792785644531, -10.312662124633789, -6.178516387939453, 16.230899810791016, -0.1763693243265152], "ext_wrench_in_world": [2.2174998416399196, -55.63436722260744, 9.661066043788512, 5.201134618286659, 16.56828114124279, 0.2958686697410451]}
+{"timestamp_ns": 1789729561530098693, "elapsed_ms": 5000, "source_timestamp_ns": 1789729561525281485, "q": [0.22610683739185333, -1.804735779762268, -0.005998680833727121, 0.5868877172470093, 1.7353612184524536, 0.12461602687835693, -0.8927153944969177], "theta": [0.22351686656475067, -1.8041605949401855, -0.0068099708296358585, 0.570782482624054, 1.7351250648498535, 0.12571179866790771, -0.8919396996498108], "dq": [0.05683017522096634, -0.015697285532951355, 0.028880972415208817, -0.03956760838627815, 0.013611851260066032, 0.05675656720995903, 0.011772429570555687], "dtheta": [0.05521448329091072, -0.015703387558460236, 0.028146911412477493, -0.03813570365309715, 0.016602329909801483, 0.058526381850242615, 0.013927583582699299], "tau": [-61.43000030517578, -7.289999961853027, -20.52400016784668, 4.480000019073486, -3.9040002822875977, 3.9760000705718994, -0.03200000151991844], "tau_des": [-2.5707719326019287, 0.6240460872650146, -0.8586117625236511, -0.8214007616043091, 0.08393501490354538, 0.2575458586215973, -0.013752070255577564], "tau_dot": [-67.89610290527344, -40.070945739746094, 29.647932052612305, -22.83641815185547, 47.89593505859375, -53.5042610168457, 75.22575378417969], "tau_ext": [14.670841217041016, -35.518592834472656, -36.769309997558594, 20.741174697875977, -2.617248058319092, -7.047455310821533, -0.03074466995894909], "tcp_pose": [0.6361370086669922, -0.16039521992206573, -0.42224085330963135, -0.0061815045773983, -0.029926421120762825, 0.9995164275169373, 0.005755308549851179], "tcp_vel": [-0.0015575335128232837, 0.001510472851805389, -0.0424463264644146, -0.0006693134200759232, -0.002436882583424449, -0.00048243667697533965], "flange_pose": [0.6385502815246582, -0.16251087188720703, -0.23226797580718994, -0.0061815045773983, -0.029926421120762825, 0.9995164275169373, 0.005755308549851179], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.3675791025161743, -55.34041213989258, -10.488805770874023, -6.108500957489014, 16.161367416381836, -0.20708057284355164], "ext_wrench_in_world": [2.0749401318400316, -55.43632608966715, 9.846568338426247, 5.134036864514372, 16.49491195266226, 0.32558904513046005]}
+{"timestamp_ns": 1789729561563501495, "elapsed_ms": 5033, "source_timestamp_ns": 1789729561555306008, "q": [0.22765682637691498, -1.805192232131958, -0.005142060574144125, 0.5857869982719421, 1.735775351524353, 0.12631937861442566, -0.8923593759536743], "theta": [0.225061297416687, -1.8046224117279053, -0.005971786566078663, 0.569690465927124, 1.7355597019195557, 0.1274319887161255, -0.891548752784729], "dq": [0.04730880632996559, -0.018204208463430405, 0.031200874596834183, -0.03663908690214157, 0.013231543824076653, 0.06020485237240791, 0.0102958669885993], "dtheta": [0.0494508258998394, -0.015181210823357105, 0.027300626039505005, -0.035448916256427765, 0.014699925668537617, 0.05741935595870018, 0.013377471826970577], "tau": [-61.52000045776367, -7.419999599456787, -20.66400146484375, 4.468000411987305, -3.936000108718872, 3.996000289916992, -0.00800000037997961], "tau_des": [-1.9781888723373413, 0.666612446308136, -0.7606227993965149, -0.9827433228492737, 0.019953079521656036, 0.17947900295257568, -0.020091332495212555], "tau_dot": [10.876750946044922, 47.10837173461914, 57.7266960144043, 20.442676544189453, 47.110015869140625, 7.142420291900635, 27.101945877075195], "tau_ext": [14.924123764038086, -35.35980224609375, -36.58378982543945, 20.721527099609375, -2.5813777446746826, -7.052983283996582, -0.0600895918905735], "tcp_pose": [0.6360981464385986, -0.16035470366477966, -0.4234451353549957, -0.006138445809483528, -0.029940519481897354, 0.9995163679122925, 0.005738568026572466], "tcp_vel": [-0.0005768577102571726, 0.0005929222097620368, -0.03818751126527786, -0.0023685162886977196, -0.005939923692494631, -0.0016507774125784636], "flange_pose": [0.6384949088096619, -0.1624644696712494, -0.23347195982933044, -0.006138445809483528, -0.029940519481897354, 0.9995163679122925, 0.005738568026572466], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.6039825677871704, -55.1330451965332, -10.388303756713867, -6.03223180770874, 16.06689453125, -0.23707973957061768], "ext_wrench_in_world": [1.8260012642996672, -55.24203416449831, 9.753238867867003, 5.063447794231752, 16.395864537178404, 0.3553164459242605]}
+{"timestamp_ns": 1789729561596771550, "elapsed_ms": 5066, "source_timestamp_ns": 1789729561595288823, "q": [0.22948136925697327, -1.8057950735092163, -0.004064070526510477, 0.5843347907066345, 1.7361438274383545, 0.12841397523880005, -0.8918692469596863], "theta": [0.2268943041563034, -1.8052222728729248, -0.004925700835883617, 0.5682515501976013, 1.735951542854309, 0.1295408010482788, -0.8910073637962341], "dq": [0.041331250220537186, -0.017106693238019943, 0.0248884130269289, -0.03312435746192932, 0.006642711348831654, 0.04899971932172775, 0.01253702025860548], "dtheta": [0.04344940930604935, -0.015277511440217495, 0.024339914321899414, -0.036848608404397964, 0.00921830628067255, 0.050415053963661194, 0.013498662039637566], "tau": [-60.439998626708984, -7.599999904632568, -20.260000228881836, 4.448000431060791, -3.8680002689361572, 3.872000217437744, 0.01600000075995922], "tau_des": [-0.8755099773406982, 0.4273998737335205, -0.2574467658996582, -0.8493261337280273, 0.15754985809326172, 0.038038965314626694, 0.07176860421895981], "tau_dot": [-36.832096099853516, 102.29964447021484, 4.860325336456299, -49.33259963989258, 1.251386046409607, 58.696163177490234, 26.21885108947754], "tau_ext": [14.585376739501953, -35.181053161621094, -36.61794662475586, 20.702970504760742, -2.5875518321990967, -6.997500419616699, -0.09569209069013596], "tcp_pose": [0.6360741853713989, -0.16031955182552338, -0.42487210035324097, -0.006093644071370363, -0.029965709894895554, 0.9995161294937134, 0.005689865909516811], "tcp_vel": [3.359691982041113e-05, 0.0004912599688395858, -0.03359313681721687, -0.003306994680315256, -0.0025958395563066006, 0.0008781497017480433], "flange_pose": [0.6384534239768982, -0.16241127252578735, -0.23489850759506226, -0.006093644071370363, -0.029965709894895554, 0.9995161294937134, 0.005689865909516811], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.8830980062484741, -54.595375061035156, -10.333775520324707, -5.8921709060668945, 15.943883895874023, -0.27571579813957214], "ext_wrench_in_world": [1.5164367250389112, -54.72049041152903, 9.71371717940213, 4.930632587188735, 16.264546664097384, 0.39308392781583756]}
+{"timestamp_ns": 1789729561630101460, "elapsed_ms": 5100, "source_timestamp_ns": 1789729561625288141, "q": [0.23068611323833466, -1.8062608242034912, -0.003287284169346094, 0.5832404494285583, 1.7363271713256836, 0.1298084855079651, -0.8914570212364197], "theta": [0.22811372578144073, -1.8056848049163818, -0.004170009400695562, 0.567165195941925, 1.7361541986465454, 0.13093900680541992, -0.8905581831932068], "dq": [0.03726861625909805, -0.016569634899497032, 0.024462589994072914, -0.037064630538225174, 0.005785052664577961, 0.043992362916469574, 0.013318908400833607], "dtheta": [0.03912832587957382, -0.015513933263719082, 0.02490375190973282, -0.03611903265118599, 0.005947970785200596, 0.04331202059984207, 0.01708986796438694], "tau": [-60.119998931884766, -7.71999979019165, -20.104000091552734, 4.440000057220459, -3.8440001010894775, 3.808000087738037, -0.01600000075995922], "tau_des": [-0.7536290287971497, 0.460881769657135, -0.30513280630111694, -0.8326057195663452, 0.13452619314193726, 0.09865809977054596, -0.012747847475111485], "tau_dot": [-20.073148727416992, -85.14623260498047, 34.298858642578125, -15.768226623535156, -22.14990997314453, 2.872328519821167, -66.85358428955078], "tau_ext": [14.034384727478027, -35.13691329956055, -36.79441452026367, 20.723770141601562, -2.6253933906555176, -6.92549991607666, -0.11444230377674103], "tcp_pose": [0.6360677480697632, -0.16029129922389984, -0.4258342683315277, -0.0060739354230463505, -0.029967650771141052, 0.9995163083076477, 0.0056723905727267265], "tcp_vel": [-0.0005772826261818409, 0.0011563680600374937, -0.031341757625341415, 6.201906217029318e-05, 0.00011658047151286155, -0.0033419376704841852], "flange_pose": [0.6384392976760864, -0.16237659752368927, -0.23586051166057587, -0.0060739354230463505, -0.029967650771141052, 0.9995163083076477, 0.0056723905727267265], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.9652756452560425, -54.286582946777344, -10.794351577758789, -5.84621000289917, 15.881657600402832, -0.2995367646217346], "ext_wrench_in_world": [1.4215022811500497, -54.421922821000116, 10.180720510515398, 4.888699771946845, 16.199450457293604, 0.41636670045557655]}
+{"timestamp_ns": 1789729561663427291, "elapsed_ms": 5133, "source_timestamp_ns": 1789729561655300826, "q": [0.23180502653121948, -1.806729793548584, -0.0024870852939784527, 0.5821834802627563, 1.7364299297332764, 0.13111570477485657, -0.8910561800003052], "theta": [0.22924673557281494, -1.8061546087265015, -0.0033999651204794645, 0.5661121010780334, 1.7362723350524902, 0.13224828243255615, -0.8901233673095703], "dq": [0.03669361770153046, -0.012910976074635983, 0.030698075890541077, -0.034507595002651215, 0.0022158839274197817, 0.04523463547229767, 0.01333228312432766], "dtheta": [0.037552934139966965, -0.015012725256383419, 0.026350993663072586, -0.03374633193016052, 0.003124935319647193, 0.04422078654170036, 0.011966107413172722], "tau": [-60.47999954223633, -7.599999904632568, -20.22800064086914, 4.384000301361084, -3.880000114440918, 3.824000120162964, 0.012000000104308128], "tau_des": [-0.892661452293396, 0.5388750433921814, -0.41749218106269836, -0.9334011077880859, 0.16367988288402557, 0.12074923515319824, 0.028506100177764893], "tau_dot": [-85.77289581298828, 113.81795501708984, -2.3029048442840576, -29.767452239990234, 14.902251243591309, 37.46395492553711, -24.99123191833496], "tau_ext": [14.121467590332031, -35.19069290161133, -36.740631103515625, 20.781278610229492, -2.614337205886841, -6.920971870422363, -0.12489064782857895], "tcp_pose": [0.636047899723053, -0.16026689112186432, -0.42674654722213745, -0.0060662138275802135, -0.029958412051200867, 0.9995166659355164, 0.005667584482580423], "tcp_vel": [-0.0009977900190278888, 0.00046328999451361597, -0.03028414212167263, -0.0014626189367845654, -0.0004511509323492646, 3.6862227716483176e-05], "flange_pose": [0.6384164690971375, -0.16235046088695526, -0.23677273094654083, -0.0060662138275802135, -0.029958412051200867, 0.9995166659355164, 0.005667584482580423], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.0224246978759766, -54.14013671875, -11.151993751525879, -5.83131217956543, 15.836170196533203, -0.3164864778518677], "ext_wrench_in_world": [1.3589912479427868, -54.283029349786894, 10.541225622088806, 4.8770555950289, 16.152881846946457, 0.4328841431175414]}
+{"timestamp_ns": 1789729561696765759, "elapsed_ms": 5166, "source_timestamp_ns": 1789729561695289720, "q": [0.23325231671333313, -1.8073128461837769, -0.0013611873146146536, 0.5808995962142944, 1.7364956140518188, 0.1329232156276703, -0.890652060508728], "theta": [0.23071901500225067, -1.8067430257797241, -0.0023289411328732967, 0.5648200511932373, 1.7363536357879639, 0.13405835628509521, -0.8896806836128235], "dq": [0.037886787205934525, -0.011927550658583641, 0.0259164497256279, -0.03193396329879761, -0.00045471821795217693, 0.04507438465952873, 0.011817197315394878], "dtheta": [0.03628736361861229, -0.014828111045062542, 0.02563062123954296, -0.03126901015639305, 0.002048461465165019, 0.047632426023483276, 0.01016570907086134], "tau": [-60.709999084472656, -7.639999866485596, -20.256000518798828, 4.260000228881836, -3.8680002689361572, 3.80400013923645, 0.02800000086426735], "tau_des": [-1.035689353942871, 0.917954683303833, -0.3514144718647003, -1.221160888671875, 0.2434971183538437, -0.04287082329392433, 0.06253823637962341], "tau_dot": [-183.620361328125, -36.85009765625, 2.7842206954956055, -29.701313018798828, 3.117109537124634, -14.806548118591309, -18.980009078979492], "tau_ext": [14.498848915100098, -35.184452056884766, -36.58519744873047, 20.843835830688477, -2.592008113861084, -6.934226036071777, -0.13285982608795166], "tcp_pose": [0.6360090374946594, -0.16025403141975403, -0.42793363332748413, -0.006030128803104162, -0.029968949034810066, 0.9995167851448059, 0.0056322598829865456], "tcp_vel": [-0.0009373064385727048, -0.001394332735799253, -0.028516611084342003, -0.005867447704076767, -0.003151404205709696, -0.00010149934678338468], "flange_pose": [0.6383634805679321, -0.16232459247112274, -0.23795948922634125, -0.006030128803104162, -0.029968949034810066, 0.9995167851448059, 0.0056322598829865456], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.227947950363159, -53.963687896728516, -10.881495475769043, -5.7530012130737305, 15.76586627960205, -0.3308909833431244], "ext_wrench_in_world": [1.140301175733323, -54.11553849798859, 10.279032715949908, 4.802903940200184, 16.07798719252071, 0.4466463087590792]}
+{"timestamp_ns": 1789729561730101567, "elapsed_ms": 5200, "source_timestamp_ns": 1789729561725357971, "q": [0.23428300023078918, -1.8077224493026733, -0.0005556158139370382, 0.5799880623817444, 1.7365343570709229, 0.1342293620109558, -0.8903497457504272], "theta": [0.23176738619804382, -1.8071597814559937, -0.0015687673585489392, 0.563895046710968, 1.7364020347595215, 0.13536500930786133, -0.8893544673919678], "dq": [0.0331587940454483, -0.012501426041126251, 0.027058202773332596, -0.030532347038388252, 0.0013732428196817636, 0.041398804634809494, 0.011730147525668144], "dtheta": [0.034277573227882385, -0.013722710311412811, 0.024494318291544914, -0.029682163149118423, 0.0007846560329198837, 0.04071837663650513, 0.012633653357625008], "tau": [-60.81999969482422, -7.659999847412109, -20.280000686645508, 4.240000247955322, -3.880000114440918, 3.80400013923645, 0.04400000348687172], "tau_des": [-1.650672197341919, 0.8592326045036316, -0.612820565700531, -1.2078293561935425, 0.20878098905086517, 0.08615493029356003, 0.011674836277961731], "tau_dot": [-19.556041717529297, 33.347198486328125, 51.9448356628418, 6.033659934997559, 18.296831130981445, -61.30006408691406, -19.75757598876953], "tau_ext": [14.559754371643066, -35.2041130065918, -36.597434997558594, 20.88684844970703, -2.601818561553955, -6.908809661865234, -0.14120827615261078], "tcp_pose": [0.6359844207763672, -0.1602456122636795, -0.4287773668766022, -0.006000001914799213, -0.029970332980155945, 0.9995170831680298, 0.005599610507488251], "tcp_vel": [-0.0017543563153594732, -0.0002738764160312712, -0.027402140200138092, -0.002808511955663562, 0.0006726504652760923, -0.0026316435541957617], "flange_pose": [0.6383270621299744, -0.1623041033744812, -0.2388029545545578, -0.006000001914799213, -0.029970332980155945, 0.9995170831680298, 0.005599610507488251], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.3640899658203125, -53.832027435302734, -10.716470718383789, -5.6853928565979, 15.726312637329102, -0.338332861661911], "ext_wrench_in_world": [0.994011861472192, -53.98984506581167, 10.120642964187553, 4.73780790489358, 16.03441316282694, 0.4536970423552959]}
+{"timestamp_ns": 1789729561763435086, "elapsed_ms": 5233, "source_timestamp_ns": 1789729561755300944, "q": [0.23522686958312988, -1.808115005493164, 0.00021343563275877386, 0.5791075825691223, 1.7365407943725586, 0.13543537259101868, -0.8900284767150879], "theta": [0.2327350378036499, -1.8075592517852783, -0.000849839998409152, 0.5629971623420715, 1.736415147781372, 0.13657140731811523, -0.8890153169631958], "dq": [0.029815714806318283, -0.01093378011137247, 0.025907544419169426, -0.029595185071229935, 0.0005386511329561472, 0.0408310741186142, 0.009743727743625641], "dtheta": [0.03103569522500038, -0.012741339392960072, 0.022574065253138542, -0.029875561594963074, -0.0009582708007656038, 0.038783542811870575, 0.010493205860257149], "tau": [-61.099998474121094, -7.710000038146973, -20.34000015258789, 4.228000164031982, -3.9000000953674316, 3.864000082015991, 0.04800000041723251], "tau_des": [-1.6963450908660889, 0.5063678622245789, -0.6756194233894348, -0.9680561423301697, 0.16503778100013733, 0.03438180312514305, 0.0513264462351799], "tau_dot": [77.7313461303711, -3.7746801376342773, 27.015026092529297, -31.129789352416992, -23.498886108398438, 38.6259880065918, 0.4604112505912781], "tau_ext": [14.714035987854004, -35.22840118408203, -36.55457305908203, 20.914857864379883, -2.5944876670837402, -6.912543773651123, -0.1502491533756256], "tcp_pose": [0.6359670162200928, -0.16023220121860504, -0.4295588433742523, -0.005975482985377312, -0.029961392283439636, 0.9995176792144775, 0.005574521142989397], "tcp_vel": [-0.0004999387310817838, -4.300344153307378e-05, -0.024814406409859657, -0.0040458738803863525, 0.0003920293238479644, 0.0013295836979523301], "flange_pose": [0.6383000612258911, -0.16228146851062775, -0.23958420753479004, -0.005975482985377312, -0.029961392283439636, 0.9995176792144775, 0.005574521142989397], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.446322202682495, -53.80094528198242, -10.547898292541504, -5.641313552856445, 15.703883171081543, -0.3461783230304718], "ext_wrench_in_world": [0.9065277884053236, -53.96145700128188, 9.956090076513979, 4.695512980328317, 16.009235127430564, 0.46125174272598946]}
+{"timestamp_ns": 1789729561796772205, "elapsed_ms": 5266, "source_timestamp_ns": 1789729561795352642, "q": [0.23635542392730713, -1.8086155652999878, 0.0011323816142976284, 0.5779886245727539, 1.7365361452102661, 0.1368805319070816, -0.8896394968032837], "theta": [0.23389336466789246, -1.8080734014511108, 1.4574216038454324e-06, 0.5618513226509094, 1.7364166975021362, 0.138014554977417, -0.8886052370071411], "dq": [0.02716830000281334, -0.014292113482952118, 0.02043071761727333, -0.026402384042739868, 0.0002534992527216673, 0.036508068442344666, 0.010147378779947758], "dtheta": [0.027300942689180374, -0.012611736543476582, 0.01999448612332344, -0.029232511296868324, -6.789012695662677e-05, 0.03424576297402382, 0.012927606701850891], "tau": [-61.19999694824219, -7.919999599456787, -20.34800148010254, 4.296000003814697, -3.9040002822875977, 3.8440001010894775, 0.0560000017285347], "tau_des": [-1.7351391315460205, 0.4153662323951721, -0.7438474893569946, -1.1013505458831787, 0.10047653317451477, 0.03180411458015442, 0.025967169553041458], "tau_dot": [2.702543258666992, -46.269989013671875, 52.966064453125, -6.722071647644043, -14.873205184936523, -4.0980024337768555, -14.788457870483398], "tau_ext": [14.905986785888672, -35.15192794799805, -36.50688552856445, 20.882701873779297, -2.5766687393188477, -6.914790153503418, -0.15870684385299683], "tcp_pose": [0.6359546184539795, -0.1602187603712082, -0.4304933249950409, -0.005948885343968868, -0.02996593341231346, 0.9995178580284119, 0.005543270148336887], "tcp_vel": [0.00018498727877158672, 0.00013533441233448684, -0.022037185728549957, -0.002680213423445821, -0.0003517522127367556, -0.0011977314716205], "flange_pose": [0.6382772326469421, -0.16225644946098328, -0.2405184507369995, -0.005948885343968868, -0.02996593341231346, 0.9995178580284119, 0.005543270148336887], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.4632201194763184, -53.83716583251953, -10.214618682861328, -5.601319789886475, 15.703611373901367, -0.3554072976112366], "ext_wrench_in_world": [0.8876994538116805, -53.994435336690266, 9.625967765535917, 4.655551170870061, 16.006537444242774, 0.470223627392362]}
+{"timestamp_ns": 1789729561830097906, "elapsed_ms": 5300, "source_timestamp_ns": 1789729561825416164, "q": [0.23711970448493958, -1.8089872598648071, 0.0017334038857370615, 0.5771359801292419, 1.7365293502807617, 0.13785047829151154, -0.8893043994903564], "theta": [0.2346748560667038, -1.8084572553634644, 0.0005532533978112042, 0.5609744191169739, 1.736412525177002, 0.13897836208343506, -0.8882579207420349], "dq": [0.024847758933901787, -0.013208750635385513, 0.018555065616965294, -0.028464166447520256, 0.0002914686920121312, 0.03144744038581848, 0.01037005428224802], "dtheta": [0.02479172684252262, -0.013203615322709084, 0.016789423301815987, -0.0304347462952137, 0.0004182450065854937, 0.03024309128522873, 0.009753904305398464], "tau": [-61.279998779296875, -7.869999885559082, -20.296001434326172, 4.315999984741211, -3.9280002117156982, 3.8000001907348633, 0.052000001072883606], "tau_des": [-1.6186500787734985, 0.2872011661529541, -0.6575130224227905, -1.0913461446762085, 0.11202526837587357, 0.034672223031520844, 0.11351042240858078], "tau_dot": [66.00883483886719, 1.2795268297195435, 26.358116149902344, -32.0218505859375, 29.40892219543457, -14.885032653808594, -10.463322639465332], "tau_ext": [15.035423278808594, -35.128910064697266, -36.467063903808594, 20.8812198638916, -2.556084394454956, -6.920802593231201, -0.16441097855567932], "tcp_pose": [0.6359650492668152, -0.16020646691322327, -0.43112391233444214, -0.0059373886324465275, -0.029965674504637718, 0.9995180368423462, 0.0055211856961250305], "tcp_vel": [0.0007621986442245543, 2.3748265448375605e-05, -0.019817255437374115, -0.0022429029922932386, 0.0001628712343517691, 0.0031940299086272717], "flange_pose": [0.6382830142974854, -0.16223590075969696, -0.24114888906478882, -0.0059373886324465275, -0.029965674504637718, 0.9995180368423462, 0.0055211856961250305], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.4090733528137207, -53.76211166381836, -9.979645729064941, -5.550074577331543, 15.719111442565918, -0.3614814281463623], "ext_wrench_in_world": [0.9341322867946915, -53.91334557877287, 9.393624392338433, 4.60354309831967, 16.01888937357848, 0.4764822762823442]}
+{"timestamp_ns": 1789729561863431395, "elapsed_ms": 5333, "source_timestamp_ns": 1789729561855427769, "q": [0.23781029880046844, -1.809401273727417, 0.0022751865908503532, 0.5762227177619934, 1.736527442932129, 0.13871830701828003, -0.8889692425727844], "theta": [0.23538824915885925, -1.8088833093643188, 0.0010495454771444201, 0.560036301612854, 1.736412525177002, 0.139839768409729, -0.8879101276397705], "dq": [0.023951686918735504, -0.011298621073365211, 0.013229322619736195, -0.03353720158338547, 0.0020297484006732702, 0.027635369449853897, 0.012689987197518349], "dtheta": [0.023398956283926964, -0.01494342740625143, 0.015352623537182808, -0.03330778703093529, -0.0012136583682149649, 0.027427732944488525, 0.013161890208721161], "tau": [-61.189998626708984, -7.87999963760376, -20.264001846313477, 4.26800012588501, -3.9120001792907715, 3.7960002422332764, 0.0560000017285347], "tau_des": [-1.443367838859558, 0.39847055077552795, -0.5690503120422363, -1.2535147666931152, 0.18486522138118744, 0.06714042276144028, 0.1277300864458084], "tau_dot": [37.72636032104492, -52.339881896972656, 16.771337509155273, 11.097885131835938, -24.589262008666992, -15.968417167663574, -26.445877075195312], "tau_ext": [15.072970390319824, -35.13874816894531, -36.45908737182617, 20.874645233154297, -2.5510411262512207, -6.92277717590332, -0.16948814690113068], "tcp_pose": [0.635991096496582, -0.16020044684410095, -0.4316983222961426, -0.0059277089312672615, -0.02998039871454239, 0.9995176792144775, 0.005512658506631851], "tcp_vel": [0.0007812451804056764, -0.0004264036542735994, -0.01860697939991951, -0.0023775845766067505, 0.002190134720876813, 0.001458394224755466], "flange_pose": [0.6383053660392761, -0.16222672164440155, -0.2417232245206833, -0.0059277089312672615, -0.02998039871454239, 0.9995176792144775, 0.005512658506631851], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.351881504058838, -53.82999801635742, -9.792431831359863, -5.545759677886963, 15.734265327453613, -0.36589810252189636], "ext_wrench_in_world": [0.9944007974950092, -53.97549732654763, 9.205900804798995, 4.597901548358241, 16.03385243871705, 0.48095170866438824]}
+{"timestamp_ns": 1789729561896780630, "elapsed_ms": 5366, "source_timestamp_ns": 1789729561895370965, "q": [0.23870092630386353, -1.8100537061691284, 0.0029010982252657413, 0.5747787952423096, 1.7365310192108154, 0.13980425894260406, -0.8883412480354309], "theta": [0.23630954325199127, -1.809551477432251, 0.0016266615130007267, 0.5585620999336243, 1.7364192008972168, 0.14091908931732178, -0.8872644305229187], "dq": [0.025539536029100418, -0.02048870176076889, 0.014765040017664433, -0.03879791498184204, 0.0002333227457711473, 0.02740364521741867, 0.01959647797048092], "dtheta": [0.023189101368188858, -0.01823159120976925, 0.013382173143327236, -0.039493292570114136, 0.0007989780278876424, 0.02660403959453106, 0.018238747492432594], "tau": [-60.89999771118164, -7.929999828338623, -20.11600112915039, 4.328000068664551, -3.880000114440918, 3.7920002937316895, 0.07600000500679016], "tau_des": [-1.3239001035690308, 0.609218180179596, -0.430547833442688, -1.2998790740966797, 0.22163152694702148, 0.04216799885034561, 0.085296131670475], "tau_dot": [-30.190338134765625, -40.68161392211914, 4.544332027435303, -49.91048049926758, -75.58148956298828, 18.708454132080078, -19.363496780395508], "tau_ext": [15.080445289611816, -35.16149139404297, -36.477561950683594, 20.84779930114746, -2.5649406909942627, -6.914039134979248, -0.1765303909778595], "tcp_pose": [0.6360663771629333, -0.16020222008228302, -0.43242812156677246, -0.005932547152042389, -0.029980679973959923, 0.9995177388191223, 0.005498524755239487], "tcp_vel": [0.0019026034278795123, -0.0007505968096666038, -0.018248096108436584, -0.0016583054093644023, 0.0015150007093325257, -0.0006917084683664143], "flange_pose": [0.6383823156356812, -0.16222307085990906, -0.24245299398899078, -0.005932547152042389, -0.029980679973959923, 0.9995177388191223, 0.005498524755239487], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.1789722442626953, -53.964378356933594, -9.595666885375977, -5.559777736663818, 15.7839994430542, -0.37178024649620056], "ext_wrench_in_world": [1.1727569288293158, -54.09689747117935, 9.007174898115537, 4.6089794162227635, 16.08428993362261, 0.4867376327386654]}
+{"timestamp_ns": 1789729561930174644, "elapsed_ms": 5400, "source_timestamp_ns": 1789729561925386069, "q": [0.23937220871448517, -1.8106051683425903, 0.0033284511882811785, 0.5735602974891663, 1.7365483045578003, 0.14059016108512878, -0.8877902030944824], "theta": [0.2369939535856247, -1.8101153373718262, 0.0020258219446986914, 0.557317316532135, 1.73643958568573, 0.1417015790939331, -0.8866973519325256], "dq": [0.02466438151896, -0.01942543126642704, 0.012767569161951542, -0.04047209396958351, 0.0003163575893267989, 0.025599971413612366, 0.018518468365073204], "dtheta": [0.022870300337672234, -0.019902369007468224, 0.013536405749619007, -0.041983965784311295, 0.0006939176237210631, 0.02586536668241024, 0.019947268068790436], "tau": [-61.06999969482422, -7.989999771118164, -20.136001586914062, 4.37600040435791, -3.8440001010894775, 3.824000120162964, 0.10400000214576721], "tau_des": [-1.4946197271347046, 0.7844313979148865, -0.4583539664745331, -1.3163772821426392, 0.26003479957580566, 0.08144103735685349, 0.0637054592370987], "tau_dot": [-70.1243667602539, -132.72991943359375, 1.2143242359161377, -6.167735576629639, 46.03475570678711, 46.41956329345703, 83.38361358642578], "tau_ext": [15.043669700622559, -35.2154655456543, -36.49669647216797, 20.842111587524414, -2.593363046646118, -6.9186296463012695, -0.18516585230827332], "tcp_pose": [0.6361413598060608, -0.16020658612251282, -0.4329722821712494, -0.005946540739387274, -0.029979893937706947, 0.9995177388191223, 0.005492066498845816], "tcp_vel": [0.002020485233515501, -0.0009047446073964238, -0.018188515678048134, -0.0008520034025423229, 0.0017070519970729947, -0.0016336276894435287], "flange_pose": [0.6384625434875488, -0.16222481429576874, -0.2429971694946289, -0.005946540739387274, -0.029979893937706947, 0.9995177388191223, 0.005492066498845816], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.9875930547714233, -54.12854766845703, -9.563910484313965, -5.599033355712891, 15.843968391418457, -0.37757277488708496], "ext_wrench_in_world": [1.373394722785533, -54.24882006389019, 8.972061703469308, 4.644677377190927, 16.14644163720727, 0.4924069709689377]}
+{"timestamp_ns": 1789729561963440460, "elapsed_ms": 5433, "source_timestamp_ns": 1789729561955327542, "q": [0.24004651606082916, -1.8111958503723145, 0.0037599042989313602, 0.5722623467445374, 1.7365764379501343, 0.14137904345989227, -0.8872037529945374], "theta": [0.23767749965190887, -1.8107181787490845, 0.002431276487186551, 0.5559933185577393, 1.73647141456604, 0.14248895645141602, -0.8860935568809509], "dq": [0.02447320707142353, -0.017689941450953484, 0.016084883362054825, -0.04590630531311035, 0.0008768445113673806, 0.02566540613770485, 0.02314920723438263], "dtheta": [0.02295798994600773, -0.02034943923354149, 0.013423566706478596, -0.04649285972118378, -0.00039242886123247445, 0.02721080183982849, 0.02121138572692871], "tau": [-61.16999816894531, -7.960000038146973, -20.144001007080078, 4.392000198364258, -3.8680002689361572, 3.8480002880096436, 0.10000000149011612], "tau_des": [-1.6384650468826294, 0.2867313027381897, -0.6143880486488342, -0.8873902559280396, 0.2068420946598053, 0.09801514446735382, 0.10360315442085266], "tau_dot": [-68.9547119140625, 130.04360961914062, -14.07480239868164, -60.51753616333008, -10.780817031860352, -2.9753551483154297, 9.87200927734375], "tau_ext": [15.223372459411621, -35.097412109375, -36.4132194519043, 20.7579345703125, -2.586505889892578, -6.946858882904053, -0.19077669084072113], "tcp_pose": [0.6362295150756836, -0.16020876169204712, -0.4335230886936188, -0.005955745931714773, -0.02997957542538643, 0.9995176792144775, 0.0054947431199252605], "tcp_vel": [0.0036249575205147266, -0.0001991500030271709, -0.0183236263692379, -0.0017118497053161263, 0.0016587586142122746, 0.001245004590600729], "flange_pose": [0.6385542154312134, -0.16222789883613586, -0.24354805052280426, -0.005955745931714773, -0.02997957542538643, 0.9995176792144775, 0.0054947431199252605], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.820918083190918, -54.27164077758789, -9.434985160827637, -5.6332244873046875, 15.90205192565918, -0.3833303153514862], "ext_wrench_in_world": [1.5468830583709599, -54.38032123696185, 8.839315319120065, 4.675416156165657, 16.206402410051616, 0.49841788845887447]}
+{"timestamp_ns": 1789729561996771450, "elapsed_ms": 5466, "source_timestamp_ns": 1789729561995363264, "q": [0.24091051518917084, -1.8120062351226807, 0.004309298004955053, 0.5704445242881775, 1.7365822792053223, 0.142399862408638, -0.8863555788993835], "theta": [0.23854920268058777, -1.8115508556365967, 0.0029549868777394295, 0.5541492700576782, 1.7364802360534668, 0.14351046085357666, -0.8852314352989197], "dq": [0.020753372460603714, -0.015993265435099602, 0.012989510782063007, -0.04557419940829277, -0.0024521960876882076, 0.02601509541273117, 0.021520134061574936], "dtheta": [0.021006369963288307, -0.020892271772027016, 0.0122290700674057, -0.04713822528719902, 0.0009430430363863707, 0.022550689056515694, 0.0203208290040493], "tau": [-61.14999771118164, -8.300000190734863, -20.11600112915039, 4.52400016784668, -3.892000198364258, 3.8480002880096436, 0.10400000214576721], "tau_des": [-1.7166719436645508, 0.0032115725334733725, -0.7428282499313354, -0.6255967020988464, 0.09935765713453293, 0.1882076859474182, 0.1329212635755539], "tau_dot": [15.08256721496582, -115.0569839477539, 15.214757919311523, -38.9045524597168, -15.920320510864258, -70.46627807617188, 32.976505279541016], "tau_ext": [15.107415199279785, -35.04304504394531, -36.44598388671875, 20.70598030090332, -2.590888500213623, -6.954295635223389, -0.19978280365467072], "tcp_pose": [0.6363734006881714, -0.1602056473493576, -0.4342312812805176, -0.0059749772772192955, -0.029982440173625946, 0.9995174407958984, 0.005494692362844944], "tcp_vel": [0.003784060012549162, 0.0005032661138102412, -0.017273977398872375, 0.0015388336032629013, 0.0021095373667776585, 0.002265497576445341], "flange_pose": [0.6387054324150085, -0.16222454607486725, -0.24425633251667023, -0.0059749772772192955, -0.029982440173625946, 0.9995174407958984, 0.005494692362844944], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.5632210969924927, -54.427452087402344, -9.311921119689941, -5.678922176361084, 15.986125946044922, -0.3911671042442322], "ext_wrench_in_world": [1.8125796169270239, -54.51905314443712, 8.711513945935511, 4.716013738654377, 16.293007299623326, 0.5064771492016111]}
+{"timestamp_ns": 1789729562030104999, "elapsed_ms": 5500, "source_timestamp_ns": 1789729562025413923, "q": [0.24150824546813965, -1.8126156330108643, 0.004686242435127497, 0.5690981149673462, 1.7365797758102417, 0.1430942565202713, -0.8857377767562866], "theta": [0.23914743959903717, -1.8121802806854248, 0.0033157141879200935, 0.552790105342865, 1.7364782094955444, 0.14420485496520996, -0.8846041560173035], "dq": [0.022089440375566483, -0.020793763920664787, 0.01071632094681263, -0.04637841135263443, 0.0005446993163786829, 0.022456536069512367, 0.023135924711823463], "dtheta": [0.018975578248500824, -0.021076645702123642, 0.011957929469645023, -0.04520077630877495, -0.0005464598652906716, 0.022552626207470894, 0.02014046162366867], "tau": [-61.189998626708984, -8.359999656677246, -20.14000129699707, 4.5400004386901855, -3.9080002307891846, 3.8960001468658447, 0.1080000028014183], "tau_des": [-1.4634970426559448, 0.19068202376365662, -0.6424649357795715, -0.8687502145767212, 0.16196714341640472, 0.14699864387512207, 0.13708005845546722], "tau_dot": [-44.49458694458008, -44.763755798339844, -21.591646194458008, -18.610048294067383, -28.549930572509766, 68.03527069091797, 2.8037946224212646], "tau_ext": [15.1425142288208, -34.89691925048828, -36.41265106201172, 20.636533737182617, -2.5663633346557617, -6.969529628753662, -0.2060299664735794], "tcp_pose": [0.6364802718162537, -0.16020740568637848, -0.4347228705883026, -0.005994124338030815, -0.029989149421453476, 0.9995171427726746, 0.005500363651663065], "tcp_vel": [0.0035086553543806076, -0.0006582077476195991, -0.015515616163611412, -0.00019854932907037437, 0.0011956475209444761, 0.0006843325681984425], "flange_pose": [0.6388196349143982, -0.16222822666168213, -0.24474802613258362, -0.005994124338030815, -0.029989149421453476, 0.9995171427726746, 0.005500363651663065], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.3914905786514282, -54.447120666503906, -9.289316177368164, -5.694969177246094, 16.03545570373535, -0.3949989080429077], "ext_wrench_in_world": [1.985964144703208, -54.52820315389055, 8.686057631078636, 4.728922252260128, 16.343226457845155, 0.5106671844418533]}
+{"timestamp_ns": 1789729562063437984, "elapsed_ms": 5533, "source_timestamp_ns": 1789729562055371854, "q": [0.24209140241146088, -1.8132317066192627, 0.005032177083194256, 0.5677138566970825, 1.7365795373916626, 0.14377008378505707, -0.8850886821746826], "theta": [0.23972304165363312, -1.8128210306167603, 0.003651693696156144, 0.5513990521430969, 1.7364784479141235, 0.1448805332183838, -0.8839455246925354], "dq": [0.019791746512055397, -0.023295382037758827, 0.013327871449291706, -0.04679867625236511, -0.0003736246726475656, 0.02728329412639141, 0.020080890506505966], "dtheta": [0.01924222894012928, -0.021839266642928123, 0.010515989735722542, -0.04798693582415581, 0.00012871519720647484, 0.02357126586139202, 0.021879903972148895], "tau": [-61.05999755859375, -8.550000190734863, -20.104000091552734, 4.5920000076293945, -3.892000198364258, 3.888000249862671, 0.11600000411272049], "tau_des": [-1.3192445039749146, -0.08770588785409927, -0.6098946928977966, -0.716053307056427, 0.15587471425533295, 0.13361713290214539, 0.17362883687019348], "tau_dot": [23.863737106323242, -94.46050262451172, -19.825489044189453, 45.27852249145508, 50.57968521118164, 30.780136108398438, 30.77425765991211], "tau_ext": [15.242255210876465, -34.76667404174805, -36.362632751464844, 20.602025985717773, -2.552412509918213, -6.997554779052734, -0.2117350548505783], "tcp_pose": [0.6366018056869507, -0.16020643711090088, -0.43519914150238037, -0.006014843937009573, -0.02999850921332836, 0.9995167255401611, 0.005502709653228521], "tcp_vel": [0.004447278566658497, -0.0007922283839434385, -0.015311113558709621, -0.0013810584787279367, 0.0005914249341003597, 0.00112775934394449], "flange_pose": [0.6389490962028503, -0.16222789883613586, -0.24522440135478973, -0.006014843937009573, -0.02999850921332836, 0.9995167255401611, 0.005502709653228521], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.2997729778289795, -54.341224670410156, -9.183345794677734, -5.671235084533691, 16.06793785095215, -0.399293452501297], "ext_wrench_in_world": [2.0712501572384205, -54.41586386418445, 8.579955195640457, 4.703051613437337, 16.374265349131022, 0.5154699068895461]}
+{"timestamp_ns": 1789729562096774909, "elapsed_ms": 5566, "source_timestamp_ns": 1789729562095472515, "q": [0.24286425113677979, -1.8140705823898315, 0.00544152082875371, 0.5658512711524963, 1.7366087436676025, 0.14465923607349396, -0.8841736316680908], "theta": [0.24048316478729248, -1.8136895895004272, 0.004052141681313515, 0.5495286583900452, 1.7365087270736694, 0.14576804637908936, -0.8830167651176453], "dq": [0.01757630705833435, -0.026040012016892433, 0.008588415570557117, -0.045149099081754684, 0.0004344084591139108, 0.02400819957256317, 0.021970177069306374], "dtheta": [0.018823033198714256, -0.020995302125811577, 0.009946446865797043, -0.047652848064899445, 0.002379415789619088, 0.022366531193256378, 0.02017027884721756], "tau": [-60.81999969482422, -8.429999351501465, -19.91200065612793, 4.464000225067139, -3.832000255584717, 3.892000198364258, 0.08800000697374344], "tau_des": [-1.026140570640564, -0.2589070498943329, -0.494427889585495, -0.6376169919967651, 0.16012237966060638, 0.146882101893425, 0.1861082762479782], "tau_dot": [9.686195373535156, 103.55126190185547, -4.819117546081543, -43.74410629272461, 10.974836349487305, 48.10809326171875, -38.33635330200195], "tau_ext": [14.99368667602539, -34.650421142578125, -36.424095153808594, 20.621585845947266, -2.5744504928588867, -6.996818542480469, -0.2165738046169281], "tcp_pose": [0.636766791343689, -0.1602199226617813, -0.43581652641296387, -0.006039258558303118, -0.02998933754861355, 0.9995168447494507, 0.005495666991919279], "tcp_vel": [0.005091578233987093, 0.00022606556012760848, -0.015269982628524303, 0.0006392223876900971, -0.0005628201179206371, 0.003075253451243043], "flange_pose": [0.639123260974884, -0.1622384488582611, -0.2458418607711792, -0.006039258558303118, -0.02998933754861355, 0.9995168447494507, 0.005495666991919279], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.3607730865478516, -54.01420974731445, -9.241150856018066, -5.597440719604492, 16.06378936767578, -0.4042530357837677], "ext_wrench_in_world": [1.9909355514845186, -54.09363492764655, 8.642931395537543, 4.630024824627238, 16.36556650398322, 0.5207639604641014]}
+{"timestamp_ns": 1789729562130101975, "elapsed_ms": 5600, "source_timestamp_ns": 1789729562125293869, "q": [0.24343077838420868, -1.8147006034851074, 0.0057530878111720085, 0.5644844770431519, 1.7366560697555542, 0.14531448483467102, -0.8835298418998718], "theta": [0.2410401999950409, -1.814334511756897, 0.004363182466477156, 0.5481577515602112, 1.7365590333938599, 0.14641928672790527, -0.8823655247688293], "dq": [0.01871737651526928, -0.023639371618628502, 0.014356398954987526, -0.04563697800040245, 1.9358572899363935e-05, 0.02085074782371521, 0.018604759126901627], "dtheta": [0.018465209752321243, -0.02152845449745655, 0.010718545876443386, -0.044430360198020935, 0.0015372931957244873, 0.020869197323918343, 0.022485004737973213], "tau": [-60.71999740600586, -8.489999771118164, -19.880001068115234, 4.4079999923706055, -3.832000255584717, 3.864000082015991, 0.12000000476837158], "tau_des": [-1.1905889511108398, 0.4971136450767517, -0.45576411485671997, -1.0453647375106812, 0.23912374675273895, 0.1743003875017166, 0.0665765181183815], "tau_dot": [-6.588797569274902, -93.22130584716797, -46.26088333129883, 33.770774841308594, 12.277570724487305, -16.886335372924805, 10.42107105255127], "tau_ext": [14.92412281036377, -34.71688461303711, -36.45107650756836, 20.703624725341797, -2.5985214710235596, -7.000476360321045, -0.219061478972435], "tcp_pose": [0.6368856430053711, -0.16023176908493042, -0.43627333641052246, -0.006044182926416397, -0.02998594380915165, 0.9995169043540955, 0.005501756444573402], "tcp_vel": [0.0032185097225010395, -0.0008532600477337837, -0.014993534423410892, 0.000992251094430685, 0.0005356993642635643, -0.002937674056738615], "flange_pose": [0.639244019985199, -0.1622525453567505, -0.24629873037338257, -0.006044182926416397, -0.02998594380915165, 0.9995169043540955, 0.005501756444573402], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.486690878868103, -53.817665100097656, -9.435563087463379, -5.565117835998535, 16.04326629638672, -0.40567800402641296], "ext_wrench_in_world": [1.8556184724226052, -53.907195440942715, 8.840369740564539, 4.5991257044929466, 16.343089066366854, 0.5224817234605943]}
+{"timestamp_ns": 1789729562163432261, "elapsed_ms": 5633, "source_timestamp_ns": 1789729562155305306, "q": [0.24397698044776917, -1.8153035640716553, 0.0060854218900203705, 0.563181459903717, 1.736686110496521, 0.14595234394073486, -0.8828885555267334], "theta": [0.2415766417980194, -1.8149439096450806, 0.004695919342339039, 0.546850323677063, 1.7365918159484863, 0.14705443382263184, -0.8817178606987], "dq": [0.019712984561920166, -0.02150455117225647, 0.007872951216995716, -0.0427008755505085, 0.0010717924451455474, 0.021955477073788643, 0.02267715334892273], "dtheta": [0.017769815400242805, -0.019641827791929245, 0.011444135569036007, -0.04180346801877022, 0.0004170044558122754, 0.021272651851177216, 0.02046770229935646], "tau": [-60.82999801635742, -8.519999504089355, -19.892000198364258, 4.396000385284424, -3.8520002365112305, 3.9240002632141113, 0.10400000214576721], "tau_des": [-1.2919073104858398, 0.423461377620697, -0.5629934072494507, -0.9629979729652405, 0.20801086723804474, 0.19854363799095154, 0.02332375943660736], "tau_dot": [-42.5106086730957, -20.786544799804688, 27.954763412475586, 1.0869016647338867, 9.608800888061523, -28.798919677734375, -2.156646490097046], "tau_ext": [14.844977378845215, -34.7552604675293, -36.46834182739258, 20.793193817138672, -2.6046955585479736, -7.013411521911621, -0.22537922859191895], "tcp_pose": [0.6369946002960205, -0.16023845970630646, -0.4367215633392334, -0.006048135459423065, -0.029964923858642578, 0.9995174407958984, 0.005514194723218679], "tcp_vel": [0.0032869772985577583, -0.0004471579159144312, -0.014624676667153835, 0.0004959370708093047, 0.0001745641784509644, -0.0016286977333948016], "flange_pose": [0.6393545866012573, -0.16226397454738617, -0.24674701690673828, -0.006048135459423065, -0.029964923858642578, 0.9995174407958984, 0.005514194723218679], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.6682344675064087, -53.574737548828125, -9.635952949523926, -5.519998550415039, 16.007518768310547, -0.40855345129966736], "ext_wrench_in_world": [1.6601735863725149, -53.678035511562136, 9.044303521687768, 4.556959021023995, 16.3044649133794, 0.5258378134515016]}
+{"timestamp_ns": 1789729562196770345, "elapsed_ms": 5666, "source_timestamp_ns": 1789729562195331655, "q": [0.24466408789157867, -1.8160046339035034, 0.006500898394733667, 0.5616652965545654, 1.7367254495620728, 0.14677730202674866, -0.8822221755981445], "theta": [0.24224765598773956, -1.815646767616272, 0.00511343777179718, 0.5453203320503235, 1.7366338968276978, 0.14787542819976807, -0.8810427188873291], "dq": [0.017014607787132263, -0.017783982679247856, 0.011429205536842346, -0.03484492003917694, 0.001118029817007482, 0.019103284925222397, 0.013862133026123047], "dtheta": [0.01525318343192339, -0.016720106825232506, 0.010342993773519993, -0.03502880781888962, 0.002862367546185851, 0.02167736180126667, 0.01623704843223095], "tau": [-60.96999740600586, -8.65999984741211, -19.8960018157959, 4.400000095367432, -3.888000249862671, 3.944000244140625, 0.13199999928474426], "tau_des": [-1.4506360292434692, 0.12288197875022888, -0.6577476859092712, -0.9670246243476868, 0.14361706376075745, 0.1421007663011551, 0.07456977665424347], "tau_dot": [-16.75173568725586, 134.06605529785156, 35.354522705078125, 57.771095275878906, -64.35645294189453, -12.530463218688965, 30.713611602783203], "tau_ext": [14.811199188232422, -34.71497344970703, -36.459503173828125, 20.854402542114258, -2.6008455753326416, -7.042006015777588, -0.22954970598220825], "tcp_pose": [0.6371156573295593, -0.16025272011756897, -0.4372774064540863, -0.006045032758265734, -0.029976753517985344, 0.9995170831680298, 0.005513704381883144], "tcp_vel": [0.0036676384042948484, -0.0006323767593130469, -0.012556337751448154, -5.1718026952585205e-05, -0.00415002228692174, -0.0013045530067756772], "flange_pose": [0.6394744515419006, -0.16227805614471436, -0.2473028600215912, -0.006045032758265734, -0.029976753517985344, 0.9995170831680298, 0.005513704381883144], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.9453707933425903, -53.24863052368164, -9.813080787658691, -5.464338302612305, 15.952716827392578, -0.4131144881248474], "ext_wrench_in_world": [1.367446013913058, -53.371003150354184, 9.228422879353984, 4.504351028402908, 16.246485117031344, 0.5304469772499322]}
+{"timestamp_ns": 1789729562230104060, "elapsed_ms": 5700, "source_timestamp_ns": 1789729562225329765, "q": [0.24509093165397644, -1.816484808921814, 0.006792273372411728, 0.5606822967529297, 1.736744999885559, 0.14732037484645844, -0.8818291425704956], "theta": [0.2426593005657196, -1.8161230087280273, 0.005407264921814203, 0.5443218350410461, 1.736655354499817, 0.1484142541885376, -0.8806441426277161], "dq": [0.015095874667167664, -0.013843264430761337, 0.005560281220823526, -0.03148719295859337, 0.001052881358191371, 0.015878213569521904, 0.012946076691150665], "dtheta": [0.012665241956710815, -0.015591087751090527, 0.007856599055230618, -0.03261169418692589, 0.0011278329184278846, 0.016431672498583794, 0.015099659562110901], "tau": [-61.09000015258789, -8.760000228881836, -19.964000701904297, 4.360000133514404, -3.880000114440918, 3.9560000896453857, 0.13199999928474426], "tau_des": [-1.380155324935913, -0.06240861490368843, -0.6193179488182068, -0.9673836827278137, 0.18616652488708496, 0.2069581001996994, 0.12340516597032547], "tau_dot": [39.15494155883789, -12.279533386230469, 40.582733154296875, 4.370100021362305, 27.701963424682617, -61.19491195678711, 9.54670238494873], "tau_ext": [14.753630638122559, -34.6315803527832, -36.47101974487305, 20.857254028320312, -2.6017508506774902, -7.051288604736328, -0.22993481159210205], "tcp_pose": [0.6371895670890808, -0.1602759212255478, -0.4376285672187805, -0.006029758136719465, -0.02998942695558071, 0.9995167851448059, 0.005515656899660826], "tcp_vel": [0.0030578270088881254, -0.000685413833707571, -0.01032902579754591, 2.3830020836612675e-06, -0.0013283186126500368, -0.0005617938586510718], "flange_pose": [0.6395426392555237, -0.1623021364212036, -0.24765396118164062, -0.006029758136719465, -0.02998942695558071, 0.9995167851448059, 0.005515656899660826], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.1472055912017822, -52.995121002197266, -9.943760871887207, -5.415435791015625, 15.912449836730957, -0.41352421045303345], "ext_wrench_in_world": [1.1534872280048023, -53.13148355610808, 9.364114720972829, 4.457531451329573, 16.20346437072464, 0.5311898274512844]}
+{"timestamp_ns": 1789729562263435126, "elapsed_ms": 5733, "source_timestamp_ns": 1789729562255324286, "q": [0.24545764923095703, -1.8169575929641724, 0.007045759353786707, 0.5597476363182068, 1.7367608547210693, 0.14779961109161377, -0.8814100027084351], "theta": [0.24301116168498993, -1.8165905475616455, 0.005664375610649586, 0.5433690547943115, 1.7366725206375122, 0.14888739585876465, -0.880217969417572], "dq": [0.00993963610380888, -0.01682298630475998, 0.005768665112555027, -0.032802894711494446, -0.0008380737854167819, 0.016387203708291054, 0.012645192444324493], "dtheta": [0.011026035062968731, -0.016193579882383347, 0.00755598908290267, -0.032265108078718185, 0.0008800211362540722, 0.015453130938112736, 0.012347213923931122], "tau": [-60.84000015258789, -8.779999732971191, -19.88800048828125, 4.324000358581543, -3.8960001468658447, 3.9880001544952393, 0.12800000607967377], "tau_des": [-1.1235841512680054, -0.2092939168214798, -0.6500681638717651, -1.07209312915802, 0.14552128314971924, 0.21754121780395508, 0.12128197401762009], "tau_dot": [7.178807258605957, 173.95823669433594, 34.66627883911133, -13.831246376037598, -17.743778228759766, 8.927678108215332, 22.050254821777344], "tau_ext": [14.882673263549805, -34.591888427734375, -36.40947723388672, 20.871152877807617, -2.5823874473571777, -7.079989433288574, -0.2347816675901413], "tcp_pose": [0.6372608542442322, -0.16031001508235931, -0.43793076276779175, -0.006011962890625, -0.029973754659295082, 0.9995173811912537, 0.005517011974006891], "tcp_vel": [0.00308968685567379, -0.001176551217213273, -0.009142407216131687, 8.12292710179463e-05, -0.0020938636735081673, 0.0013750961516052485], "flange_pose": [0.6396071314811707, -0.16233699023723602, -0.2479560673236847, -0.006011962890625, -0.029973754659295082, 0.9995173811912537, 0.005517011974006891], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.2927939891815186, -52.763118743896484, -9.924532890319824, -5.360476970672607, 15.88531494140625, -0.4155595004558563], "ext_wrench_in_world": [0.9920390804796172, -52.90851019409671, 9.349083615753633, 4.404817473904783, 16.172918802079117, 0.5337736244270391]}
+{"timestamp_ns": 1789729562296770001, "elapsed_ms": 5766, "source_timestamp_ns": 1789729562295320344, "q": [0.24587109684944153, -1.817628264427185, 0.007293681148439646, 0.5584946274757385, 1.736774206161499, 0.1483524888753891, -0.8809158802032471], "theta": [0.24340903759002686, -1.8172508478164673, 0.005923536606132984, 0.5420902371406555, 1.7366880178451538, 0.14943480491638184, -0.8797153234481812], "dq": [0.009824120439589024, -0.014819030649960041, 0.006415707524865866, -0.03307498246431351, 0.00317965354770422, 0.015269103460013866, 0.013120383024215698], "dtheta": [0.00897923018783331, -0.01672271080315113, 0.005992576014250517, -0.031127875670790672, 0.0015555399004369974, 0.012394633144140244, 0.013012279756367207], "tau": [-60.54999923706055, -8.789999961853027, -19.71200180053711, 4.3520002365112305, -3.8520002365112305, 3.9760000705718994, 0.14000000059604645], "tau_des": [-0.8355615139007568, 0.013776097446680069, -0.4704834520816803, -1.1867387294769287, 0.178481787443161, 0.17940762639045715, 0.10090876370668411], "tau_dot": [-30.634113311767578, 107.12088012695312, 54.97947692871094, 62.13047409057617, 25.849714279174805, 37.50931930541992, 55.88973617553711], "tau_ext": [14.614738464355469, -34.59442901611328, -36.4939079284668, 20.875871658325195, -2.5935747623443604, -7.073101043701172, -0.23340992629528046], "tcp_pose": [0.6373530030250549, -0.1603948473930359, -0.4382580816745758, -0.005993343424052, -0.029979895800352097, 0.9995173811912537, 0.005501780193299055], "tcp_vel": [0.002782644471153617, -0.0016836063005030155, -0.00750570697709918, 0.0008972717332653701, -0.0021711059380322695, -0.0006664428510703146], "flange_pose": [0.6396920084953308, -0.1624162495136261, -0.24828322231769562, -0.005993343424052, -0.029979895800352097, 0.9995173811912537, 0.005501780193299055], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.353745460510254, -52.64742660522461, -10.05835247039795, -5.357594966888428, 15.876619338989258, -0.4154641926288605], "ext_wrench_in_world": [0.9262142384225635, -52.79782788674197, 9.486495553715292, 4.402241676405754, 16.164137048811927, 0.5333082124761527]}
+{"timestamp_ns": 1789729562330099357, "elapsed_ms": 5800, "source_timestamp_ns": 1789729562325321433, "q": [0.2461455911397934, -1.8181517124176025, 0.0074485414661467075, 0.5575503706932068, 1.7367905378341675, 0.14869612455368042, -0.8805369734764099], "theta": [0.2436753511428833, -1.817762851715088, 0.006088856142014265, 0.5411260724067688, 1.7367061376571655, 0.149774432182312, -0.8793313503265381], "dq": [0.008375206962227821, -0.02077937312424183, 0.006988138426095247, -0.03229525312781334, 0.000657051510643214, 0.011200487613677979, 0.011017916724085808], "dtheta": [0.00850852020084858, -0.01744832657277584, 0.0051575591787695885, -0.032585885375738144, 0.0013504871167242527, 0.010468587279319763, 0.012598233297467232], "tau": [-60.44999694824219, -8.769999504089355, -19.68000030517578, 4.312000274658203, -3.8440001010894775, 3.9680001735687256, 0.11600000411272049], "tau_des": [-0.7935732007026672, -0.12063207477331161, -0.4917569160461426, -1.0918653011322021, 0.17061902582645416, 0.24195662140846252, 0.10957049578428268], "tau_dot": [-86.99754333496094, -72.58259582519531, 8.631814002990723, -48.601322174072266, -19.376863479614258, -15.06478214263916, -19.16822624206543], "tau_ext": [14.550359725952148, -34.60255432128906, -36.50912857055664, 20.88422203063965, -2.59928822517395, -7.080751895904541, -0.23347920179367065], "tcp_pose": [0.6374163031578064, -0.16046546399593353, -0.43847596645355225, -0.005986673757433891, -0.029975689947605133, 0.999517560005188, 0.005502205342054367], "tcp_vel": [0.0027891683857887983, -0.0016059449408203363, -0.00714465044438839, 0.001568210544064641, -0.0010065886890515685, 0.0006825762102380395], "flange_pose": [0.6397528052330017, -0.16248710453510284, -0.24850109219551086, -0.005986673757433891, -0.029975689947605133, 0.999517560005188, 0.005502205342054367], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.313342809677124, -52.617034912109375, -10.221158981323242, -5.374771595001221, 15.893187522888184, -0.4149022102355957], "ext_wrench_in_world": [0.9661499090277617, -52.76682048172768, 9.649104591676734, 4.418517849956905, 16.181672787661086, 0.5328123336221773]}
+{"timestamp_ns": 1789729562363435411, "elapsed_ms": 5833, "source_timestamp_ns": 1789729562355331130, "q": [0.24641509354114532, -1.8187196254730225, 0.007584070786833763, 0.5565517544746399, 1.7368102073669434, 0.14901858568191528, -0.8801457285881042], "theta": [0.24393726885318756, -1.8183157444000244, 0.006234863772988319, 0.5401110053062439, 1.7367291450500488, 0.15009605884552002, -0.8789365887641907], "dq": [0.007949776016175747, -0.016281165182590485, 0.008290953002870083, -0.03403797745704651, 0.0017289288807660341, 0.011326533742249012, 0.011175820603966713], "dtheta": [0.008990171365439892, -0.019472504034638405, 0.004689638968557119, -0.03507765382528305, -0.00032094784546643496, 0.011306669563055038, 0.014169289730489254], "tau": [-60.39999771118164, -8.859999656677246, -19.676000595092773, 4.312000274658203, -3.8480002880096436, 3.9880001544952393, 0.12400000542402267], "tau_des": [-0.6971424221992493, -0.06164531037211418, -0.44743186235427856, -1.2062805891036987, 0.24777135252952576, 0.24803702533245087, 0.08356358855962753], "tau_dot": [0.9068907499313354, -52.38695526123047, 14.740703582763672, -16.359411239624023, -11.3294095993042, -11.352479934692383, -38.681575775146484], "tau_ext": [14.601028442382812, -34.67500305175781, -36.49506378173828, 20.887985229492188, -2.603900909423828, -7.095490455627441, -0.2350969910621643], "tcp_pose": [0.6374773979187012, -0.16055062413215637, -0.4386860132217407, -0.005985469091683626, -0.029971959069371223, 0.9995176792144775, 0.00550369918346405], "tcp_vel": [0.002407084684818983, -0.0028569770511239767, -0.0070091355592012405, -0.0005121599533595145, 0.0002056161902146414, -3.74460214516148e-05], "flange_pose": [0.6398134827613831, -0.16257284581661224, -0.24871113896369934, -0.005985469091683626, -0.029971959069371223, 0.9995176792144775, 0.00550369918346405], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.24261212348938, -52.691707611083984, -10.302619934082031, -5.414916515350342, 15.921216011047363, -0.41473308205604553], "ext_wrench_in_world": [1.0418015602065753, -52.83801532949299, 9.728726697977839, 4.457028298799302, 16.21202422008643, 0.5325533766953523]}
+{"timestamp_ns": 1789729562396765637, "elapsed_ms": 5866, "source_timestamp_ns": 1789729562395329947, "q": [0.24681055545806885, -1.8195699453353882, 0.007760520093142986, 0.5550591349601746, 1.7368379831314087, 0.149485245347023, -0.8795996308326721], "theta": [0.24432608485221863, -1.8191449642181396, 0.006422403734177351, 0.5386062860488892, 1.736760139465332, 0.15056228637695312, -0.8783870339393616], "dq": [0.011835009790956974, -0.022916240617632866, 0.0019407302606850863, -0.03530034050345421, 0.0014211683301255107, 0.0109870545566082, 0.011929813772439957], "dtheta": [0.010492897592484951, -0.022351523861289024, 0.004342618864029646, -0.03892335295677185, 0.0008630763040855527, 0.0137250404804945, 0.013773889280855656], "tau": [-60.119998931884766, -9.0, -19.536001205444336, 4.519999980926514, -3.8400001525878906, 3.996000289916992, 0.13199999928474426], "tau_des": [-0.06089487671852112, -0.1932409256696701, -0.23542280495166779, -1.186254858970642, 0.2864247262477875, 0.21091540157794952, 0.16056257486343384], "tau_dot": [-17.71122169494629, -78.1727294921875, -14.568327903747559, 45.777305603027344, -38.73857498168945, 18.9685001373291, -11.372892379760742], "tau_ext": [14.595047950744629, -34.62847900390625, -36.473533630371094, 20.829524993896484, -2.5969552993774414, -7.118831157684326, -0.23811191320419312], "tcp_pose": [0.6375677585601807, -0.160684272646904, -0.4389874041080475, -0.005988815799355507, -0.029988102614879608, 0.9995172023773193, 0.005498906131833792], "tcp_vel": [0.0025133956223726273, -0.003994243685156107, -0.007710224483162165, -0.001571621629409492, -0.0007682139403186738, 0.0011796359904110432], "flange_pose": [0.6399050354957581, -0.16270460188388824, -0.2490125149488449, -0.005988815799355507, -0.029988102614879608, 0.9995172023773193, 0.005498906131833792], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.0822925567626953, -52.83620834350586, -10.213385581970215, -5.470348834991455, 15.9778470993042, -0.41569170355796814], "ext_wrench_in_world": [1.211148723803318, -52.97155027934078, 9.636497248918035, 4.5084557256931515, 16.272015977864456, 0.5333262446488858]}
+{"timestamp_ns": 1789729562430100592, "elapsed_ms": 5900, "source_timestamp_ns": 1789729562425425242, "q": [0.2471642643213272, -1.8202850818634033, 0.007911204360425472, 0.553828239440918, 1.7368775606155396, 0.1498897671699524, -0.8791559934616089], "theta": [0.24467508494853973, -1.8198418617248535, 0.006581857800483704, 0.5373745560646057, 1.7368038892745972, 0.15096735954284668, -0.8779402375221252], "dq": [0.011922863312065601, -0.024838458746671677, 0.006182772573083639, -0.044091884046792984, 0.0023777009919285774, 0.014764047227799892, 0.016854988411068916], "dtheta": [0.012240380048751831, -0.023545436561107635, 0.005849912296980619, -0.04114929959177971, 0.0021570229437202215, 0.013659256510436535, 0.015406101942062378], "tau": [-59.94999694824219, -8.869999885559082, -19.392000198364258, 4.492000102996826, -3.80400013923645, 3.9560000896453857, 0.15600000321865082], "tau_des": [0.07156573235988617, -0.0986664667725563, -0.20785708725452423, -0.9316545128822327, 0.2390318065881729, 0.25190088152885437, 0.15106689929962158], "tau_dot": [-149.723388671875, 78.70731353759766, 35.675071716308594, -38.21363830566406, -12.98984146118164, -9.174487113952637, 43.144168853759766], "tau_ext": [14.420724868774414, -34.53125, -36.52937698364258, 20.735795974731445, -2.6105899810791016, -7.113401889801025, -0.23847611248493195], "tcp_pose": [0.6376296877861023, -0.16080355644226074, -0.43925294280052185, -0.005991755053400993, -0.029995979741215706, 0.9995169639587402, 0.005494263023138046], "tcp_vel": [0.002246040152385831, -0.003323635784909129, -0.009536754339933395, 0.0009980133036151528, -0.00029234925750643015, -3.1919629691401497e-05], "flange_pose": [0.6399680972099304, -0.16282206773757935, -0.24927806854248047, -0.005991755053400993, -0.029995979741215706, 0.9995169639587402, 0.005494263023138046], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.848305106163025, -52.94892120361328, -10.243025779724121, -5.521388053894043, 16.047544479370117, -0.41520261764526367], "ext_wrench_in_world": [1.4527069493174345, -53.0702129928577, 9.66261874070029, 4.5549637868609265, 16.344729192088174, 0.5328560879185567]}
+{"timestamp_ns": 1789729562463429178, "elapsed_ms": 5933, "source_timestamp_ns": 1789729562455342163, "q": [0.24757757782936096, -1.821038842201233, 0.008114812895655632, 0.5525615811347961, 1.7369234561920166, 0.15032874047756195, -0.8786918520927429], "theta": [0.2450834959745407, -1.8205761909484863, 0.006795480847358704, 0.5361135005950928, 1.7368547916412354, 0.1514052152633667, -0.8774726390838623], "dq": [0.01135286409407854, -0.02301630564033985, 0.009153283201158047, -0.04376198723912239, 0.001898230635561049, 0.015239587053656578, 0.012453768402338028], "dtheta": [0.014976938255131245, -0.02432742901146412, 0.008289648219943047, -0.04225972667336464, 0.00047536983038298786, 0.015090497210621834, 0.014687370508909225], "tau": [-59.79999923706055, -8.699999809265137, -19.34000015258789, 4.4760003089904785, -3.7840001583099365, 3.992000102996826, 0.14800000190734863], "tau_des": [0.09615238010883331, 0.07228867709636688, -0.22725185751914978, -1.0256589651107788, 0.30539560317993164, 0.3184944689273834, 0.13529697060585022], "tau_dot": [74.177734375, 71.16260528564453, 39.52275085449219, 30.282638549804688, 57.76252365112305, 33.81883239746094, 43.881717681884766], "tau_ext": [14.350839614868164, -34.62146759033203, -36.55862808227539, 20.736549377441406, -2.6191012859344482, -7.122373104095459, -0.23543107509613037], "tcp_pose": [0.6376677751541138, -0.16092704236507416, -0.43956995010375977, -0.006003140937536955, -0.029985396191477776, 0.9995171427726746, 0.005504036787897348], "tcp_vel": [0.0010564096737653017, -0.0033290276769548655, -0.011794516816735268, 0.0012115960707888007, 0.0020468870643526316, 0.0007179806125350296], "flange_pose": [0.6400105953216553, -0.16294917464256287, -0.24959516525268555, -0.006003140937536955, -0.029985396191477776, 0.9995171427726746, 0.005504036787897348], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.571758508682251, -53.1534309387207, -10.338520050048828, -5.601797580718994, 16.12820816040039, -0.41339510679244995], "ext_wrench_in_world": [1.7412627260267861, -53.25897557701547, 9.751521255580963, 4.630729186375854, 16.42998101247966, 0.5312261729992347]}
+{"timestamp_ns": 1789729562496773990, "elapsed_ms": 5966, "source_timestamp_ns": 1789729562495374121, "q": [0.248292475938797, -1.8220936059951782, 0.008459091186523438, 0.5507581830024719, 1.7370331287384033, 0.1510692685842514, -0.878066897392273], "theta": [0.24579131603240967, -1.8216053247451782, 0.007148054428398609, 0.5343226790428162, 1.7369722127914429, 0.15214848518371582, -0.8768405914306641], "dq": [0.018580937758088112, -0.02904745191335678, 0.00905110314488411, -0.05059325322508812, 0.003984090406447649, 0.02072722464799881, 0.01710415445268154], "dtheta": [0.020089300349354744, -0.02699974738061428, 0.009109391830861568, -0.04571889340877533, 0.004285687115043402, 0.02166949026286602, 0.017097922042012215], "tau": [-59.69999694824219, -8.6899995803833, -19.264001846313477, 4.456000328063965, -3.7760002613067627, 3.9680001735687256, 0.12000000476837158], "tau_des": [0.579246997833252, 0.40812045335769653, -0.003313639899715781, -1.313136100769043, 0.3494017422199249, 0.22498472034931183, 0.10664565861225128], "tau_dot": [30.070064544677734, -33.047607421875, -23.454631805419922, -53.85498046875, 17.85770034790039, -56.08522415161133, -49.97737503051758], "tau_ext": [14.390336990356445, -34.700904846191406, -36.5449333190918, 20.716476440429688, -2.6178598403930664, -7.154994010925293, -0.23696118593215942], "tcp_pose": [0.6377060413360596, -0.16108696162700653, -0.44011491537094116, -0.006019938737154007, -0.029987012967467308, 0.9995169043540955, 0.005518802907317877], "tcp_vel": [0.0008094367804005742, -0.004428166896104813, -0.01500818133354187, -9.168484393740073e-05, -0.000321744242683053, -0.0017732682172209024], "flange_pose": [0.6400554180145264, -0.1631145030260086, -0.2501402497291565, -0.006019938737154007, -0.029987012967467308, 0.9995169043540955, 0.005518802907317877], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.227115511894226, -53.5288200378418, -10.303604125976562, -5.7308783531188965, 16.237348556518555, -0.4104800224304199], "ext_wrench_in_world": [2.1078161761976886, -53.612884101886614, 9.70672006153772, 4.752962082814713, 16.54669582238362, 0.5283535689049945]}
+{"timestamp_ns": 1789729562530098888, "elapsed_ms": 6000, "source_timestamp_ns": 1789729562525357705, "q": [0.24898916482925415, -1.822938084602356, 0.008741567842662334, 0.5492722988128662, 1.7372010946273804, 0.15174417197704315, -0.877551257610321], "theta": [0.24648134410381317, -1.8224315643310547, 0.0074368747882544994, 0.5328561067581177, 1.7371470928192139, 0.1528303623199463, -0.8763201832771301], "dq": [0.02157907746732235, -0.030266407877206802, 0.011115359142422676, -0.05362877622246742, 0.006609984207898378, 0.022731225937604904, 0.01921999827027321], "dtheta": [0.02499380148947239, -0.027951687574386597, 0.010389835573732853, -0.05037480220198631, 0.00638651754707098, 0.023368418216705322, 0.019644951447844505], "tau": [-59.55999755859375, -8.630000114440918, -19.172000885009766, 4.460000038146973, -3.764000177383423, 4.016000270843506, 0.12000000476837158], "tau_des": [0.4840906262397766, 0.18029919266700745, -0.1175425574183464, -1.1230857372283936, 0.30704784393310547, 0.33990684151649475, 0.12967322766780853], "tau_dot": [-34.64305114746094, -0.3005060851573944, 3.4907970428466797, 4.316389083862305, -40.87097930908203, 24.027477264404297, -51.209495544433594], "tau_ext": [14.328181266784668, -34.776222229003906, -36.577789306640625, 20.71199607849121, -2.630610942840576, -7.1625471115112305, -0.23643720149993896], "tcp_pose": [0.6377291083335876, -0.16119937598705292, -0.44063615798950195, -0.006037118379026651, -0.029993226751685143, 0.9995165467262268, 0.005536195822060108], "tcp_vel": [0.0007323244935832918, -0.0030142569448798895, -0.018928464502096176, 0.0021688234992325306, 0.0015520985471084714, -0.00140419602394104], "flange_pose": [0.6400851607322693, -0.16323330998420715, -0.2506616413593292, -0.006037118379026651, -0.029993226751685143, 0.9995165467262268, 0.005536195822060108], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.9779196381568909, -53.82435989379883, -10.273226737976074, -5.829079627990723, 16.320999145507812, -0.40876737236976624], "ext_wrench_in_world": [2.374877771400533, -53.89289314864038, 9.668156807058828, 4.845761500302961, 16.636144748617756, 0.5268363759809734]}
+{"timestamp_ns": 1789729562563430713, "elapsed_ms": 6033, "source_timestamp_ns": 1789729562555357484, "q": [0.24982111155986786, -1.8238176107406616, 0.009057626128196716, 0.5476625561714172, 1.7374250888824463, 0.15252572298049927, -0.8769431710243225], "theta": [0.24730679392814636, -1.8232970237731934, 0.007760456297546625, 0.5312700867652893, 1.7373765707015991, 0.1536245346069336, -0.8757116198539734], "dq": [0.027234574779868126, -0.027073172852396965, 0.00915462989360094, -0.055502478033304214, 0.00972362793982029, 0.029441647231578827, 0.022788219153881073], "dtheta": [0.03006654791533947, -0.029361829161643982, 0.0111041609197855, -0.052955444902181625, 0.007875526323914528, 0.028720742091536522, 0.020558930933475494], "tau": [-59.55999755859375, -8.65999984741211, -19.128000259399414, 4.4760003089904785, -3.764000177383423, 4.039999961853027, 0.1120000034570694], "tau_des": [0.48938706517219543, 0.45092886686325073, -0.06866197288036346, -1.252599835395813, 0.3491479158401489, 0.33633658289909363, 0.11225156486034393], "tau_dot": [-34.3113899230957, 106.08857727050781, 58.79659652709961, 52.49281692504883, 20.374183654785156, 24.20311737060547, -5.988592147827148], "tau_ext": [14.279254913330078, -34.782859802246094, -36.598453521728516, 20.706418991088867, -2.6373112201690674, -7.183435916900635, -0.23537659645080566], "tcp_pose": [0.6377549171447754, -0.1612941324710846, -0.4412567913532257, -0.0060603986494243145, -0.02998732589185238, 0.9995164275169373, 0.005560071207582951], "tcp_vel": [0.00011502942652441561, -0.0037231934256851673, -0.022052157670259476, 0.00023104686988517642, 0.001667002565227449, -0.001616141409613192], "flange_pose": [0.6401200890541077, -0.1633368879556656, -0.2512825131416321, -0.0060603986494243145, -0.02998732589185238, 0.9995164275169373, 0.005560071207582951], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.7178969383239746, -54.060054779052734, -10.286766052246094, -5.9137372970581055, 16.40732192993164, -0.4077250063419342], "ext_wrench_in_world": [2.6485226511818074, -54.11316564953339, 9.673318235963093, 4.925300810615675, 16.727317057548053, 0.5263244180530817]}
+{"timestamp_ns": 1789729562596765818, "elapsed_ms": 6066, "source_timestamp_ns": 1789729562595343674, "q": [0.2511642277240753, -1.8250255584716797, 0.009486439637839794, 0.5454050302505493, 1.7378650903701782, 0.1537749022245407, -0.876107394695282], "theta": [0.24863846600055695, -1.8244985342025757, 0.008199051022529602, 0.5290462970733643, 1.7378243207931519, 0.15488970279693604, -0.8748869299888611], "dq": [0.03645111247897148, -0.027303187176585197, 0.00986920390278101, -0.06006062775850296, 0.014127244241535664, 0.03414947912096977, 0.025427021086215973], "dtheta": [0.03644590452313423, -0.031142879277467728, 0.010921064764261246, -0.05746502801775932, 0.013642936944961548, 0.033231332898139954, 0.022998400032520294], "tau": [-59.62999725341797, -8.649999618530273, -19.052000045776367, 4.4720001220703125, -3.744000196456909, 4.056000232696533, 0.13600000739097595], "tau_des": [0.281900554895401, 0.5886820554733276, -0.06411167234182358, -1.3048888444900513, 0.3364107608795166, 0.3403879404067993, 0.1115989163517952], "tau_dot": [-66.10774230957031, -49.150062561035156, -41.95081329345703, 53.5158576965332, 54.99403762817383, 44.026824951171875, 14.19766902923584], "tau_ext": [14.251063346862793, -34.83125305175781, -36.638343811035156, 20.7337589263916, -2.6490883827209473, -7.200121879577637, -0.22783182561397552], "tcp_pose": [0.6377779841423035, -0.16141986846923828, -0.4422343969345093, -0.006085035391151905, -0.02999032288789749, 0.9995161294937134, 0.005576940253376961], "tcp_vel": [8.902915578801185e-05, -0.0032996335066854954, -0.026364512741565704, 0.0013286035973578691, 0.0007927686092443764, -0.0023995002266019583], "flange_pose": [0.6401527523994446, -0.16346873342990875, -0.25226029753685, -0.006085035391151905, -0.02999032288789749, 0.9995161294937134, 0.005576940253376961], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.5305869579315186, -54.27111053466797, -10.310495376586914, -5.989449501037598, 16.48710060119629, -0.40155693888664246], "ext_wrench_in_world": [2.8492320005539726, -54.31313841652636, 9.690518482050576, 4.995941444036276, 16.811570920167508, 0.5204726876152421]}
+{"timestamp_ns": 1789729562630105271, "elapsed_ms": 6100, "source_timestamp_ns": 1789729562625324848, "q": [0.2523329257965088, -1.8259392976760864, 0.009818276390433311, 0.5436131954193115, 1.738289713859558, 0.1548352837562561, -0.8754122257232666], "theta": [0.24980056285858154, -1.8254165649414062, 0.008538225665688515, 0.5272815227508545, 1.7382559776306152, 0.15596067905426025, -0.8742064237594604], "dq": [0.041956886649131775, -0.028375865891575813, 0.008497483097016811, -0.05629570037126541, 0.015308716334402561, 0.03734305128455162, 0.021909091621637344], "dtheta": [0.04088441655039787, -0.031233659014105797, 0.011071482673287392, -0.05866767838597298, 0.01543726772069931, 0.03760756924748421, 0.02446592040359974], "tau": [-59.939998626708984, -8.639999389648438, -19.07200050354004, 4.452000141143799, -3.756000280380249, 4.068000316619873, 0.12800000607967377], "tau_des": [-0.032416969537734985, 0.7627083659172058, -0.12475455552339554, -1.3120602369308472, 0.33794844150543213, 0.35746830701828003, 0.10330671072006226], "tau_dot": [56.364402770996094, 44.37928009033203, 30.238908767700195, -2.3697495460510254, 2.07551908493042, -34.78955078125, 22.691179275512695], "tau_ext": [14.402426719665527, -34.86520767211914, -36.61577224731445, 20.78329849243164, -2.646254777908325, -7.231807708740234, -0.23008111119270325], "tcp_pose": [0.6377996206283569, -0.16148866713047028, -0.4430789351463318, -0.006105857901275158, -0.029992491006851196, 0.9995158314704895, 0.005592687521129847], "tcp_vel": [-0.00029479761724360287, -0.00343853747472167, -0.0290650837123394, -0.0002125579776475206, 0.0008739674813114107, -0.003165182424709201], "flange_pose": [0.6401824951171875, -0.16354326903820038, -0.2531049847602844, -0.006105857901275158, -0.029992491006851196, 0.9995158314704895, 0.005592687521129847], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.4472237229347229, -54.33806228637695, -10.276222229003906, -6.00993013381958, 16.535898208618164, -0.3995605707168579], "ext_wrench_in_world": [2.936669654934346, -54.374871785136854, 9.652722677261929, 5.013384597281591, 16.86153479685868, 0.5190930580438394]}
+{"timestamp_ns": 1789729562663436717, "elapsed_ms": 6133, "source_timestamp_ns": 1789729562655331216, "q": [0.25362250208854675, -1.82682466506958, 0.010142206214368343, 0.541809618473053, 1.738787293434143, 0.15600121021270752, -0.8746761083602905], "theta": [0.2510833442211151, -1.8263214826583862, 0.008868244476616383, 0.5254979729652405, 1.738761067390442, 0.15713202953338623, -0.8734844923019409], "dq": [0.04084748774766922, -0.02808924950659275, 0.008424043655395508, -0.058894772082567215, 0.017871452495455742, 0.03957101330161095, 0.027028515934944153], "dtheta": [0.04503679648041725, -0.03022637963294983, 0.01050508301705122, -0.05837493762373924, 0.01706431619822979, 0.03921234980225563, 0.025067433714866638], "tau": [-60.23999786376953, -8.639999389648438, -19.06800079345703, 4.340000152587891, -3.7760002613067627, 4.0960001945495605, 0.10000000149011612], "tau_des": [-0.7000098824501038, 0.8269577622413635, -0.2887040972709656, -1.3093935251235962, 0.34557050466537476, 0.43119797110557556, 0.0846153050661087], "tau_dot": [-123.74976348876953, 33.76909255981445, -14.765008926391602, -13.967849731445312, -75.73564147949219, -39.01004409790039, -0.2694617509841919], "tau_ext": [14.560018539428711, -34.80390548706055, -36.595741271972656, 20.77489471435547, -2.6445372104644775, -7.257121562957764, -0.22536838054656982], "tcp_pose": [0.6378194689750671, -0.16154231131076813, -0.44399893283843994, -0.006125642452389002, -0.02998761087656021, 0.9995158314704895, 0.00559637974947691], "tcp_vel": [-0.0011817115591838956, -0.0029839070048183203, -0.03161574527621269, -0.0005951846833340824, 0.002874968573451042, -0.003262279322370887], "flange_pose": [0.6402098536491394, -0.16359810531139374, -0.25402507185935974, -0.006125642452389002, -0.02998761087656021, 0.9995158314704895, 0.00559637974947691], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.4012449383735657, -54.37765884399414, -10.120820045471191, -6.006211757659912, 16.58028793334961, -0.39690256118774414], "ext_wrench_in_world": [2.9828416740761465, -54.410041142010385, 9.495886252442569, 5.00716398957967, 16.905596297873615, 0.5168963808024811]}
+{"timestamp_ns": 1789729562696780729, "elapsed_ms": 6166, "source_timestamp_ns": 1789729562695368633, "q": [0.25544002652168274, -1.827947974205017, 0.010502549819648266, 0.539463222026825, 1.7395662069320679, 0.157613143324852, -0.8737101554870605], "theta": [0.25289779901504517, -1.8274904489517212, 0.009241369552910328, 0.5231605768203735, 1.7395492792129517, 0.15874314308166504, -0.8725351095199585], "dq": [0.04751921817660332, -0.02785796858370304, 0.00992873776704073, -0.05742635205388069, 0.02185390144586563, 0.043200649321079254, 0.026290038600564003], "dtheta": [0.045912887901067734, -0.028709739446640015, 0.007760798092931509, -0.05837315320968628, 0.02325221709907055, 0.03977321833372116, 0.022602267563343048], "tau": [-60.78999710083008, -8.470000267028809, -19.09600067138672, 4.272000312805176, -3.756000280380249, 4.180000305175781, 0.08800000697374344], "tau_des": [-1.4076274633407593, 0.550317645072937, -0.44043922424316406, -0.9967865347862244, 0.23721952736377716, 0.38915348052978516, 0.14181528985500336], "tau_dot": [-50.4093132019043, 34.84525680541992, -31.87833595275879, -22.41062355041504, 22.750263214111328, -8.016851425170898, -28.453981399536133], "tau_ext": [14.694238662719727, -35.10942459106445, -36.671653747558594, 20.951435089111328, -2.6724109649658203, -7.270492076873779, -0.215912327170372], "tcp_pose": [0.6378376483917236, -0.1616041213274002, -0.4452713131904602, -0.006148945540189743, -0.02998572774231434, 0.9995157718658447, 0.0055869449861347675], "tcp_vel": [0.00034652574686333537, -0.001645126729272306, -0.03201664239168167, 0.0010827301302924752, -0.0004433396097738296, 0.00016972998855635524], "flange_pose": [0.6402367949485779, -0.1636560559272766, -0.25529754161834717, -0.006148945540189743, -0.02998572774231434, 0.9995157718658447, 0.0055869449861347675], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.38516291975975037, -54.55509948730469, -9.90717601776123, -6.008611679077148, 16.636932373046875, -0.38927122950553894], "ext_wrench_in_world": [3.007072965095398, -54.583696728812264, 9.280998372535972, 5.00615254089265, 16.96235530697986, 0.5093175458243023]}
+{"timestamp_ns": 1789729562730098259, "elapsed_ms": 6200, "source_timestamp_ns": 1789729562725297920, "q": [0.2567765414714813, -1.8287482261657715, 0.010711629875004292, 0.5377682447433472, 1.7402056455612183, 0.15873557329177856, -0.8729928135871887], "theta": [0.25423285365104675, -1.8283274173736572, 0.00945842545479536, 0.5214658379554749, 1.7401933670043945, 0.15986037254333496, -0.8718307018280029], "dq": [0.04423331469297409, -0.024995634332299232, 0.0026765819638967514, -0.05557207390666008, 0.020884646102786064, 0.03372101113200188, 0.021645838394761086], "dtheta": [0.0431639701128006, -0.02677460014820099, 0.005571156740188599, -0.053928978741168976, 0.01988399215042591, 0.033718034625053406, 0.02198847196996212], "tau": [-61.3599967956543, -8.65999984741211, -19.20400047302246, 4.456000328063965, -3.7840001583099365, 4.25600004196167, 0.10000000149011612], "tau_des": [-2.436537265777588, 0.8105947375297546, -0.6936589479446411, -1.0098298788070679, 0.2850055396556854, 0.5372956991195679, 0.09637134522199631], "tau_dot": [-71.92473602294922, 8.413138389587402, 11.907280921936035, 10.193713188171387, 15.807868003845215, 36.00270080566406, -11.250699996948242], "tau_ext": [14.807499885559082, -35.061912536621094, -36.6987419128418, 20.918752670288086, -2.6873779296875, -7.289237976074219, -0.21043547987937927], "tcp_pose": [0.6378495097160339, -0.16163255274295807, -0.446201890707016, -0.006169977132230997, -0.029978599399328232, 0.9995158314704895, 0.005599704105407], "tcp_vel": [-0.0010792455868795514, -0.001874807639978826, -0.02963763102889061, 0.0005990511272102594, 0.003953840583562851, -0.0005610644002445042], "flange_pose": [0.6402567625045776, -0.16368912160396576, -0.2562282681465149, -0.006169977132230997, -0.029978599399328232, 0.9995158314704895, 0.005599704105407], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.28193220496177673, -54.74669647216797, -9.750496864318848, -6.025730609893799, 16.706588745117188, -0.3832727372646332], "ext_wrench_in_world": [3.119218267636926, -54.767314651473775, 9.119439278282426, 5.019256126020235, 17.032890854120915, 0.5041150321406107]}
+{"timestamp_ns": 1789729562763431604, "elapsed_ms": 6233, "source_timestamp_ns": 1789729562755322294, "q": [0.25798889994621277, -1.8294923305511475, 0.010827803052961826, 0.5361838340759277, 1.7408112287521362, 0.1597088724374771, -0.8723222613334656], "theta": [0.2554430663585663, -1.8291065692901611, 0.009579780511558056, 0.5198817849159241, 1.7408015727996826, 0.16083276271820068, -0.8711708188056946], "dq": [0.03655245155096054, -0.0262304674834013, 0.0039013787172734737, -0.05503266677260399, 0.01815255917608738, 0.031885527074337006, 0.02281627245247364], "dtheta": [0.03784076124429703, -0.025134984403848648, 0.002857257379218936, -0.049596551805734634, 0.01936132088303566, 0.031040988862514496, 0.02307720109820366], "tau": [-61.8599967956543, -8.760000228881836, -19.360000610351562, 4.5320000648498535, -3.80400013923645, 4.284000396728516, 0.08400000631809235], "tau_des": [-2.9781596660614014, 0.9899343848228455, -0.7735669016838074, -0.9915282130241394, 0.2859308123588562, 0.5085914731025696, 0.047889623790979385], "tau_dot": [175.08494567871094, 6.326262950897217, 18.353612899780273, 47.228145599365234, 31.922218322753906, -6.10496711730957, -17.884178161621094], "tau_ext": [15.100814819335938, -35.14830780029297, -36.64794921875, 20.92134666442871, -2.6899771690368652, -7.321262836456299, -0.20983679592609406], "tcp_pose": [0.6378640532493591, -0.1616637408733368, -0.4470308721065521, -0.006204341072589159, -0.02998214401304722, 0.9995154738426208, 0.005606432445347309], "tcp_vel": [-0.00026990886544808745, -0.0026090664323419333, -0.02535024844110012, -0.000989739317446947, 0.0015794221544638276, -0.003534018760547042], "flange_pose": [0.6402844190597534, -0.1637224704027176, -0.25705745816230774, -0.006204341072589159, -0.02998214401304722, 0.9995154738426208, 0.005606432445347309], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.06035297363996506, -54.98897933959961, -9.512843132019043, -6.053650856018066, 16.80665397644043, -0.379145085811615], "ext_wrench_in_world": [3.3528946194127465, -54.993356993727254, 8.875497731300767, 5.040989585413498, 17.13452138806193, 0.5006579353860777]}
+{"timestamp_ns": 1789729562796765499, "elapsed_ms": 6266, "source_timestamp_ns": 1789729562795310013, "q": [0.2593276798725128, -1.830357313156128, 0.010871313512325287, 0.5343209505081177, 1.74154794216156, 0.16077880561351776, -0.8714916110038757], "theta": [0.2567789852619171, -1.8300156593322754, 0.009627655148506165, 0.5180246829986572, 1.7415413856506348, 0.16190433502197266, -0.8703530430793762], "dq": [0.029827039688825607, -0.01925443299114704, -0.002021567663177848, -0.0418335497379303, 0.015676269307732582, 0.022133182734251022, 0.021891428157687187], "dtheta": [0.028983255848288536, -0.02114141546189785, 3.547923552105203e-05, -0.04173523560166359, 0.015958618372678757, 0.022993888705968857, 0.01878957636654377], "tau": [-61.94999694824219, -9.0, -19.328001022338867, 4.636000156402588, -3.8000001907348633, 4.312000274658203, 0.12400000542402267], "tau_des": [-2.592243194580078, 0.7073374390602112, -0.6538389325141907, -0.8605961203575134, 0.2732882797718048, 0.4376539885997772, 0.0735337883234024], "tau_dot": [-9.884681701660156, 39.02674865722656, 42.78117752075195, -31.682498931884766, 19.08395004272461, -2.580127477645874, 49.82395553588867], "tau_ext": [15.356592178344727, -34.96488571166992, -36.5625, 20.78802490234375, -2.681445837020874, -7.353765964508057, -0.19993670284748077], "tcp_pose": [0.6379127502441406, -0.16170215606689453, -0.4479309320449829, -0.006230247672647238, -0.029978536069393158, 0.9995154142379761, 0.005607662256807089], "tcp_vel": [0.0003365757002029568, -0.0023474441841244698, -0.019014686346054077, -0.0009499185252934694, 0.00144645432010293, -0.0017235135892406106], "flange_pose": [0.6403429508209229, -0.16376106441020966, -0.2579576373100281, -0.006230247672647238, -0.029978536069393158, 0.9995154142379761, 0.005607662256807089], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-0.29352009296417236, -55.267364501953125, -8.957958221435547, -6.068212509155273, 16.9467830657959, -0.37184152007102966], "ext_wrench_in_world": [3.715749777258063, -55.244010599919584, 8.312956451376708, 5.047187433126639, 17.27530722175015, 0.49455521481387876]}
+{"timestamp_ns": 1789729562830100823, "elapsed_ms": 6300, "source_timestamp_ns": 1789729562825284819, "q": [0.2601046860218048, -1.8309152126312256, 0.010870376601815224, 0.533115029335022, 1.7419687509536743, 0.1613459438085556, -0.8709408044815063], "theta": [0.2575535476207733, -1.8306055068969727, 0.009629753418266773, 0.5168278217315674, 1.7419664859771729, 0.16247272491455078, -0.8698135018348694], "dq": [0.02385626919567585, -0.01891692355275154, -0.0010058223269879818, -0.03989886865019798, 0.013255709782242775, 0.018574334681034088, 0.01903637871146202], "dtheta": [0.02303868718445301, -0.019238797947764397, 3.0246008464018814e-05, -0.03701798617839813, 0.014349683187901974, 0.015539625659584999, 0.019942903891205788], "tau": [-61.40999984741211, -9.079999923706055, -19.20800018310547, 4.652000427246094, -3.7360000610351562, 4.25600004196167, 0.10400000214576721], "tau_des": [-2.0207440853118896, 0.5231407880783081, -0.5782715082168579, -0.8509296178817749, 0.24152271449565887, 0.5297865867614746, 0.013032788410782814], "tau_dot": [-12.747884750366211, -45.74979782104492, 5.299046516418457, -31.269533157348633, 14.977775573730469, -2.8164730072021484, 35.24614334106445], "tau_ext": [15.277647018432617, -34.974525451660156, -36.53425598144531, 20.755678176879883, -2.6954030990600586, -7.353104114532471, -0.19714416563510895], "tcp_pose": [0.6379496455192566, -0.1617192178964615, -0.4484545588493347, -0.00626868661493063, -0.029978828504681587, 0.9995150566101074, 0.005622772499918938], "tcp_vel": [0.00029705429915338755, -0.0013766702031716704, -0.01562879979610443, 0.0026646563783288, 0.001853148452937603, -0.005336056929081678], "flange_pose": [0.6403946280479431, -0.16378341615200043, -0.258481502532959, -0.00626868661493063, -0.029978828504681587, 0.9995150566101074, 0.005622772499918938], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-0.5408189296722412, -55.397674560546875, -8.72135066986084, -6.088223457336426, 17.02787971496582, -0.36726412177085876], "ext_wrench_in_world": [3.9680331500758457, -55.35689875442366, 8.07002246279548, 5.062271435407064, 17.357493824051627, 0.49076618793211585]}
+{"timestamp_ns": 1789729562863432319, "elapsed_ms": 6333, "source_timestamp_ns": 1789729562855286348, "q": [0.2607312798500061, -1.8314417600631714, 0.010876297019422054, 0.5320068001747131, 1.7422971725463867, 0.16179682314395905, -0.8704230189323425], "theta": [0.2581821084022522, -1.8311623334884644, 0.009639051742851734, 0.5157300233840942, 1.7422980070114136, 0.162925124168396, -0.8693070411682129], "dq": [0.019206754863262177, -0.016587011516094208, 0.00140348298009485, -0.03561455011367798, 0.011012541130185127, 0.009686436504125595, 0.015508032403886318], "dtheta": [0.01935422420501709, -0.01772974245250225, 0.0007300860015675426, -0.03461156785488129, 0.010407580062747002, 0.013489448465406895, 0.014951830729842186], "tau": [-61.099998474121094, -9.130000114440918, -19.056001663208008, 4.712000370025635, -3.7080001831054688, 4.228000164031982, 0.10000000149011612], "tau_des": [-1.631218433380127, 0.2938215732574463, -0.48478832840919495, -0.6417897343635559, 0.2824784517288208, 0.49902400374412537, 0.07694046199321747], "tau_dot": [-90.74723052978516, -111.62336730957031, 47.58987808227539, -34.73684310913086, 60.489253997802734, -10.011911392211914, 2.2866148948669434], "tau_ext": [15.0991849899292, -34.9193115234375, -36.52738952636719, 20.71509552001953, -2.7099318504333496, -7.346671104431152, -0.18799689412117004], "tcp_pose": [0.6379907727241516, -0.16173918545246124, -0.4488818943500519, -0.006304214242845774, -0.02997095324099064, 0.9995149374008179, 0.0056441472843289375], "tcp_vel": [0.0006313956691883504, -0.0012305068084970117, -0.013292469084262848, 0.001997842686250806, 0.0021915545221418142, -0.000676786235999316], "flange_pose": [0.6404495239257812, -0.1638111174106598, -0.25890907645225525, -0.006304214242845774, -0.02997095324099064, 0.9995149374008179, 0.0056441472843289375], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-0.7532488703727722, -55.507442474365234, -8.732422828674316, -6.137022972106934, 17.082151412963867, -0.3606770634651184], "ext_wrench_in_world": [4.186496861621324, -55.4542295299838, 8.074678546415548, 5.107952841417198, 17.41456470707033, 0.4845509599824161]}
+{"timestamp_ns": 1789729562896774382, "elapsed_ms": 6366, "source_timestamp_ns": 1789729562895362485, "q": [0.2614295780658722, -1.832074522972107, 0.010878204368054867, 0.5307139158248901, 1.7426775693893433, 0.16225989162921906, -0.8698319792747498], "theta": [0.25888246297836304, -1.8318345546722412, 0.009647348895668983, 0.5144537091255188, 1.7426817417144775, 0.16339492797851562, -0.8687267303466797], "dq": [0.014271656051278114, -0.012619164772331715, 0.001987428404390812, -0.028495782986283302, 0.010085511952638626, 0.011920715682208538, 0.013456842862069607], "dtheta": [0.016616322100162506, -0.015751173719763756, 0.00015395451919175684, -0.028953125700354576, 0.008042425848543644, 0.010846075601875782, 0.011575857177376747], "tau": [-61.189998626708984, -9.170000076293945, -18.992000579833984, 4.764000415802002, -3.760000228881836, 4.244000434875488, 0.08800000697374344], "tau_des": [-1.5546098947525024, 0.4792219400405884, -0.413786381483078, -0.7664717435836792, 0.35241058468818665, 0.5544068813323975, 0.0579228550195694], "tau_dot": [-181.48292541503906, -65.9170913696289, 2.086444616317749, 19.437585830688477, -46.10760498046875, -65.54446411132812, 12.658754348754883], "tau_ext": [15.007890701293945, -34.8238639831543, -36.586795806884766, 20.663354873657227, -2.7205259799957275, -7.343379497528076, -0.18305568397045135], "tcp_pose": [0.6380305290222168, -0.16176466643810272, -0.44936174154281616, -0.006351996213197708, -0.029960107058286667, 0.9995147585868835, 0.0056868549436330795], "tcp_vel": [-0.00035031652078032494, -0.0018814501818269491, -0.01109244953840971, 0.0009022322483360767, 0.003138665808364749, -0.0002959097037091851], "flange_pose": [0.6405078172683716, -0.16385230422019958, -0.25938937067985535, -0.006351996213197708, -0.029960107058286667, 0.9995147585868835, 0.0056868549436330795], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.0114079713821411, -55.5514030456543, -8.875202178955078, -6.175474643707275, 17.151830673217773, -0.3515618145465851], "ext_wrench_in_world": [4.448253985576438, -55.48495271027015, 8.208751388702321, 5.142470400842256, 17.486369569449536, 0.47671341951263924]}
+{"timestamp_ns": 1789729562930100229, "elapsed_ms": 6400, "source_timestamp_ns": 1789729562925333652, "q": [0.2619112730026245, -1.8324898481369019, 0.010876292362809181, 0.5298849940299988, 1.7429605722427368, 0.16259931027889252, -0.8694881200790405], "theta": [0.2593631446361542, -1.8322763442993164, 0.00964982807636261, 0.513641893863678, 1.7429649829864502, 0.16373991966247559, -0.8683899641036987], "dq": [0.015012010931968689, -0.014658157713711262, -0.00023779968614690006, -0.02606814354658127, 0.009170574136078358, 0.007914050482213497, 0.012215725146234035], "dtheta": [0.015305871143937111, -0.013860160484910011, 0.00011023752449546009, -0.024984972551465034, 0.010721370577812195, 0.010165510699152946, 0.00911853276193142], "tau": [-61.06999969482422, -9.1899995803833, -18.98400115966797, 4.728000164031982, -3.7240002155303955, 4.276000022888184, 0.07200000435113907], "tau_des": [-1.6414251327514648, 0.3785265386104584, -0.5030949115753174, -0.727508008480072, 0.2546686828136444, 0.5794082880020142, 0.07554378360509872], "tau_dot": [-0.9893671274185181, -85.82028198242188, 21.748483657836914, 1.2318487167358398, -16.737632751464844, -3.218003988265991, 46.43167495727539], "tau_ext": [15.1726713180542, -34.780460357666016, -36.551475524902344, 20.652772903442383, -2.712738275527954, -7.3709306716918945, -0.18367639183998108], "tcp_pose": [0.6380508542060852, -0.16179005801677704, -0.44968828558921814, -0.006371417548507452, -0.029962804168462753, 0.9995144009590149, 0.005709378514438868], "tcp_vel": [-4.989407898392528e-05, -0.001252362271770835, -0.010445316322147846, 0.0026832623407244682, 0.00042084214510396123, -0.00034059680183418095], "flange_pose": [0.640535831451416, -0.16388602554798126, -0.25971609354019165, -0.006371417548507452, -0.029962804168462753, 0.9995144009590149, 0.005709378514438868], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.1109784841537476, -55.5672492980957, -8.790475845336914, -6.168656826019287, 17.193927764892578, -0.34806227684020996], "ext_wrench_in_world": [4.548103725548966, -55.49420017256564, 8.120002034807941, 5.133026839214259, 17.528024635619094, 0.47435662863882677]}
+{"timestamp_ns": 1789729562963437083, "elapsed_ms": 6433, "source_timestamp_ns": 1789729562955341680, "q": [0.2623351514339447, -1.832842469215393, 0.010873271152377129, 0.529179036617279, 1.7432042360305786, 0.16291451454162598, -0.8692103624343872], "theta": [0.2597838044166565, -1.8326517343521118, 0.00965073425322771, 0.5129552483558655, 1.743211269378662, 0.1640620231628418, -0.8681179285049438], "dq": [0.013613633811473846, -0.010982241481542587, -0.0002244999195681885, -0.01917293295264244, 0.01007420290261507, 0.0101514533162117, 0.008818813599646091], "dtheta": [0.012633620761334896, -0.011423389427363873, 0.0002421169338049367, -0.0202625822275877, 0.007531405426561832, 0.009109506383538246, 0.008830809034407139], "tau": [-61.13999938964844, -9.170000076293945, -18.996000289916992, 4.78000020980835, -3.7360000610351562, 4.264000415802002, 0.04800000041723251], "tau_des": [-2.002855062484741, 0.4752880036830902, -0.5676253437995911, -0.6752421855926514, 0.3001503348350525, 0.5437578558921814, 0.074727363884449], "tau_dot": [-1.4591459035873413, 64.34236907958984, -25.444326400756836, 12.259989738464355, -32.45470428466797, -18.043306350708008, -110.21671295166016], "tau_ext": [14.992253303527832, -34.761993408203125, -36.610198974609375, 20.654695510864258, -2.7313215732574463, -7.361733436584473, -0.17959608137607574], "tcp_pose": [0.6380680799484253, -0.16181613504886627, -0.44997233152389526, -0.006385233253240585, -0.02997300587594509, 0.9995139241218567, 0.005719568580389023], "tcp_vel": [-0.0002737513859756291, -0.0015041270526126027, -0.00842874776571989, 0.0008451155736111104, 0.0007704806048423052, -0.0017121388809755445], "flange_pose": [0.6405584216117859, -0.16391579806804657, -0.2600002586841583, -0.006385233253240585, -0.02997300587594509, 0.9995139241218567, 0.005719568580389023], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.1693356037139893, -55.517696380615234, -8.797850608825684, -6.157561302185059, 17.224254608154297, -0.3457488417625427], "ext_wrench_in_world": [4.60484561741207, -55.44138693914586, 8.126016465846822, 5.119761851047236, 17.557750580891813, 0.4727402944810768]}
+{"timestamp_ns": 1789729562996768109, "elapsed_ms": 6466, "source_timestamp_ns": 1789729562995339066, "q": [0.262742280960083, -1.833195447921753, 0.010870087891817093, 0.5284939408302307, 1.7434529066085815, 0.16320326924324036, -0.8689097166061401], "theta": [0.2601822018623352, -1.8330292701721191, 0.009650113992393017, 0.5122925043106079, 1.74345862865448, 0.16435682773590088, -0.8678260445594788], "dq": [0.007656414061784744, -0.006347190123051405, 6.681002560071647e-07, -0.013473615050315857, 0.004689997062087059, 0.0061786724254488945, 0.005082452204078436], "dtheta": [0.007691636681556702, -0.00774233927950263, -4.732340312330052e-05, -0.012117243371903896, 0.0047827777452766895, 0.005072161555290222, 0.0057907868176698685], "tau": [-61.349998474121094, -9.210000038146973, -19.060001373291016, 4.708000183105469, -3.7280001640319824, 4.26800012588501, 0.09200000762939453], "tau_des": [-2.054738998413086, 0.6058633327484131, -0.5950251221656799, -0.8103818297386169, 0.31243786215782166, 0.5651348233222961, 0.030509676784276962], "tau_dot": [-13.461216926574707, -23.349578857421875, 36.98528289794922, 14.657699584960938, 54.27177047729492, -63.695228576660156, 68.27398681640625], "tau_ext": [15.054356575012207, -34.75828170776367, -36.59381866455078, 20.67882537841797, -2.7328715324401855, -7.372600555419922, -0.17590758204460144], "tcp_pose": [0.6380797028541565, -0.16184338927268982, -0.45024678111076355, -0.006397915072739124, -0.029961049556732178, 0.999514102935791, 0.005738294217735529], "tcp_vel": [-0.0007166213472373784, -0.0014959449181333184, -0.0050056567415595055, 0.0005467798328027129, 0.0007106168777681887, -0.002420400734990835], "flange_pose": [0.6405750513076782, -0.16395004093647003, -0.26027485728263855, -0.006397915072739124, -0.029961049556732178, 0.999514102935791, 0.005738294217735529], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.186270833015442, -55.426753997802734, -8.893086433410645, -6.141326904296875, 17.240087509155273, -0.3408419191837311], "ext_wrench_in_world": [4.616444970321282, -55.35106144937884, 8.219958381731574, 5.102980437992201, 17.57249471952359, 0.46872877491100806]}
+{"timestamp_ns": 1789729563030105222, "elapsed_ms": 6500, "source_timestamp_ns": 1789729563025344997, "q": [0.2629297077655792, -1.8333715200424194, 0.010868837125599384, 0.528185248374939, 1.7435824871063232, 0.16333675384521484, -0.8687928915023804], "theta": [0.2603641152381897, -1.8332185745239258, 0.00965073425322771, 0.5119951367378235, 1.743586778640747, 0.16449368000030518, -0.8677160143852234], "dq": [0.006920117884874344, -0.0026050363667309284, 0.0004977199132554233, -0.008132509887218475, 0.001409007702022791, 0.003495562821626663, 0.003930555656552315], "dtheta": [0.004936801735311747, -0.005147705320268869, 7.157994696171954e-05, -0.007439364679157734, 0.0035942934919148684, 0.00354543374851346, 0.0036337152123451233], "tau": [-61.18000030517578, -9.139999389648438, -19.032001495361328, 4.692000389099121, -3.7400002479553223, 4.260000228881836, 0.08800000697374344], "tau_des": [-1.653702974319458, 0.5781757831573486, -0.4832116365432739, -0.9338458180427551, 0.3345045745372772, 0.5401966571807861, 0.025256570428609848], "tau_dot": [-1.43613862991333, 4.4059858322143555, -2.5821545124053955, 21.10673713684082, -40.37839126586914, -53.30506896972656, 76.291015625], "tau_ext": [15.201436042785645, -34.78759765625, -36.52312088012695, 20.715099334716797, -2.7243595123291016, -7.386662483215332, -0.16877533495426178], "tcp_pose": [0.6380782127380371, -0.16186536848545074, -0.4503720998764038, -0.006397980730980635, -0.029955124482512474, 0.9995142221450806, 0.005749313160777092], "tcp_vel": [-0.0005353452288545668, -0.001136126695200801, -0.0032104733400046825, 0.0004603743727784604, -0.00014118857507128268, -0.0020923472475260496], "flange_pose": [0.6405736804008484, -0.16397622227668762, -0.2604002356529236, -0.006397980730980635, -0.029955124482512474, 0.9995142221450806, 0.005749313160777092], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.1042784452438354, -55.37788009643555, -8.794479370117188, -6.117534637451172, 17.22723388671875, -0.33768391609191895], "ext_wrench_in_world": [4.529731579980335, -55.306334558623256, 8.121748072564381, 5.080171210613218, 17.55820215418099, 0.46609595480283916]}
+{"timestamp_ns": 1789729563063434673, "elapsed_ms": 6533, "source_timestamp_ns": 1789729563055361143, "q": [0.26304373145103455, -1.8334853649139404, 0.010875553824007511, 0.5279871821403503, 1.7436678409576416, 0.16342967748641968, -0.8687255382537842], "theta": [0.2604743242263794, -1.833343267440796, 0.00965912640094757, 0.5118070840835571, 1.7436714172363281, 0.1645904779434204, -0.8676531910896301], "dq": [0.0017168037593364716, -0.002135762944817543, 0.0011283134808763862, -0.004133563954383135, 0.003186236135661602, 0.0017701302422210574, 0.004138454794883728], "dtheta": [0.0031692550983279943, -0.003366175340488553, 0.00030594528652727604, -0.005182660184800625, 0.001946064061485231, 0.003529353067278862, 0.0013417672598734498], "tau": [-60.81999969482422, -9.109999656677246, -18.908000946044922, 4.676000118255615, -3.7200002670288086, 4.260000228881836, 0.06000000238418579], "tau_des": [-1.2588719129562378, 0.4401065409183502, -0.3686005175113678, -0.8760241270065308, 0.34884849190711975, 0.46362999081611633, 0.05977577716112137], "tau_dot": [-109.07428741455078, 42.9346923828125, -24.329723358154297, 26.604249954223633, -23.139423370361328, 54.34931945800781, 0.8434970378875732], "tau_ext": [15.05009937286377, -34.79941940307617, -36.52777099609375, 20.729230880737305, -2.731760263442993, -7.373585224151611, -0.16481240093708038], "tcp_pose": [0.6380814909934998, -0.16187866032123566, -0.45045042037963867, -0.00639056321233511, -0.02995365671813488, 0.9995142817497253, 0.00575774721801281], "tcp_vel": [-2.8345344617264345e-05, -0.0008761643548496068, -0.0020118821412324905, -0.0005112150101922452, -0.0007809082162566483, -1.3463461073115468e-05], "flange_pose": [0.6405742764472961, -0.16399279236793518, -0.26047852635383606, -0.00639056321233511, -0.02995365671813488, 0.9995142817497253, 0.00575774721801281], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.0368307828903198, -55.314483642578125, -8.77585220336914, -6.107722282409668, 17.206472396850586, -0.33213794231414795], "ext_wrench_in_world": [4.458085325969565, -55.247046970035015, 8.103824833366689, 5.071594437347831, 17.536928773001794, 0.46080202807045023]}
+{"timestamp_ns": 1789729563096782210, "elapsed_ms": 6566, "source_timestamp_ns": 1789729563095276315, "q": [0.26313358545303345, -1.833564281463623, 0.010882743634283543, 0.5278396606445312, 1.74372398853302, 0.16349370777606964, -0.8686564564704895], "theta": [0.2605615258216858, -1.8334336280822754, 0.009671094827353954, 0.5116706490516663, 1.7437279224395752, 0.1646575927734375, -0.8675894737243652], "dq": [0.0022314328234642744, 0.0014040657551959157, 0.0011509793112054467, -0.0023950934410095215, -0.00040463259210810065, 0.0007624821155332029, -0.001731661963276565], "dtheta": [0.0018471794901415706, -0.0013937618350610137, 0.00027612136909738183, -0.0018113021505996585, 0.0008431103779003024, 0.00027892450452782214, 0.0010828098747879267], "tau": [-60.66999816894531, -9.139999389648438, -18.812000274658203, 4.696000099182129, -3.680000066757202, 4.212000370025635, 0.06800000369548798], "tau_des": [-1.2594608068466187, 0.4045523405075073, -0.3747710585594177, -0.8928097486495972, 0.36376678943634033, 0.5265918970108032, 0.019961440935730934], "tau_dot": [52.434608459472656, -41.6475715637207, -38.01192855834961, 26.42569351196289, 70.21326446533203, -38.254432678222656, 47.08244323730469], "tau_ext": [14.86572265625, -34.81422805786133, -36.62233352661133, 20.721412658691406, -2.740521192550659, -7.351085186004639, -0.16082200407981873], "tcp_pose": [0.6380822658538818, -0.16188398003578186, -0.45051318407058716, -0.006391717121005058, -0.029946301132440567, 0.9995144605636597, 0.005765250418335199], "tcp_vel": [-0.0006144820945337415, -0.0001805014326237142, -0.001317740767262876, 0.0007157093496061862, 0.0009724997216835618, -0.0009035945986397564], "flange_pose": [0.6405755281448364, -0.1640009731054306, -0.26054131984710693, -0.006391717121005058, -0.029946301132440567, 0.9995144605636597, 0.005765250418335199], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.06797194480896, -55.300540924072266, -8.971692085266113, -6.124022006988525, 17.205366134643555, -0.32723402976989746], "ext_wrench_in_world": [4.490109861677323, -55.233631902758155, 8.298582391191973, 5.088126194900212, 17.536774283070308, 0.4559287760963156]}
+{"timestamp_ns": 1789729563130104644, "elapsed_ms": 6600, "source_timestamp_ns": 1789729563125254032, "q": [0.26319074630737305, -1.833580493927002, 0.010880770161747932, 0.5277989506721497, 1.7437704801559448, 0.16352927684783936, -0.8686392307281494], "theta": [0.2606161832809448, -1.8334563970565796, 0.009671524167060852, 0.5116376280784607, 1.7437753677368164, 0.16469430923461914, -0.8675752878189087], "dq": [0.0024062814190983772, -0.0021755651105195284, 0.0008617593557573855, -0.0010101951193064451, 0.0013601031387224793, 0.0011965966550633311, 0.0005861548706889153], "dtheta": [0.0012030672514811158, -0.0005287001258693635, -5.4814783652545884e-05, -0.0006206303951330483, 0.0021283633541315794, 0.0017525000730529428, 0.0006655444158241153], "tau": [-60.8599967956543, -9.139999389648438, -18.84800148010254, 4.720000267028809, -3.7280001640319824, 4.26800012588501, 0.04800000041723251], "tau_des": [-1.203066110610962, 0.24880342185497284, -0.39540213346481323, -0.8217028379440308, 0.3092285692691803, 0.4971987307071686, 0.019398627802729607], "tau_dot": [56.531009674072266, 25.329927444458008, 8.729676246643066, -17.605798721313477, -95.20294189453125, -3.169386148452759, 16.10086441040039], "tau_ext": [14.949338912963867, -34.82097244262695, -36.626827239990234, 20.706693649291992, -2.7341322898864746, -7.352227210998535, -0.15599802136421204], "tcp_pose": [0.6380797624588013, -0.16188034415245056, -0.4505518674850464, -0.006391436792910099, -0.02994551509618759, 0.9995144605636597, 0.005770198069512844], "tcp_vel": [0.00016232645430136472, -0.0001332639076281339, -0.0007717872504144907, 0.00013562210369855165, -0.0015085006598383188, -0.0009546579094603658], "flange_pose": [0.6405730247497559, -0.16399922966957092, -0.26058003306388855, -0.006391436792910099, -0.02994551509618759, 0.9995144605636597, 0.005770198069512844], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.1506370306015015, -55.38364791870117, -9.005045890808105, -6.140974521636963, 17.228378295898438, -0.32281824946403503], "ext_wrench_in_world": [4.577933853005176, -55.3120911689463, 8.32936768368916, 5.103641725563422, 17.56079609953139, 0.45175202482859456]}
+{"timestamp_ns": 1789729563163434266, "elapsed_ms": 6633, "source_timestamp_ns": 1789729563155558386, "q": [0.26324164867401123, -1.8335850238800049, 0.010878963395953178, 0.5277867317199707, 1.7438207864761353, 0.16357611119747162, -0.8686354756355286], "theta": [0.26066499948501587, -1.8334659337997437, 0.009670808911323547, 0.5116332173347473, 1.743827223777771, 0.16474270820617676, -0.8675755262374878], "dq": [0.003833771450445056, 0.0023424553219228983, 0.0009245407418347895, 9.549251262797043e-05, 0.001000231015495956, 0.002871166914701462, 0.0019606170244514942], "dtheta": [0.0014160601422190666, -0.00041113546467386186, -0.00031642100657336414, -0.00012651497672777623, 0.0016311577055603266, 0.0013971788575872779, -9.776672959560528e-05], "tau": [-60.849998474121094, -9.260000228881836, -18.884000778198242, 4.760000228881836, -3.7080001831054688, 4.26800012588501, 0.06000000238418579], "tau_des": [-1.3809064626693726, 0.2607269585132599, -0.45514464378356934, -0.8387479186058044, 0.3083060383796692, 0.5162453651428223, 0.023045919835567474], "tau_dot": [88.40377807617188, 25.44423484802246, 35.716407775878906, -37.11366271972656, 23.66927719116211, 37.20893096923828, 39.96225357055664], "tau_ext": [15.043819427490234, -34.795677185058594, -36.5890998840332, 20.668733596801758, -2.72704815864563, -7.371562957763672, -0.15485474467277527], "tcp_pose": [0.6380776166915894, -0.16187983751296997, -0.4505845606327057, -0.006382968742400408, -0.0299429539591074, 0.9995145797729492, 0.005770177114754915], "tcp_vel": [-0.00022932303545530885, -0.0003313239139970392, -0.0007736285915598273, -0.0002746869286056608, -0.000631975126452744, -0.0003982234629802406], "flange_pose": [0.6405676007270813, -0.1639988124370575, -0.26061269640922546, -0.006382968742400408, -0.0299429539591074, 0.9995145797729492, 0.005770177114754915], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.2660902738571167, -55.52418518066406, -8.898648262023926, -6.168433666229248, 17.26439666748047, -0.3196873068809509], "ext_wrench_in_world": [4.6997483065227845, -55.44428880336826, 8.219931288853997, 5.1289391778019136, 17.598401185602548, 0.4488037231945663]}
+{"timestamp_ns": 1789729563196773245, "elapsed_ms": 6666, "source_timestamp_ns": 1789729563195255223, "q": [0.2632775604724884, -1.8335953950881958, 0.010876431129872799, 0.5277768969535828, 1.7438527345657349, 0.1636175960302353, -0.8686324954032898], "theta": [0.2606983482837677, -1.8334819078445435, 0.009669521823525429, 0.5116322636604309, 1.7438604831695557, 0.16478514671325684, -0.8675779700279236], "dq": [-0.0022485072258859873, -0.00461404025554657, 0.001711605116724968, 0.0007997228531166911, 0.00033779983641579747, 0.0018373082857578993, -0.0021695373579859734], "dtheta": [0.0007595696952193975, -0.00013828020018991083, 4.676692697103135e-05, -0.00011804074893007055, 0.0003063385665882379, 0.000978294643573463, 0.0002243511116830632], "tau": [-60.81999969482422, -9.1899995803833, -18.868000030517578, 4.796000003814697, -3.7280001640319824, 4.232000350952148, 0.020000001415610313], "tau_des": [-1.3351548910140991, 0.17263954877853394, -0.4600728154182434, -0.8039638996124268, 0.3219398260116577, 0.505069375038147, 0.010004359297454357], "tau_dot": [40.35163879394531, 181.37863159179688, 60.391971588134766, -19.918933868408203, -40.24354934692383, -0.7134149670600891, -39.30704116821289], "tau_ext": [15.009929656982422, -34.76251983642578, -36.5716667175293, 20.632198333740234, -2.7247087955474854, -7.368541717529297, -0.1520376205444336], "tcp_pose": [0.6380739808082581, -0.16188713908195496, -0.4506050944328308, -0.006375656463205814, -0.029938645660877228, 0.9995147585868835, 0.005764505360275507], "tcp_vel": [-0.00011660585005301982, -0.0001879307092167437, -0.00042150626541115344, -0.00046516783186234534, -0.0001450591953471303, -0.00031008681980893016], "flange_pose": [0.6405611634254456, -0.16400405764579773, -0.2606331706047058, -0.006375656463205814, -0.029938645660877228, 0.9995147585868835, 0.005764505360275507], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.3901373147964478, -55.60115051269531, -8.832003593444824, -6.191302299499512, 17.298133850097656, -0.31706929206848145], "ext_wrench_in_world": [4.826689746094048, -55.51288591092678, 8.151519582224399, 5.149859328053738, 17.633435772137627, 0.44618781562255094]}
+{"timestamp_ns": 1789729563230102786, "elapsed_ms": 6700, "source_timestamp_ns": 1789729563225254744, "q": [0.263286292552948, -1.833611249923706, 0.010875491425395012, 0.5277690291404724, 1.7438679933547974, 0.16363190114498138, -0.8686351776123047], "theta": [0.2607056498527527, -1.8335007429122925, 0.00966961681842804, 0.5116292238235474, 1.7438757419586182, 0.16479921340942383, -0.8675841689109802], "dq": [0.002286264207214117, 0.0010134143522009254, 0.0018649998819455504, 0.00033565337071195245, 0.002634938107803464, 0.001621822826564312, -0.0022718971595168114], "dtheta": [0.0005715905572287738, -0.0006031337543390691, -0.00025791124789975584, -0.0001585037971381098, 0.0010093140881508589, -0.00012467913620639592, -0.00031834098626859486], "tau": [-60.81999969482422, -9.199999809265137, -18.868000030517578, 4.764000415802002, -3.700000286102295, 4.25600004196167, 0.03200000151991844], "tau_des": [-1.331130862236023, 0.3206368386745453, -0.42268994450569153, -0.8770362138748169, 0.32753390073776245, 0.5046480298042297, 0.003370466874912381], "tau_dot": [-151.07406616210938, -85.02883911132812, 34.03910446166992, -6.128372669219971, -5.5963134765625, 51.336734771728516, 11.23365306854248], "tau_ext": [14.999222755432129, -34.8001708984375, -36.56486129760742, 20.638809204101562, -2.7243475914001465, -7.358325004577637, -0.14300644397735596], "tcp_pose": [0.6380707025527954, -0.1618962585926056, -0.450609028339386, -0.006369701121002436, -0.029934871941804886, 0.9995149374008179, 0.0057628876529634], "tcp_vel": [-0.00034656282514333725, -0.00024677839246578515, -0.0003272652393206954, 0.00042086010216735303, -1.3752797940469463e-06, -0.000234800812904723], "flange_pose": [0.6405555605888367, -0.16401264071464539, -0.2606370449066162, -0.006369701121002436, -0.029934871941804886, 0.9995149374008179, 0.0057628876529634], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.4834932088851929, -55.67820358276367, -8.81900691986084, -6.217342376708984, 17.31551170349121, -0.31322818994522095], "ext_wrench_in_world": [4.923786496803698, -55.58407049466441, 8.136671502224303, 5.1748904829099205, 17.652346434320357, 0.4422414889677086]}
+{"timestamp_ns": 1789729563263431748, "elapsed_ms": 6733, "source_timestamp_ns": 1789729563255253964, "q": [0.26329025626182556, -1.8336255550384521, 0.010874711908400059, 0.5277648568153381, 1.7438831329345703, 0.1636384129524231, -0.8686400055885315], "theta": [0.26070868968963623, -1.8335175514221191, 0.009670952335000038, 0.511629045009613, 1.7438912391662598, 0.16480529308319092, -0.8675930500030518], "dq": [0.0008384671527892351, -0.00027973417309112847, 0.00018012928194366395, -0.000133326233481057, -0.0002036252844845876, 0.0008179667056538165, -0.00035132301854901016], "dtheta": [0.00029276692657731473, -0.00022802244347985834, -9.030291948874947e-06, -5.2120216423645616e-05, 0.0010871302802115679, 0.00033593131229281425, 0.0006777126691304147], "tau": [-60.79999923706055, -9.139999389648438, -18.87200164794922, 4.75600004196167, -3.7200002670288086, 4.220000267028809, 0.020000001415610313], "tau_des": [-1.2581801414489746, 0.27843207120895386, -0.41891273856163025, -0.8628095984458923, 0.312436580657959, 0.4792563319206238, -0.02357376180589199], "tau_dot": [-11.910512924194336, 18.391773223876953, 14.736992835998535, -3.13769268989563, -31.769166946411133, -30.724851608276367, 56.80533981323242], "tau_ext": [15.012944221496582, -34.789546966552734, -36.55434036254883, 20.62830924987793, -2.723381757736206, -7.352790355682373, -0.12311280518770218], "tcp_pose": [0.6380673050880432, -0.16190388798713684, -0.45061057806015015, -0.006364020984619856, -0.02993113547563553, 0.9995150566101074, 0.005763869732618332], "tcp_vel": [3.2614832889521495e-05, -9.344598765892442e-06, -0.00023272514226846397, 0.00042990781366825104, -0.0007042893557809293, -0.0010469916742295027], "flange_pose": [0.6405500173568726, -0.16402071714401245, -0.26063859462738037, -0.006364020984619856, -0.02993113547563553, 0.9995150566101074, 0.005763869732618332], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.5555340051651, -55.74066925048828, -8.782451629638672, -6.230720043182373, 17.32706642150879, -0.30271658301353455], "ext_wrench_in_world": [4.9984361761933505, -55.64175263721681, 8.098416537311184, 5.187543609037295, 17.664758112986256, 0.43180143068996996]}
+{"timestamp_ns": 1789729563296775177, "elapsed_ms": 6766, "source_timestamp_ns": 1789729563295259004, "q": [0.26329442858695984, -1.8336375951766968, 0.0108742481097579, 0.5277606248855591, 1.7438991069793701, 0.16364502906799316, -0.8686380386352539], "theta": [0.260710746049881, -1.8335320949554443, 0.009672144427895546, 0.5116291642189026, 1.74390709400177, 0.16480982303619385, -0.8675975799560547], "dq": [0.0005660944152623415, -0.0012286888668313622, -0.0019427173538133502, 0.00031997711630538106, -0.00010335072875022888, -6.6323127612122335e-06, -0.0008428423316217959], "dtheta": [-4.258489570929669e-05, -0.00033582322066649795, -0.00034711312036961317, 0.00016554156900383532, 0.000555157195776701, 0.000323393294820562, -0.00019671097106765956], "tau": [-60.82999801635742, -9.130000114440918, -18.856000900268555, 4.75600004196167, -3.7200002670288086, 4.212000370025635, -0.0], "tau_des": [-1.1624027490615845, 0.37744998931884766, -0.3456309735774994, -0.91595059633255, 0.3444046676158905, 0.44689616560935974, -0.02707025222480297], "tau_dot": [21.464811325073242, 146.86865234375, 30.097694396972656, -39.649078369140625, -15.310569763183594, -9.628042221069336, 8.913106918334961], "tau_ext": [15.03427791595459, -34.8421745300293, -36.57136154174805, 20.652395248413086, -2.7252702713012695, -7.34431266784668, -0.10346604138612747], "tcp_pose": [0.6380650997161865, -0.16190966963768005, -0.45061275362968445, -0.006358093582093716, -0.029924998059868813, 0.9995152950286865, 0.0057654730044305325], "tcp_vel": [-5.435398634290323e-05, -0.0003770227776840329, 0.0001832987181842327, -0.0003094541607424617, -0.000573188008274883, -0.0003032793174497783], "flange_pose": [0.6405456066131592, -0.16402719914913177, -0.2606407701969147, -0.006358093582093716, -0.029924998059868813, 0.9995152950286865, 0.0057654730044305325], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.6687328815460205, -55.86833572387695, -8.7158203125, -6.252479553222656, 17.355201721191406, -0.28025001287460327], "ext_wrench_in_world": [5.117398030609778, -55.76174941809558, 8.028740183577671, 5.207501566123749, 17.69432912475877, 0.40952616517274393]}
+{"timestamp_ns": 1789729563330100169, "elapsed_ms": 6800, "source_timestamp_ns": 1789729563325255286, "q": [0.2632971405982971, -1.8336421251296997, 0.01087453868240118, 0.5277568697929382, 1.7439054250717163, 0.16364502906799316, -0.8686365485191345], "theta": [0.26071232557296753, -1.8335371017456055, 0.009673336520791054, 0.511627733707428, 1.743913173675537, 0.16480839252471924, -0.8676000237464905], "dq": [0.0003996281011495739, 0.0019533021841198206, -0.0005492402706295252, -0.002471325220540166, 0.002209907630458474, -0.00035935439518652856, -0.0004958271165378392], "dtheta": [0.0003060867020394653, -0.0006404431769624352, -0.00016186117136385292, 0.0002679085300769657, 0.0006957505247555673, -0.0009320931858383119, -0.0002557284606155008], "tau": [-60.72999954223633, -9.1899995803833, -18.84400177001953, 4.784000396728516, -3.7080001831054688, 4.208000183105469, -0.004000000189989805], "tau_des": [-1.3214352130889893, 0.43517041206359863, -0.40625038743019104, -0.9526659846305847, 0.3407071530818939, 0.5077810287475586, -0.03760238364338875], "tau_dot": [115.72335052490234, 3.112562656402588, 12.929033279418945, 28.586334228515625, 12.495168685913086, -15.869511604309082, -6.860065460205078], "tau_ext": [15.053848266601562, -34.81260681152344, -36.57194900512695, 20.640138626098633, -2.725968360900879, -7.340374946594238, -0.10636341571807861], "tcp_pose": [0.6380642652511597, -0.1619103103876114, -0.4506149888038635, -0.006357080303132534, -0.02992328815162182, 0.9995153546333313, 0.005767612252384424], "tcp_vel": [-0.0006315956707112491, -0.00028862131875939667, -0.000193969885003753, 0.0007620835094712675, 0.0004943158128298819, -0.0007131086313165724], "flange_pose": [0.6405443549156189, -0.16402865946292877, -0.26064297556877136, -0.006357080303132534, -0.02992328815162182, 0.9995153546333313, 0.005767612252384424], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.6929452419281006, -55.847023010253906, -8.68587875366211, -6.2343268394470215, 17.361404418945312, -0.27217644453048706], "ext_wrench_in_world": [5.139692877856825, -55.738744714903845, 7.998526561273736, 5.188967330195672, 17.699503344937817, 0.4018382073390344]}
+{"timestamp_ns": 1789729563363426352, "elapsed_ms": 6833, "source_timestamp_ns": 1789729563355267153, "q": [0.26329952478408813, -1.8336467742919922, 0.010873639024794102, 0.5277536511421204, 1.7439079284667969, 0.16364751756191254, -0.8686345219612122], "theta": [0.2607133686542511, -1.8335434198379517, 0.009673717431724072, 0.5116269588470459, 1.7439154386520386, 0.16480958461761475, -0.8676009774208069], "dq": [-6.371969357132912e-05, -0.0014693132834509015, 0.002114421222358942, 0.0006927514332346618, -0.0002509331679902971, -0.0008362000808119774, 0.00179490284062922], "dtheta": [0.00030796133796684444, 0.0002972002257592976, -6.56317524772021e-06, -0.00016284154844470322, -0.00035543396370485425, 0.000947004824411124, -0.00018707058916334063], "tau": [-60.7599983215332, -9.229999542236328, -18.832000732421875, 4.796000003814697, -3.7280001640319824, 4.196000099182129, -0.03200000151991844], "tau_des": [-1.2379955053329468, 0.1623445302248001, -0.3978894352912903, -0.7827689051628113, 0.34936201572418213, 0.46134689450263977, -0.022092288359999657], "tau_dot": [-113.72965240478516, 17.272655487060547, 43.94017791748047, -10.88357925415039, -33.94139099121094, -48.43830871582031, -120.55834197998047], "tau_ext": [14.988923072814941, -34.80241775512695, -36.59153747558594, 20.630619049072266, -2.726212501525879, -7.331369400024414, -0.11105634272098541], "tcp_pose": [0.6380630135536194, -0.16191287338733673, -0.45061591267585754, -0.006356619298458099, -0.029921455308794975, 0.9995154142379761, 0.005766959860920906], "tcp_vel": [0.00020218668214511126, 7.849063877074514e-06, -0.0001166506262961775, -0.000810220604762435, -9.424728341400623e-05, 0.0007016725139692426], "flange_pose": [0.6405429244041443, -0.164030984044075, -0.2606438994407654, -0.006356619298458099, -0.029921455308794975, 0.9995154142379761, 0.005766959860920906], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.7108681201934814, -55.855201721191406, -8.704784393310547, -6.233142375946045, 17.364397048950195, -0.27163106203079224], "ext_wrench_in_world": [5.1581058012488255, -55.74605407590187, 8.017187778981377, 5.187663665347194, 17.702407070488096, 0.40132504561020005]}
+{"timestamp_ns": 1789729563396770340, "elapsed_ms": 6866, "source_timestamp_ns": 1789729563395251528, "q": [0.26330387592315674, -1.833653211593628, 0.010873096063733101, 0.527747631072998, 1.7439310550689697, 0.16364900767803192, -0.8686373233795166], "theta": [0.26071664690971375, -1.8335511684417725, 0.009673336520791054, 0.5116236805915833, 1.7439378499984741, 0.16480910778045654, -0.867608904838562], "dq": [-0.00020854143076576293, -0.00021054175158496946, -0.0012324951821938157, -0.0015194712905213237, 0.0005162656307220459, 0.0002566410694271326, -3.9049591578077525e-05], "dtheta": [0.00025389299844391644, -0.00026627586339600384, -8.86325360625051e-05, -5.9389825764810666e-05, 0.0006977248121984303, -0.00013097732153255492, -9.344465070171282e-05], "tau": [-60.82999801635742, -9.289999961853027, -18.892000198364258, 4.784000396728516, -3.7400002479553223, 4.232000350952148, -0.012000000104308128], "tau_des": [-1.2741678953170776, 0.22448933124542236, -0.44437527656555176, -0.8147576451301575, 0.30096861720085144, 0.49779313802719116, -0.037171415984630585], "tau_dot": [38.414085388183594, 11.992703437805176, -28.469898223876953, -11.715836524963379, -44.64530944824219, 34.02690124511719, 68.1705322265625], "tau_ext": [15.028790473937988, -34.78718566894531, -36.57481002807617, 20.62867546081543, -2.7088351249694824, -7.33320426940918, -0.08836809545755386], "tcp_pose": [0.6380645632743835, -0.16191144287586212, -0.4506204128265381, -0.00634987186640501, -0.02992064692080021, 0.9995154142379761, 0.005773724056780338], "tcp_vel": [-0.00012831392814405262, -3.952806946472265e-05, -0.00018634488515090197, 0.0004316638223826885, -0.00013195570500101894, -0.00021450445638038218], "flange_pose": [0.6405420303344727, -0.1640322059392929, -0.2606483995914459, -0.00634987186640501, -0.02992064692080021, 0.9995154142379761, 0.005773724056780338], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.733639121055603, -55.82770919799805, -8.718390464782715, -6.2279510498046875, 17.362058639526367, -0.2662743628025055], "ext_wrench_in_world": [5.179165198985346, -55.717521561675404, 8.03013013970258, 5.182578158393659, 17.699807088992706, 0.396319520066557]}
+{"timestamp_ns": 1789729563430097142, "elapsed_ms": 6900, "source_timestamp_ns": 1789729563425239702, "q": [0.2633141577243805, -1.8336641788482666, 0.010872508399188519, 0.5277457237243652, 1.74394690990448, 0.16365499794483185, -0.8686392307281494], "theta": [0.2607266306877136, -1.8335615396499634, 0.009673193097114563, 0.5116236805915833, 1.7439528703689575, 0.16481339931488037, -0.8676143884658813], "dq": [0.0023710925597697496, -0.0019717090763151646, -0.00021532758546527475, 0.0014734483556821942, 0.0010725081665441394, -0.001332949846982956, -0.00188206578604877], "dtheta": [0.0004362095787655562, -0.0002901584666687995, 5.996586332912557e-05, 0.00035666555049829185, 0.0006349412724375725, 0.0012654493330046535, 0.00018539554730523378], "tau": [-60.959999084472656, -9.239999771118164, -18.87200164794922, 4.840000152587891, -3.7080001831054688, 4.223999977111816, -0.00800000037997961], "tau_des": [-1.3341939449310303, 0.3646697998046875, -0.4341386556625366, -0.9018809199333191, 0.3208344578742981, 0.46806153655052185, -0.06371846050024033], "tau_dot": [-88.18672180175781, -44.086849212646484, 38.59890365600586, -6.25748872756958, -37.07919692993164, 38.17401885986328, 17.50147247314453], "tau_ext": [15.110998153686523, -34.81387710571289, -36.552490234375, 20.637975692749023, -2.7031493186950684, -7.334399223327637, -0.07674615830183029], "tcp_pose": [0.638059139251709, -0.16191715002059937, -0.4506264328956604, -0.0063472636975348, -0.02991587482392788, 0.9995155930519104, 0.0057754479348659515], "tcp_vel": [-0.0001213721334352158, -0.00046032306272536516, -0.00015339370293077081, -0.0005992228980176151, -0.0008996230317279696, -0.000940407975576818], "flange_pose": [0.6405355930328369, -0.16403859853744507, -0.26065441966056824, -0.0063472636975348, -0.02991587482392788, 0.9995155930519104, 0.0057754479348659515], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.7728408575057983, -55.84524154663086, -8.6434907913208, -6.221628189086914, 17.373369216918945, -0.2516295909881592], "ext_wrench_in_world": [5.217788938901958, -55.731915969412555, 7.954377545392565, 5.175568624544831, 17.71083042706896, 0.3819786877877968]}
+{"timestamp_ns": 1789729563463429783, "elapsed_ms": 6933, "source_timestamp_ns": 1789729563455241852, "q": [0.2633192241191864, -1.8336751461029053, 0.010871317237615585, 0.5277430415153503, 1.743964433670044, 0.16367481648921967, -0.8686463832855225], "theta": [0.2607305645942688, -1.8335726261138916, 0.009672286920249462, 0.5116222500801086, 1.7439700365066528, 0.16483211517333984, -0.8676256537437439], "dq": [-0.001988750882446766, -0.0006755977519787848, 0.0016039720503613353, -0.00043405056931078434, -0.0019465244840830564, -1.247180625796318e-05, -0.0001951537560671568], "dtheta": [-0.0003076799330301583, -0.0006226092809811234, 0.00010007002128986642, 3.4722499549388885e-05, -0.00027879359549842775, 0.0005167955532670021, 0.000326016714097932], "tau": [-60.64999771118164, -9.15999984741211, -18.84000015258789, 4.804000377655029, -3.7200002670288086, 4.188000202178955, -0.036000002175569534], "tau_des": [-1.1630817651748657, 0.4509379267692566, -0.3525692820549011, -0.9337298274040222, 0.3454529643058777, 0.41951984167099, -0.06963653117418289], "tau_dot": [-25.776134490966797, -52.78630447387695, -51.223243713378906, -30.939014434814453, 17.964664459228516, 0.9329411387443542, 40.18506622314453], "tau_ext": [15.023883819580078, -34.813228607177734, -36.579124450683594, 20.611040115356445, -2.7164251804351807, -7.319029331207275, -0.07029253989458084], "tcp_pose": [0.6380594372749329, -0.1619253158569336, -0.45062774419784546, -0.006336874794214964, -0.02991403453052044, 0.9995157122612, 0.005772331729531288], "tcp_vel": [-0.00013783469330519438, -0.0005991426878608763, 0.0003356150700710714, -0.0006444687605835497, -0.0004892641445621848, -0.0009324575075879693], "flange_pose": [0.6405318975448608, -0.16404570639133453, -0.26065564155578613, -0.006336874794214964, -0.02991403453052044, 0.9995157122612, 0.005772331729531288], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.8572226762771606, -55.93025207519531, -8.575639724731445, -6.2340497970581055, 17.39252471923828, -0.24293945729732513], "ext_wrench_in_world": [5.3058309208301155, -55.8109341924402, 7.884906642391625, 5.1867685483155075, 17.730773719675028, 0.3733736591046107]}
+{"timestamp_ns": 1789729563496769362, "elapsed_ms": 6966, "source_timestamp_ns": 1789729563495257219, "q": [0.2632806599140167, -1.833685278892517, 0.0108554158359766, 0.5277412533760071, 1.7439604997634888, 0.16369222104549408, -0.868651807308197], "theta": [0.26069438457489014, -1.833583116531372, 0.009661272168159485, 0.51162189245224, 1.7439676523208618, 0.1648472547531128, -0.86763596534729], "dq": [-4.111668749828823e-05, 0.0021164221689105034, 0.0018413143698126078, 0.0020213283132761717, -0.0006265686824917793, 0.00020953062630724162, -0.00028928639949299395], "dtheta": [-0.0007663166034035385, -0.00031179439974948764, -8.701458864379674e-05, 0.00011705017095664516, -4.3634892790578306e-05, -0.0003998879692517221, 0.00013277230027597398], "tau": [-60.19999694824219, -9.119999885559082, -18.604000091552734, 4.820000171661377, -3.700000286102295, 4.088000297546387, -0.04000000283122063], "tau_des": [-0.7203254699707031, 0.4096187353134155, -0.14470437169075012, -0.8921847343444824, 0.36032482981681824, 0.2559894025325775, -0.05884464830160141], "tau_dot": [-40.89542007446289, -10.174179077148438, 32.69913101196289, 69.4179458618164, -25.98873519897461, -21.526723861694336, 4.9623894691467285], "tau_ext": [14.370960235595703, -34.85755920410156, -36.79543685913086, 20.615198135375977, -2.7540078163146973, -7.246140480041504, -0.06232456490397453], "tcp_pose": [0.6380751132965088, -0.16194170713424683, -0.45059439539909363, -0.006315493490546942, -0.029915114864706993, 0.9995158910751343, 0.005755552556365728], "tcp_vel": [5.320270065567456e-05, -0.0002242693299194798, 0.0005354866152629256, 6.555893196491525e-05, -0.00043489073868840933, -0.0005179769359529018], "flange_pose": [0.6405392289161682, -0.1640559583902359, -0.26062214374542236, -0.006315493490546942, -0.029915114864706993, 0.9995158910751343, 0.005755552556365728], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.036099910736084, -56.01966857910156, -9.010990142822266, -6.287970542907715, 17.421525955200195, -0.22984890639781952], "ext_wrench_in_world": [5.495133539104309, -55.89405352947729, 8.318966362731413, 5.238632679804096, 17.763118248179012, 0.3596226122754718]}
+{"timestamp_ns": 1789729563530102213, "elapsed_ms": 7000, "source_timestamp_ns": 1789729563525256080, "q": [0.2632799446582794, -1.833690881729126, 0.010853256098926067, 0.5277402997016907, 1.7439603805541992, 0.16368643939495087, -0.8686560988426208], "theta": [0.2606932818889618, -1.8335881233215332, 0.009661796502768993, 0.5116217136383057, 1.7439676523208618, 0.1648387908935547, -0.8676440715789795], "dq": [-0.0030545657500624657, -0.00033623428316786885, 0.001407124917022884, -0.0009639188065193594, -0.000876680132932961, -0.0006680070073343813, 0.002283501671627164], "dtheta": [0.00038170357584021986, -0.0003845541214104742, -8.27445401228033e-05, -6.68703141855076e-05, -0.0009039965807460248, -0.0012325281277298927, -0.00039491834468208253], "tau": [-60.52000045776367, -9.139999389648438, -18.644001007080078, 4.808000087738037, -3.684000253677368, 4.068000316619873, -0.0560000017285347], "tau_des": [-1.0244762897491455, 0.4518035352230072, -0.2024061381816864, -0.9089827537536621, 0.4119665026664734, 0.3245161771774292, -0.044917475432157516], "tau_dot": [21.681241989135742, 21.928123474121094, 55.91547775268555, 39.157188415527344, 0.2589300572872162, -14.372054100036621, -18.603193283081055], "tau_ext": [14.693809509277344, -34.89399337768555, -36.76331329345703, 20.623382568359375, -2.7455124855041504, -7.225891590118408, -0.06746566295623779], "tcp_pose": [0.6380717754364014, -0.16194500029087067, -0.45059311389923096, -0.006317386403679848, -0.029915260151028633, 0.9995158910751343, 0.005756072234362364], "tcp_vel": [-0.0007460538763552904, -0.0002053918578894809, -0.00020702832262031734, 0.00012454920215532184, 0.00189127866178751, 0.0002743569202721119], "flange_pose": [0.6405366659164429, -0.16405944526195526, -0.2606208622455597, -0.006317386403679848, -0.029915260151028633, 0.9995158910751343, 0.005756072234362364], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.1379358768463135, -56.1207160949707, -9.12061882019043, -6.307765007019043, 17.4364013671875, -0.22953730821609497], "ext_wrench_in_world": [5.604285581812599, -55.990042183709356, 8.426054347852043, 5.25749354352943, 17.7791559644713, 0.35924118367187285]}
+{"timestamp_ns": 1789729563563443572, "elapsed_ms": 7033, "source_timestamp_ns": 1789729563555265188, "q": [0.2632753849029541, -1.833691120147705, 0.010851917788386345, 0.5277392864227295, 1.7439624071121216, 0.1636829823255539, -0.8686548471450806], "theta": [0.26068785786628723, -1.8335883617401123, 0.009661558084189892, 0.5116211175918579, 1.7439697980880737, 0.16483163833618164, -0.8676462769508362], "dq": [-0.0008797930786386132, 4.5967837650096044e-05, 0.0008195554837584496, 0.0013271903153508902, 0.0004034817102365196, -0.0009009107598103583, -0.0023328850511461496], "dtheta": [-0.00016797537682577968, -0.00016167316061910242, -4.080491271452047e-05, -6.966399087104946e-05, -0.00039765299879945815, 1.9613149561337195e-05, -0.0003859657736029476], "tau": [-60.29999923706055, -9.1899995803833, -18.66400146484375, 4.832000255584717, -3.6720001697540283, 4.048000335693359, -0.0560000017285347], "tau_des": [-0.8141506314277649, 0.3342738449573517, -0.15657266974449158, -0.8320750594139099, 0.38498297333717346, 0.2694052457809448, -0.04294491186738014], "tau_dot": [82.98367309570312, -4.376453876495361, 38.03818130493164, 22.203798294067383, -19.349515914916992, -2.2040281295776367, 3.154320240020752], "tau_ext": [14.599157333374023, -34.84103012084961, -36.78759765625, 20.609479904174805, -2.7551515102386475, -7.183422565460205, -0.0675721988081932], "tcp_pose": [0.6380738019943237, -0.16194413602352142, -0.4505904018878937, -0.006315689533948898, -0.029914982616901398, 0.9995158910751343, 0.005757441744208336], "tcp_vel": [-4.5292676077224314e-05, -0.0001887805701699108, 0.0001785286731319502, -0.00034069587127305567, 0.00010657424718374386, 0.0003815246163867414], "flange_pose": [0.6405380368232727, -0.1640591025352478, -0.2606181502342224, -0.006315689533948898, -0.029914982616901398, 0.9995158910751343, 0.005757441744208336], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.178964853286743, -56.15888214111328, -9.053122520446777, -6.27357816696167, 17.43390464782715, -0.2301402986049652], "ext_wrench_in_world": [5.646581044039353, -56.024956709954104, 8.357470113760243, 5.223536894870021, 17.774606144246928, 0.360302051590342]}
+{"timestamp_ns": 1789729563596768864, "elapsed_ms": 7066, "source_timestamp_ns": 1789729563595256561, "q": [0.2632758617401123, -1.8336912393569946, 0.010850349441170692, 0.5277372002601624, 1.743969440460205, 0.1636839359998703, -0.8686509728431702], "theta": [0.26068753004074097, -1.8335881233215332, 0.009661749005317688, 0.5116206407546997, 1.7439768314361572, 0.16482758522033691, -0.8676469922065735], "dq": [-0.003007533261552453, 0.00029647108749486506, -0.0012635656166821718, 0.0006738262018188834, -0.00084296939894557, 2.900544677686412e-05, 0.0004892940050922334], "dtheta": [-0.00016906873497646302, 0.00018188047397416085, -0.00018339099187869579, 0.00015774437633808702, 0.0013939745258539915, 0.0003687027492560446, -0.0003391822101548314], "tau": [-60.38999938964844, -9.199999809265137, -18.68800163269043, 4.804000377655029, -3.684000253677368, 4.0360002517700195, -0.04400000348687172], "tau_des": [-0.775368869304657, 0.16571341454982758, -0.19180867075920105, -0.7397533655166626, 0.3187682628631592, 0.26689496636390686, -0.0487518236041069], "tau_dot": [8.348922729492188, 65.6551513671875, -68.48255920410156, 3.893893003463745, 2.751286029815674, -18.7469482421875, -9.00840950012207], "tau_ext": [14.6812162399292, -34.82316589355469, -36.76815414428711, 20.621721267700195, -2.7546889781951904, -7.150449275970459, -0.06865815818309784], "tcp_pose": [0.6380758285522461, -0.1619427651166916, -0.4505910277366638, -0.0063132732175290585, -0.029913604259490967, 0.999515950679779, 0.005758907645940781], "tcp_vel": [0.00042627035873010755, 0.00021330737217795104, 5.658182635670528e-05, 0.0005171439843252301, -0.0013704488519579172, 0.00014929156168363988], "flange_pose": [0.6405391693115234, -0.16405832767486572, -0.26061877608299255, -0.0063132732175290585, -0.029913604259490967, 0.999515950679779, 0.005758907645940781], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.1417598724365234, -56.08366012573242, -9.013994216918945, -6.211773872375488, 17.398941040039062, -0.2303774207830429], "ext_wrench_in_world": [5.604248964751402, -55.95170751496507, 8.319554068180656, 5.163987588708302, 17.73598875000348, 0.36096115539722384]}
+{"timestamp_ns": 1789729563630091298, "elapsed_ms": 7100, "source_timestamp_ns": 1789729563625236577, "q": [0.2632765471935272, -1.8336924314498901, 0.010848972015082836, 0.527737557888031, 1.743971586227417, 0.16368412971496582, -0.8686492443084717], "theta": [0.26068779826164246, -1.83358895778656, 0.009661558084189892, 0.5116217732429504, 1.7439793348312378, 0.1648242473602295, -0.8676474690437317], "dq": [-0.0002980136778205633, 0.0012484238250181079, 0.003622445510700345, -0.0003874341491609812, 0.0028255456127226353, 0.0012545048957690597, -0.002016629558056593], "dtheta": [0.00026783940847963095, -0.00011047790758311749, 0.0002075880765914917, 4.5669232349609956e-05, 0.0010569181758910418, -0.0006314801285043359, 0.00041556640644557774], "tau": [-60.439998626708984, -9.220000267028809, -18.68000030517578, 4.804000377655029, -3.684000253677368, 4.019999980926514, -0.03200000151991844], "tau_des": [-0.9233203530311584, 0.22249826788902283, -0.2559381425380707, -0.774791419506073, 0.3149544894695282, 0.3073938488960266, -0.07130692899227142], "tau_dot": [-56.575279235839844, -3.7202608585357666, -30.232240676879883, -41.39073944091797, 1.8207085132598877, 7.4699273109436035, -12.63095474243164], "tau_ext": [14.625244140625, -34.81454086303711, -36.75553894042969, 20.608938217163086, -2.7492799758911133, -7.148116588592529, -0.07519834488630295], "tcp_pose": [0.6380751729011536, -0.16194383800029755, -0.45059099793434143, -0.006312951911240816, -0.029911966994404793, 0.9995160102844238, 0.005758719518780708], "tcp_vel": [-0.00013311799557413906, 0.0003075542626902461, -0.0003934731939807534, 0.0013204070273786783, -9.703647083370015e-05, -0.0008168982458300889], "flange_pose": [0.6405383944511414, -0.1640593260526657, -0.2606187164783478, -0.006312951911240816, -0.029911966994404793, 0.9995160102844238, 0.005758719518780708], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.1082842350006104, -56.03404235839844, -9.009337425231934, -6.18646764755249, 17.375858306884766, -0.23352323472499847], "ext_wrench_in_world": [5.567623553523494, -55.90414930953037, 8.31592353404077, 5.140205908023461, 17.711382011658667, 0.3641392817603243]}
+{"timestamp_ns": 1789729563663436966, "elapsed_ms": 7133, "source_timestamp_ns": 1789729563655239047, "q": [0.2632788419723511, -1.8336939811706543, 0.01084837969392538, 0.5277370810508728, 1.7439755201339722, 0.16368545591831207, -0.8686522841453552], "theta": [0.26068976521492004, -1.8335903882980347, 0.009662034921348095, 0.5116224884986877, 1.7439827919006348, 0.16482257843017578, -0.8676530122756958], "dq": [0.003472620388492942, -0.00035657311673276126, 0.0007198926759883761, 0.0006634608726017177, 0.0016610706225037575, 0.0002749458944890648, -0.001019432907924056], "dtheta": [-3.524225394357927e-05, 5.262923423288157e-06, 0.000260590051766485, 0.0004347507783677429, -0.0003906878409907222, -0.0002464049612171948, -0.0007825426291674376], "tau": [-60.369998931884766, -9.269999504089355, -18.676000595092773, 4.8520002365112305, -3.688000202178955, 4.019999980926514, -0.04800000041723251], "tau_des": [-0.8299554586410522, 0.25480350852012634, -0.19878451526165009, -0.7803936004638672, 0.35385823249816895, 0.2720414102077484, -0.04717641696333885], "tau_dot": [53.61612319946289, -40.345829010009766, 15.453059196472168, 23.761903762817383, 0.7310968637466431, 15.30066204071045, -44.27810287475586], "tau_ext": [14.638304710388184, -34.80321502685547, -36.75787353515625, 20.603168487548828, -2.751228094100952, -7.139894008636475, -0.07402273267507553], "tcp_pose": [0.638074517250061, -0.1619444638490677, -0.45059236884117126, -0.0063122911378741264, -0.029912734404206276, 0.9995160102844238, 0.0057591637596488], "tcp_vel": [-0.0002725606900639832, -9.204186062561348e-05, -6.592643330805004e-06, 5.668075755238533e-05, 0.0003420694556552917, 0.00037436356069520116], "flange_pose": [0.6405375003814697, -0.16406013071537018, -0.2606201171875, -0.0063122911378741264, -0.029912734404206276, 0.9995160102844238, 0.0057591637596488], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.1096999645233154, -56.033626556396484, -9.006939888000488, -6.1814446449279785, 17.364957809448242, -0.23627863824367523], "ext_wrench_in_world": [5.569054909335155, -55.903622150365074, 8.31346877266568, 5.135851621039274, 17.70017781543863, 0.3668496226509386]}
+{"timestamp_ns": 1789729563696767037, "elapsed_ms": 7166, "source_timestamp_ns": 1789729563695249935, "q": [0.2632809281349182, -1.8336998224258423, 0.01084805279970169, 0.5277398824691772, 1.7439765930175781, 0.1636870950460434, -0.8686696290969849], "theta": [0.26069191098213196, -1.8335967063903809, 0.009662702679634094, 0.5116264820098877, 1.7439836263656616, 0.16482031345367432, -0.8676750063896179], "dq": [3.74741866835393e-05, 0.0008865431300364435, -0.0008120177080854774, -0.0003508948429953307, -0.00047648244071751833, 0.0015971160028129816, 0.0005882479017600417], "dtheta": [0.00029827962862327695, -0.0003694468177855015, -5.397852510213852e-05, 0.00031760797719471157, 0.00017766431847121567, 9.256522753275931e-05, -0.0016599955270066857], "tau": [-60.439998626708984, -9.25, -18.676000595092773, 4.860000133514404, -3.6760001182556152, 4.028000354766846, -0.04400000348687172], "tau_des": [-0.8742249011993408, 0.34983620047569275, -0.16172945499420166, -0.8134145736694336, 0.3715797960758209, 0.2452745884656906, -0.020188042894005775], "tau_dot": [-29.422080993652344, -0.18949569761753082, -31.574159622192383, -21.457767486572266, -16.614017486572266, 63.46205139160156, 2.0861973762512207], "tau_ext": [14.614826202392578, -34.82680130004883, -36.770355224609375, 20.577220916748047, -2.756131172180176, -7.12757682800293, -0.05987735092639923], "tcp_pose": [0.6380699872970581, -0.16195006668567657, -0.45059239864349365, -0.006312403827905655, -0.02991710789501667, 0.9995158910751343, 0.005757723469287157], "tcp_vel": [-0.00039832000038586557, -0.00038677724660374224, -9.715164924273267e-05, -0.00015335831267293543, 0.00010577294597169384, 0.000976758892647922], "flange_pose": [0.6405329704284668, -0.1640651822090149, -0.2606201469898224, -0.006312403827905655, -0.02991710789501667, 0.9995158910751343, 0.005757723469287157], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.204293966293335, -56.09764099121094, -9.000280380249023, -6.192752361297607, 17.38191795349121, -0.22916370630264282], "ext_wrench_in_world": [5.6677004492342, -55.961707161215536, 8.305045864523011, 5.145877703277543, 17.71790883790188, 0.35974800799042506]}
+{"timestamp_ns": 1789729563730095749, "elapsed_ms": 7200, "source_timestamp_ns": 1789729563725246866, "q": [0.26328104734420776, -1.8337061405181885, 0.010849734768271446, 0.5277407169342041, 1.743979573249817, 0.1636865884065628, -0.8686727285385132], "theta": [0.26069265604019165, -1.8336029052734375, 0.009664657525718212, 0.5116280913352966, 1.7439866065979004, 0.1648169755935669, -0.8676817417144775], "dq": [0.0016720907296985388, 0.00042897366802208126, 0.000996071146801114, 0.0006560077308677137, 0.0004286597832106054, -0.000795373460277915, 0.0009604738443158567], "dtheta": [-8.54547179187648e-05, 0.0002554321545176208, 0.00022048517712391913, 5.9475278249010444e-05, 0.00019464414799585938, 0.0009185868548229337, -0.0005171414813958108], "tau": [-60.32999801635742, -9.220000267028809, -18.636001586914062, 4.900000095367432, -3.688000202178955, 3.992000102996826, -0.06000000238418579], "tau_des": [-0.7436208724975586, 0.16266438364982605, -0.1708199828863144, -0.7082024216651917, 0.3356020152568817, 0.21180735528469086, -0.03661038726568222], "tau_dot": [65.41499328613281, -3.6785247325897217, 10.6956787109375, 6.251487731933594, -42.9328727722168, 3.0798163414001465, 10.220495223999023], "tau_ext": [14.612051010131836, -34.7702522277832, -36.7817268371582, 20.53708839416504, -2.755096912384033, -7.121133804321289, -0.05401179939508438], "tcp_pose": [0.638066828250885, -0.16195373237133026, -0.4505924582481384, -0.006311321165412664, -0.029914753511548042, 0.999515950679779, 0.005758767947554588], "tcp_vel": [0.0003617557231336832, 8.46257244120352e-05, 2.860701351892203e-05, -0.0002690657856874168, -0.0009192530415020883, 0.0006169952102936804], "flange_pose": [0.640529453754425, -0.164069265127182, -0.2606201767921448, -0.006311321165412664, -0.029914753511548042, 0.999515950679779, 0.005758767947554588], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.324669361114502, -56.18876647949219, -8.955648422241211, -6.205636978149414, 17.4113826751709, -0.2227756679058075], "ext_wrench_in_world": [5.792432805157972, -56.045003763532705, 8.257752728892708, 5.156978732612429, 17.748136307056445, 0.3536013879431653]}
+{"timestamp_ns": 1789729563763426560, "elapsed_ms": 7233, "source_timestamp_ns": 1789729563755241868, "q": [0.263280987739563, -1.8337085247039795, 0.010850245133042336, 0.5277420878410339, 1.7439794540405273, 0.16368448734283447, -0.8686738014221191], "theta": [0.2606925368309021, -1.8336049318313599, 0.009665945544838905, 0.5116298794746399, 1.7439866065979004, 0.16481244564056396, -0.8676860332489014], "dq": [-0.000833093305118382, -0.00015407762839458883, 0.0028765068855136633, -0.0003204035747330636, 0.0013166946591809392, 0.0012534558773040771, 0.0006169215776026249], "dtheta": [-0.00010876399755943567, 0.00033871090272441506, -0.00016591057647019625, 0.00012318308290559798, -0.0002861160901375115, -0.0006072518299333751, 0.0008105886518023908], "tau": [-60.40999984741211, -9.1899995803833, -18.652000427246094, 4.904000282287598, -3.688000202178955, 3.9880001544952393, -0.06000000238418579], "tau_des": [-0.7588137984275818, 0.1782471239566803, -0.16581237316131592, -0.7310522198677063, 0.35000622272491455, 0.2427663952112198, -0.06396859884262085], "tau_dot": [-38.08582305908203, 85.88885498046875, -11.630950927734375, 6.889081001281738, 15.983555793762207, -4.096500396728516, -21.630477905273438], "tau_ext": [14.599020957946777, -34.74063491821289, -36.790775299072266, 20.504121780395508, -2.7521495819091797, -7.107029438018799, -0.05135984346270561], "tcp_pose": [0.6380646228790283, -0.16195543110370636, -0.4505923092365265, -0.0063119553960859776, -0.029913390055298805, 0.999515950679779, 0.005759283434599638], "tcp_vel": [4.5903362888566335e-07, 0.00022145765251480043, 5.5333606724161655e-05, 0.000136684175231494, 0.0005679518217220902, -0.000509080127812922], "flange_pose": [0.6405274868011475, -0.16407114267349243, -0.2606200575828552, -0.0063119553960859776, -0.029913390055298805, 0.999515950679779, 0.005759283434599638], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.443843364715576, -56.25033187866211, -8.931028366088867, -6.212717056274414, 17.437705993652344, -0.21844027936458588], "ext_wrench_in_world": [5.914600045864124, -56.0990695727241, 8.230879290750455, 5.162466040513268, 17.774868538006494, 0.3495032691762632]}
+{"timestamp_ns": 1789729563796767729, "elapsed_ms": 7266, "source_timestamp_ns": 1789729563795250557, "q": [0.2632817327976227, -1.833709716796875, 0.010850346647202969, 0.5277407765388489, 1.7439812421798706, 0.16367973387241364, -0.8686701655387878], "theta": [0.2606929540634155, -1.833606243133545, 0.009667185135185719, 0.5116304755210876, 1.7439874410629272, 0.1648043394088745, -0.8676862716674805], "dq": [0.000778341549448669, 0.0018983585759997368, 0.0002836041967384517, 0.0015801250701770186, -0.00064128078520298, 0.00010337466665077955, -0.0018864746671169996], "dtheta": [-1.8934262698167004e-05, -0.00015848952170927078, 0.00015603330393787473, 0.00030926259933039546, -2.8010526875732467e-05, -0.00036327767884358764, -0.0005834430339746177], "tau": [-60.32999801635742, -9.289999961853027, -18.648000717163086, 4.920000076293945, -3.704000234603882, 3.9800002574920654, -0.04800000041723251], "tau_des": [-0.7918369770050049, 0.273360013961792, -0.18185783922672272, -0.7713648676872253, 0.33832576870918274, 0.24078021943569183, -0.05355377495288849], "tau_dot": [28.13667869567871, -12.566474914550781, 43.14491271972656, 9.434622764587402, 34.162574768066406, 12.435466766357422, 23.281034469604492], "tau_ext": [14.588043212890625, -34.74036407470703, -36.78630828857422, 20.505279541015625, -2.7364563941955566, -7.106622695922852, -0.05385630205273628], "tcp_pose": [0.6380636692047119, -0.1619543880224228, -0.4505934715270996, -0.006313236430287361, -0.029911503195762634, 0.9995160102844238, 0.005761716980487108], "tcp_vel": [-0.0002720937191043049, -0.00010619028034852818, -2.1483569071278907e-05, 0.0002762897638604045, 0.00020817044423893094, 9.672938176663592e-05], "flange_pose": [0.6405270099639893, -0.16407102346420288, -0.26062121987342834, -0.006313236430287361, -0.029911503195762634, 0.9995160102844238, 0.005761716980487108], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.534693717956543, -56.30220031738281, -8.905969619750977, -6.221675395965576, 17.45241928100586, -0.21642673015594482], "ext_wrench_in_world": [6.007863105799742, -56.145185307636396, 8.203808588918788, 5.17057117899601, 17.79009202074573, 0.34762565879054574]}
+{"timestamp_ns": 1789729563830153027, "elapsed_ms": 7300, "source_timestamp_ns": 1789729563825239341, "q": [0.26328253746032715, -1.833709478378296, 0.010850478895008564, 0.5277397036552429, 1.7439815998077393, 0.16367775201797485, -0.8686676621437073], "theta": [0.26069360971450806, -1.8336058855056763, 0.009667518548667431, 0.5116298794746399, 1.7439868450164795, 0.16479980945587158, -0.8676857948303223], "dq": [-0.00031963991932570934, -0.001240863581188023, 0.002266832860186696, 0.00019085333042312413, 0.0017647328786551952, -0.0011759321205317974, -0.002076611155644059], "dtheta": [-0.0001551457098685205, 0.00025417140568606555, 3.308324085082859e-05, 3.8435475289588794e-05, -0.0005452740006148815, 0.00020895256602670997, -0.00020005663100164384], "tau": [-60.31999969482422, -9.260000228881836, -18.648000717163086, 4.9160003662109375, -3.7200002670288086, 3.9760000705718994, -0.04400000348687172], "tau_des": [-0.7044947743415833, 0.11428174376487732, -0.1764417439699173, -0.6726508140563965, 0.3285396695137024, 0.21848838031291962, -0.05108990892767906], "tau_dot": [90.25593566894531, -1.1241950988769531, 47.854732513427734, -27.76649284362793, -26.768102645874023, 5.846779823303223, -17.50370216369629], "tau_ext": [14.574494361877441, -34.741817474365234, -36.786476135253906, 20.501426696777344, -2.729809522628784, -7.100229740142822, -0.0634957030415535], "tcp_pose": [0.6380634903907776, -0.16195331513881683, -0.450594425201416, -0.006314133293926716, -0.029910800978541374, 0.9995160102844238, 0.005762804765254259], "tcp_vel": [0.00012853648513555527, 3.3680662454571575e-05, 0.00013400045281741768, -0.00043064268538728356, 7.910314889159054e-05, 0.000502183276694268], "flange_pose": [0.6405271887779236, -0.16407035291194916, -0.26062217354774475, -0.006314133293926716, -0.029910800978541374, 0.9995160102844238, 0.005762804765254259], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.550969362258911, -56.30305480957031, -8.903651237487793, -6.222700119018555, 17.446819305419922, -0.21958844363689423], "ext_wrench_in_world": [6.024065601498759, -56.14506381386773, 8.201150766876559, 5.171995096351888, 17.784520543876607, 0.35073562626081145]}
+{"timestamp_ns": 1789729563863436650, "elapsed_ms": 7333, "source_timestamp_ns": 1789729563855255227, "q": [0.263283908367157, -1.8337103128433228, 0.010849183425307274, 0.5277395844459534, 1.743982195854187, 0.16367758810520172, -0.8686651587486267], "theta": [0.26069486141204834, -1.8336068391799927, 0.009666899219155312, 0.5116301774978638, 1.7439861297607422, 0.1647965908050537, -0.8676855564117432], "dq": [0.0006082684267312288, -0.001007859013043344, 0.001520514371804893, 0.0007695136591792107, 0.0009595712763257325, 0.0022019175812602043, 0.0018047108314931393], "dtheta": [-0.00020982754358556122, 9.507542563369498e-05, -0.0001910520950332284, 0.0005673866835422814, -0.0008160974830389023, -0.0002573361271061003, -5.2558109018718824e-05], "tau": [-60.30999755859375, -9.289999961853027, -18.636001586914062, 4.884000301361084, -3.700000286102295, 3.9680001735687256, -0.02800000086426735], "tau_des": [-0.6948277354240417, 0.24220405519008636, -0.13987205922603607, -0.7547693252563477, 0.3517511188983917, 0.21227124333381653, -0.06765401363372803], "tau_dot": [2.002643346786499, -203.08538818359375, 28.4340877532959, -27.17465591430664, 27.481168746948242, 15.781335830688477, 13.237176895141602], "tau_ext": [14.540587425231934, -34.763946533203125, -36.79243850708008, 20.512575149536133, -2.7287981510162354, -7.089463233947754, -0.07013619691133499], "tcp_pose": [0.6380624771118164, -0.16195425391197205, -0.45059481263160706, -0.006314895115792751, -0.029909266158938408, 0.9995160698890686, 0.0057623423635959625], "tcp_vel": [-0.0002786700497381389, -0.00030052877264097333, 0.00029777578311041, -0.0006652431911788881, 0.0006036200211383402, -0.00020456936908885837], "flange_pose": [0.6405264735221863, -0.16407111287117004, -0.2606225907802582, -0.006314895115792751, -0.029909266158938408, 0.9995160698890686, 0.0057623423635959625], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.5442142486572266, -56.320465087890625, -8.917577743530273, -6.2285990715026855, 17.43472671508789, -0.22642435133457184], "ext_wrench_in_world": [6.018384163367255, -56.16301162079492, 8.214997529875934, 5.1787487052268055, 17.772711891541118, 0.3573288101811268]}
+{"timestamp_ns": 1789729563896768521, "elapsed_ms": 7366, "source_timestamp_ns": 1789729563895363871, "q": [0.2632843255996704, -1.833719253540039, 0.01084961649030447, 0.5277391076087952, 1.7439827919006348, 0.16367700695991516, -0.8686663508415222], "theta": [0.2606956660747528, -1.8336155414581299, 0.00966666080057621, 0.5116305947303772, 1.7439861297607422, 0.16479158401489258, -0.8676884770393372], "dq": [0.0014426762936636806, 0.0018712314777076244, 0.0010993198957294226, -0.0016264821169897914, -0.0020378204062581062, 0.002039648126810789, 0.0017672863323241472], "dtheta": [-0.0002927240857388824, -0.0003141885681543499, -0.0003319736570119858, 0.0003884360194206238, -9.244787361240014e-05, 0.000423162680817768, -0.0015190296107903123], "tau": [-60.31999969482422, -9.239999771118164, -18.676000595092773, 4.904000282287598, -3.692000150680542, 3.9560000896453857, -0.04000000283122063], "tau_des": [-0.9768228530883789, 0.37379929423332214, -0.19400545954704285, -0.7158172726631165, 0.3313388526439667, 0.17748236656188965, -0.056827135384082794], "tau_dot": [-70.91735076904297, -16.993724822998047, -77.64160919189453, -12.04745101928711, 56.59605407714844, 3.7170889377593994, 13.288169860839844], "tau_ext": [14.543591499328613, -34.79057693481445, -36.794273376464844, 20.520315170288086, -2.7262892723083496, -7.077147483825684, -0.0647982731461525], "tcp_pose": [0.6380579471588135, -0.16196025907993317, -0.4505941569805145, -0.006314987316727638, -0.029905691742897034, 0.9995161890983582, 0.005761897657066584], "tcp_vel": [-0.00011429115693317726, -0.0005830537411384284, 0.00043386814650148153, -0.0008405845728702843, -0.00044732881360687315, 0.0009415265521965921], "flange_pose": [0.6405220031738281, -0.16407695412635803, -0.26062193512916565, -0.006314987316727638, -0.029905691742897034, 0.9995161890983582, 0.005761897657066584], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.536165714263916, -56.343509674072266, -8.921961784362793, -6.2314677238464355, 17.420360565185547, -0.23000800609588623], "ext_wrench_in_world": [6.011383796892734, -56.186579318615, 8.219257285397045, 5.182643341366166, 17.758467501700455, 0.3606880709442876]}
+{"timestamp_ns": 1789729563930105751, "elapsed_ms": 7400, "source_timestamp_ns": 1789729563925473604, "q": [0.26326942443847656, -1.8337236642837524, 0.010844736360013485, 0.5277486443519592, 1.7439773082733154, 0.16367408633232117, -0.8686791658401489], "theta": [0.26068055629730225, -1.8336193561553955, 0.009661558084189892, 0.5116406083106995, 1.743979811668396, 0.16478586196899414, -0.8677030801773071], "dq": [-0.002826420124620199, 0.0024503455497324467, -0.0011348960688337684, 0.00016264533041976392, 0.0008211849490180612, -0.00025057324091903865, -0.0018081293674185872], "dtheta": [-0.0016103893285617232, 0.0002575792314019054, -0.0005593101377598941, 0.001082884264178574, -0.0002808822027873248, 0.0009109979146160185, -0.00026603249716572464], "tau": [-60.5, -9.229999542236328, -18.716001510620117, 4.996000289916992, -3.748000144958496, 3.996000289916992, -0.06000000238418579], "tau_des": [-2.1603715419769287, 0.41110342741012573, -0.5919860601425171, -0.42950889468193054, 0.219076469540596, 0.14959895610809326, -0.0906534418463707], "tau_dot": [13.854585647583008, -27.268531799316406, -62.636478424072266, 10.928367614746094, 29.480892181396484, 28.32141876220703, 5.320773124694824], "tau_ext": [14.4443941116333, -34.805458068847656, -36.8288688659668, 20.505050659179688, -2.731688976287842, -7.064656734466553, -0.05674564465880394], "tcp_pose": [0.6380571126937866, -0.1619688868522644, -0.45058122277259827, -0.0063112578354775906, -0.02990649826824665, 0.9995161890983582, 0.005756995175033808], "tcp_vel": [0.00055716308997944, -0.0006231495062820613, 0.0014117566170170903, -0.0015793467173352838, -0.0018863389268517494, -0.0003370126069057733], "flange_pose": [0.6405196785926819, -0.16408376395702362, -0.2606089413166046, -0.0063112578354775906, -0.02990649826824665, 0.9995161890983582, 0.005756995175033808], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.585536241531372, -56.40006637573242, -8.938920021057129, -6.2454304695129395, 17.42695426940918, -0.22617949545383453], "ext_wrench_in_world": [6.064286833960432, -56.24017626354229, 8.235519110978979, 5.196104893071225, 17.765939257200564, 0.3566374509560802]}
+{"timestamp_ns": 1789729563963429204, "elapsed_ms": 7433, "source_timestamp_ns": 1789729563955413050, "q": [0.2631210684776306, -1.8337056636810303, 0.010815267451107502, 0.5278303623199463, 1.7439526319503784, 0.16358837485313416, -0.8687177300453186], "theta": [0.2605269253253937, -1.8336020708084106, 0.009628322906792164, 0.5117255449295044, 1.7439508438110352, 0.16469573974609375, -0.8677455186843872], "dq": [-0.0035204472951591015, 0.0007192293996922672, -0.0030027010943740606, 0.0033293275628238916, -0.0002928104077000171, -0.0035754970740526915, 0.0003447859489824623], "dtheta": [-0.0076306844130158424, 0.0008839165675453842, -0.0014330110279843211, 0.00468474393710494, -0.001540329772979021, -0.006179812364280224, -0.0010229486506432295], "tau": [-61.6099967956543, -9.329999923706055, -19.124000549316406, 5.224000453948975, -3.9080002307891846, 3.9880001544952393, -0.06000000238418579], "tau_des": [-3.2953872680664062, 0.10224749892950058, -1.1668115854263306, -0.19762809574604034, -0.018518241122364998, 0.11764651536941528, -0.142445906996727], "tau_dot": [-127.53567504882812, -44.967750549316406, 15.417994499206543, -2.144958734512329, 41.53363800048828, 7.426478862762451, 47.06340789794922], "tau_ext": [14.505510330200195, -34.823551177978516, -36.81366729736328, 20.408119201660156, -2.6844029426574707, -7.0454511642456055, -0.04073664918541908], "tcp_pose": [0.6380791664123535, -0.16198137402534485, -0.4504774510860443, -0.006279442459344864, -0.029901068657636642, 0.9995165467262268, 0.005757053382694721], "tcp_vel": [0.000521159206982702, -0.000503028801176697, 0.005206574220210314, 0.0011295534204691648, -0.0018588765524327755, -0.002020232379436493], "flange_pose": [0.6405296325683594, -0.1640966534614563, -0.2605050206184387, -0.006279442459344864, -0.029901068657636642, 0.9995165467262268, 0.005757053382694721], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.862584114074707, -56.65718078613281, -9.020308494567871, -6.323479652404785, 17.483938217163086, -0.21577075123786926], "ext_wrench_in_world": [6.356061541363703, -56.48122409746508, 8.310733656795348, 5.27064918026393, 17.827545194927463, 0.3463192955135557]}
+{"timestamp_ns": 1789729563996771603, "elapsed_ms": 7466, "source_timestamp_ns": 1789729563995392576, "q": [0.2626197040081024, -1.8336570262908936, 0.010659439489245415, 0.5281434059143066, 1.7438441514968872, 0.1630597859621048, -0.8688974976539612], "theta": [0.2600063979625702, -1.833553671836853, 0.00945537444204092, 0.5120435357093811, 1.7438281774520874, 0.16414058208465576, -0.867940366268158], "dq": [-0.01680855080485344, 0.0014216220006346703, -0.007586965803056955, 0.010511315427720547, -0.0032039531506597996, -0.01535049919039011, -0.005624528042972088], "dtheta": [-0.020728474482893944, 0.002626122673973441, -0.007286991458386183, 0.013208243064582348, -0.0055115483701229095, -0.020644642412662506, -0.006075299810618162], "tau": [-63.78999710083008, -9.34000015258789, -19.93600082397461, 5.408000469207764, -4.116000175476074, 4.0920000076293945, -0.07200000435113907], "tau_des": [-6.098361968994141, 0.597447395324707, -1.9148194789886475, 0.12165563553571701, -0.14180117845535278, 0.13834695518016815, -0.179844930768013], "tau_dot": [-104.73006439208984, 86.033935546875, 28.902240753173828, -32.021209716796875, 20.95361328125, 40.400760650634766, 70.94393157958984], "tau_ext": [15.599249839782715, -34.903900146484375, -36.38633346557617, 20.25798225402832, -2.532133102416992, -7.049241065979004, -0.02522599883377552], "tcp_pose": [0.6380807757377625, -0.16201910376548767, -0.45012515783309937, -0.0062690251506865025, -0.029892461374402046, 0.9995166063308716, 0.005805875640362501], "tcp_vel": [0.0003269706794526428, -0.0019262824207544327, 0.015017854049801826, 0.0017757811583578587, -0.0006060858722776175, -0.0013588222209364176], "flange_pose": [0.6405278444290161, -0.164153054356575, -0.2601529061794281, -0.0062690251506865025, -0.029892461374402046, 0.9995166063308716, 0.005805875640362501], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.483825206756592, -57.49418640136719, -7.900808334350586, -6.453170299530029, 17.58537483215332, -0.19964264333248138], "ext_wrench_in_world": [7.010519239685603, -57.267864992902865, 7.168370770766583, 5.3941497746651, 17.936605428563553, 0.3316715176342324]}
+{"timestamp_ns": 1789729564030095625, "elapsed_ms": 7500, "source_timestamp_ns": 1789729564025426262, "q": [0.26175522804260254, -1.8335222005844116, 0.01038072444498539, 0.5287116169929504, 1.7436320781707764, 0.16214974224567413, -0.8691684603691101], "theta": [0.25911957025527954, -1.8334184885025024, 0.009154441766440868, 0.5126164555549622, 1.7435954809188843, 0.16319561004638672, -0.868237316608429], "dq": [-0.03548204526305199, 0.0060583739541471004, -0.009545956738293171, 0.0253984984010458, -0.005804713815450668, -0.035659268498420715, -0.011507957242429256], "dtheta": [-0.03844540938735008, 0.00706477602943778, -0.011493130587041378, 0.026424074545502663, -0.010298585519194603, -0.042046159505844116, -0.012644424103200436], "tau": [-64.80999755859375, -8.970000267028809, -20.328001022338867, 5.336000442504883, -4.200000286102295, 4.131999969482422, -0.12000000476837158], "tau_des": [-6.980742454528809, 1.1812012195587158, -2.2505712509155273, 0.2203352451324463, -0.3388674855232239, 0.28313934803009033, -0.2410799264907837], "tau_dot": [-21.689050674438477, -43.448036193847656, -18.75762939453125, 4.967141628265381, -28.36153793334961, -20.75467300415039, -42.82320022583008], "tau_ext": [16.228668212890625, -35.058921813964844, -36.14303970336914, 20.23000717163086, -2.4598629474639893, -7.055592060089111, -0.01206242199987173], "tcp_pose": [0.6380934715270996, -0.16206514835357666, -0.4495158791542053, -0.006261342670768499, -0.02987224981188774, 0.9995168447494507, 0.005879669915884733], "tcp_vel": [0.00016892049461603165, -0.001218120800331235, 0.02668982744216919, 0.00796255748718977, 0.0009972110856324434, -0.0014037962537258863], "flange_pose": [0.6405383348464966, -0.16422726213932037, -0.25954392552375793, -0.006261342670768499, -0.02987224981188774, 0.9995168447494507, 0.005879669915884733], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.869885206222534, -58.11310577392578, -6.774467945098877, -6.51747989654541, 17.63373565673828, -0.18631695210933685], "ext_wrench_in_world": [7.415830383754963, -57.85108617275517, 6.021609294186304, 5.456023326315366, 17.988600561855574, 0.3208593289152272]}
+{"timestamp_ns": 1789729564063429441, "elapsed_ms": 7533, "source_timestamp_ns": 1789729564055350692, "q": [0.26033633947372437, -1.8332079648971558, 0.009951307438313961, 0.5296986699104309, 1.7431714534759521, 0.1606973260641098, -0.8696141242980957], "theta": [0.25767982006073, -1.8331023454666138, 0.008696774020791054, 0.5136107802391052, 1.74310302734375, 0.16169893741607666, -0.8687229156494141], "dq": [-0.05966644734144211, 0.012440808117389679, -0.016955314204096794, 0.03919822722673416, -0.017515873536467552, -0.052583757787942886, -0.01654711924493313], "dtheta": [-0.055818717926740646, 0.013368685729801655, -0.018528221175074577, 0.039250895380973816, -0.02041626162827015, -0.058141011744737625, -0.01702631078660488], "tau": [-64.44999694824219, -8.789999961853027, -20.260000228881836, 5.420000076293945, -4.196000099182129, 4.060000419616699, -0.14800000190734863], "tau_des": [-5.912481307983398, 1.1921318769454956, -1.8152837753295898, 0.21997618675231934, -0.24747666716575623, 0.1834435909986496, -0.24089999496936798], "tau_dot": [84.59921264648438, 0.5609429478645325, 2.781480550765991, 26.119762420654297, 19.54568862915039, 7.455899715423584, -51.710296630859375], "tau_ext": [16.662933349609375, -35.160667419433594, -35.968990325927734, 20.157852172851562, -2.405869245529175, -7.053730010986328, 0.0023903336841613054], "tcp_pose": [0.638126790523529, -0.16211293637752533, -0.4485166072845459, -0.006272222846746445, -0.02986435405910015, 0.999516487121582, 0.005966893397271633], "tcp_vel": [0.0010151079623028636, -0.00204931921325624, 0.0398903489112854, 0.00464593106880784, 0.003805761458352208, 0.00020161029533483088], "flange_pose": [0.6405767798423767, -0.1643080711364746, -0.25854507088661194, -0.006272222846746445, -0.02986435405910015, 0.999516487121582, 0.005966893397271633], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-4.203942775726318, -58.798011779785156, -5.741357326507568, -6.617422103881836, 17.676803588867188, -0.17099207639694214], "ext_wrench_in_world": [7.7759766861170645, -58.50398619971665, 4.965913147479097, 5.55332347532871, 18.03759244198761, 0.30782460206547835]}
+{"timestamp_ns": 1789729564096774404, "elapsed_ms": 7566, "source_timestamp_ns": 1789729564095318705, "q": [0.2576732635498047, -1.8325568437576294, 0.009172686375677586, 0.53152996301651, 1.742179274559021, 0.15805648267269135, -0.8703929781913757], "theta": [0.25500959157943726, -1.8324395418167114, 0.007879379205405712, 0.5154402852058411, 1.7420653104782104, 0.1589890718460083, -0.8695704340934753], "dq": [-0.07068230956792831, 0.015743277966976166, -0.021093958988785744, 0.05001009255647659, -0.030683591961860657, -0.07250247150659561, -0.02313588373363018], "dtheta": [-0.07488590478897095, 0.019050629809498787, -0.02007841318845749, 0.05231223627924919, -0.031061014160513878, -0.07685744762420654, -0.02322912961244583], "tau": [-62.59000015258789, -8.699999809265137, -19.736000061035156, 5.5960001945495605, -4.124000072479248, 3.820000171661377, -0.14000000059604645], "tau_des": [-3.086108684539795, 0.9157506227493286, -1.0359704494476318, 0.21548664569854736, -0.19775524735450745, 0.03689586743712425, -0.19433140754699707], "tau_dot": [2.7371320724487305, -49.07535171508789, 58.62247085571289, 14.080408096313477, 53.15042495727539, 19.511178970336914, -20.539825439453125], "tau_ext": [16.1696834564209, -35.22311782836914, -36.063560485839844, 19.98671531677246, -2.381570816040039, -6.957431793212891, 0.014597402885556221], "tcp_pose": [0.638218879699707, -0.16218242049217224, -0.4466383755207062, -0.006306004710495472, -0.029866943135857582, 0.9995154738426208, 0.0060814120806753635], "tcp_vel": [0.0014811712317168713, -0.0011663861805573106, 0.052249886095523834, 0.00787413027137518, 0.005629397928714752, 0.0014266081852838397], "flange_pose": [0.6406830549240112, -0.16442066431045532, -0.2566675543785095, -0.006306004710495472, -0.029866943135857582, 0.9995154738426208, 0.0060814120806753635], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-4.828268527984619, -59.673011779785156, -5.166547775268555, -6.8160200119018555, 17.763025283813477, -0.1552485078573227], "ext_wrench_in_world": [8.444473455350838, -59.334358575532846, 4.358725531024364, 5.746153064042768, 18.135664966181004, 0.29441354293278255]}
+{"timestamp_ns": 1789729564130100402, "elapsed_ms": 7600, "source_timestamp_ns": 1789729564125436307, "q": [0.2553175091743469, -1.8319790363311768, 0.008640551008284092, 0.5331861972808838, 1.7411699295043945, 0.15576677024364471, -0.871113121509552], "theta": [0.2526594400405884, -1.8318432569503784, 0.007323959842324257, 0.5170881748199463, 1.7410216331481934, 0.15664827823638916, -0.8703436851501465], "dq": [-0.07511772960424423, 0.020916542038321495, -0.018137279897928238, 0.05464805290102959, -0.03217584267258644, -0.0795128121972084, -0.029331225901842117], "dtheta": [-0.08067476004362106, 0.019967323169112206, -0.016496630385518074, 0.057094134390354156, -0.03550725057721138, -0.07631535083055496, -0.02758639119565487], "tau": [-61.03999710083008, -8.279999732971191, -19.3960018157959, 5.456000328063965, -4.076000213623047, 3.7200002670288086, -0.12800000607967377], "tau_des": [-0.7746747136116028, 1.2241475582122803, -0.37508267164230347, -0.18384099006652832, -0.09972014278173447, -0.14283953607082367, -0.18259884417057037], "tau_dot": [99.25267028808594, 87.62014770507812, 54.49041748046875, 20.23162078857422, 46.4913215637207, 8.995156288146973, -50.48707962036133], "tau_ext": [15.700174331665039, -35.373714447021484, -36.11906051635742, 19.927959442138672, -2.3595287799835205, -6.867494583129883, 0.019206520169973373], "tcp_pose": [0.6382678151130676, -0.16223862767219543, -0.4450070858001709, -0.006345522589981556, -0.02985893189907074, 0.9995148181915283, 0.006192424334585667], "tcp_vel": [0.001791150658391416, -0.0019622333347797394, 0.055620938539505005, 0.007021974306553602, 0.0016611857572570443, 0.0018489367794245481], "flange_pose": [0.6407482028007507, -0.16451860964298248, -0.25503695011138916, -0.006345522589981556, -0.02985893189907074, 0.9995148181915283, 0.006192424334585667], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-5.303658485412598, -60.24822235107422, -5.350810527801514, -7.012648582458496, 17.79972267150879, -0.146394744515419], "ext_wrench_in_world": [8.955042063160612, -59.88339538046621, 4.51602064350707, 5.940443855074511, 18.183990261896763, 0.287095288805031]}
+{"timestamp_ns": 1789729564163430469, "elapsed_ms": 7633, "source_timestamp_ns": 1789729564155320567, "q": [0.2529557943344116, -1.831392765045166, 0.008279088884592056, 0.5349074602127075, 1.7400591373443604, 0.1535646617412567, -0.8719288110733032], "theta": [0.2502882778644562, -1.831238865852356, 0.006945589557290077, 0.5187967419624329, 1.7398743629455566, 0.15440607070922852, -0.871206521987915], "dq": [-0.07477938383817673, 0.020691486075520515, -0.010284408926963806, 0.05583906173706055, -0.039190612733364105, -0.07291404157876968, -0.03153848275542259], "dtheta": [-0.07732457667589188, 0.019854767248034477, -0.009181356057524681, 0.05699073150753975, -0.03960123285651207, -0.07096262276172638, -0.03060341253876686], "tau": [-60.15999984741211, -7.859999656677246, -19.296001434326172, 5.212000370025635, -4.056000232696533, 3.6040000915527344, -0.1120000034570694], "tau_des": [-0.030043242499232292, 1.273377776145935, -0.40497076511383057, -0.3952144980430603, -0.08030542731285095, -0.059737853705883026, -0.13149330019950867], "tau_dot": [-40.84287643432617, 21.603015899658203, -7.5675506591796875, -25.37297248840332, 33.87322235107422, -30.13703727722168, 27.83979034423828], "tau_ext": [15.370990753173828, -35.598323822021484, -36.09207534790039, 19.94950294494629, -2.3207781314849854, -6.811890602111816, 0.025119416415691376], "tcp_pose": [0.6382927298545837, -0.16229285299777985, -0.44340410828590393, -0.00636507710441947, -0.029858212918043137, 0.9995139241218567, 0.006311956327408552], "tcp_vel": [0.0004732778761535883, -0.0014976869570091367, 0.052014678716659546, 0.007381208706647158, 0.0023046419955790043, 0.0037127425894141197], "flange_pose": [0.6407818794250488, -0.16461801528930664, -0.2534346580505371, -0.00636507710441947, -0.029858212918043137, 0.9995139241218567, 0.006311956327408552], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-5.630368232727051, -60.77661895751953, -5.685091495513916, -7.231804847717285, 17.781753540039062, -0.1383851319551468], "ext_wrench_in_world": [9.317067656458931, -60.39646774918563, 4.824692463000583, 6.160219471622568, 18.179166557136938, 0.28019655283602674]}
+{"timestamp_ns": 1789729564196763855, "elapsed_ms": 7666, "source_timestamp_ns": 1789729564195369600, "q": [0.25003182888031006, -1.8306819200515747, 0.00805993564426899, 0.5370774269104004, 1.738533854484558, 0.15102066099643707, -0.8730339407920837], "theta": [0.24733693897724152, -1.8305069208145142, 0.006710079498589039, 0.520948052406311, 1.7382980585098267, 0.15181434154510498, -0.8723598718643188], "dq": [-0.06864172965288162, 0.017202720046043396, -0.00404093973338604, 0.0524359866976738, -0.03810671716928482, -0.06292858719825745, -0.030298007652163506], "dtheta": [-0.07033401727676392, 0.01808347925543785, -0.0031726632732897997, 0.052531033754348755, -0.038869891315698624, -0.06188526004552841, -0.028811173513531685], "tau": [-60.21999740600586, -7.71999979019165, -19.408000946044922, 5.208000183105469, -4.172000408172607, 3.5320000648498535, -0.14800000190734863], "tau_des": [-0.4818291664123535, 1.4236598014831543, -0.6889657378196716, -0.4337207078933716, -0.13299736380577087, -0.14360222220420837, -0.1336706578731537], "tau_dot": [-77.64521026611328, -115.91441345214844, 27.756681442260742, 16.610525131225586, -28.652469635009766, 53.32524871826172, -22.729276657104492], "tau_ext": [14.983266830444336, -35.73615646362305, -36.08591079711914, 19.973222732543945, -2.2681350708007812, -6.732874393463135, 0.028153693303465843], "tcp_pose": [0.6383036971092224, -0.16237550973892212, -0.44145622849464417, -0.006350366398692131, -0.029862724244594574, 0.9995130300521851, 0.006445493083447218], "tcp_vel": [2.205843702540733e-05, -0.0009555849828757346, 0.04619291424751282, 0.0077094994485378265, 0.0009479661821387708, 0.002853870391845703], "flange_pose": [0.6407887935638428, -0.1647515445947647, -0.2514873445034027, -0.006350366398692131, -0.029862724244594574, 0.9995130300521851, 0.006445493083447218], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-5.707241535186768, -61.26136016845703, -6.222776412963867, -7.477067947387695, 17.66657257080078, -0.1303657442331314], "ext_wrench_in_world": [9.430058470898109, -60.88365614494074, 5.3389337489968, 6.411650206505878, 18.078930805336867, 0.2726339702735852]}
+{"timestamp_ns": 1789729564230094212, "elapsed_ms": 7700, "source_timestamp_ns": 1789729564225353855, "q": [0.24802051484584808, -1.8301844596862793, 0.00802228320389986, 0.538581907749176, 1.7374094724655151, 0.14932827651500702, -0.8738192319869995], "theta": [0.24530565738677979, -1.8299983739852905, 0.0066614896059036255, 0.522438108921051, 1.7371349334716797, 0.15008246898651123, -0.8731719255447388], "dq": [-0.0671953484416008, 0.015875156968832016, -0.0008676472934894264, 0.04712981730699539, -0.03777008503675461, -0.05227416753768921, -0.027221892029047012], "dtheta": [-0.06585889309644699, 0.01591317728161812, -0.0008519459515810013, 0.04910716786980629, -0.0381050631403923, -0.054428815841674805, -0.025710582733154297], "tau": [-60.69999694824219, -7.480000019073486, -19.588001251220703, 5.068000316619873, -4.232000350952148, 3.51200008392334, -0.15200001001358032], "tau_des": [-0.6607587933540344, 1.3338102102279663, -0.7852343320846558, -0.6605428457260132, -0.09216951578855515, -0.3125230073928833, -0.16211771965026855], "tau_dot": [-104.19265747070312, 115.80210876464844, 23.313690185546875, 2.017484664916992, 12.508390426635742, 9.993809700012207, -31.18705940246582], "tau_ext": [15.25328254699707, -35.90159225463867, -35.97588348388672, 20.043912887573242, -2.2123234272003174, -6.709766387939453, 0.02609715238213539], "tcp_pose": [0.6383048295974731, -0.16241879761219025, -0.44014111161231995, -0.0063323816284537315, -0.029868626967072487, 0.9995123147964478, 0.0065454719588160515], "tcp_vel": [-0.00018326178542338312, -0.0019464388024061918, 0.043193619698286057, 0.005350745283067226, -0.0008429893059656024, 0.0002276290615554899], "flange_pose": [0.6407842636108398, -0.1648329794406891, -0.2501726448535919, -0.0063323816284537315, -0.029868626967072487, 0.9995123147964478, 0.0065454719588160515], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-5.629458904266357, -61.37705612182617, -6.3198981285095215, -7.540657043457031, 17.560667037963867, -0.1276744157075882], "ext_wrench_in_world": [9.361056005434763, -61.00599501824062, 5.42348046819347, 6.481205063831298, 17.977070676195474, 0.27156407224691204]}
+{"timestamp_ns": 1789729564263428557, "elapsed_ms": 7733, "source_timestamp_ns": 1789729564255334172, "q": [0.2461366206407547, -1.8297393321990967, 0.007987437769770622, 0.5399608612060547, 1.7364100217819214, 0.14772529900074005, -0.8745595812797546], "theta": [0.2434154748916626, -1.8295410871505737, 0.006617954466491938, 0.5238035321235657, 1.7360963821411133, 0.14844298362731934, -0.8739341497421265], "dq": [-0.06469368934631348, 0.01474282331764698, -0.0024378206580877304, 0.040995657444000244, -0.030264779925346375, -0.05234072357416153, -0.025391722097992897], "dtheta": [-0.06260380148887634, 0.014697092585265636, -0.0017418008064851165, 0.04445652291178703, -0.03373398631811142, -0.0559195876121521, -0.02447698451578617], "tau": [-60.93000030517578, -7.589999675750732, -19.61600112915039, 5.084000110626221, -4.252000331878662, 3.444000244140625, -0.13600000739097595], "tau_des": [-1.1258140802383423, 1.38289475440979, -0.9299662709236145, -0.277713805437088, -0.24877944588661194, -0.2952793836593628, -0.12532393634319305], "tau_dot": [-64.22393035888672, -251.8068084716797, 95.46382141113281, -49.723876953125, -26.062602996826172, -41.61666488647461, 36.598819732666016], "tau_ext": [15.282535552978516, -35.87456512451172, -36.005191802978516, 20.026838302612305, -2.187589645385742, -6.655810832977295, 0.029773015528917313], "tcp_pose": [0.6383106112480164, -0.16244825720787048, -0.43891748785972595, -0.006301170215010643, -0.02987590618431568, 0.9995115399360657, 0.006666089408099651], "tcp_vel": [2.0363157091196626e-05, -0.0002896448131650686, 0.040508560836315155, 0.009457409381866455, 0.00048626726493239403, 0.0017217779532074928], "flange_pose": [0.6407795548439026, -0.16490860283374786, -0.24894945323467255, -0.006301170215010643, -0.02987590618431568, 0.9995115399360657, 0.006666089408099651], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-5.442256450653076, -61.46561050415039, -6.174966335296631, -7.542448997497559, 17.45185089111328, -0.12405858188867569], "ext_wrench_in_world": [9.17807360303851, -61.10490074659457, 5.265330839622359, 6.489193578657772, 17.86862791727308, 0.27116413848330223]}
+{"timestamp_ns": 1789729564296767642, "elapsed_ms": 7766, "source_timestamp_ns": 1789729564295331917, "q": [0.24365299940109253, -1.8291015625, 0.007886459119617939, 0.5417974591255188, 1.7350765466690063, 0.1455511897802353, -0.8754820823669434], "theta": [0.24097688496112823, -1.8288851976394653, 0.006504181306809187, 0.5256310105323792, 1.734714388847351, 0.14622974395751953, -0.8748816251754761], "dq": [-0.06432879716157913, 0.018615763634443283, -0.001284837257117033, 0.04799937829375267, -0.03047063574194908, -0.0569000206887722, -0.020818371325731277], "dtheta": [-0.06037591025233269, 0.018479499965906143, -0.0034481026232242584, 0.04903167858719826, -0.036608483642339706, -0.05470728129148483, -0.022354869171977043], "tau": [-61.709999084472656, -7.429999828338623, -19.87200164794922, 5.12000036239624, -4.336000442504883, 3.4680001735687256, -0.14400000870227814], "tau_des": [-2.277129650115967, 1.9197293519973755, -1.12152099609375, -0.07369307428598404, -0.21280653774738312, -0.2750545144081116, -0.1725478619337082], "tau_dot": [-113.88142395019531, 37.50740432739258, 2.380127429962158, -17.483606338500977, -4.076876163482666, 46.06364822387695, 0.32112887501716614], "tau_ext": [15.447750091552734, -35.69032287597656, -36.02756881713867, 19.90089988708496, -2.165820360183716, -6.59718656539917, 0.03593265265226364], "tcp_pose": [0.6383171081542969, -0.16246330738067627, -0.43729591369628906, -0.006293681915849447, -0.029880454763770103, 0.9995104074478149, 0.006822763476520777], "tcp_vel": [-0.001269947038963437, -0.00046000152360647917, 0.040015678852796555, 0.004942563362419605, 0.004431077279150486, -0.00035982803092338145], "flange_pose": [0.6407850384712219, -0.16498322784900665, -0.24732865393161774, -0.006293681915849447, -0.029880454763770103, 0.9995104074478149, 0.006822763476520777], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-5.3808488845825195, -61.45900344848633, -6.133668422698975, -7.479903697967529, 17.37896156311035, -0.11911224573850632], "ext_wrench_in_world": [9.116253341064779, -61.10301540598602, 5.205762310818748, 6.430920044673623, 17.792159858475937, 0.2716008458612662]}
+{"timestamp_ns": 1789729564330098708, "elapsed_ms": 7800, "source_timestamp_ns": 1789729564325414818, "q": [0.24177831411361694, -1.8285034894943237, 0.007764733396470547, 0.5433574318885803, 1.7340526580810547, 0.1439506709575653, -0.8762162923812866], "theta": [0.23917819559574127, -1.8282679319381714, 0.006370190065354109, 0.5271872878074646, 1.733654499053955, 0.14461183547973633, -0.8756301403045654], "dq": [-0.06517517566680908, 0.019460026174783707, -0.002592238364741206, 0.05562682822346687, -0.03251359984278679, -0.04977301508188248, -0.026772934943437576], "dtheta": [-0.06209811568260193, 0.02174302190542221, -0.004757101647555828, 0.054859310388565063, -0.037015825510025024, -0.055216770619153976, -0.025028778240084648], "tau": [-62.14999771118164, -7.12999963760376, -20.012001037597656, 5.088000297546387, -4.336000442504883, 3.4240002632141113, -0.13199999928474426], "tau_des": [-2.6155896186828613, 2.0003726482391357, -1.2056341171264648, -0.07953855395317078, -0.23483988642692566, -0.2935672402381897, -0.1696844846010208], "tau_dot": [-14.9424409866333, 51.8871955871582, -0.6122839450836182, 10.473895072937012, 13.898667335510254, -61.434654235839844, 9.789155960083008], "tau_ext": [15.767430305480957, -35.896785736083984, -36.00204849243164, 19.963979721069336, -2.1522326469421387, -6.568915843963623, 0.03640952333807945], "tcp_pose": [0.6383134722709656, -0.16247574985027313, -0.43604937195777893, -0.006287822034209967, -0.02988068386912346, 0.9995099306106567, 0.006894171703606844], "tcp_vel": [-0.0014638573629781604, -0.0004801199247594923, 0.04167236387729645, 0.0033347110729664564, 0.003682611742988229, 0.0001226604508701712], "flange_pose": [0.640779972076416, -0.1650228649377823, -0.24608245491981506, -0.006287822034209967, -0.02988068386912346, 0.9995099306106567, 0.006894171703606844], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-5.36020565032959, -61.58142852783203, -5.796479225158691, -7.434832572937012, 17.348426818847656, -0.1160777360200882], "ext_wrench_in_world": [9.098504675184685, -61.22267363197775, 4.858473173537742, 6.387721559592737, 17.758984904080876, 0.27127655825563657]}
+{"timestamp_ns": 1789729564363425486, "elapsed_ms": 7833, "source_timestamp_ns": 1789729564355489621, "q": [0.23981992900371552, -1.827810287475586, 0.007587961386889219, 0.5450612306594849, 1.7330089807510376, 0.14230071008205414, -0.8769978880882263], "theta": [0.23729969561100006, -1.8275516033172607, 0.006179359741508961, 0.5288894176483154, 1.7325739860534668, 0.1429504156112671, -0.8764206171035767], "dq": [-0.062265098094940186, 0.024466579779982567, -0.00773008493706584, 0.06301836669445038, -0.038182634860277176, -0.055711764842271805, -0.030955715104937553], "dtheta": [-0.0647977739572525, 0.026475965976715088, -0.008170771412551403, 0.060611601918935776, -0.03759178891777992, -0.05811275169253349, -0.02748524770140648], "tau": [-62.209999084472656, -7.299999713897705, -20.084001541137695, 5.276000022888184, -4.36400032043457, 3.4720001220703125, -0.13199999928474426], "tau_des": [-2.798372507095337, 1.6022204160690308, -1.3157734870910645, 0.20526669919490814, -0.34336403012275696, -0.3040083646774292, -0.1806190013885498], "tau_dot": [68.3020248413086, 52.292327880859375, 34.870662689208984, 57.02568054199219, -2.8307361602783203, 48.250938415527344, 19.374277114868164], "tau_ext": [15.89470100402832, -35.828094482421875, -35.974327087402344, 19.858829498291016, -2.127495050430298, -6.545707702636719, 0.03618940711021423], "tcp_pose": [0.6383205056190491, -0.16247953474521637, -0.43473267555236816, -0.006271727848798037, -0.02988767810165882, 0.9995094537734985, 0.0069467672146856785], "tcp_vel": [-0.0009750105091370642, 0.00037872252869419754, 0.04424258694052696, 0.0017492931801825762, 0.004239036701619625, 0.002383214421570301], "flange_pose": [0.6407814621925354, -0.1650467813014984, -0.244765967130661, -0.006271727848798037, -0.02988767810165882, 0.9995094537734985, 0.0069467672146856785], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-5.375926971435547, -61.85109329223633, -5.467782497406006, -7.436977863311768, 17.330331802368164, -0.11555610597133636], "ext_wrench_in_world": [9.126689386160791, -61.48684483217549, 4.5195609431207, 6.3906945726147955, 17.741114299458573, 0.27254288889663925]}
+{"timestamp_ns": 1789729564396767100, "elapsed_ms": 7866, "source_timestamp_ns": 1789729564395340133, "q": [0.2370487004518509, -1.8266953229904175, 0.007233954966068268, 0.5476298332214355, 1.731516718864441, 0.13994969427585602, -0.8782053589820862], "theta": [0.23460976779460907, -1.8263996839523315, 0.005804088898003101, 0.5314440131187439, 1.7310456037521362, 0.14058732986450195, -0.877627432346344], "dq": [-0.06728075444698334, 0.025286436080932617, -0.010736276395618916, 0.06692719459533691, -0.042913395911455154, -0.06064821407198906, -0.03429577499628067], "dtheta": [-0.07192220538854599, 0.030766645446419716, -0.009766845032572746, 0.06823152303695679, -0.040511470288038254, -0.06175269931554794, -0.03315076604485512], "tau": [-62.16999816894531, -7.409999847412109, -20.260000228881836, 5.344000339508057, -4.388000011444092, 3.4200000762939453, -0.1600000113248825], "tau_des": [-2.599233627319336, 1.597315788269043, -1.2171270847320557, 0.3611002564430237, -0.3513830900192261, -0.4004034996032715, -0.1308177262544632], "tau_dot": [89.0540542602539, -61.493263244628906, -25.4973201751709, 24.275224685668945, 28.222675323486328, -33.68944549560547, -53.760467529296875], "tau_ext": [15.729021072387695, -35.72350311279297, -36.00008773803711, 19.727930068969727, -2.1220993995666504, -6.502010345458984, 0.03669556602835655], "tcp_pose": [0.6383235454559326, -0.162473663687706, -0.4328368008136749, -0.006274304818361998, -0.029947446659207344, 0.9995074272155762, 0.006974013522267342], "tcp_vel": [-0.0001752277894411236, 0.0005874200724065304, 0.049419693648815155, 0.00038776168366894126, 0.0020568000618368387, 0.0055202883668243885], "flange_pose": [0.6407859921455383, -0.16505108773708344, -0.2428702414035797, -0.006274304818361998, -0.029947446659207344, 0.9995074272155762, 0.006974013522267342], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-5.552350044250488, -61.92034912109375, -5.365725040435791, -7.423218250274658, 17.336885452270508, -0.11552537232637405], "ext_wrench_in_world": [9.312961341564982, -61.5431678691188, 4.410949011898012, 6.374453746216662, 17.747578247696918, 0.2737120151367884]}
+{"timestamp_ns": 1789729564430101206, "elapsed_ms": 7900, "source_timestamp_ns": 1789729564425342874, "q": [0.2348232865333557, -1.8257427215576172, 0.0069535113871097565, 0.5497994422912598, 1.7303067445755005, 0.13806059956550598, -0.8791834712028503], "theta": [0.23240801692008972, -1.8254098892211914, 0.005505064502358437, 0.5335940718650818, 1.729816198348999, 0.13869071006774902, -0.878598153591156], "dq": [-0.059702999889850616, 0.03310961648821831, -0.008695040829479694, 0.07698807865381241, -0.043725498020648956, -0.06706535071134567, -0.03309868276119232], "dtheta": [-0.0769316777586937, 0.03550177812576294, -0.009686407633125782, 0.07562018930912018, -0.042020346969366074, -0.06512945145368576, -0.03159824386239052], "tau": [-62.0, -7.179999828338623, -20.376001358032227, 5.252000331878662, -4.440000057220459, 3.4000000953674316, -0.18400001525878906], "tau_des": [-2.902897596359253, 1.695164680480957, -1.3855377435684204, 0.30558788776397705, -0.40462976694107056, -0.3512267768383026, -0.30376213788986206], "tau_dot": [65.23724365234375, -24.173112869262695, -7.169783115386963, -39.25121307373047, -77.29553985595703, 33.961708068847656, -58.536014556884766], "tau_ext": [15.622246742248535, -35.566917419433594, -35.93486785888672, 19.607969284057617, -2.1056969165802, -6.492796421051025, 0.037292592227458954], "tcp_pose": [0.6383051872253418, -0.1624632477760315, -0.4313119351863861, -0.006280218251049519, -0.029974108561873436, 0.9995064735412598, 0.006991024129092693], "tcp_vel": [0.0003546120715327561, 0.001961725065484643, 0.05248422548174858, 0.0014198899734765291, 0.0004710896173492074, 0.0014960049884393811], "flange_pose": [0.6407701373100281, -0.16504700481891632, -0.24134549498558044, -0.006280218251049519, -0.029974108561873436, 0.9995064735412598, 0.006991024129092693], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-5.600903034210205, -61.951416015625, -5.43620491027832, -7.447233200073242, 17.313344955444336, -0.11395689845085144], "ext_wrench_in_world": [9.367526953628994, -61.57187501030372, 4.478172780807714, 6.3988705672217305, 17.72587466486089, 0.27203839209544284]}
+{"timestamp_ns": 1789729564463431253, "elapsed_ms": 7933, "source_timestamp_ns": 1789729564455399491, "q": [0.23244893550872803, -1.8246711492538452, 0.006671631243079901, 0.5521984696388245, 1.7290101051330566, 0.13605159521102905, -0.8803913593292236], "theta": [0.23000861704349518, -1.8242911100387573, 0.005202320404350758, 0.5359631180763245, 1.7285022735595703, 0.136680006980896, -0.8797987699508667], "dq": [-0.07745113968849182, 0.03760726749897003, -0.009486294351518154, 0.08213121443986893, -0.04225680232048035, -0.0692768394947052, -0.04241357743740082], "dtheta": [-0.08398907631635666, 0.03971828520298004, -0.009682688862085342, 0.0835009440779686, -0.043917879462242126, -0.06788823008537292, -0.04523978754878044], "tau": [-62.209999084472656, -6.929999828338623, -20.580001831054688, 5.140000343322754, -4.427999973297119, 3.436000108718872, -0.1680000126361847], "tau_des": [-3.3510701656341553, 1.8628346920013428, -1.5279345512390137, 0.4629583954811096, -0.43865835666656494, -0.3395484685897827, -0.16800665855407715], "tau_dot": [-121.54521942138672, -112.84476470947266, -13.471914291381836, 2.0402779579162598, -47.984615325927734, 4.685489177703857, -40.2774658203125], "tau_ext": [15.43392276763916, -35.79254913330078, -35.9306640625, 19.732919692993164, -2.1169626712799072, -6.4811859130859375, 0.0447438582777977], "tcp_pose": [0.6382753849029541, -0.1624361276626587, -0.4296889007091522, -0.006283201277256012, -0.03006727434694767, 0.9995035529136658, 0.007012506015598774], "tcp_vel": [0.0013191160978749394, 0.002576490631327033, 0.05709429830312729, 0.0016605189302936196, -0.003498211270198226, 0.01174478605389595], "flange_pose": [0.6407419443130493, -0.16502776741981506, -0.2397225946187973, -0.006283201277256012, -0.03006727434694767, 0.9995035529136658, 0.007012506015598774], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-5.50064754486084, -61.91329574584961, -5.648736476898193, -7.485110759735107, 17.24913787841797, -0.11014218628406525], "ext_wrench_in_world": [9.279422363258144, -61.54121273811579, 4.689668712979976, 6.437181817469141, 17.665301082309874, 0.2675814933092509]}
+{"timestamp_ns": 1789729564496766298, "elapsed_ms": 7966, "source_timestamp_ns": 1789729564495381161, "q": [0.22892090678215027, -1.8229484558105469, 0.006330848205834627, 0.555946946144104, 1.7270599603652954, 0.1331617385149002, -0.8823283314704895], "theta": [0.22641350328922272, -1.822495460510254, 0.004836300387978554, 0.5396785140037537, 1.7265315055847168, 0.1337960958480835, -0.8817303776741028], "dq": [-0.08951552212238312, 0.0432029590010643, -0.010372078977525234, 0.10189355909824371, -0.05458313599228859, -0.07405918836593628, -0.051394667476415634], "dtheta": [-0.09343085438013077, 0.050969332456588745, -0.009937009774148464, 0.09999983012676239, -0.0527460090816021, -0.07688514143228531, -0.0510697215795517], "tau": [-62.5099983215332, -6.609999656677246, -20.784000396728516, 4.78000020980835, -4.4079999923706055, 3.4600002765655518, -0.164000004529953], "tau_des": [-4.008822917938232, 2.10357666015625, -1.8088395595550537, 0.3443840742111206, -0.4139094054698944, -0.21602985262870789, -0.24942198395729065], "tau_dot": [69.23944091796875, -51.600746154785156, 5.463726997375488, -34.9266357421875, 56.83325958251953, -1.768015742301941, -9.938061714172363], "tau_ext": [15.548439979553223, -35.681644439697266, -35.758392333984375, 19.785377502441406, -2.089258909225464, -6.525985240936279, 0.050066545605659485], "tcp_pose": [0.6382293701171875, -0.1623598337173462, -0.4272913336753845, -0.006253067869693041, -0.030240818858146667, 0.9994983077049255, 0.0070366947911679745], "tcp_vel": [0.0007975891348905861, 0.005246644839644432, 0.06329014897346497, 0.0012361651752144098, -0.00036758978967554867, 0.013712575659155846], "flange_pose": [0.6406852006912231, -0.164960578083992, -0.23732499778270721, -0.006253067869693041, -0.030240818858146667, 0.9994983077049255, 0.0070366947911679745], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-4.898246765136719, -61.511924743652344, -5.980190753936768, -7.462478160858154, 17.054725646972656, -0.10225541889667511], "ext_wrench_in_world": [8.679263775314004, -61.17864825382144, 5.0314775810000185, 6.420087894770071, 17.472216874336052, 0.2584807247722374]}
+{"timestamp_ns": 1789729564530105733, "elapsed_ms": 8000, "source_timestamp_ns": 1789729564525322827, "q": [0.2259523868560791, -1.8213675022125244, 0.006011534947901964, 0.5592514872550964, 1.7254421710968018, 0.13076220452785492, -0.8840473294258118], "theta": [0.22340485453605652, -1.82085382938385, 0.004500940442085266, 0.542957603931427, 1.724902629852295, 0.1314014196395874, -0.883449375629425], "dq": [-0.10888299345970154, 0.05429144576191902, -0.01314467005431652, 0.11039623618125916, -0.054494570940732956, -0.08168508112430573, -0.05878720432519913], "dtheta": [-0.10411619395017624, 0.06032032519578934, -0.012123129330575466, 0.11499084532260895, -0.0574057511985302, -0.08400414139032364, -0.05852790176868439], "tau": [-62.619998931884766, -5.980000019073486, -20.68000030517578, 4.420000076293945, -4.380000114440918, 3.4120001792907715, -0.1720000058412552], "tau_des": [-3.8782408237457275, 2.4807045459747314, -1.6384767293930054, 0.14618787169456482, -0.35929110646247864, -0.3605360686779022, -0.2449846714735031], "tau_dot": [18.354354858398438, 80.24555969238281, 38.10210037231445, -7.62021017074585, -48.102020263671875, -4.52152156829834, -0.7363282442092896], "tau_ext": [15.447720527648926, -35.9372673034668, -35.86528396606445, 20.066059112548828, -2.1376609802246094, -6.509260654449463, 0.060866422951221466], "tcp_pose": [0.6381988525390625, -0.162261500954628, -0.4252645671367645, -0.00621222797781229, -0.03042072430253029, 0.9994930624961853, 0.007039729040116072], "tcp_vel": [0.0015525887720286846, 0.0068547590635716915, 0.07081689685583115, 0.00035193783696740866, -0.0023446527775377035, 0.01667667180299759], "flange_pose": [0.6406396627426147, -0.1648634374141693, -0.2352980524301529, -0.00621222797781229, -0.03042072430253029, 0.9994930624961853, 0.007039729040116072], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-4.115185260772705, -61.02443313598633, -6.202323913574219, -7.3627824783325195, 16.84528923034668, -0.09539150446653366], "ext_wrench_in_world": [7.892524457350646, -60.73976814430175, 5.270069704892992, 6.326913374370418, 17.25951459050299, 0.2505152087711713]}
+{"timestamp_ns": 1789729564563467052, "elapsed_ms": 8033, "source_timestamp_ns": 1789729564555304813, "q": [0.222663015127182, -1.81948721408844, 0.005590084008872509, 0.5629765391349792, 1.7236788272857666, 0.12805406749248505, -0.8859419226646423], "theta": [0.22011443972587585, -1.8189198970794678, 0.004066971130669117, 0.5466740727424622, 1.723134160041809, 0.1286994218826294, -0.885348379611969], "dq": [-0.11849308758974075, 0.07184424996376038, -0.014154571108520031, 0.12593580782413483, -0.06279871612787247, -0.09438125044107437, -0.06558087468147278], "dtheta": [-0.11521609127521515, 0.06882231682538986, -0.016324779018759727, 0.12843535840511322, -0.059885963797569275, -0.09230447560548782, -0.06747783720493317], "tau": [-63.0, -6.029999732971191, -20.788000106811523, 4.4160003662109375, -4.308000087738037, 3.4640002250671387, -0.2120000123977661], "tau_des": [-3.7444965839385986, 2.445965528488159, -1.5302820205688477, 0.15932798385620117, -0.38147109746932983, -0.4341769218444824, -0.16597795486450195], "tau_dot": [-86.10004425048828, 14.442377090454102, 13.24753475189209, -31.193117141723633, 23.295875549316406, -35.03472137451172, -30.99327278137207], "tau_ext": [15.562438011169434, -36.05844497680664, -35.977394104003906, 20.188167572021484, -2.1811535358428955, -6.500021457672119, 0.07392416894435883], "tcp_pose": [0.6381911635398865, -0.16208381950855255, -0.4230133891105652, -0.006180500146001577, -0.03064824268221855, 0.9994862675666809, 0.007050835061818361], "tcp_vel": [0.002743158023804426, 0.008424388244748116, 0.07893683016300201, 0.00012469595822039992, -0.005096995271742344, 0.021842217072844505], "flange_pose": [0.6406206488609314, -0.1646897792816162, -0.23304679989814758, -0.006180500146001577, -0.03064824268221855, 0.9994862675666809, 0.007050835061818361], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.2713119983673096, -60.55654525756836, -6.4622416496276855, -7.2208170890808105, 16.646120071411133, -0.08545999228954315], "ext_wrench_in_world": [7.0522666910556735, -60.32469228126935, 5.545652220357761, 6.189419319300303, 17.055033592671094, 0.24027883554913862]}
+{"timestamp_ns": 1789729564596773564, "elapsed_ms": 8066, "source_timestamp_ns": 1789729564595398395, "q": [0.2177933156490326, -1.816555142402649, 0.004869564436376095, 0.5683791041374207, 1.7210137844085693, 0.12398462742567062, -0.888608992099762], "theta": [0.21526171267032623, -1.8159476518630981, 0.0033228190150111914, 0.5520877242088318, 1.720469355583191, 0.12464427947998047, -0.8880194425582886], "dq": [-0.11801523715257645, 0.08275846391916275, -0.021581828594207764, 0.1379302442073822, -0.07066585123538971, -0.10094082355499268, -0.06722293049097061], "dtheta": [-0.12727752327919006, 0.07956551015377045, -0.021576106548309326, 0.14122949540615082, -0.07343938946723938, -0.10675469040870667, -0.06783940643072128], "tau": [-62.77000045776367, -7.139999866485596, -21.080001831054688, 5.12000036239624, -4.360000133514404, 3.5280001163482666, -0.23200000822544098], "tau_des": [-3.4774749279022217, 0.6803239583969116, -1.6109598875045776, 0.5713591575622559, -0.20546504855155945, -0.25876450538635254, -0.1543484330177307], "tau_dot": [65.66732025146484, 4.894073009490967, -48.297794342041016, 28.30080223083496, 26.652095794677734, -31.381444931030273, -62.252830505371094], "tau_ext": [15.651569366455078, -35.451351165771484, -35.97365951538086, 19.74812126159668, -2.201301336288452, -6.5556769371032715, 0.09816358238458633], "tcp_pose": [0.638260543346405, -0.16169865429401398, -0.41967472434043884, -0.006184140220284462, -0.03105052560567856, 0.9994737505912781, 0.0070619178004562855], "tcp_vel": [0.0022199584636837244, 0.010711838491261005, 0.08824456483125687, -0.003307003527879715, 0.0036870152689516544, 0.022927217185497284], "flange_pose": [0.6406925916671753, -0.16430780291557312, -0.2297082096338272, -0.006184140220284462, -0.03105052560567856, 0.9994737505912781, 0.0070619178004562855], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.9806764125823975, -60.19765090942383, -6.534222602844238, -7.089640140533447, 16.621675491333008, -0.06619172543287277], "ext_wrench_in_world": [6.789453155592792, -59.98003361239879, 5.624639154330051, 6.046045921916768, 17.027719207392842, 0.22267040714428393]}
+{"timestamp_ns": 1789729564630107990, "elapsed_ms": 8100, "source_timestamp_ns": 1789729564625330793, "q": [0.21387004852294922, -1.8141670227050781, 0.004207557998597622, 0.5726295709609985, 1.7188405990600586, 0.12060917168855667, -0.8905755281448364], "theta": [0.21129891276359558, -1.8135629892349243, 0.002634647535160184, 0.5563482642173767, 1.7183020114898682, 0.1212759017944336, -0.8899899125099182], "dq": [-0.12725597620010376, 0.08611034601926804, -0.023319391533732414, 0.14018164575099945, -0.07311438024044037, -0.11186571419239044, -0.06726254522800446], "dtheta": [-0.1350201666355133, 0.07991918176412582, -0.023577390238642693, 0.14486031234264374, -0.07044071704149246, -0.11620111018419266, -0.06699437648057938], "tau": [-62.38999938964844, -7.759999752044678, -21.23200035095215, 5.36400032043457, -4.276000022888184, 3.6720001697540283, -0.24400001764297485], "tau_des": [-3.4060161113739014, -0.035645656287670135, -1.7847110033035278, 0.4811037480831146, -0.26273342967033386, -0.0026034179609268904, -0.3544338643550873], "tau_dot": [-46.38580322265625, -36.89700698852539, -16.12113380432129, 36.88606262207031, 1.0134954452514648, 56.80789566040039, -8.818631172180176], "tau_ext": [15.552589416503906, -35.174400329589844, -35.86383056640625, 19.525434494018555, -2.20967435836792, -6.635100364685059, 0.12055501341819763], "tcp_pose": [0.6383311152458191, -0.16134102642536163, -0.41697460412979126, -0.006237175315618515, -0.031350068747997284, 0.9994639158248901, 0.007079462520778179], "tcp_vel": [0.002409630687907338, 0.011836697347462177, 0.09291686117649078, 0.0033909110352396965, 0.0004957406199537218, 0.018471259623765945], "flange_pose": [0.6407843232154846, -0.1639554798603058, -0.2270084172487259, -0.006237175315618515, -0.031350068747997284, 0.9994639158248901, 0.007079462520778179], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.1300339698791504, -59.916011810302734, -6.66951322555542, -7.06479024887085, 16.693450927734375, -0.047585275024175644], "ext_wrench_in_world": [6.959188697062528, -59.6875813262553, 5.759367905519606, 6.0063216769454115, 17.101659059920877, 0.2053942718218425]}
+{"timestamp_ns": 1789729564663433698, "elapsed_ms": 8133, "source_timestamp_ns": 1789729564655303381, "q": [0.2097790539264679, -1.8118107318878174, 0.003538070246577263, 0.5769540071487427, 1.7167257070541382, 0.11710432171821594, -0.8927235007286072], "theta": [0.20713360607624054, -1.8112175464630127, 0.0019346983171999454, 0.5606927275657654, 1.716193675994873, 0.11776959896087646, -0.8921434283256531], "dq": [-0.1438172161579132, 0.07698609679937363, -0.02454809844493866, 0.1434095948934555, -0.0688372254371643, -0.11415929347276688, -0.07204636931419373], "dtheta": [-0.14060555398464203, 0.07488551735877991, -0.021814001724123955, 0.1443009227514267, -0.0700613260269165, -0.11946433782577515, -0.07586489617824554], "tau": [-62.62999725341797, -7.440000057220459, -21.540000915527344, 5.196000099182129, -4.272000312805176, 3.7960002422332764, -0.29200002551078796], "tau_des": [-3.511157274246216, 0.41576123237609863, -1.908689260482788, 0.09110661596059799, -0.25526344776153564, 0.06261802464723587, -0.32366737723350525], "tau_dot": [-97.57730102539062, -92.41571044921875, 13.75379753112793, 29.68113136291504, 81.15080261230469, 3.8585500717163086, -10.18517017364502], "tau_ext": [15.819418907165527, -35.21907424926758, -35.5985221862793, 19.599496841430664, -2.2126147747039795, -6.765707969665527, 0.1516539454460144], "tcp_pose": [0.6383965611457825, -0.16098947823047638, -0.4141729772090912, -0.00622433889657259, -0.03168034926056862, 0.999453067779541, 0.007153761573135853], "tcp_vel": [0.0013245687587186694, 0.0099632628262043, 0.09603424370288849, 0.007280172314494848, -0.003906712867319584, 0.022184891626238823], "flange_pose": [0.6408466696739197, -0.16363148391246796, -0.22420714795589447, -0.00622433889657259, -0.03168034926056862, 0.999453067779541, 0.007153761573135853], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.9133341312408447, -59.48987579345703, -6.809292793273926, -7.052029609680176, 16.668941497802734, -0.019775306805968285], "ext_wrench_in_world": [6.757027916013876, -59.27430949019723, 5.898992645211002, 5.983489045017367, 17.080706181731507, 0.18016247459307333]}
+{"timestamp_ns": 1789729564696774842, "elapsed_ms": 8166, "source_timestamp_ns": 1789729564695290699, "q": [0.2040223479270935, -1.8088985681533813, 0.0026618335396051407, 0.5826718211174011, 1.7139002084732056, 0.11220157891511917, -0.8958340883255005], "theta": [0.20134155452251434, -1.8082908391952515, 0.0010321886511519551, 0.5664576888084412, 1.7133680582046509, 0.11285150051116943, -0.8952789902687073], "dq": [-0.168160080909729, 0.06890102475881577, -0.0246700718998909, 0.13829529285430908, -0.06919948011636734, -0.12071181833744049, -0.0749179869890213], "dtheta": [-0.1498582363128662, 0.07173464447259903, -0.024317152798175812, 0.1436200588941574, -0.06994809955358505, -0.1293860673904419, -0.07829080522060394], "tau": [-62.5, -5.859999656677246, -21.196001052856445, 4.4120001792907715, -4.140000343322754, 3.756000280380249, -0.3400000035762787], "tau_des": [-2.281787157058716, 1.6001523733139038, -1.1306084394454956, -0.6270864009857178, -0.0075632925145328045, -0.12196149677038193, -0.3254634439945221], "tau_dot": [-30.0965576171875, -15.007885932922363, 59.4474983215332, 10.256080627441406, -14.445090293884277, -27.27631378173828, 4.416856288909912], "tau_ext": [16.00645637512207, -35.793033599853516, -35.65862274169922, 19.8850040435791, -2.2878828048706055, -6.85425329208374, 0.20336410403251648], "tcp_pose": [0.6384409666061401, -0.16060614585876465, -0.4102514088153839, -0.006124825682491064, -0.03214654326438904, 0.9994375109672546, 0.007332740351557732], "tcp_vel": [0.0011574769159778953, 0.009524315595626831, 0.10208188742399216, 0.012392635457217693, -0.006289280951023102, 0.022179173305630684], "flange_pose": [0.6408566832542419, -0.16331619024276733, -0.22028611600399017, -0.006124825682491064, -0.03214654326438904, 0.9994375109672546, 0.007332740351557732], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.1247222423553467, -59.25578308105469, -6.786882400512695, -7.088595390319824, 16.538545608520508, 0.028904683887958527], "ext_wrench_in_world": [6.0087328808481235, -59.0870263244126, 5.868772885309377, 6.011814873623319, 16.959125527409856, 0.13658039524001278]}
+{"timestamp_ns": 1789729564730110647, "elapsed_ms": 8200, "source_timestamp_ns": 1789729564725342138, "q": [0.19946742057800293, -1.8068506717681885, 0.001892373664304614, 0.5867252349853516, 1.7118068933486938, 0.10820518434047699, -0.8980083465576172], "theta": [0.1968436986207962, -1.8062176704406738, 0.00024888821644708514, 0.5705478191375732, 1.711271047592163, 0.10882747173309326, -0.8974805474281311], "dq": [-0.15675467252731323, 0.06568700075149536, -0.02613278292119503, 0.13713319599628448, -0.07708203792572021, -0.13704244792461395, -0.07147566974163055], "dtheta": [-0.15180139243602753, 0.06850122660398483, -0.027066288515925407, 0.13002416491508484, -0.07123853266239166, -0.14080791175365448, -0.0754440650343895], "tau": [-61.459999084472656, -5.639999866485596, -20.88800048828125, 4.496000289916992, -3.9840002059936523, 3.684000253677368, -0.3760000169277191], "tau_des": [-1.3899086713790894, 0.900620698928833, -0.9539099931716919, -0.028389642015099525, -0.08085252344608307, -0.030638093128800392, -0.30977192521095276], "tau_dot": [-18.876150131225586, 12.603767395019531, 23.333805084228516, 22.06516456604004, 68.11885070800781, -48.231693267822266, 33.28694534301758], "tau_ext": [15.654783248901367, -35.861541748046875, -35.966575622558594, 19.749610900878906, -2.375131845474243, -6.842952251434326, 0.24028445780277252], "tcp_pose": [0.638520359992981, -0.16029493510723114, -0.40715911984443665, -0.006036320235580206, -0.032468538731336594, 0.9994259476661682, 0.0075561669655144215], "tcp_vel": [0.002784213749691844, 0.013177264481782913, 0.1024901494383812, 0.019805017858743668, 0.0007939134375192225, 0.029815612360835075], "flange_pose": [0.640906035900116, -0.16309015452861786, -0.21719464659690857, -0.006036320235580206, -0.032468538731336594, 0.9994259476661682, 0.0075561669655144215], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.008500576019287, -59.68964385986328, -7.0483808517456055, -7.233455657958984, 16.587242126464844, 0.06948741525411606], "ext_wrench_in_world": [5.961022689854966, -59.530136452563355, 6.098884631033774, 6.141809306085776, 17.021507242581922, 0.10382801604964743]}
+{"timestamp_ns": 1789729564763434515, "elapsed_ms": 8233, "source_timestamp_ns": 1789729564755308758, "q": [0.19484391808509827, -1.8048745393753052, 0.0011069121537730098, 0.590570867061615, 1.709587574005127, 0.10400483012199402, -0.9001374244689941], "theta": [0.19226205348968506, -1.8042103052139282, -0.0005504816072061658, 0.5744082927703857, 1.7090489864349365, 0.10458719730377197, -0.8996410369873047], "dq": [-0.1342109590768814, 0.06731871515512466, -0.025046078488230705, 0.12841808795928955, -0.07661603391170502, -0.13831265270709991, -0.06963472068309784], "dtheta": [-0.1529397815465927, 0.06589748710393906, -0.025373239070177078, 0.1274464875459671, -0.07400580495595932, -0.1394977867603302, -0.06998012959957123], "tau": [-60.87999725341797, -5.71999979019165, -20.860000610351562, 4.496000289916992, -3.9280002117156982, 3.6640002727508545, -0.4240000247955322], "tau_des": [-0.7971258163452148, 1.4638779163360596, -0.6762641072273254, -0.3378378748893738, 0.1202823594212532, 0.03433962166309357, -0.38296589255332947], "tau_dot": [-78.41217803955078, -109.82025146484375, 15.556347846984863, -45.68232345581055, -11.358689308166504, -13.23060417175293, -40.18673324584961], "tau_ext": [15.108173370361328, -35.901065826416016, -36.16297149658203, 19.724950790405273, -2.4570467472076416, -6.82659387588501, 0.27617931365966797], "tcp_pose": [0.6385944485664368, -0.15994690358638763, -0.4040343463420868, -0.006025529000908136, -0.032838430255651474, 0.9994118809700012, 0.007826974615454674], "tcp_vel": [0.002121285768225789, 0.012103212997317314, 0.10312603414058685, 0.01893356814980507, 0.00024972748360596597, 0.023980500176548958], "flange_pose": [0.6409804224967957, -0.1628442108631134, -0.21407142281532288, -0.006025529000908136, -0.032838430255651474, 0.9994118809700012, 0.007826974615454674], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.101559638977051, -60.007083892822266, -7.79390811920166, -7.392162322998047, 16.66745376586914, 0.1103847399353981], "ext_wrench_in_world": [6.127849449203483, -59.851021322048986, 6.805613994525242, 6.281846403931722, 17.117053482907416, 0.07175972718095425]}
+{"timestamp_ns": 1789729564796769831, "elapsed_ms": 8266, "source_timestamp_ns": 1789729564795288808, "q": [0.18887962400913239, -1.8022974729537964, 0.0002470676845405251, 0.5955779552459717, 1.7066289186477661, 0.09875579178333282, -0.9028878808021545], "theta": [0.18627436459064484, -1.8015851974487305, -0.0014286249643191695, 0.5794159173965454, 1.7060834169387817, 0.09927654266357422, -0.9024362564086914], "dq": [-0.14989177882671356, 0.06033049896359444, -0.01943041943013668, 0.12481551617383957, -0.06789878010749817, -0.1250971108675003, -0.06733918190002441], "dtheta": [-0.14594784379005432, 0.06666348874568939, -0.02076994627714157, 0.12693941593170166, -0.07702374458312988, -0.12441851943731308, -0.06911779940128326], "tau": [-62.04999923706055, -5.359999656677246, -21.54400062561035, 4.019999980926514, -4.016000270843506, 3.8000001907348633, -0.42000001668930054], "tau_des": [-2.5767314434051514, 2.1709682941436768, -1.359625220298767, -0.7329010367393494, 0.2128666341304779, 0.01923227682709694, -0.5061672925949097], "tau_dot": [41.89613723754883, 65.77091979980469, 27.466991424560547, -9.446032524108887, -37.25455093383789, 1.021090030670166, 48.43855285644531], "tau_ext": [15.769298553466797, -35.86830520629883, -35.74525833129883, 19.928810119628906, -2.447179079055786, -6.916240215301514, 0.3167736530303955], "tcp_pose": [0.6386752724647522, -0.15948934853076935, -0.4000292420387268, -0.005967822391539812, -0.03329208493232727, 0.9993945360183716, 0.008161010220646858], "tcp_vel": [0.001551006454974413, 0.01075210701674223, 0.09878700226545334, 0.010897061787545681, -0.0019531098660081625, 0.023406662046909332], "flange_pose": [0.6410449147224426, -0.1625131517648697, -0.21006809175014496, -0.005967822391539812, -0.03329208493232727, 0.9993945360183716, 0.008161010220646858], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.482074499130249, -59.550201416015625, -8.222990989685059, -7.349155426025391, 16.533329010009766, 0.15990203619003296], "ext_wrench_in_world": [5.538138502398269, -59.44236235259655, 7.2093823727355115, 6.231765640174877, 16.986778636207326, 0.03272400820312653]}
+{"timestamp_ns": 1789729564830106626, "elapsed_ms": 8300, "source_timestamp_ns": 1789729564825324960, "q": [0.18447265028953552, -1.8003227710723877, -0.0004124014521948993, 0.5993230938911438, 1.7044428586959839, 0.09500794112682343, -0.9049495458602905], "theta": [0.18188364803791046, -1.7995742559432983, -0.0020964352879673243, 0.5831552147865295, 1.703880786895752, 0.09547245502471924, -0.9045478701591492], "dq": [-0.15532465279102325, 0.06817121803760529, -0.027874696999788284, 0.12065409868955612, -0.06902661174535751, -0.1300308257341385, -0.06620945781469345], "dtheta": [-0.14606894552707672, 0.06608252972364426, -0.0253127608448267, 0.12336467951536179, -0.07163510471582413, -0.13015450537204742, -0.06561674177646637], "tau": [-62.44999694824219, -4.759999752044678, -21.43600082397461, 3.6600000858306885, -3.9560000896453857, 3.636000156402588, -0.48000001907348633], "tau_des": [-2.646676778793335, 2.710618734359741, -1.235978126525879, -1.1201955080032349, 0.13454876840114594, -0.21146631240844727, -0.6129588484764099], "tau_dot": [20.97298812866211, 26.365291595458984, -7.55066442489624, -36.4386100769043, 7.817468166351318, -32.714454650878906, 6.361490249633789], "tau_ext": [16.166255950927734, -35.90519332885742, -35.70305633544922, 20.10882568359375, -2.4657979011535645, -6.876158237457275, 0.34699368476867676], "tcp_pose": [0.6387589573860168, -0.15914644300937653, -0.39705079793930054, -0.005882504861801863, -0.03365033119916916, 0.999381422996521, 0.008355365134775639], "tcp_vel": [0.0021270413417369127, 0.012422270141541958, 0.09915344417095184, 0.015256816521286964, -0.0013192102778702974, 0.022645095363259315], "flange_pose": [0.641099750995636, -0.1622442901134491, -0.20709048211574554, -0.005882504861801863, -0.03365033119916916, 0.999381422996521, 0.008355365134775639], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-0.47337737679481506, -58.711368560791016, -7.969256401062012, -7.083639144897461, 16.279508590698242, 0.19228389859199524], "ext_wrench_in_world": [4.513552691798363, -58.668257283766174, 6.9585459251158275, 5.971394004744632, 16.720637678576807, 0.006771207926365111]}
+{"timestamp_ns": 1789729564863391304, "elapsed_ms": 8333, "source_timestamp_ns": 1789729564855307126, "q": [0.17998528480529785, -1.7983016967773438, -0.001249882159754634, 0.6029738783836365, 1.7022678852081299, 0.09097380191087723, -0.907027006149292], "theta": [0.1774476319551468, -1.7975285053253174, -0.0029324740171432495, 0.586808443069458, 1.7016892433166504, 0.09138894081115723, -0.9066994786262512], "dq": [-0.14462406933307648, 0.07617920637130737, -0.03165586665272713, 0.11608751118183136, -0.07535077631473541, -0.14205016195774078, -0.06197114288806915], "dtheta": [-0.1512075662612915, 0.06881130486726761, -0.03001571074128151, 0.11827486008405685, -0.07228624820709229, -0.1388000100851059, -0.07091183215379715], "tau": [-61.66999816894531, -4.339999675750732, -21.20800018310547, 3.7160000801086426, -3.892000198364258, 3.500000238418579, -0.47600001096725464], "tau_des": [-1.1276922225952148, 1.68954598903656, -0.6455065608024597, -0.5722475647926331, 0.1468081921339035, -0.46125152707099915, -0.2639290988445282], "tau_dot": [153.34048461914062, -0.5752155184745789, -34.22950744628906, 106.32089233398438, 36.20220184326172, 13.493660926818848, 0.8592404127120972], "tau_ext": [15.700904846191406, -36.09040069580078, -36.08892822265625, 20.178974151611328, -2.558122158050537, -6.728121280670166, 0.3706006109714508], "tcp_pose": [0.6388658881187439, -0.1587314009666443, -0.39399847388267517, -0.00586475757881999, -0.03409505635499954, 0.99936443567276, 0.008594374172389507], "tcp_vel": [0.0052587357349693775, 0.016287365928292274, 0.1027025654911995, 0.018550265580415726, 0.0005519796395674348, 0.036162905395030975], "flange_pose": [0.6412044167518616, -0.16191920638084412, -0.20403961837291718, -0.00586475757881999, -0.03409505635499954, 0.99936443567276, 0.008594374172389507], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.28499242663383484, -58.362735748291016, -8.051549911499023, -6.8944573402404785, 16.088666915893555, 0.2241770476102829], "ext_wrench_in_world": [3.7861378304520343, -58.37296201573215, 7.027095169709689, 5.780425760967362, 16.523176171846973, -0.018102808956601144]}
+{"timestamp_ns": 1789729564896769619, "elapsed_ms": 8366, "source_timestamp_ns": 1789729564895293814, "q": [0.17401987314224243, -1.7955540418624878, -0.00250590150244534, 0.6074133515357971, 1.6992067098617554, 0.08522578328847885, -0.9092131853103638], "theta": [0.17146536707878113, -1.7947930097579956, -0.0041819303296506405, 0.5912581086158752, 1.6986159086227417, 0.08559167385101318, -0.9090006947517395], "dq": [-0.13756002485752106, 0.07115274667739868, -0.03308070823550224, 0.10904151201248169, -0.08252635598182678, -0.14192180335521698, -0.04976634308695793], "dtheta": [-0.1471606343984604, 0.06729832291603088, -0.03032907284796238, 0.10664057731628418, -0.07696743309497833, -0.14316678047180176, -0.05344919487833977], "tau": [-61.27000045776367, -5.380000114440918, -21.41200065612793, 4.264000415802002, -3.9080002307891846, 3.4080002307891846, -0.5200000405311584], "tau_des": [-2.056264638900757, 0.6708511114120483, -1.2113415002822876, -0.2720853388309479, 0.2214796394109726, -0.21214306354522705, -0.536777913570404], "tau_dot": [22.377290725708008, -111.97065734863281, 12.695037841796875, 42.5792236328125, -5.373312950134277, -3.4332141876220703, -15.416449546813965], "tau_ext": [15.19479751586914, -35.5638427734375, -36.169471740722656, 19.732332229614258, -2.5654592514038086, -6.587847709655762, 0.38939300179481506], "tcp_pose": [0.6390743255615234, -0.15799586474895477, -0.3899453282356262, -0.006045747548341751, -0.03464391827583313, 0.9993410706520081, 0.008983365260064602], "tcp_vel": [0.005169569049030542, 0.019024858251214027, 0.09964887797832489, 0.02030128240585327, 0.01106621976941824, 0.02871917001903057], "flange_pose": [0.6414884924888611, -0.16132770478725433, -0.19998987019062042, -0.006045747548341751, -0.03464391827583313, 0.9993410706520081, 0.008983365260064602], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.28457263112068176, -58.140926361083984, -8.79269790649414, -6.79860258102417, 16.028329849243164, 0.2570216953754425], "ext_wrench_in_world": [3.8473399906194867, -58.16590475794396, 7.725628444897669, 5.670425053375059, 16.46326407970742, -0.04037968069937853]}
+{"timestamp_ns": 1789729564930103085, "elapsed_ms": 8400, "source_timestamp_ns": 1789729564925330627, "q": [0.16965197026729584, -1.793581247329712, -0.00342131988145411, 0.6104133725166321, 1.6969488859176636, 0.08094119280576706, -0.9107154011726379], "theta": [0.16703249514102936, -1.7928513288497925, -0.005087920930236578, 0.5942541360855103, 1.6963536739349365, 0.08128583431243896, -0.910599410533905], "dq": [-0.14834249019622803, 0.06186874583363533, -0.03407468646764755, 0.10027740150690079, -0.07712379097938538, -0.14456012845039368, -0.04871457442641258], "dtheta": [-0.14758938550949097, 0.061666954308748245, -0.030908232554793358, 0.0961129441857338, -0.07492142915725708, -0.14967554807662964, -0.05295759066939354], "tau": [-62.30999755859375, -5.799999713897705, -22.032001495361328, 4.384000301361084, -4.02400016784668, 3.452000141143799, -0.5040000081062317], "tau_des": [-2.4576969146728516, 0.02618013508617878, -1.620808482170105, 0.12391474097967148, 0.006710275076329708, -0.22728469967842102, -0.5706373453140259], "tau_dot": [-102.51189422607422, 47.7999267578125, -23.714330673217773, -61.92232894897461, 39.15831756591797, -22.73723030090332, -78.52914428710938], "tau_ext": [15.739174842834473, -35.29888916015625, -35.80495071411133, 19.512876510620117, -2.4853944778442383, -6.577819347381592, 0.3901523947715759], "tcp_pose": [0.6392732858657837, -0.15738709270954132, -0.38699665665626526, -0.006205508019775152, -0.03509421646595001, 0.9993213415145874, 0.0093151293694973], "tcp_vel": [0.005377836059778929, 0.020122062414884567, 0.09910199046134949, 0.02697615697979927, 0.013415920548141003, 0.03253156691789627], "flange_pose": [0.6417539715766907, -0.1608416736125946, -0.1970442831516266, -0.006205508019775152, -0.03509421646595001, 0.9993213415145874, 0.0093151293694973], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.23789547383785248, -57.979278564453125, -8.706147193908691, -6.732851982116699, 15.965744018554688, 0.273121178150177], "ext_wrench_in_world": [3.9363896489719745, -58.0014109988004, 7.602071740823821, 5.594178836893454, 16.401638219265337, -0.047957504622651345]}
+{"timestamp_ns": 1789729564963438320, "elapsed_ms": 8433, "source_timestamp_ns": 1789729564955372338, "q": [0.16531211137771606, -1.791759729385376, -0.004452235996723175, 0.6132367253303528, 1.6948274374008179, 0.07647502422332764, -0.9123125076293945], "theta": [0.16266080737113953, -1.7910525798797607, -0.006095954682677984, 0.5970644354820251, 1.6942249536514282, 0.07680940628051758, -0.9123042821884155], "dq": [-0.1602277159690857, 0.057241421192884445, -0.036979563534259796, 0.09251146763563156, -0.07127729058265686, -0.15211933851242065, -0.050000015646219254], "dtheta": [-0.14780472218990326, 0.05625227093696594, -0.03607701510190964, 0.09060948342084885, -0.0671333596110344, -0.15238672494888306, -0.057939957827329636], "tau": [-62.80999755859375, -5.670000076293945, -22.016000747680664, 4.320000171661377, -4.064000129699707, 3.388000249862671, -0.47600001096725464], "tau_des": [-2.2963809967041016, 0.05943330004811287, -1.2380096912384033, -0.21838054060935974, 0.10653891414403915, -0.6092334389686584, -0.5646082162857056], "tau_dot": [-11.922866821289062, 88.80691528320312, 10.852538108825684, -10.082036018371582, -52.01487731933594, 43.509761810302734, 42.325008392333984], "tau_ext": [16.265865325927734, -35.27204513549805, -35.648292541503906, 19.49565315246582, -2.431696891784668, -6.557860374450684, 0.3911594748497009], "tcp_pose": [0.6394311785697937, -0.1567983776330948, -0.38405242562294006, -0.006396385841071606, -0.03560079261660576, 0.9992984533309937, 0.009710356593132019], "tcp_vel": [0.005372075363993645, 0.01853860914707184, 0.100247323513031, 0.029446246102452278, 0.010053658857941628, 0.03721235692501068], "flange_pose": [0.6419914960861206, -0.1603991985321045, -0.19410380721092224, -0.006396385841071606, -0.03560079261660576, 0.9992984533309937, 0.009710356593132019], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.448648601770401, -57.7155647277832, -8.104722023010254, -6.593679904937744, 15.849427223205566, 0.28479111194610596], "ext_wrench_in_world": [3.761125114911823, -57.74395701285148, 6.961579048822931, 5.446845101352025, 16.281630092981253, -0.04963796045073095]}
+{"timestamp_ns": 1789729564996774515, "elapsed_ms": 8466, "source_timestamp_ns": 1789729564995284874, "q": [0.15933513641357422, -1.7897566556930542, -0.006107599474489689, 0.616549015045166, 1.6924000978469849, 0.06982406973838806, -0.9146379828453064], "theta": [0.156744122505188, -1.7890722751617432, -0.007675096392631531, 0.6003514528274536, 1.691796898841858, 0.07014548778533936, -0.9147902727127075], "dq": [-0.14867764711380005, 0.042767275124788284, -0.05282343178987503, 0.0789540559053421, -0.0579950176179409, -0.1788252741098404, -0.05991265922784805], "dtheta": [-0.1505116969347, 0.04342909902334213, -0.041914474219083786, 0.07428208738565445, -0.05528208985924721, -0.17675060033798218, -0.06281480193138123], "tau": [-61.31999969482422, -4.739999771118164, -21.328001022338867, 3.80400013923645, -3.9240002632141113, 3.2280001640319824, -0.46000000834465027], "tau_des": [-0.48657500743865967, 0.5301085114479065, -0.14795136451721191, -0.7070456743240356, 0.2833036482334137, -0.6890771389007568, -0.5033902525901794], "tau_dot": [103.43659210205078, 25.05388641357422, 42.86528778076172, 0.6908577084541321, -18.34549331665039, 60.58504867553711, 115.53353881835938], "tau_ext": [15.68747329711914, -35.896644592285156, -36.103939056396484, 19.8305721282959, -2.47832989692688, -6.424558162689209, 0.38655710220336914], "tcp_pose": [0.6395995616912842, -0.15602952241897583, -0.380004346370697, -0.006653560791164637, -0.03638177737593651, 0.9992606043815613, 0.010501719079911709], "tcp_vel": [0.0034101104829460382, 0.02045324072241783, 0.10051660984754562, 0.050721175968647, 0.015646159648895264, 0.044813334941864014], "flange_pose": [0.6422712206840515, -0.15992523729801178, -0.19006307423114777, -0.006653560791164637, -0.03638177737593651, 0.9992606043815613, 0.010501719079911709], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.9942240715026855, -57.83830642700195, -8.015189170837402, -6.531195640563965, 15.661615371704102, 0.296314537525177], "ext_wrench_in_world": [3.318527396928523, -57.90920577773256, 6.78326554105769, 5.372597358241499, 16.098570305234123, -0.04179240743534429]}
+{"timestamp_ns": 1789729565030110550, "elapsed_ms": 8500, "source_timestamp_ns": 1789729565025447129, "q": [0.15480312705039978, -1.788632869720459, -0.007334790658205748, 0.6185989379882812, 1.6908326148986816, 0.06438317149877548, -0.9164870381355286], "theta": [0.1522367149591446, -1.7879420518875122, -0.008808585815131664, 0.6023827791213989, 1.6902376413345337, 0.06469392776489258, -0.9167600274085999], "dq": [-0.13506415486335754, 0.030067646875977516, -0.038859229534864426, 0.06305103003978729, -0.04761447757482529, -0.1834309995174408, -0.0596567802131176], "dtheta": [-0.1493532508611679, 0.0326412171125412, -0.03473728522658348, 0.06099817901849747, -0.05073628947138786, -0.18309256434440613, -0.06834745407104492], "tau": [-60.5, -3.990000009536743, -21.272001266479492, 3.392000198364258, -3.892000198364258, 3.2880001068115234, -0.484000027179718], "tau_des": [0.22469404339790344, 1.476399302482605, -0.1445179581642151, -1.0042543411254883, 0.1968127340078354, -0.35678544640541077, -0.45139509439468384], "tau_dot": [-25.39103889465332, -67.49243927001953, -38.67631530761719, -26.58808708190918, 86.57160949707031, -43.18169403076172, -30.630184173583984], "tau_ext": [15.07307243347168, -36.31931686401367, -36.289215087890625, 20.086898803710938, -2.499847173690796, -6.415664196014404, 0.3767622113227844], "tcp_pose": [0.6396737098693848, -0.1554255485534668, -0.3770083785057068, -0.006862923968583345, -0.037030041217803955, 0.9992259740829468, 0.011363641358911991], "tcp_vel": [0.0021633568685501814, 0.02183261699974537, 0.09612429887056351, 0.0660586729645729, 0.015777433291077614, 0.05102819949388504], "flange_pose": [0.6424394845962524, -0.15964381396770477, -0.18707534670829773, -0.006862923968583345, -0.037030041217803955, 0.9992259740829468, 0.011363641358911991], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.648221731185913, -57.90486145019531, -8.871892929077148, -6.610169887542725, 15.45470142364502, 0.3027615547180176], "ext_wrench_in_world": [2.7616878942767156, -58.05030428223294, 7.545551755918873, 5.4457319531412285, 15.905249870044283, -0.028925096373109208]}
+{"timestamp_ns": 1789729565063434673, "elapsed_ms": 8533, "source_timestamp_ns": 1789729565055325790, "q": [0.15049131214618683, -1.78774094581604, -0.008325953036546707, 0.6202678084373474, 1.6893420219421387, 0.05909296125173569, -0.9183861613273621], "theta": [0.1479082852602005, -1.787028431892395, -0.009705659933388233, 0.6040387749671936, 1.6887580156326294, 0.059392452239990234, -0.9187765121459961], "dq": [-0.1495770812034607, 0.024579908698797226, -0.026936717331409454, 0.051890913397073746, -0.050375405699014664, -0.17307426035404205, -0.07063344120979309], "dtheta": [-0.13896992802619934, 0.028610272333025932, -0.0261551421135664, 0.05074766278266907, -0.05213264003396034, -0.16969066858291626, -0.06891737133264542], "tau": [-61.15999984741211, -3.6999998092651367, -21.80000114440918, 3.364000082015991, -4.076000213623047, 3.516000270843506, -0.45600003004074097], "tau_des": [-0.8903344869613647, 1.918431043624878, -0.9687691926956177, -0.733765721321106, 0.06530158221721649, 0.0022891159169375896, -0.3667745292186737], "tau_dot": [-105.10855102539062, 65.83427429199219, -15.179115295410156, 53.529720306396484, -53.32587814331055, 81.8786392211914, 8.374800682067871], "tau_ext": [15.527467727661133, -36.161006927490234, -35.91069412231445, 20.031091690063477, -2.4091663360595703, -6.593660831451416, 0.3642169237136841], "tcp_pose": [0.6397351622581482, -0.15480056405067444, -0.374236136674881, -0.007072357460856438, -0.03775253891944885, 0.999186098575592, 0.012322920374572277], "tcp_vel": [0.002364358864724636, 0.02198714017868042, 0.0875672921538353, 0.06455302238464355, 0.016262471675872803, 0.056389495730400085], "flange_pose": [0.6425972580909729, -0.15937800705432892, -0.1843128502368927, -0.007072357460856438, -0.03775253891944885, 0.999186098575592, 0.012322920374572277], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.3867979049682617, -57.75079345703125, -9.390318870544434, -6.705151557922363, 15.246323585510254, 0.3018563389778137], "ext_wrench_in_world": [2.108559896131216, -57.97534915189042, 7.965042594184485, 5.533240226471739, 15.712535304270451, -0.00666681226040515]}
+{"timestamp_ns": 1789729565096778512, "elapsed_ms": 8566, "source_timestamp_ns": 1789729565095329348, "q": [0.14513123035430908, -1.7866030931472778, -0.009483176283538342, 0.6221492290496826, 1.6873277425765991, 0.05268179997801781, -0.9207684397697449], "theta": [0.1425793319940567, -1.7858490943908691, -0.010753080248832703, 0.6059107184410095, 1.686755895614624, 0.05294597148895264, -0.921301543712616], "dq": [-0.13464626669883728, 0.02972586452960968, -0.027442051097750664, 0.043335989117622375, -0.048676904290914536, -0.15222784876823425, -0.05966055020689964], "dtheta": [-0.12846893072128296, 0.03105311654508114, -0.02790595032274723, 0.04628636687994003, -0.048112597316503525, -0.16072191298007965, -0.06356034427881241], "tau": [-61.619998931884766, -3.240000009536743, -21.70400047302246, 3.2240002155303955, -4.048000335693359, 3.56000018119812, -0.41200003027915955], "tau_des": [-0.6036622524261475, 2.648195505142212, -0.6624573469161987, -0.43002408742904663, 0.05339694768190384, -0.06264777481555939, -0.4017825126647949], "tau_dot": [78.85277557373047, -47.2071647644043, -16.352745056152344, -57.039981842041016, 60.31696701049805, 35.220001220703125, 19.81259536743164], "tau_ext": [16.181846618652344, -35.758487701416016, -35.66785430908203, 19.828716278076172, -2.3162941932678223, -6.78201150894165, 0.3324018120765686], "tcp_pose": [0.6398865580558777, -0.153983011841774, -0.3707955777645111, -0.00732938339933753, -0.0387687012553215, 0.9991307258605957, 0.013455315493047237], "tcp_vel": [0.0034912843257188797, 0.023361507803201675, 0.08163080364465714, 0.05990472808480263, 0.01810220628976822, 0.057497426867485046], "flange_pose": [0.6428675055503845, -0.15898361802101135, -0.18088479340076447, -0.00732938339933753, -0.0387687012553215, 0.9991307258605957, 0.013455315493047237], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [3.1384029388427734, -57.15749740600586, -9.087041854858398, -6.684093952178955, 15.096220970153809, 0.28536704182624817], "ext_wrench_in_world": [1.4306556388428118, -57.44789673609296, 7.556176112181303, 5.492279330266084, 15.572020846185747, 0.03831989190993487]}
+{"timestamp_ns": 1789729565130102235, "elapsed_ms": 8600, "source_timestamp_ns": 1789729565125348695, "q": [0.141337588429451, -1.7856202125549316, -0.01041425671428442, 0.6235460042953491, 1.685912847518921, 0.048057492822408676, -0.9224545955657959], "theta": [0.13885700702667236, -1.784829020500183, -0.011610576882958412, 0.6073039174079895, 1.6853457689285278, 0.04826998710632324, -0.9230802655220032], "dq": [-0.11819610744714737, 0.033592209219932556, -0.02716902643442154, 0.05036535486578941, -0.042677368968725204, -0.14980049431324005, -0.05422242358326912], "dtheta": [-0.12136983871459961, 0.03686446696519852, -0.02895939350128174, 0.04756804183125496, -0.04643900319933891, -0.14907553791999817, -0.05946876481175423], "tau": [-60.82999801635742, -2.990000009536743, -21.428001403808594, 3.2080001831054688, -4.052000045776367, 3.620000123977661, -0.3800000250339508], "tau_des": [0.8103341460227966, 2.971977710723877, -0.09254629164934158, -0.22179685533046722, 0.00930715724825859, -0.18399885296821594, -0.5219519138336182], "tau_dot": [-52.9577751159668, 46.951759338378906, 2.934311866760254, -60.349056243896484, 6.282130241394043, -63.580989837646484, 39.37092590332031], "tau_ext": [15.826308250427246, -35.85063552856445, -35.93533706665039, 19.82544708251953, -2.342777729034424, -6.790793418884277, 0.30751460790634155], "tcp_pose": [0.6400279998779297, -0.153317391872406, -0.36833566427230835, -0.007546115200966597, -0.039547644555568695, 0.9990875720977783, 0.01424881350249052], "tcp_vel": [0.005508373025804758, 0.024446118623018265, 0.07821717113256454, 0.051933642476797104, 0.016376826912164688, 0.05766928195953369], "flange_pose": [0.6431070566177368, -0.15861360728740692, -0.17843444645404816, -0.007546115200966597, -0.039547644555568695, 0.9990875720977783, 0.01424881350249052], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [3.4913907051086426, -56.9886474609375, -9.152814865112305, -6.700307369232178, 15.059816360473633, 0.26531803607940674], "ext_wrench_in_world": [1.159419512686772, -57.31902841962967, 7.540192030780519, 5.487450739816581, 15.544909384412309, 0.07910702966215365]}
+{"timestamp_ns": 1789729565163431666, "elapsed_ms": 8633, "source_timestamp_ns": 1789729565155336370, "q": [0.13782432675361633, -1.7844054698944092, -0.011280701495707035, 0.6251116991043091, 1.6844768524169922, 0.04379450902342796, -0.9243037104606628], "theta": [0.13539645075798035, -1.7835688591003418, -0.012409612536430359, 0.6088696122169495, 1.683896541595459, 0.04394888877868652, -0.9250161647796631], "dq": [-0.09429605305194855, 0.045559607446193695, -0.02843458391726017, 0.05702745169401169, -0.043225597590208054, -0.13295581936836243, -0.06298267096281052], "dtheta": [-0.10942520946264267, 0.04649830982089043, -0.024585628882050514, 0.05508917197585106, -0.049666088074445724, -0.13525377213954926, -0.0652800127863884], "tau": [-60.03999710083008, -2.759999990463257, -21.32400131225586, 3.1440000534057617, -4.048000335693359, 3.5320000648498535, -0.3760000169277191], "tau_des": [1.1924526691436768, 2.997999906539917, -0.08713246881961823, 0.1138717457652092, 0.014834440313279629, 0.008792152628302574, -0.31913530826568604], "tau_dot": [-58.99998092651367, -43.640541076660156, 11.686614990234375, -21.488431930541992, 3.0553829669952393, -0.7919095754623413, 42.26234817504883], "tau_ext": [15.375885963439941, -35.890724182128906, -36.06512451171875, 19.8221378326416, -2.348593235015869, -6.801419258117676, 0.28715428709983826], "tcp_pose": [0.6401719450950623, -0.15260402858257294, -0.3660445809364319, -0.007784334011375904, -0.04043103754520416, 0.9990403056144714, 0.014937996864318848], "tcp_vel": [0.004746683873236179, 0.026623819023370743, 0.07051960378885269, 0.044126883149147034, 0.0202418752014637, 0.06500698626041412], "flange_pose": [0.6433566808700562, -0.1581554263830185, -0.17615239322185516, -0.007784334011375904, -0.04043103754520416, 0.9990403056144714, 0.014937996864318848], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [3.7811050415039062, -56.858394622802734, -9.678056716918945, -6.768426895141602, 15.013814926147461, 0.24332785606384277], "ext_wrench_in_world": [0.9739874763042662, -57.23623624391054, 7.993946788690344, 5.532008265938119, 15.513496660317168, 0.11728441047928763]}
+{"timestamp_ns": 1789729565196767377, "elapsed_ms": 8666, "source_timestamp_ns": 1789729565195310816, "q": [0.13381507992744446, -1.782312273979187, -0.012196598574519157, 0.6276870965957642, 1.6825544834136963, 0.03905068337917328, -0.9268458485603333], "theta": [0.13137590885162354, -1.7814135551452637, -0.013243123888969421, 0.6114376187324524, 1.6819401979446411, 0.039142727851867676, -0.9276601672172546], "dq": [-0.08963915705680847, 0.06018057465553284, -0.017290184274315834, 0.07153850048780441, -0.04965943470597267, -0.109788678586483, -0.06299034506082535], "dtheta": [-0.09333974868059158, 0.06220098212361336, -0.0168316513299942, 0.07261785864830017, -0.0496903695166111, -0.10737939924001694, -0.07178067415952682], "tau": [-60.56999969482422, -2.5, -21.764001846313477, 2.9800002574920654, -4.180000305175781, 3.580000162124634, -0.3440000116825104], "tau_des": [0.37021568417549133, 3.1198506355285645, -0.6914170980453491, 0.06246102228760719, -0.10726539045572281, 0.13383173942565918, -0.29200583696365356], "tau_dot": [-80.43761444091797, -56.998966217041016, 8.137948989868164, -12.900585174560547, -62.36741638183594, 1.5015053749084473, -24.366069793701172], "tau_ext": [15.325961112976074, -35.8718376159668, -35.886375427246094, 19.843074798583984, -2.292506694793701, -6.819860935211182, 0.25120702385902405], "tcp_pose": [0.6403306126594543, -0.15160129964351654, -0.36341598629951477, -0.00810797605663538, -0.0416158102452755, 0.9989786744117737, 0.01561949122697115], "tcp_vel": [0.00493504898622632, 0.028619185090065002, 0.060188185423612595, 0.03069976530969143, 0.015663372352719307, 0.06829880177974701], "flange_pose": [0.6436554789543152, -0.1574024260044098, -0.17353369295597076, -0.00810797605663538, -0.0416158102452755, 0.9989786744117737, 0.01561949122697115], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [4.330550193786621, -56.619537353515625, -10.19813060760498, -6.849445819854736, 14.847593307495117, 0.21135477721691132], "ext_wrench_in_world": [0.5568626178475291, -57.0683337908727, 8.451196681843797, 5.590355432661894, 15.366616481588341, 0.16009356650698545]}
+{"timestamp_ns": 1789729565230098968, "elapsed_ms": 8700, "source_timestamp_ns": 1789729565225336071, "q": [0.13126178085803986, -1.7802892923355103, -0.012688305228948593, 0.6300636529922485, 1.6810542345046997, 0.03627246990799904, -0.9288877844810486], "theta": [0.1287909299135208, -1.779354453086853, -0.013688633218407631, 0.6138001680374146, 1.6804062128067017, 0.03633320331573486, -0.9297650456428528], "dq": [-0.079976886510849, 0.07490511983633041, -0.011567488312721252, 0.08344481140375137, -0.05247104912996292, -0.08530494570732117, -0.07114019244909286], "dtheta": [-0.08050183951854706, 0.07400090992450714, -0.013122682459652424, 0.0838337168097496, -0.053013112396001816, -0.08689619600772858, -0.06954936683177948], "tau": [-61.31999969482422, -2.7200000286102295, -22.1200008392334, 3.0200002193450928, -4.236000061035156, 3.5480000972747803, -0.30000001192092896], "tau_des": [-0.9173542261123657, 2.9359629154205322, -1.2651863098144531, 0.3184112012386322, -0.15880383551120758, 0.02928142249584198, -0.22354964911937714], "tau_dot": [8.576400756835938, -28.78609275817871, -12.807275772094727, -67.7441177368164, -19.257131576538086, -26.14153480529785, 13.99161148071289], "tau_ext": [15.744915008544922, -35.66554260253906, -35.58693313598633, 19.76778793334961, -2.2043211460113525, -6.846443176269531, 0.22044385969638824], "tcp_pose": [0.6404687762260437, -0.15078848600387573, -0.3617263734340668, -0.008323474787175655, -0.042559344321489334, 0.9989324808120728, 0.015915093943476677], "tcp_vel": [0.004858568776398897, 0.029471484944224358, 0.052880264818668365, 0.016859639436006546, 0.01645953208208084, 0.06616265326738358], "flange_pose": [0.6438856720924377, -0.156695157289505, -0.17184896767139435, -0.008323474787175655, -0.042559344321489334, 0.9989324808120728, 0.015915093943476677], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [4.8543548583984375, -56.221168518066406, -10.134150505065918, -6.812803745269775, 14.665021896362305, 0.1811424344778061], "ext_wrench_in_world": [0.11162277173681281, -56.71811044667835, 8.37430861639527, 5.540872484814645, 15.191181600789935, 0.19159423989682892]}
+{"timestamp_ns": 1789729565263431519, "elapsed_ms": 8733, "source_timestamp_ns": 1789729565255313248, "q": [0.12897029519081116, -1.7778711318969727, -0.013150102458894253, 0.6328773498535156, 1.6795425415039062, 0.03390305116772652, -0.9308478832244873], "theta": [0.1264704018831253, -1.7769205570220947, -0.014122078195214272, 0.6166020631790161, 1.678861379623413, 0.03393208980560303, -0.931771457195282], "dq": [-0.0758962333202362, 0.0917804166674614, -0.012300088070333004, 0.10122647881507874, -0.05088477209210396, -0.08018498867750168, -0.0726817175745964], "dtheta": [-0.07289661467075348, 0.08694445341825485, -0.016441304236650467, 0.10091351717710495, -0.05137520655989647, -0.07984384149312973, -0.0715249553322792], "tau": [-61.55999755859375, -2.6399998664855957, -22.20400047302246, 2.9080002307891846, -4.276000022888184, 3.556000232696533, -0.29600000381469727], "tau_des": [-1.3010693788528442, 2.6389715671539307, -1.306208610534668, 0.027741435915231705, -0.15866756439208984, -0.0789087563753128, -0.25486239790916443], "tau_dot": [12.757726669311523, -19.832555770874023, 62.71273422241211, -2.395251512527466, 10.88043212890625, 55.83353042602539, -29.913246154785156], "tau_ext": [15.692866325378418, -35.63956832885742, -35.63113021850586, 19.808277130126953, -2.1845500469207764, -6.774734020233154, 0.19563592970371246], "tcp_pose": [0.6406066417694092, -0.14991767704486847, -0.3601733148097992, -0.008537985384464264, -0.043435290455818176, 0.9988905787467957, 0.016065966337919235], "tcp_vel": [0.003178160171955824, 0.0308697447180748, 0.04995421692728996, 0.008968723937869072, 0.018498601391911507, 0.06414187699556351], "flange_pose": [0.6441126465797424, -0.1558750420808792, -0.17029909789562225, -0.008537985384464264, -0.043435290455818176, 0.9988905787467957, 0.016065966337919235], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.391495227813721, -55.84003829956055, -9.89509105682373, -6.709161758422852, 14.472829818725586, 0.15131546556949615], "ext_wrench_in_world": [-0.3576191862121207, -56.38009188757045, 8.139304170352982, 5.428178323815361, 14.999516114212511, 0.21896862089542363]}
+{"timestamp_ns": 1789729565296771478, "elapsed_ms": 8766, "source_timestamp_ns": 1789729565295325784, "q": [0.12617141008377075, -1.774163007736206, -0.013932972215116024, 0.637160062789917, 1.677651047706604, 0.03093649633228779, -0.9334603548049927], "theta": [0.12366187572479248, -1.773239016532898, -0.014886018820106983, 0.6208711266517639, 1.6769298315048218, 0.03093576431274414, -0.9344249963760376], "dq": [-0.07202482968568802, 0.09568021446466446, -0.01933027245104313, 0.11134099215269089, -0.044024012982845306, -0.07418530434370041, -0.06882975250482559], "dtheta": [-0.06504836678504944, 0.09772924333810806, -0.022029701620340347, 0.11147836595773697, -0.04528212547302246, -0.07124966382980347, -0.06584511697292328], "tau": [-61.75, -2.8899998664855957, -22.32400131225586, 2.8320000171661377, -4.276000022888184, 3.452000141143799, -0.25600001215934753], "tau_des": [-1.27339506149292, 1.634541392326355, -1.2182631492614746, 0.09093783795833588, -0.2541884779930115, -0.2837284207344055, -0.2404986321926117], "tau_dot": [12.549759864807129, -68.58545684814453, 27.47303581237793, -0.40993621945381165, 2.098844051361084, -5.133138656616211, -2.2089223861694336], "tau_ext": [15.751713752746582, -35.771324157714844, -35.72764587402344, 19.941444396972656, -2.176074266433716, -6.676111221313477, 0.16363662481307983], "tcp_pose": [0.6407782435417175, -0.14865830540657043, -0.35819655656814575, -0.008858133107423782, -0.044579483568668365, 0.9988359212875366, 0.016154253855347633], "tcp_vel": [0.00407966086640954, 0.032547492533922195, 0.047241587191820145, 0.0011182866292074323, 0.01712331548333168, 0.05866552144289017], "flange_pose": [0.6444140672683716, -0.15463972091674805, -0.16832555830478668, -0.008858133107423782, -0.044579483568668365, 0.9988359212875366, 0.016154253855347633], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.143405914306641, -55.464271545410156, -9.822823524475098, -6.544984817504883, 14.209039688110352, 0.11734191328287125], "ext_wrench_in_world": [-1.0065475189907152, -56.072965770210054, 8.082331848469188, 5.254376047116073, 14.733579599213757, 0.2461072802711819]}
+{"timestamp_ns": 1789729565330105789, "elapsed_ms": 8800, "source_timestamp_ns": 1789729565325347441, "q": [0.12424252182245255, -1.7711728811264038, -0.014647360891103745, 0.6405441761016846, 1.676342487335205, 0.02880469337105751, -0.9353207349777222], "theta": [0.12176544219255447, -1.7702819108963013, -0.01559817511588335, 0.6242600679397583, 1.6755911111831665, 0.02879178524017334, -0.9363000392913818], "dq": [-0.06806811690330505, 0.09946444630622864, -0.020289920270442963, 0.11280422657728195, -0.041753169149160385, -0.0697985365986824, -0.06259462237358093], "dtheta": [-0.06167316064238548, 0.10127150267362595, -0.024974985048174858, 0.11275434494018555, -0.04274291545152664, -0.07130596041679382, -0.05872393772006035], "tau": [-61.98999786376953, -3.18999981880188, -22.428001403808594, 3.2240002155303955, -4.3520002365112305, 3.372000217437744, -0.23200000822544098], "tau_des": [-1.3439496755599976, 0.8071482181549072, -1.2425206899642944, 0.4997693598270416, -0.3384883403778076, -0.3070974349975586, -0.15315105020999908], "tau_dot": [-43.41299819946289, -100.51531219482422, -37.44757843017578, -17.683395385742188, -54.31059265136719, -19.280973434448242, 50.45901107788086], "tau_ext": [15.79334545135498, -35.605979919433594, -35.75844192504883, 19.80193328857422, -2.1500937938690186, -6.605837821960449, 0.14823687076568604], "tcp_pose": [0.6409134864807129, -0.14766299724578857, -0.3567783832550049, -0.009124496020376682, -0.04540642350912094, 0.9987961649894714, 0.016163645312190056], "tcp_vel": [0.004426951985806227, 0.03413594514131546, 0.045856159180402756, 0.00015860699932090938, 0.019292207434773445, 0.0538177490234375], "flange_pose": [0.6446555256843567, -0.15364034473896027, -0.16690930724143982, -0.009124496020376682, -0.04540642350912094, 0.9987961649894714, 0.016163645312190056], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.5771708488464355, -55.205684661865234, -9.68498420715332, -6.3916425704956055, 14.052021026611328, 0.09481097012758255], "ext_wrench_in_world": [-1.3671442392948907, -55.852398125664905, 7.960292374920197, 5.091932301695364, 14.571347700899736, 0.2634965195034875]}
+{"timestamp_ns": 1789729565363430882, "elapsed_ms": 8833, "source_timestamp_ns": 1789729565355354911, "q": [0.12240926921367645, -1.7681130170822144, -0.01538950763642788, 0.643974244594574, 1.6750664710998535, 0.026709983125329018, -0.9369885921478271], "theta": [0.11997892707586288, -1.7672463655471802, -0.016351815313100815, 0.6277052164077759, 1.6742780208587646, 0.026696443557739258, -0.9379733204841614], "dq": [-0.05694999173283577, 0.09793562442064285, -0.021975917741656303, 0.11827507615089417, -0.041326478123664856, -0.06762140244245529, -0.058657966554164886], "dtheta": [-0.056123118847608566, 0.10213649272918701, -0.026135573163628578, 0.11449263244867325, -0.04034936800599098, -0.06629175692796707, -0.054459646344184875], "tau": [-62.30999755859375, -3.379999876022339, -22.628000259399414, 3.448000192642212, -4.36400032043457, 3.320000171661377, -0.24400001764297485], "tau_des": [-2.053666353225708, 0.8259873390197754, -1.440637469291687, 0.4083184003829956, -0.35370826721191406, -0.3376621901988983, -0.16394329071044922], "tau_dot": [-11.887946128845215, 58.51704406738281, -18.60567855834961, -25.82875633239746, 11.259430885314941, -24.389049530029297, 15.824536323547363], "tau_ext": [15.961584091186523, -35.50165557861328, -35.71224594116211, 19.601747512817383, -2.1116080284118652, -6.5656208992004395, 0.1387067288160324], "tcp_pose": [0.6410393118858337, -0.14664384722709656, -0.3554096519947052, -0.009416804648935795, -0.046146586537361145, 0.9987595677375793, 0.016158517450094223], "tcp_vel": [0.003446318907663226, 0.033229053020477295, 0.043134257197380066, -0.003299031173810363, 0.019906766712665558, 0.04848262295126915], "flange_pose": [0.6448966264724731, -0.15261133015155792, -0.16554255783557892, -0.009416804648935795, -0.046146586537361145, 0.9987595677375793, 0.016158517450094223], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.505428791046143, -55.25101089477539, -9.540877342224121, -6.333263397216797, 14.0246000289917, 0.08017532527446747], "ext_wrench_in_world": [-1.2067216890874957, -55.888144235679036, 7.815516986505025, 5.015037728703059, 14.545782904506401, 0.2750556110262476]}
+{"timestamp_ns": 1789729565396765462, "elapsed_ms": 8866, "source_timestamp_ns": 1789729565395343363, "q": [0.12011647969484329, -1.7640501260757446, -0.016441309824585915, 0.6486066579818726, 1.6735237836837769, 0.023986585438251495, -0.9390922784805298], "theta": [0.11774055659770966, -1.7631793022155762, -0.017449352890253067, 0.6323387622833252, 1.6726758480072021, 0.023981094360351562, -0.940061628818512], "dq": [-0.05214112251996994, 0.10037969052791595, -0.0251581110060215, 0.1234176978468895, -0.03441234678030014, -0.07204320281744003, -0.05818011984229088], "dtheta": [-0.05584651231765747, 0.10176670551300049, -0.027679255232214928, 0.11540817469358444, -0.035516295582056046, -0.0676642507314682, -0.05501023307442665], "tau": [-62.47999954223633, -2.7699999809265137, -22.73200035095215, 3.1000001430511475, -4.336000442504883, 3.308000087738037, -0.24800001084804535], "tau_des": [-1.7692028284072876, 1.374043345451355, -1.2202502489089966, -0.05102578178048134, -0.39114275574684143, -0.41067203879356384, -0.22206765413284302], "tau_dot": [-19.10153579711914, -70.31219482421875, 22.22899055480957, 18.534839630126953, 45.367984771728516, 1.050134301185608, -6.169989109039307], "tau_ext": [16.0462646484375, -35.758358001708984, -35.69729232788086, 19.679283142089844, -2.0933446884155273, -6.521814346313477, 0.13968001306056976], "tcp_pose": [0.6411579251289368, -0.14531747996807098, -0.35365843772888184, -0.009802351705729961, -0.047030381858348846, 0.9987148642539978, 0.016143670305609703], "tcp_vel": [0.0032860597129911184, 0.03347216546535492, 0.04312284290790558, -0.0006762997945770621, 0.017523622140288353, 0.047422029078006744], "flange_pose": [0.6451665163040161, -0.15126900374889374, -0.16379399597644806, -0.009802351705729961, -0.047030381858348846, 0.9987148642539978, 0.016143670305609703], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.334830284118652, -55.56356430053711, -9.230022430419922, -6.338797569274902, 14.015650749206543, 0.07064559310674667], "ext_wrench_in_world": [-0.9088048413266124, -56.17502309291247, 7.494926340244875, 4.995855093720938, 14.546029060469992, 0.2797888530835163]}
+{"timestamp_ns": 1789729565430097644, "elapsed_ms": 8900, "source_timestamp_ns": 1789729565425351692, "q": [0.11845186352729797, -1.7610328197479248, -0.0171927772462368, 0.6521322131156921, 1.6724166870117188, 0.021964406594634056, -0.9407519698143005], "theta": [0.11609608680009842, -1.7601295709609985, -0.01824166439473629, 0.6358376145362854, 1.6715177297592163, 0.021970272064208984, -0.9416958093643188], "dq": [-0.048203904181718826, 0.10488270223140717, -0.026858696714043617, 0.1216254010796547, -0.03894069045782089, -0.06684315204620361, -0.05592544376850128], "dtheta": [-0.05448904633522034, 0.10323221981525421, -0.025879764929413795, 0.1172032579779625, -0.037235014140605927, -0.06559334695339203, -0.053803231567144394], "tau": [-62.279998779296875, -2.200000047683716, -22.75200080871582, 2.7080001831054688, -4.315999984741211, 3.244000196456909, -0.2760000228881836], "tau_des": [-1.6971280574798584, 2.077777862548828, -1.1022855043411255, -0.5688090920448303, -0.27496859431266785, -0.4268011450767517, -0.2607325315475464], "tau_dot": [74.62017822265625, 32.382896423339844, -4.749170303344727, -54.57640075683594, 85.3175048828125, -10.839314460754395, -39.924983978271484], "tau_ext": [15.880330085754395, -35.9893913269043, -35.76286697387695, 19.917583465576172, -2.104421854019165, -6.477302074432373, 0.14550834894180298], "tcp_pose": [0.6412009596824646, -0.14433903992176056, -0.3523893654346466, -0.010084226727485657, -0.04768790304660797, 0.9986807107925415, 0.016156086698174477], "tcp_vel": [0.0027392362244427204, 0.03379743546247482, 0.04205504059791565, -0.0016320431604981422, 0.01829599402844906, 0.04565539211034775], "flange_pose": [0.64532071352005, -0.15028750896453857, -0.1625271886587143, -0.010084226727485657, -0.04768790304660797, 0.9986807107925415, 0.016156086698174477], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.701504707336426, -55.591949462890625, -9.159834861755371, -6.3049092292785645, 13.882046699523926, 0.07398190349340439], "ext_wrench_in_world": [-1.1940334596722335, -56.237356676551535, 7.4304497342472215, 4.95560508572829, 14.416573491759301, 0.27011343960754103]}
+{"timestamp_ns": 1789729565463434464, "elapsed_ms": 8933, "source_timestamp_ns": 1789729565455319112, "q": [0.11684099584817886, -1.757975697517395, -0.017903804779052734, 0.6556543111801147, 1.6713361740112305, 0.020006287842988968, -0.9424073100090027], "theta": [0.1144748404622078, -1.7570470571517944, -0.01899564079940319, 0.639323353767395, 1.670390248298645, 0.020027518272399902, -0.9433184862136841], "dq": [-0.05089942738413811, 0.11285468190908432, -0.01975545659661293, 0.11443930119276047, -0.03466765955090523, -0.064970463514328, -0.05303462967276573], "dtheta": [-0.05297417566180229, 0.10455767065286636, -0.025132358074188232, 0.11406538635492325, -0.03638053685426712, -0.06372809410095215, -0.049570392817258835], "tau": [-61.87999725341797, -1.9499999284744263, -22.75200080871582, 2.56000018119812, -4.372000217437744, 3.260000228881836, -0.2240000069141388], "tau_des": [-1.2050186395645142, 1.7494075298309326, -1.049229383468628, -0.4118477404117584, -0.3893428444862366, -0.4554999768733978, -0.22670839726924896], "tau_dot": [110.6424560546875, 12.820374488830566, -14.18578052520752, -28.473678588867188, 50.09869384765625, 52.96744155883789, 92.69152069091797], "tau_ext": [15.718892097473145, -36.19944381713867, -35.8048095703125, 20.150712966918945, -2.1159915924072266, -6.433268070220947, 0.154415562748909], "tcp_pose": [0.6412606239318848, -0.143326535820961, -0.35116633772850037, -0.01035560853779316, -0.04835967347025871, 0.9986453056335449, 0.01617567613720894], "tcp_vel": [0.004550501238554716, 0.035676080733537674, 0.04073955863714218, -0.0012540717143565416, 0.017824267968535423, 0.04558279365301132], "flange_pose": [0.6454876661300659, -0.14927467703819275, -0.16130653023719788, -0.01035560853779316, -0.04835967347025871, 0.9986453056335449, 0.01617567613720894], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.408824443817139, -55.359806060791016, -9.342968940734863, -6.227555751800537, 13.651330947875977, 0.08089311420917511], "ext_wrench_in_world": [-1.8361585465674617, -56.0824791106932, 7.633736565127237, 4.8813064422556804, 14.186463488008934, 0.25481779044925834]}
+{"timestamp_ns": 1789729565496764175, "elapsed_ms": 8966, "source_timestamp_ns": 1789729565495306604, "q": [0.11482153087854385, -1.753784418106079, -0.018744956701993942, 0.6602010130882263, 1.66976797580719, 0.017543239519000053, -0.9443661570549011], "theta": [0.11241710186004639, -1.7528725862503052, -0.01992041803896427, 0.6438454985618591, 1.6687654256820679, 0.017592787742614746, -0.9452319145202637], "dq": [-0.044319748878479004, 0.10789463669061661, -0.013789080083370209, 0.10941062867641449, -0.03860420733690262, -0.05774255469441414, -0.048728566616773605], "dtheta": [-0.04953116551041603, 0.10424476861953735, -0.022430744022130966, 0.10989208519458771, -0.044223885983228683, -0.05538876727223396, -0.04452984407544136], "tau": [-61.66999816894531, -2.6599998474121094, -22.904001235961914, 2.9280002117156982, -4.427999973297119, 3.2320001125335693, -0.29600000381469727], "tau_des": [-0.7476589679718018, 1.1820417642593384, -1.0059843063354492, -0.023130496963858604, -0.31876063346862793, -0.52739417552948, -0.17406827211380005], "tau_dot": [114.88761138916016, -144.0042266845703, -44.4041862487793, 86.5089111328125, -17.306377410888672, 9.341094017028809, -108.09127044677734], "tau_ext": [15.477238655090332, -35.89303970336914, -35.771610260009766, 19.992847442626953, -2.0835578441619873, -6.41024923324585, 0.1532144844532013], "tcp_pose": [0.6414105892181396, -0.14187343418598175, -0.34964194893836975, -0.01077400054782629, -0.049256373196840286, 0.9985970854759216, 0.01617291010916233], "tcp_vel": [0.004700030200183392, 0.0343204066157341, 0.039041802287101746, -0.009665347635746002, 0.021155845373868942, 0.04438648372888565], "flange_pose": [0.6458016633987427, -0.14780886471271515, -0.1597854644060135, -0.01077400054782629, -0.049256373196840286, 0.9985970854759216, 0.01617291010916233], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.15363883972168, -54.88347244262695, -9.647871017456055, -6.116099834442139, 13.388072967529297, 0.08568264544010162], "ext_wrench_in_world": [-2.509199274219612, -55.69478844391675, 7.972029104832192, 4.77064215972094, 13.92258189327737, 0.23917209987734694]}
+{"timestamp_ns": 1789729565530099466, "elapsed_ms": 9000, "source_timestamp_ns": 1789729565525328051, "q": [0.11343026161193848, -1.7506158351898193, -0.019314337521791458, 0.6634331345558167, 1.6684648990631104, 0.015889372676610947, -0.945558488368988], "theta": [0.11098911613225937, -1.749716877937317, -0.020569775253534317, 0.6470848321914673, 1.667426347732544, 0.015956878662109375, -0.9463895559310913], "dq": [-0.04390810430049896, 0.10269773751497269, -0.020434435456991196, 0.1077660620212555, -0.04353042319417, -0.05328710377216339, -0.03721590340137482], "dtheta": [-0.04671252518892288, 0.10503911226987839, -0.02193249948322773, 0.10577177256345749, -0.045879896730184555, -0.05341092497110367, -0.03501323238015175], "tau": [-61.5, -3.609999895095825, -22.93600082397461, 3.7240002155303955, -4.452000141143799, 3.1520001888275146, -0.2639999985694885], "tau_des": [-0.5476335883140564, 0.012223949655890465, -0.9918386936187744, 0.6182788014411926, -0.30630096793174744, -0.5709134340286255, -0.32386258244514465], "tau_dot": [-101.75434112548828, 144.5266571044922, 37.03285217285156, 50.77737808227539, -22.698572158813477, -105.64623260498047, 30.173158645629883], "tau_ext": [15.307511329650879, -35.27500534057617, -35.74501419067383, 19.508625030517578, -2.046665906906128, -6.402658939361572, 0.16551242768764496], "tcp_pose": [0.6415715217590332, -0.1407589316368103, -0.3485771715641022, -0.011134104803204536, -0.04988817125558853, 0.9985629916191101, 0.016098257154226303], "tcp_vel": [0.005686002783477306, 0.03551715239882469, 0.03723169490695, -0.01139859575778246, 0.024069299921393394, 0.03967661038041115], "flange_pose": [0.6461015343666077, -0.14665640890598297, -0.15872275829315186, -0.011134104803204536, -0.04988817125558853, 0.9985629916191101, 0.016098257154226303], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.980175971984863, -54.53035354614258, -9.78378963470459, -6.051286697387695, 13.385807037353516, 0.09117592871189117], "ext_wrench_in_world": [-2.2917327326090504, -55.332288076874704, 8.12718052508617, 4.688622180034015, 13.92014600816059, 0.22928355720494187]}
+{"timestamp_ns": 1789729565563463989, "elapsed_ms": 9033, "source_timestamp_ns": 1789729565555317265, "q": [0.11212562769651413, -1.7475284337997437, -0.019887033849954605, 0.6665842533111572, 1.667211890220642, 0.014254797250032425, -0.9467211365699768], "theta": [0.10965344309806824, -1.7466102838516235, -0.021219799295067787, 0.6502447724342346, 1.666136384010315, 0.014337301254272461, -0.947517991065979], "dq": [-0.041842613369226456, 0.09237957745790482, -0.02339468151330948, 0.10835056751966476, -0.0387657955288887, -0.05416806787252426, -0.04154869541525841], "dtheta": [-0.042559362947940826, 0.10201140493154526, -0.02126731351017952, 0.10610548406839371, -0.03948068618774414, -0.053037211298942566, -0.04299138858914375], "tau": [-61.68000030517578, -3.3899998664855957, -22.96000099182129, 3.636000156402588, -4.392000198364258, 3.196000099182129, -0.29600000381469727], "tau_des": [-1.0073398351669312, 0.42312830686569214, -0.9198303818702698, 0.37538784742355347, -0.18109245598316193, -0.4745669364929199, -0.2888484001159668], "tau_dot": [-32.37628936767578, 84.26285552978516, 15.8363676071167, -27.89654541015625, 12.669124603271484, 16.994840621948242, -13.641548156738281], "tau_ext": [15.183014869689941, -35.3143310546875, -35.803043365478516, 19.42101287841797, -2.0550308227539062, -6.38372802734375, 0.17382679879665375], "tcp_pose": [0.6417042016983032, -0.1396704763174057, -0.3475668728351593, -0.011511487886309624, -0.05050169676542282, 0.9985289573669434, 0.01603228971362114], "tcp_vel": [0.003863193094730377, 0.03476707264780998, 0.0339771993458271, -0.006975108291953802, 0.022698499262332916, 0.04372752457857132], "flange_pose": [0.6463797688484192, -0.14553287625312805, -0.15771488845348358, -0.011511487886309624, -0.05050169676542282, 0.9985289573669434, 0.01603228971362114], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.4004807472229, -54.434478759765625, -9.938864707946777, -6.053493976593018, 13.500884056091309, 0.10043840110301971], "ext_wrench_in_world": [-1.6463043829397206, -55.18460045697784, 8.283126167256926, 4.661894328238658, 14.040935175899968, 0.21823874907035923]}
+{"timestamp_ns": 1789729565596804268, "elapsed_ms": 9066, "source_timestamp_ns": 1789729565595342668, "q": [0.11051054298877716, -1.7436444759368896, -0.020598214119672775, 0.6708365082740784, 1.6659287214279175, 0.012178804725408554, -0.9485470056533813], "theta": [0.10800644755363464, -1.742653250694275, -0.022004244849085808, 0.6544877290725708, 1.6648036241531372, 0.012282967567443848, -0.94928377866745], "dq": [-0.040411386638879776, 0.09707830846309662, -0.017886895686388016, 0.10382448136806488, -0.027727212756872177, -0.04944320768117905, -0.04660651832818985], "dtheta": [-0.0393083319067955, 0.09881273657083511, -0.018225109204649925, 0.10601484030485153, -0.02850639820098877, -0.05200853571295738, -0.053602591156959534], "tau": [-61.779998779296875, -1.8799999952316284, -22.8960018157959, 2.6640000343322754, -4.296000003814697, 3.1560001373291016, -0.3240000009536743], "tau_des": [-1.3509085178375244, 1.6042183637619019, -0.9659955501556396, -0.3584963381290436, -0.2651810050010681, -0.387857049703598, -0.23851501941680908], "tau_dot": [7.009176731109619, -56.60143280029297, -37.0975341796875, -27.00132942199707, 86.44713592529297, -28.43556022644043, 4.47352409362793], "tau_ext": [15.39460563659668, -36.05320739746094, -35.87855911254883, 19.863847732543945, -2.100468397140503, -6.377013206481934, 0.19374577701091766], "tcp_pose": [0.6417962312698364, -0.1383206844329834, -0.3463295102119446, -0.011880354024469852, -0.051303040236234665, 0.9984835982322693, 0.016040848568081856], "tcp_vel": [0.0035426358226686716, 0.03557445481419563, 0.029973164200782776, 0.0024454877711832523, 0.01605789177119732, 0.05013931915163994], "flange_pose": [0.6466166377067566, -0.14417535066604614, -0.15648093819618225, -0.011880354024469852, -0.051303040236234665, 0.9984835982322693, 0.016040848568081856], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.437163829803467, -54.87490463256836, -9.954601287841797, -6.148401260375977, 13.485729217529297, 0.11970050632953644], "ext_wrench_in_world": [-1.5423153451661051, -55.6293206476715, 8.286169122056725, 4.73478393762345, 14.043738903885298, 0.19307372129147382]}
+{"timestamp_ns": 1789729565630100508, "elapsed_ms": 9100, "source_timestamp_ns": 1789729565625338371, "q": [0.10935624688863754, -1.7407777309417725, -0.02108882926404476, 0.6740097999572754, 1.6651251316070557, 0.010685714893043041, -0.9500740766525269], "theta": [0.10684911906719208, -1.7397394180297852, -0.022539494559168816, 0.6576550602912903, 1.6639635562896729, 0.010804891586303711, -0.950764536857605], "dq": [-0.03975646197795868, 0.09775926172733307, -0.014670615084469318, 0.10309804230928421, -0.029020197689533234, -0.05068929120898247, -0.048381924629211426], "dtheta": [-0.03665938600897789, 0.09690015763044357, -0.017038265243172646, 0.10500558465719223, -0.029969079419970512, -0.049035001546144485, -0.04495968297123909], "tau": [-61.84000015258789, -1.3600000143051147, -22.884000778198242, 2.2360000610351562, -4.312000274658203, 3.184000253677368, -0.3400000035762787], "tau_des": [-1.0822681188583374, 3.1633524894714355, -0.6384212970733643, -1.0448142290115356, -0.1373669058084488, -0.4607635736465454, -0.25844043493270874], "tau_dot": [16.73997688293457, 101.67034149169922, 4.647953987121582, -19.513891220092773, 9.038217544555664, 44.09941864013672, -46.5686149597168], "tau_ext": [15.45871639251709, -36.438655853271484, -35.97434616088867, 20.195653915405273, -2.1402411460876465, -6.369532108306885, 0.2158547192811966], "tcp_pose": [0.6418708562850952, -0.13730286061763763, -0.34546059370040894, -0.012095512822270393, -0.05196091905236244, 0.9984461665153503, 0.016093894839286804], "tcp_vel": [0.0022507256362587214, 0.0340740792453289, 0.028374603018164635, 0.0001264113379875198, 0.01780596375465393, 0.04049314931035042], "flange_pose": [0.6467777490615845, -0.14317020773887634, -0.15561459958553314, -0.012095512822270393, -0.05196091905236244, 0.9984461665153503, 0.016093894839286804], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.067458152770996, -54.994224548339844, -10.000163078308105, -6.13789176940918, 13.33690357208252, 0.13914945721626282], "ext_wrench_in_world": [-2.0784608741474164, -55.81781032982635, 8.33690150420776, 4.720708794360385, 13.901533657648546, 0.16836056416264011]}
+{"timestamp_ns": 1789729565663432639, "elapsed_ms": 9133, "source_timestamp_ns": 1789729565655327835, "q": [0.10830425471067429, -1.7377890348434448, -0.02155083790421486, 0.6771266460418701, 1.6642745733261108, 0.009299187920987606, -0.9512977600097656], "theta": [0.10580989718437195, -1.736735224723816, -0.02304188907146454, 0.6607803702354431, 1.6630736589431763, 0.009434103965759277, -0.9519361257553101], "dq": [-0.03639962896704674, 0.11130502820014954, -0.016120698302984238, 0.09773492068052292, -0.0314292386174202, -0.045904431492090225, -0.03534168004989624], "dtheta": [-0.03316103667020798, 0.10261470079421997, -0.016193436458706856, 0.1034955307841301, -0.03184637054800987, -0.045479025691747665, -0.034081026911735535], "tau": [-61.84000015258789, -1.2200000286102295, -22.88800048828125, 2.2039999961853027, -4.296000003814697, 3.192000150680542, -0.34800001978874207], "tau_des": [-0.6171396374702454, 2.3762688636779785, -0.577903151512146, -0.5850381851196289, -0.2024233639240265, -0.48290562629699707, -0.28637024760246277], "tau_dot": [18.376405715942383, 6.1408233642578125, 11.831117630004883, -73.30093383789062, -44.566341400146484, -46.39499282836914, -14.411466598510742], "tau_ext": [15.55837631225586, -36.210811614990234, -35.97334289550781, 20.194183349609375, -2.14192795753479, -6.376651287078857, 0.227902352809906], "tcp_pose": [0.6420014500617981, -0.13620778918266296, -0.3446611166000366, -0.01234637014567852, -0.05255380645394325, 0.9984117150306702, 0.016114454716444016], "tcp_vel": [0.004688159096986055, 0.037555988878011703, 0.026007313281297684, -0.0024284531828016043, 0.020498238503932953, 0.03675447031855583], "flange_pose": [0.6470074653625488, -0.14207498729228973, -0.15481771528720856, -0.01234637014567852, -0.05255380645394325, 0.9984117150306702, 0.016114454716444016], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.674620628356934, -54.73262023925781, -9.953489303588867, -6.011096000671387, 13.194723129272461, 0.1569773554801941], "ext_wrench_in_world": [-2.63991230843499, -55.622998703049426, 8.312255343871637, 4.592510523942734, 13.753033167373648, 0.14683753666651603]}
+{"timestamp_ns": 1789729565696767849, "elapsed_ms": 9166, "source_timestamp_ns": 1789729565695333953, "q": [0.10712157934904099, -1.7335903644561768, -0.022127659991383553, 0.6811618804931641, 1.6630772352218628, 0.007631456945091486, -0.9525130987167358], "theta": [0.10467173904180527, -1.7325782775878906, -0.023668263107538223, 0.6648624539375305, 1.6618256568908691, 0.007786273956298828, -0.9530825018882751], "dq": [-0.028310032561421394, 0.11127206683158875, -0.01355222798883915, 0.09389123320579529, -0.03039981797337532, -0.038256701081991196, -0.02255232445895672], "dtheta": [-0.02530207671225071, 0.10560810565948486, -0.015774844214320183, 0.09973981976509094, -0.029919808730483055, -0.03907056152820587, -0.019754506647586823], "tau": [-61.869998931884766, -2.4099998474121094, -22.992000579833984, 3.000000238418579, -4.300000190734863, 3.196000099182129, -0.35200002789497375], "tau_des": [-0.8956587314605713, 0.9271326065063477, -0.856030285358429, 0.1331055462360382, -0.3222986161708832, -0.4341377317905426, -0.33672794699668884], "tau_dot": [-25.472688674926758, -110.83174133300781, 34.86711120605469, 90.3829345703125, 6.41152811050415, 11.663949966430664, 44.81085205078125], "tau_ext": [15.58000373840332, -35.84143829345703, -36.009647369384766, 19.90413475036621, -2.1407532691955566, -6.376590251922607, 0.24458929896354675], "tcp_pose": [0.6422715783119202, -0.1346053034067154, -0.3437425494194031, -0.012759427540004253, -0.05329888314008713, 0.998367428779602, 0.0160899106413126], "tcp_vel": [0.006477518007159233, 0.03982345759868622, 0.020956235006451607, -0.005196484737098217, 0.023011505603790283, 0.02891542762517929], "flange_pose": [0.647438108921051, -0.1404510736465454, -0.1539027839899063, -0.012759427540004253, -0.05329888314008713, 0.998367428779602, 0.0160899106413126], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.968979835510254, -54.433223724365234, -9.857386589050293, -5.867559432983398, 13.135286331176758, 0.17593462765216827], "ext_wrench_in_world": [-2.876419245912361, -55.35725395249742, 8.239366592343739, 4.435015063863933, 13.686126410975174, 0.12465528832075937]}
+{"timestamp_ns": 1789729565730095702, "elapsed_ms": 9200, "source_timestamp_ns": 1789729565725325616, "q": [0.10641451925039291, -1.7303603887557983, -0.022540070116519928, 0.684013307094574, 1.6621272563934326, 0.006561598274856806, -0.953070878982544], "theta": [0.10400822013616562, -1.7293963432312012, -0.024118825793266296, 0.6677735447883606, 1.6608390808105469, 0.006728529930114746, -0.9535935521125793], "dq": [-0.018534546718001366, 0.10835081338882446, -0.015739548951387405, 0.08993113785982132, -0.03267147019505501, -0.03429118171334267, -0.016668180003762245], "dtheta": [-0.020256847143173218, 0.10741714388132095, -0.015355132520198822, 0.09685829281806946, -0.03342237323522568, -0.03378923237323761, -0.01400526612997055], "tau": [-62.209999084472656, -3.3399999141693115, -23.284000396728516, 3.7120001316070557, -4.384000301361084, 3.25600004196167, -0.36000001430511475], "tau_des": [-1.0520458221435547, -0.3150196969509125, -0.82332843542099, 0.9886213541030884, -0.17704017460346222, -0.4806002676486969, -0.3613184690475464], "tau_dot": [-46.06196594238281, 120.12000274658203, -13.17795181274414, -22.486494064331055, -27.69440460205078, 45.069305419921875, 40.713016510009766], "tau_ext": [15.706826210021973, -35.10681915283203, -35.9183235168457, 19.34942054748535, -2.106424331665039, -6.396339416503906, 0.253446489572525], "tcp_pose": [0.642543613910675, -0.13333947956562042, -0.34316518902778625, -0.013125717639923096, -0.05380604788661003, 0.9983367919921875, 0.016009045764803886], "tcp_vel": [0.0069815325550735, 0.04022342339158058, 0.018247229978442192, -0.01072735246270895, 0.02726852521300316, 0.027931364253163338], "flange_pose": [0.6478503942489624, -0.1391444206237793, -0.1533280462026596, -0.013125717639923096, -0.05380604788661003, 0.9983367919921875, 0.016009045764803886], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.429226875305176, -54.21696472167969, -9.73775577545166, -5.780391216278076, 13.283700942993164, 0.18643753230571747], "ext_wrench_in_world": [-2.3036228475902227, -55.08188007197081, 8.1261815388689, 4.318195929075334, 13.829107753114638, 0.1155637504424156]}
+{"timestamp_ns": 1789729565763431562, "elapsed_ms": 9233, "source_timestamp_ns": 1789729565755322789, "q": [0.1058487594127655, -1.7272090911865234, -0.022912712767720222, 0.6869028806686401, 1.661336898803711, 0.005618654191493988, -0.9536117315292358], "theta": [0.103485606610775, -1.7262794971466064, -0.02452094294130802, 0.6707177758216858, 1.6600176095962524, 0.005795955657958984, -0.9540937542915344], "dq": [-0.018610524013638496, 0.10173767060041428, -0.01488854642957449, 0.1046777293086052, -0.02200908772647381, -0.034374020993709564, -0.018325474113225937], "dtheta": [-0.016428228467702866, 0.10401046276092529, -0.012505537830293179, 0.10183107852935791, -0.020985057577490807, -0.03070816770195961, -0.02161819115281105], "tau": [-62.46999740600586, -2.7699999809265137, -23.22800064086914, 3.3520002365112305, -4.296000003814697, 3.2080001831054688, -0.3760000169277191], "tau_des": [-1.767124056816101, 1.0253981351852417, -0.8353577852249146, 0.28171417117118835, -0.18026062846183777, -0.44929036498069763, -0.46334752440452576], "tau_dot": [30.400474548339844, 142.2017059326172, 10.384114265441895, -13.646934509277344, -3.244236946105957, 20.470382690429688, -6.413147926330566], "tau_ext": [15.94413948059082, -35.2787971496582, -35.85969161987305, 19.358760833740234, -2.1114234924316406, -6.422977447509766, 0.2629079818725586], "tcp_pose": [0.6427673697471619, -0.13212092220783234, -0.3426901400089264, -0.013454290106892586, -0.05424045771360397, 0.9983099102973938, 0.01594528928399086], "tcp_vel": [0.005077753681689501, 0.03917625918984413, 0.014187793247401714, -0.0027046792674809694, 0.018887903541326523, 0.026197951287031174], "flange_pose": [0.6482000350952148, -0.13789257407188416, -0.1528555452823639, -0.013454290106892586, -0.05424045771360397, 0.9983099102973938, 0.01594528928399086], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.8930745124816895, -54.264713287353516, -9.462965965270996, -5.756315231323242, 13.435193061828613, 0.19733648002147675], "ext_wrench_in_world": [-1.7197465678445738, -55.06346828914124, 7.846297852571664, 4.26548408515392, 13.981167133253875, 0.10550094141379562]}
+{"timestamp_ns": 1789729565796757724, "elapsed_ms": 9266, "source_timestamp_ns": 1789729565795319499, "q": [0.10516476631164551, -1.7230852842330933, -0.0232893954962492, 0.6910516023635864, 1.6606297492980957, 0.004456763155758381, -0.9547396898269653], "theta": [0.10285951942205429, -1.7221635580062866, -0.02492220140993595, 0.6748963594436646, 1.6592772006988525, 0.00463557243347168, -0.9551778435707092], "dq": [-0.013500308617949486, 0.10738097131252289, -0.006749048829078674, 0.11349863559007645, -0.015292199328541756, -0.027350861579179764, -0.034635815769433975], "dtheta": [-0.014851877465844154, 0.10315769910812378, -0.007848963141441345, 0.10650479048490524, -0.014199909754097462, -0.02641799859702587, -0.03148758411407471], "tau": [-62.71999740600586, -1.4900000095367432, -23.264001846313477, 2.4240000247955322, -4.240000247955322, 3.2400002479553223, -0.42000001668930054], "tau_des": [-1.9867852926254272, 2.657637357711792, -0.7252748012542725, -0.6021202206611633, -0.14184750616550446, -0.46368250250816345, -0.37313610315322876], "tau_dot": [-49.077003479003906, -44.00442886352539, -21.089643478393555, 21.423341751098633, 65.57356262207031, 26.97354507446289, -17.131040573120117], "tau_ext": [15.96487045288086, -36.203304290771484, -35.99248123168945, 19.945011138916016, -2.1893811225891113, -6.424752235412598, 0.2840360403060913], "tcp_pose": [0.6429697871208191, -0.13054747879505157, -0.3421539068222046, -0.01373973861336708, -0.05482487007975578, 0.9982736110687256, 0.015975717455148697], "tcp_vel": [0.004363280721008778, 0.039211153984069824, 0.011407698504626751, 0.0028530519921332598, 0.011354503221809864, 0.029697837308049202], "flange_pose": [0.6485146880149841, -0.1363215297460556, -0.15232263505458832, -0.01373973861336708, -0.05482487007975578, 0.9982736110687256, 0.015975717455148697], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.11555004119873, -54.719139099121094, -9.397632598876953, -5.833846569061279, 13.402400016784668, 0.21763034164905548], "ext_wrench_in_world": [-1.8238812972929246, -55.53974783685302, 7.769922902822436, 4.329073344230708, 13.962740081699996, 0.08042610287440063]}
+{"timestamp_ns": 1789729565830089646, "elapsed_ms": 9300, "source_timestamp_ns": 1789729565825401060, "q": [0.10467896610498428, -1.7199454307556152, -0.023472845554351807, 0.6942960619926453, 1.6602009534835815, 0.003674156963825226, -0.9556893706321716], "theta": [0.1024160087108612, -1.7190262079238892, -0.025116560980677605, 0.6781424880027771, 1.6588258743286133, 0.0038454532623291016, -0.9560920000076294], "dq": [-0.01204857137054205, 0.11111865937709808, -0.001360476715490222, 0.10746367275714874, -0.016789836809039116, -0.028169164434075356, -0.03220939263701439], "dtheta": [-0.013956074602901936, 0.10613194853067398, -0.005065116565674543, 0.10838400572538376, -0.0163875799626112, -0.0255652517080307, -0.02601250261068344], "tau": [-62.80999755859375, -0.8999999761581421, -23.332000732421875, 2.2320001125335693, -4.252000331878662, 3.2360000610351562, -0.3920000195503235], "tau_des": [-1.9657599925994873, 2.966341257095337, -0.818738579750061, -0.8880033493041992, -0.1601349115371704, -0.394664466381073, -0.37945109605789185], "tau_dot": [-8.296734809875488, -2.251007080078125, -13.367410659790039, -37.681549072265625, 10.120388984680176, 18.872055053710938, 52.61228942871094], "tau_ext": [16.004663467407227, -36.617095947265625, -36.05696105957031, 20.29542350769043, -2.2244791984558105, -6.432347774505615, 0.3032297194004059], "tcp_pose": [0.6431165337562561, -0.12933985888957977, -0.3418043851852417, -0.013886252418160439, -0.05526583641767502, 0.9982462525367737, 0.01604098081588745], "tcp_vel": [0.004365575034171343, 0.04103032872080803, 0.010015460662543774, 0.0034663958940654993, 0.012998604215681553, 0.025134723633527756], "flange_pose": [0.648720920085907, -0.13513311743736267, -0.15197543799877167, -0.013886252418160439, -0.05526583641767502, 0.9982462525367737, 0.01604098081588745], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.772470474243164, -54.823665618896484, -9.449727058410645, -5.827314853668213, 13.248857498168945, 0.23515810072422028], "ext_wrench_in_world": [-2.4120624062467075, -55.72052811891065, 7.828958595532179, 4.32658644334115, 13.813846452226139, 0.058469526437017305]}
+{"timestamp_ns": 1789729565863430905, "elapsed_ms": 9333, "source_timestamp_ns": 1789729565855323961, "q": [0.10424318164587021, -1.716671347618103, -0.023611880838871002, 0.6975206136703491, 1.6596680879592896, 0.0029686461202800274, -0.9563915729522705], "theta": [0.10201532393693924, -1.71578049659729, -0.025265619158744812, 0.6813727617263794, 1.6582703590393066, 0.0031316280364990234, -0.9567537903785706], "dq": [-0.009847023524343967, 0.11117987334728241, -0.0025307571049779654, 0.1034669429063797, -0.019700922071933746, -0.02044176682829857, -0.02070789597928524], "dtheta": [-0.011975008994340897, 0.10754185914993286, -0.004667781293392181, 0.10690578073263168, -0.01918901316821575, -0.019857333973050117, -0.019307024776935577], "tau": [-62.84000015258789, -1.1799999475479126, -23.4320011138916, 2.3320000171661377, -4.272000312805176, 3.264000177383423, -0.42000001668930054], "tau_des": [-1.9710564613342285, 2.8660600185394287, -0.8209992051124573, -0.8887367844581604, -0.11092311143875122, -0.44807007908821106, -0.48569145798683167], "tau_dot": [92.37308502197266, -81.5416030883789, 19.520620346069336, 51.46873092651367, -62.54813003540039, -9.415709495544434, 34.572139739990234], "tau_ext": [15.99738597869873, -36.5494499206543, -36.059165954589844, 20.323068618774414, -2.229048490524292, -6.447804927825928, 0.31855738162994385], "tcp_pose": [0.6433099508285522, -0.12805664539337158, -0.3414934575557709, -0.014072680845856667, -0.0556592158973217, 0.9982212781906128, 0.01607230119407177], "tcp_vel": [0.005368359852582216, 0.04079402983188629, 0.009311480447649956, -0.0021501153241842985, 0.013439176604151726, 0.021413294598460197], "flange_pose": [0.6489879488945007, -0.13385561108589172, -0.15166687965393066, -0.014072680845856667, -0.0556592158973217, 0.9982212781906128, 0.01607230119407177], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.292004585266113, -54.60525894165039, -9.492884635925293, -5.741926670074463, 13.120845794677734, 0.2518036961555481], "ext_wrench_in_world": [-2.9040040859615046, -55.56518526321982, 7.890973256896841, 4.244492412736466, 13.681099687702847, 0.03894671978491471]}
+{"timestamp_ns": 1789729565896763366, "elapsed_ms": 9366, "source_timestamp_ns": 1789729565895319201, "q": [0.10376501828432083, -1.712161898612976, -0.023791436105966568, 0.7016569972038269, 1.6588298082351685, 0.0021757371723651886, -0.9570923447608948], "theta": [0.1015733927488327, -1.711316704750061, -0.025464413687586784, 0.6855428814888, 1.6574023962020874, 0.002325773239135742, -0.9574136137962341], "dq": [-0.008423968218266964, 0.10515236109495163, -0.0031391100492328405, 0.09938015043735504, -0.02467111311852932, -0.018140200525522232, -0.011464215815067291], "dtheta": [-0.010153355076909065, 0.11449088901281357, -0.005152237601578236, 0.10182587057352066, -0.023718716576695442, -0.0185102429240942, -0.010659242980182171], "tau": [-63.0, -2.819999933242798, -23.73600196838379, 3.5280001163482666, -4.36400032043457, 3.2680001258850098, -0.40400001406669617], "tau_des": [-2.0052988529205322, -0.05497606098651886, -1.184865117073059, 0.8998103737831116, -0.29291588068008423, -0.3718782365322113, -0.3487727642059326], "tau_dot": [-128.7003173828125, -116.4263687133789, 20.827999114990234, 26.76642417907715, -50.178775787353516, -5.0138044357299805, 71.2413330078125], "tau_ext": [15.95832633972168, -35.515625, -35.95962905883789, 19.63661003112793, -2.188444137573242, -6.472284317016602, 0.32333487272262573], "tcp_pose": [0.6436645984649658, -0.12625472247600555, -0.34113410115242004, -0.014381139539182186, -0.05621938407421112, 0.9981860518455505, 0.016034740954637527], "tcp_vel": [0.00933009758591652, 0.045672863721847534, 0.008351114578545094, -0.005632129032164812, 0.01817983388900757, 0.02500184066593647], "flange_pose": [0.649462103843689, -0.13202963769435883, -0.15131039917469025, -0.014381139539182186, -0.05621938407421112, 0.9981860518455505, 0.016034740954637527], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.184866905212402, -54.27206802368164, -9.44976806640625, -5.637935161590576, 13.148746490478516, 0.26560744643211365], "ext_wrench_in_world": [-2.7684813527275676, -55.223410315240415, 7.863061000441427, 4.122176892318923, 13.702314465848433, 0.025108170050432366]}
+{"timestamp_ns": 1789729565930104045, "elapsed_ms": 9400, "source_timestamp_ns": 1789729565925349905, "q": [0.10346226394176483, -1.708769679069519, -0.023937491700053215, 0.7046936750411987, 1.6581307649612427, 0.0016220536781474948, -0.9573796987533569], "theta": [0.1012890562415123, -1.7079142332077026, -0.025630256161093712, 0.6886063814163208, 1.6566816568374634, 0.0017620325088500977, -0.957675576210022], "dq": [-0.009102784097194672, 0.09847317636013031, -0.006030970718711615, 0.10503421723842621, -0.02333284541964531, -0.019165465608239174, -0.00963576603680849], "dtheta": [-0.009289913810789585, 0.1119072437286377, -0.005523388739675283, 0.1031917929649353, -0.023963365703821182, -0.018687546253204346, -0.011213907971978188], "tau": [-63.119998931884766, -3.1599998474121094, -23.904001235961914, 3.580000162124634, -4.320000171661377, 3.3480000495910645, -0.4360000193119049], "tau_des": [-2.494882345199585, 0.5085530877113342, -1.0790046453475952, 0.5781570076942444, -0.0733100026845932, -0.39630526304244995, -0.5148578882217407], "tau_dot": [61.253883361816406, 7.201499938964844, -33.29725646972656, 11.908567428588867, -14.846891403198242, 59.858028411865234, -9.555458068847656], "tau_ext": [15.994823455810547, -35.11383056640625, -35.9047737121582, 19.277170181274414, -2.1749329566955566, -6.482873916625977, 0.32553714513778687], "tcp_pose": [0.6439314484596252, -0.12490271776914597, -0.3408874571323395, -0.014658849686384201, -0.056559156626462936, 0.9981639385223389, 0.01596645452082157], "tcp_vel": [0.006993923801928759, 0.04342133551836014, 0.008188513107597828, -0.006429763976484537, 0.019307149574160576, 0.021659674122929573], "flange_pose": [0.6498346924781799, -0.1306437849998474, -0.15106597542762756, -0.014658849686384201, -0.056559156626462936, 0.9981639385223389, 0.01596645452082157], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.412344932556152, -54.024505615234375, -9.348648071289062, -5.569689750671387, 13.33993911743164, 0.26881757378578186], "ext_wrench_in_world": [-1.9897946128419344, -54.887579362091024, 7.759273430191437, 4.023333364233568, 13.88739731504393, 0.025824752632271353]}
+{"timestamp_ns": 1789729565963428208, "elapsed_ms": 9433, "source_timestamp_ns": 1789729565955352217, "q": [0.10314236581325531, -1.7055047750473022, -0.024081476032733917, 0.7078539729118347, 1.6575958728790283, 0.001018732669763267, -0.9578941464424133], "theta": [0.10098263621330261, -1.7045892477035522, -0.025789950042963028, 0.6917720437049866, 1.6561261415481567, 0.0011477470397949219, -0.9581714868545532], "dq": [-0.009581957943737507, 0.10405779629945755, -0.005229190457612276, 0.11396536231040955, -0.01487387903034687, -0.023015182465314865, -0.02147318795323372], "dtheta": [-0.011760174296796322, 0.11138524860143661, -0.004607921466231346, 0.10599278658628464, -0.015548746101558208, -0.022615114226937294, -0.021081672981381416], "tau": [-63.38999938964844, -2.069999933242798, -23.876001358032227, 2.9160001277923584, -4.25600004196167, 3.3400001525878906, -0.46400001645088196], "tau_des": [-2.645883560180664, 1.1348955631256104, -1.076474666595459, 0.23166504502296448, -0.1905747503042221, -0.33784952759742737, -0.4796263873577118], "tau_dot": [31.820228576660156, -98.70636749267578, 50.60894775390625, -33.146453857421875, 12.416257858276367, -0.878571629524231, -38.114356994628906], "tau_ext": [16.0534725189209, -35.714656829833984, -35.94398880004883, 19.588409423828125, -2.221688747406006, -6.4828009605407715, 0.3358602523803711], "tcp_pose": [0.6441125869750977, -0.12362880259752274, -0.3406386375427246, -0.014873730018734932, -0.056884776800870895, 0.9981423616409302, 0.015959255397319794], "tcp_vel": [0.007317190058529377, 0.045064810663461685, 0.008358271792531013, 0.002944298554211855, 0.01264203805476427, 0.027656475082039833], "flange_pose": [0.6500990986824036, -0.12936054170131683, -0.15081948041915894, -0.014873730018734932, -0.056884776800870895, 0.9981423616409302, 0.015959255397319794], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.139305114746094, -54.25571060180664, -9.295920372009277, -5.62249755859375, 13.40957260131836, 0.2760598957538605], "ext_wrench_in_world": [-1.6547096994705608, -55.08552273717069, 7.693612727697644, 4.05852341059493, 13.965436297357275, 0.017377070326742516]}
+{"timestamp_ns": 1789729565996763548, "elapsed_ms": 9466, "source_timestamp_ns": 1789729565995357354, "q": [0.10261238366365433, -1.7012189626693726, -0.024225842207670212, 0.7122243642807007, 1.6570303440093994, 9.304754348704591e-05, -0.9589069485664368], "theta": [0.10046403110027313, -1.700217366218567, -0.02594744972884655, 0.6961166858673096, 1.6555311679840088, 0.0002124309539794922, -0.9591575860977173], "dq": [-0.013102640397846699, 0.11373505741357803, -0.0031366378534585238, 0.11285895854234695, -0.014810075983405113, -0.02539963833987713, -0.026642002165317535], "dtheta": [-0.014196746051311493, 0.10993355512619019, -0.003439401974901557, 0.10682932287454605, -0.016283128410577774, -0.024953093379735947, -0.022106673568487167], "tau": [-63.5099983215332, -0.8999999761581421, -23.95600128173828, 2.0920000076293945, -4.212000370025635, 3.364000082015991, -0.46800002455711365], "tau_des": [-2.601557493209839, 2.551539659500122, -1.067460060119629, -0.6922635436058044, -0.2197909653186798, -0.3071422576904297, -0.4487915635108948], "tau_dot": [-86.42326354980469, 29.063852310180664, -47.06632995605469, -25.599695205688477, 30.28850555419922, 9.643004417419434, 26.000198364257812], "tau_ext": [16.154632568359375, -36.471519470214844, -35.99886703491211, 20.1248779296875, -2.2740814685821533, -6.496181488037109, 0.35513630509376526], "tcp_pose": [0.6442946195602417, -0.12194924056529999, -0.3402736783027649, -0.01507748942822218, -0.057366855442523956, 0.9981101751327515, 0.016055719926953316], "tcp_vel": [0.0063221752643585205, 0.04463234916329384, 0.009464521892368793, 0.0051656449213624, 0.012065713293850422, 0.02629777416586876], "flange_pose": [0.6503632068634033, -0.12771020829677582, -0.15045803785324097, -0.01507748942822218, -0.057366855442523956, 0.9981101751327515, 0.016055719926953316], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.734850883483887, -54.66670227050781, -9.304205894470215, -5.698537349700928, 13.266759872436523, 0.2947791516780853], "ext_wrench_in_world": [-2.14241694906398, -55.5653346867304, 7.695312546202104, 4.13617910960746, 13.836874955407605, -0.007350425370048791]}
+{"timestamp_ns": 1789729566030104046, "elapsed_ms": 9500, "source_timestamp_ns": 1789729566025326136, "q": [0.10215813666582108, -1.6979100704193115, -0.024336764588952065, 0.7154516577720642, 1.656441569328308, -0.0006555392174050212, -0.9594990611076355], "theta": [0.1000189483165741, -1.696882724761963, -0.02606503665447235, 0.6993162631988525, 1.6549185514450073, -0.0005420446395874023, -0.9597226977348328], "dq": [-0.014208539389073849, 0.12212786823511124, -0.004293947014957666, 0.1019444465637207, -0.023997828364372253, -0.02581186778843403, -0.016503097489476204], "dtheta": [-0.015407721512019634, 0.1130765900015831, -0.004451106768101454, 0.10743160545825958, -0.02457672543823719, -0.02509397268295288, -0.016827961429953575], "tau": [-63.34000015258789, -1.090000033378601, -23.964000701904297, 2.1560001373291016, -4.208000183105469, 3.3480000495910645, -0.484000027179718], "tau_des": [-2.147580862045288, 2.454535961151123, -0.878972589969635, -0.8218024373054504, -0.09289278835058212, -0.36365175247192383, -0.528732180595398], "tau_dot": [-74.75521850585938, 6.505878448486328, 17.564111709594727, 10.86269474029541, -44.22646713256836, -102.58097076416016, -26.854236602783203], "tau_ext": [16.019699096679688, -36.55216598510742, -36.061859130859375, 20.278358459472656, -2.2976067066192627, -6.503475666046143, 0.36879435181617737], "tcp_pose": [0.6444669365882874, -0.12063096463680267, -0.33995696902275085, -0.015286016277968884, -0.05771949514746666, 0.9980859756469727, 0.01610078476369381], "tcp_vel": [0.006097723264247179, 0.044700995087623596, 0.011396568268537521, -0.0011289587710052729, 0.01739998161792755, 0.024054937064647675], "flange_pose": [0.6506175994873047, -0.12640227377414703, -0.1501442790031433, -0.015286016277968884, -0.05771949514746666, 0.9980859756469727, 0.01610078476369381], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.304841995239258, -54.5689582824707, -9.388259887695312, -5.6574015617370605, 13.119351387023926, 0.30653467774391174], "ext_wrench_in_world": [-2.6741090709087754, -55.53890579241075, 7.795498724771331, 4.102010755817276, 13.689064629457683, -0.023539016569235738]}
+{"timestamp_ns": 1789729566063463965, "elapsed_ms": 9533, "source_timestamp_ns": 1789729566055306333, "q": [0.10169710218906403, -1.6945078372955322, -0.024459565058350563, 0.7185306549072266, 1.655661940574646, -0.0014408632414415479, -0.959969162940979], "theta": [0.09956686198711395, -1.6934970617294312, -0.026195356622338295, 0.7023919224739075, 1.6541147232055664, -0.0013322830200195312, -0.9601762294769287], "dq": [-0.016145853325724602, 0.12480013817548752, -0.0002062286075670272, 0.09508515149354935, -0.028463995084166527, -0.02714669704437256, -0.008368337526917458], "dtheta": [-0.015356113202869892, 0.11490654945373535, -0.004547146614640951, 0.10019569844007492, -0.02936749905347824, -0.026485851034522057, -0.010217325761914253], "tau": [-63.09000015258789, -2.119999885559082, -24.060001373291016, 2.9040000438690186, -4.232000350952148, 3.392000198364258, -0.47200003266334534], "tau_des": [-2.0322937965393066, 0.42943090200424194, -1.2084933519363403, 0.36055415868759155, -0.2632305920124054, -0.24492061138153076, -0.3909735679626465], "tau_dot": [48.843536376953125, -62.252296447753906, -45.56389236450195, 18.975313186645508, 15.104022979736328, -1.7240773439407349, 87.10690307617188], "tau_ext": [15.956093788146973, -35.94678497314453, -36.00061798095703, 19.94697380065918, -2.2840940952301025, -6.524199962615967, 0.3749662935733795], "tcp_pose": [0.6446953415870667, -0.11923879384994507, -0.3396260440349579, -0.015582169406116009, -0.05813414603471756, 0.9980572462081909, 0.01610504277050495], "tcp_vel": [0.008478383533656597, 0.04739556461572647, 0.011348511092364788, -0.0026385101955384016, 0.02231845073401928, 0.02668336220085621], "flange_pose": [0.6509608626365662, -0.12500259280204773, -0.1498168706893921, -0.015582169406116009, -0.05813414603471756, 0.9980572462081909, 0.01610504277050495], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.636499404907227, -54.31754684448242, -9.473816871643066, -5.589147567749023, 13.028736114501953, 0.316219300031662], "ext_wrench_in_world": [-2.9783969652676374, -55.33270400499858, 7.901407540004921, 4.032880999572815, 13.594890364539726, -0.03683395911680598]}
+{"timestamp_ns": 1789729566096765138, "elapsed_ms": 9566, "source_timestamp_ns": 1789729566095364551, "q": [0.1011088564991951, -1.6899513006210327, -0.024659521877765656, 0.722362220287323, 1.6543664932250977, -0.0024704590905457735, -0.9602072238922119], "theta": [0.09898478537797928, -1.6889829635620117, -0.02641265094280243, 0.7062578797340393, 1.6527856588363647, -0.0023691654205322266, -0.9604008197784424], "dq": [-0.01305045373737812, 0.10971114784479141, -0.003507602261379361, 0.09128019958734512, -0.034720681607723236, -0.02427625097334385, -0.0026153207290917635], "dtheta": [-0.014287643134593964, 0.11221553385257721, -0.005718162748962641, 0.0968654528260231, -0.03558207303285599, -0.026191595941781998, -0.004120176192373037], "tau": [-63.14999771118164, -3.3899998664855957, -24.256000518798828, 3.6640002727508545, -4.252000331878662, 3.4120001792907715, -0.47200003266334534], "tau_des": [-2.133141040802002, -0.29201367497444153, -1.1111557483673096, 0.8511759638786316, -0.06450404971837997, -0.29939979314804077, -0.52773118019104], "tau_dot": [7.692499160766602, -21.887691497802734, 10.42321491241455, 11.976943969726562, -15.775491714477539, 13.711771011352539, 36.096927642822266], "tau_ext": [15.949466705322266, -35.17538833618164, -35.89275360107422, 19.33161163330078, -2.2601256370544434, -6.55738639831543, 0.3688528537750244], "tcp_pose": [0.6450546383857727, -0.11735434085130692, -0.33917176723480225, -0.016095800325274467, -0.05864327400922775, 0.9980207085609436, 0.01601734757423401], "tcp_vel": [0.006734534166753292, 0.044902559369802475, 0.0118327047675848, -0.008297726511955261, 0.028184792026877403, 0.02161048725247383], "flange_pose": [0.6515159010887146, -0.12307019531726837, -0.14936769008636475, -0.016095800325274467, -0.05864327400922775, 0.9980207085609436, 0.01601734757423401], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.043837547302246, -53.86859130859375, -9.529739379882812, -5.492483615875244, 13.170726776123047, 0.31860455870628357], "ext_wrench_in_world": [-2.375094343769026, -54.82041080643838, 7.969538611131479, 3.9061249608935373, 13.728715772330903, -0.03847049789328466]}
+{"timestamp_ns": 1789729566130115989, "elapsed_ms": 9600, "source_timestamp_ns": 1789729566125490202, "q": [0.1006731316447258, -1.6866596937179565, -0.024811342358589172, 0.7252538800239563, 1.6534228324890137, -0.003269260749220848, -0.9604747295379639], "theta": [0.09854542464017868, -1.6857075691223145, -0.026573536917567253, 0.7091832756996155, 1.6518242359161377, -0.003177165985107422, -0.9606594443321228], "dq": [-0.011654919944703579, 0.10067358613014221, -0.00538222398608923, 0.10090301185846329, -0.029600124806165695, -0.027499858289957047, -0.012302250601351261], "dtheta": [-0.015194092877209187, 0.10570637136697769, -0.004839932080358267, 0.09896109998226166, -0.029202749952673912, -0.028060710057616234, -0.015459098853170872], "tau": [-63.32999801635742, -2.4099998474121094, -24.224000930786133, 3.2280001640319824, -4.172000408172607, 3.372000217437744, -0.47600001096725464], "tau_des": [-2.4307591915130615, 1.2565878629684448, -0.9281908869743347, -0.048947058618068695, 0.04914762079715729, -0.31972774863243103, -0.5926440954208374], "tau_dot": [-32.335426330566406, 97.31504821777344, 41.60756301879883, -33.43867111206055, 1.8701204061508179, -60.578556060791016, 80.7156753540039], "tau_ext": [15.952189445495605, -35.59256362915039, -35.91756820678711, 19.52336883544922, -2.3050332069396973, -6.569196701049805, 0.37948811054229736], "tcp_pose": [0.6452503800392151, -0.11602018773555756, -0.33883070945739746, -0.01647881232202053, -0.05899703502655029, 0.9979944825172424, 0.01596413552761078], "tcp_vel": [0.00391314085572958, 0.0418417751789093, 0.011684008873999119, -0.0022962952498346567, 0.02322297729551792, 0.023931168019771576], "flange_pose": [0.6518576741218567, -0.12170495837926865, -0.14903073012828827, -0.01647881232202053, -0.05899703502655029, 0.9979944825172424, 0.01596413552761078], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.610597610473633, -53.882843017578125, -9.54417896270752, -5.508358478546143, 13.280799865722656, 0.32209986448287964], "ext_wrench_in_world": [-1.8973245159513008, -54.784336357691146, 7.979421311547614, 3.8988952057483637, 13.842764371889839, -0.043557355058560565]}
+{"timestamp_ns": 1789729566163436628, "elapsed_ms": 9633, "source_timestamp_ns": 1789729566155351258, "q": [0.10019813477993011, -1.683510184288025, -0.02492055669426918, 0.7282217144966125, 1.65263831615448, -0.004127289168536663, -0.9610753655433655], "theta": [0.0980575755238533, -1.6825542449951172, -0.02668745256960392, 0.7121593952178955, 1.6510242223739624, -0.004045963287353516, -0.961256206035614], "dq": [-0.017589354887604713, 0.10657186061143875, -0.006372356321662664, 0.09901022911071777, -0.025039836764335632, -0.030530717223882675, -0.023140210658311844], "dtheta": [-0.01732933521270752, 0.10414621978998184, -0.0020661093294620514, 0.10013528168201447, -0.02684789150953293, -0.028779154643416405, -0.022449776530265808], "tau": [-63.37999725341797, -1.46999990940094, -24.280000686645508, 2.6120002269744873, -4.148000240325928, 3.4200000762939453, -0.5200000405311584], "tau_des": [-2.4798436164855957, 2.188204765319824, -0.9821938872337341, -0.45704320073127747, -0.025826793164014816, -0.2681930363178253, -0.5133066177368164], "tau_dot": [-79.84874725341797, 141.97357177734375, -20.30863380432129, -58.7770881652832, 25.83839225769043, -6.747591018676758, -40.43074417114258], "tau_ext": [15.910322189331055, -36.02808380126953, -35.97978210449219, 19.830995559692383, -2.3544232845306396, -6.5795159339904785, 0.39616307616233826], "tcp_pose": [0.6453782916069031, -0.11474575102329254, -0.3384919762611389, -0.016789285466074944, -0.05940442159771919, 0.99796462059021, 0.01599648967385292], "tcp_vel": [0.003631488885730505, 0.042008668184280396, 0.011791552416980267, 0.002518938621506095, 0.019238527864217758, 0.02777327224612236], "flange_pose": [0.6521063446998596, -0.12043304741382599, -0.14869631826877594, -0.016789285466074944, -0.05940442159771919, 0.99796462059021, 0.01599648967385292], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.762431144714355, -54.15947723388672, -9.574270248413086, -5.576620101928711, 13.251608848571777, 0.3367719054222107], "ext_wrench_in_world": [-1.9641794114233828, -55.07974458845622, 8.003721628940509, 3.958106593965089, 13.825579468084353, -0.06315627884368175]}
+{"timestamp_ns": 1789729566196772913, "elapsed_ms": 9666, "source_timestamp_ns": 1789729566195310691, "q": [0.0994669571518898, -1.6792993545532227, -0.024977097287774086, 0.7322366833686829, 1.6515036821365356, -0.0053107417188584805, -0.9619882702827454], "theta": [0.09730774909257889, -1.6783570051193237, -0.02674524486064911, 0.7161553502082825, 1.64987313747406, -0.005245089530944824, -0.9621569514274597], "dq": [-0.021215690299868584, 0.11274757981300354, -0.00032797441235743463, 0.10067640244960785, -0.029872965067625046, -0.029112543910741806, -0.022043218836188316], "dtheta": [-0.020156756043434143, 0.10525812208652496, -0.0006468179635703564, 0.09981594234704971, -0.032574962824583054, -0.03038354590535164, -0.01971190795302391], "tau": [-63.28999710083008, -0.7599999904632568, -24.292001724243164, 2.1560001373291016, -4.068000316619873, 3.452000141143799, -0.5520000457763672], "tau_des": [-2.076214075088501, 2.8622324466705322, -0.829876720905304, -0.909111738204956, 0.06519810110330582, -0.2561238408088684, -0.49614930152893066], "tau_dot": [-42.544654846191406, 17.837894439697266, 6.884364128112793, -12.873806953430176, 93.86216735839844, -29.312271118164062, -53.3195915222168], "tau_ext": [15.802603721618652, -36.43852233886719, -36.053260803222656, 20.16469955444336, -2.404740810394287, -6.59462308883667, 0.40594133734703064], "tcp_pose": [0.6455312967300415, -0.11303317546844482, -0.33800414204597473, -0.017191657796502113, -0.059978071600198746, 0.9979223012924194, 0.016067570075392723], "tcp_vel": [0.0035473513416945934, 0.04259541630744934, 0.013452764600515366, 0.0013724213931709528, 0.021680278703570366, 0.026551559567451477], "flange_pose": [0.6524167656898499, -0.11873433738946915, -0.14821456372737885, -0.017191657796502113, -0.059978071600198746, 0.9979223012924194, 0.016067570075392723], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.424361228942871, -54.22991180419922, -9.740277290344238, -5.5969648361206055, 13.087470054626465, 0.35420164465904236], "ext_wrench_in_world": [-2.536268490625024, -55.2373767757358, 8.183793108118595, 3.9811213892157493, 13.670267296109735, -0.08838070963536174]}
+{"timestamp_ns": 1789729566230159795, "elapsed_ms": 9700, "source_timestamp_ns": 1789729566225381845, "q": [0.09887678921222687, -1.6760421991348267, -0.02498863823711872, 0.7351837754249573, 1.6504979133605957, -0.006214089225977659, -0.9625272750854492], "theta": [0.09670369327068329, -1.6751422882080078, -0.026758406311273575, 0.7190825939178467, 1.6488577127456665, -0.006163120269775391, -0.9626826047897339], "dq": [-0.018949171528220177, 0.10797446966171265, -0.0007874039001762867, 0.08997486531734467, -0.03850967809557915, -0.02825908735394478, -0.016124803572893143], "dtheta": [-0.020472601056098938, 0.11015718430280685, -0.00018110869859810919, 0.09588772803544998, -0.03823057562112808, -0.03181615471839905, -0.014083756133913994], "tau": [-63.05999755859375, -1.2599999904632568, -24.360000610351562, 2.392000198364258, -4.100000381469727, 3.4680001735687256, -0.5080000162124634], "tau_des": [-1.7424315214157104, 1.3275820016860962, -1.0040630102157593, -0.0025462524499744177, -0.053380344063043594, -0.15746867656707764, -0.4184670150279999], "tau_dot": [-94.90028381347656, 37.49526596069336, -15.66592788696289, -26.864452362060547, -0.26938867568969727, -70.80230712890625, 23.59320068359375], "tau_ext": [15.706836700439453, -36.20939636230469, -36.033119201660156, 20.079490661621094, -2.4065332412719727, -6.620929718017578, 0.4113670885562897], "tcp_pose": [0.6456925272941589, -0.11167878657579422, -0.33761608600616455, -0.017538463696837425, -0.060417212545871735, 0.9978892803192139, 0.016098687425255775], "tcp_vel": [0.005957222543656826, 0.04642961546778679, 0.0135237080976367, -0.00018185451335739344, 0.02676393836736679, 0.029892906546592712], "flange_pose": [0.6527127027511597, -0.11738071590662003, -0.14783145487308502, -0.017538463696837425, -0.060417212545871735, 0.9978892803192139, 0.016098687425255775], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.799674987792969, -54.139835357666016, -9.869959831237793, -5.587135314941406, 12.991128921508789, 0.363546222448349], "ext_wrench_in_world": [-2.859851898490082, -55.19989763555353, 8.328508728152988, 3.9703507923494317, 13.577312074344304, -0.1029026731363043]}
+{"timestamp_ns": 1789729566263443222, "elapsed_ms": 9733, "source_timestamp_ns": 1789729566255304416, "q": [0.09829547256231308, -1.6727181673049927, -0.024989139288663864, 0.7380377054214478, 1.6493476629257202, -0.0070785232819616795, -0.9628598093986511], "theta": [0.09610526263713837, -1.671858310699463, -0.02676231600344181, 0.7219324707984924, 1.6477023363113403, -0.007042288780212402, -0.9630008935928345], "dq": [-0.017848007380962372, 0.10143161565065384, 0.0014053592458367348, 0.09125924110412598, -0.03538229316473007, -0.031091555953025818, -0.00861116498708725], "dtheta": [-0.019495327025651932, 0.10970127582550049, -3.186453250236809e-05, 0.0938320979475975, -0.04184795916080475, -0.028995638713240623, -0.009164421819150448], "tau": [-62.849998474121094, -2.200000047683716, -24.400001525878906, 3.0200002193450928, -4.12000036239624, 3.516000270843506, -0.5040000081062317], "tau_des": [-1.5942529439926147, 1.1215953826904297, -0.8549456000328064, 0.18985876441001892, 0.06455154716968536, -0.24839772284030914, -0.4640124440193176], "tau_dot": [62.08464431762695, -209.5440216064453, -25.054039001464844, -1.1822253465652466, -15.16261100769043, 87.79446411132812, 71.35013580322266], "tau_ext": [15.6685152053833, -35.6448974609375, -35.962615966796875, 19.71350860595703, -2.3885207176208496, -6.644324779510498, 0.41012027859687805], "tcp_pose": [0.6458929777145386, -0.11028453707695007, -0.33722612261772156, -0.0179370678961277, -0.060833729803562164, 0.9978571534156799, 0.01608026772737503], "tcp_vel": [0.005881612189114094, 0.04546557366847992, 0.01344101969152689, -0.00458054943010211, 0.028738781809806824, 0.026715587824583054], "flange_pose": [0.6530662178993225, -0.1159672960639, -0.1474466323852539, -0.0179370678961277, -0.060833729803562164, 0.9978571534156799, 0.01608026772737503], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.849806785583496, -53.79743576049805, -9.973913192749023, -5.519346237182617, 12.970858573913574, 0.3682456314563751], "ext_wrench_in_world": [-2.8936752736974483, -54.87126091790392, 8.451810527007552, 3.8937733191163644, 13.552430838223321, -0.1100344944412785]}
+{"timestamp_ns": 1789729566296758602, "elapsed_ms": 9766, "source_timestamp_ns": 1789729566295300709, "q": [0.09755480289459229, -1.6683342456817627, -0.02498108521103859, 0.7417844533920288, 1.6477824449539185, -0.008218535222113132, -0.9631426334381104], "theta": [0.09533102065324783, -1.6674585342407227, -0.026759454980492592, 0.7256826758384705, 1.6461385488510132, -0.008203625679016113, -0.9632676839828491], "dq": [-0.015418333932757378, 0.09928678721189499, -0.0007587411091662943, 0.09527868777513504, -0.034150175750255585, -0.02810748666524887, -0.008829142898321152], "dtheta": [-0.018632974475622177, 0.1099831834435463, 0.0004886150127276778, 0.09507065266370773, -0.0359734445810318, -0.027251185849308968, -0.009115422144532204], "tau": [-62.849998474121094, -2.0, -24.37200164794922, 3.004000186920166, -4.044000148773193, 3.4800002574920654, -0.527999997138977], "tau_des": [-1.6719603538513184, 1.1542025804519653, -0.7109681963920593, 0.13309042155742645, 0.13823974132537842, -0.23417147994041443, -0.6055111885070801], "tau_dot": [125.15289306640625, 70.80682373046875, 4.345656394958496, -26.92432975769043, 3.6726479530334473, 18.179365158081055, -1.5330352783203125], "tau_ext": [15.488943099975586, -35.637081146240234, -36.0249137878418, 19.544357299804688, -2.412240743637085, -6.661046504974365, 0.41574177145957947], "tcp_pose": [0.6461382508277893, -0.1084466502070427, -0.3367263078689575, -0.01849553920328617, -0.06131302937865257, 0.9978182315826416, 0.016044946387410164], "tcp_vel": [0.00658506341278553, 0.04625415802001953, 0.012310143560171127, -0.0015803688438609242, 0.023981675505638123, 0.025360330939292908], "flange_pose": [0.6535250544548035, -0.11409949511289597, -0.14695411920547485, -0.01849553920328617, -0.06131302937865257, 0.9978182315826416, 0.016044946387410164], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.368836402893066, -53.67191696166992, -10.168303489685059, -5.527441501617432, 13.085756301879883, 0.3744574189186096], "ext_wrench_in_world": [-2.361303363189555, -54.69518926354433, 8.64318688881375, 3.8741561694953277, 13.671383427396327, -0.11846965877120033]}
+{"timestamp_ns": 1789729566330107734, "elapsed_ms": 9800, "source_timestamp_ns": 1789729566325387590, "q": [0.09701044857501984, -1.6651594638824463, -0.02496735192835331, 0.7446447610855103, 1.646812915802002, -0.009090852923691273, -0.9635493755340576], "theta": [0.09475734084844589, -1.6642229557037354, -0.026746198534965515, 0.7285261750221252, 1.645174503326416, -0.009091615676879883, -0.9636660218238831], "dq": [-0.017572907730937004, 0.1039656326174736, 0.003799449186772108, 0.1000690907239914, -0.03081115148961544, -0.03212790936231613, -0.014344911091029644], "dtheta": [-0.019383111968636513, 0.10748369991779327, 0.0011355975875630975, 0.09374643117189407, -0.030262483283877373, -0.028811661526560783, -0.014553975313901901], "tau": [-62.89999771118164, -1.2200000286102295, -24.34800148010254, 2.576000213623047, -4.016000270843506, 3.496000051498413, -0.5320000052452087], "tau_des": [-1.531152367591858, 1.799078106880188, -0.5783836245536804, -0.14898289740085602, 0.10783088952302933, -0.14902423322200775, -0.5293018221855164], "tau_dot": [46.40936279296875, -7.15662145614624, -24.859540939331055, -5.481538772583008, -16.95998764038086, 20.1057186126709, -7.905283451080322], "tau_ext": [15.441498756408691, -36.2294921875, -36.11593246459961, 19.849321365356445, -2.456371307373047, -6.675082206726074, 0.42508935928344727], "tcp_pose": [0.6462790966033936, -0.10711274296045303, -0.3363761603832245, -0.018841374665498734, -0.06168513372540474, 0.99778813123703, 0.016087684780359268], "tcp_vel": [0.006940445397049189, 0.046617619693279266, 0.011861207894980907, 0.004118280950933695, 0.019826633855700493, 0.029252057895064354], "flange_pose": [0.6538000702857971, -0.11277089267969131, -0.14660941064357758, -0.018841374665498734, -0.06168513372540474, 0.99778813123703, 0.016087684780359268], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.245355606079102, -54.02656555175781, -10.289352416992188, -5.639449596405029, 13.122767448425293, 0.3849939703941345], "ext_wrench_in_world": [-2.143361523262781, -55.037549855229706, 8.745928542813843, 3.9698661439657146, 13.725194342088592, -0.13356902326984096]}
+{"timestamp_ns": 1789729566363436480, "elapsed_ms": 9833, "source_timestamp_ns": 1789729566355293405, "q": [0.09646663069725037, -1.6620235443115234, -0.024907881394028664, 0.7475245594978333, 1.6459391117095947, -0.00989976990967989, -0.964020848274231], "theta": [0.09418465942144394, -1.6610198020935059, -0.02668440155684948, 0.7313718199729919, 1.644308090209961, -0.009912967681884766, -0.964131772518158], "dq": [-0.022184623405337334, 0.10926610976457596, 0.0003814422234427184, 0.09719094634056091, -0.03108597919344902, -0.029132496565580368, -0.01694352924823761], "dtheta": [-0.0193930696696043, 0.10823222249746323, 0.003045187098905444, 0.09370522946119308, -0.030153444036841393, -0.026373257860541344, -0.01462132204324007], "tau": [-62.779998779296875, -1.0699999332427979, -24.30000114440918, 2.4760000705718994, -4.008000373840332, 3.5440001487731934, -0.527999997138977], "tau_des": [-1.2474162578582764, 1.7851393222808838, -0.5757459998130798, -0.2325558066368103, 0.051266513764858246, -0.14437837898731232, -0.4724868834018707], "tau_dot": [-32.4847412109375, -49.591339111328125, -15.043542861938477, 24.218374252319336, 47.43659591674805, 55.60219192504883, 22.11071014404297], "tau_ext": [15.464285850524902, -36.31397247314453, -36.15659713745117, 19.945005416870117, -2.4795749187469482, -6.692172050476074, 0.4345042407512665], "tcp_pose": [0.6464213132858276, -0.10579007863998413, -0.33604565262794495, -0.019125742837786674, -0.062057554721832275, 0.9977585077285767, 0.016156012192368507], "tcp_vel": [0.007645781617611647, 0.047288116067647934, 0.011293048970401287, 0.004344657063484192, 0.017948318272829056, 0.029923509806394577], "flange_pose": [0.654053807258606, -0.11146458238363266, -0.1462838351726532, -0.019125742837786674, -0.062057554721832275, 0.9977585077285767, 0.016156012192368507], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.43532657623291, -54.25166320800781, -10.3959379196167, -5.7004594802856445, 13.08617115020752, 0.3974303603172302], "ext_wrench_in_world": [-2.2533044270122304, -55.290236168233534, 8.846257812429348, 4.023953575324816, 13.699866059285727, -0.1501070666741979]}
+{"timestamp_ns": 1789729566396770506, "elapsed_ms": 9866, "source_timestamp_ns": 1789729566395365680, "q": [0.095768041908741, -1.6577407121658325, -0.024773702025413513, 0.7512881755828857, 1.644636631011963, -0.010870255529880524, -0.9644773006439209], "theta": [0.09345295280218124, -1.656697392463684, -0.026544544845819473, 0.7350860834121704, 1.643014907836914, -0.010899543762207031, -0.9645768404006958], "dq": [-0.017387742176651955, 0.11791414767503738, 0.004797409754246473, 0.09238144010305405, -0.032427188009023666, -0.02085227146744728, -0.007355502340942621], "dtheta": [-0.017626745626330376, 0.10987649112939835, 0.004177316091954708, 0.09299378097057343, -0.034979045391082764, -0.02362627536058426, -0.008323876187205315], "tau": [-62.599998474121094, -1.5, -24.30000114440918, 2.5920000076293945, -4.004000186920166, 3.504000186920166, -0.527999997138977], "tau_des": [-1.127886176109314, 1.0532805919647217, -0.6619983315467834, 0.050699371844530106, 0.07905369251966476, -0.11395517736673355, -0.5109029412269592], "tau_dot": [-47.2115364074707, -87.45709228515625, 42.49846649169922, 25.73110580444336, 40.91238784790039, -8.083584785461426, 36.3331298828125], "tau_ext": [15.2844820022583, -36.07653045654297, -36.27511978149414, 19.89618492126465, -2.4865832328796387, -6.702441215515137, 0.43860217928886414], "tcp_pose": [0.6466654539108276, -0.10396678745746613, -0.33562710881233215, -0.019538091495633125, -0.06255564093589783, 0.9977187514305115, 0.016195358708500862], "tcp_vel": [0.00741891423240304, 0.04747597128152847, 0.010378840379416943, 0.00016810213855933398, 0.021610548719763756, 0.026096124202013016], "flange_pose": [0.6544579863548279, -0.10964253544807434, -0.1458718478679657, -0.019538091495633125, -0.06255564093589783, 0.9977187514305115, 0.016195358708500862], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.703376770019531, -54.158565521240234, -10.604365348815918, -5.666726589202881, 13.026390075683594, 0.4084334075450897], "ext_wrench_in_world": [-2.458990020061385, -55.240438653256824, 9.066730942715894, 3.983512032030363, 13.640747957297865, -0.16454040594719302]}
+{"timestamp_ns": 1789729566430102141, "elapsed_ms": 9900, "source_timestamp_ns": 1789729566425320442, "q": [0.09528261423110962, -1.6544816493988037, -0.024657847359776497, 0.754035234451294, 1.643574833869934, -0.011523356661200523, -0.9646884799003601], "theta": [0.09294592589139938, -1.6534504890441895, -0.026428386569023132, 0.7378013134002686, 1.6419587135314941, -0.01156461238861084, -0.9647800922393799], "dq": [-0.014778554439544678, 0.11235944926738739, 0.005491406656801701, 0.08704597502946854, -0.039463870227336884, -0.017935210838913918, -0.006595190614461899], "dtheta": [-0.016802150756120682, 0.1070738360285759, 0.003969919867813587, 0.0883253887295723, -0.03594610095024109, -0.021097855642437935, -0.0055410657078027725], "tau": [-62.48999786376953, -2.4800000190734863, -24.444000244140625, 3.01200008392334, -4.048000335693359, 3.5480000972747803, -0.5360000133514404], "tau_des": [-1.0319085121154785, 0.38222286105155945, -0.7094429731369019, 0.40550923347473145, 0.0436529666185379, -0.16052353382110596, -0.5330646634101868], "tau_dot": [119.33273315429688, -49.872406005859375, 13.612537384033203, -15.407258033752441, -21.522668838500977, 27.28830337524414, 13.002829551696777], "tau_ext": [15.12716293334961, -35.70383071899414, -36.30312728881836, 19.694936752319336, -2.4820303916931152, -6.709023475646973, 0.43533292412757874], "tcp_pose": [0.6468795537948608, -0.10257285833358765, -0.3353331983089447, -0.019878601655364037, -0.06292471289634705, 0.9976890683174133, 0.016181303188204765], "tcp_vel": [0.007871551439166069, 0.046124354004859924, 0.01020918320864439, -0.0025076805613934994, 0.02169157937169075, 0.02524513192474842], "flange_pose": [0.6548028588294983, -0.10823221504688263, -0.1455828696489334, -0.019878601655364037, -0.06292471289634705, 0.9976890683174133, 0.016181303188204765], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.748123168945312, -53.84483337402344, -10.785335540771484, -5.58563756942749, 13.010677337646484, 0.4107254445552826], "ext_wrench_in_world": [-2.4874139510351223, -54.94172219940449, 9.26473867521181, 3.8946299677522913, 13.617984089031049, -0.16773192103988105]}
+{"timestamp_ns": 1789729566463433287, "elapsed_ms": 9933, "source_timestamp_ns": 1789729566455384089, "q": [0.09483199566602707, -1.651276707649231, -0.02454777993261814, 0.7567415237426758, 1.642492651939392, -0.012148476205766201, -0.9649077653884888], "theta": [0.0924730971455574, -1.6502628326416016, -0.026322100311517715, 0.7404929399490356, 1.6408799886703491, -0.012199759483337402, -0.9649943709373474], "dq": [-0.013266547583043575, 0.10259179770946503, 0.0023507922887802124, 0.08580140024423599, -0.031605083495378494, -0.019297849386930466, -0.00946361105889082], "dtheta": [-0.015256843529641628, 0.10474363714456558, 0.002516480628401041, 0.08973710983991623, -0.035105619579553604, -0.01968742161989212, -0.009165662340819836], "tau": [-62.72999954223633, -2.180000066757202, -24.52800178527832, 3.0360002517700195, -4.0320000648498535, 3.564000129699707, -0.5360000133514404], "tau_des": [-1.3060755729675293, 0.533362090587616, -0.6494961977005005, 0.18532796204090118, 0.17760087549686432, -0.16493500769138336, -0.5745452642440796], "tau_dot": [-60.85431671142578, -17.126802444458008, 4.199002265930176, 33.00718688964844, -9.176295280456543, 53.66255187988281, 37.316017150878906], "tau_ext": [15.159363746643066, -35.77337646484375, -36.281246185302734, 19.7431583404541, -2.4833996295928955, -6.719058513641357, 0.4363309144973755], "tcp_pose": [0.647070050239563, -0.10121555626392365, -0.33505332469940186, -0.020236803218722343, -0.06329099833965302, 0.9976592659950256, 0.016147619113326073], "tcp_vel": [0.006023984868079424, 0.043524835258722305, 0.01004873588681221, -0.004659128375351429, 0.02165183797478676, 0.02523685060441494], "flange_pose": [0.6551303863525391, -0.10685057938098907, -0.14530804753303528, -0.020236803218722343, -0.06329099833965302, 0.9976592659950256, 0.016147619113326073], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.730499267578125, -53.4494743347168, -10.906593322753906, -5.484348773956299, 13.00117301940918, 0.41257476806640625], "ext_wrench_in_world": [-2.46691249012697, -54.55204072961133, 9.40595000851642, 3.7850510606833327, 13.598649388901322, -0.17006634002013124]}
+{"timestamp_ns": 1789729566496769272, "elapsed_ms": 9966, "source_timestamp_ns": 1789729566495307130, "q": [0.09425827860832214, -1.6472476720809937, -0.02444579266011715, 0.7603029012680054, 1.64125657081604, -0.012988094240427017, -0.9654406905174255], "theta": [0.09187056869268417, -1.6462358236312866, -0.02622234635055065, 0.744052529335022, 1.6396516561508179, -0.013052821159362793, -0.9655237793922424], "dq": [-0.013704506680369377, 0.0953138917684555, 0.0008770162821747363, 0.08671625703573227, -0.029613826423883438, -0.018970726057887077, -0.012266837991774082], "dtheta": [-0.01469295471906662, 0.09777549654245377, 0.0021967864595353603, 0.08783157914876938, -0.02863987907767296, -0.0211303923279047, -0.01658185012638569], "tau": [-62.91999816894531, -1.159999966621399, -24.54800033569336, 2.568000078201294, -3.9880001544952393, 3.5440001487731934, -0.5480000376701355], "tau_des": [-1.7254165410995483, 1.83259916305542, -0.6342618465423584, -0.49074459075927734, 0.17906175553798676, -0.14596711099147797, -0.5649822354316711], "tau_dot": [-30.558124542236328, 14.365991592407227, -31.816530227661133, 5.066157817840576, 40.93189239501953, -2.5273332595825195, 15.126872062683105], "tau_ext": [15.269332885742188, -36.21942138671875, -36.28398895263672, 19.958417892456055, -2.5075526237487793, -6.733391761779785, 0.4477052092552185], "tcp_pose": [0.6472572684288025, -0.09953057765960693, -0.3346919119358063, -0.020649459213018417, -0.06380026787519455, 0.9976184368133545, 0.01614295318722725], "tcp_vel": [0.004285808186978102, 0.040827229619026184, 0.00924540963023901, 0.00024762857356108725, 0.018223678693175316, 0.027299320325255394], "flange_pose": [0.6554767489433289, -0.10514966398477554, -0.1449529528617859, -0.020649459213018417, -0.06380026787519455, 0.9976184368133545, 0.01614295318722725], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.854838371276855, -53.67326354980469, -10.893563270568848, -5.530482292175293, 12.958765029907227, 0.42172911763191223], "ext_wrench_in_world": [-2.4983032622693218, -54.79156396733109, 9.394135349475697, 3.821530470222784, 13.566685630118645, -0.18608280887978232]}
+{"timestamp_ns": 1789729566530107486, "elapsed_ms": 10000, "source_timestamp_ns": 1789729566525330926, "q": [0.09380706399679184, -1.6443545818328857, -0.024374468252062798, 0.762851357460022, 1.6404013633728027, -0.013650701381266117, -0.9659026265144348], "theta": [0.0913977324962616, -1.6433290243148804, -0.026149390265345573, 0.7466021776199341, 1.6388052701950073, -0.013726115226745605, -0.9659830331802368], "dq": [-0.017975492402911186, 0.10040130466222763, -0.0004029224219266325, 0.08391981571912766, -0.035324305295944214, -0.02533717267215252, -0.014885219745337963], "dtheta": [-0.01576928421854973, 0.09582287073135376, 0.0029862073715776205, 0.08174558728933334, -0.030681150034070015, -0.023211514577269554, -0.014247369021177292], "tau": [-62.88999938964844, -1.0399999618530273, -24.584001541137695, 2.4840002059936523, -4.039999961853027, 3.568000078201294, -0.5640000104904175], "tau_des": [-1.5662016868591309, 1.673882246017456, -0.6852383017539978, -0.21810871362686157, 0.10347310453653336, -0.12283261120319366, -0.5294030904769897], "tau_dot": [109.28812408447266, -10.167363166809082, -6.27841854095459, 44.18275451660156, -48.52120590209961, 7.128870964050293, -19.924671173095703], "tau_ext": [15.198993682861328, -36.18830871582031, -36.32966995239258, 19.910263061523438, -2.5153911113739014, -6.730731964111328, 0.4544371962547302], "tcp_pose": [0.6473991274833679, -0.09829937666654587, -0.334415078163147, -0.020931914448738098, -0.06420928984880447, 0.9975858330726624, 0.016171900555491447], "tcp_vel": [0.0052457330748438835, 0.041571035981178284, 0.009461012668907642, 0.0015082056634128094, 0.020223498344421387, 0.029053686186671257], "flange_pose": [0.6557286381721497, -0.1039191335439682, -0.1446809470653534, -0.020931914448738098, -0.06420928984880447, 0.9975858330726624, 0.016171900555491447], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.933770179748535, -53.93266677856445, -10.901130676269531, -5.5883378982543945, 12.93704891204834, 0.43255648016929626], "ext_wrench_in_world": [-2.492531601788167, -55.06150231568815, 9.394957945961817, 3.8698102142596937, 13.556098780595422, -0.20153134417384833]}
+{"timestamp_ns": 1789729566563436043, "elapsed_ms": 10033, "source_timestamp_ns": 1789729566555350163, "q": [0.09333888441324234, -1.641464114189148, -0.024289079010486603, 0.7652978301048279, 1.6394457817077637, -0.014332165941596031, -0.9662966728210449], "theta": [0.09091093391180038, -1.6404436826705933, -0.026061460375785828, 0.7490513920783997, 1.6378637552261353, -0.014416217803955078, -0.9663727879524231], "dq": [-0.01683833636343479, 0.1059332937002182, 0.0011464692652225494, 0.08103901147842407, -0.03102312609553337, -0.021788381040096283, -0.011495436541736126], "dtheta": [-0.01612636260688305, 0.09757324308156967, 0.0028795809485018253, 0.07971419394016266, -0.030863413587212563, -0.022825542837381363, -0.011803828179836273], "tau": [-62.90999984741211, -1.1899999380111694, -24.604001998901367, 2.6080000400543213, -3.9760000705718994, 3.5440001487731934, -0.5560000538825989], "tau_des": [-1.3358333110809326, 1.1731001138687134, -0.7313072681427002, 0.15831699967384338, -0.011094514280557632, -0.07322635501623154, -0.47431156039237976], "tau_dot": [-11.8435640335083, 44.61649703979492, -28.04096794128418, 11.650225639343262, 46.97216033935547, -25.532302856445312, 7.924248218536377], "tau_ext": [15.197210311889648, -36.114837646484375, -36.32768630981445, 19.845304489135742, -2.5161921977996826, -6.736849308013916, 0.45872610807418823], "tcp_pose": [0.6475583910942078, -0.09705116599798203, -0.334128201007843, -0.021252591162919998, -0.06463412195444107, 0.9975513815879822, 0.016186580061912537], "tcp_vel": [0.006910217925906181, 0.043188855051994324, 0.009640618227422237, 0.0012321730609983206, 0.019890133291482925, 0.030382923781871796], "flange_pose": [0.6560121178627014, -0.1026650220155716, -0.14439940452575684, -0.021252591162919998, -0.06463412195444107, 0.9975513815879822, 0.016186580061912537], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.959320068359375, -54.046878814697266, -10.930225372314453, -5.613124370574951, 12.927587509155273, 0.4404289126396179], "ext_wrench_in_world": [-2.448535022702316, -55.18106306278403, 9.422205051251916, 3.883418896994884, 13.553498614602265, -0.21306010404661815]}
+{"timestamp_ns": 1789729566596771977, "elapsed_ms": 10066, "source_timestamp_ns": 1789729566595343557, "q": [0.09271927177906036, -1.6375538110733032, -0.024151258170604706, 0.7684617042541504, 1.638007640838623, -0.015152715146541595, -0.9666352868080139], "theta": [0.09027158468961716, -1.6365931034088135, -0.02592279575765133, 0.7522180080413818, 1.6364537477493286, -0.015247464179992676, -0.9667021036148071], "dq": [-0.015070621855556965, 0.09964276105165482, 0.0051076072268188, 0.07860896736383438, -0.036874670535326004, -0.019568683579564095, -0.007525584660470486], "dtheta": [-0.015396620146930218, 0.09562856703996658, 0.003172433003783226, 0.07854151725769043, -0.035782258957624435, -0.018559245392680168, -0.008006636053323746], "tau": [-62.71999740600586, -1.6699999570846558, -24.628000259399414, 2.8480000495910645, -4.016000270843506, 3.5480000972747803, -0.5640000104904175], "tau_des": [-1.148576021194458, 1.128994345664978, -0.5843365788459778, 0.1892053782939911, 0.14664071798324585, -0.1368328183889389, -0.5657228231430054], "tau_dot": [92.69554138183594, -38.382076263427734, 21.392963409423828, 6.602787494659424, 43.36107635498047, -26.127229690551758, 3.721566915512085], "tau_ext": [15.113298416137695, -35.888248443603516, -36.34564208984375, 19.722978591918945, -2.5141537189483643, -6.738739490509033, 0.4578181505203247], "tcp_pose": [0.6478115916252136, -0.09536325186491013, -0.33373886346817017, -0.021721823140978813, -0.06518468260765076, 0.9975062608718872, 0.016136182472109795], "tcp_vel": [0.005890498869121075, 0.040440045297145844, 0.010036817751824856, -0.005194018594920635, 0.021547548472881317, 0.026048067957162857], "flange_pose": [0.6564449667930603, -0.10094165056943893, -0.14401710033416748, -0.021721823140978813, -0.06518468260765076, 0.9975062608718872, 0.016136182472109795], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.837042808532715, -53.95789337158203, -10.936113357543945, -5.578749179840088, 12.947203636169434, 0.4464356005191803], "ext_wrench_in_world": [-2.268149085160419, -55.07848726460183, 9.435888090452949, 3.8311570725039523, 13.572937342919705, -0.22234325803837454]}
+{"timestamp_ns": 1789729566630101944, "elapsed_ms": 10100, "source_timestamp_ns": 1789729566625329413, "q": [0.09227599203586578, -1.6346213817596436, -0.02404787205159664, 0.7708220481872559, 1.6369343996047974, -0.0156989898532629, -0.9668858647346497], "theta": [0.08981715887784958, -1.6337175369262695, -0.025821182876825333, 0.7545877695083618, 1.6354063749313354, -0.015802741050720215, -0.9669466018676758], "dq": [-0.016076689586043358, 0.09323955327272415, 0.0038776323199272156, 0.07609757781028748, -0.03718595206737518, -0.018129652366042137, -0.008428980596363544], "dtheta": [-0.014683614484965801, 0.09412504732608795, 0.003224069019779563, 0.07832072675228119, -0.03383157029747963, -0.01858588121831417, -0.006880303844809532], "tau": [-62.77000045776367, -2.059999942779541, -24.740001678466797, 2.9600000381469727, -4.028000354766846, 3.5320000648498535, -0.5480000376701355], "tau_des": [-1.2674267292022705, 0.8461413383483887, -0.6676952242851257, 0.2725556790828705, 0.09428670257329941, -0.14335361123085022, -0.5780686140060425], "tau_dot": [-8.070494651794434, -105.67378997802734, -22.73555564880371, -22.36447525024414, 31.693561553955078, -25.88904571533203, 46.90704345703125], "tau_ext": [15.102895736694336, -35.71871566772461, -36.323020935058594, 19.60321807861328, -2.493696928024292, -6.744520664215088, 0.4564115107059479], "tcp_pose": [0.6480095982551575, -0.09410759806632996, -0.33345457911491394, -0.022061379626393318, -0.06560173630714417, 0.9974724650382996, 0.016073739156126976], "tcp_vel": [0.005336281377822161, 0.03989475965499878, 0.009417971596121788, -0.004006883129477501, 0.0208754725754261, 0.02353770099580288], "flange_pose": [0.6567724347114563, -0.09965021908283234, -0.14373771846294403, -0.022061379626393318, -0.06560173630714417, 0.9974724650382996, 0.016073739156126976], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.738517761230469, -53.76969909667969, -10.941250801086426, -5.522831439971924, 12.956802368164062, 0.44884493947029114], "ext_wrench_in_world": [-2.1417989235131762, -54.87968886087626, 9.453183914967722, 3.762727121651142, 13.578379371186044, -0.22661589051187908]}
+{"timestamp_ns": 1789729566663431040, "elapsed_ms": 10133, "source_timestamp_ns": 1789729566655289324, "q": [0.09185246378183365, -1.631759524345398, -0.023945674300193787, 0.7731676697731018, 1.6359238624572754, -0.016254469752311707, -0.967134952545166], "theta": [0.08938414603471756, -1.630887746810913, -0.025722762569785118, 0.7569544315338135, 1.6344178915023804, -0.01636791229248047, -0.9671919941902161], "dq": [-0.01610492169857025, 0.08534608036279678, 0.00370908179320395, 0.08089367300271988, -0.03211307153105736, -0.018690230324864388, -0.006517128553241491], "dtheta": [-0.0142561299726367, 0.09469985216856003, 0.0034462623298168182, 0.08078113943338394, -0.030665095895528793, -0.01856652833521366, -0.010755030438303947], "tau": [-62.93000030517578, -1.649999976158142, -24.788002014160156, 2.7920000553131104, -4.060000419616699, 3.508000135421753, -0.5920000076293945], "tau_des": [-1.331488013267517, 1.078201413154602, -0.6878293752670288, 0.18996737897396088, 0.018929002806544304, -0.11918742954730988, -0.6084205508232117], "tau_dot": [-18.57798194885254, 42.040618896484375, 49.381080627441406, 22.68234634399414, 0.9053480625152588, -39.790740966796875, -41.36247253417969], "tau_ext": [15.151622772216797, -35.53885269165039, -36.300270080566406, 19.54778480529785, -2.478318214416504, -6.7422895431518555, 0.46188902854919434], "tcp_pose": [0.6481825113296509, -0.09288143366575241, -0.33318719267845154, -0.022389139980077744, -0.06598928570747375, 0.9974402785301208, 0.016032198444008827], "tcp_vel": [0.005002718884497881, 0.04027701914310455, 0.008813105523586273, -0.0016924174269661307, 0.01877371221780777, 0.025355782359838486], "flange_pose": [0.6570705771446228, -0.09839664399623871, -0.14347535371780396, -0.022389139980077744, -0.06598928570747375, 0.9974402785301208, 0.016032198444008827], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.693869590759277, -53.56931686401367, -10.934850692749023, -5.457977294921875, 12.949540138244629, 0.4545263946056366], "ext_wrench_in_world": [-2.074750307958503, -54.675712525037106, 9.459156813986482, 3.688317721256511, 13.565707665981051, -0.23364095422840928]}
+{"timestamp_ns": 1789729566696770294, "elapsed_ms": 10166, "source_timestamp_ns": 1789729566695281639, "q": [0.0913054570555687, -1.628096342086792, -0.023807039484381676, 0.7764066457748413, 1.6347304582595825, -0.01699092611670494, -0.9677538275718689], "theta": [0.08882758021354675, -1.6271909475326538, -0.02558738924562931, 0.7602226734161377, 1.6332471370697021, -0.017116904258728027, -0.9678113460540771], "dq": [-0.013929839245975018, 0.08788637816905975, 0.003372621489688754, 0.08024328947067261, -0.02906549535691738, -0.01780727691948414, -0.01830686256289482], "dtheta": [-0.013823950663208961, 0.09231701493263245, 0.003533052746206522, 0.083946593105793, -0.027714431285858154, -0.017863601446151733, -0.019086085259914398], "tau": [-63.05999755859375, -0.26999998092651367, -24.684001922607422, 1.9720001220703125, -3.9800002574920654, 3.5360002517700195, -0.6000000238418579], "tau_des": [-1.4835103750228882, 3.0133490562438965, -0.39903590083122253, -0.9135061502456665, 0.21073947846889496, -0.14314055442810059, -0.6222958564758301], "tau_dot": [16.225406646728516, -169.46929931640625, -25.830944061279297, 4.973071098327637, -20.11055564880371, 5.996025562286377, 1.1052875518798828], "tau_ext": [15.276663780212402, -36.50809860229492, -36.364097595214844, 20.150941848754883, -2.5121119022369385, -6.741258144378662, 0.4705168604850769], "tcp_pose": [0.6483201384544373, -0.0913514494895935, -0.33284687995910645, -0.022768430411815643, -0.06651582568883896, 0.9973969459533691, 0.01601835899055004], "tcp_vel": [0.0030973025131970644, 0.03822609409689903, 0.008508491329848766, -0.0002722172939684242, 0.016242599114775658, 0.0280072633177042], "flange_pose": [0.657354474067688, -0.09684707969427109, -0.14314137399196625, -0.022768430411815643, -0.06651582568883896, 0.9973969459533691, 0.01601835899055004], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.115655899047852, -53.77177810668945, -10.835041999816895, -5.475841522216797, 12.822144508361816, 0.46627911925315857], "ext_wrench_in_world": [-2.404953791666122, -54.93134805967335, 9.375070547348258, 3.7075807141282593, 13.446150132467977, -0.2540437957396383]}
+{"timestamp_ns": 1789729566730105069, "elapsed_ms": 10200, "source_timestamp_ns": 1789729566725302245, "q": [0.09089755266904831, -1.625352144241333, -0.023689432069659233, 0.778856098651886, 1.6339062452316284, -0.01751626282930374, -0.968345046043396], "theta": [0.0884142592549324, -1.6243956089019775, -0.025468895211815834, 0.7627015709877014, 1.6324392557144165, -0.017650723457336426, -0.9684029221534729], "dq": [-0.012861802242696285, 0.0951143279671669, 0.002510466380044818, 0.07856054604053497, -0.029321733862161636, -0.017588412389159203, -0.01790754124522209], "dtheta": [-0.013261714950203896, 0.09471800178289413, 0.0032722800970077515, 0.08257052302360535, -0.029751351103186607, -0.01715667173266411, -0.017287151888012886], "tau": [-62.96999740600586, -0.10999999940395355, -24.700000762939453, 1.8440001010894775, -4.028000354766846, 3.5520002841949463, -0.5760000348091125], "tau_des": [-1.410732388496399, 2.9401497840881348, -0.4781794846057892, -0.8990238308906555, 0.14711880683898926, -0.10902121663093567, -0.5494860410690308], "tau_dot": [139.74452209472656, -50.33265686035156, -0.23439666628837585, -2.8123061656951904, -41.65694046020508, -63.42765426635742, 16.077192306518555], "tau_ext": [15.291696548461914, -36.68967056274414, -36.403717041015625, 20.264339447021484, -2.5161473751068115, -6.736730098724365, 0.4800012707710266], "tcp_pose": [0.6484289765357971, -0.09019896388053894, -0.33260250091552734, -0.02301599644124508, -0.06696130335330963, 0.9973613023757935, 0.016026826575398445], "tcp_vel": [0.0041631730273365974, 0.0396142452955246, 0.008386330679059029, -0.0021596536971628666, 0.01796135865151882, 0.030082976445555687], "flange_pose": [0.6575597524642944, -0.09568743407726288, -0.14290139079093933, -0.02301599644124508, -0.06696130335330963, 0.9973613023757935, 0.016026826575398445], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.545184135437012, -54.06191635131836, -10.790044784545898, -5.518157005310059, 12.705606460571289, 0.4775722920894623], "ext_wrench_in_world": [-2.739786101349466, -55.27731705025283, 9.33962345731356, 3.7521707019240664, 13.340062616449082, -0.27296881355800945]}
+{"timestamp_ns": 1789729566763493231, "elapsed_ms": 10233, "source_timestamp_ns": 1789729566755288921, "q": [0.0905209630727768, -1.6225128173828125, -0.023593928664922714, 0.7811869382858276, 1.6329551935195923, -0.01798400469124317, -0.9687308073043823], "theta": [0.08803503215312958, -1.6215192079544067, -0.025372574105858803, 0.7650649547576904, 1.631502389907837, -0.018126249313354492, -0.9687885642051697], "dq": [-0.012686497531831264, 0.10053635388612747, 0.003017404116690159, 0.07732105255126953, -0.03419741988182068, -0.01685640588402748, -0.009482349269092083], "dtheta": [-0.01161073800176382, 0.09646918624639511, 0.0028308748733252287, 0.07662278413772583, -0.031368687748909, -0.014730743132531643, -0.009718683548271656], "tau": [-62.98999786376953, -0.8899999856948853, -24.812000274658203, 2.3400001525878906, -4.052000045776367, 3.5520002841949463, -0.5640000104904175], "tau_des": [-1.382686734199524, 1.875052571296692, -0.6189717054367065, -0.16439905762672424, 0.04014020413160324, -0.13189305365085602, -0.5206537246704102], "tau_dot": [74.86080169677734, -21.505046844482422, -43.7379264831543, 37.40031433105469, -45.36044692993164, 34.20108413696289, 67.95250701904297], "tau_ext": [15.33753490447998, -36.37818908691406, -36.39864730834961, 20.029512405395508, -2.491826057434082, -6.730697154998779, 0.47288185358047485], "tcp_pose": [0.6486003994941711, -0.08899276703596115, -0.3323589563369751, -0.02331681177020073, -0.06741216778755188, 0.9973248839378357, 0.015968523919582367], "tcp_vel": [0.006849375087767839, 0.04151306301355362, 0.007582520600408316, -0.005148985423147678, 0.019576990976929665, 0.030328696593642235], "flange_pose": [0.6578461527824402, -0.09444727748632431, -0.14266246557235718, -0.02331681177020073, -0.06741216778755188, 0.9973248839378357, 0.015968523919582367], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.641679763793945, -54.076148986816406, -10.749556541442871, -5.4939470291137695, 12.671073913574219, 0.4811966121196747], "ext_wrench_in_world": [-2.7792871383468842, -55.30452490771422, 9.311997154843926, 3.7202606281260393, 13.30608855646854, -0.2806892369093147]}
+{"timestamp_ns": 1789729566796777028, "elapsed_ms": 10266, "source_timestamp_ns": 1789729566795284634, "q": [0.09009338170289993, -1.6185768842697144, -0.02351408638060093, 0.7842000126838684, 1.6315767765045166, -0.01853502355515957, -0.9689714908599854], "theta": [0.0876104086637497, -1.6175856590270996, -0.02529723383486271, 0.768121063709259, 1.630145788192749, -0.018683552742004395, -0.9690253734588623], "dq": [-0.009602750651538372, 0.10402999073266983, 0.0011852796887978911, 0.07786904275417328, -0.03999868407845497, -0.014552531763911247, -0.00470306258648634], "dtheta": [-0.009647519327700138, 0.09780389070510864, 0.0010066243121400476, 0.07607074826955795, -0.03381361812353134, -0.012451019138097763, -0.004049194511026144], "tau": [-63.09000015258789, -1.71999990940094, -24.89200210571289, 2.9640002250671387, -4.100000381469727, 3.5360002517700195, -0.5720000267028809], "tau_des": [-1.3512473106384277, 0.9937735795974731, -0.6051916480064392, 0.3867054283618927, 0.06678695976734161, -0.13117700815200806, -0.6040486097335815], "tau_dot": [-67.3435287475586, -95.05379486083984, 32.481143951416016, -15.619083404541016, -0.5415636301040649, -11.389275550842285, -26.741718292236328], "tau_ext": [15.305290222167969, -35.864013671875, -36.37263488769531, 19.67644691467285, -2.4521963596343994, -6.732746124267578, 0.4678231179714203], "tcp_pose": [0.6488972306251526, -0.08730863034725189, -0.33205366134643555, -0.023783458396792412, -0.06800054758787155, 0.9972764253616333, 0.015811862424016], "tcp_vel": [0.006845062132924795, 0.04100028797984123, 0.007499725557863712, -0.010425301268696785, 0.02208484709262848, 0.02683720923960209], "flange_pose": [0.6583189368247986, -0.09268619865179062, -0.14236360788345337, -0.023783458396792412, -0.06800054758787155, 0.9972764253616333, 0.015811862424016], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.256327629089355, -53.864112854003906, -10.637984275817871, -5.4067463874816895, 12.751201629638672, 0.4791615903377533], "ext_wrench_in_world": [-2.3572442202554345, -55.038909658510725, 9.212135622373646, 3.6070029894905393, 13.377849599482126, -0.2798479146670252]}
+{"timestamp_ns": 1789729566830101846, "elapsed_ms": 10300, "source_timestamp_ns": 1789729566825288125, "q": [0.08982487767934799, -1.615596055984497, -0.023488391190767288, 0.7864638566970825, 1.6305664777755737, -0.01888396590948105, -0.9691284894943237], "theta": [0.08734729140996933, -1.6146329641342163, -0.025278493762016296, 0.7704083919525146, 1.6291565895080566, -0.019034385681152344, -0.9691790342330933], "dq": [-0.005202208645641804, 0.09532257169485092, 0.0009371135383844376, 0.07637821137905121, -0.033676885068416595, -0.01437735091894865, -0.006263697519898415], "dtheta": [-0.008637533523142338, 0.09718184918165207, 0.00044718291610479355, 0.07696780562400818, -0.03187406808137894, -0.011066917330026627, -0.005146736279129982], "tau": [-63.14999771118164, -2.319999933242798, -25.084001541137695, 3.2800002098083496, -4.184000015258789, 3.57200026512146, -0.5640000104904175], "tau_des": [-1.3592005968093872, 0.155874103307724, -0.7679654359817505, 0.6954261064529419, -0.02585730329155922, -0.005954933352768421, -0.646221399307251], "tau_dot": [-49.67940902709961, 56.828163146972656, -6.1106648445129395, 55.38606643676758, -44.56704330444336, 11.830256462097168, 25.157222747802734], "tau_ext": [15.317351341247559, -35.46884536743164, -36.32094955444336, 19.39472198486328, -2.4087789058685303, -6.7348785400390625, 0.46746617555618286], "tcp_pose": [0.6491280794143677, -0.0860476866364479, -0.3318409323692322, -0.02413260005414486, -0.06844309717416763, 0.9972401261329651, 0.01566137745976448], "tcp_vel": [0.006441578734666109, 0.04022388905286789, 0.00708652101457119, -0.010806848295032978, 0.02069491520524025, 0.026400582864880562], "flange_pose": [0.6586804986000061, -0.09135493636131287, -0.14215543866157532, -0.02413260005414486, -0.06844309717416763, 0.9972401261329651, 0.01566137745976448], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.81801700592041, -53.74275207519531, -10.544633865356445, -5.357036590576172, 12.844914436340332, 0.47972485423088074], "ext_wrench_in_world": [-1.88874365659031, -54.85508226061856, 9.122431664821361, 3.5327593725243225, 13.467000368584005, -0.2816312018277582]}
+{"timestamp_ns": 1789729566863428273, "elapsed_ms": 10333, "source_timestamp_ns": 1789729566855287487, "q": [0.08960161358118057, -1.6127142906188965, -0.02347676455974579, 0.7887665033340454, 1.629634141921997, -0.019090009853243828, -0.9694018959999084], "theta": [0.08712932467460632, -1.6117631196975708, -0.025275442749261856, 0.7727285623550415, 1.6282490491867065, -0.01923954486846924, -0.969450056552887], "dq": [-0.004238873720169067, 0.09158126264810562, -0.0009243394015356898, 0.0810609757900238, -0.026713909581303596, -0.004182353150099516, -0.012064006179571152], "dtheta": [-0.006570087280124426, 0.09284387528896332, -0.00033655919833108783, 0.07699695974588394, -0.02794249914586544, -0.0037846900522708893, -0.012625615112483501], "tau": [-63.29999923706055, -1.909999966621399, -25.084001541137695, 3.076000213623047, -4.200000286102295, 3.5280001163482666, -0.5760000348091125], "tau_des": [-1.5704845190048218, 1.0479437112808228, -0.6493995189666748, 0.40262165665626526, 0.00911983847618103, -0.11762019246816635, -0.6333184838294983], "tau_dot": [4.975699424743652, 17.092575073242188, -12.6680269241333, -14.254291534423828, -50.709754943847656, -49.34284591674805, 16.93050193786621], "tau_ext": [15.418036460876465, -35.4819450378418, -36.26862716674805, 19.39972496032715, -2.380704164505005, -6.745638370513916, 0.4667554199695587], "tcp_pose": [0.6493252515792847, -0.08488478511571884, -0.33164018392562866, -0.02442789077758789, -0.06887523829936981, 0.9972061514854431, 0.015470306389033794], "tcp_vel": [0.005972639191895723, 0.03622915595769882, 0.0065354411490261555, -0.014347610995173454, 0.014757147058844566, 0.029553119093179703], "flange_pose": [0.6589868068695068, -0.09010773152112961, -0.14195787906646729, -0.02442789077758789, -0.06887523829936981, 0.9972061514854431, 0.015470306389033794], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.552766799926758, -53.650691986083984, -10.4170560836792, -5.318629741668701, 12.887133598327637, 0.48087379336357117], "ext_wrench_in_world": [-1.5918114968033417, -54.72179398573071, 9.008804621693567, 3.4768597204152685, 13.50653275346131, -0.28686892387022606]}
+{"timestamp_ns": 1789729566896773156, "elapsed_ms": 10366, "source_timestamp_ns": 1789729566895306545, "q": [0.08931901305913925, -1.6090184450149536, -0.02346925437450409, 0.792020320892334, 1.6285674571990967, -0.019234301522374153, -0.970116913318634], "theta": [0.08685562014579773, -1.608048439025879, -0.025273725390434265, 0.7759814858436584, 1.6272221803665161, -0.01938343048095703, -0.9701611995697021], "dq": [-0.007801210507750511, 0.08499321341514587, -0.001658396446146071, 0.08825752884149551, -0.024587707594037056, -0.0017685064813122153, -0.020158302038908005], "dtheta": [-0.007191499229520559, 0.09172385185956955, 9.58024465944618e-05, 0.08317487686872482, -0.021335691213607788, -0.0014933118363842368, -0.02229456417262554], "tau": [-63.52000045776367, -0.4899999797344208, -25.060001373291016, 2.1720001697540283, -4.131999969482422, 3.5440001487731934, -0.5920000076293945], "tau_des": [-1.900262713432312, 2.141834259033203, -0.6664093732833862, -0.64128178358078, 0.016625529155135155, -0.17141380906105042, -0.6219812631607056], "tau_dot": [-56.8670768737793, 154.998291015625, 79.69499969482422, -4.541947841644287, -21.766273498535156, 20.839582443237305, -11.406813621520996], "tau_ext": [15.453661918640137, -36.35441970825195, -36.3527946472168, 19.95205307006836, -2.3983399868011475, -6.735816478729248, 0.47502264380455017], "tcp_pose": [0.6495010852813721, -0.08348145335912704, -0.3313709497451782, -0.024713439866900444, -0.06946144253015518, 0.9971625208854675, 0.015208921395242214], "tcp_vel": [0.004861390683799982, 0.03467192500829697, 0.006588152144104242, -0.011328371241688728, 0.007287105545401573, 0.03166090324521065], "flange_pose": [0.659267008304596, -0.08859211951494217, -0.1416909247636795, -0.024713439866900444, -0.06946144253015518, 0.9971625208854675, 0.015208921395242214], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.79037094116211, -53.93785858154297, -10.285575866699219, -5.366522312164307, 12.79764175415039, 0.48916882276535034], "ext_wrench_in_world": [-1.7238694755788146, -55.03268818552833, 8.908901590167256, 3.5198181037659926, 13.428836062934037, -0.30939431626964337]}
+{"timestamp_ns": 1789729566930106381, "elapsed_ms": 10400, "source_timestamp_ns": 1789729566925390816, "q": [0.08907461166381836, -1.6063505411148071, -0.023469602689146996, 0.7945067286491394, 1.6278940439224243, -0.019355595111846924, -0.9708565473556519], "theta": [0.08661648631095886, -1.6053398847579956, -0.025275442749261856, 0.7784513831138611, 1.6265816688537598, -0.01950371265411377, -0.9708948731422424], "dq": [-0.01049308106303215, 0.09062948822975159, -0.0009890085784718394, 0.08026868849992752, -0.024474063888192177, -0.004802262410521507, -0.029512571170926094], "dtheta": [-0.00880223698914051, 0.08856000006198883, -0.00016886208322830498, 0.07990574091672897, -0.022014418616890907, -0.005949519574642181, -0.025477584451436996], "tau": [-63.65999984741211, 0.03999999910593033, -25.124000549316406, 1.6560001373291016, -4.116000175476074, 3.5240001678466797, -0.5840000510215759], "tau_des": [-2.2439284324645996, 2.9490904808044434, -0.7778692841529846, -1.2928273677825928, 0.06059350073337555, -0.13442887365818024, -0.5818201303482056], "tau_dot": [48.17020797729492, 11.881217002868652, 3.605193614959717, 8.022872924804688, -13.244150161743164, -36.57072830200195, 21.077999114990234], "tau_ext": [15.462347030639648, -36.73719024658203, -36.411190032958984, 20.306324005126953, -2.412140369415283, -6.728336334228516, 0.4782269299030304], "tcp_pose": [0.6495992541313171, -0.08248667418956757, -0.33115363121032715, -0.024863287806510925, -0.06992711871862411, 0.9971286058425903, 0.01505090668797493], "tcp_vel": [0.004198101814836264, 0.034197546541690826, 0.0074030389077961445, -0.008577361702919006, 0.009181040339171886, 0.03489519655704498], "flange_pose": [0.6594200730323792, -0.08752892166376114, -0.1414746195077896, -0.024863287806510925, -0.06992711871862411, 0.9971286058425903, 0.01505090668797493], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.44441032409668, -54.17523956298828, -10.258834838867188, -5.397733688354492, 12.613866806030273, 0.49691250920295715], "ext_wrench_in_world": [-2.2847537669823605, -55.35745075024912, 8.922921474182433, 3.5629908976852693, 13.254748657006157, -0.3298798494559812]}
+{"timestamp_ns": 1789729566963429659, "elapsed_ms": 10433, "source_timestamp_ns": 1789729566955421480, "q": [0.08876955509185791, -1.6036961078643799, -0.023479247465729713, 0.7967979907989502, 1.6271644830703735, -0.019555339589715004, -0.9715155959129333], "theta": [0.08631860464811325, -1.6026465892791748, -0.02528803050518036, 0.7807366847991943, 1.6258846521377563, -0.019702672958374023, -0.9715415835380554], "dq": [-0.012680835090577602, 0.0934934988617897, 0.00024615658912807703, 0.07295110821723938, -0.026945797726511955, -0.008692329749464989, -0.018901530653238297], "dtheta": [-0.011015384458005428, 0.08918946981430054, -0.0007831728435121477, 0.07157081365585327, -0.026812443509697914, -0.006895600352436304, -0.01603318378329277], "tau": [-63.87999725341797, -0.4899999797344208, -25.352001190185547, 2.008000135421753, -4.188000202178955, 3.5480000972747803, -0.5720000267028809], "tau_des": [-2.1599385738372803, 1.7607206106185913, -1.053518533706665, -0.707783579826355, -0.09208092838525772, -0.16057120263576508, -0.5857903361320496], "tau_dot": [84.2955093383789, -79.02869415283203, -32.24052047729492, 20.22725486755371, 59.26596450805664, -24.4851131439209, 45.6994743347168], "tau_ext": [15.51128101348877, -36.568721771240234, -36.41753387451172, 20.25779914855957, -2.3974838256835938, -6.714284420013428, 0.4757373332977295], "tcp_pose": [0.6497607827186584, -0.08144260942935944, -0.33090171217918396, -0.025033453479409218, -0.0704435333609581, 0.997090220451355, 0.014904559589922428], "tcp_vel": [0.007325419224798679, 0.03605681657791138, 0.00916383694857359, -0.011406325735151768, 0.011613559909164906, 0.03461882472038269], "flange_pose": [0.6596447825431824, -0.08641975373029709, -0.14122426509857178, -0.025033453479409218, -0.0704435333609581, 0.997090220451355, 0.014904559589922428], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.021419525146484, -54.06989288330078, -10.224780082702637, -5.328354358673096, 12.450346946716309, 0.5010865926742554], "ext_wrench_in_world": [-2.8110845656981898, -55.33357375503186, 8.936696904420293, 3.5030292769214926, 13.086865066167194, -0.34108014237148093]}
+{"timestamp_ns": 1789729566996764764, "elapsed_ms": 10466, "source_timestamp_ns": 1789729566995326616, "q": [0.08828770369291306, -1.600179672241211, -0.023578008636832237, 0.7994387745857239, 1.6259742975234985, -0.01997561752796173, -0.9720856547355652], "theta": [0.08585407584905624, -1.599129557609558, -0.025399086996912956, 0.7833886742591858, 1.62473726272583, -0.020122647285461426, -0.9720921516418457], "dq": [-0.012763208709657192, 0.0942731499671936, -0.0009364738943986595, 0.06163286417722702, -0.029644394293427467, -0.012841413728892803, -0.009794458746910095], "dtheta": [-0.012292317114770412, 0.08560829609632492, -0.0050716944970190525, 0.06151147559285164, -0.03009292297065258, -0.013915210962295532, -0.008988005109131336], "tau": [-63.94999694824219, -1.5499999523162842, -25.536001205444336, 2.7080001831054688, -4.272000312805176, 3.5240001678466797, -0.5680000185966492], "tau_des": [-2.220806360244751, 0.7474930882453918, -0.9784460663795471, 0.06116268411278725, -0.028956463560461998, -0.1992996335029602, -0.5592173933982849], "tau_dot": [112.31471252441406, -124.92698669433594, -44.38052749633789, -22.52691078186035, -45.283660888671875, -61.72096252441406, 30.38792610168457], "tau_ext": [15.656390190124512, -36.08218765258789, -36.30015563964844, 19.898508071899414, -2.342583417892456, -6.722235202789307, 0.4694267809391022], "tcp_pose": [0.6500810384750366, -0.07998666167259216, -0.33048734068870544, -0.02536887116730213, -0.07117623090744019, 0.9970332384109497, 0.014665855094790459], "tcp_vel": [0.008162708021700382, 0.03590618446469307, 0.011259823106229305, -0.012519766576588154, 0.01800433360040188, 0.03437383472919464], "flange_pose": [0.6600892543792725, -0.08485700190067291, -0.14081363379955292, -0.02536887116730213, -0.07117623090744019, 0.9970332384109497, 0.014665855094790459], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.992208480834961, -53.759979248046875, -10.000691413879395, -5.199970245361328, 12.4359712600708, 0.5004155039787292], "ext_wrench_in_world": [-2.749742002948402, -55.016807447554086, 8.750294965782022, 3.3584456917899432, 13.05934815183239, -0.3431556426781286]}
+{"timestamp_ns": 1789729567030096247, "elapsed_ms": 10500, "source_timestamp_ns": 1789729567025299056, "q": [0.08786402642726898, -1.5976094007492065, -0.023719320073723793, 0.8011912703514099, 1.6250730752944946, -0.02048194780945778, -0.9723235368728638], "theta": [0.08544990420341492, -1.5965938568115234, -0.025554677471518517, 0.7851572632789612, 1.6238689422607422, -0.020630478858947754, -0.97231525182724], "dq": [-0.014437672682106495, 0.08613146841526031, -0.0034931476693600416, 0.05420515686273575, -0.027557924389839172, -0.02055804803967476, -0.009614630602300167], "dtheta": [-0.014402230270206928, 0.08384189009666443, -0.005346189718693495, 0.057710226625204086, -0.030740901827812195, -0.019548973068594933, -0.0066619557328522205], "tau": [-63.79999923706055, -1.9799998998641968, -25.57200050354004, 3.0840001106262207, -4.304000377655029, 3.5240001678466797, -0.5480000376701355], "tau_des": [-2.122692823410034, 0.08456749469041824, -1.0146249532699585, 0.717235267162323, -0.1286192685365677, -0.17873263359069824, -0.5614068508148193], "tau_dot": [7.837466716766357, -27.34004783630371, -22.889707565307617, 44.518917083740234, -19.877578735351562, -21.609182357788086, 9.77816104888916], "tau_ext": [15.66698932647705, -35.53070831298828, -36.18377685546875, 19.479583740234375, -2.2926018238067627, -6.716181755065918, 0.46669310331344604], "tcp_pose": [0.6503636240959167, -0.07885875552892685, -0.3301306366920471, -0.025659650564193726, -0.0717122033238411, 0.9969894289970398, 0.014525922015309334], "tcp_vel": [0.008287359029054642, 0.03677413985133171, 0.012226446531713009, -0.009052952751517296, 0.020304298028349876, 0.033977944403886795], "flange_pose": [0.660480797290802, -0.08366274833679199, -0.1404610276222229, -0.025659650564193726, -0.0717122033238411, 0.9969894289970398, 0.014525922015309334], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.50097370147705, -53.669612884521484, -9.810441017150879, -5.161360263824463, 12.535667419433594, 0.5010679364204407], "ext_wrench_in_world": [-2.2224021278941377, -54.852395607145766, 8.55676187255502, 3.291633526545298, 13.155997550514686, -0.34430172569745826]}
+{"timestamp_ns": 1789729567063427337, "elapsed_ms": 10533, "source_timestamp_ns": 1789729567055313164, "q": [0.08738087862730026, -1.595139503479004, -0.023873237892985344, 0.8028764724731445, 1.6241732835769653, -0.021149244159460068, -0.9725396633148193], "theta": [0.08499462157487869, -1.5941600799560547, -0.025723574683070183, 0.7868537306785583, 1.6229991912841797, -0.02129673957824707, -0.9725170731544495], "dq": [-0.01950640045106411, 0.0777842178940773, -0.00611488102003932, 0.057960521429777145, -0.025384685024619102, -0.023765552788972855, -0.0059559401124715805], "dtheta": [-0.01643117144703865, 0.0800025463104248, -0.005205138120800257, 0.0547955296933651, -0.026012713089585304, -0.024727798998355865, -0.0077924346551299095], "tau": [-63.939998626708984, -1.6799999475479126, -25.588001251220703, 3.056000232696533, -4.26800012588501, 3.51200008392334, -0.5440000295639038], "tau_des": [-2.1234207153320312, 0.440131813287735, -0.9649357795715332, 0.7175318598747253, -0.20705640316009521, -0.14996442198753357, -0.5707316398620605], "tau_dot": [-37.65665054321289, 71.14076232910156, -40.076656341552734, 37.008567810058594, -27.18499183654785, -57.86679458618164, 5.82752799987793], "tau_ext": [15.678838729858398, -35.487953186035156, -36.15375900268555, 19.37164878845215, -2.270059823989868, -6.703319549560547, 0.46111950278282166], "tcp_pose": [0.650614857673645, -0.07774944603443146, -0.3297431170940399, -0.025971192866563797, -0.0722201019525528, 0.9969459772109985, 0.014439273625612259], "tcp_vel": [0.008307121694087982, 0.03707711026072502, 0.01254147570580244, -0.0019643439445644617, 0.018298255279660225, 0.033832915127277374], "flange_pose": [0.6608500480651855, -0.08250686526298523, -0.14007866382598877, -0.025971192866563797, -0.0722201019525528, 0.9969459772109985, 0.014439273625612259], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.041587829589844, -53.62074279785156, -9.682289123535156, -5.143420219421387, 12.623091697692871, 0.5016692280769348], "ext_wrench_in_world": [-1.7205928598215547, -54.73498586876929, 8.419331871401749, 3.2475574894991563, 13.243217163297306, -0.34562565654236815]}
+{"timestamp_ns": 1789729567096771824, "elapsed_ms": 10566, "source_timestamp_ns": 1789729567095358718, "q": [0.08665087819099426, -1.5920026302337646, -0.024041704833507538, 0.8051670789718628, 1.6231050491333008, -0.02219396084547043, -0.9729676246643066], "theta": [0.0843113586306572, -1.591022253036499, -0.025905583053827286, 0.7891371846199036, 1.621964454650879, -0.022336840629577637, -0.9729312658309937], "dq": [-0.020100070163607597, 0.07096623629331589, -0.0023570393677800894, 0.0649639368057251, -0.028385447338223457, -0.02570534497499466, -0.00913763977587223], "dtheta": [-0.017941948026418686, 0.07871031016111374, -0.00371490023098886, 0.058866947889328, -0.02702937088906765, -0.02786749042570591, -0.010668545961380005], "tau": [-64.02999877929688, -0.6599999666213989, -25.52800178527832, 2.452000141143799, -4.252000331878662, 3.4840002059936523, -0.5840000510215759], "tau_des": [-2.2372825145721436, 2.4300131797790527, -0.7074329257011414, -0.26289474964141846, 0.0005427791620604694, -0.17045292258262634, -0.5860268473625183], "tau_dot": [-8.74352741241455, 112.3907699584961, 51.77908706665039, -57.16825866699219, 14.875157356262207, -17.507051467895508, -12.331893920898438], "tau_ext": [15.754035949707031, -35.81435775756836, -36.138946533203125, 19.489883422851562, -2.2615444660186768, -6.697492599487305, 0.4641041159629822], "tcp_pose": [0.6508831977844238, -0.07631750404834747, -0.32920587062835693, -0.026335710659623146, -0.07286448031663895, 0.996889591217041, 0.014435306191444397], "tcp_vel": [0.00560070900246501, 0.03601394221186638, 0.012962566688656807, 0.0007897755713202059, 0.019440412521362305, 0.03116663545370102], "flange_pose": [0.6612592935562134, -0.08105666190385818, -0.13954861462116241, -0.026335710659623146, -0.07286448031663895, 0.996889591217041, 0.014435306191444397], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.714667320251465, -53.9611701965332, -9.504278182983398, -5.220075607299805, 12.674150466918945, 0.5065593719482422], "ext_wrench_in_world": [-1.2807791090213159, -55.02145260073823, 8.216648494400244, 3.2981323190652985, 13.309242493521378, -0.35534385588965683]}
+{"timestamp_ns": 1789729567130109313, "elapsed_ms": 10600, "source_timestamp_ns": 1789729567125354961, "q": [0.08605626225471497, -1.5896849632263184, -0.024133222177624702, 0.8069380521774292, 1.6223801374435425, -0.023055987432599068, -0.9733006954193115], "theta": [0.0837540328502655, -1.588659644126892, -0.025998994708061218, 0.7908795475959778, 1.6212637424468994, -0.02319514751434326, -0.973258912563324], "dq": [-0.021432068198919296, 0.07293359935283661, -0.003358221147209406, 0.060437530279159546, -0.02399255335330963, -0.027270887047052383, -0.012435989454388618], "dtheta": [-0.019515210762619972, 0.08155950158834457, -0.0017907770816236734, 0.05946296080946922, -0.02263912558555603, -0.030292265117168427, -0.010435647331178188], "tau": [-63.97999954223633, 0.41999998688697815, -25.448001861572266, 1.880000114440918, -4.252000331878662, 3.452000141143799, -0.5640000104904175], "tau_des": [-2.1280481815338135, 3.293853998184204, -0.7110189199447632, -0.46482035517692566, -0.20117290318012238, -0.17726412415504456, -0.5213619470596313], "tau_dot": [25.859939575195312, 30.11802864074707, 3.5246458053588867, 29.78211784362793, -57.644386291503906, 19.821083068847656, 28.368072509765625], "tau_ext": [15.839261054992676, -36.34644317626953, -36.16959762573242, 19.811141967773438, -2.267162561416626, -6.687156677246094, 0.46879059076309204], "tcp_pose": [0.6510593891143799, -0.07523895055055618, -0.32879841327667236, -0.026577210053801537, -0.07330793887376785, 0.9968497157096863, 0.01449927780777216], "tcp_vel": [0.00740840332582593, 0.03980011120438576, 0.012390456162393093, 0.007609840948134661, 0.016235215589404106, 0.03276009485125542], "flange_pose": [0.6615308523178101, -0.07999095320701599, -0.13914670050144196, -0.026577210053801537, -0.07330793887376785, 0.9968497157096863, 0.01449927780777216], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.891883850097656, -54.34300231933594, -9.40264892578125, -5.295800685882568, 12.610721588134766, 0.5131772756576538], "ext_wrench_in_world": [-1.3528194771004274, -55.424596489059866, 8.105865622617966, 3.369728572152152, 13.2607966827869, -0.3679068932533229]}
+{"timestamp_ns": 1789729567163430265, "elapsed_ms": 10633, "source_timestamp_ns": 1789729567155357412, "q": [0.08543757349252701, -1.5872248411178589, -0.024193355813622475, 0.8088375926017761, 1.6216167211532593, -0.023969924077391624, -0.9735742807388306], "theta": [0.08317773044109344, -1.5861315727233887, -0.026056597009301186, 0.7927412390708923, 1.620521903038025, -0.024105429649353027, -0.9735252261161804], "dq": [-0.01836157590150833, 0.08777137845754623, -0.0007147692376747727, 0.0652208924293518, -0.028367552906274796, -0.030393296852707863, -0.007606894243508577], "dtheta": [-0.018935902044177055, 0.08909836411476135, -0.0015016422839835286, 0.0633166953921318, -0.02589685097336769, -0.030037889257073402, -0.007717890199273825], "tau": [-64.01000213623047, 0.7199999690055847, -25.420001983642578, 1.624000072479248, -4.264000415802002, 3.4600002765655518, -0.5879999995231628], "tau_des": [-2.081782579421997, 3.3256566524505615, -0.7100037336349487, -0.5121942758560181, -0.19573113322257996, -0.20075289905071259, -0.4595915973186493], "tau_dot": [44.207523345947266, -11.465239524841309, 24.862262725830078, -39.384056091308594, -9.56946849822998, -38.05475616455078, -36.60971450805664], "tau_ext": [15.908605575561523, -36.6004524230957, -36.201805114746094, 20.05836296081543, -2.272028923034668, -6.670629978179932, 0.4672698676586151], "tcp_pose": [0.6512320041656494, -0.07408637553453445, -0.32838886976242065, -0.02683555707335472, -0.07372740656137466, 0.9968106150627136, 0.014585420489311218], "tcp_vel": [0.008227190934121609, 0.04321805760264397, 0.012160454876720905, 0.0056413463316857815, 0.019024770706892014, 0.033809859305620193], "flange_pose": [0.6618056297302246, -0.07885932177305222, -0.13874337077140808, -0.02683555707335472, -0.07372740656137466, 0.9968106150627136, 0.014585420489311218], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.38534927368164, -54.57044982910156, -9.323587417602539, -5.314467906951904, 12.466446876525879, 0.5190521478652954], "ext_wrench_in_world": [-1.7603311090591607, -55.72280240072173, 8.036745822602906, 3.3975361132876487, 13.12395806010192, -0.37915061263209177]}
+{"timestamp_ns": 1789729567196765104, "elapsed_ms": 10666, "source_timestamp_ns": 1789729567195349629, "q": [0.08463457226753235, -1.5835767984390259, -0.02425181306898594, 0.8114993572235107, 1.6203984022140503, -0.025164231657981873, -0.9736930727958679], "theta": [0.08242890238761902, -1.582413911819458, -0.026114007458090782, 0.7953535318374634, 1.619329571723938, -0.02529621124267578, -0.9736328125], "dq": [-0.019574718549847603, 0.09974943846464157, -0.0013690902851521969, 0.06452570110559464, -0.028737837448716164, -0.02895941585302353, -0.0005475172074511647], "dtheta": [-0.017794745042920113, 0.0969783291220665, -0.0017334157600998878, 0.06650512665510178, -0.03046603687107563, -0.02902921289205551, -0.0006456649280153215], "tau": [-64.04999542236328, -0.10999999940395355, -25.54800033569336, 1.996000051498413, -4.284000396728516, 3.436000108718872, -0.5320000052452087], "tau_des": [-1.8911447525024414, 2.188922882080078, -0.8130698800086975, -0.1069270446896553, -0.25061464309692383, -0.2209148108959198, -0.4845079183578491], "tau_dot": [-66.89482116699219, -90.54827117919922, -35.6212158203125, 21.170101165771484, 29.38149642944336, -24.337064743041992, 56.18480682373047], "tau_ext": [15.948030471801758, -36.521785736083984, -36.19490051269531, 20.143611907958984, -2.2472221851348877, -6.656456470489502, 0.45865878462791443], "tcp_pose": [0.6515212059020996, -0.07237416505813599, -0.3278499245643616, -0.027262570336461067, -0.07428281009197235, 0.9967569708824158, 0.014642881229519844], "tcp_vel": [0.009109151549637318, 0.04646081477403641, 0.011977733112871647, 0.001521546277217567, 0.022957967594265938, 0.03161587566137314], "flange_pose": [0.6622607111930847, -0.0771508663892746, -0.13821382820606232, -0.027262570336461067, -0.07428281009197235, 0.9967569708824158, 0.014642881229519844], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.004663467407227, -54.31676483154297, -9.240117073059082, -5.185879230499268, 12.272046089172363, 0.5195485353469849], "ext_wrench_in_world": [-2.344506411463989, -55.564739350997044, 7.991017073078541, 3.284079657046446, 12.916497669931825, -0.3811797968084634]}
+{"timestamp_ns": 1789729567230106232, "elapsed_ms": 10700, "source_timestamp_ns": 1789729567225357519, "q": [0.08408677577972412, -1.580600619316101, -0.024312607944011688, 0.8136032819747925, 1.6193803548812866, -0.02602352574467659, -0.9737018346786499], "theta": [0.08191844820976257, -1.5794284343719482, -0.026178285479545593, 0.7974312901496887, 1.6183327436447144, -0.02615499496459961, -0.9736325740814209], "dq": [-0.01582966558635235, 0.11373571306467056, -0.0027781962417066097, 0.07044220715761185, -0.03564031422138214, -0.026510894298553467, -0.0005769601557403803], "dtheta": [-0.016709452494978905, 0.10182072967290878, -0.0022543040104210377, 0.07317640632390976, -0.03378468379378319, -0.027403784915804863, -0.0009059850708581507], "tau": [-63.91999816894531, -0.8799999952316284, -25.660001754760742, 2.30400013923645, -4.324000358581543, 3.4560000896453857, -0.5480000376701355], "tau_des": [-1.7022324800491333, 1.2926750183105469, -0.8050798177719116, 0.10436192154884338, -0.19601774215698242, -0.18140265345573425, -0.4982192814350128], "tau_dot": [125.12451171875, 124.43666076660156, -32.56886672973633, 24.354026794433594, 20.914112091064453, 35.958431243896484, -40.30842971801758], "tau_ext": [15.958831787109375, -36.160194396972656, -36.159423828125, 20.01314353942871, -2.2137439250946045, -6.651959419250488, 0.4465961456298828], "tcp_pose": [0.651763379573822, -0.07099183648824692, -0.3274627923965454, -0.027640288695693016, -0.07472563534975052, 0.9967135787010193, 0.014634661376476288], "tcp_vel": [0.007690508384257555, 0.04667392000555992, 0.01213197410106659, -0.0026307497173547745, 0.025216197595000267, 0.030238887295126915], "flange_pose": [0.6626477241516113, -0.07574986666440964, -0.13783448934555054, -0.027640288695693016, -0.07472563534975052, 0.9967135787010193, 0.014634661376476288], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.230119705200195, -53.88193130493164, -9.146384239196777, -5.0266594886779785, 12.181840896606445, 0.5140090584754944], "ext_wrench_in_world": [-2.5809168186219154, -55.168077534953945, 7.928211895893651, 3.1286433666030042, 12.806288289849702, -0.3732686424198883]}
+{"timestamp_ns": 1789729567263425295, "elapsed_ms": 10733, "source_timestamp_ns": 1789729567255349572, "q": [0.08360277861356735, -1.5775468349456787, -0.0243908129632473, 0.8157503008842468, 1.6183693408966064, -0.026800407096743584, -0.97370845079422], "theta": [0.08146445453166962, -1.5764046907424927, -0.02626158855855465, 0.7995688915252686, 1.617343783378601, -0.026932954788208008, -0.9736299514770508], "dq": [-0.016310926526784897, 0.10817717015743256, -0.004760289564728737, 0.06904694437980652, -0.033183444291353226, -0.023511534556746483, 0.001493646763265133], "dtheta": [-0.014166034758090973, 0.1015932559967041, -0.002735567046329379, 0.07397531718015671, -0.03340931236743927, -0.02538546733558178, 0.00023730512475594878], "tau": [-63.939998626708984, -1.46999990940094, -25.744001388549805, 2.764000177383423, -4.420000076293945, 3.4200000762939453, -0.5600000023841858], "tau_des": [-1.8157835006713867, 0.8450876474380493, -0.8524053692817688, 0.3717343509197235, -0.21117429435253143, -0.19859561324119568, -0.5684983134269714], "tau_dot": [-78.57071685791016, 33.36007308959961, 26.622037887573242, 50.910804748535156, -75.7723388671875, 57.4940185546875, -73.64359283447266], "tau_ext": [16.028865814208984, -35.87319564819336, -36.08974075317383, 19.820100784301758, -2.178210735321045, -6.646481037139893, 0.44204607605934143], "tcp_pose": [0.6520155072212219, -0.06959119439125061, -0.3271030783653259, -0.02802164852619171, -0.07518471032381058, 0.9966690540313721, 0.01459028385579586], "tcp_vel": [0.006805073469877243, 0.04577422887086868, 0.010900941677391529, -0.004536026157438755, 0.026106683537364006, 0.02812499739229679], "flange_pose": [0.6630451083183289, -0.07431645691394806, -0.13748234510421753, -0.02802164852619171, -0.07518471032381058, 0.9966690540313721, 0.01459028385579586], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.264312744140625, -53.547454833984375, -9.034244537353516, -4.904889106750488, 12.138262748718262, 0.5092216730117798], "ext_wrench_in_world": [-2.6135376754146944, -54.84133353151009, 7.837716023240573, 3.0029551656510103, 12.747629429185023, -0.36724736618756904]}
+{"timestamp_ns": 1789729567296767192, "elapsed_ms": 10766, "source_timestamp_ns": 1789729567295350428, "q": [0.08304816484451294, -1.573473334312439, -0.024497242644429207, 0.8186794519424438, 1.6170964241027832, -0.027744676917791367, -0.9737489223480225], "theta": [0.08094560354948044, -1.5723806619644165, -0.026376936584711075, 0.8025069832801819, 1.616101861000061, -0.027879953384399414, -0.9736582040786743], "dq": [-0.010424753651022911, 0.09809213131666183, -0.0014796321047469974, 0.07338245958089828, -0.031211646273732185, -0.020914727821946144, 0.0003276355564594269], "dtheta": [-0.01197693683207035, 0.09901394695043564, -0.0031760830897837877, 0.07247181236743927, -0.02931317314505577, -0.022953471168875694, -0.004915210418403149], "tau": [-64.0999984741211, -1.3899999856948853, -25.80000114440918, 2.8520002365112305, -4.400000095367432, 3.4000000953674316, -0.5560000538825989], "tau_des": [-1.9026070833206177, 0.5843549966812134, -0.8240492939949036, 0.6049352288246155, -0.2647837996482849, -0.28423798084259033, -0.6695793271064758], "tau_dot": [-62.223079681396484, 29.60871124267578, -10.030508041381836, 15.719450950622559, 23.038236618041992, 28.013912200927734, 23.815290451049805], "tau_ext": [15.94526195526123, -35.530879974365234, -36.058712005615234, 19.486248016357422, -2.130972146987915, -6.625174045562744, 0.4343723654747009], "tcp_pose": [0.6523239016532898, -0.06774672120809555, -0.3266773521900177, -0.028515931218862534, -0.07577955722808838, 0.9966109991073608, 0.014518487267196178], "tcp_vel": [0.006765138823539019, 0.044593434780836105, 0.009511868469417095, -0.0038153536152094603, 0.02351645566523075, 0.0321083702147007], "flange_pose": [0.663541316986084, -0.07242389768362045, -0.13706645369529724, -0.028515931218862534, -0.07577955722808838, 0.9966109991073608, 0.014518487267196178], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.831982612609863, -53.280914306640625, -8.904870986938477, -4.809937000274658, 12.196671485900879, 0.5039429664611816], "ext_wrench_in_world": [-2.1605014744138598, -54.510816634168904, 7.706329036613519, 2.884966592203667, 12.794357312240253, -0.3600507237009687]}
+{"timestamp_ns": 1789729567330103431, "elapsed_ms": 10800, "source_timestamp_ns": 1789729567325347310, "q": [0.08268241584300995, -1.5705288648605347, -0.02457020804286003, 0.8209296464920044, 1.6162608861923218, -0.02842774987220764, -0.9740715622901917], "theta": [0.08060156553983688, -1.569448709487915, -0.026455948129296303, 0.8047682046890259, 1.615293025970459, -0.028565406799316406, -0.9739791750907898], "dq": [-0.01385229267179966, 0.09140829741954803, -0.0017925441497936845, 0.07416301220655441, -0.02726074494421482, -0.02243642881512642, -0.013464028015732765], "dtheta": [-0.01186886616051197, 0.09552277624607086, -0.0016628190642222762, 0.07727698981761932, -0.024762021377682686, -0.023139728233218193, -0.013533037155866623], "tau": [-64.11000061035156, -0.8199999928474426, -25.852001190185547, 2.492000102996826, -4.404000282287598, 3.3960001468658447, -0.5640000104904175], "tau_des": [-2.2540321350097656, 2.1225762367248535, -0.6908221244812012, -0.14034059643745422, -0.14217902719974518, -0.2924232482910156, -0.5857574343681335], "tau_dot": [79.08973693847656, 71.03093719482422, -5.7129740715026855, -8.408485412597656, -2.6157655715942383, 43.59305953979492, 49.42621994018555], "tau_ext": [15.966423034667969, -35.90238952636719, -36.08397674560547, 19.5870361328125, -2.1332459449768066, -6.6013922691345215, 0.45736005902290344], "tcp_pose": [0.6524947285652161, -0.06643308699131012, -0.3263973295688629, -0.028853148221969604, -0.07628852128982544, 0.9965627789497375, 0.014496274292469025], "tcp_vel": [0.0040229009464383125, 0.042308658361434937, 0.008616597391664982, 0.0007226793677546084, 0.02007097564637661, 0.03212195634841919], "flange_pose": [0.6638414859771729, -0.07108629494905472, -0.13679352402687073, -0.028853148221969604, -0.07628852128982544, 0.9965627789497375, 0.014496274292469025], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.534538269042969, -53.60330581665039, -8.833662033081055, -4.883172512054443, 12.24066162109375, 0.5133656859397888], "ext_wrench_in_world": [-1.7611514910998214, -54.783799132725505, 7.6130265952875495, 2.936559501102726, 12.852193901899541, -0.3747602387681871]}
+{"timestamp_ns": 1789729567363427163, "elapsed_ms": 10833, "source_timestamp_ns": 1789729567355350401, "q": [0.0823037177324295, -1.567650318145752, -0.024596845731139183, 0.8232595920562744, 1.615554690361023, -0.029115570709109306, -0.9744742512702942], "theta": [0.0802420824766159, -1.5665545463562012, -0.02648589387536049, 0.8071024417877197, 1.6146131753921509, -0.02925288677215576, -0.974380373954773], "dq": [-0.011891171336174011, 0.09231992810964584, -0.0007421245099976659, 0.07991086691617966, -0.023280737921595573, -0.02280433475971222, -0.01621999777853489], "dtheta": [-0.011820651590824127, 0.09711957722902298, -7.410174293909222e-05, 0.0776774138212204, -0.02084781788289547, -0.02155289426445961, -0.016524989157915115], "tau": [-64.3699951171875, -0.10999999940395355, -25.87200164794922, 2.080000162124634, -4.4079999923706055, 3.3520002365112305, -0.5640000104904175], "tau_des": [-2.280912160873413, 2.4385313987731934, -0.7496558427810669, -0.17975500226020813, -0.2798101305961609, -0.3103176951408386, -0.5231813192367554], "tau_dot": [-127.76160430908203, -16.64185333251953, 21.78363800048828, 16.363374710083008, -26.023557662963867, -51.36381912231445, 8.858784675598145], "tau_ext": [16.05377960205078, -36.39376449584961, -36.08797073364258, 19.8819522857666, -2.1443538665771484, -6.587972164154053, 0.4671628773212433], "tcp_pose": [0.6526299118995667, -0.06514471769332886, -0.3261372745037079, -0.02913076803088188, -0.07676293700933456, 0.9965177178382874, 0.014535639435052872], "tcp_vel": [0.005482163745909929, 0.04425017908215523, 0.007587986998260021, 0.004074033349752426, 0.01609594188630581, 0.03605448082089424], "flange_pose": [0.6640850305557251, -0.0697992816567421, -0.13654004037380219, -0.02913076803088188, -0.07676293700933456, 0.9965177178382874, 0.014535639435052872], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.58356761932373, -54.02652359008789, -8.787732124328613, -4.976001262664795, 12.200255393981934, 0.5312364101409912], "ext_wrench_in_world": [-1.691229989848216, -55.2104213566734, 7.5531784973015075, 3.0206845847245174, 12.829831515775043, -0.3999003429850144]}
+{"timestamp_ns": 1789729567396766761, "elapsed_ms": 10866, "source_timestamp_ns": 1789729567395362524, "q": [0.0818009227514267, -1.5637043714523315, -0.024592818692326546, 0.8264819979667664, 1.614630103111267, -0.03000427596271038, -0.9750189185142517], "theta": [0.07975918799638748, -1.5625615119934082, -0.02648312784731388, 0.8103068470954895, 1.6137213706970215, -0.03013920783996582, -0.974922776222229], "dq": [-0.010625633411109447, 0.10949647426605225, -0.0002689681714400649, 0.08081965148448944, -0.023775756359100342, -0.02241135761141777, -0.00933973491191864], "dtheta": [-0.01200347300618887, 0.10292667150497437, 0.0005260768812149763, 0.08105608075857162, -0.022687332704663277, -0.02272484451532364, -0.011124067939817905], "tau": [-64.23999786376953, 0.09999999403953552, -25.86400032043457, 1.8920000791549683, -4.4160003662109375, 3.328000068664551, -0.5920000076293945], "tau_des": [-2.003504991531372, 2.424292802810669, -0.6778768301010132, -0.22513191401958466, -0.30387914180755615, -0.2738352119922638, -0.5428426265716553], "tau_dot": [-64.06742858886719, 125.87895202636719, 17.043699264526367, -6.421707630157471, -38.481475830078125, -53.96256637573242, -62.16813278198242], "tau_ext": [16.01456069946289, -36.3687744140625, -36.125694274902344, 19.936769485473633, -2.1386516094207764, -6.566944122314453, 0.4642755687236786], "tcp_pose": [0.6528110504150391, -0.06337583810091019, -0.32580679655075073, -0.029483651742339134, -0.07739420235157013, 0.996457576751709, 0.014601643197238445], "tcp_vel": [0.005855560768395662, 0.0473184660077095, 0.007488560862839222, 0.0041304281912744045, 0.018130777403712273, 0.03305348753929138], "flange_pose": [0.664404571056366, -0.06803769618272781, -0.1362181454896927, -0.029483651742339134, -0.07739420235157013, 0.996457576751709, 0.014601643197238445], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.859560012817383, -54.20477294921875, -8.69299030303955, -4.979876518249512, 12.095624923706055, 0.5429330468177795], "ext_wrench_in_world": [-1.8662748625673657, -55.42992265463604, 7.462990499491092, 3.023216635137199, 12.731270638202936, -0.41593008929430153]}
+{"timestamp_ns": 1789729567430099121, "elapsed_ms": 10900, "source_timestamp_ns": 1789729567425350448, "q": [0.08144271373748779, -1.5605865716934204, -0.02458619326353073, 0.8289738893508911, 1.6138942241668701, -0.030637189745903015, -0.9753546118736267], "theta": [0.07941538840532303, -1.559433102607727, -0.026477692648768425, 0.8127796649932861, 1.6130064725875854, -0.030770063400268555, -0.9752562046051025], "dq": [-0.009545920416712761, 0.11373007297515869, 0.0017815523315221071, 0.08787313848733902, -0.025021659210324287, -0.017981475219130516, -0.007701149210333824], "dtheta": [-0.010974923148751259, 0.10667362064123154, 0.00035617529647424817, 0.08272906392812729, -0.02410024404525757, -0.01998908631503582, -0.008034704253077507], "tau": [-64.0199966430664, -0.1599999964237213, -25.86400032043457, 2.128000020980835, -4.432000160217285, 3.312000274658203, -0.5879999995231628], "tau_des": [-1.8023602962493896, 1.906817078590393, -0.6185080409049988, 0.04117652028799057, -0.32347312569618225, -0.3399898111820221, -0.48276785016059875], "tau_dot": [65.30667114257812, -32.97918701171875, -14.436789512634277, -0.650286078453064, -60.01142120361328, -29.27031707763672, -54.87430953979492], "tau_ext": [15.94699764251709, -36.33133316040039, -36.16436767578125, 19.939804077148438, -2.1284244060516357, -6.548190593719482, 0.4600118100643158], "tcp_pose": [0.6529713869094849, -0.06197730079293251, -0.3255671560764313, -0.029763933271169662, -0.07787275314331055, 0.9964115619659424, 0.014628094621002674], "tcp_vel": [0.006570112891495228, 0.04847133904695511, 0.007249731104820967, 0.0009634828893467784, 0.01836920715868473, 0.032168418169021606], "flange_pose": [0.6646739840507507, -0.06663526594638824, -0.1359851211309433, -0.029763933271169662, -0.07787275314331055, 0.9964115619659424, 0.014628094621002674], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.11551570892334, -54.121559143066406, -8.715070724487305, -4.929814338684082, 12.000625610351562, 0.5451221466064453], "ext_wrench_in_world": [-2.072411927001652, -55.390306654463224, 7.501289810020691, 2.975827317932324, 12.632640226327222, -0.41963709853730835]}
+{"timestamp_ns": 1789729567463428662, "elapsed_ms": 10933, "source_timestamp_ns": 1789729567455338612, "q": [0.08112171292304993, -1.557343602180481, -0.024574430659413338, 0.8315097093582153, 1.613115668296814, -0.031223325058817863, -0.9755497574806213], "theta": [0.07910148799419403, -1.556201696395874, -0.026467058807611465, 0.8152958154678345, 1.612244725227356, -0.03135490417480469, -0.9754481911659241], "dq": [-0.006922406610101461, 0.11278948187828064, 0.0018021594732999802, 0.08485884964466095, -0.027925798669457436, -0.018526019528508186, -0.005354343913495541], "dtheta": [-0.009392624720931053, 0.10897155851125717, 0.0001277346018468961, 0.08537013828754425, -0.02621743083000183, -0.019488079473376274, -0.0033823931589722633], "tau": [-63.96999740600586, -0.7999999523162842, -25.9320011138916, 2.440000057220459, -4.444000244140625, 3.30400013923645, -0.5440000295639038], "tau_des": [-1.8597322702407837, 1.5381752252578735, -0.638213574886322, 0.240024596452713, -0.2809547185897827, -0.2955751121044159, -0.5466545224189758], "tau_dot": [218.1525115966797, -79.00626373291016, -45.49858856201172, -42.051353454589844, 19.029434204101562, -14.942546844482422, 17.66523551940918], "tau_ext": [15.85203742980957, -35.98258590698242, -36.16835403442383, 19.782299041748047, -2.102445125579834, -6.533899784088135, 0.4515284597873688], "tcp_pose": [0.653151273727417, -0.06052296236157417, -0.3253472149372101, -0.030065715312957764, -0.07832156121730804, 0.996367335319519, 0.014626659452915192], "tcp_vel": [0.00549499224871397, 0.048680637031793594, 0.006638621911406517, -0.0014100531116127968, 0.02120906673371792, 0.027280475944280624], "flange_pose": [0.6649700999259949, -0.06516607850790024, -0.1357720047235489, -0.030065715312957764, -0.07832156121730804, 0.996367335319519, 0.014626659452915192], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.161357879638672, -53.946861267089844, -8.792999267578125, -4.867162227630615, 11.951335906982422, 0.5430130362510681], "ext_wrench_in_world": [-2.085025026559271, -55.22862369275131, 7.590018580394213, 2.9100899180215483, 12.576785362356246, -0.417621703687873]}
+{"timestamp_ns": 1789729567496764961, "elapsed_ms": 10966, "source_timestamp_ns": 1789729567495341897, "q": [0.08076968789100647, -1.5529534816741943, -0.02452884428203106, 0.8350284099578857, 1.6120597124099731, -0.03188202157616615, -0.9757325649261475], "theta": [0.07874762266874313, -1.5518041849136353, -0.026424666866660118, 0.818796694278717, 1.6112087965011597, -0.032009005546569824, -0.975626528263092], "dq": [-0.006728144362568855, 0.09779379516839981, 0.0021497090347111225, 0.08751413971185684, -0.024116970598697662, -0.014931276440620422, -0.005873996764421463], "dtheta": [-0.007997116073966026, 0.1115109920501709, 0.0013132131425663829, 0.08926035463809967, -0.023362435400485992, -0.014310717582702637, -0.005387502256780863], "tau": [-64.1500015258789, -0.8499999642372131, -25.948001861572266, 2.4640002250671387, -4.427999973297119, 3.2840001583099365, -0.5560000538825989], "tau_des": [-2.0134496688842773, 1.3032128810882568, -0.6167420744895935, 0.2291264832019806, -0.2260318249464035, -0.37273499369621277, -0.66962730884552], "tau_dot": [-77.0545883178711, -52.94912338256836, 15.044499397277832, 9.956273078918457, 41.14200973510742, -36.13082504272461, 7.6885480880737305], "tau_ext": [15.87532901763916, -35.817325592041016, -36.128658294677734, 19.71770668029785, -2.07169246673584, -6.535624980926514, 0.4482695162296295], "tcp_pose": [0.6533520817756653, -0.05859729275107384, -0.32509931921958923, -0.030472397804260254, -0.07884533703327179, 0.996314287185669, 0.014585612341761589], "tcp_vel": [0.0059328842908144, 0.049172788858413696, 0.005457166116684675, -0.0020615397952497005, 0.016868511214852333, 0.027876226231455803], "flange_pose": [0.6653258800506592, -0.06320641189813614, -0.13553300499916077, -0.030472397804260254, -0.07884533703327179, 0.996314287185669, 0.014585612341761589], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.126753807067871, -53.477657318115234, -8.777804374694824, -4.716719627380371, 11.909653663635254, 0.537950336933136], "ext_wrench_in_world": [-2.0602614118756692, -54.7609520262223, 7.5965642400885045, 2.7548819257874038, 12.514795476164833, -0.408906787417942]}
+{"timestamp_ns": 1789729567530137521, "elapsed_ms": 11000, "source_timestamp_ns": 1789729567525337390, "q": [0.08051969110965729, -1.549712061882019, -0.02445913478732109, 0.8378208875656128, 1.6114411354064941, -0.032328151166439056, -0.9761302471160889], "theta": [0.07848712801933289, -1.5485010147094727, -0.02635309472680092, 0.8215810060501099, 1.610604166984558, -0.03245210647583008, -0.9760241508483887], "dq": [-0.006118544843047857, 0.10506534576416016, 0.0017078524688258767, 0.09002584964036942, -0.01834775321185589, -0.01901179552078247, -0.016661114990711212], "dtheta": [-0.009377149865031242, 0.10824767500162125, 0.0033919222187250853, 0.09427698701620102, -0.019425826147198677, -0.015450619161128998, -0.015728047117590904], "tau": [-64.22999572753906, 0.0, -25.944002151489258, 1.936000108718872, -4.436000347137451, 3.3360002040863037, -0.5600000023841858], "tau_des": [-2.0466771125793457, 2.6315877437591553, -0.5347808003425598, -0.5741326212882996, -0.21613942086696625, -0.3413947522640228, -0.5852301716804504], "tau_dot": [-51.31211853027344, -23.60386848449707, -19.653671264648438, -50.442108154296875, -2.9709086418151855, 92.90487670898438, 16.70279312133789], "tau_ext": [15.778430938720703, -36.412967681884766, -36.27791213989258, 20.01605224609375, -2.1068813800811768, -6.502109050750732, 0.4567907154560089], "tcp_pose": [0.6534534692764282, -0.05719505995512009, -0.32494449615478516, -0.030696187168359756, -0.07926508784294128, 0.9962737560272217, 0.014606926590204239], "tcp_vel": [0.0033330959267914295, 0.04725828021764755, 0.005235469900071621, 0.003510067705065012, 0.013074860908091068, 0.029592109844088554], "flange_pose": [0.6655145287513733, -0.06180041655898094, -0.13538363575935364, -0.030696187168359756, -0.07926508784294128, 0.9962737560272217, 0.014606926590204239], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.2115478515625, -53.63831329345703, -8.789735794067383, -4.733262538909912, 11.862944602966309, 0.5438380241394043], "ext_wrench_in_world": [-2.068064633061495, -54.93526213314153, 7.607035990511755, 2.767353570001597, 12.473809147318708, -0.41812472620354385]}
+{"timestamp_ns": 1789729567563465411, "elapsed_ms": 11033, "source_timestamp_ns": 1789729567555373603, "q": [0.08026550710201263, -1.5464911460876465, -0.024358879774808884, 0.8406538963317871, 1.6108993291854858, -0.032753292471170425, -0.9766038656234741], "theta": [0.07821628451347351, -1.5452055931091309, -0.02624780870974064, 0.8244083523750305, 1.6100740432739258, -0.032872796058654785, -0.9764994382858276], "dq": [-0.010253377258777618, 0.11353078484535217, 0.0009183190995827317, 0.09595369547605515, -0.015444609336555004, -0.01342449989169836, -0.01445678249001503], "dtheta": [-0.008531260304152966, 0.11087740957736969, 0.0034145803656429052, 0.09440094977617264, -0.021256720647215843, -0.012758001685142517, -0.014154013246297836], "tau": [-64.19999694824219, 0.029999999329447746, -26.00400161743164, 1.940000057220459, -4.484000205993652, 3.312000274658203, -0.5600000023841858], "tau_des": [-1.9710676670074463, 2.2941579818725586, -0.6039043068885803, -0.41091683506965637, -0.2780442237854004, -0.35234200954437256, -0.5487244129180908], "tau_dot": [-30.6271915435791, 57.39554977416992, 54.83150100708008, 24.921293258666992, -10.152176856994629, -27.821001052856445, -39.99736022949219], "tau_ext": [15.900666236877441, -36.459983825683594, -36.27781677246094, 19.994853973388672, -2.1030514240264893, -6.501797199249268, 0.45554792881011963], "tcp_pose": [0.6535457372665405, -0.055797021836042404, -0.32480427622795105, -0.030879372730851173, -0.07969152182340622, 0.996233344078064, 0.0146586699411273], "tcp_vel": [0.004128214903175831, 0.04808663949370384, 0.005045755300670862, 0.00042066266178153455, 0.013473830185830593, 0.030659694224596024], "flange_pose": [0.6656795740127563, -0.06041122227907181, -0.13524828851222992, -0.030879372730851173, -0.07969152182340622, 0.996233344078064, 0.0146586699411273], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.356755256652832, -54.08808135986328, -8.79882526397705, -4.824702739715576, 11.810437202453613, 0.5501509308815002], "ext_wrench_in_world": [-2.08964938636435, -55.40505762189835, 7.604519480735953, 2.854485757303319, 12.439159321017982, -0.4313651981246031]}
+{"timestamp_ns": 1789729567596773027, "elapsed_ms": 11066, "source_timestamp_ns": 1789729567595351464, "q": [0.07995305210351944, -1.5420725345611572, -0.02421928383409977, 0.8443827629089355, 1.6100451946258545, -0.033232592046260834, -0.9771137237548828], "theta": [0.07788140326738358, -1.5407458543777466, -0.026102039963006973, 0.8281252980232239, 1.6092331409454346, -0.033347129821777344, -0.9770126342773438], "dq": [-0.006277289241552353, 0.12305336445569992, 0.0020084979478269815, 0.09431826323270798, -0.020749909803271294, -0.013005770742893219, -0.012180154211819172], "dtheta": [-0.008217203430831432, 0.11371101438999176, 0.0033595417626202106, 0.09397684782743454, -0.021097959950566292, -0.011219064705073833, -0.011253119446337223], "tau": [-63.97999954223633, -0.6100000143051147, -26.02800178527832, 2.4120001792907715, -4.480000019073486, 3.252000093460083, -0.527999997138977], "tau_des": [-1.619152307510376, 0.9283974766731262, -0.6055948734283447, 0.43097126483917236, -0.39414191246032715, -0.3161778748035431, -0.4945908188819885], "tau_dot": [7.775187969207764, -10.498215675354004, -42.75770568847656, 50.50356674194336, -12.219017028808594, -104.99205017089844, 9.041390419006348], "tau_ext": [15.799644470214844, -36.12685775756836, -36.30146408081055, 19.788894653320312, -2.0847394466400146, -6.492760181427002, 0.44599249958992004], "tcp_pose": [0.6537147760391235, -0.053877633064985275, -0.3246203064918518, -0.031163567677140236, -0.08028578758239746, 0.9961767792701721, 0.014658814296126366], "tcp_vel": [0.0055173165164887905, 0.04982053115963936, 0.004886089824140072, -0.0005780966603197157, 0.012729239650070667, 0.0310513898730278], "flange_pose": [0.6659588813781738, -0.05847592651844025, -0.13507099449634552, -0.031163567677140236, -0.08028578758239746, 0.9961767792701721, 0.014658814296126366], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.304759979248047, -54.206783294677734, -8.795825958251953, -4.829237937927246, 11.80126953125, 0.5490501523017883], "ext_wrench_in_world": [-1.9489744142971017, -55.51615856362027, 7.5958636575314555, 2.845297586189478, 12.434234083557033, -0.4325067414513732]}
+{"timestamp_ns": 1789729567630100888, "elapsed_ms": 11100, "source_timestamp_ns": 1789729567625345097, "q": [0.07974269241094589, -1.5386680364608765, -0.024086320772767067, 0.8472109436988831, 1.609350323677063, -0.03349800407886505, -0.9774176478385925], "theta": [0.07765347510576248, -1.537371277809143, -0.025968192145228386, 0.8309367299079895, 1.6085480451583862, -0.03360629081726074, -0.977317750453949], "dq": [-0.007450020872056484, 0.11885662376880646, 0.005467887502163649, 0.09511768072843552, -0.02712562307715416, -0.005152693949639797, -0.011848359368741512], "dtheta": [-0.00642015878111124, 0.11448873579502106, 0.005068618804216385, 0.09674626588821411, -0.023193219676613808, -0.006977278273552656, -0.009164273738861084], "tau": [-63.87999725341797, -1.3399999141693115, -26.108001708984375, 2.7400002479553223, -4.4760003089904785, 3.2800002098083496, -0.5160000324249268], "tau_des": [-1.7616183757781982, 0.5695100426673889, -0.6907462477684021, 0.7405396103858948, -0.3460198938846588, -0.29218629002571106, -0.55994713306427], "tau_dot": [122.12802124023438, -41.14875793457031, -29.067169189453125, 5.589000225067139, 17.87592315673828, 35.1313362121582, 74.72697448730469], "tau_ext": [15.72095775604248, -35.749935150146484, -36.26496505737305, 19.590497970581055, -2.0615663528442383, -6.4978718757629395, 0.4380475878715515], "tcp_pose": [0.6538599133491516, -0.05240657553076744, -0.324497252702713, -0.03138075768947601, -0.08072178810834885, 0.9961352944374084, 0.014620456844568253], "tcp_vel": [0.004329585004597902, 0.04883117228746414, 0.003676133928820491, -0.0036928397603332996, 0.013212963938713074, 0.027049927040934563], "flange_pose": [0.6661869883537292, -0.05697829648852348, -0.13495267927646637, -0.03138075768947601, -0.08072178810834885, 0.9961352944374084, 0.014620456844568253], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.095380783081055, -54.04801940917969, -8.869417190551758, -4.785919189453125, 11.827832221984863, 0.5443392395973206], "ext_wrench_in_world": [-1.7111030039214086, -55.32850788776709, 7.667514558183127, 2.7875123208640544, 12.455794247150283, -0.42650615570404116]}
+{"timestamp_ns": 1789729567663437027, "elapsed_ms": 11133, "source_timestamp_ns": 1789729567655349528, "q": [0.07956431061029434, -1.5352131128311157, -0.02392997033894062, 0.850175678730011, 1.6086981296539307, -0.033652372658252716, -0.9777607321739197], "theta": [0.0774599239230156, -1.533966302871704, -0.02581474557518959, 0.8338834047317505, 1.6079063415527344, -0.033754825592041016, -0.9776621460914612], "dq": [-0.006725771818310022, 0.1097785234451294, 0.0034488390665501356, 0.09929878264665604, -0.02068977616727352, -0.003444206202402711, -0.010892031714320183], "dtheta": [-0.006017780862748623, 0.11521722376346588, 0.005476850084960461, 0.10101977735757828, -0.020381202921271324, -0.004738042131066322, -0.014099874533712864], "tau": [-63.79999923706055, -1.46999990940094, -26.176000595092773, 2.7880001068115234, -4.5400004386901855, 3.2680001258850098, -0.5320000052452087], "tau_des": [-1.6530067920684814, 0.15579676628112793, -0.6091366410255432, 0.9733796715736389, -0.37536007165908813, -0.3339768350124359, -0.5446916222572327], "tau_dot": [115.1902084350586, 29.01861572265625, -23.0164737701416, 12.782405853271484, -51.95045852661133, -66.81317901611328, 16.652847290039062], "tau_ext": [15.581086158752441, -35.389915466308594, -36.29005813598633, 19.424388885498047, -2.047098398208618, -6.4964423179626465, 0.4332818388938904], "tcp_pose": [0.653985857963562, -0.050947025418281555, -0.32439616322517395, -0.0315602645277977, -0.08113458007574081, 0.9960969090461731, 0.014563394710421562], "tcp_vel": [0.0036272616125643253, 0.04833953082561493, 0.0032714034896343946, -0.0029515346977859735, 0.009859059005975723, 0.028377937152981758], "flange_pose": [0.6663810014724731, -0.05548647791147232, -0.134855255484581, -0.0315602645277977, -0.08113458007574081, 0.9960969090461731, 0.014563394710421562], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.894682884216309, -53.67485427856445, -8.930262565612793, -4.688472747802734, 11.849777221679688, 0.5397709608078003], "ext_wrench_in_world": [-1.5205196276827426, -54.929768655874206, 7.73577545805982, 2.677737466441249, 12.463771897532226, -0.4176861831109718]}
+{"timestamp_ns": 1789729567696769657, "elapsed_ms": 11166, "source_timestamp_ns": 1789729567695346304, "q": [0.07934559881687164, -1.5306745767593384, -0.023659586906433105, 0.8544906973838806, 1.608031988143921, -0.03376832976937294, -0.9785892367362976], "theta": [0.07722203433513641, -1.5294653177261353, -0.025547906756401062, 0.8381667733192444, 1.6072571277618408, -0.03386533260345459, -0.9784933924674988], "dq": [-0.007980591617524624, 0.11184738576412201, 0.006156821269541979, 0.10943379253149033, -0.013251175172626972, 0.00011950324551435187, -0.02709749899804592], "dtheta": [-0.006276435684412718, 0.11203419417142868, 0.007909874431788921, 0.11206699907779694, -0.011015542782843113, -0.0013246046146377921, -0.027517108246684074], "tau": [-64.08999633789062, 0.009999999776482582, -26.14000129699707, 1.8920000791549683, -4.448000431060791, 3.260000228881836, -0.5160000324249268], "tau_des": [-2.0211477279663086, 2.320573329925537, -0.45687198638916016, -0.3230551779270172, -0.2908641993999481, -0.34749871492385864, -0.5928933024406433], "tau_dot": [84.55477142333984, -50.69044494628906, -17.351022720336914, -26.404541015625, -14.544412612915039, -49.43171691894531, 29.72488021850586], "tau_ext": [15.649538040161133, -36.268280029296875, -36.33803176879883, 20.00642204284668, -2.0757641792297363, -6.497037410736084, 0.43210679292678833], "tcp_pose": [0.6540232300758362, -0.04910736903548241, -0.324299156665802, -0.031692296266555786, -0.0816546380519867, 0.9960505366325378, 0.01454287488013506], "tcp_vel": [0.0002297185274073854, 0.04500897601246834, 0.002171378117054701, 0.0031641137320548296, 1.0392122021585237e-05, 0.027165554463863373], "flange_pose": [0.6664699912071228, -0.05362845957279205, -0.13476118445396423, -0.031692296266555786, -0.0816546380519867, 0.9960505366325378, 0.01454287488013506], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.141593933105469, -53.564029693603516, -8.975508689880371, -4.645618438720703, 11.749034881591797, 0.5393898487091064], "ext_wrench_in_world": [-1.7190816629953778, -54.863282421660415, 7.801611935148429, 2.638683996017132, 12.360185659399933, -0.4191538742040277]}
+{"timestamp_ns": 1789729567730141697, "elapsed_ms": 11200, "source_timestamp_ns": 1789729567725353923, "q": [0.07914508879184723, -1.5273278951644897, -0.023379599675536156, 0.8579437136650085, 1.6077126264572144, -0.033796995878219604, -0.9795302152633667], "theta": [0.07700692862272263, -1.5261154174804688, -0.025264808908104897, 0.8416027426719666, 1.606952428817749, -0.033888816833496094, -0.979432225227356], "dq": [-0.007782619912177324, 0.11579792201519012, 0.012960324995219707, 0.11110537499189377, -0.010839392431080341, -0.003247619606554508, -0.033256564289331436], "dtheta": [-0.007630904670804739, 0.1122787818312645, 0.010845857672393322, 0.11447780579328537, -0.010042808018624783, -1.913261439767666e-05, -0.031243711709976196], "tau": [-64.12999725341797, 0.7899999618530273, -26.160001754760742, 1.496000051498413, -4.464000225067139, 3.2800002098083496, -0.527999997138977], "tau_des": [-2.015907049179077, 3.1715097427368164, -0.4871349632740021, -0.7886644601821899, -0.31847524642944336, -0.31807807087898254, -0.454281747341156], "tau_dot": [12.711310386657715, -41.5499267578125, -17.92538070678711, 40.47315216064453, -53.48833084106445, -47.190189361572266, 0.751852810382843], "tau_ext": [15.696686744689941, -36.78455352783203, -36.40290451049805, 20.295286178588867, -2.1068952083587646, -6.491858959197998, 0.42786312103271484], "tcp_pose": [0.6539914608001709, -0.04777834936976433, -0.32424116134643555, -0.03167793154716492, -0.08206628262996674, 0.9960163235664368, 0.014596525579690933], "tcp_vel": [-5.266239168122411e-05, 0.045401304960250854, 0.0018514470430091023, 0.00588516378775239, -0.002898577367886901, 0.028501464053988457], "flange_pose": [0.6664363145828247, -0.05231505259871483, -0.13470344245433807, -0.03167793154716492, -0.08206628262996674, 0.9960163235664368, 0.014596525579690933], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.720541954040527, -53.978904724121094, -8.984835624694824, -4.731997966766357, 11.585991859436035, 0.5405889749526978], "ext_wrench_in_world": [-2.176162237900276, -55.37025343679665, 7.824313540125892, 2.7400052073561523, 12.215859323773115, -0.4294193867142458]}
+{"timestamp_ns": 1789729567763439615, "elapsed_ms": 11233, "source_timestamp_ns": 1789729567755354755, "q": [0.07891680300235748, -1.5238879919052124, -0.02304619550704956, 0.8613338470458984, 1.6072980165481567, -0.03380334749817848, -0.9803000688552856], "theta": [0.07676369696855545, -1.5226818323135376, -0.024931643158197403, 0.8449886441230774, 1.6065529584884644, -0.0338892936706543, -0.9801987409591675], "dq": [-0.010014256462454796, 0.12644042074680328, 0.010248523205518723, 0.1102304682135582, -0.01706528104841709, -0.002218564972281456, -0.020925041288137436], "dtheta": [-0.008060583844780922, 0.11630195379257202, 0.01108525414019823, 0.11285138130187988, -0.017450805753469467, -0.00016277903341688216, -0.01988063007593155], "tau": [-63.98999786376953, 0.2800000011920929, -26.244001388549805, 1.8440001010894775, -4.464000225067139, 3.31600022315979, -0.4960000216960907], "tau_des": [-1.725165843963623, 2.4559895992279053, -0.5084911584854126, -0.4109664559364319, -0.27048251032829285, -0.22061803936958313, -0.48423463106155396], "tau_dot": [-25.184242248535156, -2.9899022579193115, -33.62950897216797, 6.623761177062988, -20.28349494934082, -9.992366790771484, 63.575504302978516], "tau_ext": [15.581058502197266, -36.55242919921875, -36.4481201171875, 20.05286979675293, -2.094815969467163, -6.502160549163818, 0.4107149541378021], "tcp_pose": [0.654009222984314, -0.046373769640922546, -0.3241816759109497, -0.03168271854519844, -0.0824696272611618, 0.99598228931427, 0.01463853009045124], "tcp_vel": [0.0006458745920099318, 0.04723498225212097, 0.0026350414846092463, 0.000862398068420589, 0.002569240517914295, 0.02303815819323063], "flange_pose": [0.6664590239524841, -0.05092117562890053, -0.1346445530653, -0.03168271854519844, -0.0824696272611618, 0.99598228931427, 0.01463853009045124], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.858211517333984, -54.27001953125, -9.043549537658691, -4.8091139793396, 11.542325019836426, 0.5335436463356018], "ext_wrench_in_world": [-2.2155695447690182, -55.68402548744699, 7.875185436408604, 2.813655602426427, 12.187629312111111, -0.42725502205480254]}
+{"timestamp_ns": 1789729567796772645, "elapsed_ms": 11266, "source_timestamp_ns": 1789729567795320709, "q": [0.07862691581249237, -1.519128680229187, -0.02259708009660244, 0.86571204662323, 1.6065394878387451, -0.033781398087739944, -0.9809478521347046], "theta": [0.07645685225725174, -1.5179766416549683, -0.024483701214194298, 0.849369466304779, 1.60581374168396, -0.03385794162750244, -0.980841338634491], "dq": [-0.006250807084143162, 0.11865084618330002, 0.012814673595130444, 0.10462566465139389, -0.015797510743141174, 2.2167650968185626e-05, -0.014859586954116821], "dtheta": [-0.007854398339986801, 0.11931916326284409, 0.011653490364551544, 0.11050979048013687, -0.019630223512649536, 0.0011586884502321482, -0.013038283213973045], "tau": [-63.84000015258789, -1.0499999523162842, -26.428001403808594, 2.552000045776367, -4.5320000648498535, 3.4640002250671387, -0.4880000352859497], "tau_des": [-1.3801641464233398, 0.601399302482605, -0.645234227180481, 0.623893678188324, -0.3620467782020569, -0.04002704098820686, -0.4390519857406616], "tau_dot": [-75.88484191894531, -52.45659255981445, -55.64247131347656, 16.47393798828125, 3.7456600666046143, 44.90494155883789, 7.0782060623168945], "tau_ext": [15.53405475616455, -35.841712951660156, -36.361568450927734, 19.607070922851562, -2.0607621669769287, -6.584249019622803, 0.39255616068840027], "tcp_pose": [0.654110848903656, -0.04438921809196472, -0.3240996301174164, -0.031774867326021194, -0.0829758271574974, 0.9959375262260437, 0.014623105525970459], "tcp_vel": [0.0022867792285978794, 0.04942713677883148, 0.002415285212919116, -0.0010512080043554306, 0.0038097454234957695, 0.021633196622133255], "flange_pose": [0.6665973663330078, -0.04892153665423393, -0.1345645636320114, -0.031774867326021194, -0.0829758271574974, 0.9959375262260437, 0.014623105525970459], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.422687530517578, -54.21086502075195, -9.13731861114502, -4.828620433807373, 11.647313117980957, 0.517794668674469], "ext_wrench_in_world": [-1.732385655782994, -55.55769076632443, 7.9453196771882455, 2.80413677261301, 12.296849733997991, -0.4097475575694833]}
+{"timestamp_ns": 1789729567830166900, "elapsed_ms": 11300, "source_timestamp_ns": 1789729567825352613, "q": [0.07842856645584106, -1.5154218673706055, -0.022243769839406013, 0.8691049814224243, 1.6059486865997314, -0.03369618207216263, -0.9813639521598816], "theta": [0.07624804228544235, -1.5142993927001953, -0.024132225662469864, 0.8527723550796509, 1.6052380800247192, -0.0337599515914917, -0.9812533855438232], "dq": [-0.007239044178277254, 0.10412018746137619, 0.011895198374986649, 0.10817800462245941, -0.01853838376700878, 0.0014462268445640802, -0.014423376880586147], "dtheta": [-0.006527277175337076, 0.11978385597467422, 0.011145224794745445, 0.11111868917942047, -0.01693006046116352, 0.0028208987787365913, -0.01314137689769268], "tau": [-63.68000030517578, -1.5299999713897705, -26.468000411987305, 2.7840001583099365, -4.516000270843506, 3.5520002841949463, -0.48000001907348633], "tau_des": [-1.3667489290237427, -0.15288852155208588, -0.6863157749176025, 1.0779169797897339, -0.4399542510509491, 0.004453324247151613, -0.4825607240200043], "tau_dot": [1.603384017944336, 57.891910552978516, 4.610263824462891, 14.509429931640625, 17.948104858398438, -13.685561180114746, -9.193041801452637], "tau_ext": [15.483301162719727, -35.242069244384766, -36.302589416503906, 19.30520248413086, -2.0277650356292725, -6.67822790145874, 0.3781009912490845], "tcp_pose": [0.6541945338249207, -0.0428517647087574, -0.32404983043670654, -0.03184128180146217, -0.08333498239517212, 0.9959059357643127, 0.014586500823497772], "tcp_vel": [0.0025172012392431498, 0.04958517476916313, 0.001624050084501505, -0.0009192196885123849, 0.0020655877888202667, 0.02159309759736061], "flange_pose": [0.6667066216468811, -0.04736361280083656, -0.13451595604419708, -0.03184128180146217, -0.08333498239517212, 0.9959059357643127, 0.014586500823497772], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.097092628479004, -53.83483123779297, -9.251264572143555, -4.793644428253174, 11.737870216369629, 0.5050182938575745], "ext_wrench_in_world": [-1.4253275136635235, -55.1361611328098, 8.055593858066493, 2.7466485575701225, 12.381973828786887, -0.3928274461201561]}
+{"timestamp_ns": 1789729567863439684, "elapsed_ms": 11333, "source_timestamp_ns": 1789729567855362782, "q": [0.07825972139835358, -1.5119282007217407, -0.021908072754740715, 0.8725519776344299, 1.6054761409759521, -0.0335930660367012, -0.9819585084915161], "theta": [0.07606765627861023, -1.5107711553573608, -0.023795291781425476, 0.8562356233596802, 1.6047797203063965, -0.03363645076751709, -0.981846809387207], "dq": [-0.003839476266875863, 0.10088001936674118, 0.008181290701031685, 0.11704372614622116, -0.014845360070466995, 0.004084847867488861, -0.02780764177441597], "dtheta": [-0.006218058057129383, 0.11651642620563507, 0.011747371405363083, 0.11883363872766495, -0.013072474859654903, 0.004312331788241863, -0.026495153084397316], "tau": [-63.78999710083008, -0.6699999570846558, -26.444002151489258, 2.076000213623047, -4.4720001220703125, 3.632000207901001, -0.492000013589859], "tau_des": [-1.6579805612564087, 1.6562120914459229, -0.3956952691078186, -0.16473984718322754, -0.13795889914035797, -0.007534711621701717, -0.518128514289856], "tau_dot": [47.32139587402344, 52.733787536621094, -48.45485305786133, -36.65325927734375, -29.516042709350586, 104.69070434570312, -36.365726470947266], "tau_ext": [15.452301025390625, -35.78476333618164, -36.33572769165039, 19.66250228881836, -2.0462820529937744, -6.764184474945068, 0.3760359287261963], "tcp_pose": [0.6541833281517029, -0.041460514068603516, -0.3240141272544861, -0.03186871111392975, -0.08365019410848618, 0.9958788752555847, 0.014568894170224667], "tcp_vel": [-0.0011394188040867448, 0.04583699256181717, 0.0012491934467107058, 0.0012693945318460464, -0.001833451329730451, 0.02383323758840561], "flange_pose": [0.6667066216468811, -0.045960865914821625, -0.13448072969913483, -0.03186871111392975, -0.08365019410848618, 0.9958788752555847, 0.014568894170224667], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.07178020477295, -53.586036682128906, -9.412253379821777, -4.801770210266113, 11.758132934570312, 0.49667465686798096], "ext_wrench_in_world": [-1.3957025208900231, -54.891267926551315, 8.22428585203443, 2.7439653925487066, 12.404840388036751, -0.38465808951364855]}
+{"timestamp_ns": 1789729567896770204, "elapsed_ms": 11366, "source_timestamp_ns": 1789729567895362197, "q": [0.07799829542636871, -1.5074495077133179, -0.021371465176343918, 0.8773767352104187, 1.6051543951034546, -0.03339918330311775, -0.983230710029602], "theta": [0.0757846087217331, -1.506180763244629, -0.02324831299483776, 0.8610852360725403, 1.6044820547103882, -0.03340327739715576, -0.9831094741821289], "dq": [-0.007353066932410002, 0.11559385061264038, 0.016077818349003792, 0.11590054631233215, -0.006610841955989599, 0.005206707399338484, -0.03230192884802818], "dtheta": [-0.007774049881845713, 0.11336278170347214, 0.015389013104140759, 0.11933713406324387, -0.008708483539521694, 0.0054855141788721085, -0.03354327008128166], "tau": [-63.8599967956543, 1.2999999523162842, -26.420001983642578, 1.2200000286102295, -4.424000263214111, 3.640000104904175, -0.48000001907348633], "tau_des": [-1.7061586380004883, 3.8605918884277344, -0.46688392758369446, -1.260683298110962, -0.3040856122970581, 0.03360939025878906, -0.44666677713394165], "tau_dot": [65.53748321533203, 173.02870178222656, 56.66581726074219, 27.221446990966797, -30.898714065551758, 37.31787872314453, -22.555877685546875], "tau_ext": [15.442255973815918, -36.928932189941406, -36.46086120605469, 20.37098503112793, -2.1216773986816406, -6.819192409515381, 0.3711071014404297], "tcp_pose": [0.6540765166282654, -0.039712853729724884, -0.32399773597717285, -0.031742263585329056, -0.08410431444644928, 0.9958433508872986, 0.014660496264696121], "tcp_vel": [-0.0014306617667898536, 0.04540127143263817, 0.0003698689688462764, 0.0072059910744428635, -0.007199557032436132, 0.026819894090294838], "flange_pose": [0.6665570139884949, -0.044246215373277664, -0.13446228206157684, -0.031742263585329056, -0.08410431444644928, 0.9958433508872986, 0.014660496264696121], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.90168571472168, -54.10401153564453, -9.623578071594238, -5.009209156036377, 11.576279640197754, 0.495980441570282], "ext_wrench_in_world": [-2.064609998197693, -55.5496794465874, 8.454462782339501, 2.967308017663601, 12.263118969762012, -0.39927376218378957]}
+{"timestamp_ns": 1789729567930103904, "elapsed_ms": 11400, "source_timestamp_ns": 1789729567925398970, "q": [0.07779747247695923, -1.5039888620376587, -0.020913539454340935, 0.8808596134185791, 1.6047292947769165, -0.033183272927999496, -0.9840796589851379], "theta": [0.07556640356779099, -1.5026615858078003, -0.022783825173974037, 0.8645984530448914, 1.6040692329406738, -0.03315162658691406, -0.9839481115341187], "dq": [-0.00694322120398283, 0.13065983355045319, 0.018088126555085182, 0.11296539008617401, -0.01903712935745716, 0.008577514439821243, -0.02164009027183056], "dtheta": [-0.007121975999325514, 0.12132196873426437, 0.015727486461400986, 0.11502795666456223, -0.020855162292718887, 0.010243586264550686, -0.018756797537207603], "tau": [-63.779998779296875, 0.6299999952316284, -26.588001251220703, 1.6680001020431519, -4.468000411987305, 3.6560001373291016, -0.41200003027915955], "tau_des": [-1.3503320217132568, 2.096022367477417, -0.6323330402374268, -0.164626345038414, -0.3335389196872711, 0.0372498445212841, -0.29911649227142334], "tau_dot": [23.662919998168945, -23.47808074951172, -76.69078826904297, 5.972545146942139, 0.21811430156230927, -11.805962562561035, 73.03291320800781], "tau_ext": [15.435547828674316, -36.63549041748047, -36.42009735107422, 20.086591720581055, -2.0973918437957764, -6.8414177894592285, 0.3536565601825714], "tcp_pose": [0.6540604829788208, -0.03832731023430824, -0.3239889144897461, -0.03169950842857361, -0.08451034128665924, 0.9958100914955139, 0.01467599906027317], "tcp_vel": [0.001548884087242186, 0.048719871789216995, 0.0011506949085742235, -0.004252252634614706, -0.0003780691185966134, 0.024867799133062363], "flange_pose": [0.6665270924568176, -0.04286282882094383, -0.13445262610912323, -0.03169950842857361, -0.08451034128665924, 0.9958100914955139, 0.01467599906027317], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.111126899719238, -54.552284240722656, -9.705604553222656, -5.16611909866333, 11.53464412689209, 0.48616960644721985], "ext_wrench_in_world": [-2.1458950550876867, -56.030966867428326, 8.529698512780916, 3.1193518306313197, 12.250849194596412, -0.39937542469051573]}
+{"timestamp_ns": 1789729567963458508, "elapsed_ms": 11433, "source_timestamp_ns": 1789729567955308544, "q": [0.0776454508304596, -1.500468134880066, -0.020486876368522644, 0.884088397026062, 1.6040873527526855, -0.032872091978788376, -0.9844254851341248], "theta": [0.07539736479520798, -1.4991413354873657, -0.022356245666742325, 0.8678588271141052, 1.6034358739852905, -0.03280758857727051, -0.9842803478240967], "dq": [-0.00587907200679183, 0.13494452834129333, 0.014366759918630123, 0.1133837103843689, -0.026266606524586678, 0.013107187114655972, -0.006451591849327087], "dtheta": [-0.005278537515550852, 0.12105643004179001, 0.01438476424664259, 0.1104302629828453, -0.025280330330133438, 0.012722553685307503, -0.007201445754617453], "tau": [-63.709999084472656, -0.7099999785423279, -26.700000762939453, 2.3480000495910645, -4.51200008392334, 3.6520001888275146, -0.45600003004074097], "tau_des": [-1.345702886581421, 1.3673673868179321, -0.6615119576454163, 0.4262961745262146, -0.31996726989746094, 0.004099393729120493, -0.40686747431755066], "tau_dot": [-37.30351638793945, -199.85641479492188, -22.066492080688477, -51.071449279785156, -20.20477867126465, -3.7108256816864014, -44.49760055541992], "tau_ext": [15.410284042358398, -36.08009338378906, -36.347686767578125, 19.669448852539062, -2.059760570526123, -6.856174945831299, 0.33250850439071655], "tcp_pose": [0.6541258096694946, -0.03690279647707939, -0.3239767849445343, -0.0317457839846611, -0.0848238468170166, 0.9957835078239441, 0.014572680927813053], "tcp_vel": [0.002171211875975132, 0.047986891120672226, 0.0010973974131047726, -0.01084759272634983, 0.0033528076019138098, 0.018010979518294334], "flange_pose": [0.6666080951690674, -0.04139380156993866, -0.13444043695926666, -0.0317457839846611, -0.0848238468170166, 0.9957835078239441, 0.014572680927813053], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.755906105041504, -54.55842208862305, -9.730982780456543, -5.197628498077393, 11.616232872009277, 0.4688926041126251], "ext_wrench_in_world": [-1.7575504234145676, -55.97698488175284, 8.54417667663852, 3.1299431442985486, 12.338079512071593, -0.38382063809077693]}
+{"timestamp_ns": 1789729567996768514, "elapsed_ms": 11466, "source_timestamp_ns": 1789729567995316047, "q": [0.07748031616210938, -1.4953019618988037, -0.019901784136891365, 0.8887192606925964, 1.6030157804489136, -0.03232676163315773, -0.9846892356872559], "theta": [0.07520877569913864, -1.4940330982208252, -0.021781131625175476, 0.8725178837776184, 1.6023756265640259, -0.03221631050109863, -0.9845300912857056], "dq": [-0.0015187832759693265, 0.12026116251945496, 0.018180159851908684, 0.12003246694803238, -0.025834381580352783, 0.014186181128025055, -0.00399293377995491], "dtheta": [-0.004130050539970398, 0.12525878846645355, 0.014146153815090656, 0.11706259101629257, -0.025573469698429108, 0.01721224933862686, -0.008381405845284462], "tau": [-63.689998626708984, -1.6100000143051147, -26.8960018157959, 2.812000036239624, -4.572000026702881, 3.684000253677368, -0.4240000247955322], "tau_des": [-1.3696272373199463, 0.3730004131793976, -0.712903618812561, 0.9469000101089478, -0.3173092305660248, 0.04859481006860733, -0.47438299655914307], "tau_dot": [-39.34244155883789, -44.7159309387207, -52.95610427856445, 6.258280277252197, 7.646600246429443, -11.0452880859375, 27.520673751831055], "tau_ext": [15.293426513671875, -35.18659591674805, -36.25946044921875, 19.296329498291016, -2.0406572818756104, -6.882330894470215, 0.3220520317554474], "tcp_pose": [0.6542295217514038, -0.034840624779462814, -0.32396021485328674, -0.03187158331274986, -0.08521750569343567, 0.9957494139671326, 0.014326805248856544], "tcp_vel": [0.0013754076790064573, 0.04787229001522064, 0.0009922451572492719, -0.014653412625193596, 0.001593956956639886, 0.016958128660917282], "flange_pose": [0.6667531728744507, -0.039229582995176315, -0.13442420959472656, -0.03187158331274986, -0.08521750569343567, 0.9957494139671326, 0.014326805248856544], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.207222938537598, -53.836181640625, -9.774044036865234, -5.035562038421631, 11.722145080566406, 0.4496966600418091], "ext_wrench_in_world": [-1.2900299250280605, -55.17015916171641, 8.605672392930336, 2.9438869565616894, 12.416654623220229, -0.3577918016706058]}
+{"timestamp_ns": 1789729568030108340, "elapsed_ms": 11500, "source_timestamp_ns": 1789729568025299855, "q": [0.07738488912582397, -1.4915329217910767, -0.019473643973469734, 0.8924028277397156, 1.6023449897766113, -0.031823258846998215, -0.9851392507553101], "theta": [0.0750950500369072, -1.4902912378311157, -0.021361753344535828, 0.8762009739875793, 1.6017131805419922, -0.03168201446533203, -0.9849737286567688], "dq": [-0.0003059434820897877, 0.11837422847747803, 0.012343976646661758, 0.13023775815963745, -0.02121082693338394, 0.016061533242464066, -0.021071499213576317], "dtheta": [-0.004162333440035582, 0.12254881858825684, 0.014519217424094677, 0.12835824489593506, -0.01912606880068779, 0.018906211480498314, -0.020582737401127815], "tau": [-63.709999084472656, -0.38999998569488525, -26.852001190185547, 1.8760000467300415, -4.444000244140625, 3.752000093460083, -0.4360000193119049], "tau_des": [-1.7543509006500244, 2.3728418350219727, -0.47200626134872437, -0.5028531551361084, -0.09712253510951996, -0.012282452546060085, -0.535531759262085], "tau_dot": [79.7781753540039, 135.91798400878906, -0.46459683775901794, -72.34674835205078, 6.5515828132629395, 98.40958404541016, 33.08761215209961], "tau_ext": [15.309219360351562, -35.929378509521484, -36.29944610595703, 19.77762794494629, -2.070225477218628, -6.893022537231445, 0.3234087824821472], "tcp_pose": [0.6542104482650757, -0.0334223210811615, -0.32395702600479126, -0.031895268708467484, -0.08548200875520706, 0.9957286715507507, 0.014139513485133648], "tcp_vel": [-0.002822448033839464, 0.0438808910548687, 0.0007664524018764496, -0.01136189978569746, -0.004656325094401836, 0.014968675561249256], "flange_pose": [0.6667381525039673, -0.037736330181360245, -0.13441957533359528, -0.031895268708467484, -0.08548200875520706, 0.9957286715507507, 0.014139513485133648], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.235548973083496, -53.5954475402832, -9.766960144042969, -4.976934909820557, 11.690862655639648, 0.4467545747756958], "ext_wrench_in_world": [-1.3290861315081361, -54.93532052399641, 8.628276606944269, 2.8849822439750126, 12.377208855738383, -0.35681756274529886]}
+{"timestamp_ns": 1789729568063436715, "elapsed_ms": 11533, "source_timestamp_ns": 1789729568055301376, "q": [0.07724606990814209, -1.4878597259521484, -0.019019462168216705, 0.8963095545768738, 1.60189688205719, -0.03135225549340248, -0.9859130382537842], "theta": [0.07493717223405838, -1.4866174459457397, -0.020912572741508484, 0.8800939917564392, 1.6012779474258423, -0.031180620193481445, -0.9857429265975952], "dq": [-0.0061703152023255825, 0.1208178848028183, 0.016966426745057106, 0.13018810749053955, -0.013891570270061493, 0.01798737607896328, -0.0292913019657135], "dtheta": [-0.006104411091655493, 0.12086557596921921, 0.016441812738776207, 0.12820948660373688, -0.01337480265647173, 0.016959359869360924, -0.02914665825664997], "tau": [-63.79999923706055, 1.1399999856948853, -26.80000114440918, 1.156000018119812, -4.332000255584717, 3.700000286102295, -0.41600000858306885], "tau_des": [-1.7833740711212158, 3.372934579849243, -0.5774338245391846, -1.1964884996414185, -0.2559684216976166, 0.0846763476729393, -0.47050946950912476], "tau_dot": [34.959659576416016, 86.17652893066406, 3.352269172668457, -72.45590209960938, 46.58185958862305, -54.14321517944336, 16.660552978515625], "tau_ext": [15.326398849487305, -36.92509841918945, -36.39599609375, 20.354761123657227, -2.1363375186920166, -6.90022087097168, 0.32478785514831543], "tcp_pose": [0.6541081070899963, -0.032072629779577255, -0.323954313993454, -0.031816259026527405, -0.08574791997671127, 0.9957097172737122, 0.014043206349015236], "tcp_vel": [-0.0023575087543576956, 0.044975440949201584, 0.0003810327616520226, -0.003657660447061062, -0.009351669810712337, 0.02156284637749195], "flange_pose": [0.6666040420532227, -0.03634944558143616, -0.1344139128923416, -0.031816259026527405, -0.08574791997671127, 0.9957097172737122, 0.014043206349015236], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.911164283752441, -54.05817413330078, -9.831677436828613, -5.098164081573486, 11.506604194641113, 0.4506107270717621], "ext_wrench_in_world": [-1.8826116438545735, -55.50780646655008, 8.72714736400724, 3.028650127181427, 12.218118016757556, -0.375682921942169]}
+{"timestamp_ns": 1789729568096772837, "elapsed_ms": 11566, "source_timestamp_ns": 1789729568095293606, "q": [0.07699926197528839, -1.4829399585723877, -0.018336988985538483, 0.9012685418128967, 1.6011544466018677, -0.030714664608240128, -0.9869493842124939], "theta": [0.07466833293437958, -1.481727957725525, -0.020236751064658165, 0.8850342631340027, 1.6005491018295288, -0.030505657196044922, -0.9867706894874573], "dq": [-0.006885582581162453, 0.13152125477790833, 0.019127648323774338, 0.11955174803733826, -0.024260694161057472, 0.017981765791773796, -0.016656596213579178], "dtheta": [-0.006674210075289011, 0.12337537109851837, 0.017163770273327827, 0.11569354683160782, -0.02456906996667385, 0.01877858303487301, -0.015228575095534325], "tau": [-63.689998626708984, 0.47999998927116394, -26.98400115966797, 1.8240001201629639, -4.456000328063965, 3.7320001125335693, -0.4000000059604645], "tau_des": [-1.2684931755065918, 1.8017208576202393, -0.7240962982177734, -0.04525892063975334, -0.3728832006454468, 0.08414920419454575, -0.27292630076408386], "tau_dot": [-117.08614349365234, -96.4018783569336, 24.56485939025879, 18.751834869384766, 29.114974975585938, -54.29093933105469, 20.98664093017578], "tau_ext": [15.27244758605957, -36.461029052734375, -36.340362548828125, 19.969417572021484, -2.1206986904144287, -6.929463863372803, 0.30760496854782104], "tcp_pose": [0.6540583968162537, -0.03019232675433159, -0.3239383101463318, -0.03174026682972908, -0.08623939007520676, 0.9956715703010559, 0.013908266089856625], "tcp_vel": [0.0016063227085396647, 0.047851648181676865, 0.0012993639102205634, -0.011708462610840797, -0.0022423386108130217, 0.0230900589376688], "flange_pose": [0.666523277759552, -0.03441443294286728, -0.13439463078975677, -0.03174026682972908, -0.08623939007520676, 0.9956715703010559, 0.013908266089856625], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.139850616455078, -54.70078659057617, -9.895206451416016, -5.285130023956299, 11.442694664001465, 0.44568559527397156], "ext_wrench_in_world": [-1.9400529693163298, -56.18138824318043, 8.79516610866577, 3.2116520025502022, 12.19026097832044, -0.3864257865099344]}
+{"timestamp_ns": 1789729568130104131, "elapsed_ms": 11600, "source_timestamp_ns": 1789729568125326179, "q": [0.07682754844427109, -1.4791184663772583, -0.017817629501223564, 0.9047635197639465, 1.6003153324127197, -0.030178634449839592, -0.9872821569442749], "theta": [0.07448403537273407, -1.4779741764068604, -0.019722674041986465, 0.8885087966918945, 1.5997183322906494, -0.029946327209472656, -0.9870958924293518], "dq": [-0.0042992206290364265, 0.12377873808145523, 0.019812798127532005, 0.1151096373796463, -0.030184118077158928, 0.017699427902698517, -0.009259158745408058], "dtheta": [-0.005692809354513884, 0.12457499653100967, 0.016969842836260796, 0.11476107686758041, -0.028152750805020332, 0.017813557758927345, -0.007530908565968275], "tau": [-63.53999710083008, -0.8700000047683716, -27.11600112915039, 2.504000186920166, -4.448000431060791, 3.7920002937316895, -0.3840000033378601], "tau_des": [-1.3399810791015625, 0.8367342352867126, -0.8248956799507141, 0.3543429672718048, -0.3112216293811798, 0.14731785655021667, -0.4100533127784729], "tau_dot": [-77.09471893310547, -78.85118103027344, -2.6379520893096924, 124.61215209960938, -43.95261764526367, 3.2188851833343506, 12.989623069763184], "tau_ext": [15.280064582824707, -35.82683181762695, -36.227413177490234, 19.556690216064453, -2.0892839431762695, -6.9594621658325195, 0.2939557135105133], "tcp_pose": [0.6541047096252441, -0.028695212677121162, -0.32391420006752014, -0.03179151564836502, -0.08656496554613113, 0.9956445693969727, 0.013702181167900562], "tcp_vel": [0.0009946717182174325, 0.04834841564297676, 0.0009753635386005044, -0.014005155302584171, 0.0022999171633273363, 0.01766904816031456], "flange_pose": [0.6665835976600647, -0.03283359110355377, -0.1343695968389511, -0.03179151564836502, -0.08656496554613113, 0.9956445693969727, 0.013702181167900562], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.688931465148926, -54.669769287109375, -9.90085506439209, -5.30678129196167, 11.54438591003418, 0.4347181022167206], "ext_wrench_in_world": [-1.4637306051584318, -56.070629092632075, 8.796804509639772, 3.2080541790156842, 12.295888452210338, -0.37850905432426357]}
+{"timestamp_ns": 1789729568163434905, "elapsed_ms": 11633, "source_timestamp_ns": 1789729568155330299, "q": [0.07667005807161331, -1.475304365158081, -0.017313465476036072, 0.9082076549530029, 1.599452018737793, -0.029643738642334938, -0.9875560998916626], "theta": [0.0743166133761406, -1.4742122888565063, -0.019221231341362, 0.8919265270233154, 1.5988627672195435, -0.029391169548034668, -0.9873631596565247], "dq": [-0.006629432551562786, 0.11035391688346863, 0.013652271591126919, 0.1166093721985817, -0.03021298162639141, 0.01746552065014839, -0.009787753224372864], "dtheta": [-0.005191754084080458, 0.12481296062469482, 0.016917353495955467, 0.11344172805547714, -0.026954663917422295, 0.0191617701202631, -0.00979002844542265], "tau": [-63.5, -1.6200000047683716, -27.248001098632812, 2.760000228881836, -4.488000392913818, 3.7880001068115234, -0.3920000195503235], "tau_des": [-1.3183425664901733, -0.07579442858695984, -0.8073056936264038, 0.8719618320465088, -0.3041940927505493, 0.11709767580032349, -0.4251239597797394], "tau_dot": [8.776000022888184, -20.8889102935791, -24.084104537963867, -23.188810348510742, 3.088578462600708, 4.285001754760742, -21.25665283203125], "tau_ext": [15.169648170471191, -35.209312438964844, -36.188636779785156, 19.282939910888672, -2.0829012393951416, -6.980908393859863, 0.2880123257637024], "tcp_pose": [0.6541529893875122, -0.027198605239391327, -0.3238917887210846, -0.03186231851577759, -0.08688337355852127, 0.9956175684928894, 0.013482185080647469], "tcp_vel": [0.0017572304932400584, 0.04881297051906586, 0.0005964595475234091, -0.013955852016806602, 0.0010872496059164405, 0.021496517583727837], "flange_pose": [0.6666527390480042, -0.031247427687048912, -0.13434664905071259, -0.03186231851577759, -0.08688337355852127, 0.9956175684928894, 0.013482185080647469], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.288187026977539, -54.14679718017578, -9.939008712768555, -5.192826747894287, 11.62716007232666, 0.42642927169799805], "ext_wrench_in_world": [-1.1198174392366242, -55.48404434701335, 8.851527394808343, 3.0742608475349553, 12.359327358053724, -0.36618356420369486]}
+{"timestamp_ns": 1789729568196775537, "elapsed_ms": 11666, "source_timestamp_ns": 1789729568195322289, "q": [0.07644636183977127, -1.4704540967941284, -0.01660671830177307, 0.9130055904388428, 1.5985230207443237, -0.028947606682777405, -0.9883056282997131], "theta": [0.07408110797405243, -1.4693304300308228, -0.018506309017539024, 0.8966717720031738, 1.5979527235031128, -0.028671860694885254, -0.9881107211112976], "dq": [-0.005746467504650354, 0.11604459583759308, 0.015599175356328487, 0.1195460632443428, -0.019352031871676445, 0.014670155011117458, -0.02329730987548828], "dtheta": [-0.007137990090996027, 0.11688613891601562, 0.019133582711219788, 0.12057534605264664, -0.01836024411022663, 0.01654881052672863, -0.027180466800928116], "tau": [-63.689998626708984, 0.3400000035762787, -27.184001922607422, 1.4200000762939453, -4.328000068664551, 3.7920002937316895, -0.3920000195503235], "tau_des": [-1.7720589637756348, 2.9641575813293457, -0.5338637828826904, -1.0774791240692139, -0.026048677042126656, 0.16477876901626587, -0.49031445384025574], "tau_dot": [91.9857177734375, -4.588762283325195, -29.75437355041504, -50.34772491455078, -30.83803939819336, -28.307842254638672, -36.26222610473633], "tau_ext": [15.20264720916748, -36.321529388427734, -36.2436637878418, 20.0421199798584, -2.147751808166504, -7.00800895690918, 0.2867928147315979], "tcp_pose": [0.654076099395752, -0.025362003594636917, -0.32388103008270264, -0.03186515346169472, -0.08727853745222092, 0.9955856204032898, 0.013277370482683182], "tcp_vel": [-0.002798777772113681, 0.04440796747803688, 0.00013825272617395967, -0.0039800056256353855, -0.00541640492156148, 0.02326185628771782], "flange_pose": [0.6665717959403992, -0.029328297823667526, -0.13433386385440826, -0.03186515346169472, -0.08727853745222092, 0.9955856204032898, 0.013277370482683182], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.460811614990234, -53.883934020996094, -9.947615623474121, -5.137855052947998, 11.560750007629395, 0.4257239103317261], "ext_wrench_in_world": [-1.2900030451949993, -55.25310053765908, 8.900245960897193, 3.02182694482444, 12.28666947263749, -0.3688513488187576]}
+{"timestamp_ns": 1789729568230166137, "elapsed_ms": 11700, "source_timestamp_ns": 1789729568225318551, "q": [0.07620228081941605, -1.4669818878173828, -0.016003025695681572, 0.9166609048843384, 1.5980409383773804, -0.02846122905611992, -0.989236056804657], "theta": [0.07382804900407791, -1.4657944440841675, -0.0178923811763525, 0.900288999080658, 1.5974873304367065, -0.02817070484161377, -0.9890424013137817], "dq": [-0.008999341167509556, 0.12026593089103699, 0.021561501547694206, 0.116029754281044, -0.018931614235043526, 0.016117073595523834, -0.030333975329995155], "dtheta": [-0.00922367163002491, 0.11806578934192657, 0.02199828438460827, 0.11846374720335007, -0.017187215387821198, 0.01574896089732647, -0.02920442260801792], "tau": [-63.65999984741211, 1.5699999332427979, -27.256000518798828, 1.0320000648498535, -4.312000274658203, 3.8360002040863037, -0.3800000250339508], "tau_des": [-1.5822287797927856, 3.396613836288452, -0.7498979568481445, -1.2368084192276, -0.2993694543838501, 0.26592040061950684, -0.355461448431015], "tau_dot": [110.59270477294922, -17.760379791259766, -25.186092376708984, -33.584205627441406, 41.79999542236328, -29.384048461914062, -13.765618324279785], "tau_ext": [15.204599380493164, -36.94925308227539, -36.30504608154297, 20.390642166137695, -2.201068878173828, -7.022149562835693, 0.287338525056839], "tcp_pose": [0.6539798974990845, -0.024038175120949745, -0.32387736439704895, -0.031755395233631134, -0.08764559775590897, 0.995557427406311, 0.013238714076578617], "tcp_vel": [-0.0011465895222499967, 0.047161757946014404, -0.00013877771561965346, 0.0006122015765868127, -0.007359424605965614, 0.02828170545399189], "flange_pose": [0.6664342880249023, -0.027988912537693977, -0.13432714343070984, -0.031755395233631134, -0.08764559775590897, 0.995557427406311, 0.013238714076578617], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.180094718933105, -54.40821075439453, -10.026419639587402, -5.282296657562256, 11.3772611618042, 0.4305940568447113], "ext_wrench_in_world": [-1.8620127450997654, -55.897540724999345, 9.00749937996249, 3.1863558674452936, 12.133699943343204, -0.38807568216994864]}
+{"timestamp_ns": 1789729568263438175, "elapsed_ms": 11733, "source_timestamp_ns": 1789729568255330059, "q": [0.07594063878059387, -1.4634430408477783, -0.015369076281785965, 0.920071542263031, 1.5973405838012695, -0.027957776561379433, -0.9899600744247437], "theta": [0.07355815917253494, -1.4622188806533813, -0.01724369265139103, 0.9036879539489746, 1.5968009233474731, -0.02765512466430664, -0.9897633790969849], "dq": [-0.009386053308844566, 0.1323329657316208, 0.020682910457253456, 0.10771193355321884, -0.02584058791399002, 0.01819746010005474, -0.018605118617415428], "dtheta": [-0.008637136779725552, 0.12226589024066925, 0.02125879004597664, 0.10831395536661148, -0.02933141589164734, 0.01592998392879963, -0.015721304342150688], "tau": [-63.54999923706055, 0.7699999809265137, -27.332000732421875, 1.5600000619888306, -4.396000385284424, 3.9080002307891846, -0.35600000619888306], "tau_des": [-1.2198691368103027, 1.6985514163970947, -0.8132632374763489, -0.08742786943912506, -0.26484185457229614, 0.2842403054237366, -0.24392466247081757], "tau_dot": [-21.072980880737305, 23.00603485107422, 22.422704696655273, 63.54745101928711, -42.938331604003906, 35.308753967285156, 53.6483039855957], "tau_ext": [15.240840911865234, -36.65753173828125, -36.239933013916016, 20.110015869140625, -2.186431646347046, -7.05166482925415, 0.2730918526649475], "tcp_pose": [0.653964638710022, -0.022636983543634415, -0.32386109232902527, -0.03172414004802704, -0.08806517720222473, 0.995522677898407, 0.013143671676516533], "tcp_vel": [0.001791080110706389, 0.05017469450831413, 0.0006936196004971862, -0.008393408730626106, 0.0024477089755237103, 0.029683860018849373], "flange_pose": [0.6664056777954102, -0.026547575369477272, -0.13430918753147125, -0.03172414004802704, -0.08806517720222473, 0.995522677898407, 0.013143671676516533], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.33439826965332, -54.885494232177734, -10.042373657226562, -5.429763317108154, 11.341466903686523, 0.42643022537231445], "ext_wrench_in_world": [-1.8827389172228495, -56.394918414199175, 9.026217240992702, 3.327516423028964, 12.127000505648764, -0.39564774081037163]}
+{"timestamp_ns": 1789729568296765440, "elapsed_ms": 11766, "source_timestamp_ns": 1789729568295346983, "q": [0.07562217861413956, -1.4585201740264893, -0.014544500038027763, 0.9242902994155884, 1.5960547924041748, -0.027221741154789925, -0.9902993440628052], "theta": [0.07323180884122849, -1.4573286771774292, -0.016390535980463028, 0.9079121351242065, 1.595529317855835, -0.026903748512268066, -0.9900926947593689], "dq": [-0.0054861619137227535, 0.11809611320495605, 0.020522665232419968, 0.10488465428352356, -0.03704189509153366, 0.019628845155239105, -0.004316678736358881], "dtheta": [-0.007329546846449375, 0.1237892284989357, 0.021893134340643883, 0.10477939993143082, -0.03662190958857536, 0.020166588947176933, -0.003394007682800293], "tau": [-63.279998779296875, -1.3799999952316284, -27.488000869750977, 2.7080001831054688, -4.424000263214111, 3.9080002307891846, -0.36400002241134644], "tau_des": [-0.9752556681632996, 0.05504060536623001, -0.8541297316551208, 0.9605891704559326, -0.22526687383651733, 0.2321930080652237, -0.35555359721183777], "tau_dot": [-57.61248016357422, -70.89490509033203, 3.737870931625366, -10.590359687805176, 20.296655654907227, -8.54985237121582, -26.95658302307129], "tau_ext": [15.077432632446289, -35.59982681274414, -36.17185592651367, 19.4174747467041, -2.157794713973999, -7.080577850341797, 0.26040199398994446], "tcp_pose": [0.6540791988372803, -0.020627891644835472, -0.3238227367401123, -0.03182712942361832, -0.08858083188533783, 0.9954771399497986, 0.012875271961092949], "tcp_vel": [0.002419287571683526, 0.05007147416472435, 0.0005765014793723822, -0.016290942206978798, 0.0066930269822478294, 0.02284230664372444], "flange_pose": [0.6665521860122681, -0.02442704327404499, -0.13427066802978516, -0.03182712942361832, -0.08858083188533783, 0.9954771399497986, 0.012875271961092949], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.660752296447754, -54.72620391845703, -10.090750694274902, -5.433929443359375, 11.502917289733887, 0.4149373173713684], "ext_wrench_in_world": [-1.1850212118248264, -56.11705580214135, 9.067831154390905, 3.291174325164715, 12.289667024471845, -0.3861662028194448]}
+{"timestamp_ns": 1789729568330101612, "elapsed_ms": 11800, "source_timestamp_ns": 1789729568325343065, "q": [0.07541976124048233, -1.454790472984314, -0.013923902064561844, 0.9274806976318359, 1.5950161218643188, -0.026605801656842232, -0.990451455116272], "theta": [0.0730259120464325, -1.4536343812942505, -0.015746423974633217, 0.911101758480072, 1.5945028066635132, -0.02627694606781006, -0.9902358055114746], "dq": [-0.006621075794100761, 0.1215720996260643, 0.023080460727214813, 0.11405816674232483, -0.02967538684606552, 0.021324096247553825, -0.006047417409718037], "dtheta": [-0.006544751115143299, 0.12306737899780273, 0.021743524819612503, 0.1087028756737709, -0.030105633661150932, 0.021323293447494507, -0.008466771803796291], "tau": [-63.28999710083008, -1.4900000095367432, -27.488000869750977, 2.688000202178955, -4.372000217437744, 3.9080002307891846, -0.36000001430511475], "tau_des": [-1.1808074712753296, -0.17044174671173096, -0.8718507289886475, 1.0158700942993164, -0.24772216379642487, 0.2690964639186859, -0.4312683939933777], "tau_dot": [106.82864379882812, -76.16983032226562, 14.949614524841309, -22.429954528808594, 79.94013214111328, 39.2530403137207, -7.931583881378174], "tau_ext": [15.016018867492676, -35.11952590942383, -36.12831497192383, 19.22690200805664, -2.154370069503784, -7.108188629150391, 0.2515568435192108], "tcp_pose": [0.6541469693183899, -0.019130965694785118, -0.3238051235675812, -0.03193460404872894, -0.08892315626144409, 0.9954463243484497, 0.012627075426280499], "tcp_vel": [0.0016497413162142038, 0.04946047067642212, -0.00035115095670334995, -0.012838860042393208, 0.0019044457003474236, 0.023092012852430344], "flange_pose": [0.666653573513031, -0.02282830886542797, -0.13425324857234955, -0.03193460404872894, -0.08892315626144409, 0.9954463243484497, 0.012627075426280499], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.187888145446777, -54.119815826416016, -10.138650894165039, -5.299718856811523, 11.61037826538086, 0.40826451778411865], "ext_wrench_in_world": [-0.7832351195782009, -55.43365358420724, 9.133024758946982, 3.132125751117882, 12.373524049900505, -0.37453198617931915]}
+{"timestamp_ns": 1789729568363431317, "elapsed_ms": 11833, "source_timestamp_ns": 1789729568355309445, "q": [0.07522765547037125, -1.4511878490447998, -0.013298985548317432, 0.930905818939209, 1.5941983461380005, -0.025965778157114983, -0.9909513592720032], "theta": [0.07282621413469315, -1.4500445127487183, -0.015098067931830883, 0.9145054221153259, 1.5936986207962036, -0.025626659393310547, -0.9907314777374268], "dq": [-0.005981236230581999, 0.11250901967287064, 0.019533049315214157, 0.11902034282684326, -0.025267833843827248, 0.022514600306749344, -0.02284269779920578], "dtheta": [-0.00728053180500865, 0.11721149832010269, 0.02254747599363327, 0.11661600321531296, -0.023127900436520576, 0.02238541468977928, -0.024523334577679634], "tau": [-63.41999816894531, -0.05999999865889549, -27.448001861572266, 1.7280000448226929, -4.308000087738037, 3.936000108718872, -0.3920000195503235], "tau_des": [-1.5449371337890625, 2.2329630851745605, -0.646361231803894, -0.5246368646621704, -0.053345758467912674, 0.24263660609722137, -0.4473779797554016], "tau_dot": [40.76746368408203, 46.11261749267578, 47.96915817260742, -27.353832244873047, -31.841903686523438, 26.69826889038086, -33.379459381103516], "tau_ext": [15.031601905822754, -36.05535888671875, -36.21987533569336, 19.830841064453125, -2.216752529144287, -7.112118244171143, 0.2589218020439148], "tcp_pose": [0.6541106700897217, -0.01774677447974682, -0.3238074481487274, -0.03195023164153099, -0.0892581045627594, 0.9954182505607605, 0.012438109144568443], "tcp_vel": [-0.002197966445237398, 0.044671203941106796, -0.0004964664112776518, -0.00801011174917221, -0.0048112161457538605, 0.025100495666265488], "flange_pose": [0.6666179895401001, -0.021367909386754036, -0.13425412774085999, -0.03195023164153099, -0.0892581045627594, 0.9954182505607605, 0.012438109144568443], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.303115844726562, -54.088165283203125, -10.202132225036621, -5.2973785400390625, 11.571581840515137, 0.41095679998397827], "ext_wrench_in_world": [-0.8599630453081027, -55.42155438254959, 9.224170793211862, 3.128049025753831, 12.336997369739795, -0.38264392216924004]}
+{"timestamp_ns": 1789729568396764000, "elapsed_ms": 11866, "source_timestamp_ns": 1789729568395323369, "q": [0.07490076869726181, -1.4465296268463135, -0.012405871413648129, 0.9356809854507446, 1.5933613777160645, -0.02512328512966633, -0.9921166896820068], "theta": [0.07248394191265106, -1.4453738927841187, -0.014153835363686085, 0.9192392826080322, 1.5928772687911987, -0.024769186973571777, -0.9918913245201111], "dq": [-0.007596383336931467, 0.12015644460916519, 0.022645778954029083, 0.11635691672563553, -0.02250368706882, 0.01805129088461399, -0.027509242296218872], "dtheta": [-0.009437746368348598, 0.11631051450967789, 0.02361617237329483, 0.11842966079711914, -0.02234358713030815, 0.02104983851313591, -0.027452340349555016], "tau": [-63.529998779296875, 1.5399999618530273, -27.520000457763672, 0.9320000410079956, -4.240000247955322, 3.9760000705718994, -0.3240000009536743], "tau_des": [-1.4522594213485718, 3.863981246948242, -0.5354287028312683, -1.5486923456192017, -0.034954264760017395, 0.28178802132606506, -0.3357250392436981], "tau_dot": [96.63656616210938, 10.761274337768555, -28.679494857788086, -17.53156280517578, 62.472984313964844, 28.884048461914062, 52.35489273071289], "tau_ext": [15.096158981323242, -37.13304901123047, -36.32243728637695, 20.487571716308594, -2.291675090789795, -7.137258052825928, 0.2556891441345215], "tcp_pose": [0.6539800763130188, -0.01598641835153103, -0.32381075620651245, -0.03183889016509056, -0.08977530151605606, 0.9953770637512207, 0.012295907363295555], "tcp_vel": [-0.003058609552681446, 0.04432493448257446, 0.0002691724803298712, -0.005481886211782694, -0.006342481821775436, 0.025176703929901123], "flange_pose": [0.6664423942565918, -0.019551092758774757, -0.13425341248512268, -0.03183889016509056, -0.08977530151605606, 0.9953770637512207, 0.012295907363295555], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.295692443847656, -54.64021682739258, -10.260395050048828, -5.435855388641357, 11.32467269897461, 0.41998955607414246], "ext_wrench_in_world": [-1.6770282970321033, -56.14255759904056, 9.338835930168207, 3.2945804963535084, 12.122338408978646, -0.4096066693569322]}
+{"timestamp_ns": 1789729568430100013, "elapsed_ms": 11900, "source_timestamp_ns": 1789729568425293348, "q": [0.0746411457657814, -1.4429631233215332, -0.011755645275115967, 0.9390096068382263, 1.5926048755645752, -0.024526365101337433, -0.9927417635917664], "theta": [0.0722125694155693, -1.4418343305587769, -0.013455412350594997, 0.9225537180900574, 1.5921269655227661, -0.024160027503967285, -0.9925058484077454], "dq": [-0.007264812011271715, 0.1303483247756958, 0.01746099814772606, 0.107331782579422, -0.028146803379058838, 0.022211270406842232, -0.014746252447366714], "dtheta": [-0.008013649843633175, 0.11731373518705368, 0.022877227514982224, 0.10703857243061066, -0.028353359550237656, 0.01974215731024742, -0.012484913691878319], "tau": [-63.40999984741211, 0.7799999713897705, -27.600000381469727, 1.5360000133514404, -4.260000228881836, 3.996000289916992, -0.3440000116825104], "tau_des": [-1.3783204555511475, 2.619810104370117, -0.7947867512702942, -0.5345324873924255, -0.19328488409519196, 0.3800041079521179, -0.2981494963169098], "tau_dot": [92.07218933105469, -82.63103485107422, -42.176387786865234, 15.166559219360352, 62.498191833496094, -8.285843849182129, -9.462644577026367], "tau_ext": [15.157212257385254, -36.748260498046875, -36.26182174682617, 20.125574111938477, -2.2772295475006104, -7.165309906005859, 0.2465495467185974], "tcp_pose": [0.6539778113365173, -0.014570539817214012, -0.3237949013710022, -0.031815964728593826, -0.09020216763019562, 0.9953409433364868, 0.012155639939010143], "tcp_vel": [-0.00015491031808778644, 0.04705056548118591, -0.0001956755731953308, -0.009473519399762154, 0.0008192274253815413, 0.022873995825648308], "flange_pose": [0.6664282083511353, -0.018077611923217773, -0.1342357099056244, -0.031815964728593826, -0.09020216763019562, 0.9953409433364868, 0.012155639939010143], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.40671157836914, -55.12773513793945, -10.252862930297852, -5.56980037689209, 11.307934761047363, 0.4173903167247772], "ext_wrench_in_world": [-1.6515419209840019, -56.641000868421195, 9.337253439950123, 3.4187873905869286, 12.132727665323594, -0.4184395441177873]}
+{"timestamp_ns": 1789729568463429577, "elapsed_ms": 11933, "source_timestamp_ns": 1789729568455342867, "q": [0.07441582530736923, -1.4392666816711426, -0.011133002117276192, 0.9421404600143433, 1.5916142463684082, -0.023893726989626884, -0.992975652217865], "theta": [0.0719766840338707, -1.4382022619247437, -0.012793466448783875, 0.9256772398948669, 1.5911401510238647, -0.023515820503234863, -0.9927277565002441], "dq": [-0.0075323390774428844, 0.12148895859718323, 0.02355322241783142, 0.10386693477630615, -0.03390944376587868, 0.026139501482248306, -0.006340865045785904], "dtheta": [-0.007917753420770168, 0.1232919916510582, 0.021657975390553474, 0.10274672508239746, -0.032841745764017105, 0.022983528673648834, -0.003416942898184061], "tau": [-63.22999954223633, -0.6699999570846558, -27.560001373291016, 2.4680001735687256, -4.304000377655029, 3.9800002574920654, -0.3240000009536743], "tau_des": [-0.7964999079704285, 0.2098715454339981, -0.7258683443069458, 0.9245513081550598, -0.26326870918273926, 0.31693029403686523, -0.27381137013435364], "tau_dot": [-6.5945820808410645, -127.90351104736328, -5.848084449768066, 6.226802825927734, 32.53173828125, 17.421070098876953, 17.936723709106445], "tau_ext": [15.02577018737793, -35.849647521972656, -36.243865966796875, 19.532461166381836, -2.261371612548828, -7.188302516937256, 0.23424403369426727], "tcp_pose": [0.654049277305603, -0.01307420339435339, -0.3237699270248413, -0.031897060573101044, -0.09059963375329971, 0.9953051209449768, 0.011917286552488804], "tcp_vel": [0.003440707456320524, 0.05032198503613472, 0.0007783257751725614, -0.01596284657716751, 0.002137872390449047, 0.024483975023031235], "flange_pose": [0.6665235757827759, -0.016483362764120102, -0.1342105120420456, -0.031897060573101044, -0.09059963375329971, 0.9953051209449768, 0.011917286552488804], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.842317581176758, -55.10633087158203, -10.245293617248535, -5.581429958343506, 11.455439567565918, 0.4105478823184967], "ext_wrench_in_world": [-1.0547127784779953, -56.51459920151522, 9.322118169834976, 3.3942275236849486, 12.282339070679662, -0.41397113430871474]}
+{"timestamp_ns": 1789729568496763421, "elapsed_ms": 11966, "source_timestamp_ns": 1789729568495331178, "q": [0.07415725290775299, -1.434309959411621, -0.010286620818078518, 0.9463289976119995, 1.5902131795883179, -0.02298450469970703, -0.9931068420410156], "theta": [0.07170383632183075, -1.4332871437072754, -0.01193220354616642, 0.9298495650291443, 1.5897421836853027, -0.022594690322875977, -0.992843508720398], "dq": [-0.007074034307152033, 0.1047319695353508, 0.02231663465499878, 0.11299614608287811, -0.033576034009456635, 0.024493690580129623, -0.003958786837756634], "dtheta": [-0.0064713372848927975, 0.12248047441244125, 0.021125297993421555, 0.10620298236608505, -0.03231142833828926, 0.02375596947968006, -0.006961430888622999], "tau": [-63.3599967956543, -1.1299999952316284, -27.652000427246094, 2.5360000133514404, -4.276000022888184, 4.008000373840332, -0.3160000145435333], "tau_des": [-1.263353705406189, 0.40332743525505066, -0.657722532749176, 0.770937979221344, 0.011757547967135906, 0.35712870955467224, -0.4121115803718567], "tau_dot": [-91.0592269897461, -13.538658142089844, -89.83865356445312, -91.63542938232422, -24.970844268798828, -14.653680801391602, 57.09115219116211], "tau_ext": [14.905503273010254, -35.271446228027344, -36.269561767578125, 19.281940460205078, -2.267786741256714, -7.20415735244751, 0.21816204488277435], "tcp_pose": [0.6541213989257812, -0.011089093051850796, -0.3237570822238922, -0.03204149007797241, -0.09104765206575394, 0.9952638745307922, 0.01155596412718296], "tcp_vel": [0.0012780443066731095, 0.048536647111177444, 0.00021472958906088024, -0.016794497147202492, 0.0026615422684699297, 0.02384842187166214], "flange_pose": [0.6666393280029297, -0.014350987039506435, -0.13419795036315918, -0.03204149007797241, -0.09104765206575394, 0.9952638745307922, 0.01155596412718296], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.061195373535156, -54.431880950927734, -10.362662315368652, -5.418262481689453, 11.647290229797363, 0.3996118903160095], "ext_wrench_in_world": [-0.34782780256420587, -55.70564628035201, 9.451162125258122, 3.18873136214201, 12.443915150990414, -0.396983243401724]}
+{"timestamp_ns": 1789729568530101123, "elapsed_ms": 12000, "source_timestamp_ns": 1789729568525340956, "q": [0.0739632174372673, -1.43073570728302, -0.00964908953756094, 0.9497286677360535, 1.589444637298584, -0.02228870615363121, -0.9935669898986816], "theta": [0.07149898260831833, -1.4296679496765137, -0.011288568377494812, 0.9332126379013062, 1.5889744758605957, -0.021891474723815918, -0.9932965636253357], "dq": [-0.007495707366615534, 0.11645840108394623, 0.015849769115447998, 0.11950518190860748, -0.02245469205081463, 0.0242435485124588, -0.021302474662661552], "dtheta": [-0.007849221117794514, 0.12239056080579758, 0.022320427000522614, 0.11528918892145157, -0.018825719133019447, 0.023057738319039345, -0.02151894010603428], "tau": [-63.529998779296875, 0.6100000143051147, -27.608001708984375, 1.4880000352859497, -4.216000080108643, 4.016000270843506, -0.3160000145435333], "tau_des": [-1.5704513788223267, 1.9642434120178223, -0.6228002905845642, -0.28973445296287537, -0.11320319771766663, 0.37134113907814026, -0.36467888951301575], "tau_dot": [-41.24137878417969, 140.60714721679688, 49.46515655517578, -58.86375427246094, 18.94988441467285, -44.118797302246094, 58.3760986328125], "tau_ext": [15.043218612670898, -36.12310791015625, -36.34872055053711, 19.864013671875, -2.322740077972412, -7.213540554046631, 0.23081833124160767], "tcp_pose": [0.6540691256523132, -0.009716915898025036, -0.3237670361995697, -0.032032594084739685, -0.09136296808719635, 0.995237410068512, 0.011365492828190327], "tcp_vel": [0.00026706044445745647, 0.04910755902528763, -0.0007438380853272974, -0.005574624985456467, -0.00803304836153984, 0.02856355905532837], "flange_pose": [0.6665781736373901, -0.012903128750622272, -0.13420602679252625, -0.032032594084739685, -0.09136296808719635, 0.995237410068512, 0.011365492828190327], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.188803672790527, -54.52039337158203, -10.35677719116211, -5.422036647796631, 11.615490913391113, 0.40430933237075806], "ext_wrench_in_world": [-0.4220485827367362, -55.81269669169273, 9.47049195145602, 3.189888105112157, 12.415332880704627, -0.4070625793681354]}
+{"timestamp_ns": 1789729568563455451, "elapsed_ms": 12033, "source_timestamp_ns": 1789729568555360523, "q": [0.07370226830244064, -1.4272172451019287, -0.008980530314147472, 0.9532772898674011, 1.5888550281524658, -0.021665969863533974, -0.9943154454231262], "theta": [0.07122661918401718, -1.4260926246643066, -0.010599777102470398, 0.9367130398750305, 1.5883841514587402, -0.021262764930725098, -0.994042158126831], "dq": [-0.010178678669035435, 0.1246308907866478, 0.021900523453950882, 0.11644352227449417, -0.016868455335497856, 0.023701827973127365, -0.027853211387991905], "dtheta": [-0.010156760923564434, 0.11950892210006714, 0.023353474214673042, 0.11721519380807877, -0.020321641117334366, 0.021263625472784042, -0.024656597524881363], "tau": [-63.62999725341797, 1.8799999952316284, -27.564001083374023, 0.796000063419342, -4.168000221252441, 4.068000316619873, -0.3160000145435333], "tau_des": [-1.4270949363708496, 3.942230224609375, -0.4059580862522125, -1.5193285942077637, 0.011091898195445538, 0.38566529750823975, -0.33499905467033386], "tau_dot": [-117.80427551269531, -34.04341125488281, -4.668008327484131, 29.486909866333008, 14.75414752960205, 62.053955078125, 44.81993103027344], "tau_ext": [15.107579231262207, -37.182376861572266, -36.459617614746094, 20.557106018066406, -2.3929901123046875, -7.227831840515137, 0.2322315275669098], "tcp_pose": [0.6539693474769592, -0.008364219218492508, -0.3237687051296234, -0.03194306418299675, -0.09171787649393082, 0.995208740234375, 0.01127170491963625], "tcp_vel": [-0.001817823969759047, 0.04701652750372887, 0.00041581361438147724, -0.004457877483218908, -0.007784270215779543, 0.026834798976778984], "flange_pose": [0.6664423942565918, -0.011513639241456985, -0.1342047154903412, -0.03194306418299675, -0.09171787649393082, 0.995208740234375, 0.01127170491963625], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.958395004272461, -55.00212097167969, -10.36670970916748, -5.518514156341553, 11.429583549499512, 0.4140847325325012], "ext_wrench_in_world": [-1.050841658462458, -56.426306436587225, 9.522230116355997, 3.3089049844566, 12.25266445596557, -0.4291926231946573]}
+{"timestamp_ns": 1789729568596762871, "elapsed_ms": 12066, "source_timestamp_ns": 1789729568595344525, "q": [0.07331673800945282, -1.422374963760376, -0.008064668625593185, 0.9577429890632629, 1.5878386497497559, -0.02083323337137699, -0.9950197339057922], "theta": [0.07082702964544296, -1.4212340116500854, -0.00965940672904253, 0.9411484599113464, 1.587355375289917, -0.020426034927368164, -0.9947382807731628], "dq": [-0.00980402808636427, 0.13274425268173218, 0.02422320283949375, 0.09990890324115753, -0.026546834036707878, 0.02555486187338829, -0.01403114851564169], "dtheta": [-0.00882349070161581, 0.12313574552536011, 0.02282814122736454, 0.10222699493169785, -0.030526425689458847, 0.020681314170360565, -0.006859187502413988], "tau": [-63.369998931884766, 0.7999999523162842, -27.57200050354004, 1.5880000591278076, -4.180000305175781, 4.064000129699707, -0.30000001192092896], "tau_des": [-0.9894254207611084, 1.8732036352157593, -0.5812759399414062, -0.017614619806408882, -0.13122382760047913, 0.4391579031944275, -0.21096782386302948], "tau_dot": [-65.580810546875, -134.8667755126953, -17.19038963317871, -2.1510977745056152, 16.64497184753418, 17.229005813598633, 49.78164291381836], "tau_ext": [15.092957496643066, -36.84042739868164, -36.49207305908203, 20.185501098632812, -2.384849786758423, -7.24268913269043, 0.21849365532398224], "tcp_pose": [0.6539545059204102, -0.006421725731343031, -0.3237452507019043, -0.03190292790532112, -0.09225379675626755, 0.9951625466346741, 0.011088671162724495], "tcp_vel": [0.0027668671682476997, 0.051618173718452454, 0.000279659143416211, -0.011412507854402065, 0.0018985853530466557, 0.028121065348386765], "flange_pose": [0.6664077043533325, -0.009496633894741535, -0.1341787427663803, -0.03190292790532112, -0.09225379675626755, 0.9951625466346741, 0.011088671162724495], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.347261428833008, -55.635990142822266, -10.353619575500488, -5.662784576416016, 11.343320846557617, 0.41491836309432983], "ext_wrench_in_world": [-1.2571083440631252, -57.11873792664757, 9.53337078669394, 3.4528944525950136, 12.19794461185176, -0.44483860029434474]}
+{"timestamp_ns": 1789729568630099973, "elapsed_ms": 12100, "source_timestamp_ns": 1789729568625347065, "q": [0.07307339459657669, -1.4185712337493896, -0.00740413274616003, 0.9607912302017212, 1.5868030786514282, -0.020173799246549606, -0.9950907826423645], "theta": [0.07057969272136688, -1.4174602031707764, -0.0089987488463521, 0.9442066550254822, 1.5863004922866821, -0.019766926765441895, -0.9947957396507263], "dq": [-0.007009931840002537, 0.11644500494003296, 0.022610235959291458, 0.09603571146726608, -0.037600986659526825, 0.023752588778734207, 0.00045594002585858107], "dtheta": [-0.00747671676799655, 0.12754295766353607, 0.021669449284672737, 0.09798028320074081, -0.03803132101893425, 0.021179689094424248, 0.00020777789177373052], "tau": [-63.07999801635742, -1.149999976158142, -27.584001541137695, 2.6720001697540283, -4.192000389099121, 4.048000335693359, -0.2880000174045563], "tau_des": [-0.581593930721283, -0.5783962607383728, -0.558704674243927, 1.504995584487915, -0.11272444576025009, 0.4265376925468445, -0.0321161262691021], "tau_dot": [-89.07359313964844, 53.14667892456055, 3.730295181274414, 82.193115234375, 32.88961410522461, 28.46749496459961, 8.159820556640625], "tau_ext": [14.995587348937988, -35.65496063232422, -36.46006774902344, 19.413562774658203, -2.355909585952759, -7.248260498046875, 0.20493510365486145], "tcp_pose": [0.6540610790252686, -0.004834037274122238, -0.32372620701789856, -0.03199880197644234, -0.09266635030508041, 0.9951238036155701, 0.010844303295016289], "tcp_vel": [0.004144308622926474, 0.05380388721823692, 0.0005649300874210894, -0.01794237084686756, 0.00843922607600689, 0.030156297609210014], "flange_pose": [0.666543185710907, -0.007807998452335596, -0.13415998220443726, -0.03199880197644234, -0.09266635030508041, 0.9951238036155701, 0.010844303295016289], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.664336204528809, -55.49346160888672, -10.380475997924805, -5.627811431884766, 11.51792049407959, 0.40640148520469666], "ext_wrench_in_world": [-0.5620858690970695, -56.849175613903704, 9.54937662196106, 3.3766903304257903, 12.365600019033959, -0.43567736875396573]}
+{"timestamp_ns": 1789729568663437716, "elapsed_ms": 12133, "source_timestamp_ns": 1789729568655352935, "q": [0.07288975268602371, -1.4147546291351318, -0.0067412639036774635, 0.963830292224884, 1.585693359375, -0.019467350095510483, -0.9950314164161682], "theta": [0.07039239257574081, -1.4136567115783691, -0.008344861678779125, 0.9472642540931702, 1.5851668119430542, -0.019062161445617676, -0.9947188496589661], "dq": [-0.0031780363060534, 0.11528423428535461, 0.019590221345424652, 0.1061377078294754, -0.034611932933330536, 0.023624276742339134, 7.765879854559898e-05], "dtheta": [-0.005306761711835861, 0.1263853758573532, 0.022177306935191154, 0.1049799844622612, -0.03537845239043236, 0.024288246408104897, 0.0024847323074936867], "tau": [-62.98999786376953, -1.6699999570846558, -27.608001708984375, 2.7680001258850098, -4.192000389099121, 4.0360002517700195, -0.17600001394748688], "tau_des": [-1.0118154287338257, -0.13114534318447113, -0.5689250826835632, 1.0220640897750854, 0.04571453854441643, 0.411828875541687, -0.23551993072032928], "tau_dot": [-38.927528381347656, -47.883140563964844, 39.52503204345703, -48.10834884643555, -43.328086853027344, -19.266050338745117, 24.201711654663086], "tau_ext": [14.933674812316895, -35.01625061035156, -36.444313049316406, 19.07445526123047, -2.349522829055786, -7.2608323097229, 0.1437920331954956], "tcp_pose": [0.654144287109375, -0.0032594280783087015, -0.3237353563308716, -0.032141540199518204, -0.09302594512701035, 0.9950886964797974, 0.010560544207692146], "tcp_vel": [0.0010585322743281722, 0.05106164887547493, -0.0008529635379090905, -0.018637191504240036, 0.0067222462967038155, 0.019748937338590622], "flange_pose": [0.6666713953018188, -0.0061165266670286655, -0.1341703087091446, -0.032141540199518204, -0.09302594512701035, 0.9950886964797974, 0.010560544207692146], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.851873397827148, -54.89337158203125, -10.429952621459961, -5.467514514923096, 11.717881202697754, 0.38611021637916565], "ext_wrench_in_world": [0.17162999999547035, -56.10435375225212, 9.596944553167878, 3.1746589150672513, 12.534221760573024, -0.4078744664552993]}
+{"timestamp_ns": 1789729568696793604, "elapsed_ms": 12166, "source_timestamp_ns": 1789729568695501257, "q": [0.07268715649843216, -1.409887671470642, -0.005868264939635992, 0.9682288765907288, 1.5845996141433716, -0.018530339002609253, -0.9951983094215393], "theta": [0.07018391788005829, -1.4087564945220947, -0.007478115148842335, 0.9516600966453552, 1.5840468406677246, -0.018128395080566406, -0.9948638677597046], "dq": [-0.006033050362020731, 0.11921805888414383, 0.021302610635757446, 0.11307190358638763, -0.02141481265425682, 0.019684305414557457, -0.0076819490641355515], "dtheta": [-0.005467293318361044, 0.12168391793966293, 0.022081283852458, 0.11127319186925888, -0.023736152797937393, 0.02067476511001587, -0.018104691058397293], "tau": [-63.32999801635742, 0.8499999642372131, -27.6200008392334, 1.055999994277954, -4.080000400543213, 4.111999988555908, -0.3360000252723694], "tau_des": [-1.4265050888061523, 2.6656413078308105, -0.40020623803138733, -0.8976422548294067, 0.06200254335999489, 0.4296151399612427, -0.5356549620628357], "tau_dot": [-26.55887222290039, -43.12594985961914, -27.4614315032959, -14.57297420501709, 33.365699768066406, 96.860595703125, -12.716089248657227], "tau_ext": [15.003010749816895, -36.19942092895508, -36.596763610839844, 19.913105010986328, -2.43886137008667, -7.248888969421387, 0.13712643086910248], "tcp_pose": [0.6540862917900085, -0.0013354175025597215, -0.32379767298698425, -0.03220198303461075, -0.09334313124418259, 0.9950599074363708, 0.010292142629623413], "tcp_vel": [-0.0018544879276305437, 0.04909643903374672, -0.0020495716016739607, -0.007578402291983366, 0.00045191484969109297, 0.028714464977383614], "flange_pose": [0.6666276454925537, -0.0040848939679563046, -0.13423196971416473, -0.03220198303461075, -0.09334313124418259, 0.9950599074363708, 0.010292142629623413], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.118003845214844, -54.84615707397461, -10.4746675491333, -5.417459964752197, 11.639969825744629, 0.34087035059928894], "ext_wrench_in_world": [-0.05771458141245278, -56.10306775462921, 9.688760142389246, 3.1347488006051374, 12.449559872454921, -0.36847191089813336]}
+{"timestamp_ns": 1789729568730099444, "elapsed_ms": 12200, "source_timestamp_ns": 1789729568725332899, "q": [0.0725189596414566, -1.4063040018081665, -0.005192562006413937, 0.9715864658355713, 1.5838983058929443, -0.01790907047688961, -0.995906412601471], "theta": [0.07000953704118729, -1.4051389694213867, -0.006803390569984913, 0.95500648021698, 1.5833271741867065, -0.017507195472717285, -0.9955706596374512], "dq": [-0.006024522706866264, 0.128521129488945, 0.023822208866477013, 0.10641298443078995, -0.027957890182733536, 0.02247503027319908, -0.021239133551716805], "dtheta": [-0.006017505191266537, 0.12162281572818756, 0.023105109110474586, 0.1086220070719719, -0.02587101422250271, 0.02099834941327572, -0.01869071274995804], "tau": [-63.46999740600586, 1.8299999237060547, -27.644001007080078, 0.5600000023841858, -4.039999961853027, 4.104000091552734, -0.3240000009536743], "tau_des": [-1.3053210973739624, 3.3900458812713623, -0.35199156403541565, -1.21775484085083, 0.05439582094550133, 0.4178597629070282, -0.24298614263534546], "tau_dot": [-66.32474517822266, 1.0406845808029175, -48.04893112182617, 70.23139190673828, -28.410913467407227, 56.666786193847656, -12.990346908569336], "tau_ext": [15.154980659484863, -37.18235397338867, -36.62086486816406, 20.558414459228516, -2.4814701080322266, -7.270753860473633, 0.20099972188472748], "tcp_pose": [0.6539976596832275, 9.279472578782588e-05, -0.3238614797592163, -0.032217659056186676, -0.09380698949098587, 0.9950169324874878, 0.01017595175653696], "tcp_vel": [-0.001291688997298479, 0.049638498574495316, -0.001990804448723793, -0.008075241930782795, 0.0015477942069992423, 0.03193686902523041], "flange_pose": [0.666542112827301, -0.002606346271932125, -0.134295254945755, -0.032217659056186676, -0.09380698949098587, 0.9950169324874878, 0.01017595175653696], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.920167922973633, -55.4332275390625, -10.42584228515625, -5.539618968963623, 11.438908576965332, 0.3738483488559723], "ext_wrench_in_world": [-0.685406305920315, -56.8273216897805, 9.685919358859369, 3.2780370300015904, 12.27829467295926, -0.41680150591566245]}
+{"timestamp_ns": 1789729568763435467, "elapsed_ms": 12233, "source_timestamp_ns": 1789729568755322612, "q": [0.07234906405210495, -1.402631402015686, -0.00449693389236927, 0.9747574329376221, 1.5830574035644531, -0.01729961670935154, -0.9963089823722839], "theta": [0.06983520835638046, -1.4014697074890137, -0.006111070513725281, 0.9581816792488098, 1.58246648311615, -0.01689767837524414, -0.9959709644317627], "dq": [-0.004791660699993372, 0.13389867544174194, 0.027737624943256378, 0.09512493759393692, -0.03182942792773247, 0.01928994245827198, -0.009329208172857761], "dtheta": [-0.005205116234719753, 0.12509535253047943, 0.02259952202439308, 0.10160813480615616, -0.034326910972595215, 0.017948072403669357, -0.0073420326225459576], "tau": [-63.18000030517578, 1.459999918937683, -27.628002166748047, 1.0200001001358032, -4.039999961853027, 4.088000297546387, -0.320000022649765], "tau_des": [-0.835478663444519, 2.419844388961792, -0.3423685133457184, -0.6933575868606567, -0.0023015316110104322, 0.4343928098678589, -0.17704379558563232], "tau_dot": [17.967382431030273, -47.02760314941406, -71.38545989990234, 92.4155502319336, 48.97806167602539, 60.85536193847656, -41.609901428222656], "tau_ext": [15.155759811401367, -37.0125846862793, -36.6058349609375, 20.34432601928711, -2.478532552719116, -7.2728753089904785, 0.20580972731113434], "tcp_pose": [0.6539791822433472, 0.0016149160219356418, -0.32392746210098267, -0.03229643777012825, -0.09425661712884903, 0.994973361492157, 0.010031496174633503], "tcp_vel": [6.613746518269181e-05, 0.052743133157491684, -0.0019359213765710592, -0.012220611795783043, 0.010840898379683495, 0.03139694780111313], "flange_pose": [0.6665493845939636, -0.0010211130138486624, -0.13436205685138702, -0.03229643777012825, -0.09425661712884903, 0.994973361492157, 0.010031496174633503], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.298100471496582, -55.88273239135742, -10.337296485900879, -5.637406826019287, 11.342239379882812, 0.40278759598731995], "ext_wrench_in_world": [-0.9245460268947787, -57.33661416849627, 9.62500097172237, 3.3787643244971313, 12.205045586120796, -0.45804104653755595]}
+{"timestamp_ns": 1789729568796764781, "elapsed_ms": 12266, "source_timestamp_ns": 1789729568795334828, "q": [0.07222378998994827, -1.397579312324524, -0.0036082107108086348, 0.9784805774688721, 1.5815441608428955, -0.016556482762098312, -0.9963393807411194], "theta": [0.06970779597759247, -1.3964571952819824, -0.005236408207565546, 0.9619491100311279, 1.580924391746521, -0.016152143478393555, -0.9959900975227356], "dq": [-1.826138759497553e-05, 0.11876364052295685, 0.02069365791976452, 0.08579300343990326, -0.04031539335846901, 0.018970811739563942, 0.00037312728818506], "dtheta": [-0.0014389475109055638, 0.12701277434825897, 0.02155265398323536, 0.08975230157375336, -0.0391177274286747, 0.018792632967233658, 0.005192065145820379], "tau": [-62.78999710083008, -1.0399999618530273, -27.724000930786133, 2.4600000381469727, -4.140000343322754, 4.048000335693359, -0.2160000056028366], "tau_des": [-0.49338817596435547, -0.7542927861213684, -0.40418410301208496, 1.1658726930618286, -0.036753274500370026, 0.40390756726264954, 0.09133584797382355], "tau_dot": [-2.143789291381836, -34.43411636352539, -25.600502014160156, 28.399202346801758, -56.53498840332031, -8.429830551147461, -49.2869873046875], "tau_ext": [14.995835304260254, -35.54371643066406, -36.544795989990234, 19.382356643676758, -2.4420971870422363, -7.274333477020264, 0.17961294949054718], "tcp_pose": [0.6540842056274414, 0.00381559319794178, -0.3240456283092499, -0.03263353183865547, -0.09493571519851685, 0.9949007630348206, 0.009734638966619968], "tcp_vel": [0.0033906642347574234, 0.05590737983584404, -0.0037067646626383066, -0.01705136150121689, 0.01766512542963028, 0.033002130687236786], "flange_pose": [0.6667729020118713, 0.0013125664554536343, -0.13448631763458252, -0.03263353183865547, -0.09493571519851685, 0.9949007630348206, 0.009734638966619968], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.558064460754395, -55.82539367675781, -10.32994556427002, -5.633498191833496, 11.518080711364746, 0.41006964445114136], "ext_wrench_in_world": [-0.1251175847281375, -57.135312189123354, 9.6078954639469, 3.32408228464829, 12.381445066292171, -0.47003967862386764]}
+{"timestamp_ns": 1789729568830102733, "elapsed_ms": 12300, "source_timestamp_ns": 1789729568825324341, "q": [0.07221384346485138, -1.3938963413238525, -0.002932983683422208, 0.9810977578163147, 1.5803881883621216, -0.01599770225584507, -0.9960610866546631], "theta": [0.06969720870256424, -1.3927608728408813, -0.00457822997123003, 0.9646071195602417, 1.5797432661056519, -0.015590548515319824, -0.9956871271133423], "dq": [-4.871849523624405e-05, 0.1123010590672493, 0.018522655591368675, 0.09192909300327301, -0.03789840266108513, 0.01869276538491249, 0.007037458475679159], "dtheta": [0.000307728216284886, 0.11942993849515915, 0.02270686998963356, 0.09070907533168793, -0.03765817731618881, 0.019146066159009933, 0.008591768331825733], "tau": [-62.849998474121094, -1.3600000143051147, -27.796001434326172, 2.5840001106262207, -4.080000400543213, 4.044000148773193, -0.1120000034570694], "tau_des": [-0.8083310723304749, 0.26999565958976746, -0.24987798929214478, 0.291269987821579, 0.2686344087123871, 0.38373100757598877, -0.2887151539325714], "tau_dot": [2.175750732421875, -29.035139083862305, -29.080944061279297, -45.33610534667969, 2.968687057495117, -8.050938606262207, 31.386913299560547], "tau_ext": [14.890931129455566, -35.29922103881836, -36.53767395019531, 19.19202995300293, -2.4375991821289062, -7.271289825439453, 0.07023602724075317], "tcp_pose": [0.6541568040847778, 0.005441982764750719, -0.3241932690143585, -0.03293980658054352, -0.09532981365919113, 0.9948551654815674, 0.009509125724434853], "tcp_vel": [-0.00024404574651271105, 0.05108700320124626, -0.0052871424704790115, -0.01605168730020523, 0.018433600664138794, 0.020996753126382828], "flange_pose": [0.666953980922699, 0.0030403609853237867, -0.1346399337053299, -0.03293980658054352, -0.09532981365919113, 0.9948551654815674, 0.009509125724434853], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.834417343139648, -55.38663101196289, -10.369702339172363, -5.524636745452881, 11.675806045532227, 0.3692931532859802], "ext_wrench_in_world": [0.555420394003142, -56.56285206205668, 9.639994575491617, 3.1800239703939486, 12.517515186747096, -0.4262587388367514]}
+{"timestamp_ns": 1789729568863432628, "elapsed_ms": 12333, "source_timestamp_ns": 1789729568855337629, "q": [0.07221592962741852, -1.3904685974121094, -0.0021962879691272974, 0.9837888479232788, 1.5794769525527954, -0.01543426513671875, -0.996044933795929], "theta": [0.06969820708036423, -1.389278769493103, -0.003857967210933566, 0.9673081040382385, 1.5788031816482544, -0.015021800994873047, -0.9956382513046265], "dq": [-0.000620956823695451, 0.10886267572641373, 0.023779960349202156, 0.09786847978830338, -0.02470850758254528, 0.017302878201007843, 0.002351881470531225], "dtheta": [0.0001582143158884719, 0.11380424350500107, 0.02434900403022766, 0.08799321949481964, -0.027212314307689667, 0.01775936409831047, -0.0006549017271026969], "tau": [-63.029998779296875, -0.04999999701976776, -27.856000900268555, 1.6160000562667847, -4.060000419616699, 4.072000026702881, -0.1720000058412552], "tau_des": [-1.1024272441864014, 0.7987731695175171, -0.3974035680294037, -0.22799915075302124, 0.10856308788061142, 0.4094259738922119, -0.49712952971458435], "tau_dot": [10.022221565246582, 88.55109405517578, -47.72822189331055, -69.38062286376953, -39.28741455078125, -48.49312973022461, 26.079761505126953], "tau_ext": [14.935103416442871, -35.93424987792969, -36.54946517944336, 19.64369010925293, -2.4771809577941895, -7.268097877502441, 0.036330364644527435], "tcp_pose": [0.654141902923584, 0.006942384410649538, -0.324396014213562, -0.03315681591629982, -0.09568778425455093, 0.9948147535324097, 0.009386294521391392], "tcp_vel": [0.00035701284650713205, 0.05095651373267174, -0.007219490595161915, -0.005840885918587446, 0.012003708630800247, 0.02668740600347519], "flange_pose": [0.6670174598693848, 0.004599714186042547, -0.1348472386598587, -0.03315681591629982, -0.09568778425455093, 0.9948147535324097, 0.009386294521391392], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.877228736877441, -55.372528076171875, -10.38184928894043, -5.5149312019348145, 11.63648796081543, 0.3134877383708954], "ext_wrench_in_world": [0.5569469276454576, -56.55439159207971, 9.669765610838638, 3.172421110481567, 12.478595057210406, -0.3755029724521892]}
+{"timestamp_ns": 1789729568896762832, "elapsed_ms": 12366, "source_timestamp_ns": 1789729568895324950, "q": [0.07220809161663055, -1.386204481124878, -0.0011640990851446986, 0.987265944480896, 1.5785051584243774, -0.014768152497708797, -0.9965450167655945], "theta": [0.06968709826469421, -1.3849674463272095, -0.002849265933036804, 0.9707536697387695, 1.57779061794281, -0.014348864555358887, -0.9961183667182922], "dq": [-0.0006808881880715489, 0.11358151584863663, 0.029199374839663506, 0.08386090397834778, -0.024529457092285156, 0.015398740768432617, -0.014315643347799778], "dtheta": [-0.001011377084068954, 0.10509674996137619, 0.02636858820915222, 0.08239184319972992, -0.026600638404488564, 0.013944246806204319, -0.014502291567623615], "tau": [-63.22999954223633, 0.8100000023841858, -27.9320011138916, 1.0920000076293945, -4.048000335693359, 4.100000381469727, -0.29200002551078796], "tau_des": [-1.3435643911361694, 1.8090156316757202, -0.5201043486595154, -0.8159419298171997, 0.11304713040590286, 0.4884115755558014, -0.30261361598968506], "tau_dot": [-115.45748138427734, -30.923664093017578, -21.044763565063477, 27.35420036315918, -37.507205963134766, 0.9317699670791626, 29.667190551757812], "tau_ext": [14.889580726623535, -36.853458404541016, -36.62090301513672, 20.276004791259766, -2.534330129623413, -7.259001731872559, 0.14170564711093903], "tcp_pose": [0.6540793776512146, 0.008849342353641987, -0.3247140347957611, -0.033374276012182236, -0.09632392972707748, 0.9947463274002075, 0.009360077790915966], "tcp_vel": [-0.001170139410533011, 0.04822854325175285, -0.007775305304676294, -1.4089034266362432e-05, 0.013400877825915813, 0.03710600733757019], "flange_pose": [0.6670376062393188, 0.006532801315188408, -0.135170578956604, -0.033374276012182236, -0.09632392972707748, 0.9947463274002075, 0.009360077790915966], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.626290321350098, -55.896514892578125, -10.42068099975586, -5.650058746337891, 11.41776180267334, 0.32925981283187866], "ext_wrench_in_world": [0.0029033820261903376, -57.211800330554894, 9.746357821170548, 3.3292526100206468, 12.294184012613696, -0.40740270822161767]}
+{"timestamp_ns": 1789729568930102704, "elapsed_ms": 12400, "source_timestamp_ns": 1789729568925346956, "q": [0.07218293845653534, -1.383108377456665, -0.00035411454155109823, 0.9896018505096436, 1.5776993036270142, -0.014326532371342182, -0.9968700408935547], "theta": [0.06965844333171844, -1.381887674331665, -0.002064534928649664, 0.9730545878410339, 1.576954960823059, -0.01390230655670166, -0.9964478611946106], "dq": [-0.002040078630670905, 0.10961881279945374, 0.026432665064930916, 0.07436361908912659, -0.03137793019413948, 0.015030869282782078, -0.008134172298014164], "dtheta": [-0.0009732697508297861, 0.1016250029206276, 0.026204008609056473, 0.07222729176282883, -0.028171785175800323, 0.016839629039168358, -0.008288009092211723], "tau": [-63.34000015258789, 0.17000000178813934, -28.180002212524414, 1.4880000352859497, -4.104000091552734, 4.124000072479248, -0.30400002002716064], "tau_des": [-1.050118327140808, 0.6332690715789795, -0.6324736475944519, -0.0686769038438797, -0.04358181729912758, 0.45551350712776184, -0.22053128480911255], "tau_dot": [-113.6074447631836, 12.582201957702637, -45.18330383300781, -8.987638473510742, -37.102813720703125, 41.54629898071289, -16.06817054748535], "tau_ext": [15.013530731201172, -36.590476989746094, -36.50696563720703, 20.14043617248535, -2.5129027366638184, -7.273830413818359, 0.17959275841712952], "tcp_pose": [0.654076874256134, 0.01029635313898325, -0.3249591886997223, -0.03358025848865509, -0.09686041623353958, 0.9946873188018799, 0.009358368813991547], "tcp_vel": [0.0018748914590105414, 0.04780052602291107, -0.007492566015571356, -0.0033055751118808985, 0.01271937508136034, 0.03781599551439285], "flange_pose": [0.6671140193939209, 0.007995053194463253, -0.13542097806930542, -0.03358025848865509, -0.09686041623353958, 0.9946873188018799, 0.009358368813991547], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.863372802734375, -56.03509521484375, -10.37979793548584, -5.684353351593018, 11.340944290161133, 0.38294437527656555], "ext_wrench_in_world": [-0.139511804258026, -57.39299480234742, 9.717839227368083, 3.360419371999724, 12.22969610456609, -0.46653150709373203]}
+{"timestamp_ns": 1789729568963431378, "elapsed_ms": 12433, "source_timestamp_ns": 1789729568955355835, "q": [0.07217205315828323, -1.3801099061965942, 0.00045684355427511036, 0.9917079210281372, 1.5767902135849, -0.013839086517691612, -0.9970357418060303], "theta": [0.06964509189128876, -1.3789418935775757, -0.0012848108308389783, 0.9751349687576294, 1.576021432876587, -0.013410449028015137, -0.9966185688972473], "dq": [0.0013149791629984975, 0.10130232572555542, 0.029696928337216377, 0.06270752847194672, -0.032802559435367584, 0.01880316250026226, -0.005595907103270292], "dtheta": [-0.00043845424079336226, 0.09327216446399689, 0.026330266147851944, 0.06469763070344925, -0.032468196004629135, 0.01751854456961155, -0.004669815767556429], "tau": [-63.25, -0.699999988079071, -28.216001510620117, 1.9320000410079956, -4.088000297546387, 4.116000175476074, -0.2680000066757202], "tau_des": [-0.9976744055747986, 0.15543194115161896, -0.6326103806495667, 0.08748964220285416, 0.0789727047085762, 0.4073607921600342, -0.2789132297039032], "tau_dot": [56.565582275390625, -142.9078826904297, -14.873542785644531, -57.36336135864258, 8.2701997756958, -2.885835647583008, 22.756576538085938], "tau_ext": [15.090958595275879, -36.20536422729492, -36.392921447753906, 19.924484252929688, -2.4883527755737305, -7.293814659118652, 0.1799534112215042], "tcp_pose": [0.6541129946708679, 0.011712688021361828, -0.3252025246620178, -0.03382214158773422, -0.09738513082265854, 0.994628369808197, 0.009307469241321087], "tcp_vel": [0.0009548907401040196, 0.04333166778087616, -0.007351168431341648, -0.006977674551308155, 0.01602078229188919, 0.033647093921899796], "flange_pose": [0.6672407984733582, 0.009446482174098492, -0.13567014038562775, -0.03382214158773422, -0.09738513082265854, 0.994628369808197, 0.009307469241321087], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.755537986755371, -55.86272048950195, -10.213756561279297, -5.634684085845947, 11.350713729858398, 0.4129180610179901], "ext_wrench_in_world": [-0.013180365945009154, -57.20000790709579, 9.555938396906862, 3.2946258801222905, 12.233496178760385, -0.495862686516983]}
+{"timestamp_ns": 1789729568996770280, "elapsed_ms": 12466, "source_timestamp_ns": 1789729568995337487, "q": [0.07216636091470718, -1.3764965534210205, 0.0015507705975323915, 0.9941312074661255, 1.5755118131637573, -0.013148332014679909, -0.9972094893455505], "theta": [0.06963746249675751, -1.3753924369812012, -0.00024392298655584455, 0.9775504469871521, 1.574719786643982, -0.012718915939331055, -0.9967963695526123], "dq": [-0.0020810605492442846, 0.0838984027504921, 0.02298036403954029, 0.05821561440825462, -0.03486991301178932, 0.018495213240385056, -0.006854020990431309], "dtheta": [-0.0003350035403855145, 0.08199470490217209, 0.024512533098459244, 0.057559784501791, -0.03269623592495918, 0.0183532927185297, -0.006468683481216431], "tau": [-63.18000030517578, -1.399999976158142, -28.356000900268555, 2.2760000228881836, -4.124000072479248, 4.124000072479248, -0.29200002551078796], "tau_des": [-1.027770757675171, -1.4022603034973145, -0.7050378918647766, 0.41707494854927063, 0.19833676517009735, 0.3517967164516449, -0.37795183062553406], "tau_dot": [-51.29987335205078, 6.128936767578125, -25.811857223510742, -43.219295501708984, -2.506502151489258, 39.17474365234375, -20.14704132080078], "tau_ext": [14.859658241271973, -35.88253402709961, -36.450347900390625, 19.658523559570312, -2.4895102977752686, -7.2678375244140625, 0.17995552718639374], "tcp_pose": [0.6541677713394165, 0.013433076441287994, -0.325528621673584, -0.034164831042289734, -0.0980629026889801, 0.9945509433746338, 0.009208583272993565], "tcp_vel": [2.884272726078052e-05, 0.03689955919981003, -0.006373224779963493, -0.009716439992189407, 0.015410286374390125, 0.031532932072877884], "flange_pose": [0.6674227714538574, 0.011225996538996696, -0.13600440323352814, -0.034164831042289734, -0.0980629026889801, 0.9945509433746338, 0.009208583272993565], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.288394927978516, -55.58049774169922, -10.158979415893555, -5.571319103240967, 11.440489768981934, 0.42872723937034607], "ext_wrench_in_world": [0.47018736472415223, -56.82910374274113, 9.48980208836898, 3.1969018800700284, 12.313729578750275, -0.5099921378917769]}
+{"timestamp_ns": 1789729569030168406, "elapsed_ms": 12500, "source_timestamp_ns": 1789729569025333391, "q": [0.0721609964966774, -1.3742977380752563, 0.002320697298273444, 0.9957175850868225, 1.5747402906417847, -0.012656278908252716, -0.9975837469100952], "theta": [0.06963030993938446, -1.3732253313064575, 0.00048601935850456357, 0.9791366457939148, 1.5739412307739258, -0.0122298002243042, -0.9971746802330017], "dq": [0.0010602371767163277, 0.05930912867188454, 0.025827709585428238, 0.051012661308050156, -0.025829266756772995, 0.0162044744938612, -0.01597311720252037], "dtheta": [-0.00037880492163822055, 0.06471991539001465, 0.02353106252849102, 0.04830802232027054, -0.021979833021759987, 0.016195131465792656, -0.01593707874417305], "tau": [-63.369998931884766, -1.1100000143051147, -28.48400115966797, 2.120000123977661, -4.136000156402588, 4.131999969482422, -0.2880000174045563], "tau_des": [-1.5758461952209473, -1.053108811378479, -0.9728537797927856, 0.2012096792459488, 0.04878474399447441, 0.43371155858039856, -0.28365421295166016], "tau_dot": [-5.711700439453125, -26.309940338134766, -46.97829818725586, 21.028162002563477, -17.28810691833496, 47.96105194091797, -5.84692907333374], "tau_ext": [14.984159469604492, -36.21416473388672, -36.37385177612305, 19.83415985107422, -2.4949333667755127, -7.27455997467041, 0.18386946618556976], "tcp_pose": [0.6541579365730286, 0.014469130896031857, -0.3257658779621124, -0.03435284271836281, -0.09855251014232635, 0.9944964051246643, 0.009176255203783512], "tcp_vel": [-0.0005099275731481612, 0.030113404616713524, -0.007127830758690834, -0.0016148542053997517, 0.008882395923137665, 0.032431185245513916], "flange_pose": [0.6674838066101074, 0.012287857010960579, -0.13624630868434906, -0.03435284271836281, -0.09855251014232635, 0.9944964051246643, 0.009176255203783512], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.17258358001709, -55.75818634033203, -10.151543617248535, -5.631407737731934, 11.447892189025879, 0.4387654662132263], "ext_wrench_in_world": [0.6773862539017849, -56.97932260000762, 9.473845551614327, 3.241150722408336, 12.336044174467045, -0.525794574637073]}
+{"timestamp_ns": 1789729569063443777, "elapsed_ms": 12533, "source_timestamp_ns": 1789729569055356456, "q": [0.07212863862514496, -1.3725758790969849, 0.003064901102334261, 0.9970325827598572, 1.5741270780563354, -0.012190716341137886, -0.9980127215385437], "theta": [0.06959468871355057, -1.3715146780014038, 0.0011888773879036307, 0.9804514050483704, 1.5733243227005005, -0.011766672134399414, -0.9976082444190979], "dq": [-0.002630316186696291, 0.04787010699510574, 0.02030939608812332, 0.042292919009923935, -0.02406037040054798, 0.014268242754042149, -0.011840644292533398], "dtheta": [-0.0019073514267802238, 0.05130809172987938, 0.022615347057580948, 0.039054229855537415, -0.019922839477658272, 0.015390580520033836, -0.012209565378725529], "tau": [-63.43000030517578, -1.059999942779541, -28.556001663208008, 1.9880000352859497, -4.111999988555908, 4.131999969482422, -0.2720000147819519], "tau_des": [-1.2887369394302368, -0.8282281160354614, -0.897392749786377, -0.19710122048854828, 0.03484932705760002, 0.44417402148246765, -0.27682220935821533], "tau_dot": [87.77315521240234, 62.21615982055664, 15.555115699768066, -35.07754135131836, 16.196529388427734, 3.2997987270355225, 43.75448989868164], "tau_ext": [15.068183898925781, -36.09775161743164, -36.317344665527344, 19.76565170288086, -2.4847545623779297, -7.277100563049316, 0.18891717493534088], "tcp_pose": [0.6541278958320618, 0.01528855413198471, -0.32598933577537537, -0.03447208181023598, -0.09896604716777802, 0.994451105594635, 0.009186412207782269], "tcp_vel": [-0.000620245176833123, 0.023956645280122757, -0.0059249973855912685, -0.0010662456043064594, 0.006298953667283058, 0.024506375193595886], "flange_pose": [0.6675000786781311, 0.013113481923937798, -0.13647297024726868, -0.03447208181023598, -0.09896604716777802, 0.994451105594635, 0.009186412207782269], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.147847175598145, -55.93133544921875, -10.048934936523438, -5.677474021911621, 11.438399314880371, 0.4500159025192261], "ext_wrench_in_world": [0.7780131934585801, -57.14265232510067, 9.363859026356515, 3.276876070871685, 12.338673228056173, -0.5407685790202983]}
+{"timestamp_ns": 1789729569096781113, "elapsed_ms": 12566, "source_timestamp_ns": 1789729569095417741, "q": [0.07207640260457993, -1.3709367513656616, 0.003995971754193306, 0.998214066028595, 1.573344111442566, -0.011617384850978851, -0.9984217286109924], "theta": [0.0695386603474617, -1.3698718547821045, 0.0020704539492726326, 0.9816237092018127, 1.572540044784546, -0.011196017265319824, -0.9980176091194153], "dq": [-0.0011512006167322397, 0.02961200661957264, 0.01982717774808407, 0.02007664181292057, -0.020560938864946365, 0.013383145444095135, -0.007112510502338409], "dtheta": [-0.001328728161752224, 0.03237169608473778, 0.020592372864484787, 0.020920267328619957, -0.01943024806678295, 0.012885800562798977, -0.005968370474874973], "tau": [-63.25, -0.6499999761581421, -28.440000534057617, 1.8200000524520874, -4.0960001945495605, 4.072000026702881, -0.29600000381469727], "tau_des": [-1.0734601020812988, 0.29788342118263245, -0.5257150530815125, -0.1860523223876953, 0.13778801262378693, 0.3804228901863098, -0.23832431435585022], "tau_dot": [-29.26123046875, -49.16816711425781, -71.0511245727539, 50.044795989990234, 23.085243225097656, -53.58511734008789, -63.53738784790039], "tau_ext": [15.17090892791748, -35.99033737182617, -36.2403450012207, 19.75473403930664, -2.476846694946289, -7.276726722717285, 0.18616540729999542], "tcp_pose": [0.6540977358818054, 0.01609678938984871, -0.3262602388858795, -0.03462471440434456, -0.0993947982788086, 0.9944029450416565, 0.009194109588861465], "tcp_vel": [-0.00021939424914307892, 0.01627960614860058, -0.005666240118443966, -0.0013888468965888023, 0.0078731132671237, 0.017507385462522507], "flange_pose": [0.6675287485122681, 0.013930359855294228, -0.13674794137477875, -0.03462471440434456, -0.0993947982788086, 0.9944029450416565, 0.009194109588861465], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.14333724975586, -55.804203033447266, -9.86135196685791, -5.630465030670166, 11.42332649230957, 0.4576066732406616], "ext_wrench_in_world": [0.7963293186204989, -57.01447044904904, 9.178525094211675, 3.2225107246756273, 12.317501552824233, -0.5463594095637239]}
+{"timestamp_ns": 1789729569130108261, "elapsed_ms": 12600, "source_timestamp_ns": 1789729569125331113, "q": [0.07203458249568939, -1.3700772523880005, 0.004679813981056213, 0.9987273216247559, 1.5727781057357788, -0.011228164657950401, -0.9985176920890808], "theta": [0.06949522346258163, -1.3689969778060913, 0.002727201674133539, 0.9821272492408752, 1.5719777345657349, -0.010809183120727539, -0.9981094002723694], "dq": [-0.0017195685068145394, 0.028391536325216293, 0.02262800931930542, 0.01639261655509472, -0.017534814774990082, 0.015207143500447273, -0.002483666641637683], "dtheta": [-0.0009399763657711446, 0.025902552530169487, 0.023041361942887306, 0.012835060246288776, -0.02037092112004757, 0.013605926185846329, -0.0003222238156013191], "tau": [-63.04999923706055, -0.25999999046325684, -28.25200080871582, 1.7720000743865967, -4.068000316619873, 4.048000335693359, -0.2800000011920929], "tau_des": [-0.939693808555603, 0.9725425839424133, -0.5013102293014526, -0.2589294910430908, 0.11477114260196686, 0.37918853759765625, -0.21852172911167145], "tau_dot": [-26.542184829711914, 104.68772888183594, -55.426979064941406, 6.034223556518555, 45.56718063354492, 0.5716003775596619, 0.2961637079715729], "tau_ext": [15.081280708312988, -35.82683563232422, -36.26259231567383, 19.665420532226562, -2.4738540649414062, -7.260012626647949, 0.1811918467283249], "tcp_pose": [0.6540967226028442, 0.01656758226454258, -0.32646217942237854, -0.034741781651973724, -0.09961289912462234, 0.9943768978118896, 0.009211639873683453], "tcp_vel": [0.0004125599516555667, 0.014712315052747726, -0.0069634439423680305, -0.00044098537182435393, 0.008962685242295265, 0.013409542851150036], "flange_pose": [0.6675730347633362, 0.014401920139789581, -0.13695308566093445, -0.034741781651973724, -0.09961289912462234, 0.9943768978118896, 0.009211639873683453], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.111023902893066, -55.718204498291016, -9.840270042419434, -5.603809356689453, 11.413559913635254, 0.45943233370780945], "ext_wrench_in_world": [0.8366741803543337, -56.923423883927946, 9.15575604952236, 3.1927010107199303, 12.304084706553764, -0.547053075684415]}
+{"timestamp_ns": 1789729569163495745, "elapsed_ms": 12633, "source_timestamp_ns": 1789729569155329553, "q": [0.07199661433696747, -1.3693658113479614, 0.005458760540932417, 0.9990658760070801, 1.572150707244873, -0.010788148269057274, -0.9985193014144897], "theta": [0.0694567859172821, -1.3682682514190674, 0.003487470792606473, 0.9824531674385071, 1.5713533163070679, -0.010371685028076172, -0.9981048107147217], "dq": [-0.0012186092790216208, 0.02582225389778614, 0.02635570429265499, 0.012713502161204815, -0.018062790855765343, 0.017055928707122803, -0.00018520130834076554], "dtheta": [-0.0008025011047720909, 0.022823667153716087, 0.027289751917123795, 0.010482634417712688, -0.020963378250598907, 0.017392558977007866, 0.00043673921027220786], "tau": [-62.91999816894531, 0.35999998450279236, -28.136001586914062, 1.5880000591278076, -4.072000026702881, 4.039999961853027, -0.25600001215934753], "tau_des": [-0.7548548579216003, 1.9470640420913696, -0.3391435444355011, -0.22384095191955566, 0.15586066246032715, 0.3311181962490082, -0.1415805220603943], "tau_dot": [-64.58740234375, 21.469785690307617, -46.06108093261719, -22.27250862121582, 39.767276763916016, 15.387526512145996, 29.216651916503906], "tau_ext": [15.007530212402344, -35.98366165161133, -36.29746627807617, 19.742246627807617, -2.4711546897888184, -7.2538604736328125, 0.1669076532125473], "tcp_pose": [0.654102623462677, 0.01699766144156456, -0.3267008364200592, -0.0348740890622139, -0.09979699552059174, 0.9943535923957825, 0.009236536920070648], "tcp_vel": [0.0004754428518936038, 0.013839907944202423, -0.008622844703495502, 0.00048165288171730936, 0.007749640382826328, 0.01184277143329382], "flange_pose": [0.6676301956176758, 0.014830120839178562, -0.1371953934431076, -0.0348740890622139, -0.09979699552059174, 0.9943535923957825, 0.009236536920070648], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.049930572509766, -55.68016815185547, -9.863612174987793, -5.599436283111572, 11.412178039550781, 0.4559454321861267], "ext_wrench_in_world": [0.9141229800347266, -56.87427141696383, 9.17357979098981, 3.184230705644422, 12.303025119945135, -0.5437170618925804]}
+{"timestamp_ns": 1789729569196771616, "elapsed_ms": 12666, "source_timestamp_ns": 1789729569195329923, "q": [0.07198691368103027, -1.3684419393539429, 0.006607710849493742, 0.9994948506355286, 1.571329951286316, -0.010107127949595451, -0.9984605312347412], "theta": [0.06944653391838074, -1.3673216104507446, 0.004622438922524452, 0.9828632473945618, 1.570538878440857, -0.009694933891296387, -0.998033881187439], "dq": [-0.000492553343065083, 0.024674778804183006, 0.028655564412474632, 0.010794920846819878, -0.018342386931180954, 0.016729651018977165, 0.0017982061253860593], "dtheta": [0.0003350665501784533, 0.02350926771759987, 0.029866961762309074, 0.009866888634860516, -0.021237721666693687, 0.018286990001797676, 0.0029625706374645233], "tau": [-62.959999084472656, 0.5299999713897705, -28.148000717163086, 1.4920001029968262, -4.068000316619873, 4.02400016784668, -0.15600000321865082], "tau_des": [-0.7800611853599548, 1.9187744855880737, -0.4631098210811615, -0.16912101209163666, 0.11204133927822113, 0.3927114009857178, -0.08168349415063858], "tau_dot": [-25.135744094848633, 84.78262329101562, 13.310603141784668, 10.694743156433105, -5.131198406219482, 0.4180472195148468, 21.92064094543457], "tau_ext": [14.928255081176758, -36.17708206176758, -36.361209869384766, 19.82710075378418, -2.4753682613372803, -7.242756366729736, 0.10487201809883118], "tcp_pose": [0.6541082262992859, 0.017581891268491745, -0.32709088921546936, -0.035041630268096924, -0.10001013427972794, 0.9943257570266724, 0.009293456561863422], "tcp_vel": [0.00043628120329231024, 0.015117870643734932, -0.01050418708473444, 0.0020749277900904417, 0.009034834802150726, 0.010518831200897694], "flange_pose": [0.6677017211914062, 0.015402133576571941, -0.13759030401706696, -0.035041630268096924, -0.10001013427972794, 0.9943257570266724, 0.009293456561863422], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.11451530456543, -55.95800018310547, -9.943037986755371, -5.68508768081665, 11.375689506530762, 0.43089982867240906], "ext_wrench_in_world": [0.9392621654751174, -57.16077073959741, 9.244366630202567, 3.271524504232339, 12.285491225099221, -0.5253961611343017]}
+{"timestamp_ns": 1789729569230103043, "elapsed_ms": 12700, "source_timestamp_ns": 1789729569225342581, "q": [0.07199494540691376, -1.3677215576171875, 0.00755810271948576, 0.999797523021698, 1.5706720352172852, -0.009509586729109287, -0.9983407855033875], "theta": [0.06945326179265976, -1.3665870428085327, 0.005566481035202742, 0.9831536412239075, 1.5698840618133545, -0.009102582931518555, -0.9978965520858765], "dq": [-0.0012311612954363227, 0.027202172204852104, 0.03209033980965614, 0.009539471939206123, -0.02462824620306492, 0.02225286327302456, 0.004611913580447435], "dtheta": [0.00025349523639306426, 0.025300035253167152, 0.03230266645550728, 0.009447488933801651, -0.022892912849783897, 0.019714709371328354, 0.0053498400375247], "tau": [-63.07999801635742, 0.38999998569488525, -28.264001846313477, 1.5760000944137573, -4.084000110626221, 4.028000354766846, -0.12000000476837158], "tau_des": [-0.7421264052391052, 1.6245049238204956, -0.6376688480377197, 0.09141352027654648, 0.017766451463103294, 0.44507497549057007, -0.08162074536085129], "tau_dot": [57.089927673339844, 49.750247955322266, -11.111688613891602, -9.747648239135742, 61.946895599365234, -26.892210006713867, -30.58847999572754], "tau_ext": [14.944321632385254, -36.093379974365234, -36.31858825683594, 19.761363983154297, -2.4563028812408447, -7.2478556632995605, 0.04794353246688843], "tcp_pose": [0.6541246175765991, 0.018047966063022614, -0.3274236023426056, -0.03516984358429909, -0.10015571862459183, 0.994306206703186, 0.009333314374089241], "tcp_vel": [0.0009511673706583679, 0.016653476282954216, -0.011336038820445538, 0.0022636791691184044, 0.009687448851764202, 0.010346132330596447], "flange_pose": [0.6677682399749756, 0.01586003415286541, -0.13792674243450165, -0.03516984358429909, -0.10015571862459183, 0.994306206703186, 0.009333314374089241], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.19009780883789, -56.06904602050781, -9.955611228942871, -5.727762699127197, 11.338533401489258, 0.387273907661438], "ext_wrench_in_world": [0.9074970644048163, -57.28513282442065, 9.255291023496534, 3.3200090796927006, 12.258104086995422, -0.48580882752373633]}
+{"timestamp_ns": 1789729569263433251, "elapsed_ms": 12733, "source_timestamp_ns": 1789729569255312178, "q": [0.07202879339456558, -1.3669538497924805, 0.008521699346601963, 1.0001200437545776, 1.5699896812438965, -0.008852455765008926, -0.9982152581214905], "theta": [0.06948644667863846, -1.3658167123794556, 0.006527116987854242, 0.9834652543067932, 1.5692033767700195, -0.008450150489807129, -0.9977463483810425], "dq": [0.001930893282406032, 0.028375418856739998, 0.03200097754597664, 0.012339756824076176, -0.025591569021344185, 0.02010028250515461, 0.0047852215357124805], "dtheta": [0.0018052756786346436, 0.026319701224565506, 0.03166089206933975, 0.011130765080451965, -0.02285623550415039, 0.022611236199736595, 0.003334970911964774], "tau": [-63.06999969482422, 0.22999998927116394, -28.25200080871582, 1.652000069618225, -4.144000053405762, 4.0320000648498535, -0.12400000542402267], "tau_des": [-0.7781917452812195, 1.800400733947754, -0.5310022234916687, 0.08762410283088684, 0.061722852289676666, 0.362667977809906, -0.07203596085309982], "tau_dot": [-49.4753532409668, -137.36160278320312, 53.29734420776367, 100.21515655517578, -21.902647018432617, -3.1614603996276855, -37.66451644897461], "tau_ext": [15.030477523803711, -35.98548126220703, -36.249610900878906, 19.692344665527344, -2.4228515625, -7.255868434906006, 0.014751718379557133], "tcp_pose": [0.6541462540626526, 0.01852783001959324, -0.3277718126773834, -0.03530304506421089, -0.10031305253505707, 0.9942854642868042, 0.009350480511784554], "tcp_vel": [0.0007608184823766351, 0.016061866655945778, -0.011763859540224075, -0.00031906526419334114, 0.009069634601473808, 0.011888181790709496], "flange_pose": [0.6678411960601807, 0.016340669244527817, -0.13827863335609436, -0.03530304506421089, -0.10031305253505707, 0.9942854642868042, 0.009350480511784554], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.176095008850098, -56.09539794921875, -9.87396240234375, -5.739290714263916, 11.32368278503418, 0.34465354681015015], "ext_wrench_in_world": [0.941241277726617, -57.30709022843185, 9.170898465168559, 3.333269187593808, 12.24643688080621, -0.4451247394960667]}
+{"timestamp_ns": 1789729569296768597, "elapsed_ms": 12766, "source_timestamp_ns": 1789729569295318737, "q": [0.07210828363895416, -1.3658452033996582, 0.009777610190212727, 1.0006356239318848, 1.5691256523132324, -0.007939592003822327, -0.9980853199958801], "theta": [0.06956884264945984, -1.3647181987762451, 0.007787397596985102, 0.9839633107185364, 1.5683422088623047, -0.007540345191955566, -0.9975765943527222], "dq": [0.0046427431516349316, 0.027450308203697205, 0.03195402771234512, 0.014419355429708958, -0.02291123941540718, 0.023624030873179436, 0.001388427335768938], "dtheta": [0.002078730845823884, 0.028272440657019615, 0.031108975410461426, 0.013622398488223553, -0.019056929275393486, 0.024068348109722137, 0.0031468416564166546], "tau": [-62.81999969482422, 0.38999998569488525, -28.07600212097168, 1.5840001106262207, -4.144000053405762, 4.008000373840332, -0.10400000214576721], "tau_des": [-0.5765727162361145, 1.5859657526016235, -0.3809365928173065, 0.211649090051651, -0.012308044359087944, 0.29294759035110474, -0.07228006422519684], "tau_dot": [38.462154388427734, 25.072092056274414, -1.8028297424316406, -60.36890411376953, 33.32600402832031, 44.7706184387207, 20.132360458374023], "tau_ext": [14.761250495910645, -36.1034049987793, -36.420963287353516, 19.700557708740234, -2.4280827045440674, -7.22305154800415, 0.00371450069360435], "tcp_pose": [0.6541768908500671, 0.019192857667803764, -0.32824671268463135, -0.03546775132417679, -0.10054196417331696, 0.9942563772201538, 0.00936107337474823], "tcp_vel": [0.0014024671399965882, 0.016953634098172188, -0.011968857608735561, 0.0007077186019159853, 0.005547607317566872, 0.011453208513557911], "flange_pose": [0.6679348945617676, 0.017011160030961037, -0.13875803351402283, -0.03546775132417679, -0.10054196417331696, 0.9942563772201538, 0.00936107337474823], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.079631805419922, -56.22895431518555, -9.934130668640137, -5.793416500091553, 11.321016311645508, 0.31590840220451355], "ext_wrench_in_world": [1.09603875610043, -57.418864425802376, 9.220260493118728, 3.382956334077761, 12.255897279492288, -0.4212736722331636]}
+{"timestamp_ns": 1789729569330103104, "elapsed_ms": 12800, "source_timestamp_ns": 1789729569325314998, "q": [0.07218290120363235, -1.3649954795837402, 0.010702262632548809, 1.0010749101638794, 1.5685231685638428, -0.007260703016072512, -0.9980243444442749], "theta": [0.06964690238237381, -1.3638782501220703, 0.008721855469048023, 0.9843876361846924, 1.567742943763733, -0.006861090660095215, -0.9974835515022278], "dq": [0.0037965192459523678, 0.026360703632235527, 0.030525632202625275, 0.016324691474437714, -0.022054487839341164, 0.02363211289048195, 0.0033020940609276295], "dtheta": [0.002489841775968671, 0.02764243260025978, 0.030595650896430016, 0.013892272487282753, -0.02053244039416313, 0.022391829639673233, 0.0017674911068752408], "tau": [-62.7599983215332, 0.41999998688697815, -28.09600067138672, 1.568000078201294, -4.168000221252441, 4.0, -0.09200000762939453], "tau_des": [-0.5870556831359863, 1.5689201354980469, -0.35744190216064453, -0.01794685237109661, 0.0671699047088623, 0.32565754652023315, -0.1100546196103096], "tau_dot": [115.25032806396484, -16.152603149414062, -23.955060958862305, 39.4402961730957, -34.894500732421875, -18.138078689575195, 20.651155471801758], "tau_ext": [14.68554401397705, -36.25355911254883, -36.497169494628906, 19.751123428344727, -2.4264678955078125, -7.204452991485596, -0.0032571139745414257], "tcp_pose": [0.6541885137557983, 0.019693585112690926, -0.3286094069480896, -0.03558230772614479, -0.10071465373039246, 0.9942346215248108, 0.009377527050673962], "tcp_vel": [0.0003338075475767255, 0.016330502927303314, -0.011958694085478783, 0.0004036113678012043, 0.008091382682323456, 0.011997249908745289], "flange_pose": [0.6679906845092773, 0.017512459307909012, -0.13912393152713776, -0.03558230772614479, -0.10071465373039246, 0.9942346215248108, 0.009377527050673962], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.013676643371582, -56.43438720703125, -10.071826934814453, -5.861894130706787, 11.31740665435791, 0.30614393949508667], "ext_wrench_in_world": [1.233635884071977, -57.60824143122074, 9.346202017421117, 3.446930052283051, 12.267197422974128, -0.41684636480824455]}
+{"timestamp_ns": 1789729569363435671, "elapsed_ms": 12833, "source_timestamp_ns": 1789729569355333744, "q": [0.07226205617189407, -1.364179015159607, 0.011603516526520252, 1.001494288444519, 1.5679457187652588, -0.006579098291695118, -0.9980175495147705], "theta": [0.0697300136089325, -1.363077163696289, 0.009640434756875038, 0.9847930073738098, 1.567168951034546, -0.006177783012390137, -0.9974464178085327], "dq": [0.0014221817255020142, 0.026476260274648666, 0.030836941674351692, 0.014327621087431908, -0.019375838339328766, 0.020107295364141464, 0.0013262181309983134], "dtheta": [0.002324857283383608, 0.025973642244935036, 0.029958857223391533, 0.013189762830734253, -0.018148932605981827, 0.02220914140343666, 0.0016093605663627386], "tau": [-63.02000045776367, 0.1599999964237213, -28.088001251220703, 1.6560001373291016, -4.188000202178955, 4.004000186920166, -0.08400000631809235], "tau_des": [-1.1714328527450562, 1.1865543127059937, -0.6912304759025574, 0.23049278557300568, -0.015126851387321949, 0.35002678632736206, -0.10225819051265717], "tau_dot": [-103.65164184570312, -74.4859848022461, 53.55311584472656, 24.038665771484375, -25.763965606689453, 36.784393310546875, 49.28876876831055], "tau_ext": [14.579641342163086, -36.29098129272461, -36.559757232666016, 19.757474899291992, -2.4169552326202393, -7.190133094787598, -0.008850268088281155], "tcp_pose": [0.6542026400566101, 0.020174287259578705, -0.3289663791656494, -0.035687174648046494, -0.10090798884630203, 0.9942111372947693, 0.009390023536980152], "tcp_vel": [0.0005811458686366677, 0.01571120135486126, -0.011819352395832539, 0.0015120357275009155, 0.0062281484715640545, 0.011104781180620193], "flange_pose": [0.6680453419685364, 0.017995158210396767, -0.13948385417461395, -0.035687174648046494, -0.10090798884630203, 0.9942111372947693, 0.009390023536980152], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.984539985656738, -56.651424407958984, -10.18876838684082, -5.9311652183532715, 11.30520248413086, 0.30039453506469727], "ext_wrench_in_world": [1.3384629545649287, -57.81597723386638, 9.453903997829254, 3.512598707625827, 12.270475196604503, -0.4167129707579877]}
+{"timestamp_ns": 1789729569396768968, "elapsed_ms": 12866, "source_timestamp_ns": 1789729569395339103, "q": [0.07230570912361145, -1.363209843635559, 0.01268866565078497, 1.0020242929458618, 1.5672708749771118, -0.0057454342022538185, -0.9980347156524658], "theta": [0.0697760283946991, -1.3621407747268677, 0.010748269967734814, 0.9853047728538513, 1.56649911403656, -0.00533604621887207, -0.997429609298706], "dq": [0.0009588216198608279, 0.020913705229759216, 0.02737470529973507, 0.010586044751107693, -0.01597343198955059, 0.020466769114136696, -0.0009070985834114254], "dtheta": [-0.0002001489046961069, 0.019643573090434074, 0.025609036907553673, 0.011824785731732845, -0.016775483265519142, 0.019857287406921387, -0.0004970629815943539], "tau": [-63.5, -0.3799999952316284, -28.476001739501953, 1.8280000686645508, -4.2920002937316895, 4.0320000648498535, -0.10000000149011612], "tau_des": [-1.7111674547195435, 0.31465938687324524, -1.080385446548462, 0.21663296222686768, -0.09204871952533722, 0.37649181485176086, -0.13474541902542114], "tau_dot": [-17.801902770996094, -132.34115600585938, 11.292755126953125, -41.79096603393555, -28.707054138183594, -11.152268409729004, 46.541385650634766], "tau_ext": [14.655051231384277, -36.349632263183594, -36.55479431152344, 19.768556594848633, -2.3994405269622803, -7.185431480407715, -0.0060631223022937775], "tcp_pose": [0.6542274355888367, 0.020738067105412483, -0.32936257123947144, -0.0357762835919857, -0.10113444179296494, 0.9941847920417786, 0.009403356350958347], "tcp_vel": [2.744588528003078e-05, 0.011111773550510406, -0.008364741690456867, -0.00030392836197279394, 0.003430883400142193, 0.008391505107283592], "flange_pose": [0.6681047677993774, 0.018560491502285004, -0.13988256454467773, -0.0357762835919857, -0.10113444179296494, 0.9941847920417786, 0.009403356350958347], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.893486022949219, -56.88269805908203, -10.304668426513672, -6.001336574554443, 11.304219245910645, 0.2994832992553711], "ext_wrench_in_world": [1.5102988121952015, -58.02505664815806, 9.555488792793463, 3.575744936474846, 12.285272044088417, -0.4210019468463721]}
+{"timestamp_ns": 1789729569430099925, "elapsed_ms": 12900, "source_timestamp_ns": 1789729569425244006, "q": [0.07229847460985184, -1.3626900911331177, 0.013365291990339756, 1.0023117065429688, 1.5667837858200073, -0.0051747532561421394, -0.9980546236038208], "theta": [0.06976873427629471, -1.3616515398025513, 0.011438158340752125, 0.9855819344520569, 1.5660176277160645, -0.004755973815917969, -0.9974291920661926], "dq": [0.0010076434118673205, 0.014296770095825195, 0.017464730888605118, 0.00778195122256875, -0.011446123011410236, 0.016622262075543404, -0.0004210825136397034], "dtheta": [-0.0008673914708197117, 0.012301831506192684, 0.01958470605313778, 0.007163177710026503, -0.014201820828020573, 0.0186640415340662, 0.0013119735522195697], "tau": [-63.459999084472656, -0.6299999952316284, -28.452001571655273, 1.9280000925064087, -4.284000396728516, 4.016000270843506, -0.12000000476837158], "tau_des": [-1.9089558124542236, 0.20913802087306976, -0.9213888645172119, 0.24650046229362488, -0.019257014617323875, 0.24168556928634644, -0.12724357843399048], "tau_dot": [-50.12257385253906, -4.290748596191406, 15.750887870788574, 31.090654373168945, 29.34820556640625, 16.00626564025879, -52.182533264160156], "tau_ext": [14.800117492675781, -36.18748474121094, -36.486595153808594, 19.692821502685547, -2.367581844329834, -7.187021255493164, -0.0028855071868747473], "tcp_pose": [0.6542401909828186, 0.02102120965719223, -0.32957372069358826, -0.035824503749608994, -0.10126160085201263, 0.9941704869270325, 0.009368887171149254], "tcp_vel": [0.0005443566478788853, 0.006211013067513704, -0.005429837852716446, -0.0038464178796857595, 0.00045223976485431194, 0.004140534438192844], "flange_pose": [0.6681346893310547, 0.018860291689634323, -0.1400947868824005, -0.035824503749608994, -0.10126160085201263, 0.9941704869270325, 0.009368887171149254], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.793449401855469, -56.9140625, -10.10528564453125, -5.98588752746582, 11.318795204162598, 0.3033889830112457], "ext_wrench_in_world": [1.6156116098084343, -58.03224384059189, 9.352771362234133, 3.554221567873262, 12.297367043756193, -0.4246081462493848]}
+{"timestamp_ns": 1789729569463431933, "elapsed_ms": 12933, "source_timestamp_ns": 1789729569455243196, "q": [0.07224239408969879, -1.3624019622802734, 0.013851027935743332, 1.0024727582931519, 1.5664360523223877, -0.004784786608070135, -0.9980698227882385], "theta": [0.06971146911382675, -1.3613932132720947, 0.01194031536579132, 0.9857313632965088, 1.5656753778457642, -0.004356861114501953, -0.9974282383918762], "dq": [-0.002145180944353342, 0.006634533870965242, 0.01373377162963152, 0.004457009956240654, -0.012254796922206879, 0.008257724344730377, 0.0018374354112893343], "dtheta": [-0.0033504944294691086, 0.0054039014503359795, 0.01493904646486044, 0.003362115239724517, -0.010227865539491177, 0.010468625463545322, 0.0006720596575178206], "tau": [-63.43000030517578, -0.28999999165534973, -28.292001724243164, 1.8320001363754272, -4.223999977111816, 3.9720001220703125, -0.13199999928474426], "tau_des": [-1.7019846439361572, 0.6047883033752441, -0.6328510642051697, 0.17771656811237335, -0.06263692677021027, 0.2659637928009033, -0.10367343574762344], "tau_dot": [-37.9410400390625, 92.8198013305664, 17.119823455810547, 23.44856834411621, 46.723148345947266, -3.8498446941375732, -63.7707405090332], "tau_ext": [14.73591136932373, -36.10198211669922, -36.58049011230469, 19.663991928100586, -2.369500160217285, -7.154748439788818, 0.0012147912057116628], "tcp_pose": [0.6542518138885498, 0.021184485405683517, -0.3296930491924286, -0.035838913172483444, -0.10133365541696548, 0.9941627979278564, 0.009349144995212555], "tcp_vel": [0.00013834383571520448, 0.0035465462133288383, -0.0027536810375750065, 6.6830099967774e-05, -0.00017437187489122152, 0.0014110885094851255], "flange_pose": [0.6681511402130127, 0.019032588228583336, -0.14021435379981995, -0.035838913172483444, -0.10133365541696548, 0.9941627979278564, 0.009349144995212555], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.713199615478516, -56.823890686035156, -10.037981986999512, -5.935624599456787, 11.327016830444336, 0.3093104660511017], "ext_wrench_in_world": [1.6797012567292613, -57.92637235621234, 9.284517780071782, 3.5012239401879035, 12.295829512682877, -0.42735248091756045]}
+{"timestamp_ns": 1789729569496768509, "elapsed_ms": 12966, "source_timestamp_ns": 1789729569495283127, "q": [0.0720619186758995, -1.3623024225234985, 0.014405586756765842, 1.0025488138198853, 1.5660207271575928, -0.0044630528427660465, -0.9980849027633667], "theta": [0.06952473521232605, -1.361325979232788, 0.012522867880761623, 0.9857871532440186, 1.5652709007263184, -0.004026293754577637, -0.9974241256713867], "dq": [-0.004817306995391846, -0.0023223012685775757, 0.012597234919667244, 0.0015172498533502221, -0.009223809465765953, 0.00876133143901825, 0.0008866425487212837], "dtheta": [-0.005407640244811773, 1.0229280633211602e-05, 0.01423670630902052, 0.00011963798169745132, -0.009096425026655197, 0.007555464282631874, 0.0002883395936805755], "tau": [-63.369998931884766, 0.29999998211860657, -28.09200096130371, 1.4760000705718994, -4.208000183105469, 3.940000295639038, -0.10400000214576721], "tau_des": [-1.5826928615570068, 1.3399449586868286, -0.5111438035964966, -0.08222738653421402, -0.06411479413509369, 0.30669549107551575, -0.15956400334835052], "tau_dot": [141.95046997070312, 37.22797393798828, -24.35498046875, 73.83116149902344, 34.16592025756836, 23.143531799316406, -7.106651306152344], "tau_ext": [14.958474159240723, -36.176483154296875, -36.58045196533203, 19.739198684692383, -2.363382339477539, -7.140429496765137, -0.0019390308298170567], "tcp_pose": [0.654240071773529, 0.02126832865178585, -0.3297593295574188, -0.035841990262269974, -0.10135359317064285, 0.994160532951355, 0.009361115284264088], "tcp_vel": [-1.7927706039699842e-06, 0.0014202464371919632, -0.0014226647326722741, 0.0021306590642780066, -0.001207590103149414, -0.000498528010211885], "flange_pose": [0.6681410074234009, 0.01911230944097042, -0.14028078317642212, -0.035841990262269974, -0.10135359317064285, 0.994160532951355, 0.009361115284264088], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.703940391540527, -56.833988189697266, -9.880834579467773, -5.8723273277282715, 11.326705932617188, 0.31428062915802], "ext_wrench_in_world": [1.6816311546261962, -57.93276801779966, 9.12545625679654, 3.4386017541076908, 12.282931217045544, -0.4276523539152016]}
+{"timestamp_ns": 1789729569530092838, "elapsed_ms": 13000, "source_timestamp_ns": 1789729569525268971, "q": [0.07188183814287186, -1.3623110055923462, 0.014810976572334766, 1.0025651454925537, 1.5656983852386475, -0.004245724529027939, -0.9981023669242859], "theta": [0.06933882087469101, -1.361352562904358, 0.01295402366667986, 0.985786497592926, 1.5649555921554565, -0.00380098819732666, -0.9974308609962463], "dq": [-0.006883765105158091, -0.0019072433933615685, 0.010695772245526314, -0.0005411183228716254, -0.012544797733426094, 0.008994578383862972, -0.0008589772041887045], "dtheta": [-0.006476478185504675, -0.001062669325619936, 0.015032297931611538, -0.0002999551361426711, -0.011452344246208668, 0.006634157616645098, 1.578986666572746e-05], "tau": [-63.3599967956543, 0.429999977350235, -27.976001739501953, 1.3200000524520874, -4.212000370025635, 3.9040002822875977, -0.12800000607967377], "tau_des": [-1.4864554405212402, 1.6694869995117188, -0.4577108323574066, -0.2602974474430084, 0.0034017087891697884, 0.32407572865486145, -0.20023894309997559], "tau_dot": [14.928667068481445, -101.31966400146484, -15.918886184692383, 19.373291015625, -46.911624908447266, -51.232147216796875, 31.270971298217773], "tau_ext": [15.077973365783691, -36.269657135009766, -36.6056022644043, 19.85709571838379, -2.364143133163452, -7.133761882781982, 0.007082673721015453], "tcp_pose": [0.6542282700538635, 0.021285811439156532, -0.3297746479511261, -0.03583282232284546, -0.1013508215546608, 0.994161069393158, 0.009367907419800758], "tcp_vel": [-0.0005808173445984721, 0.000801628571934998, -0.0008949679904617369, 0.001895136316306889, 0.00020707299700006843, -0.0008258832967840135], "flange_pose": [0.6681260466575623, 0.019126834347844124, -0.14029592275619507, -0.03583282232284546, -0.1013508215546608, 0.994161069393158, 0.009367907419800758], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.824738502502441, -56.83627700805664, -9.727872848510742, -5.811957359313965, 11.30222225189209, 0.3182772099971771], "ext_wrench_in_world": [1.5523787120604182, -57.957844247231634, 8.980382424422697, 3.384336499891401, 12.2467789594847, -0.427841247517893]}
+{"timestamp_ns": 1789729569563436332, "elapsed_ms": 13033, "source_timestamp_ns": 1789729569555240507, "q": [0.07168606668710709, -1.3623199462890625, 0.015216091647744179, 1.0025743246078491, 1.565370798110962, -0.004025304690003395, -0.9981265068054199], "theta": [0.06913840025663376, -1.3613749742507935, 0.013385227881371975, 0.9857799410820007, 1.5646371841430664, -0.0035742521286010742, -0.9974474310874939], "dq": [-0.005461717955768108, -0.0016172570176422596, 0.015700088813900948, -0.001727555994875729, -0.011368882842361927, 0.007503586821258068, 0.000946377869695425], "dtheta": [-0.006489910185337067, -0.0007051556021906435, 0.014598431065678596, -0.00013439168105833232, -0.012884600088000298, 0.0073353867046535015, -0.0004605636349879205], "tau": [-63.29999923706055, 0.28999999165534973, -27.972002029418945, 1.2760000228881836, -4.216000080108643, 3.9200000762939453, -0.17600001394748688], "tau_des": [-1.3487650156021118, 1.637433409690857, -0.38912251591682434, -0.24170082807540894, 0.015433338470757008, 0.2857578992843628, -0.18839196860790253], "tau_dot": [100.584716796875, -44.538509368896484, 9.10610294342041, -15.347515106201172, -10.254611015319824, 13.646000862121582, -13.797869682312012], "tau_ext": [15.116196632385254, -36.17107391357422, -36.621097564697266, 19.903396606445312, -2.3567960262298584, -7.1241455078125, 0.036286745220422745], "tcp_pose": [0.6542242169380188, 0.021303469315171242, -0.32977890968322754, -0.03581677004694939, -0.10135501623153687, 0.9941611886024475, 0.00937124714255333], "tcp_vel": [-0.0006094734417274594, 0.00041839442565105855, -0.00045637154835276306, 2.2690135665470734e-05, 0.00063204305479303, -3.422764166316483e-06], "flange_pose": [0.6681160926818848, 0.019142666831612587, -0.1402997523546219, -0.03581677004694939, -0.10135501623153687, 0.9941611886024475, 0.00937124714255333], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.990035057067871, -56.684242248535156, -9.630109786987305, -5.720925807952881, 11.264155387878418, 0.3348735272884369], "ext_wrench_in_world": [1.3533868451574755, -57.84135007444738, 8.897739598808705, 3.3017594660042557, 12.191313936687637, -0.4388369941418621]}
+{"timestamp_ns": 1789729569596769559, "elapsed_ms": 13066, "source_timestamp_ns": 1789729569595228871, "q": [0.07144350558519363, -1.3623132705688477, 0.015733767300844193, 1.0025839805603027, 1.5649213790893555, -0.003733403515070677, -0.9981440901756287], "theta": [0.06889216601848602, -1.3613840341567993, 0.01393134891986847, 0.9857727289199829, 1.5641981363296509, -0.0032749176025390625, -0.9974591732025146], "dq": [-0.007106266915798187, -0.0006163404905237257, 0.009961061179637909, 0.0019588086288422346, -0.010726062580943108, 0.007286648731678724, 0.0006798877730034292], "dtheta": [-0.005670245736837387, -0.00012892969243694097, 0.013167517259716988, -0.0004266416362952441, -0.010075981728732586, 0.007420146372169256, 4.7887595428619534e-05], "tau": [-63.3599967956543, 0.12999999523162842, -27.988000869750977, 1.2960000038146973, -4.232000350952148, 3.9280002117156982, -0.1600000113248825], "tau_des": [-1.3954715728759766, 1.3150442838668823, -0.45039260387420654, -0.06884611397981644, -0.08475545048713684, 0.29877179861068726, -0.16445907950401306], "tau_dot": [-13.48353099822998, -92.871826171875, 18.302865982055664, -37.70246887207031, -13.19544792175293, 28.676660537719727, -1.5227798223495483], "tau_ext": [15.157060623168945, -35.99435806274414, -36.58830642700195, 19.894453048706055, -2.335909605026245, -7.130632400512695, 0.06012843921780586], "tcp_pose": [0.6542197465896606, 0.021330684423446655, -0.3297853171825409, -0.03580902889370918, -0.10136455297470093, 0.9941605925559998, 0.00936239492148161], "tcp_vel": [0.00016040270566008985, 0.000957423122599721, -0.0006569079705514014, 0.000551631732378155, -0.0009116768487729132, 0.00029122806154191494], "flange_pose": [0.668108344078064, 0.019173061475157738, -0.14030590653419495, -0.03580902889370918, -0.10136455297470093, 0.9941605925559998, 0.00936239492148161], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.169360160827637, -56.321502685546875, -9.52713394165039, -5.583152770996094, 11.213976860046387, 0.3643903434276581], "ext_wrench_in_world": [1.098792069665564, -57.52105824678408, 8.81776992556553, 3.174861909166608, 12.1147085444142, -0.46015317660649263]}
+{"timestamp_ns": 1789729569630093698, "elapsed_ms": 13100, "source_timestamp_ns": 1789729569625279889, "q": [0.07128223776817322, -1.3623101711273193, 0.0160958394408226, 1.0025901794433594, 1.5646096467971802, -0.003513020696118474, -0.9981498718261719], "theta": [0.06872808188199997, -1.3613905906677246, 0.014308861456811428, 0.9857693910598755, 1.56389582157135, -0.0030465126037597656, -0.9974614977836609], "dq": [-0.0052038393914699554, -0.00032342743361368775, 0.015894485637545586, 0.0006088290247134864, -0.011072871275246143, 0.008864779956638813, -9.459331340622157e-05], "dtheta": [-0.005439132452011108, -0.0005473401979543269, 0.012499788776040077, -0.00012998281454201788, -0.010307843796908855, 0.007766284979879856, -0.00023973576026037335], "tau": [-63.369998931884766, 0.14999999105930328, -27.996002197265625, 1.3280000686645508, -4.232000350952148, 3.932000160217285, -0.18000000715255737], "tau_des": [-1.4057366847991943, 1.390746831893921, -0.41599249839782715, -0.12556827068328857, -0.06271357834339142, 0.27083873748779297, -0.16306722164154053], "tau_dot": [51.1241455078125, -63.13947296142578, 14.22334098815918, 44.92128372192383, 31.060869216918945, -4.225607872009277, 17.163311004638672], "tau_ext": [15.15950870513916, -35.97791290283203, -36.58665084838867, 19.903661727905273, -2.33022141456604, -7.1261982917785645, 0.061914652585983276], "tcp_pose": [0.6542174220085144, 0.02134597674012184, -0.3297940492630005, -0.03580174967646599, -0.10136761516332626, 0.9941606521606445, 0.009350955486297607], "tcp_vel": [-8.214148692786694e-05, 0.00024542844039388, -0.00041553558548912406, -0.0005385684780776501, -0.0008975217933766544, -5.4397405619965866e-05], "flange_pose": [0.6681028604507446, 0.01919243484735489, -0.14031435549259186, -0.03580174967646599, -0.10136761516332626, 0.9941606521606445, 0.009350955486297607], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.243019104003906, -56.11376190185547, -9.478883743286133, -5.515463352203369, 11.189990997314453, 0.37888485193252563], "ext_wrench_in_world": [0.9818183611026157, -57.33177845536883, 8.781355374893204, 3.112422001451863, 12.077707644361789, -0.4707393999911769]}
+{"timestamp_ns": 1789729569663429145, "elapsed_ms": 13133, "source_timestamp_ns": 1789729569655248846, "q": [0.07112068682909012, -1.3623195886611938, 0.016458647325634956, 1.0025960206985474, 1.5642989873886108, -0.0032896101474761963, -0.9981532096862793], "theta": [0.06856515258550644, -1.3614076375961304, 0.014684036374092102, 0.9857668280601501, 1.5635935068130493, -0.0028159618377685547, -0.997462272644043], "dq": [-0.006252509541809559, -0.001202823594212532, 0.012692098505795002, -1.9015393263543956e-05, -0.01017903070896864, 0.006127954460680485, 0.0008464468992315233], "dtheta": [-0.005404614377766848, -0.0004580972308758646, 0.012505307793617249, -0.00011749676195904613, -0.01065757405012846, 0.007466495968401432, -2.0246452550054528e-05], "tau": [-63.44999694824219, 0.14000000059604645, -28.012001037597656, 1.284000039100647, -4.26800012588501, 3.9040002822875977, -0.1720000058412552], "tau_des": [-1.4583040475845337, 1.3764270544052124, -0.449797123670578, -0.14940732717514038, -0.05664310231804848, 0.2713688313961029, -0.1805061548948288], "tau_dot": [5.000886917114258, -55.302391052246094, 48.324066162109375, -9.95716381072998, -44.16440963745117, -42.45241928100586, -21.825654983520508], "tau_ext": [15.190399169921875, -35.984493255615234, -36.57732009887695, 19.90903663635254, -2.3236677646636963, -7.122916221618652, 0.06480272114276886], "tcp_pose": [0.6542118191719055, 0.021352825686335564, -0.3298024833202362, -0.03579295426607132, -0.10136348009109497, 0.9941614866256714, 0.009338795207440853], "tcp_vel": [-0.00019849937234539539, 0.00029676934354938567, -0.0004300378495827317, -0.0005737128667533398, -0.00039913979708217084, -0.00018469984934199601], "flange_pose": [0.6680934429168701, 0.01920348033308983, -0.1403224617242813, -0.03579295426607132, -0.10136348009109497, 0.9941614866256714, 0.009338795207440853], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.268492698669434, -56.04375076293945, -9.43026065826416, -5.487771987915039, 11.176509857177734, 0.38625258207321167], "ext_wrench_in_world": [0.9387019023097518, -57.2676273456347, 8.737759455453126, 3.0876425506916396, 12.05895509463261, -0.4767290015165184]}
+{"timestamp_ns": 1789729569696768030, "elapsed_ms": 13166, "source_timestamp_ns": 1789729569695257175, "q": [0.07090363651514053, -1.3623476028442383, 0.016927825286984444, 1.0025969743728638, 1.5639007091522217, -0.0030020778067409992, -0.9981656074523926], "theta": [0.0683487132191658, -1.3614429235458374, 0.015171125531196594, 0.9857577085494995, 1.563208818435669, -0.0025218725204467773, -0.9974732398986816], "dq": [-0.007749711163341999, -0.0003478794824331999, 0.014049763791263103, 0.0006901970482431352, -0.008823291398584843, 0.007161710411310196, -0.0008958840626291931], "dtheta": [-0.005537829827517271, -0.0011607749620452523, 0.011057894676923752, -0.0002754515444394201, -0.00875434186309576, 0.005718728061765432, 0.0005728410324081779], "tau": [-63.439998626708984, 0.25, -27.976001739501953, 1.2160000801086426, -4.240000247955322, 3.9000000953674316, -0.17600001394748688], "tau_des": [-1.3718385696411133, 1.5380123853683472, -0.32366427779197693, -0.26824167370796204, -0.06965793669223785, 0.23335906863212585, -0.2192564606666565], "tau_dot": [-15.11362075805664, 36.23716354370117, 32.55243682861328, 16.53826904296875, 30.798057556152344, -9.032136917114258, -26.75839614868164], "tau_ext": [15.19503402709961, -36.003028869628906, -36.585548400878906, 19.942310333251953, -2.31801700592041, -7.1183013916015625, 0.06847184151411057], "tcp_pose": [0.6542050242424011, 0.021353889256715775, -0.3298083543777466, -0.03577648103237152, -0.10135761648416519, 0.9941628575325012, 0.009324278682470322], "tcp_vel": [-0.0001641393464524299, 0.00011835245095426217, -2.767469959508162e-05, 0.0005055213114246726, -0.0009692392777651548, -0.0014125700108706951], "flange_pose": [0.6680798530578613, 0.019209308549761772, -0.14032778143882751, -0.03577648103237152, -0.10135761648416519, 0.9941628575325012, 0.009324278682470322], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.29768180847168, -56.024654388427734, -9.366477966308594, -5.470721244812012, 11.163084983825684, 0.393207311630249], "ext_wrench_in_world": [0.9007401737403505, -57.25389231955909, 8.67818555236827, 3.073326643030516, 12.042392266109127, -0.48303326890107334]}
+{"timestamp_ns": 1789729569730091720, "elapsed_ms": 13200, "source_timestamp_ns": 1789729569725287318, "q": [0.07074195146560669, -1.362370491027832, 0.017257291823625565, 1.002591609954834, 1.5636225938796997, -0.002824041759595275, -0.99817955493927], "theta": [0.06818868964910507, -1.3614684343338013, 0.015512731857597828, 0.9857459664344788, 1.5629407167434692, -0.0023382902145385742, -0.9974862337112427], "dq": [-0.005476793274283409, -0.0033597550354897976, 0.01282962504774332, -0.0027584524359554052, -0.008454839698970318, 0.007183313835412264, 0.0024253129959106445], "dtheta": [-0.005412302445620298, -0.000999682815745473, 0.011572095565497875, -0.0005233445554040372, -0.009432067163288593, 0.006158947944641113, -0.0002902103587985039], "tau": [-63.39999771118164, 0.11999999731779099, -28.036001205444336, 1.1880000829696655, -4.264000415802002, 3.9160001277923584, -0.1720000058412552], "tau_des": [-1.4123739004135132, 1.4540818929672241, -0.3982708156108856, -0.22660411894321442, -0.0831904411315918, 0.24549171328544617, -0.19679996371269226], "tau_dot": [37.59565734863281, -151.5996551513672, -54.22611618041992, -54.622779846191406, -2.709315776824951, -8.411124229431152, 20.69183349609375], "tau_ext": [15.199237823486328, -35.984291076660156, -36.588260650634766, 19.95647621154785, -2.313931703567505, -7.105689525604248, 0.07602688670158386], "tcp_pose": [0.6542001366615295, 0.021359534934163094, -0.32980889081954956, -0.035767097026109695, -0.1013573557138443, 0.9941632151603699, 0.009323553182184696], "tcp_vel": [-0.00014346237003337592, 0.00024837307864800096, -0.00024386399309150875, 0.0003145997761748731, -0.0005737897008657455, -0.00011392123269615695], "flange_pose": [0.6680713891983032, 0.01921486109495163, -0.1403280347585678, -0.035767097026109695, -0.1013573557138443, 0.9941632151603699, 0.009323553182184696], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.345305442810059, -55.9769401550293, -9.344461441040039, -5.448233604431152, 11.143543243408203, 0.400509238243103], "ext_wrench_in_world": [0.8428211797754483, -57.21655206962318, 8.660748585225956, 3.05476842981954, 12.018788911368366, -0.48919936654315627]}
+{"timestamp_ns": 1789729569763431375, "elapsed_ms": 13233, "source_timestamp_ns": 1789729569755239439, "q": [0.07058399170637131, -1.3623876571655273, 0.017588820308446884, 1.0025815963745117, 1.5633314847946167, -0.002634606556966901, -0.9981904625892639], "theta": [0.06803366541862488, -1.3614879846572876, 0.015853527933359146, 0.9857313632965088, 1.562657356262207, -0.0021431446075439453, -0.9974979758262634], "dq": [-0.006943199317902327, -0.002614716999232769, 0.01080856379121542, -0.0010135936317965388, -0.012046086601912975, 0.004718216601759195, 0.0004009322728961706], "dtheta": [-0.005425505340099335, -0.00010835841385414824, 0.011264273896813393, -0.00038865668466314673, -0.009237289428710938, 0.005981514696031809, -0.0008217458380386233], "tau": [-63.529998779296875, 0.10999999940395355, -28.048002243041992, 1.2040001153945923, -4.288000106811523, 3.9000000953674316, -0.17600001394748688], "tau_des": [-1.3674860000610352, 1.2162983417510986, -0.4020693600177765, -0.11292774975299835, -0.10326923429965973, 0.2437553107738495, -0.1649799346923828], "tau_dot": [-132.4125213623047, -42.92524337768555, 2.101851224899292, -31.27560043334961, -50.54550552368164, -45.90688705444336, 4.618955135345459], "tau_ext": [15.211860656738281, -35.900978088378906, -36.57317352294922, 19.95200538635254, -2.3051772117614746, -7.105672359466553, 0.07523620128631592], "tcp_pose": [0.6541974544525146, 0.021366139873862267, -0.3298105299472809, -0.03576115518808365, -0.10136102139949799, 0.9941630959510803, 0.009315703064203262], "tcp_vel": [0.00014521123375743628, 0.0007849167450331151, -0.00014845650002826005, 0.0003684734692797065, -0.0006681990344077349, 0.0011752804275602102], "flange_pose": [0.6680662035942078, 0.0192242544144392, -0.14032946527004242, -0.03576115518808365, -0.10136102139949799, 0.9941630959510803, 0.009315703064203262], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.399319648742676, -55.87031173706055, -9.306265830993652, -5.410996437072754, 11.121679306030273, 0.40589818358421326], "ext_wrench_in_world": [0.7661758484299166, -57.12249552479023, 8.62996438910726, 3.0223034451907234, 11.989926035092564, -0.49268846326138516]}
+{"timestamp_ns": 1789729569796774200, "elapsed_ms": 13266, "source_timestamp_ns": 1789729569795247698, "q": [0.07038026303052902, -1.3624142408370972, 0.018021591007709503, 1.002573013305664, 1.5629608631134033, -0.0023895506747066975, -0.9981968998908997], "theta": [0.06783878058195114, -1.3615158796310425, 0.016295602545142174, 0.9857182502746582, 1.5622992515563965, -0.001891493797302246, -0.997504472732544], "dq": [-0.005382148548960686, -0.00013659786782227457, 0.00852081086486578, 0.0008027587318792939, -0.006858896464109421, 0.005997085012495518, -9.938078437699005e-05], "dtheta": [-0.00429278751835227, -0.0006409786292351782, 0.010896055959165096, -0.0006592632853426039, -0.010112891905009747, 0.005894510541111231, 0.00017404941900167614], "tau": [-63.48999786376953, 0.17000000178813934, -28.036001205444336, 1.1600000858306885, -4.284000396728516, 3.888000249862671, -0.18800000846385956], "tau_des": [-1.603124976158142, 1.3682496547698975, -0.48964986205101013, -0.22530516982078552, -0.06144055351614952, 0.2633110582828522, -0.19891123473644257], "tau_dot": [-28.159379959106445, 26.791669845581055, -0.234350323677063, -8.684225082397461, 13.038509368896484, -9.85216999053955, 41.08282470703125], "tau_ext": [15.283269882202148, -35.927207946777344, -36.5303955078125, 19.97480010986328, -2.2966573238372803, -7.106154918670654, 0.07651077955961227], "tcp_pose": [0.6541913151741028, 0.021372990682721138, -0.3298153281211853, -0.03575173392891884, -0.10135746747255325, 0.9941638708114624, 0.009309066459536552], "tcp_vel": [-0.0004478460759855807, 0.00022046697267796844, -0.0006160435732454062, -0.0006284162518568337, 0.0010782488388940692, 2.0016420876345364e-06], "flange_pose": [0.6680562496185303, 0.01923319883644581, -0.14033398032188416, -0.03575173392891884, -0.10135746747255325, 0.9941638708114624, 0.009309066459536552], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.457817077636719, -55.798301696777344, -9.241796493530273, -5.384763240814209, 11.098488807678223, 0.4099980890750885], "ext_wrench_in_world": [0.6892922461287463, -57.062985092546214, 8.572249143852108, 3.001128229908911, 11.961931309487996, -0.4956370663727205]}
+{"timestamp_ns": 1789729569830097519, "elapsed_ms": 13300, "source_timestamp_ns": 1789729569825231292, "q": [0.07022785395383835, -1.3624382019042969, 0.018340136855840683, 1.0025686025619507, 1.5626953840255737, -0.0022150971926748753, -0.9982063174247742], "theta": [0.06769315898418427, -1.3615394830703735, 0.016621043905615807, 0.9857099652290344, 1.562039852142334, -0.001713871955871582, -0.9975150227546692], "dq": [-0.005502142943441868, -0.0005163147579878569, 0.008102419786155224, 0.001968969823792577, -0.00949392281472683, 0.005451241508126259, 0.001352054299786687], "dtheta": [-0.00435770396143198, -0.0010224266443401575, 0.010818210430443287, -0.0003558483440428972, -0.008811313658952713, 0.005060517694801092, 0.0002756020112428814], "tau": [-63.47999954223633, 0.17000000178813934, -28.048002243041992, 1.1400001049041748, -4.28000020980835, 3.9000000953674316, -0.18000000715255737], "tau_des": [-1.646019697189331, 1.455642819404602, -0.5390044450759888, -0.31430965662002563, -0.10551071166992188, 0.29601049423217773, -0.22151002287864685], "tau_dot": [-77.3897476196289, 25.970537185668945, 7.898247718811035, 0.7587519884109497, 42.15430450439453, 60.84980773925781, 50.57741928100586], "tau_ext": [15.28278923034668, -35.938880920410156, -36.535404205322266, 19.99846649169922, -2.294280767440796, -7.099201202392578, 0.07781856507062912], "tcp_pose": [0.6541855335235596, 0.021377280354499817, -0.3298185169696808, -0.03574255481362343, -0.10135398805141449, 0.9941645860671997, 0.00930862221866846], "tcp_vel": [-0.000591375632211566, 0.0002826248237397522, -0.0007464351365342736, 0.0007402686751447618, 0.0006569276447407901, -0.0008941843989305198], "flange_pose": [0.6680469512939453, 0.019237251952290535, -0.14033690094947815, -0.03574255481362343, -0.10135398805141449, 0.9941645860671997, 0.00930862221866846], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.499542236328125, -55.77128219604492, -9.209027290344238, -5.371091365814209, 11.080994606018066, 0.4123450517654419], "ext_wrench_in_world": [0.6401450549978962, -57.04460383325885, 8.543123602370997, 2.9912100737483613, 11.942040412668778, -0.4974187744073386]}
+{"timestamp_ns": 1789729569863436874, "elapsed_ms": 13333, "source_timestamp_ns": 1789729569855259935, "q": [0.07008147984743118, -1.3624627590179443, 0.018651684746146202, 1.0025553703308105, 1.5624281167984009, -0.002029135124757886, -0.9982179999351501], "theta": [0.0675540640950203, -1.361562967300415, 0.016936471685767174, 0.9856933355331421, 1.5617800951004028, -0.0015227794647216797, -0.9975281953811646], "dq": [-0.007476715371012688, -0.00039980257861316204, 0.010475071147084236, -0.0004274803213775158, -0.007940026000142097, 0.006944180000573397, -0.0018077377462759614], "dtheta": [-0.005184578243643045, -0.0008519274415448308, 0.0106615349650383, -0.0006768881576135755, -0.009445826523005962, 0.007007561158388853, -0.001399214961566031], "tau": [-63.5, 0.09999999403953552, -28.088001251220703, 1.1320000886917114, -4.296000003814697, 3.884000301361084, -0.2160000056028366], "tau_des": [-1.3447266817092896, 1.37562096118927, -0.3538857698440552, -0.23022174835205078, -0.08787267655134201, 0.17593233287334442, -0.17578285932540894], "tau_dot": [37.05464172363281, -97.86405181884766, 0.3860543966293335, -31.01232147216797, -7.322092056274414, -55.470035552978516, -34.595558166503906], "tau_ext": [15.276434898376465, -35.93611526489258, -36.53065490722656, 20.014936447143555, -2.288905620574951, -7.0958123207092285, 0.0835740715265274], "tcp_pose": [0.6541840434074402, 0.02137865126132965, -0.32982125878334045, -0.03573300689458847, -0.10135599970817566, 0.994164764881134, 0.009300162084400654], "tcp_vel": [0.0001700174034340307, -8.89077564352192e-05, 0.00010931760334642604, -0.0010829163948073983, -0.0011382277589291334, 0.0014079696265980601], "flange_pose": [0.6680415272712708, 0.01924147829413414, -0.14033932983875275, -0.03573300689458847, -0.10135599970817566, 0.994164764881134, 0.009300162084400654], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.53434944152832, -55.73447036743164, -9.183268547058105, -5.357425212860107, 11.06579303741455, 0.4180542826652527], "ext_wrench_in_world": [0.5969421896233952, -57.015173979482356, 8.521644295345432, 2.9804545522845243, 11.924460611766923, -0.5026724795748463]}
+{"timestamp_ns": 1789729569896772371, "elapsed_ms": 13366, "source_timestamp_ns": 1789729569895231012, "q": [0.06989108771085739, -1.362492561340332, 0.01907815784215927, 1.0025349855422974, 1.5620667934417725, -0.0017863062676042318, -0.9982250332832336], "theta": [0.0673714354634285, -1.361593246459961, 0.017364194616675377, 0.9856701493263245, 1.561427354812622, -0.0012739896774291992, -0.9975389838218689], "dq": [-0.005099146161228418, -0.001962048700079322, 0.010902555659413338, 0.00019597318896558136, -0.0072950683534145355, 0.003919509239494801, -0.00014590764476452023], "dtheta": [-0.004637435544282198, -0.0012148608220741153, 0.01090272143483162, -0.00038174595101736486, -0.007863717153668404, 0.00666180532425642, -0.00028822783497162163], "tau": [-63.599998474121094, 0.05999999865889549, -28.112001419067383, 1.096000075340271, -4.312000274658203, 3.892000198364258, -0.19600000977516174], "tau_des": [-1.6032156944274902, 1.4272388219833374, -0.5418683290481567, -0.30281808972358704, -0.14882153272628784, 0.2344370186328888, -0.2043149620294571], "tau_dot": [-36.44976806640625, -88.42884063720703, -40.88992691040039, -25.48598289489746, -75.75682830810547, 20.597043991088867, -10.099143028259277], "tau_ext": [15.343310356140137, -35.88866424560547, -36.4847526550293, 20.010753631591797, -2.2745962142944336, -7.095001220703125, 0.08635316789150238], "tcp_pose": [0.6541793942451477, 0.021387070417404175, -0.3298332989215851, -0.03572683408856392, -0.1013571098446846, 0.9941649436950684, 0.009295007213950157], "tcp_vel": [-4.308987263357267e-05, 5.352862717700191e-05, -0.0005596833652816713, 0.0003732246987055987, -0.0014117086539044976, -0.00048561784205958247], "flange_pose": [0.6680343747138977, 0.019251620396971703, -0.14035117626190186, -0.03572683408856392, -0.1013571098446846, 0.9941649436950684, 0.009295007213950157], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.581541061401367, -55.644798278808594, -9.104640007019043, -5.326422691345215, 11.043684959411621, 0.4237089455127716], "ext_wrench_in_world": [0.5271192719822132, -56.93594056616704, 8.449316873134604, 2.9541744124646603, 11.89660832196051, -0.5068031321117614]}
+{"timestamp_ns": 1789729569930095700, "elapsed_ms": 13400, "source_timestamp_ns": 1789729569925231213, "q": [0.06974435597658157, -1.3625205755233765, 0.01939791813492775, 1.0025174617767334, 1.561794638633728, -0.0016038173343986273, -0.998227596282959], "theta": [0.06722967326641083, -1.3616211414337158, 0.01768043451011181, 0.9856515526771545, 1.5611586570739746, -0.0010889768600463867, -0.9975437521934509], "dq": [-0.00610450841486454, -0.004367216024547815, 0.012111476622521877, -0.0009433826198801398, -0.009159236215054989, 0.006731977686285973, 0.0016193768242374063], "dtheta": [-0.004853916820138693, -0.0007195192156359553, 0.010582400485873222, -0.0004910195129923522, -0.010441982187330723, 0.007303938269615173, 0.00044812809210270643], "tau": [-63.59000015258789, 0.11999999731779099, -28.09600067138672, 1.0880000591278076, -4.300000190734863, 3.864000082015991, -0.2160000056028366], "tau_des": [-1.4900981187820435, 1.3958141803741455, -0.45317575335502625, -0.2991497814655304, -0.07450682669878006, 0.19067330658435822, -0.21624238789081573], "tau_dot": [-64.38772583007812, -62.40528869628906, 39.37943649291992, 26.962392807006836, 34.33938217163086, -16.425729751586914, -19.053287506103516], "tau_ext": [15.364818572998047, -35.88796615600586, -36.47235107421875, 20.027912139892578, -2.2729744911193848, -7.094749927520752, 0.08775211870670319], "tcp_pose": [0.6541760563850403, 0.0213899165391922, -0.32983946800231934, -0.035720501095056534, -0.10135496407747269, 0.9941654205322266, 0.009290331974625587], "tcp_vel": [-9.329769818577915e-05, -0.000338547833962366, 7.434533472405747e-05, -0.002203951124101877, -0.00029661523876711726, -0.00039771199226379395], "flange_pose": [0.6680284738540649, 0.01925596036016941, -0.1403571367263794, -0.035720501095056534, -0.10135496407747269, 0.9941654205322266, 0.009290331974625587], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.62104320526123, -55.60942840576172, -9.070321083068848, -5.312872409820557, 11.027935028076172, 0.42695632576942444], "ext_wrench_in_world": [0.47857245171688045, -56.90883813850494, 8.419204682032198, 2.9439201301587796, 11.878465037170509, -0.5095670305073662]}
+{"timestamp_ns": 1789729569963433276, "elapsed_ms": 13433, "source_timestamp_ns": 1789729569955344895, "q": [0.06959877163171768, -1.3625487089157104, 0.01971334218978882, 1.002500295639038, 1.5615322589874268, -0.0014080636901780963, -0.9982313513755798], "theta": [0.06708995997905731, -1.3616489171981812, 0.017992809414863586, 0.9856336712837219, 1.5608997344970703, -0.0008910894393920898, -0.9975502490997314], "dq": [-0.006631455849856138, 0.0003425641043577343, 0.011371036991477013, -0.0008961079875007272, -0.010243279859423637, 0.005927422549575567, 1.624752076168079e-05], "dtheta": [-0.004217395093291998, -0.000996714341454208, 0.010422629304230213, -0.0004137009964324534, -0.006898100022226572, 0.0072530158795416355, 0.00015816192899364978], "tau": [-63.52000045776367, 0.14000000059604645, -28.080001831054688, 1.040000081062317, -4.300000190734863, 3.8960001468658447, -0.24000000953674316], "tau_des": [-1.6370339393615723, 1.3856123685836792, -0.5580575466156006, -0.2971201241016388, -0.19423264265060425, 0.17635521292686462, -0.2216009497642517], "tau_dot": [77.65242767333984, 120.72166442871094, 37.96852111816406, 24.270893096923828, -1.697854995727539, 85.84246063232422, -80.33968353271484], "tau_ext": [15.369576454162598, -35.90683364868164, -36.47297668457031, 20.0571231842041, -2.2689526081085205, -7.089295864105225, 0.09246383607387543], "tcp_pose": [0.6541773676872253, 0.021390428766608238, -0.329844206571579, -0.03570657968521118, -0.10135337710380554, 0.9941661953926086, 0.009281406179070473], "tcp_vel": [0.0002706421946641058, 0.00012202774087199941, -0.0006709035369567573, 0.00014268893573898822, -0.002192087471485138, -0.0006786606973037124], "flange_pose": [0.6680241823196411, 0.01925928331911564, -0.14036144316196442, -0.03570657968521118, -0.10135337710380554, 0.9941661953926086, 0.009281406179070473], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.658493995666504, -55.57081985473633, -9.01229190826416, -5.296797275543213, 11.013328552246094, 0.431332528591156], "ext_wrench_in_world": [0.4295871180211034, -56.87782528915929, 8.365784619401492, 2.930881085245593, 11.860943763329015, -0.5132874783569723]}
+{"timestamp_ns": 1789729569996768992, "elapsed_ms": 13466, "source_timestamp_ns": 1789729569995251658, "q": [0.06940601021051407, -1.362581491470337, 0.020129725337028503, 1.002478003501892, 1.5611754655838013, -0.00117620883975178, -0.9982390403747559], "theta": [0.06690546870231628, -1.361681580543518, 0.01840236596763134, 0.98561030626297, 1.560544490814209, -0.0006558895111083984, -0.9975607991218567], "dq": [-0.004903600085526705, -0.0024375461507588625, 0.010384978726506233, 0.00016455298464279622, -0.008517147041857243, 0.007045141886919737, 0.0009012394002638757], "dtheta": [-0.004482431337237358, -0.0009333379566669464, 0.010161898098886013, -0.0006756650982424617, -0.010235554538667202, 0.006666331086307764, -0.00048410240560770035], "tau": [-63.599998474121094, 0.10999999940395355, -28.128002166748047, 1.055999994277954, -4.308000087738037, 3.872000217437744, -0.20000000298023224], "tau_des": [-1.5746619701385498, 1.3889412879943848, -0.5003472566604614, -0.30894190073013306, -0.09806187450885773, 0.17710955440998077, -0.20072366297245026], "tau_dot": [-106.72761535644531, -53.320804595947266, 36.2331428527832, 7.199956893920898, -0.05634666979312897, -5.980795383453369, 1.3482619524002075], "tau_ext": [15.366464614868164, -35.8555908203125, -36.46326446533203, 20.05143165588379, -2.2627813816070557, -7.084981918334961, 0.09796826541423798], "tcp_pose": [0.6541730761528015, 0.02139723300933838, -0.3298514485359192, -0.03570025414228439, -0.10135439783334732, 0.9941663146018982, 0.009276843629777431], "tcp_vel": [-0.0002578897401690483, -0.0003982884809374809, -5.220250386628322e-05, -0.001948390156030655, 0.0002702794736251235, 0.0004966414999216795], "flange_pose": [0.6680173277854919, 0.019267579540610313, -0.1403684765100479, -0.03570025414228439, -0.10135439783334732, 0.9941663146018982, 0.009276843629777431], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.709684371948242, -55.49958801269531, -8.992859840393066, -5.274468898773193, 10.991925239562988, 0.43813127279281616], "ext_wrench_in_world": [0.36386786900616264, -56.81813597280638, 8.35221710254866, 2.9128528230326696, 11.835548061857414, -0.5191263384576218]}
+{"timestamp_ns": 1789729570030100887, "elapsed_ms": 13500, "source_timestamp_ns": 1789729570025230755, "q": [0.0692656859755516, -1.362605333328247, 0.020438477396965027, 1.0024611949920654, 1.5609158277511597, -0.000996481510810554, -0.9982462525367737], "theta": [0.06677105277776718, -1.3617055416107178, 0.018708303570747375, 0.9855929017066956, 1.5602861642837524, -0.0004749298095703125, -0.9975712895393372], "dq": [-0.0033704754896461964, -0.0023048268631100655, 0.009152378886938095, -0.0005755977472290397, -0.007764091249555349, 0.008352961391210556, 0.00017819288768805563], "dtheta": [-0.004414300434291363, -0.000963284750469029, 0.010688931681215763, -0.00026020058430731297, -0.008316944353282452, 0.005250697489827871, 0.00024593007401563227], "tau": [-63.599998474121094, 0.10999999940395355, -28.144001007080078, 1.0240000486373901, -4.315999984741211, 3.884000301361084, -0.2120000123977661], "tau_des": [-1.7456092834472656, 1.3425527811050415, -0.6758056879043579, -0.32714709639549255, -0.1901078075170517, 0.246373251080513, -0.21623240411281586], "tau_dot": [27.17165184020996, -6.934663772583008, 74.1008071899414, -9.620932579040527, 62.65542221069336, -4.228552341461182, -48.401275634765625], "tau_ext": [15.410293579101562, -35.88284683227539, -36.44072341918945, 20.067819595336914, -2.257780075073242, -7.0799479484558105, 0.0974053144454956], "tcp_pose": [0.6541719436645508, 0.021402185782790184, -0.3298583924770355, -0.0356924794614315, -0.10135643184185028, 0.9941664338111877, 0.009272127412259579], "tcp_vel": [-0.00043623571400530636, 0.00031923645292408764, -0.0006861931178718805, 0.000825114781036973, 8.632036769995466e-05, -0.0008961291168816388], "flange_pose": [0.6680130958557129, 0.019274044781923294, -0.14037516713142395, -0.0356924794614315, -0.10135643184185028, 0.9941664338111877, 0.009272127412259579], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.717181205749512, -55.48350143432617, -8.941075325012207, -5.2655463218688965, 10.983442306518555, 0.4422979950904846], "ext_wrench_in_world": [0.3496423418917636, -56.803252956053996, 8.301945472724205, 2.9054954083100086, 11.82549176943676, -0.5229257386117943]}
+{"timestamp_ns": 1789729570063432488, "elapsed_ms": 13533, "source_timestamp_ns": 1789729570055228444, "q": [0.06912046670913696, -1.3626272678375244, 0.02074192836880684, 1.00245201587677, 1.5606458187103271, -0.0008306496893055737, -0.9982510209083557], "theta": [0.0666310042142868, -1.3617268800735474, 0.019012143835425377, 0.9855828881263733, 1.5600155591964722, -0.0003088712692260742, -0.9975792169570923], "dq": [-0.007003783714026213, -0.0017866111593320966, 0.006522527430206537, 0.000504889409057796, -0.005839960649609566, 0.006141722667962313, 0.00041755379061214626], "dtheta": [-0.004988759756088257, -0.0007482661749236286, 0.010742532089352608, -0.0002201213501393795, -0.0074731698259711266, 0.0038064084947109222, -0.0005242428160272539], "tau": [-63.56999969482422, 0.12999999523162842, -28.184001922607422, 1.0160000324249268, -4.3480000495910645, 3.892000198364258, -0.20000000298023224], "tau_des": [-1.699633002281189, 1.2475520372390747, -0.6868528127670288, -0.306429922580719, -0.21320274472236633, 0.28824976086616516, -0.20497244596481323], "tau_dot": [22.278427124023438, 42.06431579589844, -7.18353796005249, 17.678266525268555, -1.1820878982543945, 37.937767028808594, 15.366201400756836], "tau_ext": [15.433233261108398, -35.849708557128906, -36.41899490356445, 20.057580947875977, -2.2512969970703125, -7.077671051025391, 0.10362192243337631], "tcp_pose": [0.6541655659675598, 0.021405166015028954, -0.32985958456993103, -0.035690441727638245, -0.10135446488857269, 0.9941667914390564, 0.009266584180295467], "tcp_vel": [-0.00032966560684144497, 0.0009387831087224185, -0.0005711351986974478, 0.0025624153204262257, -7.534777250839397e-05, -7.404122879961506e-05], "flange_pose": [0.6680057048797607, 0.019279010593891144, -0.1403762549161911, -0.035690441727638245, -0.10135446488857269, 0.9941667914390564, 0.009266584180295467], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.736477851867676, -55.457149505615234, -8.91643238067627, -5.253244400024414, 10.972025871276855, 0.4454698860645294], "ext_wrench_in_world": [0.32345425100430625, -56.78098472300132, 8.279991623698129, 2.8955852630194063, 11.811843885699723, -0.5256442429911258]}
+{"timestamp_ns": 1789729570096771997, "elapsed_ms": 13566, "source_timestamp_ns": 1789729570095230736, "q": [0.06891573965549469, -1.362657070159912, 0.021164242178201675, 1.0024391412734985, 1.5602779388427734, -0.0005934386281296611, -0.9982578158378601], "theta": [0.06643345206975937, -1.3617560863494873, 0.019443681463599205, 0.9855685234069824, 1.559640645980835, -7.05718994140625e-05, -0.9975892901420593], "dq": [-0.005209105554968119, -0.0011814585886895657, 0.008640389889478683, -0.0003881801967509091, -0.008127126842737198, 0.005836597643792629, -0.0007200731779448688], "dtheta": [-0.005209801252931356, -0.0005855739000253379, 0.010868771933019161, -0.00057739153271541, -0.010437495075166225, 0.007316614035516977, 0.00011582231672946364], "tau": [-63.66999816894531, 0.20999999344348907, -28.168001174926758, 0.984000027179718, -4.304000377655029, 3.892000198364258, -0.23600001633167267], "tau_des": [-1.4776513576507568, 1.2851768732070923, -0.5182117223739624, -0.31140121817588806, -0.11702780425548553, 0.15411542356014252, -0.21621762216091156], "tau_dot": [1.3498609066009521, 128.7790069580078, 30.15752601623535, -54.6488151550293, 47.738800048828125, 50.68802261352539, -42.201629638671875], "tau_ext": [15.474896430969238, -35.859073638916016, -36.38556671142578, 20.07253646850586, -2.240798234939575, -7.078348636627197, 0.11100755631923676], "tcp_pose": [0.6541607975959778, 0.02141018770635128, -0.32985982298851013, -0.03568124398589134, -0.10135231912136078, 0.9941673874855042, 0.009258681908249855], "tcp_vel": [8.391767187276855e-05, -0.00012055930710630491, 0.0001681405265117064, -0.0018885728204622865, -0.0006116330623626709, 0.00015223139780573547], "flange_pose": [0.6679971814155579, 0.019286632537841797, -0.14037621021270752, -0.03568124398589134, -0.10135231912136078, 0.9941673874855042, 0.009258681908249855], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.748847007751465, -55.44136047363281, -8.82392692565918, -5.247044086456299, 10.959206581115723, 0.4538402557373047], "ext_wrench_in_world": [0.30107128363172686, -56.76687497931288, 8.189798821305185, 2.891551098652597, 11.798111183853358, -0.5340002320497654]}
+{"timestamp_ns": 1789729570130103557, "elapsed_ms": 13600, "source_timestamp_ns": 1789729570125233884, "q": [0.06876564025878906, -1.3626823425292969, 0.021464280784130096, 1.0024195909500122, 1.5599989891052246, -0.0004257934051565826, -0.9982674717903137], "theta": [0.06629034876823425, -1.3617812395095825, 0.019759206101298332, 0.9855474233627319, 1.559357762336731, 9.846687316894531e-05, -0.9976012706756592], "dq": [-0.005001842975616455, -0.0020363498479127884, 0.010481512174010277, -0.0018435264937579632, -0.008204080164432526, 0.006946287117898464, 0.0007653298671357334], "dtheta": [-0.004848809447139502, -0.0008609661017544568, 0.01027598138898611, -0.0006872624508105218, -0.00924993772059679, 0.005161029752343893, -0.0006450274959206581], "tau": [-63.59000015258789, 0.12999999523162842, -28.124000549316406, 1.0080000162124634, -4.328000068664551, 3.828000068664551, -0.19600000977516174], "tau_des": [-1.5594605207443237, 1.2923558950424194, -0.5195956230163574, -0.32810577750205994, -0.10922344028949738, 0.19093529880046844, -0.19144712388515472], "tau_dot": [-42.64195251464844, 116.95623016357422, 10.176251411437988, 14.064790725708008, -30.996383666992188, -12.074395179748535, 4.378348350524902], "tau_ext": [15.476476669311523, -35.85630416870117, -36.399322509765625, 20.09112548828125, -2.2447667121887207, -7.070611476898193, 0.1011391282081604], "tcp_pose": [0.6541582345962524, 0.021410642191767693, -0.32985520362854004, -0.035679373890161514, -0.10135667771100998, 0.994167149066925, 0.009247940964996815], "tcp_vel": [-0.00023568852338939905, 0.00020496133947744966, -0.00012089352094335482, -5.90438321523834e-05, 0.0002747669059317559, 0.0006144347134977579], "flange_pose": [0.6679935455322266, 0.01929113268852234, -0.1403714418411255, -0.035679373890161514, -0.10135667771100998, 0.994167149066925, 0.009247940964996815], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.766030311584473, -55.41936492919922, -8.77863883972168, -5.2347917556762695, 10.952642440795898, 0.4580829441547394], "ext_wrench_in_world": [0.27705620438740486, -56.748132153205184, 8.147558855824302, 2.880483039961101, 11.789269333263901, -0.5377798705837027]}
+{"timestamp_ns": 1789729570163433818, "elapsed_ms": 13633, "source_timestamp_ns": 1789729570155229594, "q": [0.06860588490962982, -1.3627125024795532, 0.02175525203347206, 1.002388834953308, 1.5597405433654785, -0.00028185456176288426, -0.9982699751853943], "theta": [0.06613833457231522, -1.361811637878418, 0.02007010392844677, 0.9855170845985413, 1.5590951442718506, 0.0002415180206298828, -0.9976069927215576], "dq": [-0.005860344041138887, 0.00023193172819446772, 0.009880301542580128, -7.427293166983873e-05, -0.007911419495940208, 0.004889099858701229, 0.0023483240511268377], "dtheta": [-0.0043844422325491905, -0.000964506936725229, 0.01062383595854044, -0.001266819890588522, -0.00836678221821785, 0.004756958689540625, 0.0008282382041215897], "tau": [-63.53999710083008, 0.03999999910593033, -28.124000549316406, 1.0120000839233398, -4.320000171661377, 3.8400001525878906, -0.20800000429153442], "tau_des": [-1.6078994274139404, 1.181095004081726, -0.6089980006217957, -0.26076632738113403, -0.17343543469905853, 0.21456952393054962, -0.20208069682121277], "tau_dot": [-1.1248292922973633, -22.71955108642578, 24.151966094970703, 8.761452674865723, 24.938474655151367, -56.69590759277344, -10.389822959899902], "tau_ext": [15.442652702331543, -35.81126403808594, -36.41230392456055, 20.06679916381836, -2.240896224975586, -7.056250095367432, 0.08804580569267273], "tcp_pose": [0.6541618704795837, 0.021416954696178436, -0.3298446536064148, -0.035671550780534744, -0.10136019438505173, 0.9941670298576355, 0.009247797541320324], "tcp_vel": [-0.00013163784751668572, 0.0006825999007560313, -0.0007392518455162644, 0.0011123064905405045, 0.00046750856563448906, -0.0004768136132042855], "flange_pose": [0.6679942011833191, 0.019297245889902115, -0.14036068320274353, -0.035671550780534744, -0.10136019438505173, 0.9941670298576355, 0.009247797541320324], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.803866386413574, -55.40193557739258, -8.817441940307617, -5.226072311401367, 10.934797286987305, 0.4513317048549652], "ext_wrench_in_world": [0.23968073171769033, -56.73915793804369, 8.189231916922067, 2.875968431108357, 11.76997619804873, -0.5308386760050394]}
+{"timestamp_ns": 1789729570196769238, "elapsed_ms": 13666, "source_timestamp_ns": 1789729570195226647, "q": [0.06840332597494125, -1.3627614974975586, 0.02215631492435932, 1.0023351907730103, 1.5593783855438232, -7.862834900151938e-05, -0.9982670545578003], "theta": [0.06594636291265488, -1.361862301826477, 0.020498398691415787, 0.9854629039764404, 1.558724045753479, 0.00044214725494384766, -0.9976075291633606], "dq": [-0.0037960242480039597, -0.00021686666877940297, 0.011449498124420643, -0.001576090813614428, -0.006567038595676422, 0.0028523229993879795, -0.00016070908168330789], "dtheta": [-0.0043210419826209545, -0.0015147824306041002, 0.010821530595421791, -0.0008837367640808225, -0.008906823582947254, 0.004554776009172201, 0.0004903264343738556], "tau": [-63.43000030517578, 0.029999999329447746, -28.108001708984375, 0.984000027179718, -4.332000255584717, 3.81600022315979, -0.20000000298023224], "tau_des": [-1.6232889890670776, 1.318845510482788, -0.5983646512031555, -0.35127684473991394, -0.13743017613887787, 0.22179104387760162, -0.19793008267879486], "tau_dot": [123.73114776611328, 52.22318649291992, -22.74196434020996, 53.10411071777344, 34.05894470214844, -27.161806106567383, -3.2059414386749268], "tau_ext": [15.381113052368164, -35.781455993652344, -36.44569778442383, 20.071910858154297, -2.2452683448791504, -7.0459794998168945, 0.08536797016859055], "tcp_pose": [0.654163122177124, 0.021421728655695915, -0.32984063029289246, -0.03567016124725342, -0.10136392712593079, 0.9941667318344116, 0.009244783781468868], "tcp_vel": [-0.0006664078682661057, 0.00020191197108943015, -0.0008067930466495454, 0.0010319355642423034, 0.0011018000077456236, -0.0010538974311202765], "flange_pose": [0.6679947972297668, 0.019303157925605774, -0.14035658538341522, -0.03567016124725342, -0.10136392712593079, 0.9941667318344116, 0.009244783781468868], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.826510429382324, -55.30750274658203, -8.853062629699707, -5.197316646575928, 10.918722152709961, 0.44507965445518494], "ext_wrench_in_world": [0.20158980897753498, -56.65161131427411, 8.229047573697619, 2.851472775728442, 11.748369073170233, -0.5230839335338061]}
+{"timestamp_ns": 1789729570230104107, "elapsed_ms": 13700, "source_timestamp_ns": 1789729570225233855, "q": [0.0682668536901474, -1.3628021478652954, 0.022463249042630196, 1.0022960901260376, 1.5591235160827637, 9.754002530826256e-05, -0.9982661604881287], "theta": [0.06581589579582214, -1.3619043827056885, 0.02081621065735817, 0.9854235053062439, 1.5584642887115479, 0.0006164312362670898, -0.997608482837677], "dq": [-0.002535211155191064, 0.0003615694586187601, 0.007419532630592585, -0.0029470480512827635, -0.010649549774825573, 0.004129385109990835, 0.0004855037550441921], "dtheta": [-0.00399880250915885, -0.001098413486033678, 0.010359509848058224, -0.0013434187276288867, -0.009096513502299786, 0.0060916319489479065, 0.0003902540192939341], "tau": [-63.599998474121094, 0.029999999329447746, -28.14000129699707, 0.968000054359436, -4.296000003814697, 3.8440001010894775, -0.164000004529953], "tau_des": [-1.6041598320007324, 1.1942229270935059, -0.5860325694084167, -0.2521100342273712, -0.15194857120513916, 0.16171441972255707, -0.18018843233585358], "tau_dot": [-89.93272399902344, 19.85418701171875, -19.428016662597656, -25.787019729614258, 60.693115234375, 34.195030212402344, 11.407613754272461], "tau_ext": [15.390156745910645, -35.742130279541016, -36.435672760009766, 20.058603286743164, -2.237096071243286, -7.041656970977783, 0.0645313411951065], "tcp_pose": [0.654164731502533, 0.021422993391752243, -0.3298501670360565, -0.035663191229104996, -0.10136475414037704, 0.994166910648346, 0.009242219850420952], "tcp_vel": [-0.00010799198935274035, 0.00010553059837548062, -0.0006569984834641218, -0.0005754648009315133, 0.0003751038748305291, 3.484978515189141e-05], "flange_pose": [0.6679937243461609, 0.01930513232946396, -0.14036594331264496, -0.035663191229104996, -0.10136475414037704, 0.994166910648346, 0.009242219850420952], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.878771781921387, -55.26311111450195, -8.854902267456055, -5.182973384857178, 10.898480415344238, 0.43718963861465454], "ext_wrench_in_world": [0.14172711761006884, -56.61869737185291, 8.2358353920917, 2.8420893404632737, 11.725561351716895, -0.5147450046769769]}
+{"timestamp_ns": 1789729570263429319, "elapsed_ms": 13733, "source_timestamp_ns": 1789729570255256348, "q": [0.06815142929553986, -1.3628337383270264, 0.02274753712117672, 1.0022673606872559, 1.5588974952697754, 0.00026054520276375115, -0.9982660412788391], "theta": [0.06570617854595184, -1.3619388341903687, 0.021105602383613586, 0.9853943586349487, 1.558232307434082, 0.0007789134979248047, -0.9976099133491516], "dq": [-0.002561797620728612, -0.004011616576462984, 0.008515112102031708, -0.0011315983720123768, -0.0039047447498887777, 0.005895582959055901, -0.0023980869445949793], "dtheta": [-0.003658156841993332, -0.0010900945635512471, 0.009105868637561798, -0.0005747373215854168, -0.005321343429386616, 0.004902824759483337, -0.00014066426956560463], "tau": [-63.63999938964844, 0.019999999552965164, -28.18800163269043, 0.9600000381469727, -4.368000030517578, 3.824000120162964, -0.18800000846385956], "tau_des": [-1.7431740760803223, 1.1735154390335083, -0.6818419694900513, -0.27940717339515686, -0.26694872975349426, 0.20939333736896515, -0.18093018233776093], "tau_dot": [35.30732345581055, -50.75469970703125, -19.295982360839844, 46.242393493652344, 11.365350723266602, -55.8349723815918, -11.480730056762695], "tau_ext": [15.398452758789062, -35.792457580566406, -36.42803192138672, 20.096736907958984, -2.2351362705230713, -7.041238307952881, 0.0703989639878273], "tcp_pose": [0.6541635394096375, 0.02142815664410591, -0.3298673629760742, -0.03565836697816849, -0.10136496275663376, 0.9941670894622803, 0.009243600070476532], "tcp_vel": [8.823245298117399e-05, 0.0004655984812416136, -0.0008159448625519872, 0.0016615334898233414, -0.0014001235831528902, -0.0004100259393453598], "flange_pose": [0.6679907441139221, 0.019309591501951218, -0.14038300514221191, -0.03565836697816849, -0.10136496275663376, 0.9941670894622803, 0.009243600070476532], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.916877746582031, -55.23416519165039, -8.828527450561523, -5.1719279289245605, 10.882352828979492, 0.42977941036224365], "ext_wrench_in_world": [0.0967007896670703, -56.597793141130765, 8.212693656887058, 2.8350806363030605, 11.707454311988299, -0.5069351598825902]}
+{"timestamp_ns": 1789729570296771727, "elapsed_ms": 13766, "source_timestamp_ns": 1789729570295250552, "q": [0.06800657510757446, -1.362868309020996, 0.023098191246390343, 1.0022451877593994, 1.5586038827896118, 0.0004691960057243705, -0.9982662796974182], "theta": [0.0655689463019371, -1.361976146697998, 0.021454742178320885, 0.9853713512420654, 1.5579304695129395, 0.000986933708190918, -0.997612476348877], "dq": [-0.004215993918478489, -0.003241896629333496, 0.00800019595772028, -0.0008892671903595328, -0.008582056500017643, 0.005799089092761278, -0.0005247272783890367], "dtheta": [-0.0032785225193947554, -0.000415056332712993, 0.008445694111287594, -0.0008035397040657699, -0.007309339940547943, 0.004950611852109432, -0.000796711421571672], "tau": [-63.77000045776367, 0.009999999776482582, -28.224000930786133, 0.9160000681877136, -4.368000030517578, 3.8560001850128174, -0.20400001108646393], "tau_des": [-1.839599609375, 1.0900835990905762, -0.7013141512870789, -0.24739296734333038, -0.20238420367240906, 0.20930571854114532, -0.1652163416147232], "tau_dot": [65.89551544189453, -75.93743896484375, 20.345705032348633, -50.243995666503906, -10.53928279876709, -3.9150922298431396, -45.53112030029297], "tau_ext": [15.531625747680664, -35.71823501586914, -36.33927536010742, 20.06692123413086, -2.2133641242980957, -7.045752048492432, 0.07526273280382156], "tcp_pose": [0.6541576385498047, 0.02142924815416336, -0.32988429069519043, -0.03565477207303047, -0.101361483335495, 0.9941676259040833, 0.00923741515725851], "tcp_vel": [-1.9326012989040464e-05, 0.0003532526607159525, -0.0005418869550339878, -0.0002908242749981582, 0.00021634498261846602, 0.00132569030392915], "flange_pose": [0.6679832339286804, 0.01931283064186573, -0.14039979875087738, -0.03565477207303047, -0.101361483335495, 0.9941676259040833, 0.00923741515725851], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.94827651977539, -55.213592529296875, -8.728127479553223, -5.159358501434326, 10.867813110351562, 0.4330386817455292], "ext_wrench_in_world": [0.05414333362520474, -56.58278068151223, 8.115930010225924, 2.825567177142607, 11.690685760145412, -0.5098048967276534]}
+{"timestamp_ns": 1789729570330100978, "elapsed_ms": 13800, "source_timestamp_ns": 1789729570325241993, "q": [0.06789422780275345, -1.3628907203674316, 0.023338405415415764, 1.0022315979003906, 1.5584019422531128, 0.0006154212169349194, -0.99826580286026], "theta": [0.0654626116156578, -1.362000823020935, 0.021695449948310852, 0.9853565096855164, 1.557722568511963, 0.0011311769485473633, -0.997613251209259], "dq": [-0.005790707189589739, 0.0015944394981488585, 0.007497272454202175, -0.0014812119770795107, -0.0075570992194116116, 0.003914534114301205, -0.000724711746443063], "dtheta": [-0.003846104023978114, -0.0006529832608066499, 0.007945857010781765, -0.0008078024839051068, -0.007397734560072422, 0.003844821359962225, 0.0003377434622962028], "tau": [-63.73999786376953, 0.029999999329447746, -28.216001510620117, 0.9480000734329224, -4.384000301361084, 3.812000274658203, -0.19200000166893005], "tau_des": [-1.6881202459335327, 1.1666083335876465, -0.5931457877159119, -0.3081689178943634, -0.19555625319480896, 0.1789238005876541, -0.19971077144145966], "tau_dot": [-48.84437561035156, 3.7742559909820557, -4.437013626098633, 66.8101577758789, -26.210134506225586, -16.733409881591797, 22.742422103881836], "tau_ext": [15.527603149414062, -35.77643585205078, -36.35012435913086, 20.10127067565918, -2.211879253387451, -7.039324760437012, 0.08859129250049591], "tcp_pose": [0.6541582345962524, 0.02142951637506485, -0.32988691329956055, -0.035645078867673874, -0.10135871917009354, 0.9941682815551758, 0.009230976924300194], "tcp_vel": [-0.00010527357517275959, 0.00023246103955898434, -2.1436932001961395e-05, -0.00015062434249557555, 0.00039333681343123317, -4.765830817632377e-05], "flange_pose": [0.667979896068573, 0.019315117970108986, -0.14040210843086243, -0.035645078867673874, -0.10135871917009354, 0.9941682815551758, 0.009230976924300194], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.941067695617676, -55.21137237548828, -8.645334243774414, -5.150835990905762, 10.863712310791016, 0.44029882550239563], "ext_wrench_in_world": [0.05424724321661545, -56.578138230596615, 8.033546730979868, 2.8176100726381916, 11.685006772787574, -0.5166331687547019]}
+{"timestamp_ns": 1789729570363440427, "elapsed_ms": 13833, "source_timestamp_ns": 1789729570355247731, "q": [0.06777133047580719, -1.3629157543182373, 0.023578010499477386, 1.0022073984146118, 1.558180570602417, 0.0007360068848356605, -0.9982658624649048], "theta": [0.06534583121538162, -1.3620281219482422, 0.021939923986792564, 0.9853319525718689, 1.5574942827224731, 0.0012483596801757812, -0.9976147413253784], "dq": [-0.0036704419180750847, -0.0027658697217702866, 0.005582553334534168, -0.0013153338804841042, -0.01024043932557106, 0.003737859195098281, 0.0020761771593242884], "dtheta": [-0.0042076101526618, -0.000580758904106915, 0.008494212292134762, -0.0005676334840245545, -0.0071137696504592896, 0.004084958229213953, -0.0006718002841807902], "tau": [-63.689998626708984, -0.0, -28.176000595092773, 0.9480000734329224, -4.3520002365112305, 3.812000274658203, -0.2160000056028366], "tau_des": [-1.6371760368347168, 1.1262692213058472, -0.5937913060188293, -0.2951194643974304, -0.20120152831077576, 0.1828562617301941, -0.17799046635627747], "tau_dot": [5.452924728393555, 29.719608306884766, -12.644036293029785, 31.393266677856445, 62.37416458129883, -5.022146701812744, -43.85585021972656], "tau_ext": [15.528268814086914, -35.75337219238281, -36.353702545166016, 20.094188690185547, -2.2090351581573486, -7.027479648590088, 0.09154877066612244], "tcp_pose": [0.6541567444801331, 0.02143225632607937, -0.3298826515674591, -0.03564558923244476, -0.10136028379201889, 0.9941681623458862, 0.009227801114320755], "tcp_vel": [-1.2780486940755509e-05, 0.0004082463274244219, -4.9691268941387534e-05, 0.00047198589891195297, -0.00023018653155304492, 0.0007491658325307071], "flange_pose": [0.6679784655570984, 0.01931910030543804, -0.140397846698761, -0.03564558923244476, -0.10136028379201889, 0.9941681623458862, 0.009227801114320755], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.939355850219727, -55.19853210449219, -8.606293678283691, -5.139453887939453, 10.85677719116211, 0.4479731619358063], "ext_wrench_in_world": [0.05069369646495714, -56.56473282265303, 7.995178943382932, 2.8072860524110292, 11.676005511737449, -0.5237532896543005]}
+{"timestamp_ns": 1789729570396769388, "elapsed_ms": 13866, "source_timestamp_ns": 1789729570395253411, "q": [0.06760559231042862, -1.36295485496521, 0.023908527567982674, 1.0021721124649048, 1.5578889846801758, 0.0009154672734439373, -0.9982644319534302], "theta": [0.06518785655498505, -1.362070918083191, 0.022283438593149185, 0.9852962493896484, 1.5571926832199097, 0.0014262199401855469, -0.9976147413253784], "dq": [-0.0040059396997094154, -0.0011663921177387238, 0.008540195412933826, -0.000658022821880877, -0.006739142816513777, 0.001549706095829606, 0.0021092314273118973], "dtheta": [-0.0038212004583328962, -0.001185447908937931, 0.00876991543918848, -0.001185404253192246, -0.007424659561365843, 0.004598801489919424, -0.00045884220162406564], "tau": [-63.65999984741211, -0.009999999776482582, -28.160001754760742, 0.9080000519752502, -4.344000339508057, 3.808000087738037, -0.2120000123977661], "tau_des": [-1.6821688413619995, 1.2035883665084839, -0.6063148379325867, -0.3157750964164734, -0.19158782064914703, 0.15637676417827606, -0.18114061653614044], "tau_dot": [-45.60292434692383, -50.41365432739258, 19.021770477294922, 24.282424926757812, 74.6489486694336, -42.006752014160156, 0.36126235127449036], "tau_ext": [15.512105941772461, -35.75495529174805, -36.3643913269043, 20.10131072998047, -2.2052114009857178, -7.024872779846191, 0.09370101988315582], "tcp_pose": [0.6541581749916077, 0.021433712914586067, -0.3298795819282532, -0.03563866391777992, -0.10136042535305023, 0.9941684603691101, 0.009222719818353653], "tcp_vel": [-7.317259587580338e-05, 0.00010488655971130356, -0.00034831935772672296, 0.00014769921835977584, 6.184319499880075e-05, 0.0005774500896222889], "flange_pose": [0.6679770946502686, 0.019322209060192108, -0.14039453864097595, -0.03563866391777992, -0.10136042535305023, 0.9941684603691101, 0.009222719818353653], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.93469524383545, -55.16417694091797, -8.59073257446289, -5.124988079071045, 10.85110855102539, 0.45488524436950684], "ext_wrench_in_world": [0.04712085149760159, -56.52990459761508, 7.980709248429256, 2.7937926766622687, 11.667602924832842, -0.529853423658061]}
+{"timestamp_ns": 1789729570430100938, "elapsed_ms": 13900, "source_timestamp_ns": 1789729570425236674, "q": [0.06748925149440765, -1.3629939556121826, 0.02415768802165985, 1.0021305084228516, 1.5576741695404053, 0.0010495418682694435, -0.9982630610466003], "theta": [0.06507670134305954, -1.3621115684509277, 0.022548511624336243, 0.9852539896965027, 1.5569713115692139, 0.001560211181640625, -0.9976139664649963], "dq": [-0.005180211737751961, -0.0024738607462495565, 0.004687816370278597, -0.0005125690368004143, -0.006783436052501202, 0.005723110865801573, -0.0010964871617034078], "dtheta": [-0.0034503128845244646, -0.0010840145405381918, 0.008826124481856823, -0.0016966076800599694, -0.006739282980561256, 0.0046786596067249775, 0.00045331520959734917], "tau": [-63.689998626708984, 0.0, -28.172000885009766, 0.8880000710487366, -4.380000114440918, 3.824000120162964, -0.20000000298023224], "tau_des": [-1.7739931344985962, 1.11135995388031, -0.6862011551856995, -0.2515813708305359, -0.2310141921043396, 0.1646309494972229, -0.18226370215415955], "tau_dot": [66.09288024902344, -45.17880630493164, -20.581798553466797, 6.56634521484375, -81.17981719970703, 8.932551383972168, 2.8302431106567383], "tau_ext": [15.526388168334961, -35.71710205078125, -36.361297607421875, 20.095699310302734, -2.2002785205841064, -7.023010730743408, 0.09060321748256683], "tcp_pose": [0.6541600227355957, 0.021433774381875992, -0.3298836648464203, -0.03563595935702324, -0.10136285424232483, 0.9941682815551758, 0.009221448563039303], "tcp_vel": [0.00019633749616332352, 0.00046229842700995505, -0.0007034116424620152, 0.000601450854446739, -0.00010343027679482475, 0.0002347528497921303], "flange_pose": [0.6679778695106506, 0.019322682172060013, -0.1403985321521759, -0.03563595935702324, -0.10136285424232483, 0.9941682815551758, 0.009221448563039303], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.944357872009277, -55.14121627807617, -8.59428596496582, -5.117593765258789, 10.844356536865234, 0.457641065120697], "ext_wrench_in_world": [0.03355939224652782, -56.50939830613683, 7.9856086614222725, 2.787670812352049, 11.659539041725369, -0.5322694484887666]}
+{"timestamp_ns": 1789729570463431879, "elapsed_ms": 13933, "source_timestamp_ns": 1789729570455257528, "q": [0.0673782154917717, -1.3630378246307373, 0.02440211921930313, 1.0020867586135864, 1.5574686527252197, 0.001183782471343875, -0.9982616305351257], "theta": [0.06497123092412949, -1.3621574640274048, 0.022811630740761757, 0.9852094054222107, 1.556759238243103, 0.0016946792602539062, -0.9976128339767456], "dq": [-0.0028783695306628942, 0.0001796756114345044, 0.009188955649733543, -0.002249991986900568, -0.0071716937236487865, 0.0029613086953759193, -0.000603322871029377], "dtheta": [-0.003557660849764943, -0.0012230942957103252, 0.008938666433095932, -0.0013948683626949787, -0.008012308739125729, 0.004359557759016752, 0.0003420344728510827], "tau": [-63.689998626708984, -0.04999999701976776, -28.224000930786133, 0.8760000467300415, -4.368000030517578, 3.832000255584717, -0.18400001525878906], "tau_des": [-1.792041301727295, 1.215993881225586, -0.6805002689361572, -0.31936362385749817, -0.19394822418689728, 0.1621215045452118, -0.18334662914276123], "tau_dot": [95.2720947265625, -48.53739929199219, -3.764772891998291, 28.675729751586914, 55.056861877441406, 44.190860748291016, -1.2353824377059937], "tau_ext": [15.546843528747559, -35.720375061035156, -36.3562126159668, 20.11191177368164, -2.194105863571167, -7.025400161743164, 0.09176526963710785], "tcp_pose": [0.6541617512702942, 0.02143152803182602, -0.3298899829387665, -0.03563188761472702, -0.10136387497186661, 0.9941683411598206, 0.009220907464623451], "tcp_vel": [-0.00026690203230828047, 0.00012994369899388403, -0.0005582271260209382, 2.8426402423065156e-05, 0.0009504127083346248, -2.8813979952246882e-05], "flange_pose": [0.667978048324585, 0.019320495426654816, -0.14040474593639374, -0.03563188761472702, -0.10136387497186661, 0.9941683411598206, 0.009220907464623451], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.97425651550293, -55.126800537109375, -8.563727378845215, -5.107424736022949, 10.833944320678711, 0.45766928791999817], "ext_wrench_in_world": [-0.0007208051876547161, -56.5009858124803, 7.957574057137606, 2.779807495192874, 11.647292095725765, -0.5318414061770732]}
+{"timestamp_ns": 1789729570496766948, "elapsed_ms": 13966, "source_timestamp_ns": 1789729570495232906, "q": [0.06723709404468536, -1.363080620765686, 0.024708764627575874, 1.0020393133163452, 1.5571948289871216, 0.0013508660485967994, -0.9982582330703735], "theta": [0.06483804434537888, -1.3622024059295654, 0.023145703598856926, 0.9851601719856262, 1.5564762353897095, 0.0018622875213623047, -0.9976096749305725], "dq": [-0.0033921529538929462, -0.002211977494880557, 0.007253256160765886, 0.0016252531204372644, -0.006530153099447489, 0.0033077674452215433, -0.0027034019585698843], "dtheta": [-0.0035015628673136234, -0.0006483617471531034, 0.007904346100986004, -0.0008393643656745553, -0.006879815366119146, 0.004184171091765165, 0.0005887949955649674], "tau": [-63.80999755859375, 0.019999999552965164, -28.21200180053711, 0.8520000576972961, -4.400000095367432, 3.8560001850128174, -0.1720000058412552], "tau_des": [-1.7433764934539795, 1.1465476751327515, -0.6151358485221863, -0.30377981066703796, -0.1959797590970993, 0.14297039806842804, -0.17902997136116028], "tau_dot": [-107.5683364868164, 76.68561553955078, -10.837367057800293, -25.989721298217773, -31.515535354614258, 88.02501678466797, 35.093910217285156], "tau_ext": [15.58264446258545, -35.718441009521484, -36.350276947021484, 20.128450393676758, -2.1898889541625977, -7.018367290496826, 0.07912222295999527], "tcp_pose": [0.6541622877120972, 0.02143193408846855, -0.32989510893821716, -0.03563261032104492, -0.10136709362268448, 0.9941680431365967, 0.009215732105076313], "tcp_vel": [-2.477156522218138e-05, 0.0002687373198568821, -0.0002554336388129741, -8.647820504847914e-05, 0.00012074508413206786, -0.0002684763167053461], "flange_pose": [0.6679787039756775, 0.01932292990386486, -0.14040987193584442, -0.03563261032104492, -0.10136709362268448, 0.9941680431365967, 0.009215732105076313], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.011812210083008, -55.07402801513672, -8.486397743225098, -5.0814008712768555, 10.820649147033691, 0.45519891381263733], "ext_wrench_in_world": [-0.05324495363563031, -56.45596130161184, 7.88496921518388, 2.7571552150185337, 11.62899632669377, -0.5280420276732758]}
+{"timestamp_ns": 1789729570530099069, "elapsed_ms": 14000, "source_timestamp_ns": 1789729570525240713, "q": [0.06712286174297333, -1.3631078004837036, 0.024933578446507454, 1.0020191669464111, 1.5570040941238403, 0.0014695879071950912, -0.9982585906982422], "theta": [0.0647301897406578, -1.3622299432754517, 0.023392800241708755, 0.9851388931274414, 1.5562806129455566, 0.0019811391830444336, -0.9976096749305725], "dq": [-0.004713766742497683, 0.0008880077512003481, 0.0059388973750174046, 0.0003687597927637398, -0.006156596355140209, 0.003569722641259432, 0.0008975437376648188], "dtheta": [-0.003959023859351873, -0.0005402860115282238, 0.008007745258510113, -0.00042306879186071455, -0.007026807405054569, 0.0042891306802630424, -0.0006745493737980723], "tau": [-63.79999923706055, -0.019999999552965164, -28.2080020904541, 0.8400000333786011, -4.37600040435791, 3.7880001068115234, -0.18800000846385956], "tau_des": [-1.613999366760254, 1.1455488204956055, -0.5609378814697266, -0.31385311484336853, -0.20392365753650665, 0.12099024653434753, -0.16350705921649933], "tau_dot": [-72.16020202636719, 74.61929321289062, -39.354331970214844, -94.24463653564453, 22.74172592163086, -27.31029510498047, -77.30012512207031], "tau_ext": [15.537079811096191, -35.69750213623047, -36.383419036865234, 20.108131408691406, -2.1872591972351074, -7.0112624168396, 0.07271836698055267], "tcp_pose": [0.6541628241539001, 0.02143368497490883, -0.3298930823802948, -0.03562525287270546, -0.10136555880308151, 0.9941684603691101, 0.009215807542204857], "tcp_vel": [-2.6837364202947356e-05, 0.00020675033738370985, 2.89716826955555e-05, -9.394122025696561e-05, -0.0002875126665458083, 0.0006935849669389427], "flange_pose": [0.667976438999176, 0.019324347376823425, -0.14040763676166534, -0.03562525287270546, -0.10136555880308151, 0.9941684603691101, 0.009215807542204857], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.041558265686035, -55.06032943725586, -8.485455513000488, -5.071841716766357, 10.80907917022705, 0.44892480969429016], "ext_wrench_in_world": [-0.08542492939347202, -56.448562757623044, 7.886344124389773, 2.7506430607051082, 11.61565527901132, -0.5213631984501961]}
+{"timestamp_ns": 1789729570563433599, "elapsed_ms": 14033, "source_timestamp_ns": 1789729570555260538, "q": [0.0670175775885582, -1.3631227016448975, 0.025143101811408997, 1.0020118951797485, 1.5568181276321411, 0.0015782651025801897, -0.9982582926750183], "theta": [0.06463172286748886, -1.362245798110962, 0.023622063919901848, 0.9851296544075012, 1.556090235710144, 0.0020895004272460938, -0.9976094365119934], "dq": [-0.002930537099018693, -0.002051638439297676, 0.009335865266621113, 0.001291767111979425, -0.006649916060268879, 0.0013974773464724422, -0.0012814305955544114], "dtheta": [-0.002842225134372711, -0.0008068879251368344, 0.00760222552344203, -6.803646829212084e-05, -0.006874337792396545, 0.00404208293184638, -0.00029048611759208143], "tau": [-63.73999786376953, -0.0, -28.176000595092773, 0.8920000195503235, -4.37600040435791, 3.7960002422332764, -0.1720000058412552], "tau_des": [-1.8363722562789917, 1.2801214456558228, -0.6418678164482117, -0.42702582478523254, -0.17946335673332214, 0.15727372467517853, -0.18685780465602875], "tau_dot": [-14.719673156738281, -30.079484939575195, 30.947532653808594, 84.06507110595703, 27.062519073486328, 5.706999778747559, -18.848674774169922], "tau_ext": [15.595683097839355, -35.73051834106445, -36.362220764160156, 20.125873565673828, -2.1781182289123535, -7.012113094329834, 0.07246584445238113], "tcp_pose": [0.6541597247123718, 0.02143779955804348, -0.3298912048339844, -0.03562294691801071, -0.10136339068412781, 0.994168758392334, 0.009214118123054504], "tcp_vel": [-0.0006121642072685063, -0.00013273350486997515, -0.0005361486691981554, -0.00027897179825231433, 0.0008207470527850091, -0.000302633095998317], "flange_pose": [0.6679723858833313, 0.019328979775309563, -0.14040566980838776, -0.03562294691801071, -0.10136339068412781, 0.994168758392334, 0.009214118123054504], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.03846549987793, -55.059452056884766, -8.46530532836914, -5.066163063049316, 10.805648803710938, 0.44544515013694763], "ext_wrench_in_world": [-0.08432578251817635, -56.44683011320968, 7.866229467254685, 2.7460900272585906, 11.611095733786518, -0.5176109111685896]}
+{"timestamp_ns": 1789729570596769708, "elapsed_ms": 14066, "source_timestamp_ns": 1789729570595239155, "q": [0.06690065562725067, -1.3631409406661987, 0.025398053228855133, 1.0019978284835815, 1.5565927028656006, 0.0017255519051104784, -0.9982589483261108], "theta": [0.06452271342277527, -1.3622649908065796, 0.023894622921943665, 0.985112726688385, 1.5558568239212036, 0.0022382736206054688, -0.9976096749305725], "dq": [-0.0011376949260011315, -0.0005960628623142838, 0.009034320712089539, -0.0002601264277473092, -0.005959835834801197, 0.0022749784402549267, -0.00033387530129402876], "dtheta": [-0.0022915618028491735, -0.000654171803034842, 0.006183950696140528, -0.00023445380793418735, -0.004576636012643576, 0.0023809527046978474, -8.022984548006207e-05], "tau": [-63.71999740600586, -0.09999999403953552, -28.128002166748047, 0.8480000495910645, -4.404000282287598, 3.7880001068115234, -0.1720000058412552], "tau_des": [-1.913601040840149, 1.1907118558883667, -0.6516758799552917, -0.39732825756073, -0.21893128752708435, 0.18633165955543518, -0.18526849150657654], "tau_dot": [-50.96975326538086, -159.0236358642578, 94.17118835449219, -49.45869827270508, -22.813430786132812, -22.99214744567871, 28.38761329650879], "tau_ext": [15.596734046936035, -35.711326599121094, -36.371299743652344, 20.119823455810547, -2.1787729263305664, -7.011308193206787, 0.07376281917095184], "tcp_pose": [0.6541576385498047, 0.021441299468278885, -0.3298950493335724, -0.03562057390809059, -0.10136395692825317, 0.9941688776016235, 0.009207152761518955], "tcp_vel": [-0.0004194465291220695, 0.00033611099934205413, -0.0006547366501763463, 0.0011284529464319348, 0.0005954458029009402, -0.00032866961555555463], "flange_pose": [0.6679691672325134, 0.019335025921463966, -0.14040939509868622, -0.03562057390809059, -0.10136395692825317, 0.9941688776016235, 0.009207152761518955], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.020476341247559, -55.07037353515625, -8.452274322509766, -5.064837455749512, 10.808267593383789, 0.4454398453235626], "ext_wrench_in_world": [-0.06546582064803019, -56.45363868236284, 7.852466347755964, 2.7442544584937836, 11.613389533548013, -0.5175852473455477]}
+{"timestamp_ns": 1789729570630099279, "elapsed_ms": 14100, "source_timestamp_ns": 1789729570625257949, "q": [0.06682728976011276, -1.3631592988967896, 0.025567185133695602, 1.0019798278808594, 1.5564597845077515, 0.001825064653530717, -0.9982597827911377], "theta": [0.06445328891277313, -1.3622838258743286, 0.02407405711710453, 0.9850929379463196, 1.5557187795639038, 0.0023397207260131836, -0.9976103901863098], "dq": [-0.002096443669870496, 0.0011536504607647657, 0.006057801656424999, -0.0023951649200171232, -0.004412413574755192, 0.0014864947879686952, -0.0001719598803902045], "dtheta": [-0.0023498008958995342, -0.0010015418520197272, 0.005693297367542982, -0.0009312070324085653, -0.00436370586976409, 0.0034171687439084053, -0.0014290590770542622], "tau": [-63.7599983215332, -0.08999999612569809, -28.168001174926758, 0.8600000143051147, -4.392000198364258, 3.7960002422332764, -0.17600001394748688], "tau_des": [-1.8263617753982544, 1.1559923887252808, -0.5984914898872375, -0.3270997107028961, -0.24196049571037292, 0.13075768947601318, -0.1486089527606964], "tau_dot": [46.913509368896484, -117.51555633544922, 25.51939582824707, 20.141843795776367, 19.120193481445312, -11.493895530700684, 16.548168182373047], "tau_ext": [15.587790489196777, -35.708030700683594, -36.38041687011719, 20.128620147705078, -2.1788926124572754, -7.005610466003418, 0.07076752930879593], "tcp_pose": [0.6541599631309509, 0.021444912999868393, -0.32990214228630066, -0.035613883286714554, -0.10136540979146957, 0.9941689372062683, 0.009207294322550297], "tcp_vel": [7.880648627178743e-05, -3.560707045835443e-05, -0.0003215327742509544, 0.0001858936157077551, -0.00047700098366476595, 0.0014296764275059104], "flange_pose": [0.6679689884185791, 0.019338347017765045, -0.14041632413864136, -0.035613883286714554, -0.10136540979146957, 0.9941689372062683, 0.009207294322550297], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.039314270019531, -55.06538391113281, -8.454792022705078, -5.060450553894043, 10.802633285522461, 0.4457436800003052], "ext_wrench_in_world": [-0.08463784666409668, -56.45260331363492, 7.856304288164139, 2.7410536712132636, 11.606996711999058, -0.5176729057193268]}
+{"timestamp_ns": 1789729570663434079, "elapsed_ms": 14133, "source_timestamp_ns": 1789729570655261068, "q": [0.06675846129655838, -1.3631858825683594, 0.025733521208167076, 1.0019468069076538, 1.5563172101974487, 0.0019183226395398378, -0.9982582926750183], "theta": [0.06438767164945602, -1.362310528755188, 0.024248627945780754, 0.9850581288337708, 1.555572509765625, 0.002434372901916504, -0.9976089000701904], "dq": [-0.0014149447670206428, 0.00130710587836802, 0.006433350499719381, -0.001456757541745901, -0.006716045085340738, 0.0010017437161877751, -0.0006771825719624758], "dtheta": [-0.002100634155794978, -0.0011016357457265258, 0.005927282385528088, -0.0016144560649991035, -0.004219091963022947, 0.002960104262456298, 0.000337592966388911], "tau": [-63.84000015258789, -0.0, -28.180002212524414, 0.8240000605583191, -4.392000198364258, 3.812000274658203, -0.18000000715255737], "tau_des": [-1.9680410623550415, 1.096255898475647, -0.7098380923271179, -0.28497910499572754, -0.2655107378959656, 0.1665504425764084, -0.16232389211654663], "tau_dot": [-51.40251159667969, 118.09027862548828, -9.234270095825195, -93.78109741210938, 34.40572738647461, 16.194034576416016, 18.50877571105957], "tau_ext": [15.62868595123291, -35.66874694824219, -36.359649658203125, 20.11775779724121, -2.171459436416626, -7.005542278289795, 0.07194988429546356], "tcp_pose": [0.6541613936424255, 0.021445700898766518, -0.3299104869365692, -0.03561488538980484, -0.10136931389570236, 0.9941685199737549, 0.009205767884850502], "tcp_vel": [0.00015500270819757134, 0.00029706614441238344, -0.0006669635768048465, 0.0007553804316557944, 3.9690879930276424e-05, 0.00020436155318748206], "flange_pose": [0.6679707169532776, 0.019339805468916893, -0.1404246836900711, -0.03561488538980484, -0.10136931389570236, 0.9941685199737549, 0.009205767884850502], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.053318977355957, -55.040592193603516, -8.429971694946289, -5.047962665557861, 10.795875549316406, 0.4455111026763916], "ext_wrench_in_world": [-0.10464077193007515, -56.43085960311351, 7.833316343196817, 2.730135235785482, 11.597871552281745, -0.5167911985494125]}
+{"timestamp_ns": 1789729570696766179, "elapsed_ms": 14166, "source_timestamp_ns": 1789729570695259040, "q": [0.06665895134210587, -1.3632264137268066, 0.025940801948308945, 1.0018932819366455, 1.5561293363571167, 0.0020210088696330786, -0.9982531666755676], "theta": [0.06429316848516464, -1.3623520135879517, 0.02446315623819828, 0.9850022792816162, 1.5553821325302124, 0.0025382041931152344, -0.9976036548614502], "dq": [-0.0038081093225628138, -0.000680512108374387, 0.00559523468837142, -0.0021776603534817696, -0.0038781582843512297, 0.0024017225950956345, -0.0010195901850238442], "dtheta": [-0.002329246373847127, -0.0011648401850834489, 0.005673471838235855, -0.001512632006779313, -0.004457597155123949, 0.0028731683269143105, 0.0006557658198289573], "tau": [-63.81999969482422, -0.05999999865889549, -28.1200008392334, 0.8280000686645508, -4.372000217437744, 3.7960002422332764, -0.1680000126361847], "tau_des": [-1.8994991779327393, 1.115141749382019, -0.6518846750259399, -0.289436936378479, -0.24387896060943604, 0.153644397854805, -0.15365628898143768], "tau_dot": [31.562776565551758, -69.7208251953125, 63.975772857666016, -42.1003303527832, 84.0654525756836, -1.8375808000564575, 0.5120910406112671], "tau_ext": [15.660642623901367, -35.676063537597656, -36.36103820800781, 20.135305404663086, -2.1646063327789307, -7.002950191497803, 0.06592684239149094], "tcp_pose": [0.6541654467582703, 0.02144595794379711, -0.32991206645965576, -0.03561731055378914, -0.10137498378753662, 0.9941678643226624, 0.009205341339111328], "tcp_vel": [0.0001290815998800099, 0.00010822704643942416, -0.0003743526176549494, 0.0003688618016894907, -5.4746797104598954e-06, -0.0002477495581842959], "flange_pose": [0.6679757237434387, 0.0193403959274292, -0.14042633771896362, -0.03561731055378914, -0.10137498378753662, 0.9941678643226624, 0.009205341339111328], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.080934524536133, -55.00478744506836, -8.385998725891113, -5.027010440826416, 10.786205291748047, 0.44503718614578247], "ext_wrench_in_world": [-0.1413238839187162, -56.40088800764559, 7.792333091108197, 2.7115085534989634, 11.584190283175813, -0.515144166657217]}
+{"timestamp_ns": 1789729570730096890, "elapsed_ms": 14200, "source_timestamp_ns": 1789729570725247492, "q": [0.06657221913337708, -1.3632582426071167, 0.026107806712388992, 1.0018563270568848, 1.5559804439544678, 0.0021000613924115896, -0.9982503652572632], "theta": [0.06421014666557312, -1.3623837232589722, 0.0246354378759861, 0.9849634766578674, 1.5552312135696411, 0.0026172399520874023, -0.9976000785827637], "dq": [-0.0006731299217790365, -0.0008767438121140003, 0.0051642213948071, -0.00013462998322211206, -0.005021235905587673, 0.0017055737553164363, -0.00046882525202818215], "dtheta": [-0.0026934866327792406, -0.001099322340451181, 0.005747388582676649, -0.0010780745651572943, -0.006852295249700546, 0.0033586889039725065, 1.6673537174938247e-05], "tau": [-63.79999923706055, -0.03999999910593033, -28.148000717163086, 0.8440000414848328, -4.4120001792907715, 3.808000087738037, -0.1720000058412552], "tau_des": [-1.7637559175491333, 1.194319486618042, -0.5445101857185364, -0.3348076343536377, -0.16357505321502686, 0.11936712265014648, -0.13824935257434845], "tau_dot": [26.223888397216797, 126.19194793701172, -24.50847816467285, 4.678452968597412, -24.537830352783203, 24.41583824157715, -36.71934509277344], "tau_ext": [15.598570823669434, -35.653968811035156, -36.40507888793945, 20.124752044677734, -2.169889211654663, -6.998065948486328, 0.052705634385347366], "tcp_pose": [0.6541683673858643, 0.021446220576763153, -0.3299095630645752, -0.03561628609895706, -0.10137760639190674, 0.9941676259040833, 0.009206773713231087], "tcp_vel": [-0.00028257237863726914, -0.0005285523948259652, 0.00015861263091210276, -0.001553851063363254, 0.0010197106748819351, 0.00020158062397968024], "flange_pose": [0.6679782867431641, 0.019340114668011665, -0.14042380452156067, -0.03561628609895706, -0.10137760639190674, 0.9941676259040833, 0.009206773713231087], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.108871459960938, -54.97797393798828, -8.404935836791992, -5.0151801109313965, 10.776935577392578, 0.43878787755966187], "ext_wrench_in_world": [-0.1723504029918207, -56.38051577850308, 7.813646310725764, 2.702209422865616, 11.572666591024271, -0.5082902653130577]}
+{"timestamp_ns": 1789729570763443467, "elapsed_ms": 14233, "source_timestamp_ns": 1789729570755237324, "q": [0.06649068742990494, -1.3632789850234985, 0.02626590058207512, 1.0018377304077148, 1.5558342933654785, 0.002181533258408308, -0.9982463717460632], "theta": [0.06413299590349197, -1.3624038696289062, 0.024798039346933365, 0.9849439263343811, 1.5550800561904907, 0.00269925594329834, -0.9975948333740234], "dq": [-0.0015096587594598532, 0.0012659276835620403, 0.007337850518524647, -0.0018652240978553891, -0.002614712342619896, 0.0032547577284276485, -0.0008386067929677665], "dtheta": [-0.002305830828845501, -0.0010512915905565023, 0.00534440204501152, -0.000534498190972954, -0.0040331045165658, 0.002180146286264062, -0.0006331991753540933], "tau": [-63.80999755859375, 0.0, -28.14000129699707, 0.8320000171661377, -4.396000385284424, 3.7960002422332764, -0.12800000607967377], "tau_des": [-1.8673598766326904, 1.1894488334655762, -0.6013174653053284, -0.36594295501708984, -0.2230771780014038, 0.15978257358074188, -0.13846492767333984], "tau_dot": [13.869467735290527, 70.61327362060547, 4.095694541931152, 33.81003189086914, 36.14664077758789, -5.572000503540039, 41.22853469848633], "tau_ext": [15.640105247497559, -35.661319732666016, -36.39529800415039, 20.132617950439453, -2.1633644104003906, -6.99859619140625, 0.04592059925198555], "tcp_pose": [0.654167652130127, 0.02144562266767025, -0.3299061954021454, -0.035615745931863785, -0.1013760194182396, 0.9941678643226624, 0.009203813970088959], "tcp_vel": [-0.00027187730302102864, 1.8587455997476354e-05, -0.0003280329692643136, 0.0008672851254232228, 0.0001418841420672834, 0.00013894274889025837], "flange_pose": [0.6679772734642029, 0.019340593367815018, -0.14042040705680847, -0.035615745931863785, -0.1013760194182396, 0.9941678643226624, 0.009203813970088959], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.130057334899902, -54.95695114135742, -8.392434120178223, -5.005159854888916, 10.771419525146484, 0.4312189519405365], "ext_wrench_in_world": [-0.19836178672601879, -56.36402789558838, 7.803507682442523, 2.694114520014416, 11.565143536560354, -0.5002554107803294]}
+{"timestamp_ns": 1789729570796771458, "elapsed_ms": 14266, "source_timestamp_ns": 1789729570795272887, "q": [0.06639373302459717, -1.3633009195327759, 0.02645358070731163, 1.001827597618103, 1.5556788444519043, 0.002287516836076975, -0.9982465505599976], "theta": [0.06404110789299011, -1.3624249696731567, 0.02499583177268505, 0.9849326014518738, 1.5549198389053345, 0.002804875373840332, -0.9975935816764832], "dq": [-0.0028949216939508915, -0.0015127657679840922, 0.004907750058919191, -0.00027250591665506363, -0.0034265434369444847, 0.0027770474553108215, 0.0002854258054867387], "dtheta": [-0.001664241193793714, -0.0003472073294688016, 0.004263277165591717, -0.00045596130075864494, -0.0034818227868527174, 0.002499633003026247, 0.0007315795519389212], "tau": [-63.80999755859375, -0.029999999329447746, -28.1200008392334, 0.8480000495910645, -4.432000160217285, 3.80400013923645, -0.164000004529953], "tau_des": [-1.8277467489242554, 1.1155067682266235, -0.5466886162757874, -0.34649085998535156, -0.23600509762763977, 0.11728654056787491, -0.16855011880397797], "tau_dot": [-56.014705657958984, 18.347198486328125, -13.648483276367188, 29.10057830810547, -30.111906051635742, 41.566680908203125, -47.13392639160156], "tau_ext": [15.615181922912598, -35.63846206665039, -36.41329574584961, 20.121479034423828, -2.162344217300415, -6.999180793762207, 0.03989194706082344], "tcp_pose": [0.6541683673858643, 0.021445099264383316, -0.32990312576293945, -0.03560524061322212, -0.10137190669775009, 0.9941686391830444, 0.009202199056744576], "tcp_vel": [1.2246559890627395e-05, 0.00014629978977609426, -0.00028790876967832446, -8.910169708542526e-05, -4.14385722251609e-05, -0.0005499187391251326], "flange_pose": [0.6679739356040955, 0.019340215250849724, -0.14041702449321747, -0.03560524061322212, -0.10137190669775009, 0.9941686391830444, 0.009202199056744576], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.151418685913086, -54.97649383544922, -8.369102478027344, -5.003560543060303, 10.765026092529297, 0.4222566783428192], "ext_wrench_in_world": [-0.21763857825494726, -56.3872142727429, 7.781286964011958, 2.6945957197382917, 11.558436532833934, -0.49132922458322936]}
+{"timestamp_ns": 1789729570830101099, "elapsed_ms": 14300, "source_timestamp_ns": 1789729570825238175, "q": [0.06633678078651428, -1.3633081912994385, 0.02656329609453678, 1.0018229484558105, 1.5555781126022339, 0.0023431675508618355, -0.9982483983039856], "theta": [0.06398832052946091, -1.3624309301376343, 0.025115612894296646, 0.984926700592041, 1.5548171997070312, 0.00286102294921875, -0.9975943565368652], "dq": [-0.002294403500854969, -0.0004209420003462583, 0.0016153224278241396, -0.0005751436692662537, -0.002718533156439662, 0.0005616106791421771, 0.0009900943841785192], "dtheta": [-0.001480539096519351, -3.4640990634215996e-05, 0.004182889591902494, -0.00011298967729089782, -0.003339549293741584, 0.00027155972202308476, -0.00046867734636180103], "tau": [-63.7599983215332, -0.03999999910593033, -28.14000129699707, 0.7920000553131104, -4.420000076293945, 3.8000001907348633, -0.12800000607967377], "tau_des": [-1.936989426612854, 1.041505217552185, -0.6274855732917786, -0.3428628146648407, -0.2395155131816864, 0.19966396689414978, -0.1438433676958084], "tau_dot": [7.337270259857178, -95.99683380126953, -73.16069030761719, -29.016986846923828, -11.234381675720215, 29.820388793945312, 33.25194549560547], "tau_ext": [15.650861740112305, -35.64794921875, -36.39670181274414, 20.1158447265625, -2.157482862472534, -6.994848728179932, 0.042281776666641235], "tcp_pose": [0.6541669964790344, 0.021447520703077316, -0.32990068197250366, -0.03560478985309601, -0.10137256234884262, 0.9941686391830444, 0.00920073688030243], "tcp_vel": [-0.000510386482346803, 0.0007171469042077661, -0.0005929918843321502, 0.001601461204700172, 0.001581048360094428, 0.0005129592027515173], "flange_pose": [0.6679723262786865, 0.0193431805819273, -0.14041458070278168, -0.03560478985309601, -0.10137256234884262, 0.9941686391830444, 0.00920073688030243], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.135068893432617, -54.96693801879883, -8.376044273376465, -5.000422954559326, 10.767791748046875, 0.42088374495506287], "ext_wrench_in_world": [-0.20301218264124754, -56.3746058898902, 7.787482692991833, 2.691059104228294, 11.560497605738798, -0.4897019356865399]}
+{"timestamp_ns": 1789729570863432270, "elapsed_ms": 14333, "source_timestamp_ns": 1789729570855254370, "q": [0.06628621369600296, -1.3633173704147339, 0.0266637671738863, 1.0018161535263062, 1.55549156665802, 0.002400234341621399, -0.9982499480247498], "theta": [0.06394178420305252, -1.3624390363693237, 0.02522609569132328, 0.9849187135696411, 1.5547298192977905, 0.002918720245361328, -0.9975952506065369], "dq": [-0.001583541976287961, -0.001241173013113439, 0.005003428086638451, 0.00040016783168539405, -0.00260943453758955, 0.0010006609372794628, 0.00018605802324600518], "dtheta": [-0.0015967233339324594, -0.0004093211318831891, 0.0033806809224188328, -0.0005876134964637458, -0.00202919845469296, 0.001528330147266388, -0.0008722951170057058], "tau": [-63.82999801635742, -0.08999999612569809, -28.088001251220703, 0.8280000686645508, -4.384000301361084, 3.7960002422332764, -0.15600000321865082], "tau_des": [-1.7712292671203613, 1.062192440032959, -0.49346476793289185, -0.31680169701576233, -0.2574559152126312, 0.12033319473266602, -0.13265517354011536], "tau_dot": [-17.89755630493164, -75.06343078613281, 62.35349655151367, 24.201684951782227, 41.486289978027344, 17.48087501525879, -12.20770263671875], "tau_ext": [15.621103286743164, -35.671844482421875, -36.421592712402344, 20.11618423461914, -2.16007399559021, -6.985525131225586, 0.04300469532608986], "tcp_pose": [0.6541678309440613, 0.021448666229844093, -0.3298995792865753, -0.03560097888112068, -0.1013731062412262, 0.9941686987876892, 0.009198887273669243], "tcp_vel": [0.00019787823839578778, 0.0003312381450086832, -0.00017531275807414204, 0.0008755138260312378, -0.0005371133447624743, 0.001034627901390195], "flange_pose": [0.667971670627594, 0.019344886764883995, -0.14041337370872498, -0.03560097888112068, -0.1013731062412262, 0.9941686987876892, 0.009198887273669243], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.126472473144531, -55.00768280029297, -8.389714241027832, -5.008874416351318, 10.76628589630127, 0.4215219020843506], "ext_wrench_in_world": [-0.1854333809796721, -56.412897249840825, 7.799643907628333, 2.6995624427522933, 11.560740709425062, -0.49097097748704965]}
+{"timestamp_ns": 1789729570896767199, "elapsed_ms": 14366, "source_timestamp_ns": 1789729570895228738, "q": [0.06622744351625443, -1.363336443901062, 0.026796652004122734, 1.0017887353897095, 1.5553756952285767, 0.002466379664838314, -0.9982494115829468], "theta": [0.06388742476701736, -1.3624582290649414, 0.02537253312766552, 0.984890341758728, 1.5546135902404785, 0.0029867887496948242, -0.9975943565368652], "dq": [-0.00217787129804492, 0.0004237215907778591, 0.003007100662216544, 0.001472482574172318, -0.0035587530583143234, 0.0008598656859248877, -0.00022574969625566155], "dtheta": [-0.001652951235882938, -0.0005401241942308843, 0.003913148306310177, -0.0010057379258796573, -0.0020638008136302233, 0.0015994178829714656, 0.0003804320003837347], "tau": [-63.779998779296875, -0.07999999821186066, -28.11600112915039, 0.784000039100647, -4.420000076293945, 3.744000196456909, -0.15600000321865082], "tau_des": [-1.8434470891952515, 1.012481689453125, -0.5835119485855103, -0.28388357162475586, -0.2792370617389679, 0.15265825390815735, -0.13726992905139923], "tau_dot": [21.260934829711914, -27.161697387695312, 11.840694427490234, -18.244766235351562, -44.21746826171875, -87.833251953125, -7.817736625671387], "tau_ext": [15.6281156539917, -35.62089920043945, -36.42464828491211, 20.11296272277832, -2.156259775161743, -6.986805438995361, 0.045741088688373566], "tcp_pose": [0.6541692614555359, 0.02145235426723957, -0.32990437746047974, -0.03560321405529976, -0.10137806832790375, 0.9941681027412415, 0.009200201369822025], "tcp_vel": [0.0002977234253194183, 0.0005246995133347809, -0.00038492100429721177, 0.0012510851956903934, -0.000504726602230221, 4.303074820199981e-05], "flange_pose": [0.6679739952087402, 0.019348233938217163, -0.14041823148727417, -0.03560321405529976, -0.10137806832790375, 0.9941681027412415, 0.009200201369822025], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.123086929321289, -55.002471923828125, -8.369394302368164, -5.000594615936279, 10.767151832580566, 0.42379653453826904], "ext_wrench_in_world": [-0.1840525426791524, -56.40690620630139, 7.7791369901130825, 2.6910174334775276, 11.559967533592575, -0.4926300807565264]}
+{"timestamp_ns": 1789729570930101279, "elapsed_ms": 14400, "source_timestamp_ns": 1789729570925229017, "q": [0.06618321686983109, -1.3633588552474976, 0.026898274198174477, 1.0017600059509277, 1.5552887916564941, 0.002516981679946184, -0.998249351978302], "theta": [0.06384508311748505, -1.3624801635742188, 0.02548239566385746, 0.9848604798316956, 1.5545262098312378, 0.0030388832092285156, -0.9975935816764832], "dq": [-0.0011163080343976617, -0.00044293992687016726, 0.002491825958713889, -0.0005610303487628698, -0.00023423408856615424, 0.002304994035512209, -0.0008172164089046419], "dtheta": [-0.0015386739978566766, -0.00038152403431013227, 0.0036604520864784718, -0.001266741892322898, -0.001984427450224757, 0.0019108536653220654, -0.0005326058017089963], "tau": [-63.80999755859375, -0.10999999940395355, -28.112001419067383, 0.8320000171661377, -4.4160003662109375, 3.7800002098083496, -0.15200001001358032], "tau_des": [-1.853807806968689, 0.9314742684364319, -0.5905199646949768, -0.2155536264181137, -0.28419920802116394, 0.14867600798606873, -0.10079710930585861], "tau_dot": [29.099334716796875, -49.39918518066406, 15.01718521118164, 45.346187591552734, 11.684906959533691, -24.897056579589844, 10.162823677062988], "tau_ext": [15.646322250366211, -35.60880661010742, -36.41862106323242, 20.127490997314453, -2.151822328567505, -6.989317893981934, 0.041569262742996216], "tcp_pose": [0.6541709899902344, 0.021452514454722404, -0.32990872859954834, -0.03560449182987213, -0.10138200223445892, 0.994167685508728, 0.009201791137456894], "tcp_vel": [0.0005294959992170334, 0.0005724243819713593, -0.0003306595899630338, 0.0009338358649984002, -0.000734984059818089, 0.0013972932938486338], "flange_pose": [0.6679763197898865, 0.019347896799445152, -0.14042261242866516, -0.03560449182987213, -0.10138200223445892, 0.994167685508728, 0.009201791137456894], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.15737533569336, -54.9510383605957, -8.357978820800781, -4.981098175048828, 10.75670051574707, 0.4241412580013275], "ext_wrench_in_world": [-0.2282500901175114, -56.363372827407225, 7.771248763525414, 2.6739543477706946, 11.545816359947066, -0.4918674111017178]}
+{"timestamp_ns": 1789729570963441048, "elapsed_ms": 14433, "source_timestamp_ns": 1789729570955224337, "q": [0.06613843888044357, -1.3633819818496704, 0.026992468163371086, 1.001731514930725, 1.5552105903625488, 0.002567252377048135, -0.9982409477233887], "theta": [0.06380292773246765, -1.362502932548523, 0.025583436712622643, 0.9848313927650452, 1.554445743560791, 0.0030908584594726562, -0.9975842833518982], "dq": [-0.0004187534505035728, 9.638383926358074e-05, 0.001638919347897172, -0.0009808778995648026, -0.0013995132176205516, -0.00021083085448481143, -0.00011248783994233236], "dtheta": [-0.0012853447115048766, -0.00047997626825235784, 0.0035433489829301834, -0.0008352477452717721, -0.002499157330021262, 0.0012438871199265122, 0.0006879505817778409], "tau": [-63.84000015258789, -0.12999999523162842, -28.108001708984375, 0.8240000605583191, -4.424000263214111, 3.808000087738037, -0.18400001525878906], "tau_des": [-1.920113444328308, 1.0447936058044434, -0.6078023314476013, -0.305571973323822, -0.26565563678741455, 0.16259950399398804, -0.13455213606357574], "tau_dot": [41.92741012573242, -82.68456268310547, 8.2969388961792, 73.0906753540039, -20.455049514770508, 28.48773193359375, -113.14346313476562], "tau_ext": [15.669965744018555, -35.63517761230469, -36.415767669677734, 20.145448684692383, -2.1518092155456543, -6.994429588317871, 0.03783733770251274], "tcp_pose": [0.6541750431060791, 0.0214514322578907, -0.32991018891334534, -0.03560182824730873, -0.101381316781044, 0.9941678047180176, 0.009202336892485619], "tcp_vel": [6.461532393586822e-06, 0.0003748586750589311, -0.00043153169099241495, 0.0008094942313618958, 0.000353227456798777, -0.00033546664053574204], "flange_pose": [0.66797935962677, 0.01934649609029293, -0.14042401313781738, -0.03560182824730873, -0.101381316781044, 0.9941678047180176, 0.009202336892485619], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.182903289794922, -54.926429748535156, -8.335902214050293, -4.971014022827148, 10.752248764038086, 0.4223427176475525], "ext_wrench_in_world": [-0.2598604104889708, -56.3442042190933, 7.751529313344666, 2.665147769261799, 11.539394407055719, -0.4894602705661529]}
+{"timestamp_ns": 1789729570996759921, "elapsed_ms": 14466, "source_timestamp_ns": 1789729570995251923, "q": [0.06607753038406372, -1.3634027242660522, 0.027116160839796066, 1.0017050504684448, 1.555088758468628, 0.0026338782627135515, -0.9982326030731201], "theta": [0.06374332308769226, -1.3625239133834839, 0.025716571137309074, 0.9848048090934753, 1.554318904876709, 0.0031594038009643555, -0.997573971748352], "dq": [-0.0008513829088769853, 0.0005502464482560754, 0.0007150674937292933, -0.0008036851650103927, -0.005010463297367096, 0.0007781338063068688, 0.000500515743624419], "dtheta": [-0.001570016727782786, -0.0004907817929051816, 0.0033042964059859514, -0.0002123801241395995, -0.0036294078454375267, 0.0016446816734969616, 0.0004881061613559723], "tau": [-63.77000045776367, -0.07000000029802322, -28.080001831054688, 0.8080000281333923, -4.388000011444092, 3.7800002098083496, -0.12800000607967377], "tau_des": [-1.8133686780929565, 1.1811224222183228, -0.4741780459880829, -0.39892905950546265, -0.1820082813501358, 0.1191730946302414, -0.14029106497764587], "tau_dot": [28.856189727783203, 34.485294342041016, -8.568422317504883, 35.611358642578125, 40.32897186279297, -3.782367706298828, 7.729322910308838], "tau_ext": [15.642958641052246, -35.6529426574707, -36.44656753540039, 20.156396865844727, -2.1522505283355713, -6.986392021179199, 0.027513740584254265], "tcp_pose": [0.6541761159896851, 0.021449308842420578, -0.32990846037864685, -0.03560475632548332, -0.10138140618801117, 0.9941677451133728, 0.00919672753661871], "tcp_vel": [-0.00027409696485847235, -0.0002034648641711101, 4.9040998419513926e-05, -0.0005279586184769869, 0.0005591802182607353, -0.0006570704281330109], "flange_pose": [0.6679813265800476, 0.019346604123711586, -0.14042231440544128, -0.03560475632548332, -0.10138140618801117, 0.9941677451133728, 0.00919672753661871], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.206421852111816, -54.89504623413086, -8.337950706481934, -4.958026885986328, 10.74609088897705, 0.41601166129112244], "ext_wrench_in_world": [-0.28892021725091543, -56.3181592592036, 7.756656510755374, 2.6541480935325987, 11.530663604022532, -0.48255615954670017]}
+{"timestamp_ns": 1789729571030093749, "elapsed_ms": 14500, "source_timestamp_ns": 1789729571025259871, "q": [0.0660301223397255, -1.3634109497070312, 0.0272056981921196, 1.0016963481903076, 1.5550081729888916, 0.002679951023310423, -0.9982315897941589], "theta": [0.06369759887456894, -1.362532138824463, 0.025814512744545937, 0.9847956299781799, 1.5542348623275757, 0.00320589542388916, -0.9975712895393372], "dq": [-0.0004494822642300278, -0.0016015850706025958, 0.004156660754233599, 0.0010763766476884484, -0.0020158346742391586, 0.0011467552976682782, -0.0022726880852133036], "dtheta": [-0.0012968428200110793, -0.0006065533380024135, 0.003382439259439707, -0.000649003719445318, -0.0026608072221279144, 0.0019845645874738693, -0.00025377434212714434], "tau": [-63.80999755859375, -0.07999999821186066, -28.06800079345703, 0.7640000581741333, -4.404000282287598, 3.7960002422332764, -0.11600000411272049], "tau_des": [-1.8525558710098267, 1.1172298192977905, -0.5144191980361938, -0.34351566433906555, -0.21749308705329895, 0.11857952922582626, -0.11908936500549316], "tau_dot": [-38.590301513671875, -47.80106735229492, 0.05478953197598457, -42.60676193237305, 0.8885117173194885, 35.54895782470703, 47.28812789916992], "tau_ext": [15.652853012084961, -35.628108978271484, -36.44746780395508, 20.133678436279297, -2.154229164123535, -6.985270977020264, 0.02196628972887993], "tcp_pose": [0.6541770100593567, 0.021451285108923912, -0.32990604639053345, -0.035603005439043045, -0.10138194262981415, 0.9941678047180176, 0.009195752441883087], "tcp_vel": [2.9032369639026e-05, -3.822682629106566e-06, -0.0002535674429964274, 5.898212839383632e-05, -0.00010141744860447943, 0.00034704507561400533], "flange_pose": [0.6679815649986267, 0.019348889589309692, -0.1404198557138443, -0.035603005439043045, -0.10138194262981415, 0.9941678047180176, 0.009195752441883087], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.21646499633789, -54.90676498413086, -8.356987953186035, -4.960411548614502, 10.74255084991455, 0.41058510541915894], "ext_wrench_in_world": [-0.294960843755555, -56.33186518589099, 7.776121684893958, 2.65757243917244, 11.527621304916693, -0.47740695889551227]}
+{"timestamp_ns": 1789729571063430311, "elapsed_ms": 14533, "source_timestamp_ns": 1789729571055254860, "q": [0.06598790735006332, -1.3634196519851685, 0.027292827144265175, 1.0016921758651733, 1.5549448728561401, 0.0027268375270068645, -0.9982306957244873], "theta": [0.06365635246038437, -1.3625402450561523, 0.02590954676270485, 0.9847909212112427, 1.5541692972183228, 0.0032531023025512695, -0.9975689649581909], "dq": [-0.0009630021522752941, -0.0012988429516553879, 0.005535092204809189, -0.00017108480096794665, -0.0021432386711239815, 0.000725119432900101, -0.00025463386555202305], "dtheta": [-0.0012552945408970118, -0.00033587109646759927, 0.003002916229888797, 0.0001903769007185474, -0.0007651654304936528, 0.0031308638863265514, -4.589626769302413e-05], "tau": [-63.7599983215332, -0.11999999731779099, -28.060001373291016, 0.8040000200271606, -4.427999973297119, 3.7800002098083496, -0.12400000542402267], "tau_des": [-1.7995147705078125, 1.1244158744812012, -0.5009920597076416, -0.3751550018787384, -0.28187206387519836, 0.08700213581323624, -0.13821369409561157], "tau_dot": [-0.779616117477417, -59.29312515258789, 40.948394775390625, -32.28544998168945, -5.140690326690674, 25.01088523864746, -0.8622204661369324], "tau_ext": [15.64473819732666, -35.64188766479492, -36.45566177368164, 20.146516799926758, -2.154278039932251, -6.984497547149658, 0.02374006062746048], "tcp_pose": [0.6541780233383179, 0.021454203873872757, -0.32990768551826477, -0.035596754401922226, -0.1013798713684082, 0.9941681623458862, 0.009198828600347042], "tcp_vel": [0.0004067148838657886, -4.6701439714524895e-05, -0.0002019042003666982, 0.00013472134014591575, -0.00227061053737998, -0.0004802508628927171], "flange_pose": [0.6679802536964417, 0.01935037598013878, -0.14042136073112488, -0.035596754401922226, -0.1013798713684082, 0.9941681623458862, 0.009198828600347042], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.226019859313965, -54.92151641845703, -8.353167533874512, -4.96142578125, 10.741402626037598, 0.40745872259140015], "ext_wrench_in_world": [-0.30195531493481254, -56.348255778307674, 7.772183019098195, 2.659078858774727, 11.526658796548851, -0.47427352748774304]}
+{"timestamp_ns": 1789729571096774831, "elapsed_ms": 14566, "source_timestamp_ns": 1789729571095272289, "q": [0.06593727320432663, -1.363426685333252, 0.027407070621848106, 1.00169038772583, 1.5548478364944458, 0.0027995461132377386, -0.9982334971427917], "theta": [0.06360737979412079, -1.3625471591949463, 0.026031186804175377, 0.9847884774208069, 1.5540705919265747, 0.003327488899230957, -0.9975689649581909], "dq": [-0.0017011730233207345, 0.0013885414227843285, 0.003223261097446084, 0.0003318008966743946, -0.0032274650875478983, 0.0006293718470260501, -0.0007642835262231529], "dtheta": [-0.0008414922631345689, -3.153921852572239e-07, 0.002902340143918991, -0.00016951982979662716, -0.0028614469338208437, 0.0017430268926545978, 4.379046004032716e-05], "tau": [-63.8599967956543, -0.08999999612569809, -28.088001251220703, 0.8280000686645508, -4.4079999923706055, 3.7880001068115234, -0.12000000476837158], "tau_des": [-1.9148283004760742, 1.0696412324905396, -0.5521206855773926, -0.35932236909866333, -0.22490142285823822, 0.12688392400741577, -0.12951168417930603], "tau_dot": [-49.528812408447266, -51.93315124511719, 9.834721565246582, 10.173238754272461, 56.2093391418457, 22.370052337646484, 8.810142517089844], "tau_ext": [15.646214485168457, -35.59638595581055, -36.455562591552734, 20.110885620117188, -2.1474320888519287, -6.984444618225098, 0.023632237687706947], "tcp_pose": [0.6541773080825806, 0.021454812958836555, -0.3299103081226349, -0.03559298813343048, -0.10137985646724701, 0.9941683411598206, 0.009194370359182358], "tcp_vel": [-0.00015196931781247258, 0.00011209723015781492, -0.0003285773564130068, -0.0003936013381462544, 0.0005836706841364503, 0.00021154193382244557], "flange_pose": [0.6679779887199402, 0.019352523609995842, -0.14042383432388306, -0.03559298813343048, -0.10137985646724701, 0.9941683411598206, 0.009194370359182358], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.204038619995117, -54.9266242980957, -8.35114860534668, -4.96205997467041, 10.746535301208496, 0.4074355661869049], "ext_wrench_in_world": [-0.2796570258343811, -56.348727211730385, 7.768978827167098, 2.65867070574188, 11.531809735971898, -0.4742343352334237]}
+{"timestamp_ns": 1789729571130100866, "elapsed_ms": 14600, "source_timestamp_ns": 1789729571125266148, "q": [0.06590211391448975, -1.3634369373321533, 0.02748679369688034, 1.001680612564087, 1.5547823905944824, 0.0028432458639144897, -0.9982354640960693], "theta": [0.06357352435588837, -1.3625568151474, 0.026115110144019127, 0.9847780466079712, 1.5540043115615845, 0.003371596336364746, -0.9975693821907043], "dq": [-0.0014650024240836501, 0.0011496009537950158, 0.006294533144682646, 8.230120147345588e-05, -0.0007043355144560337, 0.004410191439092159, -0.0014506367733702064], "dtheta": [-0.0008136189426295459, -0.0004250450001563877, 0.0028461122419685125, -0.0004790443053934723, -0.0017917650984600186, 0.0007681429851800203, -0.00029524508863687515], "tau": [-63.78999710083008, -0.07000000029802322, -28.09200096130371, 0.7880000472068787, -4.427999973297119, 3.7840001583099365, -0.12800000607967377], "tau_des": [-1.98293137550354, 1.085375189781189, -0.6065636873245239, -0.36363157629966736, -0.26061663031578064, 0.16212962567806244, -0.12014023959636688], "tau_dot": [85.34430694580078, -39.59070587158203, -56.08616256713867, 20.414339065551758, -6.110278606414795, 27.275239944458008, 47.39940643310547], "tau_ext": [15.645190238952637, -35.611263275146484, -36.46160888671875, 20.127071380615234, -2.149322748184204, -6.984753131866455, 0.02102688141167164], "tcp_pose": [0.6541773676872253, 0.02145589143037796, -0.3299132287502289, -0.03559156879782677, -0.10138120502233505, 0.9941682815551758, 0.00919483695179224], "tcp_vel": [-0.00016570383741054684, 0.0003104334755335003, -0.0005305933300405741, 0.0010101122315973043, 0.0005055496585555375, 0.00032140902476385236], "flange_pose": [0.667977511882782, 0.019353387877345085, -0.14042672514915466, -0.03559156879782677, -0.10138120502233505, 0.9941682815551758, 0.00919483695179224], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.189352989196777, -54.92890548706055, -8.345930099487305, -4.961458206176758, 10.750234603881836, 0.4066581130027771], "ext_wrench_in_world": [-0.2651040856065615, -56.34794436866613, 7.762629630267048, 2.657366942896374, 11.535309693475016, -0.47330074733835303]}
+{"timestamp_ns": 1789729571163448485, "elapsed_ms": 14633, "source_timestamp_ns": 1789729571155255189, "q": [0.06586597859859467, -1.3634498119354248, 0.027556002140045166, 1.0016672611236572, 1.5547209978103638, 0.0028705287259072065, -0.9982355833053589], "theta": [0.06353861838579178, -1.3625694513320923, 0.02618716098368168, 0.9847636818885803, 1.5539424419403076, 0.0033991336822509766, -0.9975684285163879], "dq": [-0.004382011946290731, 0.0009949716040864587, 0.00144495430868119, -0.0026760322507470846, -0.0007852180860936642, 0.0006157977622933686, 0.0009830038761720061], "dtheta": [-0.0007911081775091588, -0.000348832894815132, 0.0023512598127126694, -0.0008075893274508417, -0.0021885638125240803, -0.000683500140439719, 0.0005201513413339853], "tau": [-63.849998474121094, -0.04999999701976776, -28.088001251220703, 0.7720000147819519, -4.4079999923706055, 3.7680001258850098, -0.164000004529953], "tau_des": [-1.9850380420684814, 1.051859736442566, -0.6034471988677979, -0.3565966784954071, -0.2447567582130432, 0.20432645082473755, -0.12667953968048096], "tau_dot": [-61.609649658203125, 108.58858489990234, 34.7825813293457, -31.242368698120117, -7.7326788902282715, -7.6939473152160645, -42.74663162231445], "tau_ext": [15.653085708618164, -35.62445068359375, -36.46576690673828, 20.142314910888672, -2.1487643718719482, -6.98111629486084, 0.021540634334087372], "tcp_pose": [0.6541769504547119, 0.021456928923726082, -0.32991257309913635, -0.03559261932969093, -0.10138210654258728, 0.9941681027412415, 0.009197664447128773], "tcp_vel": [-0.0003375385713297874, 0.0005046068108640611, -0.0004103593237232417, 0.0012542969780042768, 0.0017251860117539763, -9.415383829036728e-05], "flange_pose": [0.6679776310920715, 0.019353412091732025, -0.14042609930038452, -0.03559261932969093, -0.10138210654258728, 0.9941681027412415, 0.009197664447128773], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.19987678527832, -54.93280029296875, -8.344865798950195, -4.959188938140869, 10.746936798095703, 0.4059818685054779], "ext_wrench_in_world": [-0.27456618731741955, -56.3539179109927, 7.7618861300284205, 2.6558415554207953, 11.531620790101133, -0.47249796804309435]}
+{"timestamp_ns": 1789729571196769581, "elapsed_ms": 14666, "source_timestamp_ns": 1789729571195251753, "q": [0.06582240015268326, -1.3634698390960693, 0.027631377801299095, 1.0016330480575562, 1.5546371936798096, 0.002901331288740039, -0.9982326626777649], "theta": [0.06349756568670273, -1.362589716911316, 0.026264075189828873, 0.9847282767295837, 1.553858995437622, 0.0034295320510864258, -0.9975641369819641], "dq": [-0.0010241777636110783, -0.0006141048506833613, 0.0016012066043913364, 0.001345558906905353, -0.0032327882945537567, 0.0021648306865245104, 0.0015222965739667416], "dtheta": [-0.0009655472822487354, -0.0005753682344220579, 0.0018778251251205802, -0.0004670950584113598, -0.0030661728233098984, -0.0001539303921163082, 0.000894760072696954], "tau": [-63.869998931884766, -0.07999999821186066, -28.07600212097168, 0.7720000147819519, -4.427999973297119, 3.7760002613067627, -0.13199999928474426], "tau_des": [-1.8509808778762817, 1.1809344291687012, -0.4461149275302887, -0.42257797718048096, -0.16531600058078766, 0.15410473942756653, -0.12280741333961487], "tau_dot": [-109.14446258544922, 43.62246322631836, -60.98661804199219, -1.8429369926452637, -35.67566680908203, 9.67109489440918, 19.816741943359375], "tau_ext": [15.628565788269043, -35.6280632019043, -36.47371292114258, 20.16041374206543, -2.1465699672698975, -6.972411632537842, 0.02218632400035858], "tcp_pose": [0.6541808247566223, 0.02145591378211975, -0.32990729808807373, -0.035597704350948334, -0.10138862580060959, 0.9941672682762146, 0.009195011109113693], "tcp_vel": [-0.0005104741430841386, -0.00019435750436969101, 9.005809260997921e-05, -0.00026299545424990356, 0.0017202573362737894, -0.0009187898831441998], "flange_pose": [0.6679832935333252, 0.01935368776321411, -0.14042097330093384, -0.035597704350948334, -0.10138862580060959, 0.9941672682762146, 0.009195011109113693], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.234225273132324, -54.89504623413086, -8.328210830688477, -4.942215919494629, 10.733256340026855, 0.4070323407649994], "ext_wrench_in_world": [-0.3160878613651802, -56.32366755502317, 7.748937110122837, 2.6417739634388067, 11.51483562112619, -0.47281722324987696]}
+{"timestamp_ns": 1789729571230097925, "elapsed_ms": 14700, "source_timestamp_ns": 1789729571225258879, "q": [0.06578901410102844, -1.3634825944900513, 0.02769544906914234, 1.0016125440597534, 1.5545756816864014, 0.002930298913270235, -0.9982240796089172], "theta": [0.06346570700407028, -1.3626023530960083, 0.02632906846702099, 0.9847077131271362, 1.5537980794906616, 0.0034580230712890625, -0.9975543022155762], "dq": [-0.0010638358071446419, -0.00032474324689246714, 0.003440814558416605, -0.0006052331300452352, -0.0027413740754127502, 0.0026245343033224344, 0.0009772558696568012], "dtheta": [-0.0008857120992615819, 3.0015584343345836e-05, 0.002524095121771097, -0.0004266384057700634, -0.0019918119069188833, 0.0019860679749399424, 0.00015617067401763052], "tau": [-63.79999923706055, -0.07999999821186066, -28.04400062561035, 0.7520000338554382, -4.4079999923706055, 3.756000280380249, -0.1120000034570694], "tau_des": [-1.8461437225341797, 1.0066207647323608, -0.4985724687576294, -0.3090977370738983, -0.21887005865573883, 0.12216676771640778, -0.09916233271360397], "tau_dot": [-5.921209335327148, 100.95838165283203, -28.639787673950195, -46.577457427978516, 13.622931480407715, -56.17266845703125, -12.54524040222168], "tau_ext": [15.649235725402832, -35.61175537109375, -36.471046447753906, 20.152877807617188, -2.1440999507904053, -6.9736714363098145, 0.01755554974079132], "tcp_pose": [0.6541833281517029, 0.021456915885210037, -0.32990598678588867, -0.035599350929260254, -0.10138891637325287, 0.9941672086715698, 0.00919466745108366], "tcp_vel": [0.00023981407866813242, 0.0002020455285673961, -0.00020561240671668202, -0.00031745541491545737, -0.0003369151090737432, 0.00036263378569856286], "flange_pose": [0.6679864525794983, 0.019354887306690216, -0.14041970670223236, -0.035599350929260254, -0.10138891637325287, 0.9941672086715698, 0.00919466745108366], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.260908126831055, -54.861942291259766, -8.329593658447266, -4.9305195808410645, 10.72265338897705, 0.40565258264541626], "ext_wrench_in_world": [-0.34864483374555433, -56.29665419614232, 7.753056408851107, 2.632569601729253, 11.50207283973198, -0.47092540444967496]}
+{"timestamp_ns": 1789729571263435237, "elapsed_ms": 14733, "source_timestamp_ns": 1789729571255257167, "q": [0.06575240194797516, -1.3634898662567139, 0.02776867337524891, 1.0016074180603027, 1.5545233488082886, 0.0029681441374123096, -0.9982166290283203], "theta": [0.06343051791191101, -1.3626093864440918, 0.02640240453183651, 0.9847022891044617, 1.5537463426589966, 0.0034961700439453125, -0.9975452423095703], "dq": [-1.4502860722132027e-05, -0.0015087013598531485, 0.0033342859242111444, -0.0009447981719858944, -0.0007267390028573573, 0.0008598982240073383, 0.0013663612771779299], "dtheta": [-0.0016430680407211185, 8.545762830181047e-05, 0.0026525610592216253, 2.86184367723763e-05, -0.0020267635118216276, 0.001394940773025155, -0.0007072020671330392], "tau": [-63.779998779296875, -0.04999999701976776, -28.040000915527344, 0.796000063419342, -4.420000076293945, 3.7800002098083496, -0.12000000476837158], "tau_des": [-1.7069151401519775, 1.0058703422546387, -0.46375706791877747, -0.33073046803474426, -0.24493983387947083, 0.12842527031898499, -0.10099297016859055], "tau_dot": [134.42608642578125, 77.69093322753906, -27.60643196105957, 29.385295867919922, 5.716878890991211, 19.315692901611328, 39.38918685913086], "tau_ext": [15.622440338134766, -35.58268356323242, -36.49073028564453, 20.13582420349121, -2.146343231201172, -6.97706413269043, 0.011697500012814999], "tcp_pose": [0.6541850566864014, 0.021460354328155518, -0.3299069404602051, -0.03559369966387749, -0.10138459503650665, 0.9941678047180176, 0.009197975508868694], "tcp_vel": [0.00017638938152231276, 0.000266903021838516, 0.0001874005829449743, 0.0002379380166530609, -0.0006253585452213883, 0.0007928363047540188], "flange_pose": [0.6679860949516296, 0.019356796517968178, -0.14042049646377563, -0.03559369966387749, -0.10138459503650665, 0.9941678047180176, 0.009197975508868694], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.272400856018066, -54.86098861694336, -8.35003662109375, -4.929831504821777, 10.721028327941895, 0.40212056040763855], "ext_wrench_in_world": [-0.3591701389708615, -56.29832517511883, 7.773839827308083, 2.6325895784307125, 11.500282854082135, -0.4672840754947441]}
+{"timestamp_ns": 1789729571296762711, "elapsed_ms": 14766, "source_timestamp_ns": 1789729571295251612, "q": [0.06570681929588318, -1.3634955883026123, 0.02787591889500618, 1.0016067028045654, 1.5544441938400269, 0.0030383148696273565, -0.9982154369354248], "theta": [0.06338774412870407, -1.362615942955017, 0.0265093594789505, 0.984701931476593, 1.5536662340164185, 0.003567337989807129, -0.997541606426239], "dq": [-0.001789837726391852, -0.0023120963014662266, 0.002331986092031002, -0.0016643396811559796, -0.002807486802339554, 2.2593769244849682e-05, 0.0023105947766453028], "dtheta": [-0.000998281524516642, 9.34855779632926e-05, 0.002746382262557745, 0.00019897562742698938, -0.0010681718122214079, 0.001574514782987535, -4.6345685404958203e-05], "tau": [-63.82999801635742, -0.10999999940395355, -28.056001663208008, 0.8040000200271606, -4.432000160217285, 3.764000177383423, -0.13600000739097595], "tau_des": [-1.8759169578552246, 1.0149534940719604, -0.5849105715751648, -0.35719186067581177, -0.29673489928245544, 0.14505653083324432, -0.12294721603393555], "tau_dot": [-108.63453674316406, 2.1407525539398193, -51.97099685668945, 25.14527702331543, 8.96147346496582, -58.36241912841797, -31.577302932739258], "tau_ext": [15.656145095825195, -35.61431121826172, -36.47825241088867, 20.123144149780273, -2.141286849975586, -6.984551906585693, 0.014261126518249512], "tcp_pose": [0.6541863679885864, 0.02146323397755623, -0.32991185784339905, -0.03558586165308952, -0.10138244181871414, 0.9941683411598206, 0.009196815080940723], "tcp_vel": [0.00011003897088812664, 0.0004116806376259774, -0.00036878488026559353, 0.0008095865487121046, -0.0007593473419547081, -9.153319842880592e-05], "flange_pose": [0.6679844260215759, 0.019359780475497246, -0.1404252052307129, -0.03558586165308952, -0.10138244181871414, 0.9941683411598206, 0.009196815080940723], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.22424030303955, -54.918148040771484, -8.341888427734375, -4.947344779968262, 10.73758602142334, 0.399562805891037], "ext_wrench_in_world": [-0.30160199415446565, -56.344461413524186, 7.760982026285324, 2.646615913455805, 11.519998757565535, -0.4654859906889031]}
+{"timestamp_ns": 1789729571330094205, "elapsed_ms": 14800, "source_timestamp_ns": 1789729571325258588, "q": [0.0656769871711731, -1.363500952720642, 0.027949906885623932, 1.0016058683395386, 1.5543859004974365, 0.003092923667281866, -0.9982171654701233], "theta": [0.06335942447185516, -1.3626208305358887, 0.026581887155771255, 0.9847014546394348, 1.5536071062088013, 0.0036232471466064453, -0.9975408911705017], "dq": [-0.0027950359508395195, 0.002993378322571516, 0.0031653703190386295, 0.0009940739255398512, -0.0018430190393701196, 0.00027945113833993673, 0.001400519977323711], "dtheta": [-0.0008974609081633389, -2.7813157430500723e-05, 0.002079104771837592, -9.21666796784848e-05, -0.002308832248672843, 0.0015450910432264209, 0.00018193588766735047], "tau": [-63.81999969482422, -0.14999999105930328, -28.056001663208008, 0.7760000228881836, -4.436000347137451, 3.8000001907348633, -0.12800000607967377], "tau_des": [-1.8238403797149658, 1.0828715562820435, -0.4932977557182312, -0.38614770770072937, -0.24206912517547607, 0.1036616861820221, -0.12693332135677338], "tau_dot": [-59.898651123046875, -52.44628143310547, 6.305503845214844, -22.339200973510742, -14.90818977355957, 10.689172744750977, -24.971342086791992], "tau_ext": [15.652722358703613, -35.611324310302734, -36.48767852783203, 20.12307357788086, -2.1454567909240723, -6.982036113739014, 0.01614570990204811], "tcp_pose": [0.6541869044303894, 0.02146228216588497, -0.32991528511047363, -0.03558074310421944, -0.10138174146413803, 0.9941686391830444, 0.00919256266206503], "tcp_vel": [-2.1819560060976073e-05, -5.935135413892567e-05, 1.61338994075777e-05, -0.0006883135647512972, 0.0001028799670166336, -2.319264785910491e-05], "flange_pose": [0.6679828763008118, 0.01936022937297821, -0.14042846858501434, -0.03558074310421944, -0.10138174146413803, 0.9941686391830444, 0.00919256266206503], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.196374893188477, -54.94252395629883, -8.341364860534668, -4.955111980438232, 10.746500015258789, 0.4010583460330963], "ext_wrench_in_world": [-0.26967605723755017, -56.362632592525735, 7.758336743422549, 2.6523236069492016, 11.530308579461503, -0.46734212305213896]}
+{"timestamp_ns": 1789729571363442434, "elapsed_ms": 14833, "source_timestamp_ns": 1789729571355254126, "q": [0.06565006822347641, -1.3635057210922241, 0.028010211884975433, 1.0016014575958252, 1.5543310642242432, 0.0031258866656571627, -0.9982184171676636], "theta": [0.06333395838737488, -1.3626257181167603, 0.02663901261985302, 0.9846963286399841, 1.5535510778427124, 0.0036579370498657227, -0.9975406527519226], "dq": [0.0004321726446505636, 4.5096552639734e-05, 0.004339842591434717, 0.0010045841336250305, -0.002517547458410263, 0.0015683239325881004, 0.002380983205512166], "dtheta": [-0.0007104385294951499, -0.00011192277452209964, 0.0013636236544698477, -0.00037240367964841425, -0.0027089575305581093, 0.001561315730214119, 0.0002113350055878982], "tau": [-63.89999771118164, -0.07999999821186066, -28.06800079345703, 0.7800000309944153, -4.424000263214111, 3.764000177383423, -0.14000000059604645], "tau_des": [-1.8028184175491333, 1.108718752861023, -0.4312060475349426, -0.3936672806739807, -0.20312431454658508, 0.08884665369987488, -0.12111316621303558], "tau_dot": [-123.5185546875, -26.191089630126953, -64.3133773803711, -9.91933822631836, 26.934534072875977, -22.48573112487793, -67.12355041503906], "tau_ext": [15.640607833862305, -35.587005615234375, -36.49677276611328, 20.11733627319336, -2.1436574459075928, -6.982444763183594, 0.012694061733782291], "tcp_pose": [0.6541858315467834, 0.02146325446665287, -0.32991665601730347, -0.035581689327955246, -0.1013827994465828, 0.9941685199737549, 0.009191242046654224], "tcp_vel": [4.471876309253275e-06, -0.00036522664595395327, 0.0002740852942224592, -0.0016641410766169429, 0.00040713624912314117, 0.00021722684323322028], "flange_pose": [0.6679821014404297, 0.01936175301671028, -0.14042986929416656, -0.035581689327955246, -0.1013827994465828, 0.9941685199737549, 0.009191242046654224], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.186639785766602, -54.9260368347168, -8.352078437805176, -4.952661037445068, 10.750449180603027, 0.401113897562027], "ext_wrench_in_world": [-0.2625618919378181, -56.34461622210158, 7.76892591707089, 2.6491051506705867, 11.533685495580615, -0.46716387392013436]}
+{"timestamp_ns": 1789729571396763210, "elapsed_ms": 14866, "source_timestamp_ns": 1789729571395253580, "q": [0.06561657786369324, -1.3635177612304688, 0.028077421709895134, 1.0015861988067627, 1.5542716979980469, 0.0031579420901834965, -0.9982195496559143], "theta": [0.06330272555351257, -1.3626377582550049, 0.02670014277100563, 0.98468017578125, 1.5534899234771729, 0.00369107723236084, -0.9975399374961853], "dq": [-0.001824266742914915, 0.0006798898102715611, 0.0018611140549182892, 0.001548067550174892, -0.0017256814753636718, 0.0008085921290330589, -0.00046533875865861773], "dtheta": [-0.000855147372931242, -0.0005722535424865782, 0.001285141916014254, -0.0005341496434994042, -0.0026802965439856052, 0.0008599761640653014, 0.00017175743414554745], "tau": [-63.79999923706055, -0.11999999731779099, -28.048002243041992, 0.7400000095367432, -4.432000160217285, 3.7760002613067627, -0.1120000034570694], "tau_des": [-1.7959868907928467, 1.181484341621399, -0.4179387390613556, -0.4306349456310272, -0.19493497908115387, 0.10412032157182693, -0.115863136947155], "tau_dot": [-54.3477668762207, -16.185697555541992, -17.292078018188477, 5.700716018676758, 32.73963928222656, -6.930746078491211, -2.206226348876953], "tau_ext": [15.645183563232422, -35.61452102661133, -36.495243072509766, 20.14974021911621, -2.141913652420044, -6.974950790405273, 0.0150647833943367], "tcp_pose": [0.6541871428489685, 0.021464094519615173, -0.32991665601730347, -0.03558161109685898, -0.10138557851314545, 0.994168221950531, 0.00919206440448761], "tcp_vel": [-0.00016978416533675045, -0.000506809214130044, 0.00034493152634240687, -0.001236886135302484, 0.0007107614073902369, -6.96504648658447e-05], "flange_pose": [0.6679834723472595, 0.01936231553554535, -0.14042985439300537, -0.03558161109685898, -0.10138557851314545, 0.994168221950531, 0.00919206440448761], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.218863487243652, -54.9078254699707, -8.347259521484375, -4.943077087402344, 10.739588737487793, 0.4004477858543396], "ext_wrench_in_world": [-0.29773951967692036, -56.333261884642035, 7.766699485265951, 2.641909372477118, 11.521120009864426, -0.46609479453373936]}
+{"timestamp_ns": 1789729571430100992, "elapsed_ms": 14900, "source_timestamp_ns": 1789729571425267124, "q": [0.06559348851442337, -1.3635280132293701, 0.02812112867832184, 1.001560926437378, 1.5542242527008057, 0.003173815319314599, -0.9982165694236755], "theta": [0.06328064948320389, -1.362648844718933, 0.026738718152046204, 0.9846543073654175, 1.5534416437149048, 0.0037087202072143555, -0.9975358247756958], "dq": [-0.00017720031610224396, -0.0016494161682203412, 0.0007957478519529104, -0.0021459644194692373, -0.002219728659838438, -0.0005927145248278975, 0.0016309857601299882], "dtheta": [-0.000986664672382176, -0.00035595925874076784, 0.0011612866073846817, -0.0008670634706504643, -0.0016798819415271282, -0.0005435194470919669, 0.0005315753514878452], "tau": [-63.81999969482422, -0.07999999821186066, -28.00800132751465, 0.7600000500679016, -4.424000263214111, 3.7680001258850098, -0.12800000607967377], "tau_des": [-1.800418496131897, 1.014602780342102, -0.45987099409103394, -0.33128830790519714, -0.23623919486999512, 0.1507110893726349, -0.09497828036546707], "tau_dot": [1.078076958656311, 5.2290215492248535, 46.95825958251953, -15.326007843017578, 14.20576000213623, -8.32559871673584, -47.41392135620117], "tau_ext": [15.645173072814941, -35.60676956176758, -36.50034713745117, 20.157989501953125, -2.1405253410339355, -6.970945835113525, 0.01198476180434227], "tcp_pose": [0.654191255569458, 0.021466711536049843, -0.32991549372673035, -0.03558575361967087, -0.10139208287000656, 0.9941673874855042, 0.009191850200295448], "tcp_vel": [2.4876460429368308e-06, 0.00018190027913078666, 0.000231279555009678, 0.00035080112866126, 0.0008174197282642126, -4.412336238601711e-06], "flange_pose": [0.6679891347885132, 0.01936526410281658, -0.1404288113117218, -0.03558575361967087, -0.10139208287000656, 0.9941673874855042, 0.009191850200295448], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.257864952087402, -54.87809753417969, -8.339430809020996, -4.931402206420898, 10.725319862365723, 0.39991140365600586], "ext_wrench_in_world": [-0.34157617977134935, -56.31194968228469, 7.762383465550368, 2.6332545525787627, 11.504814169192802, -0.46514986400885044]}
+{"timestamp_ns": 1789729571463437164, "elapsed_ms": 14933, "source_timestamp_ns": 1789729571455258484, "q": [0.06557198613882065, -1.3635382652282715, 0.028159035369753838, 1.0015419721603394, 1.5541878938674927, 0.00318941380828619, -0.9982063174247742], "theta": [0.06325990706682205, -1.3626596927642822, 0.02677200175821781, 0.9846351146697998, 1.5534045696258545, 0.003725767135620117, -0.997524082660675], "dq": [-0.00034781935391947627, 0.0013893714640289545, 0.000346814573276788, 0.0007072935695759952, -0.0011315358569845557, -0.0009231411386281252, -0.00199009757488966], "dtheta": [-0.00045877802767790854, -0.0002151627413695678, 0.0015378276584669948, -0.0005218142759986222, -0.0013734566746279597, 0.0004306491755414754, -0.0003794291114900261], "tau": [-63.78999710083008, -0.1599999964237213, -28.052001953125, 0.7640000581741333, -4.432000160217285, 3.7680001258850098, -0.08800000697374344], "tau_des": [-1.911386489868164, 1.0051496028900146, -0.5333269238471985, -0.32696297764778137, -0.2502078115940094, 0.15075911581516266, -0.08129961788654327], "tau_dot": [47.907867431640625, -72.36808776855469, -11.95016098022461, 40.60434341430664, -39.64217758178711, 6.369999885559082, 48.83388137817383], "tau_ext": [15.647428512573242, -35.57710647583008, -36.49702453613281, 20.148666381835938, -2.1413192749023438, -6.968190670013428, 0.00801005493849516], "tcp_pose": [0.6541949510574341, 0.021467752754688263, -0.32991379499435425, -0.035586245357990265, -0.10139170289039612, 0.9941673874855042, 0.009192155674099922], "tcp_vel": [-4.4336960854707286e-05, 0.00016881311603356153, -0.00023205910110846162, 0.0002883488778024912, 0.0005224654451012611, 0.0006989796529524028], "flange_pose": [0.6679930090904236, 0.019366204738616943, -0.1404271274805069, -0.035586245357990265, -0.10139170289039612, 0.9941673874855042, 0.009192155674099922], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.288644790649414, -54.850704193115234, -8.3435697555542, -4.918082237243652, 10.715005874633789, 0.3991033732891083], "ext_wrench_in_world": [-0.37688436355551325, -56.29139881392459, 7.7693033976914325, 2.6223817764486363, 11.49200922005647, -0.4636865244818509]}
+{"timestamp_ns": 1789729571496767577, "elapsed_ms": 14966, "source_timestamp_ns": 1789729571495251889, "q": [0.06554204970598221, -1.36354660987854, 0.028222961351275444, 1.0015314817428589, 1.5541355609893799, 0.0032243081368505955, -0.9981966614723206], "theta": [0.06323134154081345, -1.362668752670288, 0.026829365640878677, 0.9846239686012268, 1.5533517599105835, 0.0037622451782226562, -0.997511625289917], "dq": [-0.00017839364591054618, 0.0017694695852696896, 0.0017148926854133606, -0.001642595510929823, -0.0006427506450563669, 0.0005676377331838012, -0.00024189575924538076], "dtheta": [-0.00046819864655844867, -4.816632281290367e-05, 0.0017278166487812996, -0.00016434458666481078, -0.002012155717238784, 0.0008667026413604617, 0.0007841465994715691], "tau": [-63.779998779296875, -0.11999999731779099, -28.048002243041992, 0.7560000419616699, -4.420000076293945, 3.8000001907348633, -0.09600000083446503], "tau_des": [-1.9125676155090332, 1.0500296354293823, -0.5400713682174683, -0.37984007596969604, -0.2376542091369629, 0.14585228264331818, -0.11636071652173996], "tau_dot": [-20.2551326751709, -15.645793914794922, -45.05313491821289, -49.93624496459961, 9.315995216369629, 57.604698181152344, 52.583702087402344], "tau_ext": [15.635461807250977, -35.590492248535156, -36.5116081237793, 20.14570426940918, -2.140252113342285, -6.968239784240723, 0.0060966042801737785], "tcp_pose": [0.6541966795921326, 0.021469373255968094, -0.3299150764942169, -0.03558427467942238, -0.10138852149248123, 0.9941678047180176, 0.009192361496388912], "tcp_vel": [-0.00018652650760486722, 2.601350388431456e-05, -0.00019742445147130638, -0.0003811246424447745, 0.0007265372551046312, -0.0005998404230922461], "flange_pose": [0.66799396276474, 0.019367627799510956, -0.140428364276886, -0.03558427467942238, -0.10138852149248123, 0.9941678047180176, 0.009192361496388912], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.301196098327637, -54.8256950378418, -8.338561058044434, -4.908900260925293, 10.710023880004883, 0.39480310678482056], "ext_wrench_in_world": [-0.39492850661833134, -56.269393163412836, 7.765776641560451, 2.6148012214545147, 11.485209205334574, -0.45887564447476925]}
+{"timestamp_ns": 1789729571530105269, "elapsed_ms": 15000, "source_timestamp_ns": 1789729571525263264, "q": [0.06551835685968399, -1.3635516166687012, 0.028280628845095634, 1.0015301704406738, 1.5540859699249268, 0.003261096542701125, -0.9981954097747803], "theta": [0.06320874392986298, -1.3626738786697388, 0.026881340891122818, 0.9846221804618835, 1.5533020496368408, 0.003801584243774414, -0.9975082874298096], "dq": [0.0018069250509142876, -0.0032708372455090284, 0.0030459435656666756, 0.0003054926637560129, -0.004014828708022833, 0.0007625308935530484, 0.0010965060209855437], "dtheta": [-0.0009567094384692609, -7.852585258660838e-05, 0.0020044089760631323, -0.00017405168910045177, -0.0026297904551029205, 0.001007290673442185, -0.0002795729960780591], "tau": [-63.84000015258789, -0.14999999105930328, -28.032001495361328, 0.7480000257492065, -4.448000431060791, 3.7680001258850098, -0.11600000411272049], "tau_des": [-1.842876672744751, 1.066068172454834, -0.5021682977676392, -0.38774430751800537, -0.21608781814575195, 0.133035346865654, -0.10135775804519653], "tau_dot": [7.548742294311523, -134.17662048339844, -8.85755443572998, 6.615048885345459, -73.59052276611328, -20.761985778808594, -13.40930461883545], "tau_ext": [15.637022972106934, -35.56633758544922, -36.51337432861328, 20.129413604736328, -2.1402711868286133, -6.975345611572266, 0.0058407168835401535], "tcp_pose": [0.654195249080658, 0.021468671038746834, -0.3299175202846527, -0.035583484917879105, -0.1013866737484932, 0.9941680431365967, 0.009189939126372337], "tcp_vel": [-0.00015178461035247892, -4.971134694642387e-05, 7.6666270615533e-05, -0.0005656295106746256, 0.0006262688548304141, 0.0004715441900771111], "flange_pose": [0.6679921746253967, 0.019367782399058342, -0.140430748462677, -0.035583484917879105, -0.1013866737484932, 0.9941680431365967, 0.009189939126372337], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.284687995910645, -54.83904266357422, -8.355171203613281, -4.915820598602295, 10.716546058654785, 0.3947197198867798], "ext_wrench_in_world": [-0.3751298540329925, -56.27927048870315, 7.781133343406555, 2.6202991482551643, 11.492983356874753, -0.45915267007037347]}
+{"timestamp_ns": 1789729571563498928, "elapsed_ms": 15033, "source_timestamp_ns": 1789729571555258962, "q": [0.06549255549907684, -1.3635568618774414, 0.02833738923072815, 1.001528263092041, 1.5540449619293213, 0.0032961471006274223, -0.9981952905654907], "theta": [0.06318356841802597, -1.362679123878479, 0.02693188562989235, 0.9846203327178955, 1.553261160850525, 0.0038388967514038086, -0.9975063800811768], "dq": [-0.0014899630332365632, -0.0016231633489951491, 0.002135165501385927, -0.0011204034090042114, -0.0035329447127878666, 0.001981303095817566, -0.0010679971892386675], "dtheta": [-0.001020396244712174, -4.1083356336457655e-05, 0.0012804787838831544, -0.0004405883082654327, -0.001433888333849609, 0.0011677328730002046, -0.0003670887090265751], "tau": [-63.84000015258789, -0.14999999105930328, -28.056001663208008, 0.7800000309944153, -4.427999973297119, 3.812000274658203, -0.12800000607967377], "tau_des": [-1.75118887424469, 1.0164276361465454, -0.4446702003479004, -0.34852343797683716, -0.2531793415546417, 0.10259652137756348, -0.09879227727651596], "tau_dot": [79.22843170166016, -124.95884704589844, -26.175596237182617, 5.802059650421143, 18.968788146972656, 85.58428192138672, -33.81550216674805], "tau_ext": [15.65215015411377, -35.61407470703125, -36.52097702026367, 20.13788604736328, -2.1410043239593506, -6.975005149841309, 0.001731156837195158], "tcp_pose": [0.6541961431503296, 0.021469756960868835, -0.32991930842399597, -0.03557875379920006, -0.10138540714979172, 0.9941683411598206, 0.009190351702272892], "tcp_vel": [0.0003350272017996758, 1.117486954171909e-05, 0.00032944782287813723, -0.0005251580150797963, -0.0005634257686324418, 0.0008333581499755383], "flange_pose": [0.6679912805557251, 0.01936851255595684, -0.1404324173927307, -0.03557875379920006, -0.10138540714979172, 0.9941683411598206, 0.009190351702272892], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.267406463623047, -54.881874084472656, -8.351807594299316, -4.926878929138184, 10.72490406036377, 0.3926286995410919], "ext_wrench_in_world": [-0.3501094738283249, -56.31769398304139, 7.775398526679348, 2.629609811629034, 11.50337517097041, -0.4575721763637114]}
+{"timestamp_ns": 1789729571596748231, "elapsed_ms": 15066, "source_timestamp_ns": 1789729571595265744, "q": [0.06546682119369507, -1.3635598421096802, 0.028396468609571457, 1.0015201568603516, 1.5539939403533936, 0.003338993526995182, -0.9981968998908997], "theta": [0.06315905600786209, -1.3626837730407715, 0.026981620118021965, 0.9846118688583374, 1.5532097816467285, 0.003884434700012207, -0.9975051879882812], "dq": [0.001956813968718052, 0.0015140243340283632, -0.0012354983482509851, -0.0007113125175237656, -0.003106966381892562, -7.389357051579282e-05, 0.0005902263219468296], "dtheta": [-0.00035984147689305246, -0.0004853115533478558, 0.001175828743726015, -0.00027819248498417437, -0.0011156285181641579, 0.000937324424739927, 0.00026504110428504646], "tau": [-63.80999755859375, -0.04999999701976776, -28.020000457763672, 0.7800000309944153, -4.448000431060791, 3.7760002613067627, -0.11600000411272049], "tau_des": [-1.9035059213638306, 1.1322675943374634, -0.49762994050979614, -0.4200496971607208, -0.24941571056842804, 0.109124094247818, -0.10834094882011414], "tau_dot": [51.02803039550781, 125.52405548095703, -43.42085266113281, 41.30835723876953, -13.793490409851074, 41.16910934448242, -6.278853893280029], "tau_ext": [15.677789688110352, -35.614501953125, -36.4947624206543, 20.155977249145508, -2.13742995262146, -6.980015277862549, 0.0063508483581244946], "tcp_pose": [0.6541997194290161, 0.02147131785750389, -0.32992053031921387, -0.03557559847831726, -0.10138940811157227, 0.9941681027412415, 0.009185915812849998], "tcp_vel": [-7.720000576227903e-05, -0.00026020852965302765, -9.713112376630306e-05, -0.0003281732206232846, 1.9765418983297423e-05, -0.0004277090192772448], "flange_pose": [0.6679935455322266, 0.01937168277800083, -0.14043353497982025, -0.03557559847831726, -0.10138940811157227, 0.9941681027412415, 0.009185915812849998], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.257231712341309, -54.889671325683594, -8.32327938079834, -4.9287543296813965, 10.729487419128418, 0.39379584789276123], "ext_wrench_in_world": [-0.34026494910480476, -56.32289803348851, 7.746489786741334, 2.6303444576845405, 11.50827383377374, -0.45882032454173133]}
+{"timestamp_ns": 1789729571630096780, "elapsed_ms": 15100, "source_timestamp_ns": 1789729571625256084, "q": [0.06544577330350876, -1.3635659217834473, 0.028434721753001213, 1.0015089511871338, 1.5539579391479492, 0.0033545854967087507, -0.9981943368911743], "theta": [0.06313864886760712, -1.3626903295516968, 0.02701299451291561, 0.9845998883247375, 1.553174614906311, 0.0039014816284179688, -0.9975008964538574], "dq": [-0.0025391343515366316, -0.00546546233817935, 0.0028903349302709103, -0.000998633331619203, -0.0014485013671219349, 0.0008134541567414999, 0.0012584971264004707], "dtheta": [-0.0005515714874491096, 1.588011969033687e-06, 0.0009591065463609993, -0.0003011029039043933, -6.92327885190025e-05, -0.00024295173352584243, 0.000511634920258075], "tau": [-63.78999710083008, -0.11999999731779099, -28.00400161743164, 0.7160000205039978, -4.424000263214111, 3.7760002613067627, -0.10400000214576721], "tau_des": [-1.8745263814926147, 0.9688047170639038, -0.5229389071464539, -0.3426287770271301, -0.2948496639728546, 0.14623752236366272, -0.10054484754800797], "tau_dot": [-6.92243766784668, -21.64638328552246, 61.1884765625, -41.6143684387207, 50.705692291259766, -14.269786834716797, -14.473250389099121], "tau_ext": [15.632560729980469, -35.59038543701172, -36.52505111694336, 20.14919662475586, -2.1396145820617676, -6.964208126068115, 0.003464924171566963], "tcp_pose": [0.6542015075683594, 0.021473189815878868, -0.3299192786216736, -0.03557625785470009, -0.10139109939336777, 0.9941678643226624, 0.009186609648168087], "tcp_vel": [0.00014354617451317608, 0.0004534919571597129, -0.00011193258251296356, 0.0010454271687194705, -0.00013431448314804584, -0.0002760143834166229], "flange_pose": [0.6679955720901489, 0.019373342394828796, -0.14043231308460236, -0.03557625785470009, -0.10139109939336777, 0.9941678643226624, 0.009186609648168087], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.267992973327637, -54.88276290893555, -8.336997032165527, -4.924223899841309, 10.723028182983398, 0.3939296007156372], "ext_wrench_in_world": [-0.35096885928042365, -56.318472691569404, 7.761010899048596, 2.6271674017387396, 11.501043179411438, -0.4587942760100191]}
+{"timestamp_ns": 1789729571663431453, "elapsed_ms": 15133, "source_timestamp_ns": 1789729571655240345, "q": [0.06543021649122238, -1.363577961921692, 0.02846180833876133, 1.0014820098876953, 1.5539196729660034, 0.0033597613219171762, -0.998185932636261], "theta": [0.06312372535467148, -1.3627030849456787, 0.027034500613808632, 0.9845726490020752, 1.5531368255615234, 0.003907442092895508, -0.9974908232688904], "dq": [0.0023265634663403034, -0.002057500882074237, 0.0015886512119323015, -0.0013046602252870798, -0.00041836954187601805, 0.0007429539109580219, 0.0003165015659760684], "dtheta": [-0.00034788716584444046, -0.000560711370781064, 0.0003400418790988624, -0.0009299949160777032, -0.00144512252882123, -0.00031912169652059674, 0.0008230423554778099], "tau": [-63.8599967956543, -0.17000000178813934, -28.032001495361328, 0.7400000095367432, -4.424000263214111, 3.752000093460083, -0.10400000214576721], "tau_des": [-1.846482276916504, 1.075360655784607, -0.4257204234600067, -0.3701464533805847, -0.21049009263515472, 0.12695401906967163, -0.09373171627521515], "tau_dot": [-111.26029205322266, -109.06912231445312, -27.60434341430664, 13.648236274719238, 8.526727676391602, 23.563892364501953, 33.25177764892578], "tau_ext": [15.665373802185059, -35.592437744140625, -36.50905227661133, 20.1563720703125, -2.1410329341888428, -6.964655876159668, -0.001483505591750145], "tcp_pose": [0.6542045474052429, 0.02147335559129715, -0.3299172818660736, -0.03558298200368881, -0.10139476507902145, 0.9941672682762146, 0.00918546412140131], "tcp_vel": [-7.367837679339573e-05, -0.00021935897530056536, 0.00019745994359254837, -0.00047689737402834, 0.0009603282087482512, -0.00038971792673692107], "flange_pose": [0.668001115322113, 0.01937425136566162, -0.14043046534061432, -0.03558298200368881, -0.10139476507902145, 0.9941672682762146, 0.00918546412140131], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.294173240661621, -54.84817886352539, -8.335322380065918, -4.909950256347656, 10.712774276733398, 0.3915969431400299], "ext_wrench_in_world": [-0.38308528076036097, -56.28985884211649, 7.76221983060042, 2.6153597396165997, 11.488107536486934, -0.4558191005547221]}
+{"timestamp_ns": 1789729571696759307, "elapsed_ms": 15166, "source_timestamp_ns": 1789729571695237909, "q": [0.06541383266448975, -1.3635910749435425, 0.02848927117884159, 1.0014568567276, 1.5538932085037231, 0.0033700617495924234, -0.9981722831726074], "theta": [0.06310965865850449, -1.362716794013977, 0.027054814621806145, 0.9845471382141113, 1.5531107187271118, 0.003917574882507324, -0.997474730014801], "dq": [-0.001719224383123219, -0.0021357876248657703, 0.001552435802295804, -0.0017496318323537707, -0.0010599293746054173, 0.002158507937565446, -0.00323011027649045], "dtheta": [-0.00028685954748652875, -0.0002471934712957591, 0.0009375026565976441, -0.0004970880690962076, -0.0007749070064164698, 0.0016296063549816608, -0.0005292738787829876], "tau": [-63.779998779296875, -0.08999999612569809, -27.992000579833984, 0.7440000176429749, -4.440000057220459, 3.748000144958496, -0.10000000149011612], "tau_des": [-1.8359100818634033, 1.0174598693847656, -0.4508514702320099, -0.32605645060539246, -0.2447412759065628, 0.08841989189386368, -0.0705912858247757], "tau_dot": [28.905729293823242, 72.56979370117188, 14.890653610229492, -24.93140411376953, -75.3279800415039, -14.437176704406738, 31.77701187133789], "tau_ext": [15.651164054870605, -35.56075668334961, -36.50026321411133, 20.150676727294922, -2.137813091278076, -6.955940246582031, -0.004257384687662125], "tcp_pose": [0.6542100310325623, 0.02147376351058483, -0.32991570234298706, -0.035583171993494034, -0.10139425843954086, 0.9941673278808594, 0.00918598659336567], "tcp_vel": [0.0003063700860366225, -0.00019179040100425482, -1.828665153880138e-05, -0.0007273022783920169, -0.0006997896125540137, 0.0008432796457782388], "flange_pose": [0.6680066585540771, 0.019374461844563484, -0.14042891561985016, -0.035583171993494034, -0.10139425843954086, 0.9941673278808594, 0.00918598659336567], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.342988967895508, -54.8018684387207, -8.308019638061523, -4.8896660804748535, 10.694937705993652, 0.38777631521224976], "ext_wrench_in_world": [-0.4421178840023666, -56.254087296952164, 7.739479666385085, 2.5994176062256353, 11.466493528698741, -0.45105614841694086]}
+{"timestamp_ns": 1789729571730098788, "elapsed_ms": 15200, "source_timestamp_ns": 1789729571725246555, "q": [0.065398670732975, -1.3635972738265991, 0.028519902378320694, 1.0014500617980957, 1.5538694858551025, 0.0033849661704152822, -0.9981653094291687], "theta": [0.06309406459331512, -1.3627235889434814, 0.027081945911049843, 0.9845401644706726, 1.5530879497528076, 0.0039321184158325195, -0.9974644184112549], "dq": [-0.0018194685690104961, -0.0001262298465007916, -0.0003056973800994456, -0.00039383297553285956, 0.0001931672013597563, 0.0009291575406678021, -0.0003707454598043114], "dtheta": [-0.0004209828039165586, 5.747134127886966e-05, 0.0008883823757059872, -1.8950449884869158e-05, -0.0002848126459866762, 0.0007357337162829936, 0.00033085141330957413], "tau": [-63.84000015258789, -0.09999999403953552, -27.988000869750977, 0.7480000257492065, -4.427999973297119, 3.752000093460083, -0.12000000476837158], "tau_des": [-1.841969609260559, 1.0061894655227661, -0.4764178693294525, -0.35991767048835754, -0.26630139350891113, 0.11964967101812363, -0.09907855838537216], "tau_dot": [-104.51966857910156, -56.07612609863281, -5.846258163452148, 11.66104793548584, -31.540319442749023, -57.548179626464844, -27.969846725463867], "tau_ext": [15.61959457397461, -35.56582260131836, -36.52808380126953, 20.14724349975586, -2.1434099674224854, -6.955902576446533, -0.007530426140874624], "tcp_pose": [0.6542109847068787, 0.021474210545420647, -0.3299160897731781, -0.03558182716369629, -0.10139130055904388, 0.994167685508728, 0.009187133982777596], "tcp_vel": [0.00017092280904762447, 0.0001414928410667926, -4.358571459306404e-05, 0.00012567265366669744, -0.0005442187539301813, -0.0002579204156063497], "flange_pose": [0.6680071949958801, 0.019374381750822067, -0.1404292732477188, -0.03558182716369629, -0.10139130055904388, 0.994167685508728, 0.009187133982777596], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.356488227844238, -54.79158401489258, -8.324209213256836, -4.886800765991211, 10.689793586730957, 0.3851781487464905], "ext_wrench_in_world": [-0.4565560544521482, -56.24694066578442, 7.756684956914547, 2.597911383455881, 11.460833109293153, -0.4483656368618735]}
+{"timestamp_ns": 1789729571763431652, "elapsed_ms": 15233, "source_timestamp_ns": 1789729571755262149, "q": [0.06538189947605133, -1.3636014461517334, 0.02855588123202324, 1.0014472007751465, 1.5538451671600342, 0.0034044585190713406, -0.9981635212898254], "theta": [0.06307737529277802, -1.3627279996871948, 0.02711479924619198, 0.9845370054244995, 1.553063988685608, 0.0039517879486083984, -0.9974606037139893], "dq": [-0.0013621525140479207, -0.0028562441002577543, 0.0006590994889847934, 0.0004035390738863498, -0.001595277339220047, 0.000624421052634716, -0.0020034657791256905], "dtheta": [-0.0006171168643049896, 0.00011725353397196159, 0.001395539497025311, 0.0001032476793625392, -0.0009634235175326467, 0.0010400451719760895, 0.00010952860611723736], "tau": [-63.79999923706055, -0.11999999731779099, -27.976001739501953, 0.7560000419616699, -4.427999973297119, 3.7920002937316895, -0.09600000083446503], "tau_des": [-1.83635413646698, 1.0081292390823364, -0.5057166218757629, -0.3689388036727905, -0.2683829367160797, 0.12417761236429214, -0.09924322366714478], "tau_dot": [44.92818069458008, 11.83540153503418, 11.986956596374512, 41.09709167480469, -11.507372856140137, 36.19444274902344, 11.656696319580078], "tau_ext": [15.643392562866211, -35.562007904052734, -36.51044464111328, 20.14629364013672, -2.1414902210235596, -6.964907169342041, -0.006351173855364323], "tcp_pose": [0.6542118191719055, 0.02147572487592697, -0.32991743087768555, -0.03557881340384483, -0.10138997435569763, 0.9941678643226624, 0.009188936091959476], "tcp_vel": [8.321755740325898e-05, 0.00012209767010062933, -4.636988523998298e-05, -5.7722001656657085e-05, -0.0003618852060753852, -7.13882182026282e-05], "flange_pose": [0.668006956577301, 0.01937508024275303, -0.1404305249452591, -0.03557881340384483, -0.10138997435569763, 0.9941678643226624, 0.009188936091959476], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.346378326416016, -54.79869079589844, -8.339259147644043, -4.891822814941406, 10.694581031799316, 0.3841657042503357], "ext_wrench_in_world": [-0.444363072982379, -56.25205225668179, 7.7705837763938055, 2.6019642282560436, 11.466520253306443, -0.44751829260291265]}
+{"timestamp_ns": 1789729571796758526, "elapsed_ms": 15266, "source_timestamp_ns": 1789729571795259004, "q": [0.06535562127828598, -1.3636077642440796, 0.02860955335199833, 1.0014429092407227, 1.553810954093933, 0.0034382895100861788, -0.9981616735458374], "theta": [0.06305129081010818, -1.3627344369888306, 0.027164915576577187, 0.9845321774482727, 1.5530301332473755, 0.003986358642578125, -0.997455358505249], "dq": [-0.002367113484069705, 0.002215551445260644, 0.0025669692549854517, -0.0002573684323579073, -0.0012864741729572415, 6.275843043113127e-05, 0.0032189476769417524], "dtheta": [-0.00045119505375623703, -6.890290387673303e-05, 0.0009779907995834947, 6.60285513731651e-05, -0.0006955164717510343, 8.839582733344287e-05, -0.000313026161165908], "tau": [-63.8599967956543, -0.10999999940395355, -27.988000869750977, 0.7760000228881836, -4.440000057220459, 3.7680001258850098, -0.1080000028014183], "tau_des": [-1.852103352546692, 1.0352877378463745, -0.5133264064788818, -0.3883102536201477, -0.288737952709198, 0.13581238687038422, -0.09745509922504425], "tau_dot": [-92.23208618164062, -72.87012481689453, 56.521995544433594, 28.05263328552246, -9.402976989746094, 18.494916915893555, -44.89813995361328], "tau_ext": [15.633866310119629, -35.58361053466797, -36.528114318847656, 20.157360076904297, -2.1441895961761475, -6.973173141479492, -0.006782314274460077], "tcp_pose": [0.6542149186134338, 0.021477343514561653, -0.32991835474967957, -0.0355713814496994, -0.10138842463493347, 0.9941682815551758, 0.009190372191369534], "tcp_vel": [-0.00012152979616075754, 0.00011271176481386647, -7.378729060292244e-05, 0.0004203562275506556, 0.00018604635260999203, 0.00016696697275619954], "flange_pose": [0.6680072546005249, 0.019375847652554512, -0.14043128490447998, -0.0355713814496994, -0.10138842463493347, 0.9941682815551758, 0.009190372191369534], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.33765697479248, -54.818153381347656, -8.331103324890137, -4.898725509643555, 10.70339584350586, 0.3840189576148987], "ext_wrench_in_world": [-0.4328284143008867, -56.26928880272854, 7.761108141077584, 2.6069924638273867, 11.476539824606041, -0.4475362657901688]}
+{"timestamp_ns": 1789729571830100127, "elapsed_ms": 15300, "source_timestamp_ns": 1789729571825260511, "q": [0.06533998996019363, -1.3636116981506348, 0.02863965928554535, 1.0014421939849854, 1.5537852048873901, 0.0034553115256130695, -0.9981616735458374], "theta": [0.0630355104804039, -1.3627387285232544, 0.027192333713173866, 0.9845309853553772, 1.5530043840408325, 0.004004240036010742, -0.9974531531333923], "dq": [-0.0023644473403692245, -0.0006411599460989237, 0.0010473536094650626, 0.000677735370118171, -0.002749062143266201, 0.0011898924130946398, -0.0017824495444074273], "dtheta": [-0.000491494603920728, -0.0003197152982465923, 0.0006570036057382822, -4.982531027053483e-05, -0.0003698131476994604, 0.0013261199928820133, -0.00042317237239331007], "tau": [-63.849998474121094, -0.12999999523162842, -27.98000144958496, 0.7640000581741333, -4.4079999923706055, 3.7680001258850098, -0.1120000034570694], "tau_des": [-1.7660977840423584, 1.1127700805664062, -0.4267071485519409, -0.41722631454467773, -0.2760213315486908, 0.08121435344219208, -0.10092580318450928], "tau_dot": [-89.38864135742188, -42.41862869262695, 2.262420415878296, 9.28092098236084, 21.830421447753906, 12.785593032836914, -29.32291603088379], "tau_ext": [15.645466804504395, -35.590396881103516, -36.521759033203125, 20.14406394958496, -2.1391711235046387, -6.970478057861328, -0.0034579287748783827], "tcp_pose": [0.6542143821716309, 0.02147655561566353, -0.32991766929626465, -0.035569995641708374, -0.101387158036232, 0.9941684603691101, 0.009189807809889317], "tcp_vel": [0.00020831225265283138, -0.0003221461083739996, 0.00018442950386088341, -0.0005474253557622433, -0.0010261655552312732, 0.00019565317779779434], "flange_pose": [0.668006181716919, 0.019375203177332878, -0.14043055474758148, -0.035569995641708374, -0.101387158036232, 0.9941684603691101, 0.009189807809889317], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.320237159729004, -54.83134460449219, -8.338604927062988, -4.905099391937256, 10.709566116333008, 0.38435807824134827], "ext_wrench_in_world": [-0.41278077434468863, -56.278758135262265, 7.767105105711125, 2.611985149604612, 11.483868002554537, -0.4481594084137329]}
+{"timestamp_ns": 1789729571863497215, "elapsed_ms": 15333, "source_timestamp_ns": 1789729571855255940, "q": [0.06532663106918335, -1.3636151552200317, 0.02865934744477272, 1.0014348030090332, 1.553764820098877, 0.0034641644451767206, -0.9981615543365479], "theta": [0.06302177160978317, -1.36274254322052, 0.0272096898406744, 0.9845228791236877, 1.5529838800430298, 0.004012703895568848, -0.9974514245986938], "dq": [2.3315205908147618e-05, 0.000874399091117084, -0.0005150699289515615, -0.0003940541355405003, 0.0011633160756900907, 0.0017266542417928576, 0.0008792030275799334], "dtheta": [-0.00038346918881870806, -0.00013584329281002283, 0.0005923432181589305, -0.0008851042948663235, -0.0007360168383456767, 0.0006630417774431407, -0.00020831743313465267], "tau": [-63.84000015258789, -0.12999999523162842, -28.00400161743164, 0.7160000205039978, -4.460000038146973, 3.760000228881836, -0.09600000083446503], "tau_des": [-1.7660635709762573, 0.9733060002326965, -0.4448223114013672, -0.3168971538543701, -0.28022387623786926, 0.09640543907880783, -0.0830901563167572], "tau_dot": [-74.64836120605469, -67.53715515136719, -10.578927993774414, -4.391199111938477, -120.17890930175781, 8.266510963439941, 6.402502059936523], "tau_ext": [15.650527000427246, -35.58576202392578, -36.512840270996094, 20.146759033203125, -2.1358630657196045, -6.963315486907959, -0.005048681516200304], "tcp_pose": [0.654216468334198, 0.021477166563272476, -0.3299151360988617, -0.03556947410106659, -0.10138923674821854, 0.9941682815551758, 0.009189209900796413], "tcp_vel": [0.0003806338645517826, 8.260900358436629e-05, 0.00010213429050054401, -0.00033674942096695304, -0.000226302319788374, 0.0009972751140594482], "flange_pose": [0.6680080890655518, 0.01937604695558548, -0.14042797684669495, -0.03556947410106659, -0.10138923674821854, 0.9941682815551758, 0.009189209900796413], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.300652503967285, -54.83774185180664, -8.338812828063965, -4.907096862792969, 10.711465835571289, 0.38568636775016785], "ext_wrench_in_world": [-0.3921204477891811, -56.281058582913325, 7.765852763948786, 2.6134106188396826, 11.486157579080556, -0.4495808576642636]}
+{"timestamp_ns": 1789729571896763354, "elapsed_ms": 15366, "source_timestamp_ns": 1789729571895260812, "q": [0.06531628966331482, -1.3636243343353271, 0.028678277507424355, 1.001413345336914, 1.5537351369857788, 0.0034717926755547523, -0.9981549382209778], "theta": [0.06301090121269226, -1.3627521991729736, 0.02722514048218727, 0.9845014214515686, 1.5529534816741943, 0.0040198564529418945, -0.9974428415298462], "dq": [0.0008342463988810778, 0.0006617330363951623, 6.260876398300752e-05, 0.0023627188056707382, -0.000734257570002228, 0.0006262499373406172, 0.0019728532060980797], "dtheta": [4.674911542679183e-05, -0.00015107174112927169, 0.0005024984129704535, -0.00018129099044017494, -0.0014048040611669421, 0.0011670663952827454, 0.00038411319837905467], "tau": [-63.82999801635742, -0.08999999612569809, -28.020000457763672, 0.7400000095367432, -4.424000263214111, 3.764000177383423, -0.08400000631809235], "tau_des": [-1.8402044773101807, 1.1074811220169067, -0.424054354429245, -0.41380804777145386, -0.218316450715065, 0.08595924824476242, -0.09585058689117432], "tau_dot": [36.320106506347656, 100.43643188476562, -18.816679000854492, -35.24532699584961, 22.881141662597656, 44.84001159667969, 48.96610641479492], "tau_ext": [15.64649772644043, -35.57597732543945, -36.512657165527344, 20.157806396484375, -2.1352224349975586, -6.956551551818848, -0.0062325880862772465], "tcp_pose": [0.6542195081710815, 0.021476157009601593, -0.3299133777618408, -0.035574305802583694, -0.10139252245426178, 0.9941678047180176, 0.00918597262352705], "tcp_vel": [-7.551148883067071e-05, -0.00039920731796883047, 2.5988781544583617e-06, -0.0013440444599837065, 0.0003359363181516528, -0.0002359592035645619], "flange_pose": [0.6680128574371338, 0.019376493990421295, -0.14042635262012482, -0.035574305802583694, -0.10139252245426178, 0.9941678047180176, 0.00918597262352705], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.331751823425293, -54.82709503173828, -8.333209037780762, -4.900568008422852, 10.699023246765137, 0.38522300124168396], "ext_wrench_in_world": [-0.424587508893127, -56.276807572052306, 7.763084468602243, 2.6094826619213984, 11.472662234939133, -0.44909184006949865]}
+{"timestamp_ns": 1789729571930099906, "elapsed_ms": 15400, "source_timestamp_ns": 1789729571925256860, "q": [0.06530885398387909, -1.3636281490325928, 0.02869352139532566, 1.0013983249664307, 1.5537090301513672, 0.003475362667813897, -0.9981454610824585], "theta": [0.06300284713506699, -1.3627562522888184, 0.02723863534629345, 0.9844865798950195, 1.552925944328308, 0.004022717475891113, -0.9974312782287598], "dq": [-0.00036025146255269647, -0.0020650525111705065, 0.0013680239208042622, -0.0007535149343311787, -5.37056039320305e-05, -0.0014214733382686973, -0.0006608848925679922], "dtheta": [-0.0003668355639092624, 0.00021045464382041246, 0.0004152353503741324, -0.0007844677311368287, -0.0009713156032375991, 0.00015826929302420467, -7.273058872669935e-05], "tau": [-63.779998779296875, -0.11999999731779099, -27.972002029418945, 0.7360000610351562, -4.424000263214111, 3.7680001258850098, -0.10000000149011612], "tau_des": [-1.774382472038269, 0.9121416807174683, -0.41660553216934204, -0.290615051984787, -0.23403407633304596, 0.11249290406703949, -0.06891331821680069], "tau_dot": [118.14859771728516, -11.939165115356445, 69.08934783935547, 19.990741729736328, 1.9338935613632202, 42.0438232421875, 3.461071491241455], "tau_ext": [15.604673385620117, -35.54711151123047, -36.525177001953125, 20.146787643432617, -2.1369121074676514, -6.948853015899658, -0.011488553136587143], "tcp_pose": [0.6542209386825562, 0.021477142348885536, -0.32991260290145874, -0.035580363124608994, -0.1013936847448349, 0.9941675066947937, 0.009183667600154877], "tcp_vel": [0.0003195078461430967, 0.0002828103897627443, 0.00014882419782225043, -0.00030855328077450395, 0.00028018245939165354, 0.0011122061405330896], "flange_pose": [0.6680164933204651, 0.019378598779439926, -0.14042571187019348, -0.035580363124608994, -0.1013936847448349, 0.9941675066947937, 0.009183667600154877], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.350702285766602, -54.79640197753906, -8.330461502075195, -4.8900651931762695, 10.687382698059082, 0.38289007544517517], "ext_wrench_in_world": [-0.4492288180535159, -56.25051001651074, 7.762758647845447, 2.601695396650673, 11.459117284442206, -0.4464341637976261]}
+{"timestamp_ns": 1789729571963438497, "elapsed_ms": 15433, "source_timestamp_ns": 1789729571955241212, "q": [0.06530111283063889, -1.363633155822754, 0.028716951608657837, 1.0013861656188965, 1.553679347038269, 0.003490225877612829, -0.9981329441070557], "theta": [0.0629948303103447, -1.3627612590789795, 0.0272601880133152, 0.9844743609428406, 1.5528944730758667, 0.004037141799926758, -0.9974162578582764], "dq": [0.0016447907546535134, -0.0007310867076739669, -0.0002796509361360222, -0.0008454160997644067, -0.001097393687814474, -0.0006062565953470767, 0.000961556623224169], "dtheta": [0.00020225741900503635, -0.0002997484989464283, 0.0007162035326473415, -0.00012665810936596245, -0.0005055941292084754, 0.0012501898454502225, 0.0007750396034680307], "tau": [-63.77000045776367, -0.11999999731779099, -27.968000411987305, 0.7200000286102295, -4.392000198364258, 3.7800002098083496, -0.07200000435113907], "tau_des": [-1.9411499500274658, 1.144460916519165, -0.4614139199256897, -0.4464377164840698, -0.20748290419578552, 0.10526952892541885, -0.11010901629924774], "tau_dot": [37.837371826171875, 24.729999542236328, 66.65739440917969, -51.173255920410156, 93.15995788574219, 33.09080123901367, 16.680007934570312], "tau_ext": [15.630048751831055, -35.61104202270508, -36.524147033691406, 20.186185836791992, -2.1342639923095703, -6.953873634338379, -0.011219417676329613], "tcp_pose": [0.6542217135429382, 0.021476276218891144, -0.3299139142036438, -0.03558463975787163, -0.10139142721891403, 0.9941676259040833, 0.009179767221212387], "tcp_vel": [-3.0163300834828988e-05, -0.00027790048625320196, -0.000290860392851755, -0.0006102840998210013, -0.00015884065942373127, -0.0009005391038954258], "flange_pose": [0.6680186986923218, 0.01937934011220932, -0.1404271125793457, -0.03558463975787163, -0.10139142721891403, 0.9941676259040833, 0.009179767221212387], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.371246337890625, -54.79585647583008, -8.336647033691406, -4.888786315917969, 10.679075241088867, 0.3806125223636627], "ext_wrench_in_world": [-0.46913259064627677, -56.254129126366735, 7.770854359936738, 2.6023249704828606, 11.450683501609413, -0.4444070585571587]}
+{"timestamp_ns": 1789729571996770571, "elapsed_ms": 15466, "source_timestamp_ns": 1789729571995231608, "q": [0.06528525054454803, -1.3636342287063599, 0.02875596284866333, 1.001380205154419, 1.5536617040634155, 0.0035199301782995462, -0.9981209635734558], "theta": [0.06297752261161804, -1.362762451171875, 0.02729809656739235, 0.9844680428504944, 1.5528746843338013, 0.004067063331604004, -0.997400164604187], "dq": [-0.0006268970319069922, 0.00234910286962986, 0.0031832547392696142, 0.0002831768651958555, -0.0005971002392470837, 0.0019631008617579937, 0.0025011252146214247], "dtheta": [-4.935928154736757e-05, -0.00017678756557870656, 0.0008236551657319069, -0.0005537113756872714, -0.0008079949766397476, 0.00036351403105072677, -7.55842265789397e-05], "tau": [-63.849998474121094, -0.14000000059604645, -27.996002197265625, 0.7240000367164612, -4.427999973297119, 3.7840001583099365, -0.10400000214576721], "tau_des": [-1.900516152381897, 1.0131478309631348, -0.5015468001365662, -0.36102697253227234, -0.2554400563240051, 0.12044219672679901, -0.09471233189105988], "tau_dot": [-69.60836791992188, -89.05717468261719, 29.727645874023438, -53.0135383605957, 7.5433125495910645, 45.47914505004883, -44.10185241699219], "tau_ext": [15.65153694152832, -35.58024597167969, -36.520870208740234, 20.148548126220703, -2.1411314010620117, -6.971258163452148, -0.015545410104095936], "tcp_pose": [0.6542277336120605, 0.02148105390369892, -0.32991722226142883, -0.035576432943344116, -0.10138809680938721, 0.994168221950531, 0.009181149303913116], "tcp_vel": [1.8200124031864107e-05, 8.612603414803743e-05, -0.0002365279506193474, 1.5910745787550695e-05, 0.00042798632057383657, 0.0004704723251052201], "flange_pose": [0.6680216789245605, 0.019383233040571213, -0.14043021202087402, -0.035576432943344116, -0.10138809680938721, 0.994168221950531, 0.009181149303913116], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.377191543579102, -54.81250762939453, -8.348298072814941, -4.897353649139404, 10.685587882995605, 0.377392053604126], "ext_wrench_in_world": [-0.47126656889583174, -56.27179525824529, 7.782217555209441, 2.6097068120121443, 11.458741965602227, -0.4415301271361972]}
+{"timestamp_ns": 1789729572030102701, "elapsed_ms": 15500, "source_timestamp_ns": 1789729572025243613, "q": [0.06527191400527954, -1.3636366128921509, 0.028785105794668198, 1.0013774633407593, 1.5536398887634277, 0.0035387983079999685, -0.9981210827827454], "theta": [0.0629643127322197, -1.362764835357666, 0.027326850220561028, 0.9844653606414795, 1.5528508424758911, 0.004086494445800781, -0.9973974823951721], "dq": [0.0003267510619480163, 0.0005250541144050658, 0.003058229573071003, -0.001541709410957992, -0.001345237367786467, 0.0006280177622102201, 0.002335395198315382], "dtheta": [-0.00027242174837738276, -3.757775402846164e-06, 0.0009440813446417451, 2.3475569832953624e-05, -0.0018702782690525055, 0.00040119659388437867, 7.418436143780127e-05], "tau": [-63.82999801635742, -0.04999999701976776, -27.98000144958496, 0.7280000448226929, -4.440000057220459, 3.752000093460083, -0.10400000214576721], "tau_des": [-1.8569035530090332, 1.0651311874389648, -0.4707797169685364, -0.41459035873413086, -0.22430190443992615, 0.11340635269880295, -0.1023416519165039], "tau_dot": [-32.132938385009766, 154.24185180664062, 8.801676750183105, -15.09865951538086, 1.9888420104980469, -33.99476623535156, -37.93157958984375], "tau_ext": [15.63180160522461, -35.57804489135742, -36.54147720336914, 20.148054122924805, -2.137586832046509, -6.96685266494751, -0.01570942811667919], "tcp_pose": [0.6542290449142456, 0.021481966599822044, -0.32991793751716614, -0.035574011504650116, -0.10138857364654541, 0.9941682815551758, 0.009180777706205845], "tcp_vel": [-0.0003008968778885901, -0.00014327898679766804, -1.2901079571747687e-05, -0.0006746725412085652, 0.0009806466987356544, -1.434695968782762e-05], "flange_pose": [0.6680220365524292, 0.019384199753403664, -0.14043086767196655, -0.035574011504650116, -0.10138857364654541, 0.9941682815551758, 0.009180777706205845], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.352439880371094, -54.82571792602539, -8.351758003234863, -4.902726650238037, 10.696635246276855, 0.37688201665878296], "ext_wrench_in_world": [-0.44416725910746935, -56.279762724265865, 7.783636810203386, 2.6127645477336743, 11.470643687871476, -0.4410998269413609]}
+{"timestamp_ns": 1789729572063492623, "elapsed_ms": 15533, "source_timestamp_ns": 1789729572055265164, "q": [0.0652601346373558, -1.3636391162872314, 0.02880833111703396, 1.0013720989227295, 1.553619623184204, 0.0035537807270884514, -0.9981229305267334], "theta": [0.06295258551836014, -1.3627674579620361, 0.027349164709448814, 0.9844598770141602, 1.5528285503387451, 0.004101157188415527, -0.9973974823951721], "dq": [0.00018022449512500316, 6.319723615888506e-05, 0.0038733684923499823, 0.0014744728105142713, -0.0023507350124418736, -0.0009237424819730222, -0.0013710811035707593], "dtheta": [2.826030322466977e-05, -0.00016277661779895425, 0.0004306323535274714, -0.0007342436583712697, -0.0005796252517029643, 0.0012783260317519307, -0.0008987455512396991], "tau": [-63.80999755859375, -0.07999999821186066, -27.96000099182129, 0.7480000257492065, -4.404000282287598, 3.7680001258850098, -0.10400000214576721], "tau_des": [-1.8293598890304565, 0.9821693301200867, -0.4416372776031494, -0.3194907605648041, -0.25825759768486023, 0.07296796888113022, -0.06607289612293243], "tau_dot": [79.92305755615234, 36.046661376953125, 36.80860137939453, 1.7291709184646606, 24.750947952270508, 4.443802833557129, 9.180665969848633], "tau_ext": [15.639466285705566, -35.588111877441406, -36.5407829284668, 20.16367530822754, -2.140470266342163, -6.96744966506958, -0.015896648168563843], "tcp_pose": [0.654231071472168, 0.021482715383172035, -0.3299175202846527, -0.035572536289691925, -0.10139120370149612, 0.9941680431365967, 0.009179672226309776], "tcp_vel": [0.00034808681812137365, -0.00012937963765580207, -4.805390926776454e-05, -0.0007862811326049268, -0.00039470798219554126, 0.0015357981901615858], "flange_pose": [0.6680234670639038, 0.01938534528017044, -0.14043039083480835, -0.035572536289691925, -0.10139120370149612, 0.9941680431365967, 0.009179672226309776], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.356444358825684, -54.825496673583984, -8.349432945251465, -4.901327133178711, 10.697272300720215, 0.3753308653831482], "ext_wrench_in_world": [-0.44801739489916337, -56.28031938597835, 7.781694123474084, 2.611322209267349, 11.470980528697476, -0.439451510783048]}
+{"timestamp_ns": 1789729572096766982, "elapsed_ms": 15566, "source_timestamp_ns": 1789729572095262239, "q": [0.06524519622325897, -1.3636494874954224, 0.028839893639087677, 1.0013543367385864, 1.5535892248153687, 0.003565174760296941, -0.998121440410614], "theta": [0.06293623149394989, -1.3627781867980957, 0.027379825711250305, 0.9844416975975037, 1.5527960062026978, 0.004112362861633301, -0.9973932504653931], "dq": [-0.0013354537077248096, -0.0003162528737448156, 0.0015613837167620659, -8.717407763469964e-05, 0.0008021541871130466, 0.0007160186651162803, -0.001991228200495243], "dtheta": [-0.00046900633606128395, -8.164901373675093e-05, 0.0007952820742502809, -0.0002660319150891155, -0.0009692333987914026, 0.00017849392315838486, 0.000866635877173394], "tau": [-63.84000015258789, -0.10999999940395355, -27.968000411987305, 0.7600000500679016, -4.448000431060791, 3.7680001258850098, -0.1120000034570694], "tau_des": [-1.8114948272705078, 1.0181559324264526, -0.4570414423942566, -0.3782299757003784, -0.25039243698120117, 0.11410015821456909, -0.09658747166395187], "tau_dot": [-136.4562225341797, 183.8450927734375, 22.453594207763672, 61.10768508911133, -17.831748962402344, 1.7952176332473755, -77.92366027832031], "tau_ext": [15.639472007751465, -35.56552505493164, -36.533302307128906, 20.168466567993164, -2.137122392654419, -6.962777137756348, -0.01651541329920292], "tcp_pose": [0.6542329788208008, 0.02148321643471718, -0.32991817593574524, -0.03557487204670906, -0.1013944149017334, 0.9941676259040833, 0.009180809371173382], "tcp_vel": [2.6491352400626056e-06, 6.333374767564237e-05, 5.6828332162695006e-05, -7.530178118031472e-05, 0.0002659228048287332, -0.000656376127153635], "flange_pose": [0.668026328086853, 0.019385552033782005, -0.14043112099170685, -0.03557487204670906, -0.1013944149017334, 0.9941676259040833, 0.009180809371173382], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.381450653076172, -54.79846954345703, -8.342660903930664, -4.890542030334473, 10.690237998962402, 0.3754839599132538], "ext_wrench_in_world": [-0.4779693549365187, -56.25885415095643, 7.777239256630515, 2.6021127083097144, 11.461930036161817, -0.4390299858375123]}
+{"timestamp_ns": 1789729572130099098, "elapsed_ms": 15600, "source_timestamp_ns": 1789729572125256507, "q": [0.06523656845092773, -1.3636565208435059, 0.02885877899825573, 1.0013389587402344, 1.553557276725769, 0.003574955277144909, -0.9981098771095276], "theta": [0.06292664259672165, -1.3627859354019165, 0.027397850528359413, 0.9844260215759277, 1.5527629852294922, 0.004121541976928711, -0.9973796010017395], "dq": [-3.0593298561143456e-06, -0.00041322107426822186, -0.0018352315528318286, -0.0008295010193251073, -0.0011009698500856757, -0.0011605831095948815, 0.001811512396670878], "dtheta": [-0.0002439568779664114, -0.0003060231974814087, 0.0006718327640555799, -0.0004966171109117568, -0.0012386573944240808, -0.00011392037413315848, 5.008580410503782e-05], "tau": [-63.78999710083008, -0.17999999225139618, -27.972002029418945, 0.7080000042915344, -4.440000057220459, 3.7240002155303955, -0.09600000083446503], "tau_des": [-1.869532585144043, 1.0701311826705933, -0.44067004323005676, -0.3981996178627014, -0.2045108675956726, 0.11836086213588715, -0.08390846103429794], "tau_dot": [105.11386108398438, -56.97389602661133, 10.750736236572266, -65.32718658447266, -27.605125427246094, -83.41337585449219, -9.091546058654785], "tau_ext": [15.632287979125977, -35.570587158203125, -36.535804748535156, 20.17218780517578, -2.136322259902954, -6.96355676651001, -0.014711587689816952], "tcp_pose": [0.6542336940765381, 0.021480955183506012, -0.3299170136451721, -0.035580869764089584, -0.10139328986406326, 0.9941675662994385, 0.009175930172204971], "tcp_vel": [-0.00015274723409675062, -5.8499572332948446e-05, -2.8005448257317767e-05, -0.0001139716332545504, 0.00084630714263767, 0.0001773420226527378], "flange_pose": [0.6680290699005127, 0.01938534900546074, -0.14043007791042328, -0.035580869764089584, -0.10139328986406326, 0.9941675662994385, 0.009175930172204971], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.385274887084961, -54.77067184448242, -8.338644027709961, -4.881434440612793, 10.6868896484375, 0.3760198652744293], "ext_wrench_in_world": [-0.4875970952669373, -56.23227548800916, 7.774828297707361, 2.593864832081968, 11.456805505962077, -0.4391768737168776]}
+{"timestamp_ns": 1789729572163430454, "elapsed_ms": 15633, "source_timestamp_ns": 1789729572155255732, "q": [0.06522674858570099, -1.3636623620986938, 0.028879953548312187, 1.0013257265090942, 1.5535411834716797, 0.003584635443985462, -0.9980975985527039], "theta": [0.06291668117046356, -1.3627923727035522, 0.02741725742816925, 0.984412431716919, 1.5527458190917969, 0.004130840301513672, -0.9973651766777039], "dq": [-0.000508650322444737, 0.00040265219286084175, 0.00042447622399777174, -0.001953291241079569, -0.0012312011094763875, 0.0001945342228282243, -0.0003678317298181355], "dtheta": [-0.0005046509322710335, -0.0003772480704355985, 0.00043128058314323425, -0.0006470157532021403, -0.0008762622601352632, 9.321652032667771e-05, -3.7507968954741955e-05], "tau": [-63.79999923706055, -0.09999999403953552, -27.964000701904297, 0.7000000476837158, -4.427999973297119, 3.7680001258850098, -0.08800000697374344], "tau_des": [-1.777817726135254, 1.0542207956314087, -0.39420613646507263, -0.3792680501937866, -0.22116895020008087, 0.09821260720491409, -0.08755098283290863], "tau_dot": [4.125299453735352, -3.533581495285034, 3.037677049636841, -10.509977340698242, -45.03196334838867, -2.007525682449341, -22.977991104125977], "tau_ext": [15.628593444824219, -35.57624816894531, -36.5397834777832, 20.178653717041016, -2.1391122341156006, -6.962014675140381, -0.01677737943828106], "tcp_pose": [0.6542370915412903, 0.021482862532138824, -0.32991793751716614, -0.03558027744293213, -0.10139100253582001, 0.9941678643226624, 0.00917707197368145], "tcp_vel": [0.0001102452733903192, -0.00011561893188627437, 0.00023166739265434444, -0.00023118923127185553, 0.00012603621871676296, 0.0003432117810007185], "flange_pose": [0.6680322885513306, 0.019386770203709602, -0.1404310166835785, -0.03558027744293213, -0.10139100253582001, 0.9941678643226624, 0.00917707197368145], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.411233901977539, -54.7455940246582, -8.346466064453125, -4.873623371124268, 10.678960800170898, 0.3754653334617615], "ext_wrench_in_world": [-0.5176995409937525, -56.213069049048656, 7.78493051475086, 2.587921932006555, 11.447443870600054, -0.4382598031849088]}
+{"timestamp_ns": 1789729572196765039, "elapsed_ms": 15666, "source_timestamp_ns": 1789729572195258766, "q": [0.06521475315093994, -1.3636680841445923, 0.0289068091660738, 1.001307725906372, 1.5535106658935547, 0.0035925914999097586, -0.9980899691581726], "theta": [0.06290485709905624, -1.362799048423767, 0.02744143269956112, 0.9843941926956177, 1.5527150630950928, 0.004137992858886719, -0.9973546266555786], "dq": [-0.0017869822913780808, -0.0014367469120770693, 0.0053125955164432526, -0.0005943546420894563, 0.0004934212774969637, -0.0012163757346570492, 0.001937223831191659], "dtheta": [-0.00041807020897977054, -0.0001208680696436204, 0.000744407472666353, -0.00035340210888534784, -0.0008005224517546594, 6.835296517238021e-05, 0.0001567787112435326], "tau": [-63.80999755859375, -0.14999999105930328, -27.972002029418945, 0.7360000610351562, -4.420000076293945, 3.7360000610351562, -0.06800000369548798], "tau_des": [-1.8497941493988037, 1.0023804903030396, -0.459975928068161, -0.36706650257110596, -0.22691474854946136, 0.13085176050662994, -0.08392846584320068], "tau_dot": [-72.80757904052734, 11.548686981201172, 40.457130432128906, 11.982830047607422, 41.466217041015625, -34.68611145019531, 31.41288185119629], "tau_ext": [15.628225326538086, -35.55732345581055, -36.53239059448242, 20.176498413085938, -2.136453628540039, -6.962343692779541, -0.01953916810452938], "tcp_pose": [0.6542394757270813, 0.021485663950443268, -0.3299187421798706, -0.035584982484579086, -0.10139362514019012, 0.9941673874855042, 0.009177282452583313], "tcp_vel": [2.4117454813676886e-05, 0.00010106774425366893, 1.6853211491252296e-05, 0.00012628007971215993, 0.0002524609153624624, 8.624519250588492e-05], "flange_pose": [0.6680364608764648, 0.019389711320400238, -0.1404319405555725, -0.035584982484579086, -0.10139362514019012, 0.9941673874855042, 0.009177282452583313], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.429656028747559, -54.72996139526367, -8.347949028015137, -4.869191646575928, 10.673386573791504, 0.37248700857162476], "ext_wrench_in_world": [-0.5383543106260772, -56.20150299228283, 7.788100688808915, 2.5848632445524884, 11.441069772451627, -0.43515432330086334]}
+{"timestamp_ns": 1789729572230097784, "elapsed_ms": 15700, "source_timestamp_ns": 1789729572225238877, "q": [0.06520354747772217, -1.3636716604232788, 0.02892366424202919, 1.0013020038604736, 1.5535050630569458, 0.0036067680921405554, -0.9980834722518921], "theta": [0.06289379298686981, -1.3628027439117432, 0.027457932010293007, 0.9843881726264954, 1.5527100563049316, 0.004151701927185059, -0.9973464608192444], "dq": [0.00045734341256320477, -0.003453441895544529, 0.0005929756443947554, -0.0014942793641239405, 0.0030643953941762447, 0.000309998809825629, -0.00020176144607830793], "dtheta": [-0.00037241558311507106, 0.00015984381025191396, 0.0009461391600780189, -0.00011704452481353655, 0.00023275683633983135, 0.0015443499432876706, -0.0004787348152603954], "tau": [-63.79999923706055, -0.1599999964237213, -28.000001907348633, 0.7360000610351562, -4.424000263214111, 3.744000196456909, -0.09600000083446503], "tau_des": [-1.7928978204727173, 0.933188796043396, -0.46153056621551514, -0.3179309368133545, -0.2858836352825165, 0.08141667395830154, -0.07706540077924728], "tau_dot": [21.864587783813477, -17.994409561157227, -37.83116149902344, -10.912590026855469, -43.909847259521484, -45.39990234375, -2.010319709777832], "tau_ext": [15.633564949035645, -35.56330871582031, -36.53422164916992, 20.163501739501953, -2.140423536300659, -6.9596638679504395, -0.015166051685810089], "tcp_pose": [0.6542444229125977, 0.021486667916178703, -0.32991743087768555, -0.03557804971933365, -0.10139159858226776, 0.9941678643226624, 0.00917772389948368], "tcp_vel": [0.000493635714519769, 0.00019711781351361424, -9.1750334831886e-05, 3.938970257877372e-05, -0.0014313342981040478, 0.0007465100497938693], "flange_pose": [0.6680388450622559, 0.019390251487493515, -0.14043043553829193, -0.03557804971933365, -0.10139159858226776, 0.9941678643226624, 0.00917772389948368], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.423360824584961, -54.73744583129883, -8.349248886108398, -4.870241641998291, 10.674506187438965, 0.3745069205760956], "ext_wrench_in_world": [-0.5309535720789333, -56.20758768435759, 7.788645728490755, 2.585572340559313, 11.442390681485382, -0.43715282759867574]}
+{"timestamp_ns": 1789729572263425511, "elapsed_ms": 15733, "source_timestamp_ns": 1789729572255231554, "q": [0.06519102305173874, -1.3636740446090698, 0.028947023674845695, 1.0013008117675781, 1.5534924268722534, 0.003623503027483821, -0.9980769753456116], "theta": [0.06288149207830429, -1.3628051280975342, 0.02748000994324684, 0.9843869805335999, 1.552697777748108, 0.004167795181274414, -0.9973376393318176], "dq": [-0.0022782371379435062, -0.0032243975438177586, 0.0018684770911931992, -0.00014346979151014239, -0.0004836043226532638, -0.0018137581646442413, -0.002070668153464794], "dtheta": [-0.00030223032808862627, 0.00012747134314849973, 0.0007308952626772225, -7.982992974575609e-05, -0.00040378092671744525, 0.0003441278822720051, 0.0006310342578217387], "tau": [-63.78999710083008, -0.11999999731779099, -27.98000144958496, 0.7280000448226929, -4.420000076293945, 3.748000144958496, -0.06800000369548798], "tau_des": [-1.8069754838943481, 0.9824388027191162, -0.4658024311065674, -0.37034568190574646, -0.2767465114593506, 0.10238374769687653, -0.11092475801706314], "tau_dot": [-18.64389419555664, 19.591951370239258, -4.888184070587158, -30.032297134399414, 17.938304901123047, -30.06898307800293, 28.270553588867188], "tau_ext": [15.634769439697266, -35.55759048461914, -36.534786224365234, 20.15854835510254, -2.1417036056518555, -6.964511394500732, -0.018837841227650642], "tcp_pose": [0.6542467474937439, 0.021487394347786903, -0.32991719245910645, -0.03557281196117401, -0.10138783603906631, 0.9941684007644653, 0.009178095497190952], "tcp_vel": [9.302706166636199e-05, 0.00020864781981799752, -7.270093919942155e-05, 0.00015515991253778338, -9.739999222801998e-05, -0.000425816688220948], "flange_pose": [0.6680392026901245, 0.019390584900975227, -0.1404300481081009, -0.03557281196117401, -0.10138783603906631, 0.9941684007644653, 0.009178095497190952], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.404386520385742, -54.75239562988281, -8.337480545043945, -4.8741536140441895, 10.682430267333984, 0.3744952380657196], "ext_wrench_in_world": [-0.5107814423514205, -56.218268026205315, 7.775130638723335, 2.5878953238408515, 11.450922291872539, -0.43716474174654557]}
+{"timestamp_ns": 1789729572296756807, "elapsed_ms": 15766, "source_timestamp_ns": 1789729572295228340, "q": [0.06517817080020905, -1.3636759519577026, 0.028971388936042786, 1.0012999773025513, 1.5534672737121582, 0.0036360230296850204, -0.9980787634849548], "theta": [0.06286942213773727, -1.3628069162368774, 0.02750270627439022, 0.9843857288360596, 1.5526732206344604, 0.0041806697845458984, -0.9973363876342773], "dq": [0.0021249225828796625, 0.002283733570948243, 0.000991207198239863, 9.758213127497584e-05, 0.0017225849442183971, -0.0020395151805132627, 0.0005208636284805834], "dtheta": [3.0228320611058734e-05, -0.0003592201683204621, 0.0007953228778205812, -0.00020469770242925733, -0.0005113594233989716, -0.0002566640905570239, 0.0013061255449429154], "tau": [-63.78999710083008, -0.09999999403953552, -27.98000144958496, 0.7360000610351562, -4.424000263214111, 3.744000196456909, -0.07600000500679016], "tau_des": [-1.9223209619522095, 1.1079630851745605, -0.5046117901802063, -0.45239540934562683, -0.25226351618766785, 0.13170704245567322, -0.12712004780769348], "tau_dot": [0.5223404169082642, -48.24148941040039, -16.10301399230957, 8.570484161376953, 17.37246322631836, -32.48863220214844, 36.186180114746094], "tau_ext": [15.619341850280762, -35.571624755859375, -36.54800033569336, 20.152835845947266, -2.143747091293335, -6.965400218963623, -0.017327947542071342], "tcp_pose": [0.6542458534240723, 0.021487098187208176, -0.3299161493778229, -0.035573624074459076, -0.10138852149248123, 0.9941683411598206, 0.009176854975521564], "tcp_vel": [-0.0002836212224792689, 3.972283593611792e-05, -0.00035488285357132554, 0.0004991853493265808, 0.000748931837733835, -0.0014838677598163486], "flange_pose": [0.668038547039032, 0.01939079724252224, -0.1404290348291397, -0.035573624074459076, -0.10138852149248123, 0.9941683411598206, 0.009176854975521564], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.380636215209961, -54.77919387817383, -8.35567569732666, -4.884579181671143, 10.691051483154297, 0.37288135290145874], "ext_wrench_in_world": [-0.48078017577787335, -56.239888804855944, 7.791104481062916, 2.596447440200009, 11.461458244458134, -0.4360868051592003]}
+{"timestamp_ns": 1789729572330095371, "elapsed_ms": 15800, "source_timestamp_ns": 1789729572325241062, "q": [0.06516814976930618, -1.363679051399231, 0.028987281024456024, 1.0012922286987305, 1.55344820022583, 0.003640427952632308, -0.9980815052986145], "theta": [0.06285998225212097, -1.3628106117248535, 0.02751806192100048, 0.9843775033950806, 1.5526541471481323, 0.0041844844818115234, -0.9973371624946594], "dq": [-0.0013961581280454993, -0.0007973092724569142, 0.0020630257204174995, -0.0012949180090799928, 0.0001970674202311784, 0.001130677293986082, 0.0012999320169910789], "dtheta": [-0.00034166473778896034, 0.00022162839013617486, 0.00045074388617649674, -0.00014792944421060383, -0.0004331098170951009, -0.0001352942199446261, -0.0002831517194863409], "tau": [-63.80999755859375, -0.14999999105930328, -27.98400115966797, 0.7080000042915344, -4.4079999923706055, 3.744000196456909, -0.10400000214576721], "tau_des": [-1.7853449583053589, 0.9487257599830627, -0.4323650896549225, -0.351132869720459, -0.251254677772522, 0.1144014224410057, -0.07641202956438065], "tau_dot": [22.44331169128418, -10.73133659362793, 7.87166166305542, -8.785400390625, 24.203094482421875, -21.553789138793945, -38.6465950012207], "tau_ext": [15.620474815368652, -35.58843231201172, -36.54209899902344, 20.170639038085938, -2.1385817527770996, -6.961021423339844, -0.013668712228536606], "tcp_pose": [0.6542469263076782, 0.021487999707460403, -0.32991456985473633, -0.035575442016124725, -0.10139244794845581, 0.9941678643226624, 0.009176725521683693], "tcp_vel": [9.050332300830632e-05, 0.0002879223902709782, 4.015340527985245e-05, 0.00028011752874590456, 0.00014972739154472947, 0.0006461534067057073], "flange_pose": [0.6680402755737305, 0.019391873851418495, -0.14042750000953674, -0.035575442016124725, -0.10139244794845581, 0.9941678643226624, 0.009176725521683693], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.36837387084961, -54.801883697509766, -8.361913681030273, -4.892344951629639, 10.693761825561523, 0.37546607851982117], "ext_wrench_in_world": [-0.46331406895675653, -56.25969816286016, 7.795924070363874, 2.603208972607804, 11.465732070429425, -0.43914350473661234]}
+{"timestamp_ns": 1789729572363425477, "elapsed_ms": 15833, "source_timestamp_ns": 1789729572355232370, "q": [0.06515873968601227, -1.3636835813522339, 0.029004080221056938, 1.0012811422348022, 1.5534331798553467, 0.003642552299425006, -0.998081386089325], "theta": [0.06285034865140915, -1.362815022468567, 0.027533559128642082, 0.9843657612800598, 1.5526392459869385, 0.004185199737548828, -0.9973357319831848], "dq": [0.00010595088679110631, 0.0008466815343126655, 0.0017529557226225734, 0.0014584892196580768, -0.0006665731780230999, 0.0019785405602306128, 0.001313079847022891], "dtheta": [-0.0003296242794021964, -5.465812864713371e-05, 0.0002810562727972865, -0.00036730579449795187, 0.000254906335612759, -0.0006228516576811671, 0.0006172618013806641], "tau": [-63.82999801635742, -0.19999998807907104, -27.988000869750977, 0.7160000205039978, -4.432000160217285, 3.7720000743865967, -0.08000000566244125], "tau_des": [-1.7987391948699951, 0.9575960040092468, -0.44960397481918335, -0.3542175590991974, -0.2729693353176117, 0.1357468217611313, -0.08447765558958054], "tau_dot": [-1.6251202821731567, -152.17115783691406, -29.968589782714844, -21.016212463378906, 7.560089588165283, 89.33806610107422, 22.611894607543945], "tau_ext": [15.629227638244629, -35.55879211425781, -36.5354118347168, 20.164613723754883, -2.137752056121826, -6.954784870147705, -0.01528181228786707], "tcp_pose": [0.654248833656311, 0.021490449085831642, -0.32991454005241394, -0.0355767123401165, -0.10139571875333786, 0.9941674470901489, 0.009179209358990192], "tcp_vel": [0.0001338128640782088, 0.00034463428892195225, -1.0477589967194945e-05, 0.0008734744624234736, -2.0342791685834527e-05, -0.0003674220643006265], "flange_pose": [0.668042778968811, 0.019393477588891983, -0.14042751491069794, -0.0355767123401165, -0.10139571875333786, 0.9941674470901489, 0.009179209358990192], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.391855239868164, -54.7768440246582, -8.348665237426758, -4.881414413452148, 10.683568954467773, 0.3773517906665802], "ext_wrench_in_world": [-0.49186147212828035, -56.239822091421914, 7.78469088992278, 2.5943671759415374, 11.453579398170945, -0.44048221398430454]}
+{"timestamp_ns": 1789729572396760972, "elapsed_ms": 15866, "source_timestamp_ns": 1789729572395233884, "q": [0.065149687230587, -1.3636921644210815, 0.02901839092373848, 1.0012603998184204, 1.5534136295318604, 0.0036470992490649223, -0.9980667233467102], "theta": [0.06284181773662567, -1.3628242015838623, 0.027546241879463196, 0.9843440651893616, 1.5526185035705566, 0.004188179969787598, -0.9973189234733582], "dq": [4.432991408975795e-05, -0.0024128493387252092, 0.0027368476148694754, -0.000801916467025876, -0.002528255805373192, -0.001562234596349299, 0.0005925748846493661], "dtheta": [-0.0001647417520871386, -2.531716563680675e-05, 0.00017096933152060956, -0.0007343175238929689, -0.0009773920755833387, -0.00019866044749505818, 0.00033594659180380404], "tau": [-63.73999786376953, -0.11999999731779099, -27.98400115966797, 0.7400000095367432, -4.444000244140625, 3.7400002479553223, -0.09200000762939453], "tau_des": [-1.7778671979904175, 0.9486888647079468, -0.4094303548336029, -0.3290978968143463, -0.22787873446941376, 0.11388734728097916, -0.07548359781503677], "tau_dot": [73.46980285644531, 31.521406173706055, -12.650249481201172, -16.840641021728516, -9.267937660217285, -25.771347045898438, -1.4097875356674194], "tau_ext": [15.617881774902344, -35.54438781738281, -36.53685760498047, 20.167203903198242, -2.140026092529297, -6.949432373046875, -0.01894199103116989], "tcp_pose": [0.6542531251907349, 0.02149067260324955, -0.3299129009246826, -0.035579003393650055, -0.10139472782611847, 0.9941675066947937, 0.00917793344706297], "tcp_vel": [0.00010164226114284247, 9.715671330923215e-05, 0.00010608399315970019, -0.00034577323822304606, 0.000690711138304323, 0.0004195572983007878], "flange_pose": [0.6680479049682617, 0.01939425803720951, -0.14042595028877258, -0.035579003393650055, -0.10139472782611847, 0.9941675066947937, 0.00917793344706297], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.42386245727539, -54.73802185058594, -8.3434476852417, -4.864416122436523, 10.670404434204102, 0.3752993643283844], "ext_wrench_in_world": [-0.5313802627407374, -56.20819608027135, 7.782855656314293, 2.580575192573609, 11.437220913221195, -0.4376460581538925]}
+{"timestamp_ns": 1789729572430096817, "elapsed_ms": 15900, "source_timestamp_ns": 1789729572425243608, "q": [0.06514640152454376, -1.3636962175369263, 0.02902992255985737, 1.0012476444244385, 1.553394079208374, 0.003651433391496539, -0.9980469346046448], "theta": [0.06283857673406601, -1.3628286123275757, 0.027556875720620155, 0.9843307137489319, 1.5525991916656494, 0.004191279411315918, -0.9972966313362122], "dq": [-0.0004304327885620296, -0.0009365204023197293, 9.057071292772889e-05, -0.0007014109287410975, -0.0015238405903801322, 0.0005104090669192374, 0.0008679339080117643], "dtheta": [-0.00013672371278516948, -0.00013375199341680855, 0.0003836951218545437, -0.0004762921016663313, -0.0007048145052976906, -0.0006772373453713953, -8.743185026105493e-05], "tau": [-63.73999786376953, -0.08999999612569809, -27.976001739501953, 0.6880000233650208, -4.424000263214111, 3.748000144958496, -0.07200000435113907], "tau_des": [-1.855905294418335, 1.003572702407837, -0.44861340522766113, -0.3813569247722626, -0.21927449107170105, 0.14448687434196472, -0.0887889564037323], "tau_dot": [3.799923896789551, 46.89641571044922, 3.511887550354004, 16.246980667114258, -18.637313842773438, 3.900143623352051, -1.8029550313949585], "tau_ext": [15.596747398376465, -35.54558181762695, -36.54853439331055, 20.17398452758789, -2.139530658721924, -6.948458671569824, -0.020576050505042076], "tcp_pose": [0.6542540192604065, 0.02149072289466858, -0.3299137055873871, -0.035584159195423126, -0.10138943046331406, 0.9941678643226624, 0.009175539016723633], "tcp_vel": [-0.00012053891259711236, 0.00017590179049875587, -7.992672908585519e-05, 0.00039758009370416403, 0.0009062648168765008, 0.00042245929944328964], "flange_pose": [0.6680506467819214, 0.019395338371396065, -0.1404268741607666, -0.035584159195423126, -0.10138943046331406, 0.9941678643226624, 0.009175539016723633], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.435946464538574, -54.70827865600586, -8.348071098327637, -4.856157302856445, 10.664682388305664, 0.3742065131664276], "ext_wrench_in_world": [-0.5493308442061094, -56.181510698713545, 7.789409494225388, 2.573850208723368, 11.429905687497762, -0.4362290521963779]}
+{"timestamp_ns": 1789729572463422794, "elapsed_ms": 15933, "source_timestamp_ns": 1789729572455235955, "q": [0.0651402473449707, -1.363702654838562, 0.02904335968196392, 1.001236915588379, 1.5533902645111084, 0.003665435593575239, -0.9980427622795105], "theta": [0.06283347308635712, -1.3628346920013428, 0.02756970189511776, 0.98431795835495, 1.552595853805542, 0.004204392433166504, -0.9972906112670898], "dq": [-0.0007365341880358756, -0.0012335435021668673, 0.00043991318671032786, 0.0003391213540453464, -0.0015974900452420115, -0.001485219458118081, -0.0012704990804195404], "dtheta": [-0.0003508779627736658, 0.0001272781373700127, 0.0008010233868844807, -0.0003340456751175225, -0.00026989736943505704, 0.0013305289903655648, 0.00036882146378047764], "tau": [-63.80999755859375, -0.12999999523162842, -28.000001907348633, 0.6880000233650208, -4.424000263214111, 3.760000228881836, -0.08400000631809235], "tau_des": [-1.7524182796478271, 0.9545771479606628, -0.4214388132095337, -0.33817505836486816, -0.2595140039920807, 0.07504330575466156, -0.09536894410848618], "tau_dot": [-97.62499237060547, 44.48765182495117, -27.371540069580078, -22.743261337280273, 11.663220405578613, -6.108950614929199, 17.872352600097656], "tau_ext": [15.613360404968262, -35.56472396850586, -36.54439926147461, 20.175586700439453, -2.1448974609375, -6.951735973358154, -0.021205870434641838], "tcp_pose": [0.6542591452598572, 0.02149052359163761, -0.3299143612384796, -0.03557882085442543, -0.10138965398073196, 0.9941680431365967, 0.009175248444080353], "tcp_vel": [0.0004385018546599895, 0.0001304139877902344, -3.3625080959609477e-06, -0.00034815797698684037, -0.0009283790132030845, 0.00011954895308008417], "flange_pose": [0.6680537462234497, 0.019395045936107635, -0.140427365899086, -0.03557882085442543, -0.10138965398073196, 0.9941680431365967, 0.009175248444080353], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.451203346252441, -54.7182731628418, -8.360697746276855, -4.859720706939697, 10.660614967346191, 0.3718049228191376], "ext_wrench_in_world": [-0.5613750336037799, -56.19452720558621, 7.802763594392507, 2.5783238961877197, 11.426617864063598, -0.43414952160136483]}
+{"timestamp_ns": 1789729572496759119, "elapsed_ms": 15966, "source_timestamp_ns": 1789729572495232031, "q": [0.06513373553752899, -1.3637070655822754, 0.029066724702715874, 1.001230001449585, 1.5533825159072876, 0.0036803490947932005, -0.9980429410934448], "theta": [0.06282622367143631, -1.3628392219543457, 0.027591541409492493, 0.984309732913971, 1.5525883436203003, 0.0042192935943603516, -0.9972882270812988], "dq": [0.001049006823450327, 0.001793914707377553, -0.0008846868295222521, 0.0005690541584044695, -0.0030955332331359386, 0.0018704315880313516, 0.0010669406037777662], "dtheta": [0.00014757881581317633, 0.00010297080007148907, 0.0006489066290669143, 6.424685125239193e-05, -0.000846896436996758, -0.00034872262040153146, 0.0012088690418750048], "tau": [-63.84000015258789, -0.14000000059604645, -27.98400115966797, 0.7200000286102295, -4.432000160217285, 3.756000280380249, -0.09200000762939453], "tau_des": [-1.9322359561920166, 1.0156601667404175, -0.5294181108474731, -0.41119083762168884, -0.25741007924079895, 0.14516691863536835, -0.11383811384439468], "tau_dot": [-82.44664764404297, 66.18173217773438, 16.114439010620117, 19.477312088012695, -47.95248031616211, -1.7662267684936523, -16.683109283447266], "tau_ext": [15.62054443359375, -35.5491943359375, -36.54258728027344, 20.166688919067383, -2.144089937210083, -6.964964389801025, -0.019538801163434982], "tcp_pose": [0.6542617678642273, 0.02149292640388012, -0.32991886138916016, -0.035575103014707565, -0.10139093548059464, 0.9941680431365967, 0.009178359061479568], "tcp_vel": [-0.0003453819954302162, 0.00017541160923428833, -0.0003378370311111212, 0.0002058390382444486, 0.0011475421488285065, -0.0011653359979391098], "flange_pose": [0.6680551171302795, 0.01939614862203598, -0.14043180644512177, -0.035575103014707565, -0.10139093548059464, 0.9941680431365967, 0.009178359061479568], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.442877769470215, -54.72080612182617, -8.365346908569336, -4.865936279296875, 10.670763969421387, 0.3725956380367279], "ext_wrench_in_world": [-0.5523212313510393, -56.195431219379756, 7.806363432132364, 2.582276274154367, 11.437831204873849, -0.4350099395607653]}
+{"timestamp_ns": 1789729572530096343, "elapsed_ms": 16000, "source_timestamp_ns": 1789729572525243704, "q": [0.06512666493654251, -1.363709568977356, 0.029079267755150795, 1.001227855682373, 1.553374171257019, 0.0036882590502500534, -0.9980425238609314], "theta": [0.06281911581754684, -1.362842082977295, 0.027603892609477043, 0.9843065738677979, 1.552580714225769, 0.0042269229888916016, -0.9972867965698242], "dq": [-0.0002059867838397622, 0.002498071640729904, 0.0005855006165802479, -0.0008948814356699586, -0.00047561354585923254, 0.0003461212618276477, 0.0008396157063543797], "dtheta": [-0.0003332648775540292, -0.000502997194416821, 0.00021123442274983972, 5.10605241288431e-05, 0.0002997090923599899, 0.0008172075031325221, -0.000336628349032253], "tau": [-63.79999923706055, -0.12999999523162842, -28.000001907348633, 0.7200000286102295, -4.427999973297119, 3.756000280380249, -0.11600000411272049], "tau_des": [-1.7485294342041016, 1.1243348121643066, -0.3887232542037964, -0.4404849708080292, -0.26736247539520264, 0.07355625182390213, -0.0929853618144989], "tau_dot": [50.34159851074219, 0.7283074259757996, -14.3383207321167, -15.809405326843262, -1.3095461130142212, 22.036853790283203, -58.26469802856445], "tau_ext": [15.617146492004395, -35.56229019165039, -36.541465759277344, 20.168025970458984, -2.1434502601623535, -6.963817119598389, -0.015572799369692802], "tcp_pose": [0.6542628407478333, 0.021492842584848404, -0.32991844415664673, -0.03557302802801132, -0.10139067471027374, 0.9941681027412415, 0.009178534150123596], "tcp_vel": [0.0001228409237228334, -0.00038903989479877055, 0.0001730524527374655, -0.0001789165398804471, -0.001079307054169476, -0.0002146388724213466], "flange_pose": [0.6680554151535034, 0.019395913928747177, -0.14043131470680237, -0.03557302802801132, -0.10139067471027374, 0.9941681027412415, 0.009178534150123596], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.42522144317627, -54.7193489074707, -8.366815567016602, -4.868448257446289, 10.677962303161621, 0.3736717998981476], "ext_wrench_in_world": [-0.5353233980220206, -56.190454924566104, 7.806604878677337, 2.5832140784638056, 11.445399081353868, -0.43605377028756265]}
+{"timestamp_ns": 1789729572563492494, "elapsed_ms": 16033, "source_timestamp_ns": 1789729572555241000, "q": [0.0651213601231575, -1.3637123107910156, 0.02909110113978386, 1.001223087310791, 1.5533546209335327, 0.003699432360008359, -0.998041570186615], "theta": [0.06281354278326035, -1.3628448247909546, 0.02761567011475563, 0.9843006730079651, 1.5525614023208618, 0.004238009452819824, -0.9972844123840332], "dq": [0.0002834421466104686, -0.0005293579306453466, -0.002532106125727296, -0.001324632321484387, -0.00041221140418201685, -7.372755499091e-05, 0.001211926806718111], "dtheta": [-0.0001398036110913381, 5.965111267869361e-05, 0.0005014606867916882, -2.6844038075068966e-05, -0.00023756941664032638, -0.0001892697619041428, -0.0014828650746494532], "tau": [-63.80999755859375, -0.12999999523162842, -27.95600128173828, 0.7200000286102295, -4.420000076293945, 3.760000228881836, -0.10000000149011612], "tau_des": [-1.8457236289978027, 0.9933019876480103, -0.45409271121025085, -0.37474095821380615, -0.2504575252532959, 0.11331629008054733, -0.058851130306720734], "tau_dot": [16.84465980529785, 13.113520622253418, 28.02553939819336, 62.03831100463867, 30.64328384399414, 3.7052865028381348, -39.43952941894531], "tau_ext": [15.642802238464355, -35.549930572509766, -36.52433776855469, 20.159446716308594, -2.138585329055786, -6.965707302093506, -0.013402163982391357], "tcp_pose": [0.654262900352478, 0.021490199491381645, -0.3299172818660736, -0.03557509183883667, -0.10139150172472, 0.9941679835319519, 0.009173734113574028], "tcp_vel": [-6.0244143242016435e-05, 0.00021157783339731395, -0.0001367749209748581, 0.000572085496969521, 0.0002501694834791124, 0.0015411397907882929], "flange_pose": [0.668056070804596, 0.01939517632126808, -0.14043019711971283, -0.03557509183883667, -0.10139150172472, 0.9941679835319519, 0.009173734113574028], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.4005126953125, -54.745113372802734, -8.358209609985352, -4.876860618591309, 10.684752464294434, 0.37699607014656067], "ext_wrench_in_world": [-0.5064932009743294, -56.21051680585928, 7.796222562732658, 2.5898015884360865, 11.453787543624488, -0.43989702359211225]}
+{"timestamp_ns": 1789729572596775291, "elapsed_ms": 16066, "source_timestamp_ns": 1789729572595246714, "q": [0.06511427462100983, -1.3637157678604126, 0.029104188084602356, 1.0012109279632568, 1.5533387660980225, 0.0037042605690658092, -0.9980379343032837], "theta": [0.06280681490898132, -1.3628488779067993, 0.027628352865576744, 0.9842871427536011, 1.5525455474853516, 0.004242539405822754, -0.9972796440124512], "dq": [0.0007317770505324006, -0.0011405296390876174, 0.003987669013440609, -0.0008241143659688532, 0.0015906410990282893, 0.0017372617730870843, -0.001380033208988607], "dtheta": [-0.0002966391039080918, -2.7375956051400863e-05, 0.00038977089570835233, -0.0004151656467001885, -0.0008070185431279242, -0.00018449296476319432, 2.705302722461056e-05], "tau": [-63.75, -0.05999999865889549, -27.96000099182129, 0.6920000314712524, -4.4120001792907715, 3.7360000610351562, -0.07600000500679016], "tau_des": [-1.7859381437301636, 0.9906921982765198, -0.4117514193058014, -0.36573687195777893, -0.22994589805603027, 0.10288351774215698, -0.07511857897043228], "tau_dot": [142.16180419921875, 127.06642150878906, 1.7664835453033447, 1.3470964431762695, -1.1384695768356323, -5.560104846954346, 14.225408554077148], "tau_ext": [15.61623764038086, -35.563743591308594, -36.54515075683594, 20.176029205322266, -2.1415622234344482, -6.956597805023193, -0.015986260026693344], "tcp_pose": [0.6542657017707825, 0.02149168774485588, -0.32991671562194824, -0.03557684272527695, -0.10139425843954086, 0.994167685508728, 0.009173117578029633], "tcp_vel": [2.5006074793054722e-05, 0.0001105685078073293, 7.809837552485988e-05, -2.4361386749660596e-05, 0.00047856359742581844, 0.00038233408122323453], "flange_pose": [0.6680594682693481, 0.019397003576159477, -0.14042966067790985, -0.03557684272527695, -0.10139425843954086, 0.994167685508728, 0.009173117578029633], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.415535926818848, -54.74114990234375, -8.354378700256348, -4.872249603271484, 10.678443908691406, 0.37725114822387695], "ext_wrench_in_world": [-0.5219023805910116, -56.20962393004523, 7.793616875130334, 2.5864804531155077, 11.446693900589723, -0.44001880452704856]}
+{"timestamp_ns": 1789729572630101898, "elapsed_ms": 16100, "source_timestamp_ns": 1789729572625240291, "q": [0.06511334329843521, -1.3637231588363647, 0.02911253459751606, 1.0011919736862183, 1.5533277988433838, 0.0037071409169584513, -0.998029887676239], "theta": [0.06280576437711716, -1.3628565073013306, 0.027636412531137466, 0.9842671751976013, 1.5525349378585815, 0.004244446754455566, -0.9972698092460632], "dq": [0.0001382931659463793, -0.001424571848474443, -0.0010513586457818747, -0.001187339541502297, -0.0022189421579241753, -0.0017910548485815525, -0.0018998733721673489], "dtheta": [-8.730356785235927e-05, -0.0005146690527908504, 0.0004037853504996747, -0.0006455382681451738, -0.0015839904081076384, -0.00031657531508244574, 0.00028992106672376394], "tau": [-63.73999786376953, -0.14999999105930328, -27.98400115966797, 0.7120000123977661, -4.4120001792907715, 3.7680001258850098, -0.10000000149011612], "tau_des": [-1.8541929721832275, 1.0927445888519287, -0.42069998383522034, -0.4108631908893585, -0.19377341866493225, 0.11021792888641357, -0.07796622812747955], "tau_dot": [3.3825020790100098, 20.758024215698242, -26.594242095947266, 7.926064491271973, 40.60551834106445, 12.3661527633667, -17.02665901184082], "tau_ext": [15.611376762390137, -35.58258819580078, -36.546634674072266, 20.194046020507812, -2.1419894695281982, -6.953785419464111, -0.021781401708722115], "tcp_pose": [0.6542689204216003, 0.021492209285497665, -0.3299187421798706, -0.03557998314499855, -0.1013960912823677, 0.9941673874855042, 0.00917273759841919], "tcp_vel": [-0.0002951121423393488, -0.00027665242669172585, 1.850541593739763e-05, -0.0004921759245917201, 0.0013331824447959661, -8.946784510044381e-05], "flange_pose": [0.6680638790130615, 0.019397813826799393, -0.14043176174163818, -0.03557998314499855, -0.1013960912823677, 0.9941673874855042, 0.00917273759841919], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.441045761108398, -54.73844909667969, -8.359391212463379, -4.869277000427246, 10.669726371765137, 0.3747047185897827], "ext_wrench_in_world": [-0.5467409283329578, -56.21218622450971, 7.800515675333464, 2.5854671464349637, 11.437537017232813, -0.4375266797558819]}
+{"timestamp_ns": 1789729572663428455, "elapsed_ms": 16133, "source_timestamp_ns": 1789729572655256253, "q": [0.06511237472295761, -1.3637281656265259, 0.029119856655597687, 1.0011757612228394, 1.553316354751587, 0.003710415679961443, -0.9980165958404541], "theta": [0.06280443072319031, -1.3628616333007812, 0.02764442376792431, 0.9842496514320374, 1.5525239706039429, 0.004247069358825684, -0.9972544312477112], "dq": [-0.000858025741763413, -0.001767630223184824, 0.00016989032155834138, 0.00048038482782430947, -0.001185568980872631, -0.0009179349290207028, 0.0005968132754787803], "dtheta": [-0.0001445150701329112, -4.338139478932135e-05, 0.00026818516198545694, -0.000374564464436844, 0.0005570735083892941, 0.0008730367408134043, 0.0004662928113248199], "tau": [-63.75, -0.11999999731779099, -27.98400115966797, 0.6960000395774841, -4.444000244140625, 3.756000280380249, -0.10400000214576721], "tau_des": [-1.8101813793182373, 0.9726399779319763, -0.41998305916786194, -0.3447391986846924, -0.25757038593292236, 0.08198057860136032, -0.08141765743494034], "tau_dot": [88.65685272216797, 110.66546630859375, 2.640836477279663, 6.844540596008301, -24.324748992919922, 4.541861057281494, -24.518251419067383], "tau_ext": [15.606531143188477, -35.5238151550293, -36.536888122558594, 20.169330596923828, -2.1368038654327393, -6.953353404998779, -0.02237342856824398], "tcp_pose": [0.6542720198631287, 0.0214930959045887, -0.3299201726913452, -0.03558318316936493, -0.10139528661966324, 0.9941673278808594, 0.009171441197395325], "tcp_vel": [0.0004506212717387825, 0.00010383024346083403, -2.2038397219148465e-05, 1.853056892286986e-05, -0.0011037352960556746, -0.00015132226690184325], "flange_pose": [0.6680681109428406, 0.019399303942918777, -0.14043326675891876, -0.03558318316936493, -0.10139528661966324, 0.9941673278808594, 0.009171441197395325], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.465714454650879, -54.69878005981445, -8.36234188079834, -4.857627868652344, 10.659062385559082, 0.3724988102912903], "ext_wrench_in_world": [-0.5786303978927645, -56.17833516070476, 7.806355363571298, 2.576403956506892, 11.424708478695308, -0.4348489886615622]}
diff --git a/episode_0008/left.actions.eef_pose/data.csv b/episode_0008/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..06c80c3ca76bf35c89c200fa44e9588ef718a6cd
--- /dev/null
+++ b/episode_0008/left.actions.eef_pose/data.csv
@@ -0,0 +1,456 @@
+timestamp_ns,elapsed_ms,x,y,z,r1,r2,r3,r4,r5,r6,gripper
+1789729710847580356,0,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729710881001937,33,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729710914338209,66,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729710947649055,100,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729710981000045,133,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711014326024,166,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711047668310,200,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711081000877,233,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711114337564,266,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711147662632,300,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711180998748,333,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711214322147,366,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711247705547,400,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711281008238,433,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711314341745,466,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711347650245,500,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711381007689,533,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711414320779,566,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711447650506,600,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711481003931,633,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711514322079,666,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711547655536,700,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711580997432,733,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711614325999,766,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711647653537,800,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711681005802,833,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711714322301,866,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711747709101,900,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711781000233,933,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711814329811,966,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711847642850,1000,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711881008663,1033,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711914327092,1066,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711947581499,1100,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729711980921715,1133,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712014320269,1166,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712047658620,1200,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712080910532,1233,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712114241843,1266,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712147597241,1300,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712180905286,1333,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712214237707,1366,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712247565449,1400,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712280906899,1433,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712314228422,1466,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712347588229,1500,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712380904633,1533,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712414239374,1566,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712447563826,1600,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712480903266,1633,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712514230918,1666,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712547565989,1700,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712580902350,1733,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712614231052,1766,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712647562953,1800,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712680905313,1833,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712714232025,1866,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712747593842,1900,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712780905487,1933,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712814227459,1966,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712847566240,2000,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712880965662,2033,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712914230442,2066,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712947589420,2100,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729712980897404,2133,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713014230961,2166,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713047561347,2200,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713080900511,2233,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713114225118,2266,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713147588409,2300,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713180902597,2333,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713214243281,2366,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713247562618,2400,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713280906112,2433,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713314229088,2466,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713347565833,2500,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713380903858,2533,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713414228524,2566,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713447564429,2600,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713480901594,2633,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713514232139,2666,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713547567714,2700,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713580903689,2733,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713614230585,2766,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713647562960,2800,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713680895856,2833,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713714230741,2866,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713747565606,2900,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713780908190,2933,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713814230586,2966,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713847562522,3000,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713880903876,3033,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713914227782,3066,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713947575806,3100,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729713980932988,3133,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714014259780,3166,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714047601538,3200,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714080922238,3233,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714114254798,3266,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714147606704,3300,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714181020213,3333,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714214335345,3366,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714247672663,3400,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714280999863,3433,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714314336252,3466,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714347665692,3500,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714381003750,3533,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714414317872,3566,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714447660560,3600,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714480936837,3633,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714514335527,3666,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714547683054,3700,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714580996366,3733,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714614336235,3766,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714647594423,3800,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714680934002,3833,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714714260422,3866,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714747590401,3900,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714780939228,3933,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714814257280,3966,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714847668819,4000,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714881001938,4033,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714914324559,4066,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714947655118,4100,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729714981008764,4133,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715014332290,4166,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715047660094,4200,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715080939724,4233,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715114339019,4266,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715147673401,4300,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715180939473,4333,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715214321670,4366,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715247597450,4400,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715280935053,4433,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715314335117,4466,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715347672669,4500,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715381005882,4533,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715414330417,4566,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715447664999,4600,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715481003562,4633,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715514330015,4666,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715547667758,4700,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715580994062,4733,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715614331534,4766,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715647665997,4800,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715681006169,4833,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715714330963,4866,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715747661747,4900,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715781006448,4933,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715814259981,4966,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715847590325,5000,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715880927427,5033,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715914255241,5066,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715947586754,5100,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729715981009626,5133,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716014332116,5166,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716047664653,5200,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716081004619,5233,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716114331446,5266,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716147652744,5300,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716180996430,5333,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716214337246,5366,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716247594262,5400,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716281016767,5433,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716314331956,5466,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716347594322,5500,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716380931918,5533,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716414328107,5566,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716447658234,5600,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716481006569,5633,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716514331957,5666,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716547662484,5700,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716581006769,5733,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716614346605,5766,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716647667813,5800,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716681011399,5833,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716714335357,5866,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716747678022,5900,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716781001970,5933,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716814340626,5966,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716847674953,6000,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716880997081,6033,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716914335217,6066,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716947659405,6100,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729716980909912,6133,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717014230486,6166,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717047560777,6200,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717080900336,6233,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717114225858,6266,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717147559118,6300,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717180901437,6333,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717214234048,6366,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717247561019,6400,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717280897389,6433,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717314228509,6466,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717347562180,6500,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717380898409,6533,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717414224851,6566,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717447560871,6600,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717480893171,6633,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717514295533,6666,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717547563741,6700,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717580985600,6733,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717614230162,6766,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717647583390,6800,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717680904332,6833,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717714229443,6866,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717747560374,6900,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717780902683,6933,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717814226565,6966,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717847582022,7000,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717880900384,7033,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717914229005,7066,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717947585193,7100,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729717980911974,7133,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718014229771,7166,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718047583063,7200,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718080969000,7233,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718114248581,7266,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718147562387,7300,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718180975411,7333,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718214241303,7366,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718247588495,7400,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718280903661,7433,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718314230446,7466,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718347562780,7500,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718380897974,7533,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718414233017,7566,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718447589038,7600,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718480892146,7633,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718514229589,7666,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718547592749,7700,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718580911265,7733,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718614232191,7766,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718647566794,7800,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718680893949,7833,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718714229842,7866,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718747559747,7900,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718780939625,7933,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718814233194,7966,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718847583345,8000,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718880896292,8033,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718914231445,8066,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718947591716,8100,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729718980899703,8133,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719014234562,8166,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719047588986,8200,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719080897997,8233,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719114228384,8266,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719147563011,8300,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719180906637,8333,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719214245624,8366,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719247588070,8400,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719280915598,8433,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719314229088,8466,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719347566875,8500,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719380898712,8533,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719414227830,8566,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719447562837,8600,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719480907603,8633,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719514231981,8666,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719547557389,8700,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719580897326,8733,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719614228213,8766,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719647626533,8800,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719680956200,8833,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719714229755,8866,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719747555753,8900,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719780914457,8933,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719814239926,8966,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719847594370,9000,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719880957624,9033,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719914234658,9066,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719947565676,9100,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729719980899443,9133,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720014236455,9166,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720047564046,9200,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720080983256,9233,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720114243666,9266,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720147559728,9300,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720180899798,9333,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720214233389,9366,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720247562510,9400,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720280932426,9433,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720314233680,9466,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720347562991,9500,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720380897532,9533,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720414232142,9566,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720447567233,9600,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720480912382,9633,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720514229954,9666,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720547562695,9700,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720580911194,9733,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720614236755,9766,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720647634028,9800,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720680900407,9833,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720714233517,9866,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720747565758,9900,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720780910287,9933,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720814300821,9966,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720847565220,10000,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720880900890,10033,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720914230451,10066,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720947563712,10100,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729720980902052,10133,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721014229648,10166,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721047567332,10200,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721080906735,10233,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721114232619,10266,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721147565943,10300,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721180898837,10333,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721214307881,10366,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721247624727,10400,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721280932904,10433,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721314228583,10466,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721347564496,10500,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721380896840,10533,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721414235793,10566,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721447562888,10600,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721480899321,10633,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721514225336,10666,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721547629260,10700,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721580913111,10733,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721614230396,10766,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721647565120,10800,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721680909242,10833,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721714228428,10866,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721747566601,10900,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721780930921,10933,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721814242877,10966,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721847568042,11000,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721880897986,11033,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721914295142,11066,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721947555875,11100,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729721980952821,11133,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722014228757,11166,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722047557204,11200,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722080892541,11233,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722114234217,11266,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722147559275,11300,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722180895061,11333,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722214229088,11366,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722247557036,11400,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722280899591,11433,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722314233618,11466,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722347559156,11500,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722380899982,11533,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722414285162,11566,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722447556747,11600,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722480882845,11633,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722514226170,11666,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722547560917,11700,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722580907322,11733,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722614231220,11766,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722647559678,11800,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722680891505,11833,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722714222122,11866,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722747574187,11900,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722780897445,11933,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722814289104,11966,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722847561369,12000,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722880898175,12033,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722914226463,12066,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722947557030,12100,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729722980899086,12133,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723014227069,12166,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723047564818,12200,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723080905667,12233,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723114236957,12266,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723147593254,12300,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723180911006,12333,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723214239486,12366,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723247565657,12400,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723280898867,12433,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723314243306,12466,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723347565997,12500,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723380914065,12533,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723414233177,12566,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723447566996,12600,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723480972437,12633,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723514237625,12666,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723547564156,12700,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723580909854,12733,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723614291958,12766,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723647566666,12800,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723680902915,12833,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723714304636,12866,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723747567495,12900,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723780957198,12933,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723814316684,12966,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723847577233,13000,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723880899175,13033,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723914307045,13066,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723947641925,13100,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729723980959607,13133,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724014286233,13166,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724047642382,13200,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724080961147,13233,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724114297070,13266,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724147626073,13300,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724180896193,13333,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724214307537,13366,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724247644889,13400,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724280901481,13433,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724314234884,13466,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724347633159,13500,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724380905059,13533,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724414232302,13566,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724447627358,13600,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724480907087,13633,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724514284004,13666,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724547626136,13700,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724580899146,13733,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724614226060,13766,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724647566702,13800,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724680903414,13833,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724714292590,13866,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724747565740,13900,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724780902633,13933,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724814241455,13966,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724847565848,14000,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724880902241,14033,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724914292776,14066,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724947561897,14100,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729724980903559,14133,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725014249855,14166,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725047576012,14200,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725080905668,14233,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725114237294,14266,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725147563460,14300,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725180902315,14333,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725214235491,14366,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725247561147,14400,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725280897552,14433,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725314235207,14466,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725347564373,14500,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725380903678,14533,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725414232114,14566,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725447562570,14600,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725480898605,14633,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725514235581,14666,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725547565057,14700,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725580912321,14733,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725614255855,14766,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725647580561,14800,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725680910267,14833,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725714228385,14866,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725747564890,14900,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725780900665,14933,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725814293194,14966,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725847608951,15000,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725880900582,15033,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725914225579,15066,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725947626016,15100,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
+1789729725980920536,15133,0.6869394779205322,0.03258493170142174,-0.21379651129245758,-0.9998435182896332,-0.009600209165080566,0.014858496498442706,-0.00919843142551396,0.9995964425712245,0.02687639965216173,0.4
diff --git a/episode_0008/left.actions.joint_position/data.csv b/episode_0008/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d0fdc0e325eae1c6db7de61a6c90c9774b627bb6
--- /dev/null
+++ b/episode_0008/left.actions.joint_position/data.csv
@@ -0,0 +1,456 @@
+timestamp_ns,elapsed_ms,j1,j2,j3,j4,j5,j6,j7,gripper
+1789729710847580356,0,0.8362566828727722,-1.8968428373336792,-1.0058982372283936,1.3811341524124146,-0.16162246465682983,0.594420313835144,0.7038903832435608,0.4
+1789729710881001937,33,0.8362637758255005,-1.896843671798706,-1.0058982372283936,1.381129503250122,-0.1616131067276001,0.5944010615348816,0.703889012336731,0.4
+1789729710914338209,66,0.836270272731781,-1.8968454599380493,-1.0058982372283936,1.3811298608779907,-0.1616060584783554,0.594393789768219,0.7038840651512146,0.4
+1789729710947649055,100,0.8362740874290466,-1.8968465328216553,-1.005899429321289,1.3811298608779907,-0.16160055994987488,0.5943939089775085,0.7038792371749878,0.4
+1789729710981000045,133,0.8362768292427063,-1.8968486785888672,-1.0059051513671875,1.3811315298080444,-0.1615995317697525,0.5943928956985474,0.7038796544075012,0.4
+1789729711014326024,166,0.8362791538238525,-1.896852970123291,-1.0059138536453247,1.3811314105987549,-0.16159872710704803,0.594392716884613,0.7038795351982117,0.4
+1789729711047668310,200,0.8362821340560913,-1.8968558311462402,-1.0059188604354858,1.3811315298080444,-0.1615978181362152,0.5943891406059265,0.7038792371749878,0.4
+1789729711081000877,233,0.8362839818000793,-1.8968583345413208,-1.005918025970459,1.3811312913894653,-0.1615913212299347,0.5943794846534729,0.7038752436637878,0.4
+1789729711114337564,266,0.8362866640090942,-1.8968608379364014,-1.005918025970459,1.3811304569244385,-0.16158175468444824,0.5943785905838013,0.703863263130188,0.4
+1789729711147662632,300,0.8362908959388733,-1.89686119556427,-1.005918025970459,1.3811314105987549,-0.16157907247543335,0.5943760871887207,0.7038583755493164,0.4
+1789729711180998748,333,0.8362963199615479,-1.8968619108200073,-1.0059196949005127,1.3811317682266235,-0.1615711897611618,0.5943725109100342,0.7038583755493164,0.4
+1789729711214322147,366,0.8362981677055359,-1.896863579750061,-1.0059220790863037,1.3811326026916504,-0.16157065331935883,0.5943720936775208,0.7038594484329224,0.4
+1789729711247705547,400,0.8362993001937866,-1.8968669176101685,-1.005928874015808,1.3811322450637817,-0.16156916320323944,0.5943719148635864,0.7038591504096985,0.4
+1789729711281008238,433,0.8363010883331299,-1.8968724012374878,-1.0059369802474976,1.3811315298080444,-0.1615682691335678,0.5943689942359924,0.7038577198982239,0.4
+1789729711314341745,466,0.8363028764724731,-1.896875023841858,-1.0059362649917603,1.3811312913894653,-0.16156671941280365,0.5943623781204224,0.7038571834564209,0.4
+1789729711347650245,500,0.8363051414489746,-1.896877408027649,-1.0059375762939453,1.3811311721801758,-0.16155971586704254,0.5943615436553955,0.7038557529449463,0.4
+1789729711381007689,533,0.8363093137741089,-1.8968809843063354,-1.0059374570846558,1.38113272190094,-0.16155725717544556,0.5943617820739746,0.7038518190383911,0.4
+1789729711414320779,566,0.8363115191459656,-1.896881341934204,-1.0059399604797363,1.381134271621704,-0.16155165433883667,0.5943624973297119,0.7038483619689941,0.4
+1789729711447650506,600,0.8363147377967834,-1.8968837261199951,-1.005944013595581,1.3811349868774414,-0.16155089437961578,0.5943611264228821,0.7038484215736389,0.4
+1789729711481003931,633,0.8363179564476013,-1.8968884944915771,-1.0059545040130615,1.3811354637145996,-0.16154909133911133,0.5943601131439209,0.7038487195968628,0.4
+1789729711514322079,666,0.8363178372383118,-1.896890640258789,-1.005958080291748,1.3811357021331787,-0.1615493893623352,0.5943604707717896,0.7038484215736389,0.4
+1789729711547655536,700,0.8363184332847595,-1.896892786026001,-1.0059587955474854,1.381135106086731,-0.16154687106609344,0.5943569540977478,0.7038483023643494,0.4
+1789729711580997432,733,0.8363204002380371,-1.896896243095398,-1.005958080291748,1.381134033203125,-0.16154521703720093,0.5943484902381897,0.7038437724113464,0.4
+1789729711614325999,766,0.8363226056098938,-1.896897315979004,-1.0059585571289062,1.3811335563659668,-0.16154026985168457,0.5943428874015808,0.7038319706916809,0.4
+1789729711647653537,800,0.8363251090049744,-1.8968976736068726,-1.005958914756775,1.381133794784546,-0.16153503954410553,0.5943419933319092,0.7038272023200989,0.4
+1789729711681005802,833,0.8363276720046997,-1.896898627281189,-1.0059621334075928,1.3811346292495728,-0.1615324318408966,0.5943422317504883,0.7038292288780212,0.4
+1789729711714322301,866,0.836330235004425,-1.8969018459320068,-1.0059672594070435,1.3811339139938354,-0.16153216361999512,0.5943439602851868,0.703829824924469,0.4
+1789729711747709101,900,0.8363304734230042,-1.8969054222106934,-1.0059731006622314,1.381132960319519,-0.16153135895729065,0.5943437814712524,0.7038304805755615,0.4
+1789729711781000233,933,0.8363315463066101,-1.8969088792800903,-1.0059758424758911,1.3811321258544922,-0.16152949631214142,0.594340443611145,0.7038290500640869,0.4
+1789729711814329811,966,0.8363333344459534,-1.896911859512329,-1.0059752464294434,1.3811326026916504,-0.16152626276016235,0.5943368673324585,0.7038285136222839,0.4
+1789729711847642850,1000,0.8363361954689026,-1.8969142436981201,-1.0059750080108643,1.3811322450637817,-0.16152462363243103,0.594333291053772,0.7038264870643616,0.4
+1789729711881008663,1033,0.8363394737243652,-1.8969155550003052,-1.005974531173706,1.3811323642730713,-0.16152189671993256,0.5943267345428467,0.7038233876228333,0.4
+1789729711914327092,1066,0.8363404870033264,-1.8969171047210693,-1.0059754848480225,1.3811330795288086,-0.16152016818523407,0.5943273901939392,0.7038207650184631,0.4
+1789729711947581499,1100,0.8363421559333801,-1.896917462348938,-1.005979061126709,1.3811328411102295,-0.16152076423168182,0.5943293571472168,0.7038202285766602,0.4
+1789729711980921715,1133,0.8363421559333801,-1.8969216346740723,-1.0059860944747925,1.3811334371566772,-0.16152092814445496,0.5943283438682556,0.7038213610649109,0.4
+1789729712014320269,1166,0.8363433480262756,-1.8969260454177856,-1.005989909172058,1.381132960319519,-0.1615193635225296,0.594328761100769,0.7038211822509766,0.4
+1789729712047658620,1200,0.8363444209098816,-1.896926760673523,-1.0059905052185059,1.381132960319519,-0.16151903569698334,0.5943289995193481,0.7038204073905945,0.4
+1789729712080910532,1233,0.8363448977470398,-1.896929144859314,-1.005989670753479,1.3811334371566772,-0.1615132838487625,0.5943278074264526,0.703816831111908,0.4
+1789729712114241843,1266,0.8363475203514099,-1.896930456161499,-1.0059908628463745,1.3811336755752563,-0.16151176393032074,0.5943251252174377,0.703812301158905,0.4
+1789729712147597241,1300,0.8363491296768188,-1.8969322443008423,-1.0059947967529297,1.3811335563659668,-0.1615103781223297,0.5943250060081482,0.7038100957870483,0.4
+1789729712180905286,1333,0.8363497257232666,-1.8969345092773438,-1.0060030221939087,1.3811333179473877,-0.16151028871536255,0.5943256616592407,0.7038094401359558,0.4
+1789729712214237707,1366,0.8363503217697144,-1.8969368934631348,-1.0060075521469116,1.3811328411102295,-0.16151075065135956,0.5943247079849243,0.7038089632987976,0.4
+1789729712247565449,1400,0.8363502025604248,-1.8969393968582153,-1.0060086250305176,1.3811324834823608,-0.1615094691514969,0.5943235754966736,0.7038091421127319,0.4
+1789729712280906899,1433,0.8363518118858337,-1.896944522857666,-1.0060083866119385,1.3811320066452026,-0.16150733828544617,0.5943148136138916,0.7038043141365051,0.4
+1789729712314228422,1466,0.8363534212112427,-1.8969473838806152,-1.0060087442398071,1.3811311721801758,-0.16150446236133575,0.5943153500556946,0.7037985324859619,0.4
+1789729712347588229,1500,0.8363550305366516,-1.896947979927063,-1.0060093402862549,1.3811317682266235,-0.16150222718715668,0.5943131446838379,0.7037971615791321,0.4
+1789729712380904633,1533,0.836358368396759,-1.896946668624878,-1.0060131549835205,1.3811330795288086,-0.16149990260601044,0.5943121910095215,0.703797459602356,0.4
+1789729712414239374,1566,0.8363599181175232,-1.8969500064849854,-1.0060139894485474,1.3811333179473877,-0.16149944067001343,0.5943135023117065,0.7037971615791321,0.4
+1789729712447563826,1600,0.8363618850708008,-1.8969519138336182,-1.0060197114944458,1.3811334371566772,-0.16149911284446716,0.5943135619163513,0.7037976384162903,0.4
+1789729712480903266,1633,0.8363608717918396,-1.8969531059265137,-1.0060292482376099,1.3811331987380981,-0.16149945557117462,0.5943092703819275,0.7037979364395142,0.4
+1789729712514230918,1666,0.8363627195358276,-1.896956205368042,-1.0060290098190308,1.3811330795288086,-0.1614975780248642,0.5943080186843872,0.7037960886955261,0.4
+1789729712547565989,1700,0.8363659381866455,-1.8969624042510986,-1.0060282945632935,1.3811330795288086,-0.1614934504032135,0.5942994356155396,0.7037943601608276,0.4
+1789729712580902350,1733,0.8363689184188843,-1.8969670534133911,-1.0060288906097412,1.38113272190094,-0.1614896059036255,0.5942991375923157,0.7037903070449829,0.4
+1789729712614231052,1766,0.8363698720932007,-1.8969664573669434,-1.006035327911377,1.3811326026916504,-0.16148485243320465,0.5943005681037903,0.7037907838821411,0.4
+1789729712647562953,1800,0.8363720178604126,-1.8969675302505493,-1.0060395002365112,1.3811335563659668,-0.16148215532302856,0.5943000912666321,0.7037913203239441,0.4
+1789729712680905313,1833,0.836378276348114,-1.8969744443893433,-1.0060395002365112,1.3811345100402832,-0.16148173809051514,0.5943001508712769,0.7037906646728516,0.4
+1789729712714232025,1866,0.836378276348114,-1.8969781398773193,-1.0060476064682007,1.3811330795288086,-0.16148237884044647,0.5942981243133545,0.7037898302078247,0.4
+1789729712747593842,1900,0.8363780379295349,-1.8969780206680298,-1.0060551166534424,1.3811317682266235,-0.16147993505001068,0.5942927002906799,0.7037895917892456,0.4
+1789729712780905487,1933,0.8363795876502991,-1.8969790935516357,-1.006054162979126,1.3811330795288086,-0.16146987676620483,0.5942869186401367,0.7037851214408875,0.4
+1789729712814227459,1966,0.8363831043243408,-1.896981120109558,-1.0060540437698364,1.3811331987380981,-0.16146636009216309,0.5942845344543457,0.7037741541862488,0.4
+1789729712847566240,2000,0.8363853096961975,-1.896985411643982,-1.0060545206069946,1.3811322450637817,-0.16146475076675415,0.594287633895874,0.703770637512207,0.4
+1789729712880965662,2033,0.8363854289054871,-1.896984338760376,-1.0060607194900513,1.3811317682266235,-0.1614638715982437,0.5942869186401367,0.7037730813026428,0.4
+1789729712914230442,2066,0.8363867402076721,-1.8969846963882446,-1.006065845489502,1.381132960319519,-0.16146314144134521,0.5942861437797546,0.7037758827209473,0.4
+1789729712947589420,2100,0.8363891839981079,-1.8969917297363281,-1.0060663223266602,1.381133794784546,-0.16146284341812134,0.5942872166633606,0.7037760019302368,0.4
+1789729712980897404,2133,0.8363919258117676,-1.8969979286193848,-1.0060652494430542,1.3811320066452026,-0.16146200895309448,0.5942832827568054,0.703775942325592,0.4
+1789729713014230961,2166,0.8363909125328064,-1.8969976902008057,-1.0060675144195557,1.3811320066452026,-0.16146065294742584,0.5942772626876831,0.703774094581604,0.4
+1789729713047561347,2200,0.8363919854164124,-1.8969979286193848,-1.0060691833496094,1.38113272190094,-0.16145749390125275,0.5942695140838623,0.7037720680236816,0.4
+1789729713080900511,2233,0.8363972902297974,-1.897003412246704,-1.0060690641403198,1.38113272190094,-0.1614547222852707,0.594272792339325,0.7037704586982727,0.4
+1789729713114225118,2266,0.836399495601654,-1.8970063924789429,-1.0060704946517944,1.381132960319519,-0.16145148873329163,0.5942719578742981,0.7037701606750488,0.4
+1789729713147588409,2300,0.8363997340202332,-1.897005558013916,-1.0060797929763794,1.381134033203125,-0.16145120561122894,0.5942742228507996,0.7037695646286011,0.4
+1789729713180902597,2333,0.8364000916481018,-1.897006630897522,-1.0060820579528809,1.3811339139938354,-0.16145038604736328,0.5942742824554443,0.7037704586982727,0.4
+1789729713214243281,2366,0.8364024758338928,-1.8970128297805786,-1.006081223487854,1.3811334371566772,-0.16145148873329163,0.5942731499671936,0.7037688493728638,0.4
+1789729713247562618,2400,0.8364054560661316,-1.897017240524292,-1.0060802698135376,1.3811330795288086,-0.1614489108324051,0.5942714810371399,0.7037689685821533,0.4
+1789729713280906112,2433,0.8364068269729614,-1.8970178365707397,-1.0060832500457764,1.3811333179473877,-0.16144347190856934,0.5942649245262146,0.7037648558616638,0.4
+1789729713314229088,2466,0.8364083766937256,-1.8970179557800293,-1.00608491897583,1.3811330795288086,-0.16144154965877533,0.5942627191543579,0.7037603855133057,0.4
+1789729713347565833,2500,0.8364107608795166,-1.8970212936401367,-1.0060861110687256,1.3811339139938354,-0.16143980622291565,0.5942631959915161,0.703758955001831,0.4
+1789729713380903858,2533,0.8364139795303345,-1.897024154663086,-1.0060921907424927,1.3811359405517578,-0.16143493354320526,0.5942634344100952,0.7037593722343445,0.4
+1789729713414228524,2566,0.8364134430885315,-1.8970235586166382,-1.0060985088348389,1.3811366558074951,-0.16143399477005005,0.5942646861076355,0.7037598490715027,0.4
+1789729713447564429,2600,0.8364143967628479,-1.8970246315002441,-1.0060985088348389,1.3811365365982056,-0.1614343374967575,0.5942636132240295,0.7037598490715027,0.4
+1789729713480901594,2633,0.8364155292510986,-1.8970286846160889,-1.006096363067627,1.3811355829238892,-0.1614336520433426,0.5942588448524475,0.7037580013275146,0.4
+1789729713514232139,2666,0.8364157676696777,-1.8970295190811157,-1.0060964822769165,1.3811352252960205,-0.1614328920841217,0.5942567586898804,0.7037557363510132,0.4
+1789729713547567714,2700,0.8364174962043762,-1.8970288038253784,-1.0060970783233643,1.381135106086731,-0.16143196821212769,0.5942550897598267,0.7037513852119446,0.4
+1789729713580903689,2733,0.8364191055297852,-1.897028923034668,-1.0060975551605225,1.3811359405517578,-0.16142821311950684,0.5942554473876953,0.7037498354911804,0.4
+1789729713614230585,2766,0.8364202380180359,-1.8970321416854858,-1.0060980319976807,1.3811359405517578,-0.1614285260438919,0.5942557454109192,0.7037507891654968,0.4
+1789729713647562960,2800,0.8364213705062866,-1.8970329761505127,-1.0061017274856567,1.3811355829238892,-0.1614276021718979,0.5942540168762207,0.7037511467933655,0.4
+1789729713680895856,2833,0.8364220857620239,-1.897034764289856,-1.0061061382293701,1.3811352252960205,-0.1614295244216919,0.5942512154579163,0.7037509083747864,0.4
+1789729713714230741,2866,0.8364241719245911,-1.8970407247543335,-1.0061061382293701,1.3811345100402832,-0.1614280641078949,0.594248354434967,0.7037511467933655,0.4
+1789729713747565606,2900,0.8364266157150269,-1.8970427513122559,-1.0061062574386597,1.381134271621704,-0.16142816841602325,0.5942403674125671,0.7037512063980103,0.4
+1789729713780908190,2933,0.8364281058311462,-1.897042155265808,-1.0061064958572388,1.3811345100402832,-0.16142696142196655,0.5942357182502747,0.7037495970726013,0.4
+1789729713814230586,2966,0.8364290595054626,-1.8970410823822021,-1.0061062574386597,1.381134271621704,-0.16142421960830688,0.5942360758781433,0.7037493586540222,0.4
+1789729713847562522,3000,0.8364304304122925,-1.8970415592193604,-1.0061068534851074,1.3811354637145996,-0.16142304241657257,0.5942368507385254,0.7037492990493774,0.4
+1789729713880903876,3033,0.8364318609237671,-1.8970428705215454,-1.0061123371124268,1.3811348676681519,-0.16142508387565613,0.5942368507385254,0.7037491798400879,0.4
+1789729713914227782,3066,0.8364328145980835,-1.897045373916626,-1.0061200857162476,1.3811339139938354,-0.16142401099205017,0.5942378044128418,0.703748345375061,0.4
+1789729713947575806,3100,0.836432695388794,-1.8970483541488647,-1.0061215162277222,1.3811335563659668,-0.1614217758178711,0.5942315459251404,0.7037479281425476,0.4
+1789729713980932988,3133,0.8364331126213074,-1.8970515727996826,-1.006121277809143,1.3811331987380981,-0.16141873598098755,0.59422767162323,0.703739583492279,0.4
+1789729714014259780,3166,0.8364342451095581,-1.8970532417297363,-1.0061206817626953,1.3811330795288086,-0.16141675412654877,0.5942288637161255,0.7037311792373657,0.4
+1789729714047601538,3200,0.836435854434967,-1.897052526473999,-1.006121277809143,1.3811341524124146,-0.16141420602798462,0.5942295789718628,0.7037323713302612,0.4
+1789729714080922238,3233,0.8364370465278625,-1.8970528841018677,-1.0061246156692505,1.3811343908309937,-0.16141200065612793,0.5942290425300598,0.7037333250045776,0.4
+1789729714114254798,3266,0.8364384174346924,-1.8970544338226318,-1.0061275959014893,1.3811343908309937,-0.16141246259212494,0.594228982925415,0.7037341594696045,0.4
+1789729714147606704,3300,0.8364393711090088,-1.897058129310608,-1.0061323642730713,1.3811341524124146,-0.16141386330127716,0.5942287445068359,0.7037345170974731,0.4
+1789729714181020213,3333,0.8364413976669312,-1.8970603942871094,-1.0061341524124146,1.3811336755752563,-0.1614144742488861,0.5942244529724121,0.7037346959114075,0.4
+1789729714214335345,3366,0.8364430069923401,-1.8970625400543213,-1.0061349868774414,1.3811334371566772,-0.16141332685947418,0.5942190885543823,0.7037343978881836,0.4
+1789729714247672663,3400,0.8364431262016296,-1.8970630168914795,-1.006134033203125,1.3811333179473877,-0.16141244769096375,0.594217836856842,0.7037331461906433,0.4
+1789729714280999863,3433,0.8364452123641968,-1.8970634937286377,-1.0061347484588623,1.3811346292495728,-0.1614108681678772,0.5942153334617615,0.7037325501441956,0.4
+1789729714314336252,3466,0.8364448547363281,-1.8970633745193481,-1.006134271621704,1.3811352252960205,-0.16141162812709808,0.5942155122756958,0.7037321329116821,0.4
+1789729714347665692,3500,0.8364464044570923,-1.8970638513565063,-1.0061360597610474,1.38113534450531,-0.16141094267368317,0.5942162871360779,0.7037316560745239,0.4
+1789729714381003750,3533,0.8364465832710266,-1.897064208984375,-1.0061403512954712,1.3811370134353638,-0.16141213476657867,0.5942155718803406,0.7037321925163269,0.4
+1789729714414317872,3566,0.836447536945343,-1.8970670700073242,-1.0061421394348145,1.3811360597610474,-0.16141320765018463,0.5942126512527466,0.7037320137023926,0.4
+1789729714447660560,3600,0.8364483118057251,-1.8970686197280884,-1.0061463117599487,1.381136417388916,-0.16141147911548615,0.5942059755325317,0.7037321329116821,0.4
+1789729714480936837,3633,0.8364503383636475,-1.8970699310302734,-1.0061463117599487,1.3811367750167847,-0.1614074558019638,0.5942050218582153,0.7037309408187866,0.4
+1789729714514335527,3666,0.8364518880844116,-1.8970698118209839,-1.0061466693878174,1.3811358213424683,-0.16140460968017578,0.5942040085792542,0.703728199005127,0.4
+1789729714547683054,3700,0.8364535570144653,-1.897070288658142,-1.0061469078063965,1.3811359405517578,-0.16140155494213104,0.5942032337188721,0.7037246227264404,0.4
+1789729714580996366,3733,0.8364557027816772,-1.8970717191696167,-1.0061532258987427,1.3811378479003906,-0.1614023596048355,0.5942028164863586,0.7037245035171509,0.4
+1789729714614336235,3766,0.8364563584327698,-1.8970750570297241,-1.006158709526062,1.3811380863189697,-0.16140210628509521,0.594201385974884,0.7037257552146912,0.4
+1789729714647594423,3800,0.8364569544792175,-1.8970792293548584,-1.0061620473861694,1.3811372518539429,-0.16140154004096985,0.594201922416687,0.7037259340286255,0.4
+1789729714680934002,3833,0.8364580273628235,-1.897082805633545,-1.0061609745025635,1.3811359405517578,-0.16140082478523254,0.5941998362541199,0.7037234306335449,0.4
+1789729714714260422,3866,0.8364604711532593,-1.8970837593078613,-1.006159782409668,1.3811354637145996,-0.16139833629131317,0.5941972732543945,0.7037218809127808,0.4
+1789729714747590401,3900,0.8364613056182861,-1.8970835208892822,-1.0061593055725098,1.3811352252960205,-0.16139990091323853,0.5941930413246155,0.7037208080291748,0.4
+1789729714780939228,3933,0.8364627361297607,-1.89708411693573,-1.0061595439910889,1.3811370134353638,-0.1613970845937729,0.594192385673523,0.7037186026573181,0.4
+1789729714814257280,3966,0.8364630937576294,-1.8970845937728882,-1.0061601400375366,1.381137490272522,-0.1613980531692505,0.5941938757896423,0.7037196159362793,0.4
+1789729714847668819,4000,0.836464524269104,-1.897085189819336,-1.006161093711853,1.3811378479003906,-0.161398783326149,0.5941939949989319,0.7037190794944763,0.4
+1789729714881001938,4033,0.8364657163619995,-1.897087812423706,-1.0061635971069336,1.3811373710632324,-0.16139955818653107,0.5941905975341797,0.7037199139595032,0.4
+1789729714914324559,4066,0.8364658951759338,-1.8970891237258911,-1.0061641931533813,1.381136417388916,-0.16139858961105347,0.594188928604126,0.7037194967269897,0.4
+1789729714947655118,4100,0.8364666700363159,-1.8970891237258911,-1.0061649084091187,1.3811366558074951,-0.16139763593673706,0.594184935092926,0.7037191390991211,0.4
+1789729714981008764,4133,0.8364681005477905,-1.8970903158187866,-1.006165623664856,1.3811367750167847,-0.16139696538448334,0.5941827297210693,0.7037171125411987,0.4
+1789729715014332290,4166,0.8364691138267517,-1.8970924615859985,-1.0061662197113037,1.3811371326446533,-0.1613958775997162,0.5941797494888306,0.7037169337272644,0.4
+1789729715047660094,4200,0.8364706039428711,-1.897092580795288,-1.0061691999435425,1.3811373710632324,-0.16139410436153412,0.594180166721344,0.7037159204483032,0.4
+1789729715080939724,4233,0.8364725708961487,-1.897093653678894,-1.0061789751052856,1.3811362981796265,-0.16139531135559082,0.5941800475120544,0.7037148475646973,0.4
+1789729715114339019,4266,0.8364732265472412,-1.8970965147018433,-1.0061829090118408,1.3811360597610474,-0.16139410436153412,0.5941784381866455,0.7037132382392883,0.4
+1789729715147673401,4300,0.8364737629890442,-1.897101640701294,-1.0061829090118408,1.3811346292495728,-0.16139346361160278,0.5941770076751709,0.7037115693092346,0.4
+1789729715180939473,4333,0.8364739418029785,-1.8971045017242432,-1.0061826705932617,1.3811336755752563,-0.1613936871290207,0.5941692590713501,0.7037087678909302,0.4
+1789729715214321670,4366,0.8364757895469666,-1.8971058130264282,-1.006182074546814,1.3811336755752563,-0.16139040887355804,0.5941672921180725,0.7037072777748108,0.4
+1789729715247597450,4400,0.8364769816398621,-1.8971070051193237,-1.0061827898025513,1.3811343908309937,-0.16138921678066254,0.594169557094574,0.7037080526351929,0.4
+1789729715280935053,4433,0.8364794254302979,-1.8971096277236938,-1.006183385848999,1.3811346292495728,-0.1613902449607849,0.5941694974899292,0.7037094831466675,0.4
+1789729715314335117,4466,0.8364806175231934,-1.8971092700958252,-1.0061835050582886,1.3811339139938354,-0.1613914668560028,0.5941683053970337,0.703710675239563,0.4
+1789729715347672669,4500,0.8364811539649963,-1.897109866142273,-1.0061849355697632,1.3811343908309937,-0.161391943693161,0.5941673517227173,0.703711211681366,0.4
+1789729715381005882,4533,0.8364822268486023,-1.8971115350723267,-1.0061849355697632,1.381133794784546,-0.1613927185535431,0.5941619873046875,0.7037108540534973,0.4
+1789729715414330417,4566,0.8364840149879456,-1.897114634513855,-1.0061850547790527,1.3811336755752563,-0.16139261424541473,0.5941588878631592,0.7037100195884705,0.4
+1789729715447664999,4600,0.8364849090576172,-1.8971168994903564,-1.0061849355697632,1.3811333179473877,-0.161390021443367,0.5941585302352905,0.7037081718444824,0.4
+1789729715481003562,4633,0.8364863395690918,-1.8971168994903564,-1.00618577003479,1.381134271621704,-0.16138917207717896,0.5941562652587891,0.7037075757980347,0.4
+1789729715514330015,4666,0.8364868760108948,-1.897116780281067,-1.0061869621276855,1.3811346292495728,-0.16138796508312225,0.5941556692123413,0.7037076354026794,0.4
+1789729715547667758,4700,0.8364875912666321,-1.897116780281067,-1.0061875581741333,1.381135106086731,-0.16138896346092224,0.5941565036773682,0.7037087082862854,0.4
+1789729715580994062,4733,0.8364883661270142,-1.8971184492111206,-1.0061957836151123,1.3811347484588623,-0.16138993203639984,0.5941557884216309,0.7037088871002197,0.4
+1789729715614331534,4766,0.8364888429641724,-1.897119164466858,-1.0061973333358765,1.381134271621704,-0.1613895297050476,0.5941544771194458,0.7037079930305481,0.4
+1789729715647665997,4800,0.836488664150238,-1.8971222639083862,-1.006198525428772,1.3811336755752563,-0.16138868033885956,0.5941505432128906,0.7037063837051392,0.4
+1789729715681006169,4833,0.8364900946617126,-1.8971256017684937,-1.0061988830566406,1.3811323642730713,-0.16138604283332825,0.5941457152366638,0.703704833984375,0.4
+1789729715714330963,4866,0.8364913463592529,-1.8971256017684937,-1.0061990022659302,1.381132960319519,-0.16138684749603271,0.5941420197486877,0.7036998867988586,0.4
+1789729715747661747,4900,0.836492657661438,-1.8971253633499146,-1.0062057971954346,1.3811336755752563,-0.1613834798336029,0.5941405892372131,0.7036997675895691,0.4
+1789729715781006448,4933,0.836493730545044,-1.8971261978149414,-1.0062066316604614,1.3811334371566772,-0.16138029098510742,0.5941432118415833,0.7037001252174377,0.4
+1789729715814259981,4966,0.836495041847229,-1.8971288204193115,-1.0062072277069092,1.3811333179473877,-0.1613815724849701,0.5941448211669922,0.7036999464035034,0.4
+1789729715847590325,5000,0.8364953994750977,-1.8971298933029175,-1.0062087774276733,1.3811326026916504,-0.1613837331533432,0.5941438674926758,0.703700840473175,0.4
+1789729715880927427,5033,0.8364949822425842,-1.8971312046051025,-1.0062090158462524,1.381131887435913,-0.16138291358947754,0.5941397547721863,0.7037010192871094,0.4
+1789729715914255241,5066,0.8364970684051514,-1.8971328735351562,-1.0062090158462524,1.3811323642730713,-0.16138312220573425,0.594136118888855,0.7036998867988586,0.4
+1789729715947586754,5100,0.8364982604980469,-1.8971326351165771,-1.006208896636963,1.3811334371566772,-0.1613815426826477,0.5941323637962341,0.7036992907524109,0.4
+1789729715981009626,5133,0.8364989161491394,-1.8971322774887085,-1.006209135055542,1.3811347484588623,-0.16138117015361786,0.594134509563446,0.7036983966827393,0.4
+1789729716014332116,5166,0.8364995121955872,-1.8971319198608398,-1.0062094926834106,1.3811349868774414,-0.16138146817684174,0.594136118888855,0.7036983966827393,0.4
+1789729716047664653,5200,0.8365000486373901,-1.897132158279419,-1.0062131881713867,1.3811354637145996,-0.16138212382793427,0.5941357016563416,0.7036987543106079,0.4
+1789729716081004619,5233,0.836500883102417,-1.89713454246521,-1.0062181949615479,1.3811368942260742,-0.16138313710689545,0.5941345691680908,0.7036995887756348,0.4
+1789729716114331446,5266,0.8365013599395752,-1.8971374034881592,-1.006219506263733,1.3811360597610474,-0.16138149797916412,0.5941332578659058,0.7036988735198975,0.4
+1789729716147652744,5300,0.8365025520324707,-1.8971388339996338,-1.0062192678451538,1.381136417388916,-0.16138145327568054,0.594132661819458,0.7036986947059631,0.4
+1789729716180996430,5333,0.8365033864974976,-1.8971405029296875,-1.0062198638916016,1.3811367750167847,-0.16137875616550446,0.5941303372383118,0.7036985754966736,0.4
+1789729716214337246,5366,0.8365042805671692,-1.8971399068832397,-1.0062196254730225,1.3811371326446533,-0.16137588024139404,0.5941287875175476,0.7036972045898438,0.4
+1789729716247594262,5400,0.8365047574043274,-1.8971401453018188,-1.0062196254730225,1.3811382055282593,-0.1613747626543045,0.5941272377967834,0.703697144985199,0.4
+1789729716281016767,5433,0.8365067839622498,-1.8971415758132935,-1.0062215328216553,1.3811382055282593,-0.16137725114822388,0.5941274166107178,0.7036966681480408,0.4
+1789729716314331956,5466,0.8365079164505005,-1.8971443176269531,-1.0062257051467896,1.3811386823654175,-0.16137853264808655,0.5941270589828491,0.7036968469619751,0.4
+1789729716347594322,5500,0.8365092873573303,-1.8971458673477173,-1.0062259435653687,1.3811372518539429,-0.16137845814228058,0.5941234230995178,0.7036973237991333,0.4
+1789729716380931918,5533,0.8365114331245422,-1.8971469402313232,-1.006225824356079,1.3811367750167847,-0.16137675940990448,0.5941147208213806,0.7036963701248169,0.4
+1789729716414328107,5566,0.8365115523338318,-1.8971470594406128,-1.0062254667282104,1.381137728691101,-0.16137637197971344,0.5941115617752075,0.7036949396133423,0.4
+1789729716447658234,5600,0.8365116119384766,-1.89714777469635,-1.0062249898910522,1.3811371326446533,-0.16137559711933136,0.5941116809844971,0.7036899328231812,0.4
+1789729716481006569,5633,0.8365138173103333,-1.8971482515335083,-1.0062263011932373,1.381137728691101,-0.1613764762878418,0.5941125750541687,0.7036918997764587,0.4
+1789729716514331957,5666,0.836513876914978,-1.8971476554870605,-1.006226658821106,1.3811378479003906,-0.16137821972370148,0.5941131711006165,0.7036928534507751,0.4
+1789729716547662484,5700,0.8365138173103333,-1.8971492052078247,-1.0062304735183716,1.3811378479003906,-0.16137905418872833,0.5941137671470642,0.7036941051483154,0.4
+1789729716581006769,5733,0.8365156650543213,-1.8971531391143799,-1.0062310695648193,1.381137490272522,-0.1613783836364746,0.5941124558448792,0.7036939859390259,0.4
+1789729716614346605,5766,0.8365172743797302,-1.8971549272537231,-1.006231665611267,1.3811372518539429,-0.16137751936912537,0.594109833240509,0.7036943435668945,0.4
+1789729716647667813,5800,0.8365175127983093,-1.897154450416565,-1.0062334537506104,1.381137490272522,-0.16137681901454926,0.5941057801246643,0.7036926746368408,0.4
+1789729716681011399,5833,0.8365178108215332,-1.8971551656723022,-1.0062339305877686,1.381137490272522,-0.16137512028217316,0.5941051244735718,0.7036897540092468,0.4
+1789729716714335357,5866,0.8365190625190735,-1.897156000137329,-1.0062346458435059,1.3811380863189697,-0.16137485206127167,0.5941070914268494,0.7036877870559692,0.4
+1789729716747678022,5900,0.8365194201469421,-1.8971573114395142,-1.0062414407730103,1.3811382055282593,-0.16137588024139404,0.5941075086593628,0.7036873698234558,0.4
+1789729716781001970,5933,0.8365198373794556,-1.897158145904541,-1.0062484741210938,1.3811379671096802,-0.1613752245903015,0.5941073894500732,0.7036862969398499,0.4
+1789729716814340626,5966,0.8365205526351929,-1.8971607685089111,-1.0062490701675415,1.3811371326446533,-0.16137515008449554,0.5941069722175598,0.7036862373352051,0.4
+1789729716847674953,6000,0.8365214467048645,-1.8971654176712036,-1.0062482357025146,1.3811368942260742,-0.16137489676475525,0.5941041707992554,0.7036848068237305,0.4
+1789729716880997081,6033,0.8365228176116943,-1.8971703052520752,-1.0062477588653564,1.3811359405517578,-0.16137194633483887,0.5941022634506226,0.7036829590797424,0.4
+1789729716914335217,6066,0.8365235328674316,-1.8971697092056274,-1.0062474012374878,1.3811355829238892,-0.1613699495792389,0.5940998196601868,0.7036826610565186,0.4
+1789729716947659405,6100,0.8365244269371033,-1.8971693515777588,-1.0062479972839355,1.3811354637145996,-0.16137094795703888,0.5940989255905151,0.7036839723587036,0.4
+1789729716980909912,6133,0.8365252017974854,-1.8971701860427856,-1.0062487125396729,1.3811354637145996,-0.1613714098930359,0.5941005945205688,0.7036856412887573,0.4
+1789729717014230486,6166,0.8365259170532227,-1.897170901298523,-1.0062497854232788,1.3811359405517578,-0.16137222945690155,0.5940994620323181,0.7036841511726379,0.4
+1789729717047560777,6200,0.8365265130996704,-1.8971729278564453,-1.0062509775161743,1.3811355829238892,-0.16137367486953735,0.5940965414047241,0.7036849856376648,0.4
+1789729717080900336,6233,0.8365276455879211,-1.89717698097229,-1.0062508583068848,1.3811345100402832,-0.16137383878231049,0.5940909385681152,0.7036848068237305,0.4
+1789729717114225858,6266,0.8365298509597778,-1.8971798419952393,-1.0062519311904907,1.3811333179473877,-0.16137202084064484,0.5940868258476257,0.7036839723587036,0.4
+1789729717147559118,6300,0.8365302085876465,-1.897179365158081,-1.0062520503997803,1.3811346292495728,-0.1613718420267105,0.5940863490104675,0.7036834955215454,0.4
+1789729717180901437,6333,0.8365311026573181,-1.8971774578094482,-1.006252646446228,1.3811345100402832,-0.1613718569278717,0.5940862894058228,0.7036836743354797,0.4
+1789729717214234048,6366,0.8365316390991211,-1.8971772193908691,-1.0062534809112549,1.3811352252960205,-0.16137272119522095,0.5940867066383362,0.7036835551261902,0.4
+1789729717247561019,6400,0.8365312218666077,-1.8971771001815796,-1.006255865097046,1.3811355829238892,-0.1613721400499344,0.5940863490104675,0.7036824822425842,0.4
+1789729717280897389,6433,0.8365313410758972,-1.8971779346466064,-1.0062587261199951,1.3811354637145996,-0.16137203574180603,0.5940864086151123,0.7036827206611633,0.4
+1789729717314228509,6466,0.8365314602851868,-1.8971796035766602,-1.0062605142593384,1.3811346292495728,-0.16137169301509857,0.5940852165222168,0.7036827802658081,0.4
+1789729717347562180,6500,0.8365320563316345,-1.8971812725067139,-1.006260871887207,1.381134271621704,-0.16137228906154633,0.5940794348716736,0.7036810517311096,0.4
+1789729717380898409,6533,0.8365336656570435,-1.8971827030181885,-1.0062594413757324,1.3811345100402832,-0.1613706797361374,0.5940720438957214,0.7036795616149902,0.4
+1789729717414224851,6566,0.8365353345870972,-1.8971822261810303,-1.0062599182128906,1.3811347484588623,-0.16137079894542694,0.5940712690353394,0.7036778926849365,0.4
+1789729717447560871,6600,0.8365358710289001,-1.8971821069717407,-1.0062607526779175,1.3811345100402832,-0.16137021780014038,0.5940720438957214,0.703678548336029,0.4
+1789729717480893171,6633,0.8365384936332703,-1.8971821069717407,-1.0062624216079712,1.3811347484588623,-0.16137157380580902,0.5940724611282349,0.703679084777832,0.4
+1789729717514295533,6666,0.8365381956100464,-1.8971835374832153,-1.0062658786773682,1.3811343908309937,-0.1613713502883911,0.5940704345703125,0.7036806344985962,0.4
+1789729717547563741,6700,0.8365383744239807,-1.897186040878296,-1.0062671899795532,1.3811334371566772,-0.16137154400348663,0.5940693020820618,0.7036789059638977,0.4
+1789729717580985600,6733,0.8365393280982971,-1.8971859216690063,-1.0062669515609741,1.3811336755752563,-0.16136981546878815,0.5940660834312439,0.7036781907081604,0.4
+1789729717614230162,6766,0.8365395665168762,-1.8971866369247437,-1.006266474723816,1.3811341524124146,-0.161367729306221,0.5940635800361633,0.70367830991745,0.4
+1789729717647583390,6800,0.8365404605865479,-1.8971859216690063,-1.0062657594680786,1.3811343908309937,-0.16136828064918518,0.5940616726875305,0.7036786079406738,0.4
+1789729717680904332,6833,0.8365418910980225,-1.8971854448318481,-1.0062670707702637,1.38113534450531,-0.16136789321899414,0.5940620303153992,0.7036782503128052,0.4
+1789729717714229443,6866,0.8365418910980225,-1.8971859216690063,-1.0062681436538696,1.3811347484588623,-0.16136816143989563,0.5940629243850708,0.7036786675453186,0.4
+1789729717747560374,6900,0.8365418314933777,-1.89718759059906,-1.0062713623046875,1.381135106086731,-0.16137045621871948,0.594063401222229,0.7036791443824768,0.4
+1789729717780902683,6933,0.8365429639816284,-1.8971906900405884,-1.0062745809555054,1.381134271621704,-0.16137045621871948,0.5940582156181335,0.7036782503128052,0.4
+1789729717814226565,6966,0.8365439176559448,-1.8971936702728271,-1.0062755346298218,1.3811343908309937,-0.16136987507343292,0.5940558910369873,0.7036789059638977,0.4
+1789729717847582022,7000,0.8365446329116821,-1.8971940279006958,-1.0062766075134277,1.3811346292495728,-0.16136759519577026,0.594054102897644,0.703677773475647,0.4
+1789729717880900384,7033,0.8365458250045776,-1.89719557762146,-1.0062766075134277,1.3811354637145996,-0.16136705875396729,0.5940546989440918,0.7036764025688171,0.4
+1789729717914229005,7066,0.8365467190742493,-1.8971964120864868,-1.00627601146698,1.3811362981796265,-0.16136665642261505,0.5940525531768799,0.7036776542663574,0.4
+1789729717947585193,7100,0.8365490436553955,-1.8971965312957764,-1.0062769651412964,1.3811362981796265,-0.16136756539344788,0.5940507054328918,0.7036782503128052,0.4
+1789729717980911974,7133,0.8365510702133179,-1.89719820022583,-1.0062812566757202,1.381136417388916,-0.16136763989925385,0.5940497517585754,0.7036774754524231,0.4
+1789729718014229771,7166,0.8365516066551208,-1.8972010612487793,-1.0062850713729858,1.3811349868774414,-0.1613677442073822,0.5940495729446411,0.7036775350570679,0.4
+1789729718047583063,7200,0.8365517854690552,-1.8972047567367554,-1.006285548210144,1.3811359405517578,-0.16136634349822998,0.5940472483634949,0.7036761045455933,0.4
+1789729718080969000,7233,0.8365533351898193,-1.897210717201233,-1.0062860250473022,1.3811346292495728,-0.1613643616437912,0.5940467715263367,0.7036720514297485,0.4
+1789729718114248581,7266,0.836554229259491,-1.8972097635269165,-1.006286859512329,1.3811339139938354,-0.16136500239372253,0.5940461754798889,0.7036718130111694,0.4
+1789729718147562387,7300,0.8365544676780701,-1.8972091674804688,-1.0062882900238037,1.3811341524124146,-0.1613643616437912,0.5940456986427307,0.7036721110343933,0.4
+1789729718180975411,7333,0.8365553021430969,-1.8972101211547852,-1.006290078163147,1.3811345100402832,-0.1613643616437912,0.5940455198287964,0.7036728858947754,0.4
+1789729718214241303,7366,0.8365553617477417,-1.8972114324569702,-1.0062916278839111,1.3811349868774414,-0.16136497259140015,0.5940462350845337,0.7036733627319336,0.4
+1789729718247588495,7400,0.8365554213523865,-1.8972123861312866,-1.006291151046753,1.381134271621704,-0.16136637330055237,0.5940447449684143,0.7036734223365784,0.4
+1789729718280903661,7433,0.8365560173988342,-1.8972134590148926,-1.006291151046753,1.381133794784546,-0.1613651067018509,0.5940388441085815,0.7036719918251038,0.4
+1789729718314230446,7466,0.836556613445282,-1.8972156047821045,-1.0062904357910156,1.3811336755752563,-0.16136416792869568,0.594038188457489,0.7036720514297485,0.4
+1789729718347562780,7500,0.8365577459335327,-1.8972169160842896,-1.0062899589538574,1.3811336755752563,-0.16136352717876434,0.5940356850624084,0.7036716341972351,0.4
+1789729718380897974,7533,0.8365589380264282,-1.897215485572815,-1.0062904357910156,1.381134271621704,-0.16136418282985687,0.5940357446670532,0.7036715745925903,0.4
+1789729718414233017,7566,0.8365592360496521,-1.8972162008285522,-1.0062904357910156,1.3811346292495728,-0.16136538982391357,0.5940357446670532,0.7036740183830261,0.4
+1789729718447589038,7600,0.8365595936775208,-1.897217035293579,-1.006291151046753,1.3811346292495728,-0.1613653302192688,0.5940359830856323,0.7036747336387634,0.4
+1789729718480892146,7633,0.836560070514679,-1.8972184658050537,-1.0062955617904663,1.3811336755752563,-0.16136568784713745,0.5940361022949219,0.7036738991737366,0.4
+1789729718514229589,7666,0.8365602493286133,-1.8972214460372925,-1.0062965154647827,1.3811317682266235,-0.1613658219575882,0.594031810760498,0.7036731243133545,0.4
+1789729718547592749,7700,0.8365615606307983,-1.8972220420837402,-1.0062960386276245,1.3811297416687012,-0.16136497259140015,0.5940282940864563,0.7036706805229187,0.4
+1789729718580911265,7733,0.8365623950958252,-1.8972229957580566,-1.0062965154647827,1.3811302185058594,-0.1613641381263733,0.594022274017334,0.7036659121513367,0.4
+1789729718614232191,7766,0.8365632891654968,-1.897221326828003,-1.0062980651855469,1.3811291456222534,-0.1613631546497345,0.5940212607383728,0.703665554523468,0.4
+1789729718647566794,7800,0.8365631699562073,-1.8972221612930298,-1.0063018798828125,1.3811287879943848,-0.16136328876018524,0.5940197706222534,0.7036663293838501,0.4
+1789729718680893949,7833,0.8365641832351685,-1.8972254991531372,-1.0063081979751587,1.3811287879943848,-0.1613636314868927,0.5940210819244385,0.7036680579185486,0.4
+1789729718714229842,7866,0.8365651369094849,-1.8972309827804565,-1.0063084363937378,1.3811267614364624,-0.16136333346366882,0.5940223336219788,0.7036687135696411,0.4
+1789729718747559747,7900,0.836564302444458,-1.8972340822219849,-1.0063079595565796,1.381121277809143,-0.16136351227760315,0.5940207839012146,0.7036684155464172,0.4
+1789729718780939625,7933,0.836564838886261,-1.8972340822219849,-1.00630784034729,1.3811198472976685,-0.16136275231838226,0.5940117835998535,0.7036678194999695,0.4
+1789729718814233194,7966,0.8365660905838013,-1.8972337245941162,-1.006307601928711,1.3811222314834595,-0.16136233508586884,0.5940085053443909,0.7036654353141785,0.4
+1789729718847583345,8000,0.8365654945373535,-1.8972361087799072,-1.0063074827194214,1.3811225891113281,-0.16136226058006287,0.5940102934837341,0.7036624550819397,0.4
+1789729718880896292,8033,0.8365687131881714,-1.8972382545471191,-1.0063083171844482,1.3811224699020386,-0.16135992109775543,0.5940123796463013,0.7036626935005188,0.4
+1789729718914231445,8066,0.8365694284439087,-1.8972363471984863,-1.0063234567642212,1.3811237812042236,-0.16135887801647186,0.5940118432044983,0.7036632895469666,0.4
+1789729718947591716,8100,0.8365699052810669,-1.8972398042678833,-1.0063287019729614,1.3811242580413818,-0.16135907173156738,0.5940118432044983,0.7036635875701904,0.4
+1789729718980899703,8133,0.8365731239318848,-1.8972556591033936,-1.0063260793685913,1.3811231851577759,-0.16135910153388977,0.594012975692749,0.7036658525466919,0.4
+1789729719014234562,8166,0.8365735411643982,-1.8972563743591309,-1.006326675415039,1.381123423576355,-0.16135653853416443,0.5940119624137878,0.7036658525466919,0.4
+1789729719047588986,8200,0.8365728855133057,-1.8972560167312622,-1.0063284635543823,1.3811250925064087,-0.16135327517986298,0.5940093398094177,0.703665018081665,0.4
+1789729719080897997,8233,0.8365767002105713,-1.8972543478012085,-1.0063261985778809,1.3811262845993042,-0.16135235130786896,0.5940098762512207,0.7036635279655457,0.4
+1789729719114228384,8266,0.8365780115127563,-1.8972524404525757,-1.0063284635543823,1.3811267614364624,-0.16135281324386597,0.594009280204773,0.70366370677948,0.4
+1789729719147563011,8300,0.8365780711174011,-1.8972556591033936,-1.006327748298645,1.3811267614364624,-0.16135066747665405,0.5940099954605103,0.7036636471748352,0.4
+1789729719180906637,8333,0.836578905582428,-1.8972560167312622,-1.006329894065857,1.3811250925064087,-0.16135258972644806,0.5940110683441162,0.7036635875701904,0.4
+1789729719214245624,8366,0.8365780711174011,-1.8972558975219727,-1.0063413381576538,1.3811253309249878,-0.16135212779045105,0.5940071940422058,0.7036627531051636,0.4
+1789729719247588070,8400,0.8365790843963623,-1.8972618579864502,-1.006340742111206,1.3811262845993042,-0.16135060787200928,0.5940046906471252,0.703662097454071,0.4
+1789729719280915598,8433,0.8365851640701294,-1.8972662687301636,-1.0063389539718628,1.3811253309249878,-0.16134558618068695,0.5940033793449402,0.703658401966095,0.4
+1789729719314229088,8466,0.8365843892097473,-1.8972647190093994,-1.006340503692627,1.381125807762146,-0.1613467037677765,0.5940009355545044,0.7036582827568054,0.4
+1789729719347566875,8500,0.8365833163261414,-1.8972665071487427,-1.0063401460647583,1.3811256885528564,-0.16134785115718842,0.593999981880188,0.7036589980125427,0.4
+1789729719380898712,8533,0.8365869522094727,-1.8972645998001099,-1.0063416957855225,1.3811272382736206,-0.16134977340698242,0.5940016508102417,0.7036594152450562,0.4
+1789729719414227830,8566,0.8365866541862488,-1.8972651958465576,-1.0063437223434448,1.3811310529708862,-0.1613485962152481,0.5939996838569641,0.7036601305007935,0.4
+1789729719447562837,8600,0.8365854024887085,-1.897274136543274,-1.0063433647155762,1.3811289072036743,-0.16134944558143616,0.5940014719963074,0.7036620378494263,0.4
+1789729719480907603,8633,0.8365880250930786,-1.8972768783569336,-1.0063433647155762,1.3811252117156982,-0.16134925186634064,0.5940017104148865,0.7036621570587158,0.4
+1789729719514231981,8666,0.8365877270698547,-1.8972740173339844,-1.0063482522964478,1.381128191947937,-0.16134734451770782,0.5939921140670776,0.7036607265472412,0.4
+1789729719547557389,8700,0.8365883827209473,-1.8972746133804321,-1.0063482522964478,1.381129503250122,-0.16134485602378845,0.5939902663230896,0.7036594152450562,0.4
+1789729719580897326,8733,0.8365929126739502,-1.8972759246826172,-1.0063462257385254,1.3811278343200684,-0.1613440066576004,0.5939940214157104,0.7036586999893188,0.4
+1789729719614228213,8766,0.8365922570228577,-1.8972752094268799,-1.00634765625,1.3811280727386475,-0.1613440215587616,0.5939968824386597,0.7036583423614502,0.4
+1789729719647626533,8800,0.8365917205810547,-1.8972746133804321,-1.006349802017212,1.381130337715149,-0.16134360432624817,0.5939956903457642,0.703659176826477,0.4
+1789729719680956200,8833,0.8365942239761353,-1.897277593612671,-1.0063512325286865,1.3811299800872803,-0.16134385764598846,0.5939956903457642,0.7036593556404114,0.4
+1789729719714229755,8866,0.836594820022583,-1.8972831964492798,-1.0063506364822388,1.3811284303665161,-0.16134406626224518,0.5939942598342896,0.7036594748497009,0.4
+1789729719747555753,8900,0.8365944623947144,-1.8972840309143066,-1.0063507556915283,1.3811287879943848,-0.161342591047287,0.5939902663230896,0.7036579251289368,0.4
+1789729719780914457,8933,0.8365955352783203,-1.8972816467285156,-1.0063507556915283,1.381127953529358,-0.1613413244485855,0.5939902663230896,0.7036550641059875,0.4
+1789729719814239926,8966,0.8365962505340576,-1.8972827196121216,-1.0063512325286865,1.3811280727386475,-0.16134026646614075,0.593989908695221,0.7036548852920532,0.4
+1789729719847594370,9000,0.8365958333015442,-1.8972852230072021,-1.006350040435791,1.3811280727386475,-0.16133999824523926,0.593989908695221,0.7036555409431458,0.4
+1789729719880957624,9033,0.8365967869758606,-1.897283673286438,-1.0063549280166626,1.3811278343200684,-0.16134175658226013,0.593990683555603,0.7036557793617249,0.4
+1789729719914234658,9066,0.8365967273712158,-1.8972829580307007,-1.00635826587677,1.3811287879943848,-0.16134268045425415,0.5939885377883911,0.7036563158035278,0.4
+1789729719947565676,9100,0.8365978598594666,-1.8972874879837036,-1.0063576698303223,1.3811278343200684,-0.16134513914585114,0.5939869284629822,0.7036555409431458,0.4
+1789729719980899443,9133,0.8365990519523621,-1.8972914218902588,-1.006356120109558,1.381126880645752,-0.16134247183799744,0.5939858555793762,0.7036544680595398,0.4
+1789729720014236455,9166,0.8365979194641113,-1.8972902297973633,-1.0063567161560059,1.381128191947937,-0.16134126484394073,0.5939805507659912,0.7036535739898682,0.4
+1789729720047564046,9200,0.8365980982780457,-1.8972907066345215,-1.0063563585281372,1.3811280727386475,-0.16134026646614075,0.5939815044403076,0.7036535143852234,0.4
+1789729720080983256,9233,0.836600124835968,-1.8972923755645752,-1.0063565969467163,1.381127953529358,-0.16133973002433777,0.5939823985099792,0.703654408454895,0.4
+1789729720114243666,9266,0.8366016149520874,-1.8972926139831543,-1.0063581466674805,1.3811284303665161,-0.16134177148342133,0.5939827561378479,0.703656792640686,0.4
+1789729720147559728,9300,0.8366016149520874,-1.897292137145996,-1.0063612461090088,1.381127953529358,-0.16134119033813477,0.5939813256263733,0.7036558985710144,0.4
+1789729720180899798,9333,0.8366032242774963,-1.8972944021224976,-1.0063637495040894,1.3811273574829102,-0.16133935749530792,0.5939794778823853,0.7036543488502502,0.4
+1789729720214233389,9366,0.836604654788971,-1.8972996473312378,-1.0063618421554565,1.3811265230178833,-0.1613393872976303,0.5939779281616211,0.7036536931991577,0.4
+1789729720247562510,9400,0.836604118347168,-1.8973021507263184,-1.0063610076904297,1.3811264038085938,-0.16133800148963928,0.5939767360687256,0.7036523222923279,0.4
+1789729720280932426,9433,0.8366050720214844,-1.8973008394241333,-1.0063612461090088,1.381125569343567,-0.16133707761764526,0.5939733386039734,0.703650176525116,0.4
+1789729720314233680,9466,0.8366057872772217,-1.8973002433776855,-1.0063613653182983,1.3811261653900146,-0.16133813560009003,0.5939721465110779,0.7036512494087219,0.4
+1789729720347562991,9500,0.8366082310676575,-1.8973020315170288,-1.0063613653182983,1.3811265230178833,-0.16133730113506317,0.5939731001853943,0.7036524415016174,0.4
+1789729720380897532,9533,0.8366085886955261,-1.8973020315170288,-1.0063666105270386,1.381126880645752,-0.16133937239646912,0.5939720869064331,0.70365309715271,0.4
+1789729720414232142,9566,0.8366082310676575,-1.8973017930984497,-1.0063707828521729,1.3811262845993042,-0.16133905947208405,0.5939691066741943,0.7036510109901428,0.4
+1789729720447567233,9600,0.8366082310676575,-1.8973039388656616,-1.0063694715499878,1.3811261653900146,-0.1613391488790512,0.5939659476280212,0.703650951385498,0.4
+1789729720480912382,9633,0.83660888671875,-1.8973075151443481,-1.0063682794570923,1.3811243772506714,-0.16133800148963928,0.5939647555351257,0.7036493420600891,0.4
+1789729720514229954,9666,0.8366091847419739,-1.8973071575164795,-1.0063679218292236,1.381124496459961,-0.1613360345363617,0.5939629673957825,0.7036488056182861,0.4
+1789729720547562695,9700,0.8366093039512634,-1.897306203842163,-1.006368637084961,1.3811241388320923,-0.1613357812166214,0.5939624905586243,0.703647792339325,0.4
+1789729720580911194,9733,0.8366106152534485,-1.897306203842163,-1.0063698291778564,1.3811252117156982,-0.16133525967597961,0.5939660668373108,0.7036484479904175,0.4
+1789729720614236755,9766,0.8366121649742126,-1.8973063230514526,-1.0063705444335938,1.381126046180725,-0.1613374799489975,0.5939667820930481,0.7036504149436951,0.4
+1789729720647634028,9800,0.8366137146949768,-1.8973065614700317,-1.0063725709915161,1.3811262845993042,-0.16133780777454376,0.5939632058143616,0.7036519050598145,0.4
+1789729720680900407,9833,0.8366134166717529,-1.8973067998886108,-1.0063735246658325,1.381125569343567,-0.1613379865884781,0.5939590930938721,0.7036493420600891,0.4
+1789729720714233517,9866,0.8366138339042664,-1.8973088264465332,-1.006373405456543,1.3811240196228027,-0.16133563220500946,0.593955934047699,0.70364910364151,0.4
+1789729720747565758,9900,0.8366144895553589,-1.897308349609375,-1.0063735246658325,1.381125569343567,-0.1613353192806244,0.5939531922340393,0.7036481499671936,0.4
+1789729720780910287,9933,0.8366146087646484,-1.8973079919815063,-1.0063741207122803,1.3811283111572266,-0.1613335907459259,0.5939520597457886,0.7036488652229309,0.4
+1789729720814300821,9966,0.8366148471832275,-1.89730966091156,-1.0063740015029907,1.3811269998550415,-0.1613343507051468,0.5939561724662781,0.7036488652229309,0.4
+1789729720847565220,10000,0.836614191532135,-1.8973097801208496,-1.00637686252594,1.3811256885528564,-0.1613353043794632,0.5939579606056213,0.7036489844322205,0.4
+1789729720880900890,10033,0.8366149663925171,-1.8973103761672974,-1.0063828229904175,1.3811264038085938,-0.1613355576992035,0.5939528346061707,0.703650176525116,0.4
+1789729720914230451,10066,0.8366169929504395,-1.8973100185394287,-1.006382942199707,1.381127119064331,-0.1613352745771408,0.5939505100250244,0.7036506533622742,0.4
+1789729720947563712,10100,0.8366192579269409,-1.897314190864563,-1.0063824653625488,1.3811272382736206,-0.16133412718772888,0.5939488410949707,0.7036498785018921,0.4
+1789729720980902052,10133,0.8366183042526245,-1.8973218202590942,-1.0063817501068115,1.3811242580413818,-0.16133317351341248,0.5939499735832214,0.703648030757904,0.4
+1789729721014229648,10166,0.8366179466247559,-1.8973201513290405,-1.006381869316101,1.3811252117156982,-0.1613324135541916,0.5939479470252991,0.7036475539207458,0.4
+1789729721047567332,10200,0.8366184830665588,-1.8973171710968018,-1.0063838958740234,1.3811274766921997,-0.16133087873458862,0.5939460396766663,0.70364910364151,0.4
+1789729721080906735,10233,0.8366245627403259,-1.8973195552825928,-1.0063841342926025,1.3811280727386475,-0.16133186221122742,0.5939455628395081,0.703649640083313,0.4
+1789729721114232619,10266,0.8366243839263916,-1.8973238468170166,-1.0063848495483398,1.3811252117156982,-0.16133366525173187,0.5939476490020752,0.7036505341529846,0.4
+1789729721147565943,10300,0.8366237878799438,-1.8973238468170166,-1.0063894987106323,1.381123423576355,-0.16133347153663635,0.5939480066299438,0.7036495208740234,0.4
+1789729721180898837,10333,0.8366241455078125,-1.897323489189148,-1.006393551826477,1.3811259269714355,-0.16133137047290802,0.5939419865608215,0.7036473155021667,0.4
+1789729721214307881,10366,0.8366262912750244,-1.8973257541656494,-1.0063918828964233,1.381126880645752,-0.1613289713859558,0.593940794467926,0.7036448121070862,0.4
+1789729721247624727,10400,0.8366279602050781,-1.8973301649093628,-1.006391167640686,1.381124496459961,-0.16132858395576477,0.5939418077468872,0.7036435008049011,0.4
+1789729721280932904,10433,0.8366246223449707,-1.8973292112350464,-1.0063928365707397,1.381124496459961,-0.16132870316505432,0.5939420461654663,0.7036452293395996,0.4
+1789729721314228583,10466,0.8366259932518005,-1.8973280191421509,-1.0063945055007935,1.3811262845993042,-0.16133028268814087,0.593941330909729,0.703646183013916,0.4
+1789729721347564496,10500,0.8366281986236572,-1.897329330444336,-1.006394624710083,1.3811278343200684,-0.16133072972297668,0.5939420461654663,0.7036474347114563,0.4
+1789729721380896840,10533,0.8366307020187378,-1.8973373174667358,-1.0063937902450562,1.3811273574829102,-0.16133129596710205,0.5939403772354126,0.7036466598510742,0.4
+1789729721414235793,10566,0.8366299271583557,-1.8973380327224731,-1.0063972473144531,1.38112473487854,-0.16132952272891998,0.5939401388168335,0.7036449909210205,0.4
+1789729721447562888,10600,0.8366296887397766,-1.8973373174667358,-1.00639808177948,1.3811241388320923,-0.16132953763008118,0.5939401388168335,0.7036439776420593,0.4
+1789729721480899321,10633,0.8366320729255676,-1.8973361253738403,-1.0063968896865845,1.3811267614364624,-0.16132763028144836,0.5939356088638306,0.7036427855491638,0.4
+1789729721514225336,10666,0.8366345167160034,-1.8973368406295776,-1.0063968896865845,1.3811280727386475,-0.16132475435733795,0.5939339399337769,0.7036424279212952,0.4
+1789729721547629260,10700,0.8366348743438721,-1.8973368406295776,-1.0063979625701904,1.3811265230178833,-0.16132484376430511,0.593934953212738,0.7036426067352295,0.4
+1789729721580913111,10733,0.8366338610649109,-1.8973381519317627,-1.006400465965271,1.381124496459961,-0.16132807731628418,0.5939372777938843,0.703643262386322,0.4
+1789729721614230396,10766,0.836635172367096,-1.8973437547683716,-1.0064001083374023,1.3811246156692505,-0.16132918000221252,0.5939355492591858,0.7036447525024414,0.4
+1789729721647565120,10800,0.8366363644599915,-1.8973441123962402,-1.00640070438385,1.3811264038085938,-0.1613285392522812,0.5939351320266724,0.7036445736885071,0.4
+1789729721680909242,10833,0.8366358280181885,-1.8973429203033447,-1.006400227546692,1.381127953529358,-0.16132767498493195,0.5939289331436157,0.7036433219909668,0.4
+1789729721714228428,10866,0.8366360664367676,-1.8973441123962402,-1.0063998699188232,1.38112473487854,-0.16132791340351105,0.5939304828643799,0.7036421895027161,0.4
+1789729721747566601,10900,0.8366355895996094,-1.8973455429077148,-1.006399393081665,1.3811228275299072,-0.16132736206054688,0.5939300060272217,0.7036418914794922,0.4
+1789729721780930921,10933,0.8366366028785706,-1.897343635559082,-1.006400465965271,1.3811262845993042,-0.16132834553718567,0.5939305424690247,0.7036436200141907,0.4
+1789729721814242877,10966,0.8366395235061646,-1.8973444700241089,-1.0064022541046143,1.3811280727386475,-0.16132932901382446,0.5939252376556396,0.7036427855491638,0.4
+1789729721847568042,11000,0.8366395831108093,-1.8973485231399536,-1.0064038038253784,1.3811256885528564,-0.16132988035678864,0.5939282178878784,0.7036429643630981,0.4
+1789729721880897986,11033,0.8366382718086243,-1.897355318069458,-1.0064040422439575,1.3811229467391968,-0.16132840514183044,0.5939279198646545,0.7036433219909668,0.4
+1789729721914295142,11066,0.8366388082504272,-1.8973528146743774,-1.0064064264297485,1.381124496459961,-0.1613270789384842,0.5939255356788635,0.7036415934562683,0.4
+1789729721947555875,11100,0.8366414904594421,-1.8973515033721924,-1.0064069032669067,1.3811283111572266,-0.1613255739212036,0.5939183235168457,0.7036404609680176,0.4
+1789729721980952821,11133,0.8366429805755615,-1.8973551988601685,-1.0064067840576172,1.3811254501342773,-0.16132454574108124,0.5939223766326904,0.7036389112472534,0.4
+1789729722014228757,11166,0.8366411328315735,-1.8973560333251953,-1.0064103603363037,1.3811230659484863,-0.1613253653049469,0.5939235687255859,0.7036395072937012,0.4
+1789729722047557204,11200,0.8366413712501526,-1.8973541259765625,-1.0064153671264648,1.3811235427856445,-0.16132451593875885,0.5939214825630188,0.703639566898346,0.4
+1789729722080892541,11233,0.8366433382034302,-1.8973549604415894,-1.006420373916626,1.3811253309249878,-0.1613246500492096,0.5939198732376099,0.7036395072937012,0.4
+1789729722114234217,11266,0.8366459608078003,-1.8973637819290161,-1.0064175128936768,1.3811237812042236,-0.16132408380508423,0.5939198136329651,0.7036395072937012,0.4
+1789729722147559275,11300,0.8366459608078003,-1.8973699808120728,-1.006417989730835,1.381120204925537,-0.1613195389509201,0.593920111656189,0.7036389708518982,0.4
+1789729722180895061,11333,0.8366445302963257,-1.897365927696228,-1.0064218044281006,1.381118893623352,-0.16131767630577087,0.5939130783081055,0.7036365270614624,0.4
+1789729722214229088,11366,0.8366458415985107,-1.8973664045333862,-1.0064213275909424,1.3811205625534058,-0.16131742298603058,0.5939128398895264,0.7036374807357788,0.4
+1789729722247557036,11400,0.8366472125053406,-1.8973673582077026,-1.0064195394515991,1.3811217546463013,-0.16131995618343353,0.5939154028892517,0.7036380767822266,0.4
+1789729722280899591,11433,0.8366460204124451,-1.897365927696228,-1.0064226388931274,1.3811211585998535,-0.16132095456123352,0.5939173698425293,0.7036389708518982,0.4
+1789729722314233618,11466,0.8366460204124451,-1.8973652124404907,-1.0064259767532349,1.3811213970184326,-0.16132234036922455,0.5939165353775024,0.7036406993865967,0.4
+1789729722347559156,11500,0.8366473317146301,-1.8973665237426758,-1.006425380706787,1.38112211227417,-0.16132290661334991,0.5939151644706726,0.7036380767822266,0.4
+1789729722380899982,11533,0.8366489410400391,-1.897369384765625,-1.0064244270324707,1.381122350692749,-0.16132262349128723,0.5939137935638428,0.7036375999450684,0.4
+1789729722414285162,11566,0.8366490006446838,-1.897368311882019,-1.006425142288208,1.3811233043670654,-0.1613222062587738,0.5939123630523682,0.7036371827125549,0.4
+1789729722447556747,11600,0.8366488814353943,-1.8973665237426758,-1.0064274072647095,1.3811237812042236,-0.16131989657878876,0.5939115285873413,0.7036378383636475,0.4
+1789729722480882845,11633,0.8366495370864868,-1.8973685503005981,-1.00642728805542,1.3811241388320923,-0.1613193154335022,0.5939127206802368,0.7036389708518982,0.4
+1789729722514226170,11666,0.8366495966911316,-1.897369146347046,-1.006427526473999,1.3811246156692505,-0.161319762468338,0.5939141511917114,0.7036396861076355,0.4
+1789729722547560917,11700,0.8366488218307495,-1.897369384765625,-1.0064347982406616,1.3811243772506714,-0.16132058203220367,0.5939135551452637,0.7036407589912415,0.4
+1789729722580907322,11733,0.8366495966911316,-1.897369146347046,-1.0064380168914795,1.3811240196228027,-0.16132082045078278,0.5939090847969055,0.7036386728286743,0.4
+1789729722614231220,11766,0.8366509079933167,-1.8973723649978638,-1.0064359903335571,1.381124496459961,-0.16131970286369324,0.5939043164253235,0.7036399841308594,0.4
+1789729722647559678,11800,0.8366515040397644,-1.8973758220672607,-1.0064347982406616,1.3811230659484863,-0.1613190621137619,0.5939040184020996,0.703637421131134,0.4
+1789729722680891505,11833,0.8366514444351196,-1.897374153137207,-1.0064356327056885,1.381123423576355,-0.16131755709648132,0.5939043760299683,0.7036333680152893,0.4
+1789729722714222122,11866,0.8366504907608032,-1.8973711729049683,-1.006436824798584,1.3811230659484863,-0.1613173633813858,0.5939040780067444,0.7036312222480774,0.4
+1789729722747574187,11900,0.8366525173187256,-1.8973721265792847,-1.0064363479614258,1.3811239004135132,-0.1613178849220276,0.5939063429832458,0.7036305069923401,0.4
+1789729722780897445,11933,0.8366549015045166,-1.8973772525787354,-1.0064353942871094,1.3811235427856445,-0.16131918132305145,0.5939079523086548,0.7036322951316833,0.4
+1789729722814289104,11966,0.8366552591323853,-1.8973771333694458,-1.0064367055892944,1.3811229467391968,-0.1613207459449768,0.5939059257507324,0.7036322951316833,0.4
+1789729722847561369,12000,0.8366544842720032,-1.8973770141601562,-1.006436824798584,1.3811229467391968,-0.16131962835788727,0.5939021706581116,0.7036315202713013,0.4
+1789729722880898175,12033,0.8366554975509644,-1.8973783254623413,-1.0064365863800049,1.381123661994934,-0.16131894290447235,0.5939001441001892,0.7036309838294983,0.4
+1789729722914226463,12066,0.8366565108299255,-1.8973774909973145,-1.0064364671707153,1.3811237812042236,-0.16131703555583954,0.5939001441001892,0.703630805015564,0.4
+1789729722947557030,12100,0.8366553783416748,-1.8973771333694458,-1.0064367055892944,1.3811241388320923,-0.16131751239299774,0.5938998460769653,0.7036319971084595,0.4
+1789729722980899086,12133,0.8366553783416748,-1.8973768949508667,-1.006438136100769,1.3811230659484863,-0.16131767630577087,0.5939021706581116,0.7036333084106445,0.4
+1789729723014227069,12166,0.8366556167602539,-1.897377848625183,-1.0064388513565063,1.3811233043670654,-0.1613195240497589,0.5939014554023743,0.7036327719688416,0.4
+1789729723047564818,12200,0.8366559743881226,-1.897377610206604,-1.0064393281936646,1.3811231851577759,-0.16132000088691711,0.5938987135887146,0.7036324739456177,0.4
+1789729723080905667,12233,0.8366567492485046,-1.8973785638809204,-1.0064384937286377,1.3811224699020386,-0.16131959855556488,0.5938949584960938,0.7036318778991699,0.4
+1789729723114236957,12266,0.8366568088531494,-1.8973791599273682,-1.0064387321472168,1.3811222314834595,-0.16131772100925446,0.5938947796821594,0.7036308646202087,0.4
+1789729723147593254,12300,0.8366564512252808,-1.8973782062530518,-1.0064390897750854,1.3811224699020386,-0.1613176465034485,0.5938929915428162,0.7036290764808655,0.4
+1789729723180911006,12333,0.8366557359695435,-1.8973782062530518,-1.006438136100769,1.3811218738555908,-0.16131606698036194,0.593891978263855,0.703628659248352,0.4
+1789729723214239486,12366,0.836656928062439,-1.8973770141601562,-1.0064380168914795,1.3811217546463013,-0.16131748259067535,0.5938925743103027,0.7036294341087341,0.4
+1789729723247565657,12400,0.8366578221321106,-1.8973768949508667,-1.0064396858215332,1.3811217546463013,-0.16131703555583954,0.593891441822052,0.7036310434341431,0.4
+1789729723280898867,12433,0.8366586565971375,-1.8973805904388428,-1.0064400434494019,1.3811216354370117,-0.16131840646266937,0.5938900113105774,0.7036323547363281,0.4
+1789729723314243306,12466,0.8366608023643494,-1.8973840475082397,-1.0064401626586914,1.3811191320419312,-0.1613185703754425,0.5938883423805237,0.7036321759223938,0.4
+1789729723347565997,12500,0.8366606831550598,-1.8973830938339233,-1.0064396858215332,1.3811192512512207,-0.16131897270679474,0.5938817858695984,0.7036312818527222,0.4
+1789729723380914065,12533,0.8366606831550598,-1.8973817825317383,-1.0064393281936646,1.3811206817626953,-0.16131757199764252,0.5938803553581238,0.703628659248352,0.4
+1789729723414233177,12566,0.8366615772247314,-1.8973817825317383,-1.0064395666122437,1.3811204433441162,-0.16131654381752014,0.5938801169395447,0.7036284804344177,0.4
+1789729723447566996,12600,0.8366608023643494,-1.8973816633224487,-1.0064404010772705,1.3811198472976685,-0.16131682693958282,0.5938805937767029,0.7036285400390625,0.4
+1789729723480972437,12633,0.8366612195968628,-1.8973822593688965,-1.006441593170166,1.3811198472976685,-0.16131821274757385,0.5938820242881775,0.7036283612251282,0.4
+1789729723514237625,12666,0.8366628885269165,-1.8973828554153442,-1.0064420700073242,1.381120204925537,-0.1613168865442276,0.593880832195282,0.703628420829773,0.4
+1789729723547564156,12700,0.8366641402244568,-1.8973839282989502,-1.0064432621002197,1.381120204925537,-0.161317378282547,0.5938789248466492,0.7036277055740356,0.4
+1789729723580909854,12733,0.8366654515266418,-1.897386908531189,-1.006442666053772,1.3811192512512207,-0.16131633520126343,0.5938751697540283,0.7036278247833252,0.4
+1789729723614291958,12766,0.8366658091545105,-1.897385835647583,-1.0064423084259033,1.3811194896697998,-0.16131529211997986,0.5938723087310791,0.7036266922950745,0.4
+1789729723647566666,12800,0.8366656303405762,-1.8973853588104248,-1.0064419507980347,1.381119966506958,-0.16131453216075897,0.5938725471496582,0.7036263346672058,0.4
+1789729723680902915,12833,0.8366658091545105,-1.8973854780197144,-1.0064419507980347,1.3811206817626953,-0.1613156944513321,0.5938712358474731,0.7036275863647461,0.4
+1789729723714304636,12866,0.8366667628288269,-1.8973848819732666,-1.0064424276351929,1.3811204433441162,-0.16131600737571716,0.5938712358474731,0.7036292552947998,0.4
+1789729723747567495,12900,0.8366662859916687,-1.897386074066162,-1.006445050239563,1.3811203241348267,-0.1613156497478485,0.5938703417778015,0.7036290764808655,0.4
+1789729723780957198,12933,0.8366667032241821,-1.8973867893218994,-1.0064451694488525,1.3811198472976685,-0.1613156795501709,0.593868613243103,0.7036290764808655,0.4
+1789729723814316684,12966,0.8366678953170776,-1.897387146949768,-1.0064444541931152,1.3811203241348267,-0.1613159328699112,0.5938680171966553,0.7036277651786804,0.4
+1789729723847577233,13000,0.836668074131012,-1.8973878622055054,-1.0064442157745361,1.3811204433441162,-0.16131578385829926,0.5938677787780762,0.70362788438797,0.4
+1789729723880899175,13033,0.8366692662239075,-1.8973878622055054,-1.0064435005187988,1.3811211585998535,-0.16131511330604553,0.5938656330108643,0.7036261558532715,0.4
+1789729723914307045,13066,0.8366689085960388,-1.8973876237869263,-1.0064433813095093,1.3811215162277222,-0.16131524741649628,0.593865156173706,0.7036271691322327,0.4
+1789729723947641925,13100,0.8366693258285522,-1.8973881006240845,-1.006443977355957,1.3811216354370117,-0.16131657361984253,0.5938664078712463,0.7036280035972595,0.4
+1789729723980959607,13133,0.8366696834564209,-1.8973884582519531,-1.0064435005187988,1.381120204925537,-0.16131903231143951,0.593865156173706,0.7036271691322327,0.4
+1789729724014286233,13166,0.8366698026657104,-1.8973888158798218,-1.0064435005187988,1.3811185359954834,-0.16131912171840668,0.5938640236854553,0.7036271691322327,0.4
+1789729724047642382,13200,0.8366691470146179,-1.8973894119262695,-1.0064431428909302,1.381117343902588,-0.16131968796253204,0.5938588976860046,0.7036257386207581,0.4
+1789729724080961147,13233,0.8366689682006836,-1.8973885774612427,-1.0064425468444824,1.381117582321167,-0.16131851077079773,0.5938531160354614,0.7036253213882446,0.4
+1789729724114297070,13266,0.8366694450378418,-1.8973878622055054,-1.0064424276351929,1.381118655204773,-0.16131800413131714,0.593853235244751,0.703626275062561,0.4
+1789729724147626073,13300,0.8366702795028687,-1.897387146949768,-1.006442666053772,1.3811194896697998,-0.16131587326526642,0.5938543677330017,0.7036266922950745,0.4
+1789729724180896193,13333,0.8366705775260925,-1.8973875045776367,-1.0064435005187988,1.3811198472976685,-0.16131651401519775,0.5938540101051331,0.7036292552947998,0.4
+1789729724214307537,13366,0.8366714119911194,-1.897387981414795,-1.006443738937378,1.381119966506958,-0.16131849586963654,0.5938547849655151,0.703629195690155,0.4
+1789729724247644889,13400,0.8366724848747253,-1.897387981414795,-1.0064464807510376,1.3811203241348267,-0.16131825745105743,0.5938533544540405,0.7036287784576416,0.4
+1789729724280901481,13433,0.836673378944397,-1.8973888158798218,-1.0064467191696167,1.3811208009719849,-0.16131596267223358,0.5938516855239868,0.7036260366439819,0.4
+1789729724314234884,13466,0.836674153804779,-1.8973891735076904,-1.0064464807510376,1.3811205625534058,-0.16131563484668732,0.5938487648963928,0.7036263346672058,0.4
+1789729724347633159,13500,0.836674153804779,-1.8973891735076904,-1.0064465999603271,1.3811205625534058,-0.16131415963172913,0.593846321105957,0.7036259770393372,0.4
+1789729724380905059,13533,0.8366737365722656,-1.8973884582519531,-1.006446123123169,1.381121277809143,-0.16131475567817688,0.5938462615013123,0.7036260962486267,0.4
+1789729724414232302,13566,0.8366742134094238,-1.8973885774612427,-1.0064469575881958,1.38112211227417,-0.16131626069545746,0.5938473343849182,0.7036259174346924,0.4
+1789729724447627358,13600,0.836674690246582,-1.8973898887634277,-1.006447672843933,1.3811211585998535,-0.1613156795501709,0.59384685754776,0.7036260962486267,0.4
+1789729724480907087,13633,0.8366752862930298,-1.8973901271820068,-1.0064480304718018,1.3811211585998535,-0.16131854057312012,0.5938460826873779,0.7036254405975342,0.4
+1789729724514284004,13666,0.8366767168045044,-1.897392749786377,-1.0064477920532227,1.3811208009719849,-0.1613178700208664,0.5938442349433899,0.7036257386207581,0.4
+1789729724547626136,13700,0.8366775512695312,-1.8973958492279053,-1.006447434425354,1.3811211585998535,-0.16131605207920074,0.5938430428504944,0.7036253809928894,0.4
+1789729724580899146,13733,0.8366782665252686,-1.8973960876464844,-1.0064477920532227,1.381121277809143,-0.16131658852100372,0.5938398241996765,0.7036247253417969,0.4
+1789729724614226060,13766,0.8366791605949402,-1.8973963260650635,-1.0064479112625122,1.3811213970184326,-0.16131648421287537,0.5938405394554138,0.7036246061325073,0.4
+1789729724647566702,13800,0.8366790413856506,-1.8973954916000366,-1.0064483880996704,1.3811217546463013,-0.1613161712884903,0.5938413143157959,0.7036259174346924,0.4
+1789729724680903414,13833,0.8366797566413879,-1.897396445274353,-1.0064502954483032,1.3811219930648804,-0.16131819784641266,0.5938431024551392,0.70362788438797,0.4
+1789729724714292590,13866,0.8366813659667969,-1.8973965644836426,-1.0064514875411987,1.38112211227417,-0.1613192856311798,0.5938422083854675,0.7036275267601013,0.4
+1789729724747565740,13900,0.8366813063621521,-1.8973983526229858,-1.0064513683319092,1.3811219930648804,-0.16131766140460968,0.5938401222229004,0.7036264538764954,0.4
+1789729724780902633,13933,0.8366820812225342,-1.8974000215530396,-1.0064504146575928,1.3811213970184326,-0.16131749749183655,0.5938396453857422,0.7036257982254028,0.4
+1789729724814241455,13966,0.8366816639900208,-1.8973991870880127,-1.0064507722854614,1.3811217546463013,-0.1613161563873291,0.5938394069671631,0.7036253213882446,0.4
+1789729724847565848,14000,0.8366820216178894,-1.8973983526229858,-1.0064510107040405,1.381121039390564,-0.16131673753261566,0.5938369035720825,0.7036229968070984,0.4
+1789729724880902241,14033,0.8366817831993103,-1.8973984718322754,-1.00645112991333,1.381121039390564,-0.16131669282913208,0.5938365459442139,0.7036261558532715,0.4
+1789729724914292776,14066,0.8366817831993103,-1.8973989486694336,-1.0064518451690674,1.3811204433441162,-0.16131775081157684,0.5938336253166199,0.7036261558532715,0.4
+1789729724947561897,14100,0.8366822600364685,-1.8974002599716187,-1.0064523220062256,1.3811198472976685,-0.16131898760795593,0.5938324332237244,0.7036259770393372,0.4
+1789729724980903559,14133,0.8366830348968506,-1.8974008560180664,-1.0064524412155151,1.3811187744140625,-0.1613181233406067,0.5938298106193542,0.7036263346672058,0.4
+1789729725014249855,14166,0.83668452501297,-1.8974034786224365,-1.0064539909362793,1.3811182975769043,-0.16131702065467834,0.5938264727592468,0.7036249041557312,0.4
+1789729725047576012,14200,0.836685299873352,-1.8974061012268066,-1.0064542293548584,1.3811163902282715,-0.1613161414861679,0.5938239693641663,0.7036244869232178,0.4
+1789729725080905668,14233,0.8366855382919312,-1.8974061012268066,-1.0064539909362793,1.3811167478561401,-0.161316379904747,0.5938231348991394,0.703624427318573,0.4
+1789729725114237294,14266,0.8366855382919312,-1.8974062204360962,-1.0064541101455688,1.3811172246932983,-0.16131733357906342,0.5938239693641663,0.7036252617835999,0.4
+1789729725147563460,14300,0.8366855978965759,-1.8974062204360962,-1.0064551830291748,1.381116509437561,-0.16131824254989624,0.5938253998756409,0.7036260962486267,0.4
+1789729725180902315,14333,0.8366857171058655,-1.897406816482544,-1.0064587593078613,1.3811161518096924,-0.1613195389509201,0.5938250422477722,0.7036266326904297,0.4
+1789729725214235491,14366,0.8366864919662476,-1.897407054901123,-1.006459355354309,1.3811157941818237,-0.1613190621137619,0.5938251614570618,0.7036266326904297,0.4
+1789729725247561147,14400,0.8366857171058655,-1.8974090814590454,-1.0064589977264404,1.3811149597167969,-0.1613198071718216,0.593822717666626,0.7036256194114685,0.4
+1789729725280897552,14433,0.8366864323616028,-1.897411584854126,-1.0064595937728882,1.3811150789260864,-0.16131839156150818,0.5938229560852051,0.7036234140396118,0.4
+1789729725314235207,14466,0.8366870880126953,-1.8974114656448364,-1.0064594745635986,1.3811156749725342,-0.16131766140460968,0.5938223600387573,0.7036231756210327,0.4
+1789729725347564373,14500,0.8366878032684326,-1.89741051197052,-1.0064616203308105,1.381116271018982,-0.16131633520126343,0.5938223600387573,0.7036221623420715,0.4
+1789729725380903678,14533,0.8366880416870117,-1.8974103927612305,-1.006463885307312,1.3811172246932983,-0.16131746768951416,0.5938229560852051,0.7036234140396118,0.4
+1789729725414232114,14566,0.8366871476173401,-1.8974107503890991,-1.0064663887023926,1.3811174631118774,-0.16131794452667236,0.5938230752944946,0.7036221027374268,0.4
+1789729725447562570,14600,0.8366876840591431,-1.8974114656448364,-1.0064666271209717,1.381117343902588,-0.16131918132305145,0.5938214659690857,0.7036238312721252,0.4
+1789729725480898605,14633,0.8366873264312744,-1.8974124193191528,-1.006466031074524,1.381116509437561,-0.1613186001777649,0.5938209295272827,0.7036234140396118,0.4
+1789729725514235581,14666,0.8366875052452087,-1.8974124193191528,-1.0064653158187866,1.3811168670654297,-0.16131585836410522,0.5938186645507812,0.7036228179931641,0.4
+1789729725547565057,14700,0.8366879224777222,-1.897412657737732,-1.0064659118652344,1.381117343902588,-0.16131718456745148,0.5938172936439514,0.7036217451095581,0.4
+1789729725580912321,14733,0.8366881608963013,-1.8974119424819946,-1.006466031074524,1.3811179399490356,-0.16131621599197388,0.5938184261322021,0.7036198377609253,0.4
+1789729725614255855,14766,0.8366886973381042,-1.8974124193191528,-1.0064665079116821,1.381118893623352,-0.16131684184074402,0.5938191413879395,0.703621506690979,0.4
+1789729725647580561,14800,0.8366885185241699,-1.8974120616912842,-1.0064671039581299,1.3811191320419312,-0.16131682693958282,0.5938205122947693,0.703621506690979,0.4
+1789729725680910267,14833,0.836689293384552,-1.8974125385284424,-1.0064677000045776,1.3811194896697998,-0.1613178700208664,0.5938194394111633,0.7036231756210327,0.4
+1789729725714228385,14866,0.8366906046867371,-1.897413730621338,-1.0064677000045776,1.381118655204773,-0.16131794452667236,0.5938161015510559,0.7036222815513611,0.4
+1789729725747564890,14900,0.8366913795471191,-1.897415041923523,-1.0064681768417358,1.3811174631118774,-0.1613168865442276,0.5938117504119873,0.7036213278770447,0.4
+1789729725780900665,14933,0.8366917967796326,-1.8974148035049438,-1.0064677000045776,1.381118655204773,-0.16131377220153809,0.5938087105751038,0.7036214470863342,0.4
+1789729725814293194,14966,0.8366919755935669,-1.8974140882492065,-1.006466269493103,1.3811187744140625,-0.1613149493932724,0.5938127040863037,0.703620970249176,0.4
+1789729725847608951,15000,0.8366917371749878,-1.8974145650863647,-1.0064666271209717,1.3811192512512207,-0.16131581366062164,0.5938129425048828,0.7036209106445312,0.4
+1789729725880900582,15033,0.8366917967796326,-1.8974148035049438,-1.0064682960510254,1.3811191320419312,-0.16131632030010223,0.5938118100166321,0.7036222219467163,0.4
+1789729725914225579,15066,0.8366929888725281,-1.8974170684814453,-1.006471037864685,1.3811191320419312,-0.16131670773029327,0.5938121676445007,0.7036234140396118,0.4
+1789729725947626016,15100,0.8366943597793579,-1.8974177837371826,-1.0064727067947388,1.3811180591583252,-0.16131623089313507,0.5938110947608948,0.7036226987838745,0.4
+1789729725980920536,15133,0.8366947770118713,-1.897418737411499,-1.0064740180969238,1.3811181783676147,-0.16131675243377686,0.5938069224357605,0.7036175727844238,0.4
diff --git a/episode_0008/left.observation.state.eef_pose/data.csv b/episode_0008/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ceb1c9cc60c03dee485c4bb26a34b1c090ca02fc
--- /dev/null
+++ b/episode_0008/left.observation.state.eef_pose/data.csv
@@ -0,0 +1,456 @@
+timestamp_ns,elapsed_ms,x,y,z,r1,r2,r3,r4,r5,r6,gripper
+1789729710847580356,0,0.6779708862304688,0.03280537948012352,-0.21497344970703125,-0.9999480465801556,-0.009177411848436415,0.0044182932703115884,-0.009047712946850847,0.9995519718513517,0.028530587500522016,0.0399399995803833
+1789729710881001937,33,0.6779690980911255,0.03280415013432503,-0.21496975421905518,-0.9999481519952529,-0.009173864429414803,0.00442720891444275,-0.00904393464573806,0.9995521382114442,0.028525957617197586,0.0399399995803833
+1789729710914338209,66,0.6779676079750061,0.03280394896864891,-0.21496742963790894,-0.9999480994268128,-0.009176324920056378,0.004430301921251148,-0.009046314615252071,0.9995521687262704,0.02852413353843607,0.0399399995803833
+1789729710947649055,100,0.6779677867889404,0.03280401974916458,-0.21496570110321045,-0.9999481547034161,-0.009178009453299583,0.00442897634490215,-0.00904802715754707,0.9995520979687568,0.028526070312848366,0.0399399995803833
+1789729710981000045,133,0.6779686808586121,0.03280111029744148,-0.21496576070785522,-0.9999482140036431,-0.00917471286810928,0.004427137998715377,-0.00904481376738192,0.9995523067290123,0.02851977388843021,0.0399399995803833
+1789729711014326024,166,0.6779708862304688,0.03279760852456093,-0.21496596932411194,-0.9999482150658872,-0.009171099439522473,0.0044226165101937664,-0.009041369664833005,0.999552576210354,0.028511419615949614,0.0399399995803833
+1789729711047668310,200,0.677971601486206,0.032795149832963943,-0.2149656116962433,-0.99994825105775,-0.009169346503254698,0.0044214556014704354,-0.009039683774688818,0.9995527942742207,0.028504308536411935,0.0399399995803833
+1789729711081000877,233,0.6779685020446777,0.032795317471027374,-0.2149665653705597,-0.9999481535907635,-0.009172170361859024,0.0044304421905786845,-0.00904226655646334,0.9995528671195013,0.028500934436862815,0.0399399995803833
+1789729711114337564,266,0.6779671907424927,0.03279678896069527,-0.21496599912643433,-0.999948030548163,-0.009180453648097296,0.004432711421676853,-0.009050462845083575,0.9995526766731777,0.028505011424523257,0.0399399995803833
+1789729711147662632,300,0.677966833114624,0.032796476036310196,-0.21496419608592987,-0.9999480075195595,-0.009184280936039166,0.004432527835461935,-0.009054297602333797,0.9995526647649203,0.028504211265490114,0.0399399995803833
+1789729711180998748,333,0.6779664754867554,0.032795678824186325,-0.21496202051639557,-0.999948027788941,-0.009179349070302583,0.004433909082288357,-0.00904932505476665,0.9995526896542171,0.028504917404113372,0.03994999825954437
+1789729711214322147,366,0.6779667139053345,0.03279467299580574,-0.21496185660362244,-0.999948176457579,-0.009177579334016195,0.0044326853720144666,-0.009047605679940451,0.9995527952844168,0.028501759989605826,0.03994999825954437
+1789729711247705547,400,0.6779682636260986,0.03279203549027443,-0.214962437748909,-0.9999480117884563,-0.009174420300691086,0.004430126695675607,-0.00904454791492433,0.9995529882807632,0.02849595992927307,0.03993000090122223
+1789729711281008238,433,0.6779695153236389,0.032788947224617004,-0.2149633765220642,-0.9999481991018868,-0.009173235800647248,0.0044279482057494515,-0.00904347359425103,0.9995532880499333,0.028485785380293838,0.03993000090122223
+1789729711314341745,466,0.6779676079750061,0.0327892005443573,-0.2149636596441269,-0.9999480656987005,-0.009175233313178568,0.004432032628846427,-0.009045376014996696,0.9995534036861704,0.028481122583814685,0.03993000090122223
+1789729711347650245,500,0.6779667735099792,0.03278958424925804,-0.21496358513832092,-0.9999480992595171,-0.009173588404781293,0.004433798024850826,-0.009043675994948189,0.9995533853640961,0.028482305645991586,0.03993000090122223
+1789729711381007689,533,0.6779658198356628,0.03279063478112221,-0.21496261656284332,-0.9999480506418508,-0.00917882212714285,0.004431931317057216,-0.009048968740056318,0.9995533860160907,0.028480601605107965,0.03993000090122223
+1789729711414320779,566,0.6779658198356628,0.03278953954577446,-0.2149624526500702,-0.9999480847852504,-0.009177828305566287,0.004432648834008915,-0.009047949272295526,0.9995533610487355,0.02848180194470358,0.03993000090122223
+1789729711447650506,600,0.6779665946960449,0.03278772160410881,-0.2149617224931717,-0.9999481753206032,-0.009176259525367839,0.00443023976057813,-0.009046474061935247,0.9995535227814619,0.028476594657952832,0.0399399995803833
+1789729711481003931,633,0.6779689192771912,0.03278322145342827,-0.21496203541755676,-0.9999481284140155,-0.009170820982116776,0.004425957223305632,-0.00904120656678872,0.9995538568544846,0.028466538612224535,0.03993000090122223
+1789729711514322079,666,0.6779695153236389,0.03278183192014694,-0.21496300399303436,-0.9999482512944158,-0.009170208574638267,0.004424786785374623,-0.009040646727341478,0.9995539777086955,0.028462473414832337,0.0399399995803833
+1789729711547655536,700,0.6779685020446777,0.03278183192014694,-0.2149636447429657,-0.9999481824195737,-0.009169917342383763,0.00442756395513016,-0.009040287970600244,0.9995540495433738,0.028460064086993083,0.0399399995803833
+1789729711580997432,733,0.6779663562774658,0.032782211899757385,-0.2149639129638672,-0.9999480124827431,-0.00917629985152514,0.004432253632534822,-0.009046562553765557,0.9995541618249625,0.028454125481940783,0.0399399995803833
+1789729711614325999,766,0.6779652237892151,0.03278184309601784,-0.21496357023715973,-0.9999479760950525,-0.009185812240547953,0.004436129667605307,-0.009055966893194633,0.9995541119690111,0.028452885836658833,0.0399399995803833
+1789729711647653537,800,0.6779648065567017,0.0327819362282753,-0.21496263146400452,-0.999948033193208,-0.009187764384589008,0.004437102457284297,-0.00905788115934026,0.9995540372324125,0.028454902558915706,0.0399399995803833
+1789729711681005802,833,0.677965521812439,0.0327804870903492,-0.2149619162082672,-0.9999479917198428,-0.00918272140578524,0.00443554988268091,-0.009052891213444773,0.999554124467933,0.02845342538160499,0.0399399995803833
+1789729711714322301,866,0.6779674887657166,0.03277905657887459,-0.21496093273162842,-0.9999481170898932,-0.009180446336897578,0.004429707505634005,-0.009050801826985862,0.9995542573935119,0.028449420801595588,0.0399399995803833
+1789729711747709101,900,0.6779688000679016,0.032777089625597,-0.21496178209781647,-0.9999482003277853,-0.0091774029404229,0.004427455152400754,-0.009047849276395355,0.9995544398821099,0.028443948157173896,0.0399399995803833
+1789729711781000233,933,0.677968442440033,0.03277634456753731,-0.2149624526500702,-0.999948060556276,-0.009178134683110371,0.004428504119986099,-0.009048573956215812,0.9995545730159244,0.02843903771992774,0.0399399995803833
+1789729711814329811,966,0.6779665946960449,0.03277714550495148,-0.2149629145860672,-0.9999479948614329,-0.009179409486632484,0.004431683263271484,-0.009049768738685404,0.9995546274543337,0.02843674377904777,0.0399399995803833
+1789729711847642850,1000,0.6779657006263733,0.03277761861681938,-0.21496202051639557,-0.9999479173685037,-0.009182372711161672,0.0044321634406160985,-0.009052729913130282,0.9995546779374884,0.028434026259250903,0.0399399995803833
+1789729711881008663,1033,0.6779642105102539,0.03277737647294998,-0.21496127545833588,-0.9999480590100611,-0.009185311676213387,0.004435664605439557,-0.009055584201684513,0.9995547482719455,0.028430646117946948,0.0399399995803833
+1789729711914327092,1066,0.6779639720916748,0.03277741000056267,-0.2149614542722702,-0.9999480413867456,-0.009187479947271475,0.004435305493439217,-0.009057764711647827,0.9995547460569624,0.028430029381856434,0.0399399995803833
+1789729711947581499,1100,0.6779659986495972,0.03277584910392761,-0.2149602323770523,-0.9999480001613332,-0.009185919491025764,0.004430472303941582,-0.009056348999982531,0.9995548008595884,0.028428552975555705,0.0399399995803833
+1789729711980921715,1133,0.677966833114624,0.03277287632226944,-0.21496222913265228,-0.9999479885993372,-0.009182806251184943,0.0044294920533728506,-0.009053306123453682,0.9995550788950114,0.02841974466048888,0.0399399995803833
+1789729712014320269,1166,0.6779672503471375,0.03277237340807915,-0.21496279537677765,-0.9999481106121386,-0.009182314472020659,0.0044273104395778536,-0.009052895709593011,0.9995551993925684,0.028415637907096725,0.0399399995803833
+1789729712047658620,1200,0.6779674291610718,0.03277229890227318,-0.21496233344078064,-0.999948091834431,-0.009182947143589772,0.004426059626879461,-0.009053566741269257,0.9995552122253849,0.02841497255336984,0.0399399995803833
+1789729712080910532,1233,0.6779654622077942,0.032773613929748535,-0.21496348083019257,-0.9999478929560237,-0.009185642435126522,0.0044301832725774475,-0.009056137323425157,0.9995551486906626,0.028416387108815826,0.0399399995803833
+1789729712114241843,1266,0.6779652237892151,0.032772988080978394,-0.21496273577213287,-0.9999480533282747,-0.009189562989108693,0.004430224615547438,-0.009060068012831855,0.9995551908937954,0.02841365104776565,0.0399399995803833
+1789729712147597241,1300,0.677966296672821,0.032771382480859756,-0.2149624228477478,-0.9999479686000488,-0.009189277146498656,0.004428034764712263,-0.009059858448208655,0.999555277882755,0.028410656793723357,0.0399399995803833
+1789729712180905286,1333,0.6779687404632568,0.03276772424578667,-0.21496301889419556,-0.9999480281500475,-0.009185594220253536,0.004424301762117911,-0.009056312496167694,0.9995554897103424,0.028404334102356616,0.0399399995803833
+1789729712214237707,1366,0.6779698133468628,0.03276585042476654,-0.21496336162090302,-0.9999481203038765,-0.009184667266634475,0.004422342995427701,-0.009055465638154288,0.9995556440438179,0.028399173182456924,0.0399399995803833
+1789729712247565449,1400,0.677969217300415,0.032765962183475494,-0.2149643450975418,-0.999948052745341,-0.009184673842874046,0.004423461586783462,-0.009055451612181,0.9995557116363322,0.02839679803626887,0.0399399995803833
+1789729712280906899,1433,0.6779664158821106,0.03276640549302101,-0.21496573090553284,-0.999947832241584,-0.009191900750200183,0.00442928397905059,-0.009062546817929257,0.9995558667903088,0.02838907114860781,0.0399399995803833
+1789729712314228422,1466,0.6779661178588867,0.032767556607723236,-0.2149653285741806,-0.9999478395872132,-0.009197751451354598,0.004427967085599493,-0.009068431309815382,0.999555805860418,0.028389337775033253,0.0399399995803833
+1789729712347588229,1500,0.6779655814170837,0.03276710584759712,-0.2149651050567627,-0.9999478060303886,-0.009197950998535598,0.004429425868605362,-0.009068594937153174,0.999555837758396,0.02838816219403495,0.0399399995803833
+1789729712380904633,1533,0.6779668927192688,0.032764360308647156,-0.21496355533599854,-0.9999480056879411,-0.009193039673724868,0.0044280355167769245,-0.009063731437203404,0.9995559211335726,0.02838678088309603,0.0399399995803833
+1789729712414239374,1566,0.6779667735099792,0.03276505693793297,-0.21496351063251495,-0.9999479479339826,-0.009194715429191452,0.004425625401738353,-0.00906548442188529,0.9995559632330739,0.028384738214584575,0.0399399995803833
+1789729712447563826,1600,0.6779685020446777,0.03276245296001434,-0.2149631381034851,-0.9999480474264857,-0.009191251272115671,0.004422108776701841,-0.009062144334913983,0.999556133200022,0.028379819440970344,0.0399399995803833
+1789729712480903266,1633,0.6779704689979553,0.03275689855217934,-0.21496513485908508,-0.9999480049233154,-0.00918530997451382,0.004423189607410263,-0.009056221155123959,0.9995564682361144,0.028369907542991384,0.0399399995803833
+1789729712514230918,1666,0.6779695153236389,0.03275793418288231,-0.21496495604515076,-0.999947959138016,-0.009188393209013344,0.0044232137510549965,-0.009059310026114244,0.9995564858630975,0.028368300115336167,0.0399399995803833
+1789729712547565989,1700,0.6779661774635315,0.03275911509990692,-0.21496586501598358,-0.9999479953555332,-0.009192656592812501,0.004428978314486208,-0.009063441719555573,0.9995566497268519,0.02836120653892822,0.0399399995803833
+1789729712580902350,1733,0.6779653429985046,0.03276039659976959,-0.21496546268463135,-0.9999479532797437,-0.00919717083329799,0.004427758671698062,-0.009067995669601564,0.9995566503955249,0.028359727207521248,0.0399399995803833
+1789729712614231052,1766,0.6779674887657166,0.03275725618004799,-0.21496520936489105,-0.9999479612512736,-0.00918909132237886,0.004426361634145773,-0.009059957677776922,0.9995567160054324,0.02835998317779784,0.0399399995803833
+1789729712647562953,1800,0.6779682040214539,0.03275523707270622,-0.21496498584747314,-0.9999481271100885,-0.009185045820639113,0.00442553436280115,-0.009055949240383833,0.9995568252875296,0.02835741261846473,0.0399399995803833
+1789729712680905313,1833,0.6779673099517822,0.03275708481669426,-0.21496324241161346,-0.9999479721421642,-0.009190179562930579,0.004420248173193392,-0.009061256303011222,0.9995569326183595,0.02835193250202738,0.0399399995803833
+1789729712714232025,1866,0.6779692769050598,0.0327535942196846,-0.21496431529521942,-0.9999479595660359,-0.009187920763642155,0.004417783442700251,-0.009059109671222598,0.9995572036945009,0.028343059867136006,0.0399399995803833
+1789729712747593842,1900,0.6779709458351135,0.03274901956319809,-0.2149650901556015,-0.9999480302498371,-0.00918136623775967,0.004420087508939824,-0.009052520224204108,0.999557431358835,0.028337135887659428,0.0399399995803833
+1789729712780905487,1933,0.6779677271842957,0.032749392092227936,-0.21496638655662537,-0.9999480741912639,-0.009182011057517153,0.004429650842079624,-0.009052886706220948,0.9995573828062456,0.02833873211715066,0.0399399995803833
+1789729712814227459,1966,0.6779668927192688,0.032749924808740616,-0.21496523916721344,-0.9999480499255926,-0.009192536276902367,0.004429752021631084,-0.009063408855807416,0.9995573110456392,0.028337900514794165,0.0399399995803833
+1789729712847566240,2000,0.6779671311378479,0.03275173529982567,-0.21496440470218658,-0.9999478141188076,-0.00919755988006338,0.004425143782993413,-0.00906856050428367,0.999557261992705,0.02833798097104845,0.0399399995803833
+1789729712880965662,2033,0.6779694557189941,0.03274806588888168,-0.21496424078941345,-0.9999479733352894,-0.009189465066758697,0.004423727564668822,-0.009060522138923353,0.9995574148295614,0.028335161726576404,0.0399399995803833
+1789729712914230442,2066,0.6779706478118896,0.032744958996772766,-0.21496443450450897,-0.9999480896300526,-0.009183014529027117,0.004422915221984208,-0.009054117380465826,0.999557595576214,0.02833083303153901,0.0399399995803833
+1789729712947589420,2100,0.6779692769050598,0.03274683281779289,-0.2149651199579239,-0.9999479467239181,-0.009187170843049004,0.00442035606774796,-0.009058368094954843,0.9995577001348113,0.028325783894478818,0.0399399995803833
+1789729712980897404,2133,0.6779676675796509,0.032749056816101074,-0.2149648368358612,-0.999948044080023,-0.00919158670181844,0.004420093812090684,-0.009062812924405665,0.999557800739298,0.028320812632733762,0.03993000090122223
+1789729713014230961,2166,0.6779670119285583,0.03274685889482498,-0.21496634185314178,-0.9999479212016715,-0.009190987920394644,0.00442562422962001,-0.009062078202778368,0.9995579297043786,0.028316494890085496,0.03993000090122223
+1789729713047561347,2200,0.6779655814170837,0.0327448807656765,-0.21496720612049103,-0.9999480279324773,-0.009190490858680938,0.00443217105515384,-0.00906141791829886,0.9995580666524594,0.028311872640165412,0.03993000090122223
+1789729713080900511,2233,0.6779654622077942,0.03274725377559662,-0.2149651199579239,-0.9999480207650164,-0.009194270352217607,0.004425949110457843,-0.009065373115406491,0.9995580385112409,0.028311600006619687,0.03993000090122223
+1789729713114225118,2266,0.6779649257659912,0.03274739161133766,-0.2149650752544403,-0.9999479692244293,-0.009193855022165243,0.004425926919658457,-0.00906496711182675,0.9995580938019065,0.02830977744429303,0.0399399995803833
+1789729713147588409,2300,0.6779682636260986,0.03274225443601608,-0.21496540307998657,-0.9999480888429249,-0.009187349450571185,0.0044220606960645465,-0.009058593173808544,0.9995582713637279,0.028305548387506447,0.0399399995803833
+1789729713180902597,2333,0.6779687404632568,0.03274130821228027,-0.21496562659740448,-0.9999480416863435,-0.009184933013136502,0.004421388040889796,-0.009056204529843789,0.999558340440687,0.02830387278225321,0.0399399995803833
+1789729713214243281,2366,0.6779674887657166,0.03274347633123398,-0.2149656116962433,-0.9999478927003493,-0.009191933332727543,0.004419090567386755,-0.009063291665952499,0.9995584251445417,0.028298611704016704,0.0399399995803833
+1789729713247562618,2400,0.6779660582542419,0.032745279371738434,-0.2149650901556015,-0.9999480766779303,-0.009193944373964778,0.004418853645397219,-0.00906531760906363,0.999558461133356,0.028296693091821885,0.0399399995803833
+1789729713280906112,2433,0.6779651641845703,0.03274311497807503,-0.21496577560901642,-0.9999479834504392,-0.00919352344885414,0.004424607796997802,-0.009064749581315663,0.9995585588761321,0.02829342162812287,0.0399399995803833
+1789729713314229088,2466,0.6779654026031494,0.032742034643888474,-0.21496520936489105,-0.9999479445298614,-0.00919583583612772,0.004425013047603965,-0.009067056032251762,0.9995585767062768,0.028292052519309552,0.0399399995803833
+1789729713347565833,2500,0.677964985370636,0.03274240344762802,-0.2149651050567627,-0.9999478804914648,-0.009197791718174546,0.004423538950367231,-0.009069063411378404,0.9995586226434685,0.02828978565937695,0.0399399995803833
+1789729713380903858,2533,0.677965521812439,0.03273991867899895,-0.2149653285741806,-0.9999480088291135,-0.009192634575421623,0.004422500923051509,-0.00906395590202381,0.9995587795755908,0.028285878016465517,0.0399399995803833
+1789729713414228524,2566,0.6779674887657166,0.032736413180828094,-0.21496614813804626,-0.9999479338009789,-0.00918694862430118,0.0044212460459651035,-0.009058320111551346,0.9995589062734681,0.0282832050155241,0.0399399995803833
+1789729713447564429,2600,0.6779673099517822,0.032736558467149734,-0.2149658501148224,-0.9999481272317965,-0.009187830435918087,0.004420861985823421,-0.0090592198754047,0.9995589431107217,0.02828161647733392,0.0399399995803833
+1789729713480901594,2633,0.6779651641845703,0.03273841738700867,-0.2149663269519806,-0.999948020788904,-0.009193459832343591,0.004423594170444349,-0.00906478743810308,0.9995589984485416,0.028277876129484358,0.0399399995803833
+1789729713514232139,2666,0.6779646873474121,0.03273840621113777,-0.2149665504693985,-0.999947981205453,-0.009195794600496687,0.004424928307471199,-0.009067090133060174,0.9995590168565391,0.028276487070807176,0.0399399995803833
+1789729713547567714,2700,0.6779650449752808,0.032737649977207184,-0.21496543288230896,-0.999947973889046,-0.00919871389182667,0.004424660966707545,-0.009070017025145006,0.9995589974706052,0.028276233811699244,0.0399399995803833
+1789729713580903689,2733,0.6779647469520569,0.03273759037256241,-0.2149650603532791,-0.9999480218416823,-0.009198045290103776,0.004425312838654655,-0.009069322324459603,0.999558955745593,0.028277931906659625,0.0399399995803833
+1789729713614230585,2766,0.6779643893241882,0.03273825719952583,-0.21496522426605225,-0.9999479440977495,-0.009199052738386154,0.004423702080456825,-0.009070387766314431,0.9995590240202903,0.028275176101836257,0.0399399995803833
+1789729713647562960,2800,0.6779653429985046,0.032736342400312424,-0.21496498584747314,-0.9999478494677538,-0.009196112049915984,0.004422921021481376,-0.009067485996239754,0.9995591453366532,0.028271816966980074,0.0399399995803833
+1789729713680895856,2833,0.6779663562774658,0.03273390978574753,-0.21496528387069702,-0.9999478919510052,-0.009195493293774566,0.004421636562756605,-0.009066936231859606,0.999559346586439,0.028264877424677374,0.0399399995803833
+1789729713714230741,2866,0.6779647469520569,0.03273544833064079,-0.21496576070785522,-0.9999479893478682,-0.009198365348852183,0.004422067849992772,-0.009069818327781892,0.9995594613049896,0.02825989637883289,0.0399399995803833
+1789729713747565606,2900,0.677963376045227,0.03273475542664528,-0.21496553719043732,-0.999947799570295,-0.009199732721315957,0.004425429746727549,-0.009071121687403604,0.9995596388815647,0.02825319505750753,0.0399399995803833
+1789729713780908190,2933,0.6779628396034241,0.03273382410407066,-0.2149650603532791,-0.9999479779558289,-0.009200382245227887,0.0044281427424864754,-0.009071704322386812,0.9995596932631136,0.02825108549372105,0.0399399995803833
+1789729713814230586,2966,0.6779630184173584,0.03273392468690872,-0.21496418118476868,-0.9999478250256393,-0.009198502337264174,0.004428314546426424,-0.009069806122528707,0.9995596250571976,0.02825410669144415,0.0399399995803833
+1789729713847562522,3000,0.6779628992080688,0.032733671367168427,-0.21496398746967316,-0.9999478188195094,-0.0091979385254739,0.0044278671165421165,-0.00906925619806576,0.9995596363508387,0.028253883570615094,0.0399399995803833
+1789729713880903876,3033,0.6779651641845703,0.0327310673892498,-0.21496327221393585,-0.9999479057545557,-0.00919616342306483,0.0044231219195763095,-0.009067640894694817,0.9995598032978324,0.028248495681741554,0.0399399995803833
+1789729713914227782,3066,0.6779677867889404,0.0327279195189476,-0.21496330201625824,-0.9999480054940098,-0.00919235876751291,0.004418760035047435,-0.00906398386021655,0.9995599760255021,0.02824355737102325,0.0399399995803833
+1789729713947575806,3100,0.6779661178588867,0.032727207988500595,-0.2149651050567627,-0.9999478461551956,-0.009192536476912715,0.0044241703522053845,-0.009064035230374402,0.9995601343185355,0.028237937178495574,0.0399399995803833
+1789729713980932988,3133,0.6779642701148987,0.03272796794772148,-0.2149662971496582,-0.9999477705710895,-0.009201614015792066,0.004427921124747526,-0.009073015865405924,0.9995601274232204,0.02823529722181562,0.0399399995803833
+1789729714014259780,3166,0.6779638528823853,0.03272915631532669,-0.21496592462062836,-0.9999478083622457,-0.009210401035628838,0.004426852199844137,-0.009081823273058428,0.9995600091923432,0.028236652067659455,0.0399399995803833
+1789729714047601538,3200,0.67796391248703,0.03272870182991028,-0.21496526896953583,-0.9999478516744829,-0.009207050886949049,0.004426803091678735,-0.009078468654197052,0.9995599965426691,0.028238178667387363,0.0399399995803833
+1789729714080922238,3233,0.6779646873474121,0.03272699564695358,-0.2149651199579239,-0.9999478076263786,-0.00920281774752257,0.00442640840162937,-0.00907425564895709,0.9995600792010862,0.028236606215724862,0.0399399995803833
+1789729714114254798,3266,0.6779656410217285,0.032725740224123,-0.21496474742889404,-0.999947952095515,-0.009201125798641543,0.004423915171845415,-0.009072650314019468,0.9995601881968778,0.028233264398412224,0.0399399995803833
+1789729714147606704,3300,0.6779666543006897,0.03272414207458496,-0.2149653285741806,-0.9999479995752485,-0.009200700249149546,0.004420847322216106,-0.009072343153189827,0.9995603824619103,0.02822648483202112,0.0399399995803833
+1789729714181020213,3333,0.6779665946960449,0.03272315114736557,-0.21496491134166718,-0.9999478402804796,-0.00920102223694106,0.004420773864878753,-0.009072693504668015,0.9995605386845104,0.02822083826014331,0.0399399995803833
+1789729714214335345,3366,0.677965521812439,0.032722607254981995,-0.21496514976024628,-0.9999479416265231,-0.009201691952619856,0.004423526004118106,-0.00907330809654952,0.9995606698664213,0.028215994821459773,0.0399399995803833
+1789729714247672663,3400,0.6779648661613464,0.032723188400268555,-0.21496525406837463,-0.9999479472465618,-0.009203426973884038,0.0044249331324197096,-0.00907500181952165,0.999560648576315,0.02821620455131627,0.0399399995803833
+1789729714280999863,3433,0.6779642701148987,0.03272237628698349,-0.21496503055095673,-0.9999478827498136,-0.009203180739839983,0.004426411615409183,-0.009074724709116817,0.9995607154650454,0.028213923577037767,0.0399399995803833
+1789729714314336252,3466,0.67796391248703,0.03272252157330513,-0.21496543288230896,-0.9999478738740419,-0.009204435954819987,0.004426903891928888,-0.009075967020492539,0.9995607129250832,0.028213613994426574,0.0399399995803833
+1789729714347665692,3500,0.6779646873474121,0.032721780240535736,-0.2149646133184433,-0.9999478573307083,-0.009203581497483345,0.004424663675384353,-0.00907517880948783,0.9995607369769273,0.028213015151248928,0.0399399995803833
+1789729714381003750,3533,0.6779654622077942,0.03271898627281189,-0.2149655669927597,-0.999947948055671,-0.009201158395194219,0.004424401013304308,-0.009072788604668848,0.999560906646098,0.02820777271438283,0.0399399995803833
+1789729714414317872,3566,0.6779654622077942,0.03271854296326637,-0.21496573090553284,-0.9999477983163476,-0.009202579747116326,0.004423831803548742,-0.009074250303476892,0.999561043210243,0.02820246171029404,0.0399399995803833
+1789729714447660560,3600,0.677964985370636,0.03271564096212387,-0.21496693789958954,-0.9999478310463512,-0.009199711912444652,0.00442804336366796,-0.009071299115207399,0.9995612754670795,0.028195178641112345,0.0399399995803833
+1789729714480936837,3633,0.6779642105102539,0.03271614760160446,-0.2149665355682373,-0.99994785272284,-0.009199667905285583,0.004429221047374551,-0.009071218339155593,0.9995612543606958,0.02819595307756822,0.0399399995803833
+1789729714514335527,3666,0.6779645085334778,0.032716091722249985,-0.21496540307998657,-0.9999478937680788,-0.009200388255557714,0.004429071564420052,-0.009071935789462502,0.9995612067462505,0.02819741053491554,0.0399399995803833
+1789729714547683054,3700,0.6779642105102539,0.03271615505218506,-0.2149648219347,-0.9999479178083472,-0.009202375396519212,0.004429557086149697,-0.009073904462529349,0.9995611646294875,0.028198270403146312,0.0399399995803833
+1789729714580996366,3733,0.6779657006263733,0.03271261975169182,-0.21496495604515076,-0.9999479593328398,-0.009199775481250717,0.004426886440618823,-0.009071413566989716,0.9995613847640397,0.02819126776841622,0.0399399995803833
+1789729714614336235,3766,0.6779663562774658,0.03271033614873886,-0.21496610343456268,-0.9999480055755099,-0.009196827687534269,0.0044260715541638235,-0.009068521849936452,0.9995616035935959,0.028184438499660666,0.03993000090122223
+1789729714647594423,3800,0.677966833114624,0.03271004185080528,-0.21496671438217163,-0.9999478909483255,-0.009196668731714003,0.004423662218834699,-0.009068449863667265,0.9995617192755699,0.028180357717039792,0.03993000090122223
+1789729714680934002,3833,0.6779658198356628,0.03271159157156944,-0.21496668457984924,-0.9999478307822411,-0.009201626611161456,0.004423754375207306,-0.009073413181885221,0.9995617341162193,0.02817823349202107,0.03993000090122223
+1789729714714260422,3866,0.6779650449752808,0.0327124260365963,-0.21496553719043732,-0.9999478356604021,-0.009203372486497087,0.004424549569731505,-0.00907513516276378,0.9995617133891967,0.02817841439604255,0.0399399995803833
+1789729714747590401,3900,0.6779646277427673,0.03271184489130974,-0.21496514976024628,-0.9999477484874655,-0.00920546599067213,0.004426102157423312,-0.009077198616198871,0.999561781559965,0.028175330927113246,0.0399399995803833
+1789729714780939228,3933,0.6779636740684509,0.0327116921544075,-0.21496541798114777,-0.999947743504946,-0.009206658883305869,0.00442796713210608,-0.009078339356130321,0.9995617758731551,0.028175165252184574,0.03993000090122223
+1789729714814257280,3966,0.6779640316963196,0.03271153196692467,-0.21496538817882538,-0.9999477207955421,-0.009206097489694295,0.004426266313966046,-0.009077829848923871,0.9995618034788688,0.028174349769611216,0.03993000090122223
+1789729714847668819,4000,0.6779645085334778,0.03271108493208885,-0.21496470272541046,-0.9999479129838844,-0.009206865159597045,0.00442426537533246,-0.009078661239309747,0.9995618423761167,0.02817270332836317,0.0399399995803833
+1789729714881001938,4033,0.6779645085334778,0.032709989696741104,-0.21496492624282837,-0.9999477470196345,-0.009206406616368621,0.004424166334305993,-0.009078233262851622,0.9995620123937969,0.028166807103523973,0.0399399995803833
+1789729714914324559,4066,0.6779643297195435,0.03271007165312767,-0.2149650752544403,-0.999947709059869,-0.009206681561514302,0.004424800542957319,-0.009078496561801347,0.9995620478925746,0.028165462201340946,0.0399399995803833
+1789729714947655118,4100,0.6779637336730957,0.032709091901779175,-0.21496523916721344,-0.9999478751549367,-0.009206176309187998,0.004427607282054739,-0.009077924553439996,0.9995621251197809,0.0281629070943332,0.0399399995803833
+1789729714981008764,4133,0.6779634356498718,0.03270868957042694,-0.21496500074863434,-0.9999478074777013,-0.009208118218582001,0.004428069144798805,-0.009079863961560491,0.9995621750495557,0.028160509297712712,0.0399399995803833
+1789729715014332290,4166,0.6779624819755554,0.03270852565765381,-0.2149655520915985,-0.9999477100871514,-0.009208837655121925,0.00442993102034017,-0.009080546939650326,0.999562266026589,0.028157058976604147,0.0399399995803833
+1789729715047660094,4200,0.6779634952545166,0.03270707651972771,-0.21496495604515076,-0.999947928090374,-0.009206878277093366,0.004428379241280828,-0.009078635402370151,0.9995623041214788,0.028156324515990254,0.0399399995803833
+1789729715080939724,4233,0.6779674291610718,0.03270211070775986,-0.2149639129638672,-0.9999479631486485,-0.00920228754762541,0.00442194125729055,-0.009074261451831777,0.9995625484401454,0.028149059859316587,0.0399399995803833
+1789729715114339019,4266,0.6779677867889404,0.03270062059164047,-0.21496467292308807,-0.9999478274472928,-0.009202302794716495,0.004421642531102911,-0.009074307665150121,0.9995626838606166,0.02814423475432322,0.0399399995803833
+1789729715147673401,4300,0.6779667735099792,0.032702263444662094,-0.21496541798114777,-0.9999477286462009,-0.009206891063731393,0.004421378792374418,-0.009078917970746347,0.9995627406120274,0.028140731681326907,0.0399399995803833
+1789729715180939473,4333,0.6779648661613464,0.03270217403769493,-0.21496662497520447,-0.9999477794233422,-0.009211952894320365,0.004426334702259319,-0.009083869690222289,0.9995628824325212,0.028134096355135994,0.0399399995803833
+1789729715214321670,4366,0.67796391248703,0.03270278126001358,-0.21496623754501343,-0.9999477827750858,-0.009212899755188759,0.004427944282543181,-0.009084770366620181,0.9995628706279063,0.028134225081881598,0.0399399995803833
+1789729715247597450,4400,0.6779640913009644,0.03270304203033447,-0.21496595442295074,-0.9999477972296424,-0.009211814930527132,0.004426022211191126,-0.009083737600685269,0.9995628658617001,0.028134727850994773,0.0399399995803833
+1789729715280935053,4433,0.6779641509056091,0.032703325152397156,-0.21496513485908508,-0.9999477081497852,-0.009212311525046573,0.004423182324486479,-0.009084328669233883,0.9995629499654471,0.02813154806048746,0.0399399995803833
+1789729715314335117,4466,0.6779646873474121,0.03270307183265686,-0.21496394276618958,-0.9999476831715215,-0.00921141850440791,0.004421687714288959,-0.00908348217393836,0.9995629829019373,0.028130650786233998,0.0399399995803833
+1789729715347672669,4500,0.6779648661613464,0.03270218148827553,-0.2149641364812851,-0.9999478477852901,-0.009210658140239691,0.004421531773174156,-0.009082738779697563,0.9995630635641036,0.028128025758221094,0.0399399995803833
+1789729715381005882,4533,0.6779639720916748,0.03270186856389046,-0.2149641513824463,-0.9999477126566756,-0.009212527496973752,0.004423659781367646,-0.009084570085026958,0.9995631817628005,0.028123232773844452,0.0399399995803833
+1789729715414330417,4566,0.6779630780220032,0.03270227089524269,-0.21496416628360748,-0.9999478296567459,-0.009215336744383207,0.004424085417165276,-0.009087386488018356,0.9995632774166687,0.028118923897409998,0.0399399995803833
+1789729715447664999,4600,0.6779623031616211,0.03270316496491432,-0.214964359998703,-0.9999478285052092,-0.009217263264019736,0.004424649506413924,-0.0090892965885656,0.9995632610072912,0.028118889996250007,0.0399399995803833
+1789729715481003562,4633,0.677962064743042,0.0327022410929203,-0.2149641215801239,-0.9999477746465724,-0.009216972668789583,0.004425830745404153,-0.009088981891776468,0.9995633176367053,0.028116978206937586,0.0399399995803833
+1789729715514330015,4666,0.6779621243476868,0.03270146995782852,-0.2149641215801239,-0.9999477595730928,-0.00921542680827536,0.004426336905032393,-0.00908742493227799,0.9995633469121761,0.028116440496948593,0.0399399995803833
+1789729715547667758,4700,0.677962601184845,0.03270116075873375,-0.21496370434761047,-0.9999477396849143,-0.009214626279787683,0.004424699061612055,-0.009086674050759316,0.9995633739004472,0.028115723443819476,0.0399399995803833
+1789729715580994062,4733,0.6779651641845703,0.032697007060050964,-0.21496398746967316,-0.9999477694905206,-0.009210264422606399,0.00442111670505537,-0.009082449301467196,0.9995636217778504,0.028108274847672598,0.0399399995803833
+1789729715614331534,4766,0.677965521812439,0.03269622474908829,-0.21496395766735077,-0.999947717431029,-0.009210230601944813,0.004421006843650349,-0.009082427249015979,0.9995636740929164,0.028106421116105625,0.0399399995803833
+1789729715647665997,4800,0.677964448928833,0.032696038484573364,-0.21496526896953583,-0.9999478227337311,-0.009212570204404746,0.0044237415612742165,-0.009084711306146687,0.9995637860350067,0.02810170256919522,0.0399399995803833
+1789729715681006169,4833,0.6779631972312927,0.03269653767347336,-0.21496550738811493,-0.999947725389815,-0.00921457263549832,0.00442623699123304,-0.00908665910436377,0.999563865303322,0.02809825254440028,0.0399399995803833
+1789729715714330963,4866,0.6779626607894897,0.0326957106590271,-0.2149653136730194,-0.9999476322417367,-0.009220037317036875,0.004427729384243991,-0.00909209526778291,0.9995639085506833,0.02809495507376191,0.0399399995803833
+1789729715747661747,4900,0.6779642701148987,0.03269176930189133,-0.21496546268463135,-0.9999477766599651,-0.009213475218577575,0.004427824895462841,-0.009085548761588565,0.9995640625329595,0.02809159495584262,0.0399399995803833
+1789729715781006448,4933,0.6779646873474121,0.03269224241375923,-0.21496491134166718,-0.9999478493487444,-0.009211279927144558,0.004426067769994738,-0.009083391537015303,0.9995640097579547,0.028094170660907004,0.0399399995803833
+1789729715814259981,4966,0.6779650449752808,0.032692842185497284,-0.21496446430683136,-0.9999477938118209,-0.009213370128157136,0.0044225593099232715,-0.009085588666702962,0.9995640456793765,0.02809218167765202,0.0399399995803833
+1789729715847590325,5000,0.6779657602310181,0.032692134380340576,-0.21496424078941345,-0.9999477012589777,-0.009213167754873094,0.00442070175118745,-0.009085453938832902,0.9995641397746998,0.02808887620054707,0.0399399995803833
+1789729715880927427,5033,0.6779648065567017,0.032691940665245056,-0.21496513485908508,-0.9999478584539441,-0.009213295729325503,0.004424091571627408,-0.009085500261865716,0.9995642201791755,0.028086001160057345,0.0399399995803833
+1789729715914255241,5066,0.6779639720916748,0.03269174322485924,-0.2149648219347,-0.9999477463708464,-0.009215754118079428,0.0044249865918237746,-0.009087951258168053,0.9995643097952908,0.028082017853470247,0.0399399995803833
+1789729715947586754,5100,0.6779628992080688,0.03269104287028313,-0.21496498584747314,-0.9999476936283029,-0.009215636807009969,0.004428422941548998,-0.009087746367562727,0.9995643640125212,0.028080153965246768,0.0399399995803833
+1789729715981009626,5133,0.6779630184173584,0.03269094228744507,-0.2149648517370224,-0.9999477212275283,-0.00921613987574834,0.004427337505936855,-0.009088275089158639,0.9995643316907961,0.02808113359346117,0.0399399995803833
+1789729716014332116,5166,0.6779636740684509,0.03269080072641373,-0.21496422588825226,-0.9999477433389692,-0.009215769911337266,0.004425399937978684,-0.009087955951721906,0.9995643127334009,0.028081911745686663,0.0399399995803833
+1789729716047664653,5200,0.6779647469520569,0.03268860653042793,-0.2149643450975418,-0.9999478830967781,-0.009213354642631505,0.0044240790570167976,-0.009085595159252674,0.9995644332295329,0.02807838728676937,0.0399399995803833
+1789729716081004619,5233,0.6779653429985046,0.03268608823418617,-0.21496547758579254,-0.999947682103183,-0.009211480147837287,0.004423179487427091,-0.009083780165285054,0.9995646511036318,0.028071215768280915,0.0399399995803833
+1789729716114331446,5266,0.677964985370636,0.0326862633228302,-0.21496595442295074,-0.9999478570094453,-0.009212176335443717,0.004423549116019526,-0.009084476309206141,0.9995647082244422,0.028068957849227475,0.0399399995803833
+1789729716147652744,5300,0.6779645085334778,0.03268665075302124,-0.21496577560901642,-0.9999478146884577,-0.009213492911996234,0.004423172859079994,-0.009085809981427507,0.99956473841918,0.028067450623078322,0.0399399995803833
+1789729716180996430,5333,0.6779634952545166,0.03268657252192497,-0.21496638655662537,-0.9999477686081932,-0.009212928261363246,0.004425689057213626,-0.009085182671965425,0.9995647899534916,0.02806581803680914,0.0399399995803833
+1789729716214337246,5366,0.6779629588127136,0.03268640860915184,-0.21496619284152985,-0.9999478003729845,-0.009212551298252294,0.004427908730592702,-0.009084738300073367,0.9995647619466731,0.028066959616714585,0.0399399995803833
+1789729716247594262,5400,0.6779621243476868,0.032686084508895874,-0.21496666967868805,-0.999947769705311,-0.009212316641947332,0.004430087621242856,-0.009084447748961439,0.9995647950173154,0.028065875696586876,0.0399399995803833
+1789729716281016767,5433,0.6779631972312927,0.03268531337380409,-0.2149656116962433,-0.9999476650158217,-0.009213823266399466,0.004425968515665964,-0.009086086781697702,0.9995648853135242,0.028062128130905972,0.0399399995803833
+1789729716314331956,5466,0.6779639720916748,0.03268362581729889,-0.2149660438299179,-0.9999477341266401,-0.009213371550177209,0.004423551106984579,-0.009085731290813468,0.9995650582934191,0.0280560815060679,0.0399399995803833
+1789729716347594322,5500,0.6779637932777405,0.03268365189433098,-0.21496537327766418,-0.9999476548522628,-0.009213596637675913,0.004423801565170421,-0.009085962500565859,0.9995651354798479,0.02805325594642504,0.0399399995803833
+1789729716380931918,5533,0.6779623031616211,0.03268289566040039,-0.2149651050567627,-0.999947754246219,-0.009214461317921283,0.004428801306597563,-0.009086709919938731,0.9995652671057789,0.028048324468609245,0.0399399995803833
+1789729716414328107,5566,0.6779612302780151,0.03268246352672577,-0.2149658203125,-0.9999476942058161,-0.009216194651661277,0.004432082976916314,-0.009088360635809603,0.9995653116582857,0.02804620160565478,0.03993000090122223
+1789729716447658234,5600,0.677960991859436,0.0326831191778183,-0.2149657905101776,-0.9999477124784963,-0.009221534059470873,0.004431951155086558,-0.009093698584312113,0.9995652444994101,0.028046865387404897,0.03993000090122223
+1789729716481006569,5633,0.6779618263244629,0.032682470977306366,-0.2149646282196045,-0.9999476671108238,-0.009219485531335699,0.004428739428088048,-0.009091748458339126,0.9995653081782294,0.028045227500922146,0.03993000090122223
+1789729716514331957,5666,0.6779624223709106,0.032682038843631744,-0.21496427059173584,-0.9999476504575253,-0.0092188626333471,0.004427258753634276,-0.009091170083901192,0.9995653303317666,0.028044625184064625,0.03993000090122223
+1789729716547662484,5700,0.6779634952545166,0.0326804555952549,-0.21496480703353882,-0.9999477889894011,-0.009216399485659105,0.004425252747308168,-0.009088780809693558,0.9995654524109415,0.02804104906819346,0.03993000090122223
+1789729716581006769,5733,0.6779628396034241,0.032681163400411606,-0.2149648219347,-0.9999476879937208,-0.009218299265832924,0.0044243725802182235,-0.009090721376637828,0.9995655358263063,0.028037445641443955,0.03993000090122223
+1789729716614346605,5766,0.6779623627662659,0.032681066542863846,-0.2149645835161209,-0.999947610076733,-0.009218255848908462,0.004424929303165197,-0.009090675396539172,0.999565614152577,0.028034667407433954,0.03993000090122223
+1789729716647667813,5800,0.6779622435569763,0.03267928212881088,-0.21496497094631195,-0.9999477609584067,-0.009218079738030412,0.004427667804953949,-0.009090437275141298,0.9995657035644067,0.028031557753064866,0.03993000090122223
+1789729716681011399,5833,0.6779619455337524,0.03267926722764969,-0.21496522426605225,-0.9999477551664708,-0.009220239813857735,0.004428577804375452,-0.009092571981555596,0.9995656896918919,0.02803136021568315,0.03993000090122223
+1789729716714335357,5866,0.6779622435569763,0.03267933055758476,-0.21496474742889404,-0.9999477566274957,-0.009222150417413087,0.004426263279986231,-0.009094546423861484,0.9995656704384964,0.02803140631558196,0.0399399995803833
+1789729716747678022,5900,0.677964448928833,0.032675955444574356,-0.21496516466140747,-0.9999478356273741,-0.009219193591773474,0.004422946601393446,-0.009091710296131098,0.9995658563643443,0.02802569614525463,0.0399399995803833
+1789729716781001970,5933,0.6779666543006897,0.03267236426472664,-0.21496549248695374,-0.9999477043292226,-0.009215491287059008,0.004420605101200233,-0.009088096943581592,0.9995660211523215,0.02802098901321992,0.0399399995803833
+1789729716814340626,5966,0.6779665350914001,0.0326729491353035,-0.21496547758579254,-0.9999476481025693,-0.00921674563687423,0.004419392826040635,-0.009089394134105382,0.9995660656999801,0.02801897869752226,0.0399399995803833
+1789729716847674953,6000,0.6779647469520569,0.032674357295036316,-0.21496644616127014,-0.999947759086848,-0.009221684783842225,0.004420840470913675,-0.009094312101950882,0.9995661479791951,0.02801444848700779,0.0399399995803833
+1789729716880997081,6033,0.6779631972312927,0.03267616406083107,-0.21496698260307312,-0.999947698701837,-0.009225417088507652,0.004421878923649338,-0.009098023963229236,0.999566174262876,0.028012305202836693,0.0399399995803833
+1789729716914335217,6066,0.6779628396034241,0.03267602249979973,-0.2149665355682373,-0.9999477137194361,-0.009224498414550543,0.004423896048573506,-0.009097046674982,0.9995661679318946,0.028012848619596218,0.0399399995803833
+1789729716947659405,6100,0.677963376045227,0.03267538547515869,-0.2149658352136612,-0.9999476773752549,-0.009223039787540903,0.004422845206948274,-0.009095624109918828,0.9995662174749418,0.0280115422872766,0.0399399995803833
+1789729716980909912,6133,0.6779638528823853,0.03267545625567436,-0.21496540307998657,-0.9999476702839039,-0.00922164971210845,0.004420528465463672,-0.009094300612726789,0.9995662369953888,0.028011275204583252,0.0399399995803833
+1789729717014230486,6166,0.6779639720916748,0.03267473727464676,-0.21496541798114777,-0.9999475937952482,-0.009223345044813258,0.004420132959273793,-0.009096019129452793,0.999566297847141,0.028008545130967843,0.0399399995803833
+1789729717047560777,6200,0.6779636740684509,0.032674189656972885,-0.21496577560901642,-0.9999476961217075,-0.009223847950539953,0.0044204370472584135,-0.009096536069585416,0.9995664292458968,0.028003688316192904,0.0399399995803833
+1789729717080900336,6233,0.6779621839523315,0.032674774527549744,-0.21496635675430298,-0.9999477633444975,-0.009226912646233446,0.004422646457934677,-0.009099566364885278,0.9995665724937527,0.027997590858036565,0.0399399995803833
+1789729717114225858,6266,0.6779617071151733,0.03267473727464676,-0.2149658501148224,-0.999947662036553,-0.009227801061889921,0.004423308540999444,-0.009100452853154303,0.999566665667564,0.027993975312539075,0.0399399995803833
+1789729717147559118,6300,0.6779614090919495,0.032674189656972885,-0.2149660885334015,-0.9999476435378041,-0.009227939113056423,0.0044243658281891245,-0.009100564368751722,0.9995666830225207,0.02799331927070876,0.0399399995803833
+1789729717180901437,6333,0.6779623031616211,0.03267332538962364,-0.21496494114398956,-0.9999476707389328,-0.009226117604075146,0.004423226825437652,-0.009098770884533213,0.9995666723877875,0.027994282033702488,0.0399399995803833
+1789729717214234048,6366,0.6779626607894897,0.032672662287950516,-0.21496474742889404,-0.9999476426519596,-0.009226062822518609,0.004422275144678698,-0.009098747443671208,0.9995667008331938,0.02799327370591133,0.0399399995803833
+1789729717247561019,6400,0.6779630780220032,0.03267127647995949,-0.21496538817882538,-0.9999476003931254,-0.009225164002831337,0.00442279289074048,-0.009097841560416393,0.9995667513611649,0.027991763497396755,0.0399399995803833
+1789729717280897389,6433,0.67796391248703,0.032669950276613235,-0.21496565639972687,-0.9999477751147348,-0.009223359535432298,0.00442171201428581,-0.009096078687623741,0.9995668313798312,0.027989480089217596,0.0399399995803833
+1789729717314228509,6466,0.6779640913009644,0.03266946226358414,-0.21496595442295074,-0.9999477064480715,-0.00922287845501368,0.004421489142014003,-0.009095615511647951,0.9995669043719035,0.027987023218137144,0.0399399995803833
+1789729717347562180,6500,0.6779630780220032,0.03266889229416847,-0.21496650576591492,-0.9999475553297055,-0.009225858324611804,0.004424480476588477,-0.009098535847685893,0.9995670284592045,0.027981640778250508,0.0399399995803833
+1789729717380898409,6533,0.6779608726501465,0.032668959349393845,-0.21496684849262238,-0.9999476777852689,-0.009228593240716024,0.004430021848557231,-0.009101134186088142,0.9995671199596643,0.02797752820762165,0.0399399995803833
+1789729717414224851,6566,0.6779612898826599,0.032668400555849075,-0.21496577560901642,-0.9999476612243023,-0.00922971912078005,0.004428908818128076,-0.009102293518381127,0.9995671260458271,0.027976933515397283,0.0399399995803833
+1789729717447560871,6600,0.6779618263244629,0.032668132334947586,-0.21496529877185822,-0.9999476762228987,-0.009228085082266604,0.004427660653834462,-0.009100692500770589,0.9995671258754809,0.02797746039837623,0.0399399995803833
+1789729717480893171,6633,0.677963137626648,0.0326671302318573,-0.21496358513832092,-0.9999476247185046,-0.009227132131871853,0.004423696427660763,-0.009099859372395679,0.9995671855654501,0.02797559814872742,0.0399399995803833
+1789729717514295533,6666,0.6779636144638062,0.03266540914773941,-0.21496440470218658,-0.9999477483967039,-0.00922391241837986,0.004424221429116304,-0.00909664545208741,0.9995673297630686,0.027971491649984123,0.0399399995803833
+1789729717547563741,6700,0.6779636144638062,0.03266539052128792,-0.2149648368358612,-0.9999476602507473,-0.00922640301670208,0.0044236188371298635,-0.009099166676763802,0.9995673949459514,0.027968341579014254,0.0399399995803833
+1789729717580985600,6733,0.6779628396034241,0.03266509994864464,-0.21496474742889404,-0.9999476369793749,-0.009226358291876732,0.004426355982167583,-0.009099049369407478,0.9995674189598178,0.027967521404351346,0.0399399995803833
+1789729717614230162,6766,0.6779615879058838,0.0326652005314827,-0.21496543288230896,-0.9999476152184057,-0.009225976072213938,0.004429727225468975,-0.009098576729629037,0.9995674446379752,0.02796675733517519,0.0399399995803833
+1789729717647583390,6800,0.6779613494873047,0.03266502171754837,-0.2149648666381836,-0.9999475927292372,-0.009226116851782127,0.004430338521198052,-0.009098704141258098,0.9995674658982416,0.02796595586002603,0.0399399995803833
+1789729717680904332,6833,0.6779618859291077,0.03266400843858719,-0.21496422588825226,-0.9999475777888744,-0.009225107206223816,0.004429228068031259,-0.00909772842698121,0.9995674899354674,0.027965413914484552,0.0399399995803833
+1789729717714229443,6866,0.6779625415802002,0.03266381844878197,-0.21496407687664032,-0.9999475694598763,-0.009224342741950504,0.004427693981228246,-0.009097008527475296,0.9995675050651346,0.02796510715076618,0.0399399995803833
+1789729717747560374,6900,0.6779634356498718,0.03266237676143646,-0.21496468782424927,-0.9999476780873313,-0.009223992701793575,0.004425379198009144,-0.009096745054927143,0.9995676376455362,0.02796045433318558,0.0399399995803833
+1789729717780902683,6933,0.6779632568359375,0.032660871744155884,-0.21496522426605225,-0.9999477147702123,-0.009224663646562646,0.004426507587536894,-0.009097418020865234,0.9995678332029083,0.027953243773674464,0.0399399995803833
+1789729717814226565,6966,0.6779624819755554,0.03266084939241409,-0.21496589481830597,-0.9999475993156113,-0.009225097723311782,0.004427470356797248,-0.009097844390976528,0.9995679447152501,0.02794911635321533,0.0399399995803833
+1789729717847582022,7000,0.677962064743042,0.03266023471951485,-0.21496611833572388,-0.9999475765805086,-0.009224590858676468,0.004429327642080431,-0.009097289665329494,0.9995679723141524,0.027948309716137442,0.0399399995803833
+1789729717880900384,7033,0.6779617071151733,0.03266061097383499,-0.2149660438299179,-0.9999475523373991,-0.009226710305476478,0.004428509367315434,-0.009099435204049792,0.9995679770150258,0.02794744304825208,0.0399399995803833
+1789729717914229005,7066,0.6779606938362122,0.03266073763370514,-0.2149663120508194,-0.9999477376679224,-0.009226385553134663,0.004430345113311229,-0.00909906822145239,0.9995680332515694,0.027945552584388175,0.0399399995803833
+1789729717947585193,7100,0.6779612898826599,0.03265988081693649,-0.21496495604515076,-0.9999476705136483,-0.009225725051188797,0.004428671059308908,-0.009098465989618717,0.999568106191966,0.027943138974577,0.0399399995803833
+1789729717980911974,7133,0.6779624819755554,0.03265783190727234,-0.21496446430683136,-0.9999475392388046,-0.009224664089970495,0.004426117501246881,-0.009097498754545104,0.9995682467596144,0.027938424004275705,0.0399399995803833
+1789729718014229771,7166,0.6779636144638062,0.032656822353601456,-0.21496455371379852,-0.9999476675935572,-0.009223696172627796,0.004423389946759187,-0.009096625811613144,0.9995683652356666,0.02793447001131423,0.0399399995803833
+1789729718047583063,7200,0.6779618263244629,0.032657187432050705,-0.21496634185314178,-0.9999475491490295,-0.009226655995080902,0.004426291137632397,-0.009099523360802197,0.999568456842741,0.027930247433776374,0.0399399995803833
+1789729718080969000,7233,0.6779609322547913,0.032658983021974564,-0.21496669948101044,-0.9999477028005279,-0.009233037500497648,0.004424927110832136,-0.009105954668635502,0.9995684828525149,0.02792722200102851,0.03993000090122223
+1789729718114248581,7266,0.6779618263244629,0.032658230513334274,-0.2149656116962433,-0.9999476952626876,-0.00923232020609949,0.0044233624206557135,-0.009105282583222681,0.9995684967614775,0.02792694314064956,0.03993000090122223
+1789729718147562387,7300,0.6779622435569763,0.03265725076198578,-0.21496553719043732,-0.9999476806550807,-0.009230374832039298,0.004423540045922215,-0.009103335458884823,0.999568529215905,0.027926416043978237,0.0399399995803833
+1789729718180975411,7333,0.677962601184845,0.03265637159347534,-0.2149655669927597,-0.9999476186407819,-0.009228949022250826,0.004422656353848902,-0.00910194526026284,0.9995686041390344,0.027924186761426478,0.0399399995803833
+1789729718214241303,7366,0.6779628396034241,0.03265591338276863,-0.2149660438299179,-0.9999475593341569,-0.009228721132792068,0.004421565962387252,-0.009101757825729844,0.9995686653493733,0.02792205618956665,0.03993000090122223
+1789729718247588495,7400,0.6779626607894897,0.032656218856573105,-0.21496601402759552,-0.9999475090232262,-0.00923025107682008,0.004421509511594087,-0.009103297181874075,0.9995687015905832,0.027920256641372834,0.0399399995803833
+1789729718280903661,7433,0.6779613494873047,0.03265583887696266,-0.21496647596359253,-0.9999476486221728,-0.009231841335726113,0.004425695027922628,-0.009104786628406266,0.9995687862691156,0.027916740523275807,0.0399399995803833
+1789729718314230446,7466,0.6779605150222778,0.03265685215592384,-0.21496674418449402,-0.9999476217043395,-0.0092331613089792,0.004426203522422793,-0.009106096419777908,0.9995688011281683,0.02791578116968425,0.0399399995803833
+1789729718347562780,7500,0.677959680557251,0.032657161355018616,-0.21496665477752686,-0.9999475705734133,-0.009234460595297565,0.00442744461534033,-0.009107369162458658,0.9995688404633878,0.027913957194131138,0.0399399995803833
+1789729718380897974,7533,0.6779603362083435,0.03265628218650818,-0.21496570110321045,-0.9999475704694922,-0.009233668090972945,0.004426251851671196,-0.009106610254649851,0.9995688476825132,0.027913946182230365,0.0399399995803833
+1789729718414233017,7566,0.6779602766036987,0.03265639767050743,-0.21496573090553284,-0.9999475317078428,-0.009232428826426435,0.004425581106322823,-0.009105396686327545,0.999568897692303,0.027912550825720438,0.0399399995803833
+1789729718447589038,7600,0.6779603958129883,0.0326562263071537,-0.2149657905101776,-0.999947503547105,-0.00923170733282801,0.004424906995714958,-0.009104699000999594,0.9995689323603896,0.027911536610106303,0.0399399995803833
+1789729718480892146,7633,0.6779620051383972,0.03265438601374626,-0.21496565639972687,-0.9999476449952542,-0.009230428830260068,0.004422000962818778,-0.009103518313849562,0.9995690405844271,0.02790804668376326,0.0399399995803833
+1789729718514229589,7666,0.6779614686965942,0.03265446424484253,-0.21496614813804626,-0.9999475153916344,-0.009232456592377628,0.004423255425258334,-0.009105532045765882,0.9995691516577823,0.027903410278779513,0.0399399995803833
+1789729718547592749,7700,0.677961528301239,0.03265479952096939,-0.21496492624282837,-0.9999474962256376,-0.009234915053050512,0.00442347295804528,-0.00910798670088165,0.9995691482916247,0.02790272977024403,0.0399399995803833
+1789729718580911265,7733,0.677960216999054,0.03265378996729851,-0.21496562659740448,-0.9999476045197806,-0.009239615790949979,0.0044277548431996576,-0.009112588080576273,0.999569235717594,0.02789809645406343,0.0399399995803833
+1789729718614232191,7766,0.6779614090919495,0.03265257924795151,-0.21496433019638062,-0.9999476248770145,-0.009237190959947487,0.004426802229462564,-0.00911018733016586,0.9995692375023456,0.027898816523863234,0.0399399995803833
+1789729718647566794,7800,0.6779623031616211,0.03265058621764183,-0.2149648815393448,-0.999947517592082,-0.00923436793765075,0.004426583884731458,-0.009107389509273039,0.9995693705709491,0.027894961059516152,0.0399399995803833
+1789729718680893949,7833,0.6779640316963196,0.032648224383592606,-0.214965358376503,-0.9999475910354267,-0.00923050675268715,0.0044224889922546,-0.009103671657344338,0.9995695702786088,0.02788901797588065,0.0399399995803833
+1789729718714229842,7866,0.67796391248703,0.032650306820869446,-0.2149653285741806,-0.9999475335166128,-0.009232831259136653,0.004419073365442006,-0.009106100097440506,0.9995696060044532,0.027886944245775765,0.0399399995803833
+1789729718747559747,7900,0.6779645681381226,0.032652296125888824,-0.21496450901031494,-0.9999475347105522,-0.009234819117881364,0.004416744907329716,-0.009108151870771642,0.9995695862837568,0.027886981124762667,0.0399399995803833
+1789729718780939625,7933,0.6779634356498718,0.03265123814344406,-0.21496456861495972,-0.9999476486315915,-0.009234985411352562,0.004422370710797494,-0.009108182226945124,0.999569709858055,0.027882542592547174,0.0399399995803833
+1789729718814233194,7966,0.677962064743042,0.032650381326675415,-0.2149651050567627,-0.9999475703671319,-0.009237585293763943,0.0044258083663962595,-0.009110698467158847,0.9995697646525988,0.027879755730801852,0.0399399995803833
+1789729718847583345,8000,0.677961528301239,0.03265132009983063,-0.21496616303920746,-0.9999475494529657,-0.009242161746559185,0.004425300488456525,-0.009115290806385224,0.9995697434890881,0.027879013553636162,0.0399399995803833
+1789729718880896292,8033,0.6779620051383972,0.03265197575092316,-0.21496453881263733,-0.9999475716126582,-0.009241403739296774,0.0044214341940554,-0.009114637084142783,0.9995697278095133,0.027879789433430932,0.0399399995803833
+1789729718914231445,8066,0.6779669523239136,0.03264288604259491,-0.2149650752544403,-0.9999475674245322,-0.009228606122834646,0.0044180972527353615,-0.00910197810122633,0.999570087160284,0.027871038934162873,0.0399399995803833
+1789729718947591716,8100,0.6779677271842957,0.032640863209962845,-0.21496622264385223,-0.9999476315689819,-0.009227022296746303,0.004416267099517218,-0.009100475094167913,0.9995702755609672,0.027864772529133955,0.0399399995803833
+1789729718980899703,8133,0.6779639720916748,0.032647356390953064,-0.2149680107831955,-0.9999476229481528,-0.009236993002306446,0.004412301777666036,-0.009110593762348865,0.999570430461463,0.027855908471604792,0.0399399995803833
+1789729719014234562,8166,0.6779634356498718,0.03264723718166351,-0.21496836841106415,-0.999947622792595,-0.009235679832156087,0.004414116755016937,-0.009109230605769323,0.9995704428948599,0.027855908086141974,0.0399399995803833
+1789729719047588986,8200,0.6779624223709106,0.03264564648270607,-0.2149701565504074,-0.999947579963558,-0.009233582339039481,0.004419327821701289,-0.009106996062717698,0.9995705055936249,0.027854388518658846,0.0399399995803833
+1789729719080897997,8233,0.6779624223709106,0.03264633193612099,-0.21496745944023132,-0.9999476618904171,-0.00923519977316909,0.004417198579685081,-0.009108658385979428,0.999570408623951,0.027857325303262855,0.0399399995803833
+1789729719114228384,8266,0.6779637336730957,0.032644279301166534,-0.21496641635894775,-0.9999476322298197,-0.009232496223969756,0.004415793671477118,-0.009105999969517397,0.9995704628761473,0.027856247257743105,0.0399399995803833
+1789729719147563011,8300,0.6779624819755554,0.03264585882425308,-0.21496738493442535,-0.9999476289630751,-0.00923394961762813,0.004416578703675188,-0.009107431495903989,0.999570452912668,0.02785613689164921,0.0399399995803833
+1789729719180906637,8333,0.6779643893241882,0.03264518082141876,-0.21496596932411194,-0.9999475978000605,-0.009233612480865943,0.004411817395315856,-0.009107232249856007,0.999570486535688,0.027854995078451468,0.0399399995803833
+1789729719214245624,8366,0.6779671907424927,0.03263819217681885,-0.2149677276611328,-0.9999478074432095,-0.009226105068234042,0.00441252264332488,-0.009099752927700738,0.9995708223916784,0.027845386776353478,0.0399399995803833
+1789729719247588070,8400,0.6779645681381226,0.032639823853969574,-0.21496962010860443,-0.9999476618061292,-0.009230497910051351,0.004415233906678917,-0.009104093069552642,0.9995709280005771,0.027840175831399368,0.0399399995803833
+1789729719280915598,8433,0.6779634952545166,0.0326424315571785,-0.21496687829494476,-0.9999476780788064,-0.009235608326078367,0.004412712887809317,-0.009109268912601136,0.9995708645557226,0.027840761098395946,0.0399399995803833
+1789729719314229088,8466,0.6779638528823853,0.03264053910970688,-0.21496739983558655,-0.9999476127828701,-0.009234228034882087,0.0044145827624940005,-0.009107848093232583,0.999570942700008,0.02783841968062399,0.0399399995803833
+1789729719347566875,8500,0.6779630184173584,0.03264106065034866,-0.21496859192848206,-0.9999475473888109,-0.009235605927420079,0.004415806078095885,-0.009109202400959623,0.9995709955618246,0.027836078033206084,0.0399399995803833
+1789729719380898712,8533,0.6779648065567017,0.03263947367668152,-0.2149660289287567,-0.999947528113645,-0.00923411523280293,0.0044106001568343205,-0.009107860323522843,0.9995710278305071,0.027835358005108245,0.0399399995803833
+1789729719414227830,8566,0.6779631972312927,0.0326375812292099,-0.21496857702732086,-0.9999476425761205,-0.009232407598817693,0.004415567394052154,-0.009106036000989382,0.9995711679632043,0.02783092326611379,0.0399399995803833
+1789729719447562837,8600,0.6779617667198181,0.03264102712273598,-0.21497070789337158,-0.9999475192876242,-0.009236729392241745,0.004413371755686221,-0.009110437879551896,0.9995712512387603,0.02782649067954024,0.0399399995803833
+1789729719480907603,8633,0.6779630184173584,0.03264262527227402,-0.21496811509132385,-0.9999475290774629,-0.009237764733655649,0.004407793431178378,-0.009111626292269494,0.999571231246166,0.027826819688879213,0.0399399995803833
+1789729719514231981,8666,0.6779621839523315,0.03263714164495468,-0.21497032046318054,-0.9999475500506927,-0.009233490337822461,0.00441722511721756,-0.009107127823524672,0.9995714889137567,0.02781903567940588,0.0399399995803833
+1789729719547557389,8700,0.6779609322547913,0.03263694420456886,-0.21497108042240143,-0.9999475274732632,-0.009234043282005923,0.004420421420331528,-0.00910759549687614,0.9995715068103396,0.02781823949012658,0.0399399995803833
+1789729719580897326,8733,0.6779621243476868,0.03263942152261734,-0.21496714651584625,-0.9999476453388527,-0.009236271816317403,0.00441271967343791,-0.009110017477135319,0.9995713676128509,0.027822448599115878,0.0399399995803833
+1789729719614228213,8766,0.6779630780220032,0.032638829201459885,-0.2149672657251358,-0.9999476827840996,-0.009235110303146159,0.004410948851273484,-0.009108899362819785,0.9995713406249256,0.027823784388549783,0.0399399995803833
+1789729719647626533,8800,0.6779626607894897,0.0326368473470211,-0.21496878564357758,-0.9999476043220743,-0.00923252780886899,0.004413854214632089,-0.009106250261010057,0.9995714430809074,0.02782096995062872,0.0399399995803833
+1789729719680956200,8833,0.677963137626648,0.03263700380921364,-0.2149677872657776,-0.9999477607910348,-0.0092333536845585,0.0044104041945335504,-0.009107185485137302,0.9995715169331204,0.027818011395630376,0.0399399995803833
+1789729719714229755,8866,0.6779618859291077,0.032639067620038986,-0.21496853232383728,-0.9999476481733935,-0.009237381688732806,0.004409856249203007,-0.009111246061653564,0.9995715924472126,0.027813967423639466,0.03993000090122223
+1789729719747555753,8900,0.6779605746269226,0.032638635486364365,-0.2149697244167328,-0.9999475762102559,-0.009238698253149118,0.004414213357778585,-0.009112453104613656,0.9995716528308314,0.027811401513943186,0.03993000090122223
+1789729719780914457,8933,0.6779615879058838,0.032638151198625565,-0.2149680256843567,-0.9999476614795426,-0.009239140334536091,0.004413137957302179,-0.00911291058216602,0.9995715634335526,0.027814465133918376,0.03993000090122223
+1789729719814239926,8966,0.6779613494873047,0.03263821825385094,-0.21496808528900146,-0.9999476407696823,-0.009239156271995742,0.004413203534799259,-0.009112928168641997,0.9995715839895707,0.027813720481952395,0.03993000090122223
+1789729719847594370,9000,0.6779601573944092,0.032639630138874054,-0.21496902406215668,-0.9999476155044047,-0.009240827154760661,0.004414089774409515,-0.009114578017945069,0.9995715940145384,0.0278128195357786,0.03993000090122223
+1789729719880957624,9033,0.6779628396034241,0.03263654187321663,-0.21496790647506714,-0.9999475473233423,-0.00923706485443613,0.004409984760839772,-0.009110942703141132,0.9995716961427616,0.02781033917862956,0.03993000090122223
+1789729719914234658,9066,0.6779635548591614,0.03263385593891144,-0.2149684727191925,-0.999947671628209,-0.00923432617409018,0.004410876798834798,-0.009108199450990694,0.9995718353827423,0.027806233623232535,0.03993000090122223
+1789729719947565676,9100,0.6779627799987793,0.032635316252708435,-0.21496856212615967,-0.9999475315782225,-0.009239830495428758,0.004409023351706148,-0.009113776653478456,0.9995719245904497,0.027801198174547376,0.0399399995803833
+1789729719980899443,9133,0.6779612302780151,0.032637499272823334,-0.21496878564357758,-0.9999475191064144,-0.009243017514177793,0.00440988644124559,-0.00911694055846855,0.9995719079102358,0.027800760686145023,0.0399399995803833
+1789729720014236455,9166,0.6779599189758301,0.032635804265737534,-0.21497048437595367,-0.9999474391570784,-0.00924228186304198,0.004416482205807542,-0.009116035399101673,0.9995719953921894,0.027797911518621498,0.0399399995803833
+1789729720047564046,9200,0.6779597401618958,0.032636407762765884,-0.2149704396724701,-0.9999474706700997,-0.009242392907586501,0.004416239382252016,-0.009116147847474658,0.9995719628531985,0.027799044915434182,0.0399399995803833
+1789729720080983256,9233,0.6779599189758301,0.03263695910573006,-0.2149694859981537,-0.999947457940547,-0.00924210770069556,0.004413687342454797,-0.009115935782624148,0.9995719778655165,0.027798574449265392,0.0399399995803833
+1789729720114243666,9266,0.6779608726501465,0.032636016607284546,-0.21496859192848206,-0.9999476297908694,-0.009239955039753743,0.004410751221115108,-0.00911387669616446,0.9995720637445489,0.027796162560787034,0.0399399995803833
+1789729720147559728,9300,0.6779618859291077,0.03263410925865173,-0.21496863663196564,-0.99994757608531,-0.009238051544191918,0.00441076132384655,-0.009111982674343287,0.9995721348768725,0.027794224922125212,0.0399399995803833
+1789729720180899798,9333,0.6779621243476868,0.03263328596949577,-0.21496842801570892,-0.9999474917575344,-0.009238227529436482,0.004410261840759297,-0.009112186627081131,0.9995722174612794,0.027791187230556957,0.0399399995803833
+1789729720214233389,9366,0.6779604554176331,0.032635822892189026,-0.2149687111377716,-0.9999476391070472,-0.009243669093683023,0.00440992486593904,-0.009117650749957733,0.9995722584524558,0.027787922092753537,0.0399399995803833
+1789729720247562510,9400,0.6779590249061584,0.032636966556310654,-0.2149699330329895,-0.9999476100893645,-0.009246525744398593,0.004412250130555512,-0.00912044660828799,0.9995722615135791,0.027786894514154867,0.0399399995803833
+1789729720280932426,9433,0.6779592037200928,0.0326361209154129,-0.21496903896331787,-0.9999476000549832,-0.009247067045404228,0.004413663715983639,-0.009120950136796263,0.9995722667491845,0.02778654090495255,0.0399399995803833
+1789729720314233680,9466,0.6779592633247375,0.03263548016548157,-0.2149686962366104,-0.9999475582119863,-0.009246165027959875,0.004413685441955755,-0.0091200548984814,0.9995723168465913,0.027785032159844777,0.0399399995803833
+1789729720347562991,9500,0.6779592633247375,0.03263614699244499,-0.21496768295764923,-0.9999475480748405,-0.009245714913762628,0.004411314095079494,-0.009119672501461682,0.9995723308070087,0.027784655251711626,0.0399399995803833
+1789729720380897532,9533,0.677960991859436,0.03263290226459503,-0.21496786177158356,-0.9999476341158706,-0.009242666846577118,0.004409341479372681,-0.009116705977990781,0.999572510780081,0.02777915396253306,0.0399399995803833
+1789729720414232142,9566,0.6779620051383972,0.03263017535209656,-0.21496835350990295,-0.999947524654484,-0.009241373507353719,0.00441023243305097,-0.009115406798907481,0.9995726321424846,0.027775212157193425,0.0399399995803833
+1789729720447567233,9600,0.6779604554176331,0.032631080597639084,-0.2149692326784134,-0.9999474478805042,-0.009243966272615587,0.0044129608779729535,-0.009117935747254393,0.9995726854034968,0.027772464875728244,0.0399399995803833
+1789729720480912382,9633,0.6779596209526062,0.032632976770401,-0.2149691879749298,-0.9999474229629177,-0.009247816165609981,0.004412739232091778,-0.00912179449885154,0.9995726749195634,0.027771575139645586,0.0399399995803833
+1789729720514229954,9666,0.6779589653015137,0.032632920891046524,-0.21496927738189697,-0.9999474362487504,-0.009247389546068718,0.004415071935211798,-0.009121301072384536,0.9995726658597713,0.027772063437827784,0.0399399995803833
+1789729720547562695,9700,0.6779595017433167,0.03263229504227638,-0.21496886014938354,-0.9999474459160178,-0.009247118888139567,0.004414906450901703,-0.009121033484774436,0.9995726586647252,0.02777241033308453,0.0399399995803833
+1789729720580911194,9733,0.6779603958129883,0.032631970942020416,-0.21496815979480743,-0.9999474793129663,-0.00924534591802468,0.004411647042401896,-0.009119346038931102,0.9995726411601201,0.027773594487004,0.0399399995803833
+1789729720614236755,9766,0.677960991859436,0.032631438225507736,-0.21496731042861938,-0.999947662647799,-0.009244337347260084,0.00440886405561869,-0.009118424352680472,0.9995727050864267,0.027771597565905932,0.0399399995803833
+1789729720647634028,9800,0.6779612302780151,0.032629773020744324,-0.21496690809726715,-0.9999475486676817,-0.009241856001244237,0.004409480246353584,-0.009115946017186054,0.9995728418368122,0.02776748784077424,0.0399399995803833
+1789729720680900407,9833,0.6779609322547913,0.03262878954410553,-0.21496739983558655,-0.9999474619403739,-0.009243996710723346,0.00441191064837995,-0.00911803304973785,0.9995729091546274,0.02776437868828966,0.0399399995803833
+1789729720714233517,9866,0.6779601573944092,0.03262936696410179,-0.21496757864952087,-0.9999474281410772,-0.009244154880585028,0.004413983113189666,-0.009118139346558278,0.9995729417396134,0.027763170450416066,0.0399399995803833
+1789729720747565758,9900,0.6779593229293823,0.03262849152088165,-0.2149680256843567,-0.999947607414226,-0.009244859915053957,0.004416784046079803,-0.00911877636459181,0.9995729947016369,0.027761055852016915,0.0399399995803833
+1789729720780910287,9933,0.6779581308364868,0.03262745216488838,-0.21496933698654175,-0.9999475697951787,-0.009242915333960867,0.004420449665322824,-0.009116737183242973,0.9995730506117901,0.027759712140984757,0.0399399995803833
+1789729720814300821,9966,0.6779590845108032,0.032628875225782394,-0.21496854722499847,-0.999947619764836,-0.00924429320973523,0.004415672198247775,-0.009118238642080681,0.9995729874223107,0.02776149458960078,0.0399399995803833
+1789729720847565220,10000,0.6779608130455017,0.032627832144498825,-0.21496827900409698,-0.9999476037969299,-0.00924256510164396,0.004412453333450223,-0.009116603180760954,0.9995730188330914,0.0277609003777259,0.0399399995803833
+1789729720880900890,10033,0.6779616475105286,0.03262374550104141,-0.21496917307376862,-0.9999476154706055,-0.009237924493638963,0.004414232683886923,-0.009111953161808637,0.9995732881975369,0.027752726784911506,0.0399399995803833
+1789729720914230451,10066,0.6779614686965942,0.03262306749820709,-0.21496830880641937,-0.9999475718705384,-0.009237099066883506,0.004414683929435034,-0.009111122877941377,0.999573339394443,0.027751154988481942,0.0399399995803833
+1789729720947563712,10100,0.6779601573944092,0.03262436389923096,-0.21496832370758057,-0.9999474816303842,-0.009240414209119745,0.00441458106763748,-0.009114454789937394,0.9995733991320029,0.027747908523059934,0.0399399995803833
+1789729720980902052,10133,0.6779589653015137,0.03262779489159584,-0.21496981382369995,-0.9999474211490649,-0.00924680863938063,0.004413027009611341,-0.009120900032379555,0.9995734006622069,0.027745735411196026,0.0399399995803833
+1789729721014229648,10166,0.6779584884643555,0.03262677416205406,-0.21497030556201935,-0.999947413402015,-0.009245861230989968,0.004416084303358034,-0.009119869527742856,0.9995734174931851,0.027745467770907778,0.0399399995803833
+1789729721047567332,10200,0.677958607673645,0.03262417018413544,-0.21497051417827606,-0.9999476350095458,-0.009240429770416263,0.004419069083209852,-0.00911436023780034,0.999573484512946,0.027744865036093677,0.0399399995803833
+1789729721080906735,10233,0.677959144115448,0.032624516636133194,-0.21496734023094177,-0.9999475457194695,-0.009242014247596443,0.004413241477331901,-0.009116120706014606,0.9995735584493283,0.027741621963675276,0.0399399995803833
+1789729721114232619,10266,0.6779599785804749,0.03262607380747795,-0.21496711671352386,-0.9999474958888586,-0.009243903317384117,0.004408384396045094,-0.009118152076124098,0.9995735902810962,0.027739806944053758,0.0399399995803833
+1789729721147565943,10300,0.6779621243476868,0.03262398764491081,-0.21496693789958954,-0.9999476927153417,-0.009241342094709375,0.004405851693210787,-0.009115669038363378,0.9995736550098121,0.027738291789355815,0.0399399995803833
+1789729721180898837,10333,0.6779612898826599,0.03262031078338623,-0.21496880054473877,-0.999947514858619,-0.009239762312828508,0.004411962058011778,-0.009113950435697089,0.9995738480055995,0.0277318997413761,0.0399399995803833
+1789729721214307881,10366,0.677959680557251,0.032621704041957855,-0.21496863663196564,-0.9999475043279011,-0.009243732576302125,0.0044132145908737635,-0.009117886237950564,0.9995738222441681,0.027731534771289694,0.0399399995803833
+1789729721247624727,10400,0.677959680557251,0.032624032348394394,-0.21496765315532684,-0.9999474873964616,-0.009247913084656782,0.00440931276165135,-0.00912217611520882,0.999573800275651,0.027730915840855148,0.0399399995803833
+1789729721280932904,10433,0.6779597997665405,0.03262288495898247,-0.2149697095155716,-0.9999474781049764,-0.009244510875720927,0.004411937224552395,-0.00911870405121212,0.9995738411383717,0.027730584628399647,0.0399399995803833
+1789729721314228583,10466,0.6779603958129883,0.03262105956673622,-0.21496924757957458,-0.9999476453181724,-0.009242689512005672,0.004411153424116096,-0.00911691709702557,0.999573928889834,0.027728010107347646,0.0399399995803833
+1789729721347564496,10500,0.6779601573944092,0.03262118250131607,-0.2149687111377716,-0.9999475978861279,-0.009242771187405779,0.00440947146855581,-0.009117053327336939,0.9995739753214885,0.027726291019526263,0.03993000090122223
+1789729721380896840,10533,0.6779581904411316,0.03262379765510559,-0.21496930718421936,-0.9999474135534963,-0.009249727969283734,0.004407846270092119,-0.009124083484716898,0.9995740954162153,0.02771964708162844,0.03993000090122223
+1789729721414235793,10566,0.6779597401618958,0.03262264281511307,-0.21496924757957458,-0.9999476434323411,-0.009248020957767961,0.0044065988385103795,-0.009122413121566402,0.9995741194507515,0.027719331753144134,0.03993000090122223
+1789729721447562888,10600,0.6779603958129883,0.03262210637331009,-0.21496893465518951,-0.9999474150498595,-0.009247875639143366,0.004405970696206858,-0.00912228356613759,0.9995741106982771,0.027719688220120595,0.03993000090122223
+1789729721480899321,10633,0.6779587268829346,0.032621316611766815,-0.21496877074241638,-0.9999476077272789,-0.009248564308478244,0.004410538875628068,-0.009122853140279344,0.9995741506384771,0.027718062162122935,0.03993000090122223
+1789729721514225336,10666,0.6779578328132629,0.03262120485305786,-0.21496833860874176,-0.9999475917327754,-0.009248036828753588,0.004412026016012746,-0.009122287366497499,0.9995741716550803,0.027717490348908115,0.0399399995803833
+1789729721547629260,10700,0.6779590249061584,0.03262106701731682,-0.21496734023094177,-0.9999476144863466,-0.009246923618238121,0.004409318933094755,-0.009121245731515484,0.999574158799389,0.027718296755020518,0.03993000090122223
+1789729721580913111,10733,0.677960991859436,0.03262059763073921,-0.21496710181236267,-0.9999475609829891,-0.009246791345206597,0.004404330753116904,-0.009121260670695373,0.9995742128416644,0.02771634231421425,0.0399399995803833
+1789729721614230396,10766,0.6779594421386719,0.032622091472148895,-0.2149680256843567,-0.9999476383720793,-0.009249947837210684,0.004404057234818709,-0.009124450614208843,0.9995743446958959,0.02771053729442055,0.0399399995803833
+1789729721647565120,10800,0.6779589056968689,0.03262149542570114,-0.2149682641029358,-0.9999475960762199,-0.009249879192313605,0.0044048051513417355,-0.009124368401287684,0.9995743876848839,0.027709013320195368,0.0399399995803833
+1789729721680909242,10833,0.6779571175575256,0.03262016549706459,-0.214969664812088,-0.9999475092222818,-0.00925048978708825,0.004411829105168165,-0.009124798911703098,0.999574469755263,0.027705910388095976,0.0399399995803833
+1789729721714228428,10866,0.6779583096504211,0.032621584832668304,-0.2149682492017746,-0.9999475626022485,-0.009252348665308751,0.004407790482626194,-0.009126759902435744,0.999574398821849,0.027707823952979823,0.0399399995803833
+1789729721747566601,10900,0.6779582500457764,0.03262263163924217,-0.2149682193994522,-0.9999475758059826,-0.009253389101042444,0.004407580168623983,-0.009127803539524368,0.9995743760396346,0.02770830221125763,0.0399399995803833
+1789729721780930921,10933,0.6779581904411316,0.03262077644467354,-0.21496841311454773,-0.9999475321210587,-0.009250603862049544,0.0044080893053134555,-0.009125012626569085,0.9995744453503363,0.027706720528335983,0.0399399995803833
+1789729721814242877,10966,0.6779575943946838,0.032618820667266846,-0.21496812999248505,-0.9999475805879765,-0.00925171581870328,0.004409599458720412,-0.009126114346772837,0.9995746251088135,0.027699872177056772,0.0399399995803833
+1789729721847568042,11000,0.6779586672782898,0.032620012760162354,-0.21496793627738953,-0.9999475501155504,-0.009253031821659064,0.004404599087266788,-0.009127573382861165,0.9995746428277004,0.027698751704340413,0.0399399995803833
+1789729721880897986,11033,0.6779574751853943,0.03262250870466232,-0.21496973931789398,-0.9999474733984635,-0.00925582459174287,0.004404693234672486,-0.009130375389481058,0.9995746938264283,0.027695987282471846,0.0399399995803833
+1789729721914295142,11066,0.6779578328132629,0.032619886100292206,-0.21496984362602234,-0.9999474381874802,-0.009253724590087773,0.004407150211470606,-0.009128214123127478,0.9995747486265393,0.02769472153641461,0.0399399995803833
+1789729721947555875,11100,0.6779558658599854,0.03261740133166313,-0.21497033536434174,-0.999947528587946,-0.009253510005723435,0.004413706979152721,-0.00912784313389698,0.9995748993152705,0.027689405452963705,0.0399399995803833
+1789729721980952821,11133,0.6779568791389465,0.03261985257267952,-0.214968740940094,-0.9999473518423598,-0.009256571840322534,0.0044073364790434034,-0.009131069671250483,0.9995748087547622,0.027691609383515694,0.0399399995803833
+1789729722014228757,11166,0.6779587268829346,0.032618675380945206,-0.2149691879749298,-0.9999475554419397,-0.009254012953051513,0.004404859868408241,-0.009128586160549559,0.9995748667341642,0.027690336593281857,0.0399399995803833
+1789729722047557204,11200,0.6779602766036987,0.0326150581240654,-0.2149691879749298,-0.9999474792120431,-0.009248839647903618,0.004405435802518646,-0.009123411735598008,0.9995749905155703,0.027687572573117807,0.0399399995803833
+1789729722080892541,11233,0.6779611706733704,0.0326119102537632,-0.21496939659118652,-0.999947549709205,-0.009246316794000637,0.004404555623604894,-0.009120942476259313,0.99957518134704,0.02768149639499331,0.0399399995803833
+1789729722114234217,11266,0.6779589653015137,0.032616399228572845,-0.2149694263935089,-0.9999474512977349,-0.009253607593477261,0.004401975787687218,-0.00912831841173423,0.9995752123700302,0.02767794428226485,0.0399399995803833
+1789729722147559275,11300,0.6779582500457764,0.032619062811136246,-0.21497005224227905,-0.9999474556770338,-0.009254998829269688,0.004401255875234096,-0.00912972828951223,0.9995751951144837,0.027678102545035436,0.0399399995803833
+1789729722180895061,11333,0.6779592633247375,0.03261503577232361,-0.2149703949689865,-0.9999473992632777,-0.009250935161944286,0.004406719315020929,-0.009125524574431297,0.9995752895263548,0.027676078608259082,0.0399399995803833
+1789729722214229088,11366,0.6779584884643555,0.03261512890458107,-0.2149703949689865,-0.9999476096824313,-0.009250803571864639,0.004407235503616705,-0.00912538348088371,0.9995753187578894,0.027675070980696766,0.0399399995803833
+1789729722247557036,11400,0.6779583096504211,0.03261633962392807,-0.2149697095155716,-0.9999476041702788,-0.00925357141287438,0.004404151060506218,-0.009128236491775226,0.9995752984380195,0.02767486406934221,0.0399399995803833
+1789729722280899591,11433,0.677960216999054,0.03261458873748779,-0.214969664812088,-0.9999476063854382,-0.009249961069303373,0.004401763153867975,-0.00912469319314851,0.9995753290978304,0.02767492485163656,0.0399399995803833
+1789729722314233618,11466,0.6779614686965942,0.03261223062872887,-0.21496973931789398,-0.999947518247656,-0.009246167124854049,0.004400859641876174,-0.009120940520002114,0.9995754519026534,0.027671725209567056,0.0399399995803833
+1789729722347559156,11500,0.6779607534408569,0.03261255845427513,-0.21496962010860443,-0.9999474570568536,-0.00925057969389324,0.004401001054256564,-0.00912535779154074,0.9995754725302325,0.02766952350853904,0.0399399995803833
+1789729722380899982,11533,0.6779596209526062,0.03261366859078407,-0.21496960520744324,-0.9999473929353835,-0.009253480531779225,0.0044010879535713015,-0.00912826591226311,0.9995755099554151,0.02766721187972264,0.0399399995803833
+1789729722414285162,11566,0.6779595017433167,0.03261258080601692,-0.21496988832950592,-0.9999476071229485,-0.00925263542951017,0.0044028568049742835,-0.009127376313640566,0.9995755421386167,0.027666344269003176,0.0399399995803833
+1789729722447556747,11600,0.6779599785804749,0.03261073678731918,-0.21497012674808502,-0.9999476181953995,-0.009248023494792468,0.004404633913591397,-0.009122715145878268,0.9995755736746091,0.027666742067770297,0.0399399995803833
+1789729722480882845,11633,0.6779595613479614,0.03261156007647514,-0.21497035026550293,-0.9999476069169511,-0.009248020994748665,0.004403780784391525,-0.009122738132792383,0.9995755848589474,0.027666330289055834,0.0399399995803833
+1789729722514226170,11666,0.677959680557251,0.03261175379157066,-0.2149704247713089,-0.9999476035179993,-0.009247851683560394,0.004402603603032995,-0.00912260200336874,0.9995755896609864,0.02766620160198096,0.0399399995803833
+1789729722547560917,11700,0.6779619455337524,0.032607655972242355,-0.21497134864330292,-0.9999476856782092,-0.009242197096951356,0.00440101873047305,-0.009117019704804096,0.9995757975005801,0.02766053211684659,0.0399399995803833
+1789729722580907322,11733,0.6779625415802002,0.03260517120361328,-0.21497128903865814,-0.9999475526431738,-0.009242090456357616,0.004402200342186781,-0.009116902852253844,0.9995759315616218,0.0276557246273984,0.0399399995803833
+1789729722614231220,11766,0.6779600381851196,0.03260650858283043,-0.21497207880020142,-0.9999474497937297,-0.009243935755502725,0.004406211728333332,-0.009118653930284132,0.9995760178993971,0.027652025994008792,0.0399399995803833
+1789729722647559678,11800,0.6779593229293823,0.03260839730501175,-0.21497207880020142,-0.9999474280725456,-0.00924896784861906,0.004405382030600254,-0.009123710690176146,0.9995759932834272,0.027651247970894965,0.0399399995803833
+1789729722680891505,11833,0.6779597401618958,0.0326075442135334,-0.21497192978858948,-0.9999474738833483,-0.0092505542972845,0.004405863882341356,-0.009125275494840986,0.9995759329939974,0.02765291146557229,0.0399399995803833
+1789729722714222122,11866,0.6779608130455017,0.0326061025261879,-0.2149716168642044,-0.9999475179981456,-0.00924980967655804,0.004406372172926906,-0.009124509674402637,0.9995758958193248,0.027654508188216916,0.0399399995803833
+1789729722747574187,11900,0.677960991859436,0.03260679170489311,-0.21497057378292084,-0.9999475263889963,-0.009251798321429182,0.004403161178894819,-0.009126584879866407,0.9995758687547329,0.02765480175214087,0.0399399995803833
+1789729722780897445,11933,0.6779603958129883,0.03260904923081398,-0.21496999263763428,-0.9999474486098578,-0.009254770116879132,0.004398963083022107,-0.00912968464816156,0.9995759186268212,0.02765197531302488,0.0399399995803833
+1789729722814289104,11966,0.677960991859436,0.03260801360011101,-0.21496963500976562,-0.999947612473788,-0.009254622712426858,0.004398416542280242,-0.00912956495674297,0.9995759943884835,0.02764927725997185,0.0399399995803833
+1789729722847561369,12000,0.6779600977897644,0.032607365399599075,-0.2149706333875656,-0.999947565485289,-0.00925464032170345,0.004402606511017183,-0.00912947471219025,0.9995760417108895,0.027647595990495887,0.0399399995803833
+1789729722880898175,12033,0.677959144115448,0.032607484608888626,-0.2149709016084671,-0.9999475083104139,-0.009256005019758158,0.00440411575096375,-0.009130806831567133,0.9995760864875138,0.027645536851841727,0.0399399995803833
+1789729722914226463,12066,0.6779592037200928,0.03260738402605057,-0.214970201253891,-0.9999475579200507,-0.009254645906876881,0.004404337757956308,-0.009129433740600244,0.9995760494388,0.027647330122961365,0.0399399995803833
+1789729722947557030,12100,0.6779590249061584,0.03260703757405281,-0.21497103571891785,-0.9999475418120041,-0.009253423270689096,0.00440567058433086,-0.009128177465184819,0.9995760769416792,0.027646750404676495,0.0399399995803833
+1789729722980899086,12133,0.6779604554176331,0.032606709748506546,-0.21497029066085815,-0.999947575160669,-0.00925077490365964,0.004402472039308725,-0.009125612854319922,0.9995760675505372,0.02764793652168393,0.0399399995803833
+1789729723014227069,12166,0.6779605150222778,0.032606326043605804,-0.21497046947479248,-0.9999474954453706,-0.009252535791461867,0.004401716690677487,-0.009127407370161968,0.9995761309268398,0.027645052204742983,0.0399399995803833
+1789729723047564818,12200,0.6779603958129883,0.032605525106191635,-0.2149703949689865,-0.999947437400992,-0.009252604575359176,0.004403004606960956,-0.009127450332843316,0.9995761884576314,0.027642957374056653,0.0399399995803833
+1789729723080905667,12233,0.6779595613479614,0.03260582685470581,-0.21497029066085815,-0.9999473799269991,-0.009254153378219448,0.0044049654129443795,-0.00912895407402336,0.9995762319009323,0.027640889549317295,0.0399399995803833
+1789729723114236957,12266,0.6779593229293823,0.03260605409741402,-0.21497046947479248,-0.9999474007138702,-0.009254343650534352,0.004405801800009578,-0.009129117665874204,0.9995762094874117,0.027641646249180203,0.03993000090122223
+1789729723147593254,12300,0.6779592037200928,0.03260524570941925,-0.21497075259685516,-0.9999473782805386,-0.009255269354159212,0.004407549339434882,-0.009129998531937633,0.9995762236157817,0.027640844345867416,0.03993000090122223
+1789729723180911006,12333,0.6779584884643555,0.032605841755867004,-0.21497121453285217,-0.9999474118793292,-0.009255446180471786,0.004409761333729754,-0.009130108521843613,0.9995761886983962,0.027642071050551338,0.03993000090122223
+1789729723214239486,12366,0.6779593825340271,0.0326056107878685,-0.21496978402137756,-0.9999474279846341,-0.009254740171650342,0.004407235018920188,-0.009129469846835216,0.9995761787748967,0.027642640825777606,0.03993000090122223
+1789729723247565657,12400,0.6779599189758301,0.03260449320077896,-0.21496939659118652,-0.9999473874904734,-0.009251644891321732,0.004406992938776501,-0.009126389266250045,0.9995762476550325,0.02764116674150296,0.03993000090122223
+1789729723280898867,12433,0.6779592037200928,0.032605044543743134,-0.2149699330329895,-0.9999474973143165,-0.009253274582548193,0.004406371640234178,-0.009128057194825585,0.9995763610733425,0.02763651502944619,0.03993000090122223
+1789729723314243306,12466,0.6779594421386719,0.03260621801018715,-0.21496859192848206,-0.9999474288457049,-0.009255435621706167,0.004403364253625766,-0.009130312008230777,0.9995764092428,0.02763402738491326,0.0399399995803833
+1789729723347565997,12500,0.6779583096504211,0.03260508179664612,-0.21496912837028503,-0.9999473302946189,-0.009256325926104675,0.004408477444201392,-0.00913107741573807,0.9995765001815164,0.027630484306387523,0.0399399995803833
+1789729723380914065,12533,0.6779575347900391,0.03260454162955284,-0.21496959030628204,-0.9999473424327914,-0.009257878017044672,0.00441146615039071,-0.00913254434504476,0.9995764741612072,0.02763094111585,0.0399399995803833
+1789729723414233177,12566,0.6779577136039734,0.03260447457432747,-0.21496902406215668,-0.9999473543654205,-0.009257266659318752,0.004411097264878823,-0.009131941389876885,0.999576467812537,0.027631370098917515,0.0399399995803833
+1789729723447566996,12600,0.6779582500457764,0.03260412439703941,-0.2149692326784134,-0.9999473526166616,-0.0092566079473634,0.004410552932946005,-0.009131298254113279,0.99957647554737,0.027631302753076705,0.0399399995803833
+1789729723480972437,12633,0.6779590249061584,0.03260374814271927,-0.21496888995170593,-0.9999473227855074,-0.009257003911246762,0.0044079109507678925,-0.009131772051152311,0.9995765013792914,0.027630211379367726,0.0399399995803833
+1789729723514237625,12666,0.6779588460922241,0.03260352835059166,-0.21496838331222534,-0.999947536954134,-0.009256418108217809,0.004408090509241687,-0.00913118561114085,0.9995765309984532,0.02762933525248153,0.0399399995803833
+1789729723547564156,12700,0.6779589056968689,0.03260285407304764,-0.21496810019016266,-0.9999474507616826,-0.009257316626581878,0.0044076527386136466,-0.00913211042466925,0.999576608806995,0.027626213844199336,0.0399399995803833
+1789729723580909854,12733,0.6779577732086182,0.03260369971394539,-0.21496811509132385,-0.9999473656073528,-0.009258890618675568,0.004409112981637871,-0.009133657887378195,0.9995766796065529,0.02762313992737279,0.0399399995803833
+1789729723614291958,12766,0.6779571771621704,0.03260320425033569,-0.21496811509132385,-0.9999473549637306,-0.009259243067009487,0.004411904540302904,-0.009133934944845762,0.999576687354944,0.02762276796667523,0.0399399995803833
+1789729723647566666,12800,0.6779569387435913,0.03260324150323868,-0.21496829390525818,-0.9999473831927936,-0.00925910204763963,0.004412783851253486,-0.009133764936201275,0.9995766605563774,0.02762379415088202,0.0399399995803833
+1789729723680902915,12833,0.6779565811157227,0.03260285034775734,-0.21496856212615967,-0.9999473237535794,-0.009258737246508823,0.004413507515964649,-0.009133390347381816,0.9995767233961358,0.0276216435863488,0.0399399995803833
+1789729723714304636,12866,0.6779571771621704,0.032602459192276,-0.21496769785881042,-0.9999473251932289,-0.009256474463251152,0.004412186586178928,-0.0091311646425283,0.9995767425966551,0.02762168442387683,0.0399399995803833
+1789729723747567495,12900,0.6779575347900391,0.03260127827525139,-0.21496853232383728,-0.9999474881108734,-0.009255383054843294,0.004412555771050673,-0.009130076225926884,0.9995768280988238,0.027618951096070515,0.0399399995803833
+1789729723780957198,12933,0.67795729637146,0.03260120749473572,-0.2149684876203537,-0.9999474462120574,-0.009255737767379126,0.004413071472867411,-0.00913042365451918,0.9995768667695818,0.027617436362927017,0.0399399995803833
+1789729723814316684,12966,0.6779569387435913,0.0326014943420887,-0.2149679958820343,-0.9999474277053388,-0.009258009085136803,0.004412753523002796,-0.009132706010656128,0.9995768643380251,0.027616769720993698,0.0399399995803833
+1789729723847577233,13000,0.6779566407203674,0.03260178864002228,-0.21496814489364624,-0.9999474127460697,-0.009258482335888624,0.00441291991321435,-0.009133177018662824,0.999576874954843,0.027616229605592443,0.0399399995803833
+1789729723880899175,13033,0.6779559254646301,0.0326017327606678,-0.21496790647506714,-0.9999473879174161,-0.00926044975531638,0.004414511451383746,-0.009135103968197712,0.9995768818717423,0.027615341891842636,0.0399399995803833
+1789729723914307045,13066,0.6779556274414062,0.032601576298475266,-0.21496829390525818,-0.9999473786647088,-0.009259496194602613,0.0044155944567766635,-0.009134122450311677,0.9995769000251211,0.027615009367230645,0.0399399995803833
+1789729723947641925,13100,0.6779561638832092,0.03260146826505661,-0.2149679809808731,-0.9999473553278242,-0.009259307937761894,0.004413366956692057,-0.009133999679119511,0.9995769247925366,0.02761415319192803,0.0399399995803833
+1789729723980959607,13133,0.6779566407203674,0.0326017327606678,-0.21496710181236267,-0.9999473145156961,-0.009261828238357526,0.004411587438644206,-0.009136575023421913,0.9995769421648981,0.027612672140709768,0.0399399995803833
+1789729724014286233,13166,0.6779570579528809,0.03260200843214989,-0.21496649086475372,-0.9999473131279166,-0.009261955941846305,0.004410928338580678,-0.009136721099099805,0.9995769422931204,0.027612619140772704,0.0399399995803833
+1789729724047642382,13200,0.6779561638832092,0.03260178491473198,-0.21496714651584625,-0.9999474608578873,-0.00926431140383632,0.004414343800706958,-0.009138996768221611,0.9995770116519788,0.027609356482651483,0.0399399995803833
+1789729724080961147,13233,0.6779547929763794,0.03260097652673721,-0.21496786177158356,-0.9999474002164757,-0.009264113538112694,0.00441995195418689,-0.009138654525352941,0.9995770747788386,0.0276071839293756,0.0399399995803833
+1789729724114297070,13266,0.6779546141624451,0.03260069340467453,-0.21496780216693878,-0.9999474128582697,-0.009262648819670687,0.004420576408732535,-0.009137170995858385,0.999577075702877,0.02760764152760096,0.0399399995803833
+1789729724147626073,13300,0.6779546737670898,0.032600488513708115,-0.21496744453907013,-0.999947465740245,-0.009260455726186818,0.004420614675318187,-0.009134968722867025,0.9995770430413541,0.027609553060918064,0.0399399995803833
+1789729724180896193,13333,0.6779548525810242,0.03259996697306633,-0.2149675339460373,-0.9999474232904773,-0.0092579006788807,0.004420319322041089,-0.009132429987414774,0.9995771089185266,0.027608007338047157,0.0399399995803833
+1789729724214307537,13366,0.6779552698135376,0.03259989991784096,-0.21496696770191193,-0.9999473843374465,-0.009259222250090317,0.00441791943064326,-0.009133823858714005,0.9995771353834595,0.027606587712075262,0.0399399995803833
+1789729724247644889,13400,0.6779559254646301,0.03259819746017456,-0.21496674418449402,-0.9999473095717131,-0.009257792637617918,0.004417506786776733,-0.009132418832298567,0.9995772231854231,0.027603872590703897,0.0399399995803833
+1789729724280901481,13433,0.6779552102088928,0.03259808570146561,-0.21496699750423431,-0.9999472890702281,-0.009259725226603573,0.0044193835761563716,-0.00913430238988399,0.9995772261363506,0.027603142549833412,0.0399399995803833
+1789729724314234884,13466,0.6779547333717346,0.032597899436950684,-0.2149667590856552,-0.9999472454486058,-0.009259626062794128,0.004420835369732628,-0.009134170610709143,0.9995772708201892,0.02760156770949919,0.0399399995803833
+1789729724347633159,13500,0.6779541373252869,0.032597530633211136,-0.21496719121932983,-0.9999474623140716,-0.009259087758401863,0.0044234973992829454,-0.009133562746359713,0.9995772976241075,0.027600799874089428,0.0399399995803833
+1789729724380905059,13533,0.677953839302063,0.032597437500953674,-0.21496747434139252,-0.9999472252057344,-0.009259323595879486,0.0044242858096370016,-0.009133776523784066,0.9995772942667613,0.02760084894658366,0.0399399995803833
+1789729724414232302,13566,0.6779543161392212,0.03259691596031189,-0.21496735513210297,-0.9999474273784619,-0.00925991605353827,0.004422584577566394,-0.00913442182506396,0.999577324798862,0.027599531160569433,0.0399399995803833
+1789729724447627358,13600,0.6779544353485107,0.032597072422504425,-0.21496717631816864,-0.999947402205267,-0.00925967746064664,0.004421850177904835,-0.009134207844177136,0.9995773520536805,0.027598614636880164,0.0399399995803833
+1789729724480907087,13633,0.677954912185669,0.032596636563539505,-0.21496669948101044,-0.9999473295672894,-0.009261868675856108,0.004420176428494892,-0.009136456694349695,0.9995774042672592,0.0275959785768513,0.0399399995803833
+1789729724514284004,13666,0.6779541373252869,0.03259732574224472,-0.21496662497520447,-0.9999472625348587,-0.009263036641643572,0.004420385184535653,-0.009137629820082873,0.9995774605286323,0.0275935517332144,0.0399399995803833
+1789729724547626136,13700,0.677952766418457,0.032598331570625305,-0.21496734023094177,-0.9999472126624547,-0.00926479131781448,0.0044217668184686615,-0.009139354188431105,0.9995774943918734,0.027591753686835047,0.0399399995803833
+1789729724580899146,13733,0.6779524087905884,0.032597657293081284,-0.21496734023094177,-0.9999473684724942,-0.009265788516882208,0.004423157149934772,-0.009140326689386129,0.9995775679145543,0.027588769156900284,0.0399399995803833
+1789729724614226060,13766,0.6779525876045227,0.032597750425338745,-0.21496686339378357,-0.9999473722213919,-0.009265988609478023,0.004421974153161986,-0.009140558683715664,0.9995775621769427,0.027588900178585604,0.0399399995803833
+1789729724647566702,13800,0.6779529452323914,0.03259726241230965,-0.2149667739868164,-0.9999473947665225,-0.009263514885028981,0.004421773069186678,-0.009138087620290544,0.9995775623877969,0.027589711102039432,0.0399399995803833
+1789729724680903414,13833,0.6779539585113525,0.032596636563539505,-0.21496646106243134,-0.9999473351954185,-0.009262065938922742,0.004418311103899305,-0.0091367447633748,0.9995776348041181,0.027587531430277548,0.0399399995803833
+1789729724714292590,13866,0.6779546141624451,0.03259575739502907,-0.21496547758579254,-0.9999472760911186,-0.0092622504208284,0.00441644950433445,-0.009136990505950848,0.999577691929062,0.027585379650017047,0.0399399995803833
+1789729724747565740,13900,0.6779536008834839,0.03259611502289772,-0.21496634185314178,-0.9999472347054397,-0.009263612757756612,0.004418844319039934,-0.009138293325876845,0.9995777210519841,0.027583892620643178,0.0399399995803833
+1789729724780902633,13933,0.6779530644416809,0.032597221434116364,-0.2149660736322403,-0.9999472204828421,-0.009265979550868214,0.0044183991142335635,-0.009140673901613166,0.9995777134268787,0.02758338021046375,0.03993000090122223
+1789729724814241455,13966,0.6779530048370361,0.03259674087166786,-0.21496638655662537,-0.9999472452313602,-0.009264881299458832,0.004419791413964133,-0.009139533495762759,0.9995776989815105,0.027584281719438157,0.03993000090122223
+1789729724847565848,14000,0.6779532432556152,0.03259610757231712,-0.21496587991714478,-0.9999472138594128,-0.009266858926928568,0.004420409226416664,-0.009141498661486846,0.999577712206388,0.027583151193778688,0.03993000090122223
+1789729724880902241,14033,0.6779531240463257,0.032596033066511154,-0.21496610343456268,-0.999947203128553,-0.009263690624639432,0.004420903611720579,-0.009138319755838075,0.9995777521489503,0.027582756791239463,0.03993000090122223
+1789729724914292776,14066,0.6779530644416809,0.032595351338386536,-0.214966282248497,-0.9999473588628658,-0.009264022266990864,0.004421918002575839,-0.009138637340877269,0.9995778318250078,0.027579765260519536,0.03993000090122223
+1789729724947561897,14100,0.6779531836509705,0.03259524330496788,-0.21496613323688507,-0.999947289149226,-0.009265279369876062,0.004421042311077952,-0.009139929923492357,0.9995778898050491,0.027577234959088228,0.03993000090122223
+1789729724980903559,14133,0.6779530048370361,0.03259524330496788,-0.21496571600437164,-0.9999472585039437,-0.009264747922481787,0.004421866896761476,-0.009139381153508862,0.9995779254216673,0.027576125588693882,0.0399399995803833
+1789729725014249855,14166,0.6779525876045227,0.03259478881955147,-0.21496577560901642,-0.9999473831555621,-0.009266161613000923,0.004422582806551245,-0.009140793887424337,0.9995780261596255,0.027572006565314174,0.0399399995803833
+1789729725047576012,14200,0.6779522895812988,0.03259545564651489,-0.2149655520915985,-0.9999473254189244,-0.009267385557444635,0.004422606723754052,-0.00914202650643961,0.9995780725886017,0.02756991425414301,0.03993000090122223
+1789729725080905668,14233,0.677951991558075,0.03259541466832161,-0.21496562659740448,-0.9999473064822635,-0.009267883799039891,0.004423260103264715,-0.009142509772761629,0.9995780870069196,0.027569231153377064,0.0399399995803833
+1789729725114237294,14266,0.6779520511627197,0.03259534016251564,-0.21496573090553284,-0.9999472929856905,-0.009267610169191531,0.004422546607136681,-0.009142258193439834,0.9995781029213076,0.027568737421487553,0.0399399995803833
+1789729725147563460,14300,0.6779531240463257,0.03259501978754997,-0.21496519446372986,-0.9999472922159314,-0.009266397382026954,0.004419974620633525,-0.009141116851558044,0.9995781145275174,0.02756869489304326,0.0399399995803833
+1789729725180902315,14333,0.6779544353485107,0.03259315341711044,-0.21496526896953583,-0.9999474342410581,-0.009264420317774785,0.0044180482150490115,-0.009139209954966494,0.9995782287757548,0.027565185384729008,0.0399399995803833
+1789729725214235491,14366,0.677954912185669,0.0325930193066597,-0.21496464312076569,-0.9999474355238278,-0.00926377329105553,0.004416844699719577,-0.009138596107113442,0.999578233295207,0.02756522493585644,0.0399399995803833
+1789729725247561147,14400,0.6779540181159973,0.03259356692433357,-0.2149656116962433,-0.9999473579971234,-0.009266737216921039,0.00441855472679676,-0.009141524953990588,0.9995782837014677,0.02756242547659663,0.0399399995803833
+1789729725280897552,14433,0.6779534220695496,0.032594095915555954,-0.21496610343456268,-0.9999473205962714,-0.009269507293158898,0.004418386331670451,-0.009144304960803649,0.9995782955511043,0.02756107343488242,0.0399399995803833
+1789729725314235207,14466,0.6779531240463257,0.03259393572807312,-0.21496598422527313,-0.9999473180824257,-0.009269430178318572,0.004419091948486618,-0.00914420886835413,0.9995782988624702,0.0275609852197881,0.0399399995803833
+1789729725347564373,14500,0.6779538989067078,0.03259243443608284,-0.21496570110321045,-0.9999473133112722,-0.009267602899186201,0.004418859910118452,-0.00914238948217989,0.9995783204226826,0.027560806679797312,0.0399399995803833
+1789729725380903678,14533,0.6779546141624451,0.03259101137518883,-0.21496587991714478,-0.9999472537513308,-0.009265478440640672,0.004417608135762745,-0.00914031040466974,0.9995783993313611,0.02755863366411842,0.0399399995803833
+1789729725414232114,14566,0.677955150604248,0.032589685171842575,-0.2149668037891388,-0.9999474283314698,-0.009265591059233448,0.004417549927772214,-0.009140435413665125,0.999578462055434,0.027556318383272226,0.0399399995803833
+1789729725447562570,14600,0.6779550909996033,0.03258943557739258,-0.21496665477752686,-0.999947364421562,-0.00926479525154641,0.004417441563519774,-0.009139653731209762,0.9995785332254294,0.027553995387573214,0.0399399995803833
+1789729725480898605,14633,0.6779546737670898,0.03259017691016197,-0.21496689319610596,-0.9999473682683142,-0.009265858894866197,0.0044180256341299785,-0.0091407002370415,0.999578519666991,0.027554140226695292,0.0399399995803833
+1789729725514235581,14666,0.6779535412788391,0.03259033337235451,-0.21496742963790894,-0.9999473811422535,-0.009265593094175413,0.004421640983788998,-0.009140332806742417,0.9995785097075316,0.027554623609930416,0.0399399995803833
+1789729725547565057,14700,0.6779534816741943,0.03258968144655228,-0.21496747434139252,-0.9999473116460922,-0.009267209085760687,0.004421664731489815,-0.009141959330314075,0.9995785642787832,0.0275521038446296,0.0399399995803833
+1789729725580912321,14733,0.6779536604881287,0.032589491456747055,-0.21496731042861938,-0.9999473519069297,-0.009267979589321195,0.004421433681929488,-0.009142729068014211,0.9995785169274783,0.027553566631148847,0.0399399995803833
+1789729725614255855,14766,0.6779536604881287,0.03258927911520004,-0.21496744453907013,-0.999947318415918,-0.009266833917587217,0.004420689407466849,-0.009141610007737375,0.9995785608439299,0.027552344355985196,0.0399399995803833
+1789729725647580561,14800,0.6779540777206421,0.03258899226784706,-0.21496742963790894,-0.9999473360587781,-0.0092661737969645,0.004419854048982182,-0.009140970142386778,0.99957854918483,0.027552979685946357,0.0399399995803833
+1789729725680910267,14833,0.6779540181159973,0.03258853405714035,-0.2149672955274582,-0.9999472736438748,-0.009265144023734366,0.00441958799208906,-0.009139958676896638,0.9995786209945845,0.02755070943367853,0.0399399995803833
+1789729725714228385,14866,0.6779537200927734,0.03258851543068886,-0.2149667739868164,-0.9999471999014171,-0.009266804012781467,0.004420059846188534,-0.00914161756321407,0.999578679461307,0.02754803723244589,0.0399399995803833
+1789729725747564890,14900,0.6779532432556152,0.032588232308626175,-0.21496668457984924,-0.9999473638411516,-0.009267580944962729,0.004421978611756806,-0.009142354033068166,0.999578746952849,0.02754534514614302,0.0399399995803833
+1789729725780900665,14933,0.6779517531394958,0.032587986439466476,-0.21496742963790894,-0.9999473575345088,-0.009266193188861998,0.004426688353365522,-0.009140838238662869,0.9995787666248657,0.027545134343892063,0.0399399995803833
+1789729725814293194,14966,0.6779524087905884,0.03258904814720154,-0.2149665355682373,-0.9999472076958302,-0.00926779298022501,0.00442338167240056,-0.009142513389187423,0.999578662990559,0.02754833782482519,0.0399399995803833
+1789729725847608951,15000,0.6779523491859436,0.032588861882686615,-0.21496696770191193,-0.999947172416495,-0.009268440511573967,0.004423208636937117,-0.009143171431144043,0.9995786922593823,0.027547057166314476,0.0399399995803833
+1789729725880900582,15033,0.6779527068138123,0.03258782625198364,-0.21496716141700745,-0.9999473489719153,-0.009266392367447859,0.004423212451272588,-0.009141134470233906,0.999578772907179,0.027544807889742173,0.0399399995803833
+1789729725914225579,15066,0.6779534220695496,0.032586999237537384,-0.2149670571088791,-0.999947257250561,-0.00926495218590431,0.00442071596374443,-0.009139779123034961,0.9995788774950248,0.02754146114814848,0.0399399995803833
+1789729725947626016,15100,0.6779541969299316,0.03258639574050903,-0.21496614813804626,-0.9999472163922476,-0.009264657914790902,0.00441907682610813,-0.009139537010219096,0.9995789208218356,0.027539968578402504,0.0399399995803833
+1789729725980920536,15133,0.6779537796974182,0.032585181295871735,-0.21496668457984924,-0.9999473277641826,-0.009269764071393377,0.004421056057833665,-0.009144608346419697,0.9995790009976233,0.027535375985986717,0.0399399995803833
diff --git a/episode_0008/left.observation.state.joint_position/data.csv b/episode_0008/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c2bc8c1824c9208faf2c0569e8387eefe9b6b6ac
--- /dev/null
+++ b/episode_0008/left.observation.state.joint_position/data.csv
@@ -0,0 +1,456 @@
+timestamp_ns,elapsed_ms,j1,j2,j3,j4,j5,j6,j7,gripper
+1789729710847580356,0,0.8362566828727722,-1.8968428373336792,-1.0058982372283936,1.3811341524124146,-0.16162246465682983,0.594420313835144,0.7038903832435608,0.0399399995803833
+1789729710881001937,33,0.8362637758255005,-1.896843671798706,-1.0058982372283936,1.381129503250122,-0.1616131067276001,0.5944010615348816,0.703889012336731,0.0399399995803833
+1789729710914338209,66,0.836270272731781,-1.8968454599380493,-1.0058982372283936,1.3811298608779907,-0.1616060584783554,0.594393789768219,0.7038840651512146,0.0399399995803833
+1789729710947649055,100,0.8362740874290466,-1.8968465328216553,-1.005899429321289,1.3811298608779907,-0.16160055994987488,0.5943939089775085,0.7038792371749878,0.0399399995803833
+1789729710981000045,133,0.8362768292427063,-1.8968486785888672,-1.0059051513671875,1.3811315298080444,-0.1615995317697525,0.5943928956985474,0.7038796544075012,0.0399399995803833
+1789729711014326024,166,0.8362791538238525,-1.896852970123291,-1.0059138536453247,1.3811314105987549,-0.16159872710704803,0.594392716884613,0.7038795351982117,0.0399399995803833
+1789729711047668310,200,0.8362821340560913,-1.8968558311462402,-1.0059188604354858,1.3811315298080444,-0.1615978181362152,0.5943891406059265,0.7038792371749878,0.0399399995803833
+1789729711081000877,233,0.8362839818000793,-1.8968583345413208,-1.005918025970459,1.3811312913894653,-0.1615913212299347,0.5943794846534729,0.7038752436637878,0.0399399995803833
+1789729711114337564,266,0.8362866640090942,-1.8968608379364014,-1.005918025970459,1.3811304569244385,-0.16158175468444824,0.5943785905838013,0.703863263130188,0.0399399995803833
+1789729711147662632,300,0.8362908959388733,-1.89686119556427,-1.005918025970459,1.3811314105987549,-0.16157907247543335,0.5943760871887207,0.7038583755493164,0.0399399995803833
+1789729711180998748,333,0.8362963199615479,-1.8968619108200073,-1.0059196949005127,1.3811317682266235,-0.1615711897611618,0.5943725109100342,0.7038583755493164,0.03994999825954437
+1789729711214322147,366,0.8362981677055359,-1.896863579750061,-1.0059220790863037,1.3811326026916504,-0.16157065331935883,0.5943720936775208,0.7038594484329224,0.03994999825954437
+1789729711247705547,400,0.8362993001937866,-1.8968669176101685,-1.005928874015808,1.3811322450637817,-0.16156916320323944,0.5943719148635864,0.7038591504096985,0.03993000090122223
+1789729711281008238,433,0.8363010883331299,-1.8968724012374878,-1.0059369802474976,1.3811315298080444,-0.1615682691335678,0.5943689942359924,0.7038577198982239,0.03993000090122223
+1789729711314341745,466,0.8363028764724731,-1.896875023841858,-1.0059362649917603,1.3811312913894653,-0.16156671941280365,0.5943623781204224,0.7038571834564209,0.03993000090122223
+1789729711347650245,500,0.8363051414489746,-1.896877408027649,-1.0059375762939453,1.3811311721801758,-0.16155971586704254,0.5943615436553955,0.7038557529449463,0.03993000090122223
+1789729711381007689,533,0.8363093137741089,-1.8968809843063354,-1.0059374570846558,1.38113272190094,-0.16155725717544556,0.5943617820739746,0.7038518190383911,0.03993000090122223
+1789729711414320779,566,0.8363115191459656,-1.896881341934204,-1.0059399604797363,1.381134271621704,-0.16155165433883667,0.5943624973297119,0.7038483619689941,0.03993000090122223
+1789729711447650506,600,0.8363147377967834,-1.8968837261199951,-1.005944013595581,1.3811349868774414,-0.16155089437961578,0.5943611264228821,0.7038484215736389,0.0399399995803833
+1789729711481003931,633,0.8363179564476013,-1.8968884944915771,-1.0059545040130615,1.3811354637145996,-0.16154909133911133,0.5943601131439209,0.7038487195968628,0.03993000090122223
+1789729711514322079,666,0.8363178372383118,-1.896890640258789,-1.005958080291748,1.3811357021331787,-0.1615493893623352,0.5943604707717896,0.7038484215736389,0.0399399995803833
+1789729711547655536,700,0.8363184332847595,-1.896892786026001,-1.0059587955474854,1.381135106086731,-0.16154687106609344,0.5943569540977478,0.7038483023643494,0.0399399995803833
+1789729711580997432,733,0.8363204002380371,-1.896896243095398,-1.005958080291748,1.381134033203125,-0.16154521703720093,0.5943484902381897,0.7038437724113464,0.0399399995803833
+1789729711614325999,766,0.8363226056098938,-1.896897315979004,-1.0059585571289062,1.3811335563659668,-0.16154026985168457,0.5943428874015808,0.7038319706916809,0.0399399995803833
+1789729711647653537,800,0.8363251090049744,-1.8968976736068726,-1.005958914756775,1.381133794784546,-0.16153503954410553,0.5943419933319092,0.7038272023200989,0.0399399995803833
+1789729711681005802,833,0.8363276720046997,-1.896898627281189,-1.0059621334075928,1.3811346292495728,-0.1615324318408966,0.5943422317504883,0.7038292288780212,0.0399399995803833
+1789729711714322301,866,0.836330235004425,-1.8969018459320068,-1.0059672594070435,1.3811339139938354,-0.16153216361999512,0.5943439602851868,0.703829824924469,0.0399399995803833
+1789729711747709101,900,0.8363304734230042,-1.8969054222106934,-1.0059731006622314,1.381132960319519,-0.16153135895729065,0.5943437814712524,0.7038304805755615,0.0399399995803833
+1789729711781000233,933,0.8363315463066101,-1.8969088792800903,-1.0059758424758911,1.3811321258544922,-0.16152949631214142,0.594340443611145,0.7038290500640869,0.0399399995803833
+1789729711814329811,966,0.8363333344459534,-1.896911859512329,-1.0059752464294434,1.3811326026916504,-0.16152626276016235,0.5943368673324585,0.7038285136222839,0.0399399995803833
+1789729711847642850,1000,0.8363361954689026,-1.8969142436981201,-1.0059750080108643,1.3811322450637817,-0.16152462363243103,0.594333291053772,0.7038264870643616,0.0399399995803833
+1789729711881008663,1033,0.8363394737243652,-1.8969155550003052,-1.005974531173706,1.3811323642730713,-0.16152189671993256,0.5943267345428467,0.7038233876228333,0.0399399995803833
+1789729711914327092,1066,0.8363404870033264,-1.8969171047210693,-1.0059754848480225,1.3811330795288086,-0.16152016818523407,0.5943273901939392,0.7038207650184631,0.0399399995803833
+1789729711947581499,1100,0.8363421559333801,-1.896917462348938,-1.005979061126709,1.3811328411102295,-0.16152076423168182,0.5943293571472168,0.7038202285766602,0.0399399995803833
+1789729711980921715,1133,0.8363421559333801,-1.8969216346740723,-1.0059860944747925,1.3811334371566772,-0.16152092814445496,0.5943283438682556,0.7038213610649109,0.0399399995803833
+1789729712014320269,1166,0.8363433480262756,-1.8969260454177856,-1.005989909172058,1.381132960319519,-0.1615193635225296,0.594328761100769,0.7038211822509766,0.0399399995803833
+1789729712047658620,1200,0.8363444209098816,-1.896926760673523,-1.0059905052185059,1.381132960319519,-0.16151903569698334,0.5943289995193481,0.7038204073905945,0.0399399995803833
+1789729712080910532,1233,0.8363448977470398,-1.896929144859314,-1.005989670753479,1.3811334371566772,-0.1615132838487625,0.5943278074264526,0.703816831111908,0.0399399995803833
+1789729712114241843,1266,0.8363475203514099,-1.896930456161499,-1.0059908628463745,1.3811336755752563,-0.16151176393032074,0.5943251252174377,0.703812301158905,0.0399399995803833
+1789729712147597241,1300,0.8363491296768188,-1.8969322443008423,-1.0059947967529297,1.3811335563659668,-0.1615103781223297,0.5943250060081482,0.7038100957870483,0.0399399995803833
+1789729712180905286,1333,0.8363497257232666,-1.8969345092773438,-1.0060030221939087,1.3811333179473877,-0.16151028871536255,0.5943256616592407,0.7038094401359558,0.0399399995803833
+1789729712214237707,1366,0.8363503217697144,-1.8969368934631348,-1.0060075521469116,1.3811328411102295,-0.16151075065135956,0.5943247079849243,0.7038089632987976,0.0399399995803833
+1789729712247565449,1400,0.8363502025604248,-1.8969393968582153,-1.0060086250305176,1.3811324834823608,-0.1615094691514969,0.5943235754966736,0.7038091421127319,0.0399399995803833
+1789729712280906899,1433,0.8363518118858337,-1.896944522857666,-1.0060083866119385,1.3811320066452026,-0.16150733828544617,0.5943148136138916,0.7038043141365051,0.0399399995803833
+1789729712314228422,1466,0.8363534212112427,-1.8969473838806152,-1.0060087442398071,1.3811311721801758,-0.16150446236133575,0.5943153500556946,0.7037985324859619,0.0399399995803833
+1789729712347588229,1500,0.8363550305366516,-1.896947979927063,-1.0060093402862549,1.3811317682266235,-0.16150222718715668,0.5943131446838379,0.7037971615791321,0.0399399995803833
+1789729712380904633,1533,0.836358368396759,-1.896946668624878,-1.0060131549835205,1.3811330795288086,-0.16149990260601044,0.5943121910095215,0.703797459602356,0.0399399995803833
+1789729712414239374,1566,0.8363599181175232,-1.8969500064849854,-1.0060139894485474,1.3811333179473877,-0.16149944067001343,0.5943135023117065,0.7037971615791321,0.0399399995803833
+1789729712447563826,1600,0.8363618850708008,-1.8969519138336182,-1.0060197114944458,1.3811334371566772,-0.16149911284446716,0.5943135619163513,0.7037976384162903,0.0399399995803833
+1789729712480903266,1633,0.8363608717918396,-1.8969531059265137,-1.0060292482376099,1.3811331987380981,-0.16149945557117462,0.5943092703819275,0.7037979364395142,0.0399399995803833
+1789729712514230918,1666,0.8363627195358276,-1.896956205368042,-1.0060290098190308,1.3811330795288086,-0.1614975780248642,0.5943080186843872,0.7037960886955261,0.0399399995803833
+1789729712547565989,1700,0.8363659381866455,-1.8969624042510986,-1.0060282945632935,1.3811330795288086,-0.1614934504032135,0.5942994356155396,0.7037943601608276,0.0399399995803833
+1789729712580902350,1733,0.8363689184188843,-1.8969670534133911,-1.0060288906097412,1.38113272190094,-0.1614896059036255,0.5942991375923157,0.7037903070449829,0.0399399995803833
+1789729712614231052,1766,0.8363698720932007,-1.8969664573669434,-1.006035327911377,1.3811326026916504,-0.16148485243320465,0.5943005681037903,0.7037907838821411,0.0399399995803833
+1789729712647562953,1800,0.8363720178604126,-1.8969675302505493,-1.0060395002365112,1.3811335563659668,-0.16148215532302856,0.5943000912666321,0.7037913203239441,0.0399399995803833
+1789729712680905313,1833,0.836378276348114,-1.8969744443893433,-1.0060395002365112,1.3811345100402832,-0.16148173809051514,0.5943001508712769,0.7037906646728516,0.0399399995803833
+1789729712714232025,1866,0.836378276348114,-1.8969781398773193,-1.0060476064682007,1.3811330795288086,-0.16148237884044647,0.5942981243133545,0.7037898302078247,0.0399399995803833
+1789729712747593842,1900,0.8363780379295349,-1.8969780206680298,-1.0060551166534424,1.3811317682266235,-0.16147993505001068,0.5942927002906799,0.7037895917892456,0.0399399995803833
+1789729712780905487,1933,0.8363795876502991,-1.8969790935516357,-1.006054162979126,1.3811330795288086,-0.16146987676620483,0.5942869186401367,0.7037851214408875,0.0399399995803833
+1789729712814227459,1966,0.8363831043243408,-1.896981120109558,-1.0060540437698364,1.3811331987380981,-0.16146636009216309,0.5942845344543457,0.7037741541862488,0.0399399995803833
+1789729712847566240,2000,0.8363853096961975,-1.896985411643982,-1.0060545206069946,1.3811322450637817,-0.16146475076675415,0.594287633895874,0.703770637512207,0.0399399995803833
+1789729712880965662,2033,0.8363854289054871,-1.896984338760376,-1.0060607194900513,1.3811317682266235,-0.1614638715982437,0.5942869186401367,0.7037730813026428,0.0399399995803833
+1789729712914230442,2066,0.8363867402076721,-1.8969846963882446,-1.006065845489502,1.381132960319519,-0.16146314144134521,0.5942861437797546,0.7037758827209473,0.0399399995803833
+1789729712947589420,2100,0.8363891839981079,-1.8969917297363281,-1.0060663223266602,1.381133794784546,-0.16146284341812134,0.5942872166633606,0.7037760019302368,0.0399399995803833
+1789729712980897404,2133,0.8363919258117676,-1.8969979286193848,-1.0060652494430542,1.3811320066452026,-0.16146200895309448,0.5942832827568054,0.703775942325592,0.03993000090122223
+1789729713014230961,2166,0.8363909125328064,-1.8969976902008057,-1.0060675144195557,1.3811320066452026,-0.16146065294742584,0.5942772626876831,0.703774094581604,0.03993000090122223
+1789729713047561347,2200,0.8363919854164124,-1.8969979286193848,-1.0060691833496094,1.38113272190094,-0.16145749390125275,0.5942695140838623,0.7037720680236816,0.03993000090122223
+1789729713080900511,2233,0.8363972902297974,-1.897003412246704,-1.0060690641403198,1.38113272190094,-0.1614547222852707,0.594272792339325,0.7037704586982727,0.03993000090122223
+1789729713114225118,2266,0.836399495601654,-1.8970063924789429,-1.0060704946517944,1.381132960319519,-0.16145148873329163,0.5942719578742981,0.7037701606750488,0.0399399995803833
+1789729713147588409,2300,0.8363997340202332,-1.897005558013916,-1.0060797929763794,1.381134033203125,-0.16145120561122894,0.5942742228507996,0.7037695646286011,0.0399399995803833
+1789729713180902597,2333,0.8364000916481018,-1.897006630897522,-1.0060820579528809,1.3811339139938354,-0.16145038604736328,0.5942742824554443,0.7037704586982727,0.0399399995803833
+1789729713214243281,2366,0.8364024758338928,-1.8970128297805786,-1.006081223487854,1.3811334371566772,-0.16145148873329163,0.5942731499671936,0.7037688493728638,0.0399399995803833
+1789729713247562618,2400,0.8364054560661316,-1.897017240524292,-1.0060802698135376,1.3811330795288086,-0.1614489108324051,0.5942714810371399,0.7037689685821533,0.0399399995803833
+1789729713280906112,2433,0.8364068269729614,-1.8970178365707397,-1.0060832500457764,1.3811333179473877,-0.16144347190856934,0.5942649245262146,0.7037648558616638,0.0399399995803833
+1789729713314229088,2466,0.8364083766937256,-1.8970179557800293,-1.00608491897583,1.3811330795288086,-0.16144154965877533,0.5942627191543579,0.7037603855133057,0.0399399995803833
+1789729713347565833,2500,0.8364107608795166,-1.8970212936401367,-1.0060861110687256,1.3811339139938354,-0.16143980622291565,0.5942631959915161,0.703758955001831,0.0399399995803833
+1789729713380903858,2533,0.8364139795303345,-1.897024154663086,-1.0060921907424927,1.3811359405517578,-0.16143493354320526,0.5942634344100952,0.7037593722343445,0.0399399995803833
+1789729713414228524,2566,0.8364134430885315,-1.8970235586166382,-1.0060985088348389,1.3811366558074951,-0.16143399477005005,0.5942646861076355,0.7037598490715027,0.0399399995803833
+1789729713447564429,2600,0.8364143967628479,-1.8970246315002441,-1.0060985088348389,1.3811365365982056,-0.1614343374967575,0.5942636132240295,0.7037598490715027,0.0399399995803833
+1789729713480901594,2633,0.8364155292510986,-1.8970286846160889,-1.006096363067627,1.3811355829238892,-0.1614336520433426,0.5942588448524475,0.7037580013275146,0.0399399995803833
+1789729713514232139,2666,0.8364157676696777,-1.8970295190811157,-1.0060964822769165,1.3811352252960205,-0.1614328920841217,0.5942567586898804,0.7037557363510132,0.0399399995803833
+1789729713547567714,2700,0.8364174962043762,-1.8970288038253784,-1.0060970783233643,1.381135106086731,-0.16143196821212769,0.5942550897598267,0.7037513852119446,0.0399399995803833
+1789729713580903689,2733,0.8364191055297852,-1.897028923034668,-1.0060975551605225,1.3811359405517578,-0.16142821311950684,0.5942554473876953,0.7037498354911804,0.0399399995803833
+1789729713614230585,2766,0.8364202380180359,-1.8970321416854858,-1.0060980319976807,1.3811359405517578,-0.1614285260438919,0.5942557454109192,0.7037507891654968,0.0399399995803833
+1789729713647562960,2800,0.8364213705062866,-1.8970329761505127,-1.0061017274856567,1.3811355829238892,-0.1614276021718979,0.5942540168762207,0.7037511467933655,0.0399399995803833
+1789729713680895856,2833,0.8364220857620239,-1.897034764289856,-1.0061061382293701,1.3811352252960205,-0.1614295244216919,0.5942512154579163,0.7037509083747864,0.0399399995803833
+1789729713714230741,2866,0.8364241719245911,-1.8970407247543335,-1.0061061382293701,1.3811345100402832,-0.1614280641078949,0.594248354434967,0.7037511467933655,0.0399399995803833
+1789729713747565606,2900,0.8364266157150269,-1.8970427513122559,-1.0061062574386597,1.381134271621704,-0.16142816841602325,0.5942403674125671,0.7037512063980103,0.0399399995803833
+1789729713780908190,2933,0.8364281058311462,-1.897042155265808,-1.0061064958572388,1.3811345100402832,-0.16142696142196655,0.5942357182502747,0.7037495970726013,0.0399399995803833
+1789729713814230586,2966,0.8364290595054626,-1.8970410823822021,-1.0061062574386597,1.381134271621704,-0.16142421960830688,0.5942360758781433,0.7037493586540222,0.0399399995803833
+1789729713847562522,3000,0.8364304304122925,-1.8970415592193604,-1.0061068534851074,1.3811354637145996,-0.16142304241657257,0.5942368507385254,0.7037492990493774,0.0399399995803833
+1789729713880903876,3033,0.8364318609237671,-1.8970428705215454,-1.0061123371124268,1.3811348676681519,-0.16142508387565613,0.5942368507385254,0.7037491798400879,0.0399399995803833
+1789729713914227782,3066,0.8364328145980835,-1.897045373916626,-1.0061200857162476,1.3811339139938354,-0.16142401099205017,0.5942378044128418,0.703748345375061,0.0399399995803833
+1789729713947575806,3100,0.836432695388794,-1.8970483541488647,-1.0061215162277222,1.3811335563659668,-0.1614217758178711,0.5942315459251404,0.7037479281425476,0.0399399995803833
+1789729713980932988,3133,0.8364331126213074,-1.8970515727996826,-1.006121277809143,1.3811331987380981,-0.16141873598098755,0.59422767162323,0.703739583492279,0.0399399995803833
+1789729714014259780,3166,0.8364342451095581,-1.8970532417297363,-1.0061206817626953,1.3811330795288086,-0.16141675412654877,0.5942288637161255,0.7037311792373657,0.0399399995803833
+1789729714047601538,3200,0.836435854434967,-1.897052526473999,-1.006121277809143,1.3811341524124146,-0.16141420602798462,0.5942295789718628,0.7037323713302612,0.0399399995803833
+1789729714080922238,3233,0.8364370465278625,-1.8970528841018677,-1.0061246156692505,1.3811343908309937,-0.16141200065612793,0.5942290425300598,0.7037333250045776,0.0399399995803833
+1789729714114254798,3266,0.8364384174346924,-1.8970544338226318,-1.0061275959014893,1.3811343908309937,-0.16141246259212494,0.594228982925415,0.7037341594696045,0.0399399995803833
+1789729714147606704,3300,0.8364393711090088,-1.897058129310608,-1.0061323642730713,1.3811341524124146,-0.16141386330127716,0.5942287445068359,0.7037345170974731,0.0399399995803833
+1789729714181020213,3333,0.8364413976669312,-1.8970603942871094,-1.0061341524124146,1.3811336755752563,-0.1614144742488861,0.5942244529724121,0.7037346959114075,0.0399399995803833
+1789729714214335345,3366,0.8364430069923401,-1.8970625400543213,-1.0061349868774414,1.3811334371566772,-0.16141332685947418,0.5942190885543823,0.7037343978881836,0.0399399995803833
+1789729714247672663,3400,0.8364431262016296,-1.8970630168914795,-1.006134033203125,1.3811333179473877,-0.16141244769096375,0.594217836856842,0.7037331461906433,0.0399399995803833
+1789729714280999863,3433,0.8364452123641968,-1.8970634937286377,-1.0061347484588623,1.3811346292495728,-0.1614108681678772,0.5942153334617615,0.7037325501441956,0.0399399995803833
+1789729714314336252,3466,0.8364448547363281,-1.8970633745193481,-1.006134271621704,1.3811352252960205,-0.16141162812709808,0.5942155122756958,0.7037321329116821,0.0399399995803833
+1789729714347665692,3500,0.8364464044570923,-1.8970638513565063,-1.0061360597610474,1.38113534450531,-0.16141094267368317,0.5942162871360779,0.7037316560745239,0.0399399995803833
+1789729714381003750,3533,0.8364465832710266,-1.897064208984375,-1.0061403512954712,1.3811370134353638,-0.16141213476657867,0.5942155718803406,0.7037321925163269,0.0399399995803833
+1789729714414317872,3566,0.836447536945343,-1.8970670700073242,-1.0061421394348145,1.3811360597610474,-0.16141320765018463,0.5942126512527466,0.7037320137023926,0.0399399995803833
+1789729714447660560,3600,0.8364483118057251,-1.8970686197280884,-1.0061463117599487,1.381136417388916,-0.16141147911548615,0.5942059755325317,0.7037321329116821,0.0399399995803833
+1789729714480936837,3633,0.8364503383636475,-1.8970699310302734,-1.0061463117599487,1.3811367750167847,-0.1614074558019638,0.5942050218582153,0.7037309408187866,0.0399399995803833
+1789729714514335527,3666,0.8364518880844116,-1.8970698118209839,-1.0061466693878174,1.3811358213424683,-0.16140460968017578,0.5942040085792542,0.703728199005127,0.0399399995803833
+1789729714547683054,3700,0.8364535570144653,-1.897070288658142,-1.0061469078063965,1.3811359405517578,-0.16140155494213104,0.5942032337188721,0.7037246227264404,0.0399399995803833
+1789729714580996366,3733,0.8364557027816772,-1.8970717191696167,-1.0061532258987427,1.3811378479003906,-0.1614023596048355,0.5942028164863586,0.7037245035171509,0.0399399995803833
+1789729714614336235,3766,0.8364563584327698,-1.8970750570297241,-1.006158709526062,1.3811380863189697,-0.16140210628509521,0.594201385974884,0.7037257552146912,0.03993000090122223
+1789729714647594423,3800,0.8364569544792175,-1.8970792293548584,-1.0061620473861694,1.3811372518539429,-0.16140154004096985,0.594201922416687,0.7037259340286255,0.03993000090122223
+1789729714680934002,3833,0.8364580273628235,-1.897082805633545,-1.0061609745025635,1.3811359405517578,-0.16140082478523254,0.5941998362541199,0.7037234306335449,0.03993000090122223
+1789729714714260422,3866,0.8364604711532593,-1.8970837593078613,-1.006159782409668,1.3811354637145996,-0.16139833629131317,0.5941972732543945,0.7037218809127808,0.0399399995803833
+1789729714747590401,3900,0.8364613056182861,-1.8970835208892822,-1.0061593055725098,1.3811352252960205,-0.16139990091323853,0.5941930413246155,0.7037208080291748,0.0399399995803833
+1789729714780939228,3933,0.8364627361297607,-1.89708411693573,-1.0061595439910889,1.3811370134353638,-0.1613970845937729,0.594192385673523,0.7037186026573181,0.03993000090122223
+1789729714814257280,3966,0.8364630937576294,-1.8970845937728882,-1.0061601400375366,1.381137490272522,-0.1613980531692505,0.5941938757896423,0.7037196159362793,0.03993000090122223
+1789729714847668819,4000,0.836464524269104,-1.897085189819336,-1.006161093711853,1.3811378479003906,-0.161398783326149,0.5941939949989319,0.7037190794944763,0.0399399995803833
+1789729714881001938,4033,0.8364657163619995,-1.897087812423706,-1.0061635971069336,1.3811373710632324,-0.16139955818653107,0.5941905975341797,0.7037199139595032,0.0399399995803833
+1789729714914324559,4066,0.8364658951759338,-1.8970891237258911,-1.0061641931533813,1.381136417388916,-0.16139858961105347,0.594188928604126,0.7037194967269897,0.0399399995803833
+1789729714947655118,4100,0.8364666700363159,-1.8970891237258911,-1.0061649084091187,1.3811366558074951,-0.16139763593673706,0.594184935092926,0.7037191390991211,0.0399399995803833
+1789729714981008764,4133,0.8364681005477905,-1.8970903158187866,-1.006165623664856,1.3811367750167847,-0.16139696538448334,0.5941827297210693,0.7037171125411987,0.0399399995803833
+1789729715014332290,4166,0.8364691138267517,-1.8970924615859985,-1.0061662197113037,1.3811371326446533,-0.1613958775997162,0.5941797494888306,0.7037169337272644,0.0399399995803833
+1789729715047660094,4200,0.8364706039428711,-1.897092580795288,-1.0061691999435425,1.3811373710632324,-0.16139410436153412,0.594180166721344,0.7037159204483032,0.0399399995803833
+1789729715080939724,4233,0.8364725708961487,-1.897093653678894,-1.0061789751052856,1.3811362981796265,-0.16139531135559082,0.5941800475120544,0.7037148475646973,0.0399399995803833
+1789729715114339019,4266,0.8364732265472412,-1.8970965147018433,-1.0061829090118408,1.3811360597610474,-0.16139410436153412,0.5941784381866455,0.7037132382392883,0.0399399995803833
+1789729715147673401,4300,0.8364737629890442,-1.897101640701294,-1.0061829090118408,1.3811346292495728,-0.16139346361160278,0.5941770076751709,0.7037115693092346,0.0399399995803833
+1789729715180939473,4333,0.8364739418029785,-1.8971045017242432,-1.0061826705932617,1.3811336755752563,-0.1613936871290207,0.5941692590713501,0.7037087678909302,0.0399399995803833
+1789729715214321670,4366,0.8364757895469666,-1.8971058130264282,-1.006182074546814,1.3811336755752563,-0.16139040887355804,0.5941672921180725,0.7037072777748108,0.0399399995803833
+1789729715247597450,4400,0.8364769816398621,-1.8971070051193237,-1.0061827898025513,1.3811343908309937,-0.16138921678066254,0.594169557094574,0.7037080526351929,0.0399399995803833
+1789729715280935053,4433,0.8364794254302979,-1.8971096277236938,-1.006183385848999,1.3811346292495728,-0.1613902449607849,0.5941694974899292,0.7037094831466675,0.0399399995803833
+1789729715314335117,4466,0.8364806175231934,-1.8971092700958252,-1.0061835050582886,1.3811339139938354,-0.1613914668560028,0.5941683053970337,0.703710675239563,0.0399399995803833
+1789729715347672669,4500,0.8364811539649963,-1.897109866142273,-1.0061849355697632,1.3811343908309937,-0.161391943693161,0.5941673517227173,0.703711211681366,0.0399399995803833
+1789729715381005882,4533,0.8364822268486023,-1.8971115350723267,-1.0061849355697632,1.381133794784546,-0.1613927185535431,0.5941619873046875,0.7037108540534973,0.0399399995803833
+1789729715414330417,4566,0.8364840149879456,-1.897114634513855,-1.0061850547790527,1.3811336755752563,-0.16139261424541473,0.5941588878631592,0.7037100195884705,0.0399399995803833
+1789729715447664999,4600,0.8364849090576172,-1.8971168994903564,-1.0061849355697632,1.3811333179473877,-0.161390021443367,0.5941585302352905,0.7037081718444824,0.0399399995803833
+1789729715481003562,4633,0.8364863395690918,-1.8971168994903564,-1.00618577003479,1.381134271621704,-0.16138917207717896,0.5941562652587891,0.7037075757980347,0.0399399995803833
+1789729715514330015,4666,0.8364868760108948,-1.897116780281067,-1.0061869621276855,1.3811346292495728,-0.16138796508312225,0.5941556692123413,0.7037076354026794,0.0399399995803833
+1789729715547667758,4700,0.8364875912666321,-1.897116780281067,-1.0061875581741333,1.381135106086731,-0.16138896346092224,0.5941565036773682,0.7037087082862854,0.0399399995803833
+1789729715580994062,4733,0.8364883661270142,-1.8971184492111206,-1.0061957836151123,1.3811347484588623,-0.16138993203639984,0.5941557884216309,0.7037088871002197,0.0399399995803833
+1789729715614331534,4766,0.8364888429641724,-1.897119164466858,-1.0061973333358765,1.381134271621704,-0.1613895297050476,0.5941544771194458,0.7037079930305481,0.0399399995803833
+1789729715647665997,4800,0.836488664150238,-1.8971222639083862,-1.006198525428772,1.3811336755752563,-0.16138868033885956,0.5941505432128906,0.7037063837051392,0.0399399995803833
+1789729715681006169,4833,0.8364900946617126,-1.8971256017684937,-1.0061988830566406,1.3811323642730713,-0.16138604283332825,0.5941457152366638,0.703704833984375,0.0399399995803833
+1789729715714330963,4866,0.8364913463592529,-1.8971256017684937,-1.0061990022659302,1.381132960319519,-0.16138684749603271,0.5941420197486877,0.7036998867988586,0.0399399995803833
+1789729715747661747,4900,0.836492657661438,-1.8971253633499146,-1.0062057971954346,1.3811336755752563,-0.1613834798336029,0.5941405892372131,0.7036997675895691,0.0399399995803833
+1789729715781006448,4933,0.836493730545044,-1.8971261978149414,-1.0062066316604614,1.3811334371566772,-0.16138029098510742,0.5941432118415833,0.7037001252174377,0.0399399995803833
+1789729715814259981,4966,0.836495041847229,-1.8971288204193115,-1.0062072277069092,1.3811333179473877,-0.1613815724849701,0.5941448211669922,0.7036999464035034,0.0399399995803833
+1789729715847590325,5000,0.8364953994750977,-1.8971298933029175,-1.0062087774276733,1.3811326026916504,-0.1613837331533432,0.5941438674926758,0.703700840473175,0.0399399995803833
+1789729715880927427,5033,0.8364949822425842,-1.8971312046051025,-1.0062090158462524,1.381131887435913,-0.16138291358947754,0.5941397547721863,0.7037010192871094,0.0399399995803833
+1789729715914255241,5066,0.8364970684051514,-1.8971328735351562,-1.0062090158462524,1.3811323642730713,-0.16138312220573425,0.594136118888855,0.7036998867988586,0.0399399995803833
+1789729715947586754,5100,0.8364982604980469,-1.8971326351165771,-1.006208896636963,1.3811334371566772,-0.1613815426826477,0.5941323637962341,0.7036992907524109,0.0399399995803833
+1789729715981009626,5133,0.8364989161491394,-1.8971322774887085,-1.006209135055542,1.3811347484588623,-0.16138117015361786,0.594134509563446,0.7036983966827393,0.0399399995803833
+1789729716014332116,5166,0.8364995121955872,-1.8971319198608398,-1.0062094926834106,1.3811349868774414,-0.16138146817684174,0.594136118888855,0.7036983966827393,0.0399399995803833
+1789729716047664653,5200,0.8365000486373901,-1.897132158279419,-1.0062131881713867,1.3811354637145996,-0.16138212382793427,0.5941357016563416,0.7036987543106079,0.0399399995803833
+1789729716081004619,5233,0.836500883102417,-1.89713454246521,-1.0062181949615479,1.3811368942260742,-0.16138313710689545,0.5941345691680908,0.7036995887756348,0.0399399995803833
+1789729716114331446,5266,0.8365013599395752,-1.8971374034881592,-1.006219506263733,1.3811360597610474,-0.16138149797916412,0.5941332578659058,0.7036988735198975,0.0399399995803833
+1789729716147652744,5300,0.8365025520324707,-1.8971388339996338,-1.0062192678451538,1.381136417388916,-0.16138145327568054,0.594132661819458,0.7036986947059631,0.0399399995803833
+1789729716180996430,5333,0.8365033864974976,-1.8971405029296875,-1.0062198638916016,1.3811367750167847,-0.16137875616550446,0.5941303372383118,0.7036985754966736,0.0399399995803833
+1789729716214337246,5366,0.8365042805671692,-1.8971399068832397,-1.0062196254730225,1.3811371326446533,-0.16137588024139404,0.5941287875175476,0.7036972045898438,0.0399399995803833
+1789729716247594262,5400,0.8365047574043274,-1.8971401453018188,-1.0062196254730225,1.3811382055282593,-0.1613747626543045,0.5941272377967834,0.703697144985199,0.0399399995803833
+1789729716281016767,5433,0.8365067839622498,-1.8971415758132935,-1.0062215328216553,1.3811382055282593,-0.16137725114822388,0.5941274166107178,0.7036966681480408,0.0399399995803833
+1789729716314331956,5466,0.8365079164505005,-1.8971443176269531,-1.0062257051467896,1.3811386823654175,-0.16137853264808655,0.5941270589828491,0.7036968469619751,0.0399399995803833
+1789729716347594322,5500,0.8365092873573303,-1.8971458673477173,-1.0062259435653687,1.3811372518539429,-0.16137845814228058,0.5941234230995178,0.7036973237991333,0.0399399995803833
+1789729716380931918,5533,0.8365114331245422,-1.8971469402313232,-1.006225824356079,1.3811367750167847,-0.16137675940990448,0.5941147208213806,0.7036963701248169,0.0399399995803833
+1789729716414328107,5566,0.8365115523338318,-1.8971470594406128,-1.0062254667282104,1.381137728691101,-0.16137637197971344,0.5941115617752075,0.7036949396133423,0.03993000090122223
+1789729716447658234,5600,0.8365116119384766,-1.89714777469635,-1.0062249898910522,1.3811371326446533,-0.16137559711933136,0.5941116809844971,0.7036899328231812,0.03993000090122223
+1789729716481006569,5633,0.8365138173103333,-1.8971482515335083,-1.0062263011932373,1.381137728691101,-0.1613764762878418,0.5941125750541687,0.7036918997764587,0.03993000090122223
+1789729716514331957,5666,0.836513876914978,-1.8971476554870605,-1.006226658821106,1.3811378479003906,-0.16137821972370148,0.5941131711006165,0.7036928534507751,0.03993000090122223
+1789729716547662484,5700,0.8365138173103333,-1.8971492052078247,-1.0062304735183716,1.3811378479003906,-0.16137905418872833,0.5941137671470642,0.7036941051483154,0.03993000090122223
+1789729716581006769,5733,0.8365156650543213,-1.8971531391143799,-1.0062310695648193,1.381137490272522,-0.1613783836364746,0.5941124558448792,0.7036939859390259,0.03993000090122223
+1789729716614346605,5766,0.8365172743797302,-1.8971549272537231,-1.006231665611267,1.3811372518539429,-0.16137751936912537,0.594109833240509,0.7036943435668945,0.03993000090122223
+1789729716647667813,5800,0.8365175127983093,-1.897154450416565,-1.0062334537506104,1.381137490272522,-0.16137681901454926,0.5941057801246643,0.7036926746368408,0.03993000090122223
+1789729716681011399,5833,0.8365178108215332,-1.8971551656723022,-1.0062339305877686,1.381137490272522,-0.16137512028217316,0.5941051244735718,0.7036897540092468,0.03993000090122223
+1789729716714335357,5866,0.8365190625190735,-1.897156000137329,-1.0062346458435059,1.3811380863189697,-0.16137485206127167,0.5941070914268494,0.7036877870559692,0.0399399995803833
+1789729716747678022,5900,0.8365194201469421,-1.8971573114395142,-1.0062414407730103,1.3811382055282593,-0.16137588024139404,0.5941075086593628,0.7036873698234558,0.0399399995803833
+1789729716781001970,5933,0.8365198373794556,-1.897158145904541,-1.0062484741210938,1.3811379671096802,-0.1613752245903015,0.5941073894500732,0.7036862969398499,0.0399399995803833
+1789729716814340626,5966,0.8365205526351929,-1.8971607685089111,-1.0062490701675415,1.3811371326446533,-0.16137515008449554,0.5941069722175598,0.7036862373352051,0.0399399995803833
+1789729716847674953,6000,0.8365214467048645,-1.8971654176712036,-1.0062482357025146,1.3811368942260742,-0.16137489676475525,0.5941041707992554,0.7036848068237305,0.0399399995803833
+1789729716880997081,6033,0.8365228176116943,-1.8971703052520752,-1.0062477588653564,1.3811359405517578,-0.16137194633483887,0.5941022634506226,0.7036829590797424,0.0399399995803833
+1789729716914335217,6066,0.8365235328674316,-1.8971697092056274,-1.0062474012374878,1.3811355829238892,-0.1613699495792389,0.5940998196601868,0.7036826610565186,0.0399399995803833
+1789729716947659405,6100,0.8365244269371033,-1.8971693515777588,-1.0062479972839355,1.3811354637145996,-0.16137094795703888,0.5940989255905151,0.7036839723587036,0.0399399995803833
+1789729716980909912,6133,0.8365252017974854,-1.8971701860427856,-1.0062487125396729,1.3811354637145996,-0.1613714098930359,0.5941005945205688,0.7036856412887573,0.0399399995803833
+1789729717014230486,6166,0.8365259170532227,-1.897170901298523,-1.0062497854232788,1.3811359405517578,-0.16137222945690155,0.5940994620323181,0.7036841511726379,0.0399399995803833
+1789729717047560777,6200,0.8365265130996704,-1.8971729278564453,-1.0062509775161743,1.3811355829238892,-0.16137367486953735,0.5940965414047241,0.7036849856376648,0.0399399995803833
+1789729717080900336,6233,0.8365276455879211,-1.89717698097229,-1.0062508583068848,1.3811345100402832,-0.16137383878231049,0.5940909385681152,0.7036848068237305,0.0399399995803833
+1789729717114225858,6266,0.8365298509597778,-1.8971798419952393,-1.0062519311904907,1.3811333179473877,-0.16137202084064484,0.5940868258476257,0.7036839723587036,0.0399399995803833
+1789729717147559118,6300,0.8365302085876465,-1.897179365158081,-1.0062520503997803,1.3811346292495728,-0.1613718420267105,0.5940863490104675,0.7036834955215454,0.0399399995803833
+1789729717180901437,6333,0.8365311026573181,-1.8971774578094482,-1.006252646446228,1.3811345100402832,-0.1613718569278717,0.5940862894058228,0.7036836743354797,0.0399399995803833
+1789729717214234048,6366,0.8365316390991211,-1.8971772193908691,-1.0062534809112549,1.3811352252960205,-0.16137272119522095,0.5940867066383362,0.7036835551261902,0.0399399995803833
+1789729717247561019,6400,0.8365312218666077,-1.8971771001815796,-1.006255865097046,1.3811355829238892,-0.1613721400499344,0.5940863490104675,0.7036824822425842,0.0399399995803833
+1789729717280897389,6433,0.8365313410758972,-1.8971779346466064,-1.0062587261199951,1.3811354637145996,-0.16137203574180603,0.5940864086151123,0.7036827206611633,0.0399399995803833
+1789729717314228509,6466,0.8365314602851868,-1.8971796035766602,-1.0062605142593384,1.3811346292495728,-0.16137169301509857,0.5940852165222168,0.7036827802658081,0.0399399995803833
+1789729717347562180,6500,0.8365320563316345,-1.8971812725067139,-1.006260871887207,1.381134271621704,-0.16137228906154633,0.5940794348716736,0.7036810517311096,0.0399399995803833
+1789729717380898409,6533,0.8365336656570435,-1.8971827030181885,-1.0062594413757324,1.3811345100402832,-0.1613706797361374,0.5940720438957214,0.7036795616149902,0.0399399995803833
+1789729717414224851,6566,0.8365353345870972,-1.8971822261810303,-1.0062599182128906,1.3811347484588623,-0.16137079894542694,0.5940712690353394,0.7036778926849365,0.0399399995803833
+1789729717447560871,6600,0.8365358710289001,-1.8971821069717407,-1.0062607526779175,1.3811345100402832,-0.16137021780014038,0.5940720438957214,0.703678548336029,0.0399399995803833
+1789729717480893171,6633,0.8365384936332703,-1.8971821069717407,-1.0062624216079712,1.3811347484588623,-0.16137157380580902,0.5940724611282349,0.703679084777832,0.0399399995803833
+1789729717514295533,6666,0.8365381956100464,-1.8971835374832153,-1.0062658786773682,1.3811343908309937,-0.1613713502883911,0.5940704345703125,0.7036806344985962,0.0399399995803833
+1789729717547563741,6700,0.8365383744239807,-1.897186040878296,-1.0062671899795532,1.3811334371566772,-0.16137154400348663,0.5940693020820618,0.7036789059638977,0.0399399995803833
+1789729717580985600,6733,0.8365393280982971,-1.8971859216690063,-1.0062669515609741,1.3811336755752563,-0.16136981546878815,0.5940660834312439,0.7036781907081604,0.0399399995803833
+1789729717614230162,6766,0.8365395665168762,-1.8971866369247437,-1.006266474723816,1.3811341524124146,-0.161367729306221,0.5940635800361633,0.70367830991745,0.0399399995803833
+1789729717647583390,6800,0.8365404605865479,-1.8971859216690063,-1.0062657594680786,1.3811343908309937,-0.16136828064918518,0.5940616726875305,0.7036786079406738,0.0399399995803833
+1789729717680904332,6833,0.8365418910980225,-1.8971854448318481,-1.0062670707702637,1.38113534450531,-0.16136789321899414,0.5940620303153992,0.7036782503128052,0.0399399995803833
+1789729717714229443,6866,0.8365418910980225,-1.8971859216690063,-1.0062681436538696,1.3811347484588623,-0.16136816143989563,0.5940629243850708,0.7036786675453186,0.0399399995803833
+1789729717747560374,6900,0.8365418314933777,-1.89718759059906,-1.0062713623046875,1.381135106086731,-0.16137045621871948,0.594063401222229,0.7036791443824768,0.0399399995803833
+1789729717780902683,6933,0.8365429639816284,-1.8971906900405884,-1.0062745809555054,1.381134271621704,-0.16137045621871948,0.5940582156181335,0.7036782503128052,0.0399399995803833
+1789729717814226565,6966,0.8365439176559448,-1.8971936702728271,-1.0062755346298218,1.3811343908309937,-0.16136987507343292,0.5940558910369873,0.7036789059638977,0.0399399995803833
+1789729717847582022,7000,0.8365446329116821,-1.8971940279006958,-1.0062766075134277,1.3811346292495728,-0.16136759519577026,0.594054102897644,0.703677773475647,0.0399399995803833
+1789729717880900384,7033,0.8365458250045776,-1.89719557762146,-1.0062766075134277,1.3811354637145996,-0.16136705875396729,0.5940546989440918,0.7036764025688171,0.0399399995803833
+1789729717914229005,7066,0.8365467190742493,-1.8971964120864868,-1.00627601146698,1.3811362981796265,-0.16136665642261505,0.5940525531768799,0.7036776542663574,0.0399399995803833
+1789729717947585193,7100,0.8365490436553955,-1.8971965312957764,-1.0062769651412964,1.3811362981796265,-0.16136756539344788,0.5940507054328918,0.7036782503128052,0.0399399995803833
+1789729717980911974,7133,0.8365510702133179,-1.89719820022583,-1.0062812566757202,1.381136417388916,-0.16136763989925385,0.5940497517585754,0.7036774754524231,0.0399399995803833
+1789729718014229771,7166,0.8365516066551208,-1.8972010612487793,-1.0062850713729858,1.3811349868774414,-0.1613677442073822,0.5940495729446411,0.7036775350570679,0.0399399995803833
+1789729718047583063,7200,0.8365517854690552,-1.8972047567367554,-1.006285548210144,1.3811359405517578,-0.16136634349822998,0.5940472483634949,0.7036761045455933,0.0399399995803833
+1789729718080969000,7233,0.8365533351898193,-1.897210717201233,-1.0062860250473022,1.3811346292495728,-0.1613643616437912,0.5940467715263367,0.7036720514297485,0.03993000090122223
+1789729718114248581,7266,0.836554229259491,-1.8972097635269165,-1.006286859512329,1.3811339139938354,-0.16136500239372253,0.5940461754798889,0.7036718130111694,0.03993000090122223
+1789729718147562387,7300,0.8365544676780701,-1.8972091674804688,-1.0062882900238037,1.3811341524124146,-0.1613643616437912,0.5940456986427307,0.7036721110343933,0.0399399995803833
+1789729718180975411,7333,0.8365553021430969,-1.8972101211547852,-1.006290078163147,1.3811345100402832,-0.1613643616437912,0.5940455198287964,0.7036728858947754,0.0399399995803833
+1789729718214241303,7366,0.8365553617477417,-1.8972114324569702,-1.0062916278839111,1.3811349868774414,-0.16136497259140015,0.5940462350845337,0.7036733627319336,0.03993000090122223
+1789729718247588495,7400,0.8365554213523865,-1.8972123861312866,-1.006291151046753,1.381134271621704,-0.16136637330055237,0.5940447449684143,0.7036734223365784,0.0399399995803833
+1789729718280903661,7433,0.8365560173988342,-1.8972134590148926,-1.006291151046753,1.381133794784546,-0.1613651067018509,0.5940388441085815,0.7036719918251038,0.0399399995803833
+1789729718314230446,7466,0.836556613445282,-1.8972156047821045,-1.0062904357910156,1.3811336755752563,-0.16136416792869568,0.594038188457489,0.7036720514297485,0.0399399995803833
+1789729718347562780,7500,0.8365577459335327,-1.8972169160842896,-1.0062899589538574,1.3811336755752563,-0.16136352717876434,0.5940356850624084,0.7036716341972351,0.0399399995803833
+1789729718380897974,7533,0.8365589380264282,-1.897215485572815,-1.0062904357910156,1.381134271621704,-0.16136418282985687,0.5940357446670532,0.7036715745925903,0.0399399995803833
+1789729718414233017,7566,0.8365592360496521,-1.8972162008285522,-1.0062904357910156,1.3811346292495728,-0.16136538982391357,0.5940357446670532,0.7036740183830261,0.0399399995803833
+1789729718447589038,7600,0.8365595936775208,-1.897217035293579,-1.006291151046753,1.3811346292495728,-0.1613653302192688,0.5940359830856323,0.7036747336387634,0.0399399995803833
+1789729718480892146,7633,0.836560070514679,-1.8972184658050537,-1.0062955617904663,1.3811336755752563,-0.16136568784713745,0.5940361022949219,0.7036738991737366,0.0399399995803833
+1789729718514229589,7666,0.8365602493286133,-1.8972214460372925,-1.0062965154647827,1.3811317682266235,-0.1613658219575882,0.594031810760498,0.7036731243133545,0.0399399995803833
+1789729718547592749,7700,0.8365615606307983,-1.8972220420837402,-1.0062960386276245,1.3811297416687012,-0.16136497259140015,0.5940282940864563,0.7036706805229187,0.0399399995803833
+1789729718580911265,7733,0.8365623950958252,-1.8972229957580566,-1.0062965154647827,1.3811302185058594,-0.1613641381263733,0.594022274017334,0.7036659121513367,0.0399399995803833
+1789729718614232191,7766,0.8365632891654968,-1.897221326828003,-1.0062980651855469,1.3811291456222534,-0.1613631546497345,0.5940212607383728,0.703665554523468,0.0399399995803833
+1789729718647566794,7800,0.8365631699562073,-1.8972221612930298,-1.0063018798828125,1.3811287879943848,-0.16136328876018524,0.5940197706222534,0.7036663293838501,0.0399399995803833
+1789729718680893949,7833,0.8365641832351685,-1.8972254991531372,-1.0063081979751587,1.3811287879943848,-0.1613636314868927,0.5940210819244385,0.7036680579185486,0.0399399995803833
+1789729718714229842,7866,0.8365651369094849,-1.8972309827804565,-1.0063084363937378,1.3811267614364624,-0.16136333346366882,0.5940223336219788,0.7036687135696411,0.0399399995803833
+1789729718747559747,7900,0.836564302444458,-1.8972340822219849,-1.0063079595565796,1.381121277809143,-0.16136351227760315,0.5940207839012146,0.7036684155464172,0.0399399995803833
+1789729718780939625,7933,0.836564838886261,-1.8972340822219849,-1.00630784034729,1.3811198472976685,-0.16136275231838226,0.5940117835998535,0.7036678194999695,0.0399399995803833
+1789729718814233194,7966,0.8365660905838013,-1.8972337245941162,-1.006307601928711,1.3811222314834595,-0.16136233508586884,0.5940085053443909,0.7036654353141785,0.0399399995803833
+1789729718847583345,8000,0.8365654945373535,-1.8972361087799072,-1.0063074827194214,1.3811225891113281,-0.16136226058006287,0.5940102934837341,0.7036624550819397,0.0399399995803833
+1789729718880896292,8033,0.8365687131881714,-1.8972382545471191,-1.0063083171844482,1.3811224699020386,-0.16135992109775543,0.5940123796463013,0.7036626935005188,0.0399399995803833
+1789729718914231445,8066,0.8365694284439087,-1.8972363471984863,-1.0063234567642212,1.3811237812042236,-0.16135887801647186,0.5940118432044983,0.7036632895469666,0.0399399995803833
+1789729718947591716,8100,0.8365699052810669,-1.8972398042678833,-1.0063287019729614,1.3811242580413818,-0.16135907173156738,0.5940118432044983,0.7036635875701904,0.0399399995803833
+1789729718980899703,8133,0.8365731239318848,-1.8972556591033936,-1.0063260793685913,1.3811231851577759,-0.16135910153388977,0.594012975692749,0.7036658525466919,0.0399399995803833
+1789729719014234562,8166,0.8365735411643982,-1.8972563743591309,-1.006326675415039,1.381123423576355,-0.16135653853416443,0.5940119624137878,0.7036658525466919,0.0399399995803833
+1789729719047588986,8200,0.8365728855133057,-1.8972560167312622,-1.0063284635543823,1.3811250925064087,-0.16135327517986298,0.5940093398094177,0.703665018081665,0.0399399995803833
+1789729719080897997,8233,0.8365767002105713,-1.8972543478012085,-1.0063261985778809,1.3811262845993042,-0.16135235130786896,0.5940098762512207,0.7036635279655457,0.0399399995803833
+1789729719114228384,8266,0.8365780115127563,-1.8972524404525757,-1.0063284635543823,1.3811267614364624,-0.16135281324386597,0.594009280204773,0.70366370677948,0.0399399995803833
+1789729719147563011,8300,0.8365780711174011,-1.8972556591033936,-1.006327748298645,1.3811267614364624,-0.16135066747665405,0.5940099954605103,0.7036636471748352,0.0399399995803833
+1789729719180906637,8333,0.836578905582428,-1.8972560167312622,-1.006329894065857,1.3811250925064087,-0.16135258972644806,0.5940110683441162,0.7036635875701904,0.0399399995803833
+1789729719214245624,8366,0.8365780711174011,-1.8972558975219727,-1.0063413381576538,1.3811253309249878,-0.16135212779045105,0.5940071940422058,0.7036627531051636,0.0399399995803833
+1789729719247588070,8400,0.8365790843963623,-1.8972618579864502,-1.006340742111206,1.3811262845993042,-0.16135060787200928,0.5940046906471252,0.703662097454071,0.0399399995803833
+1789729719280915598,8433,0.8365851640701294,-1.8972662687301636,-1.0063389539718628,1.3811253309249878,-0.16134558618068695,0.5940033793449402,0.703658401966095,0.0399399995803833
+1789729719314229088,8466,0.8365843892097473,-1.8972647190093994,-1.006340503692627,1.381125807762146,-0.1613467037677765,0.5940009355545044,0.7036582827568054,0.0399399995803833
+1789729719347566875,8500,0.8365833163261414,-1.8972665071487427,-1.0063401460647583,1.3811256885528564,-0.16134785115718842,0.593999981880188,0.7036589980125427,0.0399399995803833
+1789729719380898712,8533,0.8365869522094727,-1.8972645998001099,-1.0063416957855225,1.3811272382736206,-0.16134977340698242,0.5940016508102417,0.7036594152450562,0.0399399995803833
+1789729719414227830,8566,0.8365866541862488,-1.8972651958465576,-1.0063437223434448,1.3811310529708862,-0.1613485962152481,0.5939996838569641,0.7036601305007935,0.0399399995803833
+1789729719447562837,8600,0.8365854024887085,-1.897274136543274,-1.0063433647155762,1.3811289072036743,-0.16134944558143616,0.5940014719963074,0.7036620378494263,0.0399399995803833
+1789729719480907603,8633,0.8365880250930786,-1.8972768783569336,-1.0063433647155762,1.3811252117156982,-0.16134925186634064,0.5940017104148865,0.7036621570587158,0.0399399995803833
+1789729719514231981,8666,0.8365877270698547,-1.8972740173339844,-1.0063482522964478,1.381128191947937,-0.16134734451770782,0.5939921140670776,0.7036607265472412,0.0399399995803833
+1789729719547557389,8700,0.8365883827209473,-1.8972746133804321,-1.0063482522964478,1.381129503250122,-0.16134485602378845,0.5939902663230896,0.7036594152450562,0.0399399995803833
+1789729719580897326,8733,0.8365929126739502,-1.8972759246826172,-1.0063462257385254,1.3811278343200684,-0.1613440066576004,0.5939940214157104,0.7036586999893188,0.0399399995803833
+1789729719614228213,8766,0.8365922570228577,-1.8972752094268799,-1.00634765625,1.3811280727386475,-0.1613440215587616,0.5939968824386597,0.7036583423614502,0.0399399995803833
+1789729719647626533,8800,0.8365917205810547,-1.8972746133804321,-1.006349802017212,1.381130337715149,-0.16134360432624817,0.5939956903457642,0.703659176826477,0.0399399995803833
+1789729719680956200,8833,0.8365942239761353,-1.897277593612671,-1.0063512325286865,1.3811299800872803,-0.16134385764598846,0.5939956903457642,0.7036593556404114,0.0399399995803833
+1789729719714229755,8866,0.836594820022583,-1.8972831964492798,-1.0063506364822388,1.3811284303665161,-0.16134406626224518,0.5939942598342896,0.7036594748497009,0.03993000090122223
+1789729719747555753,8900,0.8365944623947144,-1.8972840309143066,-1.0063507556915283,1.3811287879943848,-0.161342591047287,0.5939902663230896,0.7036579251289368,0.03993000090122223
+1789729719780914457,8933,0.8365955352783203,-1.8972816467285156,-1.0063507556915283,1.381127953529358,-0.1613413244485855,0.5939902663230896,0.7036550641059875,0.03993000090122223
+1789729719814239926,8966,0.8365962505340576,-1.8972827196121216,-1.0063512325286865,1.3811280727386475,-0.16134026646614075,0.593989908695221,0.7036548852920532,0.03993000090122223
+1789729719847594370,9000,0.8365958333015442,-1.8972852230072021,-1.006350040435791,1.3811280727386475,-0.16133999824523926,0.593989908695221,0.7036555409431458,0.03993000090122223
+1789729719880957624,9033,0.8365967869758606,-1.897283673286438,-1.0063549280166626,1.3811278343200684,-0.16134175658226013,0.593990683555603,0.7036557793617249,0.03993000090122223
+1789729719914234658,9066,0.8365967273712158,-1.8972829580307007,-1.00635826587677,1.3811287879943848,-0.16134268045425415,0.5939885377883911,0.7036563158035278,0.03993000090122223
+1789729719947565676,9100,0.8365978598594666,-1.8972874879837036,-1.0063576698303223,1.3811278343200684,-0.16134513914585114,0.5939869284629822,0.7036555409431458,0.0399399995803833
+1789729719980899443,9133,0.8365990519523621,-1.8972914218902588,-1.006356120109558,1.381126880645752,-0.16134247183799744,0.5939858555793762,0.7036544680595398,0.0399399995803833
+1789729720014236455,9166,0.8365979194641113,-1.8972902297973633,-1.0063567161560059,1.381128191947937,-0.16134126484394073,0.5939805507659912,0.7036535739898682,0.0399399995803833
+1789729720047564046,9200,0.8365980982780457,-1.8972907066345215,-1.0063563585281372,1.3811280727386475,-0.16134026646614075,0.5939815044403076,0.7036535143852234,0.0399399995803833
+1789729720080983256,9233,0.836600124835968,-1.8972923755645752,-1.0063565969467163,1.381127953529358,-0.16133973002433777,0.5939823985099792,0.703654408454895,0.0399399995803833
+1789729720114243666,9266,0.8366016149520874,-1.8972926139831543,-1.0063581466674805,1.3811284303665161,-0.16134177148342133,0.5939827561378479,0.703656792640686,0.0399399995803833
+1789729720147559728,9300,0.8366016149520874,-1.897292137145996,-1.0063612461090088,1.381127953529358,-0.16134119033813477,0.5939813256263733,0.7036558985710144,0.0399399995803833
+1789729720180899798,9333,0.8366032242774963,-1.8972944021224976,-1.0063637495040894,1.3811273574829102,-0.16133935749530792,0.5939794778823853,0.7036543488502502,0.0399399995803833
+1789729720214233389,9366,0.836604654788971,-1.8972996473312378,-1.0063618421554565,1.3811265230178833,-0.1613393872976303,0.5939779281616211,0.7036536931991577,0.0399399995803833
+1789729720247562510,9400,0.836604118347168,-1.8973021507263184,-1.0063610076904297,1.3811264038085938,-0.16133800148963928,0.5939767360687256,0.7036523222923279,0.0399399995803833
+1789729720280932426,9433,0.8366050720214844,-1.8973008394241333,-1.0063612461090088,1.381125569343567,-0.16133707761764526,0.5939733386039734,0.703650176525116,0.0399399995803833
+1789729720314233680,9466,0.8366057872772217,-1.8973002433776855,-1.0063613653182983,1.3811261653900146,-0.16133813560009003,0.5939721465110779,0.7036512494087219,0.0399399995803833
+1789729720347562991,9500,0.8366082310676575,-1.8973020315170288,-1.0063613653182983,1.3811265230178833,-0.16133730113506317,0.5939731001853943,0.7036524415016174,0.0399399995803833
+1789729720380897532,9533,0.8366085886955261,-1.8973020315170288,-1.0063666105270386,1.381126880645752,-0.16133937239646912,0.5939720869064331,0.70365309715271,0.0399399995803833
+1789729720414232142,9566,0.8366082310676575,-1.8973017930984497,-1.0063707828521729,1.3811262845993042,-0.16133905947208405,0.5939691066741943,0.7036510109901428,0.0399399995803833
+1789729720447567233,9600,0.8366082310676575,-1.8973039388656616,-1.0063694715499878,1.3811261653900146,-0.1613391488790512,0.5939659476280212,0.703650951385498,0.0399399995803833
+1789729720480912382,9633,0.83660888671875,-1.8973075151443481,-1.0063682794570923,1.3811243772506714,-0.16133800148963928,0.5939647555351257,0.7036493420600891,0.0399399995803833
+1789729720514229954,9666,0.8366091847419739,-1.8973071575164795,-1.0063679218292236,1.381124496459961,-0.1613360345363617,0.5939629673957825,0.7036488056182861,0.0399399995803833
+1789729720547562695,9700,0.8366093039512634,-1.897306203842163,-1.006368637084961,1.3811241388320923,-0.1613357812166214,0.5939624905586243,0.703647792339325,0.0399399995803833
+1789729720580911194,9733,0.8366106152534485,-1.897306203842163,-1.0063698291778564,1.3811252117156982,-0.16133525967597961,0.5939660668373108,0.7036484479904175,0.0399399995803833
+1789729720614236755,9766,0.8366121649742126,-1.8973063230514526,-1.0063705444335938,1.381126046180725,-0.1613374799489975,0.5939667820930481,0.7036504149436951,0.0399399995803833
+1789729720647634028,9800,0.8366137146949768,-1.8973065614700317,-1.0063725709915161,1.3811262845993042,-0.16133780777454376,0.5939632058143616,0.7036519050598145,0.0399399995803833
+1789729720680900407,9833,0.8366134166717529,-1.8973067998886108,-1.0063735246658325,1.381125569343567,-0.1613379865884781,0.5939590930938721,0.7036493420600891,0.0399399995803833
+1789729720714233517,9866,0.8366138339042664,-1.8973088264465332,-1.006373405456543,1.3811240196228027,-0.16133563220500946,0.593955934047699,0.70364910364151,0.0399399995803833
+1789729720747565758,9900,0.8366144895553589,-1.897308349609375,-1.0063735246658325,1.381125569343567,-0.1613353192806244,0.5939531922340393,0.7036481499671936,0.0399399995803833
+1789729720780910287,9933,0.8366146087646484,-1.8973079919815063,-1.0063741207122803,1.3811283111572266,-0.1613335907459259,0.5939520597457886,0.7036488652229309,0.0399399995803833
+1789729720814300821,9966,0.8366148471832275,-1.89730966091156,-1.0063740015029907,1.3811269998550415,-0.1613343507051468,0.5939561724662781,0.7036488652229309,0.0399399995803833
+1789729720847565220,10000,0.836614191532135,-1.8973097801208496,-1.00637686252594,1.3811256885528564,-0.1613353043794632,0.5939579606056213,0.7036489844322205,0.0399399995803833
+1789729720880900890,10033,0.8366149663925171,-1.8973103761672974,-1.0063828229904175,1.3811264038085938,-0.1613355576992035,0.5939528346061707,0.703650176525116,0.0399399995803833
+1789729720914230451,10066,0.8366169929504395,-1.8973100185394287,-1.006382942199707,1.381127119064331,-0.1613352745771408,0.5939505100250244,0.7036506533622742,0.0399399995803833
+1789729720947563712,10100,0.8366192579269409,-1.897314190864563,-1.0063824653625488,1.3811272382736206,-0.16133412718772888,0.5939488410949707,0.7036498785018921,0.0399399995803833
+1789729720980902052,10133,0.8366183042526245,-1.8973218202590942,-1.0063817501068115,1.3811242580413818,-0.16133317351341248,0.5939499735832214,0.703648030757904,0.0399399995803833
+1789729721014229648,10166,0.8366179466247559,-1.8973201513290405,-1.006381869316101,1.3811252117156982,-0.1613324135541916,0.5939479470252991,0.7036475539207458,0.0399399995803833
+1789729721047567332,10200,0.8366184830665588,-1.8973171710968018,-1.0063838958740234,1.3811274766921997,-0.16133087873458862,0.5939460396766663,0.70364910364151,0.0399399995803833
+1789729721080906735,10233,0.8366245627403259,-1.8973195552825928,-1.0063841342926025,1.3811280727386475,-0.16133186221122742,0.5939455628395081,0.703649640083313,0.0399399995803833
+1789729721114232619,10266,0.8366243839263916,-1.8973238468170166,-1.0063848495483398,1.3811252117156982,-0.16133366525173187,0.5939476490020752,0.7036505341529846,0.0399399995803833
+1789729721147565943,10300,0.8366237878799438,-1.8973238468170166,-1.0063894987106323,1.381123423576355,-0.16133347153663635,0.5939480066299438,0.7036495208740234,0.0399399995803833
+1789729721180898837,10333,0.8366241455078125,-1.897323489189148,-1.006393551826477,1.3811259269714355,-0.16133137047290802,0.5939419865608215,0.7036473155021667,0.0399399995803833
+1789729721214307881,10366,0.8366262912750244,-1.8973257541656494,-1.0063918828964233,1.381126880645752,-0.1613289713859558,0.593940794467926,0.7036448121070862,0.0399399995803833
+1789729721247624727,10400,0.8366279602050781,-1.8973301649093628,-1.006391167640686,1.381124496459961,-0.16132858395576477,0.5939418077468872,0.7036435008049011,0.0399399995803833
+1789729721280932904,10433,0.8366246223449707,-1.8973292112350464,-1.0063928365707397,1.381124496459961,-0.16132870316505432,0.5939420461654663,0.7036452293395996,0.0399399995803833
+1789729721314228583,10466,0.8366259932518005,-1.8973280191421509,-1.0063945055007935,1.3811262845993042,-0.16133028268814087,0.593941330909729,0.703646183013916,0.0399399995803833
+1789729721347564496,10500,0.8366281986236572,-1.897329330444336,-1.006394624710083,1.3811278343200684,-0.16133072972297668,0.5939420461654663,0.7036474347114563,0.03993000090122223
+1789729721380896840,10533,0.8366307020187378,-1.8973373174667358,-1.0063937902450562,1.3811273574829102,-0.16133129596710205,0.5939403772354126,0.7036466598510742,0.03993000090122223
+1789729721414235793,10566,0.8366299271583557,-1.8973380327224731,-1.0063972473144531,1.38112473487854,-0.16132952272891998,0.5939401388168335,0.7036449909210205,0.03993000090122223
+1789729721447562888,10600,0.8366296887397766,-1.8973373174667358,-1.00639808177948,1.3811241388320923,-0.16132953763008118,0.5939401388168335,0.7036439776420593,0.03993000090122223
+1789729721480899321,10633,0.8366320729255676,-1.8973361253738403,-1.0063968896865845,1.3811267614364624,-0.16132763028144836,0.5939356088638306,0.7036427855491638,0.03993000090122223
+1789729721514225336,10666,0.8366345167160034,-1.8973368406295776,-1.0063968896865845,1.3811280727386475,-0.16132475435733795,0.5939339399337769,0.7036424279212952,0.0399399995803833
+1789729721547629260,10700,0.8366348743438721,-1.8973368406295776,-1.0063979625701904,1.3811265230178833,-0.16132484376430511,0.593934953212738,0.7036426067352295,0.03993000090122223
+1789729721580913111,10733,0.8366338610649109,-1.8973381519317627,-1.006400465965271,1.381124496459961,-0.16132807731628418,0.5939372777938843,0.703643262386322,0.0399399995803833
+1789729721614230396,10766,0.836635172367096,-1.8973437547683716,-1.0064001083374023,1.3811246156692505,-0.16132918000221252,0.5939355492591858,0.7036447525024414,0.0399399995803833
+1789729721647565120,10800,0.8366363644599915,-1.8973441123962402,-1.00640070438385,1.3811264038085938,-0.1613285392522812,0.5939351320266724,0.7036445736885071,0.0399399995803833
+1789729721680909242,10833,0.8366358280181885,-1.8973429203033447,-1.006400227546692,1.381127953529358,-0.16132767498493195,0.5939289331436157,0.7036433219909668,0.0399399995803833
+1789729721714228428,10866,0.8366360664367676,-1.8973441123962402,-1.0063998699188232,1.38112473487854,-0.16132791340351105,0.5939304828643799,0.7036421895027161,0.0399399995803833
+1789729721747566601,10900,0.8366355895996094,-1.8973455429077148,-1.006399393081665,1.3811228275299072,-0.16132736206054688,0.5939300060272217,0.7036418914794922,0.0399399995803833
+1789729721780930921,10933,0.8366366028785706,-1.897343635559082,-1.006400465965271,1.3811262845993042,-0.16132834553718567,0.5939305424690247,0.7036436200141907,0.0399399995803833
+1789729721814242877,10966,0.8366395235061646,-1.8973444700241089,-1.0064022541046143,1.3811280727386475,-0.16132932901382446,0.5939252376556396,0.7036427855491638,0.0399399995803833
+1789729721847568042,11000,0.8366395831108093,-1.8973485231399536,-1.0064038038253784,1.3811256885528564,-0.16132988035678864,0.5939282178878784,0.7036429643630981,0.0399399995803833
+1789729721880897986,11033,0.8366382718086243,-1.897355318069458,-1.0064040422439575,1.3811229467391968,-0.16132840514183044,0.5939279198646545,0.7036433219909668,0.0399399995803833
+1789729721914295142,11066,0.8366388082504272,-1.8973528146743774,-1.0064064264297485,1.381124496459961,-0.1613270789384842,0.5939255356788635,0.7036415934562683,0.0399399995803833
+1789729721947555875,11100,0.8366414904594421,-1.8973515033721924,-1.0064069032669067,1.3811283111572266,-0.1613255739212036,0.5939183235168457,0.7036404609680176,0.0399399995803833
+1789729721980952821,11133,0.8366429805755615,-1.8973551988601685,-1.0064067840576172,1.3811254501342773,-0.16132454574108124,0.5939223766326904,0.7036389112472534,0.0399399995803833
+1789729722014228757,11166,0.8366411328315735,-1.8973560333251953,-1.0064103603363037,1.3811230659484863,-0.1613253653049469,0.5939235687255859,0.7036395072937012,0.0399399995803833
+1789729722047557204,11200,0.8366413712501526,-1.8973541259765625,-1.0064153671264648,1.3811235427856445,-0.16132451593875885,0.5939214825630188,0.703639566898346,0.0399399995803833
+1789729722080892541,11233,0.8366433382034302,-1.8973549604415894,-1.006420373916626,1.3811253309249878,-0.1613246500492096,0.5939198732376099,0.7036395072937012,0.0399399995803833
+1789729722114234217,11266,0.8366459608078003,-1.8973637819290161,-1.0064175128936768,1.3811237812042236,-0.16132408380508423,0.5939198136329651,0.7036395072937012,0.0399399995803833
+1789729722147559275,11300,0.8366459608078003,-1.8973699808120728,-1.006417989730835,1.381120204925537,-0.1613195389509201,0.593920111656189,0.7036389708518982,0.0399399995803833
+1789729722180895061,11333,0.8366445302963257,-1.897365927696228,-1.0064218044281006,1.381118893623352,-0.16131767630577087,0.5939130783081055,0.7036365270614624,0.0399399995803833
+1789729722214229088,11366,0.8366458415985107,-1.8973664045333862,-1.0064213275909424,1.3811205625534058,-0.16131742298603058,0.5939128398895264,0.7036374807357788,0.0399399995803833
+1789729722247557036,11400,0.8366472125053406,-1.8973673582077026,-1.0064195394515991,1.3811217546463013,-0.16131995618343353,0.5939154028892517,0.7036380767822266,0.0399399995803833
+1789729722280899591,11433,0.8366460204124451,-1.897365927696228,-1.0064226388931274,1.3811211585998535,-0.16132095456123352,0.5939173698425293,0.7036389708518982,0.0399399995803833
+1789729722314233618,11466,0.8366460204124451,-1.8973652124404907,-1.0064259767532349,1.3811213970184326,-0.16132234036922455,0.5939165353775024,0.7036406993865967,0.0399399995803833
+1789729722347559156,11500,0.8366473317146301,-1.8973665237426758,-1.006425380706787,1.38112211227417,-0.16132290661334991,0.5939151644706726,0.7036380767822266,0.0399399995803833
+1789729722380899982,11533,0.8366489410400391,-1.897369384765625,-1.0064244270324707,1.381122350692749,-0.16132262349128723,0.5939137935638428,0.7036375999450684,0.0399399995803833
+1789729722414285162,11566,0.8366490006446838,-1.897368311882019,-1.006425142288208,1.3811233043670654,-0.1613222062587738,0.5939123630523682,0.7036371827125549,0.0399399995803833
+1789729722447556747,11600,0.8366488814353943,-1.8973665237426758,-1.0064274072647095,1.3811237812042236,-0.16131989657878876,0.5939115285873413,0.7036378383636475,0.0399399995803833
+1789729722480882845,11633,0.8366495370864868,-1.8973685503005981,-1.00642728805542,1.3811241388320923,-0.1613193154335022,0.5939127206802368,0.7036389708518982,0.0399399995803833
+1789729722514226170,11666,0.8366495966911316,-1.897369146347046,-1.006427526473999,1.3811246156692505,-0.161319762468338,0.5939141511917114,0.7036396861076355,0.0399399995803833
+1789729722547560917,11700,0.8366488218307495,-1.897369384765625,-1.0064347982406616,1.3811243772506714,-0.16132058203220367,0.5939135551452637,0.7036407589912415,0.0399399995803833
+1789729722580907322,11733,0.8366495966911316,-1.897369146347046,-1.0064380168914795,1.3811240196228027,-0.16132082045078278,0.5939090847969055,0.7036386728286743,0.0399399995803833
+1789729722614231220,11766,0.8366509079933167,-1.8973723649978638,-1.0064359903335571,1.381124496459961,-0.16131970286369324,0.5939043164253235,0.7036399841308594,0.0399399995803833
+1789729722647559678,11800,0.8366515040397644,-1.8973758220672607,-1.0064347982406616,1.3811230659484863,-0.1613190621137619,0.5939040184020996,0.703637421131134,0.0399399995803833
+1789729722680891505,11833,0.8366514444351196,-1.897374153137207,-1.0064356327056885,1.381123423576355,-0.16131755709648132,0.5939043760299683,0.7036333680152893,0.0399399995803833
+1789729722714222122,11866,0.8366504907608032,-1.8973711729049683,-1.006436824798584,1.3811230659484863,-0.1613173633813858,0.5939040780067444,0.7036312222480774,0.0399399995803833
+1789729722747574187,11900,0.8366525173187256,-1.8973721265792847,-1.0064363479614258,1.3811239004135132,-0.1613178849220276,0.5939063429832458,0.7036305069923401,0.0399399995803833
+1789729722780897445,11933,0.8366549015045166,-1.8973772525787354,-1.0064353942871094,1.3811235427856445,-0.16131918132305145,0.5939079523086548,0.7036322951316833,0.0399399995803833
+1789729722814289104,11966,0.8366552591323853,-1.8973771333694458,-1.0064367055892944,1.3811229467391968,-0.1613207459449768,0.5939059257507324,0.7036322951316833,0.0399399995803833
+1789729722847561369,12000,0.8366544842720032,-1.8973770141601562,-1.006436824798584,1.3811229467391968,-0.16131962835788727,0.5939021706581116,0.7036315202713013,0.0399399995803833
+1789729722880898175,12033,0.8366554975509644,-1.8973783254623413,-1.0064365863800049,1.381123661994934,-0.16131894290447235,0.5939001441001892,0.7036309838294983,0.0399399995803833
+1789729722914226463,12066,0.8366565108299255,-1.8973774909973145,-1.0064364671707153,1.3811237812042236,-0.16131703555583954,0.5939001441001892,0.703630805015564,0.0399399995803833
+1789729722947557030,12100,0.8366553783416748,-1.8973771333694458,-1.0064367055892944,1.3811241388320923,-0.16131751239299774,0.5938998460769653,0.7036319971084595,0.0399399995803833
+1789729722980899086,12133,0.8366553783416748,-1.8973768949508667,-1.006438136100769,1.3811230659484863,-0.16131767630577087,0.5939021706581116,0.7036333084106445,0.0399399995803833
+1789729723014227069,12166,0.8366556167602539,-1.897377848625183,-1.0064388513565063,1.3811233043670654,-0.1613195240497589,0.5939014554023743,0.7036327719688416,0.0399399995803833
+1789729723047564818,12200,0.8366559743881226,-1.897377610206604,-1.0064393281936646,1.3811231851577759,-0.16132000088691711,0.5938987135887146,0.7036324739456177,0.0399399995803833
+1789729723080905667,12233,0.8366567492485046,-1.8973785638809204,-1.0064384937286377,1.3811224699020386,-0.16131959855556488,0.5938949584960938,0.7036318778991699,0.0399399995803833
+1789729723114236957,12266,0.8366568088531494,-1.8973791599273682,-1.0064387321472168,1.3811222314834595,-0.16131772100925446,0.5938947796821594,0.7036308646202087,0.03993000090122223
+1789729723147593254,12300,0.8366564512252808,-1.8973782062530518,-1.0064390897750854,1.3811224699020386,-0.1613176465034485,0.5938929915428162,0.7036290764808655,0.03993000090122223
+1789729723180911006,12333,0.8366557359695435,-1.8973782062530518,-1.006438136100769,1.3811218738555908,-0.16131606698036194,0.593891978263855,0.703628659248352,0.03993000090122223
+1789729723214239486,12366,0.836656928062439,-1.8973770141601562,-1.0064380168914795,1.3811217546463013,-0.16131748259067535,0.5938925743103027,0.7036294341087341,0.03993000090122223
+1789729723247565657,12400,0.8366578221321106,-1.8973768949508667,-1.0064396858215332,1.3811217546463013,-0.16131703555583954,0.593891441822052,0.7036310434341431,0.03993000090122223
+1789729723280898867,12433,0.8366586565971375,-1.8973805904388428,-1.0064400434494019,1.3811216354370117,-0.16131840646266937,0.5938900113105774,0.7036323547363281,0.03993000090122223
+1789729723314243306,12466,0.8366608023643494,-1.8973840475082397,-1.0064401626586914,1.3811191320419312,-0.1613185703754425,0.5938883423805237,0.7036321759223938,0.0399399995803833
+1789729723347565997,12500,0.8366606831550598,-1.8973830938339233,-1.0064396858215332,1.3811192512512207,-0.16131897270679474,0.5938817858695984,0.7036312818527222,0.0399399995803833
+1789729723380914065,12533,0.8366606831550598,-1.8973817825317383,-1.0064393281936646,1.3811206817626953,-0.16131757199764252,0.5938803553581238,0.703628659248352,0.0399399995803833
+1789729723414233177,12566,0.8366615772247314,-1.8973817825317383,-1.0064395666122437,1.3811204433441162,-0.16131654381752014,0.5938801169395447,0.7036284804344177,0.0399399995803833
+1789729723447566996,12600,0.8366608023643494,-1.8973816633224487,-1.0064404010772705,1.3811198472976685,-0.16131682693958282,0.5938805937767029,0.7036285400390625,0.0399399995803833
+1789729723480972437,12633,0.8366612195968628,-1.8973822593688965,-1.006441593170166,1.3811198472976685,-0.16131821274757385,0.5938820242881775,0.7036283612251282,0.0399399995803833
+1789729723514237625,12666,0.8366628885269165,-1.8973828554153442,-1.0064420700073242,1.381120204925537,-0.1613168865442276,0.593880832195282,0.703628420829773,0.0399399995803833
+1789729723547564156,12700,0.8366641402244568,-1.8973839282989502,-1.0064432621002197,1.381120204925537,-0.161317378282547,0.5938789248466492,0.7036277055740356,0.0399399995803833
+1789729723580909854,12733,0.8366654515266418,-1.897386908531189,-1.006442666053772,1.3811192512512207,-0.16131633520126343,0.5938751697540283,0.7036278247833252,0.0399399995803833
+1789729723614291958,12766,0.8366658091545105,-1.897385835647583,-1.0064423084259033,1.3811194896697998,-0.16131529211997986,0.5938723087310791,0.7036266922950745,0.0399399995803833
+1789729723647566666,12800,0.8366656303405762,-1.8973853588104248,-1.0064419507980347,1.381119966506958,-0.16131453216075897,0.5938725471496582,0.7036263346672058,0.0399399995803833
+1789729723680902915,12833,0.8366658091545105,-1.8973854780197144,-1.0064419507980347,1.3811206817626953,-0.1613156944513321,0.5938712358474731,0.7036275863647461,0.0399399995803833
+1789729723714304636,12866,0.8366667628288269,-1.8973848819732666,-1.0064424276351929,1.3811204433441162,-0.16131600737571716,0.5938712358474731,0.7036292552947998,0.0399399995803833
+1789729723747567495,12900,0.8366662859916687,-1.897386074066162,-1.006445050239563,1.3811203241348267,-0.1613156497478485,0.5938703417778015,0.7036290764808655,0.0399399995803833
+1789729723780957198,12933,0.8366667032241821,-1.8973867893218994,-1.0064451694488525,1.3811198472976685,-0.1613156795501709,0.593868613243103,0.7036290764808655,0.0399399995803833
+1789729723814316684,12966,0.8366678953170776,-1.897387146949768,-1.0064444541931152,1.3811203241348267,-0.1613159328699112,0.5938680171966553,0.7036277651786804,0.0399399995803833
+1789729723847577233,13000,0.836668074131012,-1.8973878622055054,-1.0064442157745361,1.3811204433441162,-0.16131578385829926,0.5938677787780762,0.70362788438797,0.0399399995803833
+1789729723880899175,13033,0.8366692662239075,-1.8973878622055054,-1.0064435005187988,1.3811211585998535,-0.16131511330604553,0.5938656330108643,0.7036261558532715,0.0399399995803833
+1789729723914307045,13066,0.8366689085960388,-1.8973876237869263,-1.0064433813095093,1.3811215162277222,-0.16131524741649628,0.593865156173706,0.7036271691322327,0.0399399995803833
+1789729723947641925,13100,0.8366693258285522,-1.8973881006240845,-1.006443977355957,1.3811216354370117,-0.16131657361984253,0.5938664078712463,0.7036280035972595,0.0399399995803833
+1789729723980959607,13133,0.8366696834564209,-1.8973884582519531,-1.0064435005187988,1.381120204925537,-0.16131903231143951,0.593865156173706,0.7036271691322327,0.0399399995803833
+1789729724014286233,13166,0.8366698026657104,-1.8973888158798218,-1.0064435005187988,1.3811185359954834,-0.16131912171840668,0.5938640236854553,0.7036271691322327,0.0399399995803833
+1789729724047642382,13200,0.8366691470146179,-1.8973894119262695,-1.0064431428909302,1.381117343902588,-0.16131968796253204,0.5938588976860046,0.7036257386207581,0.0399399995803833
+1789729724080961147,13233,0.8366689682006836,-1.8973885774612427,-1.0064425468444824,1.381117582321167,-0.16131851077079773,0.5938531160354614,0.7036253213882446,0.0399399995803833
+1789729724114297070,13266,0.8366694450378418,-1.8973878622055054,-1.0064424276351929,1.381118655204773,-0.16131800413131714,0.593853235244751,0.703626275062561,0.0399399995803833
+1789729724147626073,13300,0.8366702795028687,-1.897387146949768,-1.006442666053772,1.3811194896697998,-0.16131587326526642,0.5938543677330017,0.7036266922950745,0.0399399995803833
+1789729724180896193,13333,0.8366705775260925,-1.8973875045776367,-1.0064435005187988,1.3811198472976685,-0.16131651401519775,0.5938540101051331,0.7036292552947998,0.0399399995803833
+1789729724214307537,13366,0.8366714119911194,-1.897387981414795,-1.006443738937378,1.381119966506958,-0.16131849586963654,0.5938547849655151,0.703629195690155,0.0399399995803833
+1789729724247644889,13400,0.8366724848747253,-1.897387981414795,-1.0064464807510376,1.3811203241348267,-0.16131825745105743,0.5938533544540405,0.7036287784576416,0.0399399995803833
+1789729724280901481,13433,0.836673378944397,-1.8973888158798218,-1.0064467191696167,1.3811208009719849,-0.16131596267223358,0.5938516855239868,0.7036260366439819,0.0399399995803833
+1789729724314234884,13466,0.836674153804779,-1.8973891735076904,-1.0064464807510376,1.3811205625534058,-0.16131563484668732,0.5938487648963928,0.7036263346672058,0.0399399995803833
+1789729724347633159,13500,0.836674153804779,-1.8973891735076904,-1.0064465999603271,1.3811205625534058,-0.16131415963172913,0.593846321105957,0.7036259770393372,0.0399399995803833
+1789729724380905059,13533,0.8366737365722656,-1.8973884582519531,-1.006446123123169,1.381121277809143,-0.16131475567817688,0.5938462615013123,0.7036260962486267,0.0399399995803833
+1789729724414232302,13566,0.8366742134094238,-1.8973885774612427,-1.0064469575881958,1.38112211227417,-0.16131626069545746,0.5938473343849182,0.7036259174346924,0.0399399995803833
+1789729724447627358,13600,0.836674690246582,-1.8973898887634277,-1.006447672843933,1.3811211585998535,-0.1613156795501709,0.59384685754776,0.7036260962486267,0.0399399995803833
+1789729724480907087,13633,0.8366752862930298,-1.8973901271820068,-1.0064480304718018,1.3811211585998535,-0.16131854057312012,0.5938460826873779,0.7036254405975342,0.0399399995803833
+1789729724514284004,13666,0.8366767168045044,-1.897392749786377,-1.0064477920532227,1.3811208009719849,-0.1613178700208664,0.5938442349433899,0.7036257386207581,0.0399399995803833
+1789729724547626136,13700,0.8366775512695312,-1.8973958492279053,-1.006447434425354,1.3811211585998535,-0.16131605207920074,0.5938430428504944,0.7036253809928894,0.0399399995803833
+1789729724580899146,13733,0.8366782665252686,-1.8973960876464844,-1.0064477920532227,1.381121277809143,-0.16131658852100372,0.5938398241996765,0.7036247253417969,0.0399399995803833
+1789729724614226060,13766,0.8366791605949402,-1.8973963260650635,-1.0064479112625122,1.3811213970184326,-0.16131648421287537,0.5938405394554138,0.7036246061325073,0.0399399995803833
+1789729724647566702,13800,0.8366790413856506,-1.8973954916000366,-1.0064483880996704,1.3811217546463013,-0.1613161712884903,0.5938413143157959,0.7036259174346924,0.0399399995803833
+1789729724680903414,13833,0.8366797566413879,-1.897396445274353,-1.0064502954483032,1.3811219930648804,-0.16131819784641266,0.5938431024551392,0.70362788438797,0.0399399995803833
+1789729724714292590,13866,0.8366813659667969,-1.8973965644836426,-1.0064514875411987,1.38112211227417,-0.1613192856311798,0.5938422083854675,0.7036275267601013,0.0399399995803833
+1789729724747565740,13900,0.8366813063621521,-1.8973983526229858,-1.0064513683319092,1.3811219930648804,-0.16131766140460968,0.5938401222229004,0.7036264538764954,0.0399399995803833
+1789729724780902633,13933,0.8366820812225342,-1.8974000215530396,-1.0064504146575928,1.3811213970184326,-0.16131749749183655,0.5938396453857422,0.7036257982254028,0.03993000090122223
+1789729724814241455,13966,0.8366816639900208,-1.8973991870880127,-1.0064507722854614,1.3811217546463013,-0.1613161563873291,0.5938394069671631,0.7036253213882446,0.03993000090122223
+1789729724847565848,14000,0.8366820216178894,-1.8973983526229858,-1.0064510107040405,1.381121039390564,-0.16131673753261566,0.5938369035720825,0.7036229968070984,0.03993000090122223
+1789729724880902241,14033,0.8366817831993103,-1.8973984718322754,-1.00645112991333,1.381121039390564,-0.16131669282913208,0.5938365459442139,0.7036261558532715,0.03993000090122223
+1789729724914292776,14066,0.8366817831993103,-1.8973989486694336,-1.0064518451690674,1.3811204433441162,-0.16131775081157684,0.5938336253166199,0.7036261558532715,0.03993000090122223
+1789729724947561897,14100,0.8366822600364685,-1.8974002599716187,-1.0064523220062256,1.3811198472976685,-0.16131898760795593,0.5938324332237244,0.7036259770393372,0.03993000090122223
+1789729724980903559,14133,0.8366830348968506,-1.8974008560180664,-1.0064524412155151,1.3811187744140625,-0.1613181233406067,0.5938298106193542,0.7036263346672058,0.0399399995803833
+1789729725014249855,14166,0.83668452501297,-1.8974034786224365,-1.0064539909362793,1.3811182975769043,-0.16131702065467834,0.5938264727592468,0.7036249041557312,0.0399399995803833
+1789729725047576012,14200,0.836685299873352,-1.8974061012268066,-1.0064542293548584,1.3811163902282715,-0.1613161414861679,0.5938239693641663,0.7036244869232178,0.03993000090122223
+1789729725080905668,14233,0.8366855382919312,-1.8974061012268066,-1.0064539909362793,1.3811167478561401,-0.161316379904747,0.5938231348991394,0.703624427318573,0.0399399995803833
+1789729725114237294,14266,0.8366855382919312,-1.8974062204360962,-1.0064541101455688,1.3811172246932983,-0.16131733357906342,0.5938239693641663,0.7036252617835999,0.0399399995803833
+1789729725147563460,14300,0.8366855978965759,-1.8974062204360962,-1.0064551830291748,1.381116509437561,-0.16131824254989624,0.5938253998756409,0.7036260962486267,0.0399399995803833
+1789729725180902315,14333,0.8366857171058655,-1.897406816482544,-1.0064587593078613,1.3811161518096924,-0.1613195389509201,0.5938250422477722,0.7036266326904297,0.0399399995803833
+1789729725214235491,14366,0.8366864919662476,-1.897407054901123,-1.006459355354309,1.3811157941818237,-0.1613190621137619,0.5938251614570618,0.7036266326904297,0.0399399995803833
+1789729725247561147,14400,0.8366857171058655,-1.8974090814590454,-1.0064589977264404,1.3811149597167969,-0.1613198071718216,0.593822717666626,0.7036256194114685,0.0399399995803833
+1789729725280897552,14433,0.8366864323616028,-1.897411584854126,-1.0064595937728882,1.3811150789260864,-0.16131839156150818,0.5938229560852051,0.7036234140396118,0.0399399995803833
+1789729725314235207,14466,0.8366870880126953,-1.8974114656448364,-1.0064594745635986,1.3811156749725342,-0.16131766140460968,0.5938223600387573,0.7036231756210327,0.0399399995803833
+1789729725347564373,14500,0.8366878032684326,-1.89741051197052,-1.0064616203308105,1.381116271018982,-0.16131633520126343,0.5938223600387573,0.7036221623420715,0.0399399995803833
+1789729725380903678,14533,0.8366880416870117,-1.8974103927612305,-1.006463885307312,1.3811172246932983,-0.16131746768951416,0.5938229560852051,0.7036234140396118,0.0399399995803833
+1789729725414232114,14566,0.8366871476173401,-1.8974107503890991,-1.0064663887023926,1.3811174631118774,-0.16131794452667236,0.5938230752944946,0.7036221027374268,0.0399399995803833
+1789729725447562570,14600,0.8366876840591431,-1.8974114656448364,-1.0064666271209717,1.381117343902588,-0.16131918132305145,0.5938214659690857,0.7036238312721252,0.0399399995803833
+1789729725480898605,14633,0.8366873264312744,-1.8974124193191528,-1.006466031074524,1.381116509437561,-0.1613186001777649,0.5938209295272827,0.7036234140396118,0.0399399995803833
+1789729725514235581,14666,0.8366875052452087,-1.8974124193191528,-1.0064653158187866,1.3811168670654297,-0.16131585836410522,0.5938186645507812,0.7036228179931641,0.0399399995803833
+1789729725547565057,14700,0.8366879224777222,-1.897412657737732,-1.0064659118652344,1.381117343902588,-0.16131718456745148,0.5938172936439514,0.7036217451095581,0.0399399995803833
+1789729725580912321,14733,0.8366881608963013,-1.8974119424819946,-1.006466031074524,1.3811179399490356,-0.16131621599197388,0.5938184261322021,0.7036198377609253,0.0399399995803833
+1789729725614255855,14766,0.8366886973381042,-1.8974124193191528,-1.0064665079116821,1.381118893623352,-0.16131684184074402,0.5938191413879395,0.703621506690979,0.0399399995803833
+1789729725647580561,14800,0.8366885185241699,-1.8974120616912842,-1.0064671039581299,1.3811191320419312,-0.16131682693958282,0.5938205122947693,0.703621506690979,0.0399399995803833
+1789729725680910267,14833,0.836689293384552,-1.8974125385284424,-1.0064677000045776,1.3811194896697998,-0.1613178700208664,0.5938194394111633,0.7036231756210327,0.0399399995803833
+1789729725714228385,14866,0.8366906046867371,-1.897413730621338,-1.0064677000045776,1.381118655204773,-0.16131794452667236,0.5938161015510559,0.7036222815513611,0.0399399995803833
+1789729725747564890,14900,0.8366913795471191,-1.897415041923523,-1.0064681768417358,1.3811174631118774,-0.1613168865442276,0.5938117504119873,0.7036213278770447,0.0399399995803833
+1789729725780900665,14933,0.8366917967796326,-1.8974148035049438,-1.0064677000045776,1.381118655204773,-0.16131377220153809,0.5938087105751038,0.7036214470863342,0.0399399995803833
+1789729725814293194,14966,0.8366919755935669,-1.8974140882492065,-1.006466269493103,1.3811187744140625,-0.1613149493932724,0.5938127040863037,0.703620970249176,0.0399399995803833
+1789729725847608951,15000,0.8366917371749878,-1.8974145650863647,-1.0064666271209717,1.3811192512512207,-0.16131581366062164,0.5938129425048828,0.7036209106445312,0.0399399995803833
+1789729725880900582,15033,0.8366917967796326,-1.8974148035049438,-1.0064682960510254,1.3811191320419312,-0.16131632030010223,0.5938118100166321,0.7036222219467163,0.0399399995803833
+1789729725914225579,15066,0.8366929888725281,-1.8974170684814453,-1.006471037864685,1.3811191320419312,-0.16131670773029327,0.5938121676445007,0.7036234140396118,0.0399399995803833
+1789729725947626016,15100,0.8366943597793579,-1.8974177837371826,-1.0064727067947388,1.3811180591583252,-0.16131623089313507,0.5938110947608948,0.7036226987838745,0.0399399995803833
+1789729725980920536,15133,0.8366947770118713,-1.897418737411499,-1.0064740180969238,1.3811181783676147,-0.16131675243377686,0.5938069224357605,0.7036175727844238,0.0399399995803833
diff --git a/episode_0008/left.observation.state/data.jsonl b/episode_0008/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9c827b96353019f4a26220d4b1991407f080d292
--- /dev/null
+++ b/episode_0008/left.observation.state/data.jsonl
@@ -0,0 +1,455 @@
+{"timestamp_ns": 1789729710847580356, "elapsed_ms": 0, "source_timestamp_ns": 1789729710839175979, "q": [0.8362566828727722, -1.8968428373336792, -1.0058982372283936, 1.3811341524124146, -0.16162246465682983, 0.594420313835144, 0.7038903832435608], "theta": [0.8383274078369141, -1.8948874473571777, -1.004096269607544, 1.3627172708511353, -0.16220295429229736, 0.5943628549575806, 0.7038571834564209], "dq": [-0.00048550806241109967, -0.0014897524379193783, 0.0007197585655376315, -0.0032772107515484095, 0.0006994464201852679, -0.0005127334734424949, -0.0006093506817705929], "dtheta": [-8.411552698817104e-05, -0.0003684218681883067, -0.0003999537439085543, -0.00020086283620912582, -0.0005927683669142425, -0.0001995517814066261, -0.0003019716532435268], "tau": [55.619998931884766, 23.65999984741211, 5.500000476837158, -26.336000442504883, -2.556000232696533, 2.6640000343322754, -0.5320000052452087], "tau_des": [0.5775008201599121, -0.4823685884475708, -0.1708381175994873, -0.5789347887039185, 0.9698714017868042, -1.1602134704589844, -0.5318174958229065], "tau_dot": [68.21408081054688, -65.79816436767578, -27.674766540527344, -5.492349147796631, 18.386308670043945, 1.6461948156356812, 45.00069046020508], "tau_ext": [-16.781631469726562, -41.67206954956055, 31.798778533935547, 31.362712860107422, 9.491962432861328, -2.9862983226776123, -0.11876001954078674], "tcp_pose": [0.6779708862304688, 0.03280537948012352, -0.21497344970703125, -0.0022743716835975647, -0.004556803498417139, 0.9998853802680969, 0.01425656396895647], "tcp_vel": [0.000139044233947061, -0.00014665570051874965, -7.28072045603767e-05, -0.0009104300406761467, -0.00038889891584403813, 0.0005697525921277702], "flange_pose": [0.6786726117134094, 0.028532007709145546, -0.06503597646951675, -0.0022743716835975647, -0.004556803498417139, 0.9998853802680969, 0.01425656396895647], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78221893310547, 15.229257583618164, 28.246946334838867, 0.36480772495269775, -24.042869567871094, 1.8035434484481812], "ext_wrench_in_world": [-108.04656122342053, 15.03800361079086, -27.32445858806404, -0.15569305829576924, -23.98406428650107, -2.48713704424785]}
+{"timestamp_ns": 1789729710881001937, "elapsed_ms": 33, "source_timestamp_ns": 1789729710879178724, "q": [0.8362637758255005, -1.896843671798706, -1.0058982372283936, 1.381129503250122, -0.1616131067276001, 0.5944010615348816, 0.703889012336731], "theta": [0.8383355736732483, -1.894888997077942, -1.0040957927703857, 1.3627127408981323, -0.16219432651996613, 0.5943437814712524, 0.7038564085960388], "dq": [0.0005299761542119086, -0.0028168053831905127, 0.0024607775267213583, -0.0015630436828359962, -0.0013394394190981984, -0.0010122639359906316, -0.0018287065904587507], "dtheta": [0.0005557793192565441, -0.00016466078523080796, 0.000486993754748255, -7.275831012520939e-05, 0.0006010315264575183, -0.0012763387057930231, 0.00027144671184942126], "tau": [55.619998931884766, 23.670000076293945, 5.500000476837158, -26.32000160217285, -2.56000018119812, 2.6440000534057617, -0.5400000214576721], "tau_des": [0.5011430382728577, -0.4787793457508087, -0.2805234491825104, -0.5675668716430664, 0.92588210105896, -1.1370935440063477, -0.5474594235420227], "tau_dot": [141.1208038330078, -9.197994232177734, 2.635906934738159, 25.38758659362793, -8.91087532043457, -30.758251190185547, -18.9654483795166], "tau_ext": [-16.797245025634766, -41.68782043457031, 31.80043601989746, 31.375417709350586, 9.489974975585938, -2.988617420196533, -0.12020111829042435], "tcp_pose": [0.6779690980911255, 0.03280415013432503, -0.21496975421905518, -0.0022787931375205517, -0.00455497158691287, 0.9998854398727417, 0.014254231937229633], "tcp_vel": [-0.00037846024497412145, 0.00017180715803988278, 0.00019254152721259743, -0.00023263954790309072, 0.0008455767529085279, -0.00013295367534738034], "flange_pose": [0.6786721348762512, 0.028531482443213463, -0.06503227353096008, -0.0022787931375205517, -0.00455497158691287, 0.9998854398727417, 0.014254231937229633], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78731536865234, 15.220378875732422, 28.25809097290039, 0.3615870177745819, -24.04852867126465, 1.8034894466400146], "ext_wrench_in_world": [-108.0518187217453, 15.029651882212539, -27.33494152467648, -0.15252774968965443, -23.989704021657634, -2.4871443156843402]}
+{"timestamp_ns": 1789729710914338209, "elapsed_ms": 66, "source_timestamp_ns": 1789729710909179760, "q": [0.836270272731781, -1.8968454599380493, -1.0058982372283936, 1.3811298608779907, -0.1616060584783554, 0.594393789768219, 0.7038840651512146], "theta": [0.8383424878120422, -1.8948906660079956, -1.0040960311889648, 1.362713098526001, -0.1621866673231125, 0.5943371057510376, 0.7038525938987732], "dq": [-0.0036051454953849316, -0.0008565260795876384, -6.519308226415887e-05, -0.001532319001853466, 0.0009609006228856742, -0.0010509815765544772, 0.0014417620841413736], "dtheta": [0.0005864587728865445, -0.00024040462449193, 8.455458009848371e-05, 0.00017433798348065466, 0.00044859087211079895, 0.0001179721366497688, -0.000622122548520565], "tau": [55.59000015258789, 23.639999389648438, 5.508000373840332, -26.32000160217285, -2.5440001487731934, 2.6680002212524414, -0.5480000376701355], "tau_des": [0.46938973665237427, -0.491994708776474, -0.26353880763053894, -0.5380135774612427, 0.9406810402870178, -1.1654995679855347, -0.5298440456390381], "tau_dot": [-13.040498733520508, -52.60575485229492, 33.08132553100586, -14.779050827026367, -17.108667373657227, 41.8677864074707, -14.687141418457031], "tau_ext": [-16.7918643951416, -41.67374801635742, 31.79317283630371, 31.36835479736328, 9.477213859558105, -2.9870705604553223, -0.11898603290319443], "tcp_pose": [0.6779676079750061, 0.03280394896864891, -0.21496742963790894, -0.002280352870002389, -0.004556181840598583, 0.9998854398727417, 0.014253309927880764], "tcp_vel": [-7.358435686910525e-05, 0.00013414560817182064, 0.0002297768951393664, 0.00013406123616732657, -0.000277689250651747, 0.0006183010409586132], "flange_pose": [0.67867112159729, 0.02853156253695488, -0.06502994149923325, -0.002280352870002389, -0.004556181840598583, 0.9998854398727417, 0.014253309927880764], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7858657836914, 15.214696884155273, 28.26395034790039, 0.36198699474334717, -24.05048942565918, 1.8018758296966553], "ext_wrench_in_world": [-108.05046648552214, 15.02383522039816, -27.34066240632506, -0.15285082308951328, -23.991718512155053, -2.485540617883672]}
+{"timestamp_ns": 1789729710947649055, "elapsed_ms": 100, "source_timestamp_ns": 1789729710939201024, "q": [0.8362740874290466, -1.8968465328216553, -1.005899429321289, 1.3811298608779907, -0.16160055994987488, 0.5943939089775085, 0.7038792371749878], "theta": [0.8383473753929138, -1.8948922157287598, -1.0040971040725708, 1.36271333694458, -0.16218064725399017, 0.594338059425354, 0.7038471102714539], "dq": [0.0024125752970576286, 7.113776518963277e-05, 0.0025345783215016127, 1.9800994778051972e-05, 0.0025144731625914574, -0.0004322154854889959, 0.00047625001752749085], "dtheta": [0.00033251428976655006, -0.00012741009413730353, -9.052787208929658e-05, 0.00017952041525859386, -0.0008340577478520572, 0.0002647243090905249, 0.000395696290070191], "tau": [55.62999725341797, 23.709999084472656, 5.500000476837158, -26.312002182006836, -2.556000232696533, 2.6680002212524414, -0.5560000538825989], "tau_des": [0.4689001739025116, -0.5478747487068176, -0.22048568725585938, -0.5197048783302307, 0.9613751173019409, -1.177911639213562, -0.5426284074783325], "tau_dot": [80.40731048583984, 104.71923828125, 49.52946090698242, -12.729110717773438, -42.661415100097656, 46.31650161743164, -31.361295700073242], "tau_ext": [-16.783729553222656, -41.66783905029297, 31.79268455505371, 31.366657257080078, 9.462604522705078, -2.9918644428253174, -0.11499679088592529], "tcp_pose": [0.6779677867889404, 0.03280401974916458, -0.21496570110321045, -0.002279706532135606, -0.0045570312067866325, 0.9998854398727417, 0.014254279434680939], "tcp_vel": [0.00016023198259063065, -6.357581150950864e-05, 0.0002011690376093611, -0.0006019306019879878, -0.0008674330892972648, 0.00011108275066362694], "flange_pose": [0.6786710619926453, 0.02853134088218212, -0.06502822041511536, -0.002279706532135606, -0.0045570312067866325, 0.9998854398727417, 0.014254279434680939], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78063201904297, 15.214794158935547, 28.256816864013672, 0.3676854074001312, -24.048635482788086, 1.8000901937484741], "ext_wrench_in_world": [-108.04518984139912, 15.023649509006669, -27.333664345932238, -0.15851388827911153, -23.98996397556117, -2.4837245513459365]}
+{"timestamp_ns": 1789729710981000045, "elapsed_ms": 133, "source_timestamp_ns": 1789729710979178372, "q": [0.8362768292427063, -1.8968486785888672, -1.0059051513671875, 1.3811315298080444, -0.1615995317697525, 0.5943928956985474, 0.7038796544075012], "theta": [0.8383515477180481, -1.8948949575424194, -1.0041038990020752, 1.3627140522003174, -0.16217969357967377, 0.594338059425354, 0.70384681224823], "dq": [0.0032310686074197292, -0.0027960671577602625, 0.0001716922561172396, 0.001211319351568818, -0.0008812388405203819, -0.0007067155092954636, 0.000527959200553596], "dtheta": [-8.616675768280402e-05, -9.362708806293085e-05, -0.0003620666393544525, 0.0002569874923210591, 0.00012367439921945333, 7.102565723471344e-05, 0.00040564395021647215], "tau": [55.59000015258789, 23.689998626708984, 5.448000431060791, -26.316001892089844, -2.5440001487731934, 2.6760001182556152, -0.5520000457763672], "tau_des": [0.5811375975608826, -0.527557909488678, -0.16779673099517822, -0.5933501124382019, 0.9281879663467407, -1.1488914489746094, -0.5564911365509033], "tau_dot": [-9.806388854980469, 123.34606170654297, -38.959983825683594, -16.300537109375, 35.501529693603516, 0.3944547772407532, 3.9250285625457764], "tau_ext": [-16.78330421447754, -41.65762710571289, 31.806339263916016, 31.366064071655273, 9.471342086791992, -2.9962539672851562, -0.11257888376712799], "tcp_pose": [0.6779686808586121, 0.03280111029744148, -0.21496576070785522, -0.0022787495981901884, -0.004555403254926205, 0.9998854994773865, 0.01425113808363676], "tcp_vel": [-2.6790312404045835e-05, -0.00020135927479714155, -0.00022291348432190716, -0.0003266367129981518, 0.00020471868629101664, -0.0006265243864618242], "flange_pose": [0.6786717176437378, 0.028529373928904533, -0.06502824276685715, -0.0022787495981901884, -0.004555403254926205, 0.9998854994773865, 0.01425113808363676], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77958679199219, 15.218216896057129, 28.235563278198242, 0.37114036083221436, -24.043184280395508, 1.8001199960708618], "ext_wrench_in_world": [-108.04397507311562, 15.026656520060921, -27.312625879128408, -0.16209182185861812, -23.98456114804829, -2.4834331651102834]}
+{"timestamp_ns": 1789729711014326024, "elapsed_ms": 166, "source_timestamp_ns": 1789729711009172093, "q": [0.8362791538238525, -1.896852970123291, -1.0059138536453247, 1.3811314105987549, -0.16159872710704803, 0.594392716884613, 0.7038795351982117], "theta": [0.8383537530899048, -1.8948992490768433, -1.0041131973266602, 1.3627139329910278, -0.16217969357967377, 0.5943385362625122, 0.70384681224823], "dq": [0.0011693532578647137, -0.0020573954097926617, -0.001721963519230485, -0.0006495062843896449, 0.0017400431679561734, -0.0011911672772839665, 0.0003930233360733837], "dtheta": [-0.00040988996624946594, -9.259033686248586e-05, -0.0004814885032828897, -0.00012731119932141155, -0.00034180309739895165, 0.0006248741410672665, 0.0001240383426193148], "tau": [55.5, 23.619998931884766, 5.488000392913818, -26.304000854492188, -2.5480000972747803, 2.6440000534057617, -0.5480000376701355], "tau_des": [0.5636427998542786, -0.5557011365890503, -0.11988452821969986, -0.5529964566230774, 0.9524710178375244, -1.1713958978652954, -0.5558691024780273], "tau_dot": [-277.4482116699219, -39.36022186279297, 49.30616760253906, -1.3804776668548584, 27.117923736572266, -23.527099609375, -8.572717666625977], "tau_ext": [-16.784595489501953, -41.656558990478516, 31.81603240966797, 31.363121032714844, 9.478927612304688, -2.9978044033050537, -0.11900351941585541], "tcp_pose": [0.6779708862304688, 0.03279760852456093, -0.21496596932411194, -0.0022764443419873714, -0.004553638398647308, 0.9998855590820312, 0.014246974140405655], "tcp_vel": [0.00026079313829541206, -0.00013926501560490578, -0.00017584572196938097, -0.00010692204523365945, -0.0005025634891353548, -0.0002458155795466155], "flange_pose": [0.6786732077598572, 0.028527116402983665, -0.06502841413021088, -0.0022764443419873714, -0.004553638398647308, 0.9998855590820312, 0.014246974140405655], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78315734863281, 15.227474212646484, 28.218854904174805, 0.3701304495334625, -24.03377342224121, 1.7995712757110596], "ext_wrench_in_world": [-108.04737158670105, 15.03556056421757, -27.296266462007406, -0.16123884540219816, -23.975180931305022, -2.482422120346481]}
+{"timestamp_ns": 1789729711047668310, "elapsed_ms": 200, "source_timestamp_ns": 1789729711039194989, "q": [0.8362821340560913, -1.8968558311462402, -1.0059188604354858, 1.3811315298080444, -0.1615978181362152, 0.5943891406059265, 0.7038792371749878], "theta": [0.8383562564849854, -1.894901990890503, -1.0041182041168213, 1.3627140522003174, -0.16217897832393646, 0.5943351984024048, 0.70384681224823], "dq": [-5.5137265007942915e-05, -0.0009871633956208825, -4.6389075578190386e-05, -6.89067819621414e-05, -1.8399157852400094e-05, 0.0004763099714182317, -0.0016215679934248328], "dtheta": [-0.0001190157636301592, -0.00017951923655346036, -1.710795004328247e-05, 2.5627565264585428e-05, 0.00010388518421677873, 0.0005784915410913527, -0.0001850860717240721], "tau": [55.56999969482422, 23.60999870300293, 5.4760003089904785, -26.340002059936523, -2.552000045776367, 2.640000104904175, -0.5360000133514404], "tau_des": [0.5343266129493713, -0.516776442527771, -0.17911581695079803, -0.5518314838409424, 0.9487596154212952, -1.1695560216903687, -0.5490561127662659], "tau_dot": [-13.29932689666748, -79.45264434814453, -44.728004455566406, -34.80778884887695, 8.876811981201172, -38.1267204284668, 7.0208024978637695], "tau_ext": [-16.777788162231445, -41.64960479736328, 31.82262420654297, 31.3617000579834, 9.485220909118652, -2.993713855743408, -0.12350527197122574], "tcp_pose": [0.677971601486206, 0.032795149832963943, -0.2149656116962433, -0.002275835257023573, -0.004552778322249651, 0.999885618686676, 0.014243422076106071], "tcp_vel": [1.5956986317178234e-05, 0.00013706467871088535, -8.892915502656251e-05, 0.0002848700387403369, -0.0002505611046217382, 0.00022569009161088616], "flange_pose": [0.6786736845970154, 0.02852572128176689, -0.06502801924943924, -0.002275835257023573, -0.004552778322249651, 0.999885618686676, 0.014243422076106071], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79020690917969, 15.220650672912598, 28.196474075317383, 0.3613225519657135, -24.028396606445312, 1.7960923910140991], "ext_wrench_in_world": [-108.05419498241217, 15.02803054017457, -27.27429756193704, -0.15250195875073563, -23.969842131759915, -2.478660257343633]}
+{"timestamp_ns": 1789729711081000877, "elapsed_ms": 233, "source_timestamp_ns": 1789729711079179803, "q": [0.8362839818000793, -1.8968583345413208, -1.005918025970459, 1.3811312913894653, -0.1615913212299347, 0.5943794846534729, 0.7038752436637878], "theta": [0.8383588790893555, -1.8949044942855835, -1.0041173696517944, 1.3627139329910278, -0.16217251121997833, 0.5943256616592407, 0.7038432359695435], "dq": [0.0020176733378320932, -0.0005719203036278486, 2.7668145776260644e-05, 0.0005094499792903662, -0.0016684937290847301, -0.002202705480158329, 0.00044098409125581384], "dtheta": [0.00010129409201908857, 8.731073467060924e-05, -5.712003985536285e-05, -6.852198566775769e-05, -0.0003307585429865867, 0.00022025727957952768, -0.0003758487000595778], "tau": [55.59000015258789, 23.69999885559082, 5.496000289916992, -26.32400131225586, -2.56000018119812, 2.6560001373291016, -0.5560000538825989], "tau_des": [0.48622599244117737, -0.5620942115783691, -0.17341679334640503, -0.5324543714523315, 0.9542624354362488, -1.1611052751541138, -0.5428425669670105], "tau_dot": [-14.039003372192383, 157.84288024902344, 1.1859558820724487, -2.327345132827759, -17.36939239501953, 7.658384799957275, -7.876816272735596], "tau_ext": [-16.771860122680664, -41.63890075683594, 31.80188751220703, 31.363025665283203, 9.484260559082031, -2.992370128631592, -0.12203896790742874], "tcp_pose": [0.6779685020446777, 0.032795317471027374, -0.2149665653705597, -0.0022803405299782753, -0.004554130136966705, 0.999885618686676, 0.014241711236536503], "tcp_vel": [0.00017704958736430854, -3.25717446685303e-05, 0.00017424758698325604, 8.139346391544677e-06, -0.0005349626881070435, 0.00044433693983592093], "flange_pose": [0.6786719560623169, 0.028526410460472107, -0.06502896547317505, -0.0022803405299782753, -0.004554130136966705, 0.999885618686676, 0.014241711236536503], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81835174560547, 15.18604850769043, 28.181396484375, 0.3516112267971039, -24.035049438476562, 1.7955530881881714], "ext_wrench_in_world": [-108.08224168429794, 14.992355520986546, -27.259172009727898, -0.14268258740940637, -23.976427262847018, -2.4782696072019426]}
+{"timestamp_ns": 1789729711114337564, "elapsed_ms": 266, "source_timestamp_ns": 1789729711109184302, "q": [0.8362866640090942, -1.8968608379364014, -1.005918025970459, 1.3811304569244385, -0.16158175468444824, 0.5943785905838013, 0.703863263130188], "theta": [0.8383620977401733, -1.8949064016342163, -1.004117727279663, 1.3627136945724487, -0.1621629148721695, 0.5943249464035034, 0.7038314938545227], "dq": [-1.619481736270245e-05, -0.001691466779448092, 0.001612778170965612, 4.835105937672779e-05, -0.0016267903847619891, 3.3188043744303286e-05, -0.0003779677499551326], "dtheta": [0.00029231482767499983, -0.0002968743210658431, 0.0001741623127600178, -0.0003949717211071402, 0.0003322258999105543, 0.001583935460075736, -0.0019327511545270681], "tau": [55.59000015258789, 23.65999984741211, 5.496000289916992, -26.316001892089844, -2.5160000324249268, 2.6560001373291016, -0.5960000157356262], "tau_des": [0.40823718905448914, -0.4991174638271332, -0.29895246028900146, -0.4502188265323639, 0.9569234848022461, -1.2196707725524902, -0.49957168102264404], "tau_dot": [-20.774951934814453, 21.20281219482422, 16.8009090423584, 12.460952758789062, 36.683441162109375, 1.8417295217514038, -60.006568908691406], "tau_ext": [-16.777313232421875, -41.64822006225586, 31.799253463745117, 31.364931106567383, 9.473610877990723, -2.9899470806121826, -0.11405303329229355], "tcp_pose": [0.6779671907424927, 0.03279678896069527, -0.21496599912643433, -0.002281543333083391, -0.0045582507736980915, 0.9998855590820312, 0.014243735931813717], "tcp_vel": [0.0003303184057585895, 0.0005322202923707664, 0.00044919681386090815, 0.0013687917962670326, -0.0016225696308538318, 0.001967712538316846], "flange_pose": [0.6786710619926453, 0.02852727845311165, -0.06502842158079147, -0.002281543333083391, -0.0045582507736980915, 0.9998855590820312, 0.014243735931813717], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81607055664062, 15.17408561706543, 28.187685012817383, 0.35183480381965637, -24.038278579711914, 1.7962353229522705], "ext_wrench_in_world": [-108.08006865233085, 14.97981514893622, -27.26549888011411, -0.1426876588901978, -23.979628713864702, -2.4791395922038904]}
+{"timestamp_ns": 1789729711147662632, "elapsed_ms": 300, "source_timestamp_ns": 1789729711139171803, "q": [0.8362908959388733, -1.89686119556427, -1.005918025970459, 1.3811314105987549, -0.16157907247543335, 0.5943760871887207, 0.7038583755493164], "theta": [0.8383659720420837, -1.8949071168899536, -1.0041179656982422, 1.3627148866653442, -0.16215957701206207, 0.5943225622177124, 0.7038255333900452], "dq": [-5.368862912291661e-05, -0.0001901910873129964, 0.00012446958862710744, -0.0008406388224102557, -0.0006801978452131152, -0.002293948782607913, 0.00015100387099664658], "dtheta": [0.00019352910749148577, -4.109256769879721e-05, 9.397722169524059e-05, -8.047079609241337e-05, 0.0004024500376544893, 0.0006449005450122058, 0.0001496503537055105], "tau": [55.55999755859375, 23.6299991607666, 5.504000186920166, -26.316001892089844, -2.5440001487731934, 2.6680002212524414, -0.5640000104904175], "tau_des": [0.46941131353378296, -0.5403934121131897, -0.25138065218925476, -0.508266031742096, 0.9322015643119812, -1.183254599571228, -0.5372180342674255], "tau_dot": [-88.2091064453125, -1.3247579336166382, 47.973716735839844, -3.6249537467956543, 7.170407295227051, 33.409751892089844, -19.554948806762695], "tau_ext": [-16.782470703125, -41.66105651855469, 31.800447463989258, 31.37029457092285, 9.470345497131348, -2.9930031299591064, -0.10043942183256149], "tcp_pose": [0.677966833114624, 0.032796476036310196, -0.21496419608592987, -0.00228147697634995, -0.0045601665042340755, 0.9998855590820312, 0.014243331737816334], "tcp_vel": [9.633374429540709e-05, 0.00020930019672960043, 0.00020055304048582911, 0.000746614474337548, -0.0004888530820608139, -0.00030777606298215687], "flange_pose": [0.6786706447601318, 0.02852708473801613, -0.06502662599086761, -0.00228147697634995, -0.0045601665042340755, 0.9998855590820312, 0.014243331737816334], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80848693847656, 15.19138240814209, 28.205875396728516, 0.35920941829681396, -24.04348373413086, 1.8021081686019897], "ext_wrench_in_world": [-108.07277957413363, 14.997255762097195, -27.28325488384469, -0.14994997941949204, -23.984734641089858, -2.4851065432143256]}
+{"timestamp_ns": 1789729711180998748, "elapsed_ms": 333, "source_timestamp_ns": 1789729711179181164, "q": [0.8362963199615479, -1.8968619108200073, -1.0059196949005127, 1.3811317682266235, -0.1615711897611618, 0.5943725109100342, 0.7038583755493164], "theta": [0.8383721709251404, -1.8949081897735596, -1.0041203498840332, 1.362715721130371, -0.16215188801288605, 0.5943197011947632, 0.7038247585296631], "dq": [0.0009738589869812131, -0.00023391263675875962, 0.0010928274132311344, 0.001190796378068626, -0.0009019203134812415, 0.0018299685325473547, 0.00048756133764982224], "dtheta": [0.00024056433176156133, 0.0004030522541143, -4.430785702425055e-05, 0.0002891003096010536, -0.00011701933544827625, -0.00011495987564558163, -0.0007158537628129125], "tau": [55.54999923706055, 23.59000015258789, 5.4800004959106445, -26.296001434326172, -2.5200002193450928, 2.640000104904175, -0.5800000429153442], "tau_des": [0.46680188179016113, -0.5919038653373718, -0.2026739865541458, -0.5297405123710632, 0.9332162141799927, -1.1612939834594727, -0.529723584651947], "tau_dot": [-91.62660217285156, -112.2340316772461, 12.337519645690918, 28.560842514038086, -0.9401909112930298, -64.4200210571289, -46.87759780883789], "tau_ext": [-16.783252716064453, -41.64244079589844, 31.793136596679688, 31.361318588256836, 9.469300270080566, -2.9945497512817383, -0.10485198348760605], "tcp_pose": [0.6779664754867554, 0.032795678824186325, -0.21496202051639557, -0.002282134024426341, -0.004557690117508173, 0.9998855590820312, 0.014243687503039837], "tcp_vel": [5.54621838091407e-05, -0.00022481537598650903, 0.00014768418623134494, -3.956430373364128e-05, -2.13966141018318e-05, 0.0005279111792333424], "flange_pose": [0.6786705255508423, 0.0285261832177639, -0.06502444297075272, -0.002282134024426341, -0.004557690117508173, 0.9998855590820312, 0.014243687503039837], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78622436523438, 15.21820068359375, 28.209604263305664, 0.37051922082901, -24.038917541503906, 1.807478904724121], "ext_wrench_in_world": [-108.05074219400912, 15.02492482336521, -27.286156069096464, -0.16144753927934577, -23.98011897327315, -2.4903111795469073]}
+{"timestamp_ns": 1789729711214322147, "elapsed_ms": 366, "source_timestamp_ns": 1789729711209191432, "q": [0.8362981677055359, -1.896863579750061, -1.0059220790863037, 1.3811326026916504, -0.16157065331935883, 0.5943720936775208, 0.7038594484329224], "theta": [0.8383744955062866, -1.8949103355407715, -1.0041229724884033, 1.3627172708511353, -0.16215166449546814, 0.5943199396133423, 0.7038260102272034], "dq": [0.0014105277368798852, -0.002803982235491276, -0.00014954130165278912, 0.00026836636243388057, 0.0005416369531303644, 0.0002402781683485955, 0.001630426850169897], "dtheta": [-1.1224302397749852e-05, -0.0002839973021764308, -0.00021812178601976484, -9.033660148816125e-07, -0.0012015772517770529, 0.0006942512118257582, -0.00020742954802699387], "tau": [55.57999801635742, 23.68000030517578, 5.464000225067139, -26.288002014160156, -2.5360000133514404, 2.6680002212524414, -0.5640000104904175], "tau_des": [0.4866599142551422, -0.5427982211112976, -0.2166932374238968, -0.5162164568901062, 0.9647954106330872, -1.1840134859085083, -0.5333802103996277], "tau_dot": [-57.38325119018555, 201.17770385742188, 0.6726969480514526, -5.354012489318848, -2.542693614959717, -7.397558212280273, -32.31340026855469], "tau_ext": [-16.774621963500977, -41.663658142089844, 31.81346321105957, 31.356433868408203, 9.465948104858398, -2.993372917175293, -0.10989498347043991], "tcp_pose": [0.6779667139053345, 0.03279467299580574, -0.21496185660362244, -0.002281502354890108, -0.004556817468255758, 0.999885618686676, 0.014242112636566162], "tcp_vel": [0.0002878521045204252, -1.1341990102664568e-05, 7.42769188946113e-05, -0.0006404434680007398, -0.0012540878960862756, 0.0008941146079450846], "flange_pose": [0.6786705851554871, 0.028525646775960922, -0.06502427905797958, -0.002281502354890108, -0.004556817468255758, 0.999885618686676, 0.014242112636566162], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78067016601562, 15.225136756896973, 28.208473205566406, 0.3705836534500122, -24.036529541015625, 1.805234670639038], "ext_wrench_in_world": [-108.04518515164258, 15.031980431885483, -27.285035113290814, -0.16156204329684684, -23.977804062333764, -2.4879242132538084]}
+{"timestamp_ns": 1789729711247705547, "elapsed_ms": 400, "source_timestamp_ns": 1789729711239211899, "q": [0.8362993001937866, -1.8968669176101685, -1.005928874015808, 1.3811322450637817, -0.16156916320323944, 0.5943719148635864, 0.7038591504096985], "theta": [0.8383764624595642, -1.8949134349822998, -1.0041303634643555, 1.3627177476882935, -0.16215045750141144, 0.5943204164505005, 0.7038257122039795], "dq": [-0.00010331837984267622, -0.0005227543297223747, -0.002194573637098074, -0.0018604923970997334, -0.0003483770997263491, -0.0015798108652234077, -0.0006601822678931057], "dtheta": [9.080678864847869e-05, -0.00015887501649558544, -0.0001413669961038977, 0.00018913955136667937, 0.0007870073313824832, 0.00015858883853070438, 0.00018524764163885266], "tau": [55.59000015258789, 23.68000030517578, 5.460000038146973, -26.280000686645508, -2.572000026702881, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.5345926880836487, -0.5310145020484924, -0.20420369505882263, -0.5648120045661926, 0.9114480018615723, -1.1568340063095093, -0.5573228001594543], "tau_dot": [-74.22241973876953, 67.83529663085938, 7.090574264526367, 39.61418914794922, -65.14744567871094, 27.46228790283203, 31.649675369262695], "tau_ext": [-16.775007247924805, -41.66041946411133, 31.816038131713867, 31.359899520874023, 9.475005149841309, -2.9977951049804688, -0.11599627137184143], "tcp_pose": [0.6779682636260986, 0.03279203549027443, -0.214962437748909, -0.0022801875602453947, -0.004555263090878725, 0.999885618686676, 0.014239221811294556], "tcp_vel": [-0.00012716729543171823, 1.2915047591377515e-05, -0.00012430442438926548, 0.0002748577098827809, 0.00033796695061028004, -0.0005884261336177588], "flange_pose": [0.6786717176437378, 0.028523873537778854, -0.06502482295036316, -0.0022801875602453947, -0.004555263090878725, 0.999885618686676, 0.014239221811294556], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.777587890625, 15.228116989135742, 28.201007843017578, 0.37149766087532043, -24.032289505004883, 1.8023558855056763], "ext_wrench_in_world": [-108.04197663979174, 15.03495605392348, -27.277870557311093, -0.16256946982857035, -23.973670085173044, -2.4847836761334365]}
+{"timestamp_ns": 1789729711281008238, "elapsed_ms": 433, "source_timestamp_ns": 1789729711279196883, "q": [0.8363010883331299, -1.8968724012374878, -1.0059369802474976, 1.3811315298080444, -0.1615682691335678, 0.5943689942359924, 0.7038577198982239], "theta": [0.8383779525756836, -1.89491868019104, -1.0041396617889404, 1.3627175092697144, -0.16215021908283234, 0.5943187475204468, 0.7038257122039795], "dq": [0.001064266893081367, -0.00356302666477859, 0.0014260724419727921, -0.00268481089733541, -0.002772657200694084, -0.0013038527686148882, -0.003012625500559807], "dtheta": [3.0024746592971496e-05, 2.40918634517584e-05, -0.00032637189724482596, -0.00016934018640313298, 0.00022051247651688755, 8.339789201272652e-05, 0.0002666321233846247], "tau": [55.529998779296875, 23.59000015258789, 5.488000392913818, -26.32000160217285, -2.56000018119812, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.48194706439971924, -0.597364604473114, -0.13378289341926575, -0.5188917517662048, 0.9388217329978943, -1.1658908128738403, -0.5625335574150085], "tau_dot": [-53.995628356933594, 26.813669204711914, 36.83083724975586, -14.086374282836914, -10.029447555541992, -21.080480575561523, -2.1724863052368164], "tau_ext": [-16.76177406311035, -41.644779205322266, 31.823326110839844, 31.35365104675293, 9.482909202575684, -2.9999547004699707, -0.11881273984909058], "tcp_pose": [0.6779695153236389, 0.032788947224617004, -0.2149633765220642, -0.002279066713526845, -0.0045546977780759335, 0.9998857378959656, 0.014234138652682304], "tcp_vel": [0.00017369075794704258, -0.00012597092427313328, 7.647145685041323e-05, 9.709224832477048e-05, -0.00020261682220734656, -0.0006631012656725943], "flange_pose": [0.6786726117134094, 0.02852230705320835, -0.06502571702003479, -0.002279066713526845, -0.0045546977780759335, 0.9998857378959656, 0.014234138652682304], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78326416015625, 15.228303909301758, 28.175199508666992, 0.3664538264274597, -24.022920608520508, 1.798281192779541], "ext_wrench_in_world": [-108.04745420885004, 15.034202754139413, -27.252440750493236, -0.1576132172709967, -23.964400068283183, -2.480222905203834]}
+{"timestamp_ns": 1789729711314341745, "elapsed_ms": 466, "source_timestamp_ns": 1789729711309174695, "q": [0.8363028764724731, -1.896875023841858, -1.0059362649917603, 1.3811312913894653, -0.16156671941280365, 0.5943623781204224, 0.7038571834564209], "theta": [0.8383800387382507, -1.894920825958252, -1.0041401386260986, 1.362717628479004, -0.16214902698993683, 0.5943125486373901, 0.7038257122039795], "dq": [-0.0008693262352608144, 0.003950523212552071, 0.0008955002995207906, -0.0010339245200157166, 0.00022314651869237423, -0.0019126997794955969, -0.0001906984398374334], "dtheta": [-0.0001283449964830652, 5.083978976472281e-05, -0.0002424190315650776, 7.141383684938774e-05, -0.0002095517993438989, -0.000795627071056515, 0.0003272534813731909], "tau": [55.619998931884766, 23.6299991607666, 5.488000392913818, -26.304000854492188, -2.5480000972747803, 2.6560001373291016, -0.5800000429153442], "tau_des": [0.5716129541397095, -0.549674928188324, -0.14759701490402222, -0.6056703925132751, 0.9322258234024048, -1.119280219078064, -0.5570945739746094], "tau_dot": [88.59538269042969, 36.4618034362793, 32.5281982421875, -28.863740921020508, 46.23460006713867, 8.08294677734375, -80.84368896484375], "tau_ext": [-16.745492935180664, -41.626956939697266, 31.812274932861328, 31.355133056640625, 9.487163543701172, -2.9965670108795166, -0.12280923128128052], "tcp_pose": [0.6779676079750061, 0.0327892005443573, -0.2149636596441269, -0.002281112363561988, -0.004555672872811556, 0.9998857378959656, 0.014231795445084572], "tcp_vel": [-8.097043610177934e-05, -0.00030250544659793377, -0.00019061881175730377, -0.0008099183323793113, 0.0006038175197318196, -0.00038451413274742663], "flange_pose": [0.6786713600158691, 0.028523266315460205, -0.06502597779035568, -0.002281112363561988, -0.004555672872811556, 0.9998857378959656, 0.014231795445084572], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81053924560547, 15.202224731445312, 28.149063110351562, 0.3577783703804016, -24.024333953857422, 1.7965843677520752], "ext_wrench_in_world": [-108.07450986487443, 15.006795437476432, -27.22657105419364, -0.1488791097472009, -23.965793415157865, -2.4784922174351074]}
+{"timestamp_ns": 1789729711347650245, "elapsed_ms": 500, "source_timestamp_ns": 1789729711339190572, "q": [0.8363051414489746, -1.896877408027649, -1.0059375762939453, 1.3811311721801758, -0.16155971586704254, 0.5943615436553955, 0.7038557529449463], "theta": [0.8383825421333313, -1.8949233293533325, -1.0041415691375732, 1.362717628479004, -0.1621423214673996, 0.5943120718002319, 0.7038247585296631], "dq": [0.0010199699318036437, -0.0023726392537355423, -0.00040170171996578574, 0.0020205352921038866, -0.0007608929299749434, -0.0018158802995458245, 0.0012206070823594928], "dtheta": [-1.0590998499537818e-05, -0.0002451952314004302, 4.6651992306578904e-05, -5.593621972366236e-05, 0.0004803815681952983, -0.0008152294903993607, -0.00014137297694105655], "tau": [55.5099983215332, 23.559999465942383, 5.460000038146973, -26.328001022338867, -2.564000129699707, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.5745638012886047, -0.4851091206073761, -0.23290051519870758, -0.60552579164505, 0.911288321018219, -1.124292016029358, -0.5494451522827148], "tau_dot": [-107.5272216796875, -125.55953216552734, -5.636444091796875, -10.549418449401855, -21.189512252807617, 16.463651657104492, -5.371480941772461], "tau_ext": [-16.763578414916992, -41.64112854003906, 31.80974578857422, 31.35276222229004, 9.477643013000488, -2.9960544109344482, -0.12255831062793732], "tcp_pose": [0.6779667735099792, 0.03278958424925804, -0.21496358513832092, -0.002281985944136977, -0.004554836545139551, 0.9998857378959656, 0.014232384972274303], "tcp_vel": [-0.0002788616402540356, 1.3787049283564556e-05, -0.00018468838243279606, -0.00035434565506875515, 0.000859274878166616, 8.281951159005985e-05], "flange_pose": [0.6786707639694214, 0.02852347493171692, -0.06502591073513031, -0.002281985944136977, -0.004554836545139551, 0.9998857378959656, 0.014232384972274303], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80419158935547, 15.196630477905273, 28.16344451904297, 0.3570694923400879, -24.027179718017578, 1.7963799238204956], "ext_wrench_in_world": [-108.06820303117094, 15.001881062317768, -27.240924497882986, -0.14818752549803543, -23.968634081432402, -2.4783997624807386]}
+{"timestamp_ns": 1789729711381007689, "elapsed_ms": 533, "source_timestamp_ns": 1789729711379195424, "q": [0.8363093137741089, -1.8968809843063354, -1.0059374570846558, 1.38113272190094, -0.16155725717544556, 0.5943617820739746, 0.7038518190383911], "theta": [0.8383872509002686, -1.8949263095855713, -1.0041420459747314, 1.3627197742462158, -0.16213871538639069, 0.5943130254745483, 0.7038214206695557], "dq": [0.0005089473561383784, 0.0007488117553293705, -0.001515069743618369, 0.0010488232364878058, 0.0017928486922755837, 0.0020233839750289917, -0.0020241320598870516], "dtheta": [0.0005283632199279964, -0.0002524731680750847, 0.00016400408640038222, 0.00034628878347575665, -0.0005696666776202619, -0.0007739451830275357, -0.00044580097892321646], "tau": [55.53999710083008, 23.6299991607666, 5.468000411987305, -26.30000114440918, -2.5400002002716064, 2.640000104904175, -0.5360000133514404], "tau_des": [0.4809412360191345, -0.49573081731796265, -0.2663487195968628, -0.5677813291549683, 0.9496556520462036, -1.1395578384399414, -0.5284885168075562], "tau_dot": [-55.85989761352539, 52.54295349121094, -20.185935974121094, -19.52010154724121, 18.302759170532227, -86.1077880859375, -9.348947525024414], "tau_ext": [-16.760723114013672, -41.642086029052734, 31.814760208129883, 31.352710723876953, 9.475553512573242, -2.9968059062957764, -0.12078185379505157], "tcp_pose": [0.6779658198356628, 0.03279063478112221, -0.21496261656284332, -0.002281086053699255, -0.0045574684627354145, 0.9998857378959656, 0.014231530949473381], "tcp_vel": [-0.000211037477129139, -6.362002750393003e-05, 9.642703662393615e-05, -0.0011393333552405238, 5.918743408983573e-05, 0.0011197940912097692], "flange_pose": [0.6786695718765259, 0.02852478250861168, -0.06502494215965271, -0.002281086053699255, -0.0045574684627354145, 0.9998857378959656, 0.014231530949473381], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80443572998047, 15.196818351745605, 28.161470413208008, 0.3579646348953247, -24.02764129638672, 1.7934273481369019], "ext_wrench_in_world": [-108.06846695387001, 15.00139805529191, -27.23917351052402, -0.14893429613473136, -23.969192597360998, -2.4754174207109214]}
+{"timestamp_ns": 1789729711414320779, "elapsed_ms": 566, "source_timestamp_ns": 1789729711409201143, "q": [0.8363115191459656, -1.896881341934204, -1.0059399604797363, 1.381134271621704, -0.16155165433883667, 0.5943624973297119, 0.7038483619689941], "theta": [0.8383895754814148, -1.8949267864227295, -1.0041441917419434, 1.3627218008041382, -0.16213344037532806, 0.5943142175674438, 0.7038183212280273], "dq": [0.0011061533587053418, 0.0008327545947395265, 0.0016408782685175538, -0.002010425552725792, -0.0016109738498926163, 0.0003314655914437026, 0.00031870827660895884], "dtheta": [-7.012225978542119e-05, -4.927760528516956e-05, -0.00015240271750371903, -0.00015103540499694645, 0.001664289622567594, 0.0001662538415985182, -0.00038007149123586714], "tau": [55.57999801635742, 23.670000076293945, 5.4760003089904785, -26.32000160217285, -2.556000232696533, 2.6760001182556152, -0.5520000457763672], "tau_des": [0.5442580580711365, -0.5230526924133301, -0.23272395133972168, -0.5549574494361877, 0.8832661509513855, -1.161800503730774, -0.5502703189849854], "tau_dot": [7.120586395263672, 54.08457565307617, 3.0849525928497314, -38.96885681152344, -27.09734344482422, 39.880393981933594, 15.12074089050293], "tau_ext": [-16.760173797607422, -41.642982482910156, 31.80829620361328, 31.355161666870117, 9.47826099395752, -3.003406047821045, -0.11520930379629135], "tcp_pose": [0.6779658198356628, 0.03278953954577446, -0.2149624526500702, -0.002281440421938896, -0.004556965082883835, 0.9998857378959656, 0.014232130721211433], "tcp_vel": [-0.00011355538299540058, 0.00010251285129925236, -0.00012085197522537783, 0.001096813241019845, 0.0006858392152935266, -0.000645429827272892], "flange_pose": [0.6786696314811707, 0.028523504734039307, -0.06502478569746017, -0.002281440421938896, -0.004556965082883835, 0.9998857378959656, 0.014232130721211433], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78848266601562, 15.207733154296875, 28.166458129882812, 0.36242151260375977, -24.02349281311035, 1.795038104057312], "ext_wrench_in_world": [-108.05264172928919, 15.012736761557907, -27.243822363367812, -0.1534617908999913, -23.9650379569606, -2.476918103117615]}
+{"timestamp_ns": 1789729711447650506, "elapsed_ms": 600, "source_timestamp_ns": 1789729711439174556, "q": [0.8363147377967834, -1.8968837261199951, -1.005944013595581, 1.3811349868774414, -0.16155089437961578, 0.5943611264228821, 0.7038484215736389], "theta": [0.8383930325508118, -1.8949286937713623, -1.0041487216949463, 1.3627233505249023, -0.16213344037532806, 0.5943135023117065, 0.7038180828094482], "dq": [-0.00022849995002616197, -0.00028710192418657243, -0.00039882861892692745, -0.00044980557868257165, 0.0021810762118548155, -0.0011784842936322093, 0.00364682637155056], "dtheta": [0.0005753355217166245, 7.41964831831865e-05, -0.0004758124705404043, 0.0002882082189898938, -0.0010089153656736016, -0.0005414412007667124, 0.0005145629402250051], "tau": [55.56999969482422, 23.65999984741211, 5.464000225067139, -26.288002014160156, -2.556000232696533, 2.6520001888275146, -0.5600000023841858], "tau_des": [0.41249895095825195, -0.6378124952316284, -0.12909266352653503, -0.5087462067604065, 0.9641463160514832, -1.157785415649414, -0.5601162910461426], "tau_dot": [-48.365726470947266, 52.0439338684082, 29.573530197143555, -19.275239944458008, -15.184707641601562, -28.081422805786133, -22.366361618041992], "tau_ext": [-16.75911521911621, -41.63949966430664, 31.81190299987793, 31.33928108215332, 9.474169731140137, -2.9985177516937256, -0.11597077548503876], "tcp_pose": [0.6779665946960449, 0.03278772160410881, -0.2149617224931717, -0.002280212938785553, -0.004556203726679087, 0.9998857975006104, 0.01422953326255083], "tcp_vel": [0.00022573917522095144, -0.0004956196062266827, 0.0002783533709589392, -0.0013968853745609522, -0.0006290347082540393, -0.0002795953769236803], "flange_pose": [0.6786700487136841, 0.028522465378046036, -0.06502402573823929, -0.002280212938785553, -0.004556203726679087, 0.9998857975006104, 0.01422953326255083], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77864074707031, 15.220433235168457, 28.163742065429688, 0.368035227060318, -24.019906997680664, 1.7981047630310059], "ext_wrench_in_world": [-108.04281232544163, 15.025469970121897, -27.2411327456604, -0.15915300268463617, -23.96143066824114, -2.4797325455036954]}
+{"timestamp_ns": 1789729711481003931, "elapsed_ms": 633, "source_timestamp_ns": 1789729711479188066, "q": [0.8363179564476013, -1.8968884944915771, -1.0059545040130615, 1.3811354637145996, -0.16154909133911133, 0.5943601131439209, 0.7038487195968628], "theta": [0.8383963704109192, -1.8949333429336548, -1.0041589736938477, 1.362724781036377, -0.16213199496269226, 0.5943132638931274, 0.7038183212280273], "dq": [-0.0013646698789671063, -0.002028830349445343, 0.0016180850798264146, -0.0003713789046742022, -0.0011163161834701896, 0.0002928874746430665, -0.00035881108487956226], "dtheta": [-0.00018256482144352049, 7.124634430510923e-05, -0.0003259094955865294, -0.0001509849535068497, 5.52179517399054e-05, -0.0013327659107744694, 0.00017389157437719405], "tau": [55.55999755859375, 23.600000381469727, 5.4800004959106445, -26.26000213623047, -2.568000078201294, 2.6680002212524414, -0.5600000023841858], "tau_des": [0.5539258718490601, -0.5751857757568359, -0.11650659888982773, -0.5883787274360657, 0.9276115894317627, -1.1207195520401, -0.5660340189933777], "tau_dot": [-114.35966491699219, -6.380472660064697, 57.044246673583984, 23.006799697875977, -37.953617095947266, 13.180235862731934, -55.76797103881836], "tau_ext": [-16.761327743530273, -41.63959884643555, 31.83237075805664, 31.343257904052734, 9.478019714355469, -2.997799873352051, -0.12085198611021042], "tcp_pose": [0.6779689192771912, 0.03278322145342827, -0.21496203541755676, -0.0022780103608965874, -0.0045535266399383545, 0.9998858571052551, 0.014224519953131676], "tcp_vel": [-0.00010849015961866826, -0.0003780866099987179, -0.00020960887195542455, -0.0009065409540198743, 0.0010013335850089788, -0.00047268197522498667], "flange_pose": [0.678671658039093, 0.028519464656710625, -0.06502428650856018, -0.0022780103608965874, -0.0045535266399383545, 0.9998858571052551, 0.014224519953131676], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.76712799072266, 15.234444618225098, 28.15740394592285, 0.3663839101791382, -24.01296615600586, 1.7955653667449951], "ext_wrench_in_world": [-108.03119693881467, 15.039710356111536, -27.235072526794493, -0.15767102718988305, -23.954573946928036, -2.4767645495114357]}
+{"timestamp_ns": 1789729711514322079, "elapsed_ms": 666, "source_timestamp_ns": 1789729711509211152, "q": [0.8363178372383118, -1.896890640258789, -1.005958080291748, 1.3811357021331787, -0.1615493893623352, 0.5943604707717896, 0.7038484215736389], "theta": [0.8383967280387878, -1.8949353694915771, -1.0041629076004028, 1.362725853919983, -0.16213248670101166, 0.5943135023117065, 0.7038180828094482], "dq": [0.002807368291541934, -0.0026215841062366962, 0.0012961674947291613, -0.0015637255273759365, 0.0014722645282745361, -0.00031827320344746113, -0.0022236898075789213], "dtheta": [-0.00017367057444062084, 0.0004283348680473864, -0.000305262889014557, -5.942121674706868e-07, 3.7205936678219587e-06, 0.0001635493681533262, -0.0005335346213541925], "tau": [55.53999710083008, 23.56999969482422, 5.468000411987305, -26.32400131225586, -2.564000129699707, 2.6760001182556152, -0.527999997138977], "tau_des": [0.49372008442878723, -0.6302995085716248, -0.09973151236772537, -0.5258564352989197, 0.9373173117637634, -1.164837121963501, -0.5553432106971741], "tau_dot": [-138.8328857421875, -88.63935089111328, -18.807167053222656, -14.568122863769531, 35.36328125, 32.73859405517578, 40.84344482421875], "tau_ext": [-16.762313842773438, -41.627342224121094, 31.813600540161133, 31.347299575805664, 9.487767219543457, -2.9977898597717285, -0.12488667666912079], "tcp_pose": [0.6779695153236389, 0.03278183192014694, -0.21496300399303436, -0.0022774115204811096, -0.004553233273327351, 0.9998859167098999, 0.014222489669919014], "tcp_vel": [0.00020919695089105517, -0.00026825693203136325, 1.1060174074373208e-05, 0.00023528223391622305, -6.091254545026459e-05, 2.574374775576871e-05], "flange_pose": [0.6786720752716064, 0.028518682345747948, -0.06502524763345718, -0.0022774115204811096, -0.004553233273327351, 0.9998859167098999, 0.014222489669919014], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.76017761230469, 15.233192443847656, 28.15230941772461, 0.36081719398498535, -24.007963180541992, 1.7929315567016602], "ext_wrench_in_world": [-108.02416989083804, 15.03833145151834, -27.23023802994929, -0.15214875449153406, -23.949606966363213, -2.473917057216171]}
+{"timestamp_ns": 1789729711547655536, "elapsed_ms": 700, "source_timestamp_ns": 1789729711539215990, "q": [0.8363184332847595, -1.896892786026001, -1.0059587955474854, 1.381135106086731, -0.16154687106609344, 0.5943569540977478, 0.7038483023643494], "theta": [0.8383975028991699, -1.8949378728866577, -1.004163384437561, 1.3627254962921143, -0.16213104128837585, 0.5943101644515991, 0.7038178443908691], "dq": [-0.0023480847012251616, -0.00027825566940009594, 0.00162313983310014, -0.00313784321770072, -0.0007701374124735594, -0.0005358532653190196, 1.5477788110729307e-05], "dtheta": [-1.762836291163694e-05, -0.0001781593746272847, 0.00028902379563078284, -6.33512536296621e-05, 0.0004602681437972933, -0.00028288611792959273, -0.0004815783177036792], "tau": [55.56999969482422, 23.6299991607666, 5.464000225067139, -26.2760009765625, -2.552000045776367, 2.6760001182556152, -0.5320000052452087], "tau_des": [0.5384293794631958, -0.497326135635376, -0.23651665449142456, -0.5707637071609497, 0.9187723398208618, -1.1474732160568237, -0.5481562614440918], "tau_dot": [-48.22128677368164, 31.788137435913086, -7.023899078369141, 29.531169891357422, 47.63383102416992, 6.634742736816406, -4.281793117523193], "tau_ext": [-16.754037857055664, -41.64268112182617, 31.819000244140625, 31.351337432861328, 9.491348266601562, -2.9982457160949707, -0.12530353665351868], "tcp_pose": [0.6779685020446777, 0.03278183192014694, -0.2149636447429657, -0.0022787924390286207, -0.00455307075753808, 0.9998859167098999, 0.014221278950572014], "tcp_vel": [-0.00023843285453040153, 0.00021164627105463296, -9.060490992851555e-05, 0.00019155151676386595, 0.0005135213723406196, 0.0005452066543512046], "flange_pose": [0.6786714792251587, 0.028519047424197197, -0.06502587348222733, -0.0022787924390286207, -0.00455307075753808, 0.9998859167098999, 0.014221278950572014], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78861999511719, 15.214677810668945, 28.153135299682617, 0.35803478956222534, -24.017358779907227, 1.7944183349609375], "ext_wrench_in_world": [-108.05251810040868, 15.019551708282993, -27.23120355730816, -0.14930204981754602, -23.958936589229832, -2.475624213274687]}
+{"timestamp_ns": 1789729711580997432, "elapsed_ms": 733, "source_timestamp_ns": 1789729711579197355, "q": [0.8363204002380371, -1.896896243095398, -1.005958080291748, 1.381134033203125, -0.16154521703720093, 0.5943484902381897, 0.7038437724113464], "theta": [0.8383998274803162, -1.894940972328186, -1.0041629076004028, 1.362724781036377, -0.16212937235832214, 0.5943015813827515, 0.7038135528564453], "dq": [0.0010208816966041923, -0.000840489286929369, 0.0011785454116761684, -8.730331319384277e-05, 0.0005075941444374621, -0.00042272801510989666, 0.0009112173574976623], "dtheta": [0.0002100352430716157, -0.00024670196580700576, -6.249092984944582e-05, -0.00011645662743831053, 0.0004269285418558866, -0.0011642958270385861, -4.201241608825512e-05], "tau": [55.56999969482422, 23.60999870300293, 5.460000038146973, -26.280000686645508, -2.5920000076293945, 2.632000207901001, -0.5440000295639038], "tau_des": [0.5327614545822144, -0.508192777633667, -0.20478923618793488, -0.5917894840240479, 0.9234903454780579, -1.118356704711914, -0.5522789359092712], "tau_dot": [-0.4552154541015625, 24.02129554748535, -38.000362396240234, 22.751935958862305, -43.373233795166016, -48.9715576171875, 22.09893226623535], "tau_ext": [-16.737136840820312, -41.63349533081055, 31.811357498168945, 31.34491539001465, 9.495129585266113, -2.9886019229888916, -0.12444134801626205], "tcp_pose": [0.6779663562774658, 0.032782211899757385, -0.2149639129638672, -0.0022811689414083958, -0.004556235391646624, 0.9998859167098999, 0.014218291267752647], "tcp_vel": [-0.00022957091277930886, -9.316805517300963e-05, -4.994538176106289e-05, -0.0006522936164401472, 0.000792687525972724, -6.363244756357744e-05], "flange_pose": [0.6786701083183289, 0.028520328924059868, -0.06502612680196762, -0.0022811689414083958, -0.004556235391646624, 0.9998859167098999, 0.014218291267752647], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81373596191406, 15.203473091125488, 28.14898109436035, 0.3536759912967682, -24.0277099609375, 1.795347809791565], "ext_wrench_in_world": [-108.077734401177, 15.007147996796192, -27.22684756741863, -0.14471209958874573, -23.969232513959366, -2.4767231439674373]}
+{"timestamp_ns": 1789729711614325999, "elapsed_ms": 766, "source_timestamp_ns": 1789729711609214312, "q": [0.8363226056098938, -1.896897315979004, -1.0059585571289062, 1.3811335563659668, -0.16154026985168457, 0.5943428874015808, 0.7038319706916809], "theta": [0.8384020924568176, -1.8949424028396606, -1.0041632652282715, 1.3627244234085083, -0.16212433576583862, 0.5942956209182739, 0.7038008570671082], "dq": [-0.0018749106675386429, -0.0010166966821998358, 0.0005961453425697982, 0.00042854362982325256, 0.0009587407112121582, -0.001142163877375424, 0.0007766513735987246], "dtheta": [0.00013561958621721715, -0.00019625970162451267, -0.0001363973569823429, -0.00026344956131652, 8.025415809242986e-06, -0.0005143728340044618, -0.0002733000728767365], "tau": [55.53999710083008, 23.579999923706055, 5.4760003089904785, -26.30000114440918, -2.556000232696533, 2.6680002212524414, -0.5760000348091125], "tau_des": [0.5021302700042725, -0.5256884098052979, -0.21298807859420776, -0.5562950968742371, 0.940471887588501, -1.1392114162445068, -0.5331659317016602], "tau_dot": [-180.3680877685547, -108.107666015625, 2.0059444904327393, -5.180765151977539, -24.373716354370117, 60.57272720336914, 0.472036212682724], "tau_ext": [-16.734760284423828, -41.623435974121094, 31.803102493286133, 31.332300186157227, 9.488075256347656, -2.9867215156555176, -0.1097777932882309], "tcp_pose": [0.6779652237892151, 0.03278184309601784, -0.21496357023715973, -0.0022831715177744627, -0.004560965113341808, 0.9998859167098999, 0.014217651449143887], "tcp_vel": [2.832376594597008e-05, -4.7531662858091295e-05, 8.452626934740692e-05, -0.0004115906485822052, -4.382121915114112e-06, 0.0002751655119936913], "flange_pose": [0.6786695122718811, 0.02852015756070614, -0.06502577662467957, -0.0022831715177744627, -0.004560965113341808, 0.9998859167098999, 0.014217651449143887], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81607055664062, 15.193896293640137, 28.150819778442383, 0.35172322392463684, -24.033031463623047, 1.7997058629989624], "ext_wrench_in_world": [-108.08023883106321, 14.996542808133782, -27.22854911813885, -0.1425131319946609, -23.974414425476592, -2.4812083172851302]}
+{"timestamp_ns": 1789729711647653537, "elapsed_ms": 800, "source_timestamp_ns": 1789729711639210482, "q": [0.8363251090049744, -1.8968976736068726, -1.005958914756775, 1.381133794784546, -0.16153503954410553, 0.5943419933319092, 0.7038272023200989], "theta": [0.8384045362472534, -1.8949435949325562, -1.0041637420654297, 1.3627245426177979, -0.1621188223361969, 0.5942951440811157, 0.7037955522537231], "dq": [0.0010663768043741584, -0.0025774859823286533, 0.0010305029572919011, 0.0015293414471670985, -0.00029681349406018853, 0.00044910606811754405, -0.002258958527818322], "dtheta": [-4.132887261221185e-05, 0.00037907162914052606, 0.00023506286379415542, -0.00031104969093576074, 0.00010664299043128267, 5.207399226492271e-06, -0.00032329739769920707], "tau": [55.57999801635742, 23.649999618530273, 5.464000225067139, -26.316001892089844, -2.5440001487731934, 2.6720001697540283, -0.5760000348091125], "tau_des": [0.46924102306365967, -0.5828957557678223, -0.2373632937669754, -0.5093806385993958, 0.9244492053985596, -1.1665802001953125, -0.5297799706459045], "tau_dot": [-4.528193950653076, -16.30543327331543, -29.618833541870117, -37.76787567138672, 9.537543296813965, 42.520755767822266, -33.019432067871094], "tau_ext": [-16.756914138793945, -41.64681625366211, 31.807188034057617, 31.353055953979492, 9.484370231628418, -2.995751142501831, -0.10132052004337311], "tcp_pose": [0.6779648065567017, 0.0327819362282753, -0.21496263146400452, -0.0022836762946099043, -0.004561931826174259, 0.9998859167098999, 0.014218655414879322], "tcp_vel": [0.00012205458187963814, 8.585334580857307e-05, 0.00022801596787758172, 0.0006809765473008156, -8.908352174330503e-05, 0.00012554522254504263], "flange_pose": [0.678669273853302, 0.028519952669739723, -0.06502485275268555, -0.0022836762946099043, -0.004561931826174259, 0.9998859167098999, 0.014218655414879322], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81446838378906, 15.21313762664795, 28.170835494995117, 0.3605988025665283, -24.035844802856445, 1.8084474802017212], "ext_wrench_in_world": [-108.07896115643392, 15.016203656105223, -27.247878906749634, -0.15135969878723365, -23.977054974964545, -2.490034967861413]}
+{"timestamp_ns": 1789729711681005802, "elapsed_ms": 833, "source_timestamp_ns": 1789729711679195406, "q": [0.8363276720046997, -1.896898627281189, -1.0059621334075928, 1.3811346292495728, -0.1615324318408966, 0.5943422317504883, 0.7038292288780212], "theta": [0.8384077548980713, -1.8949447870254517, -1.004167079925537, 1.3627254962921143, -0.1621159315109253, 0.5942956209182739, 0.7037972211837769], "dq": [0.0010261238785460591, -0.002008354989811778, -0.0009998943423852324, 0.0007394652930088341, -7.928736158646643e-05, -0.0014028005534783006, -0.0016847675433382392], "dtheta": [-0.00021698045020457357, 3.0439830879913643e-05, -0.0006281796377152205, 4.534835898084566e-05, 7.574570918222889e-05, -0.0009049481595866382, 0.00024692510487511754], "tau": [55.54999923706055, 23.729999542236328, 5.452000141143799, -26.32000160217285, -2.56000018119812, 2.6480002403259277, -0.5400000214576721], "tau_des": [0.59249347448349, -0.5672711730003357, -0.1262127161026001, -0.615674614906311, 0.9153172969818115, -1.1151632070541382, -0.5556780695915222], "tau_dot": [-85.00180053710938, 149.20266723632812, -19.293424606323242, -0.7507463097572327, -20.041336059570312, -45.737552642822266, 31.62209701538086], "tau_ext": [-16.780969619750977, -41.660579681396484, 31.80722427368164, 31.36070442199707, 9.481622695922852, -2.9974703788757324, -0.10696813464164734], "tcp_pose": [0.677965521812439, 0.0327804870903492, -0.2149619162082672, -0.0022828609216958284, -0.004559423308819532, 0.9998859167098999, 0.014217926189303398], "tcp_vel": [-2.567875162640121e-05, -0.0005013956688344479, -0.0003022589080501348, -0.0009501326712779701, 0.0007879860932007432, -0.0007212345954030752], "flange_pose": [0.6786697506904602, 0.028518719598650932, -0.06502412259578705, -0.0022828609216958284, -0.004559423308819532, 0.9998859167098999, 0.014217926189303398], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80216217041016, 15.225635528564453, 28.176118850708008, 0.367596298456192, -24.035686492919922, 1.8112109899520874], "ext_wrench_in_world": [-108.06667523504333, 15.029463574645236, -27.253050244980184, -0.1584880952753751, -23.97688535397698, -2.4927269647105876]}
+{"timestamp_ns": 1789729711714322301, "elapsed_ms": 866, "source_timestamp_ns": 1789729711709206964, "q": [0.836330235004425, -1.8969018459320068, -1.0059672594070435, 1.3811339139938354, -0.16153216361999512, 0.5943439602851868, 0.703829824924469], "theta": [0.8384100794792175, -1.8949480056762695, -1.004172921180725, 1.3627252578735352, -0.1621154546737671, 0.5942972898483276, 0.7037981748580933], "dq": [-0.0008061872213147581, 0.0009436123073101044, -0.0008672921103425324, 1.0116607882082462e-05, -0.00031066290102899075, -0.0006185387028381228, -0.0007953073945827782], "dtheta": [1.335227921117621e-06, -0.00018855345842894167, -0.00015048512432258576, 2.374059295107145e-05, -0.0006816989043727517, -7.216497033368796e-05, 0.00032061271485872567], "tau": [55.57999801635742, 23.6299991607666, 5.4720001220703125, -26.280000686645508, -2.564000129699707, 2.6480002403259277, -0.5360000133514404], "tau_des": [0.5016438961029053, -0.5573140382766724, -0.18974238634109497, -0.5410088896751404, 0.9479904174804688, -1.1605157852172852, -0.5489448308944702], "tau_dot": [-29.520755767822266, 0.4840991199016571, 34.62739181518555, -0.7076930403709412, -44.45124435424805, -51.388309478759766, 38.79560852050781], "tau_ext": [-16.763431549072266, -41.65837478637695, 31.831933975219727, 31.349760055541992, 9.477246284484863, -3.001389741897583, -0.11550840735435486], "tcp_pose": [0.6779674887657166, 0.03277905657887459, -0.21496093273162842, -0.0022799146827310324, -0.004558331798762083, 0.9998859763145447, 0.014215938746929169], "tcp_vel": [7.013036520220339e-05, -9.125578799284995e-05, -2.6159035769524053e-05, -0.0007215598016045988, -0.0003432649828027934, 8.392765448661521e-05], "flange_pose": [0.6786708235740662, 0.02851787954568863, -0.06502311676740646, -0.0022799146827310324, -0.004558331798762083, 0.9998859763145447, 0.014215938746929169], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79386901855469, 15.23831558227539, 28.179927825927734, 0.3709266483783722, -24.03063201904297, 1.8065229654312134], "ext_wrench_in_world": [-108.05832097449952, 15.042458565792426, -27.257228408576267, -0.16188152289352975, -23.97200638263614, -2.4877884558697057]}
+{"timestamp_ns": 1789729711747709101, "elapsed_ms": 900, "source_timestamp_ns": 1789729711739224171, "q": [0.8363304734230042, -1.8969054222106934, -1.0059731006622314, 1.381132960319519, -0.16153135895729065, 0.5943437814712524, 0.7038304805755615], "theta": [0.8384109735488892, -1.8949514627456665, -1.0041791200637817, 1.362724781036377, -0.1621154546737671, 0.5942972898483276, 0.7037991285324097], "dq": [0.0003320242103654891, 0.0013385913334786892, -0.0009792251512408257, 0.0005972333601675928, 0.0005503252614289522, -0.0001250596542377025, -0.0003609539126046002], "dtheta": [-0.00034718113602139056, 0.00022809072106610984, -0.0001300996373174712, -0.00017448977450840175, -0.0004223227151669562, -6.462799501605332e-05, 0.0007061607902869582], "tau": [55.55999755859375, 23.56999969482422, 5.460000038146973, -26.32400131225586, -2.568000078201294, 2.6680002212524414, -0.5320000052452087], "tau_des": [0.5225712060928345, -0.6107738018035889, -0.13959123194217682, -0.5340926647186279, 0.9331296682357788, -1.162265419960022, -0.565705418586731], "tau_dot": [-53.19182586669922, -78.36997985839844, -47.6677131652832, -54.445106506347656, -38.40622329711914, 5.624648094177246, 28.15528678894043], "tau_ext": [-16.75430679321289, -41.615997314453125, 31.823270797729492, 31.340696334838867, 9.48119831085205, -3.0016369819641113, -0.12115835398435593], "tcp_pose": [0.6779688000679016, 0.032777089625597, -0.21496178209781647, -0.002278754487633705, -0.004556832369416952, 0.9998860359191895, 0.014213209971785545], "tcp_vel": [0.0001433666329830885, -0.00014533178182318807, -6.971861148485914e-05, -0.00012136352597735822, 4.90339459702227e-07, -0.0007419057656079531], "flange_pose": [0.6786717772483826, 0.028516726568341255, -0.06502395123243332, -0.002278754487633705, -0.004556832369416952, 0.9998860359191895, 0.014213209971785545], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77444458007812, 15.244641304016113, 28.159107208251953, 0.3689941465854645, -24.013864517211914, 1.7988364696502686], "ext_wrench_in_world": [-108.03874901571403, 15.048545986465742, -27.236653366576572, -0.16013146594405217, -23.95546001271903, -2.4795063759550335]}
+{"timestamp_ns": 1789729711781000233, "elapsed_ms": 933, "source_timestamp_ns": 1789729711779192578, "q": [0.8363315463066101, -1.8969088792800903, -1.0059758424758911, 1.3811321258544922, -0.16152949631214142, 0.594340443611145, 0.7038290500640869], "theta": [0.8384117484092712, -1.8949552774429321, -1.0041816234588623, 1.3627238273620605, -0.16211402416229248, 0.5942946672439575, 0.7037979364395142], "dq": [-0.001621430623345077, -0.0005379091016948223, -0.0019988007843494415, 0.00014191152877174318, 0.00022156117483973503, -0.0007601286633871496, 0.0011749535333365202], "dtheta": [-0.00016834608686622232, -8.47862393129617e-05, 0.0001886830577859655, -0.00012591910490300506, -0.00011299045581836253, -4.9388476327294484e-05, 0.00038363522617146373], "tau": [55.53999710083008, 23.68000030517578, 5.468000411987305, -26.316001892089844, -2.576000213623047, 2.6680002212524414, -0.527999997138977], "tau_des": [0.529019296169281, -0.5384587645530701, -0.215670645236969, -0.5489531755447388, 0.9281889796257019, -1.1593098640441895, -0.5544182062149048], "tau_dot": [-55.4704704284668, 149.36109924316406, -59.402462005615234, 3.9249494075775146, -12.629121780395508, 14.274772644042969, 31.325637817382812], "tau_ext": [-16.755765914916992, -41.60405731201172, 31.806020736694336, 31.345964431762695, 9.489996910095215, -2.9989659786224365, -0.11696832627058029], "tcp_pose": [0.677968442440033, 0.03277634456753731, -0.2149624526500702, -0.0022792730014771223, -0.004557196516543627, 0.9998860359191895, 0.01421075128018856], "tcp_vel": [-6.63925675326027e-05, 0.00013737916015088558, -6.903773464728147e-05, 2.5452884074184112e-05, 0.0001126695642597042, -0.00015023953164927661], "flange_pose": [0.6786715388298035, 0.028516722843050957, -0.06502458453178406, -0.0022792730014771223, -0.004557196516543627, 0.9998860359191895, 0.01421075128018856], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78838348388672, 15.213785171508789, 28.140830993652344, 0.3575705289840698, -24.00994300842285, 1.796754240989685], "ext_wrench_in_world": [-108.0523610196315, 15.016841187035407, -27.21916606316456, -0.14871858861600232, -23.951506852603945, -2.4772460565095393]}
+{"timestamp_ns": 1789729711814329811, "elapsed_ms": 966, "source_timestamp_ns": 1789729711809205705, "q": [0.8363333344459534, -1.896911859512329, -1.0059752464294434, 1.3811326026916504, -0.16152626276016235, 0.5943368673324585, 0.7038285136222839], "theta": [0.838412880897522, -1.8949581384658813, -1.0041813850402832, 1.3627241849899292, -0.16211019456386566, 0.5942918062210083, 0.703797459602356], "dq": [0.00137240975163877, 0.0005857194191776216, -0.0003592591383494437, -0.0011077215895056725, -0.002280962886288762, -0.0004509749705903232, 0.00390395475551486], "dtheta": [0.000142682358273305, -0.0003058811416849494, 5.876165232621133e-05, 0.0001479246566304937, 0.0013251770287752151, 0.000643873296212405, -5.989245892124018e-06], "tau": [55.52000045776367, 23.59000015258789, 5.4760003089904785, -26.30000114440918, -2.5360000133514404, 2.680000066757202, -0.5320000052452087], "tau_des": [0.5326467752456665, -0.4950122833251953, -0.253910630941391, -0.5609381794929504, 0.896914005279541, -1.164101481437683, -0.5535047650337219], "tau_dot": [-166.084228515625, -52.68981170654297, -11.004044532775879, -14.673341751098633, 44.21164321899414, 56.774532318115234, 32.98562240600586], "tau_ext": [-16.758522033691406, -41.63296890258789, 31.7989501953125, 31.358747482299805, 9.488038063049316, -2.994933605194092, -0.12127026915550232], "tcp_pose": [0.6779665946960449, 0.03277714550495148, -0.2149629145860672, -0.0022808662615716457, -0.004557813983410597, 0.9998860359191895, 0.014209595508873463], "tcp_vel": [-0.0001885946694528684, 0.00028876683791168034, -9.221035725204274e-05, 0.000969541200902313, 0.00024214136647060513, -0.0004751055676024407], "flange_pose": [0.6786701679229736, 0.028517872095108032, -0.06502505391836166, -0.0022808662615716457, -0.004557813983410597, 0.9998860359191895, 0.014209595508873463], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80658721923828, 15.175542831420898, 28.146095275878906, 0.3496008515357971, -24.020870208740234, 1.797468662261963], "ext_wrench_in_world": [-108.07034767963984, 14.978396145671084, -27.22512862543505, -0.14063082503161844, -23.962341688886884, -2.478250126286153]}
+{"timestamp_ns": 1789729711847642850, "elapsed_ms": 1000, "source_timestamp_ns": 1789729711839192706, "q": [0.8363361954689026, -1.8969142436981201, -1.0059750080108643, 1.3811322450637817, -0.16152462363243103, 0.594333291053772, 0.7038264870643616], "theta": [0.8384155035018921, -1.8949604034423828, -1.0041813850402832, 1.36272394657135, -0.16210852563381195, 0.5942879915237427, 0.7037955522537231], "dq": [0.002407671185210347, 0.0024395303335040808, -0.0024914080277085304, 0.0016912117134779692, -0.001645774464122951, -0.00045358322677202523, 9.949867671821266e-05], "dtheta": [0.0004342278989497572, -8.987964247353375e-05, -0.00016233604401350021, 0.0001795514253899455, -0.001169439172372222, -9.346191654913127e-05, 4.697640906670131e-05], "tau": [55.529998779296875, 23.670000076293945, 5.496000289916992, -26.2760009765625, -2.556000232696533, 2.6760001182556152, -0.5360000133514404], "tau_des": [0.42806512117385864, -0.5821071863174438, -0.1940259337425232, -0.5109086632728577, 0.967719554901123, -1.164786458015442, -0.5411245226860046], "tau_dot": [-118.7620849609375, 133.20140075683594, 37.44943618774414, 34.51548385620117, -43.213294982910156, 37.991146087646484, 51.86404037475586], "tau_ext": [-16.731552124023438, -41.63292694091797, 31.79778289794922, 31.33795928955078, 9.481071472167969, -2.9905691146850586, -0.1252673715353012], "tcp_pose": [0.6779657006263733, 0.03277761861681938, -0.21496202051639557, -0.0022811212111264467, -0.004559295251965523, 0.9998860359191895, 0.014208232052624226], "tcp_vel": [0.00019487319514155388, -0.0001942991220857948, 0.00026402846560813487, -0.0010608290322124958, -0.000916683638934046, 0.0005788262351416051], "flange_pose": [0.6786693930625916, 0.028518754988908768, -0.06502414494752884, -0.0022811212111264467, -0.004559295251965523, 0.9998860359191895, 0.014208232052624226], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81474304199219, 15.182024002075195, 28.150251388549805, 0.35577628016471863, -24.03223419189453, 1.796282172203064], "ext_wrench_in_world": [-108.07863821435556, 14.984521849837956, -27.229054150137518, -0.1466273158832221, -23.973798168322315, -2.477294587357236]}
+{"timestamp_ns": 1789729711881008663, "elapsed_ms": 1033, "source_timestamp_ns": 1789729711879200098, "q": [0.8363394737243652, -1.8969155550003052, -1.005974531173706, 1.3811323642730713, -0.16152189671993256, 0.5943267345428467, 0.7038233876228333], "theta": [0.8384184837341309, -1.894961953163147, -1.004181146621704, 1.3627240657806396, -0.16210636496543884, 0.5942806005477905, 0.7037926912307739], "dq": [0.0002458722156006843, -0.00046242092503234744, 0.0014019658556208014, 0.0002671199617907405, -0.002933000447228551, 0.0008569328929297626, -0.0013933897716924548], "dtheta": [0.00013409832899924368, 0.00011305613588774577, 6.71437883283943e-05, -0.00018201673810835928, -3.514910349622369e-05, -0.0007786861388012767, -5.059232989879092e-06], "tau": [55.55999755859375, 23.619998931884766, 5.4760003089904785, -26.34400177001953, -2.5360000133514404, 2.6760001182556152, -0.5480000376701355], "tau_des": [0.48071420192718506, -0.560346245765686, -0.22996412217617035, -0.5388587117195129, 0.9253578186035156, -1.1439317464828491, -0.5420225858688354], "tau_dot": [-84.80428314208984, -28.158246994018555, -26.131715774536133, -75.30368041992188, 61.526023864746094, 8.688350677490234, 0.9927294254302979], "tau_ext": [-16.76152992248535, -41.62744140625, 31.790847778320312, 31.343233108520508, 9.483628273010254, -2.988816261291504, -0.12141812592744827], "tcp_pose": [0.6779642105102539, 0.03277737647294998, -0.21496127545833588, -0.002282884670421481, -0.00456074345856905, 0.9998860955238342, 0.014206529594957829], "tcp_vel": [-3.2675452530384064e-05, -8.670295937918127e-05, 0.00012354730279184878, -0.0002998500131070614, 0.00030983268516138196, -1.4046099749975838e-05], "flange_pose": [0.6786684393882751, 0.028519026935100555, -0.06502338498830795, -0.002282884670421481, -0.00456074345856905, 0.9998860955238342, 0.014206529594957829], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79684448242188, 15.191180229187012, 28.166545867919922, 0.3577183485031128, -24.035839080810547, 1.7978127002716064], "ext_wrench_in_world": [-108.06103872822649, 14.993888780749902, -27.24483715238477, -0.14848161472898164, -23.977384734998886, -2.4788359608217565]}
+{"timestamp_ns": 1789729711914327092, "elapsed_ms": 1066, "source_timestamp_ns": 1789729711909206466, "q": [0.8363404870033264, -1.8969171047210693, -1.0059754848480225, 1.3811330795288086, -0.16152016818523407, 0.5943273901939392, 0.7038207650184631], "theta": [0.8384196758270264, -1.894963026046753, -1.00418221950531, 1.362724781036377, -0.16210491955280304, 0.5942815542221069, 0.7037904858589172], "dq": [-0.0002278102037962526, -0.001057932386174798, 0.0011455010389909148, 0.0019422911573201418, 0.0018129305681213737, 0.001465724897570908, -0.0008351968717761338], "dtheta": [-0.0003103807976003736, -0.00040550241828896105, 5.15752581122797e-05, 0.00032204538001678884, -0.00043103567440994084, -0.0004376010037958622, -0.00017178359848912805], "tau": [55.56999969482422, 23.68000030517578, 5.484000205993652, -26.288002014160156, -2.5360000133514404, 2.6720001697540283, -0.5400000214576721], "tau_des": [0.6513025164604187, -0.4262578785419464, -0.2777343690395355, -0.660103976726532, 0.9189006686210632, -1.1163716316223145, -0.5274917483329773], "tau_dot": [-54.0587043762207, 132.66212463378906, 28.626447677612305, 19.523269653320312, 9.922345161437988, 13.9970121383667, 29.611736297607422], "tau_ext": [-16.791147232055664, -41.65977096557617, 31.8001651763916, 31.364809036254883, 9.48668384552002, -2.996523857116699, -0.11670300364494324], "tcp_pose": [0.6779639720916748, 0.03277741000056267, -0.2149614542722702, -0.0022827191278338432, -0.004561830777674913, 0.9998860955238342, 0.014206219464540482], "tcp_vel": [-0.00034126764512620866, -1.3137234418536536e-05, -0.0004860351618845016, -0.00100595667026937, 0.0006735216593369842, 0.0007805258501321077], "flange_pose": [0.6786681413650513, 0.028519153594970703, -0.06502356380224228, -0.0022827191278338432, -0.004561830777674913, 0.9998860955238342, 0.014206219464540482], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78841400146484, 15.191143989562988, 28.17925262451172, 0.357431024312973, -24.032499313354492, 1.7983896732330322], "ext_wrench_in_world": [-108.05269062490383, 14.994039404048811, -27.257625689107968, -0.14817430336255577, -23.974029279085112, -2.479304358425878]}
+{"timestamp_ns": 1789729711947581499, "elapsed_ms": 1100, "source_timestamp_ns": 1789729711939183238, "q": [0.8363421559333801, -1.896917462348938, -1.005979061126709, 1.3811328411102295, -0.16152076423168182, 0.5943293571472168, 0.7038202285766602], "theta": [0.8384210467338562, -1.894963026046753, -1.0041857957839966, 1.3627252578735352, -0.16210563480854034, 0.5942836999893188, 0.703790009021759], "dq": [-0.002040176186710596, 0.00043107231613248587, -0.0008328331168740988, 0.00028190138982608914, 0.0006263905670493841, 0.0007125900010578334, -0.0010434468276798725], "dtheta": [-5.9744244936155155e-05, 0.0002732261491473764, -0.00031319548725150526, 0.00017627871420700103, 0.00020636827684938908, 8.801729563856497e-05, -0.0006632352597080171], "tau": [55.53999710083008, 23.689998626708984, 5.4760003089904785, -26.292001724243164, -2.556000232696533, 2.6600000858306885, -0.5560000538825989], "tau_des": [0.5043673515319824, -0.5850389003753662, -0.17635351419448853, -0.5408182740211487, 0.9232376217842102, -1.1623456478118896, -0.5349223017692566], "tau_dot": [-53.81686019897461, 154.83619689941406, 46.36492919921875, -8.791460037231445, 38.937225341796875, -44.45101547241211, -22.076852798461914], "tau_ext": [-16.749923706054688, -41.629119873046875, 31.796621322631836, 31.33965301513672, 9.487053871154785, -2.9983878135681152, -0.11926525831222534], "tcp_pose": [0.6779659986495972, 0.03277584910392761, -0.2149602323770523, -0.002280288375914097, -0.004561086650937796, 0.9998860955238342, 0.014205493964254856], "tcp_vel": [8.40491775306873e-05, -0.00025850330712273717, -6.230973667697981e-05, 9.063413017429411e-05, 0.00013070509885437787, 0.0001712390367174521], "flange_pose": [0.6786694526672363, 0.02851780503988266, -0.06502232700586319, -0.002280288375914097, -0.004561086650937796, 0.9998860955238342, 0.014205493964254856], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77375030517578, 15.206364631652832, 28.17822265625, 0.3630569577217102, -24.02727699279785, 1.8004181385040283], "ext_wrench_in_world": [-108.03800530271052, 15.009487592945309, -27.256773554973197, -0.1538819881299472, -23.9688067011475, -2.481124981413322]}
+{"timestamp_ns": 1789729711980921715, "elapsed_ms": 1133, "source_timestamp_ns": 1789729711979205768, "q": [0.8363421559333801, -1.8969216346740723, -1.0059860944747925, 1.3811334371566772, -0.16152092814445496, 0.5943283438682556, 0.7038213610649109], "theta": [0.8384215235710144, -1.894966959953308, -1.004193902015686, 1.3627254962921143, -0.16210636496543884, 0.5942829847335815, 0.7037909626960754], "dq": [-0.0005725352675653994, -0.001990343676880002, -0.0012401887215673923, 0.00015867443289607763, 0.001377247623167932, -0.00048041989794000983, -0.0006862693117000163], "dtheta": [-0.00010548473801463842, -0.0003803372383117676, -0.00021380155521910638, -0.00023459205112885684, -0.00010010354162659496, -0.0005492419586516917, -0.000138375602546148], "tau": [55.54999923706055, 23.600000381469727, 5.436000347137451, -26.32000160217285, -2.564000129699707, 2.6680002212524414, -0.5560000538825989], "tau_des": [0.5435448288917542, -0.5072418451309204, -0.2037571221590042, -0.570767343044281, 0.9357295632362366, -1.1430513858795166, -0.5431753993034363], "tau_dot": [-36.639305114746094, -22.239891052246094, -35.99568176269531, -32.125545501708984, 38.715274810791016, 41.27247619628906, -38.707027435302734], "tau_ext": [-16.764551162719727, -41.66188049316406, 31.825597763061523, 31.35690689086914, 9.499100685119629, -3.0026845932006836, -0.12523560225963593], "tcp_pose": [0.677966833114624, 0.03277287632226944, -0.21496222913265228, -0.002279756125062704, -0.004559547174721956, 0.999886155128479, 0.014201094396412373], "tcp_vel": [-4.990852903574705e-05, -5.462656918098219e-05, -0.00014576074318028986, -0.0007047284161671996, 0.00020613573724403977, 0.00027470936765894294], "flange_pose": [0.6786701083183289, 0.028516151010990143, -0.06502428650856018, -0.002279756125062704, -0.004559547174721956, 0.999886155128479, 0.014201094396412373], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79045104980469, 15.221989631652832, 28.168607711791992, 0.36442846059799194, -24.022506713867188, 1.8001519441604614], "ext_wrench_in_world": [-108.05472649441954, 15.024771642459042, -27.24689130149457, -0.1553664109920567, -23.96408005770965, -2.4805064419933682]}
+{"timestamp_ns": 1789729712014320269, "elapsed_ms": 1166, "source_timestamp_ns": 1789729712009176564, "q": [0.8363433480262756, -1.8969260454177856, -1.005989909172058, 1.381132960319519, -0.1615193635225296, 0.594328761100769, 0.7038211822509766], "theta": [0.8384225368499756, -1.8949707746505737, -1.0041979551315308, 1.362725019454956, -0.16210563480854034, 0.5942832231521606, 0.7037909626960754], "dq": [0.0018900887807831168, 0.0004263185546733439, 0.0024543695617467165, -0.0034148546401411295, 0.0009360596886835992, 0.0006764421705156565, -0.0005224717897363007], "dtheta": [-8.079944382188842e-05, -0.000204436932108365, -9.825909364735708e-05, -0.0003327716840431094, 0.0012673119781538844, -0.0007834355928935111, 0.00020971418416593224], "tau": [55.59000015258789, 23.649999618530273, 5.452000141143799, -26.304000854492188, -2.552000045776367, 2.6560001373291016, -0.5640000104904175], "tau_des": [0.5502000451087952, -0.5140324234962463, -0.20913460850715637, -0.5715400576591492, 0.89919513463974, -1.1397877931594849, -0.5591357946395874], "tau_dot": [36.20921325683594, 114.26673126220703, -65.50800323486328, 16.93498992919922, 86.3210220336914, -54.01228332519531, -57.63634490966797], "tau_ext": [-16.7512264251709, -41.62208938598633, 31.812326431274414, 31.349672317504883, 9.499011039733887, -2.998617172241211, -0.12380529195070267], "tcp_pose": [0.6779672503471375, 0.03277237340807915, -0.21496279537677765, -0.0022786525078117847, -0.004559321328997612, 0.9998862147331238, 0.014199045486748219], "tcp_vel": [-0.00022744042507838458, 3.5190074413549155e-05, -0.00016562780365347862, 0.0002501892449799925, 0.0010828747181221843, -0.0008785196696408093], "flange_pose": [0.6786701679229736, 0.028516262769699097, -0.06502483785152435, -0.0022786525078117847, -0.004559321328997612, 0.9998862147331238, 0.014199045486748219], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81429290771484, 15.215218544006348, 28.150537490844727, 0.3593604862689972, -24.022571563720703, 1.7983251810073853], "ext_wrench_in_world": [-108.0783535337652, 15.017211714646352, -27.229216685461456, -0.15029541023447626, -23.964160247136157, -2.4786070461170135]}
+{"timestamp_ns": 1789729712047658620, "elapsed_ms": 1200, "source_timestamp_ns": 1789729712039172507, "q": [0.8363444209098816, -1.896926760673523, -1.0059905052185059, 1.381132960319519, -0.16151903569698334, 0.5943289995193481, 0.7038204073905945], "theta": [0.8384234309196472, -1.8949722051620483, -1.004198670387268, 1.3627249002456665, -0.16210541129112244, 0.5942829847335815, 0.7037903070449829], "dq": [-0.0005436588544398546, -0.002072026953101158, -2.8953390938113444e-05, -0.0004525163094513118, 0.0002083899889839813, 0.0013668745523318648, -0.0010764446342363954], "dtheta": [-0.00021104146435391158, -0.0004206393496133387, -0.0001252715737791732, 1.3847051150150946e-06, -0.00011157641711179167, 0.0009121613693423569, -4.87912120661349e-06], "tau": [55.59000015258789, 23.60999870300293, 5.4720001220703125, -26.296001434326172, -2.580000162124634, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.5422528982162476, -0.4997440278530121, -0.22802603244781494, -0.5451597571372986, 0.9358469843864441, -1.181199550628662, -0.5437633395195007], "tau_dot": [60.12648010253906, -35.57711410522461, -31.66884994506836, -2.0815048217773438, -7.972636699676514, 3.0197134017944336, -9.557229042053223], "tau_ext": [-16.75078582763672, -41.6406135559082, 31.823213577270508, 31.3487606048584, 9.498794555664062, -2.9957175254821777, -0.12067833542823792], "tcp_pose": [0.6779674291610718, 0.03277229890227318, -0.21496233344078064, -0.002278030151501298, -0.004559647291898727, 0.9998862147331238, 0.01419871486723423], "tcp_vel": [6.895725528011099e-05, 0.00019055760640185326, -0.00016227687592618167, 0.00013439528993330896, -0.000578206789214164, 0.000238824199186638], "flange_pose": [0.6786702275276184, 0.028516283258795738, -0.06502437591552734, -0.002278030151501298, -0.004559647291898727, 0.9998862147331238, 0.01419871486723423], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82768249511719, 15.196542739868164, 28.139400482177734, 0.3518398702144623, -24.024547576904297, 1.7979062795639038], "ext_wrench_in_world": [-108.09149648891685, 14.998018754560116, -27.218701350967795, -0.142736983560888, -23.96607992221005, -2.478262269226199]}
+{"timestamp_ns": 1789729712080910532, "elapsed_ms": 1233, "source_timestamp_ns": 1789729712079202362, "q": [0.8363448977470398, -1.896929144859314, -1.005989670753479, 1.3811334371566772, -0.1615132838487625, 0.5943278074264526, 0.703816831111908], "theta": [0.8384248614311218, -1.8949748277664185, -1.0041983127593994, 1.3627249002456665, -0.16210012137889862, 0.5942822694778442, 0.7037866711616516], "dq": [-0.002611889038234949, 0.0016061417991295457, -0.002876365091651678, -0.0002696892770472914, 0.004866724368184805, -0.001958573702722788, -0.0005617967108264565], "dtheta": [0.00016984505055006593, -0.00010718892008299008, 0.00014962661953177303, -0.00023695679556112736, 0.0002765547251328826, 0.00065680465195328, -0.0003298568772152066], "tau": [55.57999801635742, 23.68000030517578, 5.4800004959106445, -26.30000114440918, -2.556000232696533, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.4471580982208252, -0.5428366661071777, -0.2748728394508362, -0.4800034165382385, 0.9244720339775085, -1.1992528438568115, -0.5366501212120056], "tau_dot": [-37.53046798706055, 104.92386627197266, -8.226853370666504, 20.51078987121582, 1.1130794286727905, -5.094595432281494, -33.9442024230957], "tau_ext": [-16.74396514892578, -41.62363815307617, 31.805566787719727, 31.33968734741211, 9.492270469665527, -2.994230031967163, -0.12160348147153854], "tcp_pose": [0.6779654622077942, 0.032773613929748535, -0.21496348083019257, -0.0022801142185926437, -0.004560964182019234, 0.999886155128479, 0.014199410565197468], "tcp_vel": [0.00013559655053541064, 0.0002824540715664625, 0.00024946569465100765, 0.0007547324639745057, -0.0006655250326730311, 0.0002996987313963473], "flange_pose": [0.6786688566207886, 0.02851739712059498, -0.06502552330493927, -0.0022801142185926437, -0.004560964182019234, 0.999886155128479, 0.014199410565197468], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82742309570312, 15.189658164978027, 28.144296646118164, 0.35238608717918396, -24.02750587463379, 1.799964189529419], "ext_wrench_in_world": [-108.09135065899893, 14.991025341805571, -27.223324415802647, -0.14321181410384054, -23.96898049258337, -2.480433453258922]}
+{"timestamp_ns": 1789729712114241843, "elapsed_ms": 1266, "source_timestamp_ns": 1789729712109175428, "q": [0.8363475203514099, -1.896930456161499, -1.0059908628463745, 1.3811336755752563, -0.16151176393032074, 0.5943251252174377, 0.703812301158905], "theta": [0.8384273052215576, -1.894976258277893, -1.0041993856430054, 1.3627251386642456, -0.1620982140302658, 0.5942796468734741, 0.703782856464386], "dq": [-0.00020184014283586293, -0.0019153272733092308, 0.0005469751777127385, 0.0015181286726146936, 0.002604095730930567, -0.0015448665944859385, 0.002305193105712533], "dtheta": [0.00014722645573783666, 0.00018353875202592462, 1.852045170380734e-05, -0.00012392281496431679, -0.00014631626254413277, -0.0004041187057737261, -7.954916509333998e-05], "tau": [55.57999801635742, 23.619998931884766, 5.484000205993652, -26.308000564575195, -2.5360000133514404, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.46335163712501526, -0.5777913331985474, -0.22772802412509918, -0.5117170214653015, 0.9298039674758911, -1.1685044765472412, -0.5372606515884399], "tau_dot": [33.132171630859375, -11.423067092895508, 15.576764106750488, -29.9553165435791, 64.9655532836914, -18.287572860717773, -33.1583366394043], "tau_ext": [-16.753324508666992, -41.64421081542969, 31.813241958618164, 31.355215072631836, 9.488276481628418, -2.9959213733673096, -0.11903892457485199], "tcp_pose": [0.6779652237892151, 0.032772988080978394, -0.21496273577213287, -0.002280156360939145, -0.004562926944345236, 0.9998862147331238, 0.01419803686439991], "tcp_vel": [6.74664115649648e-05, -9.41148100537248e-05, 0.00017654783732723445, -0.00013560871593654156, -1.9014567442354746e-05, 4.083500971319154e-05], "flange_pose": [0.6786686182022095, 0.028517184779047966, -0.06502477079629898, -0.002280156360939145, -0.004562926944345236, 0.9998862147331238, 0.01419803686439991], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82410430908203, 15.190404891967773, 28.14774513244629, 0.35473397374153137, -24.030120849609375, 1.7993966341018677], "ext_wrench_in_world": [-108.08811435362936, 14.99140046279284, -27.226804339103058, -0.14543901825250966, -23.97163934290078, -2.4798643494425376]}
+{"timestamp_ns": 1789729712147597241, "elapsed_ms": 1300, "source_timestamp_ns": 1789729712139204416, "q": [0.8363491296768188, -1.8969322443008423, -1.0059947967529297, 1.3811335563659668, -0.1615103781223297, 0.5943250060081482, 0.7038100957870483], "theta": [0.8384293913841248, -1.8949778079986572, -1.004203200340271, 1.3627251386642456, -0.1620958149433136, 0.5942798852920532, 0.7037807106971741], "dq": [0.00045768110430799425, -7.382339390460402e-05, 9.168761607725173e-05, 0.0009922017343342304, 0.0016526614781469107, 0.0016409836243838072, 0.003117118263617158], "dtheta": [8.083171451289672e-06, -0.00028268247842788696, -5.4076699598226696e-05, -0.00046685818233527243, 0.00045492255594581366, 0.00030049760243855417, 8.861991227604449e-05], "tau": [55.599998474121094, 23.639999389648438, 5.452000141143799, -26.316001892089844, -2.568000078201294, 2.692000150680542, -0.5440000295639038], "tau_des": [0.47057461738586426, -0.5369239449501038, -0.25100284814834595, -0.48966652154922485, 0.9245352745056152, -1.1918648481369019, -0.5425494909286499], "tau_dot": [-10.092636108398438, 14.098458290100098, -44.695655822753906, 11.86886215209961, -17.748172760009766, 76.33766174316406, 13.920086860656738], "tau_ext": [-16.77010726928711, -41.66079330444336, 31.822832107543945, 31.352087020874023, 9.488068580627441, -2.9947383403778076, -0.1156710684299469], "tcp_pose": [0.677966296672821, 0.032771382480859756, -0.2149624228477478, -0.0022790527436882257, -0.004562803078442812, 0.9998862147331238, 0.014196544885635376], "tcp_vel": [0.00012120574683649465, 0.00022217462537810206, 0.00012388519826345146, 0.0005022759432904422, -0.00037244855775497854, -0.00027082773158326745], "flange_pose": [0.6786693930625916, 0.028516020625829697, -0.06502445042133331, -0.0022790527436882257, -0.004562803078442812, 0.9998862147331238, 0.014196544885635376], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82137298583984, 15.200081825256348, 28.162399291992188, 0.3573540151119232, -24.03363037109375, 1.8007383346557617], "ext_wrench_in_world": [-108.08547508463104, 15.001462365898723, -27.24147383204164, -0.14803444429233795, -23.97514065281728, -2.4812226295329696]}
+{"timestamp_ns": 1789729712180905286, "elapsed_ms": 1333, "source_timestamp_ns": 1789729712179299393, "q": [0.8363497257232666, -1.8969345092773438, -1.0060030221939087, 1.3811333179473877, -0.16151028871536255, 0.5943256616592407, 0.7038094401359558], "theta": [0.8384298086166382, -1.89497971534729, -1.0042115449905396, 1.3627254962921143, -0.1620960384607315, 0.5942806005477905, 0.7037802338600159], "dq": [0.0007876019808463752, -0.0009676064946688712, -0.0003273543552495539, 2.4997483706101775e-05, -0.0030868405010551214, 0.0003830288187600672, -0.0038580952677875757], "dtheta": [-0.00015802284178789705, 0.00010725626634666696, 6.00564235355705e-05, -0.00013807602226734161, -1.746552879922092e-05, -0.00047726492630317807, -0.00044316990533843637], "tau": [55.54999923706055, 23.56999969482422, 5.452000141143799, -26.268001556396484, -2.5920000076293945, 2.6640000343322754, -0.5480000376701355], "tau_des": [0.5193067789077759, -0.5526806116104126, -0.20202121138572693, -0.542870044708252, 0.9298979640007019, -1.1605440378189087, -0.5358433127403259], "tau_dot": [6.914656639099121, -100.85404205322266, 9.545548439025879, 31.238279342651367, -74.6768798828125, -20.448686599731445, 11.467695236206055], "tau_ext": [-16.75841522216797, -41.63563537597656, 31.81842803955078, 31.352724075317383, 9.490339279174805, -2.9959888458251953, -0.11506649851799011], "tcp_pose": [0.6779687404632568, 0.03276772424578667, -0.21496301889419556, -0.0022771458607167006, -0.004560995381325483, 0.9998862743377686, 0.014193395152688026], "tcp_vel": [-5.8018304116558284e-05, -4.8530531785218045e-05, -6.333446071948856e-05, -0.0001237294200109318, 0.0004044914385303855, 0.00041263585444539785], "flange_pose": [0.6786711812019348, 0.028513306751847267, -0.06502500176429749, -0.0022771458607167006, -0.004560995381325483, 0.9998862743377686, 0.014193395152688026], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81859588623047, 15.200736045837402, 28.167943954467773, 0.3577060103416443, -24.032690048217773, 1.8024228811264038], "ext_wrench_in_world": [-108.08257191182027, 15.002522767636219, -27.247514040152474, -0.14848105680126045, -23.974171271110034, -2.4827279402305917]}
+{"timestamp_ns": 1789729712214237707, "elapsed_ms": 1366, "source_timestamp_ns": 1789729712209245062, "q": [0.8363503217697144, -1.8969368934631348, -1.0060075521469116, 1.3811328411102295, -0.16151075065135956, 0.5943247079849243, 0.7038089632987976], "theta": [0.8384301662445068, -1.8949823379516602, -1.004215955734253, 1.362725019454956, -0.16209676861763, 0.5942796468734741, 0.703779935836792], "dq": [-0.002257950371131301, -0.003526757936924696, -0.0007934452733024955, -0.0002066707529593259, -0.0015434282831847668, -0.0015881736762821674, -0.0012919132132083178], "dtheta": [0.00014595351240132004, -6.364903674693778e-05, 0.0001612282794667408, -0.00035522456164471805, -0.00046285512507893145, -0.0004482578078750521, -0.0003827041946351528], "tau": [55.59000015258789, 23.68000030517578, 5.460000038146973, -26.316001892089844, -2.572000026702881, 2.6720001697540283, -0.5560000538825989], "tau_des": [0.4331169128417969, -0.5691252946853638, -0.2097543329000473, -0.48484763503074646, 0.9577007293701172, -1.1801077127456665, -0.5346871018409729], "tau_dot": [34.17254638671875, 101.88882446289062, -18.95783233642578, -38.35575485229492, 1.1811095476150513, -5.46824836730957, -9.815827369689941], "tau_ext": [-16.748397827148438, -41.630306243896484, 31.8218936920166, 31.346210479736328, 9.491474151611328, -2.997075080871582, -0.11829984933137894], "tcp_pose": [0.6779698133468628, 0.03276585042476654, -0.21496336162090302, -0.0022761481814086437, -0.004560551606118679, 0.9998863339424133, 0.01419081911444664], "tcp_vel": [7.887268293416128e-05, 7.244832522701472e-05, 0.00023441722441930324, -0.00031927856616675854, -0.0003084396885242313, 0.0007497435435652733], "flange_pose": [0.6786720156669617, 0.028512202203273773, -0.06502533704042435, -0.0022761481814086437, -0.004560551606118679, 0.9998863339424133, 0.01419081911444664], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81240844726562, 15.201077461242676, 28.143604278564453, 0.3549405336380005, -24.024852752685547, 1.80060875415802], "ext_wrench_in_world": [-108.07620570868121, 15.002188195146706, -27.22349613740619, -0.14579490745513296, -23.966376144257474, -2.480581144231778]}
+{"timestamp_ns": 1789729712247565449, "elapsed_ms": 1400, "source_timestamp_ns": 1789729712239247464, "q": [0.8363502025604248, -1.8969393968582153, -1.0060086250305176, 1.3811324834823608, -0.1615094691514969, 0.5943235754966736, 0.7038091421127319], "theta": [0.8384302258491516, -1.8949847221374512, -1.0042169094085693, 1.362724781036377, -0.1620965451002121, 0.5942779779434204, 0.7037804126739502], "dq": [0.0008846831042319536, -0.001513817929662764, 0.0003386465832591057, -0.0020895712077617645, -0.0019822430331259966, -0.0005901615950278938, 0.0009799435501918197], "dtheta": [-0.00022871232067700475, -0.00024881403078325093, 9.735835919855163e-05, 2.099772791552823e-05, 1.642247661948204e-05, -0.0002643353946041316, 0.0007509631686843932], "tau": [55.54999923706055, 23.65999984741211, 5.4720001220703125, -26.284000396728516, -2.5840001106262207, 2.6680002212524414, -0.5600000023841858], "tau_des": [0.5832491517066956, -0.5060082077980042, -0.21501165628433228, -0.5861597657203674, 0.920722246170044, -1.1511303186416626, -0.5575714707374573], "tau_dot": [-79.54605102539062, 150.1844482421875, 1.0328954458236694, 30.326278686523438, -30.267240524291992, 40.451011657714844, -10.615723609924316], "tau_ext": [-16.74681854248047, -41.61875534057617, 31.816905975341797, 31.350296020507812, 9.498031616210938, -2.992609739303589, -0.11665482074022293], "tcp_pose": [0.677969217300415, 0.032765962183475494, -0.2149643450975418, -0.0022767020855098963, -0.00456054974347353, 0.9998863339424133, 0.014189628884196281], "tcp_vel": [-0.00020787169341929257, 8.23753944132477e-05, -0.00026432480080984533, -0.00030081241857260466, 0.0005071106716059148, -0.0005149123608134687], "flange_pose": [0.6786715984344482, 0.02851267345249653, -0.06502630561590195, -0.0022767020855098963, -0.00456054974347353, 0.9998863339424133, 0.014189628884196281], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83305358886719, 15.192992210388184, 28.14491081237793, 0.35074740648269653, -24.02865982055664, 1.8012374639511108], "ext_wrench_in_world": [-108.09681280156306, 14.993887147885118, -27.224857641160316, -0.14157277080022498, -23.9701311002325, -2.481278925264783]}
+{"timestamp_ns": 1789729712280906899, "elapsed_ms": 1433, "source_timestamp_ns": 1789729712279298787, "q": [0.8363518118858337, -1.896944522857666, -1.0060083866119385, 1.3811320066452026, -0.16150733828544617, 0.5943148136138916, 0.7038043141365051], "theta": [0.8384318351745605, -1.8949897289276123, -1.0042167901992798, 1.3627241849899292, -0.1620948612689972, 0.5942701101303101, 0.7037763595581055], "dq": [0.00018837075913324952, 0.0009209589916281402, -0.0011196272680535913, -0.0026737290900200605, 0.0007780091254971921, -0.00023504103592131287, 0.0014665806666016579], "dtheta": [-2.7465725906949956e-06, -0.00021400237164925784, -2.7320702429278754e-05, 6.696490117974463e-07, 0.00018427748000249267, -0.00030859498656354845, 0.0005037905648350716], "tau": [55.53999710083008, 23.639999389648438, 5.488000392913818, -26.30000114440918, -2.572000026702881, 2.628000020980835, -0.5640000104904175], "tau_des": [0.5601717829704285, -0.5038918256759644, -0.22187678515911102, -0.5862805843353271, 0.9240694642066956, -1.1418876647949219, -0.5460102558135986], "tau_dot": [-28.827695846557617, 29.76717758178711, 26.22125816345215, -61.15922164916992, -10.365402221679688, -26.328266143798828, -17.962608337402344], "tau_ext": [-16.729337692260742, -41.61213684082031, 31.80678939819336, 31.34761619567871, 9.501531600952148, -2.9914872646331787, -0.11805187165737152], "tcp_pose": [0.6779664158821106, 0.03276640549302101, -0.21496573090553284, -0.0022796466946601868, -0.004564130678772926, 0.9998863339424133, 0.014185743406414986], "tcp_vel": [-0.00013150736049283296, 1.2086521564924624e-05, -0.00011742139759007841, -0.00026639836141839623, 0.0003447274211794138, -0.0004740088479593396], "flange_pose": [0.6786696910858154, 0.028514288365840912, -0.06502765417098999, -0.0022796466946601868, -0.004564130678772926, 0.9998863339424133, 0.014185743406414986], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.87066650390625, 15.16672134399414, 28.13389015197754, 0.3443288207054138, -24.03913116455078, 1.8024897575378418], "ext_wrench_in_world": [-108.13439947846713, 14.9659729489075, -27.21391567802639, -0.13490568497633407, -23.98052362795086, -2.4826690868348646]}
+{"timestamp_ns": 1789729712314228422, "elapsed_ms": 1466, "source_timestamp_ns": 1789729712309248335, "q": [0.8363534212112427, -1.8969473838806152, -1.0060087442398071, 1.3811311721801758, -0.16150446236133575, 0.5943153500556946, 0.7037985324859619], "theta": [0.8384330868721008, -1.8949922323226929, -1.0042164325714111, 1.3627232313156128, -0.16209198534488678, 0.594269871711731, 0.7037699222564697], "dq": [-0.0003607114776968956, -0.0003407412441447377, 0.0019608389120548964, -0.00034288872848264873, 0.000924288178794086, -0.000549818912986666, 0.0029813083820044994], "dtheta": [0.00039347444544546306, -9.79777323664166e-05, -0.0002900386170949787, 1.6325970136676915e-05, -0.0005764054949395359, -0.0001176244331873022, -0.0005016362993046641], "tau": [55.52000045776367, 23.6299991607666, 5.4800004959106445, -26.304000854492188, -2.572000026702881, 2.6600000858306885, -0.5640000104904175], "tau_des": [0.4432528614997864, -0.557099461555481, -0.20284949243068695, -0.5117090344429016, 0.9653600454330444, -1.1709331274032593, -0.5184981822967529], "tau_dot": [-151.9074249267578, -38.656044006347656, 22.446287155151367, -12.428512573242188, -44.249839782714844, 14.234761238098145, -18.472705841064453], "tau_ext": [-16.747371673583984, -41.641517639160156, 31.80338478088379, 31.34404182434082, 9.497479438781738, -2.991596221923828, -0.11152942478656769], "tcp_pose": [0.6779661178588867, 0.032767556607723236, -0.2149653285741806, -0.002279030391946435, -0.004567064810544252, 0.9998863339424133, 0.014185872860252857], "tcp_vel": [0.00020530710753519088, -0.00019322610751260072, 0.00024837261298671365, -0.0006996021838858724, -0.0007162956171669066, 0.0006886367336846888], "flange_pose": [0.6786691546440125, 0.028515400364995003, -0.06502726674079895, -0.002279030391946435, -0.004567064810544252, 0.9998863339424133, 0.014185872860252857], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85163116455078, 15.17569351196289, 28.140653610229492, 0.3476445972919464, -24.039106369018555, 1.8053168058395386], "ext_wrench_in_world": [-108.11552996391717, 14.97468296999401, -27.220643905017397, -0.13809122623826595, -23.980449299616968, -2.4854864228552103]}
+{"timestamp_ns": 1789729712347588229, "elapsed_ms": 1500, "source_timestamp_ns": 1789729712339256746, "q": [0.8363550305366516, -1.896947979927063, -1.0060093402862549, 1.3811317682266235, -0.16150222718715668, 0.5943131446838379, 0.7037971615791321], "theta": [0.8384354710578918, -1.894992709159851, -1.0042169094085693, 1.3627233505249023, -0.16208982467651367, 0.594267725944519, 0.703767716884613], "dq": [-0.002011506585404277, -0.00021118775475770235, 0.0003866825718432665, -0.001321665826253593, 0.0031875516287982464, -0.0017039735103026032, -0.0011789242271333933], "dtheta": [-4.446254479262279e-06, -0.00016017243615351617, -0.00042599611333571374, -0.00016884705109987408, 0.0006846190080977976, -0.0005367593839764595, -0.00014640638255514205], "tau": [55.59000015258789, 23.619998931884766, 5.4720001220703125, -26.292001724243164, -2.552000045776367, 2.6480002403259277, -0.5760000348091125], "tau_des": [0.5494657158851624, -0.5201045274734497, -0.19889429211616516, -0.573334813117981, 0.9183408617973328, -1.144948959350586, -0.5337740778923035], "tau_dot": [90.38329315185547, 55.46398162841797, -24.106515884399414, 28.396398544311523, 6.464460849761963, -18.228939056396484, -62.024959564208984], "tau_ext": [-16.74306297302246, -41.61201858520508, 31.793012619018555, 31.351112365722656, 9.490436553955078, -2.9940085411071777, -0.1066041886806488], "tcp_pose": [0.6779655814170837, 0.03276710584759712, -0.2149651050567627, -0.0022797584533691406, -0.004567155614495277, 0.9998863339424133, 0.014185281470417976], "tcp_vel": [-2.8675556677626446e-05, -0.00019194462220184505, -0.00011598991841310635, -0.0002189262304455042, 0.0005152403027750552, -0.00043907921644859016], "flange_pose": [0.6786688566207886, 0.028515128418803215, -0.06502702832221985, -0.0022797584533691406, -0.004567155614495277, 0.9998863339424133, 0.014185281470417976], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84069061279297, 15.18232536315918, 28.15264320373535, 0.3529287874698639, -24.040470123291016, 1.8093701601028442], "ext_wrench_in_world": [-108.10474882166282, 14.981697850273413, -27.232349997054744, -0.14338046252730874, -23.981749136649047, -2.4895247024164293]}
+{"timestamp_ns": 1789729712380904633, "elapsed_ms": 1533, "source_timestamp_ns": 1789729712379293091, "q": [0.836358368396759, -1.896946668624878, -1.0060131549835205, 1.3811330795288086, -0.16149990260601044, 0.5943121910095215, 0.703797459602356], "theta": [0.8384386897087097, -1.8949919939041138, -1.004219651222229, 1.36272394657135, -0.16208694875240326, 0.5942670106887817, 0.7037672400474548], "dq": [-0.0006958238082006574, 0.00012940121814608574, -0.00033735670149326324, 0.001772093353793025, -0.0017158041009679437, 0.0001692062069196254, 0.0009612804860807955], "dtheta": [1.683544360275846e-05, 0.000440775795141235, -0.00015323252591770142, 0.00016992163727991283, 0.00032126050791703165, 0.00013657144154421985, 0.00016801615129224956], "tau": [55.619998931884766, 23.670000076293945, 5.464000225067139, -26.292001724243164, -2.564000129699707, 2.6520001888275146, -0.5440000295639038], "tau_des": [0.49349650740623474, -0.6147254705429077, -0.17008709907531738, -0.5272406339645386, 0.9169889688491821, -1.170082688331604, -0.5459372997283936], "tau_dot": [89.793212890625, 64.73164367675781, 4.4206719398498535, -31.5773868560791, -15.837814331054688, -20.11499786376953, 30.30359649658203], "tau_ext": [-16.758689880371094, -41.61689758300781, 31.773822784423828, 31.357694625854492, 9.492608070373535, -2.9972007274627686, -0.11245652288198471], "tcp_pose": [0.6779668927192688, 0.032764360308647156, -0.21496355533599854, -0.0022790252696722746, -0.004564711358398199, 0.9998863935470581, 0.014184598810970783], "tcp_vel": [8.776238973950967e-05, -0.00020269578089937568, 4.705323590314947e-05, 0.0004198879760224372, 0.00014972937060520053, -0.0007255497621372342], "flange_pose": [0.6786699295043945, 0.028512584045529366, -0.06502547115087509, -0.0022790252696722746, -0.004564711358398199, 0.9998863935470581, 0.014184598810970783], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83158111572266, 15.165282249450684, 28.167564392089844, 0.3532295525074005, -24.04076385498047, 1.8101527690887451], "ext_wrench_in_world": [-108.09544353944355, 14.965662030781662, -27.24796141725267, -0.14379638303502107, -23.982026029797073, -2.490281309712121]}
+{"timestamp_ns": 1789729712414239374, "elapsed_ms": 1566, "source_timestamp_ns": 1789729712409230511, "q": [0.8363599181175232, -1.8969500064849854, -1.0060139894485474, 1.3811333179473877, -0.16149944067001343, 0.5943135023117065, 0.7037971615791321], "theta": [0.8384404182434082, -1.8949952125549316, -1.0042212009429932, 1.36272394657135, -0.16208551824092865, 0.5942684412002563, 0.7037670612335205], "dq": [-0.0017489749006927013, -0.000289140734821558, -0.0020935561042279005, 7.986701530171558e-05, -0.0005538074183277786, 0.0018665576353669167, -0.0018555369460955262], "dtheta": [0.0002583654422778636, 5.743332621932495e-06, 0.000142818913445808, 0.0004052098956890404, 0.000515064864885062, -0.00042472887434996665, -0.0004705564060714096], "tau": [55.59000015258789, 23.6299991607666, 5.468000411987305, -26.26000213623047, -2.56000018119812, 2.6440000534057617, -0.5320000052452087], "tau_des": [0.5235368609428406, -0.5062980651855469, -0.25902989506721497, -0.5745089650154114, 0.9162263870239258, -1.1517657041549683, -0.5250685811042786], "tau_dot": [98.81167602539062, -29.365659713745117, 65.34561920166016, -7.841365814208984, -11.275920867919922, -65.9561767578125, 50.76679229736328], "tau_ext": [-16.742977142333984, -41.69033432006836, 31.822359085083008, 31.337646484375, 9.482239723205566, -2.99528169631958, -0.11534266918897629], "tcp_pose": [0.6779667735099792, 0.03276505693793297, -0.21496351063251495, -0.002277827588841319, -0.004565568640828133, 0.9998863935470581, 0.014183580875396729], "tcp_vel": [-0.0002984643215313554, -3.137105522910133e-05, -8.677601726958528e-05, -9.295908239437267e-05, 0.0007052969303913414, 0.00035558658419176936], "flange_pose": [0.6786694526672363, 0.028513586148619652, -0.06502541899681091, -0.002277827588841319, -0.004565568640828133, 0.9998863935470581, 0.014183580875396729], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8132553100586, 15.221566200256348, 28.176513671875, 0.3704799711704254, -24.039737701416016, 1.8094689846038818], "ext_wrench_in_world": [-108.07762989331111, 15.022105933460777, -27.255683275426737, -0.1610055442334081, -23.98118359974095, -2.4894442227947464]}
+{"timestamp_ns": 1789729712447563826, "elapsed_ms": 1600, "source_timestamp_ns": 1789729712439231633, "q": [0.8363618850708008, -1.8969519138336182, -1.0060197114944458, 1.3811334371566772, -0.16149911284446716, 0.5943135619163513, 0.7037976384162903], "theta": [0.8384421467781067, -1.8949973583221436, -1.0042272806167603, 1.36272394657135, -0.16208478808403015, 0.5942691564559937, 0.7037672400474548], "dq": [-0.0003848482156172395, 0.0015105692436918616, 0.0018106562783941627, -6.772508641006425e-05, -0.00265573151409626, -0.0008190628723241389, 0.0006115731666795909], "dtheta": [0.00045898352982476354, -0.00037647041608579457, -0.00033168852678500116, -0.00014214553812053055, 0.0010143877007067204, 8.138471457641572e-05, -0.0006007266929373145], "tau": [55.53999710083008, 23.559999465942383, 5.484000205993652, -26.296001434326172, -2.56000018119812, 2.6520001888275146, -0.5600000023841858], "tau_des": [0.4302210509777069, -0.5430002808570862, -0.208417147397995, -0.4893757998943329, 0.9336414337158203, -1.187418818473816, -0.5356456637382507], "tau_dot": [-100.07439422607422, -152.00869750976562, -10.850332260131836, -60.1956672668457, 14.920928001403809, -13.386934280395508, 5.729309558868408], "tau_ext": [-16.748523712158203, -41.64838790893555, 31.815006256103516, 31.340417861938477, 9.48668098449707, -2.9987101554870605, -0.11779006570577621], "tcp_pose": [0.6779685020446777, 0.03276245296001434, -0.2149631381034851, -0.002276033628731966, -0.00456386711448431, 0.9998864531517029, 0.014181132428348064], "tcp_vel": [4.174354035058059e-05, 3.9282545913010836e-05, 0.0001706711045699194, 0.0002765387180261314, -0.00019416227587498724, 3.254703551647253e-05], "flange_pose": [0.6786706447601318, 0.028511712327599525, -0.06502501666545868, -0.002276033628731966, -0.00456386711448431, 0.9998864531517029, 0.014181132428348064], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78777313232422, 15.25617790222168, 28.167423248291016, 0.3792710602283478, -24.031213760375977, 1.8066192865371704], "ext_wrench_in_world": [-108.05227134232747, 15.056917718770586, -27.2461854216735, -0.1699337808119218, -23.972836615950925, -2.486198237381722]}
+{"timestamp_ns": 1789729712480903266, "elapsed_ms": 1633, "source_timestamp_ns": 1789729712479231992, "q": [0.8363608717918396, -1.8969531059265137, -1.0060292482376099, 1.3811331987380981, -0.16149945557117462, 0.5943092703819275, 0.7037979364395142], "theta": [0.8384420275688171, -1.8949995040893555, -1.0042372941970825, 1.3627240657806396, -0.16208478808403015, 0.5942651033401489, 0.703768253326416], "dq": [-0.0005189951043576002, -0.0038460870273411274, -0.001411746721714735, 0.00031251957989297807, 0.0027330806478857994, 0.00324949249625206, -0.0007835804717615247], "dtheta": [-9.415068052476272e-05, -0.0004812892584595829, 0.0001637445529922843, 1.2668650015257299e-05, -0.0005659127491526306, -0.00033174152486026287, 0.0008608768694102764], "tau": [55.52000045776367, 23.59000015258789, 5.500000476837158, -26.292001724243164, -2.56000018119812, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.5650668144226074, -0.4969300627708435, -0.2062806487083435, -0.5857166647911072, 0.9446941018104553, -1.1462219953536987, -0.5559177994728088], "tau_dot": [-85.6135025024414, -57.60893630981445, 8.808700561523438, 10.840811729431152, 27.706960678100586, 14.145069122314453, -11.67070198059082], "tau_ext": [-16.75714874267578, -41.61133575439453, 31.80783462524414, 31.361040115356445, 9.492305755615234, -3.0040676593780518, -0.11890045553445816], "tcp_pose": [0.6779704689979553, 0.03275689855217934, -0.21496513485908508, -0.002276509301736951, -0.0045609003864228725, 0.9998865127563477, 0.01417617965489626], "tcp_vel": [-0.00019330097711645067, 0.00013748154742643237, -0.00019453429558780044, -0.0008324432419613004, 0.00011893789633177221, -9.89770342130214e-05], "flange_pose": [0.678672730922699, 0.028507644310593605, -0.06502697616815567, -0.002276509301736951, -0.0045609003864228725, 0.9998865127563477, 0.01417617965489626], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79104614257812, 15.198409080505371, 28.143014907836914, 0.35860490798950195, -24.019527435302734, 1.8010562658309937], "ext_wrench_in_world": [-108.0548449149287, 14.998819832238867, -27.223454028526152, -0.14949232729218342, -23.961146909636174, -2.4801593067578853]}
+{"timestamp_ns": 1789729712514230918, "elapsed_ms": 1666, "source_timestamp_ns": 1789729712509217876, "q": [0.8363627195358276, -1.896956205368042, -1.0060290098190308, 1.3811330795288086, -0.1614975780248642, 0.5943080186843872, 0.7037960886955261], "theta": [0.8384438753128052, -1.8950027227401733, -1.0042377710342407, 1.3627240657806396, -0.16208264231681824, 0.5942636728286743, 0.7037667632102966], "dq": [-9.23244224395603e-05, -0.0007395186112262309, -0.0008149718632921576, -0.0017046172870323062, -0.0010050591081380844, -0.0002430052263662219, -0.0029204566963016987], "dtheta": [-4.9048703658627346e-05, -0.00020191790827084333, -5.162774687050842e-05, 0.00023806036915630102, -0.0001715506223263219, 9.173760918201879e-05, -0.0010845004580914974], "tau": [55.529998779296875, 23.60999870300293, 5.504000186920166, -26.292001724243164, -2.5480000972747803, 2.680000066757202, -0.5240000486373901], "tau_des": [0.5499680042266846, -0.4998854100704193, -0.19989809393882751, -0.5796665549278259, 0.9452641606330872, -1.154916524887085, -0.5204651355743408], "tau_dot": [6.063603401184082, -125.47866821289062, 15.403172492980957, -12.214526176452637, 17.158897399902344, 17.834657669067383, 26.020383834838867], "tau_ext": [-16.71796989440918, -41.61448669433594, 31.80791473388672, 31.355220794677734, 9.49481201171875, -2.9953598976135254, -0.12185417115688324], "tcp_pose": [0.6779695153236389, 0.03275793418288231, -0.21496495604515076, -0.002276539569720626, -0.00456244358792901, 0.9998865127563477, 0.014175372198224068], "tcp_vel": [-9.993111598305404e-05, -1.2189196240797173e-05, -0.0001776821882231161, -0.00036090059438720345, 2.930922528321389e-05, 0.001313817803747952], "flange_pose": [0.6786717772483826, 0.028508920222520828, -0.06502679735422134, -0.002276539569720626, -0.00456244358792901, 0.9998865127563477, 0.014175372198224068], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85980224609375, 15.150790214538574, 28.13136100769043, 0.34672361612319946, -24.034574508666992, 1.799209713935852], "ext_wrench_in_world": [-108.12315809748297, 14.949882482822545, -27.21287477671017, -0.13739266103511813, -23.976134896168873, -2.4787543990421312]}
+{"timestamp_ns": 1789729712547565989, "elapsed_ms": 1700, "source_timestamp_ns": 1789729712539243585, "q": [0.8363659381866455, -1.8969624042510986, -1.0060282945632935, 1.3811330795288086, -0.1614934504032135, 0.5942994356155396, 0.7037943601608276], "theta": [0.8384473919868469, -1.8950084447860718, -1.0042370557785034, 1.3627240657806396, -0.16207951307296753, 0.5942553281784058, 0.7037655711174011], "dq": [0.0020372020080685616, 0.0007606676663272083, -0.0016155926277861, 0.0002577214618213475, 0.0009955184068530798, -0.0016821708995848894, -0.00021763269614893943], "dtheta": [0.0002294369478477165, -0.0003429266798775643, 7.622697012266144e-05, -0.00040326901944354177, -0.000572817400097847, 0.0003994785074610263, -0.00024534499971196055], "tau": [55.59000015258789, 23.670000076293945, 5.484000205993652, -26.264001846313477, -2.5440001487731934, 2.6520001888275146, -0.5560000538825989], "tau_des": [0.4361417591571808, -0.5299991369247437, -0.24082010984420776, -0.4881317913532257, 0.9651433825492859, -1.184077262878418, -0.5281975269317627], "tau_dot": [81.93580627441406, -4.278145790100098, -5.893862247467041, 59.79496383666992, 37.28202438354492, -13.228861808776855, -50.58604431152344], "tau_ext": [-16.738231658935547, -41.65177536010742, 31.80750274658203, 31.3463134765625, 9.48872184753418, -2.99074649810791, -0.12200985103845596], "tcp_pose": [0.6779661774635315, 0.03275911509990692, -0.21496586501598358, -0.0022794355172663927, -0.004564542323350906, 0.9998865723609924, 0.014171806164085865], "tcp_vel": [0.00024255095922853798, 0.00024300464428961277, 0.00033054521190933883, -6.771919288439676e-05, -0.0011547838803380728, 0.0007727932534180582], "flange_pose": [0.6786693334579468, 0.028511177748441696, -0.06502768397331238, -0.0022794355172663927, -0.004564542323350906, 0.9998865723609924, 0.014171806164085865], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.87837219238281, 15.149866104125977, 28.131946563720703, 0.3487873077392578, -24.047210693359375, 1.7996443510055542], "ext_wrench_in_world": [-108.14194073418469, 14.948145725747242, -27.212894754530712, -0.13925490861307904, -23.98879045258016, -2.4793658865907005]}
+{"timestamp_ns": 1789729712580902350, "elapsed_ms": 1733, "source_timestamp_ns": 1789729712579231386, "q": [0.8363689184188843, -1.8969670534133911, -1.0060288906097412, 1.38113272190094, -0.1614896059036255, 0.5942991375923157, 0.7037903070449829], "theta": [0.8384506106376648, -1.8950129747390747, -1.0042377710342407, 1.3627240657806396, -0.16207566857337952, 0.5942548513412476, 0.7037617564201355], "dq": [9.13537442102097e-05, 0.0005032909684814513, 0.0006800836999900639, -0.000930313253775239, -0.006648770533502102, 0.0020823339000344276, 0.0016365967458114028], "dtheta": [9.049441723618656e-05, -0.00024659515474922955, 1.1585208085307386e-05, 7.463199290214106e-05, 0.00023189879721030593, -0.00046274097985588014, 0.00038626010064035654], "tau": [55.55999755859375, 23.53999900817871, 5.496000289916992, -26.268001556396484, -2.56000018119812, 2.6720001697540283, -0.5600000023841858], "tau_des": [0.5549371242523193, -0.48664766550064087, -0.2409595400094986, -0.5921489000320435, 0.9254363775253296, -1.1380484104156494, -0.5388798713684082], "tau_dot": [-98.5025863647461, -192.93360900878906, 9.654226303100586, 49.1846923828125, 11.788758277893066, -21.16413116455078, -10.410055160522461], "tau_ext": [-16.76309585571289, -41.64501953125, 31.794071197509766, 31.33534812927246, 9.479785919189453, -2.992915630340576, -0.11462582647800446], "tcp_pose": [0.6779653429985046, 0.03276039659976959, -0.21496546268463135, -0.0022788543719798326, -0.004566809628158808, 0.9998865723609924, 0.014171063899993896], "tcp_vel": [-0.00019733220688067377, 7.994970474101137e-06, -0.00011620696022873744, -0.00037891248939558864, 0.00046284444397315383, -0.0003183381340932101], "flange_pose": [0.6786683201789856, 0.028512680903077126, -0.06502725929021835, -0.0022788543719798326, -0.004566809628158808, 0.9998865723609924, 0.014171063899993896], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7769546508789, 15.216608047485352, 28.1691951751709, 0.365312397480011, -24.031505584716797, 1.8020113706588745], "ext_wrench_in_world": [-108.04134228270259, 15.016316764595294, -27.248839602495202, -0.15582113358410915, -23.973181532149987, -2.4811783081677703]}
+{"timestamp_ns": 1789729712614231052, "elapsed_ms": 1766, "source_timestamp_ns": 1789729712609236637, "q": [0.8363698720932007, -1.8969664573669434, -1.006035327911377, 1.3811326026916504, -0.16148485243320465, 0.5943005681037903, 0.7037907838821411], "theta": [0.8384518623352051, -1.895012378692627, -1.0042436122894287, 1.3627240657806396, -0.1620708853006363, 0.5942567586898804, 0.7037610411643982], "dq": [0.0012669212883338332, 0.0016170686576515436, -0.0002762230869848281, -0.00028067451785318553, 0.001666506053879857, -0.0011196078266948462, 0.0031304676085710526], "dtheta": [-5.705016155843623e-05, -1.2872133993369061e-05, -1.3111044609104283e-05, -0.0001408386160619557, -0.0002792050945572555, -0.00032180736889131367, 0.00035667663905769587], "tau": [55.59000015258789, 23.619998931884766, 5.500000476837158, -26.30000114440918, -2.5320000648498535, 2.6560001373291016, -0.5440000295639038], "tau_des": [0.517973780632019, -0.5590128898620605, -0.18894843757152557, -0.5457974672317505, 0.9339061975479126, -1.1569743156433105, -0.5501694083213806], "tau_dot": [30.990121841430664, 55.70874786376953, -37.44856262207031, 37.87940216064453, 51.767024993896484, 28.46762466430664, 48.40575408935547], "tau_ext": [-16.75750160217285, -41.614662170410156, 31.77532196044922, 31.34398651123047, 9.48482894897461, -2.9956777095794678, -0.11510337144136429], "tcp_pose": [0.6779674887657166, 0.03275725618004799, -0.21496520936489105, -0.002278099302202463, -0.004562779795378447, 0.9998865723609924, 0.014171204529702663], "tcp_vel": [2.1717280105804093e-05, -4.683409133576788e-05, 5.900542419112753e-06, -0.0003225837426725775, 3.861900040647015e-05, -0.00021674865274690092], "flange_pose": [0.6786702275276184, 0.02850949577987194, -0.06502701342105865, -0.002278099302202463, -0.004562779795378447, 0.9998865723609924, 0.014171204529702663], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.74658203125, 15.208054542541504, 28.187458038330078, 0.3652993440628052, -24.025590896606445, 1.8039510250091553], "ext_wrench_in_world": [-108.01081996505268, 15.009443732849173, -27.26761856774137, -0.15606101732103667, -23.967212488814866, -2.4829561650122076]}
+{"timestamp_ns": 1789729712647562953, "elapsed_ms": 1800, "source_timestamp_ns": 1789729712639256547, "q": [0.8363720178604126, -1.8969675302505493, -1.0060395002365112, 1.3811335563659668, -0.16148215532302856, 0.5943000912666321, 0.7037913203239441], "theta": [0.8384535312652588, -1.8950129747390747, -1.0042473077774048, 1.362725019454956, -0.16206777095794678, 0.5942565202713013, 0.7037612795829773], "dq": [0.0012074882397428155, -0.0005210990202613175, -0.00024435363593511283, -0.0005491799092851579, -0.000114554597530514, 0.0018381357658654451, -0.002817362081259489], "dtheta": [-0.00024162679619621485, -0.00013526769180316478, -0.0001646138116484508, -1.1587502513066283e-06, -0.0005163557943888009, 0.0003251406888011843, 0.0005488274618983269], "tau": [55.52000045776367, 23.68000030517578, 5.4800004959106445, -26.304000854492188, -2.5320000648498535, 2.6560001373291016, -0.5640000104904175], "tau_des": [0.5508098602294922, -0.5578408241271973, -0.1630135178565979, -0.5575759410858154, 0.9357534050941467, -1.1638058423995972, -0.5591441988945007], "tau_dot": [0.03518065810203552, -32.86137390136719, 28.224245071411133, 26.676759719848633, 16.5908203125, -42.05434799194336, -48.944419860839844], "tau_ext": [-16.762195587158203, -41.652793884277344, 31.79350471496582, 31.363529205322266, 9.474067687988281, -2.99898362159729, -0.11755810678005219], "tcp_pose": [0.6779682040214539, 0.03275523707270622, -0.21496498584747314, -0.0022776511032134295, -0.004560765810310841, 0.9998866319656372, 0.014169924892485142], "tcp_vel": [9.823829896049574e-05, -3.569589534890838e-05, -0.00013304008462000638, -0.00031531485728919506, -0.00032727824873290956, -0.00029512494802474976], "flange_pose": [0.6786708235740662, 0.028507858514785767, -0.06502677500247955, -0.0022776511032134295, -0.004560765810310841, 0.9998866319656372, 0.014169924892485142], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78607177734375, 15.182198524475098, 28.17430305480957, 0.3631255328655243, -24.033918380737305, 1.8019225597381592], "ext_wrench_in_world": [-108.04992811733806, 14.983229817332491, -27.255157895903274, -0.15389699709077215, -23.975579494302874, -2.4811129402960654]}
+{"timestamp_ns": 1789729712680905313, "elapsed_ms": 1833, "source_timestamp_ns": 1789729712679288832, "q": [0.836378276348114, -1.8969744443893433, -1.0060395002365112, 1.3811345100402832, -0.16148173809051514, 0.5943001508712769, 0.7037906646728516], "theta": [0.8384597301483154, -1.89501953125, -1.004248023033142, 1.362725853919983, -0.16206753253936768, 0.5942569971084595, 0.7037612795829773], "dq": [0.00023798533948138356, 0.0005322432843968272, 0.0007886957027949393, 0.0012717951321974397, 0.001444367691874504, 0.0015743649564683437, 0.0011158090783283114], "dtheta": [0.00018512328097131103, 0.00015718974464107305, -0.00029496834031306207, -0.00014002893294673413, 1.7672431340542971e-06, -0.00047132265171967447, 0.00026301221805624664], "tau": [55.55999755859375, 23.60999870300293, 5.444000244140625, -26.34400177001953, -2.5280001163482666, 2.6560001373291016, -0.5400000214576721], "tau_des": [0.4425984025001526, -0.6134788990020752, -0.1457589864730835, -0.49972277879714966, 0.9428799152374268, -1.169964075088501, -0.5543594360351562], "tau_dot": [-35.698238372802734, -66.67634582519531, -21.6221866607666, 7.5405731201171875, 40.56962966918945, -15.689085006713867, 5.227270603179932], "tau_ext": [-16.721731185913086, -41.681236267089844, 31.8109073638916, 31.343233108520508, 9.473776817321777, -2.9941561222076416, -0.12142449617385864], "tcp_pose": [0.6779673099517822, 0.03275708481669426, -0.21496324241161346, -0.0022750322241336107, -0.004563376307487488, 0.9998866319656372, 0.01416719052940607], "tcp_vel": [0.00014685819041915238, -0.0002563025918789208, 0.00016454631986562163, -0.00029947340954095125, -2.638489422679413e-05, -0.0005871745524927974], "flange_pose": [0.6786691546440125, 0.028510522097349167, -0.06502500921487808, -0.0022750322241336107, -0.004563376307487488, 0.9998866319656372, 0.01416719052940607], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.87332916259766, 15.221562385559082, 28.167831420898438, 0.3822040855884552, -24.062023162841797, 1.8036742210388184], "ext_wrench_in_world": [-108.13743922503294, 15.020885660786021, -27.247845141472332, -0.17259116834472316, -24.00381184059034, -2.4834469509051407]}
+{"timestamp_ns": 1789729712714232025, "elapsed_ms": 1866, "source_timestamp_ns": 1789729712709237281, "q": [0.836378276348114, -1.8969781398773193, -1.0060476064682007, 1.3811330795288086, -0.16148237884044647, 0.5942981243133545, 0.7037898302078247], "theta": [0.8384602069854736, -1.8950231075286865, -1.004256010055542, 1.3627252578735352, -0.16206800937652588, 0.5942553281784058, 0.7037612795829773], "dq": [-0.0018385830335319042, -0.001567128929309547, 0.00018431231728754938, -0.00044366749352775514, -0.001785104046575725, 0.0005887129227630794, -0.0026348712854087353], "dtheta": [7.128973084036261e-05, -0.00012629358388949186, -7.986867422005162e-05, 0.00014012509200256318, -8.796685870038345e-05, -0.0005590518703684211, -0.0005597045528702438], "tau": [55.56999969482422, 23.53999900817871, 5.496000289916992, -26.284000396728516, -2.5840001106262207, 2.6520001888275146, -0.527999997138977], "tau_des": [0.5191759467124939, -0.5223701000213623, -0.17235130071640015, -0.5705156922340393, 0.9501997232437134, -1.1449346542358398, -0.5356091856956482], "tau_dot": [-89.62567138671875, -106.60633850097656, 40.54742431640625, -48.6757926940918, -47.91102600097656, 1.8520160913467407, 22.010435104370117], "tau_ext": [-16.77789878845215, -41.617366790771484, 31.79637336730957, 31.319900512695312, 9.485825538635254, -2.996094226837158, -0.12502412497997284], "tcp_pose": [0.6779692769050598, 0.0327535942196846, -0.21496431529521942, -0.0022737637627869844, -0.004562274552881718, 0.999886691570282, 0.0141627611592412], "tcp_vel": [-0.00013890484115108848, -0.00012805052392650396, -0.00011251327669015154, -0.0006427365588024259, 0.00037444892222993076, 0.0006725523271597922], "flange_pose": [0.6786707639694214, 0.02850835770368576, -0.06502604484558105, -0.0022737637627869844, -0.004562274552881718, 0.999886691570282, 0.0141627611592412], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77188873291016, 15.241246223449707, 28.16985511779785, 0.37799131870269775, -24.030834197998047, 1.7995731830596924], "ext_wrench_in_world": [-108.03608913154945, 15.041548880732813, -27.25016655524768, -0.16868894299994364, -23.972735646874554, -2.4782701578831574]}
+{"timestamp_ns": 1789729712747593842, "elapsed_ms": 1900, "source_timestamp_ns": 1789729712739238853, "q": [0.8363780379295349, -1.8969780206680298, -1.0060551166534424, 1.3811317682266235, -0.16147993505001068, 0.5942927002906799, 0.7037895917892456], "theta": [0.8384597301483154, -1.8950235843658447, -1.004262924194336, 1.3627241849899292, -0.16206632554531097, 0.5942498445510864, 0.7037615180015564], "dq": [-0.0011737799504771829, 0.0005085073062218726, 0.0032017638441175222, -0.0014224856859073043, 0.00019789577345363796, -0.00011028289736714214, 0.0005420224624685943], "dtheta": [0.00034216823405586183, 0.00011661616008495912, 0.00020709486852865666, -0.00045469272299669683, 0.0005043872515670955, 5.824949039379135e-05, 0.0008602782618254423], "tau": [55.64999771118164, 23.53999900817871, 5.516000270843506, -26.308000564575195, -2.568000078201294, 2.6640000343322754, -0.5480000376701355], "tau_des": [0.3779330849647522, -0.6394668817520142, -0.1485883742570877, -0.4450957775115967, 0.9414563179016113, -1.1891556978225708, -0.5773387551307678], "tau_dot": [104.90042114257812, -117.49691772460938, 15.710984230041504, -12.524097442626953, 5.097529411315918, 36.38356018066406, -6.1832594871521], "tau_ext": [-16.7567195892334, -41.61505889892578, 31.791053771972656, 31.31650161743164, 9.486527442932129, -2.994614839553833, -0.12228921055793762], "tcp_pose": [0.6779709458351135, 0.03274901956319809, -0.2149650901556015, -0.002274855738505721, -0.0045589879155159, 0.9998867511749268, 0.014159800484776497], "tcp_vel": [0.00015575147699564695, 0.00021155561262276024, 0.0004460928321350366, 0.0008269372629001737, -0.00038264752947725356, -0.0011459587840363383], "flange_pose": [0.678672730922699, 0.028504669666290283, -0.06502679735422134, -0.002274855738505721, -0.0045589879155159, 0.9998867511749268, 0.014159800484776497], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67015838623047, 15.24277400970459, 28.18206214904785, 0.3677732050418854, -23.998567581176758, 1.7966547012329102], "ext_wrench_in_world": [-107.93439810133847, 15.04489868940593, -27.26262135831724, -0.15891188560426625, -23.940485711034984, -2.474340745827174]}
+{"timestamp_ns": 1789729712780905487, "elapsed_ms": 1933, "source_timestamp_ns": 1789729712779280607, "q": [0.8363795876502991, -1.8969790935516357, -1.006054162979126, 1.3811330795288086, -0.16146987676620483, 0.5942869186401367, 0.7037851214408875], "theta": [0.8384613394737244, -1.8950245380401611, -1.0042616128921509, 1.362724781036377, -0.16205650568008423, 0.5942436456680298, 0.7037571668624878], "dq": [0.0019097926560789347, 0.000610861461609602, -0.0019432107219472528, 0.00094602006720379, 0.002227536402642727, -3.0438153771683574e-05, -0.0014604710740968585], "dtheta": [-0.00043059667223133147, 0.00025800493312999606, 8.5598454461433e-05, -0.0001534218608867377, 0.0005059013492427766, 0.0002074212970910594, -0.0003528466622810811], "tau": [55.529998779296875, 23.619998931884766, 5.508000373840332, -26.332000732421875, -2.5320000648498535, 2.6760001182556152, -0.5560000538825989], "tau_des": [0.5804446339607239, -0.5607117414474487, -0.16224801540374756, -0.5785918235778809, 0.9039074778556824, -1.14627206325531, -0.5540016293525696], "tau_dot": [-39.08623123168945, -32.80519104003906, 7.380486011505127, 3.446833610534668, -1.5261375904083252, 26.95512580871582, -6.714631080627441], "tau_ext": [-16.722501754760742, -41.60840606689453, 31.782224655151367, 31.393037796020508, 9.485175132751465, -3.0004360675811768, -0.12279890477657318], "tcp_pose": [0.6779677271842957, 0.032749392092227936, -0.21496638655662537, -0.002279645064845681, -0.004559240769594908, 0.9998867511749268, 0.014160576276481152], "tcp_vel": [-2.2320551579468884e-05, 6.887441122671589e-05, -0.00016014836728572845, 0.000785623793490231, 0.0004471709835343063, -7.010075205471367e-05], "flange_pose": [0.6786709427833557, 0.02850482054054737, -0.0650281012058258, -0.002279645064845681, -0.004559240769594908, 0.9998867511749268, 0.014160576276481152], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81775665283203, 15.14594554901123, 28.158180236816406, 0.350386381149292, -24.03383445739746, 1.7964483499526978], "ext_wrench_in_world": [-108.08127086180711, 14.946054347424043, -27.23978301698625, -0.14121416086914204, -23.975579538496213, -2.475245517062863]}
+{"timestamp_ns": 1789729712814227459, "elapsed_ms": 1966, "source_timestamp_ns": 1789729712809229635, "q": [0.8363831043243408, -1.896981120109558, -1.0060540437698364, 1.3811331987380981, -0.16146636009216309, 0.5942845344543457, 0.7037741541862488], "theta": [0.8384647965431213, -1.8950262069702148, -1.0042617321014404, 1.3627251386642456, -0.1620529145002365, 0.5942412614822388, 0.70374596118927], "dq": [0.00025884422939270735, 0.0010958639904856682, -0.0020838258787989616, -0.0008783232769928873, 0.0007449666154570878, 0.0004312099772505462, 0.0026916114147752523], "dtheta": [2.0372057406348176e-05, 4.00038952648174e-05, -2.3019005311653018e-05, -0.00011787786206696182, 0.0002690100809559226, 0.00039919823757372797, -0.00032279148581437767], "tau": [55.56999969482422, 23.68000030517578, 5.500000476837158, -26.268001556396484, -2.5360000133514404, 2.624000072479248, -0.5680000185966492], "tau_des": [0.49255722761154175, -0.5657591223716736, -0.18591339886188507, -0.5301046371459961, 0.9308963418006897, -1.1656700372695923, -0.5382277965545654], "tau_dot": [35.841941833496094, -15.426100730895996, 18.72342300415039, 36.55221176147461, -24.293214797973633, -65.21522521972656, -15.952070236206055], "tau_ext": [-16.730422973632812, -41.63908386230469, 31.77815055847168, 31.378707885742188, 9.465877532958984, -2.9950759410858154, -0.11275159567594528], "tcp_pose": [0.6779668927192688, 0.032749924808740616, -0.21496523916721344, -0.002279768232256174, -0.0045645032078027725, 0.9998867511749268, 0.014160147868096828], "tcp_vel": [0.00010677000682335347, 7.997267675818875e-05, 0.00010039722837973386, 0.0005123045993968844, -0.00028446229407563806, 0.00010209897300228477], "flange_pose": [0.6786701679229736, 0.028505485504865646, -0.06502694636583328, -0.002279768232256174, -0.0045645032078027725, 0.9998867511749268, 0.014160147868096828], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.94194030761719, 15.086750030517578, 28.14267921447754, 0.3487482964992523, -24.072486877441406, 1.7984102964401245], "ext_wrench_in_world": [-108.20499877061255, 14.884144134253301, -27.22541811741381, -0.13898282619566207, -24.014147823121473, -2.478289235850928]}
+{"timestamp_ns": 1789729712847566240, "elapsed_ms": 2000, "source_timestamp_ns": 1789729712839245875, "q": [0.8363853096961975, -1.896985411643982, -1.0060545206069946, 1.3811322450637817, -0.16146475076675415, 0.594287633895874, 0.703770637512207], "theta": [0.8384668231010437, -1.8950303792953491, -1.0042622089385986, 1.362724781036377, -0.1620500385761261, 0.5942438840866089, 0.7037413716316223], "dq": [0.002887261100113392, 0.0011383838718757033, -0.00024935684632509947, -0.00042254014988429844, 0.0003863471793010831, 0.0023596349637955427, -0.00066853262251243], "dtheta": [9.670640429249033e-05, -0.0003693449543789029, 0.00018692346930038184, 1.7194221072713844e-05, 0.000312633317662403, 0.0010208322200924158, -0.0007730115321464837], "tau": [55.65999984741211, 23.6299991607666, 5.484000205993652, -26.2080020904541, -2.5160000324249268, 2.628000020980835, -0.5720000267028809], "tau_des": [0.49177122116088867, -0.4839514493942261, -0.27448487281799316, -0.52292400598526, 0.9390571117401123, -1.1893473863601685, -0.5161789059638977], "tau_dot": [58.42583084106445, -4.977272987365723, -51.07999038696289, 4.765835762023926, 52.87152862548828, -28.471006393432617, -23.107057571411133], "tau_ext": [-16.780193328857422, -41.67189407348633, 31.789836883544922, 31.326831817626953, 9.457321166992188, -2.9919559955596924, -0.09777885675430298], "tcp_pose": [0.6779671311378479, 0.03275173529982567, -0.21496440470218658, -0.0022775002289563417, -0.004567047581076622, 0.999886691570282, 0.014160193502902985], "tcp_vel": [9.935145044437377e-07, 0.00039148019277490675, 4.924847962683998e-05, 0.0007005886291153729, -0.0006437076372094452, 0.0009560763719491661], "flange_pose": [0.6786696910858154, 0.028507281094789505, -0.06502611190080643, -0.0022775002289563417, -0.004567047581076622, 0.999886691570282, 0.014160193502902985], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83050537109375, 15.191730499267578, 28.19350814819336, 0.37551751732826233, -24.059093475341797, 1.806964635848999], "ext_wrench_in_world": [-108.09470909013632, 14.991001086827598, -27.274240942391586, -0.16578010768593787, -24.00076489304752, -2.4863457042046346]}
+{"timestamp_ns": 1789729712880965662, "elapsed_ms": 2033, "source_timestamp_ns": 1789729712879278120, "q": [0.8363854289054871, -1.896984338760376, -1.0060607194900513, 1.3811317682266235, -0.1614638715982437, 0.5942869186401367, 0.7037730813026428], "theta": [0.8384665846824646, -1.8950300216674805, -1.004268765449524, 1.3627243041992188, -0.1620485931634903, 0.5942429304122925, 0.703743040561676], "dq": [0.0016066378448158503, 0.00033935275860130787, 1.0464129445608705e-05, 0.0009899750584736466, -0.002455843146890402, 0.0022835773415863514, 0.0008248350350186229], "dtheta": [0.00020844934624619782, 0.0002191144012613222, -0.000366306136129424, -0.00014684109191875905, -0.00029209579224698246, -0.00036013248609378934, -0.0007849547546356916], "tau": [55.55999755859375, 23.59000015258789, 5.508000373840332, -26.280000686645508, -2.508000135421753, 2.6640000343322754, -0.5400000214576721], "tau_des": [0.42658209800720215, -0.6384152770042419, -0.10820634663105011, -0.49161380529403687, 0.956413209438324, -1.1697603464126587, -0.5373990535736084], "tau_dot": [-110.22264099121094, -65.41388702392578, 8.98872184753418, 35.3978385925293, 53.09050369262695, 20.69110107421875, 50.78999328613281], "tau_ext": [-16.776033401489258, -41.602394104003906, 31.765689849853516, 31.314077377319336, 9.460687637329102, -2.9898996353149414, -0.10892128199338913], "tcp_pose": [0.6779694557189941, 0.03274806588888168, -0.21496424078941345, -0.002276728395372629, -0.004563013557344675, 0.9998867511749268, 0.014158795587718487], "tcp_vel": [0.00025559228379279375, -0.0003156630846206099, 0.00023464270634576678, -0.0003999614855274558, -0.00035429332638159394, 0.0005280326586216688], "flange_pose": [0.6786717772483826, 0.0285040233284235, -0.0650259330868721, -0.002276728395372629, -0.004563013557344675, 0.9998867511749268, 0.014158795587718487], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63570404052734, 15.262496948242188, 28.20659637451172, 0.38516926765441895, -24.009490966796875, 1.8066078424453735], "ext_wrench_in_world": [-107.90045983765505, 15.064693795240375, -27.28637836188512, -0.17606952638810242, -23.951288769308725, -2.4844736981692206]}
+{"timestamp_ns": 1789729712914230442, "elapsed_ms": 2066, "source_timestamp_ns": 1789729712909225699, "q": [0.8363867402076721, -1.8969846963882446, -1.006065845489502, 1.381132960319519, -0.16146314144134521, 0.5942861437797546, 0.7037758827209473], "theta": [0.8384671807289124, -1.8950304985046387, -1.0042736530303955, 1.362725019454956, -0.1620469093322754, 0.5942419767379761, 0.7037450075149536], "dq": [-1.545638224342838e-05, 0.00016050456906668842, -0.000684358412399888, -0.000343051680829376, 0.00014933562488295138, 0.00015161448391154408, -0.0002150370564777404], "dtheta": [6.0651996136584785e-06, 0.0001354326232103631, 3.011178705492057e-05, -0.00020618492271751165, -0.00046380324056372046, 6.67776694172062e-05, 0.0007404101197607815], "tau": [55.529998779296875, 23.619998931884766, 5.4720001220703125, -26.312002182006836, -2.5440001487731934, 2.6680002212524414, -0.5200000405311584], "tau_des": [0.45209765434265137, -0.6390924453735352, -0.12604644894599915, -0.49139073491096497, 0.9446399211883545, -1.177749514579773, -0.5701903700828552], "tau_dot": [-45.0849609375, -84.12801361083984, 3.4185359477996826, 52.18608093261719, -32.1492919921875, -7.0838494300842285, 46.51688003540039], "tau_ext": [-16.73795509338379, -41.63253402709961, 31.802669525146484, 31.37689971923828, 9.473860740661621, -3.0027918815612793, -0.11624837666749954], "tcp_pose": [0.6779706478118896, 0.032744958996772766, -0.21496443450450897, -0.0022762666922062635, -0.00455979909747839, 0.9998868107795715, 0.014156639575958252], "tcp_vel": [0.00018362380797043443, -5.824269919685321e-06, 0.00018363955314271152, -9.736585525388364e-06, -0.0004487997794058174, -0.0005866897408850491], "flange_pose": [0.6786727905273438, 0.028501562774181366, -0.06502611935138702, -0.0022762666922062635, -0.00455979909747839, 0.9998868107795715, 0.014156639575958252], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7286148071289, 15.205129623413086, 28.18683624267578, 0.37071579694747925, -24.025365829467773, 1.8027153015136719], "ext_wrench_in_world": [-107.99263371583191, 15.006515686047575, -27.26799777360909, -0.16160678942468693, -23.96714360855443, -2.480993025527475]}
+{"timestamp_ns": 1789729712947589420, "elapsed_ms": 2100, "source_timestamp_ns": 1789729712939286913, "q": [0.8363891839981079, -1.8969917297363281, -1.0060663223266602, 1.381133794784546, -0.16146284341812134, 0.5942872166633606, 0.7037760019302368], "theta": [0.8384692072868347, -1.8950366973876953, -1.0042741298675537, 1.3627254962921143, -0.1620469093322754, 0.5942431688308716, 0.7037456631660461], "dq": [0.00178647565189749, -0.0011362535879015923, -0.00026332566631026566, -0.0031621039379388094, 0.0014557761605829, 0.0010447946842759848, -0.0008694137795828283], "dtheta": [0.00027372626936994493, 1.8471735529601574e-05, 0.00031161081278696656, -0.00013272458454594016, 5.2328177844174206e-05, 0.0006234917673282325, 0.0005024975398555398], "tau": [55.54999923706055, 23.649999618530273, 5.440000057220459, -26.2760009765625, -2.5480000972747803, 2.640000104904175, -0.5240000486373901], "tau_des": [0.4116584062576294, -0.5961264967918396, -0.20283299684524536, -0.465015709400177, 0.9422070384025574, -1.199137568473816, -0.5583906173706055], "tau_dot": [33.5155029296875, 101.53544616699219, -8.351526260375977, 35.88493347167969, 4.230363845825195, -12.998424530029297, 49.5482063293457], "tau_ext": [-16.702926635742188, -41.67055892944336, 31.836530685424805, 31.3864803314209, 9.477147102355957, -3.0027871131896973, -0.11645911633968353], "tcp_pose": [0.6779692769050598, 0.03274683281779289, -0.2149651199579239, -0.002275005215778947, -0.004561901092529297, 0.9998868107795715, 0.014154115691781044], "tcp_vel": [0.00012088992662029341, 0.00029380788328126073, 0.000334156327880919, 0.0007265483145602047, -0.0007101263618096709, -0.00036096578696742654], "flange_pose": [0.67867112159729, 0.02850419096648693, -0.06502677500247955, -0.002275005215778947, -0.004561901092529297, 0.9998868107795715, 0.014154115691781044], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.90746307373047, 15.155141830444336, 28.14980125427246, 0.36380213499069214, -24.060510635375977, 1.800931692123413], "ext_wrench_in_world": [-108.17083828238874, 14.953270999852087, -27.231960143454906, -0.1542601583922737, -24.002272945669628, -2.4801161733409787]}
+{"timestamp_ns": 1789729712980897404, "elapsed_ms": 2133, "source_timestamp_ns": 1789729712979302900, "q": [0.8363919258117676, -1.8969979286193848, -1.0060652494430542, 1.3811320066452026, -0.16146200895309448, 0.5942832827568054, 0.703775942325592], "theta": [0.8384712338447571, -1.8950430154800415, -1.0042736530303955, 1.3627243041992188, -0.16204668581485748, 0.5942395925521851, 0.7037461400032043], "dq": [0.0015410264022648335, -0.0003547618689481169, -0.0010272503132000566, 0.00046603381633758545, 0.003075476735830307, -0.00039685043157078326, -0.0002466514124535024], "dtheta": [-0.0002485733712092042, 0.00014294356515165418, 0.00032208452466875315, 0.00013441922783385962, -2.455958747304976e-05, -0.0009242099476978183, 0.0008698608726263046], "tau": [55.599998474121094, 23.56999969482422, 5.492000102996826, -26.280000686645508, -2.580000162124634, 2.6560001373291016, -0.5320000052452087], "tau_des": [0.5892552137374878, -0.5220251083374023, -0.2064618021249771, -0.6087590456008911, 0.9157730340957642, -1.1285700798034668, -0.558193564414978], "tau_dot": [-10.468542098999023, 3.3276920318603516, 7.152464866638184, -9.678834915161133, -39.52822494506836, 42.95452117919922, 46.36787796020508], "tau_ext": [-16.745716094970703, -41.628501892089844, 31.81199073791504, 31.323698043823242, 9.477829933166504, -2.995213508605957, -0.11890628933906555], "tcp_pose": [0.6779676675796509, 0.032749056816101074, -0.2149648368358612, -0.0022748939227312803, -0.00456411624327302, 0.9998868703842163, 0.014151624403893948], "tcp_vel": [-0.00034449787926860154, -3.775857840082608e-05, -0.00027165666688233614, -0.0003893559623975307, 0.0011679272865876555, -0.0006818465190008283], "flange_pose": [0.6786694526672363, 0.028507165610790253, -0.06502646207809448, -0.0022748939227312803, -0.00456411624327302, 0.9998868703842163, 0.014151624403893948], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.88066101074219, 15.192791938781738, 28.12575912475586, 0.3677283823490143, -24.050537109375, 1.8006113767623901], "ext_wrench_in_world": [-108.14432430747254, 14.989855502803552, -27.207087779452547, -0.15816781792756418, -23.992361993307423, -2.479376870547248]}
+{"timestamp_ns": 1789729713014230961, "elapsed_ms": 2166, "source_timestamp_ns": 1789729713009241394, "q": [0.8363909125328064, -1.8969976902008057, -1.0060675144195557, 1.3811320066452026, -0.16146065294742584, 0.5942772626876831, 0.703774094581604], "theta": [0.8384710550308228, -1.895042896270752, -1.0042750835418701, 1.362723708152771, -0.16204547882080078, 0.5942336320877075, 0.7037444710731506], "dq": [-0.003343168878927827, -0.000607980415225029, -0.000652073125820607, -0.0008929054602049291, 9.04061016626656e-06, -0.0027183133643120527, 0.0009354876237921417], "dtheta": [-7.901349817984737e-06, 7.091453153407201e-05, -0.00027213760768063366, -0.0003438650746829808, 0.0002792382438201457, -9.217912884196267e-05, -0.0010982522508129478], "tau": [55.59000015258789, 23.59000015258789, 5.5320000648498535, -26.268001556396484, -2.5440001487731934, 2.6520001888275146, -0.5520000457763672], "tau_des": [0.48384830355644226, -0.5702818036079407, -0.15298111736774445, -0.5235980153083801, 0.9396045207977295, -1.1613199710845947, -0.5317818522453308], "tau_dot": [-40.19363784790039, 56.43507766723633, -14.870343208312988, 85.89314270019531, 36.72831344604492, -20.951936721801758, 0.26165875792503357], "tau_ext": [-16.78457260131836, -41.5835075378418, 31.76220703125, 31.331710815429688, 9.485383987426758, -2.994861125946045, -0.12074236571788788], "tcp_pose": [0.6779670119285583, 0.03274685889482498, -0.21496634185314178, -0.002277644816786051, -0.0045637828297913074, 0.9998868703842163, 0.014149453490972519], "tcp_vel": [0.0001874726003734395, -9.99715703073889e-05, 0.0001207263776450418, 0.000194702937733382, -0.00016127931303344667, 0.0006519676535390317], "flange_pose": [0.6786695718765259, 0.02850561961531639, -0.06502795964479446, -0.002277644816786051, -0.0045637828297913074, 0.9998868703842163, 0.014149453490972519], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7552261352539, 15.196155548095703, 28.153427124023438, 0.35861480236053467, -24.01734733581543, 1.7965748310089111], "ext_wrench_in_world": [-108.01919674217042, 14.995096584851048, -27.234675972307517, -0.14936407896800716, -23.95922800015586, -2.474336831870031]}
+{"timestamp_ns": 1789729713047561347, "elapsed_ms": 2200, "source_timestamp_ns": 1789729713039283803, "q": [0.8363919854164124, -1.8969979286193848, -1.0060691833496094, 1.38113272190094, -0.16145749390125275, 0.5942695140838623, 0.7037720680236816], "theta": [0.8384726643562317, -1.8950430154800415, -1.0042760372161865, 1.3627238273620605, -0.16204260289669037, 0.5942255258560181, 0.703743040561676], "dq": [-0.0012715519405901432, 0.0015070202061906457, 0.0005565505125559866, -0.0007699269335716963, 0.0021853626240044832, -0.001821605721488595, -0.0024955382104963064], "dtheta": [-9.7658448794391e-05, -0.00023110330221243203, 0.0002334150340175256, 0.00010258240945404395, -2.5949948394554667e-05, 0.00016052032879088074, -0.0005850028246641159], "tau": [55.54999923706055, 23.60999870300293, 5.492000102996826, -26.32400131225586, -2.552000045776367, 2.6440000534057617, -0.5480000376701355], "tau_des": [0.5838705897331238, -0.4715457558631897, -0.23600225150585175, -0.6113496422767639, 0.925745964050293, -1.1327723264694214, -0.5312658548355103], "tau_dot": [92.39741516113281, -180.533447265625, 7.219563961029053, 14.260186195373535, -23.704904556274414, -45.14432144165039, 3.9197094440460205], "tau_ext": [-16.750144958496094, -41.599239349365234, 31.762184143066406, 31.353153228759766, 9.48585033416748, -2.9910874366760254, -0.11912474781274796], "tcp_pose": [0.6779655814170837, 0.0327448807656765, -0.21496720612049103, -0.002280903747305274, -0.004563493188470602, 0.9998869299888611, 0.01414712704718113], "tcp_vel": [-0.0001672825455898419, 0.00020057336951140314, -0.00014727163943462074, 1.007280206977157e-05, 0.00010205213766312227, 0.0009303336846642196], "flange_pose": [0.6786691546440125, 0.028504345566034317, -0.06502880901098251, -0.002280903747305274, -0.004563493188470602, 0.9998869299888611, 0.01414712704718113], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.73950958251953, 15.152976989746094, 28.170011520385742, 0.34844690561294556, -24.018449783325195, 1.7963342666625977], "ext_wrench_in_world": [-108.00333751175815, 14.952474318752792, -27.251913398155125, -0.13921311279654747, -23.96025483434923, -2.4740594212753932]}
+{"timestamp_ns": 1789729713080900511, "elapsed_ms": 2233, "source_timestamp_ns": 1789729713079307807, "q": [0.8363972902297974, -1.897003412246704, -1.0060690641403198, 1.38113272190094, -0.1614547222852707, 0.594272792339325, 0.7037704586982727], "theta": [0.8384780287742615, -1.895047903060913, -1.0042760372161865, 1.3627244234085083, -0.16203972697257996, 0.5942288637161255, 0.7037418484687805], "dq": [-0.0011771926656365395, -0.0007336967973969877, 0.0034759261179715395, 0.0016769254580140114, -0.0021621244959533215, 0.0011542733991518617, 0.00013950112042948604], "dtheta": [7.0190493715927e-05, -0.00016545441758353263, -0.00038761019823141396, 0.0003657075867522508, 0.00011000094673363492, 0.0007200961117632687, -0.00013848170056007802], "tau": [55.59000015258789, 23.689998626708984, 5.504000186920166, -26.284000396728516, -2.5480000972747803, 2.6720001697540283, -0.5600000023841858], "tau_des": [0.5355172753334045, -0.5336741805076599, -0.1697569638490677, -0.5717772841453552, 0.9338211417198181, -1.1587870121002197, -0.5432581901550293], "tau_dot": [-103.71733856201172, 108.5750961303711, 60.5877571105957, 19.23488998413086, -14.084851264953613, 6.858057975769043, -28.178319931030273], "tau_ext": [-16.756824493408203, -41.698760986328125, 31.79582977294922, 31.3669376373291, 9.479080200195312, -2.9963133335113525, -0.11845247447490692], "tcp_pose": [0.6779654622077942, 0.03274725377559662, -0.2149651199579239, -0.0022778192069381475, -0.004565427079796791, 0.9998869299888611, 0.014147000387310982], "tcp_vel": [7.661556446691975e-05, -0.00011373824963811785, -0.00011301540507702157, -4.007579991593957e-05, -0.0003861102741211653, -4.3376370740588754e-05], "flange_pose": [0.6786680817604065, 0.028506753966212273, -0.06502671539783478, -0.0022778192069381475, -0.004565427079796791, 0.9998869299888611, 0.014147000387310982], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84300231933594, 15.173849105834961, 28.18264389038086, 0.3655714690685272, -24.058279037475586, 1.8033174276351929], "ext_wrench_in_world": [-108.10696015195165, 14.972328569612806, -27.264167078692346, -0.15590244439633372, -24.00002758068389, -2.4820872351894976]}
+{"timestamp_ns": 1789729713114225118, "elapsed_ms": 2266, "source_timestamp_ns": 1789729713109246839, "q": [0.836399495601654, -1.8970063924789429, -1.0060704946517944, 1.381132960319519, -0.16145148873329163, 0.5942719578742981, 0.7037701606750488], "theta": [0.8384806513786316, -1.8950501680374146, -1.0042777061462402, 1.3627245426177979, -0.16203708946704865, 0.5942283868789673, 0.7037418484687805], "dq": [0.00010021572961704805, -0.0007914250018075109, 0.0022656195797026157, -0.0028182039968669415, -0.0011643648613244295, 0.0013809942174702883, -0.00021385234140325338], "dtheta": [0.0002282297209603712, -0.0003454690449871123, -0.00010886308882618323, -0.00010659995314199477, 0.000622364750597626, -0.0008707629167474806, -0.0004242870199959725], "tau": [55.64999771118164, 23.59000015258789, 5.52400016784668, -26.240001678466797, -2.556000232696533, 2.6560001373291016, -0.5320000052452087], "tau_des": [0.526158332824707, -0.4878374934196472, -0.22567322850227356, -0.5803923606872559, 0.9216595888137817, -1.1332361698150635, -0.538321316242218], "tau_dot": [50.201812744140625, -69.64266204833984, 47.120540618896484, 70.07189178466797, -20.227720260620117, -32.508731842041016, 44.32461929321289], "tau_ext": [-16.762378692626953, -41.64332580566406, 31.78753089904785, 31.340579986572266, 9.475549697875977, -2.9991648197174072, -0.11935075372457504], "tcp_pose": [0.6779649257659912, 0.03274739161133766, -0.2149650752544403, -0.0022778010461479425, -0.004565221723169088, 0.9998869299888611, 0.014146089553833008], "tcp_vel": [-0.00021221747738309205, -3.152263889205642e-05, -5.6439166655763984e-05, -0.00044564748532138765, 0.0006434043170884252, 0.00023801735369488597], "flange_pose": [0.6786675453186035, 0.028507165610790253, -0.0650266706943512, -0.0022778010461479425, -0.004565221723169088, 0.9998869299888611, 0.014146089553833008], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80764770507812, 15.211071968078613, 28.186128616333008, 0.37817540764808655, -24.048730850219727, 1.8038595914840698], "ext_wrench_in_world": [-108.07195397285983, 15.009952856182139, -27.266784559973697, -0.16860449285402032, -23.99058862506333, -2.4822593577263667]}
+{"timestamp_ns": 1789729713147588409, "elapsed_ms": 2300, "source_timestamp_ns": 1789729713139277470, "q": [0.8363997340202332, -1.897005558013916, -1.0060797929763794, 1.381134033203125, -0.16145120561122894, 0.5942742228507996, 0.7037695646286011], "theta": [0.8384811282157898, -1.8950494527816772, -1.004286289215088, 1.3627254962921143, -0.16203661262989044, 0.5942305326461792, 0.7037420868873596], "dq": [-0.0009306406136602163, -0.002309792907908559, -0.00044145825086161494, 0.0005138176493346691, -0.0008853761828504503, 0.0007563436520285904, 0.0022749626077711582], "dtheta": [3.6225756048224866e-05, 5.087918907520361e-05, -0.000147217811900191, -0.00023452755704056472, 0.0012100181775167584, -0.00023303042689803988, -0.00020485659479163587], "tau": [55.529998779296875, 23.6299991607666, 5.516000270843506, -26.304000854492188, -2.56000018119812, 2.692000150680542, -0.5480000376701355], "tau_des": [0.5004773139953613, -0.5742995142936707, -0.14952170848846436, -0.5369441509246826, 0.909349262714386, -1.1561026573181152, -0.5594987273216248], "tau_dot": [-77.27954864501953, -0.4857941269874573, -2.8133161067962646, 14.005638122558594, 20.834280014038086, 17.077564239501953, -18.09468650817871], "tau_ext": [-16.758331298828125, -41.60622024536133, 31.772174835205078, 31.342979431152344, 9.477485656738281, -3.001892566680908, -0.12516194581985474], "tcp_pose": [0.6779682636260986, 0.03274225443601608, -0.21496540307998657, -0.002275812439620495, -0.004562001209706068, 0.9998869895935059, 0.014143990352749825], "tcp_vel": [-4.574123886413872e-05, -2.975308007080457e-06, 1.0304685019946191e-05, 0.0006784754805266857, 0.0005690610851161182, -0.0006355822551995516], "flange_pose": [0.6786702871322632, 0.028502652421593666, -0.06502696871757507, -0.002275812439620495, -0.004562001209706068, 0.9998869895935059, 0.014143990352749825], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.73221588134766, 15.187012672424316, 28.188505172729492, 0.3677029609680176, -24.02250862121582, 1.7978533506393433], "ext_wrench_in_world": [-107.99611538986966, 14.987251082432923, -27.270659731307436, -0.15848796361392142, -23.96446084701268, -2.4754596485670612]}
+{"timestamp_ns": 1789729713180902597, "elapsed_ms": 2333, "source_timestamp_ns": 1789729713179290814, "q": [0.8364000916481018, -1.897006630897522, -1.0060820579528809, 1.3811339139938354, -0.16145038604736328, 0.5942742824554443, 0.7037704586982727], "theta": [0.8384820818901062, -1.8950506448745728, -1.0042893886566162, 1.362726092338562, -0.16203613579273224, 0.5942305326461792, 0.703743040561676], "dq": [-0.0019906125962734222, 0.0008401580271311104, -0.00017021555686369538, -0.00019848562078550458, -3.1480303732678294e-06, 0.002011231379583478, 0.003286453429609537], "dtheta": [2.663882878550794e-05, -9.392559877596796e-05, 3.987958552897908e-05, 3.742455010069534e-05, 0.00030245818197727203, 0.0002482898999005556, 0.0004908433766104281], "tau": [55.529998779296875, 23.670000076293945, 5.4800004959106445, -26.30000114440918, -2.580000162124634, 2.6520001888275146, -0.5440000295639038], "tau_des": [0.5121324062347412, -0.5629010796546936, -0.16988185048103333, -0.5422158241271973, 0.9221323728561401, -1.1656286716461182, -0.5676181316375732], "tau_dot": [-117.4617919921875, 32.605308532714844, 6.961378574371338, -34.54920196533203, -32.0018424987793, -37.98097610473633, -8.844326972961426], "tau_ext": [-16.74313735961914, -41.64398956298828, 31.806415557861328, 31.365367889404297, 9.48436450958252, -3.002748966217041, -0.12384255230426788], "tcp_pose": [0.6779687404632568, 0.03274130821228027, -0.21496562659740448, -0.00227545527741313, -0.004560799803584814, 0.9998869895935059, 0.014143156819045544], "tcp_vel": [-4.211399573250674e-05, 0.0001028797123581171, -2.085880441882182e-05, 0.00028214522171765566, 9.813751603360288e-06, -0.0005675649736076593], "flange_pose": [0.6786706447601318, 0.028501955792307854, -0.06502718478441238, -0.00227545527741313, -0.004560799803584814, 0.9998869895935059, 0.014143156819045544], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79822540283203, 15.170919418334961, 28.16382598876953, 0.36323097348213196, -24.029857635498047, 1.796629786491394], "ext_wrench_in_world": [-108.06180539317539, 14.970075780198105, -27.246253625511482, -0.15399995278626905, -23.971803871325825, -2.474424474769569]}
+{"timestamp_ns": 1789729713214243281, "elapsed_ms": 2366, "source_timestamp_ns": 1789729713209253994, "q": [0.8364024758338928, -1.8970128297805786, -1.006081223487854, 1.3811334371566772, -0.16145148873329163, 0.5942731499671936, 0.7037688493728638], "theta": [0.8384848237037659, -1.895056962966919, -1.0042893886566162, 1.3627259731292725, -0.16203734278678894, 0.5942295789718628, 0.7037418484687805], "dq": [0.0014502292033284903, -0.00040701436228118837, -0.0015057842247188091, -4.646485467674211e-05, 0.000137939874548465, -0.0008726269006729126, -0.0014531025663018227], "dtheta": [-0.0001300996373174712, -0.0003762950946111232, -0.00011190879013156518, 0.00010742805898189545, -0.001019823830574751, -6.50128276902251e-05, 9.174890874419361e-05], "tau": [55.57999801635742, 23.649999618530273, 5.460000038146973, -26.284000396728516, -2.572000026702881, 2.6680002212524414, -0.5160000324249268], "tau_des": [0.5545693039894104, -0.5007541179656982, -0.1855653077363968, -0.5812304019927979, 0.961067795753479, -1.1512503623962402, -0.5412355661392212], "tau_dot": [36.595455169677734, 34.05768966674805, 3.8374507427215576, -22.495532989501953, -6.733506202697754, 37.57579803466797, 78.30967712402344], "tau_ext": [-16.755861282348633, -41.693058013916016, 31.823930740356445, 31.36834716796875, 9.493645668029785, -3.0002498626708984, -0.12668907642364502], "tcp_pose": [0.6779674887657166, 0.03274347633123398, -0.2149656116962433, -0.0022743442095816135, -0.00456432206556201, 0.9998869895935059, 0.014140523038804531], "tcp_vel": [-6.544045390910469e-06, -5.3391544497571886e-05, -0.0001775606069713831, -0.001088605378754437, -0.0003311036271043122, 0.0006662709056399763], "flange_pose": [0.6786690354347229, 0.028504913672804832, -0.0650271475315094, -0.0022743442095816135, -0.00456432206556201, 0.9998869895935059, 0.014140523038804531], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.86580657958984, 15.181232452392578, 28.16037940979004, 0.36527425050735474, -24.048198699951172, 1.7980873584747314], "ext_wrench_in_world": [-108.12950164778611, 14.97876381803761, -27.24254988482632, -0.15570952197952143, -23.99012848051671, -2.4762661755533193]}
+{"timestamp_ns": 1789729713247562618, "elapsed_ms": 2400, "source_timestamp_ns": 1789729713239253319, "q": [0.8364054560661316, -1.897017240524292, -1.0060802698135376, 1.3811330795288086, -0.1614489108324051, 0.5942714810371399, 0.7037689685821533], "theta": [0.8384879231452942, -1.8950614929199219, -1.004289150238037, 1.3627259731292725, -0.16203518211841583, 0.5942283868789673, 0.7037411332130432], "dq": [0.0009428985067643225, 0.002340369625017047, 0.0011133631924167275, -0.0029855945613235235, 0.0002724534133449197, 0.00034658974618650973, -0.0005242159822955728], "dtheta": [0.00020415782637428492, -0.0003435456601437181, -7.057214679662138e-05, 0.0001243771257577464, 0.00033102984889410436, -0.00020667632634285837, -0.0003335106302984059], "tau": [55.61000061035156, 23.60999870300293, 5.484000205993652, -26.26000213623047, -2.56000018119812, 2.6520001888275146, -0.5240000486373901], "tau_des": [0.5166434645652771, -0.4876849949359894, -0.22528696060180664, -0.5651226043701172, 0.9340817332267761, -1.1548755168914795, -0.5384315848350525], "tau_dot": [8.86262321472168, 15.800447463989258, 5.2450852394104, 51.30924606323242, -26.364553451538086, -51.12714767456055, 52.494667053222656], "tau_ext": [-16.752750396728516, -41.615142822265625, 31.800046920776367, 31.33620834350586, 9.492993354797363, -2.998278856277466, -0.12742775678634644], "tcp_pose": [0.6779660582542419, 0.032745279371738434, -0.2149650901556015, -0.002274235477671027, -0.004565331153571606, 0.9998870491981506, 0.014139560982584953], "tcp_vel": [-0.00015651794092264026, 2.905616202042438e-05, -7.358947914326563e-05, -0.00029943068511784077, 0.00020426735864020884, 0.00035507147549651563], "flange_pose": [0.6786676645278931, 0.02850700356066227, -0.06502661854028702, -0.002274235477671027, -0.004565331153571606, 0.9998870491981506, 0.014139560982584953], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83721160888672, 15.19984245300293, 28.150203704833984, 0.36574414372444153, -24.038084030151367, 1.7973418235778809], "ext_wrench_in_world": [-108.10105256775084, 14.997070398711111, -27.232034444750013, -0.15621853601383479, -23.980048730781107, -2.475186637091882]}
+{"timestamp_ns": 1789729713280906112, "elapsed_ms": 2433, "source_timestamp_ns": 1789729713279301519, "q": [0.8364068269729614, -1.8970178365707397, -1.0060832500457764, 1.3811333179473877, -0.16144347190856934, 0.5942649245262146, 0.7037648558616638], "theta": [0.8384891152381897, -1.8950612545013428, -1.0042918920516968, 1.3627265691757202, -0.1620294153690338, 0.5942224264144897, 0.7037375569343567], "dq": [0.002433656482025981, 0.0028693429194390774, -0.0007819815073162317, -0.00028567996923811734, 0.0006939134327694774, -0.0012051310623064637, -0.0024938746355473995], "dtheta": [8.182056626537815e-05, -7.200967957032844e-05, -0.00017880350060295314, 6.857309199403971e-05, -8.50492506287992e-05, 0.00010198997188126668, -0.0005306469392962754], "tau": [55.55999755859375, 23.60999870300293, 5.5360002517700195, -26.316001892089844, -2.552000045776367, 2.6560001373291016, -0.5800000429153442], "tau_des": [0.5094786882400513, -0.5370863080024719, -0.1875355988740921, -0.5535746216773987, 0.9379904866218567, -1.1568623781204224, -0.5369365811347961], "tau_dot": [-79.38019561767578, 15.60733413696289, 42.63972854614258, -62.4240837097168, -43.30628204345703, -27.832420349121094, -19.00804901123047], "tau_ext": [-16.774930953979492, -41.59541320800781, 31.764318466186523, 31.34606170654297, 9.4854097366333, -2.9938745498657227, -0.1213047057390213], "tcp_pose": [0.6779651641845703, 0.03274311497807503, -0.21496577560901642, -0.00227710185572505, -0.004565083887428045, 0.9998870491981506, 0.014137912541627884], "tcp_vel": [6.182224751682952e-05, -8.040529064601287e-05, 1.2281315321160946e-05, -0.00019048947433475405, -0.00022231922775972635, 0.000508704746607691], "flange_pose": [0.6786676049232483, 0.028505340218544006, -0.06502729654312134, -0.00227710185572505, -0.004565083887428045, 0.9998870491981506, 0.014137912541627884], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.76777648925781, 15.162346839904785, 28.172740936279297, 0.34707722067832947, -24.02051544189453, 1.793750524520874], "ext_wrench_in_world": [-108.03153649888148, 14.960819776717653, -27.255361606376216, -0.13771892404829628, -23.96242590752707, -2.4711017299700413]}
+{"timestamp_ns": 1789729713314229088, "elapsed_ms": 2466, "source_timestamp_ns": 1789729713309255019, "q": [0.8364083766937256, -1.8970179557800293, -1.00608491897583, 1.3811330795288086, -0.16144154965877533, 0.5942627191543579, 0.7037603855133057], "theta": [0.8384905457496643, -1.895061731338501, -1.00429368019104, 1.3627269268035889, -0.1620282232761383, 0.5942205190658569, 0.7037322521209717], "dq": [0.00025011709658429027, -0.0011345359962433577, -0.001633789506740868, 0.0021461606957018375, 0.0007764775073155761, 0.001519528916105628, -0.0029712971299886703], "dtheta": [0.00021697509509976953, 0.0002171344676753506, 0.00046933136763982475, 4.426269879331812e-05, 4.8962130676954985e-05, -0.000998236471787095, 0.0005291416309773922], "tau": [55.56999969482422, 23.68000030517578, 5.468000411987305, -26.288002014160156, -2.552000045776367, 2.6520001888275146, -0.5760000348091125], "tau_des": [0.49534425139427185, -0.5495574474334717, -0.23706424236297607, -0.5591517686843872, 0.9198029637336731, -1.1381562948226929, -0.5496968626976013], "tau_dot": [-26.65522003173828, 78.2807388305664, 19.773866653442383, -7.609932899475098, 4.431960105895996, -26.796669006347656, -12.41541576385498], "tau_ext": [-16.75211524963379, -41.643829345703125, 31.800155639648438, 31.34589385986328, 9.47687816619873, -2.9937071800231934, -0.1141960546374321], "tcp_pose": [0.6779654026031494, 0.032742034643888474, -0.21496520936489105, -0.002277317689731717, -0.0045662387274205685, 0.9998870491981506, 0.014137224294245243], "tcp_vel": [-0.0002623093605507165, 3.234050745959394e-05, 9.983308700611815e-05, -0.00018977723084390163, 0.0007634016801603138, -0.000340883678290993], "flange_pose": [0.6786679029464722, 0.028504464775323868, -0.06502671539783478, -0.002277317689731717, -0.0045662387274205685, 0.9998870491981506, 0.014137224294245243], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77069854736328, 15.16234302520752, 28.1811580657959, 0.351852685213089, -24.028173446655273, 1.7976148128509521], "ext_wrench_in_world": [-108.03454318091565, 14.960738969658196, -27.26374058163545, -0.14238821141011657, -23.97001899052614, -2.4751270070624622]}
+{"timestamp_ns": 1789729713347565833, "elapsed_ms": 2500, "source_timestamp_ns": 1789729713339366270, "q": [0.8364107608795166, -1.8970212936401367, -1.0060861110687256, 1.3811339139938354, -0.16143980622291565, 0.5942631959915161, 0.703758955001831], "theta": [0.8384923338890076, -1.8950648307800293, -1.0042957067489624, 1.3627281188964844, -0.1620263159275055, 0.5942212343215942, 0.7037310600280762], "dq": [-0.0006534053245559335, -0.002021339489147067, -0.0006394205265678465, 0.001562412129715085, 0.002703296020627022, -0.0009578239405527711, 0.002420539502054453], "dtheta": [-0.00020592744112946093, 0.0002700257464312017, -6.061574094928801e-05, -5.5845623137429357e-05, -0.0003110688121523708, 0.00017098733223974705, -0.0001357255969196558], "tau": [55.54999923706055, 23.719999313354492, 5.436000347137451, -26.292001724243164, -2.5360000133514404, 2.688000202178955, -0.5760000348091125], "tau_des": [0.5150331854820251, -0.574196457862854, -0.1805463582277298, -0.5390982627868652, 0.9345881938934326, -1.1654080152511597, -0.5385192632675171], "tau_dot": [4.981964588165283, 175.88800048828125, -26.464384078979492, 33.152950286865234, -11.700082778930664, 48.19197082519531, -60.4785270690918], "tau_ext": [-16.74956512451172, -41.68739700317383, 31.818078994750977, 31.335857391357422, 9.47739028930664, -2.9902896881103516, -0.10871102660894394], "tcp_pose": [0.677964985370636, 0.03274240344762802, -0.2149651050567627, -0.002276589395478368, -0.004567229654639959, 0.9998870491981506, 0.01413609180599451], "tcp_vel": [0.00014411789015866816, -9.709579171612859e-05, 7.082740921759978e-06, 0.00011309793626423925, -0.00016399355081375688, 7.175756036303937e-05], "flange_pose": [0.6786672472953796, 0.028505176305770874, -0.06502660363912582, -0.002276589395478368, -0.004567229654639959, 0.9998870491981506, 0.01413609180599451], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79544830322266, 15.230897903442383, 28.18889045715332, 0.37354251742362976, -24.04227638244629, 1.8063782453536987], "ext_wrench_in_world": [-108.0599382395947, 15.028980514592309, -27.2696161210641, -0.16393921252357907, -23.984073506700547, -2.4841360645759716]}
+{"timestamp_ns": 1789729713380903858, "elapsed_ms": 2533, "source_timestamp_ns": 1789729713379313053, "q": [0.8364139795303345, -1.897024154663086, -1.0060921907424927, 1.3811359405517578, -0.16143493354320526, 0.5942634344100952, 0.7037593722343445], "theta": [0.8384954333305359, -1.8950676918029785, -1.0043015480041504, 1.3627290725708008, -0.16202150285243988, 0.5942217111587524, 0.7037317752838135], "dq": [0.0028111529536545277, -0.0007323905010707676, -0.0011668966617435217, 0.0006059703300707042, -0.0006668053101748228, 0.0005202375468797982, -0.0017361773643642664], "dtheta": [-0.00017821828078012913, -0.0003061436000280082, -0.0005700790206901729, -7.709425699431449e-05, -0.0003625306417234242, -0.0006955820717848837, -0.000173039676155895], "tau": [55.59000015258789, 23.549999237060547, 5.51200008392334, -26.2760009765625, -2.5320000648498535, 2.6640000343322754, -0.5720000267028809], "tau_des": [0.5763840079307556, -0.5255809426307678, -0.13247232139110565, -0.6018507480621338, 0.9403881430625916, -1.1291767358779907, -0.5477466583251953], "tau_dot": [15.356773376464844, -95.42487335205078, -19.627004623413086, 85.63867950439453, 28.292917251586914, 18.02683448791504, -27.13692283630371], "tau_ext": [-16.766054153442383, -41.619083404541016, 31.7998046875, 31.345136642456055, 9.472474098205566, -2.996828317642212, -0.11186462640762329], "tcp_pose": [0.677965521812439, 0.03273991867899895, -0.2149653285741806, -0.002276025013998151, -0.004564662929624319, 0.9998871088027954, 0.014134145341813564], "tcp_vel": [1.997174149437342e-05, -0.0003445936890784651, -0.0002580248692538589, -0.0012258028145879507, 0.00025699971592985094, 0.00018347613513469696], "flange_pose": [0.6786676049232483, 0.02850327081978321, -0.06502680480480194, -0.002276025013998151, -0.004564662929624319, 0.9998871088027954, 0.014134145341813564], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80011749267578, 15.234465599060059, 28.165359497070312, 0.37510451674461365, -24.03826904296875, 1.8054640293121338], "ext_wrench_in_world": [-108.0644228365127, 15.032288209610932, -27.246147935395562, -0.16565379600663885, -23.98011696230186, -2.483008585559701]}
+{"timestamp_ns": 1789729713414228524, "elapsed_ms": 2566, "source_timestamp_ns": 1789729713409241387, "q": [0.8364134430885315, -1.8970235586166382, -1.0060985088348389, 1.3811366558074951, -0.16143399477005005, 0.5942646861076355, 0.7037598490715027], "theta": [0.838495671749115, -1.8950672149658203, -1.0043069124221802, 1.362729787826538, -0.16202054917812347, 0.5942236185073853, 0.7037317752838135], "dq": [-0.001236326526850462, 0.0023526677396148443, -0.0011070271721109748, 0.00026483379770070314, -0.002436688169836998, 0.0006138202734291553, 0.002119231503456831], "dtheta": [4.088734567631036e-05, 8.000343223102391e-05, -0.0004285145259927958, 5.574621172854677e-05, 3.181630381732248e-05, 0.0012729387963190675, -0.00020896518253721297], "tau": [55.599998474121094, 23.6299991607666, 5.4800004959106445, -26.32400131225586, -2.5480000972747803, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.4610632658004761, -0.6245430707931519, -0.10795221477746964, -0.49399223923683167, 0.9399739503860474, -1.1944531202316284, -0.5593692064285278], "tau_dot": [73.06523132324219, 64.83880615234375, -4.8604631423950195, -34.134891510009766, 39.396018981933594, -23.912965774536133, 8.433110237121582], "tau_ext": [-16.775758743286133, -41.592857360839844, 31.776371002197266, 31.356374740600586, 9.47296142578125, -3.001772403717041, -0.11627458035945892], "tcp_pose": [0.6779674887657166, 0.032736413180828094, -0.21496614813804626, -0.00227535143494606, -0.004561832174658775, 0.9998871088027954, 0.014132818207144737], "tcp_vel": [0.00038457682239823043, -6.746880535501987e-05, 0.00014538923278450966, 0.00060725660296157, -0.0010825645877048373, -0.00018520971934776753], "flange_pose": [0.6786693334579468, 0.028500160202383995, -0.0650276318192482, -0.00227535143494606, -0.004561832174658775, 0.9998871088027954, 0.014132818207144737], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.76385498046875, 15.177751541137695, 28.17974281311035, 0.35863548517227173, -24.023971557617188, 1.7990708351135254], "ext_wrench_in_world": [-108.02759563288946, 14.976879167851203, -27.26246796013811, -0.14941810113429888, -23.96586070411512, -2.4762228543054614]}
+{"timestamp_ns": 1789729713447564429, "elapsed_ms": 2600, "source_timestamp_ns": 1789729713439235012, "q": [0.8364143967628479, -1.8970246315002441, -1.0060985088348389, 1.3811365365982056, -0.1614343374967575, 0.5942636132240295, 0.7037598490715027], "theta": [0.8384963870048523, -1.8950685262680054, -1.0043069124221802, 1.362729549407959, -0.16202127933502197, 0.5942219495773315, 0.7037320137023926], "dq": [0.0010768813081085682, 0.0008573197992518544, -0.002553753089159727, 0.0007990597514435649, -0.00014370416465681046, 0.0007345565245486796, -0.0012731285532936454], "dtheta": [0.00021744670812040567, -2.2880356482346542e-05, 5.044039062340744e-05, -0.00010419560567243025, -0.0002995681425090879, -0.0001094087929232046, 0.0009570525144226849], "tau": [55.53999710083008, 23.68000030517578, 5.456000328063965, -26.304000854492188, -2.568000078201294, 2.640000104904175, -0.5400000214576721], "tau_des": [0.45454639196395874, -0.6020511388778687, -0.16350087523460388, -0.5075053572654724, 0.9372547268867493, -1.1708420515060425, -0.5731617212295532], "tau_dot": [-37.529090881347656, 39.135284423828125, -35.42219161987305, -45.99684143066406, -27.953777313232422, -77.67325592041016, -11.808686256408691], "tau_ext": [-16.73657989501953, -41.63019943237305, 31.806873321533203, 31.34053611755371, 9.478365898132324, -2.999250650405884, -0.11902055144309998], "tcp_pose": [0.6779673099517822, 0.032736558467149734, -0.2149658501148224, -0.002275161910802126, -0.0045622773468494415, 0.9998871684074402, 0.014132022857666016], "tcp_vel": [8.489240281051025e-05, 1.6205318388529122e-05, 0.00020204571774229407, -0.00018706443370319903, -0.00034125737147405744, -0.0007535667973570526], "flange_pose": [0.6786690950393677, 0.028500543907284737, -0.06502731889486313, -0.002275161910802126, -0.0045622773468494415, 0.9998871684074402, 0.014132022857666016], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7849349975586, 15.170413970947266, 28.163270950317383, 0.35831156373023987, -24.02591896057129, 1.7974298000335693], "ext_wrench_in_world": [-108.04853343161696, 14.968746757815588, -27.24618407916907, -0.1490466074935616, -23.967854680997284, -2.4746009904794155]}
+{"timestamp_ns": 1789729713480901594, "elapsed_ms": 2633, "source_timestamp_ns": 1789729713479281972, "q": [0.8364155292510986, -1.8970286846160889, -1.006096363067627, 1.3811355829238892, -0.1614336520433426, 0.5942588448524475, 0.7037580013275146], "theta": [0.8384976983070374, -1.895073652267456, -1.0043057203292847, 1.362728476524353, -0.16202175617218018, 0.5942176580429077, 0.703730583190918], "dq": [0.003316293004900217, -0.0027613965794444084, 0.00020965063595212996, -0.0017660106532275677, -0.0020347065292298794, 0.0010077864862978458, 0.0003416611871216446], "dtheta": [-3.493452595648705e-06, -0.0003331993648316711, 0.00012981161125935614, 0.00020944175776094198, 0.0003931045939680189, -0.0006055611884221435, 9.23660772969015e-05], "tau": [55.61000061035156, 23.600000381469727, 5.520000457763672, -26.292001724243164, -2.56000018119812, 2.680000066757202, -0.5400000214576721], "tau_des": [0.6003562211990356, -0.4606291651725769, -0.23952616751194, -0.6290337443351746, 0.9083594083786011, -1.1251581907272339, -0.5478217005729675], "tau_dot": [27.837543487548828, 0.26191815733909607, 65.20404815673828, -44.81943130493164, -3.32535457611084, 58.82513427734375, 18.696542739868164], "tau_ext": [-16.750099182128906, -41.65288543701172, 31.801681518554688, 31.33302116394043, 9.482943534851074, -2.994710922241211, -0.11834557354450226], "tcp_pose": [0.6779651641845703, 0.03273841738700867, -0.2149663269519806, -0.002276559127494693, -0.004565076902508736, 0.9998871684074402, 0.014130139723420143], "tcp_vel": [-0.00038144292193464935, 6.163211219245568e-05, -0.0002887736482080072, -0.00043706773431040347, 0.0008916049264371395, 5.181486267247237e-05], "flange_pose": [0.6786673665046692, 0.028502970933914185, -0.06502778083086014, -0.002276559127494693, -0.004565076902508736, 0.9998871684074402, 0.014130139723420143], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79011535644531, 15.217985153198242, 28.16041374206543, 0.37200120091438293, -24.03281021118164, 1.8016600608825684], "ext_wrench_in_world": [-108.05428939145425, 15.015455953262162, -27.241724788026104, -0.16256420934590265, -23.974759460795664, -2.478873169399]}
+{"timestamp_ns": 1789729713514232139, "elapsed_ms": 2666, "source_timestamp_ns": 1789729713509252301, "q": [0.8364157676696777, -1.8970295190811157, -1.0060964822769165, 1.3811352252960205, -0.1614328920841217, 0.5942567586898804, 0.7037557363510132], "theta": [0.838498055934906, -1.8950743675231934, -1.004305362701416, 1.3627285957336426, -0.16202080249786377, 0.5942152738571167, 0.7037286758422852], "dq": [0.0008960653794929385, -0.0014278461458161473, 0.001931072911247611, 0.000539948174264282, -0.0007867864333093166, 0.001113537116907537, 0.00031688049784861505], "dtheta": [-0.00021575286518782377, 0.0003137719177175313, 8.376809273613617e-05, 0.0001743868488119915, -0.00017967364692594856, -0.00013650557957589626, -0.0008154097013175488], "tau": [55.59000015258789, 23.6299991607666, 5.492000102996826, -26.308000564575195, -2.5480000972747803, 2.6680002212524414, -0.5600000023841858], "tau_des": [0.5637434124946594, -0.5393540263175964, -0.2000969499349594, -0.5866608023643494, 0.9205132126808167, -1.1452345848083496, -0.529070258140564], "tau_dot": [-90.69625091552734, 98.1094741821289, -14.08753776550293, -26.20369529724121, 32.59819030761719, -3.8935468196868896, -3.6727380752563477], "tau_ext": [-16.782201766967773, -41.60856246948242, 31.778554916381836, 31.346694946289062, 9.489324569702148, -2.9997761249542236, -0.11982883512973785], "tcp_pose": [0.6779646873474121, 0.03273840621113777, -0.2149665504693985, -0.0022772394586354494, -0.004566236399114132, 0.9998871684074402, 0.014129439368844032], "tcp_vel": [-5.985090683680028e-05, -0.00011374876339687034, -0.0001272226363653317, -1.0807911166921258e-05, 0.0003624250821303576, 0.0007942456868477166], "flange_pose": [0.6786671280860901, 0.0285031720995903, -0.06502799689769745, -0.0022772394586354494, -0.004566236399114132, 0.9998871684074402, 0.014129439368844032], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7470932006836, 15.213037490844727, 28.177865982055664, 0.36639323830604553, -24.020967483520508, 1.8006101846694946], "ext_wrench_in_world": [-108.01137749266508, 15.01110770800903, -27.259378417580926, -0.1570061482599998, -23.962903883649318, -2.4774798523811805]}
+{"timestamp_ns": 1789729713547567714, "elapsed_ms": 2700, "source_timestamp_ns": 1789729713539334125, "q": [0.8364174962043762, -1.8970288038253784, -1.0060970783233643, 1.381135106086731, -0.16143196821212769, 0.5942550897598267, 0.7037513852119446], "theta": [0.838499128818512, -1.8950743675231934, -1.004305124282837, 1.3627288341522217, -0.16201959550380707, 0.5942133665084839, 0.7037239074707031], "dq": [0.00042190763633698225, -0.00024359558301512152, -0.00046201536315493286, -0.000980474753305316, -0.0004224945732858032, -0.0002132437948603183, -0.0018564070342108607], "dtheta": [-0.0002038733655354008, 0.00025224804994650185, -0.0004177111841272563, 5.459541716845706e-05, 0.00013028932153247297, 6.974702046136372e-06, -0.0007943952805362642], "tau": [55.54999923706055, 23.60999870300293, 5.516000270843506, -26.284000396728516, -2.572000026702881, 2.624000072479248, -0.5480000376701355], "tau_des": [0.543959379196167, -0.5765495300292969, -0.14333127439022064, -0.5650607943534851, 0.9229167103767395, -1.1537301540374756, -0.5334208011627197], "tau_dot": [-18.213184356689453, 22.86488151550293, 15.193717956542969, 2.6161389350891113, -38.187164306640625, -79.13591766357422, 6.382959842681885], "tau_ext": [-16.752805709838867, -41.60078048706055, 31.774728775024414, 31.346384048461914, 9.483835220336914, -2.99836802482605, -0.11408400535583496], "tcp_pose": [0.6779650449752808, 0.032737649977207184, -0.21496543288230896, -0.0022771258372813463, -0.004567698109894991, 0.9998871684074402, 0.01412930991500616], "tcp_vel": [0.00012519302254077047, -0.00030476407846435905, -0.00012064167094649747, -2.1340556486393325e-05, 0.00015957838331814855, 0.00026787430397234857], "flange_pose": [0.678667426109314, 0.028502456843852997, -0.06502687931060791, -0.0022771258372813463, -0.004567698109894991, 0.9998871684074402, 0.01412930991500616], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.75180053710938, 15.180890083312988, 28.17646598815918, 0.3580566644668579, -24.020050048828125, 1.8011500835418701], "ext_wrench_in_world": [-108.0158229374254, 14.97856935662511, -27.25890007817769, -0.14861020699425506, -23.961896004679257, -2.47802449825126]}
+{"timestamp_ns": 1789729713580903689, "elapsed_ms": 2733, "source_timestamp_ns": 1789729713579274829, "q": [0.8364191055297852, -1.897028923034668, -1.0060975551605225, 1.3811359405517578, -0.16142821311950684, 0.5942554473876953, 0.7037498354911804], "theta": [0.8385008573532104, -1.8950743675231934, -1.004305124282837, 1.3627296686172485, -0.16201576590538025, 0.5942133665084839, 0.7037224173545837], "dq": [0.0010028763208538294, -0.0021870944183319807, -0.0002321463543921709, 0.0009197790641337633, -0.0004028339171782136, -0.00028491541161201894, -0.0032584115397185087], "dtheta": [0.0001503353996668011, -0.00010211286280537024, 0.00014447029388975352, -5.981692811474204e-05, 0.0005328873521648347, 0.0003763996355701238, -8.710827387403697e-05], "tau": [55.55999755859375, 23.69999885559082, 5.468000411987305, -26.284000396728516, -2.5440001487731934, 2.6640000343322754, -0.5480000376701355], "tau_des": [0.4849991798400879, -0.5378885865211487, -0.2548832595348358, -0.517473578453064, 0.9101424813270569, -1.1825263500213623, -0.542014479637146], "tau_dot": [-111.02091217041016, 3.6576313972473145, -8.907434463500977, -11.482898712158203, 6.736285209655762, -5.376793384552002, 12.959579467773438], "tau_ext": [-16.740144729614258, -41.63582992553711, 31.786020278930664, 31.3360652923584, 9.480277061462402, -2.994947671890259, -0.11208649724721909], "tcp_pose": [0.6779647469520569, 0.03273759037256241, -0.2149650603532791, -0.002277450868859887, -0.004567357245832682, 0.9998871684074402, 0.014130158349871635], "tcp_vel": [-2.201127244916279e-05, 0.00021797824592795223, 0.00010538630886003375, 0.0006281799869611859, -0.00014454599295277148, -5.725244409404695e-05], "flange_pose": [0.6786672472953796, 0.028502142056822777, -0.06502651423215866, -0.002277450868859887, -0.004567357245832682, 0.9998871684074402, 0.014130158349871635], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78750610351562, 15.172935485839844, 28.162879943847656, 0.3617347776889801, -24.032197952270508, 1.8052476644515991], "ext_wrench_in_world": [-108.05139893253434, 14.97002540676487, -27.24528909825661, -0.1522150061586032, -23.973952387437663, -2.4824880892533217]}
+{"timestamp_ns": 1789729713614230585, "elapsed_ms": 2766, "source_timestamp_ns": 1789729713609235959, "q": [0.8364202380180359, -1.8970321416854858, -1.0060980319976807, 1.3811359405517578, -0.1614285260438919, 0.5942557454109192, 0.7037507891654968], "theta": [0.8385021090507507, -1.895076870918274, -1.0043060779571533, 1.3627300262451172, -0.16201624274253845, 0.5942140817642212, 0.7037231922149658], "dq": [-0.0005275245057418942, -0.0018941324669867754, 0.001348376157693565, 0.0007419906323775649, -0.0007854460272938013, -0.002138606272637844, -0.0001931709557538852], "dtheta": [-3.6126753002463374e-06, -0.00012457212142180651, -4.131361492909491e-06, 0.00037428425275720656, -0.0010707947658374906, -0.0004010721168015152, 0.00038367058732546866], "tau": [55.619998931884766, 23.59000015258789, 5.504000186920166, -26.288002014160156, -2.552000045776367, 2.6720001697540283, -0.5560000538825989], "tau_des": [0.5601953268051147, -0.520237147808075, -0.22112329304218292, -0.593096137046814, 0.9368010759353638, -1.1459842920303345, -0.540999710559845], "tau_dot": [47.580074310302734, 8.900057792663574, 27.445646286010742, -9.170504570007324, 96.03131866455078, 8.933579444885254, -19.482154846191406], "tau_ext": [-16.74889373779297, -41.6783447265625, 31.80086326599121, 31.349422454833984, 9.48034381866455, -2.999127149581909, -0.11255256831645966], "tcp_pose": [0.6779643893241882, 0.03273825719952583, -0.21496522426605225, -0.002276646438986063, -0.004567875526845455, 0.9998871684074402, 0.014128782786428928], "tcp_vel": [-0.00010831910913111642, -0.0001757975696818903, -0.00016439834143966436, -0.001239008386619389, 2.4507366106263362e-05, 0.00036012986674904823], "flange_pose": [0.6786666512489319, 0.02850322239100933, -0.0650266632437706, -0.002276646438986063, -0.004567875526845455, 0.9998871684074402, 0.014128782786428928], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79676818847656, 15.216987609863281, 28.172597885131836, 0.3783664107322693, -24.04153823852539, 1.8090157508850098], "ext_wrench_in_world": [-108.06107630131416, 15.014062382200565, -27.253934299127987, -0.16875018045044796, -23.983342123473772, -2.486379690876999]}
+{"timestamp_ns": 1789729713647562960, "elapsed_ms": 2800, "source_timestamp_ns": 1789729713639234953, "q": [0.8364213705062866, -1.8970329761505127, -1.0061017274856567, 1.3811355829238892, -0.1614276021718979, 0.5942540168762207, 0.7037511467933655], "theta": [0.8385031819343567, -1.8950773477554321, -1.0043096542358398, 1.3627300262451172, -0.16201646625995636, 0.5942126512527466, 0.7037231922149658], "dq": [-0.0012635349994525313, 4.0403690945822746e-05, 0.000747424375731498, -0.0013551143929362297, -0.0005685770302079618, 0.000687486375682056, 0.0014412244781851768], "dtheta": [4.4112814066465944e-05, -0.00031559166382066905, -6.775245856260881e-05, 0.00021935875702183694, 0.00037961988709867, -0.0004306783084757626, 0.001094538252800703], "tau": [55.55999755859375, 23.649999618530273, 5.520000457763672, -26.30000114440918, -2.5840001106262207, 2.6520001888275146, -0.5480000376701355], "tau_des": [0.5753153562545776, -0.5110677480697632, -0.2168962061405182, -0.5975685715675354, 0.9012761116027832, -1.1433076858520508, -0.5677525401115417], "tau_dot": [-64.09690856933594, 67.35088348388672, 48.03096389770508, 20.532339096069336, -39.266021728515625, -30.31012535095215, -0.61078941822052], "tau_ext": [-16.753660202026367, -41.614540100097656, 31.769832611083984, 31.34824562072754, 9.488288879394531, -3.002485990524292, -0.11440224200487137], "tcp_pose": [0.6779653429985046, 0.032736342400312424, -0.21496498584747314, -0.0022762275766581297, -0.004566414747387171, 0.9998871684074402, 0.01412710826843977], "tcp_vel": [-0.0002699654141906649, -2.7738778953789733e-05, -0.0002455367357470095, -0.000454397319117561, 0.0006780505646020174, -0.0010956649202853441], "flange_pose": [0.6786674857139587, 0.028501806780695915, -0.0650264173746109, -0.0022762275766581297, -0.004566414747387171, 0.9998871684074402, 0.01412710826843977], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79389953613281, 15.206379890441895, 28.175491333007812, 0.3748970031738281, -24.036754608154297, 1.8075159788131714], "ext_wrench_in_world": [-108.05805911330819, 15.003792187278872, -27.257277176938572, -0.16538545248005265, -23.978578875010243, -2.4846803931896324]}
+{"timestamp_ns": 1789729713680895856, "elapsed_ms": 2833, "source_timestamp_ns": 1789729713679264926, "q": [0.8364220857620239, -1.897034764289856, -1.0061061382293701, 1.3811352252960205, -0.1614295244216919, 0.5942512154579163, 0.7037509083747864], "theta": [0.8385034799575806, -1.895079255104065, -1.0043141841888428, 1.3627300262451172, -0.16201888024806976, 0.5942093133926392, 0.7037231922149658], "dq": [-0.0005441607790999115, -0.003544832579791546, -0.002117397729307413, -0.001800412661395967, 0.0009233825257979333, 0.0010888277320191264, -0.0005592909292317927], "dtheta": [0.00011273190466454253, 0.00029604273731820285, 0.0001402125199092552, 0.00014743550855200738, -0.0005158376879990101, -2.8163596653030254e-05, -2.7044869057135656e-05], "tau": [55.57999801635742, 23.619998931884766, 5.4760003089904785, -26.304000854492188, -2.564000129699707, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.46905598044395447, -0.598788857460022, -0.18756969273090363, -0.5185323357582092, 0.9361862540245056, -1.1723812818527222, -0.5445956587791443], "tau_dot": [26.805543899536133, -100.20903778076172, -9.322359085083008, -32.865562438964844, 19.06218719482422, 19.46802520751953, -15.134171485900879], "tau_ext": [-16.772539138793945, -41.64065170288086, 31.806655883789062, 31.344873428344727, 9.499504089355469, -2.9948890209198, -0.11803705245256424], "tcp_pose": [0.6779663562774658, 0.03273390978574753, -0.21496528387069702, -0.0022755651734769344, -0.0045661223120987415, 0.999887228012085, 0.014123640954494476], "tcp_vel": [6.366053275996819e-05, -7.877268217271194e-05, 0.00014529639156535268, -0.0001141005486715585, -0.00021560007007792592, 0.0002373492025071755], "flange_pose": [0.6786683201789856, 0.02850041352212429, -0.06502668559551239, -0.0022755651734769344, -0.0045661223120987415, 0.999887228012085, 0.014123640954494476], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.76856994628906, 15.1920804977417, 28.174869537353516, 0.36212778091430664, -24.024213790893555, 1.8051499128341675], "ext_wrench_in_world": [-108.0325527021434, 14.989589117051475, -27.257421490770998, -0.15273028554049173, -23.966010065811023, -2.481851323790109]}
+{"timestamp_ns": 1789729713714230741, "elapsed_ms": 2866, "source_timestamp_ns": 1789729713709232705, "q": [0.8364241719245911, -1.8970407247543335, -1.0061061382293701, 1.3811345100402832, -0.1614280641078949, 0.594248354434967, 0.7037511467933655], "theta": [0.8385049104690552, -1.8950843811035156, -1.0043139457702637, 1.3627287149429321, -0.16201840341091156, 0.5942059755325317, 0.703723669052124], "dq": [0.00026377447647973895, 0.00020736499573104084, -0.002138544572517276, 0.004476271104067564, -0.0002675579162314534, 0.00013603093975689262, -0.0014522746205329895], "dtheta": [0.00017388603009749204, 0.00027181662153452635, -2.133827183570247e-05, -0.00030035621603019536, 0.0008231318788602948, -0.000329999893438071, 0.0009354372159577906], "tau": [55.56999969482422, 23.60999870300293, 5.468000411987305, -26.30000114440918, -2.580000162124634, 2.6680002212524414, -0.5480000376701355], "tau_des": [0.4534975588321686, -0.6140520572662354, -0.18405582010746002, -0.49669700860977173, 0.9049499034881592, -1.172852873802185, -0.5703124403953552], "tau_dot": [118.93685913085938, -25.001211166381836, -28.229604721069336, -38.57302474975586, 18.29574203491211, 44.8298225402832, 18.02888298034668], "tau_ext": [-16.732955932617188, -41.62116241455078, 31.8045711517334, 31.323646545410156, 9.504280090332031, -2.987318515777588, -0.1216752827167511], "tcp_pose": [0.6779647469520569, 0.03273544833064079, -0.21496576070785522, -0.0022757896222174168, -0.004567560739815235, 0.9998872876167297, 0.014121145009994507], "tcp_vel": [6.108184607001022e-05, -2.8465794457588345e-05, 0.00022618292132392526, 0.000651551759801805, 0.0003091607359237969, -0.0016284994781017303], "flange_pose": [0.6786667704582214, 0.028502702713012695, -0.0650271400809288, -0.0022757896222174168, -0.004567560739815235, 0.9998872876167297, 0.014121145009994507], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78267669677734, 15.212371826171875, 28.17229652404785, 0.35948216915130615, -24.027563095092773, 1.804840326309204], "ext_wrench_in_world": [-108.04688458741633, 15.009220554766753, -27.254246884302507, -0.14998459084030788, -23.969355117523605, -2.4815286004052566]}
+{"timestamp_ns": 1789729713747565606, "elapsed_ms": 2900, "source_timestamp_ns": 1789729713739227600, "q": [0.8364266157150269, -1.8970427513122559, -1.0061062574386597, 1.381134271621704, -0.16142816841602325, 0.5942403674125671, 0.7037512063980103], "theta": [0.8385071754455566, -1.895086407661438, -1.0043143033981323, 1.3627288341522217, -0.16201815009117126, 0.5941983461380005, 0.7037234306335449], "dq": [-0.0008700931211933494, -0.001988676842302084, -0.0004952633171342313, 0.0009893156820908189, 0.0015569699462503195, -0.0006948007503524423, -0.002650299808010459], "dtheta": [0.0001233061047969386, -0.000581403321120888, 1.2726607565127779e-05, 0.00020090506586711854, 0.0007049822597764432, -0.0007846205262467265, -0.00013967296399641782], "tau": [55.57999801635742, 23.619998931884766, 5.468000411987305, -26.316001892089844, -2.5920000076293945, 2.6520001888275146, -0.5200000405311584], "tau_des": [0.6045184135437012, -0.41875335574150085, -0.26599636673927307, -0.6440014839172363, 0.907046914100647, -1.1152955293655396, -0.5386217832565308], "tau_dot": [-12.983175277709961, 28.410812377929688, -6.943287372589111, -33.03584671020508, -46.700111389160156, -2.833793878555298, 32.11469650268555], "tau_ext": [-16.746196746826172, -41.606319427490234, 31.801122665405273, 31.342864990234375, 9.505175590515137, -2.9903688430786133, -0.11802848428487778], "tcp_pose": [0.677963376045227, 0.03273475542664528, -0.21496553719043732, -0.0022774648386985064, -0.0045682284981012344, 0.9998872876167297, 0.014117784798145294], "tcp_vel": [-0.00045383701217360795, 6.544077041326091e-05, -0.0003250541922170669, -0.0006134067662060261, 0.001022934797219932, 0.00019777068519033492], "flange_pose": [0.6786659359931946, 0.028503019362688065, -0.06502688676118851, -0.0022774648386985064, -0.0045682284981012344, 0.9998872876167297, 0.014117784798145294], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8140640258789, 15.179304122924805, 28.14609718322754, 0.34712281823158264, -24.031909942626953, 1.8044791221618652], "ext_wrench_in_world": [-108.07795855211423, 14.974805013936304, -27.228598055763364, -0.13755944304427628, -23.973613452873884, -2.4811831967028897]}
+{"timestamp_ns": 1789729713780908190, "elapsed_ms": 2933, "source_timestamp_ns": 1789729713779229286, "q": [0.8364281058311462, -1.897042155265808, -1.0061064958572388, 1.3811345100402832, -0.16142696142196655, 0.5942357182502747, 0.7037495970726013], "theta": [0.8385083675384521, -1.895086407661438, -1.0043141841888428, 1.3627290725708008, -0.16201697289943695, 0.5941933393478394, 0.7037224173545837], "dq": [0.0017041376559063792, 0.0017488220473751426, 0.0008474151254631579, -0.001125433947890997, -0.0001393293496221304, 0.001148952404037118, 0.0014343953225761652], "dtheta": [0.00018043680756818503, -0.0002758652262855321, -0.00020831233996432275, 0.00010774833936011419, -0.00021499248396139592, 6.963268970139325e-05, -0.00025594906765036285], "tau": [55.55999755859375, 23.56999969482422, 5.4760003089904785, -26.25200080871582, -2.56000018119812, 2.6440000534057617, -0.5480000376701355], "tau_des": [0.5123864412307739, -0.5155858397483826, -0.21512025594711304, -0.5635592937469482, 0.9360010027885437, -1.1514304876327515, -0.5361418724060059], "tau_dot": [-81.29972076416016, -141.4427947998047, -17.24962615966797, 84.09844970703125, 31.240720748901367, -27.435861587524414, 12.409737586975098], "tau_ext": [-16.786746978759766, -41.626861572265625, 31.78980827331543, 31.360502243041992, 9.500770568847656, -2.9940590858459473, -0.12425187230110168], "tcp_pose": [0.6779628396034241, 0.03273382410407066, -0.2149650603532791, -0.0022788208443671465, -0.004568536300212145, 0.9998873472213745, 0.014116722159087658], "tcp_vel": [3.475930498098023e-05, -5.8404344599694014e-05, 6.565918283740757e-06, -0.00048625358613207936, -0.000338090059813112, 0.000429081148467958], "flange_pose": [0.6786657571792603, 0.028502406552433968, -0.06502640247344971, -0.0022788208443671465, -0.004568536300212145, 0.9998873472213745, 0.014116722159087658], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81343078613281, 15.158149719238281, 28.179527282714844, 0.3400639593601227, -24.033937454223633, 1.8007501363754272], "ext_wrench_in_world": [-108.07737327848535, 14.954479460505816, -27.26235587678778, -0.13045598908093747, -23.975685714668693, -2.4774926538719906]}
+{"timestamp_ns": 1789729713814230586, "elapsed_ms": 2966, "source_timestamp_ns": 1789729713809282874, "q": [0.8364290595054626, -1.8970410823822021, -1.0061062574386597, 1.381134271621704, -0.16142421960830688, 0.5942360758781433, 0.7037493586540222], "theta": [0.8385095596313477, -1.8950855731964111, -1.0043143033981323, 1.3627287149429321, -0.16201503574848175, 0.5941931009292603, 0.7037227153778076], "dq": [-0.0007553384639322758, -0.0027671882417052984, -0.0005611360538750887, -0.0013011503033339977, -0.0021534969564527273, 0.0004182786215096712, -0.0008855161140672863], "dtheta": [0.00020354546722956002, 0.00022543950763065368, 0.0001532522583147511, 9.282228711526841e-05, -0.0005176757113076746, 0.00031807570485398173, 9.773164492798969e-05], "tau": [55.54999923706055, 23.65999984741211, 5.492000102996826, -26.308000564575195, -2.5360000133514404, 2.6640000343322754, -0.5480000376701355], "tau_des": [0.44777703285217285, -0.5913276672363281, -0.22772717475891113, -0.5026751756668091, 0.9304187893867493, -1.1791223287582397, -0.5438380837440491], "tau_dot": [24.757192611694336, -12.911849975585938, 20.57561683654785, -53.34760284423828, 96.03433990478516, -21.002124786376953, -31.548927307128906], "tau_ext": [-16.760757446289062, -41.64375305175781, 31.793455123901367, 31.33970069885254, 9.499000549316406, -2.9933159351348877, -0.12032582610845566], "tcp_pose": [0.6779630184173584, 0.03273392468690872, -0.21496418118476868, -0.002278900472447276, -0.004567591939121485, 0.9998872876167297, 0.014118235558271408], "tcp_vel": [0.0001462022919440642, 1.4148808077152353e-05, 0.0002506002492737025, 9.786058217287064e-05, -0.0006053256220184267, 0.000153112574480474], "flange_pose": [0.6786659955978394, 0.028502056375145912, -0.06502553075551987, -0.002278900472447276, -0.004567591939121485, 0.9998872876167297, 0.014118235558271408], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7835464477539, 15.18350601196289, 28.189603805541992, 0.34909018874168396, -24.029888153076172, 1.8013205528259277], "ext_wrench_in_world": [-108.04774484447535, 14.980670727432868, -27.27177737081422, -0.1395670198011214, -23.97169739488395, -2.4779809116208367]}
+{"timestamp_ns": 1789729713847562522, "elapsed_ms": 3000, "source_timestamp_ns": 1789729713839220147, "q": [0.8364304304122925, -1.8970415592193604, -1.0061068534851074, 1.3811354637145996, -0.16142304241657257, 0.5942368507385254, 0.7037492990493774], "theta": [0.8385113477706909, -1.8950860500335693, -1.00431489944458, 1.3627293109893799, -0.16201312839984894, 0.5941931009292603, 0.7037227153778076], "dq": [0.0008152795489877462, -0.0023448511492460966, 0.0009672960732132196, 0.0005139184650033712, 0.0021738403011113405, -0.0003197446931153536, -0.0014809159329161048], "dtheta": [-0.00019441703625489026, 0.00014071096666157246, -3.1710569601273164e-05, 0.00021367485169321299, 0.00030641857301816344, -0.000709785264916718, -0.00039672033744864166], "tau": [55.619998931884766, 23.709999084472656, 5.460000038146973, -26.308000564575195, -2.5440001487731934, 2.6440000534057617, -0.5480000376701355], "tau_des": [0.5963813066482544, -0.5190966725349426, -0.21921339631080627, -0.6163707375526428, 0.8935871720314026, -1.1278575658798218, -0.5407862067222595], "tau_dot": [83.53699493408203, 66.7355728149414, -71.78062438964844, -5.865602493286133, 43.890953063964844, -3.6611673831939697, -44.03910446166992], "tau_ext": [-16.745969772338867, -41.65510559082031, 31.792436599731445, 31.3425350189209, 9.492561340332031, -3.001469850540161, -0.12127958238124847], "tcp_pose": [0.6779628992080688, 0.032733671367168427, -0.21496398746967316, -0.0022786722984164953, -0.004567313473671675, 0.9998872876167297, 0.014118125662207603], "tcp_vel": [-0.0002513548533897847, -0.0001902756921481341, -0.0002931786293629557, -0.0003104573697783053, 0.0010509175481274724, 0.00016095319006126374], "flange_pose": [0.6786657571792603, 0.028501832857728004, -0.06502534449100494, -0.0022786722984164953, -0.004567313473671675, 0.9998872876167297, 0.014118125662207603], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78162384033203, 15.21519660949707, 28.177902221679688, 0.36571040749549866, -24.030101776123047, 1.8036373853683472], "ext_wrench_in_world": [-108.04603422790443, 15.0120897646727, -27.25924554456594, -0.15620766916819553, -23.971998896550144, -2.480224054147678]}
+{"timestamp_ns": 1789729713880903876, "elapsed_ms": 3033, "source_timestamp_ns": 1789729713879226932, "q": [0.8364318609237671, -1.8970428705215454, -1.0061123371124268, 1.3811348676681519, -0.16142508387565613, 0.5942368507385254, 0.7037491798400879], "theta": [0.8385123610496521, -1.895087718963623, -1.004320502281189, 1.3627293109893799, -0.16201503574848175, 0.5941933393478394, 0.7037227153778076], "dq": [-0.0012709846487268806, 0.0009076905553229153, 0.0014280881732702255, -0.00038813170976936817, 0.0029866276308894157, 0.00041007762774825096, 7.162975089158863e-05], "dtheta": [0.0004962009261362255, -0.0001275653048651293, -0.00012362371489871293, 0.00024515841505490243, -0.0001290546206291765, -0.0008241606410592794, -0.0005637535941787064], "tau": [55.55999755859375, 23.579999923706055, 5.468000411987305, -26.308000564575195, -2.5920000076293945, 2.6600000858306885, -0.5360000133514404], "tau_des": [0.4577730596065521, -0.5527501702308655, -0.20139925181865692, -0.5428706407546997, 0.9358888864517212, -1.1493107080459595, -0.538285493850708], "tau_dot": [47.30049133300781, -87.66664123535156, 17.531389236450195, -15.299057006835938, -38.06599044799805, 1.6559661626815796, -15.407011032104492], "tau_ext": [-16.755769729614258, -41.66815948486328, 31.806427001953125, 31.360923767089844, 9.498900413513184, -3.0031819343566895, -0.12470761686563492], "tcp_pose": [0.6779651641845703, 0.0327310673892498, -0.21496327221393585, -0.002276275074109435, -0.004566465504467487, 0.9998873472213745, 0.014115443453192711], "tcp_vel": [-0.00011826641275547445, -0.00021664233645424247, 9.91032793535851e-05, -0.0009307368309237063, 0.00019775186956394464, 0.0006924887420609593], "flange_pose": [0.6786673069000244, 0.0285000279545784, -0.06502459943294525, -0.002276275074109435, -0.004566465504467487, 0.9998873472213745, 0.014115443453192711], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80713653564453, 15.22874927520752, 28.182397842407227, 0.37390199303627014, -24.036788940429688, 1.8038393259048462], "ext_wrench_in_world": [-108.07153252938859, 15.025572154037043, -27.263841967761753, -0.16436923805964337, -23.97876574113137, -2.4804511417007507]}
+{"timestamp_ns": 1789729713914227782, "elapsed_ms": 3066, "source_timestamp_ns": 1789729713909285969, "q": [0.8364328145980835, -1.897045373916626, -1.0061200857162476, 1.3811339139938354, -0.16142401099205017, 0.5942378044128418, 0.703748345375061], "theta": [0.838513195514679, -1.8950904607772827, -1.0043288469314575, 1.3627288341522217, -0.16201455891132355, 0.5941940546035767, 0.7037222385406494], "dq": [0.0027428241446614265, -0.0023742839694023132, -0.0006723301485180855, -0.00065553595777601, -0.0027832849882543087, -0.0003582151257432997, 0.0013139175716787577], "dtheta": [4.6812281652819365e-05, -0.00016109990247059613, -0.00029052476747892797, 0.00020094914361834526, 0.00034510932164266706, 0.00043853645911440253, -0.0003770830517169088], "tau": [55.59000015258789, 23.489999771118164, 5.4760003089904785, -26.264001846313477, -2.572000026702881, 2.6520001888275146, -0.5440000295639038], "tau_des": [0.5034456253051758, -0.5604219436645508, -0.15929362177848816, -0.5373324155807495, 0.925778865814209, -1.1739319562911987, -0.5515756607055664], "tau_dot": [66.27476501464844, -168.09205627441406, -0.18441936373710632, 36.47671890258789, 30.03423500061035, -19.683061599731445, -8.602898597717285], "tau_ext": [-16.742502212524414, -41.632144927978516, 31.822509765625, 31.338281631469727, 9.503439903259277, -2.9966964721679688, -0.1259986013174057], "tcp_pose": [0.6779677867889404, 0.0327279195189476, -0.21496330201625824, -0.0022740561980754137, -0.004564599599689245, 0.9998874068260193, 0.01411298755556345], "tcp_vel": [2.0311354091973044e-05, -5.783492815680802e-05, -0.00010007648234022781, 8.264748612418771e-05, -0.00012808867904823273, 0.00011064014688599855], "flange_pose": [0.6786692142486572, 0.028497613966464996, -0.06502460688352585, -0.0022740561980754137, -0.004564599599689245, 0.9998874068260193, 0.01411298755556345], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83489227294922, 15.20888900756836, 28.166826248168945, 0.36431244015693665, -24.036935806274414, 1.8010605573654175], "ext_wrench_in_world": [-108.09885698154415, 15.005301585211322, -27.24926496032807, -0.154845647391048, -23.978914293437022, -2.4776032317127146]}
+{"timestamp_ns": 1789729713947575806, "elapsed_ms": 3100, "source_timestamp_ns": 1789729713939221242, "q": [0.836432695388794, -1.8970483541488647, -1.0061215162277222, 1.3811335563659668, -0.1614217758178711, 0.5942315459251404, 0.7037479281425476], "theta": [0.8385136127471924, -1.8950932025909424, -1.0043306350708008, 1.3627277612686157, -0.16201288998126984, 0.5941873788833618, 0.7037217617034912], "dq": [0.0013568433932960033, -0.0033368889708071947, 0.0007445094524882734, -0.00044923799578100443, 0.00010102822125190869, -0.0006504031480289996, 0.00013441142800729722], "dtheta": [-7.957530033309013e-05, 3.1672578188590705e-05, 0.0002673493872862309, -0.0003678117354866117, 0.0005164853646419942, -0.00028016496798954904, 0.0001825879153329879], "tau": [55.55999755859375, 23.56999969482422, 5.4720001220703125, -26.312002182006836, -2.556000232696533, 2.6440000534057617, -0.5360000133514404], "tau_des": [0.5019428730010986, -0.5574761629104614, -0.21438631415367126, -0.5283476710319519, 0.9070874452590942, -1.1619513034820557, -0.5595457553863525], "tau_dot": [-83.53087615966797, -71.14098358154297, -10.70914077758789, -28.460481643676758, 40.57114028930664, 10.689188957214355, 16.920867919921875], "tau_ext": [-16.745283126831055, -41.59895324707031, 31.80887794494629, 31.33963394165039, 9.50503921508789, -2.9903690814971924, -0.1266414225101471], "tcp_pose": [0.6779661178588867, 0.032727207988500595, -0.2149651050567627, -0.0022767495829612017, -0.004564656876027584, 0.9998874068260193, 0.01411016471683979], "tcp_vel": [-7.650128100067377e-05, 0.0002006389549933374, 5.994849561830051e-05, 0.0005418391083367169, 0.00037149275885894895, -0.00035404175287112594], "flange_pose": [0.6786683797836304, 0.02849775366485119, -0.06502638757228851, -0.0022767495829612017, -0.004564656876027584, 0.9998874068260193, 0.01411016471683979], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82127380371094, 15.183903694152832, 28.1449031829834, 0.34853193163871765, -24.026901245117188, 1.7976468801498413], "ext_wrench_in_world": [-108.08505918724134, 14.979657827160318, -27.227622428323716, -0.1391493307377145, -23.96884941408938, -2.473840634349896]}
+{"timestamp_ns": 1789729713980932988, "elapsed_ms": 3133, "source_timestamp_ns": 1789729713979227358, "q": [0.8364331126213074, -1.8970515727996826, -1.006121277809143, 1.3811331987380981, -0.16141873598098755, 0.59422767162323, 0.703739583492279], "theta": [0.8385146260261536, -1.8950971364974976, -1.0043308734893799, 1.3627272844314575, -0.16200999915599823, 0.5941823720932007, 0.7037124037742615], "dq": [-0.0012678734492510557, 0.001068362151272595, 0.00022578836069442332, 0.0015778912929818034, -0.0017270607640966773, 0.0018928927602246404, -0.00025236737565137446], "dtheta": [-0.00012884974421467632, -5.970448910375126e-05, 0.00010986348206643015, 3.7211542803561315e-05, 0.0005411552265286446, -0.0003789730544667691, -0.000910958566237241], "tau": [55.529998779296875, 23.59000015258789, 5.460000038146973, -26.352001190185547, -2.568000078201294, 2.6440000534057617, -0.5960000157356262], "tau_des": [0.5841853022575378, -0.4841150939464569, -0.2378198206424713, -0.6078920364379883, 0.9055694937705994, -1.1327050924301147, -0.5255264639854431], "tau_dot": [-90.35653686523438, 26.44105339050293, -47.197566986083984, 4.531822204589844, 8.358850479125977, -28.11656379699707, -82.49270629882812], "tau_ext": [-16.7578067779541, -41.609107971191406, 31.793682098388672, 31.354202270507812, 9.496140480041504, -2.9946746826171875, -0.11884612590074539], "tcp_pose": [0.6779642701148987, 0.03272796794772148, -0.2149662971496582, -0.0022786827757954597, -0.00456917192786932, 0.9998874068260193, 0.014108825474977493], "tcp_vel": [-0.00023918121587485075, 4.925764733343385e-05, -0.00020323577336966991, 9.690478327684104e-05, 0.0007540781516581774, 0.0007425362709909678], "flange_pose": [0.6786671280860901, 0.028498921543359756, -0.06502757221460342, -0.0022786827757954597, -0.00456917192786932, 0.9998874068260193, 0.014108825474977493], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8227310180664, 15.169569969177246, 28.15048599243164, 0.34276166558265686, -24.029560089111328, 1.7972044944763184], "ext_wrench_in_world": [-108.08665004958027, 14.96441909118149, -27.233238536340256, -0.13314451638424027, -23.97147434722761, -2.473434411609978]}
+{"timestamp_ns": 1789729714014259780, "elapsed_ms": 3166, "source_timestamp_ns": 1789729714009221057, "q": [0.8364342451095581, -1.8970532417297363, -1.0061206817626953, 1.3811330795288086, -0.16141675412654877, 0.5942288637161255, 0.7037311792373657], "theta": [0.8385162353515625, -1.8950985670089722, -1.0043307542800903, 1.3627270460128784, -0.16200760006904602, 0.5941833257675171, 0.7037035226821899], "dq": [0.0011131587671115994, 0.0012420463608577847, -0.0009401932475157082, -0.0008640224114060402, 0.0010320048313587904, -0.0012918369611725211, -0.0010739790741354227], "dtheta": [-8.89990697032772e-05, -0.0003075367130804807, -1.6588874132139608e-05, -0.0003902230819221586, -0.0006437834817916155, 0.0002910736366175115, -0.000584684603381902], "tau": [55.56999969482422, 23.619998931884766, 5.484000205993652, -26.296001434326172, -2.568000078201294, 2.6600000858306885, -0.5680000185966492], "tau_des": [0.4969119131565094, -0.509510338306427, -0.2532314360141754, -0.51944899559021, 0.9506973624229431, -1.1792351007461548, -0.5129112005233765], "tau_dot": [-2.8243050575256348, -9.312050819396973, 15.090499877929688, -3.411318063735962, -31.297794342041016, 29.935184478759766, 17.16355323791504], "tau_ext": [-16.75559425354004, -41.61872482299805, 31.790475845336914, 31.344518661499023, 9.488764762878418, -2.9900667667388916, -0.10313881188631058], "tcp_pose": [0.6779638528823853, 0.03272915631532669, -0.21496592462062836, -0.0022782133892178535, -0.004573571030050516, 0.9998874068260193, 0.014109495095908642], "tcp_vel": [0.00019885817891918123, 0.00015683604578953236, 0.00010770115477498621, -0.00022157456260174513, -0.0008221179596148431, 0.001067239441908896], "flange_pose": [0.6786665916442871, 0.028499910607933998, -0.06502721458673477, -0.0022782133892178535, -0.004573571030050516, 0.9998874068260193, 0.014109495095908642], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84796142578125, 15.157517433166504, 28.158567428588867, 0.34536659717559814, -24.042003631591797, 1.8041223287582397], "ext_wrench_in_world": [-108.11191016263872, 14.951455362154906, -27.24163911373465, -0.13545560662009937, -23.983739154795494, -2.4807220760106783]}
+{"timestamp_ns": 1789729714047601538, "elapsed_ms": 3200, "source_timestamp_ns": 1789729714039236872, "q": [0.836435854434967, -1.897052526473999, -1.006121277809143, 1.3811341524124146, -0.16141420602798462, 0.5942295789718628, 0.7037323713302612], "theta": [0.8385177850723267, -1.895098328590393, -1.004331350326538, 1.3627276420593262, -0.1620049625635147, 0.5941835641860962, 0.7037039995193481], "dq": [0.0006594654987566173, -0.0023465093690901995, -0.0009012484224513173, -0.001467802794650197, 0.0009968011872842908, -0.00046249388833530247, -0.002170369029045105], "dtheta": [-4.16357142967172e-05, -5.4169791837921366e-05, -2.2829242880106904e-05, 0.0004131570167373866, -7.478424959117547e-05, 0.00027122627943754196, 0.0010928540723398328], "tau": [55.52000045776367, 23.60999870300293, 5.492000102996826, -26.336000442504883, -2.556000232696533, 2.6720001697540283, -0.5640000104904175], "tau_des": [0.5717002749443054, -0.535781979560852, -0.22078388929367065, -0.5894023180007935, 0.9076182246208191, -1.1545617580413818, -0.5542253255844116], "tau_dot": [-170.2637481689453, 32.99717712402344, 41.02445602416992, -10.40540599822998, -28.48204231262207, 52.433528900146484, 15.962686538696289], "tau_ext": [-16.769201278686523, -41.63195037841797, 31.79427719116211, 31.350418090820312, 9.485838890075684, -2.9980392456054688, -0.09946636855602264], "tcp_pose": [0.67796391248703, 0.03272870182991028, -0.21496526896953583, -0.002278168685734272, -0.004571894649416208, 0.9998874068260193, 0.014110262505710125], "tcp_vel": [-0.0001166753500001505, -3.8271904486464337e-05, -0.00019288728071842343, -0.00016612211766187102, 0.00015077125863172114, -0.0009717466309666634], "flange_pose": [0.6786666512489319, 0.02849922515451908, -0.06502655148506165, -0.002278168685734272, -0.004571894649416208, 0.9998874068260193, 0.014110262505710125], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8202133178711, 15.180176734924316, 28.167280197143555, 0.35552528500556946, -24.03889274597168, 1.8114044666290283], "ext_wrench_in_world": [-108.08435888224174, 14.975010397967333, -27.24981225466882, -0.14575655189583142, -23.980513594608453, -2.4879050602284525]}
+{"timestamp_ns": 1789729714080922238, "elapsed_ms": 3233, "source_timestamp_ns": 1789729714079278979, "q": [0.8364370465278625, -1.8970528841018677, -1.0061246156692505, 1.3811343908309937, -0.16141200065612793, 0.5942290425300598, 0.7037333250045776], "theta": [0.8385192155838013, -1.8950986862182617, -1.0043354034423828, 1.3627278804779053, -0.1620025783777237, 0.5941835641860962, 0.7037044763565063], "dq": [0.0008827924611978233, 0.002166887279599905, -0.0017948333406820893, 0.0027062194421887398, -0.0017466330900788307, 0.0003445933689363301, 0.000403148791519925], "dtheta": [1.9292054275865667e-05, -6.626373215112835e-05, -0.00017432445019949228, -0.00016454111027996987, 0.00026517294463701546, -0.0006340356194414198, 0.0001448920666007325], "tau": [55.56999969482422, 23.639999389648438, 5.448000431060791, -26.312002182006836, -2.56000018119812, 2.6560001373291016, -0.5400000214576721], "tau_des": [0.5241244435310364, -0.5587565302848816, -0.19778412580490112, -0.5528448820114136, 0.9091753363609314, -1.1526912450790405, -0.548005998134613], "tau_dot": [7.2641215324401855, 11.497750282287598, -38.79764938354492, -38.6435546875, -16.28188705444336, -51.11513137817383, 49.63568115234375], "tau_ext": [-16.75748062133789, -41.62837219238281, 31.799901962280273, 31.346675872802734, 9.48180103302002, -2.999229907989502, -0.10894276201725006], "tcp_pose": [0.6779646873474121, 0.03272699564695358, -0.2149651199579239, -0.002277937950566411, -0.004569782875478268, 0.9998874068260193, 0.014109482057392597], "tcp_vel": [-4.532273669610731e-05, -0.0001264600723516196, -3.67168577213306e-05, -0.00031654755002819, 0.00042384452535770833, -0.00038075889460742474], "flange_pose": [0.6786673665046692, 0.02849774993956089, -0.06502640247344971, -0.002277937950566411, -0.004569782875478268, 0.9998874068260193, 0.014109482057392597], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81529998779297, 15.20262622833252, 28.16937255859375, 0.3636903166770935, -24.036651611328125, 1.8112900257110596], "ext_wrench_in_world": [-108.07958489233386, 14.997968259164812, -27.251359298921553, -0.1540412832434561, -23.97835509924718, -2.4876536948521144]}
+{"timestamp_ns": 1789729714114254798, "elapsed_ms": 3266, "source_timestamp_ns": 1789729714109264188, "q": [0.8364384174346924, -1.8970544338226318, -1.0061275959014893, 1.3811343908309937, -0.16141246259212494, 0.594228982925415, 0.7037341594696045], "theta": [0.8385205864906311, -1.8950995206832886, -1.0043396949768066, 1.3627281188964844, -0.1620025783777237, 0.5941833257675171, 0.7037047147750854], "dq": [0.002887049922719598, -0.00014461988757830113, 0.0011692759580910206, -0.00010467041283845901, 0.0019231911282986403, 0.0009808886097744107, -0.0007003851933404803], "dtheta": [-0.00012174675066489726, -0.00031207859865389764, 3.923686745110899e-05, -0.00035134467179886997, 0.0007473960868082941, -0.0010367988143116236, 5.158172643859871e-05], "tau": [55.59000015258789, 23.619998931884766, 5.468000411987305, -26.316001892089844, -2.568000078201294, 2.6560001373291016, -0.5800000429153442], "tau_des": [0.5654942989349365, -0.49975088238716125, -0.2377173751592636, -0.5783885717391968, 0.8961277604103088, -1.1422373056411743, -0.5473508834838867], "tau_dot": [57.18952560424805, 20.21906852722168, 38.823516845703125, 4.375065803527832, 1.7183140516281128, -25.47036361694336, -75.9434814453125], "tau_ext": [-16.753067016601562, -41.62535858154297, 31.819734573364258, 31.352693557739258, 9.485569953918457, -3.003444194793701, -0.114231176674366], "tcp_pose": [0.6779656410217285, 0.032725740224123, -0.21496474742889404, -0.0022766718175262213, -0.004568958189338446, 0.9998874664306641, 0.01410781778395176], "tcp_vel": [-0.00028019712772220373, 6.97848154231906e-05, -0.00019561764202080667, -0.0002190408413298428, 0.0010517219780012965, -0.00026021027588285506], "flange_pose": [0.6786679029464722, 0.028496991842985153, -0.06502601504325867, -0.0022766718175262213, -0.004568958189338446, 0.9998874664306641, 0.01410781778395176], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80758666992188, 15.202323913574219, 28.15517234802246, 0.36237862706184387, -24.02759552001953, 1.8057717084884644], "ext_wrench_in_world": [-108.07170879897492, 14.997427534793692, -27.2375301839387, -0.15281994291940754, -23.969454497851586, -2.481808483074349]}
+{"timestamp_ns": 1789729714147606704, "elapsed_ms": 3300, "source_timestamp_ns": 1789729714139229270, "q": [0.8364393711090088, -1.897058129310608, -1.0061323642730713, 1.3811341524124146, -0.16141386330127716, 0.5942287445068359, 0.7037345170974731], "theta": [0.838520884513855, -1.8951034545898438, -1.0043444633483887, 1.3627281188964844, -0.1620040088891983, 0.594183087348938, 0.7037044763565063], "dq": [-0.0001349183003185317, -0.0002890632604248822, -0.00040014658588916063, 0.0002292738063260913, -0.0009798606624826789, 0.001452598487958312, -0.0024198677856475115], "dtheta": [-0.0003904934856109321, -2.1828211174579337e-05, 8.492659981129691e-05, -0.0001543584221508354, -5.9030295233242214e-05, -0.0002793419116642326, -0.0005785113316960633], "tau": [55.57999801635742, 23.59000015258789, 5.448000431060791, -26.312002182006836, -2.5880000591278076, 2.684000015258789, -0.5640000104904175], "tau_des": [0.5744406580924988, -0.5188593864440918, -0.21077579259872437, -0.5741710662841797, 0.9189141392707825, -1.1555681228637695, -0.5319170951843262], "tau_dot": [120.067626953125, -60.42776870727539, 29.800588607788086, 18.589397430419922, -48.815521240234375, 2.2019431591033936, -17.11835479736328], "tau_ext": [-16.768993377685547, -41.60877990722656, 31.817508697509766, 31.348114013671875, 9.490086555480957, -3.0004353523254395, -0.11809264123439789], "tcp_pose": [0.6779666543006897, 0.03272414207458496, -0.2149653285741806, -0.002275119535624981, -0.004568774718791246, 0.9998875260353088, 0.014104434289038181], "tcp_vel": [-0.00010181770630879328, 3.461446613073349e-05, -0.00022463373898062855, -9.006164327729493e-05, 0.00045562387094832957, 0.0006675791228190064], "flange_pose": [0.6786684393882751, 0.028496405109763145, -0.06502656638622284, -0.002275119535624981, -0.004568774718791246, 0.9998875260353088, 0.014104434289038181], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81905364990234, 15.194235801696777, 28.149066925048828, 0.35668548941612244, -24.02357292175293, 1.8015806674957275], "ext_wrench_in_world": [-108.08298204168261, 14.988924193296949, -27.232044447927073, -0.14714570766619528, -23.965516113721687, -2.4773693528209746]}
+{"timestamp_ns": 1789729714181020213, "elapsed_ms": 3333, "source_timestamp_ns": 1789729714179224754, "q": [0.8364413976669312, -1.8970603942871094, -1.0061341524124146, 1.3811336755752563, -0.1614144742488861, 0.5942244529724121, 0.7037346959114075], "theta": [0.8385220170021057, -1.8951059579849243, -1.0043474435806274, 1.362727403640747, -0.1620047390460968, 0.5941790342330933, 0.7037044763565063], "dq": [-0.0002191750827478245, -0.001215724740177393, 0.00018695450853556395, 0.00021751457825303078, -0.0025035603903234005, 0.00029624238959513605, 0.002362089930102229], "dtheta": [-8.558649824408349e-06, 9.333401976618916e-05, 1.5135403373278677e-05, 5.260240868665278e-06, -0.00042143784230574965, 0.00016577310452703387, -0.00047831557458266616], "tau": [55.54999923706055, 23.59000015258789, 5.468000411987305, -26.280000686645508, -2.564000129699707, 2.640000104904175, -0.5320000052452087], "tau_des": [0.48122814297676086, -0.5743818879127502, -0.18798202276229858, -0.5192762613296509, 0.9410005807876587, -1.1760623455047607, -0.5338447093963623], "tau_dot": [-44.85111999511719, 82.09561157226562, 8.289328575134277, 4.639883041381836, 54.72776412963867, 10.557552337646484, 48.74649429321289], "tau_ext": [-16.75347328186035, -41.6072998046875, 31.824872970581055, 31.346750259399414, 9.498820304870605, -2.9950759410858154, -0.12077963352203369], "tcp_pose": [0.6779665946960449, 0.03272315114736557, -0.21496491134166718, -0.002275072271004319, -0.0045689428225159645, 0.9998875260353088, 0.014101610518991947], "tcp_vel": [0.00010420860780868679, -2.359722748224158e-05, 7.385417120531201e-05, -7.517109042964876e-05, -0.00035475887125357985, 0.000656867865473032], "flange_pose": [0.6786683797836304, 0.028496261686086655, -0.06502611935138702, -0.002275072271004319, -0.0045689428225159645, 0.9998875260353088, 0.014101610518991947], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8321762084961, 15.172953605651855, 28.13660430908203, 0.34329235553741455, -24.01976776123047, 1.7955982685089111], "ext_wrench_in_world": [-108.09585432913292, 14.96698809839663, -27.220227646781325, -0.13375116377733834, -23.96177201175368, -2.4712059342789447]}
+{"timestamp_ns": 1789729714214335345, "elapsed_ms": 3366, "source_timestamp_ns": 1789729714209224401, "q": [0.8364430069923401, -1.8970625400543213, -1.0061349868774414, 1.3811334371566772, -0.16141332685947418, 0.5942190885543823, 0.7037343978881836], "theta": [0.8385230302810669, -1.8951078653335571, -1.0043470859527588, 1.362727165222168, -0.1620037704706192, 0.5941730737686157, 0.7037047147750854], "dq": [0.0005024033598601818, 0.0006920365267433226, 4.671407077694312e-05, -0.0017284475034102798, 0.00031094977748580277, -0.002523367293179035, 0.0016708776820451021], "dtheta": [-0.0003857444098684937, -0.00037968624383211136, -0.00013055648014415056, 2.9464206818374805e-05, 0.0005001664394512773, 4.1170031181536615e-05, 0.0006575988372787833], "tau": [55.55999755859375, 23.600000381469727, 5.4760003089904785, -26.30000114440918, -2.56000018119812, 2.6520001888275146, -0.5520000457763672], "tau_des": [0.6311168074607849, -0.48360753059387207, -0.20233477652072906, -0.620577335357666, 0.9012346267700195, -1.1391019821166992, -0.5580833554267883], "tau_dot": [0.7162652611732483, 14.418411254882812, 1.1602752208709717, 9.935799598693848, 27.50721549987793, -1.0221189260482788, 11.961654663085938], "tau_ext": [-16.751888275146484, -41.59792709350586, 31.816938400268555, 31.3430233001709, 9.496333122253418, -2.9921202659606934, -0.12161204218864441], "tcp_pose": [0.677965521812439, 0.032722607254981995, -0.21496514976024628, -0.0022764417808502913, -0.0045692636631429195, 0.9998875856399536, 0.014099180698394775], "tcp_vel": [-0.0002125592582160607, 7.577588985441253e-05, -0.00043083721539005637, -4.7540492232656106e-05, 0.0006331891054287553, -0.0007684159209020436], "flange_pose": [0.6786677241325378, 0.028496447950601578, -0.06502633541822433, -0.0022764417808502913, -0.0045692636631429195, 0.9998875856399536, 0.014099180698394775], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82347869873047, 15.172776222229004, 28.138626098632812, 0.3397494852542877, -24.021512985229492, 1.7953215837478638], "ext_wrench_in_world": [-108.08724915595387, 14.966740508892016, -27.222072370455432, -0.1301814863567932, -23.9635037954419, -2.4708771778059453]}
+{"timestamp_ns": 1789729714247672663, "elapsed_ms": 3400, "source_timestamp_ns": 1789729714239223408, "q": [0.8364431262016296, -1.8970630168914795, -1.006134033203125, 1.3811333179473877, -0.16141244769096375, 0.594217836856842, 0.7037331461906433], "theta": [0.8385241627693176, -1.8951083421707153, -1.0043456554412842, 1.362727403640747, -0.1620025783777237, 0.5941716432571411, 0.7037030458450317], "dq": [-0.002070089103654027, 0.0003544321225490421, -0.0018620002083480358, 0.0004604373825713992, -0.00206713005900383, 6.50309884804301e-05, -0.001801497070118785], "dtheta": [-0.0003774839860852808, 6.408095214283094e-05, 6.727453728672117e-05, 1.763503132679034e-05, -0.0002762195945251733, 0.00011397098569432274, -0.0004089150170329958], "tau": [55.55999755859375, 23.59000015258789, 5.468000411987305, -26.312002182006836, -2.5480000972747803, 2.6640000343322754, -0.5440000295639038], "tau_des": [0.5769814848899841, -0.5251352787017822, -0.21408364176750183, -0.5797788500785828, 0.9194395542144775, -1.1549662351608276, -0.5316343903541565], "tau_dot": [-96.72941589355469, -18.294231414794922, -33.197689056396484, -31.63443946838379, 8.330252647399902, 19.07084083557129, 24.785993576049805], "tau_ext": [-16.76194190979004, -41.610565185546875, 31.80238914489746, 31.34905242919922, 9.491853713989258, -2.9897401332855225, -0.1193888708949089], "tcp_pose": [0.6779648661613464, 0.032723188400268555, -0.21496525406837463, -0.0022771579679101706, -0.004570120945572853, 0.9998875856399536, 0.01409928034991026], "tcp_vel": [-3.456998820183799e-05, 1.3420175491773989e-05, -0.0002054239739663899, -1.4746863598702475e-05, 0.00016217748634517193, 0.0005663532065227628], "flange_pose": [0.6786672472953796, 0.0284970011562109, -0.06502644717693329, -0.0022771579679101706, -0.004570120945572853, 0.9998875856399536, 0.01409928034991026], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83250427246094, 15.150733947753906, 28.143665313720703, 0.33472663164138794, -24.028215408325195, 1.7952194213867188], "ext_wrench_in_world": [-108.09616213069127, 14.944584747534412, -27.227536308960005, -0.12505951766406767, -23.97015966458108, -2.4709909286078653]}
+{"timestamp_ns": 1789729714280999863, "elapsed_ms": 3433, "source_timestamp_ns": 1789729714279254397, "q": [0.8364452123641968, -1.8970634937286377, -1.0061347484588623, 1.3811346292495728, -0.1614108681678772, 0.5942153334617615, 0.7037325501441956], "theta": [0.8385264873504639, -1.8951082229614258, -1.0043456554412842, 1.362728476524353, -0.1620011329650879, 0.5941694974899292, 0.7037028074264526], "dq": [-4.419105243869126e-05, -0.0006105264183133841, 0.000507459684740752, 0.00046503107296302915, -0.0015970445238053799, 0.0003974167339038104, 0.0033730599097907543], "dtheta": [0.0003780917904805392, 0.00042387968278490007, -0.00014225096674636006, 4.797186920768581e-05, 0.00034800611319951713, -0.0004984726547263563, 0.00028572871815413237], "tau": [55.54999923706055, 23.6299991607666, 5.460000038146973, -26.280000686645508, -2.556000232696533, 2.6440000534057617, -0.5640000104904175], "tau_des": [0.43471187353134155, -0.6443783640861511, -0.15518319606781006, -0.5081077218055725, 0.9147879481315613, -1.1601711511611938, -0.556550920009613], "tau_dot": [-26.396217346191406, 20.032886505126953, -42.005348205566406, -60.87327575683594, 8.522690773010254, -6.255319595336914, -53.40275192260742], "tau_ext": [-16.738901138305664, -41.62675476074219, 31.792673110961914, 31.34909439086914, 9.48902416229248, -2.9970457553863525, -0.11709899455308914], "tcp_pose": [0.6779642701148987, 0.03272237628698349, -0.21496503055095673, -0.002277890220284462, -0.00456999009475112, 0.9998875856399536, 0.014098136685788631], "tcp_vel": [8.281722693936899e-05, -0.00026657592388801277, 0.0002674705465324223, 8.51756994961761e-05, 0.00019224245625082403, -0.0008430363959632814], "flange_pose": [0.678666889667511, 0.028496533632278442, -0.06502621620893478, -0.002277890220284462, -0.00456999009475112, 0.9998875856399536, 0.014098136685788631], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83938598632812, 15.160112380981445, 28.16107940673828, 0.34686243534088135, -24.040489196777344, 1.7997875213623047], "ext_wrench_in_world": [-108.1032463241545, 14.954349343158896, -27.24452496496885, -0.13711395896233775, -23.98241669532118, -2.4757945604811313]}
+{"timestamp_ns": 1789729714314336252, "elapsed_ms": 3466, "source_timestamp_ns": 1789729714309304558, "q": [0.8364448547363281, -1.8970633745193481, -1.006134271621704, 1.3811352252960205, -0.16141162812709808, 0.5942155122756958, 0.7037321329116821], "theta": [0.838526725769043, -1.8951081037521362, -1.0043456554412842, 1.3627293109893799, -0.16200138628482819, 0.5941697359085083, 0.7037025690078735], "dq": [0.0008684123167768121, 0.0016071668360382318, -0.0015702167293056846, 0.0014859059592708945, -0.0003953325795009732, -0.0008845257107168436, -0.00012579179019667208], "dtheta": [-0.0002303452492924407, 9.287483408115804e-05, -5.819248690386303e-05, -4.6090000978438184e-05, -0.00023846857948228717, -0.00043705973075702786, 0.0003750315518118441], "tau": [55.57999801635742, 23.6299991607666, 5.496000289916992, -26.34800148010254, -2.56000018119812, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.5637703537940979, -0.5569034814834595, -0.1945948302745819, -0.5776405334472656, 0.9114930033683777, -1.1455109119415283, -0.5487457513809204], "tau_dot": [50.62778854370117, -82.7132568359375, 31.307575225830078, -68.18819427490234, 18.455062866210938, -55.62767791748047, -50.23332977294922], "tau_ext": [-16.75261116027832, -41.63154983520508, 31.794260025024414, 31.33500099182129, 9.489416122436523, -2.991264820098877, -0.11590321362018585], "tcp_pose": [0.67796391248703, 0.03272252157330513, -0.21496543288230896, -0.002278144471347332, -0.004570614546537399, 0.9998875856399536, 0.014097979292273521], "tcp_vel": [-3.637813642853871e-05, -0.00013628699525725096, -0.00014144372835289687, -0.00037739297840744257, 0.00038375711301341653, -0.0003424499009270221], "flange_pose": [0.6786665916442871, 0.028496725484728813, -0.06502661108970642, -0.002278144471347332, -0.004570614546537399, 0.9998875856399536, 0.014097979292273521], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80143737792969, 15.197867393493652, 28.167591094970703, 0.3590908646583557, -24.03472900390625, 1.8031487464904785], "ext_wrench_in_world": [-108.06570498912556, 14.992476104026366, -27.250088580128956, -0.1493808500810569, -23.976677846564705, -2.4789301615708754]}
+{"timestamp_ns": 1789729714347665692, "elapsed_ms": 3500, "source_timestamp_ns": 1789729714339232375, "q": [0.8364464044570923, -1.8970638513565063, -1.0061360597610474, 1.38113534450531, -0.16141094267368317, 0.5942162871360779, 0.7037316560745239], "theta": [0.8385281562805176, -1.8951081037521362, -1.004347324371338, 1.3627300262451172, -0.16200090944766998, 0.5941702127456665, 0.7037030458450317], "dq": [-0.001774718752130866, 0.0013412603875622153, 0.001398360705934465, 0.0025909971445798874, -0.0003933334955945611, 0.0021877719555050135, -0.0009289530571550131], "dtheta": [0.0002693269634619355, -0.0002489761682227254, -9.064945334102958e-05, -5.7649300288176164e-05, 0.00031585944816470146, -0.0006848775665275753, 0.00028340512653812766], "tau": [55.55999755859375, 23.600000381469727, 5.464000225067139, -26.288002014160156, -2.568000078201294, 2.640000104904175, -0.5400000214576721], "tau_des": [0.49623361229896545, -0.5431795120239258, -0.2173503190279007, -0.5464695692062378, 0.9140158891677856, -1.1538867950439453, -0.550406277179718], "tau_dot": [-34.194183349609375, -89.70297241210938, -26.335777282714844, 1.1291321516036987, -8.014891624450684, -57.5216064453125, 12.572652816772461], "tau_ext": [-16.76791763305664, -41.64884948730469, 31.797693252563477, 31.35219383239746, 9.495820999145508, -2.9949395656585693, -0.11769293248653412], "tcp_pose": [0.6779646873474121, 0.032721780240535736, -0.2149646133184433, -0.00227701710537076, -0.004570203833281994, 0.9998875856399536, 0.014097685925662518], "tcp_vel": [-0.00012648919073399156, -5.148246418684721e-05, 2.5556340915500186e-05, -0.00046257409849204123, 0.00035691188531927764, -0.0003479945007711649], "flange_pose": [0.6786670684814453, 0.028496073558926582, -0.06502579152584076, -0.00227701710537076, -0.004570203833281994, 0.9998875856399536, 0.014097685925662518], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81668853759766, 15.190773010253906, 28.169231414794922, 0.3592612147331238, -24.039880752563477, 1.8042484521865845], "ext_wrench_in_world": [-108.08082468843295, 14.985366973588008, -27.25211224286642, -0.14952444382079097, -23.981799225991494, -2.4801604827177943]}
+{"timestamp_ns": 1789729714381003750, "elapsed_ms": 3533, "source_timestamp_ns": 1789729714379250215, "q": [0.8364465832710266, -1.897064208984375, -1.0061403512954712, 1.3811370134353638, -0.16141213476657867, 0.5942155718803406, 0.7037321925163269], "theta": [0.8385291695594788, -1.8951082229614258, -1.0043513774871826, 1.3627307415008545, -0.1620018631219864, 0.5941697359085083, 0.703703761100769], "dq": [0.00044231704669073224, -0.0010013346327468753, 0.000570122676435858, -0.0005567730986513197, -0.0005030318861827254, 0.0001722852175589651, 0.0030971020460128784], "dtheta": [0.0001692185760475695, 0.0004822021001018584, 9.65973740676418e-05, -0.00010216503869742155, -0.000273078796453774, -0.0001437719474779442, 0.00018683548842091113], "tau": [55.56999969482422, 23.670000076293945, 5.444000244140625, -26.292001724243164, -2.568000078201294, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.4290395677089691, -0.6541045904159546, -0.16648806631565094, -0.4840052127838135, 0.9256791472434998, -1.1790932416915894, -0.5524762868881226], "tau_dot": [-11.091302871704102, 45.627769470214844, -14.945998191833496, -30.807815551757812, 31.862014770507812, 5.261805534362793, -5.1187543869018555], "tau_ext": [-16.758771896362305, -41.639156341552734, 31.80704689025879, 31.348899841308594, 9.500308990478516, -2.997514247894287, -0.12385168671607971], "tcp_pose": [0.6779654622077942, 0.03271898627281189, -0.2149655669927597, -0.0022768566850572824, -0.004569000098854303, 0.9998876452445984, 0.014095067046582699], "tcp_vel": [0.00018313586770091206, -0.00011097548122052103, 0.0003146846720483154, 0.00021368749730754644, -0.00025892190751619637, -0.00030325265834107995], "flange_pose": [0.6786677837371826, 0.028494063764810562, -0.06502673029899597, -0.0022768566850572824, -0.004569000098854303, 0.9998876452445984, 0.014095067046582699], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81642150878906, 15.198946952819824, 28.185020446777344, 0.3599855303764343, -24.038217544555664, 1.80303156375885], "ext_wrench_in_world": [-108.08066131072852, 14.994101051588402, -27.267777637921107, -0.1503149071575526, -23.980190331744502, -2.4787682835167333]}
+{"timestamp_ns": 1789729714414317872, "elapsed_ms": 3566, "source_timestamp_ns": 1789729714409227056, "q": [0.836447536945343, -1.8970670700073242, -1.0061421394348145, 1.3811360597610474, -0.16141320765018463, 0.5942126512527466, 0.7037320137023926], "theta": [0.8385301232337952, -1.8951109647750854, -1.0043525695800781, 1.3627309799194336, -0.1620030552148819, 0.5941668748855591, 0.703703761100769], "dq": [-0.0008626702474430203, 0.00023694874835200608, 0.0015442154835909605, 0.0019007602240890265, 0.0015546994982287288, -9.024541213875636e-05, 0.0003131016856059432], "dtheta": [9.552289702696726e-05, -0.00014401918451767415, -0.00010125339031219482, 0.00029878338682465255, -0.0010736193507909775, -0.0007683961885049939, -0.00020974117796868086], "tau": [55.53999710083008, 23.59000015258789, 5.460000038146973, -26.280000686645508, -2.5840001106262207, 2.6560001373291016, -0.527999997138977], "tau_des": [0.5417740345001221, -0.5351946949958801, -0.18077310919761658, -0.5947602987289429, 0.946756899356842, -1.1329573392868042, -0.5347532629966736], "tau_dot": [-31.6212158203125, -30.30431365966797, 25.159740447998047, 11.472504615783691, -30.313199996948242, -23.562150955200195, 39.86186218261719], "tau_ext": [-16.766551971435547, -41.65795135498047, 31.832080841064453, 31.339624404907227, 9.503782272338867, -2.9966986179351807, -0.12528029084205627], "tcp_pose": [0.6779654622077942, 0.03271854296326637, -0.21496573090553284, -0.0022765700705349445, -0.004569720942527056, 0.9998876452445984, 0.014092410914599895], "tcp_vel": [-9.837569814408198e-05, -0.0002673141425475478, -0.00011618568532867357, -0.0015112634282559156, 9.353816858492792e-05, 0.0008965301676653326], "flange_pose": [0.6786676645278931, 0.028494415804743767, -0.06502686440944672, -0.0022765700705349445, -0.004569720942527056, 0.9998876452445984, 0.014092410914599895], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8143539428711, 15.223846435546875, 28.17146110534668, 0.36172762513160706, -24.03076934814453, 1.8006799221038818], "ext_wrench_in_world": [-108.07876114915517, 15.018325877039496, -27.25367706451309, -0.15207729326904249, -23.972841029449388, -2.4760726956198313]}
+{"timestamp_ns": 1789729714447660560, "elapsed_ms": 3600, "source_timestamp_ns": 1789729714439238921, "q": [0.8364483118057251, -1.8970686197280884, -1.0061463117599487, 1.381136417388916, -0.16141147911548615, 0.5942059755325317, 0.7037321329116821], "theta": [0.8385308980941772, -1.8951131105422974, -1.0043563842773438, 1.3627305030822754, -0.1620018631219864, 0.5941604375839233, 0.7037035226821899], "dq": [-0.0005606489139609039, -0.0010777183342725039, -0.0026791419368237257, 0.0003672892053145915, -0.0018960745073854923, -0.00027024676091969013, -0.0003575636656023562], "dtheta": [-0.00018173118587583303, 4.25861326220911e-05, -0.00021208047110121697, -0.00012799787509720773, 0.00044077468919567764, -0.0010844380594789982, -0.0006062082829885185], "tau": [55.5099983215332, 23.56999969482422, 5.4800004959106445, -26.280000686645508, -2.5960001945495605, 2.6440000534057617, -0.5320000052452087], "tau_des": [0.5900635719299316, -0.5403521656990051, -0.14831630885601044, -0.6188065409660339, 0.9056336283683777, -1.1115301847457886, -0.5441131591796875], "tau_dot": [-86.93092346191406, -9.236165046691895, 1.479191541671753, 28.3215389251709, -38.33745193481445, 26.893333435058594, 42.59889221191406], "tau_ext": [-16.749889373779297, -41.623802185058594, 31.805774688720703, 31.341981887817383, 9.507831573486328, -2.9961585998535156, -0.12298087775707245], "tcp_pose": [0.677964985370636, 0.03271564096212387, -0.21496693789958954, -0.002278638770803809, -0.004568265751004219, 0.9998877048492432, 0.014088761992752552], "tcp_vel": [-0.00016909398254938424, -0.00024503018357791007, -0.00022481406631413847, -0.000462768308352679, 0.0010586964199319482, 0.00018976219871547073], "flange_pose": [0.6786678433418274, 0.028492609038949013, -0.06502804160118103, -0.002278638770803809, -0.004568265751004219, 0.9998877048492432, 0.014088761992752552], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8169937133789, 15.211344718933105, 28.154760360717773, 0.35525715351104736, -24.027021408081055, 1.8002811670303345], "ext_wrench_in_world": [-108.08127948430412, 15.005442040840228, -27.23698600640626, -0.14571752987800288, -23.969064136933284, -2.47542086743551]}
+{"timestamp_ns": 1789729714480936837, "elapsed_ms": 3633, "source_timestamp_ns": 1789729714479251163, "q": [0.8364503383636475, -1.8970699310302734, -1.0061463117599487, 1.3811367750167847, -0.1614074558019638, 0.5942050218582153, 0.7037309408187866], "theta": [0.8385329246520996, -1.8951139450073242, -1.0043562650680542, 1.3627307415008545, -0.16199922561645508, 0.5941590070724487, 0.7037028074264526], "dq": [-0.0001732440578052774, 0.0017616382101550698, -0.0017474705819040537, 0.0012131286785006523, 0.00047407051897607744, 0.0002959110715892166, -0.000811365491244942], "dtheta": [-0.00032024289248511195, 0.00018541693862061948, 0.00014119892148301005, -9.083262557396665e-05, 0.0006806222954764962, 0.00016801200399640948, -7.65948643675074e-05], "tau": [55.55999755859375, 23.6299991607666, 5.4760003089904785, -26.34800148010254, -2.572000026702881, 2.688000202178955, -0.5440000295639038], "tau_des": [0.5783101916313171, -0.5508712530136108, -0.20308084785938263, -0.5796502232551575, 0.8858174085617065, -1.1495743989944458, -0.5525469183921814], "tau_dot": [-68.6507339477539, 1.0466567277908325, 13.140453338623047, -2.789409637451172, 1.1295396089553833, 53.16062545776367, 2.054718494415283], "tau_ext": [-16.77337646484375, -41.62673568725586, 31.80447006225586, 31.352724075317383, 9.498680114746094, -2.9967339038848877, -0.12279777228832245], "tcp_pose": [0.6779642105102539, 0.03271614760160446, -0.2149665355682373, -0.0022792289964854717, -0.0045682345516979694, 0.9998877048492432, 0.014089146628975868], "tcp_vel": [-9.215986210620031e-05, 0.00011499354877742007, -0.00015059627185110003, 0.0008127513574436307, 0.0005391443846747279, -0.0003445714828558266], "flange_pose": [0.6786671876907349, 0.0284930020570755, -0.0650276467204094, -0.0022792289964854717, -0.0045682345516979694, 0.9998877048492432, 0.014089146628975868], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80888366699219, 15.199064254760742, 28.157697677612305, 0.3510737419128418, -24.026079177856445, 1.800097107887268], "ext_wrench_in_world": [-108.07310378308418, 14.993350207334217, -27.240164803065436, -0.1415460924249956, -23.968087118878703, -2.4752469768230703]}
+{"timestamp_ns": 1789729714514335527, "elapsed_ms": 3666, "source_timestamp_ns": 1789729714509239082, "q": [0.8364518880844116, -1.8970698118209839, -1.0061466693878174, 1.3811358213424683, -0.16140460968017578, 0.5942040085792542, 0.703728199005127], "theta": [0.8385351300239563, -1.8951140642166138, -1.004356861114502, 1.3627305030822754, -0.16199587285518646, 0.5941582918167114, 0.703700840473175], "dq": [-0.0003032481181435287, -0.0020291879773139954, -0.0023584491573274136, 0.000647380540613085, 0.0024412996135652065, 0.0005450710887089372, -0.0013659908436238766], "dtheta": [0.00028101925272494555, -0.00019355454423930496, -0.0004957995261065662, -0.00021705978724639863, 0.0008234611595980823, -0.0005929676699452102, -0.000685564533341676], "tau": [55.53999710083008, 23.60999870300293, 5.4800004959106445, -26.2760009765625, -2.564000129699707, 2.6480002403259277, -0.5400000214576721], "tau_des": [0.48729005455970764, -0.5746983885765076, -0.15557974576950073, -0.5414592623710632, 0.9082955718040466, -1.1482455730438232, -0.5473871231079102], "tau_dot": [-73.22976684570312, 10.421904563903809, -3.3309736251831055, 21.158214569091797, -27.38495635986328, 1.8668804168701172, 23.629064559936523], "tau_ext": [-16.769319534301758, -41.608970642089844, 31.7872257232666, 31.34128189086914, 9.491110801696777, -2.995715379714966, -0.12168210744857788], "tcp_pose": [0.6779645085334778, 0.032716091722249985, -0.21496540307998657, -0.0022791626397520304, -0.004568594042211771, 0.9998877048492432, 0.014089874923229218], "tcp_vel": [3.657102570286952e-05, -0.00021046561596449465, 6.758418749086559e-05, -0.00020843760285060853, 0.0002731432032305747, -1.0182927326241042e-05], "flange_pose": [0.6786674857139587, 0.028492728248238564, -0.06502651423215866, -0.0022791626397520304, -0.004568594042211771, 0.9998877048492432, 0.014089874923229218], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8031005859375, 15.185507774353027, 28.163589477539062, 0.35036101937294006, -24.026411056518555, 1.7982194423675537], "ext_wrench_in_world": [-108.06723262373546, 14.979981371597793, -27.246454920228892, -0.14080415313330824, -23.968461652113092, -2.4734175719531093]}
+{"timestamp_ns": 1789729714547683054, "elapsed_ms": 3700, "source_timestamp_ns": 1789729714539233670, "q": [0.8364535570144653, -1.897070288658142, -1.0061469078063965, 1.3811359405517578, -0.16140155494213104, 0.5942032337188721, 0.7037246227264404], "theta": [0.8385366201400757, -1.8951143026351929, -1.004356861114502, 1.362730622291565, -0.16199299693107605, 0.5941566228866577, 0.7036965489387512], "dq": [-0.0010947369737550616, -0.0012648770352825522, 0.0005248583620414138, 0.001078463508747518, -0.0004330170340836048, 0.0012268668506294489, -0.0019549697171896696], "dtheta": [-5.7554829254513606e-05, -8.992815855890512e-05, 0.00043496579746715724, -0.00012999388854950666, 0.0003737116639968008, 0.0009361798292957246, -0.00027428235625848174], "tau": [55.59000015258789, 23.68000030517578, 5.464000225067139, -26.304000854492188, -2.556000232696533, 2.6440000534057617, -0.5560000538825989], "tau_des": [0.49953538179397583, -0.5338240265846252, -0.2851065695285797, -0.5126357674598694, 0.8996514678001404, -1.1920769214630127, -0.5381745100021362], "tau_dot": [29.715002059936523, 64.24320220947266, -36.43877410888672, -7.955776214599609, -0.6258155703544617, -28.93472671508789, -59.381961822509766], "tau_ext": [-16.765092849731445, -41.62602996826172, 31.79343605041504, 31.347654342651367, 9.48412799835205, -2.994961738586426, -0.11550483107566833], "tcp_pose": [0.6779642105102539, 0.03271615505218506, -0.2149648219347, -0.00227942131459713, -0.004569583106786013, 0.9998877048492432, 0.014090301468968391], "tcp_vel": [-6.87731517245993e-06, 0.0004651212366297841, 9.214061719831079e-05, 0.001130874385125935, -0.00041788106318563223, 0.0003894449328072369], "flange_pose": [0.6786673069000244, 0.02849266305565834, -0.0650259405374527, -0.00227942131459713, -0.004569583106786013, 0.9998877048492432, 0.014090301468968391], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78810119628906, 15.187935829162598, 28.165746688842773, 0.3544127941131592, -24.02755355834961, 1.7992075681686401], "ext_wrench_in_world": [-108.05230930939483, 14.98241610556812, -27.248543104884774, -0.14480366574167228, -23.969611280332284, -2.4744399910889756]}
+{"timestamp_ns": 1789729714580996366, "elapsed_ms": 3733, "source_timestamp_ns": 1789729714579247271, "q": [0.8364557027816772, -1.8970717191696167, -1.0061532258987427, 1.3811378479003906, -0.1614023596048355, 0.5942028164863586, 0.7037245035171509], "theta": [0.838538408279419, -1.8951154947280884, -1.0043624639511108, 1.3627326488494873, -0.16199347376823425, 0.5941563844680786, 0.7036972641944885], "dq": [-0.00017957341333385557, 0.001310183317400515, -0.0026907948777079582, 0.0034446597564965487, -0.0005581952864304185, 0.0016185392159968615, -0.0013980119256302714], "dtheta": [5.50926279174746e-06, 1.5916542906779796e-05, -0.0002207800280302763, 0.00016312744992319494, -0.00012161039194324985, 0.00019049913680646569, 0.0005098861292935908], "tau": [55.61000061035156, 23.619998931884766, 5.452000141143799, -26.304000854492188, -2.5360000133514404, 2.680000066757202, -0.5760000348091125], "tau_des": [0.52007657289505, -0.6030117869377136, -0.14207231998443604, -0.5532016158103943, 0.9159920811653137, -1.157986044883728, -0.5633968114852905], "tau_dot": [34.751426696777344, -139.04397583007812, -8.543609619140625, -22.48094940185547, 88.05953979492188, 50.77193832397461, -71.74124145507812], "tau_ext": [-16.764070510864258, -41.63758087158203, 31.798070907592773, 31.339597702026367, 9.487679481506348, -2.993159055709839, -0.11574926972389221], "tcp_pose": [0.6779657006263733, 0.03271261975169182, -0.21496495604515076, -0.0022780518047511578, -0.004568309988826513, 0.9998877644538879, 0.014086808077991009], "tcp_vel": [6.739648233633488e-05, -0.0001361622562399134, -4.478321352507919e-05, -0.00017597230907995254, -0.00014132325304672122, -0.000586680369451642], "flange_pose": [0.6786683201789856, 0.028490174561738968, -0.06502604484558105, -0.0022780518047511578, -0.004568309988826513, 0.9998877644538879, 0.014086808077991009], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79180145263672, 15.200028419494629, 28.178985595703125, 0.35993409156799316, -24.034069061279297, 1.8027395009994507], "ext_wrench_in_world": [-108.05606806617021, 14.994929402109411, -27.261819452595205, -0.1503369296430076, -23.976092198823704, -2.4779627886975817]}
+{"timestamp_ns": 1789729714614336235, "elapsed_ms": 3766, "source_timestamp_ns": 1789729714609231540, "q": [0.8364563584327698, -1.8970750570297241, -1.006158709526062, 1.3811380863189697, -0.16140210628509521, 0.594201385974884, 0.7037257552146912], "theta": [0.8385396003723145, -1.8951189517974854, -1.0043684244155884, 1.3627331256866455, -0.16199347376823425, 0.594154953956604, 0.7036977410316467], "dq": [-0.001428126939572394, -0.001016691792756319, -0.0018033651867881417, 0.0001328207436017692, -0.002692026551812887, 0.0009061834425665438, -0.0021460140123963356], "dtheta": [-0.00015313494077418, -0.00016917724860832095, -0.00037477281875908375, -0.0003807680623140186, 0.00012323744886089116, -0.0004486003890633583, 0.0003225293185096234], "tau": [55.56999969482422, 23.549999237060547, 5.4760003089904785, -26.30000114440918, -2.56000018119812, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.5341767072677612, -0.591333270072937, -0.1147051528096199, -0.5561969876289368, 0.9176128506660461, -1.1446858644485474, -0.5675852298736572], "tau_dot": [-18.216829299926758, -71.21259307861328, 6.933949947357178, -10.133203506469727, 50.66614532470703, 33.74199676513672, 25.207008361816406], "tau_ext": [-16.762338638305664, -41.62934494018555, 31.82334327697754, 31.339941024780273, 9.485969543457031, -2.9944868087768555, -0.11637368053197861], "tcp_pose": [0.6779663562774658, 0.03271033614873886, -0.21496610343456268, -0.0022776080295443535, -0.004566849675029516, 0.9998878240585327, 0.014083397574722767], "tcp_vel": [9.556505392538384e-05, -0.00014596983965020627, -6.587099051102996e-05, -0.00036436531809158623, 0.0001455662859370932, -0.0005901072872802615], "flange_pose": [0.6786688566207886, 0.02848891168832779, -0.06502716988325119, -0.0022776080295443535, -0.004566849675029516, 0.9998878240585327, 0.014083397574722767], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79322814941406, 15.214262008666992, 28.169063568115234, 0.3615420162677765, -24.03014373779297, 1.8024324178695679], "ext_wrench_in_world": [-108.0575096166222, 15.008993633631277, -27.251691162269978, -0.15204671202722164, -23.97220849777168, -2.477374587386761]}
+{"timestamp_ns": 1789729714647594423, "elapsed_ms": 3800, "source_timestamp_ns": 1789729714639230188, "q": [0.8364569544792175, -1.8970792293548584, -1.0061620473861694, 1.3811372518539429, -0.16140154004096985, 0.594201922416687, 0.7037259340286255], "theta": [0.8385408520698547, -1.8951224088668823, -1.0043718814849854, 1.3627325296401978, -0.16199322044849396, 0.5941556692123413, 0.7036979794502258], "dq": [0.0017947981832548976, 0.0009597886819392443, 0.0002271759876748547, 0.0025568176060914993, 0.0005664843483828008, 0.0007635075016878545, -0.0002999439893756062], "dtheta": [0.0003475029079709202, 0.0002742504875641316, 3.552850103005767e-05, -4.091090158908628e-05, 0.0005920021794736385, 0.0005811196751892567, 0.0006927729700691998], "tau": [55.59000015258789, 23.600000381469727, 5.4760003089904785, -26.296001434326172, -2.5400002002716064, 2.6560001373291016, -0.5360000133514404], "tau_des": [0.4145667552947998, -0.6604936122894287, -0.13934652507305145, -0.47459447383880615, 0.9131350517272949, -1.1871099472045898, -0.5762938261032104], "tau_dot": [-18.5657901763916, 39.240966796875, 30.284456253051758, 2.6275787353515625, 78.83097076416016, 0.8288944959640503, 34.77100372314453], "tau_ext": [-16.774066925048828, -41.60748291015625, 31.807598114013672, 31.33665657043457, 9.492926597595215, -2.9939653873443604, -0.11829576641321182], "tcp_pose": [0.677966833114624, 0.03271004185080528, -0.21496671438217163, -0.0022763931192457676, -0.00456679193302989, 0.9998878240585327, 0.014081362634897232], "tcp_vel": [0.00017997277609538287, 7.995733176358044e-05, 0.0003546993830241263, 0.0009941540192812681, -0.00046188427950255573, -0.0012002261355519295], "flange_pose": [0.6786689758300781, 0.02848922461271286, -0.06502775102853775, -0.0022763931192457676, -0.00456679193302989, 0.9998878240585327, 0.014081362634897232], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.76986694335938, 15.217599868774414, 28.1706485748291, 0.3568280041217804, -24.018123626708984, 1.799543023109436], "ext_wrench_in_world": [-108.03411853610133, 15.012494045758256, -27.253610082624085, -0.1474257296222633, -23.96024163879004, -2.4740715691873394]}
+{"timestamp_ns": 1789729714680934002, "elapsed_ms": 3833, "source_timestamp_ns": 1789729714679301601, "q": [0.8364580273628235, -1.897082805633545, -1.0061609745025635, 1.3811359405517578, -0.16140082478523254, 0.5941998362541199, 0.7037234306335449], "theta": [0.8385418653488159, -1.895126223564148, -1.0043708086013794, 1.3627315759658813, -0.16199322044849396, 0.5941537618637085, 0.7036965489387512], "dq": [-0.001673534163273871, -0.0005069701001048088, -0.0007624507416039705, 0.0014198252465575933, -0.0007331908564083278, -0.0005360179929994047, 0.0003870466898661107], "dtheta": [-0.0005247905501164496, -0.00010928381379926577, 0.00012982504267711192, 5.235075514065102e-05, -0.0003653845051303506, -0.0003021981683559716, 0.0006686662673018873], "tau": [55.57999801635742, 23.619998931884766, 5.484000205993652, -26.296001434326172, -2.5880000591278076, 2.6760001182556152, -0.5680000185966492], "tau_des": [0.643546462059021, -0.5109590291976929, -0.1902655065059662, -0.630969762802124, 0.9081739783287048, -1.1301246881484985, -0.5572108626365662], "tau_dot": [3.9599554538726807, -72.98241424560547, -7.414099216461182, -6.854248046875, -51.20985794067383, 43.90696334838867, -80.65110778808594], "tau_ext": [-16.779376983642578, -41.60663604736328, 31.8050537109375, 31.351316452026367, 9.491594314575195, -2.995211124420166, -0.11934912204742432], "tcp_pose": [0.6779658198356628, 0.03271159157156944, -0.21496668457984924, -0.0022764692548662424, -0.004569272510707378, 0.9998878240585327, 0.014080294407904148], "tcp_vel": [-0.00021250511053949594, 2.037481863226276e-05, -0.0004088400455657393, -0.00045604369370266795, 0.0006531745311804116, -0.0002857065701391548], "flange_pose": [0.6786680221557617, 0.028491098433732986, -0.06502772122621536, -0.0022764692548662424, -0.004569272510707378, 0.9998878240585327, 0.014080294407904148], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78005981445312, 15.183876991271973, 28.165706634521484, 0.34461480379104614, -24.01696014404297, 1.7962031364440918], "ext_wrench_in_world": [-108.04405831492345, 14.977958505391797, -27.249599376271366, -0.1350892429097643, -23.95906624880238, -2.4707033437587604]}
+{"timestamp_ns": 1789729714714260422, "elapsed_ms": 3866, "source_timestamp_ns": 1789729714709258784, "q": [0.8364604711532593, -1.8970837593078613, -1.006159782409668, 1.3811354637145996, -0.16139833629131317, 0.5941972732543945, 0.7037218809127808], "theta": [0.838543713092804, -1.8951276540756226, -1.0043699741363525, 1.3627312183380127, -0.16199083626270294, 0.5941506624221802, 0.7036953568458557], "dq": [0.0007326767663471401, 0.0015292740426957607, -0.0008454460767097771, -0.0013351974776014686, 5.3623225539922714e-05, -0.0019461496267467737, 0.002326007466763258], "dtheta": [0.00030636516748927534, -4.661127968574874e-05, 0.00011554391676327214, 0.00023631102521903813, 0.0009477713610976934, 0.0009257148485630751, -0.0003225400287192315], "tau": [55.599998474121094, 23.60999870300293, 5.4800004959106445, -26.328001022338867, -2.556000232696533, 2.6520001888275146, -0.5600000023841858], "tau_des": [0.4708114266395569, -0.5559772849082947, -0.2289266735315323, -0.517814576625824, 0.9030693769454956, -1.1853747367858887, -0.5449516773223877], "tau_dot": [-8.949555397033691, 87.64446258544922, -27.231660842895508, -32.17442321777344, 6.405653476715088, -27.834150314331055, -19.080408096313477], "tau_ext": [-16.741443634033203, -41.583003997802734, 31.795120239257812, 31.330642700195312, 9.49036693572998, -2.9917967319488525, -0.11893993616104126], "tcp_pose": [0.6779650449752808, 0.0327124260365963, -0.21496553719043732, -0.0022768795024603605, -0.004570139572024345, 0.9998878240585327, 0.014080381020903587], "tcp_vel": [-3.379263944225386e-05, 0.0002447538136038929, 0.00012235934264026582, 0.0010989406146109104, -0.0002642633917275816, -7.59063841542229e-05], "flange_pose": [0.6786673665046692, 0.028491908684372902, -0.06502656638622284, -0.0022768795024603605, -0.004570139572024345, 0.9998878240585327, 0.014080381020903587], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78315734863281, 15.159375190734863, 28.1546688079834, 0.3405340909957886, -24.017786026000977, 1.7964892387390137], "ext_wrench_in_world": [-108.04692950143684, 14.952944545807183, -27.23915407317914, -0.13096274536853172, -23.959845969740837, -2.4710347040101897]}
+{"timestamp_ns": 1789729714747590401, "elapsed_ms": 3900, "source_timestamp_ns": 1789729714739257531, "q": [0.8364613056182861, -1.8970835208892822, -1.0061593055725098, 1.3811352252960205, -0.16139990091323853, 0.5941930413246155, 0.7037208080291748], "theta": [0.8385449647903442, -1.895127534866333, -1.0043693780899048, 1.3627310991287231, -0.16199131309986115, 0.5941458940505981, 0.7036941647529602], "dq": [-0.0014926277799531817, 6.223534001037478e-05, -0.0009278372162953019, 0.0009565753280185163, 0.001229994697496295, 0.0003939712478313595, 0.0004489877028390765], "dtheta": [4.3590087443590164e-05, 0.000138246119604446, -2.4186860173358582e-05, 7.436708983732387e-05, -0.0002226626966148615, 0.0005814551841467619, -4.534995605354197e-05], "tau": [55.599998474121094, 23.619998931884766, 5.496000289916992, -26.30000114440918, -2.572000026702881, 2.6680002212524414, -0.5320000052452087], "tau_des": [0.47865596413612366, -0.5963783860206604, -0.1835847645998001, -0.5176603198051453, 0.9266017079353333, -1.1774340867996216, -0.5440146923065186], "tau_dot": [55.62372970581055, 34.83647537231445, 41.10087203979492, -46.918460845947266, -5.386877536773682, 17.537620544433594, 27.81941032409668], "tau_ext": [-16.746030807495117, -41.60029983520508, 31.78575325012207, 31.338409423828125, 9.490086555480957, -2.992076873779297, -0.11868628859519958], "tcp_pose": [0.6779646277427673, 0.03271184489130974, -0.21496514976024628, -0.002277663443237543, -0.004571178928017616, 0.9998878240585327, 0.014078833162784576], "tcp_vel": [0.00016402278561145067, 7.796138561388943e-06, 0.00012054542457917705, 0.00028667037258856, -0.0005559839773923159, 5.703401620849036e-05], "flange_pose": [0.6786671876907349, 0.02849178947508335, -0.0650261715054512, -0.002277663443237543, -0.004571178928017616, 0.9998878240585327, 0.014078833162784576], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79239654541016, 15.158127784729004, 28.159828186035156, 0.3433597981929779, -24.025306701660156, 1.7982302904129028], "ext_wrench_in_world": [-108.05625409218408, 14.95144568613666, -27.244187230820646, -0.13368146139824283, -23.967348310081277, -2.472900015636008]}
+{"timestamp_ns": 1789729714780939228, "elapsed_ms": 3933, "source_timestamp_ns": 1789729714779278562, "q": [0.8364627361297607, -1.89708411693573, -1.0061595439910889, 1.3811370134353638, -0.1613970845937729, 0.594192385673523, 0.7037186026573181], "theta": [0.8385463953018188, -1.895127773284912, -1.0043694972991943, 1.3627327680587769, -0.16198939085006714, 0.5941449403762817, 0.7036922574043274], "dq": [-4.3491250835359097e-05, 0.0018549913074821234, 0.0003384460578672588, -0.0018708005081862211, 0.0015725056873634458, 0.002083699917420745, 0.001979375723749399], "dtheta": [-0.00010761339217424393, -0.00012422016880009323, 4.062238076585345e-05, 0.00035591176128946245, 0.00032171624479815364, -0.000368896231520921, -0.0005825777188874781], "tau": [55.55999755859375, 23.600000381469727, 5.504000186920166, -26.292001724243164, -2.564000129699707, 2.6720001697540283, -0.5560000538825989], "tau_des": [0.6101806163787842, -0.48952943086624146, -0.2287953943014145, -0.6337276697158813, 0.8973172307014465, -1.1265145540237427, -0.5315398573875427], "tau_dot": [33.215492248535156, -109.08076477050781, 16.270343780517578, 40.95508575439453, -15.763751029968262, 15.44425106048584, 1.659333348274231], "tau_ext": [-16.793752670288086, -41.62762451171875, 31.77631950378418, 31.354053497314453, 9.491971969604492, -2.997542381286621, -0.11790858954191208], "tcp_pose": [0.6779636740684509, 0.0327116921544075, -0.21496541798114777, -0.002278603846207261, -0.004571762401610613, 0.9998878240585327, 0.014078744687139988], "tcp_vel": [-0.0003216967743355781, -4.482565782382153e-05, -0.0003348272293806076, -0.00030930471257306635, 0.0008472988265566528, 0.0005808378336951137], "flange_pose": [0.6786664724349976, 0.02849166840314865, -0.06502644717693329, -0.002278603846207261, -0.004571762401610613, 0.9998878240585327, 0.014078744687139988], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77511596679688, 15.178030014038086, 28.183319091796875, 0.35225969552993774, -24.028886795043945, 1.801170825958252], "ext_wrench_in_world": [-108.03933377237907, 14.972025202711405, -27.26698573629745, -0.14253816873509173, -23.970926657137095, -2.475896184217542]}
+{"timestamp_ns": 1789729714814257280, "elapsed_ms": 3966, "source_timestamp_ns": 1789729714809328523, "q": [0.8364630937576294, -1.8970845937728882, -1.0061601400375366, 1.381137490272522, -0.1613980531692505, 0.5941938757896423, 0.7037196159362793], "theta": [0.8385464549064636, -1.8951283693313599, -1.0043699741363525, 1.3627327680587769, -0.16199035942554474, 0.5941461324691772, 0.7036929726600647], "dq": [-0.002059446880593896, -0.0005906664882786572, -0.0005243555642664433, -0.0010597382206469774, -0.0007217876263894141, -0.0014316533925011754, 8.899842941900715e-05], "dtheta": [-0.00029921892564743757, -0.0002611848758533597, -3.084540367126465e-05, 4.0077946323435754e-05, -0.0005594974500127137, 0.0004351118113845587, 0.00025887181982398033], "tau": [55.529998779296875, 23.600000381469727, 5.484000205993652, -26.268001556396484, -2.564000129699707, 2.6640000343322754, -0.5840000510215759], "tau_des": [0.5771454572677612, -0.5221977829933167, -0.218165785074234, -0.5761816501617432, 0.9193460941314697, -1.1631680727005005, -0.54414963722229], "tau_dot": [-35.097110748291016, -8.099268913269043, -2.1589395999908447, 36.92189025878906, 31.242080688476562, -11.952425003051758, -81.21076965332031], "tau_ext": [-16.77328109741211, -41.64259719848633, 31.787153244018555, 31.341463088989258, 9.493246078491211, -2.9958536624908447, -0.11862725764513016], "tcp_pose": [0.6779640316963196, 0.03271153196692467, -0.21496538817882538, -0.002277747727930546, -0.004571494646370411, 0.9998878240585327, 0.01407834142446518], "tcp_vel": [1.785121094144415e-05, 8.152113150572404e-05, -0.00020439429499674588, -0.0003006999322678894, -0.0003092768893111497, 0.0002008895535254851], "flange_pose": [0.6786665916442871, 0.028491627424955368, -0.06502640247344971, -0.002277747727930546, -0.004571494646370411, 0.9998878240585327, 0.01407834142446518], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77130126953125, 15.189125061035156, 28.18839454650879, 0.358833372592926, -24.029922485351562, 1.803458571434021], "ext_wrench_in_world": [-108.03558883739579, 14.983331739220462, -27.271959942532554, -0.14912195587248417, -23.97195995184857, -2.47816415304049]}
+{"timestamp_ns": 1789729714847668819, "elapsed_ms": 4000, "source_timestamp_ns": 1789729714839232122, "q": [0.836464524269104, -1.897085189819336, -1.006161093711853, 1.3811378479003906, -0.161398783326149, 0.5941939949989319, 0.7037190794944763], "theta": [0.8385478258132935, -1.8951293230056763, -1.004370927810669, 1.3627333641052246, -0.16199178993701935, 0.5941458940505981, 0.7036932110786438], "dq": [0.000958711956627667, 0.002070547780022025, -0.0012579577742144465, -0.0007978777284733951, 0.0012673616874963045, -0.0006805278826504946, -0.0010538821807131171], "dtheta": [0.00011046441795770079, -0.00022184311819728464, 0.000247913965722546, 0.00034663171391002834, -0.0002553181257098913, 0.0003795816155616194, -0.0008996102842502296], "tau": [55.56999969482422, 23.619998931884766, 5.468000411987305, -26.256000518798828, -2.580000162124634, 2.688000202178955, -0.5440000295639038], "tau_des": [0.523595929145813, -0.4988997280597687, -0.26827818155288696, -0.562757670879364, 0.9238176941871643, -1.1685737371444702, -0.5192078351974487], "tau_dot": [-62.7454719543457, -68.91085052490234, 0.11146202683448792, 47.45151138305664, 10.6664457321167, 83.76702117919922, -4.249996185302734], "tau_ext": [-16.748842239379883, -41.63846206665039, 31.793397903442383, 31.344953536987305, 9.498916625976562, -2.9947404861450195, -0.12182251363992691], "tcp_pose": [0.6779645085334778, 0.03271108493208885, -0.21496470272541046, -0.0022767488844692707, -0.004571894183754921, 0.9998878836631775, 0.014077520929276943], "tcp_vel": [-0.00014832067245151848, 0.00017750018741935492, -6.777362432330847e-05, -0.00011165862815687433, -0.00020680882153101265, 0.0014094173675403], "flange_pose": [0.6786667704582214, 0.028491422533988953, -0.0650257095694542, -0.0022767488844692707, -0.004571894183754921, 0.9998878836631775, 0.014077520929276943], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7889404296875, 15.191862106323242, 28.173322677612305, 0.3612152636051178, -24.033872604370117, 1.8039090633392334], "ext_wrench_in_world": [-108.05313796798308, 14.985353075533885, -27.256981351256208, -0.15144641716632234, -23.97592175561533, -2.478676398784262]}
+{"timestamp_ns": 1789729714881001938, "elapsed_ms": 4033, "source_timestamp_ns": 1789729714879236915, "q": [0.8364657163619995, -1.897087812423706, -1.0061635971069336, 1.3811373710632324, -0.16139955818653107, 0.5941905975341797, 0.7037199139595032], "theta": [0.8385490775108337, -1.8951314687728882, -1.004373550415039, 1.362733006477356, -0.16199226677417755, 0.5941425561904907, 0.7036944031715393], "dq": [0.0029637450352311134, 0.0008229377563111484, -0.003974710125476122, 0.0009973605629056692, 0.0006446752231568098, -0.0005980385467410088, 0.002432429464533925], "dtheta": [0.0002582675951998681, -3.438390194787644e-05, -0.00014443213876802474, 0.00020023722026962787, 4.911580617772415e-05, -0.0013061800273135304, 0.00024123310868162662], "tau": [55.59000015258789, 23.59000015258789, 5.468000411987305, -26.312002182006836, -2.5920000076293945, 2.6720001697540283, -0.5400000214576721], "tau_des": [0.5258985757827759, -0.5619797110557556, -0.17444802820682526, -0.5895065665245056, 0.9137716293334961, -1.1250134706497192, -0.5515406727790833], "tau_dot": [23.120210647583008, -33.806617736816406, -1.510365605354309, -12.49251651763916, -14.41440200805664, 33.91310119628906, -6.888645648956299], "tau_ext": [-16.76062774658203, -41.626346588134766, 31.802255630493164, 31.346166610717773, 9.503265380859375, -2.994190216064453, -0.12266618013381958], "tcp_pose": [0.6779645085334778, 0.032709989696741104, -0.21496492624282837, -0.002276682760566473, -0.0045716725289821625, 0.9998878836631775, 0.014074573293328285], "tcp_vel": [-0.00023418001364916563, -0.0003104693896602839, -8.517612150171772e-05, -0.0010573772015050054, 0.000878645631019026, -0.0002836716885212809], "flange_pose": [0.6786667704582214, 0.02849121391773224, -0.06502590328454971, -0.002276682760566473, -0.0045716725289821625, 0.9998878836631775, 0.014074573293328285], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80364990234375, 15.196939468383789, 28.172775268554688, 0.35722658038139343, -24.033945083618164, 1.8026965856552124], "ext_wrench_in_world": [-108.06787956608296, 14.990163362249238, -27.25633093923271, -0.14746157907587065, -23.97600612886267, -2.4773427868330176]}
+{"timestamp_ns": 1789729714914324559, "elapsed_ms": 4066, "source_timestamp_ns": 1789729714909365115, "q": [0.8364658951759338, -1.8970891237258911, -1.0061641931533813, 1.381136417388916, -0.16139858961105347, 0.594188928604126, 0.7037194967269897], "theta": [0.8385496735572815, -1.8951332569122314, -1.0043749809265137, 1.362732172012329, -0.16199178993701935, 0.594140887260437, 0.7036944031715393], "dq": [-0.0029347187373787165, 5.800917642773129e-05, -0.00034047436201944947, 0.0006548208184540272, 0.0006631724536418915, 0.0005266570369713008, -0.002718611154705286], "dtheta": [0.00019654700008686632, 5.060146941104904e-05, -3.7260713725117967e-05, -0.0003649652353487909, 0.0003227923880331218, 1.2526643331511877e-05, -0.000748281367123127], "tau": [55.62999725341797, 23.559999465942383, 5.4760003089904785, -26.292001724243164, -2.5920000076293945, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.4296420216560364, -0.5933725833892822, -0.2086459994316101, -0.47851333022117615, 0.9212399125099182, -1.1863996982574463, -0.5343736410140991], "tau_dot": [175.3532257080078, 46.64455032348633, 11.187461853027344, -43.82423400878906, 11.150140762329102, 13.630741119384766, -6.427876949310303], "tau_ext": [-16.74091339111328, -41.59202575683594, 31.80495262145996, 31.324493408203125, 9.503628730773926, -2.9892516136169434, -0.12486272305250168], "tcp_pose": [0.6779643297195435, 0.03271007165312767, -0.2149650752544403, -0.0022769987117499113, -0.004571807105094194, 0.9998878836631775, 0.014073899015784264], "tcp_vel": [0.00016943647642619908, 5.915372457820922e-05, 0.0002839931985363364, 0.00043546277447603643, -0.00035346319782547653, 0.00045072706416249275], "flange_pose": [0.6786666512489319, 0.02849149890244007, -0.06502605974674225, -0.0022769987117499113, -0.004571807105094194, 0.9998878836631775, 0.014073899015784264], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8087158203125, 15.183012962341309, 28.15424346923828, 0.3476068377494812, -24.029279708862305, 1.80003023147583], "ext_wrench_in_world": [-108.07275318252783, 14.975607939066595, -27.238129546069214, -0.13786700986049194, -23.971332607004783, -2.4745562039606837]}
+{"timestamp_ns": 1789729714947655118, "elapsed_ms": 4100, "source_timestamp_ns": 1789729714939272045, "q": [0.8364666700363159, -1.8970891237258911, -1.0061649084091187, 1.3811366558074951, -0.16139763593673706, 0.594184935092926, 0.7037191390991211], "theta": [0.8385511040687561, -1.8951342105865479, -1.004375696182251, 1.3627325296401978, -0.16199156641960144, 0.5941363573074341, 0.7036941647529602], "dq": [0.000661744736135006, -0.0013986785197630525, 0.001726367394439876, -0.0021970903035253286, -0.0034857862628996372, 0.0010565031552687287, -0.0006101050530560315], "dtheta": [0.000718945637345314, -0.00017722153279464692, 0.0002588622737675905, 0.0003824177838396281, 0.0005808441783301532, -0.0013988785212859511, -0.00025834672851487994], "tau": [55.61000061035156, 23.579999923706055, 5.484000205993652, -26.308000564575195, -2.5840001106262207, 2.6720001697540283, -0.5360000133514404], "tau_des": [0.4873327910900116, -0.5178054571151733, -0.25542303919792175, -0.5861145853996277, 0.9028307199478149, -1.123479962348938, -0.5402003526687622], "tau_dot": [100.34862518310547, -79.21160125732422, -10.089584350585938, -12.682353973388672, -35.45545959472656, 0.5896306037902832, 7.151113033294678], "tau_ext": [-16.749370574951172, -41.59362030029297, 31.80552864074707, 31.336606979370117, 9.505677223205566, -2.988257646560669, -0.12345524877309799], "tcp_pose": [0.6779637336730957, 0.032709091901779175, -0.21496523916721344, -0.0022783924359828234, -0.004571537487208843, 0.9998879432678223, 0.014072614721953869], "tcp_vel": [-0.00046881474554538727, -5.824770778417587e-05, 7.14056077413261e-05, -0.0007388131925836205, 0.0010425647487863898, 0.0003307096485514194], "flange_pose": [0.6786664724349976, 0.028490904718637466, -0.06502620875835419, -0.0022783924359828234, -0.004571537487208843, 0.9998879432678223, 0.014072614721953869], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79908752441406, 15.170307159423828, 28.152629852294922, 0.3379918336868286, -24.022171020507812, 1.7968868017196655], "ext_wrench_in_world": [-108.0630708749334, 14.962934038248132, -27.236655008536637, -0.12832105596259485, -23.964233236946125, -2.471194097638228]}
+{"timestamp_ns": 1789729714981008764, "elapsed_ms": 4133, "source_timestamp_ns": 1789729714979228173, "q": [0.8364681005477905, -1.8970903158187866, -1.006165623664856, 1.3811367750167847, -0.16139696538448334, 0.5941827297210693, 0.7037171125411987], "theta": [0.838552713394165, -1.8951361179351807, -1.004376769065857, 1.3627326488494873, -0.16199105978012085, 0.5941332578659058, 0.7036932110786438], "dq": [-0.0010485348757356405, 0.0002747036051005125, -0.00038518873043358326, -0.0010793195106089115, -0.0015239061322063208, -0.000600835308432579, 0.0021783204283565283], "dtheta": [4.280399298295379e-05, -6.856027175672352e-05, -0.00021733164612669498, -8.851931488607079e-05, -0.00036134012043476105, -0.0008029030868783593, 0.00011655830167001113], "tau": [55.529998779296875, 23.60999870300293, 5.460000038146973, -26.288002014160156, -2.5840001106262207, 2.6600000858306885, -0.5600000023841858], "tau_des": [0.5221164226531982, -0.5712112188339233, -0.17854955792427063, -0.5641242861747742, 0.9204546809196472, -1.1413811445236206, -0.5463652014732361], "tau_dot": [-87.55226135253906, 55.092979431152344, -38.19100570678711, 1.1576703786849976, -38.74342727661133, -5.451903343200684, -48.481876373291016], "tau_ext": [-16.757781982421875, -41.62070846557617, 31.80384063720703, 31.34027099609375, 9.49893856048584, -2.9875307083129883, -0.12019161880016327], "tcp_pose": [0.6779634356498718, 0.03270868957042694, -0.21496500074863434, -0.002278631553053856, -0.0045725079253315926, 0.9998879432678223, 0.01407141238451004], "tcp_vel": [-2.574432301116758e-06, -0.0002347194531466812, -2.5505514713586308e-05, -0.0008887018775567412, 0.0002278520551044494, -1.743349821481388e-05], "flange_pose": [0.6786662340164185, 0.028490865603089333, -0.06502596288919449, -0.002278631553053856, -0.0045725079253315926, 0.9998879432678223, 0.01407141238451004], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81005096435547, 15.165194511413574, 28.1668758392334, 0.33791279792785645, -24.031124114990234, 1.7983977794647217], "ext_wrench_in_world": [-108.07409527015054, 14.957846796606887, -27.250979042896567, -0.1281220990619058, -23.97314538354646, -2.472899312412315]}
+{"timestamp_ns": 1789729715014332290, "elapsed_ms": 4166, "source_timestamp_ns": 1789729715009306114, "q": [0.8364691138267517, -1.8970924615859985, -1.0061662197113037, 1.3811371326446533, -0.1613958775997162, 0.5941797494888306, 0.7037169337272644], "theta": [0.8385542035102844, -1.8951387405395508, -1.004377841949463, 1.3627327680587769, -0.16199035942554474, 0.5941301584243774, 0.7036927342414856], "dq": [-0.0013147412100806832, -0.0018265662947669625, 0.0010143689578399062, 0.00079292495502159, -0.0007023904472589493, -0.0023552882485091686, 0.00046161276986822486], "dtheta": [0.00010263820149702951, 0.00016580880037508905, 0.00015262833039741963, 3.296579961897805e-05, -0.0002318912884220481, -0.0007127585122361779, -0.00016196805518120527], "tau": [55.61000061035156, 23.579999923706055, 5.444000244140625, -26.288002014160156, -2.568000078201294, 2.636000156402588, -0.5400000214576721], "tau_des": [0.5141774415969849, -0.5648783445358276, -0.22110046446323395, -0.5645111799240112, 0.9112038612365723, -1.1413888931274414, -0.5379542708396912], "tau_dot": [98.06725311279297, 12.935738563537598, -23.628313064575195, 6.800226211547852, 12.78033447265625, -35.25277328491211, 10.939196586608887], "tau_ext": [-16.752365112304688, -41.62224578857422, 31.808082580566406, 31.3333683013916, 9.499591827392578, -2.9894187450408936, -0.11943255364894867], "tcp_pose": [0.6779624819755554, 0.03270852565765381, -0.2149655520915985, -0.0022795596159994602, -0.004572858568280935, 0.9998879432678223, 0.014069681987166405], "tcp_vel": [-9.898445568978786e-05, -9.96995295281522e-05, 5.0303697207709774e-05, -0.0004078697820659727, 0.00037781443097628653, 0.00030900025740265846], "flange_pose": [0.6786655783653259, 0.028491219505667686, -0.06502650678157806, -0.0022795596159994602, -0.004572858568280935, 0.9998879432678223, 0.014069681987166405], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81494903564453, 15.1773681640625, 28.15776252746582, 0.34350186586380005, -24.032934188842773, 1.800659418106079], "ext_wrench_in_world": [-108.07912178483458, 14.969539846512475, -27.241359024502685, -0.13369194020203554, -23.974951215418276, -2.4751028828217416]}
+{"timestamp_ns": 1789729715047660094, "elapsed_ms": 4200, "source_timestamp_ns": 1789729715039267578, "q": [0.8364706039428711, -1.897092580795288, -1.0061691999435425, 1.3811373710632324, -0.16139410436153412, 0.594180166721344, 0.7037159204483032], "theta": [0.8385553359985352, -1.8951389789581299, -1.0043808221817017, 1.362733244895935, -0.16198867559432983, 0.5941301584243774, 0.7036924958229065], "dq": [0.0010155084310099483, 0.002039640676230192, -0.0007527891430072486, -0.0001423114736098796, 0.002746113110333681, -0.000916643941309303, -0.0002875890349969268], "dtheta": [-0.0002447923179715872, 0.0001521597005194053, -0.0002224083582405001, 0.0004690529312938452, 0.000832109188195318, -0.0008059988031163812, -0.0003407855110708624], "tau": [55.56999969482422, 23.600000381469727, 5.452000141143799, -26.288002014160156, -2.568000078201294, 2.684000015258789, -0.5520000457763672], "tau_des": [0.6512057185173035, -0.5277091264724731, -0.17233321070671082, -0.6648769974708557, 0.8722180128097534, -1.1071585416793823, -0.5466354489326477], "tau_dot": [21.300228118896484, -20.76024055480957, -33.99199676513672, 6.00234842300415, 20.898719787597656, 98.00836944580078, -33.93578338623047], "tau_ext": [-16.777551651000977, -41.607139587402344, 31.809669494628906, 31.352691650390625, 9.497572898864746, -2.994140863418579, -0.12276902794837952], "tcp_pose": [0.6779634952545166, 0.03270707651972771, -0.21496495604515076, -0.0022787682246416807, -0.0045718904584646225, 0.999888002872467, 0.01406931970268488], "tcp_vel": [-0.0003848340129479766, -0.00032597078825347126, -0.0005024903803132474, -0.00030683932709507644, 0.0016115076141431928, -0.0002855508937500417], "flange_pose": [0.678666353225708, 0.02848987653851509, -0.06502589583396912, -0.0022787682246416807, -0.0045718904584646225, 0.999888002872467, 0.01406931970268488], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8039321899414, 15.171042442321777, 28.163658142089844, 0.34051284193992615, -24.027545928955078, 1.7976679801940918], "ext_wrench_in_world": [-108.06800394403541, 14.963675901191015, -27.247658457577124, -0.13078103782101635, -23.969623426238446, -2.471957049597451]}
+{"timestamp_ns": 1789729715080939724, "elapsed_ms": 4233, "source_timestamp_ns": 1789729715079237322, "q": [0.8364725708961487, -1.897093653678894, -1.0061789751052856, 1.3811362981796265, -0.16139531135559082, 0.5941800475120544, 0.7037148475646973], "theta": [0.8385571837425232, -1.8951401710510254, -1.0043913125991821, 1.3627324104309082, -0.16198939085006714, 0.5941299200057983, 0.7036908268928528], "dq": [0.002400040626525879, 0.002228186931461096, 0.0011362428776919842, 0.0006949987728148699, 0.0020760458428412676, 0.0006986703956499696, -0.0017152308719232678], "dtheta": [-1.3379770280153025e-05, -0.0001214407166116871, -0.00027868361212313175, -0.00014485434803646058, -8.351795986527577e-05, -0.0009616123861633241, -0.0007818054873496294], "tau": [55.53999710083008, 23.56999969482422, 5.448000431060791, -26.30000114440918, -2.572000026702881, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.5142782926559448, -0.5754147171974182, -0.1328054666519165, -0.5607399344444275, 0.9302029013633728, -1.1398944854736328, -0.5404791831970215], "tau_dot": [-15.415088653564453, -121.54765319824219, -23.568111419677734, -5.308775901794434, -9.908815383911133, -1.9758245944976807, 3.173370361328125], "tau_ext": [-16.760175704956055, -41.62835693359375, 31.822750091552734, 31.34538459777832, 9.500011444091797, -2.9999988079071045, -0.12336130440235138], "tcp_pose": [0.6779674291610718, 0.03270211070775986, -0.2149639129638672, -0.0022755006793886423, -0.004569648765027523, 0.9998880624771118, 0.014065706171095371], "tcp_vel": [-5.3640051191905513e-05, -0.0002476998488418758, -9.839697304414585e-05, -0.0008617792627774179, 0.0004680415440816432, 0.0007136566564440727], "flange_pose": [0.6786693334579468, 0.028485991060733795, -0.06502481549978256, -0.0022755006793886423, -0.004569648765027523, 0.9998880624771118, 0.014065706171095371], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80789184570312, 15.181214332580566, 28.151641845703125, 0.3444550335407257, -24.02081871032715, 1.7945119142532349], "ext_wrench_in_world": [-108.07175401483127, 14.973765416029815, -27.236154002700633, -0.13486249788978238, -23.96304135811933, -2.4684235395605283]}
+{"timestamp_ns": 1789729715114339019, "elapsed_ms": 4266, "source_timestamp_ns": 1789729715109289635, "q": [0.8364732265472412, -1.8970965147018433, -1.0061829090118408, 1.3811360597610474, -0.16139410436153412, 0.5941784381866455, 0.7037132382392883], "theta": [0.8385577201843262, -1.895142674446106, -1.0043959617614746, 1.3627322912216187, -0.16198843717575073, 0.5941277742385864, 0.7036888599395752], "dq": [0.0011688718805089593, 0.001157079474069178, -0.0021677478216588497, 0.0016770019428804517, -0.0014024298870936036, -0.0008317764149978757, -0.0008018968510441482], "dtheta": [0.00047377333976328373, -0.0003631027357187122, -7.524686225224286e-06, 0.00013302678416948766, 0.0012496524723246694, -0.0015122684417292476, 0.00030844012508168817], "tau": [55.56999969482422, 23.600000381469727, 5.440000057220459, -26.304000854492188, -2.576000213623047, 2.6480002403259277, -0.5400000214576721], "tau_des": [0.5191610455513, -0.5334755182266235, -0.175150066614151, -0.596197247505188, 0.8972084522247314, -1.1165151596069336, -0.5646307468414307], "tau_dot": [103.52263641357422, 67.5527572631836, -30.8737850189209, -12.39648723602295, -1.1369000673294067, -25.578678131103516, 19.360233306884766], "tau_ext": [-16.7486515045166, -41.618125915527344, 31.83069610595703, 31.341630935668945, 9.502341270446777, -2.9950978755950928, -0.1201234683394432], "tcp_pose": [0.6779677867889404, 0.03270062059164047, -0.21496467292308807, -0.0022753404919058084, -0.004569664131850004, 0.9998880624771118, 0.014063294045627117], "tcp_vel": [-0.0004967328859493136, -7.350795203819871e-05, -0.00012111703108530492, -0.0005649388767778873, 0.0014754199655726552, -0.0007062335498631], "flange_pose": [0.6786696314811707, 0.028485223650932312, -0.06502556055784225, -0.0022753404919058084, -0.004569664131850004, 0.9998880624771118, 0.014063294045627117], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8140869140625, 15.192755699157715, 28.14051628112793, 0.3460797071456909, -24.019332885742188, 1.7969738245010376], "ext_wrench_in_world": [-108.07799265706389, 14.98479671044119, -27.22478999335218, -0.13651035053351812, -23.961513855771393, -2.4707199415572827]}
+{"timestamp_ns": 1789729715147673401, "elapsed_ms": 4300, "source_timestamp_ns": 1789729715139295484, "q": [0.8364737629890442, -1.897101640701294, -1.0061829090118408, 1.3811346292495728, -0.16139346361160278, 0.5941770076751709, 0.7037115693092346], "theta": [0.8385578989982605, -1.8951481580734253, -1.0043962001800537, 1.3627314567565918, -0.16198796033859253, 0.5941265821456909, 0.7036867141723633], "dq": [0.0007959043723531067, -0.001025520614348352, 0.0007904967642389238, 0.002983967773616314, -0.002733428031206131, 0.0012989839306101203, -0.0005769907729700208], "dtheta": [-4.56337547802832e-05, -0.00014321117487270385, 0.00012969998351763934, -0.00025824352633208036, 0.0006994251743890345, 0.0006915246485732496, 0.0001537683856440708], "tau": [55.56999969482422, 23.529998779296875, 5.488000392913818, -26.284000396728516, -2.580000162124634, 2.6560001373291016, -0.5600000023841858], "tau_des": [0.48595795035362244, -0.5627956986427307, -0.2052159458398819, -0.5065335631370544, 0.9121338129043579, -1.1871150732040405, -0.5517418384552002], "tau_dot": [0.32615143060684204, -53.42314910888672, 29.63240623474121, 30.1486873626709, -15.89648723602295, 28.539379119873047, -26.990800857543945], "tau_ext": [-16.749502182006836, -41.61125183105469, 31.83155059814453, 31.340787887573242, 9.498196601867676, -2.9895284175872803, -0.11512689292430878], "tcp_pose": [0.6779667735099792, 0.032702263444662094, -0.21496541798114777, -0.0022752329241484404, -0.004571964032948017, 0.9998880624771118, 0.014061537571251392], "tcp_vel": [4.361213359516114e-05, 0.0003213774471078068, 7.025500235613436e-05, 0.001010540290735662, -0.00025192994507960975, -0.0004122020036447793], "flange_pose": [0.6786684989929199, 0.028487397357821465, -0.06502628326416016, -0.0022752329241484404, -0.004571964032948017, 0.9998880624771118, 0.014061537571251392], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84112548828125, 15.19044017791748, 28.127870559692383, 0.3432650566101074, -24.026105880737305, 1.798884630203247], "ext_wrench_in_world": [-108.10501057302274, 14.981284990937754, -27.21217945383761, -0.13353223920667862, -23.96821356144134, -2.4727491620669544]}
+{"timestamp_ns": 1789729715180939473, "elapsed_ms": 4333, "source_timestamp_ns": 1789729715179307342, "q": [0.8364739418029785, -1.8971045017242432, -1.0061826705932617, 1.3811336755752563, -0.1613936871290207, 0.5941692590713501, 0.7037087678909302], "theta": [0.8385581374168396, -1.8951512575149536, -1.0043952465057373, 1.3627303838729858, -0.16198723018169403, 0.5941184759140015, 0.7036826610565186], "dq": [-0.0002604057372082025, -0.002023130189627409, 0.0029008660931140184, -0.0012425570748746395, 0.0001560082455398515, 0.0005063700373284519, -0.001338574686087668], "dtheta": [-0.00020664867770392448, 3.203363667125814e-05, 0.0002926621527876705, 4.189199171378277e-05, -0.000316042045596987, -0.00028583998209796846, 0.0002623350592330098], "tau": [55.57999801635742, 23.60999870300293, 5.468000411987305, -26.316001892089844, -2.5480000972747803, 2.6640000343322754, -0.5680000185966492], "tau_des": [0.5705521106719971, -0.5286970138549805, -0.21120600402355194, -0.5958305597305298, 0.9204370975494385, -1.1358002424240112, -0.5393196940422058], "tau_dot": [54.18086624145508, 28.966440200805664, -39.15778732299805, -78.6594009399414, 64.75029754638672, 22.060434341430664, -26.266321182250977], "tau_ext": [-16.767004013061523, -41.58770751953125, 31.805309295654297, 31.352834701538086, 9.49620532989502, -2.9914393424987793, -0.10951999574899673], "tcp_pose": [0.6779648661613464, 0.03270217403769493, -0.21496662497520447, -0.0022777309641242027, -0.0045744674280285835, 0.9998881220817566, 0.01405820157378912], "tcp_vel": [-0.00016032179701142013, 7.660316623514518e-05, -0.0001398229505866766, -0.0001980545639526099, 0.0003813571820501238, 0.00011068893945775926], "flange_pose": [0.6786673665046692, 0.028488311916589737, -0.06502747535705566, -0.0022777309641242027, -0.0045744674280285835, 0.9998881220817566, 0.01405820157378912], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84331512451172, 15.14685344696045, 28.134700775146484, 0.3305407166481018, -24.02899742126465, 1.7998915910720825], "ext_wrench_in_world": [-108.1070456027952, 14.937156748109809, -27.219794514526058, -0.12067709064719707, -23.97097554183241, -2.4737325216730315]}
+{"timestamp_ns": 1789729715214321670, "elapsed_ms": 4366, "source_timestamp_ns": 1789729715209290434, "q": [0.8364757895469666, -1.8971058130264282, -1.006182074546814, 1.3811336755752563, -0.16139040887355804, 0.5941672921180725, 0.7037072777748108], "theta": [0.8385596871376038, -1.8951525688171387, -1.0043946504592896, 1.362729787826538, -0.16198387742042542, 0.5941160917282104, 0.7036807537078857], "dq": [-0.00046178544289432466, 0.0004575771454256028, 0.0015880200080573559, 1.575196802150458e-05, 0.00048304724623449147, -0.0010004461510106921, -0.00036194210406392813], "dtheta": [3.6111512599745765e-05, -0.00014424660184886307, 0.0005618979339487851, 1.7159851267933846e-05, -0.0006724021513946354, -0.0004669823683798313, -0.00042348282295279205], "tau": [55.56999969482422, 23.639999389648438, 5.484000205993652, -26.280000686645508, -2.568000078201294, 2.680000066757202, -0.5520000457763672], "tau_des": [0.53138267993927, -0.49123796820640564, -0.27845901250839233, -0.579545795917511, 0.9329863786697388, -1.1409862041473389, -0.5185868740081787], "tau_dot": [15.808157920837402, 66.08032989501953, 19.812013626098633, -1.8795007467269897, -33.5737190246582, 54.012306213378906, -12.417374610900879], "tau_ext": [-16.747692108154297, -41.591190338134766, 31.798336029052734, 31.344369888305664, 9.489232063293457, -2.991316318511963, -0.10751073062419891], "tcp_pose": [0.67796391248703, 0.03270278126001358, -0.21496623754501343, -0.00227854261174798, -0.004574929364025593, 0.9998881220817566, 0.014058261178433895], "tcp_vel": [-0.00022073336003813893, 0.00022805697517469525, 6.9363964030344505e-06, -0.0004795673012267798, 0.0001246671745320782, 0.001301590004004538], "flange_pose": [0.6786667108535767, 0.028488902375102043, -0.06502708047628403, -0.00227854261174798, -0.004574929364025593, 0.9998881220817566, 0.014058261178433895], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84014129638672, 15.145567893981934, 28.14946937561035, 0.3342286944389343, -24.032691955566406, 1.8035519123077393], "ext_wrench_in_world": [-108.10398743271047, 14.936216680559824, -27.2344315197516, -0.12432976134313027, -23.97459944293171, -2.4774815061155304]}
+{"timestamp_ns": 1789729715247597450, "elapsed_ms": 4400, "source_timestamp_ns": 1789729715239271326, "q": [0.8364769816398621, -1.8971070051193237, -1.0061827898025513, 1.3811343908309937, -0.16138921678066254, 0.594169557094574, 0.7037080526351929], "theta": [0.8385607004165649, -1.8951534032821655, -1.00439453125, 1.362729787826538, -0.1619819700717926, 0.5941187143325806, 0.703681230545044], "dq": [0.0033419146202504635, 0.002973907394334674, -0.0009792143246158957, 0.0005995886167511344, 0.0014522246783599257, 0.0004752842942252755, 0.0017323840875178576], "dtheta": [-5.2764382417080924e-05, 7.32553526177071e-05, -5.7449378800811246e-05, 4.4548371079145e-05, 0.0014182383893057704, 0.0003021800075657666, 0.0005569662316702306], "tau": [55.55999755859375, 23.59000015258789, 5.4800004959106445, -26.32400131225586, -2.576000213623047, 2.6680002212524414, -0.5680000185966492], "tau_des": [0.5494112968444824, -0.5621163249015808, -0.19357258081436157, -0.5661002397537231, 0.8773152828216553, -1.1569682359695435, -0.5608558058738708], "tau_dot": [-66.9540786743164, -85.46890258789062, -18.417015075683594, -17.59585952758789, -59.69365310668945, 18.280405044555664, -40.5346565246582], "tau_ext": [-16.7454776763916, -41.60803985595703, 31.79147720336914, 31.343338012695312, 9.484052658081055, -2.993995428085327, -0.10925837606191635], "tcp_pose": [0.6779640913009644, 0.03270304203033447, -0.21496595442295074, -0.0022775752004235983, -0.004574399907141924, 0.9998881220817566, 0.014058518223464489], "tcp_vel": [-0.00012653713929466903, 8.554168016416952e-05, -0.00011915356299141422, 0.0010679876431822777, 0.0006424897001124918, -0.0014332528226077557], "flange_pose": [0.6786665916442871, 0.028489084914326668, -0.06502679735422134, -0.0022775752004235983, -0.004574399907141924, 0.9998881220817566, 0.014058518223464489], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83970642089844, 15.147870063781738, 28.147878646850586, 0.3416774868965149, -24.037769317626953, 1.8052401542663574], "ext_wrench_in_world": [-108.1034975856005, 14.938608863402791, -27.232978091258115, -0.13176126397340618, -23.979694349888888, -2.47929166140218]}
+{"timestamp_ns": 1789729715280935053, "elapsed_ms": 4433, "source_timestamp_ns": 1789729715279240239, "q": [0.8364794254302979, -1.8971096277236938, -1.006183385848999, 1.3811346292495728, -0.1613902449607849, 0.5941694974899292, 0.7037094831466675], "theta": [0.8385633230209351, -1.8951551914215088, -1.0043944120407104, 1.3627305030822754, -0.161982923746109, 0.5941199064254761, 0.7036819458007812], "dq": [0.0012200253549963236, -0.0014414680190384388, 0.001999915111809969, 0.001661796821281314, 0.0001248429180122912, -0.0010466714156791568, 0.002486810553818941], "dtheta": [7.24065030226484e-05, -0.00012172463175375015, -8.677748701302335e-05, -9.66923325904645e-05, 5.0814374844776466e-05, -0.00017792255675885826, 0.0007330424850806594], "tau": [55.48999786376953, 23.639999389648438, 5.488000392913818, -26.288002014160156, -2.56000018119812, 2.6640000343322754, -0.5720000267028809], "tau_des": [0.5004411339759827, -0.5682470798492432, -0.19239524006843567, -0.5385268926620483, 0.9192814230918884, -1.161380648612976, -0.5554071068763733], "tau_dot": [-150.86141967773438, 60.895442962646484, 6.568731307983398, 12.908674240112305, 14.71310806274414, -13.028090476989746, -45.52507019042969], "tau_ext": [-16.75556182861328, -41.61626434326172, 31.788393020629883, 31.34183692932129, 9.486064910888672, -2.998391628265381, -0.11147723346948624], "tcp_pose": [0.6779641509056091, 0.032703325152397156, -0.21496513485908508, -0.0022761516738682985, -0.004574671853333712, 0.9998881220817566, 0.014056934043765068], "tcp_vel": [9.768695235834457e-06, -1.7980542907025665e-05, 2.6938807422993705e-05, -0.00017841701628640294, 5.969959602225572e-06, -0.0007513492600992322], "flange_pose": [0.6786661744117737, 0.028489841148257256, -0.06502597033977509, -0.0022761516738682985, -0.004574671853333712, 0.9998881220817566, 0.014056934043765068], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81893920898438, 15.172057151794434, 28.15397071838379, 0.3563753366470337, -24.035926818847656, 1.8070547580718994], "ext_wrench_in_world": [-108.0829092003447, 14.963006690495972, -27.23883637657484, -0.14646421036373442, -23.977944971769954, -2.4809134378480717]}
+{"timestamp_ns": 1789729715314335117, "elapsed_ms": 4466, "source_timestamp_ns": 1789729715309336307, "q": [0.8364806175231934, -1.8971092700958252, -1.0061835050582886, 1.3811339139938354, -0.1613914668560028, 0.5941683053970337, 0.703710675239563], "theta": [0.8385643362998962, -1.8951550722122192, -1.004394769668579, 1.3627302646636963, -0.1619843691587448, 0.5941189527511597, 0.7036833763122559], "dq": [0.00114933040458709, 0.0010998762445524335, -9.912095265462995e-06, 0.001758559956215322, -0.0033226937521249056, -0.0005441450048238039, 0.0039311666041612625], "dtheta": [0.000207027536816895, 0.0005413602921180427, 0.00016836640133988112, -3.28210589941591e-05, -2.352351657464169e-05, -0.0005759343039244413, 0.00039491316420026124], "tau": [55.55999755859375, 23.600000381469727, 5.4720001220703125, -26.32000160217285, -2.568000078201294, 2.6640000343322754, -0.5560000538825989], "tau_des": [0.42798712849617004, -0.650218665599823, -0.17656029760837555, -0.49351587891578674, 0.9184415936470032, -1.1693731546401978, -0.552073061466217], "tau_dot": [6.620904922485352, 65.07195281982422, 9.734598159790039, -45.95928192138672, 24.724641799926758, -14.136819839477539, -12.735519409179688], "tau_ext": [-16.745817184448242, -41.608802795410156, 31.792579650878906, 31.33963966369629, 9.49519157409668, -2.9990289211273193, -0.11722896248102188], "tcp_pose": [0.6779646873474121, 0.03270307183265686, -0.21496394276618958, -0.0022753961384296417, -0.004574236925691366, 0.9998881220817566, 0.014056489802896976], "tcp_vel": [4.1375853470526636e-05, -0.00015273538883775473, 0.0002611425588838756, 0.00013497598411049694, 0.0002523349830880761, -0.0006175739108584821], "flange_pose": [0.6786665320396423, 0.028489720076322556, -0.06502477079629898, -0.0022753961384296417, -0.004574236925691366, 0.9998881220817566, 0.014056489802896976], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81481170654297, 15.171576499938965, 28.15212631225586, 0.35643789172172546, -24.03234100341797, 1.8057421445846558], "ext_wrench_in_world": [-108.07871468283449, 14.962584480235664, -27.237200129424163, -0.14657077999208837, -23.97440023119172, -2.479479245534345]}
+{"timestamp_ns": 1789729715347672669, "elapsed_ms": 4500, "source_timestamp_ns": 1789729715339327348, "q": [0.8364811539649963, -1.897109866142273, -1.0061849355697632, 1.3811343908309937, -0.161391943693161, 0.5941673517227173, 0.703711211681366], "theta": [0.8385646939277649, -1.895155906677246, -1.0043954849243164, 1.3627303838729858, -0.16198554635047913, 0.5941182374954224, 0.7036843299865723], "dq": [0.0005378741770982742, 0.0034976548049598932, -0.0030293187592178583, 0.0028868229128420353, 0.0021736782509833574, 0.0009622644283808768, 0.0015937014250084758], "dtheta": [-0.00016426475485786796, 0.00031439209124073386, -0.00022698058455716819, -5.6042230426101014e-05, -0.00025226589059457183, -0.001126338611356914, 0.0008668974041938782], "tau": [55.52000045776367, 23.59000015258789, 5.4800004959106445, -26.32400131225586, -2.5880000591278076, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.5325465798377991, -0.621954083442688, -0.12553369998931885, -0.5658746361732483, 0.9144107103347778, -1.1363554000854492, -0.5639889240264893], "tau_dot": [-120.21937561035156, 0.6270961165428162, -0.9148905277252197, -14.795085906982422, -34.33024597167969, -22.506210327148438, -31.42186164855957], "tau_ext": [-16.756393432617188, -41.61294937133789, 31.797822952270508, 31.34613800048828, 9.503963470458984, -3.0026135444641113, -0.12257535010576248], "tcp_pose": [0.6779648661613464, 0.03270218148827553, -0.2149641364812851, -0.0022753067314624786, -0.0045738606713712215, 0.9998881816864014, 0.014055177569389343], "tcp_vel": [-2.9535311114159413e-05, -0.00040234331390820444, -0.00011312231799820438, -0.0007765131304040551, 0.0007832146948203444, -0.0010784835321828723], "flange_pose": [0.6786666512489319, 0.02848922088742256, -0.0650249570608139, -0.0022753067314624786, -0.0045738606713712215, 0.9998881816864014, 0.014055177569389343], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81118774414062, 15.169490814208984, 28.15640640258789, 0.353692889213562, -24.027055740356445, 1.8023825883865356], "ext_wrench_in_world": [-108.07507586025767, 14.960662758239282, -27.241611984355664, -0.14387572871160018, -23.9691927550156, -2.475921576421582]}
+{"timestamp_ns": 1789729715381005882, "elapsed_ms": 4533, "source_timestamp_ns": 1789729715379285123, "q": [0.8364822268486023, -1.8971115350723267, -1.0061849355697632, 1.381133794784546, -0.1613927185535431, 0.5941619873046875, 0.7037108540534973], "theta": [0.8385655879974365, -1.8951575756072998, -1.0043952465057373, 1.3627293109893799, -0.16198627650737762, 0.5941132307052612, 0.7036831378936768], "dq": [-0.0008340224740095437, -0.0007978465291671455, -0.0010827949736267328, -0.0006043295143172145, -0.005680708680301905, 0.002275806851685047, -0.0011817151680588722], "dtheta": [-0.00029216971597634256, 0.00026070731109939516, 1.860720840340946e-05, -0.0002578838902991265, -0.00033481488935649395, 0.00045938571565784514, 8.385505498154089e-05], "tau": [55.599998474121094, 23.6299991607666, 5.464000225067139, -26.264001846313477, -2.568000078201294, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.48988842964172363, -0.6047152280807495, -0.1863774210214615, -0.5045205950737, 0.9246965646743774, -1.1834992170333862, -0.5426145792007446], "tau_dot": [94.07286071777344, 79.3463134765625, -37.224300384521484, 64.17222595214844, 27.42354965209961, 24.657676696777344, 6.245601654052734], "tau_ext": [-16.742658615112305, -41.59660720825195, 31.79682731628418, 31.341093063354492, 9.511419296264648, -2.9984850883483887, -0.12252752482891083], "tcp_pose": [0.6779639720916748, 0.03270186856389046, -0.2149641513824463, -0.0022763728629797697, -0.004574785940349102, 0.9998881816864014, 0.01405277382582426], "tcp_vel": [0.00023272080579772592, 3.188386472174898e-05, 7.515333709307015e-05, 0.00044549652375280857, -0.0004400110919959843, -0.00011153353989357129], "flange_pose": [0.6786661148071289, 0.02848963253200054, -0.0650249570608139, -0.0022763728629797697, -0.004574785940349102, 0.9998881816864014, 0.01405277382582426], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82994842529297, 15.168082237243652, 28.143260955810547, 0.34780222177505493, -24.025955200195312, 1.8012728691101074], "ext_wrench_in_world": [-108.09384629994693, 14.958377322849815, -27.228275254497472, -0.13795000071951588, -23.968081777460604, -2.4746917631330083]}
+{"timestamp_ns": 1789729715414330417, "elapsed_ms": 4566, "source_timestamp_ns": 1789729715409254696, "q": [0.8364840149879456, -1.897114634513855, -1.0061850547790527, 1.3811336755752563, -0.16139261424541473, 0.5941588878631592, 0.7037100195884705], "theta": [0.8385669589042664, -1.8951606750488281, -1.004394769668579, 1.3627288341522217, -0.16198675334453583, 0.5941094160079956, 0.7036826610565186], "dq": [0.0035038653295487165, 0.001609550672583282, -0.001258735079318285, 0.0014667295617982745, 0.0012602396309375763, -0.00017048823065124452, -4.090884613106027e-05], "dtheta": [0.00010467274114489555, -0.00041144597344100475, 0.00019405766215641052, -9.13575422600843e-05, -0.0010604982962831855, 0.0007513173623010516, 0.00011828997230622917], "tau": [55.54999923706055, 23.559999465942383, 5.464000225067139, -26.292001724243164, -2.6000001430511475, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.4597505033016205, -0.5201908946037292, -0.2666454315185547, -0.5034385323524475, 0.956392228603363, -1.1900542974472046, -0.528006911277771], "tau_dot": [-18.384601593017578, -35.56174087524414, -35.02330017089844, 24.784223556518555, -6.131043434143066, 24.409761428833008, -37.37236022949219], "tau_ext": [-16.743305206298828, -41.607723236083984, 31.802165985107422, 31.341203689575195, 9.512067794799805, -2.9943177700042725, -0.120737224817276], "tcp_pose": [0.6779630780220032, 0.03270227089524269, -0.21496416628360748, -0.002276595449075103, -0.004576192237436771, 0.9998882412910461, 0.014050614088773727], "tcp_vel": [0.00016804652113933116, 0.000289611256448552, 0.000173022344824858, -0.0002970853238366544, -0.0012677242048084736, 0.0008496352820657194], "flange_pose": [0.678665280342102, 0.028490683063864708, -0.0650249496102333, -0.002276595449075103, -0.004576192237436771, 0.9998882412910461, 0.014050614088773727], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8424072265625, 15.161310195922852, 28.14204216003418, 0.3438727557659149, -24.028928756713867, 1.8020873069763184], "ext_wrench_in_world": [-108.10629000191742, 14.951036010756031, -27.22721514294618, -0.133930707403419, -23.97100602812635, -2.475503361843491]}
+{"timestamp_ns": 1789729715447664999, "elapsed_ms": 4600, "source_timestamp_ns": 1789729715439240748, "q": [0.8364849090576172, -1.8971168994903564, -1.0061849355697632, 1.3811333179473877, -0.161390021443367, 0.5941585302352905, 0.7037081718444824], "theta": [0.838567852973938, -1.8951630592346191, -1.0043946504592896, 1.3627289533615112, -0.16198484599590302, 0.5941091775894165, 0.7036817073822021], "dq": [0.0003377211978659034, -0.00037264020647853613, 0.001102036447264254, 0.000609170354437083, 0.0004223011783324182, -0.00166383758187294, 0.003159631509333849], "dtheta": [-0.00010882779315579683, 2.3285840143216774e-05, -0.00034204861731268466, -0.00021461653523147106, 0.00016808239161036909, 0.0009126100339926779, -0.000713773479219526], "tau": [55.56999969482422, 23.619998931884766, 5.4720001220703125, -26.280000686645508, -2.568000078201294, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.47533491253852844, -0.5760823488235474, -0.1952599138021469, -0.4974866807460785, 0.9264088273048401, -1.1928385496139526, -0.5264343619346619], "tau_dot": [50.26057052612305, 30.365013122558594, -56.015113830566406, 60.565673828125, -23.34526252746582, -18.94658088684082, 18.345176696777344], "tau_ext": [-16.754037857055664, -41.5870246887207, 31.78941535949707, 31.340347290039062, 9.504382133483887, -2.989326000213623, -0.12534749507904053], "tcp_pose": [0.6779623031616211, 0.03270316496491432, -0.214964359998703, -0.0022768909111618996, -0.004577151499688625, 0.9998882412910461, 0.014050593599677086], "tcp_vel": [0.0003284085833001882, 1.464575802856416e-06, 0.00010024410585174337, 0.0006268697907216847, -0.0007888960535638034, 0.00030852205236442387], "flange_pose": [0.6786646246910095, 0.028491586446762085, -0.06502513587474823, -0.0022768909111618996, -0.004577151499688625, 0.9998882412910461, 0.014050593599677086], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.839599609375, 15.14439582824707, 28.150352478027344, 0.3358878493309021, -24.0318660736084, 1.7999403476715088], "ext_wrench_in_world": [-108.10341185423006, 14.93417887986673, -27.23594977615028, -0.12586467873977722, -23.973929099123108, -2.473474179209979]}
+{"timestamp_ns": 1789729715481003562, "elapsed_ms": 4633, "source_timestamp_ns": 1789729715479242657, "q": [0.8364863395690918, -1.8971168994903564, -1.00618577003479, 1.381134271621704, -0.16138917207717896, 0.5941562652587891, 0.7037075757980347], "theta": [0.8385688662528992, -1.8951631784439087, -1.0043953657150269, 1.3627294301986694, -0.1619843691587448, 0.5941072702407837, 0.7036817073822021], "dq": [0.0015310547314584255, 0.000721880467608571, -0.0005131186917424202, 0.0001948922872543335, 8.456408977508545e-05, -0.00024105652119033039, -0.003147644456475973], "dtheta": [9.124815551331267e-05, -0.0002619644801598042, -6.82166064507328e-05, -0.00012402617721818388, -0.00013861103798262775, 0.0002330136630916968, -0.00035729422233998775], "tau": [55.53999710083008, 23.60999870300293, 5.456000328063965, -26.316001892089844, -2.564000129699707, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.4854947030544281, -0.5280060768127441, -0.24482722580432892, -0.5261919498443604, 0.9290832877159119, -1.1734601259231567, -0.5269486904144287], "tau_dot": [-39.672523498535156, -77.1197280883789, -66.01805877685547, 19.491044998168945, -22.482730865478516, -27.1689510345459, -10.017219543457031], "tau_ext": [-16.743343353271484, -41.616268157958984, 31.80068588256836, 31.355426788330078, 9.501648902893066, -2.9942569732666016, -0.12105445563793182], "tcp_pose": [0.677962064743042, 0.0327022410929203, -0.2149641215801239, -0.002277475083246827, -0.00457700015977025, 0.9998882412910461, 0.014049635268747807], "tcp_vel": [8.332039578817785e-05, 9.028401109389961e-05, 7.36929796403274e-05, -9.880029392661527e-05, -0.00047489651478827, 0.0005364555981941521], "flange_pose": [0.67866450548172, 0.0284909475594759, -0.06502489745616913, -0.002277475083246827, -0.00457700015977025, 0.9998882412910461, 0.014049635268747807], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8405532836914, 15.13740062713623, 28.147977828979492, 0.33725419640541077, -24.03604507446289, 1.7994111776351929], "ext_wrench_in_world": [-108.10431826364548, 14.927089384594405, -27.2336714637708, -0.12720012917654336, -23.978138444955626, -2.4730104412399783]}
+{"timestamp_ns": 1789729715514330015, "elapsed_ms": 4666, "source_timestamp_ns": 1789729715509248946, "q": [0.8364868760108948, -1.897116780281067, -1.0061869621276855, 1.3811346292495728, -0.16138796508312225, 0.5941556692123413, 0.7037076354026794], "theta": [0.8385696411132812, -1.89516282081604, -1.0043962001800537, 1.3627294301986694, -0.1619836390018463, 0.5941070318222046, 0.7036819458007812], "dq": [0.0006684880354441702, 0.0015231012366712093, 0.0022399872541427612, -5.99995837546885e-06, 0.001591964508406818, 0.0006449844222515821, -0.0007875607698224485], "dtheta": [0.000468121055746451, -1.494881757935218e-06, -0.00034825209877453744, -0.00010858244786504656, 0.00013971084263175726, 0.0008639287552796304, 0.00022649727179668844], "tau": [55.529998779296875, 23.6299991607666, 5.464000225067139, -26.304000854492188, -2.5880000591278076, 2.688000202178955, -0.5520000457763672], "tau_des": [0.3766905665397644, -0.6360295414924622, -0.18474210798740387, -0.4447033703327179, 0.9305827617645264, -1.2061293125152588, -0.5487961173057556], "tau_dot": [8.152937889099121, -25.234708786010742, -19.624950408935547, 2.192432165145874, 3.822061777114868, 35.090721130371094, 3.7786338329315186], "tau_ext": [-16.74417495727539, -41.62583923339844, 31.797698974609375, 31.346065521240234, 9.499848365783691, -2.9959914684295654, -0.12343200296163559], "tcp_pose": [0.6779621243476868, 0.03270146995782852, -0.2149641215801239, -0.002277716062963009, -0.004576224368065596, 0.9998882412910461, 0.014049367047846317], "tcp_vel": [0.0004011769487988204, -2.4655390006955713e-05, 0.0004331730888225138, 0.0004897928447462618, -0.0012350673787295818, -0.0005854263436049223], "flange_pose": [0.6786646842956543, 0.028490258380770683, -0.06502489745616913, -0.002277716062963009, -0.004576224368065596, 0.9998882412910461, 0.014049367047846317], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8660659790039, 15.142354011535645, 28.14767837524414, 0.34302645921707153, -24.044448852539062, 1.8008190393447876], "ext_wrench_in_world": [-108.12986384869986, 14.931949174699907, -27.23307383714694, -0.13294056321994507, -23.986553366316162, -2.4746154040727806]}
+{"timestamp_ns": 1789729715547667758, "elapsed_ms": 4700, "source_timestamp_ns": 1789729715539223819, "q": [0.8364875912666321, -1.897116780281067, -1.0061875581741333, 1.381135106086731, -0.16138896346092224, 0.5941565036773682, 0.7037087082862854], "theta": [0.838570237159729, -1.89516282081604, -1.0043972730636597, 1.3627294301986694, -0.16198459267616272, 0.5941077470779419, 0.7036821842193604], "dq": [0.002088116016238928, -0.003583306912332773, -0.0008784745004959404, 0.003560103243216872, 0.00023866817355155945, 0.00011274089047219604, 0.0008454720373265445], "dtheta": [8.268679812317714e-05, -0.0002642483450472355, 0.00016019854228943586, 0.0001187276720884256, -0.0001241931167896837, -5.439163214759901e-05, 5.152381709194742e-05], "tau": [55.54999923706055, 23.60999870300293, 5.4800004959106445, -26.296001434326172, -2.5840001106262207, 2.6600000858306885, -0.5360000133514404], "tau_des": [0.5208335518836975, -0.5092220306396484, -0.26809951663017273, -0.5578385591506958, 0.9148407578468323, -1.1623159646987915, -0.5354804396629333], "tau_dot": [33.370662689208984, -38.724388122558594, 55.66503143310547, -2.7758285999298096, -24.734928131103516, -36.966468811035156, 32.244937896728516], "tau_ext": [-16.751447677612305, -41.62858581542969, 31.804134368896484, 31.351564407348633, 9.506935119628906, -3.000580072402954, -0.12208428978919983], "tcp_pose": [0.677962601184845, 0.03270116075873375, -0.21496370434761047, -0.002276889979839325, -0.004575836472213268, 0.9998882412910461, 0.014049013145267963], "tcp_vel": [-0.00014595442917197943, 0.00012604253424797207, -6.249351281439885e-05, -0.0002750790736172348, 3.772244599531405e-05, 0.00032707402715459466], "flange_pose": [0.6786648631095886, 0.02849005162715912, -0.0650244802236557, -0.002276889979839325, -0.004575836472213268, 0.9998882412910461, 0.014049013145267963], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85631561279297, 15.15693473815918, 28.15899085998535, 0.34764736890792847, -24.03998565673828, 1.8015397787094116], "ext_wrench_in_world": [-108.12024276006798, 14.946998064813892, -27.244203215186623, -0.13762021702922475, -23.98211609615393, -2.475173301007989]}
+{"timestamp_ns": 1789729715580994062, "elapsed_ms": 4733, "source_timestamp_ns": 1789729715579247026, "q": [0.8364883661270142, -1.8971184492111206, -1.0061957836151123, 1.3811347484588623, -0.16138993203639984, 0.5941557884216309, 0.7037088871002197], "theta": [0.8385713696479797, -1.895163655281067, -1.0044057369232178, 1.3627294301986694, -0.16198627650737762, 0.5941070318222046, 0.7036833763122559], "dq": [-0.0003638622001744807, 0.0003474236000329256, -0.0008573875529691577, 0.0007775836857035756, 0.00025429585366509855, -0.0004296363331377506, 0.0014039339730516076], "dtheta": [4.925166649627499e-05, -0.00025425557396374643, -0.0007242942810989916, -0.00010210261825704947, -0.00035741235478781164, 0.00011070701293647289, 0.0006546956137754023], "tau": [55.55999755859375, 23.60999870300293, 5.436000347137451, -26.308000564575195, -2.568000078201294, 2.6680002212524414, -0.5320000052452087], "tau_des": [0.48114386200904846, -0.6165972352027893, -0.09995275735855103, -0.5194670557975769, 0.9397366046905518, -1.1701111793518066, -0.564508855342865], "tau_dot": [69.31990814208984, 23.158950805664062, -49.02490997314453, -56.80426788330078, 47.564109802246094, -40.89889144897461, 58.38499069213867], "tau_ext": [-16.744720458984375, -41.63831329345703, 31.82586669921875, 31.341466903686523, 9.509480476379395, -2.999448299407959, -0.12389084696769714], "tcp_pose": [0.6779651641845703, 0.032697007060050964, -0.21496398746967316, -0.0022750513162463903, -0.004573689308017492, 0.9998883008956909, 0.014045300893485546], "tcp_vel": [0.0002937453973572701, -0.0003125743241980672, 5.7667152759677265e-06, -0.0007446897216141224, -0.0006230383296497166, -0.0008132557268254459], "flange_pose": [0.678666889667511, 0.028487008064985275, -0.0650247186422348, -0.0022750513162463903, -0.004573689308017492, 0.9998883008956909, 0.014045300893485546], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84410095214844, 15.187275886535645, 28.146265029907227, 0.3522254526615143, -24.031795501708984, 1.8014769554138184], "ext_wrench_in_world": [-108.1080806032118, 14.977347262840668, -27.231189313403924, -0.14236694078723025, -23.97399120866745, -2.4746826477866777]}
+{"timestamp_ns": 1789729715614331534, "elapsed_ms": 4766, "source_timestamp_ns": 1789729715609233287, "q": [0.8364888429641724, -1.897119164466858, -1.0061973333358765, 1.381134271621704, -0.1613895297050476, 0.5941544771194458, 0.7037079930305481], "theta": [0.8385714888572693, -1.8951650857925415, -1.0044074058532715, 1.3627285957336426, -0.16198627650737762, 0.5941053628921509, 0.7036826610565186], "dq": [-0.0013720542192459106, -0.0005029866006225348, 0.0011697588488459587, -0.00031857003341428936, 0.0036593847908079624, -0.0013066254323348403, 0.00020850358123425394], "dtheta": [0.00019960958161391318, -5.7330220442963764e-05, 0.0001002237549982965, -0.0004290661890991032, 0.00019610539311543107, 8.243515185313299e-05, -0.0005666541983373463], "tau": [55.529998779296875, 23.56999969482422, 5.464000225067139, -26.332000732421875, -2.5840001106262207, 2.696000099182129, -0.5200000405311584], "tau_des": [0.4079646170139313, -0.5909638404846191, -0.212467759847641, -0.4619802236557007, 0.9310724139213562, -1.1934609413146973, -0.5365288257598877], "tau_dot": [-85.05606842041016, -53.07437515258789, -56.57219314575195, -42.569766998291016, 24.485883712768555, 39.24690628051758, 38.92997741699219], "tau_ext": [-16.746719360351562, -41.625511169433594, 31.8128719329834, 31.342456817626953, 9.51873779296875, -2.996384382247925, -0.12441447377204895], "tcp_pose": [0.677965521812439, 0.03269622474908829, -0.21496395766735077, -0.0022749919444322586, -0.004573675338178873, 0.9998883008956909, 0.014044374227523804], "tcp_vel": [0.00015073335089255124, 0.00018114411795977503, 0.0003085739735979587, 0.000446012505562976, -0.00048218623851425946, 0.0004965400439687073], "flange_pose": [0.6786671876907349, 0.028486505150794983, -0.06502468138933182, -0.0022749919444322586, -0.004573675338178873, 0.9998883008956909, 0.014044374227523804], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84278106689453, 15.202796936035156, 28.144556045532227, 0.35237815976142883, -24.029197692871094, 1.8021061420440674], "ext_wrench_in_world": [-108.10688992755979, 14.992778029106038, -27.22909207228552, -0.1425464724558078, -23.971382862844283, -2.475193492209677]}
+{"timestamp_ns": 1789729715647665997, "elapsed_ms": 4800, "source_timestamp_ns": 1789729715639280401, "q": [0.836488664150238, -1.8971222639083862, -1.006198525428772, 1.3811336755752563, -0.16138868033885956, 0.5941505432128906, 0.7037063837051392], "theta": [0.8385717868804932, -1.8951685428619385, -1.0044082403182983, 1.3627276420593262, -0.16198506951332092, 0.594101071357727, 0.7036809921264648], "dq": [0.00041033970774151385, -0.0007476219907402992, 0.0006543923518620431, -0.0020524971187114716, -0.0006897537386976182, -0.0009314680937677622, -0.0005363935488276184], "dtheta": [0.0002934033691417426, -0.00031421659514307976, -0.00013678459799848497, -7.114826439647004e-05, 0.0004402940976433456, -0.0004962062812410295, -0.0011283584171906114], "tau": [55.63999938964844, 23.619998931884766, 5.468000411987305, -26.292001724243164, -2.568000078201294, 2.6520001888275146, -0.5560000538825989], "tau_des": [0.4876033365726471, -0.5199741125106812, -0.21089424192905426, -0.5509514808654785, 0.9254007935523987, -1.1501327753067017, -0.5241969227790833], "tau_dot": [118.877197265625, -64.82363891601562, -16.852046966552734, -0.4751887917518616, 33.10795974731445, 1.663006067276001, -33.18389892578125], "tau_ext": [-16.756839752197266, -41.617576599121094, 31.801912307739258, 31.355146408081055, 9.51818561553955, -2.9960618019104004, -0.12662141025066376], "tcp_pose": [0.677964448928833, 0.032696038484573364, -0.21496526896953583, -0.002276364713907242, -0.004574831109493971, 0.9998883605003357, 0.014042004942893982], "tcp_vel": [-9.976015280699357e-05, -1.663142757024616e-05, 3.730313983396627e-05, -0.00032538612140342593, 0.00019408778462093323, 0.0009987452067434788], "flange_pose": [0.6786665320396423, 0.028487032279372215, -0.06502597779035568, -0.002276364713907242, -0.004574831109493971, 0.9998883605003357, 0.014042004942893982], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8520736694336, 15.173662185668945, 28.146095275878906, 0.3442290425300598, -24.031450271606445, 1.8021036386489868], "ext_wrench_in_world": [-108.1160332207987, 14.963229172613389, -27.2311885808825, -0.13432739083138645, -23.973571540771783, -2.4751761647236665]}
+{"timestamp_ns": 1789729715681006169, "elapsed_ms": 4833, "source_timestamp_ns": 1789729715679289699, "q": [0.8364900946617126, -1.8971256017684937, -1.0061988830566406, 1.3811323642730713, -0.16138604283332825, 0.5941457152366638, 0.703704833984375], "theta": [0.8385724425315857, -1.8951725959777832, -1.0044090747833252, 1.3627266883850098, -0.1619814932346344, 0.5940960645675659, 0.7036786079406738], "dq": [0.002277801278978586, -0.0006157644675113261, 0.0021801621187478304, 0.0014932916965335608, 0.00045835511991754174, -0.0006197268958203495, 0.002214558655396104], "dtheta": [-0.00015531410463154316, -9.090491221286356e-05, 0.00012994211283512414, -8.343063382199034e-05, 0.0010380694875493646, 0.0007987565477378666, -0.0005833970499224961], "tau": [55.54999923706055, 23.559999465942383, 5.464000225067139, -26.296001434326172, -2.568000078201294, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.5399245023727417, -0.5131391286849976, -0.24989069998264313, -0.550192654132843, 0.8926235437393188, -1.1726912260055542, -0.533213198184967], "tau_dot": [-59.777435302734375, -159.79531860351562, -27.760345458984375, -24.553537368774414, 27.118253707885742, -18.751806259155273, -8.143604278564453], "tau_ext": [-16.744474411010742, -41.60262680053711, 31.796382904052734, 31.343868255615234, 9.504773139953613, -2.993739366531372, -0.12166370451450348], "tcp_pose": [0.6779631972312927, 0.03269653767347336, -0.21496550738811493, -0.002277618506923318, -0.004575818777084351, 0.9998883605003357, 0.014040271751582623], "tcp_vel": [-6.0533449868671596e-05, 0.00031333070364780724, -8.220402378356084e-05, 0.0012330793542787433, 8.384713873965666e-05, 0.0001270189677597955], "flange_pose": [0.6786656975746155, 0.028488053008913994, -0.06502620130777359, -0.002277618506923318, -0.004575818777084351, 0.9998883605003357, 0.014040271751582623], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.850830078125, 15.153148651123047, 28.143280029296875, 0.3383851647377014, -24.033794403076172, 1.8002322912216187], "ext_wrench_in_world": [-108.11468739877502, 14.942344283287701, -27.22874197196612, -0.1284114682709783, -23.975922171756714, -2.4733137164719716]}
+{"timestamp_ns": 1789729715714330963, "elapsed_ms": 4866, "source_timestamp_ns": 1789729715709238285, "q": [0.8364913463592529, -1.8971256017684937, -1.0061990022659302, 1.381132960319519, -0.16138684749603271, 0.5941420197486877, 0.7036998867988586], "theta": [0.8385736346244812, -1.8951730728149414, -1.0044095516204834, 1.3627266883850098, -0.1619819700717926, 0.5940920114517212, 0.7036740183830261], "dq": [0.0008975452510640025, 0.0025827030185610056, 0.002633444732055068, -0.00021045668108854443, -0.0017076958902180195, -0.0017762542702257633, -0.0008070851326920092], "dtheta": [9.552165283821523e-05, 0.0001602017437107861, 0.00017625045438762754, 9.607662650523707e-05, -0.0010972794843837619, 3.460344669292681e-05, 6.751123873982579e-05], "tau": [55.529998779296875, 23.619998931884766, 5.4760003089904785, -26.304000854492188, -2.580000162124634, 2.6640000343322754, -0.5760000348091125], "tau_des": [0.4741017520427704, -0.5798318386077881, -0.21208356320858002, -0.5330056548118591, 0.9471980333328247, -1.1606619358062744, -0.5271750092506409], "tau_dot": [-31.01915168762207, 3.842072010040283, -12.681543350219727, 5.208213806152344, 6.706779956817627, 19.766613006591797, -45.27834701538086], "tau_ext": [-16.747623443603516, -41.62180709838867, 31.80474853515625, 31.346555709838867, 9.497361183166504, -2.991145610809326, -0.11696779727935791], "tcp_pose": [0.6779626607894897, 0.0326957106590271, -0.2149653136730194, -0.002278395462781191, -0.004578544292598963, 0.9998883605003357, 0.014038613066077232], "tcp_vel": [0.00012255040928721428, -4.003489084425382e-05, 0.00017313769785687327, -0.0004830149409826845, -0.00059459637850523, 0.0005721228662878275], "flange_pose": [0.6786653995513916, 0.02848772518336773, -0.06502600014209747, -0.002278395462781191, -0.004578544292598963, 0.9998883605003357, 0.014038613066077232], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85272216796875, 15.15264892578125, 28.14400291442871, 0.34198251366615295, -24.03879165649414, 1.8010672330856323], "ext_wrench_in_world": [-108.11669992082844, 14.941164990138336, -27.22936164370016, -0.13183933789690394, -23.98093588484154, -2.474193201466449]}
+{"timestamp_ns": 1789729715747661747, "elapsed_ms": 4900, "source_timestamp_ns": 1789729715739229786, "q": [0.836492657661438, -1.8971253633499146, -1.0062057971954346, 1.3811336755752563, -0.1613834798336029, 0.5941405892372131, 0.7036997675895691], "theta": [0.8385753035545349, -1.8951728343963623, -1.0044159889221191, 1.3627269268035889, -0.1619781255722046, 0.5940903425216675, 0.7036735415458679], "dq": [0.0013053438160568476, 0.0009063897887244821, -0.00029155067750252783, -0.0011652996763586998, 0.0001703800808172673, -0.00010443721839692444, -0.0020876210182905197], "dtheta": [-0.00015787228767294437, 3.521938560879789e-05, -0.00023115394287742674, -3.7851652450626716e-05, 0.0006070588133297861, -0.0005345958634279668, 0.0004100642690900713], "tau": [55.57999801635742, 23.639999389648438, 5.464000225067139, -26.288002014160156, -2.5160000324249268, 2.680000066757202, -0.5680000185966492], "tau_des": [0.5713053941726685, -0.5709181427955627, -0.14079734683036804, -0.5992635488510132, 0.8981940746307373, -1.1250895261764526, -0.5579119920730591], "tau_dot": [44.75440979003906, -2.679370403289795, -2.7038064002990723, 10.831856727600098, 104.26317596435547, 49.554412841796875, -54.401939392089844], "tau_ext": [-16.757709503173828, -41.607879638671875, 31.783544540405273, 31.369325637817383, 9.497406959533691, -3.0011579990386963, -0.11215276271104813], "tcp_pose": [0.6779642701148987, 0.03269176930189133, -0.21496546268463135, -0.002278389409184456, -0.004575266502797604, 0.9998884201049805, 0.014036939479410648], "tcp_vel": [-0.00011486485891509801, -0.00017223235045094043, -0.00020311734988354146, -7.402637129416689e-05, 0.0008060691179707646, -0.0009258155478164554], "flange_pose": [0.6786670088768005, 0.0284842848777771, -0.06502614170312881, -0.002278389409184456, -0.004575266502797604, 0.9998884201049805, 0.014036939479410648], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8765640258789, 15.136773109436035, 28.148895263671875, 0.3440927267074585, -24.047584533691406, 1.8054038286209106], "ext_wrench_in_world": [-108.14032312760528, 14.925830017199495, -27.234635722110607, -0.13404705313723136, -23.989630187890207, -2.478685040463635]}
+{"timestamp_ns": 1789729715781006448, "elapsed_ms": 4933, "source_timestamp_ns": 1789729715779286189, "q": [0.836493730545044, -1.8971261978149414, -1.0062066316604614, 1.3811334371566772, -0.16138029098510742, 0.5941432118415833, 0.7037001252174377], "theta": [0.83857661485672, -1.8951735496520996, -1.0044175386428833, 1.3627266883850098, -0.16197453439235687, 0.5940924882888794, 0.7036735415458679], "dq": [-0.00025263387942686677, -0.0015290934825316072, 0.00037095294101163745, 0.0006039495929144323, 0.0005166184855625033, 0.0016232708003371954, -0.0011734176659956574], "dtheta": [-0.00024305458646267653, 0.00038318728911690414, -3.6670451208919985e-06, -7.693036604905501e-05, 0.0009253273019567132, 0.00036401068791747093, 0.00019528181292116642], "tau": [55.56999969482422, 23.68000030517578, 5.460000038146973, -26.296001434326172, -2.5360000133514404, 2.6600000858306885, -0.5600000023841858], "tau_des": [0.5268730521202087, -0.6163604855537415, -0.16250041127204895, -0.5380460023880005, 0.8833171129226685, -1.1665898561477661, -0.5588870048522949], "tau_dot": [40.182987213134766, 149.3826446533203, -20.349727630615234, 20.243207931518555, 43.86550521850586, -1.9174888134002686, -16.89003562927246], "tau_ext": [-16.748159408569336, -41.626094818115234, 31.811222076416016, 31.341777801513672, 9.48161792755127, -2.9969687461853027, -0.11596028506755829], "tcp_pose": [0.6779646873474121, 0.03269224241375923, -0.21496491134166718, -0.00227750139310956, -0.004574178252369165, 0.9998884201049805, 0.014038234017789364], "tcp_vel": [2.3427252017427236e-05, 2.2376325432560407e-05, -5.156653423910029e-05, 0.0011380913201719522, 0.0004217646783217788, -0.0009888404747471213], "flange_pose": [0.6786671280860901, 0.028484366834163666, -0.06502559036016464, -0.00227750139310956, -0.004574178252369165, 0.9998884201049805, 0.014038234017789364], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.86661529541016, 15.170917510986328, 28.148841857910156, 0.35497090220451355, -24.045013427734375, 1.8037298917770386], "ext_wrench_in_world": [-108.13060466092908, 14.960358940638113, -27.233815879966627, -0.14498882651430348, -23.98720064231038, -2.4769538125606316]}
+{"timestamp_ns": 1789729715814259981, "elapsed_ms": 4966, "source_timestamp_ns": 1789729715809226366, "q": [0.836495041847229, -1.8971288204193115, -1.0062072277069092, 1.3811333179473877, -0.1613815724849701, 0.5941448211669922, 0.7036999464035034], "theta": [0.8385772705078125, -1.8951761722564697, -1.004418134689331, 1.3627265691757202, -0.16197550296783447, 0.5940936803817749, 0.7036735415458679], "dq": [-0.0003518562880344689, -0.0016038379399105906, 0.0007232282077893615, 0.00034484470961615443, -0.0009103221236728132, -0.0012866570614278316, -0.0017736743902787566], "dtheta": [-1.453402092010947e-05, -2.8430551537894644e-05, 0.00010781886521726847, 0.00020804138330277056, 0.000440276664448902, 0.00043419114081189036, -3.3847445592982695e-05], "tau": [55.599998474121094, 23.60999870300293, 5.468000411987305, -26.2760009765625, -2.568000078201294, 2.6760001182556152, -0.5360000133514404], "tau_des": [0.5239332914352417, -0.5501611828804016, -0.21425943076610565, -0.5520907640457153, 0.9046019911766052, -1.1686352491378784, -0.5436812043190002], "tau_dot": [63.361351013183594, 19.438568115234375, 0.10857273638248444, 31.409099578857422, 12.322216033935547, 4.219580173492432, 20.50762367248535], "tau_ext": [-16.754728317260742, -41.6328125, 31.80916976928711, 31.336870193481445, 9.48553466796875, -3.0015125274658203, -0.11570718884468079], "tcp_pose": [0.6779650449752808, 0.032692842185497284, -0.21496446430683136, -0.0022757574915885925, -0.004575250204652548, 0.9998884201049805, 0.014037244953215122], "tcp_vel": [-0.00010697059042286128, 0.00012736993085127324, -9.192775905830786e-05, 0.00048577686538919806, 0.00013028099783696234, -9.316197247244418e-05], "flange_pose": [0.6786669492721558, 0.028485262766480446, -0.06502513587474823, -0.0022757574915885925, -0.004575250204652548, 0.9998884201049805, 0.014037244953215122], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8297348022461, 15.20414924621582, 28.152090072631836, 0.3650020360946655, -24.035198211669922, 1.8025016784667969], "ext_wrench_in_world": [-108.0939785857935, 14.993726808646889, -27.236702942228543, -0.15504377701727406, -23.977521729648696, -2.475359568410768]}
+{"timestamp_ns": 1789729715847590325, "elapsed_ms": 5000, "source_timestamp_ns": 1789729715839238324, "q": [0.8364953994750977, -1.8971298933029175, -1.0062087774276733, 1.3811326026916504, -0.1613837331533432, 0.5941438674926758, 0.703700840473175], "theta": [0.8385781049728394, -1.8951776027679443, -1.0044200420379639, 1.3627259731292725, -0.16197741031646729, 0.5940929651260376, 0.7036742568016052], "dq": [-0.001209560432471335, -0.0008561965660192072, -5.113944098411594e-06, 0.000403685582568869, -0.0015082757454365492, 8.886805881047621e-05, 0.0010014233412221074], "dtheta": [0.00041715591214597225, 0.0003606289974413812, -0.0004501373041421175, -0.00022590314620174468, -1.9317740225233138e-05, 0.000668268883600831, 4.898627594229765e-05], "tau": [55.57999801635742, 23.579999923706055, 5.484000205993652, -26.312002182006836, -2.56000018119812, 2.6600000858306885, -0.5560000538825989], "tau_des": [0.33131372928619385, -0.7199918031692505, -0.09864841401576996, -0.4067956805229187, 0.9442182183265686, -1.214341163635254, -0.5552778840065002], "tau_dot": [20.026084899902344, 101.63453674316406, -9.746482849121094, -35.7740478515625, -6.193474292755127, -4.523417949676514, -19.04656219482422], "tau_ext": [-16.73754119873047, -41.58184814453125, 31.796245574951172, 31.33858871459961, 9.493646621704102, -2.999476432800293, -0.11741820722818375], "tcp_pose": [0.6779657602310181, 0.032692134380340576, -0.21496424078941345, -0.0022748198825865984, -0.004575165919959545, 0.9998884201049805, 0.014035596512258053], "tcp_vel": [0.0005519140977412462, -0.0002069681795546785, 0.000543565780390054, 0.0005350759020075202, -0.0012563889613375068, -0.0006478068535216153], "flange_pose": [0.678667426109314, 0.028485046699643135, -0.06502489745616913, -0.0022748198825865984, -0.004575165919959545, 0.9998884201049805, 0.014035596512258053], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81813049316406, 15.185789108276367, 28.13370704650879, 0.3585691452026367, -24.02569580078125, 1.8009294271469116], "ext_wrench_in_world": [-108.08206785960138, 14.974896682608703, -27.219147719914027, -0.14869002138228019, -23.968016401088285, -2.473470925609812]}
+{"timestamp_ns": 1789729715880927427, "elapsed_ms": 5033, "source_timestamp_ns": 1789729715879243163, "q": [0.8364949822425842, -1.8971312046051025, -1.0062090158462524, 1.381131887435913, -0.16138291358947754, 0.5941397547721863, 0.7037010192871094], "theta": [0.8385781645774841, -1.8951793909072876, -1.0044206380844116, 1.3627257347106934, -0.16197693347930908, 0.5940889120101929, 0.7036740183830261], "dq": [0.001086259027943015, -0.0007053777226246893, -0.001583163975737989, 0.0014170302310958505, -0.0005365143879316747, 0.00033826258732005954, -0.0027191515546292067], "dtheta": [-4.277930929674767e-05, -3.6917281249770895e-05, 0.00026655950932763517, -0.0003129395190626383, 0.00028737273532897234, 0.00012374600919429213, 0.000655552779790014], "tau": [55.5099983215332, 23.619998931884766, 5.4720001220703125, -26.32000160217285, -2.572000026702881, 2.6760001182556152, -0.5520000457763672], "tau_des": [0.4863429069519043, -0.5731933116912842, -0.22626495361328125, -0.5105109214782715, 0.9064971804618835, -1.1773921251296997, -0.5563653707504272], "tau_dot": [5.068260192871094, 86.79865264892578, 19.73471450805664, -8.255328178405762, 55.84184265136719, 56.56231689453125, -10.682300567626953], "tau_ext": [-16.747425079345703, -41.59463119506836, 31.80613899230957, 31.351438522338867, 9.501519203186035, -2.9956109523773193, -0.1170998364686966], "tcp_pose": [0.6779648065567017, 0.032691940665245056, -0.21496513485908508, -0.0022765088360756636, -0.004575209226459265, 0.9998884797096252, 0.014034150168299675], "tcp_vel": [-1.5965231341397157e-06, 0.000257520325249061, 0.00010480615310370922, 0.0005785656976513565, -4.0362185245612636e-05, -0.000655273674055934], "flange_pose": [0.6786669492721558, 0.028485288843512535, -0.06502576917409897, -0.0022765088360756636, -0.004575209226459265, 0.9998884797096252, 0.014034150168299675], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85148620605469, 15.137970924377441, 28.13844871520996, 0.34017208218574524, -24.028762817382812, 1.799238681793213], "ext_wrench_in_world": [-108.1151032030928, 14.926830672932576, -27.22476303123335, -0.13026310059789425, -23.970967216185976, -2.4718781642221526]}
+{"timestamp_ns": 1789729715914255241, "elapsed_ms": 5066, "source_timestamp_ns": 1789729715909351509, "q": [0.8364970684051514, -1.8971328735351562, -1.0062090158462524, 1.3811323642730713, -0.16138312220573425, 0.594136118888855, 0.7036998867988586], "theta": [0.838580310344696, -1.89518141746521, -1.004420518875122, 1.3627256155014038, -0.1619776487350464, 0.594084620475769, 0.7036730647087097], "dq": [0.0007324337493628263, -0.0011500008404254913, 0.0002117420663125813, 0.0015528935473412275, -0.0011763100046664476, 0.0001275337126571685, -0.0017248124349862337], "dtheta": [2.9356062441365793e-05, -0.00035785362706519663, -7.103898678906262e-05, -3.5801600461127236e-05, -0.001007631653919816, -0.00016191278700716794, -0.00020422376110218465], "tau": [55.56999969482422, 23.6299991607666, 5.448000431060791, -26.340002059936523, -2.5840001106262207, 2.680000066757202, -0.5440000295639038], "tau_des": [0.5090965628623962, -0.5306022763252258, -0.20737048983573914, -0.5533081889152527, 0.9487447738647461, -1.1558977365493774, -0.5299921035766602], "tau_dot": [35.7580451965332, 80.06491088867188, -41.82986831665039, -18.431360244750977, -41.175506591796875, 35.127315521240234, 1.810088872909546], "tau_ext": [-16.71998405456543, -41.605995178222656, 31.80405044555664, 31.33843994140625, 9.500372886657715, -2.9903805255889893, -0.11625053733587265], "tcp_pose": [0.6779639720916748, 0.03269174322485924, -0.2149648219347, -0.002276964485645294, -0.004576436709612608, 0.9998884797096252, 0.0140321534126997], "tcp_vel": [5.5349068134091794e-05, -2.331965515622869e-05, -9.817606041906402e-06, -0.0010211380431428552, -0.0005209424416534603, 0.0009513103286735713], "flange_pose": [0.6786662340164185, 0.028485693037509918, -0.0650254413485527, -0.002276964485645294, -0.004576436709612608, 0.9998884797096252, 0.0140321534126997], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.88410949707031, 15.129754066467285, 28.1235294342041, 0.3380067050457001, -24.041162490844727, 1.8023642301559448], "ext_wrench_in_world": [-108.14764060362904, 14.917521978556962, -27.20990293646318, -0.1279425384872335, -23.983264079428768, -2.475264443494502]}
+{"timestamp_ns": 1789729715947586754, "elapsed_ms": 5100, "source_timestamp_ns": 1789729715939351049, "q": [0.8364982604980469, -1.8971326351165771, -1.006208896636963, 1.3811334371566772, -0.1613815426826477, 0.5941323637962341, 0.7036992907524109], "theta": [0.8385817408561707, -1.8951810598373413, -1.0044201612472534, 1.3627262115478516, -0.16197620332241058, 0.5940810441970825, 0.7036725878715515], "dq": [0.0003353905922267586, -0.0002964648883789778, 0.0004267366894055158, 0.001241771038621664, 1.8272838815391879e-06, 0.0002079420373775065, 0.0018447301117703319], "dtheta": [0.0004372779803816229, 0.0001361117756459862, -0.0003361479321029037, -0.00019358315330464393, -5.585065082414076e-05, -0.00047521700616925955, 0.0010705454042181373], "tau": [55.57999801635742, 23.579999923706055, 5.468000411987305, -26.32400131225586, -2.576000213623047, 2.680000066757202, -0.5440000295639038], "tau_des": [0.4100799560546875, -0.6656990051269531, -0.12939797341823578, -0.48974841833114624, 0.9249506592750549, -1.1617488861083984, -0.569403350353241], "tau_dot": [-41.17442321777344, -43.177268981933594, -14.55687427520752, 2.035679340362549, -21.758453369140625, 15.491352081298828, -2.5172345638275146], "tau_ext": [-16.75726890563965, -41.62089920043945, 31.78861427307129, 31.348793029785156, 9.500951766967773, -2.9907515048980713, -0.11800476908683777], "tcp_pose": [0.6779628992080688, 0.03269104287028313, -0.21496498584747314, -0.0022786774206906557, -0.004576356150209904, 0.9998884797096252, 0.014031213708221912], "tcp_vel": [0.00023722158221062273, -0.00026718160370364785, 0.00035524251870810986, -0.0003526843211147934, -0.0003409544879104942, -0.0013856469886377454], "flange_pose": [0.6786656975746155, 0.02848527766764164, -0.06502559781074524, -0.0022786774206906557, -0.004576356150209904, 0.9998884797096252, 0.014031213708221912], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8863525390625, 15.133460998535156, 28.1381778717041, 0.3405769169330597, -24.049556732177734, 1.8033643960952759], "ext_wrench_in_world": [-108.15007725975774, 14.92157753593466, -27.22408992903612, -0.130452088714591, -23.991654984246438, -2.4764426432122613]}
+{"timestamp_ns": 1789729715981009626, "elapsed_ms": 5133, "source_timestamp_ns": 1789729715979293645, "q": [0.8364989161491394, -1.8971322774887085, -1.006209135055542, 1.3811347484588623, -0.16138117015361786, 0.594134509563446, 0.7036983966827393], "theta": [0.8385828137397766, -1.8951809406280518, -1.0044203996658325, 1.3627277612686157, -0.16197550296783447, 0.5940829515457153, 0.703671395778656], "dq": [0.0011587145272642374, 0.0012085044290870428, 0.0006658638012595475, -0.0015946885105222464, 0.00045153481187298894, 0.00048103739391081035, 0.0005983820301480591], "dtheta": [2.7703983505489305e-05, -0.00011890156747540459, 0.00037913001142442226, 0.00037125038215890527, 0.00013132893946021795, 0.0002265516814077273, -0.0002453831257298589], "tau": [55.57999801635742, 23.600000381469727, 5.460000038146973, -26.2760009765625, -2.572000026702881, 2.6720001697540283, -0.5600000023841858], "tau_des": [0.5554054975509644, -0.5011793971061707, -0.27340027689933777, -0.5886563658714294, 0.9004939794540405, -1.1526083946228027, -0.5310260057449341], "tau_dot": [26.498891830444336, -74.58053588867188, -27.447975158691406, 15.393120765686035, 14.980329513549805, 16.822622299194336, -23.653894424438477], "tau_ext": [-16.761951446533203, -41.647010803222656, 31.799407958984375, 31.35892105102539, 9.498270988464355, -2.992804527282715, -0.11784753948450089], "tcp_pose": [0.6779630184173584, 0.03269094228744507, -0.2149648517370224, -0.00227814051322639, -0.004576614126563072, 0.9998884797096252, 0.01403170544654131], "tcp_vel": [-0.0002731992572080344, 0.0002178389549953863, -0.00014633788669016212, 0.00017128467152360827, 0.00028522033244371414, 0.0005716741434298456], "flange_pose": [0.6786656379699707, 0.028485026210546494, -0.06502547115087509, -0.00227814051322639, -0.004576614126563072, 0.9998884797096252, 0.01403170544654131], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.86004638671875, 15.1494779586792, 28.171039581298828, 0.34594008326530457, -24.049896240234375, 1.8044613599777222], "ext_wrench_in_world": [-108.12405011480111, 14.938724397622082, -27.256706701298288, -0.13580239990381013, -23.992010628533766, -2.477548832092934]}
+{"timestamp_ns": 1789729716014332116, "elapsed_ms": 5166, "source_timestamp_ns": 1789729716009250844, "q": [0.8364995121955872, -1.8971319198608398, -1.0062094926834106, 1.3811349868774414, -0.16138146817684174, 0.594136118888855, 0.7036983966827393], "theta": [0.8385834693908691, -1.8951809406280518, -1.0044208765029907, 1.3627288341522217, -0.16197597980499268, 0.5940850973129272, 0.7036716341972351], "dq": [3.772167474380694e-05, 0.0014865383272990584, 0.0006673929747194052, -0.0022212606854736805, -0.0009428364573977888, -0.0007078563794493675, -0.002280975691974163], "dtheta": [-0.00014662159082945436, -0.00024806210421957076, 0.00015224317030515522, -8.553935185773298e-05, 0.0005369310383684933, 0.00046508482773788273, 0.0004673891526181251], "tau": [55.56999969482422, 23.65999984741211, 5.4800004959106445, -26.308000564575195, -2.580000162124634, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.5415104627609253, -0.5295953154563904, -0.25063183903694153, -0.547208845615387, 0.891602635383606, -1.1746867895126343, -0.550703227519989], "tau_dot": [-29.748046875, 48.10665512084961, 24.68910026550293, -20.899188995361328, -40.014034271240234, 9.20707893371582, -34.91685104370117], "tau_ext": [-16.75861930847168, -41.65013122558594, 31.80172348022461, 31.349084854125977, 9.498394012451172, -3.001244306564331, -0.1170537918806076], "tcp_pose": [0.6779636740684509, 0.03269080072641373, -0.21496422588825226, -0.002277171006426215, -0.004576441831886768, 0.9998884797096252, 0.014032099395990372], "tcp_vel": [-0.00010133385512745008, 0.0002844398550223559, -0.00011759179324144498, 0.0005974858067929745, 8.519623952452093e-05, -0.0005166517803445458], "flange_pose": [0.6786659955978394, 0.0284847654402256, -0.06502485275268555, -0.002277171006426215, -0.004576441831886768, 0.9998884797096252, 0.014032099395990372], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84609985351562, 15.179396629333496, 28.173097610473633, 0.35775336623191833, -24.046119689941406, 1.8058005571365356], "ext_wrench_in_world": [-108.1103276504608, 14.968878352542479, -27.258182272322692, -0.14765983685661316, -23.988305018122432, -2.478748514128537]}
+{"timestamp_ns": 1789729716047664653, "elapsed_ms": 5200, "source_timestamp_ns": 1789729716039237208, "q": [0.8365000486373901, -1.897132158279419, -1.0062131881713867, 1.3811354637145996, -0.16138212382793427, 0.5941357016563416, 0.7036987543106079], "theta": [0.8385837078094482, -1.8951811790466309, -1.0044245719909668, 1.3627291917800903, -0.16197693347930908, 0.594084620475769, 0.7036718726158142], "dq": [-0.0010014151921495795, 0.001177116995677352, 0.0006842474103905261, 0.0025344896130263805, -0.00022250894107855856, 0.00036793091567233205, -0.0006441561854444444], "dtheta": [-0.00022487678506877273, 0.0001313511747866869, -0.0005820217193104327, 8.109574991976842e-05, -0.00016751686052884907, 0.0008164530154317617, -0.0012835466768592596], "tau": [55.52000045776367, 23.6299991607666, 5.464000225067139, -26.288002014160156, -2.580000162124634, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.511134147644043, -0.6132093667984009, -0.11883099377155304, -0.5284923911094666, 0.9261576533317566, -1.1803545951843262, -0.5281091332435608], "tau_dot": [-172.36705017089844, -24.776185989379883, 17.787595748901367, -13.070635795593262, -28.53728485107422, -10.760526657104492, 3.2616355419158936], "tau_ext": [-16.760028839111328, -41.64536666870117, 31.801084518432617, 31.347454071044922, 9.499058723449707, -3.0024940967559814, -0.12213009595870972], "tcp_pose": [0.6779647469520569, 0.03268860653042793, -0.2149643450975418, -0.002276485553011298, -0.004575247410684824, 0.99988853931427, 0.014030341990292072], "tcp_vel": [0.0003244217950850725, -0.0002580703003332019, -7.489042764063925e-05, 0.00011564646410988644, -0.0006404168088920414, 0.0008724507060833275], "flange_pose": [0.678666889667511, 0.02848309837281704, -0.0650249570608139, -0.002276485553011298, -0.004575247410684824, 0.99988853931427, 0.014030341990292072], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83354949951172, 15.199525833129883, 28.16870880126953, 0.3648158311843872, -24.038267135620117, 1.8058656454086304], "ext_wrench_in_world": [-108.0978674670539, 14.989155054867204, -27.25348452148367, -0.15484780801617284, -23.98052748703301, -2.4784777189619347]}
+{"timestamp_ns": 1789729716081004619, "elapsed_ms": 5233, "source_timestamp_ns": 1789729716079236274, "q": [0.836500883102417, -1.89713454246521, -1.0062181949615479, 1.3811368942260742, -0.16138313710689545, 0.5941345691680908, 0.7036995887756348], "theta": [0.8385844826698303, -1.8951832056045532, -1.0044300556182861, 1.3627303838729858, -0.1619783639907837, 0.5940834283828735, 0.7036728262901306], "dq": [-0.0009478163556195796, 0.00022809853544458747, -0.001018785871565342, -0.0017209440702572465, -0.0033643001224845648, -0.001779457088559866, 0.0007942842203192413], "dtheta": [8.263268682640046e-05, 2.0035402030771365e-06, -0.0004528067074716091, 0.0002037236699834466, -0.0009168129181489348, -0.0003463950997684151, -1.7837504856288433e-05], "tau": [55.59000015258789, 23.549999237060547, 5.452000141143799, -26.304000854492188, -2.5840001106262207, 2.6680002212524414, -0.527999997138977], "tau_des": [0.5036643743515015, -0.6184910535812378, -0.09942376613616943, -0.5582404732704163, 0.9430269002914429, -1.1469396352767944, -0.5493296980857849], "tau_dot": [104.27616882324219, -163.35247802734375, -23.403684616088867, 38.90275192260742, 24.243181228637695, -0.46914786100387573, 56.31606674194336], "tau_ext": [-16.743803024291992, -41.62308883666992, 31.818199157714844, 31.34620475769043, 9.508790016174316, -2.9997801780700684, -0.12654578685760498], "tcp_pose": [0.6779653429985046, 0.03268608823418617, -0.21496547758579254, -0.0022760063875466585, -0.004574324935674667, 0.99988853931427, 0.014026760123670101], "tcp_vel": [0.00014981694403104484, -0.0004083503154106438, -2.3268223230843432e-05, -0.001200087834149599, -0.0003082516195718199, 0.00024768771254457533], "flange_pose": [0.6786673069000244, 0.028481651097536087, -0.06502605229616165, -0.0022760063875466585, -0.004574324935674667, 0.99988853931427, 0.014026760123670101], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8411636352539, 15.204143524169922, 28.147724151611328, 0.36053380370140076, -24.0321044921875, 1.802098274230957], "ext_wrench_in_world": [-108.10537103563573, 14.99311630017993, -27.232556734195626, -0.15064613091799772, -23.974451147343093, -2.4743861994270464]}
+{"timestamp_ns": 1789729716114331446, "elapsed_ms": 5266, "source_timestamp_ns": 1789729716109303468, "q": [0.8365013599395752, -1.8971374034881592, -1.006219506263733, 1.3811360597610474, -0.16138149797916412, 0.5941332578659058, 0.7036988735198975], "theta": [0.8385851383209229, -1.895186185836792, -1.0044314861297607, 1.3627299070358276, -0.16197741031646729, 0.5940815210342407, 0.7036725878715515], "dq": [0.0008177574491128325, 0.0004262976872269064, -0.0003087903023697436, -0.0008636863785795867, -0.00044954416807740927, -0.0008177091949619353, 0.00022396874555852264], "dtheta": [8.274087304016575e-05, -0.0003329495375510305, 4.909902418148704e-05, 0.00022389837249647826, -0.00017632651724852622, -8.895615610526875e-05, -0.0003526075161062181], "tau": [55.619998931884766, 23.59000015258789, 5.488000392913818, -26.284000396728516, -2.572000026702881, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.5442867875099182, -0.515691339969635, -0.21046628057956696, -0.5850011110305786, 0.9210386872291565, -1.147708773612976, -0.5372951626777649], "tau_dot": [70.18531036376953, 51.09754180908203, 61.282711029052734, -15.500494003295898, -3.430149555206299, 28.193294525146484, -1.0647058486938477], "tau_ext": [-16.748863220214844, -41.62287902832031, 31.830852508544922, 31.335813522338867, 9.506997108459473, -2.9960665702819824, -0.12507422268390656], "tcp_pose": [0.677964985370636, 0.0326862633228302, -0.21496595442295074, -0.0022761907894164324, -0.004574672784656286, 0.9998885989189148, 0.014025628566741943], "tcp_vel": [-0.00016769074136391282, 5.573278394876979e-05, -0.0001355112763121724, -0.0005103963194414973, 7.311761874007061e-05, 0.0007454360602423549], "flange_pose": [0.6786670088768005, 0.028482167050242424, -0.06502652168273926, -0.0022761907894164324, -0.004574672784656286, 0.9998885989189148, 0.014025628566741943], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8534927368164, 15.192852973937988, 28.13294219970703, 0.3514493703842163, -24.030498504638672, 1.7997246980667114], "ext_wrench_in_world": [-108.1175478055667, 14.98116485919563, -27.21803941879112, -0.1415496031714481, -23.972834406199052, -2.4719543428261455]}
+{"timestamp_ns": 1789729716147652744, "elapsed_ms": 5300, "source_timestamp_ns": 1789729716139255966, "q": [0.8365025520324707, -1.8971388339996338, -1.0062192678451538, 1.381136417388916, -0.16138145327568054, 0.594132661819458, 0.7036986947059631], "theta": [0.8385865688323975, -1.8951878547668457, -1.0044312477111816, 1.3627299070358276, -0.16197645664215088, 0.5940810441970825, 0.7036728262901306], "dq": [0.0006858474807813764, -1.2949094525538385e-05, 0.00045727676479145885, -0.003167565679177642, 0.0012596684973686934, -0.002371847629547119, -0.0003665490949060768], "dtheta": [0.0004176845832262188, -9.912787936627865e-05, 8.672443073010072e-05, 0.000146668913657777, -0.00034222195972688496, 0.0018448513001203537, -6.55508047202602e-05], "tau": [55.55999755859375, 23.600000381469727, 5.464000225067139, -26.304000854492188, -2.576000213623047, 2.6520001888275146, -0.5360000133514404], "tau_des": [0.38247430324554443, -0.6134729981422424, -0.21263933181762695, -0.4418162703514099, 0.9410955309867859, -1.2258795499801636, -0.5423235297203064], "tau_dot": [-70.90174102783203, -4.5524582862854, 12.720337867736816, -52.28516387939453, -6.021275997161865, -1.3966058492660522, 1.3392139673233032], "tau_ext": [-16.760040283203125, -41.605499267578125, 31.80935287475586, 31.34122657775879, 9.50796127319336, -2.9940619468688965, -0.1233634203672409], "tcp_pose": [0.6779645085334778, 0.03268665075302124, -0.21496577560901642, -0.0022760084830224514, -0.004575335420668125, 0.9998885989189148, 0.014024874195456505], "tcp_vel": [0.0003677591448649764, 0.0003158611070830375, 0.0004312680975999683, 0.0008917057421058416, -0.0018585125217214227, 0.00036171666579321027], "flange_pose": [0.6786664724349976, 0.02848277986049652, -0.06502633541822433, -0.0022760084830224514, -0.004575335420668125, 0.9998885989189148, 0.014024874195456505], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8252944946289, 15.180174827575684, 28.14853858947754, 0.3420710265636444, -24.022296905517578, 1.7978515625], "ext_wrench_in_world": [-108.0893180434862, 14.969005116105413, -27.2341747828094, -0.1322048104140759, -23.964606370563224, -2.469857250308436]}
+{"timestamp_ns": 1789729716180996430, "elapsed_ms": 5333, "source_timestamp_ns": 1789729716179235954, "q": [0.8365033864974976, -1.8971405029296875, -1.0062198638916016, 1.3811367750167847, -0.16137875616550446, 0.5941303372383118, 0.7036985754966736], "theta": [0.8385871052742004, -1.8951901197433472, -1.0044314861297607, 1.3627305030822754, -0.16197332739830017, 0.5940786600112915, 0.7036718726158142], "dq": [-0.0007748962379992008, 0.0012298977235332131, -9.283728286391124e-05, -0.00032638380071148276, 0.0012493561953306198, 0.001987865660339594, -0.0006025922484695911], "dtheta": [-0.0002452698245178908, -0.0001141614411608316, -0.0002883390407077968, 0.0002558251144364476, 0.0006597449537366629, -0.0009527300717309117, -8.555003887522616e-07], "tau": [55.55999755859375, 23.600000381469727, 5.452000141143799, -26.296001434326172, -2.564000129699707, 2.6560001373291016, -0.5720000267028809], "tau_des": [0.651951789855957, -0.5177008509635925, -0.16137300431728363, -0.6630633473396301, 0.8793027400970459, -1.1060479879379272, -0.5539591908454895], "tau_dot": [-49.0663948059082, -42.39864730834961, -60.34284210205078, 5.3915276527404785, 4.879991054534912, 1.9335535764694214, -74.14595794677734], "tau_ext": [-16.759777069091797, -41.58621597290039, 31.796154022216797, 31.35371208190918, 9.501178741455078, -2.9983582496643066, -0.11945560574531555], "tcp_pose": [0.6779634952545166, 0.03268657252192497, -0.21496638655662537, -0.0022772587835788727, -0.004575037397444248, 0.9998885989189148, 0.014024052768945694], "tcp_vel": [-0.00035451853182166815, -0.0002783402451314032, -0.000492794148158282, -0.0006287379655987024, 0.001445428584702313, -0.00042788428254425526], "flange_pose": [0.6786658763885498, 0.0284829493612051, -0.06502694636583328, -0.0022772587835788727, -0.004575037397444248, 0.9998885989189148, 0.014024052768945694], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83258819580078, 15.15805435180664, 28.149532318115234, 0.33936357498168945, -24.0267333984375, 1.798141360282898], "ext_wrench_in_world": [-108.09647482466379, 14.946870058517396, -27.235511091233604, -0.12947808067209837, -23.96901188285466, -2.4702434239106577]}
+{"timestamp_ns": 1789729716214337246, "elapsed_ms": 5366, "source_timestamp_ns": 1789729716209282920, "q": [0.8365042805671692, -1.8971399068832397, -1.0062196254730225, 1.3811371326446533, -0.16137588024139404, 0.5941287875175476, 0.7036972045898438], "theta": [0.838588535785675, -1.8951902389526367, -1.0044314861297607, 1.3627312183380127, -0.16197068989276886, 0.5940769910812378, 0.7036709189414978], "dq": [0.0002345933171454817, -0.00023989769397303462, 0.001853825175203383, 0.0004935006145387888, -4.405941581353545e-05, -0.0007978291832841933, 0.0013428216334432364], "dtheta": [0.0002046453591901809, -3.384377578186104e-06, -3.6206682125339285e-05, 0.00026361035997979343, 0.0010783536126837134, 0.0009798625251278281, 2.6186708055320196e-05], "tau": [55.55999755859375, 23.649999618530273, 5.460000038146973, -26.296001434326172, -2.5480000972747803, 2.6680002212524414, -0.5400000214576721], "tau_des": [0.5024968981742859, -0.5791512727737427, -0.20958538353443146, -0.5348681211471558, 0.8799132108688354, -1.1798439025878906, -0.5562442541122437], "tau_dot": [-85.58052062988281, 110.04789733886719, -5.966866493225098, -0.4688395857810974, -3.0442564487457275, 2.635241746902466, 9.292885780334473], "tau_ext": [-16.753576278686523, -41.60844421386719, 31.802570343017578, 31.349641799926758, 9.495176315307617, -2.994490623474121, -0.11712110787630081], "tcp_pose": [0.6779629588127136, 0.03268640860915184, -0.21496619284152985, -0.002278368454426527, -0.0045748320408165455, 0.9998885989189148, 0.01402461901307106], "tcp_vel": [-1.1791633369284682e-05, 0.00016085620154626667, 4.111781163373962e-05, 0.001133476267568767, -0.000147596190799959, -0.0006294152699410915], "flange_pose": [0.6786656379699707, 0.028482619673013687, -0.06502676010131836, -0.002278368454426527, -0.0045748320408165455, 0.9998885989189148, 0.01402461901307106], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84674072265625, 15.139395713806152, 28.139020919799805, 0.3369680941104889, -24.031448364257812, 1.7989506721496582], "ext_wrench_in_world": [-108.11046288650404, 14.927866420239122, -27.22520714355181, -0.12705834982660305, -23.973677227559875, -2.471221937783416]}
+{"timestamp_ns": 1789729716247594262, "elapsed_ms": 5400, "source_timestamp_ns": 1789729716239356983, "q": [0.8365047574043274, -1.8971401453018188, -1.0062196254730225, 1.3811382055282593, -0.1613747626543045, 0.5941272377967834, 0.703697144985199], "theta": [0.8385891318321228, -1.8951902389526367, -1.004431962966919, 1.3627331256866455, -0.16197068989276886, 0.5940753221511841, 0.7036704421043396], "dq": [0.0011987534817308187, 0.00030310102738440037, -0.0011422684183344245, -0.0003037762944586575, -0.00040213108877651393, -0.0016347464406862855, 0.0034682396799325943], "dtheta": [-0.00032222989830188453, -9.061661694431677e-05, -0.00043676854693330824, 0.0004576859064400196, 0.0002334329765290022, 0.0004940678481943905, -0.00010694577940739691], "tau": [55.56999969482422, 23.6299991607666, 5.456000328063965, -26.288002014160156, -2.5440001487731934, 2.6520001888275146, -0.5440000295639038], "tau_des": [0.6438019871711731, -0.541715145111084, -0.1578557789325714, -0.6373322606086731, 0.8825501799583435, -1.1372900009155273, -0.552403450012207], "tau_dot": [4.365557670593262, 65.8454360961914, -5.424473285675049, 16.96122169494629, 61.99021911621094, -45.71462631225586, -13.567898750305176], "tau_ext": [-16.776065826416016, -41.637176513671875, 31.798053741455078, 31.356781005859375, 9.4906587600708, -2.9957215785980225, -0.11804771423339844], "tcp_pose": [0.6779621243476868, 0.032686084508895874, -0.21496666967868805, -0.0022794536780565977, -0.004574700724333525, 0.9998885989189148, 0.014024072326719761], "tcp_vel": [-6.626964750466868e-05, -0.0002075160591630265, -0.00043644345714710653, -0.0001399603788740933, 0.00030458669061772525, -0.0002080682315863669], "flange_pose": [0.6786651611328125, 0.028482459485530853, -0.06502722948789597, -0.0022794536780565977, -0.004574700724333525, 0.9998885989189148, 0.014024072326719761], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82980346679688, 15.162837028503418, 28.157203674316406, 0.3473323583602905, -24.034269332885742, 1.799904465675354], "ext_wrench_in_world": [-108.09388030392286, 14.95195790058714, -27.242581687097637, -0.1374117816575265, -23.97656841658931, -2.472181867356855]}
+{"timestamp_ns": 1789729716281016767, "elapsed_ms": 5433, "source_timestamp_ns": 1789729716279243594, "q": [0.8365067839622498, -1.8971415758132935, -1.0062215328216553, 1.3811382055282593, -0.16137725114822388, 0.5941274166107178, 0.7036966681480408], "theta": [0.838591992855072, -1.8951915502548218, -1.0044339895248413, 1.3627334833145142, -0.16197332739830017, 0.5940753221511841, 0.7036706805229187], "dq": [-0.00025450039538554847, -0.00032232727971859276, -0.0005247812950983644, 4.9158858018927276e-05, 0.001197343342937529, -0.0004283491289243102, -5.526095628738403e-05], "dtheta": [0.00019359923317097127, -7.625808211741969e-05, 0.0002882628177758306, 0.00018160739273298532, -0.0006567461532540619, -0.000258737854892388, 0.00020177121041342616], "tau": [55.54999923706055, 23.60999870300293, 5.464000225067139, -26.316001892089844, -2.576000213623047, 2.692000150680542, -0.5320000052452087], "tau_des": [0.49888014793395996, -0.5604822635650635, -0.23460304737091064, -0.5508542060852051, 0.9184939861297607, -1.1583120822906494, -0.5439489483833313], "tau_dot": [-9.627585411071777, 15.809576988220215, -0.741580069065094, 4.750123977661133, 2.9196388721466064, 47.30649948120117, 0.46976640820503235], "tau_ext": [-16.767322540283203, -41.6339111328125, 31.81125831604004, 31.33681869506836, 9.497628211975098, -2.9978811740875244, -0.12155845016241074], "tcp_pose": [0.6779631972312927, 0.03268531337380409, -0.2149656116962433, -0.002277396386489272, -0.0045754872262477875, 0.9998885989189148, 0.014022205956280231], "tcp_vel": [-0.00010498673509573564, 5.96037607465405e-05, 6.78919386700727e-05, -0.0005550617934204638, -0.0001185983928735368, 0.00045117619447410107], "flange_pose": [0.6786655783653259, 0.02848224528133869, -0.06502615660429001, -0.002277396386489272, -0.0045754872262477875, 0.9998885989189148, 0.014022205956280231], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80013275146484, 15.197690963745117, 28.17159080505371, 0.35508835315704346, -24.030244827270508, 1.8004567623138428], "ext_wrench_in_world": [-108.06450482830473, 14.98720742088177, -27.256620668877765, -0.14515972549519754, -23.97261102961873, -2.472498296615561]}
+{"timestamp_ns": 1789729716314331956, "elapsed_ms": 5466, "source_timestamp_ns": 1789729716309262813, "q": [0.8365079164505005, -1.8971443176269531, -1.0062257051467896, 1.3811386823654175, -0.16137853264808655, 0.5941270589828491, 0.7036968469619751], "theta": [0.8385935425758362, -1.8951939344406128, -1.0044384002685547, 1.3627337217330933, -0.16197453439235687, 0.594075083732605, 0.7036709189414978], "dq": [-0.0010197400115430355, -0.0011538180988281965, 0.0018484380561858416, 0.0009268493740819395, -0.0032756475266069174, -0.0008100051782093942, -0.0023340550251305103], "dtheta": [0.00011350576824042946, -0.0002129020867869258, -0.0003157630271743983, 3.222709347028285e-05, -0.00025653172633610666, 0.0003841309226118028, 7.249723421409726e-05], "tau": [55.61000061035156, 23.649999618530273, 5.468000411987305, -26.312002182006836, -2.580000162124634, 2.6640000343322754, -0.5440000295639038], "tau_des": [0.4917648434638977, -0.5884036421775818, -0.15624533593654633, -0.5316868424415588, 0.9260183572769165, -1.1715705394744873, -0.5514315962791443], "tau_dot": [56.269630432128906, 100.8322525024414, 68.6270523071289, -6.331135272979736, 23.982982635498047, -5.898820400238037, 8.907986640930176], "tau_ext": [-16.77829360961914, -41.62879180908203, 31.81474494934082, 31.3504581451416, 9.507311820983887, -2.9975507259368896, -0.12320764362812042], "tcp_pose": [0.6779639720916748, 0.03268362581729889, -0.2149660438299179, -0.002276170765981078, -0.004575285129249096, 0.9998886585235596, 0.014019187539815903], "tcp_vel": [0.00016694834630470723, -7.503463712055236e-05, 4.692671791417524e-05, -0.0002863825357053429, -0.0006175021990202367, -1.3350461813388392e-05], "flange_pose": [0.6786659955978394, 0.028481461107730865, -0.06502656638622284, -0.002276170765981078, -0.004575285129249096, 0.9998886585235596, 0.014019187539815903], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80131530761719, 15.200215339660645, 28.16650390625, 0.3536529242992401, -24.024938583374023, 1.7999675273895264], "ext_wrench_in_world": [-108.06561266557097, 14.989458967354443, -27.251817367029517, -0.14377437423476733, -23.967322415025624, -2.471722599512295]}
+{"timestamp_ns": 1789729716347594322, "elapsed_ms": 5500, "source_timestamp_ns": 1789729716339247147, "q": [0.8365092873573303, -1.8971458673477173, -1.0062259435653687, 1.3811372518539429, -0.16137845814228058, 0.5941234230995178, 0.7036973237991333], "theta": [0.8385950922966003, -1.895195722579956, -1.0044387578964233, 1.3627328872680664, -0.16197477281093597, 0.5940710306167603, 0.703671395778656], "dq": [0.00023667124332860112, -0.0009280852973461151, 0.0007126241689547896, 0.0005172142991796136, -0.00028636257047764957, 0.0005778405466116965, -0.0009227638365700841], "dtheta": [0.00016369383956771344, 0.00010867903620237485, 0.00012104424968129024, -0.00016575108747929335, -0.0008517648093402386, -0.00028743574512191117, 0.000469038262963295], "tau": [55.61000061035156, 23.56999969482422, 5.464000225067139, -26.280000686645508, -2.576000213623047, 2.6520001888275146, -0.527999997138977], "tau_des": [0.4410475492477417, -0.6254087686538696, -0.1804145872592926, -0.4989815652370453, 0.9342617988586426, -1.1716113090515137, -0.5533459186553955], "tau_dot": [107.88479614257812, -99.22119140625, -4.220064640045166, 7.294512748718262, 15.534875869750977, -7.436211585998535, 53.75535202026367], "tau_ext": [-16.75470733642578, -41.61260986328125, 31.82528305053711, 31.344030380249023, 9.512897491455078, -2.996765613555908, -0.1278327852487564], "tcp_pose": [0.6779637932777405, 0.03268365189433098, -0.21496537327766418, -0.002276291139423847, -0.004575399216264486, 0.9998886585235596, 0.014017773792147636], "tcp_vel": [0.00015084548795130104, -3.867628765874542e-05, 0.00026104890275746584, -0.0004661730781663209, -0.0004997886135242879, -3.4141003197873943e-06], "flange_pose": [0.6786658763885498, 0.02848191186785698, -0.06502588093280792, -0.002276291139423847, -0.004575399216264486, 0.9998886585235596, 0.014017773792147636], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81773376464844, 15.189740180969238, 28.156465530395508, 0.34556853771209717, -24.021881103515625, 1.79780113697052], "ext_wrench_in_world": [-108.08189779224462, 14.978453122994582, -27.242022387175247, -0.13570290244119224, -23.96425948609364, -2.4694392681801407]}
+{"timestamp_ns": 1789729716380931918, "elapsed_ms": 5533, "source_timestamp_ns": 1789729716379246593, "q": [0.8365114331245422, -1.8971469402313232, -1.006225824356079, 1.3811367750167847, -0.16137675940990448, 0.5941147208213806, 0.7036963701248169], "theta": [0.8385968804359436, -1.8951973915100098, -1.0044381618499756, 1.3627324104309082, -0.16197262704372406, 0.5940624475479126, 0.7036709189414978], "dq": [0.0028642676770687103, 0.0003042544994968921, 0.0023593527730554342, -0.002099149627611041, 8.864839765010402e-05, -0.000193517014849931, 0.00047679009730927646], "dtheta": [0.0005382143426686525, -0.00030399038223549724, 0.0003225647087674588, 2.0906658392050304e-05, 0.0006387611501850188, 0.0005666677025146782, -0.000183953030500561], "tau": [55.57999801635742, 23.60999870300293, 5.460000038146973, -26.284000396728516, -2.5920000076293945, 2.6440000534057617, -0.5480000376701355], "tau_des": [0.42969533801078796, -0.5435376763343811, -0.2705451250076294, -0.5034810900688171, 0.9070142507553101, -1.179774284362793, -0.5429462194442749], "tau_dot": [-17.302553176879883, 105.76642608642578, -1.3386204242706299, -29.914560317993164, -10.076016426086426, -30.388425827026367, -21.546281814575195], "tau_ext": [-16.753143310546875, -41.59363555908203, 31.803464889526367, 31.334590911865234, 9.508508682250977, -2.990164041519165, -0.12544949352741241], "tcp_pose": [0.6779623031616211, 0.03268289566040039, -0.2149651050567627, -0.002278785454109311, -0.0045758020132780075, 0.9998887181282043, 0.01401529461145401], "tcp_vel": [-6.244928954401985e-05, 0.00039758539060130715, 0.00029515085043385625, 0.0007362110773101449, -0.0004988450091332197, 0.00024944203323684633], "flange_pose": [0.6786651015281677, 0.028481902554631233, -0.06502559036016464, -0.002278785454109311, -0.0045758020132780075, 0.9998887181282043, 0.01401529461145401], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81187438964844, 15.167484283447266, 28.146018981933594, 0.33546897768974304, -24.01835823059082, 1.795488715171814], "ext_wrench_in_world": [-108.07593576955637, 14.955736862841311, -27.231769422009766, -0.12561604344662264, -23.960722264706575, -2.4669536715379907]}
+{"timestamp_ns": 1789729716414328107, "elapsed_ms": 5566, "source_timestamp_ns": 1789729716409314877, "q": [0.8365115523338318, -1.8971470594406128, -1.0062254667282104, 1.381137728691101, -0.16137637197971344, 0.5941115617752075, 0.7036949396133423], "theta": [0.8385972380638123, -1.8951977491378784, -1.0044379234313965, 1.3627327680587769, -0.16197215020656586, 0.5940593481063843, 0.7036694884300232], "dq": [0.000823681999463588, -0.003779434598982334, 0.0030478464905172586, -0.00040297297528013587, -9.505404159426689e-05, -0.0014258292503654957, -0.0025372414384037256], "dtheta": [7.066741090966389e-05, -0.0002428575389785692, -0.00011144780000904575, 0.00014328677207231522, -0.00046506154467351735, 0.0009928259532898664, 0.00121026742272079], "tau": [55.57999801635742, 23.649999618530273, 5.488000392913818, -26.328001022338867, -2.552000045776367, 2.6720001697540283, -0.5560000538825989], "tau_des": [0.5115054249763489, -0.5813783407211304, -0.19095124304294586, -0.5445889830589294, 0.9153769612312317, -1.168979287147522, -0.5662775635719299], "tau_dot": [64.49847412109375, 44.99237060546875, -1.2727982997894287, -41.66504669189453, 58.53438186645508, 8.902167320251465, 1.284682035446167], "tau_ext": [-16.778234481811523, -41.61358642578125, 31.797466278076172, 31.35559844970703, 9.502963066101074, -2.9919025897979736, -0.12155362218618393], "tcp_pose": [0.6779612302780151, 0.03268246352672577, -0.2149658203125, -0.002280433429405093, -0.004576648119837046, 0.9998887181282043, 0.014014223590493202], "tcp_vel": [0.0001800179306883365, 0.00010651177581166849, 5.708392200176604e-05, 2.1123598344274797e-05, -0.0009645972168073058, -0.0008684107451699674], "flange_pose": [0.67866450548172, 0.028481796383857727, -0.06502629816532135, -0.002280433429405093, -0.004576648119837046, 0.9998887181282043, 0.014014223590493202], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81209564208984, 15.156364440917969, 28.165620803833008, 0.33326080441474915, -24.026016235351562, 1.7964361906051636], "ext_wrench_in_world": [-108.07626275550608, 14.944921735524895, -27.25135387815084, -0.12330911064435315, -23.968335586432737, -2.4680733318575276]}
+{"timestamp_ns": 1789729716447658234, "elapsed_ms": 5600, "source_timestamp_ns": 1789729716439272074, "q": [0.8365116119384766, -1.89714777469635, -1.0062249898910522, 1.3811371326446533, -0.16137559711933136, 0.5941116809844971, 0.7036899328231812], "theta": [0.8385977745056152, -1.895198106765747, -1.0044376850128174, 1.3627324104309082, -0.16197142004966736, 0.5940595865249634, 0.7036641836166382], "dq": [-0.0014419814106076956, 0.0015363541897386312, 0.0014211807865649462, 0.00043812490184791386, 0.0018662337679415941, 0.0006671895389445126, -0.0019357196288183331], "dtheta": [-0.0005133316735737026, -0.000543255649972707, -0.00016120122745633125, -0.0002367624401813373, 0.00013679754920303822, -0.00021530184312723577, -0.000652873597573489], "tau": [55.57999801635742, 23.6299991607666, 5.504000186920166, -26.30000114440918, -2.580000162124634, 2.6560001373291016, -0.5600000023841858], "tau_des": [0.6570603251457214, -0.4500708281993866, -0.24034249782562256, -0.6421723961830139, 0.8967564105987549, -1.1256235837936401, -0.5239405632019043], "tau_dot": [-39.38504409790039, 3.721097230911255, 36.491790771484375, 2.888605833053589, -11.047386169433594, 16.002269744873047, 3.907249927520752], "tau_ext": [-16.763320922851562, -41.6177864074707, 31.79098892211914, 31.34511947631836, 9.500057220458984, -2.996847629547119, -0.1164669543504715], "tcp_pose": [0.677960991859436, 0.0326831191778183, -0.2149657905101776, -0.0022804064210504293, -0.004579317755997181, 0.9998887181282043, 0.014014549553394318], "tcp_vel": [-0.0001676713436609134, 9.204482921632007e-05, -0.0004480709903873503, -0.00042292565922252834, 0.000493463478051126, 0.0007952068117447197], "flange_pose": [0.6786642670631409, 0.028482353314757347, -0.06502626836299896, -0.0022804064210504293, -0.004579317755997181, 0.9998887181282043, 0.014014549553394318], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.811767578125, 15.162321090698242, 28.17616081237793, 0.34076160192489624, -24.03142738342285, 1.799925684928894], "ext_wrench_in_world": [-108.07611461664243, 14.950615355137321, -27.26172769974723, -0.13064845319502172, -23.973714845420567, -2.471695878840715]}
+{"timestamp_ns": 1789729716481006569, "elapsed_ms": 5633, "source_timestamp_ns": 1789729716479258892, "q": [0.8365138173103333, -1.8971482515335083, -1.0062263011932373, 1.381137728691101, -0.1613764762878418, 0.5941125750541687, 0.7036918997764587], "theta": [0.8385997414588928, -1.8951987028121948, -1.0044389963150024, 1.3627327680587769, -0.16197237372398376, 0.5940607786178589, 0.7036654353141785], "dq": [-0.0022552006412297487, -0.0010192054323852062, 0.0002698073803912848, -0.0011897434014827013, -0.0013219608226791024, -0.0015217678155750036, -0.0013964490499347448], "dtheta": [0.00028783883317373693, -0.00021122887847013772, -0.0004898909828625619, -0.0001577071234351024, -0.00036394919152371585, -0.0005895218346267939, -0.000496991619002074], "tau": [55.55999755859375, 23.59000015258789, 5.440000057220459, -26.26000213623047, -2.576000213623047, 2.688000202178955, -0.5440000295639038], "tau_des": [0.46401315927505493, -0.5928478240966797, -0.1568262130022049, -0.5324134826660156, 0.9326726794242859, -1.1509790420532227, -0.5355470180511475], "tau_dot": [-27.93192481994629, -55.19057846069336, -43.175010681152344, 55.805904388427734, 11.796753883361816, 33.0162353515625, 8.751607894897461], "tau_ext": [-16.737411499023438, -41.610008239746094, 31.790271759033203, 31.32493019104004, 9.5001220703125, -2.9992475509643555, -0.11847136914730072], "tcp_pose": [0.6779618263244629, 0.032682470977306366, -0.2149646282196045, -0.0022787826601415873, -0.004578317981213331, 0.9998887181282043, 0.014013740234076977], "tcp_vel": [0.00017025497800204903, -0.0002962715516332537, 0.00013877925812266767, -0.0009879141580313444, -0.00033867303864099085, 0.0004853656573686749], "flange_pose": [0.6786646246910095, 0.028481947258114815, -0.06502509862184525, -0.0022787826601415873, -0.004578317981213331, 0.9998887181282043, 0.014013740234076977], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78288269042969, 15.184333801269531, 28.16782569885254, 0.35415366291999817, -24.021076202392578, 1.804182529449463], "ext_wrench_in_world": [-108.0472738421991, 14.972828146564169, -27.25327927443846, -0.14419482786470483, -23.963376133454794, -2.4755632643638377]}
+{"timestamp_ns": 1789729716514331957, "elapsed_ms": 5666, "source_timestamp_ns": 1789729716509316837, "q": [0.836513876914978, -1.8971476554870605, -1.006226658821106, 1.3811378479003906, -0.16137821972370148, 0.5941131711006165, 0.7036928534507751], "theta": [0.8385998010635376, -1.8951983451843262, -1.0044397115707397, 1.3627327680587769, -0.16197358071804047, 0.5940622091293335, 0.7036663889884949], "dq": [0.0016790383961051702, 0.0013324931496754289, -6.201662472449243e-05, -0.0004986593849025667, -0.002076982520520687, 0.00020067629520781338, -0.0019412828842177987], "dtheta": [-0.0001764838380040601, 0.00017147201288025826, -0.0001765117485774681, -0.0002391641028225422, -0.0007280108402483165, 0.00028788024792447686, -6.924471381353214e-05], "tau": [55.54999923706055, 23.619998931884766, 5.440000057220459, -26.288002014160156, -2.568000078201294, 2.6480002403259277, -0.527999997138977], "tau_des": [0.4787604808807373, -0.6288937926292419, -0.16554193198680878, -0.5048671960830688, 0.9261670708656311, -1.179240345954895, -0.5412153005599976], "tau_dot": [13.674704551696777, 106.68023681640625, -103.96183013916016, 5.037356853485107, 52.92591857910156, -1.4992533922195435, 46.22929000854492], "tau_ext": [-16.761140823364258, -41.621253967285156, 31.794981002807617, 31.33883285522461, 9.509699821472168, -3.0006446838378906, -0.11979741603136063], "tcp_pose": [0.6779624223709106, 0.032682038843631744, -0.21496427059173584, -0.0022780366707593203, -0.004578017629683018, 0.9998887181282043, 0.014013443142175674], "tcp_vel": [0.0003130580298602581, -0.00010768743231892586, 0.00012082853208994493, -0.00011157832341268659, -0.0006944475462660193, 0.00018953853577841073], "flange_pose": [0.6786649823188782, 0.028481604531407356, -0.06502474844455719, -0.0022780366707593203, -0.004578017629683018, 0.9998887181282043, 0.014013443142175674], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78289031982422, 15.192184448242188, 28.16167449951172, 0.35658809542655945, -24.019495010375977, 1.80521559715271], "ext_wrench_in_world": [-108.04727424366652, 14.98055402629729, -27.247079737106283, -0.14665952960170758, -23.961790510350482, -2.4765269019201726]}
+{"timestamp_ns": 1789729716547662484, "elapsed_ms": 5700, "source_timestamp_ns": 1789729716539278484, "q": [0.8365138173103333, -1.8971492052078247, -1.0062304735183716, 1.3811378479003906, -0.16137905418872833, 0.5941137671470642, 0.7036941051483154], "theta": [0.8386000394821167, -1.8951997756958008, -1.0044434070587158, 1.3627328872680664, -0.16197477281093597, 0.594063401222229, 0.7036668658256531], "dq": [8.375217294087633e-05, -0.00020387195399962366, -0.00037429851363413036, -0.0011724248761311173, 0.0018664381932467222, -0.0016782935708761215, -0.0027566510252654552], "dtheta": [-0.0005923992139287293, -0.0004800059541594237, -0.00021222989016678184, 0.00019449085812084377, -0.00016096919716801494, -4.449197876965627e-05, 0.0002818354405462742], "tau": [55.57999801635742, 23.60999870300293, 5.452000141143799, -26.292001724243164, -2.6000001430511475, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.6859873533248901, -0.4766595959663391, -0.19484223425388336, -0.6619477272033691, 0.8954195976257324, -1.126366138458252, -0.5486350655555725], "tau_dot": [-0.3511677384376526, -68.85295104980469, -2.627418279647827, 7.428593158721924, -14.58016300201416, 18.31726837158203, -0.6059983372688293], "tau_ext": [-16.7825984954834, -41.633087158203125, 31.806705474853516, 31.34764289855957, 9.516210556030273, -3.0013742446899414, -0.1223331019282341], "tcp_pose": [0.6779634952545166, 0.0326804555952549, -0.21496480703353882, -0.002277008257806301, -0.004576804116368294, 0.9998887777328491, 0.014011661522090435], "tcp_vel": [-0.0002471084299031645, -3.134124926873483e-05, -0.0006342490669339895, -0.0007336935377679765, 0.0006349213072098792, 1.2000909919152036e-05], "flange_pose": [0.6786657571792603, 0.02848055213689804, -0.06502526253461838, -0.002277008257806301, -0.004576804116368294, 0.9998887777328491, 0.014011661522090435], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7802734375, 15.200675964355469, 28.1679630279541, 0.3547847270965576, -24.01613426208496, 1.804597020149231], "ext_wrench_in_world": [-108.0446718826263, 14.989409528804803, -27.253412867624192, -0.1449375132924335, -23.958440380411286, -2.4757372957812076]}
+{"timestamp_ns": 1789729716581006769, "elapsed_ms": 5733, "source_timestamp_ns": 1789729716579273540, "q": [0.8365156650543213, -1.8971531391143799, -1.0062310695648193, 1.381137490272522, -0.1613783836364746, 0.5941124558448792, 0.7036939859390259], "theta": [0.8386009931564331, -1.895203948020935, -1.0044441223144531, 1.3627326488494873, -0.16197477281093597, 0.5940614938735962, 0.7036671042442322], "dq": [-0.0005862136022187769, 0.0011034345952793956, -0.0009124284260906279, -0.0005719303735531867, -0.0015419443370774388, 0.0018932218663394451, 0.0003169760457240045], "dtheta": [-4.5164706534706056e-05, -0.0001958757493412122, -1.2583016541611869e-05, -0.0001417753373971209, 0.0003083042975049466, 0.0002775935281533748, 0.0006841103313490748], "tau": [55.53999710083008, 23.59000015258789, 5.436000347137451, -26.284000396728516, -2.5840001106262207, 2.6520001888275146, -0.5400000214576721], "tau_des": [0.5144806504249573, -0.5646865367889404, -0.21166150271892548, -0.5354952812194824, 0.9003103971481323, -1.1719297170639038, -0.5583090782165527], "tau_dot": [-90.74116516113281, -26.66460418701172, -9.952773094177246, -1.18083655834198, -4.2059125900268555, -21.29266929626465, 30.3468017578125], "tau_ext": [-16.75873374938965, -41.60946273803711, 31.821897506713867, 31.34337615966797, 9.523807525634766, -3.0001730918884277, -0.12457022070884705], "tcp_pose": [0.6779628396034241, 0.032681163400411606, -0.2149648219347, -0.0022765733301639557, -0.004577764309942722, 0.9998887777328491, 0.014009859412908554], "tcp_vel": [7.546764663857175e-06, 0.00014334330626297742, -1.985186099773273e-05, 0.0002977717958856374, -9.242213855031878e-05, -0.0007615581271238625], "flange_pose": [0.6786649823188782, 0.028481800109148026, -0.06502525508403778, -0.0022765733301639557, -0.004577764309942722, 0.9998887777328491, 0.014009859412908554], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80707550048828, 15.20191764831543, 28.151514053344727, 0.34837058186531067, -24.013681411743164, 1.802894949913025], "ext_wrench_in_world": [-108.07141067158176, 14.989638079019663, -27.23696968027369, -0.13848986462411095, -23.955986297933727, -2.4739095088620853]}
+{"timestamp_ns": 1789729716614346605, "elapsed_ms": 5766, "source_timestamp_ns": 1789729716609308488, "q": [0.8365172743797302, -1.8971549272537231, -1.006231665611267, 1.3811372518539429, -0.16137751936912537, 0.594109833240509, 0.7036943435668945], "theta": [0.8386023640632629, -1.8952062129974365, -1.0044443607330322, 1.3627322912216187, -0.16197429597377777, 0.594058632850647, 0.7036668658256531], "dq": [-0.0015611810376867652, 0.0018362137489020824, 0.0002682812337297946, 0.0008436295320279896, -0.0004788992227986455, -0.00013672637578565627, 0.0010651169577613473], "dtheta": [-3.122463340332615e-06, -5.2816532843280584e-05, 0.00018604824435897171, -0.00027853003120981157, 8.835344488034025e-05, -0.00044299117871560156, 0.0004411342670209706], "tau": [55.55999755859375, 23.549999237060547, 5.4720001220703125, -26.32000160217285, -2.6040000915527344, 2.6640000343322754, -0.5440000295639038], "tau_des": [0.49785467982292175, -0.5683764815330505, -0.22730886936187744, -0.5333071351051331, 0.9034865498542786, -1.1604899168014526, -0.5517880320549011], "tau_dot": [-151.12689208984375, -18.2930850982666, 6.013270854949951, -65.0524673461914, -6.392236709594727, -12.876720428466797, 8.862979888916016], "tau_ext": [-16.74786949157715, -41.589263916015625, 31.815582275390625, 31.340879440307617, 9.522459983825684, -2.9922566413879395, -0.12235207855701447], "tcp_pose": [0.6779623627662659, 0.032681066542863846, -0.2149645835161209, -0.0022768450435250998, -0.0045777419582009315, 0.9998887777328491, 0.014008468948304653], "tcp_vel": [-6.257964560063556e-05, 0.00010783198376884684, 5.9013218560721725e-05, 2.448643044772325e-06, 0.0002345383254578337, -0.000357379496563226], "flange_pose": [0.6786645650863647, 0.028482118621468544, -0.06502500921487808, -0.0022768450435250998, -0.0045777419582009315, 0.9998887777328491, 0.014008468948304653], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83203887939453, 15.17182445526123, 28.13412857055664, 0.3344515562057495, -24.017580032348633, 1.8016941547393799], "ext_wrench_in_world": [-108.09603179786123, 14.95876868524405, -27.22030869755638, -0.12453255512324385, -23.95979541077552, -2.472813336553532]}
+{"timestamp_ns": 1789729716647667813, "elapsed_ms": 5800, "source_timestamp_ns": 1789729716639372252, "q": [0.8365175127983093, -1.897154450416565, -1.0062334537506104, 1.381137490272522, -0.16137681901454926, 0.5941057801246643, 0.7036926746368408], "theta": [0.8386029601097107, -1.8952064514160156, -1.0044454336166382, 1.3627326488494873, -0.16197405755519867, 0.5940550565719604, 0.7036654353141785], "dq": [-0.0024782747495919466, 0.0009623785736039281, 0.002189785474911332, 0.0002137955161742866, -0.0013773799873888493, -0.0001164827699540183, -0.0018124629277735949], "dtheta": [4.142768375459127e-05, 0.00024540009326301515, -0.0003557271556928754, -0.0001682280417298898, 0.0007332148379646242, 0.0002134190290234983, -0.0002862327382899821], "tau": [55.55999755859375, 23.60999870300293, 5.4800004959106445, -26.308000564575195, -2.6040000915527344, 2.6600000858306885, -0.5360000133514404], "tau_des": [0.4741069972515106, -0.6367160081863403, -0.14080379903316498, -0.5145123600959778, 0.8970166444778442, -1.1686477661132812, -0.5509929656982422], "tau_dot": [-72.42151641845703, 94.33372497558594, -30.159805297851562, 9.947854995727539, -32.71053695678711, 26.830331802368164, -13.080554962158203], "tau_ext": [-16.766691207885742, -41.572303771972656, 31.788461685180664, 31.345211029052734, 9.516636848449707, -2.9966671466827393, -0.11937437951564789], "tcp_pose": [0.6779622435569763, 0.03267928212881088, -0.21496497094631195, -0.002278205705806613, -0.004577638115733862, 0.9998888373374939, 0.014006907120347023], "tcp_vel": [0.00019908268586732447, -0.00015091689419932663, 0.00012049844372086227, 0.0006481787422671914, -5.313076690072194e-05, -0.0005666796350851655], "flange_pose": [0.6786648631095886, 0.028480807319283485, -0.06502538919448853, -0.002278205705806613, -0.004577638115733862, 0.9998888373374939, 0.014006907120347023], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83930206298828, 15.14108657836914, 28.14261245727539, 0.32612329721450806, -24.020719528198242, 1.8008677959442139], "ext_wrench_in_world": [-108.10312623207255, 14.928146870118395, -27.229372706752667, -0.1161829259072847, -23.962887641299773, -2.4720366692243045]}
+{"timestamp_ns": 1789729716681011399, "elapsed_ms": 5833, "source_timestamp_ns": 1789729716679232856, "q": [0.8365178108215332, -1.8971551656723022, -1.0062339305877686, 1.381137490272522, -0.16137512028217316, 0.5941051244735718, 0.7036897540092468], "theta": [0.8386030197143555, -1.895207166671753, -1.0044459104537964, 1.3627325296401978, -0.16197237372398376, 0.5940543413162231, 0.7036629915237427], "dq": [-0.0018386623123660684, -0.0017889509908854961, 0.0013530931901186705, -0.0017095463117584586, -0.00021915922116022557, -0.0012100536841899157, -0.0007436728337779641], "dtheta": [0.00012033011444145814, -0.00012081222666893154, -9.814854820433538e-06, -0.0002570545475464314, 0.00040803468436934054, -7.650522456970066e-05, 9.339897951576859e-05], "tau": [55.52000045776367, 23.639999389648438, 5.464000225067139, -26.288002014160156, -2.572000026702881, 2.6520001888275146, -0.5640000104904175], "tau_des": [0.4847196042537689, -0.5751839876174927, -0.21642504632472992, -0.5252766609191895, 0.900524914264679, -1.1656768321990967, -0.5468029379844666], "tau_dot": [-55.513797760009766, -26.76862335205078, 23.03609275817871, -27.948652267456055, 43.907806396484375, -18.594749450683594, -67.84701538085938], "tau_ext": [-16.763259887695312, -41.621639251708984, 31.803508758544922, 31.339059829711914, 9.512141227722168, -2.9938571453094482, -0.11721224337816238], "tcp_pose": [0.6779619455337524, 0.03267926722764969, -0.21496522426605225, -0.002278675325214863, -0.004578711930662394, 0.9998888373374939, 0.01400680374354124], "tcp_vel": [2.77013132290449e-05, 9.602054342394695e-05, 0.00011769054981414229, 0.0002545808965805918, -4.338398139225319e-05, -0.00028452789410948753], "flange_pose": [0.6786646842956543, 0.02848082222044468, -0.06502564251422882, -0.002278675325214863, -0.004578711930662394, 0.9998888373374939, 0.01400680374354124], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81575012207031, 15.15784740447998, 28.152936935424805, 0.333414763212204, -24.020889282226562, 1.8029015064239502], "ext_wrench_in_world": [-108.07983328043443, 14.945167323808745, -27.2392324074865, -0.12343245575610509, -23.963068388468407, -2.4740369830769953]}
+{"timestamp_ns": 1789729716714335357, "elapsed_ms": 5866, "source_timestamp_ns": 1789729716709239927, "q": [0.8365190625190735, -1.897156000137329, -1.0062346458435059, 1.3811380863189697, -0.16137485206127167, 0.5941070914268494, 0.7036877870559692], "theta": [0.8386041522026062, -1.8952080011367798, -1.0044467449188232, 1.3627328872680664, -0.16197189688682556, 0.594056248664856, 0.7036606073379517], "dq": [-0.00023866699484642595, -0.003711764933541417, 0.002471397863700986, -0.0013627477455884218, -0.00218917615711689, -0.0004064541426487267, -0.001945825875736773], "dtheta": [0.0001756090932758525, -0.0003106754447799176, 8.188685751520097e-05, -5.2034418331459165e-05, -0.00036709115374833345, 0.000538804626557976, -8.819858339847997e-05], "tau": [55.55999755859375, 23.579999923706055, 5.456000328063965, -26.32000160217285, -2.5880000591278076, 2.6760001182556152, -0.5640000104904175], "tau_des": [0.4681769907474518, -0.5524452924728394, -0.24749042093753815, -0.5110505819320679, 0.9245172739028931, -1.1856627464294434, -0.532961368560791], "tau_dot": [-93.64241027832031, -59.94312286376953, -45.84510040283203, -64.3509521484375, -36.935081481933594, 34.79781723022461, -6.992670059204102], "tau_ext": [-16.725313186645508, -41.62884521484375, 31.811548233032227, 31.333450317382812, 9.500997543334961, -2.9962427616119385, -0.1161535307765007], "tcp_pose": [0.6779622435569763, 0.03267933055758476, -0.21496474742889404, -0.002277531661093235, -0.0045796833001077175, 0.9998888373374939, 0.01400682982057333], "tcp_vel": [9.831139323068783e-05, 0.00020576304814312607, 0.00014613514940720052, -2.3771995984134264e-05, -0.0008039816748350859, 0.0005363815580494702], "flange_pose": [0.6786646842956543, 0.028480876237154007, -0.06502515822649002, -0.002277531661093235, -0.0045796833001077175, 0.9998888373374939, 0.01400682982057333], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83345794677734, 15.186973571777344, 28.153657913208008, 0.3500082492828369, -24.032333374023438, 1.8069236278533936], "ext_wrench_in_world": [-108.09777396154566, 14.973933070832404, -27.239307367699602, -0.13988832654017702, -23.97454802934218, -2.4783067236571754]}
+{"timestamp_ns": 1789729716747678022, "elapsed_ms": 5900, "source_timestamp_ns": 1789729716739220511, "q": [0.8365194201469421, -1.8971573114395142, -1.0062414407730103, 1.3811382055282593, -0.16137588024139404, 0.5941075086593628, 0.7036873698234558], "theta": [0.8386043310165405, -1.8952093124389648, -1.0044530630111694, 1.362733244895935, -0.16197262704372406, 0.5940567255020142, 0.7036601305007935], "dq": [9.386071178596467e-05, 0.0007367400685325265, -0.0013771512312814593, 0.000350909773260355, -0.0036027294117957354, 0.0015338596422225237, 0.003218114608898759], "dtheta": [-0.0003317519149277359, -0.00025524929515086114, 5.2296993089839816e-05, 9.957625297829509e-05, -0.00041296472772955894, 0.000392831745557487, -0.0003330926992930472], "tau": [55.56999969482422, 23.53999900817871, 5.460000038146973, -26.312002182006836, -2.5840001106262207, 2.6600000858306885, -0.527999997138977], "tau_des": [0.5806990265846252, -0.5209758281707764, -0.2084389477968216, -0.5858700275421143, 0.9177472591400146, -1.158947467803955, -0.5319669246673584], "tau_dot": [52.62577438354492, -62.4892463684082, 18.95024871826172, -27.785886764526367, -1.3490570783615112, 0.3934948742389679, 70.48423767089844], "tau_ext": [-16.770980834960938, -41.6146240234375, 31.79715919494629, 31.350845336914062, 9.506280899047852, -3.0034711360931396, -0.11548569053411484], "tcp_pose": [0.677964448928833, 0.032675955444574356, -0.21496516466140747, -0.0022758396808058023, -0.004578234627842903, 0.9998888969421387, 0.01400398463010788], "tcp_vel": [-6.639597995672375e-05, 0.00011782476940425113, -0.00026352857821621, -0.00021133334666956216, -0.00010615008068270981, 0.000776191707700491], "flange_pose": [0.678666353225708, 0.028478354215621948, -0.06502555310726166, -0.0022758396808058023, -0.004578234627842903, 0.9998888969421387, 0.01400398463010788], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82613372802734, 15.184332847595215, 28.152555465698242, 0.3528507947921753, -24.028728485107422, 1.8068395853042603], "ext_wrench_in_world": [-108.09028527523704, 14.971492319625801, -27.238761074091972, -0.14282504832317086, -23.970986935685026, -2.477973348567344]}
+{"timestamp_ns": 1789729716781001970, "elapsed_ms": 5933, "source_timestamp_ns": 1789729716779238855, "q": [0.8365198373794556, -1.897158145904541, -1.0062484741210938, 1.3811379671096802, -0.1613752245903015, 0.5941073894500732, 0.7036862969398499], "theta": [0.8386051058769226, -1.8952112197875977, -1.004460096359253, 1.362733006477356, -0.16197237372398376, 0.5940564870834351, 0.7036601305007935], "dq": [0.0005703767528757453, -0.0012129127280786633, -0.00032936673960648477, -0.0005906302249059081, 0.00043611519504338503, 0.0003971312544308603, 0.0002428763546049595], "dtheta": [8.146746404236183e-05, -0.00013561830564867705, -0.0001527187559986487, 0.0002344228414585814, -0.0005224514752626419, 7.304249447770417e-05, -0.00028932580607943237], "tau": [55.5, 23.529998779296875, 5.456000328063965, -26.308000564575195, -2.5880000591278076, 2.684000015258789, -0.5600000023841858], "tau_des": [0.5047340989112854, -0.5900183916091919, -0.13677982985973358, -0.55414217710495, 0.9355030059814453, -1.158732533454895, -0.5420584082603455], "tau_dot": [-106.44281005859375, -118.60449981689453, -18.39773941040039, -8.835454940795898, -48.68647003173828, 57.50328063964844, -28.684833526611328], "tau_ext": [-16.76336669921875, -41.599853515625, 31.82143783569336, 31.34793472290039, 9.504652976989746, -3.001030921936035, -0.11505452543497086], "tcp_pose": [0.6779666543006897, 0.03267236426472664, -0.21496549248695374, -0.002274632453918457, -0.004576405510306358, 0.9998888969421387, 0.014001640491187572], "tcp_vel": [2.526944808778353e-05, -0.00011440779053373262, -4.673349758377299e-05, -0.0006080089369788766, -0.0002936817181762308, 0.0005980298155918717], "flange_pose": [0.678668200969696, 0.028475459665060043, -0.06502586603164673, -0.002274632453918457, -0.004576405510306358, 0.9998888969421387, 0.014001640491187572], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8205337524414, 15.178853988647461, 28.143836975097656, 0.34543952345848083, -24.018035888671875, 1.8030059337615967], "ext_wrench_in_world": [-108.08447496498029, 14.966093769024528, -27.230552245450752, -0.13557573794196062, -23.96034902741227, -2.473762420876811]}
+{"timestamp_ns": 1789729716814340626, "elapsed_ms": 5966, "source_timestamp_ns": 1789729716809242297, "q": [0.8365205526351929, -1.8971607685089111, -1.0062490701675415, 1.3811371326446533, -0.16137515008449554, 0.5941069722175598, 0.7036862373352051], "theta": [0.8386059403419495, -1.8952140808105469, -1.0044605731964111, 1.362732172012329, -0.16197215020656586, 0.5940557718276978, 0.7036598920822144], "dq": [-0.0014127915492281318, 0.0005867581348866224, 0.0001616857189219445, -0.0015524307964369655, 0.0006621421780437231, 0.00018860615091398358, 0.0014275710564106703], "dtheta": [-5.642672840622254e-05, -0.0005735618178732693, 0.00038321330794133246, -8.15034654806368e-05, 0.0004758837749250233, -3.195462795702042e-06, 0.0004844251088798046], "tau": [55.54999923706055, 23.559999465942383, 5.4760003089904785, -26.32000160217285, -2.580000162124634, 2.6520001888275146, -0.5680000185966492], "tau_des": [0.5552011132240295, -0.4911511540412903, -0.24952064454555511, -0.5732316970825195, 0.9024314880371094, -1.1594464778900146, -0.5515731573104858], "tau_dot": [-59.03523635864258, -8.0017728805542, 37.15571212768555, -36.805259704589844, 16.90447235107422, -30.907629013061523, -13.192248344421387], "tau_ext": [-16.744714736938477, -41.58509063720703, 31.813631057739258, 31.34746551513672, 9.50806713104248, -3.0017049312591553, -0.11879696696996689], "tcp_pose": [0.6779665350914001, 0.0326729491353035, -0.21496547758579254, -0.0022740305867046118, -0.00457704346626997, 0.9998888969421387, 0.014000636525452137], "tcp_vel": [-0.0003265760897193104, 0.00042865113937295973, -0.00019042918574996293, 0.00015662520308978856, 0.00039269981789402664, -0.00010762862075353041], "flange_pose": [0.6786679029464722, 0.028476348146796227, -0.06502582877874374, -0.0022740305867046118, -0.00457704346626997, 0.9998888969421387, 0.014000636525452137], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84290313720703, 15.156820297241211, 28.11902618408203, 0.33802491426467896, -24.018901824951172, 1.800826072692871], "ext_wrench_in_world": [-108.10651229771798, 14.942978320691449, -27.206432876355972, -0.12811013501918628, -23.961212353106525, -2.4715927306167496]}
+{"timestamp_ns": 1789729716847674953, "elapsed_ms": 6000, "source_timestamp_ns": 1789729716839222541, "q": [0.8365214467048645, -1.8971654176712036, -1.0062482357025146, 1.3811368942260742, -0.16137489676475525, 0.5941041707992554, 0.7036848068237305], "theta": [0.8386066555976868, -1.8952187299728394, -1.0044599771499634, 1.36273193359375, -0.16197262704372406, 0.5940529108047485, 0.7036584615707397], "dq": [0.0008820704533718526, 0.0009186278912238777, -0.001772465417161584, -0.0030153244733810425, -0.0023395305033773184, -0.0010747414780780673, 0.0003186205867677927], "dtheta": [0.00029177567921578884, -0.00011740219633793458, 0.00031113711884245276, 8.021419489523396e-05, -0.0005324860103428364, -6.747014413122088e-05, -0.000982843805104494], "tau": [55.55999755859375, 23.60999870300293, 5.464000225067139, -26.280000686645508, -2.5880000591278076, 2.6640000343322754, -0.5560000538825989], "tau_des": [0.4573764503002167, -0.5461961627006531, -0.23087824881076813, -0.5275471806526184, 0.9432425498962402, -1.1680738925933838, -0.5148946642875671], "tau_dot": [-46.67643356323242, 11.782517433166504, 22.75706672668457, 33.43770980834961, -40.91611099243164, -10.69546127319336, -28.12919807434082], "tau_ext": [-16.7526912689209, -41.60110092163086, 31.808500289916992, 31.35594367980957, 9.509424209594727, -2.995110034942627, -0.1169346496462822], "tcp_pose": [0.6779647469520569, 0.032674357295036316, -0.21496644616127014, -0.002274778438732028, -0.0045795077458024025, 0.9998889565467834, 0.013998361304402351], "tcp_vel": [-4.403812999953516e-05, 0.00014265946811065078, 0.0001803185004973784, -0.0003050312807317823, -0.0003998916072305292, 0.0015893743839114904], "flange_pose": [0.678666353225708, 0.028478439897298813, -0.06502678990364075, -0.002274778438732028, -0.0045795077458024025, 0.9998889565467834, 0.013998361304402351], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.86363220214844, 15.13503646850586, 28.121984481811523, 0.33197957277297974, -24.02653694152832, 1.8011283874511719], "ext_wrench_in_world": [-108.12716834025291, 14.920435749787863, -27.209824617105827, -0.12188174331919342, -23.96879182602445, -2.472026405359595]}
+{"timestamp_ns": 1789729716880997081, "elapsed_ms": 6033, "source_timestamp_ns": 1789729716879253863, "q": [0.8365228176116943, -1.8971703052520752, -1.0062477588653564, 1.3811359405517578, -0.16137194633483887, 0.5941022634506226, 0.7036829590797424], "theta": [0.8386081457138062, -1.89522385597229, -1.0044596195220947, 1.362730860710144, -0.16196998953819275, 0.5940514802932739, 0.703656017780304], "dq": [0.0015687618870288134, -0.00012374401558190584, 0.001128045143559575, -0.0025026947259902954, -0.0007111539598554373, 0.0003855775867123157, -0.0005900231772102416], "dtheta": [0.00019967216940131038, 0.000164674551342614, -0.00023777285241521895, -0.0001788981753634289, 6.86090470480849e-06, 5.993618833599612e-05, -0.0003780745610129088], "tau": [55.62999725341797, 23.59000015258789, 5.460000038146973, -26.308000564575195, -2.556000232696533, 2.6440000534057617, -0.5520000457763672], "tau_des": [0.43945690989494324, -0.6241350769996643, -0.1558375060558319, -0.4962303042411804, 0.9297153949737549, -1.1774696111679077, -0.5342512130737305], "tau_dot": [63.6612434387207, 41.787899017333984, -71.72868347167969, -41.983421325683594, -4.788992881774902, -53.87448501586914, 52.70682144165039], "tau_ext": [-16.74224853515625, -41.55925750732422, 31.786544799804688, 31.331470489501953, 9.501855850219727, -2.987950086593628, -0.11261031776666641], "tcp_pose": [0.6779631972312927, 0.03267616406083107, -0.21496698260307312, -0.0022753188386559486, -0.0045813689939677715, 0.9998889565467834, 0.013997282832860947], "tcp_vel": [0.0002464983845129609, -0.00013533041055779904, 0.0002572642988525331, 0.00011852684838231653, -0.00047104572877287865, 6.705142004648224e-05], "flange_pose": [0.6786649823188782, 0.028480572625994682, -0.06502731144428253, -0.0022753188386559486, -0.0045813689939677715, 0.9998889565467834, 0.013997282832860947], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85305786132812, 15.13224983215332, 28.132286071777344, 0.33044514060020447, -24.032657623291016, 1.8038040399551392], "ext_wrench_in_world": [-108.11670094633887, 14.917572804209408, -27.220168859818845, -0.12021704720310968, -23.97482663568058, -2.4748274878171452]}
+{"timestamp_ns": 1789729716914335217, "elapsed_ms": 6066, "source_timestamp_ns": 1789729716909322697, "q": [0.8365235328674316, -1.8971697092056274, -1.0062474012374878, 1.3811355829238892, -0.1613699495792389, 0.5940998196601868, 0.7036826610565186], "theta": [0.8386088013648987, -1.8952232599258423, -1.0044586658477783, 1.3627309799194336, -0.16196733713150024, 0.5940483808517456, 0.7036563158035278], "dq": [-0.0004969334695488214, -0.0005773194134235382, 0.0018777026562020183, -4.695863026427105e-05, -0.00041080929804593325, -0.00019882168271578848, 0.0008015355560928583], "dtheta": [0.00041899734060280025, 9.420647984370589e-05, 0.00033311356673948467, -0.00011870062735397369, 0.0011593684321269393, 0.00017927920271176845, 0.00039963069139048457], "tau": [55.55999755859375, 23.639999389648438, 5.488000392913818, -26.316001892089844, -2.572000026702881, 2.6760001182556152, -0.5680000185966492], "tau_des": [0.43156668543815613, -0.5908119678497314, -0.24677857756614685, -0.49162712693214417, 0.8892806768417358, -1.1834067106246948, -0.5502268075942993], "tau_dot": [-74.54569244384766, 58.82799530029297, -13.607027053833008, 14.142801284790039, -10.71151351928711, 36.89524841308594, -66.67987823486328], "tau_ext": [-16.762929916381836, -41.57091522216797, 31.786235809326172, 31.346736907958984, 9.49367618560791, -2.992300510406494, -0.11253132671117783], "tcp_pose": [0.6779628396034241, 0.03267602249979973, -0.2149665355682373, -0.002276322105899453, -0.004580894950777292, 0.9998889565467834, 0.013997551053762436], "tcp_vel": [-7.378602458629757e-05, 0.00028843575273640454, 0.00030840683029964566, 0.0011859581572934985, 0.00010817307338584214, -0.0008949595503509045], "flange_pose": [0.6786648631095886, 0.028480352833867073, -0.06502687186002731, -0.002276322105899453, -0.004580894950777292, 0.9998889565467834, 0.013997551053762436], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82688903808594, 15.119342803955078, 28.146804809570312, 0.326857328414917, -24.028791427612305, 1.8013352155685425], "ext_wrench_in_world": [-108.0905253291449, 14.905432754781256, -27.234932640001766, -0.11668012649876991, -23.970996667227073, -2.472279569860438]}
+{"timestamp_ns": 1789729716947659405, "elapsed_ms": 6100, "source_timestamp_ns": 1789729716939240009, "q": [0.8365244269371033, -1.8971693515777588, -1.0062479972839355, 1.3811354637145996, -0.16137094795703888, 0.5940989255905151, 0.7036839723587036], "theta": [0.8386096358299255, -1.8952232599258423, -1.0044585466384888, 1.3627309799194336, -0.16196781396865845, 0.5940474271774292, 0.7036565542221069], "dq": [0.001312595559284091, 0.0008609019569121301, 0.0006127791712060571, -0.0019182913238182664, 0.00018136296421289444, 4.907410402665846e-05, -0.0009078893344849348], "dtheta": [0.00034069697721861303, 0.00017665878112893552, 8.631670061731711e-05, -2.901233165175654e-05, -0.0005720573826692998, -0.0005583293386735022, -0.00022088350669946522], "tau": [55.61000061035156, 23.600000381469727, 5.4760003089904785, -26.304000854492188, -2.56000018119812, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.4296795725822449, -0.6170531511306763, -0.1903151571750641, -0.5052973031997681, 0.9334962964057922, -1.1665372848510742, -0.5339933037757874], "tau_dot": [87.48072052001953, -84.01836395263672, -17.85348892211914, -25.95525550842285, 3.3263587951660156, 32.2042121887207, 1.0124417543411255], "tau_ext": [-16.755643844604492, -41.58969497680664, 31.787277221679688, 31.34104347229004, 9.492191314697266, -2.9887657165527344, -0.1140364333987236], "tcp_pose": [0.677963376045227, 0.03267538547515869, -0.2149658352136612, -0.0022757835686206818, -0.004580174572765827, 0.9998889565467834, 0.013996901921927929], "tcp_vel": [7.654641376575455e-05, -0.00012712112220469862, 0.00028446968644857407, -0.0005165492766536772, -0.00023768848041072488, 0.0004892114666290581], "flange_pose": [0.6786652207374573, 0.028479909524321556, -0.0650261640548706, -0.0022757835686206818, -0.004580174572765827, 0.9998889565467834, 0.013996901921927929], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8224105834961, 15.124410629272461, 28.165996551513672, 0.33200424909591675, -24.03246307373047, 1.8013496398925781], "ext_wrench_in_world": [-108.08613241032097, 14.911198192539821, -27.25412870924513, -0.12182564522277589, -23.974716823135207, -2.472343119273954]}
+{"timestamp_ns": 1789729716980909912, "elapsed_ms": 6133, "source_timestamp_ns": 1789729716979240845, "q": [0.8365252017974854, -1.8971701860427856, -1.0062487125396729, 1.3811354637145996, -0.1613714098930359, 0.5941005945205688, 0.7036856412887573], "theta": [0.8386103510856628, -1.8952240943908691, -1.0044591426849365, 1.362730860710144, -0.16196781396865845, 0.5940488576889038, 0.7036582231521606], "dq": [0.0008444403647445142, -0.0004013472353108227, -0.002406749175861478, 0.0017492272891104221, 0.002534714061766863, 0.0005551670910790563, 0.003229500725865364], "dtheta": [-0.00010401951294625178, -0.00044735343544743955, 0.00015574856661260128, -3.839866985799745e-05, 0.0005093610379844904, 9.594985749572515e-05, 0.0011770408600568771], "tau": [55.57999801635742, 23.65999984741211, 5.4760003089904785, -26.304000854492188, -2.568000078201294, 2.640000104904175, -0.5360000133514404], "tau_des": [0.5649899840354919, -0.5130347609519958, -0.24735189974308014, -0.5696665644645691, 0.8886276483535767, -1.1654778718948364, -0.5631192922592163], "tau_dot": [-12.4235258102417, 46.479366302490234, 31.804996490478516, -32.68292236328125, 11.719066619873047, -41.3929443359375, 47.32228088378906], "tau_ext": [-16.765466690063477, -41.636810302734375, 31.790130615234375, 31.342435836791992, 9.497176170349121, -2.9976367950439453, -0.11514678597450256], "tcp_pose": [0.6779638528823853, 0.03267545625567436, -0.21496540307998657, -0.002274614991620183, -0.00457949610427022, 0.9998889565467834, 0.013996775262057781], "tcp_vel": [-0.00023010298900771886, 0.00027582343318499625, -0.00020843565289396793, 0.00016289482300635427, 0.0003656474582385272, -0.001058413297869265], "flange_pose": [0.6786653995513916, 0.028480013832449913, -0.06502573192119598, -0.002274614991620183, -0.00457949610427022, 0.9998889565467834, 0.013996775262057781], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80674743652344, 15.167742729187012, 28.174680709838867, 0.3501335084438324, -24.034454345703125, 1.8044155836105347], "ext_wrench_in_world": [-108.07082085776345, 14.955042256702066, -27.26191914873169, -0.1399777520386337, -23.976789097969004, -2.475377859691018]}
+{"timestamp_ns": 1789729717014230486, "elapsed_ms": 6166, "source_timestamp_ns": 1789729717009346557, "q": [0.8365259170532227, -1.897170901298523, -1.0062497854232788, 1.3811359405517578, -0.16137222945690155, 0.5940994620323181, 0.7036841511726379], "theta": [0.8386107087135315, -1.8952248096466064, -1.0044602155685425, 1.362730860710144, -0.16196878254413605, 0.5940479040145874, 0.7036575078964233], "dq": [0.001178705133497715, -0.002949497429654002, -0.0011962917633354664, 0.0012406158493831754, -0.0008659207378514111, 0.00019977331976406276, -0.0002761363866738975], "dtheta": [0.00020380069327075034, -0.0004775480483658612, -0.0004091344017069787, -3.8710986700607464e-05, 0.0005219148588366807, -0.000565909780561924, -0.0004970244481228292], "tau": [55.57999801635742, 23.60999870300293, 5.484000205993652, -26.292001724243164, -2.5920000076293945, 2.6640000343322754, -0.5520000457763672], "tau_des": [0.5203800201416016, -0.5290932655334473, -0.1864338517189026, -0.5652196407318115, 0.9127890467643738, -1.1518210172653198, -0.5358998775482178], "tau_dot": [12.604879379272461, 84.51902770996094, -14.218459129333496, 76.62431335449219, -47.206886291503906, -9.946869850158691, -12.213236808776855], "tau_ext": [-16.759647369384766, -41.63261032104492, 31.79715347290039, 31.3408203125, 9.4977445602417, -2.997235059738159, -0.12075014412403107], "tcp_pose": [0.6779639720916748, 0.03267473727464676, -0.21496541798114777, -0.0022744229063391685, -0.004580349661409855, 0.9998889565467834, 0.01399540901184082], "tcp_vel": [-0.00010848129022633657, -0.00013020304322708398, -0.00011591624206630513, -0.000636759796179831, 0.0003395547391846776, 0.00024729938013479114], "flange_pose": [0.6786654591560364, 0.02847970463335514, -0.06502573192119598, -0.0022744229063391685, -0.004580349661409855, 0.9998889565467834, 0.01399540901184082], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79937744140625, 15.195785522460938, 28.173402786254883, 0.360024631023407, -24.032636642456055, 1.8058547973632812], "ext_wrench_in_world": [-108.06371442448483, 14.982846233640853, -27.25997510047303, -0.14984963402843576, -23.975030150169594, -2.4766565482653022]}
+{"timestamp_ns": 1789729717047560777, "elapsed_ms": 6200, "source_timestamp_ns": 1789729717039359150, "q": [0.8365265130996704, -1.8971729278564453, -1.0062509775161743, 1.3811355829238892, -0.16137367486953735, 0.5940965414047241, 0.7036849856376648], "theta": [0.8386109471321106, -1.8952269554138184, -1.0044609308242798, 1.3627305030822754, -0.16197094321250916, 0.5940455198287964, 0.7036586999893188], "dq": [0.00226470991037786, 0.0025573589373379946, -0.0012151878327131271, 0.0005526751047000289, 0.0029524466954171658, 0.00044991684262640774, -6.067813592380844e-05], "dtheta": [0.00018846448801923543, -0.00025450752582401037, 0.0003682366223074496, -0.0001503148814663291, -0.0006874804967083037, -8.700729813426733e-05, 0.00022344833996612579], "tau": [55.59000015258789, 23.559999465942383, 5.4800004959106445, -26.296001434326172, -2.6000001430511475, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.45955410599708557, -0.5468145608901978, -0.2574042081832886, -0.5100390911102295, 0.9353275895118713, -1.1794205904006958, -0.5346208214759827], "tau_dot": [22.78055191040039, -8.290871620178223, 2.263361692428589, 15.305556297302246, -21.55299949645996, -5.171297550201416, -22.832290649414062], "tau_ext": [-16.755783081054688, -41.58814239501953, 31.78170394897461, 31.351367950439453, 9.507467269897461, -2.9969911575317383, -0.12179248034954071], "tcp_pose": [0.6779636740684509, 0.032674189656972885, -0.21496577560901642, -0.002274567261338234, -0.004580604378134012, 0.9998890161514282, 0.013992978259921074], "tcp_vel": [-1.427429924660828e-05, 0.00024470710195600986, 0.00018612347776070237, -0.00035275265690870583, -0.0005007268628105521, 0.0005655337008647621], "flange_pose": [0.6786652207374573, 0.028479889035224915, -0.06502607464790344, -0.002274567261338234, -0.004580604378134012, 0.9998890161514282, 0.013992978259921074], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80926513671875, 15.169150352478027, 28.16868782043457, 0.3511701226234436, -24.03193473815918, 1.8034394979476929], "ext_wrench_in_world": [-108.07335217421557, 14.955810391869221, -27.25600907343063, -0.14097875804582355, -23.974326535891766, -2.4741450800506644]}
+{"timestamp_ns": 1789729717080900336, "elapsed_ms": 6233, "source_timestamp_ns": 1789729717079278932, "q": [0.8365276455879211, -1.89717698097229, -1.0062508583068848, 1.3811345100402832, -0.16137383878231049, 0.5940909385681152, 0.7036848068237305], "theta": [0.8386126160621643, -1.89523184299469, -1.0044611692428589, 1.3627293109893799, -0.16197094321250916, 0.5940395593643188, 0.7036584615707397], "dq": [-0.0009645685204304755, -0.0001801471516955644, 0.0013556152116507292, 0.001013028435409069, -0.0025834529660642147, -0.00020416956976987422, -0.0008659458835609257], "dtheta": [-0.00024265730462502688, -0.00031379552092403173, -0.00038235363899730146, -5.814752876176499e-05, -0.00018261175137013197, -0.0006054245750419796, 0.0004180644464213401], "tau": [55.5099983215332, 23.549999237060547, 5.444000244140625, -26.304000854492188, -2.5880000591278076, 2.6440000534057617, -0.5440000295639038], "tau_des": [0.5985202789306641, -0.5239364504814148, -0.17056232690811157, -0.6123148798942566, 0.9142270684242249, -1.1310458183288574, -0.545194685459137], "tau_dot": [-119.84603118896484, -108.76209259033203, -57.99334716796875, -15.70971393585205, 9.411812782287598, -48.362586975097656, 0.38862931728363037], "tau_ext": [-16.751619338989258, -41.59876251220703, 31.794937133789062, 31.345293045043945, 9.517990112304688, -2.993983745574951, -0.12462655454874039], "tcp_pose": [0.6779621839523315, 0.032674774527549744, -0.21496635675430298, -0.002275679260492325, -0.004582128021866083, 0.999889075756073, 0.013989919796586037], "tcp_vel": [-7.363969052676111e-05, -0.00021564893540926278, -0.0003065149940084666, -0.000954676594119519, 0.000444031844381243, -0.000369574612705037], "flange_pose": [0.6786640882492065, 0.028481394052505493, -0.06502662599086761, -0.002275679260492325, -0.004582128021866083, 0.999889075756073, 0.013989919796586037], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83950805664062, 15.129509925842285, 28.15319061279297, 0.33365967869758606, -24.03316879272461, 1.80110502243042], "ext_wrench_in_world": [-108.1032651992075, 14.914973919266123, -27.241353058027194, -0.12337828935624137, -23.975479330510176, -2.4717764811163154]}
+{"timestamp_ns": 1789729717114225858, "elapsed_ms": 6266, "source_timestamp_ns": 1789729717109253430, "q": [0.8365298509597778, -1.8971798419952393, -1.0062519311904907, 1.3811333179473877, -0.16137202084064484, 0.5940868258476257, 0.7036839723587036], "theta": [0.8386150002479553, -1.895235538482666, -1.0044620037078857, 1.3627281188964844, -0.16196949779987335, 0.594035267829895, 0.7036570310592651], "dq": [0.0009994530119001865, -0.00032225760514847934, 0.0014562761643901467, 0.0017991038039326668, -0.002566760638728738, -0.0010728915221989155, 0.0008918698295019567], "dtheta": [-2.4645269149914384e-05, 0.00026471595629118383, 0.00020587681501638144, -7.543934043496847e-05, 0.00021760245726909488, -0.0009413019870407879, -0.00016417189908679575], "tau": [55.63999938964844, 23.559999465942383, 5.484000205993652, -26.316001892089844, -2.6000001430511475, 2.6520001888275146, -0.5520000457763672], "tau_des": [0.5245906710624695, -0.5607152581214905, -0.21786397695541382, -0.5706112384796143, 0.9032134413719177, -1.1375123262405396, -0.5327243804931641], "tau_dot": [136.49493408203125, -56.75490188598633, 35.46394348144531, -21.791030883789062, -30.178298950195312, 2.3373496532440186, -19.273916244506836], "tau_ext": [-16.748559951782227, -41.57780075073242, 31.78654670715332, 31.34742546081543, 9.515687942504883, -2.9898548126220703, -0.12072235345840454], "tcp_pose": [0.6779617071151733, 0.03267473727464676, -0.2149658501148224, -0.0022760082501918077, -0.004582571797072887, 0.999889075756073, 0.013988109305500984], "tcp_vel": [-0.0001790955720935017, -8.31488287076354e-05, -1.8306040146853775e-05, -0.00010853030107682571, 0.0008562750881537795, 2.1172065316932276e-05], "flange_pose": [0.6786636710166931, 0.028481896966695786, -0.06502609699964523, -0.0022760082501918077, -0.004582571797072887, 0.999889075756073, 0.013988109305500984], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.86270904541016, 15.126773834228516, 28.144989013671875, 0.3304322361946106, -24.039199829101562, 1.8021568059921265], "ext_wrench_in_world": [-108.12643232080258, 14.911599187047836, -27.233114751826452, -0.1200809118477413, -23.981457634716044, -2.472924044225017]}
+{"timestamp_ns": 1789729717147559118, "elapsed_ms": 6300, "source_timestamp_ns": 1789729717139249535, "q": [0.8365302085876465, -1.897179365158081, -1.0062520503997803, 1.3811346292495728, -0.1613718420267105, 0.5940863490104675, 0.7036834955215454], "theta": [0.8386155366897583, -1.8952356576919556, -1.004462480545044, 1.3627285957336426, -0.16196925938129425, 0.5940340757369995, 0.703656792640686], "dq": [0.0016466749366372824, 0.001965985866263509, -6.511558603961021e-05, 0.0021555644925683737, 0.0006500890012830496, 0.0012422226136550307, 0.0004943739040754735], "dtheta": [-0.00010994946205755696, -0.0005485742003656924, 3.068662772420794e-05, -1.2923223948746454e-05, -0.00017762772040441632, 0.000304058805340901, -0.00038137633237056434], "tau": [55.599998474121094, 23.619998931884766, 5.484000205993652, -26.284000396728516, -2.580000162124634, 2.6760001182556152, -0.5440000295639038], "tau_des": [0.5672430396080017, -0.46532678604125977, -0.2651987671852112, -0.5860979557037354, 0.9202195405960083, -1.1568372249603271, -0.521700918674469], "tau_dot": [-54.92469787597656, 84.10698699951172, -6.512450218200684, 24.189184188842773, -40.78139114379883, 44.552223205566406, 21.932947158813477], "tau_ext": [-16.781211853027344, -41.59521484375, 31.801776885986328, 31.362064361572266, 9.508232116699219, -2.995105266571045, -0.11990785598754883], "tcp_pose": [0.6779614090919495, 0.032674189656972885, -0.2149660885334015, -0.0022765363100916147, -0.004582634195685387, 0.999889075756073, 0.013987778685986996], "tcp_vel": [-9.434189996682107e-05, 0.00021633370488416404, -0.00018056922999676317, -0.00028993652085773647, -0.00022852385882288218, 0.0008595805848017335], "flange_pose": [0.6786634922027588, 0.02848145365715027, -0.06502635031938553, -0.0022765363100916147, -0.004582634195685387, 0.999889075756073, 0.013987778685986996], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85846710205078, 15.110145568847656, 28.15206527709961, 0.32367855310440063, -24.03670883178711, 1.800545334815979], "ext_wrench_in_world": [-108.1221031269113, 14.895181682068927, -27.240568682642078, -0.11334192571485163, -23.978952100608765, -2.4712572786266995]}
+{"timestamp_ns": 1789729717180901437, "elapsed_ms": 6333, "source_timestamp_ns": 1789729717179292532, "q": [0.8365311026573181, -1.8971774578094482, -1.006252646446228, 1.3811345100402832, -0.1613718569278717, 0.5940862894058228, 0.7036836743354797], "theta": [0.8386165499687195, -1.8952347040176392, -1.004462480545044, 1.3627288341522217, -0.16196830570697784, 0.5940335988998413, 0.7036572694778442], "dq": [-0.00013709029008168727, -0.0010958127677440643, 0.0005929140606895089, 0.0016381909372285008, -0.0027034187223762274, 0.0010498481569811702, -0.00011215410631848499], "dtheta": [2.3422322556143627e-05, -1.5506078852922656e-05, -0.0002599514555186033, 0.00016544826212339103, -0.0009552222327329218, -0.0010515213944017887, 0.00045468113967217505], "tau": [55.54999923706055, 23.619998931884766, 5.464000225067139, -26.280000686645508, -2.5440001487731934, 2.6640000343322754, -0.5480000376701355], "tau_des": [0.5365264415740967, -0.5817116498947144, -0.1575322449207306, -0.5869646072387695, 0.9292088150978088, -1.1312373876571655, -0.5442702770233154], "tau_dot": [-41.17219161987305, 65.59408569335938, -44.14913558959961, 50.18524169921875, 47.66893768310547, 12.177031517028809, -13.878018379211426], "tau_ext": [-16.75545310974121, -41.599449157714844, 31.78993034362793, 31.342931747436523, 9.504212379455566, -2.9946374893188477, -0.11953428387641907], "tcp_pose": [0.6779623031616211, 0.03267332538962364, -0.21496494114398956, -0.002275956328958273, -0.004581730347126722, 0.999889075756073, 0.013988264836370945], "tcp_vel": [-4.333091783337295e-05, -0.00040348360198549926, -0.00011804985115304589, -0.0015553112607449293, 0.00030640431214123964, -4.5379438233794644e-05], "flange_pose": [0.6786642074584961, 0.028480440378189087, -0.065025195479393, -0.002275956328958273, -0.004581730347126722, 0.999889075756073, 0.013988264836370945], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8375473022461, 15.127616882324219, 28.16940689086914, 0.3311677575111389, -24.03186798095703, 1.8014060258865356], "ext_wrench_in_world": [-108.10136655897874, 14.913547115715252, -27.25761445531437, -0.12091980282792122, -23.97415577269606, -2.471972450423199]}
+{"timestamp_ns": 1789729717214234048, "elapsed_ms": 6366, "source_timestamp_ns": 1789729717209283897, "q": [0.8365316390991211, -1.8971772193908691, -1.0062534809112549, 1.3811352252960205, -0.16137272119522095, 0.5940867066383362, 0.7036835551261902], "theta": [0.8386165499687195, -1.8952345848083496, -1.0044633150100708, 1.3627294301986694, -0.16196902096271515, 0.5940343141555786, 0.7036570310592651], "dq": [-0.0007466914830729365, -0.0018151105614379048, 0.0006788852042518556, 0.001415091217495501, -0.000803332426585257, -0.0006244651158340275, 7.110972364898771e-05], "dtheta": [-0.00038974930066615343, 0.0001566408755024895, -0.0001954660110641271, 0.00011200705921510234, -0.0008107422036118805, -0.00020069468882866204, -0.00034572294680401683], "tau": [55.57999801635742, 23.639999389648438, 5.464000225067139, -26.308000564575195, -2.5920000076293945, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.5708591938018799, -0.5745139718055725, -0.1659202128648758, -0.5828660726547241, 0.9217268824577332, -1.15012788772583, -0.5296350717544556], "tau_dot": [63.23698043823242, 17.826980590820312, 8.929526329040527, -64.69691467285156, -24.358299255371094, -8.964693069458008, 52.599098205566406], "tau_ext": [-16.765729904174805, -41.60859680175781, 31.78910255432129, 31.345844268798828, 9.503463745117188, -2.9955737590789795, -0.11972125619649887], "tcp_pose": [0.6779626607894897, 0.032672662287950516, -0.21496474742889404, -0.0022754778619855642, -0.004581710789352655, 0.999889075756073, 0.013987762853503227], "tcp_vel": [5.227817746344954e-05, -0.00026397264446131885, -0.00023472531756851822, -0.0007058535702526569, 0.0001109227814595215, 0.0005756866885349154], "flange_pose": [0.6786644458770752, 0.02847992815077305, -0.06502500176429749, -0.0022754778619855642, -0.004581710789352655, 0.999889075756073, 0.013987762853503227], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82672119140625, 15.14192008972168, 28.16135597229004, 0.3382408320903778, -24.033100128173828, 1.8020896911621094], "ext_wrench_in_world": [-108.09060654859691, 14.92769715443732, -27.24933303243664, -0.12798332335576051, -23.97543599793531, -2.472635206447828]}
+{"timestamp_ns": 1789729717247561019, "elapsed_ms": 6400, "source_timestamp_ns": 1789729717239283521, "q": [0.8365312218666077, -1.8971771001815796, -1.006255865097046, 1.3811355829238892, -0.1613721400499344, 0.5940863490104675, 0.7036824822425842], "theta": [0.8386169672012329, -1.8952348232269287, -1.00446617603302, 1.3627294301986694, -0.16196902096271515, 0.5940340757369995, 0.7036575078964233], "dq": [-0.001606980338692665, -6.493450200650841e-05, -0.001137364306487143, 8.242343028541654e-05, -5.5177806643769145e-06, 0.0006931897369213402, 0.0010345833143219352], "dtheta": [0.0003102857735939324, -8.307650568895042e-05, -0.0004932947922497988, 0.000119882206490729, 0.0005721959751099348, -8.906977018341422e-05, -0.0002881461987271905], "tau": [55.599998474121094, 23.600000381469727, 5.440000057220459, -26.340002059936523, -2.6000001430511475, 2.6680002212524414, -0.5560000538825989], "tau_des": [0.4770238399505615, -0.6008448600769043, -0.14860431849956512, -0.5350514650344849, 0.9092199802398682, -1.1632168292999268, -0.5436094999313354], "tau_dot": [142.1421661376953, -46.47446060180664, 2.847874641418457, -16.82958221435547, -30.776044845581055, 64.72425842285156, -41.566162109375], "tau_ext": [-16.760398864746094, -41.63093948364258, 31.80446434020996, 31.352706909179688, 9.505587577819824, -2.9983937740325928, -0.11935912817716599], "tcp_pose": [0.6779630780220032, 0.03267127647995949, -0.21496538817882538, -0.002275726990774274, -0.004581259563565254, 0.999889075756073, 0.013987007550895214], "tcp_vel": [6.787297752453014e-05, -0.0002443451958242804, 4.804573836736381e-05, -0.0001465641107643023, 6.168238996906439e-06, -0.00029913816251792014], "flange_pose": [0.6786649227142334, 0.028478769585490227, -0.06502562761306763, -0.002275726990774274, -0.004581259563565254, 0.999889075756073, 0.013987007550895214], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82872009277344, 15.167601585388184, 28.164262771606445, 0.34836164116859436, -24.034738540649414, 1.802778720855713], "ext_wrench_in_world": [-108.092853009109, 14.953485462934545, -27.251479097983125, -0.13811455152489371, -23.977151439567155, -2.4732886773496405]}
+{"timestamp_ns": 1789729717280897389, "elapsed_ms": 6433, "source_timestamp_ns": 1789729717279273435, "q": [0.8365313410758972, -1.8971779346466064, -1.0062587261199951, 1.3811354637145996, -0.16137203574180603, 0.5940864086151123, 0.7036827206611633], "theta": [0.838617205619812, -1.895235538482666, -1.0044697523117065, 1.3627293109893799, -0.16196973621845245, 0.5940347909927368, 0.7036579847335815], "dq": [2.8419912268873304e-05, -0.0010357163846492767, 0.001926067634485662, 0.0001727004419080913, -0.001201023580506444, -0.0003532057162374258, 0.0008657986181788146], "dtheta": [0.0001206751330755651, 0.000291355507215485, -0.00011080162221333012, 3.5917397326556966e-05, 0.0012002330040559173, 0.00017655736883170903, 2.732527377702354e-07], "tau": [55.57999801635742, 23.59000015258789, 5.452000141143799, -26.284000396728516, -2.5920000076293945, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.48098650574684143, -0.6267300248146057, -0.16620758175849915, -0.5188048481941223, 0.8820666074752808, -1.1751399040222168, -0.5538030862808228], "tau_dot": [47.9160041809082, 76.1173324584961, -16.46514320373535, -6.052697658538818, 2.8673527240753174, 12.23954963684082, 5.829336166381836], "tau_ext": [-16.74785041809082, -41.607460021972656, 31.8183536529541, 31.342376708984375, 9.510478973388672, -3.00026798248291, -0.121963731944561], "tcp_pose": [0.67796391248703, 0.032669950276613235, -0.21496565639972687, -0.002275168662890792, -0.004580367356538773, 0.9998891353607178, 0.013985869474709034], "tcp_vel": [-3.655987256934168e-06, -4.152892142883502e-05, 6.76220515742898e-05, 0.0009859392885118723, 0.0004033923614770174, -0.0009377787355333567], "flange_pose": [0.6786655783653259, 0.028477778658270836, -0.06502588838338852, -0.002275168662890792, -0.004580367356538773, 0.9998891353607178, 0.013985869474709034], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85506439208984, 15.170982360839844, 28.150917053222656, 0.346835196018219, -24.03359031677246, 1.8021432161331177], "ext_wrench_in_world": [-108.11910736817916, 14.956380817455718, -27.23808081535088, -0.13663597530302138, -23.976012777499104, -2.472573607107246]}
+{"timestamp_ns": 1789729717314228509, "elapsed_ms": 6466, "source_timestamp_ns": 1789729717309407792, "q": [0.8365314602851868, -1.8971796035766602, -1.0062605142593384, 1.3811346292495728, -0.16137169301509857, 0.5940852165222168, 0.7036827802658081], "theta": [0.8386173248291016, -1.8952369689941406, -1.0044716596603394, 1.3627288341522217, -0.16196998953819275, 0.594032883644104, 0.7036579847335815], "dq": [0.0015944779152050614, 0.00021591152471955866, 0.0003122963535133749, 0.0009998689638450742, 0.0011984186712652445, 0.00045882962876930833, -0.0021045913454145193], "dtheta": [-0.0002806298725772649, -0.00031756420503370464, -6.333718192763627e-05, -0.00032252928940579295, 0.0005292717250995338, 0.001274971291422844, 0.000474830943858251], "tau": [55.59000015258789, 23.600000381469727, 5.468000411987305, -26.284000396728516, -2.6000001430511475, 2.6520001888275146, -0.5360000133514404], "tau_des": [0.5216526985168457, -0.5605852007865906, -0.21227216720581055, -0.5078043341636658, 0.8982928395271301, -1.20299232006073, -0.5548439025878906], "tau_dot": [-26.407630920410156, 54.97469711303711, 36.69899368286133, 47.066078186035156, -28.420103073120117, -21.63521385192871, 2.6666650772094727], "tau_ext": [-16.755064010620117, -41.59074783325195, 31.805599212646484, 31.343271255493164, 9.521227836608887, -2.995511293411255, -0.12677611410617828], "tcp_pose": [0.6779640913009644, 0.03266946226358414, -0.21496595442295074, -0.002275048289448023, -0.0045801312662661076, 0.9998891353607178, 0.01398464199155569], "tcp_vel": [0.00016816100105643272, 0.00035869982093572617, -4.229631304042414e-05, 0.0010692795040085912, -0.0006557637825608253, -0.0006814910448156297], "flange_pose": [0.6786657571792603, 0.028477659448981285, -0.0650261789560318, -0.002275048289448023, -0.0045801312662661076, 0.9998891353607178, 0.01398464199155569], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84649658203125, 15.160568237304688, 28.13793182373047, 0.3382221460342407, -24.024402618408203, 1.7997314929962158], "ext_wrench_in_world": [-108.11037083115305, 14.945671293174, -27.225493383223217, -0.12810632220501772, -23.96682302266462, -2.4698849788630732]}
+{"timestamp_ns": 1789729717347562180, "elapsed_ms": 6500, "source_timestamp_ns": 1789729717339195554, "q": [0.8365320563316345, -1.8971812725067139, -1.006260871887207, 1.381134271621704, -0.16137228906154633, 0.5940794348716736, 0.7036810517311096], "theta": [0.8386178612709045, -1.895238995552063, -1.0044721364974976, 1.3627288341522217, -0.16197046637535095, 0.5940269231796265, 0.7036570310592651], "dq": [-0.0021466827020049095, -0.0002133747038897127, -0.0002645425556693226, 0.00016273876826744527, 0.00012267715646885335, -0.0016022548079490662, 0.0011796257458627224], "dtheta": [0.00018676758918445557, 0.00010673097858671099, -0.00011029783490812406, -8.670967508805916e-05, -0.0003610501589719206, -9.387795580551028e-05, -0.00013794249389320612], "tau": [55.53999710083008, 23.579999923706055, 5.460000038146973, -26.308000564575195, -2.564000129699707, 2.6440000534057617, -0.5520000457763672], "tau_des": [0.4554705023765564, -0.6172653436660767, -0.167633056640625, -0.5126646757125854, 0.9281131029129028, -1.1687997579574585, -0.5380247235298157], "tau_dot": [-94.4193344116211, -68.91018676757812, 16.50746726989746, -36.11397171020508, 68.33953857421875, -50.472930908203125, -0.9114588499069214], "tau_ext": [-16.752803802490234, -41.59606170654297, 31.806781768798828, 31.346176147460938, 9.519466400146484, -2.990556001663208, -0.12209492921829224], "tcp_pose": [0.6779630780220032, 0.03266889229416847, -0.21496650576591492, -0.002276552375406027, -0.0045816064812242985, 0.9998891353607178, 0.013981940224766731], "tcp_vel": [0.0001709702191874385, -0.00011578379053389654, 0.00020989352196920663, -0.00022633257322013378, -0.00042425005813129246, 0.00017776053573470563], "flange_pose": [0.6786651611328125, 0.028477903455495834, -0.06502670794725418, -0.002276552375406027, -0.0045816064812242985, 0.9998891353607178, 0.013981940224766731], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.86056518554688, 15.14318561553955, 28.139305114746094, 0.3297106921672821, -24.029972076416016, 1.8000354766845703], "ext_wrench_in_world": [-108.12441196520783, 14.927732669056418, -27.22705308351009, -0.11948132113981952, -23.972316797023733, -2.470252304566947]}
+{"timestamp_ns": 1789729717380898409, "elapsed_ms": 6533, "source_timestamp_ns": 1789729717379197856, "q": [0.8365336656570435, -1.8971827030181885, -1.0062594413757324, 1.3811345100402832, -0.1613706797361374, 0.5940720438957214, 0.7036795616149902], "theta": [0.838619589805603, -1.8952399492263794, -1.0044713020324707, 1.3627289533615112, -0.16196878254413605, 0.5940190553665161, 0.7036555409431458], "dq": [0.0028967424295842648, -0.002483696909621358, -0.0011552480282261968, -0.0011831282172352076, -0.0012120039900764823, 0.0016315366374328732, 0.004365815781056881], "dtheta": [8.932439959608018e-05, -5.039946336182766e-05, 0.0002669753157533705, 0.00040375260869041085, 0.0003015468828380108, -0.00030869091278873384, -0.0002765337994787842], "tau": [55.57999801635742, 23.60999870300293, 5.440000057220459, -26.292001724243164, -2.572000026702881, 2.636000156402588, -0.5720000267028809], "tau_des": [0.5808577537536621, -0.5030264854431152, -0.25203457474708557, -0.6260920166969299, 0.8915943503379822, -1.1251778602600098, -0.528156578540802], "tau_dot": [54.83161163330078, 76.09876251220703, -77.9916000366211, 15.107338905334473, -6.328761100769043, -74.66133117675781, -61.08546447753906], "tau_ext": [-16.73314094543457, -41.60826873779297, 31.80815887451172, 31.34978675842285, 9.50811767578125, -2.9864468574523926, -0.12098094075918198], "tcp_pose": [0.6779608726501465, 0.032668959349393845, -0.21496684849262238, -0.002279332373291254, -0.0045829396694898605, 0.9998891949653625, 0.013979867100715637], "tcp_vel": [-0.00033995439298450947, 5.7120669225696474e-05, -0.00017984217265620828, -0.00011220180749660358, 0.0007122213137336075, 0.00040162415825761855], "flange_pose": [0.6786637902259827, 0.028478598222136497, -0.06502704322338104, -0.002279332373291254, -0.0045829396694898605, 0.9998891949653625, 0.013979867100715637], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.88676452636719, 15.135125160217285, 28.143062591552734, 0.32945239543914795, -24.043079376220703, 1.8008792400360107], "ext_wrench_in_world": [-108.15074509821616, 14.919127801838734, -27.23038571060597, -0.11905530495115135, -23.985403089877476, -2.4713630368202715]}
+{"timestamp_ns": 1789729717414224851, "elapsed_ms": 6566, "source_timestamp_ns": 1789729717409206159, "q": [0.8365353345870972, -1.8971822261810303, -1.0062599182128906, 1.3811347484588623, -0.16137079894542694, 0.5940712690353394, 0.7036778926849365], "theta": [0.8386211395263672, -1.895239233970642, -1.0044715404510498, 1.3627287149429321, -0.16196902096271515, 0.5940190553665161, 0.7036536335945129], "dq": [0.002143699675798416, -3.4105829399777576e-05, -0.0011893869377672672, -9.97695024125278e-05, -0.00039052506326697767, -0.0013602750841528177, 0.0006863002781756222], "dtheta": [0.00015181201160885394, 0.000570396427065134, -0.00010199053213000298, 0.0001562748075230047, -0.0012399220140650868, 0.00041069669532589614, -0.0008800744544714689], "tau": [55.599998474121094, 23.639999389648438, 5.500000476837158, -26.2760009765625, -2.576000213623047, 2.6440000534057617, -0.5400000214576721], "tau_des": [0.4231445789337158, -0.6677225232124329, -0.1516628861427307, -0.49407872557640076, 0.9470913410186768, -1.1773221492767334, -0.5163080096244812], "tau_dot": [64.53347778320312, 38.16405487060547, 43.709224700927734, 51.376399993896484, 16.9151611328125, -46.037071228027344, 27.301910400390625], "tau_ext": [-16.750274658203125, -41.60794448852539, 31.794328689575195, 31.34766387939453, 9.5030517578125, -2.988778591156006, -0.11898503452539444], "tcp_pose": [0.6779612898826599, 0.032668400555849075, -0.21496577560901642, -0.0022787824273109436, -0.004583511035889387, 0.9998891949653625, 0.01397957094013691], "tcp_vel": [0.0004030444542877376, -0.00027640193002298474, 0.000345375738106668, -0.00022877070296090096, -0.0010811289539560676, 0.001128748757764697], "flange_pose": [0.6786640286445618, 0.028478126972913742, -0.06502596288919449, -0.0022787824273109436, -0.004583511035889387, 0.9998891949653625, 0.01397957094013691], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.89188385009766, 15.137681007385254, 28.15203285217285, 0.3328602612018585, -24.052000045776367, 1.8024576902389526], "ext_wrench_in_world": [-108.15591582649482, 14.921747902389251, -27.239387878288507, -0.12235935539661637, -23.99430883642843, -2.4731614445593224]}
+{"timestamp_ns": 1789729717447560871, "elapsed_ms": 6600, "source_timestamp_ns": 1789729717439246298, "q": [0.8365358710289001, -1.8971821069717407, -1.0062607526779175, 1.3811345100402832, -0.16137021780014038, 0.5940720438957214, 0.703678548336029], "theta": [0.8386220335960388, -1.8952394723892212, -1.0044723749160767, 1.3627283573150635, -0.16196806728839874, 0.5940202474594116, 0.703654408454895], "dq": [0.002720422809943557, 0.0008105093147605658, -0.00039768367423675954, -0.0005586083279922605, 2.90338575723581e-05, 0.0014270175015553832, -0.002135559218004346], "dtheta": [0.0002110468049068004, 0.00020917491929139942, -0.0004071524308528751, -0.00020084709103684872, -0.00024708002456463873, -0.0005268186214379966, 0.0007125305710360408], "tau": [55.55999755859375, 23.6299991607666, 5.4720001220703125, -26.272001266479492, -2.580000162124634, 2.684000015258789, -0.5640000104904175], "tau_des": [0.4458449184894562, -0.6692256331443787, -0.12209539860486984, -0.5072404742240906, 0.9185125827789307, -1.1596183776855469, -0.5578306317329407], "tau_dot": [-21.88821029663086, -33.02397537231445, 44.581382751464844, 51.97148132324219, 4.292387008666992, 45.79341506958008, -67.27217864990234], "tau_ext": [-16.74538230895996, -41.62881088256836, 31.798696517944336, 31.33833885192871, 9.49738883972168, -2.9978628158569336, -0.11829714477062225], "tcp_pose": [0.6779618263244629, 0.032668132334947586, -0.21496529877185822, -0.0022781481966376305, -0.004582702182233334, 0.9998891949653625, 0.013979839161038399], "tcp_vel": [0.0002510085760150105, -0.00034801370929926634, 0.0002327435213373974, -0.0004903812077827752, -0.00022012004046700895, -0.0010204382706433535], "flange_pose": [0.6786644458770752, 0.028477778658270836, -0.06502547860145569, -0.0022781481966376305, -0.004582702182233334, 0.9998891949653625, 0.013979839161038399], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85750579833984, 15.16566276550293, 28.161460876464844, 0.34657901525497437, -24.045761108398438, 1.8038744926452637], "ext_wrench_in_world": [-108.12178010432548, 14.95048983394141, -27.24830790433837, -0.13617699719011372, -23.988158086090753, -2.4743554601862012]}
+{"timestamp_ns": 1789729717480893171, "elapsed_ms": 6633, "source_timestamp_ns": 1789729717479185528, "q": [0.8365384936332703, -1.8971821069717407, -1.0062624216079712, 1.3811347484588623, -0.16137157380580902, 0.5940724611282349, 0.703679084777832], "theta": [0.8386241793632507, -1.8952398300170898, -1.0044746398925781, 1.3627287149429321, -0.16196830570697784, 0.594021201133728, 0.7036545872688293], "dq": [-0.001922636292874813, -0.0004054210730828345, -0.000132495304569602, 0.0005050624022260308, 0.0002063301217276603, -0.00032543326960876584, 0.0018759275553748012], "dtheta": [0.00011343825462972745, 1.2156774573668372e-05, -0.00010336972627555951, 0.00022481047199107707, 0.00025695274234749377, 0.0001401291519869119, -0.00034071318805217743], "tau": [55.57999801635742, 23.579999923706055, 5.440000057220459, -26.308000564575195, -2.5880000591278076, 2.6760001182556152, -0.5440000295639038], "tau_des": [0.4968774616718292, -0.5826730728149414, -0.19086121022701263, -0.5445671081542969, 0.907394289970398, -1.164987564086914, -0.5350877642631531], "tau_dot": [-50.59922790527344, -56.3752326965332, -36.73505783081055, -59.04179763793945, -29.845947265625, 35.35552978515625, -9.60001277923584], "tau_ext": [-16.753280639648438, -41.62198257446289, 31.806058883666992, 31.347890853881836, 9.504518508911133, -3.0030553340911865, -0.11762344092130661], "tcp_pose": [0.677963137626648, 0.0326671302318573, -0.21496358513832092, -0.002276155399158597, -0.0045822556130588055, 0.9998891949653625, 0.013978918083012104], "tcp_vel": [-3.4615361073520035e-05, -6.350076728267595e-05, -3.0625062208855525e-05, 6.688388384645805e-05, 6.119992031017318e-05, 0.00014947271847631782], "flange_pose": [0.6786651015281677, 0.028477050364017487, -0.0650237649679184, -0.002276155399158597, -0.0045822556130588055, 0.9998891949653625, 0.013978918083012104], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83708953857422, 15.185330390930176, 28.15797233581543, 0.35636958479881287, -24.034160614013672, 1.8055331707000732], "ext_wrench_in_world": [-108.10140495894488, 14.970292261265861, -27.24481860485066, -0.14609318716151903, -23.976611006947333, -2.475602377982138]}
+{"timestamp_ns": 1789729717514295533, "elapsed_ms": 6666, "source_timestamp_ns": 1789729717510246298, "q": [0.8365381956100464, -1.8971835374832153, -1.0062658786773682, 1.3811343908309937, -0.1613713502883911, 0.5940704345703125, 0.7036806344985962], "theta": [0.838624894618988, -1.8952410221099854, -1.0044786930084229, 1.362728476524353, -0.16196781396865845, 0.5940195322036743, 0.7036558389663696], "dq": [0.0007175949867814779, 0.0016499259509146214, -0.00047972481115721166, -0.00019560279906727374, 3.9964514144230634e-05, 0.0029004893731325865, 0.0001351689570583403], "dtheta": [-2.628985100727732e-07, 0.00011417333735153079, 7.062261374812806e-06, -0.0002703426289372146, 0.00012385155423544347, 0.0003475676057860255, 0.0001914871099870652], "tau": [55.55999755859375, 23.619998931884766, 5.464000225067139, -26.304000854492188, -2.576000213623047, 2.6720001697540283, -0.527999997138977], "tau_des": [0.45209336280822754, -0.6299118995666504, -0.1772771030664444, -0.488459050655365, 0.910733699798584, -1.185654878616333, -0.5502979159355164], "tau_dot": [-40.3851432800293, 37.002323150634766, 51.0518798828125, -3.881584882736206, 37.34683609008789, -13.920516014099121, -9.796544075012207], "tau_ext": [-16.75543785095215, -41.63801956176758, 31.830461502075195, 31.347543716430664, 9.50533676147461, -2.997802495956421, -0.12465427070856094], "tcp_pose": [0.6779636144638062, 0.03266540914773941, -0.21496440470218658, -0.0022763859014958143, -0.004580646753311157, 0.9998892545700073, 0.013976866379380226], "tcp_vel": [0.00018183168140240014, 8.56508340802975e-05, 0.00018410157645121217, 0.000547759176697582, -0.0004038506012875587, -0.0003827276232186705], "flange_pose": [0.6786656975746155, 0.028475942090153694, -0.06502456218004227, -0.0022763859014958143, -0.004580646753311157, 0.9998892545700073, 0.013976866379380226], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83991241455078, 15.1919584274292, 28.148012161254883, 0.3552454710006714, -24.029695510864258, 1.8028870820999146], "ext_wrench_in_world": [-108.10420669064494, 14.976847273978187, -27.23467349881591, -0.14507534648434015, -23.972221088292997, -2.47273871611258]}
+{"timestamp_ns": 1789729717547563741, "elapsed_ms": 6700, "source_timestamp_ns": 1789729717539240750, "q": [0.8365383744239807, -1.897186040878296, -1.0062671899795532, 1.3811334371566772, -0.16137154400348663, 0.5940693020820618, 0.7036789059638977], "theta": [0.8386252522468567, -1.8952441215515137, -1.0044806003570557, 1.362728238105774, -0.16196806728839874, 0.5940183401107788, 0.703654408454895], "dq": [6.727904110448435e-05, -0.0008581924485042691, 0.0015783706912770867, -0.0020447825081646442, 0.0007228428730741143, -0.0004077465564478189, -0.007247627712786198], "dtheta": [-7.16620052116923e-05, -0.0002978504926431924, 5.4425141570391133e-05, -0.00021685860701836646, -0.001125469570979476, 0.0007685758755542338, -0.0006186466198414564], "tau": [55.619998931884766, 23.60999870300293, 5.456000328063965, -26.284000396728516, -2.576000213623047, 2.6720001697540283, -0.5600000023841858], "tau_des": [0.46565666794776917, -0.561056911945343, -0.21909849345684052, -0.49807050824165344, 0.9512031078338623, -1.1930732727050781, -0.5196636915206909], "tau_dot": [50.14680099487305, 113.4286117553711, -13.98388385772705, 11.56705093383789, 2.3885066509246826, 44.87362289428711, -44.20404815673828], "tau_ext": [-16.753719329833984, -41.615543365478516, 31.828685760498047, 31.3504638671875, 9.50517463684082, -2.9940414428710938, -0.12285870313644409], "tcp_pose": [0.6779636144638062, 0.03266539052128792, -0.2149648368358612, -0.002276094863191247, -0.004581899847835302, 0.9998892545700073, 0.013975289650261402], "tcp_vel": [0.0002682559716049582, 0.0002013987977989018, 0.0001428015239071101, -0.0002554716484155506, -0.0013061625650152564, 0.0014279769966378808], "flange_pose": [0.6786655783653259, 0.028476398438215256, -0.0650249794125557, -0.002276094863191247, -0.004581899847835302, 0.9998892545700073, 0.013975289650261402], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85541534423828, 15.181233406066895, 28.15129852294922, 0.34607812762260437, -24.0324764251709, 1.7987172603607178], "ext_wrench_in_world": [-108.11964691690372, 14.965719190823163, -27.238305288716678, -0.13580205446585594, -23.975040806336416, -2.4686136020122293]}
+{"timestamp_ns": 1789729717580985600, "elapsed_ms": 6733, "source_timestamp_ns": 1789729717579258700, "q": [0.8365393280982971, -1.8971859216690063, -1.0062669515609741, 1.3811336755752563, -0.16136981546878815, 0.5940660834312439, 0.7036781907081604], "theta": [0.8386257290840149, -1.8952449560165405, -1.0044801235198975, 1.3627281188964844, -0.16196686029434204, 0.5940150022506714, 0.703654408454895], "dq": [0.00022317349794320762, 0.0011989937629550695, -0.0012489025248214602, -0.001050430117174983, -0.002012695651501417, 0.00019102171063423157, 0.0016613632906228304], "dtheta": [0.00010821877367561683, 0.00013573419710155576, -5.501029590959661e-05, -0.00016128660354297608, -0.00010922179353656247, -0.00046298321103677154, 0.00011037677177228034], "tau": [55.599998474121094, 23.6299991607666, 5.464000225067139, -26.312002182006836, -2.5840001106262207, 2.6440000534057617, -0.5480000376701355], "tau_des": [0.4693130552768707, -0.622083306312561, -0.1710178703069687, -0.5223972201347351, 0.9128141403198242, -1.1590641736984253, -0.5453335046768188], "tau_dot": [-60.449100494384766, 131.0596466064453, 3.40816593170166, -14.14271068572998, -39.12262725830078, -9.05752182006836, 2.3675589561462402], "tau_ext": [-16.749494552612305, -41.5819091796875, 31.802021026611328, 31.347978591918945, 9.505375862121582, -2.9907445907592773, -0.1201329231262207], "tcp_pose": [0.6779628396034241, 0.03266509994864464, -0.21496474742889404, -0.002277461113408208, -0.004581859335303307, 0.9998892545700073, 0.013974873349070549], "tcp_vel": [6.942263280507177e-05, -0.00012007501209154725, 0.00013883915380574763, -0.0002128531050402671, 3.7249981687637046e-05, -0.00019375908595975488], "flange_pose": [0.6786652207374573, 0.028476230800151825, -0.06502489745616913, -0.002277461113408208, -0.004581859335303307, 0.9998892545700073, 0.013974873349070549], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.86254119873047, 15.144691467285156, 28.147836685180664, 0.33097466826438904, -24.033632278442383, 1.7970352172851562], "ext_wrench_in_world": [-108.12649742577754, 14.929012042804445, -27.23555281983097, -0.1206887121076573, -23.976105862987904, -2.4670107782801245]}
+{"timestamp_ns": 1789729717614230162, "elapsed_ms": 6766, "source_timestamp_ns": 1789729717609212040, "q": [0.8365395665168762, -1.8971866369247437, -1.006266474723816, 1.3811341524124146, -0.161367729306221, 0.5940635800361633, 0.70367830991745], "theta": [0.8386263847351074, -1.8952454328536987, -1.0044795274734497, 1.3627287149429321, -0.16196447610855103, 0.5940121412277222, 0.7036541104316711], "dq": [-0.0008402943494729698, -0.001695650746114552, 0.0007729424396529794, 0.0004241860006004572, -0.0005463973502628505, -0.000604522239882499, 0.001575708156451583], "dtheta": [0.00020626593322958797, 0.00020961293193977326, 9.892787602439057e-07, 0.0004225316515658051, 0.0004413561837282032, 0.00010709276830311865, -0.0004481156065594405], "tau": [55.599998474121094, 23.639999389648438, 5.464000225067139, -26.304000854492188, -2.572000026702881, 2.6680002212524414, -0.5800000429153442], "tau_des": [0.5150007605552673, -0.5881634950637817, -0.19638575613498688, -0.5698420405387878, 0.8900250196456909, -1.1500165462493896, -0.537090539932251], "tau_dot": [59.48353576660156, 90.08198547363281, -46.19098663330078, 5.229228496551514, -18.332284927368164, 25.546672821044922, -80.65885925292969], "tau_ext": [-16.74635124206543, -41.58399963378906, 31.792810440063477, 31.351348876953125, 9.492745399475098, -2.994814872741699, -0.11756882071495056], "tcp_pose": [0.6779615879058838, 0.0326652005314827, -0.21496543288230896, -0.002279142150655389, -0.004581645596772432, 0.9998892545700073, 0.01397448405623436], "tcp_vel": [-0.00010540385846979916, -9.423206938663498e-05, -1.0554563232290093e-05, 0.0002599507279228419, 0.0002838936052285135, 0.00012756878277286887], "flange_pose": [0.67866450548172, 0.028476452454924583, -0.06502558290958405, -0.002279142150655389, -0.004581645596772432, 0.9998892545700073, 0.01397448405623436], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8695068359375, 15.126164436340332, 28.146652221679688, 0.33103087544441223, -24.038497924804688, 1.7981539964675903], "ext_wrench_in_world": [-108.13337454793785, 14.910414980592568, -27.234504233667785, -0.12072326663711194, -23.98094059661799, -2.468245472136194]}
+{"timestamp_ns": 1789729717647583390, "elapsed_ms": 6800, "source_timestamp_ns": 1789729717639242561, "q": [0.8365404605865479, -1.8971859216690063, -1.0062657594680786, 1.3811343908309937, -0.16136828064918518, 0.5940616726875305, 0.7036786079406738], "theta": [0.8386269211769104, -1.8952451944351196, -1.004478931427002, 1.3627289533615112, -0.16196469962596893, 0.5940107107162476, 0.703653872013092], "dq": [0.0006460575968958437, -0.0013839929597452283, -0.00024464810849167407, -0.0015787301817908883, 0.0018816797528415918, -0.00019110309949610382, 0.0019069365225732327], "dtheta": [-6.134065188234672e-05, 0.0002318324986845255, 0.00036761813680641353, -2.977408075821586e-05, -0.0002627815119922161, -0.0004704394959844649, -0.00020107375166844577], "tau": [55.56999969482422, 23.600000381469727, 5.4720001220703125, -26.288002014160156, -2.552000045776367, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.5184594392776489, -0.5795816779136658, -0.2357485443353653, -0.5574909448623657, 0.8974159359931946, -1.1489570140838623, -0.5341454744338989], "tau_dot": [-14.546162605285645, -19.71980857849121, -3.8712315559387207, 9.419473648071289, 24.271942138671875, -14.88027572631836, -38.86521530151367], "tau_ext": [-16.73633575439453, -41.61918258666992, 31.802234649658203, 31.34593391418457, 9.496550559997559, -2.9929287433624268, -0.12332943826913834], "tcp_pose": [0.6779613494873047, 0.03266502171754837, -0.2149648666381836, -0.0022794469259679317, -0.004581712651997805, 0.9998892545700073, 0.013974081724882126], "tcp_vel": [-0.00011443386028986424, 4.7475823521381244e-05, 2.8623344405787066e-05, -4.6294459025375545e-05, 0.0003579154727049172, 0.0004561776586342603], "flange_pose": [0.6786643266677856, 0.028476394712924957, -0.06502500176429749, -0.0022794469259679317, -0.004581712651997805, 0.9998892545700073, 0.013974081724882126], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.87657165527344, 15.129439353942871, 28.142213821411133, 0.3376884460449219, -24.045316696166992, 1.7986959218978882], "ext_wrench_in_world": [-108.14046659574105, 14.913461762643939, -27.229891456624845, -0.12731901288855085, -23.98780471878456, -2.468928951473844]}
+{"timestamp_ns": 1789729717680904332, "elapsed_ms": 6833, "source_timestamp_ns": 1789729717679215627, "q": [0.8365418910980225, -1.8971854448318481, -1.0062670707702637, 1.38113534450531, -0.16136789321899414, 0.5940620303153992, 0.7036782503128052], "theta": [0.8386279940605164, -1.8952453136444092, -1.0044796466827393, 1.3627300262451172, -0.16196495294570923, 0.594011664390564, 0.7036541104316711], "dq": [-0.0005486626178026199, -4.7009085392346606e-05, -0.00014334537263493985, 0.00030613632407039404, 0.00151167344301939, -0.00012176815653219819, -0.0005725763621740043], "dtheta": [6.367609603330493e-05, -0.00013640716497320682, 0.0002266030787723139, 4.8558151320321485e-05, 0.001342638279311359, 0.00021043581364210695, 0.0006463237223215401], "tau": [55.54999923706055, 23.649999618530273, 5.4760003089904785, -26.328001022338867, -2.5840001106262207, 2.6560001373291016, -0.5360000133514404], "tau_des": [0.5366625189781189, -0.5526406168937683, -0.24980676174163818, -0.5606951117515564, 0.8590065240859985, -1.1609036922454834, -0.5606107115745544], "tau_dot": [-126.84273529052734, 12.598248481750488, 11.021933555603027, -59.5638427734375, -44.4681510925293, 6.368593692779541, 45.96484375], "tau_ext": [-16.752634048461914, -41.61371994018555, 31.79650115966797, 31.346508026123047, 9.497952461242676, -2.9971323013305664, -0.12222763150930405], "tcp_pose": [0.6779618859291077, 0.03266400843858719, -0.21496422588825226, -0.0022788834758102894, -0.004581216257065535, 0.9998892545700073, 0.013973814435303211], "tcp_vel": [-0.0002607112401165068, 0.00028332433430477977, -9.287522698286921e-05, 0.0009838957339525223, 0.0006493792170658708, -0.0011378012131899595], "flange_pose": [0.6786646842956543, 0.028475459665060043, -0.06502436101436615, -0.0022788834758102894, -0.004581216257065535, 0.9998892545700073, 0.013973814435303211], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.86276245117188, 15.14748477935791, 28.149829864501953, 0.34570324420928955, -24.04439353942871, 1.7993183135986328], "ext_wrench_in_world": [-108.12681257852816, 14.931933886399984, -27.237189505513403, -0.13536611311545646, -23.986939703525245, -2.469477167437188]}
+{"timestamp_ns": 1789729717714229443, "elapsed_ms": 6866, "source_timestamp_ns": 1789729717709191104, "q": [0.8365418910980225, -1.8971859216690063, -1.0062681436538696, 1.3811347484588623, -0.16136816143989563, 0.5940629243850708, 0.7036786675453186], "theta": [0.8386278748512268, -1.895246148109436, -1.0044811964035034, 1.3627300262451172, -0.16196565330028534, 0.5940128564834595, 0.703654408454895], "dq": [0.0014586265897378325, -0.0008491049520671368, 0.00041752622928470373, -0.0003955826396122575, 0.0013802305329591036, 0.0007363430340774357, -0.0018849937478080392], "dtheta": [5.0683458539424464e-05, -9.625488746678457e-05, -0.00012480431178119034, -0.00014294633001554757, 0.0011330019915476441, 0.0005180768785066903, 6.662922532996163e-05], "tau": [55.56999969482422, 23.59000015258789, 5.444000244140625, -26.296001434326172, -2.56000018119812, 2.6560001373291016, -0.5600000023841858], "tau_des": [0.49275240302085876, -0.5951327681541443, -0.20404087007045746, -0.5158144235610962, 0.8753933310508728, -1.181917428970337, -0.5546727776527405], "tau_dot": [-26.63625717163086, 32.37721633911133, -58.309024810791016, 24.43166160583496, 34.51393508911133, -16.427953720092773, -38.13175964355469], "tau_ext": [-16.760435104370117, -41.61473846435547, 31.79693031311035, 31.339632034301758, 9.503976821899414, -2.9994096755981445, -0.12547078728675842], "tcp_pose": [0.6779625415802002, 0.03266381844878197, -0.21496407687664032, -0.0022781104780733585, -0.00458084512501955, 0.9998892545700073, 0.013973665423691273], "tcp_vel": [2.536796819185838e-05, 0.00014827524137217551, 2.8671329346252605e-05, 0.0009732226608321071, 3.241300146328285e-05, -0.0007533696480095387], "flange_pose": [0.6786651015281677, 0.028475314378738403, -0.06502421200275421, -0.0022781104780733585, -0.00458084512501955, 0.9998892545700073, 0.013973665423691273], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83373260498047, 15.166476249694824, 28.161270141601562, 0.3496377468109131, -24.03595733642578, 1.7991122007369995], "ext_wrench_in_world": [-108.09795734743663, 14.95157891794061, -27.248393173095653, -0.13939069804201049, -23.978549816966193, -2.469010986586725]}
+{"timestamp_ns": 1789729717747560374, "elapsed_ms": 6900, "source_timestamp_ns": 1789729717739187209, "q": [0.8365418314933777, -1.89718759059906, -1.0062713623046875, 1.381135106086731, -0.16137045621871948, 0.594063401222229, 0.7036791443824768], "theta": [0.8386281132698059, -1.8952478170394897, -1.0044846534729004, 1.3627300262451172, -0.16196759045124054, 0.5940133333206177, 0.7036541104316711], "dq": [0.00014241400640457869, -0.0006500328308902681, 0.0005389535799622536, 0.0010772012174129486, 0.0005830124136991799, 0.0002535369712859392, 0.0005719147739000618], "dtheta": [0.00013523198140319437, -0.0006552122067660093, -0.0003526548098307103, -0.00015057295968290418, 0.0001437694299966097, 0.0014026417629793286, -0.0005616028211079538], "tau": [55.55999755859375, 23.56999969482422, 5.420000076293945, -26.32400131225586, -2.572000026702881, 2.6560001373291016, -0.5440000295639038], "tau_des": [0.46588850021362305, -0.5541431307792664, -0.2064281702041626, -0.492461621761322, 0.9220488667488098, -1.205649495124817, -0.5360627174377441], "tau_dot": [21.831695556640625, -84.79167175292969, -43.7166748046875, -61.07196044921875, 16.015899658203125, -19.323575973510742, -30.150911331176758], "tau_ext": [-16.746578216552734, -41.60266876220703, 31.81024742126465, 31.3341121673584, 9.507331848144531, -2.99963641166687, -0.1268947273492813], "tcp_pose": [0.6779634356498718, 0.03266237676143646, -0.21496468782424927, -0.0022769400384277105, -0.004580691456794739, 0.9998893141746521, 0.013971343636512756], "tcp_vel": [0.0002730135165620595, 0.00025865156203508377, 9.312402835348621e-05, 0.00038432126166298985, -0.00136319559533149, 0.0006156247109174728], "flange_pose": [0.6786656379699707, 0.02847456745803356, -0.06502480059862137, -0.0022769400384277105, -0.004580691456794739, 0.9998893141746521, 0.013971343636512756], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82061767578125, 15.175467491149902, 28.152843475341797, 0.3488368093967438, -24.026567459106445, 1.7979261875152588], "ext_wrench_in_world": [-108.08481626503638, 14.960361363332861, -27.240100699903316, -0.13867175867900283, -23.969201120502596, -2.4674556430821757]}
+{"timestamp_ns": 1789729717780902683, "elapsed_ms": 6933, "source_timestamp_ns": 1789729717779220117, "q": [0.8365429639816284, -1.8971906900405884, -1.0062745809555054, 1.381134271621704, -0.16137045621871948, 0.5940582156181335, 0.7036782503128052], "theta": [0.8386287093162537, -1.8952511548995972, -1.0044881105422974, 1.3627300262451172, -0.16196854412555695, 0.5940083265304565, 0.7036545872688293], "dq": [0.00016155964112840593, 0.000481044698972255, 0.000190614620805718, 0.00042837002547457814, -0.0009474799735471606, -0.0006125469226390123, -0.0020365773234516382], "dtheta": [9.38578523346223e-05, 1.5156241715885699e-05, 5.435734783532098e-05, -0.00019626112771220505, 0.0009691577288322151, -0.0015688129933550954, -8.219832670874894e-05], "tau": [55.56999969482422, 23.579999923706055, 5.464000225067139, -26.304000854492188, -2.6000001430511475, 2.6680002212524414, -0.5600000023841858], "tau_des": [0.537921130657196, -0.5685284733772278, -0.1854935735464096, -0.5894930958747864, 0.8793690800666809, -1.118215560913086, -0.5499458312988281], "tau_dot": [-28.68972396850586, -62.37527084350586, 54.06237030029297, 3.8358473777770996, -3.1605172157287598, 12.936092376708984, -46.73347473144531], "tau_ext": [-16.749311447143555, -41.598846435546875, 31.823707580566406, 31.345111846923828, 9.523268699645996, -2.9999301433563232, -0.12640970945358276], "tcp_pose": [0.6779632568359375, 0.032660871744155884, -0.21496522426605225, -0.0022774923127144575, -0.004581027198582888, 0.9998893737792969, 0.013967733830213547], "tcp_vel": [-0.0003416778927203268, -0.00011626040213741362, -9.954739653039724e-05, -0.00026496671489439905, 0.0014860674273222685, -0.0004210980550851673], "flange_pose": [0.6786656379699707, 0.028474146500229836, -0.06502530723810196, -0.0022774923127144575, -0.004581027198582888, 0.9998893737792969, 0.013967733830213547], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8422622680664, 15.176168441772461, 28.126569747924805, 0.34139129519462585, -24.020641326904297, 1.7972512245178223], "ext_wrench_in_world": [-108.1063825095873, 14.959856269952844, -27.213715412003246, -0.13126316187080442, -23.963245627993697, -2.4664749524421823]}
+{"timestamp_ns": 1789729717814226565, "elapsed_ms": 6966, "source_timestamp_ns": 1789729717809185306, "q": [0.8365439176559448, -1.8971936702728271, -1.0062755346298218, 1.3811343908309937, -0.16136987507343292, 0.5940558910369873, 0.7036789059638977], "theta": [0.8386299014091492, -1.895254373550415, -1.0044894218444824, 1.3627300262451172, -0.16196925938129425, 0.5940057039260864, 0.7036553621292114], "dq": [-0.0010495035676285625, -0.0014263204066082835, -0.0017185972537845373, -0.0026683425530791283, 0.002369262045249343, 0.0010153655894100666, -0.002370609436184168], "dtheta": [0.00019407845684327185, -0.00025623824330978096, -0.00026193269877694547, -0.00012919402797706425, 0.00016911953571252525, -3.957323497161269e-05, 0.0004669000336434692], "tau": [55.56999969482422, 23.579999923706055, 5.456000328063965, -26.288002014160156, -2.616000175476074, 2.6640000343322754, -0.5480000376701355], "tau_des": [0.48842141032218933, -0.5928637981414795, -0.1628461480140686, -0.53803950548172, 0.9101191163063049, -1.1573251485824585, -0.5574841499328613], "tau_dot": [57.590538024902344, 43.19031524658203, -4.997005462646484, 35.000709533691406, -38.304683685302734, 23.258554458618164, -36.863529205322266], "tau_ext": [-16.756799697875977, -41.57574462890625, 31.81118392944336, 31.340375900268555, 9.529980659484863, -2.996173620223999, -0.12650460004806519], "tcp_pose": [0.6779624819755554, 0.03266084939241409, -0.21496589481830597, -0.0022779672872275114, -0.004581242334097624, 0.9998893737792969, 0.013965667225420475], "tcp_vel": [8.094198710750788e-05, -3.8593523640884086e-05, 8.048879681155086e-05, -0.0002061056875390932, -0.00024366019351873547, -0.0005923059652559459], "flange_pose": [0.6786649823188782, 0.02847474440932274, -0.06502596288919449, -0.0022779672872275114, -0.004581242334097624, 0.9998893737792969, 0.013965667225420475], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85985565185547, 15.155721664428711, 28.11293601989746, 0.3301223814487457, -24.019508361816406, 1.797010064125061], "ext_wrench_in_world": [-108.12375704391698, 14.93871402332133, -27.200542606812242, -0.11999544429760638, -23.96202618661872, -2.4661528796518652]}
+{"timestamp_ns": 1789729717847582022, "elapsed_ms": 7000, "source_timestamp_ns": 1789729717839178891, "q": [0.8365446329116821, -1.8971940279006958, -1.0062766075134277, 1.3811346292495728, -0.16136759519577026, 0.594054102897644, 0.703677773475647], "theta": [0.8386306166648865, -1.8952556848526, -1.0044901371002197, 1.3627305030822754, -0.16196733713150024, 0.5940040349960327, 0.703654408454895], "dq": [-0.0005255462019704282, 4.0047634684015065e-05, -0.0005904559511691332, -0.001216335454955697, 8.383180102100596e-05, -0.0006818027468398213, -0.0011408416321501136], "dtheta": [5.0523442041594535e-05, 0.0001063230010913685, 8.858818182488903e-05, 0.00013589060108643025, 0.0005004089325666428, 0.00028713527717627585, -0.00015717599308118224], "tau": [55.619998931884766, 23.6299991607666, 5.460000038146973, -26.2760009765625, -2.5920000076293945, 2.6440000534057617, -0.5440000295639038], "tau_des": [0.5205288529396057, -0.584995687007904, -0.19563275575637817, -0.5596348643302917, 0.8887054920196533, -1.1554814577102661, -0.5457451939582825], "tau_dot": [64.4804916381836, 56.92388153076172, -5.060828685760498, 35.09430694580078, -29.073087692260742, -37.05104064941406, -14.93043041229248], "tau_ext": [-16.775970458984375, -41.579105377197266, 31.813396453857422, 31.354473114013672, 9.528382301330566, -2.994936943054199, -0.1259390413761139], "tcp_pose": [0.677962064743042, 0.03266023471951485, -0.21496611833572388, -0.002278890460729599, -0.004580976907163858, 0.9998893737792969, 0.013965260237455368], "tcp_vel": [-5.798823622171767e-05, 7.196614751592278e-05, 1.579176569066476e-06, 0.0005567329353652894, 0.0001419304171577096, -0.00011491993791423738], "flange_pose": [0.6786648631095886, 0.02847425267100334, -0.0650261864066124, -0.002278890460729599, -0.004580976907163858, 0.9998893737792969, 0.013965260237455368], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85230255126953, 15.137480735778809, 28.13294219970703, 0.31927213072776794, -24.01771354675293, 1.7963110208511353], "ext_wrench_in_world": [-108.11617492888156, 14.921140955069257, -27.2208963260792, -0.109175433008956, -23.960153536346592, -2.4654320575702267]}
+{"timestamp_ns": 1789729717880900384, "elapsed_ms": 7033, "source_timestamp_ns": 1789729717879229917, "q": [0.8365458250045776, -1.89719557762146, -1.0062766075134277, 1.3811354637145996, -0.16136705875396729, 0.5940546989440918, 0.7036764025688171], "theta": [0.8386321663856506, -1.895256757736206, -1.0044901371002197, 1.3627310991287231, -0.16196663677692413, 0.59400475025177, 0.7036536335945129], "dq": [2.23454917431809e-05, -0.00026740593602880836, -0.00016638760280329734, 0.0014264542842283845, 0.0004518483765423298, 0.00028302634018473327, -0.0009100086172111332], "dtheta": [-0.00033728356356732547, -0.00032427351106889546, 0.00012438515841495246, -0.00010870544792851433, -0.00096869160188362, 1.8120150571121485e-06, 0.00029175716917961836], "tau": [55.599998474121094, 23.619998931884766, 5.452000141143799, -26.284000396728516, -2.580000162124634, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.5836871862411499, -0.5254994630813599, -0.22366438806056976, -0.5902722477912903, 0.9167367815971375, -1.1479270458221436, -0.5392003655433655], "tau_dot": [85.56897735595703, 23.263595581054688, -47.93387985229492, -1.8666918277740479, -8.131524085998535, 9.058873176574707, -13.706083297729492], "tau_ext": [-16.767414093017578, -41.597511291503906, 31.8116455078125, 31.35257339477539, 9.512592315673828, -2.996417284011841, -0.12210544943809509], "tcp_pose": [0.6779617071151733, 0.03266061097383499, -0.2149660438299179, -0.0022784941829741, -0.004582043271511793, 0.9998893737792969, 0.013964826241135597], "tcp_vel": [-2.5953922886401415e-05, 0.00011706277291523293, -0.0001897220208775252, -0.0007008586544543505, -0.00023945150314830244, 0.0005332199507392943], "flange_pose": [0.6786643862724304, 0.028474757447838783, -0.06502610445022583, -0.0022784941829741, -0.004582043271511793, 0.9998893737792969, 0.013964826241135597], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84432983398438, 15.131781578063965, 28.130556106567383, 0.3194722533226013, -24.0179443359375, 1.7966054677963257], "ext_wrench_in_world": [-108.10814878508614, 14.915198267897344, -27.218807924359616, -0.10932191033900526, -23.960380206119773, -2.4657114490253247]}
+{"timestamp_ns": 1789729717914229005, "elapsed_ms": 7066, "source_timestamp_ns": 1789729717909212203, "q": [0.8365467190742493, -1.8971964120864868, -1.00627601146698, 1.3811362981796265, -0.16136665642261505, 0.5940525531768799, 0.7036776542663574], "theta": [0.8386330604553223, -1.8952566385269165, -1.0044901371002197, 1.362731695175171, -0.16196565330028534, 0.5940026044845581, 0.703653872013092], "dq": [0.0003854305832646787, 0.0005911955959163606, -0.0006445219623856246, 0.0004793296102434397, -0.0036052579525858164, -0.00038515953929163516, 0.0030529676005244255], "dtheta": [-0.00031834800029173493, -0.0005111101781949401, -0.00010828603990375996, 7.798692968208343e-05, -0.000634297844953835, -4.757677743327804e-05, 0.0011485677678138018], "tau": [55.54999923706055, 23.65999984741211, 5.460000038146973, -26.284000396728516, -2.568000078201294, 2.688000202178955, -0.527999997138977], "tau_des": [0.6326761245727539, -0.5105650424957275, -0.2061946988105774, -0.6323943734169006, 0.9000844359397888, -1.130538821220398, -0.5596728324890137], "tau_dot": [-13.061159133911133, 43.51451110839844, 14.485806465148926, 42.16012954711914, 61.02714157104492, 48.7675895690918, 16.594623565673828], "tau_ext": [-16.765939712524414, -41.63444900512695, 31.820446014404297, 31.347023010253906, 9.50811767578125, -2.999206781387329, -0.12112866342067719], "tcp_pose": [0.6779606938362122, 0.03266073763370514, -0.2149663120508194, -0.0022794052492827177, -0.004581870045512915, 0.9998894333839417, 0.01396387629210949], "tcp_vel": [-0.00012180399062344804, 2.3685499400016852e-05, -0.00036144148907624185, -0.0009237068588845432, 6.471553933806717e-05, -0.0005163042224012315], "flange_pose": [0.6786636114120483, 0.028475170955061913, -0.06502636522054672, -0.0022794052492827177, -0.004581870045512915, 0.9998894333839417, 0.01396387629210949], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83351135253906, 15.154566764831543, 28.13816261291504, 0.33083292841911316, -24.020681381225586, 1.7982683181762695], "ext_wrench_in_world": [-108.09761858748084, 14.938267967125674, -27.225654547441327, -0.12067696037067184, -23.96317916325324, -2.46735381534587]}
+{"timestamp_ns": 1789729717947585193, "elapsed_ms": 7100, "source_timestamp_ns": 1789729717939204589, "q": [0.8365490436553955, -1.8971965312957764, -1.0062769651412964, 1.3811362981796265, -0.16136756539344788, 0.5940507054328918, 0.7036782503128052], "theta": [0.8386353850364685, -1.895256757736206, -1.0044909715652466, 1.362731695175171, -0.16196663677692413, 0.5940009355545044, 0.7036541104316711], "dq": [0.0008168186759576201, -3.671088779810816e-05, -0.0005021678516641259, 0.0022546921391040087, 0.0009500325541011989, -0.0012481261510401964, -0.0009421862196177244], "dtheta": [0.0003007996710948646, 6.21263388893567e-05, -0.00011839447688544169, -0.00023696022981312126, -0.0012195819290354848, -0.0004159708332736045, 0.001136505394242704], "tau": [55.53999710083008, 23.6299991607666, 5.464000225067139, -26.316001892089844, -2.580000162124634, 2.6720001697540283, -0.527999997138977], "tau_des": [0.4122437834739685, -0.6718881130218506, -0.14749102294445038, -0.48667261004447937, 0.9368345141410828, -1.1672894954681396, -0.5639447569847107], "tau_dot": [-83.04441833496094, 8.336441993713379, 13.635229110717773, 12.204546928405762, 11.136892318725586, -35.66278839111328, 22.679332733154297], "tau_ext": [-16.748804092407227, -41.63473892211914, 31.81172752380371, 31.336795806884766, 9.505021095275879, -2.996906042098999, -0.12345287948846817], "tcp_pose": [0.6779612898826599, 0.03265988081693649, -0.21496495604515076, -0.002278558211401105, -0.00458155432716012, 0.9998894333839417, 0.01396267395466566], "tcp_vel": [0.00030173349659889936, -0.00018946467025671154, 0.0003744424320757389, -0.0009282121900469065, -0.0008575397660024464, -0.0006117044831626117], "flange_pose": [0.678663969039917, 0.028474675491452217, -0.06502499431371689, -0.002278558211401105, -0.00458155432716012, 0.9998894333839417, 0.01396267395466566], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83159637451172, 15.18569564819336, 28.150957107543945, 0.34683680534362793, -24.02709197998047, 1.8010221719741821], "ext_wrench_in_world": [-108.0959909909679, 14.96976298138961, -27.237801728985875, -0.13664595349443112, -23.969663642821573, -2.4701575620426754]}
+{"timestamp_ns": 1789729717980911974, "elapsed_ms": 7133, "source_timestamp_ns": 1789729717979190503, "q": [0.8365510702133179, -1.89719820022583, -1.0062812566757202, 1.381136417388916, -0.16136763989925385, 0.5940497517585754, 0.7036774754524231], "theta": [0.8386383056640625, -1.895259141921997, -1.0044958591461182, 1.3627318143844604, -0.16196663677692413, 0.5939997434616089, 0.703653872013092], "dq": [-0.0011210001539438963, -0.0003534627612680197, -0.0018415653612464666, -0.0009314619819633663, -0.00017669373482931405, -0.0010966991540044546, -0.002228585770353675], "dtheta": [7.850045949453488e-05, 0.00019843332120217383, -0.0002940189733635634, -7.529563390562544e-06, -0.0007393236155621707, 0.0003240189398638904, 0.00015408590843435377], "tau": [55.53999710083008, 23.60999870300293, 5.4800004959106445, -26.328001022338867, -2.572000026702881, 2.6640000343322754, -0.5600000023841858], "tau_des": [0.44654369354248047, -0.668689489364624, -0.11582041531801224, -0.5029296875, 0.9307878017425537, -1.1731669902801514, -0.5516585111618042], "tau_dot": [-68.80371856689453, 53.17561721801758, 14.973838806152344, -60.016292572021484, 20.07738494873047, -1.1842806339263916, -34.67164993286133], "tau_ext": [-16.749418258666992, -41.604129791259766, 31.809980392456055, 31.345069885253906, 9.512080192565918, -3.000070810317993, -0.13007749617099762], "tcp_pose": [0.6779624819755554, 0.03265783190727234, -0.21496446430683136, -0.0022772634401917458, -0.004581047222018242, 0.9998894333839417, 0.013960323296487331], "tcp_vel": [0.0003319488314446062, -0.00021989757078699768, 0.00019694869115483016, -0.00028391831438057125, -0.0008278955356217921, -9.220410720445216e-05], "flange_pose": [0.6786647439002991, 0.028473328799009323, -0.0650244951248169, -0.0022772634401917458, -0.004581047222018242, 0.9998894333839417, 0.013960323296487331], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82765197753906, 15.192106246948242, 28.147634506225586, 0.351331502199173, -24.025577545166016, 1.7994216680526733], "ext_wrench_in_world": [-108.09200327592191, 14.97609909887669, -27.234669725969216, -0.14116520275212946, -23.968247418501363, -2.468383400874965]}
+{"timestamp_ns": 1789729718014229771, "elapsed_ms": 7166, "source_timestamp_ns": 1789729718009202059, "q": [0.8365516066551208, -1.8972010612487793, -1.0062850713729858, 1.3811349868774414, -0.1613677442073822, 0.5940495729446411, 0.7036775350570679], "theta": [0.8386391997337341, -1.8952620029449463, -1.0044993162155151, 1.3627305030822754, -0.16196686029434204, 0.5939990282058716, 0.7036541104316711], "dq": [-0.000956452451646328, -0.00040051553514786065, 0.00021025564637966454, -0.00031762351864017546, -8.12305515864864e-05, 0.0003390857018530369, -0.003025087993592024], "dtheta": [3.1555806344840676e-05, -5.109343328513205e-05, 0.00018766752327792346, -0.00010369147639721632, -0.0011090602492913604, 0.0007124581024982035, 0.0010068533010780811], "tau": [55.64999771118164, 23.510000228881836, 5.4760003089904785, -26.308000564575195, -2.6040000915527344, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.4415103793144226, -0.6314917206764221, -0.17840901017189026, -0.48655256628990173, 0.9380812048912048, -1.1899621486663818, -0.5598036050796509], "tau_dot": [97.89066314697266, -50.369102478027344, -28.713083267211914, -35.23136901855469, -54.009246826171875, 4.0190958976745605, -19.957181930541992], "tau_ext": [-16.75410270690918, -41.57770538330078, 31.80214500427246, 31.33213233947754, 9.510293960571289, -2.9966304302215576, -0.12625280022621155], "tcp_pose": [0.6779636144638062, 0.032656822353601456, -0.21496455371379852, -0.0022758839186280966, -0.0045805866830050945, 0.9998894929885864, 0.013958352617919445], "tcp_vel": [0.00025484044454060495, 0.00017284465138800442, 0.00023501926625613123, -8.641844760859385e-05, -0.0011799121275544167, -0.00025847056531347334], "flange_pose": [0.6786654591560364, 0.028472905978560448, -0.06502456218004227, -0.0022758839186280966, -0.0045805866830050945, 0.9998894929885864, 0.013958352617919445], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82188415527344, 15.165634155273438, 28.140216827392578, 0.34068676829338074, -24.019380569458008, 1.7960692644119263], "ext_wrench_in_world": [-108.08587071440112, 14.949480448247328, -27.228377686794282, -0.1305776833618819, -23.962058013000075, -2.4648124608860242]}
+{"timestamp_ns": 1789729718047583063, "elapsed_ms": 7200, "source_timestamp_ns": 1789729718039198066, "q": [0.8365517854690552, -1.8972047567367554, -1.006285548210144, 1.3811359405517578, -0.16136634349822998, 0.5940472483634949, 0.7036761045455933], "theta": [0.838639497756958, -1.895265817642212, -1.0044996738433838, 1.362730622291565, -0.16196495294570923, 0.5939966440200806, 0.7036526799201965], "dq": [0.00013924330414738506, -0.001430030562914908, -0.0006993273855186999, -0.002636455465108156, 0.0006408346816897392, -0.0011048786109313369, 0.00019682920537889004], "dtheta": [0.00017881704843603075, 4.073750460520387e-05, 0.0003259007935412228, -0.00021370037575252354, 0.0007135479245334864, -0.0005805702530778944, -0.00031681585824117064], "tau": [55.5, 23.600000381469727, 5.460000038146973, -26.328001022338867, -2.5880000591278076, 2.6680002212524414, -0.5320000052452087], "tau_des": [0.48906970024108887, -0.564348578453064, -0.2238929569721222, -0.5490100979804993, 0.8938214778900146, -1.144933819770813, -0.5401517152786255], "tau_dot": [-109.16265106201172, 85.48487091064453, -14.977141380310059, -24.918607711791992, -30.737321853637695, 50.84715270996094, -3.212423324584961], "tau_ext": [-16.771339416503906, -41.579795837402344, 31.798259735107422, 31.341947555541992, 9.511353492736816, -2.995384931564331, -0.1272359937429428], "tcp_pose": [0.6779618263244629, 0.032657187432050705, -0.21496634185314178, -0.002277345396578312, -0.004582051187753677, 0.9998894929885864, 0.013956231065094471], "tcp_vel": [-0.00018126206123270094, 0.00016721279826015234, 0.00012180481280665845, 0.0004257729451637715, 0.0005776371690444648, 0.00010244973236694932], "flange_pose": [0.6786641478538513, 0.028473909944295883, -0.06502632796764374, -0.002277345396578312, -0.004582051187753677, 0.9998894929885864, 0.013956231065094471], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78240203857422, 15.140935897827148, 28.152219772338867, 0.32737088203430176, -24.007469177246094, 1.793358325958252], "ext_wrench_in_world": [-108.04634459328305, 14.925054175303714, -27.24099456831207, -0.1172938580373802, -23.950115366563598, -2.4617266613639095]}
+{"timestamp_ns": 1789729718080969000, "elapsed_ms": 7233, "source_timestamp_ns": 1789729718079203534, "q": [0.8365533351898193, -1.897210717201233, -1.0062860250473022, 1.3811346292495728, -0.1613643616437912, 0.5940467715263367, 0.7036720514297485], "theta": [0.8386406898498535, -1.8952715396881104, -1.004499912261963, 1.3627300262451172, -0.16196279227733612, 0.5939961671829224, 0.7036495804786682], "dq": [-6.323386332951486e-05, -0.00026745462673716247, -0.0013573692413046956, 0.0008250638493336737, 0.0004652141942642629, 0.00018844495934899896, 0.00044447166146710515], "dtheta": [-0.0003607137768995017, -0.0002184722397942096, -0.0002569021307863295, 0.00011935282964259386, 0.0005203820765018463, -0.0003379392437636852, -0.0009513103868812323], "tau": [55.64999771118164, 23.53999900817871, 5.4800004959106445, -26.304000854492188, -2.556000232696533, 2.6720001697540283, -0.5400000214576721], "tau_des": [0.6448036432266235, -0.4831913113594055, -0.19259709119796753, -0.654341995716095, 0.8943595886230469, -1.1172071695327759, -0.5207967162132263], "tau_dot": [192.66590881347656, 26.371068954467773, 9.824045181274414, -23.892929077148438, 10.363640785217285, -9.493943214416504, 32.01408767700195], "tau_ext": [-16.765146255493164, -41.58575439453125, 31.79753875732422, 31.349178314208984, 9.504352569580078, -2.996021270751953, -0.11864753812551498], "tcp_pose": [0.6779609322547913, 0.032658983021974564, -0.21496669948101044, -0.002276700921356678, -0.004585254471749067, 0.9998895525932312, 0.013954713009297848], "tcp_vel": [-0.0002306045644218102, -0.00011697161244228482, -0.00045789562864229083, -0.00028782797744497657, 0.0008928102906793356, 0.0006550913094542921], "flange_pose": [0.6786630153656006, 0.028476165607571602, -0.0650266781449318, -0.002276700921356678, -0.004585254471749067, 0.9998895525932312, 0.013954713009297848], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8202896118164, 15.138675689697266, 28.14452362060547, 0.33115002512931824, -24.022146224975586, 1.7965056896209717], "ext_wrench_in_world": [-108.08423107590006, 14.921457455179418, -27.233392436296093, -0.12079731646813345, -23.964741384456083, -2.4651938403631872]}
+{"timestamp_ns": 1789729718114248581, "elapsed_ms": 7266, "source_timestamp_ns": 1789729718109250494, "q": [0.836554229259491, -1.8972097635269165, -1.006286859512329, 1.3811339139938354, -0.16136500239372253, 0.5940461754798889, 0.7036718130111694], "theta": [0.8386414647102356, -1.8952710628509521, -1.004500150680542, 1.362729787826538, -0.16196230053901672, 0.5939956903457642, 0.7036493420600891], "dq": [0.001128773088566959, -0.0008303055074065924, -0.0009429932688362896, -0.001216716831550002, -0.0008960730046965182, 0.0008721037884242833, -0.003558115800842643], "dtheta": [0.00013969959400128573, 0.0002247376396553591, -9.231867443304509e-05, 7.855297735659406e-05, 0.00013333943206816912, 6.0262118495302275e-05, -7.884734077379107e-05], "tau": [55.599998474121094, 23.59000015258789, 5.488000392913818, -26.288002014160156, -2.564000129699707, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.4732814431190491, -0.6160003542900085, -0.16578172147274017, -0.5309449434280396, 0.9133422374725342, -1.1625826358795166, -0.5392612814903259], "tau_dot": [13.205620765686035, -9.125216484069824, 26.72236442565918, -16.051671981811523, 6.606454372406006, 23.905614852905273, 15.769804000854492], "tau_ext": [-16.78004264831543, -41.573734283447266, 31.77952766418457, 31.356355667114258, 9.497709274291992, -2.9978530406951904, -0.11873131990432739], "tcp_pose": [0.6779618263244629, 0.032658230513334274, -0.2149656116962433, -0.0022759130224585533, -0.004584907088428736, 0.9998895525932312, 0.013954577967524529], "tcp_vel": [8.320462075062096e-05, -0.00011322021600790322, 0.00011715597793227062, 0.00018546584760770202, -8.021225221455097e-05, -0.00019960085046477616], "flange_pose": [0.6786637306213379, 0.028475450351834297, -0.06502557545900345, -0.0022759130224585533, -0.004584907088428736, 0.9998895525932312, 0.013954577967524529], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81118774414062, 15.117920875549316, 28.158939361572266, 0.3278898298740387, -24.022382736206055, 1.7966479063034058], "ext_wrench_in_world": [-108.07495479793062, 14.90126780849355, -27.24859562427405, -0.11754910096753585, -23.964944294042894, -2.4653508790459364]}
+{"timestamp_ns": 1789729718147562387, "elapsed_ms": 7300, "source_timestamp_ns": 1789729718139195178, "q": [0.8365544676780701, -1.8972091674804688, -1.0062882900238037, 1.3811341524124146, -0.1613643616437912, 0.5940456986427307, 0.7036721110343933], "theta": [0.8386417627334595, -1.8952709436416626, -1.0045011043548584, 1.3627300262451172, -0.16196134686470032, 0.5939954519271851, 0.7036488652229309], "dq": [-0.00024691075668670237, -0.001130055170506239, 0.0005743129295296967, 0.0017216472188010812, -0.000425028323661536, 0.0009978461312130094, -0.0037552653811872005], "dtheta": [-7.031013228697702e-05, 0.0003974704595748335, -0.00025877237203530967, 9.45733263506554e-05, 0.00044458467164076865, -0.000650127069093287, -0.0007778970757499337], "tau": [55.529998779296875, 23.59000015258789, 5.464000225067139, -26.272001266479492, -2.5280001163482666, 2.6600000858306885, -0.5400000214576721], "tau_des": [0.5306316018104553, -0.613932192325592, -0.13031084835529327, -0.5773306488990784, 0.898668646812439, -1.1351947784423828, -0.5336735248565674], "tau_dot": [-62.68619155883789, 42.45182418823242, -12.839279174804688, 35.51029586791992, 104.48857879638672, 10.43030834197998, 24.975759506225586], "tau_ext": [-16.760456085205078, -41.578372955322266, 31.778337478637695, 31.341934204101562, 9.493989944458008, -2.9978983402252197, -0.1197109967470169], "tcp_pose": [0.6779622435569763, 0.03265725076198578, -0.21496553719043732, -0.0022759870626032352, -0.0045839338563382626, 0.9998895525932312, 0.013954316265881062], "tcp_vel": [-4.1421688365517184e-05, -0.00034910065005533397, -9.67097221291624e-05, -6.959889287827536e-05, 0.0007796208374202251, 0.00011332389112794772], "flange_pose": [0.6786641478538513, 0.02847454696893692, -0.06502550840377808, -0.0022759870626032352, -0.0045839338563382626, 0.9998895525932312, 0.013954316265881062], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79466247558594, 15.12447738647461, 28.163433074951172, 0.3324975371360779, -24.020456314086914, 1.7968860864639282], "ext_wrench_in_world": [-108.05848686510978, 14.908294919726497, -27.252966737881785, -0.1222222080216903, -23.963055666783557, -2.46550209884029]}
+{"timestamp_ns": 1789729718180975411, "elapsed_ms": 7333, "source_timestamp_ns": 1789729718179207765, "q": [0.8365553021430969, -1.8972101211547852, -1.006290078163147, 1.3811345100402832, -0.1613643616437912, 0.5940455198287964, 0.7036728858947754], "theta": [0.8386427164077759, -1.8952716588974, -1.0045020580291748, 1.3627300262451172, -0.1619616001844406, 0.593995213508606, 0.7036500573158264], "dq": [-0.0007061003125272691, -0.0005389868747442961, -0.000931655231397599, 0.00012705357221420854, 0.00041696836706250906, 0.0005807850975543261, 0.0007138533983379602], "dtheta": [-3.506970824673772e-05, -0.00041824780055321753, -8.58517232700251e-05, -6.447820487665012e-05, 0.00014739613106939942, -0.0011972866486757994, -0.00048685609363019466], "tau": [55.56999969482422, 23.59000015258789, 5.4760003089904785, -26.304000854492188, -2.576000213623047, 2.6440000534057617, -0.5600000023841858], "tau_des": [0.579835057258606, -0.4993048906326294, -0.20238883793354034, -0.6204819679260254, 0.9073690176010132, -1.1179548501968384, -0.531968891620636], "tau_dot": [7.3560404777526855, -98.4195556640625, 4.9892425537109375, -37.494972229003906, -38.649620056152344, -39.3662109375, -52.856964111328125], "tau_ext": [-16.74683952331543, -41.599918365478516, 31.797119140625, 31.335691452026367, 9.495043754577637, -2.9927170276641846, -0.1199231743812561], "tcp_pose": [0.677962601184845, 0.03265637159347534, -0.2149655669927597, -0.0022755302488803864, -0.004583229776471853, 0.9998895525932312, 0.013953205198049545], "tcp_vel": [-0.00030871626222506166, -9.041574958246201e-05, -0.00027215832960791886, -0.0010173259070143104, 0.0009303176193498075, 0.000643192557618022], "flange_pose": [0.6786643862724304, 0.028474001213908195, -0.06502552330493927, -0.0022755302488803864, -0.004583229776471853, 0.9998895525932312, 0.013953205198049545], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81416320800781, 15.148334503173828, 28.1430606842041, 0.3432794213294983, -24.028520584106445, 1.7992228269577026], "ext_wrench_in_world": [-108.07806266696022, 14.931486192173988, -27.231980856840476, -0.13297275484294457, -23.971156111814654, -2.4679622996435127]}
+{"timestamp_ns": 1789729718214241303, "elapsed_ms": 7366, "source_timestamp_ns": 1789729718209197703, "q": [0.8365553617477417, -1.8972114324569702, -1.0062916278839111, 1.3811349868774414, -0.16136497259140015, 0.5940462350845337, 0.7036733627319336], "theta": [0.8386426568031311, -1.8952724933624268, -1.0045031309127808, 1.3627302646636963, -0.16196255385875702, 0.5939956903457642, 0.7036505341529846], "dq": [0.00048641362809576094, -0.0018325826385989785, -0.00040721253026276827, 0.000288821232970804, -0.001280893455259502, 0.00012142373452661559, 0.001696887076832354], "dtheta": [0.00018642308714333922, -3.296317299827933e-05, 3.6429391911951825e-05, 0.0004127688880544156, -0.0005137381376698613, -0.0003597523900680244, 0.0002122728619724512], "tau": [55.62999725341797, 23.619998931884766, 5.460000038146973, -26.296001434326172, -2.56000018119812, 2.6720001697540283, -0.5560000538825989], "tau_des": [0.5218678116798401, -0.5718603730201721, -0.17892660200595856, -0.583377480506897, 0.9205315709114075, -1.1416600942611694, -0.5429314374923706], "tau_dot": [92.42305755615234, 17.31761932373047, 4.0911149978637695, 29.38007354736328, 13.121920585632324, 21.488719940185547, -63.05216979980469], "tau_ext": [-16.772258758544922, -41.61591720581055, 31.796838760375977, 31.358928680419922, 9.498353958129883, -2.999913215637207, -0.12595967948436737], "tcp_pose": [0.6779628396034241, 0.03265591338276863, -0.2149660438299179, -0.0022749786730855703, -0.004583125934004784, 0.9998895525932312, 0.013952142558991909], "tcp_vel": [-0.00013962322555016726, -0.00014220777666196227, -6.433205999201164e-05, -0.0007935300818644464, 0.00015040114521980286, 0.00019436758884694427], "flange_pose": [0.6786644458770752, 0.028473861515522003, -0.06502599269151688, -0.0022749786730855703, -0.004583125934004784, 0.9998895525932312, 0.013952142558991909], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80867767333984, 15.15280532836914, 28.156553268432617, 0.3442102372646332, -24.029260635375977, 1.7977219820022583], "ext_wrench_in_world": [-108.07264773891411, 14.936347731533596, -27.245519082867933, -0.13389225815549954, -23.971951482344274, -2.466427920329251]}
+{"timestamp_ns": 1789729718247588495, "elapsed_ms": 7400, "source_timestamp_ns": 1789729718239337241, "q": [0.8365554213523865, -1.8972123861312866, -1.006291151046753, 1.381134271621704, -0.16136637330055237, 0.5940447449684143, 0.7036734223365784], "theta": [0.8386430144309998, -1.8952735662460327, -1.0045028924942017, 1.362729549407959, -0.16196517646312714, 0.5939940214157104, 0.7036507725715637], "dq": [-0.0006655529141426086, 0.001477054669521749, 0.0023889716248959303, -0.0026091018225997686, -0.0003751690674107522, 0.0010392328258603811, -0.00014600902795791626], "dtheta": [0.00013929289707448334, 0.00045526973553933203, -0.0001795410644263029, 0.00015823336434550583, -0.0007290297653526068, -0.000490514503326267, -0.0002555140818003565], "tau": [55.54999923706055, 23.56999969482422, 5.452000141143799, -26.272001266479492, -2.5960001945495605, 2.6600000858306885, -0.5200000405311584], "tau_des": [0.46197307109832764, -0.6589545607566833, -0.12017102539539337, -0.5310848355293274, 0.9311633706092834, -1.154463291168213, -0.5377066135406494], "tau_dot": [-18.291030883789062, -52.28337860107422, -61.49616622924805, 13.43911075592041, 45.86558151245117, -16.73912239074707, 27.534244537353516], "tau_ext": [-16.75540542602539, -41.604393005371094, 31.800065994262695, 31.33917808532715, 9.50637435913086, -2.996872663497925, -0.1254158467054367], "tcp_pose": [0.6779626607894897, 0.032656218856573105, -0.21496601402759552, -0.0022749570198357105, -0.004583893343806267, 0.9998895525932312, 0.013951241038739681], "tcp_vel": [0.00015710783191025257, -0.00039192719850689173, 0.0001530587178422138, -0.0006397509714588523, -0.00010960071813315153, 0.0002654840936884284], "flange_pose": [0.6786642670631409, 0.028474438935518265, -0.06502595543861389, -0.0022749570198357105, -0.004583893343806267, 0.9998895525932312, 0.013951241038739681], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81053924560547, 15.168630599975586, 28.16476058959961, 0.347144216299057, -24.02713394165039, 1.7969216108322144], "ext_wrench_in_world": [-108.0747126498399, 14.952162552556405, -27.253307807175847, -0.13680464745659043, -23.969879743763023, -2.4655123991510197]}
+{"timestamp_ns": 1789729718280903661, "elapsed_ms": 7433, "source_timestamp_ns": 1789729718279303314, "q": [0.8365560173988342, -1.8972134590148926, -1.006291151046753, 1.381133794784546, -0.1613651067018509, 0.5940388441085815, 0.7036719918251038], "theta": [0.8386437296867371, -1.89527428150177, -1.0045030117034912, 1.3627287149429321, -0.16196398437023163, 0.5939880609512329, 0.7036500573158264], "dq": [-0.0016742798034101725, -0.0002751800057012588, -0.002100361743941903, 3.994955841335468e-05, -0.00023856566986069083, -1.3169850717531517e-05, -0.0006031596567481756], "dtheta": [0.00011918751988559961, 0.00015172944404184818, 0.0001147807706729509, -0.00011672029359033331, 0.00014915068459231406, -0.0006433129892684519, -0.0002666022628545761], "tau": [55.59000015258789, 23.559999465942383, 5.484000205993652, -26.296001434326172, -2.5920000076293945, 2.640000104904175, -0.5360000133514404], "tau_des": [0.4941715598106384, -0.5859872102737427, -0.19740456342697144, -0.5515618324279785, 0.9056322574615479, -1.144938349723816, -0.5352640748023987], "tau_dot": [33.077091217041016, -27.814191818237305, 15.014933586120605, 24.453113555908203, -42.78719711303711, -65.01020050048828, 28.79838752746582], "tau_ext": [-16.749555587768555, -41.58315658569336, 31.793563842773438, 31.345048904418945, 9.519057273864746, -2.991018772125244, -0.1238531768321991], "tcp_pose": [0.6779613494873047, 0.03265583887696266, -0.21496647596359253, -0.0022770524956285954, -0.0045846630819141865, 0.999889612197876, 0.013949470594525337], "tcp_vel": [-6.686271808575839e-05, -5.0004629883915186e-05, 9.867925837170333e-05, -7.396145520033315e-05, 0.0003846262989100069, 0.0001595865178387612], "flange_pose": [0.6786636114120483, 0.0284745916724205, -0.0650264099240303, -0.0022770524956285954, -0.0045846630819141865, 0.999889612197876, 0.013949470594525337], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83858489990234, 15.145429611206055, 28.142297744750977, 0.3357580602169037, -24.031091690063477, 1.7998093366622925], "ext_wrench_in_world": [-108.10257760528317, 14.927816050231707, -27.230981927573335, -0.12536833197388678, -23.97365916645821, -2.4684740005533232]}
+{"timestamp_ns": 1789729718314230446, "elapsed_ms": 7466, "source_timestamp_ns": 1789729718309282123, "q": [0.836556613445282, -1.8972156047821045, -1.0062904357910156, 1.3811336755752563, -0.16136416792869568, 0.594038188457489, 0.7036720514297485], "theta": [0.8386445641517639, -1.8952759504318237, -1.004502296447754, 1.362728476524353, -0.16196303069591522, 0.5939866304397583, 0.7036500573158264], "dq": [-0.0005321291391737759, -0.0010772658279165626, 0.00042133478564210236, -0.0010938423220068216, 0.0014056903310120106, -0.001643921947106719, -0.0018519407603889704], "dtheta": [3.7498863093787804e-05, -0.00023105612490326166, 0.00036056910175830126, -0.0002350394643144682, 0.0002598854771349579, -0.0006696673226542771, -5.7790901337284595e-05], "tau": [55.599998474121094, 23.6299991607666, 5.4720001220703125, -26.304000854492188, -2.5880000591278076, 2.6720001697540283, -0.5400000214576721], "tau_des": [0.5357701778411865, -0.5079196691513062, -0.27162158489227295, -0.5753074884414673, 0.8971140384674072, -1.1419684886932373, -0.5322685241699219], "tau_dot": [-12.486966133117676, -3.415735960006714, 0.7370436787605286, -33.49629211425781, -39.115718841552734, 0.8288927674293518, 22.232139587402344], "tau_ext": [-16.75438690185547, -41.604671478271484, 31.799732208251953, 31.347736358642578, 9.514185905456543, -2.9933035373687744, -0.12554727494716644], "tcp_pose": [0.6779605150222778, 0.03265685215592384, -0.21496674418449402, -0.002277313731610775, -0.004585320595651865, 0.999889612197876, 0.013948988169431686], "tcp_vel": [-0.00024232396390289068, 0.00022446697403211147, -1.6060306734289043e-05, -8.289404649985954e-05, 0.0005368256825022399, 0.0003004401514772326], "flange_pose": [0.6786627769470215, 0.028475750237703323, -0.0650266706943512, -0.002277313731610775, -0.004585320595651865, 0.999889612197876, 0.013948988169431686], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85591888427734, 15.129091262817383, 28.144392013549805, 0.3300347328186035, -24.034709930419922, 1.799210786819458], "ext_wrench_in_world": [-108.11980508352082, 14.91121365297453, -27.23341511304902, -0.11957903754762442, -23.977242232183233, -2.4679788517505714]}
+{"timestamp_ns": 1789729718347562780, "elapsed_ms": 7500, "source_timestamp_ns": 1789729718339292049, "q": [0.8365577459335327, -1.8972169160842896, -1.0062899589538574, 1.3811336755752563, -0.16136352717876434, 0.5940356850624084, 0.7036716341972351], "theta": [0.8386461734771729, -1.895277500152588, -1.004502296447754, 1.3627281188964844, -0.16196279227733612, 0.5939844846725464, 0.7036500573158264], "dq": [0.00016671192133799195, -0.002291775308549404, -0.0008774652378633618, -0.0020333523862063885, -0.00013914496230427176, -0.001195272197946906, -0.0020814340095967054], "dtheta": [-0.00017380596545990556, 0.0003221110091544688, 0.00021264755923766643, -0.0001346684293821454, 6.912141543580219e-07, -0.00010361239401390776, 2.515221467547235e-06], "tau": [55.59000015258789, 23.549999237060547, 5.484000205993652, -26.2760009765625, -2.6000001430511475, 2.640000104904175, -0.5440000295639038], "tau_des": [0.5257726907730103, -0.5863447785377502, -0.2177990823984146, -0.5535364747047424, 0.8956878185272217, -1.1549365520477295, -0.5358061790466309], "tau_dot": [-20.942035675048828, -77.14801788330078, 24.60700225830078, 6.735867500305176, -29.02423667907715, -64.94466400146484, -13.147954940795898], "tau_ext": [-16.745649337768555, -41.591651916503906, 31.795700073242188, 31.33922004699707, 9.508249282836914, -2.986922264099121, -0.12449860572814941], "tcp_pose": [0.677959680557251, 0.032657161355018616, -0.21496665477752686, -0.0022779391147196293, -0.004585963673889637, 0.999889612197876, 0.013948071748018265], "tcp_vel": [1.0865344847843517e-05, 3.1966264941729605e-05, 3.757790909730829e-05, 0.00038468465209007263, 0.00021104136249050498, -8.818967762636021e-05], "flange_pose": [0.6786621809005737, 0.028476335108280182, -0.06502658128738403, -0.0022779391147196293, -0.004585963673889637, 0.999889612197876, 0.013948071748018265], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85967254638672, 15.128755569458008, 28.14883041381836, 0.33026784658432007, -24.039491653442383, 1.7995177507400513], "ext_wrench_in_world": [-108.12362911754924, 14.91077578245897, -27.237739490933908, -0.11974169576377215, -23.982020176599526, -2.4683739824246254]}
+{"timestamp_ns": 1789729718380897974, "elapsed_ms": 7533, "source_timestamp_ns": 1789729718379299626, "q": [0.8365589380264282, -1.897215485572815, -1.0062904357910156, 1.381134271621704, -0.16136418282985687, 0.5940357446670532, 0.7036715745925903], "theta": [0.8386470079421997, -1.8952763080596924, -1.0045024156570435, 1.3627288341522217, -0.16196255385875702, 0.5939847230911255, 0.7036507725715637], "dq": [0.00021371833281591535, 0.0013657170347869396, 0.0006728674634359777, -0.00015698373317718506, -0.0017435802146792412, 0.0004096815246157348, 0.0004094933101441711], "dtheta": [-0.0002642446488607675, 8.647509821457788e-05, 0.00029870227444916964, 6.888299685670063e-05, -0.0017984575824812055, 0.0003869817010127008, -0.00024475634563714266], "tau": [55.63999938964844, 23.600000381469727, 5.456000328063965, -26.292001724243164, -2.568000078201294, 2.6520001888275146, -0.5480000376701355], "tau_des": [0.5225926637649536, -0.5657132863998413, -0.23498408496379852, -0.5486885905265808, 0.940165102481842, -1.1692765951156616, -0.5183592438697815], "tau_dot": [111.25997161865234, -5.915517807006836, 0.8561906218528748, 58.07608413696289, -18.743127822875977, -36.25784683227539, -47.05256652832031], "tau_ext": [-16.78449058532715, -41.60308837890625, 31.784324645996094, 31.355987548828125, 9.500536918640137, -2.9940199851989746, -0.1246698647737503], "tcp_pose": [0.6779603362083435, 0.03265628218650818, -0.21496570110321045, -0.002277337247505784, -0.00458557577803731, 0.999889612197876, 0.013948069885373116], "tcp_vel": [0.00015641775098629296, 6.069469600333832e-05, 2.393045178905595e-05, -0.0006477474817074835, -0.0008809654391370714, 0.0013960107462480664], "flange_pose": [0.6786626577377319, 0.028475454077124596, -0.06502562016248703, -0.002277337247505784, -0.00458557577803731, 0.999889612197876, 0.013948069885373116], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83184814453125, 15.125247955322266, 28.16520881652832, 0.33032524585723877, -24.035472869873047, 1.796654462814331], "ext_wrench_in_world": [-108.09580661133654, 14.908068790990134, -27.25446138931233, -0.11983834452322675, -23.97808336683513, -2.46539954763748]}
+{"timestamp_ns": 1789729718414233017, "elapsed_ms": 7566, "source_timestamp_ns": 1789729718409236661, "q": [0.8365592360496521, -1.8972162008285522, -1.0062904357910156, 1.3811346292495728, -0.16136538982391357, 0.5940357446670532, 0.7036740183830261], "theta": [0.8386473059654236, -1.8952765464782715, -1.004502773284912, 1.3627290725708008, -0.16196350753307343, 0.5939849615097046, 0.7036529183387756], "dq": [-0.0012755333445966244, 0.0007190574542619288, 0.00031104072695598006, -0.0005119637353345752, -0.0011821435764431953, 0.0005949703045189381, 0.00041227953624911606], "dtheta": [3.374101288500242e-05, 0.0001781496830517426, -0.00039423155249096453, -0.00024148412921931595, -4.020913547719829e-05, -0.0007004901417531073, -0.00036605779314413667], "tau": [55.529998779296875, 23.619998931884766, 5.444000244140625, -26.288002014160156, -2.580000162124634, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.48819589614868164, -0.6243465542793274, -0.14502619206905365, -0.5371657609939575, 0.9094985723495483, -1.15037202835083, -0.5392025709152222], "tau_dot": [-27.09260368347168, -23.42232894897461, -57.644779205322266, 13.793071746826172, 28.876880645751953, -3.7735254764556885, -65.15972900390625], "tau_ext": [-16.77184295654297, -41.62926483154297, 31.794986724853516, 31.35102653503418, 9.50416374206543, -2.999549150466919, -0.13052800297737122], "tcp_pose": [0.6779602766036987, 0.03265639767050743, -0.21496573090553284, -0.002276990097016096, -0.004584962502121925, 0.999889612197876, 0.013947375118732452], "tcp_vel": [0.0001556528586661443, -0.0003368264005985111, 8.542971045244485e-05, -0.00046185991959646344, 0.00014439978986047208, -2.9495027774828486e-05], "flange_pose": [0.6786624789237976, 0.028475778177380562, -0.06502564251422882, -0.002276990097016096, -0.004584962502121925, 0.999889612197876, 0.013947375118732452], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81814575195312, 15.145153045654297, 28.182239532470703, 0.3388880491256714, -24.033952713012695, 1.7958720922470093], "ext_wrench_in_world": [-108.0823288989539, 14.928661885083237, -27.271084931305364, -0.12843875643915087, -23.976668002699725, -2.4645039393439276]}
+{"timestamp_ns": 1789729718447589038, "elapsed_ms": 7600, "source_timestamp_ns": 1789729718439320917, "q": [0.8365595936775208, -1.897217035293579, -1.006291151046753, 1.3811346292495728, -0.1613653302192688, 0.5940359830856323, 0.7036747336387634], "theta": [0.8386478424072266, -1.8952773809432983, -1.0045040845870972, 1.3627293109893799, -0.16196398437023163, 0.5939854383468628, 0.703654408454895], "dq": [-0.000693136767949909, -0.0006230699364095926, -0.0010839798487722874, 0.003597563598304987, -0.002485213801264763, 0.002478748792782426, -0.0008406483102589846], "dtheta": [-6.79391814628616e-05, -0.0003328816674184054, -0.00027164729544892907, 2.2567526684724726e-05, -6.930076779099181e-05, 1.3823129165757564e-06, 0.0007512517040595412], "tau": [55.52000045776367, 23.59000015258789, 5.504000186920166, -26.296001434326172, -2.6080000400543213, 2.6760001182556152, -0.5400000214576721], "tau_des": [0.5580067038536072, -0.5511347651481628, -0.19321787357330322, -0.5787239670753479, 0.8999765515327454, -1.1526942253112793, -0.55556720495224], "tau_dot": [-41.41739273071289, -32.427494049072266, 15.990721702575684, -13.242257118225098, -33.622013092041016, 27.01278305053711, -45.723365783691406], "tau_ext": [-16.743932723999023, -41.63539505004883, 31.79514503479004, 31.342384338378906, 9.512304306030273, -2.99776029586792, -0.14087380468845367], "tcp_pose": [0.6779603958129883, 0.0326562263071537, -0.2149657905101776, -0.002276645740494132, -0.004584607668220997, 0.999889612197876, 0.01394687034189701], "tcp_vel": [-1.1895652278326452e-05, -6.0783808294218034e-05, -0.000163875418365933, -0.0004789481172338128, -1.7667818610789254e-05, -0.0006767156883142889], "flange_pose": [0.6786624789237976, 0.02847575582563877, -0.065025694668293, -0.002276645740494132, -0.004584607668220997, 0.999889612197876, 0.01394687034189701], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82872772216797, 15.154841423034668, 28.167142868041992, 0.3460734486579895, -24.03601837158203, 1.7948247194290161], "ext_wrench_in_world": [-108.09289852334716, 14.937877652874462, -27.25576596128908, -0.13561557445902792, -23.97883068627691, -2.4634587675049997]}
+{"timestamp_ns": 1789729718480892146, "elapsed_ms": 7633, "source_timestamp_ns": 1789729718479270762, "q": [0.836560070514679, -1.8972184658050537, -1.0062955617904663, 1.3811336755752563, -0.16136568784713745, 0.5940361022949219, 0.7036738991737366], "theta": [0.8386478424072266, -1.8952785730361938, -1.0045082569122314, 1.3627289533615112, -0.16196469962596893, 0.5939844846725464, 0.703654408454895], "dq": [-0.0008992849616333842, -0.00042299414053559303, 0.00022978673223406076, -0.0005410666344687343, -0.0005510214250534773, 0.00024690889404155314, 0.0007935877074487507], "dtheta": [0.0002823848626576364, -0.00042237454908899963, -0.00010678104445105419, 0.0005437624058686197, 0.0008113236399367452, 8.130328205879778e-05, 0.00014440568338613957], "tau": [55.54999923706055, 23.639999389648438, 5.456000328063965, -26.296001434326172, -2.6040000915527344, 2.6560001373291016, -0.5160000324249268], "tau_des": [0.5599085688591003, -0.5095046162605286, -0.22115159034729004, -0.6069145202636719, 0.8866100311279297, -1.1450574398040771, -0.547487735748291], "tau_dot": [-13.27583122253418, -51.435546875, 10.166156768798828, -9.822383880615234, -34.7746696472168, -45.87245559692383, 23.70669174194336], "tau_ext": [-16.769107818603516, -41.62598419189453, 31.812400817871094, 31.35196304321289, 9.518095016479492, -2.9964568614959717, -0.1451762616634369], "tcp_pose": [0.6779620051383972, 0.03265438601374626, -0.21496565639972687, -0.002275175880640745, -0.004583992529660463, 0.9998896718025208, 0.013945132493972778], "tcp_vel": [-0.00032427776022814214, 3.1022958864923567e-05, -0.00023970296024344862, -0.00013734573440160602, 0.0005131528596393764, -0.0003024665347766131], "flange_pose": [0.6786636710166931, 0.028474437072873116, -0.06502554565668106, -0.002275175880640745, -0.004583992529660463, 0.9998896718025208, 0.013945132493972778], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83463287353516, 15.146804809570312, 28.16103172302246, 0.34087249636650085, -24.033832550048828, 1.7892614603042603], "ext_wrench_in_world": [-108.09860264966584, 14.929661828375695, -27.250224833832313, -0.13043183524150967, -23.97676119486999, -2.4577770070589984]}
+{"timestamp_ns": 1789729718514229589, "elapsed_ms": 7666, "source_timestamp_ns": 1789729718509360217, "q": [0.8365602493286133, -1.8972214460372925, -1.0062965154647827, 1.3811317682266235, -0.1613658219575882, 0.594031810760498, 0.7036731243133545], "theta": [0.8386482000350952, -1.8952815532684326, -1.0045087337493896, 1.3627272844314575, -0.16196495294570923, 0.5939801931381226, 0.7036533951759338], "dq": [0.0006159066688269377, 0.00010093028686242178, -0.0006568884709849954, 0.000999903422780335, -0.00172895728610456, 0.0013753738021478057, 0.0007415061118081212], "dtheta": [-2.4553566618124023e-05, -0.0003720087406691164, -0.00019287221948616207, 7.52755586290732e-05, 0.0003459946601651609, -0.0008868906297720969, 3.841196667053737e-05], "tau": [55.59000015258789, 23.619998931884766, 5.444000244140625, -26.288002014160156, -2.5920000076293945, 2.6760001182556152, -0.5440000295639038], "tau_des": [0.5918164253234863, -0.5070355534553528, -0.20030203461647034, -0.6243838667869568, 0.895658552646637, -1.122258186340332, -0.542197585105896], "tau_dot": [-31.343252182006836, 67.18058013916016, -31.910985946655273, -52.89602279663086, 15.461711883544922, 44.983428955078125, -37.190738677978516], "tau_ext": [-16.756772994995117, -41.61469650268555, 31.812896728515625, 31.352643966674805, 9.523943901062012, -2.998771905899048, -0.14901940524578094], "tcp_pose": [0.6779614686965942, 0.03265446424484253, -0.21496614813804626, -0.0022758066188544035, -0.004585003014653921, 0.9998896718025208, 0.013942808844149113], "tcp_vel": [-0.00028215584461577237, -0.0001268989872187376, -0.0003005139878951013, -0.0008075960213318467, 0.0008879788219928741, -8.352575969183818e-05], "flange_pose": [0.6786633133888245, 0.028475213795900345, -0.06502601504325867, -0.0022758066188544035, -0.004585003014653921, 0.9998896718025208, 0.013942808844149113], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8463363647461, 15.147536277770996, 28.158748626708984, 0.3346526324748993, -24.02985954284668, 1.7852228879928589], "ext_wrench_in_world": [-108.11036511784387, 14.929873175855182, -27.24780886320771, -0.12418342939866778, -23.9728566868015, -2.453545097020854]}
+{"timestamp_ns": 1789729718547592749, "elapsed_ms": 7700, "source_timestamp_ns": 1789729718539491906, "q": [0.8365615606307983, -1.8972220420837402, -1.0062960386276245, 1.3811297416687012, -0.16136497259140015, 0.5940282940864563, 0.7036706805229187], "theta": [0.838648796081543, -1.8952826261520386, -1.004508137702942, 1.3627240657806396, -0.16196495294570923, 0.5939761400222778, 0.7036505341529846], "dq": [-0.0011882465332746506, 0.002402560319751501, 0.00032197695691138506, -0.00138401600997895, -0.0012006169417873025, -0.0017066195141524076, 0.0011923706624656916], "dtheta": [-0.00011598128912737593, -6.423973536584526e-05, 0.00038418511394411325, -0.00034020774182863533, -0.000747005280572921, -0.0013294395757839084, -0.0009361198171973228], "tau": [55.55999755859375, 23.639999389648438, 5.4760003089904785, -26.296001434326172, -2.576000213623047, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.5210779309272766, -0.5209692120552063, -0.2617091238498688, -0.5653230547904968, 0.924243152141571, -1.1391545534133911, -0.5095127820968628], "tau_dot": [-15.310784339904785, -0.05705079436302185, 33.78260803222656, -5.707526206970215, -0.6122618913650513, -32.263267517089844, -62.581153869628906], "tau_ext": [-16.754230499267578, -41.59774398803711, 31.798818588256836, 31.3437557220459, 9.521224975585938, -2.990605115890503, -0.13717757165431976], "tcp_pose": [0.677961528301239, 0.03265479952096939, -0.21496492624282837, -0.0022759309504181147, -0.004586231429129839, 0.9998896718025208, 0.01394246518611908], "tcp_vel": [-0.00018369583995081484, 3.3704367524478585e-05, -1.4809208551014308e-05, -0.0009363851277157664, 0.0005300809280015528, 0.0016409899108111858], "flange_pose": [0.6786633729934692, 0.028475653380155563, -0.06502480059862137, -0.0022759309504181147, -0.004586231429129839, 0.9998896718025208, 0.01394246518611908], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8536605834961, 15.132433891296387, 28.149070739746094, 0.32763218879699707, -24.030635833740234, 1.7862848043441772], "ext_wrench_in_world": [-108.11754862144647, 14.914155294455174, -27.238511196240246, -0.11710275923096268, -23.97354020486094, -2.4546429102628533]}
+{"timestamp_ns": 1789729718580911265, "elapsed_ms": 7733, "source_timestamp_ns": 1789729718579293400, "q": [0.8365623950958252, -1.8972229957580566, -1.0062965154647827, 1.3811302185058594, -0.1613641381263733, 0.594022274017334, 0.7036659121513367], "theta": [0.8386498093605042, -1.895283818244934, -1.004508137702942, 1.3627241849899292, -0.16196422278881073, 0.5939706563949585, 0.7036452889442444], "dq": [-0.0004902177024632692, 0.0008166876505129039, 0.0013897495809942484, 0.00180108193308115, -0.002508531091734767, -0.0006776269874535501, -0.0033812334295362234], "dtheta": [-0.0003315919020678848, -0.0003591396380215883, 0.00017811769794207066, 1.3630038893097662e-06, -0.0006042540189810097, -0.00047741850721649826, -0.00023533798230346292], "tau": [55.57999801635742, 23.6299991607666, 5.448000431060791, -26.2760009765625, -2.5840001106262207, 2.6480002403259277, -0.5440000295639038], "tau_des": [0.6176195740699768, -0.4690872132778168, -0.26097673177719116, -0.6317218542098999, 0.9127835035324097, -1.12641441822052, -0.5163577795028687], "tau_dot": [-48.059383392333984, 15.743583679199219, -73.57550048828125, 63.867122650146484, 4.748307228088379, -37.79941940307617, 37.77190017700195], "tau_ext": [-16.75714111328125, -41.610939025878906, 31.795141220092773, 31.341915130615234, 9.513642311096191, -2.988114833831787, -0.12436454743146896], "tcp_pose": [0.677960216999054, 0.03265378996729851, -0.21496562659740448, -0.0022780937142670155, -0.004588556941598654, 0.9998897314071655, 0.013940132223069668], "tcp_vel": [-0.0002340169157832861, 8.584487659391016e-05, -0.0003268725413363427, -0.0008402282255701721, 0.0004097722703590989, 0.0009478298015892506], "flange_pose": [0.6786627769470215, 0.02847534790635109, -0.06502547860145569, -0.0022780937142670155, -0.004588556941598654, 0.9998897314071655, 0.013940132223069668], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85765075683594, 15.140751838684082, 28.146800994873047, 0.3325131833553314, -24.03999137878418, 1.7953728437423706], "ext_wrench_in_world": [-108.12178960989887, 14.921731777395548, -27.235604116403096, -0.12183803654644933, -23.982695690423622, -2.4638541090245574]}
+{"timestamp_ns": 1789729718614232191, "elapsed_ms": 7766, "source_timestamp_ns": 1789729718609240493, "q": [0.8365632891654968, -1.897221326828003, -1.0062980651855469, 1.3811291456222534, -0.1613631546497345, 0.5940212607383728, 0.703665554523468], "theta": [0.838650643825531, -1.8952833414077759, -1.0045098066329956, 1.362722396850586, -0.16196326911449432, 0.5939697027206421, 0.7036438584327698], "dq": [0.001921299728564918, 0.001761106657795608, -0.0017053857445716858, -0.0006653642049059272, 0.00029314530547708273, -0.0025258457753807306, -0.00302772200666368], "dtheta": [0.00020616005349438637, 0.0002580986765678972, -0.00024558580480515957, -0.0002338587073609233, 0.0001156126381829381, -0.00017621844017412513, 0.00014824923709966242], "tau": [55.55999755859375, 23.59000015258789, 5.4760003089904785, -26.30000114440918, -2.6080000400543213, 2.6480002403259277, -0.5440000295639038], "tau_des": [0.4249371290206909, -0.6618803143501282, -0.15064790844917297, -0.48818787932395935, 0.9135661125183105, -1.1722095012664795, -0.5436679720878601], "tau_dot": [-83.62928009033203, -67.91543579101562, -47.664554595947266, 45.335758209228516, -61.73118591308594, -38.063385009765625, 17.99664306640625], "tau_ext": [-16.755374908447266, -41.59855651855469, 31.776630401611328, 31.340131759643555, 9.5162353515625, -2.9921958446502686, -0.11546632647514343], "tcp_pose": [0.6779614090919495, 0.03265257924795151, -0.21496433019638062, -0.002277602208778262, -0.0045873504132032394, 0.9998897314071655, 0.013940497301518917], "tcp_vel": [0.00023807027901057154, -0.0001861978234956041, 0.00027765630511566997, 0.00012512077228166163, -0.00027089149807579815, -0.0005905185826122761], "flange_pose": [0.6786638498306274, 0.028474025428295135, -0.06502419710159302, -0.002277602208778262, -0.0045873504132032394, 0.9998897314071655, 0.013940497301518917], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8522720336914, 15.148015975952148, 28.162172317504883, 0.3360815644264221, -24.042980194091797, 1.8023642301559448], "ext_wrench_in_world": [-108.11648732913476, 14.929753062987253, -27.250881849312382, -0.12546764277603922, -23.985519328580807, -2.4709278942284385]}
+{"timestamp_ns": 1789729718647566794, "elapsed_ms": 7800, "source_timestamp_ns": 1789729718639240800, "q": [0.8365631699562073, -1.8972221612930298, -1.0063018798828125, 1.3811287879943848, -0.16136328876018524, 0.5940197706222534, 0.7036663293838501], "theta": [0.8386508226394653, -1.895283818244934, -1.0045133829116821, 1.3627212047576904, -0.16196303069591522, 0.5939687490463257, 0.7036440372467041], "dq": [0.003190821036696434, 0.0001629823527764529, -0.0016148809809237719, -0.00027568082441575825, -7.419392932206392e-05, 0.0005051044863648713, -0.0014705077046528459], "dtheta": [1.8988086594617926e-05, 0.00020516329095698893, 1.732968485157471e-05, -4.663938671001233e-05, 0.00027459365082904696, -0.0003036699490621686, 3.805295591519098e-06], "tau": [55.53999710083008, 23.59000015258789, 5.420000076293945, -26.34400177001953, -2.6040000915527344, 2.6760001182556152, -0.5440000295639038], "tau_des": [0.4980233609676361, -0.6097191572189331, -0.17542697489261627, -0.5451680421829224, 0.8999727964401245, -1.1517202854156494, -0.5416516065597534], "tau_dot": [50.384578704833984, -32.19985580444336, -47.739349365234375, -24.74164390563965, -52.0510139465332, -13.953510284423828, -7.9254679679870605], "tau_ext": [-16.756147384643555, -41.623043060302734, 31.791032791137695, 31.358154296875, 9.515647888183594, -2.995708703994751, -0.11590413004159927], "tcp_pose": [0.6779623031616211, 0.03265058621764183, -0.2149648815393448, -0.0022774646058678627, -0.004585945047438145, 0.9998897314071655, 0.013938573189079762], "tcp_vel": [-2.271568519063294e-05, -7.049291161820292e-05, 3.834559902315959e-05, 0.00016209065506700426, 0.0003303292323835194, -0.0002815821208059788], "flange_pose": [0.6786646246910095, 0.02847260981798172, -0.0650247260928154, -0.0022774646058678627, -0.004585945047438145, 0.9998897314071655, 0.013938573189079762], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.86946105957031, 15.138089179992676, 28.15665626525879, 0.33874502778053284, -24.04755401611328, 1.8077689409255981], "ext_wrench_in_world": [-108.13351042117378, 14.919716496232311, -27.245653763663988, -0.12818128170564716, -23.989974406041558, -2.4763538624353845]}
+{"timestamp_ns": 1789729718680893949, "elapsed_ms": 7833, "source_timestamp_ns": 1789729718679254017, "q": [0.8365641832351685, -1.8972254991531372, -1.0063081979751587, 1.3811287879943848, -0.1613636314868927, 0.5940210819244385, 0.7036680579185486], "theta": [0.8386522531509399, -1.895287036895752, -1.0045204162597656, 1.3627208471298218, -0.16196326911449432, 0.5939713716506958, 0.7036452889442444], "dq": [-0.00046394451055675745, -0.0020449820440262556, -0.0002911886549554765, -0.0016265369486063719, 0.0018150841351598501, 0.0009172558784484863, -0.0015980484895408154], "dtheta": [0.000504497904330492, 5.052277629147284e-05, 0.0001434051082469523, 0.0001633975625736639, -0.0008773800800554454, -5.538781624636613e-05, 0.0010052105644717813], "tau": [55.56999969482422, 23.559999465942383, 5.424000263214111, -26.296001434326172, -2.5960001945495605, 2.6520001888275146, -0.5560000538825989], "tau_des": [0.3997817933559418, -0.6515299081802368, -0.15912672877311707, -0.4923843443393707, 0.9416736364364624, -1.1716233491897583, -0.5580273270606995], "tau_dot": [25.838802337646484, -19.259180068969727, 13.549551010131836, 32.176246643066406, -21.29092788696289, -66.96556091308594, -7.206791877746582], "tau_ext": [-16.725364685058594, -41.6289176940918, 31.827606201171875, 31.357091903686523, 9.509000778198242, -3.0029382705688477, -0.12384387850761414], "tcp_pose": [0.6779640316963196, 0.032648224383592606, -0.214965358376503, -0.0022753768134862185, -0.004584049805998802, 0.9998897910118103, 0.013935614377260208], "tcp_vel": [0.00011913050548173487, -3.753034252440557e-05, 0.0003577333700377494, -0.0005507481982931495, -0.0007436865707859397, -0.0004239933332428336], "flange_pose": [0.6786657571792603, 0.02847113087773323, -0.06502517312765121, -0.0022753768134862185, -0.004584049805998802, 0.9998897910118103, 0.013935614377260208], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.9312515258789, 15.14130973815918, 28.14344024658203, 0.3447605073451996, -24.056446075439453, 1.8054835796356201], "ext_wrench_in_world": [-108.19509485994489, 14.922251036414123, -27.232616798539834, -0.1341865386362953, -23.99899594341521, -2.4741495963409896]}
+{"timestamp_ns": 1789729718714229842, "elapsed_ms": 7866, "source_timestamp_ns": 1789729718709453768, "q": [0.8365651369094849, -1.8972309827804565, -1.0063084363937378, 1.3811267614364624, -0.16136333346366882, 0.5940223336219788, 0.7036687135696411], "theta": [0.8386530876159668, -1.89529287815094, -1.0045210123062134, 1.3627188205718994, -0.16196279227733612, 0.5939720869064331, 0.7036455273628235], "dq": [0.0026806180831044912, -0.0018790254835039377, -3.353280044393614e-05, -0.00047877576434984803, -0.0007669359329156578, -0.0007412148406729102, -0.005591771565377712], "dtheta": [0.00027432647766545415, -0.0003158533072564751, 3.168105467921123e-05, -0.0001304047618759796, 0.00022933073341846466, -8.398887439398095e-05, 0.001016276772134006], "tau": [55.599998474121094, 23.6299991607666, 5.456000328063965, -26.30000114440918, -2.572000026702881, 2.6640000343322754, -0.5640000104904175], "tau_des": [0.45989909768104553, -0.5789294242858887, -0.1957639902830124, -0.5154429078102112, 0.9165605902671814, -1.1709963083267212, -0.5601045489311218], "tau_dot": [60.46024703979492, 66.0987548828125, 39.09583282470703, 1.9519093036651611, 12.828851699829102, -13.196102142333984, -62.67391586303711], "tau_ext": [-16.733179092407227, -41.60918045043945, 31.833375930786133, 31.340856552124023, 9.506869316101074, -3.0021560192108154, -0.12270624190568924], "tcp_pose": [0.67796391248703, 0.032650306820869446, -0.2149653285741806, -0.0022736806422472, -0.0045852381736040115, 0.9998897910118103, 0.013934582471847534], "tcp_vel": [-3.174207085976377e-05, 0.0001382877235300839, 0.00012383652210701257, -5.663789852405898e-05, -0.00014969902986194938, -0.0009278473444283009], "flange_pose": [0.6786651015281677, 0.028473520651459694, -0.06502512842416763, -0.0022736806422472, -0.0045852381736040115, 0.9998897910118103, 0.013934582471847534], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.90811920166016, 15.163912773132324, 28.12295913696289, 0.345018208026886, -24.039609909057617, 1.8011616468429565], "ext_wrench_in_world": [-108.17201512524773, 14.944179476197752, -27.212017829931593, -0.13451282548026813, -23.982295114609883, -2.4693101783958618]}
+{"timestamp_ns": 1789729718747559747, "elapsed_ms": 7900, "source_timestamp_ns": 1789729718739298344, "q": [0.836564302444458, -1.8972340822219849, -1.0063079595565796, 1.381121277809143, -0.16136351227760315, 0.5940207839012146, 0.7036684155464172], "theta": [0.8386528491973877, -1.8952969312667847, -1.0045206546783447, 1.3627127408981323, -0.16196326911449432, 0.5939708948135376, 0.7036448121070862], "dq": [0.0019986601546406746, 0.00015633468865416944, -0.0011307051172479987, -0.002730586566030979, 0.0019932901486754417, 0.00042999302968382835, 0.0024477692786604166], "dtheta": [0.0002072953648166731, -8.967894973466173e-05, -0.00038297835271805525, -0.00023795224842615426, -0.00047536182682961226, -0.00013599407975561917, -0.0004788780934177339], "tau": [55.54999923706055, 23.56999969482422, 5.440000057220459, -26.308000564575195, -2.5880000591278076, 2.6680002212524414, -0.5240000486373901], "tau_des": [0.4151330292224884, -0.6214694380760193, -0.14556767046451569, -0.4758698642253876, 0.9482687711715698, -1.186295747756958, -0.5312628746032715], "tau_dot": [39.32976150512695, 63.960208892822266, -41.06555938720703, 13.011959075927734, -1.0209343433380127, -10.846442222595215, 41.240413665771484], "tau_ext": [-16.728620529174805, -41.553707122802734, 31.813396453857422, 31.322908401489258, 9.50683307647705, -2.999484062194824, -0.12533116340637207], "tcp_pose": [0.6779645681381226, 0.032652296125888824, -0.21496450901031494, -0.00227253045886755, -0.004586248192936182, 0.9998897910118103, 0.01393460389226675], "tcp_vel": [0.0002808583958540112, -0.00019400022574700415, 0.00022273194917943329, -0.0005561558064073324, -0.0006930638919584453, 0.0004991665482521057], "flange_pose": [0.6786654591560364, 0.028475500643253326, -0.06502430886030197, -0.00227253045886755, -0.004586248192936182, 0.9998897910118103, 0.01393460389226675], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85302734375, 15.16955280303955, 28.1147518157959, 0.34083476662635803, -24.018884658813477, 1.7972917556762695], "ext_wrench_in_world": [-108.1169055286544, 14.949883874739598, -27.20415078916293, -0.13044687296205273, -23.961648033874216, -2.464884046079007]}
+{"timestamp_ns": 1789729718780939625, "elapsed_ms": 7933, "source_timestamp_ns": 1789729718779378873, "q": [0.836564838886261, -1.8972340822219849, -1.00630784034729, 1.3811198472976685, -0.16136275231838226, 0.5940117835998535, 0.7036678194999695], "theta": [0.8386531472206116, -1.8952982425689697, -1.004520058631897, 1.362709879875183, -0.16196230053901672, 0.5939615964889526, 0.703644335269928], "dq": [0.002646165434271097, 0.00029742420883849263, 0.0012589454418048263, 0.002251292811706662, -0.0006669281283393502, 0.00021103440667502582, 0.0012553657870739698], "dtheta": [1.0814594133989885e-05, -9.484523616265506e-05, -0.0001998230436583981, 6.84401675243862e-05, 0.0007803730550222099, -0.00022124030510894954, -0.0004037752514705062], "tau": [55.52000045776367, 23.56999969482422, 5.492000102996826, -26.32400131225586, -2.552000045776367, 2.6480002403259277, -0.5480000376701355], "tau_des": [0.5314985513687134, -0.553152859210968, -0.1819007694721222, -0.5689558386802673, 0.8980905413627625, -1.148940920829773, -0.5367531180381775], "tau_dot": [-61.304134368896484, 74.09235382080078, -7.730837821960449, 54.980995178222656, 57.38611602783203, -48.15580368041992, 28.098848342895508], "tau_ext": [-16.74143409729004, -41.53386688232422, 31.781627655029297, 31.377275466918945, 9.511138916015625, -2.999972105026245, -0.1242007240653038], "tcp_pose": [0.6779634356498718, 0.03265123814344406, -0.21496456861495972, -0.002275333972647786, -0.004586297087371349, 0.9998898506164551, 0.013932370580732822], "tcp_vel": [-0.00013047063839621842, -7.544045365648344e-05, -0.00015157726011238992, 0.00010482250218046829, 0.0005691177793778479, -9.006258187582716e-05], "flange_pose": [0.6786651611328125, 0.028475116938352585, -0.06502436101436615, -0.002275333972647786, -0.004586297087371349, 0.9998898506164551, 0.013932370580732822], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.90731811523438, 15.075289726257324, 28.09941291809082, 0.3158704936504364, -24.02976417541504, 1.792829990386963], "ext_wrench_in_world": [-108.17041782183121, 14.854590644810411, -27.190669622499886, -0.10537326320371354, -23.97242764293785, -2.460729413966719]}
+{"timestamp_ns": 1789729718814233194, "elapsed_ms": 7966, "source_timestamp_ns": 1789729718809296719, "q": [0.8365660905838013, -1.8972337245941162, -1.006307601928711, 1.3811222314834595, -0.16136233508586884, 0.5940085053443909, 0.7036654353141785], "theta": [0.8386539816856384, -1.8952984809875488, -1.0045194625854492, 1.3627114295959473, -0.16196182370185852, 0.5939582586288452, 0.7036418914794922], "dq": [-0.00023316065198741853, -0.0010674207005649805, 0.0023087833542376757, -0.0017167696496471763, -0.00019012807752005756, -0.0003486138302832842, 0.0011225120397284627], "dtheta": [0.00027700854116119444, 5.995876927045174e-05, 2.6210971554974094e-05, 1.3641291843669023e-05, 0.00019078988407272846, 0.0003364695585332811, -0.00028307983302511275], "tau": [55.599998474121094, 23.670000076293945, 5.4760003089904785, -26.272001266479492, -2.580000162124634, 2.640000104904175, -0.5560000538825989], "tau_des": [0.44106000661849976, -0.5966940522193909, -0.2025354653596878, -0.5065330266952515, 0.9183416366577148, -1.1740658283233643, -0.531164288520813], "tau_dot": [-22.55402374267578, 79.50665283203125, 2.7614190578460693, -5.2644524574279785, -7.104486465454102, 24.564319610595703, 3.4134955406188965], "tau_ext": [-16.72761344909668, -41.57255935668945, 31.787134170532227, 31.38149070739746, 9.508482933044434, -2.9965708255767822, -0.11940430104732513], "tcp_pose": [0.677962064743042, 0.032650381326675415, -0.2149651050567627, -0.0022770643699914217, -0.004587576258927584, 0.9998898506164551, 0.013930966146290302], "tcp_vel": [9.82920391834341e-05, 6.068435322958976e-05, 0.00022355855617206544, 0.0003932550607714802, -0.00041458956548012793, 0.00014948572788853198], "flange_pose": [0.6786643266677856, 0.028474686667323112, -0.06502487510442734, -0.0022770643699914217, -0.004587576258927584, 0.9998898506164551, 0.013930966146290302], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.98640441894531, 15.009074211120605, 28.1029109954834, 0.3050777018070221, -24.056692123413086, 1.7949386835098267], "ext_wrench_in_world": [-108.24904466362075, 14.787411177675411, -27.19533516069993, -0.0942913404681753, -23.999192815487397, -2.463567849797516]}
+{"timestamp_ns": 1789729718847583345, "elapsed_ms": 8000, "source_timestamp_ns": 1789729718839296076, "q": [0.8365654945373535, -1.8972361087799072, -1.0063074827194214, 1.3811225891113281, -0.16136226058006287, 0.5940102934837341, 0.7036624550819397], "theta": [0.8386539816856384, -1.8953007459640503, -1.0045194625854492, 1.3627116680145264, -0.1619616001844406, 0.593960165977478, 0.7036387920379639], "dq": [-8.527056343154982e-05, -0.0006298078806139529, -0.000283645378658548, -0.0010080683277919888, 0.003511723829433322, 0.0018790718168020248, -0.0006333915516734123], "dtheta": [-5.736360253649764e-05, -0.00011125690070912242, 8.986901229945943e-05, -3.170750642311759e-05, 0.0006245871190913022, 0.0008745193481445312, 0.0006119450554251671], "tau": [55.62999725341797, 23.709999084472656, 5.484000205993652, -26.23200035095215, -2.568000078201294, 2.6440000534057617, -0.5600000023841858], "tau_des": [0.5187384486198425, -0.5512583255767822, -0.23548102378845215, -0.5372598767280579, 0.8959454298019409, -1.1779885292053223, -0.5417014956474304], "tau_dot": [60.934059143066406, 151.05267333984375, 11.397393226623535, 36.42271041870117, 12.538657188415527, -31.120628356933594, -23.404682159423828], "tau_ext": [-16.754619598388672, -41.6514892578125, 31.794960021972656, 31.346593856811523, 9.501435279846191, -2.9951112270355225, -0.1123119667172432], "tcp_pose": [0.677961528301239, 0.03265132009983063, -0.21496616303920746, -0.0022768406197428703, -0.004589868709445, 0.9998898506164551, 0.013930590823292732], "tcp_vel": [1.8602429918246344e-05, 0.0002702388446778059, -4.576999799610348e-06, 0.0009498888393864036, -0.00023801374481990933, -0.0008464293205179274], "flange_pose": [0.6786636710166931, 0.02847573719918728, -0.0650259330868721, -0.0022768406197428703, -0.004589868709445, 0.9998898506164551, 0.013930590823292732], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.93439483642578, 15.089390754699707, 28.146133422851562, 0.33151310682296753, -24.05991554260254, 1.8036342859268188], "ext_wrench_in_world": [-108.19802597102861, 14.86886119845915, -27.236598013408567, -0.12062549842793456, -24.00241935660834, -2.4722152036535365]}
+{"timestamp_ns": 1789729718880896292, "elapsed_ms": 8033, "source_timestamp_ns": 1789729718879236912, "q": [0.8365687131881714, -1.8972382545471191, -1.0063083171844482, 1.3811224699020386, -0.16135992109775543, 0.5940123796463013, 0.7036626935005188], "theta": [0.8386569023132324, -1.8953036069869995, -1.0045207738876343, 1.3627114295959473, -0.1619591861963272, 0.593962550163269, 0.7036387920379639], "dq": [0.0004367870860733092, 0.0011364126112312078, 0.00016416277503594756, -0.0016455384902656078, -0.001989910611882806, 0.00014835507317911834, -0.0011346829123795033], "dtheta": [-0.00014272906992118806, -3.8290858356049284e-05, -0.0002991426445078105, 3.3417421946069226e-05, 0.00019555067410692573, -0.0005155600374564528, 0.000929340603761375], "tau": [55.53999710083008, 23.510000228881836, 5.504000186920166, -26.328001022338867, -2.580000162124634, 2.684000015258789, -0.5520000457763672], "tau_des": [0.5557112693786621, -0.5757864117622375, -0.16708363592624664, -0.5792471766471863, 0.9002001285552979, -1.1442298889160156, -0.5518949627876282], "tau_dot": [-88.04133605957031, -111.19235229492188, -21.211471557617188, -34.454017639160156, -40.93343734741211, 33.188873291015625, -14.05777645111084], "tau_ext": [-16.742881774902344, -41.61526107788086, 31.78945541381836, 31.338943481445312, 9.503029823303223, -3.000166177749634, -0.11065414547920227], "tcp_pose": [0.6779620051383972, 0.03265197575092316, -0.21496453881263733, -0.002274904167279601, -0.00458951573818922, 0.9998898506164551, 0.013930988498032093], "tcp_vel": [-7.689769699936733e-05, -0.0002276643499499187, -0.00021416708477772772, -0.0004583846020977944, 0.0005989669007249177, -0.0012043443275615573], "flange_pose": [0.6786636114120483, 0.028476273640990257, -0.06502430886030197, -0.002274904167279601, -0.00458951573818922, 0.9998898506164551, 0.013930988498032093], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83377838134766, 15.19909381866455, 28.16097068786621, 0.36396655440330505, -24.04279327392578, 1.8126745223999023], "ext_wrench_in_world": [-108.0983676650098, 14.97996444499646, -27.24922120677992, -0.15328432960156213, -23.985350610320356, -2.4806509234304093]}
+{"timestamp_ns": 1789729718914231445, "elapsed_ms": 8066, "source_timestamp_ns": 1789729718909235709, "q": [0.8365694284439087, -1.8972363471984863, -1.0063234567642212, 1.3811237812042236, -0.16135887801647186, 0.5940118432044983, 0.7036632895469666], "theta": [0.8386581540107727, -1.895302414894104, -1.0045350790023804, 1.3627119064331055, -0.1619582325220108, 0.5939620733261108, 0.7036385536193848], "dq": [-0.00023951362527441233, 0.0007147970609366894, -0.0013632825575768948, -0.001802479731850326, 0.0014655732084065676, 0.0016871164552867413, 0.0015991171821951866], "dtheta": [0.0001529427245259285, -0.00018696636834647506, -0.0010129589354619384, -4.2359311919426546e-05, 0.0006785565637983382, -0.0005025203572586179, 0.0006412084912881255], "tau": [55.59000015258789, 23.510000228881836, 5.52400016784668, -26.340002059936523, -2.580000162124634, 2.6680002212524414, -0.5640000104904175], "tau_des": [0.4938090443611145, -0.6622939705848694, -0.0015437332913279533, -0.550010621547699, 0.9188286066055298, -1.1410943269729614, -0.5770732164382935], "tau_dot": [-138.47683715820312, -108.24982452392578, 12.206791877746582, 2.4456543922424316, -9.307933807373047, -6.76746129989624, 0.8857473731040955], "tau_ext": [-16.754976272583008, -41.54322052001953, 31.737628936767578, 31.401859283447266, 9.504804611206055, -3.0128793716430664, -0.11581417173147202], "tcp_pose": [0.6779669523239136, 0.03264288604259491, -0.2149650752544403, -0.0022731267381459475, -0.004583150614053011, 0.9998899102210999, 0.013926634564995766], "tcp_vel": [0.0001516744669061154, -0.00052693544421345, -0.00010125996050192043, -0.0006705282721668482, 0.000266310409642756, -0.0015983309131115675], "flange_pose": [0.6786679625511169, 0.028468482196331024, -0.06502480804920197, -0.0022731267381459475, -0.004583150614053011, 0.9998899102210999, 0.013926634564995766], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.89129638671875, 15.083688735961914, 28.14150619506836, 0.3411211371421814, -24.049428939819336, 1.8091486692428589], "ext_wrench_in_world": [-108.15445702006126, 14.864678069180584, -27.233226863752087, -0.13066078758703412, -23.991890390058515, -2.4772036934925716]}
+{"timestamp_ns": 1789729718947591716, "elapsed_ms": 8100, "source_timestamp_ns": 1789729718939237925, "q": [0.8365699052810669, -1.8972398042678833, -1.0063287019729614, 1.3811242580413818, -0.16135907173156738, 0.5940118432044983, 0.7036635875701904], "theta": [0.8386582732200623, -1.8953057527542114, -1.0045404434204102, 1.3627126216888428, -0.1619579941034317, 0.593962550163269, 0.7036387920379639], "dq": [0.0017992883222177625, 0.00024684815434738994, -0.0008023747359402478, 0.002265592571347952, -0.001806023414246738, 0.0014280179748311639, -0.0034706168808043003], "dtheta": [0.0003121363406535238, -0.0003154562436975539, 0.000183517811819911, 0.0003207952540833503, -0.0002978054981213063, 0.0011947809252887964, 0.00024153826234396547], "tau": [55.59000015258789, 23.65999984741211, 5.464000225067139, -26.272001266479492, -2.552000045776367, 2.640000104904175, -0.5760000348091125], "tau_des": [0.44358500838279724, -0.5853936672210693, -0.16127143800258636, -0.5093832015991211, 0.9453293681144714, -1.1874085664749146, -0.549299955368042], "tau_dot": [73.98644256591797, -36.57668685913086, -14.452043533325195, -23.95293617248535, 5.066664218902588, 13.9216947555542, -63.64946746826172], "tau_ext": [-16.76877784729004, -41.60828399658203, 31.803115844726562, 31.385873794555664, 9.501720428466797, -3.0069193840026855, -0.1144201010465622], "tcp_pose": [0.6779677271842957, 0.032640863209962845, -0.21496622264385223, -0.0022721863351762295, -0.004582378547638655, 0.9998899698257446, 0.013923506252467632], "tcp_vel": [5.958733527222648e-05, 0.0003000811266247183, 0.00014544837176799774, 0.000293877994408831, -0.001057283254340291, 0.00028629612643271685], "flange_pose": [0.6786684989929199, 0.028467396274209023, -0.0650259330868721, -0.0022721863351762295, -0.004582378547638655, 0.9998899698257446, 0.013923506252467632], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.95642852783203, 15.032999038696289, 28.146013259887695, 0.327172189950943, -24.058486938476562, 1.8042829036712646], "ext_wrench_in_world": [-108.21907095335254, 14.81353264333539, -27.2391540916051, -0.11664007382250662, -24.000966454645198, -2.4725041038145354]}
+{"timestamp_ns": 1789729718980899703, "elapsed_ms": 8133, "source_timestamp_ns": 1789729718979334841, "q": [0.8365731239318848, -1.8972556591033936, -1.0063260793685913, 1.3811231851577759, -0.16135910153388977, 0.594012975692749, 0.7036658525466919], "theta": [0.8386608958244324, -1.895321249961853, -1.004538655281067, 1.362712025642395, -0.1619575172662735, 0.5939639806747437, 0.7036399841308594], "dq": [0.0003773740027099848, 0.0018116419669240713, -0.0012916831765323877, -0.0005402896204032004, 0.0029143725987523794, -0.00022561292280443013, 0.001057331101037562], "dtheta": [0.00029549942701123655, -0.00037716521183028817, 0.0003283152764197439, 0.00022770246141590178, -0.0006244525429792702, -0.00011044878192478791, -0.00022805639309808612], "tau": [55.599998474121094, 23.600000381469727, 5.484000205993652, -26.264001846313477, -2.56000018119812, 2.6480002403259277, -0.5200000405311584], "tau_des": [0.489948034286499, -0.49178436398506165, -0.23282529413700104, -0.5646955966949463, 0.9559915661811829, -1.1531263589859009, -0.5214717984199524], "tau_dot": [31.485130310058594, -82.4249496459961, 36.98622131347656, -28.32122802734375, 14.14804458618164, -20.602272033691406, 61.34225082397461], "tau_ext": [-16.73236083984375, -41.64906311035156, 31.82183074951172, 31.33066177368164, 9.495545387268066, -2.997044086456299, -0.11867334693670273], "tcp_pose": [0.6779639720916748, 0.032647356390953064, -0.2149680107831955, -0.0022702529095113277, -0.004587401170283556, 0.9998900294303894, 0.013919070363044739], "tcp_vel": [-0.00017149293853435665, 0.00018703572277445346, 4.358258956926875e-05, -0.0006603876245208085, -0.00027635376318357885, 0.0010963422246277332], "flange_pose": [0.6786641478538513, 0.028475219383835793, -0.06502767652273178, -0.0022702529095113277, -0.004587401170283556, 0.9998900294303894, 0.013919070363044739], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.89189147949219, 15.180883407592773, 28.153186798095703, 0.3596985936164856, -24.049530029296875, 1.8070435523986816], "ext_wrench_in_world": [-108.15595611658568, 14.96082530038467, -27.243058891844054, -0.14900900787922852, -23.99226005619231, -2.474659132118428]}
+{"timestamp_ns": 1789729719014234562, "elapsed_ms": 8166, "source_timestamp_ns": 1789729719009231494, "q": [0.8365735411643982, -1.8972563743591309, -1.006326675415039, 1.381123423576355, -0.16135653853416443, 0.5940119624137878, 0.7036658525466919], "theta": [0.8386614918708801, -1.8953222036361694, -1.0045387744903564, 1.3627121448516846, -0.1619546264410019, 0.5939637422561646, 0.7036402225494385], "dq": [-0.000682931044138968, 0.0007398889865726233, -0.0008324611699208617, 0.0017830616561695933, -0.0009880856378003955, 6.285683048190549e-05, -0.0008202563622035086], "dtheta": [-4.438147152541205e-05, 0.00013276466052047908, -6.4253376876877155e-06, 0.00023603458248544484, -0.0002009533636737615, 0.0011494664940983057, 0.0009360543917864561], "tau": [55.65999984741211, 23.529998779296875, 5.544000148773193, -26.292001724243164, -2.56000018119812, 2.6640000343322754, -0.5520000457763672], "tau_des": [0.49600839614868164, -0.5994870662689209, -0.15011082589626312, -0.5297858119010925, 0.9298206567764282, -1.1816389560699463, -0.5563359260559082], "tau_dot": [21.302038192749023, -6.174489974975586, -33.016056060791016, -63.580265045166016, 15.79897403717041, 2.7197132110595703, -17.621421813964844], "tau_ext": [-16.773775100708008, -41.574981689453125, 31.76226806640625, 31.3472843170166, 9.495101928710938, -3.0005459785461426, -0.12237068265676498], "tcp_pose": [0.6779634356498718, 0.03264723718166351, -0.21496836841106415, -0.0022711511701345444, -0.004586732015013695, 0.9998900294303894, 0.013919067569077015], "tcp_vel": [0.0001775017735781148, 7.936216570669785e-05, 5.097109169582836e-05, 0.0005814429605379701, -0.0007226716261357069, -0.0009077073191292584], "flange_pose": [0.6786638498306274, 0.028475100174546242, -0.06502804160118103, -0.0022711511701345444, -0.004586732015013695, 0.9998900294303894, 0.013919067569077015], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84737396240234, 15.158556938171387, 28.143957138061523, 0.3526465594768524, -24.037187576293945, 1.8020601272583008], "ext_wrench_in_world": [-108.11122425526472, 14.93880441995635, -27.23445529018787, -0.14208250004805872, -23.979996230873773, -2.469364332488172]}
+{"timestamp_ns": 1789729719047588986, "elapsed_ms": 8200, "source_timestamp_ns": 1789729719039287826, "q": [0.8365728855133057, -1.8972560167312622, -1.0063284635543823, 1.3811250925064087, -0.16135327517986298, 0.5940093398094177, 0.703665018081665], "theta": [0.8386610746383667, -1.8953214883804321, -1.0045392513275146, 1.3627128601074219, -0.16195009648799896, 0.5939611196517944, 0.7036392688751221], "dq": [-2.7932766897720285e-05, 0.00197753868997097, -0.00033659645123407245, -0.0001266922045033425, 0.0014854160835966468, 5.7580851716920733e-05, 0.0010291129583492875], "dtheta": [3.3495965908514336e-05, 7.621277472935617e-05, -0.0003207074769306928, 5.652075196849182e-05, 0.0007318900898098946, -0.0003949267265852541, 2.7936566766584292e-05], "tau": [55.619998931884766, 23.639999389648438, 5.504000186920166, -26.288002014160156, -2.5480000972747803, 2.680000066757202, -0.5480000376701355], "tau_des": [0.5527569055557251, -0.5731098651885986, -0.11625158786773682, -0.598704993724823, 0.904161810874939, -1.1268696784973145, -0.5519067645072937], "tau_dot": [103.52433013916016, 71.46575164794922, 10.236531257629395, 51.995872497558594, 30.42490577697754, 60.12809753417969, 2.509026527404785], "tau_ext": [-16.813932418823242, -41.57715606689453, 31.7302188873291, 31.361902236938477, 9.486400604248047, -3.0084965229034424, -0.12289117276668549], "tcp_pose": [0.6779624223709106, 0.03264564648270607, -0.2149701565504074, -0.002273738384246826, -0.004585648886859417, 0.9998900294303894, 0.013918298296630383], "tcp_vel": [-6.073767872294411e-05, -0.00022095647000242025, -0.00010255409142700955, 1.5858970073168166e-05, 0.000614773656707257, -0.0006919797160662711], "flange_pose": [0.6786636114120483, 0.028473742306232452, -0.0650298222899437, -0.002273738384246826, -0.004585648886859417, 0.9998900294303894, 0.013918298296630383], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.75836181640625, 15.119251251220703, 28.19649314880371, 0.34419217705726624, -24.01791000366211, 1.7965776920318604], "ext_wrench_in_world": [-108.02221470765659, 14.901982012885867, -27.287920173295838, -0.13384145632853103, -23.96080492729219, -2.463346159816887]}
+{"timestamp_ns": 1789729719080897997, "elapsed_ms": 8233, "source_timestamp_ns": 1789729719079295269, "q": [0.8365767002105713, -1.8972543478012085, -1.0063261985778809, 1.3811262845993042, -0.16135235130786896, 0.5940098762512207, 0.7036635279655457], "theta": [0.8386645913124084, -1.8953202962875366, -1.00453782081604, 1.3627139329910278, -0.16194865107536316, 0.5939620733261108, 0.7036380767822266], "dq": [0.001430872012861073, -0.0005895680515095592, -0.0017910638125613332, -0.0023630987852811813, 0.001241385703906417, -0.0014975632075220346, -0.004529053345322609], "dtheta": [0.00015951645036693662, 0.00015440963034052402, 0.00017152515647467226, 0.00046571140410378575, 0.0006047288188710809, -0.000346122746123001, -0.00039271311834454536], "tau": [55.5099983215332, 23.600000381469727, 5.496000289916992, -26.37200164794922, -2.5440001487731934, 2.6600000858306885, -0.5720000267028809], "tau_des": [0.5425247550010681, -0.5401731729507446, -0.19488106667995453, -0.6032372117042542, 0.900514543056488, -1.1333900690078735, -0.5342893004417419], "tau_dot": [-10.505738258361816, -3.4246795177459717, -26.94089698791504, 32.085906982421875, 29.898033142089844, -53.27970886230469, -56.14459228515625], "tau_ext": [-16.704219818115234, -41.63784408569336, 31.78632354736328, 31.365705490112305, 9.471750259399414, -3.0005486011505127, -0.11898349225521088], "tcp_pose": [0.6779624223709106, 0.03264633193612099, -0.21496745944023132, -0.002272691810503602, -0.004586468916386366, 0.9998900294303894, 0.013919769786298275], "tcp_vel": [-0.0003107928205281496, -5.2277180657256395e-05, -0.00013357636635191739, 0.00010778631258290261, 0.0008541141869500279, 0.00015588609676342458], "flange_pose": [0.6786633133888245, 0.028473986312747, -0.0650271326303482, -0.002272691810503602, -0.004586468916386366, 0.9998900294303894, 0.013919769786298275], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83937072753906, 15.122333526611328, 28.159143447875977, 0.3600699007511139, -24.047306060791016, 1.7987042665481567], "ext_wrench_in_world": [-108.10303946745942, 14.903183314703531, -27.250324675221567, -0.1494169128737263, -23.99026877100383, -2.4662917577666064]}
+{"timestamp_ns": 1789729719114228384, "elapsed_ms": 8266, "source_timestamp_ns": 1789729719109435960, "q": [0.8365780115127563, -1.8972524404525757, -1.0063284635543823, 1.3811267614364624, -0.16135281324386597, 0.594009280204773, 0.70366370677948], "theta": [0.8386666178703308, -1.8953192234039307, -1.0045393705368042, 1.3627150058746338, -0.16194912791252136, 0.5939623117446899, 0.7036380767822266], "dq": [-0.0007523454842157662, 0.00021727992861997336, -0.0004103196260984987, -0.00036314554745331407, -0.00034944803337566555, 0.00019080254423897713, -0.002565160859376192], "dtheta": [-0.00014639903383795172, 0.00022116993204690516, 3.160675260005519e-05, -8.662177424412221e-05, -0.0014329706318676472, 0.0001522811217000708, -0.0004170610918663442], "tau": [55.65999984741211, 23.69999885559082, 5.492000102996826, -26.284000396728516, -2.5840001106262207, 2.640000104904175, -0.5360000133514404], "tau_des": [0.4647083282470703, -0.6213818192481995, -0.13949894905090332, -0.5129358172416687, 0.9588546752929688, -1.1730653047561646, -0.5294079184532166], "tau_dot": [59.20669937133789, 199.18487548828125, -67.6069107055664, 32.83121871948242, -70.58951568603516, -16.981191635131836, 12.906338691711426], "tau_ext": [-16.7484130859375, -41.610023498535156, 31.752012252807617, 31.3758602142334, 9.486673355102539, -3.003284215927124, -0.11995389312505722], "tcp_pose": [0.6779637336730957, 0.032644279301166534, -0.21496641635894775, -0.002271968172863126, -0.004585128277540207, 0.9998900294303894, 0.013919237069785595], "tcp_vel": [0.0002741994976531714, -0.0001077332635759376, 0.00014179214485920966, -0.0005545041640289128, -0.000833488826174289, 0.0010686584282666445], "flange_pose": [0.6786643862724304, 0.028472092002630234, -0.06502609699964523, -0.002271968172863126, -0.004585128277540207, 0.9998900294303894, 0.013919237069785595], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.9571762084961, 15.070490837097168, 28.151220321655273, 0.355350136756897, -24.08014488220215, 1.8016647100448608], "ext_wrench_in_world": [-108.22025091951717, 14.85031759935162, -27.243497438779936, -0.14447344793348496, -24.022969790940845, -2.4701612986495887]}
+{"timestamp_ns": 1789729719147563011, "elapsed_ms": 8300, "source_timestamp_ns": 1789729719139295346, "q": [0.8365780711174011, -1.8972556591033936, -1.006327748298645, 1.3811267614364624, -0.16135066747665405, 0.5940099954605103, 0.7036636471748352], "theta": [0.8386664986610413, -1.8953214883804321, -1.004538655281067, 1.362715482711792, -0.16194744408130646, 0.5939632654190063, 0.7036380767822266], "dq": [0.0009561364422552288, -0.001815867843106389, -0.00040968123357743025, -0.0009183383081108332, -0.002519348170608282, -0.0005237214500084519, -0.0004019753832835704], "dtheta": [0.0003292034089099616, -8.305778465000913e-05, -0.00016560616495553404, -7.494612509617582e-05, 0.0008716564625501633, 0.0005354334716685116, 3.319091410958208e-05], "tau": [55.56999969482422, 23.760000228881836, 5.432000160217285, -26.272001266479492, -2.580000162124634, 2.6600000858306885, -0.5600000023841858], "tau_des": [0.4395943880081177, -0.5967214703559875, -0.17103703320026398, -0.4987412393093109, 0.9102397561073303, -1.1838457584381104, -0.5505393743515015], "tau_dot": [60.425968170166016, 50.30101776123047, -42.143245697021484, -22.325969696044922, -43.9708366394043, -15.89501953125, -18.5169734954834], "tau_ext": [-16.786710739135742, -41.68375015258789, 31.769439697265625, 31.350061416625977, 9.48546028137207, -3.002852439880371, -0.12054189294576645], "tcp_pose": [0.6779624819755554, 0.03264585882425308, -0.21496738493442535, -0.0022723705042153597, -0.004585849586874247, 0.9998900294303894, 0.013919178396463394], "tcp_vel": [0.00011456174252089113, 9.324328857474029e-05, 0.00021227027173154056, 0.0007671766798011959, -0.00036318186903372407, -0.0006020576111041009], "flange_pose": [0.6786633133888245, 0.028473692014813423, -0.06502705812454224, -0.0022723705042153597, -0.004585849586874247, 0.9998900294303894, 0.013919178396463394], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.86572265625, 15.125000953674316, 28.203794479370117, 0.3652440011501312, -24.063434600830078, 1.8039358854293823], "ext_wrench_in_world": [-108.12958717566315, 14.906950548063115, -27.29485306090708, -0.1544966013214567, -24.006295376243887, -2.471919447768041]}
+{"timestamp_ns": 1789729719180906637, "elapsed_ms": 8333, "source_timestamp_ns": 1789729719179296981, "q": [0.836578905582428, -1.8972560167312622, -1.006329894065857, 1.3811250925064087, -0.16135258972644806, 0.5940110683441162, 0.7036635875701904], "theta": [0.8386677503585815, -1.8953217267990112, -1.0045406818389893, 1.3627145290374756, -0.16194792091846466, 0.593964695930481, 0.703639030456543], "dq": [-0.0014936934458091855, -0.000540533394087106, 0.0009291769238188863, 0.0007824967033229768, 0.0021021508146077394, 0.0008828639984130859, 0.0026341367047280073], "dtheta": [5.792985393782146e-05, 0.00041571338078938425, 0.00012913205137010664, 0.00020263277110643685, 0.000319006503559649, 0.0008375762845389545, 0.0002602418535389006], "tau": [55.529998779296875, 23.5, 5.568000316619873, -26.340002059936523, -2.568000078201294, 2.688000202178955, -0.5560000538825989], "tau_des": [0.44668394327163696, -0.6412037014961243, -0.15901412069797516, -0.49105304479599, 0.9128204584121704, -1.1962471008300781, -0.5512968897819519], "tau_dot": [-37.82830047607422, -156.03602600097656, 5.016276836395264, -36.72494888305664, -28.759235382080078, 15.599628448486328, -34.196495056152344], "tau_ext": [-16.718141555786133, -41.62132263183594, 31.763248443603516, 31.290180206298828, 9.483282089233398, -2.9958600997924805, -0.1163322776556015], "tcp_pose": [0.6779643893241882, 0.03264518082141876, -0.21496596932411194, -0.002269985154271126, -0.004585715476423502, 0.9998900294303894, 0.01391861867159605], "tcp_vel": [0.00011389829160179943, 6.457128620240837e-05, 0.00014834087050985545, 0.001019280287437141, -0.00030467132455669343, -0.0006128810346126556], "flange_pose": [0.67866450548172, 0.028473177924752235, -0.06502563506364822, -0.002269985154271126, -0.004585715476423502, 0.9998900294303894, 0.01391861867159605], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.74585723876953, 15.283980369567871, 28.199947357177734, 0.40397587418556213, -24.0378475189209, 1.8113348484039307], "ext_wrench_in_world": [-108.01102275161351, 15.066867402575712, -27.287640239234165, -0.19349018206164886, -23.980873792438945, -2.4784062385772776]}
+{"timestamp_ns": 1789729719214245624, "elapsed_ms": 8366, "source_timestamp_ns": 1789729719209240287, "q": [0.8365780711174011, -1.8972558975219727, -1.0063413381576538, 1.3811253309249878, -0.16135212779045105, 0.5940071940422058, 0.7036627531051636], "theta": [0.8386671543121338, -1.8953218460083008, -1.004550814628601, 1.3627147674560547, -0.16194769740104675, 0.5939611196517944, 0.7036380767822266], "dq": [-0.0009544958593323827, -0.0007221341365948319, -0.0004959232173860073, 0.0016922812210395932, 0.00045709297410212457, -0.0005910602631047368, -0.003952398896217346], "dtheta": [-0.0001441266358597204, -0.00020742733613587916, 0.00017374689923599362, -2.7735897674574517e-05, -0.0003000323486048728, 7.087073754519224e-05, -0.0009294983465224504], "tau": [55.63999938964844, 23.600000381469727, 5.520000457763672, -26.352001190185547, -2.56000018119812, 2.684000015258789, -0.5400000214576721], "tau_des": [0.5264883041381836, -0.5404554605484009, -0.1534186452627182, -0.5654793381690979, 0.9399345517158508, -1.1542277336120605, -0.5309520959854126], "tau_dot": [59.179222106933594, -42.29326248168945, -12.916881561279297, 12.667157173156738, 30.32540512084961, 25.63121223449707, 3.839707851409912], "tau_ext": [-16.760517120361328, -41.570350646972656, 31.728559494018555, 31.361717224121094, 9.491717338562012, -3.0045106410980225, -0.11573981493711472], "tcp_pose": [0.6779671907424927, 0.03263819217681885, -0.2149677276611328, -0.002270263386890292, -0.004581967834383249, 0.999890148639679, 0.013913819566369057], "tcp_vel": [-7.945856486912817e-05, 0.00015224971866700798, -0.00010462210775585845, -0.00016295808018185198, -6.82538011460565e-05, 0.0013505350798368454], "flange_pose": [0.6786673069000244, 0.028467627242207527, -0.06502735614776611, -0.002270263386890292, -0.004581967834383249, 0.999890148639679, 0.013913819566369057], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.75829315185547, 15.161866188049316, 28.166112899780273, 0.37337324023246765, -24.033397674560547, 1.8082822561264038], "ext_wrench_in_world": [-108.02209320441038, 14.944294072562025, -27.25724306673675, -0.1630959617632632, -23.976250784322517, -2.4751351705404083]}
+{"timestamp_ns": 1789729719247588070, "elapsed_ms": 8400, "source_timestamp_ns": 1789729719239227727, "q": [0.8365790843963623, -1.8972618579864502, -1.006340742111206, 1.3811262845993042, -0.16135060787200928, 0.5940046906471252, 0.703662097454071], "theta": [0.8386677503585815, -1.8953273296356201, -1.0045500993728638, 1.362715244293213, -0.16194601356983185, 0.5939587354660034, 0.7036375999450684], "dq": [0.0006260308437049389, -0.001878491253592074, 0.0008525011944584548, -0.002359590493142605, -0.001317604212090373, -0.0009068867075257003, -1.02643680293113e-05], "dtheta": [-1.2752665497828275e-05, -5.4669078963343054e-05, 0.00033009742037393153, -0.00011183064634678885, 6.911071977810934e-05, -0.000745681521948427, -0.0001429883559467271], "tau": [55.46999740600586, 23.65999984741211, 5.436000347137451, -26.352001190185547, -2.5480000972747803, 2.6600000858306885, -0.5640000104904175], "tau_des": [0.5370580554008484, -0.536618709564209, -0.17357735335826874, -0.5896398425102234, 0.9224420189857483, -1.1286184787750244, -0.5419475436210632], "tau_dot": [-73.7707748413086, 18.454309463500977, 3.181758165359497, 22.980419158935547, 27.85434341430664, -62.07144546508789, -57.858734130859375], "tau_ext": [-16.763225555419922, -41.6660270690918, 31.775108337402344, 31.40226936340332, 9.492318153381348, -3.00726580619812, -0.11703861504793167], "tcp_pose": [0.6779645681381226, 0.032639823853969574, -0.21496962010860443, -0.0022716375533491373, -0.004584151320159435, 0.999890148639679, 0.013911202549934387], "tcp_vel": [-0.0002323198423255235, 0.00010673541692085564, -4.7457971959374845e-05, -0.00020992096688132733, 0.0006256118649616838, 0.0003731211763806641], "flange_pose": [0.6786651611328125, 0.028470046818256378, -0.06502921879291534, -0.0022716375533491373, -0.004584151320159435, 0.999890148639679, 0.013911202549934387], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84992980957031, 15.103348731994629, 28.190418243408203, 0.3586461842060089, -24.053394317626953, 1.8062431812286377], "ext_wrench_in_world": [-108.11344442571786, 14.885011711050932, -27.282553845944644, -0.14807880021495287, -23.9961732725258, -2.473592662156475]}
+{"timestamp_ns": 1789729719280915598, "elapsed_ms": 8433, "source_timestamp_ns": 1789729719279304272, "q": [0.8365851640701294, -1.8972662687301636, -1.0063389539718628, 1.3811253309249878, -0.16134558618068695, 0.5940033793449402, 0.703658401966095], "theta": [0.8386731743812561, -1.8953320980072021, -1.0045491456985474, 1.3627147674560547, -0.16194002330303192, 0.5939575433731079, 0.7036335468292236], "dq": [-0.0034035826101899147, 0.003824765793979168, 0.0009967281948775053, -0.0010505302343517542, -0.0024380849208682775, -0.0002484172582626343, -0.00022123487724456936], "dtheta": [-8.103399886749685e-05, 0.00017910647147800773, 0.0004904348170384765, 3.9299295167438686e-05, 0.00029926851857453585, -0.0006973946001380682, -0.00031147530535236], "tau": [55.61000061035156, 23.59000015258789, 5.5400004386901855, -26.288002014160156, -2.5240001678466797, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.5328369140625, -0.5345098376274109, -0.2105778455734253, -0.5835044384002686, 0.9121756553649902, -1.1368134021759033, -0.5317860841751099], "tau_dot": [80.70592498779297, 84.66218566894531, -19.283634185791016, 18.570676803588867, 13.7078218460083, -33.164737701416016, 13.038459777832031], "tau_ext": [-16.702713012695312, -41.60010528564453, 31.785097122192383, 31.346744537353516, 9.476425170898438, -2.9977359771728516, -0.11227896064519882], "tcp_pose": [0.6779634952545166, 0.0326424315571785, -0.21496687829494476, -0.0022704140283167362, -0.004586723167449236, 0.999890148639679, 0.013911494985222816], "tcp_vel": [-0.0003195622412022203, 0.00012115507706766948, -9.650347055867314e-05, 0.00015443304437212646, 0.0009517646976746619, 0.000392555957660079], "flange_pose": [0.6786637306213379, 0.028472566977143288, -0.06502649188041687, -0.0022704140283167362, -0.004586723167449236, 0.999890148639679, 0.013911494985222816], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.96967315673828, 15.104640007019043, 28.12307357788086, 0.3608361780643463, -24.083236694335938, 1.8072561025619507], "ext_wrench_in_world": [-108.23288629526894, 14.882788770323774, -27.2149345285774, -0.14987277598204068, -24.02599416322576, -2.475441306659811]}
+{"timestamp_ns": 1789729719314229088, "elapsed_ms": 8466, "source_timestamp_ns": 1789729719309295101, "q": [0.8365843892097473, -1.8972647190093994, -1.006340503692627, 1.381125807762146, -0.1613467037677765, 0.5940009355545044, 0.7036582827568054], "theta": [0.8386723399162292, -1.895330548286438, -1.0045496225357056, 1.3627148866653442, -0.16194050014019012, 0.5939544439315796, 0.7036335468292236], "dq": [-0.0008365475805476308, -0.0002913969801738858, 0.000656771648209542, -0.0004656926030293107, -0.0033297198824584484, -0.0019513992592692375, -0.0008386439876630902], "dtheta": [0.0003520039899740368, 0.00017511476471554488, -0.00022589581203646958, 0.0001367098157061264, -0.0004088746791239828, 0.0008830054430291057, -0.0001238175027538091], "tau": [55.62999725341797, 23.59000015258789, 5.5360002517700195, -26.288002014160156, -2.556000232696533, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.3945862352848053, -0.6557968854904175, -0.10334429889917374, -0.47827988862991333, 0.9546892046928406, -1.1881999969482422, -0.5432868003845215], "tau_dot": [-15.291491508483887, -77.8597412109375, 23.16136932373047, 26.85797691345215, -53.942928314208984, -60.46653366088867, -1.2899585962295532], "tau_ext": [-16.790971755981445, -41.58443069458008, 31.728269577026367, 31.332660675048828, 9.463522911071777, -2.9946930408477783, -0.11331529170274734], "tcp_pose": [0.6779638528823853, 0.03264053910970688, -0.21496739983558655, -0.0022713339421898127, -0.004586022812873125, 0.999890148639679, 0.013910321518778801], "tcp_vel": [0.0003647035628091544, -9.17121215024963e-05, 0.0003513264819048345, 0.00023149537446442991, -0.001211449271067977, 7.524337706854567e-05], "flange_pose": [0.6786643266677856, 0.028471024706959724, -0.06502699851989746, -0.0022713339421898127, -0.004586022812873125, 0.999890148639679, 0.013910321518778801], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84000396728516, 15.114930152893066, 28.157886505126953, 0.3602280616760254, -24.053993225097656, 1.8038872480392456], "ext_wrench_in_world": [-108.10351010544471, 14.89532364100796, -27.249854644349384, -0.14955278699445768, -23.996856901302234, -2.47120544581525]}
+{"timestamp_ns": 1789729719347566875, "elapsed_ms": 8500, "source_timestamp_ns": 1789729719339278802, "q": [0.8365833163261414, -1.8972665071487427, -1.0063401460647583, 1.3811256885528564, -0.16134785115718842, 0.593999981880188, 0.7036589980125427], "theta": [0.8386713862419128, -1.8953317403793335, -1.0045487880706787, 1.3627151250839233, -0.16194097697734833, 0.593953013420105, 0.7036342620849609], "dq": [-0.0009670919389463961, -0.0019127733539789915, -0.0017820597859099507, 0.0016075365711003542, 0.0012684034882113338, 0.0001295380643568933, -0.0016385536873713136], "dtheta": [8.94031545612961e-05, -0.00015415011148434132, -6.295768253039569e-05, 0.0003723748668562621, 7.394464773824438e-05, 0.000382738362532109, 0.0002751612337306142], "tau": [55.47999954223633, 23.719999313354492, 5.492000102996826, -26.336000442504883, -2.5360000133514404, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.5403245687484741, -0.5440730452537537, -0.15596330165863037, -0.5912982225418091, 0.9238770008087158, -1.1455023288726807, -0.5463137626647949], "tau_dot": [10.472731590270996, 54.64672088623047, 54.029483795166016, 20.699403762817383, 32.32002639770508, -2.439910888671875, -13.186779975891113], "tau_ext": [-16.804935455322266, -41.66849136352539, 31.750701904296875, 31.33301544189453, 9.469271659851074, -2.9941203594207764, -0.11650902032852173], "tcp_pose": [0.6779630184173584, 0.03264106065034866, -0.21496859192848206, -0.002271949779242277, -0.0045867059379816055, 0.999890148639679, 0.013909146189689636], "tcp_vel": [-8.52172015584074e-05, 4.831711066799471e-06, -0.00011721607734216377, -7.341182936215773e-05, -5.06856813444756e-05, -0.00020727631635963917], "flange_pose": [0.6786636710166931, 0.028471902012825012, -0.06502818316221237, -0.002271949779242277, -0.0045867059379816055, 0.999890148639679, 0.013909146189689636], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69275665283203, 15.179618835449219, 28.233156204223633, 0.3740537464618683, -24.028911590576172, 1.8025208711624146], "ext_wrench_in_world": [-107.9572647839771, 14.963222338961844, -27.323849112538216, -0.16356948704888324, -23.97195771530123, -2.4690237428304687]}
+{"timestamp_ns": 1789729719380898712, "elapsed_ms": 8533, "source_timestamp_ns": 1789729719379239382, "q": [0.8365869522094727, -1.8972645998001099, -1.0063416957855225, 1.3811272382736206, -0.16134977340698242, 0.5940016508102417, 0.7036594152450562], "theta": [0.8386741876602173, -1.895330548286438, -1.0045503377914429, 1.3627164363861084, -0.16194313764572144, 0.5939542055130005, 0.7036354541778564], "dq": [-0.0013564833207055926, -0.0004642585990950465, 0.0004505811957642436, 0.0001440975465811789, -0.0005695485160686076, 0.0008875271305441856, -0.002358203288167715], "dtheta": [0.00021954435214865953, -0.0001814045535866171, -0.00024184584617614746, 2.781246803351678e-05, -0.00034901112667284906, 0.00034510577097535133, -3.5191111237509176e-05], "tau": [55.47999954223633, 23.59000015258789, 5.564000129699707, -26.36400032043457, -2.576000213623047, 2.684000015258789, -0.5600000023841858], "tau_des": [0.4382963180541992, -0.6025542616844177, -0.11939412355422974, -0.5096873641014099, 0.9543759226799011, -1.1750264167785645, -0.543369710445404], "tau_dot": [-22.507150650024414, -11.924824714660645, -1.4243292808532715, 18.831724166870117, -25.9946231842041, 7.321974754333496, -29.364849090576172], "tau_ext": [-16.674436569213867, -41.59780502319336, 31.743728637695312, 31.361385345458984, 9.482446670532227, -2.9937288761138916, -0.12300363183021545], "tcp_pose": [0.6779648065567017, 0.03263947367668152, -0.2149660289287567, -0.002269335091114044, -0.0045859976671636105, 0.999890148639679, 0.01390879973769188], "tcp_vel": [0.0001805091742426157, -5.536862590815872e-05, 0.0001373664999846369, -0.0002958021650556475, -0.0007284622988663614, 0.0001766921632224694], "flange_pose": [0.6786646246910095, 0.028470415621995926, -0.06502561271190643, -0.002269335091114044, -0.0045859976671636105, 0.999890148639679, 0.01390879973769188], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85281372070312, 15.148933410644531, 28.172250747680664, 0.37785157561302185, -24.07486343383789, 1.8065824508666992], "ext_wrench_in_world": [-108.11658514346527, 14.929521530010593, -27.263688799276682, -0.166990334873837, -24.017813445634783, -2.4743307866292676]}
+{"timestamp_ns": 1789729719414227830, "elapsed_ms": 8566, "source_timestamp_ns": 1789729719409229172, "q": [0.8365866541862488, -1.8972651958465576, -1.0063437223434448, 1.3811310529708862, -0.1613485962152481, 0.5939996838569641, 0.7036601305007935], "theta": [0.8386745452880859, -1.8953309059143066, -1.0045517683029175, 1.362720012664795, -0.16194266080856323, 0.5939525365829468, 0.7036356925964355], "dq": [-0.0005293420981615782, -0.00016987881099339575, -0.0016381610184907913, -0.0003581747878342867, 0.002369936089962721, 0.0009273971663787961, -0.0008041616529226303], "dtheta": [-0.00019360634905751795, 0.00020569648768287152, 0.00021933410607744008, -2.7182491976418532e-05, 0.0006198933115229011, -0.0001330684608547017, 0.0003432384110055864], "tau": [55.619998931884766, 23.670000076293945, 5.508000373840332, -26.308000564575195, -2.552000045776367, 2.7120001316070557, -0.5520000457763672], "tau_des": [0.5514881014823914, -0.5760369300842285, -0.1466161012649536, -0.587125837802887, 0.9001745581626892, -1.1369644403457642, -0.5559338331222534], "tau_dot": [57.328914642333984, -91.4787826538086, -4.912119388580322, 74.8568115234375, 10.609623908996582, 73.6290283203125, -16.047754287719727], "tau_ext": [-16.739700317382812, -41.59548568725586, 31.728342056274414, 31.40220832824707, 9.491232872009277, -3.0048675537109375, -0.12405432015657425], "tcp_pose": [0.6779631972312927, 0.0326375812292099, -0.21496857702732086, -0.0022717963438481092, -0.004585114307701588, 0.9998902082443237, 0.013906572014093399], "tcp_vel": [-0.00015846236783545464, 8.81799278431572e-05, -0.00011221025488339365, 0.0006045980262570083, 0.0006939981831237674, -0.0006719455705024302], "flange_pose": [0.6786637902259827, 0.02846919186413288, -0.06502813845872879, -0.0022717963438481092, -0.004585114307701588, 0.9998902082443237, 0.013906572014093399], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.0008316040039, 15.013164520263672, 28.139528274536133, 0.3494597375392914, -24.10452651977539, 1.8042091131210327], "ext_wrench_in_world": [-108.26331521143275, 14.79159529386473, -27.233638678568273, -0.13837152738930658, -24.047278450033314, -2.4728008091143123]}
+{"timestamp_ns": 1789729719447562837, "elapsed_ms": 8600, "source_timestamp_ns": 1789729719439292742, "q": [0.8365854024887085, -1.897274136543274, -1.0063433647155762, 1.3811289072036743, -0.16134944558143616, 0.5940014719963074, 0.7036620378494263], "theta": [0.8386742472648621, -1.895339012145996, -1.0045512914657593, 1.3627188205718994, -0.16194385290145874, 0.5939542055130005, 0.7036378383636475], "dq": [0.0018424305599182844, 0.00014506588922813535, -0.0004199857939966023, 0.004433481488376856, 0.0021032921504229307, -0.00016846066864673048, -0.0004309689102228731], "dtheta": [-7.6007304414815735e-06, -6.768865569029003e-05, -0.0004355752025730908, -0.0003015150723513216, 0.0006042699678801, -0.00017974385991692543, -0.0003610398853197694], "tau": [55.55999755859375, 23.68000030517578, 5.500000476837158, -26.18800163269043, -2.568000078201294, 2.6520001888275146, -0.5240000486373901], "tau_des": [0.5155326128005981, -0.5697982311248779, -0.11092128604650497, -0.5611181259155273, 0.9243667721748352, -1.1455684900283813, -0.5430450439453125], "tau_dot": [-59.54192352294922, -37.839420318603516, 54.57509231567383, 35.42290115356445, -8.282109260559082, -21.314090728759766, 38.1514778137207], "tau_ext": [-16.79161262512207, -41.70854187011719, 31.77648162841797, 31.346126556396484, 9.496050834655762, -3.0009641647338867, -0.1246940940618515], "tcp_pose": [0.6779617667198181, 0.03264102712273598, -0.21497070789337158, -0.0022707185707986355, -0.004587295465171337, 0.9998902082443237, 0.013904355466365814], "tcp_vel": [0.0001279517455259338, -0.00014830566942691803, 1.5374895156128332e-05, 0.00010458444739924744, 8.79842191352509e-05, -0.00027831809711642563], "flange_pose": [0.6786620616912842, 0.028473302721977234, -0.06503025442361832, -0.0022707185707986355, -0.004587295465171337, 0.9998902082443237, 0.013904355466365814], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.92327117919922, 15.10084342956543, 28.200054168701172, 0.36637046933174133, -24.08558464050293, 1.8056801557540894], "ext_wrench_in_world": [-108.1868435293244, 14.881044467531787, -27.29235043263431, -0.15535086801635167, -24.028471531604886, -2.473563741481734]}
+{"timestamp_ns": 1789729719480907603, "elapsed_ms": 8633, "source_timestamp_ns": 1789729719479246523, "q": [0.8365880250930786, -1.8972768783569336, -1.0063433647155762, 1.3811252117156982, -0.16134925186634064, 0.5940017104148865, 0.7036621570587158], "theta": [0.8386768698692322, -1.895342469215393, -1.0045515298843384, 1.3627164363861084, -0.16194361448287964, 0.5939542055130005, 0.7036378383636475], "dq": [0.0020512815099209547, -0.00031911826226860285, -0.0009967733640223742, -0.0009154307190328836, 0.002235799329355359, -0.0016500523779541254, -0.0008617971325293183], "dtheta": [0.000251215387834236, 0.00010325539915356785, -3.772562922677025e-05, 0.00020848459098488092, 0.0001375278807245195, -0.0005580938304774463, 5.913711356697604e-05], "tau": [55.52000045776367, 23.469999313354492, 5.544000148773193, -26.352001190185547, -2.576000213623047, 2.684000015258789, -0.5200000405311584], "tau_des": [0.484157919883728, -0.5724149942398071, -0.1508500576019287, -0.5591640472412109, 0.9314870834350586, -1.1470272541046143, -0.5425143837928772], "tau_dot": [-70.415283203125, -0.5304338932037354, -19.54111099243164, -19.960554122924805, 0.6652215123176575, 11.800690650939941, 15.120941162109375], "tau_ext": [-16.722518920898438, -41.580039978027344, 31.75627326965332, 31.27107048034668, 9.491491317749023, -2.988239288330078, -0.13615994155406952], "tcp_pose": [0.6779630184173584, 0.03264262527227402, -0.21496811509132385, -0.0022679376415908337, -0.004587851464748383, 0.9998902082443237, 0.013904531486332417], "tcp_vel": [-0.00011024612467736006, -0.00016955209139268845, 3.100997855653986e-05, -0.0003468864888418466, 0.0004039204795844853, -0.0001848843094194308], "flange_pose": [0.6786624789237976, 0.028474844992160797, -0.06502766162157059, -0.0022679376415908337, -0.004587851464748383, 0.9998902082443237, 0.013904531486332417], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69822692871094, 15.24417781829834, 28.167375564575195, 0.3876013159751892, -24.023807525634766, 1.8030405044555664], "ext_wrench_in_world": [-107.9628279219226, 15.025386858210728, -27.257285704968663, -0.17709255426307924, -23.9669895941688, -2.469122493888822]}
+{"timestamp_ns": 1789729719514231981, "elapsed_ms": 8666, "source_timestamp_ns": 1789729719509253550, "q": [0.8365877270698547, -1.8972740173339844, -1.0063482522964478, 1.381128191947937, -0.16134734451770782, 0.5939921140670776, 0.7036607265472412], "theta": [0.8386765718460083, -1.8953405618667603, -1.0045554637908936, 1.362717866897583, -0.16194313764572144, 0.5939446687698364, 0.7036364078521729], "dq": [8.539922419004142e-06, 0.0007930829306133091, 0.001657993532717228, -0.002099795499816537, -0.0016813994152471423, 0.000578200735617429, 0.0005386969423852861], "dtheta": [9.875519754132256e-05, -0.00013834044511895627, -0.00015459336282219738, 0.00015193781291600317, -0.0006878350395709276, -0.0010530458530411124, -6.496490823337808e-05], "tau": [55.529998779296875, 23.59000015258789, 5.544000148773193, -26.424001693725586, -2.56000018119812, 2.6600000858306885, -0.5560000538825989], "tau_des": [0.5569228529930115, -0.5427477955818176, -0.11166758090257645, -0.6324017643928528, 0.9451711177825928, -1.100115418434143, -0.5418866276741028], "tau_dot": [-53.39185333251953, 29.34886932373047, 52.925289154052734, -7.0374369621276855, 9.620176315307617, -33.921173095703125, -54.60731506347656], "tau_ext": [-16.763032913208008, -41.545753479003906, 31.721635818481445, 31.40125274658203, 9.490974426269531, -3.0064542293548584, -0.13444820046424866], "tcp_pose": [0.6779621839523315, 0.03263714164495468, -0.21497032046318054, -0.0022726054303348064, -0.004585657734423876, 0.9998902678489685, 0.01390062179416418], "tcp_vel": [-0.00012644592789001763, -0.0002881457912735641, -0.00011368103878339753, -0.00140406156424433, 0.00038849032716825604, 0.00047973671462386847], "flange_pose": [0.6786630153656006, 0.028470538556575775, -0.06502983719110489, -0.0022726054303348064, -0.004585657734423876, 0.9998902678489685, 0.01390062179416418], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.74449920654297, 15.102367401123047, 28.167306900024414, 0.3489306569099426, -24.026193618774414, 1.7922942638397217], "ext_wrench_in_world": [-108.00799736939317, 14.883451215491926, -27.26006552737235, -0.13847671033735023, -23.969334789200328, -2.458427363638364]}
+{"timestamp_ns": 1789729719547557389, "elapsed_ms": 8700, "source_timestamp_ns": 1789729719539285555, "q": [0.8365883827209473, -1.8972746133804321, -1.0063482522964478, 1.381129503250122, -0.16134485602378845, 0.5939902663230896, 0.7036594152450562], "theta": [0.8386780023574829, -1.8953408002853394, -1.0045546293258667, 1.3627188205718994, -0.16194170713424683, 0.5939429998397827, 0.7036354541778564], "dq": [0.000769303587730974, 0.0014661421300843358, 0.0005768951377831399, -0.001661589602008462, 0.0001720856234896928, 0.0018580615287646651, -0.003908654674887657], "dtheta": [-0.00017932761693373322, -6.483889592345804e-05, -0.00020196968398522586, 5.392277307691984e-05, -0.0007678850670345128, 0.00028335023671388626, 0.0006575266597792506], "tau": [55.48999786376953, 23.68000030517578, 5.4800004959106445, -26.288002014160156, -2.5480000972747803, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.5653530359268188, -0.5721568465232849, -0.10596997290849686, -0.6038916707038879, 0.9372181296348572, -1.1301703453063965, -0.5558373928070068], "tau_dot": [-132.7255096435547, 22.525314331054688, 7.345613956451416, 4.2525763511657715, 0.12127711623907089, -8.080484390258789, 2.42150616645813], "tau_ext": [-16.741159439086914, -41.604522705078125, 31.74984359741211, 31.410856246948242, 9.487926483154297, -3.0013134479522705, -0.12817198038101196], "tcp_pose": [0.6779609322547913, 0.03263694420456886, -0.21497108042240143, -0.002274205442517996, -0.0045859129168093204, 0.9998902678489685, 0.013900215737521648], "tcp_vel": [0.0001477934856666252, -0.00011187526979483664, -8.05669478722848e-05, -0.0005026403232477605, -0.0004621133557520807, -0.00032783462665975094], "flange_pose": [0.6786622405052185, 0.028470464050769806, -0.06503058969974518, -0.002274205442517996, -0.0045859129168093204, 0.9998902678489685, 0.013900215737521648], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.94503021240234, 14.97591495513916, 28.175630569458008, 0.32347607612609863, -24.07613754272461, 1.7904512882232666], "ext_wrench_in_world": [-108.207500317634, 14.755349818726335, -27.27068501198386, -0.11255447510488643, -24.0190755618628, -2.458066762148412]}
+{"timestamp_ns": 1789729719580897326, "elapsed_ms": 8733, "source_timestamp_ns": 1789729719579285770, "q": [0.8365929126739502, -1.8972759246826172, -1.0063462257385254, 1.3811278343200684, -0.1613440066576004, 0.5939940214157104, 0.7036586999893188], "theta": [0.8386821150779724, -1.8953418731689453, -1.0045535564422607, 1.3627177476882935, -0.16194024682044983, 0.5939465761184692, 0.70363450050354], "dq": [0.0019256866071373224, 0.00024965894408524036, 0.0015897884732112288, -0.00023785815574228764, -0.0008558473200537264, 0.00021847472817171365, 0.0004906077519990504], "dtheta": [-7.909929263405502e-05, -0.00024586112704128027, 0.0001563305122544989, 5.482014603330754e-05, 0.0003587492974475026, -0.00029304425697773695, -0.00030824868008494377], "tau": [55.619998931884766, 23.69999885559082, 5.5320000648498535, -26.23200035095215, -2.5240001678466797, 2.6680002212524414, -0.5480000376701355], "tau_des": [0.5589926838874817, -0.49669739603996277, -0.2047681361436844, -0.6013354659080505, 0.9150837063789368, -1.137046456336975, -0.5344023704528809], "tau_dot": [34.483036041259766, 141.0860595703125, 62.66556167602539, 11.603459358215332, 49.59141540527344, 14.27545166015625, -22.345855712890625], "tau_ext": [-16.729345321655273, -41.67789840698242, 31.778949737548828, 31.30710220336914, 9.48094654083252, -2.993335247039795, -0.12213701754808426], "tcp_pose": [0.6779621243476868, 0.03263942152261734, -0.21496714651584625, -0.0022703800350427628, -0.004587075673043728, 0.9998902678489685, 0.013902335427701473], "tcp_vel": [-0.0002597221755422652, 0.00012700597289949656, -0.00020528356253635138, -8.165211329469457e-05, 0.0005846874555572867, 0.0003992298152297735], "flange_pose": [0.6786623001098633, 0.028472304344177246, -0.0650266781449318, -0.0022703800350427628, -0.004587075673043728, 0.9998902678489685, 0.013902335427701473], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.89447021484375, 15.125707626342773, 28.162336349487305, 0.3686184883117676, -24.076398849487305, 1.8027513027191162], "ext_wrench_in_world": [-108.15806915205465, 14.905053587494237, -27.25421761222201, -0.15767765496255995, -24.019401729658853, -2.470273611436832]}
+{"timestamp_ns": 1789729719614228213, "elapsed_ms": 8766, "source_timestamp_ns": 1789729719609403763, "q": [0.8365922570228577, -1.8972752094268799, -1.00634765625, 1.3811280727386475, -0.1613440215587616, 0.5939968824386597, 0.7036583423614502], "theta": [0.8386812210083008, -1.8953415155410767, -1.0045546293258667, 1.3627187013626099, -0.16194024682044983, 0.5939496755599976, 0.70363450050354], "dq": [0.000566790287848562, -0.0024080367293208838, 0.0005747372633777559, 0.0012495806440711021, -0.001186964800581336, -0.0010062698274850845, -0.0011177952401340008], "dtheta": [3.1430528906639665e-05, 2.8606538762687705e-05, -0.00023629616771358997, 3.466780617600307e-05, -0.0005159493302926421, 0.0007088464917615056, 0.00028113365988247097], "tau": [55.62999725341797, 23.53999900817871, 5.504000186920166, -26.34400177001953, -2.5440001487731934, 2.688000202178955, -0.5080000162124634], "tau_des": [0.45837488770484924, -0.6217741370201111, -0.1179920881986618, -0.508297860622406, 0.9445182085037231, -1.1835317611694336, -0.5500553250312805], "tau_dot": [-17.1295108795166, -128.8541717529297, -30.85330581665039, -36.29911422729492, 57.58400344848633, 34.97412872314453, 81.2151870727539], "tau_ext": [-16.780241012573242, -41.63025665283203, 31.744558334350586, 31.321256637573242, 9.475188255310059, -3.0003163814544678, -0.12319035083055496], "tcp_pose": [0.6779630780220032, 0.032638829201459885, -0.2149672657251358, -0.0022694896906614304, -0.004586505703628063, 0.9998902678489685, 0.01390300877392292], "tcp_vel": [0.0002821540110744536, -6.976717850193381e-05, 0.00012448083725757897, -7.60765396989882e-06, -0.0008921665721572936, -0.00019125391554553062], "flange_pose": [0.6786630153656006, 0.028471507132053375, -0.06502678990364075, -0.0022694896906614304, -0.004586505703628063, 0.9998902678489685, 0.01390300877392292], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.71015930175781, 15.233314514160156, 28.200397491455078, 0.3920120596885681, -24.034555435180664, 1.8048301935195923], "ext_wrench_in_world": [-107.97486033655909, 15.015537039890729, -27.29025264224668, -0.18148455048698475, -23.977731013816065, -2.4711170017163377]}
+{"timestamp_ns": 1789729719647626533, "elapsed_ms": 8800, "source_timestamp_ns": 1789729719639408601, "q": [0.8365917205810547, -1.8972746133804321, -1.006349802017212, 1.381130337715149, -0.16134360432624817, 0.5939956903457642, 0.703659176826477], "theta": [0.8386809229850769, -1.895341396331787, -1.00455641746521, 1.3627201318740845, -0.16193976998329163, 0.593948245048523, 0.7036352157592773], "dq": [-0.00027209139079786837, 0.0009057163260877132, -0.0008392510353587568, -0.0017510403413325548, 0.0009724895935505629, -0.0023316084407269955, 0.006270046345889568], "dtheta": [-7.56848749006167e-05, -0.0001825761719373986, -0.0003004319441970438, -1.6794951079646125e-05, -0.00019445293582975864, 0.0009214279125444591, 0.0005764150992035866], "tau": [55.59000015258789, 23.600000381469727, 5.504000186920166, -26.328001022338867, -2.552000045776367, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.5068126320838928, -0.5953143835067749, -0.11506012827157974, -0.5385438799858093, 0.9305146932601929, -1.1739368438720703, -0.5609707236289978], "tau_dot": [127.65574645996094, 53.296775817871094, -19.06247329711914, 12.267444610595703, 30.18155860900879, -32.37087631225586, -0.027016688138246536], "tau_ext": [-16.79747200012207, -41.60260009765625, 31.740528106689453, 31.394426345825195, 9.483316421508789, -3.0089759826660156, -0.12295874208211899], "tcp_pose": [0.6779626607894897, 0.0326368473470211, -0.21496878564357758, -0.002270917873829603, -0.004585197661072016, 0.9998902678489685, 0.013901597820222378], "tcp_vel": [0.00024025652965065092, 2.3020020307740197e-05, 6.47065235170885e-06, 0.00016159827646333724, -0.0008208859362639487, -0.0005815363256260753], "flange_pose": [0.6786630153656006, 0.028469949960708618, -0.06502831727266312, -0.002270917873829603, -0.004585197661072016, 0.9998902678489685, 0.013901597820222378], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.72106170654297, 15.17488956451416, 28.226551055908203, 0.3745124936103821, -24.030303955078125, 1.7998710870742798], "ext_wrench_in_world": [-107.98539224053695, 14.95796293992569, -27.31770488780159, -0.16407019317007782, -23.973464104086133, -2.4660501887038673]}
+{"timestamp_ns": 1789729719680956200, "elapsed_ms": 8833, "source_timestamp_ns": 1789729719679237167, "q": [0.8365942239761353, -1.897277593612671, -1.0063512325286865, 1.3811299800872803, -0.16134385764598846, 0.5939956903457642, 0.7036593556404114], "theta": [0.8386831879615784, -1.8953450918197632, -1.0045592784881592, 1.3627196550369263, -0.16194002330303192, 0.5939487218856812, 0.70363450050354], "dq": [0.0011354554444551468, 0.0006463383324444294, 0.002098444849252701, 0.0005872939946129918, -0.0016530980356037617, 0.00026369752595201135, 0.00014980460400693119], "dtheta": [-6.799872789997607e-05, -5.539674384635873e-05, -0.0002669331734068692, -7.467821706086397e-05, 0.0006716023781336844, 0.000933667819481343, 0.00013817436411045492], "tau": [55.54999923706055, 23.60999870300293, 5.452000141143799, -26.21200180053711, -2.5360000133514404, 2.6440000534057617, -0.5600000023841858], "tau_des": [0.4921073317527771, -0.5966973900794983, -0.12284796684980392, -0.5239254832267761, 0.9155462980270386, -1.1813631057739258, -0.5571308732032776], "tau_dot": [93.8166732788086, -20.88827896118164, -23.380874633789062, 15.55639362335205, 48.04759979248047, -25.89906883239746, -46.27125930786133], "tau_ext": [-16.71384620666504, -41.63920593261719, 31.8056583404541, 31.356372833251953, 9.488783836364746, -3.000204563140869, -0.1224285438656807], "tcp_pose": [0.677963137626648, 0.03263700380921364, -0.2149677872657776, -0.002269191900268197, -0.004585637710988522, 0.9998903274536133, 0.013900124467909336], "tcp_vel": [0.00017179656424559653, 7.796143472660333e-05, 7.290888333955081e-06, 0.0008586160838603973, -0.00040684957639314234, -0.0006951094255782664], "flange_pose": [0.6786629557609558, 0.028470544144511223, -0.06502729654312134, -0.002269191900268197, -0.004585637710988522, 0.9998903274536133, 0.013900124467909336], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85922241210938, 15.120739936828613, 28.168373107910156, 0.35974666476249695, -24.054454803466797, 1.7988805770874023], "ext_wrench_in_world": [-108.1226986772984, 14.900774298285567, -27.260866368811566, -0.149051900646309, -23.997503142375002, -2.4657273466611236]}
+{"timestamp_ns": 1789729719714229755, "elapsed_ms": 8866, "source_timestamp_ns": 1789729719709233666, "q": [0.836594820022583, -1.8972831964492798, -1.0063506364822388, 1.3811284303665161, -0.16134406626224518, 0.5939942598342896, 0.7036594748497009], "theta": [0.8386841416358948, -1.895350694656372, -1.0045595169067383, 1.3627185821533203, -0.16194072365760803, 0.5939470529556274, 0.7036342620849609], "dq": [0.0011746309464797378, 0.0008424940751865506, 0.0007262355065904558, 0.0019717079121619463, 0.0009634339949116111, 0.0010762896854430437, -0.0005921419942751527], "dtheta": [-0.00022773323871660978, -0.00028735780506394804, -1.0788379768200684e-05, -0.0004336766432970762, 0.0003620021743699908, 0.00012030370999127626, 0.0006854516104795039], "tau": [55.63999938964844, 23.579999923706055, 5.464000225067139, -26.268001556396484, -2.576000213623047, 2.6760001182556152, -0.5360000133514404], "tau_des": [0.5300933718681335, -0.535914957523346, -0.1803513914346695, -0.5482415556907654, 0.9176361560821533, -1.164481520652771, -0.5557873249053955], "tau_dot": [-34.98690414428711, -26.03226089477539, 9.79977798461914, -35.22368240356445, 7.384394645690918, 26.795879364013672, 47.350067138671875], "tau_ext": [-16.73963737487793, -41.60210418701172, 31.794734954833984, 31.33327865600586, 9.489837646484375, -2.9963486194610596, -0.12268739193677902], "tcp_pose": [0.6779618859291077, 0.032639067620038986, -0.21496853232383728, -0.0022689367178827524, -0.004587660077959299, 0.9998903274536133, 0.013898098841309547], "tcp_vel": [2.0831450456171297e-05, 0.00020619732094928622, -6.273608596529812e-05, 0.0003290852764621377, 4.8817760216479655e-06, -0.0007724641473032534], "flange_pose": [0.678661584854126, 0.02847321704030037, -0.06502801924943924, -0.0022689367178827524, -0.004587660077959299, 0.9998903274536133, 0.013898098841309547], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85912322998047, 15.161566734313965, 28.140047073364258, 0.36323708295822144, -24.0493221282959, 1.7999142408370972], "ext_wrench_in_world": [-108.12288368799253, 14.940250220054681, -27.231539901836314, -0.15249517703245813, -23.992386763669252, -2.4665056024337835]}
+{"timestamp_ns": 1789729719747555753, "elapsed_ms": 8900, "source_timestamp_ns": 1789729719739228736, "q": [0.8365944623947144, -1.8972840309143066, -1.0063507556915283, 1.3811287879943848, -0.161342591047287, 0.5939902663230896, 0.7036579251289368], "theta": [0.8386840224266052, -1.8953521251678467, -1.0045596361160278, 1.3627187013626099, -0.16193976998329163, 0.5939434766769409, 0.7036328315734863], "dq": [-0.0007200695690698922, 0.000549611053429544, -0.00042630935786291957, 0.0002499339752830565, -0.0012961116153746843, 0.0007976561901159585, -0.0012862725416198373], "dtheta": [-9.051051165442914e-05, -0.00030679459450766444, -0.0003683169779833406, -4.764759069075808e-05, -8.882412657840177e-06, 0.00036769540747627616, -0.0002662472543306649], "tau": [55.599998474121094, 23.53999900817871, 5.488000392913818, -26.288002014160156, -2.556000232696533, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.5468495488166809, -0.5286175012588501, -0.1478346586227417, -0.5817021131515503, 0.931459903717041, -1.1505134105682373, -0.5371748805046082], "tau_dot": [-22.24921989440918, 8.70751667022705, -2.0036230087280273, 43.75886154174805, 33.849185943603516, -38.707923889160156, 12.452682495117188], "tau_ext": [-16.79581642150879, -41.573909759521484, 31.7763671875, 31.37246322631836, 9.494418144226074, -2.9994425773620605, -0.12232588976621628], "tcp_pose": [0.6779605746269226, 0.032638635486364365, -0.2149697244167328, -0.002271118341013789, -0.004588291049003601, 0.9998903274536133, 0.013896804302930832], "tcp_vel": [0.00011009610898327082, -4.6260811359388754e-05, -0.00010864427895285189, -0.0001990840391954407, -0.00035405857488512993, 0.00020166937611065805], "flange_pose": [0.6786609292030334, 0.028473177924752235, -0.06502921134233475, -0.002271118341013789, -0.004588291049003601, 0.9998903274536133, 0.013896804302930832], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81314849853516, 15.1472749710083, 28.1622314453125, 0.3482287526130676, -24.03195571899414, 1.7960479259490967], "ext_wrench_in_world": [-108.07702256641132, 14.926790793893217, -27.25388629110793, -0.13760664973445189, -23.975003132311315, -2.46216090289792]}
+{"timestamp_ns": 1789729719780914457, "elapsed_ms": 8933, "source_timestamp_ns": 1789729719779280244, "q": [0.8365955352783203, -1.8972816467285156, -1.0063507556915283, 1.381127953529358, -0.1613413244485855, 0.5939902663230896, 0.7036550641059875], "theta": [0.8386850357055664, -1.8953505754470825, -1.0045596361160278, 1.3627179861068726, -0.16193810105323792, 0.5939434766769409, 0.7036303877830505], "dq": [-0.0038503443356603384, -0.0018765570130199194, -0.0007285010651685297, 0.0007066222606226802, 0.00035417231265455484, -0.002940795850008726, 0.0005162290763109922], "dtheta": [0.00021917598496656865, -3.4214721381431445e-05, 0.00013824219058733433, 0.00012580906332004815, 0.0010031673591583967, 0.0010015012230724096, 0.00029579727561213076], "tau": [55.56999969482422, 23.549999237060547, 5.496000289916992, -26.272001266479492, -2.5440001487731934, 2.6480002403259277, -0.5760000348091125], "tau_des": [0.4703202247619629, -0.5671285390853882, -0.20454446971416473, -0.5203576683998108, 0.9024381637573242, -1.18532395362854, -0.5493490099906921], "tau_dot": [-59.5314826965332, -67.21797943115234, -25.6082706451416, -18.001739501953125, 36.20545959472656, -33.088993072509766, -48.02137756347656], "tau_ext": [-16.738603591918945, -41.56875228881836, 31.768156051635742, 31.359834671020508, 9.49323558807373, -3.002758502960205, -0.11391104757785797], "tcp_pose": [0.6779615879058838, 0.032638151198625565, -0.2149680256843567, -0.0022705907467752695, -0.004588515963405371, 0.9998903274536133, 0.013898338191211224], "tcp_vel": [-6.959722213650821e-06, 0.0002906777081079781, 0.0001214437943417579, 0.0012671882286667824, -0.00026819133199751377, -0.000736190821044147], "flange_pose": [0.6786618232727051, 0.028472233563661575, -0.06502752751111984, -0.0022705907467752695, -0.004588515963405371, 0.9998903274536133, 0.013898338191211224], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85552215576172, 15.076776504516602, 28.163549423217773, 0.33126717805862427, -24.039569854736328, 1.7961384057998657], "ext_wrench_in_world": [-108.11873555810806, 14.856005125850366, -27.257044931352535, -0.12056415636284319, -23.982447274473365, -2.462611810274086]}
+{"timestamp_ns": 1789729719814239926, "elapsed_ms": 8966, "source_timestamp_ns": 1789729719809328216, "q": [0.8365962505340576, -1.8972827196121216, -1.0063512325286865, 1.3811280727386475, -0.16134026646614075, 0.593989908695221, 0.7036548852920532], "theta": [0.8386858105659485, -1.8953509330749512, -1.0045596361160278, 1.3627179861068726, -0.161936417222023, 0.5939427614212036, 0.703629195690155], "dq": [-0.0012815177906304598, 0.000531376397702843, -0.002152426866814494, -9.25732238101773e-05, -0.00013475088053382933, 0.002515804721042514, 0.0004492222797125578], "dtheta": [8.787484694039449e-05, -0.00033464020816609263, 9.12932155188173e-05, 7.850674592191353e-05, 0.0005182609311304986, 0.0010142020182684064, 0.00045901909470558167], "tau": [55.63999938964844, 23.76999855041504, 5.508000373840332, -26.220001220703125, -2.568000078201294, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.5058050751686096, -0.5284969210624695, -0.21899423003196716, -0.5406984090805054, 0.9113783240318298, -1.1816959381103516, -0.5480160117149353], "tau_dot": [28.061107635498047, 111.94202423095703, 105.13542175292969, 34.71905517578125, -83.9324951171875, 46.09416198730469, 16.048385620117188], "tau_ext": [-16.729724884033203, -41.633018493652344, 31.78386116027832, 31.34769630432129, 9.483333587646484, -2.99276065826416, -0.1116131842136383], "tcp_pose": [0.6779613494873047, 0.03263821825385094, -0.21496808528900146, -0.002270621946081519, -0.004588524345308542, 0.9998903274536133, 0.013897965662181377], "tcp_vel": [-1.2850707207689993e-05, 0.0003301935503259301, 3.162329221595428e-06, 0.0007477154722437263, -0.00046258734073489904, -0.0004697680997196585], "flange_pose": [0.678661584854126, 0.0284724123775959, -0.06502758711576462, -0.002270621946081519, -0.004588524345308542, 0.9998903274536133, 0.013897965662181377], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.88911437988281, 15.090304374694824, 28.140274047851562, 0.34335318207740784, -24.054052352905273, 1.8034614324569702], "ext_wrench_in_world": [-108.15234253176821, 14.868548030339939, -27.23325899787087, -0.1325514161529522, -23.996833694684838, -2.4702635272424565]}
+{"timestamp_ns": 1789729719847594370, "elapsed_ms": 9000, "source_timestamp_ns": 1789729719839234437, "q": [0.8365958333015442, -1.8972852230072021, -1.006350040435791, 1.3811280727386475, -0.16133999824523926, 0.593989908695221, 0.7036555409431458], "theta": [0.8386855721473694, -1.8953529596328735, -1.0045592784881592, 1.3627182245254517, -0.1619359403848648, 0.5939429998397827, 0.7036299109458923], "dq": [0.0014832706656306982, 0.0002619504230096936, -8.711676855455153e-06, -0.004404574632644653, -0.0035931647289544344, 0.0012889089994132519, -0.0007959342910908163], "dtheta": [-0.00037853766116313636, -0.0002482982526998967, -0.0002175350527977571, -0.00038665937609039247, 0.0011474015191197395, -0.0005617558490484953, 0.000802318740170449], "tau": [55.57999801635742, 23.649999618530273, 5.468000411987305, -26.264001846313477, -2.5360000133514404, 2.6640000343322754, -0.5480000376701355], "tau_des": [0.6145500540733337, -0.5146008729934692, -0.1777622103691101, -0.6111361384391785, 0.8790179491043091, -1.1338547468185425, -0.5610895156860352], "tau_dot": [-42.30647659301758, -77.92010498046875, -24.3417911529541, 6.406077861785889, 9.307703018188477, 4.875599384307861, 16.906494140625], "tau_ext": [-16.761371612548828, -41.68405532836914, 31.79010581970215, 31.336673736572266, 9.473686218261719, -2.9956839084625244, -0.112162284553051], "tcp_pose": [0.6779601573944092, 0.032639630138874054, -0.21496902406215668, -0.0022710745688527822, -0.004589354619383812, 0.9998903274536133, 0.013897511176764965], "tcp_vel": [-0.0001846219238359481, 1.9284718291601166e-05, -0.00032785587245598435, 0.00024055878748185933, 0.0010816443245857954, -0.001472793403081596], "flange_pose": [0.6786605715751648, 0.028473960235714912, -0.06502851843833923, -0.0022710745688527822, -0.004589354619383812, 0.9998903274536133, 0.013897511176764965], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83111572265625, 15.200573921203613, 28.181610107421875, 0.37681296467781067, -24.05634307861328, 1.809301495552063], "ext_wrench_in_world": [-108.09559379594505, 14.980248322931242, -27.27168634057977, -0.1659778072864692, -23.999272918034553, -2.4759953556666843]}
+{"timestamp_ns": 1789729719880957624, "elapsed_ms": 9033, "source_timestamp_ns": 1789729719879231072, "q": [0.8365967869758606, -1.897283673286438, -1.0063549280166626, 1.3811278343200684, -0.16134175658226013, 0.593990683555603, 0.7036557793617249], "theta": [0.8386861681938171, -1.8953516483306885, -1.004563570022583, 1.3627182245254517, -0.1619376242160797, 0.59394371509552, 0.7036308646202087], "dq": [-0.0004940732615068555, 0.0033075790852308273, -0.0017098048701882362, -0.0007929701823741198, -0.0003851276997011155, 0.0004038760089315474, -0.001355186221189797], "dtheta": [0.0001921184448292479, -0.0002484111755620688, -0.00025281772832386196, 0.00010670761548681185, 0.0007790792733430862, 0.0005799336358904839, 3.6115714010520605e-06], "tau": [55.599998474121094, 23.59000015258789, 5.5320000648498535, -26.360000610351562, -2.5440001487731934, 2.6480002403259277, -0.5400000214576721], "tau_des": [0.48931559920310974, -0.5632860064506531, -0.15660811960697174, -0.5376580357551575, 0.91410231590271, -1.1752737760543823, -0.5493727922439575], "tau_dot": [49.2940559387207, 34.71259689331055, 0.11068154871463776, -24.25868797302246, 49.93090057373047, -97.09334564208984, 8.474872589111328], "tau_ext": [-16.772735595703125, -41.59016036987305, 31.744304656982422, 31.341829299926758, 9.483489036560059, -2.9994471073150635, -0.12104248255491257], "tcp_pose": [0.6779628396034241, 0.03263654187321663, -0.21496790647506714, -0.0022689905017614365, -0.004587505012750626, 0.9998903274536133, 0.013896284624934196], "tcp_vel": [1.9916245946660638e-05, 5.950248669250868e-05, -2.8630427095777122e-06, 0.000456281122751534, -0.0001931502192746848, -0.0004439299809746444], "flange_pose": [0.6786625981330872, 0.028471237048506737, -0.0650273859500885, -0.0022689905017614365, -0.004587505012750626, 0.9998903274536133, 0.013896284624934196], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7708740234375, 15.207648277282715, 28.190900802612305, 0.37765321135520935, -24.041501998901367, 1.8051964044570923], "ext_wrench_in_world": [-108.03529428802813, 14.988472979027538, -27.281525027388454, -0.16701388158372693, -23.984565373102427, -2.4714175277812735]}
+{"timestamp_ns": 1789729719914234658, "elapsed_ms": 9066, "source_timestamp_ns": 1789729719909310850, "q": [0.8365967273712158, -1.8972829580307007, -1.00635826587677, 1.3811287879943848, -0.16134268045425415, 0.5939885377883911, 0.7036563158035278], "theta": [0.8386863470077515, -1.8953516483306885, -1.0045669078826904, 1.3627188205718994, -0.16193833947181702, 0.5939418077468872, 0.7036316394805908], "dq": [0.0007559561636298895, -5.437337313196622e-05, -0.0012608905090019107, -0.001771591487340629, -0.0012127315858379006, -0.001417880761437118, -0.0024638462346047163], "dtheta": [-9.382257849210873e-05, 0.00026237621204927564, -0.00018465887114871293, 3.1197687349049374e-05, 0.0015466904733330011, -0.00015274205361492932, -3.9618837035959587e-05], "tau": [55.56999969482422, 23.600000381469727, 5.51200008392334, -26.360000610351562, -2.556000232696533, 2.6680002212524414, -0.527999997138977], "tau_des": [0.5422223806381226, -0.6001294851303101, -0.10833103209733963, -0.5764274597167969, 0.8818919062614441, -1.1453620195388794, -0.5602116584777832], "tau_dot": [19.912574768066406, -11.522132873535156, 14.244074821472168, -6.636972427368164, 2.591081142425537, -29.356821060180664, 0.05194157361984253], "tau_ext": [-16.758228302001953, -41.57786560058594, 31.748077392578125, 31.378198623657227, 9.492424011230469, -3.004772663116455, -0.1260625123977661], "tcp_pose": [0.6779635548591614, 0.03263385593891144, -0.2149684727191925, -0.002269407967105508, -0.004586134105920792, 0.9998903870582581, 0.013894231989979744], "tcp_vel": [-0.00013957980263512582, -0.00010039834887720644, -0.00015429776976816356, 0.0009201864595524967, 0.0010303284507244825, -0.0011154933599755168], "flange_pose": [0.6786633729934692, 0.028469163924455643, -0.06502793729305267, -0.002269407967105508, -0.004586134105920792, 0.9998903870582581, 0.013894231989979744], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8062515258789, 15.113309860229492, 28.189136505126953, 0.354574590921402, -24.042844772338867, 1.7993696928024292], "ext_wrench_in_world": [-108.06978496094703, 14.893980956265688, -27.282198035827825, -0.14396442897206868, -23.985865951331256, -2.465633384476291]}
+{"timestamp_ns": 1789729719947565676, "elapsed_ms": 9100, "source_timestamp_ns": 1789729719939227539, "q": [0.8365978598594666, -1.8972874879837036, -1.0063576698303223, 1.3811278343200684, -0.16134513914585114, 0.5939869284629822, 0.7036555409431458], "theta": [0.8386871218681335, -1.8953561782836914, -1.0045661926269531, 1.362718105316162, -0.16194024682044983, 0.5939403772354126, 0.7036313414573669], "dq": [-0.000926140695810318, 0.0005604968755505979, -0.0015418609837070107, -0.0017451252788305283, 0.001899571856483817, 0.00030913203954696655, 0.0026227303314954042], "dtheta": [7.693652150919661e-05, -0.0005149492644704878, -1.168991184385959e-05, 0.0002221770555479452, -0.0011267561931163073, 0.000764580792747438, -5.390578371589072e-05], "tau": [55.53999710083008, 23.670000076293945, 5.492000102996826, -26.2760009765625, -2.5840001106262207, 2.6760001182556152, -0.5200000405311584], "tau_des": [0.5049094557762146, -0.5118201971054077, -0.1884424388408661, -0.5564923882484436, 0.966082751750946, -1.172210931777954, -0.527869462966919], "tau_dot": [-88.48789978027344, -4.653817176818848, 27.57306671142578, 44.05447769165039, -2.5846855640411377, 32.586612701416016, 30.69443702697754], "tau_ext": [-16.755537033081055, -41.66154098510742, 31.792369842529297, 31.372018814086914, 9.501432418823242, -2.9970009326934814, -0.12726853787899017], "tcp_pose": [0.6779627799987793, 0.032635316252708435, -0.21496856212615967, -0.0022685080766677856, -0.004588904790580273, 0.9998903870582581, 0.013891711831092834], "tcp_vel": [9.202826186083257e-05, 0.0001439276966266334, -2.0712133846245706e-05, -0.0007169526070356369, -0.001104349154047668, 0.0010327972704544663], "flange_pose": [0.6786623597145081, 0.028471380472183228, -0.06502800434827805, -0.0022685080766677856, -0.004588904790580273, 0.9998903870582581, 0.013891711831092834], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.9031753540039, 15.08342170715332, 28.1773681640625, 0.3462294042110443, -24.065053939819336, 1.798754096031189], "ext_wrench_in_world": [-108.16640691962635, 14.862149102803127, -27.271117994496002, -0.13527714066967497, -24.008018762088863, -2.4655521570522594]}
+{"timestamp_ns": 1789729719980899443, "elapsed_ms": 9133, "source_timestamp_ns": 1789729719979227164, "q": [0.8365990519523621, -1.8972914218902588, -1.006356120109558, 1.381126880645752, -0.16134247183799744, 0.5939858555793762, 0.7036544680595398], "theta": [0.8386881947517395, -1.8953591585159302, -1.004564642906189, 1.3627166748046875, -0.16193881630897522, 0.593938946723938, 0.7036311626434326], "dq": [-0.0019472000421956182, -0.0019033739808946848, 0.0007712249644100666, 0.0010248004691675305, -0.0023713011760264635, -0.003047263715416193, -0.0013872359413653612], "dtheta": [-0.000274998921668157, -0.000279981002677232, -0.00013463244249578565, 1.4660418855783064e-05, -0.00036923648440279067, 0.000937454286031425, 0.00030316627817228436], "tau": [55.599998474121094, 23.60999870300293, 5.508000373840332, -26.304000854492188, -2.556000232696533, 2.6640000343322754, -0.5600000023841858], "tau_des": [0.550542950630188, -0.5251908302307129, -0.1817556619644165, -0.562658429145813, 0.9343640804290771, -1.1752384901046753, -0.5379788875579834], "tau_dot": [78.67155456542969, 72.14820861816406, -84.42861938476562, -62.13779830932617, -10.865398406982422, -13.348069190979004, -44.46076202392578], "tau_ext": [-16.759565353393555, -41.64425277709961, 31.76441192626953, 31.33498764038086, 9.496291160583496, -2.9950947761535645, -0.12110459804534912], "tcp_pose": [0.6779612302780151, 0.032637499272823334, -0.21496878564357758, -0.0022689606994390488, -0.004590492695569992, 0.9998903870582581, 0.013891487382352352], "tcp_vel": [0.0001305226905969903, 0.0001273099915124476, -0.00014632292732130736, 8.014329796424136e-05, -0.0006600863998755813, -2.5106068278546445e-05], "flange_pose": [0.6786609888076782, 0.028473634272813797, -0.06502822041511536, -0.0022689606994390488, -0.004590492695569992, 0.9998903870582581, 0.013891487382352352], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.87806701660156, 15.158066749572754, 28.173131942749023, 0.36701884865760803, -24.06495475769043, 1.805914044380188], "ext_wrench_in_world": [-108.1420314922222, 14.936519567192107, -27.264832701495273, -0.15602535492298322, -24.00791455633295, -2.472604012996112]}
+{"timestamp_ns": 1789729720014236455, "elapsed_ms": 9166, "source_timestamp_ns": 1789729720009331093, "q": [0.8365979194641113, -1.8972902297973633, -1.0063567161560059, 1.381128191947937, -0.16134126484394073, 0.5939805507659912, 0.7036535739898682], "theta": [0.8386882543563843, -1.8953582048416138, -1.0045650005340576, 1.3627171516418457, -0.16193833947181702, 0.5939332246780396, 0.7036299109458923], "dq": [0.0007549995207227767, -6.0883689002366737e-05, -0.0004818892339244485, 0.0001778093574102968, -0.0034926896914839745, 0.0006654039607383311, -0.0011263566557317972], "dtheta": [0.0004570127057377249, -0.0003714553895406425, -0.0005052899359725416, 0.00018699052452575415, -0.0004693866358138621, -0.0020045931451022625, 6.396047683665529e-05], "tau": [55.56999969482422, 23.619998931884766, 5.5320000648498535, -26.332000732421875, -2.5480000972747803, 2.6760001182556152, -0.5800000429153442], "tau_des": [0.5453785061836243, -0.5287259221076965, -0.11957364529371262, -0.6446751356124878, 0.9405788779258728, -1.0863864421844482, -0.5394930243492126], "tau_dot": [26.964115142822266, 47.521968841552734, 3.2447216510772705, -4.005703449249268, 30.484102249145508, 8.764349937438965, -81.95355987548828], "tau_ext": [-16.777069091796875, -41.60615539550781, 31.73749351501465, 31.35121726989746, 9.4926176071167, -2.995220184326172, -0.11818451434373856], "tcp_pose": [0.6779599189758301, 0.032635804265737534, -0.21497048437595367, -0.002272246638312936, -0.004590082447975874, 0.9998903870582581, 0.013890048488974571], "tcp_vel": [-0.00021552345424424857, -0.0005544103332795203, -0.00010100610961671919, -0.0023080133832991123, 0.0007919140625745058, 0.00016765976033639163], "flange_pose": [0.6786606311798096, 0.028472373262047768, -0.06502991914749146, -0.002272246638312936, -0.004590082447975874, 0.9998903870582581, 0.013890048488974571], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79979705810547, 15.150344848632812, 28.190773010253906, 0.3627035915851593, -24.048194885253906, 1.806166172027588], "ext_wrench_in_world": [-108.06394597437826, 14.930012828710217, -27.28236014530426, -0.1518978765185003, -23.99112205745949, -2.4723383333734366]}
+{"timestamp_ns": 1789729720047564046, "elapsed_ms": 9200, "source_timestamp_ns": 1789729720039310446, "q": [0.8365980982780457, -1.8972907066345215, -1.0063563585281372, 1.3811280727386475, -0.16134026646614075, 0.5939815044403076, 0.7036535143852234], "theta": [0.8386881351470947, -1.8953579664230347, -1.0045644044876099, 1.3627169132232666, -0.1619373857975006, 0.593934178352356, 0.7036299109458923], "dq": [-0.0010856232838705182, 0.00021983659826219082, 0.0006785202422179282, 0.0010031675919890404, 0.00214536115527153, 0.0019124033860862255, 0.004444905556738377], "dtheta": [-0.0001658080582274124, -0.0002589222858659923, 0.00014689743693452328, -0.000222430782741867, -0.00014253894914872944, 0.001135798986069858, 0.000991727109067142], "tau": [55.52000045776367, 23.68000030517578, 5.500000476837158, -26.34800148010254, -2.56000018119812, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.5240770578384399, -0.5394025444984436, -0.21911011636257172, -0.5360367894172668, 0.9179256558418274, -1.1840935945510864, -0.5517308115959167], "tau_dot": [-117.6523208618164, 102.40614318847656, -36.71723175048828, -33.132713317871094, 5.011491775512695, 11.59872817993164, 16.30549430847168], "tau_ext": [-16.771512985229492, -41.60491943359375, 31.737560272216797, 31.355667114257812, 9.48713493347168, -2.9955227375030518, -0.1161164864897728], "tcp_pose": [0.6779597401618958, 0.032636407762765884, -0.2149704396724701, -0.0022721285931766033, -0.004590138327330351, 0.9998903870582581, 0.013890615664422512], "tcp_vel": [0.00016455017612315714, 0.0003690239100251347, 5.909063474973664e-05, 0.0006786947487853467, -0.0008761278004385531, -0.0006977285374887288], "flange_pose": [0.6786603927612305, 0.028472809121012688, -0.06502987444400787, -0.0022721285931766033, -0.004590138327330351, 0.9998903870582581, 0.013890615664422512], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79341125488281, 15.114716529846191, 28.212297439575195, 0.3544106185436249, -24.049867630004883, 1.8058598041534424], "ext_wrench_in_world": [-108.05733150000147, 14.895075778948538, -27.304902841781622, -0.14358554342952815, -23.992723151819284, -2.472142490113218]}
+{"timestamp_ns": 1789729720080983256, "elapsed_ms": 9233, "source_timestamp_ns": 1789729720079239596, "q": [0.836600124835968, -1.8972923755645752, -1.0063565969467163, 1.381127953529358, -0.16133973002433777, 0.5939823985099792, 0.703654408454895], "theta": [0.8386899828910828, -1.895359754562378, -1.0045652389526367, 1.3627172708511353, -0.1619366705417633, 0.5939348936080933, 0.7036306262016296], "dq": [-0.0008221608586609364, -0.0005953039508312941, -0.00021464761812239885, -0.0008214478148147464, 0.0005874574417248368, -0.0012109990930184722, 0.0005075203371234238], "dtheta": [0.00015587829693686217, -0.00014395637845154852, 0.00011435281339799985, -4.0807568439049646e-05, 0.0008648071088828146, -0.000828400778118521, 6.857333210064098e-05], "tau": [55.529998779296875, 23.65999984741211, 5.464000225067139, -26.316001892089844, -2.5440001487731934, 2.6560001373291016, -0.5680000185966492], "tau_des": [0.5423352718353271, -0.5126148462295532, -0.2183457612991333, -0.5945720672607422, 0.8946610689163208, -1.1336658000946045, -0.5417645573616028], "tau_dot": [-58.75885009765625, 0.4566953480243683, -44.21261215209961, -42.89479064941406, 27.871986389160156, -24.961259841918945, -77.65545654296875], "tau_ext": [-16.736642837524414, -41.670555114746094, 31.771955490112305, 31.338768005371094, 9.483197212219238, -2.9961109161376953, -0.12188254296779633], "tcp_pose": [0.6779599189758301, 0.03263695910573006, -0.2149694859981537, -0.0022708496544510126, -0.00459001399576664, 0.9998903870582581, 0.013890386559069157], "tcp_vel": [-0.0002993134839925915, 4.3308235035510734e-05, -7.790566451149061e-05, -1.5369672837550752e-05, 0.0009547587833367288, -0.00035838180338032544], "flange_pose": [0.6786602735519409, 0.028473425656557083, -0.06502892076969147, -0.0022708496544510126, -0.00459001399576664, 0.9998903870582581, 0.013890386559069157], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82666015625, 15.149275779724121, 28.19291877746582, 0.37059906125068665, -24.061962127685547, 1.8081727027893066], "ext_wrench_in_world": [-108.09072920832064, 14.92879344432599, -27.284707288231747, -0.15967415620457817, -24.004898953622778, -2.47470887412765]}
+{"timestamp_ns": 1789729720114243666, "elapsed_ms": 9266, "source_timestamp_ns": 1789729720109307608, "q": [0.8366016149520874, -1.8972926139831543, -1.0063581466674805, 1.3811284303665161, -0.16134177148342133, 0.5939827561378479, 0.703656792640686], "theta": [0.8386910557746887, -1.8953598737716675, -1.0045661926269531, 1.362717628479004, -0.16193857789039612, 0.5939360857009888, 0.7036330699920654], "dq": [0.0002688989625312388, 0.0009885160252451897, 2.2334537788992748e-05, 0.0007970515871420503, 0.001496915821917355, -0.0009251745068468153, -0.0022968268021941185], "dtheta": [6.47682390990667e-05, 0.0002290961128892377, 0.00023635580146219581, 7.323972386075184e-05, 0.0005285978550091386, -0.0007178561063483357, -0.00024400280381087214], "tau": [55.5, 23.59000015258789, 5.508000373840332, -26.428001403808594, -2.5920000076293945, 2.7400002479553223, -0.527999997138977], "tau_des": [0.5211389064788818, -0.5547173619270325, -0.19685813784599304, -0.5766643285751343, 0.901683509349823, -1.141939640045166, -0.5379719138145447], "tau_dot": [-63.32024383544922, 50.372901916503906, -4.017199516296387, -49.30393981933594, -43.448123931884766, 19.32632064819336, 8.10368537902832], "tau_ext": [-16.76605987548828, -41.647178649902344, 31.765426635742188, 31.34270477294922, 9.493671417236328, -2.995647430419922, -0.12737272679805756], "tcp_pose": [0.6779608726501465, 0.032636016607284546, -0.21496859192848206, -0.0022693611681461334, -0.00458896066993475, 0.9998904466629028, 0.013889188878238201], "tcp_vel": [-0.00023834350577089936, -2.7260724891675636e-05, -3.3053071092581376e-05, 0.00013880128972232342, 0.0008970146300271153, -8.249618076661136e-06], "flange_pose": [0.6786607503890991, 0.028472842648625374, -0.06502801179885864, -0.0022693611681461334, -0.00458896066993475, 0.9998904466629028, 0.013889188878238201], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81909942626953, 15.181058883666992, 28.191577911376953, 0.3788008987903595, -24.060197830200195, 1.8071290254592896], "ext_wrench_in_world": [-108.08333956865737, 14.960762065285083, -27.282872304188096, -0.16793089183806184, -24.00324572951783, -2.4735235450471564]}
+{"timestamp_ns": 1789729720147559728, "elapsed_ms": 9300, "source_timestamp_ns": 1789729720139246166, "q": [0.8366016149520874, -1.897292137145996, -1.0063612461090088, 1.381127953529358, -0.16134119033813477, 0.5939813256263733, 0.7036558985710144], "theta": [0.8386905789375305, -1.895359754562378, -1.0045692920684814, 1.3627171516418457, -0.16193857789039612, 0.5939351320266724, 0.7036330699920654], "dq": [-0.0008166763000190258, -0.00013726668839808553, 0.001949286786839366, -0.00023977506498340517, -0.00010226268204860389, 0.001739458180963993, 0.00038857676554471254], "dtheta": [-0.00015620453632436693, 0.0002395480260020122, 0.00015316945791710168, 2.12619543162873e-05, -0.000768037629313767, 0.0002373362221987918, -0.0004885268863290548], "tau": [55.61000061035156, 23.649999618530273, 5.5360002517700195, -26.328001022338867, -2.5880000591278076, 2.624000072479248, -0.5360000133514404], "tau_des": [0.4985641837120056, -0.5868266224861145, -0.167196124792099, -0.5390109419822693, 0.9374221563339233, -1.1699408292770386, -0.5295881032943726], "tau_dot": [79.47557830810547, 122.26685333251953, 6.805353164672852, 30.633974075317383, -37.96365737915039, -23.715665817260742, -36.92347717285156], "tau_ext": [-16.78419303894043, -41.597049713134766, 31.75867462158203, 31.365642547607422, 9.508997917175293, -3.007154941558838, -0.13756529986858368], "tcp_pose": [0.6779618859291077, 0.03263410925865173, -0.21496863663196564, -0.002269348595291376, -0.004588011186569929, 0.9998904466629028, 0.01388822216540575], "tcp_vel": [0.00011963571887463331, -6.6508732743386645e-06, 5.4152904340298846e-05, -5.631042949971743e-05, -0.00039681384805589914, 0.0008592792437411845], "flange_pose": [0.6786617040634155, 0.028471222147345543, -0.06502804160118103, -0.002269348595291376, -0.004588011186569929, 0.9998904466629028, 0.01388822216540575], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8267593383789, 15.129983901977539, 28.195613861083984, 0.359478235244751, -24.049253463745117, 1.798636794090271], "ext_wrench_in_world": [-108.09052396026779, 14.909902111733677, -27.28832226992765, -0.14871480453053296, -23.99236769727946, -2.4647692118291995]}
+{"timestamp_ns": 1789729720180899798, "elapsed_ms": 9333, "source_timestamp_ns": 1789729720179243437, "q": [0.8366032242774963, -1.8972944021224976, -1.0063637495040894, 1.3811273574829102, -0.16133935749530792, 0.5939794778823853, 0.7036543488502502], "theta": [0.8386913537979126, -1.8953620195388794, -1.0045723915100098, 1.3627171516418457, -0.1619376242160797, 0.5939334630966187, 0.7036318182945251], "dq": [-0.0003816258686129004, -0.0006887431954964995, 0.001239810255356133, 0.0013977038906887174, -0.00039200318860821426, -2.9607408578158356e-05, 0.00021106011990923434], "dtheta": [-0.0001770126837072894, -4.4707026063406374e-06, 2.3783219148754142e-05, 3.497504076221958e-05, 0.00020825586398132145, -0.00020843786478508264, -0.00039777575875632465], "tau": [55.529998779296875, 23.6299991607666, 5.456000328063965, -26.304000854492188, -2.580000162124634, 2.6440000534057617, -0.5360000133514404], "tau_des": [0.5553802847862244, -0.5398680567741394, -0.16908685863018036, -0.587571382522583, 0.9131729602813721, -1.1464322805404663, -0.5366937518119812], "tau_dot": [-18.534473419189453, 1.493574619293213, -67.100341796875, -0.9278721213340759, 18.257356643676758, -42.82568359375, 0.9947466850280762], "tau_ext": [-16.74748420715332, -41.606266021728516, 31.79220962524414, 31.361879348754883, 9.514965057373047, -3.000279188156128, -0.13755649328231812], "tcp_pose": [0.6779621243476868, 0.03263328596949577, -0.21496842801570892, -0.002269093180075288, -0.00458810618147254, 0.9998904466629028, 0.013886704109609127], "tcp_vel": [-0.00012808501196559519, -1.0529730388952885e-05, -0.00017647848289925605, -1.3315112482814584e-05, 0.00047448414261452854, 0.00031224379199557006], "flange_pose": [0.6786618828773499, 0.028470855206251144, -0.06502782553434372, -0.002269093180075288, -0.00458810618147254, 0.9998904466629028, 0.013886704109609127], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.87374114990234, 15.083976745605469, 28.163551330566406, 0.3367389738559723, -24.045459747314453, 1.7925922870635986], "ext_wrench_in_world": [-108.13692294775566, 14.862487609595384, -27.257446049351934, -0.12597725272053573, -23.98854076934, -2.458649261969454]}
+{"timestamp_ns": 1789729720214233389, "elapsed_ms": 9366, "source_timestamp_ns": 1789729720209241148, "q": [0.836604654788971, -1.8972996473312378, -1.0063618421554565, 1.3811265230178833, -0.1613393872976303, 0.5939779281616211, 0.7036536931991577], "theta": [0.838692843914032, -1.8953675031661987, -1.004571795463562, 1.3627164363861084, -0.1619378626346588, 0.5939315557479858, 0.7036311626434326], "dq": [0.0016835113056004047, -0.0017935725627467036, -0.0006892032106406987, -0.0003139614418614656, -0.002487222198396921, -0.00026452637393958867, -0.0015341256512328982], "dtheta": [0.00010344519250793383, -0.00011962852295255288, 8.845326374284923e-05, -0.00016976363258436322, -0.0005666942452080548, 2.3170710846898146e-05, -0.00010754931281553581], "tau": [55.56999969482422, 23.619998931884766, 5.4800004959106445, -26.304000854492188, -2.5840001106262207, 2.6760001182556152, -0.5320000052452087], "tau_des": [0.4659636616706848, -0.5514276623725891, -0.2034182846546173, -0.5231942534446716, 0.9452359080314636, -1.1726574897766113, -0.5292600989341736], "tau_dot": [-3.729069709777832, 78.85978698730469, 29.324953079223633, -43.47709655761719, -44.30861282348633, 19.046716690063477, 16.235977172851562], "tau_ext": [-16.737600326538086, -41.618865966796875, 31.80060386657715, 31.344314575195312, 9.509960174560547, -2.997831106185913, -0.1316869556903839], "tcp_pose": [0.6779604554176331, 0.032635822892189026, -0.2149687111377716, -0.0022689548786729574, -0.004590832628309727, 0.9998905062675476, 0.013885064981877804], "tcp_vel": [0.00010859718167921528, 8.03540024207905e-05, 0.0001644476578803733, -0.0002713151916395873, -0.0005457417573779821, 0.0005368387210182846], "flange_pose": [0.6786601543426514, 0.028473885729908943, -0.06502809375524521, -0.0022689548786729574, -0.004590832628309727, 0.9998905062675476, 0.013885064981877804], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8932876586914, 15.112784385681152, 28.151350021362305, 0.34016403555870056, -24.04837417602539, 1.7944146394729614], "ext_wrench_in_world": [-108.15674522960545, 14.89008476023181, -27.24445115772763, -0.12925229349948547, -23.991443764597594, -2.4604584764518327]}
+{"timestamp_ns": 1789729720247562510, "elapsed_ms": 9400, "source_timestamp_ns": 1789729720239231069, "q": [0.836604118347168, -1.8973021507263184, -1.0063610076904297, 1.3811264038085938, -0.16133800148963928, 0.5939767360687256, 0.7036523222923279], "theta": [0.8386930823326111, -1.8953701257705688, -1.0045711994171143, 1.3627163171768188, -0.1619361937046051, 0.5939306020736694, 0.7036299109458923], "dq": [-0.00152672384865582, -0.0006322077242657542, -0.00025239831302314997, -2.2892665583640337e-05, -0.0029289887752383947, -0.0008217567810788751, 0.0007910836138762534], "dtheta": [-2.4785640562186018e-05, 1.7384931197739206e-05, 0.000287228001980111, 0.00032233152887783945, -0.000580579333472997, -0.0006252058665268123, 4.535384869086556e-05], "tau": [55.619998931884766, 23.56999969482422, 5.488000392913818, -26.328001022338867, -2.580000162124634, 2.6520001888275146, -0.527999997138977], "tau_des": [0.5745744705200195, -0.4973842203617096, -0.23133645951747894, -0.6231923699378967, 0.9231666326522827, -1.1289474964141846, -0.5252271294593811], "tau_dot": [90.50775909423828, -77.71862030029297, 20.813636779785156, 4.027039051055908, -55.02390670776367, -12.994673728942871, 56.1287727355957], "tau_ext": [-16.7788143157959, -41.59902572631836, 31.790538787841797, 31.352354049682617, 9.499842643737793, -2.995995283126831, -0.12766191363334656], "tcp_pose": [0.6779590249061584, 0.032636966556310654, -0.2149699330329895, -0.0022701348643749952, -0.004592245910316706, 0.9998905062675476, 0.013884542509913445], "tcp_vel": [-0.0002603666507638991, -4.802053081220947e-05, -0.0001632316125323996, -0.0007586758001707494, 0.0005273304996080697, 0.0005326487589627504], "flange_pose": [0.6786591410636902, 0.028475189581513405, -0.0650293156504631, -0.0022701348643749952, -0.004592245910316706, 0.9998905062675476, 0.013884542509913445], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84986877441406, 15.133009910583496, 28.153261184692383, 0.3396744132041931, -24.038068771362305, 1.7940317392349243], "ext_wrench_in_world": [-108.11362770468106, 14.910418068001848, -27.24575630289395, -0.12879194823022855, -23.98115181566325, -2.45976606068419]}
+{"timestamp_ns": 1789729720280932426, "elapsed_ms": 9433, "source_timestamp_ns": 1789729720279245928, "q": [0.8366050720214844, -1.8973008394241333, -1.0063612461090088, 1.381125569343567, -0.16133707761764526, 0.5939733386039734, 0.703650176525116], "theta": [0.8386939764022827, -1.895367980003357, -1.004571557044983, 1.3627158403396606, -0.1619345098733902, 0.5939270257949829, 0.7036270499229431], "dq": [0.0024400767870247364, 0.0017120178090408444, -4.8988815251505e-05, 0.00019583053654059768, 0.0027037474792450666, -0.0004117937060073018, -0.0009251486626453698], "dtheta": [0.00020951710757799447, -5.516575765796006e-05, 3.0042476282687858e-05, -1.3262110769574065e-05, 0.00040382513543590903, 0.0005297238240018487, -0.00015470784273929894], "tau": [55.52000045776367, 23.53999900817871, 5.500000476837158, -26.30000114440918, -2.56000018119812, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.47123613953590393, -0.5499951243400574, -0.2196650505065918, -0.5254415273666382, 0.9177358150482178, -1.178341031074524, -0.5304746031761169], "tau_dot": [-202.99990844726562, -93.88444519042969, 7.848124980926514, 37.955421447753906, 24.97187614440918, -34.553104400634766, 27.851545333862305], "tau_ext": [-16.76960563659668, -41.58661651611328, 31.771486282348633, 31.358064651489258, 9.493701934814453, -2.994401454925537, -0.11786195635795593], "tcp_pose": [0.6779592037200928, 0.0326361209154129, -0.21496903896331787, -0.0022708445321768522, -0.004592507146298885, 0.9998905062675476, 0.013884361833333969], "tcp_vel": [6.939101149328053e-05, 0.00014730144175700843, 0.00016035944281611592, 0.0005837837816216052, -0.0003919235896319151, -2.602861241030041e-05], "flange_pose": [0.6786594986915588, 0.028474396094679832, -0.06502842158079147, -0.0022708445321768522, -0.004592507146298885, 0.9998905062675476, 0.013884361833333969], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82664489746094, 15.1094970703125, 28.175317764282227, 0.3339812457561493, -24.035064697265625, 1.7954418659210205], "ext_wrench_in_world": [-108.0903400825776, 14.887673304678115, -27.268412991685146, -0.12312351169121746, -23.978058229477746, -2.461108309848702]}
+{"timestamp_ns": 1789729720314233680, "elapsed_ms": 9466, "source_timestamp_ns": 1789729720309248158, "q": [0.8366057872772217, -1.8973002433776855, -1.0063613653182983, 1.3811261653900146, -0.16133813560009003, 0.5939721465110779, 0.7036512494087219], "theta": [0.8386945128440857, -1.8953667879104614, -1.0045714378356934, 1.3627159595489502, -0.1619347333908081, 0.5939255952835083, 0.7036280035972595], "dq": [-0.002525671850889921, 0.0016414723359048367, -0.0005204597837291658, 0.0006360694533213973, -0.0012920129811391234, 0.0016874396242201328, -0.0030304756946861744], "dtheta": [-7.026581442914903e-05, 0.0005791514995507896, 0.0001189435861306265, 0.0001300480798818171, -0.0004535997868515551, -1.823316779336892e-05, 0.0001102343449019827], "tau": [55.55999755859375, 23.649999618530273, 5.496000289916992, -26.288002014160156, -2.5480000972747803, 2.6560001373291016, -0.5560000538825989], "tau_des": [0.49324241280555725, -0.618816077709198, -0.16655051708221436, -0.5431272387504578, 0.9211186170578003, -1.1612939834594727, -0.5352218747138977], "tau_dot": [-85.85070037841797, -1.3628813028335571, 89.96837615966797, 38.009056091308594, -6.260891437530518, -23.11029052734375, -6.206572532653809], "tau_ext": [-16.744918823242188, -41.61637878417969, 31.771526336669922, 31.351146697998047, 9.486165046691895, -2.9969608783721924, -0.11885363608598709], "tcp_pose": [0.6779592633247375, 0.03263548016548157, -0.2149686962366104, -0.0022708456963300705, -0.004592057783156633, 0.9998905062675476, 0.013883608393371105], "tcp_vel": [0.00010714668314903975, -0.00016453900025226176, 0.00010778504656627774, 0.00013693120854441077, -2.296742604812607e-05, -0.00014201995509210974], "flange_pose": [0.6786595582962036, 0.028473984450101852, -0.06502807140350342, -0.0022708456963300705, -0.004592057783156633, 0.9998905062675476, 0.013883608393371105], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83876037597656, 15.116021156311035, 28.17709732055664, 0.34349796175956726, -24.045604705810547, 1.7992490530014038], "ext_wrench_in_world": [-108.1025096213822, 14.89418756745688, -27.269978707396238, -0.13258286129145808, -23.988579702337276, -2.465128662374765]}
+{"timestamp_ns": 1789729720347562991, "elapsed_ms": 9500, "source_timestamp_ns": 1789729720339227212, "q": [0.8366082310676575, -1.8973020315170288, -1.0063613653182983, 1.3811265230178833, -0.16133730113506317, 0.5939731001853943, 0.7036524415016174], "theta": [0.8386965394020081, -1.8953686952590942, -1.0045716762542725, 1.3627158403396606, -0.1619342565536499, 0.5939267873764038, 0.7036289572715759], "dq": [0.00081626046448946, -0.00010363097680965438, 0.0011618697317317128, -0.0007568816654384136, 0.0014285924844443798, -0.001532783848233521, -0.0012505310587584972], "dtheta": [-0.0003364838194102049, 1.2462711310945451e-05, 8.536588575225323e-05, -0.0003939324524253607, 0.0007127634016796947, 0.0006203459925018251, 0.0009580656769685447], "tau": [55.55999755859375, 23.75, 5.484000205993652, -26.296001434326172, -2.564000129699707, 2.6600000858306885, -0.5400000214576721], "tau_des": [0.5261017680168152, -0.5599061846733093, -0.21531681716442108, -0.5262686014175415, 0.8927823305130005, -1.1850887537002563, -0.5560131669044495], "tau_dot": [46.62702941894531, 123.7347412109375, 29.34838104248047, 27.628732681274414, 14.395915985107422, -14.285259246826172, -43.42185974121094], "tau_ext": [-16.748586654663086, -41.690670013427734, 31.78684425354004, 31.358015060424805, 9.486815452575684, -3.002985715866089, -0.12501977384090424], "tcp_pose": [0.6779592633247375, 0.03263614699244499, -0.21496768295764923, -0.002269656164571643, -0.004591849632561207, 0.9998905062675476, 0.01388342585414648], "tcp_vel": [7.539956277469173e-05, 0.0002669173409231007, -3.193342490703799e-05, 0.0011337646283209324, -1.0702993904487812e-06, -0.0013785141054540873], "flange_pose": [0.678659200668335, 0.028474699705839157, -0.06502705067396164, -0.002269656164571643, -0.004591849632561207, 0.9998905062675476, 0.01388342585414648], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83356475830078, 15.177735328674316, 28.19013023376465, 0.36934229731559753, -24.054058074951172, 1.803450107574463], "ext_wrench_in_world": [-108.0978664673419, 14.956323752218086, -27.28157667390415, -0.1583732561198987, -23.997152671674975, -2.4694407181159446]}
+{"timestamp_ns": 1789729720380897532, "elapsed_ms": 9533, "source_timestamp_ns": 1789729720379292344, "q": [0.8366085886955261, -1.8973020315170288, -1.0063666105270386, 1.381126880645752, -0.16133937239646912, 0.5939720869064331, 0.70365309715271], "theta": [0.8386974334716797, -1.8953694105148315, -1.0045769214630127, 1.3627159595489502, -0.1619361937046051, 0.5939258337020874, 0.7036294341087341], "dq": [0.00147405662573874, -0.0010060204658657312, -0.0024693950545042753, -0.0006319054518826306, 0.0030342917889356613, 0.00143571593798697, 0.0012708327267318964], "dtheta": [-0.00015257217455655336, -0.00011695399734890088, -0.00037038998561911285, -0.00012421314022503793, 0.00024023721925914288, 0.0004981381935067475, 0.0003390939091332257], "tau": [55.599998474121094, 23.619998931884766, 5.488000392913818, -26.248001098632812, -2.572000026702881, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.5160293579101562, -0.5766046643257141, -0.13634437322616577, -0.5424426794052124, 0.9212576150894165, -1.1721192598342896, -0.5504456758499146], "tau_dot": [-40.438873291015625, 74.31306457519531, -44.81142044067383, 57.779266357421875, 7.282286643981934, -14.957806587219238, -11.41865348815918], "tau_ext": [-16.76144027709961, -41.62398910522461, 31.761735916137695, 31.360870361328125, 9.49567699432373, -3.0018627643585205, -0.1258910447359085], "tcp_pose": [0.677960991859436, 0.03263290226459503, -0.21496786177158356, -0.0022686361335217953, -0.004590345546603203, 0.9998905658721924, 0.013880682177841663], "tcp_vel": [0.00016851359396241605, -5.0493083108449355e-05, -6.598648178623989e-05, 0.00022170411830302328, -0.0002985254395753145, -0.000685485836584121], "flange_pose": [0.6786605715751648, 0.028472278267145157, -0.06502720713615417, -0.0022686361335217953, -0.004590345546603203, 0.9998905658721924, 0.013880682177841663], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85427856445312, 15.187177658081055, 28.18539047241211, 0.3781032860279083, -24.062284469604492, 1.805363416671753], "ext_wrench_in_world": [-108.11854272524774, 14.965616377035499, -27.27678594305609, -0.16713528862502947, -24.005416521721937, -2.47141183764806]}
+{"timestamp_ns": 1789729720414232142, "elapsed_ms": 9566, "source_timestamp_ns": 1789729720409356777, "q": [0.8366082310676575, -1.8973017930984497, -1.0063707828521729, 1.3811262845993042, -0.16133905947208405, 0.5939691066741943, 0.7036510109901428], "theta": [0.8386977910995483, -1.8953694105148315, -1.0045812129974365, 1.362715482711792, -0.161936417222023, 0.5939229726791382, 0.7036284804344177], "dq": [-0.00020037160720676184, 0.0026786262169480324, 0.0017496058717370033, 0.0006920244777575135, -0.0019482634961605072, -0.0010632354533299804, 0.0009121343027800322], "dtheta": [-5.291950219543651e-05, 0.0003915413690265268, -3.319391908007674e-06, -0.000324090855428949, 0.00024214353470597416, 0.000260416156379506, 0.00013074414164293557], "tau": [55.599998474121094, 23.59000015258789, 5.452000141143799, -26.296001434326172, -2.564000129699707, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.4435694217681885, -0.6453244686126709, -0.12727239727973938, -0.4918774962425232, 0.9233319759368896, -1.180554986000061, -0.5486931800842285], "tau_dot": [4.0316386222839355, -35.19550323486328, -26.114898681640625, 34.73906326293945, 55.43972396850586, -1.950063705444336, 0.6466502547264099], "tau_ext": [-16.76423454284668, -41.586891174316406, 31.773256301879883, 31.35498809814453, 9.504487037658691, -3.000481367111206, -0.12107184529304504], "tcp_pose": [0.6779620051383972, 0.03263017535209656, -0.21496835350990295, -0.0022690636105835438, -0.0045896973460912704, 0.9998905658721924, 0.013878710567951202], "tcp_vel": [0.00023664910986553878, 3.214940988982562e-06, 0.00023441470693796873, 0.0007946958066895604, -0.0002685924409888685, -0.0005870796740055084], "flange_pose": [0.6786617636680603, 0.02847014181315899, -0.06502769142389297, -0.0022690636105835438, -0.0045896973460912704, 0.9998905658721924, 0.013878710567951202], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83135986328125, 15.150459289550781, 28.18804359436035, 0.3604145646095276, -24.046098709106445, 1.8025083541870117], "ext_wrench_in_world": [-108.09530712676487, 14.929229247120487, -27.280525647129053, -0.14961444546645894, -23.989162939287297, -2.4680913968935325]}
+{"timestamp_ns": 1789729720447567233, "elapsed_ms": 9600, "source_timestamp_ns": 1789729720439308933, "q": [0.8366082310676575, -1.8973039388656616, -1.0063694715499878, 1.3811261653900146, -0.1613391488790512, 0.5939659476280212, 0.703650951385498], "theta": [0.8386978507041931, -1.8953710794448853, -1.004579782485962, 1.362715244293213, -0.161936417222023, 0.5939203500747681, 0.7036277651786804], "dq": [-0.00012388626055326313, -0.0024285060353577137, 0.0019176212372258306, -0.0023473845794796944, -0.0010640781838446856, 0.0007010643021203578, 0.0005027033039368689], "dtheta": [-8.302553032990545e-05, -0.0004817505832761526, 9.995254367822781e-05, 3.9846028812462464e-05, -0.0002069413021672517, -0.0001138070656452328, -1.0893103535636328e-05], "tau": [55.5099983215332, 23.579999923706055, 5.484000205993652, -26.280000686645508, -2.576000213623047, 2.6760001182556152, -0.5440000295639038], "tau_des": [0.5763161182403564, -0.46955156326293945, -0.21865041553974152, -0.6135075092315674, 0.927742063999176, -1.1370515823364258, -0.5306127071380615], "tau_dot": [-3.1581039428710938, -80.90437316894531, 43.930545806884766, 11.266082763671875, -21.51166534423828, 34.19656753540039, 39.86991882324219], "tau_ext": [-16.754179000854492, -41.629825592041016, 31.80258560180664, 31.36417007446289, 9.50534439086914, -2.9978861808776855, -0.11791545152664185], "tcp_pose": [0.6779604554176331, 0.032631080597639084, -0.2149692326784134, -0.0022704394068568945, -0.004590977914631367, 0.9998905658721924, 0.013877327553927898], "tcp_vel": [-0.00018844316946342587, 0.00015672390873078257, -0.00020741723710671067, -0.0005196977872401476, 0.0001188682290376164, 0.0005276708398014307], "flange_pose": [0.6786606311798096, 0.028471466153860092, -0.06502855569124222, -0.0022704394068568945, -0.004590977914631367, 0.9998905658721924, 0.013877327553927898], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84676361083984, 15.147186279296875, 28.18532371520996, 0.3504146337509155, -24.043807983398438, 1.803496241569519], "ext_wrench_in_world": [-108.11078016251672, 14.925382560109632, -27.277578971192085, -0.13958470898751862, -23.986760591050384, -2.4689924884627916]}
+{"timestamp_ns": 1789729720480912382, "elapsed_ms": 9633, "source_timestamp_ns": 1789729720479258840, "q": [0.83660888671875, -1.8973075151443481, -1.0063682794570923, 1.3811243772506714, -0.16133800148963928, 0.5939647555351257, 0.7036493420600891], "theta": [0.8386990427970886, -1.895373821258545, -1.004578948020935, 1.3627135753631592, -0.1619354635477066, 0.5939196348190308, 0.7036263346672058], "dq": [-0.001159891951829195, -0.0004626025620382279, -0.0029021725058555603, -0.002837072592228651, 0.0018024278106167912, -0.0016390742966905236, -0.0008157671545632184], "dtheta": [0.00016654048522468656, -0.00044483659439720213, -0.000148600316606462, -0.00017732787819113582, -0.0003762274864129722, -0.000374785769963637, -0.00022625704878009856], "tau": [55.59000015258789, 23.639999389648438, 5.4800004959106445, -26.23200035095215, -2.572000026702881, 2.6520001888275146, -0.5320000052452087], "tau_des": [0.5025251507759094, -0.5075708627700806, -0.20176364481449127, -0.563545823097229, 0.9445776343345642, -1.1496411561965942, -0.5244339108467102], "tau_dot": [-56.059783935546875, 34.725162506103516, -18.91707420349121, -8.014067649841309, -34.21955108642578, 8.580925941467285, 16.655128479003906], "tau_ext": [-16.73921775817871, -41.63520431518555, 31.786537170410156, 31.341354370117188, 9.494890213012695, -2.9940855503082275, -0.11557315289974213], "tcp_pose": [0.6779596209526062, 0.032632976770401, -0.2149691879749298, -0.0022703532595187426, -0.0045929052866995335, 0.9998905658721924, 0.013876878656446934], "tcp_vel": [1.7324366126558743e-05, -2.6015318326244596e-06, 4.024688314530067e-05, -0.000800920242909342, -0.00028622610261663795, 0.0006094645359553397], "flange_pose": [0.6786597371101379, 0.028473498299717903, -0.06502850353717804, -0.0022703532595187426, -0.0045929052866995335, 0.9998905658721924, 0.013876878656446934], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8797836303711, 15.153360366821289, 28.1628475189209, 0.35632604360580444, -24.057912826538086, 1.8074928522109985], "ext_wrench_in_world": [-108.14380110585518, 14.930184501805744, -27.254832599663636, -0.14529279006194193, -24.000805979603765, -2.473331875026801]}
+{"timestamp_ns": 1789729720514229954, "elapsed_ms": 9666, "source_timestamp_ns": 1789729720509290657, "q": [0.8366091847419739, -1.8973071575164795, -1.0063679218292236, 1.381124496459961, -0.1613360345363617, 0.5939629673957825, 0.7036488056182861], "theta": [0.8386987447738647, -1.8953732252120972, -1.0045790672302246, 1.3627135753631592, -0.1619335412979126, 0.593917727470398, 0.7036249041557312], "dq": [-0.0022565198596566916, 0.002758609363809228, -0.0005762224900536239, 0.002340795937925577, -4.0651444578543305e-05, -0.0003079980378970504, 0.004514241591095924], "dtheta": [-0.00026648392667993903, 0.00015355786308646202, 7.794593693688512e-05, -0.00023577349202241749, 0.0010086395777761936, -0.0007532386807724833, -0.0001657802058616653], "tau": [55.66999816894531, 23.6299991607666, 5.468000411987305, -26.272001266479492, -2.556000232696533, 2.6720001697540283, -0.5320000052452087], "tau_des": [0.5840541124343872, -0.5253465175628662, -0.20141303539276123, -0.6064079403877258, 0.8838021159172058, -1.129065990447998, -0.535703718662262], "tau_dot": [135.6264190673828, -11.934439659118652, -66.01233673095703, -2.8695461750030518, 5.742095947265625, 20.938167572021484, 34.91769790649414], "tau_ext": [-16.748262405395508, -41.617454528808594, 31.773305892944336, 31.360456466674805, 9.489860534667969, -3.002089500427246, -0.11690525710582733], "tcp_pose": [0.6779589653015137, 0.032632920891046524, -0.21496927738189697, -0.0022715176455676556, -0.0045926752500236034, 0.9998905658721924, 0.01387711800634861], "tcp_vel": [-0.00022783555323258042, -4.9521136133989785e-06, -0.0001942776725627482, 0.0004338003054726869, 0.0012246191035956144, -0.0004614224599208683], "flange_pose": [0.6786594986915588, 0.028473369777202606, -0.0650286003947258, -0.0022715176455676556, -0.0045926752500236034, 0.9998905658721924, 0.01387711800634861], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.86559295654297, 15.153891563415527, 28.162355422973633, 0.3596639335155487, -24.05622673034668, 1.8075096607208252], "ext_wrench_in_world": [-108.12967101921369, 14.930892148920478, -27.254128884743036, -0.14866203443607703, -23.99914978747963, -2.4732979800563437]}
+{"timestamp_ns": 1789729720547562695, "elapsed_ms": 9700, "source_timestamp_ns": 1789729720539287557, "q": [0.8366093039512634, -1.897306203842163, -1.006368637084961, 1.3811241388320923, -0.1613357812166214, 0.5939624905586243, 0.703647792339325], "theta": [0.8386989235877991, -1.8953725099563599, -1.0045794248580933, 1.3627135753631592, -0.1619333028793335, 0.5939170122146606, 0.7036237120628357], "dq": [-0.003312907414510846, -0.0011964570730924606, 0.0026084138080477715, -0.003277531359344721, 0.00132138526532799, 0.00024539788137190044, -0.0012159127509221435], "dtheta": [-0.00020724306523334235, -0.00045245815999805927, 0.0004332973330747336, -8.444471313850954e-05, -0.0005508044268935919, 0.0005803288077004254, 0.00023832553415559232], "tau": [55.599998474121094, 23.59000015258789, 5.508000373840332, -26.23600196838379, -2.5360000133514404, 2.6480002403259277, -0.5440000295639038], "tau_des": [0.5588364601135254, -0.4649338722229004, -0.28473132848739624, -0.5749764442443848, 0.9254570007324219, -1.1678720712661743, -0.5255075097084045], "tau_dot": [-86.56484985351562, -83.2877426147461, -5.588889122009277, -16.38494300842285, 24.736854553222656, 16.91701316833496, 16.44858741760254], "tau_ext": [-16.76836395263672, -41.622276306152344, 31.773208618164062, 31.359769821166992, 9.492229461669922, -3.001237392425537, -0.1145990788936615], "tcp_pose": [0.6779595017433167, 0.03263229504227638, -0.21496886014938354, -0.00227143382653594, -0.0045925406739115715, 0.9998905658721924, 0.013877292163670063], "tcp_vel": [-9.370972111355513e-05, 0.00044107931898906827, -0.00010199237294727936, 2.5096587705775164e-05, -0.000459632690763101, 0.0006477252463810146], "flange_pose": [0.678659975528717, 0.028472691774368286, -0.06502817571163177, -0.00227143382653594, -0.0045925406739115715, 0.9998905658721924, 0.013877292163670063], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85669708251953, 15.144537925720215, 28.181806564331055, 0.35964831709861755, -24.053943634033203, 1.8062866926193237], "ext_wrench_in_world": [-108.12077264327588, 14.922203096641834, -27.27388372650565, -0.14866766413480648, -23.996900533905436, -2.4720205437377967]}
+{"timestamp_ns": 1789729720580911194, "elapsed_ms": 9733, "source_timestamp_ns": 1789729720579237354, "q": [0.8366106152534485, -1.897306203842163, -1.0063698291778564, 1.3811252117156982, -0.16133525967597961, 0.5939660668373108, 0.7036484479904175], "theta": [0.8386998772621155, -1.8953722715377808, -1.0045807361602783, 1.3627146482467651, -0.1619333028793335, 0.5939210653305054, 0.7036241888999939], "dq": [-0.0013424789067357779, -0.00013075509923510253, -0.0015239109052345157, 0.000704853271599859, -0.0007226696470752358, -8.899909880710766e-05, 0.0003160724008921534], "dtheta": [0.00034524305374361575, -9.421109280083328e-05, -0.0003622134681791067, 0.0003766378795262426, -0.00024277641205117106, -0.00018597283633425832, 1.005067679216154e-05], "tau": [55.52000045776367, 23.639999389648438, 5.468000411987305, -26.308000564575195, -2.572000026702881, 2.684000015258789, -0.5440000295639038], "tau_des": [0.48895207047462463, -0.5774531960487366, -0.1473466008901596, -0.5631232857704163, 0.9309895038604736, -1.153857946395874, -0.5384377241134644], "tau_dot": [-7.235224723815918, -60.24989318847656, -2.833409070968628, 39.7043571472168, 11.960376739501953, 25.532115936279297, 14.432482719421387], "tau_ext": [-16.748395919799805, -41.641963958740234, 31.776203155517578, 31.340049743652344, 9.48808479309082, -2.9967238903045654, -0.11312974244356155], "tcp_pose": [0.6779603958129883, 0.032631970942020416, -0.21496815979480743, -0.002269794698804617, -0.004591675475239754, 0.9998905658721924, 0.013877893798053265], "tcp_vel": [2.0987030438845977e-05, -0.0002906165027525276, 1.703556699794717e-05, -0.0007895751041360199, -0.00015052677190396935, -2.712341029109666e-06], "flange_pose": [0.6786603331565857, 0.028472185134887695, -0.06502749025821686, -0.002269794698804617, -0.004591675475239754, 0.9998905658721924, 0.013877893798053265], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84456634521484, 15.1563138961792, 28.177627563476562, 0.3662130832672119, -24.05278778076172, 1.8089745044708252], "ext_wrench_in_world": [-108.10861529593987, 14.934195699194614, -27.269765929057435, -0.15528981610513556, -23.995728063861147, -2.474675850446351]}
+{"timestamp_ns": 1789729720614236755, "elapsed_ms": 9766, "source_timestamp_ns": 1789729720609316975, "q": [0.8366121649742126, -1.8973063230514526, -1.0063705444335938, 1.381126046180725, -0.1613374799489975, 0.5939667820930481, 0.7036504149436951], "theta": [0.8387008309364319, -1.8953721523284912, -1.0045819282531738, 1.362715482711792, -0.1619349867105484, 0.5939215421676636, 0.7036258578300476], "dq": [-0.0010170233435928822, 0.0032872187439352274, 0.0016137576894834638, -0.0001459633931517601, -0.0016487572574988008, -0.0007722041918896139, -0.0009150279220193624], "dtheta": [-0.00028139035566709936, -6.653279797319556e-06, -0.00023351426352746785, 0.00018646246462594718, -0.0007665781304240227, 0.000577957252971828, 0.00015607535897288471], "tau": [55.529998779296875, 23.670000076293945, 5.4760003089904785, -26.304000854492188, -2.56000018119812, 2.6600000858306885, -0.5360000133514404], "tau_des": [0.5410041213035583, -0.5726230144500732, -0.15053944289684296, -0.5605219006538391, 0.9336504936218262, -1.1727864742279053, -0.5381522178649902], "tau_dot": [39.79661178588867, 69.67745971679688, 22.384126663208008, 93.827880859375, 14.32303237915039, -29.447546005249023, -2.0033698081970215], "tau_ext": [-16.739219665527344, -41.64714813232422, 31.781320571899414, 31.357891082763672, 9.49161434173584, -3.0027360916137695, -0.1197863444685936], "tcp_pose": [0.677960991859436, 0.032631438225507736, -0.21496731042861938, -0.0022683916613459587, -0.004591192584484816, 0.9998906254768372, 0.0138769019395113], "tcp_vel": [0.00015485758194699883, -0.0001252323854714632, -0.00015993701526895165, -0.0003598431358113885, -0.0004996468778699636, 0.00012550402607303113], "flange_pose": [0.6786605715751648, 0.028471946716308594, -0.06502662599086761, -0.0022683916613459587, -0.004591192584484816, 0.9998906254768372, 0.0138769019395113], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.87530517578125, 15.167250633239746, 28.169816970825195, 0.3725127577781677, -24.06243324279785, 1.8101654052734375], "ext_wrench_in_world": [-108.1393244662511, 14.944681352492768, -27.261851550556344, -0.16152384110365206, -24.00539934785437, -2.476059432252685]}
+{"timestamp_ns": 1789729720647634028, "elapsed_ms": 9800, "source_timestamp_ns": 1789729720639299148, "q": [0.8366137146949768, -1.8973065614700317, -1.0063725709915161, 1.3811262845993042, -0.16133780777454376, 0.5939632058143616, 0.7036519050598145], "theta": [0.8387022614479065, -1.8953725099563599, -1.0045840740203857, 1.362715721130371, -0.1619352102279663, 0.5939182043075562, 0.7036275267601013], "dq": [0.0019344317261129618, -0.002221970818936825, 0.0007166981231421232, 0.0008651716052554548, -0.0014257761649787426, 0.00022069051919970661, 0.0015126655343919992], "dtheta": [5.883472113055177e-05, -4.0844559407560155e-05, -6.86011333073111e-07, -0.0002630879753269255, 0.0005908055463805795, -0.00011134920350741595, 0.00032935908529907465], "tau": [55.56999969482422, 23.639999389648438, 5.484000205993652, -26.308000564575195, -2.56000018119812, 2.6640000343322754, -0.5240000486373901], "tau_des": [0.47185397148132324, -0.5830062031745911, -0.17730112373828888, -0.5193060636520386, 0.9095205664634705, -1.171814203262329, -0.5520094037055969], "tau_dot": [-11.105049133300781, 96.21479034423828, 6.67949914932251, -24.220434188842773, 31.87143325805664, -12.54661750793457, 13.042773246765137], "tau_ext": [-16.74640464782715, -41.620182037353516, 31.78144073486328, 31.36067771911621, 9.50595474243164, -3.004903554916382, -0.12930774688720703], "tcp_pose": [0.6779612302780151, 0.032629773020744324, -0.21496690809726715, -0.0022686731535941362, -0.004589952528476715, 0.9998906254768372, 0.013874848373234272], "tcp_vel": [3.761437710636528e-06, 8.604979666415602e-05, 8.391009760089219e-05, 0.0004129147855564952, 0.00014995766105130315, -0.0006690651644021273], "flange_pose": [0.6786608695983887, 0.028470896184444427, -0.06502620130777359, -0.0022686731535941362, -0.004589952528476715, 0.9998906254768372, 0.013874848373234272], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.90760040283203, 15.1412935256958, 28.160036087036133, 0.3642945885658264, -24.063730239868164, 1.8057162761688232], "ext_wrench_in_world": [-108.17131472218072, 14.918319818043328, -27.252651831211537, -0.15333407840744018, -24.00675298624442, -2.4715854410213387]}
+{"timestamp_ns": 1789729720680900407, "elapsed_ms": 9833, "source_timestamp_ns": 1789729720679233937, "q": [0.8366134166717529, -1.8973067998886108, -1.0063735246658325, 1.381125569343567, -0.1613379865884781, 0.5939590930938721, 0.7036493420600891], "theta": [0.8387018442153931, -1.8953737020492554, -1.0045852661132812, 1.3627151250839233, -0.1619359403848648, 0.5939141511917114, 0.7036258578300476], "dq": [0.0002698413736652583, -6.255733023863286e-05, -0.000566022761631757, 0.0016641844995319843, -0.0009759511449374259, -0.0009158214088529348, -4.534510662779212e-05], "dtheta": [8.80870211403817e-05, 0.0004209041071590036, 0.00019334886746946722, -6.695397314615548e-05, -0.0006457830313593149, 0.00022831978276371956, -0.000719450123142451], "tau": [55.61000061035156, 23.639999389648438, 5.4800004959106445, -26.26000213623047, -2.572000026702881, 2.6600000858306885, -0.5360000133514404], "tau_des": [0.4212048351764679, -0.6285573840141296, -0.17088380455970764, -0.4902496039867401, 0.9425120949745178, -1.1831800937652588, -0.5223270058631897], "tau_dot": [-15.89257526397705, -30.48204803466797, 47.636600494384766, -9.03684139251709, 5.896881103515625, 53.727569580078125, -3.4644458293914795], "tau_ext": [-16.77235221862793, -41.623069763183594, 31.791715621948242, 31.348163604736328, 9.504437446594238, -2.997678756713867, -0.13419374823570251], "tcp_pose": [0.6779609322547913, 0.03262878954410553, -0.21496739983558655, -0.0022698959801346064, -0.004591009579598904, 0.9998906254768372, 0.013873285613954067], "tcp_vel": [0.00022332750086206943, -1.3775681509287097e-05, 0.00030404157587327063, 0.00022570161672774702, -0.0006315317586995661, 0.0009152802522294223], "flange_pose": [0.6786609292030334, 0.028470385819673538, -0.06502668559551239, -0.0022698959801346064, -0.004591009579598904, 0.9998906254768372, 0.013873285613954067], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.86355590820312, 15.138785362243652, 28.17405891418457, 0.3501996099948883, -24.047731399536133, 1.7965691089630127], "ext_wrench_in_world": [-108.12741270833463, 14.916290181392947, -27.26671999584913, -0.1392972342025168, -23.99089233934273, -2.461984329147233]}
+{"timestamp_ns": 1789729720714233517, "elapsed_ms": 9866, "source_timestamp_ns": 1789729720709329625, "q": [0.8366138339042664, -1.8973088264465332, -1.006373405456543, 1.3811240196228027, -0.16133563220500946, 0.593955934047699, 0.70364910364151], "theta": [0.8387015461921692, -1.8953752517700195, -1.0045851469039917, 1.3627142906188965, -0.1619333028793335, 0.5939105749130249, 0.7036256194114685], "dq": [0.0007387501536868513, 0.001576053793542087, 0.0018291546730324626, 0.0017110253684222698, 0.00026292054099030793, 0.0014835649635642767, 0.0027643076609820127], "dtheta": [-0.0001781234605005011, -0.00012196165334898978, 0.0001899654307635501, -0.0003474079130683094, 0.0003390429774299264, -5.863677870365791e-05, -0.0005785506800748408], "tau": [55.55999755859375, 23.670000076293945, 5.504000186920166, -26.280000686645508, -2.56000018119812, 2.6480002403259277, -0.5320000052452087], "tau_des": [0.5215059518814087, -0.5242445468902588, -0.22594214975833893, -0.5505775809288025, 0.910193920135498, -1.1621249914169312, -0.5268186926841736], "tau_dot": [-39.38100051879883, 60.3607292175293, 76.36200714111328, 17.995681762695312, 15.560161590576172, -5.659612655639648, -30.725706100463867], "tau_ext": [-16.77366065979004, -41.63261795043945, 31.79645347595215, 31.334156036376953, 9.499592781066895, -2.992677688598633, -0.13189364969730377], "tcp_pose": [0.6779601573944092, 0.03262936696410179, -0.21496757864952087, -0.0022709304466843605, -0.004591075703501701, 0.9998906254768372, 0.013872676528990269], "tcp_vel": [-5.540830534300767e-05, 0.00022182638349477202, -2.6057505237986334e-05, 0.0004049813433084637, 0.00017530409968458116, 0.0005518551333807409], "flange_pose": [0.67866051197052, 0.028471149504184723, -0.06502685695886612, -0.0022709304466843605, -0.004591075703501701, 0.9998906254768372, 0.013872676528990269], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78865051269531, 15.189249038696289, 28.18912124633789, 0.35515516996383667, -24.031055450439453, 1.794531226158142], "ext_wrench_in_world": [-108.05310034611395, 14.967791130824112, -27.280501399440954, -0.1443962208968223, -23.974328859135447, -2.459432671150047]}
+{"timestamp_ns": 1789729720747565758, "elapsed_ms": 9900, "source_timestamp_ns": 1789729720739305139, "q": [0.8366144895553589, -1.897308349609375, -1.0063735246658325, 1.381125569343567, -0.1613353192806244, 0.5939531922340393, 0.7036481499671936], "theta": [0.8387016654014587, -1.8953744173049927, -1.004584550857544, 1.362715482711792, -0.1619328260421753, 0.5939079523086548, 0.7036241888999939], "dq": [-0.0003736550861503929, 0.00409748125821352, -0.0011719103204086423, 0.0005298270843923092, 0.0001809942623367533, -0.0001464604283683002, -0.004060115199536085], "dtheta": [2.4954422769951634e-05, -8.680620521772653e-05, 0.0002786710683722049, 0.00037253761547617614, 0.0005160189466550946, 0.000512382946908474, -0.0007587574073113501], "tau": [55.5, 23.60999870300293, 5.496000289916992, -26.38800048828125, -2.572000026702881, 2.6600000858306885, -0.5640000104904175], "tau_des": [0.5545762181282043, -0.4966847002506256, -0.2437485307455063, -0.5992370843887329, 0.90007084608078, -1.1506249904632568, -0.5212267637252808], "tau_dot": [-59.37803268432617, -1.0780919790267944, 23.08527183532715, -22.56705665588379, -20.546438217163086, -23.93709373474121, -30.301733016967773], "tau_ext": [-16.744274139404297, -41.617889404296875, 31.789278030395508, 31.36048126220703, 9.489139556884766, -2.991154909133911, -0.12361546605825424], "tcp_pose": [0.6779593229293823, 0.03262849152088165, -0.2149680256843567, -0.002272330690175295, -0.004591410979628563, 0.9998906850814819, 0.013871611095964909], "tcp_vel": [-0.00023115122166927904, 0.00022485246881842613, -0.00014390458818525076, 0.0005585317267104983, 0.00023980767582543194, 0.0007727153715677559], "flange_pose": [0.6786600351333618, 0.028470592573285103, -0.06502729654312134, -0.002272330690175295, -0.004591410979628563, 0.9998906850814819, 0.013871611095964909], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83223724365234, 15.161141395568848, 28.17180633544922, 0.3511721193790436, -24.04519271850586, 1.7949278354644775], "ext_wrench_in_world": [-108.09643413775844, 14.938676991264273, -27.263512723816994, -0.1402760481717907, -23.98841764910695, -2.460187388059139]}
+{"timestamp_ns": 1789729720780910287, "elapsed_ms": 9933, "source_timestamp_ns": 1789729720779261635, "q": [0.8366146087646484, -1.8973079919815063, -1.0063741207122803, 1.3811283111572266, -0.1613335907459259, 0.5939520597457886, 0.7036488652229309], "theta": [0.8387021422386169, -1.8953735828399658, -1.0045849084854126, 1.3627169132232666, -0.16193163394927979, 0.5939072370529175, 0.7036249041557312], "dq": [-0.0004388340166769922, -0.0009449318167753518, 0.0020414565224200487, -0.0009271386661566794, -0.001002374105155468, 0.00170054379850626, 0.001102879992686212], "dtheta": [-8.420480298809707e-05, 1.522603452031035e-05, 3.212371302652173e-05, 0.0001224057632498443, 0.0003220826620236039, 0.0003784110303968191, -4.423508471518289e-06], "tau": [55.5099983215332, 23.670000076293945, 5.484000205993652, -26.356000900268555, -2.580000162124634, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.5583152174949646, -0.5480875968933105, -0.19102628529071808, -0.5925087332725525, 0.8954097032546997, -1.1459832191467285, -0.5425212383270264], "tau_dot": [-59.31521224975586, 79.44348907470703, 16.775846481323242, -8.14981746673584, -45.115360260009766, 16.699426651000977, 33.764217376708984], "tau_ext": [-16.734981536865234, -41.631813049316406, 31.78820037841797, 31.403337478637695, 9.490568161010742, -3.0036628246307373, -0.11963582038879395], "tcp_pose": [0.6779581308364868, 0.03262745216488838, -0.21496933698654175, -0.002274146769195795, -0.004590414930135012, 0.9998906850814819, 0.013870933093130589], "tcp_vel": [-4.584898124448955e-05, 7.209975592559204e-05, -8.883028931450099e-05, 0.00040906231151893735, 8.466162398690358e-05, -0.00015156932931859046], "flange_pose": [0.6786594390869141, 0.028469759970903397, -0.0650286078453064, -0.002274146769195795, -0.004590414930135012, 0.9998906850814819, 0.013870933093130589], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.98237609863281, 15.07319450378418, 28.154146194458008, 0.3417724668979645, -24.08440399169922, 1.7998284101486206], "ext_wrench_in_world": [-108.24575139998234, 14.849062417350124, -27.24726293727989, -0.1305978080305349, -24.027392582814723, -2.466182524535138]}
+{"timestamp_ns": 1789729720814300821, "elapsed_ms": 9966, "source_timestamp_ns": 1789729720809427395, "q": [0.8366148471832275, -1.89730966091156, -1.0063740015029907, 1.3811269998550415, -0.1613343507051468, 0.5939561724662781, 0.7036488652229309], "theta": [0.838702380657196, -1.8953744173049927, -1.0045855045318604, 1.3627166748046875, -0.161932110786438, 0.5939110517501831, 0.7036249041557312], "dq": [-0.003247942076995969, 0.0015761660179123282, 0.0005893844063393772, -8.904202695703134e-05, -0.001385530922561884, 0.0013586023123934865, 0.00029981983243487775], "dtheta": [-6.329444204311585e-06, -0.00035027333069592714, -9.11377283046022e-05, 8.037385123316199e-05, -7.609633757965639e-05, 6.22289371676743e-06, -7.627585318914498e-07], "tau": [55.54999923706055, 23.670000076293945, 5.448000431060791, -26.264001846313477, -2.556000232696533, 2.6520001888275146, -0.5320000052452087], "tau_des": [0.5552294254302979, -0.513660192489624, -0.205759659409523, -0.591672420501709, 0.9126298427581787, -1.1488548517227173, -0.5371884703636169], "tau_dot": [45.63451385498047, -11.032670974731445, -44.60940170288086, -29.08055877685547, 8.646764755249023, -29.48445701599121, 21.322162628173828], "tau_ext": [-16.737504959106445, -41.66707992553711, 31.796701431274414, 31.34603500366211, 9.489938735961914, -2.9990484714508057, -0.1235077902674675], "tcp_pose": [0.6779590845108032, 0.032628875225782394, -0.21496854722499847, -0.0022717718966305256, -0.0045911348424851894, 0.9998906850814819, 0.013871833682060242], "tcp_vel": [-8.43293746584095e-05, 3.3040661946870387e-05, -0.00014205145998857915, -0.0004074825847055763, -4.073240233992692e-06, 0.00022619742958340794], "flange_pose": [0.6786596179008484, 0.028470907360315323, -0.06502782553434372, -0.0022717718966305256, -0.0045911348424851894, 0.9998906850814819, 0.013871833682060242], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.96737670898438, 15.11085319519043, 28.154680252075195, 0.35612478852272034, -24.082529067993164, 1.8023507595062256], "ext_wrench_in_world": [-108.23098928773503, 14.886759983470228, -27.24730578966782, -0.14493360144921558, -24.02557689324864, -2.4686329483737794]}
+{"timestamp_ns": 1789729720847565220, "elapsed_ms": 10000, "source_timestamp_ns": 1789729720839284223, "q": [0.836614191532135, -1.8973097801208496, -1.00637686252594, 1.3811256885528564, -0.1613353043794632, 0.5939579606056213, 0.7036489844322205], "theta": [0.8387020230293274, -1.8953745365142822, -1.004588007926941, 1.362715721130371, -0.1619325876235962, 0.5939129590988159, 0.7036246657371521], "dq": [-0.0003677064669318497, 0.0004436916206032038, 0.0007834043353796005, 0.0019703384023159742, 0.0001715881226118654, -0.001653218292631209, -0.0013376157730817795], "dtheta": [-0.0002830653393175453, 0.00025057102902792394, -1.5146348232519813e-05, 0.0001357323199044913, 9.514418343314901e-05, 0.0012413880322128534, -0.0006701942184008658], "tau": [55.54999923706055, 23.709999084472656, 5.444000244140625, -26.312002182006836, -2.56000018119812, 2.6560001373291016, -0.5320000052452087], "tau_des": [0.522350549697876, -0.5880427360534668, -0.1736704707145691, -0.5348014235496521, 0.9082285761833191, -1.1903717517852783, -0.5308111310005188], "tau_dot": [-39.681495666503906, 97.3619155883789, 3.2925000190734863, -44.560340881347656, 12.397047996520996, -38.74518966674805, -3.1424546241760254], "tau_ext": [-16.7722225189209, -41.66789627075195, 31.799081802368164, 31.305593490600586, 9.49664306640625, -2.998274326324463, -0.12203709781169891], "tcp_pose": [0.6779608130455017, 0.032627832144498825, -0.21496827900409698, -0.0022701492998749018, -0.004590293858200312, 0.9998906850814819, 0.013871545903384686], "tcp_vel": [0.00017665750056039542, 9.444298484595492e-05, -4.551306119537912e-05, 0.0009724445990286767, -0.0005178255378268659, 0.0004306068585719913], "flange_pose": [0.6786609292030334, 0.028469949960708618, -0.06502755731344223, -0.0022701492998749018, -0.004590293858200312, 0.9998906850814819, 0.013871545903384686], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79637145996094, 15.233500480651855, 28.17841911315918, 0.381346195936203, -24.04278564453125, 1.8057105541229248], "ext_wrench_in_world": [-108.06110839006394, 15.01176482348721, -27.268742379140416, -0.17056518847926708, -23.985991562319406, -2.4707637208209943]}
+{"timestamp_ns": 1789729720880900890, "elapsed_ms": 10033, "source_timestamp_ns": 1789729720879410228, "q": [0.8366149663925171, -1.8973103761672974, -1.0063828229904175, 1.3811264038085938, -0.1613355576992035, 0.5939528346061707, 0.703650176525116], "theta": [0.8387030959129333, -1.8953757286071777, -1.004592776298523, 1.3627161979675293, -0.161934033036232, 0.5939081907272339, 0.7036258578300476], "dq": [-0.00012797604722436517, -5.982043148833327e-05, -0.0020570994820445776, -0.0005740930209867656, 0.0010080559877678752, 0.0005689782556146383, 0.0023003031965345144], "dtheta": [0.0003603920922614634, -8.013538899831474e-05, -0.0001484261592850089, -0.00027293406310491264, -0.0004860042536165565, -0.0007915837340988219, 8.404601976508275e-05], "tau": [55.56999969482422, 23.56999969482422, 5.456000328063965, -26.420001983642578, -2.576000213623047, 2.6760001182556152, -0.5200000405311584], "tau_des": [0.4328796863555908, -0.6210698485374451, -0.12144608050584793, -0.5200455784797668, 0.9406690001487732, -1.1509979963302612, -0.5510600209236145], "tau_dot": [98.0780029296875, -20.048131942749023, -28.0386962890625, -53.88401794433594, 7.626077651977539, -18.73331069946289, 31.62053871154785], "tau_ext": [-16.747695922851562, -41.61783981323242, 31.786582946777344, 31.36739158630371, 9.501646041870117, -3.0026602745056152, -0.1286739706993103], "tcp_pose": [0.6779616475105286, 0.03262374550104141, -0.21496917307376862, -0.002270987955853343, -0.004587970674037933, 0.9998907446861267, 0.013867459259927273], "tcp_vel": [0.00013081652286928147, -0.00016496590978931636, 0.0002840794331859797, -0.0008173758396878839, -0.00029453515890054405, 0.0001107564166886732], "flange_pose": [0.6786619424819946, 0.0284670889377594, -0.06502841413021088, -0.002270987955853343, -0.004587970674037933, 0.9998907446861267, 0.013867459259927273], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77259063720703, 15.240004539489746, 28.176467895507812, 0.37654605507850647, -24.027097702026367, 1.8023844957351685], "ext_wrench_in_world": [-108.0373563053603, 15.018705905427213, -27.266655269031016, -0.1660073736601343, -23.970377594046212, -2.4668279906633384]}
+{"timestamp_ns": 1789729720914230451, "elapsed_ms": 10066, "source_timestamp_ns": 1789729720909285294, "q": [0.8366169929504395, -1.8973100185394287, -1.006382942199707, 1.381127119064331, -0.1613352745771408, 0.5939505100250244, 0.7036506533622742], "theta": [0.8387045860290527, -1.8953758478164673, -1.0045926570892334, 1.362716555595398, -0.161934033036232, 0.593906044960022, 0.7036258578300476], "dq": [-0.0014416677877306938, -0.0004755501577164978, -0.0015204029623419046, 0.0017851422308012843, 9.095811401493847e-05, -0.0009679070208221674, -1.2119271559640765e-06], "dtheta": [-0.000160500145284459, -0.00034969704574905336, -9.350122854812071e-05, -3.366505552548915e-05, -0.0010423272615298629, -0.00044587792945094407, 0.0006242020172066987], "tau": [55.48999786376953, 23.619998931884766, 5.448000431060791, -26.408000946044922, -2.56000018119812, 2.6680002212524414, -0.5240000486373901], "tau_des": [0.5611333250999451, -0.5512388348579407, -0.13905003666877747, -0.5998961329460144, 0.9351388812065125, -1.1329903602600098, -0.555370032787323], "tau_dot": [28.891376495361328, 68.72476196289062, -40.549339294433594, -45.16898727416992, 31.176048278808594, 23.70363998413086, 31.26685333251953], "tau_ext": [-16.72109031677246, -41.610042572021484, 31.80356788635254, 31.41134262084961, 9.505334854125977, -3.00374174118042, -0.12821568548679352], "tcp_pose": [0.6779614686965942, 0.03262306749820709, -0.21496830880641937, -0.0022712042555212975, -0.004587556701153517, 0.9998907446861267, 0.013866673223674297], "tcp_vel": [-2.485020195308607e-05, -8.580691064707935e-05, -0.0001677029358688742, -0.0012418635888025165, -0.00011781363718910143, 0.0001282532757613808], "flange_pose": [0.6786618232727051, 0.028466645628213882, -0.06502754986286163, -0.0022712042555212975, -0.004587556701153517, 0.9998907446861267, 0.013866673223674297], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.97538757324219, 15.095678329467773, 28.138824462890625, 0.344203919172287, -24.070512771606445, 1.7973997592926025], "ext_wrench_in_world": [-108.23865149789363, 14.871570378056477, -27.232113108975422, -0.13326879045285037, -24.013617268318647, -2.4631549770461865]}
+{"timestamp_ns": 1789729720947563712, "elapsed_ms": 10100, "source_timestamp_ns": 1789729720939280785, "q": [0.8366192579269409, -1.897314190864563, -1.0063824653625488, 1.3811272382736206, -0.16133412718772888, 0.5939488410949707, 0.7036498785018921], "theta": [0.838706910610199, -1.895379900932312, -1.0045920610427856, 1.3627166748046875, -0.1619328260421753, 0.593903660774231, 0.7036249041557312], "dq": [-0.001865805359557271, -0.0011316487798467278, 0.000489807513076812, 0.0005825323751196265, -0.0009392229258082807, 0.0009984190110117197, 0.004879174288362265], "dtheta": [0.00011460499808890745, 7.439389446517453e-05, -2.4696435048099374e-06, -4.949191861669533e-05, -0.0003247937129344791, -0.0004976126947440207, -0.0002532526559662074], "tau": [55.56999969482422, 23.60999870300293, 5.468000411987305, -26.268001556396484, -2.572000026702881, 2.6600000858306885, -0.5360000133514404], "tau_des": [0.487502783536911, -0.5888664722442627, -0.14924880862236023, -0.5574411153793335, 0.927524209022522, -1.1433988809585571, -0.5404489636421204], "tau_dot": [51.9101676940918, 94.46168518066406, 20.635730743408203, 36.47474670410156, -28.903743743896484, 35.965206146240234, 48.57426071166992], "tau_ext": [-16.750097274780273, -41.62675094604492, 31.80899429321289, 31.380069732666016, 9.500397682189941, -3.0016729831695557, -0.12465178966522217], "tcp_pose": [0.6779601573944092, 0.03262436389923096, -0.21496832370758057, -0.0022711683996021748, -0.004589218646287918, 0.9998907446861267, 0.013865046203136444], "tcp_vel": [1.600071118446067e-05, -0.00011510355398058891, 9.175934974336997e-05, -0.00044390972470864654, 3.422567169764079e-05, 0.00038577281520701945], "flange_pose": [0.67866051197052, 0.028468430042266846, -0.06502754986286163, -0.0022711683996021748, -0.004589218646287918, 0.9998907446861267, 0.013865046203136444], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06169128417969, 15.040371894836426, 28.124771118164062, 0.33028915524482727, -24.089481353759766, 1.7964909076690674], "ext_wrench_in_world": [-108.32442688482128, 14.814651873306723, -27.219281590982508, -0.11909733394793495, -24.03248279955327, -2.462756324684225]}
+{"timestamp_ns": 1789729720980902052, "elapsed_ms": 10133, "source_timestamp_ns": 1789729720979228762, "q": [0.8366183042526245, -1.8973218202590942, -1.0063817501068115, 1.3811242580413818, -0.16133317351341248, 0.5939499735832214, 0.703648030757904], "theta": [0.8387067914009094, -1.8953875303268433, -1.004591703414917, 1.3627145290374756, -0.1619318723678589, 0.5939048528671265, 0.7036234736442566], "dq": [-0.0028001130558550358, -0.0008832676685415208, -0.0004051489813718945, -0.00043950736289843917, -0.001211404101923108, 0.0006687497952952981, 0.003198611317202449], "dtheta": [0.00028148433193564415, -6.905489135533571e-05, -3.394610757823102e-05, -0.00017872343596536666, 0.000630972208455205, 0.000768761383369565, 6.063011460355483e-05], "tau": [55.619998931884766, 23.56999969482422, 5.460000038146973, -26.216001510620117, -2.5440001487731934, 2.6520001888275146, -0.5600000023841858], "tau_des": [0.4396311342716217, -0.5775716304779053, -0.19861845672130585, -0.49766185879707336, 0.9152423739433289, -1.1887730360031128, -0.5425460934638977], "tau_dot": [-77.5520248413086, -126.03913879394531, -26.86785125732422, 3.939572811126709, 38.29190444946289, -9.554269790649414, 0.19086408615112305], "tau_ext": [-16.776241302490234, -41.61522674560547, 31.784547805786133, 31.283281326293945, 9.49537181854248, -2.9887189865112305, -0.12146645039319992], "tcp_pose": [0.6779589653015137, 0.03262779489159584, -0.21496981382369995, -0.0022704307921230793, -0.004592428915202618, 0.9998907446861267, 0.01386395562440157], "tcp_vel": [0.00018095146515406668, 0.00020152691286057234, 0.0002839016087818891, 0.0009240680374205112, -0.0006661351071670651, -0.0004347369249444455], "flange_pose": [0.6786590814590454, 0.028472190722823143, -0.06502901762723923, -0.0022704307921230793, -0.004592428915202618, 0.9998907446861267, 0.01386395562440157], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7646713256836, 15.2199068069458, 28.17636489868164, 0.36281877756118774, -24.02365493774414, 1.8008204698562622], "ext_wrench_in_world": [-108.02935289160956, 14.99753351006642, -27.267386939032193, -0.15208806539730288, -23.96687139459762, -2.465062508940663]}
+{"timestamp_ns": 1789729721014229648, "elapsed_ms": 10166, "source_timestamp_ns": 1789729721009296938, "q": [0.8366179466247559, -1.8973201513290405, -1.006381869316101, 1.3811252117156982, -0.1613324135541916, 0.5939479470252991, 0.7036475539207458], "theta": [0.8387066721916199, -1.8953858613967896, -1.0045915842056274, 1.3627150058746338, -0.16193068027496338, 0.5939034223556519, 0.7036229968070984], "dq": [0.0021324995905160904, 0.0008483536075800657, -0.0013577804202213883, -0.00227856426499784, 0.0007084805401973426, 0.0035080311354249716, -0.0002630050585139543], "dtheta": [0.0003821190621238202, -1.0301378097210545e-05, 6.751153705408797e-05, 2.8319942430243827e-05, 0.0005424615228548646, -0.0009890496730804443, -0.00016316860273946077], "tau": [55.57999801635742, 23.59000015258789, 5.560000419616699, -26.356000900268555, -2.5440001487731934, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.5024896264076233, -0.5456691384315491, -0.19800186157226562, -0.5836263298988342, 0.9037742018699646, -1.1285548210144043, -0.5383647680282593], "tau_dot": [-96.91584777832031, 45.481590270996094, 68.78990173339844, 50.988555908203125, 58.12053298950195, 7.699053764343262, 10.470722198486328], "tau_ext": [-16.77720832824707, -41.59017562866211, 31.77332305908203, 31.341434478759766, 9.487021446228027, -2.994671106338501, -0.12099792063236237], "tcp_pose": [0.6779584884643555, 0.03262677416205406, -0.21497030556201935, -0.0022719521075487137, -0.004591934382915497, 0.9998907446861267, 0.013863815926015377], "tcp_vel": [-0.00021255108003970236, -8.310895645990968e-05, 8.99085498531349e-05, -0.00028989146812818944, 0.0007056174799799919, -5.562814840232022e-05], "flange_pose": [0.6786590814590454, 0.028471212834119797, -0.06502950936555862, -0.0022719521075487137, -0.004591934382915497, 0.9998907446861267, 0.013863815926015377], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67655181884766, 15.237302780151367, 28.193010330200195, 0.36426594853401184, -24.005144119262695, 1.7998883724212646], "ext_wrench_in_world": [-107.94154351013078, 15.016292094972723, -27.28360671646567, -0.15372982916361994, -23.94840826015743, -2.463603248386337]}
+{"timestamp_ns": 1789729721047567332, "elapsed_ms": 10200, "source_timestamp_ns": 1789729721039291831, "q": [0.8366184830665588, -1.8973171710968018, -1.0063838958740234, 1.3811274766921997, -0.16133087873458862, 0.5939460396766663, 0.70364910364151], "theta": [0.8387078642845154, -1.8953834772109985, -1.0045932531356812, 1.3627166748046875, -0.16192923486232758, 0.5939010381698608, 0.7036241888999939], "dq": [0.001524627092294395, -0.0005564221646636724, -0.0008620767621323466, 0.000563332810997963, -0.00034220507950522006, 0.0002550481876824051, 0.00025185226695612073], "dtheta": [2.6932122636935674e-05, -2.1326217392925173e-05, -0.0005251859547570348, 9.615580347599462e-05, 0.0008496439550071955, -0.0008402925450354815, 0.00039730852586217225], "tau": [55.529998779296875, 23.559999465942383, 5.51200008392334, -26.41200065612793, -2.568000078201294, 2.688000202178955, -0.5600000023841858], "tau_des": [0.590307354927063, -0.5759032368659973, -0.09839190542697906, -0.6359015107154846, 0.8825252652168274, -1.1075936555862427, -0.5660868287086487], "tau_dot": [17.86182403564453, -39.917724609375, -24.131940841674805, 41.04119873046875, -11.221240997314453, 22.62849998474121, -50.07102584838867], "tau_ext": [-16.738309860229492, -41.56550598144531, 31.744279861450195, 31.413896560668945, 9.489514350891113, -3.0048635005950928, -0.12145822495222092], "tcp_pose": [0.677958607673645, 0.03262417018413544, -0.21497051417827606, -0.0022734052035957575, -0.004589198622852564, 0.9998908042907715, 0.013863513246178627], "tcp_vel": [-0.00013453511928673834, -0.00037458830047398806, -0.00022514021839015186, -0.000429455132689327, 0.0010007981909438968, -0.001188028953038156], "flange_pose": [0.6786596179008484, 0.028468698263168335, -0.06502972543239594, -0.0022734052035957575, -0.004589198622852564, 0.9998908042907715, 0.013863513246178627], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85279846191406, 15.081795692443848, 28.177831649780273, 0.33754315972328186, -24.04871368408203, 1.7970308065414429], "ext_wrench_in_world": [-108.11629235322124, 14.859371080334057, -27.271657682435805, -0.12673535190602095, -23.991792199040585, -2.462058121150255]}
+{"timestamp_ns": 1789729721080906735, "elapsed_ms": 10233, "source_timestamp_ns": 1789729721079232995, "q": [0.8366245627403259, -1.8973195552825928, -1.0063841342926025, 1.3811280727386475, -0.16133186221122742, 0.5939455628395081, 0.703649640083313], "theta": [0.8387137055397034, -1.8953857421875, -1.004593849182129, 1.3627171516418457, -0.16192995011806488, 0.5939000844955444, 0.7036256194114685], "dq": [-0.0008120731799863279, -0.000767823017667979, 0.0014063010457903147, -0.004088076297193766, -0.0007025161175988615, 0.001272300025448203, -0.0007875328883528709], "dtheta": [-0.0001293418899876997, 0.00023546833836007863, 0.00026675357366912067, 0.0001768389338394627, 0.0002216173888882622, -0.00020721627515740693, 0.0006814514053985476], "tau": [55.599998474121094, 23.689998626708984, 5.444000244140625, -26.264001846313477, -2.5480000972747803, 2.6560001373291016, -0.5320000052452087], "tau_des": [0.5484979748725891, -0.5723609924316406, -0.18340711295604706, -0.5902057886123657, 0.8936386704444885, -1.140901803970337, -0.5570897459983826], "tau_dot": [99.31209564208984, -28.15165901184082, -7.576272964477539, 2.9721620082855225, 37.03533172607422, 5.524937152862549, -1.0005364418029785], "tau_ext": [-16.736465454101562, -41.67356491088867, 31.780834197998047, 31.376951217651367, 9.48990249633789, -2.99906325340271, -0.12611958384513855], "tcp_pose": [0.677959144115448, 0.032624516636133194, -0.21496734023094177, -0.0022704952862113714, -0.0045900349505245686, 0.9998908042907715, 0.013861902989447117], "tcp_vel": [-0.00019201704708393663, 2.6750087272375822e-05, -0.00012398500985000283, 0.00024235929595306516, 0.0006535854190587997, -0.0007417048909701407], "flange_pose": [0.6786593198776245, 0.028469527140259743, -0.06502653658390045, -0.0022704952862113714, -0.0045900349505245686, 0.9998908042907715, 0.013861902989447117], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.04712677001953, 15.000157356262207, 28.15211296081543, 0.3346823453903198, -24.10404396057129, 1.7987825870513916], "ext_wrench_in_world": [-108.30961022098558, 14.77499928913388, -27.248036955202586, -0.12332568099704129, -24.047031972113167, -2.4652810041701634]}
+{"timestamp_ns": 1789729721114232619, "elapsed_ms": 10266, "source_timestamp_ns": 1789729721109292470, "q": [0.8366243839263916, -1.8973238468170166, -1.0063848495483398, 1.3811252117156982, -0.16133366525173187, 0.5939476490020752, 0.7036505341529846], "theta": [0.8387138843536377, -1.8953897953033447, -1.004594087600708, 1.3627153635025024, -0.16193115711212158, 0.5939019918441772, 0.703626811504364], "dq": [0.0006997695891186595, 0.000382422236725688, -0.0012199345510452986, -0.0005709017859771848, -0.0025110195856541395, 0.0010583284310996532, 0.0004899256164208055], "dtheta": [-0.00024744923575781286, 6.7745213527814485e-06, -5.391435115598142e-05, 0.0002723000943660736, 0.0007749584037810564, 0.0004784305638168007, 0.000138058778247796], "tau": [55.64999771118164, 23.600000381469727, 5.4800004959106445, -26.22800064086914, -2.56000018119812, 2.632000207901001, -0.5080000162124634], "tau_des": [0.5778823494911194, -0.534731924533844, -0.17918866872787476, -0.5963964462280273, 0.8911386132240295, -1.1559109687805176, -0.548622190952301], "tau_dot": [27.239877700805664, -134.49285888671875, -4.761061191558838, 15.165427207946777, 46.25492858886719, -29.320459365844727, 52.23626708984375], "tau_ext": [-16.790979385375977, -41.69645690917969, 31.7958984375, 31.279926300048828, 9.497584342956543, -2.9871251583099365, -0.12828338146209717], "tcp_pose": [0.6779599785804749, 0.03262607380747795, -0.21496711671352386, -0.002268075942993164, -0.004591015167534351, 0.9998908042907715, 0.013861004263162613], "tcp_vel": [-0.0001560441596666351, 4.6013468818273395e-05, -0.0002994314709212631, 0.000607944733928889, 0.0005200665327720344, -0.0005787291447632015], "flange_pose": [0.6786594390869141, 0.02847135066986084, -0.06502630561590195, -0.002268075942993164, -0.004591015167534351, 0.9998908042907715, 0.013861004263162613], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83678436279297, 15.205933570861816, 28.199207305908203, 0.3790363669395447, -24.062198638916016, 1.8042999505996704], "ext_wrench_in_world": [-108.10126997559357, 14.983682836606427, -27.290885813149796, -0.1680270182215987, -24.005466276109896, -2.469397903446608]}
+{"timestamp_ns": 1789729721147565943, "elapsed_ms": 10300, "source_timestamp_ns": 1789729721139289543, "q": [0.8366237878799438, -1.8973238468170166, -1.0063894987106323, 1.381123423576355, -0.16133347153663635, 0.5939480066299438, 0.7036495208740234], "theta": [0.8387133479118347, -1.895390272140503, -1.0045982599258423, 1.3627142906188965, -0.16193115711212158, 0.5939024686813354, 0.7036265730857849], "dq": [0.0004448267864063382, -0.0018651143182069063, 0.0012552073458209634, 0.0004657709214370698, 0.002868759213015437, -0.0006329095340333879, 0.0029976260848343372], "dtheta": [0.0002460487012285739, -3.846609251922928e-05, -0.0002841169771272689, 7.794743396516424e-06, -0.0009739786037243903, -1.8430111595080234e-05, -0.0006936081335879862], "tau": [55.529998779296875, 23.549999237060547, 5.52400016784668, -26.376001358032227, -2.576000213623047, 2.6600000858306885, -0.5320000052452087], "tau_des": [0.41823112964630127, -0.6143473386764526, -0.12101513147354126, -0.49944785237312317, 0.9643804430961609, -1.1783729791641235, -0.5305325388908386], "tau_dot": [-106.21475219726562, -13.25495719909668, 16.78125, -6.576364994049072, 8.323969841003418, -6.440210819244385, -40.601470947265625], "tau_ext": [-16.79764747619629, -41.606422424316406, 31.765024185180664, 31.285404205322266, 9.504754066467285, -2.990290880203247, -0.13831381499767303], "tcp_pose": [0.6779621243476868, 0.03262398764491081, -0.21496693789958954, -0.002266788389533758, -0.004589753691107035, 0.9998908638954163, 0.013860254548490047], "tcp_vel": [0.0002634709235280752, -0.00021818408276885748, 0.0002143386227544397, -0.0008280342444777489, -0.0008739142213016748, 0.001061631366610527], "flange_pose": [0.6786611676216125, 0.02846948429942131, -0.06502611190080643, -0.002266788389533758, -0.004589753691107035, 0.9998908638954163, 0.013860254548490047], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.60591125488281, 15.309123039245605, 28.22775650024414, 0.3879247009754181, -24.000343322753906, 1.8008897304534912], "ext_wrench_in_world": [-107.87137485462567, 15.089988065091887, -27.317876371155975, -0.1775179031624378, -23.94381718534618, -2.464198651431185]}
+{"timestamp_ns": 1789729721180898837, "elapsed_ms": 10333, "source_timestamp_ns": 1789729721179288479, "q": [0.8366241455078125, -1.897323489189148, -1.006393551826477, 1.3811259269714355, -0.16133137047290802, 0.5939419865608215, 0.7036473155021667], "theta": [0.8387136459350586, -1.8953900337219238, -1.0046014785766602, 1.3627166748046875, -0.16192995011806488, 0.5938969850540161, 0.7036246657371521], "dq": [-0.0006733132759109139, -0.0014539302792400122, 0.0004007606767117977, 0.0009849275229498744, -0.00425743730738759, 0.0010562632232904434, 0.0008594303508289158], "dtheta": [-2.8892216505482793e-05, -0.00024214274890255183, 8.310471457662061e-05, 0.0002726292877923697, -0.00047029292909428477, -0.0009664334356784821, -9.242878877557814e-05], "tau": [55.54999923706055, 23.56999969482422, 5.504000186920166, -26.356000900268555, -2.56000018119812, 2.6600000858306885, -0.5320000052452087], "tau_des": [0.588003396987915, -0.5097719430923462, -0.1592094451189041, -0.6470597386360168, 0.9252387285232544, -1.1071836948394775, -0.5406724214553833], "tau_dot": [44.18424987792969, -54.46809387207031, 4.251540184020996, 33.42055892944336, 19.804481506347656, -38.726497650146484, 23.801485061645508], "tau_ext": [-16.744203567504883, -41.55766296386719, 31.743745803833008, 31.431554794311523, 9.5049409866333, -3.0092592239379883, -0.13743214309215546], "tcp_pose": [0.6779612898826599, 0.03262031078338623, -0.21496880054473877, -0.0022698177490383387, -0.004588929004967213, 0.9998908638954163, 0.013857046142220497], "tcp_vel": [-0.0003215736651327461, -0.00012076256825821474, -0.00027985687484033406, -0.001206959830597043, 0.0007427057716995478, 0.0006398970726877451], "flange_pose": [0.6786612272262573, 0.02846677601337433, -0.06502795219421387, -0.0022698177490383387, -0.004588929004967213, 0.9998908638954163, 0.013857046142220497], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80647277832031, 15.082198143005371, 28.196739196777344, 0.3335956633090973, -24.035892486572266, 1.788274884223938], "ext_wrench_in_world": [-108.06985485749699, 14.860438994614464, -27.291724002443704, -0.12286089579601325, -23.979214132980783, -2.452658867255056]}
+{"timestamp_ns": 1789729721214307881, "elapsed_ms": 10366, "source_timestamp_ns": 1789729721209302330, "q": [0.8366262912750244, -1.8973257541656494, -1.0063918828964233, 1.381126880645752, -0.1613289713859558, 0.593940794467926, 0.7036448121070862], "theta": [0.8387153148651123, -1.8953919410705566, -1.004600167274475, 1.3627177476882935, -0.16192780435085297, 0.5938957929611206, 0.7036227583885193], "dq": [0.0007049475098028779, -0.0009643458761274815, 0.0005515991360880435, -0.0009127380908466876, -0.00019875619909726083, -0.002081486163660884, 0.00248666200786829], "dtheta": [-0.00010523624951019883, -0.0006092145922593772, 0.0001344021875411272, 3.1495786970481277e-05, -0.00038072970346547663, 0.00045103038428351283, -0.0004656216478906572], "tau": [55.5, 23.6299991607666, 5.468000411987305, -26.272001266479492, -2.576000213623047, 2.6440000534057617, -0.5240000486373901], "tau_des": [0.5635644793510437, -0.4642294943332672, -0.22814533114433289, -0.5995474457740784, 0.931961178779602, -1.1504144668579102, -0.5250788927078247], "tau_dot": [-74.96041107177734, -144.3258514404297, -18.653522491455078, 19.861940383911133, -82.7720718383789, -11.934167861938477, 59.60659408569336], "tau_ext": [-16.69324493408203, -41.63362121582031, 31.78561019897461, 31.40578269958496, 9.49741268157959, -2.998509407043457, -0.12736964225769043], "tcp_pose": [0.677959680557251, 0.032621704041957855, -0.21496863663196564, -0.002270470606163144, -0.004590905737131834, 0.9998908638954163, 0.013856856152415276], "tcp_vel": [-0.00010642671986715868, 0.000291725475108251, -0.00017609531641937792, -0.0003240506921429187, -0.00039035757072269917, 0.001173518830910325], "flange_pose": [0.6786598563194275, 0.02846822887659073, -0.06502778828144073, -0.002270470606163144, -0.004590905737131834, 0.9998908638954163, 0.013856856152415276], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.05384063720703, 14.963281631469727, 28.140947341918945, 0.31849023699760437, -24.098278045654297, 1.791292667388916], "ext_wrench_in_world": [-108.31595816628932, 14.737302152479137, -27.2380308157448, -0.10710934185791943, -24.041351324627353, -2.4574629787024733]}
+{"timestamp_ns": 1789729721247624727, "elapsed_ms": 10400, "source_timestamp_ns": 1789729721239293653, "q": [0.8366279602050781, -1.8973301649093628, -1.006391167640686, 1.381124496459961, -0.16132858395576477, 0.5939418077468872, 0.7036435008049011], "theta": [0.8387171030044556, -1.895396113395691, -1.0046002864837646, 1.3627163171768188, -0.16192659735679626, 0.5938974618911743, 0.7036212682723999], "dq": [-0.0004067840927746147, -0.000575302867218852, -0.00033148087095469236, 0.00011214141704840586, -0.0021271936129778624, 0.003666430711746216, -0.0012621416244655848], "dtheta": [0.000300877436529845, 0.00010695222590584308, -0.00016978986968751997, -0.0003496510616969317, -0.0008469511521980166, 0.0002031168551184237, 0.0006388931069523096], "tau": [55.619998931884766, 23.65999984741211, 5.504000186920166, -26.18000030517578, -2.5440001487731934, 2.636000156402588, -0.5440000295639038], "tau_des": [0.36839455366134644, -0.6599081754684448, -0.13192206621170044, -0.451631635427475, 0.9587085843086243, -1.1932932138442993, -0.5489530563354492], "tau_dot": [-52.56644821166992, 40.99546813964844, 21.743087768554688, 22.94234275817871, 13.398502349853516, -16.290422439575195, 7.645593166351318], "tau_ext": [-16.72446632385254, -41.640838623046875, 31.78011131286621, 31.308563232421875, 9.483650207519531, -2.9921822547912598, -0.12012714892625809], "tcp_pose": [0.677959680557251, 0.032624032348394394, -0.21496765315532684, -0.002268547425046563, -0.00459302356466651, 0.9998908638954163, 0.013856550678610802], "tcp_vel": [0.0004397794255055487, -8.549910853616893e-05, 0.0004751600499730557, -0.0002244140050606802, -0.0012403702130541205, -0.00041965392301790416], "flange_pose": [0.6786592602729797, 0.02847064472734928, -0.06502679735422134, -0.002268547425046563, -0.00459302356466651, 0.9998908638954163, 0.013856550678610802], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.00785827636719, 15.080257415771484, 28.134065628051758, 0.353228360414505, -24.096786499023438, 1.802105188369751], "ext_wrench_in_world": [-108.27096841447366, 14.853993760751457, -27.228542558956033, -0.14179950248330656, -24.039884160397783, -2.468063090729196]}
+{"timestamp_ns": 1789729721280932904, "elapsed_ms": 10433, "source_timestamp_ns": 1789729721279297879, "q": [0.8366246223449707, -1.8973292112350464, -1.0063928365707397, 1.381124496459961, -0.16132870316505432, 0.5939420461654663, 0.7036452293395996], "theta": [0.8387150764465332, -1.8953959941864014, -1.004602074623108, 1.3627164363861084, -0.16192564368247986, 0.5938972234725952, 0.7036215662956238], "dq": [0.00016777894052211195, -0.0007589817396365106, 0.002125218277797103, -0.0003481796302367002, -0.0007445598021149635, -0.0009563727653585374, 0.002173270331695676], "dtheta": [-0.00017465522978454828, -0.00041385667282156646, 0.00029408143018372357, 0.00018629127589520067, 0.00022573785099666566, -0.00033480144338682294, -0.00021042015578132123], "tau": [55.61000061035156, 23.600000381469727, 5.516000270843506, -26.292001724243164, -2.552000045776367, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.6245001554489136, -0.44504669308662415, -0.2442202866077423, -0.6495194435119629, 0.9006776213645935, -1.1257281303405762, -0.5318062901496887], "tau_dot": [-20.599437713623047, -4.030662536621094, 22.369544982910156, -3.1361138820648193, -16.66373634338379, 19.703279495239258, 0.48579156398773193], "tau_ext": [-16.811796188354492, -41.604347229003906, 31.751461029052734, 31.29974937438965, 9.476694107055664, -2.996824026107788, -0.12331075221300125], "tcp_pose": [0.6779597997665405, 0.03262288495898247, -0.2149697095155716, -0.0022698352113366127, -0.004591304808855057, 0.9998908638954163, 0.013856383040547371], "tcp_vel": [-0.00041220453567802906, 0.0002112233778461814, -0.0003648510610219091, -0.0003043991746380925, 0.0007905060774646699, 0.0006062633474357426], "flange_pose": [0.6786597967147827, 0.028469549492001534, -0.0650288537144661, -0.0022698352113366127, -0.004591304808855057, 0.9998908638954163, 0.013856383040547371], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64447784423828, 15.23901081085205, 28.196500778198242, 0.37922510504722595, -24.006847381591797, 1.8005925416946411], "ext_wrench_in_world": [-107.90936688205412, 15.018126069990291, -27.28787542933719, -0.16869617465523626, -23.95026597550384, -2.4639333773106102]}
+{"timestamp_ns": 1789729721314228583, "elapsed_ms": 10466, "source_timestamp_ns": 1789729721309297052, "q": [0.8366259932518005, -1.8973280191421509, -1.0063945055007935, 1.3811262845993042, -0.16133028268814087, 0.593941330909729, 0.703646183013916], "theta": [0.8387162089347839, -1.8953949213027954, -1.0046029090881348, 1.362716794013977, -0.16192707419395447, 0.5938972234725952, 0.7036225199699402], "dq": [-0.002217430854216218, 0.0002883304550778121, -0.0003083947813138366, 0.0018837243551388383, 0.0009739578817971051, 0.00023971835616976023, -0.0005106251919642091], "dtheta": [4.993591574020684e-05, 0.0004735853581223637, -8.632913522887975e-05, -2.164358193113003e-06, -0.0006370989722199738, 0.0006324146525003016, -0.00019101348880212754], "tau": [55.48999786376953, 23.600000381469727, 5.492000102996826, -26.352001190185547, -2.552000045776367, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.43161821365356445, -0.6675198674201965, -0.10831530392169952, -0.4942411780357361, 0.9389662742614746, -1.1838008165359497, -0.5428053736686707], "tau_dot": [-64.0198974609375, 20.9038028717041, -0.2709863781929016, -50.984310150146484, 17.87163543701172, 7.8595428466796875, -46.65666198730469], "tau_ext": [-16.744503021240234, -41.585445404052734, 31.75286293029785, 31.35710334777832, 9.485579490661621, -3.0027880668640137, -0.12047266215085983], "tcp_pose": [0.6779603958129883, 0.03262105956673622, -0.21496924757957458, -0.002269424730911851, -0.004590402357280254, 0.999890923500061, 0.013855098746716976], "tcp_vel": [0.00037142541259527206, -0.0001315246627200395, 0.0002948802139144391, 0.00031646055867895484, -0.0009160414920188487, 0.0001511781447334215], "flange_pose": [0.6786602139472961, 0.028468109667301178, -0.06502838432788849, -0.002269424730911851, -0.004590402357280254, 0.999890923500061, 0.013855098746716976], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67288208007812, 15.194670677185059, 28.203203201293945, 0.3685518801212311, -24.01089859008789, 1.798132300376892], "ext_wrench_in_world": [-107.93734741193677, 14.973853126685334, -27.295805162099708, -0.15801647502312116, -23.95429095109545, -2.461572096318165]}
+{"timestamp_ns": 1789729721347564496, "elapsed_ms": 10500, "source_timestamp_ns": 1789729721339287815, "q": [0.8366281986236572, -1.897329330444336, -1.006394624710083, 1.3811278343200684, -0.16133072972297668, 0.5939420461654663, 0.7036474347114563], "theta": [0.8387176990509033, -1.8953964710235596, -1.0046035051345825, 1.362717628479004, -0.16192780435085297, 0.5938984155654907, 0.7036241888999939], "dq": [0.0005855102208442986, -0.000918183068279177, -0.00239851837977767, -0.000747470126952976, 0.00039225289947353303, -3.5459506761981174e-05, -0.0007505553658120334], "dtheta": [-0.00018151101539842784, -6.0557482356671244e-05, -3.684266994241625e-05, -0.00029330782126635313, -0.00010364286572439596, 0.0008759302436374128, 0.00030534339020960033], "tau": [55.52000045776367, 23.729999542236328, 5.464000225067139, -26.280000686645508, -2.576000213623047, 2.6600000858306885, -0.5320000052452087], "tau_des": [0.4857085943222046, -0.5901960134506226, -0.158900186419487, -0.5127548575401306, 0.9245038628578186, -1.1873855590820312, -0.5510385036468506], "tau_dot": [-24.16162109375, 14.941104888916016, -34.86756896972656, 11.038905143737793, -10.148465156555176, 6.080484867095947, -18.075658798217773], "tau_ext": [-16.68491554260254, -41.62931442260742, 31.78736114501953, 31.39450454711914, 9.49465274810791, -3.003809928894043, -0.12469737976789474], "tcp_pose": [0.6779601573944092, 0.03262118250131607, -0.2149687111377716, -0.002268580486997962, -0.004590456839650869, 0.999890923500061, 0.013854242861270905], "tcp_vel": [0.0002493959036655724, 0.000184686403372325, 9.606435196474195e-05, 0.0006069118971936405, -0.0007769563235342503, -0.0003001019940711558], "flange_pose": [0.6786597371101379, 0.028468485921621323, -0.06502784043550491, -0.002268580486997962, -0.004590456839650869, 0.999890923500061, 0.013854242861270905], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.92849731445312, 15.075312614440918, 28.145008087158203, 0.3511016070842743, -24.07039451599121, 1.7999097108840942], "ext_wrench_in_world": [-108.19154463461875, 14.850516054618007, -27.240023966437032, -0.14002665765091382, -24.01355524202543, -2.465034814081091]}
+{"timestamp_ns": 1789729721380896840, "elapsed_ms": 10533, "source_timestamp_ns": 1789729721379292541, "q": [0.8366307020187378, -1.8973373174667358, -1.0063937902450562, 1.3811273574829102, -0.16133129596710205, 0.5939403772354126, 0.7036466598510742], "theta": [0.8387207388877869, -1.8954049348831177, -1.004603385925293, 1.3627171516418457, -0.16192899644374847, 0.5938972234725952, 0.7036237120628357], "dq": [0.002441494259983301, 0.0012145800283178687, -0.0002578533603809774, 0.0006720966193825006, 0.00011177896521985531, -0.0009282707469537854, -0.0012008094927296042], "dtheta": [2.6139123292523436e-05, 3.782203566515818e-05, 0.00019694759976118803, 0.00010972770542139187, -0.0012055232655256987, -0.0013590524904429913, 0.00020605472673196346], "tau": [55.59000015258789, 23.579999923706055, 5.4800004959106445, -26.304000854492188, -2.572000026702881, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.538019061088562, -0.5304589867591858, -0.18643350899219513, -0.6119958162307739, 0.945995032787323, -1.1170971393585205, -0.529831051826477], "tau_dot": [46.2345085144043, 50.00749588012695, 46.4061279296875, 13.167014122009277, 19.555620193481445, -42.86643981933594, 12.838918685913086], "tau_ext": [-16.752946853637695, -41.63123321533203, 31.79353141784668, 31.34564971923828, 9.50468921661377, -2.9983632564544678, -0.1311313658952713], "tcp_pose": [0.6779581904411316, 0.03262379765510559, -0.21496930718421936, -0.002267800970003009, -0.0045939539559185505, 0.999890923500061, 0.013850916177034378], "tcp_vel": [-0.00018257558986078948, -0.000222761242184788, -6.48799687041901e-05, -0.0015478782588616014, 0.0004905253881588578, 0.0006254269974306226], "flange_pose": [0.6786575317382812, 0.02847209945321083, -0.06502840667963028, -0.002267800970003009, -0.0045939539559185505, 0.999890923500061, 0.013850916177034378], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.020263671875, 15.092087745666504, 28.132892608642578, 0.3553631901741028, -24.091459274291992, 1.801124930381775], "ext_wrench_in_world": [-108.28346056718303, 14.865163372869715, -27.227324662678754, -0.14392954762963103, -24.034634131894848, -2.46665571329229]}
+{"timestamp_ns": 1789729721414235793, "elapsed_ms": 10566, "source_timestamp_ns": 1789729721409299763, "q": [0.8366299271583557, -1.8973380327224731, -1.0063972473144531, 1.38112473487854, -0.16132952272891998, 0.5939401388168335, 0.7036449909210205], "theta": [0.8387205004692078, -1.8954055309295654, -1.0046067237854004, 1.3627151250839233, -0.16192732751369476, 0.5938969850540161, 0.7036225199699402], "dq": [0.0018782616825774312, -0.000814099214039743, 0.0006773056229576468, -0.0007381001487374306, -0.0003481886233203113, -0.0009496463462710381, 9.555237920721993e-05], "dtheta": [0.0003109378449153155, 0.00010002530325436965, 7.62759882491082e-05, -7.519469363614917e-05, 0.0010441193589940667, -0.0009266738197766244, -0.00027295961626805365], "tau": [55.62999725341797, 23.549999237060547, 5.51200008392334, -26.2760009765625, -2.568000078201294, 2.6520001888275146, -0.5520000457763672], "tau_des": [0.47961392998695374, -0.5571547746658325, -0.18109501898288727, -0.560144305229187, 0.9053325653076172, -1.1410306692123413, -0.5392226576805115], "tau_dot": [-43.07004928588867, 15.342719078063965, -6.605751991271973, 12.591410636901855, -7.062022686004639, 13.069293022155762, -18.344432830810547], "tau_ext": [-16.81205177307129, -41.562015533447266, 31.75631332397461, 31.298559188842773, 9.503975868225098, -2.9906156063079834, -0.12917794287204742], "tcp_pose": [0.6779597401618958, 0.03262264281511307, -0.21496924757957458, -0.002267164643853903, -0.004593109246343374, 0.9998909831047058, 0.013850762508809566], "tcp_vel": [-0.00021744181867688894, -4.578822699841112e-05, 8.691095717949793e-05, 0.00020995530940126628, 0.0009235984180122614, -0.00030983597389422357], "flange_pose": [0.6786589026451111, 0.02847098931670189, -0.06502833962440491, -0.002267164643853903, -0.004593109246343374, 0.9998909831047058, 0.013850762508809566], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82046508789062, 15.130829811096191, 28.16111183166504, 0.34442487359046936, -24.036069869995117, 1.7958143949508667], "ext_wrench_in_world": [-108.08409799358155, 14.90669417431298, -27.25547929947848, -0.13351027217699668, -23.97931465380725, -2.45985291651266]}
+{"timestamp_ns": 1789729721447562888, "elapsed_ms": 10600, "source_timestamp_ns": 1789729721439289057, "q": [0.8366296887397766, -1.8973373174667358, -1.00639808177948, 1.3811241388320923, -0.16132953763008118, 0.5939401388168335, 0.7036439776420593], "theta": [0.8387197256088257, -1.8954050540924072, -1.0046069622039795, 1.3627145290374756, -0.16192732751369476, 0.5938969850540161, 0.7036215662956238], "dq": [-2.205467171734199e-05, 0.0015357553493231535, -0.00034657795913517475, 0.0016463880892843008, 0.0019190465100109577, -0.001248846878297627, -0.004553387872874737], "dtheta": [6.782999116694555e-05, 2.875984318961855e-05, -1.6147700080182403e-05, 0.00010613161430228502, -0.0005228770896792412, 0.00028163770912215114, -0.0002375416806899011], "tau": [55.53999710083008, 23.60999870300293, 5.4720001220703125, -26.292001724243164, -2.56000018119812, 2.6600000858306885, -0.5680000185966492], "tau_des": [0.4790266156196594, -0.5722635984420776, -0.16503006219863892, -0.5379668474197388, 0.9428309202194214, -1.1711410284042358, -0.5308258533477783], "tau_dot": [-90.4151382446289, 31.423202514648438, -41.8398551940918, -2.918825149536133, 4.936019420623779, -1.7072147130966187, -38.26893997192383], "tau_ext": [-16.788829803466797, -41.58107376098633, 31.761911392211914, 31.309297561645508, 9.497097969055176, -2.9916019439697266, -0.12552961707115173], "tcp_pose": [0.6779603958129883, 0.03262210637331009, -0.21496893465518951, -0.0022668505553156137, -0.00459304079413414, 0.999890923500061, 0.013850943185389042], "tcp_vel": [0.00010979914077324793, -3.0032450013095513e-05, 8.129943307721987e-05, -0.00018940253357868642, -0.0004966392298229039, 0.0005070429178886116], "flange_pose": [0.6786594986915588, 0.028470400720834732, -0.06502803415060043, -0.0022668505553156137, -0.00459304079413414, 0.999890923500061, 0.013850943185389042], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66468811035156, 15.17166805267334, 28.188518524169922, 0.3447868824005127, -23.996854782104492, 1.794549822807312], "ext_wrench_in_world": [-107.92881026545498, 14.949739921455906, -27.282491545889066, -0.13422606172263513, -23.940153697248657, -2.4575090662478334]}
+{"timestamp_ns": 1789729721480899321, "elapsed_ms": 10633, "source_timestamp_ns": 1789729721479268176, "q": [0.8366320729255676, -1.8973361253738403, -1.0063968896865845, 1.3811267614364624, -0.16132763028144836, 0.5939356088638306, 0.7036427855491638], "theta": [0.8387218117713928, -1.8954039812088013, -1.0046056509017944, 1.3627161979675293, -0.16192564368247986, 0.5938926935195923, 0.7036201357841492], "dq": [-6.458917778218165e-05, 0.002520141191780567, -0.0021320837549865246, 0.0014728305395692587, -0.0013253956567496061, -0.00037777452962473035, -0.0028725287411361933], "dtheta": [-0.00011683135380735621, 0.00013600730744656175, -2.43970935116522e-05, 3.486009518383071e-05, 1.961588168342132e-05, 0.00047417025780305266, -0.00016656571824569255], "tau": [55.44999694824219, 23.60999870300293, 5.4800004959106445, -26.3960018157959, -2.564000129699707, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.5142543911933899, -0.5727781653404236, -0.16705402731895447, -0.5556437373161316, 0.9188351035118103, -1.164320707321167, -0.5355255007743835], "tau_dot": [39.35109329223633, -154.98394775390625, 15.076040267944336, 44.59146499633789, 18.22600555419922, -17.983125686645508, 27.343647003173828], "tau_ext": [-16.710647583007812, -41.63026809692383, 31.770824432373047, 31.381053924560547, 9.497096061706543, -2.9928112030029297, -0.11977196484804153], "tcp_pose": [0.6779587268829346, 0.032621316611766815, -0.21496877074241638, -0.002269135322421789, -0.004593355115503073, 0.9998909831047058, 0.013850118033587933], "tcp_vel": [9.14899428607896e-05, 1.6040610717027448e-05, -3.4049662644974887e-06, 0.0003884359321091324, -0.0002154726826120168, 4.163020275882445e-05], "flange_pose": [0.6786584854125977, 0.028469860553741455, -0.0650278627872467, -0.002269135322421789, -0.004593355115503073, 0.9998909831047058, 0.013850118033587933], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85405731201172, 15.106799125671387, 28.179147720336914, 0.3420993387699127, -24.054574966430664, 1.8003132343292236], "ext_wrench_in_world": [-108.11766861426558, 14.882767260957147, -27.27362089643933, -0.1310335206469269, -23.997669135837004, -2.464841329230651]}
+{"timestamp_ns": 1789729721514225336, "elapsed_ms": 10666, "source_timestamp_ns": 1789729721509332330, "q": [0.8366345167160034, -1.8973368406295776, -1.0063968896865845, 1.3811280727386475, -0.16132475435733795, 0.5939339399337769, 0.7036424279212952], "theta": [0.8387241959571838, -1.89540433883667, -1.0046056509017944, 1.3627172708511353, -0.16192276775836945, 0.5938910245895386, 0.7036195993423462], "dq": [-0.00021002268476877362, -0.0012202546931803226, -0.001013711909763515, 0.0003978769527748227, -0.0016879542963579297, -0.0003284011909272522, 0.0011326618259772658], "dtheta": [-0.0003537476877681911, -6.327751179924235e-05, -3.6056469525647117e-06, 0.00021078510326333344, 0.00023155301460064948, 0.00015786376025062054, 0.0009031086228787899], "tau": [55.53999710083008, 23.65999984741211, 5.496000289916992, -26.380001068115234, -2.5440001487731934, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.6166778206825256, -0.525202214717865, -0.17851057648658752, -0.6313732266426086, 0.8932068347930908, -1.1345117092132568, -0.5558794140815735], "tau_dot": [-37.371273040771484, 11.763728141784668, -13.372550010681152, -2.069645881652832, 34.57521057128906, -19.696687698364258, 9.87185287475586], "tau_ext": [-16.733901977539062, -41.652896881103516, 31.77445411682129, 31.39606475830078, 9.492971420288086, -2.9991512298583984, -0.11529760807752609], "tcp_pose": [0.6779578328132629, 0.03262120485305786, -0.21496833860874176, -0.0022698738612234592, -0.004593081772327423, 0.9998909831047058, 0.013849829323589802], "tcp_vel": [-0.0001762201718520373, 1.738571336318273e-05, -0.00035390484845265746, 7.257591641973704e-05, 0.0005558495176956058, -0.0009618232143111527], "flange_pose": [0.6786577701568604, 0.028469836339354515, -0.06502743065357208, -0.0022698738612234592, -0.004593081772327423, 0.9998909831047058, 0.013849829323589802], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.00889587402344, 15.070170402526855, 28.157608032226562, 0.34919020533561707, -24.100879669189453, 1.807692289352417], "ext_wrench_in_world": [-108.27209699896886, 14.844166835963335, -27.252270297634304, -0.13775229224991417, -24.04381685027629, -2.473455400363222]}
+{"timestamp_ns": 1789729721547629260, "elapsed_ms": 10700, "source_timestamp_ns": 1789729721539291358, "q": [0.8366348743438721, -1.8973368406295776, -1.0063979625701904, 1.3811265230178833, -0.16132484376430511, 0.593934953212738, 0.7036426067352295], "theta": [0.8387243151664734, -1.8954046964645386, -1.0046069622039795, 1.362716555595398, -0.16192276775836945, 0.5938926935195923, 0.7036193609237671], "dq": [-0.0003442559973336756, 0.001345367170870304, 0.0007088169222697616, 0.00029745642677880824, -0.0026675164699554443, -0.0019495433662086725, -0.0016345386393368244], "dtheta": [4.221999188303016e-05, 0.00016403468907810748, 0.00012928379874210805, -0.0002700990589801222, -3.713624391821213e-05, 0.0009818448452278972, -0.0010437717428430915], "tau": [55.599998474121094, 23.549999237060547, 5.51200008392334, -26.23600196838379, -2.56000018119812, 2.6600000858306885, -0.527999997138977], "tau_des": [0.4127524793148041, -0.5995938777923584, -0.19976527988910675, -0.4676368832588196, 0.9325966835021973, -1.205962061882019, -0.520247757434845], "tau_dot": [-37.98069763183594, -88.29443359375, 5.638195037841797, 81.13861846923828, -16.036117553710938, -38.43745803833008, 37.91181564331055], "tau_ext": [-16.758460998535156, -41.61592102050781, 31.765607833862305, 31.343379974365234, 9.481893539428711, -2.99357533454895, -0.11691330373287201], "tcp_pose": [0.6779590249061584, 0.03262106701731682, -0.21496734023094177, -0.002268514595925808, -0.004592543002218008, 0.9998909831047058, 0.013850240036845207], "tcp_vel": [0.0003035917761735618, 0.0002271306875627488, 0.00031965854577720165, 0.000983112258836627, -0.0010105433175340295, 0.0009789546020328999], "flange_pose": [0.6786586046218872, 0.028469575569033623, -0.0650264248251915, -0.002268514595925808, -0.004592543002218008, 0.9998909831047058, 0.013850240036845207], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.96331787109375, 15.089696884155273, 28.179336547851562, 0.35516101121902466, -24.092437744140625, 1.8073393106460571], "ext_wrench_in_world": [-108.22671068094557, 14.864851420883769, -27.27392992374843, -0.14381831772738163, -24.035441290733, -2.472862599135183]}
+{"timestamp_ns": 1789729721580913111, "elapsed_ms": 10733, "source_timestamp_ns": 1789729721579248250, "q": [0.8366338610649109, -1.8973381519317627, -1.006400465965271, 1.381124496459961, -0.16132807731628418, 0.5939372777938843, 0.703643262386322], "theta": [0.8387231826782227, -1.8954055309295654, -1.0046095848083496, 1.362715482711792, -0.16192469000816345, 0.5938948392868042, 0.7036198377609253], "dq": [0.0012325054267421365, 0.0029023648239672184, 0.0007044250960461795, 0.001423406065441668, -0.0014819717034697533, 0.00107676163315773, 0.0004445380764082074], "dtheta": [0.00016744753520470113, 0.00019838059961330146, 0.0001212867209687829, 2.1287722120177932e-05, -0.0001575333153596148, 0.00011813689343398437, -0.00043770053889602423], "tau": [55.59000015258789, 23.68000030517578, 5.460000038146973, -26.25200080871582, -2.568000078201294, 2.640000104904175, -0.5440000295639038], "tau_des": [0.4320332407951355, -0.6034179925918579, -0.1736316978931427, -0.5020171999931335, 0.9339503645896912, -1.1833549737930298, -0.5315271019935608], "tau_dot": [13.68507194519043, -35.74403762817383, 10.685930252075195, 12.7962007522583, -31.569082260131836, -60.21837615966797, 12.557868003845215], "tau_ext": [-16.77591896057129, -41.60221862792969, 31.76974105834961, 31.2940616607666, 9.484476089477539, -2.993283271789551, -0.12472321093082428], "tcp_pose": [0.677960991859436, 0.03262059763073921, -0.21496710181236267, -0.0022660153917968273, -0.004592513665556908, 0.9998909831047058, 0.013849274255335331], "tcp_vel": [8.357855404028669e-05, 1.1983079275523778e-05, 0.00019587340648286045, 0.00019382046593818814, -0.00030098448041826487, 0.0004777758149430156], "flange_pose": [0.6786597967147827, 0.02846939116716385, -0.0650261864066124, -0.0022660153917968273, -0.004592513665556908, 0.9998909831047058, 0.013849274255335331], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.70824432373047, 15.186309814453125, 28.201719284057617, 0.3664841055870056, -24.022315979003906, 1.8013943433761597], "ext_wrench_in_world": [-107.97249765123237, 14.964362576221495, -27.29531965923399, -0.15574331087627738, -23.9656233118368, -2.464881431502086]}
+{"timestamp_ns": 1789729721614230396, "elapsed_ms": 10766, "source_timestamp_ns": 1789729721609376346, "q": [0.836635172367096, -1.8973437547683716, -1.0064001083374023, 1.3811246156692505, -0.16132918000221252, 0.5939355492591858, 0.7036447525024414], "theta": [0.8387238383293152, -1.8954113721847534, -1.0046091079711914, 1.3627153635025024, -0.16192586719989777, 0.5938926935195923, 0.7036210894584656], "dq": [0.0005370595026761293, -0.0010491719003766775, 0.0007665232405997813, -0.00019440978940110654, 0.0034945460502058268, -0.0006793218781240284, 0.0011390909785404801], "dtheta": [0.00026704513584263623, 7.565136456832988e-06, 0.0002877468359656632, 0.0001310950465267524, -0.0001944064861163497, -0.0012181740021333098, -0.00045646881335414946], "tau": [55.52000045776367, 23.579999923706055, 5.488000392913818, -26.332000732421875, -2.56000018119812, 2.632000207901001, -0.5200000405311584], "tau_des": [0.4916576147079468, -0.523438572883606, -0.21654987335205078, -0.5789344310760498, 0.931615948677063, -1.135602355003357, -0.522804856300354], "tau_dot": [-9.977558135986328, 24.20231056213379, 46.41276168823242, -35.096744537353516, 20.335845947265625, -43.48074722290039, 57.23775100708008], "tau_ext": [-16.741151809692383, -41.635169982910156, 31.800132751464844, 31.335676193237305, 9.493056297302246, -2.997384548187256, -0.12569250166416168], "tcp_pose": [0.6779594421386719, 0.032622091472148895, -0.2149680256843567, -0.002265887102112174, -0.004594100173562765, 0.9998910427093506, 0.013846367597579956], "tcp_vel": [-0.000288776820525527, -7.460327469743788e-05, 1.784091909939889e-05, -0.0008014065097086132, 0.0007302892627194524, 0.0008107392932288349], "flange_pose": [0.6786581873893738, 0.028471756726503372, -0.06502708792686462, -0.002265887102112174, -0.004594100173562765, 0.9998910427093506, 0.013846367597579956], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.70230865478516, 15.231400489807129, 28.198205947875977, 0.3738526999950409, -24.016878128051758, 1.7997747659683228], "ext_wrench_in_world": [-107.96699602822991, 15.008889736271394, -27.29070659867509, -0.16307653158061872, -23.9603155525864, -2.462940261665818]}
+{"timestamp_ns": 1789729721647565120, "elapsed_ms": 10800, "source_timestamp_ns": 1789729721639252224, "q": [0.8366363644599915, -1.8973441123962402, -1.00640070438385, 1.3811264038085938, -0.1613285392522812, 0.5939351320266724, 0.7036445736885071], "theta": [0.8387249708175659, -1.8954123258590698, -1.0046095848083496, 1.3627159595489502, -0.16192564368247986, 0.5938926935195923, 0.7036212682723999], "dq": [-0.000868032337166369, 2.6233234166284092e-05, -0.002227331977337599, 0.0004855917068198323, -0.0006547394441440701, -0.0004936434561386704, -0.0037930093239992857], "dtheta": [3.947804361814633e-05, -0.0005103263538330793, -0.00020287437655497342, -7.440910121658817e-05, -3.432411540416069e-05, 0.0002140103606507182, -0.00032147709862329066], "tau": [55.55999755859375, 23.5, 5.508000373840332, -26.37200164794922, -2.576000213623047, 2.680000066757202, -0.527999997138977], "tau_des": [0.5143290758132935, -0.4987674653530121, -0.19778145849704742, -0.5620123744010925, 0.9366183280944824, -1.1650631427764893, -0.5288350582122803], "tau_dot": [115.12022399902344, -70.80130767822266, 18.86195182800293, 9.930749893188477, 10.584012985229492, 23.502883911132812, 29.647050857543945], "tau_ext": [-16.712108612060547, -41.54844284057617, 31.77825164794922, 31.376497268676758, 9.499882698059082, -3.0009288787841797, -0.12899987399578094], "tcp_pose": [0.6779589056968689, 0.03262149542570114, -0.2149682641029358, -0.00226625707000494, -0.004594062454998493, 0.9998910427093506, 0.013845603913068771], "tcp_vel": [1.375827196170576e-05, 8.393409370910376e-05, -7.527787238359451e-05, -0.0003453766694292426, -0.00035216528340242803, 0.0005229873931966722], "flange_pose": [0.6786578297615051, 0.028471389785408974, -0.06502731889486313, -0.00226625707000494, -0.004594062454998493, 0.9998910427093506, 0.013845603913068771], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.87838745117188, 15.108755111694336, 28.13150405883789, 0.34443721175193787, -24.049592971801758, 1.7963045835494995], "ext_wrench_in_world": [-108.1416548439438, 14.882787272550525, -27.226597497962388, -0.1333512028594442, -23.992844153713108, -2.4604707133773562]}
+{"timestamp_ns": 1789729721680909242, "elapsed_ms": 10833, "source_timestamp_ns": 1789729721679267579, "q": [0.8366358280181885, -1.8973429203033447, -1.006400227546692, 1.381127953529358, -0.16132767498493195, 0.5939289331436157, 0.7036433219909668], "theta": [0.8387255668640137, -1.8954113721847534, -1.0046089887619019, 1.3627164363861084, -0.16192443668842316, 0.5938869714736938, 0.7036198377609253], "dq": [-0.001072671846486628, 0.0009702384704723954, 0.0013835167046636343, -0.002167669590562582, 0.0014901859685778618, 0.0023603462614119053, -0.0010594374034553766], "dtheta": [-1.7280892279813997e-05, 4.2719748307717964e-05, -2.7424906875239685e-05, -0.00019869013340212405, 0.0002854524936992675, -0.00011461016401881352, 0.00027105771005153656], "tau": [55.56999969482422, 23.670000076293945, 5.484000205993652, -26.292001724243164, -2.580000162124634, 2.6640000343322754, -0.5400000214576721], "tau_des": [0.5112650394439697, -0.5644563436508179, -0.17573873698711395, -0.5611803531646729, 0.9114384651184082, -1.1507099866867065, -0.5442287921905518], "tau_dot": [17.336711883544922, 72.34183502197266, -63.12668991088867, -53.119789123535156, -30.479795455932617, 11.170731544494629, -4.136954307556152], "tau_ext": [-16.745622634887695, -41.55495834350586, 31.768882751464844, 31.394432067871094, 9.500312805175781, -3.0050055980682373, -0.12524135410785675], "tcp_pose": [0.6779571175575256, 0.03262016549706459, -0.214969664812088, -0.002269765827804804, -0.004594322759658098, 0.9998910427093506, 0.013844035565853119], "tcp_vel": [3.435245162108913e-05, 1.2398656508594286e-05, 5.1610400987556204e-05, 0.0002294000005349517, 0.00010101653606398031, -0.0005058767856098711], "flange_pose": [0.678657054901123, 0.028470536693930626, -0.06502871215343475, -0.002269765827804804, -0.004594322759658098, 0.9998910427093506, 0.013844035565853119], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.02801513671875, 14.957621574401855, 28.109256744384766, 0.30710074305534363, -24.076095581054688, 1.7901471853256226], "ext_wrench_in_world": [-108.28999154685168, 14.729564657521422, -27.207176774641248, -0.095748351911634, -24.019168320692987, -2.455137811797959]}
+{"timestamp_ns": 1789729721714228428, "elapsed_ms": 10866, "source_timestamp_ns": 1789729721709247473, "q": [0.8366360664367676, -1.8973441123962402, -1.0063998699188232, 1.38112473487854, -0.16132791340351105, 0.5939304828643799, 0.7036421895027161], "theta": [0.8387254476547241, -1.8954122066497803, -1.0046088695526123, 1.3627145290374756, -0.16192469000816345, 0.5938884019851685, 0.7036186456680298], "dq": [0.00027743715327233076, 2.252449485240504e-05, -0.0011859529186040163, 4.116055788472295e-05, -0.00039156668935902417, 0.0005917773814871907, 0.0021357438527047634], "dtheta": [0.0002284602087456733, -0.00023754050198476762, -0.0001044113450916484, 0.00010724136518547311, 0.00011196621198905632, 0.0001447569957235828, 0.0004247923207003623], "tau": [55.54999923706055, 23.689998626708984, 5.4800004959106445, -26.26000213623047, -2.5920000076293945, 2.6600000858306885, -0.5400000214576721], "tau_des": [0.4884449541568756, -0.543430745601654, -0.19494196772575378, -0.5512523055076599, 0.923876166343689, -1.1648294925689697, -0.5418566465377808], "tau_dot": [-131.06031799316406, 94.46288299560547, 12.09521770477295, -42.27986526489258, -66.7892837524414, -33.25428771972656, 28.64182472229004], "tau_ext": [-16.767000198364258, -41.61595916748047, 31.770498275756836, 31.292327880859375, 9.497729301452637, -2.991779088973999, -0.120298832654953], "tcp_pose": [0.6779583096504211, 0.032621584832668304, -0.2149682492017746, -0.002267763949930668, -0.004595277830958366, 0.9998910427093506, 0.013844999484717846], "tcp_vel": [-9.58151667873608e-06, 2.2469190298579633e-05, 3.815971649601124e-05, -0.000142251854413189, -0.0002106145111611113, -0.0003874340036418289], "flange_pose": [0.6786576509475708, 0.02847166545689106, -0.06502729654312134, -0.002267763949930668, -0.004595277830958366, 0.9998910427093506, 0.013844999484717846], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.87213897705078, 15.073687553405762, 28.140256881713867, 0.3324720859527588, -24.043617248535156, 1.7963720560073853], "ext_wrench_in_world": [-108.13524526424435, 14.84773382691068, -27.236042538475115, -0.12138949577392902, -23.9867617260078, -2.4603957274476036]}
+{"timestamp_ns": 1789729721747566601, "elapsed_ms": 10900, "source_timestamp_ns": 1789729721739233738, "q": [0.8366355895996094, -1.8973455429077148, -1.006399393081665, 1.3811228275299072, -0.16132736206054688, 0.5939300060272217, 0.7036418914794922], "theta": [0.8387247323989868, -1.895412564277649, -1.004608392715454, 1.3627132177352905, -0.16192372143268585, 0.5938879251480103, 0.7036184072494507], "dq": [-0.0009063663892447948, -0.0005369291757233441, -0.0007570350426249206, -0.000783362309448421, 0.0020372113212943077, -0.0015668206615373492, -0.0013999047223478556], "dtheta": [-0.00018625838856678456, 0.00044855065061710775, 0.0003967664379160851, 0.00016286864411085844, -0.00033840295509435236, -0.00021692790323868394, -0.00046593244769610465], "tau": [55.53999710083008, 23.670000076293945, 5.500000476837158, -26.336000442504883, -2.56000018119812, 2.6600000858306885, -0.527999997138977], "tau_des": [0.5264950394630432, -0.5554869771003723, -0.22445927560329437, -0.5687020421028137, 0.9150939583778381, -1.1577659845352173, -0.5186243057250977], "tau_dot": [-77.29517364501953, 18.65273666381836, 23.767026901245117, -6.01571798324585, -4.019558429718018, 8.959577560424805, 70.54183197021484], "tau_ext": [-16.77808952331543, -41.654945373535156, 31.774263381958008, 31.297569274902344, 9.48937702178955, -2.9917349815368652, -0.12095025926828384], "tcp_pose": [0.6779582500457764, 0.03262263163924217, -0.2149682193994522, -0.002267667092382908, -0.004595798905938864, 0.9998910427093506, 0.013845237903296947], "tcp_vel": [-0.00011097791139036417, -2.4825233140290948e-06, -4.113244722248055e-05, 0.00014258426381275058, 0.0004056585894431919, 0.00066252367105335], "flange_pose": [0.6786575317382812, 0.028472639620304108, -0.06502725929021835, -0.002267667092382908, -0.004595798905938864, 0.9998910427093506, 0.013845237903296947], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69189453125, 15.229694366455078, 28.177396774291992, 0.3714553713798523, -24.012666702270508, 1.8046475648880005], "ext_wrench_in_world": [-107.956617242749, 15.006270447140286, -27.2696547094248, -0.16066641376924798, -23.955955070152395, -2.4676501091200547]}
+{"timestamp_ns": 1789729721780930921, "elapsed_ms": 10933, "source_timestamp_ns": 1789729721779284848, "q": [0.8366366028785706, -1.897343635559082, -1.006400465965271, 1.3811262845993042, -0.16132834553718567, 0.5939305424690247, 0.7036436200141907], "theta": [0.8387253284454346, -1.8954119682312012, -1.004609227180481, 1.362715482711792, -0.16192516684532166, 0.5938876867294312, 0.7036198377609253], "dq": [-0.001836050534620881, -0.0007039195043034852, 5.8724712289404124e-05, 0.0021315517369657755, -0.0010583160910755396, -0.00048817344941198826, -0.0035940376110374928], "dtheta": [-0.0004581960092764348, -0.0005203504697419703, 6.685643893433735e-05, 1.0965642104565632e-05, 0.0004972926690243185, 0.0005208149668760598, 0.0006002538139000535], "tau": [55.52000045776367, 23.559999465942383, 5.496000289916992, -26.404001235961914, -2.572000026702881, 2.6680002212524414, -0.5480000376701355], "tau_des": [0.637372612953186, -0.4513794183731079, -0.24308227002620697, -0.6255640387535095, 0.8912628293037415, -1.1538057327270508, -0.5450384020805359], "tau_dot": [-12.305102348327637, -63.30112838745117, -10.718130111694336, -25.82505989074707, 2.9472553730010986, -31.91539764404297, -31.01679801940918], "tau_ext": [-16.740009307861328, -41.59941482543945, 31.763134002685547, 31.409196853637695, 9.500777244567871, -3.0060858726501465, -0.12279210984706879], "tcp_pose": [0.6779581904411316, 0.03262077644467354, -0.21496841311454773, -0.0022678987588733435, -0.004594404716044664, 0.9998910427093506, 0.013844449073076248], "tcp_vel": [-0.0002344128442928195, 0.00030499554122798145, -0.000447779952082783, 0.0002967197506222874, 0.0003871894150506705, -0.0004909717245027423], "flange_pose": [0.678657591342926, 0.028471019119024277, -0.06502746045589447, -0.0022678987588733435, -0.004594404716044664, 0.9998910427093506, 0.013844449073076248], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8536376953125, 15.136353492736816, 28.168025970458984, 0.3597433567047119, -24.05596160888672, 1.804579257965088], "ext_wrench_in_world": [-108.11742828606897, 14.911470493874443, -27.262131185186444, -0.1486274012022811, -23.999128566006185, -2.4687949443241672]}
+{"timestamp_ns": 1789729721814242877, "elapsed_ms": 10966, "source_timestamp_ns": 1789729721809321595, "q": [0.8366395235061646, -1.8973444700241089, -1.0064022541046143, 1.3811280727386475, -0.16132932901382446, 0.5939252376556396, 0.7036427855491638], "theta": [0.8387278914451599, -1.8954120874404907, -1.0046108961105347, 1.362716555595398, -0.16192659735679626, 0.5938833951950073, 0.7036206126213074], "dq": [-0.0007583789993077517, -0.0011902616824954748, -0.00017953975475393236, -0.0007285871542990208, -0.0008921556873247027, -0.0008050923934206367, 0.0018795186188071966], "dtheta": [1.6026429875637405e-05, -0.0003028842620551586, 4.9030368245439604e-05, -0.0003186495159752667, 7.039021147647873e-05, -0.001145399291999638, 0.00030722515657544136], "tau": [55.57999801635742, 23.670000076293945, 5.464000225067139, -26.292001724243164, -2.5880000591278076, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.5319859385490417, -0.5122039318084717, -0.20260553061962128, -0.5912961959838867, 0.9193904995918274, -1.12772536277771, -0.539328396320343], "tau_dot": [15.042724609375, 101.10133361816406, -10.739299774169922, 35.7427864074707, -4.224547386169434, -10.166021347045898, -30.073516845703125], "tau_ext": [-16.722932815551758, -41.607730865478516, 31.775293350219727, 31.420440673828125, 9.504415512084961, -3.0103390216827393, -0.12976421415805817], "tcp_pose": [0.6779575943946838, 0.032618820667266846, -0.21496812999248505, -0.002268645679578185, -0.004594957921653986, 0.9998911023139954, 0.01384101901203394], "tcp_vel": [-0.0001923818635987118, 1.4856796042295173e-06, -7.023892976576462e-05, -0.0007173846825025976, 0.0006576739833690226, -0.00013199509703554213], "flange_pose": [0.6786572337150574, 0.028470095247030258, -0.0650271475315094, -0.002268645679578185, -0.004594957921653986, 0.9998911023139954, 0.01384101901203394], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.06793212890625, 14.990967750549316, 28.13359832763672, 0.3312792479991913, -24.10126495361328, 1.8009014129638672], "ext_wrench_in_world": [-108.33028055263091, 14.762901165404049, -27.23074527341261, -0.11971035509958244, -24.044268138834493, -2.466333980293115]}
+{"timestamp_ns": 1789729721847568042, "elapsed_ms": 11000, "source_timestamp_ns": 1789729721839285562, "q": [0.8366395831108093, -1.8973485231399536, -1.0064038038253784, 1.3811256885528564, -0.16132988035678864, 0.5939282178878784, 0.7036429643630981], "theta": [0.8387282490730286, -1.8954156637191772, -1.0046130418777466, 1.3627151250839233, -0.16192732751369476, 0.5938862562179565, 0.7036207914352417], "dq": [0.00024082139134407043, -0.0012279368238523602, 0.0014243744080886245, -0.0007533148746006191, 0.0027371845208108425, 0.000470423954539001, -0.0032883216626942158], "dtheta": [-4.562576214084402e-05, -0.0004932236042805016, 3.542106787790544e-05, -0.0002827605640050024, 0.0007294041570276022, 0.0007511790608987212, 9.296975622419268e-05], "tau": [55.63999938964844, 23.689998626708984, 5.424000263214111, -26.156002044677734, -2.5960001945495605, 2.6440000534057617, -0.5520000457763672], "tau_des": [0.5039986968040466, -0.4936705529689789, -0.23893648386001587, -0.534023106098175, 0.9161033630371094, -1.1854488849639893, -0.5352985262870789], "tau_dot": [51.369876861572266, 24.249197006225586, -24.39456558227539, -0.6643710136413574, 24.756664276123047, -20.973520278930664, -16.96413803100586], "tau_ext": [-16.780841827392578, -41.66523361206055, 31.811992645263672, 31.319181442260742, 9.512100219726562, -2.997091770172119, -0.1311650574207306], "tcp_pose": [0.6779586672782898, 0.032620012760162354, -0.21496793627738953, -0.002266152296215296, -0.0045956517569720745, 0.9998911023139954, 0.013840468600392342], "tcp_vel": [-1.6786349306130433e-06, 0.00038868433330208063, -2.3539361791335978e-05, 0.0007626284495927393, -0.0003311579639557749, -0.00020475705969147384], "flange_pose": [0.6786575317382812, 0.0284714475274086, -0.06502694636583328, -0.002266152296215296, -0.0045956517569720745, 0.9998911023139954, 0.013840468600392342], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.97472381591797, 15.075592041015625, 28.15087127685547, 0.34261029958724976, -24.074583053588867, 1.798780083656311], "ext_wrench_in_world": [-108.2378130844279, 14.848657272092005, -27.24663663782006, -0.13123034952247942, -24.017763913045382, -2.4633992821849615]}
+{"timestamp_ns": 1789729721880897986, "elapsed_ms": 11033, "source_timestamp_ns": 1789729721879280359, "q": [0.8366382718086243, -1.897355318069458, -1.0064040422439575, 1.3811229467391968, -0.16132840514183044, 0.5939279198646545, 0.7036433219909668], "theta": [0.8387277722358704, -1.8954218626022339, -1.0046133995056152, 1.362713098526001, -0.16192586719989777, 0.5938857793807983, 0.7036206126213074], "dq": [0.0013786411145702004, -0.0013852660777047276, -0.0011848622234538198, 0.003088010475039482, 0.0011996675748378038, -0.0016918237088248134, 0.0011763384100049734], "dtheta": [2.1947407731204294e-05, -3.8200264498300385e-06, 3.7817502743564546e-05, 4.102730599697679e-05, 0.00038892231532372534, -5.798042224114397e-08, 0.00024152404512278736], "tau": [55.64999771118164, 23.56999969482422, 5.488000392913818, -26.34400177001953, -2.552000045776367, 2.7120001316070557, -0.527999997138977], "tau_des": [0.5219422578811646, -0.5261191725730896, -0.2137121558189392, -0.567070722579956, 0.9127605557441711, -1.1606757640838623, -0.5354197025299072], "tau_dot": [93.58368682861328, 87.07624053955078, 5.03194522857666, -10.96880054473877, 66.61244201660156, 93.05577087402344, 18.789628982543945], "tau_ext": [-16.811492919921875, -41.61630630493164, 31.804283142089844, 31.287555694580078, 9.515851020812988, -2.991483688354492, -0.13059960305690765], "tcp_pose": [0.6779574751853943, 0.03262250870466232, -0.21496973931789398, -0.0022662123665213585, -0.004597050603479147, 0.9998911023139954, 0.013839082792401314], "tcp_vel": [-7.788722723489627e-05, 4.143053592997603e-05, -3.4463064366718754e-05, 0.00023815747408661991, 0.0002449470921419561, -0.0004216229426674545], "flange_pose": [0.6786563396453857, 0.028474362567067146, -0.06502874195575714, -0.0022662123665213585, -0.004597050603479147, 0.9998911023139954, 0.013839082792401314], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.655029296875, 15.306217193603516, 28.189695358276367, 0.3746798634529114, -23.992918014526367, 1.8013958930969238], "ext_wrench_in_world": [-107.92046546927635, 15.08283803375636, -27.280499845556605, -0.16398883984520993, -23.936365279018464, -2.463544581559841]}
+{"timestamp_ns": 1789729721914295142, "elapsed_ms": 11066, "source_timestamp_ns": 1789729721909410156, "q": [0.8366388082504272, -1.8973528146743774, -1.0064064264297485, 1.381124496459961, -0.1613270789384842, 0.5939255356788635, 0.7036415934562683], "theta": [0.8387284278869629, -1.8954195976257324, -1.0046154260635376, 1.3627138137817383, -0.16192491352558136, 0.5938841104507446, 0.703619122505188], "dq": [-0.0010604974813759327, 0.002453231019899249, 0.0005766838439740241, -0.002617252292111516, -0.0013571899617090821, -0.0004700243880506605, 0.0018433249788358808], "dtheta": [2.7975524062640034e-05, -0.00039179209852591157, -0.0002135883114533499, -0.00012163802603026852, 0.00019836894352920353, 0.0012727625435218215, 0.0003668824792839587], "tau": [55.54999923706055, 23.559999465942383, 5.508000373840332, -26.39200210571289, -2.576000213623047, 2.688000202178955, -0.5520000457763672], "tau_des": [0.4902094304561615, -0.5328456163406372, -0.1985139399766922, -0.523594081401825, 0.9281982779502869, -1.193173885345459, -0.5406834483146667], "tau_dot": [75.81520080566406, -38.598182678222656, 13.407492637634277, 8.31956958770752, 19.133655548095703, 39.66205978393555, -30.995203018188477], "tau_ext": [-16.758071899414062, -41.53182601928711, 31.75501823425293, 31.38231658935547, 9.502625465393066, -3.0054919719696045, -0.13115546107292175], "tcp_pose": [0.6779578328132629, 0.032619886100292206, -0.21496984362602234, -0.0022674233186990023, -0.004595985170453787, 0.9998911023139954, 0.013838446699082851], "tcp_vel": [0.00023086498549673706, 0.000235624480410479, 7.394392014248297e-05, 0.0005965900490991771, -0.0010350419906899333, -0.0004136707284487784], "flange_pose": [0.678657054901123, 0.02847192995250225, -0.0650288313627243, -0.0022674233186990023, -0.004595985170453787, 0.9998911023139954, 0.013838446699082851], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.71356964111328, 15.175148010253906, 28.174001693725586, 0.34117645025253296, -23.997814178466797, 1.7933844327926636], "ext_wrench_in_world": [-107.97776827500684, 14.95103976735658, -27.26793981264394, -0.13046129980703924, -23.941173700271378, -2.455788293175693]}
+{"timestamp_ns": 1789729721947555875, "elapsed_ms": 11100, "source_timestamp_ns": 1789729721939238280, "q": [0.8366414904594421, -1.8973515033721924, -1.0064069032669067, 1.3811283111572266, -0.1613255739212036, 0.5939183235168457, 0.7036404609680176], "theta": [0.8387308716773987, -1.8954176902770996, -1.0046157836914062, 1.3627166748046875, -0.16192372143268585, 0.5938774347305298, 0.7036176919937134], "dq": [0.00026836071629077196, -0.0010794542031362653, -0.00012714204785879701, 0.0014689493691548705, -8.884791168384254e-05, -0.0020707512740045786, 0.0008092502248473465], "dtheta": [-9.796527592698112e-05, -0.00015314445772673935, -0.0003509903035592288, 0.00012226178660057485, 0.00043268140871077776, -0.0004312802047934383, 0.00017076905351132154], "tau": [55.529998779296875, 23.689998626708984, 5.468000411987305, -26.308000564575195, -2.568000078201294, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.6019846796989441, -0.5150651335716248, -0.14851072430610657, -0.6480029821395874, 0.9048030972480774, -1.1113001108169556, -0.5418709516525269], "tau_dot": [-36.16839599609375, 119.57867431640625, -11.98102855682373, 61.665252685546875, -13.072466850280762, -10.534912109375, 0.3500235378742218], "tau_ext": [-16.718978881835938, -41.5643196105957, 31.76146697998047, 31.43907356262207, 9.500110626220703, -3.006258487701416, -0.1210019588470459], "tcp_pose": [0.6779558658599854, 0.03261740133166313, -0.21497033536434174, -0.0022706876043230295, -0.004595838487148285, 0.9998911619186401, 0.01383577287197113], "tcp_vel": [-0.0001318909926339984, -0.00020954520732630044, -0.00027020330890081823, -0.0004217113310005516, 0.0006557112792506814, -0.0005251792608760297], "flange_pose": [0.6786560416221619, 0.028470251709222794, -0.06502930819988251, -0.0022706876043230295, -0.004595838487148285, 0.9998911619186401, 0.01383577287197113], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.98555755615234, 14.97317886352539, 28.13675308227539, 0.3078406751155853, -24.065879821777344, 1.7917100191116333], "ext_wrench_in_world": [-108.2478990450433, 14.745483783043351, -27.234475584142718, -0.09651873010034716, -24.00896141486343, -2.45601673129674]}
+{"timestamp_ns": 1789729721980952821, "elapsed_ms": 11133, "source_timestamp_ns": 1789729721979229377, "q": [0.8366429805755615, -1.8973551988601685, -1.0064067840576172, 1.3811254501342773, -0.16132454574108124, 0.5939223766326904, 0.7036389112472534], "theta": [0.8387332558631897, -1.8954198360443115, -1.0046157836914062, 1.3627150058746338, -0.16192203760147095, 0.5938819646835327, 0.7036153078079224], "dq": [-0.0021929130889475346, -0.0006634598248638213, -0.002129890723153949, -0.00021271205332595855, 0.0029456426855176687, -0.00035589278559200466, 0.0019749754574149847], "dtheta": [0.00022238341625779867, 0.00018737859500106424, -0.00014458710211329162, -0.00010661328997230157, 0.00045821789535693824, 0.0004968937137164176, -0.0002313156146556139], "tau": [55.599998474121094, 23.75, 5.460000038146973, -26.124000549316406, -2.564000129699707, 2.6440000534057617, -0.5400000214576721], "tau_des": [0.4310004711151123, -0.597240686416626, -0.17752081155776978, -0.5004228949546814, 0.9237123727798462, -1.184469223022461, -0.5307602286338806], "tau_dot": [-146.77212524414062, 115.49848175048828, -33.862056732177734, 37.79716873168945, -43.524314880371094, -2.867098093032837, 11.55936336517334], "tau_ext": [-16.752809524536133, -41.69314193725586, 31.799211502075195, 31.308197021484375, 9.492866516113281, -2.9917244911193848, -0.11667467653751373], "tcp_pose": [0.6779568791389465, 0.03261985257267952, -0.214968740940094, -0.002267529023811221, -0.004597411025315523, 0.9998911023139954, 0.01383688673377037], "tcp_vel": [0.00021816678054165095, -3.7876013720961055e-06, 0.00026490501477383077, 0.0007187795708887279, -0.00048274226719513535, -0.0002787004632409662], "flange_pose": [0.6786561608314514, 0.02847236394882202, -0.06502772122621536, -0.002267529023811221, -0.004597411025315523, 0.9998911023139954, 0.01383688673377037], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.99065399169922, 15.085102081298828, 28.15172004699707, 0.34793269634246826, -24.086246490478516, 1.8053898811340332], "ext_wrench_in_world": [-108.25395905246504, 14.857457305669735, -27.24696878260082, -0.1363975578079756, -24.0293070223814, -2.4701335013577754]}
+{"timestamp_ns": 1789729722014228757, "elapsed_ms": 11166, "source_timestamp_ns": 1789729722009237162, "q": [0.8366411328315735, -1.8973560333251953, -1.0064103603363037, 1.3811230659484863, -0.1613253653049469, 0.5939235687255859, 0.7036395072937012], "theta": [0.8387317061424255, -1.8954198360443115, -1.00462007522583, 1.3627138137817383, -0.16192203760147095, 0.5938833951950073, 0.7036162614822388], "dq": [0.0007856564479880035, -0.0020595260430127382, 0.0008002749527804554, -0.0015077667776495218, 0.0011466770665720105, 0.0006850959034636617, -0.0023231785744428635], "dtheta": [-0.0003484122862573713, 0.00042801443487405777, -0.00010097915219375864, 7.890711276559159e-05, -5.038119707023725e-05, 0.0005696151056326926, 0.000500914582516998], "tau": [55.599998474121094, 23.529998779296875, 5.504000186920166, -26.256000518798828, -2.556000232696533, 2.6720001697540283, -0.5600000023841858], "tau_des": [0.5337820649147034, -0.6057816743850708, -0.13761092722415924, -0.554128110408783, 0.9144903421401978, -1.1712981462478638, -0.5457265377044678], "tau_dot": [-69.44454956054688, -207.8452911376953, 29.099319458007812, -4.8474507331848145, -15.561166763305664, 18.407320022583008, -44.7364616394043], "tau_ext": [-16.801856994628906, -41.656890869140625, 31.77187728881836, 31.271282196044922, 9.485072135925293, -2.988964080810547, -0.11547333002090454], "tcp_pose": [0.6779587268829346, 0.032618675380945206, -0.2149691879749298, -0.0022662701085209846, -0.004596150014549494, 0.9998911619186401, 0.013836258091032505], "tcp_vel": [0.0001552870962768793, -0.00011040672688977793, -8.103509026113898e-05, 0.0005469289608299732, -6.577989552170038e-05, -0.0008314629085361958], "flange_pose": [0.678657591342926, 0.02847137674689293, -0.06502815335988998, -0.0022662701085209846, -0.004596150014549494, 0.9998911619186401, 0.013836258091032505], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67908477783203, 15.300251960754395, 28.210920333862305, 0.3936631381511688, -24.02107810974121, 1.8118199110031128], "ext_wrench_in_world": [-107.94454028405988, 15.077278164521596, -27.30184866909635, -0.18280568221326995, -23.96441450163857, -2.4745252649226375]}
+{"timestamp_ns": 1789729722047557204, "elapsed_ms": 11200, "source_timestamp_ns": 1789729722039233696, "q": [0.8366413712501526, -1.8973541259765625, -1.0064153671264648, 1.3811235427856445, -0.16132451593875885, 0.5939214825630188, 0.703639566898346], "theta": [0.8387320637702942, -1.8954187631607056, -1.0046250820159912, 1.3627142906188965, -0.16192108392715454, 0.5938819646835327, 0.7036162614822388], "dq": [-0.001434761448763311, -0.00044041138608008623, -0.00020822288934141397, -0.001228177803568542, 0.0012168650282546878, -0.0008922776905819774, 0.0004373998672235757], "dtheta": [0.00041358088492415845, -0.0006230107974261045, -5.612493259832263e-05, 0.00039069229387678206, 0.0004168351006228477, -0.00030213833088055253, -0.0004493806336540729], "tau": [55.5099983215332, 23.529998779296875, 5.52400016784668, -26.416000366210938, -2.56000018119812, 2.6720001697540283, -0.5360000133514404], "tau_des": [0.5309803485870361, -0.46854108572006226, -0.20395658910274506, -0.611856997013092, 0.926212728023529, -1.1360727548599243, -0.5297895073890686], "tau_dot": [-55.856327056884766, -52.51167297363281, 3.554957151412964, -25.84773826599121, 10.430914878845215, -22.210702896118164, 33.983821868896484], "tau_ext": [-16.770267486572266, -41.60650634765625, 31.780540466308594, 31.35135269165039, 9.487401962280273, -3.0009820461273193, -0.11945430189371109], "tcp_pose": [0.6779602766036987, 0.0326150581240654, -0.2149691879749298, -0.002266515977680683, -0.004593562800437212, 0.9998911619186401, 0.013834880664944649], "tcp_vel": [-0.0003244883264414966, 5.9052552387584e-05, -0.00015040503058116883, -0.0006591290584765375, 0.0003305334539618343, 0.000664731313008815], "flange_pose": [0.678659200668335, 0.028468169271945953, -0.06502815335988998, -0.002266515977680683, -0.004593562800437212, 0.9998911619186401, 0.013834880664944649], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63274383544922, 15.286613464355469, 28.22150230407715, 0.3863780200481415, -24.004573822021484, 1.8077905178070068], "ext_wrench_in_world": [-107.8980638725718, 15.064848108699923, -27.312990555178974, -0.17577778478601086, -23.947967152798377, -2.470006138938556]}
+{"timestamp_ns": 1789729722080892541, "elapsed_ms": 11233, "source_timestamp_ns": 1789729722079234659, "q": [0.8366433382034302, -1.8973549604415894, -1.006420373916626, 1.3811253309249878, -0.1613246500492096, 0.5939198732376099, 0.7036395072937012], "theta": [0.838733971118927, -1.8954200744628906, -1.0046300888061523, 1.3627153635025024, -0.16192108392715454, 0.5938807725906372, 0.7036157846450806], "dq": [0.0013402788899838924, -0.0024639281909912825, 0.00020961170957889408, 0.004169788211584091, -0.0007308704662136734, 0.0007467747782357037, 0.0012795468792319298], "dtheta": [0.00027306750416755676, -0.00036294700112193823, -1.267692550754873e-05, -0.00018543282931204885, -0.000911531038582325, -0.0007892026333138347, -0.0005650578532367945], "tau": [55.53999710083008, 23.68000030517578, 5.468000411987305, -26.288002014160156, -2.5440001487731934, 2.640000104904175, -0.5440000295639038], "tau_des": [0.4587903916835785, -0.5447328686714172, -0.1502055525779724, -0.551055908203125, 0.9675870537757874, -1.1443185806274414, -0.5266845226287842], "tau_dot": [62.28559112548828, 13.527688980102539, -0.847918689250946, -36.54637145996094, 62.98881530761719, -16.346729278564453, 24.112098693847656], "tau_ext": [-16.693950653076172, -41.60024642944336, 31.79509925842285, 31.417789459228516, 9.497848510742188, -3.008422374725342, -0.12488070130348206], "tcp_pose": [0.6779611706733704, 0.0326119102537632, -0.21496939659118652, -0.002266044495627284, -0.00459231436252594, 0.9998912215232849, 0.013831846415996552], "tcp_vel": [1.535889350634534e-05, -5.322620563674718e-05, 0.00014463845582213253, -0.0012507749488577247, -0.0003485960769467056, 0.0012942542089149356], "flange_pose": [0.678659975528717, 0.028465930372476578, -0.06502833217382431, -0.002266044495627284, -0.00459231436252594, 0.9998912215232849, 0.013831846415996552], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.99635314941406, 15.020359992980957, 28.14244842529297, 0.3319928050041199, -24.07862091064453, 1.7987505197525024], "ext_wrench_in_world": [-108.25879416347588, 14.79326420947931, -27.23992899331184, -0.12073540062448486, -24.021744341905148, -2.4631137506409684]}
+{"timestamp_ns": 1789729722114234217, "elapsed_ms": 11266, "source_timestamp_ns": 1789729722109249321, "q": [0.8366459608078003, -1.8973637819290161, -1.0064175128936768, 1.3811237812042236, -0.16132408380508423, 0.5939198136329651, 0.7036395072937012], "theta": [0.8387362957000732, -1.8954284191131592, -1.0046284198760986, 1.3627142906188965, -0.16192035377025604, 0.5938805341720581, 0.7036157846450806], "dq": [0.001479782396927476, -0.0006514092092402279, 0.00018426362657919526, -0.000451291271019727, -0.0006322299013845623, -0.0018058062996715307, 0.0018659543711692095], "dtheta": [-0.00020892315660603344, -0.00038225585012696683, 0.00020763625798281282, -0.000138547969982028, -0.00028061342891305685, 0.0004975781193934381, -0.0003907530044671148], "tau": [55.55999755859375, 23.69999885559082, 5.460000038146973, -26.23600196838379, -2.564000129699707, 2.6640000343322754, -0.5440000295639038], "tau_des": [0.5367454290390015, -0.4715234637260437, -0.23105275630950928, -0.5698815584182739, 0.9425817131996155, -1.1671842336654663, -0.5187823176383972], "tau_dot": [-68.2351303100586, 150.64845275878906, 58.11579895019531, -22.02147102355957, 12.772626876831055, 19.84488296508789, 14.245179176330566], "tau_ext": [-16.71257781982422, -41.69728469848633, 31.81488037109375, 31.352615356445312, 9.490015983581543, -2.9995241165161133, -0.12113767862319946], "tcp_pose": [0.6779589653015137, 0.032616399228572845, -0.2149694263935089, -0.0022647969890385866, -0.004595981445163488, 0.9998912215232849, 0.013830067589879036], "tcp_vel": [-3.1020157621242106e-05, 0.0003123163478448987, -0.0001021453645080328, 8.101638377411291e-05, -0.00037825581966899335, 0.000914580887183547], "flange_pose": [0.6786574125289917, 0.028470953926444054, -0.06502833962440491, -0.0022647969890385866, -0.004595981445163488, 0.9998912215232849, 0.013830067589879036], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [108.04792785644531, 15.081088066101074, 28.126190185546875, 0.3541794717311859, -24.09714126586914, 1.8031092882156372], "ext_wrench_in_world": [-108.3108817302533, 14.85215274245353, -27.222104316392844, -0.14259017835498172, -24.04035125053281, -2.4678012850999176]}
+{"timestamp_ns": 1789729722147559275, "elapsed_ms": 11300, "source_timestamp_ns": 1789729722139238887, "q": [0.8366459608078003, -1.8973699808120728, -1.006417989730835, 1.381120204925537, -0.1613195389509201, 0.593920111656189, 0.7036389708518982], "theta": [0.8387359976768494, -1.8954353332519531, -1.0046290159225464, 1.3627111911773682, -0.16191604733467102, 0.5938805341720581, 0.7036153078079224], "dq": [0.002342913532629609, 0.0011256241705268621, 0.0018469810020178556, -0.00027808593586087227, 0.00044421112397685647, -0.0014870872255414724, 0.0009727241704240441], "dtheta": [-0.0004911376163363457, -9.318684169556946e-05, -5.07508339069318e-05, 2.8706417651847005e-05, 0.00027292966842651367, 0.00029878687928430736, 0.0003630686551332474], "tau": [55.56999969482422, 23.51999855041504, 5.488000392913818, -26.268001556396484, -2.5360000133514404, 2.6760001182556152, -0.5360000133514404], "tau_des": [0.6143754720687866, -0.4908551871776581, -0.1897774040699005, -0.615375816822052, 0.9103442430496216, -1.1505653858184814, -0.5392614603042603], "tau_dot": [-128.06761169433594, -85.97079467773438, 5.806582927703857, -43.07709503173828, 19.272018432617188, 41.382835388183594, 12.87804889678955], "tau_ext": [-16.78072166442871, -41.5828971862793, 31.772994995117188, 31.2877140045166, 9.486288070678711, -2.9922056198120117, -0.12091505527496338], "tcp_pose": [0.6779582500457764, 0.032619062811136246, -0.21497005224227905, -0.002264447044581175, -0.004596681799739599, 0.9998912215232849, 0.013830146752297878], "tcp_vel": [-0.00010610302706481889, 6.02605396125e-05, -0.0003646111872512847, 0.0002452195330988616, 0.0004334576369728893, -0.0004901122883893549], "flange_pose": [0.6786565780639648, 0.028473593294620514, -0.06502896547317505, -0.002264447044581175, -0.004596681799739599, 0.9998912215232849, 0.013830146752297878], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83525848388672, 15.2114839553833, 28.160146713256836, 0.37531599402427673, -24.048824310302734, 1.8050206899642944], "ext_wrench_in_world": [-108.0995731853269, 14.985253807296107, -27.253449778051394, -0.1641404084105069, -23.992197406156766, -2.46828564892898]}
+{"timestamp_ns": 1789729722180895061, "elapsed_ms": 11333, "source_timestamp_ns": 1789729722179248148, "q": [0.8366445302963257, -1.897365927696228, -1.0064218044281006, 1.381118893623352, -0.16131767630577087, 0.5939130783081055, 0.7036365270614624], "theta": [0.8387351036071777, -1.8954319953918457, -1.004631757736206, 1.362708568572998, -0.16191436350345612, 0.5938736200332642, 0.7036131620407104], "dq": [0.0019066247623413801, 0.0030559597071260214, -0.0011401750380173326, -0.0021857614628970623, -0.0007814260898157954, 0.0006036264239810407, 0.0011832023737952113], "dtheta": [-0.00029724580235779285, 1.4934019418433309e-05, 5.3069961722940207e-05, 0.0003209473507013172, 0.0009446489857509732, -3.56980599462986e-05, -0.0006707449210807681], "tau": [55.57999801635742, 23.51999855041504, 5.52400016784668, -26.32400131225586, -2.5440001487731934, 2.6760001182556152, -0.5480000376701355], "tau_des": [0.631368100643158, -0.4802166223526001, -0.18495939671993256, -0.6549521088600159, 0.8921773433685303, -1.1240239143371582, -0.5287530422210693], "tau_dot": [2.541904926300049, -104.07243347167969, 2.978332757949829, 47.838600158691406, -16.40863800048828, 57.23126220703125, 39.11845016479492], "tau_ext": [-16.78977394104004, -41.542083740234375, 31.72795867919922, 31.362796783447266, 9.472347259521484, -2.9989187717437744, -0.11674893647432327], "tcp_pose": [0.6779592633247375, 0.03261503577232361, -0.2149703949689865, -0.002267145784571767, -0.00459461472928524, 0.9998912215232849, 0.013829126954078674], "tcp_vel": [-0.0003383291477803141, 2.4065882826107554e-05, -0.0004191012994851917, 0.00042728387052193284, 0.0011030962923541665, 0.00022512501163873821], "flange_pose": [0.6786583662033081, 0.02846987545490265, -0.0650293156504631, -0.002267145784571767, -0.00459461472928524, 0.9998912215232849, 0.013829126954078674], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65309143066406, 15.165822982788086, 28.196866989135742, 0.3528253734111786, -24.00010108947754, 1.7945164442062378], "ext_wrench_in_world": [-107.91725779219793, 14.942693957408586, -27.291664610915632, -0.14215734803298782, -23.94358155031412, -2.456485528076192]}
+{"timestamp_ns": 1789729722214229088, "elapsed_ms": 11366, "source_timestamp_ns": 1789729722209238663, "q": [0.8366458415985107, -1.8973664045333862, -1.0064213275909424, 1.3811205625534058, -0.16131742298603058, 0.5939128398895264, 0.7036374807357788], "theta": [0.8387362957000732, -1.8954321146011353, -1.0046318769454956, 1.3627090454101562, -0.1619129329919815, 0.5938736200332642, 0.7036131620407104], "dq": [0.0001631874474696815, -5.623478500638157e-05, 0.0018580476753413677, 0.00016545191465411335, -0.001054262975230813, 0.0007143302354961634, -0.0009654820896685123], "dtheta": [9.98765099211596e-05, 0.00013058571494184434, -0.00032671113149262965, -0.00016551553562749177, 0.0006453162059187889, -0.0004153987974859774, 1.0045216185972095e-05], "tau": [55.55999755859375, 23.69999885559082, 5.460000038146973, -26.312002182006836, -2.556000232696533, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.49448248744010925, -0.5919419527053833, -0.11639784276485443, -0.5577355623245239, 0.9146961569786072, -1.1451088190078735, -0.5484873652458191], "tau_dot": [60.02638626098633, 63.02434539794922, -39.916202545166016, 43.09685516357422, -13.925951957702637, -42.472068786621094, 22.886356353759766], "tau_ext": [-16.735288619995117, -41.600120544433594, 31.75955581665039, 31.395944595336914, 9.473106384277344, -3.0024688243865967, -0.11460641026496887], "tcp_pose": [0.6779584884643555, 0.03261512890458107, -0.2149703949689865, -0.002267400501295924, -0.004594546277076006, 0.9998912811279297, 0.013828621245920658], "tcp_vel": [6.485095946118236e-05, -0.0002069898328045383, 6.213872984517366e-05, 0.00011284671927569434, 0.000334981014020741, -0.0007013502763584256], "flange_pose": [0.6786577105522156, 0.02847011759877205, -0.06502930074930191, -0.002267400501295924, -0.004594546277076006, 0.9998912811279297, 0.013828621245920658], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82614135742188, 15.066410064697266, 28.19031524658203, 0.3410142660140991, -24.04842758178711, 1.7958903312683105], "ext_wrench_in_world": [-108.0893728174762, 14.841527466971158, -27.287064560736454, -0.12991657820043617, -23.991742768470914, -2.4592239796853517]}
+{"timestamp_ns": 1789729722247557036, "elapsed_ms": 11400, "source_timestamp_ns": 1789729722239270843, "q": [0.8366472125053406, -1.8973673582077026, -1.0064195394515991, 1.3811217546463013, -0.16131995618343353, 0.5939154028892517, 0.7036380767822266], "theta": [0.8387379050254822, -1.895432710647583, -1.004630446434021, 1.3627097606658936, -0.16191484034061432, 0.5938757658004761, 0.7036136388778687], "dq": [-0.0022880276665091515, -0.0009399891714565456, -0.003204737324267626, -0.0018387268064543605, -0.0020980597473680973, -0.0006202600197866559, 0.0009053508983924985], "dtheta": [0.0001294176181545481, -0.0006277136853896081, 0.00010834707791218534, -0.00010691845091059804, -0.00030165084172040224, -0.0004786832432728261, -0.0002095413947245106], "tau": [55.57999801635742, 23.689998626708984, 5.4760003089904785, -26.240001678466797, -2.556000232696533, 2.680000066757202, -0.5320000052452087], "tau_des": [0.5288801789283752, -0.45348843932151794, -0.23973646759986877, -0.5894932746887207, 0.9416981935501099, -1.1447046995162964, -0.5230659246444702], "tau_dot": [-45.774024963378906, 27.41753387451172, 29.267080307006836, 10.262261390686035, -18.00894546508789, 48.98046875, 44.25522994995117], "tau_ext": [-16.70572280883789, -41.675926208496094, 31.79226303100586, 31.383182525634766, 9.475377082824707, -3.000882387161255, -0.1186082735657692], "tcp_pose": [0.6779583096504211, 0.03261633962392807, -0.2149697095155716, -0.002265877090394497, -0.004595951642841101, 0.9998912811279297, 0.013828521594405174], "tcp_vel": [-0.00018229958368465304, 0.0001682028523646295, -7.44740100344643e-05, -0.000834988197311759, 9.489754120295402e-06, 0.0008679130114614964], "flange_pose": [0.678657054901123, 0.028471358120441437, -0.06502862274646759, -0.002265877090394497, -0.004595951642841101, 0.9998912811279297, 0.013828521594405174], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.99229431152344, 15.053791046142578, 28.153493881225586, 0.35285577178001404, -24.0960750579834, 1.8021113872528076], "ext_wrench_in_world": [-108.25518720532874, 14.826054653460673, -27.250211371650984, -0.14127748786999222, -24.03930847677747, -2.466705186573828]}
+{"timestamp_ns": 1789729722280899591, "elapsed_ms": 11433, "source_timestamp_ns": 1789729722279240689, "q": [0.8366460204124451, -1.897365927696228, -1.0064226388931274, 1.3811211585998535, -0.16132095456123352, 0.5939173698425293, 0.7036389708518982], "theta": [0.838737428188324, -1.8954310417175293, -1.0046322345733643, 1.3627091646194458, -0.16191604733467102, 0.5938774347305298, 0.703614354133606], "dq": [-0.00074714794754982, 0.000751226325519383, 0.003583128796890378, 0.0006662664236500859, -0.0007601059041917324, -0.0011097625829279423, -4.740502845379524e-05], "dtheta": [-0.00028268745518289506, 7.081974763423204e-05, -0.00015461664588656276, 0.00023640443396288902, 0.0004950941074639559, -4.96298453072086e-05, -0.0008269706158898771], "tau": [55.61000061035156, 23.559999465942383, 5.564000129699707, -26.2760009765625, -2.556000232696533, 2.6640000343322754, -0.5520000457763672], "tau_des": [0.5899019837379456, -0.5221395492553711, -0.14910531044006348, -0.6169979572296143, 0.9095227718353271, -1.1419227123260498, -0.5282990336418152], "tau_dot": [10.700693130493164, -25.88129997253418, 82.41568756103516, 34.900630950927734, 17.715036392211914, -29.131393432617188, -25.10124397277832], "tau_ext": [-16.77627182006836, -41.62797546386719, 31.752437591552734, 31.325307846069336, 9.485862731933594, -3.0001394748687744, -0.11870458722114563], "tcp_pose": [0.677960216999054, 0.03261458873748779, -0.214969664812088, -0.0022646584548056126, -0.004594163037836552, 0.9998912811279297, 0.013828561641275883], "tcp_vel": [-0.00015933015674818307, -0.00012446301116142422, -0.0003309175372123718, 9.723495168145746e-05, 0.0007122023380361497, 0.000434396555647254], "flange_pose": [0.6786586046218872, 0.028469592332839966, -0.06502857059240341, -0.0022646584548056126, -0.004594163037836552, 0.9998912811279297, 0.013828561641275883], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.86750030517578, 15.174055099487305, 28.178634643554688, 0.3821937143802643, -24.069238662719727, 1.806775450706482], "ext_wrench_in_world": [-108.13149558754212, 14.948509840403531, -27.27282046611641, -0.17096139074951996, -24.012625254028105, -2.4704979214794056]}
+{"timestamp_ns": 1789729722314233618, "elapsed_ms": 11466, "source_timestamp_ns": 1789729722309241933, "q": [0.8366460204124451, -1.8973652124404907, -1.0064259767532349, 1.3811213970184326, -0.16132234036922455, 0.5939165353775024, 0.7036406993865967], "theta": [0.8387371301651001, -1.895430564880371, -1.0046353340148926, 1.3627090454101562, -0.16191773116588593, 0.5938764810562134, 0.7036160230636597], "dq": [-3.122448833892122e-05, 0.00044185807928442955, 0.0020052031613886356, -0.0008541751885786653, -0.0010379767045378685, -0.00016774960386101156, -0.0014136710669845343], "dtheta": [-1.0578655746940058e-05, -7.516147888964042e-05, 0.00012514315312728286, 0.00015306494606193155, -0.0003118978056591004, 9.697948553366587e-05, 0.0008239211747422814], "tau": [55.62999725341797, 23.670000076293945, 5.504000186920166, -26.244001388549805, -2.552000045776367, 2.688000202178955, -0.5200000405311584], "tau_des": [0.516114354133606, -0.5632033944129944, -0.15187013149261475, -0.5651804804801941, 0.9303908348083496, -1.160009741783142, -0.5576921105384827], "tau_dot": [88.33131408691406, 111.58954620361328, -17.507177352905273, -11.441941261291504, 52.782012939453125, 72.84811401367188, 42.42623519897461], "tau_ext": [-16.77912139892578, -41.609012603759766, 31.753215789794922, 31.344562530517578, 9.496030807495117, -3.0004897117614746, -0.12244223803281784], "tcp_pose": [0.6779614686965942, 0.03261223062872887, -0.21496973931789398, -0.002264173235744238, -0.004592276178300381, 0.9998912811279297, 0.013826968148350716], "tcp_vel": [-6.346467125695199e-05, 5.513092037290335e-05, -5.425616473075934e-05, -0.00019805158080998808, -4.9851747462525964e-05, -0.0004904207889921963], "flange_pose": [0.6786596775054932, 0.028467709198594093, -0.06502863764762878, -0.002264173235744238, -0.004592276178300381, 0.9998912811279297, 0.013826968148350716], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77669525146484, 15.162016868591309, 28.192005157470703, 0.37046805024147034, -24.041614532470703, 1.8046987056732178], "ext_wrench_in_world": [-108.04056579403336, 14.93800741181171, -27.287067030357665, -0.1595670840995176, -23.984969051089333, -2.4676327292313247]}
+{"timestamp_ns": 1789729722347559156, "elapsed_ms": 11500, "source_timestamp_ns": 1789729722339235728, "q": [0.8366473317146301, -1.8973665237426758, -1.006425380706787, 1.38112211227417, -0.16132290661334991, 0.5939151644706726, 0.7036380767822266], "theta": [0.8387382626533508, -1.895432472229004, -1.0046350955963135, 1.362709403038025, -0.16191796958446503, 0.593875527381897, 0.7036145925521851], "dq": [0.0016603422118350863, -1.2528464139904827e-05, -0.002112407237291336, -0.0010792656103149056, 0.001251731999218464, 0.0002875948266591877, -0.0010169942397624254], "dtheta": [0.00013262387074064463, 0.00012881637667305768, 0.00023166013124864548, 4.0070262912195176e-05, -0.00040975279989652336, 0.00012300937669351697, -0.0007947471458464861], "tau": [55.53999710083008, 23.639999389648438, 5.456000328063965, -26.312002182006836, -2.572000026702881, 2.6520001888275146, -0.5360000133514404], "tau_des": [0.45244884490966797, -0.5671866536140442, -0.17732714116573334, -0.5262439846992493, 0.9487388730049133, -1.172965407371521, -0.5200311541557312], "tau_dot": [31.31300163269043, -119.22443389892578, -35.04003143310547, -9.911356925964355, -31.00843620300293, 15.696617126464844, -5.975834369659424], "tau_ext": [-16.72633934020996, -41.62929916381836, 31.776798248291016, 31.35846519470215, 9.498385429382324, -2.998781442642212, -0.12310456484556198], "tcp_pose": [0.6779607534408569, 0.03261255845427513, -0.21496962010860443, -0.002264269394800067, -0.004594483878463507, 0.9998912811279297, 0.013825861737132072], "tcp_vel": [4.854974031331949e-05, 7.274463860085234e-05, 0.00017056077194865793, 4.992975664208643e-05, -0.00036909282789565623, 0.0011016097851097584], "flange_pose": [0.6786590218544006, 0.02846837230026722, -0.06502851098775864, -0.002264269394800067, -0.004594483878463507, 0.9998912811279297, 0.013825861737132072], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81250762939453, 15.153127670288086, 28.18572998046875, 0.36435601115226746, -24.04755210876465, 1.8042142391204834], "ext_wrench_in_world": [-108.07633533166803, 14.928079386455948, -27.280902499197452, -0.15329315107084124, -23.990867094368557, -2.4672867724360508]}
+{"timestamp_ns": 1789729722380899982, "elapsed_ms": 11533, "source_timestamp_ns": 1789729722379283994, "q": [0.8366489410400391, -1.897369384765625, -1.0064244270324707, 1.381122350692749, -0.16132262349128723, 0.5939137935638428, 0.7036375999450684], "theta": [0.8387396335601807, -1.8954359292984009, -1.0046342611312866, 1.362709403038025, -0.16191773116588593, 0.5938745737075806, 0.7036148309707642], "dq": [0.0018724538385868073, -0.0012370811309665442, -0.002236541360616684, 0.00010828873928403482, -0.0011011881288141012, 0.0007381202885881066, -0.0012490376830101013], "dtheta": [1.6986197806545533e-05, -0.000335941236699, -0.00019812035316135734, 0.00021825020667165518, -0.000744364398997277, -0.0003926983044948429, 0.0003121508052572608], "tau": [55.56999969482422, 23.619998931884766, 5.484000205993652, -26.312002182006836, -2.556000232696533, 2.6480002403259277, -0.5480000376701355], "tau_des": [0.5465443730354309, -0.5159275531768799, -0.15074504911899567, -0.6052725315093994, 0.949897050857544, -1.138306736946106, -0.5366827845573425], "tau_dot": [69.7103500366211, -117.72850036621094, 39.23749923706055, -28.12206268310547, 28.50168228149414, -41.03731918334961, -22.698192596435547], "tau_ext": [-16.72786521911621, -41.67275619506836, 31.79063606262207, 31.352127075195312, 9.49828815460205, -2.9955875873565674, -0.12706682085990906], "tcp_pose": [0.6779596209526062, 0.03261366859078407, -0.21496960520744324, -0.0022643276024609804, -0.0045959362760186195, 0.9998912811279297, 0.013824702240526676], "tcp_vel": [-7.72371276980266e-05, -0.00016653550846967846, -0.00017983242287300527, -0.001221665646880865, -1.0012167876993772e-05, 0.0002306402602698654], "flange_pose": [0.6786578893661499, 0.028469828888773918, -0.06502848863601685, -0.0022643276024609804, -0.0045959362760186195, 0.9998912811279297, 0.013824702240526676], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.93396759033203, 15.151890754699707, 28.1594295501709, 0.37107053399086, -24.080095291137695, 1.8063570261001587], "ext_wrench_in_world": [-108.19770043977542, 14.924614764122982, -27.254139493137217, -0.15965054998903566, -24.023405551660545, -2.470244052627811]}
+{"timestamp_ns": 1789729722414285162, "elapsed_ms": 11566, "source_timestamp_ns": 1789729722409254912, "q": [0.8366490006446838, -1.897368311882019, -1.006425142288208, 1.3811233043670654, -0.1613222062587738, 0.5939123630523682, 0.7036371827125549], "theta": [0.838739275932312, -1.8954347372055054, -1.0046346187591553, 1.3627097606658936, -0.16191725432872772, 0.593873143196106, 0.7036141157150269], "dq": [-0.0002764758246485144, 0.0019973868038505316, -0.0018942254828289151, 0.0009836830431595445, 0.001007894636131823, -0.0011531607015058398, 0.00044324336340650916], "dtheta": [-0.00020799392950721085, 0.00040211595478467643, 0.00019824659102596343, 0.00015307088324334472, -0.00043585989624261856, -6.379708793247119e-05, 7.695268141105771e-05], "tau": [55.619998931884766, 23.5, 5.5400004386901855, -26.308000564575195, -2.564000129699707, 2.6720001697540283, -0.5320000052452087], "tau_des": [0.527935266494751, -0.5829298496246338, -0.15103493630886078, -0.5744232535362244, 0.9283068776130676, -1.1520811319351196, -0.5359015464782715], "tau_dot": [-7.43240213394165, -127.5550765991211, 27.93815803527832, 5.82936429977417, -13.844598770141602, -6.94488000869751, 12.793334007263184], "tau_ext": [-16.75098419189453, -41.606624603271484, 31.75872802734375, 31.356243133544922, 9.495184898376465, -2.996845006942749, -0.12117583304643631], "tcp_pose": [0.6779595017433167, 0.03261258080601692, -0.21496988832950592, -0.0022652039770036936, -0.004595502279698849, 0.9998913407325745, 0.013824264518916607], "tcp_vel": [-1.6104526366689242e-05, -7.907806866569445e-05, -5.067966048954986e-05, 2.4220671548391692e-05, 0.00020208679779898375, 6.042956738383509e-05], "flange_pose": [0.6786580085754395, 0.028468875214457512, -0.06502876430749893, -0.0022652039770036936, -0.004595502279698849, 0.9998913407325745, 0.013824264518916607], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.91877746582031, 15.139750480651855, 28.167068481445312, 0.36584341526031494, -24.076797485351562, 1.8062258958816528], "ext_wrench_in_world": [-108.18247128252399, 14.912898167841465, -27.26200096496095, -0.15447777688438427, -24.02006646013168, -2.470023159684995]}
+{"timestamp_ns": 1789729722447556747, "elapsed_ms": 11600, "source_timestamp_ns": 1789729722439272224, "q": [0.8366488814353943, -1.8973665237426758, -1.0064274072647095, 1.3811237812042236, -0.16131989657878876, 0.5939115285873413, 0.7036378383636475], "theta": [0.8387386798858643, -1.8954331874847412, -1.0046361684799194, 1.36271071434021, -0.16191630065441132, 0.5938721895217896, 0.7036150693893433], "dq": [-0.00038682747981511056, 0.0006593377911485732, -0.0015866562025621533, 0.001485468354076147, 0.003517763689160347, 0.00012142633204348385, -0.0006175668677315116], "dtheta": [-0.00032449050922878087, -0.00040365124004893005, 7.823009946150705e-05, -0.0002934121002908796, -0.0002756426692940295, -4.073221134603955e-05, 0.001033482956700027], "tau": [55.599998474121094, 23.60999870300293, 5.51200008392334, -26.32000160217285, -2.576000213623047, 2.6760001182556152, -0.5400000214576721], "tau_des": [0.5709359049797058, -0.5186613202095032, -0.1741616427898407, -0.5871025323867798, 0.9221181869506836, -1.151147723197937, -0.5587449669837952], "tau_dot": [67.02996826171875, -3.2753031253814697, -20.678403854370117, -35.50651168823242, 1.7701504230499268, 4.950192928314209, -1.0852960348129272], "tau_ext": [-16.778993606567383, -41.59440231323242, 31.73015594482422, 31.356367111206055, 9.491657257080078, -2.998591661453247, -0.12130416929721832], "tcp_pose": [0.6779599785804749, 0.03261073678731918, -0.21497012674808502, -0.0022660614922642708, -0.0045931837521493435, 0.9998913407325745, 0.01382446475327015], "tcp_vel": [-5.8905654441332445e-05, 0.00019237876404076815, -0.000186479912372306, -0.00028403676697053015, 2.1137222574907355e-05, -0.0006001201691105962], "flange_pose": [0.6786587834358215, 0.02846696972846985, -0.06502899527549744, -0.0022660614922642708, -0.0045931837521493435, 0.9998913407325745, 0.01382446475327015], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85638427734375, 15.094934463500977, 28.183073043823242, 0.35096389055252075, -24.060218811035156, 1.8028430938720703], "ext_wrench_in_world": [-108.11972682516375, 14.869629855056662, -27.279315630317377, -0.13984973728460495, -24.00344900968394, -2.466257447828266]}
+{"timestamp_ns": 1789729722480882845, "elapsed_ms": 11633, "source_timestamp_ns": 1789729722479236581, "q": [0.8366495370864868, -1.8973685503005981, -1.00642728805542, 1.3811241388320923, -0.1613193154335022, 0.5939127206802368, 0.7036389708518982], "theta": [0.8387393355369568, -1.895434856414795, -1.0046360492706299, 1.362711787223816, -0.16191604733467102, 0.5938733816146851, 0.7036153078079224], "dq": [-0.0005315524758771062, 0.0006350769544951618, -0.0025418123695999384, 0.0017796466127038002, 0.0009586025262251496, -8.185263868654147e-05, 0.0023954175412654877], "dtheta": [3.719330925378017e-05, -6.79612930980511e-05, -0.0001862540957517922, 5.265757135930471e-05, -4.121974779991433e-05, 0.0007672984502278268, 0.0007065000245347619], "tau": [55.52000045776367, 23.75, 5.468000411987305, -26.296001434326172, -2.56000018119812, 2.6560001373291016, -0.5240000486373901], "tau_des": [0.4893394410610199, -0.5942032337188721, -0.13163475692272186, -0.5342500805854797, 0.9254855513572693, -1.179079294204712, -0.5596922039985657], "tau_dot": [-12.170717239379883, 34.65367126464844, 15.811728477478027, -16.595300674438477, -10.36641788482666, 2.8175859451293945, 15.1299467086792], "tau_ext": [-16.72784423828125, -41.668983459472656, 31.764543533325195, 31.33778190612793, 9.482809066772461, -2.992774248123169, -0.12359797209501266], "tcp_pose": [0.6779595613479614, 0.03261156007647514, -0.21497035026550293, -0.0022656340152025223, -0.004593188874423504, 0.9998913407325745, 0.013824260793626308], "tcp_vel": [0.0001802219485398382, 2.5383253159816377e-05, 6.210799620021135e-05, 0.00027341852546669543, -0.0006372218485921621, -0.000778471992816776], "flange_pose": [0.6786582469940186, 0.028467856347560883, -0.06502921879291534, -0.0022656340152025223, -0.004593188874423504, 0.9998913407325745, 0.013824260793626308], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83808898925781, 15.131629943847656, 28.193750381469727, 0.3663617968559265, -24.06577491760254, 1.8050825595855713], "ext_wrench_in_world": [-108.10179360796675, 14.906762966401013, -27.289152767891906, -0.15520448217645189, -24.009084289824884, -2.468572366899363]}
+{"timestamp_ns": 1789729722514226170, "elapsed_ms": 11666, "source_timestamp_ns": 1789729722509235175, "q": [0.8366495966911316, -1.897369146347046, -1.006427526473999, 1.3811246156692505, -0.161319762468338, 0.5939141511917114, 0.7036396861076355], "theta": [0.8387395739555359, -1.8954347372055054, -1.004636287689209, 1.3627126216888428, -0.16191677749156952, 0.5938748121261597, 0.7036155462265015], "dq": [-0.0009201413486152887, 0.0008224680786952376, 0.0002041247789748013, 0.00011183929746039212, 7.796473801136017e-05, 0.0005353547749109566, 0.0012871621875092387], "dtheta": [-0.00012404662265907973, 0.00032526577706448734, -0.00012394561781547964, 0.00017064243729691952, 0.0004330284136813134, -0.0005451731849461794, -0.00018116536375600845], "tau": [55.53999710083008, 23.6299991607666, 5.492000102996826, -26.304000854492188, -2.56000018119812, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.5540202856063843, -0.5844725370407104, -0.11830128729343414, -0.5986145734786987, 0.9024055600166321, -1.137608289718628, -0.5473076701164246], "tau_dot": [37.762203216552734, 11.106700897216797, -48.42191696166992, 34.953758239746094, -13.874064445495605, 19.57257843017578, 1.7625954151153564], "tau_ext": [-16.724224090576172, -41.68404769897461, 31.77682876586914, 31.342546463012695, 9.48546314239502, -2.9954605102539062, -0.12671460211277008], "tcp_pose": [0.677959680557251, 0.03261175379157066, -0.2149704247713089, -0.0022650440223515034, -0.004593112505972385, 0.9998913407325745, 0.013824199326336384], "tcp_vel": [-0.0001258734700968489, -0.00025235992507077754, -0.00016818703443277627, -2.216356369899586e-05, 0.0008681469480507076, -0.00032430756255052984], "flange_pose": [0.678658127784729, 0.028468066826462746, -0.06502929329872131, -0.0022650440223515034, -0.004593112505972385, 0.9998913407325745, 0.013824199326336384], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.87767791748047, 15.183640480041504, 28.18008041381836, 0.3871733546257019, -24.08156967163086, 1.8081440925598145], "ext_wrench_in_world": [-108.14175660483049, 14.958022715724844, -27.274004071304677, -0.1758862582295792, -24.024980493731434, -2.471975407562241]}
+{"timestamp_ns": 1789729722547560917, "elapsed_ms": 11700, "source_timestamp_ns": 1789729722539238009, "q": [0.8366488218307495, -1.897369384765625, -1.0064347982406616, 1.3811243772506714, -0.16132058203220367, 0.5939135551452637, 0.7036407589912415], "theta": [0.8387390971183777, -1.8954353332519531, -1.004643201828003, 1.3627127408981323, -0.16191725432872772, 0.5938738584518433, 0.7036162614822388], "dq": [0.00021117280994076282, -0.0017856847262009978, -0.00017104423022828996, -0.0002441361139062792, -0.0027770616579800844, 0.0012770963367074728, 0.001555982744321227], "dtheta": [-0.0003897477872669697, -2.22437647607876e-05, -0.00035097674117423594, 3.756458681891672e-05, 0.0007296103867702186, 0.0003040313895326108, 0.0006170336855575442], "tau": [55.52000045776367, 23.549999237060547, 5.492000102996826, -26.304000854492188, -2.576000213623047, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.598746120929718, -0.5769726634025574, -0.07227946817874908, -0.6066057682037354, 0.8982447981834412, -1.146580457687378, -0.5731326937675476], "tau_dot": [-130.09437561035156, 19.363597869873047, -46.619300842285156, -13.70433521270752, -32.63268280029297, 2.303520441055298, -7.457352161407471], "tau_ext": [-16.766178131103516, -41.61245346069336, 31.745080947875977, 31.361106872558594, 9.494468688964844, -2.999514579772949, -0.12891912460327148], "tcp_pose": [0.6779619455337524, 0.032607655972242355, -0.21497134864330292, -0.002264199545606971, -0.0045903027057647705, 0.9998914003372192, 0.013821373693645], "tcp_vel": [-2.9749106033705175e-05, -9.491240052739158e-05, -0.00033211871050298214, 0.0003873265231959522, 0.0004997692885808647, -0.0012544861529022455], "flange_pose": [0.6786601543426514, 0.02846481278538704, -0.06503018736839294, -0.002264199545606971, -0.0045903027057647705, 0.9998914003372192, 0.013821373693645], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.87469482421875, 15.150988578796387, 28.18674659729004, 0.3767775297164917, -24.077072143554688, 1.8052841424942017], "ext_wrench_in_world": [-108.13837813712956, 14.926050898661286, -27.281845621488504, -0.1656498850202539, -24.02048077572353, -2.468902299943554]}
+{"timestamp_ns": 1789729722580907322, "elapsed_ms": 11733, "source_timestamp_ns": 1789729722579245520, "q": [0.8366495966911316, -1.897369146347046, -1.0064380168914795, 1.3811240196228027, -0.16132082045078278, 0.5939090847969055, 0.7036386728286743], "theta": [0.8387397527694702, -1.8954358100891113, -1.0046464204788208, 1.3627123832702637, -0.16191749274730682, 0.5938700437545776, 0.7036138772964478], "dq": [-0.0004008769756183028, 0.0010416723089292645, 0.00294931186363101, 0.00024330047017429024, 0.0008140807040035725, -0.0012769344029948115, -0.0004721466975752264], "dtheta": [0.00037169005372561514, -0.0003596863825805485, 0.00040727650048211217, 7.870672561693937e-06, -0.0008228442748077214, 3.3584768971195444e-05, -0.000678480020724237], "tau": [55.5099983215332, 23.6299991607666, 5.4760003089904785, -26.268001556396484, -2.5480000972747803, 2.6440000534057617, -0.5480000376701355], "tau_des": [0.44269511103630066, -0.5347192883491516, -0.18415845930576324, -0.5349463224411011, 0.9637389183044434, -1.1648650169372559, -0.5287755131721497], "tau_dot": [-54.85224533081055, -18.424222946166992, -25.906383514404297, -4.760714530944824, 31.796619415283203, -0.03595474734902382, 19.071086883544922], "tau_ext": [-16.74346160888672, -41.60369873046875, 31.779115676879883, 31.35320472717285, 9.49232006072998, -3.003185749053955, -0.12584398686885834], "tcp_pose": [0.6779625415802002, 0.03260517120361328, -0.21497128903865814, -0.002264778595417738, -0.004590246826410294, 0.9998914003372192, 0.013818967156112194], "tcp_vel": [-3.692701648105867e-05, 0.000276332488283515, 0.00023550335026811808, -0.0004979193327017128, -0.0007352084503509104, 0.0016622466500848532], "flange_pose": [0.6786609292030334, 0.028463050723075867, -0.06503012031316757, -0.002264778595417738, -0.004590246826410294, 0.9998914003372192, 0.013818967156112194], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.86238098144531, 15.099822998046875, 28.16169548034668, 0.35299840569496155, -24.055419921875, 1.7985937595367432], "ext_wrench_in_world": [-108.12551159636581, 14.874206783764986, -27.25822247441211, -0.1420431043328784, -23.998814597568007, -2.4616044913991857]}
+{"timestamp_ns": 1789729722614231220, "elapsed_ms": 11766, "source_timestamp_ns": 1789729722609232056, "q": [0.8366509079933167, -1.8973723649978638, -1.0064359903335571, 1.381124496459961, -0.16131970286369324, 0.5939043164253235, 0.7036399841308594], "theta": [0.8387410044670105, -1.89543879032135, -1.0046446323394775, 1.3627123832702637, -0.16191604733467102, 0.5938650369644165, 0.7036145925521851], "dq": [0.0007306984043680131, 0.0026593392249196768, -0.000167823804076761, -0.00014972274948377162, 0.0008917641243897378, -0.0022372680250555277, 0.0002854386402759701], "dtheta": [0.000343755295034498, -6.946303619770333e-05, -0.00014430144801735878, -7.65511067584157e-05, 0.00047504890244454145, -0.0004631982883438468, 0.0011849238071590662], "tau": [55.52000045776367, 23.619998931884766, 5.496000289916992, -26.2760009765625, -2.576000213623047, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.4785405099391937, -0.6085078120231628, -0.09236928820610046, -0.5615469813346863, 0.9174710512161255, -1.1377326250076294, -0.5796535015106201], "tau_dot": [-15.258986473083496, -12.057733535766602, 9.034137725830078, 82.3188247680664, -20.487346649169922, 0.555667519569397, 11.8169527053833], "tau_ext": [-16.715652465820312, -41.631019592285156, 31.781511306762695, 31.34671401977539, 9.48942756652832, -2.992643117904663, -0.12198522686958313], "tcp_pose": [0.6779600381851196, 0.03260650858283043, -0.21497207880020142, -0.002266788389533758, -0.004591146018356085, 0.9998914003372192, 0.013817106373608112], "tcp_vel": [-1.7558009858475998e-05, -8.413604518864304e-05, 0.00014697447477374226, -0.00011293686839053407, 0.0001950721489265561, -0.0015039897989481688], "flange_pose": [0.6786590814590454, 0.028464948758482933, -0.06503089517354965, -0.002266788389533758, -0.004591146018356085, 0.9998914003372192, 0.013817106373608112], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.87621307373047, 15.127208709716797, 28.150983810424805, 0.3584330976009369, -24.060152053833008, 1.8011444807052612], "ext_wrench_in_world": [-108.13967887734833, 14.900854096935825, -27.246322310668607, -0.1474113472775589, -24.003533994429283, -2.4641709056734102]}
+{"timestamp_ns": 1789729722647559678, "elapsed_ms": 11800, "source_timestamp_ns": 1789729722639236950, "q": [0.8366515040397644, -1.8973758220672607, -1.0064347982406616, 1.3811230659484863, -0.1613190621137619, 0.5939040184020996, 0.703637421131134], "theta": [0.8387418985366821, -1.8954421281814575, -1.0046437978744507, 1.3627115488052368, -0.16191531717777252, 0.5938645601272583, 0.7036129236221313], "dq": [-0.0015559872845187783, 0.0006390392663888633, 0.000420000113081187, -0.0005320791387930512, -0.00014549950719811022, -0.0006717256037518382, 0.0007088860729709268], "dtheta": [0.0002249022072646767, -0.00047257961705327034, -0.00015937104762997478, -0.00014774216106161475, 0.0003604707308113575, -0.0009038097923621535, -0.00012815113586839288], "tau": [55.61000061035156, 23.65999984741211, 5.484000205993652, -26.284000396728516, -2.568000078201294, 2.6720001697540283, -0.5320000052452087], "tau_des": [0.5351516604423523, -0.5031391382217407, -0.151749387383461, -0.6082140803337097, 0.9274566173553467, -1.1213735342025757, -0.5430377721786499], "tau_dot": [8.727241516113281, 81.52519226074219, -13.531563758850098, 50.42134094238281, -42.76702880859375, 11.576614379882812, 29.381837844848633], "tau_ext": [-16.739364624023438, -41.629852294921875, 31.767742156982422, 31.33676528930664, 9.48758316040039, -2.990527391433716, -0.11953995376825333], "tcp_pose": [0.6779593229293823, 0.03260839730501175, -0.21497207880020142, -0.002266406547278166, -0.004593668505549431, 0.9998914003372192, 0.013816713355481625], "tcp_vel": [-0.00018441284191794693, -3.775995355681516e-05, -6.293192564044148e-05, -0.0007341353339143097, 0.0004862955247517675, 0.00013080731150694191], "flange_pose": [0.6786582469940186, 0.028466958552598953, -0.06503089517354965, -0.002266406547278166, -0.004593668505549431, 0.9998914003372192, 0.013816713355481625], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.88177490234375, 15.139162063598633, 28.15994644165039, 0.3630081117153168, -24.06914520263672, 1.804304838180542], "ext_wrench_in_world": [-108.14544346346811, 14.9124328344264, -27.25502839317986, -0.15179585948316016, -24.012481029910745, -2.4675401575421945]}
+{"timestamp_ns": 1789729722680891505, "elapsed_ms": 11833, "source_timestamp_ns": 1789729722679230653, "q": [0.8366514444351196, -1.897374153137207, -1.0064356327056885, 1.381123423576355, -0.16131755709648132, 0.5939043760299683, 0.7036333680152893], "theta": [0.838741660118103, -1.8954405784606934, -1.0046437978744507, 1.3627116680145264, -0.1619134098291397, 0.5938643217086792, 0.7036085724830627], "dq": [0.00014691568503621966, -0.0002682914200704545, -0.0013182793045416474, 0.00032159712282009423, 0.000869613722898066, 0.00024816818768158555, 0.0005751512362621725], "dtheta": [0.00019677267118822783, -0.00034335837699472904, -0.00015026632172521204, 0.0002193566906498745, 0.0004632678464986384, -8.395024633500725e-05, 0.00025418444420211017], "tau": [55.55999755859375, 23.56999969482422, 5.508000373840332, -26.296001434326172, -2.564000129699707, 2.6720001697540283, -0.5640000104904175], "tau_des": [0.548302173614502, -0.522419273853302, -0.14560581743717194, -0.610765814781189, 0.9175024032592773, -1.1347402334213257, -0.5487797260284424], "tau_dot": [-5.101084232330322, -48.132625579833984, -44.792781829833984, 32.535491943359375, -50.91303634643555, 31.738845825195312, 16.163877487182617], "tau_ext": [-16.75971221923828, -41.60641860961914, 31.74797821044922, 31.35989761352539, 9.4773530960083, -2.99809193611145, -0.11321301758289337], "tcp_pose": [0.6779597401618958, 0.0326075442135334, -0.21497192978858948, -0.0022666621953248978, -0.0045944564044475555, 0.9998914003372192, 0.013817542232573032], "tcp_vel": [-0.0001636270317249, -4.584992439049529e-06, -0.00012213052832521498, -0.00024493536329828203, 0.0002594611141830683, -0.00035002679214812815], "flange_pose": [0.6786587238311768, 0.02846585586667061, -0.06503074616193771, -0.0022666621953248978, -0.0045944564044475555, 0.9998914003372192, 0.013817542232573032], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.83890533447266, 15.136191368103027, 28.187482833862305, 0.36244678497314453, -24.06081199645996, 1.8049900531768799], "ext_wrench_in_world": [-108.10271444529948, 14.910494736283711, -27.282746519655415, -0.1512771104388868, -24.004123391807646, -2.4680368959411285]}
+{"timestamp_ns": 1789729722714222122, "elapsed_ms": 11866, "source_timestamp_ns": 1789729722709236876, "q": [0.8366504907608032, -1.8973711729049683, -1.006436824798584, 1.3811230659484863, -0.1613173633813858, 0.5939040780067444, 0.7036312222480774], "theta": [0.8387413620948792, -1.8954384326934814, -1.0046442747116089, 1.3627114295959473, -0.1619131714105606, 0.5938640832901001, 0.7036059498786926], "dq": [0.0019378053257241845, 0.0004990267916582525, -0.0022449390962719917, 0.0002870430762413889, -0.0014288205420598388, -0.0007526057306677103, -0.0007894021109677851], "dtheta": [-0.0006352579221129417, -0.0003168066614307463, -9.804544970393181e-05, -0.00020040423260070384, -0.00036205913056619465, -0.0006810722989030182, 0.0009131882106885314], "tau": [55.53999710083008, 23.59000015258789, 5.520000457763672, -26.336000442504883, -2.552000045776367, 2.624000072479248, -0.5800000429153442], "tau_des": [0.6671825051307678, -0.5095974802970886, -0.12422561645507812, -0.6620258688926697, 0.9128785133361816, -1.1135050058364868, -0.5572271943092346], "tau_dot": [-77.00654602050781, 74.27771759033203, 1.186123251914978, -62.32355880737305, -1.5485262870788574, -107.94686126708984, -49.57316207885742], "tau_ext": [-16.768997192382812, -41.5687370300293, 31.72840118408203, 31.358497619628906, 9.480484008789062, -3.002798557281494, -0.10973179340362549], "tcp_pose": [0.6779608130455017, 0.0326061025261879, -0.2149716168642044, -0.002266914816573262, -0.004594078753143549, 0.9998914003372192, 0.013818340376019478], "tcp_vel": [-0.00018779761740006506, -5.531719216378406e-05, -0.0004883146029897034, -0.0008572013466618955, 0.000783732277341187, -0.0005840890225954354], "flange_pose": [0.6786598563194275, 0.028464175760746002, -0.06503044813871384, -0.002266914816573262, -0.004594078753143549, 0.9998914003372192, 0.013818340376019478], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82023620605469, 15.100078582763672, 28.181720733642578, 0.3556632399559021, -24.052135467529297, 1.805411696434021], "ext_wrench_in_world": [-108.08369298931387, 14.874535558507327, -27.277987351608754, -0.14459439391108453, -23.995372110267596, -2.4682864568965295]}
+{"timestamp_ns": 1789729722747574187, "elapsed_ms": 11900, "source_timestamp_ns": 1789729722739390031, "q": [0.8366525173187256, -1.8973721265792847, -1.0064363479614258, 1.3811239004135132, -0.1613178849220276, 0.5939063429832458, 0.7036305069923401], "theta": [0.8387426733970642, -1.8954393863677979, -1.0046436786651611, 1.3627121448516846, -0.1619129329919815, 0.5938659906387329, 0.7036059498786926], "dq": [-0.0028029242530465126, 0.00042356038466095924, -0.002117142081260681, 0.0005189485382288694, 0.0013657056260854006, 0.00032676514820195735, 0.00023479828087147325], "dtheta": [0.00017206172924488783, 5.676263754139654e-05, 0.0001281512522837147, 8.327690011356026e-05, 0.00021297551575116813, -0.0006954391719773412, 1.1463097507657949e-05], "tau": [55.55999755859375, 23.729999542236328, 5.4720001220703125, -26.284000396728516, -2.56000018119812, 2.6760001182556152, -0.5600000023841858], "tau_des": [0.5051301717758179, -0.5702605247497559, -0.14857612550258636, -0.5771678686141968, 0.9203137159347534, -1.14108407497406, -0.5409541130065918], "tau_dot": [38.82040786743164, 166.9387969970703, 27.213939666748047, 44.76047897338867, -6.1266584396362305, 4.4433465003967285, -18.06405258178711], "tau_ext": [-16.732351303100586, -41.61735153198242, 31.747116088867188, 31.36508560180664, 9.478263854980469, -2.9998743534088135, -0.10867267102003098], "tcp_pose": [0.677960991859436, 0.03260679170489311, -0.21497057378292084, -0.0022653238847851753, -0.0045950948260724545, 0.9998914003372192, 0.01381849218159914], "tcp_vel": [-0.00018195620214100927, -5.6786779168760404e-05, 6.671745268249651e-06, -0.0002464675053488463, 0.0005793573800474405, -4.8062083806144074e-05], "flange_pose": [0.6786595582962036, 0.02846481464803219, -0.06502940505743027, -0.0022653238847851753, -0.0045950948260724545, 0.9998914003372192, 0.01381849218159914], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85740661621094, 15.078231811523438, 28.1758975982666, 0.3561224937438965, -24.064090728759766, 1.8088408708572388], "ext_wrench_in_world": [-108.12057698824796, 14.851987379003933, -27.272948953623505, -0.14490487903249002, -24.00723134998806, -2.4720510942936857]}
+{"timestamp_ns": 1789729722780897445, "elapsed_ms": 11933, "source_timestamp_ns": 1789729722779447826, "q": [0.8366549015045166, -1.8973772525787354, -1.0064353942871094, 1.3811235427856445, -0.16131918132305145, 0.5939079523086548, 0.7036322951316833], "theta": [0.8387454152107239, -1.8954435586929321, -1.0046430826187134, 1.3627119064331055, -0.1619138866662979, 0.5938676595687866, 0.7036080956459045], "dq": [-0.0001990029268199578, -0.0016348684439435601, -0.0023345143999904394, -0.0004975362680852413, 0.0007537576602771878, -0.0018296862253919244, -0.00185392948333174], "dtheta": [0.0001868645049398765, -0.00025951681891456246, 3.205267057637684e-05, 0.0004289950884412974, 0.0006926459027454257, 2.4160603061318398e-05, 0.0002242158370791003], "tau": [55.61000061035156, 23.639999389648438, 5.500000476837158, -26.264001846313477, -2.552000045776367, 2.6520001888275146, -0.5440000295639038], "tau_des": [0.5445000529289246, -0.5083725452423096, -0.1829087883234024, -0.6035329103469849, 0.9121183156967163, -1.1492278575897217, -0.5412800312042236], "tau_dot": [69.98892974853516, -31.370851516723633, 23.618074417114258, -3.8657753467559814, 16.285669326782227, -15.603199005126953, -24.53927230834961], "tau_ext": [-16.750703811645508, -41.70911407470703, 31.788055419921875, 31.354389190673828, 9.483548164367676, -2.9956047534942627, -0.11464224755764008], "tcp_pose": [0.6779603958129883, 0.03260904923081398, -0.21496999263763428, -0.0022632391192018986, -0.004596612881869078, 0.9998914003372192, 0.013817084953188896], "tcp_vel": [-0.00029728698427788913, 6.423198647098616e-05, -0.00019412212714087218, 2.6534269636613317e-05, 0.0005396949127316475, -0.00034492401755414903], "flange_pose": [0.6786583662033081, 0.028467493131756783, -0.06502880901098251, -0.0022632391192018986, -0.004596612881869078, 0.9998914003372192, 0.013817084953188896], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.87774658203125, 15.180890083312988, 28.18596076965332, 0.387088418006897, -24.07987403869629, 1.8148771524429321], "ext_wrench_in_world": [-108.14182907260671, 14.95429299046844, -27.280578106656126, -0.175671075457175, -24.023135209728043, -2.4783189079830588]}
+{"timestamp_ns": 1789729722814289104, "elapsed_ms": 11966, "source_timestamp_ns": 1789729722809366641, "q": [0.8366552591323853, -1.8973771333694458, -1.0064367055892944, 1.3811229467391968, -0.1613207459449768, 0.5939059257507324, 0.7036322951316833], "theta": [0.8387458920478821, -1.8954441547393799, -1.0046436786651611, 1.3627113103866577, -0.16191604733467102, 0.5938657522201538, 0.703609049320221], "dq": [0.00012020739814033732, -0.0003433311067055911, 0.0007847865344956517, 0.0022955182939767838, 0.0015926688211038709, 0.00039366414421238005, -0.00036222743801772594], "dtheta": [-8.750915731070563e-05, 0.00040783241274766624, 0.00022391069796867669, -4.682106009568088e-05, -0.0005259584868326783, -0.0003522767801769078, -0.0002199864393332973], "tau": [55.59000015258789, 23.53999900817871, 5.528000354766846, -26.30000114440918, -2.5920000076293945, 2.6760001182556152, -0.5360000133514404], "tau_des": [0.47475841641426086, -0.6074028611183167, -0.1412166804075241, -0.535603940486908, 0.9416831731796265, -1.1644630432128906, -0.5295431017875671], "tau_dot": [-31.684814453125, -68.8336410522461, 13.5789155960083, -30.313642501831055, -8.963648796081543, 35.61951446533203, 9.276411056518555], "tau_ext": [-16.77605438232422, -41.61952590942383, 31.752973556518555, 31.348175048828125, 9.48960018157959, -2.9990177154541016, -0.12291606515645981], "tcp_pose": [0.677960991859436, 0.03260801360011101, -0.21496963500976562, -0.0022629585582762957, -0.004596545826643705, 0.999891459941864, 0.013815736398100853], "tcp_vel": [3.937199653591961e-05, -8.01188507466577e-05, 9.786647569853812e-05, -8.365475514438003e-05, 8.920622349251062e-05, 0.0003967038355767727], "flange_pose": [0.6786589026451111, 0.028466863557696342, -0.06502843648195267, -0.0022629585582762957, -0.004596545826643705, 0.999891459941864, 0.013815736398100853], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8333969116211, 15.194653511047363, 28.19240951538086, 0.3848326504230499, -24.06699562072754, 1.8115111589431763], "ext_wrench_in_world": [-108.09761974768105, 14.968580241930944, -27.286941007184424, -0.173519197486444, -24.010340961221868, -2.474543406348084]}
+{"timestamp_ns": 1789729722847561369, "elapsed_ms": 12000, "source_timestamp_ns": 1789729722839285705, "q": [0.8366544842720032, -1.8973770141601562, -1.006436824798584, 1.3811229467391968, -0.16131962835788727, 0.5939021706581116, 0.7036315202713013], "theta": [0.8387452960014343, -1.895444393157959, -1.0046436786651611, 1.3627114295959473, -0.1619158238172531, 0.5938624143600464, 0.703609049320221], "dq": [0.0012053920654579997, -0.0014567456673830748, 0.0038773382548242807, -5.4568794439546764e-05, -0.0026730839163064957, 0.0015129658859223127, 0.0002488194149918854], "dtheta": [-0.00013230608601588756, 0.00021230724814813584, 5.855335257365368e-05, -2.404022052360233e-05, 1.539494223834481e-05, 0.000268133997451514, 0.00018173104035668075], "tau": [55.59000015258789, 23.579999923706055, 5.52400016784668, -26.304000854492188, -2.5880000591278076, 2.6640000343322754, -0.5480000376701355], "tau_des": [0.5084930658340454, -0.590774655342102, -0.13956421613693237, -0.5515099167823792, 0.9241777658462524, -1.1655763387680054, -0.5411903262138367], "tau_dot": [-25.763334274291992, -93.03440856933594, 12.09403133392334, 77.31121063232422, -35.66144943237305, 53.656917572021484, -20.422821044921875], "tau_ext": [-16.78238296508789, -41.57344436645508, 31.73929786682129, 31.363298416137695, 9.497038841247559, -3.00022292137146, -0.1265169233083725], "tcp_pose": [0.6779600977897644, 0.032607365399599075, -0.2149706333875656, -0.002265049610286951, -0.0045965276658535, 0.999891459941864, 0.013814886100590229], "tcp_vel": [6.59955112496391e-05, 1.781998435035348e-05, 1.6435667930636555e-05, 0.00039280642522498965, -5.81277345190756e-05, -0.00030144400079734623], "flange_pose": [0.6786585450172424, 0.028466474264860153, -0.06502942740917206, -0.002265049610286951, -0.0045965276658535, 0.999891459941864, 0.013814886100590229], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79488372802734, 15.13110637664795, 28.19906234741211, 0.35886484384536743, -24.046693801879883, 1.8027012348175049], "ext_wrench_in_world": [-108.05867369717423, 14.905550470931885, -27.295092221125206, -0.14770679702207298, -23.990054892985004, -2.465247949640954]}
+{"timestamp_ns": 1789729722880898175, "elapsed_ms": 12033, "source_timestamp_ns": 1789729722879255151, "q": [0.8366554975509644, -1.8973783254623413, -1.0064365863800049, 1.381123661994934, -0.16131894290447235, 0.5939001441001892, 0.7036309838294983], "theta": [0.8387459516525269, -1.8954461812973022, -1.004643201828003, 1.3627114295959473, -0.16191509366035461, 0.5938595533370972, 0.7036083340644836], "dq": [0.0018030585488304496, -0.002193434163928032, 0.001288701081648469, 0.0011948378523811698, -0.0002131819783244282, -0.0010414877906441689, 0.0008298304164782166], "dtheta": [0.0002099000703310594, -0.0001252072979696095, 8.960395643953234e-05, 2.6153918952331878e-05, -0.0002646996290422976, 0.0008597022970207036, -0.0007706218166276813], "tau": [55.54999923706055, 23.559999465942383, 5.52400016784668, -26.30000114440918, -2.564000129699707, 2.632000207901001, -0.5480000376701355], "tau_des": [0.450009822845459, -0.5526185631752014, -0.18870125710964203, -0.5194860100746155, 0.9480043649673462, -1.1856046915054321, -0.516726016998291], "tau_dot": [56.526649475097656, -39.903560638427734, 33.040870666503906, 56.15385437011719, 19.769729614257812, 6.464189052581787, -0.27972689270973206], "tau_ext": [-16.74112892150879, -41.60615539550781, 31.760343551635742, 31.361005783081055, 9.495973587036133, -2.9902119636535645, -0.12412469834089279], "tcp_pose": [0.677959144115448, 0.032607484608888626, -0.2149709016084671, -0.0022658088710159063, -0.004597201943397522, 0.999891459941864, 0.013813851401209831], "tcp_vel": [0.0001679844717727974, 0.00019827547657769173, 0.0002179905422963202, 0.00035049192956648767, -0.0009781261906027794, 0.0010478144977241755], "flange_pose": [0.6786578297615051, 0.028466906398534775, -0.06502968072891235, -0.0022658088710159063, -0.004597201943397522, 0.999891459941864, 0.013813851401209831], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85355377197266, 15.076416969299316, 28.19487762451172, 0.3411380648612976, -24.05887222290039, 1.7997931241989136], "ext_wrench_in_world": [-108.11688296403442, 14.85002061642254, -27.292032536442992, -0.12982691374821673, -24.002149660958718, -2.4627057746439833]}
+{"timestamp_ns": 1789729722914226463, "elapsed_ms": 12066, "source_timestamp_ns": 1789729722909241487, "q": [0.8366565108299255, -1.8973774909973145, -1.0064364671707153, 1.3811237812042236, -0.16131703555583954, 0.5939001441001892, 0.703630805015564], "theta": [0.8387462496757507, -1.8954449892044067, -1.0046428442001343, 1.362711787223816, -0.1619131714105606, 0.5938595533370972, 0.7036083340644836], "dq": [0.0010422792984172702, -0.0010406915098428726, -0.002424083650112152, 0.0013225461589172482, -0.0018657473847270012, 0.0005393056781031191, 0.0014066690346226096], "dtheta": [-6.230593135114759e-05, 0.00013884101645089686, 7.042771176202223e-05, 3.345061486470513e-05, -0.0002544438757468015, -0.0012069225776940584, -7.865083898650482e-05], "tau": [55.54999923706055, 23.59000015258789, 5.51200008392334, -26.296001434326172, -2.5440001487731934, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.5497838258743286, -0.5577686429023743, -0.148073211312294, -0.6099230647087097, 0.9215037226676941, -1.12261164188385, -0.5343670845031738], "tau_dot": [-46.533897399902344, -8.439517974853516, -8.595516204833984, 45.00783157348633, 15.886539459228516, 20.054304122924805, 10.980709075927734], "tau_ext": [-16.731285095214844, -41.598506927490234, 31.746675491333008, 31.351993560791016, 9.489291191101074, -2.994265556335449, -0.1181071400642395], "tcp_pose": [0.6779592037200928, 0.03260738402605057, -0.214970201253891, -0.002265914576128125, -0.0045965188182890415, 0.999891459941864, 0.01381474919617176], "tcp_vel": [-0.00020353579020593315, -0.00021676794858649373, -0.00012859351409133524, -0.0008181509911082685, 0.0008808887796476483, 0.00021005685266572982], "flange_pose": [0.6786580085754395, 0.028466535732150078, -0.06502899527549744, -0.002265914576128125, -0.0045965188182890415, 0.999891459941864, 0.01381474919617176], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.91470336914062, 15.050701141357422, 28.162029266357422, 0.33913302421569824, -24.077157974243164, 1.8022083044052124], "ext_wrench_in_world": [-108.17762776542382, 14.823039683727322, -27.25958631518973, -0.12769969492334643, -24.020337842365073, -2.4656773559820935]}
+{"timestamp_ns": 1789729722947557030, "elapsed_ms": 12100, "source_timestamp_ns": 1789729722939238822, "q": [0.8366553783416748, -1.8973771333694458, -1.0064367055892944, 1.3811241388320923, -0.16131751239299774, 0.5938998460769653, 0.7036319971084595], "theta": [0.8387455940246582, -1.8954447507858276, -1.0046429634094238, 1.3627123832702637, -0.1619131714105606, 0.5938597917556763, 0.7036097645759583], "dq": [0.0012200894998386502, 8.710943075129762e-05, -0.002073495415970683, 0.0011757673928514123, -0.0011448344448581338, 0.0006641648360528052, 0.0008862337563186884], "dtheta": [5.986952601233497e-05, 8.643990440759808e-05, 5.2990137191955e-05, 7.262224244186655e-05, -0.0005396488704718649, -0.0012174589792266488, 0.0011890545720234513], "tau": [55.61000061035156, 23.649999618530273, 5.52400016784668, -26.280000686645508, -2.568000078201294, 2.6480002403259277, -0.5200000405311584], "tau_des": [0.5391800403594971, -0.5854467153549194, -0.13281266391277313, -0.6037425994873047, 0.9209774732589722, -1.1228924989700317, -0.5594138503074646], "tau_dot": [50.464603424072266, 37.10041809082031, 8.527499198913574, 44.068878173828125, -10.903753280639648, -48.30243682861328, 31.461544036865234], "tau_ext": [-16.765169143676758, -41.622901916503906, 31.750926971435547, 31.35797882080078, 9.48203182220459, -2.9990336894989014, -0.12005195766687393], "tcp_pose": [0.6779590249061584, 0.03260703757405281, -0.21497103571891785, -0.002266571158543229, -0.004595899023115635, 0.999891459941864, 0.013814457692205906], "tcp_vel": [-0.00016392659745179117, -0.00024018771364353597, -5.749295451096259e-05, -0.0010806291829794645, 0.0006699080695398152, -0.0008696127915754914], "flange_pose": [0.6786579489707947, 0.028466273099184036, -0.06502982974052429, -0.002266571158543229, -0.004595899023115635, 0.999891459941864, 0.013814457692205906], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.88957214355469, 15.078804969787598, 28.17117691040039, 0.3518528640270233, -24.073017120361328, 1.8045462369918823], "ext_wrench_in_world": [-108.15281512310082, 14.851732513756955, -27.267929284077695, -0.1405001368033053, -24.0162532104692, -2.4678294671150485]}
+{"timestamp_ns": 1789729722980899086, "elapsed_ms": 12133, "source_timestamp_ns": 1789729722979229535, "q": [0.8366553783416748, -1.8973768949508667, -1.006438136100769, 1.3811230659484863, -0.16131767630577087, 0.5939021706581116, 0.7036333084106445], "theta": [0.838745653629303, -1.8954447507858276, -1.0046442747116089, 1.362712025642395, -0.1619136482477188, 0.5938616991043091, 0.7036114931106567], "dq": [-0.0021842296700924635, 0.0003073704137932509, -0.0007218930404633284, 0.0016524760285392404, 0.0005196036072447896, -0.0011658694129437208, -0.003045278135687113], "dtheta": [1.969883123820182e-05, 0.00018357892986387014, -0.00026292254915460944, 8.440881356364116e-05, -1.7328875401290134e-05, -0.00017929721798282117, -0.0005186134367249906], "tau": [55.529998779296875, 23.6299991607666, 5.504000186920166, -26.268001556396484, -2.56000018119812, 2.6480002403259277, -0.5200000405311584], "tau_des": [0.5002785325050354, -0.6082870364189148, -0.10577570647001266, -0.5554783344268799, 0.9237936735153198, -1.15968656539917, -0.5378443598747253], "tau_dot": [24.445995330810547, 11.483736038208008, 6.111562728881836, -12.776753425598145, -3.7784318923950195, -24.285593032836914, -9.409521102905273], "tau_ext": [-16.764673233032227, -41.61425018310547, 31.74138641357422, 31.3248233795166, 9.485615730285645, -3.0017292499542236, -0.13308867812156677], "tcp_pose": [0.6779604554176331, 0.032606709748506546, -0.21497029066085815, -0.0022649564780294895, -0.0045945956371724606, 0.999891459941864, 0.013815061189234257], "tcp_vel": [7.687797187827528e-05, -0.0002446750004310161, -3.2058501346909907e-06, -0.00020539635443128645, 7.62057607062161e-05, 0.00023793352011125535], "flange_pose": [0.6786589026451111, 0.028465760871767998, -0.065029077231884, -0.0022649564780294895, -0.0045945956371724606, 0.999891459941864, 0.013815061189234257], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78125762939453, 15.139845848083496, 28.189205169677734, 0.36719292402267456, -24.045080184936523, 1.800697922706604], "ext_wrench_in_world": [-108.0450209447875, 14.914567373878658, -27.285066348944014, -0.1561322832845337, -23.988572890276142, -2.4631723752803047]}
+{"timestamp_ns": 1789729723014227069, "elapsed_ms": 12166, "source_timestamp_ns": 1789729723009246060, "q": [0.8366556167602539, -1.897377848625183, -1.0064388513565063, 1.3811233043670654, -0.1613195240497589, 0.5939014554023743, 0.7036327719688416], "theta": [0.8387462496757507, -1.895445466041565, -1.0046451091766357, 1.3627122640609741, -0.16191531717777252, 0.5938609838485718, 0.7036119699478149], "dq": [0.002620750106871128, 0.0005811088485643268, 0.0013009845279157162, 0.0015402180142700672, -0.0014329383848235011, 0.0009141938062384725, 0.0034959090407937765], "dtheta": [0.0005635732668451965, -0.00025926210219040513, -5.7057961384998634e-05, 0.0005460946704261005, -0.0002772803418338299, -0.0008320711203850806, 9.26715656532906e-05], "tau": [55.56999969482422, 23.600000381469727, 5.516000270843506, -26.340002059936523, -2.56000018119812, 2.6720001697540283, -0.5200000405311584], "tau_des": [0.4955848455429077, -0.5448895692825317, -0.1542321890592575, -0.5976034998893738, 0.9356328248977661, -1.1344609260559082, -0.5395655632019043], "tau_dot": [47.72386932373047, -173.0550994873047, 38.785186767578125, -11.308671951293945, 38.2175178527832, -42.720184326171875, 17.97905921936035], "tau_ext": [-16.73268699645996, -41.64500045776367, 31.771240234375, 31.346277236938477, 9.493307113647461, -2.9993278980255127, -0.14190717041492462], "tcp_pose": [0.6779605150222778, 0.032606326043605804, -0.21497046947479248, -0.0022645844146609306, -0.004595484584569931, 0.999891459941864, 0.013813618570566177], "tcp_vel": [-0.000260127242654562, -0.00021071873197797686, -1.3499972737918142e-05, -0.001259141368791461, 0.00033597281435504556, 0.000300697167403996], "flange_pose": [0.6786588430404663, 0.028465814888477325, -0.06502924859523773, -0.0022645844146609306, -0.004595484584569931, 0.999891459941864, 0.013813618570566177], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.75982666015625, 15.15816593170166, 28.18072509765625, 0.3709590435028076, -24.038158416748047, 1.7955135107040405], "ext_wrench_in_world": [-108.02372395955163, 14.932573724408726, -27.27630486604243, -0.15989276558851767, -23.981839374252434, -2.4577131604034648]}
+{"timestamp_ns": 1789729723047564818, "elapsed_ms": 12200, "source_timestamp_ns": 1789729723039234398, "q": [0.8366559743881226, -1.897377610206604, -1.0064393281936646, 1.3811231851577759, -0.16132000088691711, 0.5938987135887146, 0.7036324739456177], "theta": [0.8387463092803955, -1.895445466041565, -1.004645586013794, 1.3627119064331055, -0.16191677749156952, 0.5938583612442017, 0.7036117315292358], "dq": [-0.0008599462453275919, -0.00018492585513740778, -0.002547814045101404, 0.0007492995355278254, -0.000356355682015419, -0.00021376012591645122, -0.0022653304040431976], "dtheta": [0.00010723224113462493, 0.00014662805187981576, -0.00015347052249126136, -7.239610567921773e-05, -9.946446516551077e-05, -0.00028658658266067505, -0.00020867430430371314], "tau": [55.529998779296875, 23.579999923706055, 5.508000373840332, -26.272001266479492, -2.5840001106262207, 2.6640000343322754, -0.5080000162124634], "tau_des": [0.47172242403030396, -0.6145403981208801, -0.11440952867269516, -0.5371991991996765, 0.9306262135505676, -1.162035584449768, -0.539984405040741], "tau_dot": [-124.26895141601562, -71.22927856445312, -22.51399040222168, 84.16252136230469, -0.8300265073776245, 60.07441329956055, 10.739953994750977], "tau_ext": [-16.717260360717773, -41.61214828491211, 31.76441192626953, 31.368207931518555, 9.50119400024414, -2.9997944831848145, -0.1395946592092514], "tcp_pose": [0.6779603958129883, 0.032605525106191635, -0.2149703949689865, -0.002265224000439048, -0.0045955125242471695, 0.999891459941864, 0.013812568038702011], "tcp_vel": [0.00010178512457059696, -0.0001660814305068925, 0.00011566528701223433, -0.00019565354159567505, -5.8356759836897254e-05, 5.310213964548893e-05], "flange_pose": [0.6786589622497559, 0.028465326875448227, -0.06502917408943176, -0.002265224000439048, -0.0045955125242471695, 0.999891459941864, 0.013812568038702011], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.88428497314453, 15.10147476196289, 28.16122817993164, 0.358195036649704, -24.06561851501465, 1.7929514646530151], "ext_wrench_in_world": [-108.14760326931787, 14.874150958594157, -27.257729126216972, -0.14686809696765565, -24.009245640004412, -2.455916673895919]}
+{"timestamp_ns": 1789729723080905667, "elapsed_ms": 12233, "source_timestamp_ns": 1789729723079267281, "q": [0.8366567492485046, -1.8973785638809204, -1.0064384937286377, 1.3811224699020386, -0.16131959855556488, 0.5938949584960938, 0.7036318778991699], "theta": [0.8387467861175537, -1.8954463005065918, -1.004644751548767, 1.3627114295959473, -0.16191677749156952, 0.5938540697097778, 0.7036114931106567], "dq": [-0.0009767558658495545, 0.0015645903768017888, -0.00027555334963835776, -0.0001665905147092417, -0.0035088725853711367, -0.0018667003605514765, -0.0014046680880710483], "dtheta": [-0.0002480513066984713, -0.0005555259413085878, 0.00041336656431667507, -2.6763318601297215e-05, -0.0005256429431028664, 0.0002666472864802927, 1.8917724446509965e-05], "tau": [55.57999801635742, 23.65999984741211, 5.500000476837158, -26.316001892089844, -2.568000078201294, 2.636000156402588, -0.5320000052452087], "tau_des": [0.5832533836364746, -0.4557679295539856, -0.2511849105358124, -0.6036544442176819, 0.9270374178886414, -1.1567094326019287, -0.5263968110084534], "tau_dot": [28.462783813476562, 78.42576599121094, 39.652992248535156, -17.79541015625, 52.93513107299805, 8.252734184265137, 7.174832820892334], "tau_ext": [-16.74775505065918, -41.612762451171875, 31.765199661254883, 31.365955352783203, 9.50967025756836, -2.9976344108581543, -0.14042362570762634], "tcp_pose": [0.6779595613479614, 0.03260582685470581, -0.21497029066085815, -0.0022662102710455656, -0.004596275743097067, 0.999891459941864, 0.013811527751386166], "tcp_vel": [-0.00020782789215445518, 0.00040161688230000436, -0.0002248511154903099, -0.00028576882323250175, -0.0001334867993136868, 0.0009247218840755522], "flange_pose": [0.6786584258079529, 0.028465943410992622, -0.06502905488014221, -0.0022662102710455656, -0.004596275743097067, 0.999891459941864, 0.013811527751386166], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.94751739501953, 15.053709983825684, 28.156312942504883, 0.34176674485206604, -24.076366424560547, 1.792405366897583], "ext_wrench_in_world": [-108.21044953084447, 14.825460225103189, -27.253678577173673, -0.13030736325115022, -24.019857388575623, -2.4556898705757058]}
+{"timestamp_ns": 1789729723114236957, "elapsed_ms": 12266, "source_timestamp_ns": 1789729723109237431, "q": [0.8366568088531494, -1.8973791599273682, -1.0064387321472168, 1.3811222314834595, -0.16131772100925446, 0.5938947796821594, 0.7036308646202087], "theta": [0.8387470841407776, -1.8954471349716187, -1.0046446323394775, 1.362710952758789, -0.16191557049751282, 0.5938538312911987, 0.7036097645759583], "dq": [-0.0037074293941259384, -0.0008702759514562786, 0.0012532781111076474, -0.0011424635304138064, 0.0011035454226657748, 0.0008757568430155516, -0.002961913123726845], "dtheta": [8.159950084518641e-05, 0.000159898612764664, -0.000306550384266302, -7.479424675693735e-05, 0.00011901179823325947, 0.00047736114356666803, -0.0007147531141526997], "tau": [55.52000045776367, 23.600000381469727, 5.508000373840332, -26.26000213623047, -2.6040000915527344, 2.6440000534057617, -0.5320000052452087], "tau_des": [0.46069446206092834, -0.6198183298110962, -0.11875198036432266, -0.5167709589004517, 0.9269199371337891, -1.180612325668335, -0.5312671661376953], "tau_dot": [-103.90135192871094, 23.188766479492188, 12.910548210144043, 7.165351867675781, -57.55930709838867, -17.02706527709961, 0.20704403519630432], "tau_ext": [-16.73552894592285, -41.60614776611328, 31.764230728149414, 31.340389251708984, 9.507109642028809, -2.98949933052063, -0.13296158611774445], "tcp_pose": [0.6779593229293823, 0.03260605409741402, -0.21497046947479248, -0.0022666314616799355, -0.004596364218741655, 0.999891459941864, 0.01381190400570631], "tcp_vel": [0.0002646872017066926, -0.0001180206163553521, 0.00016392150428146124, 0.0003556149313226342, -0.0005538932746276259, 0.00030291994335129857], "flange_pose": [0.6786582469940186, 0.028466057032346725, -0.06502924859523773, -0.0022666314616799355, -0.004596364218741655, 0.999891459941864, 0.01381190400570631], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.92739868164062, 15.069116592407227, 28.158994674682617, 0.33937546610832214, -24.072919845581055, 1.793931484222412], "ext_wrench_in_world": [-108.19051077260687, 14.841120697165797, -27.255919675636743, -0.12795236817379155, -24.01634620484722, -2.457148536261081]}
+{"timestamp_ns": 1789729723147593254, "elapsed_ms": 12300, "source_timestamp_ns": 1789729723139248146, "q": [0.8366564512252808, -1.8973782062530518, -1.0064390897750854, 1.3811224699020386, -0.1613176465034485, 0.5938929915428162, 0.7036290764808655], "theta": [0.8387470841407776, -1.8954466581344604, -1.0046446323394775, 1.3627108335494995, -0.16191531717777252, 0.593852162361145, 0.7036078572273254], "dq": [0.0005038064555265009, -0.002428260166198015, 0.0009391434723511338, 0.0010793424444273114, 0.0010855470318347216, -0.00024679614580236375, -0.0016643645940348506], "dtheta": [0.00012313146726228297, 0.00012471630179788917, -0.00041824812069535255, 3.0244468689488713e-06, -0.0001152427721535787, -6.427224434446543e-05, -0.0007199344108812511], "tau": [55.599998474121094, 23.619998931884766, 5.520000457763672, -26.32400131225586, -2.568000078201294, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.4812505841255188, -0.6161798238754272, -0.10029760748147964, -0.5461923480033875, 0.9306390881538391, -1.1597034931182861, -0.5297280550003052], "tau_dot": [62.33940887451172, 133.38604736328125, 45.17952346801758, -12.00109577178955, -9.86913776397705, 30.77186393737793, -6.860638618469238], "tau_ext": [-16.740951538085938, -41.612674713134766, 31.751510620117188, 31.341012954711914, 9.504549980163574, -2.990399122238159, -0.12563976645469666], "tcp_pose": [0.6779592037200928, 0.03260524570941925, -0.21497075259685516, -0.002267509698867798, -0.004596815910190344, 0.999891459941864, 0.013811497949063778], "tcp_vel": [0.00020187981135677546, -0.0002861129178199917, 9.843432781053707e-05, -0.00028607595595531166, -0.00028837911668233573, 0.00040827927296049893], "flange_pose": [0.6786584258079529, 0.028465373441576958, -0.06502952426671982, -0.002267509698867798, -0.004596815910190344, 0.999891459941864, 0.013811497949063778], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.87516784667969, 15.093987464904785, 28.16351318359375, 0.3434304893016815, -24.064668655395508, 1.7984273433685303], "ext_wrench_in_world": [-108.13859203641078, 14.866466300032526, -27.259803053492437, -0.13208542427285083, -24.008014088727506, -2.4613768221239485]}
+{"timestamp_ns": 1789729723180911006, "elapsed_ms": 12333, "source_timestamp_ns": 1789729723179235205, "q": [0.8366557359695435, -1.8973782062530518, -1.006438136100769, 1.3811218738555908, -0.16131606698036194, 0.593891978263855, 0.703628659248352], "theta": [0.8387470841407776, -1.8954466581344604, -1.0046440362930298, 1.36271071434021, -0.1619141399860382, 0.5938512086868286, 0.703606903553009], "dq": [0.00085256970487535, -0.0024751287419348955, -0.0008319600019603968, 0.0014101049164310098, 0.0010563593823462725, 0.0016923072980716825, 0.0010467490646988153], "dtheta": [0.00012727496505249292, -9.919011790771037e-05, -0.00012836245878133923, -0.00010969528375426307, 0.00020632527593988925, 0.0004086220287717879, -0.00035432103322818875], "tau": [55.53999710083008, 23.6299991607666, 5.508000373840332, -26.340002059936523, -2.556000232696533, 2.6560001373291016, -0.5720000267028809], "tau_des": [0.4857824146747589, -0.5776270627975464, -0.16951408982276917, -0.5348128080368042, 0.9151721596717834, -1.1753885746002197, -0.533578097820282], "tau_dot": [-10.0153226852417, -26.59139060974121, 34.06460952758789, 1.1472595930099487, 15.567028999328613, 13.577170372009277, -55.40406799316406], "tau_ext": [-16.751277923583984, -41.634193420410156, 31.759559631347656, 31.352344512939453, 9.496397972106934, -2.991438150405884, -0.11613395065069199], "tcp_pose": [0.6779584884643555, 0.032605841755867004, -0.21497121453285217, -0.002268619602546096, -0.004596887622028589, 0.999891459941864, 0.013812106102705002], "tcp_vel": [0.00013483995280694216, 5.843692633789033e-05, 0.0001283577730646357, 0.00030452245846390724, -0.0004604421555995941, 0.0001890243438538164], "flange_pose": [0.6786580681800842, 0.028465790674090385, -0.06502998620271683, -0.002268619602546096, -0.004596887622028589, 0.999891459941864, 0.013812106102705002], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8520278930664, 15.129077911376953, 28.193641662597656, 0.3557266592979431, -24.066591262817383, 1.8067851066589355], "ext_wrench_in_world": [-108.11597733952179, 14.902601960285724, -27.288793451296883, -0.14440373210560456, -24.009816064076478, -2.4697588992990855]}
+{"timestamp_ns": 1789729723214239486, "elapsed_ms": 12366, "source_timestamp_ns": 1789729723209258628, "q": [0.836656928062439, -1.8973770141601562, -1.0064380168914795, 1.3811217546463013, -0.16131748259067535, 0.5938925743103027, 0.7036294341087341], "theta": [0.8387483358383179, -1.8954453468322754, -1.0046442747116089, 1.3627108335494995, -0.16191557049751282, 0.5938519239425659, 0.7036073803901672], "dq": [-0.0006621367647312582, 0.000176399655174464, -0.000792142644058913, 0.002010030671954155, 0.0020827443804591894, 0.0004066871479153633, 0.003698259824886918], "dtheta": [0.00027743956889025867, -0.0001960896624950692, 0.00016741269791964442, 3.147673487546854e-05, -0.0002668265951797366, 0.0010286921169608831, -0.000638665514998138], "tau": [55.5, 23.670000076293945, 5.520000457763672, -26.32400131225586, -2.568000078201294, 2.6480002403259277, -0.5160000324249268], "tau_des": [0.4337613582611084, -0.5674788951873779, -0.2176952213048935, -0.49481457471847534, 0.9330096244812012, -1.2038054466247559, -0.5217983722686768], "tau_dot": [-158.4782257080078, 112.63133239746094, 7.576064586639404, -19.957599639892578, -14.202764511108398, -37.66328048706055, 56.56829071044922], "tau_ext": [-16.722328186035156, -41.63081359863281, 31.760324478149414, 31.348567962646484, 9.497718811035156, -2.9920461177825928, -0.11903279274702072], "tcp_pose": [0.6779593825340271, 0.0326056107878685, -0.21496978402137756, -0.002267353003844619, -0.004596551414579153, 0.999891459941864, 0.013812397606670856], "tcp_vel": [0.0001673542137723416, 0.00028752422076649964, 0.0002640388556756079, 0.00045299058547243476, -0.0011419416405260563, 0.001016072346828878], "flange_pose": [0.6786586046218872, 0.02846546843647957, -0.06502856314182281, -0.002267353003844619, -0.004596551414579153, 0.999891459941864, 0.013812397606670856], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.90487670898438, 15.121338844299316, 28.182050704956055, 0.3601427972316742, -24.081254959106445, 1.8111029863357544], "ext_wrench_in_world": [-108.16861934261819, 14.894149950441378, -27.277451763819045, -0.148716681182869, -24.02439367112883, -2.474475570775328]}
+{"timestamp_ns": 1789729723247565657, "elapsed_ms": 12400, "source_timestamp_ns": 1789729723239210330, "q": [0.8366578221321106, -1.8973768949508667, -1.0064396858215332, 1.3811217546463013, -0.16131703555583954, 0.593891441822052, 0.7036310434341431], "theta": [0.8387489914894104, -1.895445466041565, -1.0046453475952148, 1.3627110719680786, -0.1619158238172531, 0.5938504934310913, 0.7036080956459045], "dq": [-0.0007716838736087084, 0.0011167781194671988, 0.0012148006353527308, -0.0015180156333371997, 0.00013259059051051736, 0.00060682074399665, 0.003256269032135606], "dtheta": [-3.254007606301457e-05, 5.2732208132511005e-05, 6.858168489998206e-05, -4.258227818354499e-06, 0.0008134441450238228, -0.0003952120605390519, -0.0009073542314581573], "tau": [55.59000015258789, 23.59000015258789, 5.500000476837158, -26.316001892089844, -2.576000213623047, 2.6720001697540283, -0.5320000052452087], "tau_des": [0.5368511080741882, -0.5541579127311707, -0.17865177989006042, -0.579347550868988, 0.8907614350318909, -1.1511495113372803, -0.5304169058799744], "tau_dot": [24.28137969970703, -129.06105041503906, -13.055473327636719, 21.139392852783203, 24.029895782470703, 13.908182144165039, 30.357471466064453], "tau_ext": [-16.764196395874023, -41.61872482299805, 31.749807357788086, 31.37118911743164, 9.50426959991455, -2.996406316757202, -0.12212232500314713], "tcp_pose": [0.6779599189758301, 0.03260449320077896, -0.21496939659118652, -0.0022672072518616915, -0.004595007281750441, 0.999891459941864, 0.013811664655804634], "tcp_vel": [-0.00019854333368130028, 1.7928294255398214e-05, -0.00011261022882536054, 0.0003364399599377066, 0.0007746776682324708, 0.0004771673702634871], "flange_pose": [0.6786590218544006, 0.02846456877887249, -0.06502817571163177, -0.0022672072518616915, -0.004595007281750441, 0.999891459941864, 0.013811664655804634], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.90843200683594, 15.101153373718262, 28.180208206176758, 0.355681449174881, -24.08204460144043, 1.8095084428787231], "ext_wrench_in_world": [-108.1719286718098, 14.874183246001841, -27.276201827219893, -0.14431449905806562, -24.025188894121737, -2.4728878282352387]}
+{"timestamp_ns": 1789729723280898867, "elapsed_ms": 12433, "source_timestamp_ns": 1789729723279174012, "q": [0.8366586565971375, -1.8973805904388428, -1.0064400434494019, 1.3811216354370117, -0.16131840646266937, 0.5938900113105774, 0.7036323547363281], "theta": [0.8387497067451477, -1.8954486846923828, -1.004645824432373, 1.3627104759216309, -0.16191773116588593, 0.5938488245010376, 0.703609049320221], "dq": [0.002616097452118993, -0.0005158282583579421, 0.0005346965626813471, -9.338295785710216e-05, 0.0012594403233379126, 0.0004430306435097009, 0.0034907949157059193], "dtheta": [-2.4248916815849952e-05, -0.00028883220511488616, -0.00040701343095861375, -0.00021167540398892015, 0.0008932576747611165, -7.528179412474856e-05, 0.0005269674584269524], "tau": [55.54999923706055, 23.619998931884766, 5.484000205993652, -26.268001556396484, -2.580000162124634, 2.624000072479248, -0.5440000295639038], "tau_des": [0.5355268120765686, -0.5700410604476929, -0.13209620118141174, -0.5663838386535645, 0.894824206829071, -1.1583033800125122, -0.5604822039604187], "tau_dot": [-15.835996627807617, 17.050296783447266, 36.54524230957031, 34.42632293701172, 79.6854476928711, -40.08232498168945, -3.567392349243164], "tau_ext": [-16.764007568359375, -41.65039825439453, 31.7722110748291, 31.357975006103516, 9.51279354095459, -2.998624324798584, -0.1239728108048439], "tcp_pose": [0.6779592037200928, 0.032605044543743134, -0.2149699330329895, -0.0022668971214443445, -0.004595831502228975, 0.9998915195465088, 0.01380933728069067], "tcp_vel": [8.622738505437155e-07, -4.79067639389541e-05, -0.00011184286995558068, 0.00015080723096616566, 0.00029170498601160944, -0.0011463867267593741], "flange_pose": [0.6786582469940186, 0.028465818613767624, -0.06502868980169296, -0.0022668971214443445, -0.004595831502228975, 0.9998915195465088, 0.01380933728069067], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.89360046386719, 15.121064186096191, 28.204622268676758, 0.3562816083431244, -24.07444953918457, 1.808423399925232], "ext_wrench_in_world": [-108.157399839404, 14.89459129890942, -27.300262462348737, -0.14493762043847555, -24.01764427944571, -2.47147906015309]}
+{"timestamp_ns": 1789729723314243306, "elapsed_ms": 12466, "source_timestamp_ns": 1789729723309205144, "q": [0.8366608023643494, -1.8973840475082397, -1.0064401626586914, 1.3811191320419312, -0.1613185703754425, 0.5938883423805237, 0.7036321759223938], "theta": [0.838751494884491, -1.8954516649246216, -1.0046459436416626, 1.3627080917358398, -0.16191820800304413, 0.5938471555709839, 0.7036085724830627], "dq": [0.0016834038542583585, -0.00019877494196407497, 0.0014872123720124364, -0.0015289573930203915, -0.0010301826987415552, 0.0017322401981800795, 0.000980622717179358], "dtheta": [-5.411986057879403e-05, -9.191645222017542e-05, -1.705439899524208e-05, 2.331818723178003e-05, -0.0006042855093255639, 8.808662641968112e-06, 0.00047627981984987855], "tau": [55.59000015258789, 23.489999771118164, 5.484000205993652, -26.288002014160156, -2.6080000400543213, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.5059934854507446, -0.5745817422866821, -0.16565737128257751, -0.5497177839279175, 0.9300381541252136, -1.1691060066223145, -0.5435830354690552], "tau_dot": [21.17781639099121, -190.5458221435547, -21.779733657836914, -14.91442584991455, -60.36481857299805, 7.7923736572265625, -2.5452675819396973], "tau_ext": [-16.741518020629883, -41.59367752075195, 31.771997451782227, 31.323827743530273, 9.516324043273926, -2.985316276550293, -0.12616141140460968], "tcp_pose": [0.6779594421386719, 0.03260621801018715, -0.21496859192848206, -0.002265402814373374, -0.004596935585141182, 0.9998915195465088, 0.013808097690343857], "tcp_vel": [4.4253101805225015e-05, -2.791701081150677e-05, -2.4617589588160627e-05, -0.0004643515858333558, -0.00026027578860521317, -8.773200534051284e-05], "flange_pose": [0.6786580681800842, 0.028467362746596336, -0.06502734124660492, -0.002265402814373374, -0.004596935585141182, 0.9998915195465088, 0.013808097690343857], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.86683654785156, 15.147194862365723, 28.17120361328125, 0.3555555045604706, -24.06260871887207, 1.808406949043274], "ext_wrench_in_world": [-108.1306699006095, 14.919734406808294, -27.26661702771483, -0.14425992668732895, -24.005808603275668, -2.4710799550312963]}
+{"timestamp_ns": 1789729723347565997, "elapsed_ms": 12500, "source_timestamp_ns": 1789729723339198541, "q": [0.8366606831550598, -1.8973830938339233, -1.0064396858215332, 1.3811192512512207, -0.16131897270679474, 0.5938817858695984, 0.7036312818527222], "theta": [0.8387516140937805, -1.8954514265060425, -1.0046452283859253, 1.3627078533172607, -0.16191868484020233, 0.5938409566879272, 0.703606903553009], "dq": [-0.0008134573581628501, 0.0022075397428125143, -9.535656135994941e-05, -0.000297049613436684, 0.00027757309726439416, -0.001083248876966536, -0.0026567871682345867], "dtheta": [1.8759996237349696e-05, 0.0003167544782627374, 0.00010657983511919156, -7.858010212657973e-05, -0.0008741305791772902, -0.0005421288078650832, -8.061700646067038e-05], "tau": [55.59000015258789, 23.59000015258789, 5.528000354766846, -26.360000610351562, -2.5960001945495605, 2.6640000343322754, -0.5680000185966492], "tau_des": [0.4722937047481537, -0.6175779104232788, -0.15093953907489777, -0.5402107834815979, 0.9349967837333679, -1.1552234888076782, -0.5323471426963806], "tau_dot": [20.675514221191406, 64.99838256835938, 43.766361236572266, -33.704864501953125, -33.598201751708984, -26.60920524597168, -24.507713317871094], "tau_ext": [-16.765783309936523, -41.561676025390625, 31.76957893371582, 31.355676651000977, 9.51583194732666, -2.9926724433898926, -0.12098698318004608], "tcp_pose": [0.6779583096504211, 0.03260508179664612, -0.21496912837028503, -0.0022679571993649006, -0.0045973495580255985, 0.9998915195465088, 0.013806313276290894], "tcp_vel": [0.00010144577390747145, -0.00016635048086754978, 0.00015767935838084668, -0.000548936368431896, -0.0001247898326255381, 0.00042865212890319526], "flange_pose": [0.6786577105522156, 0.028466764837503433, -0.06502784788608551, -0.0022679571993649006, -0.0045973495580255985, 0.9998915195465088, 0.013806313276290894], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84656524658203, 15.112214088439941, 28.163122177124023, 0.3347240090370178, -24.048519134521484, 1.804308533668518], "ext_wrench_in_world": [-108.11019462183212, 14.884537221717705, -27.25909887411204, -0.12352986374285889, -23.991654234926962, -2.4665987624289016]}
+{"timestamp_ns": 1789729723380914065, "elapsed_ms": 12533, "source_timestamp_ns": 1789729723379167983, "q": [0.8366606831550598, -1.8973817825317383, -1.0064393281936646, 1.3811206817626953, -0.16131757199764252, 0.5938803553581238, 0.703628659248352], "theta": [0.838751494884491, -1.895450234413147, -1.0046446323394775, 1.3627080917358398, -0.16191725432872772, 0.5938390493392944, 0.7036040425300598], "dq": [-0.0014356492320075631, 0.0018008083570748568, -0.0006699535879306495, 0.001071002334356308, 0.002540016546845436, -0.00044062634697183967, 0.001987786265090108], "dtheta": [0.000118933072371874, 0.00042898464016616344, 0.00015105587954167277, 4.126425119466148e-05, -0.0007098900387063622, 0.0005846564890816808, 0.0003977763990405947], "tau": [55.59000015258789, 23.65999984741211, 5.520000457763672, -26.288002014160156, -2.5840001106262207, 2.628000020980835, -0.5440000295639038], "tau_des": [0.4343934953212738, -0.6549110412597656, -0.1574590802192688, -0.500026285648346, 0.928171694278717, -1.1848949193954468, -0.5407477617263794], "tau_dot": [33.324886322021484, 114.07865142822266, -3.78252911567688, 42.33476638793945, -8.890951156616211, -42.81480026245117, 54.61031723022461], "tau_ext": [-16.765079498291016, -41.57978057861328, 31.760568618774414, 31.375972747802734, 9.514476776123047, -2.992056131362915, -0.1131528913974762], "tcp_pose": [0.6779575347900391, 0.03260454162955284, -0.21496959030628204, -0.002269463147968054, -0.004598104394972324, 0.9998915195465088, 0.013806533068418503], "tcp_vel": [0.0002791007864288986, -8.492242159263697e-06, 0.0003225599939469248, 0.00033056779648177326, -0.0008628054056316614, -0.00019233993953093886], "flange_pose": [0.6786573529243469, 0.02846616320312023, -0.06502832472324371, -0.002269463147968054, -0.004598104394972324, 0.9998915195465088, 0.013806533068418503], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.91990661621094, 15.043532371520996, 28.18149185180664, 0.3175494074821472, -24.065021514892578, 1.8056011199951172], "ext_wrench_in_world": [-108.18309524927469, 14.815556528328694, -27.278705619959183, -0.10618167958888776, -24.00795409732382, -2.4684325096454405]}
+{"timestamp_ns": 1789729723414233177, "elapsed_ms": 12566, "source_timestamp_ns": 1789729723409200045, "q": [0.8366615772247314, -1.8973817825317383, -1.0064395666122437, 1.3811204433441162, -0.16131654381752014, 0.5938801169395447, 0.7036284804344177], "theta": [0.8387522101402283, -1.8954499959945679, -1.0046448707580566, 1.3627080917358398, -0.16191630065441132, 0.5938395261764526, 0.7036040425300598], "dq": [-0.0009357468225061893, 0.0008112271316349506, -0.000756653374992311, 0.00020783873333130032, 0.0019928491674363613, -0.0016603820258751512, -0.0008290987461805344], "dtheta": [0.00012525686179287732, 8.502389391651377e-05, -0.00026420209906063974, 0.0002405762643320486, 2.0667430362664163e-06, 2.4495719230799295e-07, 0.00042432552436366677], "tau": [55.59000015258789, 23.579999923706055, 5.500000476837158, -26.296001434326172, -2.5480000972747803, 2.636000156402588, -0.5600000023841858], "tau_des": [0.5110565423965454, -0.6073680520057678, -0.13125157356262207, -0.5705018043518066, 0.9090068936347961, -1.1522574424743652, -0.5485199689865112], "tau_dot": [45.3798713684082, -75.74999237060547, -30.91145133972168, 1.928295612335205, 66.25595092773438, -63.33247375488281, -51.79601287841797], "tau_ext": [-16.738557815551758, -41.59886169433594, 31.753217697143555, 31.353601455688477, 9.506706237792969, -2.9894659519195557, -0.11056824028491974], "tcp_pose": [0.6779577136039734, 0.03260447457432747, -0.21496902406215668, -0.002269275486469269, -0.004597800783813, 0.9998915195465088, 0.013806749135255814], "tcp_vel": [4.347607318777591e-05, -0.0002166463091270998, -1.1780749446188565e-05, -0.000243969087023288, -3.0998430702311452e-06, -0.0006298646330833435], "flange_pose": [0.6786574721336365, 0.028466029092669487, -0.06502775847911835, -0.002269275486469269, -0.004597800783813, 0.9998915195465088, 0.013806749135255814], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.93392181396484, 15.057103157043457, 28.183914184570312, 0.3272005319595337, -24.07608413696289, 1.8109530210494995], "ext_wrench_in_world": [-108.19722589696856, 14.829136802051863, -27.28072327293645, -0.11577006390301817, -24.018952587484446, -2.4740558391348593]}
+{"timestamp_ns": 1789729723447566996, "elapsed_ms": 12600, "source_timestamp_ns": 1789729723439901493, "q": [0.8366608023643494, -1.8973816633224487, -1.0064404010772705, 1.3811198472976685, -0.16131682693958282, 0.5938805937767029, 0.7036285400390625], "theta": [0.8387521505355835, -1.8954498767852783, -1.0046454668045044, 1.3627078533172607, -0.16191677749156952, 0.5938402414321899, 0.7036042809486389], "dq": [-0.0009484307956881821, 0.0009177957545034587, -0.0002088789187837392, 0.001144419889897108, -0.0007472964935004711, -0.0009163622744381428, 0.0030415074434131384], "dtheta": [7.527777779614553e-05, 0.00032096353243105114, -0.0002235451538581401, 0.00015383116260636598, -0.0006543015479110181, -0.0006838529370725155, 0.0006097860168665648], "tau": [55.55999755859375, 23.639999389648438, 5.504000186920166, -26.284000396728516, -2.580000162124634, 2.6560001373291016, -0.5360000133514404], "tau_des": [0.5013062357902527, -0.6459060907363892, -0.10431315749883652, -0.5666959881782532, 0.9192914962768555, -1.143027901649475, -0.5509881973266602], "tau_dot": [-62.343406677246094, 0.7802193760871887, 0.8545598983764648, 22.32573699951172, 4.0037126541137695, -54.99516296386719, 10.55555534362793], "tau_ext": [-16.7474422454834, -41.60047149658203, 31.750642776489258, 31.347705841064453, 9.502488136291504, -2.9958064556121826, -0.11569014191627502], "tcp_pose": [0.6779582500457764, 0.03260412439703941, -0.2149692326784134, -0.0022689986508339643, -0.004597475286573172, 0.9998915195465088, 0.013806717470288277], "tcp_vel": [7.767531496938318e-05, -0.00040109423571266234, 4.132115645916201e-05, -0.0008490447071380913, 0.00014878850197419524, -0.0005781043437309563], "flange_pose": [0.6786578893661499, 0.028465688228607178, -0.06502795964479446, -0.0022689986508339643, -0.004597475286573172, 0.9998915195465088, 0.013806717470288277], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.89824676513672, 15.089234352111816, 28.177490234375, 0.34117087721824646, -24.071224212646484, 1.8127553462982178], "ext_wrench_in_world": [-108.16179152931966, 14.861476926005809, -27.27363123930091, -0.1298069255467574, -24.014174391878228, -2.475660123488889]}
+{"timestamp_ns": 1789729723480972437, "elapsed_ms": 12633, "source_timestamp_ns": 1789729723479166383, "q": [0.8366612195968628, -1.8973822593688965, -1.006441593170166, 1.3811198472976685, -0.16131821274757385, 0.5938820242881775, 0.7036283612251282], "theta": [0.8387523889541626, -1.895450234413147, -1.004647135734558, 1.3627077341079712, -0.16191796958446503, 0.5938419103622437, 0.7036057114601135], "dq": [0.0004592739569488913, 0.0002855679194908589, -0.0019206289434805512, -0.0002885254507418722, 0.0019072010181844234, -0.0007023756625130773, 0.0028133592568337917], "dtheta": [6.024540198268369e-05, 0.0002098935510730371, 2.936848977697082e-05, 3.2736155844759196e-05, -0.0008662844193167984, 8.437730866717175e-05, 0.00025261600967496634], "tau": [55.54999923706055, 23.649999618530273, 5.496000289916992, -26.2760009765625, -2.580000162124634, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.46149942278862, -0.6310313940048218, -0.1505817025899887, -0.5202775597572327, 0.9325085878372192, -1.176587462425232, -0.5384846329689026], "tau_dot": [-38.580806732177734, 75.14083862304688, 40.24101257324219, 21.729475021362305, 18.235633850097656, -21.897663116455078, -13.572991371154785], "tau_ext": [-16.7567195892334, -41.614967346191406, 31.767744064331055, 31.355300903320312, 9.508615493774414, -3.003035545349121, -0.1217677891254425], "tcp_pose": [0.6779590249061584, 0.03260374814271927, -0.21496888995170593, -0.0022676780354231596, -0.004597692750394344, 0.9998915195465088, 0.013806177303195], "tcp_vel": [0.00017991808999795467, -9.942111501004547e-05, 0.00017088354798033834, -0.00032839758205227554, -0.0005612869863398373, 0.00011132503277622163], "flange_pose": [0.6786583065986633, 0.028465472161769867, -0.065027616918087, -0.0022676780354231596, -0.004597692750394344, 0.9998915195465088, 0.013806177303195], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.86579895019531, 15.1151704788208, 28.17946434020996, 0.3503420054912567, -24.05716896057129, 1.809873342514038], "ext_wrench_in_world": [-108.12952509528843, 14.88768443923248, -27.275333673012444, -0.1390762941013287, -24.0002921933082, -2.472325191894822]}
+{"timestamp_ns": 1789729723514237625, "elapsed_ms": 12666, "source_timestamp_ns": 1789729723509169968, "q": [0.8366628885269165, -1.8973828554153442, -1.0064420700073242, 1.381120204925537, -0.1613168865442276, 0.593880832195282, 0.703628420829773], "theta": [0.8387535810470581, -1.8954505920410156, -1.0046478509902954, 1.3627078533172607, -0.16191725432872772, 0.5938411951065063, 0.7036064267158508], "dq": [0.0008066691225394607, -0.0008573516388423741, -0.0009183738147839904, 0.0004427195235621184, -0.0005872794426977634, -0.00015136910951696336, -1.0397990990895778e-05], "dtheta": [0.00023953027266543359, -9.650779975345358e-05, 0.00012406472524162382, 0.00019343486928846687, 0.000391884648706764, 0.00036569623625837266, 0.00016615327331237495], "tau": [55.599998474121094, 23.619998931884766, 5.4720001220703125, -26.328001022338867, -2.6000001430511475, 2.6680002212524414, -0.5600000023841858], "tau_des": [0.48190170526504517, -0.570942223072052, -0.2016240954399109, -0.5416250228881836, 0.9034571647644043, -1.1751453876495361, -0.5414175391197205], "tau_dot": [76.67582702636719, 4.190234661102295, -17.183368682861328, -12.163447380065918, -19.03358268737793, -22.917245864868164, -17.616992950439453], "tau_ext": [-16.752225875854492, -41.597801208496094, 31.77281951904297, 31.355966567993164, 9.51267147064209, -3.000430107116699, -0.12862996757030487], "tcp_pose": [0.6779588460922241, 0.03260352835059166, -0.21496838331222534, -0.0022677616216242313, -0.0045973993837833405, 0.9998915791511536, 0.013805738650262356], "tcp_vel": [-7.641226693522185e-05, 0.00014494078641291708, 6.364233558997512e-05, 0.0003782152780331671, -9.974557178793475e-05, -0.00020984126604162157], "flange_pose": [0.678658127784729, 0.028465384617447853, -0.06502710282802582, -0.0022677616216242313, -0.0045973993837833405, 0.9998915791511536, 0.013805738650262356], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.87382507324219, 15.113485336303711, 28.164175033569336, 0.34724000096321106, -24.052648544311523, 1.8056837320327759], "ext_wrench_in_world": [-108.13746011522818, 14.885542923954835, -27.2600561619227, -0.13601061041767357, -23.99586265620676, -2.468004832427132]}
+{"timestamp_ns": 1789729723547564156, "elapsed_ms": 12700, "source_timestamp_ns": 1789729723539166864, "q": [0.8366641402244568, -1.8973839282989502, -1.0064432621002197, 1.381120204925537, -0.161317378282547, 0.5938789248466492, 0.7036277055740356], "theta": [0.8387543559074402, -1.895451307296753, -1.0046494007110596, 1.3627077341079712, -0.16191892325878143, 0.5938395261764526, 0.7036066651344299], "dq": [-2.3552202037535608e-05, 0.0003224687825422734, -0.00011148853809572756, 3.9572129026055336e-05, -0.0011328947730362415, -0.0009764727437868714, 0.0029257959686219692], "dtheta": [0.0002777366025839001, 0.00011108887701993808, -0.00024606555234640837, 0.00019365866319276392, 0.000334542099153623, 0.0007468358380720019, 0.00034990758285857737], "tau": [55.53999710083008, 23.51999855041504, 5.468000411987305, -26.316001892089844, -2.5840001106262207, 2.640000104904175, -0.5480000376701355], "tau_des": [0.440978467464447, -0.640349805355072, -0.13120004534721375, -0.5080853700637817, 0.9132408499717712, -1.1875559091567993, -0.5498607754707336], "tau_dot": [-19.509017944335938, -234.84559631347656, 23.276981353759766, 12.786811828613281, 33.8054313659668, -53.66912841796875, -9.563095092773438], "tau_ext": [-16.766775131225586, -41.59889602661133, 31.79137420654297, 31.362712860107422, 9.519879341125488, -2.996873617172241, -0.13185840845108032], "tcp_pose": [0.6779589056968689, 0.03260285407304764, -0.21496810019016266, -0.002267541829496622, -0.004597855266183615, 0.9998915791511536, 0.0138041777536273], "tcp_vel": [0.00018958763394039124, -6.41360820736736e-05, 0.00017888903676066548, 0.0005089794867672026, -0.0005702279740944505, -0.0007697172113694251], "flange_pose": [0.678658127784729, 0.02846517600119114, -0.06502681225538254, -0.002267541829496622, -0.004597855266183615, 0.9998915791511536, 0.0138041777536273], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.89421081542969, 15.097573280334473, 28.16602897644043, 0.3364119529724121, -24.053543090820312, 1.8004945516586304], "ext_wrench_in_world": [-108.1577089868306, 14.869316353589474, -27.262355962720513, -0.12512772125471064, -23.996807543985387, -2.462815381814939]}
+{"timestamp_ns": 1789729723580909854, "elapsed_ms": 12733, "source_timestamp_ns": 1789729723579167362, "q": [0.8366654515266418, -1.897386908531189, -1.006442666053772, 1.3811192512512207, -0.16131633520126343, 0.5938751697540283, 0.7036278247833252], "theta": [0.8387556076049805, -1.8954538106918335, -1.004649043083191, 1.3627068996429443, -0.16191820800304413, 0.5938364267349243, 0.7036064267158508], "dq": [0.00032611589995212853, 0.00030659136245958507, -0.0017829101998358965, 0.0011028198059648275, -0.0023088185116648674, -0.0015066047199070454, -0.0011038065422326326], "dtheta": [0.0002691943955142051, -8.093865289993118e-06, -3.490730159683153e-05, -0.00044908863492310047, 0.00012514593254309148, 0.0008077046368271112, 0.00013238935207482427], "tau": [55.54999923706055, 23.53999900817871, 5.4720001220703125, -26.268001556396484, -2.6000001430511475, 2.6680002212524414, -0.5320000052452087], "tau_des": [0.3760753273963928, -0.6364423632621765, -0.18058793246746063, -0.4423886239528656, 0.926767110824585, -1.2119675874710083, -0.5403942465782166], "tau_dot": [-52.383262634277344, -181.44032287597656, 17.27628517150879, -9.138540267944336, -54.5194206237793, 57.55623245239258, 2.665966033935547], "tau_ext": [-16.741531372070312, -41.58396530151367, 31.803237915039062, 31.339099884033203, 9.523377418518066, -2.990572214126587, -0.13086336851119995], "tcp_pose": [0.6779577732086182, 0.03260369971394539, -0.21496811509132385, -0.002268275711685419, -0.0045986357145011425, 0.9998915791511536, 0.013802635483443737], "tcp_vel": [0.0003767163143493235, 0.00020553711510729045, 0.0004602179687935859, 0.0008348446572199464, -0.001178925158455968, -0.0003108309465460479], "flange_pose": [0.6786572337150574, 0.02846648544073105, -0.06502681225538254, -0.002268275711685419, -0.0045986357145011425, 0.9998915791511536, 0.013802635483443737], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.89994049072266, 15.104157447814941, 28.158859252929688, 0.3257150948047638, -24.048664093017578, 1.7966928482055664], "ext_wrench_in_world": [-108.16352771415367, 14.875391009590235, -27.25487294553946, -0.11442368117692203, -23.99194422917903, -2.4588532891814934]}
+{"timestamp_ns": 1789729723614291958, "elapsed_ms": 12766, "source_timestamp_ns": 1789729723609169428, "q": [0.8366658091545105, -1.897385835647583, -1.0064423084259033, 1.3811194896697998, -0.16131529211997986, 0.5938723087310791, 0.7036266922950745], "theta": [0.8387559056282043, -1.8954533338546753, -1.004649043083191, 1.362707257270813, -0.16191725432872772, 0.5938335657119751, 0.703604519367218], "dq": [0.0018840002594515681, -0.0008650447707623243, -0.00013401397154666483, 8.641666499897838e-05, 0.0006264281109906733, -0.0012351077748462558, -0.0015492757083848119], "dtheta": [-0.00023733275884296745, -0.00030908521148376167, -0.0002479812828823924, -3.707300857058726e-05, -0.0005698298336938024, -0.0006319769308902323, 0.0005963742733001709], "tau": [55.55999755859375, 23.579999923706055, 5.468000411987305, -26.32000160217285, -2.5840001106262207, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.588567316532135, -0.5389130711555481, -0.15820273756980896, -0.6194998025894165, 0.9149453639984131, -1.1294105052947998, -0.543520450592041], "tau_dot": [-22.93645477294922, -67.19039154052734, -22.23736000061035, 8.020405769348145, -44.56740188598633, 4.544576168060303, 33.99497985839844], "tau_ext": [-16.77724266052246, -41.58100509643555, 31.78878402709961, 31.365066528320312, 9.516622543334961, -2.995985984802246, -0.12597420811653137], "tcp_pose": [0.6779571771621704, 0.03260320425033569, -0.21496811509132385, -0.002269672928377986, -0.0045987931080162525, 0.9998915791511536, 0.013802442699670792], "tcp_vel": [-7.66020966693759e-05, -0.00017844943795353174, -0.0002746421087067574, -0.0011363275116309524, 0.0003086903307121247, -0.00023799667542334646], "flange_pose": [0.678657054901123, 0.028466053307056427, -0.06502681970596313, -0.002269672928377986, -0.0045987931080162525, 0.9998915791511536, 0.013802442699670792], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.88223266601562, 15.098614692687988, 28.159425735473633, 0.32032468914985657, -24.04166030883789, 1.7954169511795044], "ext_wrench_in_world": [-108.14585409215913, 14.86998103650392, -27.255374791876832, -0.10908993548755297, -23.98492970757046, -2.457398349778129]}
+{"timestamp_ns": 1789729723647566666, "elapsed_ms": 12800, "source_timestamp_ns": 1789729723639169293, "q": [0.8366656303405762, -1.8973853588104248, -1.0064419507980347, 1.381119966506958, -0.16131453216075897, 0.5938725471496582, 0.7036263346672058], "theta": [0.8387560248374939, -1.895452857017517, -1.0046484470367432, 1.3627078533172607, -0.16191604733467102, 0.5938338041305542, 0.7036033272743225], "dq": [-0.00039751367876306176, 0.0012012161314487457, -0.000782896124292165, -0.0018995821010321379, 0.0005248833913356066, -0.00129800068680197, -0.0022035951260477304], "dtheta": [0.0003654274914879352, -0.000374516355805099, 0.0003913974796887487, 2.5182107492582873e-05, 0.00043904088670387864, 0.0009512138785794377, -0.00046245488920249045], "tau": [55.59000015258789, 23.600000381469727, 5.468000411987305, -26.328001022338867, -2.5480000972747803, 2.6600000858306885, -0.5600000023841858], "tau_des": [0.4501868188381195, -0.5203341245651245, -0.2850117087364197, -0.5149768590927124, 0.90726637840271, -1.1932799816131592, -0.5214138627052307], "tau_dot": [11.013609886169434, -32.41303634643555, 4.4101667404174805, -4.954339981079102, 97.39505004882812, -14.837364196777344, 14.005082130432129], "tau_ext": [-16.75411605834961, -41.595069885253906, 31.792436599731445, 31.356971740722656, 9.503746032714844, -2.9936773777008057, -0.1200995221734047], "tcp_pose": [0.6779569387435913, 0.03260324150323868, -0.21496829390525818, -0.0022701139096170664, -0.004598715342581272, 0.9998915791511536, 0.013802953995764256], "tcp_vel": [-4.4121719838585705e-05, 0.000502110633533448, 0.00021897806436754763, 0.0008539589471183717, -0.0007096559857018292, 0.000725980382412672], "flange_pose": [0.6786569356918335, 0.028465935960412025, -0.06502699851989746, -0.0022701139096170664, -0.004598715342581272, 0.9998915791511536, 0.013802953995764256], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8964614868164, 15.080992698669434, 28.158241271972656, 0.31975507736206055, -24.047225952148438, 1.7968666553497314], "ext_wrench_in_world": [-108.15993773806066, 14.852245587151254, -27.254503539814998, -0.10848196132782847, -23.99044521712609, -2.459028065806931]}
+{"timestamp_ns": 1789729723680902915, "elapsed_ms": 12833, "source_timestamp_ns": 1789729723679165582, "q": [0.8366658091545105, -1.8973854780197144, -1.0064419507980347, 1.3811206817626953, -0.1613156944513321, 0.5938712358474731, 0.7036275863647461], "theta": [0.8387561440467834, -1.8954521417617798, -1.004649043083191, 1.362708330154419, -0.16191700100898743, 0.5938330888748169, 0.7036035656929016], "dq": [-0.002036229008808732, -0.0003689579898491502, 0.0006422628066502512, 0.0002999621501658112, -0.0009364837314933538, -0.00231000455096364, 0.0006145634106360376], "dtheta": [-8.814005923341028e-06, 7.725302566541359e-05, 3.0347980555234244e-06, 0.0003261792880948633, -0.0003784169093705714, 0.0008674749406054616, -0.0007455514860339463], "tau": [55.53999710083008, 23.639999389648438, 5.464000225067139, -26.2760009765625, -2.572000026702881, 2.6520001888275146, -0.5360000133514404], "tau_des": [0.5132033824920654, -0.5710440278053284, -0.1928362399339676, -0.5607719421386719, 0.9153133034706116, -1.1725554466247559, -0.5189536809921265], "tau_dot": [-75.04102325439453, 40.144569396972656, -43.217926025390625, 18.353086471557617, 15.17106819152832, -10.552146911621094, 28.726057052612305], "tau_ext": [-16.76056480407715, -41.62965393066406, 31.795745849609375, 31.356298446655273, 9.502275466918945, -2.9919393062591553, -0.11760930716991425], "tcp_pose": [0.6779565811157227, 0.03260285034775734, -0.21496856212615967, -0.0022704682778567076, -0.004598530475050211, 0.9998915791511536, 0.013801877386868], "tcp_vel": [0.00010344770271331072, 2.6656707632355392e-05, 1.3766465372100356e-06, 0.00020769561524502933, -0.0006142617203295231, 0.0009365905425511301], "flange_pose": [0.6786566972732544, 0.028465867042541504, -0.06502725929021835, -0.0022704682778567076, -0.004598530475050211, 0.9998915791511536, 0.013801877386868], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.91075134277344, 15.110406875610352, 28.174394607543945, 0.3356117308139801, -24.06087303161621, 1.8024927377700806], "ext_wrench_in_world": [-108.17458479773482, 14.881940124037698, -27.269730926289135, -0.12424964362144879, -24.00408343176822, -2.464907092346605]}
+{"timestamp_ns": 1789729723714304636, "elapsed_ms": 12866, "source_timestamp_ns": 1789729723709171397, "q": [0.8366667628288269, -1.8973848819732666, -1.0064424276351929, 1.3811204433441162, -0.16131600737571716, 0.5938712358474731, 0.7036292552947998], "theta": [0.8387565016746521, -1.8954514265060425, -1.0046498775482178, 1.3627078533172607, -0.16191749274730682, 0.5938338041305542, 0.7036047577857971], "dq": [-0.0006662538507953286, 0.0006992224371060729, 0.0011818967759609222, 0.002006316790357232, -0.0011605990584939718, -0.0007670113700442016, -0.002458010334521532], "dtheta": [-2.7260714432486566e-06, -0.00018833798822015524, 0.0001325404882663861, 3.116102789135766e-07, -0.0003269774024374783, -0.00033952153171412647, -0.000304427114315331], "tau": [55.55999755859375, 23.60999870300293, 5.452000141143799, -26.304000854492188, -2.572000026702881, 2.684000015258789, -0.5320000052452087], "tau_des": [0.5275706052780151, -0.539653480052948, -0.21464814245700836, -0.5775719285011292, 0.9104017615318298, -1.1511090993881226, -0.5285550355911255], "tau_dot": [30.964521408081055, -71.41465759277344, -16.194286346435547, 21.155071258544922, 9.4397611618042, 28.178510665893555, 26.71828269958496], "tau_ext": [-16.743038177490234, -41.60590362548828, 31.789892196655273, 31.340744018554688, 9.50571060180664, -2.9940948486328125, -0.11870624125003815], "tcp_pose": [0.6779571771621704, 0.032602459192276, -0.21496769785881042, -0.0022697923704981804, -0.004597408231347799, 0.9998915791511536, 0.01380190346390009], "tcp_vel": [-0.00011408132559154183, 5.18673041369766e-05, -6.236777699086815e-05, -0.00047922474914230406, 0.00011271616676822305, 0.0007130670128390193], "flange_pose": [0.678657054901123, 0.02846546843647957, -0.06502638757228851, -0.0022697923704981804, -0.004597408231347799, 0.9998915791511536, 0.01380190346390009], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.89131927490234, 15.123910903930664, 28.166736602783203, 0.34075814485549927, -24.05727767944336, 1.8047574758529663], "ext_wrench_in_world": [-108.15517163997474, 14.895653355589415, -27.261930698269264, -0.12949025103905165, -24.000474365115544, -2.467050370400587]}
+{"timestamp_ns": 1789729723747567495, "elapsed_ms": 12900, "source_timestamp_ns": 1789729723739172033, "q": [0.8366662859916687, -1.897386074066162, -1.006445050239563, 1.3811203241348267, -0.1613156497478485, 0.5938703417778015, 0.7036290764808655], "theta": [0.8387564420700073, -1.895452618598938, -1.004652738571167, 1.3627078533172607, -0.16191700100898743, 0.593833327293396, 0.7036049962043762], "dq": [0.0005362298688851297, -0.002852273639291525, -0.0006780503899790347, 0.0002468873863108456, -0.0002949285553768277, 3.379895497346297e-05, -0.0014843741664662957], "dtheta": [-0.00015900845755822957, -5.315717771736672e-06, -2.875436439353507e-05, -0.00027762443642131984, -4.0878817344491836e-06, -7.731531513854861e-05, -0.00013017169840168208], "tau": [55.53999710083008, 23.579999923706055, 5.448000431060791, -26.332000732421875, -2.580000162124634, 2.6760001182556152, -0.5360000133514404], "tau_des": [0.5166518092155457, -0.5861082673072815, -0.17134250700473785, -0.5508897304534912, 0.9033464789390564, -1.1616685390472412, -0.5395451188087463], "tau_dot": [-85.77008056640625, -23.23528289794922, -11.282379150390625, 2.1720097064971924, -11.230744361877441, -6.468300819396973, 1.413824200630188], "tau_ext": [-16.77023696899414, -41.61967849731445, 31.801647186279297, 31.355905532836914, 9.506505012512207, -2.9977123737335205, -0.11867521703243256], "tcp_pose": [0.6779575347900391, 0.03260127827525139, -0.21496853232383728, -0.0022699630353599787, -0.004596862941980362, 0.9998916387557983, 0.013800536282360554], "tcp_vel": [6.872670928714797e-05, 2.6481337044970132e-05, 4.4688799789582845e-06, 8.46066395752132e-05, -2.0526293155853637e-05, 7.376226858468726e-05], "flange_pose": [0.6786574721336365, 0.028464697301387787, -0.06502721458673477, -0.0022699630353599787, -0.004596862941980362, 0.9998916387557983, 0.013800536282360554], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.87529754638672, 15.143877983093262, 28.16817855834961, 0.34609997272491455, -24.050945281982422, 1.804976224899292], "ext_wrench_in_world": [-108.13933305912606, 14.915842163967529, -27.26289497559564, -0.13491740425311752, -23.994194674671878, -2.4670047686337795]}
+{"timestamp_ns": 1789729723780957198, "elapsed_ms": 12933, "source_timestamp_ns": 1789729723779167141, "q": [0.8366667032241821, -1.8973867893218994, -1.0064451694488525, 1.3811198472976685, -0.1613156795501709, 0.593868613243103, 0.7036290764808655], "theta": [0.838757336139679, -1.8954530954360962, -1.0046532154083252, 1.362707257270813, -0.16191700100898743, 0.5938311815261841, 0.7036052346229553], "dq": [-0.0002287489187438041, -0.004172478802502155, 0.0012959260493516922, 0.0029101388063281775, 0.002884503686800599, 0.0003726743161678314, 0.0010736504336819053], "dtheta": [0.0002419066586298868, 0.0004710934590548277, 5.2770697948290035e-05, -0.00012871940270997584, 0.000674741982948035, -0.0005358919152058661, -0.0005599356954917312], "tau": [55.57999801635742, 23.53999900817871, 5.436000347137451, -26.312002182006836, -2.576000213623047, 2.6480002403259277, -0.5440000295639038], "tau_des": [0.4440833628177643, -0.6467709541320801, -0.15638095140457153, -0.5214724540710449, 0.8909429311752319, -1.1595991849899292, -0.5379547476768494], "tau_dot": [102.35699462890625, -145.48944091796875, -11.192846298217773, -14.347103118896484, 4.880744457244873, -6.506195545196533, -3.0341577529907227], "tau_ext": [-16.753236770629883, -41.60344314575195, 31.810626983642578, 31.354278564453125, 9.51466178894043, -2.995314359664917, -0.1244935616850853], "tcp_pose": [0.67795729637146, 0.03260120749473572, -0.2149684876203537, -0.002270219847559929, -0.004597038496285677, 0.9998916387557983, 0.013799777254462242], "tcp_vel": [1.8651831851457246e-05, -0.000121949655294884, 0.00024757912615314126, 0.0005286347586661577, 0.00043361305142752826, -0.00010086207475978881], "flange_pose": [0.6786573529243469, 0.028464853763580322, -0.0650271624326706, -0.002270219847559929, -0.004597038496285677, 0.9998916387557983, 0.013799777254462242], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.89668273925781, 15.143938064575195, 28.165449142456055, 0.3404808044433594, -24.050195693969727, 1.8018033504486084], "ext_wrench_in_world": [-108.16072401120998, 14.915548490332293, -27.26003899922796, -0.12928312958163307, -23.993484685753664, -2.463800705623743]}
+{"timestamp_ns": 1789729723814316684, "elapsed_ms": 12966, "source_timestamp_ns": 1789729723809199423, "q": [0.8366678953170776, -1.897387146949768, -1.0064444541931152, 1.3811203241348267, -0.1613159328699112, 0.5938680171966553, 0.7036277651786804], "theta": [0.8387581706047058, -1.8954538106918335, -1.0046530961990356, 1.362707257270813, -0.16191749274730682, 0.5938307046890259, 0.7036049962043762], "dq": [0.002139157149940729, -0.0015541194006800652, -0.0007888178806751966, -0.0008618021965958178, -0.00045625504571944475, -0.00024094837135635316, -0.0007088230340741575], "dtheta": [0.00033256650203838944, -7.645306322956458e-05, 0.00010580642992863432, 9.463581227464601e-05, -0.00017413331079296768, 0.00018025284225586802, 0.00028821307932958007], "tau": [55.54999923706055, 23.549999237060547, 5.444000244140625, -26.312002182006836, -2.580000162124634, 2.6720001697540283, -0.5400000214576721], "tau_des": [0.4524599015712738, -0.5935410857200623, -0.20052477717399597, -0.5274019837379456, 0.9135417342185974, -1.1725777387619019, -0.5408768653869629], "tau_dot": [-20.451162338256836, -172.98471069335938, 7.6414875984191895, 16.008298873901367, -1.2692592144012451, 23.78453254699707, -1.9657257795333862], "tau_ext": [-16.741718292236328, -41.59700012207031, 31.818315505981445, 31.34957504272461, 9.509045600891113, -2.9910800457000732, -0.12281171977519989], "tcp_pose": [0.6779569387435913, 0.0326014943420887, -0.2149679958820343, -0.002270075026899576, -0.004598177038133144, 0.9998916387557983, 0.01379944197833538], "tcp_vel": [3.6070170608581975e-05, 7.887727406341583e-05, 0.00020116679661441594, -3.5278699215268716e-05, -0.0004476058529689908, -5.527038956643082e-05], "flange_pose": [0.6786569356918335, 0.02846524305641651, -0.0650266632437706, -0.002270075026899576, -0.004598177038133144, 0.9998916387557983, 0.01379944197833538], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.91012573242188, 15.132152557373047, 28.14979362487793, 0.3335852026939392, -24.05021095275879, 1.8001577854156494], "ext_wrench_in_world": [-108.17401069398863, 14.902947716696849, -27.24470072252864, -0.12232470357420663, -23.993483404905724, -2.4621707449843604]}
+{"timestamp_ns": 1789729723847577233, "elapsed_ms": 13000, "source_timestamp_ns": 1789729723839180661, "q": [0.836668074131012, -1.8973878622055054, -1.0064442157745361, 1.3811204433441162, -0.16131578385829926, 0.5938677787780762, 0.70362788438797], "theta": [0.8387578129768372, -1.8954541683197021, -1.0046532154083252, 1.3627068996429443, -0.16191749274730682, 0.5938299894332886, 0.7036047577857971], "dq": [0.0017434796318411827, -0.0013596384087577462, -0.0013549404684454203, -0.00185974664054811, 0.00033430015901103616, 0.00017509839381091297, -0.002548942109569907], "dtheta": [-0.0004864843504037708, 3.745272624655627e-05, -0.00012131432595197111, 8.439498924417421e-05, -0.0004585293063428253, 0.0007061381475068629, 0.0008161244913935661], "tau": [55.61000061035156, 23.579999923706055, 5.452000141143799, -26.336000442504883, -2.568000078201294, 2.704000234603882, -0.5320000052452087], "tau_des": [0.5882188677787781, -0.5836467742919922, -0.16042903065681458, -0.5874568819999695, 0.8975395560264587, -1.1640499830245972, -0.551145076751709], "tau_dot": [90.43769836425781, 43.79033279418945, 8.718467712402344, -11.799172401428223, 48.55363082885742, 53.39494705200195, 43.255741119384766], "tau_ext": [-16.7811336517334, -41.61077880859375, 31.813018798828125, 31.366796493530273, 9.511967658996582, -2.9953930377960205, -0.12078754603862762], "tcp_pose": [0.6779566407203674, 0.03260178864002228, -0.21496814489364624, -0.0022701602429151535, -0.004598413128405809, 0.9998916387557983, 0.013799170963466167], "tcp_vel": [0.0001070311336661689, -1.4898389963491354e-05, -0.0002449437160976231, 7.510971772717312e-05, -0.000249396514846012, -0.0006750462343916297], "flange_pose": [0.6786566972732544, 0.028465615585446358, -0.06502681225538254, -0.0022701602429151535, -0.004598413128405809, 0.9998916387557983, 0.013799170963466167], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.91526794433594, 15.124192237854004, 28.153562545776367, 0.32926782965660095, -24.05051040649414, 1.7993251085281372], "ext_wrench_in_world": [-108.1791090079196, 14.894980864690456, -27.24865592387051, -0.11798992019996601, -23.993767112139864, -2.4613526991953427]}
+{"timestamp_ns": 1789729723880899175, "elapsed_ms": 13033, "source_timestamp_ns": 1789729723879168851, "q": [0.8366692662239075, -1.8973878622055054, -1.0064435005187988, 1.3811211585998535, -0.16131511330604553, 0.5938656330108643, 0.7036261558532715], "theta": [0.8387588262557983, -1.8954541683197021, -1.0046520233154297, 1.3627068996429443, -0.16191630065441132, 0.5938280820846558, 0.7036033272743225], "dq": [0.0018958449363708496, 0.0017193234525620937, 0.001935347681865096, 0.0016755425604060292, -0.0016919390764087439, 0.0023732150439172983, 0.0008381230290979147], "dtheta": [8.652326505398378e-05, 0.00011927074956474826, 0.0001446336245862767, 0.00032887488487176597, -0.00020147561735939234, 0.0014602065784856677, 0.000289066752884537], "tau": [55.54999923706055, 23.65999984741211, 5.468000411987305, -26.32400131225586, -2.568000078201294, 2.6640000343322754, -0.5560000538825989], "tau_des": [0.47620946168899536, -0.6030824184417725, -0.21066033840179443, -0.5226926803588867, 0.9046940803527832, -1.195565104484558, -0.5373915433883667], "tau_dot": [-64.38186645507812, 164.10064697265625, 16.6062068939209, -35.16679000854492, 14.29076862335205, 15.722699165344238, -26.571971893310547], "tau_ext": [-16.757030487060547, -41.58538818359375, 31.80135726928711, 31.35263442993164, 9.507465362548828, -2.9955766201019287, -0.12192781269550323], "tcp_pose": [0.6779559254646301, 0.0326017327606678, -0.21496790647506714, -0.0022709674667567015, -0.00459938682615757, 0.9998916387557983, 0.013798721134662628], "tcp_vel": [0.00017335392476525158, 0.00019781549053732306, 0.00013790794764645398, 0.0008203108445741236, -0.00098446907941252, -0.0001380667818011716], "flange_pose": [0.6786561608314514, 0.028465697541832924, -0.06502656638622284, -0.0022709674667567015, -0.00459938682615757, 0.9998916387557983, 0.013798721134662628], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.91471099853516, 15.107234001159668, 28.149555206298828, 0.32702451944351196, -24.048303604125977, 1.798453688621521], "ext_wrench_in_world": [-108.1784509753777, 14.877686595007543, -27.244963085388264, -0.11571941241293512, -23.991566951689986, -2.460408738974028]}
+{"timestamp_ns": 1789729723914307045, "elapsed_ms": 13066, "source_timestamp_ns": 1789729723909168727, "q": [0.8366689085960388, -1.8973876237869263, -1.0064433813095093, 1.3811215162277222, -0.16131524741649628, 0.593865156173706, 0.7036271691322327], "theta": [0.8387588858604431, -1.8954529762268066, -1.0046517848968506, 1.362707495689392, -0.16191630065441132, 0.5938278436660767, 0.7036040425300598], "dq": [0.001275514834560454, 0.0008953082142397761, -0.0016706540482118726, -0.0007819986203685403, 0.0002494728541933, 3.6264660593587905e-05, -0.0006649128627032042], "dtheta": [-8.590761717641726e-05, 4.81202187074814e-05, 0.00012825080193579197, 0.00018399189866613597, 0.00027092217351309955, 5.906018122914247e-05, 0.001170060713775456], "tau": [55.57999801635742, 23.649999618530273, 5.460000038146973, -26.32000160217285, -2.5880000591278076, 2.6760001182556152, -0.5600000023841858], "tau_des": [0.5625026822090149, -0.5761529207229614, -0.20111863315105438, -0.5939024686813354, 0.8752506375312805, -1.1493972539901733, -0.5586903095245361], "tau_dot": [94.4979248046875, 26.24444007873535, -15.420339584350586, -18.601938247680664, -45.40419387817383, -3.523533582687378, -55.549686431884766], "tau_ext": [-16.76288604736328, -41.607444763183594, 31.79994773864746, 31.363088607788086, 9.50479507446289, -2.998863458633423, -0.12188304960727692], "tcp_pose": [0.6779556274414062, 0.032601576298475266, -0.21496829390525818, -0.0022715015802532434, -0.004598903004080057, 0.9998916387557983, 0.013798553496599197], "tcp_vel": [-0.0001462492800783366, 4.961868762620725e-05, -0.00013461500930134207, 0.00021332947653718293, 0.00041175755904987454, -0.0012344386195763946], "flange_pose": [0.6786560416221619, 0.028465591371059418, -0.06502696871757507, -0.0022715015802532434, -0.004598903004080057, 0.9998916387557983, 0.013798553496599197], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.9000015258789, 15.10872745513916, 28.155855178833008, 0.32950007915496826, -24.046667098999023, 1.7979387044906616], "ext_wrench_in_world": [-108.1638005935737, 14.879582992632441, -27.251172572364116, -0.11823288314045427, -23.989968993316005, -2.4598294945852945]}
+{"timestamp_ns": 1789729723947641925, "elapsed_ms": 13100, "source_timestamp_ns": 1789729723939168832, "q": [0.8366693258285522, -1.8973881006240845, -1.006443977355957, 1.3811216354370117, -0.16131657361984253, 0.5938664078712463, 0.7036280035972595], "theta": [0.8387591242790222, -1.895452857017517, -1.0046521425247192, 1.3627076148986816, -0.16191700100898743, 0.5938295125961304, 0.7036049962043762], "dq": [-0.0022683311253786087, 0.0007871355628594756, -0.002050260314717889, 0.00232892157509923, 0.000949094130191952, -0.0020566985476762056, -0.003397013759240508], "dtheta": [-8.014171180548146e-05, -3.6461991840042174e-05, 6.764566205674782e-05, -7.935166649986058e-05, -8.764465746935457e-05, 0.00041822949424386024, 0.0004917184123769403], "tau": [55.53999710083008, 23.59000015258789, 5.4760003089904785, -26.308000564575195, -2.580000162124634, 2.680000066757202, -0.5200000405311584], "tau_des": [0.5098931789398193, -0.585604727268219, -0.2036542147397995, -0.5426082611083984, 0.8975434303283691, -1.175535798072815, -0.544546902179718], "tau_dot": [-96.99464416503906, -108.39093017578125, 49.08230209350586, 10.597697257995605, -6.786771297454834, 10.737884521484375, 42.50484085083008], "tau_ext": [-16.74269676208496, -41.59341049194336, 31.78377914428711, 31.340898513793945, 9.5037260055542, -2.998542308807373, -0.120358906686306], "tcp_pose": [0.6779561638832092, 0.03260146826505661, -0.2149679809808731, -0.002270384691655636, -0.004598825238645077, 0.9998916387557983, 0.013798130676150322], "tcp_vel": [7.145812560338527e-05, 0.00012308097211644053, 2.875268182833679e-05, 0.000278359220828861, -0.00031333297374658287, -0.0003933593106921762], "flange_pose": [0.678656280040741, 0.02846561186015606, -0.06502664089202881, -0.002270384691655636, -0.004598825238645077, 0.9998916387557983, 0.013798130676150322], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.89803314208984, 15.125710487365723, 28.15066146850586, 0.34059062600135803, -24.04925537109375, 1.8015401363372803], "ext_wrench_in_world": [-108.16189953806256, 14.89643103776801, -27.245774818283735, -0.12931493957515003, -23.99256159478064, -2.4634322618037445]}
+{"timestamp_ns": 1789729723980959607, "elapsed_ms": 13133, "source_timestamp_ns": 1789729723979166471, "q": [0.8366696834564209, -1.8973884582519531, -1.0064435005187988, 1.381120204925537, -0.16131903231143951, 0.593865156173706, 0.7036271691322327], "theta": [0.8387594223022461, -1.8954532146453857, -1.0046520233154297, 1.3627066612243652, -0.16191940009593964, 0.5938283205032349, 0.7036054730415344], "dq": [1.7759521142579615e-05, -0.002674505114555359, 0.0007431128760799766, -0.00020802556537091732, 0.002418564399704337, 0.0008177462150342762, 0.003148373682051897], "dtheta": [7.062652730382979e-05, -0.00018169906979892403, -2.982508704008069e-05, 0.0003252583264838904, 0.0001625327713554725, 0.0005064840661361814, -0.0007224949076771736], "tau": [55.59000015258789, 23.619998931884766, 5.464000225067139, -26.308000564575195, -2.6040000915527344, 2.696000099182129, -0.527999997138977], "tau_des": [0.5268517136573792, -0.5344987511634827, -0.22181715071201324, -0.5742055177688599, 0.9024050831794739, -1.168235421180725, -0.5180351734161377], "tau_dot": [48.67454147338867, 35.56804275512695, -2.2976772785186768, 39.75425720214844, -27.835607528686523, 43.19934844970703, -23.494796752929688], "tau_ext": [-16.749828338623047, -41.61132049560547, 31.7918643951416, 31.353933334350586, 9.509552955627441, -3.0014655590057373, -0.13004055619239807], "tcp_pose": [0.6779566407203674, 0.0326017327606678, -0.21496710181236267, -0.0022695090156048536, -0.004600099287927151, 0.9998916387557983, 0.013797391206026077], "tcp_vel": [-7.817125879228115e-05, 6.596641469513997e-05, -0.00010848220699699596, 9.490745287621394e-05, -0.00013135190238244832, 0.0007721850997768342], "flange_pose": [0.6786564588546753, 0.02846609801054001, -0.06502576172351837, -0.0022695090156048536, -0.004600099287927151, 0.9998916387557983, 0.013797391206026077], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8814468383789, 15.141067504882812, 28.15792465209961, 0.3481220304965973, -24.045448303222656, 1.7991626262664795], "ext_wrench_in_world": [-108.14547709174695, 14.911822190164177, -27.25290005504132, -0.1368045923456392, -23.98889537767532, -2.4608824167939023]}
+{"timestamp_ns": 1789729724014286233, "elapsed_ms": 13166, "source_timestamp_ns": 1789729724009170559, "q": [0.8366698026657104, -1.8973888158798218, -1.0064435005187988, 1.3811185359954834, -0.16131912171840668, 0.5938640236854553, 0.7036271691322327], "theta": [0.8387594223022461, -1.8954538106918335, -1.004652738571167, 1.3627047538757324, -0.16191940009593964, 0.5938266515731812, 0.7036064267158508], "dq": [-0.002356437500566244, -0.0026443463284522295, 0.00014915206702426076, -0.0007378150476142764, -0.001172269112430513, 7.905942766228691e-05, 0.004248486366122961], "dtheta": [-8.02671092969831e-06, 6.735481292707846e-05, -0.0001812327973311767, 0.00012476886331569403, 0.00029181441641412675, 0.0007380905444733799, 0.0005260942853055894], "tau": [55.55999755859375, 23.65999984741211, 5.460000038146973, -26.304000854492188, -2.5880000591278076, 2.636000156402588, -0.5320000052452087], "tau_des": [0.49182891845703125, -0.615349292755127, -0.17321820557117462, -0.5277571678161621, 0.8942466974258423, -1.1869916915893555, -0.5472601056098938], "tau_dot": [3.81498646736145, 53.75929641723633, -14.324793815612793, 20.547218322753906, 21.44558334350586, -68.19938659667969, -25.896198272705078], "tau_ext": [-16.75458526611328, -41.6119270324707, 31.798097610473633, 31.356698989868164, 9.518455505371094, -2.9934589862823486, -0.13314971327781677], "tcp_pose": [0.6779570579528809, 0.03260200843214989, -0.21496649086475372, -0.0022691802587360144, -0.004600167740136385, 0.9998916387557983, 0.013797366060316563], "tcp_vel": [0.00012597140448633581, -6.689597739750752e-06, 8.97774316399591e-06, 0.0005243124905973673, -0.00033138206345029175, -0.0008579532732255757], "flange_pose": [0.6786567568778992, 0.028466377407312393, -0.06502514332532883, -0.0022691802587360144, -0.004600167740136385, 0.9998916387557983, 0.013797366060316563], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.89488220214844, 15.126617431640625, 28.15910530090332, 0.34122350811958313, -24.0488338470459, 1.7977477312088013], "ext_wrench_in_world": [-108.15876916240862, 14.897271229113356, -27.25449201297102, -0.12986420794507636, -23.992254738328494, -2.459590951566705]}
+{"timestamp_ns": 1789729724047642382, "elapsed_ms": 13200, "source_timestamp_ns": 1789729724039169697, "q": [0.8366691470146179, -1.8973894119262695, -1.0064431428909302, 1.381117343902588, -0.16131968796253204, 0.5938588976860046, 0.7036257386207581], "theta": [0.8387590646743774, -1.8954545259475708, -1.004652738571167, 1.362703800201416, -0.16192013025283813, 0.5938214063644409, 0.7036059498786926], "dq": [-0.0012084196787327528, -0.00028404651675373316, 0.0023690881207585335, 0.0010436990996822715, 0.0003564903454389423, 0.0011979687260463834, -0.0018835642840713263], "dtheta": [-0.00025268105673603714, -0.00012558980961330235, -0.00023109698668122292, 0.00021306858980096877, -0.00034713538479991257, 5.2054783736821264e-05, -0.0006849117926321924], "tau": [55.53999710083008, 23.619998931884766, 5.468000411987305, -26.308000564575195, -2.6000001430511475, 2.640000104904175, -0.5440000295639038], "tau_des": [0.5843321084976196, -0.5334395170211792, -0.1896432787179947, -0.6112134456634521, 0.9069172143936157, -1.1464847326278687, -0.5152207016944885], "tau_dot": [-64.7086410522461, 42.74497604370117, 38.70637893676758, 9.893450736999512, 2.6741859912872314, -33.948577880859375, -49.79091262817383], "tau_ext": [-16.766502380371094, -41.60219955444336, 31.795331954956055, 31.36943817138672, 9.527191162109375, -2.9910471439361572, -0.13726913928985596], "tcp_pose": [0.6779561638832092, 0.03260178491473198, -0.21496714651584625, -0.002270896453410387, -0.004601325374096632, 0.9998916983604431, 0.013795723207294941], "tcp_vel": [-3.7085213989485055e-05, -0.0001475229801144451, -0.0002817829663399607, -0.0005413088365457952, 0.00010063129593618214, 0.0008314742590300739], "flange_pose": [0.6786563992500305, 0.02846664935350418, -0.06502579152584076, -0.002270896453410387, -0.004601325374096632, 0.9998916983604431, 0.013795723207294941], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.92178344726562, 15.102472305297852, 28.160680770874023, 0.3283621668815613, -24.05732536315918, 1.7950770854949951], "ext_wrench_in_world": [-108.18558322626654, 14.87258439542262, -27.25629778681316, -0.11686495314182807, -24.00070555242046, -2.457133014948769]}
+{"timestamp_ns": 1789729724080961147, "elapsed_ms": 13233, "source_timestamp_ns": 1789729724079167240, "q": [0.8366689682006836, -1.8973885774612427, -1.0064425468444824, 1.381117582321167, -0.16131851077079773, 0.5938531160354614, 0.7036253213882446], "theta": [0.8387591242790222, -1.8954538106918335, -1.0046520233154297, 1.362703800201416, -0.16191940009593964, 0.5938149690628052, 0.7036057114601135], "dq": [-0.00039677676977589726, 0.00297244219109416, 0.0006070066592656076, 0.0017506486037746072, 0.0019989516586065292, -0.001207941910251975, 0.004376955330371857], "dtheta": [-3.0126824640319683e-05, -4.377243749331683e-05, 0.0002917707315646112, -7.423789793392643e-05, -0.0002642235776875168, -9.110616520047188e-05, -0.00034992999280802906], "tau": [55.56999969482422, 23.56999969482422, 5.432000160217285, -26.328001022338867, -2.576000213623047, 2.6600000858306885, -0.5320000052452087], "tau_des": [0.5242280960083008, -0.5419541001319885, -0.25357693433761597, -0.5707329511642456, 0.8997967839241028, -1.15398371219635, -0.5181680917739868], "tau_dot": [39.80341720581055, -112.61689758300781, -72.64991760253906, -20.21351432800293, 35.24161148071289, 9.177393913269043, -14.11111831665039], "tau_ext": [-16.751930236816406, -41.61797332763672, 31.800291061401367, 31.366235733032227, 9.530247688293457, -2.9884796142578125, -0.13311493396759033], "tcp_pose": [0.6779547929763794, 0.03260097652673721, -0.21496786177158356, -0.0022736939135938883, -0.004601190332323313, 0.9998916983604431, 0.013794624246656895], "tcp_vel": [-6.758390372851864e-05, 0.0001550331071484834, 2.6995283405994996e-05, -2.593870522105135e-05, -2.4042115910560824e-05, 0.0007210846524685621], "flange_pose": [0.6786558628082275, 0.028466176241636276, -0.06502649933099747, -0.0022736939135938883, -0.004601190332323313, 0.9998916983604431, 0.013794624246656895], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.95729064941406, 15.080005645751953, 28.16031265258789, 0.3176255524158478, -24.06743812561035, 1.7953341007232666], "ext_wrench_in_world": [-108.22103103267992, 14.849747854679057, -27.25582165713709, -0.10605592781472743, -24.010712930752323, -2.457662538272609]}
+{"timestamp_ns": 1789729724114297070, "elapsed_ms": 13266, "source_timestamp_ns": 1789729724109192975, "q": [0.8366694450378418, -1.8973878622055054, -1.0064424276351929, 1.381118655204773, -0.16131800413131714, 0.593853235244751, 0.703626275062561], "theta": [0.8387594819068909, -1.8954532146453857, -1.0046521425247192, 1.3627045154571533, -0.16191965341567993, 0.5938147306442261, 0.7036057114601135], "dq": [0.0002768102567642927, 0.00014228062354959548, -0.0008711719419807196, -0.0005601777811534703, -0.0015675476752221584, -0.00018897502741310745, -0.0018352800980210304], "dtheta": [-0.00016982910165097564, 3.4595585020724684e-05, -3.860170181724243e-05, -0.00022753006487619132, -0.0011086210142821074, 8.261792390840128e-05, -0.0002274664002470672], "tau": [55.57999801635742, 23.600000381469727, 5.460000038146973, -26.340002059936523, -2.5920000076293945, 2.6480002403259277, -0.527999997138977], "tau_des": [0.5059522390365601, -0.5955731272697449, -0.1953767091035843, -0.5446896553039551, 0.9199644327163696, -1.1644352674484253, -0.5229693651199341], "tau_dot": [53.5001335144043, -38.581214904785156, -17.133087158203125, -55.25091552734375, 13.133153915405273, -3.744910478591919, 30.196815490722656], "tau_ext": [-16.742521286010742, -41.616058349609375, 31.798381805419922, 31.355344772338867, 9.522225379943848, -2.986835241317749, -0.12931287288665771], "tcp_pose": [0.6779546141624451, 0.03260069340467453, -0.21496780216693878, -0.0022739970590919256, -0.004600453190505505, 0.9998916983604431, 0.01379485335201025], "tcp_vel": [0.00024082697927951813, -5.270622204989195e-05, 9.505905472906306e-05, -0.0005019221571274102, -0.0007074971799738705, 0.0007543404353782535], "flange_pose": [0.678655743598938, 0.02846582420170307, -0.06502643972635269, -0.0022739970590919256, -0.004600453190505505, 0.9998916983604431, 0.01379485335201025], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.96479797363281, 15.08700180053711, 28.16346549987793, 0.32040295004844666, -24.0730037689209, 1.798477292060852], "ext_wrench_in_world": [-108.22861197744527, 14.85692948263924, -27.258672190021095, -0.10883378157423919, -24.016214035204417, -2.460956664018431]}
+{"timestamp_ns": 1789729724147626073, "elapsed_ms": 13300, "source_timestamp_ns": 1789729724139173455, "q": [0.8366702795028687, -1.897387146949768, -1.006442666053772, 1.3811194896697998, -0.16131587326526642, 0.5938543677330017, 0.7036266922950745], "theta": [0.8387594819068909, -1.8954532146453857, -1.0046522617340088, 1.3627053499221802, -0.16191892325878143, 0.5938156843185425, 0.7036061882972717], "dq": [0.0007982528186403215, -0.000680202676448971, -0.0010520030045881867, -0.0006743022822774947, 0.001352993887849152, 0.0013111736625432968, -0.0025548299308866262], "dtheta": [-8.544868251192383e-06, 6.646916881436482e-05, 0.0004603782726917416, -6.408923945855349e-05, -0.0008610686636529863, 0.00027861137641593814, 0.00028165150433778763], "tau": [55.54999923706055, 23.65999984741211, 5.464000225067139, -26.304000854492188, -2.6000001430511475, 2.680000066757202, -0.5], "tau_des": [0.4883516728878021, -0.5845929384231567, -0.2594399154186249, -0.5334153175354004, 0.9029355049133301, -1.1750462055206299, -0.5315331816673279], "tau_dot": [43.8231315612793, 124.56867218017578, -1.7147411108016968, 19.457569122314453, -67.32799530029297, 45.94130325317383, 64.73442840576172], "tau_ext": [-16.74625015258789, -41.61865234375, 31.796436309814453, 31.36481475830078, 9.518152236938477, -2.993474245071411, -0.1301463544368744], "tcp_pose": [0.6779546737670898, 0.032600488513708115, -0.21496744453907013, -0.002274005440995097, -0.004599354229867458, 0.9998916983604431, 0.01379581168293953], "tcp_vel": [5.637847425532527e-05, 0.00022999616339802742, 0.00017012110038194805, 2.5616976927267388e-05, -0.0005767690599896014, 0.000458346214145422], "flange_pose": [0.6786558032035828, 0.028465330600738525, -0.06502609699964523, -0.002274005440995097, -0.004599354229867458, 0.9998916983604431, 0.01379581168293953], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.96951293945312, 15.088984489440918, 28.16524314880371, 0.3254328668117523, -24.074871063232422, 1.7991794347763062], "ext_wrench_in_world": [-108.23332192758636, 14.85920707640648, -27.26033911227967, -0.11390267465873238, -24.01810281902448, -2.461733750035363]}
+{"timestamp_ns": 1789729724180896193, "elapsed_ms": 13333, "source_timestamp_ns": 1789729724179169168, "q": [0.8366705775260925, -1.8973875045776367, -1.0064435005187988, 1.3811198472976685, -0.16131651401519775, 0.5938540101051331, 0.7036292552947998], "theta": [0.8387598395347595, -1.8954530954360962, -1.0046532154083252, 1.3627070188522339, -0.16191916167736053, 0.5938161611557007, 0.7036083340644836], "dq": [-0.00013196349027566612, -0.0021978849545121193, 0.0007418758468702435, -0.00047654929221607745, -0.0006495493580587208, -0.0004151033062953502, 0.0009831449715420604], "dtheta": [-0.0001250837231054902, 0.00030851777410134673, -7.0347387008951046e-06, -4.720240212918725e-06, 0.0003223709936719388, -0.001194857293739915, 0.00043754346552304924], "tau": [55.57999801635742, 23.68000030517578, 5.452000141143799, -26.32400131225586, -2.580000162124634, 2.6560001373291016, -0.5160000324249268], "tau_des": [0.5712631344795227, -0.606418251991272, -0.17207151651382446, -0.6115196943283081, 0.8625951409339905, -1.1209518909454346, -0.5529893040657043], "tau_dot": [9.93531322479248, 82.35684967041016, 11.017818450927734, -51.76485824584961, 34.82356643676758, -12.594831466674805, 35.93474197387695], "tau_ext": [-16.753616333007812, -41.6343994140625, 31.803327560424805, 31.355796813964844, 9.51984977722168, -2.9966647624969482, -0.13578614592552185], "tcp_pose": [0.6779548525810242, 0.03259996697306633, -0.2149675339460373, -0.002273836638778448, -0.004598080646246672, 0.9998916983604431, 0.013795042410492897], "tcp_vel": [-0.00020717974985018373, -0.0002596298581920564, -0.0001540567318443209, -0.00035584811121225357, 0.0012124422937631607, -0.0008003927068784833], "flange_pose": [0.6786559224128723, 0.028465038165450096, -0.0650261715054512, -0.002273836638778448, -0.004598080646246672, 0.9998916983604431, 0.013795042410492897], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.9423599243164, 15.115516662597656, 28.16495704650879, 0.3353080153465271, -24.068883895874023, 1.7980525493621826], "ext_wrench_in_world": [-108.20636500784713, 14.886205254053136, -27.259497067304476, -0.12388715121007196, -24.012244177839, -2.460361344617747]}
+{"timestamp_ns": 1789729724214307537, "elapsed_ms": 13366, "source_timestamp_ns": 1789729724209191173, "q": [0.8366714119911194, -1.897387981414795, -1.006443738937378, 1.381119966506958, -0.16131849586963654, 0.5938547849655151, 0.703629195690155], "theta": [0.8387600183486938, -1.8954534530639648, -1.0046536922454834, 1.362707257270813, -0.16192133724689484, 0.5938171148300171, 0.7036078572273254], "dq": [0.0012432177318260074, -0.004517422057688236, 0.0010040128836408257, 0.0008695625001564622, 0.0014977612299844623, -0.0002740061026997864, -0.0007725025643594563], "dtheta": [-0.00033698961487971246, 0.00028971285792067647, 8.802538650343195e-05, -3.639212081907317e-05, -0.0001657364919083193, 5.722499918192625e-05, -3.2226638722931966e-05], "tau": [55.61000061035156, 23.579999923706055, 5.460000038146973, -26.312002182006836, -2.632000207901001, 2.6640000343322754, -0.5200000405311584], "tau_des": [0.551995575428009, -0.6024002432823181, -0.19444848597049713, -0.5704343318939209, 0.8811101317405701, -1.1595098972320557, -0.5373486280441284], "tau_dot": [137.53128051757812, 33.69420623779297, 35.05564498901367, -1.8469369411468506, -13.472282409667969, 19.35648536682129, 27.688947677612305], "tau_ext": [-16.756811141967773, -41.64816665649414, 31.813390731811523, 31.36028480529785, 9.52334976196289, -3.001797914505005, -0.1423991173505783], "tcp_pose": [0.6779552698135376, 0.03259989991784096, -0.21496696770191193, -0.002272642683237791, -0.004598759580403566, 0.9998916983604431, 0.013794336467981339], "tcp_vel": [2.292277531523723e-05, -3.234543328289874e-05, -0.00010137318167835474, 0.0002267125091748312, 0.0001991551835089922, -1.5186081327556167e-05], "flange_pose": [0.6786560416221619, 0.028465181589126587, -0.06502560526132584, -0.002272642683237791, -0.004598759580403566, 0.9998916983604431, 0.013794336467981339], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.91941833496094, 15.139450073242188, 28.16572380065918, 0.3421742618083954, -24.05777359008789, 1.7954045534133911], "ext_wrench_in_world": [-108.18360080589666, 14.91018030398348, -27.259986050337822, -0.13080432080597623, -24.00127874097412, -2.457344069420148]}
+{"timestamp_ns": 1789729724247644889, "elapsed_ms": 13400, "source_timestamp_ns": 1789729724239168673, "q": [0.8366724848747253, -1.897387981414795, -1.0064464807510376, 1.3811203241348267, -0.16131825745105743, 0.5938533544540405, 0.7036287784576416], "theta": [0.8387611508369446, -1.895453929901123, -1.004656195640564, 1.3627076148986816, -0.16192229092121124, 0.5938163995742798, 0.7036083340644836], "dq": [0.0022399972658604383, -0.0006132608978077769, 0.000984228914603591, -0.0006972845876589417, -0.0006863507442176342, 0.000507900258526206, -0.001399496803060174], "dtheta": [8.36592007544823e-05, 0.0002971705107484013, 0.00034905984648503363, -0.0001921408693306148, -0.00109309540130198, -0.000610628048889339, 0.0003198616614099592], "tau": [55.54999923706055, 23.59000015258789, 5.428000450134277, -26.30000114440918, -2.5840001106262207, 2.684000015258789, -0.5080000162124634], "tau_des": [0.4483584761619568, -0.6431564688682556, -0.19987301528453827, -0.5170886516571045, 0.9139668941497803, -1.1638271808624268, -0.5391775965690613], "tau_dot": [29.875560760498047, -134.98565673828125, -38.82681655883789, 36.55488204956055, 56.30424880981445, 65.42243957519531, 25.826629638671875], "tau_ext": [-16.75693702697754, -41.61935806274414, 31.817138671875, 31.361358642578125, 9.534952163696289, -2.9982502460479736, -0.1427372246980667], "tcp_pose": [0.6779559254646301, 0.03259819746017456, -0.21496674418449402, -0.0022724203299731016, -0.004598050843924284, 0.9998916983604431, 0.013792981393635273], "tcp_vel": [9.064214827958494e-05, -3.1319588742917404e-05, 0.0002699820906855166, -0.000526381772942841, -0.0002624604385346174, 0.0003169395204167813], "flange_pose": [0.6786566376686096, 0.028463883325457573, -0.06502537429332733, -0.0022724203299731016, -0.004598050843924284, 0.9998916983604431, 0.013792981393635273], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.92826080322266, 15.128623962402344, 28.15410041809082, 0.3361000716686249, -24.0529842376709, 1.7928990125656128], "ext_wrench_in_world": [-108.19225658501601, 14.899035969064558, -27.248714751172194, -0.12479542640429894, -23.99651071414135, -2.4546691248978925]}
+{"timestamp_ns": 1789729724280901481, "elapsed_ms": 13433, "source_timestamp_ns": 1789729724279171556, "q": [0.836673378944397, -1.8973888158798218, -1.0064467191696167, 1.3811208009719849, -0.16131596267223358, 0.5938516855239868, 0.7036260366439819], "theta": [0.8387619256973267, -1.895455241203308, -1.0046565532684326, 1.362707495689392, -0.16192083060741425, 0.593814492225647, 0.7036059498786926], "dq": [-0.0012532348046079278, 0.003468418726697564, 4.574191552819684e-05, 0.0009633595473133028, -0.0005789874703623354, 0.0019061057828366756, -0.0009340511751361191], "dtheta": [0.00011440783418947831, -1.5178816283878405e-05, 0.00028378781280480325, 0.0001986285496968776, -0.0010064145317301154, 0.00014597608242183924, -0.0005971071659587324], "tau": [55.57999801635742, 23.56999969482422, 5.448000431060791, -26.30000114440918, -2.5920000076293945, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.4926374554634094, -0.5713193416595459, -0.23774805665016174, -0.55617755651474, 0.9150850176811218, -1.1637489795684814, -0.5165736079216003], "tau_dot": [13.207322120666504, 3.979510545730591, -4.304893493652344, 19.649335861206055, 20.97307014465332, -0.7503067851066589, -9.82763671875], "tau_ext": [-16.75832176208496, -41.60261154174805, 31.828510284423828, 31.36264419555664, 9.536449432373047, -2.993891954421997, -0.13664290308952332], "tcp_pose": [0.6779552102088928, 0.03259808570146561, -0.21496699750423431, -0.0022733702789992094, -0.0045990049839019775, 0.9998916983604431, 0.013792609795928001], "tcp_vel": [1.2238485396665055e-05, 7.511144212912768e-05, 9.925093763740733e-05, -0.0004713290836662054, -0.0005487246089614928, 0.0013926731189712882], "flange_pose": [0.6786561608314514, 0.02846388705074787, -0.06502562016248703, -0.0022733702789992094, -0.0045990049839019775, 0.9998916983604431, 0.013792609795928001], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.94486236572266, 15.108685493469238, 28.1451473236084, 0.31823453307151794, -24.049219131469727, 1.7912966012954712], "ext_wrench_in_world": [-108.20871310830623, 14.878475619056665, -27.24005097389499, -0.10691586522246972, -23.99262801077122, -2.453024194707739]}
+{"timestamp_ns": 1789729724314234884, "elapsed_ms": 13466, "source_timestamp_ns": 1789729724309170934, "q": [0.836674153804779, -1.8973891735076904, -1.0064464807510376, 1.3811205625534058, -0.16131563484668732, 0.5938487648963928, 0.7036263346672058], "theta": [0.8387625813484192, -1.8954553604125977, -1.004656195640564, 1.362707257270813, -0.16191940009593964, 0.5938116312026978, 0.7036054730415344], "dq": [-0.0006529364036396146, -0.0013462011702358723, -0.0023132541682571173, 0.0015250612050294876, -0.002103301463648677, 0.00241289334371686, 0.001953918719664216], "dtheta": [0.00019378015713300556, -0.00037921007606200874, -0.0001317372516496107, 6.635898171225563e-05, -2.4154103812179528e-05, -0.00021230515267234296, 8.152671216521412e-05], "tau": [55.53999710083008, 23.56999969482422, 5.464000225067139, -26.332000732421875, -2.6040000915527344, 2.6640000343322754, -0.5600000023841858], "tau_des": [0.5238112807273865, -0.5529609322547913, -0.20987218618392944, -0.5828880071640015, 0.8933067917823792, -1.1460835933685303, -0.5387665629386902], "tau_dot": [-112.03926849365234, -99.16385650634766, 43.11820983886719, -32.84130096435547, -22.695161819458008, -18.416866302490234, -29.402639389038086], "tau_ext": [-16.752077102661133, -41.58997344970703, 31.814531326293945, 31.354827880859375, 9.529069900512695, -2.9921770095825195, -0.13109499216079712], "tcp_pose": [0.6779547333717346, 0.032597899436950684, -0.2149667590856552, -0.0022740918211638927, -0.004598947241902351, 0.9998916983604431, 0.013791819103062153], "tcp_vel": [-7.782025204505771e-05, -8.992687980935443e-06, -4.005408118246123e-05, -0.0005578348063863814, -3.197625483153388e-05, 0.00010891156125580892], "flange_pose": [0.6786559224128723, 0.02846393920481205, -0.06502537429332733, -0.0022740918211638927, -0.004598947241902351, 0.9998916983604431, 0.013791819103062153], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.9415512084961, 15.097437858581543, 28.139602661132812, 0.31295499205589294, -24.04789161682129, 1.7927106618881226], "ext_wrench_in_world": [-108.20531125099198, 14.867077281553847, -27.23470167445924, -0.10166107021933234, -23.99121708540542, -2.4543861445250528]}
+{"timestamp_ns": 1789729724347633159, "elapsed_ms": 13500, "source_timestamp_ns": 1789729724339167952, "q": [0.836674153804779, -1.8973891735076904, -1.0064465999603271, 1.3811205625534058, -0.16131415963172913, 0.593846321105957, 0.7036259770393372], "theta": [0.8387628197669983, -1.895455241203308, -1.004656195640564, 1.3627077341079712, -0.16191820800304413, 0.5938092470169067, 0.703604519367218], "dq": [-0.0013945871032774448, -0.0005261545884422958, 0.000304778921417892, -0.0013584587723016739, 0.0007412840495817363, -0.00080870307283476, 0.004367411136627197], "dtheta": [0.00030828730086795986, 8.423120743827894e-05, 4.5603559556184337e-05, 2.1589916286757216e-05, 0.00011159207497257739, 0.00099072209559381, -0.00023487306316383183], "tau": [55.56999969482422, 23.579999923706055, 5.452000141143799, -26.32400131225586, -2.5920000076293945, 2.684000015258789, -0.5600000023841858], "tau_des": [0.43070554733276367, -0.630803108215332, -0.2121659219264984, -0.49768251180648804, 0.8922722339630127, -1.1905728578567505, -0.5361298322677612], "tau_dot": [14.238313674926758, -106.83616638183594, -17.734018325805664, 1.611438512802124, -6.602873802185059, 69.81208038330078, -18.465383529663086], "tau_ext": [-16.752714157104492, -41.58026885986328, 31.80815887451172, 31.351146697998047, 9.52095890045166, -2.9872679710388184, -0.12371612340211868], "tcp_pose": [0.6779541373252869, 0.032597530633211136, -0.21496719121932983, -0.0022754170931875706, -0.00459866039454937, 0.9998917579650879, 0.013791428878903389], "tcp_vel": [0.0002347538247704506, 0.000160399402375333, 0.0003304077254142612, 0.0007974898908287287, -0.0009705765405669808, 0.000128477971884422], "flange_pose": [0.6786556839942932, 0.028463689610362053, -0.06502579897642136, -0.0022754170931875706, -0.00459866039454937, 0.9998917579650879, 0.013791428878903389], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.93975067138672, 15.093066215515137, 28.142322540283203, 0.3124738037586212, -24.05017852783203, 1.795839786529541], "ext_wrench_in_world": [-108.20354792379823, 14.862835431410724, -27.23727373269014, -0.10119302548108312, -23.993414236983664, -2.457559940594376]}
+{"timestamp_ns": 1789729724380905059, "elapsed_ms": 13533, "source_timestamp_ns": 1789729724379192562, "q": [0.8366737365722656, -1.8973884582519531, -1.006446123123169, 1.381121277809143, -0.16131475567817688, 0.5938462615013123, 0.7036260962486267], "theta": [0.8387635350227356, -1.8954541683197021, -1.0046559572219849, 1.3627084493637085, -0.16191796958446503, 0.5938097238540649, 0.7036038041114807], "dq": [-0.0007399701862595975, 0.00039395460044033825, 0.0008510820334777236, -0.0005778921185992658, -0.00038355131982825696, -0.0005337162292562425, 0.0006883484311401844], "dtheta": [-0.00038931911694817245, 0.0002545209717936814, 4.1286762098025065e-06, 2.3203444925457006e-06, 1.9578128558350727e-05, -0.00015779578825458884, 0.00041153360507451], "tau": [55.54999923706055, 23.6299991607666, 5.436000347137451, -26.304000854492188, -2.572000026702881, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.5973883271217346, -0.600792407989502, -0.18222060799598694, -0.609628438949585, 0.8626340627670288, -1.1371947526931763, -0.5487052798271179], "tau_dot": [-30.717498779296875, 80.00343322753906, -29.462129592895508, -13.91922378540039, 32.17002487182617, 45.37253952026367, 25.214176177978516], "tau_ext": [-16.759353637695312, -41.61124038696289, 31.806787490844727, 31.361473083496094, 9.518241882324219, -2.996631383895874, -0.11992082744836807], "tcp_pose": [0.677953839302063, 0.032597437500953674, -0.21496747434139252, -0.002275813138112426, -0.004598773084580898, 0.9998916983604431, 0.013791452161967754], "tcp_vel": [-5.017777584725991e-05, -9.65758808888495e-05, -0.00020883887191303074, 9.731276804814115e-05, 0.000533478450961411, -0.0005857556825503707], "flange_pose": [0.6786555647850037, 0.028463590890169144, -0.06502608954906464, -0.002275813138112426, -0.004598773084580898, 0.9998916983604431, 0.013791452161967754], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.9460678100586, 15.10041332244873, 28.15073585510254, 0.3192305266857147, -24.056392669677734, 1.8003859519958496], "ext_wrench_in_world": [-108.20999621291335, 14.870328416247922, -27.245366940830635, -0.10791016109943626, -23.999562940228103, -2.4622469531300086]}
+{"timestamp_ns": 1789729724414232302, "elapsed_ms": 13566, "source_timestamp_ns": 1789729724409154604, "q": [0.8366742134094238, -1.8973885774612427, -1.0064469575881958, 1.38112211227417, -0.16131626069545746, 0.5938473343849182, 0.7036259174346924], "theta": [0.8387644290924072, -1.8954540491104126, -1.0046566724777222, 1.3627095222473145, -0.16191916167736053, 0.5938109159469604, 0.7036035656929016], "dq": [0.0009108419762924314, 0.001739766332320869, -0.0005202143220230937, 0.0011623369064182043, -0.0011922081466764212, -0.0008407509885728359, 0.0004198806418571621], "dtheta": [-5.454156416817568e-05, 1.672530015639495e-05, -0.00023761705961078405, 9.215785394189879e-05, -0.0008958381949923933, 0.0002930658811237663, -0.0005934658111073077], "tau": [55.57999801635742, 23.619998931884766, 5.440000057220459, -26.304000854492188, -2.5880000591278076, 2.6560001373291016, -0.5320000052452087], "tau_des": [0.5174133777618408, -0.6072241067886353, -0.1701287031173706, -0.5638311505317688, 0.909149706363678, -1.159702181816101, -0.5246441960334778], "tau_dot": [88.84115600585938, -65.79380798339844, -34.42721939086914, 22.931028366088867, -26.5682430267334, -5.288896560668945, -6.360179901123047], "tau_ext": [-16.754714965820312, -41.62522506713867, 31.813234329223633, 31.357995986938477, 9.516222953796387, -2.9966485500335693, -0.1198946088552475], "tcp_pose": [0.6779543161392212, 0.03259691596031189, -0.21496735513210297, -0.002274963539093733, -0.004599082283675671, 0.9998917579650879, 0.01379079557955265], "tcp_vel": [0.00021255839965306222, -0.00017033552285283804, 2.087042958009988e-05, -0.0005540875717997551, -0.0006803632713854313, 0.0009198137558996677], "flange_pose": [0.678655743598938, 0.028463264927268028, -0.06502596288919449, -0.002274963539093733, -0.004599082283675671, 0.9998917579650879, 0.01379079557955265], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.93157958984375, 15.130248069763184, 28.15985679626465, 0.331970751285553, -24.055007934570312, 1.8032468557357788], "ext_wrench_in_world": [-108.19578611867546, 14.900435859521512, -27.253929836916896, -0.12065718629568942, -23.99822120271337, -2.4649810311044007]}
+{"timestamp_ns": 1789729724447627358, "elapsed_ms": 13600, "source_timestamp_ns": 1789729724439174509, "q": [0.836674690246582, -1.8973898887634277, -1.006447672843933, 1.3811211585998535, -0.1613156795501709, 0.59384685754776, 0.7036260962486267], "theta": [0.8387647271156311, -1.8954548835754395, -1.0046576261520386, 1.3627092838287354, -0.16191868484020233, 0.5938104391098022, 0.7036038041114807], "dq": [-0.0019003803608939052, -0.00022598120267502964, -0.0010118935024365783, -0.0013729118509218097, 0.00259765493683517, -0.0008758972398936749, -0.0005083903670310974], "dtheta": [-0.00015924846229609102, 4.173244451521896e-05, 4.9575734010431916e-05, -6.078147634980269e-05, 0.0008351737633347511, -0.00021618700702674687, -0.00027418468380346894], "tau": [55.57999801635742, 23.6299991607666, 5.448000431060791, -26.312002182006836, -2.6080000400543213, 2.6640000343322754, -0.5600000023841858], "tau_des": [0.5704075694084167, -0.5655460357666016, -0.2167624682188034, -0.5965153574943542, 0.8558565974235535, -1.1436899900436401, -0.5381285548210144], "tau_dot": [-38.32929611206055, 4.348282337188721, 20.97511863708496, -7.145117282867432, -54.03804397583008, -26.52449607849121, -30.76714515686035], "tau_ext": [-16.76814079284668, -41.62373352050781, 31.813867568969727, 31.359458923339844, 9.519009590148926, -3.0005922317504883, -0.12477944791316986], "tcp_pose": [0.6779544353485107, 0.032597072422504425, -0.21496717631816864, -0.0022745926398783922, -0.004598969127982855, 0.9998917579650879, 0.013790339231491089], "tcp_vel": [-0.0001698178384685889, 5.1310569688212126e-05, -0.0001590045721968636, 0.00047623072168789804, 0.0007441071793437004, -0.00018694234313443303], "flange_pose": [0.6786558032035828, 0.028463557362556458, -0.06502578407526016, -0.0022745926398783922, -0.004598969127982855, 0.9998917579650879, 0.013790339231491089], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.92890930175781, 15.14607048034668, 28.158233642578125, 0.3391232192516327, -24.05368423461914, 1.8034356832504272], "ext_wrench_in_world": [-108.19322916987252, 14.916232152443298, -27.25197637057858, -0.12782604670349812, -23.996961302386794, -2.4650798838489942]}
+{"timestamp_ns": 1789729724480907087, "elapsed_ms": 13633, "source_timestamp_ns": 1789729724479166384, "q": [0.8366752862930298, -1.8973901271820068, -1.0064480304718018, 1.3811211585998535, -0.16131854057312012, 0.5938460826873779, 0.7036254405975342], "theta": [0.8387662768363953, -1.8954558372497559, -1.0046583414077759, 1.362709403038025, -0.16192181408405304, 0.593809962272644, 0.7036035656929016], "dq": [-0.0019913227297365665, 0.001996180508285761, -0.0022869189269840717, 0.0013436995213851333, 0.0008016281062737107, -0.0009006897453218699, -0.0021587973460555077], "dtheta": [0.0005391889135353267, 0.0001258507982129231, -0.00012500390585046262, 3.4358989069005474e-05, 0.00024465989554300904, -6.873656820971519e-05, -0.0010159544181078672], "tau": [55.55999755859375, 23.549999237060547, 5.444000244140625, -26.328001022338867, -2.616000175476074, 2.6640000343322754, -0.527999997138977], "tau_des": [0.4069455862045288, -0.6357871890068054, -0.1890198141336441, -0.5051615834236145, 0.9012342095375061, -1.1723861694335938, -0.5211269855499268], "tau_dot": [-40.643592834472656, -89.50222778320312, -9.501999855041504, -35.98492431640625, -6.389457702636719, 12.171866416931152, 30.583637237548828], "tau_ext": [-16.752519607543945, -41.60322952270508, 31.82208251953125, 31.352697372436523, 9.525721549987793, -2.9980273246765137, -0.12309051305055618], "tcp_pose": [0.677954912185669, 0.032596636563539505, -0.21496669948101044, -0.0022737649269402027, -0.0046000792644917965, 0.9998917579650879, 0.013789022341370583], "tcp_vel": [0.00013167204451747239, -0.00010618533269735053, 0.000352781789842993, 0.00010580161324469373, -0.00039203272899612784, 0.0007147440919652581], "flange_pose": [0.6786559820175171, 0.028463516384363174, -0.06502529233694077, -0.0022737649269402027, -0.0046000792644917965, 0.9998917579650879, 0.013789022341370583], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.91414642333984, 15.156365394592285, 28.152446746826172, 0.33862486481666565, -24.04496192932129, 1.8028653860092163], "ext_wrench_in_world": [-108.17852067014671, 14.92619020115042, -27.246195693766698, -0.1273476883865705, -23.988260523495104, -2.464208636629957]}
+{"timestamp_ns": 1789729724514284004, "elapsed_ms": 13666, "source_timestamp_ns": 1789729724509173580, "q": [0.8366767168045044, -1.897392749786377, -1.0064477920532227, 1.3811208009719849, -0.1613178700208664, 0.5938442349433899, 0.7036257386207581], "theta": [0.8387670516967773, -1.895458698272705, -1.0046579837799072, 1.3627089262008667, -0.16192156076431274, 0.5938082933425903, 0.703604519367218], "dq": [-0.0004966249107383192, 0.0008613113313913345, 0.0003647531848400831, -0.0004384111089166254, 0.0028048765379935503, 0.0012107356451451778, -0.0008469359017908573], "dtheta": [0.00024187723465729505, -0.00029256718698889017, 6.122364720795304e-05, -0.00021157650917302817, -0.0001331493112957105, -0.0005122555303387344, -0.0007087865960784256], "tau": [55.619998931884766, 23.559999465942383, 5.444000244140625, -26.308000564575195, -2.6120002269744873, 2.680000066757202, -0.5360000133514404], "tau_des": [0.48094651103019714, -0.5500831007957458, -0.24474604427814484, -0.5512534379959106, 0.9025276303291321, -1.154375433921814, -0.5177851915359497], "tau_dot": [9.606043815612793, 40.276424407958984, -11.096824645996094, 8.140390396118164, 17.843395233154297, 28.89443016052246, -3.274127960205078], "tau_ext": [-16.784591674804688, -41.61240005493164, 31.82146644592285, 31.371295928955078, 9.536297798156738, -2.9977684020996094, -0.1262296587228775], "tcp_pose": [0.6779541373252869, 0.03259732574224472, -0.21496662497520447, -0.00227387179620564, -0.004600664600729942, 0.9998917579650879, 0.01378780696541071], "tcp_vel": [-4.120929952478036e-05, 7.022597856121138e-05, 0.00012762089318130165, -0.00047109113074839115, -9.774469071999192e-05, 0.001000090385787189], "flange_pose": [0.678655207157135, 0.02846457064151764, -0.0650252178311348, -0.00227387179620564, -0.004600664600729942, 0.9998917579650879, 0.01378780696541071], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.92082214355469, 15.129203796386719, 28.154573440551758, 0.3257104754447937, -24.042709350585938, 1.8013886213302612], "ext_wrench_in_world": [-108.18498046312705, 14.898843115882972, -27.249057621758496, -0.11441983657605598, -23.985936092639083, -2.4626690919522285]}
+{"timestamp_ns": 1789729724547626136, "elapsed_ms": 13700, "source_timestamp_ns": 1789729724539176377, "q": [0.8366775512695312, -1.8973958492279053, -1.006447434425354, 1.3811211585998535, -0.16131605207920074, 0.5938430428504944, 0.7036253809928894], "theta": [0.8387676477432251, -1.895461916923523, -1.0046579837799072, 1.3627089262008667, -0.16191987693309784, 0.5938073396682739, 0.7036049962043762], "dq": [0.00243516662158072, -0.0015070164809003472, -0.0008551306673325598, 0.0014689668314531446, -0.001104973373003304, -0.0003872794331982732, 9.194816811941564e-06], "dtheta": [-0.0003363092546351254, 2.0376608517835848e-05, 0.00016216600488405675, -0.0001639115798752755, 0.0008141060825437307, 0.0003187662223353982, 1.530729241494555e-05], "tau": [55.59000015258789, 23.559999465942383, 5.4720001220703125, -26.308000564575195, -2.5880000591278076, 2.640000104904175, -0.5400000214576721], "tau_des": [0.5837198495864868, -0.5432473421096802, -0.25219225883483887, -0.5907389521598816, 0.8548407554626465, -1.1557141542434692, -0.5348047614097595], "tau_dot": [10.18900203704834, 4.0294575691223145, 66.67079162597656, -6.283863544464111, 14.48277759552002, -0.2738776206970215, 5.843823432922363], "tau_ext": [-16.7791690826416, -41.56962966918945, 31.81280517578125, 31.358097076416016, 9.533964157104492, -2.9938604831695557, -0.1275177299976349], "tcp_pose": [0.677952766418457, 0.032598331570625305, -0.21496734023094177, -0.002274570520967245, -0.004601534456014633, 0.9998917579650879, 0.013786902651190758], "tcp_vel": [-0.00010814481356646866, 0.00022238859673961997, -0.00017060783284250647, 0.000926738663110882, 0.0004657820099964738, -0.00040015074773691595], "flange_pose": [0.678654134273529, 0.028465846553444862, -0.0650259256362915, -0.002274570520967245, -0.004601534456014633, 0.9998917579650879, 0.013786902651190758], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.91516876220703, 15.106406211853027, 28.157087326049805, 0.3129822313785553, -24.037574768066406, 1.7985060214996338], "ext_wrench_in_world": [-108.17919423785185, 14.875936733101641, -27.252103857533772, -0.10168678893387784, -23.98076983158372, -2.4596586345410034]}
+{"timestamp_ns": 1789729724580899146, "elapsed_ms": 13733, "source_timestamp_ns": 1789729724579175521, "q": [0.8366782665252686, -1.8973960876464844, -1.0064477920532227, 1.381121277809143, -0.16131658852100372, 0.5938398241996765, 0.7036247253417969], "theta": [0.838768720626831, -1.8954623937606812, -1.0046583414077759, 1.3627089262008667, -0.16192013025283813, 0.5938040018081665, 0.7036040425300598], "dq": [0.0023344368673861027, -0.0008761005010455847, 0.0017078400123864412, 0.00014299350732471794, -0.005099277477711439, -0.00095091771800071, 0.00032733078114688396], "dtheta": [0.0003112770791631192, -8.47747505758889e-05, 0.00013623262930195779, -0.0001187415691674687, -0.000560702639631927, -0.00030514024547301233, -0.00012823566794395447], "tau": [55.56999969482422, 23.649999618530273, 5.464000225067139, -26.336000442504883, -2.5920000076293945, 2.640000104904175, -0.527999997138977], "tau_des": [0.4597814977169037, -0.5820604562759399, -0.24217161536216736, -0.5399895906448364, 0.907680332660675, -1.1570037603378296, -0.5235282778739929], "tau_dot": [-60.13676834106445, 25.338396072387695, 62.07795333862305, 3.668948173522949, 21.831478118896484, -60.10116195678711, 39.968017578125], "tau_ext": [-16.7581787109375, -41.56186294555664, 31.81069564819336, 31.353759765625, 9.524918556213379, -2.9905974864959717, -0.1236656978726387], "tcp_pose": [0.6779524087905884, 0.032597657293081284, -0.21496734023094177, -0.002275265520438552, -0.0046020266599953175, 0.9998918175697327, 0.013785405084490776], "tcp_vel": [6.459595897467807e-05, 3.526357977534644e-05, 0.0002576705301180482, -0.00045517811668105423, -0.0004464496742002666, 0.0005802317755296826], "flange_pose": [0.6786539554595947, 0.028465623036026955, -0.06502591073513031, -0.002275265520438552, -0.0046020266599953175, 0.9998918175697327, 0.013785405084490776], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.91146087646484, 15.082464218139648, 28.1506404876709, 0.30300039052963257, -24.03659439086914, 1.7955176830291748], "ext_wrench_in_world": [-108.17528970252256, 14.85167061492261, -27.246233739207398, -0.09167959544997595, -23.979787181355107, -2.456616471203609]}
+{"timestamp_ns": 1789729724614226060, "elapsed_ms": 13766, "source_timestamp_ns": 1789729724609208254, "q": [0.8366791605949402, -1.8973963260650635, -1.0064479112625122, 1.3811213970184326, -0.16131648421287537, 0.5938405394554138, 0.7036246061325073], "theta": [0.8387691378593445, -1.8954625129699707, -1.0046584606170654, 1.3627092838287354, -0.16191987693309784, 0.5938049554824829, 0.703604519367218], "dq": [-2.6994399377144873e-05, -0.0014508168678730726, 0.0004310186777729541, 0.0021246138494461775, -0.0025590790901333094, -0.0008805622346699238, 0.003438614308834076], "dtheta": [-0.00015694090689066797, -0.0002865865535568446, 0.0003294624330010265, 0.00017600621504243463, 0.0004873414582107216, -0.0003365521552041173, 0.00017262726032640785], "tau": [55.59000015258789, 23.619998931884766, 5.440000057220459, -26.308000564575195, -2.5960001945495605, 2.6680002212524414, -0.5400000214576721], "tau_des": [0.6232335567474365, -0.4779665768146515, -0.29198721051216125, -0.6494066119194031, 0.8594183921813965, -1.126306414604187, -0.5295013189315796], "tau_dot": [23.1470890045166, 38.92596435546875, -37.1927490234375, -5.902644634246826, 6.398284912109375, 19.693124771118164, 9.699637413024902], "tau_ext": [-16.767803192138672, -41.58263397216797, 31.810983657836914, 31.360450744628906, 9.525017738342285, -2.9955570697784424, -0.12496799975633621], "tcp_pose": [0.6779525876045227, 0.032597750425338745, -0.21496686339378357, -0.0022746757604181767, -0.004602134693413973, 0.9998918175697327, 0.013785473071038723], "tcp_vel": [-0.000418125739088282, 0.0002133438247255981, -0.0003302918339613825, -2.1892807126278058e-05, 0.000932153023313731, 1.615715336811263e-05], "flange_pose": [0.6786539554595947, 0.028465697541832924, -0.06502541899681091, -0.0022746757604181767, -0.004602134693413973, 0.9998918175697327, 0.013785473071038723], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.92024993896484, 15.08269214630127, 28.145116806030273, 0.30530115962028503, -24.040342330932617, 1.796129822731018], "ext_wrench_in_world": [-108.18402532217824, 14.851647133958098, -27.240792789353776, -0.09394116077780065, -23.983537664164707, -2.4573251100545477]}
+{"timestamp_ns": 1789729724647566702, "elapsed_ms": 13800, "source_timestamp_ns": 1789729724639168647, "q": [0.8366790413856506, -1.8973954916000366, -1.0064483880996704, 1.3811217546463013, -0.1613161712884903, 0.5938413143157959, 0.7036259174346924], "theta": [0.838769257068634, -1.8954613208770752, -1.0046590566635132, 1.362709879875183, -0.16191965341567993, 0.5938056707382202, 0.7036054730415344], "dq": [0.002286842092871666, 0.0011132258223369718, -0.00021846001618541777, -7.314780668821186e-05, 0.0006868208292871714, 0.0027698632329702377, -0.0006924140034243464], "dtheta": [-0.0003789601323660463, -0.00017226841009687632, -0.00028791630757041276, 0.00020550648332573473, 0.00033249377156607807, 0.00024007058527786285, -0.00028290326008573174], "tau": [55.56999969482422, 23.6299991607666, 5.440000057220459, -26.34800148010254, -2.580000162124634, 2.6440000534057617, -0.5320000052452087], "tau_des": [0.6364226341247559, -0.529222309589386, -0.2025327831506729, -0.6421240568161011, 0.8653170466423035, -1.1365907192230225, -0.531757652759552], "tau_dot": [-22.805360794067383, -22.604785919189453, -49.65644454956055, -69.51591491699219, 0.24070705473423004, -67.76528930664062, 4.592519283294678], "tau_ext": [-16.773508071899414, -41.59653091430664, 31.803380966186523, 31.361225128173828, 9.52570915222168, -2.999938726425171, -0.12490278482437134], "tcp_pose": [0.6779529452323914, 0.03259726241230965, -0.2149667739868164, -0.0022745600435882807, -0.004600898362696171, 0.9998918175697327, 0.01378588192164898], "tcp_vel": [-0.00011212049867026508, -8.622355380794033e-05, -0.00041542339022271335, -6.457076960941777e-05, 0.0004479413910303265, 3.8260437577264383e-05], "flange_pose": [0.6786542534828186, 0.028465086594223976, -0.06502533704042435, -0.0022745600435882807, -0.004600898362696171, 0.9998918175697327, 0.01378588192164898], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.90886688232422, 15.09602165222168, 28.14070701599121, 0.3142603933811188, -24.037216186523438, 1.7980003356933594], "ext_wrench_in_world": [-108.17270198635245, 14.865245143931892, -27.236076161847556, -0.10299617730040667, -23.980442074986836, -2.4590885456462095]}
+{"timestamp_ns": 1789729724680903414, "elapsed_ms": 13833, "source_timestamp_ns": 1789729724679197376, "q": [0.8366797566413879, -1.897396445274353, -1.0064502954483032, 1.3811219930648804, -0.16131819784641266, 0.5938431024551392, 0.70362788438797], "theta": [0.8387702703475952, -1.8954617977142334, -1.0046608448028564, 1.3627105951309204, -0.16192251443862915, 0.5938073396682739, 0.7036073803901672], "dq": [-0.0011742033530026674, 0.0009812217904254794, -0.00016460285405628383, 0.0011386245023459196, 0.0002994582464452833, 0.0019086198881268501, 0.0025343066081404686], "dtheta": [0.00013081319048069417, -0.00031851092353463173, -0.0001030805433401838, 0.00016783968021627516, -0.001326665049418807, -0.0010880238842219114, -0.00024735028273425996], "tau": [55.53999710083008, 23.6299991607666, 5.424000263214111, -26.328001022338867, -2.580000162124634, 2.6760001182556152, -0.527999997138977], "tau_des": [0.5397487282752991, -0.5454591512680054, -0.2073380947113037, -0.6101580262184143, 0.919783353805542, -1.1270129680633545, -0.5227974653244019], "tau_dot": [-86.14849090576172, 96.16182708740234, -12.308597564697266, 20.769203186035156, 44.50184631347656, 0.2130185216665268, 5.584197521209717], "tau_ext": [-16.75899887084961, -41.62251281738281, 31.819303512573242, 31.350635528564453, 9.530403137207031, -2.999812364578247, -0.13413341343402863], "tcp_pose": [0.6779539585113525, 0.032596636563539505, -0.21496646106243134, -0.002272814279422164, -0.0046002003364264965, 0.9998918175697327, 0.013784801587462425], "tcp_vel": [-0.00011064746649935842, -0.00026027392596006393, -0.00010105692490469664, -0.0019330335780978203, 5.3856943850405514e-05, 0.0011764968512579799], "flange_pose": [0.6786547303199768, 0.028464781120419502, -0.06502500921487808, -0.002272814279422164, -0.0046002003364264965, 0.9998918175697327, 0.013784801587462425], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.89842987060547, 15.131938934326172, 28.149539947509766, 0.3276349902153015, -24.038257598876953, 1.7986558675765991], "ext_wrench_in_world": [-108.16251873288151, 14.901584415819347, -27.244369454400342, -0.11638956607255442, -23.98159399949911, -2.4596623180518935]}
+{"timestamp_ns": 1789729724714292590, "elapsed_ms": 13866, "source_timestamp_ns": 1789729724709176467, "q": [0.8366813659667969, -1.8973965644836426, -1.0064514875411987, 1.38112211227417, -0.1613192856311798, 0.5938422083854675, 0.7036275267601013], "theta": [0.838771641254425, -1.895462155342102, -1.004662275314331, 1.3627103567123413, -0.16192395985126495, 0.5938071012496948, 0.7036078572273254], "dq": [0.002349289134144783, -0.000975229253526777, -0.00103051180485636, -0.0007805642671883106, -0.002143212128430605, -0.0012989970855414867, -0.0012824765872210264], "dtheta": [0.00038141923141665757, 0.00011115206143585965, 0.00015510414959862828, -0.0003868302737828344, -0.0009129091049544513, 0.00042866263538599014, -0.00017462046525906771], "tau": [55.59000015258789, 23.60999870300293, 5.4160003662109375, -26.30000114440918, -2.6120002269744873, 2.6440000534057617, -0.5], "tau_des": [0.34028810262680054, -0.6687430739402771, -0.2137346714735031, -0.42843469977378845, 0.930674135684967, -1.2114087343215942, -0.5283685326576233], "tau_dot": [87.09211730957031, -16.991764068603516, -25.47675895690918, -11.178393363952637, -5.050693035125732, -59.50807571411133, 66.0111312866211], "tau_ext": [-16.751968383789062, -41.607872009277344, 31.82297706604004, 31.347749710083008, 9.538834571838379, -2.9997804164886475, -0.1427932232618332], "tcp_pose": [0.6779546141624451, 0.03259575739502907, -0.21496547758579254, -0.002271879930049181, -0.004600307904183865, 0.9998918175697327, 0.013783729635179043], "tcp_vel": [0.000415338872699067, 0.0001304936595261097, 0.0005964305019006133, 0.00011747874668799341, -0.0014774804003536701, 0.0006443909951485693], "flange_pose": [0.6786551475524902, 0.028464222326874733, -0.06502402573823929, -0.002271879930049181, -0.004600307904183865, 0.9998918175697327, 0.013783729635179043], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.90724182128906, 15.136895179748535, 28.1475887298584, 0.32922792434692383, -24.0374813079834, 1.795163869857788], "ext_wrench_in_world": [-108.17131803097384, 14.906324042541955, -27.242478658278444, -0.11796391615903785, -23.980934245611486, -2.4560922620305874]}
+{"timestamp_ns": 1789729724747565740, "elapsed_ms": 13900, "source_timestamp_ns": 1789729724739187083, "q": [0.8366813063621521, -1.8973983526229858, -1.0064513683319092, 1.3811219930648804, -0.16131766140460968, 0.5938401222229004, 0.7036264538764954], "theta": [0.8387715816497803, -1.8954637050628662, -1.0046625137329102, 1.3627101182937622, -0.16192300617694855, 0.5938056707382202, 0.7036073803901672], "dq": [-0.0003860359138343483, -0.0011659837327897549, -0.0005316220340318978, 0.001462991931475699, 0.0012392211938276887, -0.00024820942780934274, -0.0009266574052162468], "dtheta": [-0.000336368364514783, 0.00017694632697384804, 8.173074456863105e-05, 8.119647827697918e-05, -0.0004212758503854275, -0.00021924347674939781, -0.0005673004779964685], "tau": [55.599998474121094, 23.53999900817871, 5.424000263214111, -26.332000732421875, -2.640000104904175, 2.6560001373291016, -0.5400000214576721], "tau_des": [0.5767421126365662, -0.5670918822288513, -0.21189086139202118, -0.6040118932723999, 0.8866092562675476, -1.1431347131729126, -0.5206342935562134], "tau_dot": [75.67021942138672, -68.35828399658203, -58.17516326904297, -20.586469650268555, -56.82904052734375, -16.52829933166504, -43.40031433105469], "tau_ext": [-16.76883316040039, -41.59654998779297, 31.823183059692383, 31.363393783569336, 9.550521850585938, -2.99811053276062, -0.14326103031635284], "tcp_pose": [0.6779536008834839, 0.03259611502289772, -0.21496634185314178, -0.002273083198815584, -0.004600974265486002, 0.9998918175697327, 0.013782978989183903], "tcp_vel": [-6.775082874810323e-05, -8.678665471961722e-05, -0.00019766268087550998, -0.0002655631396919489, 0.00034416679409332573, 0.0007576741627417505], "flange_pose": [0.6786544919013977, 0.02846480719745159, -0.06502488255500793, -0.002273083198815584, -0.004600974265486002, 0.9998918175697327, 0.013782978989183903], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.89595794677734, 15.126121520996094, 28.14185905456543, 0.31921759247779846, -24.028980255126953, 1.7908521890640259], "ext_wrench_in_world": [-108.15999479911467, 14.895312438305492, -27.236863200237515, -0.10798466448829244, -23.97246667143385, -2.4515555337239445]}
+{"timestamp_ns": 1789729724780902633, "elapsed_ms": 13933, "source_timestamp_ns": 1789729724779169078, "q": [0.8366820812225342, -1.8974000215530396, -1.0064504146575928, 1.3811213970184326, -0.16131749749183655, 0.5938396453857422, 0.7036257982254028], "theta": [0.8387719392776489, -1.895464301109314, -1.0046619176864624, 1.362709403038025, -0.16192203760147095, 0.5938061475753784, 0.7036061882972717], "dq": [0.0006611042190343142, 0.0031939265318214893, 3.486618879833259e-05, -0.0019597401842474937, -0.0009010630892589688, 0.00026213660021312535, -0.0015630600973963737], "dtheta": [0.000348397035850212, -5.9108198911417276e-05, 0.00019829164375551045, -0.00042240149923600256, -3.434007885516621e-05, 0.0006012080702930689, 0.00019052728021051735], "tau": [55.52000045776367, 23.53999900817871, 5.460000038146973, -26.308000564575195, -2.5960001945495605, 2.6760001182556152, -0.5480000376701355], "tau_des": [0.3801460266113281, -0.6233088374137878, -0.2583681643009186, -0.4504224359989166, 0.9026475548744202, -1.2086886167526245, -0.5335136651992798], "tau_dot": [-118.5069580078125, -36.770198822021484, 12.279397964477539, -14.916841506958008, 51.33256530761719, -5.074005126953125, -22.751914978027344], "tau_ext": [-16.76154899597168, -41.58222961425781, 31.81276512145996, 31.35267448425293, 9.544347763061523, -2.996737480163574, -0.13645581901073456], "tcp_pose": [0.6779530644416809, 0.032597221434116364, -0.2149660736322403, -0.0022728757467120886, -0.004602161236107349, 0.9998918175697327, 0.013782721012830734], "tcp_vel": [0.0002749982522800565, 0.00030020970734767616, 0.0004892042488791049, 0.0006959509919397533, -0.0010932717705145478, -7.33746710466221e-05], "flange_pose": [0.67865389585495, 0.028465989977121353, -0.06502462178468704, -0.0022728757467120886, -0.004602161236107349, 0.9998918175697327, 0.013782721012830734], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.9281997680664, 15.096390724182129, 28.13690185546875, 0.3057343661785126, -24.034870147705078, 1.7910338640213013], "ext_wrench_in_world": [-108.19196303477987, 14.864888816919148, -27.232641796905543, -0.09439126267746953, -23.978225640476374, -2.4519470315873235]}
+{"timestamp_ns": 1789729724814241455, "elapsed_ms": 13966, "source_timestamp_ns": 1789729724809171325, "q": [0.8366816639900208, -1.8973991870880127, -1.0064507722854614, 1.3811217546463013, -0.1613161563873291, 0.5938394069671631, 0.7036253213882446], "theta": [0.8387715816497803, -1.8954641819000244, -1.0046613216400146, 1.3627095222473145, -0.16192108392715454, 0.5938054323196411, 0.7036057114601135], "dq": [-0.0016016076551750302, 0.00047199742402881384, 0.001930055906996131, 0.0005441751563921571, 1.2557429727166891e-05, -0.0007309613283723593, -0.0019064239459112287], "dtheta": [-0.00020738069724757224, -0.0002721823111642152, 0.00028667025617323816, -4.243647344992496e-05, 0.0003391281934455037, -0.00045999331632629037, 0.0005177889834158123], "tau": [55.5, 23.579999923706055, 5.4720001220703125, -26.308000564575195, -2.5880000591278076, 2.692000150680542, -0.5320000052452087], "tau_des": [0.6011874079704285, -0.5074862837791443, -0.2801680266857147, -0.6200149655342102, 0.8600662350654602, -1.1388267278671265, -0.539070725440979], "tau_dot": [-125.14567565917969, 26.019529342651367, 20.852746963500977, 19.68561553955078, 34.45175552368164, 72.52935791015625, 5.013883590698242], "tau_ext": [-16.75545310974121, -41.58565902709961, 31.808137893676758, 31.350374221801758, 9.53693962097168, -2.9941673278808594, -0.1357256919145584], "tcp_pose": [0.6779530048370361, 0.03259674087166786, -0.21496638655662537, -0.002273566322401166, -0.0046016015112400055, 0.9998918175697327, 0.013783169910311699], "tcp_vel": [-0.0003282642865087837, 0.00019752174557652324, -0.0002669476962182671, -8.748693653615192e-05, 0.0008143450249917805, -0.0003179023915436119], "flange_pose": [0.6786540150642395, 0.028465375304222107, -0.06502492725849152, -0.002273566322401166, -0.0046016015112400055, 0.9998918175697327, 0.013783169910311699], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.91905212402344, 15.090241432189941, 28.133691787719727, 0.30676761269569397, -24.034719467163086, 1.792220950126648], "ext_wrench_in_world": [-108.18276642359474, 14.858881928368401, -27.229478294903622, -0.09546124585482227, -23.978049617872134, -2.4531461107936567]}
+{"timestamp_ns": 1789729724847565848, "elapsed_ms": 14000, "source_timestamp_ns": 1789729724839189001, "q": [0.8366820216178894, -1.8973983526229858, -1.0064510107040405, 1.381121039390564, -0.16131673753261566, 0.5938369035720825, 0.7036229968070984], "theta": [0.8387719392776489, -1.895463228225708, -1.004660964012146, 1.362709403038025, -0.16192181408405304, 0.593802809715271, 0.7036028504371643], "dq": [-0.000132865272462368, -0.0002098635450238362, 0.0005594280664809048, -0.000132571323774755, 2.4226130335591733e-05, -0.0027719964273273945, -0.0020545893348753452], "dtheta": [0.0006190793355926871, 0.00046741217374801636, 0.0004782383912242949, -0.0002832541649695486, 0.00014208038919605315, -0.0017239138251170516, -0.0006674891337752342], "tau": [55.59000015258789, 23.600000381469727, 5.452000141143799, -26.32400131225586, -2.5840001106262207, 2.620000123977661, -0.5360000133514404], "tau_des": [0.37921327352523804, -0.643395721912384, -0.252581387758255, -0.5000871419906616, 0.8896036148071289, -1.1509168148040771, -0.5177833437919617], "tau_dot": [30.305482864379883, -23.59295654296875, -7.279241561889648, -21.429040908813477, 79.21627044677734, -59.02661895751953, 15.195615768432617], "tau_ext": [-16.728866577148438, -41.58396911621094, 31.79912567138672, 31.33342170715332, 9.533513069152832, -2.9916725158691406, -0.12723536789417267], "tcp_pose": [0.6779532432556152, 0.03259610757231712, -0.21496587991714478, -0.0022738862317055464, -0.004602587316185236, 0.9998918175697327, 0.013782600872218609], "tcp_vel": [-0.00013207261508796364, -8.155636896844953e-05, 0.0005029557505622506, -0.000221389505895786, 0.0006676368648186326, 0.0006071435054764152], "flange_pose": [0.6786543130874634, 0.028464915230870247, -0.06502441316843033, -0.0022738862317055464, -0.004602587316185236, 0.9998918175697327, 0.013782600872218609], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.91735076904297, 15.094339370727539, 28.127567291259766, 0.31333595514297485, -24.039304733276367, 1.796133041381836], "ext_wrench_in_world": [-108.18111999222147, 14.862579776985998, -27.223201857478376, -0.10195955772628232, -23.982589048562904, -2.457126809668446]}
+{"timestamp_ns": 1789729724880902241, "elapsed_ms": 14033, "source_timestamp_ns": 1789729724879203452, "q": [0.8366817831993103, -1.8973984718322754, -1.00645112991333, 1.381121039390564, -0.16131669282913208, 0.5938365459442139, 0.7036261558532715], "theta": [0.8387717008590698, -1.8954631090164185, -1.0046614408493042, 1.3627092838287354, -0.16192133724689484, 0.5938023328781128, 0.703604519367218], "dq": [0.0030374524649232626, 0.001182601205073297, -0.0026035644114017487, -0.0009883400052785873, 0.0008657157886773348, -0.000899917387869209, -0.0018328855512663722], "dtheta": [-0.00014346247189678252, 0.00022587634157389402, -0.00011182302114320919, -2.395818410150241e-05, 0.00045572040835395455, 0.00042928490438498557, 0.00014292032574303448], "tau": [55.599998474121094, 23.56999969482422, 5.448000431060791, -26.296001434326172, -2.6040000915527344, 2.6480002403259277, -0.5240000486373901], "tau_des": [0.5222752690315247, -0.6233779788017273, -0.19672492146492004, -0.5486506819725037, 0.863914966583252, -1.1718227863311768, -0.5436102151870728], "tau_dot": [-4.949758529663086, -106.36763000488281, -10.722050666809082, 6.483096599578857, 22.158451080322266, -19.654624938964844, 53.217262268066406], "tau_ext": [-16.744220733642578, -41.58967971801758, 31.797527313232422, 31.35169792175293, 9.533599853515625, -2.9892313480377197, -0.12371974438428879], "tcp_pose": [0.6779531240463257, 0.032596033066511154, -0.21496610343456268, -0.0022741106804460287, -0.004601000342518091, 0.9998918175697327, 0.013782406225800514], "tcp_vel": [9.42372134886682e-05, -2.3731885448796675e-05, -1.4296258086687885e-05, 0.0006733147311024368, 1.9856603103107773e-05, -0.0006394929368980229], "flange_pose": [0.6786543130874634, 0.028464898467063904, -0.06502463668584824, -0.0022741106804460287, -0.004601000342518091, 0.9998918175697327, 0.013782406225800514], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.94223022460938, 15.094034194946289, 28.14680290222168, 0.3160797655582428, -24.055444717407227, 1.8032219409942627], "ext_wrench_in_world": [-108.20605156407579, 14.862905730173967, -27.242281217361963, -0.10466601629896018, -23.998553056983084, -2.4646363900408614]}
+{"timestamp_ns": 1789729724914292776, "elapsed_ms": 14066, "source_timestamp_ns": 1789729724909171564, "q": [0.8366817831993103, -1.8973989486694336, -1.0064518451690674, 1.3811204433441162, -0.16131775081157684, 0.5938336253166199, 0.7036261558532715], "theta": [0.8387717604637146, -1.895462989807129, -1.004662275314331, 1.3627090454101562, -0.16192181408405304, 0.5937997102737427, 0.7036049962043762], "dq": [0.0009406397584825754, 0.00011810105934273452, -5.770623101852834e-05, -0.000153119137394242, -0.0025974134914577007, -0.0005955023807473481, 0.0006313093472272158], "dtheta": [0.0002056407101918012, -0.0001320186856901273, -0.00044369438546709716, -8.067384624155238e-05, -0.0003021571901626885, -0.00035856329486705363, 0.0004858985194005072], "tau": [55.57999801635742, 23.6299991607666, 5.436000347137451, -26.304000854492188, -2.6040000915527344, 2.636000156402588, -0.5480000376701355], "tau_des": [0.485554575920105, -0.6274454593658447, -0.16046693921089172, -0.5492545366287231, 0.8955684304237366, -1.1542489528656006, -0.5478957891464233], "tau_dot": [77.84866333007812, 65.80033111572266, -38.12710952758789, -5.157652854919434, -23.716472625732422, -78.4890365600586, -47.68568801879883], "tau_ext": [-16.736494064331055, -41.594329833984375, 31.7988338470459, 31.352439880371094, 9.535355567932129, -2.9925434589385986, -0.12592828273773193], "tcp_pose": [0.6779530644416809, 0.032595351338386536, -0.214966282248497, -0.0022746131289750338, -0.004601162392646074, 0.9998918771743774, 0.013780906796455383], "tcp_vel": [0.00016286829486489296, -0.0002681291080079973, 9.608121763449162e-05, -0.0007590352324768901, -0.00029332286794669926, -0.0005455213831737638], "flange_pose": [0.6786543726921082, 0.02846466563642025, -0.06502480804920197, -0.0022746131289750338, -0.004601162392646074, 0.9998918771743774, 0.013780906796455383], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.94972229003906, 15.099717140197754, 28.143810272216797, 0.3192536234855652, -24.058780670166016, 1.8052277565002441], "ext_wrench_in_world": [-108.21361316026628, 14.868315378348878, -27.23903782183338, -0.10781276997155997, -24.00186920798964, -2.466647196761483]}
+{"timestamp_ns": 1789729724947561897, "elapsed_ms": 14100, "source_timestamp_ns": 1789729724939192569, "q": [0.8366822600364685, -1.8974002599716187, -1.0064523220062256, 1.3811198472976685, -0.16131898760795593, 0.5938324332237244, 0.7036259770393372], "theta": [0.8387724757194519, -1.8954635858535767, -1.0046628713607788, 1.362708568572998, -0.16192324459552765, 0.5937985181808472, 0.7036052346229553], "dq": [-0.00014983699657022953, 0.0011503995629027486, 0.0005929484614171088, 0.0010348708601668477, -0.0025156678166240454, 0.0006319705862551928, 0.002596916165202856], "dtheta": [5.016810973756947e-06, 6.418067641789094e-05, -0.00015998455637600273, 0.00015291629824787378, -0.0004988733562640846, -0.0014751848066225648, 0.0005273200222291052], "tau": [55.56999969482422, 23.6299991607666, 5.460000038146973, -26.32400131225586, -2.616000175476074, 2.6600000858306885, -0.5400000214576721], "tau_des": [0.5683470368385315, -0.5907288789749146, -0.17501340806484222, -0.6281943321228027, 0.8847540616989136, -1.11087167263031, -0.5428161025047302], "tau_dot": [-46.79430389404297, 41.799827575683594, 34.98081970214844, -42.588584899902344, -46.8192253112793, -16.086366653442383, -8.331631660461426], "tau_ext": [-16.749013900756836, -41.60120391845703, 31.80499267578125, 31.35550308227539, 9.536176681518555, -2.995180368423462, -0.12613306939601898], "tcp_pose": [0.6779531836509705, 0.03259524330496788, -0.21496613323688507, -0.0022741782013326883, -0.004601799882948399, 0.9998918771743774, 0.013779642060399055], "tcp_vel": [-0.00019559418433345854, -0.00040428279316984117, -0.00018139144231099635, -0.0014191746013239026, 0.0009210558491759002, -0.0003467421920504421], "flange_pose": [0.6786543726921082, 0.028464937582612038, -0.06502465158700943, -0.0022741782013326883, -0.004601799882948399, 0.9998918771743774, 0.013779642060399055], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.96182250976562, 15.101043701171875, 28.137393951416016, 0.32035866379737854, -24.060483932495117, 1.8046311140060425], "ext_wrench_in_world": [-108.22568924753698, 14.869146605817352, -27.23266870841517, -0.108866728831582, -24.003604776925837, -2.4660324299289043]}
+{"timestamp_ns": 1789729724980903559, "elapsed_ms": 14133, "source_timestamp_ns": 1789729724979169525, "q": [0.8366830348968506, -1.8974008560180664, -1.0064524412155151, 1.3811187744140625, -0.1613181233406067, 0.5938298106193542, 0.7036263346672058], "theta": [0.8387734889984131, -1.8954658508300781, -1.004663348197937, 1.3627071380615234, -0.16192348301410675, 0.5937961339950562, 0.7036049962043762], "dq": [-0.001445645117200911, -0.0005114644882269204, -0.0001216681775986217, -0.0004041538340970874, 0.0024894552771002054, -0.00041283166501671076, -0.0006518251611851156], "dtheta": [-3.8812620914541185e-05, -0.0004967112909071147, 0.00018408350297249854, -0.0002427751460345462, 0.0006550442194566131, -0.000288201030343771, 0.0004739531723316759], "tau": [55.57999801635742, 23.649999618530273, 5.408000469207764, -26.316001892089844, -2.616000175476074, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.5603829026222229, -0.5075951814651489, -0.2849384546279907, -0.5893955826759338, 0.8621175289154053, -1.1491589546203613, -0.5415626168251038], "tau_dot": [26.951231002807617, 142.24197387695312, -43.8009147644043, 1.3742167949676514, 16.47571563720703, 13.493016242980957, -57.605247497558594], "tau_ext": [-16.77711296081543, -41.6218147277832, 31.826427459716797, 31.366382598876953, 9.54416561126709, -2.994532823562622, -0.13026730716228485], "tcp_pose": [0.6779530048370361, 0.03259524330496788, -0.21496571600437164, -0.0022745842579752207, -0.00460152979940176, 0.9998918771743774, 0.01377908606082201], "tcp_vel": [-0.00025023554917424917, 0.00029477220959961414, -0.00014187319902703166, 0.00010422296327305958, 0.00049649114953354, -0.0004066739056725055], "flange_pose": [0.6786543130874634, 0.02846510335803032, -0.0650242269039154, -0.0022745842579752207, -0.00460152979940176, 0.9998918771743774, 0.01377908606082201], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.94335174560547, 15.12507438659668, 28.152570724487305, 0.32219216227531433, -24.050941467285156, 1.8033117055892944], "ext_wrench_in_world": [-108.20752439107478, 14.89378271091122, -27.24718703624255, -0.1107958174897305, -23.99412235203364, -2.4644153875088275]}
+{"timestamp_ns": 1789729725014249855, "elapsed_ms": 14166, "source_timestamp_ns": 1789729725009172855, "q": [0.83668452501297, -1.8974034786224365, -1.0064539909362793, 1.3811182975769043, -0.16131702065467834, 0.5938264727592468, 0.7036249041557312], "theta": [0.8387749195098877, -1.8954689502716064, -1.0046650171279907, 1.3627058267593384, -0.16192300617694855, 0.5937925577163696, 0.7036040425300598], "dq": [0.000323698011925444, -0.00014705695502925664, -6.050323281669989e-05, -0.0004416818846948445, -0.0024783280678093433, -0.0027557143475860357, 0.0007470629061572254], "dtheta": [0.00016413500998169184, 9.679013601271436e-05, -6.715464405715466e-05, 0.00021870336786378175, -0.000684423721395433, -2.8670045139733702e-05, -0.0005077365203760564], "tau": [55.56999969482422, 23.489999771118164, 5.460000038146973, -26.32400131225586, -2.628000020980835, 2.6760001182556152, -0.5480000376701355], "tau_des": [0.48892828822135925, -0.6008249521255493, -0.20502915978431702, -0.561577320098877, 0.9051228761672974, -1.1539653539657593, -0.5198118090629578], "tau_dot": [23.54727554321289, -203.77120971679688, 6.106462001800537, -30.690149307250977, -61.05418014526367, 65.45592498779297, -40.807979583740234], "tau_ext": [-16.74920654296875, -41.55733108520508, 31.81825828552246, 31.349430084228516, 9.543976783752441, -2.9923036098480225, -0.1291155219078064], "tcp_pose": [0.6779525876045227, 0.03259478881955147, -0.21496577560901642, -0.0022749423515051603, -0.004602236207574606, 0.9998919367790222, 0.013777022249996662], "tcp_vel": [8.57298364280723e-05, -0.00016009702812880278, 9.171980491373688e-05, -0.0005380693473853171, -0.00038090546149760485, 0.0008104673470370471], "flange_pose": [0.6786540150642395, 0.0284652691334486, -0.06502427160739899, -0.0022749423515051603, -0.004602236207574606, 0.9998919367790222, 0.013777022249996662], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.94898986816406, 15.099899291992188, 28.13602638244629, 0.3090135455131531, -24.044801712036133, 1.8001309633255005], "ext_wrench_in_world": [-108.21289450638278, 14.867843141826889, -27.231306535667848, -0.0976264686182949, -23.987960972335234, -2.4610257393851582]}
+{"timestamp_ns": 1789729725047576012, "elapsed_ms": 14200, "source_timestamp_ns": 1789729725039179133, "q": [0.836685299873352, -1.8974061012268066, -1.0064542293548584, 1.3811163902282715, -0.1613161414861679, 0.5938239693641663, 0.7036244869232178], "theta": [0.8387759327888489, -1.8954709768295288, -1.0046648979187012, 1.3627045154571533, -0.16192156076431274, 0.5937904119491577, 0.7036038041114807], "dq": [0.0020541760604828596, 0.0007477019680663943, 0.0012468814384192228, 0.0016022541094571352, -0.0025381245650351048, -0.0016504027880728245, -0.00019518742919899523], "dtheta": [0.0002871407486964017, 1.335494926024694e-05, 0.00010797860159073025, 7.417378219543025e-05, -0.000407409475883469, 0.0006818901747465134, 0.0004969145520590246], "tau": [55.599998474121094, 23.459999084472656, 5.436000347137451, -26.304000854492188, -2.6040000915527344, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.4383675754070282, -0.6157349944114685, -0.23707464337348938, -0.5093513131141663, 0.9002636671066284, -1.1836469173431396, -0.5369780659675598], "tau_dot": [29.060209274291992, -196.6013946533203, -63.30854797363281, 19.575454711914062, 6.8291449546813965, 9.133660316467285, 0.8280155062675476], "tau_ext": [-16.754364013671875, -41.56014633178711, 31.8155574798584, 31.35692596435547, 9.537845611572266, -2.9908053874969482, -0.12440121918916702], "tcp_pose": [0.6779522895812988, 0.03259545564651489, -0.2149655520915985, -0.002274957951158285, -0.004602850414812565, 0.9998919367790222, 0.01377597451210022], "tcp_vel": [0.0001828774984460324, 0.00012033770326524973, 0.00028250314062461257, 0.0002266588999191299, -0.0009207997936755419, -0.00020815909374505281], "flange_pose": [0.6786537170410156, 0.028466252610087395, -0.06502404063940048, -0.002274957951158285, -0.004602850414812565, 0.9998919367790222, 0.01377597451210022], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.96155548095703, 15.067426681518555, 28.121774673461914, 0.29682278633117676, -24.04467010498047, 1.7973151206970215], "ext_wrench_in_world": [-108.22511441186182, 14.834684998092733, -27.217930689206312, -0.08539481051845915, -23.98779922922892, -2.4582110835837803]}
+{"timestamp_ns": 1789729725080905668, "elapsed_ms": 14233, "source_timestamp_ns": 1789729725079168983, "q": [0.8366855382919312, -1.8974061012268066, -1.0064539909362793, 1.3811167478561401, -0.161316379904747, 0.5938231348991394, 0.703624427318573], "theta": [0.8387764096260071, -1.895470142364502, -1.0046647787094116, 1.3627042770385742, -0.16192156076431274, 0.5937899351119995, 0.7036030888557434], "dq": [-0.00017561423010192811, -0.0026409674901515245, 0.001291234279051423, -0.0013331311056390405, 0.0014299922622740269, -0.0017254160484299064, -3.57339704351034e-05], "dtheta": [0.0007171175675466657, -7.946230471134186e-05, -0.0002196645364165306, -0.00019880745094269514, -0.0005106147727929056, 0.0008526783203706145, -0.0008654374396428466], "tau": [55.59000015258789, 23.600000381469727, 5.4760003089904785, -26.304000854492188, -2.580000162124634, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.31705185770988464, -0.6527451276779175, -0.21839700639247894, -0.428768128156662, 0.9305384159088135, -1.2109706401824951, -0.5142898559570312], "tau_dot": [16.689496994018555, -5.696491718292236, 71.6445541381836, 28.32838249206543, 47.32296371459961, 14.687427520751953, 20.42814826965332], "tau_ext": [-16.76072883605957, -41.57490158081055, 31.808387756347656, 31.35546875, 9.527896881103516, -2.9892418384552, -0.12030187249183655], "tcp_pose": [0.677951991558075, 0.03259541466832161, -0.21496562659740448, -0.0022752864751964808, -0.004603095818310976, 0.9998919367790222, 0.013775630854070187], "tcp_vel": [0.0005126155447214842, 3.9072358049452305e-05, 0.0006783255375921726, 0.00015951153181958944, -0.0018973944243043661, 0.0009958731243386865], "flange_pose": [0.6786535382270813, 0.02846631221473217, -0.06502410769462585, -0.0022752864751964808, -0.004603095818310976, 0.9998919367790222, 0.013775630854070187], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.93909454345703, 15.067602157592773, 28.15166473388672, 0.2973398268222809, -24.0452823638916, 1.7987946271896362], "ext_wrench_in_world": [-108.20282110496066, 14.835818341327451, -27.247843804620846, -0.08590270951476053, -23.98837703169799, -2.459688019302445]}
+{"timestamp_ns": 1789729725114237294, "elapsed_ms": 14266, "source_timestamp_ns": 1789729725109177761, "q": [0.8366855382919312, -1.8974062204360962, -1.0064541101455688, 1.3811172246932983, -0.16131733357906342, 0.5938239693641663, 0.7036252617835999], "theta": [0.8387764096260071, -1.895470142364502, -1.0046650171279907, 1.3627045154571533, -0.16192203760147095, 0.593791127204895, 0.7036033272743225], "dq": [0.0012357846135273576, 0.0011210613884031773, 0.0010449131950736046, 0.0014900362584739923, 0.00041715570841915905, -0.000927149027120322, 0.0035639829002320766], "dtheta": [-6.518778718600515e-06, 0.00022190390154719353, 0.0003312613698653877, -4.485835688683437e-06, 0.0006746696308255196, -0.00022492840071208775, -0.0007304155733436346], "tau": [55.56999969482422, 23.6299991607666, 5.4720001220703125, -26.32400131225586, -2.616000175476074, 2.6560001373291016, -0.527999997138977], "tau_des": [0.5238276124000549, -0.5602049827575684, -0.2728956341743469, -0.5732524394989014, 0.8618387579917908, -1.1514495611190796, -0.5178168416023254], "tau_dot": [25.897178649902344, 185.94972229003906, 18.468358993530273, 4.247566223144531, -11.960555076599121, -25.74566650390625, 21.099050521850586], "tau_ext": [-16.772056579589844, -41.614158630371094, 31.808218002319336, 31.36119842529297, 9.526548385620117, -2.995274305343628, -0.12215426564216614], "tcp_pose": [0.6779520511627197, 0.03259534016251564, -0.21496573090553284, -0.0022749267518520355, -0.004602964501827955, 0.9998919367790222, 0.013775385916233063], "tcp_vel": [-0.00018478170386515558, 0.00013014403521083295, 4.151748669301014e-07, 0.0006539762252941728, 0.0006306531140580773, 0.000444399775005877], "flange_pose": [0.6786534786224365, 0.02846631035208702, -0.06502421200275421, -0.0022749267518520355, -0.004602964501827955, 0.9998919367790222, 0.013775385916233063], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.92739868164062, 15.0986328125, 28.162527084350586, 0.3120954930782318, -24.0483341217041, 1.8020851612091064], "ext_wrench_in_world": [-108.19143675374087, 14.867259397137248, -27.257983086589622, -0.10064982933653999, -23.991474848520426, -2.462984522654141]}
+{"timestamp_ns": 1789729725147563460, "elapsed_ms": 14300, "source_timestamp_ns": 1789729725139176280, "q": [0.8366855978965759, -1.8974062204360962, -1.0064551830291748, 1.381116509437561, -0.16131824254989624, 0.5938253998756409, 0.7036260962486267], "theta": [0.8387763500213623, -1.895470380783081, -1.0046663284301758, 1.3627045154571533, -0.16192251443862915, 0.5937925577163696, 0.7036040425300598], "dq": [-0.00016056436288636178, -0.0029184489976614714, -0.0002521615824662149, 0.0017757720779627562, -0.0004937564372085035, 0.0012759440578520298, -0.002477635396644473], "dtheta": [-0.00028100545750930905, -5.2944298658985645e-05, -9.842387225944549e-05, -5.585542749031447e-05, 0.0002864531707018614, 0.00013730706996284425, 0.0006798521499149501], "tau": [55.57999801635742, 23.60999870300293, 5.432000160217285, -26.308000564575195, -2.616000175476074, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.5677731037139893, -0.5766421556472778, -0.21329689025878906, -0.5826051831245422, 0.8665754795074463, -1.1568607091903687, -0.5477450489997864], "tau_dot": [9.96955680847168, 3.9065022468566895, 13.706825256347656, 52.460670471191406, -4.833270072937012, -13.409904479980469, -27.399076461791992], "tau_ext": [-16.7567138671875, -41.60533905029297, 31.80986976623535, 31.360355377197266, 9.534104347229004, -3.0007715225219727, -0.12081923335790634], "tcp_pose": [0.6779531240463257, 0.03259501978754997, -0.21496519446372986, -0.0022736324463039637, -0.004602375905960798, 0.9998919367790222, 0.013775371946394444], "tcp_vel": [-3.316928632557392e-05, 1.3832961485604756e-05, -0.0001945766998687759, 0.00019457380403764546, 0.0002784755197353661, -0.0008842379902489483], "flange_pose": [0.678654134273529, 0.0284659955650568, -0.06502367556095123, -0.0022736324463039637, -0.004602375905960798, 0.9998919367790222, 0.013775371946394444], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.92603302001953, 15.117431640625, 28.1608943939209, 0.32291072607040405, -24.049060821533203, 1.8046592473983765], "ext_wrench_in_world": [-108.19014723233735, 14.886148695939164, -27.256117382350038, -0.1114926377760753, -23.992230527546006, -2.465529646718219]}
+{"timestamp_ns": 1789729725180902315, "elapsed_ms": 14333, "source_timestamp_ns": 1789729725179172490, "q": [0.8366857171058655, -1.897406816482544, -1.0064587593078613, 1.3811161518096924, -0.1613195389509201, 0.5938250422477722, 0.7036266326904297], "theta": [0.8387765884399414, -1.8954710960388184, -1.004670262336731, 1.3627040386199951, -0.16192324459552765, 0.5937930345535278, 0.7036040425300598], "dq": [0.0007379368180409074, -7.945484685478732e-05, 4.515132604865357e-05, -0.0030507943592965603, 0.001001511118374765, -0.0009762092377059162, 0.0006708793225698173], "dtheta": [0.00011215599079150707, -0.00035309410304762423, -4.720727520179935e-05, -9.257892816094682e-05, -0.0005955012748017907, 0.0003791785566136241, 8.50832075229846e-05], "tau": [55.59000015258789, 23.56999969482422, 5.4120001792907715, -26.316001892089844, -2.6000001430511475, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.4745398461818695, -0.5754518508911133, -0.2254689633846283, -0.5282904505729675, 0.9111185073852539, -1.1786636114120483, -0.5320045948028564], "tau_dot": [22.039031982421875, -88.60135650634766, -69.23225402832031, -8.10326099395752, 35.86026382446289, 47.28078079223633, -16.028846740722656], "tau_ext": [-16.761728286743164, -41.616737365722656, 31.835769653320312, 31.36569595336914, 9.54294490814209, -3.0030453205108643, -0.12577487528324127], "tcp_pose": [0.6779544353485107, 0.03259315341711044, -0.21496526896953583, -0.002272647572681308, -0.004601404536515474, 0.999891996383667, 0.013773622922599316], "tcp_vel": [0.00013363535981625319, 0.00011359049676684663, 0.00010215512884315103, -0.0003614872111938894, -0.0008146912441588938, 0.0004251995705999434], "flange_pose": [0.6786551475524902, 0.028464650735259056, -0.06502373516559601, -0.002272647572681308, -0.004601404536515474, 0.999891996383667, 0.013773622922599316], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.95292663574219, 15.116848945617676, 28.142879486083984, 0.32333090901374817, -24.04451560974121, 1.804566740989685], "ext_wrench_in_world": [-108.2168673388586, 14.884938307775752, -27.238270722870507, -0.11199615479778052, -23.98770206886209, -2.4652264040688596]}
+{"timestamp_ns": 1789729725214235491, "elapsed_ms": 14366, "source_timestamp_ns": 1789729725209177538, "q": [0.8366864919662476, -1.897407054901123, -1.006459355354309, 1.3811157941818237, -0.1613190621137619, 0.5938251614570618, 0.7036266326904297], "theta": [0.8387773633003235, -1.8954719305038452, -1.0046716928482056, 1.362703561782837, -0.16192300617694855, 0.5937932729721069, 0.7036042809486389], "dq": [-0.000265031325398013, -0.003798041259869933, -0.0001108527067117393, 0.00044738143333233893, 0.00023014457838144153, -0.0012070427183061838, -0.0020692539401352406], "dtheta": [0.0003360689734108746, 3.397130421944894e-05, -0.0001702620938885957, -7.040105174382916e-06, 0.000654525647405535, 0.00024829982430674136, -0.00011212057870579883], "tau": [55.57999801635742, 23.510000228881836, 5.436000347137451, -26.308000564575195, -2.6120002269744873, 2.688000202178955, -0.5480000376701355], "tau_des": [0.4309861958026886, -0.6346909403800964, -0.1901712864637375, -0.5034183859825134, 0.883944034576416, -1.182486653327942, -0.541273832321167], "tau_dot": [20.15547752380371, -23.939998626708984, -0.21128982305526733, -24.25199317932129, 53.34480285644531, 47.69524002075195, -12.96989917755127], "tau_ext": [-16.750808715820312, -41.59986877441406, 31.825098037719727, 31.34836769104004, 9.541500091552734, -3.000797748565674, -0.1268060803413391], "tcp_pose": [0.677954912185669, 0.0325930193066597, -0.21496464312076569, -0.0022720415145158768, -0.004601089283823967, 0.999891996383667, 0.013773646205663681], "tcp_vel": [9.819983824854717e-05, -1.7320273400400765e-05, 0.00020622154988814145, 0.0004902209038846195, -0.0002243494673166424, -0.0004003944923169911], "flange_pose": [0.6786554455757141, 0.028464507311582565, -0.06502310931682587, -0.0022720415145158768, -0.004601089283823967, 0.999891996383667, 0.013773646205663681], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.94930267333984, 15.12653636932373, 28.13531494140625, 0.3219338357448578, -24.040058135986328, 1.8039824962615967], "ext_wrench_in_world": [-108.21325436356008, 14.894518438389085, -27.230587536460693, -0.11064972141165712, -23.983249415864698, -2.464527037505415]}
+{"timestamp_ns": 1789729725247561147, "elapsed_ms": 14400, "source_timestamp_ns": 1789729725239180916, "q": [0.8366857171058655, -1.8974090814590454, -1.0064589977264404, 1.3811149597167969, -0.1613198071718216, 0.593822717666626, 0.7036256194114685], "theta": [0.8387770056724548, -1.8954746723175049, -1.004671335220337, 1.3627028465270996, -0.16192348301410675, 0.5937908887863159, 0.7036035656929016], "dq": [-0.0011637090938165784, -0.0007053592707961798, 0.0005977567634545267, -0.0005125808529555798, 0.0009145729127340019, -9.49621680774726e-05, -0.0006258230423554778], "dtheta": [-0.0005836861091665924, -0.0004286703187972307, -0.00012928247451782227, -0.000329205155139789, -0.0006213842425495386, -0.0005680149770341814, -0.0011146552860736847], "tau": [55.59000015258789, 23.53999900817871, 5.456000328063965, -26.328001022338867, -2.6080000400543213, 2.6640000343322754, -0.5480000376701355], "tau_des": [0.6256060004234314, -0.4865650236606598, -0.2348748743534088, -0.6272027492523193, 0.8995088338851929, -1.134762167930603, -0.5051169395446777], "tau_dot": [2.014021396636963, -124.93801879882812, 6.8581414222717285, -11.242500305175781, 38.12397384643555, -2.4735991954803467, -22.729331970214844], "tau_ext": [-16.76921272277832, -41.587032318115234, 31.817485809326172, 31.362957000732422, 9.541851043701172, -3.003389358520508, -0.12885329127311707], "tcp_pose": [0.6779540181159973, 0.03259356692433357, -0.2149656116962433, -0.002272910438477993, -0.004602562636137009, 0.999891996383667, 0.013772238977253437], "tcp_vel": [-8.936547237681225e-05, -1.5319919839384966e-05, -0.0003965555806644261, -0.0009639484342187643, 0.00033412425545975566, 0.0016168132424354553], "flange_pose": [0.6786548495292664, 0.028465479612350464, -0.06502405554056168, -0.002272910438477993, -0.004602562636137009, 0.999891996383667, 0.013772238977253437], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.93761444091797, 15.118719100952148, 28.120168685913086, 0.3181796669960022, -24.033447265625, 1.8015754222869873], "ext_wrench_in_world": [-108.20151471619184, 14.88599715806513, -27.21557398082501, -0.10687769698437061, -23.9766800565316, -2.4618875678761816]}
+{"timestamp_ns": 1789729725280897552, "elapsed_ms": 14433, "source_timestamp_ns": 1789729725279195413, "q": [0.8366864323616028, -1.897411584854126, -1.0064595937728882, 1.3811150789260864, -0.16131839156150818, 0.5938229560852051, 0.7036234140396118], "theta": [0.8387774229049683, -1.895477294921875, -1.0046720504760742, 1.3627022504806519, -0.16192181408405304, 0.5937916040420532, 0.7036016583442688], "dq": [0.0020403123926371336, -0.0012621406931430101, -5.5524593335576355e-05, 0.0008728901739232242, -0.003012709552422166, -0.00014279030438046902, -0.0010301228612661362], "dtheta": [-0.00017552573990542442, 3.956755608669482e-05, -0.0002592047385405749, -0.00020373145525809377, -4.7379176976392046e-05, 0.00045693988795392215, -0.0007745800539851189], "tau": [55.52000045776367, 23.600000381469727, 5.436000347137451, -26.312002182006836, -2.6080000400543213, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.5038262009620667, -0.5955801606178284, -0.1975681632757187, -0.5352023243904114, 0.8964468240737915, -1.177512526512146, -0.5168092250823975], "tau_dot": [-100.51640319824219, 23.65071678161621, -26.724681854248047, 28.030784606933594, -43.309932708740234, 28.405614852905273, -30.048507690429688], "tau_ext": [-16.760950088500977, -41.56387710571289, 31.805816650390625, 31.36331558227539, 9.54177188873291, -2.990767240524292, -0.12139510363340378], "tcp_pose": [0.6779534220695496, 0.032594095915555954, -0.21496610343456268, -0.0022728422190994024, -0.004603950306773186, 0.999891996383667, 0.013771560043096542], "tcp_vel": [0.00023075680655892938, -4.668542169383727e-05, 2.5388575522811152e-05, 0.00025406727218069136, -0.0004633636272046715, 0.0005490792682394385], "flange_pose": [0.6786542534828186, 0.02846621349453926, -0.06502454727888107, -0.0022728422190994024, -0.004603950306773186, 0.999891996383667, 0.013771560043096542], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.94987487792969, 15.082643508911133, 28.133081436157227, 0.30516430735588074, -24.039953231811523, 1.8012175559997559], "ext_wrench_in_world": [-108.21354135250895, 14.849841323028508, -27.229461491199956, -0.09373484850603092, -23.983076103441125, -2.4617342912950293]}
+{"timestamp_ns": 1789729725314235207, "elapsed_ms": 14466, "source_timestamp_ns": 1789729725309172645, "q": [0.8366870880126953, -1.8974114656448364, -1.0064594745635986, 1.3811156749725342, -0.16131766140460968, 0.5938223600387573, 0.7036231756210327], "theta": [0.8387777805328369, -1.895477294921875, -1.0046719312667847, 1.3627023696899414, -0.16192083060741425, 0.5937908887863159, 0.7036007046699524], "dq": [3.631176514318213e-05, 0.000824139395263046, -0.0016242862911894917, 0.003433014266192913, -0.0011894885683432221, 0.0009274531621485949, 0.002544512040913105], "dtheta": [-0.0003672422608360648, -0.00019967998377978802, 0.00022719318803865463, 4.347887806943618e-05, 0.0005454701604321599, 0.00013381667667999864, 0.0009444107417948544], "tau": [55.62999725341797, 23.559999465942383, 5.456000328063965, -26.332000732421875, -2.6000001430511475, 2.6600000858306885, -0.5680000185966492], "tau_des": [0.6190948486328125, -0.5161502957344055, -0.26913079619407654, -0.6198785901069641, 0.8536445498466492, -1.1480956077575684, -0.5449180006980896], "tau_dot": [110.4551010131836, -42.438018798828125, 60.35661697387695, 7.965029716491699, -63.5129508972168, -46.801395416259766, -54.98465347290039], "tau_ext": [-16.755842208862305, -41.56806945800781, 31.806825637817383, 31.365764617919922, 9.532217025756836, -2.9960227012634277, -0.11911933869123459], "tcp_pose": [0.6779531240463257, 0.03259393572807312, -0.21496598422527313, -0.002273194259032607, -0.004603907000273466, 0.999891996383667, 0.013771514408290386], "tcp_vel": [-0.0002743049990385771, 0.00023512683401349932, -0.0003447991912253201, 0.0003935984568670392, 0.0007011380512267351, -0.000949645705986768], "flange_pose": [0.6786540746688843, 0.02846606820821762, -0.06502442806959152, -0.002273194259032607, -0.004603907000273466, 0.999891996383667, 0.013771514408290386], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.96736907958984, 15.060099601745605, 28.122861862182617, 0.3006693422794342, -24.046472549438477, 1.8019804954528809], "ext_wrench_in_world": [-108.23079878420593, 14.826869249065506, -27.219715062911785, -0.08918764589467296, -23.989530236608367, -2.4626941387330747]}
+{"timestamp_ns": 1789729725347564373, "elapsed_ms": 14500, "source_timestamp_ns": 1789729725339179393, "q": [0.8366878032684326, -1.89741051197052, -1.0064616203308105, 1.381116271018982, -0.16131633520126343, 0.5938223600387573, 0.7036221623420715], "theta": [0.8387781977653503, -1.8954763412475586, -1.0046744346618652, 1.36270272731781, -0.16191987693309784, 0.5937899351119995, 0.7035999894142151], "dq": [-0.0004729476058855653, -0.0011535469675436616, -0.0011314395815134048, 0.001976979896426201, 0.0018153105629608035, 1.2146399058110546e-05, -0.0037558458279818296], "dtheta": [0.00020945024152752012, 7.043260120553896e-05, -0.00020691547251772135, 0.00022208667360246181, 0.0002474413195159286, -0.000508698052726686, 0.00022802177409175783], "tau": [55.57999801635742, 23.579999923706055, 5.436000347137451, -26.308000564575195, -2.572000026702881, 2.6640000343322754, -0.5640000104904175], "tau_des": [0.5094310641288757, -0.6107391119003296, -0.18013979494571686, -0.5767671465873718, 0.8797671794891357, -1.1446998119354248, -0.5404400825500488], "tau_dot": [88.92857360839844, -47.072174072265625, -18.004674911499023, 15.012533187866211, 61.46685791015625, 19.178804397583008, -54.19781494140625], "tau_ext": [-16.760887145996094, -41.59100341796875, 31.81382942199707, 31.362211227416992, 9.529877662658691, -2.9955692291259766, -0.11699114739894867], "tcp_pose": [0.6779538989067078, 0.03259243443608284, -0.21496570110321045, -0.002273065270856023, -0.0046029952354729176, 0.999891996383667, 0.013771427795290947], "tcp_vel": [-8.255087595898658e-05, -0.0002402894606348127, -2.5724773877300322e-05, -0.0003871172957587987, 0.00043121716589666903, -0.0005107005126774311], "flange_pose": [0.6786547303199768, 0.02846458926796913, -0.06502414494752884, -0.002273065270856023, -0.0046029952354729176, 0.999891996383667, 0.013771427795290947], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.96287536621094, 15.073843002319336, 28.13408851623535, 0.3067254424095154, -24.04882049560547, 1.803978443145752], "ext_wrench_in_world": [-108.22644997007649, 14.84115033351583, -27.230606318817966, -0.09527453753431418, -23.991878607692527, -2.4647250529121583]}
+{"timestamp_ns": 1789729725380903678, "elapsed_ms": 14533, "source_timestamp_ns": 1789729725379166154, "q": [0.8366880416870117, -1.8974103927612305, -1.006463885307312, 1.3811172246932983, -0.16131746768951416, 0.5938229560852051, 0.7036234140396118], "theta": [0.8387781381607056, -1.8954761028289795, -1.0046762228012085, 1.3627033233642578, -0.16192035377025604, 0.5937906503677368, 0.7036011815071106], "dq": [0.0013704468728974462, 0.0017660126322880387, 0.00010977673082379624, -0.0001908408012241125, 0.0003074815613217652, -0.0009775444632396102, -0.0003468782815616578], "dtheta": [-0.00025763947633095086, 0.00016636935470160097, -3.647515404736623e-05, -3.110944453510456e-05, 0.000561954453587532, 0.0002254735300084576, 0.00028822862077504396], "tau": [55.54999923706055, 23.619998931884766, 5.460000038146973, -26.292001724243164, -2.5920000076293945, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.5485541224479675, -0.6072648167610168, -0.18951453268527985, -0.5684775710105896, 0.8639532327651978, -1.162728190422058, -0.5450574159622192], "tau_dot": [-68.10023498535156, 4.5866618156433105, 35.7613410949707, 57.49513244628906, -21.49160385131836, 23.564529418945312, 6.006786346435547], "tau_ext": [-16.75537109375, -41.60786437988281, 31.81743621826172, 31.36073112487793, 9.520539283752441, -2.9968628883361816, -0.1203707680106163], "tcp_pose": [0.6779546141624451, 0.03259101137518883, -0.21496587991714478, -0.0022724198643118143, -0.004601944237947464, 0.999891996383667, 0.013770346529781818], "tcp_vel": [-2.1022380678914487e-05, 1.1997247383987997e-05, -0.00013397331349551678, 0.0006133257411420345, 0.00036915516830049455, -0.0007472138968296349], "flange_pose": [0.6786552667617798, 0.028463490307331085, -0.06502430886030197, -0.0022724198643118143, -0.004601944237947464, 0.999891996383667, 0.013770346529781818], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.95380401611328, 15.114474296569824, 28.145191192626953, 0.3217356503009796, -24.051658630371094, 1.8048726320266724], "ext_wrench_in_world": [-108.21773632970267, 14.882324067691632, -27.240794703895, -0.1103097896511982, -23.994835142464325, -2.4655790708643175]}
+{"timestamp_ns": 1789729725414232114, "elapsed_ms": 14566, "source_timestamp_ns": 1789729725409179531, "q": [0.8366871476173401, -1.8974107503890991, -1.0064663887023926, 1.3811174631118774, -0.16131794452667236, 0.5938230752944946, 0.7036221027374268], "theta": [0.8387778401374817, -1.8954766988754272, -1.0046789646148682, 1.362703561782837, -0.16192133724689484, 0.593791127204895, 0.7036004662513733], "dq": [0.00012423028238117695, 4.196490772301331e-05, -0.0010082708904519677, 0.0019566924311220646, -0.0017738076858222485, -0.0017916791839525104, 0.0002799520152620971], "dtheta": [-0.0003714477934408933, -2.154875573978643e-06, -0.0003185447712894529, 0.0001589098828844726, -0.0005361997755244374, 8.861825335770845e-05, -0.0011764655355364084], "tau": [55.5, 23.6299991607666, 5.432000160217285, -26.34800148010254, -2.6040000915527344, 2.680000066757202, -0.5240000486373901], "tau_des": [0.5894784331321716, -0.5694727897644043, -0.16034337878227234, -0.6117903590202332, 0.900010347366333, -1.1453248262405396, -0.5117274522781372], "tau_dot": [-103.09944915771484, 1.2582093477249146, -5.101076602935791, -63.923431396484375, -9.574081420898438, 18.34782600402832, 25.425018310546875], "tau_ext": [-16.760299682617188, -41.610469818115234, 31.82480812072754, 31.367563247680664, 9.522382736206055, -3.001376152038574, -0.12572942674160004], "tcp_pose": [0.677955150604248, 0.032589685171842575, -0.2149668037891388, -0.0022723861038684845, -0.004602003376930952, 0.9998920559883118, 0.013769187964498997], "tcp_vel": [5.3238585678627715e-05, -0.00022918784816283733, -0.00028659289819188416, -0.0005655789282172918, 2.1985283638059627e-06, 0.0012742100516334176], "flange_pose": [0.6786558032035828, 0.028462514281272888, -0.06502524018287659, -0.0022723861038684845, -0.004602003376930952, 0.9998920559883118, 0.013769187964498997], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.95523071289062, 15.11966609954834, 28.142797470092773, 0.32607999444007874, -24.05242156982422, 1.8022310733795166], "ext_wrench_in_world": [-108.21919886061085, 14.887358250028162, -27.238295706244685, -0.1146314664999941, -23.995716422822806, -2.4628847637544804]}
+{"timestamp_ns": 1789729725447562570, "elapsed_ms": 14600, "source_timestamp_ns": 1789729725439177630, "q": [0.8366876840591431, -1.8974114656448364, -1.0064666271209717, 1.381117343902588, -0.16131918132305145, 0.5938214659690857, 0.7036238312721252], "theta": [0.8387781381607056, -1.8954771757125854, -1.004679799079895, 1.362703561782837, -0.16192251443862915, 0.5937892198562622, 0.7036018967628479], "dq": [-0.0018692356534302235, 0.0031191667076200247, 0.00017329718684777617, 0.0011175430845469236, -0.0005740667111240327, -0.0021793434862047434, 0.00038241554284468293], "dtheta": [0.0001659929403103888, -0.0002886248694267124, -2.406766543572303e-05, 0.0001366966898785904, -0.00010728953202487901, -0.000572491844650358, 0.0002001287357416004], "tau": [55.53999710083008, 23.6299991607666, 5.428000450134277, -26.328001022338867, -2.620000123977661, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.5335409641265869, -0.5586463809013367, -0.20492027699947357, -0.596006453037262, 0.8920524716377258, -1.1386454105377197, -0.5375121831893921], "tau_dot": [-42.6087760925293, 49.34894943237305, -25.092205047607422, -20.374174118041992, -16.66217041015625, -6.308462619781494, -10.477020263671875], "tau_ext": [-16.753936767578125, -41.61663055419922, 31.834033966064453, 31.368099212646484, 9.530990600585938, -2.9979166984558105, -0.12640193104743958], "tcp_pose": [0.6779550909996033, 0.03258943557739258, -0.21496665477752686, -0.002272321144118905, -0.004601608961820602, 0.9998920559883118, 0.013768027536571026], "tcp_vel": [-0.00017897936049848795, -5.2465165936155245e-05, -9.16871867957525e-05, -0.0007500535575672984, 0.0003158503386657685, 7.099677168298513e-05], "flange_pose": [0.6786556839942932, 0.0284626092761755, -0.06502507627010345, -0.002272321144118905, -0.004601608961820602, 0.9998920559883118, 0.013768027536571026], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.97342681884766, 15.116145133972168, 28.133277893066406, 0.32454273104667664, -24.05368423461914, 1.8001627922058105], "ext_wrench_in_world": [-108.23730213909292, 14.883430019291703, -27.228845077167886, -0.11309160649668903, -23.9970268441565, -2.4608031719044874]}
+{"timestamp_ns": 1789729725480898605, "elapsed_ms": 14633, "source_timestamp_ns": 1789729725479171860, "q": [0.8366873264312744, -1.8974124193191528, -1.006466031074524, 1.381116509437561, -0.1613186001777649, 0.5938209295272827, 0.7036234140396118], "theta": [0.8387783169746399, -1.895477294921875, -1.004679799079895, 1.3627033233642578, -0.16192229092121124, 0.5937885046005249, 0.7036011815071106], "dq": [-0.00019999292271677405, 0.0013162513496354222, -0.0016994122415781021, 0.0031039214227348566, -0.0013176538050174713, 0.0016530806897208095, -0.0006139234756119549], "dtheta": [0.00010436053707962856, 0.00010322494199499488, 0.0001909378042910248, 0.0001002420685836114, -0.0005164776812307537, 0.00028851459501311183, -0.00044258820707909763], "tau": [55.599998474121094, 23.600000381469727, 5.444000244140625, -26.352001190185547, -2.6040000915527344, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.47692590951919556, -0.6030939817428589, -0.22220379114151, -0.5359259247779846, 0.901811420917511, -1.1744791269302368, -0.5215278267860413], "tau_dot": [61.62873458862305, 58.27079391479492, 11.951171875, -44.332706451416016, -15.25130558013916, -1.0955787897109985, -7.8976826667785645], "tau_ext": [-16.743911743164062, -41.58293914794922, 31.821916580200195, 31.35247802734375, 9.536442756652832, -2.9920907020568848, -0.12435875087976456], "tcp_pose": [0.6779546737670898, 0.03259017691016197, -0.21496689319610596, -0.0022726207971572876, -0.004602136556059122, 0.9998920559883118, 0.013768097385764122], "tcp_vel": [7.110615115379915e-05, 6.489111547125503e-05, 0.00014233314141165465, 1.0699458471208345e-05, -0.00047973167966119945, 0.0008029533200897276], "flange_pose": [0.6786554455757141, 0.0284633319824934, -0.06502530723810196, -0.0022726207971572876, -0.004602136556059122, 0.9998920559883118, 0.013768097385764122], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.97774505615234, 15.105596542358398, 28.138952255249023, 0.3159148693084717, -24.05477523803711, 1.8010104894638062], "ext_wrench_in_world": [-108.24158199472052, 14.872890712733088, -27.234723377747347, -0.10443411822127992, -23.998013898443553, -2.461721995951915]}
+{"timestamp_ns": 1789729725514235581, "elapsed_ms": 14666, "source_timestamp_ns": 1789729725509169679, "q": [0.8366875052452087, -1.8974124193191528, -1.0064653158187866, 1.3811168670654297, -0.16131585836410522, 0.5938186645507812, 0.7036228179931641], "theta": [0.838778555393219, -1.8954776525497437, -1.00467848777771, 1.3627033233642578, -0.16192035377025604, 0.5937865972518921, 0.7036004662513733], "dq": [0.0008145338506437838, -0.0011963114375248551, -0.00039581660530529916, 0.0013723951997235417, 0.000277238228591159, -0.000717068207450211, -0.002492545172572136], "dtheta": [-7.758615538477898e-05, -0.0002965044986922294, 0.00023157804389484227, 0.00019671213522087783, 0.0005392745952121913, -0.0007343310862779617, -0.000149191590026021], "tau": [55.54999923706055, 23.579999923706055, 5.440000057220459, -26.30000114440918, -2.5920000076293945, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.6239033937454224, -0.4922003448009491, -0.26674729585647583, -0.6565613150596619, 0.8555617332458496, -1.118759274482727, -0.5298150181770325], "tau_dot": [-93.75032806396484, -11.800790786743164, -48.14441680908203, 33.577606201171875, 1.8988025188446045, 50.05595779418945, 15.299731254577637], "tau_ext": [-16.758642196655273, -41.6019172668457, 31.822891235351562, 31.356904983520508, 9.532631874084473, -2.992372989654541, -0.12257268279790878], "tcp_pose": [0.6779535412788391, 0.03259033337235451, -0.21496742963790894, -0.0022744275629520416, -0.0046019782312214375, 0.9998920559883118, 0.01376833114773035], "tcp_vel": [-0.0004604159330483526, 9.919817239278927e-05, -0.0003435499966144562, -0.00032989660394378006, 0.001159144681878388, 0.0002595599798951298], "flange_pose": [0.6786547899246216, 0.028463419526815414, -0.06502584367990494, -0.0022744275629520416, -0.0046019782312214375, 0.9998920559883118, 0.01376833114773035], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.96306610107422, 15.105328559875488, 28.13933753967285, 0.3148465156555176, -24.050085067749023, 1.801437497138977], "ext_wrench_in_world": [-108.22699775971898, 14.872810712371093, -27.23478230957809, -0.10342602718882242, -23.993302921864387, -2.4620347493561083]}
+{"timestamp_ns": 1789729725547565057, "elapsed_ms": 14700, "source_timestamp_ns": 1789729725539171838, "q": [0.8366879224777222, -1.897412657737732, -1.0064659118652344, 1.381117343902588, -0.16131718456745148, 0.5938172936439514, 0.7036217451095581], "theta": [0.8387789130210876, -1.895477294921875, -1.0046788454055786, 1.362703561782837, -0.16192083060741425, 0.5937851667404175, 0.7035996913909912], "dq": [0.0005854935734532773, -0.0005042555858381093, 0.0022043425124138594, -0.0010962738888338208, 0.001190209062770009, -0.0014451338211074471, -0.0015752583276480436], "dtheta": [-0.0001158365557785146, -0.00018312780593987554, -0.00027591048274189234, -2.0388986285979627e-06, -0.0006794653018005192, -0.00014902967086527497, 0.00041256824624724686], "tau": [55.599998474121094, 23.559999465942383, 5.448000431060791, -26.32400131225586, -2.6080000400543213, 2.6480002403259277, -0.5320000052452087], "tau_des": [0.5558754801750183, -0.588764488697052, -0.1731865108013153, -0.5922198295593262, 0.8966819643974304, -1.1450198888778687, -0.539185643196106], "tau_dot": [82.7032470703125, -123.94342803955078, 13.508292198181152, -20.928956985473633, -14.669623374938965, -24.01177406311035, 44.287559509277344], "tau_ext": [-16.759904861450195, -41.58433532714844, 31.794513702392578, 31.3637752532959, 9.52404499053955, -2.9968667030334473, -0.11913418024778366], "tcp_pose": [0.6779534816741943, 0.03258968144655228, -0.21496747434139252, -0.002274444792419672, -0.00460278894752264, 0.9998920559883118, 0.013767069205641747], "tcp_vel": [8.377349149668589e-05, -0.00016913458239287138, -0.00010809024388436228, -0.0008321886416524649, -0.0002247173251817003, -0.00010332455713069066], "flange_pose": [0.6786547899246216, 0.028463145717978477, -0.06502588838338852, -0.002274444792419672, -0.00460278894752264, 0.9998920559883118, 0.013767069205641747], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.94615173339844, 15.097235679626465, 28.147701263427734, 0.31524959206581116, -24.051528930664062, 1.8024979829788208], "ext_wrench_in_world": [-108.21007361940181, 14.864863309269158, -27.24347796650843, -0.10378179335325673, -23.99472711021532, -2.4630723562610344]}
+{"timestamp_ns": 1789729725580912321, "elapsed_ms": 14733, "source_timestamp_ns": 1789729725579165477, "q": [0.8366881608963013, -1.8974119424819946, -1.006466031074524, 1.3811179399490356, -0.16131621599197388, 0.5938184261322021, 0.7036198377609253], "theta": [0.8387789726257324, -1.8954769372940063, -1.0046786069869995, 1.3627040386199951, -0.16192035377025604, 0.593786358833313, 0.7035985589027405], "dq": [0.0016533101443201303, 0.000804868177510798, -0.0018318910151720047, 0.001316843437962234, -0.000502999871969223, -0.000694702728651464, 0.0015189029509201646], "dtheta": [-5.6978515203809366e-05, 0.0001925156102515757, -0.00021356709476094693, -1.0235814443149138e-05, 0.0002992083318531513, 0.00015082390746101737, 0.00028349243802949786], "tau": [55.55999755859375, 23.59000015258789, 5.444000244140625, -26.332000732421875, -2.620000123977661, 2.6720001697540283, -0.5600000023841858], "tau_des": [0.5221012830734253, -0.636998176574707, -0.16769616305828094, -0.558440089225769, 0.8706524968147278, -1.1617159843444824, -0.543605625629425], "tau_dot": [5.071474075317383, -0.8101037740707397, -51.477840423583984, -47.904354095458984, -58.62425231933594, -14.336352348327637, -35.428428649902344], "tau_ext": [-16.75425910949707, -41.613765716552734, 31.807981491088867, 31.362152099609375, 9.527812957763672, -2.9919259548187256, -0.11872433871030807], "tcp_pose": [0.6779536604881287, 0.032589491456747055, -0.21496731042861938, -0.002274337923154235, -0.004603174049407244, 0.9998920559883118, 0.01376780029386282], "tcp_vel": [0.00010185818246100098, -0.00012758673983626068, 3.9449969335692e-06, 0.00029582713614217937, 4.0076742152450606e-05, -0.000733541848603636], "flange_pose": [0.6786549091339111, 0.028462739661335945, -0.06502572447061539, -0.002274337923154235, -0.004603174049407244, 0.9998920559883118, 0.01376780029386282], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.96640014648438, 15.101150512695312, 28.15728187561035, 0.3219636082649231, -24.063879013061523, 1.8072644472122192], "ext_wrench_in_world": [-108.2304069725907, 14.868809657722212, -27.252859224864068, -0.11038596065653367, -24.006999550589466, -2.4681827363779707]}
+{"timestamp_ns": 1789729725614255855, "elapsed_ms": 14766, "source_timestamp_ns": 1789729725609170416, "q": [0.8366886973381042, -1.8974124193191528, -1.0064665079116821, 1.381118893623352, -0.16131684184074402, 0.5938191413879395, 0.703621506690979], "theta": [0.8387792706489563, -1.895477056503296, -1.00467848777771, 1.3627049922943115, -0.16192133724689484, 0.5937868356704712, 0.7035999894142151], "dq": [-0.0011825417168438435, 0.0012924382463097572, 0.00022228495799936354, -0.0005526434979401529, 0.0034708785824477673, -0.00041924609104171395, 0.0025211796164512634], "dtheta": [0.00013170567399356514, 0.00011644221376627684, 0.0003627516271080822, 0.00019885051005985588, 0.0004907846450805664, -6.829886842751876e-05, 0.00042407854925841093], "tau": [55.56999969482422, 23.60999870300293, 5.456000328063965, -26.328001022338867, -2.6080000400543213, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.526676595211029, -0.585148811340332, -0.24923695623874664, -0.5771719217300415, 0.8591031432151794, -1.1550554037094116, -0.5412031412124634], "tau_dot": [92.17192077636719, 77.80374908447266, -0.3903568387031555, -32.26067352294922, -15.788084983825684, 1.1937646865844727, -6.574520587921143], "tau_ext": [-16.76156234741211, -41.61024856567383, 31.804529190063477, 31.36343765258789, 9.525918960571289, -2.9969332218170166, -0.11570652574300766], "tcp_pose": [0.6779536604881287, 0.03258927911520004, -0.21496744453907013, -0.002273955149576068, -0.0046026078052818775, 0.9998920559883118, 0.013767192140221596], "tcp_vel": [-0.0002190145169151947, 0.00015131289546843618, 6.772324923076667e-06, 0.0004618171078618616, 0.0004775526758749038, -0.0004864602815359831], "flange_pose": [0.6786547899246216, 0.028462707996368408, -0.06502585113048553, -0.002273955149576068, -0.0046026078052818775, 0.9998920559883118, 0.013767192140221596], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.95954132080078, 15.115626335144043, 28.15395736694336, 0.3288622200489044, -24.061912536621094, 1.8090118169784546], "ext_wrench_in_world": [-108.22362776013962, 14.883341759523049, -27.249267322719724, -0.11733585974542657, -24.005052633724212, -2.4698156574721413]}
+{"timestamp_ns": 1789729725647580561, "elapsed_ms": 14800, "source_timestamp_ns": 1789729725639169875, "q": [0.8366885185241699, -1.8974120616912842, -1.0064671039581299, 1.3811191320419312, -0.16131682693958282, 0.5938205122947693, 0.703621506690979], "theta": [0.8387790322303772, -1.895477056503296, -1.0046793222427368, 1.362705111503601, -0.16192108392715454, 0.5937877893447876, 0.7035999894142151], "dq": [0.0008667532238177955, -0.002445436082780361, 7.975962944328785e-05, 0.0006697296630591154, 0.001459726830944419, 0.0006186107057146728, -0.0028553446754813194], "dtheta": [0.00018808389722835273, -0.00012174275616416708, -0.00013708966434933245, -4.492440712056123e-05, 0.00044011889258399606, -0.000780670263338834, -9.815033990889788e-05], "tau": [55.55999755859375, 23.6299991607666, 5.460000038146973, -26.308000564575195, -2.6000001430511475, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.5231345295906067, -0.5878782868385315, -0.19890552759170532, -0.5808764696121216, 0.871504545211792, -1.1425529718399048, -0.537092387676239], "tau_dot": [47.97859573364258, -27.295513153076172, 4.8251495361328125, -14.978610038757324, 9.221476554870605, 26.48986053466797, -50.705841064453125], "tau_ext": [-16.75809669494629, -41.6147575378418, 31.805700302124023, 31.36048126220703, 9.527861595153809, -3.0030763149261475, -0.12443922460079193], "tcp_pose": [0.6779540777206421, 0.03258899226784706, -0.21496742963790894, -0.0022735344246029854, -0.004602282773703337, 0.9998920559883118, 0.013767512515187263], "tcp_vel": [-0.00013423996279016137, -0.00012340063403826207, -2.1031224605394527e-05, -0.0003886146005243063, 0.0005638509755954146, -0.00014950046897865832], "flange_pose": [0.6786550283432007, 0.028462324291467667, -0.06502584367990494, -0.0022735344246029854, -0.004602282773703337, 0.9998920559883118, 0.013767512515187263], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.94805908203125, 15.116491317749023, 28.153427124023438, 0.330524742603302, -24.056835174560547, 1.8075098991394043], "ext_wrench_in_world": [-108.21211908485812, 14.884387465757507, -27.24884439932595, -0.11905155533833614, -24.000032470109655, -2.468182614351536]}
+{"timestamp_ns": 1789729725680910267, "elapsed_ms": 14833, "source_timestamp_ns": 1789729725679182282, "q": [0.836689293384552, -1.8974125385284424, -1.0064677000045776, 1.3811194896697998, -0.1613178700208664, 0.5938194394111633, 0.7036231756210327], "theta": [0.8387795686721802, -1.8954776525497437, -1.004679799079895, 1.3627060651779175, -0.16192300617694855, 0.5937868356704712, 0.7036023736000061], "dq": [0.001174888457171619, -0.0009606511448509991, -0.0016365699702873826, -0.0027696106117218733, 0.0009636941249482334, 0.0010274617234244943, -0.0018591346452012658], "dtheta": [-0.00021483644377440214, -0.0005559863639064133, -7.5695184932556e-05, 3.200093487976119e-06, 0.00011993457155767828, 0.0003631418221630156, -2.3923183107399382e-05], "tau": [55.56999969482422, 23.6299991607666, 5.432000160217285, -26.296001434326172, -2.6040000915527344, 2.6680002212524414, -0.5320000052452087], "tau_des": [0.5998046398162842, -0.5118448734283447, -0.24083632230758667, -0.6094219088554382, 0.8737825751304626, -1.1562522649765015, -0.5332418084144592], "tau_dot": [1.845299482345581, 25.719451904296875, -4.8630170822143555, 25.223093032836914, -12.109150886535645, 26.160858154296875, -28.05247688293457], "tau_ext": [-16.768861770629883, -41.624786376953125, 31.8171329498291, 31.3640193939209, 9.532927513122559, -3.0011489391326904, -0.13274739682674408], "tcp_pose": [0.6779540181159973, 0.03258853405714035, -0.2149672955274582, -0.0022733891382813454, -0.004601772408932447, 0.9998920559883118, 0.013766379095613956], "tcp_vel": [-0.00011904907296411693, 0.0001869624393293634, -0.00028461735928431153, -0.0001507900597061962, -1.433414490747964e-05, 0.0002686148218344897], "flange_pose": [0.6786549687385559, 0.028462205082178116, -0.0650257021188736, -0.0022733891382813454, -0.004601772408932447, 0.9998920559883118, 0.013766379095613956], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.93302154541016, 15.123472213745117, 28.150033950805664, 0.33212965726852417, -24.047510147094727, 1.8024332523345947], "ext_wrench_in_world": [-108.19710729697253, 14.891459932382004, -27.2453914782497, -0.12074165176067735, -23.99087136991768, -2.4627895522306904]}
+{"timestamp_ns": 1789729725714228385, "elapsed_ms": 14866, "source_timestamp_ns": 1789729725709177781, "q": [0.8366906046867371, -1.897413730621338, -1.0064677000045776, 1.381118655204773, -0.16131794452667236, 0.5938161015510559, 0.7036222815513611], "theta": [0.8387805819511414, -1.89547860622406, -1.004679799079895, 1.3627058267593384, -0.16192372143268585, 0.5937837362289429, 0.7036023736000061], "dq": [-0.0005569091299548745, 3.874307731166482e-05, -7.9527628258802e-05, -0.00046177461626939476, -0.0011143471347168088, -9.055848204297945e-05, -0.0011026759166270494], "dtheta": [6.61402809782885e-05, -0.00023084369604475796, -3.279885640949942e-05, 0.00013782318274024874, -0.00012319949746597558, 1.0829033271875232e-05, 2.2158530555316247e-05], "tau": [55.599998474121094, 23.549999237060547, 5.420000076293945, -26.296001434326172, -2.6120002269744873, 2.632000207901001, -0.527999997138977], "tau_des": [0.5371211171150208, -0.5661538243293762, -0.21968936920166016, -0.5841253995895386, 0.8841722011566162, -1.1541787385940552, -0.5326542854309082], "tau_dot": [60.0394401550293, -59.34397888183594, -34.69057846069336, -5.884520053863525, 2.1230859756469727, -8.654010772705078, 9.567610740661621], "tau_ext": [-16.76668930053711, -41.610164642333984, 31.814559936523438, 31.36127281188965, 9.53957462310791, -2.9989218711853027, -0.13661211729049683], "tcp_pose": [0.6779537200927734, 0.03258851543068886, -0.2149667739868164, -0.0022736303508281708, -0.00460260221734643, 0.9998920559883118, 0.01376503985375166], "tcp_vel": [-7.154876948334277e-05, 1.6437288650195114e-05, -7.554301555501297e-05, -0.000340975821018219, -4.107677887077443e-05, 0.00019930890994146466], "flange_pose": [0.6786547303199768, 0.028462588787078857, -0.06502517312765121, -0.0022736303508281708, -0.00460260221734643, 0.9998920559883118, 0.01376503985375166], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.9310302734375, 15.126608848571777, 28.14986801147461, 0.3294108808040619, -24.045682907104492, 1.79934823513031], "ext_wrench_in_world": [-108.19518111331682, 14.894355284114845, -27.24513946989343, -0.11798628932507277, -23.98911135623712, -2.4596031473110465]}
+{"timestamp_ns": 1789729725747564890, "elapsed_ms": 14900, "source_timestamp_ns": 1789729725739252001, "q": [0.8366913795471191, -1.897415041923523, -1.0064681768417358, 1.3811174631118774, -0.1613168865442276, 0.5938117504119873, 0.7036213278770447], "theta": [0.8387819528579712, -1.8954805135726929, -1.0046799182891846, 1.3627052307128906, -0.16192372143268585, 0.5937792062759399, 0.7036014199256897], "dq": [0.00014012497558724135, -0.0011265432694926858, 0.0010788176441565156, 0.0019566137343645096, -0.0015821356792002916, -0.0008210496162064373, -0.00043911769171245396], "dtheta": [-2.172510176023934e-05, -6.94214177201502e-05, -0.00014652709069196135, -0.00014311718405224383, -0.00020432534802239388, 0.0007131618331186473, -0.001149780466221273], "tau": [55.61000061035156, 23.59000015258789, 5.464000225067139, -26.340002059936523, -2.624000072479248, 2.6520001888275146, -0.5480000376701355], "tau_des": [0.48542892932891846, -0.5956546664237976, -0.20911818742752075, -0.5294050574302673, 0.898391604423523, -1.1810985803604126, -0.5116665363311768], "tau_dot": [36.74916076660156, -42.56917953491211, 24.90102767944336, -34.113224029541016, -74.0035400390625, 5.839804172515869, -50.64668655395508], "tau_ext": [-16.74518585205078, -41.564117431640625, 31.810596466064453, 31.343814849853516, 9.544116020202637, -2.9892938137054443, -0.13988347351551056], "tcp_pose": [0.6779532432556152, 0.032588232308626175, -0.21496668457984924, -0.00227458868175745, -0.004602980334311724, 0.9998921155929565, 0.013763687573373318], "tcp_vel": [0.00024257136101368815, 6.527431105496362e-05, 0.00011849421571241692, 0.00028199408552609384, -0.0008234853157773614, 0.0011669014347717166], "flange_pose": [0.6786545515060425, 0.028462713584303856, -0.06502506881952286, -0.00227458868175745, -0.004602980334311724, 0.9998921155929565, 0.013763687573373318], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.9224624633789, 15.115132331848145, 28.146371841430664, 0.3161846101284027, -24.040050506591797, 1.7944952249526978], "ext_wrench_in_world": [-108.18655580912024, 14.882707659310833, -27.24183423142427, -0.10477526972181458, -23.983498993281913, -2.4545900597950565]}
+{"timestamp_ns": 1789729725780900665, "elapsed_ms": 14933, "source_timestamp_ns": 1789729725779170700, "q": [0.8366917967796326, -1.8974148035049438, -1.0064677000045776, 1.381118655204773, -0.16131377220153809, 0.5938087105751038, 0.7036214470863342], "theta": [0.8387830257415771, -1.895480990409851, -1.0046792030334473, 1.362706184387207, -0.16192181408405304, 0.5937763452529907, 0.7036014199256897], "dq": [-0.0011338373878970742, 0.0006392074865289032, -0.0007062679505906999, 0.001328211510553956, 0.0003523080958984792, 0.0006478982395492494, 0.0007615965441800654], "dtheta": [0.00035977267543785274, 8.412179158767685e-05, -0.00017593619122635573, -0.0001408955577062443, 8.739036275073886e-05, -0.00039927108446136117, -4.9788512114901096e-05], "tau": [55.57999801635742, 23.56999969482422, 5.452000141143799, -26.336000442504883, -2.580000162124634, 2.6440000534057617, -0.527999997138977], "tau_des": [0.4561748802661896, -0.6449489593505859, -0.1834097057580948, -0.5362708568572998, 0.8807088136672974, -1.15354323387146, -0.539614200592041], "tau_dot": [-48.60659408569336, -10.939656257629395, 4.360473155975342, -42.11854553222656, 55.61640548706055, -40.243778228759766, 6.806650638580322], "tau_ext": [-16.7684268951416, -41.56147766113281, 31.79669761657715, 31.354459762573242, 9.53706169128418, -2.9887256622314453, -0.13039301335811615], "tcp_pose": [0.6779517531394958, 0.032587986439466476, -0.21496742963790894, -0.0022769332863390446, -0.004602254368364811, 0.9998921155929565, 0.01376357302069664], "tcp_vel": [0.00012724341650027782, -0.00015158011228777468, 0.000269508920609951, -0.0001753958931658417, -0.0001799238525563851, -0.0001914653112180531], "flange_pose": [0.6786537766456604, 0.028462503105401993, -0.06502581387758255, -0.0022769332863390446, -0.004602254368364811, 0.9998921155929565, 0.01376357302069664], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.91806030273438, 15.082037925720215, 28.15774917602539, 0.30152836441993713, -24.04010772705078, 1.7933170795440674], "ext_wrench_in_world": [-108.18201222183988, 14.85012400355218, -27.253632691262183, -0.09015857353439437, -23.983453262889373, -2.4534722433645397]}
+{"timestamp_ns": 1789729725814293194, "elapsed_ms": 14966, "source_timestamp_ns": 1789729725809177278, "q": [0.8366919755935669, -1.8974140882492065, -1.006466269493103, 1.3811187744140625, -0.1613149493932724, 0.5938127040863037, 0.703620970249176], "theta": [0.8387833833694458, -1.8954805135726929, -1.004678726196289, 1.3627068996429443, -0.16192181408405304, 0.5937801599502563, 0.7036011815071106], "dq": [-0.0009144622599706054, 0.0004061305953655392, 0.0018306418787688017, 0.0016640701796859503, -0.00022498417820315808, -0.0005657044239342213, -0.0009660120704211295], "dtheta": [0.0005137168918736279, 0.00018630952399689704, 0.0006289809825830162, 0.0004665972664952278, -0.00030850578332319856, 0.00039490978815592825, 0.00018508797802496701], "tau": [55.59000015258789, 23.600000381469727, 5.456000328063965, -26.332000732421875, -2.6000001430511475, 2.6560001373291016, -0.5240000486373901], "tau_des": [0.4433874785900116, -0.606687068939209, -0.29405465722084045, -0.5303309559822083, 0.8788648247718811, -1.1782433986663818, -0.5287274718284607], "tau_dot": [10.192032814025879, -19.90813446044922, 26.231534957885742, -71.37492370605469, 16.311321258544922, -44.10918426513672, 2.9599571228027344], "tau_ext": [-16.7603816986084, -41.58622741699219, 31.80489158630371, 31.358062744140625, 9.53084659576416, -2.993417501449585, -0.13528203964233398], "tcp_pose": [0.6779524087905884, 0.03258904814720154, -0.2149665355682373, -0.0022752985823899508, -0.004603073466569185, 0.9998920559883118, 0.013765181414783001], "tcp_vel": [-0.00011671220272546634, 0.0002430772437946871, 0.0002999363059643656, 0.0003371805651113391, -0.0004043429798912257, 0.0003674354520626366], "flange_pose": [0.67865389585495, 0.028463080525398254, -0.06502493470907211, -0.0022752985823899508, -0.004603073466569185, 0.9998920559883118, 0.013765181414783001], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.92008972167969, 15.07795238494873, 28.16417694091797, 0.3036792278289795, -24.044353485107422, 1.793186902999878], "ext_wrench_in_world": [-108.18396850134096, 14.846114794408397, -27.260467920225327, -0.09222381518743535, -23.987712947810635, -2.4535274933557694]}
+{"timestamp_ns": 1789729725847608951, "elapsed_ms": 15000, "source_timestamp_ns": 1789729725839171228, "q": [0.8366917371749878, -1.8974145650863647, -1.0064666271209717, 1.3811192512512207, -0.16131581366062164, 0.5938129425048828, 0.7036209106445312], "theta": [0.8387834429740906, -1.8954806327819824, -1.0046794414520264, 1.362707257270813, -0.16192324459552765, 0.5937801599502563, 0.7036014199256897], "dq": [-1.461383726564236e-05, -0.0011405522236600518, 0.00032572276541031897, 0.0001652233477216214, -0.002049606991931796, 0.00039157801074907184, -0.0006727225845679641], "dtheta": [9.224646782968193e-05, 0.0001267231855308637, -7.974093750817701e-05, -0.00014692245167680085, -0.0003917120338883251, -0.0006879789871163666, -0.00021919072605669498], "tau": [55.55999755859375, 23.600000381469727, 5.456000328063965, -26.32400131225586, -2.5880000591278076, 2.6760001182556152, -0.527999997138977], "tau_des": [0.4962688386440277, -0.6255812048912048, -0.19904941320419312, -0.5549491047859192, 0.8846167922019958, -1.1514716148376465, -0.5289198756217957], "tau_dot": [-44.052093505859375, 15.655770301818848, 20.261878967285156, -60.74873352050781, 15.579416275024414, -0.3891642987728119, -4.8685712814331055], "tau_ext": [-16.75145721435547, -41.59311294555664, 31.804208755493164, 31.349164962768555, 9.531828880310059, -3.001410722732544, -0.13323751091957092], "tcp_pose": [0.6779523491859436, 0.032588861882686615, -0.21496696770191193, -0.002275213599205017, -0.004603399895131588, 0.9998920559883118, 0.013764540664851665], "tcp_vel": [6.2643586716149e-05, -0.0001891625433927402, 0.00011523737339302897, -0.0005646173376590014, 6.167132960399613e-05, 0.00028857949655503035], "flange_pose": [0.6786538362503052, 0.02846308797597885, -0.06502535194158554, -0.002275213599205017, -0.004603399895131588, 0.9998920559883118, 0.013764540664851665], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.91700744628906, 15.089656829833984, 28.15325164794922, 0.3125765919685364, -24.042444229125977, 1.7941656112670898], "ext_wrench_in_world": [-108.18094697154002, 14.85743682192998, -27.249277076291833, -0.10112661768938759, -23.985863239899075, -2.4543832058555823]}
+{"timestamp_ns": 1789729725880900582, "elapsed_ms": 15033, "source_timestamp_ns": 1789729725879208382, "q": [0.8366917967796326, -1.8974148035049438, -1.0064682960510254, 1.3811191320419312, -0.16131632030010223, 0.5938118100166321, 0.7036222219467163], "theta": [0.8387839794158936, -1.8954811096191406, -1.0046823024749756, 1.3627080917358398, -0.16192348301410675, 0.5937796831130981, 0.7036030888557434], "dq": [0.0004591176984831691, 0.0005914559587836266, 0.001292749191634357, -0.001314440625719726, -0.0004866669769398868, -0.00017129119078163058, -0.0011710900580510497], "dtheta": [-0.00019206148863304406, 0.00035045668482780457, -0.00031159844365902245, -6.516584107885137e-05, -0.0003770161420106888, -0.0003717492800205946, 0.00026431880542077124], "tau": [55.54999923706055, 23.579999923706055, 5.440000057220459, -26.308000564575195, -2.6000001430511475, 2.6640000343322754, -0.5400000214576721], "tau_des": [0.5369547605514526, -0.6661025285720825, -0.13812699913978577, -0.5705944895744324, 0.8747174739837646, -1.1489269733428955, -0.5455952882766724], "tau_dot": [-77.36144256591797, 9.523046493530273, 58.632179260253906, -12.78854751586914, 28.715347290039062, -15.87404727935791, -10.009791374206543], "tau_ext": [-16.76412582397461, -41.601139068603516, 31.81320571899414, 31.35521697998047, 9.540014266967773, -3.0050370693206787, -0.1364854872226715], "tcp_pose": [0.6779527068138123, 0.03258782625198364, -0.21496716141700745, -0.002275196136906743, -0.004602378234267235, 0.9998921155929565, 0.01376341748982668], "tcp_vel": [0.00016364904877264053, -0.0003475653356872499, -2.5516417736071162e-05, -0.0003796078381128609, 0.00012011949729640037, -0.0005101842107251287], "flange_pose": [0.6786541938781738, 0.02846238762140274, -0.06502553820610046, -0.002275196136906743, -0.004602378234267235, 0.9998921155929565, 0.01376341748982668], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.90113830566406, 15.110488891601562, 28.145444869995117, 0.32166439294815063, -24.033308029174805, 1.795141339302063], "ext_wrench_in_world": [-108.16520181794466, 14.87835166033897, -27.241005060125513, -0.11035088282863105, -23.976793585659838, -2.4550126818980234]}
+{"timestamp_ns": 1789729725914225579, "elapsed_ms": 15066, "source_timestamp_ns": 1789729725909179165, "q": [0.8366929888725281, -1.8974170684814453, -1.006471037864685, 1.3811191320419312, -0.16131670773029327, 0.5938121676445007, 0.7036234140396118], "theta": [0.8387851119041443, -1.8954830169677734, -1.0046851634979248, 1.3627086877822876, -0.16192372143268585, 0.5937803983688354, 0.7036040425300598], "dq": [-0.002234084764495492, 0.0005984584568068385, 0.003815036965534091, 9.626206156099215e-05, 0.0006688031717203557, 0.0009017090196721256, 0.0016775763360783458], "dtheta": [0.00010095340985571966, -0.00024820363614708185, -0.00022412874386645854, -6.906736234668642e-05, 0.00028336787363514304, 0.0012117292499169707, -0.000798605615273118], "tau": [55.57999801635742, 23.60999870300293, 5.444000244140625, -26.30000114440918, -2.616000175476074, 2.6520001888275146, -0.5200000405311584], "tau_des": [0.4778909683227539, -0.5947679281234741, -0.21230797469615936, -0.5176473259925842, 0.8855137825012207, -1.1957573890686035, -0.525589644908905], "tau_dot": [4.479342460632324, 35.43143844604492, 0.033048342913389206, 18.024423599243164, -3.78702974319458, -35.45515441894531, -18.19453239440918], "tau_ext": [-16.767196655273438, -41.60601806640625, 31.83465003967285, 31.355209350585938, 9.543168067932129, -2.999457836151123, -0.14509126543998718], "tcp_pose": [0.6779534220695496, 0.032586999237537384, -0.2149670571088791, -0.0022739304695278406, -0.004601679276674986, 0.9998921155929565, 0.013761751353740692], "tcp_vel": [0.0002448770101182163, 0.00017384295642841607, 0.00012801820412278175, 0.0006846323958598077, -0.0010083609959110618, 0.0006104692001827061], "flange_pose": [0.6786545515060425, 0.028462057933211327, -0.06502542644739151, -0.0022739304695278406, -0.004601679276674986, 0.9998921155929565, 0.013761751353740692], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.9083023071289, 15.128557205200195, 28.136428833007812, 0.3206116855144501, -24.0290584564209, 1.79266357421875], "ext_wrench_in_world": [-108.17239839637747, 14.896161656693433, -27.231786031505614, -0.10935345326085524, -23.972612188466986, -2.4523440886090886]}
+{"timestamp_ns": 1789729725947626016, "elapsed_ms": 15100, "source_timestamp_ns": 1789729725939183823, "q": [0.8366943597793579, -1.8974177837371826, -1.0064727067947388, 1.3811180591583252, -0.16131623089313507, 0.5938110947608948, 0.7036226987838745], "theta": [0.8387866020202637, -1.895484447479248, -1.0046873092651367, 1.3627086877822876, -0.16192443668842316, 0.5937789678573608, 0.7036040425300598], "dq": [-0.0026501694228500128, 0.0001065250689862296, -0.0009054584661498666, -0.0005632092943415046, -0.0006196537287905812, -0.0014262753538787365, 0.0007283197483047843], "dtheta": [0.00017645371553953737, 2.1198582544457167e-05, -0.00017589631897863, 0.00011541207641130313, 0.0001275338145205751, -0.00024094282707665116, 0.00042907323222607374], "tau": [55.61000061035156, 23.51999855041504, 5.456000328063965, -26.30000114440918, -2.632000207901001, 2.6560001373291016, -0.5400000214576721], "tau_des": [0.4994080066680908, -0.6335494518280029, -0.16867265105247498, -0.5594815015792847, 0.876619279384613, -1.155969262123108, -0.550383448600769], "tau_dot": [27.58030128479004, -169.56202697753906, 14.894919395446777, -1.9202308654785156, -33.07815170288086, -23.114503860473633, -59.7311897277832], "tau_ext": [-16.768173217773438, -41.5782356262207, 31.823280334472656, 31.349950790405273, 9.545312881469727, -2.997743606567383, -0.14706841111183167], "tcp_pose": [0.6779541969299316, 0.03258639574050903, -0.21496614813804626, -0.002273105550557375, -0.004601545166224241, 0.9998921155929565, 0.013761009089648724], "tcp_vel": [-5.1382485253270715e-06, -0.00015441409777849913, 2.692246198421344e-05, -0.00024299112556036562, 0.0001251193752977997, -0.000613526557572186], "flange_pose": [0.6786550283432007, 0.028461677953600883, -0.06502451002597809, -0.002273105550557375, -0.004601545166224241, 0.9998921155929565, 0.013761009089648724], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.90127563476562, 15.1179780960083, 28.1353759765625, 0.31070974469184875, -24.024307250976562, 1.7866528034210205], "ext_wrench_in_world": [-108.16522119487972, 14.885614020092678, -27.23125677913425, -0.09947021282633883, -23.967940122109763, -2.446213329712857]}
+{"timestamp_ns": 1789729725980920536, "elapsed_ms": 15133, "source_timestamp_ns": 1789729725979207919, "q": [0.8366947770118713, -1.897418737411499, -1.0064740180969238, 1.3811181783676147, -0.16131675243377686, 0.5938069224357605, 0.7036175727844238], "theta": [0.8387871980667114, -1.895485520362854, -1.004688024520874, 1.3627082109451294, -0.16192395985126495, 0.5937749147415161, 0.7035995125770569], "dq": [-0.0008652260876260698, -0.00017774218576960266, -0.0005073193460702896, -2.6726520445663482e-05, -0.000747270998544991, -0.0019313618540763855, -0.0040769088082015514], "dtheta": [4.5339420466916636e-05, 0.0002882287371903658, 6.51263544568792e-05, -0.00014168414054438472, -0.0001388949458487332, -0.0003517881268635392, -0.0011754472507163882], "tau": [55.54999923706055, 23.559999465942383, 5.428000450134277, -26.316001892089844, -2.6040000915527344, 2.688000202178955, -0.5160000324249268], "tau_des": [0.4777875244617462, -0.6256638765335083, -0.19431930780410767, -0.5436638593673706, 0.8932488560676575, -1.1571018695831299, -0.5097167491912842], "tau_dot": [-79.8392105102539, -20.672578811645508, -33.4758415222168, -37.060157775878906, 12.171272277832031, 76.88951873779297, 40.38988494873047], "tau_ext": [-16.78607749938965, -41.56698989868164, 31.813114166259766, 31.355688095092773, 9.54886245727539, -2.9929614067077637, -0.1383340209722519], "tcp_pose": [0.6779537796974182, 0.032585181295871735, -0.21496668457984924, -0.0022741195280104876, -0.004604089539498091, 0.9998921751976013, 0.013758701272308826], "tcp_vel": [7.357190042966977e-05, -8.698592137079686e-05, 0.0001543701655464247, 2.601388951006811e-05, 1.7706843209452927e-05, 0.0010906433453783393], "flange_pose": [0.6786549091339111, 0.028461158275604248, -0.06502502411603928, -0.0022741195280104876, -0.004604089539498091, 0.9998921751976013, 0.013758701272308826], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.88885498046875, 15.094963073730469, 28.15401268005371, 0.2972418963909149, -24.020992279052734, 1.7848509550094604], "ext_wrench_in_world": [-108.15280687608511, 14.862556091898567, -27.250434132724212, -0.08590684170333356, -23.964563038606236, -2.444269651674214]}
diff --git a/episode_0008/right.actions.eef_pose/data.csv b/episode_0008/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cc6866d74fb6e7bab1050b4a618b3cbe595ab06b
--- /dev/null
+++ b/episode_0008/right.actions.eef_pose/data.csv
@@ -0,0 +1,456 @@
+timestamp_ns,elapsed_ms,x,y,z,r1,r2,r3,r4,r5,r6,gripper
+1789729710847580356,0,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729710881001937,33,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729710914338209,66,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729710947649055,100,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729710981000045,133,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711014326024,166,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711047668310,200,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711081000877,233,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711114337564,266,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711147662632,300,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711180998748,333,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711214322147,366,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711247705547,400,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711281008238,433,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711314341745,466,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711347650245,500,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711381007689,533,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711414320779,566,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711447650506,600,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711481003931,633,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711514322079,666,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711547655536,700,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711580997432,733,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711614325999,766,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711647653537,800,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711681005802,833,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711714322301,866,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711747709101,900,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711781000233,933,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711814329811,966,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711847642850,1000,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711881008663,1033,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711914327092,1066,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711947581499,1100,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729711980921715,1133,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729712014320269,1166,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729712047658620,1200,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729712080910532,1233,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729712114241843,1266,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729712147597241,1300,0.6398379802703857,-0.11633904278278351,-0.28450343012809753,-0.9987522496335266,-0.049463133762289856,0.00688057049842427,-0.04926802078895685,0.9984443078268368,0.026107973795905133,0.8
+1789729712180905286,1333,0.6398379802703857,-0.11645873257870186,-0.2845883607403423,-0.9987522496335268,-0.049462706509921045,0.006883641237251804,-0.049268020788957145,0.9984459267284086,0.026045988692851296,0.8
+1789729712214237707,1366,0.6398379802703857,-0.11675163053788554,-0.284646246454628,-0.9987522496335268,-0.049462706509920774,0.006883641237240513,-0.049268020788957485,0.9984459267284096,0.026045988692812494,0.8
+1789729712247565449,1400,0.6398379802703857,-0.11717838972155901,-0.2847538138015667,-0.9987534746981208,-0.04946270650992047,0.006703539598167816,-0.04927271677066935,0.9984459267284106,0.026037103938085573,0.8
+1789729712280906899,1433,0.639815906800998,-0.11792109992564065,-0.2852368423729953,-0.9987574285002783,-0.04946270650992006,0.006086023350692935,-0.049288805721131895,0.9984459267284119,0.026006634346395725,0.8
+1789729712314228422,1466,0.6396846170050797,-0.11899985094604881,-0.2858382791076892,-0.9987603847243376,-0.049462706509919796,0.005579836019709057,-0.04930197997722284,0.9984459267284129,0.025981650635903485,0.8
+1789729712347588229,1500,0.6395060210867124,-0.12029984278278351,-0.2865910382913627,-0.9987631111044859,-0.049462706509919546,0.005068388462020241,-0.04931527823854848,0.9984459267284139,0.025956400592015528,0.8
+1789729712380904633,1533,0.6392790904744675,-0.12226092033380392,-0.2878397076791178,-0.998765429435255,-0.04946270650991927,0.0045888593054023066,-0.04932773480467008,0.9984459267284153,0.025932720229010484,0.8
+1789729712414239374,1566,0.6391578578214063,-0.12394219380319169,-0.2887805076791179,-0.9987654294352548,-0.04946270650991901,0.004588859305394459,-0.04932773480467025,0.9984459267284163,0.025932720228971758,0.8
+1789729712447563826,1600,0.6390564782295696,-0.12575424278278352,-0.2898408178831996,-0.9987654294352548,-0.04946270650991879,0.0045888593053866125,-0.04932773480467046,0.9984459267284173,0.025932720228933028,0.8
+1789729712480903266,1633,0.6389466006785491,-0.1282734182929876,-0.29155736482197514,-0.9987654294352553,-0.04946270650991852,0.004588859305376154,-0.04932773480467076,0.9984459267284186,0.025932720228881403,0.8
+1789729712514230918,1666,0.6388552782295694,-0.1300501856399264,-0.2929329811485057,-0.998765429435255,-0.049462706509918276,0.004588859305368309,-0.049327734804670946,0.9984459267284196,0.025932720228842677,0.8
+1789729712547565989,1700,0.6387170823112021,-0.1317100305378856,-0.2942741403321791,-0.9987654294352548,-0.049461908425545,0.004597453633663312,-0.04932773480467116,0.9984504175988892,0.025759234764330806,0.8
+1789729712580902350,1733,0.6384726741479367,-0.13370274890523257,-0.29579121788319945,-0.9987654294352553,-0.04946163737134739,0.004600368849982887,-0.04932773480467147,0.9984519340824465,0.025700387274551807,0.8
+1789729712614231052,1766,0.6383290578214061,-0.13505205502768156,-0.29686102196483205,-0.9987654294352555,-0.04946138023678514,0.004603132637957495,-0.04932773480467168,0.9984533685984143,0.025644596185532196,0.8
+1789729712647562953,1800,0.6382342170050797,-0.13622451217053871,-0.2979036586995259,-0.9987654294352553,-0.049460426799402234,0.004613365997983416,-0.049327734804671904,0.9984586530427128,0.025438017673783654,0.8
+1789729712680905313,1833,0.6381465516989573,-0.13752544278278364,-0.29926588727095454,-0.9987654294352557,-0.049458949312558564,0.004629178966946093,-0.0493277348046722,0.9984667349103903,0.025118794883997025,0.8
+1789729712714232025,1866,0.6380953925152838,-0.13837575298686527,-0.3002883933934036,-0.9987654294352555,-0.04945779994467141,0.004641442625199778,-0.04932773480467241,0.9984729326514589,0.024871215117784253,0.8
+1789729712747593842,1900,0.6380605598622227,-0.13920790808890607,-0.30128122604646485,-0.9987654294352555,-0.04945688851256726,0.00465114433936026,-0.049327734804672646,0.9984777922595657,0.024675350929692162,0.8
+1789729712780905487,1933,0.6380505598622227,-0.1402285693133959,-0.3025484750260567,-0.9987654294352553,-0.04945638152913025,0.004656532084615089,-0.049327734804672924,0.9984804744372813,0.024566577835376156,0.8
+1789729712814227459,1966,0.6380405598622227,-0.14093910808890608,-0.30351505461789346,-0.9987654294352557,-0.0494563815291301,0.004656532084607199,-0.04932773480467318,0.9984804744372822,0.024566577835339505,0.8
+1789729712847566240,2000,0.6380074986377331,-0.1416777448236,-0.3044463280872813,-0.9987654294352557,-0.04945638152912993,0.004656532084599306,-0.04932773480467341,0.998480474437283,0.02456657783530285,0.8
+1789729712880965662,2033,0.6379457027193658,-0.1426777448236,-0.3056752913525875,-0.9987654294352555,-0.04945638152912967,0.004656532084588782,-0.049327734804673694,0.9984804744372843,0.024566577835253966,0.8
+1789729712914230442,2066,0.6378868537397739,-0.14340789992564082,-0.30664187094442424,-0.9987654294352555,-0.0494563815291295,0.00465653208458089,-0.04932773480467394,0.9984804744372852,0.024566577835217294,0.8
+1789729712947589420,2100,0.6378033843520188,-0.14410185094604896,-0.3076280097199344,-0.9987654294352559,-0.049456381529129324,0.004656532084572998,-0.049327734804674166,0.998480474437286,0.024566577835180625,0.8
+1789729712980897404,2133,0.6376692782295698,-0.1450125611501306,-0.3089971117607508,-0.9987643637052601,-0.04945638152912907,0.004879766231353631,-0.049322242691766494,0.9984804744372872,0.024577602473479083,0.8
+1789729713014230961,2166,0.6375409925152841,-0.14566064278278365,-0.31009447502605686,-0.9987634848574662,-0.04945638152912889,0.005056445531717704,-0.049317894192352524,0.998480474437288,0.024586327092919368,0.8
+1789729713047561347,2200,0.6373970088418147,-0.14629544278278367,-0.3112620913525875,-0.9987624919688676,-0.04945638152912868,0.005248901045296397,-0.04931315564207016,0.9984804744372889,0.024595829892631874,0.8
+1789729713080900511,2233,0.6371983476173247,-0.1471418427827837,-0.3129079035974855,-0.9987611386556603,-0.04945638152912835,0.005500385195129985,-0.04930696094930385,0.9984804744372902,0.024608245964061852,0.8
+1789729713114225118,2266,0.6370428945561003,-0.14777153257870204,-0.31407890767911817,-0.9987598677249858,-0.04945638152912814,0.00572651272715592,-0.04930138817782821,0.998480474437291,0.024619408831677094,0.8
+1789729713147588409,2300,0.6368795394540595,-0.1482846101297224,-0.3154049811485059,-0.9987584604575974,-0.04945638152912792,0.0059669079442516305,-0.04929546100880897,0.9984804744372919,0.02463127466067019,0.8
+1789729713180902597,2333,0.636629123127529,-0.14887981012972237,-0.3173858219648324,-0.9987565670807192,-0.04945638152912758,0.006275829760551845,-0.04928784004681934,0.9984804744372932,0.024646520870036652,0.8
+1789729713214243281,2366,0.6363757272091616,-0.14937607951747747,-0.3189287035974855,-0.9987561954562678,-0.049456381529127305,0.006334695238703463,-0.049286387325452236,0.998480474437294,0.024649425792129868,0.8
+1789729713247562618,2400,0.6360883068009983,-0.14989102645625296,-0.32044709543422023,-0.9987561954562678,-0.04945638152912704,0.006334695238693049,-0.0492863873254525,0.9984804744372949,0.02464942579209314,0.8
+1789729713280906112,2433,0.6357367312907942,-0.15038008768074276,-0.32257629543422023,-0.9987557365595632,-0.04945600808404602,0.006409520555826933,-0.04928461667619371,0.9984819255100181,0.02459412508887632,0.8
+1789729713314229088,2466,0.6355772945561005,-0.15064185094604887,-0.32440193625054675,-0.9987538151473863,-0.049454450186493894,0.0067137236532705865,-0.049277462046193925,0.9984877825806211,0.02436964857194667,0.8
+1789729713347565833,2500,0.6354759312907943,-0.15085684686441622,-0.3264193321689141,-0.9987506101968913,-0.049451836521539276,0.007192669600685995,-0.04926634394434632,0.9984969709639963,0.02401304499812125,0.8
+1789729713380903858,2533,0.6352462333316107,-0.15111260196645707,-0.3292754709444243,-0.9987467073371232,-0.049448167418073896,0.007739077609708181,-0.04925395365358859,0.9985087652098009,0.023543445981604825,0.8
+1789729713414228524,2566,0.6349544210867127,-0.15131554890523258,-0.3313446954342201,-0.9987445614521682,-0.04944613148048838,0.008023780364044612,-0.04924758915424648,0.9985148463681159,0.0232975652151122,0.8
+1789729713447564429,2600,0.6346305435356924,-0.15153194074196727,-0.33335723420973035,-0.9987427747233839,-0.04944421036933282,0.008254695560052044,-0.049242509225800604,0.9985203421276774,0.02307166319043892,0.8
+1789729713480901594,2633,0.634271759862223,-0.15174536931339586,-0.3360281240056488,-0.9987398898232527,-0.04944091169830225,0.008615609454839617,-0.049234700272349205,0.998529332410716,0.02269618039454716,0.8
+1789729713514232139,2666,0.6340444700663046,-0.15187352441543667,-0.33802198523013866,-0.9987375198815915,-0.04943798876030645,0.008902339473653563,-0.049228619390795404,0.9985368897796204,0.022374601272835568,0.8
+1789729713547567714,2700,0.6338139312907943,-0.1519935407419673,-0.33995603420973053,-0.9987355248790057,-0.04943504804125925,0.009139330928240109,-0.049223716866176735,0.9985441555421498,0.022058901389083556,0.8
+1789729713580903689,2733,0.6334656945561004,-0.15216424278278365,-0.3423237811485061,-0.9987345225803235,-0.04943229625536876,0.0092629095415335,-0.04922132854970163,0.9985507060472155,0.02176575908186234,0.8
+1789729713614230585,2766,0.6332058333316105,-0.15232373666033464,-0.34407400155666934,-0.9987345225803239,-0.04943229625536848,0.009262909541518807,-0.04922132854970199,0.9985507060472162,0.02176575908183006,0.8
+1789729713647562960,2800,0.6329816129234473,-0.15253733666033464,-0.3458155852301388,-0.9987345225803241,-0.04943229625536818,0.009262909541504112,-0.04922132854970234,0.998550706047217,0.021765759081797773,0.8
+1789729713680895856,2833,0.632711180270386,-0.15289398972155915,-0.34788947910768986,-0.9987345225803241,-0.04943229625536778,0.009262909541484518,-0.049221328549702806,0.9985507060472179,0.021765759081754717,0.8
+1789729713714230741,2866,0.6325053925152839,-0.15316745094604897,-0.3493634872709551,-0.9987345225803244,-0.0494322962553675,0.009262909541469822,-0.04922132854970316,0.9985507060472185,0.02176575908172242,0.8
+1789729713747565606,2900,0.6323294904744675,-0.15344089584400816,-0.35072396890360813,-0.9987345225803246,-0.049432296255367186,0.009262909541455125,-0.0492213285497035,0.9985507060472192,0.021765759081690123,0.8
+1789729713780908190,2933,0.6321990006785491,-0.15382530400727346,-0.35238095665871016,-0.9987345225803246,-0.04943229625536678,0.00926290954143553,-0.04922132854970395,0.9985507060472201,0.02176575908164706,0.8
+1789729713814230586,2966,0.6321377272091613,-0.1541092305378857,-0.3535698954342204,-0.9987345225803248,-0.049432296255366465,0.009262909541420835,-0.04922132854970429,0.9985507060472208,0.02176575908161476,0.8
+1789729713847562522,3000,0.6320687394540593,-0.1543741611501306,-0.3547231444138123,-0.998734522580325,-0.04943229625536615,0.009262909541406137,-0.04922132854970462,0.9985507060472215,0.02176575908158246,0.8
+1789729713880903876,3033,0.6319379068009979,-0.15475192441543675,-0.35630016482197563,-0.998734522580325,-0.04943229625536572,0.009262909541386534,-0.04922132854970505,0.9985507060472224,0.02176575908153938,0.8
+1789729713914227782,3066,0.6318279721071204,-0.1550987733950286,-0.357503585230139,-0.9987345225803255,-0.04943229625536544,0.009262909541371843,-0.049221328549705415,0.9985507060472231,0.02176575908150709,0.8
+1789729713947575806,3100,0.6317212455765081,-0.15545341012972247,-0.35860827910769005,-0.9987345225803257,-0.04943229625536514,0.009262909541357146,-0.049221328549705755,0.9985507060472237,0.021765759081474788,0.8
+1789729713980932988,3133,0.6315895721071202,-0.15590425094604896,-0.3600108178832002,-0.9987345225803257,-0.04943229625536472,0.009262909541337553,-0.04922132854970621,0.9985507060472247,0.021765759081431715,0.8
+1789729714014259780,3166,0.6315108455765079,-0.1562337856399265,-0.36105680971993487,-0.9987345225803259,-0.04943229625536441,0.009262909541322854,-0.04922132854970654,0.9985507060472254,0.021765759081399425,0.8
+1789729714047601538,3200,0.6314601680254877,-0.15656332033380402,-0.3620893648219757,-0.9987345225803261,-0.04943229625536412,0.009262909541308156,-0.0492213285497069,0.9985507060472261,0.02176575908136713,0.8
+1789729714080922238,3233,0.6314601680254877,-0.15696576931339581,-0.363415160740343,-0.9987345225803261,-0.04943229625536371,0.009262909541288564,-0.04922132854970735,0.998550706047227,0.021765759081324068,0.8
+1789729714114254798,3266,0.6314601680254877,-0.15727493666033457,-0.3643338301280981,-0.9987345225803264,-0.0494322962553634,0.009262909541273866,-0.04922132854970768,0.9985507060472277,0.02176575908129177,0.8
+1789729714147606704,3300,0.6314601680254877,-0.15761017747666106,-0.36507572400564914,-0.9987345225803266,-0.04943229625536309,0.009262909541259167,-0.049221328549708024,0.9985507060472284,0.021765759081259464,0.8
+1789729714181020213,3333,0.6314601680254877,-0.15807870808890595,-0.36591966686279204,-0.9987345225803266,-0.04943229625536264,0.009262909541239565,-0.04922132854970843,0.9985507060472293,0.021765759081216376,0.8
+1789729714214335345,3366,0.6314601680254877,-0.1584593284970692,-0.3665414138015676,-0.998734522580327,-0.04943229625536233,0.009262909541224868,-0.04922132854970877,0.99855070604723,0.02176575908118408,0.8
+1789729714247672663,3400,0.6314601680254877,-0.15883791625217125,-0.3671683525770778,-0.9987345225803268,-0.04943229625536201,0.00926290954121017,-0.04922132854970909,0.9985507060472306,0.021765759081151786,0.8
+1789729714280999863,3433,0.6314601680254877,-0.15929075706849777,-0.3680095280872818,-0.998734522580327,-0.04942930043146667,0.009278882750737107,-0.04922132854970957,0.9985576873617025,0.021443083422166016,0.8
+1789729714314336252,3466,0.6314601680254877,-0.1595925448235998,-0.3686417076791185,-0.9987345225803277,-0.049425814149380964,0.009297435233260317,-0.049221328549709925,0.9985656656161735,0.021068276349285316,0.8
+1789729714347665692,3500,0.6314601680254877,-0.15988529584400793,-0.369271266862792,-0.9987345225803277,-0.04942128062770049,0.00932150349265563,-0.04922132854971026,0.9985758070319024,0.020581992770048962,0.8
+1789729714381003750,3533,0.6314601680254877,-0.16030607951747727,-0.37013887502605725,-0.9987345225803279,-0.049413742273467724,0.009361382418020082,-0.049221328549710654,0.9985920911339407,0.019776155858632027,0.8
+1789729714414317872,3566,0.6314601680254877,-0.16061158972155887,-0.37084394441381235,-0.9987345225803277,-0.04940588737761136,0.009402749527429857,-0.04922132854971093,0.9986082982350364,0.018940103271262717,0.8
+1789729714447660560,3600,0.6314601680254877,-0.1608631978848242,-0.37161123420973075,-0.9987345225803281,-0.049396949057576744,0.009449594173701923,-0.049221328549711216,0.9986258091301666,0.017993169674111173,0.8
+1789729714480936837,3633,0.6314601680254877,-0.16113256115013033,-0.3727321893117716,-0.9987345225803281,-0.049384197590160064,0.009516009385247118,-0.04922132854971155,0.998649101569705,0.016650307799627367,0.8
+1789729714514335527,3666,0.6314601680254877,-0.16128834074196707,-0.37362874441381244,-0.9987345225803288,-0.04937445151584311,0.00956644885803685,-0.049221328549711806,0.9986655883514155,0.015630209804171763,0.8
+1789729714547683054,3700,0.6314601680254877,-0.16139963870115073,-0.37453467910769,-0.9987345225803284,-0.04936642259420368,0.00960779509013212,-0.04922132854971206,0.9986783279626018,0.014793852561901228,0.8
+1789729714580996366,3733,0.6314601680254877,-0.1615241693133956,-0.37567352808728177,-0.9987345225803286,-0.04935938630368696,0.009643878367464824,-0.04922132854971233,0.9986888751534818,0.014063835197925865,0.8
+1789729714614336235,3766,0.6314601680254877,-0.1616255489052323,-0.37652688318932254,-0.9987345225803292,-0.04935552362039084,0.009663627393468125,-0.04922132854971253,0.9986944224654816,0.01366423624427699,0.8
+1789729714647594423,3800,0.6314601680254877,-0.1617143489052323,-0.3773863444138123,-0.998734522580329,-0.049352523154062744,0.009678939227525576,-0.0492213285497127,0.9986986136618773,0.013354395742432924,0.8
+1789729714680934002,3833,0.6314601680254877,-0.16178212849706908,-0.3784711199240164,-0.9987345225803295,-0.04934844612460886,0.009699704703164877,-0.049221328549713,0.9987041444535867,0.01293416665389227,0.8
+1789729714714260422,3866,0.6314601680254877,-0.16178212849706908,-0.3791984586995266,-0.9987345225803295,-0.04934510690300687,0.009716677980283785,-0.04922132854971315,0.9987085342015986,0.012590652433282062,0.8
+1789729714747590401,3900,0.6314601680254877,-0.16178212849706908,-0.3798869240056491,-0.9987345225803295,-0.0493427500511659,0.009728639351397741,-0.04922132854971333,0.9987115569355852,0.012348556964297281,0.8
+1789729714780939228,3933,0.6314601680254877,-0.16178212849706908,-0.38077595257707764,-0.9987345225803297,-0.04934214598626501,0.009731702611110763,-0.04922132854971364,0.9987123216295806,0.01228655529651248,0.8
+1789729714814257280,3966,0.6314601680254877,-0.16178212849706908,-0.38139768318932254,-0.9987345225803299,-0.04934214598626487,0.009731702611095716,-0.04922132854971386,0.9987123216295808,0.012286555296494419,0.8
+1789729714847668819,4000,0.6314601680254877,-0.16178212849706908,-0.38200390359748587,-0.9987345225803301,-0.049342145986264685,0.009731702611080672,-0.04922132854971403,0.998712321629581,0.012286555296476352,0.8
+1789729714881001938,4033,0.6314601680254877,-0.16178212849706908,-0.3828983689036083,-0.9987345225803304,-0.04934214598626447,0.009731702611060608,-0.049221328549714304,0.9987123216295813,0.012286555296452274,0.8
+1789729714914324559,4066,0.6314813272091611,-0.16178212849706908,-0.38359507094442463,-0.9987345225803306,-0.04934214598626431,0.009731702611045567,-0.049221328549714505,0.9987123216295816,0.012286555296434212,0.8
+1789729714947655118,4100,0.6315119068009977,-0.16178212849706908,-0.3843309893117715,-0.9987345225803304,-0.04934214598626413,0.009731702611030516,-0.0492213285497147,0.9987123216295818,0.01228655529641615,0.8
+1789729714981008764,4133,0.6315119068009977,-0.16178212849706908,-0.3854462301280981,-0.9987345225803306,-0.049342145986263936,0.009731702611010456,-0.04922132854971499,0.998712321629582,0.012286555296392063,0.8
+1789729715014332290,4166,0.6315362088418139,-0.16178212849706908,-0.3863775689036083,-0.9987345225803308,-0.04934214598626378,0.009731702610995412,-0.0492213285497152,0.9987123216295822,0.012286555296373998,0.8
+1789729715047660094,4200,0.6315773925152832,-0.16178212849706908,-0.38729638523013893,-0.998734522580331,-0.049342145986263665,0.009731702610980374,-0.04922132854971544,0.9987123216295825,0.012286555296355948,0.8
+1789729715080939724,4233,0.6316116129234464,-0.16178212849706908,-0.38842313625054714,-0.9987345225803312,-0.04934214598626344,0.00973170261096031,-0.049221328549715705,0.9987123216295828,0.012286555296331863,0.8
+1789729715114339019,4266,0.631624029249977,-0.16178212849706908,-0.38928266278115936,-0.9987345225803315,-0.04934214598626331,0.009731702610945265,-0.049221328549715934,0.9987123216295829,0.012286555296313803,0.8
+1789729715147673401,4300,0.631682380270385,-0.16178212849706908,-0.39019175665871036,-0.9987345225803317,-0.04934214598626314,0.00973170261093022,-0.04922132854971612,0.9987123216295831,0.012286555296295739,0.8
+1789729715180939473,4333,0.6318152945560992,-0.16178212849706908,-0.3914462056383022,-0.9987345225803319,-0.04934214598626293,0.00973170261091016,-0.0492213285497164,0.9987123216295835,0.01228655529627167,0.8
+1789729715214321670,4366,0.6319844455765073,-0.16178212849706908,-0.39239663012809806,-0.9987345225803321,-0.04934214598626278,0.009731702610895116,-0.04922132854971662,0.9987123216295837,0.012286555296253604,0.8
+1789729715247597450,4400,0.632214919045895,-0.16178212849706908,-0.3933600505362613,-0.9987345225803319,-0.049342145986262624,0.009731702610880074,-0.04922132854971683,0.9987123216295839,0.012286555296235539,0.8
+1789729715280935053,4433,0.6325432210867113,-0.16178212849706908,-0.3946438627811592,-0.9987345225803324,-0.04934214598626245,0.009731702610860017,-0.04922132854971714,0.9987123216295841,0.012286555296211461,0.8
+1789729715314335117,4466,0.6327642904744664,-0.1618166754358446,-0.3954975444138123,-0.9987345225803326,-0.0493421459862623,0.009731702610844974,-0.04922132854971735,0.9987123216295843,0.012286555296193406,0.8
+1789729715347672669,4500,0.6329554659846703,-0.16192058563992623,-0.3963326954342205,-0.9987345225803328,-0.049342145986262125,0.009731702610829927,-0.04922132854971754,0.9987123216295846,0.012286555296175347,0.8
+1789729715381005882,4533,0.6331723802703846,-0.16209939380319155,-0.3975747362505471,-0.9987345225803326,-0.049342145986261916,0.009731702610809865,-0.049221328549717815,0.9987123216295849,0.012286555296151264,0.8
+1789729715414330417,4566,0.6333482006785478,-0.16223109992564053,-0.3985510709444247,-0.9987345225803328,-0.04934214598626175,0.009731702610794818,-0.04922132854971801,0.9987123216295851,0.0122865552961332,0.8
+1789729715447664999,4600,0.6335540863928335,-0.1623569203338038,-0.3995176831893227,-0.998734522580333,-0.04934214598626162,0.009731702610779772,-0.04922132854971825,0.9987123216295852,0.012286555296115146,0.8
+1789729715481003562,4633,0.6338503721071193,-0.16248641421135482,-0.4008434954342207,-0.9987345225803332,-0.04934214598626145,0.009731702610759714,-0.04922132854971857,0.9987123216295856,0.012286555296091068,0.8
+1789729715514330015,4666,0.6340985680254867,-0.16254214482359974,-0.4018362138015677,-0.9987345225803335,-0.04934214598626129,0.009731702610744674,-0.04922132854971877,0.9987123216295858,0.012286555296073004,0.8
+1789729715547667758,4700,0.6343634496581398,-0.16259247951747732,-0.40275796074034326,-0.9987345225803337,-0.049342145986261146,0.009731702610729628,-0.04922132854971899,0.998712321629586,0.012286555296054947,0.8
+1789729715580994062,4733,0.6346966904744663,-0.1626760223746202,-0.40391532400564933,-0.9987345225803339,-0.04934214598626093,0.009731702610709563,-0.04922132854971926,0.9987123216295862,0.01228655529603087,0.8
+1789729715614331534,4766,0.634905563943854,-0.1627448142113549,-0.4047235770668738,-0.9987345225803341,-0.04934214598626081,0.009731702610694525,-0.0492213285497195,0.9987123216295865,0.01228655529601282,0.8
+1789729715647665997,4800,0.6351010251683439,-0.16279643053788553,-0.4055407525770779,-0.9987345225803339,-0.04934214598626066,0.00973170261067947,-0.04922132854971971,0.9987123216295867,0.01228655529599475,0.8
+1789729715681006169,4833,0.6353582741479357,-0.16279643053788553,-0.4066522791076902,-0.9987345225803341,-0.049342145986260494,0.009731702610659415,-0.04922132854972003,0.998712321629587,0.012286555295970673,0.8
+1789729715714330963,4866,0.6355732210867112,-0.16279643053788553,-0.40748441788320044,-0.9987345225803343,-0.04934214598626033,0.00973170261064437,-0.049221328549720236,0.9987123216295872,0.012286555295952614,0.8
+1789729715747661747,4900,0.6358148863928338,-0.16279643053788553,-0.40830157706687387,-0.9987345225803346,-0.04934214598626021,0.009731702610629328,-0.04922132854972048,0.9987123216295873,0.01228655529593456,0.8
+1789729715781006448,4933,0.6360833761887521,-0.16279643053788553,-0.40951564237299637,-0.998734522580335,-0.049342145986260015,0.009731702610609268,-0.04922132854972077,0.9987123216295877,0.012286555295910478,0.8
+1789729715814259981,4966,0.6362068782295685,-0.16279643053788553,-0.41055539747503716,-0.9987345225803348,-0.04934214598625986,0.00973170261059423,-0.04922132854972098,0.9987123216295879,0.012286555295892421,0.8
+1789729715847590325,5000,0.6362523721071195,-0.16279643053788553,-0.4116949974750371,-0.998734522580335,-0.049342145986259696,0.009731702610579181,-0.04922132854972117,0.9987123216295881,0.01228655529587436,0.8
+1789729715880927427,5033,0.6362523721071195,-0.16279643053788553,-0.41340815665871056,-0.9987345225803352,-0.049342145986259495,0.009731702610559122,-0.04922132854972146,0.9987123216295883,0.01228655529585028,0.8
+1789729715914255241,5066,0.6362523721071195,-0.16279643053788553,-0.4148226954342208,-0.9987345225803355,-0.049342145986259384,0.009731702610544086,-0.04922132854972171,0.9987123216295886,0.012286555295832216,0.8
+1789729715947586754,5100,0.6362523721071195,-0.16279643053788553,-0.41626095665871055,-0.9987345225803357,-0.04934214598625924,0.009731702610529039,-0.049221328549721936,0.9987123216295888,0.012286555295814152,0.8
+1789729715981009626,5133,0.6362523721071195,-0.16279643053788553,-0.418205021964833,-0.9987345225803359,-0.04934214598625904,0.00973170261050898,-0.04922132854972222,0.9987123216295891,0.012286555295790078,0.8
+1789729716014332116,5166,0.6362523721071195,-0.16279643053788553,-0.41963529951585343,-0.9987345225803361,-0.04934214598625888,0.009731702610493932,-0.04922132854972242,0.9987123216295893,0.01228655529577202,0.8
+1789729716047664653,5200,0.6362523721071195,-0.16279643053788553,-0.4211828260464657,-0.9987345225803363,-0.049342145986258704,0.009731702610478885,-0.04922132854972261,0.9987123216295896,0.012286555295753957,0.8
+1789729716081004619,5233,0.6362523721071195,-0.16277525502768145,-0.42354622196483305,-0.9987345225803366,-0.04934214598625849,0.009731702610458828,-0.04922132854972288,0.9987123216295898,0.01228655529572987,0.8
+1789729716114331446,5266,0.6362523721071195,-0.16273795706849778,-0.4253982627811596,-0.9987345225803363,-0.049342145986258364,0.009731702610443795,-0.049221328549723116,0.99871232162959,0.012286555295711817,0.8
+1789729716147652744,5300,0.6362523721071195,-0.16269117339502837,-0.4271705648219759,-0.9987345225803366,-0.04934214598625825,0.009731702610428751,-0.049221328549723366,0.9987123216295902,0.012286555295693764,0.8
+1789729716180996430,5333,0.6362523721071195,-0.16260789176237528,-0.42931520971993514,-0.9987345225803368,-0.049342145986258086,0.009731702610408694,-0.049221328549723685,0.9987123216295904,0.012286555295669676,0.8
+1789729716214337246,5366,0.6362523721071195,-0.16255293666033444,-0.43075814849544536,-0.998734522580337,-0.04934214598625792,0.009731702610393649,-0.04922132854972389,0.9987123216295907,0.012286555295651614,0.8
+1789729716247594262,5400,0.6362523721071195,-0.16249125502768139,-0.4321259933934045,-0.9987345225803372,-0.04934214598625779,0.009731702610378602,-0.04922132854972412,0.9987123216295909,0.012286555295633559,0.8
+1789729716281016767,5433,0.6362523721071195,-0.1623407733950283,-0.43396785461789433,-0.9987345225803372,-0.04934214598625759,0.00973170261035854,-0.049221328549724414,0.9987123216295912,0.012286555295609488,0.8
+1789729716314331956,5466,0.6362523721071195,-0.16218403870115075,-0.43531329951585346,-0.9987345225803375,-0.04934214598625747,0.009731702610343495,-0.04922132854972465,0.9987123216295914,0.012286555295591426,0.8
+1789729716347594322,5500,0.6362523721071195,-0.16201633257870177,-0.4363798954342208,-0.9987345225803377,-0.049342145986257364,0.009731702610328453,-0.049221328549724906,0.9987123216295917,0.012286555295573365,0.8
+1789729716380931918,5533,0.6362523721071195,-0.1616810509460487,-0.43766370767911883,-0.9987345225803379,-0.04934214598625714,0.009731702610308396,-0.04922132854972517,0.9987123216295919,0.012286555295549288,0.8
+1789729716414328107,5566,0.6362523721071195,-0.16139008768074262,-0.438466458699527,-0.9987345225803381,-0.049342145986257004,0.009731702610293356,-0.04922132854972539,0.9987123216295921,0.012286555295531229,0.8
+1789729716447658234,5600,0.6362523721071195,-0.16109912441543653,-0.439040646454629,-0.9987320542246219,-0.04939208265068739,0.009731702610278309,-0.04927126410425963,0.9987098593147754,0.012286555295513169,0.8
+1789729716481006569,5633,0.6362523721071195,-0.16069861012972225,-0.4394727770668739,-0.9987209896435065,-0.04961530822035566,0.009731702610258235,-0.04949448471615746,0.9986988217383922,0.012286555295489079,0.8
+1789729716514331957,5666,0.6362523721071195,-0.1603932305378855,-0.4397799770668739,-0.9987126584654133,-0.04978272577162065,0.009731702610243179,-0.04966189855305569,0.9986905108145753,0.012286555295471017,0.8
+1789729716547662484,5700,0.6362300210867112,-0.16001013666033448,-0.44004529951585347,-0.9987045968671266,-0.049944190460714466,0.009731702610228123,-0.04982335966304145,0.9986824687511336,0.012286555295452962,0.8
+1789729716581006769,5733,0.636169645576507,-0.1594259978848243,-0.440335364821976,-0.9987045968671271,-0.04994419046071422,0.009731702610208047,-0.049823359663041696,0.9986824687511339,0.012286555295428884,0.8
+1789729716614346605,5766,0.6361284292499765,-0.159018201966457,-0.440567577066874,-0.9987045968671273,-0.04994419046071405,0.009731702610192988,-0.04982335966304188,0.9986824687511341,0.012286555295410825,0.8
+1789729716647667813,5800,0.6360892455765073,-0.15863554890523254,-0.4408521566587107,-0.9987045968671275,-0.04994419046071383,0.009731702610177922,-0.04982335966304202,0.9986824687511343,0.012286555295392765,0.8
+1789729716681011399,5833,0.6360538333316093,-0.15816259380319175,-0.4413268831893229,-0.9987045968671273,-0.049944190460713585,0.009731702610157844,-0.049823359663042265,0.9986824687511346,0.012286555295368684,0.8
+1789729716714335357,5866,0.6360538333316093,-0.1578923978848244,-0.4417156831893229,-0.998704596867128,-0.04994419046071337,0.00973170261014278,-0.04982335966304241,0.9986824687511349,0.012286555295350625,0.8
+1789729716747678022,5900,0.6360538333316093,-0.1577049529868652,-0.4421254138015678,-0.9987045968671278,-0.04994419046071311,0.009731702610127709,-0.04982335966304253,0.9986824687511351,0.012286555295332563,0.8
+1789729716781001970,5933,0.6360538333316093,-0.15754468359911009,-0.44272066278115957,-0.998704596867128,-0.04994419046071288,0.009731702610107635,-0.04982335966304278,0.9986824687511353,0.01228655529530848,0.8
+1789729716814340626,5966,0.6360538333316093,-0.15744850400727337,-0.4432357566587106,-0.9987045968671282,-0.04994419046071265,0.009731702610092572,-0.04982335966304291,0.9986824687511355,0.012286555295290413,0.8
+1789729716847674953,6000,0.6360538333316093,-0.15735232441543665,-0.4437650056383025,-0.9987045968671284,-0.049944190460712475,0.009731702610077513,-0.0498233596630431,0.9986824687511358,0.012286555295272361,0.8
+1789729716880997081,6033,0.6360538333316093,-0.15722680604808967,-0.4443824260464658,-0.9987045968671291,-0.0499441904607122,0.009731702610057425,-0.049823359663043305,0.9986824687511361,0.012286555295248282,0.8
+1789729716914335217,6066,0.6360538333316093,-0.1571275325787019,-0.4448695035974861,-0.9987045968671289,-0.049944190460712,0.009731702610042369,-0.04982335966304347,0.9986824687511363,0.012286555295230232,0.8
+1789729716947659405,6100,0.6360538333316093,-0.15704021012972233,-0.44538916890360863,-0.9987045968671291,-0.04994419046071176,0.009731702610027301,-0.049823359663043604,0.9986824687511365,0.012286555295212172,0.8
+1789729716980909912,6133,0.6360538333316093,-0.15696542645625294,-0.4459005484954454,-0.9987045968671289,-0.049944190460711496,0.009731702610007218,-0.049823359663043826,0.9986824687511368,0.012286555295188087,0.8
+1789729717014230486,6166,0.6360538333316093,-0.1569379162521713,-0.4462434791076903,-0.9987045968671295,-0.04994419046071131,0.00973170260999216,-0.049823359663044,0.998682468751137,0.012286555295170027,0.8
+1789729717047560777,6200,0.6360538333316093,-0.1569379162521713,-0.44656766686279237,-0.9987045968671293,-0.04994419046071111,0.009731702609977098,-0.04982335966304416,0.9986824687511372,0.012286555295151965,0.8
+1789729717080900336,6233,0.6360538333316093,-0.1569379162521713,-0.44688327502605774,-0.9987045968671298,-0.04994419046071086,0.009731702609957017,-0.049823359663044395,0.9986824687511375,0.012286555295127887,0.8
+1789729717114225858,6266,0.6360538333316093,-0.1569379162521713,-0.447060213801568,-0.9987045968671295,-0.04994419046071066,0.009731702609941951,-0.049823359663044554,0.9986824687511376,0.012286555295109828,0.8
+1789729717147559118,6300,0.6360538333316093,-0.1569379162521713,-0.44724557706687407,-0.9987045968671302,-0.04994419046071046,0.009731702609926892,-0.049823359663044735,0.9986824687511379,0.012286555295091772,0.8
+1789729717180901437,6333,0.6360538333316093,-0.1569379162521713,-0.4474708342097312,-0.99870459686713,-0.04994419046071016,0.00973170260990681,-0.049823359663044915,0.9986824687511382,0.01228655529506769,0.8
+1789729717214234048,6366,0.6360538333316093,-0.1569379162521713,-0.4476410382913639,-0.9987045968671306,-0.049944190460709935,0.009731702609891745,-0.049823359663045054,0.9986824687511384,0.012286555295049625,0.8
+1789729717247561019,6400,0.6360538333316093,-0.1569379162521713,-0.44780249951585377,-0.9987045968671304,-0.04994419046070968,0.009731702609876668,-0.04982335966304516,0.9986824687511386,0.01228655529503156,0.8
+1789729717280897389,6433,0.6360538333316093,-0.1569379162521713,-0.44790147910769046,-0.9987045968671306,-0.04994419046070942,0.00973170260985659,-0.04982335966304539,0.9986824687511389,0.012286555295007481,0.8
+1789729717314228509,6466,0.6360538333316093,-0.1569379162521713,-0.44794619747503733,-0.9987045968671309,-0.04994419046070919,0.00973170260984153,-0.04982335966304552,0.9986824687511391,0.012286555294989421,0.8
+1789729717347562180,6500,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.8
+1789729717380898409,6533,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.8
+1789729717414224851,6566,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.8
+1789729717447560871,6600,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.8
+1789729717480893171,6633,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.8
+1789729717514295533,6666,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729717547563741,6700,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729717580985600,6733,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729717614230162,6766,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729717647583390,6800,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729717680904332,6833,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729717714229443,6866,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729717747560374,6900,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729717780902683,6933,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729717814226565,6966,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729717847582022,7000,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729717880900384,7033,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729717914229005,7066,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729717947585193,7100,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729717980911974,7133,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729718014229771,7166,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729718047583063,7200,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729718080969000,7233,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729718114248581,7266,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729718147562387,7300,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729718180975411,7333,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729718214241303,7366,0.6360538333316093,-0.1569379162521713,-0.4479567770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729718247588495,7400,0.6360538333316093,-0.1569379162521713,-0.4479167770668741,-0.9987045968671311,-0.04994419046070905,0.009731702609831491,-0.04982335966304562,0.9986824687511393,0.012286555294977386,0.6
+1789729718280903661,7433,0.6360538333316093,-0.1569379162521713,-0.44744807502605777,-0.9987055650438676,-0.04994419046070879,0.009631832101632709,-0.0498245880694565,0.9986824687511395,0.012281572897562536,0.6
+1789729718314230446,7466,0.6360538333316093,-0.1569379162521713,-0.4464143770668741,-0.9987055650438679,-0.049944190460708617,0.009631832101617797,-0.049824588069456686,0.9986824687511398,0.012281572897544484,0.6
+1789729718347562780,7500,0.6360538333316093,-0.1569379162521713,-0.4448583933934047,-0.9987055650438681,-0.04994419046070843,0.009631832101602887,-0.04982458806945686,0.99868246875114,0.01228157289752643,0.6
+1789729718380897974,7533,0.6360538333316093,-0.1569379162521713,-0.4418916668627924,-0.9987055650438679,-0.049944190460708145,0.009631832101583004,-0.04982458806945705,0.9986824687511403,0.012281572897502355,0.6
+1789729718414233017,7566,0.6360538333316093,-0.1569379162521713,-0.4388916668627924,-0.9986996708064573,-0.05006191507964298,0.009631832101568098,-0.04994230996668877,0.998676588612327,0.012281572897484305,0.6
+1789729718447589038,7600,0.6360538333316093,-0.1569379162521713,-0.4358916668627924,-0.9986888218222989,-0.050277877615871075,0.009631832101553195,-0.050158267514307034,0.9986657654927035,0.012281572897466257,0.6
+1789729718480892146,7633,0.6360538333316093,-0.1569379162521713,-0.4318916668627924,-0.9986696296503561,-0.05065766106314924,0.009631832101533313,-0.050538042202241965,0.9986466188084397,0.0122815728974422,0.6
+1789729718514229589,7666,0.6360538333316093,-0.15690185094604886,-0.4288916668627924,-0.9986570254505893,-0.05090553337849649,0.009631832101518403,-0.05078590880988931,0.9986340442992713,0.012281572897424155,0.6
+1789729718547592749,7700,0.6360538333316093,-0.15681067543584476,-0.4258916668627924,-0.9986445580707122,-0.051149530262954164,0.00963183210150349,-0.05102990008301297,0.9986216061475355,0.012281572897406112,0.6
+1789729718580911265,7733,0.6360538333316093,-0.15666036523176316,-0.4218916668627924,-0.9986186008723288,-0.051655290928643315,0.009623975834860538,-0.05153417657198254,0.9985938202640523,0.012434258140046808,0.6
+1789729718614232191,7766,0.6360538333316093,-0.1565003162521713,-0.4188916668627924,-0.9985949566182466,-0.05211210924493015,0.009614607981975153,-0.05198924401614999,0.9985679675865928,0.012614777707531685,0.6
+1789729718647566794,7800,0.6360538333316093,-0.15630183461951824,-0.4158916668627924,-0.9985681135092273,-0.05262612989171205,0.009602767061823565,-0.052501073580080306,0.9985383054799061,0.012840940863376494,0.6
+1789729718680893949,7833,0.6360538333316093,-0.15602087951747742,-0.4118916668627924,-0.9985283921410673,-0.05337750313876899,0.009586044379504445,-0.0532493899752622,0.9984945706026158,0.013156555185926564,0.6
+1789729718714229842,7866,0.6360538333316093,-0.1556993529868652,-0.4088916668627924,-0.9984980088387081,-0.05394462364019462,0.009576216656535387,-0.05381473216354486,0.9984618293555965,0.013339787181273368,0.6
+1789729718747559747,7900,0.6360538333316093,-0.15522149992564074,-0.4058916668627924,-0.998467000201998,-0.05451603061934409,0.009573500568440335,-0.05438563960387118,0.9984302268518476,0.01338970923679872,0.6
+1789729718780939625,7933,0.6360538333316093,-0.1545467489052326,-0.4018916668627924,-0.9984194635493329,-0.055381782690688074,0.00956205793037149,-0.055249361620586905,0.9983799880245859,0.013598071648039634,0.6
+1789729718814233194,7966,0.6360538333316093,-0.1540004795174775,-0.39889166686279237,-0.9983800442223256,-0.05608791622768794,0.009562057930356579,-0.05595546727104052,0.9983406623642728,0.013598071648019638,0.6
+1789729718847583345,8000,0.6360538333316093,-0.15340444686441626,-0.39589166686279237,-0.9983425516449866,-0.05675135789665987,0.00956205793034166,-0.05661888279880933,0.998303257812009,0.013598071647999633,0.6
+1789729718880896292,8033,0.6360538333316093,-0.15258410400727337,-0.39189166686279236,-0.9982899555662521,-0.05766915695298527,0.009562057930321754,-0.05753664578645919,0.9982507835404388,0.013598071647972986,0.6
+1789729718914231445,8066,0.6360538333316093,-0.15192523053788562,-0.3890920913525883,-0.9982440663323233,-0.058458113897439525,0.009562057930306822,-0.058325571813610096,0.9982049990458235,0.013598071647953012,0.6
+1789729718947591716,8100,0.6360538333316093,-0.15122844686441625,-0.38663617298524144,-0.9981939896982936,-0.059307048302391016,0.009562057930291875,-0.05917447304176347,0.9981550351461878,0.013598071647933046,0.6
+1789729718980899703,8133,0.6360538333316093,-0.1501554427827836,-0.38363304645462915,-0.9981172886508036,-0.0605841988022164,0.009562057930271942,-0.060451573807378624,0.9980785037619383,0.01359807164790644,0.6
+1789729719014234562,8166,0.6360538333316093,-0.1493232223746203,-0.38147277706687405,-0.9980461832145266,-0.06174449950443711,0.009562057930256981,-0.06161182951060913,0.9980075525324518,0.013598071647886486,0.6
+1789729719047588986,8200,0.6360538333316093,-0.14844526319094684,-0.37929304645462913,-0.9979603086709714,-0.0631007250114619,0.009670616338564326,-0.0629665238602883,0.9979229053579607,0.013604846007152473,0.6
+1789729719080897997,8233,0.6360538333316093,-0.1472540468644162,-0.37638336482197604,-0.9978372535066036,-0.06498361750406641,0.00989671513605319,-0.06484626452371754,0.9978023238039413,0.01361927269624496,0.6
+1789729719114228384,8266,0.6360538333316093,-0.14635120604808965,-0.3743893893117719,-0.9977405420769798,-0.06642637934365436,0.01006711593392503,-0.06628665087810481,0.9977075179593499,0.013630426360086614,0.6
+1789729719147563011,8300,0.6360538333316093,-0.14537156523176312,-0.37248307910769035,-0.9976550913725086,-0.06769765014596339,0.010067115933909257,-0.06755787971439144,0.9976222453242202,0.013630426360066691,0.6
+1789729719180906637,8333,0.6360538333316093,-0.14401930400727334,-0.3699000668627924,-0.9975399209744693,-0.06934274997270379,0.01028051985421836,-0.06920000991274819,0.9975094841181985,0.013645062195575947,0.6
+1789729719214245624,8366,0.6360538333316093,-0.14300345910931417,-0.3680119117607516,-0.9974480744893239,-0.07061351621727648,0.010538976467027776,-0.07046720198960325,0.9974205196932624,0.013663101352867883,0.6
+1789729719247588070,8400,0.6360538333316093,-0.14196075706849784,-0.3661866627811598,-0.9973581195620822,-0.07183507000226197,0.010793704709581594,-0.07168523265677723,0.9973334708782066,0.013681201883361492,0.6
+1789729719280915598,8433,0.6360538333316093,-0.14047932033380392,-0.36385882604646586,-0.9972479633366713,-0.07330511586896979,0.011084205352567121,-0.07315065255626632,0.9972260799041909,0.013752366687691964,0.6
+1789729719314229088,8466,0.6360538333316093,-0.13936824278278348,-0.3621260260464658,-0.9971627673965047,-0.07442435005383423,0.011288553370926503,-0.07426519623301063,0.9971414015748019,0.013917826479451167,0.6
+1789729719347566875,8500,0.6360538333316093,-0.13825716523176304,-0.3604492015566699,-0.9970759119219847,-0.0755512914324293,0.011472934578135878,-0.0753876603622307,0.9970548616137415,0.014082031015157087,0.6
+1789729719380898712,8533,0.6360538333316093,-0.13678950808890586,-0.3583463689036086,-0.9969579609344876,-0.07707007175881908,0.011620162152046348,-0.0769014871721494,0.9969358918302235,0.014317431731590351,0.6
+1789729719414227830,8566,0.6360538333316093,-0.13576340196645686,-0.3568879362505473,-0.996857577926179,-0.07836010879172872,0.011604425074116598,-0.07818913582919093,0.9968328013184774,0.014519822789595262,0.6
+1789729719447562837,8600,0.6360538333316093,-0.13477398972155888,-0.35549682604646565,-0.9967467349066796,-0.07976025096593492,0.011586579250361348,-0.07958661500382885,0.996718887543526,0.014745505289010695,0.6
+1789729719480907603,8633,0.6360538333316093,-0.13349688768074255,-0.3537238627811596,-0.9965834443328769,-0.08177880309789966,0.011561394617205657,-0.08160148525708906,0.9965512918487051,0.015057234756559906,0.6
+1789729719514231981,8666,0.6360538333316093,-0.13261589992564052,-0.3525418791076902,-0.996439289133104,-0.08352014052045567,0.011538162737551944,-0.08333950337937332,0.9964031621624557,0.015338370485107793,0.6
+1789729719547557389,8700,0.6360538333316093,-0.1317595162521711,-0.35147881788320035,-0.9962828514217208,-0.08536945859395217,0.011512406454871647,-0.08518522083472344,0.9962423214062793,0.015643375286907187,0.6
+1789729719580897326,8733,0.6360538333316093,-0.1306176713542119,-0.3501528913525881,-0.996067167907221,-0.08785483073845682,0.011477183156382104,-0.08766579077706871,0.9960206361118947,0.01604997092482393,0.6
+1789729719614228213,8766,0.6360538333316093,-0.12977042237462005,-0.34917329951585335,-0.9958972507492254,-0.08976401321981754,0.011449361589501916,-0.08957127444577899,0.9958459904929533,0.01636306857737039,0.6
+1789729719647626533,8800,0.6360538333316093,-0.1289231733950282,-0.3481937076791186,-0.9957264758186188,-0.09164240464789693,0.011421690951218467,-0.09144606268995124,0.9956705271747268,0.01666790131081688,0.6
+1789729719680956200,8833,0.6360538333316093,-0.1277995489052323,-0.34691989543422064,-0.995491353525936,-0.0941668176745999,0.011383123654729781,-0.09396557473429416,0.995428881067825,0.017082549602200178,0.6
+1789729719714229755,8866,0.6360538333316093,-0.12697641421135475,-0.345998197475037,-0.9953064072292916,-0.09610583394350046,0.011350084155833296,-0.09590050202829827,0.9952383190672349,0.01742934224074749,0.6
+1789729719747555753,8900,0.6360538333316093,-0.12612610400727312,-0.345089103597486,-0.9951197003517669,-0.0980241835247335,0.01131553870211331,-0.0978146664771686,0.9950457256736439,0.01778467994009611,0.6
+1789729719780914457,8933,0.6360538333316093,-0.1249842591093139,-0.3439804423729963,-0.9948704792331415,-0.10052776865882405,0.011264869235685482,-0.10031227150064952,0.9947878036693767,0.018294093501390996,0.6
+1789729719814239926,8966,0.6360538333316093,-0.12412175298686492,-0.3431662627811596,-0.9946794393721201,-0.10240502541716497,0.011226025996559376,-0.10218504582390718,0.9945900768433679,0.01867606635963927,0.6
+1789729719847594370,9000,0.6360538333316093,-0.12326535298686492,-0.34235506278115957,-0.9944816768531903,-0.10431241098134605,0.011185495899896416,-0.10408784411227712,0.9943853186452749,0.01906721717486535,0.6
+1789729719880957624,9033,0.6360538333316093,-0.12212958155829348,-0.34128823012809834,-0.9942090438793927,-0.10688564391479069,0.01112817115901428,-0.1066547367540262,0.9941027455233863,0.019608632558007495,0.6
+1789729719914234658,9066,0.6360538333316093,-0.12125168768074246,-0.340529634209731,-0.9940071310650369,-0.10875172329815326,0.011085399024708639,-0.10851618898392386,0.9938933911232974,0.020004094826744596,0.6
+1789729719947565676,9100,0.6360538333316093,-0.12037069992564042,-0.3397966791076901,-0.9938028391093345,-0.11060743680363387,0.01104137228593087,-0.11036722762963959,0.9936814108183051,0.02040413829325322,0.6
+1789729719980899443,9133,0.6360538333316093,-0.11920429992564041,-0.3388556423729962,-0.9935220331650279,-0.11310794327738254,0.010980108523626825,-0.11286136485367408,0.9933898614673485,0.020949831914551516,0.6
+1789729720014236455,9166,0.6360538333316093,-0.11832021829298736,-0.3381915770668738,-0.9933073098179428,-0.11498283392901236,0.01093325952746581,-0.11473148290001199,0.9931668943871992,0.021358996344634996,0.6
+1789729720047564046,9200,0.6360538333316093,-0.11741112441543634,-0.33756983012809827,-0.9930949175285717,-0.11680748078852257,0.010885642413686399,-0.11655136826225873,0.9929460860151781,0.021768068893082866,0.6
+1789729720080983256,9233,0.6360538333316093,-0.11616309176237513,-0.33676751992401655,-0.9928187096314796,-0.11913842484367074,0.010818758313841572,-0.11887577868826929,0.9926579554592656,0.022332324211515993,0.6
+1789729720114243666,9266,0.6360538333316093,-0.11519322237462003,-0.33620151176075125,-0.9926152821028116,-0.12082604426513831,0.010768879384354021,-0.12055861760164578,0.9924455866452594,0.022745928653872285,0.6
+1789729720147559728,9300,0.6360538333316093,-0.11414381012972206,-0.3357145811485064,-0.9924262607707512,-0.12237299379682703,0.010722281556951811,-0.12210116830006595,0.9922481778726002,0.023127001713661763,0.6
+1789729720180899798,9333,0.6360538333316093,-0.11269338563992616,-0.33512157706687373,-0.9921836598462677,-0.12432982984495966,0.01066201410564342,-0.12405240566730957,0.9919946766985115,0.023612751850829842,0.6
+1789729720214233389,9366,0.6360538333316093,-0.11154003870115065,-0.3347323199240166,-0.9920116189885391,-0.12569868728989753,0.01062016032527382,-0.12541742714200838,0.9918150458423283,0.023945434008579028,0.6
+1789729720247562510,9400,0.6360538333316093,-0.11035473257870165,-0.3343757158423839,-0.9918453426668006,-0.1270075343258893,0.010578395655022265,-0.12672249931750923,0.9916411601456038,0.024273806290006993,0.6
+1789729720280932426,9433,0.6360538333316093,-0.108738128497069,-0.33391711992401657,-0.9916302609566108,-0.1286806596396913,0.010522043043913324,-0.12839061269325605,0.9914157503374403,0.024711546999336066,0.6
+1789729720314233680,9466,0.6360538333316093,-0.10746874890523228,-0.3336207444138125,-0.9914823671200654,-0.12981850208032872,0.010481994448182423,-0.12952494487322067,0.9912604746549865,0.02501919347941065,0.6
+1789729720347562991,9500,0.6360538333316093,-0.10618447951747718,-0.33334900563830233,-0.9913352347534978,-0.13094024894611073,0.010445264101924338,-0.13064348415887744,0.9911065780063483,0.025298835533980078,0.6
+1789729720380897532,9533,0.6360538333316093,-0.10444954074196698,-0.3330140913525881,-0.9911462495260568,-0.13236670953721766,0.01040030079960834,-0.1320660443866228,0.990909312068413,0.02563776854905662,0.6
+1789729720414232142,9566,0.6360538333316093,-0.10312001421135475,-0.3327836668627921,-0.9910085296331927,-0.1333962952885582,0.010369310369793766,-0.13309295565465282,0.9907658918840633,0.02586914444440067,0.6
+1789729720447567233,9600,0.6360538333316093,-0.10180187543584454,-0.3325532423729961,-0.9908636183935444,-0.1344710532283097,0.010335646458814216,-0.13416484112054322,0.9906147689018502,0.02611848082552742,0.6
+1789729720480912382,9633,0.6360538333316093,-0.09999856115013024,-0.33226619747503694,-0.9906778283077564,-0.13583642917650635,0.010291015887830301,-0.13552645818824866,0.9904207136598275,0.02644596537294008,0.6
+1789729720514229954,9666,0.6360538333316093,-0.09861523870115065,-0.33207635257707774,-0.9905426118727474,-0.13682135304992002,0.010259211173638434,-0.13650872285068807,0.9902796018233326,0.026677308677898498,0.6
+1789729720547562695,9700,0.6360538333316093,-0.09721243053788535,-0.33194310359748597,-0.990410423372456,-0.13777677401952654,0.010234931165632581,-0.13746207328606402,0.9901429765867866,0.02685264090838967,0.6
+1789729720580911194,9733,0.6360538333316093,-0.09527234074196698,-0.33182331584238395,-0.9902528957425476,-0.13890445873885748,0.010234931165608382,-0.13858945366946895,0.989985807477989,0.0268526409083374,0.6
+1789729720614236755,9766,0.6360538333316093,-0.09379432441543636,-0.331756785230139,-0.9901418886463427,-0.13969354506164453,0.010234931165590214,-0.13937832725020796,0.9898750514934619,0.026852640908298208,0.6
+1789729720647634028,9800,0.6360538333316093,-0.0923042509460486,-0.33170110359748595,-0.9900330220847657,-0.14046302490599233,0.01023493116557203,-0.140147599808297,0.9897664299945849,0.026852640908259024,0.6
+1789729720680900407,9833,0.6360538333316093,-0.0902756060480894,-0.3316378219648329,-0.9898956722392847,-0.1414277351369673,0.010234931165547773,-0.14111205039781147,0.9896293876541765,0.02685264090820678,0.6
+1789729720714233517,9866,0.6360538333316093,-0.08873272441543635,-0.33160111992401653,-0.9897980254775243,-0.14210951743226705,0.010234931165529558,-0.14179364935770802,0.9895319583914813,0.02685264090816762,0.6
+1789729720747565758,9900,0.6360538333316093,-0.08717340196645676,-0.33160111992401653,-0.9897059288089096,-0.1427495032023979,0.010234931165511328,-0.14243346315164948,0.9894400660226403,0.02685264090812844,0.6
+1789729720780910287,9933,0.6360538333316093,-0.08508331217053841,-0.33160111992401653,-0.989584755823226,-0.1435871067551842,0.010234931165487002,-0.1432708418000786,0.9893191606181287,0.02685264090807624,0.6
+1789729720814300821,9966,0.6360538333316093,-0.08351574482359965,-0.33160111992401653,-0.9894959359654147,-0.14419791569910662,0.010234931165468737,-0.14388148686155794,0.9892305360302882,0.026852640908037087,0.6
+1789729720847565220,10000,0.6360538333316093,-0.0819728631909466,-0.33160111992401653,-0.9894033461615757,-0.14483185004796575,0.010234931165450467,-0.1445152512352614,0.9891381490149267,0.026852640907997962,0.6
+1789729720880900890,10033,0.6360538333316093,-0.07997667543584455,-0.3315905403321798,-0.989270794532471,-0.14573448894867988,0.010234931165426083,-0.145417648310564,0.9890058863505788,0.02685264090794578,0.6
+1789729720914230451,10066,0.6360538333316093,-0.07849465094604863,-0.331559960740343,-0.9891674741645335,-0.14643412935172134,0.010234931165407777,-0.1461171014325014,0.9889027901392711,0.026852640907906646,0.6
+1789729720947563712,10100,0.6360538333316093,-0.07700457747666087,-0.331559960740343,-0.9890708283322023,-0.14708549461551504,0.010234931165389455,-0.14676829246251707,0.9888063531369072,0.026852640907867518,0.6
+1789729720980902052,10133,0.6360538333316093,-0.07506039788482415,-0.331559960740343,-0.9889362086094222,-0.14798790992936575,0.010234931165365016,-0.14767046658832592,0.9886720229549646,0.02685264090781534,0.6
+1789729721014229648,10166,0.6360538333316093,-0.07363800604808945,-0.331559960740343,-0.9888294374074991,-0.148699663417273,0.010234931165346663,-0.14838203000950326,0.9885654803029169,0.026852640907776223,0.6
+1789729721047567332,10200,0.6360538333316093,-0.07221561421135476,-0.331559960740343,-0.9887212208672209,-0.14941751433775635,0.010234931165328297,-0.149099689380855,0.9884574944340362,0.026852640907737105,0.6
+1789729721080906735,10233,0.6360538333316093,-0.0703426019664568,-0.331559960740343,-0.9885761215082098,-0.15037452632619389,0.01023493116530378,-0.15005644623105127,0.9883127028530952,0.026852640907684938,0.6
+1789729721114232619,10266,0.6360538333316093,-0.06892412033380374,-0.331559960740343,-0.9884704506651971,-0.15106758204785217,0.010234931165285375,-0.15074931734754418,0.9882072550814097,0.02685264090764584,0.6
+1789729721147565943,10300,0.6360538333316093,-0.06747802237462007,-0.331559960740343,-0.9883661645515585,-0.1517483803988845,0.010234931165266959,-0.15142993449141356,0.9881031882431173,0.026852640907606737,0.6
+1789729721180898837,10333,0.6360538333316093,-0.06554989176237518,-0.331559960740343,-0.9882235642731565,-0.15267427156957905,0.01023493116524239,-0.15235557943066277,0.9879608864184032,0.026852640907554633,0.6
+1789729721214307881,10366,0.6360538333316093,-0.06408388359910987,-0.331559960740343,-0.988119091681384,-0.15334897077841841,0.010234931165223941,-0.15303009936379508,0.98785663148303,0.02685264090751554,0.6
+1789729721247624727,10400,0.6360538333316093,-0.06258574482359966,-0.331559960740343,-0.9880215504404348,-0.15397617364164717,0.010234931165205484,-0.1536571356879728,0.987759292706711,0.026852640907476463,0.6
+1789729721280932904,10433,0.6360538333316093,-0.06057745094604863,-0.331559960740343,-0.9878908761719027,-0.15481234757070933,0.01023493116518085,-0.1544930877649499,0.9876288885553867,0.026852640907424348,0.6
+1789729721314228583,10466,0.6360538333316093,-0.05905496931339557,-0.331559960740343,-0.9877924060612449,-0.15543940527350508,0.010234931165162364,-0.1551199792287562,0.9875306211558046,0.02685264090738528,0.6
+1789729721347564496,10500,0.6360538333316093,-0.05746247135421189,-0.331559960740343,-0.9877076499360511,-0.15597706383263266,0.010234931165143868,-0.15565749533874407,0.9874460389414552,0.026852640907346223,0.6
+1789729721380896840,10533,0.6360538333316093,-0.0552931570684976,-0.331559960740343,-0.9875989849611724,-0.15666362400923653,0.010234931165119174,-0.15634387373556122,0.9873375961755244,0.026852640907294133,0.6
+1789729721414235793,10566,0.6360538333316093,-0.05365456115013025,-0.331559960740343,-0.9875135753226743,-0.15720109648941746,0.010234931165100644,-0.15688120400359265,0.9872523605981852,0.02685264090725509,0.6
+1789729721447562888,10600,0.6360538333316093,-0.051969132578701685,-0.331559960740343,-0.9874295728359159,-0.1577278823579597,0.010234931165082105,-0.15740785056760237,0.987168528801438,0.02685264090721605,0.6
+1789729721480899321,10633,0.6360538333316093,-0.049649965231762905,-0.331559960740343,-0.9873255030276937,-0.15837802011377144,0.010234931165057378,-0.1580578165086255,0.9870646697743956,0.026852640907163997,0.6
+1789729721514225336,10666,0.6360538333316093,-0.04789537747666086,-0.331559960740343,-0.9872484147117839,-0.15885784158522598,0.010234931165038813,-0.15853751125294036,0.9869877371082362,0.026852640907124952,0.6
+1789729721547629260,10700,0.6360538333316093,-0.0461363733950282,-0.331559960740343,-0.9871710932117521,-0.1593376255350946,0.010234931165020241,-0.15901716855133,0.9869105713195259,0.02685264090708593,0.6
+1789729721580913111,10733,0.6360538333316093,-0.0437338509460486,-0.331559960740343,-0.9870716897963079,-0.15995225971117166,0.010234931164995461,-0.1596316405747853,0.9868113674880932,0.026852640907033907,0.6
+1789729721614230396,10766,0.6360538333316093,-0.041899720333803694,-0.331559960740343,-0.9869954603436988,-0.16042196684051446,0.01023493116497686,-0.16010122385889491,0.9867352906404048,0.026852640906994886,0.6
+1789729721647565120,10800,0.6360538333316093,-0.04006558972155879,-0.331559960740343,-0.9869114739396605,-0.16093784138696163,0.01023493116495824,-0.16061696246005316,0.9866514719222933,0.02685264090695585,0.6
+1789729721680909242,10833,0.6360538333316093,-0.03763198972155878,-0.331559960740343,-0.9867967680029452,-0.16163967595547304,0.010234931164933415,-0.16131861220053914,0.9865369942551657,0.026852640906903837,0.6
+1789729721714228428,10866,0.6360538333316093,-0.03580678972155878,-0.331559960740343,-0.9867086502925069,-0.16217671109622958,0.01023493116491479,-0.16185550600831675,0.9864490513205022,0.02685264090686483,0.6
+1789729721747566601,10900,0.6360538333316093,-0.03398158972155877,-0.331579960740343,-0.9866166670186354,-0.16273536353567908,0.010234931164896143,-0.16241401151326473,0.9863572499558657,0.026852640906825834,0.6
+1789729721780930921,10933,0.6360538333316093,-0.0315524387011506,-0.3316309321689144,-0.9864935306417602,-0.16348015226933593,0.010234931164871269,-0.1631586044945163,0.986234356253996,0.02685264090677383,0.6
+1789729721814242877,10966,0.6360538333316093,-0.029793140741966925,-0.3316564097199348,-0.9863913135793481,-0.16409577288662522,0.010234931164852603,-0.16377406342845993,0.9861323399141034,0.02685264090673483,0.6
+1789729721847568042,11000,0.6360538333316093,-0.02816686319094652,-0.3316564097199348,-0.9862621574797179,-0.16487026083409753,0.01023493116483393,-0.1645483481226694,0.9860034365084317,0.026852640906695854,0.6
+1789729721880897986,11033,0.6360538333316093,-0.026043597884824073,-0.3316564097199348,-0.9860749669988798,-0.1659861609960605,0.010234931164808992,-0.1656639557348069,0.9858166104538079,0.026852640906643882,0.6
+1789729721914295142,11066,0.6360538333316093,-0.024471875435844483,-0.3316564097199348,-0.9859206639499165,-0.16690024140368462,0.010234931164790273,-0.16657779676858978,0.9856626062198278,0.026852640906604913,0.6
+1789729721947555875,11100,0.6360538333316093,-0.02295348359910979,-0.3316564097199348,-0.9857509202743371,-0.16789987898253775,0.010234931164771529,-0.16757717284271859,0.9854931896357197,0.026852640906565934,0.6
+1789729721980952821,11133,0.6360538333316093,-0.0209289611501302,-0.3316564097199348,-0.9855267692800886,-0.16921061791862937,0.010234931164746499,-0.16888756932458907,0.985269468015719,0.026852640906513996,0.6
+1789729722014228757,11166,0.6360538333316093,-0.019410569313395507,-0.3316564097199348,-0.9853621852565537,-0.17016641869206214,0.010234931164727713,-0.1698431206887924,0.9851051974439279,0.026852640906475034,0.6
+1789729722047557204,11200,0.6360538333316093,-0.01788810400727306,-0.3316564097199348,-0.985197910505716,-0.17111494183508613,0.010234931164708909,-0.17079139658107478,0.9849412340491366,0.026852640906436097,0.6
+1789729722080892541,11233,0.6360538333316093,-0.01584318155829347,-0.3316564097199348,-0.9849807779726556,-0.1723604165939402,0.010234931164683797,-0.17203654707575983,0.9847245107879679,0.026852640906384173,0.6
+1789729722114234217,11266,0.6360538333316093,-0.014332904007273061,-0.3316564097199348,-0.9848143912505369,-0.17330857154188756,0.010234931164664944,-0.17298445546697444,0.9845584359717554,0.026852640906345242,0.6
+1789729722147559275,11300,0.6360538333316093,-0.01281042237462,-0.3316564097199348,-0.9846483507117834,-0.17424945229360086,0.01023493116464607,-0.1739250918092388,0.9843927052327769,0.026852640906306333,0.6
+1789729722180895061,11333,0.6360538333316093,-0.010712038701150612,-0.3316564097199348,-0.9844493385588822,-0.17537031104219258,0.010234931164620879,-0.1750456597287563,0.9841940625133258,0.026852640906254457,0.6
+1789729722214229088,11366,0.6360538333316093,-0.00914442237462,-0.3316564097199348,-0.9842974367998945,-0.17622089005908106,0.010234931164601958,-0.1758960182875294,0.9840424413748398,0.026852640906215555,0.6
+1789729722247557036,11400,0.6360538333316093,-0.007609720333803672,-0.3316564097199348,-0.9841386779307879,-0.17710536068876756,0.010234931164583023,-0.176780259896008,0.9838839745556708,0.02685264090617666,0.6
+1789729722280899591,11433,0.6360538333316093,-0.005552528497068977,-0.3316564097199348,-0.9839278370094529,-0.17827298657384164,0.010234931164557747,-0.17794758378626982,0.9836735195688635,0.026852640906124794,0.6
+1789729722314233618,11466,0.6360538333316093,-0.004001434619517956,-0.33168640971993485,-0.9837697349583749,-0.17914339162800805,0.010234931164538772,-0.17881776397472762,0.9835157054991279,0.026852640906085908,0.6
+1789729722347559156,11500,0.6360538333316093,-0.0024585529868648946,-0.33168640971993485,-0.9836070934460828,-0.18003425203723522,0.010234931164519779,-0.17970839446014925,0.9833533589900053,0.02685264090604703,0.6
+1789729722380899982,11533,0.6360538333316093,-0.00038492033380367,-0.3317175689036084,-0.9833940126650034,-0.1811945419671382,0.010234931164494428,-0.1808683852723718,0.9831406628175535,0.026852640905995203,0.6
+1789729722414285162,11566,0.6360538333316093,0.0011992184417065341,-0.3317504995158533,-0.9832408159614514,-0.18202402042455335,0.010234931164475403,-0.18169765013233402,0.9829877413339211,0.026852640905956366,0.6
+1789729722447556747,11600,0.6360538333316093,0.0027792021151759223,-0.3317840260464655,-0.9830869196050889,-0.1828533693576287,0.010234931164456345,-0.18252678570019443,0.9828341203775606,0.02685264090591751,0.6
+1789729722480882845,11633,0.6360538333316093,0.0049275286457881665,-0.33184104645462875,-0.9828880389176304,-0.1839194093528846,0.010234931164430904,-0.18359255172937328,0.982635594015339,0.02685264090586572,0.6
+1789729722514226170,11666,0.6360538333316093,0.006545055176400411,-0.33188429543422054,-0.982739963138503,-0.1847089901293213,0.010234931164411811,-0.18438192980017165,0.9824877809110641,0.026852640905826883,0.6
+1789729722547560917,11700,0.6360538333316093,0.008133365380482043,-0.33191547094442464,-0.98257871264209,-0.18556486641245698,0.010234931164392704,-0.18523758656181752,0.9823268153731415,0.026852640905788056,0.6
+1789729722580907322,11733,0.6360538333316093,0.010252475584563674,-0.3319260505362614,-0.9823552283105508,-0.1867443482276957,0.010234931164367203,-0.18641676620259767,0.9821037241325142,0.02685264090573628,0.6
+1789729722614231220,11766,0.6360538333316093,0.011861642931502448,-0.33196147910768997,-0.9821870132890609,-0.18762706923675962,0.010234931164348041,-0.1872992613289675,0.9819358035951296,0.02685264090569746,0.6
+1789729722647559678,11800,0.6360538333316093,0.013466655176400407,-0.33200066278115936,-0.98201932077208,-0.18850278463302395,0.01023493116432887,-0.18817475285856022,0.9817684034755914,0.026852640905658635,0.6
+1789729722680891505,11833,0.6360538333316093,0.015511904155992243,-0.3320535689036083,-0.9817829019178841,-0.18973028141485532,0.010234931164303285,-0.1894019362194545,0.9815323948972424,0.0268526409056069,0.6
+1789729722714222122,11866,0.6360538333316093,0.01693036946211469,-0.33209473625054703,-0.981597024084496,-0.1906896129644306,0.010234931164284072,-0.1903610231242539,0.9813468380503826,0.0268526409055681,0.6
+1789729722747574187,11900,0.6360538333316093,0.018348851094767755,-0.3321365811485062,-0.9814074083343018,-0.19166310299745506,0.010234931164264837,-0.19133426517524446,0.9811575483306685,0.026852640905529326,0.6
+1789729722780897445,11933,0.6360538333316093,0.020308998033543267,-0.3321983933934042,-0.9811559050413587,-0.1929464593780769,0.010234931164239153,-0.19261729506109768,0.9809064753174727,0.02685264090547763,0.6
+1789729722814289104,11966,0.6360538333316093,0.02182333272742082,-0.3322444015566695,-0.9809725034609402,-0.19387674857403508,0.010234931164219878,-0.19354734788461636,0.9807233859775318,0.026852640905438874,0.6
+1789729722847561369,12000,0.6360538333316093,0.023349887829461635,-0.33229404237299603,-0.9807937694308697,-0.19477892090688587,0.010234931164200585,-0.1944492912297523,0.9805449550207541,0.026852640905400054,0.6
+1789729722880898175,12033,0.6360538333316093,0.02549847558456368,-0.332370148495445,-0.9805714040197744,-0.19589529806188216,0.010234931164174822,-0.19556538535619156,0.9803229650104565,0.02685264090534839,0.6
+1789729722914226463,12066,0.6360538333316093,0.027166744972318784,-0.332437242372996,-0.9804058074841415,-0.1967223902748072,0.010234931164155477,-0.19639226811554206,0.980157646861383,0.02685264090530963,0.6
+1789729722947557030,12100,0.6360538333316093,0.028856393951910617,-0.33251043420973064,-0.980239513313029,-0.19754934250435188,0.010234931164136124,-0.19721901112641996,0.9799916312534152,0.0268526409052709,0.6
+1789729722980899086,12133,0.6360538333316093,0.031001038849869805,-0.33260749543422047,-0.9800167027453939,-0.19865172670810838,0.010234931164110292,-0.19832111673762343,0.9797691923776525,0.02685264090521926,0.6
+1789729723014227069,12166,0.6360538333316093,0.0324595694621147,-0.3326771933934041,-0.9798487812191965,-0.19947835002155553,0.01023493116409089,-0.19914753138110056,0.9796015498258621,0.02685264090518054,0.6
+1789729723047564818,12200,0.6360538333316093,0.033858451094767754,-0.332764711760751,-0.9796855090174861,-0.2002786798568835,0.010234931164071464,-0.19994765937409278,0.9794385479381753,0.02685264090514182,0.6
+1789729723080905667,12233,0.6360538333316093,0.03566243476823714,-0.33289040971993467,-0.9794809123367711,-0.20127689522643613,0.010234931164045561,-0.20094562325717677,0.9792342887022528,0.02685264090509021,0.6
+1789729723114236957,12266,0.6360538333316093,0.036812361298849385,-0.3329699770668735,-0.9793456803811009,-0.20193386170463454,0.010234931164026115,-0.20160242438082063,0.9790992790111736,0.026852640905051534,0.6
+1789729723147593254,12300,0.6360538333316093,0.03778340619680857,-0.3330276260464653,-0.9792388318976915,-0.2024513677101563,0.010234931164006655,-0.2021198002220753,0.978992605709877,0.02685264090501284,0.6
+1789729723180911006,12333,0.6360538333316093,0.03862725925803306,-0.3330394138015673,-0.9791290505639261,-0.20298164578565636,0.010234931163980693,-0.20264994500216071,0.9788830039729214,0.026852640904961245,0.6
+1789729723214239486,12366,0.6360538333316093,0.03890556129884938,-0.3330394138015673,-0.9790724013175769,-0.203254714981726,0.010234931163961208,-0.20292294558924076,0.9788264472468127,0.026852640904922558,0.6
+1789729723247565657,12400,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.6
+1789729723280898867,12433,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.6
+1789729723314243306,12466,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.6
+1789729723347565997,12500,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.6
+1789729723380914065,12533,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.6
+1789729723414233177,12566,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.6
+1789729723447566996,12600,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729723480972437,12633,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729723514237625,12666,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729723547564156,12700,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729723580909854,12733,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729723614291958,12766,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729723647566666,12800,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729723680902915,12833,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729723714304636,12866,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729723747567495,12900,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729723780957198,12933,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729723814316684,12966,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729723847577233,13000,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729723880899175,13033,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729723914307045,13066,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729723947641925,13100,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729723980959607,13133,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724014286233,13166,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724047642382,13200,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724080961147,13233,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724114297070,13266,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724147626073,13300,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724180896193,13333,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724214307537,13366,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724247644889,13400,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724280901481,13433,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724314234884,13466,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724347633159,13500,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724380905059,13533,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724414232302,13566,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724447627358,13600,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724480907087,13633,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724514284004,13666,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724547626136,13700,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724580899146,13733,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724614226060,13766,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724647566702,13800,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724680903414,13833,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724714292590,13866,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724747565740,13900,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724780902633,13933,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724814241455,13966,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724847565848,14000,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724880902241,14033,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724914292776,14066,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724947561897,14100,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729724980903559,14133,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725014249855,14166,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725047576012,14200,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725080905668,14233,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725114237294,14266,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725147563460,14300,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725180902315,14333,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725214235491,14366,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725247561147,14400,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725280897552,14433,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725314235207,14466,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725347564373,14500,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725380903678,14533,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725414232114,14566,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725447562570,14600,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725480898605,14633,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725514235581,14666,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725547565057,14700,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725580912321,14733,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725614255855,14766,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725647580561,14800,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725680910267,14833,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725714228385,14866,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725747564890,14900,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725780900665,14933,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725814293194,14966,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725847608951,15000,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725880900582,15033,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725914225579,15066,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725947626016,15100,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
+1789729725980920536,15133,0.6360538333316093,0.038981055176400395,-0.3330394138015673,-0.9790471570015984,-0.20337627824099208,0.010234931163941724,-0.2030444783126048,0.9788012441263014,0.026852640904883884,0.8
diff --git a/episode_0008/right.actions.joint_position/data.csv b/episode_0008/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fa6991f2ef5d6df66aada821261d4c9f71d3afad
--- /dev/null
+++ b/episode_0008/right.actions.joint_position/data.csv
@@ -0,0 +1,456 @@
+timestamp_ns,elapsed_ms,j1,j2,j3,j4,j5,j6,j7,gripper
+1789729710847580356,0,0.02382008358836174,-1.684633731842041,-0.04866109415888786,0.7578970789909363,1.6340339183807373,-0.06455600261688232,-0.9198622107505798,0.8
+1789729710881001937,33,0.024257289245724678,-1.6844747066497803,-0.049626708030700684,0.7581110000610352,1.635066270828247,-0.06494428217411041,-0.9198647737503052,0.8
+1789729710914338209,66,0.02456357143819332,-1.6843622922897339,-0.05028597638010979,0.7582588791847229,1.6357675790786743,-0.06520787626504898,-0.9198663830757141,0.8
+1789729710947649055,100,0.02486269362270832,-1.6842519044876099,-0.050928208976984024,0.7584061026573181,1.6364600658416748,-0.06544705480337143,-0.9198672771453857,0.8
+1789729710981000045,133,0.025236379355192184,-1.684106707572937,-0.051770102232694626,0.7586109042167664,1.6373451948165894,-0.06580141931772232,-0.9198676943778992,0.8
+1789729711014326024,166,0.025490818545222282,-1.6840040683746338,-0.052350010722875595,0.7587579488754272,1.6379693746566772,-0.0660398006439209,-0.919872522354126,0.8
+1789729711047668310,200,0.02573983557522297,-1.6839067935943604,-0.05290484055876732,0.7588930726051331,1.6385611295700073,-0.06626706570386887,-0.9198770523071289,0.8
+1789729711081000877,233,0.02607819251716137,-1.6837784051895142,-0.05364178493618965,0.7590739727020264,1.639346957206726,-0.06655710190534592,-0.9198932647705078,0.8
+1789729711114337564,266,0.02632135897874832,-1.6836870908737183,-0.05417526513338089,0.7592099905014038,1.6399295330047607,-0.06676822900772095,-0.9199190139770508,0.8
+1789729711147662632,300,0.026556219905614853,-1.6835968494415283,-0.054689329117536545,0.7593462467193604,1.64048433303833,-0.0669768750667572,-0.9199353456497192,0.8
+1789729711180998748,333,0.02687152475118637,-1.6834752559661865,-0.0553673692047596,0.7595210075378418,1.6412279605865479,-0.06725291907787323,-0.9199500679969788,0.8
+1789729711214322147,366,0.02709992229938507,-1.683395504951477,-0.05586374178528786,0.7596354484558105,1.6417574882507324,-0.06744848936796188,-0.9199571013450623,0.8
+1789729711247705547,400,0.02731393836438656,-1.6833277940750122,-0.05635436624288559,0.759728729724884,1.6422779560089111,-0.06763626635074615,-0.9199633002281189,0.8
+1789729711281008238,433,0.027594134211540222,-1.6832447052001953,-0.057055216282606125,0.7598448395729065,1.6430079936981201,-0.06797408312559128,-0.9199634790420532,0.8
+1789729711314341745,466,0.02781658060848713,-1.6831846237182617,-0.0575825460255146,0.7599344253540039,1.6435744762420654,-0.06820866465568542,-0.9199635982513428,0.8
+1789729711347650245,500,0.028035754337906837,-1.683121919631958,-0.058088112622499466,0.7600347995758057,1.6441229581832886,-0.06841780990362167,-0.9199629426002502,0.8
+1789729711381007689,533,0.028324251994490623,-1.6830358505249023,-0.058772120624780655,0.7601744532585144,1.6448453664779663,-0.06872221827507019,-0.9199648499488831,0.8
+1789729711414320779,566,0.02855004370212555,-1.6829708814620972,-0.0593278594315052,0.760266900062561,1.645423412322998,-0.06896673142910004,-0.9199718832969666,0.8
+1789729711447650506,600,0.0287703238427639,-1.6829107999801636,-0.05989598482847214,0.760358452796936,1.6460150480270386,-0.06922142207622528,-0.9199734330177307,0.8
+1789729711481003931,633,0.02907542698085308,-1.6828415393829346,-0.06066051870584488,0.7604609131813049,1.6468206644058228,-0.06957628577947617,-0.9199715256690979,0.8
+1789729711514322079,666,0.029314829036593437,-1.6827976703643799,-0.061230260878801346,0.7605248093605042,1.6474213600158691,-0.06983557343482971,-0.9199674129486084,0.8
+1789729711547655536,700,0.029537415131926537,-1.6827515363693237,-0.06176847591996193,0.7605974078178406,1.6479926109313965,-0.07007090747356415,-0.9199658036231995,0.8
+1789729711580997432,733,0.029826313257217407,-1.682686448097229,-0.06248488277196884,0.7606998682022095,1.6487531661987305,-0.07041343301534653,-0.9199643731117249,0.8
+1789729711614325999,766,0.03005402348935604,-1.6826324462890625,-0.06304806470870972,0.7607818841934204,1.6493504047393799,-0.07065742462873459,-0.9199625849723816,0.8
+1789729711647653537,800,0.030277471989393234,-1.6825774908065796,-0.06359740346670151,0.7608639597892761,1.6499302387237549,-0.07091886550188065,-0.9199590086936951,0.8
+1789729711681005802,833,0.030585655942559242,-1.6825143098831177,-0.06431728601455688,0.7609697580337524,1.650702714920044,-0.07122939825057983,-0.9199563264846802,0.8
+1789729711714322301,866,0.030807025730609894,-1.6824697256088257,-0.06484100222587585,0.7610416412353516,1.6512638330459595,-0.07145804911851883,-0.9199522137641907,0.8
+1789729711747709101,900,0.03100983425974846,-1.6824235916137695,-0.06531727313995361,0.7611164450645447,1.6517733335494995,-0.07166532427072525,-0.9199483394622803,0.8
+1789729711781000233,933,0.031259555369615555,-1.6823476552963257,-0.06590632349252701,0.7612314224243164,1.6524018049240112,-0.07193006575107574,-0.9199475049972534,0.8
+1789729711814329811,966,0.031444892287254333,-1.6822878122329712,-0.0663260892033577,0.7613207101821899,1.6528441905975342,-0.07210355997085571,-0.9199503064155579,0.8
+1789729711847642850,1000,0.03162216395139694,-1.6822285652160645,-0.0667409896850586,0.7614055871963501,1.653288722038269,-0.07228510826826096,-0.9199528098106384,0.8
+1789729711881008663,1033,0.03183171898126602,-1.6821608543395996,-0.06723711639642715,0.7615098357200623,1.6538009643554688,-0.07249683886766434,-0.9199542999267578,0.8
+1789729711914327092,1066,0.03197552636265755,-1.682112455368042,-0.06756559014320374,0.7615944743156433,1.654171347618103,-0.07263370603322983,-0.9199560880661011,0.8
+1789729711947581499,1100,0.03211864456534386,-1.68205988407135,-0.0678786113858223,0.7616811394691467,1.6545168161392212,-0.07275771349668503,-0.919956624507904,0.8
+1789729711980921715,1133,0.03230324387550354,-1.6819936037063599,-0.06829404830932617,0.7617828845977783,1.6549626588821411,-0.07292698323726654,-0.9199604392051697,0.8
+1789729712014320269,1166,0.032442718744277954,-1.6819466352462769,-0.06860329210758209,0.7618547081947327,1.6553118228912354,-0.0730518102645874,-0.9199621677398682,0.8
+1789729712047658620,1200,0.032575834542512894,-1.68190336227417,-0.06889183074235916,0.7619249820709229,1.6556257009506226,-0.0731712281703949,-0.9199667572975159,0.8
+1789729712080910532,1233,0.03274646773934364,-1.6818525791168213,-0.0692565068602562,0.7620068788528442,1.656017541885376,-0.07331155240535736,-0.9199684858322144,0.8
+1789729712114241843,1266,0.032867468893527985,-1.6818140745162964,-0.06953143328428268,0.762065052986145,1.6563165187835693,-0.07341944426298141,-0.9199681282043457,0.8
+1789729712147597241,1300,0.03298744559288025,-1.6817777156829834,-0.0698055699467659,0.7621217370033264,1.6565978527069092,-0.07353656738996506,-0.9199689030647278,0.8
+1789729712180905286,1333,0.03313278406858444,-1.6817365884780884,-0.07014033198356628,0.7622029185295105,1.6569690704345703,-0.07367374002933502,-0.9199690222740173,0.8
+1789729712214237707,1366,0.03325628861784935,-1.6817479133605957,-0.07037824392318726,0.7622253894805908,1.6572387218475342,-0.07374092936515808,-0.9199725389480591,0.8
+1789729712247565449,1400,0.033409811556339264,-1.6818583011627197,-0.0706290453672409,0.7621955275535583,1.6575536727905273,-0.0737684890627861,-0.9200025796890259,0.8
+1789729712280906899,1433,0.033707983791828156,-1.682287573814392,-0.07102156430482864,0.7619560360908508,1.6581162214279175,-0.07373768836259842,-0.9201992154121399,0.8
+1789729712314228422,1466,0.03404507786035538,-1.6828628778457642,-0.07132333517074585,0.7616304159164429,1.6587680578231812,-0.07354127615690231,-0.9203721284866333,0.8
+1789729712347588229,1500,0.034562040120363235,-1.6837952136993408,-0.07163795083761215,0.7610588073730469,1.6596860885620117,-0.07309373468160629,-0.9207109808921814,0.8
+1789729712380904633,1533,0.03561793267726898,-1.6857991218566895,-0.07204173505306244,0.7596057057380676,1.6612616777420044,-0.07209492474794388,-0.9212405681610107,0.8
+1789729712414239374,1566,0.036732904613018036,-1.6879438161849976,-0.07233738154172897,0.7580013871192932,1.662742018699646,-0.07102814316749573,-0.9217292070388794,0.8
+1789729712447563826,1600,0.03805694356560707,-1.690710186958313,-0.07270003855228424,0.7557539343833923,1.664505124092102,-0.06993420422077179,-0.922245979309082,0.8
+1789729712480903266,1633,0.04009958729147911,-1.695387363433838,-0.07337133586406708,0.7514145970344543,1.6670957803726196,-0.06850404292345047,-0.9225454330444336,0.8
+1789729712514230918,1666,0.04183230176568031,-1.6994638442993164,-0.07403117418289185,0.747105062007904,1.6691704988479614,-0.06740620732307434,-0.9224814176559448,0.8
+1789729712547565989,1700,0.04375609755516052,-1.7039270401000977,-0.07478640973567963,0.7421265840530396,1.6713614463806152,-0.06629227101802826,-0.9218819737434387,0.8
+1789729712580902350,1733,0.04651731625199318,-1.7102364301681519,-0.07574193179607391,0.7350208759307861,1.6744366884231567,-0.06467036157846451,-0.9210224747657776,0.8
+1789729712614231052,1766,0.048638492822647095,-1.7150189876556396,-0.07636195421218872,0.7297590374946594,1.6768242120742798,-0.06341541558504105,-0.9205077290534973,0.8
+1789729712647562953,1800,0.05068901926279068,-1.7196013927459717,-0.07686902582645416,0.724483072757721,1.6789418458938599,-0.0621572844684124,-0.9198296070098877,0.8
+1789729712680905313,1833,0.05329028144478798,-1.725390911102295,-0.07751741260290146,0.7176142930984497,1.6814277172088623,-0.060456398874521255,-0.9186499714851379,0.8
+1789729712714232025,1866,0.05493684113025665,-1.729109764099121,-0.07785395532846451,0.7133637070655823,1.68303644657135,-0.0593387708067894,-0.9180374145507812,0.8
+1789729712747593842,1900,0.056518036872148514,-1.7326287031173706,-0.07805301994085312,0.7094063758850098,1.6846253871917725,-0.05819251015782356,-0.9176447987556458,0.8
+1789729712780905487,1933,0.05864680930972099,-1.7368167638778687,-0.07813981175422668,0.7042580842971802,1.6863467693328857,-0.05648886784911156,-0.9167577624320984,0.8
+1789729712814227459,1966,0.06018780544400215,-1.7393923997879028,-0.0782179906964302,0.7008630037307739,1.6874275207519531,-0.055222902446985245,-0.9159453511238098,0.8
+1789729712847566240,2000,0.061787307262420654,-1.7418248653411865,-0.07833320647478104,0.6976905465126038,1.6886520385742188,-0.05394383519887924,-0.9151499271392822,0.8
+1789729712880965662,2033,0.06390515714883804,-1.745004653930664,-0.07852373272180557,0.6939400434494019,1.6905150413513184,-0.05237415060400963,-0.9145657420158386,0.8
+1789729712914230442,2066,0.06529500335454941,-1.7472425699234009,-0.07862390577793121,0.6914526224136353,1.6918870210647583,-0.05135383456945419,-0.914333701133728,0.8
+1789729712947589420,2100,0.06674198061227798,-1.7495880126953125,-0.07870817929506302,0.6887239813804626,1.693266749382019,-0.050295595079660416,-0.9140115976333618,0.8
+1789729712980897404,2133,0.06857985258102417,-1.7525197267532349,-0.0787450447678566,0.6850377321243286,1.6947811841964722,-0.04891715943813324,-0.9133395552635193,0.8
+1789729713014230961,2166,0.06999831646680832,-1.7546124458312988,-0.07874172180891037,0.6822735071182251,1.6957714557647705,-0.04786455258727074,-0.9126537442207336,0.8
+1789729713047561347,2200,0.07145468890666962,-1.7566397190093994,-0.07871842384338379,0.6796732544898987,1.696779489517212,-0.046784594655036926,-0.9120854735374451,0.8
+1789729713080900511,2233,0.07345430552959442,-1.759284496307373,-0.07859551906585693,0.6766828298568726,1.6982386112213135,-0.04534076899290085,-0.9117242097854614,0.8
+1789729713114225118,2266,0.07500904053449631,-1.7612450122833252,-0.0784345343708992,0.6746134757995605,1.699446439743042,-0.044211406260728836,-0.9116573333740234,0.8
+1789729713147588409,2300,0.07665017247200012,-1.7632091045379639,-0.07825281471014023,0.672444224357605,1.7005999088287354,-0.04303489997982979,-0.9115211963653564,0.8
+1789729713180902597,2333,0.07900334149599075,-1.765689492225647,-0.07798176258802414,0.6694923043251038,1.7020721435546875,-0.04134020954370499,-0.911121129989624,0.8
+1789729713214243281,2366,0.08088667690753937,-1.7674171924591064,-0.07773295789957047,0.6673446297645569,1.7031760215759277,-0.03998599946498871,-0.91075599193573,0.8
+1789729713247562618,2400,0.08287079632282257,-1.7690355777740479,-0.07747338712215424,0.6652776002883911,1.7043240070343018,-0.03859464079141617,-0.9103766679763794,0.8
+1789729713280906112,2433,0.08567452430725098,-1.771092414855957,-0.07708285748958588,0.6628044843673706,1.7060256004333496,-0.036581698805093765,-0.9100500345230103,0.8
+1789729713314229088,2466,0.08784639090299606,-1.7725303173065186,-0.07669158279895782,0.6612471342086792,1.7073687314987183,-0.03498382121324539,-0.9099574685096741,0.8
+1789729713347565833,2500,0.09006982296705246,-1.773800015449524,-0.07616635411977768,0.6599709391593933,1.708648920059204,-0.03324301913380623,-0.909980058670044,0.8
+1789729713380903858,2533,0.09314010292291641,-1.775241732597351,-0.0752740353345871,0.6583849191665649,1.710190773010254,-0.030715929344296455,-0.9100117683410645,0.8
+1789729713414228524,2566,0.09565066546201706,-1.7761297225952148,-0.07448640465736389,0.657213032245636,1.7111449241638184,-0.02859831415116787,-0.9099637269973755,0.8
+1789729713447564429,2600,0.09835657477378845,-1.7768300771713257,-0.0736185610294342,0.6562088131904602,1.7121617794036865,-0.026260703802108765,-0.9097089171409607,0.8
+1789729713480901594,2633,0.10223516821861267,-1.777534008026123,-0.07244297862052917,0.6552329659461975,1.7135822772979736,-0.022944161668419838,-0.9096188545227051,0.8
+1789729713514232139,2666,0.10521869361400604,-1.7779531478881836,-0.07168189436197281,0.654720664024353,1.7147881984710693,-0.02044512704014778,-0.9096260070800781,0.8
+1789729713547567714,2700,0.10813401639461517,-1.7783386707305908,-0.07094643265008926,0.6542919278144836,1.7160754203796387,-0.018084796145558357,-0.9096569418907166,0.8
+1789729713580903689,2733,0.11194733530282974,-1.7787883281707764,-0.06992752104997635,0.6537676453590393,1.7176626920700073,-0.014892988838255405,-0.9097781181335449,0.8
+1789729713614230585,2766,0.11469558626413345,-1.7790642976760864,-0.06909922510385513,0.6534368395805359,1.7187395095825195,-0.012501003220677376,-0.9098905920982361,0.8
+1789729713647562960,2800,0.11735152453184128,-1.7793546915054321,-0.06830422580242157,0.653126060962677,1.719876766204834,-0.010229712352156639,-0.9100147485733032,0.8
+1789729713680895856,2833,0.12082257866859436,-1.7798815965652466,-0.06739554554224014,0.6526041030883789,1.7216124534606934,-0.007317793555557728,-0.9102057814598083,0.8
+1789729713714230741,2866,0.12335381656885147,-1.7804546356201172,-0.06685527414083481,0.6520189046859741,1.7230663299560547,-0.005292259622365236,-0.9103279709815979,0.8
+1789729713747565606,2900,0.12579448521137238,-1.7811843156814575,-0.06639660894870758,0.6512355804443359,1.7245699167251587,-0.0033837456721812487,-0.9104058742523193,0.8
+1789729713780908190,2933,0.1288261115550995,-1.7823606729507446,-0.06578967720270157,0.6499249339103699,1.726478934288025,-0.0009734128834679723,-0.910463273525238,0.8
+1789729713814230586,2966,0.13089314103126526,-1.7833666801452637,-0.06535674631595612,0.6487160921096802,1.7277660369873047,0.000689583015628159,-0.9104465842247009,0.8
+1789729713847562522,3000,0.1327694058418274,-1.7844698429107666,-0.06494612991809845,0.6473031044006348,1.7289246320724487,0.00224224547855556,-0.9103639125823975,0.8
+1789729713880903876,3033,0.13506117463111877,-1.7860239744186401,-0.06441885232925415,0.6451738476753235,1.7303217649459839,0.004145040642470121,-0.9099450707435608,0.8
+1789729713914227782,3066,0.1367170363664627,-1.7872015237808228,-0.06401298940181732,0.643531322479248,1.731292724609375,0.005548384040594101,-0.9096109867095947,0.8
+1789729713947575806,3100,0.13840264081954956,-1.7884023189544678,-0.06361841410398483,0.6418270468711853,1.7322553396224976,0.006987596396356821,-0.909267783164978,0.8
+1789729713980932988,3133,0.14067701995372772,-1.7900478839874268,-0.06314194947481155,0.6395180225372314,1.7335662841796875,0.008929315954446793,-0.9087508320808411,0.8
+1789729714014259780,3166,0.14237181842327118,-1.7913250923156738,-0.06284534931182861,0.6377993822097778,1.7346363067626953,0.010347961448132992,-0.908424973487854,0.8
+1789729714047601538,3200,0.14400561153888702,-1.792608618736267,-0.06258156150579453,0.6361077427864075,1.7357126474380493,0.011693354696035385,-0.9081325531005859,0.8
+1789729714080922238,3233,0.14604686200618744,-1.7943179607391357,-0.06224479898810387,0.6337870955467224,1.7370473146438599,0.013357981108129025,-0.9076531529426575,0.8
+1789729714114254798,3266,0.1474856734275818,-1.795603632926941,-0.061951570212841034,0.6319109201431274,1.7379001379013062,0.014604659751057625,-0.9071913361549377,0.8
+1789729714147606704,3300,0.14885415136814117,-1.7969077825546265,-0.06161872670054436,0.6299644112586975,1.7386481761932373,0.015851574018597603,-0.9067029356956482,0.8
+1789729714181020213,3333,0.15050703287124634,-1.7987158298492432,-0.0611753985285759,0.6272975206375122,1.739571452140808,0.017365837469697,-0.9059557914733887,0.8
+1789729714214335345,3366,0.15160034596920013,-1.8000929355621338,-0.0608559250831604,0.6252573728561401,1.740141749382019,0.018423205241560936,-0.9054099917411804,0.8
+1789729714247672663,3400,0.15257202088832855,-1.8015013933181763,-0.060568589717149734,0.6232703328132629,1.740665078163147,0.019394919276237488,-0.9049348831176758,0.8
+1789729714280999863,3433,0.1537061631679535,-1.8034032583236694,-0.060197677463293076,0.6206285357475281,1.7412822246551514,0.02055881731212139,-0.9043065309524536,0.8
+1789729714314336252,3466,0.1545456349849701,-1.804748296737671,-0.05987831577658653,0.6187954545021057,1.7416398525238037,0.02151256427168846,-0.903939425945282,0.8
+1789729714347665692,3500,0.15539363026618958,-1.8060163259506226,-0.059535425156354904,0.617034375667572,1.741984248161316,0.022520966827869415,-0.9035207629203796,0.8
+1789729714381003750,3533,0.15660585463047028,-1.80747652053833,-0.05907305330038071,0.6148495674133301,1.7422654628753662,0.024013923481106758,-0.9029346704483032,0.8
+1789729714414317872,3566,0.15760140120983124,-1.8084218502044678,-0.05875498428940773,0.6133290529251099,1.7424131631851196,0.025328999385237694,-0.9024617075920105,0.8
+1789729714447660560,3600,0.15864266455173492,-1.8092632293701172,-0.058485135436058044,0.611840546131134,1.7425546646118164,0.02671077661216259,-0.901909589767456,0.8
+1789729714480936837,3633,0.1601707935333252,-1.810161828994751,-0.0581803061068058,0.610133945941925,1.7426482439041138,0.028750041499733925,-0.9011743664741516,0.8
+1789729714514335527,3666,0.16141164302825928,-1.810692310333252,-0.05792959779500961,0.6090662479400635,1.742793321609497,0.030392823740839958,-0.9007134437561035,0.8
+1789729714547683054,3700,0.1627182513475418,-1.8110880851745605,-0.05764926224946976,0.6081695556640625,1.7429149150848389,0.03212539479136467,-0.9003123044967651,0.8
+1789729714580996366,3733,0.16456644237041473,-1.8114594221115112,-0.05721116065979004,0.6071195602416992,1.7431564331054688,0.03449676185846329,-0.8997605443000793,0.8
+1789729714614336235,3766,0.16593630611896515,-1.8116786479949951,-0.05684580281376839,0.6064353585243225,1.7433630228042603,0.03618979454040527,-0.8993833065032959,0.8
+1789729714647594423,3800,0.16725127398967743,-1.8118716478347778,-0.05641469359397888,0.6058129668235779,1.7435622215270996,0.037809595465660095,-0.8990405797958374,0.8
+1789729714680934002,3833,0.16889512538909912,-1.8121672868728638,-0.0557907335460186,0.6050031781196594,1.743825912475586,0.03987598791718483,-0.8986678123474121,0.8
+1789729714714260422,3866,0.17001453042030334,-1.81242036819458,-0.05524178594350815,0.604376494884491,1.7439608573913574,0.04126843437552452,-0.898411750793457,0.8
+1789729714747590401,3900,0.1710507571697235,-1.812662959098816,-0.05459017679095268,0.6037904024124146,1.74403977394104,0.042594585567712784,-0.898199200630188,0.8
+1789729714780939228,3933,0.1723577082157135,-1.812861442565918,-0.05365915969014168,0.6031998991966248,1.7440251111984253,0.04441026598215103,-0.8979702591896057,0.8
+1789729714814257280,3966,0.17327502369880676,-1.8129637241363525,-0.053021207451820374,0.6028244495391846,1.7440285682678223,0.04562551900744438,-0.89781254529953,0.8
+1789729714847668819,4000,0.17414359748363495,-1.8130948543548584,-0.052425678819417953,0.6024064421653748,1.7440409660339355,0.04672817885875702,-0.8976569771766663,0.8
+1789729714881001938,4033,0.17522341012954712,-1.813295841217041,-0.051633767783641815,0.6018426418304443,1.744109869003296,0.04807709902524948,-0.8974193930625916,0.8
+1789729714914324559,4066,0.17600621283054352,-1.8134760856628418,-0.05099868401885033,0.6014173030853271,1.7441661357879639,0.049066729843616486,-0.8973073363304138,0.8
+1789729714947655118,4100,0.17681168019771576,-1.813680648803711,-0.05036792531609535,0.6009491086006165,1.7442306280136108,0.05008676275610924,-0.8971647024154663,0.8
+1789729714981008764,4133,0.17796625196933746,-1.8140181303024292,-0.049589309841394424,0.6001794338226318,1.7444425821304321,0.05142011120915413,-0.8969101905822754,0.8
+1789729715014332290,4166,0.1789100170135498,-1.8143036365509033,-0.049010034650564194,0.5995131731033325,1.7446562051773071,0.05249215289950371,-0.8966773152351379,0.8
+1789729715047660094,4200,0.1799347847700119,-1.814620018005371,-0.048442523926496506,0.598768949508667,1.7449190616607666,0.053628794848918915,-0.8963754177093506,0.8
+1789729715080939724,4233,0.18144530057907104,-1.8151198625564575,-0.04770461097359657,0.5976196527481079,1.7454140186309814,0.05520094931125641,-0.8959214687347412,0.8
+1789729715114339019,4266,0.18261213600635529,-1.8155335187911987,-0.04713783413171768,0.5966784954071045,1.7457962036132812,0.05643116682767868,-0.8955242037773132,0.8
+1789729715147673401,4300,0.1837865263223648,-1.8159562349319458,-0.04659004509449005,0.5957273244857788,1.7461767196655273,0.05764906480908394,-0.895164966583252,0.8
+1789729715180939473,4333,0.18533284962177277,-1.8165740966796875,-0.045911695808172226,0.5943329334259033,1.74673330783844,0.05922912433743477,-0.8946152925491333,0.8
+1789729715214321670,4366,0.18646182119846344,-1.8171089887619019,-0.04537411034107208,0.593133270740509,1.7471179962158203,0.06043371558189392,-0.8940948247909546,0.8
+1789729715247597450,4400,0.18760934472084045,-1.8177481889724731,-0.044797319918870926,0.5916893482208252,1.7474614381790161,0.061682771891355515,-0.8934462666511536,0.8
+1789729715280935053,4433,0.18916651606559753,-1.8187919855117798,-0.04401954635977745,0.5893341302871704,1.7479196786880493,0.063398078083992,-0.8923699259757996,0.8
+1789729715314335117,4466,0.19035431742668152,-1.8196996450424194,-0.04342951625585556,0.587256133556366,1.7482579946517944,0.06476833671331406,-0.8914086818695068,0.8
+1789729715347672669,4500,0.19152185320854187,-1.8206948041915894,-0.042836226522922516,0.5850145816802979,1.7485336065292358,0.06612424552440643,-0.8903166055679321,0.8
+1789729715381005882,4533,0.1930406242609024,-1.8221379518508911,-0.04207243397831917,0.5818860530853271,1.7489104270935059,0.0679117739200592,-0.8888692855834961,0.8
+1789729715414330417,4566,0.1941784918308258,-1.8232907056808472,-0.04151570796966553,0.5795259475708008,1.7491745948791504,0.0692313015460968,-0.8878023624420166,0.8
+1789729715447664999,4600,0.19533544778823853,-1.8245387077331543,-0.040941160172224045,0.5771517753601074,1.7495381832122803,0.07060486078262329,-0.8868542909622192,0.8
+1789729715481003562,4633,0.19693498313426971,-1.8263530731201172,-0.04019239917397499,0.5737526416778564,1.7500770092010498,0.07241175323724747,-0.885547935962677,0.8
+1789729715514330015,4666,0.19821052253246307,-1.8277826309204102,-0.03965400531888008,0.5709350109100342,1.750499963760376,0.07384316623210907,-0.8843898773193359,0.8
+1789729715547667758,4700,0.1995249092578888,-1.8292298316955566,-0.03915680944919586,0.5679263472557068,1.750892996788025,0.07529586553573608,-0.8830311298370361,0.8
+1789729715580994062,4733,0.2012936919927597,-1.8311595916748047,-0.03859755024313927,0.5637235045433044,1.7514119148254395,0.07717828452587128,-0.8809803128242493,0.8
+1789729715614331534,4766,0.20256561040878296,-1.8325551748275757,-0.038240570574998856,0.5606576204299927,1.7518198490142822,0.07852698117494583,-0.8794109225273132,0.8
+1789729715647665997,4800,0.20377852022647858,-1.8339167833328247,-0.03790783882141113,0.5578128695487976,1.7522879838943481,0.0797894299030304,-0.8781304359436035,0.8
+1789729715681006169,4833,0.2052459418773651,-1.835716962814331,-0.03741616755723953,0.5542868375778198,1.7529088258743286,0.08135105669498444,-0.8765671253204346,0.8
+1789729715714330963,4866,0.20625121891498566,-1.8369938135147095,-0.03694577142596245,0.5517475008964539,1.753246545791626,0.08247093856334686,-0.8754945993423462,0.8
+1789729715747661747,4900,0.20724768936634064,-1.838199496269226,-0.03643253445625305,0.5492144823074341,1.7534451484680176,0.08360091596841812,-0.8743327856063843,0.8
+1789729715781006448,4933,0.2086053192615509,-1.8397243022918701,-0.035782720893621445,0.545792818069458,1.753675937652588,0.08518818020820618,-0.8726641535758972,0.8
+1789729715814259981,4966,0.2096482366323471,-1.8408371210098267,-0.035281162708997726,0.5432788133621216,1.7538596391677856,0.08636650443077087,-0.8713870048522949,0.8
+1789729715847590325,5000,0.21073798835277557,-1.841909646987915,-0.03469182923436165,0.5409218668937683,1.754036784172058,0.08764185756444931,-0.8702613711357117,0.8
+1789729715880927427,5033,0.21234160661697388,-1.8432996273040771,-0.033756643533706665,0.5380735993385315,1.7543367147445679,0.08948288857936859,-0.8690520524978638,0.8
+1789729715914255241,5066,0.21369566023349762,-1.8443022966384888,-0.03296889364719391,0.536084771156311,1.7546517848968506,0.09093458950519562,-0.8683330416679382,0.8
+1789729715947586754,5100,0.21523968875408173,-1.845277190208435,-0.03214287385344505,0.5340516567230225,1.7549928426742554,0.09258459508419037,-0.8675200939178467,0.8
+1789729715981009626,5133,0.21756842732429504,-1.8466092348098755,-0.031130827963352203,0.5311371088027954,1.755597472190857,0.09494233131408691,-0.8662779927253723,0.8
+1789729716014332116,5166,0.21947458386421204,-1.847670316696167,-0.03043220192193985,0.5288108587265015,1.7562037706375122,0.09683045744895935,-0.8652980923652649,0.8
+1789729716047664653,5200,0.2214338332414627,-1.8487788438796997,-0.02982916496694088,0.5263999104499817,1.7569466829299927,0.09865474700927734,-0.8642417192459106,0.8
+1789729716081004619,5233,0.22411777079105377,-1.8502923250198364,-0.029126204550266266,0.5231764316558838,1.7580798864364624,0.10105445981025696,-0.8628685474395752,0.8
+1789729716114331446,5266,0.22621166706085205,-1.8514368534088135,-0.028590617701411247,0.5207837820053101,1.7590491771697998,0.10295809060335159,-0.8618777394294739,0.8
+1789729716147652744,5300,0.2283870130777359,-1.85261070728302,-0.02796662412583828,0.5183425545692444,1.7600377798080444,0.10495017468929291,-0.8609410524368286,0.8
+1789729716180996430,5333,0.2314292937517166,-1.8541743755340576,-0.027028700336813927,0.5149654746055603,1.7612993717193604,0.10778331011533737,-0.8595835566520691,0.8
+1789729716214337246,5366,0.23381413519382477,-1.8552995920181274,-0.026327401399612427,0.5123913288116455,1.7622514963150024,0.11005723476409912,-0.8584670424461365,0.8
+1789729716247594262,5400,0.23624427616596222,-1.8563822507858276,-0.02572805993258953,0.5098167657852173,1.7632675170898438,0.11232100427150726,-0.857310950756073,0.8
+1789729716281016767,5433,0.23936611413955688,-1.8577290773391724,-0.02515685372054577,0.5064765214920044,1.7646738290786743,0.11518602073192596,-0.8556858897209167,0.8
+1789729716314331956,5466,0.24158237874507904,-1.8586305379867554,-0.02488657645881176,0.5042133927345276,1.7657999992370605,0.11713141202926636,-0.8546273112297058,0.8
+1789729716347594322,5500,0.24365051090717316,-1.8594260215759277,-0.02461344748735428,0.5022266507148743,1.766927719116211,0.11888083070516586,-0.8536832928657532,0.8
+1789729716380931918,5533,0.24617353081703186,-1.860317349433899,-0.024123650044202805,0.4999881982803345,1.7682627439498901,0.1210712343454361,-0.8527259230613708,0.8
+1789729716414328107,5566,0.2478611022233963,-1.8607404232025146,-0.02364807203412056,0.4986852705478668,1.7690378427505493,0.12262238562107086,-0.8521261215209961,0.8
+1789729716447658234,5600,0.24932515621185303,-1.8609123229980469,-0.023149942979216576,0.49773186445236206,1.7695599794387817,0.12403717637062073,-0.8515652418136597,0.8
+1789729716481006569,5633,0.2508504390716553,-1.8608324527740479,-0.022528214380145073,0.4969358742237091,1.7700129747390747,0.125462144613266,-0.8509954214096069,0.8
+1789729716514331957,5666,0.2516822814941406,-1.8605706691741943,-0.022084621712565422,0.49672016501426697,1.770147442817688,0.1262558102607727,-0.8507235646247864,0.8
+1789729716547662484,5700,0.25230082869529724,-1.8602033853530884,-0.02167525142431259,0.4967411756515503,1.7701828479766846,0.1268840730190277,-0.8506159782409668,0.8
+1789729716581006769,5733,0.2528408467769623,-1.8596020936965942,-0.021190356463193893,0.49703991413116455,1.7701765298843384,0.12739692628383636,-0.8505497574806213,0.8
+1789729716614346605,5766,0.2531149685382843,-1.858986258506775,-0.020804433152079582,0.4976061284542084,1.7700939178466797,0.12760566174983978,-0.8505475521087646,0.8
+1789729716647667813,5800,0.25336161255836487,-1.858267068862915,-0.020391881465911865,0.49830904603004456,1.7699438333511353,0.1278121918439865,-0.8505923748016357,0.8
+1789729716681011399,5833,0.25371280312538147,-1.8572611808776855,-0.0198410265147686,0.49922776222229004,1.7696913480758667,0.1281164288520813,-0.8506784439086914,0.8
+1789729716714335357,5866,0.25403010845184326,-1.8565106391906738,-0.019408170133829117,0.49989715218544006,1.7695012092590332,0.1284487545490265,-0.8506794571876526,0.8
+1789729716747678022,5900,0.2544063925743103,-1.8558622598648071,-0.01897532492876053,0.5004467368125916,1.7693694829940796,0.12883619964122772,-0.8506707549095154,0.8
+1789729716781001970,5933,0.25500768423080444,-1.855258822441101,-0.01841404289007187,0.5008712410926819,1.769311547279358,0.129471093416214,-0.8506578803062439,0.8
+1789729716814340626,5966,0.25551414489746094,-1.8550175428390503,-0.018009308725595474,0.5009292960166931,1.7693241834640503,0.1300198882818222,-0.8506386876106262,0.8
+1789729716847674953,6000,0.2560504972934723,-1.854884147644043,-0.017564279958605766,0.5008822679519653,1.769343376159668,0.13064755499362946,-0.8505714535713196,0.8
+1789729716880997081,6033,0.2568250000476837,-1.854797124862671,-0.016935475170612335,0.5007188320159912,1.769360899925232,0.13155940175056458,-0.8504676222801208,0.8
+1789729716914335217,6066,0.2574335038661957,-1.8547420501708984,-0.01643930934369564,0.5005596280097961,1.7693685293197632,0.13229075074195862,-0.8503873944282532,0.8
+1789729716947659405,6100,0.2580590844154358,-1.8546664714813232,-0.015944188460707664,0.5004006624221802,1.7693686485290527,0.13307322561740875,-0.8503149747848511,0.8
+1789729716980909912,6133,0.2588837146759033,-1.8545531034469604,-0.015308075584471226,0.5001986026763916,1.7693687677383423,0.13410523533821106,-0.8501590490341187,0.8
+1789729717014230486,6166,0.25946009159088135,-1.8544905185699463,-0.014876225963234901,0.5000402927398682,1.7693735361099243,0.13479286432266235,-0.8500694632530212,0.8
+1789729717047560777,6200,0.2600063383579254,-1.8544511795043945,-0.01447486225515604,0.49988481402397156,1.7693827152252197,0.13545577228069305,-0.8499637246131897,0.8
+1789729717080900336,6233,0.26063406467437744,-1.854459285736084,-0.01400161162018776,0.49964118003845215,1.7693922519683838,0.1362561583518982,-0.8498294949531555,0.8
+1789729717114225858,6266,0.2610134482383728,-1.8544790744781494,-0.013687695376574993,0.4994857609272003,1.7693895101547241,0.13675133883953094,-0.8497828841209412,0.8
+1789729717147559118,6300,0.2613282799720764,-1.854495882987976,-0.013400133699178696,0.49937474727630615,1.769379734992981,0.13717779517173767,-0.8497603535652161,0.8
+1789729717180901437,6333,0.26168203353881836,-1.854517936706543,-0.013100236654281616,0.4992622435092926,1.7693694829940796,0.13762857019901276,-0.8497464656829834,0.8
+1789729717214234048,6366,0.2619099020957947,-1.8545408248901367,-0.012923873029649258,0.4991808831691742,1.7693742513656616,0.13791286945343018,-0.8497406244277954,0.8
+1789729717247561019,6400,0.2621208429336548,-1.854574203491211,-0.012759853154420853,0.49908217787742615,1.7693781852722168,0.13816453516483307,-0.849734902381897,0.8
+1789729717280897389,6433,0.2623812258243561,-1.854623556137085,-0.012528541497886181,0.4989420175552368,1.769376277923584,0.1385081708431244,-0.8497182726860046,0.8
+1789729717314228509,6466,0.26254767179489136,-1.8546488285064697,-0.012378117069602013,0.49886786937713623,1.7693703174591064,0.13872230052947998,-0.8496847748756409,0.8
+1789729717347562180,6500,0.26268354058265686,-1.8546696901321411,-0.012270933948457241,0.49880319833755493,1.7693666219711304,0.13888958096504211,-0.8496643900871277,0.8
+1789729717380898409,6533,0.26278063654899597,-1.8546874523162842,-0.012183034792542458,0.4987487494945526,1.7693543434143066,0.139033243060112,-0.8496552109718323,0.8
+1789729717414224851,6566,0.2628033459186554,-1.8546981811523438,-0.012135946191847324,0.4987262487411499,1.7693156003952026,0.13907529413700104,-0.8496495485305786,0.8
+1789729717447560871,6600,0.2628057599067688,-1.8547075986862183,-0.012090743519365788,0.4987146258354187,1.76927649974823,0.13909250497817993,-0.8496481776237488,0.8
+1789729717480893171,6633,0.2628074586391449,-1.854720115661621,-0.012034252285957336,0.4987035393714905,1.769226312637329,0.13911660015583038,-0.8496471047401428,0.8
+1789729717514295533,6666,0.26280760765075684,-1.8547312021255493,-0.011980755254626274,0.4986959397792816,1.7691854238510132,0.13913482427597046,-0.84964919090271,0.6
+1789729717547563741,6700,0.26280829310417175,-1.8547403812408447,-0.011943542398512363,0.4986873269081116,1.7691501379013062,0.13915511965751648,-0.8496497869491577,0.6
+1789729717580985600,6733,0.26280900835990906,-1.8547563552856445,-0.011922641657292843,0.49866268038749695,1.7691270112991333,0.13916872441768646,-0.8496488928794861,0.6
+1789729717614230162,6766,0.2628089487552643,-1.8547651767730713,-0.011914322152733803,0.498647004365921,1.7691009044647217,0.1391725391149521,-0.8496473431587219,0.6
+1789729717647583390,6800,0.26280760765075684,-1.8547755479812622,-0.011904236860573292,0.49863600730895996,1.7690898180007935,0.13917385041713715,-0.8496463298797607,0.6
+1789729717680904332,6833,0.26280608773231506,-1.854790449142456,-0.01188376173377037,0.4986255466938019,1.7690743207931519,0.1391754299402237,-0.8496466279029846,0.6
+1789729717714229443,6866,0.26280370354652405,-1.8547981977462769,-0.011856766417622566,0.4986228048801422,1.7690585851669312,0.13917718827724457,-0.8496479392051697,0.6
+1789729717747560374,6900,0.2628001272678375,-1.854804277420044,-0.011828950606286526,0.49862220883369446,1.769033670425415,0.13917970657348633,-0.8496515154838562,0.6
+1789729717780902683,6933,0.2627969980239868,-1.8548089265823364,-0.011803404428064823,0.4986211359500885,1.768997073173523,0.13918346166610718,-0.8496506214141846,0.6
+1789729717814226565,6966,0.2627919018268585,-1.8548107147216797,-0.01179657131433487,0.49861952662467957,1.7689862251281738,0.13918627798557281,-0.8496487736701965,0.6
+1789729717847582022,7000,0.26278969645500183,-1.8548122644424438,-0.011791732162237167,0.4986177384853363,1.7689800262451172,0.13918669521808624,-0.8496467471122742,0.6
+1789729717880900384,7033,0.26279133558273315,-1.8548192977905273,-0.011773467995226383,0.49861204624176025,1.7689623832702637,0.1391865760087967,-0.8496454954147339,0.6
+1789729717914229005,7066,0.26279217004776,-1.8548234701156616,-0.011751904152333736,0.4986112117767334,1.7689285278320312,0.13918927311897278,-0.8496460914611816,0.6
+1789729717947585193,7100,0.2627342641353607,-1.8548270463943481,-0.011740590445697308,0.4986122250556946,1.7688896656036377,0.13918772339820862,-0.8496454954147339,0.6
+1789729717980911974,7133,0.26271846890449524,-1.8548325300216675,-0.011675827205181122,0.4986119270324707,1.7688102722167969,0.13918238878250122,-0.8496484756469727,0.6
+1789729718014229771,7166,0.2627146244049072,-1.854836106300354,-0.011643310077488422,0.4986118674278259,1.7687647342681885,0.13918708264827728,-0.8496524691581726,0.6
+1789729718047583063,7200,0.26271167397499084,-1.8548362255096436,-0.011627442203462124,0.4986118972301483,1.7687501907348633,0.13918963074684143,-0.849651038646698,0.6
+1789729718080969000,7233,0.26270872354507446,-1.8548399209976196,-0.01161697693169117,0.4986109137535095,1.7687352895736694,0.13919176161289215,-0.8496491312980652,0.6
+1789729718114248581,7266,0.26270797848701477,-1.8548427820205688,-0.011609790846705437,0.49860891699790955,1.7687294483184814,0.13919185101985931,-0.8496482968330383,0.6
+1789729718147562387,7300,0.2627067565917969,-1.8548448085784912,-0.01160510629415512,0.4986075758934021,1.76870858669281,0.13919208943843842,-0.84964919090271,0.6
+1789729718180975411,7333,0.2627054750919342,-1.854851245880127,-0.011587023735046387,0.498607337474823,1.7687007188796997,0.13919022679328918,-0.8496565818786621,0.6
+1789729718214241303,7366,0.2627045214176178,-1.8548558950424194,-0.011572242714464664,0.4986082911491394,1.7686915397644043,0.1391901671886444,-0.8496602773666382,0.6
+1789729718247588495,7400,0.26270031929016113,-1.8548637628555298,-0.011555411852896214,0.49860885739326477,1.7686885595321655,0.13919131457805634,-0.8496654033660889,0.6
+1789729718280903661,7433,0.2626679837703705,-1.854862093925476,-0.01154892984777689,0.49861812591552734,1.7686512470245361,0.13918843865394592,-0.8496643304824829,0.6
+1789729718314230446,7466,0.2625240981578827,-1.8548349142074585,-0.011550094932317734,0.4986957907676697,1.7685362100601196,0.13912387192249298,-0.8496721386909485,0.6
+1789729718347562780,7500,0.2621408998966217,-1.8547288179397583,-0.011583876796066761,0.49899253249168396,1.7682660818099976,0.13884280622005463,-0.8497615456581116,0.6
+1789729718380897974,7533,0.26089271903038025,-1.8543635606765747,-0.011778744868934155,0.4999973773956299,1.7676243782043457,0.13774719834327698,-0.850195050239563,0.6
+1789729718414233017,7566,0.25920969247817993,-1.8538382053375244,-0.012092789635062218,0.5013090372085571,1.7667254209518433,0.1362445056438446,-0.8507156372070312,0.6
+1789729718447589038,7600,0.25675275921821594,-1.853049874305725,-0.012554780580103397,0.5032893419265747,1.7655614614486694,0.13389717042446136,-0.851556122303009,0.6
+1789729718480892146,7633,0.25245922803878784,-1.851596474647522,-0.013172893784940243,0.5068386793136597,1.7632908821105957,0.12998652458190918,-0.8530972599983215,0.6
+1789729718514229589,7666,0.24865113198757172,-1.850286602973938,-0.013604904524981976,0.5100231170654297,1.7611490488052368,0.12659962475299835,-0.8546364903450012,0.6
+1789729718547592749,7700,0.24449443817138672,-1.8488667011260986,-0.01404272299259901,0.5134958028793335,1.7588262557983398,0.12297555804252625,-0.8563845753669739,0.6
+1789729718580911265,7733,0.23860867321491241,-1.846786618232727,-0.014680057764053345,0.518660306930542,1.755652904510498,0.11777947098016739,-0.8589628338813782,0.6
+1789729718614232191,7766,0.23418867588043213,-1.845066785812378,-0.015085511840879917,0.522847056388855,1.753248929977417,0.11380742490291595,-0.8611671328544617,0.6
+1789729718647566794,7800,0.2298463135957718,-1.8431670665740967,-0.015358496457338333,0.5271721482276917,1.7508429288864136,0.11010823398828506,-0.8634752631187439,0.6
+1789729718680893949,7833,0.22412027418613434,-1.840287208557129,-0.01583228074014187,0.5331403613090515,1.7474654912948608,0.10535924881696701,-0.8663924336433411,0.6
+1789729718714229842,7866,0.21968664228916168,-1.8379353284835815,-0.01640763133764267,0.5379635095596313,1.7450898885726929,0.1015690490603447,-0.8688055872917175,0.6
+1789729718747559747,7900,0.2151535153388977,-1.8354588747024536,-0.01701100915670395,0.5430756211280823,1.7428414821624756,0.09755279868841171,-0.8714097142219543,0.6
+1789729718780939625,7933,0.20926156640052795,-1.8318047523498535,-0.01759047992527485,0.5501317977905273,1.7395776510238647,0.09252144396305084,-0.8749315142631531,0.6
+1789729718814233194,7966,0.20493517816066742,-1.828773021697998,-0.017958270385861397,0.5556983351707458,1.7370078563690186,0.08905166387557983,-0.8775360584259033,0.6
+1789729718847583345,8000,0.2005116194486618,-1.8256109952926636,-0.018465396016836166,0.5616508722305298,1.7346155643463135,0.08544352650642395,-0.8803806900978088,0.6
+1789729718880896292,8033,0.1944618821144104,-1.8212194442749023,-0.019150128588080406,0.5698151588439941,1.7314432859420776,0.08027651160955429,-0.8844260573387146,0.6
+1789729718914231445,8066,0.19006812572479248,-1.8176580667495728,-0.019552115350961685,0.5760108232498169,1.7288005352020264,0.07665789127349854,-0.887237548828125,0.6
+1789729718947591716,8100,0.18575766682624817,-1.813906192779541,-0.019958585500717163,0.5823925733566284,1.7261871099472046,0.07329590618610382,-0.8901446461677551,0.6
+1789729718980899703,8133,0.1800592988729477,-1.8086127042770386,-0.020684601739048958,0.590710461139679,1.7225477695465088,0.06875029951334,-0.8936112523078918,0.6
+1789729719014234562,8166,0.17597241699695587,-1.8045985698699951,-0.02124711684882641,0.5970244407653809,1.719856858253479,0.06536350399255753,-0.8961037397384644,0.6
+1789729719047588986,8200,0.17214052379131317,-1.8007402420043945,-0.021558217704296112,0.6035875082015991,1.7176697254180908,0.062244292348623276,-0.8992928862571716,0.6
+1789729719080897997,8233,0.1674211323261261,-1.795517086982727,-0.0216533076018095,0.6119486093521118,1.7146244049072266,0.05866686999797821,-0.9036204218864441,0.6
+1789729719114228384,8266,0.16402846574783325,-1.7914263010025024,-0.021828800439834595,0.6179594993591309,1.7121065855026245,0.05613270401954651,-0.9064132571220398,0.6
+1789729719147563011,8300,0.1606583148241043,-1.7874127626419067,-0.02212873101234436,0.6237680315971375,1.709701418876648,0.05347692593932152,-0.9091556072235107,0.6
+1789729719180906637,8333,0.15631110966205597,-1.7821840047836304,-0.022482696920633316,0.6313653588294983,1.706601619720459,0.04992372542619705,-0.9129243493080139,0.6
+1789729719214245624,8366,0.15323786437511444,-1.778303861618042,-0.022548791021108627,0.6372522115707397,1.7045220136642456,0.04752027615904808,-0.9159915447235107,0.6
+1789729719247588070,8400,0.15015164017677307,-1.7742655277252197,-0.022535530850291252,0.6432852149009705,1.7023521661758423,0.04519367963075638,-0.9192469120025635,0.6
+1789729719280915598,8433,0.1463514268398285,-1.7689976692199707,-0.022605404257774353,0.6503053307533264,1.6992242336273193,0.04235966131091118,-0.922371506690979,0.6
+1789729719314229088,8466,0.1434890776872635,-1.764957070350647,-0.022771751508116722,0.6557472944259644,1.6968716382980347,0.04011806100606918,-0.9247133135795593,0.6
+1789729719347566875,8500,0.14066927134990692,-1.7610769271850586,-0.022901004180312157,0.6614111065864563,1.6949822902679443,0.03783877566456795,-0.9274791479110718,0.6
+1789729719380898712,8533,0.13707871735095978,-1.755912184715271,-0.022944757714867592,0.6686322689056396,1.6924517154693604,0.03489387407898903,-0.9309942722320557,0.6
+1789729719414227830,8566,0.1345636248588562,-1.7519481182098389,-0.022945288568735123,0.6738167405128479,1.6904069185256958,0.0329609140753746,-0.9331465363502502,0.6
+1789729719447562837,8600,0.13210506737232208,-1.7480510473251343,-0.02293824777007103,0.6790070533752441,1.6884405612945557,0.03110496513545513,-0.9354545474052429,0.6
+1789729719480907603,8633,0.12888246774673462,-1.7431926727294922,-0.022919295355677605,0.6857548356056213,1.6862388849258423,0.028644800186157227,-0.9389108419418335,0.6
+1789729719514231981,8666,0.12652957439422607,-1.7396814823150635,-0.022911541163921356,0.6905764937400818,1.6846362352371216,0.02682533487677574,-0.9414538145065308,0.6
+1789729719547557389,8700,0.12429305911064148,-1.736289381980896,-0.022916778922080994,0.695222020149231,1.6831865310668945,0.025113282725214958,-0.9441168308258057,0.6
+1789729719580897326,8733,0.12157442420721054,-1.7319719791412354,-0.022941816598176956,0.7009336352348328,1.6813641786575317,0.0229992363601923,-0.9476096034049988,0.6
+1789729719614228213,8766,0.119789257645607,-1.7289189100265503,-0.022987807169556618,0.7047667503356934,1.6800315380096436,0.021539777517318726,-0.9501197338104248,0.6
+1789729719647626533,8800,0.11816784739494324,-1.7260860204696655,-0.02301802672445774,0.7084817886352539,1.6789178848266602,0.020196115598082542,-0.9526483416557312,0.6
+1789729719680956200,8833,0.11609359085559845,-1.722615361213684,-0.023028036579489708,0.7134004235267639,1.677809238433838,0.01842453144490719,-0.9564470052719116,0.6
+1789729719714229755,8866,0.11452426016330719,-1.720055103302002,-0.02302645891904831,0.7169380187988281,1.67694890499115,0.017091529443860054,-0.9592202305793762,0.6
+1789729719747555753,8900,0.11293596774339676,-1.7174731492996216,-0.023038191720843315,0.7202757596969604,1.675950527191162,0.01574959047138691,-0.9618787169456482,0.6
+1789729719780914457,8933,0.11086718738079071,-1.714048147201538,-0.023073190823197365,0.7243253588676453,1.6744511127471924,0.013940437696874142,-0.9649689197540283,0.6
+1789729719814239926,8966,0.10940278321504593,-1.711594581604004,-0.0231028962880373,0.7272525429725647,1.6734057664871216,0.012665782123804092,-0.9672296643257141,0.6
+1789729719847594370,9000,0.10799705237150192,-1.7092885971069336,-0.023123037070035934,0.7302359342575073,1.6725549697875977,0.011355898343026638,-0.9696654677391052,0.6
+1789729719880957624,9033,0.10618352144956589,-1.7063872814178467,-0.023136069998145103,0.7342700362205505,1.671716570854187,0.0096343494951725,-0.973235011100769,0.6
+1789729719914234658,9066,0.10484129190444946,-1.7042136192321777,-0.023168301209807396,0.7372697591781616,1.6711431741714478,0.008305905386805534,-0.9760079383850098,0.6
+1789729719947565676,9100,0.1035366877913475,-1.7018967866897583,-0.02324177511036396,0.7401798963546753,1.6704742908477783,0.006990040186792612,-0.9784960150718689,0.6
+1789729719980899443,9133,0.10192684084177017,-1.6985881328582764,-0.023423833772540092,0.7439635992050171,1.669451117515564,0.005346621386706829,-0.9814926385879517,0.6
+1789729720014236455,9166,0.10079393535852432,-1.6960545778274536,-0.023587459698319435,0.7468441724777222,1.6687240600585938,0.004136370960623026,-0.9836351871490479,0.6
+1789729720047564046,9200,0.09971176832914352,-1.6935914754867554,-0.023705819621682167,0.7497957944869995,1.6681100130081177,0.00299490406177938,-0.985917329788208,0.6
+1789729720080983256,9233,0.09827806055545807,-1.6904327869415283,-0.023782024160027504,0.7538594603538513,1.6674271821975708,0.0015112514374777675,-0.9893180131912231,0.6
+1789729720114243666,9266,0.09718813002109528,-1.6881026029586792,-0.02377934753894806,0.7569970488548279,1.6669996976852417,0.0003842873265966773,-0.9919319152832031,0.6
+1789729720147559728,9300,0.09611669182777405,-1.6857043504714966,-0.023769576102495193,0.7600882053375244,1.666542887687683,-0.0007304976461455226,-0.994422972202301,0.6
+1789729720180899798,9333,0.09477749466896057,-1.6822866201400757,-0.023749323561787605,0.7641004323959351,1.6657589673995972,-0.0021085094194859266,-0.9972526431083679,0.6
+1789729720214233389,9366,0.0938500240445137,-1.6795432567596436,-0.023717882111668587,0.7671962976455688,1.6651066541671753,-0.0030644696671515703,-0.9991646409034729,0.6
+1789729720247562510,9400,0.09300457686185837,-1.6766797304153442,-0.023632081225514412,0.7704705595970154,1.664499282836914,-0.0038914219476282597,-1.0010502338409424,0.6
+1789729720280932426,9433,0.09198517352342606,-1.6727386713027954,-0.023448970168828964,0.7751036882400513,1.6638007164001465,-0.004885074682533741,-1.0036182403564453,0.6
+1789729720314233680,9466,0.0912734866142273,-1.6697789430618286,-0.02327950857579708,0.7787010669708252,1.6633714437484741,-0.005569495260715485,-1.005562663078308,0.6
+1789729720347562991,9500,0.09058427065610886,-1.666770577430725,-0.023082943633198738,0.7823255062103271,1.662977933883667,-0.006244293414056301,-1.0074512958526611,0.6
+1789729720380897532,9533,0.0897325724363327,-1.6625720262527466,-0.022814977914094925,0.7871963977813721,1.6623481512069702,-0.007050765678286552,-1.0096224546432495,0.6
+1789729720414232142,9566,0.08912771195173264,-1.6592656373977661,-0.022612644359469414,0.7909650206565857,1.6618826389312744,-0.007619486190378666,-1.0112768411636353,0.6
+1789729720447567233,9600,0.08856505900621414,-1.6557940244674683,-0.022395731881260872,0.7948522567749023,1.6613630056381226,-0.008116576820611954,-1.0127618312835693,0.6
+1789729720480912382,9633,0.08789344877004623,-1.6510405540466309,-0.022128954529762268,0.8000999689102173,1.6606814861297607,-0.008687573485076427,-1.0147087574005127,0.6
+1789729720514229954,9666,0.08743998408317566,-1.6474982500076294,-0.02196161262691021,0.804043710231781,1.6602195501327515,-0.009099231101572514,-1.0160943269729614,0.6
+1789729720547562695,9700,0.0869876965880394,-1.6439915895462036,-0.021781139075756073,0.8081051111221313,1.6598981618881226,-0.009528459049761295,-1.017636775970459,0.6
+1789729720580911194,9733,0.08638790994882584,-1.6392018795013428,-0.02147470787167549,0.8137038350105286,1.6594916582107544,-0.010024884715676308,-1.0197652578353882,0.6
+1789729720614236755,9766,0.08598405867815018,-1.6354371309280396,-0.021194100379943848,0.8179194331169128,1.6590577363967896,-0.010249871760606766,-1.0211981534957886,0.6
+1789729720647634028,9800,0.0856555849313736,-1.6315383911132812,-0.020895441994071007,0.8219895958900452,1.6584357023239136,-0.010366123169660568,-1.0222283601760864,0.6
+1789729720680900407,9833,0.08534853160381317,-1.6263588666915894,-0.020505188032984734,0.8275572061538696,1.6576951742172241,-0.010409333743155003,-1.023591160774231,0.6
+1789729720714233517,9866,0.08510959148406982,-1.6225003004074097,-0.02015642076730728,0.8320278525352478,1.6574082374572754,-0.010416071861982346,-1.025024652481079,0.6
+1789729720747565758,9900,0.08483725041151047,-1.618528127670288,-0.01973808743059635,0.8366274237632751,1.657058596611023,-0.010416372679173946,-1.0264718532562256,0.6
+1789729720780910287,9933,0.08449912071228027,-1.613025188446045,-0.01920057274401188,0.8424184322357178,1.656304121017456,-0.010387219488620758,-1.0278220176696777,0.6
+1789729720814300821,9966,0.08429141342639923,-1.6087019443511963,-0.0188150592148304,0.8468183279037476,1.6555665731430054,-0.010306973941624165,-1.0284987688064575,0.6
+1789729720847565220,10000,0.08409981429576874,-1.6047488451004028,-0.018432527780532837,0.851182758808136,1.655139446258545,-0.010212681256234646,-1.0294620990753174,0.6
+1789729720880900890,10033,0.0837811604142189,-1.599243402481079,-0.017789479345083237,0.8574650883674622,1.6546940803527832,-0.010053410194814205,-1.031143307685852,0.6
+1789729720914230451,10066,0.08355409651994705,-1.595272183418274,-0.017324412241578102,0.8616144061088562,1.654179334640503,-0.009915098547935486,-1.032058596611023,0.6
+1789729720947563712,10100,0.08335889130830765,-1.5911593437194824,-0.01688309945166111,0.8656773567199707,1.653455138206482,-0.009714119136333466,-1.032650351524353,0.6
+1789729720980902052,10133,0.08311033993959427,-1.5859313011169434,-0.016318190842866898,0.871273934841156,1.6527621746063232,-0.009465126320719719,-1.033799409866333,0.6
+1789729721014229648,10166,0.08285735547542572,-1.5821200609207153,-0.015830419957637787,0.8755801320075989,1.6524213552474976,-0.009334738366305828,-1.0350232124328613,0.6
+1789729721047567332,10200,0.0825849249958992,-1.5782968997955322,-0.015299834311008453,0.8796592354774475,1.6519535779953003,-0.009146989323198795,-1.0361562967300415,0.6
+1789729721080906735,10233,0.08225196599960327,-1.573124647140503,-0.014588399790227413,0.884649395942688,1.650894284248352,-0.008795388974249363,-1.0369739532470703,0.6
+1789729721114232619,10266,0.082027368247509,-1.5693494081497192,-0.014071379788219929,0.8884745240211487,1.6501555442810059,-0.008510468527674675,-1.0376577377319336,0.6
+1789729721147565943,10300,0.08177487552165985,-1.5657298564910889,-0.013523928821086884,0.8924968838691711,1.6497321128845215,-0.008275885134935379,-1.0388000011444092,0.6
+1789729721180898837,10333,0.08135996758937836,-1.5609928369522095,-0.012712176889181137,0.8978287577629089,1.6491849422454834,-0.007998580113053322,-1.0403990745544434,0.6
+1789729721214307881,10366,0.08104196190834045,-1.557343602180481,-0.012087552808225155,0.9015219211578369,1.6485352516174316,-0.007742533925920725,-1.0412628650665283,0.6
+1789729721247624727,10400,0.08076454699039459,-1.5535926818847656,-0.011503276415169239,0.9050484895706177,1.6476837396621704,-0.00746906129643321,-1.0417611598968506,0.6
+1789729721280932904,10433,0.08042092621326447,-1.5487128496170044,-0.010731086134910583,0.9099991321563721,1.6467885971069336,-0.007062171120196581,-1.042610764503479,0.6
+1789729721314228583,10466,0.08009085804224014,-1.5451329946517944,-0.01007660012692213,0.9139867424964905,1.6463508605957031,-0.006829049438238144,-1.0436784029006958,0.6
+1789729721347564496,10500,0.07973227649927139,-1.5414791107177734,-0.009400901384651661,0.9179151654243469,1.645867109298706,-0.0065697068348526955,-1.0447629690170288,0.6
+1789729721380896840,10533,0.0792623907327652,-1.5362987518310547,-0.008501505479216576,0.9227614402770996,1.6447618007659912,-0.006150031462311745,-1.0453755855560303,0.6
+1789729721414235793,10566,0.0789528638124466,-1.5322719812393188,-0.007858267053961754,0.9264368414878845,1.6437873840332031,-0.005797023884952068,-1.0455034971237183,0.6
+1789729721447562888,10600,0.07863826304674149,-1.5283194780349731,-0.007204556837677956,0.9304763674736023,1.6431132555007935,-0.005458574276417494,-1.046057939529419,0.6
+1789729721480899321,10633,0.07812211662530899,-1.5231257677078247,-0.006198574788868427,0.9361782073974609,1.6424678564071655,-0.005015040282160044,-1.0473787784576416,0.6
+1789729721514225336,10666,0.0776650682091713,-1.5189242362976074,-0.005324891302734613,0.9403927326202393,1.641714096069336,-0.004638278391212225,-1.0481313467025757,0.6
+1789729721547629260,10700,0.07724520564079285,-1.5148144960403442,-0.004490206483751535,0.944156289100647,1.6406893730163574,-0.004188796505331993,-1.0483496189117432,0.6
+1789729721580913111,10733,0.07667186111211777,-1.5091913938522339,-0.003348380560055375,0.9496141672134399,1.6393979787826538,-0.0035677491687238216,-1.0487161874771118,0.6
+1789729721614230396,10766,0.07614241540431976,-1.5049186944961548,-0.0023659346625208855,0.9541823267936707,1.6386897563934326,-0.0031408013310283422,-1.0496023893356323,0.6
+1789729721647565120,10800,0.07559969276189804,-1.5008301734924316,-0.0013488208642229438,0.9583469033241272,1.6379315853118896,-0.0026774671860039234,-1.0503023862838745,0.6
+1789729721680909242,10833,0.07486067712306976,-1.4948583841323853,0.00014080230903346092,0.9637146592140198,1.6362673044204712,-0.0018517684657126665,-1.050441026687622,0.6
+1789729721714228428,10866,0.0743468850851059,-1.490346074104309,0.0012484649196267128,0.9678788185119629,1.6350361108779907,-0.0011414268519729376,-1.0504342317581177,0.6
+1789729721747566601,10900,0.07380169630050659,-1.4859451055526733,0.002374726114794612,0.9722954630851746,1.6340570449829102,-0.0004890160635113716,-1.0509730577468872,0.6
+1789729721780930921,10933,0.07296713441610336,-1.480172038078308,0.004008252173662186,0.9780969619750977,1.632817268371582,0.0003779986873269081,-1.0519968271255493,0.6
+1789729721814242877,10966,0.07231787592172623,-1.4756004810333252,0.005316124297678471,0.9822322130203247,1.6314753293991089,0.0011397310299798846,-1.0522278547286987,0.6
+1789729721847568042,11000,0.07173837721347809,-1.471397042274475,0.006501896306872368,0.9861103892326355,1.6302342414855957,0.0018676696345210075,-1.0522890090942383,0.6
+1789729721880897986,11033,0.07093684375286102,-1.4658838510513306,0.008074847050011158,0.991641640663147,1.6289901733398438,0.002723127603530884,-1.0531911849975586,0.6
+1789729721914295142,11066,0.07032497972249985,-1.4617817401885986,0.009228338487446308,0.9957097768783569,1.6281691789627075,0.0033415097277611494,-1.054101824760437,0.6
+1789729721947555875,11100,0.06978808343410492,-1.4579566717147827,0.01021706685423851,0.999122679233551,1.627184510231018,0.0038700285367667675,-1.0545814037322998,0.6
+1789729721980952821,11133,0.06914255768060684,-1.452789545059204,0.011419154703617096,1.0035362243652344,1.6257855892181396,0.004595308564603329,-1.0549594163894653,0.6
+1789729722014228757,11166,0.06869683414697647,-1.4491281509399414,0.012223576195538044,1.0069645643234253,1.625041127204895,0.005051600281149149,-1.0556539297103882,0.6
+1789729722047557204,11200,0.06824501603841782,-1.4455801248550415,0.013022031635046005,1.010430097579956,1.6244850158691406,0.005455726757645607,-1.0565739870071411,0.6
+1789729722080892541,11233,0.0676376149058342,-1.4409310817718506,0.014102083630859852,1.014906883239746,1.6236934661865234,0.006003296934068203,-1.0577971935272217,0.6
+1789729722114234217,11266,0.06721668690443039,-1.4373477697372437,0.014886527322232723,1.0179417133331299,1.6229023933410645,0.006428281310945749,-1.0583115816116333,0.6
+1789729722147559275,11300,0.06685841828584671,-1.4337576627731323,0.015593514777719975,1.0208443403244019,1.6220253705978394,0.006879361812025309,-1.058524489402771,0.6
+1789729722180895061,11333,0.06640893965959549,-1.4291729927062988,0.01645527593791485,1.0250121355056763,1.6212589740753174,0.007360150571912527,-1.0592941045761108,0.6
+1789729722214229088,11366,0.06601496785879135,-1.4257832765579224,0.017141254618763924,1.0283163785934448,1.6208789348602295,0.00768285384401679,-1.0601919889450073,0.6
+1789729722247557036,11400,0.06558996438980103,-1.4222691059112549,0.017872240394353867,1.0316346883773804,1.6203904151916504,0.008054022677242756,-1.060975432395935,0.6
+1789729722280899591,11433,0.06502819806337357,-1.4173954725265503,0.01889362744987011,1.0357919931411743,1.6194331645965576,0.008657535538077354,-1.061535358428955,0.6
+1789729722314233618,11466,0.06466925144195557,-1.4137145280838013,0.01961504854261875,1.0387787818908691,1.618593454360962,0.009157060645520687,-1.0616786479949951,0.6
+1789729722347559156,11500,0.06432599574327469,-1.4101531505584717,0.020320726558566093,1.0419167280197144,1.6179627180099487,0.009626753628253937,-1.0621142387390137,0.6
+1789729722380899982,11533,0.06376998126506805,-1.405375599861145,0.021375088021159172,1.046399474143982,1.6172946691513062,0.010253495536744595,-1.0630474090576172,0.6
+1789729722414285162,11566,0.06335350126028061,-1.4019367694854736,0.022153355181217194,1.0495243072509766,1.6167285442352295,0.010723330080509186,-1.0637016296386719,0.6
+1789729722447556747,11600,0.06288954615592957,-1.398207187652588,0.023032860830426216,1.052734136581421,1.615965723991394,0.01129087619483471,-1.0641167163848877,0.6
+1789729722480882845,11633,0.0623139850795269,-1.3935340642929077,0.02416696771979332,1.0566350221633911,1.6149022579193115,0.012013361789286137,-1.064415693283081,0.6
+1789729722514226170,11666,0.061861488968133926,-1.390019416809082,0.025060757994651794,1.059664249420166,1.6141793727874756,0.012558834627270699,-1.0647531747817993,0.6
+1789729722547560917,11700,0.06136681139469147,-1.38637113571167,0.02601488307118416,1.0628435611724854,1.613493800163269,0.013097931630909443,-1.065179467201233,0.6
+1789729722580907322,11733,0.06071735918521881,-1.3815497159957886,0.027277851477265358,1.0669347047805786,1.6124991178512573,0.013863877393305302,-1.0656274557113647,0.6
+1789729722614231220,11766,0.060232751071453094,-1.3778623342514038,0.02820301428437233,1.069951057434082,1.611661434173584,0.01446843147277832,-1.065826654434204,0.6
+1789729722647559678,11800,0.05977463722229004,-1.3743661642074585,0.029079042375087738,1.0729219913482666,1.6109250783920288,0.015042868442833424,-1.066088080406189,0.6
+1789729722680891505,11833,0.0591079518198967,-1.3695429563522339,0.03031339682638645,1.0771106481552124,1.6100460290908813,0.015765991061925888,-1.0667039155960083,0.6
+1789729722714222122,11866,0.05860808864235878,-1.3660527467727661,0.03122609294950962,1.0800292491912842,1.6093366146087646,0.016278821974992752,-1.0670642852783203,0.6
+1789729722747574187,11900,0.058122195303440094,-1.3625714778900146,0.03212825581431389,1.0828546285629272,1.6085789203643799,0.01681027002632618,-1.0673496723175049,0.6
+1789729722780897445,11933,0.057511404156684875,-1.3580533266067505,0.03337316960096359,1.0864847898483276,1.607539176940918,0.01763620786368847,-1.0677564144134521,0.6
+1789729722814289104,11966,0.057074662297964096,-1.354823350906372,0.03429453819990158,1.0892361402511597,1.6068308353424072,0.018267685547471046,-1.0681709051132202,0.6
+1789729722847561369,12000,0.05659116059541702,-1.3517318964004517,0.03522393852472305,1.0920380353927612,1.6063178777694702,0.018811212852597237,-1.0688917636871338,0.6
+1789729722880898175,12033,0.05586273595690727,-1.3475016355514526,0.03656182438135147,1.0955779552459717,1.605419397354126,0.01954021118581295,-1.0695726871490479,0.6
+1789729722914226463,12066,0.055323101580142975,-1.3441426753997803,0.03760547935962677,1.098074197769165,1.604503870010376,0.0201561339199543,-1.0696688890457153,0.6
+1789729722947557030,12100,0.05479272082448006,-1.3406411409378052,0.03872058168053627,1.1006178855895996,1.6034832000732422,0.020887339487671852,-1.0696635246276855,0.6
+1789729722980899086,12133,0.05409029498696327,-1.335895299911499,0.04029412195086479,1.1043264865875244,1.602213740348816,0.022003524005413055,-1.069605827331543,0.6
+1789729723014227069,12166,0.05351731553673744,-1.3323774337768555,0.04152756929397583,1.107347846031189,1.6014153957366943,0.022835109382867813,-1.069750189781189,0.6
+1789729723047564818,12200,0.05289682000875473,-1.328938603401184,0.042792148888111115,1.1103641986846924,1.6006749868392944,0.02363966405391693,-1.0703879594802856,0.6
+1789729723080905667,12233,0.05206052213907242,-1.3244587182998657,0.044467292726039886,1.1139554977416992,1.5995019674301147,0.02472851052880287,-1.0707207918167114,0.6
+1789729723114236957,12266,0.05148404464125633,-1.3212122917175293,0.04566115140914917,1.1162580251693726,1.5984526872634888,0.025547323748469353,-1.0707173347473145,0.6
+1789729723147593254,12300,0.050956062972545624,-1.3182040452957153,0.04681963473558426,1.1183912754058838,1.5974668264389038,0.026318786665797234,-1.0705459117889404,0.6
+1789729723180911006,12333,0.05032918602228165,-1.3147531747817993,0.04822353273630142,1.1211754083633423,1.5964982509613037,0.027263779193162918,-1.070509672164917,0.6
+1789729723214239486,12366,0.04986576363444328,-1.3126903772354126,0.049142152070999146,1.1230024099349976,1.5959832668304443,0.027806555852293968,-1.0708670616149902,0.6
+1789729723247565657,12400,0.04943687841296196,-1.3111037015914917,0.04990341514348984,1.124338984489441,1.5954972505569458,0.028269590809941292,-1.0712602138519287,0.6
+1789729723280898867,12433,0.0489678755402565,-1.3097255229949951,0.05068168044090271,1.1253223419189453,1.5947229862213135,0.028754571452736855,-1.0713249444961548,0.6
+1789729723314243306,12466,0.048697713762521744,-1.30924654006958,0.05114435404539108,1.125650405883789,1.594298005104065,0.02905651554465294,-1.0713239908218384,0.6
+1789729723347565997,12500,0.04846625775098801,-1.3090993165969849,0.051564544439315796,1.125767707824707,1.5939390659332275,0.02926291897892952,-1.071325659751892,0.6
+1789729723380914065,12533,0.04819337651133537,-1.3091247081756592,0.052080925554037094,1.1257797479629517,1.593565583229065,0.02953246422111988,-1.0713632106781006,0.6
+1789729723414233177,12566,0.04800118878483772,-1.309149146080017,0.05243581160902977,1.1257615089416504,1.5932892560958862,0.0297254491597414,-1.0714274644851685,0.6
+1789729723447566996,12600,0.04781509190797806,-1.3091610670089722,0.052783966064453125,1.1257268190383911,1.5929688215255737,0.029931198805570602,-1.0714339017868042,0.8
+1789729723480972437,12633,0.04757785052061081,-1.309173583984375,0.05323723703622818,1.125707745552063,1.5925791263580322,0.03020489029586315,-1.0714292526245117,0.8
+1789729723514237625,12666,0.04742162674665451,-1.3091884851455688,0.053544461727142334,1.125707983970642,1.5923221111297607,0.03040127642452717,-1.0714292526245117,0.8
+1789729723547564156,12700,0.04727008566260338,-1.3092073202133179,0.05384574830532074,1.125699758529663,1.5920923948287964,0.03059900365769863,-1.0714325904846191,0.8
+1789729723580909854,12733,0.04707133769989014,-1.3092215061187744,0.054233990609645844,1.1256768703460693,1.5917540788650513,0.030819784849882126,-1.0714350938796997,0.8
+1789729723614291958,12766,0.04693013057112694,-1.3092352151870728,0.05451371520757675,1.125669002532959,1.591512680053711,0.03099709562957287,-1.0714356899261475,0.8
+1789729723647566666,12800,0.04679213836789131,-1.30925452709198,0.05477476119995117,1.1256680488586426,1.591294765472412,0.031161479651927948,-1.0714390277862549,0.8
+1789729723680902915,12833,0.046610649675130844,-1.3092848062515259,0.05511705204844475,1.1256438493728638,1.5909970998764038,0.03136453777551651,-1.071441888809204,0.8
+1789729723714304636,12866,0.04647840932011604,-1.3093047142028809,0.05537157878279686,1.1256152391433716,1.5907822847366333,0.0315350741147995,-1.0714389085769653,0.8
+1789729723747567495,12900,0.04634319990873337,-1.3093339204788208,0.05564252287149429,1.1255844831466675,1.590561866760254,0.03169082850217819,-1.0714352130889893,0.8
+1789729723780957198,12933,0.04616370424628258,-1.309374213218689,0.05598615109920502,1.1255452632904053,1.5902608633041382,0.03191107511520386,-1.0714377164840698,0.8
+1789729723814316684,12966,0.046024300158023834,-1.3094043731689453,0.056226227432489395,1.1255178451538086,1.5900534391403198,0.032033175230026245,-1.0714399814605713,0.8
+1789729723847577233,13000,0.04589279368519783,-1.3094342947006226,0.05645802989602089,1.1254922151565552,1.5898540019989014,0.03216167539358139,-1.0714423656463623,0.8
+1789729723880899175,13033,0.04571203142404556,-1.3094745874404907,0.05677913874387741,1.1254626512527466,1.5895861387252808,0.03233381360769272,-1.071445107460022,0.8
+1789729723914307045,13066,0.04557420685887337,-1.3095051050186157,0.05704805627465248,1.1254363059997559,1.5893510580062866,0.032495319843292236,-1.0714460611343384,0.8
+1789729723947641925,13100,0.04543812945485115,-1.309537649154663,0.05732308328151703,1.1254091262817383,1.5891281366348267,0.03266385942697525,-1.0714458227157593,0.8
+1789729723980959607,13133,0.04526093602180481,-1.3095804452896118,0.05767998844385147,1.125360131263733,1.5888344049453735,0.032882124185562134,-1.0714421272277832,0.8
+1789729724014286233,13166,0.0451325923204422,-1.3096160888671875,0.05792756378650665,1.1253176927566528,1.5886218547821045,0.03302804380655289,-1.071438193321228,0.8
+1789729724047642382,13200,0.04499658942222595,-1.3096508979797363,0.05817678943276405,1.1252799034118652,1.5883994102478027,0.033169422298669815,-1.0714315176010132,0.8
+1789729724080961147,13233,0.044796548783779144,-1.3097000122070312,0.0585373193025589,1.125239372253418,1.5880955457687378,0.033369798213243484,-1.0714290142059326,0.8
+1789729724114297070,13266,0.04465064778923988,-1.3097351789474487,0.058806490153074265,1.1252111196517944,1.5878618955612183,0.0335259772837162,-1.0714303255081177,0.8
+1789729724147626073,13300,0.04452195018529892,-1.3097691535949707,0.0590706504881382,1.125179409980774,1.5876458883285522,0.03368955850601196,-1.0714306831359863,0.8
+1789729724180896193,13333,0.04434232413768768,-1.3098191022872925,0.05943281203508377,1.125125765800476,1.587342381477356,0.03390166163444519,-1.071426510810852,0.8
+1789729724214307537,13366,0.04418652504682541,-1.3098610639572144,0.059732116758823395,1.1250817775726318,1.5870918035507202,0.03407609462738037,-1.0714185237884521,0.8
+1789729724247644889,13400,0.044026557356119156,-1.3099043369293213,0.06004565209150314,1.125035047531128,1.5868141651153564,0.034263648092746735,-1.0714125633239746,0.8
+1789729724280901481,13433,0.04380331560969353,-1.3099626302719116,0.060471441596746445,1.1249767541885376,1.586455225944519,0.03450842574238777,-1.0714080333709717,0.8
+1789729724314234884,13466,0.04363394156098366,-1.3100051879882812,0.06078314408659935,1.1249371767044067,1.5861872434616089,0.03468126431107521,-1.0714070796966553,0.8
+1789729724347633159,13500,0.0434626005589962,-1.3100471496582031,0.06109461560845375,1.1248996257781982,1.5859242677688599,0.03487132489681244,-1.0714055299758911,0.8
+1789729724380905059,13533,0.04322374612092972,-1.3101109266281128,0.06152980402112007,1.124843716621399,1.5855690240859985,0.03511366993188858,-1.0713999271392822,0.8
+1789729724414232302,13566,0.04304126277565956,-1.3101657629013062,0.0618615448474884,1.1247947216033936,1.585263729095459,0.03529171273112297,-1.071394443511963,0.8
+1789729724447627358,13600,0.042860738933086395,-1.3102219104766846,0.06219380721449852,1.124739408493042,1.5849871635437012,0.035466935485601425,-1.0713911056518555,0.8
+1789729724480907087,13633,0.0426250584423542,-1.3102920055389404,0.06262391060590744,1.1246678829193115,1.5846086740493774,0.03571931645274162,-1.0713865756988525,0.8
+1789729724514284004,13666,0.04244042932987213,-1.3103389739990234,0.0629570260643959,1.1246192455291748,1.5843161344528198,0.03589288145303726,-1.0713822841644287,0.8
+1789729724547626136,13700,0.04225022345781326,-1.310388207435608,0.06330940127372742,1.12457275390625,1.5840154886245728,0.036090366542339325,-1.0713766813278198,0.8
+1789729724580899146,13733,0.04199247434735298,-1.3104532957077026,0.06380800902843475,1.1245051622390747,1.5835942029953003,0.036401938647031784,-1.0713695287704468,0.8
+1789729724614226060,13766,0.041786640882492065,-1.310506820678711,0.0641740933060646,1.1244559288024902,1.583275556564331,0.03659662976861,-1.071360468864441,0.8
+1789729724647566702,13800,0.04157901182770729,-1.3105652332305908,0.06454396992921829,1.1244045495986938,1.5829541683197021,0.03680196404457092,-1.0713566541671753,0.8
+1789729724680903414,13833,0.041308701038360596,-1.3106513023376465,0.06501990556716919,1.124328851699829,1.5825419425964355,0.037049949169158936,-1.0713555812835693,0.8
+1789729724714292590,13866,0.041096802800893784,-1.3107131719589233,0.06538359075784683,1.124275803565979,1.5822175741195679,0.037226054817438126,-1.0713509321212769,0.8
+1789729724747565740,13900,0.04089229553937912,-1.310766577720642,0.06575766950845718,1.1242321729660034,1.5819127559661865,0.03743823617696762,-1.0713491439819336,0.8
+1789729724780902633,13933,0.04062861204147339,-1.3108357191085815,0.0662580206990242,1.124162197113037,1.5814824104309082,0.03772259131073952,-1.0713499784469604,0.8
+1789729724814241455,13966,0.04043707996606827,-1.3108911514282227,0.06661996245384216,1.124104619026184,1.581167459487915,0.03792386129498482,-1.0713473558425903,0.8
+1789729724847565848,14000,0.040248025208711624,-1.310949444770813,0.0669744461774826,1.1240450143814087,1.5808707475662231,0.038133684545755386,-1.0713300704956055,0.8
+1789729724880902241,14033,0.03998710587620735,-1.3110241889953613,0.06743118911981583,1.123979926109314,1.5804688930511475,0.03836427256464958,-1.0713119506835938,0.8
+1789729724914292776,14066,0.039787136018276215,-1.311079740524292,0.06778853386640549,1.123936414718628,1.580172061920166,0.0385621003806591,-1.071310043334961,0.8
+1789729724947561897,14100,0.0395851768553257,-1.31112802028656,0.06814321875572205,1.1238986253738403,1.5798581838607788,0.0387524738907814,-1.0713108777999878,0.8
+1789729724980903559,14133,0.03932680934667587,-1.311191201210022,0.06857776641845703,1.1238479614257812,1.5794830322265625,0.038987115025520325,-1.0713140964508057,0.8
+1789729725014249855,14166,0.03913932666182518,-1.311244010925293,0.06890513002872467,1.123798131942749,1.5791943073272705,0.039153970777988434,-1.0713151693344116,0.8
+1789729725047576012,14200,0.038958095014095306,-1.311307430267334,0.06924290210008621,1.12373685836792,1.578913688659668,0.03933987021446228,-1.0713125467300415,0.8
+1789729725080905668,14233,0.03872393071651459,-1.3113930225372314,0.06968431174755096,1.1236454248428345,1.5785377025604248,0.03957902640104294,-1.0712875127792358,0.8
+1789729725114237294,14266,0.03853907063603401,-1.3114585876464844,0.07003103196620941,1.123572587966919,1.5782222747802734,0.03976557403802872,-1.0712668895721436,0.8
+1789729725147563460,14300,0.03835373371839523,-1.311524510383606,0.07035604119300842,1.123508334159851,1.5779545307159424,0.03993278741836548,-1.071251630783081,0.8
+1789729725180902315,14333,0.03812895342707634,-1.3116010427474976,0.07075933367013931,1.1234359741210938,1.5776082277297974,0.04015139862895012,-1.071243405342102,0.8
+1789729725214235491,14366,0.037956394255161285,-1.3116562366485596,0.07106316089630127,1.1233885288238525,1.5773425102233887,0.04031188786029816,-1.0712413787841797,0.8
+1789729725247561147,14400,0.03777948394417763,-1.3117146492004395,0.07137994468212128,1.123336911201477,1.5770820379257202,0.04047476500272751,-1.0712448358535767,0.8
+1789729725280897552,14433,0.0375499501824379,-1.3117985725402832,0.07179111987352371,1.1232622861862183,1.57672917842865,0.04069941118359566,-1.0712475776672363,0.8
+1789729725314235207,14466,0.037377793341875076,-1.3118617534637451,0.0720989778637886,1.1232036352157593,1.5764572620391846,0.04084717854857445,-1.0712459087371826,0.8
+1789729725347564373,14500,0.037204284220933914,-1.311923861503601,0.07240220904350281,1.1231459379196167,1.5762040615081787,0.041003767400979996,-1.071229100227356,0.8
+1789729725380903678,14533,0.03697919100522995,-1.311995267868042,0.07281222194433212,1.1230769157409668,1.5758448839187622,0.04123526066541672,-1.0712181329727173,0.8
+1789729725414232114,14566,0.03680456057190895,-1.3120455741882324,0.0731220692396164,1.1230316162109375,1.575576901435852,0.04140112176537514,-1.0712077617645264,0.8
+1789729725447562570,14600,0.036621734499931335,-1.3121007680892944,0.07343937456607819,1.1229841709136963,1.5753110647201538,0.04156613349914551,-1.0712032318115234,0.8
+1789729725480898605,14633,0.036395031958818436,-1.3121720552444458,0.073861263692379,1.1229166984558105,1.574940800666809,0.041812963783741,-1.071205735206604,0.8
+1789729725514235581,14666,0.03621654585003853,-1.3122284412384033,0.07418698817491531,1.1228666305541992,1.5746694803237915,0.041979193687438965,-1.0712026357650757,0.8
+1789729725547565057,14700,0.0360395647585392,-1.312281847000122,0.07452134788036346,1.1228216886520386,1.5743896961212158,0.04216648265719414,-1.0711966753005981,0.8
+1789729725580912321,14733,0.03580499440431595,-1.3123524188995361,0.07495652139186859,1.1227617263793945,1.5740200281143188,0.042417220771312714,-1.0711866617202759,0.8
+1789729725614255855,14766,0.03562929853796959,-1.3124046325683594,0.07527749985456467,1.122718095779419,1.5737566947937012,0.04259425774216652,-1.071184515953064,0.8
+1789729725647580561,14800,0.03544589877128601,-1.3124583959579468,0.07561379671096802,1.1226739883422852,1.5734703540802002,0.04279610887169838,-1.071179747581482,0.8
+1789729725680910267,14833,0.0352003388106823,-1.3125298023223877,0.07610958814620972,1.1226093769073486,1.573045253753662,0.043092627078294754,-1.0711709260940552,0.8
+1789729725714228385,14866,0.035018160939216614,-1.3125884532928467,0.0764782503247261,1.1225552558898926,1.5727410316467285,0.04331168159842491,-1.0711679458618164,0.8
+1789729725747564890,14900,0.03483333811163902,-1.3126521110534668,0.07683859765529633,1.122502326965332,1.572452187538147,0.043513018637895584,-1.071168303489685,0.8
+1789729725780900665,14933,0.03457445278763771,-1.3127458095550537,0.07731592655181885,1.1224290132522583,1.5720579624176025,0.043777916580438614,-1.0711702108383179,0.8
+1789729725814293194,14966,0.034373749047517776,-1.31281316280365,0.07767660170793533,1.1223758459091187,1.5717519521713257,0.043965503573417664,-1.0711703300476074,0.8
+1789729725847608951,15000,0.034174636006355286,-1.3128812313079834,0.07804102450609207,1.1223206520080566,1.5714579820632935,0.04417841136455536,-1.0711714029312134,0.8
+1789729725880900582,15033,0.03392080217599869,-1.3129634857177734,0.07851200550794601,1.1222330331802368,1.571031928062439,0.04444362595677376,-1.0711489915847778,0.8
+1789729725914225579,15066,0.03373326361179352,-1.3130269050598145,0.07886127382516861,1.12216317653656,1.5707213878631592,0.04463108256459236,-1.0711266994476318,0.8
+1789729725947626016,15100,0.03353641927242279,-1.3131004571914673,0.07923483103513718,1.1220892667770386,1.5704129934310913,0.04483269155025482,-1.0711175203323364,0.8
+1789729725980920536,15133,0.03326268121600151,-1.3131980895996094,0.07976295799016953,1.122007966041565,1.5699751377105713,0.04513726383447647,-1.0711145401000977,0.8
diff --git a/episode_0008/right.observation.state.eef_pose/data.csv b/episode_0008/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..78f0e77e2af43aca84991389095df8af82461dc6
--- /dev/null
+++ b/episode_0008/right.observation.state.eef_pose/data.csv
@@ -0,0 +1,456 @@
+timestamp_ns,elapsed_ms,x,y,z,r1,r2,r3,r4,r5,r6,gripper
+1789729710847580356,0,0.6406616568565369,-0.12181728333234787,-0.2825304865837097,-0.9987079131405652,-0.04953601540558532,0.011343949081226198,-0.049057827048899674,0.9980289724433127,0.039134380879083656,0.08004999905824661
+1789729710881001937,33,0.6406633257865906,-0.12180954217910767,-0.2825492024421692,-0.9987081038216243,-0.049532157690431275,0.011337377306478214,-0.049054243876067063,0.998029203791257,0.039132970588450125,0.08004999905824661
+1789729710914338209,66,0.6406630873680115,-0.12180306762456894,-0.2825663685798645,-0.9987081829283486,-0.04953186918680289,0.011342371187066463,-0.04905381592240684,0.9980293808024133,0.0391289954820365,0.08004999905824661
+1789729710947649055,100,0.6406673192977905,-0.12179907411336899,-0.2825826406478882,-0.9987084342372268,-0.04952878166583459,0.01132952205835247,-0.049051388131213056,0.9980299808865569,0.039116730039116546,0.08004999905824661
+1789729710981000045,133,0.6406610608100891,-0.12179163843393326,-0.2825935184955597,-0.9987091941189357,-0.04951362968213448,0.011336368340366706,-0.049035966417178764,0.9980306904741727,0.03911796305930787,0.08004999905824661
+1789729711014326024,166,0.6406609416007996,-0.12178480625152588,-0.2825997769832611,-0.9987096374273006,-0.049504974022546264,0.011322378392729149,-0.04902779080410337,0.9980309006751212,0.03912284379834325,0.08004999905824661
+1789729711047668310,200,0.6406601667404175,-0.12177852541208267,-0.2826088070869446,-0.9987099226042506,-0.04950142531090488,0.011318609932688156,-0.04902437521350097,0.9980310256622099,0.03912393719883268,0.08004999905824661
+1789729711081000877,233,0.6406582593917847,-0.12177365273237228,-0.28262436389923096,-0.9987098670551997,-0.049504742851896065,0.011313495703492,-0.04902798904615061,0.9980311487423598,0.03911626952697526,0.08004999905824661
+1789729711114337564,266,0.6406575441360474,-0.12176962941884995,-0.28263571858406067,-0.9987095399094421,-0.04951512483863789,0.011296816403318588,-0.04903896009395643,0.9980304724164053,0.039119772881855586,0.08004999905824661
+1789729711147662632,300,0.6406534314155579,-0.12176558375358582,-0.28264668583869934,-0.9987096738896026,-0.04951405924439893,0.01128968469056954,-0.04903812676153947,0.998030385270418,0.039123040664514525,0.08004999905824661
+1789729711180998748,333,0.6406522989273071,-0.12175484001636505,-0.28266608715057373,-0.998709697005401,-0.049513910002910166,0.011277168969595651,-0.04903829403576354,0.9980298848266446,0.039135592159638084,0.08004999905824661
+1789729711214322147,366,0.6406511068344116,-0.12175365537405014,-0.2826767861843109,-0.9987097496103359,-0.04951399314848846,0.01127410348761508,-0.049038559318814755,0.9980300620699134,0.03913073997412539,0.08004999905824661
+1789729711247705547,400,0.6406563520431519,-0.1217561587691307,-0.28267937898635864,-0.9987095633478771,-0.0495220869026512,0.011259440770422902,-0.04904736071892807,0.9980300700471431,0.03911950526482106,0.08004999905824661
+1789729711281008238,433,0.640655517578125,-0.12175115197896957,-0.2826724648475647,-0.9987090536125176,-0.04952980222147155,0.011266928009902144,-0.04905438608735188,0.9980285470465204,0.039149539022252086,0.08004999905824661
+1789729711314341745,466,0.6406571865081787,-0.12175051867961884,-0.2826743423938751,-0.9987090399775191,-0.04953139229818973,0.011258370207892152,-0.049056069844289424,0.9980277645856444,0.039167371443247466,0.08004999905824661
+1789729711347650245,500,0.6406579613685608,-0.12175290286540985,-0.282678484916687,-0.9987098322558627,-0.049522823730051846,0.011241456665685434,-0.04904805877267021,0.9980278582108393,0.039175022302431736,0.08004999905824661
+1789729711381007689,533,0.640652060508728,-0.12175509333610535,-0.2826789915561676,-0.9987104204840569,-0.04951166303776257,0.01123876816451392,-0.04903681214110976,0.9980278226628462,0.03919000461422782,0.08004999905824661
+1789729711414320779,566,0.640654444694519,-0.12175675481557846,-0.2826732397079468,-0.9987096586409017,-0.04952408697636839,0.011234160932391733,-0.049049341147416055,0.9980270152635072,0.039194881850979496,0.08004999905824661
+1789729711447650506,600,0.640657365322113,-0.12176056951284409,-0.2826610803604126,-0.998709764387721,-0.04952811865471973,0.011221450925428145,-0.049053748222614435,0.9980264628939064,0.039203434746150935,0.08004999905824661
+1789729711481003931,633,0.6406615972518921,-0.12176325172185898,-0.28265276551246643,-0.9987091746179229,-0.04953968106128174,0.011214146944508618,-0.04906522217984274,0.9980248151826305,0.03923101075978852,0.08004999905824661
+1789729711514322079,666,0.6406638026237488,-0.12176797538995743,-0.2826539874076843,-0.9987086555429576,-0.04955058864851854,0.011218131098137497,-0.04907573930682778,0.9980236133053079,0.03924842903228985,0.08004999905824661
+1789729711547655536,700,0.6406669020652771,-0.12177398055791855,-0.28265196084976196,-0.9987083641633814,-0.04955572070145324,0.011208577480578241,-0.049081096985701136,0.9980229304402227,0.03925908856159772,0.08004999905824661
+1789729711580997432,733,0.6406673789024353,-0.12177445739507675,-0.2826472818851471,-0.9987081412941672,-0.04956218930379945,0.011205670637814635,-0.049087187118317124,0.998021174193055,0.03929610480673751,0.08004999905824661
+1789729711614325999,766,0.640673041343689,-0.12177896499633789,-0.28264138102531433,-0.9987080182216781,-0.049567855219293716,0.011189019511780696,-0.04909337956396123,0.9980205276095783,0.039304788845735836,0.08004999905824661
+1789729711647653537,800,0.6406736373901367,-0.12177768349647522,-0.28263846039772034,-0.9987078192736214,-0.04957236171444819,0.011190355508337552,-0.049097496776822,0.9980193214162203,0.039330266233223166,0.08004999905824661
+1789729711681005802,833,0.64067542552948,-0.12178586423397064,-0.2826424241065979,-0.9987079826075806,-0.04957338569815612,0.011177893907515453,-0.04909879185797333,0.9980186239345654,0.0393463469381738,0.08004999905824661
+1789729711714322301,866,0.6406782865524292,-0.12179093807935715,-0.28264376521110535,-0.9987077953728809,-0.049575927072257484,0.011168724321348578,-0.049101512576821785,0.9980179659026821,0.039359636348896325,0.08004999905824661
+1789729711747709101,900,0.6406794190406799,-0.12179458886384964,-0.2826455533504486,-0.9987079938934604,-0.04957445001674485,0.011161406377624777,-0.0491001763229694,0.9980175984137516,0.03937062106184514,0.08004999905824661
+1789729711781000233,933,0.6406794786453247,-0.1217910647392273,-0.2826472520828247,-0.9987082598849388,-0.049573480536202315,0.011156057327655525,-0.04909916809279407,0.998016904376881,0.03938947124751545,0.08004999905824661
+1789729711814329811,966,0.6406790018081665,-0.1217910572886467,-0.28265100717544556,-0.998708197382163,-0.04957436636714142,0.011154082758383393,-0.04910015139585276,0.9980169207236587,0.03938783030721622,0.08004999905824661
+1789729711847642850,1000,0.640681266784668,-0.12178655713796616,-0.28265270590782166,-0.9987079019966285,-0.04957880989541909,0.011146748815203611,-0.04910473801252822,0.9980162777845403,0.039398398004965696,0.08004999905824661
+1789729711881008663,1033,0.640678882598877,-0.12178858369588852,-0.28265056014060974,-0.9987082338843734,-0.049576479171094534,0.011147547074449385,-0.04910242628905903,0.9980165374278654,0.03939470754780237,0.08004999905824661
+1789729711914327092,1066,0.6406790614128113,-0.12178661674261093,-0.28265464305877686,-0.9987090249859318,-0.0495646821976337,0.011125141551020012,-0.04909133039410736,0.9980165500441399,0.039408213104900267,0.08004999905824661
+1789729711947581499,1100,0.640677809715271,-0.12178489565849304,-0.28266096115112305,-0.9987096533319353,-0.049552561093296074,0.011111531333236169,-0.04907970068633151,0.9980169849029669,0.03941168254034308,0.08004999905824661
+1789729711980921715,1133,0.6406775712966919,-0.12178274244070053,-0.282665491104126,-0.9987099375507125,-0.049548930399950224,0.01110171855267117,-0.04907644157083924,0.9980171091836091,0.03941259372935563,0.08004999905824661
+1789729712014320269,1166,0.6406814455986023,-0.12177854776382446,-0.28267183899879456,-0.9987103636047432,-0.04954754617208358,0.0110821885932684,-0.04907568113461157,0.9980167360629881,0.03942299104189105,0.08004999905824661
+1789729712047658620,1200,0.6406794190406799,-0.12177746742963791,-0.28267866373062134,-0.9987105562573848,-0.049545040234042576,0.011077933903452512,-0.04907327966418676,0.9980166645279501,0.039427791628824455,0.08004999905824661
+1789729712080910532,1233,0.6406779885292053,-0.12178008258342743,-0.2826874256134033,-0.9987108406342806,-0.04954049527969946,0.011072954480316005,-0.04906899708710359,0.9980170748866174,0.03942273420411095,0.08004999905824661
+1789729712114241843,1266,0.6406809687614441,-0.12177985161542892,-0.28268980979919434,-0.9987108429675522,-0.049539409731880306,0.011060297837955348,-0.04906840711589922,0.998017113901007,0.03942247602973778,0.08004999905824661
+1789729712147597241,1300,0.6406782269477844,-0.12178150564432144,-0.28269103169441223,-0.998710967520744,-0.049538475021210934,0.01106606949867174,-0.049067284956865145,0.9980172785464616,0.039419708063399526,0.08004999905824661
+1789729712180905286,1333,0.6406762003898621,-0.12178494036197662,-0.28269344568252563,-0.9987120154952125,-0.04952227511972842,0.011045643547235008,-0.049051786778504504,0.9980177279766148,0.039427617336728345,0.08004999905824661
+1789729712214237707,1366,0.6406703591346741,-0.1218101903796196,-0.2827061712741852,-0.9987126873987806,-0.04950828586687378,0.011030519961338664,-0.04903857264000672,0.998018919262309,0.03941389304068335,0.08004999905824661
+1789729712247565449,1400,0.6406462788581848,-0.12189065665006638,-0.28273338079452515,-0.9987149046411066,-0.04947508135737001,0.010989655749195547,-0.049007363024918024,0.9980216282582267,0.039384107390294,0.08004999905824661
+1789729712280906899,1433,0.6405742764472961,-0.12213625758886337,-0.28281471133232117,-0.9987143530709996,-0.049509344380393,0.010890443063258683,-0.04904620876669664,0.998022046419942,0.039325111568991246,0.08004999905824661
+1789729712314228422,1466,0.6405074596405029,-0.12244504690170288,-0.28295135498046875,-0.9987194334626079,-0.04945728166642311,0.010651470375418554,-0.049004033255594596,0.9980259655802421,0.03927819669769655,0.08004999905824661
+1789729712347588229,1500,0.6404208540916443,-0.12293188273906708,-0.28320133686065674,-0.9987234880881906,-0.0494634300018959,0.010240314726040853,-0.04902718546944684,0.9980283421229506,0.039188818603130046,0.08004999905824661
+1789729712380904633,1533,0.640260636806488,-0.12391327321529388,-0.28378087282180786,-0.9987291777242189,-0.04948033631970474,0.009577306078176764,-0.0490718792939153,0.9980335327243179,0.03900023358020506,0.08004999905824661
+1789729712414239374,1566,0.6400659680366516,-0.1249442994594574,-0.284429132938385,-0.998735710064484,-0.04945818805185723,0.00900387794891605,-0.04907390021699107,0.9980408495594265,0.038809987438245555,0.08004999905824661
+1789729712447563826,1600,0.6398290395736694,-0.1261855661869049,-0.2852194905281067,-0.9987387027753183,-0.04949315085142962,0.008452686659255464,-0.04913090396805804,0.998041549202713,0.03871976699717415,0.08004999905824661
+1789729712480903266,1633,0.6395221948623657,-0.12813861668109894,-0.28642961382865906,-0.9987417918064754,-0.049512726262380846,0.00796296150038156,-0.04917018351598884,0.9980434451618623,0.038620910219184,0.08004999905824661
+1789729712514230918,1666,0.6393977403640747,-0.1297246366739273,-0.28744104504585266,-0.9987322778400787,-0.049728911295177966,0.007791880298687229,-0.04939398231924931,0.9980373004183294,0.038493912869771024,0.08004999905824661
+1789729712547565989,1700,0.6393106579780579,-0.13139542937278748,-0.28856515884399414,-0.998734069837361,-0.04969547226866749,0.0077992641977606,-0.049361583754465484,0.9980440559474448,0.03836009180714854,0.08004999905824661
+1789729712580902350,1733,0.6391880512237549,-0.13371242582798004,-0.2902262508869171,-0.9987337035955566,-0.04969582347388071,0.007836581438875723,-0.049361638293547755,0.9980484657174316,0.03824511523489853,0.08004999905824661
+1789729712614231052,1766,0.6390411853790283,-0.1354593187570572,-0.2915458083152771,-0.9987334666951291,-0.0497037940593788,0.0078067991076220325,-0.049370432403945175,0.9980468563238766,0.038275748694846345,0.08004999905824661
+1789729712647562953,1800,0.6389495134353638,-0.13708294928073883,-0.2928467392921448,-0.9987305044947932,-0.04974861471446317,0.007910635650561486,-0.04941141502916386,0.9980453057961787,0.03826329525458221,0.08004999905824661
+1789729712680905313,1833,0.638870358467102,-0.1391371786594391,-0.29447615146636963,-0.99873197254877,-0.04967507513162659,0.008171179092707544,-0.049330147030268966,0.9980572141051609,0.038056982312129985,0.08004999905824661
+1789729712714232025,1866,0.6387614011764526,-0.14047487080097198,-0.2955319285392761,-0.998734625628352,-0.04960680853402995,0.008259683530335404,-0.04925933719007851,0.9980634886125936,0.03798407970586092,0.08004999905824661
+1789729712747593842,1900,0.6386531591415405,-0.1417248696088791,-0.2965886890888214,-0.9987325044511712,-0.049657121337597046,0.008225303406845907,-0.04931071536744601,0.9980602311974758,0.03800300448362465,0.08004999905824661
+1789729712780905487,1933,0.6386445760726929,-0.14314928650856018,-0.2980351448059082,-0.9987282970816966,-0.04971323442515514,0.00837750957692017,-0.04936269645073858,0.9980636675665479,0.03784494006747665,0.08004999905824661
+1789729712814227459,1966,0.6387001872062683,-0.144012913107872,-0.29905518889427185,-0.9987270196142637,-0.04970439921008702,0.008584267129770784,-0.04934876474693655,0.9980738550937582,0.03759360420823166,0.08004999905824661
+1789729712847566240,2000,0.638751745223999,-0.1448296308517456,-0.3001048266887665,-0.9987292253504836,-0.049637238338178506,0.00871817812545126,-0.04927892531256157,0.9980852961715495,0.03738086431398402,0.08004999905824661
+1789729712880965662,2033,0.6386855244636536,-0.14594495296478271,-0.3014948070049286,-0.9987300922242108,-0.04961696954665262,0.008737502016413906,-0.049258995920919535,0.9980899546398603,0.037282619989278044,0.08004999905824661
+1789729712914230442,2066,0.6386034488677979,-0.14672955870628357,-0.3024287223815918,-0.9987302903063049,-0.04962977631478377,0.00862898678104139,-0.049275222249543116,0.9980871304978453,0.0373367404005038,0.08004999905824661
+1789729712947589420,2100,0.6385500431060791,-0.14751921594142914,-0.30341121554374695,-0.9987282997205376,-0.04968173444055866,0.008566232270282532,-0.04932882980300104,0.9980822148236538,0.03739731113202934,0.08004999905824661
+1789729712980897404,2133,0.6385434865951538,-0.14845804870128632,-0.3046734631061554,-0.9987244555497556,-0.04974151239251479,0.008664550151364539,-0.049384986249923706,0.9980796080896867,0.03739276515409208,0.08004999905824661
+1789729713014230961,2166,0.6385483741760254,-0.149112731218338,-0.30564579367637634,-0.9987244001297324,-0.04970475265941187,0.008881684354963518,-0.049340952331081496,0.9980842897874412,0.037325872822421335,0.08004999905824661
+1789729713047561347,2200,0.638516902923584,-0.1497650444507599,-0.3066428005695343,-0.9987235470673594,-0.049685126041461206,0.00908457670449006,-0.04931455361727437,0.9980879524924164,0.03726276642495012,0.08004999905824661
+1789729713080900511,2233,0.638323187828064,-0.1506778597831726,-0.30803123116493225,-0.9987247444306391,-0.04963296349216596,0.009247992952733784,-0.04925594470915094,0.9980892594234027,0.03730525704077801,0.08004999905824661
+1789729713114225118,2266,0.6381367444992065,-0.15136168897151947,-0.3091314435005188,-0.9987240317188508,-0.049642408264475524,0.009270297369308622,-0.04926320022702235,0.9980843129834481,0.0374278142355555,0.08004999905824661
+1789729713147588409,2300,0.6379550695419312,-0.15203344821929932,-0.3102896213531494,-0.9987213674608353,-0.049673507170873724,0.009397286878626177,-0.049288630704671696,0.9980798549628568,0.03751311945663025,0.08004999905824661
+1789729713180902597,2333,0.6377608180046082,-0.15285077691078186,-0.31193944811820984,-0.9987177469749544,-0.04968617027275128,0.009710309038567566,-0.0492894072793227,0.9980788505471279,0.03753881402947358,0.08004999905824661
+1789729713214243281,2366,0.6376331448554993,-0.15339772403240204,-0.31326282024383545,-0.9987146867181083,-0.04969004245456668,0.009998054664280394,-0.0492825317394526,0.9980788853832772,0.037546913334312954,0.08004999905824661
+1789729713247562618,2400,0.6375117301940918,-0.15389057993888855,-0.3146548271179199,-0.9987107295926203,-0.04970530219742712,0.010319656696738198,-0.04928559833505182,0.9980778580807956,0.037570190715982006,0.08004999905824661
+1789729713280906112,2433,0.6373031139373779,-0.15454819798469543,-0.31661662459373474,-0.9987068877544762,-0.04971436860424895,0.01063527720942814,-0.049282411682481916,0.9980763084405498,0.03761550878075611,0.08004999905824661
+1789729713314229088,2466,0.6370912194252014,-0.15503109991550446,-0.3181532025337219,-0.9987075327450705,-0.049670218955047314,0.010781887200408818,-0.04923179303390101,0.9980756256438801,0.03769981646700502,0.08004999905824661
+1789729713347565833,2500,0.6368521451950073,-0.1554827094078064,-0.31974291801452637,-0.9987091212280961,-0.04961355356873815,0.010883763612666894,-0.049170732446771996,0.998076710718651,0.03775074126994374,0.08004999905824661
+1789729713380903858,2533,0.6365853548049927,-0.15596601366996765,-0.32196953892707825,-0.9987052900049587,-0.04965075430411748,0.011071295794083773,-0.04920088366755692,0.9980750612587882,0.03775506808189368,0.08004999905824661
+1789729713414228524,2566,0.6364067792892456,-0.1562541127204895,-0.323782354593277,-0.9986957681348798,-0.04976471609686135,0.01141295679116567,-0.04930415343296539,0.9980758651923262,0.0375987738357179,0.08004999905824661
+1789729713447564429,2600,0.6362479329109192,-0.15647590160369873,-0.32573243975639343,-0.9986963507574813,-0.04967740972983363,0.011739618663766799,-0.04920763799205248,0.9980884196924934,0.03739137468540394,0.08004999905824661
+1789729713480901594,2633,0.6359660625457764,-0.15674810111522675,-0.32848551869392395,-0.9986909644519859,-0.04966634393118193,0.012231156581439466,-0.049183845591551235,0.9981037293888066,0.03701208860514229,0.08004999905824661
+1789729713514232139,2666,0.6357211470603943,-0.15695738792419434,-0.3305549919605255,-0.998688705541406,-0.04962690381485359,0.012568122496516981,-0.04913698380092722,0.9981183754123251,0.03667785994139598,0.08004999905824661
+1789729713547567714,2700,0.6354670524597168,-0.15713050961494446,-0.3325885534286499,-0.9986882471358185,-0.0495616713611315,0.012857404209055213,-0.04906444465087327,0.998129628353157,0.03646813909452938,0.08004999905824661
+1789729713580903689,2733,0.6351380944252014,-0.15735399723052979,-0.3352494537830353,-0.9986833311126291,-0.04956267902541647,0.013227719614658025,-0.0490575959265753,0.9981430341725094,0.036108661766799804,0.08004999905824661
+1789729713614230585,2766,0.6349049210548401,-0.15749917924404144,-0.33718574047088623,-0.9986797113053962,-0.04957566202882929,0.013463335179086357,-0.04906653757467988,0.9981527893615761,0.035825746892796204,0.08004999905824661
+1789729713647562960,2800,0.6346707940101624,-0.157632514834404,-0.33906564116477966,-0.9986777707643713,-0.04956648286855539,0.013639686898556193,-0.04905412493927572,0.9981602702293076,0.035633802996732106,0.08004999905824661
+1789729713680895856,2833,0.634365439414978,-0.15785376727581024,-0.3415012061595917,-0.998676783286355,-0.049553498853296934,0.013746663243860507,-0.049040219176589434,0.9981674055341843,0.03545260615592201,0.08004999905824661
+1789729713714230741,2866,0.6341387629508972,-0.15806399285793304,-0.3432609736919403,-0.9986768044849952,-0.04954665827701127,0.01377997588574427,-0.04903304690835125,0.9981696376250396,0.03539964608955846,0.08004999905824661
+1789729713747565606,2900,0.6339219808578491,-0.15831223130226135,-0.3449522852897644,-0.998676835426352,-0.04954161676790097,0.013789105656810456,-0.049027780241228065,0.9981700994090477,0.03539391683417773,0.08004999905824661
+1789729713780908190,2933,0.6336562633514404,-0.15869136154651642,-0.347072958946228,-0.9986769181452853,-0.049550262770137694,0.01375483253014076,-0.04903705949060682,0.9981683822608929,0.035429471645497854,0.08004999905824661
+1789729713814230586,2966,0.6334900259971619,-0.1589948683977127,-0.3485315144062042,-0.9986743868721915,-0.04960367197527908,0.013745948928050297,-0.04909018181748888,0.9981644687299481,0.0354661447023144,0.08004999905824661
+1789729713847562522,3000,0.6333683133125305,-0.15931007266044617,-0.349867045879364,-0.9986695088230162,-0.04970316187409365,0.01373454235204595,-0.049189534749200715,0.9981584697077205,0.03549730785688569,0.08004999905824661
+1789729713880903876,3033,0.63326495885849,-0.15971042215824127,-0.3515211045742035,-0.9986697818004568,-0.04969493296319076,0.013757301108584238,-0.04917934051747348,0.9981562681281526,0.03557326287191325,0.08004999905824661
+1789729713914227782,3066,0.6331973671913147,-0.16001050174236298,-0.35272249579429626,-0.9986690765275794,-0.04970162133458549,0.013785966251190857,-0.04918438014241861,0.9981545371682703,0.03561484088596109,0.08004999905824661
+1789729713947575806,3100,0.6331336498260498,-0.16032037138938904,-0.35393670201301575,-0.9986666156405111,-0.04973581695184623,0.01383432948299683,-0.049216777194440314,0.9981527266906033,0.03562082380186048,0.08004999905824661
+1789729713980932988,3133,0.6330355405807495,-0.1607673019170761,-0.3555534780025482,-0.9986666232767485,-0.049715662970687614,0.013905265115302184,-0.0491947647724005,0.9981551936597466,0.035582081373871796,0.08004999905824661
+1789729714014259780,3166,0.6329452395439148,-0.1611296683549881,-0.3567439019680023,-0.9986669582574761,-0.04970854632926382,0.013914059611215453,-0.049187511618469335,0.9981559296755054,0.03557146286628485,0.08004999905824661
+1789729714047601538,3200,0.632847011089325,-0.16149701178073883,-0.35788825154304504,-0.9986671823119195,-0.049705359168245034,0.013907190023912941,-0.0491843629822275,0.9981556239674768,0.0355843918089423,0.08004999905824661
+1789729714080922238,3233,0.6327419877052307,-0.16196028888225555,-0.3593292236328125,-0.998667891753692,-0.049684262867965207,0.013928720151719823,-0.049161781737035365,0.9981550413663464,0.03563190561081705,0.08004999905824661
+1789729714114254798,3266,0.6327140927314758,-0.16228315234184265,-0.36036258935928345,-0.9986667144391719,-0.049696503291058,0.013969539597032662,-0.0491725675575926,0.9981544568051779,0.035633397948091526,0.08004999905824661
+1789729714147606704,3300,0.6327059864997864,-0.16260385513305664,-0.3613596558570862,-0.9986643234784149,-0.04973168857624948,0.014015236798649286,-0.0492064410989655,0.9981534694168455,0.035614291185921784,0.08004999905824661
+1789729714181020213,3333,0.6327027678489685,-0.16303709149360657,-0.36258745193481445,-0.9986656666190088,-0.049689897456196584,0.014059782614935623,-0.049162503117845736,0.9981542479032502,0.03565312842330998,0.08004999905824661
+1789729714214335345,3366,0.6327154040336609,-0.16337357461452484,-0.3634076714515686,-0.9986647165677649,-0.04969990795139756,0.014094923301204931,-0.049171265099121175,0.9981537797388896,0.03565415330798882,0.08004999905824661
+1789729714247672663,3400,0.632706880569458,-0.16374742984771729,-0.3641355335712433,-0.9986644038836883,-0.04970464050537035,0.014100716292685667,-0.04917593057328187,0.9981538598857128,0.0356454740834185,0.08004999905824661
+1789729714280999863,3433,0.6326947212219238,-0.16425390541553497,-0.36500120162963867,-0.998665090760948,-0.04969245153942699,0.014092926417285774,-0.049163715943192396,0.9981537767855979,0.03566464416893304,0.08004999905824661
+1789729714314336252,3466,0.6326667070388794,-0.1646476686000824,-0.3656337857246399,-0.9986639731811318,-0.049719487096797646,0.014084403666554154,-0.04919239339016855,0.9981554233170084,0.03557891868209942,0.08004999905824661
+1789729714347665692,3500,0.6326547265052795,-0.16501738131046295,-0.3662734627723694,-0.9986654596017459,-0.049696165191282615,0.014051055222576048,-0.04917205547320935,0.998160501637163,0.035464373472869154,0.08004999905824661
+1789729714381003750,3533,0.6326547265052795,-0.16546741127967834,-0.36715221405029297,-0.9986637150829518,-0.049709709098032406,0.01412412144837722,-0.04918879405061538,0.998172465449824,0.03510258594276375,0.08004999905824661
+1789729714414317872,3566,0.6326774954795837,-0.16580232977867126,-0.3678319454193115,-0.9986622301632695,-0.049721870721115655,0.014194768710812322,-0.04920620954422618,0.9981884790295859,0.03461949277771323,0.08004999905824661
+1789729714447660560,3600,0.6327348947525024,-0.16610682010650635,-0.3685216009616852,-0.998660343038976,-0.04973163734643481,0.014287163770438073,-0.04922198340493046,0.9982073791308578,0.03404738542808588,0.08004999905824661
+1789729714480936837,3633,0.6327828764915466,-0.16652405261993408,-0.36947542428970337,-0.9986588026534111,-0.04970215079751594,0.01450102663550698,-0.04920206856010334,0.9982430488416937,0.033014722137565476,0.08004999905824661
+1789729714514335527,3666,0.6328125,-0.16680699586868286,-0.3702488839626312,-0.9986576030569272,-0.04969380761369327,0.014605281958652891,-0.049203384366674346,0.9982692215208984,0.03221161521971885,0.08004999905824661
+1789729714547683054,3700,0.6328330039978027,-0.16706490516662598,-0.3710601329803467,-0.9986554125645333,-0.049705685400472654,0.014717419795790901,-0.049225787073685245,0.998295601307017,0.031348272756051565,0.08004999905824661
+1789729714580996366,3733,0.6328734755516052,-0.16732344031333923,-0.37223494052886963,-0.9986538035588199,-0.049701156952165905,0.014845534477861872,-0.04923506363059962,0.9983285690663889,0.030265107088387644,0.08004000037908554
+1789729714614336235,3766,0.632888674736023,-0.16747301816940308,-0.3731263279914856,-0.9986532305810079,-0.04968571205797835,0.01494054961447747,-0.04922835538018709,0.99834995936511,0.029562269845675636,0.08004999905824661
+1789729714647594423,3800,0.6328983306884766,-0.1675877571105957,-0.37401026487350464,-0.9986533606699834,-0.04966208515995071,0.015008466618128536,-0.049212584642332614,0.9983682117188835,0.028966108353287532,0.08004999905824661
+1789729714680934002,3833,0.6329050660133362,-0.1677371710538864,-0.3751412034034729,-0.9986534056626182,-0.049651003361425416,0.01503085252022348,-0.0492122118141885,0.9983880038501077,0.028276346894763812,0.08004999905824661
+1789729714714260422,3866,0.6329010725021362,-0.16781625151634216,-0.37595516443252563,-0.9986533329977758,-0.04964864352802593,0.015057770725700179,-0.049215079906532254,0.9983980793135463,0.027913281715661323,0.08004999905824661
+1789729714747590401,3900,0.6328945159912109,-0.16786403954029083,-0.3767518997192383,-0.9986531818178979,-0.049649286594688306,0.015053637128531507,-0.04922006673129493,0.9984050066119707,0.027655518009862573,0.08004999905824661
+1789729714780939228,3933,0.6328886151313782,-0.16791461408138275,-0.37776660919189453,-0.9986544273454949,-0.04963780268079834,0.015008213519994651,-0.0492165602543336,0.998416531936006,0.02724259190174519,0.08004999905824661
+1789729714814257280,3966,0.6328789591789246,-0.16792604327201843,-0.3784802556037903,-0.9986548853951593,-0.04963270663890161,0.015004268271296074,-0.04921565923029182,0.998423376102705,0.0269922401430766,0.08004999905824661
+1789729714847668819,4000,0.6328683495521545,-0.1679312288761139,-0.37916100025177,-0.9986534804249461,-0.04965028322647165,0.015028206796792232,-0.04923580877425031,0.9984276632229148,0.026796198720803077,0.08004999905824661
+1789729714881001938,4033,0.6328592896461487,-0.16791824996471405,-0.3800337612628937,-0.9986551919036861,-0.04962171657545705,0.015017860528231612,-0.04920986179033432,0.9984327848340245,0.0266526491184398,0.08004999905824661
+1789729714914324559,4066,0.6328450441360474,-0.16790896654129028,-0.38068607449531555,-0.9986552384422955,-0.04963290865706761,0.014979490177634745,-0.04922291667870225,0.9984335694056516,0.02659909834530179,0.08004999905824661
+1789729714947655118,4100,0.6328331828117371,-0.16790927946567535,-0.3813502788543701,-0.9986557686877866,-0.04963058337198538,0.014941747689634521,-0.04922273154484509,0.9984354858919703,0.026527401878623597,0.08004999905824661
+1789729714981008764,4133,0.6328287720680237,-0.16789814829826355,-0.38228654861450195,-0.9986557941595364,-0.04964203842266538,0.01491522487886188,-0.04923545212336763,0.998435816238478,0.026491343038549286,0.08004999905824661
+1789729715014332290,4166,0.6328377723693848,-0.1678904891014099,-0.38303932547569275,-0.9986552639068191,-0.049658664279921716,0.014890811406989765,-0.0492533346084949,0.9984359695264375,0.026452293455299092,0.08004999905824661
+1789729715047660094,4200,0.632851779460907,-0.16788752377033234,-0.38384148478507996,-0.998655927280006,-0.049648711262715806,0.014876239216767562,-0.04924468485693806,0.9984379126841046,0.026394989971828903,0.08004999905824661
+1789729715080939724,4233,0.6328744292259216,-0.16787786781787872,-0.38501083850860596,-0.9986559926664675,-0.04965044214330236,0.014864667325986264,-0.04924711989534883,0.99843845960592,0.02636974585536673,0.08004999905824661
+1789729715114339019,4266,0.6329001784324646,-0.16787657141685486,-0.38591331243515015,-0.9986573821187417,-0.04962948945895269,0.014849215757588585,-0.049227045514537764,0.9984402313436178,0.026340131800413693,0.08004999905824661
+1789729715147673401,4300,0.6329180598258972,-0.16788169741630554,-0.3868146538734436,-0.9986561763913802,-0.049649617947123775,0.014854133307622863,-0.049247641239220624,0.9984401910894682,0.026303128379876833,0.08004999905824661
+1789729715180939473,4333,0.6329699158668518,-0.16788288950920105,-0.3880007863044739,-0.9986547121587492,-0.04967966357249168,0.014850174478713594,-0.04927809744204545,0.9984392038823163,0.026283552484097424,0.08004999905824661
+1789729715214321670,4366,0.6330401301383972,-0.167884960770607,-0.3888828456401825,-0.9986554655577355,-0.04967120954343682,0.014828796731632666,-0.04927032473705853,0.9984398060861974,0.026275247182064292,0.08004999905824661
+1789729715247597450,4400,0.6331444382667542,-0.1678856611251831,-0.3897939920425415,-0.998655630060191,-0.04966725460474984,0.014829792527083812,-0.04926639127743272,0.9984400753270205,0.026272391135223366,0.08004999905824661
+1789729715280935053,4433,0.6333500146865845,-0.16788837313652039,-0.3910444378852844,-0.998654833550559,-0.049680054800571465,0.014842387360890955,-0.049278614802729,0.9984390599935175,0.02628804879321706,0.08004999905824661
+1789729715314335117,4466,0.6335674524307251,-0.16789273917675018,-0.3920043408870697,-0.998653354660247,-0.049715308245282655,0.014833657280919291,-0.04931426133561827,0.9984375904143623,0.026277020587780718,0.08004999905824661
+1789729715347672669,4500,0.6337948441505432,-0.16791190207004547,-0.39295369386672974,-0.9986535144297375,-0.049698522299327946,0.014867877103493368,-0.04929694079019384,0.9984389909915262,0.026256290115448652,0.08004999905824661
+1789729715381005882,4533,0.6341028213500977,-0.16797368228435516,-0.39418941736221313,-0.9986526348762259,-0.04970992907598264,0.014889561128513359,-0.049308183245907425,0.9984390710017766,0.02623212636663272,0.08004999905824661
+1789729715414330417,4566,0.6342934966087341,-0.1680673211812973,-0.39510348439216614,-0.9986533305966347,-0.04968478117897129,0.014933942388294676,-0.0492825063858931,0.9984413034114061,0.026195386326852567,0.08004999905824661
+1789729715447664999,4600,0.6344615817070007,-0.16820836067199707,-0.3960314095020294,-0.9986542851726705,-0.04968390864235221,0.014876471398618973,-0.0492832669278533,0.9984415439316002,0.02618478745196018,0.08004999905824661
+1789729715481003562,4633,0.6346798539161682,-0.16841310262680054,-0.3973119556903839,-0.998653118882141,-0.04971784052954428,0.014840052091989138,-0.049317368047901905,0.998438640322745,0.026231256751205054,0.08004999905824661
+1789729715514330015,4666,0.6348987221717834,-0.16854552924633026,-0.3983241319656372,-0.9986510240787365,-0.04975972353565759,0.014841920010453619,-0.04935900865133237,0.9984362799204727,0.026242777002456433,0.08004999905824661
+1789729715547667758,4700,0.635163426399231,-0.16864918172359467,-0.39935728907585144,-0.9986489144658965,-0.049779543229869785,0.01491173626943448,-0.04937744079044902,0.9984360098942047,0.026218361904562025,0.08004999905824661
+1789729715580994062,4733,0.6355680823326111,-0.1687435358762741,-0.40073204040527344,-0.9986465918012093,-0.049771851423226626,0.01509685783284289,-0.04936583497269417,0.998437857430308,0.02616981693557795,0.08004999905824661
+1789729715614331534,4766,0.6358747482299805,-0.16880641877651215,-0.4017122983932495,-0.9986478424855743,-0.049709854384909505,0.01522013869166029,-0.049301403737791,0.9984421254855758,0.026128410378911015,0.08004999905824661
+1789729715647665997,4800,0.6361290216445923,-0.16889415681362152,-0.4026438295841217,-0.9986445829106227,-0.04975128198267523,0.01528459675348881,-0.049341107792760436,0.9984400358037593,0.026133308997965732,0.08004999905824661
+1789729715681006169,4833,0.6364059448242188,-0.169045552611351,-0.4037947356700897,-0.9986475797311871,-0.04969589739626752,0.015272452574862552,-0.049284589990802805,0.9984405273181927,0.026221032291630836,0.08004999905824661
+1789729715714330963,4866,0.6366142630577087,-0.16912224888801575,-0.4046218991279602,-0.9986466250651604,-0.04971773348164574,0.015259324043601863,-0.0493049310945152,0.9984366217735271,0.02633127229190163,0.08004999905824661
+1789729715747661747,4900,0.6368353366851807,-0.16916485130786896,-0.40544986724853516,-0.9986457063887177,-0.04972020126769759,0.015323047390287125,-0.0493046549271139,0.9984348630439417,0.026398397137448803,0.08004999905824661
+1789729715781006448,4933,0.6371855735778809,-0.1691807061433792,-0.40656182169914246,-0.9986433332428946,-0.04973623634963403,0.015421078629021777,-0.04931812706480515,0.9984341203351449,0.026401320064792382,0.08004999905824661
+1789729715814259981,4966,0.6374325156211853,-0.1691773235797882,-0.40741658210754395,-0.9986438128783282,-0.04969702297164234,0.015510551036248245,-0.049276135291570836,0.9984354140479414,0.02643078389838803,0.08004999905824661
+1789729715847590325,5000,0.6376386880874634,-0.16919051110744476,-0.4083091914653778,-0.9986441344558992,-0.04967720479976227,0.015551385274948974,-0.04925505222053923,0.9984361051509387,0.026443970725074102,0.08004999905824661
+1789729715880927427,5033,0.6377995610237122,-0.1692466288805008,-0.4096127450466156,-0.9986453880616342,-0.049654195303419524,0.015551708023149195,-0.04923123232587168,0.998436010487779,0.026491861570794313,0.08004999905824661
+1789729715914255241,5066,0.6378533244132996,-0.1692785769701004,-0.4107070863246918,-0.998643665562277,-0.04969022151706256,0.015550133862629819,-0.04926547958594477,0.9984314628337979,0.026599372543601826,0.08004999905824661
+1789729715947586754,5100,0.6379036903381348,-0.16929928958415985,-0.41192469000816345,-0.9986433307929015,-0.049687691978308475,0.015578740173477951,-0.04926164932122167,0.9984307627502035,0.026632723331136563,0.08004999905824661
+1789729715981009626,5133,0.6379765272140503,-0.1693107932806015,-0.4137048125267029,-0.9986413202557185,-0.04968727179009946,0.015702583653704083,-0.04925820023902838,0.9984311998400799,0.02662271216433852,0.08004999905824661
+1789729716014332116,5166,0.6380355954170227,-0.16932843625545502,-0.41513073444366455,-0.9986393306409518,-0.04970339656433184,0.0157813099538254,-0.04927277396236354,0.9984312370045976,0.02659433608372371,0.08004999905824661
+1789729716047664653,5200,0.638089120388031,-0.16933932900428772,-0.41658124327659607,-0.998638937036864,-0.049679450421912595,0.01588250421902254,-0.04924566098262093,0.9984317024539913,0.026627062012477536,0.08004999905824661
+1789729716081004619,5233,0.6381286978721619,-0.16937066614627838,-0.4185410737991333,-0.9986378299513234,-0.04965459198748218,0.016029984797868328,-0.049215784723676326,0.9984313024263137,0.02669720794331684,0.08004999905824661
+1789729716114331446,5266,0.6381487846374512,-0.16940298676490784,-0.4200628101825714,-0.9986391375426418,-0.049619157357201044,0.016057040244239998,-0.0491786311149259,0.9984315514535236,0.026756294896770103,0.08004999905824661
+1789729716147652744,5300,0.6381569504737854,-0.1694241315126419,-0.42165952920913696,-0.9986384103166406,-0.04963146010048755,0.016062083742262857,-0.04918907959709498,0.9984283777188456,0.026855334151149,0.08004999905824661
+1789729716180996430,5333,0.6381752490997314,-0.16942042112350464,-0.4239017963409424,-0.9986374292700682,-0.04963670478936925,0.016103496917154705,-0.04919152158826975,0.9984255917624281,0.026954253686690733,0.08004999905824661
+1789729716214337246,5366,0.6382110118865967,-0.1693972796201706,-0.42564356327056885,-0.9986376801252779,-0.049621330878658096,0.016135299342987575,-0.04917545697308852,0.9984265951276233,0.02694639953327793,0.08004999905824661
+1789729716247594262,5400,0.6382527947425842,-0.16935868561267853,-0.42739337682724,-0.9986369087192546,-0.049616558522870016,0.016201319751985507,-0.04916960035193178,0.9984278677339332,0.026909910867602777,0.08004999905824661
+1789729716281016767,5433,0.638340950012207,-0.16929635405540466,-0.42960020899772644,-0.998637809217022,-0.04956786286748264,0.01630269956632968,-0.049120174027941964,0.9984332067727772,0.026801871078513312,0.08004999905824661
+1789729716314331956,5466,0.6383886933326721,-0.16924725472927094,-0.43114084005355835,-0.9986357604872003,-0.049584283126027244,0.016374641765150137,-0.04913574344722938,0.9984339885253604,0.026744146296014192,0.08004999905824661
+1789729716347594322,5500,0.6384063363075256,-0.1691749542951584,-0.43259260058403015,-0.998636811584769,-0.04954886826464196,0.01641658680640222,-0.049098369055212185,0.9984344962806093,0.026793783843057514,0.08004999905824661
+1789729716380931918,5533,0.638399064540863,-0.16906288266181946,-0.4343950152397156,-0.9986363114891188,-0.04956361054885969,0.0164003989331995,-0.04911147367994298,0.9984307320100523,0.026909785144234612,0.08004999905824661
+1789729716414328107,5566,0.6384044289588928,-0.16892439126968384,-0.4356294572353363,-0.9986362392051964,-0.049574574784434416,0.016366154082904677,-0.04912211935986796,0.9984283629949922,0.026978161932582505,0.08004999905824661
+1789729716447658234,5600,0.6384280920028687,-0.1687418520450592,-0.4367125928401947,-0.9986367418780902,-0.04956227118409637,0.016371215326899377,-0.04910982701333569,0.9984291830370121,0.026970190507414192,0.08004999905824661
+1789729716481006569,5633,0.6384842395782471,-0.1684081256389618,-0.4378829896450043,-0.9986333093281334,-0.04961422844841362,0.01643685727143153,-0.04915865377743195,0.998424641419808,0.027049257745448613,0.08004999905824661
+1789729716514331957,5666,0.6385276317596436,-0.1681375354528427,-0.4385474920272827,-0.9986291793939177,-0.049674388479741385,0.016505605697835834,-0.049216056406919825,0.9984203795042813,0.0271021356065895,0.08004999905824661
+1789729716547662484,5700,0.6385762095451355,-0.16787074506282806,-0.43906036019325256,-0.9986223250034314,-0.04979647851641851,0.016547703173825715,-0.04933630212508493,0.998413360950672,0.027142034161298643,0.08004999905824661
+1789729716581006769,5733,0.638643741607666,-0.16749288141727448,-0.43955621123313904,-0.998616124326031,-0.04990897433792386,0.01658815357242753,-0.049444968667003424,0.9984038157684578,0.02729497978090352,0.08004999905824661
+1789729716614346605,5766,0.6386566758155823,-0.1671835035085678,-0.439846932888031,-0.9986164794744194,-0.04987886535681638,0.016649143562425514,-0.04941028949313577,0.9984010168942027,0.027459656433389823,0.08004999905824661
+1789729716647667813,5800,0.6386699676513672,-0.16685208678245544,-0.4401213824748993,-0.998615865557807,-0.049867791731013134,0.01672262276070864,-0.0493947813457884,0.9983979988190572,0.027596949139524124,0.08004999905824661
+1789729716681011399,5833,0.6387045383453369,-0.16638527810573578,-0.4405023455619812,-0.9986092530740907,-0.04995019669768145,0.016862361425602074,-0.04947076564972771,0.9983901818899832,0.02774324948520132,0.08004999905824661
+1789729716714335357,5866,0.6387326121330261,-0.16604624688625336,-0.44082003831863403,-0.9986075969579082,-0.049957747478321886,0.0169490383366449,-0.04947497898654434,0.9983884453397529,0.02779817999071741,0.08004999905824661
+1789729716747678022,5900,0.6387490630149841,-0.16573862731456757,-0.4411749839782715,-0.9986060796680807,-0.04996240605609744,0.017017509127287514,-0.04947670012240971,0.9983867039073047,0.027857594254729407,0.08004999905824661
+1789729716781001970,5933,0.6387550234794617,-0.16541461646556854,-0.4417048394680023,-0.9986039494706065,-0.04999578634276304,0.017052837779074972,-0.049507809249736176,0.9983831751406388,0.02792870569999558,0.08004999905824661
+1789729716814340626,5966,0.6387501955032349,-0.1652415692806244,-0.44213032722473145,-0.9986008953240297,-0.05005203079989526,0.01705437039708222,-0.04956332188367954,0.9983793913654297,0.027965476268375825,0.08004999905824661
+1789729716847674953,6000,0.6387342214584351,-0.16511178016662598,-0.4425772726535797,-0.9986019272009068,-0.05004582169189534,0.017018800636658667,-0.04955772405680167,0.9983791306919902,0.02798469959924311,0.08004999905824661
+1789729716880997081,6033,0.6386920809745789,-0.16497480869293213,-0.44321250915527344,-0.9986036919919465,-0.05002414911573692,0.016977363402751692,-0.049537137706090716,0.9983800881222737,0.027986990060683767,0.08004999905824661
+1789729716914335217,6066,0.6386654376983643,-0.16486938297748566,-0.44371163845062256,-0.9986042463774949,-0.050025440796230704,0.016938938849375973,-0.04953959492023565,0.9983801557227278,0.027980227373961553,0.08004999905824661
+1789729716947659405,6100,0.6386500597000122,-0.1647614687681198,-0.44421815872192383,-0.9986037543078017,-0.050054244687857144,0.0168892455570442,-0.0495705583222643,0.9983798737231276,0.027935418366848423,0.08004999905824661
+1789729716980909912,6133,0.6386333107948303,-0.1646171361207962,-0.44488149881362915,-0.9986053400582835,-0.05004128635014921,0.016830161276766623,-0.049560548989011126,0.9983824373657505,0.02786145637815905,0.08004999905824661
+1789729717014230486,6166,0.6386131644248962,-0.16451828181743622,-0.4453444480895996,-0.998604885911546,-0.050054458498789645,0.01681118225546244,-0.04957485429475095,0.9983826835326142,0.027827160619294324,0.08004999905824661
+1789729717047560777,6200,0.6385886669158936,-0.16444116830825806,-0.4457777738571167,-0.9986064223377626,-0.05003261414600571,0.016785644753739004,-0.04955459595194542,0.9983850580125115,0.02777800931509311,0.08004999905824661
+1789729717080900336,6233,0.6385654807090759,-0.16437241435050964,-0.4462752640247345,-0.9986090289554375,-0.05000270511761594,0.01672851602078723,-0.04952753429025193,0.9983884013931601,0.027706017335558417,0.08004999905824661
+1789729717114225858,6266,0.6385478377342224,-0.16433405876159668,-0.44658154249191284,-0.9986095811103879,-0.05000696337477989,0.016682834267053102,-0.04953361870446954,0.9983890224136759,0.027672741635543747,0.08004999905824661
+1789729717147559118,6300,0.6385281682014465,-0.16430488228797913,-0.4468400776386261,-0.9986106350928141,-0.05000370193870166,0.016630983818780663,-0.04953217775940063,0.9983897547810563,0.02764888865443476,0.08004999905824661
+1789729717180901437,6333,0.6384937763214111,-0.16428031027317047,-0.4471242427825928,-0.9986112680437091,-0.05000200699176353,0.016598104328082605,-0.04953190499401235,0.9983906016063577,0.02761878242357531,0.08004999905824661
+1789729717214234048,6366,0.6384711861610413,-0.16426949203014374,-0.4473034143447876,-0.998611377787433,-0.05000626076043148,0.01657795346325225,-0.049537104767216386,0.9983909717922225,0.02759606505587761,0.08004999905824661
+1789729717247561019,6400,0.638450562953949,-0.16425743699073792,-0.4474714398384094,-0.9986106616993633,-0.050020715787503875,0.016567003188460383,-0.04955201003757993,0.9983904795505542,0.027587107060171978,0.08004999905824661
+1789729717280897389,6433,0.638433575630188,-0.16424088180065155,-0.4476849138736725,-0.9986108521491786,-0.05003277616864691,0.01652780896496867,-0.049565319606672174,0.9983901338492356,0.027575710148466315,0.08004999905824661
+1789729717314228509,6466,0.6384180784225464,-0.16423018276691437,-0.4478214383125305,-0.9986123582817938,-0.0500090404066584,0.016509611074875263,-0.04954219379326678,0.9983914645311849,0.027569089153772305,0.08004999905824661
+1789729717347562180,6500,0.638405442237854,-0.1642233282327652,-0.4479292035102844,-0.9986127492020238,-0.050003938039138954,0.016503644231809392,-0.04953746862609397,0.9983920337848557,0.027556963321021734,0.08004999905824661
+1789729717380898409,6533,0.6384012699127197,-0.164220929145813,-0.44800689816474915,-0.998612659943386,-0.0500093356481658,0.016486818359785715,-0.04954369324602635,0.9983923104728561,0.02753573755924177,0.08004999905824661
+1789729717414224851,6566,0.6383962631225586,-0.16422206163406372,-0.4480292499065399,-0.998612393625081,-0.0500098457039945,0.016495464412561167,-0.049544143893286735,0.9983925528598192,0.027526133713989664,0.08004999905824661
+1789729717447560871,6600,0.6383917331695557,-0.16422168910503387,-0.4480395019054413,-0.9986124904339835,-0.05000621606433506,0.0165009204129798,-0.0495403038802458,0.9983926421156544,0.02752980759865263,0.08004999905824661
+1789729717480893171,6633,0.6383852362632751,-0.16422376036643982,-0.4480505883693695,-0.9986129828696775,-0.04999847879412274,0.016505733638400938,-0.049532428562683514,0.9983930154589649,0.027530443975673183,0.08004999905824661
+1789729717514295533,6666,0.6383792757987976,-0.16422401368618011,-0.44806107878685,-0.9986131927463275,-0.04999116707522688,0.016506890596555517,-0.04952494992063006,0.9983931739026121,0.027538147395970713,0.08004999905824661
+1789729717547563741,6700,0.6383757591247559,-0.16422691941261292,-0.44806745648384094,-0.998613316492055,-0.04998811253072993,0.016508313337514922,-0.049521933392679574,0.9983934397890185,0.027533932015421238,0.08004999905824661
+1789729717580985600,6733,0.6383755207061768,-0.16423049569129944,-0.44807133078575134,-0.9986129719102563,-0.04999429079429339,0.016510532229907938,-0.04952811917991308,0.9983932380330615,0.027530121240314682,0.08004999905824661
+1789729717614230162,6766,0.6383731961250305,-0.16423465311527252,-0.4480714201927185,-0.9986124393186662,-0.05000168968426321,0.016524669798219756,-0.04953532597993982,0.9983931684187084,0.02751967959805278,0.08004000037908554
+1789729717647583390,6800,0.6383711099624634,-0.16423754394054413,-0.44807228446006775,-0.9986124680949093,-0.050000729162491715,0.01652756708527737,-0.04953426828037282,0.9983931899079925,0.02752080463044628,0.07996000349521637
+1789729717680904332,6833,0.6383659243583679,-0.16424155235290527,-0.44807517528533936,-0.9986126385036571,-0.04999450435756544,0.016529907246709642,-0.049527869892794486,0.99839333386752,0.027527094006021276,0.07959999889135361
+1789729717714229443,6866,0.6383618712425232,-0.16424112021923065,-0.4480797350406647,-0.9986129573119522,-0.04998719826499506,0.016529372452673642,-0.04952037073067509,0.9983933837188215,0.0275387735973699,0.07959999889135361
+1789729717747560374,6900,0.6383569240570068,-0.16424201428890228,-0.4480827748775482,-0.9986131120181132,-0.04998303006952989,0.016533524173564518,-0.049515989412868694,0.9983934418756157,0.02754454316301334,0.07886999845504761
+1789729717780902683,6933,0.638350784778595,-0.16424492001533508,-0.44808435440063477,-0.9986132241698396,-0.0499787024220493,0.016546806975744326,-0.04951138621956905,0.9983937905231356,0.027540183565251952,0.0776899978518486
+1789729717814226565,6966,0.6383515000343323,-0.16424620151519775,-0.4480818212032318,-0.9986133764512557,-0.04997682965627537,0.01654570532402891,-0.04950960084046396,0.9983939677688879,0.02753696866645647,0.07463999837636948
+1789729717847582022,7000,0.6383514404296875,-0.16424642503261566,-0.44808128476142883,-0.9986133768553782,-0.04997499805264652,0.01654630148901931,-0.049507753471915245,0.9983940589453595,0.0275369819368164,0.06904999911785126
+1789729717880900384,7033,0.638346254825592,-0.16424722969532013,-0.4480860233306885,-0.9986135081058731,-0.049970995640631954,0.016555278656769604,-0.04950342234168953,0.9983941351290704,0.027542008091713054,0.06407000124454498
+1789729717914229005,7066,0.6383387446403503,-0.16425035893917084,-0.4480893015861511,-0.998613356801072,-0.04996896690992242,0.016572490629226666,-0.04950102736901146,0.9983943965393386,0.027536837037990536,0.06407000124454498
+1789729717947585193,7100,0.6383553147315979,-0.16425712406635284,-0.4480516016483307,-0.9986138496152801,-0.04996777083568378,0.016540777556897285,-0.049500996020421836,0.9983948881212448,0.027519061815613644,0.06086999922990799
+1789729717980911974,7133,0.6383450627326965,-0.1642550528049469,-0.4480540156364441,-0.9986136126153013,-0.04996384416546587,0.01656632263507077,-0.04949621981357985,0.9983948647944995,0.027528497178743512,0.06046000123023987
+1789729718014229771,7166,0.6383380889892578,-0.16425728797912598,-0.4480563998222351,-0.9986132439755275,-0.04996427337408211,0.016582419646608185,-0.04949629853864628,0.9983949823317654,0.027524090143048505,0.06046000123023987
+1789729718047583063,7200,0.6383373737335205,-0.1642557680606842,-0.4480578303337097,-0.9986135597954875,-0.04996133749605496,0.016583525662355388,-0.04949328249719615,0.9983950530942115,0.027526952202093807,0.06046000123023987
+1789729718080969000,7233,0.6383350491523743,-0.16425821185112,-0.4480571746826172,-0.9986137266623616,-0.04995675111693562,0.016586847794462678,-0.04948865503284419,0.9983953539691984,0.027524358970356516,0.06046000123023987
+1789729718114248581,7266,0.638333797454834,-0.1642584204673767,-0.44805821776390076,-0.9986137940194153,-0.0499544209130951,0.016588041328616687,-0.04948624874534158,0.9983954044682564,0.027526852628413145,0.06046000123023987
+1789729718147562387,7300,0.6383301615715027,-0.16426211595535278,-0.448056697845459,-0.9986132832856469,-0.049957034929461096,0.01660064636700219,-0.04948870041939472,0.9983955506928017,0.027517134808645077,0.06046000123023987
+1789729718180975411,7333,0.6383259296417236,-0.16426220536231995,-0.44806015491485596,-0.9986135878713214,-0.04995547229182568,0.016600463862904636,-0.04948694155543725,0.998395328755519,0.027528354714483786,0.06046000123023987
+1789729718214241303,7366,0.638322114944458,-0.16426298022270203,-0.44806259870529175,-0.9986137562478294,-0.0499518877196768,0.016601440680536296,-0.0494832203135444,0.9983953421586963,0.02753455738454899,0.06046000123023987
+1789729718247588495,7400,0.6383196711540222,-0.16426441073417664,-0.4480637013912201,-0.9986140415759401,-0.04994538615058347,0.01659319040470678,-0.04947675611072472,0.9983953794056866,0.02754481601805337,0.06046000123023987
+1789729718280903661,7433,0.6383242607116699,-0.1642712950706482,-0.4480409324169159,-0.9986144614474433,-0.04994169257652847,0.01658838155809816,-0.04947354739653476,0.9983960850849233,0.027524998588843785,0.06046000123023987
+1789729718314230446,7466,0.6383391618728638,-0.16428929567337036,-0.44793909788131714,-0.9986155699756729,-0.04992091281220057,0.016572423180007945,-0.049454051762130136,0.998398362843894,0.027477366579425965,0.06046000123023987
+1789729718347562780,7500,0.6383458971977234,-0.1643247902393341,-0.44766777753829956,-0.9986174428684618,-0.04988281161530161,0.016582989798552952,-0.049416807882372245,0.998401939655974,0.027414340407644525,0.06046000123023987
+1789729718380897974,7533,0.6383679509162903,-0.16438178718090057,-0.44679751992225647,-0.9986183008410918,-0.049865384368360424,0.016583428919602114,-0.04939928024470085,0.9984026654252133,0.027419497534287546,0.06046000123023987
+1789729718414233017,7566,0.6384171843528748,-0.16443607211112976,-0.4456160068511963,-0.998617179293833,-0.04986782990031086,0.01664296660608093,-0.04940054653746644,0.9984032178540161,0.027397091600105575,0.06046000123023987
+1789729718447589038,7600,0.6384662985801697,-0.1644613891839981,-0.44391605257987976,-0.9986150235080924,-0.04988467742958547,0.016718541291892847,-0.04941233202658191,0.9983979854096422,0.02756599605069146,0.06046000123023987
+1789729718480892146,7633,0.6385423541069031,-0.16450391709804535,-0.4409636855125427,-0.9986095415113563,-0.04995582573353308,0.016832421230238148,-0.049477177370808034,0.9983898323554357,0.027744396071575972,0.06046000123023987
+1789729718514229589,7666,0.638587474822998,-0.16453997790813446,-0.4383604824542999,-0.998597738057017,-0.050157868736053886,0.01692909072728256,-0.04967419647256787,0.9983764255965224,0.02787448465410329,0.06046000123023987
+1789729718547592749,7700,0.6386363506317139,-0.16458149254322052,-0.43552348017692566,-0.9985840938896169,-0.05041785617932495,0.016959511017937537,-0.04993074653847638,0.9983597254094891,0.02801390811794137,0.06046000123023987
+1789729718580911265,7733,0.6386280655860901,-0.16463641822338104,-0.43150362372398376,-0.9985707290059143,-0.050684360637371265,0.016953523738542198,-0.0501921177432416,0.9983385774492514,0.02829904502647762,0.06046000123023987
+1789729718614232191,7766,0.6385467052459717,-0.16462907195091248,-0.4285040497779846,-0.9985554263549443,-0.05098018556110401,0.016971800372173062,-0.05048171495671189,0.998315213649255,0.028606478609777174,0.06046000123023987
+1789729718647566794,7800,0.6385095715522766,-0.16454757750034332,-0.42558029294013977,-0.9985373199830958,-0.05137680448151205,0.016839870104497556,-0.05087726582662888,0.9982878520358031,0.028859456777428127,0.06046000123023987
+1789729718680893949,7833,0.6385097503662109,-0.16435523331165314,-0.42167553305625916,-0.9985108806035843,-0.051911918583146366,0.01676533142717873,-0.051413507024321015,0.9982590725803505,0.028904588241002033,0.06046000123023987
+1789729718714229842,7866,0.6384927034378052,-0.16417571902275085,-0.4186137914657593,-0.9984874982623877,-0.05239868032740552,0.016653136377667216,-0.0519017638800216,0.998231371587069,0.028988547593813294,0.06046000123023987
+1789729718747559747,7900,0.6384292244911194,-0.16393353044986725,-0.41550225019454956,-0.9984638784623268,-0.05289569813689887,0.016484719252703686,-0.05239816900109551,0.9981969846097876,0.029278176797031263,0.06046000123023987
+1789729718780939625,7933,0.638356626033783,-0.1634754091501236,-0.41148626804351807,-0.9984246754466404,-0.05368372039630281,0.016319503175810667,-0.053186432650154276,0.9981483179355287,0.02951506187697225,0.06046000123023987
+1789729718814233194,7966,0.6383219361305237,-0.16307371854782104,-0.4085215628147125,-0.9983974136077989,-0.05423738803507859,0.016156430291710135,-0.05374539074977559,0.9981196750067522,0.029471129100844227,0.06046000123023987
+1789729718847583345,8000,0.6382275819778442,-0.16268041729927063,-0.40545904636383057,-0.9983724604107636,-0.05477430260399994,0.01587506359874978,-0.054290061409475475,0.9980899757893826,0.029478624133629824,0.06046000123023987
+1789729718880896292,8033,0.6380661129951477,-0.1620151549577713,-0.40131309628486633,-0.9983279238046918,-0.05567749936577178,0.015541515837052822,-0.05519735963219512,0.9980312673513023,0.029779876467604938,0.06046000123023987
+1789729718914231445,8066,0.6379732489585876,-0.16140972077846527,-0.3983038663864136,-0.9982937183182174,-0.05631496080746065,0.015436340201250467,-0.0558371496476813,0.9979947711285437,0.029810225137747184,0.06046000123023987
+1789729718947591716,8100,0.6379066705703735,-0.16077208518981934,-0.3953271210193634,-0.99825631348115,-0.05703269470723858,0.015219361044792126,-0.05656313778688983,0.9979577666521443,0.029680085032368714,0.06046000123023987
+1789729718980899703,8133,0.637947142124176,-0.15971915423870087,-0.3913581073284149,-0.9981961540116897,-0.05808110263295717,0.015194238353840067,-0.057616729885536025,0.9979058619734871,0.029397328277795,0.06046000123023987
+1789729719014234562,8166,0.6378852725028992,-0.15891647338867188,-0.38849177956581116,-0.9981574420359667,-0.05871167634911816,0.015317993199066755,-0.05824702944258415,0.9978751913193514,0.029195651906098477,0.06046000123023987
+1789729719047588986,8200,0.6376819014549255,-0.1581704020500183,-0.3858673572540283,-0.9981129596047962,-0.05953654421100258,0.015038304455924242,-0.05907774463160636,0.9978231688386799,0.029304335335453083,0.06046000123023987
+1789729719080897997,8233,0.6375211477279663,-0.15702931582927704,-0.3826999068260193,-0.9980226091253139,-0.06111368615851818,0.0146984176313305,-0.06066337284592651,0.9977267879632206,0.02934641098143388,0.06046000123023987
+1789729719114228384,8266,0.6374989151954651,-0.1560743749141693,-0.3803772032260895,-0.9979490345457691,-0.06229565403162218,0.014722229863464054,-0.061848225133501744,0.9976609764095066,0.02910967066103641,0.06046000123023987
+1789729719147563011,8300,0.6374921202659607,-0.155096173286438,-0.3780544400215149,-0.9978689270498518,-0.0635519534322753,0.014791381973629822,-0.06310481805573473,0.9975868385924795,0.028953090388871165,0.06046000123023987
+1789729719180906637,8333,0.6374216079711914,-0.153782919049263,-0.37507858872413635,-0.997751673957453,-0.06533503854067278,0.014934653697876894,-0.06488436722033898,0.9974743481853042,0.028895393177409134,0.06046000123023987
+1789729719214245624,8366,0.6372869610786438,-0.15282167494297028,-0.37302109599113464,-0.9976682445293692,-0.06662559136569009,0.014810028541325328,-0.06617669263208263,0.9973871166212557,0.02897559756648988,0.06046000123023987
+1789729719247588070,8400,0.6371616125106812,-0.15179777145385742,-0.37097129225730896,-0.9975704845357167,-0.0681048067995857,0.014665793231427332,-0.06765861595954054,0.9972861053413177,0.02902991699860638,0.06046000123023987
+1789729719280915598,8433,0.6372146606445312,-0.15032389760017395,-0.3684173822402954,-0.9974518158069738,-0.06977547228368161,0.014880984466913619,-0.06932628049787917,0.99717756233145,0.028823189909670165,0.06046000123023987
+1789729719314229088,8466,0.6371930837631226,-0.1492190808057785,-0.3664557933807373,-0.9973652173396403,-0.07094971940722052,0.015131872399651497,-0.07049634743988352,0.9971007245855116,0.02864280604044872,0.06046000123023987
+1789729719347566875,8500,0.6370604634284973,-0.1481771320104599,-0.3645586669445038,-0.9972818325453259,-0.07212673276015083,0.015053854953026254,-0.07167305507993968,0.9970132283342117,0.028767961499998614,0.06046000123023987
+1789729719380898712,8533,0.6369504928588867,-0.14666680991649628,-0.3621968626976013,-0.9971582957422305,-0.07381817308969846,0.015043374097578,-0.07335957221491257,0.996882505866142,0.02904552989624823,0.06046000123023987
+1789729719414227830,8566,0.6369524002075195,-0.14547574520111084,-0.3605298697948456,-0.9970742567927495,-0.07491859939952675,0.015172202445366899,-0.07445627280005238,0.9968014723794655,0.02903598126935928,0.06046000123023987
+1789729719447562837,8600,0.6369175314903259,-0.1443275362253189,-0.3588966131210327,-0.9969844159166785,-0.07609075077530181,0.015242326492997713,-0.07562639926395442,0.9967137891777907,0.02902189328963313,0.06046000123023987
+1789729719480907603,8633,0.6368261575698853,-0.1428893506526947,-0.3567868769168854,-0.9968527695926324,-0.07783529485184958,0.015034862291427302,-0.07737232405625817,0.9965731599310624,0.029248249073938692,0.06046000123023987
+1789729719514231981,8666,0.6367700099945068,-0.14182449877262115,-0.35525134205818176,-0.9967479989263848,-0.07919386705599618,0.014894098650386572,-0.07873106194162527,0.9964609206977041,0.02944577291803388,0.06046000123023987
+1789729719547557389,8700,0.6367285847663879,-0.14078444242477417,-0.35379260778427124,-0.9966289745499639,-0.08071673936010429,0.014683586030423322,-0.0802558128218662,0.9963329807027825,0.02965798845263167,0.06046000123023987
+1789729719580897326,8733,0.6367183327674866,-0.13941381871700287,-0.35201793909072876,-0.996448013732055,-0.0829531369984466,0.014488090400234022,-0.08249274544939449,0.9961425818112785,0.02991493288665259,0.0604499988257885
+1789729719614228213,8766,0.6367369890213013,-0.1384078562259674,-0.35084298253059387,-0.9962940519950816,-0.08478041877441034,0.01450801771079855,-0.08431648809489611,0.9959856052984488,0.03005667902672251,0.0604499988257885
+1789729719647626533,8800,0.6366995573043823,-0.1374935805797577,-0.34978199005126953,-0.9961463425216979,-0.08650815587965519,0.014443352146246528,-0.08604223061192154,0.9958320972605562,0.03025174729419381,0.0604499988257885
+1789729719680956200,8833,0.6365570425987244,-0.13639172911643982,-0.3484548032283783,-0.9959367835371491,-0.08894339797675649,0.014106176025876306,-0.08847845818595118,0.9956040176936046,0.030727876029238547,0.0604499988257885
+1789729719714229755,8866,0.6364839673042297,-0.1355498880147934,-0.3474580943584442,-0.9957724802207863,-0.09080112801940833,0.013865248003622321,-0.09033654909315113,0.9954257661558329,0.031094240511178373,0.0604499988257885
+1789729719747555753,8900,0.6364752650260925,-0.13466280698776245,-0.34644338488578796,-0.9955927454666942,-0.09277087668219694,0.013730212867794578,-0.09230453800489782,0.9952355749353681,0.03140099256910754,0.060440000146627426
+1789729719780914457,8933,0.6365567445755005,-0.1334090679883957,-0.3451192378997803,-0.9953502189217454,-0.09533199910353331,0.013769264132189908,-0.0948576073704339,0.9949841595572774,0.031757773132808725,0.06040000170469284
+1789729719814239926,8966,0.6366037130355835,-0.13251814246177673,-0.3441788852214813,-0.995171151069155,-0.09718445121504468,0.0137766480316045,-0.09670493402490768,0.9947982664457617,0.03200883347674361,0.06035999953746796
+1789729719847594370,9000,0.6365658044815063,-0.13169372081756592,-0.3432914912700653,-0.9949932465762714,-0.09899894193139164,0.013693265773015606,-0.09851478638479155,0.9946081482538104,0.03239549202529574,0.060339998453855515
+1789729719880957624,9033,0.6364489793777466,-0.13067014515399933,-0.34216752648353577,-0.9947462834505596,-0.10149505110459067,0.013367673026154187,-0.10100895961551704,0.9943361256951533,0.033058425901323144,0.06032000109553337
+1789729719914234658,9066,0.6363661885261536,-0.12988412380218506,-0.34133756160736084,-0.9945444614149093,-0.10348497024116252,0.013115103537480133,-0.10299703763355642,0.9941139039271859,0.03360291293700424,0.06032000109553337
+1789729719947565676,9100,0.6363565325737,-0.12901033461093903,-0.3405161201953888,-0.994342062815115,-0.10542884889059369,0.012987765417625793,-0.10493646129754673,0.9938951638119254,0.03406967319692225,0.06032000109553337
+1789729719980899443,9133,0.6364343762397766,-0.12774735689163208,-0.33946067094802856,-0.9940631171029957,-0.10802398304842417,0.013019511766880973,-0.10752240820047113,0.9936042481159446,0.03448956949577568,0.06032000109553337
+1789729720014236455,9166,0.6364842653274536,-0.12678302824497223,-0.3387071192264557,-0.9938594614025522,-0.10987406661911109,0.01307780170588052,-0.10936466277289952,0.9933926626402503,0.034790634436200646,0.060309998691082
+1789729720047564046,9200,0.6364871859550476,-0.12586383521556854,-0.33800122141838074,-0.9936551721182061,-0.1117123355805939,0.013036740929051022,-0.11119763001956728,0.9931770513848168,0.03513448985570631,0.06030000001192093
+1789729720080983256,9233,0.6364058256149292,-0.12471209466457367,-0.3370961546897888,-0.9933687830071634,-0.1142536851258717,0.012821011370409294,-0.11373554041599615,0.9928695787303848,0.035696300104266596,0.06029000133275986
+1789729720114243666,9266,0.6363060474395752,-0.12385889142751694,-0.3364362120628357,-0.9931597515763175,-0.11608667342566034,0.01256189503159058,-0.11556767808373883,0.992638986156845,0.036220929255028345,0.06029000133275986
+1789729720147559728,9300,0.6362453103065491,-0.12295205891132355,-0.3357924222946167,-0.9929476128611601,-0.11791079888140403,0.012339101051748666,-0.11738996129518305,0.9924060952837781,0.036738803536902606,0.05909999832510948
+1789729720180899798,9333,0.6362633109092712,-0.12161887437105179,-0.33498138189315796,-0.9926763494094031,-0.1201834355104706,0.012230564275833355,-0.11965604125479835,0.9921149219660466,0.03728824644061013,0.05855000019073486
+1789729720214233389,9366,0.6362985968589783,-0.12054591625928879,-0.3344188928604126,-0.9924829267354474,-0.12177045495431285,0.012237367187470274,-0.12123617347233592,0.9919100806995954,0.037632202760568584,0.05855000019073486
+1789729720247562510,9400,0.6363203525543213,-0.11944364756345749,-0.33392003178596497,-0.9922987265649077,-0.12326494725869168,0.012202727154488835,-0.1227257321278828,0.9917148121319285,0.03794898845328875,0.05855000019073486
+1789729720280932426,9433,0.636299729347229,-0.11794489622116089,-0.3333457410335541,-0.9920633760170385,-0.1251563937556877,0.01208870113129984,-0.12461250342408588,0.9914618635779605,0.038406992434641,0.05855000019073486
+1789729720314233680,9466,0.6362447142601013,-0.11683592945337296,-0.33296024799346924,-0.9918987032734532,-0.12646881954128042,0.01193337138209305,-0.12592361824237464,0.9912817628844794,0.038777675135103884,0.05855000019073486
+1789729720347562991,9500,0.6361997127532959,-0.11568731814622879,-0.33260416984558105,-0.9917375167784528,-0.12774366017103378,0.011760087989351686,-0.12719719627565884,0.9911029079199404,0.03919055206731387,0.05855000019073486
+1789729720380897532,9533,0.6361781358718872,-0.11407875269651413,-0.3321619927883148,-0.991544082254783,-0.12924765629027235,0.011644988356751373,-0.12869719509363164,0.990891719498278,0.03963121565419994,0.05855000019073486
+1789729720414232142,9566,0.6361805200576782,-0.11280445754528046,-0.3318517208099365,-0.9913884737651135,-0.1304419846240712,0.01156365611708432,-0.12988858104705803,0.9907236448082232,0.03994516029026652,0.05855000019073486
+1789729720447567233,9600,0.636194109916687,-0.11147315055131912,-0.33156418800354004,-0.9912473635424781,-0.1315133690044889,0.011533563800913832,-0.1309562670543623,0.9905730919162758,0.04019211717025711,0.05855000019073486
+1789729720480912382,9633,0.6362292766571045,-0.10965752601623535,-0.3312162160873413,-0.9910533366709255,-0.13296761510398247,0.011518811284148112,-0.13240585731859356,0.9903701062624873,0.04044428925562791,0.05855000019073486
+1789729720514229954,9666,0.6362326145172119,-0.10831772536039352,-0.33097538352012634,-0.9909205568408339,-0.1339542563900324,0.011517863614617985,-0.1333889337938508,0.9902310828641627,0.04061766420027911,0.05855000019073486
+1789729720547562695,9700,0.6361920237541199,-0.10699813812971115,-0.33075007796287537,-0.9907881744110794,-0.13493984711391097,0.011398682453460096,-0.13437401859595052,0.9900870251319828,0.04088160084958925,0.05855000019073486
+1789729720580911194,9733,0.6361232399940491,-0.10520195960998535,-0.3304717242717743,-0.9906116353342893,-0.13624924996320517,0.011166436942629587,-0.1356855670310874,0.9898932524709886,0.04124045836527889,0.05855000019073486
+1789729720614236755,9766,0.6361210346221924,-0.10378357023000717,-0.3302934765815735,-0.9904785979324386,-0.1372205604204731,0.011066963162587706,-0.1366576798762515,0.9897534804875048,0.04138508705130384,0.05855000019073486
+1789729720647634028,9800,0.6361884474754333,-0.10228913277387619,-0.3301534950733185,-0.990359311766073,-0.1380713601001831,0.011160996015491198,-0.13750409723007226,0.989636123795283,0.04138797970109523,0.05855000019073486
+1789729720680900407,9833,0.6361973881721497,-0.10035721212625504,-0.33003827929496765,-0.9902233645183218,-0.13903325649822776,0.011286629533872494,-0.1384611405431044,0.9895046608448098,0.04134051815632681,0.05855000019073486
+1789729720714233517,9866,0.6361268758773804,-0.09894134849309921,-0.3299817144870758,-0.9901131369154708,-0.13983178877286243,0.011102768921723738,-0.13926443688727083,0.9893871963861642,0.04145350941619477,0.05855000019073486
+1789729720747565758,9900,0.6360448002815247,-0.0974733829498291,-0.32992687821388245,-0.9900024963197152,-0.14062573210627854,0.010923476279255218,-0.14006258776414632,0.9892687433583758,0.04159115502759393,0.05855000019073486
+1789729720780910287,9933,0.6360948085784912,-0.09535225480794907,-0.3298527002334595,-0.9898541917623096,-0.14166196166177275,0.010973925515440491,-0.14109545069593982,0.9891204544774134,0.04162690906640468,0.05855000019073486
+1789729720814300821,9966,0.6361469626426697,-0.09369664639234543,-0.32980188727378845,-0.9897674848705318,-0.14224973638045327,0.01119277895595433,-0.1416760371943083,0.9890422148177413,0.04151382254626679,0.05855000019073486
+1789729720847565220,10000,0.6361029148101807,-0.09222277998924255,-0.32977646589279175,-0.9896915579836172,-0.14278132746987676,0.011150209048800458,-0.14220874315332527,0.9889653224673598,0.04152427624687216,0.05855000019073486
+1789729720880900890,10033,0.6359961032867432,-0.09016492962837219,-0.32976099848747253,-0.989569839925756,-0.14364284029932267,0.010868746962515274,-0.14307813967470712,0.9888333593726253,0.04168012202414147,0.05855000019073486
+1789729720914230451,10066,0.636030375957489,-0.08861732482910156,-0.32974672317504883,-0.9894668659449084,-0.14435307450906937,0.01084093716262674,-0.14378852098833445,0.9887292338516284,0.04170567639111497,0.05855000019073486
+1789729720947563712,10100,0.6361122131347656,-0.08701302856206894,-0.3297247886657715,-0.989374052213452,-0.14497530803172518,0.011012565852947215,-0.14440580865981537,0.9886450600868721,0.04156811690548326,0.05855000019073486
+1789729720980902052,10133,0.6360732913017273,-0.0850440040230751,-0.3297051787376404,-0.9892635773643554,-0.14572538577978508,0.011024601503985598,-0.14515621561448325,0.9885385221044497,0.04148810131697254,0.05855000019073486
+1789729721014229648,10166,0.6359900236129761,-0.08360087126493454,-0.3296917676925659,-0.9891630436417271,-0.14642105615792558,0.0108227400596565,-0.14585732986212727,0.9884302860501053,0.041607784004667116,0.05855000019073486
+1789729721047567332,10200,0.6359872817993164,-0.08211009204387665,-0.32967668771743774,-0.9890396339299548,-0.1472627673214541,0.010683309618311043,-0.1467028512637148,0.9883024107757813,0.04167274196288174,0.05855000019073486
+1789729721080906735,10233,0.6361056566238403,-0.08005376160144806,-0.3296454846858978,-0.9888932738431064,-0.14822820746925366,0.010885636603508414,-0.14766252949616834,0.9881668724628776,0.04149710331095888,0.05855000019073486
+1789729721114232619,10266,0.6361139416694641,-0.07860217988491058,-0.3296276032924652,-0.9888004688340186,-0.14883714134988776,0.011008585842342877,-0.14826869145049928,0.9880823002336419,0.04134928542078184,0.05855000019073486
+1789729721147565943,10300,0.6360325217247009,-0.07722608745098114,-0.32962897419929504,-0.988696151479052,-0.1495400554943571,0.010840009375366444,-0.14897673345416654,0.987973365809187,0.04140724834924112,0.05855000019073486
+1789729721180898837,10333,0.6359074711799622,-0.07540207356214523,-0.329621821641922,-0.9885554242215051,-0.15048966315614534,0.01053384984739325,-0.14993464372610718,0.9878207668702361,0.04159007942268303,0.05855000019073486
+1789729721214307881,10366,0.635934054851532,-0.07393747568130493,-0.32960668206214905,-0.9884363339249895,-0.1512733664019716,0.010495612671214738,-0.15071894598258423,0.9877005708704423,0.041609887161551895,0.05855000019073486
+1789729721247624727,10400,0.6360150575637817,-0.072415791451931,-0.32958805561065674,-0.9883273867677922,-0.15196989892238036,0.010686769272934937,-0.15140929296721148,0.9875996863480726,0.04149802442699675,0.05855000019073486
+1789729721280932904,10433,0.6360074877738953,-0.07050088047981262,-0.3295837342739105,-0.9882129232376478,-0.15270872993187082,0.01074024214385716,-0.15214707158543847,0.9874902511046624,0.04140378185152273,0.05855000019073486
+1789729721314228583,10466,0.6359025835990906,-0.06910546869039536,-0.3295865058898926,-0.9881193979123772,-0.153326888092556,0.01052271832922605,-0.1527708260267724,0.987387681431256,0.04155285846869766,0.05855000019073486
+1789729721347564496,10500,0.6358507871627808,-0.06765200942754745,-0.32957926392555237,-0.9880025732874986,-0.15409308560223817,0.010304201374998156,-0.15354289733293275,0.9872623752148421,0.04168429898663828,0.05855000019073486
+1789729721380896840,10533,0.635977029800415,-0.0655074417591095,-0.3295474648475647,-0.9878600386513003,-0.15499678526926963,0.01042012472388909,-0.15444252435016204,0.9871250460912662,0.041613102508954725,0.05855000019073486
+1789729721414235793,10566,0.6360684037208557,-0.06386233121156693,-0.32952266931533813,-0.9877855681608969,-0.1554536365404072,0.010678014017668241,-0.15489189115330185,0.9870621442809779,0.04143460589211075,0.05855000019073486
+1789729721447562888,10600,0.6360313296318054,-0.06230101361870766,-0.3295157849788666,-0.9877170289428019,-0.15588887654288897,0.010666984496848997,-0.1553278504217417,0.9869951263526618,0.041399031432651445,0.05855000019073486
+1789729721480899321,10633,0.635883092880249,-0.060258954763412476,-0.32951971888542175,-0.9876018947289698,-0.15663968189651872,0.01031401516180408,-0.15608895438488918,0.9868674691812804,0.0415792705634222,0.05855000019073486
+1789729721514225336,10666,0.6358826756477356,-0.058526985347270966,-0.32951533794403076,-0.987493136448546,-0.15733193442008706,0.010193318725943534,-0.15678384934784098,0.9867532357006924,0.04167584420792904,0.05855000019073486
+1789729721547629260,10700,0.6359684467315674,-0.05681547522544861,-0.3294958770275116,-0.9874069893801141,-0.15786261034730495,0.010338403686485642,-0.157310254129328,0.9866741352061414,0.0415648311631331,0.05855000019073486
+1789729721580913111,10733,0.6359662413597107,-0.05453675612807274,-0.3294711410999298,-0.987327812587617,-0.1583489446282515,0.010449364045139742,-0.1577939533684079,0.9866021181554331,0.04144064786526826,0.05855000019073486
+1789729721614230396,10766,0.635851263999939,-0.05281715467572212,-0.3294641077518463,-0.9872439378153997,-0.15888733686956116,0.0102038756935241,-0.1583390167982732,0.9865082860671708,0.0415951509829986,0.05855000019073486
+1789729721647565120,10800,0.6358188986778259,-0.05111738294363022,-0.32946455478668213,-0.9871542026789546,-0.15945789103243715,0.009981222802220246,-0.15891552369721193,0.9864094161434063,0.04174109652843938,0.05855000019073486
+1789729721680909242,10833,0.6359446048736572,-0.04857983440160751,-0.3294563293457031,-0.987041302255685,-0.16014389550290645,0.010160701921874737,-0.159596142368408,0.986305185390762,0.04160710884170498,0.05855000019073486
+1789729721714228428,10866,0.6359888315200806,-0.046712230890989304,-0.3294622004032135,-0.986990876279626,-0.1604458182158752,0.010292617715550206,-0.15989570805268152,0.9862643462061691,0.041424636223535656,0.05855000019073486
+1789729721747566601,10900,0.6359233856201172,-0.04491939768195152,-0.3294771611690521,-0.9869149261160319,-0.16091863021670727,0.010193766669096993,-0.16037229459668956,0.9861875724975939,0.04141011369207526,0.05855000019073486
+1789729721780930921,10933,0.635858416557312,-0.042510271072387695,-0.3294984996318817,-0.9867684972554047,-0.16183398030685164,0.009893478525305116,-0.16129656720240665,0.9860312391602465,0.04154291890896869,0.05855000019073486
+1789729721814242877,10966,0.6359184980392456,-0.04055952653288841,-0.3295018970966339,-0.9866659042230992,-0.1624533103915135,0.00997107011522319,-0.16191394172575985,0.9859340156841877,0.04144867848578448,0.05855000019073486
+1789729721847568042,11000,0.6359298825263977,-0.03879966959357262,-0.3295038342475891,-0.9866075448365341,-0.16280141333436401,0.010070568940064112,-0.16226012616950494,0.9858827569850287,0.0413139455992303,0.05855000019073486
+1789729721880897986,11033,0.6358185410499573,-0.0365106463432312,-0.32952502369880676,-0.9864746737166346,-0.16361707339107803,0.0098641625697726,-0.16308182819105396,0.9857435136636845,0.04140100867029701,0.05855000019073486
+1789729721914295142,11066,0.6357705593109131,-0.034777723252773285,-0.3295382261276245,-0.9863294502576512,-0.16450485512674065,0.009614472791326822,-0.16397681503998682,0.9855900360091829,0.041519700815422514,0.05855000019073486
+1789729721947555875,11100,0.6358181238174438,-0.03312115743756294,-0.32952603697776794,-0.9861862631902514,-0.16535949168557823,0.009648481437813272,-0.16482969601118197,0.9854483346666947,0.04150605357826559,0.05855000019073486
+1789729721980952821,11133,0.6359245777130127,-0.030893558636307716,-0.329496294260025,-0.9859999824255079,-0.16645428392149925,0.009850741787707396,-0.16591856395275456,0.9852727888410049,0.041334754576416444,0.05855000019073486
+1789729722014228757,11166,0.6359061002731323,-0.029353352263569832,-0.3294830024242401,-0.9858490247565352,-0.16734779410610062,0.009817611064176779,-0.16681290536285215,0.9851222557399428,0.04132306402234248,0.05855000019073486
+1789729722047557204,11200,0.6358543634414673,-0.027853677049279213,-0.3294832408428192,-0.9856873417662231,-0.168308509150554,0.009638768107775031,-0.16777807874743395,0.9849536747890021,0.04143399926720173,0.05855000019073486
+1789729722080892541,11233,0.6357957124710083,-0.025876270607113838,-0.32948431372642517,-0.9854593780295262,-0.16964895922164755,0.009439504967903745,-0.16912315572617845,0.9847179574774089,0.04156805114114409,0.05855000019073486
+1789729722114234217,11266,0.6358698606491089,-0.024293379858136177,-0.32948583364486694,-0.9852805848272155,-0.17068111199683103,0.009503404387724707,-0.17015208863323258,0.9845408692901605,0.04156374491496605,0.05855000019073486
+1789729722147559275,11300,0.6359682083129883,-0.02272017113864422,-0.3294835388660431,-0.985125501021064,-0.17156168585274356,0.009707205499115634,-0.1710261527671837,0.984394871290059,0.04143418418830393,0.05855000019073486
+1789729722180895061,11333,0.6359472274780273,-0.0207618847489357,-0.32949936389923096,-0.9849247801936099,-0.17271063120471133,0.009713800773528541,-0.17217357572522538,0.9841937952783775,0.041458826488935605,0.05855000019073486
+1789729722214229088,11366,0.6358803510665894,-0.019314879551529884,-0.329511433839798,-0.9847609096169538,-0.1736542097480255,0.009507463325353904,-0.17312181496090825,0.9840205136824983,0.041622922199780206,0.05855000019073486
+1789729722247557036,11400,0.6358405351638794,-0.01780572533607483,-0.32951295375823975,-0.9845958328610345,-0.17459587828141074,0.009348854768057524,-0.17406713438382718,0.983848896552621,0.04173705903831609,0.05855000019073486
+1789729722280899591,11433,0.6359108090400696,-0.015664968639612198,-0.3295113742351532,-0.984375456911426,-0.17583298816726517,0.009372906724078367,-0.17530268283028855,0.9836303308689439,0.04171741447049525,0.05855000019073486
+1789729722314233618,11466,0.6359870433807373,-0.014057012274861336,-0.32951620221138,-0.9842271257530171,-0.1766514941472607,0.009549240760539535,-0.17611599255818508,0.9834910233785519,0.04157600122869787,0.05855000019073486
+1789729722347559156,11500,0.6359827518463135,-0.012528689578175545,-0.3295406997203827,-0.9840774522315141,-0.17748270184741477,0.009571660753622036,-0.17694640165130204,0.983343725554819,0.04153419894694982,0.05855000019073486
+1789729722380899982,11533,0.6359094977378845,-0.010480980388820171,-0.3295760154724121,-0.9838665161327602,-0.17865873586706982,0.00935453229881486,-0.1781282550818758,0.9831257171739525,0.04164309114004877,0.05855000019073486
+1789729722414285162,11566,0.6358815431594849,-0.0089940894395113,-0.32959288358688354,-0.9836976882808262,-0.1795915399993408,0.009250439400018684,-0.1790637383398444,0.9829539477203226,0.04168588303734409,0.05855000019073486
+1789729722447556747,11600,0.6359001994132996,-0.007362985052168369,-0.3296043872833252,-0.983532499123398,-0.1804950326742491,0.00923870726368528,-0.1799675948711728,0.982790357763611,0.0416506587405855,0.05855000019073486
+1789729722480882845,11633,0.6359392404556274,-0.005299475975334644,-0.32962924242019653,-0.9833403917617356,-0.18153382408282212,0.009331004503446927,-0.18100312322193915,0.9826030688820216,0.04158218046399309,0.05855000019073486
+1789729722514226170,11666,0.6359396576881409,-0.003745854599401355,-0.32966065406799316,-0.9831939156979725,-0.18232678010035513,0.009317803026280713,-0.18179574484633193,0.9824560818716748,0.041597544330123526,0.05855000019073486
+1789729722547560917,11700,0.6359328031539917,-0.002116018906235695,-0.32969868183135986,-0.9830345726523544,-0.18318688566403382,0.009239978048332265,-0.18265674177202298,0.9822925297246091,0.04168811338341229,0.05855000019073486
+1789729722580907322,11733,0.6359491944313049,3.815988384303637e-05,-0.3297417461872101,-0.982822543900264,-0.18432355235354564,0.009202847395037017,-0.18379338330931766,0.9820789045683094,0.04172550309627653,0.05855000019073486
+1789729722614231220,11766,0.6359885931015015,0.0016817745054140687,-0.3297562301158905,-0.9826631021284182,-0.18516931627626976,0.009252565747203984,-0.184637542513721,0.9819230442510801,0.04166669643161883,0.05855000019073486
+1789729722647559678,11800,0.635983943939209,0.0032197735272347927,-0.3297739028930664,-0.9825192369989206,-0.18593133304114406,0.00925657339517355,-0.18539944595962776,0.9817810282029817,0.041630036010109964,0.05855000019073486
+1789729722680891505,11833,0.6359535455703735,0.0053658802062273026,-0.32980769872665405,-0.982290922620783,-0.18713846713487192,0.009144134731783937,-0.18660855221328299,0.9815480668351181,0.041720973084360666,0.05855000019073486
+1789729722714222122,11866,0.6359582543373108,0.0069433157332241535,-0.3298269212245941,-0.9821185735614784,-0.18804294883069542,0.009120383127313753,-0.18751226224971848,0.9813732454063825,0.041781656459663856,0.05855000019073486
+1789729722747574187,11900,0.6359829306602478,0.00852193869650364,-0.3298453390598297,-0.9819421101676973,-0.18895997837530978,0.009147878009184263,-0.18842723412168147,0.9811972677842977,0.041798299623654556,0.05855000019073486
+1789729722780897445,11933,0.6360198855400085,0.010564063675701618,-0.3298996090888977,-0.9816984067510586,-0.19022042881995493,0.00919314146334027,-0.189685732260515,0.9809567144683241,0.04175222334600706,0.05855000019073486
+1789729722814289104,11966,0.6359841227531433,0.011989382095634937,-0.3299502432346344,-0.9815302071728951,-0.19108683197365936,0.009183397140060251,-0.19055236688389135,0.9807899982631606,0.04172260012207903,0.05855000019073486
+1789729722847561369,12000,0.6359124779701233,0.01336849294602871,-0.3299994170665741,-0.9813421694794184,-0.19205850515120915,0.008995237496735253,-0.1915284690701924,0.9805942508309029,0.04185402226138921,0.05855000019073486
+1789729722880898175,12033,0.6359026432037354,0.015322964638471603,-0.3300442397594452,-0.981082605250363,-0.19338677700813922,0.008860473577418482,-0.1928582696776544,0.9803265532525312,0.04201829507643129,0.05855000019073486
+1789729722914226463,12066,0.635976254940033,0.016905656084418297,-0.33007797598838806,-0.9808958344962415,-0.19432726422217134,0.008960046025153212,-0.19379405509176745,0.9801418806076001,0.04202092516840367,0.05855000019073486
+1789729722947557030,12100,0.6360604763031006,0.01854739896953106,-0.3301326334476471,-0.9807083702237216,-0.19526399222989882,0.009118746654589921,-0.19472504981168198,0.9799604631937033,0.041948139641221995,0.05855000019073486
+1789729722980899086,12133,0.6360864043235779,0.020715836435556412,-0.3302420377731323,-0.9805167266875057,-0.19621893029930365,0.00921743924309898,-0.1956772048033943,0.9797753077092242,0.04184228375125948,0.05855000019073486
+1789729723014227069,12166,0.6360207796096802,0.022297747433185577,-0.33033183217048645,-0.9803944599463084,-0.19683351893533146,0.009129327078380212,-0.19629430602003278,0.979650670888786,0.04187014725303248,0.05855000019073486
+1789729723047564818,12200,0.6359427571296692,0.023856019601225853,-0.3304140269756317,-0.9801902689926565,-0.19785593875608654,0.00894549909748768,-0.1973214570158126,0.9794400080033737,0.041970381058725977,0.05855000019073486
+1789729723080905667,12233,0.6359461545944214,0.025937026366591454,-0.33049845695495605,-0.9799505236516526,-0.19904426737187883,0.008856673778513846,-0.1985118754338331,0.9791981776579418,0.04199958484419297,0.05855000019073486
+1789729723114236957,12266,0.636026918888092,0.027473855763673782,-0.3305512070655823,-0.9797599187652255,-0.19997407159226827,0.00898135540095657,-0.19943780762485103,0.9790143701445168,0.04189775340662144,0.05855000019073486
+1789729723147593254,12300,0.6360880732536316,0.02891017310321331,-0.3306269347667694,-0.9796160104963849,-0.20067167094144917,0.009123612478114052,-0.20013036379751686,0.9788756697722653,0.0418361018423543,0.05855000019073486
+1789729723180911006,12333,0.6360496878623962,0.030508991330862045,-0.3307420611381531,-0.9794899668756119,-0.20128628322970854,0.009118502052991473,-0.20074459713623327,0.978749607430238,0.04184270200082252,0.05855000019073486
+1789729723214239486,12366,0.6359822154045105,0.03146487474441528,-0.330799400806427,-0.9793733769415052,-0.20185947334151905,0.008985339845387852,-0.20132068269512132,0.9786265978134053,0.04195195912572644,0.05855000019073486
+1789729723247565657,12400,0.6359652280807495,0.0322105772793293,-0.3308117985725403,-0.9792448850723723,-0.20248688600746229,0.00886523131895095,-0.20195155687571392,0.9784946601404876,0.041997256824129414,0.05855000019073486
+1789729723280898867,12433,0.6359851956367493,0.03286255896091461,-0.3307775855064392,-0.9791474989661286,-0.20295345422384317,0.008944747912080775,-0.20241633068632423,0.9784028125271957,0.041899460997921814,0.05855000019073486
+1789729723314243306,12466,0.6360023617744446,0.03310134634375572,-0.33076250553131104,-0.9791155496012118,-0.2031073030955764,0.008952134513211751,-0.20257072541774507,0.9783732175141652,0.041844332957854224,0.05855000019073486
+1789729723347565997,12500,0.6359894871711731,0.033199746161699295,-0.33076438307762146,-0.9791077502437211,-0.20314400178300218,0.008972505868920122,-0.20260624380916425,0.9783649854870321,0.04186484086930156,0.05855000019073486
+1789729723380914065,12533,0.635976254940033,0.033231332898139954,-0.3307774066925049,-0.9791077637970091,-0.20314620369317501,0.008933889570810705,-0.20260921220718012,0.9783625247956852,0.04190798818504339,0.05855000019073486
+1789729723414233177,12566,0.6359751224517822,0.03325021639466286,-0.33078089356422424,-0.979095594880651,-0.20320564366104316,0.008913093397847405,-0.2026691825292986,0.9783495068371706,0.04192191172962556,0.05855000019073486
+1789729723447566996,12600,0.6359772682189941,0.03326829522848129,-0.3307797908782959,-0.9790881772903819,-0.20324017443343345,0.008931687299151336,-0.20270335231242476,0.9783434066633316,0.04189904087826479,0.05855000019073486
+1789729723480972437,12633,0.6359750032424927,0.033290669322013855,-0.3307834267616272,-0.9790865494104672,-0.20324796637296086,0.008936147049403348,-0.2027113447196017,0.9783426961707656,0.04187696559588492,0.05855000019073486
+1789729723514237625,12666,0.6359676122665405,0.03329700231552124,-0.33078816533088684,-0.9790887939385742,-0.2032365956499924,0.008932848038829266,-0.20270047576627226,0.9783458484871213,0.041855888728689575,0.05855000019073486
+1789729723547564156,12700,0.6359677910804749,0.03330588713288307,-0.3307955861091614,-0.9790902261491097,-0.20323117699153553,0.008908688342064042,-0.20269624860060037,0.9783473228437823,0.04184191806623509,0.05855000019073486
+1789729723580909854,12733,0.6359626650810242,0.0333268828690052,-0.33080241084098816,-0.9790865067808423,-0.20324816016465605,0.008926572170692704,-0.20271265503056582,0.9783442617790512,0.04183400157422662,0.05858999863266945
+1789729723614291958,12766,0.6359573602676392,0.03333381935954094,-0.3308068811893463,-0.9790868323255495,-0.20324696124062003,0.008931199705751514,-0.20271163405161685,0.9783453620856662,0.04181324198901551,0.05860999971628189
+1789729723647566666,12800,0.6359509229660034,0.033336009830236435,-0.33080774545669556,-0.9790892671000555,-0.2032355204693717,0.008923943288620728,-0.20270077584972251,0.9783483302341605,0.04179642763475276,0.05908000096678734
+1789729723680902915,12833,0.6359460353851318,0.033342327922582626,-0.33080872893333435,-0.9790886000377952,-0.20323771732363252,0.008928841832527984,-0.20270305462322522,0.9783485380979428,0.04178046491701741,0.06032999977469444
+1789729723714304636,12866,0.6359521150588989,0.03334856405854225,-0.3308101296424866,-0.9790869256035801,-0.2032465365327869,0.008919507710425517,-0.2027126577345879,0.9783476035055736,0.04175576888438751,0.06032999977469444
+1789729723747567495,12900,0.6359511613845825,0.0333574078977108,-0.3308183252811432,-0.9790867252707443,-0.20324789611281555,0.00892022803093745,-0.20271397105689962,0.9783472899685475,0.04175676197687492,0.06350000202655792
+1789729723780957198,12933,0.6359513998031616,0.0333574116230011,-0.3308192193508148,-0.9790852464938402,-0.2032548682597094,0.008920895185573152,-0.20272143885632532,0.9783470474819004,0.041726171524219036,0.06937000155448914
+1789729723814316684,12966,0.6359502077102661,0.033363744616508484,-0.33081433176994324,-0.9790844995240495,-0.20325860154358674,0.008920304487143288,-0.20272510714523198,0.9783460765102234,0.04173112117353265,0.07506000250577927
+1789729723847577233,13000,0.6359495520591736,0.03336697816848755,-0.330810546875,-0.9790841309382476,-0.2032607032576702,0.008917011828413368,-0.20272739744531065,0.9783457548072958,0.0417275466401323,0.0787699967622757
+1789729723880899175,13033,0.6359468102455139,0.03337353095412254,-0.3308075964450836,-0.9790845719940009,-0.20325801346201572,0.008909625684552114,-0.20272492458932562,0.9783460831163262,0.04173181543256882,0.08004999905824661
+1789729723914307045,13066,0.6359426975250244,0.03337565064430237,-0.3308110237121582,-0.9790842179482415,-0.20325965100912513,0.008917703409294264,-0.20272648284309525,0.9783463488519777,0.0417180288835005,0.08004999905824661
+1789729723947641925,13100,0.6359408497810364,0.03337959945201874,-0.3308190405368805,-0.9790846298713873,-0.20325785597639234,0.008913905280832024,-0.20272497191986039,0.9783469950056299,0.041710218362170925,0.08006999641656876
+1789729723980959607,13133,0.635943591594696,0.03338741511106491,-0.33082878589630127,-0.9790829952252258,-0.20326545073469543,0.00891158326929642,-0.20273284609429826,0.9783458442577815,0.04169891648361479,0.08005999773740768
+1789729724014286233,13166,0.6359460353851318,0.033390793949365616,-0.33083173632621765,-0.9790816989323561,-0.2032725948844937,0.008914591238677827,-0.2027400096050603,0.9783447138791639,0.041690663456627225,0.08004999905824661
+1789729724047642382,13200,0.6359462141990662,0.033393170684576035,-0.33083006739616394,-0.9790813049504361,-0.2032739682064431,0.008921346419691889,-0.20274127423368532,0.9783448371571845,0.041681607518427706,0.08004999905824661
+1789729724080961147,13233,0.6359449028968811,0.03339804708957672,-0.330827534198761,-0.9790821941944619,-0.20326958628694405,0.00891481691448709,-0.20273718755379286,0.9783457754107352,0.04167944193963577,0.08004999905824661
+1789729724114297070,13266,0.6359421610832214,0.03339935466647148,-0.3308265209197998,-0.9790822606615772,-0.20326937325036035,0.008916165028395151,-0.20273709357652045,0.978346219680802,0.04166947834512846,0.08004999905824661
+1789729724147626073,13300,0.6359414458274841,0.03340240195393562,-0.33083513379096985,-0.9790818930137672,-0.20327156272985772,0.008914683526317163,-0.20273949828225976,0.9783461158841614,0.04166023337585679,0.08004999905824661
+1789729724180896193,13333,0.6359409689903259,0.03340834006667137,-0.3308453857898712,-0.9790804386065728,-0.20327739374361098,0.008921417900075085,-0.20274516444391555,0.9783451923733137,0.041654298937098884,0.08004999905824661
+1789729724214307537,13366,0.6359425187110901,0.03341307118535042,-0.3308492600917816,-0.9790806914862735,-0.2032769751110301,0.008920187483747732,-0.20274489074591245,0.9783454897739398,0.041648685410433026,0.08004999905824661
+1789729724247644889,13400,0.6359413266181946,0.033414676785469055,-0.3308534026145935,-0.9790797308562402,-0.20328118840312845,0.008932860404416265,-0.20274889301195367,0.9783453676903322,0.041632074394105545,0.08004999905824661
+1789729724280901481,13433,0.635941743850708,0.03342154249548912,-0.3308579623699188,-0.9790787525459923,-0.20328494082529788,0.008933150539775975,-0.202752744320194,0.9783448468256332,0.04162550739538599,0.08004999905824661
+1789729724314234884,13466,0.6359403133392334,0.033426180481910706,-0.3308575451374054,-0.9790783823439662,-0.20328756713130744,0.008935245293282101,-0.20275533994045006,0.9783444415073279,0.0416224406324274,0.08004999905824661
+1789729724347633159,13500,0.6359432935714722,0.03342780843377113,-0.330854594707489,-0.9790784806335271,-0.20328778486066162,0.008922904403424414,-0.20275632153116313,0.9783449389853387,0.04160597037531692,0.08004999905824661
+1789729724380905059,13533,0.6359453797340393,0.033435191959142685,-0.330854207277298,-0.979079628060709,-0.20328272224888827,0.008906438303839359,-0.20275184851343803,0.9783457286221143,0.041609186386593486,0.08004999905824661
+1789729724414232302,13566,0.6359393000602722,0.0334334671497345,-0.33085083961486816,-0.9790799248023172,-0.20328048626118397,0.008926610086982534,-0.20274897051968357,0.9783466755446989,0.04160094868349046,0.08004999905824661
+1789729724447627358,13600,0.635940432548523,0.033438876271247864,-0.3308521509170532,-0.9790793548903112,-0.2032833763115009,0.008924248573406512,-0.2027517925545857,0.9783457007960638,0.04161011970410111,0.08004999905824661
+1789729724480907087,13633,0.6359438896179199,0.03343814238905907,-0.3308480381965637,-0.9790778079407709,-0.20329052858499963,0.008924904880409312,-0.20275926866683236,0.9783450276401888,0.04158949837449563,0.08004999905824661
+1789729724514284004,13666,0.635942816734314,0.03344542533159256,-0.33084574341773987,-0.9790764696555971,-0.20329628880553918,0.008933810123313068,-0.202764625592174,0.9783437872781291,0.04159254390806301,0.08004999905824661
+1789729724547626136,13700,0.6359423995018005,0.033450767397880554,-0.33084607124328613,-0.9790765481712953,-0.20329618578514388,0.00893418679951069,-0.20276457510900567,0.9783439641333345,0.041588645426290816,0.08004999905824661
+1789729724580899146,13733,0.6359474062919617,0.033455584198236465,-0.3308510482311249,-0.9790751679642773,-0.20330250581764836,0.008926581661733934,-0.2027716872486402,0.9783437261447017,0.041559522690218745,0.08004999905824661
+1789729724614226060,13766,0.6359462141990662,0.03346105292439461,-0.33084648847579956,-0.9790761227680769,-0.20329869830334618,0.008929365972087433,-0.20276776717758677,0.9783445229158902,0.041559941037359424,0.08004999905824661
+1789729724647566702,13800,0.6359459757804871,0.0334625318646431,-0.33084121346473694,-0.9790763282658348,-0.20329750170978142,0.00892756052464011,-0.20276675981123563,0.9783450228486056,0.041553071298619085,0.08004999905824661
+1789729724680903414,13833,0.6359446048736572,0.03346380591392517,-0.3308340609073639,-0.979076068233071,-0.20329882100399,0.008927952550715185,-0.20276797051575846,0.9783445439887656,0.04155844205809832,0.08004999905824661
+1789729724714292590,13866,0.6359400153160095,0.03346722573041916,-0.3308255672454834,-0.9790764387152038,-0.2032961850977748,0.008938067722748855,-0.20276476736318694,0.9783447727789021,0.04156866135258963,0.08004999905824661
+1789729724747565740,13900,0.6359414458274841,0.03347311168909073,-0.3308252692222595,-0.9790772067296456,-0.2032932992515158,0.008922084819614373,-0.20276250959472425,0.9783452515051052,0.04156841310204892,0.08004999905824661
+1789729724780902633,13933,0.6359413266181946,0.03348129615187645,-0.3308289349079132,-0.9790742063814695,-0.20330798498339725,0.008928791666887648,-0.20277707749157464,0.97834261367047,0.041559462095966004,0.08004999905824661
+1789729724814241455,13966,0.635941207408905,0.033485885709524155,-0.3308311104774475,-0.9790720894956488,-0.2033173655171285,0.008937859368592371,-0.20278617537440738,0.9783409170050874,0.04155498902353767,0.08004999905824661
+1789729724847565848,14000,0.6359465718269348,0.033488139510154724,-0.33083221316337585,-0.9790736079589089,-0.20331056444606924,0.008929233419260163,-0.2027798924867182,0.9783426584177949,0.04154465589361431,0.08004999905824661
+1789729724880902241,14033,0.6359426975250244,0.03349325805902481,-0.33082443475723267,-0.9790762802165465,-0.20329685690061625,0.008937918275456536,-0.20276571514633615,0.9783452442911779,0.04155293265132272,0.08004999905824661
+1789729724914292776,14066,0.6359429955482483,0.033496662974357605,-0.3308210074901581,-0.979077295269835,-0.2032924336200275,0.008925094038042758,-0.20276178839797218,0.9783460446702699,0.04155324397682508,0.08004999905824661
+1789729724947561897,14100,0.6359393000602722,0.033500876277685165,-0.3308141231536865,-0.9790771101577069,-0.2032939073629067,0.008928791597100666,-0.2027631897256817,0.9783459347153239,0.04154903454959206,0.08004999905824661
+1789729724980903559,14133,0.635941207408905,0.03350604698061943,-0.3307994604110718,-0.9790765318499903,-0.20329750677534106,0.008913410484840067,-0.2027674554953636,0.9783452265788957,0.04154489855294541,0.08004999905824661
+1789729725014249855,14166,0.6359404921531677,0.03351070359349251,-0.3307933509349823,-0.9790747909280046,-0.2033057660415284,0.00891806991836347,-0.20277545167755562,0.9783433822043229,0.04154930831656629,0.08004999905824661
+1789729725047576012,14200,0.6359434127807617,0.03351272642612457,-0.3307951092720032,-0.9790737607762685,-0.2033102054051193,0.008912446303485977,-0.2027800493508755,0.9783422867345644,0.041552623044291304,0.08004999905824661
+1789729725080905668,14233,0.6359478831291199,0.03351585194468498,-0.33079859614372253,-0.9790750863134106,-0.20330423358466237,0.008917620436192708,-0.20277381266670386,0.978343412324688,0.041556590430402274,0.08004999905824661
+1789729725114237294,14266,0.6359482407569885,0.03351614624261856,-0.3307988941669464,-0.9790750164496733,-0.20330301219682578,0.008938933969742324,-0.20277185728353064,0.9783440478528169,0.041551136069757744,0.08004999905824661
+1789729725147563460,14300,0.6359538435935974,0.03351949155330658,-0.33079490065574646,-0.9790767464596966,-0.20329552190528508,0.008926422419407332,-0.20276464931010177,0.9783450244477694,0.04156333010811125,0.08004999905824661
+1789729725180902315,14333,0.6359567046165466,0.03351997956633568,-0.33079078793525696,-0.9790767487196801,-0.20329589788441732,0.008923014833955523,-0.20276516252784565,0.9783449309287922,0.04156304040635567,0.08004999905824661
+1789729725214235491,14366,0.6359559297561646,0.033520154654979706,-0.3307855427265167,-0.9790765219964848,-0.20329627590644173,0.008923865773295597,-0.20276550116741532,0.9783448444835134,0.04156338696310152,0.08004999905824661
+1789729725247561147,14400,0.6359574198722839,0.03352445363998413,-0.3307840824127197,-0.9790754186692698,-0.20330208575574055,0.008914819306162558,-0.20277143619992494,0.9783430650849797,0.04157632055226494,0.08004999905824661
+1789729725280897552,14433,0.6359594464302063,0.03352118283510208,-0.33077937364578247,-0.9790741795702071,-0.20330872032110747,0.008909251478087438,-0.20277831429345206,0.9783417192157451,0.04157446748622722,0.08004999905824661
+1789729725314235207,14466,0.6359567046165466,0.03352232277393341,-0.3307769000530243,-0.9790729846024324,-0.20331342747119846,0.008921304990223894,-0.20278232874012675,0.9783403416909784,0.041587273465526944,0.08004999905824661
+1789729725347564373,14500,0.6359605193138123,0.03352389857172966,-0.330772340297699,-0.9790755251609031,-0.20330199814642055,0.008911744064950267,-0.20277112476105488,0.9783422806989477,0.04159630778349932,0.08004999905824661
+1789729725380903678,14533,0.6359630227088928,0.0335242860019207,-0.3307686746120453,-0.9790753104151166,-0.20330275064484227,0.008913520275350972,-0.20277199715254823,0.9783425682920716,0.04158527855907446,0.08004999905824661
+1789729725414232114,14566,0.6359636783599854,0.03352777287364006,-0.3307642936706543,-0.9790762750218283,-0.20329822499871722,0.008912237777193549,-0.20276752070028567,0.978343486067873,0.041585517370234054,0.08004999905824661
+1789729725447562570,14600,0.6359658241271973,0.0335320308804512,-0.3307585120201111,-0.979076867956792,-0.20329637526984484,0.008901526444468982,-0.20276595653831514,0.9783434831231977,0.041593241326592326,0.08004999905824661
+1789729725480898605,14633,0.6359675526618958,0.03353099897503853,-0.33075693249702454,-0.9790739878164605,-0.20330971127300837,0.008904152955574729,-0.20277949235467138,0.97834144872957,0.04157507831791874,0.08004999905824661
+1789729725514235581,14666,0.6359671950340271,0.0335368849337101,-0.3307572901248932,-0.9790738229004097,-0.2033110243332051,0.008902085777626884,-0.2027806553105264,0.9783406406602067,0.04158844226089135,0.08004999905824661
+1789729725547565057,14700,0.6359663009643555,0.03354031220078468,-0.3307599127292633,-0.9790745324480417,-0.20330775059616557,0.008899722994955256,-0.2027774812887999,0.9783413117485404,0.04158813353048135,0.08004999905824661
+1789729725580912321,14733,0.6359670758247375,0.03354188799858093,-0.33075934648513794,-0.9790755767799644,-0.2033021103955628,0.008893964161064888,-0.20277224147678916,0.9783428217963894,0.041578111169364176,0.08004999905824661
+1789729725614255855,14766,0.6359686851501465,0.03354635462164879,-0.3307589292526245,-0.9790757647541075,-0.2033017831364597,0.008882467582040365,-0.20277230197695734,0.9783426612008745,0.04158159885326071,0.08004999905824661
+1789729725647580561,14800,0.6359707117080688,0.03354565054178238,-0.3307562470436096,-0.9790763614762137,-0.20329923622363216,0.008872681127891857,-0.20277040602939417,0.9783437185501775,0.04156595846156051,0.08004999905824661
+1789729725680910267,14833,0.6359671354293823,0.03354935348033905,-0.33076798915863037,-0.9790758124550218,-0.20330118117378632,0.008885558429949147,-0.20277216076216448,0.9783441274765002,0.041547762091144316,0.08004999905824661
+1789729725714228385,14866,0.6359674334526062,0.03355274349451065,-0.33077824115753174,-0.9790750814245401,-0.2033057627094097,0.008885084050908987,-0.20277686711850773,0.9783434260081375,0.041541365643385834,0.08004999905824661
+1789729725747564890,14900,0.6359673738479614,0.03355644643306732,-0.33078598976135254,-0.9790747018715371,-0.2033070927047351,0.008876620791979983,-0.2027783984604721,0.9783427930317079,0.04154875078576817,0.08004999905824661
+1789729725780900665,14933,0.635967493057251,0.033554475754499435,-0.33078616857528687,-0.9790753517537403,-0.2033052306751175,0.008862214662259005,-0.20277704877698624,0.9783429520232739,0.04155162825764551,0.08004999905824661
+1789729725814293194,14966,0.6359654664993286,0.03355589881539345,-0.33078354597091675,-0.9790754584454231,-0.20330484039765825,0.00885970738674427,-0.20277661444050746,0.9783426903499222,0.04155990896908771,0.08004999905824661
+1789729725847608951,15000,0.635970413684845,0.03355544060468674,-0.330782413482666,-0.9790756303222938,-0.20330517277659405,0.008836035965768096,-0.2027779365923454,0.9783425882750029,0.0415558676411342,0.08004999905824661
+1789729725880900582,15033,0.635973334312439,0.0335564985871315,-0.33077970147132874,-0.9790748679497219,-0.20330801820932692,0.008853432324897575,-0.20278039669938358,0.9783428061016959,0.04153872762231084,0.08004999905824661
+1789729725914225579,15066,0.6359760761260986,0.03356020897626877,-0.3307795822620392,-0.9790749779659933,-0.2033068148640947,0.008866447210440914,-0.20277871967292177,0.9783432313366721,0.041536893254431134,0.08004999905824661
+1789729725947626016,15100,0.6359807848930359,0.03356454148888588,-0.3307839334011078,-0.9790739341797408,-0.20331180693335632,0.008862206655424282,-0.2027837184185875,0.9783418119789132,0.04154590783390743,0.08004999905824661
+1789729725980920536,15133,0.635981023311615,0.033563870936632156,-0.3307908773422241,-0.9790740072765596,-0.2033119350323464,0.008854310507988072,-0.2027842370949134,0.9783419121142516,0.041541025162710285,0.08004999905824661
diff --git a/episode_0008/right.observation.state.joint_position/data.csv b/episode_0008/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..68b84c376380666d1882b3237a9df22987c0a94d
--- /dev/null
+++ b/episode_0008/right.observation.state.joint_position/data.csv
@@ -0,0 +1,456 @@
+timestamp_ns,elapsed_ms,j1,j2,j3,j4,j5,j6,j7,gripper
+1789729710847580356,0,0.02382008358836174,-1.684633731842041,-0.04866109415888786,0.7578970789909363,1.6340339183807373,-0.06455600261688232,-0.9198622107505798,0.08004999905824661
+1789729710881001937,33,0.024257289245724678,-1.6844747066497803,-0.049626708030700684,0.7581110000610352,1.635066270828247,-0.06494428217411041,-0.9198647737503052,0.08004999905824661
+1789729710914338209,66,0.02456357143819332,-1.6843622922897339,-0.05028597638010979,0.7582588791847229,1.6357675790786743,-0.06520787626504898,-0.9198663830757141,0.08004999905824661
+1789729710947649055,100,0.02486269362270832,-1.6842519044876099,-0.050928208976984024,0.7584061026573181,1.6364600658416748,-0.06544705480337143,-0.9198672771453857,0.08004999905824661
+1789729710981000045,133,0.025236379355192184,-1.684106707572937,-0.051770102232694626,0.7586109042167664,1.6373451948165894,-0.06580141931772232,-0.9198676943778992,0.08004999905824661
+1789729711014326024,166,0.025490818545222282,-1.6840040683746338,-0.052350010722875595,0.7587579488754272,1.6379693746566772,-0.0660398006439209,-0.919872522354126,0.08004999905824661
+1789729711047668310,200,0.02573983557522297,-1.6839067935943604,-0.05290484055876732,0.7588930726051331,1.6385611295700073,-0.06626706570386887,-0.9198770523071289,0.08004999905824661
+1789729711081000877,233,0.02607819251716137,-1.6837784051895142,-0.05364178493618965,0.7590739727020264,1.639346957206726,-0.06655710190534592,-0.9198932647705078,0.08004999905824661
+1789729711114337564,266,0.02632135897874832,-1.6836870908737183,-0.05417526513338089,0.7592099905014038,1.6399295330047607,-0.06676822900772095,-0.9199190139770508,0.08004999905824661
+1789729711147662632,300,0.026556219905614853,-1.6835968494415283,-0.054689329117536545,0.7593462467193604,1.64048433303833,-0.0669768750667572,-0.9199353456497192,0.08004999905824661
+1789729711180998748,333,0.02687152475118637,-1.6834752559661865,-0.0553673692047596,0.7595210075378418,1.6412279605865479,-0.06725291907787323,-0.9199500679969788,0.08004999905824661
+1789729711214322147,366,0.02709992229938507,-1.683395504951477,-0.05586374178528786,0.7596354484558105,1.6417574882507324,-0.06744848936796188,-0.9199571013450623,0.08004999905824661
+1789729711247705547,400,0.02731393836438656,-1.6833277940750122,-0.05635436624288559,0.759728729724884,1.6422779560089111,-0.06763626635074615,-0.9199633002281189,0.08004999905824661
+1789729711281008238,433,0.027594134211540222,-1.6832447052001953,-0.057055216282606125,0.7598448395729065,1.6430079936981201,-0.06797408312559128,-0.9199634790420532,0.08004999905824661
+1789729711314341745,466,0.02781658060848713,-1.6831846237182617,-0.0575825460255146,0.7599344253540039,1.6435744762420654,-0.06820866465568542,-0.9199635982513428,0.08004999905824661
+1789729711347650245,500,0.028035754337906837,-1.683121919631958,-0.058088112622499466,0.7600347995758057,1.6441229581832886,-0.06841780990362167,-0.9199629426002502,0.08004999905824661
+1789729711381007689,533,0.028324251994490623,-1.6830358505249023,-0.058772120624780655,0.7601744532585144,1.6448453664779663,-0.06872221827507019,-0.9199648499488831,0.08004999905824661
+1789729711414320779,566,0.02855004370212555,-1.6829708814620972,-0.0593278594315052,0.760266900062561,1.645423412322998,-0.06896673142910004,-0.9199718832969666,0.08004999905824661
+1789729711447650506,600,0.0287703238427639,-1.6829107999801636,-0.05989598482847214,0.760358452796936,1.6460150480270386,-0.06922142207622528,-0.9199734330177307,0.08004999905824661
+1789729711481003931,633,0.02907542698085308,-1.6828415393829346,-0.06066051870584488,0.7604609131813049,1.6468206644058228,-0.06957628577947617,-0.9199715256690979,0.08004999905824661
+1789729711514322079,666,0.029314829036593437,-1.6827976703643799,-0.061230260878801346,0.7605248093605042,1.6474213600158691,-0.06983557343482971,-0.9199674129486084,0.08004999905824661
+1789729711547655536,700,0.029537415131926537,-1.6827515363693237,-0.06176847591996193,0.7605974078178406,1.6479926109313965,-0.07007090747356415,-0.9199658036231995,0.08004999905824661
+1789729711580997432,733,0.029826313257217407,-1.682686448097229,-0.06248488277196884,0.7606998682022095,1.6487531661987305,-0.07041343301534653,-0.9199643731117249,0.08004999905824661
+1789729711614325999,766,0.03005402348935604,-1.6826324462890625,-0.06304806470870972,0.7607818841934204,1.6493504047393799,-0.07065742462873459,-0.9199625849723816,0.08004999905824661
+1789729711647653537,800,0.030277471989393234,-1.6825774908065796,-0.06359740346670151,0.7608639597892761,1.6499302387237549,-0.07091886550188065,-0.9199590086936951,0.08004999905824661
+1789729711681005802,833,0.030585655942559242,-1.6825143098831177,-0.06431728601455688,0.7609697580337524,1.650702714920044,-0.07122939825057983,-0.9199563264846802,0.08004999905824661
+1789729711714322301,866,0.030807025730609894,-1.6824697256088257,-0.06484100222587585,0.7610416412353516,1.6512638330459595,-0.07145804911851883,-0.9199522137641907,0.08004999905824661
+1789729711747709101,900,0.03100983425974846,-1.6824235916137695,-0.06531727313995361,0.7611164450645447,1.6517733335494995,-0.07166532427072525,-0.9199483394622803,0.08004999905824661
+1789729711781000233,933,0.031259555369615555,-1.6823476552963257,-0.06590632349252701,0.7612314224243164,1.6524018049240112,-0.07193006575107574,-0.9199475049972534,0.08004999905824661
+1789729711814329811,966,0.031444892287254333,-1.6822878122329712,-0.0663260892033577,0.7613207101821899,1.6528441905975342,-0.07210355997085571,-0.9199503064155579,0.08004999905824661
+1789729711847642850,1000,0.03162216395139694,-1.6822285652160645,-0.0667409896850586,0.7614055871963501,1.653288722038269,-0.07228510826826096,-0.9199528098106384,0.08004999905824661
+1789729711881008663,1033,0.03183171898126602,-1.6821608543395996,-0.06723711639642715,0.7615098357200623,1.6538009643554688,-0.07249683886766434,-0.9199542999267578,0.08004999905824661
+1789729711914327092,1066,0.03197552636265755,-1.682112455368042,-0.06756559014320374,0.7615944743156433,1.654171347618103,-0.07263370603322983,-0.9199560880661011,0.08004999905824661
+1789729711947581499,1100,0.03211864456534386,-1.68205988407135,-0.0678786113858223,0.7616811394691467,1.6545168161392212,-0.07275771349668503,-0.919956624507904,0.08004999905824661
+1789729711980921715,1133,0.03230324387550354,-1.6819936037063599,-0.06829404830932617,0.7617828845977783,1.6549626588821411,-0.07292698323726654,-0.9199604392051697,0.08004999905824661
+1789729712014320269,1166,0.032442718744277954,-1.6819466352462769,-0.06860329210758209,0.7618547081947327,1.6553118228912354,-0.0730518102645874,-0.9199621677398682,0.08004999905824661
+1789729712047658620,1200,0.032575834542512894,-1.68190336227417,-0.06889183074235916,0.7619249820709229,1.6556257009506226,-0.0731712281703949,-0.9199667572975159,0.08004999905824661
+1789729712080910532,1233,0.03274646773934364,-1.6818525791168213,-0.0692565068602562,0.7620068788528442,1.656017541885376,-0.07331155240535736,-0.9199684858322144,0.08004999905824661
+1789729712114241843,1266,0.032867468893527985,-1.6818140745162964,-0.06953143328428268,0.762065052986145,1.6563165187835693,-0.07341944426298141,-0.9199681282043457,0.08004999905824661
+1789729712147597241,1300,0.03298744559288025,-1.6817777156829834,-0.0698055699467659,0.7621217370033264,1.6565978527069092,-0.07353656738996506,-0.9199689030647278,0.08004999905824661
+1789729712180905286,1333,0.03313278406858444,-1.6817365884780884,-0.07014033198356628,0.7622029185295105,1.6569690704345703,-0.07367374002933502,-0.9199690222740173,0.08004999905824661
+1789729712214237707,1366,0.03325628861784935,-1.6817479133605957,-0.07037824392318726,0.7622253894805908,1.6572387218475342,-0.07374092936515808,-0.9199725389480591,0.08004999905824661
+1789729712247565449,1400,0.033409811556339264,-1.6818583011627197,-0.0706290453672409,0.7621955275535583,1.6575536727905273,-0.0737684890627861,-0.9200025796890259,0.08004999905824661
+1789729712280906899,1433,0.033707983791828156,-1.682287573814392,-0.07102156430482864,0.7619560360908508,1.6581162214279175,-0.07373768836259842,-0.9201992154121399,0.08004999905824661
+1789729712314228422,1466,0.03404507786035538,-1.6828628778457642,-0.07132333517074585,0.7616304159164429,1.6587680578231812,-0.07354127615690231,-0.9203721284866333,0.08004999905824661
+1789729712347588229,1500,0.034562040120363235,-1.6837952136993408,-0.07163795083761215,0.7610588073730469,1.6596860885620117,-0.07309373468160629,-0.9207109808921814,0.08004999905824661
+1789729712380904633,1533,0.03561793267726898,-1.6857991218566895,-0.07204173505306244,0.7596057057380676,1.6612616777420044,-0.07209492474794388,-0.9212405681610107,0.08004999905824661
+1789729712414239374,1566,0.036732904613018036,-1.6879438161849976,-0.07233738154172897,0.7580013871192932,1.662742018699646,-0.07102814316749573,-0.9217292070388794,0.08004999905824661
+1789729712447563826,1600,0.03805694356560707,-1.690710186958313,-0.07270003855228424,0.7557539343833923,1.664505124092102,-0.06993420422077179,-0.922245979309082,0.08004999905824661
+1789729712480903266,1633,0.04009958729147911,-1.695387363433838,-0.07337133586406708,0.7514145970344543,1.6670957803726196,-0.06850404292345047,-0.9225454330444336,0.08004999905824661
+1789729712514230918,1666,0.04183230176568031,-1.6994638442993164,-0.07403117418289185,0.747105062007904,1.6691704988479614,-0.06740620732307434,-0.9224814176559448,0.08004999905824661
+1789729712547565989,1700,0.04375609755516052,-1.7039270401000977,-0.07478640973567963,0.7421265840530396,1.6713614463806152,-0.06629227101802826,-0.9218819737434387,0.08004999905824661
+1789729712580902350,1733,0.04651731625199318,-1.7102364301681519,-0.07574193179607391,0.7350208759307861,1.6744366884231567,-0.06467036157846451,-0.9210224747657776,0.08004999905824661
+1789729712614231052,1766,0.048638492822647095,-1.7150189876556396,-0.07636195421218872,0.7297590374946594,1.6768242120742798,-0.06341541558504105,-0.9205077290534973,0.08004999905824661
+1789729712647562953,1800,0.05068901926279068,-1.7196013927459717,-0.07686902582645416,0.724483072757721,1.6789418458938599,-0.0621572844684124,-0.9198296070098877,0.08004999905824661
+1789729712680905313,1833,0.05329028144478798,-1.725390911102295,-0.07751741260290146,0.7176142930984497,1.6814277172088623,-0.060456398874521255,-0.9186499714851379,0.08004999905824661
+1789729712714232025,1866,0.05493684113025665,-1.729109764099121,-0.07785395532846451,0.7133637070655823,1.68303644657135,-0.0593387708067894,-0.9180374145507812,0.08004999905824661
+1789729712747593842,1900,0.056518036872148514,-1.7326287031173706,-0.07805301994085312,0.7094063758850098,1.6846253871917725,-0.05819251015782356,-0.9176447987556458,0.08004999905824661
+1789729712780905487,1933,0.05864680930972099,-1.7368167638778687,-0.07813981175422668,0.7042580842971802,1.6863467693328857,-0.05648886784911156,-0.9167577624320984,0.08004999905824661
+1789729712814227459,1966,0.06018780544400215,-1.7393923997879028,-0.0782179906964302,0.7008630037307739,1.6874275207519531,-0.055222902446985245,-0.9159453511238098,0.08004999905824661
+1789729712847566240,2000,0.061787307262420654,-1.7418248653411865,-0.07833320647478104,0.6976905465126038,1.6886520385742188,-0.05394383519887924,-0.9151499271392822,0.08004999905824661
+1789729712880965662,2033,0.06390515714883804,-1.745004653930664,-0.07852373272180557,0.6939400434494019,1.6905150413513184,-0.05237415060400963,-0.9145657420158386,0.08004999905824661
+1789729712914230442,2066,0.06529500335454941,-1.7472425699234009,-0.07862390577793121,0.6914526224136353,1.6918870210647583,-0.05135383456945419,-0.914333701133728,0.08004999905824661
+1789729712947589420,2100,0.06674198061227798,-1.7495880126953125,-0.07870817929506302,0.6887239813804626,1.693266749382019,-0.050295595079660416,-0.9140115976333618,0.08004999905824661
+1789729712980897404,2133,0.06857985258102417,-1.7525197267532349,-0.0787450447678566,0.6850377321243286,1.6947811841964722,-0.04891715943813324,-0.9133395552635193,0.08004999905824661
+1789729713014230961,2166,0.06999831646680832,-1.7546124458312988,-0.07874172180891037,0.6822735071182251,1.6957714557647705,-0.04786455258727074,-0.9126537442207336,0.08004999905824661
+1789729713047561347,2200,0.07145468890666962,-1.7566397190093994,-0.07871842384338379,0.6796732544898987,1.696779489517212,-0.046784594655036926,-0.9120854735374451,0.08004999905824661
+1789729713080900511,2233,0.07345430552959442,-1.759284496307373,-0.07859551906585693,0.6766828298568726,1.6982386112213135,-0.04534076899290085,-0.9117242097854614,0.08004999905824661
+1789729713114225118,2266,0.07500904053449631,-1.7612450122833252,-0.0784345343708992,0.6746134757995605,1.699446439743042,-0.044211406260728836,-0.9116573333740234,0.08004999905824661
+1789729713147588409,2300,0.07665017247200012,-1.7632091045379639,-0.07825281471014023,0.672444224357605,1.7005999088287354,-0.04303489997982979,-0.9115211963653564,0.08004999905824661
+1789729713180902597,2333,0.07900334149599075,-1.765689492225647,-0.07798176258802414,0.6694923043251038,1.7020721435546875,-0.04134020954370499,-0.911121129989624,0.08004999905824661
+1789729713214243281,2366,0.08088667690753937,-1.7674171924591064,-0.07773295789957047,0.6673446297645569,1.7031760215759277,-0.03998599946498871,-0.91075599193573,0.08004999905824661
+1789729713247562618,2400,0.08287079632282257,-1.7690355777740479,-0.07747338712215424,0.6652776002883911,1.7043240070343018,-0.03859464079141617,-0.9103766679763794,0.08004999905824661
+1789729713280906112,2433,0.08567452430725098,-1.771092414855957,-0.07708285748958588,0.6628044843673706,1.7060256004333496,-0.036581698805093765,-0.9100500345230103,0.08004999905824661
+1789729713314229088,2466,0.08784639090299606,-1.7725303173065186,-0.07669158279895782,0.6612471342086792,1.7073687314987183,-0.03498382121324539,-0.9099574685096741,0.08004999905824661
+1789729713347565833,2500,0.09006982296705246,-1.773800015449524,-0.07616635411977768,0.6599709391593933,1.708648920059204,-0.03324301913380623,-0.909980058670044,0.08004999905824661
+1789729713380903858,2533,0.09314010292291641,-1.775241732597351,-0.0752740353345871,0.6583849191665649,1.710190773010254,-0.030715929344296455,-0.9100117683410645,0.08004999905824661
+1789729713414228524,2566,0.09565066546201706,-1.7761297225952148,-0.07448640465736389,0.657213032245636,1.7111449241638184,-0.02859831415116787,-0.9099637269973755,0.08004999905824661
+1789729713447564429,2600,0.09835657477378845,-1.7768300771713257,-0.0736185610294342,0.6562088131904602,1.7121617794036865,-0.026260703802108765,-0.9097089171409607,0.08004999905824661
+1789729713480901594,2633,0.10223516821861267,-1.777534008026123,-0.07244297862052917,0.6552329659461975,1.7135822772979736,-0.022944161668419838,-0.9096188545227051,0.08004999905824661
+1789729713514232139,2666,0.10521869361400604,-1.7779531478881836,-0.07168189436197281,0.654720664024353,1.7147881984710693,-0.02044512704014778,-0.9096260070800781,0.08004999905824661
+1789729713547567714,2700,0.10813401639461517,-1.7783386707305908,-0.07094643265008926,0.6542919278144836,1.7160754203796387,-0.018084796145558357,-0.9096569418907166,0.08004999905824661
+1789729713580903689,2733,0.11194733530282974,-1.7787883281707764,-0.06992752104997635,0.6537676453590393,1.7176626920700073,-0.014892988838255405,-0.9097781181335449,0.08004999905824661
+1789729713614230585,2766,0.11469558626413345,-1.7790642976760864,-0.06909922510385513,0.6534368395805359,1.7187395095825195,-0.012501003220677376,-0.9098905920982361,0.08004999905824661
+1789729713647562960,2800,0.11735152453184128,-1.7793546915054321,-0.06830422580242157,0.653126060962677,1.719876766204834,-0.010229712352156639,-0.9100147485733032,0.08004999905824661
+1789729713680895856,2833,0.12082257866859436,-1.7798815965652466,-0.06739554554224014,0.6526041030883789,1.7216124534606934,-0.007317793555557728,-0.9102057814598083,0.08004999905824661
+1789729713714230741,2866,0.12335381656885147,-1.7804546356201172,-0.06685527414083481,0.6520189046859741,1.7230663299560547,-0.005292259622365236,-0.9103279709815979,0.08004999905824661
+1789729713747565606,2900,0.12579448521137238,-1.7811843156814575,-0.06639660894870758,0.6512355804443359,1.7245699167251587,-0.0033837456721812487,-0.9104058742523193,0.08004999905824661
+1789729713780908190,2933,0.1288261115550995,-1.7823606729507446,-0.06578967720270157,0.6499249339103699,1.726478934288025,-0.0009734128834679723,-0.910463273525238,0.08004999905824661
+1789729713814230586,2966,0.13089314103126526,-1.7833666801452637,-0.06535674631595612,0.6487160921096802,1.7277660369873047,0.000689583015628159,-0.9104465842247009,0.08004999905824661
+1789729713847562522,3000,0.1327694058418274,-1.7844698429107666,-0.06494612991809845,0.6473031044006348,1.7289246320724487,0.00224224547855556,-0.9103639125823975,0.08004999905824661
+1789729713880903876,3033,0.13506117463111877,-1.7860239744186401,-0.06441885232925415,0.6451738476753235,1.7303217649459839,0.004145040642470121,-0.9099450707435608,0.08004999905824661
+1789729713914227782,3066,0.1367170363664627,-1.7872015237808228,-0.06401298940181732,0.643531322479248,1.731292724609375,0.005548384040594101,-0.9096109867095947,0.08004999905824661
+1789729713947575806,3100,0.13840264081954956,-1.7884023189544678,-0.06361841410398483,0.6418270468711853,1.7322553396224976,0.006987596396356821,-0.909267783164978,0.08004999905824661
+1789729713980932988,3133,0.14067701995372772,-1.7900478839874268,-0.06314194947481155,0.6395180225372314,1.7335662841796875,0.008929315954446793,-0.9087508320808411,0.08004999905824661
+1789729714014259780,3166,0.14237181842327118,-1.7913250923156738,-0.06284534931182861,0.6377993822097778,1.7346363067626953,0.010347961448132992,-0.908424973487854,0.08004999905824661
+1789729714047601538,3200,0.14400561153888702,-1.792608618736267,-0.06258156150579453,0.6361077427864075,1.7357126474380493,0.011693354696035385,-0.9081325531005859,0.08004999905824661
+1789729714080922238,3233,0.14604686200618744,-1.7943179607391357,-0.06224479898810387,0.6337870955467224,1.7370473146438599,0.013357981108129025,-0.9076531529426575,0.08004999905824661
+1789729714114254798,3266,0.1474856734275818,-1.795603632926941,-0.061951570212841034,0.6319109201431274,1.7379001379013062,0.014604659751057625,-0.9071913361549377,0.08004999905824661
+1789729714147606704,3300,0.14885415136814117,-1.7969077825546265,-0.06161872670054436,0.6299644112586975,1.7386481761932373,0.015851574018597603,-0.9067029356956482,0.08004999905824661
+1789729714181020213,3333,0.15050703287124634,-1.7987158298492432,-0.0611753985285759,0.6272975206375122,1.739571452140808,0.017365837469697,-0.9059557914733887,0.08004999905824661
+1789729714214335345,3366,0.15160034596920013,-1.8000929355621338,-0.0608559250831604,0.6252573728561401,1.740141749382019,0.018423205241560936,-0.9054099917411804,0.08004999905824661
+1789729714247672663,3400,0.15257202088832855,-1.8015013933181763,-0.060568589717149734,0.6232703328132629,1.740665078163147,0.019394919276237488,-0.9049348831176758,0.08004999905824661
+1789729714280999863,3433,0.1537061631679535,-1.8034032583236694,-0.060197677463293076,0.6206285357475281,1.7412822246551514,0.02055881731212139,-0.9043065309524536,0.08004999905824661
+1789729714314336252,3466,0.1545456349849701,-1.804748296737671,-0.05987831577658653,0.6187954545021057,1.7416398525238037,0.02151256427168846,-0.903939425945282,0.08004999905824661
+1789729714347665692,3500,0.15539363026618958,-1.8060163259506226,-0.059535425156354904,0.617034375667572,1.741984248161316,0.022520966827869415,-0.9035207629203796,0.08004999905824661
+1789729714381003750,3533,0.15660585463047028,-1.80747652053833,-0.05907305330038071,0.6148495674133301,1.7422654628753662,0.024013923481106758,-0.9029346704483032,0.08004999905824661
+1789729714414317872,3566,0.15760140120983124,-1.8084218502044678,-0.05875498428940773,0.6133290529251099,1.7424131631851196,0.025328999385237694,-0.9024617075920105,0.08004999905824661
+1789729714447660560,3600,0.15864266455173492,-1.8092632293701172,-0.058485135436058044,0.611840546131134,1.7425546646118164,0.02671077661216259,-0.901909589767456,0.08004999905824661
+1789729714480936837,3633,0.1601707935333252,-1.810161828994751,-0.0581803061068058,0.610133945941925,1.7426482439041138,0.028750041499733925,-0.9011743664741516,0.08004999905824661
+1789729714514335527,3666,0.16141164302825928,-1.810692310333252,-0.05792959779500961,0.6090662479400635,1.742793321609497,0.030392823740839958,-0.9007134437561035,0.08004999905824661
+1789729714547683054,3700,0.1627182513475418,-1.8110880851745605,-0.05764926224946976,0.6081695556640625,1.7429149150848389,0.03212539479136467,-0.9003123044967651,0.08004999905824661
+1789729714580996366,3733,0.16456644237041473,-1.8114594221115112,-0.05721116065979004,0.6071195602416992,1.7431564331054688,0.03449676185846329,-0.8997605443000793,0.08004000037908554
+1789729714614336235,3766,0.16593630611896515,-1.8116786479949951,-0.05684580281376839,0.6064353585243225,1.7433630228042603,0.03618979454040527,-0.8993833065032959,0.08004999905824661
+1789729714647594423,3800,0.16725127398967743,-1.8118716478347778,-0.05641469359397888,0.6058129668235779,1.7435622215270996,0.037809595465660095,-0.8990405797958374,0.08004999905824661
+1789729714680934002,3833,0.16889512538909912,-1.8121672868728638,-0.0557907335460186,0.6050031781196594,1.743825912475586,0.03987598791718483,-0.8986678123474121,0.08004999905824661
+1789729714714260422,3866,0.17001453042030334,-1.81242036819458,-0.05524178594350815,0.604376494884491,1.7439608573913574,0.04126843437552452,-0.898411750793457,0.08004999905824661
+1789729714747590401,3900,0.1710507571697235,-1.812662959098816,-0.05459017679095268,0.6037904024124146,1.74403977394104,0.042594585567712784,-0.898199200630188,0.08004999905824661
+1789729714780939228,3933,0.1723577082157135,-1.812861442565918,-0.05365915969014168,0.6031998991966248,1.7440251111984253,0.04441026598215103,-0.8979702591896057,0.08004999905824661
+1789729714814257280,3966,0.17327502369880676,-1.8129637241363525,-0.053021207451820374,0.6028244495391846,1.7440285682678223,0.04562551900744438,-0.89781254529953,0.08004999905824661
+1789729714847668819,4000,0.17414359748363495,-1.8130948543548584,-0.052425678819417953,0.6024064421653748,1.7440409660339355,0.04672817885875702,-0.8976569771766663,0.08004999905824661
+1789729714881001938,4033,0.17522341012954712,-1.813295841217041,-0.051633767783641815,0.6018426418304443,1.744109869003296,0.04807709902524948,-0.8974193930625916,0.08004999905824661
+1789729714914324559,4066,0.17600621283054352,-1.8134760856628418,-0.05099868401885033,0.6014173030853271,1.7441661357879639,0.049066729843616486,-0.8973073363304138,0.08004999905824661
+1789729714947655118,4100,0.17681168019771576,-1.813680648803711,-0.05036792531609535,0.6009491086006165,1.7442306280136108,0.05008676275610924,-0.8971647024154663,0.08004999905824661
+1789729714981008764,4133,0.17796625196933746,-1.8140181303024292,-0.049589309841394424,0.6001794338226318,1.7444425821304321,0.05142011120915413,-0.8969101905822754,0.08004999905824661
+1789729715014332290,4166,0.1789100170135498,-1.8143036365509033,-0.049010034650564194,0.5995131731033325,1.7446562051773071,0.05249215289950371,-0.8966773152351379,0.08004999905824661
+1789729715047660094,4200,0.1799347847700119,-1.814620018005371,-0.048442523926496506,0.598768949508667,1.7449190616607666,0.053628794848918915,-0.8963754177093506,0.08004999905824661
+1789729715080939724,4233,0.18144530057907104,-1.8151198625564575,-0.04770461097359657,0.5976196527481079,1.7454140186309814,0.05520094931125641,-0.8959214687347412,0.08004999905824661
+1789729715114339019,4266,0.18261213600635529,-1.8155335187911987,-0.04713783413171768,0.5966784954071045,1.7457962036132812,0.05643116682767868,-0.8955242037773132,0.08004999905824661
+1789729715147673401,4300,0.1837865263223648,-1.8159562349319458,-0.04659004509449005,0.5957273244857788,1.7461767196655273,0.05764906480908394,-0.895164966583252,0.08004999905824661
+1789729715180939473,4333,0.18533284962177277,-1.8165740966796875,-0.045911695808172226,0.5943329334259033,1.74673330783844,0.05922912433743477,-0.8946152925491333,0.08004999905824661
+1789729715214321670,4366,0.18646182119846344,-1.8171089887619019,-0.04537411034107208,0.593133270740509,1.7471179962158203,0.06043371558189392,-0.8940948247909546,0.08004999905824661
+1789729715247597450,4400,0.18760934472084045,-1.8177481889724731,-0.044797319918870926,0.5916893482208252,1.7474614381790161,0.061682771891355515,-0.8934462666511536,0.08004999905824661
+1789729715280935053,4433,0.18916651606559753,-1.8187919855117798,-0.04401954635977745,0.5893341302871704,1.7479196786880493,0.063398078083992,-0.8923699259757996,0.08004999905824661
+1789729715314335117,4466,0.19035431742668152,-1.8196996450424194,-0.04342951625585556,0.587256133556366,1.7482579946517944,0.06476833671331406,-0.8914086818695068,0.08004999905824661
+1789729715347672669,4500,0.19152185320854187,-1.8206948041915894,-0.042836226522922516,0.5850145816802979,1.7485336065292358,0.06612424552440643,-0.8903166055679321,0.08004999905824661
+1789729715381005882,4533,0.1930406242609024,-1.8221379518508911,-0.04207243397831917,0.5818860530853271,1.7489104270935059,0.0679117739200592,-0.8888692855834961,0.08004999905824661
+1789729715414330417,4566,0.1941784918308258,-1.8232907056808472,-0.04151570796966553,0.5795259475708008,1.7491745948791504,0.0692313015460968,-0.8878023624420166,0.08004999905824661
+1789729715447664999,4600,0.19533544778823853,-1.8245387077331543,-0.040941160172224045,0.5771517753601074,1.7495381832122803,0.07060486078262329,-0.8868542909622192,0.08004999905824661
+1789729715481003562,4633,0.19693498313426971,-1.8263530731201172,-0.04019239917397499,0.5737526416778564,1.7500770092010498,0.07241175323724747,-0.885547935962677,0.08004999905824661
+1789729715514330015,4666,0.19821052253246307,-1.8277826309204102,-0.03965400531888008,0.5709350109100342,1.750499963760376,0.07384316623210907,-0.8843898773193359,0.08004999905824661
+1789729715547667758,4700,0.1995249092578888,-1.8292298316955566,-0.03915680944919586,0.5679263472557068,1.750892996788025,0.07529586553573608,-0.8830311298370361,0.08004999905824661
+1789729715580994062,4733,0.2012936919927597,-1.8311595916748047,-0.03859755024313927,0.5637235045433044,1.7514119148254395,0.07717828452587128,-0.8809803128242493,0.08004999905824661
+1789729715614331534,4766,0.20256561040878296,-1.8325551748275757,-0.038240570574998856,0.5606576204299927,1.7518198490142822,0.07852698117494583,-0.8794109225273132,0.08004999905824661
+1789729715647665997,4800,0.20377852022647858,-1.8339167833328247,-0.03790783882141113,0.5578128695487976,1.7522879838943481,0.0797894299030304,-0.8781304359436035,0.08004999905824661
+1789729715681006169,4833,0.2052459418773651,-1.835716962814331,-0.03741616755723953,0.5542868375778198,1.7529088258743286,0.08135105669498444,-0.8765671253204346,0.08004999905824661
+1789729715714330963,4866,0.20625121891498566,-1.8369938135147095,-0.03694577142596245,0.5517475008964539,1.753246545791626,0.08247093856334686,-0.8754945993423462,0.08004999905824661
+1789729715747661747,4900,0.20724768936634064,-1.838199496269226,-0.03643253445625305,0.5492144823074341,1.7534451484680176,0.08360091596841812,-0.8743327856063843,0.08004999905824661
+1789729715781006448,4933,0.2086053192615509,-1.8397243022918701,-0.035782720893621445,0.545792818069458,1.753675937652588,0.08518818020820618,-0.8726641535758972,0.08004999905824661
+1789729715814259981,4966,0.2096482366323471,-1.8408371210098267,-0.035281162708997726,0.5432788133621216,1.7538596391677856,0.08636650443077087,-0.8713870048522949,0.08004999905824661
+1789729715847590325,5000,0.21073798835277557,-1.841909646987915,-0.03469182923436165,0.5409218668937683,1.754036784172058,0.08764185756444931,-0.8702613711357117,0.08004999905824661
+1789729715880927427,5033,0.21234160661697388,-1.8432996273040771,-0.033756643533706665,0.5380735993385315,1.7543367147445679,0.08948288857936859,-0.8690520524978638,0.08004999905824661
+1789729715914255241,5066,0.21369566023349762,-1.8443022966384888,-0.03296889364719391,0.536084771156311,1.7546517848968506,0.09093458950519562,-0.8683330416679382,0.08004999905824661
+1789729715947586754,5100,0.21523968875408173,-1.845277190208435,-0.03214287385344505,0.5340516567230225,1.7549928426742554,0.09258459508419037,-0.8675200939178467,0.08004999905824661
+1789729715981009626,5133,0.21756842732429504,-1.8466092348098755,-0.031130827963352203,0.5311371088027954,1.755597472190857,0.09494233131408691,-0.8662779927253723,0.08004999905824661
+1789729716014332116,5166,0.21947458386421204,-1.847670316696167,-0.03043220192193985,0.5288108587265015,1.7562037706375122,0.09683045744895935,-0.8652980923652649,0.08004999905824661
+1789729716047664653,5200,0.2214338332414627,-1.8487788438796997,-0.02982916496694088,0.5263999104499817,1.7569466829299927,0.09865474700927734,-0.8642417192459106,0.08004999905824661
+1789729716081004619,5233,0.22411777079105377,-1.8502923250198364,-0.029126204550266266,0.5231764316558838,1.7580798864364624,0.10105445981025696,-0.8628685474395752,0.08004999905824661
+1789729716114331446,5266,0.22621166706085205,-1.8514368534088135,-0.028590617701411247,0.5207837820053101,1.7590491771697998,0.10295809060335159,-0.8618777394294739,0.08004999905824661
+1789729716147652744,5300,0.2283870130777359,-1.85261070728302,-0.02796662412583828,0.5183425545692444,1.7600377798080444,0.10495017468929291,-0.8609410524368286,0.08004999905824661
+1789729716180996430,5333,0.2314292937517166,-1.8541743755340576,-0.027028700336813927,0.5149654746055603,1.7612993717193604,0.10778331011533737,-0.8595835566520691,0.08004999905824661
+1789729716214337246,5366,0.23381413519382477,-1.8552995920181274,-0.026327401399612427,0.5123913288116455,1.7622514963150024,0.11005723476409912,-0.8584670424461365,0.08004999905824661
+1789729716247594262,5400,0.23624427616596222,-1.8563822507858276,-0.02572805993258953,0.5098167657852173,1.7632675170898438,0.11232100427150726,-0.857310950756073,0.08004999905824661
+1789729716281016767,5433,0.23936611413955688,-1.8577290773391724,-0.02515685372054577,0.5064765214920044,1.7646738290786743,0.11518602073192596,-0.8556858897209167,0.08004999905824661
+1789729716314331956,5466,0.24158237874507904,-1.8586305379867554,-0.02488657645881176,0.5042133927345276,1.7657999992370605,0.11713141202926636,-0.8546273112297058,0.08004999905824661
+1789729716347594322,5500,0.24365051090717316,-1.8594260215759277,-0.02461344748735428,0.5022266507148743,1.766927719116211,0.11888083070516586,-0.8536832928657532,0.08004999905824661
+1789729716380931918,5533,0.24617353081703186,-1.860317349433899,-0.024123650044202805,0.4999881982803345,1.7682627439498901,0.1210712343454361,-0.8527259230613708,0.08004999905824661
+1789729716414328107,5566,0.2478611022233963,-1.8607404232025146,-0.02364807203412056,0.4986852705478668,1.7690378427505493,0.12262238562107086,-0.8521261215209961,0.08004999905824661
+1789729716447658234,5600,0.24932515621185303,-1.8609123229980469,-0.023149942979216576,0.49773186445236206,1.7695599794387817,0.12403717637062073,-0.8515652418136597,0.08004999905824661
+1789729716481006569,5633,0.2508504390716553,-1.8608324527740479,-0.022528214380145073,0.4969358742237091,1.7700129747390747,0.125462144613266,-0.8509954214096069,0.08004999905824661
+1789729716514331957,5666,0.2516822814941406,-1.8605706691741943,-0.022084621712565422,0.49672016501426697,1.770147442817688,0.1262558102607727,-0.8507235646247864,0.08004999905824661
+1789729716547662484,5700,0.25230082869529724,-1.8602033853530884,-0.02167525142431259,0.4967411756515503,1.7701828479766846,0.1268840730190277,-0.8506159782409668,0.08004999905824661
+1789729716581006769,5733,0.2528408467769623,-1.8596020936965942,-0.021190356463193893,0.49703991413116455,1.7701765298843384,0.12739692628383636,-0.8505497574806213,0.08004999905824661
+1789729716614346605,5766,0.2531149685382843,-1.858986258506775,-0.020804433152079582,0.4976061284542084,1.7700939178466797,0.12760566174983978,-0.8505475521087646,0.08004999905824661
+1789729716647667813,5800,0.25336161255836487,-1.858267068862915,-0.020391881465911865,0.49830904603004456,1.7699438333511353,0.1278121918439865,-0.8505923748016357,0.08004999905824661
+1789729716681011399,5833,0.25371280312538147,-1.8572611808776855,-0.0198410265147686,0.49922776222229004,1.7696913480758667,0.1281164288520813,-0.8506784439086914,0.08004999905824661
+1789729716714335357,5866,0.25403010845184326,-1.8565106391906738,-0.019408170133829117,0.49989715218544006,1.7695012092590332,0.1284487545490265,-0.8506794571876526,0.08004999905824661
+1789729716747678022,5900,0.2544063925743103,-1.8558622598648071,-0.01897532492876053,0.5004467368125916,1.7693694829940796,0.12883619964122772,-0.8506707549095154,0.08004999905824661
+1789729716781001970,5933,0.25500768423080444,-1.855258822441101,-0.01841404289007187,0.5008712410926819,1.769311547279358,0.129471093416214,-0.8506578803062439,0.08004999905824661
+1789729716814340626,5966,0.25551414489746094,-1.8550175428390503,-0.018009308725595474,0.5009292960166931,1.7693241834640503,0.1300198882818222,-0.8506386876106262,0.08004999905824661
+1789729716847674953,6000,0.2560504972934723,-1.854884147644043,-0.017564279958605766,0.5008822679519653,1.769343376159668,0.13064755499362946,-0.8505714535713196,0.08004999905824661
+1789729716880997081,6033,0.2568250000476837,-1.854797124862671,-0.016935475170612335,0.5007188320159912,1.769360899925232,0.13155940175056458,-0.8504676222801208,0.08004999905824661
+1789729716914335217,6066,0.2574335038661957,-1.8547420501708984,-0.01643930934369564,0.5005596280097961,1.7693685293197632,0.13229075074195862,-0.8503873944282532,0.08004999905824661
+1789729716947659405,6100,0.2580590844154358,-1.8546664714813232,-0.015944188460707664,0.5004006624221802,1.7693686485290527,0.13307322561740875,-0.8503149747848511,0.08004999905824661
+1789729716980909912,6133,0.2588837146759033,-1.8545531034469604,-0.015308075584471226,0.5001986026763916,1.7693687677383423,0.13410523533821106,-0.8501590490341187,0.08004999905824661
+1789729717014230486,6166,0.25946009159088135,-1.8544905185699463,-0.014876225963234901,0.5000402927398682,1.7693735361099243,0.13479286432266235,-0.8500694632530212,0.08004999905824661
+1789729717047560777,6200,0.2600063383579254,-1.8544511795043945,-0.01447486225515604,0.49988481402397156,1.7693827152252197,0.13545577228069305,-0.8499637246131897,0.08004999905824661
+1789729717080900336,6233,0.26063406467437744,-1.854459285736084,-0.01400161162018776,0.49964118003845215,1.7693922519683838,0.1362561583518982,-0.8498294949531555,0.08004999905824661
+1789729717114225858,6266,0.2610134482383728,-1.8544790744781494,-0.013687695376574993,0.4994857609272003,1.7693895101547241,0.13675133883953094,-0.8497828841209412,0.08004999905824661
+1789729717147559118,6300,0.2613282799720764,-1.854495882987976,-0.013400133699178696,0.49937474727630615,1.769379734992981,0.13717779517173767,-0.8497603535652161,0.08004999905824661
+1789729717180901437,6333,0.26168203353881836,-1.854517936706543,-0.013100236654281616,0.4992622435092926,1.7693694829940796,0.13762857019901276,-0.8497464656829834,0.08004999905824661
+1789729717214234048,6366,0.2619099020957947,-1.8545408248901367,-0.012923873029649258,0.4991808831691742,1.7693742513656616,0.13791286945343018,-0.8497406244277954,0.08004999905824661
+1789729717247561019,6400,0.2621208429336548,-1.854574203491211,-0.012759853154420853,0.49908217787742615,1.7693781852722168,0.13816453516483307,-0.849734902381897,0.08004999905824661
+1789729717280897389,6433,0.2623812258243561,-1.854623556137085,-0.012528541497886181,0.4989420175552368,1.769376277923584,0.1385081708431244,-0.8497182726860046,0.08004999905824661
+1789729717314228509,6466,0.26254767179489136,-1.8546488285064697,-0.012378117069602013,0.49886786937713623,1.7693703174591064,0.13872230052947998,-0.8496847748756409,0.08004999905824661
+1789729717347562180,6500,0.26268354058265686,-1.8546696901321411,-0.012270933948457241,0.49880319833755493,1.7693666219711304,0.13888958096504211,-0.8496643900871277,0.08004999905824661
+1789729717380898409,6533,0.26278063654899597,-1.8546874523162842,-0.012183034792542458,0.4987487494945526,1.7693543434143066,0.139033243060112,-0.8496552109718323,0.08004999905824661
+1789729717414224851,6566,0.2628033459186554,-1.8546981811523438,-0.012135946191847324,0.4987262487411499,1.7693156003952026,0.13907529413700104,-0.8496495485305786,0.08004999905824661
+1789729717447560871,6600,0.2628057599067688,-1.8547075986862183,-0.012090743519365788,0.4987146258354187,1.76927649974823,0.13909250497817993,-0.8496481776237488,0.08004999905824661
+1789729717480893171,6633,0.2628074586391449,-1.854720115661621,-0.012034252285957336,0.4987035393714905,1.769226312637329,0.13911660015583038,-0.8496471047401428,0.08004999905824661
+1789729717514295533,6666,0.26280760765075684,-1.8547312021255493,-0.011980755254626274,0.4986959397792816,1.7691854238510132,0.13913482427597046,-0.84964919090271,0.08004999905824661
+1789729717547563741,6700,0.26280829310417175,-1.8547403812408447,-0.011943542398512363,0.4986873269081116,1.7691501379013062,0.13915511965751648,-0.8496497869491577,0.08004999905824661
+1789729717580985600,6733,0.26280900835990906,-1.8547563552856445,-0.011922641657292843,0.49866268038749695,1.7691270112991333,0.13916872441768646,-0.8496488928794861,0.08004999905824661
+1789729717614230162,6766,0.2628089487552643,-1.8547651767730713,-0.011914322152733803,0.498647004365921,1.7691009044647217,0.1391725391149521,-0.8496473431587219,0.08004000037908554
+1789729717647583390,6800,0.26280760765075684,-1.8547755479812622,-0.011904236860573292,0.49863600730895996,1.7690898180007935,0.13917385041713715,-0.8496463298797607,0.07996000349521637
+1789729717680904332,6833,0.26280608773231506,-1.854790449142456,-0.01188376173377037,0.4986255466938019,1.7690743207931519,0.1391754299402237,-0.8496466279029846,0.07959999889135361
+1789729717714229443,6866,0.26280370354652405,-1.8547981977462769,-0.011856766417622566,0.4986228048801422,1.7690585851669312,0.13917718827724457,-0.8496479392051697,0.07959999889135361
+1789729717747560374,6900,0.2628001272678375,-1.854804277420044,-0.011828950606286526,0.49862220883369446,1.769033670425415,0.13917970657348633,-0.8496515154838562,0.07886999845504761
+1789729717780902683,6933,0.2627969980239868,-1.8548089265823364,-0.011803404428064823,0.4986211359500885,1.768997073173523,0.13918346166610718,-0.8496506214141846,0.0776899978518486
+1789729717814226565,6966,0.2627919018268585,-1.8548107147216797,-0.01179657131433487,0.49861952662467957,1.7689862251281738,0.13918627798557281,-0.8496487736701965,0.07463999837636948
+1789729717847582022,7000,0.26278969645500183,-1.8548122644424438,-0.011791732162237167,0.4986177384853363,1.7689800262451172,0.13918669521808624,-0.8496467471122742,0.06904999911785126
+1789729717880900384,7033,0.26279133558273315,-1.8548192977905273,-0.011773467995226383,0.49861204624176025,1.7689623832702637,0.1391865760087967,-0.8496454954147339,0.06407000124454498
+1789729717914229005,7066,0.26279217004776,-1.8548234701156616,-0.011751904152333736,0.4986112117767334,1.7689285278320312,0.13918927311897278,-0.8496460914611816,0.06407000124454498
+1789729717947585193,7100,0.2627342641353607,-1.8548270463943481,-0.011740590445697308,0.4986122250556946,1.7688896656036377,0.13918772339820862,-0.8496454954147339,0.06086999922990799
+1789729717980911974,7133,0.26271846890449524,-1.8548325300216675,-0.011675827205181122,0.4986119270324707,1.7688102722167969,0.13918238878250122,-0.8496484756469727,0.06046000123023987
+1789729718014229771,7166,0.2627146244049072,-1.854836106300354,-0.011643310077488422,0.4986118674278259,1.7687647342681885,0.13918708264827728,-0.8496524691581726,0.06046000123023987
+1789729718047583063,7200,0.26271167397499084,-1.8548362255096436,-0.011627442203462124,0.4986118972301483,1.7687501907348633,0.13918963074684143,-0.849651038646698,0.06046000123023987
+1789729718080969000,7233,0.26270872354507446,-1.8548399209976196,-0.01161697693169117,0.4986109137535095,1.7687352895736694,0.13919176161289215,-0.8496491312980652,0.06046000123023987
+1789729718114248581,7266,0.26270797848701477,-1.8548427820205688,-0.011609790846705437,0.49860891699790955,1.7687294483184814,0.13919185101985931,-0.8496482968330383,0.06046000123023987
+1789729718147562387,7300,0.2627067565917969,-1.8548448085784912,-0.01160510629415512,0.4986075758934021,1.76870858669281,0.13919208943843842,-0.84964919090271,0.06046000123023987
+1789729718180975411,7333,0.2627054750919342,-1.854851245880127,-0.011587023735046387,0.498607337474823,1.7687007188796997,0.13919022679328918,-0.8496565818786621,0.06046000123023987
+1789729718214241303,7366,0.2627045214176178,-1.8548558950424194,-0.011572242714464664,0.4986082911491394,1.7686915397644043,0.1391901671886444,-0.8496602773666382,0.06046000123023987
+1789729718247588495,7400,0.26270031929016113,-1.8548637628555298,-0.011555411852896214,0.49860885739326477,1.7686885595321655,0.13919131457805634,-0.8496654033660889,0.06046000123023987
+1789729718280903661,7433,0.2626679837703705,-1.854862093925476,-0.01154892984777689,0.49861812591552734,1.7686512470245361,0.13918843865394592,-0.8496643304824829,0.06046000123023987
+1789729718314230446,7466,0.2625240981578827,-1.8548349142074585,-0.011550094932317734,0.4986957907676697,1.7685362100601196,0.13912387192249298,-0.8496721386909485,0.06046000123023987
+1789729718347562780,7500,0.2621408998966217,-1.8547288179397583,-0.011583876796066761,0.49899253249168396,1.7682660818099976,0.13884280622005463,-0.8497615456581116,0.06046000123023987
+1789729718380897974,7533,0.26089271903038025,-1.8543635606765747,-0.011778744868934155,0.4999973773956299,1.7676243782043457,0.13774719834327698,-0.850195050239563,0.06046000123023987
+1789729718414233017,7566,0.25920969247817993,-1.8538382053375244,-0.012092789635062218,0.5013090372085571,1.7667254209518433,0.1362445056438446,-0.8507156372070312,0.06046000123023987
+1789729718447589038,7600,0.25675275921821594,-1.853049874305725,-0.012554780580103397,0.5032893419265747,1.7655614614486694,0.13389717042446136,-0.851556122303009,0.06046000123023987
+1789729718480892146,7633,0.25245922803878784,-1.851596474647522,-0.013172893784940243,0.5068386793136597,1.7632908821105957,0.12998652458190918,-0.8530972599983215,0.06046000123023987
+1789729718514229589,7666,0.24865113198757172,-1.850286602973938,-0.013604904524981976,0.5100231170654297,1.7611490488052368,0.12659962475299835,-0.8546364903450012,0.06046000123023987
+1789729718547592749,7700,0.24449443817138672,-1.8488667011260986,-0.01404272299259901,0.5134958028793335,1.7588262557983398,0.12297555804252625,-0.8563845753669739,0.06046000123023987
+1789729718580911265,7733,0.23860867321491241,-1.846786618232727,-0.014680057764053345,0.518660306930542,1.755652904510498,0.11777947098016739,-0.8589628338813782,0.06046000123023987
+1789729718614232191,7766,0.23418867588043213,-1.845066785812378,-0.015085511840879917,0.522847056388855,1.753248929977417,0.11380742490291595,-0.8611671328544617,0.06046000123023987
+1789729718647566794,7800,0.2298463135957718,-1.8431670665740967,-0.015358496457338333,0.5271721482276917,1.7508429288864136,0.11010823398828506,-0.8634752631187439,0.06046000123023987
+1789729718680893949,7833,0.22412027418613434,-1.840287208557129,-0.01583228074014187,0.5331403613090515,1.7474654912948608,0.10535924881696701,-0.8663924336433411,0.06046000123023987
+1789729718714229842,7866,0.21968664228916168,-1.8379353284835815,-0.01640763133764267,0.5379635095596313,1.7450898885726929,0.1015690490603447,-0.8688055872917175,0.06046000123023987
+1789729718747559747,7900,0.2151535153388977,-1.8354588747024536,-0.01701100915670395,0.5430756211280823,1.7428414821624756,0.09755279868841171,-0.8714097142219543,0.06046000123023987
+1789729718780939625,7933,0.20926156640052795,-1.8318047523498535,-0.01759047992527485,0.5501317977905273,1.7395776510238647,0.09252144396305084,-0.8749315142631531,0.06046000123023987
+1789729718814233194,7966,0.20493517816066742,-1.828773021697998,-0.017958270385861397,0.5556983351707458,1.7370078563690186,0.08905166387557983,-0.8775360584259033,0.06046000123023987
+1789729718847583345,8000,0.2005116194486618,-1.8256109952926636,-0.018465396016836166,0.5616508722305298,1.7346155643463135,0.08544352650642395,-0.8803806900978088,0.06046000123023987
+1789729718880896292,8033,0.1944618821144104,-1.8212194442749023,-0.019150128588080406,0.5698151588439941,1.7314432859420776,0.08027651160955429,-0.8844260573387146,0.06046000123023987
+1789729718914231445,8066,0.19006812572479248,-1.8176580667495728,-0.019552115350961685,0.5760108232498169,1.7288005352020264,0.07665789127349854,-0.887237548828125,0.06046000123023987
+1789729718947591716,8100,0.18575766682624817,-1.813906192779541,-0.019958585500717163,0.5823925733566284,1.7261871099472046,0.07329590618610382,-0.8901446461677551,0.06046000123023987
+1789729718980899703,8133,0.1800592988729477,-1.8086127042770386,-0.020684601739048958,0.590710461139679,1.7225477695465088,0.06875029951334,-0.8936112523078918,0.06046000123023987
+1789729719014234562,8166,0.17597241699695587,-1.8045985698699951,-0.02124711684882641,0.5970244407653809,1.719856858253479,0.06536350399255753,-0.8961037397384644,0.06046000123023987
+1789729719047588986,8200,0.17214052379131317,-1.8007402420043945,-0.021558217704296112,0.6035875082015991,1.7176697254180908,0.062244292348623276,-0.8992928862571716,0.06046000123023987
+1789729719080897997,8233,0.1674211323261261,-1.795517086982727,-0.0216533076018095,0.6119486093521118,1.7146244049072266,0.05866686999797821,-0.9036204218864441,0.06046000123023987
+1789729719114228384,8266,0.16402846574783325,-1.7914263010025024,-0.021828800439834595,0.6179594993591309,1.7121065855026245,0.05613270401954651,-0.9064132571220398,0.06046000123023987
+1789729719147563011,8300,0.1606583148241043,-1.7874127626419067,-0.02212873101234436,0.6237680315971375,1.709701418876648,0.05347692593932152,-0.9091556072235107,0.06046000123023987
+1789729719180906637,8333,0.15631110966205597,-1.7821840047836304,-0.022482696920633316,0.6313653588294983,1.706601619720459,0.04992372542619705,-0.9129243493080139,0.06046000123023987
+1789729719214245624,8366,0.15323786437511444,-1.778303861618042,-0.022548791021108627,0.6372522115707397,1.7045220136642456,0.04752027615904808,-0.9159915447235107,0.06046000123023987
+1789729719247588070,8400,0.15015164017677307,-1.7742655277252197,-0.022535530850291252,0.6432852149009705,1.7023521661758423,0.04519367963075638,-0.9192469120025635,0.06046000123023987
+1789729719280915598,8433,0.1463514268398285,-1.7689976692199707,-0.022605404257774353,0.6503053307533264,1.6992242336273193,0.04235966131091118,-0.922371506690979,0.06046000123023987
+1789729719314229088,8466,0.1434890776872635,-1.764957070350647,-0.022771751508116722,0.6557472944259644,1.6968716382980347,0.04011806100606918,-0.9247133135795593,0.06046000123023987
+1789729719347566875,8500,0.14066927134990692,-1.7610769271850586,-0.022901004180312157,0.6614111065864563,1.6949822902679443,0.03783877566456795,-0.9274791479110718,0.06046000123023987
+1789729719380898712,8533,0.13707871735095978,-1.755912184715271,-0.022944757714867592,0.6686322689056396,1.6924517154693604,0.03489387407898903,-0.9309942722320557,0.06046000123023987
+1789729719414227830,8566,0.1345636248588562,-1.7519481182098389,-0.022945288568735123,0.6738167405128479,1.6904069185256958,0.0329609140753746,-0.9331465363502502,0.06046000123023987
+1789729719447562837,8600,0.13210506737232208,-1.7480510473251343,-0.02293824777007103,0.6790070533752441,1.6884405612945557,0.03110496513545513,-0.9354545474052429,0.06046000123023987
+1789729719480907603,8633,0.12888246774673462,-1.7431926727294922,-0.022919295355677605,0.6857548356056213,1.6862388849258423,0.028644800186157227,-0.9389108419418335,0.06046000123023987
+1789729719514231981,8666,0.12652957439422607,-1.7396814823150635,-0.022911541163921356,0.6905764937400818,1.6846362352371216,0.02682533487677574,-0.9414538145065308,0.06046000123023987
+1789729719547557389,8700,0.12429305911064148,-1.736289381980896,-0.022916778922080994,0.695222020149231,1.6831865310668945,0.025113282725214958,-0.9441168308258057,0.06046000123023987
+1789729719580897326,8733,0.12157442420721054,-1.7319719791412354,-0.022941816598176956,0.7009336352348328,1.6813641786575317,0.0229992363601923,-0.9476096034049988,0.0604499988257885
+1789729719614228213,8766,0.119789257645607,-1.7289189100265503,-0.022987807169556618,0.7047667503356934,1.6800315380096436,0.021539777517318726,-0.9501197338104248,0.0604499988257885
+1789729719647626533,8800,0.11816784739494324,-1.7260860204696655,-0.02301802672445774,0.7084817886352539,1.6789178848266602,0.020196115598082542,-0.9526483416557312,0.0604499988257885
+1789729719680956200,8833,0.11609359085559845,-1.722615361213684,-0.023028036579489708,0.7134004235267639,1.677809238433838,0.01842453144490719,-0.9564470052719116,0.0604499988257885
+1789729719714229755,8866,0.11452426016330719,-1.720055103302002,-0.02302645891904831,0.7169380187988281,1.67694890499115,0.017091529443860054,-0.9592202305793762,0.0604499988257885
+1789729719747555753,8900,0.11293596774339676,-1.7174731492996216,-0.023038191720843315,0.7202757596969604,1.675950527191162,0.01574959047138691,-0.9618787169456482,0.060440000146627426
+1789729719780914457,8933,0.11086718738079071,-1.714048147201538,-0.023073190823197365,0.7243253588676453,1.6744511127471924,0.013940437696874142,-0.9649689197540283,0.06040000170469284
+1789729719814239926,8966,0.10940278321504593,-1.711594581604004,-0.0231028962880373,0.7272525429725647,1.6734057664871216,0.012665782123804092,-0.9672296643257141,0.06035999953746796
+1789729719847594370,9000,0.10799705237150192,-1.7092885971069336,-0.023123037070035934,0.7302359342575073,1.6725549697875977,0.011355898343026638,-0.9696654677391052,0.060339998453855515
+1789729719880957624,9033,0.10618352144956589,-1.7063872814178467,-0.023136069998145103,0.7342700362205505,1.671716570854187,0.0096343494951725,-0.973235011100769,0.06032000109553337
+1789729719914234658,9066,0.10484129190444946,-1.7042136192321777,-0.023168301209807396,0.7372697591781616,1.6711431741714478,0.008305905386805534,-0.9760079383850098,0.06032000109553337
+1789729719947565676,9100,0.1035366877913475,-1.7018967866897583,-0.02324177511036396,0.7401798963546753,1.6704742908477783,0.006990040186792612,-0.9784960150718689,0.06032000109553337
+1789729719980899443,9133,0.10192684084177017,-1.6985881328582764,-0.023423833772540092,0.7439635992050171,1.669451117515564,0.005346621386706829,-0.9814926385879517,0.06032000109553337
+1789729720014236455,9166,0.10079393535852432,-1.6960545778274536,-0.023587459698319435,0.7468441724777222,1.6687240600585938,0.004136370960623026,-0.9836351871490479,0.060309998691082
+1789729720047564046,9200,0.09971176832914352,-1.6935914754867554,-0.023705819621682167,0.7497957944869995,1.6681100130081177,0.00299490406177938,-0.985917329788208,0.06030000001192093
+1789729720080983256,9233,0.09827806055545807,-1.6904327869415283,-0.023782024160027504,0.7538594603538513,1.6674271821975708,0.0015112514374777675,-0.9893180131912231,0.06029000133275986
+1789729720114243666,9266,0.09718813002109528,-1.6881026029586792,-0.02377934753894806,0.7569970488548279,1.6669996976852417,0.0003842873265966773,-0.9919319152832031,0.06029000133275986
+1789729720147559728,9300,0.09611669182777405,-1.6857043504714966,-0.023769576102495193,0.7600882053375244,1.666542887687683,-0.0007304976461455226,-0.994422972202301,0.05909999832510948
+1789729720180899798,9333,0.09477749466896057,-1.6822866201400757,-0.023749323561787605,0.7641004323959351,1.6657589673995972,-0.0021085094194859266,-0.9972526431083679,0.05855000019073486
+1789729720214233389,9366,0.0938500240445137,-1.6795432567596436,-0.023717882111668587,0.7671962976455688,1.6651066541671753,-0.0030644696671515703,-0.9991646409034729,0.05855000019073486
+1789729720247562510,9400,0.09300457686185837,-1.6766797304153442,-0.023632081225514412,0.7704705595970154,1.664499282836914,-0.0038914219476282597,-1.0010502338409424,0.05855000019073486
+1789729720280932426,9433,0.09198517352342606,-1.6727386713027954,-0.023448970168828964,0.7751036882400513,1.6638007164001465,-0.004885074682533741,-1.0036182403564453,0.05855000019073486
+1789729720314233680,9466,0.0912734866142273,-1.6697789430618286,-0.02327950857579708,0.7787010669708252,1.6633714437484741,-0.005569495260715485,-1.005562663078308,0.05855000019073486
+1789729720347562991,9500,0.09058427065610886,-1.666770577430725,-0.023082943633198738,0.7823255062103271,1.662977933883667,-0.006244293414056301,-1.0074512958526611,0.05855000019073486
+1789729720380897532,9533,0.0897325724363327,-1.6625720262527466,-0.022814977914094925,0.7871963977813721,1.6623481512069702,-0.007050765678286552,-1.0096224546432495,0.05855000019073486
+1789729720414232142,9566,0.08912771195173264,-1.6592656373977661,-0.022612644359469414,0.7909650206565857,1.6618826389312744,-0.007619486190378666,-1.0112768411636353,0.05855000019073486
+1789729720447567233,9600,0.08856505900621414,-1.6557940244674683,-0.022395731881260872,0.7948522567749023,1.6613630056381226,-0.008116576820611954,-1.0127618312835693,0.05855000019073486
+1789729720480912382,9633,0.08789344877004623,-1.6510405540466309,-0.022128954529762268,0.8000999689102173,1.6606814861297607,-0.008687573485076427,-1.0147087574005127,0.05855000019073486
+1789729720514229954,9666,0.08743998408317566,-1.6474982500076294,-0.02196161262691021,0.804043710231781,1.6602195501327515,-0.009099231101572514,-1.0160943269729614,0.05855000019073486
+1789729720547562695,9700,0.0869876965880394,-1.6439915895462036,-0.021781139075756073,0.8081051111221313,1.6598981618881226,-0.009528459049761295,-1.017636775970459,0.05855000019073486
+1789729720580911194,9733,0.08638790994882584,-1.6392018795013428,-0.02147470787167549,0.8137038350105286,1.6594916582107544,-0.010024884715676308,-1.0197652578353882,0.05855000019073486
+1789729720614236755,9766,0.08598405867815018,-1.6354371309280396,-0.021194100379943848,0.8179194331169128,1.6590577363967896,-0.010249871760606766,-1.0211981534957886,0.05855000019073486
+1789729720647634028,9800,0.0856555849313736,-1.6315383911132812,-0.020895441994071007,0.8219895958900452,1.6584357023239136,-0.010366123169660568,-1.0222283601760864,0.05855000019073486
+1789729720680900407,9833,0.08534853160381317,-1.6263588666915894,-0.020505188032984734,0.8275572061538696,1.6576951742172241,-0.010409333743155003,-1.023591160774231,0.05855000019073486
+1789729720714233517,9866,0.08510959148406982,-1.6225003004074097,-0.02015642076730728,0.8320278525352478,1.6574082374572754,-0.010416071861982346,-1.025024652481079,0.05855000019073486
+1789729720747565758,9900,0.08483725041151047,-1.618528127670288,-0.01973808743059635,0.8366274237632751,1.657058596611023,-0.010416372679173946,-1.0264718532562256,0.05855000019073486
+1789729720780910287,9933,0.08449912071228027,-1.613025188446045,-0.01920057274401188,0.8424184322357178,1.656304121017456,-0.010387219488620758,-1.0278220176696777,0.05855000019073486
+1789729720814300821,9966,0.08429141342639923,-1.6087019443511963,-0.0188150592148304,0.8468183279037476,1.6555665731430054,-0.010306973941624165,-1.0284987688064575,0.05855000019073486
+1789729720847565220,10000,0.08409981429576874,-1.6047488451004028,-0.018432527780532837,0.851182758808136,1.655139446258545,-0.010212681256234646,-1.0294620990753174,0.05855000019073486
+1789729720880900890,10033,0.0837811604142189,-1.599243402481079,-0.017789479345083237,0.8574650883674622,1.6546940803527832,-0.010053410194814205,-1.031143307685852,0.05855000019073486
+1789729720914230451,10066,0.08355409651994705,-1.595272183418274,-0.017324412241578102,0.8616144061088562,1.654179334640503,-0.009915098547935486,-1.032058596611023,0.05855000019073486
+1789729720947563712,10100,0.08335889130830765,-1.5911593437194824,-0.01688309945166111,0.8656773567199707,1.653455138206482,-0.009714119136333466,-1.032650351524353,0.05855000019073486
+1789729720980902052,10133,0.08311033993959427,-1.5859313011169434,-0.016318190842866898,0.871273934841156,1.6527621746063232,-0.009465126320719719,-1.033799409866333,0.05855000019073486
+1789729721014229648,10166,0.08285735547542572,-1.5821200609207153,-0.015830419957637787,0.8755801320075989,1.6524213552474976,-0.009334738366305828,-1.0350232124328613,0.05855000019073486
+1789729721047567332,10200,0.0825849249958992,-1.5782968997955322,-0.015299834311008453,0.8796592354774475,1.6519535779953003,-0.009146989323198795,-1.0361562967300415,0.05855000019073486
+1789729721080906735,10233,0.08225196599960327,-1.573124647140503,-0.014588399790227413,0.884649395942688,1.650894284248352,-0.008795388974249363,-1.0369739532470703,0.05855000019073486
+1789729721114232619,10266,0.082027368247509,-1.5693494081497192,-0.014071379788219929,0.8884745240211487,1.6501555442810059,-0.008510468527674675,-1.0376577377319336,0.05855000019073486
+1789729721147565943,10300,0.08177487552165985,-1.5657298564910889,-0.013523928821086884,0.8924968838691711,1.6497321128845215,-0.008275885134935379,-1.0388000011444092,0.05855000019073486
+1789729721180898837,10333,0.08135996758937836,-1.5609928369522095,-0.012712176889181137,0.8978287577629089,1.6491849422454834,-0.007998580113053322,-1.0403990745544434,0.05855000019073486
+1789729721214307881,10366,0.08104196190834045,-1.557343602180481,-0.012087552808225155,0.9015219211578369,1.6485352516174316,-0.007742533925920725,-1.0412628650665283,0.05855000019073486
+1789729721247624727,10400,0.08076454699039459,-1.5535926818847656,-0.011503276415169239,0.9050484895706177,1.6476837396621704,-0.00746906129643321,-1.0417611598968506,0.05855000019073486
+1789729721280932904,10433,0.08042092621326447,-1.5487128496170044,-0.010731086134910583,0.9099991321563721,1.6467885971069336,-0.007062171120196581,-1.042610764503479,0.05855000019073486
+1789729721314228583,10466,0.08009085804224014,-1.5451329946517944,-0.01007660012692213,0.9139867424964905,1.6463508605957031,-0.006829049438238144,-1.0436784029006958,0.05855000019073486
+1789729721347564496,10500,0.07973227649927139,-1.5414791107177734,-0.009400901384651661,0.9179151654243469,1.645867109298706,-0.0065697068348526955,-1.0447629690170288,0.05855000019073486
+1789729721380896840,10533,0.0792623907327652,-1.5362987518310547,-0.008501505479216576,0.9227614402770996,1.6447618007659912,-0.006150031462311745,-1.0453755855560303,0.05855000019073486
+1789729721414235793,10566,0.0789528638124466,-1.5322719812393188,-0.007858267053961754,0.9264368414878845,1.6437873840332031,-0.005797023884952068,-1.0455034971237183,0.05855000019073486
+1789729721447562888,10600,0.07863826304674149,-1.5283194780349731,-0.007204556837677956,0.9304763674736023,1.6431132555007935,-0.005458574276417494,-1.046057939529419,0.05855000019073486
+1789729721480899321,10633,0.07812211662530899,-1.5231257677078247,-0.006198574788868427,0.9361782073974609,1.6424678564071655,-0.005015040282160044,-1.0473787784576416,0.05855000019073486
+1789729721514225336,10666,0.0776650682091713,-1.5189242362976074,-0.005324891302734613,0.9403927326202393,1.641714096069336,-0.004638278391212225,-1.0481313467025757,0.05855000019073486
+1789729721547629260,10700,0.07724520564079285,-1.5148144960403442,-0.004490206483751535,0.944156289100647,1.6406893730163574,-0.004188796505331993,-1.0483496189117432,0.05855000019073486
+1789729721580913111,10733,0.07667186111211777,-1.5091913938522339,-0.003348380560055375,0.9496141672134399,1.6393979787826538,-0.0035677491687238216,-1.0487161874771118,0.05855000019073486
+1789729721614230396,10766,0.07614241540431976,-1.5049186944961548,-0.0023659346625208855,0.9541823267936707,1.6386897563934326,-0.0031408013310283422,-1.0496023893356323,0.05855000019073486
+1789729721647565120,10800,0.07559969276189804,-1.5008301734924316,-0.0013488208642229438,0.9583469033241272,1.6379315853118896,-0.0026774671860039234,-1.0503023862838745,0.05855000019073486
+1789729721680909242,10833,0.07486067712306976,-1.4948583841323853,0.00014080230903346092,0.9637146592140198,1.6362673044204712,-0.0018517684657126665,-1.050441026687622,0.05855000019073486
+1789729721714228428,10866,0.0743468850851059,-1.490346074104309,0.0012484649196267128,0.9678788185119629,1.6350361108779907,-0.0011414268519729376,-1.0504342317581177,0.05855000019073486
+1789729721747566601,10900,0.07380169630050659,-1.4859451055526733,0.002374726114794612,0.9722954630851746,1.6340570449829102,-0.0004890160635113716,-1.0509730577468872,0.05855000019073486
+1789729721780930921,10933,0.07296713441610336,-1.480172038078308,0.004008252173662186,0.9780969619750977,1.632817268371582,0.0003779986873269081,-1.0519968271255493,0.05855000019073486
+1789729721814242877,10966,0.07231787592172623,-1.4756004810333252,0.005316124297678471,0.9822322130203247,1.6314753293991089,0.0011397310299798846,-1.0522278547286987,0.05855000019073486
+1789729721847568042,11000,0.07173837721347809,-1.471397042274475,0.006501896306872368,0.9861103892326355,1.6302342414855957,0.0018676696345210075,-1.0522890090942383,0.05855000019073486
+1789729721880897986,11033,0.07093684375286102,-1.4658838510513306,0.008074847050011158,0.991641640663147,1.6289901733398438,0.002723127603530884,-1.0531911849975586,0.05855000019073486
+1789729721914295142,11066,0.07032497972249985,-1.4617817401885986,0.009228338487446308,0.9957097768783569,1.6281691789627075,0.0033415097277611494,-1.054101824760437,0.05855000019073486
+1789729721947555875,11100,0.06978808343410492,-1.4579566717147827,0.01021706685423851,0.999122679233551,1.627184510231018,0.0038700285367667675,-1.0545814037322998,0.05855000019073486
+1789729721980952821,11133,0.06914255768060684,-1.452789545059204,0.011419154703617096,1.0035362243652344,1.6257855892181396,0.004595308564603329,-1.0549594163894653,0.05855000019073486
+1789729722014228757,11166,0.06869683414697647,-1.4491281509399414,0.012223576195538044,1.0069645643234253,1.625041127204895,0.005051600281149149,-1.0556539297103882,0.05855000019073486
+1789729722047557204,11200,0.06824501603841782,-1.4455801248550415,0.013022031635046005,1.010430097579956,1.6244850158691406,0.005455726757645607,-1.0565739870071411,0.05855000019073486
+1789729722080892541,11233,0.0676376149058342,-1.4409310817718506,0.014102083630859852,1.014906883239746,1.6236934661865234,0.006003296934068203,-1.0577971935272217,0.05855000019073486
+1789729722114234217,11266,0.06721668690443039,-1.4373477697372437,0.014886527322232723,1.0179417133331299,1.6229023933410645,0.006428281310945749,-1.0583115816116333,0.05855000019073486
+1789729722147559275,11300,0.06685841828584671,-1.4337576627731323,0.015593514777719975,1.0208443403244019,1.6220253705978394,0.006879361812025309,-1.058524489402771,0.05855000019073486
+1789729722180895061,11333,0.06640893965959549,-1.4291729927062988,0.01645527593791485,1.0250121355056763,1.6212589740753174,0.007360150571912527,-1.0592941045761108,0.05855000019073486
+1789729722214229088,11366,0.06601496785879135,-1.4257832765579224,0.017141254618763924,1.0283163785934448,1.6208789348602295,0.00768285384401679,-1.0601919889450073,0.05855000019073486
+1789729722247557036,11400,0.06558996438980103,-1.4222691059112549,0.017872240394353867,1.0316346883773804,1.6203904151916504,0.008054022677242756,-1.060975432395935,0.05855000019073486
+1789729722280899591,11433,0.06502819806337357,-1.4173954725265503,0.01889362744987011,1.0357919931411743,1.6194331645965576,0.008657535538077354,-1.061535358428955,0.05855000019073486
+1789729722314233618,11466,0.06466925144195557,-1.4137145280838013,0.01961504854261875,1.0387787818908691,1.618593454360962,0.009157060645520687,-1.0616786479949951,0.05855000019073486
+1789729722347559156,11500,0.06432599574327469,-1.4101531505584717,0.020320726558566093,1.0419167280197144,1.6179627180099487,0.009626753628253937,-1.0621142387390137,0.05855000019073486
+1789729722380899982,11533,0.06376998126506805,-1.405375599861145,0.021375088021159172,1.046399474143982,1.6172946691513062,0.010253495536744595,-1.0630474090576172,0.05855000019073486
+1789729722414285162,11566,0.06335350126028061,-1.4019367694854736,0.022153355181217194,1.0495243072509766,1.6167285442352295,0.010723330080509186,-1.0637016296386719,0.05855000019073486
+1789729722447556747,11600,0.06288954615592957,-1.398207187652588,0.023032860830426216,1.052734136581421,1.615965723991394,0.01129087619483471,-1.0641167163848877,0.05855000019073486
+1789729722480882845,11633,0.0623139850795269,-1.3935340642929077,0.02416696771979332,1.0566350221633911,1.6149022579193115,0.012013361789286137,-1.064415693283081,0.05855000019073486
+1789729722514226170,11666,0.061861488968133926,-1.390019416809082,0.025060757994651794,1.059664249420166,1.6141793727874756,0.012558834627270699,-1.0647531747817993,0.05855000019073486
+1789729722547560917,11700,0.06136681139469147,-1.38637113571167,0.02601488307118416,1.0628435611724854,1.613493800163269,0.013097931630909443,-1.065179467201233,0.05855000019073486
+1789729722580907322,11733,0.06071735918521881,-1.3815497159957886,0.027277851477265358,1.0669347047805786,1.6124991178512573,0.013863877393305302,-1.0656274557113647,0.05855000019073486
+1789729722614231220,11766,0.060232751071453094,-1.3778623342514038,0.02820301428437233,1.069951057434082,1.611661434173584,0.01446843147277832,-1.065826654434204,0.05855000019073486
+1789729722647559678,11800,0.05977463722229004,-1.3743661642074585,0.029079042375087738,1.0729219913482666,1.6109250783920288,0.015042868442833424,-1.066088080406189,0.05855000019073486
+1789729722680891505,11833,0.0591079518198967,-1.3695429563522339,0.03031339682638645,1.0771106481552124,1.6100460290908813,0.015765991061925888,-1.0667039155960083,0.05855000019073486
+1789729722714222122,11866,0.05860808864235878,-1.3660527467727661,0.03122609294950962,1.0800292491912842,1.6093366146087646,0.016278821974992752,-1.0670642852783203,0.05855000019073486
+1789729722747574187,11900,0.058122195303440094,-1.3625714778900146,0.03212825581431389,1.0828546285629272,1.6085789203643799,0.01681027002632618,-1.0673496723175049,0.05855000019073486
+1789729722780897445,11933,0.057511404156684875,-1.3580533266067505,0.03337316960096359,1.0864847898483276,1.607539176940918,0.01763620786368847,-1.0677564144134521,0.05855000019073486
+1789729722814289104,11966,0.057074662297964096,-1.354823350906372,0.03429453819990158,1.0892361402511597,1.6068308353424072,0.018267685547471046,-1.0681709051132202,0.05855000019073486
+1789729722847561369,12000,0.05659116059541702,-1.3517318964004517,0.03522393852472305,1.0920380353927612,1.6063178777694702,0.018811212852597237,-1.0688917636871338,0.05855000019073486
+1789729722880898175,12033,0.05586273595690727,-1.3475016355514526,0.03656182438135147,1.0955779552459717,1.605419397354126,0.01954021118581295,-1.0695726871490479,0.05855000019073486
+1789729722914226463,12066,0.055323101580142975,-1.3441426753997803,0.03760547935962677,1.098074197769165,1.604503870010376,0.0201561339199543,-1.0696688890457153,0.05855000019073486
+1789729722947557030,12100,0.05479272082448006,-1.3406411409378052,0.03872058168053627,1.1006178855895996,1.6034832000732422,0.020887339487671852,-1.0696635246276855,0.05855000019073486
+1789729722980899086,12133,0.05409029498696327,-1.335895299911499,0.04029412195086479,1.1043264865875244,1.602213740348816,0.022003524005413055,-1.069605827331543,0.05855000019073486
+1789729723014227069,12166,0.05351731553673744,-1.3323774337768555,0.04152756929397583,1.107347846031189,1.6014153957366943,0.022835109382867813,-1.069750189781189,0.05855000019073486
+1789729723047564818,12200,0.05289682000875473,-1.328938603401184,0.042792148888111115,1.1103641986846924,1.6006749868392944,0.02363966405391693,-1.0703879594802856,0.05855000019073486
+1789729723080905667,12233,0.05206052213907242,-1.3244587182998657,0.044467292726039886,1.1139554977416992,1.5995019674301147,0.02472851052880287,-1.0707207918167114,0.05855000019073486
+1789729723114236957,12266,0.05148404464125633,-1.3212122917175293,0.04566115140914917,1.1162580251693726,1.5984526872634888,0.025547323748469353,-1.0707173347473145,0.05855000019073486
+1789729723147593254,12300,0.050956062972545624,-1.3182040452957153,0.04681963473558426,1.1183912754058838,1.5974668264389038,0.026318786665797234,-1.0705459117889404,0.05855000019073486
+1789729723180911006,12333,0.05032918602228165,-1.3147531747817993,0.04822353273630142,1.1211754083633423,1.5964982509613037,0.027263779193162918,-1.070509672164917,0.05855000019073486
+1789729723214239486,12366,0.04986576363444328,-1.3126903772354126,0.049142152070999146,1.1230024099349976,1.5959832668304443,0.027806555852293968,-1.0708670616149902,0.05855000019073486
+1789729723247565657,12400,0.04943687841296196,-1.3111037015914917,0.04990341514348984,1.124338984489441,1.5954972505569458,0.028269590809941292,-1.0712602138519287,0.05855000019073486
+1789729723280898867,12433,0.0489678755402565,-1.3097255229949951,0.05068168044090271,1.1253223419189453,1.5947229862213135,0.028754571452736855,-1.0713249444961548,0.05855000019073486
+1789729723314243306,12466,0.048697713762521744,-1.30924654006958,0.05114435404539108,1.125650405883789,1.594298005104065,0.02905651554465294,-1.0713239908218384,0.05855000019073486
+1789729723347565997,12500,0.04846625775098801,-1.3090993165969849,0.051564544439315796,1.125767707824707,1.5939390659332275,0.02926291897892952,-1.071325659751892,0.05855000019073486
+1789729723380914065,12533,0.04819337651133537,-1.3091247081756592,0.052080925554037094,1.1257797479629517,1.593565583229065,0.02953246422111988,-1.0713632106781006,0.05855000019073486
+1789729723414233177,12566,0.04800118878483772,-1.309149146080017,0.05243581160902977,1.1257615089416504,1.5932892560958862,0.0297254491597414,-1.0714274644851685,0.05855000019073486
+1789729723447566996,12600,0.04781509190797806,-1.3091610670089722,0.052783966064453125,1.1257268190383911,1.5929688215255737,0.029931198805570602,-1.0714339017868042,0.05855000019073486
+1789729723480972437,12633,0.04757785052061081,-1.309173583984375,0.05323723703622818,1.125707745552063,1.5925791263580322,0.03020489029586315,-1.0714292526245117,0.05855000019073486
+1789729723514237625,12666,0.04742162674665451,-1.3091884851455688,0.053544461727142334,1.125707983970642,1.5923221111297607,0.03040127642452717,-1.0714292526245117,0.05855000019073486
+1789729723547564156,12700,0.04727008566260338,-1.3092073202133179,0.05384574830532074,1.125699758529663,1.5920923948287964,0.03059900365769863,-1.0714325904846191,0.05855000019073486
+1789729723580909854,12733,0.04707133769989014,-1.3092215061187744,0.054233990609645844,1.1256768703460693,1.5917540788650513,0.030819784849882126,-1.0714350938796997,0.05858999863266945
+1789729723614291958,12766,0.04693013057112694,-1.3092352151870728,0.05451371520757675,1.125669002532959,1.591512680053711,0.03099709562957287,-1.0714356899261475,0.05860999971628189
+1789729723647566666,12800,0.04679213836789131,-1.30925452709198,0.05477476119995117,1.1256680488586426,1.591294765472412,0.031161479651927948,-1.0714390277862549,0.05908000096678734
+1789729723680902915,12833,0.046610649675130844,-1.3092848062515259,0.05511705204844475,1.1256438493728638,1.5909970998764038,0.03136453777551651,-1.071441888809204,0.06032999977469444
+1789729723714304636,12866,0.04647840932011604,-1.3093047142028809,0.05537157878279686,1.1256152391433716,1.5907822847366333,0.0315350741147995,-1.0714389085769653,0.06032999977469444
+1789729723747567495,12900,0.04634319990873337,-1.3093339204788208,0.05564252287149429,1.1255844831466675,1.590561866760254,0.03169082850217819,-1.0714352130889893,0.06350000202655792
+1789729723780957198,12933,0.04616370424628258,-1.309374213218689,0.05598615109920502,1.1255452632904053,1.5902608633041382,0.03191107511520386,-1.0714377164840698,0.06937000155448914
+1789729723814316684,12966,0.046024300158023834,-1.3094043731689453,0.056226227432489395,1.1255178451538086,1.5900534391403198,0.032033175230026245,-1.0714399814605713,0.07506000250577927
+1789729723847577233,13000,0.04589279368519783,-1.3094342947006226,0.05645802989602089,1.1254922151565552,1.5898540019989014,0.03216167539358139,-1.0714423656463623,0.0787699967622757
+1789729723880899175,13033,0.04571203142404556,-1.3094745874404907,0.05677913874387741,1.1254626512527466,1.5895861387252808,0.03233381360769272,-1.071445107460022,0.08004999905824661
+1789729723914307045,13066,0.04557420685887337,-1.3095051050186157,0.05704805627465248,1.1254363059997559,1.5893510580062866,0.032495319843292236,-1.0714460611343384,0.08004999905824661
+1789729723947641925,13100,0.04543812945485115,-1.309537649154663,0.05732308328151703,1.1254091262817383,1.5891281366348267,0.03266385942697525,-1.0714458227157593,0.08006999641656876
+1789729723980959607,13133,0.04526093602180481,-1.3095804452896118,0.05767998844385147,1.125360131263733,1.5888344049453735,0.032882124185562134,-1.0714421272277832,0.08005999773740768
+1789729724014286233,13166,0.0451325923204422,-1.3096160888671875,0.05792756378650665,1.1253176927566528,1.5886218547821045,0.03302804380655289,-1.071438193321228,0.08004999905824661
+1789729724047642382,13200,0.04499658942222595,-1.3096508979797363,0.05817678943276405,1.1252799034118652,1.5883994102478027,0.033169422298669815,-1.0714315176010132,0.08004999905824661
+1789729724080961147,13233,0.044796548783779144,-1.3097000122070312,0.0585373193025589,1.125239372253418,1.5880955457687378,0.033369798213243484,-1.0714290142059326,0.08004999905824661
+1789729724114297070,13266,0.04465064778923988,-1.3097351789474487,0.058806490153074265,1.1252111196517944,1.5878618955612183,0.0335259772837162,-1.0714303255081177,0.08004999905824661
+1789729724147626073,13300,0.04452195018529892,-1.3097691535949707,0.0590706504881382,1.125179409980774,1.5876458883285522,0.03368955850601196,-1.0714306831359863,0.08004999905824661
+1789729724180896193,13333,0.04434232413768768,-1.3098191022872925,0.05943281203508377,1.125125765800476,1.587342381477356,0.03390166163444519,-1.071426510810852,0.08004999905824661
+1789729724214307537,13366,0.04418652504682541,-1.3098610639572144,0.059732116758823395,1.1250817775726318,1.5870918035507202,0.03407609462738037,-1.0714185237884521,0.08004999905824661
+1789729724247644889,13400,0.044026557356119156,-1.3099043369293213,0.06004565209150314,1.125035047531128,1.5868141651153564,0.034263648092746735,-1.0714125633239746,0.08004999905824661
+1789729724280901481,13433,0.04380331560969353,-1.3099626302719116,0.060471441596746445,1.1249767541885376,1.586455225944519,0.03450842574238777,-1.0714080333709717,0.08004999905824661
+1789729724314234884,13466,0.04363394156098366,-1.3100051879882812,0.06078314408659935,1.1249371767044067,1.5861872434616089,0.03468126431107521,-1.0714070796966553,0.08004999905824661
+1789729724347633159,13500,0.0434626005589962,-1.3100471496582031,0.06109461560845375,1.1248996257781982,1.5859242677688599,0.03487132489681244,-1.0714055299758911,0.08004999905824661
+1789729724380905059,13533,0.04322374612092972,-1.3101109266281128,0.06152980402112007,1.124843716621399,1.5855690240859985,0.03511366993188858,-1.0713999271392822,0.08004999905824661
+1789729724414232302,13566,0.04304126277565956,-1.3101657629013062,0.0618615448474884,1.1247947216033936,1.585263729095459,0.03529171273112297,-1.071394443511963,0.08004999905824661
+1789729724447627358,13600,0.042860738933086395,-1.3102219104766846,0.06219380721449852,1.124739408493042,1.5849871635437012,0.035466935485601425,-1.0713911056518555,0.08004999905824661
+1789729724480907087,13633,0.0426250584423542,-1.3102920055389404,0.06262391060590744,1.1246678829193115,1.5846086740493774,0.03571931645274162,-1.0713865756988525,0.08004999905824661
+1789729724514284004,13666,0.04244042932987213,-1.3103389739990234,0.0629570260643959,1.1246192455291748,1.5843161344528198,0.03589288145303726,-1.0713822841644287,0.08004999905824661
+1789729724547626136,13700,0.04225022345781326,-1.310388207435608,0.06330940127372742,1.12457275390625,1.5840154886245728,0.036090366542339325,-1.0713766813278198,0.08004999905824661
+1789729724580899146,13733,0.04199247434735298,-1.3104532957077026,0.06380800902843475,1.1245051622390747,1.5835942029953003,0.036401938647031784,-1.0713695287704468,0.08004999905824661
+1789729724614226060,13766,0.041786640882492065,-1.310506820678711,0.0641740933060646,1.1244559288024902,1.583275556564331,0.03659662976861,-1.071360468864441,0.08004999905824661
+1789729724647566702,13800,0.04157901182770729,-1.3105652332305908,0.06454396992921829,1.1244045495986938,1.5829541683197021,0.03680196404457092,-1.0713566541671753,0.08004999905824661
+1789729724680903414,13833,0.041308701038360596,-1.3106513023376465,0.06501990556716919,1.124328851699829,1.5825419425964355,0.037049949169158936,-1.0713555812835693,0.08004999905824661
+1789729724714292590,13866,0.041096802800893784,-1.3107131719589233,0.06538359075784683,1.124275803565979,1.5822175741195679,0.037226054817438126,-1.0713509321212769,0.08004999905824661
+1789729724747565740,13900,0.04089229553937912,-1.310766577720642,0.06575766950845718,1.1242321729660034,1.5819127559661865,0.03743823617696762,-1.0713491439819336,0.08004999905824661
+1789729724780902633,13933,0.04062861204147339,-1.3108357191085815,0.0662580206990242,1.124162197113037,1.5814824104309082,0.03772259131073952,-1.0713499784469604,0.08004999905824661
+1789729724814241455,13966,0.04043707996606827,-1.3108911514282227,0.06661996245384216,1.124104619026184,1.581167459487915,0.03792386129498482,-1.0713473558425903,0.08004999905824661
+1789729724847565848,14000,0.040248025208711624,-1.310949444770813,0.0669744461774826,1.1240450143814087,1.5808707475662231,0.038133684545755386,-1.0713300704956055,0.08004999905824661
+1789729724880902241,14033,0.03998710587620735,-1.3110241889953613,0.06743118911981583,1.123979926109314,1.5804688930511475,0.03836427256464958,-1.0713119506835938,0.08004999905824661
+1789729724914292776,14066,0.039787136018276215,-1.311079740524292,0.06778853386640549,1.123936414718628,1.580172061920166,0.0385621003806591,-1.071310043334961,0.08004999905824661
+1789729724947561897,14100,0.0395851768553257,-1.31112802028656,0.06814321875572205,1.1238986253738403,1.5798581838607788,0.0387524738907814,-1.0713108777999878,0.08004999905824661
+1789729724980903559,14133,0.03932680934667587,-1.311191201210022,0.06857776641845703,1.1238479614257812,1.5794830322265625,0.038987115025520325,-1.0713140964508057,0.08004999905824661
+1789729725014249855,14166,0.03913932666182518,-1.311244010925293,0.06890513002872467,1.123798131942749,1.5791943073272705,0.039153970777988434,-1.0713151693344116,0.08004999905824661
+1789729725047576012,14200,0.038958095014095306,-1.311307430267334,0.06924290210008621,1.12373685836792,1.578913688659668,0.03933987021446228,-1.0713125467300415,0.08004999905824661
+1789729725080905668,14233,0.03872393071651459,-1.3113930225372314,0.06968431174755096,1.1236454248428345,1.5785377025604248,0.03957902640104294,-1.0712875127792358,0.08004999905824661
+1789729725114237294,14266,0.03853907063603401,-1.3114585876464844,0.07003103196620941,1.123572587966919,1.5782222747802734,0.03976557403802872,-1.0712668895721436,0.08004999905824661
+1789729725147563460,14300,0.03835373371839523,-1.311524510383606,0.07035604119300842,1.123508334159851,1.5779545307159424,0.03993278741836548,-1.071251630783081,0.08004999905824661
+1789729725180902315,14333,0.03812895342707634,-1.3116010427474976,0.07075933367013931,1.1234359741210938,1.5776082277297974,0.04015139862895012,-1.071243405342102,0.08004999905824661
+1789729725214235491,14366,0.037956394255161285,-1.3116562366485596,0.07106316089630127,1.1233885288238525,1.5773425102233887,0.04031188786029816,-1.0712413787841797,0.08004999905824661
+1789729725247561147,14400,0.03777948394417763,-1.3117146492004395,0.07137994468212128,1.123336911201477,1.5770820379257202,0.04047476500272751,-1.0712448358535767,0.08004999905824661
+1789729725280897552,14433,0.0375499501824379,-1.3117985725402832,0.07179111987352371,1.1232622861862183,1.57672917842865,0.04069941118359566,-1.0712475776672363,0.08004999905824661
+1789729725314235207,14466,0.037377793341875076,-1.3118617534637451,0.0720989778637886,1.1232036352157593,1.5764572620391846,0.04084717854857445,-1.0712459087371826,0.08004999905824661
+1789729725347564373,14500,0.037204284220933914,-1.311923861503601,0.07240220904350281,1.1231459379196167,1.5762040615081787,0.041003767400979996,-1.071229100227356,0.08004999905824661
+1789729725380903678,14533,0.03697919100522995,-1.311995267868042,0.07281222194433212,1.1230769157409668,1.5758448839187622,0.04123526066541672,-1.0712181329727173,0.08004999905824661
+1789729725414232114,14566,0.03680456057190895,-1.3120455741882324,0.0731220692396164,1.1230316162109375,1.575576901435852,0.04140112176537514,-1.0712077617645264,0.08004999905824661
+1789729725447562570,14600,0.036621734499931335,-1.3121007680892944,0.07343937456607819,1.1229841709136963,1.5753110647201538,0.04156613349914551,-1.0712032318115234,0.08004999905824661
+1789729725480898605,14633,0.036395031958818436,-1.3121720552444458,0.073861263692379,1.1229166984558105,1.574940800666809,0.041812963783741,-1.071205735206604,0.08004999905824661
+1789729725514235581,14666,0.03621654585003853,-1.3122284412384033,0.07418698817491531,1.1228666305541992,1.5746694803237915,0.041979193687438965,-1.0712026357650757,0.08004999905824661
+1789729725547565057,14700,0.0360395647585392,-1.312281847000122,0.07452134788036346,1.1228216886520386,1.5743896961212158,0.04216648265719414,-1.0711966753005981,0.08004999905824661
+1789729725580912321,14733,0.03580499440431595,-1.3123524188995361,0.07495652139186859,1.1227617263793945,1.5740200281143188,0.042417220771312714,-1.0711866617202759,0.08004999905824661
+1789729725614255855,14766,0.03562929853796959,-1.3124046325683594,0.07527749985456467,1.122718095779419,1.5737566947937012,0.04259425774216652,-1.071184515953064,0.08004999905824661
+1789729725647580561,14800,0.03544589877128601,-1.3124583959579468,0.07561379671096802,1.1226739883422852,1.5734703540802002,0.04279610887169838,-1.071179747581482,0.08004999905824661
+1789729725680910267,14833,0.0352003388106823,-1.3125298023223877,0.07610958814620972,1.1226093769073486,1.573045253753662,0.043092627078294754,-1.0711709260940552,0.08004999905824661
+1789729725714228385,14866,0.035018160939216614,-1.3125884532928467,0.0764782503247261,1.1225552558898926,1.5727410316467285,0.04331168159842491,-1.0711679458618164,0.08004999905824661
+1789729725747564890,14900,0.03483333811163902,-1.3126521110534668,0.07683859765529633,1.122502326965332,1.572452187538147,0.043513018637895584,-1.071168303489685,0.08004999905824661
+1789729725780900665,14933,0.03457445278763771,-1.3127458095550537,0.07731592655181885,1.1224290132522583,1.5720579624176025,0.043777916580438614,-1.0711702108383179,0.08004999905824661
+1789729725814293194,14966,0.034373749047517776,-1.31281316280365,0.07767660170793533,1.1223758459091187,1.5717519521713257,0.043965503573417664,-1.0711703300476074,0.08004999905824661
+1789729725847608951,15000,0.034174636006355286,-1.3128812313079834,0.07804102450609207,1.1223206520080566,1.5714579820632935,0.04417841136455536,-1.0711714029312134,0.08004999905824661
+1789729725880900582,15033,0.03392080217599869,-1.3129634857177734,0.07851200550794601,1.1222330331802368,1.571031928062439,0.04444362595677376,-1.0711489915847778,0.08004999905824661
+1789729725914225579,15066,0.03373326361179352,-1.3130269050598145,0.07886127382516861,1.12216317653656,1.5707213878631592,0.04463108256459236,-1.0711266994476318,0.08004999905824661
+1789729725947626016,15100,0.03353641927242279,-1.3131004571914673,0.07923483103513718,1.1220892667770386,1.5704129934310913,0.04483269155025482,-1.0711175203323364,0.08004999905824661
+1789729725980920536,15133,0.03326268121600151,-1.3131980895996094,0.07976295799016953,1.122007966041565,1.5699751377105713,0.04513726383447647,-1.0711145401000977,0.08004999905824661
diff --git a/episode_0008/right.observation.state/data.jsonl b/episode_0008/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..213a4aafb2b7dfe27f15ece6dd2f6cac13830fbd
--- /dev/null
+++ b/episode_0008/right.observation.state/data.jsonl
@@ -0,0 +1,455 @@
+{"timestamp_ns": 1789729710847580356, "elapsed_ms": 0, "source_timestamp_ns": 1789729710839175979, "q": [0.02382008358836174, -1.684633731842041, -0.04866109415888786, 0.7578970789909363, 1.6340339183807373, -0.06455600261688232, -0.9198622107505798], "theta": [0.021477622911334038, -1.6835914850234985, -0.0498918741941452, 0.741434633731842, 1.6338670253753662, -0.06447720527648926, -0.9209849238395691], "dq": [0.012892080470919609, 0.003483188571408391, -0.021351125091314316, 0.004709686618298292, 0.027618685737252235, -0.011250090785324574, -0.0008194562396965921], "dtheta": [0.011774982325732708, 0.004578321240842342, -0.022354232147336006, 0.005863767117261887, 0.02560383826494217, -0.009345905855298042, 0.00034735052031464875], "tau": [-61.84000015258789, 0.3700000047683716, -25.112001419067383, 1.2920000553131104, -3.4600002765655518, 3.3440001010894775, -0.41600000858306885], "tau_des": [-1.586456298828125, 1.2057973146438599, -1.0726540088653564, -0.1827370524406433, 0.6473381519317627, -0.34998252987861633, -0.43365907669067383], "tau_dot": [17.44245147705078, -27.40226173400879, -7.27170991897583, 38.27653503417969, -3.1699159145355225, -31.36509895324707, 68.32361602783203], "tau_ext": [15.324299812316895, -35.834163665771484, -35.87966537475586, 20.00423240661621, -3.0236623287200928, -6.518801212310791, 0.3139585852622986], "tcp_pose": [0.6406616568565369, -0.12181728333234787, -0.2825304865837097, -0.006154174916446209, -0.02466108277440071, 0.9994881749153137, 0.019425364211201668], "tcp_vel": [-4.8907390009844676e-05, 0.0009205314563587308, -0.0016875513829290867, 0.0013332946691662073, 0.00040450628148391843, -0.0004779840528499335], "flange_pose": [0.6431810855865479, -0.12913747131824493, -0.09268827736377716, -0.006154174916446209, -0.02466108277440071, 0.9994881749153137, 0.019425364211201668], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.479594230651855, -50.564273834228516, -11.875879287719727, -3.8044416904449463, 11.860204696655273, 0.34217360615730286], "ext_wrench_in_world": [-9.825420168473585, -51.540345269944204, 10.028783444114644, 3.2131528807326233, 12.03846781602725, 0.07909492288261076]}
+{"timestamp_ns": 1789729710881001937, "elapsed_ms": 33, "source_timestamp_ns": 1789729710879178724, "q": [0.024257289245724678, -1.6844747066497803, -0.049626708030700684, 0.7581110000610352, 1.635066270828247, -0.06494428217411041, -0.9198647737503052], "theta": [0.021928567439317703, -1.6834321022033691, -0.05074917897582054, 0.741662323474884, 1.6348713636398315, -0.06485950946807861, -0.9209856390953064], "dq": [0.011190062388777733, 0.004788645077496767, -0.021725375205278397, 0.005500578787177801, 0.02444116398692131, -0.011262103915214539, 0.0014154959935694933], "dtheta": [0.010334545746445656, 0.0033857112284749746, -0.020744437351822853, 0.005517175421118736, 0.024550236761569977, -0.009607615880668163, 3.8962054532021284e-05], "tau": [-61.939998626708984, 0.3499999940395355, -25.14000129699707, 1.3160001039505005, -3.440000057220459, 3.384000062942505, -0.4360000193119049], "tau_des": [-1.52617609500885, 1.3612669706344604, -1.112288236618042, -0.26056385040283203, 0.6241058111190796, -0.32666465640068054, -0.4465116858482361], "tau_dot": [-93.3977279663086, -21.16775131225586, 59.531982421875, -3.366694688796997, 37.6204719543457, 21.855045318603516, -13.20638656616211], "tau_ext": [15.311208724975586, -35.86790084838867, -35.848026275634766, 20.02329444885254, -3.031365394592285, -6.524206638336182, 0.3295305669307709], "tcp_pose": [0.6406633257865906, -0.12180954217910767, -0.2825492024421692, -0.006150835659354925, -0.02465922012925148, 0.9994882345199585, 0.01942475140094757], "tcp_vel": [-0.00031502480851486325, 0.0006361387204378843, -0.0013396249851211905, 0.002439328236505389, -0.00024533967371098697, -0.0010510634165257215], "flange_pose": [0.6431814432144165, -0.1291295289993286, -0.09270697087049484, -0.006150835659354925, -0.02465922012925148, 0.9994882345199585, 0.01942475140094757], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.497002601623535, -50.52570343017578, -11.834840774536133, -3.79490065574646, 11.864255905151367, 0.3482593297958374], "ext_wrench_in_world": [-9.845506873259119, -51.50108339318722, 9.989476514526043, 3.2033905914421066, 12.04226063252742, 0.07328920544195279]}
+{"timestamp_ns": 1789729710914338209, "elapsed_ms": 66, "source_timestamp_ns": 1789729710909179760, "q": [0.02456357143819332, -1.6843622922897339, -0.05028597638010979, 0.7582588791847229, 1.6357675790786743, -0.06520787626504898, -0.9198663830757141], "theta": [0.02224232628941536, -1.6833187341690063, -0.05134084075689316, 0.7418195009231567, 1.635550856590271, -0.06511926651000977, -0.9209858775138855], "dq": [0.010374797508120537, 0.0038285560440272093, -0.016015037894248962, 0.0032845791429281235, 0.019499728456139565, -0.007021458353847265, -0.0017107612220570445], "dtheta": [0.010593061335384846, 0.0036392284091562033, -0.0189195666462183, 0.004882656969130039, 0.020327184349298477, -0.0072977072559297085, -0.00036372526665218174], "tau": [-62.02000045776367, 0.3700000047683716, -25.23600196838379, 1.3640000820159912, -3.448000192642212, 3.392000198364258, -0.45600003004074097], "tau_des": [-1.726049542427063, 1.27363121509552, -1.2348589897155762, -0.17706359922885895, 0.6917508244514465, -0.3211721181869507, -0.4300677180290222], "tau_dot": [-59.813087463378906, 105.014892578125, -39.1127815246582, 34.47616195678711, 15.91626262664795, -29.413742065429688, -21.10243034362793], "tau_ext": [15.354201316833496, -35.834007263183594, -35.810585021972656, 20.006587982177734, -3.035146951675415, -6.534139633178711, 0.3286716043949127], "tcp_pose": [0.6406630873680115, -0.12180306762456894, -0.2825663685798645, -0.006153279449790716, -0.024659039452672005, 0.9994882941246033, 0.019422702491283417], "tcp_vel": [-0.00047779586748220026, 0.0002670965623110533, -0.001630178070627153, -0.0002000933891395107, 0.0015680413926020265, 8.992026414489374e-05], "flange_pose": [0.6431821584701538, -0.12912225723266602, -0.09272412210702896, -0.006153279449790716, -0.024659039452672005, 0.9994882941246033, 0.019422702491283417], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.506567001342773, -50.48830795288086, -11.820505142211914, -3.786658525466919, 11.86514663696289, 0.3506656885147095], "ext_wrench_in_world": [-9.857048082852065, -51.46363854673232, 9.976989052048564, 3.195086799979718, 12.042833586517938, 0.07094701019377408]}
+{"timestamp_ns": 1789729710947649055, "elapsed_ms": 100, "source_timestamp_ns": 1789729710939201024, "q": [0.02486269362270832, -1.6842519044876099, -0.050928208976984024, 0.7584061026573181, 1.6364600658416748, -0.06544705480337143, -0.9198672771453857], "theta": [0.022547883912920952, -1.6832088232040405, -0.05192587152123451, 0.7419765591621399, 1.6362265348434448, -0.06535649299621582, -0.9209858775138855], "dq": [0.012394927442073822, 0.004671141039580107, -0.01932959444820881, 0.00552172027528286, 0.017997633665800095, -0.006027624476701021, -0.0008485444122925401], "dtheta": [0.009830549359321594, 0.0038042019587010145, -0.020022878423333168, 0.0055614314042031765, 0.023598432540893555, -0.008863355964422226, -0.0007780985906720161], "tau": [-62.0099983215332, 0.3400000035762787, -25.23200035095215, 1.3600000143051147, -3.4120001792907715, 3.4080002307891846, -0.4320000112056732], "tau_des": [-1.6087158918380737, 1.174773097038269, -1.2007924318313599, -0.1556839644908905, 0.5872054100036621, -0.32287871837615967, -0.43216705322265625], "tau_dot": [62.64055252075195, -16.079267501831055, -4.0606865882873535, -52.29941177368164, -14.778067588806152, 50.05146026611328, -14.658364295959473], "tau_ext": [15.397928237915039, -35.812469482421875, -35.76932907104492, 19.994173049926758, -3.033947467803955, -6.545298099517822, 0.329135000705719], "tcp_pose": [0.6406673192977905, -0.12179907411336899, -0.2825826406478882, -0.006146676372736692, -0.024657655507326126, 0.9994884729385376, 0.01941673457622528], "tcp_vel": [-3.380524867679924e-05, 0.0007969480357132852, -0.0011464140843600035, 0.0019923828076571226, -0.0006238466594368219, 0.0001179194005089812], "flange_pose": [0.6431838274002075, -0.12911607325077057, -0.0927402600646019, -0.006146676372736692, -0.024657655507326126, 0.9994884729385376, 0.01941673457622528], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.52203369140625, -50.46027755737305, -11.762670516967773, -3.778907299041748, 11.866466522216797, 0.3498542904853821], "ext_wrench_in_world": [-9.874922085954305, -51.43405700217538, 9.920940011908598, 3.1873262630457178, 12.043727087625312, 0.07180009688975822]}
+{"timestamp_ns": 1789729710981000045, "elapsed_ms": 133, "source_timestamp_ns": 1789729710979178372, "q": [0.025236379355192184, -1.684106707572937, -0.051770102232694626, 0.7586109042167664, 1.6373451948165894, -0.06580141931772232, -0.9198676943778992], "theta": [0.02292735129594803, -1.683063268661499, -0.052699681371450424, 0.7421925663948059, 1.6370947360992432, -0.06570911407470703, -0.9209854006767273], "dq": [0.009557566605508327, 0.002775333821773529, -0.019048232585191727, 0.004083652049303055, 0.021342284977436066, -0.007694852072745562, -7.60614057071507e-06], "dtheta": [0.00901375338435173, 0.003738976316526532, -0.018817206844687462, 0.005354128312319517, 0.021641947329044342, -0.00874284841120243, 7.064728561090305e-05], "tau": [-61.98999786376953, 0.29999998211860657, -25.220001220703125, 1.4160000085830688, -3.448000192642212, 3.380000114440918, -0.4360000193119049], "tau_des": [-1.6005971431732178, 1.1930344104766846, -1.2298550605773926, -0.1898040771484375, 0.6218501329421997, -0.2774655222892761, -0.47216466069221497], "tau_dot": [-104.60700988769531, 33.63758087158203, 66.93601989746094, -10.232089042663574, -68.14532470703125, -37.9686393737793, -10.120950698852539], "tau_ext": [15.397900581359863, -35.77786636352539, -35.752655029296875, 19.972017288208008, -3.0324642658233643, -6.546766757965088, 0.3319927155971527], "tcp_pose": [0.6406610608100891, -0.12179163843393326, -0.2825935184955597, -0.006149965804070234, -0.024650003761053085, 0.9994886517524719, 0.01941731385886669], "tcp_vel": [-0.00013157039938960224, 0.0008176135597750545, -0.0009170598350465298, 0.001832099398598075, -0.00011756987078115344, -0.0006444772006943822], "flange_pose": [0.6431787610054016, -0.12910883128643036, -0.0927511602640152, -0.006149965804070234, -0.024650003761053085, 0.9994886517524719, 0.01941731385886669], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.527491569519043, -50.40435791015625, -11.754424095153809, -3.7669360637664795, 11.867488861083984, 0.3481009006500244], "ext_wrench_in_world": [-9.883936786907237, -51.37805906653113, 9.91497187674752, 3.175526949212811, 12.04403868654463, 0.07371652006022933]}
+{"timestamp_ns": 1789729711014326024, "elapsed_ms": 166, "source_timestamp_ns": 1789729711009172093, "q": [0.025490818545222282, -1.6840040683746338, -0.052350010722875595, 0.7587579488754272, 1.6379693746566772, -0.0660398006439209, -0.919872522354126], "theta": [0.023184413090348244, -1.6829615831375122, -0.05324332416057587, 0.7423492670059204, 1.637704610824585, -0.06594860553741455, -0.920989990234375], "dq": [0.009321337565779686, 0.0027954839169979095, -0.014109079726040363, 0.006780148018151522, 0.01683160476386547, -0.007353258319199085, -0.001896919566206634], "dtheta": [0.008319404907524586, 0.0034065761137753725, -0.016964897513389587, 0.004494654014706612, 0.017601745203137398, -0.008015856146812439, -0.0008300479385070503], "tau": [-61.94999694824219, 0.3400000035762787, -25.264001846313477, 1.412000060081482, -3.4200000762939453, 3.4000000953674316, -0.4400000274181366], "tau_des": [-1.5625745058059692, 1.1865609884262085, -1.274632215499878, -0.15864503383636475, 0.6641237139701843, -0.2700399160385132, -0.46223047375679016], "tau_dot": [-53.68211364746094, -23.274484634399414, 2.2946739196777344, 6.417008399963379, 28.747501373291016, -10.803677558898926, 15.885234832763672], "tau_ext": [15.317933082580566, -35.830692291259766, -35.78282928466797, 19.993806838989258, -3.04388165473938, -6.543356895446777, 0.33507370948791504], "tcp_pose": [0.6406609416007996, -0.12178480625152588, -0.2825997769832611, -0.006142950151115656, -0.024645792320370674, 0.9994887113571167, 0.019419953227043152], "tcp_vel": [-0.00047338896547444165, 0.0005215006531216204, -0.0007822705083526671, 0.0005481025436893106, 0.0016132808523252606, 0.0006501285824924707], "flange_pose": [0.6431759595870972, -0.12910309433937073, -0.0927574411034584, -0.006142950151115656, -0.024645792320370674, 0.9994887113571167, 0.019419953227043152], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.523425102233887, -50.40620803833008, -11.79080581665039, -3.7712490558624268, 11.87089729309082, 0.3476448059082031], "ext_wrench_in_world": [-9.879887767416712, -51.381074514582814, 9.950783201877524, 3.1797773939399825, 12.047608231856385, 0.074367413721877]}
+{"timestamp_ns": 1789729711047668310, "elapsed_ms": 200, "source_timestamp_ns": 1789729711039194989, "q": [0.02573983557522297, -1.6839067935943604, -0.05290484055876732, 0.7588930726051331, 1.6385611295700073, -0.06626706570386887, -0.9198770523071289], "theta": [0.02343565970659256, -1.6828652620315552, -0.053775809705257416, 0.7424920201301575, 1.6382797956466675, -0.06617558002471924, -0.9209945201873779], "dq": [0.008474180474877357, 0.0015654769958928227, -0.01293324213474989, 0.004928310867398977, 0.019729414954781532, -0.007909449748694897, -0.0014778184704482555], "dtheta": [0.0085998410359025, 0.003111474681645632, -0.01817709021270275, 0.004634957294911146, 0.018730344250798225, -0.006747726816684008, -0.0003170122508890927], "tau": [-62.029998779296875, 0.28999999165534973, -25.30000114440918, 1.4480000734329224, -3.4280002117156982, 3.4000000953674316, -0.4400000274181366], "tau_des": [-1.53882896900177, 1.275799036026001, -1.1946756839752197, -0.21501147747039795, 0.6670482754707336, -0.31362685561180115, -0.4833069443702698], "tau_dot": [-93.2923812866211, -66.86495971679688, 12.800832748413086, 16.488691329956055, 20.966228485107422, -29.938369750976562, 6.926519393920898], "tau_ext": [15.38415813446045, -35.807464599609375, -35.747684478759766, 19.98409080505371, -3.038562536239624, -6.553224563598633, 0.3377731144428253], "tcp_pose": [0.6406601667404175, -0.12177852541208267, -0.2826088070869446, -0.006141045596450567, -0.024644048884510994, 0.9994887709617615, 0.019420556724071503], "tcp_vel": [-0.0002899249957408756, -0.00017502983973827213, -0.00043743118294514716, -0.000920172082260251, 0.00035319075686857104, -0.0002524718292988837], "flange_pose": [0.643174409866333, -0.12909704446792603, -0.09276646375656128, -0.006141045596450567, -0.024644048884510994, 0.9994887709617615, 0.019420556724071503], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.52591609954834, -50.38905334472656, -11.781209945678711, -3.7682032585144043, 11.87283992767334, 0.3483729362487793], "ext_wrench_in_world": [-9.883563853381505, -51.36368472327185, 9.941792398719803, 3.1766733810160246, 12.049412871708011, 0.07377754268744216]}
+{"timestamp_ns": 1789729711081000877, "elapsed_ms": 233, "source_timestamp_ns": 1789729711079179803, "q": [0.02607819251716137, -1.6837784051895142, -0.05364178493618965, 0.7590739727020264, 1.639346957206726, -0.06655710190534592, -0.9198932647705078], "theta": [0.023775549605488777, -1.682738184928894, -0.054503366351127625, 0.7426820397377014, 1.6390433311462402, -0.06646335124969482, -0.9210118055343628], "dq": [0.007641799747943878, 0.005524267442524433, -0.015251204371452332, 0.006014125421643257, 0.0227128304541111, -0.006692735943943262, -0.002235946711152792], "dtheta": [0.00847853347659111, 0.0029438179917633533, -0.018863070756196976, 0.00527287507429719, 0.0177200585603714, -0.005792183335870504, -0.0003605568199418485], "tau": [-61.97999954223633, 0.29999998211860657, -25.26000213623047, 1.4920001029968262, -3.4120001792907715, 3.3960001468658447, -0.4440000355243683], "tau_des": [-1.5099232196807861, 1.4356282949447632, -1.086424708366394, -0.3151840269565582, 0.7347815632820129, -0.356440007686615, -0.4906497299671173], "tau_dot": [-80.84967041015625, 71.16027069091797, 7.644997596740723, -1.3365410566329956, 50.17000198364258, -24.166025161743164, 24.247316360473633], "tau_ext": [15.368691444396973, -35.822044372558594, -35.74610137939453, 19.980127334594727, -3.0421979427337646, -6.563469409942627, 0.3449961245059967], "tcp_pose": [0.6406582593917847, -0.12177365273237228, -0.28262436389923096, -0.006138427183032036, -0.02464578114449978, 0.9994888305664062, 0.019416773691773415], "tcp_vel": [-0.0006590531556867063, -0.001074660918675363, 0.0001400495384586975, -0.0030075532849878073, 0.00042322976514697075, -0.001019293675199151], "flange_pose": [0.6431715488433838, -0.12909077107906342, -0.09278193861246109, -0.006138427183032036, -0.02464578114449978, 0.9994888305664062, 0.019416773691773415], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.514779090881348, -50.37166213989258, -11.76551628112793, -3.7668063640594482, 11.880949020385742, 0.3495417833328247], "ext_wrench_in_world": [-9.873381156156642, -51.34513198141334, 9.926992603353298, 3.17482382735088, 12.057493221416028, 0.0728707651314617]}
+{"timestamp_ns": 1789729711114337564, "elapsed_ms": 266, "source_timestamp_ns": 1789729711109184302, "q": [0.02632135897874832, -1.6836870908737183, -0.05417526513338089, 0.7592099905014038, 1.6399295330047607, -0.06676822900772095, -0.9199190139770508], "theta": [0.024019354954361916, -1.6826472282409668, -0.05504276603460312, 0.7428248524665833, 1.6396089792251587, -0.06667530536651611, -0.9210388660430908], "dq": [0.008561987429857254, 0.002872088458389044, -0.015954455360770226, 0.006296735722571611, 0.017813853919506073, -0.009145993739366531, -0.0023758765310049057], "dtheta": [0.007588820997625589, 0.0028199858497828245, -0.017918258905410767, 0.004837649408727884, 0.01898185908794403, -0.007223508786410093, -0.001179583021439612], "tau": [-61.90999984741211, 0.29999998211860657, -25.224000930786133, 1.5120000839233398, -3.440000057220459, 3.4240002632141113, -0.4480000138282776], "tau_des": [-1.4869227409362793, 1.2587493658065796, -1.203606367111206, -0.21019014716148376, 0.6211572885513306, -0.29694345593452454, -0.45350921154022217], "tau_dot": [-72.26013946533203, -48.799190521240234, -8.744608879089355, 8.152000427246094, -8.354019165039062, 43.16691970825195, 34.47050857543945], "tau_ext": [15.323769569396973, -35.82394027709961, -35.76737976074219, 19.980947494506836, -3.0442161560058594, -6.563736438751221, 0.3503298759460449], "tcp_pose": [0.6406575441360474, -0.12176962941884995, -0.28263571858406067, -0.006130235269665718, -0.024651125073432922, 0.9994887113571167, 0.01941869780421257], "tcp_vel": [-0.0002433671907056123, -0.00017307372763752937, 4.576828359859064e-05, -0.00014236960851121694, -0.0006272907485254109, 0.00014192593516781926], "flange_pose": [0.6431677937507629, -0.12908753752708435, -0.0927932858467102, -0.006130235269665718, -0.024651125073432922, 0.9994887113571167, 0.01941869780421257], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.501395225524902, -50.368980407714844, -11.805997848510742, -3.7712550163269043, 11.888972282409668, 0.3517143428325653], "ext_wrench_in_world": [-9.859243661805934, -51.34349702698974, 9.967009709698022, 3.1787186275828634, 12.06583716645958, 0.07106805309482833]}
+{"timestamp_ns": 1789729711147662632, "elapsed_ms": 300, "source_timestamp_ns": 1789729711139171803, "q": [0.026556219905614853, -1.6835968494415283, -0.054689329117536545, 0.7593462467193604, 1.64048433303833, -0.0669768750667572, -0.9199353456497192], "theta": [0.024254389107227325, -1.6825578212738037, -0.05557648837566376, 0.7429662942886353, 1.6401458978652954, -0.06688475608825684, -0.9210568070411682], "dq": [0.007501749321818352, 0.005255730822682381, -0.010813874192535877, 0.0029848753474652767, 0.02043643221259117, -0.006777516566216946, -0.0020158994011580944], "dtheta": [0.007967153564095497, 0.0029336633160710335, -0.018006911501288414, 0.0050347778014838696, 0.017723126336932182, -0.005870163440704346, -0.0004046294779982418], "tau": [-61.88999938964844, 0.2199999988079071, -25.272001266479492, 1.5200001001358032, -3.4240002632141113, 3.4280002117156982, -0.4400000274181366], "tau_des": [-1.567781686782837, 1.3256796598434448, -1.2034629583358765, -0.25627240538597107, 0.6635420918464661, -0.3102608025074005, -0.472917377948761], "tau_dot": [87.63955688476562, -26.195709228515625, -27.47003746032715, 10.505777359008789, 44.240272521972656, 60.48060989379883, 42.71147918701172], "tau_ext": [15.319018363952637, -35.80050277709961, -35.76243591308594, 19.960956573486328, -3.039292812347412, -6.571911811828613, 0.35246530175209045], "tcp_pose": [0.6406534314155579, -0.12176558375358582, -0.28264668583869934, -0.006126700900495052, -0.02465065009891987, 0.9994887113571167, 0.019420422613620758], "tcp_vel": [-0.0004067583940923214, -0.0007145985728129745, 0.00010376716090831906, -0.0020894696936011314, -0.0001321134768659249, -0.0007515538018196821], "flange_pose": [0.6431623101234436, -0.12908418476581573, -0.09280428290367126, -0.006126700900495052, -0.02465065009891987, 0.9994887113571167, 0.019420422613620758], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.471383094787598, -50.37910842895508, -11.86292552947998, -3.781203031539917, 11.900154113769531, 0.3544413447380066], "ext_wrench_in_world": [-9.828148160495926, -51.35433699115305, 10.022900799957288, 3.188082333539672, 12.077590802964982, 0.06873423281128105]}
+{"timestamp_ns": 1789729711180998748, "elapsed_ms": 333, "source_timestamp_ns": 1789729711179181164, "q": [0.02687152475118637, -1.6834752559661865, -0.0553673692047596, 0.7595210075378418, 1.6412279605865479, -0.06725291907787323, -0.9199500679969788], "theta": [0.024568291381001472, -1.6824393272399902, -0.05631353706121445, 0.743149995803833, 1.6408647298812866, -0.06715953350067139, -0.9210736155509949], "dq": [0.00921669416129589, 0.00031976221362128854, -0.013757003471255302, 0.004684786312282085, 0.0186904463917017, -0.006224630866199732, -0.00020137331739533693], "dtheta": [0.00789429247379303, 0.0028055075090378523, -0.018432561308145523, 0.0048867445439100266, 0.018877122551202774, -0.007223091553896666, -0.0012972503900527954], "tau": [-61.98999786376953, 0.26999998092651367, -25.316001892089844, 1.5240000486373901, -3.4600002765655518, 3.432000160217285, -0.4520000219345093], "tau_des": [-1.6635841131210327, 1.2228491306304932, -1.3106863498687744, -0.20719465613365173, 0.5855743885040283, -0.2313554883003235, -0.4546363651752472], "tau_dot": [-10.845855712890625, 89.74966430664062, -41.71930694580078, -23.749494552612305, -19.116497039794922, -1.8380881547927856, 23.042648315429688], "tau_ext": [15.334972381591797, -35.79984664916992, -35.752262115478516, 19.961339950561523, -3.0327863693237305, -6.5734543800354, 0.3527016341686249], "tcp_pose": [0.6406522989273071, -0.12175484001636505, -0.28266608715057373, -0.006120599340647459, -0.024650657549500465, 0.9994885921478271, 0.019426854327321053], "tcp_vel": [-0.0003843528975266963, -0.00037910413811914623, 7.918018673080951e-05, -0.000723942881450057, -0.00020301448239479214, 0.00022656893997918814], "flange_pose": [0.6431589126586914, -0.12907594442367554, -0.09282372891902924, -0.006120599340647459, -0.024650657549500465, 0.9994885921478271, 0.019426854327321053], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.446666717529297, -50.367393493652344, -11.909919738769531, -3.785931348800659, 11.908347129821777, 0.35511836409568787], "ext_wrench_in_world": [-9.803552377248485, -51.34336113649775, 10.069243064864123, 3.1923965925119893, 12.086026035702794, 0.06852193164365727]}
+{"timestamp_ns": 1789729711214322147, "elapsed_ms": 366, "source_timestamp_ns": 1789729711209191432, "q": [0.02709992229938507, -1.683395504951477, -0.05586374178528786, 0.7596354484558105, 1.6417574882507324, -0.06744848936796188, -0.9199571013450623], "theta": [0.024795550853013992, -1.6823627948760986, -0.0568644255399704, 0.7432706952095032, 1.6413757801055908, -0.06735646724700928, -0.9210817217826843], "dq": [0.008213083259761333, 0.0021741054952144623, -0.017487658187747, 0.005841503385454416, 0.016175176948308945, -0.005251574795693159, 0.0014890284510329366], "dtheta": [0.0072258771397173405, 0.0025008691009134054, -0.017914822325110435, 0.0034787103068083525, 0.017009291797876358, -0.0048002814874053, -0.00025989540154114366], "tau": [-61.94999694824219, 0.20999999344348907, -25.288002014160156, 1.5840001106262207, -3.444000244140625, 3.4080002307891846, -0.46400001645088196], "tau_des": [-1.5201725959777832, 1.1796451807022095, -1.2283371686935425, -0.13804538547992706, 0.6227013468742371, -0.3144746720790863, -0.4592781066894531], "tau_dot": [-10.516744613647461, -70.91653442382812, -51.225467681884766, 38.05750274658203, -32.36118698120117, -27.294591903686523, 15.018420219421387], "tau_ext": [15.371040344238281, -35.79280090332031, -35.73508071899414, 19.946189880371094, -3.020995616912842, -6.579582214355469, 0.3483732044696808], "tcp_pose": [0.6406511068344116, -0.12175365537405014, -0.2826767861843109, -0.0061190081760287285, -0.02465074323117733, 0.9994886517524719, 0.01942446455359459], "tcp_vel": [0.00027047356707043946, -0.0009260382503271103, 0.0006843126029707491, -0.0032394560985267162, -0.000945448293350637, 0.00020919329836033285], "flange_pose": [0.6431571245193481, -0.1290738582611084, -0.09283439815044403, -0.0061190081760287285, -0.02465074323117733, 0.9994886517524719, 0.01942446455359459], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.4506254196167, -50.39003372192383, -11.86279010772705, -3.786470651626587, 11.907495498657227, 0.3506116271018982], "ext_wrench_in_world": [-9.807043623837032, -51.3642910003179, 10.021520162681524, 3.1930345363925685, 12.085029907793787, 0.07293926490316874]}
+{"timestamp_ns": 1789729711247705547, "elapsed_ms": 400, "source_timestamp_ns": 1789729711239211899, "q": [0.02731393836438656, -1.6833277940750122, -0.05635436624288559, 0.759728729724884, 1.6422779560089111, -0.06763626635074615, -0.9199633002281189], "theta": [0.02500907890498638, -1.6822988986968994, -0.05740358680486679, 0.7433687448501587, 1.6418781280517578, -0.06754636764526367, -0.9210882186889648], "dq": [0.00757052656263113, 0.0031680800020694733, -0.01543361321091652, 0.002180936746299267, 0.017590614035725594, -0.0043103015050292015, -0.0030314833857119083], "dtheta": [0.007407050114125013, 0.0019625516142696142, -0.01876000314950943, 0.002931655617430806, 0.01751953735947609, -0.0077753751538693905, -0.0003222863597329706], "tau": [-61.87999725341797, 0.2199999988079071, -25.2080020904541, 1.592000126838684, -3.448000192642212, 3.384000062942505, -0.46800002455711365], "tau_des": [-1.5640238523483276, 1.2078946828842163, -1.2022777795791626, -0.1379898488521576, 0.6218802332878113, -0.2825284004211426, -0.4443359971046448], "tau_dot": [-105.11968994140625, -42.22306442260742, -7.264415740966797, 3.945805788040161, -14.19920825958252, -79.03565216064453, -3.961515188217163], "tau_ext": [15.305150985717773, -35.76133728027344, -35.76747131347656, 19.934825897216797, -3.018131971359253, -6.582011699676514, 0.35033631324768066], "tcp_pose": [0.6406563520431519, -0.1217561587691307, -0.28267937898635864, -0.006111619994044304, -0.024654967710375786, 0.9994887113571167, 0.019418999552726746], "tcp_vel": [-0.0002759984927251935, -0.0006504573975689709, 0.0005672072875313461, -0.0014719052705913782, 0.0008773044683039188, 0.0003622443473432213], "flange_pose": [0.6431595683097839, -0.1290743499994278, -0.09283685684204102, -0.006111619994044304, -0.024654967710375786, 0.9994887113571167, 0.019418999552726746], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.445496559143066, -50.3549919128418, -11.889631271362305, -3.7791764736175537, 11.909637451171875, 0.34792569279670715], "ext_wrench_in_world": [-9.803016536758097, -51.33007335642017, 10.050042931228294, 3.1855796337213453, 12.086729981899378, 0.07571041330368]}
+{"timestamp_ns": 1789729711281008238, "elapsed_ms": 433, "source_timestamp_ns": 1789729711279196883, "q": [0.027594134211540222, -1.6832447052001953, -0.057055216282606125, 0.7598448395729065, 1.6430079936981201, -0.06797408312559128, -0.9199634790420532], "theta": [0.0252865981310606, -1.6822218894958496, -0.058171626180410385, 0.7434898018836975, 1.6425853967666626, -0.06788647174835205, -0.921088457107544], "dq": [0.0080751683562994, 0.0018257996998727322, -0.012307957746088505, 0.001932348357513547, 0.019540652632713318, -0.00814840104430914, -0.0008949663606472313], "dtheta": [0.007273316383361816, 0.0021414393559098244, -0.019547244533896446, 0.0031664599664509296, 0.018922405317425728, -0.009644046425819397, 0.00025947546237148345], "tau": [-61.77000045776367, 0.2199999988079071, -25.244001388549805, 1.628000020980835, -3.496000051498413, 3.448000192642212, -0.4480000138282776], "tau_des": [-1.494728922843933, 1.1229113340377808, -1.1861687898635864, -0.11795979738235474, 0.5866494178771973, -0.19597075879573822, -0.445319265127182], "tau_dot": [58.468833923339844, 58.785221099853516, -48.76595687866211, 60.046897888183594, -71.91761016845703, 74.06462860107422, -2.1442530155181885], "tau_ext": [15.22087574005127, -35.758426666259766, -35.82673263549805, 19.93770980834961, -3.0224151611328125, -6.5770416259765625, 0.3483944833278656], "tcp_pose": [0.640655517578125, -0.12175115197896957, -0.2826724648475647, -0.006115807686001062, -0.02465866506099701, 0.9994882941246033, 0.01943390630185604], "tcp_vel": [-0.00029079380328767, -0.00017237880092579871, 0.0006610255804844201, 6.563984061358497e-05, 0.0009651139844208956, -0.00018406857270747423], "flange_pose": [0.6431604623794556, -0.12907494604587555, -0.09283019602298737, -0.006115807686001062, -0.02465866506099701, 0.9994882941246033, 0.01943390630185604], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.430628776550293, -50.34343719482422, -12.030369758605957, -3.7825090885162354, 11.915862083435059, 0.3461442291736603], "ext_wrench_in_world": [-9.786409742311712, -51.32360042458335, 10.189515234381155, 3.188537423560593, 12.093060034806268, 0.07802638443792602]}
+{"timestamp_ns": 1789729711314341745, "elapsed_ms": 466, "source_timestamp_ns": 1789729711309174695, "q": [0.02781658060848713, -1.6831846237182617, -0.0575825460255146, 0.7599344253540039, 1.6435744762420654, -0.06820866465568542, -0.9199635982513428], "theta": [0.025507086887955666, -1.682165503501892, -0.058760758489370346, 0.7435820698738098, 1.6431366205215454, -0.0681225061416626, -0.9210882186889648], "dq": [0.01022351160645485, 0.004291072953492403, -0.017704060301184654, 0.0032393252477049828, 0.019883446395397186, -0.006713236216455698, -0.00048574258107692003], "dtheta": [0.007216728758066893, 0.002021094784140587, -0.01915661059319973, 0.0028785397298634052, 0.019465843215584755, -0.005909374449402094, -0.00027666156529448926], "tau": [-61.78999710083008, 0.20999999344348907, -25.152000427246094, 1.6480001211166382, -3.444000244140625, 3.4240002632141113, -0.4520000219345093], "tau_des": [-1.3756811618804932, 1.099290370941162, -1.147700548171997, -0.06922590732574463, 0.5448207259178162, -0.2902703285217285, -0.4297882914543152], "tau_dot": [-44.619789123535156, 64.01557922363281, 87.23617553710938, -43.612613677978516, 14.929580688476562, -11.138895034790039, -14.786709785461426], "tau_ext": [15.272425651550293, -35.7394905090332, -35.803035736083984, 19.92091941833496, -3.010558605194092, -6.590378284454346, 0.3407849967479706], "tcp_pose": [0.6406571865081787, -0.12175051867961884, -0.2826743423938751, -0.0061117662116885185, -0.02465948835015297, 0.999488115310669, 0.019442925229668617], "tcp_vel": [0.0006131029804237187, -0.0007743708556517959, 0.0008463844424113631, -0.002040175022557378, -0.001962935086339712, 0.0004774449625983834], "flange_pose": [0.6431607007980347, -0.12907777726650238, -0.09283217787742615, -0.0061117662116885185, -0.02465948835015297, 0.999488115310669, 0.019442925229668617], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.445106506347656, -50.324832916259766, -12.047466278076172, -3.779148817062378, 11.914944648742676, 0.33942046761512756], "ext_wrench_in_world": [-9.801563061926894, -51.306608732611515, 10.206477826702223, 3.1852977152104787, 12.091721669099453, 0.08499153162160217]}
+{"timestamp_ns": 1789729711347650245, "elapsed_ms": 500, "source_timestamp_ns": 1789729711339190572, "q": [0.028035754337906837, -1.683121919631958, -0.058088112622499466, 0.7600347995758057, 1.6441229581832886, -0.06841780990362167, -0.9199629426002502], "theta": [0.02572438307106495, -1.6821064949035645, -0.05933649465441704, 0.7436837553977966, 1.6436694860458374, -0.06833446025848389, -0.9210875034332275], "dq": [0.006756715942174196, 0.0031958608888089657, -0.013935393653810024, 0.00168807792942971, 0.016144568100571632, -0.006607063580304384, 0.0009001685539260507], "dtheta": [0.006928678136318922, 0.0020541104022413492, -0.019270217046141624, 0.003517391625791788, 0.01731601357460022, -0.007291756570339203, 0.00045155209954828024], "tau": [-61.7599983215332, 0.25, -25.156002044677734, 1.628000020980835, -3.440000057220459, 3.4000000953674316, -0.46800002455711365], "tau_des": [-1.3301947116851807, 1.2643481492996216, -1.0875043869018555, -0.19210262596607208, 0.6063632965087891, -0.2750034034252167, -0.4674128293991089], "tau_dot": [24.451034545898438, -1.8854950666427612, -18.277225494384766, -43.38125991821289, 38.40222930908203, -72.11882019042969, -50.81869888305664], "tau_ext": [15.198283195495605, -35.78007888793945, -35.8616943359375, 19.93033218383789, -3.0122177600860596, -6.588551044464111, 0.3401903510093689], "tcp_pose": [0.6406579613685608, -0.12175290286540985, -0.282678484916687, -0.006103323772549629, -0.024655338376760483, 0.9994882345199585, 0.01944698393344879], "tcp_vel": [-0.0002904421999119222, -0.0010490288259461522, 0.0011727084638550878, -0.002508974401280284, 0.00028648183797486126, -0.0008742933860048652], "flange_pose": [0.6431582570075989, -0.12908180058002472, -0.09283636510372162, -0.006103323772549629, -0.024655338376760483, 0.9994882345199585, 0.01944698393344879], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.430363655090332, -50.32603454589844, -12.09094524383545, -3.7822771072387695, 11.923731803894043, 0.3330053985118866], "ext_wrench_in_world": [-9.786822022170936, -51.30875641816979, 10.249111187290863, 3.1881789389867805, 12.100370599298028, 0.09186541906398979]}
+{"timestamp_ns": 1789729711381007689, "elapsed_ms": 533, "source_timestamp_ns": 1789729711379195424, "q": [0.028324251994490623, -1.6830358505249023, -0.058772120624780655, 0.7601744532585144, 1.6448453664779663, -0.06872221827507019, -0.9199648499488831], "theta": [0.026009388267993927, -1.6820234060287476, -0.06011965125799179, 0.7438235878944397, 1.644370675086975, -0.06864023208618164, -0.9210891723632812], "dq": [0.007122770883142948, 0.0008502319687977433, -0.022183118388056755, 0.003391976933926344, 0.017251983284950256, -0.008275030180811882, -0.0005237864679656923], "dtheta": [0.007432836573570967, 0.0014684097841382027, -0.020748060196638107, 0.0034443584736436605, 0.018641700968146324, -0.00814767461270094, -0.0006678059580735862], "tau": [-61.78999710083008, 0.19999998807907104, -25.184001922607422, 1.628000020980835, -3.4800002574920654, 3.4800002574920654, -0.4440000355243683], "tau_des": [-1.3655301332473755, 1.4534697532653809, -1.0009965896606445, -0.2997320592403412, 0.6367473006248474, -0.25538966059684753, -0.46867722272872925], "tau_dot": [-29.789756774902344, -78.97693634033203, -13.404511451721191, -30.66303253173828, 31.4280948638916, 48.24756622314453, -15.023143768310547], "tau_ext": [15.177063941955566, -35.8328742980957, -35.90380096435547, 19.947603225708008, -3.0022079944610596, -6.592020034790039, 0.33621907234191895], "tcp_pose": [0.640652060508728, -0.12175509333610535, -0.2826789915561676, -0.0061020562425255775, -0.024649733677506447, 0.9994882345199585, 0.01945454441010952], "tcp_vel": [-0.0005781613872386515, -0.0014533847570419312, 0.001254701754078269, -0.0024709103163331747, 0.00044304702896624804, -0.00017344030493404716], "flange_pose": [0.6431518793106079, -0.12908688187599182, -0.09283697605133057, -0.0061020562425255775, -0.024649733677506447, 0.9994882345199585, 0.01945454441010952], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.407153129577637, -50.36134338378906, -12.179080963134766, -3.7957828044891357, 11.9334077835083, 0.32649242877960205], "ext_wrench_in_world": [-9.761352423406288, -51.34629123385093, 10.334734863648777, 3.2014155326605462, 12.11040730020233, 0.09878938631376794]}
+{"timestamp_ns": 1789729711414320779, "elapsed_ms": 566, "source_timestamp_ns": 1789729711409201143, "q": [0.02855004370212555, -1.6829708814620972, -0.0593278594315052, 0.760266900062561, 1.645423412322998, -0.06896673142910004, -0.9199718832969666], "theta": [0.02623269148170948, -1.6819597482681274, -0.06073391065001488, 0.7439178824424744, 1.6449321508407593, -0.06888377666473389, -0.9210956692695618], "dq": [0.008366509340703487, 0.0008724034996703267, -0.021688414737582207, 0.0021824396681040525, 0.023322615772485733, -0.006270163226872683, 8.988157787825912e-06], "dtheta": [0.00738037982955575, 0.002103721024468541, -0.020638620480895042, 0.0031875241547822952, 0.019757771864533424, -0.00811336562037468, 0.0005603245226666331], "tau": [-61.709999084472656, 0.17999999225139618, -25.1200008392334, 1.6840001344680786, -3.4720001220703125, 3.440000057220459, -0.47600001096725464], "tau_des": [-1.29157555103302, 1.2189915180206299, -1.0058602094650269, -0.16803193092346191, 0.5779373645782471, -0.25840461254119873, -0.4610733091831207], "tau_dot": [-95.29651641845703, -48.757545471191406, -41.329139709472656, -12.167423248291016, -9.653356552124023, -7.824228286743164, -49.02295684814453], "tau_ext": [15.164994239807129, -35.780879974365234, -35.909854888916016, 19.909025192260742, -2.990804672241211, -6.597682952880859, 0.3405666947364807], "tcp_pose": [0.640654444694519, -0.12175675481557846, -0.2826732397079468, -0.006099935155361891, -0.024655980989336967, 0.9994879961013794, 0.019457003101706505], "tcp_vel": [0.00011485175491543487, -0.0007337333518080413, 0.0011205857153981924, -0.0016607121797278523, -0.00043693886254914105, -0.00047647589235566556], "flange_pose": [0.6431535482406616, -0.12908947467803955, -0.09283123910427094, -0.006099935155361891, -0.024655980989336967, 0.9994879961013794, 0.019457003101706505], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.381159782409668, -50.4030876159668, -12.196605682373047, -3.8065671920776367, 11.945043563842773, 0.32404831051826477], "ext_wrench_in_world": [-9.73252358035536, -51.38751581707103, 10.350012167131952, 3.211496977913981, 12.122499035667182, 0.10164215931789819]}
+{"timestamp_ns": 1789729711447650506, "elapsed_ms": 600, "source_timestamp_ns": 1789729711439174556, "q": [0.0287703238427639, -1.6829107999801636, -0.05989598482847214, 0.760358452796936, 1.6460150480270386, -0.06922142207622528, -0.9199734330177307], "theta": [0.02645103447139263, -1.681900143623352, -0.06135069951415062, 0.7440113425254822, 1.6455036401748657, -0.06914138793945312, -0.9210970997810364], "dq": [0.007442787289619446, 0.002942153485491872, -0.018454790115356445, 0.0019193164771422744, 0.020080262795090675, -0.009333725087344646, -0.0016898534959182143], "dtheta": [0.007347922306507826, 0.0020133606158196926, -0.020434141159057617, 0.002879628213122487, 0.019183792173862457, -0.009578551165759563, 0.00013294568634591997], "tau": [-61.6099967956543, 0.25, -25.02800178527832, 1.7160000801086426, -3.4680001735687256, 3.452000141143799, -0.4480000138282776], "tau_des": [-1.2295485734939575, 1.2015584707260132, -0.9742587804794312, -0.14715735614299774, 0.5828978419303894, -0.2379302680492401, -0.44377896189689636], "tau_dot": [-13.306764602661133, 133.02755737304688, 35.225364685058594, -20.045690536499023, 17.166982650756836, 63.55442810058594, 30.876344680786133], "tau_ext": [15.06812858581543, -35.79500198364258, -35.96958541870117, 19.919464111328125, -2.9934895038604736, -6.59694766998291, 0.3416218161582947], "tcp_pose": [0.640657365322113, -0.12176056951284409, -0.2826610803604126, -0.006093727424740791, -0.024658093228936195, 0.9994879364967346, 0.01946142315864563], "tcp_vel": [-0.00018882076255977154, -0.000423027464421466, 0.0009623555233702064, -0.0006925470661371946, 0.0008900825632736087, 0.00017808844859246165], "flange_pose": [0.6431541442871094, -0.12909503281116486, -0.09281910955905914, -0.006093727424740791, -0.024658093228936195, 0.9994879364967346, 0.01946142315864563], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.36343765258789, -50.42347717285156, -12.294888496398926, -3.8184962272644043, 11.952402114868164, 0.3238453269004822], "ext_wrench_in_world": [-9.712457678243993, -51.410914493772374, 10.446624368270287, 3.22300343693505, 12.130437738914459, 0.10215016748607247]}
+{"timestamp_ns": 1789729711481003931, "elapsed_ms": 633, "source_timestamp_ns": 1789729711479188066, "q": [0.02907542698085308, -1.6828415393829346, -0.06066051870584488, 0.7604609131813049, 1.6468206644058228, -0.06957628577947617, -0.9199715256690979], "theta": [0.02675296738743782, -1.681832194328308, -0.0621776320040226, 0.744115948677063, 1.646278738975525, -0.06949877738952637, -0.9210949540138245], "dq": [0.007916680537164211, 0.0019765347242355347, -0.02192230150103569, -0.00023465172853320837, 0.021558135747909546, -0.007437683641910553, 0.0009680087096057832], "dtheta": [0.008043522946536541, 0.0019012391567230225, -0.020885273814201355, 0.002149938838556409, 0.01988944038748741, -0.009385635145008564, 0.00034759900881908834], "tau": [-61.56999969482422, 0.2199999988079071, -25.09600067138672, 1.7440000772476196, -3.5280001163482666, 3.4760000705718994, -0.4280000329017639], "tau_des": [-1.245775818824768, 1.1268054246902466, -0.9734932780265808, -0.0702618807554245, 0.5519335269927979, -0.23189109563827515, -0.4210897386074066], "tau_dot": [105.90848541259766, 127.62544250488281, -51.48147201538086, 20.292720794677734, -36.09023666381836, 5.505382537841797, 17.039079666137695], "tau_ext": [15.084297180175781, -35.74300003051758, -35.966033935546875, 19.896121978759766, -2.976412534713745, -6.610598564147949, 0.33812373876571655], "tcp_pose": [0.6406615972518921, -0.12176325172185898, -0.28265276551246643, -0.006090530194342136, -0.024663865566253662, 0.9994875192642212, 0.019475270062685013], "tcp_vel": [4.436480958247557e-05, -0.0003598540206439793, 0.0006345331203192472, -0.0008153759990818799, 0.001018624403513968, 0.0006199202034622431], "flange_pose": [0.6431573033332825, -0.12910297513008118, -0.0928109809756279, -0.006090530194342136, -0.024663865566253662, 0.9994875192642212, 0.019475270062685013], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.339539527893066, -50.40585708618164, -12.406140327453613, -3.822073459625244, 11.962945938110352, 0.32009947299957275], "ext_wrench_in_world": [-9.687476305120656, -51.39684408765655, 10.556713638454168, 3.2259706504456553, 12.141026700815262, 0.10662426595934785]}
+{"timestamp_ns": 1789729711514322079, "elapsed_ms": 666, "source_timestamp_ns": 1789729711509211152, "q": [0.029314829036593437, -1.6827976703643799, -0.061230260878801346, 0.7605248093605042, 1.6474213600158691, -0.06983557343482971, -0.9199674129486084], "theta": [0.026988906785845757, -1.6817892789840698, -0.06279151141643524, 0.744181215763092, 1.6468548774719238, -0.06976127624511719, -0.9210906624794006], "dq": [0.007469636853784323, 0.0011202635942026973, -0.020936233922839165, 0.004691571928560734, 0.02176346257328987, -0.011490336619317532, 0.0005230408860370517], "dtheta": [0.0077242241241037846, 0.0016563391545787454, -0.019791340455412865, 0.0025090742856264114, 0.01743418723344803, -0.008453832939267159, 7.442464993800968e-05], "tau": [-61.62999725341797, 0.10999999940395355, -25.09200096130371, 1.752000093460083, -3.516000270843506, 3.4800002574920654, -0.4240000247955322], "tau_des": [-1.224966287612915, 1.2864394187927246, -0.9460766315460205, -0.14082209765911102, 0.617034375667572, -0.2389845997095108, -0.4112868309020996], "tau_dot": [-16.312902450561523, 0.2201998233795166, -50.14524459838867, 16.630495071411133, 26.786529541015625, 9.730881690979004, 1.445540189743042], "tau_ext": [15.086932182312012, -35.790252685546875, -35.974979400634766, 19.919858932495117, -2.9660630226135254, -6.616030216217041, 0.33069708943367004], "tcp_pose": [0.6406638026237488, -0.12176797538995743, -0.2826539874076843, -0.006092842668294907, -0.024669231846928596, 0.9994872212409973, 0.0194838996976614], "tcp_vel": [-0.0004826048680115491, -0.0009182806825265288, 0.0007365818601101637, -0.0020359728951007128, 0.0018254448659718037, 0.00019436003640294075], "flange_pose": [0.6431605219841003, -0.12911094725131989, -0.09281235188245773, -0.006092842668294907, -0.024669231846928596, 0.9994872212409973, 0.0194838996976614], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.34669017791748, -50.39480972290039, -12.415517807006836, -3.8206593990325928, 11.962593078613281, 0.3147546947002411], "ext_wrench_in_world": [-9.694434207728099, -51.38682091109268, 10.565759310917665, 3.224516250462867, 12.140430676779918, 0.11215996852852234]}
+{"timestamp_ns": 1789729711547655536, "elapsed_ms": 700, "source_timestamp_ns": 1789729711539215990, "q": [0.029537415131926537, -1.6827515363693237, -0.06176847591996193, 0.7605974078178406, 1.6479926109313965, -0.07007090747356415, -0.9199658036231995], "theta": [0.027209492400288582, -1.6817444562911987, -0.0633675828576088, 0.7442541718482971, 1.647399663925171, -0.06999874114990234, -0.9210879802703857], "dq": [0.008538380265235901, 0.0014108781469985843, -0.021109236404299736, 0.0025704670697450638, 0.01729832962155342, -0.006612731143832207, -0.0003276524948887527], "dtheta": [0.007534251548349857, 0.001584421843290329, -0.01822248473763466, 0.0025991916190832853, 0.01726360246539116, -0.006878632586449385, -0.0004265392490196973], "tau": [-61.59000015258789, 0.22999998927116394, -25.04400062561035, 1.7680001258850098, -3.51200008392334, 3.4560000896453857, -0.4320000112056732], "tau_des": [-1.2107905149459839, 1.297126054763794, -0.994286060333252, -0.12404103577136993, 0.579136312007904, -0.26849329471588135, -0.39721405506134033], "tau_dot": [-55.10539627075195, 16.12921142578125, 12.20555305480957, -27.175134658813477, 5.487570762634277, 35.55572509765625, -57.56694793701172], "tau_ext": [15.017937660217285, -35.807865142822266, -36.0095329284668, 19.920581817626953, -2.958791732788086, -6.622630596160889, 0.31748655438423157], "tcp_pose": [0.6406669020652771, -0.12177398055791855, -0.28265196084976196, -0.00608824985101819, -0.02467186003923416, 0.999487042427063, 0.019489333033561707], "tcp_vel": [-0.0002054399374173954, -0.0008548793266527355, 0.000386663741664961, -0.0017905787099152803, 0.0005541066639125347, 0.00047040361096151173], "flange_pose": [0.6431620121002197, -0.12911905348300934, -0.09281039983034134, -0.00608824985101819, -0.02467186003923416, 0.999487042427063, 0.019489333033561707], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.369341850280762, -50.38136672973633, -12.480935096740723, -3.827225685119629, 11.957425117492676, 0.3038492798805237], "ext_wrench_in_world": [-9.716694768294156, -51.37722213215567, 10.631244565773205, 3.2314089900833713, 12.13519167523479, 0.12294394775141869]}
+{"timestamp_ns": 1789729711580997432, "elapsed_ms": 733, "source_timestamp_ns": 1789729711579197355, "q": [0.029826313257217407, -1.682686448097229, -0.06248488277196884, 0.7606998682022095, 1.6487531661987305, -0.07041343301534653, -0.9199643731117249], "theta": [0.027495689690113068, -1.6816811561584473, -0.06412298232316971, 0.7443573474884033, 1.6481223106384277, -0.07034265995025635, -0.9210848808288574], "dq": [0.007042857352644205, 0.0005531843053176999, -0.01919032633304596, 0.005387572571635246, 0.018125811591744423, -0.008513464592397213, -0.0002600958105176687], "dtheta": [0.007576486561447382, 0.001763877458870411, -0.019159408286213875, 0.0030087691266089678, 0.018519213423132896, -0.010099840350449085, -0.0003835604293271899], "tau": [-61.48999786376953, 0.19999998807907104, -25.04800033569336, 1.808000087738037, -3.5200002193450928, 3.4800002574920654, -0.3880000114440918], "tau_des": [-1.2069517374038696, 1.2577258348464966, -1.0105029344558716, -0.13061554729938507, 0.5384560227394104, -0.15309417247772217, -0.3916076719760895], "tau_dot": [124.56623840332031, 10.921607971191406, 26.21592140197754, 69.00359344482422, 3.0793721675872803, 40.13626480102539, 50.20459747314453], "tau_ext": [14.963480949401855, -35.76862716674805, -36.01380157470703, 19.89790916442871, -2.938617706298828, -6.627990245819092, 0.3058426082134247], "tcp_pose": [0.6406673789024353, -0.12177445739507675, -0.2826472818851471, -0.006087317131459713, -0.02467501163482666, 0.9994866251945496, 0.019507862627506256], "tcp_vel": [-0.0006264990079216659, -0.00019643086125142872, 0.0003165858506690711, 0.0005384113173931837, 0.0017854355974122882, 0.0003138174070045352], "flange_pose": [0.6431622505187988, -0.12912656366825104, -0.09280598163604736, -0.006087317131459713, -0.02467501163482666, 0.9994866251945496, 0.019507862627506256], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.380533218383789, -50.401737213134766, -12.5724458694458, -3.8497400283813477, 11.95135498046875, 0.287532240152359], "ext_wrench_in_world": [-9.725370191276351, -51.402101696297535, 10.720085254309412, 3.2543328219736547, 12.12963302038193, 0.13921070041184827]}
+{"timestamp_ns": 1789729711614325999, "elapsed_ms": 766, "source_timestamp_ns": 1789729711609214312, "q": [0.03005402348935604, -1.6826324462890625, -0.06304806470870972, 0.7607818841934204, 1.6493504047393799, -0.07065742462873459, -0.9199625849723816], "theta": [0.027721328660845757, -1.6816284656524658, -0.06470811367034912, 0.744439423084259, 1.648691177368164, -0.0705881118774414, -0.9210813045501709], "dq": [0.0066861966624855995, 0.0018104900373145938, -0.018284430727362633, 0.0015502722235396504, 0.01782059296965599, -0.008546548895537853, 1.7306203972111689e-06], "dtheta": [0.007494597230106592, 0.001962567213922739, -0.01896458864212036, 0.003023280296474695, 0.01737850159406662, -0.00872651394456625, 6.767413287889212e-05], "tau": [-61.43000030517578, 0.14000000059604645, -25.012001037597656, 1.8320001363754272, -3.556000232696533, 3.500000238418579, -0.3800000250339508], "tau_des": [-1.0582056045532227, 1.2540173530578613, -0.9196767210960388, -0.11196329444646835, 0.5530904531478882, -0.22727543115615845, -0.3900149464607239], "tau_dot": [8.228608131408691, -102.16590881347656, 21.34450340270996, -2.328202486038208, 26.51353645324707, 106.48736572265625, 19.66610336303711], "tau_ext": [14.908469200134277, -35.751773834228516, -36.02680587768555, 19.890256881713867, -2.9321634769439697, -6.627269268035889, 0.2983298599720001], "tcp_pose": [0.640673041343689, -0.12177896499633789, -0.28264138102531433, -0.006079157814383507, -0.024677980691194534, 0.99948650598526, 0.019512392580509186], "tcp_vel": [-0.0005079958355054259, -0.0005238835583440959, 0.000535272469278425, -0.0010526070836931467, 0.0016856837319210172, 1.8798199334923993e-06], "flange_pose": [0.6431649327278137, -0.12913285195827484, -0.09280011057853699, -0.006079157814383507, -0.024677980691194534, 0.99948650598526, 0.019512392580509186], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.395347595214844, -50.38220977783203, -12.629074096679688, -3.856130361557007, 11.942543029785156, 0.2770346999168396], "ext_wrench_in_world": [-9.740268903181306, -51.38569497996447, 10.776953640193131, 3.261215396416602, 12.120765758673972, 0.14944955698063483]}
+{"timestamp_ns": 1789729711647653537, "elapsed_ms": 800, "source_timestamp_ns": 1789729711639210482, "q": [0.030277471989393234, -1.6825774908065796, -0.06359740346670151, 0.7608639597892761, 1.6499302387237549, -0.07091886550188065, -0.9199590086936951], "theta": [0.02794329635798931, -1.681575059890747, -0.06527554988861084, 0.7445219159126282, 1.649243712425232, -0.07085013389587402, -0.9210759997367859], "dq": [0.006241010036319494, 0.0009815836092457175, -0.01773003116250038, 0.0047165825963020325, 0.02195102721452713, -0.007903778925538063, 0.0015101354802027345], "dtheta": [0.007133185397833586, 0.0017234375700354576, -0.018905194476246834, 0.00336116342805326, 0.01841624639928341, -0.008269554004073143, 6.62269230815582e-05], "tau": [-61.459999084472656, 0.11999999731779099, -25.084001541137695, 1.8480000495910645, -3.576000213623047, 3.496000051498413, -0.3840000033378601], "tau_des": [-0.9535357356071472, 1.305665373802185, -0.8913120627403259, -0.1464439034461975, 0.5175254940986633, -0.21931281685829163, -0.39172208309173584], "tau_dot": [63.02894592285156, -15.880361557006836, -10.851775169372559, 37.77512741088867, -41.71322250366211, 25.460176467895508, -6.766847133636475], "tau_ext": [14.86188793182373, -35.777400970458984, -36.03057861328125, 19.89072608947754, -2.9246044158935547, -6.631616592407227, 0.28662872314453125], "tcp_pose": [0.6406736373901367, -0.12177768349647522, -0.28263846039772034, -0.006080184131860733, -0.02468014508485794, 0.9994862079620361, 0.019525105133652687], "tcp_vel": [-0.0003328078310005367, -0.0006532730767503381, 0.0007009834516793489, -0.0006961924955248833, 0.000204630836378783, -0.0005452762125059962], "flange_pose": [0.6431660056114197, -0.12913638353347778, -0.09279738366603851, -0.006080184131860733, -0.02468014508485794, 0.9994862079620361, 0.019525105133652687], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.39825439453125, -50.36326217651367, -12.695089340209961, -3.8644015789031982, 11.936042785644531, 0.2651221752166748], "ext_wrench_in_world": [-9.74299105127646, -51.36980065741602, 10.842411550931182, 3.26990049597683, 12.114237025355651, 0.16130329032826382]}
+{"timestamp_ns": 1789729711681005802, "elapsed_ms": 833, "source_timestamp_ns": 1789729711679195406, "q": [0.030585655942559242, -1.6825143098831177, -0.06431728601455688, 0.7609697580337524, 1.650702714920044, -0.07122939825057983, -0.9199563264846802], "theta": [0.028248710557818413, -1.6815121173858643, -0.0660116896033287, 0.744629979133606, 1.6499778032302856, -0.07116031646728516, -0.9210712313652039], "dq": [0.008079474791884422, 0.0008721897029317915, -0.021230651065707207, 0.0038671791553497314, 0.02016354165971279, -0.007260662503540516, 0.0019452570704743266], "dtheta": [0.00744417030364275, 0.0015197949251160026, -0.01886622980237007, 0.0025404426269233227, 0.01876523718237877, -0.009429431520402431, 0.0004428745014593005], "tau": [-61.44999694824219, 0.14000000059604645, -25.108001708984375, 1.8600001335144043, -3.564000129699707, 3.4840002059936523, -0.3800000250339508], "tau_des": [-1.0466772317886353, 1.2810583114624023, -0.9449540972709656, -0.10709396004676819, 0.4864047169685364, -0.1842728853225708, -0.38789963722229004], "tau_dot": [14.826904296875, 20.9794864654541, 20.697099685668945, 27.298494338989258, -20.312320709228516, -12.968674659729004, 41.50774383544922], "tau_ext": [14.886472702026367, -35.76850128173828, -35.974273681640625, 19.879657745361328, -2.905982494354248, -6.647303581237793, 0.2806628942489624], "tcp_pose": [0.64067542552948, -0.12178586423397064, -0.2826424241065979, -0.006074164528399706, -0.02468072809278965, 0.9994860887527466, 0.019533297047019005], "tcp_vel": [-0.00032024591928347945, -0.0002309748815605417, 0.0003157517348881811, 0.00047271366929635406, 0.0010540962684899569, -0.0002704719081521034], "flange_pose": [0.643165647983551, -0.1291477382183075, -0.09280142933130264, -0.006074164528399706, -0.02468072809278965, 0.9994860887527466, 0.019533297047019005], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.413180351257324, -50.372920989990234, -12.725090980529785, -3.887256622314453, 11.926253318786621, 0.25090688467025757], "ext_wrench_in_world": [-9.757113608074077, -51.38153176845813, 10.871204308882419, 3.2933809540914196, 12.105049203973781, 0.17510624481441983]}
+{"timestamp_ns": 1789729711714322301, "elapsed_ms": 866, "source_timestamp_ns": 1789729711709206964, "q": [0.030807025730609894, -1.6824697256088257, -0.06484100222587585, 0.7610416412353516, 1.6512638330459595, -0.07145804911851883, -0.9199522137641907], "theta": [0.028468389064073563, -1.6814684867858887, -0.06654302775859833, 0.7447043657302856, 1.650510549545288, -0.07139205932617188, -0.9210649728775024], "dq": [0.006622841116040945, -0.0014217061689123511, -0.018592333421111107, 0.0036190899554640055, 0.020183775573968887, -0.005726800300180912, 0.0008842305978760123], "dtheta": [0.0068561965599656105, 0.0011570935603231192, -0.01688251458108425, 0.002526249270886183, 0.01649058237671852, -0.006743858102709055, 0.0010688375914469361], "tau": [-61.40999984741211, 0.23999999463558197, -25.108001708984375, 1.8760000467300415, -3.568000078201294, 3.492000102996826, -0.3960000276565552], "tau_des": [-0.9598385095596313, 1.4243886470794678, -0.9390689730644226, -0.16165317595005035, 0.508371114730835, -0.2484801709651947, -0.40381744503974915], "tau_dot": [-16.385574340820312, 65.77272033691406, 12.914529800415039, 47.89186477661133, 28.95787239074707, 37.92982482910156, -30.56000328063965], "tau_ext": [14.828857421875, -35.7926139831543, -35.97013473510742, 19.89130973815918, -2.9019107818603516, -6.642958641052246, 0.2783854901790619], "tcp_pose": [0.6406782865524292, -0.12179093807935715, -0.28264376521110535, -0.006069771014153957, -0.024682048708200455, 0.9994859099388123, 0.019540049135684967], "tcp_vel": [-0.000292667536996305, -0.0008362437365576625, 0.0003675072512123734, -0.0010914317099377513, 0.00028522213688120246, -0.0013933370355516672], "flange_pose": [0.6431668996810913, -0.12915541231632233, -0.09280284494161606, -0.006069771014153957, -0.024682048708200455, 0.9994859099388123, 0.019540049135684967], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.438738822937012, -50.357147216796875, -12.756741523742676, -3.898855686187744, 11.9105863571167, 0.2437526285648346], "ext_wrench_in_world": [-9.782968343443954, -51.368455833919775, 10.902945897911287, 3.3057975270543247, 12.089716508371936, 0.18170259575967185]}
+{"timestamp_ns": 1789729711747709101, "elapsed_ms": 900, "source_timestamp_ns": 1789729711739224171, "q": [0.03100983425974846, -1.6824235916137695, -0.06531727313995361, 0.7611164450645447, 1.6517733335494995, -0.07166532427072525, -0.9199483394622803], "theta": [0.028671475127339363, -1.6814229488372803, -0.06702429801225662, 0.744780957698822, 1.6509935855865479, -0.07160055637359619, -0.9210585355758667], "dq": [0.007410694379359484, 0.0010453813010826707, -0.014574093744158745, 0.0017397559713572264, 0.015508127398788929, -0.008214638568460941, -0.0003280371311120689], "dtheta": [0.006702940445393324, 0.0017482929397374392, -0.015557064674794674, 0.002561891218647361, 0.014209400862455368, -0.007191821932792664, 0.0009729971061460674], "tau": [-61.32999801635742, 0.19999998807907104, -25.144001007080078, 1.880000114440918, -3.576000213623047, 3.4760000705718994, -0.36000001430511475], "tau_des": [-1.0077600479125977, 1.324566125869751, -1.018406629562378, -0.10627728700637817, 0.5199995040893555, -0.20682184398174286, -0.39886513352394104], "tau_dot": [75.02101135253906, 192.51165771484375, -32.7087516784668, -2.2594921588897705, -12.006200790405273, -7.3498148918151855, 54.93487548828125], "tau_ext": [14.802447319030762, -35.77878952026367, -35.95357131958008, 19.878005981445312, -2.8902363777160645, -6.644254684448242, 0.27470695972442627], "tcp_pose": [0.6406794190406799, -0.12179458886384964, -0.2826455533504486, -0.006066234782338142, -0.024681346490979195, 0.9994858503341675, 0.01954563707113266], "tcp_vel": [-0.000543973408639431, -0.00035351180122233927, 8.977609104476869e-05, -0.0008803795790299773, 0.0020170877687633038, -0.0008297382737509906], "flange_pose": [0.643166720867157, -0.12916122376918793, -0.09280470758676529, -0.006066234782338142, -0.024681346490979195, 0.9994858503341675, 0.01954563707113266], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.447931289672852, -50.36136245727539, -12.7969970703125, -3.9163033962249756, 11.89886474609375, 0.237862691283226], "ext_wrench_in_world": [-9.791571270621262, -51.37478710671459, 10.942455746091312, 3.323893530502501, 12.07864735897281, 0.18709081346566409]}
+{"timestamp_ns": 1789729711781000233, "elapsed_ms": 933, "source_timestamp_ns": 1789729711779192578, "q": [0.031259555369615555, -1.6823476552963257, -0.06590632349252701, 0.7612314224243164, 1.6524018049240112, -0.07193006575107574, -0.9199475049972534], "theta": [0.02892267145216465, -1.6813476085662842, -0.0676192045211792, 0.7448981404304504, 1.6515873670578003, -0.07186377048492432, -0.9210548996925354], "dq": [0.004940780811011791, 0.002193245105445385, -0.0144551582634449, 0.0024985100608319044, 0.012620402500033379, -0.004209459759294987, -0.0007645056466571987], "dtheta": [0.006288615055382252, 0.0016014896100386977, -0.014455310069024563, 0.0025872334372252226, 0.014485164545476437, -0.005570637062191963, -0.000269500509602949], "tau": [-61.32999801635742, 0.17999999225139618, -25.172000885009766, 1.9320000410079956, -3.6040000915527344, 3.4840002059936523, -0.3840000033378601], "tau_des": [-0.9408445954322815, 1.2915775775909424, -1.0564957857131958, -0.07475131750106812, 0.46781623363494873, -0.21330653131008148, -0.3792151212692261], "tau_dot": [44.621150970458984, 17.517738342285156, 50.86861038208008, 60.97649383544922, -1.4327342510223389, -45.718353271484375, -38.17496871948242], "tau_ext": [14.774913787841797, -35.80257797241211, -35.92743682861328, 19.882898330688477, -2.877455472946167, -6.65185022354126, 0.27040353417396545], "tcp_pose": [0.6406794786453247, -0.1217910647392273, -0.2826472520828247, -0.006063784472644329, -0.024680854752659798, 0.9994857311248779, 0.01955513283610344], "tcp_vel": [-0.00011624817852862179, -0.000403198238927871, 3.660217043943703e-05, -0.000837948638945818, 0.00017545120499562472, 0.0001983950933208689], "flange_pose": [0.6431659460067749, -0.12916132807731628, -0.09280654788017273, -0.006063784472644329, -0.024680854752659798, 0.9994857311248779, 0.01955513283610344], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.455718994140625, -50.36216354370117, -12.837418556213379, -3.9369471073150635, 11.883476257324219, 0.2296856939792633], "ext_wrench_in_world": [-9.79888987908625, -51.37773802453424, 10.981874169320104, 3.345386669594183, 12.063988049983255, 0.1946698820216663]}
+{"timestamp_ns": 1789729711814329811, "elapsed_ms": 966, "source_timestamp_ns": 1789729711809205705, "q": [0.031444892287254333, -1.6822878122329712, -0.0663260892033577, 0.7613207101821899, 1.6528441905975342, -0.07210355997085571, -0.9199503064155579], "theta": [0.029109926894307137, -1.681288480758667, -0.06804487854242325, 0.7449885606765747, 1.652004599571228, -0.07203710079193115, -0.9210553765296936], "dq": [0.006291245110332966, 0.0030548502691090107, -0.015807075425982475, 0.003391026519238949, 0.016403431072831154, -0.007838797755539417, 0.001005347352474928], "dtheta": [0.00593465706333518, 0.0018117266008630395, -0.014093962498009205, 0.0032023550011217594, 0.014186701737344265, -0.0060448250733315945, -0.0004650768532883376], "tau": [-61.279998779296875, 0.11999999731779099, -25.18000030517578, 1.9320000410079956, -3.620000123977661, 3.4840002059936523, -0.35200002789497375], "tau_des": [-0.9138338565826416, 1.3047758340835571, -1.0459283590316772, -0.10173254460096359, 0.47544851899147034, -0.19800791144371033, -0.3812512755393982], "tau_dot": [30.902013778686523, 40.322383880615234, 44.76902770996094, -15.318333625793457, -18.736539840698242, -22.084001541137695, 92.36425018310547], "tau_ext": [14.751880645751953, -35.82057571411133, -35.900665283203125, 19.887348175048828, -2.868591547012329, -6.656813144683838, 0.2716796398162842], "tcp_pose": [0.6406790018081665, -0.1217910572886467, -0.28265100717544556, -0.006062786094844341, -0.024681322276592255, 0.9994857311248779, 0.01955433376133442], "tcp_vel": [-0.0003063405747525394, -0.0002585630863904953, 0.00011380923388060182, -0.00032302687759511173, 0.0002670672256499529, -1.6494957890245132e-05], "flange_pose": [0.6431650519371033, -0.1291610151529312, -0.09281027317047119, -0.006062786094844341, -0.024681322276592255, 0.9994857311248779, 0.01955433376133442], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.455613136291504, -50.36628341674805, -12.85711669921875, -3.9556431770324707, 11.875042915344238, 0.2262663096189499], "ext_wrench_in_world": [-9.798300172666787, -51.382600488303765, 11.001451468790862, 3.3645060862021623, 12.056368970842904, 0.19753395390299308]}
+{"timestamp_ns": 1789729711847642850, "elapsed_ms": 1000, "source_timestamp_ns": 1789729711839192706, "q": [0.03162216395139694, -1.6822285652160645, -0.0667409896850586, 0.7614055871963501, 1.653288722038269, -0.07228510826826096, -0.9199528098106384], "theta": [0.02928759530186653, -1.681228756904602, -0.06846267729997635, 0.7450748085975647, 1.6524237394332886, -0.07221925258636475, -0.9210556745529175], "dq": [0.003011607099324465, 0.004137195646762848, -0.00920784566551447, 0.0019313683733344078, 0.010892585851252079, -0.004529754165560007, -0.0011933568166568875], "dtheta": [0.006029010284692049, 0.0025192468892782927, -0.013134541921317577, 0.0031745873857289553, 0.013034281320869923, -0.005543294828385115, -0.000291722099063918], "tau": [-61.32999801635742, 0.11999999731779099, -25.23600196838379, 1.9800001382827759, -3.6120002269744873, 3.4840002059936523, -0.3880000114440918], "tau_des": [-0.9516786336898804, 1.09129798412323, -1.1428723335266113, 0.017756884917616844, 0.4434228241443634, -0.1694076508283615, -0.36914119124412537], "tau_dot": [-96.76287078857422, 21.81083106994629, 10.119848251342773, 22.45016860961914, 18.015853881835938, -24.599287033081055, -14.094233512878418], "tau_ext": [14.725208282470703, -35.77621841430664, -35.877220153808594, 19.867616653442383, -2.8604214191436768, -6.661156177520752, 0.27337831258773804], "tcp_pose": [0.640681266784668, -0.12178655713796616, -0.28265270590782166, -0.006059295032173395, -0.02468358539044857, 0.9994855523109436, 0.019559696316719055], "tcp_vel": [-0.00012259659706614912, 0.0001958211651071906, -0.00019284625886939466, -0.00047328544314950705, 0.0008252501138485968, 0.00048226365470327437], "flange_pose": [0.6431661248207092, -0.12915858626365662, -0.09281203150749207, -0.006059295032173395, -0.02468358539044857, 0.9994855523109436, 0.019559696316719055], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.449200630187988, -50.34925842285156, -12.9050874710083, -3.9708545207977295, 11.867141723632812, 0.22504355013370514], "ext_wrench_in_world": [-9.791956861678203, -51.367315255643014, 11.049353236391516, 3.38004819223007, 12.04920258299204, 0.19842944792415906]}
+{"timestamp_ns": 1789729711881008663, "elapsed_ms": 1033, "source_timestamp_ns": 1789729711879200098, "q": [0.03183171898126602, -1.6821608543395996, -0.06723711639642715, 0.7615098357200623, 1.6538009643554688, -0.07249683886766434, -0.9199542999267578], "theta": [0.029507512226700783, -1.6811591386795044, -0.06896106898784637, 0.7451791167259216, 1.6529066562652588, -0.07242941856384277, -0.9210556745529175], "dq": [0.005205691792070866, 0.0007948001730255783, -0.012071355246007442, 0.0018456378020346165, 0.013273447751998901, -0.004489137791097164, 0.0005910432664677501], "dtheta": [0.00533644575625658, 0.0016796684358268976, -0.011453049257397652, 0.0025261358823627234, 0.012076901271939278, -0.006580301560461521, 0.0005916522932238877], "tau": [-61.30999755859375, 0.12999999523162842, -25.23600196838379, 2.004000186920166, -3.624000072479248, 3.492000102996826, -0.40800002217292786], "tau_des": [-0.9500504732131958, 1.2163864374160767, -1.1738519668579102, -0.043812401592731476, 0.46232715249061584, -0.1264001578092575, -0.3938728868961334], "tau_dot": [-77.34285736083984, 29.148427963256836, 48.059730529785156, 60.75122833251953, -30.962106704711914, -14.993047714233398, -21.874792098999023], "tau_ext": [14.697239875793457, -35.79916763305664, -35.85261154174805, 19.874170303344727, -2.84786319732666, -6.660598278045654, 0.28193655610084534], "tcp_pose": [0.640678882598877, -0.12178858369588852, -0.28265056014060974, -0.006059625186026096, -0.0246824212372303, 0.9994856715202332, 0.01955784671008587], "tcp_vel": [-0.0004441517230588943, 0.00042144706822000444, -0.00045990702346898615, 0.0013619106030091643, 0.0014248810475692153, -0.0006509594968520105], "flange_pose": [0.643163800239563, -0.12915991246700287, -0.09280985593795776, -0.006059625186026096, -0.0246824212372303, 0.9994856715202332, 0.01955784671008587], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.439205169677734, -50.340911865234375, -12.927030563354492, -3.989940643310547, 11.855770111083984, 0.2273089587688446], "ext_wrench_in_world": [-9.782208422031863, -51.35927728776535, 11.07169303805397, 3.399666209926333, 12.038880612381963, 0.19545815063371405]}
+{"timestamp_ns": 1789729711914327092, "elapsed_ms": 1066, "source_timestamp_ns": 1789729711909206466, "q": [0.03197552636265755, -1.682112455368042, -0.06756559014320374, 0.7615944743156433, 1.654171347618103, -0.07263370603322983, -0.9199560880661011], "theta": [0.029657764360308647, -1.6811097860336304, -0.06929056346416473, 0.7452638149261475, 1.6532557010650635, -0.07256340980529785, -0.9210560917854309], "dq": [0.004328795243054628, 0.0034453922417014837, -0.007530590519309044, 0.003599277464672923, 0.012202483601868153, -0.004405525978654623, -0.0004629107133951038], "dtheta": [0.0054009705781936646, 0.001735011930577457, -0.010402495041489601, 0.002806840231642127, 0.009586531668901443, -0.004259110428392887, -0.0005222250474616885], "tau": [-61.2599983215332, 0.10999999940395355, -25.272001266479492, 1.9760000705718994, -3.628000259399414, 3.51200008392334, -0.3840000033378601], "tau_des": [-0.9320079684257507, 1.2982535362243652, -1.1865862607955933, -0.08036013692617416, 0.48893481492996216, -0.1734737753868103, -0.3949744701385498], "tau_dot": [-65.1215591430664, -10.98759937286377, 74.04061126708984, 5.758009433746338, 58.37272644042969, -13.70404052734375, -4.480588912963867], "tau_ext": [14.680482864379883, -35.80256652832031, -35.83312225341797, 19.864517211914062, -2.84425687789917, -6.666019916534424, 0.2825969457626343], "tcp_pose": [0.6406790614128113, -0.12178661674261093, -0.28265464305877686, -0.006048478651791811, -0.024676693603396416, 0.9994857311248779, 0.019564911723136902], "tcp_vel": [-0.0006572905112989247, -0.0002556901890784502, -0.00045249718823470175, -0.0009651810396462679, 0.0017241127789020538, 0.00010641825792845339], "flange_pose": [0.643159806728363, -0.12916074693202972, -0.09281400591135025, -0.006048478651791811, -0.024676693603396416, 0.9994857311248779, 0.019564911723136902], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.429591178894043, -50.34081268310547, -12.944491386413574, -4.002909183502197, 11.851250648498535, 0.22987452149391174], "ext_wrench_in_world": [-9.773239062181029, -51.35942398011325, 11.088073880855726, 3.4129462833362982, 12.035068903995764, 0.19282194810326975]}
+{"timestamp_ns": 1789729711947581499, "elapsed_ms": 1100, "source_timestamp_ns": 1789729711939183238, "q": [0.03211864456534386, -1.68205988407135, -0.0678786113858223, 0.7616811394691467, 1.6545168161392212, -0.07275771349668503, -0.919956624507904], "theta": [0.029807204380631447, -1.681057095527649, -0.06960532814264297, 0.7453514337539673, 1.6535799503326416, -0.0726858377456665, -0.9210558533668518], "dq": [0.005822587758302689, 0.0001427662355126813, -0.012495202012360096, 0.003153058234602213, 0.013232343830168247, -0.004593561869114637, 0.0013187393778935075], "dtheta": [0.004741426091641188, 0.0016275402158498764, -0.009845429100096226, 0.0031059898901730776, 0.010001271963119507, -0.003853521542623639, 0.0005717477179132402], "tau": [-61.209999084472656, 0.11999999731779099, -25.30000114440918, 1.9840000867843628, -3.6480002403259277, 3.51200008392334, -0.40400001406669617], "tau_des": [-0.832876443862915, 1.3520302772521973, -1.1843596696853638, -0.13800445199012756, 0.451175332069397, -0.18650461733341217, -0.44042155146598816], "tau_dot": [20.903453826904297, 18.07316780090332, -56.32612228393555, -26.23165512084961, -7.272692680358887, 38.29359817504883, -7.593307971954346], "tau_ext": [14.656692504882812, -35.80398941040039, -35.818077087402344, 19.870943069458008, -2.8367578983306885, -6.665878772735596, 0.29039648175239563], "tcp_pose": [0.640677809715271, -0.12178489565849304, -0.28266096115112305, -0.006041600834578276, -0.02467074990272522, 0.9994858503341675, 0.01956685073673725], "tcp_vel": [-0.0004597463412210345, -0.0002345265675103292, -0.00024898003903217614, -0.00048510474152863026, 0.00044635069207288325, -0.0014010729501023889], "flange_pose": [0.6431558728218079, -0.1291598379611969, -0.09282032400369644, -0.006041600834578276, -0.02467074990272522, 0.9994858503341675, 0.01956685073673725], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.416874885559082, -50.33835983276367, -12.948373794555664, -4.015681743621826, 11.846983909606934, 0.2319745123386383], "ext_wrench_in_world": [-9.76138328925165, -51.35642341789297, 11.091564655285175, 3.426028379645752, 12.031482683349422, 0.19050925710536187]}
+{"timestamp_ns": 1789729711980921715, "elapsed_ms": 1133, "source_timestamp_ns": 1789729711979205768, "q": [0.03230324387550354, -1.6819936037063599, -0.06829404830932617, 0.7617828845977783, 1.6549626588821411, -0.07292698323726654, -0.9199604392051697], "theta": [0.02999994345009327, -1.6809916496276855, -0.0700245127081871, 0.7454560399055481, 1.6539987325668335, -0.07285511493682861, -0.921058714389801], "dq": [0.0030450206249952316, 0.001162371481768787, -0.010213309898972511, 0.004614491946995258, 0.011459756642580032, -0.005085383541882038, -0.00046649668365716934], "dtheta": [0.005029391497373581, 0.0013946826802566648, -0.010913223959505558, 0.0026351052802056074, 0.01046314649283886, -0.0039559961296617985, -0.00030517016421072185], "tau": [-61.22999954223633, 0.14000000059604645, -25.340002059936523, 2.0, -3.6720001697540283, 3.504000186920166, -0.4000000059604645], "tau_des": [-0.8032691478729248, 1.3487772941589355, -1.112119197845459, -0.11935276538133621, 0.46159887313842773, -0.20573638379573822, -0.42402443289756775], "tau_dot": [-21.84824562072754, 82.10547637939453, -25.108360290527344, -12.618697166442871, -43.5623779296875, -17.10577392578125, 40.676212310791016], "tau_ext": [14.641006469726562, -35.802490234375, -35.79888153076172, 19.869720458984375, -2.8233559131622314, -6.666893005371094, 0.2930906414985657], "tcp_pose": [0.6406775712966919, -0.12178274244070053, -0.282665491104126, -0.006036672275513411, -0.024669025093317032, 0.9994859099388123, 0.01956743746995926], "tcp_vel": [-0.00040167683619074523, -0.000499982270412147, -5.755688835051842e-05, -0.0011488418094813824, 0.000556959945242852, -0.00023660963051952422], "flange_pose": [0.643153727054596, -0.12915796041488647, -0.09282483905553818, -0.006036672275513411, -0.024669025093317032, 0.9994859099388123, 0.01956743746995926], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.406110763549805, -50.32664489746094, -12.989542007446289, -4.030349254608154, 11.838020324707031, 0.23578867316246033], "ext_wrench_in_world": [-9.75096715468745, -51.34577619660527, 11.132873788565941, 3.4411092270525896, 12.023398912701035, 0.18623236625809225]}
+{"timestamp_ns": 1789729712014320269, "elapsed_ms": 1166, "source_timestamp_ns": 1789729712009176564, "q": [0.032442718744277954, -1.6819466352462769, -0.06860329210758209, 0.7618547081947327, 1.6553118228912354, -0.0730518102645874, -0.9199621677398682], "theta": [0.03014652244746685, -1.6809450387954712, -0.07033932209014893, 0.7455299496650696, 1.654327630996704, -0.07297933101654053, -0.9210599660873413], "dq": [0.0034442530013620853, 0.0008897820371203125, -0.009500403888523579, 0.00017479161033406854, 0.009034174494445324, -0.005139844957739115, -0.0033759826328605413], "dtheta": [0.004602640867233276, 0.001850788714364171, -0.010168595239520073, 0.0021956919226795435, 0.009613254107534885, -0.004763531964272261, 0.000246760988375172], "tau": [-61.14999771118164, 0.10999999940395355, -25.36400032043457, 2.0160000324249268, -3.6720001697540283, 3.496000051498413, -0.4240000247955322], "tau_des": [-0.763700544834137, 1.124586820602417, -1.2027921676635742, 0.003895183326676488, 0.39725449681282043, -0.16854850947856903, -0.42433488368988037], "tau_dot": [51.98929214477539, 1.0524189472198486, -38.532840728759766, -28.289838790893555, 5.8418354988098145, 16.7626953125, -19.87027359008789], "tau_ext": [14.6182279586792, -35.79701232910156, -35.783348083496094, 19.864032745361328, -2.8174216747283936, -6.665694236755371, 0.30209365487098694], "tcp_pose": [0.6406814455986023, -0.12177854776382446, -0.28267183899879456, -0.006027026101946831, -0.024668488651514053, 0.9994859099388123, 0.019572880119085312], "tcp_vel": [-0.0002085261803586036, 0.00017613390809856355, -0.00011097251990577206, -0.00031280438997782767, 0.001271833200007677, 7.3026712925639e-05], "flange_pose": [0.6431540250778198, -0.12915591895580292, -0.09283123165369034, -0.006027026101946831, -0.024668488651514053, 0.9994859099388123, 0.019572880119085312], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.40700912475586, -50.32679748535156, -12.982827186584473, -4.038752555847168, 11.828482627868652, 0.23936821520328522], "ext_wrench_in_world": [-9.752233507610923, -51.345823834565714, 11.125400607297417, 3.4499378598829464, 12.014428152137482, 0.18238850751820748]}
+{"timestamp_ns": 1789729712047658620, "elapsed_ms": 1200, "source_timestamp_ns": 1789729712039172507, "q": [0.032575834542512894, -1.68190336227417, -0.06889183074235916, 0.7619249820709229, 1.6556257009506226, -0.0731712281703949, -0.9199667572975159], "theta": [0.030287189409136772, -1.6809024810791016, -0.07063386589288712, 0.7456014156341553, 1.6546220779418945, -0.07309794425964355, -0.9210647344589233], "dq": [0.0061353701166808605, 0.0016815165290609002, -0.008571992628276348, 0.003542385995388031, 0.011149429716169834, -0.0035806915257126093, 0.0003263352846261114], "dtheta": [0.004384291358292103, 0.0010516623733565211, -0.009307769127190113, 0.0021961962338536978, 0.010136852040886879, -0.0043414440006017685, -0.0004957267083227634], "tau": [-61.15999984741211, 0.08999999612569809, -25.328001022338867, 2.0280001163482666, -3.644000291824341, 3.492000102996826, -0.42000001668930054], "tau_des": [-0.8134177327156067, 1.2784132957458496, -1.2522168159484863, -0.07184285670518875, 0.37548986077308655, -0.1554356813430786, -0.42513981461524963], "tau_dot": [131.40721130371094, 56.1870231628418, 21.412870407104492, 3.5809154510498047, 45.08894729614258, -30.48372459411621, 15.091415405273438], "tau_ext": [14.612358093261719, -35.791168212890625, -35.7547721862793, 19.84906768798828, -2.80442214012146, -6.669285774230957, 0.31393033266067505], "tcp_pose": [0.6406794190406799, -0.12177746742963791, -0.28267866373062134, -0.006024934351444244, -0.02466726116836071, 0.9994859099388123, 0.019575340673327446], "tcp_vel": [-0.0003177856851834804, -5.895654976484366e-05, -0.0003232297895010561, 0.0005397392087616026, 0.00025607587303966284, -2.4608604576314974e-07], "flange_pose": [0.6431512236595154, -0.12915579974651337, -0.09283807128667831, -0.006024934351444244, -0.02466726116836071, 0.9994859099388123, 0.019575340673327446], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.37460708618164, -50.3221435546875, -12.997645378112793, -4.049854278564453, 11.827876091003418, 0.24616527557373047], "ext_wrench_in_world": [-9.720085208833636, -51.34017990032142, 11.139734700017634, 3.460996693477744, 12.014627042513178, 0.1755242481327431]}
+{"timestamp_ns": 1789729712080910532, "elapsed_ms": 1233, "source_timestamp_ns": 1789729712079202362, "q": [0.03274646773934364, -1.6818525791168213, -0.0692565068602562, 0.7620068788528442, 1.656017541885376, -0.07331155240535736, -0.9199684858322144], "theta": [0.030464524403214455, -1.6808531284332275, -0.07100894302129745, 0.7456833124160767, 1.654990553855896, -0.07323670387268066, -0.9210668802261353], "dq": [0.0036918690893799067, -0.00032776794978417456, -0.011219212785363197, 0.0021416398230940104, 0.009946844540536404, -0.003988064359873533, 0.0007420217152684927], "dtheta": [0.004543394315987825, 0.0014258114388212562, -0.009360222145915031, 0.0015569323441013694, 0.009514415636658669, -0.00339786009863019, -0.000567368813790381], "tau": [-61.189998626708984, 0.14000000059604645, -25.37200164794922, 2.0280001163482666, -3.684000253677368, 3.5200002193450928, -0.4320000112056732], "tau_des": [-0.842632532119751, 1.157528281211853, -1.245679497718811, 0.017218967899680138, 0.3893904387950897, -0.18396207690238953, -0.41631683707237244], "tau_dot": [43.74151611328125, 70.06417846679688, 31.054067611694336, 8.366722106933594, -30.526695251464844, 55.432308197021484, -2.2467639446258545], "tau_ext": [14.591851234436035, -35.79466247558594, -35.749053955078125, 19.858123779296875, -2.794926881790161, -6.668274402618408, 0.32504403591156006], "tcp_pose": [0.6406779885292053, -0.12178008258342743, -0.2826874256134033, -0.006022338755428791, -0.024665050208568573, 0.9994860291481018, 0.01957288570702076], "tcp_vel": [0.00010910096170846373, 9.426909855392296e-06, -0.00027657675673253834, -0.000595614081248641, 0.000330219540046528, 0.001056205597706139], "flange_pose": [0.6431487202644348, -0.12915751338005066, -0.09284678101539612, -0.006022338755428791, -0.024665050208568573, 0.9994860291481018, 0.01957288570702076], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.345306396484375, -50.30942153930664, -13.02176570892334, -4.060074329376221, 11.824328422546387, 0.25773337483406067], "ext_wrench_in_world": [-9.691421996564937, -51.3268707916611, 11.164208088415617, 3.4712803362689195, 12.012027166002671, 0.16367311033890125]}
+{"timestamp_ns": 1789729712114241843, "elapsed_ms": 1266, "source_timestamp_ns": 1789729712109175428, "q": [0.032867468893527985, -1.6818140745162964, -0.06953143328428268, 0.762065052986145, 1.6563165187835693, -0.07341944426298141, -0.9199681282043457], "theta": [0.030589694157242775, -1.6808161735534668, -0.07128984481096268, 0.7457410097122192, 1.6552709341049194, -0.07334339618682861, -0.9210673570632935], "dq": [0.004203182645142078, 0.0043333605863153934, -0.012096894904971123, 0.0034004743210971355, 0.008403546176850796, -0.003329658415168524, 0.0009982635965570807], "dtheta": [0.004003683105111122, 0.0010440412443131208, -0.009590959176421165, 0.002162738936021924, 0.009362485259771347, -0.003535198513418436, 0.00042591660167090595], "tau": [-61.209999084472656, 0.11999999731779099, -25.380001068115234, 2.0360000133514404, -3.680000066757202, 3.508000135421753, -0.4240000247955322], "tau_des": [-0.729209840297699, 1.329717993736267, -1.166311502456665, -0.09835401922464371, 0.40075767040252686, -0.2150689959526062, -0.45177650451660156], "tau_dot": [-41.90071105957031, 6.650121688842773, 17.14679527282715, 27.606176376342773, 10.953231811523438, 38.39125442504883, 27.24910545349121], "tau_ext": [14.570271492004395, -35.816707611083984, -35.73905944824219, 19.876178741455078, -2.796185255050659, -6.669485092163086, 0.3274071514606476], "tcp_pose": [0.6406809687614441, -0.12177985161542892, -0.28268980979919434, -0.006015999708324671, -0.024664631113409996, 0.9994860291481018, 0.019572915509343147], "tcp_vel": [-0.00023051486641634256, -0.0004701924044638872, 0.00019410681852605194, -0.0008674668497405946, 1.5281415471690707e-05, -0.0009143904899246991], "flange_pose": [0.6431493163108826, -0.12915734946727753, -0.09284912794828415, -0.006015999708324671, -0.024664631113409996, 0.9994860291481018, 0.019572915509343147], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.344999313354492, -50.30678939819336, -13.03203296661377, -4.067685127258301, 11.818288803100586, 0.26284295320510864], "ext_wrench_in_world": [-9.691308101162628, -51.32462089614677, 11.174425622776551, 3.4791222744325627, 12.006571125585962, 0.15829387812962048]}
+{"timestamp_ns": 1789729712147597241, "elapsed_ms": 1300, "source_timestamp_ns": 1789729712139204416, "q": [0.03298744559288025, -1.6817777156829834, -0.0698055699467659, 0.7621217370033264, 1.6565978527069092, -0.07353656738996506, -0.9199689030647278], "theta": [0.030712099745869637, -1.680781364440918, -0.07156684249639511, 0.7457974553108215, 1.655537486076355, -0.07346057891845703, -0.9210686087608337], "dq": [0.002047865418717265, 0.0035048883873969316, -0.009634435176849365, 0.0011274581775069237, 0.009473343379795551, -0.0039534070529043674, 0.0012852017534896731], "dtheta": [0.0038437992334365845, 0.0012037152191624045, -0.00930477399379015, 0.0020045663695782423, 0.009530257433652878, -0.0027552421670407057, 0.00016281263378914446], "tau": [-61.12999725341797, 0.03999999910593033, -25.400001525878906, 2.0440001487731934, -3.6760001182556152, 3.492000102996826, -0.4320000112056732], "tau_des": [-0.7308642268180847, 1.2762455940246582, -1.1631720066070557, -0.06053958833217621, 0.40329208970069885, -0.2242482304573059, -0.44411501288414], "tau_dot": [73.18901824951172, 53.067474365234375, -28.389856338500977, -77.627197265625, 59.445945739746094, -3.7746622562408447, 1.8808188438415527], "tau_ext": [14.586261749267578, -35.8203010559082, -35.72526931762695, 19.866907119750977, -2.785062313079834, -6.667606830596924, 0.3273135721683502], "tcp_pose": [0.6406782269477844, -0.12178150564432144, -0.28269103169441223, -0.006018840707838535, -0.02466411516070366, 0.9994860887527466, 0.019571462646126747], "tcp_vel": [0.00014577909314539284, -0.00037337077083066106, 0.00023067380243446678, -0.0010569344740360975, -0.0008060084073804319, -0.00034751914790831506], "flange_pose": [0.6431476473808289, -0.12915842235088348, -0.09285034984350204, -0.006018840707838535, -0.02466411516070366, 0.9994860887527466, 0.019571462646126747], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.344436645507812, -50.30808639526367, -13.025799751281738, -4.0716681480407715, 11.812379837036133, 0.2646966278553009], "ext_wrench_in_world": [-9.690747133908483, -51.32560254609227, 11.168351502167772, 3.483377769542113, 12.000940491129281, 0.156108520007691]}
+{"timestamp_ns": 1789729712180905286, "elapsed_ms": 1333, "source_timestamp_ns": 1789729712179299393, "q": [0.03313278406858444, -1.6817365884780884, -0.07014033198356628, 0.7622029185295105, 1.6569690704345703, -0.07367374002933502, -0.9199690222740173], "theta": [0.030861157923936844, -1.6807422637939453, -0.07190277427434921, 0.7458776831626892, 1.6558876037597656, -0.07359910011291504, -0.9210700392723083], "dq": [0.0019827019423246384, 0.002834819257259369, -0.005081558134406805, 0.0009520238381810486, 0.010073048993945122, -0.004693387541919947, 0.000543235510122031], "dtheta": [0.004235666710883379, 0.00030264255474321544, -0.007687909062951803, 0.0013300571590662003, 0.008865793235599995, -0.0020889246370643377, -0.0006119758472777903], "tau": [-61.119998931884766, -0.04999999701976776, -25.376001358032227, 2.0960001945495605, -3.704000234603882, 3.500000238418579, -0.4400000274181366], "tau_des": [-0.5774545073509216, 0.9245294332504272, -1.2371807098388672, -0.0768529400229454, 0.3725659251213074, -0.1826445758342743, -0.45871880650520325], "tau_dot": [-36.40749740600586, -45.134769439697266, 31.065149307250977, -25.576457977294922, -8.760512351989746, -5.156351089477539, -18.76156997680664], "tau_ext": [14.603241920471191, -35.8267822265625, -35.70003128051758, 19.862892150878906, -2.777290105819702, -6.669198989868164, 0.32832756638526917], "tcp_pose": [0.6406762003898621, -0.12178494036197662, -0.28269344568252563, -0.00600857101380825, -0.024656182155013084, 0.9994862675666809, 0.01957571692764759], "tcp_vel": [-0.00012359987886156887, -0.0005287228268571198, -0.0005660722963511944, -0.0003796648816205561, -0.0004951758310198784, 0.00012049279757775366], "flange_pose": [0.6431416869163513, -0.12916359305381775, -0.09285277128219604, -0.00600857101380825, -0.024656182155013084, 0.9994862675666809, 0.01957571692764759], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.338356018066406, -50.320674896240234, -13.035743713378906, -4.0806708335876465, 11.804427146911621, 0.26418328285217285], "ext_wrench_in_world": [-9.684988920408545, -51.33819246820889, 11.177072474993565, 3.4929583418294587, 11.99337122177967, 0.15638505237605155]}
+{"timestamp_ns": 1789729712214237707, "elapsed_ms": 1366, "source_timestamp_ns": 1789729712209245062, "q": [0.03325628861784935, -1.6817479133605957, -0.07037824392318726, 0.7622253894805908, 1.6572387218475342, -0.07374092936515808, -0.9199725389480591], "theta": [0.03099042922258377, -1.680756688117981, -0.07213781028985977, 0.7458996176719666, 1.6561431884765625, -0.07366597652435303, -0.9210740923881531], "dq": [0.0038022741209715605, -0.0030120215378701687, -0.008715648204088211, 0.0018278982024639845, 0.00951415579766035, -0.0021460007410496473, -0.0017470321618020535], "dtheta": [0.004924962762743235, -0.0011813086457550526, -0.007909142412245274, -2.1067475245217793e-05, 0.008367846719920635, -0.0021446009632200003, -0.000629669928457588], "tau": [-61.0099983215332, -0.3100000023841858, -25.360000610351562, 2.116000175476074, -3.688000202178955, 3.5280001163482666, -0.4240000247955322], "tau_des": [-0.48115238547325134, 0.039364609867334366, -1.324654221534729, -0.11674008518457413, 0.390971839427948, -0.1374278962612152, -0.47980958223342896], "tau_dot": [4.689642429351807, 72.13744354248047, 0.2568053603172302, -8.495146751403809, -13.429079055786133, 23.71956443786621, 55.31364059448242], "tau_ext": [14.524497985839844, -35.792057037353516, -35.71961975097656, 19.878210067749023, -2.7762811183929443, -6.673060894012451, 0.33361202478408813], "tcp_pose": [0.6406703591346741, -0.1218101903796196, -0.2827061712741852, -0.00600070646032691, -0.024649370461702347, 0.9994865655899048, 0.01956908032298088], "tcp_vel": [-0.0006263414397835732, -0.001291709253564477, -0.0008925494039431214, -0.0008712224662303925, 0.0007242010324262083, -2.885108415284776e-06], "flange_pose": [0.643132746219635, -0.12918640673160553, -0.09286536276340485, -0.00600070646032691, -0.024649370461702347, 0.9994865655899048, 0.01956908032298088], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.335325241088867, -50.306880950927734, -13.033995628356934, -4.082603931427002, 11.80240249633789, 0.2663401663303375], "ext_wrench_in_world": [-9.683549077836938, -51.323928710537395, 11.176349172564649, 3.4951240351034825, 11.991483638726457, 0.15402841317287824]}
+{"timestamp_ns": 1789729712247565449, "elapsed_ms": 1400, "source_timestamp_ns": 1789729712239247464, "q": [0.033409811556339264, -1.6818583011627197, -0.0706290453672409, 0.7621955275535583, 1.6575536727905273, -0.0737684890627861, -0.9200025796890259], "theta": [0.031148405745625496, -1.6808714866638184, -0.07238847762346268, 0.7458689212799072, 1.6564449071884155, -0.07369184494018555, -0.9211057424545288], "dq": [0.007197646889835596, -0.005494697485119104, -0.006024598143994808, -0.0028843788895756006, 0.011322990991175175, -0.001909743994474411, -0.0015705650439485908], "dtheta": [0.006682287435978651, -0.006562333554029465, -0.0091857286170125, -0.003497504396364093, 0.011446255259215832, -0.000411307584727183, -0.0020017619244754314], "tau": [-60.89999771118164, -0.9699999690055847, -25.428001403808594, 2.180000066757202, -3.7080001831054688, 3.5320000648498535, -0.46800002455711365], "tau_des": [-0.415235698223114, -0.6414879560470581, -1.4244362115859985, -0.24807889759540558, 0.3569907546043396, -0.05492901802062988, -0.5291707515716553], "tau_dot": [39.56688690185547, 118.48238372802734, -9.333842277526855, 22.302722930908203, -12.666357040405273, -5.498107433319092, 6.359403610229492], "tau_ext": [14.488526344299316, -35.67253112792969, -35.73302459716797, 19.973403930664062, -2.779832601547241, -6.679338455200195, 0.344241738319397], "tcp_pose": [0.6406462788581848, -0.12189065665006638, -0.28273338079452515, -0.005979590583592653, -0.024633238092064857, 0.9994874000549316, 0.019554780796170235], "tcp_vel": [-0.001352782128378749, -0.004104939755052328, -0.001645651995204389, -0.0015072488458827138, -0.0006779582472518086, -0.0004374319687485695], "flange_pose": [0.6431004405021667, -0.12926168739795685, -0.09289225935935974, -0.005979590583592653, -0.024633238092064857, 0.9994874000549316, 0.019554780796170235], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.560233116149902, -50.072593688964844, -13.10061264038086, -4.024847507476807, 11.739601135253906, 0.2701319754123688], "ext_wrench_in_world": [-9.920952790782454, -51.103187263681946, 11.255624968948574, 3.440859123262105, 11.925985245759037, 0.14821595473815402]}
+{"timestamp_ns": 1789729712280906899, "elapsed_ms": 1433, "source_timestamp_ns": 1789729712279298787, "q": [0.033707983791828156, -1.682287573814392, -0.07102156430482864, 0.7619560360908508, 1.6581162214279175, -0.07373768836259842, -0.9201992154121399], "theta": [0.03145134076476097, -1.6813077926635742, -0.07278907299041748, 0.7456310391426086, 1.656990885734558, -0.07365608215332031, -0.9213104248046875], "dq": [0.009682354517281055, -0.01261531189084053, -0.01109225582331419, -0.009109251201152802, 0.01945938542485237, -0.0002167025813832879, -0.007501574233174324], "dtheta": [0.00923016108572483, -0.015424415469169617, -0.009949910454452038, -0.008065121248364449, 0.018176158890128136, 0.0038919751532375813, -0.006799032911658287], "tau": [-60.81999969482422, -1.2300000190734863, -25.36400032043457, 2.072000026702881, -3.700000286102295, 3.704000234603882, -0.47600001096725464], "tau_des": [0.12870310246944427, -0.7127611637115479, -1.1832531690597534, -0.40870654582977295, 0.4309207797050476, 0.2334844470024109, -0.4437079429626465], "tau_dot": [-15.545178413391113, -51.46723175048828, -41.28105545043945, 4.988462924957275, -16.961753845214844, -12.636748313903809, 1.1847364902496338], "tau_ext": [14.585001945495605, -35.36704635620117, -35.64283752441406, 20.115333557128906, -2.751976490020752, -6.73806095123291, 0.3667561113834381], "tcp_pose": [0.6405742764472961, -0.12213625758886337, -0.28281471133232117, -0.00592961348593235, -0.02465151436626911, 0.9994878172874451, 0.01952638290822506], "tcp_vel": [-0.0022444117348641157, -0.008619512431323528, -0.0031984737142920494, -0.0012846587924286723, -0.005855137016624212, 0.00021300739899743348], "flange_pose": [0.6430093050003052, -0.12949693202972412, -0.09297294914722443, -0.00592961348593235, -0.02465151436626911, 0.9994878172874451, 0.01952638290822506], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.266609191894531, -49.050907135009766, -13.082931518554688, -3.7431154251098633, 11.548274993896484, 0.28383302688598633], "ext_wrench_in_world": [-10.676122116611324, -50.11754601099947, 11.287581925441721, 3.1682661938400694, 11.721748036234173, 0.12977637501481368]}
+{"timestamp_ns": 1789729712314228422, "elapsed_ms": 1466, "source_timestamp_ns": 1789729712309248335, "q": [0.03404507786035538, -1.6828628778457642, -0.07132333517074585, 0.7616304159164429, 1.6587680578231812, -0.07354127615690231, -0.9203721284866333], "theta": [0.031795140355825424, -1.6818948984146118, -0.07309872657060623, 0.7453036904335022, 1.6576303243637085, -0.07344496250152588, -0.9214932918548584], "dq": [0.013402916491031647, -0.01981779746711254, -0.009261799044907093, -0.010550166480243206, 0.020050769671797752, 0.008761955425143242, -0.007212563883513212], "dtheta": [0.014007898978888988, -0.02450893446803093, -0.010942854918539524, -0.014137200079858303, 0.023833172395825386, 0.010564925149083138, -0.006654196418821812], "tau": [-60.25, -1.4199999570846558, -25.18800163269043, 1.9040000438690186, -3.6760001182556152, 3.8600001335144043, -0.47200003266334534], "tau_des": [0.8316547274589539, -1.5201061964035034, -0.8662387728691101, -0.4107951819896698, 0.5075133442878723, 0.3007848858833313, -0.5905297994613647], "tau_dot": [29.0555362701416, -63.971527099609375, -28.698589324951172, 33.1374626159668, 6.738432884216309, -5.474456310272217, -25.955713272094727], "tau_ext": [14.528131484985352, -35.43986129760742, -35.67140579223633, 20.311180114746094, -2.7564525604248047, -6.912546634674072, 0.366558313369751], "tcp_pose": [0.6405074596405029, -0.12244504690170288, -0.28295135498046875, -0.005809092428535223, -0.02462790161371231, 0.9994894862174988, 0.01950599066913128], "tcp_vel": [-0.0030898950062692165, -0.013687222264707088, -0.005791444331407547, -0.0038073186296969652, -0.009180636145174503, -0.002857147017493844], "flange_pose": [0.642896294593811, -0.12979917228221893, -0.09310875087976456, -0.005809092428535223, -0.02462790161371231, 0.9994894862174988, 0.01950599066913128], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.875288009643555, -48.31292724609375, -13.104881286621094, -3.587362051010132, 11.429015159606934, 0.2928869128227234], "ext_wrench_in_world": [-11.325223436561105, -49.411026562511964, 11.344171989353947, 3.019017905889683, 11.595211527808887, 0.11805615842001219]}
+{"timestamp_ns": 1789729712347588229, "elapsed_ms": 1500, "source_timestamp_ns": 1789729712339256746, "q": [0.034562040120363235, -1.6837952136993408, -0.07163795083761215, 0.7610588073730469, 1.6596860885620117, -0.07309373468160629, -0.9207109808921814], "theta": [0.032320279628038406, -1.6828480958938599, -0.07342422008514404, 0.7447250485420227, 1.6585384607315063, -0.0729665756225586, -0.9218422770500183], "dq": [0.020448176190257072, -0.03662550076842308, -0.012517714872956276, -0.02450340799987316, 0.03241937607526779, 0.01742503046989441, -0.01393820159137249], "dtheta": [0.02072690986096859, -0.039558108896017075, -0.010804539546370506, -0.0259287990629673, 0.03418585658073425, 0.020359473302960396, -0.014910971745848656], "tau": [-59.7599983215332, -2.25, -25.032001495361328, 2.1040000915527344, -3.7080001831054688, 3.888000249862671, -0.46800002455711365], "tau_des": [1.2672449350357056, -2.8224825859069824, -0.8742836713790894, -0.5005181431770325, 0.3887297809123993, 0.2530975043773651, -0.4592927098274231], "tau_dot": [13.54435920715332, 105.03961944580078, 54.39012145996094, 21.735864639282227, 17.378400802612305, 17.824934005737305, 5.533761501312256], "tau_ext": [14.318710327148438, -35.50410461425781, -35.77399444580078, 20.454864501953125, -2.7626140117645264, -7.025556564331055, 0.36458295583724976], "tcp_pose": [0.6404208540916443, -0.12293188273906708, -0.28320133686065674, -0.005602563265711069, -0.024635186418890953, 0.999491274356842, 0.01946629211306572], "tcp_vel": [-0.003446705872192979, -0.020584965124726295, -0.0103386752307415, -0.004452773369848728, -0.016220171004533768, 0.002252645092085004], "flange_pose": [0.6427310109138489, -0.13027286529541016, -0.09335725009441376, -0.005602563265711069, -0.024635186418890953, 0.999491274356842, 0.01946629211306572], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.499670028686523, -47.8656120300293, -13.380644798278809, -3.578665256500244, 11.345049858093262, 0.2934688329696655], "ext_wrench_in_world": [-11.971755048529296, -49.005425269074664, 11.642348406697595, 3.0143128663199508, 11.511033033776519, 0.1147244345038946]}
+{"timestamp_ns": 1789729712380904633, "elapsed_ms": 1533, "source_timestamp_ns": 1789729712379293091, "q": [0.03561793267726898, -1.6857991218566895, -0.07204173505306244, 0.7596057057380676, 1.6612616777420044, -0.07209492474794388, -0.9212405681610107], "theta": [0.033388301730155945, -1.684888243675232, -0.07384426146745682, 0.7432590126991272, 1.6600984334945679, -0.07191550731658936, -0.9223853945732117], "dq": [0.030842306092381477, -0.05905815213918686, -0.008959743194282055, -0.04645737260580063, 0.04489769786596298, 0.029939742758870125, -0.012339765205979347], "dtheta": [0.032546304166316986, -0.06196073442697525, -0.009891054593026638, -0.04512833431363106, 0.04519660025835037, 0.03355219215154648, -0.013505463488399982], "tau": [-59.87999725341797, -3.059999942779541, -25.088001251220703, 2.4280002117156982, -3.7880001068115234, 3.888000249862671, -0.4360000193119049], "tau_des": [1.268940806388855, -3.2368853092193604, -0.939164400100708, -0.4966747462749481, 0.30049389600753784, 0.24897578358650208, -0.5120948553085327], "tau_dot": [-27.330272674560547, 48.02991485595703, -6.4591827392578125, 18.510433197021484, -28.98007583618164, 67.32898712158203, 58.25434875488281], "tau_ext": [14.348834037780762, -34.59987258911133, -35.6837272644043, 20.216161727905273, -2.6947195529937744, -7.065885543823242, 0.3537112772464752], "tcp_pose": [0.640260636806488, -0.12391327321529388, -0.28378087282180786, -0.0052690450102090836, -0.024650517851114273, 0.9994943737983704, 0.019380031153559685], "tcp_vel": [-0.00513626541942358, -0.030703134834766388, -0.018316449597477913, -0.0065947663970291615, -0.020031163468956947, -0.002339760772883892], "flange_pose": [0.6424434185028076, -0.1312246024608612, -0.09393414855003357, -0.0052690450102090836, -0.024650517851114273, 0.9994943737983704, 0.019380031153559685], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.059147834777832, -46.73687744140625, -13.68612289428711, -3.37604022026062, 11.251068115234375, 0.28360578417778015], "ext_wrench_in_world": [-12.589314779683782, -47.916754119696186, 11.996559272177407, 2.816380693477809, 11.406904211171431, 0.12308391383505797]}
+{"timestamp_ns": 1789729712414239374, "elapsed_ms": 1566, "source_timestamp_ns": 1789729712409230511, "q": [0.036732904613018036, -1.6879438161849976, -0.07233738154172897, 0.7580013871192932, 1.662742018699646, -0.07102814316749573, -0.9217292070388794], "theta": [0.03451511263847351, -1.6870571374893188, -0.07415077835321426, 0.7416388988494873, 1.6615681648254395, -0.07080912590026855, -0.9228847026824951], "dq": [0.04251552000641823, -0.07643813639879227, -0.00946179497987032, -0.055077336728572845, 0.05108815059065819, 0.03708036616444588, -0.017442014068365097], "dtheta": [0.04213621839880943, -0.08204475790262222, -0.011172112077474594, -0.0625745877623558, 0.05076490715146065, 0.03738441690802574, -0.018408022820949554], "tau": [-60.1099967956543, -2.3999998569488525, -25.052001953125, 1.9200000762939453, -3.7680001258850098, 3.8680002689361572, -0.4280000329017639], "tau_des": [0.4891011118888855, -2.321763277053833, -1.066240668296814, -1.5267493724822998, 0.4824940860271454, 0.20814178884029388, -0.4450298249721527], "tau_dot": [10.626975059509277, -50.914817810058594, 37.39318084716797, -12.259666442871094, 15.970743179321289, -0.0010239641414955258, 16.040668487548828], "tau_ext": [14.466824531555176, -34.79970932006836, -35.68533706665039, 20.39612579345703, -2.669462203979492, -7.061084747314453, 0.3415338695049286], "tcp_pose": [0.6400659680366516, -0.1249442994594574, -0.284429132938385, -0.0049798982217907906, -0.024645401164889336, 0.9994977116584778, 0.019291952252388], "tcp_vel": [-0.008844217285513878, -0.039411816745996475, -0.02432199940085411, -0.007175869774073362, -0.015986526384949684, -1.3195769497542642e-05], "flange_pose": [0.6421380639076233, -0.1322249174118042, -0.09458000212907791, -0.0049798982217907906, -0.024645401164889336, 0.9994977116584778, 0.019291952252388], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.3826904296875, -46.03077697753906, -13.620844841003418, -3.200401782989502, 11.175503730773926, 0.2707971930503845], "ext_wrench_in_world": [-12.95578609182928, -47.22333368210223, 11.962080541687586, 2.644976463192196, 11.32227199775139, 0.13432292046533975]}
+{"timestamp_ns": 1789729712447563826, "elapsed_ms": 1600, "source_timestamp_ns": 1789729712439231633, "q": [0.03805694356560707, -1.690710186958313, -0.07270003855228424, 0.7557539343833923, 1.664505124092102, -0.06993420422077179, -0.922245979309082], "theta": [0.03585674241185188, -1.6898536682128906, -0.07452122867107391, 0.7393556833267212, 1.6633238792419434, -0.06967735290527344, -0.9234129190444946], "dq": [0.045107401907444, -0.10157722979784012, -0.01495406124740839, -0.08106300234794617, 0.061094556003808975, 0.03854507952928543, -0.012972716242074966], "dtheta": [0.04695778712630272, -0.10508912056684494, -0.013466543518006802, -0.09125959873199463, 0.06465643644332886, 0.0363609604537487, -0.013245000503957272], "tau": [-60.62999725341797, -1.5, -25.22800064086914, 1.436000108718872, -3.8440001010894775, 3.9080002307891846, -0.4280000329017639], "tau_des": [-0.006744613405317068, -1.7915679216384888, -1.473191261291504, -1.9557247161865234, 0.12927380204200745, 0.25652432441711426, -0.3484595715999603], "tau_dot": [-73.82685089111328, -67.22221374511719, -38.37582778930664, -67.4091567993164, 39.34944534301758, 36.434757232666016, -0.878694474697113], "tau_ext": [14.535139083862305, -35.15397644042969, -35.71693420410156, 20.643686294555664, -2.6480062007904053, -7.057619571685791, 0.3270690441131592], "tcp_pose": [0.6398290395736694, -0.1261855661869049, -0.2852194905281067, -0.0047036511823534966, -0.024668367579579353, 0.9994992017745972, 0.01925349421799183], "tcp_vel": [-0.007263020146638155, -0.0447654202580452, -0.028513653203845024, 0.0005897613009437919, -0.01864713616669178, 0.0008215198176912963], "flange_pose": [0.6417959928512573, -0.1334541290998459, -0.09536876529455185, -0.0047036511823534966, -0.024668367579579353, 0.9994992017745972, 0.01925349421799183], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.845930099487305, -45.797882080078125, -13.590753555297852, -3.1358346939086914, 11.063121795654297, 0.25536879897117615], "ext_wrench_in_world": [-13.435153987499488, -47.01237717977117, 11.940733443910709, 2.5856945720266853, 11.20642685212025, 0.14668709813923744]}
+{"timestamp_ns": 1789729712480903266, "elapsed_ms": 1633, "source_timestamp_ns": 1789729712479231992, "q": [0.04009958729147911, -1.695387363433838, -0.07337133586406708, 0.7514145970344543, 1.6670957803726196, -0.06850404292345047, -0.9225454330444336], "theta": [0.03792254626750946, -1.6945698261260986, -0.07520091533660889, 0.734952986240387, 1.6659172773361206, -0.06820034980773926, -0.9237204194068909], "dq": [0.050605639815330505, -0.1270318180322647, -0.01713309995830059, -0.12962600588798523, 0.06762402504682541, 0.03459792956709862, -0.0018606050871312618], "dtheta": [0.056699227541685104, -0.13097846508026123, -0.0199073888361454, -0.12929660081863403, 0.0691903829574585, 0.03687414154410362, -0.0020175022073090076], "tau": [-61.13999938964844, -1.0499999523162842, -25.2080020904541, 1.2600001096725464, -3.81600022315979, 3.9120001792907715, -0.4240000247955322], "tau_des": [-0.6313560009002686, -0.6310927271842957, -1.3735988140106201, -2.360544443130493, 0.3031145930290222, 0.2499222606420517, -0.30340078473091125], "tau_dot": [-110.8460693359375, -28.708812713623047, -26.94676399230957, -20.08258056640625, 72.31791687011719, -30.343761444091797, -67.83859252929688], "tau_ext": [15.004867553710938, -35.56855392456055, -35.62251281738281, 20.93851089477539, -2.616933584213257, -7.079242706298828, 0.31387412548065186], "tcp_pose": [0.6395221948623657, -0.12813861668109894, -0.28642961382865906, -0.004457867704331875, -0.024683048948645592, 0.9995008111000061, 0.019210010766983032], "tcp_vel": [-0.006897301413118839, -0.05288692191243172, -0.033398766070604324, -0.002585478825494647, -0.008700455538928509, 0.001927374629303813], "flange_pose": [0.6413955092430115, -0.135392963886261, -0.09657738357782364, -0.004457867704331875, -0.024683048948645592, 0.9995008111000061, 0.019210010766983032], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.406221389770508, -45.9648323059082, -13.286280632019043, -3.147472858428955, 10.944880485534668, 0.23162072896957397], "ext_wrench_in_world": [-13.994481538061589, -47.19449680666107, 11.631385123023904, 2.6030670876307007, 11.088149644633921, 0.1661974571749555]}
+{"timestamp_ns": 1789729712514230918, "elapsed_ms": 1666, "source_timestamp_ns": 1789729712509217876, "q": [0.04183230176568031, -1.6994638442993164, -0.07403117418289185, 0.747105062007904, 1.6691704988479614, -0.06740620732307434, -0.9224814176559448], "theta": [0.039682596921920776, -1.6986616849899292, -0.07587172836065292, 0.7306134700775146, 1.6680033206939697, -0.06707179546356201, -0.9236581325531006], "dq": [0.06165004521608353, -0.14992894232273102, -0.0231479462236166, -0.16083551943302155, 0.0683048740029335, 0.03923803195357323, 0.0027611274272203445], "dtheta": [0.0613425187766552, -0.14203813672065735, -0.0248270221054554, -0.1547095626592636, 0.07021979242563248, 0.03631768748164177, 0.00834870245307684], "tau": [-60.87999725341797, -2.119999885559082, -24.8960018157959, 1.8880001306533813, -3.884000301361084, 3.8360002040863037, -0.328000009059906], "tau_des": [0.05763184651732445, -1.8035293817520142, -0.9217045903205872, -1.1763160228729248, 0.2830873429775238, 0.15406151115894318, 0.05377809330821037], "tau_dot": [99.53458404541016, 2.6565334796905518, 19.5320987701416, 53.869773864746094, 41.57717514038086, -24.362585067749023, -21.446956634521484], "tau_ext": [15.090557098388672, -34.8784065246582, -35.63002014160156, 20.626480102539062, -2.578011989593506, -7.065148830413818, 0.28419214487075806], "tcp_pose": [0.6393977403640747, -0.1297246366739273, -0.28744104504585266, -0.004372870083898306, -0.024793129414319992, 0.9994996190071106, 0.019148120656609535], "tcp_vel": [-0.003844101447612047, -0.05456684157252312, -0.035302888602018356, -0.005566327832639217, -0.0014867684803903103, 0.006025981158018112], "flange_pose": [0.6412389874458313, -0.1369560807943344, -0.09758765250444412, -0.004372870083898306, -0.024793129414319992, 0.9994996190071106, 0.019148120656609535], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.569549560546875, -45.64008712768555, -12.93240737915039, -3.0123345851898193, 10.935020446777344, 0.21110938489437103], "ext_wrench_in_world": [-14.168873553356804, -46.866705641594734, 11.294671788748417, 2.46634596455823, 11.071393286300017, 0.18651348513713656]}
+{"timestamp_ns": 1789729712547565989, "elapsed_ms": 1700, "source_timestamp_ns": 1789729712539243585, "q": [0.04375609755516052, -1.7039270401000977, -0.07478640973567963, 0.7421265840530396, 1.6713614463806152, -0.06629227101802826, -0.9218819737434387], "theta": [0.04163171723484993, -1.7031071186065674, -0.07664220035076141, 0.7256383299827576, 1.6702204942703247, -0.06593060493469238, -0.9230325222015381], "dq": [0.06476693600416183, -0.154154434800148, -0.024513613432645798, -0.17606660723686218, 0.06754549592733383, 0.03486918285489082, 0.019681893289089203], "dtheta": [0.06807441264390945, -0.15257079899311066, -0.025869188830256462, -0.1726013571023941, 0.07700280845165253, 0.03972098231315613, 0.025323020294308662], "tau": [-60.64999771118164, -2.180000066757202, -24.636001586914062, 2.1000001430511475, -3.864000082015991, 3.748000144958496, -0.25200000405311584], "tau_des": [-0.26763370633125305, -1.21966552734375, -0.8280917406082153, -0.8742694854736328, 0.25597161054611206, 0.12520726025104523, -0.21133969724178314], "tau_dot": [113.17835235595703, 63.22074508666992, 60.05283737182617, -14.109976768493652, 37.58283996582031, -55.0029182434082, -30.09443473815918], "tau_ext": [15.042245864868164, -34.284027099609375, -35.73804473876953, 20.32571029663086, -2.5675320625305176, -7.020566463470459, 0.1917356550693512], "tcp_pose": [0.6393106579780579, -0.13139542937278748, -0.28856515884399414, -0.004374580457806587, -0.02477661892771721, 0.9995013475418091, 0.019081173464655876], "tcp_vel": [-0.0021103699691593647, -0.056409355252981186, -0.040062639862298965, -0.004377416335046291, 0.00015543542394880205, -0.003523824270814657], "flange_pose": [0.6411518454551697, -0.13860148191452026, -0.0987107902765274, -0.004374580457806587, -0.02477661892771721, 0.9995013475418091, 0.019081173464655876], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.490604400634766, -44.97439956665039, -12.801268577575684, -2.7821550369262695, 10.984320640563965, 0.15546897053718567], "ext_wrench_in_world": [-14.12567069886128, -46.191448324294015, 11.194849533852187, 2.234922749222383, 11.106992826480424, 0.24431095459339702]}
+{"timestamp_ns": 1789729712580902350, "elapsed_ms": 1733, "source_timestamp_ns": 1789729712579231386, "q": [0.04651731625199318, -1.7102364301681519, -0.07574193179607391, 0.7350208759307861, 1.6744366884231567, -0.06467036157846451, -0.9210224747657776], "theta": [0.04441468417644501, -1.7094001770019531, -0.07761161029338837, 0.7185512185096741, 1.673366904258728, -0.06427586078643799, -0.9220913052558899], "dq": [0.07276259362697601, -0.14543837308883667, -0.02102869190275669, -0.17429287731647491, 0.07461414486169815, 0.042109549045562744, 0.018707508221268654], "dtheta": [0.0716741606593132, -0.15781962871551514, -0.022905942052602768, -0.1764795333147049, 0.08215790241956711, 0.04234858602285385, 0.02153880149126053], "tau": [-60.93000030517578, -0.949999988079071, -24.584001541137695, 1.596000075340271, -3.832000255584717, 3.808000087738037, -0.2680000066757202], "tau_des": [-1.1311041116714478, 0.41093364357948303, -0.9512906074523926, -0.8426040410995483, 0.20258991420269012, 0.1139940619468689, -0.1720692217350006], "tau_dot": [36.197113037109375, 43.874977111816406, -51.38813018798828, 23.99958038330078, -32.66502380371094, -10.900468826293945, -58.70930480957031], "tau_ext": [14.912878036499023, -34.79499053955078, -35.90164566040039, 20.609033584594727, -2.6065173149108887, -6.976544380187988, 0.14300423860549927], "tcp_pose": [0.6391880512237549, -0.13371242582798004, -0.2902262508869171, -0.004391808528453112, -0.024776695296168327, 0.9995023608207703, 0.019023209810256958], "tcp_vel": [-0.0030943467281758785, -0.05731002613902092, -0.04395342245697975, 0.00012015004176646471, -0.001828079461120069, -0.0012548035010695457], "flange_pose": [0.6410351991653442, -0.14089630544185638, -0.1003711000084877, -0.004391808528453112, -0.024776695296168327, 0.9995023608207703, 0.019023209810256958], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.439197540283203, -44.803131103515625, -12.960129737854004, -2.7119667530059814, 11.035176277160645, 0.07283523678779602], "ext_wrench_in_world": [-14.080826724829183, -46.02267634149156, 11.365575937053078, 2.1631100027040855, 11.15116806043879, 0.328009318751991]}
+{"timestamp_ns": 1789729712614231052, "elapsed_ms": 1766, "source_timestamp_ns": 1789729712609236637, "q": [0.048638492822647095, -1.7150189876556396, -0.07636195421218872, 0.7297590374946594, 1.6768242120742798, -0.06341541558504105, -0.9205077290534973], "theta": [0.04653012380003929, -1.7142374515533447, -0.07824532687664032, 0.7132824063301086, 1.6758359670639038, -0.06299972534179688, -0.9215100407600403], "dq": [0.07232657819986343, -0.14689622819423676, -0.014388159848749638, -0.17822889983654022, 0.08125649392604828, 0.04162026569247246, 0.018193300813436508], "dtheta": [0.06980196386575699, -0.1602945178747177, -0.01991882547736168, -0.17685751616954803, 0.08211418241262436, 0.04375327005982399, 0.018237482756376266], "tau": [-61.709999084472656, 0.09999999403953552, -24.744001388549805, 1.3360000848770142, -3.7920002937316895, 3.832000255584717, -0.2240000069141388], "tau_des": [-1.8891116380691528, 2.001688003540039, -1.2722294330596924, -1.259980320930481, 0.11554988473653793, 0.09425283223390579, -0.12682108581066132], "tau_dot": [-4.654881954193115, 20.45148468017578, -63.55263900756836, -53.774627685546875, -4.954050540924072, -29.08472442626953, 10.47644329071045], "tau_ext": [14.861573219299316, -35.725399017333984, -35.931785583496094, 21.076627731323242, -2.6635074615478516, -6.971807479858398, 0.1358807533979416], "tcp_pose": [0.6390411853790283, -0.1354593187570572, -0.2915458083152771, -0.004377380013465881, -0.024780897423624992, 0.9995020031929016, 0.019038880243897438], "tcp_vel": [-0.003773547476157546, -0.05806741863489151, -0.04383644461631775, 0.002087286440655589, -0.004875331651419401, -0.0002926619490608573], "flange_pose": [0.6408830285072327, -0.14264926314353943, -0.10169083625078201, -0.004377380013465881, -0.024780897423624992, 0.9995020031929016, 0.019038880243897438], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.856096267700195, -45.343814849853516, -13.106366157531738, -2.873847484588623, 10.960709571838379, 0.03939078375697136], "ext_wrench_in_world": [-14.469050970256179, -46.58903292133868, 11.492385994806105, 2.3286908998059754, 11.083633476313814, 0.35773310247642]}
+{"timestamp_ns": 1789729712647562953, "elapsed_ms": 1800, "source_timestamp_ns": 1789729712639256547, "q": [0.05068901926279068, -1.7196013927459717, -0.07686902582645416, 0.724483072757721, 1.6789418458938599, -0.0621572844684124, -0.9198296070098877], "theta": [0.04855915904045105, -1.7188876867294312, -0.07877218723297119, 0.7080209851264954, 1.6780414581298828, -0.06172466278076172, -0.9207665920257568], "dq": [0.06808420270681381, -0.15593159198760986, -0.016464674845337868, -0.180613175034523, 0.06578849256038666, 0.04769931361079216, 0.027996595948934555], "dtheta": [0.06569256633520126, -0.1507076770067215, -0.017405247315764427, -0.17559440433979034, 0.06795404851436615, 0.04305649548768997, 0.029492471367120743], "tau": [-61.96999740600586, -1.0099999904632568, -25.016000747680664, 1.852000117301941, -3.8960001468658447, 3.8680002689361572, -0.2240000069141388], "tau_des": [-1.9944730997085571, 1.1287826299667358, -1.5500884056091309, -0.4405358135700226, 0.12548179924488068, 0.16256967186927795, -0.166701540350914], "tau_dot": [-18.854223251342773, -116.79784393310547, -79.11234283447266, 5.752634525299072, 16.76921272277832, 75.66357421875, -38.434600830078125], "tau_ext": [14.992379188537598, -34.79922866821289, -35.69545364379883, 20.55105209350586, -2.629467487335205, -7.004343032836914, 0.12529629468917847], "tcp_pose": [0.6389495134353638, -0.13708294928073883, -0.2928467392921448, -0.004429547116160393, -0.024802373722195625, 0.9995014071464539, 0.01903127320110798], "tcp_vel": [-0.0019814057741314173, -0.053707484155893326, -0.041163813322782516, -0.0035209166817367077, 0.002475616754963994, -0.0036985960323363543], "flange_pose": [0.6408112645149231, -0.14426948130130768, -0.10299181193113327, -0.004429547116160393, -0.024802373722195625, 0.9995014071464539, 0.01903127320110798], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.819427490234375, -45.39198684692383, -13.001111030578613, -2.9149539470672607, 11.006148338317871, 0.018710004165768623], "ext_wrench_in_world": [-14.427797807562332, -46.63175454402207, 11.387388533380575, 2.3672405655496727, 11.130357285186058, 0.37937663575639446]}
+{"timestamp_ns": 1789729712680905313, "elapsed_ms": 1833, "source_timestamp_ns": 1789729712679288832, "q": [0.05329028144478798, -1.725390911102295, -0.07751741260290146, 0.7176142930984497, 1.6814277172088623, -0.060456398874521255, -0.9186499714851379], "theta": [0.05111944302916527, -1.7247182130813599, -0.07944653183221817, 0.7011842131614685, 1.6806578636169434, -0.06000947952270508, -0.9195055961608887], "dq": [0.057742249220609665, -0.1354505866765976, -0.01848987676203251, -0.15004746615886688, 0.05868019536137581, 0.039429012686014175, 0.027478842064738274], "dtheta": [0.059586938470602036, -0.13241243362426758, -0.01467713713645935, -0.15457479655742645, 0.058076512068510056, 0.0400208942592144, 0.02890140749514103], "tau": [-61.25, -1.2899999618530273, -24.608001708984375, 1.8640000820159912, -3.744000196456909, 3.752000093460083, -0.2120000123977661], "tau_des": [-1.439188003540039, 1.9709217548370361, -0.9899333715438843, -0.5111917853355408, 0.3922159969806671, 0.05153025686740875, -0.32670342922210693], "tau_dot": [117.66047668457031, 10.435823440551758, -36.29860305786133, -5.856501579284668, -0.22615988552570343, -70.01884460449219, 45.10410690307617], "tau_ext": [14.769326210021973, -34.21611785888672, -35.66365051269531, 20.348297119140625, -2.6516504287719727, -6.9653544425964355, 0.11817287653684616], "tcp_pose": [0.638870358467102, -0.1391371786594391, -0.29447615146636963, -0.004556502681225538, -0.024763593450188637, 0.9995037913322449, 0.018925046548247337], "tcp_vel": [-0.002586167072877288, -0.047564342617988586, -0.03731559216976166, -0.004995481111109257, 0.004098391160368919, -0.006107662338763475], "flange_pose": [0.6407790780067444, -0.14628225564956665, -0.10462013632059097, -0.004556502681225538, -0.024763593450188637, 0.9995037913322449, 0.018925046548247337], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.409934997558594, -44.688926696777344, -12.9053373336792, -2.7818381786346436, 11.131685256958008, -0.003165727248415351], "ext_wrench_in_world": [-14.054971646621324, -45.90258393428091, 11.328919974960476, 2.229214945686411, 11.248127749096241, 0.40407078569727994]}
+{"timestamp_ns": 1789729712714232025, "elapsed_ms": 1866, "source_timestamp_ns": 1789729712709237281, "q": [0.05493684113025665, -1.729109764099121, -0.07785395532846451, 0.7133637070655823, 1.68303644657135, -0.0593387708067894, -0.9180374145507812], "theta": [0.05273997411131859, -1.7284492254257202, -0.07979047298431396, 0.6969204545021057, 1.682368516921997, -0.0588839054107666, -0.9188447594642639], "dq": [0.05338234454393387, -0.12516118586063385, -0.01274664793163538, -0.1385599821805954, 0.05507325008511543, 0.036440227180719376, 0.018951253965497017], "dtheta": [0.05329305678606033, -0.12193494290113449, -0.009633141569793224, -0.13731588423252106, 0.05913044139742851, 0.03752528876066208, 0.01808456890285015], "tau": [-60.849998474121094, 0.3499999940395355, -24.172000885009766, 1.1800000667572021, -3.5960001945495605, 3.7360000610351562, -0.2240000069141388], "tau_des": [-0.7199102640151978, 3.383429765701294, -0.5922958254814148, -1.3366420269012451, 0.44821521639823914, 0.024741269648075104, -0.3222661316394806], "tau_dot": [-81.26811981201172, 167.33987426757812, 5.303304195404053, -16.677091598510742, 52.05123519897461, -32.11345672607422, 19.21946907043457], "tau_ext": [14.444291114807129, -35.10902404785156, -35.84514236450195, 20.87114906311035, -2.7502126693725586, -6.9174981117248535, 0.1190289705991745], "tcp_pose": [0.6387614011764526, -0.14047487080097198, -0.2955319285392761, -0.00459918612614274, -0.024728773161768913, 0.9995051622390747, 0.018887653946876526], "tcp_vel": [-0.0026774571742862463, -0.04292746260762215, -0.03518906235694885, 0.0022326200269162655, -0.0037688687443733215, -0.002267857315018773], "flange_pose": [0.6406857371330261, -0.14760540425777435, -0.10567554086446762, -0.00459918612614274, -0.024728773161768913, 0.9995051622390747, 0.018887653946876526], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.62582778930664, -44.5027961730957, -13.210068702697754, -2.777958869934082, 11.083017349243164, -0.009197483770549297], "ext_wrench_in_world": [-14.278821328831553, -45.73713294532247, 11.647010922763842, 2.228594887410811, 11.199015462564743, 0.4072236945712991]}
+{"timestamp_ns": 1789729712747593842, "elapsed_ms": 1900, "source_timestamp_ns": 1789729712739238853, "q": [0.056518036872148514, -1.7326287031173706, -0.07805301994085312, 0.7094063758850098, 1.6846253871917725, -0.05819251015782356, -0.9176447987556458], "theta": [0.05429994687438011, -1.7319788932800293, -0.0799853578209877, 0.6929448246955872, 1.6840702295303345, -0.057729363441467285, -0.9184114336967468], "dq": [0.05152999609708786, -0.11440061777830124, -0.004087907262146473, -0.13346849381923676, 0.049786537885665894, 0.03744015470147133, 0.011296597309410572], "dtheta": [0.050002265721559525, -0.11241912841796875, -0.0032758258748799562, -0.12883366644382477, 0.053458984941244125, 0.03917993977665901, 0.013895071111619473], "tau": [-60.63999938964844, 0.7599999904632568, -23.928001403808594, 1.1160000562667847, -3.568000078201294, 3.7080001831054688, -0.2160000056028366], "tau_des": [-0.30228549242019653, 3.907107353210449, -0.5819607377052307, -1.5607329607009888, 0.42402416467666626, -0.011277900077402592, -0.14904005825519562], "tau_dot": [31.38064956665039, 72.6282730102539, 27.358156204223633, 36.64961624145508, -57.65470504760742, -52.49310302734375, 21.339683532714844], "tau_ext": [14.290115356445312, -35.894065856933594, -36.0067253112793, 21.107112884521484, -2.8384742736816406, -6.87218713760376, 0.12215488404035568], "tcp_pose": [0.6386531591415405, -0.1417248696088791, -0.2965886890888214, -0.004582713823765516, -0.024754226207733154, 0.9995044469833374, 0.01889742538332939], "tcp_vel": [-0.0012949496740475297, -0.03831867501139641, -0.03479267656803131, 0.003680957481265068, -0.0055235931649804115, 0.0024523416068404913], "flange_pose": [0.6405715346336365, -0.14885923266410828, -0.10673236846923828, -0.004582713823765516, -0.024754226207733154, 0.9995044469833374, 0.01889742538332939], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.81589698791504, -45.36079406738281, -13.620031356811523, -3.0573785305023193, 11.065547943115234, -0.010436289943754673], "ext_wrench_in_world": [-14.420294710425672, -46.61925542328516, 12.024200943729166, 2.507958461199371, 11.195512077081956, 0.40580458981715817]}
+{"timestamp_ns": 1789729712780905487, "elapsed_ms": 1933, "source_timestamp_ns": 1789729712779280607, "q": [0.05864680930972099, -1.7368167638778687, -0.07813981175422668, 0.7042580842971802, 1.6863467693328857, -0.05648886784911156, -0.9167577624320984], "theta": [0.05640875920653343, -1.7361669540405273, -0.08006803691387177, 0.6878073215484619, 1.6859421730041504, -0.05601155757904053, -0.9174726009368896], "dq": [0.05121326446533203, -0.10031730681657791, -0.0004663427243940532, -0.1269504725933075, 0.03572613000869751, 0.0404907651245594, 0.024075118824839592], "dtheta": [0.052244968712329865, -0.09318266063928604, -0.002379904268309474, -0.1230730414390564, 0.03896479681134224, 0.04511629417538643, 0.02879403345286846], "tau": [-60.96999740600586, -1.1399999856948853, -24.02800178527832, 2.06000018119812, -3.6560001373291016, 3.680000066757202, -0.20400001108646393], "tau_des": [-0.7639356851577759, 0.9511262774467468, -1.0324023962020874, -0.265583336353302, 0.4868158996105194, -0.051147736608982086, -0.16400490701198578], "tau_dot": [62.82449722290039, -168.17196655273438, -25.9045467376709, 44.373146057128906, -56.903099060058594, 2.7274367809295654, 10.497089385986328], "tau_ext": [14.466471672058105, -35.00376892089844, -35.95801544189453, 20.58995819091797, -2.8435781002044678, -6.857707977294922, 0.11650262027978897], "tcp_pose": [0.6386445760726929, -0.14314928650856018, -0.2980351448059082, -0.004657353740185499, -0.024781251326203346, 0.9995049238204956, 0.018816370517015457], "tcp_vel": [0.003092298051342368, -0.03094043955206871, -0.034897636622190475, -0.008615369908511639, 0.003984467126429081, 0.0006020074361003935], "flange_pose": [0.6405907273292542, -0.150252103805542, -0.10817793756723404, -0.004657353740185499, -0.024781251326203346, 0.9995049238204956, 0.018816370517015457], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.323497772216797, -45.867958068847656, -13.743606567382812, -3.2003233432769775, 11.254534721374512, -0.015659796074032784], "ext_wrench_in_world": [-13.89780315836341, -47.10441747781735, 12.134158390717554, 2.640859992545603, 11.391255217681069, 0.4147645003938379]}
+{"timestamp_ns": 1789729712814227459, "elapsed_ms": 1966, "source_timestamp_ns": 1789729712809229635, "q": [0.06018780544400215, -1.7393923997879028, -0.0782179906964302, 0.7008630037307739, 1.6874275207519531, -0.055222902446985245, -0.9159453511238098], "theta": [0.05794083699584007, -1.7387205362319946, -0.08014828711748123, 0.684451699256897, 1.6871271133422852, -0.05473637580871582, -0.916626513004303], "dq": [0.049868710339069366, -0.08952625840902328, -0.00544704170897603, -0.11559255421161652, 0.041494227945804596, 0.04530793055891991, 0.02452987991273403], "dtheta": [0.0531906895339489, -0.08459685742855072, -0.0039541153237223625, -0.11148585379123688, 0.04095802828669548, 0.043782953172922134, 0.02678581327199936], "tau": [-61.32999801635742, -2.3999998569488525, -24.11600112915039, 2.4000000953674316, -3.632000207901001, 3.6640002727508545, -0.2120000123977661], "tau_des": [-1.2293165922164917, 0.19884942471981049, -1.0666643381118774, -0.12291094660758972, 0.5435077548027039, -0.06915395706892014, -0.1890837699174881], "tau_dot": [105.1235580444336, 32.57402420043945, -43.485687255859375, 42.14009094238281, 23.889503479003906, -78.68785858154297, 3.250168561935425], "tau_ext": [14.849376678466797, -34.35328674316406, -35.848026275634766, 20.37907600402832, -2.8303635120391846, -6.850880146026611, 0.11267243325710297], "tcp_pose": [0.6387001872062683, -0.144012913107872, -0.29905518889427185, -0.004757487215101719, -0.02477550506591797, 0.9995070099830627, 0.018688146024942398], "tcp_vel": [0.002562425099313259, -0.028250744566321373, -0.03492595627903938, -0.008051439188420773, 0.0035862443037331104, -0.00024126404605340213], "flange_pose": [0.640683114528656, -0.1510661244392395, -0.1091965064406395, -0.004757487215101719, -0.02477550506591797, 0.9995070099830627, 0.018688146024942398], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.987027168273926, -45.30804443359375, -13.454009056091309, -2.9847309589385986, 11.375883102416992, -0.022157492116093636], "ext_wrench_in_world": [-13.590370806226376, -46.51484163348667, 11.87794666253163, 2.4197770849666447, 11.501503232869384, 0.4241797436527478]}
+{"timestamp_ns": 1789729712847566240, "elapsed_ms": 2000, "source_timestamp_ns": 1789729712839245875, "q": [0.061787307262420654, -1.7418248653411865, -0.07833320647478104, 0.6976905465126038, 1.6886520385742188, -0.05394383519887924, -0.9151499271392822], "theta": [0.05953924357891083, -1.7411125898361206, -0.08026907593011856, 0.6813182234764099, 1.6884500980377197, -0.053450942039489746, -0.9157979488372803], "dq": [0.054268721491098404, -0.0809093713760376, -0.004596322774887085, -0.09185051918029785, 0.0447627454996109, 0.04413875192403793, 0.02520563080906868], "dtheta": [0.052030522376298904, -0.07652941346168518, -0.004642260726541281, -0.09895627200603485, 0.04481804370880127, 0.041788943111896515, 0.025005243718624115], "tau": [-61.529998779296875, -2.7699999809265137, -24.076000213623047, 2.440000057220459, -3.5960001945495605, 3.684000253677368, -0.2200000137090683], "tau_des": [-1.4081816673278809, -0.4226967692375183, -1.1114345788955688, -0.07332984358072281, 0.4569152593612671, -0.12301125377416611, -0.3348011076450348], "tau_dot": [10.362948417663574, 64.69465637207031, -40.320987701416016, -20.558731079101562, 33.47528076171875, 14.119794845581055, 46.207698822021484], "tau_ext": [14.973586082458496, -33.85040283203125, -35.8257942199707, 20.295650482177734, -2.835608959197998, -6.831578254699707, 0.1126730814576149], "tcp_pose": [0.638751745223999, -0.1448296308517456, -0.3001048266887665, -0.004821151029318571, -0.024741174653172493, 0.9995095729827881, 0.01858026348054409], "tcp_vel": [0.0023656943812966347, -0.02538909576833248, -0.034143444150686264, -0.005021460819989443, -0.00011026980791939422, -0.0027898831758648157], "flange_pose": [0.6407575607299805, -0.15184134244918823, -0.11024485528469086, -0.004821151029318571, -0.024741174653172493, 0.9995095729827881, 0.01858026348054409], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.01448631286621, -44.32495880126953, -13.091961860656738, -2.6234166622161865, 11.395279884338379, -0.026454009115695953], "ext_wrench_in_world": [-13.671638286470765, -45.51814689240078, 11.565025724391768, 2.058815103394836, 11.502704206496132, 0.4295285188299376]}
+{"timestamp_ns": 1789729712880965662, "elapsed_ms": 2033, "source_timestamp_ns": 1789729712879278120, "q": [0.06390515714883804, -1.745004653930664, -0.07852373272180557, 0.6939400434494019, 1.6905150413513184, -0.05237415060400963, -0.9145657420158386], "theta": [0.061655111610889435, -1.7442234754562378, -0.08046495914459229, 0.677583634853363, 1.6904354095458984, -0.051880836486816406, -0.9151754379272461], "dq": [0.04883682355284691, -0.0735662579536438, -0.005479054991155863, -0.08477914333343506, 0.05096496269106865, 0.04105895385146141, 0.009833211079239845], "dtheta": [0.04826478287577629, -0.0754416361451149, -0.003943938296288252, -0.08515555411577225, 0.04898848384618759, 0.034436166286468506, 0.009493028745055199], "tau": [-61.73999786376953, -1.5899999141693115, -23.976001739501953, 2.0160000324249268, -3.5400002002716064, 3.692000150680542, -0.24400001764297485], "tau_des": [-1.7628649473190308, 1.139133334159851, -0.9782924652099609, -1.3074026107788086, 0.6316161751747131, -0.02437179535627365, -0.2585770785808563], "tau_dot": [9.332023620605469, -32.322757720947266, -64.22712707519531, 21.462440490722656, -11.298007011413574, 87.61801147460938, -37.54525375366211], "tau_ext": [15.111831665039062, -34.81999969482422, -35.93036651611328, 20.846107482910156, -2.9256844520568848, -6.800686359405518, 0.12126735597848892], "tcp_pose": [0.6386855244636536, -0.14594495296478271, -0.3014948070049286, -0.0048294044099748135, -0.024731092154979706, 0.9995107054710388, 0.018530940636992455], "tcp_vel": [-0.0020154332742094994, -0.02578199841082096, -0.03249536454677582, 0.0032468666322529316, -0.004011617507785559, 0.00012519268784672022], "flange_pose": [0.6406939625740051, -0.1529378741979599, -0.11163416504859924, -0.0048294044099748135, -0.024731092154979706, 0.9995107054710388, 0.018530940636992455], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.49834632873535, -43.904754638671875, -12.807787895202637, -2.401715040206909, 11.312238693237305, -0.023858441039919853], "ext_wrench_in_world": [-14.179304120490258, -45.1108815401143, 11.305664224882875, 1.8416877797274522, 11.408919519666414, 0.4246058503099129]}
+{"timestamp_ns": 1789729712914230442, "elapsed_ms": 2066, "source_timestamp_ns": 1789729712909225699, "q": [0.06529500335454941, -1.7472425699234009, -0.07862390577793121, 0.6914526224136353, 1.6918870210647583, -0.05135383456945419, -0.914333701133728], "theta": [0.06304147094488144, -1.7464170455932617, -0.08056347072124481, 0.6750962734222412, 1.6918836832046509, -0.050864458084106445, -0.9149191975593567], "dq": [0.048346951603889465, -0.07598844915628433, -0.004233106970787048, -0.08567596226930618, 0.04954129457473755, 0.032224733382463455, 0.0067146820947527885], "dtheta": [0.04808303341269493, -0.07527328282594681, -0.003442807123064995, -0.08501539379358292, 0.04638156667351723, 0.034085799008607864, 0.008413862437009811], "tau": [-61.62999725341797, -1.0299999713897705, -23.832000732421875, 1.8440001010894775, -3.496000051498413, 3.6640002727508545, -0.24000000953674316], "tau_des": [-1.7924550771713257, 1.7160155773162842, -0.9382165670394897, -1.661299705505371, 0.7006044387817383, -0.03594602271914482, -0.21750521659851074], "tau_dot": [102.23326110839844, 171.204345703125, -14.791301727294922, 15.968173027038574, -30.053682327270508, -30.226547241210938, -49.60344696044922], "tau_ext": [15.23205852508545, -35.50629806518555, -35.95182418823242, 21.0633544921875, -2.9723691940307617, -6.799777984619141, 0.12772426009178162], "tcp_pose": [0.6386034488677979, -0.14672955870628357, -0.3024287223815918, -0.00477595953270793, -0.024738365784287453, 0.9995102286338806, 0.01855931058526039], "tcp_vel": [-0.0026866181287914515, -0.02593279257416725, -0.03235133737325668, 0.002376146614551544, -0.0020998097024858, 0.0011288028908893466], "flange_pose": [0.6405919194221497, -0.1537337452173233, -0.11256827414035797, -0.00477595953270793, -0.024738365784287453, 0.9995102286338806, 0.01855931058526039], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.636966705322266, -44.546958923339844, -12.767520904541016, -2.550678253173828, 11.317241668701172, -0.020427564159035683], "ext_wrench_in_world": [-14.287164665190378, -45.758099123074395, 11.238464796948671, 1.9899940831530143, 11.421429814856952, 0.42095172845612283]}
+{"timestamp_ns": 1789729712947589420, "elapsed_ms": 2100, "source_timestamp_ns": 1789729712939286913, "q": [0.06674198061227798, -1.7495880126953125, -0.07870817929506302, 0.6887239813804626, 1.693266749382019, -0.050295595079660416, -0.9140115976333618], "theta": [0.0644797533750534, -1.7487496137619019, -0.08064276725053787, 0.6723678112030029, 1.6933332681655884, -0.04980587959289551, -0.9145733714103699], "dq": [0.04710325598716736, -0.06705978512763977, -0.003519002813845873, -0.0918658897280693, 0.04407044127583504, 0.033640023320913315, 0.0139877675101161], "dtheta": [0.04519272595643997, -0.07651058584451675, -0.0026275182608515024, -0.08867830783128738, 0.04325536638498306, 0.034185390919446945, 0.014613522216677666], "tau": [-61.30999755859375, -0.9199999570846558, -23.68000030517578, 1.936000108718872, -3.4720001220703125, 3.632000207901001, -0.23600001633167267], "tau_des": [-1.0034549236297607, 1.9216653108596802, -0.6779891848564148, -1.5882185697555542, 0.6567850112915039, -0.11966438591480255, -0.22652724385261536], "tau_dot": [87.02395629882812, 11.88587760925293, -12.481340408325195, 14.00441837310791, -57.694644927978516, -36.35493087768555, -15.495467185974121], "tau_ext": [15.139988899230957, -35.70436096191406, -35.96678924560547, 21.014102935791016, -2.9964184761047363, -6.796986103057861, 0.12227411568164825], "tcp_pose": [0.6385500431060791, -0.14751921594142914, -0.30341121554374695, -0.00474582938477397, -0.02476479671895504, 0.9995091557502747, 0.018590250983834267], "tcp_vel": [-0.0017766678938642144, -0.02604876458644867, -0.03065868839621544, 0.0012762416154146194, -0.0022932447027415037, -0.0027937786653637886], "flange_pose": [0.6405275464057922, -0.15453538298606873, -0.11355109512805939, -0.00474582938477397, -0.02476479671895504, 0.9995091557502747, 0.018590250983834267], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.409114837646484, -45.378787994384766, -12.732961654663086, -2.783212423324585, 11.419118881225586, -0.01932678185403347], "ext_wrench_in_world": [-14.017244124934505, -46.57718708583542, 11.167106716002337, 2.2165825485929496, 11.534780604720563, 0.42251526320753324]}
+{"timestamp_ns": 1789729712980897404, "elapsed_ms": 2133, "source_timestamp_ns": 1789729712979302900, "q": [0.06857985258102417, -1.7525197267532349, -0.0787450447678566, 0.6850377321243286, 1.6947811841964722, -0.04891715943813324, -0.9133395552635193], "theta": [0.06630098074674606, -1.75171959400177, -0.08067185431718826, 0.6687033176422119, 1.6949200630187988, -0.048427462577819824, -0.9138692021369934], "dq": [0.04657549038529396, -0.06917638331651688, 0.00038776587462052703, -0.0957508459687233, 0.037919461727142334, 0.03281998634338379, 0.020609093829989433], "dtheta": [0.044888462871313095, -0.07100709527730942, -4.627476300811395e-05, -0.09210709482431412, 0.03624550253152847, 0.035709355026483536, 0.022632041946053505], "tau": [-60.96999740600586, -2.2100000381469727, -23.64000129699707, 2.6080000400543213, -3.4640002250671387, 3.628000259399414, -0.20400001108646393], "tau_des": [-0.40536168217658997, -0.20571953058242798, -0.7762492895126343, -0.25565609335899353, 0.5069142580032349, -0.10710342973470688, -0.17773039638996124], "tau_dot": [13.937397956848145, -179.08335876464844, -64.14616394042969, 15.416010856628418, 10.450238227844238, -7.3423285484313965, 66.03023529052734], "tau_ext": [14.88157844543457, -35.14038848876953, -35.973716735839844, 20.602785110473633, -2.999983787536621, -6.784918308258057, 0.12164053320884705], "tcp_pose": [0.6385434865951538, -0.14845804870128632, -0.3046734631061554, -0.004795466549694538, -0.02479381673038006, 0.999508261680603, 0.018586624413728714], "tcp_vel": [0.0011299235047772527, -0.022252943366765976, -0.031024901196360588, -0.0012362925335764885, 0.0018737756181508303, -0.002214268548414111], "flange_pose": [0.6405399441719055, -0.1554723083972931, -0.11481348425149918, -0.004795466549694538, -0.02479381673038006, 0.999508261680603, 0.018586624413728714], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.767282485961914, -46.07685089111328, -12.910792350769043, -3.034947156906128, 11.618744850158691, -0.02521769516170025], "ext_wrench_in_world": [-13.336002098861803, -47.249283767230814, 11.314953630551786, 2.4575496096010423, 11.746464207541745, 0.43335967479848186]}
+{"timestamp_ns": 1789729713014230961, "elapsed_ms": 2166, "source_timestamp_ns": 1789729713009241394, "q": [0.06999831646680832, -1.7546124458312988, -0.07874172180891037, 0.6822735071182251, 1.6957714557647705, -0.04786455258727074, -0.9126537442207336], "theta": [0.06770393252372742, -1.753853678703308, -0.0806657075881958, 0.6659684777259827, 1.6959506273269653, -0.04737138748168945, -0.9131568074226379], "dq": [0.048600759357213974, -0.06743453443050385, -0.0022180667147040367, -0.09071572124958038, 0.029331328347325325, 0.034712325781583786, 0.02296682447195053], "dtheta": [0.04810485988855362, -0.06802909821271896, 0.0006818083929829299, -0.09053822606801987, 0.03391887620091438, 0.035488419234752655, 0.02249908074736595], "tau": [-60.79999923706055, -3.0, -23.556001663208008, 2.888000249862671, -3.496000051498413, 3.632000207901001, -0.2160000056028366], "tau_des": [-0.6599699258804321, -1.1356953382492065, -0.9360257983207703, 0.25512373447418213, 0.5151024460792542, 0.007189122494310141, -0.2185361683368683], "tau_dot": [-62.58255386352539, 13.915434837341309, 10.791730880737305, 54.95376205444336, -3.2560858726501465, 1.5645674467086792, -30.951095581054688], "tau_ext": [14.917695999145508, -34.49749755859375, -35.869468688964844, 20.316396713256836, -2.968330144882202, -6.8108134269714355, 0.11683051288127899], "tcp_pose": [0.6385483741760254, -0.149112731218338, -0.30564579367637634, -0.004902814514935017, -0.02477359212934971, 0.9995089173316956, 0.018550585955381393], "tcp_vel": [0.0004049587878398597, -0.020842600613832474, -0.03319009765982628, -0.0017129542538896203, 0.00674801180139184, -0.0007682258146815002], "flange_pose": [0.64058518409729, -0.15611234307289124, -0.11578569561243057, -0.004902814514935017, -0.02477359212934971, 0.9995089173316956, 0.018550585955381393], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.24082088470459, -45.83095932006836, -13.002776145935059, -3.0145907402038574, 11.766291618347168, -0.029439188539981842], "ext_wrench_in_world": [-12.8206483812283, -46.97972443479609, 11.41788544583617, 2.4305010526145483, 11.892505763780546, 0.44182998587424976]}
+{"timestamp_ns": 1789729713047561347, "elapsed_ms": 2200, "source_timestamp_ns": 1789729713039283803, "q": [0.07145468890666962, -1.7566397190093994, -0.07871842384338379, 0.6796732544898987, 1.696779489517212, -0.046784594655036926, -0.9120854735374451], "theta": [0.06914641708135605, -1.7559245824813843, -0.0806388109922409, 0.6633927822113037, 1.6969908475875854, -0.04628467559814453, -0.9125624299049377], "dq": [0.048094384372234344, -0.07030545920133591, -0.0003701222885865718, -0.07823295891284943, 0.03882557526230812, 0.04032363370060921, 0.017798563465476036], "dtheta": [0.04919854924082756, -0.0675194188952446, 0.0008771333959884942, -0.08065181225538254, 0.03482487425208092, 0.038304608315229416, 0.015422464348375797], "tau": [-60.5, -3.319999933242798, -23.37200164794922, 2.9080002307891846, -3.4720001220703125, 3.5960001945495605, -0.24400001764297485], "tau_des": [-0.1513582020998001, -0.3075079321861267, -0.4434458911418915, -0.33880239725112915, 0.683584988117218, -0.16360945999622345, -0.2579856514930725], "tau_dot": [50.25429916381836, 79.81306457519531, -14.998373031616211, 18.777446746826172, 31.007591247558594, -28.119579315185547, -59.78154754638672], "tau_ext": [14.63176155090332, -34.2534065246582, -35.9405403137207, 20.341297149658203, -2.9854795932769775, -6.808444499969482, 0.1153671070933342], "tcp_pose": [0.638516902923584, -0.1497650444507599, -0.3066428005695343, -0.005003252066671848, -0.024762069806456566, 0.999509334564209, 0.018516577780246735], "tcp_vel": [-0.0029452499002218246, -0.023617533966898918, -0.03324979171156883, -0.0037332552019506693, 0.004255763255059719, -0.003098625922575593], "flange_pose": [0.6405914425849915, -0.15675081312656403, -0.11678259819746017, -0.005003252066671848, -0.024762069806456566, 0.999509334564209, 0.018516577780246735], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.12784481048584, -45.14453887939453, -13.15229606628418, -2.874885082244873, 11.799246788024902, -0.0333707258105278], "ext_wrench_in_world": [-12.73864817239497, -46.293422429661476, 11.59783831355469, 2.2897053751207412, 11.91829815105916, 0.4469016488828293]}
+{"timestamp_ns": 1789729713080900511, "elapsed_ms": 2233, "source_timestamp_ns": 1789729713079307807, "q": [0.07345430552959442, -1.759284496307373, -0.07859551906585693, 0.6766828298568726, 1.6982386112213135, -0.04534076899290085, -0.9117242097854614], "theta": [0.07113353908061981, -1.7585906982421875, -0.08050286769866943, 0.6603947281837463, 1.698481798171997, -0.04483211040496826, -0.9121707677841187], "dq": [0.049875132739543915, -0.06632839143276215, 0.006192704662680626, -0.06704998016357422, 0.04439588636159897, 0.03916465491056442, 0.0023703037295490503], "dtheta": [0.04997213929891586, -0.06724975258111954, 0.0048630936071276665, -0.07014109939336777, 0.03855777531862259, 0.03606734797358513, 0.00399488490074873], "tau": [-60.15999984741211, -2.2899999618530273, -22.972002029418945, 2.264000177383423, -3.4000000953674316, 3.5920002460479736, -0.24800001084804535], "tau_des": [0.18218252062797546, 1.2350510358810425, -0.14857524633407593, -1.4881224632263184, 0.826420783996582, -0.047874078154563904, -0.2747972011566162], "tau_dot": [-50.36811828613281, -75.31627655029297, -8.434346199035645, -48.4329948425293, 39.557655334472656, -27.05447769165039, -22.731290817260742], "tau_ext": [14.394431114196777, -34.69247055053711, -36.160614013671875, 20.787500381469727, -3.0413362979888916, -6.809537887573242, 0.11880959570407867], "tcp_pose": [0.638323187828064, -0.1506778597831726, -0.30803123116493225, -0.005084966775029898, -0.024734364822506905, 0.9995092749595642, 0.018535951152443886], "tcp_vel": [-0.006797563750296831, -0.023869037628173828, -0.03528793156147003, 0.0035790398251265287, 0.001668990938924253, -0.0021455613896250725], "flange_pose": [0.6404287219047546, -0.157670259475708, -0.11817160993814468, -0.005084966775029898, -0.024734364822506905, 0.9995092749595642, 0.018535951152443886], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.615983009338379, -44.42502212524414, -13.548039436340332, -2.7289183139801025, 11.689528465270996, -0.03396361693739891], "ext_wrench_in_world": [-13.257733767961636, -45.6138020865385, 12.025158763731808, 2.1500357717440743, 11.801387175380691, 0.44478236140088356]}
+{"timestamp_ns": 1789729713114225118, "elapsed_ms": 2266, "source_timestamp_ns": 1789729713109246839, "q": [0.07500904053449631, -1.7612450122833252, -0.0784345343708992, 0.6746134757995605, 1.699446439743042, -0.044211406260728836, -0.9116573333740234], "theta": [0.07268669456243515, -1.7605444192886353, -0.08033087104558945, 0.6582947969436646, 1.6997047662734985, -0.04369175434112549, -0.912087082862854], "dq": [0.05218018218874931, -0.06664904206991196, 0.0058842734433710575, -0.06757523864507675, 0.036146827042102814, 0.03262705355882645, 0.0026638393756002188], "dtheta": [0.052485015243291855, -0.06538128107786179, 0.006105346139520407, -0.06928372383117676, 0.03857623040676117, 0.038859773427248, 0.003292185952886939], "tau": [-60.09000015258789, -1.8299999237060547, -22.816001892089844, 2.0440001487731934, -3.3680002689361572, 3.644000291824341, -0.2240000069141388], "tau_des": [0.32341182231903076, 1.2944859266281128, -0.2161109894514084, -1.7732185125350952, 0.7397677898406982, -0.08331242203712463, -0.22367863357067108], "tau_dot": [-39.919925689697266, 28.63214874267578, 2.996795415878296, 28.418689727783203, 31.582983016967773, -18.746337890625, 34.06094741821289], "tau_ext": [14.25018310546875, -35.01274108886719, -36.32251739501953, 20.98019027709961, -3.0639488697052, -6.81335973739624, 0.12393643707036972], "tcp_pose": [0.6381367444992065, -0.15136168897151947, -0.3091314435005188, -0.00509771890938282, -0.024738574400544167, 0.9995079636573792, 0.018596947193145752], "tcp_vel": [-0.006493824068456888, -0.023072654381394386, -0.037098586559295654, 0.002773622516542673, 0.002011422533541918, -0.0006219710921868682], "flange_pose": [0.6402477025985718, -0.15837712585926056, -0.11927273869514465, -0.00509771890938282, -0.024738574400544167, 0.9995079636573792, 0.018596947193145752], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.00788688659668, -44.32558822631836, -13.907885551452637, -2.727079391479492, 11.622357368469238, -0.03179744631052017], "ext_wrench_in_world": [-13.649316821481722, -45.548870375577835, 12.386930713907148, 2.151398495142289, 11.734297288944271, 0.44149239541569124]}
+{"timestamp_ns": 1789729713147588409, "elapsed_ms": 2300, "source_timestamp_ns": 1789729713139277470, "q": [0.07665017247200012, -1.7632091045379639, -0.07825281471014023, 0.672444224357605, 1.7005999088287354, -0.04303489997982979, -0.9115211963653564], "theta": [0.07433383166790009, -1.7624971866607666, -0.08014047145843506, 0.65609210729599, 1.700865626335144, -0.042498111724853516, -0.9119344353675842], "dq": [0.05497300997376442, -0.061369579285383224, 0.007613898254930973, -0.07064659148454666, 0.04071895405650139, 0.04283112660050392, 0.005655439104884863], "dtheta": [0.056183189153671265, -0.06241888552904129, 0.007023083511739969, -0.07416293025016785, 0.03746960312128067, 0.04078475758433342, 0.0078075360506772995], "tau": [-60.3599967956543, -1.7699999809265137, -22.836000442504883, 2.128000020980835, -3.392000198364258, 3.7080001831054688, -0.20400001108646393], "tau_des": [-0.0686875432729721, 0.7781587243080139, -0.4936910569667816, -1.175182819366455, 0.6076509952545166, -0.010229554958641529, -0.1531684398651123], "tau_dot": [-3.862697124481201, 87.6721420288086, 3.8355276584625244, -18.53523826599121, -47.40151596069336, 66.67503356933594, 4.354416847229004], "tau_ext": [14.33697509765625, -35.02137756347656, -36.358097076416016, 20.922616958618164, -3.060946226119995, -6.824469566345215, 0.12576359510421753], "tcp_pose": [0.6379550695419312, -0.15203344821929932, -0.3102896213531494, -0.005162531975656748, -0.024752749130129814, 0.9995065331459045, 0.018637970089912415], "tcp_vel": [-0.004161900840699673, -0.02006424590945244, -0.03989170491695404, 0.0021307524293661118, 0.0056470660492777824, 0.002506508259102702], "flange_pose": [0.6400911808013916, -0.15906381607055664, -0.12043174356222153, -0.005162531975656748, -0.024752749130129814, 0.9995065331459045, 0.018637970089912415], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.09876823425293, -44.59515380859375, -14.11338996887207, -2.815807580947876, 11.6399507522583, -0.03099147230386734], "ext_wrench_in_world": [-13.721476826473534, -45.831430143302725, 12.581213892383213, 2.2388382178626793, 11.756324647098428, 0.4411581865285764]}
+{"timestamp_ns": 1789729713180902597, "elapsed_ms": 2333, "source_timestamp_ns": 1789729713179290814, "q": [0.07900334149599075, -1.765689492225647, -0.07798176258802414, 0.6694923043251038, 1.7020721435546875, -0.04134020954370499, -0.911121129989624], "theta": [0.07670552283525467, -1.7649738788604736, -0.0798572301864624, 0.6530914902687073, 1.7023357152938843, -0.04078507423400879, -0.9115051627159119], "dq": [0.0612344816327095, -0.06038907915353775, 0.0069241938181221485, -0.07617925107479095, 0.04006374999880791, 0.04857014864683151, 0.0108090965077281], "dtheta": [0.06177888438105583, -0.06014856696128845, 0.008003146387636662, -0.0746789500117302, 0.03726140782237053, 0.04382634162902832, 0.013023260980844498], "tau": [-60.66999816894531, -1.8299999237060547, -22.780000686645508, 2.364000082015991, -3.384000062942505, 3.684000253677368, -0.22800001502037048], "tau_des": [-0.44746798276901245, 1.3904997110366821, -0.44740861654281616, -1.0769164562225342, 0.6645957231521606, 0.01478302851319313, -0.2024577409029007], "tau_dot": [-10.747867584228516, -65.2426528930664, -0.6557251811027527, 37.75679016113281, 20.889156341552734, 8.932236671447754, -37.4778938293457], "tau_ext": [14.790070533752441, -35.078033447265625, -36.268924713134766, 20.801353454589844, -3.03493332862854, -6.86698579788208, 0.11309149116277695], "tcp_pose": [0.6377608180046082, -0.15285077691078186, -0.31193944811820984, -0.005319411400705576, -0.024756137281656265, 0.9995054602622986, 0.01864694058895111], "tcp_vel": [-0.004136400762945414, -0.018779927864670753, -0.0436197891831398, 0.0008660780731588602, 0.009430878795683384, -0.00013083060912322253], "flange_pose": [0.6399566531181335, -0.1598830670118332, -0.12208233773708344, -0.005319411400705576, -0.024756137281656265, 0.9995054602622986, 0.01864694058895111], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.723188400268555, -45.068546295166016, -13.89321231842041, -2.927431583404541, 11.800993919372559, -0.04003157094120979], "ext_wrench_in_world": [-13.321063046613038, -46.27740428646089, 12.343621793063095, 2.342476327728165, 11.92229365513997, 0.4545705026691629]}
+{"timestamp_ns": 1789729713214243281, "elapsed_ms": 2366, "source_timestamp_ns": 1789729713209253994, "q": [0.08088667690753937, -1.7674171924591064, -0.07773295789957047, 0.6673446297645569, 1.7031760215759277, -0.03998599946498871, -0.91075599193573], "theta": [0.07861511409282684, -1.7667078971862793, -0.07960178703069687, 0.6509153842926025, 1.703433632850647, -0.03942251205444336, -0.9111161828041077], "dq": [0.0571160726249218, -0.0558236725628376, 0.00962159689515829, -0.07616857439279556, 0.037038594484329224, 0.04648209363222122, 0.008927534334361553], "dtheta": [0.06522360444068909, -0.0556025393307209, 0.009363498538732529, -0.06975298374891281, 0.03842967748641968, 0.0443878211081028, 0.013666946440935135], "tau": [-60.68000030517578, -2.0299999713897705, -22.608001708984375, 2.6080000400543213, -3.384000062942505, 3.6520001888275146, -0.2240000069141388], "tau_des": [-0.41202661395072937, 0.9799875617027283, -0.39001575112342834, -0.8124678134918213, 0.6512954235076904, 0.05544634163379669, -0.2367437481880188], "tau_dot": [12.574972152709961, -22.843223571777344, 10.780470848083496, 38.33634948730469, -46.46586990356445, -16.49454689025879, 26.014806747436523], "tau_ext": [14.99524211883545, -35.23616409301758, -36.29996109008789, 20.782188415527344, -3.0399880409240723, -6.876721382141113, 0.11282240599393845], "tcp_pose": [0.6376331448554993, -0.15339772403240204, -0.31326282024383545, -0.0054633584804832935, -0.024755405262112617, 0.9995046854019165, 0.018647445365786552], "tcp_vel": [-0.004529664292931557, -0.01660202443599701, -0.04628986492753029, 0.0024677987676113844, 0.010986276902258396, -0.001315520261414349], "flange_pose": [0.6398835778236389, -0.16042883694171906, -0.1234063059091568, -0.0054633584804832935, -0.024755405262112617, 0.9995046854019165, 0.018647445365786552], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.317914962768555, -45.60918426513672, -13.61280345916748, -3.040832757949829, 11.961565971374512, -0.04490431398153305], "ext_wrench_in_world": [-12.889252360624775, -46.78646596664471, 12.043189033302184, 2.447959832896991, 12.08802381266621, 0.46358786407453234]}
+{"timestamp_ns": 1789729713247562618, "elapsed_ms": 2400, "source_timestamp_ns": 1789729713239253319, "q": [0.08287079632282257, -1.7690355777740479, -0.07747338712215424, 0.6652776002883911, 1.7043240070343018, -0.03859464079141617, -0.9103766679763794], "theta": [0.08064205199480057, -1.7683428525924683, -0.07933828979730606, 0.6488398909568787, 1.704573392868042, -0.03802680969238281, -0.9107081890106201], "dq": [0.06717070192098618, -0.0494367778301239, 0.010218451730906963, -0.06953268498182297, 0.038305509835481644, 0.04806897044181824, 0.011799714528024197], "dtheta": [0.07001932710409164, -0.05337896943092346, 0.008536440320312977, -0.06692569702863693, 0.03660525381565094, 0.048318833112716675, 0.013005283661186695], "tau": [-60.779998779296875, -2.669999837875366, -22.560001373291016, 2.9840002059936523, -3.4240002632141113, 3.7360000610351562, -0.2240000069141388], "tau_des": [-0.6878082156181335, 0.22347627580165863, -0.3080041706562042, -0.3318604528903961, 0.7981884479522705, 0.053689129650592804, -0.24096712470054626], "tau_dot": [-117.12759399414062, 19.13848114013672, -28.380292892456055, -13.027234077453613, -20.466848373413086, 13.031742095947266, -18.22562599182129], "tau_ext": [14.951814651489258, -35.16045379638672, -36.4149169921875, 20.659204483032227, -3.0426242351531982, -6.873051643371582, 0.10850955545902252], "tcp_pose": [0.6375117301940918, -0.15389057993888855, -0.3146548271179199, -0.005624521058052778, -0.024760017171502113, 0.9995035529136658, 0.018655093386769295], "tcp_vel": [-0.005826256237924099, -0.01738188974559307, -0.04837309941649437, -0.002546057105064392, 0.014496644958853722, -0.0012980912579223514], "flange_pose": [0.6398235559463501, -0.1609230786561966, -0.12479909509420395, -0.005624521058052778, -0.024760017171502113, 0.9995035529136658, 0.018655093386769295], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.793611526489258, -46.111724853515625, -13.507376670837402, -3.1540982723236084, 12.147658348083496, -0.050970908254384995], "ext_wrench_in_world": [-12.33754528190424, -47.258362832212484, 11.917359368870672, 2.551947019205976, 12.279197631596608, 0.47477281101988117]}
+{"timestamp_ns": 1789729713280906112, "elapsed_ms": 2433, "source_timestamp_ns": 1789729713279301519, "q": [0.08567452430725098, -1.771092414855957, -0.07708285748958588, 0.6628044843673706, 1.7060256004333496, -0.036581698805093765, -0.9100500345230103], "theta": [0.08348237723112106, -1.7704360485076904, -0.07894784957170486, 0.6463713049888611, 1.7062599658966064, -0.036008596420288086, -0.9103453159332275], "dq": [0.07417766749858856, -0.053239572793245316, 0.01039646565914154, -0.05858730897307396, 0.043415699154138565, 0.05253301188349724, 0.004994893912225962], "dtheta": [0.07191632688045502, -0.049558620899915695, 0.011149905622005463, -0.0569574199616909, 0.04350320249795914, 0.05181970074772835, 0.00673389108851552], "tau": [-60.84000015258789, -3.2799999713897705, -22.676000595092773, 3.128000259399414, -3.5200002193450928, 3.752000093460083, -0.2120000123977661], "tau_des": [-0.8950232863426208, -0.11674235761165619, -0.4883789122104645, 0.00039262353675439954, 0.5534548759460449, 0.11640208214521408, -0.2311355173587799], "tau_dot": [64.20967102050781, -25.933683395385742, -34.048824310302734, -45.93349838256836, -35.228111267089844, -15.984620094299316, 44.92839431762695], "tau_ext": [14.962082862854004, -34.74101257324219, -36.39265823364258, 20.44619369506836, -3.0014612674713135, -6.918870449066162, 0.11082343757152557], "tcp_pose": [0.6373031139373779, -0.15454819798469543, -0.31661662459373474, -0.005782910156995058, -0.024761520326137543, 0.9995022416114807, 0.018673855811357498], "tcp_vel": [-0.006303536705672741, -0.016277041286230087, -0.050458259880542755, 0.0013041032943874598, 0.007344810292124748, -0.0015244194073602557], "flange_pose": [0.6396751999855042, -0.16158631443977356, -0.12676182389259338, -0.005782910156995058, -0.024761520326137543, 0.9995022416114807, 0.018673855811357498], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.238414764404297, -46.37302017211914, -13.51269817352295, -3.233797550201416, 12.343276023864746, -0.05569255352020264], "ext_wrench_in_world": [-11.765924133170993, -47.49221385015419, 11.909455055517604, 2.622004679434626, 12.478234564368051, 0.48555625333633234]}
+{"timestamp_ns": 1789729713314229088, "elapsed_ms": 2466, "source_timestamp_ns": 1789729713309255019, "q": [0.08784639090299606, -1.7725303173065186, -0.07669158279895782, 0.6612471342086792, 1.7073687314987183, -0.03498382121324539, -0.9099574685096741], "theta": [0.08566209673881531, -1.7718945741653442, -0.07856146991252899, 0.6448194980621338, 1.7075875997543335, -0.0344080924987793, -0.9102267026901245], "dq": [0.07256592065095901, -0.04959850385785103, 0.015552849508821964, -0.0450068898499012, 0.0445873849093914, 0.051325228065252304, 0.0037856141570955515], "dtheta": [0.07064003497362137, -0.04542173072695732, 0.014474562369287014, -0.04608572646975517, 0.04268137365579605, 0.05452287569642067, 0.0010790895903483033], "tau": [-60.93000030517578, -2.7200000286102295, -22.72800064086914, 2.9120001792907715, -3.5400002002716064, 3.8560001850128174, -0.20400001108646393], "tau_des": [-0.15061447024345398, 1.2242366075515747, -0.19144676625728607, -0.813232958316803, 0.5557039380073547, 0.11588986963033676, -0.2814874053001404], "tau_dot": [-32.10916519165039, 59.70244598388672, -12.206533432006836, -20.149185180664062, -31.667863845825195, 1.2160601615905762, 12.964481353759766], "tau_ext": [14.94761848449707, -34.636051177978516, -36.323036193847656, 20.47976303100586, -2.9691712856292725, -6.959114074707031, 0.10836321115493774], "tcp_pose": [0.6370912194252014, -0.15503109991550446, -0.3181532025337219, -0.005856814794242382, -0.024737831205129623, 0.999501645565033, 0.01871434971690178], "tcp_vel": [-0.007749514654278755, -0.016301525756716728, -0.0500582754611969, 0.0013030103873461485, 0.0032245274633169174, -0.0029485365375876427], "flange_pose": [0.639491617679596, -0.1620839536190033, -0.12829934060573578, -0.005856814794242382, -0.024737831205129623, 0.999501645565033, 0.01871434971690178], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.078579902648926, -46.12008285522461, -13.457443237304688, -3.192765951156616, 12.404224395751953, -0.05856754258275032], "ext_wrench_in_world": [-11.619791422576938, -47.23016068380353, 11.860168726086355, 2.578696955041565, 12.536765361049927, 0.49173542898103495]}
+{"timestamp_ns": 1789729713347565833, "elapsed_ms": 2500, "source_timestamp_ns": 1789729713339366270, "q": [0.09006982296705246, -1.773800015449524, -0.07616635411977768, 0.6599709391593933, 1.708648920059204, -0.03324301913380623, -0.909980058670044], "theta": [0.08788029849529266, -1.7731784582138062, -0.07803881168365479, 0.6435339450836182, 1.7088476419448853, -0.0326690673828125, -0.9102283716201782], "dq": [0.0743599534034729, -0.040386445820331573, 0.01774905063211918, -0.03882652893662453, 0.04254612326622009, 0.06387592107057571, -0.0009406200842931867], "dtheta": [0.07538280636072159, -0.039664126932621, 0.02044871635735035, -0.04022637754678726, 0.041501935571432114, 0.059404075145721436, -0.00015348006854765117], "tau": [-60.55999755859375, -2.0, -22.624000549316406, 2.380000114440918, -3.4760000705718994, 3.8360002040863037, -0.22800001502037048], "tau_des": [-0.29891353845596313, 2.0261454582214355, -0.43077144026756287, -1.567826509475708, 0.5155717134475708, 0.2352912425994873, -0.320834219455719], "tau_dot": [-127.79462432861328, -52.20852279663086, 6.104912281036377, -17.81838035583496, 31.239349365234375, 29.60324478149414, 28.19317626953125], "tau_ext": [14.98361873626709, -34.767940521240234, -36.18398666381836, 20.63380241394043, -2.9302761554718018, -7.028374671936035, 0.11594583094120026], "tcp_pose": [0.6368521451950073, -0.1554827094078064, -0.31974291801452637, -0.005907830316573381, -0.02470838651061058, 0.9995015859603882, 0.01873873732984066], "tcp_vel": [-0.007891550660133362, -0.013530808500945568, -0.05463197082281113, 0.0025760983116924763, 0.003989033866673708, -0.0024767648428678513], "flange_pose": [0.6392719745635986, -0.16254441440105438, -0.1298896074295044, -0.005907830316573381, -0.02470838651061058, 0.9995015859603882, 0.01873873732984066], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.194355964660645, -45.869544982910156, -13.434865951538086, -3.193601608276367, 12.379225730895996, -0.060380905866622925], "ext_wrench_in_world": [-11.749491002877518, -46.98488869525578, 11.84737172516496, 2.5815526453996687, 12.511618659478877, 0.4929008434423402]}
+{"timestamp_ns": 1789729713380903858, "elapsed_ms": 2533, "source_timestamp_ns": 1789729713379313053, "q": [0.09314010292291641, -1.775241732597351, -0.0752740353345871, 0.6583849191665649, 1.710190773010254, -0.030715929344296455, -0.9100117683410645], "theta": [0.09093686938285828, -1.7746286392211914, -0.077143594622612, 0.6419176459312439, 1.7103570699691772, -0.03015267848968506, -0.9102408289909363], "dq": [0.07877927273511887, -0.030486799776554108, 0.022562585771083832, -0.03993336483836174, 0.03492896258831024, 0.06736214458942413, -0.0027540524024516344], "dtheta": [0.07930102944374084, -0.03270311281085014, 0.024803638458251953, -0.04166450724005699, 0.03394497185945511, 0.0663403570652008, -1.61986899911426e-05], "tau": [-59.529998779296875, -1.6699999570846558, -22.296001434326172, 2.1720001697540283, -3.4600002765655518, 3.892000198364258, -0.24400001764297485], "tau_des": [1.1722077131271362, 1.8678773641586304, -0.006997278891503811, -1.5113798379898071, 0.5225656628608704, 0.1861022263765335, -0.12038453668355942], "tau_dot": [67.71180725097656, 23.844892501831055, 53.719757080078125, 2.2467756271362305, 102.27503967285156, -25.676586151123047, 1.9647698402404785], "tau_ext": [14.4988374710083, -35.12144470214844, -36.27411651611328, 20.90623664855957, -2.9401743412017822, -7.058943748474121, 0.14155125617980957], "tcp_pose": [0.6365853548049927, -0.15596601366996765, -0.32196953892707825, -0.006001959089189768, -0.024725256487727165, 0.9995006322860718, 0.01873849146068096], "tcp_vel": [-0.005409104749560356, -0.010050819255411625, -0.057740285992622375, -0.0025669937022030354, 0.008316167630255222, 0.0051910714246332645], "flange_pose": [0.639041006565094, -0.16302670538425446, -0.1321166604757309, -0.006001959089189768, -0.024725256487727165, 0.9995006322860718, 0.01873849146068096], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.549952507019043, -45.76585006713867, -13.795331001281738, -3.316457509994507, 12.283414840698242, -0.051552578806877136], "ext_wrench_in_world": [-12.101095620660343, -46.912824472458134, 12.217843203905506, 2.7084750475543538, 12.422518866120148, 0.478556339766657]}
+{"timestamp_ns": 1789729713414228524, "elapsed_ms": 2566, "source_timestamp_ns": 1789729713409241387, "q": [0.09565066546201706, -1.7761297225952148, -0.07448640465736389, 0.657213032245636, 1.7111449241638184, -0.02859831415116787, -0.9099637269973755], "theta": [0.09344188868999481, -1.775517225265503, -0.07634846866130829, 0.6407230496406555, 1.7112829685211182, -0.02804720401763916, -0.9101804494857788], "dq": [0.08799827843904495, -0.031234541907906532, 0.024617832154035568, -0.03894823417067528, 0.03514058142900467, 0.07149837166070938, 0.003918185830116272], "dtheta": [0.0872202143073082, -0.026523828506469727, 0.027241209521889687, -0.03768359124660492, 0.0321030355989933, 0.07342527061700821, 0.007636470254510641], "tau": [-59.52000045776367, -2.359999895095825, -22.18800163269043, 2.4800000190734863, -3.4840002059936523, 3.9040002822875977, -0.20400001108646393], "tau_des": [0.7316035628318787, 1.3004332780838013, -0.05078727379441261, -1.0620877742767334, 0.6466091275215149, 0.2705020010471344, -0.09992549568414688], "tau_dot": [-68.53227996826172, -41.17917251586914, 67.3816146850586, 18.821819305419922, 25.291555404663086, 7.479753494262695, 46.77375411987305], "tau_ext": [14.312889099121094, -35.28639221191406, -36.335567474365234, 21.04424476623535, -2.9418749809265137, -7.088932037353516, 0.1309341937303543], "tcp_pose": [0.6364067792892456, -0.1562541127204895, -0.323782354593277, -0.006171848624944687, -0.024779612198472023, 0.9994997978210449, 0.01865578256547451], "tcp_vel": [-0.005506327375769615, -0.008197157643735409, -0.0628550797700882, -0.006690449081361294, 0.012477094307541847, -0.0006548812380060554], "flange_pose": [0.6389265656471252, -0.16328164935112, -0.1339290738105774, -0.006171848624944687, -0.024779612198472023, 0.9994997978210449, 0.01865578256547451], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.728631019592285, -45.80056381225586, -14.215927124023438, -3.4439048767089844, 12.240882873535156, -0.047351349145174026], "ext_wrench_in_world": [-12.262730419175012, -46.971208408387184, 12.651000930750858, 2.836514805510723, 12.386963326689798, 0.4682518286697167]}
+{"timestamp_ns": 1789729713447564429, "elapsed_ms": 2600, "source_timestamp_ns": 1789729713439235012, "q": [0.09835657477378845, -1.7768300771713257, -0.0736185610294342, 0.6562088131904602, 1.7121617794036865, -0.026260703802108765, -0.9097089171409607], "theta": [0.09614422172307968, -1.776212453842163, -0.07547309249639511, 0.6397014260292053, 1.71226966381073, -0.025721311569213867, -0.9099093079566956], "dq": [0.09156955778598785, -0.02161826752126217, 0.029288509860634804, -0.03085840679705143, 0.03500310704112053, 0.08261994272470474, 0.005370822735130787], "dtheta": [0.09282741695642471, -0.020755236968398094, 0.030461926013231277, -0.030081216245889664, 0.033090587705373764, 0.08121910691261292, 0.0058051347732543945], "tau": [-60.22999954223633, -3.25, -22.400001525878906, 2.892000198364258, -3.5520002841949463, 3.948000192642212, -0.20000000298023224], "tau_des": [0.048168979585170746, 0.5827981233596802, -0.4201807379722595, -0.6763942241668701, 0.5253223180770874, 0.2660239636898041, -0.26144424080848694], "tau_dot": [-26.105361938476562, -20.328874588012695, 37.63201904296875, 15.278633117675781, -1.3718615770339966, 60.33747482299805, 43.14668273925781], "tau_ext": [14.409992218017578, -34.96778106689453, -36.34414291381836, 20.904619216918945, -2.9148449897766113, -7.126785755157471, 0.1050221249461174], "tcp_pose": [0.6362479329109192, -0.15647590160369873, -0.32573243975639343, -0.006331729236990213, -0.02473358064889908, 0.9995019435882568, 0.01854831911623478], "tcp_vel": [-0.005758411251008511, -0.007022950332611799, -0.0667555034160614, -0.00905547570437193, 0.010949249379336834, -0.0011645511258393526], "flange_pose": [0.6388270854949951, -0.16346123814582825, -0.13587839901447296, -0.006331729236990213, -0.02473358064889908, 0.9995019435882568, 0.01854831911623478], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.746737480163574, -45.68191146850586, -14.450507164001465, -3.4741382598876953, 12.254616737365723, -0.06284674257040024], "ext_wrench_in_world": [-12.283452438065819, -46.858438690928715, 12.904417021794357, 2.8674414800649752, 12.401466683445273, 0.4802303607551387]}
+{"timestamp_ns": 1789729713480901594, "elapsed_ms": 2633, "source_timestamp_ns": 1789729713479281972, "q": [0.10223516821861267, -1.777534008026123, -0.07244297862052917, 0.6552329659461975, 1.7135822772979736, -0.022944161668419838, -0.9096188545227051], "theta": [0.1000257208943367, -1.7769049406051636, -0.07428295165300369, 0.6387119889259338, 1.7136473655700684, -0.022411823272705078, -0.9098021984100342], "dq": [0.10174185037612915, -0.01524254959076643, 0.027705436572432518, -0.01963791623711586, 0.03913872689008713, 0.08581433445215225, 0.00046762116835452616], "dtheta": [0.10042332857847214, -0.01506169606000185, 0.02726919949054718, -0.019591474905610085, 0.03686906769871712, 0.08479572087526321, 0.0002693984715733677], "tau": [-61.16999816894531, -3.669999837875366, -22.636001586914062, 3.1000001430511475, -3.644000291824341, 4.111999988555908, -0.23200000822544098], "tau_des": [-1.5460156202316284, 0.43640372157096863, -0.8522115349769592, -0.7197925448417664, 0.5011546611785889, 0.37919846177101135, -0.24738256633281708], "tau_dot": [31.936641693115234, 5.259222030639648, -2.07590913772583, -3.726940870285034, -0.6441922783851624, 71.82780456542969, -52.96490478515625], "tau_ext": [14.995489120483398, -34.66001892089844, -36.234596252441406, 20.761211395263672, -2.859715223312378, -7.222058296203613, 0.09883221238851547], "tcp_pose": [0.6359660625457764, -0.15674810111522675, -0.32848551869392395, -0.006572602316737175, -0.02472480572760105, 0.9995042085647583, 0.018352637067437172], "tcp_vel": [-0.008327568881213665, -0.007331842090934515, -0.0699678435921669, -0.01295835804194212, 0.013005431741476059, -0.00034400552976876497], "flange_pose": [0.6386348009109497, -0.16365689039230347, -0.13862992823123932, -0.006572602316737175, -0.02472480572760105, 0.9995042085647583, 0.018352637067437172], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.586193084716797, -45.3873176574707, -14.135472297668457, -3.3731932640075684, 12.357129096984863, -0.08458369225263596], "ext_wrench_in_world": [-12.136226559710556, -46.53968884540548, 12.623255403704768, 2.7621946019314993, 12.498155175834913, 0.5006245086914255]}
+{"timestamp_ns": 1789729713514232139, "elapsed_ms": 2666, "source_timestamp_ns": 1789729713509252301, "q": [0.10521869361400604, -1.7779531478881836, -0.07168189436197281, 0.654720664024353, 1.7147881984710693, -0.02044512704014778, -0.9096260070800781], "theta": [0.10300657153129578, -1.7773127555847168, -0.07350347191095352, 0.6381946802139282, 1.7148211002349854, -0.01992177963256836, -0.9098000526428223], "dq": [0.10293830931186676, -0.010347846895456314, 0.023039117455482483, -0.015691867098212242, 0.041110627353191376, 0.08105695992708206, 0.00019703921861946583], "dtheta": [0.09898342937231064, -0.012707486748695374, 0.025279972702264786, -0.014715543948113918, 0.04070087522268295, 0.08146904408931732, 0.00012350290489848703], "tau": [-61.18000030517578, -3.75, -22.59200096130371, 3.0840001106262207, -3.6720001697540283, 4.052000045776367, -0.2120000123977661], "tau_des": [-1.6749831438064575, 0.22677315771579742, -0.7655563354492188, -0.8691561818122864, 0.4876152575016022, 0.34557396173477173, -0.34127044677734375], "tau_dot": [-72.03179931640625, -137.65403747558594, 47.48676300048828, 0.2011999636888504, -12.246047973632812, -33.71564483642578, 8.767641067504883], "tau_ext": [14.975081443786621, -34.69166946411133, -36.332923889160156, 20.76554298400879, -2.851552724838257, -7.2331438064575195, 0.10550865530967712], "tcp_pose": [0.6357211470603943, -0.15695738792419434, -0.3305549919605255, -0.006736523937433958, -0.02470315620303154, 0.9995067715644836, 0.018181484192609787], "tcp_vel": [-0.008642936125397682, -0.006342568900436163, -0.06877947598695755, -0.01021316647529602, 0.010869049467146397, -0.002662732033059001], "flange_pose": [0.6384504437446594, -0.1637997180223465, -0.14069785177707672, -0.006736523937433958, -0.02470315620303154, 0.9995067715644836, 0.018181484192609787], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.370820045471191, -45.39748001098633, -13.887947082519531, -3.3507697582244873, 12.464908599853516, -0.09146897494792938], "ext_wrench_in_world": [-11.921785016327826, -46.525373939514786, 12.393036597495456, 2.73520194831241, 12.604448653114796, 0.5064734955084369]}
+{"timestamp_ns": 1789729713547567714, "elapsed_ms": 2700, "source_timestamp_ns": 1789729713539334125, "q": [0.10813401639461517, -1.7783386707305908, -0.07094643265008926, 0.6542919278144836, 1.7160754203796387, -0.018084796145558357, -0.9096569418907166], "theta": [0.10590359568595886, -1.7776869535446167, -0.07273709774017334, 0.637762188911438, 1.7160779237747192, -0.017576932907104492, -0.9098252058029175], "dq": [0.09499069303274155, -0.014288263395428658, 0.0247087012976408, -0.013081509619951248, 0.04183089733123779, 0.07589583098888397, -0.0020599260460585356], "dtheta": [0.09329527616500854, -0.012283634394407272, 0.02541140280663967, -0.014056247659027576, 0.041420355439186096, 0.07721178233623505, -0.0012754377676174045], "tau": [-61.02000045776367, -3.5, -22.70800018310547, 3.01200008392334, -3.7240002155303955, 4.140000343322754, -0.2639999985694885], "tau_des": [-0.7053977847099304, 0.7017046213150024, -0.5140655040740967, -1.1920968294143677, 0.3407261073589325, 0.41824522614479065, -0.39338549971580505], "tau_dot": [-33.86311340332031, 25.042236328125, -18.76921844482422, -4.547081470489502, -3.7290220260620117, 20.30122184753418, 29.36942481994629], "tau_ext": [14.806929588317871, -34.709739685058594, -36.363250732421875, 20.75945281982422, -2.8334803581237793, -7.242349147796631, 0.1306048035621643], "tcp_pose": [0.6354670524597168, -0.15713050961494446, -0.3325885534286499, -0.006877925246953964, -0.024668650701642036, 0.9995086193084717, 0.01807328127324581], "tcp_vel": [-0.00767004257068038, -0.005130094941705465, -0.06565779447555542, -0.006417911499738693, 0.0072749219834804535, -0.0016187060391530395], "flange_pose": [0.6382488012313843, -0.1639305055141449, -0.14273063838481903, -0.006877925246953964, -0.024668650701642036, 0.9995086193084717, 0.01807328127324581], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.101645469665527, -45.54341125488281, -13.95680046081543, -3.4072489738464355, 12.560893058776855, -0.08585453033447266], "ext_wrench_in_world": [-11.644247724422314, -46.656635687084545, 12.466789245090213, 2.7877434151242193, 12.703195790949545, 0.5000543494646174]}
+{"timestamp_ns": 1789729713580903689, "elapsed_ms": 2733, "source_timestamp_ns": 1789729713579274829, "q": [0.11194733530282974, -1.7787883281707764, -0.06992752104997635, 0.6537676453590393, 1.7176626920700073, -0.014892988838255405, -0.9097781181335449], "theta": [0.10967952758073807, -1.7781187295913696, -0.07166793197393417, 0.6372317671775818, 1.7176240682601929, -0.014397025108337402, -0.9099476933479309], "dq": [0.09839792549610138, -0.011840456165373325, 0.025814952328801155, -0.012736128643155098, 0.035121850669384, 0.08217918127775192, 0.000490083359181881], "dtheta": [0.09247680008411407, -0.00988405104726553, 0.027623891830444336, -0.012176514603197575, 0.03713570162653923, 0.08286502957344055, -0.0042148251086473465], "tau": [-60.869998931884766, -3.619999885559082, -22.668001174926758, 3.1080000400543213, -3.7280001640319824, 4.176000118255615, -0.2840000092983246], "tau_des": [-1.0139580965042114, 0.5558089017868042, -0.6376804709434509, -1.0178884267807007, 0.33795320987701416, 0.31119078397750854, -0.33451128005981445], "tau_dot": [15.057316780090332, -80.88300323486328, -12.568906784057617, 49.66385269165039, 21.759483337402344, 35.904876708984375, 39.521270751953125], "tau_ext": [14.6610107421875, -34.88860321044922, -36.24987030029297, 20.84626579284668, -2.7731449604034424, -7.291933536529541, 0.18099093437194824], "tcp_pose": [0.6351380944252014, -0.15735399723052979, -0.3352494537830353, -0.007058583199977875, -0.02466713823378086, 0.9995107054710388, 0.01788896881043911], "tcp_vel": [-0.007000338286161423, -0.005415857769548893, -0.06496517360210419, -0.0112837553024292, 0.00532658351585269, 0.0014791921712458134], "flange_pose": [0.6379867196083069, -0.16408231854438782, -0.14538998901844025, -0.007058583199977875, -0.02466713823378086, 0.9995107054710388, 0.01788896881043911], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.790863037109375, -45.835594177246094, -14.069915771484375, -3.582580804824829, 12.638956069946289, -0.05658167228102684], "ext_wrench_in_world": [-11.313174652572746, -46.93223790414204, 12.586868208397561, 2.958675532106707, 12.791044587917867, 0.46552625315846274]}
+{"timestamp_ns": 1789729713614230585, "elapsed_ms": 2766, "source_timestamp_ns": 1789729713609235959, "q": [0.11469558626413345, -1.7790642976760864, -0.06909922510385513, 0.6534368395805359, 1.7187395095825195, -0.012501003220677376, -0.9098905920982361], "theta": [0.11240293830633163, -1.7783845663070679, -0.07080409675836563, 0.6369011998176575, 1.718672513961792, -0.012012362480163574, -0.9100699424743652], "dq": [0.08155409246683121, -0.007590177934616804, 0.029307356104254723, -0.008196566253900528, 0.03749566152691841, 0.07954732328653336, -0.002553310478106141], "dtheta": [0.08910518139600754, -0.009274971671402454, 0.02920408919453621, -0.010614549741148949, 0.03563537448644638, 0.07946523278951645, -0.005130681674927473], "tau": [-60.90999984741211, -4.139999866485596, -22.648000717163086, 3.332000255584717, -3.7680001258850098, 4.0920000076293945, -0.30800002813339233], "tau_des": [-1.2219818830490112, -0.23538263142108917, -0.7840316295623779, -0.7670188546180725, 0.3237362205982208, 0.31778591871261597, -0.3265156149864197], "tau_dot": [-18.346338272094727, -58.95817947387695, -13.711048126220703, -19.964473724365234, 21.78470802307129, 38.479209899902344, 12.58531665802002], "tau_ext": [14.447440147399902, -34.8387565612793, -36.32612991333008, 20.813270568847656, -2.7551960945129395, -7.2721638679504395, 0.20288249850273132], "tcp_pose": [0.6349049210548401, -0.15749917924404144, -0.33718574047088623, -0.0071729691699147224, -0.024672580882906914, 0.9995123744010925, 0.017744550481438637], "tcp_vel": [-0.007305816747248173, -0.004487370140850544, -0.0635126382112503, -0.008275371976196766, 0.004841291345655918, 0.0012310085585340858], "flange_pose": [0.6377956867218018, -0.16417156159877777, -0.14732494950294495, -0.0071729691699147224, -0.024672580882906914, 0.9995123744010925, 0.017744550481438637], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.542739868164062, -46.028255462646484, -14.30827522277832, -3.7197265625, 12.685222625732422, -0.03220061585307121], "ext_wrench_in_world": [-11.04871737124561, -47.11709760757917, 12.831126272092085, 3.092885119285655, 12.845067431302281, 0.43655465639703606]}
+{"timestamp_ns": 1789729713647562960, "elapsed_ms": 2800, "source_timestamp_ns": 1789729713639234953, "q": [0.11735152453184128, -1.7793546915054321, -0.06830422580242157, 0.653126060962677, 1.719876766204834, -0.010229712352156639, -0.9100147485733032], "theta": [0.11504575610160828, -1.7786668539047241, -0.069976307451725, 0.6365938782691956, 1.7197797298431396, -0.009751439094543457, -0.9102096557617188], "dq": [0.08304785937070847, -0.012314281426370144, 0.023934409022331238, -0.010015398263931274, 0.03769717365503311, 0.07245738059282303, -0.002406423445791006], "dtheta": [0.0878412276506424, -0.010503093712031841, 0.02648170106112957, -0.010703391395509243, 0.039456989616155624, 0.07422821968793869, -0.0055880737490952015], "tau": [-61.13999938964844, -4.679999828338623, -22.564001083374023, 3.5520002841949463, -3.812000274658203, 4.116000175476074, -0.328000009059906], "tau_des": [-1.4869707822799683, -0.6765359044075012, -0.8093199133872986, -0.7857527136802673, 0.3049478232860565, 0.39064839482307434, -0.344908744096756], "tau_dot": [-85.36847686767578, -56.61175537109375, 13.524820327758789, 13.295263290405273, -18.55735206604004, 71.54180145263672, 31.668209075927734], "tau_ext": [14.709620475769043, -34.66878890991211, -36.312191009521484, 20.709976196289062, -2.713916301727295, -7.2614030838012695, 0.21684876084327698], "tcp_pose": [0.6346707940101624, -0.157632514834404, -0.33906564116477966, -0.007258661091327667, -0.024667149409651756, 0.9995136260986328, 0.017646433785557747], "tcp_vel": [-0.007904651574790478, -0.004278627224266529, -0.062479425221681595, -0.0046081943437457085, 0.004625274334102869, 0.0006592788267880678], "flange_pose": [0.637593150138855, -0.16426686942577362, -0.14920400083065033, -0.007258661091327667, -0.024667149409651756, 0.9995136260986328, 0.017646433785557747], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.20058822631836, -46.13600540161133, -14.400527000427246, -3.769953489303589, 12.764910697937012, -0.013361051678657532], "ext_wrench_in_world": [-10.6984795095696, -47.20826616155485, 12.926091599221813, 3.1390024376941636, 12.927823504065751, 0.4167926335676561]}
+{"timestamp_ns": 1789729713680895856, "elapsed_ms": 2833, "source_timestamp_ns": 1789729713679264926, "q": [0.12082257866859436, -1.7798815965652466, -0.06739554554224014, 0.6526041030883789, 1.7216124534606934, -0.007317793555557728, -0.9102057814598083], "theta": [0.11851756274700165, -1.7791836261749268, -0.06901643425226212, 0.6360817551612854, 1.7214789390563965, -0.006853580474853516, -0.9104282259941101], "dq": [0.08202087879180908, -0.015842989087104797, 0.01957625523209572, -0.014957382343709469, 0.042570821940898895, 0.06671886146068573, -0.0032686598133295774], "dtheta": [0.08617521822452545, -0.015787040814757347, 0.021849293261766434, -0.016442544758319855, 0.044158872216939926, 0.06809818744659424, -0.005041544791311026], "tau": [-61.21999740600586, -4.739999771118164, -22.36400032043457, 3.564000129699707, -3.8000001907348633, 4.076000213623047, -0.36000001430511475], "tau_des": [-1.8077366352081299, -0.9466114044189453, -0.7457215785980225, -0.9183380603790283, 0.3166615664958954, 0.36011677980422974, -0.35073143243789673], "tau_dot": [129.00035095214844, 7.862042427062988, 2.5532593727111816, 15.592438697814941, 4.616830348968506, 56.5317497253418, 2.753451108932495], "tau_ext": [14.984660148620605, -34.52694320678711, -36.45651626586914, 20.664445877075195, -2.6916725635528564, -7.198328495025635, 0.22819045186042786], "tcp_pose": [0.634365439414978, -0.15785376727581024, -0.3415012061595917, -0.007309779059141874, -0.024660389870405197, 0.9995149970054626, 0.01755455508828163], "tcp_vel": [-0.008309245109558105, -0.005389513913542032, -0.06077902764081955, -0.001311121042817831, 0.004703425336629152, 0.0007923779194243252], "flange_pose": [0.6373063325881958, -0.16445276141166687, -0.15163859724998474, -0.007309779059141874, -0.024660389870405197, 0.9995149970054626, 0.01755455508828163], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.790793418884277, -46.20699691772461, -14.099754333496094, -3.692391872406006, 12.883605003356934, 0.0006112566334195435], "ext_wrench_in_world": [-10.289628277553449, -47.24585327768027, 12.627229730934939, 3.0556820377871667, 13.042986752918729, 0.4053885083470353]}
+{"timestamp_ns": 1789729713714230741, "elapsed_ms": 2866, "source_timestamp_ns": 1789729713709232705, "q": [0.12335381656885147, -1.7804546356201172, -0.06685527414083481, 0.6520189046859741, 1.7230663299560547, -0.005292259622365236, -0.9103279709815979], "theta": [0.12105314433574677, -1.779747724533081, -0.06843855232000351, 0.635503351688385, 1.7229084968566895, -0.00482785701751709, -0.9105759263038635], "dq": [0.08444506675004959, -0.021389182657003403, 0.019067946821451187, -0.025032661855220795, 0.04851796105504036, 0.0670803114771843, -0.004400968551635742], "dtheta": [0.08392012119293213, -0.021185187622904778, 0.017677970230579376, -0.023620983585715294, 0.05045049637556076, 0.06600357592105865, -0.00436130678281188], "tau": [-61.39999771118164, -4.789999961853027, -22.356000900268555, 3.56000018119812, -3.8360002040863037, 4.016000270843506, -0.3440000116825104], "tau_des": [-2.129117488861084, -0.9269834160804749, -0.7724981307983398, -0.8526026606559753, 0.18534038960933685, 0.2979493737220764, -0.3355192244052887], "tau_dot": [46.14453887939453, -62.674922943115234, -3.374178409576416, 8.881739616394043, 39.62944412231445, 81.45864868164062, 30.30846405029297], "tau_ext": [14.892535209655762, -34.578041076660156, -36.619083404541016, 20.694110870361328, -2.6932532787323, -7.139575004577637, 0.2355341762304306], "tcp_pose": [0.6341387629508972, -0.15806399285793304, -0.3432609736919403, -0.007325715385377407, -0.02465687319636345, 0.9995154738426208, 0.017527686432003975], "tcp_vel": [-0.006808862555772066, -0.006593043450266123, -0.058744192123413086, 0.0006006176699884236, 0.0003575510054361075, 0.0019947185646742582], "flange_pose": [0.6370853781700134, -0.16465266048908234, -0.15339811146259308, -0.007325715385377407, -0.02465687319636345, 0.9995154738426208, 0.017527686432003975], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.5410737991333, -46.318511962890625, -14.026752471923828, -3.633261203765869, 12.956819534301758, 0.006466012913733721], "ext_wrench_in_world": [-10.035804542324623, -47.34150807585309, 12.549785165195622, 2.9930408723588746, 13.113344028730314, 0.40213921610442366]}
+{"timestamp_ns": 1789729713747565606, "elapsed_ms": 2900, "source_timestamp_ns": 1789729713739227600, "q": [0.12579448521137238, -1.7811843156814575, -0.06639660894870758, 0.6512355804443359, 1.7245699167251587, -0.0033837456721812487, -0.9104058742523193], "theta": [0.1234813928604126, -1.7804651260375977, -0.0679481253027916, 0.6347267627716064, 1.7243921756744385, -0.002910614013671875, -0.9106820821762085], "dq": [0.08390400558710098, -0.024466436356306076, 0.015185567550361156, -0.029568878933787346, 0.04603249952197075, 0.06065332889556885, -0.004707977641373873], "dtheta": [0.07969378679990768, -0.026635874062776566, 0.01547299511730671, -0.028623059391975403, 0.04844539985060692, 0.05985163524746895, -0.002808721037581563], "tau": [-61.46999740600586, -4.699999809265137, -22.34800148010254, 3.576000213623047, -3.864000082015991, 3.9640002250671387, -0.35600000619888306], "tau_des": [-2.29518461227417, -0.1965041309595108, -0.707779586315155, -1.1133977174758911, 0.2422359585762024, 0.33919405937194824, -0.3725592792034149], "tau_dot": [-28.358030319213867, -85.90961456298828, 29.00005340576172, 9.895135879516602, 0.5315126776695251, -1.7792266607284546, -32.246490478515625], "tau_ext": [14.891040802001953, -34.61558151245117, -36.6439094543457, 20.690696716308594, -2.6675803661346436, -7.097354412078857, 0.2388349026441574], "tcp_pose": [0.6339219808578491, -0.15831223130226135, -0.3449522852897644, -0.007330163847655058, -0.024654293432831764, 0.9995155334472656, 0.017524728551506996], "tcp_vel": [-0.008006099611520767, -0.00851697288453579, -0.05561557784676552, 0.001795511576347053, 0.0024579560849815607, 0.0002516342210583389], "flange_pose": [0.636870265007019, -0.16489972174167633, -0.1550893932580948, -0.007330163847655058, -0.024654293432831764, 0.9995155334472656, 0.017524728551506996], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.307311058044434, -46.48845291137695, -13.979487419128418, -3.616328716278076, 13.013360023498535, 0.00899024773389101], "ext_wrench_in_world": [-9.794876651074988, -47.497791091409326, 12.493696846866728, 2.9733881687355486, 13.169017343494883, 0.4017440910281697]}
+{"timestamp_ns": 1789729713780908190, "elapsed_ms": 2933, "source_timestamp_ns": 1789729713779229286, "q": [0.1288261115550995, -1.7823606729507446, -0.06578967720270157, 0.6499249339103699, 1.726478934288025, -0.0009734128834679723, -0.910463273525238], "theta": [0.12648260593414307, -1.7816189527511597, -0.06730382144451141, 0.6334259510040283, 1.7262822389602661, -0.0004811286926269531, -0.9107757806777954], "dq": [0.07499780505895615, -0.03282808139920235, 0.011718662455677986, -0.03638419136404991, 0.044887740164995193, 0.0615447536110878, -0.0034781410358846188], "dtheta": [0.07101961225271225, -0.030512148514389992, 0.01664631813764572, -0.036128874868154526, 0.043632157146930695, 0.05809386447072029, -0.001327131176367402], "tau": [-61.459999084472656, -4.569999694824219, -22.50400161743164, 3.5880000591278076, -3.9200000762939453, 3.9640002250671387, -0.35600000619888306], "tau_des": [-2.064798593521118, -0.23828572034835815, -0.8477917909622192, -1.0800611972808838, 0.10516975820064545, 0.2148297280073166, -0.3143472969532013], "tau_dot": [-132.2694854736328, -39.6188850402832, -6.970250129699707, -4.1394429206848145, 18.908910751342773, 28.233633041381836, -27.784950256347656], "tau_ext": [14.882182121276855, -34.77268600463867, -36.55708312988281, 20.72064971923828, -2.6292476654052734, -7.0705976486206055, 0.2448832094669342], "tcp_pose": [0.6336562633514404, -0.15869136154651642, -0.347072958946228, -0.007313548121601343, -0.02465878427028656, 0.9995152354240417, 0.017542896792292595], "tcp_vel": [-0.005587936844676733, -0.009051086381077766, -0.05051460862159729, 0.0016668488970026374, -0.0011714097345247865, 0.00225128629244864], "flange_pose": [0.6365984678268433, -0.1652859002351761, -0.15721023082733154, -0.007313548121601343, -0.02465878427028656, 0.9995152354240417, 0.017542896792292595], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.957869529724121, -46.89120101928711, -13.90906047821045, -3.705495834350586, 13.073209762573242, 0.011999348178505898], "ext_wrench_in_world": [-9.427257332702267, -47.88058688401556, 12.40215944635696, 3.0593355648716583, 13.23328940608088, 0.4002177599826332]}
+{"timestamp_ns": 1789729713814230586, "elapsed_ms": 2966, "source_timestamp_ns": 1789729713809282874, "q": [0.13089314103126526, -1.7833666801452637, -0.06535674631595612, 0.6487160921096802, 1.7277660369873047, 0.000689583015628159, -0.9104465842247009], "theta": [0.12852928042411804, -1.782606601715088, -0.06684353202581406, 0.6322258114814758, 1.7275581359863281, 0.001194000244140625, -0.9107818007469177], "dq": [0.06426531076431274, -0.032409101724624634, 0.01491316594183445, -0.04371866583824158, 0.0409599244594574, 0.0573582760989666, -0.0001811390684451908], "dtheta": [0.0645684078335762, -0.034726109355688095, 0.014876681379973888, -0.04312145337462425, 0.04207682982087135, 0.05302625522017479, -0.000249881180934608], "tau": [-61.2599983215332, -4.559999942779541, -22.48000144958496, 3.5880000591278076, -3.9280002117156982, 3.9240002632141113, -0.35200002789497375], "tau_des": [-1.7338669300079346, -0.051732346415519714, -0.7284262180328369, -1.1601718664169312, 0.08581707626581192, 0.18731558322906494, -0.1890951544046402], "tau_dot": [44.06414794921875, -163.1197967529297, 5.901674747467041, 53.81461715698242, -0.3694690763950348, 11.590510368347168, -31.575496673583984], "tau_ext": [14.757625579833984, -34.78448486328125, -36.518741607666016, 20.6890926361084, -2.6008987426757812, -7.04698371887207, 0.24109946191310883], "tcp_pose": [0.6334900259971619, -0.1589948683977127, -0.3485315144062042, -0.007310030050575733, -0.02468545362353325, 0.9995142817497253, 0.01756115071475506], "tcp_vel": [-0.004215376917272806, -0.009557109326124191, -0.046318601816892624, 0.0032256876584142447, -0.0023331595584750175, 0.004137225449085236], "flange_pose": [0.6364312171936035, -0.16559629142284393, -0.15866902470588684, -0.007310030050575733, -0.02468545362353325, 0.9995142817497253, 0.01756115071475506], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.709346771240234, -47.12358093261719, -13.924657821655273, -3.799166679382324, 13.102456092834473, 0.009039371274411678], "ext_wrench_in_world": [-9.164966249424692, -48.101713753787635, 12.404245433231543, 3.15078856202669, 13.267172809422737, 0.4034376221089368]}
+{"timestamp_ns": 1789729713847562522, "elapsed_ms": 3000, "source_timestamp_ns": 1789729713839220147, "q": [0.1327694058418274, -1.7844698429107666, -0.06494612991809845, 0.6473031044006348, 1.7289246320724487, 0.00224224547855556, -0.9103639125823975], "theta": [0.13039228320121765, -1.7836922407150269, -0.06640589237213135, 0.6308308839797974, 1.72870934009552, 0.002756953239440918, -0.9107154011726379], "dq": [0.0642700046300888, -0.034887462854385376, 0.011108900420367718, -0.05113480985164642, 0.039350446313619614, 0.05210612341761589, 0.001218305667862296], "dtheta": [0.059256233274936676, -0.037691038101911545, 0.014486218802630901, -0.04993349313735962, 0.035356368869543076, 0.049516525119543076, 0.004895447753369808], "tau": [-60.90999984741211, -4.5, -22.2760009765625, 3.6480002403259277, -3.9200000762939453, 3.8600001335144043, -0.320000022649765], "tau_des": [-1.2215811014175415, 0.20383988320827484, -0.4236610531806946, -1.060584306716919, 0.22122229635715485, 0.10136546194553375, -0.07049255818128586], "tau_dot": [-46.580848693847656, -54.530155181884766, -24.19190216064453, 16.702178955078125, 5.302820682525635, 25.152708053588867, -82.16969299316406], "tau_ext": [14.58873462677002, -34.84060287475586, -36.54650115966797, 20.67658042907715, -2.5957229137420654, -7.006560325622559, 0.21545560657978058], "tcp_pose": [0.6333683133125305, -0.15931007266044617, -0.349867045879364, -0.007305589504539967, -0.02473522536456585, 0.999512791633606, 0.017576511949300766], "tcp_vel": [-0.003425076138228178, -0.010147053748369217, -0.042775560170412064, 0.0016738283447921276, 0.00038638280238956213, 0.003078537294641137], "flange_pose": [0.6363083124160767, -0.16591721773147583, -0.16000472009181976, -0.007305589504539967, -0.02473522536456585, 0.999512791633606, 0.017576511949300766], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.48769760131836, -47.38163375854492, -14.023612976074219, -3.913635730743408, 13.122801780700684, -0.0016842149198055267], "ext_wrench_in_world": [-8.924738196592035, -48.35301791602854, 12.489309077985501, 3.262950525121473, 13.293097253485367, 0.4137551511240935]}
+{"timestamp_ns": 1789729713880903876, "elapsed_ms": 3033, "source_timestamp_ns": 1789729713879226932, "q": [0.13506117463111877, -1.7860239744186401, -0.06441885232925415, 0.6451738476753235, 1.7303217649459839, 0.004145040642470121, -0.9099450707435608], "theta": [0.1326761394739151, -1.7852314710617065, -0.06583797931671143, 0.6287311911582947, 1.7301017045974731, 0.0046765804290771484, -0.9102885127067566], "dq": [0.05428439378738403, -0.03946715220808983, 0.011743202805519104, -0.05441030487418175, 0.03224287927150726, 0.04510147124528885, 0.009058302268385887], "dtheta": [0.056034334003925323, -0.03985276818275452, 0.014370414428412914, -0.05427531152963638, 0.03367532417178154, 0.046998366713523865, 0.011256663128733635], "tau": [-60.459999084472656, -4.480000019073486, -22.020000457763672, 3.692000150680542, -3.880000114440918, 3.812000274658203, -0.23200000822544098], "tau_des": [-0.882708728313446, 0.47560685873031616, -0.3091714680194855, -1.0030343532562256, 0.1788424700498581, 0.09280512481927872, -0.17592403292655945], "tau_dot": [252.84857177734375, 21.025634765625, -2.5661234855651855, 2.430311918258667, -36.835975646972656, 81.95653533935547, 10.894031524658203], "tau_ext": [14.395966529846191, -34.89122772216797, -36.64250946044922, 20.665342330932617, -2.6030166149139404, -6.944766521453857, 0.15758627653121948], "tcp_pose": [0.63326495885849, -0.15971042215824127, -0.3515211045742035, -0.007317831739783287, -0.024730632081627846, 0.9995121955871582, 0.017614249140024185], "tcp_vel": [-0.002665268024429679, -0.010090484283864498, -0.040930505841970444, 0.0026682524476200342, 0.0005411079619079828, -0.0011204916518181562], "flange_pose": [0.6362099051475525, -0.16633179783821106, -0.1616593599319458, -0.007317831739783287, -0.024730632081627846, 0.9995121955871582, 0.017614249140024185], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.178524017333984, -47.69732666015625, -14.225323677062988, -4.027524948120117, 13.162393569946289, -0.043014053255319595], "ext_wrench_in_world": [-8.597441247019201, -48.66064502571534, 12.672009830107912, 3.375515994181505, 13.336774207323922, 0.45580414933941527]}
+{"timestamp_ns": 1789729713914227782, "elapsed_ms": 3066, "source_timestamp_ns": 1789729713909285969, "q": [0.1367170363664627, -1.7872015237808228, -0.06401298940181732, 0.643531322479248, 1.731292724609375, 0.005548384040594101, -0.9096109867095947], "theta": [0.13433535397052765, -1.7864099740982056, -0.06540048122406006, 0.6271128058433533, 1.7310712337493896, 0.006102442741394043, -0.9099294543266296], "dq": [0.05661701038479805, -0.03431878611445427, 0.01497851125895977, -0.05628782883286476, 0.034024886786937714, 0.04549214616417885, 0.010608287528157234], "dtheta": [0.05581384897232056, -0.03979935497045517, 0.014332604594528675, -0.05570845678448677, 0.031672097742557526, 0.048709724098443985, 0.011721416376531124], "tau": [-60.5, -4.619999885559082, -21.86800193786621, 3.7360000610351562, -3.880000114440918, 3.7680001258850098, -0.19600000977516174], "tau_des": [-0.5973163843154907, 0.062351349741220474, -0.2025367021560669, -0.8498928546905518, 0.2105848491191864, 0.023403523489832878, -0.15554024279117584], "tau_dot": [-40.10086441040039, -101.03956604003906, -25.43936538696289, -20.16084861755371, -9.397712707519531, 54.663658142089844, 49.794189453125], "tau_ext": [14.594456672668457, -35.0026741027832, -36.644065856933594, 20.692787170410156, -2.5996150970458984, -6.917659759521484, 0.12957872450351715], "tcp_pose": [0.6331973671913147, -0.16001050174236298, -0.35272249579429626, -0.007332732435315847, -0.02473357878625393, 0.9995116591453552, 0.017634667456150055], "tcp_vel": [-0.0021900846622884274, -0.010375890880823135, -0.040505290031433105, 0.0002778749621938914, 0.0007945641991682351, -0.00010694677621359006], "flange_pose": [0.63614821434021, -0.16663947701454163, -0.16286109387874603, -0.007332732435315847, -0.02473357878625393, 0.9995116591453552, 0.017634667456150055], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.048439025878906, -47.96180725097656, -14.253105163574219, -4.084649562835693, 13.184309959411621, -0.0784507617354393], "ext_wrench_in_world": [-8.453401679238464, -48.919702827497574, 12.686868873408935, 3.4319690548726407, 13.360255402624787, 0.49163976859376096]}
+{"timestamp_ns": 1789729713947575806, "elapsed_ms": 3100, "source_timestamp_ns": 1789729713939221242, "q": [0.13840264081954956, -1.7884023189544678, -0.06361841410398483, 0.6418270468711853, 1.7322553396224976, 0.006987596396356821, -0.909267783164978], "theta": [0.1360311657190323, -1.7876328229904175, -0.06497504562139511, 0.6254364252090454, 1.7320337295532227, 0.007567882537841797, -0.9095538854598999], "dq": [0.05509629845619202, -0.03729396313428879, 0.015028673224151134, -0.054710470139980316, 0.030814629048109055, 0.048435185104608536, 0.012653819285333157], "dtheta": [0.057494550943374634, -0.041847214102745056, 0.013127281330525875, -0.05528553947806358, 0.03284388780593872, 0.04910176247358322, 0.013914353214204311], "tau": [-60.63999938964844, -4.639999866485596, -21.80000114440918, 3.7840001583099365, -3.9000000953674316, 3.704000234603882, -0.20800000429153442], "tau_des": [-0.9608169198036194, 0.21461918950080872, -0.22698667645454407, -1.0539958477020264, 0.2708378732204437, 0.012735523283481598, -0.1856979876756668], "tau_dot": [2.583573579788208, 62.748226165771484, -11.05320930480957, 42.69960403442383, -64.75711059570312, -77.81448364257812, -1.147554874420166], "tau_ext": [14.661887168884277, -35.038455963134766, -36.713008880615234, 20.741893768310547, -2.613369941711426, -6.881441116333008, 0.10294891893863678], "tcp_pose": [0.6331336498260498, -0.16032037138938904, -0.35393670201301575, -0.007357281167060137, -0.024750251322984695, 0.9995110034942627, 0.017636941745877266], "tcp_vel": [-0.0038035293109714985, -0.012118261307477951, -0.04099348932504654, -0.0007650803891010582, 0.0015905429609119892, -0.00471727317199111], "flange_pose": [0.6360939145088196, -0.16694994270801544, -0.16407549381256104, -0.007357281167060137, -0.024750251322984695, 0.9995110034942627, 0.017636941745877266], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.977992057800293, -48.145973205566406, -14.077807426452637, -4.07966947555542, 13.205588340759277, -0.11025366187095642], "ext_wrench_in_world": [-8.374426366461462, -49.094242955460075, 12.504399191144831, 3.426010912967331, 13.380252682090456, 0.5241275731841083]}
+{"timestamp_ns": 1789729713980932988, "elapsed_ms": 3133, "source_timestamp_ns": 1789729713979227358, "q": [0.14067701995372772, -1.7900478839874268, -0.06314194947481155, 0.6395180225372314, 1.7335662841796875, 0.008929315954446793, -0.9087508320808411], "theta": [0.13832399249076843, -1.7893378734588623, -0.06446459144353867, 0.6231550574302673, 1.7333513498306274, 0.009537220001220703, -0.9089899063110352], "dq": [0.05586070194840431, -0.03941391780972481, 0.01290989387780428, -0.051803357899188995, 0.03432891517877579, 0.048221588134765625, 0.012918004766106606], "dtheta": [0.05809107422828674, -0.043136607855558395, 0.011441204696893692, -0.05749039724469185, 0.03348168358206749, 0.04741892218589783, 0.012958735227584839], "tau": [-61.15999984741211, -5.009999752044678, -21.880001068115234, 3.8520002365112305, -3.8600001335144043, 3.696000099182129, -0.20000000298023224], "tau_des": [-1.8240818977355957, 0.07098039239645004, -0.485845148563385, -0.8444061279296875, 0.256073921918869, 0.04910077154636383, -0.18515042960643768], "tau_dot": [-55.082096099853516, 114.99031829833984, -29.40977668762207, 17.306150436401367, 48.9527587890625, -14.698034286499023, -53.305843353271484], "tau_ext": [14.955379486083984, -34.9105224609375, -36.69815444946289, 20.723447799682617, -2.610809803009033, -6.857067108154297, 0.0863046795129776], "tcp_pose": [0.6330355405807495, -0.1607673019170761, -0.3555534780025482, -0.007392078172415495, -0.024739695712924004, 0.9995113611221313, 0.017616771161556244], "tcp_vel": [-0.0041541713289916515, -0.012352517805993557, -0.04102528840303421, -0.0004873634607065469, 0.0032093857880681753, -0.0027447855100035667], "flange_pose": [0.6360087394714355, -0.1673889011144638, -0.16569216549396515, -0.007392078172415495, -0.024739695712924004, 0.9995113611221313, 0.017616771161556244], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.943586349487305, -48.160064697265625, -13.835203170776367, -3.992281913757324, 13.22882080078125, -0.14317123591899872], "ext_wrench_in_world": [-8.343269685619951, -49.09745106957121, 12.263641793294193, 3.338410348449263, 13.397905529993777, 0.5582619596749638]}
+{"timestamp_ns": 1789729714014259780, "elapsed_ms": 3166, "source_timestamp_ns": 1789729714009221057, "q": [0.14237181842327118, -1.7913250923156738, -0.06284534931182861, 0.6377993822097778, 1.7346363067626953, 0.010347961448132992, -0.908424973487854], "theta": [0.14003436267375946, -1.7906590700149536, -0.06415078788995743, 0.6214430928230286, 1.7344330549240112, 0.01097095012664795, -0.9086320400238037], "dq": [0.05438690632581711, -0.04234761744737625, 0.01179523579776287, -0.05422909930348396, 0.034341730177402496, 0.045588791370391846, 0.00893524568527937], "dtheta": [0.0567338727414608, -0.04417230933904648, 0.009608417749404907, -0.055085789412260056, 0.0381576232612133, 0.047117043286561966, 0.011027000844478607], "tau": [-61.459999084472656, -4.679999828338623, -21.928001403808594, 3.700000286102295, -3.9080002307891846, 3.696000099182129, -0.18000000715255737], "tau_des": [-2.0833232402801514, 0.6779362559318542, -0.48209047317504883, -1.1857692003250122, 0.18291480839252472, -0.030007554218173027, -0.20620138943195343], "tau_dot": [-26.898469924926758, 142.4198760986328, 21.735078811645508, -8.104681968688965, 6.739156246185303, -18.325214385986328, 71.45942687988281], "tau_ext": [15.105081558227539, -35.042625427246094, -36.687496185302734, 20.82895851135254, -2.6218528747558594, -6.850710391998291, 0.08485773205757141], "tcp_pose": [0.6329452395439148, -0.1611296683549881, -0.3567439019680023, -0.007396279368549585, -0.02473609708249569, 0.9995115399360657, 0.01761137880384922], "tcp_vel": [-0.004346776753664017, -0.013391880318522453, -0.03968794643878937, 0.0005633383989334106, -0.0013439899776130915, -0.004276222083717585], "flange_pose": [0.635919988155365, -0.16774919629096985, -0.16688255965709686, -0.007396279368549585, -0.02473609708249569, 0.9995115399360657, 0.01761137880384922], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.004121780395508, -48.08824157714844, -13.588336944580078, -3.9054622650146484, 13.228425025939941, -0.15516531467437744], "ext_wrench_in_world": [-8.411363500704166, -49.01997512235775, 12.020964109498536, 3.2520117541846765, 13.392759818125343, 0.5712656561507676]}
+{"timestamp_ns": 1789729714047601538, "elapsed_ms": 3200, "source_timestamp_ns": 1789729714039236872, "q": [0.14400561153888702, -1.792608618736267, -0.06258156150579453, 0.6361077427864075, 1.7357126474380493, 0.011693354696035385, -0.9081325531005859], "theta": [0.1416754424571991, -1.7919851541519165, -0.06386945396661758, 0.6197498440742493, 1.7355338335037231, 0.012327790260314941, -0.9083099365234375], "dq": [0.053439632058143616, -0.04263165965676308, 0.01024839747697115, -0.05743218958377838, 0.033659737557172775, 0.042159222066402435, 0.010633992962539196], "dtheta": [0.05376464128494263, -0.04505598545074463, 0.008903652429580688, -0.057015009224414825, 0.034332312643527985, 0.04410161077976227, 0.010922901332378387], "tau": [-61.32999801635742, -4.630000114440918, -21.856000900268555, 3.564000129699707, -3.8680002689361572, 3.6680002212524414, -0.17600001394748688], "tau_des": [-1.9430491924285889, 0.9200674295425415, -0.369796484708786, -1.3468520641326904, 0.27605047821998596, -0.04308371618390083, -0.1829439103603363], "tau_dot": [97.89852905273438, -55.511722564697266, 46.277244567871094, -18.03217315673828, -21.294071197509766, -54.40502166748047, 34.604736328125], "tau_ext": [15.231968879699707, -34.996795654296875, -36.6480827331543, 20.828989028930664, -2.625084400177002, -6.848019599914551, 0.08017131686210632], "tcp_pose": [0.632847011089325, -0.16149701178073883, -0.35788825154304504, -0.0073929778300225735, -0.024734513834118843, 0.9995114803314209, 0.01761794090270996], "tcp_vel": [-0.004470133222639561, -0.013682342134416103, -0.03753303363919258, -0.00012262283416930586, 0.0007862796192057431, -0.002875568112358451], "flange_pose": [0.6358205676078796, -0.16811907291412354, -0.16802695393562317, -0.0073929778300225735, -0.024734513834118843, 0.9995114803314209, 0.01761794090270996], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.073919296264648, -48.06858825683594, -13.380548477172852, -3.853856086730957, 13.225656509399414, -0.16285744309425354], "ext_wrench_in_world": [-8.485526776867998, -48.99671632003007, 11.814295083031265, 3.2007725659421093, 13.38714465797546, 0.5797691576610078]}
+{"timestamp_ns": 1789729714080922238, "elapsed_ms": 3233, "source_timestamp_ns": 1789729714079278979, "q": [0.14604686200618744, -1.7943179607391357, -0.06224479898810387, 0.6337870955467224, 1.7370473146438599, 0.013357981108129025, -0.9076531529426575], "theta": [0.14371348917484283, -1.7937510013580322, -0.06350862979888916, 0.6174272894859314, 1.7369074821472168, 0.014005661010742188, -0.9077972769737244], "dq": [0.04833042249083519, -0.04250166937708855, 0.014486751519143581, -0.061966653913259506, 0.03042500652372837, 0.03389529511332512, 0.013972096145153046], "dtheta": [0.049633149057626724, -0.04338044300675392, 0.009779890067875385, -0.06056537851691246, 0.03234516456723213, 0.0419110544025898, 0.016653992235660553], "tau": [-61.03999710083008, -4.739999771118164, -21.812000274658203, 3.704000234603882, -3.832000255584717, 3.7080001831054688, -0.20800000429153442], "tau_des": [-1.5575107336044312, 0.29348650574684143, -0.47847309708595276, -1.1483746767044067, 0.16360773146152496, 0.04136009141802788, -0.23547671735286713], "tau_dot": [-54.82018280029297, 63.51146697998047, -37.22080993652344, 79.4188232421875, 22.728313446044922, -76.23314666748047, -39.10638427734375], "tau_ext": [15.004030227661133, -34.93266296386719, -36.68876647949219, 20.815305709838867, -2.654195547103882, -6.8283843994140625, 0.08136757463216782], "tcp_pose": [0.6327419877052307, -0.16196028888225555, -0.3593292236328125, -0.007404140662401915, -0.02472359500825405, 0.9995112419128418, 0.017641518265008926], "tcp_vel": [-0.0016473029972985387, -0.011059344746172428, -0.03566374629735947, 0.0018442044965922832, -0.00022055080626159906, -0.0035151427146047354], "flange_pose": [0.6357199549674988, -0.1685912311077118, -0.16946832835674286, -0.007404140662401915, -0.02472359500825405, 0.9995112419128418, 0.017641518265008926], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.123087882995605, -48.0663948059082, -13.409751892089844, -3.8506906032562256, 13.224830627441406, -0.168178528547287], "ext_wrench_in_world": [-8.535064692048866, -48.998352715575336, 11.842167933292547, 3.198040589142845, 13.385880705951347, 0.5856461220026606]}
+{"timestamp_ns": 1789729714114254798, "elapsed_ms": 3266, "source_timestamp_ns": 1789729714109264188, "q": [0.1474856734275818, -1.795603632926941, -0.061951570212841034, 0.6319109201431274, 1.7379001379013062, 0.014604659751057625, -0.9071913361549377], "theta": [0.14514271914958954, -1.7950729131698608, -0.06319735199213028, 0.6155577301979065, 1.7377886772155762, 0.015259385108947754, -0.9073095321655273], "dq": [0.04690346494317055, -0.04719626531004906, 0.00970451906323433, -0.06498417258262634, 0.027666660025715828, 0.045540645718574524, 0.017706183716654778], "dtheta": [0.045544497668743134, -0.04457506909966469, 0.011028422974050045, -0.06314291059970856, 0.027908682823181152, 0.043125852942466736, 0.016272274777293205], "tau": [-60.81999969482422, -5.029999732971191, -21.73600196838379, 3.820000171661377, -3.8440001010894775, 3.692000150680542, -0.18000000715255737], "tau_des": [-0.9296289682388306, 0.36776018142700195, -0.22258777916431427, -1.1058849096298218, 0.24861052632331848, -0.08046482503414154, -0.18399085104465485], "tau_dot": [49.045372009277344, -55.21894454956055, 2.6783652305603027, -27.35213279724121, -33.2877311706543, -30.216915130615234, -37.2789421081543], "tau_ext": [14.88149356842041, -34.834232330322266, -36.643428802490234, 20.75237464904785, -2.6588737964630127, -6.844084739685059, 0.0749543309211731], "tcp_pose": [0.6327140927314758, -0.16228315234184265, -0.36036258935928345, -0.007424669340252876, -0.02472936175763607, 0.9995109438896179, 0.017641719430685043], "tcp_vel": [-0.0005447468720376492, -0.011776810511946678, -0.03308308869600296, -0.0004794210835825652, -0.0019212642218917608, -0.0017652201931923628], "flange_pose": [0.6356998682022095, -0.16891396045684814, -0.17050179839134216, -0.007424669340252876, -0.02472936175763607, 0.9995109438896179, 0.017641719430685043], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.996623992919922, -47.963993072509766, -13.494423866271973, -3.856605291366577, 13.259310722351074, -0.17147046327590942], "ext_wrench_in_world": [-8.41138953754898, -48.892908664355474, 11.929034100489563, 3.202163403705841, 13.420515743006364, 0.5899441098207464]}
+{"timestamp_ns": 1789729714147606704, "elapsed_ms": 3300, "source_timestamp_ns": 1789729714139229270, "q": [0.14885415136814117, -1.7969077825546265, -0.06161872670054436, 0.6299644112586975, 1.7386481761932373, 0.015851574018597603, -0.9067029356956482], "theta": [0.14649784564971924, -1.7963961362838745, -0.0628434419631958, 0.613625168800354, 1.7385632991790771, 0.016512751579284668, -0.9067955613136292], "dq": [0.047496918588876724, -0.045917853713035583, 0.011560535058379173, -0.06517304480075836, 0.021980471909046173, 0.04336470738053322, 0.017869414761662483], "dtheta": [0.044827528297901154, -0.04473740607500076, 0.011720661073923111, -0.06620320677757263, 0.025565186515450478, 0.039891567081213, 0.01819576881825924], "tau": [-60.53999710083008, -5.400000095367432, -21.684001922607422, 3.9840002059936523, -3.7960002422332764, 3.696000099182129, -0.1720000058412552], "tau_des": [-1.5227872133255005, -0.2522718608379364, -0.5445684194564819, -0.7553935647010803, 0.24678032100200653, 0.03956442326307297, -0.12497583031654358], "tau_dot": [-19.929790496826172, -82.05807495117188, -5.636366367340088, 29.501907348632812, 7.051202297210693, -10.957545280456543, -2.3273508548736572], "tau_ext": [14.620481491088867, -34.761348724365234, -36.675209045410156, 20.685766220092773, -2.67561411857605, -6.839967250823975, 0.07032563537359238], "tcp_pose": [0.6327059864997864, -0.16260385513305664, -0.3613596558570862, -0.0074475836008787155, -0.024746645241975784, 0.9995105266571045, 0.017631473019719124], "tcp_vel": [-0.0003287775325588882, -0.010445152409374714, -0.03320082649588585, 0.0015863513108342886, 0.0013026485685259104, -0.0008120252168737352], "flange_pose": [0.6357004642486572, -0.16923049092292786, -0.1714988648891449, -0.0074475836008787155, -0.024746645241975784, 0.9995105266571045, 0.017631473019719124], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.789069175720215, -47.942806243896484, -13.682913780212402, -3.9105355739593506, 13.313697814941406, -0.1764373481273651], "ext_wrench_in_world": [-8.199913346933636, -48.86805707467179, 12.116651046572354, 3.252973242842266, 13.477437578471593, 0.595658895967642]}
+{"timestamp_ns": 1789729714181020213, "elapsed_ms": 3333, "source_timestamp_ns": 1789729714179224754, "q": [0.15050703287124634, -1.7987158298492432, -0.0611753985285759, 0.6272975206375122, 1.739571452140808, 0.017365837469697, -0.9059557914733887], "theta": [0.1481299102306366, -1.7982112169265747, -0.06237814202904701, 0.6109896302223206, 1.7395182847976685, 0.018032073974609375, -0.906015157699585], "dq": [0.041747547686100006, -0.04894593730568886, 0.0102924145758152, -0.06719974428415298, 0.02378363162279129, 0.03677631914615631, 0.020343031734228134], "dtheta": [0.03795004263520241, -0.04511715844273567, 0.011198045685887337, -0.06538145989179611, 0.02202908881008625, 0.03523843362927437, 0.019867107272148132], "tau": [-60.84000015258789, -5.670000076293945, -21.836000442504883, 4.152000427246094, -3.8600001335144043, 3.760000228881836, -0.18800000846385956], "tau_des": [-1.556924819946289, -0.2215811312198639, -0.6935258507728577, -0.7943094372749329, 0.20455200970172882, 0.10658679902553558, -0.2388298660516739], "tau_dot": [4.591599941253662, 3.2710952758789062, -41.63409423828125, -58.899986267089844, -46.83600997924805, -7.503849506378174, -20.482025146484375], "tau_ext": [14.372456550598145, -34.55597686767578, -36.67522430419922, 20.593700408935547, -2.6926698684692383, -6.850254058837891, 0.06766071915626526], "tcp_pose": [0.6327027678489685, -0.16303709149360657, -0.36258745193481445, -0.007469960022717714, -0.024725202471017838, 0.9995105266571045, 0.017650507390499115], "tcp_vel": [-7.566646672785282e-05, -0.010739108547568321, -0.0286494642496109, 0.0021287233103066683, 0.00020852763555012643, -0.0033918966073542833], "flange_pose": [0.635705828666687, -0.16967082023620605, -0.17272703349590302, -0.007469960022717714, -0.024725202471017838, 0.9995105266571045, 0.017650507390499115], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.540295600891113, -47.8621940612793, -14.086017608642578, -3.984160900115967, 13.37795352935791, -0.1784166395664215], "ext_wrench_in_world": [-7.950571041722449, -48.789402607216076, 12.517426138236829, 3.3239711959436455, 13.54500439548441, 0.5992350321800265]}
+{"timestamp_ns": 1789729714214335345, "elapsed_ms": 3366, "source_timestamp_ns": 1789729714209224401, "q": [0.15160034596920013, -1.8000929355621338, -0.0608559250831604, 0.6252573728561401, 1.740141749382019, 0.018423205241560936, -0.9054099917411804], "theta": [0.14920593798160553, -1.7995827198028564, -0.06204807385802269, 0.608981728553772, 1.7401057481765747, 0.019095540046691895, -0.9054430723190308], "dq": [0.03322947025299072, -0.04770175740122795, 0.01126748975366354, -0.06828539073467255, 0.019003575667738914, 0.03683840483427048, 0.015760457143187523], "dtheta": [0.03448786586523056, -0.04497648775577545, 0.010544686578214169, -0.06645245105028152, 0.018815793097019196, 0.03477317839860916, 0.01972479373216629], "tau": [-60.96999740600586, -5.889999866485596, -21.892000198364258, 4.212000370025635, -3.832000255584717, 3.7920002937316895, -0.15600000321865082], "tau_des": [-1.5847443342208862, -0.719871997833252, -0.8055804967880249, -0.5255347490310669, 0.18180130422115326, 0.0859990194439888, -0.20045951008796692], "tau_dot": [-20.930646896362305, -32.27373123168945, -30.17916488647461, -21.474822998046875, 50.28651809692383, -2.3545219898223877, 52.54282760620117], "tau_ext": [14.52275276184082, -34.45545196533203, -36.549068450927734, 20.558652877807617, -2.681137800216675, -6.8901543617248535, 0.06386179476976395], "tcp_pose": [0.6327154040336609, -0.16337357461452484, -0.3634076714515686, -0.007487624883651733, -0.024729903787374496, 0.9995102882385254, 0.017650552093982697], "tcp_vel": [0.0008469761814922094, -0.01101275160908699, -0.026032013818621635, -1.3437022062134929e-05, -0.0003625315148383379, -0.0017942942213267088], "flange_pose": [0.6357251405715942, -0.1700071394443512, -0.17354735732078552, -0.007487624883651733, -0.024729903787374496, 0.9995102882385254, 0.017650552093982697], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.383177757263184, -47.722721099853516, -14.113809585571289, -3.994664192199707, 13.426175117492676, -0.1817229688167572], "ext_wrench_in_world": [-7.799151291094933, -48.64341964578697, 12.54826979442074, 3.332026890646114, 13.59357730382693, 0.6039837881186503]}
+{"timestamp_ns": 1789729714247672663, "elapsed_ms": 3400, "source_timestamp_ns": 1789729714239223408, "q": [0.15257202088832855, -1.8015013933181763, -0.060568589717149734, 0.6232703328132629, 1.740665078163147, 0.019394919276237488, -0.9049348831176758], "theta": [0.1501661092042923, -1.8009756803512573, -0.06175072118639946, 0.6070225834846497, 1.7406424283981323, 0.02006840705871582, -0.9049387574195862], "dq": [0.03236665949225426, -0.04735780134797096, 0.007192499469965696, -0.062333378940820694, 0.018490077927708626, 0.03128810226917267, 0.015143653377890587], "dtheta": [0.030140027403831482, -0.04664912074804306, 0.009628349915146828, -0.06461266428232193, 0.017006604000926018, 0.029065055772662163, 0.017045723274350166], "tau": [-60.55999755859375, -5.730000019073486, -21.684001922607422, 4.060000419616699, -3.80400013923645, 3.7760002613067627, -0.14400000870227814], "tau_des": [-1.1128144264221191, -0.10430528223514557, -0.4985271096229553, -0.9645625948905945, 0.32168808579444885, 0.09296548366546631, -0.1891920566558838], "tau_dot": [22.728002548217773, 34.22887420654297, -27.852144241333008, -17.456647872924805, 17.304729461669922, 24.48887062072754, 28.308427810668945], "tau_ext": [14.542202949523926, -34.53876876831055, -36.53828811645508, 20.629596710205078, -2.696265697479248, -6.902791976928711, 0.060514215379953384], "tcp_pose": [0.632706880569458, -0.16374742984771729, -0.3641355335712433, -0.0074904547072947025, -0.024732254445552826, 0.9995102882385254, 0.017646122723817825], "tcp_vel": [-0.0006885970942676067, -0.012079460546374321, -0.023025887086987495, 0.0017486487049609423, 0.0003570718108676374, -0.002305950503796339], "flange_pose": [0.6357176899909973, -0.17037926614284515, -0.17427517473697662, -0.0074904547072947025, -0.024732254445552826, 0.9995102882385254, 0.017646122723817825], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.406717300415039, -47.63045883178711, -14.045101165771484, -3.996838331222534, 13.435830116271973, -0.18445272743701935], "ext_wrench_in_world": [-7.827981404556295, -48.55002502153913, 12.483710097239745, 3.3337036870714023, 13.603248883723161, 0.6068854110956065]}
+{"timestamp_ns": 1789729714280999863, "elapsed_ms": 3433, "source_timestamp_ns": 1789729714279254397, "q": [0.1537061631679535, -1.8034032583236694, -0.060197677463293076, 0.6206285357475281, 1.7412822246551514, 0.02055881731212139, -0.9043065309524536], "theta": [0.15129049122333527, -1.8028496503829956, -0.06136128678917885, 0.6043904423713684, 1.7412768602371216, 0.02122652530670166, -0.9042671918869019], "dq": [0.02714526280760765, -0.047110456973314285, 0.011839224956929684, -0.0631345734000206, 0.010699428617954254, 0.029597843065857887, 0.013313881121575832], "dtheta": [0.02659391239285469, -0.044751327484846115, 0.010633920319378376, -0.06481903791427612, 0.011621948331594467, 0.030143218114972115, 0.015877826139330864], "tau": [-60.16999816894531, -5.389999866485596, -21.440000534057617, 3.940000295639038, -3.760000228881836, 3.7400002479553223, -0.18400001525878906], "tau_des": [-0.15331557393074036, 0.3491777181625366, -0.19400674104690552, -0.8284240365028381, 0.3117692768573761, 0.06202246621251106, -0.15152277052402496], "tau_dot": [-117.85894775390625, 52.31322479248047, 0.4873402416706085, 23.92369270324707, -12.790030479431152, -72.79181671142578, -34.016571044921875], "tau_ext": [14.302366256713867, -34.396671295166016, -36.61751937866211, 20.631633758544922, -2.7180731296539307, -6.899030685424805, 0.05129522085189819], "tcp_pose": [0.6326947212219238, -0.16425390541553497, -0.36500120162963867, -0.007486690767109394, -0.024726150557398796, 0.9995102882385254, 0.01765585131943226], "tcp_vel": [0.0007159337983466685, -0.011637602001428604, -0.02066408470273018, -0.0012430808274075389, -0.00014062035188544542, 0.0010913156438618898], "flange_pose": [0.6357041597366333, -0.1708894968032837, -0.17514097690582275, -0.007486690767109394, -0.024726150557398796, 0.9995102882385254, 0.01765585131943226], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.501150131225586, -47.394996643066406, -14.220637321472168, -3.9738967418670654, 13.429031372070312, -0.18982885777950287], "ext_wrench_in_world": [-7.93177518269902, -48.32596685469175, 12.667843412120966, 3.3113777554986363, 13.59508144101381, 0.6126270275680704]}
+{"timestamp_ns": 1789729714314336252, "elapsed_ms": 3466, "source_timestamp_ns": 1789729714309304558, "q": [0.1545456349849701, -1.804748296737671, -0.05987831577658653, 0.6187954545021057, 1.7416398525238037, 0.02151256427168846, -0.903939425945282], "theta": [0.15212734043598175, -1.8041701316833496, -0.06102916970849037, 0.6025469899177551, 1.741646409034729, 0.022172212600708008, -0.903866171836853], "dq": [0.02442491240799427, -0.04198787733912468, 0.013031561858952045, -0.0566009022295475, 0.013276524841785431, 0.0315791517496109, 0.009989449754357338], "dtheta": [0.028224607929587364, -0.04222280532121658, 0.012013829313218594, -0.06115104630589485, 0.013196112588047981, 0.03236609324812889, 0.014063237234950066], "tau": [-60.099998474121094, -4.859999656677246, -21.336000442504883, 3.580000162124634, -3.704000234603882, 3.744000196456909, -0.15600000321865082], "tau_des": [-0.457371324300766, 0.6336209177970886, -0.3250716030597687, -0.9955669641494751, 0.28551772236824036, 0.10234096646308899, -0.09421288222074509], "tau_dot": [-81.00147247314453, -69.86454010009766, -71.7138900756836, -89.35149383544922, 20.60104751586914, -49.466583251953125, -8.808903694152832], "tau_ext": [14.404938697814941, -34.75971221923828, -36.602901458740234, 20.83402442932129, -2.7340714931488037, -6.915383338928223, 0.04974345117807388], "tcp_pose": [0.6326667070388794, -0.1646476686000824, -0.3656337857246399, -0.007481608539819717, -0.024740073829889297, 0.9995107650756836, 0.01761298067867756], "tcp_vel": [0.0007482602959498763, -0.010762492194771767, -0.02202386036515236, -0.0007322944002225995, -0.0017814473249018192, 0.001443041255697608], "flange_pose": [0.6356739401817322, -0.17126698791980743, -0.17577292025089264, -0.007481608539819717, -0.024740073829889297, 0.9995107650756836, 0.01761298067867756], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.648682594299316, -47.40203857421875, -14.301555633544922, -3.998176097869873, 13.408967018127441, -0.19382451474666595], "ext_wrench_in_world": [-8.076279044172612, -48.34229415342891, 12.754548534120978, 3.3362827459656836, 13.576267847296117, 0.6144471684120826]}
+{"timestamp_ns": 1789729714347665692, "elapsed_ms": 3500, "source_timestamp_ns": 1789729714339232375, "q": [0.15539363026618958, -1.8060163259506226, -0.059535425156354904, 0.617034375667572, 1.741984248161316, 0.022520966827869415, -0.9035207629203796], "theta": [0.15298135578632355, -1.8054230213165283, -0.0606737844645977, 0.6007659435272217, 1.7420032024383545, 0.02317047119140625, -0.9034126996994019], "dq": [0.026887044310569763, -0.04166635125875473, 0.012130615301430225, -0.05614179000258446, 0.011864334344863892, 0.03490424528717995, 0.016250094398856163], "dtheta": [0.028963971883058548, -0.03887985274195671, 0.011613648384809494, -0.05982191115617752, 0.010613223537802696, 0.033064816147089005, 0.014835923910140991], "tau": [-60.189998626708984, -4.710000038146973, -21.256000518798828, 3.692000150680542, -3.7160000801086426, 3.7680001258850098, -0.12400000542402267], "tau_des": [-0.3066350817680359, 1.3531832695007324, -0.24987328052520752, -0.8810979127883911, 0.22415997087955475, 0.15174539387226105, -0.11281227320432663], "tau_dot": [86.5945053100586, -4.45749044418335, 6.979616641998291, -13.961434364318848, 23.87979507446289, -18.987049102783203, 68.01846313476562], "tau_ext": [14.454278945922852, -34.91620635986328, -36.60444259643555, 20.895301818847656, -2.746495008468628, -6.926910877227783, 0.046098772436380386], "tcp_pose": [0.6326547265052795, -0.16501738131046295, -0.3662734627723694, -0.007463317830115557, -0.02472911961376667, 0.9995121359825134, 0.017556190490722656], "tcp_vel": [0.00125506694894284, -0.009646624326705933, -0.0221705324947834, -0.0030306882690638304, 0.00045052613131701946, 0.0028665161225944757], "flange_pose": [0.6356543898582458, -0.1716153472661972, -0.17641176283359528, -0.007463317830115557, -0.02472911961376667, 0.9995121359825134, 0.017556190490722656], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.777084350585938, -47.65520095825195, -14.327832221984863, -4.079705238342285, 13.397939682006836, -0.19672058522701263], "ext_wrench_in_world": [-8.193195639102246, -48.60066923663545, 12.778771326810823, 3.4185625276125235, 13.569208561864405, 0.6144027933954516]}
+{"timestamp_ns": 1789729714381003750, "elapsed_ms": 3533, "source_timestamp_ns": 1789729714379250215, "q": [0.15660585463047028, -1.80747652053833, -0.05907305330038071, 0.6148495674133301, 1.7422654628753662, 0.024013923481106758, -0.9029346704483032], "theta": [0.1542026251554489, -1.8068746328353882, -0.06019909307360649, 0.5985493063926697, 1.7422959804534912, 0.024648308753967285, -0.9027837514877319], "dq": [0.03432796150445938, -0.03129678592085838, 0.009550387039780617, -0.051855362951755524, 0.008686422370374203, 0.03927566856145859, 0.010808543302118778], "dtheta": [0.031991247087717056, -0.03318231925368309, 0.011614867486059666, -0.05391749367117882, 0.005550446454435587, 0.04086923971772194, 0.0163778867572546], "tau": [-60.459999084472656, -4.610000133514404, -21.256000518798828, 3.6760001182556152, -3.7240002155303955, 3.8440001010894775, -0.14000000059604645], "tau_des": [-0.7321903109550476, 1.1409341096878052, -0.46364307403564453, -0.9630293846130371, 0.31317853927612305, 0.20816512405872345, -0.11376304179430008], "tau_dot": [-74.28290557861328, -173.44940185546875, 40.128868103027344, -7.3402276039123535, -31.169628143310547, 26.2744140625, 10.400381088256836], "tau_ext": [14.659562110900879, -35.126468658447266, -36.57975387573242, 20.914766311645508, -2.753833770751953, -6.965699195861816, 0.040570370852947235], "tcp_pose": [0.6326547265052795, -0.16546741127967834, -0.36715221405029297, -0.007495478726923466, -0.02473662607371807, 0.9995148777961731, 0.0173743087798357], "tcp_vel": [0.0011912191985175014, -0.010226364247500896, -0.022767987102270126, -0.012328294105827808, 0.0018266265979036689, 0.0013855962315574288], "flange_pose": [0.6356649398803711, -0.17199598252773285, -0.1772882640361786, -0.007495478726923466, -0.02473662607371807, 0.9995148777961731, 0.0173743087798357], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.602916717529297, -48.102806091308594, -14.17712688446045, -4.206012725830078, 13.484077453613281, -0.20291994512081146], "ext_wrench_in_world": [-7.998018540955324, -49.029103840656845, 12.628198583947425, 3.5403421583522117, 13.661541996879832, 0.616694412409463]}
+{"timestamp_ns": 1789729714414317872, "elapsed_ms": 3566, "source_timestamp_ns": 1789729714409227056, "q": [0.15760140120983124, -1.8084218502044678, -0.05875498428940773, 0.6133290529251099, 1.7424131631851196, 0.025328999385237694, -0.9024617075920105], "theta": [0.15520116686820984, -1.807820439338684, -0.059872839599847794, 0.597013533115387, 1.7424511909484863, 0.02594935894012451, -0.9022765755653381], "dq": [0.028880422934889793, -0.030069341883063316, 0.011701537296175957, -0.04932368919253349, 0.004350581672042608, 0.043542198836803436, 0.0171892698854208], "dtheta": [0.03399811312556267, -0.030522361397743225, 0.009488355368375778, -0.05051509663462639, 0.006093836855143309, 0.0436859168112278, 0.016894858330488205], "tau": [-60.69999694824219, -5.049999713897705, -21.316001892089844, 3.932000160217285, -3.7240002155303955, 3.8440001010894775, -0.14000000059604645], "tau_des": [-0.9138078689575195, 0.6218988299369812, -0.45274534821510315, -1.0171425342559814, 0.3889094293117523, 0.13493354618549347, -0.10162372142076492], "tau_dot": [-72.33438873291016, 96.85991668701172, 6.751185894012451, 38.6630973815918, -49.6649284362793, 3.854595422744751, -17.408369064331055], "tau_ext": [14.84923267364502, -35.291561126708984, -36.556331634521484, 20.9085636138916, -2.751915454864502, -6.991338729858398, 0.03514900058507919], "tcp_pose": [0.6326774954795837, -0.16580232977867126, -0.3678319454193115, -0.0075249141082167625, -0.024743929505348206, 0.9995186924934387, 0.01713179610669613], "tcp_vel": [0.001090488163754344, -0.010633999481797218, -0.02296169102191925, -0.016276312991976738, 0.0018482661107555032, 0.0004018906329292804], "flange_pose": [0.6356967091560364, -0.1722385287284851, -0.177964985370636, -0.0075249141082167625, -0.024743929505348206, 0.9995186924934387, 0.01713179610669613], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.323647499084473, -48.61073684692383, -13.891365051269531, -4.328824996948242, 13.595069885253906, -0.2087487429380417], "ext_wrench_in_world": [-7.69714735053823, -49.50655449148478, 12.345300422412324, 3.6573892573618187, 13.778608104745597, 0.6178103210477591]}
+{"timestamp_ns": 1789729714447660560, "elapsed_ms": 3600, "source_timestamp_ns": 1789729714439238921, "q": [0.15864266455173492, -1.8092632293701172, -0.058485135436058044, 0.611840546131134, 1.7425546646118164, 0.02671077661216259, -0.901909589767456], "theta": [0.1562601774930954, -1.8086715936660767, -0.059595655649900436, 0.5955199599266052, 1.7425986528396606, 0.02731764316558838, -0.9016907811164856], "dq": [0.03344850242137909, -0.03056374192237854, 0.01085690688341856, -0.04506491869688034, 0.0019536768086254597, 0.04890995845198631, 0.022348258644342422], "dtheta": [0.036816783249378204, -0.025335201993584633, 0.00880040880292654, -0.04779142141342163, 0.0016803705366328359, 0.047831419855356216, 0.02179131656885147], "tau": [-60.62999725341797, -5.259999752044678, -21.272001266479492, 4.12000036239624, -3.752000093460083, 3.8960001468658447, -0.12000000476837158], "tau_des": [-0.7341216206550598, 0.7368786931037903, -0.42586731910705566, -0.5049193501472473, 0.3015570044517517, 0.2122759222984314, -0.13687536120414734], "tau_dot": [10.10682487487793, 21.36457061767578, 38.25514602661133, 11.997928619384766, 20.929048538208008, 22.039093017578125, 12.18954086303711], "tau_ext": [14.951132774353027, -34.80638122558594, -36.503910064697266, 20.61786651611328, -2.7385098934173584, -7.026063919067383, 0.02863733284175396], "tcp_pose": [0.6327348947525024, -0.16610682010650635, -0.3685216009616852, -0.007564094383269548, -0.024750208482146263, 0.9995231032371521, 0.01684451289474964], "tcp_vel": [0.0015249724965542555, -0.00988024566322565, -0.02384413778781891, -0.022644242271780968, 0.005390495993196964, -0.0016770967049524188], "flange_pose": [0.6357662677764893, -0.172433540225029, -0.17865115404129028, -0.007564094383269548, -0.024750208482146263, 0.9995231032371521, 0.01684451289474964], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.929584503173828, -48.81226348876953, -13.580327033996582, -4.363547325134277, 13.735485076904297, -0.2144494205713272], "ext_wrench_in_world": [-7.296975341645744, -49.670781114973984, 12.051002113716054, 3.6850356674269746, 13.920728068986099, 0.6196178416283215]}
+{"timestamp_ns": 1789729714480936837, "elapsed_ms": 3633, "source_timestamp_ns": 1789729714479251163, "q": [0.1601707935333252, -1.810161828994751, -0.0581803061068058, 0.610133945941925, 1.7426482439041138, 0.028750041499733925, -0.9011743664741516], "theta": [0.15780679881572723, -1.8095811605453491, -0.059275124222040176, 0.5938146710395813, 1.7426973581314087, 0.029335379600524902, -0.9009197354316711], "dq": [0.041791386902332306, -0.020914200693368912, 0.0074329618364572525, -0.04142674058675766, 0.002933150390163064, 0.05346798896789551, 0.016159651800990105], "dtheta": [0.04120589792728424, -0.020356154069304466, 0.008660373277962208, -0.03744709864258766, 0.004640068858861923, 0.05292277783155441, 0.01610729843378067], "tau": [-60.56999969482422, -5.199999809265137, -21.104000091552734, 4.131999969482422, -3.700000286102295, 3.9160001277923584, -0.1120000034570694], "tau_des": [-1.039520502090454, 1.3831491470336914, -0.2734873294830322, -0.8712226152420044, 0.4324791729450226, 0.2399800717830658, -0.1363922506570816], "tau_dot": [-39.50181579589844, 86.69586944580078, 40.76738739013672, -20.623476028442383, -16.987323760986328, 47.45999526977539, 23.632442474365234], "tau_ext": [15.06588363647461, -34.99479675292969, -36.53456497192383, 20.644336700439453, -2.746302604675293, -7.052728652954102, 0.018521664664149284], "tcp_pose": [0.6327828764915466, -0.16652405261993408, -0.36947542428970337, -0.007657958660274744, -0.024737648665905, 0.9995313286781311, 0.0163255725055933], "tcp_vel": [2.052057425316889e-06, -0.010237522423267365, -0.02588951401412487, -0.0255146361887455, 0.0034138101618736982, -0.001467247144319117], "flange_pose": [0.6358450055122375, -0.17265287041664124, -0.17959897220134735, -0.007657958660274744, -0.024737648665905, 0.9995313286781311, 0.0163255725055933], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.377620697021484, -49.128108978271484, -13.277544021606445, -4.431304931640625, 13.926413536071777, -0.2259889841079712], "ext_wrench_in_world": [-6.733852022994674, -49.93617445137412, 11.782943395355982, 3.743795489370037, 14.114901175998863, 0.6213602186834838]}
+{"timestamp_ns": 1789729714514335527, "elapsed_ms": 3666, "source_timestamp_ns": 1789729714509239082, "q": [0.16141164302825928, -1.810692310333252, -0.05792959779500961, 0.6090662479400635, 1.742793321609497, 0.030392823740839958, -0.9007134437561035], "theta": [0.15905968844890594, -1.810117244720459, -0.059004805982112885, 0.5927525162696838, 1.742846131324768, 0.030959248542785645, -0.9004355669021606], "dq": [0.04223648086190224, -0.018899697810411453, 0.008978339843451977, -0.03565126657485962, 0.006119264289736748, 0.0573873370885849, 0.015065099112689495], "dtheta": [0.043795209378004074, -0.016198527067899704, 0.00933078397065401, -0.032652925699949265, 0.004510422237217426, 0.05549376457929611, 0.015050980262458324], "tau": [-60.689998626708984, -5.009999752044678, -21.11600112915039, 4.064000129699707, -3.704000234603882, 3.9280002117156982, -0.13199999928474426], "tau_des": [-1.054646611213684, 1.4191662073135376, -0.28939712047576904, -0.8705233335494995, 0.4147636592388153, 0.3117479085922241, -0.12278422713279724], "tau_dot": [-64.29100036621094, 78.91844940185547, -39.28434371948242, -91.59130859375, -38.599830627441406, 14.442305564880371, -75.7821273803711], "tau_ext": [15.111915588378906, -35.062076568603516, -36.54357147216797, 20.649606704711914, -2.7647652626037598, -7.0851922035217285, 0.013465429656207561], "tcp_pose": [0.6328125, -0.16680699586868286, -0.3702488839626312, -0.007700061891227961, -0.024735737591981888, 0.9995375275611877, 0.015922704711556435], "tcp_vel": [-0.00021465725149028003, -0.009229753166437149, -0.0274418406188488, -0.027003372088074684, 0.003914068918675184, -0.0011254840064793825], "flange_pose": [0.6358868479728699, -0.17278245091438293, -0.18036775290966034, -0.007700061891227961, -0.024735737591981888, 0.9995375275611877, 0.015922704711556435], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.113664627075195, -49.42005920410156, -13.15952205657959, -4.504713535308838, 14.033679962158203, -0.23085425794124603], "ext_wrench_in_world": [-6.4568665347709295, -50.20128042297468, 11.692496477456109, 3.8118976833093856, 14.225986840121248, 0.6169647320248752]}
+{"timestamp_ns": 1789729714547683054, "elapsed_ms": 3700, "source_timestamp_ns": 1789729714539233670, "q": [0.1627182513475418, -1.8110880851745605, -0.05764926224946976, 0.6081695556640625, 1.7429149150848389, 0.03212539479136467, -0.9003123044967651], "theta": [0.16037151217460632, -1.8105151653289795, -0.05870215594768524, 0.591869592666626, 1.742970585823059, 0.03267049789428711, -0.9000117778778076], "dq": [0.048231858760118484, -0.010172205977141857, 0.010738532990217209, -0.026474222540855408, 0.004595511127263308, 0.06265992671251297, 0.015641899779438972], "dtheta": [0.04430938884615898, -0.010961332358419895, 0.01071420032531023, -0.026892144232988358, 0.006026124116033316, 0.059877488762140274, 0.014677071012556553], "tau": [-60.63999938964844, -5.119999885559082, -21.064001083374023, 4.076000213623047, -3.680000066757202, 3.9800002574920654, -0.09200000762939453], "tau_des": [-0.7868047952651978, 0.47738131880760193, -0.2634921669960022, -0.878318727016449, 0.4227020740509033, 0.20739297568798065, -0.08807485550642014], "tau_dot": [-132.27120971679688, -21.517040252685547, 29.38522720336914, -45.479148864746094, 12.546011924743652, 31.956619262695312, 44.34377670288086], "tau_ext": [15.121683120727539, -35.07054138183594, -36.534568786621094, 20.65712547302246, -2.767508029937744, -7.12985897064209, 0.007859115488827229], "tcp_pose": [0.6328330039978027, -0.16706490516662598, -0.3710601329803467, -0.007745519280433655, -0.024744156748056412, 0.9995437860488892, 0.015489546582102776], "tcp_vel": [0.0012205467792227864, -0.007634949404746294, -0.027934612706303596, -0.028095891699194908, -0.00028526849928312004, -0.001591059030033648], "flange_pose": [0.6359205842018127, -0.17287541925907135, -0.18117408454418182, -0.007745519280433655, -0.024744156748056412, 0.9995437860488892, 0.015489546582102776], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.94180965423584, -49.65144729614258, -13.085419654846191, -4.5773138999938965, 14.117571830749512, -0.23692107200622559], "ext_wrench_in_world": [-6.273010541669025, -50.41145392238908, 11.652683734341919, 3.8800610389537797, 14.313782953151092, 0.6119742101462964]}
+{"timestamp_ns": 1789729714580996366, "elapsed_ms": 3733, "source_timestamp_ns": 1789729714579247271, "q": [0.16456644237041473, -1.8114594221115112, -0.05721116065979004, 0.6071195602416992, 1.7431564331054688, 0.03449676185846329, -0.8997605443000793], "theta": [0.16219961643218994, -1.810896396636963, -0.05823323503136635, 0.5908454060554504, 1.7432184219360352, 0.03500819206237793, -0.8994298577308655], "dq": [0.047789640724658966, -0.007020091637969017, 0.012275485321879387, -0.022558322176337242, 0.005487422458827496, 0.05796820670366287, 0.016700850799679756], "dtheta": [0.04581170529127121, -0.007380464114248753, 0.01246612798422575, -0.022404974326491356, 0.004232305567711592, 0.058501701802015305, 0.016264406964182854], "tau": [-60.779998779296875, -5.460000038146973, -21.176000595092773, 4.248000144958496, -3.7120001316070557, 4.0320000648498535, -0.13199999928474426], "tau_des": [-1.3701871633529663, 0.4887450337409973, -0.4767757058143616, -0.8287257552146912, 0.43656685948371887, 0.3200034201145172, -0.12474936246871948], "tau_dot": [-56.979488372802734, -69.57600402832031, 16.230443954467773, 37.641258239746094, -25.09436798095703, -0.5311212539672852, -96.05686950683594], "tau_ext": [15.016200065612793, -34.97382736206055, -36.527183532714844, 20.61211395263672, -2.77471661567688, -7.169079780578613, 0.00030406704172492027], "tcp_pose": [0.6328734755516052, -0.16732344031333923, -0.37223494052886963, -0.007796111982315779, -0.024745149537920952, 0.9995516538619995, 0.014946338720619678], "tcp_vel": [0.00012530083768069744, -0.006034292280673981, -0.029397010803222656, -0.026746716350317, 0.0028111061546951532, -0.004178052768111229], "flange_pose": [0.6359752416610718, -0.17292718589305878, -0.18234293162822723, -0.007796111982315779, -0.024745149537920952, 0.9995516538619995, 0.014946338720619678], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.751251220703125, -49.73540115356445, -13.042084693908691, -4.630643367767334, 14.208229064941406, -0.24292004108428955], "ext_wrench_in_world": [-6.077833477980682, -50.471875158328274, 11.659342057465704, 3.9288321726803175, 14.407464775021937, 0.6040511758683011]}
+{"timestamp_ns": 1789729714614336235, "elapsed_ms": 3766, "source_timestamp_ns": 1789729714609231540, "q": [0.16593630611896515, -1.8116786479949951, -0.05684580281376839, 0.6064353585243225, 1.7433630228042603, 0.03618979454040527, -0.8993833065032959], "theta": [0.1635424792766571, -1.8111248016357422, -0.05784766376018524, 0.5901806950569153, 1.7434278726577759, 0.03667736053466797, -0.8990312814712524], "dq": [0.04179424047470093, -0.006997048854827881, 0.015119088813662529, -0.0241862665861845, 0.0107269287109375, 0.04894035682082176, 0.013867865316569805], "dtheta": [0.043106142431497574, -0.007424641400575638, 0.013062029145658016, -0.022140266373753548, 0.008884175680577755, 0.054957177489995956, 0.013936972245573997], "tau": [-61.0, -5.839999675750732, -21.352001190185547, 4.4120001792907715, -3.7240002155303955, 4.088000297546387, -0.09600000083446503], "tau_des": [-1.2098617553710938, 0.5995591878890991, -0.4159260094165802, -0.6569083333015442, 0.3133176565170288, 0.3652972877025604, -0.1018095314502716], "tau_dot": [-65.28871154785156, 107.76563262939453, -0.2340911477804184, 32.59615707397461, 6.565120220184326, -20.63135528564453, -0.23655442893505096], "tau_ext": [14.933273315429688, -35.02936553955078, -36.49200439453125, 20.65877342224121, -2.776737689971924, -7.206135272979736, -0.005652162712067366], "tcp_pose": [0.632888674736023, -0.16747301816940308, -0.3731263279914856, -0.007834790274500847, -0.02473948337137699, 0.9995567202568054, 0.014593775384128094], "tcp_vel": [0.001264202524907887, -0.004278139676898718, -0.028695348650217056, -0.02044016495347023, -0.0013014506548643112, -0.002575905993580818], "flange_pose": [0.6360017657279968, -0.17294253408908844, -0.18323059380054474, -0.007834790274500847, -0.02473948337137699, 0.9995567202568054, 0.014593775384128094], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.68450927734375, -49.79186248779297, -13.159547805786133, -4.695026874542236, 14.244699478149414, -0.24732542037963867], "ext_wrench_in_world": [-6.006025638883965, -50.52002320168806, 11.810117762761463, 3.9915126268980106, 14.447351144414876, 0.5981490602834263]}
+{"timestamp_ns": 1789729714647594423, "elapsed_ms": 3800, "source_timestamp_ns": 1789729714639230188, "q": [0.16725127398967743, -1.8118716478347778, -0.05641469359397888, 0.6058129668235779, 1.7435622215270996, 0.037809595465660095, -0.8990405797958374], "theta": [0.16482365131378174, -1.8113278150558472, -0.05740306153893471, 0.5895770192146301, 1.7436280250549316, 0.03828442096710205, -0.8986672163009644], "dq": [0.044983264058828354, -0.0029469372238963842, 0.016730137169361115, -0.01840079203248024, 0.0071829576045274734, 0.05072476342320442, 0.00754846166819334], "dtheta": [0.04188675805926323, -0.006992554757744074, 0.015052338130772114, -0.01859615556895733, 0.006496376823633909, 0.053200721740722656, 0.011433389037847519], "tau": [-60.89999771118164, -5.980000019073486, -21.440000534057617, 4.37600040435791, -3.760000228881836, 4.180000305175781, -0.1120000034570694], "tau_des": [-1.3869496583938599, 0.21779078245162964, -0.6278467774391174, -0.9401795864105225, 0.36268019676208496, 0.4759524166584015, -0.12194772809743881], "tau_dot": [59.12117385864258, -116.79035186767578, 31.93246078491211, 17.330827713012695, -60.41558837890625, 13.444583892822266, -66.37158966064453], "tau_ext": [14.97847843170166, -34.965152740478516, -36.38270950317383, 20.650297164916992, -2.7646403312683105, -7.260438442230225, -0.013721107505261898], "tcp_pose": [0.6328983306884766, -0.1675877571105957, -0.37401026487350464, -0.007861190475523472, -0.024729521945118904, 0.999561071395874, 0.014294925145804882], "tcp_vel": [-0.0002774316817522049, -0.004512909334152937, -0.02830311842262745, -0.019278712570667267, -0.0003348866885062307, -0.003263692604377866], "flange_pose": [0.6360186338424683, -0.172943577170372, -0.18411141633987427, -0.007861190475523472, -0.024729521945118904, 0.999561071395874, 0.014294925145804882], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.642402648925781, -49.64567184448242, -13.17451000213623, -4.70832633972168, 14.268389701843262, -0.2522273659706116], "ext_wrench_in_world": [-5.971213912070769, -50.36522993694688, 11.85916472806342, 4.0039435454772425, 14.471822099005253, 0.5947280626493088]}
+{"timestamp_ns": 1789729714680934002, "elapsed_ms": 3833, "source_timestamp_ns": 1789729714679301601, "q": [0.16889512538909912, -1.8121672868728638, -0.0557907335460186, 0.6050031781196594, 1.743825912475586, 0.03987598791718483, -0.8986678123474121], "theta": [0.16642101109027863, -1.8116466999053955, -0.05676209554076195, 0.5887887477874756, 1.7438950538635254, 0.04034280776977539, -0.8982692956924438], "dq": [0.037950772792100906, -0.009053489193320274, 0.014844034798443317, -0.01947757974267006, 0.005136149004101753, 0.050564154982566833, 0.010002665221691132], "dtheta": [0.038905102759599686, -0.009415368549525738, 0.01718571037054062, -0.020660756155848503, 0.006797418463975191, 0.04705114662647247, 0.01151360385119915], "tau": [-60.38999938964844, -5.929999828338623, -21.304000854492188, 4.312000274658203, -3.7240002155303955, 4.148000240325928, -0.08800000697374344], "tau_des": [-1.1611701250076294, 0.552287757396698, -0.47780340909957886, -0.9979597926139832, 0.38580578565597534, 0.44395911693573, -0.13864155113697052], "tau_dot": [30.422746658325195, 134.456787109375, -23.557689666748047, 30.01761245727539, -44.74174118041992, 0.5369160771369934, -10.5617094039917], "tau_ext": [14.70467472076416, -34.94636917114258, -36.380367279052734, 20.692232131958008, -2.774247169494629, -7.288915157318115, -0.019794315099716187], "tcp_pose": [0.6329050660133362, -0.1677371710538864, -0.3751412034034729, -0.007863769307732582, -0.024726536124944687, 0.9995659589767456, 0.013949784450232983], "tcp_vel": [-0.000741923984605819, -0.0034405020996928215, -0.027797136455774307, -0.012429771944880486, 8.743938815314323e-05, -0.004056320060044527], "flange_pose": [0.6360231041908264, -0.17296189069747925, -0.18523865938186646, -0.007863769307732582, -0.024726536124944687, 0.9995659589767456, 0.013949784450232983], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.69491958618164, -49.51280212402344, -13.309189796447754, -4.761735439300537, 14.262569427490234, -0.25786858797073364], "ext_wrench_in_world": [-6.028165969731496, -50.230682911044234, 12.033014715865397, 4.057662996817352, 14.468912156611598, 0.5894567711445079]}
+{"timestamp_ns": 1789729714714260422, "elapsed_ms": 3866, "source_timestamp_ns": 1789729714709258784, "q": [0.17001453042030334, -1.81242036819458, -0.05524178594350815, 0.604376494884491, 1.7439608573913574, 0.04126843437552452, -0.898411750793457], "theta": [0.16750939190387726, -1.8119136095046997, -0.05619218200445175, 0.5881761908531189, 1.7440340518951416, 0.04172801971435547, -0.8979936838150024], "dq": [0.037676725536584854, -0.008795036934316158, 0.018812162801623344, -0.019263582304120064, 0.000774421205278486, 0.05173780769109726, 0.005593588575720787], "dtheta": [0.03456985950469971, -0.00889734085649252, 0.020807864144444466, -0.019249433651566505, 0.003653101623058319, 0.047092780470848083, 0.007348933722823858], "tau": [-60.209999084472656, -5.829999923706055, -21.23200035095215, 4.248000144958496, -3.7080001831054688, 4.168000221252441, -0.07200000435113907], "tau_des": [-0.692002534866333, 0.5011592507362366, -0.39627712965011597, -0.977055013179779, 0.40172162652015686, 0.37298038601875305, -0.07310827076435089], "tau_dot": [21.93686866760254, -14.463000297546387, 33.989994049072266, 51.487953186035156, -30.58477020263672, 31.760425567626953, 34.082515716552734], "tau_ext": [14.357702255249023, -34.96017837524414, -36.44700622558594, 20.721101760864258, -2.7911274433135986, -7.2909698486328125, -0.025308363139629364], "tcp_pose": [0.6329010725021362, -0.16781625151634216, -0.37595516443252563, -0.007872716523706913, -0.02472660131752491, 0.9995684623718262, 0.013767916709184647], "tcp_vel": [-5.834402600157773e-06, -0.002968990243971348, -0.025960253551602364, -0.011146008037030697, -0.002990441396832466, -0.0011279165046289563], "flange_pose": [0.6360207796096802, -0.17297182977199554, -0.18605075776576996, -0.007872716523706913, -0.02472660131752491, 0.9995684623718262, 0.013767916709184647], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.72584056854248, -49.35214614868164, -13.629798889160156, -4.797386646270752, 14.25350570678711, -0.2614248991012573], "ext_wrench_in_world": [-6.061424633962574, -50.0761534442244, 12.376753552716881, 4.09373075609327, 14.461762784793883, 0.586917539409396]}
+{"timestamp_ns": 1789729714747590401, "elapsed_ms": 3900, "source_timestamp_ns": 1789729714739257531, "q": [0.1710507571697235, -1.812662959098816, -0.05459017679095268, 0.6037904024124146, 1.74403977394104, 0.042594585567712784, -0.898199200630188], "theta": [0.16851623356342316, -1.8121695518493652, -0.055510591715574265, 0.5876011252403259, 1.7441158294677734, 0.0430455207824707, -0.8977616429328918], "dq": [0.03233668580651283, -0.00617340300232172, 0.01934024691581726, -0.021057598292827606, 0.0028110365383327007, 0.04219106584787369, 0.010935919359326363], "dtheta": [0.032657843083143234, -0.007420349400490522, 0.024819139391183853, -0.018466342240571976, 0.0014250343665480614, 0.04348105192184448, 0.008362635038793087], "tau": [-60.29999923706055, -5.769999980926514, -21.30000114440918, 4.25600004196167, -3.7160000801086426, 4.188000202178955, -0.0560000017285347], "tau_des": [-0.9207614660263062, 0.8902493715286255, -0.7008606195449829, -0.7219871282577515, 0.2292536050081253, 0.5847877860069275, -0.0887368842959404], "tau_dot": [-25.437835693359375, 49.77827072143555, -4.394967555999756, 20.764671325683594, 18.464006423950195, 15.972284317016602, 44.1793098449707], "tau_ext": [14.343779563903809, -34.811588287353516, -36.40101623535156, 20.694377899169922, -2.7808656692504883, -7.306690216064453, -0.026288654655218124], "tcp_pose": [0.6328945159912109, -0.16786403954029083, -0.3767518997192383, -0.007867466658353806, -0.024727966636419296, 0.9995701909065247, 0.013639074750244617], "tcp_vel": [7.250000635394827e-05, -0.0005464337300509214, -0.02640201523900032, -0.005958093795925379, -0.00183213094715029, -0.0019362906459718943], "flange_pose": [0.6360110640525818, -0.1729707419872284, -0.18684610724449158, -0.007867466658353806, -0.024727966636419296, 0.9995701909065247, 0.013639074750244617], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.772199630737305, -49.25460433959961, -13.912269592285156, -4.8372111320495605, 14.238479614257812, -0.26171284914016724], "ext_wrench_in_world": [-6.107871918759217, -49.98550174537127, 12.675263157345187, 4.134170526031294, 14.4488992804039, 0.5825380017667445]}
+{"timestamp_ns": 1789729714780939228, "elapsed_ms": 3933, "source_timestamp_ns": 1789729714779278562, "q": [0.1723577082157135, -1.812861442565918, -0.05365915969014168, 0.6031998991966248, 1.7440251111984253, 0.04441026598215103, -0.8979702591896057], "theta": [0.16978909075260162, -1.8123860359191895, -0.05452906712889671, 0.5870224237442017, 1.7440985441207886, 0.04484987258911133, -0.897509753704071], "dq": [0.03075052611529827, 0.0001735239347908646, 0.024691030383110046, -0.012069277465343475, -0.0001529477012809366, 0.04290475696325302, 0.003962463233619928], "dtheta": [0.03178657218813896, -0.0036055208183825016, 0.02303714118897915, -0.011824837885797024, -0.001112506608478725, 0.04354231432080269, 0.005010948516428471], "tau": [-60.37999725341797, -5.739999771118164, -21.272001266479492, 4.156000137329102, -3.820000171661377, 4.172000408172607, -0.03200000151991844], "tau_des": [-0.9968053698539734, 0.5151442885398865, -0.6870113611221313, -1.0313054323196411, 0.3187534213066101, 0.44447147846221924, -0.06479494273662567], "tau_dot": [-8.780799865722656, 93.4307632446289, 63.79726791381836, -2.381723642349243, -37.52477264404297, -32.90709686279297, 116.784912109375], "tau_ext": [14.417393684387207, -35.012386322021484, -36.37099075317383, 20.806392669677734, -2.7212975025177, -7.323662281036377, -0.03146810829639435], "tcp_pose": [0.6328886151313782, -0.16791461408138275, -0.37776660919189453, -0.007839576341211796, -0.024724140763282776, 0.999573290348053, 0.013433201238512993], "tcp_vel": [-0.0007853906718082726, -0.001064529875293374, -0.02468792162835598, -0.009878701530396938, -0.000878464023116976, -0.0008701219921931624], "flange_pose": [0.6359925866127014, -0.17294339835643768, -0.18785852193832397, -0.007839576341211796, -0.024724140763282776, 0.999573290348053, 0.013433201238512993], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.814189910888672, -49.18711853027344, -13.95763111114502, -4.86420202255249, 14.217695236206055, -0.2668706774711609], "ext_wrench_in_world": [-6.153487872109041, -49.916169947752785, 12.74317872769791, 4.16227101944726, 14.42956693721183, 0.5810654606210385]}
+{"timestamp_ns": 1789729714814257280, "elapsed_ms": 3966, "source_timestamp_ns": 1789729714809328523, "q": [0.17327502369880676, -1.8129637241363525, -0.053021207451820374, 0.6028244495391846, 1.7440285682678223, 0.04562551900744438, -0.89781254529953], "theta": [0.17068879306316376, -1.8125005960464478, -0.05384814366698265, 0.586656391620636, 1.7440985441207886, 0.046062469482421875, -0.8973361849784851], "dq": [0.03020777925848961, -0.004127825610339642, 0.022103389725089073, -0.010878105647861958, 0.001957383705303073, 0.03876763582229614, 0.004798390436917543], "dtheta": [0.02956823818385601, -0.0047826520167291164, 0.02306949347257614, -0.013087327592074871, 0.0005043477867729962, 0.03977949172258377, 0.004637937527149916], "tau": [-60.47999954223633, -6.029999732971191, -21.288000106811523, 4.264000415802002, -3.7720000743865967, 4.208000183105469, -0.07600000500679016], "tau_des": [-1.0025074481964111, 0.23795850574970245, -0.7369092702865601, -1.0367823839187622, 0.2848939001560211, 0.4553455710411072, -0.057894084602594376], "tau_dot": [-9.033588409423828, 53.56401443481445, -12.252988815307617, 57.28068923950195, 80.31351470947266, 25.257219314575195, -6.6448235511779785], "tau_ext": [14.41364574432373, -34.99569320678711, -36.37675476074219, 20.806955337524414, -2.680375099182129, -7.3292927742004395, -0.03217286989092827], "tcp_pose": [0.6328789591789246, -0.16792604327201843, -0.3784802556037903, -0.007834473624825478, -0.024722596630454063, 0.9995750784873962, 0.013308086432516575], "tcp_vel": [-0.0004772541287820786, -0.000334878423018381, -0.023837873712182045, -0.005918439477682114, -0.0017906127031892538, -0.0005540280253626406], "flange_pose": [0.6359798312187195, -0.17290736734867096, -0.18857088685035706, -0.007834473624825478, -0.024722596630454063, 0.9995750784873962, 0.013308086432516575], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.796573638916016, -49.256099700927734, -13.949576377868652, -4.897645950317383, 14.206318855285645, -0.26787853240966797], "ext_wrench_in_world": [-6.132907984467869, -49.98076191892207, 12.745376585753585, 4.196256309434303, 14.419981150400556, 0.5777255303827789]}
+{"timestamp_ns": 1789729714847668819, "elapsed_ms": 4000, "source_timestamp_ns": 1789729714839232122, "q": [0.17414359748363495, -1.8130948543548584, -0.052425678819417953, 0.6024064421653748, 1.7440409660339355, 0.04672817885875702, -0.8976569771766663], "theta": [0.17154300212860107, -1.8126431703567505, -0.0532057024538517, 0.5862453579902649, 1.7441092729568481, 0.047167181968688965, -0.8971641063690186], "dq": [0.027911117300391197, -0.003953391686081886, 0.017431091517210007, -0.01614883728325367, 0.0013186264550313354, 0.03439749404788017, 0.0041446080431342125], "dtheta": [0.02705002762377262, -0.005042199976742268, 0.021167069673538208, -0.013900945894420147, 0.0013490782584995031, 0.03538259491324425, 0.006683895830065012], "tau": [-60.39999771118164, -6.239999771118164, -21.21200180053711, 4.336000442504883, -3.756000280380249, 4.212000370025635, -0.04800000041723251], "tau_des": [-0.8288015723228455, 0.12408629804849625, -0.5133925080299377, -0.993984580039978, 0.37818852066993713, 0.4283500909805298, -0.05827193334698677], "tau_dot": [21.842771530151367, -101.72888946533203, -7.480208873748779, -3.4763171672821045, -44.04026412963867, 45.71819305419922, 42.036224365234375], "tau_ext": [14.43580436706543, -34.88701248168945, -36.404022216796875, 20.786808013916016, -2.709407329559326, -7.327816963195801, -0.03552331030368805], "tcp_pose": [0.6328683495521545, -0.1679312288761139, -0.37916100025177, -0.00784413143992424, -0.024732008576393127, 0.9995760321617126, 0.013209698721766472], "tcp_vel": [-5.7139557611662894e-05, 0.0002558022679295391, -0.022128693759441376, -0.0038068213034421206, -0.0015054057585075498, -0.001805126667022705], "flange_pose": [0.6359720230102539, -0.1728750765323639, -0.18925067782402039, -0.00784413143992424, -0.024732008576393127, 0.9995760321617126, 0.013209698721766472], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.783557891845703, -49.21280288696289, -13.890106201171875, -4.88319730758667, 14.211584091186523, -0.26940229535102844], "ext_wrench_in_world": [-6.121804247175879, -49.93295322634074, 12.696834344261891, 4.1813043589799195, 14.42468093636092, 0.5767058732052279]}
+{"timestamp_ns": 1789729714881001938, "elapsed_ms": 4033, "source_timestamp_ns": 1789729714879236915, "q": [0.17522341012954712, -1.813295841217041, -0.051633767783641815, 0.6018426418304443, 1.744109869003296, 0.04807709902524948, -0.8974193930625916], "theta": [0.17261168360710144, -1.812857985496521, -0.05235755071043968, 0.5856877565383911, 1.744178295135498, 0.04852306842803955, -0.896905779838562], "dq": [0.024752900004386902, -0.006461188662797213, 0.023238474503159523, -0.012199913151562214, 0.00248892093077302, 0.03273455798625946, 0.002734066918492317], "dtheta": [0.026264458894729614, -0.00605176854878664, 0.02159658446907997, -0.013786153867840767, 0.0017492783954367042, 0.03380138799548149, 0.00472566531971097], "tau": [-60.54999923706055, -6.21999979019165, -21.16400146484375, 4.25600004196167, -3.7200002670288086, 4.172000408172607, -0.07600000500679016], "tau_des": [-0.7943328619003296, 0.27595093846321106, -0.46466028690338135, -1.129754900932312, 0.40868744254112244, 0.4250008463859558, -0.07823069393634796], "tau_dot": [-140.2093505859375, 43.639705657958984, 17.458486557006836, 5.289763927459717, -41.432777404785156, 2.556741952896118, -25.28654670715332], "tau_ext": [14.583111763000488, -34.8372802734375, -36.40633010864258, 20.7874755859375, -2.7581541538238525, -7.327103137969971, -0.037314776331186295], "tcp_pose": [0.6328592896461487, -0.16791824996471405, -0.3800337612628937, -0.007836995646357536, -0.02471834048628807, 0.9995774030685425, 0.013138159178197384], "tcp_vel": [-0.0005714018479920924, 8.781641372479498e-05, -0.021874651312828064, -0.0021044514141976833, -0.001726196613162756, -0.001076000276952982], "flange_pose": [0.6359594464302063, -0.17283502221107483, -0.19012267887592316, -0.007836995646357536, -0.02471834048628807, 0.9995774030685425, 0.013138159178197384], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.776622772216797, -49.02606964111328, -13.809006690979004, -4.798377990722656, 14.241072654724121, -0.2711656391620636], "ext_wrench_in_world": [-6.126933797508949, -49.74209274471191, 12.627674732507492, 4.095548355633847, 14.449840415615157, 0.5785396553086178]}
+{"timestamp_ns": 1789729714914324559, "elapsed_ms": 4066, "source_timestamp_ns": 1789729714909365115, "q": [0.17600621283054352, -1.8134760856628418, -0.05099868401885033, 0.6014173030853271, 1.7441661357879639, 0.049066729843616486, -0.8973073363304138], "theta": [0.17339584231376648, -1.8130481243133545, -0.051686499267816544, 0.5852609872817993, 1.7442363500595093, 0.04951894283294678, -0.8967798948287964], "dq": [0.026502542197704315, -0.005402951966971159, 0.02161429263651371, -0.01447467040270567, 0.0013379453448578715, 0.03479214385151863, 0.005507950205355883], "dtheta": [0.025631939992308617, -0.006841606926172972, 0.022293677553534508, -0.014638401567935944, 0.002075072843581438, 0.03327310085296631, 0.003990293946117163], "tau": [-60.32999801635742, -6.190000057220459, -21.032001495361328, 4.220000267028809, -3.7200002670288086, 4.164000034332275, -0.08400000631809235], "tau_des": [-0.5012742280960083, 0.26929154992103577, -0.3955601453781128, -1.1889530420303345, 0.39297541975975037, 0.4127972424030304, -0.04230750724673271], "tau_dot": [33.74196243286133, 89.2408676147461, 5.010006904602051, 20.827655792236328, -26.288908004760742, 8.20444393157959, -14.869638442993164], "tau_ext": [14.645088195800781, -34.87691879272461, -36.45283126831055, 20.828031539916992, -2.7746999263763428, -7.312816619873047, -0.03919215500354767], "tcp_pose": [0.6328450441360474, -0.16790896654129028, -0.38068607449531555, -0.007817227393388748, -0.02472439594566822, 0.9995777606964111, 0.013111809268593788], "tcp_vel": [-0.0004503968229983002, 0.00021706077677663416, -0.021808920428156853, -0.0007909457781352103, -0.00241262698546052, -0.00044405859080143273], "flange_pose": [0.635937511920929, -0.17281590402126312, -0.19077461957931519, -0.007817227393388748, -0.02472439594566822, 0.9995777606964111, 0.013111809268593788], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.801185607910156, -48.98854064941406, -13.668557167053223, -4.74394416809082, 14.257767677307129, -0.2715393304824829], "ext_wrench_in_world": [-6.155518503200735, -49.7016359925792, 12.490973129067644, 4.0401752058545535, 14.463876843459703, 0.5795946697942647]}
+{"timestamp_ns": 1789729714947655118, "elapsed_ms": 4100, "source_timestamp_ns": 1789729714939272045, "q": [0.17681168019771576, -1.813680648803711, -0.05036792531609535, 0.6009491086006165, 1.7442306280136108, 0.05008676275610924, -0.8971647024154663], "theta": [0.17420418560504913, -1.8132625818252563, -0.05103118345141411, 0.5847871899604797, 1.744303584098816, 0.05054450035095215, -0.8966233730316162], "dq": [0.02584880404174328, -0.007158508524298668, 0.0204300656914711, -0.018216069787740707, 0.000547432282473892, 0.0295413788408041, 0.005154374521225691], "dtheta": [0.02776157297194004, -0.008397367782890797, 0.02111402526497841, -0.017537236213684082, 0.003222373081371188, 0.035268329083919525, 0.006065170746296644], "tau": [-60.38999938964844, -6.170000076293945, -20.928001403808594, 4.111999988555908, -3.680000066757202, 4.12000036239624, -0.06000000238418579], "tau_des": [-0.6542963981628418, 0.4919176995754242, -0.29759481549263, -1.3757450580596924, 0.48033860325813293, 0.3159685432910919, -0.05488434061408043], "tau_dot": [94.50383758544922, -75.20602416992188, 25.82568359375, 46.16640090942383, -40.00133514404297, -19.935604095458984, 7.156308174133301], "tau_ext": [14.674782752990723, -34.85519027709961, -36.521629333496094, 20.845163345336914, -2.7860305309295654, -7.294694900512695, -0.04336670786142349], "tcp_pose": [0.6328331828117371, -0.16790927946567535, -0.3813502788543701, -0.007797460071742535, -0.024723753333091736, 0.9995783567428589, 0.013076432049274445], "tcp_vel": [-0.0003562606289051473, -0.0005280805635266006, -0.022752180695533752, -0.0024210980627685785, -0.0020072951447218657, -0.0011317842872813344], "flange_pose": [0.6359178423881531, -0.17280296981334686, -0.19143837690353394, -0.007797460071742535, -0.024723753333091736, 0.9995783567428589, 0.013076432049274445], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.802680015563965, -48.96739959716797, -13.636539459228516, -4.698275089263916, 14.275550842285156, -0.27388256788253784], "ext_wrench_in_world": [-6.159150358178829, -49.6788980094864, 12.462767213449187, 3.9937248273534185, 14.479340491664132, 0.5822484485961185]}
+{"timestamp_ns": 1789729714981008764, "elapsed_ms": 4133, "source_timestamp_ns": 1789729714979228173, "q": [0.17796625196933746, -1.8140181303024292, -0.049589309841394424, 0.6001794338226318, 1.7444425821304321, 0.05142011120915413, -0.8969101905822754], "theta": [0.17537009716033936, -1.8136098384857178, -0.05022427812218666, 0.5840060710906982, 1.7445188760757446, 0.05188775062561035, -0.8963475227355957], "dq": [0.031428005546331406, -0.009617481380701065, 0.017053676769137383, -0.020827915519475937, 0.007670890539884567, 0.03317993879318237, 0.007586753461509943], "dtheta": [0.030697057023644447, -0.009222857654094696, 0.019934028387069702, -0.021380478516221046, 0.00721548730507493, 0.03458963707089424, 0.007166585884988308], "tau": [-60.619998931884766, -6.179999828338623, -20.920000076293945, 4.1080002784729, -3.6640002727508545, 4.12000036239624, -0.04000000283122063], "tau_des": [-0.7614966630935669, 0.1859765648841858, -0.33749791979789734, -1.1590734720230103, 0.419752299785614, 0.4285547435283661, -0.013983486220240593], "tau_dot": [-110.01618194580078, -4.230843544006348, -71.88207244873047, -30.836164474487305, -33.35434341430664, -6.006896495819092, 18.650188446044922], "tau_ext": [14.931609153747559, -34.902587890625, -36.51432418823242, 20.913114547729492, -2.7949681282043457, -7.291434288024902, -0.052562080323696136], "tcp_pose": [0.6328287720680237, -0.16789814829826355, -0.38228654861450195, -0.007783831097185612, -0.024729793891310692, 0.999578595161438, 0.013058681972324848], "tcp_vel": [0.0002427150320727378, 0.0006599135231226683, -0.024917377158999443, 0.00015705503756180406, -0.0011423936812207103, 0.0005492313066497445], "flange_pose": [0.6359080672264099, -0.1727852076292038, -0.19237437844276428, -0.007783831097185612, -0.024729793891310692, 0.999578595161438, 0.013058681972324848], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.878246307373047, -48.928287506103516, -13.488719940185547, -4.618099689483643, 14.280410766601562, -0.28078657388687134], "ext_wrench_in_world": [-6.238693637163036, -49.63943727892723, 12.318730037310612, 3.913339826488863, 14.480103236482211, 0.5900840348521583]}
+{"timestamp_ns": 1789729715014332290, "elapsed_ms": 4166, "source_timestamp_ns": 1789729715009306114, "q": [0.1789100170135498, -1.8143036365509033, -0.049010034650564194, 0.5995131731033325, 1.7446562051773071, 0.05249215289950371, -0.8966773152351379], "theta": [0.17633187770843506, -1.8139015436172485, -0.049625370651483536, 0.5833315253257751, 1.7447384595870972, 0.052968502044677734, -0.8960961103439331], "dq": [0.0311837550252676, -0.00696586025878787, 0.023707663640379906, -0.02357800118625164, 0.008819026872515678, 0.03510253503918648, 0.011004379019141197], "dtheta": [0.03332366794347763, -0.009938012808561325, 0.019763801246881485, -0.024072783067822456, 0.00788875762373209, 0.03668823093175888, 0.008713049814105034], "tau": [-60.44999694824219, -6.339999675750732, -20.780000686645508, 4.152000427246094, -3.640000104904175, 4.088000297546387, -0.0560000017285347], "tau_des": [-0.5941436290740967, -0.016474388539791107, -0.24161450564861298, -1.0810970067977905, 0.4422437250614166, 0.3850955069065094, 0.01406108122318983], "tau_dot": [-38.08953094482422, 2.5657405853271484, -20.94097328186035, 80.01097869873047, -13.178974151611328, -14.548844337463379, 7.64229154586792], "tau_ext": [15.081987380981445, -34.792938232421875, -36.52523422241211, 20.872894287109375, -2.796550989151001, -7.2731428146362305, -0.05766259878873825], "tcp_pose": [0.6328377723693848, -0.1678904891014099, -0.38303932547569275, -0.00777125358581543, -0.02473842166364193, 0.9995787143707275, 0.013039391487836838], "tcp_vel": [0.00043393418309278786, 0.0006455327966250479, -0.026543574407696724, -0.0007676323875784874, -0.000225070834858343, 0.0008747869869694114], "flange_pose": [0.6359121799468994, -0.17277032136917114, -0.1931268721818924, -0.00777125358581543, -0.02473842166364193, 0.9995787143707275, 0.013039391487836838], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.910618782043457, -48.88935852050781, -13.263814926147461, -4.541441440582275, 14.288274765014648, -0.2855209410190582], "ext_wrench_in_world": [-6.276048995051612, -49.596042018908705, 12.09715318126959, 3.8362091513917376, 14.48411626122741, 0.5957212473790305]}
+{"timestamp_ns": 1789729715047660094, "elapsed_ms": 4200, "source_timestamp_ns": 1789729715039267578, "q": [0.1799347847700119, -1.814620018005371, -0.048442523926496506, 0.598768949508667, 1.7449190616607666, 0.053628794848918915, -0.8963754177093506], "theta": [0.1773834377527237, -1.8142216205596924, -0.049043819308280945, 0.5825796723365784, 1.745007872581482, 0.054114699363708496, -0.8957758545875549], "dq": [0.032942939549684525, -0.011410354636609554, 0.01998467557132244, -0.022960349917411804, 0.011242651380598545, 0.040249794721603394, 0.010488566942512989], "dtheta": [0.03712363913655281, -0.011336958967149258, 0.018782392144203186, -0.026776647195219994, 0.010061642155051231, 0.04013713821768761, 0.010893546044826508], "tau": [-60.39999771118164, -6.440000057220459, -20.6560001373291, 4.136000156402588, -3.616000175476074, 4.028000354766846, -0.036000002175569534], "tau_des": [-0.602038562297821, 0.09354428201913834, -0.09842781722545624, -1.2792396545410156, 0.520904004573822, 0.27597612142562866, -0.012788770720362663], "tau_dot": [75.30406951904297, -132.31582641601562, 44.347137451171875, -9.373800277709961, -20.143199920654297, -50.127872467041016, -2.863043785095215], "tau_ext": [15.0043363571167, -34.75358581542969, -36.63105773925781, 20.867652893066406, -2.8204736709594727, -7.238603115081787, -0.06582389026880264], "tcp_pose": [0.632851779460907, -0.16788752377033234, -0.38384148478507996, -0.007763195782899857, -0.024733755737543106, 0.9995792508125305, 0.013010956346988678], "tcp_vel": [0.00036663725040853024, -0.0001015306988847442, -0.028570100665092468, -0.0026152392383664846, 5.493182470672764e-05, -9.865697211353108e-05], "flange_pose": [0.6359228491783142, -0.1727566421031952, -0.19392870366573334, -0.007763195782899857, -0.024733755737543106, 0.9995792508125305, 0.013010956346988678], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.859797477722168, -48.82081604003906, -13.175275802612305, -4.467826843261719, 14.314142227172852, -0.2922709286212921], "ext_wrench_in_world": [-6.230765436477451, -49.52207317309204, 12.012402480395155, 3.761650537206408, 14.506114125113825, 0.6034939286587848]}
+{"timestamp_ns": 1789729715080939724, "elapsed_ms": 4233, "source_timestamp_ns": 1789729715079237322, "q": [0.18144530057907104, -1.8151198625564575, -0.04770461097359657, 0.5976196527481079, 1.7454140186309814, 0.05520094931125641, -0.8959214687347412], "theta": [0.1789344996213913, -1.8147224187850952, -0.04830591380596161, 0.5814167261123657, 1.7455111742019653, 0.05571091175079346, -0.8952943682670593], "dq": [0.03975691273808479, -0.01271534338593483, 0.019622802734375, -0.03217051923274994, 0.012031001970171928, 0.04093445464968681, 0.01579165831208229], "dtheta": [0.039870139211416245, -0.013061168603599072, 0.018549907952547073, -0.03075215220451355, 0.013104136101901531, 0.039959073066711426, 0.013083507306873798], "tau": [-60.78999710083008, -6.420000076293945, -20.716001510620117, 4.176000118255615, -3.644000291824341, 4.048000335693359, -0.02800000086426735], "tau_des": [-1.3394066095352173, 0.027532851323485374, -0.4047451615333557, -1.1483527421951294, 0.43416765332221985, 0.3924512565135956, -0.018912097439169884], "tau_dot": [-56.3213005065918, 28.628311157226562, -38.06129837036133, 20.169668197631836, -55.36064147949219, -11.932486534118652, 27.848636627197266], "tau_ext": [15.015594482421875, -34.77001953125, -36.69691467285156, 20.885231018066406, -2.8383374214172363, -7.20152473449707, -0.07327330857515335], "tcp_pose": [0.6328744292259216, -0.16787786781787872, -0.38501083850860596, -0.007757110521197319, -0.024734793230891228, 0.9995794296264648, 0.012998469173908234], "tcp_vel": [0.0005065298755653203, 0.00053124048281461, -0.03073788434267044, -0.00025831066886894405, 0.000900591432582587, -0.0003690016164910048], "flange_pose": [0.6359430551528931, -0.17274229228496552, -0.1950979083776474, -0.007757110521197319, -0.024734793230891228, 0.9995794296264648, 0.012998469173908234], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.769254684448242, -48.8406982421875, -13.141641616821289, -4.408928871154785, 14.348647117614746, -0.3025081753730774], "ext_wrench_in_world": [-6.139958290125987, -49.53628468076222, 11.978054479426053, 3.7012595894266234, 14.537401503223391, 0.6152024696467321]}
+{"timestamp_ns": 1789729715114339019, "elapsed_ms": 4266, "source_timestamp_ns": 1789729715109289635, "q": [0.18261213600635529, -1.8155335187911987, -0.04713783413171768, 0.5966784954071045, 1.7457962036132812, 0.05643116682767868, -0.8955242037773132], "theta": [0.18012630939483643, -1.8151342868804932, -0.04775216430425644, 0.5804652571678162, 1.7458990812301636, 0.056966423988342285, -0.8948777914047241], "dq": [0.04153478145599365, -0.01412144210189581, 0.02204860933125019, -0.0319540873169899, 0.012658042833209038, 0.03665100410580635, 0.013012267649173737], "dtheta": [0.03922375664114952, -0.013648784719407558, 0.017823796719312668, -0.03199448809027672, 0.01197807677090168, 0.042628586292266846, 0.014559159986674786], "tau": [-61.1099967956543, -6.509999752044678, -20.80000114440918, 4.232000350952148, -3.640000104904175, 4.008000373840332, -0.03200000151991844], "tau_des": [-1.3593683242797852, 0.14467664062976837, -0.3349318504333496, -1.0739911794662476, 0.4543057680130005, 0.25971224904060364, -0.07302650809288025], "tau_dot": [-45.63114929199219, -59.35328674316406, -36.602657318115234, 39.139892578125, 13.26851749420166, -58.504634857177734, -16.274127960205078], "tau_ext": [15.049643516540527, -34.74082946777344, -36.702388763427734, 20.870513916015625, -2.8413543701171875, -7.1793341636657715, -0.07923805713653564], "tcp_pose": [0.6329001784324646, -0.16787657141685486, -0.38591331243515015, -0.0077488841488957405, -0.02472451888024807, 0.9995799660682678, 0.01298393215984106], "tcp_vel": [0.0011706025106832385, -0.0004944169777445495, -0.02973313443362713, -0.003560673911124468, -0.0004408076929394156, -0.0010216862428933382], "flange_pose": [0.6359654664993286, -0.17273558676242828, -0.19600020349025726, -0.0077488841488957405, -0.02472451888024807, 0.9995799660682678, 0.01298393215984106], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.667120933532715, -48.89680862426758, -13.094954490661621, -4.386232376098633, 14.376809120178223, -0.30813297629356384], "ext_wrench_in_world": [-6.0371734670766335, -49.58557318791676, 11.929718361361443, 3.6775864002028187, 14.56419096468435, 0.6215470050648884]}
+{"timestamp_ns": 1789729715147673401, "elapsed_ms": 4300, "source_timestamp_ns": 1789729715139295484, "q": [0.1837865263223648, -1.8159562349319458, -0.04659004509449005, 0.5957273244857788, 1.7461767196655273, 0.05764906480908394, -0.895164966583252], "theta": [0.18131710588932037, -1.8155540227890015, -0.04721972718834877, 0.5795069932937622, 1.7462838888168335, 0.05821347236633301, -0.8944964408874512], "dq": [0.0378565788269043, -0.01502569206058979, 0.018171105533838272, -0.029925813898444176, 0.0139283062890172, 0.04013584554195404, 0.013399958610534668], "dtheta": [0.03968214988708496, -0.014714851044118404, 0.016769740730524063, -0.03215869516134262, 0.012403514236211777, 0.04213636741042137, 0.013820338994264603], "tau": [-61.1099967956543, -6.549999713897705, -20.82000160217285, 4.252000331878662, -3.6520001888275146, 4.0360002517700195, -0.024000000208616257], "tau_des": [-1.565714716911316, 0.37344276905059814, -0.29682254791259766, -1.3296760320663452, 0.5410267114639282, 0.254544734954834, -0.03141208365559578], "tau_dot": [18.920066833496094, 21.910079956054688, 48.71766662597656, 40.9754753112793, -27.814085006713867, 21.085147857666016, -12.829123497009277], "tau_ext": [15.275190353393555, -34.763893127441406, -36.61935043334961, 20.865169525146484, -2.8315353393554688, -7.171456813812256, -0.08456451445817947], "tcp_pose": [0.6329180598258972, -0.16788169741630554, -0.3868146538734436, -0.007751015480607748, -0.024734705686569214, 0.999579906463623, 0.012965291738510132], "tcp_vel": [0.000439118011854589, -0.0013175789499655366, -0.029640620574355125, -0.004043694585561752, 0.0002320117491763085, -0.0010585240088403225], "flange_pose": [0.6359840631484985, -0.17273357510566711, -0.1969013661146164, -0.007751015480607748, -0.024734705686569214, 0.999579906463623, 0.012965291738510132], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.577585220336914, -48.98009490966797, -12.875643730163574, -4.362057685852051, 14.39891242980957, -0.31388553977012634], "ext_wrench_in_world": [-5.946131695095114, -49.65836485259247, 11.708850715152156, 3.652148740578198, 14.585011920404119, 0.6276841613941758]}
+{"timestamp_ns": 1789729715180939473, "elapsed_ms": 4333, "source_timestamp_ns": 1789729715179307342, "q": [0.18533284962177277, -1.8165740966796875, -0.045911695808172226, 0.5943329334259033, 1.74673330783844, 0.05922912433743477, -0.8946152925491333], "theta": [0.18287555873394012, -1.8161625862121582, -0.04656164348125458, 0.5781099796295166, 1.7468457221984863, 0.059833526611328125, -0.893916666507721], "dq": [0.03742599859833717, -0.01643858104944229, 0.01437382586300373, -0.03711174800992012, 0.015229583717882633, 0.039314527064561844, 0.014270717278122902], "dtheta": [0.0381326898932457, -0.016569552943110466, 0.016214491799473763, -0.03785831481218338, 0.013040115125477314, 0.040248312056064606, 0.015487502329051495], "tau": [-60.71999740600586, -6.710000038146973, -20.652000427246094, 4.336000442504883, -3.616000175476074, 3.9280002117156982, -0.00800000037997961], "tau_des": [-0.9622153043746948, -0.057085826992988586, -0.16591361165046692, -1.2270851135253906, 0.5002139806747437, 0.24212485551834106, 0.05971924588084221], "tau_dot": [-0.7737769484519958, 110.87039947509766, 37.27938461303711, -40.20724868774414, -27.82379722595215, -71.24383544921875, -1.7623893022537231], "tau_ext": [15.051972389221191, -34.718753814697266, -36.658531188964844, 20.8116455078125, -2.847682476043701, -7.131783485412598, -0.09386464953422546], "tcp_pose": [0.6329699158668518, -0.16788288950920105, -0.3880007863044739, -0.007748989388346672, -0.024749843403697014, 0.999579668045044, 0.012955435551702976], "tcp_vel": [0.002023305045440793, -0.00041102367686107755, -0.02905105985701084, -0.001964997034519911, -0.00015935013652779162, 0.001035123597830534], "flange_pose": [0.636035144329071, -0.17273099720478058, -0.1980873942375183, -0.007748989388346672, -0.024749843403697014, 0.999579668045044, 0.012955435551702976], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.367670059204102, -49.109947204589844, -12.790329933166504, -4.377238750457764, 14.439593315124512, -0.32119837403297424], "ext_wrench_in_world": [-5.730025714955058, -49.775362920458946, 11.617977788716596, 3.664976572962823, 14.62631998177738, 0.6355730410207516]}
+{"timestamp_ns": 1789729715214321670, "elapsed_ms": 4366, "source_timestamp_ns": 1789729715209290434, "q": [0.18646182119846344, -1.8171089887619019, -0.04537411034107208, 0.593133270740509, 1.7471179962158203, 0.06043371558189392, -0.8940948247909546], "theta": [0.18400800228118896, -1.8166877031326294, -0.04603774473071098, 0.5769129395484924, 1.7472354173660278, 0.061066269874572754, -0.8933711647987366], "dq": [0.038999561220407486, -0.018458498641848564, 0.020074332132935524, -0.04539716988801956, 0.01182935107499361, 0.042381759732961655, 0.022759201005101204], "dtheta": [0.03744092583656311, -0.01895449310541153, 0.018126193434000015, -0.043278783559799194, 0.012338596396148205, 0.04286690801382065, 0.01984671875834465], "tau": [-60.39999771118164, -6.739999771118164, -20.608001708984375, 4.3520002365112305, -3.6080002784729004, 3.9120001792907715, -0.0], "tau_des": [-0.4839705228805542, -0.09408881515264511, -0.11688465625047684, -1.3277244567871094, 0.46036532521247864, 0.12532742321491241, 0.023361623287200928], "tau_dot": [-73.90324401855469, 21.612722396850586, -56.76805877685547, 4.300527095794678, -15.587207794189453, -42.81837463378906, 20.63054847717285], "tau_ext": [14.770804405212402, -34.630393981933594, -36.71882247924805, 20.752147674560547, -2.8664987087249756, -7.087769985198975, -0.09998149424791336], "tcp_pose": [0.6330401301383972, -0.167884960770607, -0.3888828456401825, -0.007738145999610424, -0.024745779111981392, 0.999579906463623, 0.012951578013598919], "tcp_vel": [0.003530164947733283, -0.000402324425522238, -0.029220035299658775, -0.001982277724891901, -0.002223784336820245, -0.0006766611477360129], "flange_pose": [0.6361011862754822, -0.17273174226284027, -0.19896934926509857, -0.007738145999610424, -0.024745779111981392, 0.999579906463623, 0.012951578013598919], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.135438919067383, -49.15130615234375, -12.9423828125, -4.402732849121094, 14.478958129882812, -0.32814961671829224], "ext_wrench_in_world": [-5.494288261629515, -49.808868841426936, 11.765666873927925, 3.6887172829868575, 14.66668635249422, 0.6431512126519991]}
+{"timestamp_ns": 1789729715247597450, "elapsed_ms": 4400, "source_timestamp_ns": 1789729715239271326, "q": [0.18760934472084045, -1.8177481889724731, -0.044797319918870926, 0.5916893482208252, 1.7474614381790161, 0.061682771891355515, -0.8934462666511536], "theta": [0.18515579402446747, -1.817314624786377, -0.04548032209277153, 0.5754740834236145, 1.747580647468567, 0.062340617179870605, -0.8926973342895508], "dq": [0.037861861288547516, -0.02416304312646389, 0.023210998624563217, -0.05242910608649254, 0.012617593631148338, 0.042716991156339645, 0.02146909199655056], "dtheta": [0.039307113736867905, -0.023012345656752586, 0.018819374963641167, -0.051058318465948105, 0.010032448917627335, 0.0434725284576416, 0.023703603073954582], "tau": [-60.15999984741211, -6.659999847412109, -20.52400016784668, 4.312000274658203, -3.624000072479248, 3.8600001335144043, 0.01600000075995922], "tau_des": [-0.7399431467056274, 0.14733527600765228, -0.2201099842786789, -1.5525753498077393, 0.5480473041534424, 0.16580113768577576, 0.022697484120726585], "tau_dot": [86.4741439819336, 36.539730072021484, -67.00846099853516, 9.686578750610352, -84.80355072021484, 7.177192687988281, 24.496259689331055], "tau_ext": [14.670502662658691, -34.63972091674805, -36.703468322753906, 20.72679901123047, -2.8706204891204834, -7.064479351043701, -0.1078503355383873], "tcp_pose": [0.6331444382667542, -0.1678856611251831, -0.3897939920425415, -0.007738582789897919, -0.024743804708123207, 0.9995799660682678, 0.012950153090059757], "tcp_vel": [0.0033690431155264378, -0.0010573997860774398, -0.03066197969019413, -0.0025475758593529463, 0.0011625796323642135, -0.0008380057406611741], "flange_pose": [0.6362056136131287, -0.1727318912744522, -0.1998804807662964, -0.007738582789897919, -0.024743804708123207, 0.9995799660682678, 0.012950153090059757], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.893233776092529, -49.231956481933594, -13.074654579162598, -4.443073272705078, 14.517251968383789, -0.3336363732814789], "ext_wrench_in_world": [-5.246489311288973, -49.88068181411637, 11.892316953095357, 3.72726327238058, 14.70677152466854, 0.6489975880594946]}
+{"timestamp_ns": 1789729715280935053, "elapsed_ms": 4433, "source_timestamp_ns": 1789729715279240239, "q": [0.18916651606559753, -1.8187919855117798, -0.04401954635977745, 0.5893341302871704, 1.7479196786880493, 0.063398078083992, -0.8923699259757996], "theta": [0.18671008944511414, -1.818337082862854, -0.04474327340722084, 0.5731268525123596, 1.748042345046997, 0.06408262252807617, -0.8915795087814331], "dq": [0.035352881997823715, -0.02707669697701931, 0.018784428015351295, -0.06787744909524918, 0.012499247677624226, 0.04584892839193344, 0.030267763882875443], "dtheta": [0.03964748606085777, -0.0284360833466053, 0.01906248740851879, -0.06533976644277573, 0.01160811074078083, 0.04402657225728035, 0.03170701116323471], "tau": [-60.12999725341797, -6.799999713897705, -20.54400062561035, 4.392000198364258, -3.6040000915527344, 3.884000301361084, 0.02800000086426735], "tau_des": [-0.6099845767021179, -0.17178472876548767, -0.3500528037548065, -1.2882198095321655, 0.4446403384208679, 0.23193468153476715, 0.0431658998131752], "tau_dot": [-39.16164779663086, -4.250084400177002, 27.075931549072266, 4.437550067901611, -12.012060165405273, 28.09164810180664, 28.187652587890625], "tau_ext": [14.494599342346191, -34.63832473754883, -36.69335174560547, 20.690385818481445, -2.87207293510437, -7.028295040130615, -0.11957548558712006], "tcp_pose": [0.6333500146865845, -0.16788837313652039, -0.3910444378852844, -0.00774515513330698, -0.02475007064640522, 0.999579668045044, 0.012957777827978134], "tcp_vel": [0.006395360454916954, 6.226290133781731e-05, -0.03183829411864281, 5.522502033272758e-05, 0.0006154158618301153, -0.0004343274049460888], "flange_pose": [0.6364138126373291, -0.17273741960525513, -0.20113103091716766, -0.00774515513330698, -0.02475007064640522, 0.999579668045044, 0.012957777827978134], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.595646858215332, -49.462005615234375, -13.290072441101074, -4.5416388511657715, 14.558416366577148, -0.3431202173233032], "ext_wrench_in_world": [-4.933705477502906, -50.10133017318563, 12.096492934094764, 3.82364413388631, 14.752563558983356, 0.6582674351119535]}
+{"timestamp_ns": 1789729715314335117, "elapsed_ms": 4466, "source_timestamp_ns": 1789729715309336307, "q": [0.19035431742668152, -1.8196996450424194, -0.04342951625585556, 0.587256133556366, 1.7482579946517944, 0.06476833671331406, -0.8914086818695068], "theta": [0.18789680302143097, -1.8192232847213745, -0.04418909177184105, 0.5710684061050415, 1.7483800649642944, 0.06546974182128906, -0.8905835747718811], "dq": [0.04208851605653763, -0.034077372401952744, 0.022923164069652557, -0.07144929468631744, 0.00987091101706028, 0.04312071576714516, 0.03214561939239502], "dtheta": [0.0401020422577858, -0.030590230599045753, 0.018294155597686768, -0.07175114750862122, 0.009484818205237389, 0.04437578469514847, 0.033354416489601135], "tau": [-60.04999923706055, -7.019999980926514, -20.512001037597656, 4.51200008392334, -3.6080002784729004, 3.7960002422332764, 0.04800000041723251], "tau_des": [-0.7103619575500488, -0.4130638837814331, -0.3802436888217926, -0.9467127323150635, 0.4555160701274872, 0.1839185208082199, 0.13516737520694733], "tau_dot": [88.25245666503906, -18.47242546081543, 4.552557945251465, 17.237403869628906, 13.773455619812012, -30.557674407958984, 7.0865702629089355], "tau_ext": [14.415238380432129, -34.55110168457031, -36.68232727050781, 20.61827278137207, -2.8739514350891113, -7.001790523529053, -0.1297532171010971], "tcp_pose": [0.6335674524307251, -0.16789273917675018, -0.3920043408870697, -0.007740883156657219, -0.024767810478806496, 0.9995793700218201, 0.012952233664691448], "tcp_vel": [0.00720054330304265, -6.0552065406227484e-05, -0.031973935663700104, -0.0014358868356794119, 0.002826489508152008, 0.0023910771124064922], "flange_pose": [0.6366296410560608, -0.1727396547794342, -0.20209084451198578, -0.007740883156657219, -0.024767810478806496, 0.9995793700218201, 0.012952233664691448], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.357572555541992, -49.59113693237305, -13.311333656311035, -4.5907487869262695, 14.596293449401855, -0.349805623292923], "ext_wrench_in_world": [-4.68757692651252, -50.219012966475105, 12.111304599262247, 3.8703986477836643, 14.79279495914885, 0.665095830402344]}
+{"timestamp_ns": 1789729715347672669, "elapsed_ms": 4500, "source_timestamp_ns": 1789729715339327348, "q": [0.19152185320854187, -1.8206948041915894, -0.042836226522922516, 0.5850145816802979, 1.7485336065292358, 0.06612424552440643, -0.8903166055679321], "theta": [0.18906228244304657, -1.8201947212219238, -0.043630000203847885, 0.5688493251800537, 1.748655080795288, 0.0668414831161499, -0.8894592523574829], "dq": [0.03558575361967087, -0.0365886390209198, 0.018138300627470016, -0.07500115036964417, 0.011370725929737091, 0.044752463698387146, 0.04088645800948143], "dtheta": [0.03853125497698784, -0.03421290963888168, 0.018737971782684326, -0.07659912109375, 0.008292446844279766, 0.045795850455760956, 0.038084495812654495], "tau": [-60.189998626708984, -7.170000076293945, -20.52800178527832, 4.5400004386901855, -3.6120002269744873, 3.824000120162964, 0.06400000303983688], "tau_des": [-0.8079308271408081, -0.41929975152015686, -0.436568021774292, -0.9399973750114441, 0.4867818355560303, 0.10153952240943909, 0.03558100759983063], "tau_dot": [-45.751365661621094, -17.24602699279785, -24.23006248474121, -25.490478515625, 24.875389099121094, -8.781975746154785, 40.84117889404297], "tau_ext": [14.27734088897705, -34.60209274291992, -36.71184158325195, 20.67436981201172, -2.887150287628174, -6.965735912322998, -0.14667503535747528], "tcp_pose": [0.6337948441505432, -0.16791190207004547, -0.39295369386672974, -0.0077576227486133575, -0.02475927583873272, 0.9995795488357544, 0.01294151321053505], "tcp_vel": [0.007828984409570694, -0.0013681714190170169, -0.030944867059588432, -0.0025887310039252043, 0.0013077986659482121, -0.0011513042263686657], "flange_pose": [0.6368632316589355, -0.17275463044643402, -0.203040212392807, -0.0077576227486133575, -0.02475927583873272, 0.9995795488357544, 0.01294151321053505], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.195647716522217, -49.658634185791016, -13.389598846435547, -4.6150221824646, 14.614285469055176, -0.36057916283607483], "ext_wrench_in_world": [-4.521704379325991, -50.28000375769671, 12.186634652723495, 3.894192096823841, 14.811641787745309, 0.6755163305952165]}
+{"timestamp_ns": 1789729715381005882, "elapsed_ms": 4533, "source_timestamp_ns": 1789729715379285123, "q": [0.1930406242609024, -1.8221379518508911, -0.04207243397831917, 0.5818860530853271, 1.7489104270935059, 0.0679117739200592, -0.8888692855834961], "theta": [0.19058319926261902, -1.8216092586517334, -0.042912837117910385, 0.5657481551170349, 1.7490276098251343, 0.06864988803863525, -0.8879683613777161], "dq": [0.03591862693428993, -0.03374534100294113, 0.0203565526753664, -0.07504604756832123, 0.010829386301338673, 0.04245295375585556, 0.03453819453716278], "dtheta": [0.03736650198698044, -0.03651255741715431, 0.017221959307789803, -0.08012168854475021, 0.010819647461175919, 0.04371452331542969, 0.036686573177576065], "tau": [-60.41999816894531, -7.739999771118164, -20.564001083374023, 4.764000415802002, -3.6600000858306885, 3.80400013923645, 0.06400000303983688], "tau_des": [-0.5312015414237976, -1.1788077354431152, -0.48742252588272095, -0.5065986514091492, 0.3459506034851074, 0.10973041504621506, 0.09322654455900192], "tau_dot": [-53.72747039794922, 3.113381862640381, -46.20840072631836, -22.737518310546875, -45.38861846923828, 15.310667037963867, -22.722360610961914], "tau_ext": [14.43504810333252, -34.41339874267578, -36.6210823059082, 20.639846801757812, -2.8705949783325195, -6.948721885681152, -0.16443809866905212], "tcp_pose": [0.6341028213500977, -0.16797368228435516, -0.39418941736221313, -0.0077682361006736755, -0.02476494200527668, 0.9995794892311096, 0.012929120101034641], "tcp_vel": [0.008497321978211403, -0.0013177284272387624, -0.03021368943154812, -0.0004203043063171208, 9.35764819587348e-06, 0.0014118679100647569], "flange_pose": [0.6371752023696899, -0.1728115826845169, -0.20427586138248444, -0.0077682361006736755, -0.02476494200527668, 0.9995794892311096, 0.012929120101034641], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.178994655609131, -49.51742172241211, -13.323711395263672, -4.559025287628174, 14.593694686889648, -0.3756219148635864], "ext_wrench_in_world": [-4.512259596554962, -50.13625230262909, 12.125593677225543, 3.8393682610180995, 14.787979483024019, 0.6903927695577404]}
+{"timestamp_ns": 1789729715414330417, "elapsed_ms": 4566, "source_timestamp_ns": 1789729715409254696, "q": [0.1941784918308258, -1.8232907056808472, -0.04151570796966553, 0.5795259475708008, 1.7491745948791504, 0.0692313015460968, -0.8878023624420166], "theta": [0.19172652065753937, -1.8227447271347046, -0.04239437356591225, 0.5633898377418518, 1.7492892742156982, 0.06998324394226074, -0.886871337890625], "dq": [0.040475137531757355, -0.0395251102745533, 0.017397908493876457, -0.07134969532489777, 0.007289949804544449, 0.044174984097480774, 0.03265957906842232], "dtheta": [0.03762049600481987, -0.03889656439423561, 0.01770237646996975, -0.07903498411178589, 0.008496910333633423, 0.046487946063280106, 0.034960128366947174], "tau": [-60.2599983215332, -7.399999618530273, -20.360000610351562, 4.548000335693359, -3.5880000591278076, 3.7160000801086426, 0.06800000369548798], "tau_des": [-0.25022274255752563, -0.4102995991706848, -0.1730194091796875, -1.015017032623291, 0.5835490822792053, 0.007564588449895382, 0.03602588176727295], "tau_dot": [-27.445608139038086, 93.91840362548828, 7.0310282707214355, -30.259096145629883, -28.00104331970215, -29.676734924316406, 2.5286576747894287], "tau_ext": [14.5264253616333, -34.35493850708008, -36.57720947265625, 20.664352416992188, -2.868164539337158, -6.9357099533081055, -0.17591488361358643], "tcp_pose": [0.6342934966087341, -0.1680673211812973, -0.39510348439216614, -0.007789802271872759, -0.024752220138907433, 0.999579906463623, 0.012910301797091961], "tcp_vel": [0.006763039622455835, -0.004182487726211548, -0.029664933681488037, -0.004151621833443642, -0.00017465297423768789, -0.0001583441480761394], "flange_pose": [0.6373738050460815, -0.17289790511131287, -0.20518988370895386, -0.007789802271872759, -0.024752220138907433, 0.999579906463623, 0.012910301797091961], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.235687732696533, -49.223453521728516, -13.117056846618652, -4.442039489746094, 14.565068244934082, -0.3864382207393646], "ext_wrench_in_world": [-4.587432223344846, -49.83972235830401, 11.92972232416483, 3.724519314212479, 14.75324262496677, 0.7014629237678288]}
+{"timestamp_ns": 1789729715447664999, "elapsed_ms": 4600, "source_timestamp_ns": 1789729715439240748, "q": [0.19533544778823853, -1.8245387077331543, -0.040941160172224045, 0.5771517753601074, 1.7495381832122803, 0.07060486078262329, -0.8868542909622192], "theta": [0.19289271533489227, -1.8239772319793701, -0.04185507073998451, 0.5609962940216064, 1.7496522665023804, 0.07136809825897217, -0.8858912587165833], "dq": [0.034736935049295425, -0.042662929743528366, 0.019479501992464066, -0.07618283480405807, 0.011202131398022175, 0.045199450105428696, 0.030722061172127724], "dtheta": [0.0391787625849247, -0.04279005900025368, 0.0179180558770895, -0.07958653569221497, 0.013448036275804043, 0.045065026730298996, 0.032658450305461884], "tau": [-60.119998931884766, -6.789999961853027, -20.18800163269043, 4.2920002937316895, -3.5200002193450928, 3.696000099182129, 0.06000000238418579], "tau_des": [-0.44017332792282104, 0.6002380847930908, -0.16494008898735046, -1.6818174123764038, 0.5634614825248718, -0.018321743234992027, 0.03543148934841156], "tau_dot": [55.14120101928711, -1.847786784172058, 11.404472351074219, 76.72358703613281, 29.225692749023438, 4.2461161613464355, -69.20689392089844], "tau_ext": [14.585512161254883, -34.86056900024414, -36.62826156616211, 20.91107749938965, -2.903339147567749, -6.8978424072265625, -0.18630512058734894], "tcp_pose": [0.6344615817070007, -0.16820836067199707, -0.3960314095020294, -0.007760938256978989, -0.024752184748649597, 0.9995802044868469, 0.012905711308121681], "tcp_vel": [0.004999583587050438, -0.005350595340132713, -0.03100002557039261, -0.00013714672240894288, -0.0015163507778197527, -0.00174057821277529], "flange_pose": [0.6375308632850647, -0.17303748428821564, -0.20611758530139923, -0.007760938256978989, -0.024752184748649597, 0.9995802044868469, 0.012905711308121681], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.334527492523193, -49.34940719604492, -12.99044132232666, -4.437046051025391, 14.533358573913574, -0.3952462375164032], "ext_wrench_in_world": [-4.682705925434281, -49.967076359354124, 11.80145733385577, 3.721208198408403, 14.721113023936132, 0.7096122643628627]}
+{"timestamp_ns": 1789729715481003562, "elapsed_ms": 4633, "source_timestamp_ns": 1789729715479242657, "q": [0.19693498313426971, -1.8263530731201172, -0.04019239917397499, 0.5737526416778564, 1.7500770092010498, 0.07241175323724747, -0.885547935962677], "theta": [0.19451133906841278, -1.8257888555526733, -0.04115154594182968, 0.5575516819953918, 1.7501885890960693, 0.07318878173828125, -0.8845505118370056], "dq": [0.03997870162129402, -0.03975609689950943, 0.02084876038134098, -0.08687296509742737, 0.017467159777879715, 0.0445442758500576, 0.035908982157707214], "dtheta": [0.04149394854903221, -0.047961290925741196, 0.017361287027597427, -0.09041400253772736, 0.014121487736701965, 0.04750755801796913, 0.03691321611404419], "tau": [-60.619998931884766, -6.309999942779541, -20.18800163269043, 4.168000221252441, -3.556000232696533, 3.692000150680542, 0.11600000411272049], "tau_des": [-0.7753920555114746, 1.1637641191482544, -0.21851259469985962, -1.772133231163025, 0.5989297032356262, -0.03103732503950596, 0.10540889948606491], "tau_dot": [-182.14549255371094, 99.349853515625, 3.285443067550659, -18.425867080688477, -75.0418472290039, -7.392274856567383, 4.565637111663818], "tau_ext": [14.701214790344238, -35.32352066040039, -36.66807174682617, 21.02345848083496, -2.9399051666259766, -6.86674690246582, -0.19728951156139374], "tcp_pose": [0.6346798539161682, -0.16841310262680054, -0.3973119556903839, -0.0077435290440917015, -0.024769214913249016, 0.9995796084403992, 0.012929262593388557], "tcp_vel": [0.00615476630628109, -0.00594621105119586, -0.032549306750297546, -0.0008024458074942231, -0.0008032231125980616, -0.0005168385687284172], "flange_pose": [0.637742817401886, -0.17325128614902496, -0.20739828050136566, -0.0077435290440917015, -0.024769214913249016, 0.9995796084403992, 0.012929262593388557], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.186311721801758, -50.09523391723633, -12.867630958557129, -4.5904130935668945, 14.576284408569336, -0.4048157036304474], "ext_wrench_in_world": [-4.498627478882968, -50.701967144059886, 11.654370098810965, 3.871892119170815, 14.771442756821946, 0.7188640917677902]}
+{"timestamp_ns": 1789729715514330015, "elapsed_ms": 4666, "source_timestamp_ns": 1789729715509248946, "q": [0.19821052253246307, -1.8277826309204102, -0.03965400531888008, 0.5709350109100342, 1.750499963760376, 0.07384316623210907, -0.8843898773193359], "theta": [0.1958049088716507, -1.8272408246994019, -0.04064881429076195, 0.5546932816505432, 1.7506047487258911, 0.07462835311889648, -0.8833686113357544], "dq": [0.04388473555445671, -0.045945003628730774, 0.02057204581797123, -0.09243304282426834, 0.013392526656389236, 0.048159606754779816, 0.04226599261164665], "dtheta": [0.04392736777663231, -0.04968138411641121, 0.016416726633906364, -0.09980761259794235, 0.014460851438343525, 0.048968274146318436, 0.045716818422079086], "tau": [-60.849998474121094, -6.349999904632568, -20.18000030517578, 4.272000312805176, -3.5320000648498535, 3.704000234603882, 0.09600000083446503], "tau_des": [-1.1607310771942139, 0.7334058880805969, -0.47192326188087463, -1.2880412340164185, 0.4816421866416931, -0.010308794677257538, 0.12508021295070648], "tau_dot": [-49.7218017578125, -81.55111694335938, 4.39049768447876, 13.071330070495605, -18.40852928161621, 6.156998157501221, -61.34196853637695], "tau_ext": [15.018560409545898, -35.34398651123047, -36.57841491699219, 20.90053939819336, -2.92862868309021, -6.877957820892334, -0.20485906302928925], "tcp_pose": [0.6348987221717834, -0.16854552924633026, -0.3983241319656372, -0.00774487666785717, -0.024790119379758835, 0.9995790123939514, 0.012934837490320206], "tcp_vel": [0.008242451585829258, -0.004564663860946894, -0.034344471991062164, -0.001014953013509512, 0.00111287459731102, -0.001732817618176341], "flange_pose": [0.6379624009132385, -0.17338573932647705, -0.20841050148010254, -0.00774487666785717, -0.024790119379758835, 0.9995790123939514, 0.012934837490320206], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.738451957702637, -50.84825897216797, -12.449945449829102, -4.743717193603516, 14.70954704284668, -0.4114268720149994], "ext_wrench_in_world": [-4.018792106239992, -51.42120977164687, 11.209897975350078, 4.01790304877714, 14.912110461996045, 0.726853320471645]}
+{"timestamp_ns": 1789729715547667758, "elapsed_ms": 4700, "source_timestamp_ns": 1789729715539223819, "q": [0.1995249092578888, -1.8292298316955566, -0.03915680944919586, 0.5679263472557068, 1.750892996788025, 0.07529586553573608, -0.8830311298370361], "theta": [0.19713985919952393, -1.8287289142608643, -0.04018809646368027, 0.5516532063484192, 1.7509896755218506, 0.07608723640441895, -0.8819866180419922], "dq": [0.04914901778101921, -0.04608052596449852, 0.014333532191812992, -0.10474797338247299, 0.013140443712472916, 0.04868471622467041, 0.045804817229509354], "dtheta": [0.0457037054002285, -0.04827708750963211, 0.014196914620697498, -0.10624933242797852, 0.012899407185614109, 0.04810584336519241, 0.05014945566654205], "tau": [-60.96999740600586, -6.75, -20.108001708984375, 4.588000297546387, -3.5520002841949463, 3.692000150680542, 0.08400000631809235], "tau_des": [-1.610089659690857, -0.3715728521347046, -0.7270756363868713, -0.5304766893386841, 0.4261455833911896, 0.049971867352724075, 0.20083855092525482], "tau_dot": [-145.87405395507812, -121.50061798095703, 49.930599212646484, 27.98656463623047, -35.54188919067383, -35.95737838745117, -67.10795593261719], "tau_ext": [15.10329532623291, -35.05347442626953, -36.55092239379883, 20.689489364624023, -2.9291505813598633, -6.874347686767578, -0.2132674753665924], "tcp_pose": [0.635163426399231, -0.16864918172359467, -0.39935728907585144, -0.007779600098729134, -0.02479969523847103, 0.9995786547660828, 0.012921693734824657], "tcp_vel": [0.010209161788225174, -0.0022178152576088905, -0.035383932292461395, -0.0018797202501446009, 0.005428506527096033, 0.002061617560684681], "flange_pose": [0.6382402181625366, -0.17348404228687286, -0.20944373309612274, -0.007779600098729134, -0.02479969523847103, 0.9995786547660828, 0.012921693734824657], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.213996410369873, -51.43562316894531, -12.051072120666504, -4.853069305419922, 14.865086555480957, -0.4176267981529236], "ext_wrench_in_world": [-3.470691621076292, -51.97116749818178, 10.789692765350845, 4.11927528541113, 15.072794082857856, 0.7348073124646105]}
+{"timestamp_ns": 1789729715580994062, "elapsed_ms": 4733, "source_timestamp_ns": 1789729715579247026, "q": [0.2012936919927597, -1.8311595916748047, -0.03859755024313927, 0.5637235045433044, 1.7514119148254395, 0.07717828452587128, -0.8809803128242493], "theta": [0.19891555607318878, -1.8307162523269653, -0.039679598063230515, 0.5474324822425842, 1.7514928579330444, 0.07797694206237793, -0.8799061179161072], "dq": [0.04349413886666298, -0.04575565084815025, 0.014069859869778156, -0.10660751163959503, 0.011105762794613838, 0.04709513485431671, 0.05103841423988342], "dtheta": [0.044291675090789795, -0.049423325806856155, 0.011902780272066593, -0.1041683480143547, 0.012640642002224922, 0.046117596328258514, 0.05353044345974922], "tau": [-61.21999740600586, -7.62999963760376, -20.260000228881836, 4.78000020980835, -3.56000018119812, 3.7800002098083496, 0.12000000476837158], "tau_des": [-2.0359995365142822, -0.0683739110827446, -0.733148992061615, -0.6978423595428467, 0.5333138704299927, 0.06591656804084778, 0.0787801519036293], "tau_dot": [72.6615219116211, -40.696800231933594, 6.9494733810424805, -14.443666458129883, 30.55337905883789, 57.89405822753906, -28.58073616027832], "tau_ext": [15.153470993041992, -34.71141815185547, -36.51405715942383, 20.571025848388672, -2.9209210872650146, -6.8742828369140625, -0.2206847220659256], "tcp_pose": [0.6355680823326111, -0.1687435358762741, -0.40073204040527344, -0.007871481589972973, -0.02479487471282482, 0.9995784163475037, 0.012895172461867332], "tcp_vel": [0.008789428509771824, -0.0039621335454285145, -0.03353981673717499, -0.00332217151299119, 0.0059937844052910805, -0.0040557715110480785], "flange_pose": [0.6386795043945312, -0.17356747388839722, -0.21081878244876862, -0.007871481589972973, -0.02479487471282482, 0.9995784163475037, 0.012895172461867332], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.622560977935791, -51.5165901184082, -11.727524757385254, -4.825973987579346, 15.033151626586914, -0.4246506094932556], "ext_wrench_in_world": [-2.87974397882154, -52.01371072810842, 10.45887456769915, 4.084272009995507, 15.239083843722918, 0.7450145295486623]}
+{"timestamp_ns": 1789729715614331534, "elapsed_ms": 4766, "source_timestamp_ns": 1789729715609233287, "q": [0.20256561040878296, -1.8325551748275757, -0.038240570574998856, 0.5606576204299927, 1.7518198490142822, 0.07852698117494583, -0.8794109225273132], "theta": [0.20018327236175537, -1.8321607112884521, -0.03936011716723442, 0.5443518161773682, 1.7518906593322754, 0.07933163642883301, -0.8783186674118042], "dq": [0.04447787255048752, -0.04546743258833885, 0.010570505633950233, -0.09758105129003525, 0.011478244327008724, 0.04294298216700554, 0.05064989998936653], "dtheta": [0.04153113812208176, -0.048531513661146164, 0.010045800358057022, -0.10012171417474747, 0.012975944206118584, 0.04351336508989334, 0.047479987144470215], "tau": [-61.279998779296875, -8.050000190734863, -20.236000061035156, 4.832000255584717, -3.57200026512146, 3.7720000743865967, 0.11600000411272049], "tau_des": [-1.929574966430664, -0.13727112114429474, -0.6222651600837708, -0.6310276389122009, 0.5652332901954651, 0.0429278202354908, 0.04959341883659363], "tau_dot": [-10.708503723144531, -78.67598724365234, 48.04729080200195, -71.14002227783203, 14.023963928222656, 39.02790832519531, 32.01836395263672], "tau_ext": [15.123639106750488, -34.433616638183594, -36.48495101928711, 20.582883834838867, -2.9252405166625977, -6.883721828460693, -0.22237351536750793], "tcp_pose": [0.6358747482299805, -0.16880641877651215, -0.4017122983932495, -0.007932190783321857, -0.024763239547610283, 0.9995790123939514, 0.01287319790571928], "tcp_vel": [0.008240397088229656, -0.004570423159748316, -0.031148048117756844, -0.003396629123017192, 0.004827381577342749, -0.0007967856363393366], "flange_pose": [0.6390088200569153, -0.1736215204000473, -0.21179918944835663, -0.007932190783321857, -0.024763239547610283, 0.9995790123939514, 0.01287319790571928], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.583754062652588, -51.00206756591797, -11.613889694213867, -4.6676435470581055, 15.048608779907227, -0.4264601767063141], "ext_wrench_in_world": [-2.8701557132391673, -51.49450767906897, 10.360961554415944, 3.926448688683491, 15.246385151424775, 0.7484191906680817]}
+{"timestamp_ns": 1789729715647665997, "elapsed_ms": 4800, "source_timestamp_ns": 1789729715639280401, "q": [0.20377852022647858, -1.8339167833328247, -0.03790783882141113, 0.5578128695487976, 1.7522879838943481, 0.0797894299030304, -0.8781304359436035], "theta": [0.20137779414653778, -1.833569049835205, -0.03906266391277313, 0.5414777398109436, 1.7523491382598877, 0.08060193061828613, -0.8770219683647156], "dq": [0.04051594063639641, -0.04998962581157684, 0.011401304043829441, -0.09152877330780029, 0.018153386190533638, 0.04137391597032547, 0.04348070174455643], "dtheta": [0.03882722556591034, -0.046649981290102005, 0.010123574174940586, -0.09320786595344543, 0.016522182151675224, 0.04045189172029495, 0.04433150216937065], "tau": [-61.16999816894531, -7.75, -20.16400146484375, 4.703999996185303, -3.56000018119812, 3.7960002422332764, 0.09600000083446503], "tau_des": [-1.970121145248413, 0.061879608780145645, -0.6381949782371521, -0.7183334231376648, 0.5009791851043701, 0.10591838508844376, 0.08079502731561661], "tau_dot": [50.191261291503906, -0.674886167049408, -13.313676834106445, 9.358203887939453, 4.610671043395996, 73.77980041503906, -13.595907211303711], "tau_ext": [15.14799976348877, -34.43808364868164, -36.441165924072266, 20.709692001342773, -2.933433771133423, -6.901521682739258, -0.2227451652288437], "tcp_pose": [0.6361290216445923, -0.16889415681362152, -0.4026438295841217, -0.00796473864465952, -0.024783551692962646, 0.9995781779289246, 0.012874690815806389], "tcp_vel": [0.007645444478839636, -0.004102462437003851, -0.029660288244485855, 0.0003823523293249309, 0.0011732360580936074, -0.0030136366840451956], "flange_pose": [0.6392756104469299, -0.1737094670534134, -0.21273092925548553, -0.00796473864465952, -0.024783551692962646, 0.9995781779289246, 0.012874690815806389], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.924418926239014, -50.37136459350586, -11.587188720703125, -4.48621940612793, 14.967975616455078, -0.42463627457618713], "ext_wrench_in_world": [-3.2391158746211857, -50.88119712220151, 10.356059136424125, 3.748634963738801, 15.157059418515143, 0.7470343182444338]}
+{"timestamp_ns": 1789729715681006169, "elapsed_ms": 4833, "source_timestamp_ns": 1789729715679289699, "q": [0.2052459418773651, -1.835716962814331, -0.03741616755723953, 0.5542868375778198, 1.7529088258743286, 0.08135105669498444, -0.8765671253204346], "theta": [0.2028132677078247, -1.8353970050811768, -0.03861086070537567, 0.5379124879837036, 1.7529557943344116, 0.08217358589172363, -0.8754444122314453], "dq": [0.03609255328774452, -0.0459740124642849, 0.014858829788863659, -0.0862966924905777, 0.012078281491994858, 0.03908495604991913, 0.034722886979579926], "dtheta": [0.03374968096613884, -0.04382516071200371, 0.012619785964488983, -0.08429581671953201, 0.013944268226623535, 0.03808664157986641, 0.03396856412291527], "tau": [-60.89999771118164, -6.859999656677246, -19.900001525878906, 4.3520002365112305, -3.4840002059936523, 3.7960002422332764, 0.08800000697374344], "tau_des": [-1.1432502269744873, 1.276511788368225, -0.27540165185928345, -1.3351495265960693, 0.5903955101966858, 0.02676265314221382, 0.09545057266950607], "tau_dot": [12.188711166381836, 55.57560729980469, 50.04375457763672, -5.004678249359131, 23.645069122314453, 10.274596214294434, -2.324369192123413], "tau_ext": [14.962759017944336, -34.858192443847656, -36.46209716796875, 20.917705535888672, -2.960224151611328, -6.921642780303955, -0.21686908602714539], "tcp_pose": [0.6364059448242188, -0.169045552611351, -0.4037947356700897, -0.0079593975096941, -0.024755559861660004, 0.9995783567428589, 0.012918923981487751], "tcp_vel": [0.006697000935673714, -0.004202651791274548, -0.02670392580330372, 0.0017148448387160897, -0.0017244215123355389, 0.0011768628610298038], "flange_pose": [0.6395507454872131, -0.1738778054714203, -0.2138822376728058, -0.0079593975096941, -0.024755559861660004, 0.9995783567428589, 0.012918923981487751], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.215766429901123, -50.171600341796875, -11.700486183166504, -4.463035583496094, 14.906996726989746, -0.4190884232521057], "ext_wrench_in_world": [-3.5410104547644123, -50.699834204831966, 10.474476915452513, 3.7292512604543684, 15.094885611637679, 0.7416107823599295]}
+{"timestamp_ns": 1789729715714330963, "elapsed_ms": 4866, "source_timestamp_ns": 1789729715709238285, "q": [0.20625121891498566, -1.8369938135147095, -0.03694577142596245, 0.5517475008964539, 1.753246545791626, 0.08247093856334686, -0.8754945993423462], "theta": [0.2037888765335083, -1.8366726636886597, -0.03816778585314751, 0.5353568196296692, 1.7532833814620972, 0.0832977294921875, -0.8743712902069092], "dq": [0.032621391117572784, -0.043681807816028595, 0.015450050123035908, -0.08544772863388062, 0.0123544130474329, 0.03934642672538757, 0.03513798117637634], "dtheta": [0.03237457573413849, -0.04165111109614372, 0.015798082575201988, -0.08562955260276794, 0.008734548464417458, 0.03723675757646561, 0.038192059844732285], "tau": [-60.5, -6.849999904632568, -19.804000854492188, 4.340000152587891, -3.4680001735687256, 3.828000068664551, 0.13600000739097595], "tau_des": [-0.7591511607170105, 0.8376150727272034, -0.43627434968948364, -1.1405489444732666, 0.5284663438796997, 0.09808520972728729, 0.10181854665279388], "tau_dot": [6.498201370239258, 70.00395202636719, 15.007303237915039, -15.168854713439941, 34.19873046875, 67.6437759399414, 61.348793029785156], "tau_ext": [14.75045394897461, -34.92450714111328, -36.49892044067383, 20.89302635192871, -2.979426860809326, -6.925561428070068, -0.21337854862213135], "tcp_pose": [0.6366142630577087, -0.16912224888801575, -0.4046218991279602, -0.007954342290759087, -0.02476613223552704, 0.9995774030685425, 0.012974120676517487], "tcp_vel": [0.007735586725175381, -0.0019928428810089827, -0.026834139600396156, 0.00256605283357203, 0.0005463590496219695, 0.00034606768167577684], "flange_pose": [0.6397577524185181, -0.17397546768188477, -0.21470989286899567, -0.007954342290759087, -0.02476613223552704, 0.9995774030685425, 0.012974120676517487], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.098663806915283, -50.47151184082031, -11.866999626159668, -4.59480619430542, 14.947958946228027, -0.41155290603637695], "ext_wrench_in_world": [-3.4055813810852533, -50.998939632461095, 10.625585145134906, 3.8583890523492936, 15.142520582321223, 0.7348474334868019]}
+{"timestamp_ns": 1789729715747661747, "elapsed_ms": 4900, "source_timestamp_ns": 1789729715739229786, "q": [0.20724768936634064, -1.838199496269226, -0.03643253445625305, 0.5492144823074341, 1.7534451484680176, 0.08360091596841812, -0.8743327856063843], "theta": [0.20475518703460693, -1.8378671407699585, -0.03768007457256317, 0.5328238606452942, 1.753468632698059, 0.0844278335571289, -0.8732150793075562], "dq": [0.03186821937561035, -0.043915458023548126, 0.019764108583331108, -0.09064194560050964, 0.006812158040702343, 0.04035673290491104, 0.038373444229364395], "dtheta": [0.03300149366259575, -0.038289692252874374, 0.016017604619264603, -0.0849507749080658, 0.005898885428905487, 0.03867090120911598, 0.03987571969628334], "tau": [-60.39999771118164, -7.279999732971191, -19.812000274658203, 4.5360002517700195, -3.5280001163482666, 3.81600022315979, 0.12000000476837158], "tau_des": [-0.7477630972862244, 0.23574034869670868, -0.5403064489364624, -0.9569705724716187, 0.5650469064712524, 0.16014370322227478, 0.11970086395740509], "tau_dot": [-72.7615966796875, -9.892108917236328, -10.00027847290039, -23.359983444213867, -47.936187744140625, -24.01537322998047, 38.53028869628906], "tau_ext": [14.609315872192383, -34.747596740722656, -36.476924896240234, 20.772071838378906, -2.9737250804901123, -6.954289436340332, -0.21222233772277832], "tcp_pose": [0.6368353366851807, -0.16916485130786896, -0.40544986724853516, -0.00798704195767641, -0.024766696617007256, 0.99957674741745, 0.013006891123950481], "tcp_vel": [0.008666758425533772, -0.0005831348826177418, -0.027169903740286827, 0.0003895220870617777, 0.002156016416847706, 0.0015495293773710728], "flange_pose": [0.6399915218353271, -0.17403021454811096, -0.2155383825302124, -0.00798704195767641, -0.024766696617007256, 0.99957674741745, 0.013006891123950481], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.83854866027832, -50.70365524291992, -12.029675483703613, -4.716579437255859, 15.02518367767334, -0.4070452153682709], "ext_wrench_in_world": [-3.130882872492701, -51.222636537623025, 10.775039501915382, 3.976141672209826, 15.225753212778821, 0.7312239391542478]}
+{"timestamp_ns": 1789729715781006448, "elapsed_ms": 4933, "source_timestamp_ns": 1789729715779286189, "q": [0.2086053192615509, -1.8397243022918701, -0.035782720893621445, 0.545792818069458, 1.753675937652588, 0.08518818020820618, -0.8726641535758972], "theta": [0.20607373118400574, -1.8393641710281372, -0.037062954157590866, 0.529430627822876, 1.753683090209961, 0.08600902557373047, -0.8715538382530212], "dq": [0.03279603645205498, -0.0380442775785923, 0.015782881528139114, -0.08856496214866638, 0.005145739763975143, 0.03848149999976158, 0.041936226189136505], "dtheta": [0.033532820641994476, -0.035991426557302475, 0.015511668287217617, -0.0835847333073616, 0.006928086746484041, 0.03991775959730148, 0.04118391498923302], "tau": [-60.21999740600586, -7.980000019073486, -19.756000518798828, 4.800000190734863, -3.508000135421753, 3.876000165939331, 0.08400000631809235], "tau_des": [-0.3688610792160034, -0.42834267020225525, -0.49385300278663635, -0.6265783905982971, 0.5189826488494873, 0.12917666137218475, 0.12955479323863983], "tau_dot": [-46.3371467590332, -10.422674179077148, -35.74284362792969, 35.73204040527344, -3.558842420578003, 87.7345962524414, -36.08490753173828], "tau_ext": [14.515748977661133, -34.430572509765625, -36.397212982177734, 20.639766693115234, -2.9485108852386475, -6.994299411773682, -0.20206469297409058], "tcp_pose": [0.6371855735778809, -0.1691807061433792, -0.40656182169914246, -0.008036184124648571, -0.024774091318249702, 0.9995761513710022, 0.013007083907723427], "tcp_vel": [0.009503309614956379, 0.00043117121094837785, -0.027422087267041206, -6.079482409404591e-05, 0.0010972650488838553, 0.0010891470592468977], "flange_pose": [0.6403604745864868, -0.1740456372499466, -0.21665064990520477, -0.008036184124648571, -0.024774091318249702, 0.9995761513710022, 0.013007083907723427], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.440066337585449, -50.66123580932617, -12.163090705871582, -4.784448146820068, 15.135822296142578, -0.3979423940181732], "ext_wrench_in_world": [-2.730923043739858, -51.16391032694213, 10.903772300930415, 4.03813644666206, 15.339892562680404, 0.7235806814278952]}
+{"timestamp_ns": 1789729715814259981, "elapsed_ms": 4966, "source_timestamp_ns": 1789729715809226366, "q": [0.2096482366323471, -1.8408371210098267, -0.035281162708997726, 0.5432788133621216, 1.7538596391677856, 0.08636650443077087, -0.8713870048522949], "theta": [0.20708878338336945, -1.8404500484466553, -0.036583062261343, 0.5269491672515869, 1.7538577318191528, 0.08718085289001465, -0.8702820539474487], "dq": [0.03460302576422691, -0.03805629163980484, 0.016428079456090927, -0.08332417905330658, 0.0031266899313777685, 0.04341210052371025, 0.043748028576374054], "dtheta": [0.03413698449730873, -0.036637283861637115, 0.01775999739766121, -0.07972052693367004, 0.005762913729995489, 0.03946596384048462, 0.03960812836885452], "tau": [-59.98999786376953, -8.260000228881836, -19.6560001373291, 4.8520002365112305, -3.51200008392334, 3.8480002880096436, 0.0560000017285347], "tau_des": [-0.01964174211025238, 0.09450644254684448, -0.3746873438358307, -0.904026448726654, 0.5943935513496399, 0.2330051213502884, 0.015233755111694336], "tau_dot": [-94.04657745361328, -130.36642456054688, 19.624879837036133, -34.149017333984375, 2.4924063682556152, -5.850536823272705, -25.413515090942383], "tau_ext": [14.424378395080566, -34.295963287353516, -36.367530822753906, 20.627262115478516, -2.9443116188049316, -7.023289680480957, -0.19294358789920807], "tcp_pose": [0.6374325156211853, -0.1691773235797882, -0.40741658210754395, -0.008081017062067986, -0.024753782898187637, 0.9995760917663574, 0.013020875863730907], "tcp_vel": [0.0071080271154642105, -0.0006887168274261057, -0.028035691007971764, 0.0007284647435881197, 0.0020048851147294044, -0.0020714392885565758], "flange_pose": [0.640624463558197, -0.17404714226722717, -0.2175058126449585, -0.008081017062067986, -0.024753782898187637, 0.9995760917663574, 0.013020875863730907], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.349906921386719, -50.36389923095703, -12.242302894592285, -4.749449253082275, 15.16535758972168, -0.38791224360466003], "ext_wrench_in_world": [-2.655245041035205, -50.86475311906555, 10.98837539789241, 4.002235111111588, 15.36772114177159, 0.7148957718459593]}
+{"timestamp_ns": 1789729715847590325, "elapsed_ms": 5000, "source_timestamp_ns": 1789729715839238324, "q": [0.21073798835277557, -1.841909646987915, -0.03469182923436165, 0.5409218668937683, 1.754036784172058, 0.08764185756444931, -0.8702613711357117], "theta": [0.20815345644950867, -1.8414939641952515, -0.036008045077323914, 0.5246139764785767, 1.7540258169174194, 0.08845162391662598, -0.8691670894622803], "dq": [0.036836616694927216, -0.038264933973550797, 0.016672534868121147, -0.0745723769068718, 0.003927402663975954, 0.0439830981194973, 0.031042633578181267], "dtheta": [0.037344738841056824, -0.034508753567934036, 0.02112266980111599, -0.07563085108995438, 0.0036426193546503782, 0.04269162565469742, 0.03335658833384514], "tau": [-59.689998626708984, -7.980000019073486, -19.48000144958496, 4.748000144958496, -3.4640002250671387, 3.884000301361084, 0.06000000238418579], "tau_des": [0.2086479663848877, 0.028156911954283714, -0.3021696209907532, -0.7437793016433716, 0.661150336265564, 0.2394404411315918, 0.0491817444562912], "tau_dot": [-139.15652465820312, 151.5735626220703, 37.530086517333984, -30.54096221923828, 34.01091384887695, -21.24085235595703, -32.1185302734375], "tau_ext": [14.355714797973633, -34.32523727416992, -36.36494064331055, 20.71202850341797, -2.951859474182129, -7.044144153594971, -0.1755264699459076], "tcp_pose": [0.6376386880874634, -0.16919051110744476, -0.4083091914653778, -0.00810146238654852, -0.02474355325102806, 0.9995760917663574, 0.013027048669755459], "tcp_vel": [0.00557286012917757, -0.0005358949420042336, -0.03050163947045803, -0.00017272854165639728, 0.0032828364055603743, 0.0018123663030564785], "flange_pose": [0.6408384442329407, -0.17406252026557922, -0.21839861571788788, -0.00810146238654852, -0.02474355325102806, 0.9995760917663574, 0.013027048669755459], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.359814643859863, -50.07689666748047, -12.347871780395508, -4.713879585266113, 15.172990798950195, -0.37284818291664124], "ext_wrench_in_world": [-2.678060603064492, -50.5814680979988, 11.101180424827898, 3.966421261809797, 15.373873586143933, 0.7005994776255854]}
+{"timestamp_ns": 1789729715880927427, "elapsed_ms": 5033, "source_timestamp_ns": 1789729715879243163, "q": [0.21234160661697388, -1.8432996273040771, -0.033756643533706665, 0.5380735993385315, 1.7543367147445679, 0.08948288857936859, -0.8690520524978638], "theta": [0.20972974598407745, -1.842841386795044, -0.03508145734667778, 0.5217707753181458, 1.7543150186538696, 0.09028589725494385, -0.8679664731025696], "dq": [0.044676315039396286, -0.029953328892588615, 0.023191947489976883, -0.06335139274597168, 0.009888413362205029, 0.050529107451438904, 0.02786848321557045], "dtheta": [0.04243456572294235, -0.032312508672475815, 0.02527611330151558, -0.06627558171749115, 0.009416922926902771, 0.04782979562878609, 0.026996858417987823], "tau": [-59.48999786376953, -7.319999694824219, -19.264001846313477, 4.340000152587891, -3.432000160217285, 3.9120001792907715, 0.052000001072883606], "tau_des": [0.5067563652992249, 0.8125388622283936, -0.12634249031543732, -1.2471567392349243, 0.6645578145980835, 0.18582358956336975, -0.01236968394368887], "tau_dot": [6.005303382873535, 21.180566787719727, 8.250816345214844, -24.425161361694336, -65.93811798095703, 8.522163391113281, 12.505400657653809], "tau_ext": [14.316638946533203, -34.82233428955078, -36.413246154785156, 20.930370330810547, -2.977034568786621, -7.0703277587890625, -0.1588073968887329], "tcp_pose": [0.6377995610237122, -0.1692466288805008, -0.4096127450466156, -0.00810206588357687, -0.024731840938329697, 0.9995760917663574, 0.013051084242761135], "tcp_vel": [0.0031551632564514875, -0.0007101708906702697, -0.03451145812869072, 0.0024869877379387617, -0.0010162679245695472, -0.00044729470391757786], "flange_pose": [0.6409997344017029, -0.17412778735160828, -0.21970242261886597, -0.00810206588357687, -0.024731840938329697, 0.9995760917663574, 0.013051084242761135], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.398929595947266, -50.270668029785156, -12.496842384338379, -4.815580368041992, 15.187111854553223, -0.35119742155075073], "ext_wrench_in_world": [-2.706247158565233, -50.78117293521842, 11.243143517809086, 4.067292034394237, 15.393450755568278, 0.6784760390271762]}
+{"timestamp_ns": 1789729715914255241, "elapsed_ms": 5066, "source_timestamp_ns": 1789729715909351509, "q": [0.21369566023349762, -1.8443022966384888, -0.03296889364719391, 0.536084771156311, 1.7546517848968506, 0.09093458950519562, -0.8683330416679382], "theta": [0.2110697478055954, -1.8438141345977783, -0.034294482320547104, 0.5197775959968567, 1.7546244859695435, 0.0917353630065918, -0.8672531843185425], "dq": [0.046353843063116074, -0.030944770202040672, 0.02597903460264206, -0.06691917777061462, 0.00939142145216465, 0.05356857180595398, 0.025867190212011337], "dtheta": [0.04664194956421852, -0.03242339566349983, 0.027284542098641396, -0.06802251935005188, 0.010148433968424797, 0.051581576466560364, 0.025063812732696533], "tau": [-59.55999755859375, -7.25, -19.220001220703125, 4.344000339508057, -3.4040000438690186, 3.944000244140625, 0.036000002175569534], "tau_des": [0.7532975077629089, 0.625758707523346, -0.15129195153713226, -1.212249755859375, 0.652013897895813, 0.26907190680503845, 0.09798836708068848], "tau_dot": [60.007633209228516, -116.37187957763672, 29.999298095703125, 6.061070919036865, 55.904396057128906, 17.347688674926758, -33.304168701171875], "tau_ext": [14.326947212219238, -35.09809494018555, -36.45548629760742, 21.00950813293457, -2.999642848968506, -7.1007843017578125, -0.15537409484386444], "tcp_pose": [0.6378533244132996, -0.1692785769701004, -0.4107070863246918, -0.008102845400571823, -0.02474944479763508, 0.9995749592781067, 0.013104715384542942], "tcp_vel": [0.0029168452601879835, -0.0001684236340224743, -0.037695519626140594, 0.0025760389398783445, -0.0005254955613054335, 0.002505336422473192], "flange_pose": [0.6410543322563171, -0.1741800606250763, -0.22079728543758392, -0.008102845400571823, -0.02474944479763508, 0.9995749592781067, 0.013104715384542942], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.247744083404541, -50.808780670166016, -12.528849601745605, -4.987796783447266, 15.261387825012207, -0.3393291234970093], "ext_wrench_in_world": [-2.5264278170404166, -51.31305611298027, 11.253022630765745, 4.2348886898750795, 15.476540748644098, 0.6675504418228366]}
+{"timestamp_ns": 1789729715947586754, "elapsed_ms": 5100, "source_timestamp_ns": 1789729715939351049, "q": [0.21523968875408173, -1.845277190208435, -0.03214287385344505, 0.5340516567230225, 1.7549928426742554, 0.09258459508419037, -0.8675200939178467], "theta": [0.21260282397270203, -1.8447685241699219, -0.033466886729002, 0.5177456140518188, 1.754957914352417, 0.09338295459747314, -0.8664461374282837], "dq": [0.050038740038871765, -0.030559122562408447, 0.021637272089719772, -0.07026930898427963, 0.013366959057748318, 0.055888328701257706, 0.028618551790714264], "dtheta": [0.05400725081562996, -0.032279279083013535, 0.026352038607001305, -0.06749489158391953, 0.011851577088236809, 0.05585413798689842, 0.026785271242260933], "tau": [-59.849998474121094, -7.429999828338623, -19.176000595092773, 4.5, -3.436000108718872, 3.9760000705718994, 0.0560000017285347], "tau_des": [0.19061891734600067, 0.8353946805000305, -0.21088086068630219, -1.4624755382537842, 0.7467635273933411, 0.3139851689338684, 0.05312447249889374], "tau_dot": [-45.46470642089844, 39.49868392944336, 46.349464416503906, 57.317283630371094, -75.80619812011719, -12.429997444152832, 41.93962860107422], "tau_ext": [14.594148635864258, -35.05414962768555, -36.4285774230957, 20.885286331176758, -2.992234945297241, -7.1397905349731445, -0.14859813451766968], "tcp_pose": [0.6379036903381348, -0.16929928958415985, -0.41192469000816345, -0.00811754073947668, -0.024747861549258232, 0.9995746612548828, 0.013121050782501698], "tcp_vel": [0.0008487061713822186, -0.0010721341241151094, -0.04175640270113945, -0.00032353628193959594, 0.002861601999029517, 0.00029783687205053866], "flange_pose": [0.6411104202270508, -0.17420682311058044, -0.2220151424407959, -0.00811754073947668, -0.024747861549258232, 0.9995746612548828, 0.013121050782501698], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [4.833354473114014, -51.37357711791992, -12.33487319946289, -5.139934539794922, 15.412903785705566, -0.3318040370941162], "ext_wrench_in_world": [-2.087866751755996, -51.85171737442929, 11.036079736468178, 4.37929619013836, 15.635538545169512, 0.6620599530132362]}
+{"timestamp_ns": 1789729715981009626, "elapsed_ms": 5133, "source_timestamp_ns": 1789729715979293645, "q": [0.21756842732429504, -1.8466092348098755, -0.031130827963352203, 0.5311371088027954, 1.755597472190857, 0.09494233131408691, -0.8662779927253723], "theta": [0.2149285078048706, -1.8460882902145386, -0.03244583308696747, 0.5148435831069946, 1.7555501461029053, 0.09573304653167725, -0.8652161359786987], "dq": [0.057542718946933746, -0.03526237607002258, 0.022324740886688232, -0.07642020285129547, 0.018585190176963806, 0.0657266303896904, 0.034334056079387665], "dtheta": [0.06291782110929489, -0.03363988175988197, 0.024596216157078743, -0.07549222558736801, 0.01837446354329586, 0.06295887380838394, 0.033230092376470566], "tau": [-60.47999954223633, -7.679999828338623, -19.248001098632812, 4.764000415802002, -3.440000057220459, 4.0360002517700195, 0.020000001415610313], "tau_des": [-0.7301709055900574, -0.03973330557346344, -0.5407114028930664, -0.9197364449501038, 0.6472066640853882, 0.3708798289299011, 0.024892019107937813], "tau_dot": [47.024173736572266, 26.488399505615234, -37.66436004638672, 13.802908897399902, 70.7748031616211, 33.32477951049805, -28.208498001098633], "tau_ext": [14.933283805847168, -35.07234573364258, -36.41926574707031, 20.78347396850586, -2.9905011653900146, -7.200822830200195, -0.1399778425693512], "tcp_pose": [0.6379765272140503, -0.1693107932806015, -0.4137048125267029, -0.00817931815981865, -0.024746904149651527, 0.9995742440223694, 0.013114526867866516], "tcp_vel": [0.0020632275845855474, -3.069151352974586e-05, -0.04739341139793396, -0.0012512387474998832, 0.0029272125102579594, -0.00030382612021639943], "flange_pose": [0.6412066221237183, -0.17421527206897736, -0.2237955778837204, -0.00817931815981865, -0.024746904149651527, 0.9995742440223694, 0.013114526867866516], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [4.018766403198242, -52.144798278808594, -11.9178466796875, -5.321861743927002, 15.692703247070312, -0.3216800391674042], "ext_wrench_in_world": [-1.2421349820157381, -52.5703111647469, 10.587021542898336, 4.5471058140596545, 15.924209782945157, 0.655741697760883]}
+{"timestamp_ns": 1789729716014332116, "elapsed_ms": 5166, "source_timestamp_ns": 1789729716009250844, "q": [0.21947458386421204, -1.847670316696167, -0.03043220192193985, 0.5288108587265015, 1.7562037706375122, 0.09683045744895935, -0.8652980923652649], "theta": [0.21684210002422333, -1.8471449613571167, -0.0317365862429142, 0.5125380158424377, 1.75614595413208, 0.0976102352142334, -0.8642518520355225], "dq": [0.06561405211687088, -0.03810889273881912, 0.021512428298592567, -0.07742641121149063, 0.023948390036821365, 0.05950785055756569, 0.031202731654047966], "dtheta": [0.0657377690076828, -0.03548656776547432, 0.022139305248856544, -0.07861316204071045, 0.021651888266205788, 0.06119755282998085, 0.030907388776540756], "tau": [-60.619998931884766, -7.949999809265137, -19.11600112915039, 4.904000282287598, -3.436000108718872, 4.039999961853027, 0.0], "tau_des": [-1.1590467691421509, -0.2064456194639206, -0.5642727613449097, -0.7152681946754456, 0.6532058715820312, 0.4057016670703888, 0.11558599770069122], "tau_dot": [-6.938966751098633, -46.96235656738281, -2.098571300506592, 35.8056755065918, -26.51274871826172, -27.51966667175293, -24.03759765625], "tau_ext": [15.049108505249023, -34.94436264038086, -36.47224807739258, 20.65790557861328, -2.9969844818115234, -7.225269794464111, -0.12674760818481445], "tcp_pose": [0.6380355954170227, -0.16932843625545502, -0.41513073444366455, -0.008218424394726753, -0.024754589423537254, 0.9995739459991455, 0.013099305331707], "tcp_vel": [0.0012674883473664522, 7.158826520026196e-06, -0.04895541071891785, 0.00038705961196683347, 0.005169834941625595, 0.0032480687368661165], "flange_pose": [0.6412805318832397, -0.17422674596309662, -0.22522158920764923, -0.008218424394726753, -0.024754589423537254, 0.9995739459991455, 0.013099305331707], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [3.428168773651123, -52.70112991333008, -11.482978820800781, -5.4276580810546875, 15.906821250915527, -0.31277769804000854], "ext_wrench_in_world": [-0.6306626229038722, -53.08488360212228, 10.130036302328394, 4.641841386953705, 16.143576676383134, 0.6500039029956488]}
+{"timestamp_ns": 1789729716047664653, "elapsed_ms": 5200, "source_timestamp_ns": 1789729716039237208, "q": [0.2214338332414627, -1.8487788438796997, -0.02982916496694088, 0.5263999104499817, 1.7569466829299927, 0.09865474700927734, -0.8642417192459106], "theta": [0.2188120037317276, -1.84825599193573, -0.031124278903007507, 0.5101510286331177, 1.7568777799606323, 0.09942841529846191, -0.8632123470306396], "dq": [0.06653272360563278, -0.03524572774767876, 0.018993478268384933, -0.08029866218566895, 0.030155042186379433, 0.05757669359445572, 0.032240379601716995], "dtheta": [0.06475193053483963, -0.03657514974474907, 0.018812520429491997, -0.0816975012421608, 0.025544404983520508, 0.06174555793404579, 0.0328272208571434], "tau": [-60.79999923706055, -8.15999984741211, -19.14000129699707, 4.892000198364258, -3.4600002765655518, 4.168000221252441, -0.012000000104308128], "tau_des": [-0.6217934489250183, -0.5622208714485168, -0.3854549527168274, -0.4922468662261963, 0.5728614330291748, 0.3437114655971527, 0.07729046791791916], "tau_dot": [86.51024627685547, 25.941041946411133, -10.895804405212402, -47.960052490234375, -45.79979705810547, 24.17725372314453, -12.248687744140625], "tau_ext": [14.959433555603027, -34.822025299072266, -36.56380844116211, 20.627187728881836, -3.0150227546691895, -7.242579460144043, -0.11507519334554672], "tcp_pose": [0.638089120388031, -0.16933932900428772, -0.41658124327659607, -0.008269255049526691, -0.024741826578974724, 0.9995736479759216, 0.013114525936543941], "tcp_vel": [0.0029768396634608507, -6.375325028784573e-05, -0.04772184044122696, 4.4973570766160265e-05, 0.0019419511081650853, 0.0033441968262195587], "flange_pose": [0.6413533687591553, -0.17424297332763672, -0.22667257487773895, -0.008269255049526691, -0.024741826578974724, 0.9995736479759216, 0.013114525936543941], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.927884101867676, -52.989784240722656, -11.317107200622559, -5.47383451461792, 16.09200096130371, -0.29908913373947144], "ext_wrench_in_world": [-0.11994951380822996, -53.344215717004325, 9.947206453800836, 4.679061460437516, 16.330981909798272, 0.6404898541217688]}
+{"timestamp_ns": 1789729716081004619, "elapsed_ms": 5233, "source_timestamp_ns": 1789729716079236274, "q": [0.22411777079105377, -1.8502923250198364, -0.029126204550266266, 0.5231764316558838, 1.7580798864364624, 0.10105445981025696, -0.8628685474395752], "theta": [0.2215033322572708, -1.8497726917266846, -0.030407069250941277, 0.5069449543952942, 1.7579885721206665, 0.10183727741241455, -0.8618545532226562], "dq": [0.06841199100017548, -0.039522722363471985, 0.016398897394537926, -0.07907769829034805, 0.030166393145918846, 0.059118710458278656, 0.03662785887718201], "dtheta": [0.06874510645866394, -0.037836704403162, 0.017910322174429893, -0.08030103147029877, 0.03234018757939339, 0.06278839707374573, 0.0352177619934082], "tau": [-60.54999923706055, -8.269999504089355, -18.98400115966797, 4.872000217437744, -3.4000000953674316, 4.160000324249268, -0.020000001415610313], "tau_des": [-0.5791465640068054, -0.0555257648229599, -0.2810283899307251, -1.0162813663482666, 0.6038990020751953, 0.5050344467163086, -0.052388787269592285], "tau_dot": [-28.34360122680664, 131.43519592285156, 20.622541427612305, 12.601645469665527, 37.11444091796875, 19.106487274169922, -18.740140914916992], "tau_ext": [15.104207992553711, -34.65299606323242, -36.4913215637207, 20.65047264099121, -2.994391918182373, -7.309463024139404, -0.09534353762865067], "tcp_pose": [0.6381286978721619, -0.16937066614627838, -0.4185410737991333, -0.008343678899109364, -0.02472815476357937, 0.9995729327201843, 0.013147895224392414], "tcp_vel": [0.001426961738616228, -0.0005287501844577491, -0.0502430759370327, 0.002578369341790676, 0.00047947504208423197, -0.002517684129998088], "flange_pose": [0.6414214968681335, -0.17428633570671082, -0.22863322496414185, -0.008343678899109364, -0.02472815476357937, 0.9995729327201843, 0.013147895224392414], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.7053627967834473, -52.80601501464844, -11.210275650024414, -5.415709018707275, 16.2110652923584, -0.27961668372154236], "ext_wrench_in_world": [0.09149130046823964, -53.14754330243263, 9.838432801875177, 4.615337356844788, 16.447315633541603, 0.6254575216597975]}
+{"timestamp_ns": 1789729716114331446, "elapsed_ms": 5266, "source_timestamp_ns": 1789729716109303468, "q": [0.22621166706085205, -1.8514368534088135, -0.028590617701411247, 0.5207837820053101, 1.7590491771697998, 0.10295809060335159, -0.8618777394294739], "theta": [0.22359998524188995, -1.850916862487793, -0.029856083914637566, 0.5045422911643982, 1.7589383125305176, 0.10375809669494629, -0.8608735203742981], "dq": [0.07077725976705551, -0.03794599696993828, 0.01843411847949028, -0.07624099403619766, 0.028235703706741333, 0.06107459217309952, 0.026394108310341835], "dtheta": [0.07263540476560593, -0.039531905204057693, 0.019270090386271477, -0.08011369407176971, 0.03233196958899498, 0.06524588167667389, 0.030745510011911392], "tau": [-59.97999954223633, -7.980000019073486, -18.700000762939453, 4.544000148773193, -3.3360002040863037, 4.124000072479248, -0.020000001415610313], "tau_des": [-0.20710389316082, 0.8538951873779297, 0.004722867626696825, -1.5709024667739868, 0.7552603483200073, 0.48618438839912415, -0.04925870522856712], "tau_dot": [48.19733428955078, -16.946880340576172, 69.49686431884766, 7.362648963928223, 33.095027923583984, -5.742293357849121, 37.191497802734375], "tau_ext": [14.923250198364258, -34.78042221069336, -36.510807037353516, 20.83669662475586, -3.0057644844055176, -7.339055061340332, -0.08362571150064468], "tcp_pose": [0.6381487846374512, -0.16940298676490784, -0.4200628101825714, -0.0083576999604702, -0.024710001423954964, 0.9995728731155396, 0.013177257031202316], "tcp_vel": [-0.0007814594428054988, -0.0018310799496248364, -0.05268637463450432, 0.0018380782566964626, 0.0021125266794115305, -0.0003007412888109684], "flange_pose": [0.641447126865387, -0.1743297278881073, -0.230155348777771, -0.0083576999604702, -0.024710001423954964, 0.9995728731155396, 0.013177257031202316], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.8308026790618896, -52.453453063964844, -11.290867805480957, -5.348333835601807, 16.210147857666016, -0.26592814922332764], "ext_wrench_in_world": [-0.05135771682966572, -52.80441924765332, 9.927363610001143, 4.548478941079188, 16.443207316698373, 0.6136437302074038]}
+{"timestamp_ns": 1789729716147652744, "elapsed_ms": 5300, "source_timestamp_ns": 1789729716139255966, "q": [0.2283870130777359, -1.85261070728302, -0.02796662412583828, 0.5183425545692444, 1.7600377798080444, 0.10495017468929291, -0.8609410524368286], "theta": [0.22578164935112, -1.8520936965942383, -0.029211733490228653, 0.5020753145217896, 1.7599037885665894, 0.10577285289764404, -0.8599370121955872], "dq": [0.06765132397413254, -0.036727581173181534, 0.02285945415496826, -0.0811305046081543, 0.03486638888716698, 0.07266700267791748, 0.029118934646248817], "dtheta": [0.07424633949995041, -0.039465222507715225, 0.023453298956155777, -0.08275537937879562, 0.03110823966562748, 0.06995736807584763, 0.03314574062824249], "tau": [-59.5099983215332, -7.919999599456787, -18.6200008392334, 4.4160003662109375, -3.3560001850128174, 4.111999988555908, -0.036000002175569534], "tau_des": [0.5395775437355042, 0.8378003239631653, 0.08195048570632935, -1.554640293121338, 0.7161832451820374, 0.44546106457710266, -0.04533901810646057], "tau_dot": [-99.67473602294922, 13.808279037475586, -18.463029861450195, -52.871246337890625, 35.97273635864258, 19.082828521728516, -6.666633129119873], "tau_ext": [14.457788467407227, -34.89985275268555, -36.63218307495117, 20.9505558013916, -3.0394198894500732, -7.334136486053467, -0.0728420540690422], "tcp_pose": [0.6381569504737854, -0.1694241315126419, -0.42165952920913696, -0.008361526764929295, -0.024715712293982506, 0.9995720386505127, 0.013226666487753391], "tcp_vel": [0.00023108907043933868, -0.0007021270575933158, -0.05474691465497017, 0.0022136711049824953, 0.0002577166014816612, -0.0009472304955124855], "flange_pose": [0.6414571404457092, -0.17436957359313965, -0.23175258934497833, -0.008361526764929295, -0.024715712293982506, 0.9995720386505127, 0.013226666487753391], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [3.0429587364196777, -52.30759811401367, -11.634379386901855, -5.368975639343262, 16.178077697753906, -0.25245168805122375], "ext_wrench_in_world": [-0.2637671197248208, -52.67924446937335, 10.272820016413965, 4.570265690398143, 16.41255098704, 0.6005588082824178]}
+{"timestamp_ns": 1789729716180996430, "elapsed_ms": 5333, "source_timestamp_ns": 1789729716179235954, "q": [0.2314292937517166, -1.8541743755340576, -0.027028700336813927, 0.5149654746055603, 1.7612993717193604, 0.10778331011533737, -0.8595835566520691], "theta": [0.228850856423378, -1.8536581993103027, -0.02824356220662594, 0.4986664056777954, 1.7611266374588013, 0.10863566398620605, -0.8585780262947083], "dq": [0.07633975148200989, -0.03981829062104225, 0.02485485002398491, -0.09003087878227234, 0.027402354404330254, 0.06933113187551498, 0.033260494470596313], "dtheta": [0.07926414161920547, -0.03897932171821594, 0.024566756561398506, -0.08450446277856827, 0.030326981097459793, 0.07506685703992844, 0.036202915012836456], "tau": [-59.56999969482422, -8.050000190734863, -18.536001205444336, 4.644000053405762, -3.384000062942505, 4.140000343322754, -0.0560000017285347], "tau_des": [-0.1027069017291069, 1.100480556488037, -0.0840953066945076, -1.528769850730896, 0.7477066516876221, 0.4777887761592865, -0.07431039959192276], "tau_dot": [-34.952354431152344, -5.956137657165527, -11.25501537322998, -40.33985900878906, -15.884820938110352, -3.0922155380249023, 13.971080780029297], "tau_ext": [14.125605583190918, -34.93870544433594, -36.72832107543945, 20.951879501342773, -3.053286075592041, -7.324824333190918, -0.0632435530424118], "tcp_pose": [0.6381752490997314, -0.16942042112350464, -0.4239017963409424, -0.008383485488593578, -0.024717656895518303, 0.9995711445808411, 0.013275600038468838], "tcp_vel": [-0.00027922270237468183, -0.000525321695022285, -0.05792554095387459, -0.00033641787013038993, 0.00199398142285645, -0.002170508960261941], "flange_pose": [0.641484260559082, -0.1743842363357544, -0.2339954674243927, -0.008383485488593578, -0.024717656895518303, 0.9995711445808411, 0.013275600038468838], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.9454898834228516, -52.31092834472656, -12.224119186401367, -5.4674072265625, 16.21714210510254, -0.2386614829301834], "ext_wrench_in_world": [-0.15532636815270381, -52.69413369131793, 10.855522698823767, 4.666368550246678, 16.45675867071526, 0.587620412084848]}
+{"timestamp_ns": 1789729716214337246, "elapsed_ms": 5366, "source_timestamp_ns": 1789729716209282920, "q": [0.23381413519382477, -1.8552995920181274, -0.026327401399612427, 0.5123913288116455, 1.7622514963150024, 0.11005723476409912, -0.8584670424461365], "theta": [0.2312619388103485, -1.8547754287719727, -0.027518292888998985, 0.4960862398147583, 1.7620460987091064, 0.11093735694885254, -0.8574633002281189], "dq": [0.08207960426807404, -0.03891817480325699, 0.02422231435775757, -0.09040544182062149, 0.03600626811385155, 0.07643886655569077, 0.03705070540308952], "dtheta": [0.08216068148612976, -0.036584723740816116, 0.022985046729445457, -0.08709059655666351, 0.030880993232131004, 0.07856781035661697, 0.03842323645949364], "tau": [-60.32999801635742, -8.329999923706055, -18.631999969482422, 4.824000358581543, -3.440000057220459, 4.172000408172607, -0.08800000697374344], "tau_des": [-1.0108553171157837, 0.28204062581062317, -0.4411490857601166, -0.9213666319847107, 0.6343205571174622, 0.42607593536376953, -0.06858636438846588], "tau_dot": [38.040428161621094, 14.099044799804688, 8.122686386108398, -14.813965797424316, -0.38176095485687256, 43.8441162109375, -18.21742820739746], "tau_ext": [14.282694816589355, -34.76613998413086, -36.70726776123047, 20.817596435546875, -3.037390947341919, -7.3332061767578125, -0.048623159527778625], "tcp_pose": [0.6382110118865967, -0.1693972796201706, -0.42564356327056885, -0.008399182930588722, -0.0247097909450531, 0.9995712637901306, 0.013271347619593143], "tcp_vel": [0.0013342300662770867, 0.0010483942460268736, -0.059505678713321686, -0.002693797694519162, 0.00253139715641737, 0.0005596308037638664], "flange_pose": [0.64152592420578, -0.17435935139656067, -0.23573729395866394, -0.008399182930588722, -0.0247097909450531, 0.9995712637901306, 0.013271347619593143], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.5248470306396484, -52.47499465942383, -12.296805381774902, -5.532089710235596, 16.339990615844727, -0.22736956179141998], "ext_wrench_in_world": [0.2736170816818694, -52.838862745388646, 10.917465690284036, 4.72499406137629, 16.582852822576196, 0.5782993950826595]}
+{"timestamp_ns": 1789729716247594262, "elapsed_ms": 5400, "source_timestamp_ns": 1789729716239356983, "q": [0.23624427616596222, -1.8563822507858276, -0.02572805993258953, 0.5098167657852173, 1.7632675170898438, 0.11232100427150726, -0.857310950756073], "theta": [0.2337241917848587, -1.8558425903320312, -0.02689654566347599, 0.4935251474380493, 1.763024926185608, 0.11323285102844238, -0.8563096523284912], "dq": [0.07939964532852173, -0.031921375542879105, 0.02149064652621746, -0.08847691863775253, 0.04256919398903847, 0.07448416948318481, 0.03794671222567558], "dtheta": [0.08182895928621292, -0.03485056385397911, 0.017767665907740593, -0.08363723009824753, 0.03463674709200859, 0.07714945822954178, 0.03869172930717468], "tau": [-61.23999786376953, -8.880000114440918, -18.792001724243164, 5.056000232696533, -3.4760000705718994, 4.240000247955322, -0.07600000500679016], "tau_des": [-2.0738654136657715, 0.15566767752170563, -0.6500023603439331, -0.8105224967002869, 0.5698261260986328, 0.40624430775642395, -0.10690906643867493], "tau_dot": [-77.3146743774414, -89.0009536743164, -25.10002326965332, 24.848730087280273, -4.836604118347168, 34.272865295410156, 15.453397750854492], "tau_ext": [14.707531929016113, -34.71522521972656, -36.682281494140625, 20.77164649963379, -3.0312912464141846, -7.321822643280029, -0.034964799880981445], "tcp_pose": [0.6382527947425842, -0.16935868561267853, -0.42739337682724, -0.008431700989603996, -0.02470713108778, 0.9995713233947754, 0.013252313248813152], "tcp_vel": [0.001200809027068317, 0.0005502814310602844, -0.05796841159462929, -0.004239702131599188, 0.0017652370734140277, -0.0009047210332937539], "flange_pose": [0.6415798664093018, -0.1743132472038269, -0.23748713731765747, -0.008431700989603996, -0.02470713108778, 0.9995713233947754, 0.013252313248813152], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.0783703327178955, -52.77278137207031, -11.90169620513916, -5.551257133483887, 16.47995948791504, -0.21440155804157257], "ext_wrench_in_world": [0.7276901475768821, -53.10329315524353, 10.50938498015286, 4.737131732904727, 16.723894221081444, 0.5678323173728929]}
+{"timestamp_ns": 1789729716281016767, "elapsed_ms": 5433, "source_timestamp_ns": 1789729716279243594, "q": [0.23936611413955688, -1.8577290773391724, -0.02515685372054577, 0.5064765214920044, 1.7646738290786743, 0.11518602073192596, -0.8556858897209167], "theta": [0.236896350979805, -1.857164978981018, -0.026299355551600456, 0.49022620916366577, 1.7643707990646362, 0.11613786220550537, -0.8546992540359497], "dq": [0.08065106719732285, -0.033549804240465164, 0.00954066775739193, -0.08412396162748337, 0.035723816603422165, 0.0713227316737175, 0.03772755712270737], "dtheta": [0.07639986276626587, -0.030985383316874504, 0.011025924235582352, -0.07973472774028778, 0.03516693040728569, 0.06982261687517166, 0.03685807064175606], "tau": [-61.64999771118164, -9.319999694824219, -18.75200080871582, 5.260000228881836, -3.496000051498413, 4.184000015258789, -0.12000000476837158], "tau_des": [-2.039855718612671, -0.5142969489097595, -0.5216296315193176, -0.3273290693759918, 0.513656497001648, 0.28358668088912964, -0.1354246288537979], "tau_dot": [-65.47396850585938, 82.59747314453125, 83.89453125, 11.654837608337402, 45.85362243652344, 88.72429656982422, -42.68151092529297], "tau_ext": [15.239020347595215, -34.181785583496094, -36.57400894165039, 20.55693817138672, -2.9841177463531494, -7.307709693908691, -0.016767853870987892], "tcp_pose": [0.638340950012207, -0.16929635405540466, -0.42960020899772644, -0.008480719290673733, -0.02468256652355194, 0.9995722770690918, 0.01319725438952446], "tcp_vel": [0.0023331749252974987, 0.0015678227646276355, -0.05320234224200249, -0.004652280360460281, 0.002671153750270605, 0.002204055432230234], "flange_pose": [0.6416860222816467, -0.17422962188720703, -0.23969371616840363, -0.008480719290673733, -0.02468256652355194, 0.9995722770690918, 0.01319725438952446], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.5473886728286743, -52.74653625488281, -11.07457160949707, -5.388322830200195, 16.642717361450195, -0.1967960000038147], "ext_wrench_in_world": [1.2406134542835292, -53.028140533853204, 9.680641750695516, 4.566953897987435, 16.878619575450482, 0.554910877589362]}
+{"timestamp_ns": 1789729716314331956, "elapsed_ms": 5466, "source_timestamp_ns": 1789729716309262813, "q": [0.24158237874507904, -1.8586305379867554, -0.02488657645881176, 0.5042133927345276, 1.7657999992370605, 0.11713141202926636, -0.8546273112297058], "theta": [0.23913609981536865, -1.8580448627471924, -0.026007387787103653, 0.487998902797699, 1.7654505968093872, 0.11810827255249023, -0.8536563515663147], "dq": [0.07421502470970154, -0.027046354487538338, 0.011289960704743862, -0.07340133935213089, 0.03809080272912979, 0.06269747018814087, 0.03532280772924423], "dtheta": [0.0719040110707283, -0.027696186676621437, 0.008805464953184128, -0.06920678168535233, 0.03736142814159393, 0.06306003034114838, 0.03464686870574951], "tau": [-61.16999816894531, -9.319999694824219, -18.564001083374023, 5.140000343322754, -3.51200008392334, 4.068000316619873, -0.11600000411272049], "tau_des": [-1.7345818281173706, 0.16946615278720856, -0.19534389674663544, -0.7504615783691406, 0.5747525095939636, 0.2223140299320221, -0.182091623544693], "tau_dot": [36.423316955566406, 14.71276569366455, -24.342994689941406, 22.69387435913086, -31.789722442626953, -18.596590042114258, -5.076425552368164], "tau_ext": [15.01722526550293, -34.23843765258789, -36.69131851196289, 20.675060272216797, -3.0037190914154053, -7.236465930938721, -0.004258425440639257], "tcp_pose": [0.6383886933326721, -0.16924725472927094, -0.43114084005355835, -0.008516076020896435, -0.024690570309758186, 0.9995721578598022, 0.013167439959943295], "tcp_vel": [0.000806566618848592, 0.001448121853172779, -0.049845900386571884, -0.0019418520387262106, 0.001569526270031929, -0.002507027005776763], "flange_pose": [0.6417469382286072, -0.17416884005069733, -0.24123427271842957, -0.008516076020896435, -0.024690570309758186, 0.9995721578598022, 0.013167439959943295], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.394530177116394, -52.54143142700195, -10.721293449401855, -5.229979991912842, 16.68284797668457, -0.18194466829299927], "ext_wrench_in_world": [1.3785343985031615, -52.80601222755683, 9.333679851842279, 4.406336526097605, 16.91133432042233, 0.5423846540796791]}
+{"timestamp_ns": 1789729716347594322, "elapsed_ms": 5500, "source_timestamp_ns": 1789729716339247147, "q": [0.24365051090717316, -1.8594260215759277, -0.02461344748735428, 0.5022266507148743, 1.766927719116211, 0.11888083070516586, -0.8536832928657532], "theta": [0.24121081829071045, -1.8588162660598755, -0.02571370266377926, 0.4860352873802185, 1.7665328979492188, 0.1198807954788208, -0.8527278304100037], "dq": [0.06930279731750488, -0.026279080659151077, 0.010176555253565311, -0.05922351032495499, 0.03966575488448143, 0.05752311646938324, 0.028048627078533173], "dtheta": [0.06523452699184418, -0.024154944345355034, 0.01075796689838171, -0.061604972928762436, 0.03528957441449165, 0.05854552984237671, 0.027521274983882904], "tau": [-60.72999954223633, -9.029999732971191, -18.37200164794922, 4.884000301361084, -3.436000108718872, 4.0360002517700195, -0.12800000607967377], "tau_des": [-1.2831158638000488, 0.4439871609210968, -0.13391076028347015, -0.8456680178642273, 0.5198802351951599, 0.2180682122707367, -0.16889047622680664], "tau_dot": [-61.827030181884766, -7.524315357208252, -12.499414443969727, -22.09372329711914, 28.299833297729492, 49.882450103759766, -23.90660285949707], "tau_ext": [14.679638862609863, -34.297794342041016, -36.78401565551758, 20.779373168945312, -3.0152556896209717, -7.162524700164795, 0.0003324273566249758], "tcp_pose": [0.6384063363075256, -0.1691749542951584, -0.43259260058403015, -0.008537421934306622, -0.024672366678714752, 0.9995720982551575, 0.013191898353397846], "tcp_vel": [0.0012303427793085575, 0.0025335100945085287, -0.04612649977207184, 0.0009383784490637481, -0.0014305930817499757, 0.00047689955681562424], "flange_pose": [0.6417728662490845, -0.1741056889295578, -0.2426864355802536, -0.008537421934306622, -0.024672366678714752, 0.9995720982551575, 0.013191898353397846], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.398619294166565, -52.348026275634766, -10.826387405395508, -5.131619930267334, 16.658769607543945, -0.17071153223514557], "ext_wrench_in_world": [1.3653172191858938, -52.61633331591219, 9.441399918237382, 4.309730717709476, 16.882526023135718, 0.5327350112031461]}
+{"timestamp_ns": 1789729716380931918, "elapsed_ms": 5533, "source_timestamp_ns": 1789729716379246593, "q": [0.24617353081703186, -1.860317349433899, -0.024123650044202805, 0.4999881982803345, 1.7682627439498901, 0.1210712343454361, -0.8527259230613708], "theta": [0.24371926486492157, -1.8596744537353516, -0.02519986405968666, 0.4838075041770935, 1.7678083181381226, 0.12210714817047119, -0.8517983555793762], "dq": [0.06393685191869736, -0.01897873543202877, 0.013663717545568943, -0.04984021559357643, 0.03165958821773529, 0.052055418491363525, 0.018411457538604736], "dtheta": [0.059429019689559937, -0.01777278445661068, 0.014675731770694256, -0.04999741539359093, 0.028764013200998306, 0.052684929221868515, 0.02032165788114071], "tau": [-61.029998779296875, -8.619999885559082, -18.520000457763672, 4.760000228881836, -3.500000238418579, 4.016000270843506, -0.11600000411272049], "tau_des": [-2.3326001167297363, 1.231856346130371, -0.5381897687911987, -0.9243738651275635, 0.4601105749607086, 0.35713812708854675, -0.10718526691198349], "tau_dot": [29.63995933532715, -15.437285423278809, -22.323974609375, -3.9533345699310303, -11.269472122192383, -8.644352912902832, 31.41356658935547], "tau_ext": [14.572349548339844, -34.73388671875, -36.74929428100586, 21.028833389282227, -3.004448413848877, -7.1234331130981445, 0.01191142201423645], "tcp_pose": [0.638399064540863, -0.16906288266181946, -0.4343950152397156, -0.008530859835445881, -0.024679353460669518, 0.9995712041854858, 0.013250038027763367], "tcp_vel": [0.00016378864529542625, 0.004272842314094305, -0.043213892728090286, 0.0032461779192090034, -0.00011408459977246821, 0.002642841311171651], "flange_pose": [0.6417636871337891, -0.17401573061943054, -0.2444893717765808, -0.008530859835445881, -0.024679353460669518, 0.9995712041854858, 0.013250038027763367], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.5272310972213745, -52.41841125488281, -11.180055618286133, -5.157379627227783, 16.57798957824707, -0.15774308145046234], "ext_wrench_in_world": [1.2471779865262678, -52.70328547994964, 9.788981746186384, 4.338970430851241, 16.80348063478074, 0.5191917875942865]}
+{"timestamp_ns": 1789729716414328107, "elapsed_ms": 5566, "source_timestamp_ns": 1789729716409314877, "q": [0.2478611022233963, -1.8607404232025146, -0.02364807203412056, 0.4986852705478668, 1.7690378427505493, 0.12262238562107086, -0.8521261215209961], "theta": [0.24538303911685944, -1.860077977180481, -0.024712344631552696, 0.48250362277030945, 1.7685365676879883, 0.12368595600128174, -0.8512189984321594], "dq": [0.05668848752975464, -0.014483977109193802, 0.013576053082942963, -0.037881799042224884, 0.021712349727749825, 0.05201634019613266, 0.019671814516186714], "dtheta": [0.05209394916892052, -0.0094153368845582, 0.016863949596881866, -0.03688712790608406, 0.019013898447155952, 0.0521685816347599, 0.019623558968305588], "tau": [-61.209999084472656, -8.519999504089355, -18.624000549316406, 4.752000331878662, -3.556000232696533, 4.039999961853027, -0.1120000034570694], "tau_des": [-2.2241404056549072, 1.6962159872055054, -0.5209510326385498, -1.050525188446045, 0.5027787089347839, 0.18524840474128723, -0.1550258845090866], "tau_dot": [63.22749328613281, -50.46428298950195, 13.542349815368652, -18.852373123168945, 2.2626147270202637, 58.198036193847656, 34.84752655029297], "tau_ext": [14.664148330688477, -34.709590911865234, -36.62179183959961, 20.992979049682617, -2.9635567665100098, -7.121335029602051, 0.01561036892235279], "tcp_pose": [0.6384044289588928, -0.16892439126968384, -0.4356294572353363, -0.008514659479260445, -0.02468477003276348, 0.9995707273483276, 0.013284601271152496], "tcp_vel": [0.0007335502887144685, 0.00457333168014884, -0.03800423443317413, -0.002192449988797307, -0.001106992014683783, -0.00027880590641871095], "flange_pose": [0.6417632102966309, -0.17389050126075745, -0.24572406709194183, -0.008514659479260445, -0.02468477003276348, 0.9995707273483276, 0.013284601271152496], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.4667823314666748, -52.584529876708984, -11.109086036682129, -5.209118843078613, 16.5543212890625, -0.15086501836776733], "ext_wrench_in_world": [1.3146664606716345, -52.864964190199274, 9.708925718066965, 4.391498889711952, 16.7826005424156, 0.5121418279753197]}
+{"timestamp_ns": 1789729716447658234, "elapsed_ms": 5600, "source_timestamp_ns": 1789729716439272074, "q": [0.24932515621185303, -1.8609123229980469, -0.023149942979216576, 0.49773186445236206, 1.7695599794387817, 0.12403717637062073, -0.8515652418136597], "theta": [0.24681918323040009, -1.8602334260940552, -0.024199793115258217, 0.481547087430954, 1.7690134048461914, 0.12512338161468506, -0.8506679534912109], "dq": [0.0469059944152832, -0.0018778754165396094, 0.016088949516415596, -0.027018550783395767, 0.014642550610005856, 0.04896162077784538, 0.01788853295147419], "dtheta": [0.04434136301279068, -0.0013990493025630713, 0.016526302322745323, -0.02602413296699524, 0.014145271852612495, 0.04381909593939781, 0.016489993780851364], "tau": [-61.029998779296875, -8.489999771118164, -18.520000457763672, 4.76800012588501, -3.5480000972747803, 3.9160001277923584, -0.11600000411272049], "tau_des": [-2.222567319869995, 1.329161524772644, -0.5455808639526367, -0.8695080280303955, 0.49227437376976013, 0.12086312472820282, -0.1579296737909317], "tau_dot": [76.55241394042969, -42.599308013916016, -15.288232803344727, 7.672277927398682, -38.093505859375, -48.13241195678711, -2.0853970050811768], "tau_ext": [14.536253929138184, -34.89003372192383, -36.63919448852539, 21.035776138305664, -2.9620301723480225, -7.081740856170654, 0.017300855368375778], "tcp_pose": [0.6384280920028687, -0.1687418520450592, -0.4367125928401947, -0.0085170092061162, -0.024678613990545273, 0.999570906162262, 0.013280605897307396], "tcp_vel": [0.0014785986859351397, 0.007215613499283791, -0.03319958597421646, -0.0005008039297536016, 0.0001648345496505499, 0.0009588076500222087], "flange_pose": [0.6417877078056335, -0.17370644211769104, -0.24680717289447784, -0.0085170092061162, -0.024678613990545273, 0.999570906162262, 0.013280605897307396], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.2996143102645874, -52.831146240234375, -11.00623607635498, -5.2837958335876465, 16.559049606323242, -0.14789555966854095], "ext_wrench_in_world": [1.4913003647468714, -53.10015680091371, 9.59716697371765, 4.465996256004979, 16.791050877259597, 0.5079205163321623]}
+{"timestamp_ns": 1789729716481006569, "elapsed_ms": 5633, "source_timestamp_ns": 1789729716479258892, "q": [0.2508504390716553, -1.8608324527740479, -0.022528214380145073, 0.4969358742237091, 1.7700129747390747, 0.125462144613266, -0.8509954214096069], "theta": [0.24830877780914307, -1.8601369857788086, -0.023560544475913048, 0.480756014585495, 1.769411325454712, 0.12656819820404053, -0.8501047492027283], "dq": [0.03504161909222603, 0.004534412641078234, 0.01631707325577736, -0.013349021784961224, 0.007422741036862135, 0.03378549590706825, 0.012208458036184311], "dtheta": [0.031381845474243164, 0.0061192261055111885, 0.015312342904508114, -0.013361583463847637, 0.005808344576507807, 0.030942687764763832, 0.012633172795176506], "tau": [-61.05999755859375, -8.920000076293945, -18.564001083374023, 5.188000202178955, -3.56000018119812, 3.9560000896453857, -0.11600000411272049], "tau_des": [-2.46842360496521, 0.8712582588195801, -0.754172146320343, -0.42491990327835083, 0.40563905239105225, 0.1727365106344223, -0.1495477259159088], "tau_dot": [83.8064956665039, -4.8284807205200195, 54.158233642578125, 15.188056945800781, 70.80094146728516, 20.389427185058594, 12.679667472839355], "tau_ext": [14.14095401763916, -34.923282623291016, -36.742183685302734, 20.90421485900879, -2.9728105068206787, -7.008870601654053, 0.015462126582860947], "tcp_pose": [0.6384842395782471, -0.1684081256389618, -0.4378829896450043, -0.008551143109798431, -0.0247038546949625, 0.9995695352554321, 0.013319116085767746], "tcp_vel": [0.0020171990618109703, 0.008820638991892338, -0.02464555948972702, 0.0006712075555697083, 0.0020411221776157618, 0.001503053936176002], "flange_pose": [0.6418573260307312, -0.17338693141937256, -0.24797819554805756, -0.008551143109798431, -0.0247038546949625, 0.9995695352554321, 0.013319116085767746], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.7398431897163391, -53.49960708618164, -11.159492492675781, -5.483865261077881, 16.653409957885742, -0.14759820699691772], "ext_wrench_in_world": [2.0892509051233636, -53.74445914350989, 9.71893723831524, 4.660331029197802, 16.895384891929602, 0.5078491012363507]}
+{"timestamp_ns": 1789729716514331957, "elapsed_ms": 5666, "source_timestamp_ns": 1789729716509316837, "q": [0.2516822814941406, -1.8605706691741943, -0.022084621712565422, 0.49672016501426697, 1.770147442817688, 0.1262558102607727, -0.8507235646247864], "theta": [0.24911372363567352, -1.8598625659942627, -0.02310912311077118, 0.4805498421192169, 1.7695066928863525, 0.12737274169921875, -0.849835991859436], "dq": [0.022466447204351425, 0.008344079367816448, 0.012602550908923149, -0.002115254057571292, 0.001553126610815525, 0.026697641238570213, 0.0058307768777012825], "dtheta": [0.022795282304286957, 0.011962594464421272, 0.014571472071111202, -0.0014886598801240325, 0.0004463627119548619, 0.02412756159901619, 0.005192914512008429], "tau": [-61.38999938964844, -9.050000190734863, -18.68000030517578, 5.288000106811523, -3.636000156402588, 3.952000141143799, -0.14400000870227814], "tau_des": [-2.1082587242126465, 0.5825530886650085, -0.7171052694320679, -0.4501974582672119, 0.4178362488746643, 0.1713312715291977, -0.14793142676353455], "tau_dot": [-112.58048248291016, 32.21044158935547, -5.291459083557129, 6.502336502075195, -13.959027290344238, 13.600708961486816, -54.573368072509766], "tau_ext": [14.485627174377441, -34.90133285522461, -36.59988784790039, 20.79151725769043, -2.9299814701080322, -7.02460241317749, 0.017879830673336983], "tcp_pose": [0.6385276317596436, -0.1681375354528427, -0.4385474920272827, -0.008586563169956207, -0.024733291938900948, 0.9995681643486023, 0.013344456441700459], "tcp_vel": [0.0018852886278182268, 0.008954538032412529, -0.01858273334801197, -0.0002168005012208596, 0.0017713082488626242, 0.004184612538665533], "flange_pose": [0.6419144868850708, -0.17312553524971008, -0.2486431747674942, -0.008586563169956207, -0.024733291938900948, 0.9995681643486023, 0.013344456441700459], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.11309736967086792, -54.051841735839844, -10.98477840423584, -5.629495620727539, 16.7862491607666, -0.14496611058712006], "ext_wrench_in_world": [2.7430886431344863, -54.260457799874416, 9.516192867183031, 4.79820917739803, 17.035569253296845, 0.5069180509778848]}
+{"timestamp_ns": 1789729716547662484, "elapsed_ms": 5700, "source_timestamp_ns": 1789729716539278484, "q": [0.25230082869529724, -1.8602033853530884, -0.02167525142431259, 0.4967411756515503, 1.7701828479766846, 0.1268840730190277, -0.8506159782409668], "theta": [0.24971258640289307, -1.859481930732727, -0.02268988825380802, 0.4805818796157837, 1.769506573677063, 0.12800920009613037, -0.849732518196106], "dq": [0.018761256709694862, 0.011403178796172142, 0.011113466694951057, 0.0007640247349627316, -0.00370085914619267, 0.02261371538043022, 0.0031803918536752462], "dtheta": [0.017072787508368492, 0.01279433537274599, 0.01258248370140791, 0.0027952627278864384, -0.00043180485954508185, 0.0179461520165205, 0.0035327847581356764], "tau": [-60.939998626708984, -8.899999618530273, -18.516000747680664, 5.432000160217285, -3.616000175476074, 3.888000249862671, -0.15200001001358032], "tau_des": [-1.7207930088043213, 1.035302996635437, -0.49591368436813354, -0.4967149794101715, 0.4002991318702698, 0.103886179625988, -0.1645052433013916], "tau_dot": [125.9802017211914, -75.84101104736328, 14.765547752380371, 29.990262985229492, 31.898910522460938, -63.62228775024414, -18.26515007019043], "tau_ext": [14.674226760864258, -35.026268005371094, -36.54985809326172, 20.701318740844727, -2.8932275772094727, -7.025891304016113, 0.022806884720921516], "tcp_pose": [0.6385762095451355, -0.16787074506282806, -0.43906036019325256, -0.008608916774392128, -0.024793950840830803, 0.9995661973953247, 0.013363365083932877], "tcp_vel": [0.001743175322189927, 0.008511478081345558, -0.014482235535979271, 0.0009267192799597979, 0.0014058779925107956, 0.003144174814224243], "flange_pose": [0.6419720649719238, -0.17286550998687744, -0.24915637075901031, -0.008608916774392128, -0.024793950840830803, 0.9995661973953247, 0.013363365083932877], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-0.48436611890792847, -54.64149475097656, -10.489641189575195, -5.7595438957214355, 16.920488357543945, -0.14239075779914856], "ext_wrench_in_world": [3.3669896779486765, -54.80643287535639, 8.993243432256177, 4.919359573750574, 17.17670344764448, 0.5062680399310849]}
+{"timestamp_ns": 1789729716581006769, "elapsed_ms": 5733, "source_timestamp_ns": 1789729716579273540, "q": [0.2528408467769623, -1.8596020936965942, -0.021190356463193893, 0.49703991413116455, 1.7701765298843384, 0.12739692628383636, -0.8505497574806213], "theta": [0.25023844838142395, -1.8588556051254272, -0.022189591079950333, 0.48089298605918884, 1.7694591283798218, 0.12852764129638672, -0.8496716022491455], "dq": [0.011442587710916996, 0.018900014460086823, 0.01054842583835125, 0.012698151171207428, 0.0007256082608364522, 0.00846028607338667, 0.0028414728585630655], "dtheta": [0.010462596081197262, 0.01888723485171795, 0.012744068168103695, 0.014123812317848206, -0.0027312408201396465, 0.009616546332836151, 0.0001421607012161985], "tau": [-60.46999740600586, -8.429999351501465, -18.25200080871582, 5.452000141143799, -3.700000286102295, 3.824000120162964, -0.12800000607967377], "tau_des": [-1.0495659112930298, 1.4623984098434448, -0.30198076367378235, -0.31933265924453735, 0.25773051381111145, 0.06927408277988434, -0.1794702261686325], "tau_dot": [-69.91143798828125, 36.67278289794922, 26.630123138427734, -30.564001083374023, -54.65607452392578, -13.058218955993652, -9.772363662719727], "tau_ext": [14.399261474609375, -35.18949890136719, -36.65473175048828, 20.514318466186523, -2.819655656814575, -6.977010726928711, 0.025968369096517563], "tcp_pose": [0.638643741607666, -0.16749288141727448, -0.43955621123313904, -0.008631790056824684, -0.02484932914376259, 0.9995636343955994, 0.013438859954476357], "tcp_vel": [0.0013592875329777598, 0.010228435508906841, -0.010522875934839249, 0.004178676754236221, 0.0018825053703039885, 0.0018526589265093207], "flange_pose": [0.642049252986908, -0.17251591384410858, -0.2496531456708908, -0.008631790056824684, -0.02484932914376259, 0.9995636343955994, 0.013438859954476357], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.7530219554901123, -55.993831634521484, -10.135089874267578, -6.124200344085693, 17.20482635498047, -0.13798770308494568], "ext_wrench_in_world": [4.700869604924547, -56.08490503176113, 8.57248892602854, 5.2675057220060655, 17.479368842706066, 0.5059334887139487]}
+{"timestamp_ns": 1789729716614346605, "elapsed_ms": 5766, "source_timestamp_ns": 1789729716609308488, "q": [0.2531149685382843, -1.858986258506775, -0.020804433152079582, 0.4976061284542084, 1.7700939178466797, 0.12760566174983978, -0.8505475521087646], "theta": [0.2505083382129669, -1.858221173286438, -0.021791765466332436, 0.48146679997444153, 1.7693445682525635, 0.12873923778533936, -0.8496749401092529], "dq": [0.00955147109925747, 0.021921690553426743, 0.014558442868292332, 0.021900437772274017, -0.003118375549092889, 0.004806240554898977, -0.0007521024672314525], "dtheta": [0.00822475552558899, 0.023459892719984055, 0.013595069758594036, 0.022888248786330223, -0.0052284435369074345, 0.00611315481364727, -0.0014725072542205453], "tau": [-60.39999771118164, -8.039999961853027, -18.263999938964844, 5.2960004806518555, -3.744000196456909, 3.824000120162964, -0.1720000058412552], "tau_des": [-0.8778876066207886, 1.7146637439727783, -0.2992558777332306, -0.6926910281181335, 0.2684646546840668, 0.13501255214214325, -0.31654736399650574], "tau_dot": [-32.94697570800781, 154.6747283935547, -17.7088565826416, 17.906517028808594, -38.830078125, 13.802486419677734, -39.675819396972656], "tau_ext": [14.446638107299805, -35.524600982666016, -36.67491149902344, 20.534069061279297, -2.755793333053589, -6.966593265533447, 0.032769910991191864], "tcp_pose": [0.6386566758155823, -0.1671835035085678, -0.439846932888031, -0.008664119988679886, -0.02483315020799637, 0.9995626211166382, 0.01352058444172144], "tcp_vel": [0.00019487169629428536, 0.010930065996944904, -0.009142439812421799, 0.0047096312046051025, 0.003421975765377283, -0.0003563223872333765], "flange_pose": [0.6420751810073853, -0.1722373217344284, -0.24994492530822754, -0.008664119988679886, -0.02483315020799637, 0.9995626211166382, 0.01352058444172144], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.6748297214508057, -57.165199279785156, -9.959315299987793, -6.451313018798828, 17.401742935180664, -0.1340060979127884], "ext_wrench_in_world": [5.67486792867658, -57.205283715868276, 8.339908450335084, 5.58497349587396, 17.692137586162563, 0.5043740334221042]}
+{"timestamp_ns": 1789729716647667813, "elapsed_ms": 5800, "source_timestamp_ns": 1789729716639372252, "q": [0.25336161255836487, -1.858267068862915, -0.020391881465911865, 0.49830904603004456, 1.7699438333511353, 0.1278121918439865, -0.8505923748016357], "theta": [0.25075075030326843, -1.8574848175048828, -0.021368715912103653, 0.482179194688797, 1.7691590785980225, 0.12894606590270996, -0.849727213382721], "dq": [0.007549639325588942, 0.02805398963391781, 0.014803211204707623, 0.02340841293334961, -0.003742428496479988, 0.0065502929501235485, -0.0026513708289712667], "dtheta": [0.008215646259486675, 0.025232071056962013, 0.013550981879234314, 0.02335277572274208, -0.006984183564782143, 0.007658522110432386, -0.002903552958741784], "tau": [-60.39999771118164, -8.09000015258789, -18.284000396728516, 5.340000152587891, -3.7400002479553223, 3.812000274658203, -0.24400001764297485], "tau_des": [-0.6823658347129822, 1.1528525352478027, -0.3247102200984955, -0.6038433313369751, 0.2733864486217499, 0.10633167624473572, -0.3069758415222168], "tau_dot": [-83.73046875, -14.7452392578125, 19.41704559326172, 29.966745376586914, -13.126850128173828, -46.99436950683594, -41.08626174926758], "tau_ext": [14.595670700073242, -35.63607406616211, -36.62337112426758, 20.498071670532227, -2.7128171920776367, -6.975936412811279, 0.07672478258609772], "tcp_pose": [0.6386699676513672, -0.16685208678245544, -0.4401213824748993, -0.008702479302883148, -0.024826528504490852, 0.9995615482330322, 0.013588380068540573], "tcp_vel": [0.00090624118456617, 0.011375737376511097, -0.00898609310388565, 0.0027106688357889652, 0.003569016233086586, 0.002631391631439328], "flange_pose": [0.6421036720275879, -0.17193131148815155, -0.25022032856941223, -0.008702479302883148, -0.024826528504490852, 0.9995615482330322, 0.013588380068540573], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.3772265911102295, -58.14689254760742, -9.667610168457031, -6.716014385223389, 17.5513973236084, -0.11888368427753448], "ext_wrench_in_world": [6.41941823907656, -58.14376803139246, 8.001422832433956, 5.841919273198653, 17.855014677588812, 0.49087741097051046]}
+{"timestamp_ns": 1789729716681011399, "elapsed_ms": 5833, "source_timestamp_ns": 1789729716679232856, "q": [0.25371280312538147, -1.8572611808776855, -0.0198410265147686, 0.49922776222229004, 1.7696913480758667, 0.1281164288520813, -0.8506784439086914], "theta": [0.2510993778705597, -1.856471300125122, -0.020805761218070984, 0.4831137955188751, 1.76885986328125, 0.12925076484680176, -0.8498295545578003], "dq": [0.009204193018376827, 0.030030978843569756, 0.014406662434339523, 0.022194821387529373, -0.009000593796372414, 0.005514456424862146, -0.0023771144915372133], "dtheta": [0.009040906094014645, 0.025158369913697243, 0.01423615962266922, 0.023350173607468605, -0.009091026149690151, 0.010358278639614582, -0.0007588491425849497], "tau": [-60.21999740600586, -8.639999389648438, -18.288000106811523, 5.692000389099121, -3.756000280380249, 3.820000171661377, -0.24800001084804535], "tau_des": [-0.2992989122867584, 0.844444215297699, -0.19879545271396637, -0.48000675439834595, 0.3429429531097412, 0.08909132331609726, -0.23990868031978607], "tau_dot": [-43.91674041748047, -80.70062255859375, 35.522987365722656, 69.43891906738281, 6.960741996765137, -22.095375061035156, 14.939047813415527], "tau_ext": [14.6532564163208, -35.503536224365234, -36.56306457519531, 20.363027572631836, -2.6820380687713623, -6.982611179351807, 0.13380633294582367], "tcp_pose": [0.6387045383453369, -0.16638527810573578, -0.4405023455619812, -0.0087747098878026, -0.02486620843410492, 0.9995589256286621, 0.013659455813467503], "tcp_vel": [0.0006509783561341465, 0.01056657638400793, -0.009248049929738045, -8.541774877812713e-05, 0.0038981211837381124, 0.000588446797337383], "flange_pose": [0.6421664953231812, -0.17149066925048828, -0.25060251355171204, -0.0087747098878026, -0.02486620843410492, 0.9995589256286621, 0.013659455813467503], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-4.095508575439453, -58.898582458496094, -9.31212329864502, -6.911598205566406, 17.716135025024414, -0.06725122034549713], "ext_wrench_in_world": [7.173247458406445, -58.84941616338069, 7.604116291234806, 6.026781183686258, 18.031043903310486, 0.4421730742351929]}
+{"timestamp_ns": 1789729716714335357, "elapsed_ms": 5866, "source_timestamp_ns": 1789729716709239927, "q": [0.25403010845184326, -1.8565106391906738, -0.019408170133829117, 0.49989715218544006, 1.7695012092590332, 0.1284487545490265, -0.8506794571876526], "theta": [0.25141552090644836, -1.8557261228561401, -0.020360538735985756, 0.48379454016685486, 1.7686381340026855, 0.1295872926712036, -0.8498427271842957], "dq": [0.01016047690063715, 0.025005793198943138, 0.01652386039495468, 0.02537470869719982, -0.007153628394007683, 0.014506125822663307, 0.0008890015305951238], "dtheta": [0.011262977495789528, 0.023239683359861374, 0.01494915783405304, 0.02171187289059162, -0.006625458598136902, 0.01199735514819622, -1.3289751223055646e-05], "tau": [-60.04999923706055, -8.779999732971191, -18.288000106811523, 5.776000499725342, -3.7320001125335693, 3.808000087738037, -0.24000000953674316], "tau_des": [-0.3522321879863739, 0.4060801565647125, -0.30924269556999207, -0.5925156474113464, 0.318025141954422, 0.0963219478726387, -0.2460450381040573], "tau_dot": [-37.97639083862305, -35.92808151245117, 14.318818092346191, 100.02344512939453, 56.51711654663086, 8.505313873291016, 5.2513604164123535], "tau_ext": [14.611373901367188, -35.43278884887695, -36.555355072021484, 20.28724479675293, -2.668156385421753, -6.977089881896973, 0.14340004324913025], "tcp_pose": [0.6387326121330261, -0.16604624688625336, -0.44082003831863403, -0.00881877075880766, -0.024869170039892197, 0.99955815076828, 0.013685821555554867], "tcp_vel": [7.960385119076818e-05, 0.010136619210243225, -0.01090108510106802, 0.0010216274531558156, 0.003099038265645504, -0.0010221822885796428], "flange_pose": [0.6422116160392761, -0.1711612194776535, -0.25092077255249023, -0.00881877075880766, -0.024869170039892197, 0.99955815076828, 0.013685821555554867], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-4.529150009155273, -59.12948226928711, -9.158191680908203, -6.973149299621582, 17.811748504638672, -0.041686732321977615], "ext_wrench_in_world": [7.615963643447402, -59.05447267432618, 7.432879861976534, 6.08296670041104, 18.130284470792226, 0.41861063149817296]}
+{"timestamp_ns": 1789729716747678022, "elapsed_ms": 5900, "source_timestamp_ns": 1789729716739220511, "q": [0.2544063925743103, -1.8558622598648071, -0.01897532492876053, 0.5004467368125916, 1.7693694829940796, 0.12883619964122772, -0.8506707549095154], "theta": [0.2517904043197632, -1.8550912141799927, -0.01991278864443302, 0.48435157537460327, 1.7684794664382935, 0.1299762725830078, -0.8498443961143494], "dq": [0.014775536954402924, 0.02017349749803543, 0.013722080737352371, 0.015185482800006866, -0.004518288187682629, 0.012184779159724712, 0.0010788009967654943], "dtheta": [0.013172595761716366, 0.01844274066388607, 0.014965987764298916, 0.015847325325012207, -0.003521302016451955, 0.012423936277627945, 0.0010583504335954785], "tau": [-60.22999954223633, -8.769999504089355, -18.36400032043457, 5.76800012588501, -3.7800002098083496, 3.824000120162964, -0.22800001502037048], "tau_des": [-0.5651724338531494, 0.17905446887016296, -0.4426194131374359, -0.5960990786552429, 0.2748716473579407, 0.17372944951057434, -0.24353614449501038], "tau_dot": [-53.895042419433594, 22.715728759765625, -14.51132869720459, 27.856287002563477, -51.07499313354492, 9.927145004272461, 13.52007007598877], "tau_ext": [14.598321914672852, -35.48785400390625, -36.56663513183594, 20.273210525512695, -2.672102689743042, -6.970131874084473, 0.14082147181034088], "tcp_pose": [0.6387490630149841, -0.16573862731456757, -0.4411749839782715, -0.00885376799851656, -0.02487078495323658, 0.999557375907898, 0.013714667409658432], "tcp_vel": [-0.00035379311884753406, 0.00927639938890934, -0.012383615598082542, 0.003141412977129221, 0.0026483882684260607, -0.0015963998157531023], "flange_pose": [0.6422415971755981, -0.17086422443389893, -0.25127625465393066, -0.00885376799851656, -0.02487078495323658, 0.999557375907898, 0.013714667409658432], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-4.8483052253723145, -59.36955261230469, -9.099650382995605, -7.038730621337891, 17.880672454833984, -0.031620100140571594], "ext_wrench_in_world": [7.946225565075114, -59.277018339658206, 7.358401597161544, 6.1448239576342, 18.20264454916911, 0.40993410914451217]}
+{"timestamp_ns": 1789729716781001970, "elapsed_ms": 5933, "source_timestamp_ns": 1789729716779238855, "q": [0.25500768423080444, -1.855258822441101, -0.01841404289007187, 0.5008712410926819, 1.769311547279358, 0.129471093416214, -0.8506578803062439], "theta": [0.2523886561393738, -1.8545125722885132, -0.019322654232382774, 0.48478463292121887, 1.768393874168396, 0.13061261177062988, -0.849843442440033], "dq": [0.01317347027361393, 0.012798497453331947, 0.012058659456670284, 0.005634869448840618, -0.0025588113348931074, 0.017375899478793144, -0.0017771784914657474], "dtheta": [0.015420419164001942, 0.010685230605304241, 0.014127937145531178, 0.00581009266898036, 0.0008552498184144497, 0.018023179844021797, 0.0002285541413584724], "tau": [-60.5099983215332, -8.809999465942383, -18.488000869750977, 5.764000415802002, -3.760000228881836, 3.824000120162964, -0.2200000137090683], "tau_des": [-0.6195064783096313, 0.0013824045890942216, -0.47318899631500244, -0.5488457679748535, 0.235506072640419, 0.10397239029407501, -0.13849100470542908], "tau_dot": [-19.714845657348633, -0.5784239172935486, -32.96666717529297, 7.446019649505615, 18.37405014038086, -50.940673828125, 65.13026428222656], "tau_ext": [14.775447845458984, -35.558441162109375, -36.5113639831543, 20.261037826538086, -2.6663506031036377, -6.976391792297363, 0.13006499409675598], "tcp_pose": [0.6387550234794617, -0.16541461646556854, -0.4417048394680023, -0.008872541598975658, -0.02488693967461586, 0.9995563626289368, 0.013749642297625542], "tcp_vel": [0.0003980922920163721, 0.006653487216681242, -0.013463297858834267, 0.00198379741050303, -0.0017184134339913726, 0.0008586727199144661], "flange_pose": [0.6422551274299622, -0.17055325210094452, -0.2518066167831421, -0.008872541598975658, -0.02488693967461586, 0.9995563626289368, 0.013749642297625542], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-5.112483024597168, -59.732933044433594, -8.873428344726562, -7.121365070343018, 17.940187454223633, -0.033154767006635666], "ext_wrench_in_world": [8.226054245793339, -59.620738738198334, 7.11323043443267, 6.223853915846092, 18.266322855206532, 0.4127437218502007]}
+{"timestamp_ns": 1789729716814340626, "elapsed_ms": 5966, "source_timestamp_ns": 1789729716809242297, "q": [0.25551414489746094, -1.8550175428390503, -0.018009308725595474, 0.5009292960166931, 1.7693241834640503, 0.1300198882818222, -0.8506386876106262], "theta": [0.2528989613056183, -1.8542917966842651, -0.018895694985985756, 0.48484882712364197, 1.7683906555175781, 0.13116121292114258, -0.8498297929763794], "dq": [0.017221329733729362, 0.005110848229378462, 0.014212273061275482, -0.0010940155480057001, -0.00024301728990394622, 0.017972532659769058, -0.0015817272942513227], "dtheta": [0.018124856054782867, 0.00476842001080513, 0.014539593830704689, -0.0001590730098541826, -0.0006940163439139724, 0.019442394375801086, 0.0014924603747203946], "tau": [-60.53999710083008, -8.739999771118164, -18.464000701904297, 5.748000144958496, -3.760000228881836, 3.81600022315979, -0.1680000126361847], "tau_des": [-0.9697980880737305, 0.6093438267707825, -0.43773531913757324, -0.7840328216552734, 0.3812921941280365, 0.1474178284406662, -0.07394331693649292], "tau_dot": [3.264038562774658, 80.75516510009766, 31.724241256713867, 26.844099044799805, -28.91138458251953, -14.983736991882324, 11.39415454864502], "tau_ext": [14.938192367553711, -35.58403778076172, -36.4564208984375, 20.26755142211914, -2.664231300354004, -6.977421283721924, 0.11309635639190674], "tcp_pose": [0.6387501955032349, -0.1652415692806244, -0.44213032722473145, -0.008874153718352318, -0.02491491660475731, 0.9995553493499756, 0.013767761178314686], "tcp_vel": [-0.0015516822459176183, 0.0040013850666582584, -0.014867573045194149, 0.0003040228330064565, 0.0011061165714636445, -0.00021583134366665035], "flange_pose": [0.642251193523407, -0.17038697004318237, -0.25223228335380554, -0.008874153718352318, -0.02491491660475731, 0.9995553493499756, 0.013767761178314686], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-5.217350482940674, -59.90233612060547, -8.658865928649902, -7.147632598876953, 17.96224594116211, -0.040461014956235886], "ext_wrench_in_world": [8.3385625442327, -59.778610334550294, 6.890043476211646, 6.2481099405545635, 18.28979398519266, 0.4208637107285768]}
+{"timestamp_ns": 1789729716847674953, "elapsed_ms": 6000, "source_timestamp_ns": 1789729716839222541, "q": [0.2560504972934723, -1.854884147644043, -0.017564279958605766, 0.5008822679519653, 1.769343376159668, 0.13064755499362946, -0.8505714535713196], "theta": [0.2534445524215698, -1.8541762828826904, -0.018429873511195183, 0.48480409383773804, 1.7683998346328735, 0.1317892074584961, -0.8497648239135742], "dq": [0.018967587500810623, 0.004906204529106617, 0.01786075159907341, -0.001805241801775992, 0.0006016002153046429, 0.02354595996439457, 0.005973474122583866], "dtheta": [0.018721383064985275, 0.003008837578818202, 0.016117803752422333, -0.0027589709497988224, 0.00036058950354345143, 0.02259170636534691, 0.003465930698439479], "tau": [-60.459999084472656, -8.550000190734863, -18.38800048828125, 5.52400016784668, -3.684000253677368, 3.7880001068115234, -0.14000000059604645], "tau_des": [-0.6794961094856262, 0.8482732772827148, -0.38170331716537476, -0.8426675200462341, 0.3401867747306824, 0.07928074896335602, -0.11515022814273834], "tau_dot": [35.60186004638672, 22.502241134643555, 36.510494232177734, -34.62779998779297, 60.6632080078125, -21.046836853027344, 34.622310638427734], "tau_ext": [14.924121856689453, -35.49076843261719, -36.457820892333984, 20.300418853759766, -2.6955294609069824, -6.970770359039307, 0.0709475576877594], "tcp_pose": [0.6387342214584351, -0.16511178016662598, -0.4425772726535797, -0.008856570348143578, -0.02491196058690548, 0.9995554685592651, 0.013777839951217175], "tcp_vel": [-0.0008922046981751919, 0.003709775395691395, -0.015583117492496967, 0.00042346768896095455, -0.0015805410221219063, -0.001962812151759863], "flange_pose": [0.6422286629676819, -0.1702611893415451, -0.2526791989803314, -0.008856570348143578, -0.02491196058690548, 0.9995554685592651, 0.013777839951217175], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-5.087086200714111, -59.791507720947266, -8.542505264282227, -7.095872402191162, 17.92571449279785, -0.06468716263771057], "ext_wrench_in_world": [8.200216488303223, -59.67152645031703, 6.778098434071126, 6.198783843376814, 18.250024852748233, 0.44553494997994325]}
+{"timestamp_ns": 1789729716880997081, "elapsed_ms": 6033, "source_timestamp_ns": 1789729716879253863, "q": [0.2568250000476837, -1.854797124862671, -0.016935475170612335, 0.5007188320159912, 1.769360899925232, 0.13155940175056458, -0.8504676222801208], "theta": [0.2542274296283722, -1.8541055917739868, -0.017773602157831192, 0.484637588262558, 1.7684091329574585, 0.13269853591918945, -0.8496576547622681], "dq": [0.02013089694082737, 0.00021177016606088728, 0.015917159616947174, -0.006130663212388754, 0.0004112392198294401, 0.024195581674575806, 0.0030514418613165617], "dtheta": [0.01991652511060238, 0.0013044931693002582, 0.01711152493953705, -0.005209475755691528, 0.000989308813586831, 0.022105423733592033, 0.0027955593541264534], "tau": [-60.68000030517578, -8.09999942779541, -18.37200164794922, 5.216000080108643, -3.6760001182556152, 3.764000177383423, -0.14400000870227814], "tau_des": [-1.1335227489471436, 1.3441296815872192, -0.448137491941452, -0.9563272595405579, 0.3725886344909668, 0.15102967619895935, -0.1309036910533905], "tau_dot": [-106.3642807006836, 26.656829833984375, 32.704368591308594, -7.145593166351318, -36.16667175292969, 26.281381607055664, -22.061203002929688], "tau_ext": [14.873748779296875, -35.73146438598633, -36.523712158203125, 20.52067756652832, -2.7390799522399902, -6.937868118286133, 0.03630803897976875], "tcp_pose": [0.6386920809745789, -0.16497480869293213, -0.44321250915527344, -0.00883573666214943, -0.024901380762457848, 0.9995558857917786, 0.0137795927003026], "tcp_vel": [-0.001346441451460123, 0.003890891559422016, -0.01680607721209526, 0.0023419740609824657, -0.0007520371582359076, -0.0009336835355497897], "flange_pose": [0.6421785354614258, -0.17012512683868408, -0.253314346075058, -0.00883573666214943, -0.024901380762457848, 0.9995558857917786, 0.0137795927003026], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-4.598806858062744, -59.449649810791016, -8.660235404968262, -6.977951526641846, 17.798038482666016, -0.10440101474523544], "ext_wrench_in_world": [7.696265398487815, -59.35804736791325, 6.9137020472045325, 6.088460085951512, 18.115443329941353, 0.4839913759172645]}
+{"timestamp_ns": 1789729716914335217, "elapsed_ms": 6066, "source_timestamp_ns": 1789729716909322697, "q": [0.2574335038661957, -1.8547420501708984, -0.01643930934369564, 0.5005596280097961, 1.7693685293197632, 0.13229075074195862, -0.8503873944282532], "theta": [0.25484010577201843, -1.8540593385696411, -0.017255518585443497, 0.4844741225242615, 1.7684135437011719, 0.13342678546905518, -0.8495723605155945], "dq": [0.01831045001745224, 0.001113698584958911, 0.01681317761540413, -0.005742518696933985, 0.0008894184720702469, 0.024372121319174767, 0.0041552819311618805], "dtheta": [0.02038644813001156, 0.0021820764522999525, 0.017454540356993675, -0.0056763929314911366, 0.0003144608635921031, 0.025332875549793243, 0.002164533594623208], "tau": [-60.93000030517578, -8.170000076293945, -18.516000747680664, 5.220000267028809, -3.680000066757202, 3.824000120162964, -0.11600000411272049], "tau_des": [-1.3718153238296509, 1.1827938556671143, -0.551282525062561, -0.807823896408081, 0.35248851776123047, 0.11723578721284866, -0.0978543758392334], "tau_dot": [146.76710510253906, 39.58434295654297, -15.299553871154785, -0.4104001820087433, 0.44635894894599915, 2.0621020793914795, 28.212289810180664], "tau_ext": [15.039093971252441, -35.74638748168945, -36.47757339477539, 20.582138061523438, -2.763932466506958, -6.943066596984863, 0.025702793151140213], "tcp_pose": [0.6386654376983643, -0.16486938297748566, -0.44371163845062256, -0.00881645455956459, -0.024902313947677612, 0.9995560646057129, 0.013776679523289204], "tcp_vel": [-0.0004095174663234502, 0.004006900824606419, -0.01699182763695717, 0.00023922680702526122, -0.0021571589168161154, 0.0010004182113334537], "flange_pose": [0.6421445608139038, -0.1700187623500824, -0.2538132965564728, -0.00881645455956459, -0.024902313947677612, 0.9995560646057129, 0.013776679523289204], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-4.211541175842285, -59.264862060546875, -8.693270683288574, -6.903005599975586, 17.703691482543945, -0.12626667320728302], "ext_wrench_in_world": [7.300804834973465, -59.19378326347701, 6.959035926227509, 6.018649377960898, 18.01691808119069, 0.5046228452924814]}
+{"timestamp_ns": 1789729716947659405, "elapsed_ms": 6100, "source_timestamp_ns": 1789729716939240009, "q": [0.2580590844154358, -1.8546664714813232, -0.015944188460707664, 0.5004006624221802, 1.7693686485290527, 0.13307322561740875, -0.8503149747848511], "theta": [0.25547149777412415, -1.8539921045303345, -0.016733428463339806, 0.4843119978904724, 1.768411636352539, 0.1342073678970337, -0.8494945168495178], "dq": [0.021099338307976723, 0.004716654773801565, 0.015194561332464218, -0.005101929884403944, -0.000990688567981124, 0.02757037803530693, 0.001956217922270298], "dtheta": [0.021503707394003868, 0.0027569530066102743, 0.016901209950447083, -0.004759542178362608, -0.001271737040951848, 0.02673937939107418, 0.003418250009417534], "tau": [-61.03999710083008, -8.319999694824219, -18.492000579833984, 5.304000377655029, -3.692000150680542, 3.7680001258850098, -0.12800000607967377], "tau_des": [-1.4559028148651123, 1.2007896900177002, -0.5081174373626709, -0.9016901254653931, 0.4303961396217346, 0.0645589828491211, -0.07809484750032425], "tau_dot": [-107.52616119384766, 57.953453063964844, 37.16489028930664, 36.68680953979492, -29.532976150512695, -47.86073303222656, -30.40302276611328], "tau_ext": [15.295348167419434, -35.6901969909668, -36.39215087890625, 20.594345092773438, -2.755711555480957, -6.959780216217041, 0.020902389660477638], "tcp_pose": [0.6386500597000122, -0.1647614687681198, -0.44421815872192383, -0.008791254833340645, -0.024917257949709892, 0.9995562434196472, 0.013754758983850479], "tcp_vel": [-0.00098523183260113, 0.0033153945114463568, -0.017206471413373947, -0.002482423558831215, -0.0007257847464643419, -0.0001943323586601764], "flange_pose": [0.6421195268630981, -0.1699027121067047, -0.254319429397583, -0.008791254833340645, -0.024917257949709892, 0.9995562434196472, 0.013754758983850479], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.8979811668395996, -59.04676055908203, -8.51679515838623, -6.809070587158203, 17.63193130493164, -0.13933365046977997], "ext_wrench_in_world": [6.975037275515002, -58.986444534537526, 6.7969261911261825, 5.928082607532306, 17.940417967316282, 0.5168146913089067]}
+{"timestamp_ns": 1789729716980909912, "elapsed_ms": 6133, "source_timestamp_ns": 1789729716979240845, "q": [0.2588837146759033, -1.8545531034469604, -0.015308075584471226, 0.5001986026763916, 1.7693687677383423, 0.13410523533821106, -0.8501590490341187], "theta": [0.25630706548690796, -1.8538888692855835, -0.016050215810537338, 0.4841078221797943, 1.7684082984924316, 0.13523495197296143, -0.8493310213088989], "dq": [0.020562898367643356, 0.0009598787291906774, 0.015129949897527695, -0.004415755160152912, -0.00043926999205723405, 0.028076929971575737, 0.0031269644387066364], "dtheta": [0.020459087565541267, 0.001960284309461713, 0.015678798779845238, -0.005243849940598011, -0.00045321814832277596, 0.023909689858555794, 0.0037417691200971603], "tau": [-60.91999816894531, -8.510000228881836, -18.444000244140625, 5.304000377655029, -3.704000234603882, 3.760000228881836, -0.1120000034570694], "tau_des": [-1.6316149234771729, 1.0733567476272583, -0.5661630034446716, -0.87380051612854, 0.3983384072780609, 0.05186737701296806, -0.10572056472301483], "tau_dot": [18.63931655883789, 18.812726974487305, 20.959068298339844, -31.6617431640625, 5.98555326461792, -1.3836185932159424, 14.200604438781738], "tau_ext": [15.098825454711914, -35.64919662475586, -36.475921630859375, 20.60975456237793, -2.7488231658935547, -6.925552845001221, 0.016396602615714073], "tcp_pose": [0.6386333107948303, -0.1646171361207962, -0.44488149881362915, -0.008760710246860981, -0.024911491200327873, 0.9995571374893188, 0.0137185612693429], "tcp_vel": [-0.001195539953187108, 0.003271693829447031, -0.01645650900900364, -0.0011051520705223083, -3.0779083317611367e-05, -0.0006609830888919532], "flange_pose": [0.6420907378196716, -0.16974495351314545, -0.2549821734428406, -0.008760710246860981, -0.024911491200327873, 0.9995571374893188, 0.0137185612693429], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.6970362663269043, -58.802486419677734, -8.420403480529785, -6.712196350097656, 17.5769100189209, -0.14807535707950592], "ext_wrench_in_world": [6.759391075057454, -58.749619214000084, 6.715396903405212, 5.834408328752951, 17.88036887505112, 0.5247478559858898]}
+{"timestamp_ns": 1789729717014230486, "elapsed_ms": 6166, "source_timestamp_ns": 1789729717009346557, "q": [0.25946009159088135, -1.8544905185699463, -0.014876225963234901, 0.5000402927398682, 1.7693735361099243, 0.13479286432266235, -0.8500694632530212], "theta": [0.25689154863357544, -1.853833794593811, -0.015583726577460766, 0.48394855856895447, 1.7684106826782227, 0.1359196901321411, -0.849236786365509], "dq": [0.021869178861379623, 0.0025056321173906326, 0.01467395480722189, -0.006073922850191593, 0.0013344507897272706, 0.021445946767926216, 0.0024569754023104906], "dtheta": [0.01879379153251648, 0.0009772510966286063, 0.015105371363461018, -0.004896971862763166, 0.000370115420082584, 0.02143356204032898, 0.002745510544627905], "tau": [-61.27000045776367, -8.65999984741211, -18.57200050354004, 5.3480000495910645, -3.7120001316070557, 3.7920002937316895, -0.11600000411272049], "tau_des": [-1.9261927604675293, 1.0304285287857056, -0.6794334053993225, -0.8682897686958313, 0.3700512647628784, 0.11682640016078949, -0.08631791919469833], "tau_dot": [-160.94683837890625, 7.719057083129883, 9.345414161682129, 13.884248733520508, 8.708181381225586, -4.5966949462890625, 27.274402618408203], "tau_ext": [15.135071754455566, -35.668426513671875, -36.46454620361328, 20.632293701171875, -2.7481510639190674, -6.922389507293701, 0.012615605257451534], "tcp_pose": [0.6386131644248962, -0.16451828181743622, -0.4453444480895996, -0.008750886656343937, -0.024918360635638237, 0.9995572566986084, 0.013701588846743107], "tcp_vel": [-0.0014560128329321742, 0.0029252369422465563, -0.015367232263088226, 0.0003824578889179975, -0.0004322125460021198, -0.0009484932525083423], "flange_pose": [0.6420667767524719, -0.1696397066116333, -0.25544488430023193, -0.008750886656343937, -0.024918360635638237, 0.9995572566986084, 0.013701588846743107], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.640733242034912, -58.7219123840332, -8.524406433105469, -6.685122489929199, 17.553035736083984, -0.1525912582874298], "ext_wrench_in_world": [6.701731816200539, -58.67448031005732, 6.824631024672474, 5.8083811020622385, 17.85515403835312, 0.5285769476554645]}
+{"timestamp_ns": 1789729717047560777, "elapsed_ms": 6200, "source_timestamp_ns": 1789729717039359150, "q": [0.2600063383579254, -1.8544511795043945, -0.01447486225515604, 0.49988481402397156, 1.7693827152252197, 0.13545577228069305, -0.8499637246131897], "theta": [0.25744178891181946, -1.8538016080856323, -0.015153429470956326, 0.4837900400161743, 1.7684181928634644, 0.1365809440612793, -0.8491269946098328], "dq": [0.01842414028942585, 0.002011068630963564, 0.016458548605442047, -0.004231387283653021, -0.0014661307213827968, 0.021705780178308487, 0.004116079770028591], "dtheta": [0.016909442842006683, -7.398350862786174e-05, 0.013216468505561352, -0.005835548508912325, 0.00014905689749866724, 0.02122647874057293, 0.0031022357288748026], "tau": [-61.32999801635742, -8.679999351501465, -18.584001541137695, 5.300000190734863, -3.684000253677368, 3.808000087738037, -0.1080000028014183], "tau_des": [-1.814802646636963, 0.8260074853897095, -0.6345871686935425, -0.9330056309700012, 0.40425488352775574, 0.07135368138551712, -0.1168547049164772], "tau_dot": [34.34310531616211, 63.39236831665039, 33.160701751708984, 8.312670707702637, 18.349292755126953, 23.43142318725586, -1.546726942062378], "tau_ext": [15.309041976928711, -35.65168380737305, -36.411956787109375, 20.646718978881836, -2.7564034461975098, -6.93715763092041, 0.010948825627565384], "tcp_pose": [0.6385886669158936, -0.16444116830825806, -0.4457777738571167, -0.008737359195947647, -0.024907812476158142, 0.9995579719543457, 0.01367742195725441], "tcp_vel": [-0.0009061317541636527, 0.001890286453999579, -0.013514927588403225, -0.0014054379425942898, -0.0014763075159862638, -0.0009193667792715132], "flange_pose": [0.6420368552207947, -0.16955359280109406, -0.25587788224220276, -0.008737359195947647, -0.024907812476158142, 0.9995579719543457, 0.01367742195725441], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.5714609622955322, -58.638031005859375, -8.391289710998535, -6.639854907989502, 17.53689956665039, -0.15655896067619324], "ext_wrench_in_world": [6.624556287314978, -58.59043304540203, 6.698071827898946, 5.764409666682206, 17.836575194771818, 0.5321624131920352]}
+{"timestamp_ns": 1789729717080900336, "elapsed_ms": 6233, "source_timestamp_ns": 1789729717079278932, "q": [0.26063406467437744, -1.854459285736084, -0.01400161162018776, 0.49964118003845215, 1.7693922519683838, 0.1362561583518982, -0.8498294949531555], "theta": [0.2580723166465759, -1.8538166284561157, -0.014651319943368435, 0.48353826999664307, 1.7684282064437866, 0.13737726211547852, -0.8489887118339539], "dq": [0.013212705962359905, -0.0001267025072593242, 0.010765518993139267, -0.005495851393789053, -0.0007244442240335047, 0.020759522914886475, 0.0033744003158062696], "dtheta": [0.013798211701214314, -0.0004364770429674536, 0.01136072725057602, -0.006028498988598585, 0.00044034302118234336, 0.01796700619161129, 0.0011484380811452866], "tau": [-61.189998626708984, -8.630000114440918, -18.54800033569336, 5.232000350952148, -3.688000202178955, 3.7960002422332764, -0.1120000034570694], "tau_des": [-1.7633869647979736, 0.6511042714118958, -0.6330487728118896, -0.7751847505569458, 0.3491397500038147, 0.04276607558131218, -0.1223800852894783], "tau_dot": [-10.155991554260254, 77.3241195678711, -24.361717224121094, -19.428569793701172, -7.31071662902832, -16.02702522277832, 12.218857765197754], "tau_ext": [15.20271110534668, -35.60732650756836, -36.463966369628906, 20.688331604003906, -2.779458522796631, -6.925455570220947, 0.007562246173620224], "tcp_pose": [0.6385654807090759, -0.16437241435050964, -0.4462752640247345, -0.008707701228559017, -0.024893535301089287, 0.9995591044425964, 0.013642258010804653], "tcp_vel": [-0.0002618561265990138, 0.001838806550949812, -0.011261935345828533, -0.0005961296847090125, -0.0020645088516175747, 0.0012837180402129889], "flange_pose": [0.6420019865036011, -0.16947181522846222, -0.2563747763633728, -0.008707701228559017, -0.024893535301089287, 0.9995591044425964, 0.013642258010804653], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.4213037490844727, -58.456485748291016, -8.333128929138184, -6.569583892822266, 17.5097713470459, -0.15964289009571075], "ext_wrench_in_world": [6.4624708912427735, -58.414855392127755, 6.651933751168347, 5.696117114431949, 17.805764933773013, 0.5347858869792866]}
+{"timestamp_ns": 1789729717114225858, "elapsed_ms": 6266, "source_timestamp_ns": 1789729717109253430, "q": [0.2610134482383728, -1.8544790744781494, -0.013687695376574993, 0.4994857609272003, 1.7693895101547241, 0.13675133883953094, -0.8497828841209412], "theta": [0.2584528625011444, -1.8538404703140259, -0.014322444796562195, 0.4833769202232361, 1.7684259414672852, 0.13786852359771729, -0.8489403128623962], "dq": [0.011599364690482616, -0.00011125458695460111, 0.010998480021953583, -0.004443061072379351, -0.0017498251982033253, 0.014598243869841099, 0.004053204786032438], "dtheta": [0.011584893800318241, -0.0008564686286263168, 0.010072674602270126, -0.004696190822869539, 0.00020524399587884545, 0.01447006594389677, 0.0010246937163174152], "tau": [-61.28999710083008, -8.779999732971191, -18.52400016784668, 5.240000247955322, -3.700000286102295, 3.7800002098083496, -0.12000000476837158], "tau_des": [-1.8505170345306396, 0.7957044243812561, -0.6609798073768616, -0.8193783760070801, 0.31309211254119873, 0.056981585919857025, -0.13686199486255646], "tau_dot": [-185.06019592285156, -30.453901290893555, -69.22390747070312, -37.75548553466797, -15.979365348815918, -35.18235397338867, 5.239316940307617], "tau_ext": [15.146499633789062, -35.548370361328125, -36.48970031738281, 20.712282180786133, -2.784682273864746, -6.917269706726074, 0.012083237059414387], "tcp_pose": [0.6385478377342224, -0.16433405876159668, -0.44658154249191284, -0.008684481494128704, -0.024896113201975822, 0.9995594620704651, 0.013626163825392723], "tcp_vel": [-0.0007611627224832773, 0.0013198171509429812, -0.009562774561345577, 0.00010197349911322817, -0.0013432083651423454, 8.71755401021801e-05], "flange_pose": [0.6419754028320312, -0.1694275587797165, -0.25668075680732727, -0.008684481494128704, -0.024896113201975822, 0.9995594620704651, 0.013626163825392723], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.2536303997039795, -58.22185134887695, -8.448857307434082, -6.502397060394287, 17.470882415771484, -0.15986676514148712], "ext_wrench_in_world": [6.285460813305893, -58.1918492171311, 6.77900745869625, 5.630843608938671, 17.76361664684302, 0.5347720776278211]}
+{"timestamp_ns": 1789729717147559118, "elapsed_ms": 6300, "source_timestamp_ns": 1789729717139249535, "q": [0.2613282799720764, -1.854495882987976, -0.013400133699178696, 0.49937474727630615, 1.769379734992981, 0.13717779517173767, -0.8497603535652161], "theta": [0.2587680518627167, -1.8538609743118286, -0.014022896066308022, 0.4832616150379181, 1.7684154510498047, 0.1382896900177002, -0.8489177823066711], "dq": [0.011142071336507797, -0.0011188569478690624, 0.008319944143295288, -0.002959334757179022, 0.0014033362967893481, 0.013630188070237637, -0.00024224318622145802], "dtheta": [0.009453962557017803, -0.0008263571071438491, 0.009176579304039478, -0.003152526682242751, -0.0014518429525196552, 0.013410323299467564, 0.0012960367603227496], "tau": [-61.18000030517578, -8.809999465942383, -18.48000144958496, 5.244000434875488, -3.7360000610351562, 3.7800002098083496, -0.11600000411272049], "tau_des": [-1.6133745908737183, 0.9252424836158752, -0.5950276851654053, -0.9464511275291443, 0.3163332939147949, 0.0031329819466918707, -0.16235309839248657], "tau_dot": [-42.78046417236328, -27.62047576904297, 35.39316940307617, -50.645591735839844, 5.795333385467529, -99.82395935058594, 17.75887680053711], "tau_ext": [15.205707550048828, -35.469085693359375, -36.46050262451172, 20.694564819335938, -2.7471463680267334, -6.9237775802612305, 0.019189348444342613], "tcp_pose": [0.6385281682014465, -0.16430488228797913, -0.4468400776386261, -0.008658244274556637, -0.024894926697015762, 0.9995598793029785, 0.013614890165627003], "tcp_vel": [-0.0009076374699361622, 0.00038904466782696545, -0.007693530526012182, -0.0015068224165588617, -0.0013308188645169139, -0.0011318281758576632], "flange_pose": [0.6419456601142883, -0.1693943589925766, -0.25693899393081665, -0.008658244274556637, -0.024894926697015762, 0.9995598793029785, 0.013614890165627003], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.1276328563690186, -57.98936462402344, -8.476317405700684, -6.431005954742432, 17.435771942138672, -0.15598885715007782], "ext_wrench_in_world": [6.148087984739917, -57.966646905490954, 6.816547088548369, 5.561244437132897, 17.725091739827576, 0.5310333858735236]}
+{"timestamp_ns": 1789729717180901437, "elapsed_ms": 6333, "source_timestamp_ns": 1789729717179292532, "q": [0.26168203353881836, -1.854517936706543, -0.013100236654281616, 0.4992622435092926, 1.7693694829940796, 0.13762857019901276, -0.8497464656829834], "theta": [0.2591223120689392, -1.853885293006897, -0.013707229867577553, 0.4831434488296509, 1.76840078830719, 0.1387321949005127, -0.8489048480987549], "dq": [0.010155959986150265, -0.0029735402204096317, 0.006212590727955103, -0.0022576958872377872, 0.0014642563182860613, 0.011177366599440575, -0.0008105545421130955], "dtheta": [0.008362126536667347, -0.0007061773794703186, 0.006819488015025854, -0.0026549948379397392, -0.0015552062541246414, 0.01033775508403778, -0.0002335976023459807], "tau": [-60.939998626708984, -8.729999542236328, -18.420000076293945, 5.180000305175781, -3.748000144958496, 3.7920002937316895, -0.14000000059604645], "tau_des": [-1.5510908365249634, 0.9451149702072144, -0.5033865571022034, -1.0045591592788696, 0.36254945397377014, 0.04750891774892807, -0.1319570243358612], "tau_dot": [102.37267303466797, 42.59955978393555, -3.565584659576416, 8.61584186553955, 40.376155853271484, 10.575993537902832, -7.7100372314453125], "tau_ext": [15.174934387207031, -35.432796478271484, -36.478572845458984, 20.699066162109375, -2.6993911266326904, -6.921937465667725, 0.020564189180731773], "tcp_pose": [0.6384937763214111, -0.16428031027317047, -0.4471242427825928, -0.008641422726213932, -0.02489442564547062, 0.9995602369308472, 0.013600248843431473], "tcp_vel": [-0.0012127707013860345, 0.00016241475532297045, -0.006505854893475771, -0.0016339236171916127, 0.000395385519368574, 0.0006470486987382174], "flange_pose": [0.6419047117233276, -0.16936437785625458, -0.2572229206562042, -0.008641422726213932, -0.02489442564547062, 0.9995602369308472, 0.013600248843431473], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.06782865524292, -57.821475982666016, -8.478560447692871, -6.389833450317383, 17.405363082885742, -0.15205018222332], "ext_wrench_in_world": [6.079786135525216, -57.80189237719545, 6.826278847111647, 5.52156807330219, 17.6927868018989, 0.5266270238346822]}
+{"timestamp_ns": 1789729717214234048, "elapsed_ms": 6366, "source_timestamp_ns": 1789729717209283897, "q": [0.2619099020957947, -1.8545408248901367, -0.012923873029649258, 0.4991808831691742, 1.7693742513656616, 0.13791286945343018, -0.8497406244277954], "theta": [0.25934892892837524, -1.8539094924926758, -0.01351844985038042, 0.4830564856529236, 1.7684024572372437, 0.1390094757080078, -0.848900556564331], "dq": [0.006420067977160215, -0.0003436286060605198, 0.0038700115401297808, -0.0020046220161020756, -0.0006445673643611372, 0.00867672823369503, -0.0002009916352108121], "dtheta": [0.007140432950109243, -0.0010092861484736204, 0.005864002741873264, -0.0032130142208188772, -0.0007590093882754445, 0.008780201897025108, 0.001190874958410859], "tau": [-60.88999938964844, -8.65999984741211, -18.392000198364258, 5.156000137329102, -3.7240002155303955, 3.7720000743865967, -0.13199999928474426], "tau_des": [-1.3409225940704346, 0.9392098188400269, -0.4216098189353943, -1.0308681726455688, 0.3615327477455139, 0.03959888964891434, -0.14547045528888702], "tau_dot": [59.590003967285156, 7.5594401359558105, -38.525691986083984, 1.3066606521606445, -26.570951461791992, 3.2616169452667236, 33.378395080566406], "tau_ext": [15.097976684570312, -35.469818115234375, -36.508216857910156, 20.727685928344727, -2.6974685192108154, -6.918377876281738, 0.024875910952687263], "tcp_pose": [0.6384711861610413, -0.16426949203014374, -0.4473034143447876, -0.008631096221506596, -0.024896785616874695, 0.9995604157447815, 0.013589119538664818], "tcp_vel": [-0.0007894585723988712, 0.00031867518555372953, -0.005675499327480793, -0.0008156505064107478, 4.26642100137542e-06, -0.00042741684592328966], "flange_pose": [0.6418781280517578, -0.16934943199157715, -0.25740188360214233, -0.008631096221506596, -0.024896785616874695, 0.9995604157447815, 0.013589119538664818], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.0415947437286377, -57.76271057128906, -8.536629676818848, -6.381431579589844, 17.389392852783203, -0.1498497873544693], "ext_wrench_in_world": [6.051840731803665, -57.74590972156442, 6.887758093352668, 5.513836588951482, 17.67651788914817, 0.5238598449480321]}
+{"timestamp_ns": 1789729717247561019, "elapsed_ms": 6400, "source_timestamp_ns": 1789729717239283521, "q": [0.2621208429336548, -1.854574203491211, -0.012759853154420853, 0.49908217787742615, 1.7693781852722168, 0.13816453516483307, -0.849734902381897], "theta": [0.2595598101615906, -1.8539420366287231, -0.013341257348656654, 0.48295149207115173, 1.7684053182601929, 0.13925683498382568, -0.8488964438438416], "dq": [0.006322637666016817, -0.0012376103550195694, 0.006280223838984966, -0.0036316707264631987, -0.0018846492748707533, 0.008196071721613407, 0.0005039150710217655], "dtheta": [0.007199818734079599, -0.0015227958792820573, 0.006323094945400953, -0.00362664507701993, -9.87938983598724e-05, 0.00839818175882101, 0.000929686997551471], "tau": [-60.82999801635742, -8.779999732971191, -18.352001190185547, 5.156000137329102, -3.692000150680542, 3.7680001258850098, -0.14800000190734863], "tau_des": [-1.33345627784729, 0.9427580237388611, -0.44718968868255615, -1.0604734420776367, 0.350888192653656, 0.08460292220115662, -0.12047924846410751], "tau_dot": [20.55515480041504, -74.27574920654297, 11.64163875579834, -13.117890357971191, 18.569597244262695, -33.78689956665039, -31.469684600830078], "tau_ext": [15.118706703186035, -35.46542739868164, -36.505062103271484, 20.742530822753906, -2.7158498764038086, -6.92149543762207, 0.027634408324956894], "tcp_pose": [0.638450562953949, -0.16425743699073792, -0.4474714398384094, -0.008625609800219536, -0.02490413188934326, 0.9995602965354919, 0.013584713451564312], "tcp_vel": [-0.0008745560771785676, 0.00044943904504179955, -0.005937064997851849, 0.00031743041472509503, -0.0002678472956176847, -0.0004921738291159272], "flange_pose": [0.6418554186820984, -0.16933573782444, -0.2575698494911194, -0.008625609800219536, -0.02490413188934326, 0.9995602965354919, 0.013584713451564312], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.012880802154541, -57.705387115478516, -8.577546119689941, -6.36927604675293, 17.38355255126953, -0.14517199993133545], "ext_wrench_in_world": [6.021825185804328, -57.6910620581581, 6.931264700182529, 5.501639137726491, 17.670288993849855, 0.5191389449068192]}
+{"timestamp_ns": 1789729717280897389, "elapsed_ms": 6433, "source_timestamp_ns": 1789729717279273435, "q": [0.2623812258243561, -1.854623556137085, -0.012528541497886181, 0.4989420175552368, 1.769376277923584, 0.1385081708431244, -0.8497182726860046], "theta": [0.2598191499710083, -1.8539904356002808, -0.013092062436044216, 0.48280441761016846, 1.7684019804000854, 0.13959646224975586, -0.8488808870315552], "dq": [0.006820769980549812, 0.00026647074264474213, 0.00896041002124548, -0.0039350599981844425, 0.0015560300089418888, 0.007522576954215765, -0.0003139591426588595], "dtheta": [0.006225511431694031, -0.0009514681296423078, 0.005984531249850988, -0.0029673054814338684, -0.00012742396211251616, 0.007915896363556385, 0.0002552901569288224], "tau": [-60.8599967956543, -8.889999389648438, -18.356000900268555, 5.212000370025635, -3.7240002155303955, 3.7920002937316895, -0.13199999928474426], "tau_des": [-1.5703611373901367, 0.8094100952148438, -0.5757842063903809, -0.8873054385185242, 0.27262064814567566, 0.07589145004749298, -0.09250258654356003], "tau_dot": [50.87318801879883, -119.40068817138672, -5.414555072784424, 39.87068176269531, 36.86602783203125, 20.981170654296875, -26.661684036254883], "tau_ext": [15.010882377624512, -35.39314270019531, -36.544158935546875, 20.727357864379883, -2.726471185684204, -6.920223712921143, 0.025631051510572433], "tcp_pose": [0.638433575630188, -0.16424088180065155, -0.4476849138736725, -0.008605957962572575, -0.024910474196076393, 0.9995604157447815, 0.013579445891082287], "tcp_vel": [-0.0005062981508672237, 0.0006170387496240437, -0.005260003264993429, 0.0003168074763379991, -0.0008177576237358153, 0.00018715043552219868], "flange_pose": [0.6418309211730957, -0.1693173348903656, -0.25778311491012573, -0.008605957962572575, -0.024910474196076393, 0.9995604157447815, 0.013579445891082287], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.9477758407592773, -57.56676483154297, -8.698721885681152, -6.340083122253418, 17.375856399536133, -0.1442379355430603], "ext_wrench_in_world": [5.952536756464142, -57.55901879455267, 7.058060611332325, 5.472614796353091, 17.661241772970143, 0.5185272643408867]}
+{"timestamp_ns": 1789729717314228509, "elapsed_ms": 6466, "source_timestamp_ns": 1789729717309407792, "q": [0.26254767179489136, -1.8546488285064697, -0.012378117069602013, 0.49886786937713623, 1.7693703174591064, 0.13872230052947998, -0.8496847748756409], "theta": [0.2599823772907257, -1.854013204574585, -0.012934371829032898, 0.48272642493247986, 1.7683933973312378, 0.13980519771575928, -0.8488480448722839], "dq": [0.006520271301269531, 0.0006722663529217243, 0.0070384168066084385, -0.003436947939917445, -0.0004988792352378368, 0.005506635177880526, 0.0025989958085119724], "dtheta": [0.005029524210840464, -0.0009244119864888489, 0.004644711036235094, -0.0026032947935163975, -0.0019646440632641315, 0.0065833162516355515, 0.0011283892672508955], "tau": [-61.029998779296875, -8.819999694824219, -18.404001235961914, 5.188000202178955, -3.764000177383423, 3.824000120162964, -0.12800000607967377], "tau_des": [-1.700732707977295, 0.9220677614212036, -0.5880158543586731, -0.9454688429832458, 0.2998863458633423, 0.08058071881532669, -0.14342927932739258], "tau_dot": [58.03241729736328, 24.612815856933594, 26.337018966674805, -10.383913040161133, 27.491418838500977, 24.086997985839844, 0.28347182273864746], "tau_ext": [15.045185089111328, -35.35645294189453, -36.53398513793945, 20.719520568847656, -2.702491283416748, -6.928196907043457, 0.020914556458592415], "tcp_pose": [0.6384180784225464, -0.16423018276691437, -0.4478214383125305, -0.008596617728471756, -0.024898743256926537, 0.9995608329772949, 0.013576461933553219], "tcp_vel": [-0.0007088342099450529, -1.2097273611288983e-05, -0.003984452690929174, -0.001334862201474607, 0.0006018462008796632, -0.00034850818337872624], "flange_pose": [0.6418118476867676, -0.16930563747882843, -0.257919579744339, -0.008596617728471756, -0.024898743256926537, 0.9995608329772949, 0.013576461933553219], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.928537368774414, -57.49151611328125, -8.748407363891602, -6.3250932693481445, 17.37187385559082, -0.14530234038829803], "ext_wrench_in_world": [5.9289911284333545, -57.486281038930485, 7.110551598901318, 5.458270585688702, 17.656360968907993, 0.5197291983938772]}
+{"timestamp_ns": 1789729717347562180, "elapsed_ms": 6500, "source_timestamp_ns": 1789729717339195554, "q": [0.26268354058265686, -1.8546696901321411, -0.012270933948457241, 0.49880319833755493, 1.7693666219711304, 0.13888958096504211, -0.8496643900871277], "theta": [0.26011383533477783, -1.8540321588516235, -0.012824795208871365, 0.482658714056015, 1.768386721611023, 0.1399695873260498, -0.848828136920929], "dq": [0.005497890058904886, 0.002114224713295698, 0.003811256028711796, -0.0036380435340106487, -0.00024801987456157804, 0.0060086436569690704, -0.001972862984985113], "dtheta": [0.0038177096284925938, -0.0006917034625075758, 0.0029328560922294855, -0.002091142116114497, 0.000158237453433685, 0.004645884968340397, 0.0008869385346770287], "tau": [-61.16999816894531, -8.84000015258789, -18.428001403808594, 5.184000015258789, -3.748000144958496, 3.7960002422332764, -0.13199999928474426], "tau_des": [-1.8122673034667969, 0.8216524720191956, -0.6359967589378357, -0.8927040100097656, 0.23377372324466705, 0.10967297106981277, -0.14856334030628204], "tau_dot": [-96.20137786865234, -64.72638702392578, 32.806358337402344, 32.30751419067383, 70.10928344726562, -23.797958374023438, -0.8471699357032776], "tau_ext": [15.132502555847168, -35.375423431396484, -36.49812698364258, 20.72992515563965, -2.6787400245666504, -6.945135116577148, 0.019037971273064613], "tcp_pose": [0.638405442237854, -0.1642233282327652, -0.4479292035102844, -0.008593449369072914, -0.024896280840039253, 0.9995610117912292, 0.013570494018495083], "tcp_vel": [-0.0002699065371416509, 0.0002519034605938941, -0.003049361752346158, -0.0001481813524151221, -0.00029740846366621554, -0.000316467834636569], "flange_pose": [0.6417979001998901, -0.16929654777050018, -0.25802725553512573, -0.008593449369072914, -0.024896280840039253, 0.9995610117912292, 0.013570494018495083], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.891883134841919, -57.455116271972656, -8.68466854095459, -6.315521717071533, 17.360382080078125, -0.14928902685642242], "ext_wrench_in_world": [5.889117285408335, -57.450015770532694, 7.04917208769769, 5.449436136683981, 17.64428192184149, 0.5233822631881084]}
+{"timestamp_ns": 1789729717380898409, "elapsed_ms": 6533, "source_timestamp_ns": 1789729717379197856, "q": [0.26278063654899597, -1.8546874523162842, -0.012183034792542458, 0.4987487494945526, 1.7693543434143066, 0.139033243060112, -0.8496552109718323], "theta": [0.26020634174346924, -1.8540464639663696, -0.01273700874298811, 0.48260176181793213, 1.7683701515197754, 0.14011013507843018, -0.8488200306892395], "dq": [0.003624172415584326, -0.0033430391922593117, 0.0013983971439301968, -0.0036996938288211823, 0.0020036164205521345, 0.004066778346896172, -0.0015772352926433086], "dtheta": [0.001255385926924646, 2.9874348911107518e-05, 0.0019301141146570444, -0.0011131929932162166, -0.0001990932214539498, 0.0020458740182220936, -0.0006461612065322697], "tau": [-60.97999954223633, -8.920000076293945, -18.400001525878906, 5.180000305175781, -3.7920002937316895, 3.8000001907348633, -0.13199999928474426], "tau_des": [-1.528978943824768, 0.6195448637008667, -0.566480278968811, -0.7829743027687073, 0.2070966213941574, 0.06512246280908585, -0.10931241512298584], "tau_dot": [-23.113056182861328, -129.45916748046875, -4.226574897766113, -33.86759948730469, -19.648616790771484, 41.95841598510742, -1.2986080646514893], "tau_ext": [15.107544898986816, -35.36461639404297, -36.50326156616211, 20.72622299194336, -2.674321413040161, -6.935802459716797, 0.023900965228676796], "tcp_pose": [0.6384012699127197, -0.164220929145813, -0.44800689816474915, -0.008584811352193356, -0.024899184703826904, 0.9995611310005188, 0.013560065068304539], "tcp_vel": [0.0002741401258390397, 0.0005766404210589826, -0.001314807333983481, 0.0004990994348190725, -0.0005685761570930481, 0.0012940377928316593], "flange_pose": [0.6417903900146484, -0.16929027438163757, -0.25810477137565613, -0.008584811352193356, -0.024899184703826904, 0.9995611310005188, 0.013560065068304539], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.8737282752990723, -57.44188690185547, -8.63315200805664, -6.312139987945557, 17.351795196533203, -0.14832159876823425], "ext_wrench_in_world": [5.869617286569804, -57.436163637131926, 6.999621289600281, 5.446356569388267, 17.63560749809915, 0.5219725649739905]}
+{"timestamp_ns": 1789729717414224851, "elapsed_ms": 6566, "source_timestamp_ns": 1789729717409206159, "q": [0.2628033459186554, -1.8546981811523438, -0.012135946191847324, 0.4987262487411499, 1.7693156003952026, 0.13907529413700104, -0.8496495485305786], "theta": [0.2602255940437317, -1.854055404663086, -0.012690183706581593, 0.4825781285762787, 1.7683274745941162, 0.14014863967895508, -0.84881591796875], "dq": [0.0020285395439714193, -0.0008733589202165604, 0.0017371283611282706, 0.0011701915645971894, 0.0004524492542259395, 0.001056949608027935, 0.00041758944280445576], "dtheta": [0.0002047067100647837, 0.00013035022129770368, 0.0013913310831412673, -0.0005057509988546371, -0.0004045147798024118, 0.0004858652828261256, 0.0003030532971024513], "tau": [-60.849998474121094, -8.880000114440918, -18.34800148010254, 5.200000286102295, -3.760000228881836, 3.7720000743865967, -0.14000000059604645], "tau_des": [-1.3871082067489624, 0.6682446599006653, -0.4877481162548065, -0.8434681296348572, 0.23806175589561462, 0.06108247488737106, -0.13188472390174866], "tau_dot": [46.264976501464844, -18.36590576171875, -20.459535598754883, 9.329730033874512, 3.417059898376465, -5.704440116882324, -10.096470832824707], "tau_ext": [15.055572509765625, -35.337501525878906, -36.52572250366211, 20.71043586730957, -2.670752763748169, -6.926893711090088, 0.027248846367001534], "tcp_pose": [0.6383962631225586, -0.16422206163406372, -0.4480292499065399, -0.008589017204940319, -0.024899424985051155, 0.9995611310005188, 0.013555154204368591], "tcp_vel": [0.00020751834381371737, 0.0005419019726105034, -0.0005572977825067937, 0.0008268000092357397, -0.00021939388534519821, 3.419197673792951e-05], "flange_pose": [0.6417868733406067, -0.1692894846200943, -0.2581270933151245, -0.008589017204940319, -0.024899424985051155, 0.9995611310005188, 0.013555154204368591], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.9061694145202637, -57.455265045166016, -8.647607803344727, -6.316515922546387, 17.355934143066406, -0.14574280381202698], "ext_wrench_in_world": [5.903030274966003, -57.44820930341106, 7.013694048142318, 5.450467638763568, 17.640036336658902, 0.5192156615973231]}
+{"timestamp_ns": 1789729717447560871, "elapsed_ms": 6600, "source_timestamp_ns": 1789729717439246298, "q": [0.2628057599067688, -1.8547075986862183, -0.012090743519365788, 0.4987146258354187, 1.76927649974823, 0.13909250497817993, -0.8496481776237488], "theta": [0.2602251172065735, -1.8540639877319336, -0.012643739581108093, 0.48256608843803406, 1.768284797668457, 0.1401609182357788, -0.8488168716430664], "dq": [0.0008121384307742119, -0.0005442955298349261, 0.0025427246000617743, -0.004103534854948521, -0.0012071343371644616, 0.0008906449656933546, 0.0006498757284134626], "dtheta": [-0.0005667155492119491, -0.0003962140472140163, 0.0016800636658445, -0.0005215511191636324, -0.0006091425311751664, -1.0207969580733334e-06, -0.00020907276484649628], "tau": [-60.8599967956543, -8.859999656677246, -18.30000114440918, 5.208000183105469, -3.7840001583099365, 3.744000196456909, -0.12000000476837158], "tau_des": [-1.2767457962036133, 0.7612976431846619, -0.45881006121635437, -0.8964633345603943, 0.24218647181987762, 0.058255624026060104, -0.13423815369606018], "tau_dot": [-68.59541320800781, 27.993972778320312, 39.39145278930664, 42.628074645996094, -40.409423828125, -17.823993682861328, 39.675804138183594], "tau_ext": [15.080060005187988, -35.37546157836914, -36.53864288330078, 20.725563049316406, -2.667386531829834, -6.915635108947754, 0.029016874730587006], "tcp_pose": [0.6383917331695557, -0.16422168910503387, -0.4480395019054413, -0.00859176553785801, -0.024897556751966476, 0.9995611310005188, 0.01355693954974413], "tcp_vel": [0.0001589447056176141, 0.0003140254120808095, -0.00011383022501831874, 0.0011802115477621555, -0.0006018973654136062, 1.96385444724001e-05], "flange_pose": [0.6417834162712097, -0.16928978264331818, -0.25813737511634827, -0.00859176553785801, -0.024897556751966476, 0.9995611310005188, 0.01355693954974413], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.947373390197754, -57.48299026489258, -8.641654014587402, -6.31848669052124, 17.361495971679688, -0.14302867650985718], "ext_wrench_in_world": [5.9452717906175945, -57.47371632653924, 7.006071563650952, 5.452179722077312, 17.645738289922207, 0.5166528012025247]}
+{"timestamp_ns": 1789729717480893171, "elapsed_ms": 6633, "source_timestamp_ns": 1789729717479185528, "q": [0.2628074586391449, -1.854720115661621, -0.012034252285957336, 0.4987035393714905, 1.769226312637329, 0.13911660015583038, -0.8496471047401428], "theta": [0.2602241635322571, -1.8540749549865723, -0.012586662545800209, 0.48255541920661926, 1.76823091506958, 0.14017868041992188, -0.8488187789916992], "dq": [-0.0009762198897078633, 0.002347000176087022, 0.0015312761534005404, 0.00024819819373078644, -0.002336586592718959, -0.0015093828551471233, -0.0020982399582862854], "dtheta": [0.0004102013190276921, -0.0005724296788685024, 0.002030436648055911, -0.00033679729676805437, -0.0011411280138418078, 0.0008469306631013751, 0.0006378177204169333], "tau": [-60.87999725341797, -8.809999465942383, -18.30000114440918, 5.184000015258789, -3.7680001258850098, 3.7840001583099365, -0.15600000321865082], "tau_des": [-1.545804738998413, 0.8907298445701599, -0.5293495655059814, -0.9799261689186096, 0.262982040643692, 0.0732269436120987, -0.16808214783668518], "tau_dot": [-70.97970581054688, 41.687992095947266, 30.64864158630371, 40.03525161743164, 9.483723640441895, 44.43185043334961, -38.263919830322266], "tau_ext": [15.13521957397461, -35.36186218261719, -36.53306198120117, 20.714611053466797, -2.6650712490081787, -6.913991928100586, 0.03226085007190704], "tcp_pose": [0.6383852362632751, -0.16422376036643982, -0.4480505883693695, -0.00859412644058466, -0.02489364892244339, 0.9995612502098083, 0.013557231053709984], "tcp_vel": [-0.00036051703500561416, -5.220588354859501e-05, -0.0006659771897830069, 0.00042302338988520205, 8.28392367111519e-05, -0.0011725735384970903], "flange_pose": [0.6417778134346008, -0.16929195821285248, -0.25814852118492126, -0.00859412644058466, -0.02489364892244339, 0.9995612502098083, 0.013557231053709984], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.0030875205993652, -57.513004302978516, -8.596759796142578, -6.309665679931641, 17.3715877532959, -0.1397017240524292], "ext_wrench_in_world": [6.001181638934951, -57.49974786646718, 6.9594031232995475, 5.44295108726032, 17.655419053667845, 0.513731579469916]}
+{"timestamp_ns": 1789729717514295533, "elapsed_ms": 6666, "source_timestamp_ns": 1789729717510246298, "q": [0.26280760765075684, -1.8547312021255493, -0.011980755254626274, 0.4986959397792816, 1.7691854238510132, 0.13913482427597046, -0.84964919090271], "theta": [0.2602222263813019, -1.8540852069854736, -0.01253335177898407, 0.482547402381897, 1.7681877613067627, 0.14019346237182617, -0.8488224148750305], "dq": [-0.0013373689725995064, 0.0004792087129317224, 0.002512193750590086, 0.0002944433072116226, -0.004046023357659578, -0.0005159014253877103, 0.00183864776045084], "dtheta": [-0.0001898663176689297, -0.00021345233835745603, 0.0019471265841275454, -0.0001367032527923584, -0.002219307003542781, 0.0007293412927538157, -0.0002854843041859567], "tau": [-60.90999984741211, -8.869999885559082, -18.34000015258789, 5.160000324249268, -3.7680001258850098, 3.7720000743865967, -0.1680000126361847], "tau_des": [-1.4570441246032715, 0.8255704641342163, -0.5157808661460876, -0.9412527084350586, 0.2717368006706238, 0.07224193960428238, -0.15651169419288635], "tau_dot": [-22.8217830657959, -88.70025634765625, -12.802623748779297, 12.569422721862793, 21.967811584472656, -4.800922870635986, -29.12596893310547], "tau_ext": [15.148061752319336, -35.369991302490234, -36.53728103637695, 20.72174644470215, -2.6625876426696777, -6.913266181945801, 0.036098454147577286], "tcp_pose": [0.6383792757987976, -0.16422401368618011, -0.44806107878685, -0.008594751358032227, -0.024889949709177017, 0.9995612502098083, 0.013561100699007511], "tcp_vel": [-0.00020317033340688795, -7.810046372469515e-05, -0.0001888537808554247, -0.0002519890549592674, 0.00032318729790858924, 0.00011559330596355721], "flange_pose": [0.6417720913887024, -0.16929368674755096, -0.2581590414047241, -0.008594751358032227, -0.024889949709177017, 0.9995612502098083, 0.013561100699007511], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.012481927871704, -57.528324127197266, -8.558907508850098, -6.306039333343506, 17.374393463134766, -0.1369663029909134], "ext_wrench_in_world": [6.0102284637409875, -57.51366129719901, 6.920544776199451, 5.439274202786107, 17.65806750976631, 0.5112612063236183]}
+{"timestamp_ns": 1789729717547563741, "elapsed_ms": 6700, "source_timestamp_ns": 1789729717539240750, "q": [0.26280829310417175, -1.8547403812408447, -0.011943542398512363, 0.4986873269081116, 1.7691501379013062, 0.13915511965751648, -0.8496497869491577], "theta": [0.26022017002105713, -1.8540929555892944, -0.012496826238930225, 0.4825389087200165, 1.7681506872177124, 0.14021170139312744, -0.8488243222236633], "dq": [0.0005462628905661404, -0.002893558470532298, 0.00018352482584305108, -0.0005429869634099305, -0.0025964733213186264, -0.001690838485956192, -0.0005779643543064594], "dtheta": [-1.246057672688039e-05, -0.0002153969107894227, 0.000913222145754844, -0.00025850170641206205, -0.00024247450346592814, 0.0006060806335881352, 6.886395567562431e-05], "tau": [-60.87999725341797, -8.84999942779541, -18.34000015258789, 5.160000324249268, -3.764000177383423, 3.7920002937316895, -0.15600000321865082], "tau_des": [-1.4729492664337158, 0.7909799218177795, -0.5044301152229309, -0.9271079301834106, 0.23896639049053192, 0.05965453013777733, -0.16583605110645294], "tau_dot": [164.9276580810547, -26.02907943725586, -39.342201232910156, 1.453254222869873, -23.794042587280273, 51.28901672363281, -35.455833435058594], "tau_ext": [15.183049201965332, -35.335479736328125, -36.525245666503906, 20.70883560180664, -2.6631736755371094, -6.921541690826416, 0.044730812311172485], "tcp_pose": [0.6383757591247559, -0.16422691941261292, -0.44806745648384094, -0.008595389313995838, -0.024888429790735245, 0.9995613098144531, 0.013558988459408283], "tcp_vel": [8.241023897426203e-05, 5.321247226675041e-05, -0.0001955713814822957, 0.00025731310597620904, -0.0005123275332152843, -0.00021454216039273888], "flange_pose": [0.6417688131332397, -0.1692957878112793, -0.2581653892993927, -0.008595389313995838, -0.024888429790735245, 0.9995613098144531, 0.013558988459408283], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.0183849334716797, -57.52937316894531, -8.52562141418457, -6.29947566986084, 17.379270553588867, -0.13172723352909088], "ext_wrench_in_world": [6.015417340275041, -57.51351388171341, 6.88738851210338, 5.432437936149685, 17.662734366065692, 0.506185280057301]}
+{"timestamp_ns": 1789729717580985600, "elapsed_ms": 6733, "source_timestamp_ns": 1789729717579258700, "q": [0.26280900835990906, -1.8547563552856445, -0.011922641657292843, 0.49866268038749695, 1.7691270112991333, 0.13916872441768646, -0.8496488928794861], "theta": [0.2602183222770691, -1.8541070222854614, -0.012478658929467201, 0.4825141131877899, 1.7681249380111694, 0.14022207260131836, -0.8488264679908752], "dq": [-0.001089869998395443, 0.0005706377560272813, -0.001568345120176673, -0.0002222077309852466, 0.0018768644658848643, -0.0002399904769845307, 0.002160885138437152], "dtheta": [4.105412881472148e-05, -0.00012250836880411953, 0.00010613353515509516, -0.0002589800569694489, -0.0005680304020643234, -0.0009419266716577113, 0.00019812516984529793], "tau": [-60.90999984741211, -8.889999389648438, -18.31599998474121, 5.180000305175781, -3.7880001068115234, 3.752000093460083, -0.15600000321865082], "tau_des": [-1.4829570055007935, 0.7616379857063293, -0.47196587920188904, -0.9036847949028015, 0.2616721987724304, 0.07149254530668259, -0.15463900566101074], "tau_dot": [103.92609405517578, 22.536237716674805, 56.06035232543945, 4.1097564697265625, -58.37957763671875, -45.7062873840332, -20.42600440979004], "tau_ext": [15.194242477416992, -35.3460693359375, -36.524864196777344, 20.724674224853516, -2.6624608039855957, -6.915986061096191, 0.04827357828617096], "tcp_pose": [0.6383755207061768, -0.16423049569129944, -0.44807133078575134, -0.008596492931246758, -0.024891523644328117, 0.9995612502098083, 0.013557028956711292], "tcp_vel": [-0.00027223475626669824, 0.00012025891192024574, -0.00010917260806309059, 0.0004173070192337036, 0.0010769390501081944, 1.222438550030347e-05], "flange_pose": [0.6417689919471741, -0.16929858922958374, -0.2581692636013031, -0.008596492931246758, -0.024891523644328117, 0.9995612502098083, 0.013557028956711292], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.021385908126831, -57.52445602416992, -8.492430686950684, -6.292441368103027, 17.382890701293945, -0.12496105581521988], "ext_wrench_in_world": [6.0179513203948805, -57.50750468163857, 6.85451383044948, 5.425003850749605, 17.66621344823727, 0.499558195097333]}
+{"timestamp_ns": 1789729717614230162, "elapsed_ms": 6766, "source_timestamp_ns": 1789729717609212040, "q": [0.2628089487552643, -1.8547651767730713, -0.011914322152733803, 0.498647004365921, 1.7691009044647217, 0.1391725391149521, -0.8496473431587219], "theta": [0.26021650433540344, -1.8541148900985718, -0.012472555041313171, 0.4824991524219513, 1.7680974006652832, 0.14022302627563477, -0.8488267064094543], "dq": [3.545152867445722e-05, 5.322873766999692e-05, -0.0033996461424976587, 0.0008998482953757048, 0.0007433858118019998, 0.0009332604240626097, -0.0008848124998621643], "dtheta": [-2.5416889911866747e-05, -0.0003355808730702847, 8.388317655771971e-05, -0.0005830414593219757, -0.0010637036757543683, 9.194621270580683e-06, 1.9331830571900355e-06], "tau": [-60.89999771118164, -8.869999885559082, -18.31599998474121, 5.168000221252441, -3.7760002613067627, 3.752000093460083, -0.15200001001358032], "tau_des": [-1.4345072507858276, 0.802586555480957, -0.3992535471916199, -0.905040442943573, 0.3110795319080353, 0.023282544687390327, -0.13684168457984924], "tau_dot": [126.20755767822266, -24.364830017089844, -6.583287239074707, -61.85908508300781, 9.766424179077148, 6.818136692047119, 11.296804428100586], "tau_ext": [15.195975303649902, -35.30726623535156, -36.51494598388672, 20.706439971923828, -2.661121368408203, -6.912964820861816, 0.04679698869585991], "tcp_pose": [0.6383731961250305, -0.16423465311527252, -0.4480714201927185, -0.008603479713201523, -0.02489517815411091, 0.9995611906051636, 0.013551601208746433], "tcp_vel": [-0.00012496256385929883, -0.00022261835692916065, 8.021212124731392e-05, -0.000592209747992456, 0.0007018008036538959, 0.0004035893944092095], "flange_pose": [0.641769289970398, -0.1693006008863449, -0.2581693232059479, -0.008603479713201523, -0.02489517815411091, 0.9995611906051636, 0.013551601208746433], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.9981822967529297, -57.46925735473633, -8.47409439086914, -6.272082328796387, 17.374496459960938, -0.1229761615395546], "ext_wrench_in_world": [5.992247665596177, -57.45294401786146, 6.838647916764829, 5.404926072213251, 17.65691437607057, 0.49740927084634373]}
+{"timestamp_ns": 1789729717647583390, "elapsed_ms": 6800, "source_timestamp_ns": 1789729717639242561, "q": [0.26280760765075684, -1.8547755479812622, -0.011904236860573292, 0.49863600730895996, 1.7690898180007935, 0.13917385041713715, -0.8496463298797607], "theta": [0.26021406054496765, -1.854123830795288, -0.012464210391044617, 0.4824881851673126, 1.7680860757827759, 0.14022183418273926, -0.8488274216651917], "dq": [-0.0014686983777210116, 0.00028841389575973153, -0.0030624757055193186, -0.0012023685267195106, 0.0017174502136185765, 4.1400922782486305e-05, 0.0008076619706116617], "dtheta": [0.0002042251726379618, -0.00035721814492717385, 8.698982856003568e-05, -4.8309899284504354e-05, -0.0007214694051072001, -0.00016707870236132294, -0.0002284854999743402], "tau": [-60.88999938964844, -8.889999389648438, -18.32000160217285, 5.156000137329102, -3.756000280380249, 3.7280001640319824, -0.13199999928474426], "tau_des": [-1.4958491325378418, 0.8771227598190308, -0.4058510661125183, -0.9526968598365784, 0.311781644821167, 0.026929162442684174, -0.14296774566173553], "tau_dot": [30.394081115722656, -10.591447830200195, -22.158100128173828, -27.711841583251953, 14.013755798339844, -50.41642761230469, 27.81664276123047], "tau_ext": [15.209805488586426, -35.35506057739258, -36.52581024169922, 20.731435775756836, -2.664882183074951, -6.904751777648926, 0.04121318832039833], "tcp_pose": [0.6383711099624634, -0.16423754394054413, -0.44807228446006775, -0.008604935370385647, -0.024894673377275467, 0.9995611906051636, 0.013552132062613964], "tcp_vel": [-0.0004174188361503184, -0.00032586941961199045, -5.8407869801158085e-05, -0.00037011911626905203, 0.0007995627238415182, 3.670030855573714e-05], "flange_pose": [0.6417677402496338, -0.16930368542671204, -0.2581702172756195, -0.008604935370385647, -0.024894673377275467, 0.9995611906051636, 0.013552132062613964], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.978099822998047, -57.460506439208984, -8.461729049682617, -6.264139175415039, 17.36581802368164, -0.12471563369035721], "ext_wrench_in_world": [5.971502472037472, -57.44489416055936, 6.826787709087302, 5.397473667112255, 17.647800561956036, 0.49904164970106435]}
+{"timestamp_ns": 1789729717680904332, "elapsed_ms": 6833, "source_timestamp_ns": 1789729717679215627, "q": [0.26280608773231506, -1.854790449142456, -0.01188376173377037, 0.4986255466938019, 1.7690743207931519, 0.1391754299402237, -0.8496466279029846], "theta": [0.2602105736732483, -1.8541375398635864, -0.012445804663002491, 0.4824778735637665, 1.768070101737976, 0.140220046043396, -0.8488303422927856], "dq": [-0.00018891491345129907, 0.00010238594404654577, 0.001869994797743857, 0.001394332735799253, 0.0010630196193233132, 0.0007903024088591337, -0.0011630820808932185], "dtheta": [-0.00032845218083821237, -0.0006300243549048901, 0.000630451540928334, 5.534065348911099e-05, -0.0010250393534079194, 0.00035733237746171653, -0.0005149932694621384], "tau": [-60.97999954223633, -8.84000015258789, -18.308000564575195, 5.168000221252441, -3.756000280380249, 3.7200002670288086, -0.1600000113248825], "tau_des": [-1.4011456966400146, 0.9659033417701721, -0.3875756859779358, -0.9953685998916626, 0.309159517288208, -0.0013792787212878466, -0.1528233289718628], "tau_dot": [-48.5573844909668, 103.77433776855469, -23.079425811767578, 10.004377365112305, 41.13286209106445, -48.97032165527344, -16.613426208496094], "tau_ext": [15.24423885345459, -35.34861755371094, -36.51904296875, 20.722379684448242, -2.669837236404419, -6.896177291870117, 0.04020518809556961], "tcp_pose": [0.6383659243583679, -0.16424155235290527, -0.44807517528533936, -0.008606141433119774, -0.02489151619374752, 0.9995611906051636, 0.013555275276303291], "tcp_vel": [-0.0003008745261467993, -0.0005591242224909365, 0.0002409118606010452, -0.0005429479642771184, -4.419700780999847e-05, -0.00012440307182259858], "flange_pose": [0.6417630314826965, -0.1693088859319687, -0.2581731379032135, -0.008606141433119774, -0.02489151619374752, 0.9995611906051636, 0.013555275276303291], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.960597038269043, -57.453128814697266, -8.42430305480957, -6.247715473175049, 17.358884811401367, -0.12847073376178741], "ext_wrench_in_world": [5.952643724025659, -57.43748520485967, 6.789503178939001, 5.381596363913181, 17.639919983244265, 0.5029699984506819]}
+{"timestamp_ns": 1789729717714229443, "elapsed_ms": 6866, "source_timestamp_ns": 1789729717709191104, "q": [0.26280370354652405, -1.8547981977462769, -0.011856766417622566, 0.4986228048801422, 1.7690585851669312, 0.13917718827724457, -0.8496479392051697], "theta": [0.26020699739456177, -1.8541450500488281, -0.01242124754935503, 0.48247548937797546, 1.7680535316467285, 0.14021944999694824, -0.848833441734314], "dq": [0.0002924342988990247, -0.00036362861283123493, -4.26186052209232e-05, 0.00010385685891378671, -0.001963397953659296, -0.00015690769942011684, 0.001294042100198567], "dtheta": [-0.00036231029662303627, -7.541434752056375e-05, 0.001049135229550302, -5.534577212529257e-05, -0.000748026417568326, -0.00030257232720032334, 0.0002854414633475244], "tau": [-60.97999954223633, -8.84999942779541, -18.31599998474121, 5.200000286102295, -3.7720000743865967, 3.756000280380249, -0.18400001525878906], "tau_des": [-1.4509083032608032, 0.7515274882316589, -0.5001814961433411, -0.8828781843185425, 0.24156437814235687, 0.05149220675230026, -0.17117707431316376], "tau_dot": [-17.036039352416992, 26.215925216674805, -18.433494567871094, 21.211902618408203, -1.2850347757339478, 37.84452438354492, -15.009811401367188], "tau_ext": [15.229379653930664, -35.304832458496094, -36.532508850097656, 20.704980850219727, -2.661668539047241, -6.89356803894043, 0.052519284188747406], "tcp_pose": [0.6383618712425232, -0.16424112021923065, -0.4480797350406647, -0.008605970069766045, -0.02488781325519085, 0.9995611906051636, 0.013561153784394264], "tcp_vel": [-3.931520041078329e-05, 0.00021419365657493472, -5.4033982451073825e-05, 0.0006677609053440392, 9.408826736034825e-05, -0.0004317508719395846], "flange_pose": [0.6417589783668518, -0.16931071877479553, -0.2581777572631836, -0.008605970069766045, -0.02488781325519085, 0.9995611906051636, 0.013561153784394264], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.9910390377044678, -57.46831130981445, -8.399365425109863, -6.243014812469482, 17.36459732055664, -0.12524190545082092], "ext_wrench_in_world": [5.982918550670852, -57.45058031442782, 6.762984993541568, 5.376694081368765, 17.645428201196193, 0.500183906659762]}
+{"timestamp_ns": 1789729717747560374, "elapsed_ms": 6900, "source_timestamp_ns": 1789729717739187209, "q": [0.2628001272678375, -1.854804277420044, -0.011828950606286526, 0.49862220883369446, 1.769033670425415, 0.13917970657348633, -0.8496515154838562], "theta": [0.2602025866508484, -1.854150652885437, -0.01239525992423296, 0.482475608587265, 1.768027424812317, 0.14021992683410645, -0.8488396406173706], "dq": [0.0008992130169644952, -0.0009128624224103987, 0.0028633850160986185, -0.00026587906177155674, -0.00035650853533297777, -0.0007779324078001082, 0.0013678472023457289], "dtheta": [0.00011972304491791874, -0.000333338015479967, 0.0009331288747489452, -2.3991428861336317e-06, -0.00018694692698772997, 0.00036485883174464107, -0.001427022973075509], "tau": [-60.97999954223633, -8.859999656677246, -18.336000442504883, 5.184000015258789, -3.764000177383423, 3.7680001258850098, -0.18400001525878906], "tau_des": [-1.5603200197219849, 0.8116917610168457, -0.5191135406494141, -0.9026813507080078, 0.23926369845867157, 0.0536477267742157, -0.14928846061229706], "tau_dot": [-19.32555389404297, 26.286882400512695, -47.851806640625, -7.267507553100586, 36.45380401611328, 38.853599548339844, -7.072415828704834], "tau_ext": [15.256988525390625, -35.32650375366211, -36.535980224609375, 20.70163917541504, -2.6578221321105957, -6.892577171325684, 0.07526741176843643], "tcp_pose": [0.6383569240570068, -0.16424201428890228, -0.4480827748775482, -0.008608088828623295, -0.024885674938559532, 0.9995611906051636, 0.013564005494117737], "tcp_vel": [-0.00017324398504570127, -5.826550113852136e-05, -0.0002719805925153196, 0.00041575374780222774, -0.0002999388088937849, 0.0009060513693839312], "flange_pose": [0.6417548060417175, -0.16931267082691193, -0.2581808269023895, -0.008608088828623295, -0.024885674938559532, 0.9995611906051636, 0.013564005494117737], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.0679967403411865, -57.506221771240234, -8.376389503479004, -6.245166301727295, 17.385021209716797, -0.11293409019708633], "ext_wrench_in_world": [6.0610206993530165, -57.484033234297854, 6.737358437544785, 5.377688669008376, 17.6662295633738, 0.48848367491468825]}
+{"timestamp_ns": 1789729717780902683, "elapsed_ms": 6933, "source_timestamp_ns": 1789729717779220117, "q": [0.2627969980239868, -1.8548089265823364, -0.011803404428064823, 0.4986211359500885, 1.768997073173523, 0.13918346166610718, -0.8496506214141846], "theta": [0.2601971924304962, -1.8541550636291504, -0.012372753582894802, 0.48247578740119934, 1.7679892778396606, 0.14022088050842285, -0.84884113073349], "dq": [0.0005301754572428763, 0.001283070771023631, -0.0005101482383906841, 0.000632935028988868, -0.0009031131630763412, 0.0005516824312508106, -0.0002421187236905098], "dtheta": [0.00042694673174992204, -0.00027359233354218304, 0.00020701182074844837, -0.00016408809460699558, -0.001777310506440699, -0.00036745777470059693, -5.921728734392673e-05], "tau": [-61.029998779296875, -8.84999942779541, -18.296001434326172, 5.216000080108643, -3.7760002613067627, 3.752000093460083, -0.18400001525878906], "tau_des": [-1.632798671722412, 0.8870828151702881, -0.4653523564338684, -0.9507774710655212, 0.32130175828933716, 0.06781625002622604, -0.17478658258914948], "tau_dot": [-23.238849639892578, -3.1034927368164062, -28.652488708496094, 29.258018493652344, -36.843658447265625, -14.288628578186035, -12.227412223815918], "tau_ext": [15.26765251159668, -35.344032287597656, -36.547698974609375, 20.689512252807617, -2.6642768383026123, -6.897596836090088, 0.07594805210828781], "tcp_pose": [0.638350784778595, -0.16424492001533508, -0.44808435440063477, -0.008614644408226013, -0.024883439764380455, 0.9995612502098083, 0.013561679981648922], "tcp_vel": [-0.0006589024560526013, -0.00035298310103826225, -0.00017772481078281999, -0.0007897772011347115, 0.0018802685663104057, 0.0002177518472308293], "flange_pose": [0.6417511701583862, -0.16931463778018951, -0.25818243622779846, -0.008614644408226013, -0.024883439764380455, 0.9995612502098083, 0.013561679981648922], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.1966068744659424, -57.5976448059082, -8.329479217529297, -6.2630815505981445, 17.425168991088867, -0.09708089381456375], "ext_wrench_in_world": [6.19298283360885, -57.56762195137954, 6.686035687787659, 5.39338909785086, 17.70761082200197, 0.4732891220953518]}
+{"timestamp_ns": 1789729717814226565, "elapsed_ms": 6966, "source_timestamp_ns": 1789729717809185306, "q": [0.2627919018268585, -1.8548107147216797, -0.01179657131433487, 0.49861952662467957, 1.7689862251281738, 0.13918627798557281, -0.8496487736701965], "theta": [0.26019126176834106, -1.8541572093963623, -0.012368700467050076, 0.4824749231338501, 1.7679773569107056, 0.14022183418273926, -0.8488415479660034], "dq": [-0.0008114170050248504, -0.0001240049459738657, -0.0007906336686573923, 0.00039247950189746916, 0.0009124359348788857, 0.0007014751899987459, -0.0004549318691715598], "dtheta": [-0.00015688466373831034, -0.0002021261752815917, 0.00039858376840129495, -0.0001269223721465096, 0.0003774668148253113, 0.0007097186171449721, -6.163508805911988e-05], "tau": [-60.96999740600586, -8.90999984741211, -18.296001434326172, 5.208000183105469, -3.7760002613067627, 3.7400002479553223, -0.15200001001358032], "tau_des": [-1.4249025583267212, 0.7719007134437561, -0.45315462350845337, -0.8850443363189697, 0.2411229908466339, 0.004900505766272545, -0.18021823465824127], "tau_dot": [-66.16079711914062, 40.56103515625, -27.610759735107422, 30.599199295043945, -39.39935302734375, 67.8190689086914, 77.60958099365234], "tau_ext": [15.230637550354004, -35.35385513305664, -36.55526351928711, 20.6911563873291, -2.66987943649292, -6.888779163360596, 0.07847747951745987], "tcp_pose": [0.6383515000343323, -0.16424620151519775, -0.4480818212032318, -0.008614040911197662, -0.024882523342967033, 0.9995613098144531, 0.013560093939304352], "tcp_vel": [0.0002304524532519281, -4.725886901724152e-05, 2.1442383513203822e-05, 0.00010156960343010724, -0.0010291452053934336, -0.0001803822669899091], "flange_pose": [0.6417515873908997, -0.16931532323360443, -0.2581799030303955, -0.008614040911197662, -0.024882523342967033, 0.9995613098144531, 0.013560093939304352], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.2623767852783203, -57.67618179321289, -8.316957473754883, -6.280291557312012, 17.44422721862793, -0.09429208189249039], "ext_wrench_in_world": [6.262212355201819, -57.64240193992257, 6.670459142209019, 5.409613470241926, 17.72756460415483, 0.47069268611862425]}
+{"timestamp_ns": 1789729717847582022, "elapsed_ms": 7000, "source_timestamp_ns": 1789729717839178891, "q": [0.26278969645500183, -1.8548122644424438, -0.011791732162237167, 0.4986177384853363, 1.7689800262451172, 0.13918669521808624, -0.8496467471122742], "theta": [0.2601880729198456, -1.8541589975357056, -0.012366077862679958, 0.48247358202934265, 1.7679697275161743, 0.14022088050842285, -0.84884113073349], "dq": [0.0003597808245103806, 0.00020458578364923596, 0.0020001803059130907, 7.159099914133549e-05, 0.0012168253306299448, 0.001973668811842799, -2.3158547264756635e-05], "dtheta": [2.72447014140198e-05, 0.0005528342444449663, 1.0991740964527708e-05, 5.410438097896986e-05, 0.0004685726307798177, 0.000232529200729914, 0.0002653003903105855], "tau": [-61.04999923706055, -8.889999389648438, -18.34800148010254, 5.212000370025635, -3.7960002422332764, 3.744000196456909, -0.18800000846385956], "tau_des": [-1.4214165210723877, 0.5737194418907166, -0.47691112756729126, -0.7813634276390076, 0.2187485545873642, 0.015153888612985611, -0.18026401102542877], "tau_dot": [-151.24868774414062, -24.889720916748047, -48.18479919433594, 23.312341690063477, -53.71012496948242, 14.104260444641113, -1.5150554180145264], "tau_ext": [15.249245643615723, -35.295387268066406, -36.5323371887207, 20.67595100402832, -2.6659557819366455, -6.890891075134277, 0.07698391377925873], "tcp_pose": [0.6383514404296875, -0.16424642503261566, -0.44808128476142883, -0.00861432682722807, -0.024881603196263313, 0.9995613098144531, 0.013560101389884949], "tcp_vel": [0.0003800221311394125, 0.0004346613714005798, -0.00011529708717716858, 0.00028933194698765874, -0.0004608319723047316, 0.00012980218161828816], "flange_pose": [0.6417516469955444, -0.16931556165218353, -0.25817933678627014, -0.00861432682722807, -0.024881603196263313, 0.9995613098144531, 0.013560101389884949], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.265664577484131, -57.662940979003906, -8.320759773254395, -6.276754856109619, 17.443862915039062, -0.09254398196935654], "ext_wrench_in_world": [6.264806499909925, -57.62913089631612, 6.674566827808353, 5.406101180455651, 17.727060875097905, 0.46899047774818453]}
+{"timestamp_ns": 1789729717880900384, "elapsed_ms": 7033, "source_timestamp_ns": 1789729717879229917, "q": [0.26279133558273315, -1.8548192977905273, -0.011773467995226383, 0.49861204624176025, 1.7689623832702637, 0.1391865760087967, -0.8496454954147339], "theta": [0.2601882219314575, -1.8541661500930786, -0.012351772747933865, 0.48246949911117554, 1.767950177192688, 0.1402190923690796, -0.8488415479660034], "dq": [-0.001148073235526681, -0.0030315129552036524, 0.0018276292830705643, -0.0014260854804888368, -0.00047485617687925696, -0.00037622801028192043, 0.0012097690487280488], "dtheta": [-0.00032553449273109436, -0.0004265730385668576, 0.0005712083075195551, -0.00011847057612612844, -0.0009777332888916135, -0.0010022446513175964, 0.0003980382753070444], "tau": [-61.07999801635742, -8.9399995803833, -18.380001068115234, 5.232000350952148, -3.7760002613067627, 3.752000093460083, -0.164000004529953], "tau_des": [-1.4661561250686646, 0.8177214860916138, -0.47161656618118286, -0.9070863127708435, 0.2631990313529968, 0.05089602246880531, -0.19963431358337402], "tau_dot": [-23.002092361450195, -65.74171447753906, -1.5047374963760376, 12.219110488891602, 0.9818838238716125, 42.20941162109375, 72.28760528564453], "tau_ext": [15.305121421813965, -35.305564880371094, -36.49665832519531, 20.69477653503418, -2.6485960483551025, -6.880892753601074, 0.077021524310112], "tcp_pose": [0.638346254825592, -0.16424722969532013, -0.4480860233306885, -0.008618849329650402, -0.024879518896341324, 0.9995613098144531, 0.0135625209659338], "tcp_vel": [-0.00039764473331160843, -7.390028622467071e-05, 6.912930257385597e-05, 0.0004918941995128989, 0.0009157955646514893, -0.0006596345920115709], "flange_pose": [0.6417481899261475, -0.16931724548339844, -0.25818416476249695, -0.008618849329650402, -0.024879518896341324, 0.9995613098144531, 0.0135625209659338], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.2088940143585205, -57.58416748046875, -8.261470794677734, -6.251423358917236, 17.41730499267578, -0.09130718559026718], "ext_wrench_in_world": [6.202979588452825, -57.55179483432839, 6.618096439157038, 5.382174122393149, 17.699288529445226, 0.4674735181112038]}
+{"timestamp_ns": 1789729717914229005, "elapsed_ms": 7066, "source_timestamp_ns": 1789729717909212203, "q": [0.26279217004776, -1.8548234701156616, -0.011751904152333736, 0.4986112117767334, 1.7689285278320312, 0.13918927311897278, -0.8496460914611816], "theta": [0.260187566280365, -1.8541696071624756, -0.012332746759057045, 0.4824692904949188, 1.767914056777954, 0.14022088050842285, -0.8488430380821228], "dq": [-0.0018638527253642678, -0.0007012562709860504, -3.122427733615041e-05, 0.0007948295096866786, 0.0005779021885246038, 0.0007119919173419476, 0.0014327295357361436], "dtheta": [-2.989883432746865e-05, -5.8143341448158026e-05, 0.0005919620161876082, 8.718366734683514e-05, 9.699909423943609e-05, 0.00030816637445241213, 0.00020966454758308828], "tau": [-60.84000015258789, -8.880000114440918, -18.284000396728516, 5.176000118255615, -3.7800002098083496, 3.7280001640319824, -0.18800000846385956], "tau_des": [-1.5390594005584717, 0.7570897936820984, -0.4846213757991791, -0.8776530027389526, 0.2575286626815796, 0.04012850672006607, -0.1989893913269043], "tau_dot": [151.542724609375, 15.202624320983887, -4.7827301025390625, -7.103850364685059, 38.039031982421875, 1.2129716873168945, 28.390520095825195], "tau_ext": [15.32936954498291, -35.28889846801758, -36.49728012084961, 20.67928695678711, -2.652158737182617, -6.87987756729126, 0.07888921350240707], "tcp_pose": [0.6383387446403503, -0.16425035893917084, -0.4480893015861511, -0.008627374656498432, -0.02487841248512268, 0.9995613098144531, 0.013559731654822826], "tcp_vel": [3.5920176742365584e-05, 7.051904685795307e-05, -0.00013050266716163605, 0.0003531391848810017, -0.0004726633196696639, -0.0005155820399522781], "flange_pose": [0.6417438983917236, -0.16931922733783722, -0.2581874430179596, -0.008627374656498432, -0.02487841248512268, 0.9995613098144531, 0.013559731654822826], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.1865427494049072, -57.55788040161133, -8.2088041305542, -6.236808776855469, 17.40378189086914, -0.09118248522281647], "ext_wrench_in_world": [6.1784150518756435, -57.525233924198275, 6.566792648379195, 5.368289098342651, 17.6850526037757, 0.4670210144301368]}
+{"timestamp_ns": 1789729717947585193, "elapsed_ms": 7100, "source_timestamp_ns": 1789729717939204589, "q": [0.2627342641353607, -1.8548270463943481, -0.011740590445697308, 0.4986122250556946, 1.7688896656036377, 0.13918772339820862, -0.8496454954147339], "theta": [0.2601308226585388, -1.8541730642318726, -0.012321541085839272, 0.4824710190296173, 1.767873764038086, 0.14021837711334229, -0.8488439917564392], "dq": [-0.003261920064687729, 0.0005871497560292482, 0.002612428506836295, -0.0013885641237720847, -0.003360122675076127, -0.0007292556692846119, -0.0030669341795146465], "dtheta": [-0.001713064848445356, -0.0002758872287813574, 0.0007227461319416761, 1.5365012586698867e-05, -0.0021627384703606367, -0.00037651596358045936, -0.0010527139529585838], "tau": [-60.38999938964844, -8.889999389648438, -18.100000381469727, 5.248000144958496, -3.7280001640319824, 3.636000156402588, -0.2160000056028366], "tau_des": [-0.7884263396263123, 0.8128716349601746, -0.19678451120853424, -0.8816593289375305, 0.3108300566673279, -0.1520911008119583, -0.17298530042171478], "tau_dot": [78.46104431152344, 8.372441291809082, -4.132258892059326, -21.03803062438965, -41.10898971557617, -21.21076202392578, -44.419639587402344], "tau_ext": [14.785767555236816, -35.2902946472168, -36.66171646118164, 20.697954177856445, -2.6870617866516113, -6.838096618652344, 0.0967155173420906], "tcp_pose": [0.6383553147315979, -0.16425712406635284, -0.4480516016483307, -0.008611293509602547, -0.02487809956073761, 0.9995615482330322, 0.013551239855587482], "tcp_vel": [0.0001644467847654596, -0.00032937293872237206, 0.001081457594409585, -0.0005987468757666647, -0.0001526274427305907, 0.0009753699414432049], "flange_pose": [0.6417543292045593, -0.1693229377269745, -0.25814956426620483, -0.008611293509602547, -0.02487809956073761, 0.9995615482330322, 0.013551239855587482], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.212254762649536, -57.506744384765625, -8.54223346710205, -6.252605438232422, 17.408239364624023, -0.08219673484563828], "ext_wrench_in_world": [6.207257753977652, -57.48168456706699, 6.902164407583441, 5.383683652226393, 17.69053440863077, 0.4577898156134139]}
+{"timestamp_ns": 1789729717980911974, "elapsed_ms": 7133, "source_timestamp_ns": 1789729717979190503, "q": [0.26271846890449524, -1.8548325300216675, -0.011675827205181122, 0.4986119270324707, 1.7688102722167969, 0.13918238878250122, -0.8496484756469727], "theta": [0.26011383533477783, -1.8541781902313232, -0.012257739901542664, 0.48247283697128296, 1.767791509628296, 0.14021003246307373, -0.8488501906394958], "dq": [0.00038048363057896495, -0.00013580993982031941, 0.0014946527080610394, 0.0008957504178397357, -0.004424546845257282, 0.001166377100162208, -0.0008371707517653704], "dtheta": [-1.641487870074343e-05, -0.00026731769321486354, 0.0018862708238884807, 0.0002479426620993763, -0.002688279375433922, -0.00031621300149708986, -9.687129204394296e-05], "tau": [-60.94999694824219, -8.869999885559082, -18.21200180053711, 5.204000473022461, -3.760000228881836, 3.6560001373291016, -0.2120000123977661], "tau_des": [-1.3185714483261108, 0.861825168132782, -0.39434438943862915, -0.9210469126701355, 0.3218984007835388, -0.023691708222031593, -0.2053316980600357], "tau_dot": [-45.461181640625, 74.77911376953125, 13.934314727783203, -39.48658752441406, 19.250917434692383, 44.3814582824707, 27.7514705657959], "tau_ext": [15.101883888244629, -35.28778839111328, -36.634307861328125, 20.65618896484375, -2.669053554534912, -6.794979095458984, 0.10010246187448502], "tcp_pose": [0.6383450627326965, -0.1642550528049469, -0.4480540156364441, -0.008624153211712837, -0.024875925853848457, 0.9995614290237427, 0.013555659912526608], "tcp_vel": [-0.0007505193934775889, -0.00015200705092865974, -0.0002895414363592863, 1.765095930750249e-06, 0.001573679386638105, -0.00039254152216017246], "flange_pose": [0.6417489647865295, -0.1693224161863327, -0.2581520974636078, -0.008624153211712837, -0.024875925853848457, 0.9995614290237427, 0.013555659912526608], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.378131866455078, -57.60142135620117, -8.563472747802734, -6.252146244049072, 17.4338321685791, -0.07435811311006546], "ext_wrench_in_world": [6.377917131462803, -57.56856975067411, 6.9174079386798795, 5.381901765376805, 17.716246615332675, 0.45067185478264327]}
+{"timestamp_ns": 1789729718014229771, "elapsed_ms": 7166, "source_timestamp_ns": 1789729718009202059, "q": [0.2627146244049072, -1.854836106300354, -0.011643310077488422, 0.4986118674278259, 1.7687647342681885, 0.13918708264827728, -0.8496524691581726], "theta": [0.2601093649864197, -1.8541810512542725, -0.012227604165673256, 0.4824737012386322, 1.767744779586792, 0.14021265506744385, -0.8488559722900391], "dq": [0.0008571577491238713, -0.0012508725048974156, -0.0022983159869909286, -0.0011814669705927372, -0.0012291931780055165, 0.0015858156839385629, -0.0008422923856414855], "dtheta": [-0.0010791417444124818, -0.0002747663820628077, 0.0005225921049714088, 3.566773375496268e-05, -1.1223753062949982e-05, -0.0004336275451350957, 0.0005130765493959188], "tau": [-60.59000015258789, -8.960000038146973, -18.112001419067383, 5.240000247955322, -3.748000144958496, 3.644000291824341, -0.20800000429153442], "tau_des": [-1.041184663772583, 0.7932963371276855, -0.2781379818916321, -0.8910765647888184, 0.29276177287101746, -0.06444752216339111, -0.2128617912530899], "tau_dot": [-103.05171966552734, -146.469970703125, 41.719539642333984, -26.275896072387695, -17.74025535583496, -27.40899085998535, 15.778388023376465], "tau_ext": [14.945295333862305, -35.274017333984375, -36.691410064697266, 20.64948844909668, -2.667024850845337, -6.784712314605713, 0.1052137091755867], "tcp_pose": [0.6383380889892578, -0.16425728797912598, -0.4480563998222351, -0.008632147684693336, -0.024876054376363754, 0.9995613694190979, 0.013553256168961525], "tcp_vel": [0.00024587876396253705, 4.0646893467055634e-05, 0.0005219875602051616, 0.0006984906503930688, -0.0009013215894810855, -0.000938260811381042], "flange_pose": [0.6417450308799744, -0.16932366788387299, -0.2581545412540436, -0.008632147684693336, -0.024876054376363754, 0.9995613694190979, 0.013553256168961525], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.4765703678131104, -57.68687438964844, -8.488136291503906, -6.236304759979248, 17.44978904724121, -0.06895371526479721], "ext_wrench_in_world": [6.479237417809925, -57.64691909316299, 6.838324182323512, 5.365193502684374, 17.731535614825134, 0.4457946683723299]}
+{"timestamp_ns": 1789729718047583063, "elapsed_ms": 7200, "source_timestamp_ns": 1789729718039198066, "q": [0.26271167397499084, -1.8548362255096436, -0.011627442203462124, 0.4986118972301483, 1.7687501907348633, 0.13918963074684143, -0.849651038646698], "theta": [0.2601059675216675, -1.8541806936264038, -0.012213584966957569, 0.48247474431991577, 1.7677313089370728, 0.14021313190460205, -0.8488564491271973], "dq": [-0.0015723099932074547, 0.0006116529111750424, -0.00021705366089008749, 0.001443802728317678, 0.0003572798741515726, 0.00024179329921025783, -0.0006498083239421248], "dtheta": [1.678065564192366e-05, 2.7235906600253657e-05, -0.00010007595847127959, -2.9345090297283605e-05, -0.0010588885052129626, -0.0007905436214059591, -0.0006900123553350568], "tau": [-60.81999969482422, -8.949999809265137, -18.176000595092773, 5.260000228881836, -3.748000144958496, 3.6640002727508545, -0.23600001633167267], "tau_des": [-1.2517313957214355, 0.7233861088752747, -0.31562063097953796, -0.8389288783073425, 0.3243664503097534, -0.030061867088079453, -0.185655415058136], "tau_dot": [-12.15125846862793, -131.0970916748047, -8.836181640625, 49.887290954589844, 10.110306739807129, 8.646020889282227, -65.22130584716797], "tau_ext": [15.023592948913574, -35.26236343383789, -36.6715087890625, 20.644655227661133, -2.6755902767181396, -6.797567367553711, 0.10722166299819946], "tcp_pose": [0.6383373737335205, -0.1642557680606842, -0.4480578303337097, -0.008632715791463852, -0.02487456426024437, 0.9995614290237427, 0.01355468574911356], "tcp_vel": [-0.0003325911529827863, -4.807487493962981e-05, 4.028272087452933e-05, -0.00022464117500931025, 0.0013250908814370632, 0.0009601583587937057], "flange_pose": [0.6417444944381714, -0.1693226844072342, -0.2581559717655182, -0.008632715791463852, -0.02487456426024437, 0.9995614290237427, 0.01355468574911356], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.5505802631378174, -57.70722961425781, -8.551534652709961, -6.2421770095825195, 17.468666076660156, -0.06500338017940521], "ext_wrench_in_world": [6.555125104178163, -57.66527326678203, 6.8997325172853445, 5.370106079551866, 17.750763783018183, 0.4423116210353149]}
+{"timestamp_ns": 1789729718080969000, "elapsed_ms": 7233, "source_timestamp_ns": 1789729718079203534, "q": [0.26270872354507446, -1.8548399209976196, -0.01161697693169117, 0.4986109137535095, 1.7687352895736694, 0.13919176161289215, -0.8496491312980652], "theta": [0.2601020634174347, -1.8541843891143799, -0.012206575833261013, 0.48247453570365906, 1.7677181959152222, 0.14021360874176025, -0.8488566875457764], "dq": [0.001729239011183381, -0.0020662492606788874, 0.001765773631632328, 0.0001971230813069269, -0.0015184793155640364, 0.0004927027621306479, 0.00029063993133604527], "dtheta": [-0.00043576976167969406, 0.00028344051679596305, 5.942026837146841e-05, -0.00022946570243220776, 0.00027642137138172984, 0.0008864206611178815, -0.0010526495752856135], "tau": [-60.689998626708984, -8.9399995803833, -18.172000885009766, 5.224000453948975, -3.7360000610351562, 3.6720001697540283, -0.20800000429153442], "tau_des": [-1.0653276443481445, 0.5705510973930359, -0.29526543617248535, -0.7430070638656616, 0.2701382339000702, -0.10049767792224884, -0.18063142895698547], "tau_dot": [11.681558609008789, 22.505443572998047, 27.19563102722168, 2.384481430053711, 26.3029842376709, 44.9245491027832, -19.332191467285156], "tau_ext": [14.980998039245605, -35.286006927490234, -36.67110824584961, 20.633567810058594, -2.6777498722076416, -6.806522369384766, 0.10250686854124069], "tcp_pose": [0.6383350491523743, -0.16425821185112, -0.4480571746826172, -0.008634313009679317, -0.02487225830554962, 0.9995614886283875, 0.013553367927670479], "tcp_vel": [0.0006561949849128723, 0.00018067710334435105, 0.0002567142073530704, -0.0002384936233283952, -0.0012898995773866773, 0.0014792580623179674], "flange_pose": [0.6417427659034729, -0.16932463645935059, -0.25815528631210327, -0.008634313009679317, -0.02487225830554962, 0.9995614886283875, 0.013553367927670479], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.595747947692871, -57.772064208984375, -8.52814769744873, -6.259596347808838, 17.487316131591797, -0.0638168677687645], "ext_wrench_in_world": [6.602779106398657, -57.727134565930854, 6.87396190699858, 5.38663914130259, 17.77026256513732, 0.44128408515414164]}
+{"timestamp_ns": 1789729718114248581, "elapsed_ms": 7266, "source_timestamp_ns": 1789729718109250494, "q": [0.26270797848701477, -1.8548427820205688, -0.011609790846705437, 0.49860891699790955, 1.7687294483184814, 0.13919185101985931, -0.8496482968330383], "theta": [0.2601011097431183, -1.85418701171875, -0.012201616540551186, 0.4824739694595337, 1.767714023590088, 0.14021265506744385, -0.8488569259643555], "dq": [-0.000894589931704104, -0.00041124498238787055, 0.0008293686551041901, -0.0006610115524381399, 0.0012154203141108155, 0.0011767558753490448, -0.001469865208491683], "dtheta": [-0.0003039884613826871, -0.00018267720588482916, -8.044804417295381e-05, 5.645353303407319e-05, 0.000577824714127928, 0.00014194568211678416, -0.00015095681010279804], "tau": [-60.72999954223633, -8.9399995803833, -18.216001510620117, 5.228000164031982, -3.7680001258850098, 3.6520001888275146, -0.19600000977516174], "tau_des": [-1.119115948677063, 0.7244465351104736, -0.29857316613197327, -0.8395200371742249, 0.2705698013305664, -0.08579715341329575, -0.21295949816703796], "tau_dot": [102.11714935302734, 12.419881820678711, -21.040494918823242, 3.076345920562744, -31.671613693237305, 3.3385262489318848, 11.546783447265625], "tau_ext": [15.030643463134766, -35.243255615234375, -36.65089416503906, 20.638851165771484, -2.675733804702759, -6.809383392333984, 0.10079047083854675], "tcp_pose": [0.638333797454834, -0.1642584204673767, -0.44805821776390076, -0.00863492488861084, -0.02487107366323471, 0.9995614886283875, 0.013554610311985016], "tcp_vel": [0.00015289924340322614, -9.4556191470474e-05, 0.00020777205645572394, 0.00016011891420930624, -0.0007937586633488536, -0.0001628360478207469], "flange_pose": [0.6417417526245117, -0.1693253070116043, -0.25815635919570923, -0.00863492488861084, -0.02487107366323471, 0.9995614886283875, 0.013554610311985016], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.580720901489258, -57.75510787963867, -8.523630142211914, -6.260180950164795, 17.484800338745117, -0.06654122471809387], "ext_wrench_in_world": [6.58672481810234, -57.71086803036695, 6.8700135746918916, 5.387439047945766, 17.76769350320027, 0.4439642217326477]}
+{"timestamp_ns": 1789729718147562387, "elapsed_ms": 7300, "source_timestamp_ns": 1789729718139195178, "q": [0.2627067565917969, -1.8548448085784912, -0.01160510629415512, 0.4986075758934021, 1.76870858669281, 0.13919208943843842, -0.84964919090271], "theta": [0.26009976863861084, -1.8541885614395142, -0.012198373675346375, 0.4824741780757904, 1.767693042755127, 0.14021170139312744, -0.8488588333129883], "dq": [0.0002890994364861399, -0.0017828438431024551, -0.001236351323314011, 0.0005911135231144726, 0.0001972444006241858, -0.00108469242695719, 0.0017007568385452032], "dtheta": [6.0795115132350475e-05, -0.00017559599655214697, -0.00011869877198478207, 0.00013488293916452676, -0.0005931849009357393, 0.0005294795846566558, -0.0002737694885581732], "tau": [-60.69999694824219, -8.920000076293945, -18.220001220703125, 5.228000164031982, -3.760000228881836, 3.6480002403259277, -0.22800001502037048], "tau_des": [-1.1857306957244873, 0.8048439621925354, -0.2496991902589798, -0.8776232600212097, 0.3423278331756592, -0.10224369913339615, -0.20626939833164215], "tau_dot": [-26.098773956298828, 33.71506118774414, -52.233192443847656, 37.7230110168457, 17.40390396118164, -16.746015548706055, -20.29239273071289], "tau_ext": [15.018555641174316, -35.27427291870117, -36.6585578918457, 20.65298080444336, -2.674462080001831, -6.805122375488281, 0.10299576818943024], "tcp_pose": [0.6383301615715027, -0.16426211595535278, -0.448056697845459, -0.008641122840344906, -0.024872342124581337, 0.9995614290237427, 0.01354958489537239], "tcp_vel": [-0.00016955107275862247, -0.00044381292536854744, 0.00015054053801577538, -0.0009727327851578593, 0.00013449294783640653, 0.00010562382522039115], "flange_pose": [0.6417404413223267, -0.1693270206451416, -0.25815483927726746, -0.008641122840344906, -0.024872342124581337, 0.9995614290237427, 0.01354958489537239], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.5341851711273193, -57.684574127197266, -8.52096939086914, -6.238410472869873, 17.472808837890625, -0.06760063022375107], "ext_wrench_in_world": [6.536959632877093, -57.642611925097206, 6.870584082218851, 5.366266954505689, 17.754625048118044, 0.44480572434219046]}
+{"timestamp_ns": 1789729718180975411, "elapsed_ms": 7333, "source_timestamp_ns": 1789729718179207765, "q": [0.2627054750919342, -1.854851245880127, -0.011587023735046387, 0.498607337474823, 1.7687007188796997, 0.13919022679328918, -0.8496565818786621], "theta": [0.260097473859787, -1.8541951179504395, -0.012183735147118568, 0.4824749231338501, 1.767685890197754, 0.14020860195159912, -0.8488674759864807], "dq": [0.001201667240820825, 0.00015196495223790407, -0.00142607931047678, 0.0005406307755038142, 5.309289554134011e-05, -0.0004997786018066108, 0.00045310150017030537], "dtheta": [-0.000341714738169685, -0.0002818422217387706, 0.0005874726339243352, 0.00020462980319280177, 0.00011181106674484909, -0.0006518515874631703, 0.0002311030839337036], "tau": [-60.69999694824219, -8.989999771118164, -18.200000762939453, 5.240000247955322, -3.748000144958496, 3.6600000858306885, -0.22800001502037048], "tau_des": [-1.1898165941238403, 0.7477189302444458, -0.3377878665924072, -0.8489784002304077, 0.27448344230651855, -0.052189603447914124, -0.22394578158855438], "tau_dot": [96.25239562988281, -58.040409088134766, -0.0954865887761116, -4.199799537658691, 33.444847106933594, 43.973907470703125, -13.889636993408203], "tau_ext": [15.037062644958496, -35.27464294433594, -36.65440368652344, 20.655332565307617, -2.677114248275757, -6.797158241271973, 0.11068567633628845], "tcp_pose": [0.6383259296417236, -0.16426220536231995, -0.44806015491485596, -0.00864116009324789, -0.02487151138484478, 0.9995614290237427, 0.013555203564465046], "tcp_vel": [-0.00017393736925441772, 6.507880607387051e-05, 1.5581907064188272e-05, 0.0009584947256371379, -0.00012609899567905813, -0.0008630879456177354], "flange_pose": [0.6417362093925476, -0.16932925581932068, -0.2581583559513092, -0.00864116009324789, -0.02487151138484478, 0.9995614290237427, 0.013555203564465046], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.538651466369629, -57.6905517578125, -8.506743431091309, -6.237686634063721, 17.46967887878418, -0.06297294795513153], "ext_wrench_in_world": [6.5413615255132935, -57.64806600269709, 6.855477785312371, 5.3656473086706, 17.751572948169997, 0.44030340623765796]}
+{"timestamp_ns": 1789729718214241303, "elapsed_ms": 7366, "source_timestamp_ns": 1789729718209197703, "q": [0.2627045214176178, -1.8548558950424194, -0.011572242714464664, 0.4986082911491394, 1.7686915397644043, 0.1391901671886444, -0.8496602773666382], "theta": [0.2600957155227661, -1.854200005531311, -0.012170478701591492, 0.48247644305229187, 1.767677664756775, 0.14020788669586182, -0.8488729596138], "dq": [-0.00245122192427516, 0.00014009277219884098, 0.0007536193588748574, 0.0004871197452303022, 0.000593742704950273, -0.0007237583049573004, -0.0008590075885877013], "dtheta": [8.699937461642548e-05, -8.937402162700891e-05, 0.0010675642406567931, 0.0004716445691883564, -0.00033740539220161736, -0.000841110129840672, 0.00014227887731976807], "tau": [-60.75, -8.949999809265137, -18.200000762939453, 5.248000144958496, -3.7680001258850098, 3.644000291824341, -0.2240000069141388], "tau_des": [-1.3329989910125732, 0.7288404703140259, -0.41258537769317627, -0.8409959077835083, 0.2646256387233734, -0.01584959775209427, -0.2300012707710266], "tau_dot": [-81.57975006103516, 6.717215061187744, -16.270240783691406, -8.355119705200195, -5.148589134216309, 12.087617874145508, 12.19922161102295], "tau_ext": [15.030468940734863, -35.25661849975586, -36.660160064697266, 20.645198822021484, -2.6797242164611816, -6.789316177368164, 0.11729040741920471], "tcp_pose": [0.638322114944458, -0.16426298022270203, -0.44806259870529175, -0.008641701191663742, -0.024869684129953384, 0.9995614290237427, 0.013558308593928814], "tcp_vel": [-0.0004837892483919859, 0.00021333785844035447, -0.00038304494228214025, 0.0012134199496358633, 0.0006138936150819063, -0.0008850182639434934], "flange_pose": [0.6417326927185059, -0.16933122277259827, -0.2581608295440674, -0.008641701191663742, -0.024869684129953384, 0.9995614290237427, 0.013558308593928814], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.5485689640045166, -57.6733283996582, -8.49803638458252, -6.224464416503906, 17.47081184387207, -0.057166874408721924], "ext_wrench_in_world": [6.550052696449977, -57.63020892672086, 6.846721954120697, 5.352349242063277, 17.752175979700926, 0.43485329083238256]}
+{"timestamp_ns": 1789729718247588495, "elapsed_ms": 7400, "source_timestamp_ns": 1789729718239337241, "q": [0.26270031929016113, -1.8548637628555298, -0.011555411852896214, 0.49860885739326477, 1.7686885595321655, 0.13919131457805634, -0.8496654033660889], "theta": [0.2600919008255005, -1.8542075157165527, -0.012155028991401196, 0.4824775159358978, 1.7676759958267212, 0.14020812511444092, -0.8488806486129761], "dq": [-0.00033524163882248104, 0.0025408060755580664, 0.00016876864538062364, 0.0010839675087481737, -0.0014674939448013902, 0.00036726711550727487, 0.0012716156197711825], "dtheta": [-0.0003209685382898897, -0.00034652205067686737, 0.00046972997370176017, 4.9552054406376556e-05, -0.0004068902344442904, -0.0003701539244502783, -0.001120676170103252], "tau": [-60.69999694824219, -8.970000267028809, -18.18000030517578, 5.26800012588501, -3.7680001258850098, 3.632000207901001, -0.24800001084804535], "tau_des": [-1.1651593446731567, 0.7384832501411438, -0.348536878824234, -0.8243735432624817, 0.260210782289505, -0.06399907916784286, -0.2097705453634262], "tau_dot": [61.785133361816406, 116.81367492675781, 27.34771156311035, 19.910602569580078, -17.570329666137695, -5.088830471038818, -24.942068099975586], "tau_ext": [15.002696990966797, -35.21687316894531, -36.66704177856445, 20.614946365356445, -2.673830032348633, -6.788694381713867, 0.12029044330120087], "tcp_pose": [0.6383196711540222, -0.16426441073417664, -0.4480637013912201, -0.00863766111433506, -0.024866441264748573, 0.9995614290237427, 0.013563568703830242], "tcp_vel": [-0.00019451843400020152, -0.0001259451382793486, 0.00011221925524296239, 0.00033968049683608115, 6.276917702052742e-05, 0.0006947142537683249], "flange_pose": [0.6417286992073059, -0.16933467984199524, -0.2581619620323181, -0.00863766111433506, -0.024866441264748573, 0.9995614290237427, 0.013563568703830242], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.59798264503479, -57.69615173339844, -8.498668670654297, -6.227227210998535, 17.48182487487793, -0.05294805392622948], "ext_wrench_in_world": [6.600100398300286, -57.65066128656607, 6.84534156086136, 5.3546029060707845, 17.763381500838925, 0.43112476577861136]}
+{"timestamp_ns": 1789729718280903661, "elapsed_ms": 7433, "source_timestamp_ns": 1789729718279303314, "q": [0.2626679837703705, -1.854862093925476, -0.01154892984777689, 0.49861812591552734, 1.7686512470245361, 0.13918843865394592, -0.8496643304824829], "theta": [0.2600587010383606, -1.8542062044143677, -0.01215045154094696, 0.48248904943466187, 1.7676390409469604, 0.1402043104171753, -0.848882794380188], "dq": [0.0012388296891003847, -0.0011178292334079742, -0.000561280467081815, 0.000666998908855021, -0.0006538453162647784, -0.0013848132221028209, 0.00022080502822063863], "dtheta": [-0.0019494321895763278, -6.215114990482107e-05, -0.00010856310109375045, 0.001197688514366746, -0.0018264113459736109, -0.0003062790201511234, 0.0002982292207889259], "tau": [-60.93000030517578, -9.029999732971191, -18.304000854492188, 5.336000442504883, -3.81600022315979, 3.6600000858306885, -0.24000000953674316], "tau_des": [-2.3580901622772217, 0.980567991733551, -0.6510312557220459, -0.5889285206794739, 0.20470960438251495, -0.14063701033592224, -0.26543113589286804], "tau_dot": [91.78425598144531, -1.458355188369751, -62.8126106262207, -51.951377868652344, -2.5637118816375732, 31.711408615112305, -50.24984359741211], "tau_ext": [14.861845970153809, -35.24223327636719, -36.70961380004883, 20.604652404785156, -2.6694107055664062, -6.774243354797363, 0.1213676854968071], "tcp_pose": [0.6383242607116699, -0.1642712950706482, -0.4480409324169159, -0.00863498542457819, -0.02486470900475979, 0.9995616674423218, 0.013553733937442303], "tcp_vel": [-7.1672347985440865e-06, -0.0008131682989187539, 0.0015684913378208876, -0.001468823873437941, -0.00042122582090087235, -0.0011625390034168959], "flange_pose": [0.6417321562767029, -0.16933786869049072, -0.25813907384872437, -0.00863498542457819, -0.02486470900475979, 0.9995616674423218, 0.013553733937442303], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.6987874507904053, -57.7194709777832, -8.572531700134277, -6.2445783615112305, 17.501888275146484, -0.04911753907799721], "ext_wrench_in_world": [6.703009658129211, -57.67076676720289, 6.918018525343964, 5.370926199989574, 17.784371758102644, 0.4272441518336743]}
+{"timestamp_ns": 1789729718314230446, "elapsed_ms": 7466, "source_timestamp_ns": 1789729718309282123, "q": [0.2625240981578827, -1.8548349142074585, -0.011550094932317734, 0.4986957907676697, 1.7685362100601196, 0.13912387192249298, -0.8496721386909485], "theta": [0.25990957021713257, -1.8541789054870605, -0.012156459502875805, 0.4825698137283325, 1.7675201892852783, 0.1401364803314209, -0.848892867565155], "dq": [-0.0042940727435052395, 3.508224472170696e-05, -0.0010588292498141527, 0.0072509413585066795, -0.00719214603304863, -0.0036076323594897985, -0.001967598916962743], "dtheta": [-0.007522667292505503, 0.001790666370652616, -0.00026947492733597755, 0.005010641645640135, -0.008004304952919483, -0.00485224137082696, -0.0007705265306867659], "tau": [-62.16999816894531, -9.039999961853027, -18.61600112915039, 5.5400004386901855, -3.880000114440918, 3.640000104904175, -0.2639999985694885], "tau_des": [-4.101423263549805, 1.1214089393615723, -1.176954984664917, -0.1835160106420517, 0.14074848592281342, -0.1999027132987976, -0.31264418363571167], "tau_dot": [-178.5334014892578, -39.48626708984375, -11.553126335144043, 8.178536415100098, -11.814065933227539, -25.140201568603516, -65.56391143798828], "tau_ext": [14.992982864379883, -35.239891052246094, -36.669883728027344, 20.53211212158203, -2.6487629413604736, -6.75178861618042, 0.12328814715147018], "tcp_pose": [0.6383391618728638, -0.16428929567337036, -0.44793909788131714, -0.008626275695860386, -0.024854620918631554, 0.9995622634887695, 0.013530203141272068], "tcp_vel": [-5.066831363365054e-05, -0.0011679893359541893, 0.005490537267178297, -0.0030918167904019356, 0.001515604555606842, -0.0008313014986924827], "flange_pose": [0.6417434811592102, -0.16934704780578613, -0.25803694128990173, -0.008626275695860386, -0.024854620918631554, 0.9995622634887695, 0.013530203141272068], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.875849723815918, -57.894325256347656, -8.57079792022705, -6.291937351226807, 17.53301429748535, -0.04839231073856354], "ext_wrench_in_world": [6.887161297828579, -57.83626613845829, 6.911368415723552, 5.417015668287005, 17.817743849079747, 0.4258558223640605]}
+{"timestamp_ns": 1789729718347562780, "elapsed_ms": 7500, "source_timestamp_ns": 1789729718339292049, "q": [0.2621408998966217, -1.8547288179397583, -0.011583876796066761, 0.49899253249168396, 1.7682660818099976, 0.13884280622005463, -0.8497615456581116], "theta": [0.25951477885246277, -1.8540714979171753, -0.012200424447655678, 0.4828702211380005, 1.7672441005706787, 0.13984191417694092, -0.8489863276481628], "dq": [-0.01750175654888153, 0.005426581483334303, -0.000888186099473387, 0.013166211545467377, -0.0065832859836518764, -0.010886686854064465, -0.003234380390495062], "dtheta": [-0.01944420300424099, 0.005135334562510252, -0.0028382684104144573, 0.015388335101306438, -0.01087079755961895, -0.016101757064461708, -0.00739423930644989], "tau": [-63.849998474121094, -8.699999809265137, -19.16400146484375, 5.576000213623047, -3.9840002059936523, 3.6520001888275146, -0.29600000381469727], "tau_des": [-6.268794536590576, 1.509080171585083, -1.8115216493606567, 0.0755821168422699, -0.01750575192272663, -0.1947498470544815, -0.35572636127471924], "tau_dot": [-172.83834838867188, 21.00493812561035, 21.464248657226562, -19.503040313720703, -93.42051696777344, -15.634089469909668, -46.5378303527832], "tau_ext": [15.586069107055664, -35.49348449707031, -36.52467727661133, 20.52362632751465, -2.632891893386841, -6.700369358062744, 0.13600783050060272], "tcp_pose": [0.6383458971977234, -0.1643247902393341, -0.44766777753829956, -0.00863051600754261, -0.024835754185914993, 0.9995631575584412, 0.013498721644282341], "tcp_vel": [0.000212114755413495, -0.0015140563482418656, 0.01372719556093216, -0.001099868561141193, -0.00011236216232646257, 0.00019778654677793384], "flange_pose": [0.6417514681816101, -0.1693706214427948, -0.2577653229236603, -0.00863051600754261, -0.024835754185914993, 0.9995631575584412, 0.013498721644282341], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-4.247748374938965, -58.410221099853516, -8.034530639648438, -6.354921340942383, 17.603363037109375, -0.04320137947797775], "ext_wrench_in_world": [7.272332917183017, -58.31836111193549, 6.358687675107617, 5.4770073716438255, 17.89108584123002, 0.4203801823589671]}
+{"timestamp_ns": 1789729718380897974, "elapsed_ms": 7533, "source_timestamp_ns": 1789729718379299626, "q": [0.26089271903038025, -1.8543635606765747, -0.011778744868934155, 0.4999973773956299, 1.7676243782043457, 0.13774719834327698, -0.850195050239563], "theta": [0.2582436800003052, -1.85370671749115, -0.01241352315992117, 0.48388999700546265, 1.7665890455245972, 0.13870537281036377, -0.8494439125061035], "dq": [-0.03960490971803665, 0.012560916133224964, -0.008686363697052002, 0.03202328085899353, -0.02298717014491558, -0.034930504858493805, -0.0099911754950881], "dtheta": [-0.0451306514441967, 0.014003941789269447, -0.007878308184444904, 0.03479974344372749, -0.02243003249168396, -0.04106850549578667, -0.012795763090252876], "tau": [-64.81999969482422, -8.639999389648438, -19.720001220703125, 5.704000473022461, -4.0320000648498535, 3.752000093460083, -0.31200000643730164], "tau_des": [-6.982680797576904, 1.325044870376587, -2.2078113555908203, 0.4388066828250885, -0.19947326183319092, -0.1598788946866989, -0.41991525888442993], "tau_dot": [-3.125378131866455, -65.1846694946289, -21.540170669555664, -36.89398956298828, 22.376930236816406, 97.75869750976562, -17.36644744873047], "tau_ext": [16.37763786315918, -35.60142135620117, -36.14781951904297, 20.4036922454834, -2.5866687297821045, -6.68067741394043, 0.18013930320739746], "tcp_pose": [0.6383679509162903, -0.16438178718090057, -0.44679751992225647, -0.008630681782960892, -0.024827007204294205, 0.9995633363723755, 0.013501370325684547], "tcp_vel": [0.001604609307833016, -0.0007243689615279436, 0.031233230605721474, 0.0015603790525346994, 0.0008108821348287165, -0.0012024446623399854], "flange_pose": [0.641773521900177, -0.16942864656448364, -0.2568950951099396, -0.008630681782960892, -0.024827007204294205, 0.9995633363723755, 0.013501370325684547], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-4.795370101928711, -59.48912048339844, -6.740164279937744, -6.485232353210449, 17.6901912689209, -0.015375914983451366], "ext_wrench_in_world": [7.84827604264684, -59.33400843415381, 5.026017421129475, 5.602664364175239, 17.984914291845254, 0.39287677747023475]}
+{"timestamp_ns": 1789729718414233017, "elapsed_ms": 7566, "source_timestamp_ns": 1789729718409236661, "q": [0.25920969247817993, -1.8538382053375244, -0.012092789635062218, 0.5013090372085571, 1.7667254209518433, 0.1362445056438446, -0.8507156372070312], "theta": [0.2565470337867737, -1.8531805276870728, -0.012743017636239529, 0.4852183759212494, 1.7656779289245605, 0.13716554641723633, -0.8499963879585266], "dq": [-0.06870657950639725, 0.020272867754101753, -0.01244259625673294, 0.05109788477420807, -0.033445559442043304, -0.06028066948056221, -0.01912439987063408], "dtheta": [-0.06797344982624054, 0.022108623757958412, -0.01401479821652174, 0.05432606860995293, -0.03486853465437889, -0.06591405719518661, -0.02365819551050663], "tau": [-64.80999755859375, -8.479999542236328, -19.784000396728516, 5.824000358581543, -4.0320000648498535, 3.6640002727508545, -0.34800001978874207], "tau_des": [-7.516559600830078, 1.562849521636963, -2.1427884101867676, 0.718405544757843, -0.08764518797397614, -0.2266211360692978, -0.36549973487854004], "tau_dot": [6.378159046173096, -60.08285903930664, -5.01858377456665, -32.44291687011719, 20.79907989501953, 12.208971977233887, -54.91863250732422], "tau_ext": [16.224639892578125, -35.7384033203125, -36.142608642578125, 20.32440185546875, -2.6061251163482666, -6.623688220977783, 0.20325233042240143], "tcp_pose": [0.6384171843528748, -0.16443607211112976, -0.4456160068511963, -0.008660180494189262, -0.02482793852686882, 0.9995632171630859, 0.01348942331969738], "tcp_vel": [0.0010699828853830695, -0.0010634417412802577, 0.047498974949121475, 0.0024385007563978434, 0.0052461158484220505, 0.0023586528841406107], "flange_pose": [0.6418338418006897, -0.16947810351848602, -0.25571364164352417, -0.008660180494189262, -0.02482793852686882, 0.9995632171630859, 0.01348942331969738], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-5.280060768127441, -60.11830139160156, -6.090681552886963, -6.601871013641357, 17.768047332763672, 0.00943581759929657], "ext_wrench_in_world": [8.352162574971702, -59.9206290147382, 4.3526089308131795, 5.714820696218265, 18.069147006869365, 0.36748712761291513]}
+{"timestamp_ns": 1789729718447589038, "elapsed_ms": 7600, "source_timestamp_ns": 1789729718439320917, "q": [0.25675275921821594, -1.853049874305725, -0.012554780580103397, 0.5032893419265747, 1.7655614614486694, 0.13389717042446136, -0.851556122303009], "theta": [0.2540748715400696, -1.8523911237716675, -0.013227102346718311, 0.48721346259117126, 1.7644966840744019, 0.13478386402130127, -0.850878894329071], "dq": [-0.09119907021522522, 0.03167356178164482, -0.012664691545069218, 0.07363973557949066, -0.04401697590947151, -0.08475346118211746, -0.026537949219346046], "dtheta": [-0.09430079907178879, 0.030471140518784523, -0.016535213217139244, 0.07852803170681, -0.04624015837907791, -0.09119725972414017, -0.03459502011537552], "tau": [-64.5199966430664, -8.470000267028809, -19.91200065612793, 5.940000057220459, -4.056000232696533, 3.6600000858306885, -0.35600000619888306], "tau_des": [-6.672162055969238, 1.8556129932403564, -2.0784175395965576, 0.6279464364051819, -0.18422150611877441, -0.09090550988912582, -0.4309886395931244], "tau_dot": [-4.485782623291016, 6.502455234527588, -42.871551513671875, 25.039016723632812, 13.764681816101074, -61.247493743896484, 23.297868728637695], "tau_ext": [15.957399368286133, -35.859092712402344, -36.160736083984375, 20.258255004882812, -2.614716053009033, -6.579792499542236, 0.22286191582679749], "tcp_pose": [0.6384662985801697, -0.1644613891839981, -0.44391605257987976, -0.008700169622898102, -0.024835141375660896, 0.9995615482330322, 0.013572879135608673], "tcp_vel": [0.00044035015162080526, -0.0013830921379849315, 0.06515166908502579, 0.006693702656775713, 0.004642119165509939, 0.0005526950117200613], "flange_pose": [0.641899049282074, -0.16953471302986145, -0.2540148198604584, -0.008700169622898102, -0.024835141375660896, 0.9995615482330322, 0.013572879135608673], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-5.791792392730713, -60.774658203125, -5.995348930358887, -6.782217502593994, 17.849361419677734, 0.035427387803792953], "ext_wrench_in_world": [8.89510589097967, -60.548460722350555, 4.2200880282464395, 5.890205795533889, 18.160041190118907, 0.3432376757037538]}
+{"timestamp_ns": 1789729718480892146, "elapsed_ms": 7633, "source_timestamp_ns": 1789729718479270762, "q": [0.25245922803878784, -1.851596474647522, -0.013172893784940243, 0.5068386793136597, 1.7632908821105957, 0.12998652458190918, -0.8530972599983215], "theta": [0.24973805248737335, -1.8509386777877808, -0.013877078890800476, 0.4907834231853485, 1.7622045278549194, 0.13083219528198242, -0.8524895906448364], "dq": [-0.11809337884187698, 0.0380677804350853, -0.014983474276959896, 0.10363364219665527, -0.06698758155107498, -0.10443627089262009, -0.04494834691286087], "dtheta": [-0.11947710812091827, 0.041073527187108994, -0.014969289302825928, 0.09849100559949875, -0.06713004410266876, -0.10759459435939789, -0.04844846576452255], "tau": [-63.5, -8.510000228881836, -19.880001068115234, 6.236000061035156, -4.044000148773193, 3.620000123977661, -0.3880000114440918], "tau_des": [-5.010715961456299, 1.0571218729019165, -1.9316078424453735, 0.9283587336540222, -0.11639590561389923, -0.14232619106769562, -0.4245898425579071], "tau_dot": [-8.41223430633545, -6.468305587768555, 3.703728437423706, 26.44551658630371, 9.818443298339844, -46.363521575927734, -30.928485870361328], "tau_ext": [16.030826568603516, -35.39711380004883, -35.85898208618164, 19.789148330688477, -2.5369322299957275, -6.620251655578613, 0.2549702823162079], "tcp_pose": [0.6385423541069031, -0.16450391709804535, -0.4409636855125427, -0.008759796619415283, -0.024869218468666077, 0.9995589852333069, 0.013660373166203499], "tcp_vel": [0.0018776931101456285, -0.0008746543899178505, 0.08184618502855301, 0.0038056878838688135, 0.004549699369817972, 0.008281899616122246], "flange_pose": [0.6419987082481384, -0.16960978507995605, -0.2510637640953064, -0.008759796619415283, -0.024869218468666077, 0.9995589852333069, 0.013660373166203499], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-6.442930221557617, -61.356788635253906, -5.852035999298096, -7.009060859680176, 17.949033737182617, 0.06693785637617111], "ext_wrench_in_world": [9.576188799286378, -61.09339377243465, 4.038196658760996, 6.110030063590694, 18.272075033159624, 0.31310304124868027]}
+{"timestamp_ns": 1789729718514229589, "elapsed_ms": 7666, "source_timestamp_ns": 1789729718509360217, "q": [0.24865113198757172, -1.850286602973938, -0.013604904524981976, 0.5100231170654297, 1.7611490488052368, 0.12659962475299835, -0.8546364903450012], "theta": [0.24589407444000244, -1.8496280908584595, -0.014328834600746632, 0.4939684271812439, 1.7600553035736084, 0.1274195909500122, -0.8540688753128052], "dq": [-0.13470572233200073, 0.04727865755558014, -0.01675700955092907, 0.11483389139175415, -0.07362202554941177, -0.11914031952619553, -0.05155153200030327], "dtheta": [-0.13396617770195007, 0.04511134698987007, -0.015431291423738003, 0.11321505159139633, -0.07291506975889206, -0.12134763598442078, -0.05661851912736893], "tau": [-62.57999801635742, -8.399999618530273, -19.720001220703125, 6.308000087738037, -4.019999980926514, 3.568000078201294, -0.36000001430511475], "tau_des": [-3.5013587474823, 1.5493252277374268, -1.4510431289672852, 0.42444443702697754, 0.008194570429623127, -0.1080549955368042, -0.444685697555542], "tau_dot": [50.2962532043457, 72.28936004638672, 18.490493774414062, 38.923763275146484, -53.324039459228516, -33.77877426147461, 53.005977630615234], "tau_ext": [15.773425102233887, -35.47642517089844, -35.79275894165039, 19.664350509643555, -2.5217604637145996, -6.642927646636963, 0.2713806629180908], "tcp_pose": [0.638587474822998, -0.16453997790813446, -0.4383604824542999, -0.008811124600470066, -0.02496912330389023, 0.9995551705360413, 0.013723340816795826], "tcp_vel": [0.00041317130671814084, -0.0014464892446994781, 0.09143689274787903, 0.007132855709642172, 0.0033547026105225086, 0.006909516174346209], "flange_pose": [0.6420644521713257, -0.16966892778873444, -0.2484615445137024, -0.008811124600470066, -0.02496912330389023, 0.9995551705360413, 0.013723340816795826], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-6.9958014488220215, -61.73845672607422, -5.8724365234375, -7.220105171203613, 18.04056739807129, 0.08955251425504684], "ext_wrench_in_world": [10.160264384985316, -61.445848501495846, 4.029952494620915, 6.312191729632011, 18.375839716578522, 0.29113683961988224]}
+{"timestamp_ns": 1789729718547592749, "elapsed_ms": 7700, "source_timestamp_ns": 1789729718539491906, "q": [0.24449443817138672, -1.8488667011260986, -0.01404272299259901, 0.5134958028793335, 1.7588262557983398, 0.12297555804252625, -0.8563845753669739], "theta": [0.24173791706562042, -1.8482084274291992, -0.014776441268622875, 0.4974255859851837, 1.757731556892395, 0.12377274036407471, -0.8558559417724609], "dq": [-0.1720246523618698, 0.050569094717502594, -0.0186612606048584, 0.11943578720092773, -0.0797167494893074, -0.12114985287189484, -0.0643639788031578], "dtheta": [-0.13993923366069794, 0.049848344177007675, -0.01583138294517994, 0.12165185064077377, -0.08220961689949036, -0.12313921749591827, -0.06301643699407578], "tau": [-61.77000045776367, -7.819999694824219, -19.392000198364258, 6.020000457763672, -3.9720001220703125, 3.516000270843506, -0.3680000305175781], "tau_des": [-2.4730844497680664, 1.8136746883392334, -0.9628841280937195, 0.3991042673587799, 0.23228894174098969, -0.31017544865608215, -0.3292587697505951], "tau_dot": [-40.71562194824219, 128.98489379882812, -24.09695053100586, 12.916996002197266, -18.143604278564453, 32.53081512451172, 48.1524772644043], "tau_ext": [15.502453804016113, -35.630531311035156, -35.905792236328125, 19.630207061767578, -2.5340917110443115, -6.651865482330322, 0.27007150650024414], "tcp_pose": [0.6386363506317139, -0.16458149254322052, -0.43552348017692566, -0.008829867467284203, -0.025098424404859543, 0.9995508193969727, 0.013791533187031746], "tcp_vel": [-0.0003659194044303149, -0.002405364066362381, 0.09636519849300385, 0.0013184106210246682, 0.004977127071470022, 0.010947925969958305], "flange_pose": [0.6421217322349548, -0.16973569989204407, -0.24562539160251617, -0.008829867467284203, -0.025098424404859543, 0.9995508193969727, 0.013791533187031746], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-7.392928600311279, -62.15816116333008, -6.110804557800293, -7.448647499084473, 18.11503028869629, 0.10235289484262466], "ext_wrench_in_world": [10.598162471376794, -61.8492395978902, 4.240853479256439, 6.53172713370983, 18.46363809505813, 0.2788493976344078]}
+{"timestamp_ns": 1789729718580911265, "elapsed_ms": 7733, "source_timestamp_ns": 1789729718579293400, "q": [0.23860867321491241, -1.846786618232727, -0.014680057764053345, 0.518660306930542, 1.755652904510498, 0.11777947098016739, -0.8589628338813782], "theta": [0.2359894961118698, -1.8461170196533203, -0.015409204177558422, 0.5025596022605896, 1.7545713186264038, 0.1185375452041626, -0.8584710955619812], "dq": [-0.13880835473537445, 0.05041074380278587, -0.014107552357017994, 0.13193121552467346, -0.0838494524359703, -0.13049179315567017, -0.07086794078350067], "dtheta": [-0.1457236260175705, 0.05640779063105583, -0.015043455176055431, 0.13592815399169922, -0.0783892273902893, -0.13270719349384308, -0.0731949433684349], "tau": [-60.87999725341797, -6.71999979019165, -19.04400062561035, 5.2960004806518555, -3.880000114440918, 3.51200008392334, -0.35200002789497375], "tau_des": [-1.174131989479065, 2.678287982940674, -0.5521116852760315, -0.25931718945503235, 0.1849423050880432, -0.1956220269203186, -0.3774433135986328], "tau_dot": [-56.401737213134766, 108.5930404663086, 5.679595947265625, -38.87346649169922, 8.246122360229492, 22.334049224853516, -4.553950786590576], "tau_ext": [15.196184158325195, -36.08686065673828, -36.206878662109375, 19.933801651000977, -2.5733087062835693, -6.653323173522949, 0.255683571100235], "tcp_pose": [0.6386280655860901, -0.16463641822338104, -0.43150362372398376, -0.008832314051687717, -0.025230586528778076, 0.9995455145835876, 0.013933010399341583], "tcp_vel": [-0.0019457311136648059, 0.0006407094770111144, 0.09902763366699219, 0.010547204874455929, 0.0022437984589487314, 0.01233255211263895], "flange_pose": [0.642116367816925, -0.1698438674211502, -0.24160702526569366, -0.008832314051687717, -0.025230586528778076, 0.9995455145835876, 0.013933010399341583], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-7.154874801635742, -62.45313262939453, -6.696862697601318, -7.605583667755127, 18.070114135742188, 0.10517561435699463], "ext_wrench_in_world": [10.402256520210083, -62.17027670339435, 4.804553314667017, 6.685805558906965, 18.428458819820307, 0.2773071771599721]}
+{"timestamp_ns": 1789729718614232191, "elapsed_ms": 7766, "source_timestamp_ns": 1789729718609240493, "q": [0.23418867588043213, -1.845066785812378, -0.015085511840879917, 0.522847056388855, 1.753248929977417, 0.11380742490291595, -0.8611671328544617], "theta": [0.2316279113292694, -1.8443787097930908, -0.015806790441274643, 0.5067322850227356, 1.7521920204162598, 0.11453461647033691, -0.8606980443000793], "dq": [-0.12968426942825317, 0.05923647806048393, -0.010812213644385338, 0.14088593423366547, -0.08382483571767807, -0.12739285826683044, -0.07490001618862152], "dtheta": [-0.14528322219848633, 0.05974949523806572, -0.01118777971714735, 0.1408696174621582, -0.0782788097858429, -0.13003376126289368, -0.07725030183792114], "tau": [-60.869998931884766, -6.099999904632568, -19.256000518798828, 4.880000114440918, -3.888000249862671, 3.6000001430511475, -0.30400002002716064], "tau_des": [-1.908421516418457, 3.086552858352661, -0.9613679051399231, -0.5166032314300537, 0.15733793377876282, 0.17132660746574402, -0.3151577115058899], "tau_dot": [-123.0599594116211, 26.147966384887695, -20.85856819152832, -29.585973739624023, 3.030379295349121, 29.149099349975586, -9.921738624572754], "tau_ext": [15.011008262634277, -36.50505065917969, -36.2854118347168, 20.219749450683594, -2.5666022300720215, -6.709659576416016, 0.23456746339797974], "tcp_pose": [0.6385467052459717, -0.16462907195091248, -0.4285040497779846, -0.008847416378557682, -0.02537715993821621, 0.9995395541191101, 0.014085202477872372], "tcp_vel": [-0.002293298253789544, 0.0022829226218163967, 0.09776608645915985, 0.012548237107694149, -0.0005936729721724987, 0.013531805016100407], "flange_pose": [0.6420429944992065, -0.16989366710186005, -0.238609179854393, -0.008847416378557682, -0.02537715993821621, 0.9995395541191101, 0.014085202477872372], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-6.318076133728027, -62.41129684448242, -7.485592365264893, -7.684402942657471, 17.87504768371582, 0.09420379251241684], "ext_wrench_in_world": [9.597325313573231, -62.19146415579096, 5.588853718340831, 6.769205838625424, 18.239294574238393, 0.2867723543828187]}
+{"timestamp_ns": 1789729718647566794, "elapsed_ms": 7800, "source_timestamp_ns": 1789729718639240800, "q": [0.2298463135957718, -1.8431670665740967, -0.015358496457338333, 0.5271721482276917, 1.7508429288864136, 0.11010823398828506, -0.8634752631187439], "theta": [0.22726209461688995, -1.8424574136734009, -0.01608383283019066, 0.5110668540000916, 1.7498242855072021, 0.11079907417297363, -0.8630368709564209], "dq": [-0.1392393261194229, 0.06451558321714401, -0.0019393120892345905, 0.14692820608615875, -0.08213739097118378, -0.11774203926324844, -0.07715047150850296], "dtheta": [-0.14385251700878143, 0.0671551376581192, -0.008226710371673107, 0.14391577243804932, -0.08145029097795486, -0.12141401320695877, -0.07805030047893524], "tau": [-61.91999816894531, -6.759999752044678, -19.996000289916992, 5.36400032043457, -4.144000053405762, 3.812000274658203, -0.29600000381469727], "tau_des": [-2.651371955871582, 1.7917619943618774, -1.7534602880477905, 0.312209814786911, -0.19639147818088531, 0.247477188706398, -0.18178690969944], "tau_dot": [-32.13180160522461, -31.352235794067383, -13.483572959899902, 36.61175537109375, -0.7242634892463684, 45.17314529418945, -16.365114212036133], "tau_ext": [15.506531715393066, -36.204734802246094, -35.92318344116211, 20.030546188354492, -2.4484314918518066, -6.8735222816467285, 0.21004343032836914], "tcp_pose": [0.6385095715522766, -0.16454757750034332, -0.42558029294013977, -0.008787505328655243, -0.025575455278158188, 0.9995332360267639, 0.014211617410182953], "tcp_vel": [0.00032565672881901264, 0.005322454497218132, 0.09639357775449753, 0.008472207002341747, -0.0037756850942969322, 0.017982935532927513], "flange_pose": [0.6419853568077087, -0.16986006498336792, -0.23568639159202576, -0.008787505328655243, -0.025575455278158188, 0.9995332360267639, 0.014211617410182953], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-5.516195774078369, -62.12285614013672, -7.794180870056152, -7.7246809005737305, 17.681121826171875, 0.07669556140899658], "ext_wrench_in_world": [8.811353390540603, -61.95101713435461, 5.904104818441329, 6.8124122102725755, 18.049863000218924, 0.30353221808709485]}
+{"timestamp_ns": 1789729718680893949, "elapsed_ms": 7833, "source_timestamp_ns": 1789729718679254017, "q": [0.22412027418613434, -1.840287208557129, -0.01583228074014187, 0.5331403613090515, 1.7474654912948608, 0.10535924881696701, -0.8663924336433411], "theta": [0.22150246798992157, -1.8395582437515259, -0.016580794006586075, 0.5170536637306213, 1.746498942375183, 0.10599172115325928, -0.8659996390342712], "dq": [-0.15883512794971466, 0.08082086592912674, -0.01641749031841755, 0.15400461852550507, -0.07937056571245193, -0.11684324592351913, -0.07407785952091217], "dtheta": [-0.14363780617713928, 0.0780416801571846, -0.01651747338473797, 0.1569059193134308, -0.08245207369327545, -0.12394502013921738, -0.07440546154975891], "tau": [-62.31999969482422, -7.409999847412109, -20.04800033569336, 5.63200044631958, -4.140000343322754, 3.81600022315979, -0.25200000405311584], "tau_des": [-3.030228614807129, 1.1539839506149292, -1.5677642822265625, 0.4042524993419647, -0.044633425772190094, 0.08667831867933273, -0.34274303913116455], "tau_dot": [36.267635345458984, 59.053977966308594, 33.07278823852539, -21.127660751342773, -23.74850082397461, -46.197940826416016, 22.14610481262207], "tau_ext": [16.123933792114258, -35.328125, -35.65573501586914, 19.586633682250977, -2.309192419052124, -6.984655380249023, 0.17051251232624054], "tcp_pose": [0.6385097503662109, -0.16435523331165314, -0.42167553305625916, -0.008754638954997063, -0.025843597948551178, 0.99952632188797, 0.014232784509658813], "tcp_vel": [-0.0007916054455563426, 0.006639212369918823, 0.09876354038715363, 0.001946902135387063, 0.0008847199496813118, 0.013703601434826851], "flange_pose": [0.641974687576294, -0.16967515647411346, -0.23178161680698395, -0.008754638954997063, -0.025843597948551178, 0.99952632188797, 0.014232784509658813], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-4.956287384033203, -61.2424430847168, -7.291292667388916, -7.579631328582764, 17.53907012939453, 0.039769936352968216], "ext_wrench_in_world": [8.230564637049117, -61.08268719773981, 5.433939532038696, 6.665874325529276, 17.90312263623265, 0.3401368506264757]}
+{"timestamp_ns": 1789729718714229842, "elapsed_ms": 7866, "source_timestamp_ns": 1789729718709453768, "q": [0.21968664228916168, -1.8379353284835815, -0.01640763133764267, 0.5379635095596313, 1.7450898885726929, 0.1015690490603447, -0.8688055872917175], "theta": [0.21710507571697235, -1.8372081518173218, -0.017175743356347084, 0.5218777060508728, 1.7441623210906982, 0.10214793682098389, -0.8684396147727966], "dq": [-0.14820019900798798, 0.0868552103638649, -0.022964542731642723, 0.16393589973449707, -0.07522361725568771, -0.12662474811077118, -0.08852560818195343], "dtheta": [-0.14961615204811096, 0.08036305755376816, -0.02209637127816677, 0.1660148799419403, -0.07215110957622528, -0.13502883911132812, -0.08841574192047119], "tau": [-61.5, -6.929999828338623, -19.760000228881836, 5.168000221252441, -4.080000400543213, 3.692000150680542, -0.20800000429153442], "tau_des": [-1.5815324783325195, 1.5927081108093262, -0.7967538237571716, 0.0923243910074234, -0.09359849989414215, -0.0930640920996666, -0.17617985606193542], "tau_dot": [-79.17546081542969, 36.81669616699219, -85.88888549804688, -74.9583740234375, 22.09477424621582, 1.9374077320098877, 21.41855812072754], "tau_ext": [15.757493019104004, -35.740020751953125, -35.99654006958008, 19.92501449584961, -2.338644027709961, -6.893688201904297, 0.14335721731185913], "tcp_pose": [0.6384927034378052, -0.16417571902275085, -0.4186137914657593, -0.008703123778104782, -0.02608763612806797, 0.9995198845863342, 0.014274083077907562], "tcp_vel": [-0.0015693858731538057, 0.008012828417122364, 0.10288628190755844, 0.011026101186871529, -0.004180325660854578, 0.02042314037680626], "flange_pose": [0.6419398188591003, -0.16951099038124084, -0.22871999442577362, -0.008703123778104782, -0.02608763612806797, 0.9995198845863342, 0.014274083077907562], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-4.2951459884643555, -60.631561279296875, -7.351214408874512, -7.409698009490967, 17.364633560180664, 0.012666703201830387], "ext_wrench_in_world": [7.568904330042186, -60.505691437455326, 5.51795672606374, 6.497005099863562, 17.722536038095384, 0.36732115013191863]}
+{"timestamp_ns": 1789729718747559747, "elapsed_ms": 7900, "source_timestamp_ns": 1789729718739298344, "q": [0.2151535153388977, -1.8354588747024536, -0.01701100915670395, 0.5430756211280823, 1.7428414821624756, 0.09755279868841171, -0.8714097142219543], "theta": [0.2125765085220337, -1.8347541093826294, -0.017792770639061928, 0.5269928574562073, 1.7419536113739014, 0.09806466102600098, -0.8710560202598572], "dq": [-0.13241960108280182, 0.0913281962275505, -0.020647786557674408, 0.1701429784297943, -0.07687115669250488, -0.13380616903305054, -0.08496779203414917], "dtheta": [-0.14940576255321503, 0.08352899551391602, -0.019063187763094902, 0.17187003791332245, -0.07474776357412338, -0.1358441412448883, -0.08888343721628189], "tau": [-60.689998626708984, -6.069999694824219, -19.70400047302246, 4.868000030517578, -4.156000137329102, 3.564000129699707, -0.22800001502037048], "tau_des": [-1.4397963285446167, 2.6730546951293945, -0.8460792899131775, -0.19073043763637543, -0.1845436841249466, 0.052404019981622696, -0.26211220026016235], "tau_dot": [13.178903579711914, -4.701934337615967, -18.913305282592773, -52.89476776123047, 32.013118743896484, -1.9039138555526733, -37.14435577392578], "tau_ext": [15.12216567993164, -35.96584701538086, -36.22770690917969, 20.12541961669922, -2.333244800567627, -6.797628402709961, 0.11705127358436584], "tcp_pose": [0.6384292244911194, -0.16393353044986725, -0.41550225019454956, -0.008626312017440796, -0.026336321607232094, 0.9995118975639343, 0.014418940991163254], "tcp_vel": [-0.0035355528816580772, 0.009214608930051327, 0.1020791232585907, 0.012729463167488575, -0.0026712275575846434, 0.017587879672646523], "flange_pose": [0.641849935054779, -0.16932371258735657, -0.22560951113700867, -0.008626312017440796, -0.026336321607232094, 0.9995118975639343, 0.014418940991163254], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.277057409286499, -60.05768966674805, -8.178892135620117, -7.281737327575684, 17.062639236450195, -0.012428058311343193], "ext_wrench_in_world": [6.566187085111995, -60.00809303900851, 6.361872909944914, 6.376725014424078, 17.41669505407353, 0.3919466309602834]}
+{"timestamp_ns": 1789729718780939625, "elapsed_ms": 7933, "source_timestamp_ns": 1789729718779378873, "q": [0.20926156640052795, -1.8318047523498535, -0.01759047992527485, 0.5501317977905273, 1.7395776510238647, 0.09252144396305084, -0.8749315142631531], "theta": [0.20660492777824402, -1.8311578035354614, -0.018393347039818764, 0.5340452790260315, 1.7387422323226929, 0.09295296669006348, -0.8745796084403992], "dq": [-0.15048561990261078, 0.08707065880298615, -0.0058554839342832565, 0.1842983365058899, -0.0851367637515068, -0.12297645956277847, -0.0895308256149292], "dtheta": [-0.1472102850675583, 0.09552302956581116, -0.012035924009978771, 0.1794108748435974, -0.0819355845451355, -0.12061028182506561, -0.08726253360509872], "tau": [-61.71999740600586, -6.5, -20.48400115966797, 5.440000057220459, -4.3480000495910645, 3.6000001430511475, -0.17600001394748688], "tau_des": [-2.0651848316192627, 1.5627902746200562, -1.5623811483383179, 0.7471017241477966, -0.44886618852615356, 0.03293363377451897, -0.14896999299526215], "tau_dot": [49.29781723022461, -35.71658706665039, 8.600180625915527, 23.28628921508789, 14.51596450805664, -2.7044589519500732, -14.572452545166016], "tau_ext": [15.553326606750488, -35.23750305175781, -35.80487823486328, 19.52633285522461, -2.1678688526153564, -6.812028884887695, 0.08490712940692902], "tcp_pose": [0.638356626033783, -0.1634754091501236, -0.41148626804351807, -0.00855258945375681, -0.026730893179774284, 0.9995003938674927, 0.014536174945533276], "tcp_vel": [-0.0003042282478418201, 0.013229425996541977, 0.09985686093568802, 0.005047385115176439, -0.007757026236504316, 0.019237123429775238], "flange_pose": [0.6417526006698608, -0.16890951991081238, -0.22159434854984283, -0.00855258945375681, -0.026730893179774284, 0.9995003938674927, 0.014536174945533276], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.839604616165161, -59.65956497192383, -8.52700424194336, -7.232726573944092, 16.83652687072754, -0.04724254086613655], "ext_wrench_in_world": [6.160620177527011, -59.640531224811085, 6.714956634859808, 6.326701940534331, 17.1922794735719, 0.4261122834094445]}
+{"timestamp_ns": 1789729718814233194, "elapsed_ms": 7966, "source_timestamp_ns": 1789729718809296719, "q": [0.20493517816066742, -1.828773021697998, -0.017958270385861397, 0.5556983351707458, 1.7370078563690186, 0.08905166387557983, -0.8775360584259033], "theta": [0.2022494077682495, -1.8281577825546265, -0.018796179443597794, 0.5395877361297607, 1.7362052202224731, 0.08944177627563477, -0.8771758675575256], "dq": [-0.16842348873615265, 0.09699224680662155, -0.012013230472803116, 0.19518664479255676, -0.08708571642637253, -0.11412825435400009, -0.09207301586866379], "dtheta": [-0.14348751306533813, 0.10334857553243637, -0.016044773161411285, 0.18878188729286194, -0.08371791988611221, -0.11381876468658447, -0.09190446883440018], "tau": [-62.34000015258789, -6.579999923706055, -20.628000259399414, 5.300000190734863, -4.384000301361084, 3.5280001163482666, -0.18400001525878906], "tau_des": [-2.692673683166504, 1.6071125268936157, -1.396825909614563, 0.6159692406654358, -0.255574494600296, -0.33741405606269836, -0.12912733852863312], "tau_dot": [28.82799530029297, 3.7456891536712646, 39.82941436767578, -17.832406997680664, 22.38967514038086, -48.77544021606445, -32.85711669921875], "tau_ext": [16.103683471679688, -35.062225341796875, -35.58132553100586, 19.360435485839844, -2.07123064994812, -6.788849353790283, 0.06802527606487274], "tcp_pose": [0.6383219361305237, -0.16307371854782104, -0.4085215628147125, -0.008474518544971943, -0.02700936421751976, 0.9994938969612122, 0.014514018781483173], "tcp_vel": [-0.0011835285695269704, 0.012836024165153503, 0.09967638552188873, -0.004626042675226927, -0.006751125678420067, 0.022936562076210976], "flange_pose": [0.6416895985603333, -0.16849927604198456, -0.2186288982629776, -0.008474518544971943, -0.02700936421751976, 0.9994938969612122, 0.014514018781483173], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.8603875637054443, -59.461944580078125, -7.92579460144043, -7.16257905960083, 16.750690460205078, -0.07319801300764084], "ext_wrench_in_world": [6.192089370991081, -59.421322382902545, 6.122692692919488, 6.252124998293783, 17.105583076889946, 0.45109670035615246]}
+{"timestamp_ns": 1789729718847583345, "elapsed_ms": 8000, "source_timestamp_ns": 1789729718839296076, "q": [0.2005116194486618, -1.8256109952926636, -0.018465396016836166, 0.5616508722305298, 1.7346155643463135, 0.08544352650642395, -0.8803806900978088], "theta": [0.19788992404937744, -1.8249847888946533, -0.019343016669154167, 0.5455110669136047, 1.7338387966156006, 0.08579957485198975, -0.879994809627533], "dq": [-0.15334779024124146, 0.10074014961719513, -0.01629575528204441, 0.19699200987815857, -0.07432466000318527, -0.12235081940889359, -0.09939295053482056], "dtheta": [-0.14540842175483704, 0.10732825845479965, -0.018749719485640526, 0.20237265527248383, -0.07572783529758453, -0.12702599167823792, -0.10321278125047684], "tau": [-61.77000045776367, -4.829999923706055, -20.32400131225586, 4.448000431060791, -4.304000377655029, 3.3520002365112305, -0.17600001394748688], "tau_des": [-2.408046007156372, 3.473250150680542, -0.9083154797554016, -0.6984766125679016, -0.19983771443367004, -0.4031776785850525, -0.1950227916240692], "tau_dot": [-17.5887508392334, -42.14577102661133, 28.684057235717773, -65.15352630615234, -4.0578694343566895, -12.50301742553711, 28.08561134338379], "tau_ext": [16.03972053527832, -36.054264068603516, -35.86677932739258, 20.0065860748291, -2.1223886013031006, -6.638523101806641, 0.0692850723862648], "tcp_pose": [0.6382275819778442, -0.16268041729927063, -0.40545904636383057, -0.008337891660630703, -0.027280069887638092, 0.999487578868866, 0.014519293792545795], "tcp_vel": [-0.005443488713353872, 0.01494965236634016, 0.10046689212322235, 0.006710539571940899, -0.005606257822364569, 0.023994235321879387], "flange_pose": [0.6415448784828186, -0.1681084781885147, -0.21556557714939117, -0.008337891660630703, -0.027280069887638092, 0.999487578868866, 0.014519293792545795], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.2409188747406006, -59.448448181152344, -7.6602020263671875, -7.063042163848877, 16.517995834350586, -0.0856635794043541], "ext_wrench_in_world": [5.598474593403604, -59.43099814766912, 5.867873979036027, 6.1562800339243315, 16.87087198291777, 0.46041711596284673]}
+{"timestamp_ns": 1789729718880896292, "elapsed_ms": 8033, "source_timestamp_ns": 1789729718879236912, "q": [0.1944618821144104, -1.8212194442749023, -0.019150128588080406, 0.5698151588439941, 1.7314432859420776, 0.08027651160955429, -0.8844260573387146], "theta": [0.19191047549247742, -1.8205187320709229, -0.02008669078350067, 0.5536563992500305, 1.7306874990463257, 0.08060097694396973, -0.8840088248252869], "dq": [-0.14092037081718445, 0.11548992991447449, -0.014209788292646408, 0.20874662697315216, -0.08533301949501038, -0.13363108038902283, -0.09327975660562515], "dtheta": [-0.1496005654335022, 0.11854851245880127, -0.016376223415136337, 0.200632244348526, -0.08507339656352997, -0.1260358989238739, -0.09650251269340515], "tau": [-60.94999694824219, -4.679999828338623, -20.464000701904297, 4.5, -4.304000377655029, 3.2360000610351562, -0.2240000069141388], "tau_des": [-0.9859004616737366, 1.745748519897461, -1.0182394981384277, 0.285451203584671, -0.4381362795829773, -0.3190888464450836, -0.07696522772312164], "tau_dot": [-6.737631797790527, -33.22707748413086, -40.52033233642578, 6.277237892150879, -33.87125778198242, -5.5273590087890625, -19.838153839111328], "tau_ext": [15.10466480255127, -36.09414291381836, -36.24496078491211, 19.896652221679688, -2.1618618965148926, -6.437135696411133, 0.07946935296058655], "tcp_pose": [0.6380661129951477, -0.1620151549577713, -0.40131309628486633, -0.008181927725672722, -0.027733296155929565, 0.9994742274284363, 0.014670739881694317], "tcp_vel": [0.0002439824747852981, 0.02261677198112011, 0.10201616585254669, 0.005253173876553774, -0.004299878142774105, 0.03011302463710308], "flange_pose": [0.6413282155990601, -0.16750088334083557, -0.21142032742500305, -0.008181927725672722, -0.027733296155929565, 0.9994742274284363, 0.014670739881694317], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.4761663675308228, -59.88648986816406, -8.413201332092285, -7.120665550231934, 16.21596908569336, -0.08530785143375397], "ext_wrench_in_world": [4.923720107740488, -59.92930800347528, 6.602099291429335, 6.215144672690559, 16.578041986697013, 0.45750331231154706]}
+{"timestamp_ns": 1789729718914231445, "elapsed_ms": 8066, "source_timestamp_ns": 1789729718909235709, "q": [0.19006812572479248, -1.8176580667495728, -0.019552115350961685, 0.5760108232498169, 1.7288005352020264, 0.07665789127349854, -0.887237548828125], "theta": [0.18749572336673737, -1.8169161081314087, -0.020540688186883926, 0.5598406195640564, 1.7280595302581787, 0.07697415351867676, -0.8868023157119751], "dq": [-0.1500263810157776, 0.12429626286029816, -0.0122486287727952, 0.20273256301879883, -0.08983330428600311, -0.11593624204397202, -0.09736047685146332], "dtheta": [-0.14404325187206268, 0.12329883873462677, -0.014646410942077637, 0.20942912995815277, -0.09036242216825485, -0.11126910150051117, -0.09440027177333832], "tau": [-61.869998931884766, -4.920000076293945, -21.04400062561035, 4.288000106811523, -4.400000095367432, 3.328000068664551, -0.2200000137090683], "tau_des": [-2.2291994094848633, 2.5570597648620605, -1.3125481605529785, -0.4011070430278778, -0.20811760425567627, -0.3664506673812866, -0.2389068305492401], "tau_dot": [-36.6390495300293, 20.998136520385742, -39.48746109008789, 35.01497268676758, -10.926809310913086, 39.41889953613281, 49.28497314453125], "tau_ext": [15.621288299560547, -36.083534240722656, -35.89768981933594, 19.998191833496094, -2.087462902069092, -6.478304862976074, 0.10303519666194916], "tcp_pose": [0.6379732489585876, -0.16140972077846527, -0.3983038663864136, -0.008134470321238041, -0.028053022921085358, 0.9994654655456543, 0.014684765599668026], "tcp_vel": [-0.0018335393397137523, 0.01976541243493557, 0.1001465693116188, -0.007776627782732248, -0.005511751864105463, 0.02381437085568905], "flange_pose": [0.6412192583084106, -0.16690023243427277, -0.20841094851493835, -0.008134470321238041, -0.028053022921085358, 0.9994654655456543, 0.014684765599668026], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.0845037698745728, -59.611167907714844, -8.633995056152344, -7.048820495605469, 16.029390335083008, -0.07737782597541809], "ext_wrench_in_world": [4.5586754526186954, -59.68006043266923, 6.835365626573819, 6.1430796783162105, 16.391965767405544, 0.4463659571877057]}
+{"timestamp_ns": 1789729718947591716, "elapsed_ms": 8100, "source_timestamp_ns": 1789729718939237925, "q": [0.18575766682624817, -1.813906192779541, -0.019958585500717163, 0.5823925733566284, 1.7261871099472046, 0.07329590618610382, -0.8901446461677551], "theta": [0.18318422138690948, -1.8131544589996338, -0.02099735476076603, 0.5662428140640259, 1.725460410118103, 0.0736079216003418, -0.8896883726119995], "dq": [-0.15672753751277924, 0.12910045683383942, -0.01816437393426895, 0.2081833928823471, -0.0853801891207695, -0.11234478652477264, -0.09763829410076141], "dtheta": [-0.14142866432666779, 0.12868094444274902, -0.0165761299431324, 0.21319249272346497, -0.08489678800106049, -0.11370061337947845, -0.09458911418914795], "tau": [-62.209999084472656, -4.699999809265137, -21.06800079345703, 4.148000240325928, -4.368000030517578, 3.3000001907348633, -0.29600000381469727], "tau_des": [-2.2528932094573975, 1.9561625719070435, -1.4177191257476807, -0.20982441306114197, -0.3988027572631836, -0.34197133779525757, -0.19988049566745758], "tau_dot": [23.369930267333984, -94.18711853027344, 16.363927841186523, 9.837841987609863, -46.34862518310547, 4.4153361320495605, -41.44303894042969], "tau_ext": [16.207420349121094, -36.21448516845703, -35.700172424316406, 20.233963012695312, -2.0664546489715576, -6.505476474761963, 0.1320551037788391], "tcp_pose": [0.6379066705703735, -0.16077208518981934, -0.3953271210193634, -0.008029453456401825, -0.02841438539326191, 0.999457061290741, 0.014619828201830387], "tcp_vel": [-0.0017015365883708, 0.023589620366692543, 0.09814848750829697, -0.003285172861069441, -0.005035217851400375, 0.024892058223485947], "flange_pose": [0.6411140561103821, -0.16623790562152863, -0.20543283224105835, -0.008029453456401825, -0.02841438539326191, 0.999457061290741, 0.014619828201830387], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.08766356110572815, -58.94518280029297, -8.367806434631348, -6.829631805419922, 15.673301696777344, -0.05855869874358177], "ext_wrench_in_world": [3.3878708370082298, -59.07052335054945, 6.614986551104876, 5.932180396699386, 16.0291208748858, 0.419768407960163]}
+{"timestamp_ns": 1789729718980899703, "elapsed_ms": 8133, "source_timestamp_ns": 1789729718979334841, "q": [0.1800592988729477, -1.8086127042770386, -0.020684601739048958, 0.590710461139679, 1.7225477695465088, 0.06875029951334, -0.8936112523078918], "theta": [0.17756640911102295, -1.8078619241714478, -0.02177865244448185, 0.5746155977249146, 1.721839189529419, 0.06905758380889893, -0.8931321501731873], "dq": [-0.13686150312423706, 0.13670626282691956, -0.018599877133965492, 0.21004796028137207, -0.09465345740318298, -0.11164060235023499, -0.07105953246355057], "dtheta": [-0.13746540248394012, 0.13579891622066498, -0.02185785584151745, 0.20526157319545746, -0.09262953698635101, -0.11184056103229523, -0.07822076976299286], "tau": [-60.64999771118164, -6.909999847412109, -20.87200164794922, 5.700000286102295, -4.315999984741211, 3.264000177383423, -0.29600000381469727], "tau_des": [0.16580148041248322, -0.9597426652908325, -0.5170727372169495, 1.4516701698303223, -0.22058653831481934, -0.5565935969352722, -0.2664586901664734], "tau_dot": [53.691593170166016, 24.997983932495117, 13.256397247314453, -18.98792839050293, 26.379161834716797, 27.87274742126465, 39.87821578979492], "tau_ext": [15.757508277893066, -34.32707214355469, -35.87900924682617, 18.96018409729004, -2.071866273880005, -6.44523286819458, 0.18269066512584686], "tcp_pose": [0.637947142124176, -0.15971915423870087, -0.3913581073284149, -0.008020480163395405, -0.02894054539501667, 0.9994441270828247, 0.014474593102931976], "tcp_vel": [0.0014247439103201032, 0.02786770649254322, 0.09719782322645187, -0.01169236283749342, 0.00501234969124198, 0.024463282898068428], "flange_pose": [0.6411523818969727, -0.16512824594974518, -0.20146217942237854, -0.008020480163395405, -0.02894054539501667, 0.9994441270828247, 0.014474593102931976], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.03122051991522312, -57.92337417602539, -8.083373069763184, -6.46391487121582, 15.671753883361816, -0.020953381434082985], "ext_wrench_in_world": [3.4425566182810132, -58.034012378380595, 6.376627795126456, 5.549653711584704, 16.013769865362153, 0.38343535034969306]}
+{"timestamp_ns": 1789729719014234562, "elapsed_ms": 8166, "source_timestamp_ns": 1789729719009231494, "q": [0.17597241699695587, -1.8045985698699951, -0.02124711684882641, 0.5970244407653809, 1.719856858253479, 0.06536350399255753, -0.8961037397384644], "theta": [0.17349326610565186, -1.8038324117660522, -0.022379277274012566, 0.5809505581855774, 1.7191684246063232, 0.06566524505615234, -0.8956313729286194], "dq": [-0.11901505291461945, 0.12499824911355972, -0.017700210213661194, 0.21696755290031433, -0.08521848917007446, -0.11116773635149002, -0.08969984948635101], "dtheta": [-0.1343793123960495, 0.13168106973171234, -0.017189357429742813, 0.213822603225708, -0.07987234741449356, -0.11165708303451538, -0.09030254185199738], "tau": [-59.69999694824219, -5.559999942779541, -20.520000457763672, 4.660000324249268, -4.0920000076293945, 3.1440000534057617, -0.35200002789497375], "tau_des": [0.7523537278175354, 1.5104628801345825, 0.21696053445339203, -0.2749910056591034, 0.1176721528172493, -0.4218762516975403, -0.6115078330039978], "tau_dot": [2.7128453254699707, 68.48184967041016, 5.330693244934082, -135.57138061523438, 19.277629852294922, -33.64719009399414, 28.647462844848633], "tau_ext": [15.009074211120605, -35.09217834472656, -36.21955490112305, 19.375282287597656, -2.189650058746338, -6.403304576873779, 0.22160542011260986], "tcp_pose": [0.6378852725028992, -0.15891647338867188, -0.38849177956581116, -0.008083950728178024, -0.029256178066134453, 0.9994359612464905, 0.014369425363838673], "tcp_vel": [-0.0033176597207784653, 0.026495853438973427, 0.09343305975198746, -0.0004308542993385345, -0.0032451257575303316, 0.021457813680171967], "flange_pose": [0.6411151885986328, -0.16428391635417938, -0.1985950917005539, -0.008083950728178024, -0.029256178066134453, 0.9994359612464905, 0.014369425363838673], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-0.46398642659187317, -57.5521125793457, -8.662924766540527, -6.394620895385742, 15.792628288269043, 0.014057320542633533], "ext_wrench_in_world": [3.9626371269255483, -57.647308348983344, 6.970836275371251, 5.462725838956923, 16.13490800271161, 0.3490736424102195]}
+{"timestamp_ns": 1789729719047588986, "elapsed_ms": 8200, "source_timestamp_ns": 1789729719039287826, "q": [0.17214052379131317, -1.8007402420043945, -0.021558217704296112, 0.6035875082015991, 1.7176697254180908, 0.062244292348623276, -0.8992928862571716], "theta": [0.16960880160331726, -1.799932599067688, -0.022720931097865105, 0.5875155925750732, 1.7170079946517944, 0.06254005432128906, -0.8988421559333801], "dq": [-0.11940835416316986, 0.13090799748897552, -0.0051229833625257015, 0.22070249915122986, -0.06702299416065216, -0.10154654085636139, -0.11743506789207458], "dtheta": [-0.12453731149435043, 0.1301775574684143, -0.007129637990146875, 0.21807506680488586, -0.06875152140855789, -0.09735136479139328, -0.12231030315160751], "tau": [-60.56999969482422, -2.759999990463257, -20.852001190185547, 3.388000249862671, -4.0, 3.320000171661377, -0.41200003027915955], "tau_des": [-0.6454836130142212, 3.4883790016174316, -0.4076438248157501, -1.4951145648956299, -0.03429395332932472, -0.23633071780204773, -0.3371949791908264], "tau_dot": [-108.69424438476562, -14.945042610168457, 5.615604400634766, 80.26387023925781, -35.65376281738281, 15.90627670288086, 2.9707305431365967], "tau_ext": [15.127205848693848, -36.8914909362793, -36.24718475341797, 20.4835147857666, -2.299494504928589, -6.4636430740356445, 0.27243804931640625], "tcp_pose": [0.6376819014549255, -0.1581704020500183, -0.3858673572540283, -0.00795171782374382, -0.029670661315321922, 0.9994240403175354, 0.014424542896449566], "tcp_vel": [-0.005067346151918173, 0.02677534706890583, 0.08430992811918259, 0.006046266760677099, -0.014649312011897564, 0.044556159526109695], "flange_pose": [0.6408644318580627, -0.16355891525745392, -0.19597043097019196, -0.00795171782374382, -0.029670661315321922, 0.9994240403175354, 0.014424542896449566], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.5966132283210754, -57.914798736572266, -9.508768081665039, -6.569334030151367, 15.533012390136719, 0.06074351444840431], "ext_wrench_in_world": [2.9852623746095053, -58.09392268765766, 7.8154261424421385, 5.638263918099252, 15.8920377927067, 0.29568238269343794]}
+{"timestamp_ns": 1789729719080897997, "elapsed_ms": 8233, "source_timestamp_ns": 1789729719079295269, "q": [0.1674211323261261, -1.795517086982727, -0.0216533076018095, 0.6119486093521118, 1.7146244049072266, 0.05866686999797821, -0.9036204218864441], "theta": [0.16481196880340576, -1.794696569442749, -0.022863170132040977, 0.5958621501922607, 1.713980793952942, 0.058954596519470215, -0.9032164216041565], "dq": [-0.12555986642837524, 0.14270134270191193, -0.0030492220539599657, 0.20121777057647705, -0.08147447556257248, -0.08218464255332947, -0.09314121305942535], "dtheta": [-0.11587895452976227, 0.13375814259052277, -0.004605909343808889, 0.20427827537059784, -0.08468451350927353, -0.08496063947677612, -0.09725581109523773], "tau": [-61.91999816894531, -4.069999694824219, -21.692001342773438, 3.9680001735687256, -4.131999969482422, 3.576000213623047, -0.46400001645088196], "tau_des": [-1.6876327991485596, 2.3550825119018555, -1.1590842008590698, -0.8292829394340515, 0.013768556527793407, -0.19644849002361298, -0.4555605947971344], "tau_dot": [32.470672607421875, -55.40409469604492, 37.53435516357422, 56.894813537597656, -44.516597747802734, 8.033740043640137, 25.559553146362305], "tau_ext": [15.851936340332031, -36.24925994873047, -35.89651107788086, 20.031295776367188, -2.2753798961639404, -6.632032871246338, 0.3309135138988495], "tcp_pose": [0.6375211477279663, -0.15702931582927704, -0.3826999068260193, -0.007793889846652746, -0.030462507158517838, 0.9994011521339417, 0.014444434083998203], "tcp_vel": [-0.0025455886498093605, 0.029055336490273476, 0.0792953372001648, -0.008100191131234169, -0.002060743048787117, 0.037362512201070786], "flange_pose": [0.6406483054161072, -0.162424698472023, -0.19280226528644562, -0.007793889846652746, -0.030462507158517838, 0.9994011521339417, 0.014444434083998203], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.4593944549560547, -58.2577018737793, -9.436681747436523, -6.726130962371826, 15.377276420593262, 0.12171611189842224], "ext_wrench_in_world": [2.232913383202581, -58.48242959542567, 7.743393870319418, 5.777989887910876, 15.756835601257245, 0.2307538523145948]}
+{"timestamp_ns": 1789729719114228384, "elapsed_ms": 8266, "source_timestamp_ns": 1789729719109435960, "q": [0.16402846574783325, -1.7914263010025024, -0.021828800439834595, 0.6179594993591309, 1.7121065855026245, 0.05613270401954651, -0.9064132571220398], "theta": [0.16142775118350983, -1.7906346321105957, -0.023077843710780144, 0.6018566489219666, 1.7114644050598145, 0.056406497955322266, -0.9060683846473694], "dq": [-0.12490612268447876, 0.13542643189430237, -0.008270947262644768, 0.1917800009250641, -0.08588601648807526, -0.08767792582511902, -0.08673279732465744], "dtheta": [-0.11189749091863632, 0.13394306600093842, -0.010122079402208328, 0.19631831347942352, -0.08230724930763245, -0.08694358915090561, -0.10059010237455368], "tau": [-62.029998779296875, -4.889999866485596, -21.82000160217285, 4.116000175476074, -4.064000129699707, 3.57200026512146, -0.5080000162124634], "tau_des": [-1.4518316984176636, 1.0351550579071045, -0.8852388262748718, -0.12766937911510468, 0.10409384220838547, -0.2661648094654083, -0.3805866837501526], "tau_dot": [33.71371841430664, -127.84602355957031, 9.555705070495605, -0.7207340002059937, 41.38602828979492, 22.165863037109375, -47.414337158203125], "tau_ext": [16.090850830078125, -35.66863250732422, -35.85687255859375, 19.833961486816406, -2.3112101554870605, -6.687067985534668, 0.36853334307670593], "tcp_pose": [0.6374989151954651, -0.1560743749141693, -0.3803772032260895, -0.00781066482886672, -0.031055083498358727, 0.9993845224380493, 0.014321088790893555], "tcp_vel": [-0.0012762673432007432, 0.030977269634604454, 0.07773181051015854, -0.008522430434823036, 0.0027058569248765707, 0.04907787963747978], "flange_pose": [0.6406341195106506, -0.16142086684703827, -0.19047832489013672, -0.00781066482886672, -0.031055083498358727, 0.9993845224380493, 0.014321088790893555], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.7821184396743774, -57.57636642456055, -9.124307632446289, -6.535638332366943, 15.359535217285156, 0.1604054570198059], "ext_wrench_in_world": [1.9330947332445638, -57.80946498351442, 7.469659271474899, 5.569627791766594, 15.735264505996865, 0.1905717730023609]}
+{"timestamp_ns": 1789729719147563011, "elapsed_ms": 8300, "source_timestamp_ns": 1789729719139295346, "q": [0.1606583148241043, -1.7874127626419067, -0.02212873101234436, 0.6237680315971375, 1.709701418876648, 0.05347692593932152, -0.9091556072235107], "theta": [0.15812928974628448, -1.786622405052185, -0.023412486538290977, 0.6076768040657043, 1.7090601921081543, 0.05372476577758789, -0.9089043736457825], "dq": [-0.11143672466278076, 0.11536496877670288, -0.012430801056325436, 0.1844790130853653, -0.08141796290874481, -0.08284942060709, -0.09276486933231354], "dtheta": [-0.10906527191400528, 0.13199345767498016, -0.011139425449073315, 0.1898110955953598, -0.07824338227510452, -0.09156566113233566, -0.09344279766082764], "tau": [-61.23999786376953, -5.130000114440918, -21.648000717163086, 4.796000003814697, -4.004000186920166, 3.508000135421753, -0.5040000081062317], "tau_des": [-0.9328562617301941, 0.7493990659713745, -0.6427977085113525, 0.22064778208732605, 0.06372169405221939, -0.1989874541759491, -0.589695394039154], "tau_dot": [122.44710540771484, -89.6186294555664, 31.867340087890625, -21.06447410583496, 34.08333969116211, 15.960037231445312, -3.117337226867676], "tau_ext": [15.858016967773438, -35.338008880615234, -35.98640441894531, 19.600555419921875, -2.3704681396484375, -6.697308540344238, 0.38716208934783936], "tcp_pose": [0.6374921202659607, -0.155096173286438, -0.3780544400215149, -0.007851754315197468, -0.03168429061770439, 0.9993656873703003, 0.014236798509955406], "tcp_vel": [-0.0013028726680204272, 0.033310238271951675, 0.07514920085668564, -0.00235511246137321, 0.006040687672793865, 0.04592491313815117], "flange_pose": [0.6406453251838684, -0.16040818393230438, -0.1881548911333084, -0.007851754315197468, -0.03168429061770439, 0.9993656873703003, 0.014236798509955406], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.117492198944092, -56.969879150390625, -9.161742210388184, -6.359474182128906, 15.335050582885742, 0.19396667182445526], "ext_wrench_in_world": [1.6341398417830946, -57.223116217904895, 7.538765233243277, 5.374986994485341, 15.707624551380018, 0.15606756422884704]}
+{"timestamp_ns": 1789729719180906637, "elapsed_ms": 8333, "source_timestamp_ns": 1789729719179296981, "q": [0.15631110966205597, -1.7821840047836304, -0.022482696920633316, 0.6313653588294983, 1.706601619720459, 0.04992372542619705, -0.9129243493080139], "theta": [0.15384609997272491, -1.7813295125961304, -0.023802492767572403, 0.6152947545051575, 1.7059680223464966, 0.05011546611785889, -0.9128335118293762], "dq": [-0.09120941162109375, 0.12961243093013763, -0.0064881122671067715, 0.19223099946975708, -0.07252031564712524, -0.0849272757768631, -0.09375962615013123], "dtheta": [-0.10462947934865952, 0.13325832784175873, -0.006674112286418676, 0.19431370496749878, -0.07432566583156586, -0.08572269976139069, -0.10415642708539963], "tau": [-60.75, -4.509999752044678, -21.668001174926758, 4.172000408172607, -3.9080002307891846, 3.5240001678466797, -0.5120000243186951], "tau_des": [-0.7848308086395264, 1.2520824670791626, -0.40025150775909424, -0.05555832386016846, 0.2659691870212555, -0.0646505057811737, -0.4864366948604584], "tau_dot": [2.820998191833496, 78.61626434326172, -51.989200592041016, 15.153801918029785, -12.63102912902832, -40.733577728271484, -23.841140747070312], "tau_ext": [15.359030723571777, -35.63167190551758, -36.17987060546875, 19.592723846435547, -2.4626779556274414, -6.713518142700195, 0.39834311604499817], "tcp_pose": [0.6374216079711914, -0.153782919049263, -0.37507858872413635, -0.00793512910604477, -0.03257645294070244, 0.9993368983268738, 0.014198613353073597], "tcp_vel": [-0.0028083978686481714, 0.03400859236717224, 0.07112713903188705, 0.0002887479495257139, 0.002236358355730772, 0.05200238525867462], "flange_pose": [0.6406107544898987, -0.15907657146453857, -0.18517911434173584, -0.00793512910604477, -0.03257645294070244, 0.9993368983268738, 0.014198613353073597], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.74391770362854, -56.959476470947266, -9.723312377929688, -6.435756206512451, 15.482324600219727, 0.22205010056495667], "ext_wrench_in_world": [2.118986773945547, -57.20046068227225, 8.098345830346814, 5.412998285316944, 15.869888634341365, 0.12931945001407358]}
+{"timestamp_ns": 1789729719214245624, "elapsed_ms": 8366, "source_timestamp_ns": 1789729719209240287, "q": [0.15323786437511444, -1.778303861618042, -0.022548791021108627, 0.6372522115707397, 1.7045220136642456, 0.04752027615904808, -0.9159915447235107], "theta": [0.15075381100177765, -1.777408480644226, -0.023890182375907898, 0.6211625337600708, 1.7038865089416504, 0.04766643047332764, -0.9160462021827698], "dq": [-0.09586067497730255, 0.13540196418762207, 0.001037117326632142, 0.19845394790172577, -0.06188905984163284, -0.0823519378900528, -0.10616390407085419], "dtheta": [-0.1025768294930458, 0.12959317862987518, -8.228236765717156e-06, 0.19748136401176453, -0.06596267223358154, -0.07900181412696838, -0.10759329795837402], "tau": [-61.459999084472656, -3.1499998569488525, -22.088001251220703, 3.064000129699707, -3.9120001792907715, 3.644000291824341, -0.4960000216960907], "tau_des": [-1.551312804222107, 3.1318235397338867, -0.9023645520210266, -1.339872121810913, 0.04892869293689728, 0.022250758484005928, -0.5606279373168945], "tau_dot": [-69.31849670410156, 7.332406997680664, -51.752864837646484, -56.19244384765625, 4.700940132141113, -19.73612403869629, -4.675334930419922], "tau_ext": [15.372791290283203, -36.37684631347656, -36.12879943847656, 20.20191192626953, -2.5220160484313965, -6.7640061378479, 0.38538479804992676], "tcp_pose": [0.6372869610786438, -0.15282167494297028, -0.37302109599113464, -0.007883365266025066, -0.033223312348127365, 0.9993155002593994, 0.014235631562769413], "tcp_vel": [-0.00411990936845541, 0.0330660454928875, 0.0676795244216919, 0.006560125388205051, -0.007999494671821594, 0.046716637909412384], "flange_pose": [0.6404603123664856, -0.15812797844409943, -0.1831217259168625, -0.007883365266025066, -0.033223312348127365, 0.9993155002593994, 0.014235631562769413], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.51944899559021, -56.88395309448242, -10.244357109069824, -6.499176025390625, 15.30412483215332, 0.2313452810049057], "ext_wrench_in_world": [1.4219173809234094, -57.18928562930434, 8.627998356888996, 5.46738058102249, 15.703609361383075, 0.11597039935876093]}
+{"timestamp_ns": 1789729719247588070, "elapsed_ms": 8400, "source_timestamp_ns": 1789729719239227727, "q": [0.15015164017677307, -1.7742655277252197, -0.022535530850291252, 0.6432852149009705, 1.7023521661758423, 0.04519367963075638, -0.9192469120025635], "theta": [0.1476372927427292, -1.7733631134033203, -0.02389790676534176, 0.6271779537200928, 1.7017080783843994, 0.04529595375061035, -0.9194605350494385], "dq": [-0.1005680039525032, 0.13625413179397583, 0.002083275467157364, 0.19308847188949585, -0.07432255148887634, -0.07260307669639587, -0.10624414682388306], "dtheta": [-0.09914421290159225, 0.13100256025791168, -6.289024167926982e-05, 0.18882222473621368, -0.07191689312458038, -0.07303744554519653, -0.10658270865678787], "tau": [-62.029998779296875, -2.700000047683716, -22.34800148010254, 3.448000192642212, -3.9800002574920654, 3.688000202178955, -0.4480000138282776], "tau_des": [-1.861285924911499, 2.35224986076355, -1.151963472366333, -0.6546503305435181, 0.027395043522119522, -0.01907457411289215, -0.1501050889492035], "tau_dot": [81.55106353759766, -57.77036666870117, 9.069196701049805, 15.804133415222168, -22.502859115600586, -34.000492095947266, -28.398921966552734], "tau_ext": [15.787946701049805, -36.664432525634766, -35.997440338134766, 20.375865936279297, -2.518031597137451, -6.837059020996094, 0.3652491867542267], "tcp_pose": [0.6371616125106812, -0.15179777145385742, -0.37097129225730896, -0.007822764106094837, -0.03396494686603546, 0.9992907047271729, 0.01425937283784151], "tcp_vel": [-0.0017213253304362297, 0.03444056957960129, 0.06596477329730988, 2.2895897927810438e-05, -0.0038237411063164473, 0.05594329908490181], "flange_pose": [0.6403161883354187, -0.1571115255355835, -0.18107180297374725, -0.007822764106094837, -0.03396494686603546, 0.9992907047271729, 0.01425937283784151], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [3.8601162433624268, -56.69943618774414, -10.408822059631348, -6.506807804107666, 14.97807788848877, 0.22367310523986816], "ext_wrench_in_world": [0.1582859390703424, -57.09955709353836, 8.81394709381979, 5.4738890691570425, 15.386829320708033, 0.11583007037392554]}
+{"timestamp_ns": 1789729719280915598, "elapsed_ms": 8433, "source_timestamp_ns": 1789729719279304272, "q": [0.1463514268398285, -1.7689976692199707, -0.022605404257774353, 0.6503053307533264, 1.6992242336273193, 0.04235966131091118, -0.922371506690979], "theta": [0.14385081827640533, -1.7681246995925903, -0.024001428857445717, 0.6341878175735474, 1.698575496673584, 0.04240846633911133, -0.9227660298347473], "dq": [-0.10651363432407379, 0.1400928646326065, -0.005017696414142847, 0.18126174807548523, -0.08658966422080994, -0.07583137601613998, -0.06874554604291916], "dtheta": [-0.09444190561771393, 0.1355465203523636, -0.005375923588871956, 0.17776989936828613, -0.08625324070453644, -0.07553339004516602, -0.07104558497667313], "tau": [-61.619998931884766, -5.269999980926514, -22.57200050354004, 4.724000453948975, -4.0320000648498535, 3.6640002727508545, -0.3960000276565552], "tau_des": [-1.3145866394042969, 0.18661174178123474, -0.933364748954773, 0.6571522951126099, 0.2433689385652542, -0.09086012840270996, -0.5815123319625854], "tau_dot": [96.98035430908203, -69.88224029541016, 29.64730453491211, -26.67936897277832, 80.48719787597656, 25.079294204711914, -23.981395721435547], "tau_ext": [15.801277160644531, -34.76029968261719, -35.85443878173828, 19.0775203704834, -2.44283390045166, -6.8413777351379395, 0.3103637397289276], "tcp_pose": [0.6372146606445312, -0.15032389760017395, -0.3684173822402954, -0.007938633672893047, -0.03480109944939613, 0.9992626309394836, 0.014145752415060997], "tcp_vel": [-0.0007162179099395871, 0.03717758506536484, 0.06508167088031769, -0.010528161190450191, 0.015569199807941914, 0.037503547966480255], "flange_pose": [0.6404162049293518, -0.15559034049510956, -0.17851735651493073, -0.007938633672893047, -0.03480109944939613, 0.9992626309394836, 0.014145752415060997], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [3.5274782180786133, -56.23727035522461, -10.112422943115234, -6.395639896392822, 15.07398796081543, 0.18808335065841675], "ext_wrench_in_world": [0.5506270591072011, -56.60497272856106, 8.538656194432729, 5.331149337070359, 15.482914657354106, 0.15132261192140936]}
+{"timestamp_ns": 1789729719314229088, "elapsed_ms": 8466, "source_timestamp_ns": 1789729719309295101, "q": [0.1434890776872635, -1.764957070350647, -0.022771751508116722, 0.6557472944259644, 1.6968716382980347, 0.04011806100606918, -0.9247133135795593], "theta": [0.14105570316314697, -1.7640889883041382, -0.024188969284296036, 0.6396052837371826, 1.696237564086914, 0.040134310722351074, -0.9252369403839111], "dq": [-0.09917148947715759, 0.12712299823760986, -0.007783244363963604, 0.18716686964035034, -0.07055503875017166, -0.07679198682308197, -0.08632107079029083], "dtheta": [-0.09191678464412689, 0.13301454484462738, -0.005602038465440273, 0.18336135149002075, -0.0687568262219429, -0.07555727660655975, -0.09160620719194412], "tau": [-61.529998779296875, -4.199999809265137, -22.23600196838379, 4.064000129699707, -3.880000114440918, 3.500000238418579, -0.36400002241134644], "tau_des": [-1.2995684146881104, 0.8703994750976562, -0.5306851267814636, 0.16729140281677246, 0.25990721583366394, -0.19108176231384277, -0.354463666677475], "tau_dot": [-34.81419372558594, 95.48243713378906, 18.402469635009766, 12.566530227661133, -22.19738006591797, -10.352852821350098, 25.409822463989258], "tau_ext": [15.73518180847168, -35.47926712036133, -36.025718688964844, 19.562210083007812, -2.498500347137451, -6.783844470977783, 0.2826378643512726], "tcp_pose": [0.6371930837631226, -0.1492190808057785, -0.3664557933807373, -0.008069131523370743, -0.03538832813501358, 0.99924236536026, 0.01404649205505848], "tcp_vel": [-0.0020263446494936943, 0.03717402368783951, 0.06239410117268562, 0.00015280723164323717, 0.004275235813111067, 0.04841574281454086], "flange_pose": [0.6404459476470947, -0.15444420278072357, -0.17655551433563232, -0.008069131523370743, -0.03538832813501358, 0.99924236536026, 0.01404649205505848], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [3.4132912158966064, -55.91166687011719, -10.082925796508789, -6.288631916046143, 15.087808609008789, 0.15682242810726166], "ext_wrench_in_world": [0.7098922073895673, -56.269022030026484, 8.527816518644242, 5.205741895696548, 15.494554254545966, 0.18025825881963875]}
+{"timestamp_ns": 1789729719347566875, "elapsed_ms": 8500, "source_timestamp_ns": 1789729719339278802, "q": [0.14066927134990692, -1.7610769271850586, -0.022901004180312157, 0.6614111065864563, 1.6949822902679443, 0.03783877566456795, -0.9274791479110718], "theta": [0.13831102848052979, -1.7601799964904785, -0.02432996965944767, 0.645240843296051, 1.694366216659546, 0.03782951831817627, -0.9281196594238281], "dq": [-0.08626465499401093, 0.1310354769229889, -0.0017875264165923, 0.1864115446805954, -0.0598934143781662, -0.07691783457994461, -0.09787441790103912], "dtheta": [-0.09056839346885681, 0.1283721774816513, -0.0038921197410672903, 0.18730728328227997, -0.06077167019248009, -0.07470303028821945, -0.09982489049434662], "tau": [-61.529998779296875, -2.3999998569488525, -22.21200180053711, 3.0240001678466797, -3.9120001792907715, 3.504000186920166, -0.30800002813339233], "tau_des": [-1.2111423015594482, 3.152991533279419, -0.24088670313358307, -1.297358751296997, 0.3041877746582031, -0.29285842180252075, -0.2967417240142822], "tau_dot": [-23.470624923706055, 35.62020492553711, 34.9481201171875, -28.799057006835938, -49.76985168457031, 22.71991729736328, 38.30607604980469], "tau_ext": [15.583061218261719, -36.65218734741211, -36.29886245727539, 20.362201690673828, -2.5719966888427734, -6.7147369384765625, 0.24574832618236542], "tcp_pose": [0.6370604634284973, -0.1481771320104599, -0.3645586669445038, -0.008040688000619411, -0.035977985709905624, 0.9992206692695618, 0.014105685986578465], "tcp_vel": [-0.0050536999478936195, 0.03488974645733833, 0.06077056750655174, 0.005602032877504826, -0.001662918832153082, 0.0470941886305809], "flange_pose": [0.6403064131736755, -0.15342319011688232, -0.1746588498353958, -0.008040688000619411, -0.035977985709905624, 0.9992206692695618, 0.014105685986578465], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [4.5243988037109375, -55.99478530883789, -10.375783920288086, -6.263111114501953, 14.784680366516113, 0.13081161677837372], "ext_wrench_in_world": [-0.3215253286292373, -56.44035558429629, 8.82756712008587, 5.18418913449109, 15.195871464888267, 0.20029850760328033]}
+{"timestamp_ns": 1789729719380898712, "elapsed_ms": 8533, "source_timestamp_ns": 1789729719379239382, "q": [0.13707871735095978, -1.755912184715271, -0.022944757714867592, 0.6686322689056396, 1.6924517154693604, 0.03489387407898903, -0.9309942722320557], "theta": [0.13474886119365692, -1.7550026178359985, -0.024390527978539467, 0.6524384021759033, 1.6918518543243408, 0.03485286235809326, -0.9317513108253479], "dq": [-0.08129366487264633, 0.14133486151695251, -9.313588088843971e-05, 0.17436359822750092, -0.06937247514724731, -0.06894227117300034, -0.08206821978092194], "dtheta": [-0.08554533869028091, 0.13029727339744568, -0.0009043785976245999, 0.17256537079811096, -0.06880621612071991, -0.0689680352807045, -0.08378481864929199], "tau": [-61.71999740600586, -3.25, -22.796001434326172, 3.7680001258850098, -4.052000045776367, 3.556000232696533, -0.2600000202655792], "tau_des": [-1.6228864192962646, 1.0776562690734863, -1.0624240636825562, 0.0942516028881073, 0.045732852071523666, -0.03468894585967064, -0.0949786826968193], "tau_dot": [96.44776153564453, -183.7602081298828, -5.925192356109619, 55.29604721069336, -2.9674103260040283, 54.74006652832031, 79.79006958007812], "tau_ext": [15.594624519348145, -35.9792366027832, -36.188232421875, 19.8183650970459, -2.4787681102752686, -6.698099136352539, 0.19082528352737427], "tcp_pose": [0.6369504928588867, -0.14666680991649628, -0.3621968626976013, -0.0080525241792202, -0.036824341863393784, 0.9991878867149353, 0.014237798750400543], "tcp_vel": [-0.000958031218033284, 0.03903559222817421, 0.056712426245212555, 0.0013896820601075888, 0.0058313715271651745, 0.04752359911799431], "flange_pose": [0.6402072310447693, -0.1519601047039032, -0.17229852080345154, -0.0080525241792202, -0.036824341863393784, 0.9991878867149353, 0.014237798750400543], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.225799083709717, -56.16371154785156, -10.631913185119629, -6.284141540527344, 14.555827140808105, 0.08589158952236176], "ext_wrench_in_world": [-0.9085659205697749, -56.67057931016261, 9.073532800846934, 5.197002120128898, 14.976726162665534, 0.24240138515156362]}
+{"timestamp_ns": 1789729719414227830, "elapsed_ms": 8566, "source_timestamp_ns": 1789729719409229172, "q": [0.1345636248588562, -1.7519481182098389, -0.022945288568735123, 0.6738167405128479, 1.6904069185256958, 0.0329609140753746, -0.9331465363502502], "theta": [0.1322014480829239, -1.7510613203048706, -0.024410078302025795, 0.6576168537139893, 1.6898165941238403, 0.03290259838104248, -0.9339659810066223], "dq": [-0.08053518086671829, 0.12616020441055298, 0.00021603296045213938, 0.16212478280067444, -0.0694841668009758, -0.06702405214309692, -0.06955050677061081], "dtheta": [-0.08259857445955276, 0.13007405400276184, -0.000866259157191962, 0.1706124097108841, -0.06706643849611282, -0.0635015219449997, -0.07502247393131256], "tau": [-61.78999710083008, -4.170000076293945, -23.112001419067383, 3.936000108718872, -4.111999988555908, 3.6080002784729004, -0.2840000092983246], "tau_des": [-1.9850493669509888, 0.5680675506591797, -1.260831356048584, 0.3864191174507141, -0.020763279870152473, -0.12214843183755875, -0.3216938078403473], "tau_dot": [19.013626098632812, -6.7069783210754395, -27.29234504699707, -36.715328216552734, 77.28392791748047, 8.239011764526367, -32.6512565612793], "tau_ext": [15.712247848510742, -35.362815856933594, -35.97207260131836, 19.51988410949707, -2.3893167972564697, -6.701991081237793, 0.15922319889068604], "tcp_pose": [0.6369524002075195, -0.14547574520111084, -0.3605298697948456, -0.008124570362269878, -0.03737485036253929, 0.9991670250892639, 0.014226186089217663], "tcp_vel": [-0.00031513356952928007, 0.03874031454324722, 0.05510080233216286, -0.0012617426691576838, 0.004168061073869467, 0.04016495868563652], "flange_pose": [0.6402391791343689, -0.15076179802417755, -0.17063185572624207, -0.008124570362269878, -0.03737485036253929, 0.9991670250892639, 0.014226186089217663], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.246265411376953, -55.70663070678711, -10.48905086517334, -6.165151596069336, 14.484504699707031, 0.04878627508878708], "ext_wrench_in_world": [-0.9017578092907307, -56.213314048383296, 8.945521229776247, 5.067807573056449, 14.901417427809973, 0.2782727863469667]}
+{"timestamp_ns": 1789729719447562837, "elapsed_ms": 8600, "source_timestamp_ns": 1789729719439292742, "q": [0.13210506737232208, -1.7480510473251343, -0.02293824777007103, 0.6790070533752441, 1.6884405612945557, 0.03110496513545513, -0.9354545474052429], "theta": [0.12969596683979034, -1.7471542358398438, -0.024422381073236465, 0.6628293395042419, 1.6878637075424194, 0.031036853790283203, -0.9363182783126831], "dq": [-0.08232221752405167, 0.11492931097745895, -0.00013701163697987795, 0.16984376311302185, -0.06147342175245285, -0.06299452483654022, -0.08447705209255219], "dtheta": [-0.08318126201629639, 0.12825340032577515, -0.0002487821620889008, 0.17548535764217377, -0.059137724339962006, -0.060067761689424515, -0.08552190661430359], "tau": [-61.77000045776367, -3.75, -23.21200180053711, 3.876000165939331, -4.104000091552734, 3.516000270843506, -0.24000000953674316], "tau_des": [-1.4617279767990112, 0.727601945400238, -0.8641528487205505, -0.11843330413103104, 0.06656357645988464, -0.3183063268661499, -0.28061726689338684], "tau_dot": [51.54949188232422, 58.71464538574219, -54.31641387939453, 10.21481704711914, -27.16242790222168, 52.78826141357422, 5.473260879516602], "tau_ext": [15.676332473754883, -35.76982879638672, -35.933387756347656, 19.816640853881836, -2.3570544719696045, -6.679391384124756, 0.14051051437854767], "tcp_pose": [0.6369175314903259, -0.1443275362253189, -0.3588966131210327, -0.008167700842022896, -0.03796175494790077, 0.9991447329521179, 0.014213042333722115], "tcp_vel": [-0.0010725200409069657, 0.03714439272880554, 0.05521519482135773, 0.001398482359945774, -0.005162965971976519, 0.043227069079875946], "flange_pose": [0.6402236223220825, -0.14960604906082153, -0.16899871826171875, -0.008167700842022896, -0.03796175494790077, 0.9991447329521179, 0.014213042333722115], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.618997097015381, -55.18294906616211, -10.4291353225708, -6.042826175689697, 14.310385704040527, 0.02043621428310871], "ext_wrench_in_world": [-1.2472921729467348, -55.71889857276604, 8.907663198870882, 4.942004826066256, 14.723729686139235, 0.3027825217913903]}
+{"timestamp_ns": 1789729719480907603, "elapsed_ms": 8633, "source_timestamp_ns": 1789729719479246523, "q": [0.12888246774673462, -1.7431926727294922, -0.022919295355677605, 0.6857548356056213, 1.6862388849258423, 0.028644800186157227, -0.9389108419418335], "theta": [0.12641645967960358, -1.7422146797180176, -0.02442157082259655, 0.669636070728302, 1.6856834888458252, 0.028572678565979004, -0.9398003816604614], "dq": [-0.08195090293884277, 0.12317691743373871, -0.0008266693912446499, 0.166935995221138, -0.0506012961268425, -0.06329668313264847, -0.08844839036464691], "dtheta": [-0.07816696166992188, 0.12064448744058609, -0.0002602402528282255, 0.16492317616939545, -0.05480130389332771, -0.06086220219731331, -0.08369627594947815], "tau": [-61.52000045776367, -3.2300000190734863, -23.088001251220703, 3.564000129699707, -4.116000175476074, 3.3680002689361572, -0.2680000066757202], "tau_des": [-1.6125843524932861, 1.1103296279907227, -0.9064978361129761, -0.37103357911109924, 0.03637363389134407, -0.2989310324192047, -0.25322747230529785], "tau_dot": [-7.882410526275635, -79.74070739746094, -56.18302536010742, 83.07048034667969, 4.253452777862549, 30.87571144104004, -73.03036499023438], "tau_ext": [15.595751762390137, -36.06856155395508, -36.00697708129883, 19.8027400970459, -2.3296217918395996, -6.58468770980835, 0.13166575133800507], "tcp_pose": [0.6368261575698853, -0.1428893506526947, -0.3567868769168854, -0.008080877363681793, -0.038836460560560226, 0.999110221862793, 0.014323036186397076], "tcp_vel": [-0.0020560258999466896, 0.036259204149246216, 0.05135788768529892, 0.005484781228005886, -0.0026710371021181345, 0.04387938976287842], "flange_pose": [0.6401055455207825, -0.14820800721645355, -0.16688963770866394, -0.008080877363681793, -0.038836460560560226, 0.999110221862793, 0.014323036186397076], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.092510223388672, -55.423980712890625, -10.429165840148926, -6.111978054046631, 14.087837219238281, 0.0034159200731664896], "ext_wrench_in_world": [-1.6050476143382477, -56.00020673802787, 8.894070297683838, 5.00267507444857, 14.515383708500426, 0.3167377652008163]}
+{"timestamp_ns": 1789729719514231981, "elapsed_ms": 8666, "source_timestamp_ns": 1789729719509253550, "q": [0.12652957439422607, -1.7396814823150635, -0.022911541163921356, 0.6905764937400818, 1.6846362352371216, 0.02682533487677574, -0.9414538145065308], "theta": [0.12404768168926239, -1.738661766052246, -0.024422476068139076, 0.6744868755340576, 1.6840829849243164, 0.026759743690490723, -0.942335307598114], "dq": [-0.0869339182972908, 0.1241149753332138, -0.0008981168502941728, 0.15874972939491272, -0.047458816319704056, -0.059721432626247406, -0.08883444964885712], "dtheta": [-0.0770426094532013, 0.11610537022352219, -0.0003089616366196424, 0.1595238596200943, -0.051020681858062744, -0.05982038006186485, -0.08698589354753494], "tau": [-61.55999755859375, -3.1399998664855957, -23.060001373291016, 3.31600022315979, -4.124000072479248, 3.2920000553131104, -0.2639999985694885], "tau_des": [-0.818583071231842, 1.0492722988128662, -0.6220201849937439, -0.5785068273544312, 0.014693568460643291, -0.36337342858314514, -0.2634536325931549], "tau_dot": [-43.71345520019531, -34.62010955810547, -0.21554121375083923, -22.918474197387695, 38.33644104003906, -13.056928634643555, -55.55729675292969], "tau_ext": [15.562686920166016, -36.0869140625, -36.13010787963867, 19.87537956237793, -2.323732376098633, -6.523076057434082, 0.13030190765857697], "tcp_pose": [0.6367700099945068, -0.14182449877262115, -0.35525134205818176, -0.008024213835597038, -0.03951748460531235, 0.999082624912262, 0.014419017359614372], "tcp_vel": [-0.0018376068910583854, 0.03535401076078415, 0.05034783482551575, 0.0074809761717915535, -0.005092383362352848, 0.04766513779759407], "flange_pose": [0.640032947063446, -0.14717820286750793, -0.16535481810569763, -0.008024213835597038, -0.03951748460531235, 0.999082624912262, 0.014419017359614372], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.2390265464782715, -55.49877166748047, -10.501993179321289, -6.0980634689331055, 13.993638038635254, -0.002305959351360798], "ext_wrench_in_world": [-1.6689058411124664, -56.09236845579585, 8.95499435499789, 4.976537966649346, 14.426977687380402, 0.32353302652151533]}
+{"timestamp_ns": 1789729719547557389, "elapsed_ms": 8700, "source_timestamp_ns": 1789729719539285555, "q": [0.12429305911064148, -1.736289381980896, -0.022916778922080994, 0.695222020149231, 1.6831865310668945, 0.025113282725214958, -0.9441168308258057], "theta": [0.12185055762529373, -1.7352691888809204, -0.024434207007288933, 0.6791444420814514, 1.6826204061508179, 0.025057196617126465, -0.944977343082428], "dq": [-0.07666105777025223, 0.12206236273050308, -0.0003168307011947036, 0.15353254973888397, -0.04549293965101242, -0.05650872364640236, -0.09216143190860748], "dtheta": [-0.06903329491615295, 0.11107106506824493, -0.0006658443599008024, 0.149416983127594, -0.048139769583940506, -0.05580960214138031, -0.09019589424133301], "tau": [-61.55999755859375, -2.929999828338623, -23.088001251220703, 3.068000078201294, -4.160000324249268, 3.2320001125335693, -0.25200000405311584], "tau_des": [-1.0524747371673584, 0.6106455326080322, -0.7963224649429321, -0.30147120356559753, -0.0833999440073967, -0.3790592551231384, -0.17398841679096222], "tau_dot": [50.482913970947266, -118.63504791259766, -36.675148010253906, -80.38976287841797, -0.8930924534797668, -43.718788146972656, 15.418801307678223], "tau_ext": [15.855581283569336, -36.2702751159668, -36.1255989074707, 20.06977081298828, -2.3057289123535156, -6.484779357910156, 0.13445129990577698], "tcp_pose": [0.6367285847663879, -0.14078444242477417, -0.35379260778427124, -0.007934332825243473, -0.040281351655721664, 0.9990513324737549, 0.014523166231811047], "tcp_vel": [-0.0019699984695762396, 0.03454766795039177, 0.04521579295396805, 0.006845490075647831, -0.0017284643836319447, 0.05565114691853523], "flange_pose": [0.6399630904197693, -0.1461765617132187, -0.16389666497707367, -0.007934332825243473, -0.040281351655721664, 0.9990513324737549, 0.014523166231811047], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.809638977050781, -55.370243072509766, -10.442853927612305, -5.989152908325195, 13.811058044433594, -0.0021851356141269207], "ext_wrench_in_world": [-2.165124038205086, -56.01321481968354, 8.894953767344862, 4.8605825251154435, 14.24377549695453, 0.3238498876513348]}
+{"timestamp_ns": 1789729719580897326, "elapsed_ms": 8733, "source_timestamp_ns": 1789729719579285770, "q": [0.12157442420721054, -1.7319719791412354, -0.022941816598176956, 0.7009336352348328, 1.6813641786575317, 0.0229992363601923, -0.9476096034049988], "theta": [0.11922681331634521, -1.7309998273849487, -0.02446858584880829, 0.6848856210708618, 1.6807652711868286, 0.022959470748901367, -0.9484225511550903], "dq": [-0.05472342297434807, 0.10608699172735214, 0.00033661298220977187, 0.13121961057186127, -0.042135655879974365, -0.048274263739585876, -0.0820932388305664], "dtheta": [-0.06151273474097252, 0.1045536994934082, -0.0007793634431436658, 0.13556008040905, -0.04522407054901123, -0.05160920321941376, -0.07876913249492645], "tau": [-61.439998626708984, -3.509999990463257, -23.25200080871582, 3.6640002727508545, -4.208000183105469, 3.192000150680542, -0.25200000405311584], "tau_des": [-0.6354876160621643, -0.3303642272949219, -0.8319580554962158, 0.20796065032482147, -0.24557337164878845, -0.41926443576812744, -0.3515397906303406], "tau_dot": [-36.43439483642578, 15.622560501098633, 33.15510177612305, 40.96955490112305, -6.821220397949219, -2.54306697845459, 47.540523529052734], "tau_ext": [15.880289077758789, -35.673988342285156, -36.09822463989258, 19.722402572631836, -2.2392470836639404, -6.445840358734131, 0.15500600636005402], "tcp_pose": [0.6367183327674866, -0.13941381871700287, -0.35201793909072876, -0.007858282886445522, -0.04140269756317139, 0.9990042448043823, 0.014646696858108044], "tcp_vel": [-0.0011031035101041198, 0.03387388586997986, 0.04020159691572189, 0.006360091734677553, 0.001449090545065701, 0.05121423676609993], "flange_pose": [0.6399319767951965, -0.14485038816928864, -0.1621229201555252, -0.007858282886445522, -0.04140269756317139, 0.9990042448043823, 0.014646696858108044], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.344173908233643, -55.00047302246094, -10.269270896911621, -5.803524494171143, 13.632234573364258, 0.007220414932817221], "ext_wrench_in_world": [-2.607256258790224, -55.691375452992595, 8.724664050712919, 4.658228472042462, 14.061276532191714, 0.3165089881053422]}
+{"timestamp_ns": 1789729719614228213, "elapsed_ms": 8766, "source_timestamp_ns": 1789729719609403763, "q": [0.119789257645607, -1.7289189100265503, -0.022987807169556618, 0.7047667503356934, 1.6800315380096436, 0.021539777517318726, -0.9501197338104248], "theta": [0.1174970343708992, -1.7279850244522095, -0.024526139721274376, 0.6887488961219788, 1.6794023513793945, 0.021515607833862305, -0.9508786201477051], "dq": [-0.053902387619018555, 0.10021357983350754, -0.0023713356349617243, 0.12866532802581787, -0.044294942170381546, -0.04485144093632698, -0.08162140846252441], "dtheta": [-0.055137235671281815, 0.09738977998495102, -0.001964551629498601, 0.12443031370639801, -0.04112009331583977, -0.04651921987533569, -0.08033681660890579], "tau": [-61.68000030517578, -4.279999732971191, -23.584001541137695, 4.080000400543213, -4.300000190734863, 3.2320001125335693, -0.2800000011920929], "tau_des": [-1.2477953433990479, -0.6634392738342285, -0.9143942594528198, 0.7626503109931946, -0.19977082312107086, -0.44472169876098633, -0.24654561281204224], "tau_dot": [-9.105973243713379, -71.49271392822266, -80.87919616699219, -8.30019760131836, 30.347557067871094, 31.564170837402344, 51.70583724975586], "tau_ext": [15.751748085021973, -35.177799224853516, -36.07961654663086, 19.258647918701172, -2.187427520751953, -6.401284217834473, 0.17592811584472656], "tcp_pose": [0.6367369890213013, -0.1384078562259674, -0.35084298253059387, -0.00788466539233923, -0.042318034917116165, 0.998964786529541, 0.014709903858602047], "tcp_vel": [-0.0007239960832521319, 0.03158186003565788, 0.03652000054717064, 0.004624857567250729, 0.001750237657688558, 0.05650360882282257], "flange_pose": [0.639966607093811, -0.14386503398418427, -0.16094882786273956, -0.00788466539233923, -0.042318034917116165, 0.998964786529541, 0.014709903858602047], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.8537278175354, -54.826148986816406, -10.186112403869629, -5.746650218963623, 13.714282035827637, 0.02274048514664173], "ext_wrench_in_world": [-2.03243634743216, -55.47968286634185, 8.631979794316427, 4.56862668798975, 14.1470840552417, 0.30610545032375674]}
+{"timestamp_ns": 1789729719647626533, "elapsed_ms": 8800, "source_timestamp_ns": 1789729719639408601, "q": [0.11816784739494324, -1.7260860204696655, -0.02301802672445774, 0.7084817886352539, 1.6789178848266602, 0.020196115598082542, -0.9526483416557312], "theta": [0.1158972978591919, -1.7251783609390259, -0.02456934191286564, 0.692470133304596, 1.6782610416412354, 0.02019214630126953, -0.9533411264419556], "dq": [-0.0372491329908371, 0.08950973302125931, -0.00023141254496295005, 0.13102705776691437, -0.03487920016050339, -0.0449918769299984, -0.0908157005906105], "dtheta": [-0.05297539383172989, 0.09093639254570007, -0.0009630555287003517, 0.1220395565032959, -0.032534316182136536, -0.04357459396123886, -0.08673311769962311], "tau": [-61.91999816894531, -3.299999952316284, -23.716001510620117, 3.5440001487731934, -4.288000106811523, 3.2200002670288086, -0.3400000035762787], "tau_des": [-1.8012025356292725, 0.45990458130836487, -0.9910984039306641, 0.12620611488819122, -0.21822123229503632, -0.4822888672351837, -0.39244216680526733], "tau_dot": [-10.013673782348633, -4.360729694366455, 2.7802772521972656, -21.456270217895508, 8.153891563415527, 35.103363037109375, 27.43836784362793], "tau_ext": [15.775171279907227, -35.49858093261719, -36.016456604003906, 19.406387329101562, -2.160282611846924, -6.395150661468506, 0.2076689451932907], "tcp_pose": [0.6366995573043823, -0.1374935805797577, -0.34978199005126953, -0.007869330234825611, -0.043183956295251846, 0.9989264607429504, 0.0148019352927804], "tcp_vel": [-0.0015072732931002975, 0.029279185459017754, 0.0344356931746006, 0.008643019944429398, -0.0048577613197267056, 0.05815887451171875], "flange_pose": [0.6399295926094055, -0.14298313856124878, -0.15988878905773163, -0.007869330234825611, -0.043183956295251846, 0.9989264607429504, 0.0148019352927804], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.551305294036865, -54.950279235839844, -10.114474296569824, -5.797633171081543, 13.744636535644531, 0.04677927494049072], "ext_wrench_in_world": [-1.6260667543640326, -55.58022494775624, 8.54107025586284, 4.591877138048792, 14.190244370016787, 0.2853090468862518]}
+{"timestamp_ns": 1789729719680956200, "elapsed_ms": 8833, "source_timestamp_ns": 1789729719679237167, "q": [0.11609359085559845, -1.722615361213684, -0.023028036579489708, 0.7134004235267639, 1.677809238433838, 0.01842453144490719, -0.9564470052719116], "theta": [0.11378785967826843, -1.7217119932174683, -0.024591801688075066, 0.6973550915718079, 1.6771180629730225, 0.01845085620880127, -0.9570480585098267], "dq": [-0.04911787062883377, 0.08824679255485535, -0.0034153892192989588, 0.12333688139915466, -0.026799330487847328, -0.041262436658144, -0.08852946013212204], "dtheta": [-0.053941916674375534, 0.08547606319189072, 0.0002315478486707434, 0.11879415810108185, -0.028420405462384224, -0.04376765713095665, -0.09236705303192139], "tau": [-62.22999954223633, -1.75, -23.908000946044922, 2.620000123977661, -4.304000377655029, 3.2400002479553223, -0.40800002217292786], "tau_des": [-2.0334274768829346, 2.232637643814087, -1.0465270280838013, -0.8333728313446045, -0.27439701557159424, -0.4776307940483093, -0.41334331035614014], "tau_dot": [98.68834686279297, -80.81639099121094, -51.39607620239258, 28.962491989135742, -39.020084381103516, 54.229034423828125, 10.972167015075684], "tau_ext": [15.68493938446045, -36.40589904785156, -36.074275970458984, 20.125350952148438, -2.188469648361206, -6.367611408233643, 0.2611743211746216], "tcp_pose": [0.6365570425987244, -0.13639172911643982, -0.3484548032283783, -0.0077295764349401, -0.04440562054514885, 0.9988704919815063, 0.015037686564028263], "tcp_vel": [-0.0019075492164120078, 0.027833111584186554, 0.034275565296411514, 0.012587136588990688, -0.009178489446640015, 0.06116808205842972], "flange_pose": [0.6397446990013123, -0.14196917414665222, -0.15856342017650604, -0.0077295764349401, -0.04440562054514885, 0.9988704919815063, 0.015037686564028263], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.328797817230225, -55.227088928222656, -10.26850700378418, -5.908921718597412, 13.493703842163086, 0.09441506117582321], "ext_wrench_in_world": [-2.240334803028195, -55.93759110428554, 8.669006081351721, 4.689426387449613, 13.962716883605024, 0.23691949113220986]}
+{"timestamp_ns": 1789729719714229755, "elapsed_ms": 8866, "source_timestamp_ns": 1789729719709233666, "q": [0.11452426016330719, -1.720055103302002, -0.02302645891904831, 0.7169380187988281, 1.67694890499115, 0.017091529443860054, -0.9592202305793762], "theta": [0.1121717169880867, -1.7191604375839233, -0.02459847740828991, 0.7008619904518127, 1.676234483718872, 0.017139911651611328, -0.9597553610801697], "dq": [-0.05398961901664734, 0.09109558910131454, -0.0031403135508298874, 0.11241085082292557, -0.03149661421775818, -0.040505245327949524, -0.07746323198080063], "dtheta": [-0.05508658289909363, 0.08432707190513611, -7.361683674389496e-05, 0.11608614027500153, -0.032235272228717804, -0.04398203641176224, -0.08428601920604706], "tau": [-62.04999923706055, -1.409999966621399, -23.96000099182129, 2.4600000381469727, -4.340000152587891, 3.200000047683716, -0.4520000219345093], "tau_des": [-1.630398154258728, 2.794297695159912, -0.8951302766799927, -1.2606685161590576, -0.22243890166282654, -0.5378174781799316, -0.5995954275131226], "tau_dot": [46.26957702636719, 64.74394989013672, 63.961387634277344, 33.81844711303711, 2.0773909091949463, -55.70124816894531, 21.164030075073242], "tau_ext": [15.664384841918945, -36.56196212768555, -36.05974197387695, 20.35053825378418, -2.173661470413208, -6.375002384185791, 0.3102249801158905], "tcp_pose": [0.6364839673042297, -0.1355498880147934, -0.3474580943584442, -0.007631571032106876, -0.04533761739730835, 0.9988266229629517, 0.015218980610370636], "tcp_vel": [-0.001964764203876257, 0.027125384658575058, 0.03539923205971718, 0.010133663192391396, -0.006978490389883518, 0.054866354912519455], "flange_pose": [0.6396427750587463, -0.14119483530521393, -0.15756823122501373, -0.007631571032106876, -0.04533761739730835, 0.9988266229629517, 0.015218980610370636], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.204045295715332, -54.994041442871094, -10.393712043762207, -5.869696617126465, 13.23757266998291, 0.13563790917396545], "ext_wrench_in_world": [-3.028593104817478, -55.7962222191158, 8.79143977762002, 4.646790920162628, 13.71402583669805, 0.1946681978698198]}
+{"timestamp_ns": 1789729719747555753, "elapsed_ms": 8900, "source_timestamp_ns": 1789729719739228736, "q": [0.11293596774339676, -1.7174731492996216, -0.023038191720843315, 0.7202757596969604, 1.675950527191162, 0.01574959047138691, -0.9618787169456482], "theta": [0.11053850501775742, -1.7166093587875366, -0.024617550894618034, 0.7041966915130615, 1.6752099990844727, 0.015814781188964844, -0.9623590111732483], "dq": [-0.056199755519628525, 0.08623354136943817, 0.0013731359504163265, 0.10534672439098358, -0.032847337424755096, -0.04520418122410774, -0.0882285013794899], "dtheta": [-0.05449506640434265, 0.08480069786310196, -0.000792461447417736, 0.10746873915195465, -0.03548327460885048, -0.043478596955537796, -0.08240936696529388], "tau": [-61.52000045776367, -2.119999885559082, -23.968000411987305, 2.940000057220459, -4.344000339508057, 3.1680002212524414, -0.48000001907348633], "tau_des": [-1.0565747022628784, 1.2641866207122803, -0.8479865789413452, -0.2535945177078247, -0.30589762330055237, -0.5904150605201721, -0.41710376739501953], "tau_dot": [69.89984893798828, -77.67988586425781, 2.860783576965332, 93.93116760253906, 11.234061241149902, -52.87533950805664, 12.09451961517334], "tau_ext": [15.347583770751953, -36.31843185424805, -36.088775634765625, 20.13929557800293, -2.1561219692230225, -6.339604377746582, 0.35036587715148926], "tcp_pose": [0.6364752650260925, -0.13466280698776245, -0.34644338488578796, -0.007586286868900061, -0.04632540047168732, 0.9987793564796448, 0.015367817133665085], "tcp_vel": [0.0008699627942405641, 0.02900003455579281, 0.03518814221024513, 0.008058419451117516, -0.003913150168955326, 0.06224162131547928], "flange_pose": [0.639625072479248, -0.14036190509796143, -0.15655498206615448, -0.007586286868900061, -0.04632540047168732, 0.9987793564796448, 0.015367817133665085], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.627405166625977, -54.697940826416016, -10.571174621582031, -5.839100360870361, 13.09384822845459, 0.1791294366121292], "ext_wrench_in_world": [-3.3652664191910135, -55.55479349034433, 8.96585108131251, 4.60177510143762, 13.57853507587205, 0.1519635426079765]}
+{"timestamp_ns": 1789729719780914457, "elapsed_ms": 8933, "source_timestamp_ns": 1789729719779280244, "q": [0.11086718738079071, -1.714048147201538, -0.023073190823197365, 0.7243253588676453, 1.6744511127471924, 0.013940437696874142, -0.9649689197540283], "theta": [0.10842534899711609, -1.7132463455200195, -0.02466537617146969, 0.7082799077033997, 1.6736705303192139, 0.014025211334228516, -0.9653807282447815], "dq": [-0.055268481373786926, 0.0790577232837677, -0.0006544019561260939, 0.09953252226114273, -0.032890111207962036, -0.043252598494291306, -0.07007712870836258], "dtheta": [-0.05168527364730835, 0.08436650782823563, -0.001567089231684804, 0.09827758371829987, -0.039252329617738724, -0.042487986385822296, -0.07006292045116425], "tau": [-61.25, -3.379999876022339, -24.012001037597656, 3.7960002422332764, -4.427999973297119, 3.1680002212524414, -0.5080000162124634], "tau_des": [-0.6398950219154358, -0.5126166939735413, -0.8482353091239929, 0.9999945163726807, -0.3441934287548065, -0.5513582825660706, -0.5253618955612183], "tau_dot": [139.61656188964844, 97.67208099365234, 32.17220687866211, 24.531982421875, -38.99164581298828, 20.720788955688477, 15.11594295501709], "tau_ext": [15.170490264892578, -35.27806091308594, -36.021766662597656, 19.369266510009766, -2.0836265087127686, -6.332512855529785, 0.38671842217445374], "tcp_pose": [0.6365567445755005, -0.1334090679883957, -0.3451192378997803, -0.00763405067846179, -0.04760852828621864, 0.9987160563468933, 0.015535387210547924], "tcp_vel": [0.002661881037056446, 0.03019542805850506, 0.033734653145074844, 0.004997017793357372, 0.001787508954294026, 0.058826301246881485], "flange_pose": [0.6397350430488586, -0.13916683197021484, -0.15523308515548706, -0.00763405067846179, -0.04760852828621864, 0.9987160563468933, 0.015535387210547924], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.071063995361328, -54.56907272338867, -10.815765380859375, -5.8943376541137695, 13.187772750854492, 0.2271154522895813], "ext_wrench_in_world": [-2.676320845269615, -55.39255450000849, 9.187424305988106, 4.612170996971226, 13.69042650319972, 0.11067426411078814]}
+{"timestamp_ns": 1789729719814239926, "elapsed_ms": 8966, "source_timestamp_ns": 1789729719809328216, "q": [0.10940278321504593, -1.711594581604004, -0.0231028962880373, 0.7272525429725647, 1.6734057664871216, 0.012665782123804092, -0.9672296643257141], "theta": [0.10694987326860428, -1.7108168601989746, -0.024704907089471817, 0.7112331986427307, 1.6725876331329346, 0.012764573097229004, -0.9675951600074768], "dq": [-0.05238459259271622, 0.07534369081258774, -0.0020844601094722748, 0.10542594641447067, -0.03388591483235359, -0.045442789793014526, -0.07517211139202118], "dtheta": [-0.0483635775744915, 0.07908623665571213, -0.0014446405693888664, 0.09900136291980743, -0.03348579630255699, -0.04309961572289467, -0.0787825882434845], "tau": [-61.43000030517578, -3.419999837875366, -24.020000457763672, 3.828000068664551, -4.396000385284424, 3.136000156402588, -0.5440000295639038], "tau_des": [-0.8769477605819702, 0.24521498382091522, -0.6847177743911743, 0.587119460105896, -0.2528162896633148, -0.6026244759559631, -0.5207540988922119], "tau_dot": [-20.253070831298828, 32.803016662597656, -2.117041826248169, -25.840911865234375, -5.816290855407715, 48.14573287963867, 4.261810302734375], "tau_ext": [15.28380012512207, -35.232479095458984, -35.997066497802734, 19.244462966918945, -2.0690972805023193, -6.32805061340332, 0.4058656692504883], "tcp_pose": [0.6366037130355835, -0.13251814246177673, -0.3441788852214813, -0.007658288814127445, -0.04853693023324013, 0.9986693859100342, 0.015653535723686218], "tcp_vel": [-0.0004008707182947546, 0.027734361588954926, 0.03127582371234894, 0.008834419772028923, 0.0007621354889124632, 0.061209674924612045], "flange_pose": [0.6397987008094788, -0.1383173167705536, -0.15429429709911346, -0.007658288814127445, -0.04853693023324013, 0.9986693859100342, 0.015653535723686218], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.531239986419678, -54.50105667114258, -10.796547889709473, -5.913122177124023, 13.306001663208008, 0.2555636167526245], "ext_wrench_in_world": [-2.042799105921688, -55.27900824704723, 9.149230534567497, 4.593514482664363, 13.819251202817735, 0.08903817198950027]}
+{"timestamp_ns": 1789729719847594370, "elapsed_ms": 9000, "source_timestamp_ns": 1789729719839234437, "q": [0.10799705237150192, -1.7092885971069336, -0.023123037070035934, 0.7302359342575073, 1.6725549697875977, 0.011355898343026638, -0.9696654677391052], "theta": [0.10555613040924072, -1.7084944248199463, -0.024732420220971107, 0.7142204642295837, 1.6716972589492798, 0.011469006538391113, -0.9699913263320923], "dq": [-0.05163421854376793, 0.06859781593084335, -0.003927847370505333, 0.10527287423610687, -0.02696424536406994, -0.042237382382154465, -0.08215463161468506], "dtheta": [-0.04421300068497658, 0.07592560350894928, -0.00040801355498842895, 0.0999939888715744, -0.026201188564300537, -0.04047265276312828, -0.08068428933620453], "tau": [-61.779998779296875, -2.4800000190734863, -24.04400062561035, 3.200000047683716, -4.392000198364258, 3.1760001182556152, -0.527999997138977], "tau_des": [-1.7761635780334473, 1.6423488855361938, -0.8495887517929077, -0.14046549797058105, -0.22173625230789185, -0.5711396336555481, -0.6559941172599792], "tau_dot": [13.10394287109375, 44.417083740234375, -2.8095335960388184, -56.71403121948242, -53.92230987548828, 2.6931848526000977, 41.83876037597656], "tau_ext": [15.485088348388672, -35.59082794189453, -36.022708892822266, 19.46565818786621, -2.081366777420044, -6.324270725250244, 0.42781776189804077], "tcp_pose": [0.6365658044815063, -0.13169372081756592, -0.3432914912700653, -0.007640484254807234, -0.049446575343608856, 0.9986218810081482, 0.015841782093048096], "tcp_vel": [-0.0018593956483528018, 0.026499740779399872, 0.027973001822829247, 0.012173563241958618, -0.0026164585724473, 0.05843993276357651], "flange_pose": [0.6397628784179688, -0.13756173849105835, -0.15340903401374817, -0.007640484254807234, -0.049446575343608856, 0.9986218810081482, 0.015841782093048096], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.44930362701416, -54.615814208984375, -10.769857406616211, -5.944061756134033, 13.325934410095215, 0.28211963176727295], "ext_wrench_in_world": [-1.8503222851338528, -55.391426643812, 9.095893392126069, 4.596753000192413, 13.851251860722362, 0.06836150657167625]}
+{"timestamp_ns": 1789729719880957624, "elapsed_ms": 9033, "source_timestamp_ns": 1789729719879231072, "q": [0.10618352144956589, -1.7063872814178467, -0.023136069998145103, 0.7342700362205505, 1.671716570854187, 0.0096343494951725, -0.973235011100769], "theta": [0.10379645228385925, -1.705511450767517, -0.02474968135356903, 0.7182267308235168, 1.670807123184204, 0.009765148162841797, -0.9735022187232971], "dq": [-0.04793355613946915, 0.06965673714876175, -0.000835730170365423, 0.10262568295001984, -0.017158593982458115, -0.04368583858013153, -0.0922919362783432], "dtheta": [-0.043339673429727554, 0.07560738921165466, -0.0005651771207340062, 0.10159029066562653, -0.02103210799396038, -0.04306710138916969, -0.09316795319318771], "tau": [-62.349998474121094, -1.0299999713897705, -24.16400146484375, 2.2360000610351562, -4.380000114440918, 3.1640000343322754, -0.5640000104904175], "tau_des": [-2.1360831260681152, 2.884535551071167, -0.8824248909950256, -0.9142134189605713, -0.24740993976593018, -0.5446114540100098, -0.5011866688728333], "tau_dot": [37.947959899902344, -44.893638610839844, 34.46992111206055, -50.114234924316406, -57.38775634765625, 24.161109924316406, -39.683048248291016], "tau_ext": [15.799491882324219, -36.55409622192383, -36.12119674682617, 20.08061408996582, -2.1154866218566895, -6.322707176208496, 0.4397560954093933], "tcp_pose": [0.6364489793777466, -0.13067014515399933, -0.34216752648353577, -0.00751458527520299, -0.050699274986982346, 0.9985547661781311, 0.01617160066962242], "tcp_vel": [-0.002486719749867916, 0.027381539344787598, 0.026795746758580208, 0.01740509271621704, -0.0045081754215061665, 0.06875984370708466], "flange_pose": [0.6396119594573975, -0.13666169345378876, -0.15228834748268127, -0.00751458527520299, -0.050699274986982346, 0.9985547661781311, 0.01617160066962242], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.129956245422363, -55.0234489440918, -10.570927619934082, -6.002394676208496, 13.180374145507812, 0.30897057056427], "ext_wrench_in_world": [-2.353405513309953, -55.87030215623446, 8.85389476233083, 4.634380123701012, 13.724678731968714, 0.046710291289648515]}
+{"timestamp_ns": 1789729719914234658, "elapsed_ms": 9066, "source_timestamp_ns": 1789729719909310850, "q": [0.10484129190444946, -1.7042136192321777, -0.023168301209807396, 0.7372697591781616, 1.6711431741714478, 0.008305905386805534, -0.9760079383850098], "theta": [0.10251399874687195, -1.7032606601715088, -0.024783728644251823, 0.721200704574585, 1.670196294784546, 0.008450746536254883, -0.9762297868728638], "dq": [-0.042620014399290085, 0.07755884528160095, 8.949563925852999e-05, 0.09334886819124222, -0.020126262679696083, -0.042861100286245346, -0.0930357277393341], "dtheta": [-0.041898589581251144, 0.07534006983041763, -0.0016229223692789674, 0.09716153889894485, -0.02132006175816059, -0.04485827311873436, -0.09093670547008514], "tau": [-62.52000045776367, -0.6800000071525574, -24.200000762939453, 2.1440000534057617, -4.324000358581543, 3.1760001182556152, -0.5200000405311584], "tau_des": [-2.2173149585723877, 3.235978841781616, -0.9050516486167908, -0.9618598818778992, -0.2634260654449463, -0.4704267978668213, -0.3614567816257477], "tau_dot": [-49.19197463989258, -96.51429748535156, 68.90602111816406, 48.21280288696289, 60.82841110229492, -26.931718826293945, 15.322664260864258], "tau_ext": [16.02989959716797, -36.90065383911133, -36.11337661743164, 20.406143188476562, -2.1248772144317627, -6.340764045715332, 0.4303963780403137], "tcp_pose": [0.6363661885261536, -0.12988412380218506, -0.34133756160736084, -0.007418731227517128, -0.05169805884361267, 0.9984998106956482, 0.016442589461803436], "tcp_vel": [-0.001776142162270844, 0.028482867404818535, 0.0259427260607481, 0.018020227551460266, -0.001456475700251758, 0.07079287618398666], "flange_pose": [0.639504075050354, -0.13597719371318817, -0.15146121382713318, -0.007418731227517128, -0.05169805884361267, 0.9984998106956482, 0.016442589461803436], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.038411140441895, -55.168636322021484, -10.447842597961426, -6.001267910003662, 12.974686622619629, 0.3152908980846405], "ext_wrench_in_world": [-3.1343468547296855, -56.11429771004441, 8.70575595968901, 4.6269668011467395, 13.529468418736803, 0.04219432104958727]}
+{"timestamp_ns": 1789729719947565676, "elapsed_ms": 9100, "source_timestamp_ns": 1789729719939227539, "q": [0.1035366877913475, -1.7018967866897583, -0.02324177511036396, 0.7401798963546753, 1.6704742908477783, 0.006990040186792612, -0.9784960150718689], "theta": [0.10126807540655136, -1.7008817195892334, -0.024860689416527748, 0.7240980267524719, 1.6694918870925903, 0.007150411605834961, -0.9786798357963562], "dq": [-0.04364373907446861, 0.08450230211019516, -0.0025065052323043346, 0.09500806033611298, -0.026273932307958603, -0.04106149449944496, -0.0786929726600647], "dtheta": [-0.03961576148867607, 0.08185530453920364, -0.0032550287432968616, 0.09604591131210327, -0.02823099121451378, -0.041002266108989716, -0.07590682059526443], "tau": [-62.29999923706055, -1.3899999856948853, -24.272001266479492, 2.580000162124634, -4.388000011444092, 3.2080001831054688, -0.46800002455711365], "tau_des": [-1.907395839691162, 1.9666260480880737, -0.9117488265037537, -0.29110056161880493, -0.23896902799606323, -0.4792729318141937, -0.46816596388816833], "tau_dot": [-8.680525779724121, -58.86613082885742, 24.988771438598633, 54.67547607421875, 20.982376098632812, 14.59212589263916, 42.72471618652344], "tau_ext": [16.027212142944336, -36.25138473510742, -36.08306884765625, 20.086862564086914, -2.099447250366211, -6.35602331161499, 0.4055057168006897], "tcp_pose": [0.6363565325737, -0.12901033461093903, -0.3405161201953888, -0.007383521180599928, -0.05267321690917015, 0.9984453320503235, 0.016671841964125633], "tcp_vel": [0.0002249298559036106, 0.03049280121922493, 0.025838425382971764, 0.009622074663639069, 0.0043189311400055885, 0.06382535398006439], "flange_pose": [0.639491617679596, -0.1351879984140396, -0.15064245462417603, -0.007383521180599928, -0.05267321690917015, 0.9984453320503235, 0.016671841964125633], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.59171199798584, -54.85615921020508, -10.351869583129883, -5.892328262329102, 12.853069305419922, 0.3041245639324188], "ext_wrench_in_world": [-3.6102212342916005, -55.86909535678584, 8.600629794825739, 4.50521588946065, 13.40571311170294, 0.05744934659538886]}
+{"timestamp_ns": 1789729719980899443, "elapsed_ms": 9133, "source_timestamp_ns": 1789729719979227164, "q": [0.10192684084177017, -1.6985881328582764, -0.023423833772540092, 0.7439635992050171, 1.669451117515564, 0.005346621386706829, -0.9814926385879517], "theta": [0.09972936660051346, -1.6975425481796265, -0.025052472949028015, 0.7278707027435303, 1.6684279441833496, 0.005519866943359375, -0.9816291928291321], "dq": [-0.036563146859407425, 0.09167252480983734, -0.006016349419951439, 0.09717383980751038, -0.030047696083784103, -0.038918256759643555, -0.07212328165769577], "dtheta": [-0.03653192147612572, 0.08444713056087494, -0.00555296940729022, 0.09494543075561523, -0.028066005557775497, -0.042698897421360016, -0.07322406023740768], "tau": [-62.16999816894531, -2.759999990463257, -24.45600128173828, 3.452000141143799, -4.432000160217285, 3.192000150680542, -0.46000000834465027], "tau_des": [-2.079900026321411, 0.2968093454837799, -1.0423932075500488, 0.7468048930168152, -0.2794753909111023, -0.37837329506874084, -0.35712939500808716], "tau_dot": [117.38440704345703, -30.947036743164062, -4.640147686004639, 35.451171875, 48.32378005981445, -20.3880615234375, -24.063737869262695], "tau_ext": [15.939525604248047, -35.586360931396484, -36.067195892333984, 19.603038787841797, -2.07596492767334, -6.362604141235352, 0.37004417181015015], "tcp_pose": [0.6364343762397766, -0.12774735689163208, -0.33946067094802856, -0.007432462647557259, -0.0539744608104229, 0.9983721375465393, 0.01687108539044857], "tcp_vel": [0.00047510938020423055, 0.032206661999225616, 0.02446131967008114, 0.009149201214313507, 0.008710204623639584, 0.06501193344593048], "flange_pose": [0.6396001577377319, -0.13399548828601837, -0.14958983659744263, -0.007432462647557259, -0.0539744608104229, 0.9983721375465393, 0.01687108539044857], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.491116523742676, -54.24427032470703, -10.306487083435059, -5.742502212524414, 12.889206886291504, 0.2753487527370453], "ext_wrench_in_world": [-3.4305676537905536, -55.261533568497775, 8.552189495019759, 4.317942812709685, 13.43615347633154, 0.0946170214000257]}
+{"timestamp_ns": 1789729720014236455, "elapsed_ms": 9166, "source_timestamp_ns": 1789729720009331093, "q": [0.10079393535852432, -1.6960545778274536, -0.023587459698319435, 0.7468441724777222, 1.6687240600585938, 0.004136370960623026, -0.9836351871490479], "theta": [0.09862839430570602, -1.6950291395187378, -0.025227710604667664, 0.7307384610176086, 1.6676766872406006, 0.004307746887207031, -0.9837343096733093], "dq": [-0.03344414755702019, 0.08459959179162979, -0.005452568177133799, 0.10377397388219833, -0.022358601912856102, -0.03885243833065033, -0.07277404516935349], "dtheta": [-0.03576461598277092, 0.08317726850509644, -0.005620831158012152, 0.09607750922441483, -0.025034500285983086, -0.038821619004011154, -0.07233255356550217], "tau": [-62.27000045776367, -3.109999895095825, -24.64000129699707, 3.564000129699707, -4.452000141143799, 3.25600004196167, -0.4360000193119049], "tau_des": [-1.8452054262161255, -0.09884191304445267, -0.9193364381790161, 0.8365543484687805, -0.26584428548812866, -0.4347478449344635, -0.4666663706302643], "tau_dot": [-22.941699981689453, -45.1462287902832, -66.43856811523438, 3.7624428272247314, -33.551177978515625, 13.761850357055664, -17.548803329467773], "tau_ext": [15.865900039672852, -35.229896545410156, -36.0239143371582, 19.29402732849121, -2.0506460666656494, -6.385939121246338, 0.33820006251335144], "tcp_pose": [0.6364842653274536, -0.12678302824497223, -0.3387071192264557, -0.0074855308048427105, -0.05490198731422424, 0.9983187317848206, 0.017012950032949448], "tcp_vel": [0.00039426711737178266, 0.03074587881565094, 0.024224594235420227, 0.007827939465641975, 0.004621423315256834, 0.061534177511930466], "flange_pose": [0.6396788954734802, -0.13308091461658478, -0.14883840084075928, -0.0074855308048427105, -0.05490198731422424, 0.9983187317848206, 0.017012950032949448], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.197166442871094, -54.0886116027832, -10.351725578308105, -5.744899272918701, 12.963776588439941, 0.248814195394516], "ext_wrench_in_world": [-3.0512545016647774, -55.0848860692568, 8.583074673231918, 4.2876599646596025, 13.517583375400665, 0.12724508376362234]}
+{"timestamp_ns": 1789729720047564046, "elapsed_ms": 9200, "source_timestamp_ns": 1789729720039310446, "q": [0.09971176832914352, -1.6935914754867554, -0.023705819621682167, 0.7497957944869995, 1.6681100130081177, 0.00299490406177938, -0.985917329788208], "theta": [0.09755875915288925, -1.6926003694534302, -0.02535984292626381, 0.7336655855178833, 1.6670401096343994, 0.003157496452331543, -0.9859791994094849], "dq": [-0.03274490684270859, 0.07784497737884521, -0.003735622623935342, 0.10204297304153442, -0.01913962885737419, -0.034460004419088364, -0.07266770303249359], "dtheta": [-0.0357949435710907, 0.08016102761030197, -0.0036330732982605696, 0.09863542765378952, -0.019818436354398727, -0.03659016266465187, -0.07728254795074463], "tau": [-62.15999984741211, -2.809999942779541, -24.668001174926758, 3.4000000953674316, -4.432000160217285, 3.2960002422332764, -0.3880000114440918], "tau_des": [-1.951769471168518, 0.7074280977249146, -0.9215701222419739, 0.4599936306476593, -0.31556236743927, -0.4401417374610901, -0.512397050857544], "tau_dot": [138.18856811523438, 38.82331085205078, 50.87819290161133, -7.298583030700684, 37.03974533081055, 9.851508140563965, -4.143303394317627], "tau_ext": [15.939423561096191, -35.34899139404297, -35.938255310058594, 19.347326278686523, -2.044312000274658, -6.4245734214782715, 0.3087608516216278], "tcp_pose": [0.6364871859550476, -0.12586383521556854, -0.33800122141838074, -0.0074903699569404125, -0.055824361741542816, 0.998264729976654, 0.017178909853100777], "tcp_vel": [-0.0006832642247900367, 0.02918861247599125, 0.023421993479132652, 0.010979177430272102, -0.0013633879134431481, 0.060457438230514526], "flange_pose": [0.639693021774292, -0.13222159445285797, -0.14813467860221863, -0.0074903699569404125, -0.055824361741542816, 0.998264729976654, 0.017178909853100777], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.138891220092773, -54.02511215209961, -10.367432594299316, -5.782828330993652, 12.97753620147705, 0.22133338451385498], "ext_wrench_in_world": [-2.8985144068776156, -55.02434250958813, 8.581146776371163, 4.299330994278813, 13.542410606746888, 0.15939194896085124]}
+{"timestamp_ns": 1789729720080983256, "elapsed_ms": 9233, "source_timestamp_ns": 1789729720079239596, "q": [0.09827806055545807, -1.6904327869415283, -0.023782024160027504, 0.7538594603538513, 1.6674271821975708, 0.0015112514374777675, -0.9893180131912231], "theta": [0.09611847251653671, -1.689478874206543, -0.02545158565044403, 0.7376805543899536, 1.6663295030593872, 0.0016576051712036133, -0.989337682723999], "dq": [-0.029846154153347015, 0.07247822731733322, -0.0008133588708005846, 0.10438217967748642, -0.01533886045217514, -0.03696146607398987, -0.08654441684484482], "dtheta": [-0.036673497408628464, 0.07833033055067062, -0.0004866378440055996, 0.10332196205854416, -0.014807092025876045, -0.03636125475168228, -0.08428993076086044], "tau": [-62.07999801635742, -1.4199999570846558, -24.604001998901367, 2.628000020980835, -4.388000011444092, 3.308000087738037, -0.34800001978874207], "tau_des": [-1.9711809158325195, 2.1860485076904297, -0.7949685454368591, -0.3230058550834656, -0.28607386350631714, -0.42619672417640686, -0.352650910615921], "tau_dot": [43.55854797363281, 84.85566711425781, -7.862674713134766, -12.596373558044434, -79.43099975585938, 14.52247142791748, 31.44040298461914], "tau_ext": [15.711511611938477, -36.05813980102539, -36.0325927734375, 19.77574920654297, -2.0851800441741943, -6.436955451965332, 0.26397213339805603], "tcp_pose": [0.6364058256149292, -0.12471209466457367, -0.3370961546897888, -0.007420704234391451, -0.05710076168179512, 0.9981881976127625, 0.017456049099564552], "tcp_vel": [-0.0022185558918863535, 0.02864551730453968, 0.022536197677254677, 0.016641726717352867, -0.007025434635579586, 0.060425642877817154], "flange_pose": [0.6395993828773499, -0.13117235898971558, -0.14723286032676697, -0.007420704234391451, -0.05710076168179512, 0.9981881976127625, 0.017456049099564552], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.63547420501709, -54.13924026489258, -10.591219902038574, -5.908690452575684, 12.84312915802002, 0.18145082890987396], "ext_wrench_in_world": [-3.236006609071226, -55.21420934260257, 8.774564748519445, 4.4057390389876705, 13.432811501667876, 0.20137655835365023]}
+{"timestamp_ns": 1789729720114243666, "elapsed_ms": 9266, "source_timestamp_ns": 1789729720109307608, "q": [0.09718813002109528, -1.6881026029586792, -0.02377934753894806, 0.7569970488548279, 1.6669996976852417, 0.0003842873265966773, -0.9919319152832031], "theta": [0.09499766677618027, -1.687158465385437, -0.025455066934227943, 0.7407837510108948, 1.6658856868743896, 0.0005178451538085938, -0.9919190406799316], "dq": [-0.03706130012869835, 0.0730566531419754, -0.0033581608440726995, 0.10103494673967361, -0.013587859459221363, -0.03602093830704689, -0.08035974949598312], "dtheta": [-0.037252407521009445, 0.07819471508264542, 6.259408837649971e-05, 0.10298078507184982, -0.013515421189367771, -0.03720032423734665, -0.08139801025390625], "tau": [-62.099998474121094, -0.5, -24.54800033569336, 2.2080001831054688, -4.288000106811523, 3.2360000610351562, -0.3920000195503235], "tau_des": [-1.716251015663147, 2.9863619804382324, -0.6698068380355835, -0.8361707925796509, -0.2862664461135864, -0.3901572823524475, -0.34130725264549255], "tau_dot": [-35.35826873779297, -54.01130294799805, 28.94926643371582, -23.41246795654297, 22.10131072998047, -22.164752960205078, 36.34297561645508], "tau_ext": [15.595246315002441, -36.69388198852539, -36.13582992553711, 20.1904239654541, -2.1258363723754883, -6.453280448913574, 0.22165629267692566], "tcp_pose": [0.6363060474395752, -0.12385889142751694, -0.3364362120628357, -0.007322706747800112, -0.058022018522024155, 0.9981312155723572, 0.01771869882941246], "tcp_vel": [-0.0019193096086382866, 0.029300715774297714, 0.02245335280895233, 0.018674395978450775, -0.008073491044342518, 0.0576351098716259], "flange_pose": [0.6394741535186768, -0.13041795790195465, -0.14657588303089142, -0.007322706747800112, -0.058022018522024155, 0.9981312155723572, 0.01771869882941246], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.433698654174805, -54.288387298583984, -10.923543930053711, -6.020583152770996, 12.635997772216797, 0.14381639659404755], "ext_wrench_in_world": [-3.9062046566058686, -55.477079242105894, 9.080204789805771, 4.516689370348134, 13.246858201642725, 0.2383469575684498]}
+{"timestamp_ns": 1789729720147559728, "elapsed_ms": 9300, "source_timestamp_ns": 1789729720139246166, "q": [0.09611669182777405, -1.6857043504714966, -0.023769576102495193, 0.7600882053375244, 1.666542887687683, -0.0007304976461455226, -0.994422972202301], "theta": [0.09389045089483261, -1.6847578287124634, -0.025449439883232117, 0.743859589099884, 1.6654107570648193, -0.0006058216094970703, -0.9943758249282837], "dq": [-0.03520781919360161, 0.07996845990419388, 0.00016937038162723184, 0.10207797586917877, -0.01934531144797802, -0.03761262074112892, -0.08125700801610947], "dtheta": [-0.035762056708335876, 0.08060713857412338, 0.00018591324624139816, 0.10002914816141129, -0.017269594594836235, -0.034928303211927414, -0.07859565317630768], "tau": [-62.03999710083008, -0.550000011920929, -24.59600067138672, 2.240000009536743, -4.380000114440918, 3.31600022315979, -0.30000001192092896], "tau_des": [-1.355465292930603, 2.8836445808410645, -0.5454494953155518, -0.5406994819641113, -0.27479425072669983, -0.3846169114112854, -0.18014797568321228], "tau_dot": [-128.01109313964844, -5.520140171051025, -5.6688408851623535, 4.179535865783691, -57.69744873046875, 35.447750091552734, 32.55729293823242], "tau_ext": [15.643770217895508, -36.561771392822266, -36.09514236450195, 20.139671325683594, -2.100249767303467, -6.501655101776123, 0.21436071395874023], "tcp_pose": [0.6362453103065491, -0.12295205891132355, -0.3357924222946167, -0.007243054453283548, -0.05893873795866966, 0.9980734586715698, 0.017977138981223106], "tcp_vel": [-0.0005220785969868302, 0.030597932636737823, 0.021796513348817825, 0.01517483126372099, -0.005047033075243235, 0.060303401201963425], "flange_pose": [0.639394998550415, -0.12960799038410187, -0.14593516290187836, -0.007243054453283548, -0.05893873795866966, 0.9980734586715698, 0.017977138981223106], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.024024963378906, -54.35367202758789, -11.146651268005371, -6.100661277770996, 12.489738464355469, 0.12260511517524719], "ext_wrench_in_world": [-4.380921763376156, -55.63124772238274, 9.277414786479035, 4.589434215122853, 13.118521404859063, 0.2610683505834757]}
+{"timestamp_ns": 1789729720180899798, "elapsed_ms": 9333, "source_timestamp_ns": 1789729720179243437, "q": [0.09477749466896057, -1.6822866201400757, -0.023749323561787605, 0.7641004323959351, 1.6657589673995972, -0.0021085094194859266, -0.9972526431083679], "theta": [0.09250161051750183, -1.6813398599624634, -0.02543341927230358, 0.7478737235069275, 1.6646013259887695, -0.0019932985305786133, -0.9971545338630676], "dq": [-0.03192254528403282, 0.093873530626297, 0.0028561162762343884, 0.1000140979886055, -0.02471589855849743, -0.034065667539834976, -0.06657405197620392], "dtheta": [-0.03310493752360344, 0.08888371288776398, 0.0008525298326276243, 0.09964780509471893, -0.02415437623858452, -0.033937737345695496, -0.06393004953861237], "tau": [-61.43000030517578, -1.5099999904632568, -24.52800178527832, 2.704000234603882, -4.372000217437744, 3.320000171661377, -0.2600000202655792], "tau_des": [-0.8676397800445557, 1.472225546836853, -0.49650487303733826, 0.42673560976982117, -0.27387887239456177, -0.31051570177078247, -0.22890330851078033], "tau_dot": [-40.34286880493164, -82.1869888305664, -6.561421871185303, 40.48349380493164, -9.22557544708252, -4.613167762756348, -5.271040916442871], "tau_ext": [15.361217498779297, -35.86763000488281, -36.157859802246094, 19.725650787353516, -2.086501359939575, -6.522722244262695, 0.16819408535957336], "tcp_pose": [0.6362633109092712, -0.12161887437105179, -0.33498138189315796, -0.007225977256894112, -0.060079991817474365, 0.9980006217956543, 0.018246468156576157], "tcp_vel": [0.0012916792184114456, 0.03497570753097534, 0.020210720598697662, 0.011310949921607971, 0.0027008855249732733, 0.05447923019528389], "flange_pose": [0.6394202709197998, -0.12837369740009308, -0.14512772858142853, -0.007225977256894112, -0.060079991817474365, 0.9980006217956543, 0.018246468156576157], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.18654727935791, -54.02650451660156, -11.369222640991211, -6.092321872711182, 12.455560684204102, 0.08260250836610794], "ext_wrench_in_world": [-4.451117399687484, -55.349134193457054, 9.482729127471096, 4.555948321074427, 13.092480452000718, 0.30739460416955433]}
+{"timestamp_ns": 1789729720214233389, "elapsed_ms": 9366, "source_timestamp_ns": 1789729720209241148, "q": [0.0938500240445137, -1.6795432567596436, -0.023717882111668587, 0.7671962976455688, 1.6651066541671753, -0.0030644696671515703, -0.9991646409034729], "theta": [0.0915408805012703, -1.6786199808120728, -0.025403140112757683, 0.7509769797325134, 1.663927674293518, -0.002959012985229492, -0.9990283846855164], "dq": [-0.03390852361917496, 0.1020662784576416, 0.003908366896212101, 0.10396043956279755, -0.02319979853928089, -0.030335241928696632, -0.06238170713186264], "dtheta": [-0.031072596088051796, 0.09093277901411057, 0.0018000829732045531, 0.10523976385593414, -0.021343523636460304, -0.029939452186226845, -0.0635773241519928], "tau": [-61.19999694824219, -1.9900000095367432, -24.50800132751465, 2.952000141143799, -4.380000114440918, 3.364000082015991, -0.2639999985694885], "tau_des": [-0.6713053584098816, 1.5639814138412476, -0.312871515750885, 0.38729122281074524, -0.24632687866687775, -0.3514697849750519, -0.24520955979824066], "tau_dot": [60.325225830078125, -52.35884094238281, 46.641292572021484, 16.836824417114258, -22.14323616027832, 37.4733772277832, -58.63315963745117], "tau_ext": [15.161165237426758, -35.58710861206055, -36.2465705871582, 19.58111572265625, -2.10160756111145, -6.5278449058532715, 0.1567404866218567], "tcp_pose": [0.6362985968589783, -0.12054591625928879, -0.3344188928604126, -0.007254434283822775, -0.0608765073120594, 0.9979491233825684, 0.018412237986922264], "tcp_vel": [0.0005156736588105559, 0.03476862981915474, 0.01881190575659275, 0.010650734417140484, -0.0002134159585693851, 0.05034566670656204], "flange_pose": [0.6394755840301514, -0.12736040353775024, -0.14456771314144135, -0.007254434283822775, -0.0608765073120594, 0.9979491233825684, 0.018412237986922264], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.152103424072266, -53.72541809082031, -11.662786483764648, -6.071685791015625, 12.465546607971191, 0.057950522750616074], "ext_wrench_in_world": [-4.359795729590564, -55.067074500002256, 9.768317950802773, 4.513799914327569, 13.10613169410806, 0.33689938189736346]}
+{"timestamp_ns": 1789729720247562510, "elapsed_ms": 9400, "source_timestamp_ns": 1789729720239231069, "q": [0.09300457686185837, -1.6766797304153442, -0.023632081225514412, 0.7704705595970154, 1.664499282836914, -0.0038914219476282597, -1.0010502338409424], "theta": [0.09066512435674667, -1.6758047342300415, -0.025316832587122917, 0.7542604804039001, 1.6632965803146362, -0.0037964582443237305, -1.0008794069290161], "dq": [-0.02923712320625782, 0.09728936105966568, 0.003305987222120166, 0.10908685624599457, -0.020015642046928406, -0.02834840677678585, -0.06629079580307007], "dtheta": [-0.027676770463585854, 0.09532086551189423, 0.0038306189235299826, 0.11247926950454712, -0.020952949300408363, -0.02616114728152752, -0.06009010598063469], "tau": [-61.3599967956543, -1.899999976158142, -24.520000457763672, 2.9080002307891846, -4.344000339508057, 3.372000217437744, -0.2680000066757202], "tau_des": [-0.8773007392883301, 1.645597219467163, -0.35953032970428467, 0.3082079291343689, -0.20926080644130707, -0.3355768918991089, -0.32029491662979126], "tau_dot": [-52.1710205078125, -23.540010452270508, 41.54686737060547, -43.7059326171875, 9.068592071533203, -52.71131134033203, -27.63075065612793], "tau_ext": [15.142189025878906, -35.61398696899414, -36.295623779296875, 19.593721389770508, -2.1040899753570557, -6.546135425567627, 0.1465182602405548], "tcp_pose": [0.6363203525543213, -0.11944364756345749, -0.33392003178596497, -0.0072607798501849174, -0.06162707880139351, 0.997900128364563, 0.01856601983308792], "tcp_vel": [-0.0008516368689015508, 0.035631705075502396, 0.016276318579912186, 0.009700112044811249, 0.0002213942789239809, 0.04377824068069458], "flange_pose": [0.6395084261894226, -0.12631388008594513, -0.1440710425376892, -0.0072607798501849174, -0.06162707880139351, 0.997900128364563, 0.01856601983308792], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.21606731414795, -53.48422622680664, -11.905409812927246, -6.051222801208496, 12.454010009765625, 0.04240351542830467], "ext_wrench_in_world": [-4.366033120406652, -54.85413678894394, 10.003141297653103, 4.475481898201174, 13.098263144962498, 0.3564058578634589]}
+{"timestamp_ns": 1789729720280932426, "elapsed_ms": 9433, "source_timestamp_ns": 1789729720279245928, "q": [0.09198517352342606, -1.6727386713027954, -0.023448970168828964, 0.7751036882400513, 1.6638007164001465, -0.004885074682533741, -1.0036182403564453], "theta": [0.08960997313261032, -1.6719157695770264, -0.0251308660954237, 0.7589245438575745, 1.6625685691833496, -0.0048084259033203125, -1.0033975839614868], "dq": [-0.022126642987132072, 0.0916035994887352, 0.005458033178001642, 0.11448188871145248, -0.016131088137626648, -0.02726353518664837, -0.060323312878608704], "dtheta": [-0.025185024365782738, 0.09730546921491623, 0.005168522708117962, 0.11916617304086685, -0.01753425970673561, -0.024003004655241966, -0.062826968729496], "tau": [-61.619998931884766, -1.4800000190734863, -24.668001174926758, 2.5880000591278076, -4.340000152587891, 3.440000057220459, -0.24400001764297485], "tau_des": [-1.2226780652999878, 2.255899667739868, -0.3957042396068573, -0.1187717467546463, -0.17480868101119995, -0.29594141244888306, -0.2688775360584259], "tau_dot": [-77.35266876220703, -111.04666137695312, 17.841339111328125, 7.627408027648926, 8.956100463867188, 44.55083084106445, 10.56066608428955], "tau_ext": [15.205793380737305, -35.82284164428711, -36.3403205871582, 19.728683471679688, -2.114952325820923, -6.569947719573975, 0.1425989866256714], "tcp_pose": [0.636299729347229, -0.11794489622116089, -0.3333457410335541, -0.0072359186597168446, -0.06257758289575577, 0.9978369474411011, 0.018791336566209793], "tcp_vel": [-0.0025379338767379522, 0.03575804457068443, 0.014216935262084007, 0.011194027960300446, -0.0016721298452466726, 0.04154413193464279], "flange_pose": [0.6394902467727661, -0.12489809095859528, -0.14349982142448425, -0.0072359186597168446, -0.06257758289575577, 0.9978369474411011, 0.018791336566209793], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.42904281616211, -53.361690521240234, -12.057879447937012, -6.0435261726379395, 12.413338661193848, 0.030657529830932617], "ext_wrench_in_world": [-4.486320616813567, -54.7777662598629, 10.136801401933804, 4.448188954680232, 13.064859759146676, 0.3730679539649834]}
+{"timestamp_ns": 1789729720314233680, "elapsed_ms": 9466, "source_timestamp_ns": 1789729720309248158, "q": [0.0912734866142273, -1.6697789430618286, -0.02327950857579708, 0.7787010669708252, 1.6633714437484741, -0.005569495260715485, -1.005562663078308], "theta": [0.08887555450201035, -1.6689479351043701, -0.024961350485682487, 0.7625604271888733, 1.6621173620224, -0.005505681037902832, -1.0053092241287231], "dq": [-0.025195682421326637, 0.0877089649438858, 0.0032204079907387495, 0.12038220465183258, -0.014717789366841316, -0.02224572002887726, -0.06372462958097458], "dtheta": [-0.024024395272135735, 0.10202933847904205, 0.0064695761539042, 0.12270768731832504, -0.013730774633586407, -0.02294987440109253, -0.06624381989240646], "tau": [-61.779998779296875, -0.7999999523162842, -24.700000762939453, 2.2960000038146973, -4.315999984741211, 3.376000165939331, -0.2639999985694885], "tau_des": [-1.3990023136138916, 2.273376703262329, -0.4963029623031616, -0.14797993004322052, -0.2679971754550934, -0.2726963460445404, -0.1855028122663498], "tau_dot": [19.921489715576172, 113.08660125732422, 30.74017906188965, 46.412567138671875, -29.8865909576416, -56.42112350463867, -19.945003509521484], "tau_ext": [15.287382125854492, -36.05491638183594, -36.35676193237305, 19.809677124023438, -2.1256635189056396, -6.582107067108154, 0.14494501054286957], "tcp_pose": [0.6362447142601013, -0.11683592945337296, -0.33296024799346924, -0.007182575762271881, -0.06323772668838501, 0.9977921843528748, 0.018976524472236633], "tcp_vel": [-0.0012461903970688581, 0.038872070610523224, 0.012598063796758652, 0.014291809871792793, -0.004424386192113161, 0.04585426300764084], "flange_pose": [0.6394240856170654, -0.1238584890961647, -0.14311668276786804, -0.007182575762271881, -0.06323772668838501, 0.9977921843528748, 0.018976524472236633], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.689350128173828, -53.558441162109375, -12.094247817993164, -6.103832244873047, 12.358526229858398, 0.027027582749724388], "ext_wrench_in_world": [-4.648000233098502, -55.01685786689077, 10.146910894684048, 4.497701201942921, 13.02372512105384, 0.3793903097756974]}
+{"timestamp_ns": 1789729720347562991, "elapsed_ms": 9500, "source_timestamp_ns": 1789729720339227212, "q": [0.09058427065610886, -1.666770577430725, -0.023082943633198738, 0.7823255062103271, 1.662977933883667, -0.006244293414056301, -1.0074512958526611], "theta": [0.08817045390605927, -1.6658813953399658, -0.024763032793998718, 0.7662261128425598, 1.66170334815979, -0.006193757057189941, -1.007174015045166], "dq": [-0.021948015317320824, 0.09939037263393402, 0.006116905249655247, 0.12487605214118958, -0.01423890795558691, -0.02139558270573616, -0.06081041693687439], "dtheta": [-0.023366613313555717, 0.10641100257635117, 0.007267357315868139, 0.12194658815860748, -0.015471805818378925, -0.021019965410232544, -0.05844153091311455], "tau": [-61.79999923706055, -0.6299999952316284, -24.748001098632812, 2.248000144958496, -4.312000274658203, 3.440000057220459, -0.2639999985694885], "tau_des": [-1.2251795530319214, 2.0627288818359375, -0.5013740062713623, 0.05758119747042656, -0.32512447237968445, -0.28089118003845215, -0.19007736444473267], "tau_dot": [36.753028869628906, -5.381896495819092, -6.423819541931152, -44.34933090209961, 9.782464027404785, 25.141582489013672, 7.6513352394104], "tau_ext": [15.35793685913086, -36.105159759521484, -36.38568878173828, 19.7314395904541, -2.1291663646698, -6.584855556488037, 0.15716563165187836], "tcp_pose": [0.6361997127532959, -0.11568731814622879, -0.33260416984558105, -0.007121511269360781, -0.06387908011674881, 0.9977478384971619, 0.01918356493115425], "tcp_vel": [0.0007708862540312111, 0.0415421761572361, 0.01197061501443386, 0.012861324474215508, -0.0033991464879363775, 0.04316013678908348], "flange_pose": [0.6393654346466064, -0.12278778105974197, -0.14276328682899475, -0.007121511269360781, -0.06387908011674881, 0.9977478384971619, 0.01918356493115425], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.746283531188965, -53.94776153564453, -12.07797622680664, -6.208059310913086, 12.357450485229492, 0.031445566564798355], "ext_wrench_in_world": [-4.585985017767742, -55.41966128647254, 10.09175631625246, 4.58440820962861, 13.041720470466556, 0.37986874584952196]}
+{"timestamp_ns": 1789729720380897532, "elapsed_ms": 9533, "source_timestamp_ns": 1789729720379292344, "q": [0.0897325724363327, -1.6625720262527466, -0.022814977914094925, 0.7871963977813721, 1.6623481512069702, -0.007050765678286552, -1.0096224546432495], "theta": [0.08730990439653397, -1.6615843772888184, -0.024494430050253868, 0.7711292505264282, 1.6610461473464966, -0.007020235061645508, -1.009333610534668], "dq": [-0.021281806752085686, 0.11286421865224838, 0.00587726105004549, 0.1249452531337738, -0.015638623386621475, -0.01732105016708374, -0.04938693344593048], "dtheta": [-0.021057382225990295, 0.11161748319864273, 0.007018108852207661, 0.12298963218927383, -0.018424224108457565, -0.020893527194857597, -0.053968846797943115], "tau": [-61.79999923706055, -0.8899999856948853, -24.7760009765625, 2.264000177383423, -4.300000190734863, 3.4080002307891846, -0.30000001192092896], "tau_des": [-1.3314932584762573, 1.8002890348434448, -0.4694114029407501, 0.12871618568897247, -0.2166149765253067, -0.2530331313610077, -0.31439104676246643], "tau_dot": [-110.29438018798828, -121.02111053466797, 6.25074577331543, -36.58761215209961, 8.862276077270508, 0.8206246495246887, 16.06328773498535], "tau_ext": [15.410712242126465, -36.01224899291992, -36.43182373046875, 19.711952209472656, -2.1471548080444336, -6.594319820404053, 0.1737346053123474], "tcp_pose": [0.6361781358718872, -0.11407875269651413, -0.3321619927883148, -0.007092886138707399, -0.06463518738746643, 0.9976951479911804, 0.019401876255869865], "tcp_vel": [0.001222918857820332, 0.04409822076559067, 0.01071986649185419, 0.010981783270835876, 0.0013192399637773633, 0.04297536239027977], "flange_pose": [0.6393437385559082, -0.12126026302576065, -0.14232416450977325, -0.007092886138707399, -0.06463518738746643, 0.9976951479911804, 0.019401876255869865], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.732195854187012, -54.110687255859375, -12.051337242126465, -6.237045764923096, 12.381182670593262, 0.041332170367240906], "ext_wrench_in_world": [-4.468305457298969, -55.58970007201782, 10.033200707115551, 4.590193071491247, 13.076097142363226, 0.3767540770387105]}
+{"timestamp_ns": 1789729720414232142, "elapsed_ms": 9566, "source_timestamp_ns": 1789729720409356777, "q": [0.08912771195173264, -1.6592656373977661, -0.022612644359469414, 0.7909650206565857, 1.6618826389312744, -0.007619486190378666, -1.0112768411636353], "theta": [0.08670642226934433, -1.6582276821136475, -0.02429048717021942, 0.7749067544937134, 1.6605621576309204, -0.0076029300689697266, -1.0109961032867432], "dq": [-0.01954381912946701, 0.12448865175247192, 0.010101626627147198, 0.12875433266162872, -0.01661422662436962, -0.019100328907370567, -0.05401181802153587], "dtheta": [-0.01947261206805706, 0.11515309661626816, 0.00782668124884367, 0.12766307592391968, -0.01572805643081665, -0.01763611100614071, -0.05284257233142853], "tau": [-61.89999771118164, -0.9199999570846558, -24.88800048828125, 2.30400013923645, -4.312000274658203, 3.4600002765655518, -0.3240000009536743], "tau_des": [-1.3451405763626099, 1.6738636493682861, -0.5365081429481506, 0.23331806063652039, -0.33355942368507385, -0.23821601271629333, -0.2399931102991104], "tau_dot": [46.87689208984375, 94.9710464477539, 17.67616844177246, 9.182507514953613, -44.06786346435547, 0.24027910828590393, 11.960474014282227], "tau_ext": [15.43754768371582, -36.13816452026367, -36.476619720458984, 19.888988494873047, -2.1723554134368896, -6.594334125518799, 0.19415698945522308], "tcp_pose": [0.6361805200576782, -0.11280445754528046, -0.3318517208099365, -0.007074244786053896, -0.06523574143648148, 0.9976531267166138, 0.019556984305381775], "tcp_vel": [0.001453633769415319, 0.04524346813559532, 0.009470062330365181, 0.010887728072702885, -0.001340053859166801, 0.04050591215491295], "flange_pose": [0.63934725522995, -0.1200433075428009, -0.14201608300209045, -0.007074244786053896, -0.06523574143648148, 0.9976531267166138, 0.019556984305381775], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.982257843017578, -53.986846923828125, -12.11998176574707, -6.189953804016113, 12.326720237731934, 0.055094458162784576], "ext_wrench_in_world": [-4.664794954123175, -55.51079671221307, 10.09154290516518, 4.534630573147536, 13.021902126660526, 0.36576752621507247]}
+{"timestamp_ns": 1789729720447567233, "elapsed_ms": 9600, "source_timestamp_ns": 1789729720439308933, "q": [0.08856505900621414, -1.6557940244674683, -0.022395731881260872, 0.7948522567749023, 1.6613630056381226, -0.008116576820611954, -1.0127618312835693], "theta": [0.08615409582853317, -1.6547492742538452, -0.02407662570476532, 0.7787959575653076, 1.6600258350372314, -0.00811314582824707, -1.012488842010498], "dq": [-0.020796744152903557, 0.12187819927930832, 0.005438171327114105, 0.12676510214805603, -0.020220935344696045, -0.01645464450120926, -0.0523156076669693], "dtheta": [-0.017119530588388443, 0.11759763956069946, 0.007128089666366577, 0.13197241723537445, -0.019388364627957344, -0.01623866893351078, -0.050739940255880356], "tau": [-62.029998779296875, -1.3399999141693115, -25.032001495361328, 2.4560000896453857, -4.296000003814697, 3.4640002250671387, -0.3360000252723694], "tau_des": [-1.5638500452041626, 1.658829689025879, -0.525144100189209, 0.0790666937828064, -0.17019003629684448, -0.18965542316436768, -0.3243468999862671], "tau_dot": [60.87822341918945, 181.49339294433594, -8.684507369995117, 34.63789749145508, -26.39541244506836, -44.33932876586914, -19.41191291809082], "tau_ext": [15.486686706542969, -35.87370300292969, -36.429603576660156, 19.837873458862305, -2.1619725227355957, -6.624329566955566, 0.2127489149570465], "tcp_pose": [0.636194109916687, -0.11147315055131912, -0.33156418800354004, -0.0070779286324977875, -0.06577425450086594, 0.997615396976471, 0.019677435979247093], "tcp_vel": [-0.0006773638306185603, 0.04449273273348808, 0.008846236392855644, 0.0066151064820587635, 0.003037072252482176, 0.03673652186989784], "flange_pose": [0.6393691301345825, -0.11875583976507187, -0.14173036813735962, -0.0070779286324977875, -0.06577425450086594, 0.997615396976471, 0.019677435979247093], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.210649490356445, -53.65729522705078, -12.1080904006958, -6.083407878875732, 12.271763801574707, 0.07095400243997574], "ext_wrench_in_world": [-4.874680572844884, -55.22143876112062, 10.081732771462672, 4.421911627106883, 12.958848118116459, 0.35217283614065964]}
+{"timestamp_ns": 1789729720480912382, "elapsed_ms": 9633, "source_timestamp_ns": 1789729720479258840, "q": [0.08789344877004623, -1.6510405540466309, -0.022128954529762268, 0.8000999689102173, 1.6606814861297607, -0.008687573485076427, -1.0147087574005127], "theta": [0.08551093935966492, -1.6500084400177002, -0.023819563910365105, 0.7840694785118103, 1.6593221426010132, -0.008699893951416016, -1.0144412517547607], "dq": [-0.01840161345899105, 0.1148151308298111, 0.004268885124474764, 0.13042175769805908, -0.018236039206385612, -0.012737809680402279, -0.04806578531861305], "dtheta": [-0.01462594699114561, 0.11979345232248306, 0.006045069079846144, 0.12885315716266632, -0.017270511016249657, -0.013141050934791565, -0.04628545045852661], "tau": [-62.14999771118164, -1.7899999618530273, -25.192001342773438, 3.124000072479248, -4.3520002365112305, 3.452000141143799, -0.3720000088214874], "tau_des": [-1.6852264404296875, 0.23054513335227966, -0.6886119246482849, 0.9227550029754639, -0.3073802590370178, -0.20569665729999542, -0.2930581271648407], "tau_dot": [8.04516887664795, -9.070778846740723, -16.77418327331543, 3.767961025238037, 11.302578926086426, -16.484222412109375, -0.8536224961280823], "tau_ext": [15.673360824584961, -35.60164260864258, -36.3479118347168, 19.533042907714844, -2.1464691162109375, -6.65002965927124, 0.23576608300209045], "tcp_pose": [0.6362292766571045, -0.10965752601623535, -0.3312162160873413, -0.007093396503478289, -0.06650535017251968, 0.9975643754005432, 0.01979861781001091], "tcp_vel": [0.0016234972281381488, 0.04617549851536751, 0.007575994823127985, 0.004933664575219154, 0.0023115852382034063, 0.03755354508757591], "flange_pose": [0.6394185423851013, -0.11698340624570847, -0.1413843035697937, -0.007093396503478289, -0.06650535017251968, 0.9975643754005432, 0.01979861781001091], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.156593322753906, -53.362823486328125, -11.992459297180176, -5.987502574920654, 12.29167366027832, 0.09330824017524719], "ext_wrench_in_world": [-4.7809814612947115, -54.92777525140394, 9.963658657359401, 4.3048791288700645, 12.973047836787647, 0.33493341634452717]}
+{"timestamp_ns": 1789729720514229954, "elapsed_ms": 9666, "source_timestamp_ns": 1789729720509290657, "q": [0.08743998408317566, -1.6474982500076294, -0.02196161262691021, 0.804043710231781, 1.6602195501327515, -0.009099231101572514, -1.0160943269729614], "theta": [0.085090272128582, -1.6464663743972778, -0.023657580837607384, 0.7880305647850037, 1.6588443517684937, -0.009121060371398926, -1.015829086303711], "dq": [-0.01610703021287918, 0.11150245368480682, 0.005998064298182726, 0.13682836294174194, -0.018274063244462013, -0.013371752575039864, -0.04760398343205452], "dtheta": [-0.014039038680493832, 0.11605037748813629, 0.005300761200487614, 0.13419531285762787, -0.014986923895776272, -0.014637617394328117, -0.05037350952625275], "tau": [-62.28999710083008, -1.5, -25.192001342773438, 2.888000249862671, -4.276000022888184, 3.452000141143799, -0.3880000114440918], "tau_des": [-1.9469302892684937, 1.9377764463424683, -0.35520318150520325, -0.11108936369419098, -0.037298042327165604, -0.23697365820407867, -0.43989482522010803], "tau_dot": [153.3080596923828, -33.41016387939453, 16.897951126098633, 19.744962692260742, 54.02581787109375, -1.7128875255584717, -16.372081756591797], "tau_ext": [15.689574241638184, -35.833984375, -36.40303421020508, 19.546735763549805, -2.169116735458374, -6.642311096191406, 0.25855183601379395], "tcp_pose": [0.6362326145172119, -0.10831772536039352, -0.33097538352012634, -0.007108591962605715, -0.0670013278722763, 0.9975294470787048, 0.01988166570663452], "tcp_vel": [-0.0025008460506796837, 0.04277440160512924, 0.007534134667366743, 0.00609215022996068, 0.0018935233820229769, 0.03257903829216957], "flange_pose": [0.6394333839416504, -0.11567310988903046, -0.141144797205925, -0.007108591962605715, -0.0670013278722763, 0.9975294470787048, 0.01988166570663452], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.712693214416504, -53.64765167236328, -11.86867618560791, -6.0528998374938965, 12.41224193572998, 0.11114479601383209], "ext_wrench_in_world": [-4.250402856644163, -55.15200374517595, 9.813956650678948, 4.340414906208267, 13.106102173108596, 0.3233941086533922]}
+{"timestamp_ns": 1789729720547562695, "elapsed_ms": 9700, "source_timestamp_ns": 1789729720539287557, "q": [0.0869876965880394, -1.6439915895462036, -0.021781139075756073, 0.8081051111221313, 1.6598981618881226, -0.009528459049761295, -1.017636775970459], "theta": [0.0846775695681572, -1.6429475545883179, -0.02348005585372448, 0.79207843542099, 1.65850830078125, -0.00956118106842041, -1.0173804759979248], "dq": [-0.01516523864120245, 0.1254355013370514, 0.003234985750168562, 0.14323343336582184, -0.010637831874191761, -0.016995705664157867, -0.047434065490961075], "dtheta": [-0.013957028277218342, 0.11897964775562286, 0.00608763238415122, 0.13695184886455536, -0.010560372844338417, -0.014131981879472733, -0.05147946625947952], "tau": [-62.41999816894531, -0.7899999618530273, -25.248001098632812, 2.25600004196167, -4.272000312805176, 3.4680001735687256, -0.4000000059604645], "tau_des": [-1.8890503644943237, 2.084484577178955, -0.3792310953140259, -0.21775802969932556, -0.168861523270607, -0.1955580711364746, -0.4607323706150055], "tau_dot": [-33.5380744934082, 127.17391967773438, -40.22398376464844, -59.69677734375, -13.067340850830078, -31.542638778686523, 19.871410369873047], "tau_ext": [15.838944435119629, -36.14507293701172, -36.41414260864258, 19.80698013305664, -2.2028884887695312, -6.643610954284668, 0.2837255299091339], "tcp_pose": [0.6361920237541199, -0.10699813812971115, -0.33075007796287537, -0.007067946717143059, -0.06749764084815979, 0.9974936246871948, 0.020013893023133278], "tcp_vel": [-0.0014212906826287508, 0.04497531056404114, 0.0067461710423231125, 0.009348724037408829, -0.0018862260039895773, 0.03361358493566513], "flange_pose": [0.6393844485282898, -0.11440306901931763, -0.14092126488685608, -0.007067946717143059, -0.06749764084815979, 0.9974936246871948, 0.020013893023133278], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.720964431762695, -53.94588851928711, -11.805645942687988, -6.108836650848389, 12.419303894042969, 0.13381780683994293], "ext_wrench_in_world": [-4.16570617614935, -55.452854708850666, 9.723217994223614, 4.381483167617926, 13.12573247278461, 0.30439111277305275]}
+{"timestamp_ns": 1789729720580911194, "elapsed_ms": 9733, "source_timestamp_ns": 1789729720579237354, "q": [0.08638790994882584, -1.6392018795013428, -0.02147470787167549, 0.8137038350105286, 1.6594916582107544, -0.010024884715676308, -1.0197652578353882], "theta": [0.08414008468389511, -1.638182282447815, -0.02317626215517521, 0.7976294159889221, 1.6580867767333984, -0.010067343711853027, -1.0195304155349731], "dq": [-0.01530134491622448, 0.129634290933609, 0.010765568353235722, 0.13981972634792328, -0.012933211401104927, -0.012786956503987312, -0.05135820060968399], "dtheta": [-0.012889194302260876, 0.11921097338199615, 0.008698709309101105, 0.14036217331886292, -0.014208284206688404, -0.011761443689465523, -0.04890553280711174], "tau": [-62.189998626708984, -0.14999999105930328, -25.23600196838379, 1.7720000743865967, -4.236000061035156, 3.492000102996826, -0.4320000112056732], "tau_des": [-1.7463769912719727, 3.620934009552002, -0.21635378897190094, -1.0205010175704956, -0.052269913256168365, -0.16323615610599518, -0.5226611495018005], "tau_dot": [81.2543716430664, -29.6169376373291, -58.4254150390625, 1.0474522113800049, 1.2006468772888184, 29.462158203125, 18.136943817138672], "tau_ext": [15.854708671569824, -36.562808990478516, -36.47198486328125, 20.19135284423828, -2.2368552684783936, -6.647042274475098, 0.3235231339931488], "tcp_pose": [0.6361232399940491, -0.10520195960998535, -0.3304717242717743, -0.006977572571486235, -0.06815779954195023, 0.9974457025527954, 0.02019624039530754], "tcp_vel": [-0.0037420375738292933, 0.04392503574490547, 0.0056764003820717335, 0.007514250464737415, 0.00040467220242135227, 0.02776474505662918], "flange_pose": [0.6392910480499268, -0.1126762107014656, -0.14064522087574005, -0.006977572571486235, -0.06815779954195023, 0.9974457025527954, 0.02019624039530754], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.421294212341309, -53.924251556396484, -11.813177108764648, -6.065282344818115, 12.245845794677734, 0.16773530840873718], "ext_wrench_in_world": [-4.7909801689879945, -55.53635338163061, 9.717230640523216, 4.34395826050133, 12.955068697924576, 0.2697145642207085]}
+{"timestamp_ns": 1789729720614236755, "elapsed_ms": 9766, "source_timestamp_ns": 1789729720609316975, "q": [0.08598405867815018, -1.6354371309280396, -0.021194100379943848, 0.8179194331169128, 1.6590577363967896, -0.010249871760606766, -1.0211981534957886], "theta": [0.08379008620977402, -1.6344712972640991, -0.022894833236932755, 0.8018212914466858, 1.6576398611068726, -0.010299086570739746, -1.0209875106811523], "dq": [-0.013003547675907612, 0.12799230217933655, 0.010964009910821915, 0.1328631192445755, -0.017723584547638893, -0.005860897712409496, -0.043461062014102936], "dtheta": [-0.010245788842439651, 0.12481208145618439, 0.009807012043893337, 0.13866399228572845, -0.016646651551127434, -0.004254540894180536, -0.04395071417093277], "tau": [-62.189998626708984, -0.5399999618530273, -25.26000213623047, 2.136000156402588, -4.208000183105469, 3.4800002574920654, -0.46000000834465027], "tau_des": [-1.560545563697815, 2.5073585510253906, -0.3280741572380066, -0.19139131903648376, -0.20377382636070251, -0.2458205670118332, -0.4102705121040344], "tau_dot": [40.217594146728516, -90.78227996826172, -30.961551666259766, -8.229166984558105, 9.723517417907715, -11.414515495300293, 43.49949645996094], "tau_ext": [15.812044143676758, -36.25664520263672, -36.462772369384766, 19.987279891967773, -2.2266945838928223, -6.654551029205322, 0.34638190269470215], "tcp_pose": [0.6361210346221924, -0.10378357023000717, -0.3302934765815735, -0.006942829117178917, -0.06864729523658752, 0.9974108934402466, 0.020268414169549942], "tcp_vel": [-0.0006815077504143119, 0.046368133276700974, 0.004182819742709398, 0.0018444076413288713, 0.0004151417233515531, 0.029997779056429863], "flange_pose": [0.6392812132835388, -0.1112845167517662, -0.14046791195869446, -0.006942829117178917, -0.06864729523658752, 0.9974108934402466, 0.020268414169549942], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.792625427246094, -53.83759307861328, -11.875760078430176, -6.036752700805664, 12.14503288269043, 0.19109220802783966], "ext_wrench_in_world": [-5.115978988202036, -55.51019554934407, 9.778359797351776, 4.316384490461948, 12.856499253007517, 0.2448979628374934]}
+{"timestamp_ns": 1789729720647634028, "elapsed_ms": 9800, "source_timestamp_ns": 1789729720639299148, "q": [0.0856555849313736, -1.6315383911132812, -0.020895441994071007, 0.8219895958900452, 1.6584357023239136, -0.010366123169660568, -1.0222283601760864], "theta": [0.08351976424455643, -1.6306097507476807, -0.022596905007958412, 0.8059006929397583, 1.6570050716400146, -0.010419964790344238, -1.0220471620559692], "dq": [-0.007352791726589203, 0.12307734042406082, 0.013461547903716564, 0.13599976897239685, -0.02235773764550686, -0.0024979233276098967, -0.031016666442155838], "dtheta": [-0.0072603109292685986, 0.13118286430835724, 0.009914548136293888, 0.13415615260601044, -0.0242537222802639, -0.0018429546616971493, -0.031963881105184555], "tau": [-62.13999938964844, -1.909999966621399, -25.492000579833984, 3.068000078201294, -4.264000415802002, 3.492000102996826, -0.47600001096725464], "tau_des": [-1.5818909406661987, 0.29879218339920044, -0.5477283596992493, 1.1252362728118896, -0.19458511471748352, -0.17733021080493927, -0.48538804054260254], "tau_dot": [36.1832389831543, 119.231689453125, 3.9156527519226074, 11.969841003417969, 44.30352020263672, 19.03963279724121, -5.947086334228516], "tau_ext": [15.786894798278809, -35.40679168701172, -36.39766311645508, 19.28868865966797, -2.1837377548217773, -6.665175437927246, 0.3633180260658264], "tcp_pose": [0.6361884474754333, -0.10228913277387619, -0.3301534950733185, -0.006998532451689243, -0.06907476484775543, 0.9973810911178589, 0.020263636484742165], "tcp_vel": [0.0017126101301982999, 0.04992904141545296, 0.0027683621738106012, -0.003965133801102638, 0.008410805836319923, 0.029108179733157158], "flange_pose": [0.6393728256225586, -0.10978544503450394, -0.14032813906669617, -0.006998532451689243, -0.06907476484775543, 0.9973810911178589, 0.020263636484742165], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.240776062011719, -53.74807357788086, -11.866536140441895, -6.015226364135742, 12.278254508972168, 0.2106926143169403], "ext_wrench_in_world": [-4.533305911195164, -55.34932164228344, 9.767723540344678, 4.265394396922859, 12.989847442062965, 0.23053730120328333]}
+{"timestamp_ns": 1789729720680900407, "elapsed_ms": 9833, "source_timestamp_ns": 1789729720679233937, "q": [0.08534853160381317, -1.6263588666915894, -0.020505188032984734, 0.8275572061538696, 1.6576951742172241, -0.010409333743155003, -1.023591160774231], "theta": [0.08328334987163544, -1.625394344329834, -0.02221204899251461, 0.8114715814590454, 1.656247615814209, -0.01046597957611084, -1.0234485864639282], "dq": [-0.005050585139542818, 0.12716951966285706, 0.009385546669363976, 0.14914897084236145, -0.012258422560989857, -0.0006903969333507121, -0.04274152219295502], "dtheta": [-0.005201468709856272, 0.13060379028320312, 0.010782013647258282, 0.14408722519874573, -0.01288437470793724, -0.001546970452181995, -0.04313555732369423], "tau": [-62.5, -1.2400000095367432, -25.56800079345703, 2.4880001544952393, -4.203999996185303, 3.504000186920166, -0.5200000405311584], "tau_des": [-2.4459071159362793, 1.6659549474716187, -0.5674446821212769, 0.14191937446594238, -0.08670353144407272, -0.10487519949674606, -0.6020374298095703], "tau_dot": [-88.93708038330078, 35.37666320800781, 38.15496826171875, -20.533954620361328, 2.561495780944824, -7.1110944747924805, -0.847819447517395], "tau_ext": [15.918559074401855, -35.863037109375, -36.3881950378418, 19.563011169433594, -2.219776153564453, -6.684316158294678, 0.38706356287002563], "tcp_pose": [0.6361973881721497, -0.10035721212625504, -0.33003827929496765, -0.0070693776942789555, -0.06955809146165848, 0.9973476529121399, 0.0202321894466877], "tcp_vel": [-0.001131429453380406, 0.04922724887728691, 0.00041196474921889603, 0.0031745126470923424, 0.0009116458822973073, 0.029296301305294037], "flange_pose": [0.6394113898277283, -0.10783819109201431, -0.14021281898021698, -0.0070693776942789555, -0.06955809146165848, 0.9973476529121399, 0.0202321894466877], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.499847412109375, -53.871910095214844, -11.783186912536621, -6.049289226531982, 12.458276748657227, 0.23433014750480652], "ext_wrench_in_world": [-3.7289287176450587, -55.3693137354816, 9.675064273947495, 4.261196562217252, 13.177801718101515, 0.21264065215147032]}
+{"timestamp_ns": 1789729720714233517, "elapsed_ms": 9866, "source_timestamp_ns": 1789729720709329625, "q": [0.08510959148406982, -1.6225003004074097, -0.02015642076730728, 0.8320278525352478, 1.6574082374572754, -0.010416071861982346, -1.025024652481079], "theta": [0.08309189975261688, -1.6214935779571533, -0.021863577887415886, 0.8159118890762329, 1.6559488773345947, -0.010472893714904785, -1.0249114036560059], "dq": [-0.005416999105364084, 0.13671773672103882, 0.0132235586643219, 0.15559452772140503, -0.009846687316894531, 0.0006907009519636631, -0.05177033320069313], "dtheta": [-0.007689069490879774, 0.12996043264865875, 0.013586999848484993, 0.14983749389648438, -0.008544727228581905, 0.0013719102134928107, -0.0516459196805954], "tau": [-62.68000030517578, -0.2199999988079071, -25.700000762939453, 1.840000033378601, -4.208000183105469, 3.516000270843506, -0.527999997138977], "tau_des": [-2.2861649990081787, 3.177990436553955, -0.4654632806777954, -0.7406736612319946, -0.18365219235420227, -0.1912657618522644, -0.49926701188087463], "tau_dot": [155.36570739746094, -91.3694839477539, 17.82016372680664, -75.02938842773438, -16.185285568237305, -46.303401947021484, -22.177949905395508], "tau_ext": [15.9432373046875, -36.55126190185547, -36.4609375, 20.105451583862305, -2.279930591583252, -6.6815595626831055, 0.4085332155227661], "tcp_pose": [0.6361268758773804, -0.09894134849309921, -0.3299817144870758, -0.0069897971116006374, -0.06996163725852966, 0.9973188042640686, 0.020292144268751144], "tcp_vel": [-0.0018008657498285174, 0.04837605729699135, 0.0008909706957638264, 0.006061695050448179, -0.007279982790350914, 0.03099762089550495], "flange_pose": [0.6393153071403503, -0.10644586384296417, -0.14015674591064453, -0.0069897971116006374, -0.06996163725852966, 0.9973188042640686, 0.020292144268751144], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.006948471069336, -53.989009857177734, -11.817550659179688, -6.060276985168457, 12.328841209411621, 0.25600430369377136], "ext_wrench_in_world": [-4.171171746889494, -55.56175107607075, 9.701940225868674, 4.279094019801886, 13.055528483494966, 0.18801939715305727]}
+{"timestamp_ns": 1789729720747565758, "elapsed_ms": 9900, "source_timestamp_ns": 1789729720739305139, "q": [0.08483725041151047, -1.618528127670288, -0.01973808743059635, 0.8366274237632751, 1.657058596611023, -0.010416372679173946, -1.0264718532562256], "theta": [0.08286206424236298, -1.6175082921981812, -0.021449824795126915, 0.8204734325408936, 1.655587077140808, -0.01047217845916748, -1.0263936519622803], "dq": [-0.007658431772142649, 0.13878199458122253, 0.009238283149898052, 0.1494695544242859, -0.009026694111526012, 7.098076457623392e-05, -0.04311320185661316], "dtheta": [-0.008100145496428013, 0.1342950314283371, 0.0135465357452631, 0.1504262536764145, -0.01269050408154726, 0.000995085807517171, -0.044826410710811615], "tau": [-62.79999923706055, 0.429999977350235, -25.744001388549805, 1.7120001316070557, -4.196000099182129, 3.564000129699707, -0.5760000348091125], "tau_des": [-2.1605584621429443, 3.031794786453247, -0.5410808324813843, -0.8077175617218018, -0.1838027685880661, -0.0511496402323246, -0.48775994777679443], "tau_dot": [10.824834823608398, 1.7828330993652344, -22.18917465209961, -33.336280822753906, 6.879209041595459, -0.8443821668624878, -82.30421447753906], "tau_ext": [16.039257049560547, -36.82416534423828, -36.422786712646484, 20.338483810424805, -2.2903785705566406, -6.707857131958008, 0.4257377088069916], "tcp_pose": [0.6360448002815247, -0.0974733829498291, -0.32992687821388245, -0.006913367193192244, -0.07036279141902924, 0.9972895979881287, 0.02036432921886444], "tcp_vel": [-0.0011462969705462456, 0.05042829364538193, 0.0013714693486690521, 0.003915870562195778, -0.0038584505673497915, 0.028081243857741356], "flange_pose": [0.6392092704772949, -0.10500600934028625, -0.14010263979434967, -0.006913367193192244, -0.07036279141902924, 0.9972895979881287, 0.02036432921886444], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.817643165588379, -53.996246337890625, -11.844738960266113, -6.044693470001221, 12.115711212158203, 0.27480000257492065], "ext_wrench_in_world": [-4.9293707496244625, -55.68887844804225, 9.728029458800389, 4.282727313811187, 12.846628426204989, 0.16333156052681164]}
+{"timestamp_ns": 1789729720780910287, "elapsed_ms": 9933, "source_timestamp_ns": 1789729720779261635, "q": [0.08449912071228027, -1.613025188446045, -0.01920057274401188, 0.8424184322357178, 1.656304121017456, -0.010387219488620758, -1.0278220176696777], "theta": [0.08257114142179489, -1.612016201019287, -0.020923873409628868, 0.8262503743171692, 1.6548112630844116, -0.01043844223022461, -1.027803897857666], "dq": [-0.005014022346585989, 0.13301274180412292, 0.014478351920843124, 0.13969753682613373, -0.02349514700472355, 0.0004965888219885528, -0.02623656764626503], "dtheta": [-0.006099533289670944, 0.1398264765739441, 0.01212004479020834, 0.14103685319423676, -0.024382134899497032, 0.002846698509529233, -0.02426096424460411], "tau": [-62.47999954223633, -1.8600000143051147, -26.032001495361328, 3.004000186920166, -4.276000022888184, 3.748000144958496, -0.5640000104904175], "tau_des": [-1.86456298828125, 0.4344954192638397, -0.7303152084350586, 0.8512894511222839, -0.19202925264835358, 0.11307332664728165, -0.4961256980895996], "tau_dot": [74.7205810546875, -40.71630859375, -24.659347534179688, 18.096790313720703, -34.55927658081055, 35.45863342285156, 5.612806797027588], "tau_ext": [15.986783027648926, -35.4693603515625, -36.312049865722656, 19.34897804260254, -2.233105182647705, -6.784579753875732, 0.4408069849014282], "tcp_pose": [0.6360948085784912, -0.09535225480794907, -0.3298527002334595, -0.00695045106112957, -0.07088413089513779, 0.9972521662712097, 0.020376769825816154], "tcp_vel": [0.002087507164105773, 0.05360285937786102, 0.0014317745808511972, -0.005364435724914074, 0.007245283108204603, 0.02294205129146576], "flange_pose": [0.6392775774002075, -0.10288693010807037, -0.14002883434295654, -0.00695045106112957, -0.07088413089513779, 0.9972521662712097, 0.020376769825816154], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.474899291992188, -54.01597595214844, -11.800679206848145, -6.0681376457214355, 12.202288627624512, 0.2923559248447418], "ext_wrench_in_world": [-4.529244596254635, -55.66349556860348, 9.678119890904576, 4.279987041438638, 12.940751307351038, 0.14926738584752594]}
+{"timestamp_ns": 1789729720814300821, "elapsed_ms": 9966, "source_timestamp_ns": 1789729720809427395, "q": [0.08429141342639923, -1.6087019443511963, -0.0188150592148304, 0.8468183279037476, 1.6555665731430054, -0.010306973941624165, -1.0284987688064575], "theta": [0.08239486068487167, -1.6076809167861938, -0.020552990958094597, 0.8306390047073364, 1.654052972793579, -0.010349392890930176, -1.028522253036499], "dq": [-0.005266210995614529, 0.1381915807723999, 0.012089419178664684, 0.14848420023918152, -0.023779261857271194, 0.0036436826921999454, -0.02252252772450447], "dtheta": [-0.0052385455928742886, 0.1389353722333908, 0.011433040723204613, 0.14562825858592987, -0.022159963846206665, 0.0033107383642345667, -0.026241431012749672], "tau": [-62.48999786376953, -2.049999952316284, -26.02800178527832, 2.9160001277923584, -4.223999977111816, 3.820000171661377, -0.5720000267028809], "tau_des": [-2.062944173812866, 0.8296669721603394, -0.4706657826900482, 0.47186344861984253, 0.08638826757669449, 0.14384795725345612, -0.6843096613883972], "tau_dot": [1.9806978702545166, 79.45532989501953, 5.017143726348877, -38.05990219116211, -49.24637222290039, 33.7862663269043, 1.8940013647079468], "tau_ext": [15.902669906616211, -35.32744216918945, -36.331417083740234, 19.233179092407227, -2.2412116527557373, -6.896615505218506, 0.4452805519104004], "tcp_pose": [0.6361469626426697, -0.09369664639234543, -0.32980188727378845, -0.007061608135700226, -0.07117848098278046, 0.9972317814826965, 0.020310500636696815], "tcp_vel": [-0.00020161191059742123, 0.05187389627099037, 0.0012201928766444325, -0.005415973719209433, 0.006061433814466, 0.019430439919233322], "flange_pose": [0.6393722891807556, -0.10120227187871933, -0.1399775743484497, -0.007061608135700226, -0.07117848098278046, 0.9972317814826965, 0.020310500636696815], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.620218276977539, -53.81179428100586, -11.847090721130371, -6.082378387451172, 12.441844940185547, 0.29934898018836975], "ext_wrench_in_world": [-3.6763628506580903, -55.34310820259732, 9.732264164442771, 4.25234764109873, 13.18255187732063, 0.14935768037172037]}
+{"timestamp_ns": 1789729720847565220, "elapsed_ms": 10000, "source_timestamp_ns": 1789729720839284223, "q": [0.08409981429576874, -1.6047488451004028, -0.018432527780532837, 0.851182758808136, 1.655139446258545, -0.010212681256234646, -1.0294620990753174], "theta": [0.08222610503435135, -1.6036955118179321, -0.020181629806756973, 0.8349697589874268, 1.653607964515686, -0.010240435600280762, -1.029528260231018], "dq": [-0.006942351348698139, 0.14199432730674744, 0.010943346656858921, 0.15461193025112152, -0.012509684078395367, 0.0026144650764763355, -0.038748834282159805], "dtheta": [-0.006183353252708912, 0.1368381232023239, 0.014066181145608425, 0.15178366005420685, -0.012853726744651794, 0.004221361130475998, -0.0406668558716774], "tau": [-62.65999984741211, -0.8100000023841858, -26.024002075195312, 2.132000207901001, -4.116000175476074, 3.832000255584717, -0.5840000510215759], "tau_des": [-2.3154215812683105, 2.079406261444092, -0.4968462288379669, -0.39854303002357483, 0.017772099003195763, 0.17003723978996277, -0.6082325577735901], "tau_dot": [36.27739715576172, 39.72606658935547, -11.091484069824219, 4.3778204917907715, 40.033241271972656, -28.327260971069336, -53.90091323852539], "tau_ext": [15.941493034362793, -36.104087829589844, -36.408782958984375, 19.853918075561523, -2.305475950241089, -6.967019081115723, 0.4594382643699646], "tcp_pose": [0.6361029148101807, -0.09222277998924255, -0.32977646589279175, -0.007046207785606384, -0.07144666463136673, 0.9972126483917236, 0.02031533606350422], "tcp_vel": [-0.0015161402989178896, 0.0512625128030777, 0.00015736938803456724, 0.0019396620336920023, -0.0033300104551017284, 0.02503933571279049], "flange_pose": [0.6393245458602905, -0.09972978383302689, -0.139952152967453, -0.007046207785606384, -0.07144666463136673, 0.9972126483917236, 0.02031533606350422], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.809807777404785, -53.8502311706543, -12.007336616516113, -6.150291919708252, 12.42555046081543, 0.31036773324012756], "ext_wrench_in_world": [-3.826495389428838, -55.41664782446366, 9.891823210537801, 4.314606899515864, 13.17884812652697, 0.13730419630283774]}
+{"timestamp_ns": 1789729720880900890, "elapsed_ms": 10033, "source_timestamp_ns": 1789729720879410228, "q": [0.0837811604142189, -1.599243402481079, -0.017789479345083237, 0.8574650883674622, 1.6546940803527832, -0.010053410194814205, -1.031143307685852], "theta": [0.08192893862724304, -1.5981810092926025, -0.019540999084711075, 0.8412001729011536, 1.6531440019607544, -0.010052084922790527, -1.0312728881835938], "dq": [-0.00865272618830204, 0.14238859713077545, 0.013608667999505997, 0.14634673297405243, -0.012174778617918491, 0.003978845197707415, -0.03901195153594017], "dtheta": [-0.0077077546156942844, 0.13462130725383759, 0.016324274241924286, 0.14876531064510345, -0.012501763179898262, 0.00574325118213892, -0.04063750058412552], "tau": [-62.75, 0.2800000011920929, -26.192001342773438, 1.6760001182556152, -4.124000072479248, 3.892000198364258, -0.5760000348091125], "tau_des": [-2.206991672515869, 2.8063907623291016, -0.603204071521759, -0.9024785161018372, -0.10827562212944031, 0.17735359072685242, -0.5325270295143127], "tau_dot": [36.040008544921875, 1.6590807437896729, 17.99919319152832, 84.53519439697266, 25.4757022857666, 3.8761656284332275, 14.312173843383789], "tau_ext": [16.032806396484375, -37.00863265991211, -36.434444427490234, 20.393085479736328, -2.360746145248413, -7.022876262664795, 0.47276630997657776], "tcp_pose": [0.6359961032867432, -0.09016492962837219, -0.32976099848747253, -0.006920306943356991, -0.07188292592763901, 0.9971804022789001, 0.02040012925863266], "tcp_vel": [-0.0008261289913207293, 0.051134854555130005, 0.00019193596381228417, 0.0033191025722771883, -0.005920758005231619, 0.025591330602765083], "flange_pose": [0.6391756534576416, -0.09770608693361282, -0.1399373561143875, -0.006920306943356991, -0.07188292592763901, 0.9971804022789001, 0.02040012925863266], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.926324844360352, -54.14509963989258, -12.241891860961914, -6.276773452758789, 12.180485725402832, 0.326748251914978], "ext_wrench_in_world": [-4.839660595089881, -55.883139382005474, 10.11424853693994, 4.463076885836853, 12.959052952894204, 0.1130184910621924]}
+{"timestamp_ns": 1789729720914230451, "elapsed_ms": 10066, "source_timestamp_ns": 1789729720909285294, "q": [0.08355409651994705, -1.595272183418274, -0.017324412241578102, 0.8616144061088562, 1.654179334640503, -0.009915098547935486, -1.032058596611023], "theta": [0.08171097934246063, -1.5942373275756836, -0.01907050423324108, 0.845342755317688, 1.6526161432266235, -0.009890198707580566, -1.0322366952896118], "dq": [-0.01044667512178421, 0.1404111385345459, 0.013570035807788372, 0.13680483400821686, -0.022786840796470642, 0.004564589820802212, -0.027125906199216843], "dtheta": [-0.007369529455900192, 0.13615427911281586, 0.015433109365403652, 0.13701191544532776, -0.024022476747632027, 0.006631438620388508, -0.02483689785003662], "tau": [-62.72999954223633, -1.2799999713897705, -26.4320011138916, 2.6520001888275146, -4.208000183105469, 3.9120001792907715, -0.5720000267028809], "tau_des": [-1.9117032289505005, 0.6884812116622925, -0.7936325073242188, 0.46997690200805664, -0.14838860929012299, 0.2181621938943863, -0.5152233242988586], "tau_dot": [-95.19756317138672, 80.579833984375, 31.56831169128418, -21.221139907836914, -9.499168395996094, -38.34387969970703, 20.481433868408203], "tau_ext": [16.009817123413086, -36.07062911987305, -36.31678771972656, 19.664344787597656, -2.3128182888031006, -7.053342819213867, 0.48108232021331787], "tcp_pose": [0.636030375957489, -0.08861732482910156, -0.32974672317504883, -0.006914684548974037, -0.07224097102880478, 0.9971543550491333, 0.020411398261785507], "tcp_vel": [0.0020528368186205626, 0.05270286649465561, 0.0010509000858291984, -0.00465016346424818, 0.0037757130339741707, 0.023551110178232193], "flange_pose": [0.6392108201980591, -0.09616176038980484, -0.13992320001125336, -0.006914684548974037, -0.07224097102880478, 0.9971543550491333, 0.020411398261785507], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.727322578430176, -54.318450927734375, -12.23240852355957, -6.355726718902588, 12.238061904907227, 0.33434075117111206], "ext_wrench_in_world": [-4.57813476056578, -56.029187875880275, 10.09363450768691, 4.523491574414377, 13.030874123612346, 0.10746442378625115]}
+{"timestamp_ns": 1789729720947563712, "elapsed_ms": 10100, "source_timestamp_ns": 1789729720939280785, "q": [0.08335889130830765, -1.5911593437194824, -0.01688309945166111, 0.8656773567199707, 1.653455138206482, -0.009714119136333466, -1.032650351524353], "theta": [0.08152586966753006, -1.5901252031326294, -0.018623754382133484, 0.8494130373001099, 1.6518762111663818, -0.009663939476013184, -1.0328744649887085], "dq": [-0.006175067275762558, 0.12773768603801727, 0.015730999410152435, 0.13238023221492767, -0.023522943258285522, 0.006998998578637838, -0.017199691385030746], "dtheta": [-0.006268515717238188, 0.13526010513305664, 0.01429777592420578, 0.13421154022216797, -0.02411780133843422, 0.008671378716826439, -0.019997673109173775], "tau": [-62.65999984741211, -2.450000047683716, -26.540000915527344, 3.2080001831054688, -4.208000183105469, 3.9000000953674316, -0.5720000267028809], "tau_des": [-1.9737703800201416, -0.23697656393051147, -0.7582880258560181, 1.0007034540176392, -0.09643051773309708, 0.15980342030525208, -0.6544714570045471], "tau_dot": [5.225178241729736, 89.20361328125, -10.398430824279785, -29.674118041992188, 17.175189971923828, -2.447551727294922, 65.17054748535156], "tau_ext": [16.006315231323242, -35.209861755371094, -36.209468841552734, 19.129493713378906, -2.2732486724853516, -7.069243907928467, 0.4784466028213501], "tcp_pose": [0.6361122131347656, -0.08701302856206894, -0.3297247886657715, -0.007001684978604317, -0.07255331426858902, 0.9971326589584351, 0.02033436857163906], "tcp_vel": [0.002581913024187088, 0.0520174577832222, 0.00096941611263901, -0.007330365013331175, 0.004044797271490097, 0.02069738134741783], "flange_pose": [0.6393258571624756, -0.09452489763498306, -0.13990053534507751, -0.007001684978604317, -0.07255331426858902, 0.9971326589584351, 0.02033436857163906], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.884799003601074, -54.05918502807617, -12.129611015319824, -6.307270526885986, 12.441934585571289, 0.3359904885292053], "ext_wrench_in_world": [-3.7468922488919025, -55.64790651401486, 10.002134558252854, 4.437878919520186, 13.228339392733185, 0.11204885400391351]}
+{"timestamp_ns": 1789729720980902052, "elapsed_ms": 10133, "source_timestamp_ns": 1789729720979228762, "q": [0.08311033993959427, -1.5859313011169434, -0.016318190842866898, 0.871273934841156, 1.6527621746063232, -0.009465126320719719, -1.033799409866333], "theta": [0.08128940314054489, -1.5848195552825928, -0.018052836880087852, 0.8550131320953369, 1.651166558265686, -0.009380817413330078, -1.034085988998413], "dq": [-0.0060545699670910835, 0.13085117936134338, 0.0162883922457695, 0.14640162885189056, -0.011819290928542614, 0.005592976231127977, -0.03348356485366821], "dtheta": [-0.0072250100784003735, 0.12950782477855682, 0.01543933805078268, 0.1428106278181076, -0.010486479848623276, 0.0063089230097830296, -0.03907286375761032], "tau": [-62.78999710083008, -0.75, -26.440000534057617, 2.0240001678466797, -4.0920000076293945, 3.872000217437744, -0.6040000319480896], "tau_des": [-2.4343838691711426, 2.1267812252044678, -0.5200486183166504, -0.5362128615379333, -0.0010754759423434734, 0.14777646958827972, -0.6948757767677307], "tau_dot": [-115.50922393798828, 50.654296875, -17.109689712524414, -140.04519653320312, 24.17177963256836, 21.044450759887695, 33.925453186035156], "tau_ext": [16.034603118896484, -36.05496597290039, -36.30910110473633, 19.827714920043945, -2.3605949878692627, -7.0476813316345215, 0.4867602288722992], "tcp_pose": [0.6360732913017273, -0.0850440040230751, -0.3297051787376404, -0.00701247388496995, -0.07293147593736649, 0.9971058368682861, 0.020291347056627274], "tcp_vel": [-0.0010676317615434527, 0.04936128854751587, 3.131741686956957e-05, 0.0033723637461662292, -0.006752059329301119, 0.024866074323654175], "flange_pose": [0.6392926573753357, -0.09253805875778198, -0.13988031446933746, -0.00701247388496995, -0.07293147593736649, 0.9971058368682861, 0.020291347056627274], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.876128196716309, -53.93992233276367, -12.121492385864258, -6.261080265045166, 12.421089172363281, 0.3428574800491333], "ext_wrench_in_world": [-3.713518697899802, -55.53044504750438, 10.003383006584698, 4.385051334125679, 13.20464661424514, 0.1037600826471643]}
+{"timestamp_ns": 1789729721014229648, "elapsed_ms": 10166, "source_timestamp_ns": 1789729721009296938, "q": [0.08285735547542572, -1.5821200609207153, -0.015830419957637787, 0.8755801320075989, 1.6524213552474976, -0.009334738366305828, -1.0350232124328613], "theta": [0.08104311674833298, -1.5809624195098877, -0.017560789361596107, 0.859324038028717, 1.6508166790008545, -0.00922846794128418, -1.0353626012802124], "dq": [-0.008433205075562, 0.13681676983833313, 0.01597113348543644, 0.13728080689907074, -0.0091211823746562, 0.0038434118032455444, -0.043591953814029694], "dtheta": [-0.008815962821245193, 0.1274898499250412, 0.017656367272138596, 0.14004290103912354, -0.011815204285085201, 0.005074420478194952, -0.04375387728214264], "tau": [-62.849998474121094, 0.3799999952316284, -26.48400115966797, 1.6120001077651978, -4.056000232696533, 3.8560001850128174, -0.5960000157356262], "tau_des": [-2.3799893856048584, 2.5978481769561768, -0.6510341167449951, -0.8479016423225403, -0.0611620657145977, 0.2502670884132385, -0.5482391119003296], "tau_dot": [14.987471580505371, -85.60101318359375, 21.858381271362305, 10.039124488830566, -21.647981643676758, 6.84302282333374, -6.105642318725586], "tau_ext": [16.02266502380371, -36.87413787841797, -36.37860870361328, 20.36682891845703, -2.4110727310180664, -7.04109525680542, 0.48660415410995483], "tcp_pose": [0.6359900236129761, -0.08360087126493454, -0.3296917676925659, -0.0069233509711921215, -0.07328363507986069, 0.9970793128013611, 0.02035597711801529], "tcp_vel": [-0.001119802938774228, 0.049578748643398285, 2.4189548639697023e-05, 0.005853345617651939, -0.006570132449269295, 0.03017432428896427], "flange_pose": [0.639180064201355, -0.09112074971199036, -0.13986743986606598, -0.0069233509711921215, -0.07328363507986069, 0.9970793128013611, 0.02035597711801529], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.764528274536133, -54.106929779052734, -12.288222312927246, -6.285491943359375, 12.180423736572266, 0.3484525680541992], "ext_wrench_in_world": [-4.527991721780576, -55.836270964536986, 10.163738266060836, 4.434922397956321, 12.973619293980201, 0.09064382848410663]}
+{"timestamp_ns": 1789729721047567332, "elapsed_ms": 10200, "source_timestamp_ns": 1789729721039291831, "q": [0.0825849249958992, -1.5782968997955322, -0.015299834311008453, 0.8796592354774475, 1.6519535779953003, -0.009146989323198795, -1.0361562967300415], "theta": [0.0807773768901825, -1.577139973640442, -0.017020151019096375, 0.863431990146637, 1.65033757686615, -0.009020805358886719, -1.0365408658981323], "dq": [-0.010549161583185196, 0.13742125034332275, 0.0176815427839756, 0.12650246918201447, -0.018130596727132797, 0.008486691862344742, -0.030252162367105484], "dtheta": [-0.008675908669829369, 0.12690185010433197, 0.018563633784651756, 0.13114754855632782, -0.02056039124727249, 0.009442039765417576, -0.032743290066719055], "tau": [-62.73999786376953, -0.41999998688697815, -26.66400146484375, 2.2200000286102295, -4.104000091552734, 3.888000249862671, -0.5920000076293945], "tau_des": [-2.024139881134033, 1.4813016653060913, -0.7516593337059021, -0.043368689715862274, -0.13061341643333435, 0.16471761465072632, -0.40051162242889404], "tau_dot": [41.49348449707031, -105.57432556152344, -20.0152587890625, -21.543304443359375, 53.784610748291016, -26.42203712463379, -77.8355941772461], "tau_ext": [16.07400131225586, -36.57978057861328, -36.30046844482422, 20.00607681274414, -2.3861942291259766, -7.049935817718506, 0.48176702857017517], "tcp_pose": [0.6359872817993164, -0.08211009204387665, -0.32967668771743774, -0.006864890921860933, -0.07370901852846146, 0.9970476627349854, 0.020390566438436508], "tcp_vel": [0.0008887263247743249, 0.049303051084280014, 0.0004852615238633007, -0.001622809562832117, -0.0016894792206585407, 0.02767336554825306], "flange_pose": [0.6391593813896179, -0.08964335173368454, -0.1398525834083557, -0.006864890921860933, -0.07370901852846146, 0.9970476627349854, 0.020390566438436508], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.072663307189941, -54.51171875, -12.292658805847168, -6.38860559463501, 12.087664604187012, 0.3477199077606201], "ext_wrench_in_world": [-4.727130017873294, -56.286567938567366, 10.14928465609204, 4.539484431379572, 12.900858488978365, 0.08807670513632977]}
+{"timestamp_ns": 1789729721080906735, "elapsed_ms": 10233, "source_timestamp_ns": 1789729721079232995, "q": [0.08225196599960327, -1.573124647140503, -0.014588399790227413, 0.884649395942688, 1.650894284248352, -0.008795388974249363, -1.0369739532470703], "theta": [0.08045675605535507, -1.5720069408416748, -0.016276856884360313, 0.8684774041175842, 1.6492620706558228, -0.008643150329589844, -1.0374231338500977], "dq": [-0.006753796711564064, 0.12303146719932556, 0.013606646098196507, 0.1302018165588379, -0.027092568576335907, 0.00945822149515152, -0.015171658247709274], "dtheta": [-0.006864629220217466, 0.12956424057483673, 0.0183419156819582, 0.12389057874679565, -0.030471116304397583, 0.012553922832012177, -0.01720484532415867], "tau": [-62.52000045776367, -2.490000009536743, -26.80000114440918, 3.2320001125335693, -4.152000427246094, 3.9000000953674316, -0.5600000023841858], "tau_des": [-1.8964358568191528, -0.8824190497398376, -0.8131371736526489, 1.4216902256011963, -0.010201636701822281, 0.12422164529561996, -0.5686236619949341], "tau_dot": [62.81960678100586, -14.198211669921875, -52.061065673828125, -29.522306442260742, 46.839393615722656, 21.430593490600586, 44.379478454589844], "tau_ext": [15.963509559631348, -34.98526382446289, -36.17030715942383, 19.027223587036133, -2.3273048400878906, -7.067626953125, 0.4662087857723236], "tcp_pose": [0.6361056566238403, -0.08005376160144806, -0.3296454846858978, -0.006969192996621132, -0.07419430464506149, 0.9970129728317261, 0.020292090252041817], "tcp_vel": [0.002577377250418067, 0.05042428895831108, 0.0003174695302732289, -0.009927013888955116, 0.006766695529222488, 0.022420886904001236], "flange_pose": [0.6393181681632996, -0.0875452384352684, -0.1398204118013382, -0.006969192996621132, -0.07419430464506149, 0.9970129728317261, 0.020292090252041817], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.108038902282715, -54.211238861083984, -12.209532737731934, -6.3281025886535645, 12.303657531738281, 0.33633387088775635], "ext_wrench_in_world": [-3.7621523980108007, -55.84591055059119, 10.080486034708358, 4.435342189436163, 13.109331328061456, 0.10565650592611057]}
+{"timestamp_ns": 1789729721114232619, "elapsed_ms": 10266, "source_timestamp_ns": 1789729721109292470, "q": [0.082027368247509, -1.5693494081497192, -0.014071379788219929, 0.8884745240211487, 1.6501555442810059, -0.008510468527674675, -1.0376577377319336], "theta": [0.08023779094219208, -1.5682387351989746, -0.015718910843133926, 0.8723202347755432, 1.6485168933868408, -0.008338689804077148, -1.038157343864441], "dq": [-0.00797555036842823, 0.12198206037282944, 0.016138991340994835, 0.13816088438034058, -0.018009208142757416, 0.0073458668775856495, -0.02895025908946991], "dtheta": [-0.007688301149755716, 0.12233187258243561, 0.018746400251984596, 0.13184510171413422, -0.019218573346734047, 0.009659986011683941, -0.033646222203969955], "tau": [-62.64999771118164, -1.6200000047683716, -26.748001098632812, 2.5920000076293945, -4.068000316619873, 3.8520002365112305, -0.5560000538825989], "tau_des": [-2.2840006351470947, 1.285201072692871, -0.47993502020835876, 0.0017809871351346374, 0.19498342275619507, 0.10196041315793991, -0.6739747524261475], "tau_dot": [-13.556100845336914, -114.04798126220703, -19.37454605102539, 11.665909767150879, 23.183364868164062, -11.165963172912598, 25.667686462402344], "tau_ext": [15.87609577178955, -35.503501892089844, -36.291866302490234, 19.40379524230957, -2.380713939666748, -7.0419511795043945, 0.46643009781837463], "tcp_pose": [0.6361139416694641, -0.07860217988491058, -0.3296276032924652, -0.007031225599348545, -0.07450060546398163, 0.9969913363456726, 0.02021162211894989], "tcp_vel": [-0.001975568011403084, 0.04638506472110748, -0.00017942475096788257, -0.0011544580338522792, -0.0015988507075235248, 0.023277904838323593], "flange_pose": [0.6393499970436096, -0.08606043457984924, -0.13980160653591156, -0.007031225599348545, -0.07450060546398163, 0.9969913363456726, 0.02021162211894989], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.766029357910156, -53.868736267089844, -12.217710494995117, -6.229929447174072, 12.367082595825195, 0.3314257860183716], "ext_wrench_in_world": [-3.4391197572668974, -55.45756055356809, 10.108613967627013, 4.320861125987479, 13.15995007366619, 0.11166507471234319]}
+{"timestamp_ns": 1789729721147565943, "elapsed_ms": 10300, "source_timestamp_ns": 1789729721139289543, "q": [0.08177487552165985, -1.5657298564910889, -0.013523928821086884, 0.8924968838691711, 1.6497321128845215, -0.008275885134935379, -1.0388000011444092], "theta": [0.07998620718717575, -1.56459641456604, -0.01512515265494585, 0.8763291239738464, 1.6480903625488281, -0.008086085319519043, -1.039350986480713], "dq": [-0.007759945001453161, 0.1158757284283638, 0.0187112707644701, 0.13730943202972412, -0.01485697366297245, 0.0058753532357513905, -0.041442643851041794], "dtheta": [-0.00964271742850542, 0.12005211412906647, 0.020548855885863304, 0.13619202375411987, -0.01122764777392149, 0.006780959200114012, -0.041191406548023224], "tau": [-62.75, -0.3199999928474426, -26.812002182006836, 1.6320000886917114, -4.0320000648498535, 3.8560001850128174, -0.5680000185966492], "tau_des": [-2.444169282913208, 2.5992934703826904, -0.5740373134613037, -0.8782939314842224, 0.04308226332068443, 0.20922443270683289, -0.5803192853927612], "tau_dot": [11.948251724243164, -84.94994354248047, -64.38217163085938, -51.55442428588867, 8.53842830657959, -93.27042388916016, -31.233915328979492], "tau_ext": [15.928173065185547, -36.27048110961914, -36.35959243774414, 20.019311904907227, -2.434330940246582, -7.035240173339844, 0.46196937561035156], "tcp_pose": [0.6360325217247009, -0.07722608745098114, -0.32962897419929504, -0.006956539582461119, -0.07485642284154892, 0.9969645142555237, 0.020244333893060684], "tcp_vel": [-0.003215064760297537, 0.04646674916148186, -0.0005897414521314204, 0.007495833560824394, -0.00814213789999485, 0.02378515526652336], "flange_pose": [0.6392438411712646, -0.08469770103693008, -0.13980311155319214, -0.006956539582461119, -0.07485642284154892, 0.9969645142555237, 0.020244333893060684], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.30667781829834, -53.93733215332031, -12.301301956176758, -6.22102689743042, 12.21415901184082, 0.3314496874809265], "ext_wrench_in_world": [-3.9242454935066347, -55.61272881565024, 10.190036287554312, 4.32547827603189, 13.010590555056877, 0.10717281678326732]}
+{"timestamp_ns": 1789729721180898837, "elapsed_ms": 10333, "source_timestamp_ns": 1789729721179288479, "q": [0.08135996758937836, -1.5609928369522095, -0.012712176889181137, 0.8978287577629089, 1.6491849422454834, -0.007998580113053322, -1.0403990745544434], "theta": [0.07956697791814804, -1.559828281402588, -0.014258644543588161, 0.881636917591095, 1.6475406885147095, -0.00778353214263916, -1.0410141944885254], "dq": [-0.010077793151140213, 0.12403382360935211, 0.02116011641919613, 0.12539152801036835, -0.01654135063290596, 0.008468177169561386, -0.04025129973888397], "dtheta": [-0.010922501794993877, 0.11915061622858047, 0.021923605352640152, 0.12753050029277802, -0.016909394413232803, 0.007613210938870907, -0.039194200187921524], "tau": [-62.81999969482422, 0.8499999642372131, -26.816001892089844, 1.5200001001358032, -4.048000335693359, 3.9040002822875977, -0.5440000295639038], "tau_des": [-2.264192581176758, 3.024531126022339, -0.6337683796882629, -0.8709156513214111, 0.002545485505834222, 0.24230611324310303, -0.43999090790748596], "tau_dot": [-11.538394927978516, 112.60371398925781, 24.145662307739258, 26.419212341308594, -22.715700149536133, 4.570242881774902, 2.9207382202148438], "tau_ext": [15.994771957397461, -36.958839416503906, -36.39627456665039, 20.325054168701172, -2.4637956619262695, -7.041808128356934, 0.4528225064277649], "tcp_pose": [0.6359074711799622, -0.07540207356214523, -0.329621821641922, -0.006820528768002987, -0.07533757388591766, 0.9969272017478943, 0.020343709737062454], "tcp_vel": [-0.0010086611146107316, 0.0474419929087162, -7.450006523868069e-05, 0.0052518886514008045, -0.005124018061906099, 0.02963760308921337], "flange_pose": [0.6390736699104309, -0.08291366696357727, -0.13979676365852356, -0.006820528768002987, -0.07533757388591766, 0.9969272017478943, 0.020343709737062454], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.23724365234375, -54.398582458496094, -12.422510147094727, -6.326198101043701, 11.959773063659668, 0.32604438066482544], "ext_wrench_in_world": [-4.7225031762698, -56.21923816170535, 10.288069577309455, 4.455179986099762, 12.779029705947833, 0.10502453051724453]}
+{"timestamp_ns": 1789729721214307881, "elapsed_ms": 10366, "source_timestamp_ns": 1789729721209302330, "q": [0.08104196190834045, -1.557343602180481, -0.012087552808225155, 0.9015219211578369, 1.6485352516174316, -0.007742533925920725, -1.0412628650665283], "theta": [0.07923566550016403, -1.5561870336532593, -0.013601514510810375, 0.8853179812431335, 1.6468889713287354, -0.007510781288146973, -1.0419220924377441], "dq": [-0.009684090502560139, 0.12205640226602554, 0.01856447011232376, 0.11660882830619812, -0.025840651243925095, 0.007758934982120991, -0.024797072634100914], "dtheta": [-0.010317763313651085, 0.12439242750406265, 0.021352676674723625, 0.11803670227527618, -0.027836980298161507, 0.008540970273315907, -0.02229461632668972], "tau": [-62.56999969482422, -0.6499999761581421, -26.948001861572266, 2.4120001792907715, -4.084000110626221, 3.888000249862671, -0.5160000324249268], "tau_des": [-1.8967655897140503, 0.8350849151611328, -0.7700508236885071, 0.5716370940208435, -0.048095136880874634, 0.2597149908542633, -0.43563130497932434], "tau_dot": [-24.820796966552734, -9.186666488647461, -38.552032470703125, 128.5123291015625, -0.9302318692207336, 0.8575333952903748, 10.521475791931152], "tau_ext": [15.899064064025879, -36.04090118408203, -36.36363220214844, 19.664541244506836, -2.4265613555908203, -7.046555519104004, 0.4349713623523712], "tcp_pose": [0.635934054851532, -0.07393747568130493, -0.32960668206214905, -0.00681028189137578, -0.07573306560516357, 0.9968971610069275, 0.020352330058813095], "tcp_vel": [0.002624069107696414, 0.051040515303611755, 0.0003999726613983512, -0.0019872216507792473, 0.004328691866248846, 0.027925968170166016], "flange_pose": [0.639099657535553, -0.08145137131214142, -0.13978169858455658, -0.00681028189137578, -0.07573306560516357, 0.9968971610069275, 0.020352330058813095], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.018224716186523, -54.72769546508789, -12.441506385803223, -6.421913146972656, 12.004755973815918, 0.31513476371765137], "ext_wrench_in_world": [-4.411897152727185, -56.51590882783602, 10.28946644418447, 4.533057180040623, 12.841031293971195, 0.11727014610378046]}
+{"timestamp_ns": 1789729721247624727, "elapsed_ms": 10400, "source_timestamp_ns": 1789729721239293653, "q": [0.08076454699039459, -1.5535926818847656, -0.011503276415169239, 0.9050484895706177, 1.6476837396621704, -0.00746906129643321, -1.0417611598968506], "theta": [0.07894103229045868, -1.552438735961914, -0.01298582274466753, 0.8888296484947205, 1.6460366249084473, -0.007222294807434082, -1.0424602031707764], "dq": [-0.008833242580294609, 0.10986379534006119, 0.022530317306518555, 0.11970098316669464, -0.029256008565425873, 0.0074432240799069405, -0.012838711030781269], "dtheta": [-0.008859280496835709, 0.1271975189447403, 0.02036234550178051, 0.11627992242574692, -0.028763553127646446, 0.010384617373347282, -0.013545498251914978], "tau": [-62.459999084472656, -2.129999876022339, -27.00800132751465, 3.076000213623047, -4.104000091552734, 3.8960001468658447, -0.5360000133514404], "tau_des": [-1.956553339958191, -0.50367671251297, -0.7932866215705872, 1.4174004793167114, -0.011021498590707779, 0.26739224791526794, -0.5285547971725464], "tau_dot": [39.073524475097656, -93.4561767578125, -17.314767837524414, 8.998002052307129, 23.388565063476562, -43.76777267456055, -35.855228424072266], "tau_ext": [15.901612281799316, -35.019718170166016, -36.26708221435547, 19.06782341003418, -2.3876688480377197, -7.061469078063965, 0.4163755774497986], "tcp_pose": [0.6360150575637817, -0.072415791451931, -0.32958805561065674, -0.006908482871949673, -0.07608284801244736, 0.9968711733818054, 0.020286869257688522], "tcp_vel": [0.004043919965624809, 0.05244661122560501, 4.0781928873911966e-06, -0.004766746424138546, 0.005844252184033394, 0.02384352684020996], "flange_pose": [0.6392186284065247, -0.07990094274282455, -0.13976258039474487, -0.006908482871949673, -0.07608284801244736, 0.9968711733818054, 0.020286869257688522], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.269009590148926, -54.35670471191406, -12.410171508789062, -6.326611518859863, 12.177552223205566, 0.29913440346717834], "ext_wrench_in_world": [-3.686443450257208, -56.03609024697872, 10.274192175517179, 4.4039250241485615, 12.999785818699946, 0.13887368509786938]}
+{"timestamp_ns": 1789729721280932904, "elapsed_ms": 10433, "source_timestamp_ns": 1789729721279297879, "q": [0.08042092621326447, -1.5487128496170044, -0.010731086134910583, 0.9099991321563721, 1.6467885971069336, -0.007062171120196581, -1.042610764503479], "theta": [0.07856675982475281, -1.547479271888733, -0.012176296673715115, 0.893734872341156, 1.6451480388641357, -0.00679469108581543, -1.043359398841858], "dq": [-0.009931796230375767, 0.11875350028276443, 0.023230573162436485, 0.134816512465477, -0.019146453589200974, 0.008683590218424797, -0.027104146778583527], "dtheta": [-0.010107726790010929, 0.12303956598043442, 0.02099522389471531, 0.127603679895401, -0.015070456080138683, 0.008709077723324299, -0.02923678606748581], "tau": [-62.529998779296875, -0.7199999690055847, -26.84400177001953, 2.0920000076293945, -3.9840002059936523, 3.8480002880096436, -0.527999997138977], "tau_des": [-2.334568738937378, 1.8787778615951538, -0.4627605080604553, -0.14007069170475006, 0.09422355890274048, 0.1757672131061554, -0.6177800893783569], "tau_dot": [90.19245147705078, 114.79817199707031, -12.103202819824219, -72.70146179199219, 17.530364990234375, -38.31669998168945, -52.009925842285156], "tau_ext": [15.753747940063477, -35.8883056640625, -36.457942962646484, 19.652406692504883, -2.453348159790039, -7.031163692474365, 0.4134381115436554], "tcp_pose": [0.6360074877738953, -0.07050088047981262, -0.3295837342739105, -0.006939114537090063, -0.07645528018474579, 0.9968435168266296, 0.020235231146216393], "tcp_vel": [0.00026980400434695184, 0.04980001226067543, -0.000468675687443465, 0.004792859777808189, -0.005520377773791552, 0.023514043539762497], "flange_pose": [0.6392239332199097, -0.07796438783407211, -0.1397576481103897, -0.006939114537090063, -0.07645528018474579, 0.9968435168266296, 0.020235231146216393], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.04975700378418, -54.056854248046875, -12.475438117980957, -6.233158111572266, 12.204914093017578, 0.2851967215538025], "ext_wrench_in_world": [-3.471941424407855, -55.71077547014517, 10.355279356007404, 4.297917238016132, 13.015294321589927, 0.15344826273400008]}
+{"timestamp_ns": 1789729721314228583, "elapsed_ms": 10466, "source_timestamp_ns": 1789729721309297052, "q": [0.08009085804224014, -1.5451329946517944, -0.01007660012692213, 0.9139867424964905, 1.6463508605957031, -0.006829049438238144, -1.0436784029006958], "theta": [0.07821051776409149, -1.5438281297683716, -0.01150572020560503, 0.8976678252220154, 1.6447179317474365, -0.006548762321472168, -1.04446542263031], "dq": [-0.011028926819562912, 0.12833957374095917, 0.0246212687343359, 0.1284186989068985, -0.013485819101333618, 0.00942304264754057, -0.037687674164772034], "dtheta": [-0.012094544246792793, 0.12331946194171906, 0.022686593234539032, 0.13285347819328308, -0.011793277226388454, 0.00965181551873684, -0.040997765958309174], "tau": [-62.80999755859375, 1.0099999904632568, -26.86800193786621, 1.2480000257492065, -3.9600002765655518, 3.864000082015991, -0.492000013589859], "tau_des": [-2.318115234375, 3.2600107192993164, -0.43889689445495605, -1.069201111793518, 0.04890351742506027, 0.20453092455863953, -0.4887244701385498], "tau_dot": [12.99231243133545, 35.16816711425781, 26.261999130249023, 64.72796630859375, -19.390274047851562, 2.5244174003601074, 32.2539176940918], "tau_ext": [15.809443473815918, -36.92164611816406, -36.554901123046875, 20.4107666015625, -2.515683889389038, -7.0320024490356445, 0.40412020683288574], "tcp_pose": [0.6359025835990906, -0.06910546869039536, -0.3295865058898926, -0.00684274360537529, -0.0767686739563942, 0.9968184232711792, 0.020315757021307945], "tcp_vel": [-0.0005776517209596932, 0.04956478253006935, -4.613180135493167e-05, 0.007602134719491005, -0.010951684787869453, 0.030038245022296906], "flange_pose": [0.6390872001647949, -0.07660127431154251, -0.13976112008094788, -0.00684274360537529, -0.0767686739563942, 0.9968184232711792, 0.020315757021307945], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.859806060791016, -54.36052703857422, -12.681632995605469, -6.296936511993408, 11.98253059387207, 0.2843630611896515], "ext_wrench_in_world": [-4.189762984213311, -56.14697991565928, 10.546461954352973, 4.386778278933483, 12.808111405658513, 0.14754582827948104]}
+{"timestamp_ns": 1789729721347564496, "elapsed_ms": 10500, "source_timestamp_ns": 1789729721339287815, "q": [0.07973227649927139, -1.5414791107177734, -0.009400901384651661, 0.9179151654243469, 1.645867109298706, -0.0065697068348526955, -1.0447629690170288], "theta": [0.07782575488090515, -1.5401407480239868, -0.010819313116371632, 0.9015608429908752, 1.6442404985427856, -0.006275534629821777, -1.045583963394165], "dq": [-0.01273022498935461, 0.13470861315727234, 0.025325225666165352, 0.1145954430103302, -0.020600056275725365, 0.006619290914386511, -0.028435181826353073], "dtheta": [-0.01290970016270876, 0.12490516901016235, 0.02332967333495617, 0.12709909677505493, -0.020535128191113472, 0.010135773569345474, -0.02830434776842594], "tau": [-62.62999725341797, 0.9300000071525574, -26.91200065612793, 1.4880000352859497, -3.992000102996826, 3.8600001335144043, -0.47600001096725464], "tau_des": [-1.9961938858032227, 3.0750861167907715, -0.44064706563949585, -0.7724754214286804, 0.03826209902763367, 0.19129818677902222, -0.41965076327323914], "tau_dot": [-19.833515167236328, -4.03632116317749, 44.205284118652344, -6.974634647369385, -27.512344360351562, -32.620853424072266, 55.78685760498047], "tau_ext": [15.846022605895996, -36.98260498046875, -36.576210021972656, 20.353803634643555, -2.5168848037719727, -7.0348968505859375, 0.3902547359466553], "tcp_pose": [0.6358507871627808, -0.06765200942754745, -0.32957926392555237, -0.0067467764019966125, -0.07715684920549393, 0.9967876672744751, 0.020387079566717148], "tcp_vel": [0.0006871569203212857, 0.050659697502851486, 0.0008052003104239702, 0.0027477391995489597, -0.004527109209448099, 0.024987410753965378], "flange_pose": [0.6390040516853333, -0.07517640292644501, -0.1397545039653778, -0.0067467764019966125, -0.07715684920549393, 0.9967876672744751, 0.020387079566717148], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.538214683532715, -54.79113006591797, -12.759536743164062, -6.3983306884765625, 11.801697731018066, 0.2752833664417267], "ext_wrench_in_world": [-4.751242375285584, -56.68467043835105, 10.603339181820807, 4.504931823983712, 12.648212452773908, 0.1509863437905662]}
+{"timestamp_ns": 1789729721380896840, "elapsed_ms": 10533, "source_timestamp_ns": 1789729721379292541, "q": [0.0792623907327652, -1.5362987518310547, -0.008501505479216576, 0.9227614402770996, 1.6447618007659912, -0.006150031462311745, -1.0453755855560303], "theta": [0.0773262232542038, -1.5350003242492676, -0.009915610775351524, 0.9064154028892517, 1.6431416273117065, -0.005837202072143555, -1.0462349653244019], "dq": [-0.01065155304968357, 0.13250243663787842, 0.023218495771288872, 0.1180991679430008, -0.03149618208408356, 0.012248600833117962, -0.0037859806325286627], "dtheta": [-0.012028942815959454, 0.1324601024389267, 0.022064363583922386, 0.11928988993167877, -0.032008372247219086, 0.01358350832015276, -0.005628208164125681], "tau": [-62.209999084472656, -1.7899999618530273, -27.016000747680664, 3.0320000648498535, -4.060000419616699, 3.872000217437744, -0.46000000834465027], "tau_des": [-1.336411952972412, 0.07388163357973099, -0.44209155440330505, 1.326278805732727, -0.06156957149505615, 0.12158781290054321, -0.4318380653858185], "tau_dot": [-28.19783592224121, -66.73993682861328, 30.134521484375, 69.26993560791016, 26.60663604736328, 23.107650756835938, -4.936400890350342], "tau_ext": [15.63919448852539, -35.407894134521484, -36.523399353027344, 19.275270462036133, -2.4423444271087646, -7.043745994567871, 0.3633691966533661], "tcp_pose": [0.635977029800415, -0.0655074417591095, -0.3295474648475647, -0.006811114028096199, -0.07761184871196747, 0.9967527985572815, 0.02034398913383484], "tcp_vel": [0.004749227315187454, 0.054417237639427185, 0.001718592713586986, -0.007562888320535421, 0.004260241985321045, 0.0182103980332613], "flange_pose": [0.6391568779945374, -0.07301218062639236, -0.13972236216068268, -0.006811114028096199, -0.07761184871196747, 0.9967527985572815, 0.02034398913383484], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.94427490234375, -54.747379302978516, -12.77445125579834, -6.3923659324646, 11.93034839630127, 0.25369518995285034], "ext_wrench_in_world": [-4.118016811355223, -56.55340336476333, 10.619364556421731, 4.467963821519265, 12.777562479538295, 0.17638790252626643]}
+{"timestamp_ns": 1789729721414235793, "elapsed_ms": 10566, "source_timestamp_ns": 1789729721409299763, "q": [0.0789528638124466, -1.5322719812393188, -0.007858267053961754, 0.9264368414878845, 1.6437873840332031, -0.005797023884952068, -1.0455034971237183], "theta": [0.07699792087078094, -1.5310114622116089, -0.009277984499931335, 0.9100967049598694, 1.6421726942062378, -0.0054711103439331055, -1.0463852882385254], "dq": [-0.010663919150829315, 0.1333630084991455, 0.0248356182128191, 0.12842047214508057, -0.03152397274971008, 0.0102960504591465, -0.0033943422604352236], "dtheta": [-0.010205021128058434, 0.13232015073299408, 0.020603662356734276, 0.12815989553928375, -0.027798237279057503, 0.011551104485988617, -0.007184036076068878], "tau": [-62.16999816894531, -1.9499999284744263, -26.98400115966797, 3.000000238418579, -4.004000186920166, 3.832000255584717, -0.4320000112056732], "tau_des": [-1.8194161653518677, 0.5743759870529175, -0.2922384440898895, 0.8380424976348877, 0.18268366158008575, 0.17304947972297668, -0.6418828368186951], "tau_dot": [145.8330535888672, 37.626827239990234, -30.521352767944336, 16.015676498413086, -27.20086097717285, -27.329320907592773, 51.34025955200195], "tau_ext": [15.565975189208984, -35.12004852294922, -36.520835876464844, 19.12396812438965, -2.4332237243652344, -7.039259910583496, 0.3503585755825043], "tcp_pose": [0.6360684037208557, -0.06386233121156693, -0.32952266931533813, -0.006937401834875345, -0.07784043997526169, 0.9967361688613892, 0.020243363454937935], "tcp_vel": [0.0007176826475188136, 0.052698422223329544, 0.0009071900858543813, -0.0054895090870559216, 0.004060288425534964, 0.010763301514089108], "flange_pose": [0.6392948031425476, -0.07132450491189957, -0.13969668745994568, -0.006937401834875345, -0.07784043997526169, 0.9967361688613892, 0.020243363454937935], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.104276657104492, -54.21111297607422, -12.824508666992188, -6.255622386932373, 12.111120223999023, 0.23692694306373596], "ext_wrench_in_world": [-3.341793997979411, -55.89506815465593, 10.695797067427996, 4.299275453685639, 12.936192711542287, 0.19831189468494692]}
+{"timestamp_ns": 1789729721447562888, "elapsed_ms": 10600, "source_timestamp_ns": 1789729721439289057, "q": [0.07863826304674149, -1.5283194780349731, -0.007204556837677956, 0.9304763674736023, 1.6431132555007935, -0.005458574276417494, -1.046057939529419], "theta": [0.07666251063346863, -1.527072787284851, -0.008631965145468712, 0.9141166806221008, 1.6415067911148071, -0.005120754241943359, -1.0469650030136108], "dq": [-0.0099628372117877, 0.13706763088703156, 0.025117358192801476, 0.14455346763134003, -0.01880437508225441, 0.011724266223609447, -0.027734190225601196], "dtheta": [-0.012246783822774887, 0.1294032782316208, 0.022118069231510162, 0.1387137919664383, -0.017334235832095146, 0.01001068763434887, -0.028529373928904533], "tau": [-62.369998931884766, -0.3799999952316284, -26.948001861572266, 1.8960001468658447, -3.944000244140625, 3.81600022315979, -0.47600001096725464], "tau_des": [-2.0257039070129395, 2.598767042160034, -0.06419946253299713, -0.5024065971374512, 0.24208548665046692, 0.16161683201789856, -0.5562381744384766], "tau_dot": [-78.8541030883789, 61.15217590332031, -8.227811813354492, -36.825469970703125, -22.328460693359375, -57.97301483154297, -74.73216247558594], "tau_ext": [15.485099792480469, -36.079811096191406, -36.67790985107422, 19.798994064331055, -2.496772527694702, -7.01262092590332, 0.3570803999900818], "tcp_pose": [0.6360313296318054, -0.06230101361870766, -0.3295157849788666, -0.006934974808245897, -0.07806026935577393, 0.9967193603515625, 0.020224519073963165], "tcp_vel": [-0.002616116078570485, 0.050757914781570435, 0.0007780505111441016, 0.003089658683165908, -0.005820365156978369, 0.0181282926350832], "flange_pose": [0.6392579078674316, -0.06975540518760681, -0.13968949019908905, -0.006934974808245897, -0.07806026935577393, 0.9967193603515625, 0.020224519073963165], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.204887390136719, -54.23812484741211, -12.938936233520508, -6.2497358322143555, 12.052878379821777, 0.23303250968456268], "ext_wrench_in_world": [-3.410555697310738, -55.94301270887882, 10.811890348789902, 4.296865332963876, 12.879539220730768, 0.19949218992316095]}
+{"timestamp_ns": 1789729721480899321, "elapsed_ms": 10633, "source_timestamp_ns": 1789729721479268176, "q": [0.07812211662530899, -1.5231257677078247, -0.006198574788868427, 0.9361782073974609, 1.6424678564071655, -0.005015040282160044, -1.0473787784576416], "theta": [0.076109379529953, -1.5218909978866577, -0.0076395245268940926, 0.9197746515274048, 1.6408718824386597, -0.004660844802856445, -1.0483227968215942], "dq": [-0.013465083204209805, 0.13908888399600983, 0.028171490877866745, 0.1367846578359604, -0.0169911477714777, 0.011872870847582817, -0.03625119850039482], "dtheta": [-0.014985911548137665, 0.13161389529705048, 0.02624942921102047, 0.14061711728572845, -0.018608015030622482, 0.011030470952391624, -0.0353843979537487], "tau": [-62.459999084472656, 1.3600000143051147, -27.032001495361328, 0.9280000329017639, -3.9080002307891846, 3.8440001010894775, -0.46000000834465027], "tau_des": [-1.9977799654006958, 3.8354427814483643, -0.17885370552539825, -1.192660927772522, 0.15828701853752136, 0.18287260830402374, -0.33400771021842957], "tau_dot": [-24.723501205444336, 41.810394287109375, -32.6560173034668, 27.912700653076172, -70.3433609008789, -18.255584716796875, 8.765364646911621], "tau_ext": [15.568422317504883, -37.06863784790039, -36.75309371948242, 20.443849563598633, -2.5574769973754883, -7.014040470123291, 0.35662204027175903], "tcp_pose": [0.635883092880249, -0.060258954763412476, -0.32951971888542175, -0.006773818284273148, -0.07844192534685135, 0.9966884255409241, 0.020325593650341034], "tcp_vel": [-0.0022517694160342216, 0.052676115185022354, 0.0008134673116728663, 0.005740509834140539, -0.008019156754016876, 0.025020893663167953], "flange_pose": [0.6390544772148132, -0.06775518506765366, -0.13969415426254272, -0.006773818284273148, -0.07844192534685135, 0.9966884255409241, 0.020325593650341034], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.417723655700684, -54.79191589355469, -13.148628234863281, -6.378820419311523, 11.715742111206055, 0.23883964121341705], "ext_wrench_in_world": [-4.479486301943435, -56.692871601761354, 10.996740056156035, 4.467050948312267, 12.570484342891673, 0.18272039466162243]}
+{"timestamp_ns": 1789729721514225336, "elapsed_ms": 10666, "source_timestamp_ns": 1789729721509332330, "q": [0.0776650682091713, -1.5189242362976074, -0.005324891302734613, 0.9403927326202393, 1.641714096069336, -0.004638278391212225, -1.0481313467025757], "theta": [0.07561752200126648, -1.5177286863327026, -0.006782648153603077, 0.9239727258682251, 1.6401203870773315, -0.004269838333129883, -1.0490975379943848], "dq": [-0.013599630445241928, 0.14153236150741577, 0.030806148424744606, 0.1329035609960556, -0.03258345276117325, 0.014613847248256207, -0.014659238047897816], "dtheta": [-0.015685422345995903, 0.13786303997039795, 0.02862878516316414, 0.13066303730010986, -0.03315836936235428, 0.013487675227224827, -0.014928875491023064], "tau": [-62.15999984741211, 0.029999999329447746, -27.196001052856445, 1.840000033378601, -3.9560000896453857, 3.872000217437744, -0.41200003027915955], "tau_des": [-1.5960414409637451, 1.7725105285644531, -0.5202426314353943, 0.24946923553943634, 0.0425189808011055, 0.2578977048397064, -0.2875644564628601], "tau_dot": [-3.0146894454956055, -88.47870635986328, 32.64325714111328, 75.42938995361328, -43.229740142822266, -25.920909881591797, 26.54518699645996], "tau_ext": [15.546119689941406, -36.38738250732422, -36.65514373779297, 19.856143951416016, -2.5107271671295166, -7.024603366851807, 0.3351374566555023], "tcp_pose": [0.6358826756477356, -0.058526985347270966, -0.32951533794403076, -0.006724596954882145, -0.07879210263490677, 0.9966601133346558, 0.020376130938529968], "tcp_vel": [0.0016311033396050334, 0.05704190954566002, 0.0012693190947175026, -0.0020255697891116142, 0.0022786911576986313, 0.021176453679800034], "flange_pose": [0.6390395760536194, -0.0660427138209343, -0.13969027996063232, -0.006724596954882145, -0.07879210263490677, 0.9966601133346558, 0.020376130938529968], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.446661949157715, -55.255218505859375, -13.183213233947754, -6.508198261260986, 11.685750961303711, 0.2314176857471466], "ext_wrench_in_world": [-4.396318676760044, -57.160336312093534, 11.00533214663048, 4.590819216050418, 12.56405407414281, 0.18946881095678803]}
+{"timestamp_ns": 1789729721547629260, "elapsed_ms": 10700, "source_timestamp_ns": 1789729721539291358, "q": [0.07724520564079285, -1.5148144960403442, -0.004490206483751535, 0.944156289100647, 1.6406893730163574, -0.004188796505331993, -1.0483496189117432], "theta": [0.07516734302043915, -1.5136425495147705, -0.005969449877738953, 0.9277258515357971, 1.6390974521636963, -0.003807544708251953, -1.0493333339691162], "dq": [-0.015803417190909386, 0.12907710671424866, 0.025459706783294678, 0.13164271414279938, -0.03946464881300926, 0.01838204823434353, -0.001175151439383626], "dtheta": [-0.015751367434859276, 0.14319251477718353, 0.027788007631897926, 0.1298990398645401, -0.03745797649025917, 0.016324110329151154, -0.003325806697830558], "tau": [-61.939998626708984, -1.6299999952316284, -27.316001892089844, 2.9160001277923584, -4.068000316619873, 3.828000068664551, -0.40800002217292786], "tau_des": [-1.1603703498840332, 0.14781495928764343, -0.34993839263916016, 1.2083560228347778, 0.07846930623054504, 0.14490102231502533, -0.38490229845046997], "tau_dot": [18.45321273803711, 17.21484375, -56.45441436767578, 26.623714447021484, -53.92348861694336, -25.971572875976562, 36.81630325317383], "tau_ext": [15.349419593811035, -35.096435546875, -36.57857131958008, 19.072999954223633, -2.4548821449279785, -7.0327301025390625, 0.3147577941417694], "tcp_pose": [0.6359684467315674, -0.05681547522544861, -0.3294958770275116, -0.006797985639423132, -0.07905887067317963, 0.9966397881507874, 0.020313231274485588], "tcp_vel": [0.003532669972628355, 0.059043142944574356, 0.0021678954362869263, -0.007508428301662207, 0.004410526715219021, 0.015910187736153603], "flange_pose": [0.639153242111206, -0.06430433690547943, -0.1396702527999878, -0.006797985639423132, -0.07905887067317963, 0.9966397881507874, 0.020313231274485588], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.678107261657715, -54.91849136352539, -13.170341491699219, -6.440075397491455, 11.845008850097656, 0.21470238268375397], "ext_wrench_in_world": [-3.658446208911649, -56.70716394836523, 11.006648929688456, 4.492035094993928, 12.712273474842068, 0.21125033388449815]}
+{"timestamp_ns": 1789729721580913111, "elapsed_ms": 10733, "source_timestamp_ns": 1789729721579248250, "q": [0.07667186111211777, -1.5091913938522339, -0.003348380560055375, 0.9496141672134399, 1.6393979787826538, -0.0035677491687238216, -1.0487161874771118], "theta": [0.07455556094646454, -1.5079455375671387, -0.0048488350585103035, 0.9331470131874084, 1.637819766998291, -0.003171563148498535, -1.0497208833694458], "dq": [-0.013509522192180157, 0.13620057702064514, 0.031317830085754395, 0.14756238460540771, -0.02858232706785202, 0.013373568654060364, -0.019930202513933182], "dtheta": [-0.016871407628059387, 0.13922588527202606, 0.029180774465203285, 0.14089123904705048, -0.02614646404981613, 0.014500951394438744, -0.02050907537341118], "tau": [-61.939998626708984, -0.5899999737739563, -27.22800064086914, 1.8720000982284546, -3.948000192642212, 3.80400013923645, -0.3880000114440918], "tau_des": [-1.5644127130508423, 2.520609140396118, 0.01644866168498993, -0.41783055663108826, 0.31820353865623474, 0.07098017632961273, -0.571182370185852], "tau_dot": [38.270442962646484, 46.30942916870117, -37.441856384277344, -8.866016387939453, -37.13834762573242, -39.44780731201172, 93.7099838256836], "tau_ext": [15.248503684997559, -35.894630432128906, -36.66792678833008, 19.62393569946289, -2.507626533508301, -6.9986186027526855, 0.3115011155605316], "tcp_pose": [0.6359662413597107, -0.05453675612807274, -0.3294711410999298, -0.00685335835441947, -0.07930366694927216, 0.996621310710907, 0.020245229825377464], "tcp_vel": [-0.0007423678180202842, 0.05647324025630951, 0.0014046609867364168, 0.0015148650854825974, -0.004677947610616684, 0.017615750432014465], "flange_pose": [0.639171838760376, -0.0619974210858345, -0.13964474201202393, -0.00685335835441947, -0.07930366694927216, 0.996621310710907, 0.020245229825377464], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.193155288696289, -54.52653884887695, -13.237164497375488, -6.345800399780273, 11.903779983520508, 0.20125898718833923], "ext_wrench_in_world": [-3.211353905712693, -56.246551352926375, 11.092865529600912, 4.383645768721169, 12.757048156293045, 0.2259156971797749]}
+{"timestamp_ns": 1789729721614230396, "elapsed_ms": 10766, "source_timestamp_ns": 1789729721609376346, "q": [0.07614241540431976, -1.5049186944961548, -0.0023659346625208855, 0.9541823267936707, 1.6386897563934326, -0.0031408013310283422, -1.0496023893356323], "theta": [0.07399432361125946, -1.5035957098007202, -0.0038802355993539095, 0.9376663565635681, 1.6371275186538696, -0.0027320384979248047, -1.050628662109375], "dq": [-0.020967116579413414, 0.1453387290239334, 0.03474971652030945, 0.14433759450912476, -0.021903937682509422, 0.0133525300770998, -0.03274684026837349], "dtheta": [-0.019289514049887657, 0.13920021057128906, 0.03283197805285454, 0.1474631279706955, -0.01961076259613037, 0.016620047390460968, -0.03236554190516472], "tau": [-62.13999938964844, 1.2799999713897705, -27.312002182006836, 1.040000081062317, -3.9240002632141113, 3.820000171661377, -0.4240000247955322], "tau_des": [-1.6019247770309448, 4.053272724151611, -0.07126693427562714, -1.4601473808288574, 0.1684052050113678, 0.1027907058596611, -0.37665125727653503], "tau_dot": [-76.29292297363281, 0.8325287103652954, -88.57128143310547, -20.019128799438477, -66.74197387695312, 15.905210494995117, -18.467248916625977], "tau_ext": [15.202397346496582, -37.139957427978516, -36.76264572143555, 20.502199172973633, -2.582080364227295, -6.987326145172119, 0.31475305557250977], "tcp_pose": [0.635851263999939, -0.05281715467572212, -0.3294641077518463, -0.006742691621184349, -0.07957726716995239, 0.9965985417366028, 0.020330162718892097], "tcp_vel": [-0.001454607699997723, 0.05669274926185608, 0.0010006338125094771, 0.007281373720616102, -0.013468901626765728, 0.022314371541142464], "flange_pose": [0.6390195488929749, -0.06031244620680809, -0.13963845372200012, -0.006742691621184349, -0.07957726716995239, 0.9965985417366028, 0.020330162718892097], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.095897674560547, -54.8358268737793, -13.443841934204102, -6.424612522125244, 11.631096839904785, 0.20642240345478058], "ext_wrench_in_world": [-4.022017025443271, -56.70711459427369, 11.284230776817576, 4.497561483912878, 12.503106140043823, 0.21200829361492124]}
+{"timestamp_ns": 1789729721647565120, "elapsed_ms": 10800, "source_timestamp_ns": 1789729721639252224, "q": [0.07559969276189804, -1.5008301734924316, -0.0013488208642229438, 0.9583469033241272, 1.6379315853118896, -0.0026774671860039234, -1.0503023862838745], "theta": [0.07342039793729782, -1.499485731124878, -0.0028839795850217342, 0.9418070912361145, 1.6363847255706787, -0.002257704734802246, -1.0513447523117065], "dq": [-0.01883793994784355, 0.15678289532661438, 0.03521665185689926, 0.13522757589817047, -0.03066195547580719, 0.016906317323446274, -0.017759855836629868], "dtheta": [-0.020348934456706047, 0.1434968113899231, 0.03533105179667473, 0.13499735295772552, -0.031186701729893684, 0.017664333805441856, -0.015544606372714043], "tau": [-61.91999816894531, 0.9199999570846558, -27.4320011138916, 1.4760000705718994, -3.9640002250671387, 3.824000120162964, -0.40400001406669617], "tau_des": [-1.1829689741134644, 2.2429468631744385, -0.469868928194046, -0.042282238602638245, -0.09309437870979309, 0.1875056028366089, -0.19618356227874756], "tau_dot": [-56.022830963134766, -119.23717498779297, -18.254146575927734, -7.730578422546387, -14.409076690673828, -30.25265884399414, 18.934051513671875], "tau_ext": [15.204270362854004, -36.86369323730469, -36.676239013671875, 20.16459846496582, -2.553105115890503, -6.992849349975586, 0.3038666546344757], "tcp_pose": [0.6358188986778259, -0.05111738294363022, -0.32946455478668213, -0.006643443368375301, -0.07986694574356079, 0.9965744018554688, 0.020409872755408287], "tcp_vel": [0.003128308802843094, 0.06133368983864784, 0.001186697743833065, 0.0026611543726176023, -0.005036693532019854, 0.02257232740521431], "flange_pose": [0.6389541625976562, -0.058644939213991165, -0.13963961601257324, -0.006643443368375301, -0.07986694574356079, 0.9965744018554688, 0.020409872755408287], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.61742115020752, -55.370574951171875, -13.52385425567627, -6.576991558074951, 11.462004661560059, 0.20636211335659027], "ext_wrench_in_world": [-4.420087074854794, -57.325259769846916, 11.336083349398349, 4.6676094813383155, 12.363158365074021, 0.20661826701327624]}
+{"timestamp_ns": 1789729721680909242, "elapsed_ms": 10833, "source_timestamp_ns": 1789729721679267579, "q": [0.07486067712306976, -1.4948583841323853, 0.00014080230903346092, 0.9637146592140198, 1.6362673044204712, -0.0018517684657126665, -1.050441026687622], "theta": [0.07263786345720291, -1.4935563802719116, -0.0014454096090048552, 0.9471794962882996, 1.6347436904907227, -0.0014147758483886719, -1.0514960289001465], "dq": [-0.018886540085077286, 0.1569979041814804, 0.039344679564237595, 0.13498824834823608, -0.044098157435655594, 0.024313030764460564, 0.0006969952955842018], "dtheta": [-0.018310941755771637, 0.15280801057815552, 0.034756992012262344, 0.1352599710226059, -0.04495161771774292, 0.02190343290567398, 0.0002682383928913623], "tau": [-61.66999816894531, -1.809999942779541, -27.748001098632812, 2.7720000743865967, -4.044000148773193, 3.8400001525878906, -0.35600000619888306], "tau_des": [-1.060745358467102, -0.5692873597145081, -0.6626178026199341, 1.4685782194137573, 0.04334719106554985, 0.20129534602165222, -0.249653160572052], "tau_dot": [42.665931701660156, 65.57562255859375, 1.906101107597351, 27.58718490600586, 24.147212982177734, -7.862995624542236, 26.908367156982422], "tau_ext": [15.070149421691895, -35.12700653076172, -36.44858932495117, 19.090023040771484, -2.4664554595947266, -7.012466907501221, 0.2811332941055298], "tcp_pose": [0.6359446048736572, -0.04857983440160751, -0.3294563293457031, -0.006734595168381929, -0.08021192997694016, 0.9965476393699646, 0.020333558320999146], "tcp_vel": [0.003489528317004442, 0.06371297687292099, 0.0015981425531208515, -0.009479743428528309, 0.00601950753480196, 0.0164853036403656], "flange_pose": [0.6391146779060364, -0.05607463791966438, -0.13963069021701813, -0.006734595168381929, -0.08021192997694016, 0.9965476393699646, 0.020333558320999146], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.714821815490723, -55.16288757324219, -13.480266571044922, -6.569182872772217, 11.622747421264648, 0.19140145182609558], "ext_wrench_in_world": [-3.521356976211083, -56.975390258698155, 11.301920012077584, 4.625916145960538, 12.523140706667931, 0.22561560614742848]}
+{"timestamp_ns": 1789729721714228428, "elapsed_ms": 10866, "source_timestamp_ns": 1789729721709247473, "q": [0.0743468850851059, -1.490346074104309, 0.0012484649196267128, 0.9678788185119629, 1.6350361108779907, -0.0011414268519729376, -1.0504342317581177], "theta": [0.07209236174821854, -1.489070177078247, -0.00039317301707342267, 0.9513502717018127, 1.6335279941558838, -0.0006937980651855469, -1.0514941215515137], "dq": [-0.015258473344147205, 0.13790136575698853, 0.03667563945055008, 0.13934800028800964, -0.03954862058162689, 0.025217778980731964, -0.00016834840062074363], "dtheta": [-0.018857469782233238, 0.14680606126785278, 0.03548283502459526, 0.1418847143650055, -0.03669387102127075, 0.024274548515677452, -0.0013563490938395262], "tau": [-61.82999801635742, -1.1299999952316284, -27.724000930786133, 2.184000015258789, -3.9760000705718994, 3.7680001258850098, -0.40400001406669617], "tau_des": [-1.340786099433899, 1.2659194469451904, -0.4173460006713867, 0.13241668045520782, 0.17389507591724396, 0.01264481246471405, -0.7389643788337708], "tau_dot": [-76.82442474365234, 121.4268569946289, -21.12899398803711, -77.28839111328125, 33.74766540527344, -8.536314010620117, -85.58731842041016], "tau_ext": [15.062740325927734, -35.467437744140625, -36.43395233154297, 19.375913619995117, -2.472379684448242, -6.9928131103515625, 0.26308712363243103], "tcp_pose": [0.6359888315200806, -0.046712230890989304, -0.3294622004032135, -0.0067961025051772594, -0.0803636834025383, 0.9965369701385498, 0.020236236974596977], "tcp_vel": [0.00023234516265802085, 0.0592215470969677, 0.0013908236287534237, -0.006366250105202198, -0.0021496431436389685, 0.005103875882923603], "flange_pose": [0.6391804218292236, -0.05416782945394516, -0.1396353542804718, -0.0067961025051772594, -0.0803636834025383, 0.9965369701385498, 0.020236236974596977], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.312192916870117, -54.72364044189453, -13.41225814819336, -6.4581427574157715, 11.662927627563477, 0.17771020531654358], "ext_wrench_in_world": [-3.1766532215904584, -56.47371239040023, 11.259852104973428, 4.506291377895944, 12.54588508523299, 0.2391131189372384]}
+{"timestamp_ns": 1789729721747566601, "elapsed_ms": 10900, "source_timestamp_ns": 1789729721739233738, "q": [0.07380169630050659, -1.4859451055526733, 0.002374726114794612, 0.9722954630851746, 1.6340570449829102, -0.0004890160635113716, -1.0509730577468872], "theta": [0.07151610404253006, -1.48468017578125, 0.0006796152447350323, 0.9557684063911438, 1.6325675249099731, -3.361701965332031e-05, -1.0520431995391846], "dq": [-0.01962064765393734, 0.14774592220783234, 0.03569173440337181, 0.145180344581604, -0.02889290079474449, 0.020568765699863434, -0.030416427180171013], "dtheta": [-0.01987583003938198, 0.1434309184551239, 0.036709170788526535, 0.1506778448820114, -0.028209056705236435, 0.02125854417681694, -0.03247979283332825], "tau": [-62.029998779296875, 0.5600000023841858, -27.82000160217285, 1.0840001106262207, -3.932000160217285, 3.7920002937316895, -0.3840000033378601], "tau_des": [-1.8503690958023071, 2.8923585414886475, -0.46216002106666565, -1.0145292282104492, 0.20324192941188812, 0.10636911541223526, -0.3898460865020752], "tau_dot": [-114.82624053955078, -74.62678527832031, -20.28655242919922, -62.2409782409668, -18.163421630859375, 6.69241189956665, 28.968860626220703], "tau_ext": [15.173260688781738, -36.62192153930664, -36.44538497924805, 20.265565872192383, -2.525916814804077, -6.97259521484375, 0.2831520736217499], "tcp_pose": [0.6359233856201172, -0.04491939768195152, -0.3294771611690521, -0.006751105189323425, -0.08060339093208313, 0.9965180158615112, 0.02023134008049965], "tcp_vel": [-0.0036667806562036276, 0.057323675602674484, 0.000668176042381674, 0.0021130412351340055, -0.008639855310320854, 0.023647869005799294], "flange_pose": [0.6390995383262634, -0.05237375572323799, -0.13965001702308655, -0.006751105189323425, -0.08060339093208313, 0.9965180158615112, 0.02023134008049965], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.877606391906738, -54.72787094116211, -13.42194652557373, -6.43765926361084, 11.460100173950195, 0.1798447072505951], "ext_wrench_in_world": [-3.7078989483225504, -56.57078255005489, 11.274719497005997, 4.512533637916999, 12.344803659594987, 0.2292589862395801]}
+{"timestamp_ns": 1789729721780930921, "elapsed_ms": 10933, "source_timestamp_ns": 1789729721779284848, "q": [0.07296713441610336, -1.480172038078308, 0.004008252173662186, 0.9780969619750977, 1.632817268371582, 0.0003779986873269081, -1.0519968271255493], "theta": [0.07064339518547058, -1.478969931602478, 0.0022428783122450113, 0.9615930914878845, 1.6313533782958984, 0.0008435249328613281, -1.0530853271484375], "dq": [-0.02349919080734253, 0.14658871293067932, 0.0387745164334774, 0.13601623475551605, -0.03510614112019539, 0.023931307718157768, -0.01789921522140503], "dtheta": [-0.02251209132373333, 0.14356371760368347, 0.039592571556568146, 0.13994669914245605, -0.03595766797661781, 0.02337174117565155, -0.014616819098591805], "tau": [-61.88999938964844, 0.4699999988079071, -28.07600212097168, 1.5840001106262207, -4.028000354766846, 3.8000001907348633, -0.3800000250339508], "tau_des": [-1.155022144317627, 2.068089485168457, -0.6231537461280823, -0.34934043884277344, -0.05752408877015114, 0.09159595519304276, -0.30349820852279663], "tau_dot": [108.08065032958984, 89.71669006347656, 61.901702880859375, 52.9888801574707, 28.68614959716797, -9.075835227966309, -21.96851348876953], "tau_ext": [15.186781883239746, -36.67607498168945, -36.36375045776367, 20.03192710876465, -2.5007753372192383, -6.955749988555908, 0.2843943238258362], "tcp_pose": [0.635858416557312, -0.042510271072387695, -0.3294984996318817, -0.006616244092583656, -0.0810680165886879, 0.9964797496795654, 0.020306577906012535], "tcp_vel": [-0.00016428259550593793, 0.05934210866689682, 0.0015861805295571685, -0.001071273349225521, -0.005209245253354311, 0.01682780124247074], "flange_pose": [0.6389893293380737, -0.0499957874417305, -0.13967183232307434, -0.006616244092583656, -0.0810680165886879, 0.9964797496795654, 0.020306577906012535], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.588220596313477, -55.537776947021484, -13.33950138092041, -6.638442039489746, 11.215178489685059, 0.19694490730762482], "ext_wrench_in_world": [-4.230561649886949, -57.48656117238895, 11.154565746027698, 4.738389829944529, 12.14060092699849, 0.20346870647667223]}
+{"timestamp_ns": 1789729721814242877, "elapsed_ms": 10966, "source_timestamp_ns": 1789729721809321595, "q": [0.07231787592172623, -1.4756004810333252, 0.005316124297678471, 0.9822322130203247, 1.6314753293991089, 0.0011397310299798846, -1.0522278547286987], "theta": [0.06997272372245789, -1.4744598865509033, 0.0035013945307582617, 0.9657564759254456, 1.630028247833252, 0.0016112327575683594, -1.0533252954483032], "dq": [-0.023036807775497437, 0.13651587069034576, 0.04038838669657707, 0.1354798972606659, -0.049073804169893265, 0.027746036648750305, -0.006791908759623766], "dtheta": [-0.021018994972109795, 0.14944687485694885, 0.04071604833006859, 0.13247428834438324, -0.04596008360385895, 0.02705834060907364, -0.0010928026167675853], "tau": [-61.63999938964844, -1.2599999904632568, -28.14000129699707, 2.444000005722046, -4.104000091552734, 3.7880001068115234, -0.36400002241134644], "tau_des": [-0.9604838490486145, -0.4825611114501953, -0.8324159383773804, 1.218112826347351, -0.035015422850847244, 0.06961981952190399, -0.26332923769950867], "tau_dot": [-42.80118942260742, -71.08779907226562, -70.6836166381836, -21.177566528320312, 24.562667846679688, 3.1324141025543213, 8.265135765075684], "tau_ext": [15.176545143127441, -35.32439422607422, -36.18836975097656, 19.22146224975586, -2.417586088180542, -6.9682183265686035, 0.26662468910217285], "tcp_pose": [0.6359184980392456, -0.04055952653288841, -0.3295018970966339, -0.006657440681010485, -0.08138030022382736, 0.9964550733566284, 0.020254354923963547], "tcp_vel": [0.0029295291751623154, 0.06290452182292938, 0.0010221457341685891, -0.00840111542493105, 0.002686705905944109, 0.017061587423086166], "flange_pose": [0.639065682888031, -0.04802301898598671, -0.13967463374137878, -0.006657440681010485, -0.08138030022382736, 0.9964550733566284, 0.020254354923963547], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.887451171875, -55.493553161621094, -13.149500846862793, -6.638101100921631, 11.33570384979248, 0.19189976155757904], "ext_wrench_in_world": [-3.5126161174400674, -57.32312341816071, 10.96591365680893, 4.711000543608381, 12.262175609112195, 0.2119356604216795]}
+{"timestamp_ns": 1789729721847568042, "elapsed_ms": 11000, "source_timestamp_ns": 1789729721839285562, "q": [0.07173837721347809, -1.471397042274475, 0.006501896306872368, 0.9861103892326355, 1.6302342414855957, 0.0018676696345210075, -1.0522890090942383], "theta": [0.06937925517559052, -1.4702473878860474, 0.0046507627703249454, 0.969642162322998, 1.6288095712661743, 0.0023456811904907227, -1.053389072418213], "dq": [-0.01796078309416771, 0.136521115899086, 0.03834564611315727, 0.14463956654071808, -0.03906112164258957, 0.023069074377417564, -0.005311885848641396], "dtheta": [-0.02031993865966797, 0.14522215723991394, 0.039022818207740784, 0.13690386712551117, -0.034807924181222916, 0.023282041773200035, -0.008835642598569393], "tau": [-61.71999740600586, -0.949999988079071, -27.976001739501953, 2.0320000648498535, -4.039999961853027, 3.7160000801086426, -0.3680000305175781], "tau_des": [-1.3529448509216309, 0.47804126143455505, -0.6584219336509705, 0.2513844072818756, 0.059460386633872986, 0.038444384932518005, -0.5417869687080383], "tau_dot": [-22.27476692199707, 40.73255920410156, 36.71453857421875, 31.54218864440918, 14.21949291229248, -10.938429832458496, 10.288841247558594], "tau_ext": [15.106524467468262, -35.53556823730469, -36.288063049316406, 19.381866455078125, -2.411073684692383, -6.930701732635498, 0.2525220215320587], "tcp_pose": [0.6359298825263977, -0.03879966959357262, -0.3295038342475891, -0.006705091800540686, -0.0815555676817894, 0.9964419007301331, 0.020181944593787193], "tcp_vel": [0.0006417448166757822, 0.06125428527593613, 0.00010809233208419755, -0.0006832758663222194, -0.0030357837677001953, 0.015836557373404503], "flange_pose": [0.6390941739082336, -0.04623372480273247, -0.13967569172382355, -0.006705091800540686, -0.0815555676817894, 0.9964419007301331, 0.020181944593787193], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.347125053405762, -55.1956672668457, -13.08922290802002, -6.547121047973633, 11.414560317993164, 0.18307346105575562], "ext_wrench_in_world": [-3.007717421195267, -56.9387226838607, 10.921375073554785, 4.604261592108548, 12.326461759525792, 0.2227394092855678]}
+{"timestamp_ns": 1789729721880897986, "elapsed_ms": 11033, "source_timestamp_ns": 1789729721879280359, "q": [0.07093684375286102, -1.4658838510513306, 0.008074847050011158, 0.991641640663147, 1.6289901733398438, 0.002723127603530884, -1.0531911849975586], "theta": [0.06856510043144226, -1.46466064453125, 0.006190708372741938, 0.975132405757904, 1.627604365348816, 0.003211498260498047, -1.0543007850646973], "dq": [-0.02306717075407505, 0.13599646091461182, 0.03480345010757446, 0.14102384448051453, -0.029159998521208763, 0.02055656723678112, -0.030903905630111694], "dtheta": [-0.020104581490159035, 0.1374901831150055, 0.03744274005293846, 0.13724736869335175, -0.025356516242027283, 0.020531905815005302, -0.029681092128157616], "tau": [-62.13999938964844, 0.5099999904632568, -28.09600067138672, 0.9800000190734863, -4.028000354766846, 3.7160000801086426, -0.3800000250339508], "tau_des": [-1.7719978094100952, 1.974811315536499, -0.665552020072937, -1.0158171653747559, 0.05868871137499809, 0.08813173323869705, -0.40097862482070923], "tau_dot": [-34.47364044189453, -65.56350708007812, 5.036932468414307, 22.19189453125, -28.538944244384766, -38.64924240112305, -80.34062957763672], "tau_ext": [15.245943069458008, -36.66691970825195, -36.45569610595703, 20.267919540405273, -2.45332932472229, -6.890076637268066, 0.26366207003593445], "tcp_pose": [0.6358185410499573, -0.0365106463432312, -0.32952502369880676, -0.006614163052290678, -0.08196919411420822, 0.9964075684547424, 0.02023102529346943], "tcp_vel": [-0.0014378651976585388, 0.05786795914173126, -0.00031755128293298185, 0.005542047321796417, -0.008999397978186607, 0.028334228321909904], "flange_pose": [0.6389530897140503, -0.043964799493551254, -0.13969719409942627, -0.006614163052290678, -0.08196919411420822, 0.9964075684547424, 0.02023102529346943], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.944506645202637, -55.37113952636719, -13.109657287597656, -6.521978855133057, 11.201184272766113, 0.1891116201877594], "ext_wrench_in_world": [-3.523124903983276, -57.214006898533285, 10.933044610715653, 4.603937130394636, 12.116021103831288, 0.2104661850371113]}
+{"timestamp_ns": 1789729721914295142, "elapsed_ms": 11066, "source_timestamp_ns": 1789729721909410156, "q": [0.07032497972249985, -1.4617817401885986, 0.009228338487446308, 0.9957097768783569, 1.6281691789627075, 0.0033415097277611494, -1.054101824760437], "theta": [0.06795045733451843, -1.4605377912521362, 0.0073342593386769295, 0.9791688323020935, 1.6268149614334106, 0.003840804100036621, -1.0552154779434204], "dq": [-0.021048754453659058, 0.1412695199251175, 0.035115547478199005, 0.11982657015323639, -0.02706490457057953, 0.01869179494678974, -0.02550315670669079], "dtheta": [-0.01914609782397747, 0.1296825408935547, 0.03642889857292175, 0.12242317199707031, -0.028104189783334732, 0.01950792223215103, -0.024785256013274193], "tau": [-62.119998931884766, 0.5399999618530273, -28.156002044677734, 1.152000069618225, -4.080000400543213, 3.7680001258850098, -0.328000009059906], "tau_des": [-1.73833429813385, 1.9756985902786255, -0.8130312561988831, -0.6529410481452942, -0.11932414770126343, 0.06830968707799911, -0.2462831288576126], "tau_dot": [203.3486785888672, -57.37680435180664, 23.627397537231445, 18.85373878479004, -2.3308725357055664, -15.70378303527832, 37.51218032836914], "tau_ext": [15.441474914550781, -36.892948150634766, -36.44255447387695, 20.26746368408203, -2.4257025718688965, -6.892516613006592, 0.2591172158718109], "tcp_pose": [0.6357705593109131, -0.034777723252773285, -0.3295382261276245, -0.0065037584863603115, -0.08241961896419525, 0.9963697791099548, 0.020297497510910034], "tcp_vel": [0.00042858358938246965, 0.05601489916443825, -0.0005109387566335499, 0.0039983512833714485, -0.0050399149768054485, 0.03069903515279293], "flange_pose": [0.6388687491416931, -0.04225907847285271, -0.13971087336540222, -0.0065037584863603115, -0.08241961896419525, 0.9963697791099548, 0.020297497510910034], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.510149955749512, -55.8257942199707, -12.981108665466309, -6.585190296173096, 11.030340194702148, 0.19422514736652374], "ext_wrench_in_world": [-3.959651011665824, -57.754970077247954, 10.781337094442645, 4.683279813758, 11.962336871264972, 0.20061460556264396]}
+{"timestamp_ns": 1789729721947555875, "elapsed_ms": 11100, "source_timestamp_ns": 1789729721939238280, "q": [0.06978808343410492, -1.4579566717147827, 0.01021706685423851, 0.999122679233551, 1.627184510231018, 0.0038700285367667675, -1.0545814037322998], "theta": [0.06741821020841599, -1.456739902496338, 0.008318069390952587, 0.9825706481933594, 1.6258585453033447, 0.004381299018859863, -1.0556964874267578], "dq": [-0.022221947088837624, 0.13050231337547302, 0.02961592935025692, 0.11082787066698074, -0.03623957931995392, 0.019146841019392014, -0.014506488107144833], "dtheta": [-0.017110828310251236, 0.13071225583553314, 0.032044000923633575, 0.11178286373615265, -0.03513539582490921, 0.017409661784768105, -0.011204958893358707], "tau": [-62.04999923706055, -0.8799999952316284, -28.25200080871582, 1.9800001382827759, -4.152000427246094, 3.7760002613067627, -0.34800001978874207], "tau_des": [-1.429226040840149, 0.10180632025003433, -0.7576459646224976, 0.6093172430992126, -0.10267249494791031, 0.1111522689461708, -0.2701520323753357], "tau_dot": [137.94659423828125, 66.0491943359375, -49.36338424682617, -24.59711456298828, -2.495434522628784, 39.21052932739258, -24.139984130859375], "tau_ext": [15.43413257598877, -35.9427604675293, -36.4140625, 19.5761775970459, -2.355633020401001, -6.896988391876221, 0.24486997723579407], "tcp_pose": [0.6358181238174438, -0.03312115743756294, -0.32952603697776794, -0.006528929807245731, -0.08285102248191833, 0.9963340759277344, 0.02028646692633629], "tcp_vel": [0.002834102138876915, 0.05715325102210045, 0.0003824475279543549, -0.0025689173489809036, 0.0039352490566670895, 0.029499094933271408], "flange_pose": [0.6389287114143372, -0.04059620201587677, -0.13969862461090088, -0.006528929807245731, -0.08285102248191833, 0.9963340759277344, 0.02028646692633629], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.129765510559082, -56.03775405883789, -12.819212913513184, -6.611328125, 11.103188514709473, 0.18807676434516907], "ext_wrench_in_world": [-3.501837841348061, -57.897780499734175, 10.608345157495439, 4.6867861220785905, 12.042263821976876, 0.20915431307365412]}
+{"timestamp_ns": 1789729721980952821, "elapsed_ms": 11133, "source_timestamp_ns": 1789729721979229377, "q": [0.06914255768060684, -1.452789545059204, 0.011419154703617096, 1.0035362243652344, 1.6257855892181396, 0.004595308564603329, -1.0549594163894653], "theta": [0.06678926199674606, -1.4516080617904663, 0.009522798471152782, 0.9869624972343445, 1.6245062351226807, 0.005124330520629883, -1.0560730695724487], "dq": [-0.014858171343803406, 0.11793393641710281, 0.02644367329776287, 0.11574887484312057, -0.02877969481050968, 0.02032090723514557, -0.011976340785622597], "dtheta": [-0.014772700145840645, 0.12438304722309113, 0.028151502832770348, 0.10919218510389328, -0.030322661623358727, 0.018537798896431923, -0.01327962800860405], "tau": [-62.0, -1.3600000143051147, -28.06800079345703, 2.196000099182129, -4.176000118255615, 3.6680002212524414, -0.35200002789497375], "tau_des": [-1.3842693567276, 0.1168132871389389, -0.33819276094436646, 0.6639314889907837, 0.02634546160697937, -0.08868719637393951, -0.4581420123577118], "tau_dot": [-98.3061752319336, 57.847171783447266, -55.88801193237305, -29.945663452148438, 18.556161880493164, -28.6608829498291, -11.464269638061523], "tau_ext": [15.447664260864258, -35.3228759765625, -36.49555206298828, 19.205718994140625, -2.315403461456299, -6.872385501861572, 0.2343929409980774], "tcp_pose": [0.6359245777130127, -0.030893558636307716, -0.329496294260025, -0.006633805111050606, -0.08340269327163696, 0.9962893128395081, 0.020189015194773674], "tcp_vel": [0.0018697910709306598, 0.052931323647499084, 0.0004395516589283943, -0.004549994599074125, 0.0015050980728119612, 0.027898261323571205], "flange_pose": [0.6390759348869324, -0.038326673209667206, -0.13966789841651917, -0.006633805111050606, -0.08340269327163696, 0.9962893128395081, 0.020189015194773674], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.185351371765137, -55.743019104003906, -12.598287582397461, -6.471466064453125, 11.311387062072754, 0.17846781015396118], "ext_wrench_in_world": [-2.556999059153628, -57.44324955816688, 10.402819468834423, 4.5011361725395425, 12.228987073248494, 0.225498047073099]}
+{"timestamp_ns": 1789729722014228757, "elapsed_ms": 11166, "source_timestamp_ns": 1789729722009237162, "q": [0.06869683414697647, -1.4491281509399414, 0.012223576195538044, 1.0069645643234253, 1.625041127204895, 0.005051600281149149, -1.0556539297103882], "theta": [0.06636111438274384, -1.4479519128799438, 0.010346725583076477, 0.9903467297554016, 1.6238008737564087, 0.005597233772277832, -1.0567713975906372], "dq": [-0.017418010160326958, 0.12099339812994003, 0.024692900478839874, 0.12004570662975311, -0.018586810678243637, 0.014590388163924217, -0.030874362215399742], "dtheta": [-0.01389318984001875, 0.11870937794446945, 0.027441000565886497, 0.11336298286914825, -0.018251486122608185, 0.014250210486352444, -0.027597937732934952], "tau": [-62.13999938964844, -0.38999998569488525, -28.040000915527344, 1.5560001134872437, -4.172000408172607, 3.704000234603882, -0.3360000252723694], "tau_des": [-1.9034311771392822, 1.622318148612976, -0.3419135808944702, -0.2948295772075653, -0.043137095868587494, -0.015551767311990261, -0.4192107021808624], "tau_dot": [-44.15968322753906, -38.66016387939453, -98.05477142333984, 23.212360382080078, -37.264915466308594, 64.81173706054688, 23.35297393798828], "tau_ext": [15.54883861541748, -35.905845642089844, -36.60409927368164, 19.681621551513672, -2.3323190212249756, -6.845603942871094, 0.24002781510353088], "tcp_pose": [0.6359061002731323, -0.029353352263569832, -0.3294830024242401, -0.0066259573213756084, -0.08385449647903442, 0.9962515830993652, 0.02018156461417675], "tcp_vel": [-0.0007593718473799527, 0.05102277919650078, -0.0011498501989990473, 0.005189601797610521, -0.004695397801697254, 0.031872015446424484], "flange_pose": [0.6390575766563416, -0.03678246587514877, -0.1396544724702835, -0.0066259573213756084, -0.08385449647903442, 0.9962515830993652, 0.02018156461417675], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.28914737701416, -55.76826095581055, -12.582503318786621, -6.418328762054443, 11.261344909667969, 0.1813652366399765], "ext_wrench_in_world": [-2.6036740776537854, -57.48710016345924, 10.387283530855969, 4.44595729020981, 12.174986156666439, 0.22113905126031339]}
+{"timestamp_ns": 1789729722047557204, "elapsed_ms": 11200, "source_timestamp_ns": 1789729722039233696, "q": [0.06824501603841782, -1.4455801248550415, 0.013022031635046005, 1.010430097579956, 1.6244850158691406, 0.005455726757645607, -1.0565739870071411], "theta": [0.06593172252178192, -1.444414496421814, 0.011172703467309475, 0.9937484860420227, 1.6232801675796509, 0.0060193538665771484, -1.0576932430267334], "dq": [-0.014727739617228508, 0.12567976117134094, 0.02723616734147072, 0.11376900970935822, -0.019919851794838905, 0.012156407348811626, -0.03354920074343681], "dtheta": [-0.014419692568480968, 0.11647912114858627, 0.02781011164188385, 0.11609069257974625, -0.019660688936710358, 0.013288193382322788, -0.03330608457326889], "tau": [-62.3599967956543, 0.7099999785423279, -28.06800079345703, 0.8040000200271606, -4.12000036239624, 3.684000253677368, -0.30800002813339233], "tau_des": [-1.9635587930679321, 2.7993500232696533, -0.30582255125045776, -1.0808825492858887, 0.011207329109311104, 0.018512481823563576, -0.3552446663379669], "tau_dot": [-8.631070137023926, 58.86408233642578, -21.10253143310547, -38.81908416748047, 33.923397064208984, -36.59316635131836, 89.57044982910156], "tau_ext": [15.60873031616211, -36.64262008666992, -36.67999267578125, 20.18451499938965, -2.3439550399780273, -6.838202953338623, 0.23445776104927063], "tcp_pose": [0.6358543634414673, -0.027853677049279213, -0.3294832408428192, -0.006551381666213274, -0.08434131741523743, 0.9962098002433777, 0.020241165533661842], "tcp_vel": [-0.0033637541346251965, 0.04890279099345207, -0.000826869800221175, 0.005128179211169481, -0.0034887625370174646, 0.03271042928099632], "flange_pose": [0.6389831900596619, -0.03530619665980339, -0.1396552473306656, -0.006551381666213274, -0.08434131741523743, 0.9962098002433777, 0.020241165533661842], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.814857482910156, -55.97492980957031, -12.557158470153809, -6.417278289794922, 11.104390144348145, 0.18567489087581635], "ext_wrench_in_world": [-3.033291661467111, -57.78210163548465, 10.350045440536677, 4.459298609376285, 12.024675248392478, 0.2127378076019526]}
+{"timestamp_ns": 1789729722080892541, "elapsed_ms": 11233, "source_timestamp_ns": 1789729722079234659, "q": [0.0676376149058342, -1.4409310817718506, 0.014102083630859852, 1.014906883239746, 1.6236934661865234, 0.006003296934068203, -1.0577971935272217], "theta": [0.06535827368497849, -1.4398248195648193, 0.012289121747016907, 0.9981582760810852, 1.62252938747406, 0.006592154502868652, -1.058911919593811], "dq": [-0.0155564583837986, 0.11770172417163849, 0.028331253677606583, 0.1006452664732933, -0.019623098894953728, 0.01382055040448904, -0.026508163660764694], "dtheta": [-0.01444279681891203, 0.11602866649627686, 0.027261653915047646, 0.10526976734399796, -0.020231299102306366, 0.014047644101083279, -0.025455111637711525], "tau": [-62.41999816894531, 0.9899999499320984, -28.088001251220703, 0.940000057220459, -4.144000053405762, 3.680000066757202, -0.31200000643730164], "tau_des": [-1.7567110061645508, 2.3443644046783447, -0.35777315497398376, -0.4658280611038208, -0.1858866810798645, -0.011284125037491322, -0.22007037699222565], "tau_dot": [-14.220866203308105, -168.0693817138672, 2.8949999809265137, 22.828519821166992, 40.10111618041992, -3.270930767059326, -31.187658309936523], "tau_ext": [15.750123023986816, -36.86081314086914, -36.681068420410156, 20.213245391845703, -2.3323774337768555, -6.837174892425537, 0.21726693212985992], "tcp_pose": [0.6357957124710083, -0.025876270607113838, -0.32948431372642517, -0.00647159107029438, -0.08502025902271271, 0.9961511492729187, 0.020311987027525902], "tcp_vel": [0.0008615066180936992, 0.05098482221364975, -0.0007247983594425023, 0.004192183259874582, -0.0032251840457320213, 0.035298578441143036], "flange_pose": [0.6389017105102539, -0.033356036990880966, -0.13965700566768646, -0.00647159107029438, -0.08502025902271271, 0.9961511492729187, 0.020311987027525902], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.429265975952148, -56.58272171020508, -12.459467887878418, -6.536113262176514, 10.921051979064941, 0.17972947657108307], "ext_wrench_in_world": [-3.460869643944516, -58.48677730507456, 10.22287545706643, 4.591133090699966, 11.870076240112542, 0.21270305024144104]}
+{"timestamp_ns": 1789729722114234217, "elapsed_ms": 11266, "source_timestamp_ns": 1789729722109249321, "q": [0.06721668690443039, -1.4373477697372437, 0.014886527322232723, 1.0179417133331299, 1.6229023933410645, 0.006428281310945749, -1.0583115816116333], "theta": [0.06496545672416687, -1.4362990856170654, 0.013096693903207779, 1.0011820793151855, 1.6217617988586426, 0.007032275199890137, -1.0594254732131958], "dq": [-0.012794303707778454, 0.11367302387952805, 0.022921506315469742, 0.09330476075410843, -0.027967961505055428, 0.014866532757878304, -0.010091579519212246], "dtheta": [-0.01159992627799511, 0.1180817037820816, 0.0264242272824049, 0.09744729846715927, -0.03238740935921669, 0.016226712614297867, -0.009184117428958416], "tau": [-62.30999755859375, -0.6800000071525574, -28.248001098632812, 1.9440001249313354, -4.240000247955322, 3.6720001697540283, -0.30800002813339233], "tau_des": [-1.8944432735443115, 0.8807722926139832, -0.5731790661811829, 0.6210132837295532, -0.06478177756071091, 0.0034591059666126966, -0.2697964310646057], "tau_dot": [-38.22037124633789, -100.62239074707031, -64.65953063964844, 23.882617950439453, -19.353979110717773, -27.868288040161133, -10.058228492736816], "tau_ext": [15.805801391601562, -35.79290008544922, -36.57276916503906, 19.485309600830078, -2.2656190395355225, -6.853213310241699, 0.20459149777889252], "tcp_pose": [0.6358698606491089, -0.024293379858136177, -0.32948583364486694, -0.006513872183859348, -0.08554136008024216, 0.9961064457893372, 0.020303720608353615], "tcp_vel": [0.0016609637532383204, 0.051364291459321976, -0.0009907003259286284, -0.0056044613011181355, 0.008235509507358074, 0.02960730344057083], "flange_pose": [0.6389954686164856, -0.03176701441407204, -0.1396586149930954, -0.006513872183859348, -0.08554136008024216, 0.9961064457893372, 0.020303720608353615], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.054332733154297, -56.7082633972168, -12.299041748046875, -6.549470901489258, 11.000473022460938, 0.16855987906455994], "ext_wrench_in_world": [-3.0108233137221356, -58.54351274140229, 10.054910612583184, 4.578539616644056, 11.954916493375496, 0.22657196520115763]}
+{"timestamp_ns": 1789729722147559275, "elapsed_ms": 11300, "source_timestamp_ns": 1789729722139238887, "q": [0.06685841828584671, -1.4337576627731323, 0.015593514777719975, 1.0208443403244019, 1.6220253705978394, 0.006879361812025309, -1.058524489402771], "theta": [0.06463582068681717, -1.4327205419540405, 0.013826016336679459, 1.004094123840332, 1.6209044456481934, 0.007495999336242676, -1.0596359968185425], "dq": [-0.01402157824486494, 0.10144815593957901, 0.020906738936901093, 0.10117135941982269, -0.024657506495714188, 0.014787741005420685, -0.0055469912476837635], "dtheta": [-0.010157898999750614, 0.11988303810358047, 0.02269524149596691, 0.09731695801019669, -0.0253310464322567, 0.01579526998102665, -0.007935872301459312], "tau": [-62.31999969482422, -1.3299999237060547, -28.23600196838379, 2.4160001277923584, -4.26800012588501, 3.6720001697540283, -0.31200000643730164], "tau_des": [-1.837889552116394, -0.21913506090641022, -0.39175182580947876, 1.2520488500595093, -0.14684200286865234, -0.09713900834321976, -0.3866277039051056], "tau_dot": [27.68072509765625, 85.01180267333984, -16.44633674621582, -24.305217742919922, 20.526426315307617, 13.780324935913086, -11.675858497619629], "tau_ext": [15.78196907043457, -35.29337692260742, -36.56931686401367, 19.098308563232422, -2.2144060134887695, -6.8401336669921875, 0.19630923867225647], "tcp_pose": [0.6359682083129883, -0.02272017113864422, -0.3294835388660431, -0.006618880201131105, -0.0859849601984024, 0.996069073677063, 0.020227480679750443], "tcp_vel": [0.0034834654070436954, 0.052667129784822464, -0.0009556568693369627, -0.004437663592398167, 0.004158190451562405, 0.030184263363480568], "flange_pose": [0.639134407043457, -0.03016013093292713, -0.13965566456317902, -0.006618880201131105, -0.0859849601984024, 0.996069073677063, 0.020227480679750443], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.219101905822754, -56.34456253051758, -12.139913558959961, -6.431410789489746, 11.184229850769043, 0.15934650599956512], "ext_wrench_in_world": [-2.198653053409292, -58.03699909005921, 9.912938047345337, 4.420295872431708, 12.119321847394174, 0.2417762734640457]}
+{"timestamp_ns": 1789729722180895061, "elapsed_ms": 11333, "source_timestamp_ns": 1789729722179248148, "q": [0.06640893965959549, -1.4291729927062988, 0.01645527593791485, 1.0250121355056763, 1.6212589740753174, 0.007360150571912527, -1.0592941045761108], "theta": [0.06422287970781326, -1.4280723333358765, 0.014721754938364029, 1.0082427263259888, 1.620164394378662, 0.007992148399353027, -1.0604087114334106], "dq": [-0.009683225303888321, 0.11457964777946472, 0.02046857587993145, 0.11544289439916611, -0.01224993634968996, 0.01075449027121067, -0.028195595368742943], "dtheta": [-0.011441289447247982, 0.11451937258243561, 0.022621052339673042, 0.11002928018569946, -0.01256808266043663, 0.01233643013983965, -0.029101537540555], "tau": [-62.53999710083008, 0.3499999940395355, -28.21200180053711, 1.25600004196167, -4.220000267028809, 3.6720001697540283, -0.30400002002716064], "tau_des": [-2.3887314796447754, 2.694969892501831, -0.12713201344013214, -0.6457692980766296, -0.01748264767229557, -0.08754247426986694, -0.400971919298172], "tau_dot": [-14.628466606140137, 65.29149627685547, 2.7747957706451416, -22.559131622314453, -6.037269592285156, 40.85898971557617, 9.559443473815918], "tau_ext": [15.809136390686035, -36.191959381103516, -36.68012619018555, 19.78340721130371, -2.254305124282837, -6.817653179168701, 0.20438288152217865], "tcp_pose": [0.6359472274780273, -0.0207618847489357, -0.32949936389923096, -0.006635027937591076, -0.08656571060419083, 0.9960185289382935, 0.020235614851117134], "tcp_vel": [-0.0017203097231686115, 0.04885420948266983, -0.001254357979632914, 0.005289997439831495, -0.005283856764435768, 0.03266635537147522], "flange_pose": [0.6391241550445557, -0.028202543035149574, -0.1396716982126236, -0.006635027937591076, -0.08656571060419083, 0.9960185289382935, 0.020235614851117134], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.077428817749023, -56.47519302368164, -12.024770736694336, -6.425650596618652, 11.180570602416992, 0.16294968128204346], "ext_wrench_in_world": [-1.9707606058977938, -58.139341265758766, 9.789786769783898, 4.401058669711639, 12.120007682841473, 0.23831394777969717]}
+{"timestamp_ns": 1789729722214229088, "elapsed_ms": 11366, "source_timestamp_ns": 1789729722209238663, "q": [0.06601496785879135, -1.4257832765579224, 0.017141254618763924, 1.0283163785934448, 1.6208789348602295, 0.00768285384401679, -1.0601919889450073], "theta": [0.06385199725627899, -1.4246388673782349, 0.015435484237968922, 1.0115004777908325, 1.6198043823242188, 0.008321762084960938, -1.0613075494766235], "dq": [-0.013360953889787197, 0.1252245455980301, 0.0257862638682127, 0.11202630400657654, -0.01326534803956747, 0.009725160896778107, -0.03134537115693092], "dtheta": [-0.012654229067265987, 0.112937331199646, 0.02413369156420231, 0.10866445302963257, -0.013470038771629333, 0.011186306364834309, -0.028291182592511177], "tau": [-62.68000030517578, 1.2899999618530273, -28.30000114440918, 0.6800000071525574, -4.196000099182129, 3.644000291824341, -0.30000001192092896], "tau_des": [-2.4665913581848145, 3.7485296726226807, -0.19811183214187622, -1.128743052482605, -0.06885869801044464, -0.037834081798791885, -0.30602720379829407], "tau_dot": [35.663970947265625, 181.07443237304688, -26.972131729125977, 29.30925750732422, -15.379434585571289, -15.945228576660156, 12.247218132019043], "tau_ext": [15.933130264282227, -36.793094635009766, -36.68145751953125, 20.241281509399414, -2.2740888595581055, -6.815425872802734, 0.20191553235054016], "tcp_pose": [0.6358803510665894, -0.019314879551529884, -0.329511433839798, -0.006549105513840914, -0.08704430609941483, 0.9959756135940552, 0.020323187112808228], "tcp_vel": [-0.002076574135571718, 0.04877665266394615, -0.0012264609104022384, 0.00704649044200778, -0.004701034165918827, 0.03161755949258804], "flange_pose": [0.6390312314033508, -0.026789987459778786, -0.13968469202518463, -0.006549105513840914, -0.08704430609941483, 0.9959756135940552, 0.020323187112808228], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.723581314086914, -56.777156829833984, -12.0416259765625, -6.478337287902832, 10.99120807647705, 0.1684587448835373], "ext_wrench_in_world": [-2.5006274884997346, -58.55314013749644, 9.788383804164694, 4.474001166003704, 11.947192322586629, 0.22758848542699134]}
+{"timestamp_ns": 1789729722247557036, "elapsed_ms": 11400, "source_timestamp_ns": 1789729722239270843, "q": [0.06558996438980103, -1.4222691059112549, 0.017872240394353867, 1.0316346883773804, 1.6203904151916504, 0.008054022677242756, -1.060975432395935], "theta": [0.063449926674366, -1.421120524406433, 0.016186168417334557, 1.0147688388824463, 1.6193351745605469, 0.008701443672180176, -1.0620819330215454], "dq": [-0.01663176529109478, 0.12317309528589249, 0.029374755918979645, 0.10197331756353378, -0.018564792349934578, 0.014028199948370457, -0.023306798189878464], "dtheta": [-0.013725588098168373, 0.11961864680051804, 0.025991981849074364, 0.10571851581335068, -0.01861579716205597, 0.013799003325402737, -0.023568620905280113], "tau": [-62.619998931884766, 1.399999976158142, -28.308000564575195, 0.7320000529289246, -4.216000080108643, 3.6560001373291016, -0.3240000009536743], "tau_des": [-2.1381101608276367, 2.3204665184020996, -0.4525170922279358, -0.33759453892707825, -0.2493850737810135, 0.010029613971710205, -0.12507599592208862], "tau_dot": [4.004062175750732, 40.32125473022461, 33.6915397644043, -3.8895628452301025, -46.2122802734375, -20.309581756591797, -68.7258071899414], "tau_ext": [15.965147972106934, -36.78250503540039, -36.62941360473633, 20.310232162475586, -2.2640833854675293, -6.825287342071533, 0.19885894656181335], "tcp_pose": [0.6358405351638794, -0.01780572533607483, -0.32951295375823975, -0.006484832614660263, -0.08752170950174332, 0.995932936668396, 0.020383868366479874], "tcp_vel": [0.0010765710612758994, 0.05303461104631424, -0.0009234343306161463, 0.004134720657020807, -0.002858629683032632, 0.03665902838110924], "flange_pose": [0.6389726996421814, -0.025304418057203293, -0.13968682289123535, -0.006484832614660263, -0.08752170950174332, 0.995932936668396, 0.020383868366479874], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.350547790527344, -56.915096282958984, -12.00095272064209, -6.497089862823486, 10.805429458618164, 0.16838732361793518], "ext_wrench_in_world": [-3.040010243375918, -58.80044451091337, 9.739314167224553, 4.513361391047807, 11.77192065161393, 0.2220132595963618]}
+{"timestamp_ns": 1789729722280899591, "elapsed_ms": 11433, "source_timestamp_ns": 1789729722279240689, "q": [0.06502819806337357, -1.4173954725265503, 0.01889362744987011, 1.0357919931411743, 1.6194331645965576, 0.008657535538077354, -1.061535358428955], "theta": [0.062913678586483, -1.4162746667861938, 0.017218759283423424, 1.0189028978347778, 1.618396520614624, 0.009312152862548828, -1.0626226663589478], "dq": [-0.0149930939078331, 0.12170998007059097, 0.026166824623942375, 0.09584870934486389, -0.029256999492645264, 0.017267972230911255, -0.008805780671536922], "dtheta": [-0.012913579121232033, 0.12315316498279572, 0.024852482602000237, 0.10063355416059494, -0.028651025146245956, 0.016816334798932076, -0.005537999793887138], "tau": [-62.44999694824219, -0.429999977350235, -28.584001541137695, 1.9480000734329224, -4.340000152587891, 3.6640002727508545, -0.2639999985694885], "tau_des": [-1.7518692016601562, 0.6297184824943542, -0.484436959028244, 0.676537811756134, -0.24257773160934448, -0.04327564314007759, -0.24892710149288177], "tau_dot": [-86.7688980102539, -70.94303131103516, -32.471736907958984, 10.199115753173828, 8.308324813842773, -13.24526596069336, 67.13548278808594], "tau_ext": [15.920443534851074, -35.73823547363281, -36.52314376831055, 19.54038429260254, -2.1895201206207275, -6.825808525085449, 0.19094190001487732], "tcp_pose": [0.6359108090400696, -0.015664968639612198, -0.3295113742351532, -0.006508749444037676, -0.08814726769924164, 0.9958779215812683, 0.020368941128253937], "tcp_vel": [0.0024930513463914394, 0.05374288558959961, 0.00015978382725734264, -0.00543866865336895, 0.004462151788175106, 0.02788095362484455], "flange_pose": [0.6390562057495117, -0.023155244067311287, -0.13968512415885925, -0.006508749444037676, -0.08814726769924164, 0.9958779215812683, 0.020368941128253937], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.105621337890625, -56.862281799316406, -11.871467590332031, -6.480223178863525, 10.824858665466309, 0.16407078504562378], "ext_wrench_in_world": [-2.736211469145649, -58.703868498571495, 9.611301416763936, 4.47862937020997, 11.793564364823819, 0.22692583536702585]}
+{"timestamp_ns": 1789729722314233618, "elapsed_ms": 11466, "source_timestamp_ns": 1789729722309241933, "q": [0.06466925144195557, -1.4137145280838013, 0.01961504854261875, 1.0387787818908691, 1.618593454360962, 0.009157060645520687, -1.0616786479949951], "theta": [0.06256839632987976, -1.4125968217849731, 0.017941167578101158, 1.0218980312347412, 1.6175693273544312, 0.00981283187866211, -1.062748670578003], "dq": [-0.009394962340593338, 0.11279084533452988, 0.02345961704850197, 0.10562784969806671, -0.028159264475107193, 0.017105406150221825, -0.005388437770307064], "dtheta": [-0.010813649743795395, 0.12003039568662643, 0.022839810699224472, 0.10088960081338882, -0.025680992752313614, 0.014656579121947289, -0.005174462683498859], "tau": [-62.46999740600586, -0.7899999618530273, -28.57200050354004, 2.076000213623047, -4.328000068664551, 3.644000291824341, -0.29600000381469727], "tau_des": [-2.1724154949188232, 0.796489417552948, -0.4313414990901947, 0.5731923580169678, -0.11322873830795288, -0.04871130362153053, -0.41601455211639404], "tau_dot": [-15.321521759033203, 32.832115173339844, 8.10476016998291, 2.111140727996826, 40.314117431640625, 4.303725242614746, -6.3492937088012695], "tau_ext": [15.971061706542969, -35.4896354675293, -36.449649810791016, 19.229568481445312, -2.1516895294189453, -6.822792053222656, 0.1819668859243393], "tcp_pose": [0.6359870433807373, -0.014057012274861336, -0.32951620221138, -0.006598759442567825, -0.0885600745677948, 0.9958423376083374, 0.02028796449303627], "tcp_vel": [0.0007114977343007922, 0.05193442106246948, -0.0006469287327490747, -0.004145902115851641, 0.00546551588922739, 0.024159051477909088], "flange_pose": [0.6391668915748596, -0.021512318402528763, -0.13968916237354279, -0.006598759442567825, -0.0885600745677948, 0.9958423376083374, 0.02028796449303627], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.304383277893066, -56.68553924560547, -11.705347061157227, -6.436155319213867, 10.987635612487793, 0.15903742611408234], "ext_wrench_in_world": [-1.9311765387105206, -58.382606435968036, 9.455431251704624, 4.396878712273576, 11.949437836016184, 0.2364689017614677]}
+{"timestamp_ns": 1789729722347559156, "elapsed_ms": 11500, "source_timestamp_ns": 1789729722339235728, "q": [0.06432599574327469, -1.4101531505584717, 0.020320726558566093, 1.0419167280197144, 1.6179627180099487, 0.009626753628253937, -1.0621142387390137], "theta": [0.062230080366134644, -1.4090107679367065, 0.018648555502295494, 1.025027871131897, 1.6169580221176147, 0.010283112525939941, -1.0631746053695679], "dq": [-0.010076315142214298, 0.11633267998695374, 0.01998874358832836, 0.11090350151062012, -0.017092084512114525, 0.01657605729997158, -0.01814313419163227], "dtheta": [-0.012601258233189583, 0.11716759204864502, 0.02416413277387619, 0.10653003305196762, -0.017343662679195404, 0.014638294465839863, -0.020554937422275543], "tau": [-62.48999786376953, -0.03999999910593033, -28.564001083374023, 1.440000057220459, -4.272000312805176, 3.616000175476074, -0.2880000174045563], "tau_des": [-2.304926872253418, 1.8099626302719116, -0.3262016773223877, -0.11775504052639008, -0.1357298642396927, -0.08641381561756134, -0.3243071734905243], "tau_dot": [-2.0140321254730225, 129.12179565429688, -38.06287384033203, -4.704071521759033, -5.470241069793701, 23.45111083984375, 39.65618896484375], "tau_ext": [15.95319938659668, -35.969852447509766, -36.512882232666016, 19.590869903564453, -2.1771700382232666, -6.804355621337891, 0.18653659522533417], "tcp_pose": [0.6359827518463135, -0.012528689578175545, -0.3295406997203827, -0.0066166287288069725, -0.0889805257320404, 0.9958052635192871, 0.020263347774744034], "tcp_vel": [-0.0007202248671092093, 0.05053962394595146, -0.0007680811104364693, 0.0020922250114381313, -0.0028919342439621687, 0.030504144728183746], "flange_pose": [0.6391716599464417, -0.01997273601591587, -0.1397133767604828, -0.0066166287288069725, -0.0889805257320404, 0.9958052635192871, 0.020263347774744034], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.086133003234863, -56.913368225097656, -11.609977722167969, -6.488033771514893, 11.006853103637695, 0.15975043177604675], "ext_wrench_in_world": [-1.628214773274031, -58.56535259453844, 9.35126026459309, 4.4344230336546655, 11.981292555422705, 0.23545429661526163]}
+{"timestamp_ns": 1789729722380899982, "elapsed_ms": 11533, "source_timestamp_ns": 1789729722379283994, "q": [0.06376998126506805, -1.405375599861145, 0.021375088021159172, 1.046399474143982, 1.6172946691513062, 0.010253495536744595, -1.0630474090576172], "theta": [0.06167308986186981, -1.4042067527770996, 0.019706228747963905, 1.0294593572616577, 1.6163196563720703, 0.01090860366821289, -1.064100742340088], "dq": [-0.011849670670926571, 0.12420383095741272, 0.0223896075040102, 0.11033318191766739, -0.012375781312584877, 0.018240025267004967, -0.029855908825993538], "dtheta": [-0.014330090954899788, 0.11851060390472412, 0.026241367682814598, 0.10703752189874649, -0.01607193611562252, 0.016627294942736626, -0.025303758680820465], "tau": [-62.63999938964844, 0.9599999785423279, -28.768001556396484, 0.796000063419342, -4.332000255584717, 3.6520001888275146, -0.30400002002716064], "tau_des": [-2.2733047008514404, 2.0930402278900146, -0.5122503042221069, -0.39371007680892944, -0.31578537821769714, -0.07714971899986267, -0.23344571888446808], "tau_dot": [62.2298698425293, 38.879638671875, -12.732242584228516, 11.231423377990723, -14.682534217834473, 4.9504828453063965, -44.37275314331055], "tau_ext": [16.044857025146484, -36.490055084228516, -36.47362518310547, 20.044424057006836, -2.1974196434020996, -6.802768707275391, 0.19730453193187714], "tcp_pose": [0.6359094977378845, -0.010480980388820171, -0.3295760154724121, -0.00652550533413887, -0.08957735449075699, 0.9957510828971863, 0.020323360338807106], "tcp_vel": [0.0002945040469057858, 0.05176439881324768, -0.0006280438392423093, 0.0034744865261018276, -0.006474495865404606, 0.035882510244846344], "flange_pose": [0.639070451259613, -0.017948919907212257, -0.13974915444850922, -0.00652550533413887, -0.08957735449075699, 0.9957510828971863, 0.020323360338807106], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.713356971740723, -57.15411376953125, -11.655190467834473, -6.541245460510254, 10.799715995788574, 0.17015239596366882], "ext_wrench_in_world": [-2.133581974089662, -58.919138050506234, 9.383423173776064, 4.509147695036851, 11.792817065391763, 0.2185459419400118]}
+{"timestamp_ns": 1789729722414285162, "elapsed_ms": 11566, "source_timestamp_ns": 1789729722409254912, "q": [0.06335350126028061, -1.4019367694854736, 0.022153355181217194, 1.0495243072509766, 1.6167285442352295, 0.010723330080509186, -1.0637016296386719], "theta": [0.06125475838780403, -1.4007900953292847, 0.020499734207987785, 1.0325355529785156, 1.615774154663086, 0.011377692222595215, -1.064736247062683], "dq": [-0.01538144238293171, 0.1241389662027359, 0.02872764691710472, 0.10530607402324677, -0.020232344046235085, 0.016370706260204315, -0.021228373050689697], "dtheta": [-0.015011163428425789, 0.11950799077749252, 0.028350291773676872, 0.1040620431303978, -0.02115817554295063, 0.015941644087433815, -0.015480831265449524], "tau": [-62.62999725341797, 0.7799999713897705, -28.84800148010254, 0.8360000252723694, -4.2920002937316895, 3.6480002403259277, -0.30800002813339233], "tau_des": [-2.2544376850128174, 1.9349435567855835, -0.6932442784309387, -0.23245850205421448, -0.3292176425457001, 0.02185261994600296, -0.23068173229694366], "tau_dot": [-71.28970336914062, -31.82184410095215, -23.748369216918945, -68.75862884521484, 48.32322311401367, 31.380258560180664, -28.631916046142578], "tau_ext": [16.128379821777344, -36.42424011230469, -36.34241485595703, 20.018539428710938, -2.165138006210327, -6.822293281555176, 0.191230908036232], "tcp_pose": [0.6358815431594849, -0.0089940894395113, -0.32959288358688354, -0.006485240068286657, -0.09005029499530792, 0.9957082271575928, 0.0203462652862072], "tcp_vel": [0.0005320537020452321, 0.053132422268390656, -0.0008680858882144094, 0.0029167779721319675, -0.001948638237081468, 0.03022647090256214], "flange_pose": [0.6390315890312195, -0.016470568254590034, -0.13976618647575378, -0.006485240068286657, -0.09005029499530792, 0.9957082271575928, 0.0203462652862072], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.053779602050781, -57.2716064453125, -11.543184280395508, -6.572292804718018, 10.680521011352539, 0.17506131529808044], "ext_wrench_in_world": [-2.394328889992389, -59.093923159346716, 9.265991844407242, 4.549753310435046, 11.685677163887831, 0.2095287201816532]}
+{"timestamp_ns": 1789729722447556747, "elapsed_ms": 11600, "source_timestamp_ns": 1789729722439272224, "q": [0.06288954615592957, -1.398207187652588, 0.023032860830426216, 1.052734136581421, 1.615965723991394, 0.01129087619483471, -1.0641167163848877], "theta": [0.060788124799728394, -1.397092580795288, 0.021398190408945084, 1.035714864730835, 1.6150330305099487, 0.011945009231567383, -1.0651280879974365], "dq": [-0.012896205298602581, 0.1174095869064331, 0.031499553471803665, 0.09760871529579163, -0.023651739582419395, 0.01889306679368019, -0.010211720131337643], "dtheta": [-0.015073693357408047, 0.12209060043096542, 0.0297224260866642, 0.10104326158761978, -0.024747584015130997, 0.0184212364256382, -0.008847815915942192], "tau": [-62.39999771118164, 0.23999999463558197, -28.832000732421875, 1.3760000467300415, -4.312000274658203, 3.624000072479248, -0.31200000643730164], "tau_des": [-2.0460004806518555, 1.0496046543121338, -0.7409533858299255, 0.33523106575012207, -0.36452874541282654, -0.032986998558044434, -0.2331715226173401], "tau_dot": [6.416280269622803, -92.7121810913086, 31.652395248413086, 81.96765899658203, -3.91312313079834, 34.47068786621094, -39.629703521728516], "tau_ext": [16.019201278686523, -36.08219528198242, -36.31150436401367, 19.793415069580078, -2.141827344894409, -6.815766334533691, 0.19092710316181183], "tcp_pose": [0.6359001994132996, -0.007362985052168369, -0.3296043872833252, -0.0064871469512581825, -0.09050781279802322, 0.9956671595573425, 0.020326262339949608], "tcp_vel": [0.0021213535219430923, 0.05485812947154045, -0.0010294640669599175, 0.00027997777215205133, -0.0001977817009901628, 0.029316343367099762], "flange_pose": [0.6390537023544312, -0.014830385334789753, -0.13977737724781036, -0.0064871469512581825, -0.09050781279802322, 0.9956671595573425, 0.020326262339949608], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.068315505981445, -57.24976348876953, -11.476821899414062, -6.5798468589782715, 10.632932662963867, 0.17666557431221008], "ext_wrench_in_world": [-2.359524844725273, -59.074344884191156, 9.202616454332762, 4.554977744807299, 11.64451670256079, 0.20557464816992693]}
+{"timestamp_ns": 1789729722480882845, "elapsed_ms": 11633, "source_timestamp_ns": 1789729722479236581, "q": [0.0623139850795269, -1.3935340642929077, 0.02416696771979332, 1.0566350221633911, 1.6149022579193115, 0.012013361789286137, -1.064415693283081], "theta": [0.060208577662706375, -1.3923941850662231, 0.02255265973508358, 1.0396183729171753, 1.6139988899230957, 0.012665033340454102, -1.0654022693634033], "dq": [-0.0143132284283638, 0.10710212588310242, 0.02452627196907997, 0.1028965637087822, -0.026294134557247162, 0.017300255596637726, -0.009568709880113602], "dtheta": [-0.014706097543239594, 0.11980900913476944, 0.02941756322979927, 0.09951753914356232, -0.025439726188778877, 0.01878306269645691, -0.00766568211838603], "tau": [-62.30999755859375, -0.0, -28.860000610351562, 1.5880000591278076, -4.388000011444092, 3.620000123977661, -0.29200002551078796], "tau_des": [-2.063547372817993, 1.3496276140213013, -0.5201355814933777, 0.25885453820228577, -0.19225871562957764, -0.11397672444581985, -0.326407253742218], "tau_dot": [53.505287170410156, 83.97394561767578, 63.55425262451172, -73.9490966796875, 9.275825500488281, -53.83219528198242, 16.326021194458008], "tau_ext": [15.93997573852539, -35.86772155761719, -36.29182434082031, 19.533105850219727, -2.1170270442962646, -6.80495548248291, 0.18569572269916534], "tcp_pose": [0.6359392404556274, -0.005299475975334644, -0.32962924242019653, -0.006540712434798479, -0.0910329818725586, 0.9956197738647461, 0.020284520462155342], "tcp_vel": [0.0014586143661290407, 0.05341535061597824, -0.001006365637294948, -0.0008683508494868875, 0.0006473140092566609, 0.027479037642478943], "flange_pose": [0.6391155123710632, -0.012747570872306824, -0.13980187475681305, -0.006540712434798479, -0.0910329818725586, 0.9956197738647461, 0.020284520462155342], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.58995532989502, -57.17583465576172, -11.427093505859375, -6.583284378051758, 10.694419860839844, 0.17673367261886597], "ext_wrench_in_world": [-1.8401777073247785, -58.91460112730344, 9.156693169458604, 4.534931759065075, 11.710386631089898, 0.2066955352136643]}
+{"timestamp_ns": 1789729722514226170, "elapsed_ms": 11666, "source_timestamp_ns": 1789729722509235175, "q": [0.061861488968133926, -1.390019416809082, 0.025060757994651794, 1.059664249420166, 1.6141793727874756, 0.012558834627270699, -1.0647531747817993], "theta": [0.05975024402141571, -1.388814091682434, 0.02347910776734352, 1.0426512956619263, 1.6133009195327759, 0.013208866119384766, -1.0657222270965576], "dq": [-0.016296610236167908, 0.12296977639198303, 0.030625035986304283, 0.1040327176451683, -0.019669707864522934, 0.014824592508375645, -0.01368515845388174], "dtheta": [-0.015470377169549465, 0.11913564056158066, 0.03132778778672218, 0.1024165078997612, -0.0226141307502985, 0.016777100041508675, -0.012795619666576385], "tau": [-62.32999801635742, 0.4399999976158142, -28.876001358032227, 1.28000009059906, -4.37600040435791, 3.620000123977661, -0.31200000643730164], "tau_des": [-2.248957872390747, 1.900652289390564, -0.5985242128372192, -0.13480514287948608, -0.20543713867664337, -0.04534425586462021, -0.30859899520874023], "tau_dot": [71.85350799560547, 24.979419708251953, 24.007972717285156, 25.668336868286133, -31.278480529785156, -15.358187675476074, -12.201677322387695], "tau_ext": [15.921063423156738, -36.17673873901367, -36.347312927246094, 19.697763442993164, -2.131740093231201, -6.788214683532715, 0.19304201006889343], "tcp_pose": [0.6359396576881409, -0.003745854599401355, -0.32966065406799316, -0.006543021649122238, -0.09143450856208801, 0.9955828785896301, 0.020290138199925423], "tcp_vel": [5.4992848163237795e-05, 0.05381511151790619, -0.001840552082285285, 0.004140318837016821, -0.0006287706200964749, 0.028808945789933205], "flange_pose": [0.6391199827194214, -0.011194711551070213, -0.13983334600925446, -0.006543021649122238, -0.09143450856208801, 0.9955828785896301, 0.020290138199925423], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.372501373291016, -57.376731872558594, -11.419926643371582, -6.641852855682373, 10.712656021118164, 0.18205483257770538], "ext_wrench_in_world": [-1.5425673529638035, -59.07367011455424, 9.138099381487871, 4.579666248550945, 11.742839037480387, 0.20184334794656006]}
+{"timestamp_ns": 1789729722547560917, "elapsed_ms": 11700, "source_timestamp_ns": 1789729722539238009, "q": [0.06136681139469147, -1.38637113571167, 0.02601488307118416, 1.0628435611724854, 1.613493800163269, 0.013097931630909443, -1.065179467201233], "theta": [0.059245556592941284, -1.3851269483566284, 0.02447049878537655, 1.045824646949768, 1.61263906955719, 0.013748407363891602, -1.066131591796875], "dq": [-0.012485083192586899, 0.12661178410053253, 0.03374982997775078, 0.10416289418935776, -0.02048027701675892, 0.017811380326747894, -0.014189081266522408], "dtheta": [-0.01606205478310585, 0.11852933466434479, 0.03308471664786339, 0.10076534003019333, -0.023596683517098427, 0.01886126771569252, -0.013309212401509285], "tau": [-62.3599967956543, 0.6100000143051147, -28.996002197265625, 0.9320000410079956, -4.36400032043457, 3.636000156402588, -0.2760000228881836], "tau_des": [-2.210723876953125, 1.975077748298645, -0.7429810762405396, -0.11294727772474289, -0.30690136551856995, -0.022105442360043526, -0.2559302747249603], "tau_dot": [-35.27541732788086, -89.90631866455078, -43.32771682739258, -58.95201873779297, -38.817501068115234, 1.1387746334075928, 69.26881408691406], "tau_ext": [15.92858600616455, -36.35355758666992, -36.3455924987793, 19.843433380126953, -2.128256320953369, -6.7939982414245605, 0.1976349800825119], "tcp_pose": [0.6359328031539917, -0.002116018906235695, -0.32969868183135986, -0.006517318543046713, -0.09187047183513641, 0.9955419301986694, 0.0203359667211771], "tcp_vel": [0.000504225492477417, 0.05379047617316246, -0.002038507256656885, 0.003653920255601406, -0.0013334780232980847, 0.030326468870043755], "flange_pose": [0.6391082406044006, -0.009581711143255234, -0.1398719847202301, -0.006517318543046713, -0.09187047183513641, 0.9955419301986694, 0.0203359667211771], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.461173057556152, -57.6114616394043, -11.472495079040527, -6.708593368530273, 10.655634880065918, 0.1917283833026886], "ext_wrench_in_world": [-1.5349021251724464, -59.32482206252268, 9.17545923938896, 4.645251915448266, 11.703410531548567, 0.19067256381538164]}
+{"timestamp_ns": 1789729722580907322, "elapsed_ms": 11733, "source_timestamp_ns": 1789729722579245520, "q": [0.06071735918521881, -1.3815497159957886, 0.027277851477265358, 1.0669347047805786, 1.6124991178512573, 0.013863877393305302, -1.0656274557113647], "theta": [0.058576032519340515, -1.3803349733352661, 0.025765588507056236, 1.049906849861145, 1.6116703748703003, 0.014515161514282227, -1.0665580034255981], "dq": [-0.01744130253791809, 0.1298288255929947, 0.027602212503552437, 0.10119584202766418, -0.024784808978438377, 0.017461074516177177, -0.00877959281206131], "dtheta": [-0.016631005331873894, 0.12162525951862335, 0.03198493644595146, 0.10264237970113754, -0.026808377355337143, 0.01850321888923645, -0.006554735358804464], "tau": [-62.22999954223633, 0.32999998331069946, -29.10000228881836, 1.1480000019073486, -4.432000160217285, 3.6720001697540283, -0.29200002551078796], "tau_des": [-2.0423028469085693, 1.3841440677642822, -0.7760379910469055, 0.05011026933789253, -0.32861992716789246, 0.030721524730324745, -0.2906418740749359], "tau_dot": [45.475929260253906, 129.12269592285156, -63.41447830200195, 6.107977867126465, -48.74311447143555, 14.42085075378418, 62.952693939208984], "tau_ext": [15.860060691833496, -36.162200927734375, -36.33427047729492, 19.802053451538086, -2.1094419956207275, -6.804271221160889, 0.19298699498176575], "tcp_pose": [0.6359491944313049, 3.815988384303637e-05, -0.3297417461872101, -0.006512321997433901, -0.09244631975889206, 0.9954883456230164, 0.02035253494977951], "tcp_vel": [4.580985478241928e-05, 0.05437843129038811, -0.0009192072320729494, 0.0006804874865338206, 0.00116843415889889, 0.025110263377428055], "flange_pose": [0.6391277313232422, -0.007432135287672281, -0.13991525769233704, -0.006512321997433901, -0.09244631975889206, 0.9954883456230164, 0.02035253494977951], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.63892650604248, -57.71184158325195, -11.516517639160156, -6.749730110168457, 10.565184593200684, 0.19560196995735168], "ext_wrench_in_world": [-1.6221083704564419, -59.46003285266774, 9.214258422834027, 4.688703637603703, 11.627669688196583, 0.1832975725075418]}
+{"timestamp_ns": 1789729722614231220, "elapsed_ms": 11766, "source_timestamp_ns": 1789729722609232056, "q": [0.060232751071453094, -1.3778623342514038, 0.02820301428437233, 1.069951057434082, 1.611661434173584, 0.01446843147277832, -1.065826654434204], "theta": [0.058075495064258575, -1.3766952753067017, 0.026717832311987877, 1.0529272556304932, 1.6108487844467163, 0.015118956565856934, -1.0667413473129272], "dq": [-0.015510085970163345, 0.12080956250429153, 0.030304398387670517, 0.09735887497663498, -0.02685053087770939, 0.019268330186605453, -0.006897089537233114], "dtheta": [-0.016468703746795654, 0.12110128253698349, 0.03146715462207794, 0.10351318120956421, -0.027965081855654716, 0.02081938646733761, -0.004913810640573502], "tau": [-62.15999984741211, -0.12999999523162842, -29.052001953125, 1.2720000743865967, -4.427999973297119, 3.6640002727508545, -0.29200002551078796], "tau_des": [-1.8728981018066406, 1.2882250547409058, -0.6059693098068237, 0.06775730848312378, -0.2579844295978546, -0.06506108492612839, -0.3628574013710022], "tau_dot": [-0.2870677411556244, -5.358872890472412, 2.3985064029693604, -16.307403564453125, -92.95848083496094, 49.71967315673828, 7.324419975280762], "tau_ext": [15.803157806396484, -35.77739334106445, -36.292640686035156, 19.688493728637695, -2.081273078918457, -6.824200630187988, 0.19409160315990448], "tcp_pose": [0.6359885931015015, 0.0016817745054140687, -0.3297562301158905, -0.006543094292283058, -0.09287438541650772, 0.9954490065574646, 0.020318130031228065], "tcp_vel": [-0.0005830723093822598, 0.052853476256132126, -0.00041391843114979565, -0.0025290646590292454, 0.0009170263656415045, 0.022193709388375282], "flange_pose": [0.6391807198524475, -0.005773056298494339, -0.1399293839931488, -0.006543094292283058, -0.09287438541650772, 0.9954490065574646, 0.020318130031228065], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.597692489624023, -57.40351104736328, -11.53315544128418, -6.681926727294922, 10.537585258483887, 0.19807612895965576], "ext_wrench_in_world": [-1.5866790654172376, -59.15105074243964, 9.247391884710419, 4.617121016924443, 11.592157289839758, 0.17934576746705616]}
+{"timestamp_ns": 1789729722647559678, "elapsed_ms": 11800, "source_timestamp_ns": 1789729722639236950, "q": [0.05977463722229004, -1.3743661642074585, 0.029079042375087738, 1.0729219913482666, 1.6109250783920288, 0.015042868442833424, -1.066088080406189], "theta": [0.05760161578655243, -1.373226284980774, 0.027616431936621666, 1.0559158325195312, 1.6101254224777222, 0.015692472457885742, -1.0669870376586914], "dq": [-0.013892296701669693, 0.11465197801589966, 0.031041447073221207, 0.10187593102455139, -0.021624084562063217, 0.01970631256699562, -0.010280403308570385], "dtheta": [-0.01593909226357937, 0.12084127962589264, 0.03015565313398838, 0.10268380492925644, -0.021177878603339195, 0.01823345571756363, -0.01211661659181118], "tau": [-62.099998474121094, 0.4099999964237213, -28.908000946044922, 1.096000075340271, -4.344000339508057, 3.640000104904175, -0.31200000643730164], "tau_des": [-1.948064923286438, 1.2005615234375, -0.5705963373184204, 0.1187576949596405, -0.3647631108760834, -0.03460932523012161, -0.3197181224822998], "tau_dot": [-64.24053955078125, 39.89487838745117, -58.154903411865234, 13.635263442993164, 49.61827850341797, 41.96611022949219, -5.128965377807617], "tau_ext": [15.732460021972656, -35.978702545166016, -36.381874084472656, 19.745872497558594, -2.0764553546905518, -6.812386512756348, 0.19550810754299164], "tcp_pose": [0.635983943939209, 0.0032197735272347927, -0.3297739028930664, -0.006551255937665701, -0.09326045215129852, 0.9954133033752441, 0.02029714174568653], "tcp_vel": [0.000396654853830114, 0.054258670657873154, -0.0010744528844952583, 0.0025959594640880823, -0.00251554767601192, 0.029673118144273758], "flange_pose": [0.6391813158988953, -0.004225593525916338, -0.13994675874710083, -0.006551255937665701, -0.09326045215129852, 0.9954133033752441, 0.02029714174568653], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.616655349731445, -57.30909729003906, -11.551590919494629, -6.6614227294921875, 10.498589515686035, 0.20308896899223328], "ext_wrench_in_world": [-1.576637873079584, -59.06347822496467, 9.272088770644705, 4.595125108856475, 11.553841438830148, 0.1724904911069117]}
+{"timestamp_ns": 1789729722680891505, "elapsed_ms": 11833, "source_timestamp_ns": 1789729722679230653, "q": [0.0591079518198967, -1.3695429563522339, 0.03031339682638645, 1.0771106481552124, 1.6100460290908813, 0.015765991061925888, -1.0667039155960083], "theta": [0.05691005662083626, -1.3683885335922241, 0.02886960841715336, 1.0601431131362915, 1.609265923500061, 0.016416072845458984, -1.0675855875015259], "dq": [-0.015255969017744064, 0.11517571657896042, 0.027057865634560585, 0.10033934563398361, -0.020635472610592842, 0.01726544089615345, -0.011881545186042786], "dtheta": [-0.017409440129995346, 0.11748470366001129, 0.031474947929382324, 0.0994381532073021, -0.022282816469669342, 0.017206959426403046, -0.013396961614489555], "tau": [-61.93000030517578, 0.8899999856948853, -28.84800148010254, 0.8760000467300415, -4.324000358581543, 3.6040000915527344, -0.2880000174045563], "tau_des": [-1.7509733438491821, 1.770177960395813, -0.4788082540035248, -0.16911891102790833, -0.3577623963356018, -0.022384224459528923, -0.2694392800331116], "tau_dot": [-125.14564514160156, 19.47382354736328, -53.857234954833984, -60.0723876953125, 80.18575286865234, -28.36482048034668, 29.555938720703125], "tau_ext": [15.59588623046875, -36.40930938720703, -36.569183349609375, 19.872941970825195, -2.1038527488708496, -6.79615592956543, 0.20290906727313995], "tcp_pose": [0.6359535455703735, 0.0053658802062273026, -0.32980769872665405, -0.006512033753097057, -0.0938727930188179, 0.9953550100326538, 0.020343679934740067], "tcp_vel": [0.00020370999118313193, 0.05336717516183853, -0.0007704125600866973, 0.003926393110305071, -0.002125165658071637, 0.03088550642132759], "flange_pose": [0.6391423344612122, -0.0020965146832168102, -0.13998109102249146, -0.006512033753097057, -0.0938727930188179, 0.9953550100326538, 0.020343679934740067], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.651741981506348, -57.87968444824219, -11.72844409942627, -6.819985866546631, 10.45754623413086, 0.2146243005990982], "ext_wrench_in_world": [-1.4300090616730134, -59.63996361236615, 9.418633785599656, 4.744140962127821, 11.549295557490971, 0.159507700341527]}
+{"timestamp_ns": 1789729722714222122, "elapsed_ms": 11866, "source_timestamp_ns": 1789729722709236876, "q": [0.05860808864235878, -1.3660527467727661, 0.03122609294950962, 1.0800292491912842, 1.6093366146087646, 0.016278821974992752, -1.0670642852783203], "theta": [0.05638977885246277, -1.3648875951766968, 0.029792239889502525, 1.0630840063095093, 1.6085681915283203, 0.016928791999816895, -1.0679316520690918], "dq": [-0.018347928300499916, 0.12321040034294128, 0.032349843531847, 0.09934605658054352, -0.02472538873553276, 0.014517872594296932, -0.012554369866847992], "dtheta": [-0.017656609416007996, 0.11825057119131088, 0.029269052669405937, 0.09623278677463531, -0.023079320788383484, 0.016740554943680763, -0.011071626096963882], "tau": [-61.71999740600586, 0.4599999785423279, -28.884000778198242, 1.0840001106262207, -4.396000385284424, 3.6640002727508545, -0.30400002002716064], "tau_des": [-1.2655484676361084, 0.8857026100158691, -0.27781903743743896, 0.1832321584224701, -0.37713178992271423, -0.042345743626356125, -0.24980203807353973], "tau_dot": [84.64712524414062, 77.7443618774414, -37.99397277832031, -24.903234481811523, -39.35530090332031, 8.631525993347168, -0.6180449724197388], "tau_ext": [15.47671890258789, -36.38159942626953, -36.638980865478516, 19.772241592407227, -2.0994279384613037, -6.7980194091796875, 0.20588821172714233], "tcp_pose": [0.6359582543373108, 0.0069433157332241535, -0.3298269212245941, -0.006512443069368601, -0.09433110803365707, 0.9953111410140991, 0.020372023805975914], "tcp_vel": [0.0016848506638780236, 0.053879253566265106, 0.0003849774075206369, 0.001777357654646039, -0.0017461274983361363, 0.032739631831645966], "flange_pose": [0.6391516327857971, -0.0005283114733174443, -0.14000074565410614, -0.006512443069368601, -0.09433110803365707, 0.9953111410140991, 0.020372023805975914], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.44339370727539, -58.30535125732422, -11.868917465209961, -6.951812267303467, 10.489483833312988, 0.2212502360343933], "ext_wrench_in_world": [-1.088435187146927, -60.02594163179112, 9.535453531446247, 4.856877828369446, 11.610038529420446, 0.15381697493047203]}
+{"timestamp_ns": 1789729722747574187, "elapsed_ms": 11900, "source_timestamp_ns": 1789729722739390031, "q": [0.058122195303440094, -1.3625714778900146, 0.03212825581431389, 1.0828546285629272, 1.6085789203643799, 0.01681027002632618, -1.0673496723175049], "theta": [0.05588194727897644, -1.3614287376403809, 0.030700329691171646, 1.0659139156341553, 1.6078202724456787, 0.01746189594268799, -1.0682024955749512], "dq": [-0.015799488872289658, 0.11422597616910934, 0.03653132915496826, 0.09041465818881989, -0.025833353400230408, 0.018433913588523865, -0.0066042435355484486], "dtheta": [-0.01643180102109909, 0.11254221200942993, 0.03102380409836769, 0.0938916727900505, -0.026350107043981552, 0.01804352179169655, -0.008649989031255245], "tau": [-61.52000045776367, -0.029999999329447746, -28.920001983642578, 1.224000096321106, -4.380000114440918, 3.6680002212524414, -0.31200000643730164], "tau_des": [-1.5460309982299805, 1.2388557195663452, -0.46655941009521484, -0.1475323587656021, -0.2545582354068756, 0.02205081842839718, -0.3817155957221985], "tau_dot": [44.3167839050293, -53.61693572998047, 13.816253662109375, 16.950801849365234, 18.816640853881836, -23.448808670043945, 11.21725845336914], "tau_ext": [15.439599990844727, -36.1152458190918, -36.5958366394043, 19.71432113647461, -2.088143825531006, -6.815276145935059, 0.203703835606575], "tcp_pose": [0.6359829306602478, 0.00852193869650364, -0.3298453390598297, -0.006536427885293961, -0.09479549527168274, 0.9952667355537415, 0.020375970751047134], "tcp_vel": [-0.0005991363432258368, 0.050445280969142914, -0.0007124787662178278, 0.00012111391697544605, 0.0016962820664048195, 0.027086293324828148], "flange_pose": [0.6391890048980713, 0.0010511759901419282, -0.14001932740211487, -0.006536427885293961, -0.09479549527168274, 0.9952667355537415, 0.020375970751047134], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.282146453857422, -58.30976104736328, -11.982420921325684, -6.97710657119751, 10.504410743713379, 0.2264479398727417], "ext_wrench_in_world": [-0.8710179415791033, -60.005358852435585, 9.646553933208887, 4.8679769904027825, 11.634196955360656, 0.1490002441175099]}
+{"timestamp_ns": 1789729722780897445, "elapsed_ms": 11933, "source_timestamp_ns": 1789729722779447826, "q": [0.057511404156684875, -1.3580533266067505, 0.03337316960096359, 1.0864847898483276, 1.607539176940918, 0.01763620786368847, -1.0677564144134521], "theta": [0.05523841083049774, -1.3569388389587402, 0.031931810081005096, 1.0695345401763916, 1.6067956686019897, 0.018290996551513672, -1.0685909986495972], "dq": [-0.012359929271042347, 0.10415702313184738, 0.032151706516742706, 0.09132032096385956, -0.02808958850800991, 0.02064085751771927, -0.010108687914907932], "dtheta": [-0.015710262581706047, 0.11080270260572433, 0.03053956665098667, 0.08983787149190903, -0.026252245530486107, 0.01880180463194847, -0.009682408533990383], "tau": [-61.56999969482422, -0.4399999976158142, -29.052001953125, 1.4840000867843628, -4.444000244140625, 3.692000150680542, -0.320000022649765], "tau_des": [-1.5500003099441528, 0.5814833045005798, -0.5599370002746582, 0.3510705232620239, -0.32235845923423767, 0.047543495893478394, -0.36571770906448364], "tau_dot": [-9.963274002075195, 146.57977294921875, 29.338722229003906, 34.75625228881836, 16.104900360107422, 33.60675048828125, -3.907238006591797], "tau_ext": [15.326708793640137, -35.5247688293457, -36.55132293701172, 19.4802303314209, -2.0560460090637207, -6.835459232330322, 0.20661021769046783], "tcp_pose": [0.6360198855400085, 0.010564063675701618, -0.3298996090888977, -0.006569830235093832, -0.0954340398311615, 0.9952061176300049, 0.020346665754914284], "tcp_vel": [0.0002331300638616085, 0.050030361860990524, -0.0009286021231673658, -0.0007736697443760931, 0.0017965654842555523, 0.03048532083630562], "flange_pose": [0.6392422914505005, 0.0031076506711542606, -0.14007332921028137, -0.006569830235093832, -0.0954340398311615, 0.9952061176300049, 0.020346665754914284], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.135740280151367, -57.83373260498047, -12.095499992370605, -6.882003307342529, 10.499197006225586, 0.23295003175735474], "ext_wrench_in_world": [-0.7382606029962384, -59.51553321236168, 9.78131979680879, 4.760552674612225, 11.617497352080852, 0.1423605343568538]}
+{"timestamp_ns": 1789729722814289104, "elapsed_ms": 11966, "source_timestamp_ns": 1789729722809366641, "q": [0.057074662297964096, -1.354823350906372, 0.03429453819990158, 1.0892361402511597, 1.6068308353424072, 0.018267685547471046, -1.0681709051132202], "theta": [0.05477530509233475, -1.3536715507507324, 0.03283451125025749, 1.0722625255584717, 1.6061019897460938, 0.018924355506896973, -1.0689948797225952], "dq": [-0.01570666953921318, 0.09917229413986206, 0.03046167455613613, 0.09617680311203003, -0.019005274400115013, 0.020826049149036407, -0.018013229593634605], "dtheta": [-0.01618039235472679, 0.10733729600906372, 0.029958555474877357, 0.09426019340753555, -0.019517822191119194, 0.018649671226739883, -0.018265971913933754], "tau": [-61.72999954223633, 0.7699999809265137, -28.98000144958496, 0.6960000395774841, -4.384000301361084, 3.6680002212524414, -0.3160000145435333], "tau_des": [-1.8000437021255493, 2.2874536514282227, -0.2716108560562134, -0.7063261270523071, -0.18284420669078827, -0.04241693392395973, -0.45762521028518677], "tau_dot": [0.9221733808517456, 208.67617797851562, -14.542291641235352, -94.42747497558594, -28.686796188354492, 38.283668518066406, 11.081589698791504], "tau_ext": [15.387925148010254, -36.04694747924805, -36.56690216064453, 19.818771362304688, -2.075525999069214, -6.833593845367432, 0.21371231973171234], "tcp_pose": [0.6359841227531433, 0.011989382095634937, -0.3299502432346344, -0.006572538521140814, -0.09587342292070389, 0.9951642155647278, 0.02032947726547718], "tcp_vel": [-0.0014536119997501373, 0.047633931040763855, -0.0008844728581607342, 0.0026737216394394636, -0.003904379438608885, 0.03081512078642845], "flange_pose": [0.6392102837562561, 0.004540988709777594, -0.14012369513511658, -0.006572538521140814, -0.09587342292070389, 0.9951642155647278, 0.02032947726547718], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.17712116241455, -57.66199493408203, -12.099067687988281, -6.849542140960693, 10.456878662109375, 0.23996791243553162], "ext_wrench_in_world": [-0.7591448352530539, -59.355503926683056, 9.794040597698642, 4.726374798118914, 11.574266535829342, 0.13363726711095114]}
+{"timestamp_ns": 1789729722847561369, "elapsed_ms": 12000, "source_timestamp_ns": 1789729722839285705, "q": [0.05659116059541702, -1.3517318964004517, 0.03522393852472305, 1.0920380353927612, 1.6063178777694702, 0.018811212852597237, -1.0688917636871338], "theta": [0.05426766350865364, -1.350495457649231, 0.03374779596924782, 1.0750352144241333, 1.6056052446365356, 0.01946735382080078, -1.0697087049484253], "dq": [-0.017261506989598274, 0.10663317143917084, 0.03304581344127655, 0.0917380303144455, -0.01653422974050045, 0.016897864639759064, -0.024280324578285217], "dtheta": [-0.018687989562749863, 0.10742685943841934, 0.03181321918964386, 0.09184744209051132, -0.013784813694655895, 0.016116581857204437, -0.023209089413285255], "tau": [-61.77000045776367, 1.6799999475479126, -28.93600082397461, 0.328000009059906, -4.324000358581543, 3.6520001888275146, -0.35200002789497375], "tau_des": [-1.643580436706543, 2.7079367637634277, -0.3313606083393097, -0.7828910946846008, -0.450615257024765, 0.027234697714447975, -0.2778727412223816], "tau_dot": [-42.914947509765625, -19.680294036865234, -61.9640998840332, 27.488128662109375, 30.01045036315918, 20.618925094604492, -30.531017303466797], "tau_ext": [15.335176467895508, -36.76756286621094, -36.66619110107422, 20.239770889282227, -2.1125190258026123, -6.825592041015625, 0.2279966175556183], "tcp_pose": [0.6359124779701233, 0.01336849294602871, -0.3299994170665741, -0.0064953104592859745, -0.09636744856834412, 0.9951155185699463, 0.020400721579790115], "tcp_vel": [0.0008224164485000074, 0.05059845373034477, -0.0010623831767588854, 0.010273806750774384, -0.008892069570720196, 0.03782103210687637], "flange_pose": [0.6391156911849976, 0.005891940090805292, -0.14017361402511597, -0.0064953104592859745, -0.09636744856834412, 0.9951155185699463, 0.020400721579790115], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.650708198547363, -58.11772537231445, -12.146927833557129, -6.978384017944336, 10.316387176513672, 0.25410932302474976], "ext_wrench_in_world": [-1.0786887620012344, -59.89756851639797, 9.817127510037981, 4.868017101428143, 11.466447276777526, 0.11513372559410165]}
+{"timestamp_ns": 1789729722880898175, "elapsed_ms": 12033, "source_timestamp_ns": 1789729722879255151, "q": [0.05586273595690727, -1.3475016355514526, 0.03656182438135147, 1.0955779552459717, 1.605419397354126, 0.01954021118581295, -1.0695726871490479], "theta": [0.05350944399833679, -1.3461881875991821, 0.03505704924464226, 1.0785529613494873, 1.6047286987304688, 0.020193815231323242, -1.0703792572021484], "dq": [-0.01811409741640091, 0.12447115033864975, 0.040691304951906204, 0.08374417573213577, -0.02724129520356655, 0.023666298016905785, -0.011410911567509174], "dtheta": [-0.01890149898827076, 0.11103396862745285, 0.03307896852493286, 0.0840049609541893, -0.027023712173104286, 0.02040078677237034, -0.009661827236413956], "tau": [-61.5, 1.2899999618530273, -28.93600082397461, 0.7280000448226929, -4.372000217437744, 3.6560001373291016, -0.320000022649765], "tau_des": [-1.117006540298462, 1.995986819267273, -0.2537252604961395, -0.01885513961315155, -0.37490949034690857, -0.035876259207725525, -0.18306303024291992], "tau_dot": [-97.55255126953125, -20.552490234375, -34.14279556274414, 7.674378871917725, 10.570734024047852, 1.8272819519042969, 15.023819923400879], "tau_ext": [15.233185768127441, -36.588809967041016, -36.6440315246582, 20.01370620727539, -2.104107618331909, -6.838530540466309, 0.22862516343593597], "tcp_pose": [0.6359026432037354, 0.015322964638471603, -0.3300442397594452, -0.006450040265917778, -0.09704175591468811, 0.9950485825538635, 0.020484652370214462], "tcp_vel": [0.0030981728341430426, 0.05203276127576828, -4.08745399909094e-05, 0.0001569747255416587, -0.0009294040501117706, 0.03652191534638405], "flange_pose": [0.6390969157218933, 0.007815190590918064, -0.14021950960159302, -0.006450040265917778, -0.09704175591468811, 0.9950485825538635, 0.020484652370214462], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.86275863647461, -58.6163444519043, -12.258744239807129, -7.150107383728027, 10.234175682067871, 0.2675952613353729], "ext_wrench_in_world": [-1.108688601596775, -60.43504574374569, 9.898447480163428, 5.036601672789652, 11.426144304692794, 0.09932085455495167]}
+{"timestamp_ns": 1789729722914226463, "elapsed_ms": 12066, "source_timestamp_ns": 1789729722909241487, "q": [0.055323101580142975, -1.3441426753997803, 0.03760547935962677, 1.098074197769165, 1.604503870010376, 0.0201561339199543, -1.0696688890457153], "theta": [0.05294887721538544, -1.3428373336791992, 0.036063555628061295, 1.0810438394546509, 1.6038293838500977, 0.020804524421691895, -1.070457935333252], "dq": [-0.014903649687767029, 0.12455658614635468, 0.03475852683186531, 0.082040935754776, -0.03222236409783363, 0.02400975488126278, -0.0006870915531180799], "dtheta": [-0.01835070364177227, 0.11334928125143051, 0.03453926742076874, 0.08186022937297821, -0.03123396821320057, 0.02211656980216503, 0.0005606773192994297], "tau": [-61.16999816894531, 0.4399999976158142, -28.996002197265625, 1.3320000171661377, -4.37600040435791, 3.6760001182556152, -0.320000022649765], "tau_des": [-1.0588648319244385, 1.259784460067749, -0.39805006980895996, 0.7141606211662292, -0.41063347458839417, 0.03158414363861084, -0.18236325681209564], "tau_dot": [45.03834915161133, -80.06289672851562, 6.156785011291504, 15.166444778442383, 43.049930572509766, 24.343441009521484, -18.676279067993164], "tau_ext": [15.088129043579102, -36.10811996459961, -36.5982551574707, 19.645151138305664, -2.079798698425293, -6.848260402679443, 0.22034858167171478], "tcp_pose": [0.635976254940033, 0.016905656084418297, -0.33007797598838806, -0.006509529426693916, -0.09751774370670319, 0.9950017929077148, 0.0204780213534832], "tcp_vel": [0.0036999869626015425, 0.053432200103998184, -0.0006033189129084349, -0.0024127522483468056, 0.002569837961345911, 0.030991263687610626], "flange_pose": [0.6391963362693787, 0.00940412376075983, -0.14025342464447021, -0.006509529426693916, -0.09751774370670319, 0.9950017929077148, 0.0204780213534832], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.45616340637207, -58.66405487060547, -12.317635536193848, -7.20473051071167, 10.308305740356445, 0.2698777914047241], "ext_wrench_in_world": [-0.6406952997434687, -60.40599098561897, 9.952750798064017, 5.064827887628523, 11.514332988549947, 0.09898125292003296]}
+{"timestamp_ns": 1789729722947557030, "elapsed_ms": 12100, "source_timestamp_ns": 1789729722939238822, "q": [0.05479272082448006, -1.3406411409378052, 0.03872058168053627, 1.1006178855895996, 1.6034832000732422, 0.020887339487671852, -1.0696635246276855], "theta": [0.0523996539413929, -1.3393908739089966, 0.03713391348719597, 1.083579182624817, 1.6028237342834473, 0.021526455879211426, -1.0704325437545776], "dq": [-0.019706925377249718, 0.11296362429857254, 0.03953476995229721, 0.0876806303858757, -0.03156748414039612, 0.02673913538455963, 0.0005759593332186341], "dtheta": [-0.018265685066580772, 0.11630667746067047, 0.03677467256784439, 0.0866902619600296, -0.03488220274448395, 0.025021826848387718, 0.002100804354995489], "tau": [-61.16999816894531, -0.3700000047683716, -29.240001678466797, 1.6600000858306885, -4.436000347137451, 3.6760001182556152, -0.2680000066757202], "tau_des": [-1.1717684268951416, 0.7597478628158569, -0.5221917033195496, 1.021621584892273, -0.30417296290397644, 0.06342534720897675, -0.11911769956350327], "tau_dot": [41.10053634643555, 12.448615074157715, -26.13250732421875, 2.188636064529419, -21.745309829711914, -46.80337905883789, -71.81272888183594], "tau_ext": [15.039359092712402, -35.5499267578125, -36.49905776977539, 19.297866821289062, -2.060523748397827, -6.863659858703613, 0.19105519354343414], "tcp_pose": [0.6360604763031006, 0.01854739896953106, -0.3301326334476471, -0.006594695616513491, -0.09799156337976456, 0.9949556589126587, 0.020430905744433403], "tcp_vel": [0.0019073702860623598, 0.05348333343863487, -0.001070006750524044, -0.005065063945949078, 0.0045150998048484325, 0.027739686891436577], "flange_pose": [0.639314591884613, 0.011068384163081646, -0.14030776917934418, -0.006594695616513491, -0.09799156337976456, 0.9949556589126587, 0.020430905744433403], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.931514739990234, -58.52613830566406, -12.32048511505127, -7.210237979888916, 10.408065795898438, 0.2628070116043091], "ext_wrench_in_world": [-0.09381831167364302, -60.16807100001716, 9.962865686930181, 5.039928254445001, 11.61773774089956, 0.108285906086223]}
+{"timestamp_ns": 1789729722980899086, "elapsed_ms": 12133, "source_timestamp_ns": 1789729722979229535, "q": [0.05409029498696327, -1.335895299911499, 0.04029412195086479, 1.1043264865875244, 1.602213740348816, 0.022003524005413055, -1.069605827331543], "theta": [0.05167385935783386, -1.3347058296203613, 0.03863142058253288, 1.087257981300354, 1.6015737056732178, 0.02263045310974121, -1.07034432888031], "dq": [-0.019243568181991577, 0.10911601781845093, 0.039208315312862396, 0.10157763212919235, -0.028687532991170883, 0.03037918545305729, 0.0011444330448284745], "dtheta": [-0.018642505630850792, 0.11623745411634445, 0.03893906995654106, 0.09794086962938309, -0.02684260532259941, 0.027711918577551842, 0.0005462158587761223], "tau": [-61.369998931884766, 0.3999999761581421, -29.28400230407715, 1.0880000591278076, -4.36400032043457, 3.704000234603882, -0.2240000069141388], "tau_des": [-1.7122710943222046, 2.0336060523986816, -0.6277210712432861, -0.22255004942417145, -0.25898638367652893, 0.024641016498208046, -0.5111360549926758], "tau_dot": [130.49302673339844, 185.87591552734375, 13.734297752380371, -9.164040565490723, -54.40428161621094, -18.317745208740234, 17.49036407470703], "tau_ext": [15.166418075561523, -35.74818420410156, -36.3740119934082, 19.50685691833496, -2.073117971420288, -6.883075714111328, 0.11914676427841187], "tcp_pose": [0.6360864043235779, 0.020715836435556412, -0.3302420377731323, -0.006648526061326265, -0.0984753966331482, 0.9949087500572205, 0.020370135083794594], "tcp_vel": [-0.0011813468299806118, 0.05202363803982735, -0.0022281587589532137, -0.0006921309977769852, -0.0025912784039974213, 0.017374934628605843], "flange_pose": [0.6393622756004333, 0.01326338667422533, -0.14041650295257568, -0.006648526061326265, -0.0984753966331482, 0.9949087500572205, 0.020370135083794594], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.694151878356934, -58.19036865234375, -12.218018531799316, -7.1515302658081055, 10.420196533203125, 0.2208140343427658], "ext_wrench_in_world": [0.13087094527160925, -59.78733282995302, 9.879770987692252, 4.969393365838407, 11.621378000866796, 0.14947477259052921]}
+{"timestamp_ns": 1789729723014227069, "elapsed_ms": 12166, "source_timestamp_ns": 1789729723009246060, "q": [0.05351731553673744, -1.3323774337768555, 0.04152756929397583, 1.107347846031189, 1.6014153957366943, 0.022835109382867813, -1.069750189781189], "theta": [0.05108458548784256, -1.3312013149261475, 0.03980310261249542, 1.0902314186096191, 1.600791335105896, 0.023450136184692383, -1.0704705715179443], "dq": [-0.020948251709342003, 0.11236702650785446, 0.03862745314836502, 0.10400189459323883, -0.026245808228850365, 0.0270006712526083, -0.006271071266382933], "dtheta": [-0.020486362278461456, 0.1170150637626648, 0.04013197124004364, 0.09987138956785202, -0.023539884015917778, 0.027180494740605354, -0.013869766145944595], "tau": [-61.66999816894531, 1.3600000143051147, -29.404001235961914, 0.20000000298023224, -4.328000068664551, 3.756000280380249, -0.3400000035762787], "tau_des": [-1.7540199756622314, 2.2301602363586426, -0.7322429418563843, -0.8189635872840881, -0.2957441806793213, 0.0696694627404213, -0.597869336605072], "tau_dot": [21.248859405517578, -8.467778205871582, 46.22828674316406, 32.61562728881836, -25.568973541259766, 20.06727409362793, 18.05718421936035], "tau_ext": [15.187671661376953, -36.45003128051758, -36.4054069519043, 20.07431983947754, -2.120043992996216, -6.883151054382324, 0.1577429175376892], "tcp_pose": [0.6360207796096802, 0.022297747433185577, -0.33033183217048645, -0.006612452678382397, -0.09878797829151154, 0.9948776960372925, 0.020386267453432083], "tcp_vel": [-0.0009061894379556179, 0.05312883481383324, -0.002013295888900757, 0.00306935072876513, -0.006590024568140507, 0.03038930706679821], "flange_pose": [0.6392859220504761, 0.014838875271379948, -0.14050638675689697, -0.006612452678382397, -0.09878797829151154, 0.9948776960372925, 0.020386267453432083], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.129319190979004, -58.402801513671875, -12.182389259338379, -7.212128162384033, 10.282299995422363, 0.20796650648117065], "ext_wrench_in_world": [-0.21802535310804652, -60.08004701428301, 9.836596589013569, 5.048799413687634, 11.500814818379148, 0.15690407270560147]}
+{"timestamp_ns": 1789729723047564818, "elapsed_ms": 12200, "source_timestamp_ns": 1789729723039234398, "q": [0.05289682000875473, -1.328938603401184, 0.042792148888111115, 1.1103641986846924, 1.6006749868392944, 0.02363966405391693, -1.0703879594802856], "theta": [0.05044981837272644, -1.3277643918991089, 0.04100716486573219, 1.093194603919983, 1.600067377090454, 0.024242043495178223, -1.0711067914962769], "dq": [-0.02079947665333748, 0.11647220700979233, 0.041405994445085526, 0.09229320287704468, -0.02319887839257717, 0.02716480754315853, -0.019746264442801476], "dtheta": [-0.02198757603764534, 0.11282651871442795, 0.04048125818371773, 0.0962786003947258, -0.022721564397215843, 0.02589038759469986, -0.018640493974089622], "tau": [-61.619998931884766, 1.6200000047683716, -29.496002197265625, 0.08000000566244125, -4.336000442504883, 3.7800002098083496, -0.3360000252723694], "tau_des": [-1.5878256559371948, 2.0635986328125, -0.7637538313865662, -0.9233950972557068, -0.33303675055503845, 0.12564629316329956, -0.2128203958272934], "tau_dot": [44.28177261352539, -6.370380878448486, 19.652633666992188, 47.87643051147461, -7.242761611938477, 23.96316146850586, 7.830765247344971], "tau_ext": [15.351749420166016, -37.09134292602539, -36.359588623046875, 20.52996063232422, -2.162381410598755, -6.910885334014893, 0.22585245966911316], "tcp_pose": [0.6359427571296692, 0.023856019601225853, -0.3304140269756317, -0.006536617409437895, -0.09930824488401413, 0.9948252439498901, 0.020441832020878792], "tcp_vel": [-0.0006222056108526886, 0.051886022090911865, -0.001432383549399674, 0.00492185028269887, -0.007914128713309765, 0.0345408134162426], "flange_pose": [0.6391852498054504, 0.016374994069337845, -0.14058904349803925, -0.006536617409437895, -0.09930824488401413, 0.9948252439498901, 0.020441832020878792], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.907036781311035, -58.77058029174805, -12.148049354553223, -7.319230556488037, 10.074018478393555, 0.24822896718978882], "ext_wrench_in_world": [-0.8473408794796128, -60.59430665101446, 9.785694882856669, 5.182182503394647, 11.3248237080652, 0.10933592707720731]}
+{"timestamp_ns": 1789729723080905667, "elapsed_ms": 12233, "source_timestamp_ns": 1789729723079267281, "q": [0.05206052213907242, -1.3244587182998657, 0.044467292726039886, 1.1139554977416992, 1.5995019674301147, 0.02472851052880287, -1.0707207918167114], "theta": [0.0496046245098114, -1.3233273029327393, 0.04261310398578644, 1.0967556238174438, 1.5989115238189697, 0.02531611919403076, -1.071434736251831], "dq": [-0.021256066858768463, 0.11563046276569366, 0.036650314927101135, 0.07597050070762634, -0.036217961460351944, 0.02775971032679081, -0.0024307742714881897], "dtheta": [-0.020546697080135345, 0.10816043615341187, 0.040806613862514496, 0.08114555478096008, -0.03631603717803955, 0.026292582973837852, -0.0011951474007219076], "tau": [-61.43000030517578, 0.47999998927116394, -29.532001495361328, 0.8840000629425049, -4.328000068664551, 3.7680001258850098, -0.328000009059906], "tau_des": [-1.2423814535140991, 0.9189732074737549, -0.8273863792419434, -0.04832516610622406, -0.21290527284145355, 0.13793720304965973, -0.23865929245948792], "tau_dot": [-126.55303192138672, -91.82595825195312, 2.3709144592285156, 41.76026153564453, 42.98719787597656, -84.20280456542969, -13.824956893920898], "tau_ext": [15.312053680419922, -36.46218490600586, -36.251094818115234, 20.009788513183594, -2.1435179710388184, -6.940261363983154, 0.22906917333602905], "tcp_pose": [0.6359461545944214, 0.025937026366591454, -0.33049845695495605, -0.006506284698843956, -0.09991210699081421, 0.9947646856307983, 0.020456833764910698], "tcp_vel": [0.0007250195485539734, 0.050345320254564285, -0.001292857457883656, -0.0034902251791208982, 0.004036243539303541, 0.02857280522584915], "flange_pose": [0.6391822695732117, 0.0184511486440897, -0.14067354798316956, -0.006506284698843956, -0.09991210699081421, 0.9947646856307983, 0.020456833764910698], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.963237762451172, -59.0770149230957, -12.0183687210083, -7.4275689125061035, 10.051359176635742, 0.29064616560935974], "ext_wrench_in_world": [-0.7711428516739591, -60.90187949248643, 9.640893382285515, 5.278385248111581, 11.33213884467472, 0.06599105153294287]}
+{"timestamp_ns": 1789729723114236957, "elapsed_ms": 12266, "source_timestamp_ns": 1789729723109237431, "q": [0.05148404464125633, -1.3212122917175293, 0.04566115140914917, 1.1162580251693726, 1.5984526872634888, 0.025547323748469353, -1.0707173347473145], "theta": [0.04902884364128113, -1.320130467414856, 0.0437791608273983, 1.0990808010101318, 1.5978751182556152, 0.02612316608428955, -1.0714210271835327], "dq": [-0.018334487453103065, 0.09659625589847565, 0.03577355667948723, 0.0703425407409668, -0.03423313423991203, 0.02544083446264267, 0.0009034901740960777], "dtheta": [-0.01835532858967781, 0.10391147434711456, 0.03872055932879448, 0.0759551003575325, -0.03396619111299515, 0.0249050110578537, 0.002224477007985115], "tau": [-61.099998474121094, -0.6599999666213989, -29.48000144958496, 1.5440000295639038, -4.300000190734863, 3.7400002479553223, -0.2720000147819519], "tau_des": [-1.178084135055542, -0.42640700936317444, -0.799699068069458, 0.7909353375434875, -0.24321980774402618, 0.11746755242347717, -0.028261134400963783], "tau_dot": [66.8682632446289, 9.445810317993164, 45.39577102661133, -6.682595252990723, 55.14706039428711, -75.22647094726562, 29.084745407104492], "tau_ext": [15.21986198425293, -35.88935089111328, -36.27250289916992, 19.49193572998047, -2.1341171264648438, -6.945700645446777, 0.2167792171239853], "tcp_pose": [0.636026918888092, 0.027473855763673782, -0.3305512070655823, -0.00657289195805788, -0.10038319230079651, 0.9947180151939392, 0.020396804437041283], "tcp_vel": [0.0011014387710019946, 0.04896141588687897, -0.0020536533556878567, -0.002973891794681549, 0.004878765903413296, 0.026098785921931267], "flange_pose": [0.6392894983291626, 0.02001473680138588, -0.14072571694850922, -0.00657289195805788, -0.10038319230079651, 0.9947180151939392, 0.020396804437041283], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.269436836242676, -59.06983184814453, -11.972034454345703, -7.451089859008789, 10.219341278076172, 0.2973041534423828], "ext_wrench_in_world": [-0.03476943898086324, -60.753787926679095, 9.596341358500824, 5.2570517302358715, 11.506578530638379, 0.06421548368741432]}
+{"timestamp_ns": 1789729723147593254, "elapsed_ms": 12300, "source_timestamp_ns": 1789729723139248146, "q": [0.050956062972545624, -1.3182040452957153, 0.04681963473558426, 1.1183912754058838, 1.5974668264389038, 0.026318786665797234, -1.0705459117889404], "theta": [0.048506706953048706, -1.3171287775039673, 0.04491894692182541, 1.101251244544983, 1.5969020128250122, 0.026881694793701172, -1.0712311267852783], "dq": [-0.01688826084136963, 0.09299226105213165, 0.03978161886334419, 0.07238157838582993, -0.030096936970949173, 0.024978546425700188, 0.0056580412201583385], "dtheta": [-0.016398657113313675, 0.09559323638677597, 0.0362980030477047, 0.0704348087310791, -0.028894705697894096, 0.02523946389555931, 0.00832139141857624], "tau": [-61.34000015258789, -1.209999918937683, -29.608001708984375, 1.7880001068115234, -4.328000068664551, 3.81600022315979, -0.19200000166893005], "tau_des": [-1.292737364768982, -0.9412590265274048, -0.8236103653907776, 0.8923710584640503, -0.26423513889312744, 0.09355849772691727, -0.20669496059417725], "tau_dot": [-109.2842025756836, -70.609130859375, -90.25846862792969, -74.36457061767578, 66.22600555419922, 23.383501052856445, -2.053339958190918], "tau_ext": [15.23664379119873, -35.393943786621094, -36.27450942993164, 19.16984748840332, -2.1329498291015625, -6.956791400909424, 0.14262743294239044], "tcp_pose": [0.6360880732536316, 0.02891017310321331, -0.3306269347667694, -0.006647802423685789, -0.10073615610599518, 0.9946826696395874, 0.020356619730591774], "tcp_vel": [0.0013006803346797824, 0.04502718895673752, -0.0025303317233920097, -0.0025663767009973526, 0.0022675381042063236, 0.017000406980514526], "flange_pose": [0.6393800377845764, 0.021470265462994576, -0.14080119132995605, -0.006647802423685789, -0.10073615610599518, 0.9946826696395874, 0.020356619730591774], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.581781387329102, -58.88508224487305, -11.967362403869629, -7.409145355224609, 10.390094757080078, 0.2779063880443573], "ext_wrench_in_world": [0.6463430950653425, -60.43392065290278, 9.59853161254421, 5.17392926441189, 11.668298672376801, 0.08943140129281131]}
+{"timestamp_ns": 1789729723180911006, "elapsed_ms": 12333, "source_timestamp_ns": 1789729723179235205, "q": [0.05032918602228165, -1.3147531747817993, 0.04822353273630142, 1.1211754083633423, 1.5964982509613037, 0.027263779193162918, -1.070509672164917], "theta": [0.04789521172642708, -1.3136088848114014, 0.04631355032324791, 1.1040549278259277, 1.5959477424621582, 0.027814030647277832, -1.0711561441421509], "dq": [-0.016377786174416542, 0.07454442232847214, 0.03177922964096069, 0.0731748640537262, -0.01877954788506031, 0.021604102104902267, -0.002601592568680644], "dtheta": [-0.014447380788624287, 0.07838546484708786, 0.03316612169146538, 0.06531437486410141, -0.018712662160396576, 0.019765887409448624, -0.0029697599820792675], "tau": [-61.849998474121094, -0.009999999776482582, -29.6200008392334, 0.7240000367164612, -4.296000003814697, 3.8440001010894775, -0.24400001764297485], "tau_des": [-2.2035906314849854, 0.19247789680957794, -1.1113873720169067, -0.6159886717796326, -0.20145583152770996, 0.18384069204330444, -0.6105793118476868], "tau_dot": [-36.87740707397461, -46.13935089111328, -29.832847595214844, -61.23637008666992, 1.083258867263794, -53.17262649536133, 18.475290298461914], "tau_ext": [15.526668548583984, -36.09065246582031, -36.3128662109375, 19.679468154907227, -2.179696559906006, -6.991534233093262, 0.09560952335596085], "tcp_pose": [0.6360496878623962, 0.030508991330862045, -0.3307420611381531, -0.006651980336755514, -0.10104823112487793, 0.9946509599685669, 0.020358076319098473], "tcp_vel": [-0.0015539431478828192, 0.03718755766749382, -0.003570550587028265, 0.004716048017144203, -0.0013366742059588432, 0.015706509351730347], "flange_pose": [0.639345645904541, 0.023069728165864944, -0.1409163773059845, -0.006651980336755514, -0.10104823112487793, 0.9946509599685669, 0.020358076319098473], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.509849548339844, -58.96705627441406, -11.843622207641602, -7.397006988525391, 10.419977188110352, 0.21956321597099304], "ext_wrench_in_world": [0.7689879688534182, -60.49448345508485, 9.470368435224595, 5.149731508856059, 11.696061437259935, 0.14918859667292605]}
+{"timestamp_ns": 1789729723214239486, "elapsed_ms": 12366, "source_timestamp_ns": 1789729723209258628, "q": [0.04986576363444328, -1.3126903772354126, 0.049142152070999146, 1.1230024099349976, 1.5959832668304443, 0.027806555852293968, -1.0708670616149902], "theta": [0.0474470816552639, -1.3114622831344604, 0.047238852828741074, 1.1058681011199951, 1.5954453945159912, 0.028347134590148926, -1.0715000629425049], "dq": [-0.01857750304043293, 0.06538662314414978, 0.029416628181934357, 0.055966973304748535, -0.017247991636395454, 0.017248185351490974, -0.01176907867193222], "dtheta": [-0.01486002653837204, 0.06273330748081207, 0.028408406302332878, 0.05269402265548706, -0.014480574987828732, 0.01540693361312151, -0.014595082961022854], "tau": [-61.97999954223633, 0.019999999552965164, -29.744001388549805, 0.5400000214576721, -4.300000190734863, 3.892000198364258, -0.3360000252723694], "tau_des": [-1.9139600992202759, -0.5430461764335632, -1.0561246871948242, -0.775427520275116, -0.25720053911209106, 0.21899545192718506, -0.41533535718917847], "tau_dot": [27.13651466369629, -0.9727892875671387, -10.615752220153809, 0.01768290437757969, -14.40811538696289, -86.84076690673828, 6.699176788330078], "tau_ext": [15.64280891418457, -36.79759979248047, -36.44723892211914, 20.227338790893555, -2.2368483543395996, -6.9938578605651855, 0.16882921755313873], "tcp_pose": [0.6359822154045105, 0.03146487474441528, -0.330799400806427, -0.006597248371690512, -0.10134020447731018, 0.9946204423904419, 0.02041724883019924], "tcp_vel": [-0.0006093248957768083, 0.030474627390503883, -0.0017564521403983235, 0.006355318706482649, -0.004364121705293655, 0.024255694821476936], "flange_pose": [0.6392619609832764, 0.024002112448215485, -0.14097434282302856, -0.006597248371690512, -0.10134020447731018, 0.9946204423904419, 0.02041724883019924], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.090167045593262, -59.40836715698242, -11.776572227478027, -7.468129634857178, 10.300612449645996, 0.22835233807563782], "ext_wrench_in_world": [0.32262945443908886, -61.04167949463442, 9.382065635436556, 5.236418636469879, 11.596935121210835, 0.13688509486526781]}
+{"timestamp_ns": 1789729723247565657, "elapsed_ms": 12400, "source_timestamp_ns": 1789729723239210330, "q": [0.04943687841296196, -1.3111037015914917, 0.04990341514348984, 1.124338984489441, 1.5954972505569458, 0.028269590809941292, -1.0712602138519287], "theta": [0.047041863203048706, -1.3098074197769165, 0.04801209270954132, 1.1071903705596924, 1.5949689149856567, 0.028801798820495605, -1.071897029876709], "dq": [-0.01638476923108101, 0.05211558938026428, 0.025020092725753784, 0.038015272468328476, -0.02031021937727928, 0.016674187034368515, -0.010557198897004128], "dtheta": [-0.01200374960899353, 0.04842579737305641, 0.02358040027320385, 0.03601853549480438, -0.017065268009901047, 0.013422693125903606, -0.00804933626204729], "tau": [-61.779998779296875, -0.9699999690055847, -29.692001342773438, 0.9880000352859497, -4.300000190734863, 3.8960001468658447, -0.3320000171661377], "tau_des": [-1.6896189451217651, -1.7955650091171265, -1.102590799331665, -0.11170408874750137, -0.31431612372398376, 0.23422986268997192, -0.233577162027359], "tau_dot": [36.95719909667969, -159.1275177001953, -1.5887970924377441, -6.9123711585998535, 32.92158508300781, -50.85076141357422, -12.352770805358887], "tau_ext": [15.743338584899902, -36.28844451904297, -36.401763916015625, 20.043506622314453, -2.223180055618286, -7.023091793060303, 0.22424907982349396], "tcp_pose": [0.6359652280807495, 0.0322105772793293, -0.3308117985725403, -0.006546358112245798, -0.10165983438491821, 0.9945876002311707, 0.02044377662241459], "tcp_vel": [0.0005210909293964505, 0.023909322917461395, -0.0011562099680304527, 0.0017530431505292654, -2.3095317374099977e-05, 0.020519208163022995], "flange_pose": [0.6392291188240051, 0.024736881256103516, -0.14098690450191498, -0.006546358112245798, -0.10165983438491821, 0.9945876002311707, 0.02044377662241459], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.372737884521484, -59.474830627441406, -11.689398765563965, -7.4452104568481445, 10.258197784423828, 0.2783363163471222], "ext_wrench_in_world": [0.09590063456682615, -61.16092673878666, 9.290533243218361, 5.21424360745133, 11.556097639408172, 0.08673284691749025]}
+{"timestamp_ns": 1789729723280898867, "elapsed_ms": 12433, "source_timestamp_ns": 1789729723279174012, "q": [0.0489678755402565, -1.3097255229949951, 0.05068168044090271, 1.1253223419189453, 1.5947229862213135, 0.028754571452736855, -1.0713249444961548], "theta": [0.04661500081419945, -1.3083797693252563, 0.048812322318553925, 1.1081583499908447, 1.5942082405090332, 0.029274940490722656, -1.071961760520935], "dq": [-0.012893515639007092, 0.02466534450650215, 0.017529018223285675, 0.018119454383850098, -0.016716666519641876, 0.012250708416104317, -0.001625324017368257], "dtheta": [-0.008601794950664043, 0.02414049580693245, 0.01745961420238018, 0.015584289096295834, -0.016762444749474525, 0.009587659500539303, 0.0008519404800608754], "tau": [-61.52000045776367, -1.2599999904632568, -29.45600128173828, 1.2160000801086426, -4.26800012588501, 3.9200000762939453, -0.31200000643730164], "tau_des": [-1.5357784032821655, -1.3360799551010132, -0.6740240454673767, 0.09917011857032776, -0.12260685861110687, 0.20379629731178284, -0.27788567543029785], "tau_dot": [-22.863494873046875, 34.24924087524414, 54.952388763427734, -26.085641860961914, 0.5523133873939514, 28.357643127441406, 0.7028923034667969], "tau_ext": [15.58849048614502, -35.67334747314453, -36.500328063964844, 19.741100311279297, -2.225853681564331, -7.025608539581299, 0.21915096044540405], "tcp_pose": [0.6359851956367493, 0.03286255896091461, -0.3307775855064392, -0.006585787516087294, -0.10189633071422577, 0.9945642352104187, 0.0203894954174757], "tcp_vel": [0.00025195538182742894, 0.012362947687506676, -0.0006119971512816846, -0.0011038541560992599, 0.003365148324519396, 0.008071891032159328], "flange_pose": [0.6392636895179749, 0.02541167102754116, -0.14095205068588257, -0.006585787516087294, -0.10189633071422577, 0.9945642352104187, 0.0203894954174757], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.183523178100586, -58.90824890136719, -11.703661918640137, -7.261952877044678, 10.33010196685791, 0.3142607510089874], "ext_wrench_in_world": [0.19647426194645226, -60.56764587946571, 9.333670148800172, 5.01411921993204, 11.593163053981963, 0.053897178215358485]}
+{"timestamp_ns": 1789729723314243306, "elapsed_ms": 12466, "source_timestamp_ns": 1789729723309205144, "q": [0.048697713762521744, -1.30924654006958, 0.05114435404539108, 1.125650405883789, 1.594298005104065, 0.02905651554465294, -1.0713239908218384], "theta": [0.04638154059648514, -1.307879090309143, 0.049297694116830826, 1.1084734201431274, 1.5937944650650024, 0.029568076133728027, -1.071958303451538], "dq": [-0.007615833543241024, 0.014983654022216797, 0.010512413457036018, 0.005798409692943096, -0.01133260689675808, 0.0093231825158, -0.001138246268965304], "dtheta": [-0.006719870027154684, 0.010281122289597988, 0.015173017978668213, 0.006919992156326771, -0.011614814400672913, 0.008677891455590725, -0.0009640975040383637], "tau": [-61.57999801635742, -0.5899999737739563, -29.384000778198242, 1.0200001001358032, -4.26800012588501, 3.9040002822875977, -0.3240000009536743], "tau_des": [-1.6323670148849487, -0.15431642532348633, -0.44711482524871826, -0.04967207834124565, -0.16665074229240417, 0.11766816675662994, -0.2688072621822357], "tau_dot": [-92.33317565917969, 45.395626068115234, -40.76839065551758, -25.628095626831055, -24.15791893005371, 56.66497039794922, -1.0484825372695923], "tau_ext": [15.58680534362793, -35.7282600402832, -36.54876708984375, 19.74367332458496, -2.2398688793182373, -7.02468729019165, 0.20826692879199982], "tcp_pose": [0.6360023617744446, 0.03310134634375572, -0.33076250553131104, -0.00658824946731329, -0.10197457671165466, 0.9945567846298218, 0.02036116272211075], "tcp_vel": [-1.5721523595857434e-05, 0.006044462323188782, -0.0011740277986973524, 0.000600782863330096, 0.0007997205248102546, 0.004412206821143627], "flange_pose": [0.6392812728881836, 0.025661515071988106, -0.14093655347824097, -0.00658824946731329, -0.10197457671165466, 0.9945567846298218, 0.02036116272211075], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.053139686584473, -58.65179443359375, -11.748778343200684, -7.178764343261719, 10.374670028686523, 0.3189393877983093], "ext_wrench_in_world": [0.2824735702233008, -60.291472418340575, 9.391672984783984, 4.921731362361936, 11.620847477951624, 0.05120863432786213]}
+{"timestamp_ns": 1789729723347565997, "elapsed_ms": 12500, "source_timestamp_ns": 1789729723339198541, "q": [0.04846625775098801, -1.3090993165969849, 0.051564544439315796, 1.125767707824707, 1.5939390659332275, 0.02926291897892952, -1.071325659751892], "theta": [0.046187181025743484, -1.3077142238616943, 0.04974725469946861, 1.1085753440856934, 1.59344482421875, 0.029765844345092773, -1.0719563961029053], "dq": [-0.008613059297204018, 0.004219555761665106, 0.016082193702459335, 0.00225098361261189, -0.00802421011030674, 0.006018782500177622, 0.00032346832449547946], "dtheta": [-0.006025948096066713, 0.0019494114676490426, 0.014525036327540874, 0.0012319645611569285, -0.009586337953805923, 0.006720947101712227, -0.00036635997821576893], "tau": [-61.78999710083008, 0.20999999344348907, -29.312002182006836, 0.6000000238418579, -4.223999977111816, 3.8440001010894775, -0.30800002813339233], "tau_des": [-1.905549168586731, 0.8995085954666138, -0.4474448561668396, -0.3689441382884979, -0.1258060336112976, 0.19722384214401245, -0.35357165336608887], "tau_dot": [-122.66311645507812, -21.509422302246094, 32.96084213256836, -65.99029541015625, -32.304962158203125, -40.8401985168457, 7.011420249938965], "tau_ext": [15.64892864227295, -35.91905212402344, -36.56513595581055, 19.838287353515625, -2.2493855953216553, -7.027461528778076, 0.20834048092365265], "tcp_pose": [0.6359894871711731, 0.033199746161699295, -0.33076438307762146, -0.006599809043109417, -0.10199294984340668, 0.9945546388626099, 0.020370209589600563], "tcp_vel": [-0.0003944742784369737, 0.0027453519869595766, -0.0016251822235062718, 0.002718413947150111, 0.0007704832241870463, 0.0010655081132426858], "flange_pose": [0.6392732858657837, 0.02575700730085373, -0.1409386247396469, -0.006599809043109417, -0.10199294984340668, 0.9945546388626099, 0.020370209589600563], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.01381778717041, -58.7109489440918, -11.770310401916504, -7.184634208679199, 10.395895957946777, 0.32120490074157715], "ext_wrench_in_world": [0.3358086685461903, -60.342341930512035, 9.409386461180539, 4.922706295995319, 11.643078285786663, 0.04984800546771345]}
+{"timestamp_ns": 1789729723380914065, "elapsed_ms": 12533, "source_timestamp_ns": 1789729723379167983, "q": [0.04819337651133537, -1.3091247081756592, 0.052080925554037094, 1.1257797479629517, 1.593565583229065, 0.02953246422111988, -1.0713632106781006], "theta": [0.045964356511831284, -1.30771803855896, 0.05030682310461998, 1.1085612773895264, 1.5930824279785156, 0.030027270317077637, -1.0719895362854004], "dq": [-0.006681520026177168, 2.7642392524285242e-05, 0.011752226389944553, 0.00010405193461338058, -0.007467219140380621, 0.00571082578971982, -0.003323090961202979], "dtheta": [-0.005072637926787138, -0.0005752377910539508, 0.013062195852398872, -0.001294245128519833, -0.008938511833548546, 0.005722512025386095, -0.0029066295828670263], "tau": [-61.90999984741211, 0.7400000095367432, -29.316001892089844, 0.25200000405311584, -4.203999996185303, 3.892000198364258, -0.3160000145435333], "tau_des": [-2.059081792831421, 1.3401390314102173, -0.44827860593795776, -0.47221097350120544, -0.1345519870519638, 0.21819448471069336, -0.3485827147960663], "tau_dot": [110.11348724365234, 133.3627166748047, -43.02253723144531, -22.976768493652344, -1.17323899269104, -29.75339126586914, 34.05410385131836], "tau_ext": [15.770242691040039, -36.04022979736328, -36.56179428100586, 20.015445709228516, -2.26745867729187, -7.038711071014404, 0.21255354583263397], "tcp_pose": [0.635976254940033, 0.033231332898139954, -0.3307774066925049, -0.0065828291699290276, -0.10199429839849472, 0.9945541620254517, 0.020393643528223038], "tcp_vel": [-0.0003227572306059301, 0.001616056775674224, -0.0016733394004404545, 0.002568245166912675, 0.001261270372197032, 0.0036356241907924414], "flange_pose": [0.6392545104026794, 0.025779087096452713, -0.14095190167427063, -0.0065828291699290276, -0.10199429839849472, 0.9945541620254517, 0.020393643528223038], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.218856811523438, -58.842041015625, -11.712604522705078, -7.193850517272949, 10.363068580627441, 0.3242652416229248], "ext_wrench_in_world": [0.1604522801587579, -60.51045790330486, 9.345057344311039, 4.93830621308692, 11.612959741003003, 0.04605885594922503]}
+{"timestamp_ns": 1789729723414233177, "elapsed_ms": 12566, "source_timestamp_ns": 1789729723409200045, "q": [0.04800118878483772, -1.309149146080017, 0.05243581160902977, 1.1257615089416504, 1.5932892560958862, 0.0297254491597414, -1.0714274644851685], "theta": [0.045810431241989136, -1.30772864818573, 0.050693683326244354, 1.1085240840911865, 1.592810869216919, 0.030213117599487305, -1.072053074836731], "dq": [-0.005164534319192171, -0.0017510044854134321, 0.011238803155720234, -0.004376579076051712, -0.006308380048722029, 0.003994393162429333, -0.000449220446171239], "dtheta": [-0.005014128517359495, -0.00037919514579698443, 0.012423762120306492, -0.0017196659464389086, -0.00957740843296051, 0.006104492582380772, 3.894524343195371e-05], "tau": [-61.88999938964844, 0.3999999761581421, -29.288002014160156, 0.2840000092983246, -4.216000080108643, 3.9120001792907715, -0.3320000171661377], "tau_des": [-1.9686453342437744, 1.2379052639007568, -0.4147770404815674, -0.37355804443359375, -0.14740683138370514, 0.21116605401039124, -0.31931954622268677], "tau_dot": [27.05234146118164, -62.42055892944336, 23.749494552612305, 14.259868621826172, 38.03489685058594, 46.14060974121094, -8.78066349029541], "tau_ext": [15.797557830810547, -35.893619537353516, -36.56844711303711, 20.10727310180664, -2.2691404819488525, -7.051230430603027, 0.22842848300933838], "tcp_pose": [0.6359751224517822, 0.03325021639466286, -0.33078089356422424, -0.006573816761374474, -0.10202464461326599, 0.9945509433746338, 0.02040143311023712], "tcp_vel": [-7.871919660829008e-05, 0.0014304965734481812, -0.0013086763210594654, 0.0012350702891126275, 0.0014849405270069838, 0.0013915024464949965], "flange_pose": [0.6392505168914795, 0.025794779881834984, -0.14095547795295715, -0.006573816761374474, -0.10202464461326599, 0.9945509433746338, 0.02040143311023712], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.499368667602539, -58.64356231689453, -11.678580284118652, -7.116499423980713, 10.309163093566895, 0.3345405161380768], "ext_wrench_in_world": [-0.15150769994682875, -60.372099979306704, 9.320807114311153, 4.872615986403807, 11.545204508663648, 0.03451666832264884]}
+{"timestamp_ns": 1789729723447566996, "elapsed_ms": 12600, "source_timestamp_ns": 1789729723439901493, "q": [0.04781509190797806, -1.3091610670089722, 0.052783966064453125, 1.1257268190383911, 1.5929688215255737, 0.029931198805570602, -1.0714339017868042], "theta": [0.04566037282347679, -1.3077298402786255, 0.05107147991657257, 1.1084753274917603, 1.5924938917160034, 0.03041243553161621, -1.072058081626892], "dq": [-0.0072419061325490475, -0.0006365960580296814, 0.015837501734495163, -0.001509551308117807, -0.012116369791328907, 0.007399883586913347, 0.0005925362347625196], "dtheta": [-0.00532429339364171, -0.000496003485750407, 0.012393595650792122, -0.0018113622209057212, -0.010734031908214092, 0.006680591497570276, -0.00021880802523810416], "tau": [-61.84000015258789, 0.28999999165534973, -29.2760009765625, 0.3160000145435333, -4.203999996185303, 3.892000198364258, -0.320000022649765], "tau_des": [-1.872521996498108, 1.164670467376709, -0.33197537064552307, -0.30547577142715454, -0.08367825299501419, 0.18640682101249695, -0.26852431893348694], "tau_dot": [98.12936401367188, -27.45418357849121, 16.682998657226562, -29.234962463378906, -8.84496021270752, 3.5942647457122803, -11.900120735168457], "tau_ext": [15.784004211425781, -35.72031021118164, -36.56705093383789, 20.084842681884766, -2.2646846771240234, -7.057072639465332, 0.22741392254829407], "tcp_pose": [0.6359772682189941, 0.03326829522848129, -0.3307797908782959, -0.006582255940884352, -0.10204207897186279, 0.9945493340492249, 0.02038898691534996], "tcp_vel": [-0.00010610765457386151, 0.001023532240651548, -0.0009242356172762811, 2.5536943212500773e-05, 0.0016573608154430985, 0.001712730503641069], "flange_pose": [0.6392555236816406, 0.02581794373691082, -0.14095424115657806, -0.006582255940884352, -0.10204207897186279, 0.9945493340492249, 0.02038898691534996], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.710906028747559, -58.27040100097656, -11.675010681152344, -7.000905990600586, 10.264262199401855, 0.3435952663421631], "ext_wrench_in_world": [-0.4320535838341617, -60.04963424874765, 9.336348086035137, 4.767975588742439, 11.478311786610602, 0.024253017587746062]}
+{"timestamp_ns": 1789729723480972437, "elapsed_ms": 12633, "source_timestamp_ns": 1789729723479166383, "q": [0.04757785052061081, -1.309173583984375, 0.05323723703622818, 1.125707745552063, 1.5925791263580322, 0.03020489029586315, -1.0714292526245117], "theta": [0.04546787217259407, -1.3077316284179688, 0.05155551806092262, 1.1084412336349487, 1.5921075344085693, 0.030680179595947266, -1.0720492601394653], "dq": [-0.005555375013500452, -0.0006085143540985882, 0.011103159748017788, 0.0005477744853124022, -0.009964442811906338, 0.006728170905262232, -0.00099183339625597], "dtheta": [-0.004415362607687712, -0.0003969753161072731, 0.011692846193909645, 1.2850002349296119e-05, -0.010055862367153168, 0.007712079212069511, -8.382590749533847e-06], "tau": [-61.849998474121094, 0.3100000023841858, -29.25200080871582, 0.24800001084804535, -4.176000118255615, 3.9120001792907715, -0.29600000381469727], "tau_des": [-2.021848440170288, 1.278254747390747, -0.3703403174877167, -0.46312862634658813, -0.05443452671170235, 0.19021596014499664, -0.2911498248577118], "tau_dot": [140.9254150390625, -49.762454986572266, 31.23508644104004, -42.721553802490234, 45.13237762451172, 23.073097229003906, 24.37955665588379], "tau_ext": [15.770520210266113, -35.71800994873047, -36.59119415283203, 20.129106521606445, -2.273658037185669, -7.064213752746582, 0.21106742322444916], "tcp_pose": [0.6359750032424927, 0.033290669322013855, -0.3307834267616272, -0.006583427544683218, -0.10204606503248215, 0.9945491552352905, 0.02037774585187435], "tcp_vel": [-0.00074502092320472, 0.00024717662017792463, -0.0011055419454351068, -0.0011118887923657894, 0.0013010470429435372, -0.00024355374625883996], "flange_pose": [0.6392532587051392, 0.025844624266028404, -0.14095769822597504, -0.006583427544683218, -0.10204606503248215, 0.9945491552352905, 0.02037774585187435], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.88629150390625, -57.9417724609375, -11.707653045654297, -6.9049072265625, 10.228408813476562, 0.3419938385486603], "ext_wrench_in_world": [-0.6693357555043716, -59.764841979718895, 9.385643145877298, 4.6811863353798095, 11.423700030000068, 0.02495128604116581]}
+{"timestamp_ns": 1789729723514237625, "elapsed_ms": 12666, "source_timestamp_ns": 1789729723509169968, "q": [0.04742162674665451, -1.3091884851455688, 0.053544461727142334, 1.125707983970642, 1.5923221111297607, 0.03040127642452717, -1.0714292526245117], "theta": [0.04534308612346649, -1.3077393770217896, 0.05188367888331413, 1.1084308624267578, 1.591853380203247, 0.03087174892425537, -1.072044849395752], "dq": [-0.00642079534009099, -0.0012576866429299116, 0.009384055621922016, 0.0004383751074783504, -0.008477107621729374, 0.006605577655136585, 6.460178701672703e-05], "dtheta": [-0.004201607313007116, -0.0007719526183791459, 0.01107360702008009, -6.090257738833316e-05, -0.007822339423000813, 0.007510628551244736, -0.0008110828348435462], "tau": [-61.90999984741211, 0.41999998688697815, -29.248001098632812, 0.18000000715255737, -4.180000305175781, 3.9120001792907715, -0.2760000228881836], "tau_des": [-2.0706288814544678, 1.3181040287017822, -0.37075716257095337, -0.5074009299278259, -0.08723046630620956, 0.187019482254982, -0.2986357510089874], "tau_dot": [35.08812713623047, 20.80584716796875, 39.45907211303711, 49.37176513671875, -12.385936737060547, -31.01729393005371, 17.458354949951172], "tau_ext": [15.832693099975586, -35.79317092895508, -36.59275817871094, 20.182453155517578, -2.2850759029388428, -7.069279670715332, 0.19743715226650238], "tcp_pose": [0.6359676122665405, 0.03329700231552124, -0.33078816533088684, -0.0065805925987660885, -0.10204039514064789, 0.9945499300956726, 0.020367462188005447], "tcp_vel": [-0.0003999877953901887, 0.00027245283126831055, -0.001176723395474255, -0.00011402959353290498, -0.0002514795633032918, 0.00011704370990628377], "flange_pose": [0.6392443776130676, 0.02585471421480179, -0.14096224308013916, -0.0065805925987660885, -0.10204039514064789, 0.9945499300956726, 0.020367462188005447], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.996169090270996, -57.86602020263672, -11.71424388885498, -6.880098819732666, 10.209160804748535, 0.3339706361293793], "ext_wrench_in_world": [-0.7929098798777364, -59.713124173708415, 9.397569384693243, 4.661066877592558, 11.399459630080516, 0.03219001508836261]}
+{"timestamp_ns": 1789729723547564156, "elapsed_ms": 12700, "source_timestamp_ns": 1789729723539166864, "q": [0.04727008566260338, -1.3092073202133179, 0.05384574830532074, 1.125699758529663, 1.5920923948287964, 0.03059900365769863, -1.0714325904846191], "theta": [0.045221298933029175, -1.3077524900436401, 0.05220039188861847, 1.1084132194519043, 1.5916272401809692, 0.031063199043273926, -1.0720443725585938], "dq": [-0.003353476757183671, 1.632118073757738e-05, 0.011317064054310322, -0.0021463418379426003, -0.0076659792102873325, 0.007550879847258329, 0.0010105106048285961], "dtheta": [-0.004514628555625677, -0.000490992737468332, 0.010347533039748669, -0.0006963543710298836, -0.00850551575422287, 0.005394128616899252, -0.00013161195965949446], "tau": [-61.90999984741211, 0.3199999928474426, -29.240001678466797, 0.15200001001358032, -4.212000370025635, 3.9000000953674316, -0.29200002551078796], "tau_des": [-1.9883713722229004, 1.1598544120788574, -0.35890668630599976, -0.4306882619857788, -0.11551988124847412, 0.21077850461006165, -0.30457478761672974], "tau_dot": [-0.5390856862068176, -58.351924896240234, -29.0799503326416, -73.8768539428711, -59.18534469604492, -22.6807804107666, -20.568309783935547], "tau_ext": [15.81828784942627, -35.768001556396484, -36.61323928833008, 20.206439971923828, -2.2970075607299805, -7.076944351196289, 0.19181448221206665], "tcp_pose": [0.6359677910804749, 0.03330588713288307, -0.3307955861091614, -0.006567807402461767, -0.10203792154788971, 0.9945504069328308, 0.020361756905913353], "tcp_vel": [-0.0003801556013058871, 0.0007139055524021387, -0.0007779243751429021, 0.00040066882502287626, 0.0011281484039500356, 0.0004660389677155763], "flange_pose": [0.639239490032196, 0.02586524933576584, -0.14096952974796295, -0.006567807402461767, -0.10203792154788971, 0.9945504069328308, 0.020361756905913353], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.115128517150879, -57.831146240234375, -11.696158409118652, -6.864095687866211, 10.191751480102539, 0.32494792342185974], "ext_wrench_in_world": [-0.9173374154963165, -59.70238638948492, 9.382523353487182, 4.6491439621599575, 11.378796406124431, 0.040641904154888504]}
+{"timestamp_ns": 1789729723580909854, "elapsed_ms": 12733, "source_timestamp_ns": 1789729723579167362, "q": [0.04707133769989014, -1.3092215061187744, 0.054233990609645844, 1.1256768703460693, 1.5917540788650513, 0.030819784849882126, -1.0714350938796997], "theta": [0.045058030635118484, -1.3077619075775146, 0.05260322615504265, 1.108379602432251, 1.591287612915039, 0.031278014183044434, -1.072042465209961], "dq": [-0.005176355130970478, -5.789551141788252e-05, 0.006214618682861328, -0.0014328095130622387, -0.00569579005241394, 0.005676250904798508, 0.0014288598904386163], "dtheta": [-0.0043222238309681416, -0.00033161850296892226, 0.009541603736579418, -0.0007657839450985193, -0.006145359016954899, 0.0055189537815749645, 0.000577008759137243], "tau": [-62.03999710083008, 0.19999998807907104, -29.280000686645508, 0.2200000137090683, -4.196000099182129, 3.9280002117156982, -0.30000001192092896], "tau_des": [-2.0328805446624756, 0.9635669589042664, -0.4245690405368805, -0.3474544882774353, -0.17135724425315857, 0.26278576254844666, -0.2904939353466034], "tau_dot": [-102.85232543945312, -111.10366821289062, 11.278823852539062, 6.78887414932251, -31.107053756713867, -55.348697662353516, 2.7796428203582764], "tau_ext": [15.841577529907227, -35.649452209472656, -36.594085693359375, 20.17848777770996, -2.2957115173339844, -7.08138370513916, 0.19522833824157715], "tcp_pose": [0.6359626650810242, 0.0333268828690052, -0.33080241084098816, -0.0065764738246798515, -0.10204640030860901, 0.994549572467804, 0.02035684883594513], "tcp_vel": [0.00025656106299720705, 0.0009718835935927927, -0.0007345470366999507, 0.0010502365184947848, -0.0007416689768433571, -0.00015972998517099768], "flange_pose": [0.6392375230789185, 0.025888463482260704, -0.14097632467746735, -0.0065764738246798515, -0.10204640030860901, 0.994549572467804, 0.02035684883594513], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.189006805419922, -57.67509841918945, -11.69938850402832, -6.815530300140381, 10.18228816986084, 0.32291871309280396], "ext_wrench_in_world": [-1.0200566664536495, -59.56476915007148, 9.393632419927327, 4.60334960382643, 11.35966936258515, 0.042503401986851604]}
+{"timestamp_ns": 1789729723614291958, "elapsed_ms": 12766, "source_timestamp_ns": 1789729723609169428, "q": [0.04693013057112694, -1.3092352151870728, 0.05451371520757675, 1.125669002532959, 1.591512680053711, 0.03099709562957287, -1.0714356899261475], "theta": [0.04493877291679382, -1.3077723979949951, 0.05289042368531227, 1.1083660125732422, 1.591045618057251, 0.03145158290863037, -1.0720393657684326], "dq": [-0.004253041464835405, -0.00045453914208337665, 0.012602063827216625, 0.0004467061080504209, -0.010235734283924103, 0.0036978237330913544, 0.0018133308039978147], "dtheta": [-0.0036214147694408894, -0.0002969941415358335, 0.009747997857630253, -7.554065814474598e-05, -0.006619383115321398, 0.0048954845406115055, -0.0004754232650157064], "tau": [-62.0, 0.22999998927116394, -29.264001846313477, 0.20000000298023224, -4.200000286102295, 3.952000141143799, -0.2800000011920929], "tau_des": [-2.28387451171875, 1.01655113697052, -0.5584867000579834, -0.442190945148468, -0.12633854150772095, 0.3186699151992798, -0.2821637690067291], "tau_dot": [-31.687679290771484, -73.95708465576172, 37.952510833740234, 5.282508373260498, -27.389604568481445, 76.8717041015625, 24.186880111694336], "tau_ext": [15.916484832763672, -35.61479568481445, -36.563114166259766, 20.17384147644043, -2.295363187789917, -7.097005844116211, 0.1937078833580017], "tcp_pose": [0.6359573602676392, 0.03333381935954094, -0.3308068811893463, -0.006577702239155769, -0.10204581171274185, 0.9945498704910278, 0.02034628391265869], "tcp_vel": [-0.0005039367824792862, 0.0009299066732637584, -0.0012860441347584128, 0.001395908184349537, 0.0007717942935414612, 0.0002757793408818543], "flange_pose": [0.6392322182655334, 0.025899434462189674, -0.14098064601421356, -0.006577702239155769, -0.10204581171274185, 0.9945498704910278, 0.02034628391265869], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.209321975708008, -57.596771240234375, -11.658479690551758, -6.790010929107666, 10.18736457824707, 0.32446175813674927], "ext_wrench_in_world": [-1.05658914114899, -59.49046539756535, 9.357485731792785, 4.577320138851572, 11.359505588036155, 0.0411587397412743]}
+{"timestamp_ns": 1789729723647566666, "elapsed_ms": 12800, "source_timestamp_ns": 1789729723639169293, "q": [0.04679213836789131, -1.30925452709198, 0.05477476119995117, 1.1256680488586426, 1.591294765472412, 0.031161479651927948, -1.0714390277862549], "theta": [0.04482104256749153, -1.3077871799468994, 0.05315735563635826, 1.1083592176437378, 1.5908288955688477, 0.03161144256591797, -1.0720393657684326], "dq": [-0.003167762653902173, 0.00083482003537938, 0.008105309680104256, 0.0016801961464807391, -0.007398157846182585, 0.004193414468318224, -0.0016807877691462636], "dtheta": [-0.003319357056170702, -0.0011164703173562884, 0.008874640800058842, 4.988630462321453e-05, -0.005786596797406673, 0.004333744756877422, -0.0004900774802081287], "tau": [-61.98999786376953, 0.3199999928474426, -29.26000213623047, 0.14800000190734863, -4.176000118255615, 3.948000192642212, -0.29600000381469727], "tau_des": [-2.3122024536132812, 1.2469779253005981, -0.485978901386261, -0.6037766933441162, -0.09536862373352051, 0.29983460903167725, -0.313028484582901], "tau_dot": [-17.446809768676758, -48.92204666137695, -16.565330505371094, -4.199721336364746, -39.55115509033203, 35.54854965209961, -24.487539291381836], "tau_ext": [15.908745765686035, -35.69382095336914, -36.58616256713867, 20.20655632019043, -2.303281545639038, -7.09645938873291, 0.18853405117988586], "tcp_pose": [0.6359509229660034, 0.033336009830236435, -0.33080774545669556, -0.006573115941137075, -0.1020401269197464, 0.9945506453514099, 0.02033832296729088], "tcp_vel": [-0.0007544833933934569, 0.00033650622935965657, -0.001176365534774959, 0.0014735424192622304, 0.0005794196622446179, -0.0006706003332510591], "flange_pose": [0.6392236948013306, 0.02590443566441536, -0.14098134636878967, -0.006573115941137075, -0.1020401269197464, 0.9945506453514099, 0.02033832296729088], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.229131698608398, -57.56197738647461, -11.652562141418457, -6.780838966369629, 10.188735961914062, 0.32273995876312256], "ext_wrench_in_world": [-1.0839247779105876, -59.46006684660346, 9.354086180543648, 4.568222389769742, 11.358863623306894, 0.04289586392403313]}
+{"timestamp_ns": 1789729723680902915, "elapsed_ms": 12833, "source_timestamp_ns": 1789729723679165582, "q": [0.046610649675130844, -1.3092848062515259, 0.05511705204844475, 1.1256438493728638, 1.5909970998764038, 0.03136453777551651, -1.071441888809204], "theta": [0.04466425999999046, -1.3078135251998901, 0.053510453552007675, 1.1083271503448486, 1.590529203414917, 0.03180718421936035, -1.0720388889312744], "dq": [-0.0036421536933630705, -0.0014150049537420273, 0.007078875787556171, -0.0007727223564870656, -0.011656306684017181, 0.004006789997220039, -0.0015247262781485915], "dtheta": [-0.0037659090012311935, -0.0007992369355633855, 0.008995171636343002, -0.0009058463620021939, -0.007678464986383915, 0.004810687620192766, 1.8534341506892815e-05], "tau": [-62.0, 0.25999999046325684, -29.23200225830078, 0.12800000607967377, -4.172000408172607, 3.9280002117156982, -0.29200002551078796], "tau_des": [-2.1978094577789307, 1.1078532934188843, -0.42895203828811646, -0.5156912803649902, -0.03819507360458374, 0.2818646728992462, -0.29909801483154297], "tau_dot": [-27.988826751708984, -19.84505271911621, 46.80571365356445, 47.523780822753906, 1.816064476966858, -24.08649444580078, 28.740617752075195], "tau_ext": [15.917867660522461, -35.65326690673828, -36.57670593261719, 20.224533081054688, -2.306668281555176, -7.106614589691162, 0.19564446806907654], "tcp_pose": [0.6359460353851318, 0.033342327922582626, -0.33080872893333435, -0.006574760191142559, -0.10204125195741653, 0.9945506453514099, 0.020330121740698814], "tcp_vel": [-0.00040928422822616994, 0.00038265655166469514, -0.0007336679263971746, 7.191720214905217e-05, 0.001263605896383524, 0.00023212832456920296], "flange_pose": [0.6392191648483276, 0.025913922116160393, -0.1409822255373001, -0.006574760191142559, -0.10204125195741653, 0.9945506453514099, 0.020330121740698814], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.271500587463379, -57.55140686035156, -11.635425567626953, -6.777578830718994, 10.188522338867188, 0.3236945569515228], "ext_wrench_in_world": [-1.1276876086094816, -59.45751317018233, 9.338775929613725, 4.565029948031834, 11.358041097507526, 0.04176629392804811]}
+{"timestamp_ns": 1789729723714304636, "elapsed_ms": 12866, "source_timestamp_ns": 1789729723709171397, "q": [0.04647840932011604, -1.3093047142028809, 0.05537157878279686, 1.1256152391433716, 1.5907822847366333, 0.0315350741147995, -1.0714389085769653], "theta": [0.044549912214279175, -1.3078315258026123, 0.05377357453107834, 1.1082931756973267, 1.5903128385543823, 0.03197360038757324, -1.0720329284667969], "dq": [-0.004947164561599493, -0.00027542756288312376, 0.005722109694033861, -0.0018413293873891234, -0.006345108617097139, 0.005987874232232571, -0.0018089277436956763], "dtheta": [-0.003121562534943223, -0.0006451185327023268, 0.00913664698600769, -0.0016679300460964441, -0.006202791351824999, 0.005202721804380417, -0.00013989023864269257], "tau": [-62.0, 0.25999999046325684, -29.216001510620117, 0.12000000476837158, -4.200000286102295, 4.0, -0.24800001084804535], "tau_des": [-2.2915971279144287, 0.8993527889251709, -0.5264644622802734, -0.36111941933631897, -0.11361579596996307, 0.2673819363117218, -0.26882433891296387], "tau_dot": [77.32156372070312, -44.37073516845703, 29.523046493530273, 20.893495559692383, -16.085817337036133, 18.785125732421875, 78.00515747070312], "tau_ext": [15.943501472473145, -35.60598373413086, -36.567481994628906, 20.223913192749023, -2.316847801208496, -7.0978593826293945, 0.1961708813905716], "tcp_pose": [0.6359521150588989, 0.03334856405854225, -0.3308101296424866, -0.006568948272615671, -0.10204590111970901, 0.9945504665374756, 0.020318275317549706], "tcp_vel": [0.00012785471335519105, 0.0009322722326032817, -0.0013320229481905699, 0.0009181633940897882, 0.0005222990876063704, 0.0011783813824877143], "flange_pose": [0.6392226219177246, 0.025924421846866608, -0.14098340272903442, -0.006568948272615671, -0.10204590111970901, 0.9945504665374756, 0.020318275317549706], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.318344116210938, -57.478336334228516, -11.621317863464355, -6.754515647888184, 10.180218696594238, 0.3294512927532196], "ext_wrench_in_world": [-1.1881917237914286, -59.39479635218238, 9.329460506507091, 4.543928123088176, 11.345497621985762, 0.03568506793853496]}
+{"timestamp_ns": 1789729723747567495, "elapsed_ms": 12900, "source_timestamp_ns": 1789729723739172033, "q": [0.04634319990873337, -1.3093339204788208, 0.05564252287149429, 1.1255844831466675, 1.590561866760254, 0.03169082850217819, -1.0714352130889893], "theta": [0.04443208873271942, -1.3078579902648926, 0.054055288434028625, 1.1082572937011719, 1.590091586112976, 0.032126784324645996, -1.0720266103744507], "dq": [-0.003406140021979809, -0.0023543769493699074, 0.008790821768343449, -0.0029566341545432806, -0.0065317293629050255, 0.005631508771330118, -0.0020648310892283916], "dtheta": [-0.003855426562950015, -0.000721511896699667, 0.009238067083060741, -0.0011874930933117867, -0.008935838006436825, 0.0060269711539149284, -0.0006159806507639587], "tau": [-62.029998779296875, 0.23999999463558197, -29.264001846313477, 0.11600000411272049, -4.160000324249268, 3.9800002574920654, -0.2800000011920929], "tau_des": [-2.1661601066589355, 0.982145369052887, -0.4479938745498657, -0.43106764554977417, -0.03499433770775795, 0.24730728566646576, -0.2642264664173126], "tau_dot": [46.4227294921875, -33.78832244873047, -30.030315399169922, -66.93376159667969, -37.81022262573242, 53.563575744628906, -10.529205322265625], "tau_ext": [15.938748359680176, -35.57665252685547, -36.55284881591797, 20.222993850708008, -2.3128700256347656, -7.109128952026367, 0.18043872714042664], "tcp_pose": [0.6359511613845825, 0.0333574078977108, -0.3308183252811432, -0.006569371093064547, -0.10204657912254333, 0.9945504069328308, 0.02031872794032097], "tcp_vel": [-0.0002961566497106105, 8.949965558713302e-05, -0.0005549605120904744, -0.0013996744528412819, 0.0013656958471983671, 0.0013040928170084953], "flange_pose": [0.6392218470573425, 0.02593311294913292, -0.14099161326885223, -0.006569371093064547, -0.10204657912254333, 0.9945504069328308, 0.02031872794032097], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.371185302734375, -57.422969818115234, -11.606972694396973, -6.742125034332275, 10.169651985168457, 0.32456353306770325], "ext_wrench_in_world": [-1.251308381115113, -59.350817320249206, 9.317863758097545, 4.534007262703877, 11.332456556942077, 0.04024290965006483]}
+{"timestamp_ns": 1789729723780957198, "elapsed_ms": 12933, "source_timestamp_ns": 1789729723779167141, "q": [0.04616370424628258, -1.309374213218689, 0.05598615109920502, 1.1255452632904053, 1.5902608633041382, 0.03191107511520386, -1.0714377164840698], "theta": [0.044273730367422104, -1.3078943490982056, 0.054412391036748886, 1.1082115173339844, 1.5897886753082275, 0.03234243392944336, -1.0720241069793701], "dq": [-0.003767085960134864, 0.0007000482873991132, 0.010779794305562973, -0.0027049402706325054, -0.00891848374158144, 0.004494037479162216, 0.0007933048182167113], "dtheta": [-0.004279866348952055, -0.0012055507395416498, 0.008873769082129002, -0.0013772674137726426, -0.005953016225248575, 0.004441280383616686, 0.00027595143183134496], "tau": [-61.939998626708984, 0.25999999046325684, -29.224000930786133, 0.09200000762939453, -4.12000036239624, 3.9240002632141113, -0.25600001215934753], "tau_des": [-2.116309404373169, 0.9856472611427307, -0.40023723244667053, -0.43925607204437256, -0.09284712374210358, 0.24152596294879913, -0.27606987953186035], "tau_dot": [-134.231201171875, 109.96598052978516, -70.22541046142578, -39.017539978027344, -1.3894776105880737, -62.02546310424805, -0.4521265923976898], "tau_ext": [15.871212005615234, -35.56538391113281, -36.6128044128418, 20.232637405395508, -2.3373863697052, -7.099332332611084, 0.15999536216259003], "tcp_pose": [0.6359513998031616, 0.0333574116230011, -0.3308192193508148, -0.006568212993443012, -0.10205021500587463, 0.994550347328186, 0.02030344493687153], "tcp_vel": [0.0001426617382094264, 0.0006136612500995398, -0.0005535918171517551, 0.001355658401735127, -0.0003733019402716309, -8.109316695481539e-05], "flange_pose": [0.6392210721969604, 0.025938859209418297, -0.14099226891994476, -0.006568212993443012, -0.10205021500587463, 0.994550347328186, 0.02030344493687153], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.438056945800781, -57.34574508666992, -11.637564659118652, -6.719980239868164, 10.159014701843262, 0.3109396994113922], "ext_wrench_in_world": [-1.3315229008855272, -59.28977982425549, 9.35402696034194, 4.514632415175315, 11.317051371634, 0.05329203318964092]}
+{"timestamp_ns": 1789729723814316684, "elapsed_ms": 12966, "source_timestamp_ns": 1789729723809199423, "q": [0.046024300158023834, -1.3094043731689453, 0.056226227432489395, 1.1255178451538086, 1.5900534391403198, 0.032033175230026245, -1.0714399814605713], "theta": [0.044148512184619904, -1.3079215288162231, 0.054658010601997375, 1.108180284500122, 1.58958101272583, 0.03246009349822998, -1.0720242261886597], "dq": [-0.0016279142582789063, -0.00021717132767662406, 0.007944336161017418, -0.0024097166024148464, -0.008157758973538876, 0.002732022199779749, -0.0025399308651685715], "dtheta": [-0.00387289235368371, -0.0009633844601921737, 0.007592989597469568, -0.0011421400122344494, -0.006975633557885885, 0.0032748240046203136, -0.00025775673566386104], "tau": [-61.93000030517578, 0.19999998807907104, -29.20400047302246, 0.10400000214576721, -4.140000343322754, 3.940000295639038, -0.25600001215934753], "tau_des": [-2.078871726989746, 0.9768733382225037, -0.32290521264076233, -0.46291255950927734, -0.03449937328696251, 0.2633419334888458, -0.2587457001209259], "tau_dot": [-99.90666198730469, 37.199485778808594, -51.44742202758789, -14.721391677856445, -57.93561553955078, 18.25562286376953, -10.438983917236328], "tau_ext": [15.835287094116211, -35.52460479736328, -36.63487243652344, 20.225183486938477, -2.3455350399017334, -7.097299575805664, 0.15795262157917023], "tcp_pose": [0.6359502077102661, 0.033363744616508484, -0.33081433176994324, -0.006568210665136576, -0.10205210000276566, 0.9945501089096069, 0.020305925980210304], "tcp_vel": [-0.0002952729701064527, 0.00032137715606950223, -0.00020493379270192236, 0.0003568034735508263, 0.0012226440012454987, 0.00061351916519925], "flange_pose": [0.6392199397087097, 0.025944260880351067, -0.14098739624023438, -0.006568210665136576, -0.10205210000276566, 0.9945501089096069, 0.020305925980210304], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.479340553283691, -57.28928756713867, -11.71376895904541, -6.707063674926758, 10.15257453918457, 0.3027268946170807], "ext_wrench_in_world": [-1.3818497110841994, -59.245963353338354, 9.432592042406409, 4.503390336239656, 11.307821285938092, 0.06139813265864707]}
+{"timestamp_ns": 1789729723847577233, "elapsed_ms": 13000, "source_timestamp_ns": 1789729723839180661, "q": [0.04589279368519783, -1.3094342947006226, 0.05645802989602089, 1.1254922151565552, 1.5898540019989014, 0.03216167539358139, -1.0714423656463623], "theta": [0.04403092339634895, -1.3079487085342407, 0.054892949759960175, 1.1081509590148926, 1.5893821716308594, 0.03258311748504639, -1.0720241069793701], "dq": [-0.003938129171729088, 0.0010086814872920513, 0.009243883192539215, 0.0005724536604247987, -0.0069986796006560326, 0.003275523893535137, 0.0017641691956669092], "dtheta": [-0.003688810160383582, -0.0009099196759052575, 0.00768629927188158, -0.0009374404326081276, -0.0051821256056427956, 0.004704891704022884, -1.9669456378323957e-05], "tau": [-61.90999984741211, 0.22999998927116394, -29.160001754760742, 0.1120000034570694, -4.116000175476074, 3.952000141143799, -0.24000000953674316], "tau_des": [-2.061750650405884, 0.9565585851669312, -0.32805806398391724, -0.45799627900123596, -0.0820273756980896, 0.23518699407577515, -0.2631186842918396], "tau_dot": [-31.207008361816406, 71.12274932861328, -1.7854679822921753, 13.556221961975098, -34.69040298461914, 46.41844940185547, -8.90355396270752], "tau_ext": [15.821166038513184, -35.54629898071289, -36.63865280151367, 20.22964859008789, -2.3526601791381836, -7.098951816558838, 0.1596151739358902], "tcp_pose": [0.6359495520591736, 0.03336697816848755, -0.330810546875, -0.006566412281244993, -0.1020532101392746, 0.9945500493049622, 0.020304307341575623], "tcp_vel": [0.00020688270160462707, 0.0003557436866685748, -0.0004033453296869993, 0.0004987690481357276, -0.0008374014287255704, 6.327094888547435e-05], "flange_pose": [0.6392186284065247, 0.025948038324713707, -0.14098359644412994, -0.006566412281244993, -0.1020532101392746, 0.9945500493049622, 0.020304307341575623], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.49068546295166, -57.244224548339844, -11.748533248901367, -6.696632385253906, 10.15381145477295, 0.3013221323490143], "ext_wrench_in_world": [-1.4014035003537866, -59.20551580688912, 9.469468737526357, 4.492925875485144, 11.306866233991421, 0.06293197735548339]}
+{"timestamp_ns": 1789729723880899175, "elapsed_ms": 13033, "source_timestamp_ns": 1789729723879168851, "q": [0.04571203142404556, -1.3094745874404907, 0.05677913874387741, 1.1254626512527466, 1.5895861387252808, 0.03233381360769272, -1.071445107460022], "theta": [0.04387018084526062, -1.307984471321106, 0.05521152541041374, 1.1081169843673706, 1.589111328125, 0.03274989128112793, -1.0720242261886597], "dq": [-0.003700945060700178, -0.0008809779537841678, 0.009347706101834774, -0.0021387748420238495, -0.00740197254344821, 0.004850226454436779, 0.0011896069627255201], "dtheta": [-0.0041136061772704124, -0.0011430663289502263, 0.00848389696329832, -0.0011594515526667237, -0.007832027040421963, 0.0038083849940449, 0.0006754930363968015], "tau": [-61.91999816894531, 0.19999998807907104, -29.216001510620117, 0.08800000697374344, -4.136000156402588, 3.940000295639038, -0.2639999985694885], "tau_des": [-2.0528929233551025, 1.003782868385315, -0.3736460208892822, -0.5187975764274597, -0.028610462322831154, 0.2882448434829712, -0.27917081117630005], "tau_dot": [15.998332023620605, 18.343936920166016, 32.57383728027344, 2.6149165630340576, -35.09143829345703, -20.35259246826172, 12.832258224487305], "tau_ext": [15.818977355957031, -35.5302619934082, -36.63884735107422, 20.231138229370117, -2.3629910945892334, -7.097089767456055, 0.15225368738174438], "tcp_pose": [0.6359468102455139, 0.03337353095412254, -0.3308075964450836, -0.006562929600477219, -0.10205190628767014, 0.9945501089096069, 0.020306818187236786], "tcp_vel": [-0.0004518685454968363, 0.00024543513427488506, -0.0003435505204834044, 0.00023407685512211174, 0.0015545219648629427, -0.00045387569116428494], "flange_pose": [0.6392145752906799, 0.02595350332558155, -0.14098066091537476, -0.006562929600477219, -0.10205190628767014, 0.9945501089096069, 0.020306818187236786], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.508170127868652, -57.22334671020508, -11.790231704711914, -6.695836067199707, 10.155508995056152, 0.29772084951400757], "ext_wrench_in_world": [-1.4222625990539979, -59.190322337280556, 9.511810725552435, 4.491895050507481, 11.308211669027594, 0.06670079016583538]}
+{"timestamp_ns": 1789729723914307045, "elapsed_ms": 13066, "source_timestamp_ns": 1789729723909168727, "q": [0.04557420685887337, -1.3095051050186157, 0.05704805627465248, 1.1254363059997559, 1.5893510580062866, 0.032495319843292236, -1.0714460611343384], "theta": [0.04374634847044945, -1.3080122470855713, 0.05547383055090904, 1.1080877780914307, 1.588873028755188, 0.03290903568267822, -1.072023868560791], "dq": [-0.006384431850165129, -0.00015930415247566998, 0.007898621261119843, -0.0008077301899902523, -0.0047351461835205555, 0.005501422565430403, -0.0006623744266107678], "dtheta": [-0.004233845509588718, -0.0009032192756421864, 0.008826271630823612, -0.0010379981249570847, -0.007573365233838558, 0.005867957137525082, 0.00045900611439719796], "tau": [-61.96999740600586, 0.2199999988079071, -29.25200080871582, 0.0560000017285347, -4.084000110626221, 3.948000192642212, -0.2800000011920929], "tau_des": [-2.028608560562134, 0.9803478717803955, -0.35476577281951904, -0.5113136768341064, -0.012953869998455048, 0.24256184697151184, -0.27105292677879333], "tau_dot": [-25.450109481811523, 27.6760311126709, -35.81319808959961, 23.831741333007812, 23.912185668945312, -49.5333137512207, -63.67118453979492], "tau_ext": [15.8670015335083, -35.51472473144531, -36.58903121948242, 20.24734115600586, -2.35947847366333, -7.113183975219727, 0.16121739149093628], "tcp_pose": [0.6359426975250244, 0.03337565064430237, -0.3308110237121582, -0.006566259544342756, -0.102052703499794, 0.9945501685142517, 0.02029953896999359], "tcp_vel": [1.4077471860218793e-05, 8.230364619521424e-05, -0.0002593107055872679, -0.0008318980108015239, -7.0726250669395085e-06, -0.00017592670337762684], "flange_pose": [0.6392114758491516, 0.025958506390452385, -0.14098401367664337, -0.006566259544342756, -0.102052703499794, 0.9945501685142517, 0.02029953896999359], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.527690887451172, -57.188350677490234, -11.767424583435059, -6.692445755004883, 10.152710914611816, 0.3001129627227783], "ext_wrench_in_world": [-1.448706710718368, -59.159019992438864, 9.491562447005057, 4.489081675779583, 11.304887559994661, 0.06403010083534799]}
+{"timestamp_ns": 1789729723947641925, "elapsed_ms": 13100, "source_timestamp_ns": 1789729723939168832, "q": [0.04543812945485115, -1.309537649154663, 0.05732308328151703, 1.1254091262817383, 1.5891281366348267, 0.03266385942697525, -1.0714458227157593], "theta": [0.04362260922789574, -1.3080415725708008, 0.05574257671833038, 1.1080577373504639, 1.5886479616165161, 0.03307509422302246, -1.0720219612121582], "dq": [-0.001740229781717062, -0.0013409206876531243, 0.010546405799686909, -0.0007846308872103691, -0.007147674448788166, 0.005024363286793232, 0.0004142022808082402], "dtheta": [-0.003998986911028624, -0.0008956221863627434, 0.008778019808232784, -0.0013006957015022635, -0.008155636489391327, 0.005720675922930241, 0.00042628913070075214], "tau": [-61.959999084472656, 0.17999999225139618, -29.244001388549805, 0.036000002175569534, -4.116000175476074, 3.9800002574920654, -0.2639999985694885], "tau_des": [-2.117586612701416, 0.9604756832122803, -0.4154946506023407, -0.51052325963974, -0.0017222510650753975, 0.2596134543418884, -0.26834431290626526], "tau_dot": [99.92329406738281, -50.76659393310547, 32.876346588134766, -41.535179138183594, 0.18173329532146454, 66.2011947631836, -37.083641052246094], "tau_ext": [15.901761054992676, -35.49635696411133, -36.57894515991211, 20.248205184936523, -2.3669345378875732, -7.115556716918945, 0.15942402184009552], "tcp_pose": [0.6359408497810364, 0.03337959945201874, -0.3308190405368805, -0.006563953123986721, -0.10205185413360596, 0.994550347328186, 0.020295850932598114], "tcp_vel": [-9.030841465573758e-05, 6.489732186309993e-05, -0.000344918662449345, -0.0011242759646847844, 0.0007366333738900721, 0.00017905958520714194], "flange_pose": [0.6392086744308472, 0.025963755324482918, -0.1409919410943985, -0.006563953123986721, -0.10205185413360596, 0.994550347328186, 0.020295850932598114], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.551241874694824, -57.161956787109375, -11.721960067749023, -6.68607234954834, 10.15307331085205, 0.3040837347507477], "ext_wrench_in_world": [-1.4780529244227987, -59.136142114599416, 9.447849663402323, 4.4827194960491346, 11.304094136376476, 0.06008088174318871]}
+{"timestamp_ns": 1789729723980959607, "elapsed_ms": 13133, "source_timestamp_ns": 1789729723979166471, "q": [0.04526093602180481, -1.3095804452896118, 0.05767998844385147, 1.125360131263733, 1.5888344049453735, 0.032882124185562134, -1.0714421272277832], "theta": [0.04345833882689476, -1.3080811500549316, 0.05608556792140007, 1.1080060005187988, 1.5883498191833496, 0.03328895568847656, -1.0720161199569702], "dq": [-0.0022711241617798805, 0.0005008471198379993, 0.00788179226219654, -0.0028282003477215767, -0.00581681914627552, 0.0036229940596967936, -0.0003811638744082302], "dtheta": [-0.003898060414940119, -0.0011408947175368667, 0.00777477165684104, -0.0014666534261777997, -0.005843539256602526, 0.004468569532036781, 0.0011465894058346748], "tau": [-62.06999969482422, 0.11999999731779099, -29.28400230407715, 0.020000001415610313, -4.131999969482422, 3.948000192642212, -0.2639999985694885], "tau_des": [-2.1411101818084717, 0.9010406136512756, -0.4310680031776428, -0.48218393325805664, -0.06972619146108627, 0.2802598476409912, -0.27208858728408813], "tau_dot": [-80.88387298583984, -10.3921480178833, 28.27766227722168, 22.662330627441406, -59.17601776123047, -61.848995208740234, -8.286728858947754], "tau_ext": [15.920364379882812, -35.50274658203125, -36.556453704833984, 20.268932342529297, -2.3701136112213135, -7.128819465637207, 0.15344193577766418], "tcp_pose": [0.635943591594696, 0.03338741511106491, -0.33082878589630127, -0.0065623000264167786, -0.10205577313899994, 0.9945500493049622, 0.020290318876504898], "tcp_vel": [0.00023941851395647973, 0.00031091165146790445, -0.00027220911579206586, 0.000340680533554405, -0.0003549329412635416, -0.0007449878612533212], "flange_pose": [0.6392105221748352, 0.02597360871732235, -0.1410015970468521, -0.0065623000264167786, -0.10205577313899994, 0.9945500493049622, 0.020290318876504898], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.596814155578613, -57.12369918823242, -11.692903518676758, -6.680456161499023, 10.150436401367188, 0.30344873666763306], "ext_wrench_in_world": [-1.5305059560676098, -59.106753875604674, 9.421441218477417, 4.4776771444747965, 11.300383849942941, 0.06055603596911314]}
+{"timestamp_ns": 1789729724014286233, "elapsed_ms": 13166, "source_timestamp_ns": 1789729724009170559, "q": [0.0451325923204422, -1.3096160888671875, 0.05792756378650665, 1.1253176927566528, 1.5886218547821045, 0.03302804380655289, -1.071438193321228], "theta": [0.043338507413864136, -1.3081152439117432, 0.05632465332746506, 1.1079620122909546, 1.5881319046020508, 0.033431291580200195, -1.0720094442367554], "dq": [-0.00252795172855258, -0.002447698963806033, 0.009560555219650269, -0.0007202188135124743, -0.009241044521331787, 0.005460100714117289, -0.0002885964931920171], "dtheta": [-0.004199259448796511, -0.0014944274444133043, 0.0076068611815571785, -0.0017621919978410006, -0.006618484854698181, 0.005758381448686123, 0.0007335970876738429], "tau": [-62.0, 0.10999999940395355, -29.296001434326172, 0.03200000151991844, -4.076000213623047, 3.9720001220703125, -0.2680000066757202], "tau_des": [-2.0187904834747314, 0.9458177089691162, -0.3226626515388489, -0.4741043448448181, -0.03202620893716812, 0.2170059084892273, -0.25299063324928284], "tau_dot": [-28.870527267456055, -66.80680084228516, -7.296329498291016, -4.460420608520508, 40.106300354003906, 3.6593570709228516, -47.3992919921875], "tau_ext": [15.924656867980957, -35.47244644165039, -36.53868865966797, 20.257457733154297, -2.3734257221221924, -7.126649379730225, 0.14606142044067383], "tcp_pose": [0.6359460353851318, 0.033390793949365616, -0.33083173632621765, -0.006563447881489992, -0.10205939412117004, 0.9945498108863831, 0.020286032930016518], "tcp_vel": [0.000449585699243471, -0.00033083127345889807, 0.00020682564354501665, -0.0012948319781571627, -0.0009797615930438042, -0.0003340218972880393], "flange_pose": [0.6392133235931396, 0.025978663936257362, -0.14100448787212372, -0.006563447881489992, -0.10205939412117004, 0.9945498108863831, 0.020286032930016518], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.631462097167969, -57.084014892578125, -11.66175651550293, -6.672082424163818, 10.144198417663574, 0.2998282015323639], "ext_wrench_in_world": [-1.5725637349221284, -59.073686112420596, 9.392802168698015, 4.470722493693985, 11.292471013862487, 0.06388386065530861]}
+{"timestamp_ns": 1789729724047642382, "elapsed_ms": 13200, "source_timestamp_ns": 1789729724039169697, "q": [0.04499658942222595, -1.3096508979797363, 0.05817678943276405, 1.1252799034118652, 1.5883994102478027, 0.033169422298669815, -1.0714315176010132], "theta": [0.043211765587329865, -1.308148741722107, 0.05656721815466881, 1.1079225540161133, 1.5879042148590088, 0.03357100486755371, -1.0719999074935913], "dq": [-0.004928527399897575, -0.0012681307271122932, 0.010504085570573807, -0.0004278231645002961, -0.006928111892193556, 0.003089745296165347, 0.0013306172331795096], "dtheta": [-0.004144792445003986, -0.0011659469455480576, 0.008137366734445095, -0.0011638138676062226, -0.007934312336146832, 0.004773436114192009, 0.000439149618614465], "tau": [-62.02000045776367, 0.14000000059604645, -29.256000518798828, 0.052000001072883606, -4.0920000076293945, 3.9280002117156982, -0.2240000069141388], "tau_des": [-2.1164944171905518, 0.9387989044189453, -0.39523088932037354, -0.521556556224823, 0.016007618978619576, 0.2682851552963257, -0.2492414116859436], "tau_dot": [1.5771939754486084, -77.13956451416016, 5.803606033325195, 6.562071800231934, -23.54172706604004, -51.0794677734375, 42.70992660522461], "tau_ext": [15.946710586547852, -35.458648681640625, -36.524227142333984, 20.26704216003418, -2.3802850246429443, -7.135839462280273, 0.1438550353050232], "tcp_pose": [0.6359462141990662, 0.033393170684576035, -0.33083006739616394, -0.00656635919585824, -0.10206005722284317, 0.9945498108863831, 0.020281177014112473], "tcp_vel": [-0.00024328226572833955, -0.00012035096733598039, -4.942732994095422e-05, -0.0008972618961706758, 0.0008729357505217195, -0.0002117307740263641], "flange_pose": [0.6392143964767456, 0.025982988998293877, -0.14100274443626404, -0.00656635919585824, -0.10206005722284317, 0.9945498108863831, 0.020281177014112473], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.655223846435547, -57.038291931152344, -11.658953666687012, -6.663247585296631, 10.14179515838623, 0.2968824803829193], "ext_wrench_in_world": [-1.605013069735078, -59.03358025314532, 9.392732342774671, 4.462593733986547, 11.288216382471294, 0.06666852838337314]}
+{"timestamp_ns": 1789729724080961147, "elapsed_ms": 13233, "source_timestamp_ns": 1789729724079167240, "q": [0.044796548783779144, -1.3097000122070312, 0.0585373193025589, 1.125239372253418, 1.5880955457687378, 0.033369798213243484, -1.0714290142059326], "theta": [0.043022796511650085, -1.3081955909729004, 0.05692150816321373, 1.1078795194625854, 1.587593913078308, 0.033768534660339355, -1.0719945430755615], "dq": [-0.006327028386294842, -0.0019358763238415122, 0.008435730822384357, -0.0011463911505416036, -0.004544966388493776, 0.004260876681655645, 0.0015388702740892768], "dtheta": [-0.005005110986530781, -0.0009409874910488725, 0.009555906988680363, -0.0009829349583014846, -0.007386704441159964, 0.00389928393997252, 0.0007353952969424427], "tau": [-61.91999816894531, 0.14999999105930328, -29.268001556396484, -0.012000000104308128, -4.100000381469727, 3.9720001220703125, -0.22800001502037048], "tau_des": [-2.0945544242858887, 0.8238126635551453, -0.5158156156539917, -0.5007473826408386, -0.049215447157621384, 0.3348197340965271, -0.26109737157821655], "tau_dot": [82.24041748046875, 88.7447738647461, -25.83241844177246, -17.743043899536133, -32.84686279296875, 32.27457809448242, 73.73299407958984], "tau_ext": [15.908221244812012, -35.45524597167969, -36.52885818481445, 20.274396896362305, -2.3896915912628174, -7.135524749755859, 0.13677978515625], "tcp_pose": [0.6359449028968811, 0.03339804708957672, -0.330827534198761, -0.006562956143170595, -0.10205790400505066, 0.9945500493049622, 0.020280446857213974], "tcp_vel": [-0.00017755954468157142, 0.0007784748449921608, -0.0003317290102131665, 0.0014844546094536781, 0.0005540365818887949, -0.0005562067963182926], "flange_pose": [0.6392117142677307, 0.025988001376390457, -0.14100021123886108, -0.006562956143170595, -0.10205790400505066, 0.9945500493049622, 0.020280446857213974], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.687677383422852, -57.013370513916016, -11.682637214660645, -6.6655144691467285, 10.137397766113281, 0.29306840896606445], "ext_wrench_in_world": [-1.6417605184604485, -59.016704338226, 9.417758398554724, 4.465820184125376, 11.284206400611469, 0.0702971592199787]}
+{"timestamp_ns": 1789729724114297070, "elapsed_ms": 13266, "source_timestamp_ns": 1789729724109192975, "q": [0.04465064778923988, -1.3097351789474487, 0.058806490153074265, 1.1252111196517944, 1.5878618955612183, 0.0335259772837162, -1.0714303255081177], "theta": [0.04288332164287567, -1.308228611946106, 0.057190876454114914, 1.10784912109375, 1.5873525142669678, 0.0339207649230957, -1.071993112564087], "dq": [-0.003184534376487136, -0.0001422626810381189, 0.010186332277953625, -7.917044422356412e-05, -0.008379532024264336, 0.005117904860526323, -0.0016182676190510392], "dtheta": [-0.004411391448229551, -0.0012012252118438482, 0.009120265953242779, -0.0009429826750420034, -0.007253303192555904, 0.005395085550844669, -0.00018102637841366231], "tau": [-61.959999084472656, 0.11999999731779099, -29.272001266479492, -0.004000000189989805, -4.060000419616699, 3.9640002250671387, -0.22800001502037048], "tau_des": [-2.126697540283203, 0.9258794188499451, -0.46366044878959656, -0.5537033081054688, -0.007274233736097813, 0.2840612828731537, -0.2477893829345703], "tau_dot": [-20.51188850402832, -9.179207801818848, 25.111478805541992, 5.95924711227417, 17.48461151123047, -27.419414520263672, 18.818063735961914], "tau_ext": [15.914362907409668, -35.47233963012695, -36.52610397338867, 20.278833389282227, -2.3913018703460693, -7.136131763458252, 0.13671308755874634], "tcp_pose": [0.6359421610832214, 0.03339935466647148, -0.3308265209197998, -0.006563115399330854, -0.1020578145980835, 0.9945501685142517, 0.0202754195779562], "tcp_vel": [-0.00011754177830880508, 0.00013783699250780046, -0.00035969112650491297, 1.1904539860552177e-05, -6.996531010372564e-05, 5.310538108460605e-05], "flange_pose": [0.6392089128494263, 0.02599121630191803, -0.14099912345409393, -0.006563115399330854, -0.1020578145980835, 0.9945501685142517, 0.0202754195779562], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.706602096557617, -56.99481964111328, -11.681368827819824, -6.664786338806152, 10.13477897644043, 0.2916402220726013], "ext_wrench_in_world": [-1.664086444371667, -59.00225776783207, 9.418024169214519, 4.465664179730745, 11.281440751513472, 0.07151130209617987]}
+{"timestamp_ns": 1789729724147626073, "elapsed_ms": 13300, "source_timestamp_ns": 1789729724139173455, "q": [0.04452195018529892, -1.3097691535949707, 0.0590706504881382, 1.125179409980774, 1.5876458883285522, 0.03368955850601196, -1.0714306831359863], "theta": [0.042757052928209305, -1.3082612752914429, 0.057454898953437805, 1.107815146446228, 1.58712899684906, 0.034079670906066895, -1.0719921588897705], "dq": [-0.004382900893688202, -0.0033703080844134092, 0.007148295175284147, 0.00022103762603364885, -0.009604834951460361, 0.005382280796766281, -0.0008213512483052909], "dtheta": [-0.00405292259529233, -0.0012384133879095316, 0.008494424633681774, -0.0013869842514395714, -0.0070586055517196655, 0.005878348369151354, -3.784505679504946e-05], "tau": [-61.959999084472656, 0.11999999731779099, -29.296001434326172, 0.004000000189989805, -4.064000129699707, 4.004000186920166, -0.2639999985694885], "tau_des": [-2.1630358695983887, 0.9020618796348572, -0.4571637511253357, -0.527155339717865, -0.002961751539260149, 0.26216965913772583, -0.24048438668251038], "tau_dot": [89.72096252441406, 57.9008903503418, -19.60673713684082, 14.48416805267334, -17.230920791625977, 75.34232330322266, -80.77030181884766], "tau_ext": [15.903520584106445, -35.42757034301758, -36.503196716308594, 20.268030166625977, -2.395707130432129, -7.142277717590332, 0.13717633485794067], "tcp_pose": [0.6359414458274841, 0.03340240195393562, -0.33083513379096985, -0.006561928894370794, -0.10205896943807602, 0.9945501685142517, 0.02027088589966297], "tcp_vel": [0.0001508518762420863, -5.767675975221209e-05, -0.0002602280583232641, -0.0008113280637189746, -0.0003561152843758464, 0.0003233104944229126], "flange_pose": [0.6392075419425964, 0.025995932519435883, -0.14100763201713562, -0.006561928894370794, -0.10205896943807602, 0.9945501685142517, 0.02027088589966297], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.719643592834473, -56.97087860107422, -11.672449111938477, -6.665109157562256, 10.132753372192383, 0.292280375957489], "ext_wrench_in_world": [-1.6817574388664833, -58.98105973798186, 9.410737551593176, 4.466353630190988, 11.279560518459371, 0.07070051314225048]}
+{"timestamp_ns": 1789729724180896193, "elapsed_ms": 13333, "source_timestamp_ns": 1789729724179169168, "q": [0.04434232413768768, -1.3098191022872925, 0.05943281203508377, 1.125125765800476, 1.587342381477356, 0.03390166163444519, -1.071426510810852], "theta": [0.042576905339956284, -1.3083100318908691, 0.057818297296762466, 1.1077587604522705, 1.5868136882781982, 0.03428769111633301, -1.0719852447509766], "dq": [-0.0034115277230739594, -0.0003544998471625149, 0.008297459222376347, -0.001587431412190199, -0.004674479831010103, 0.004180057439953089, 0.003249172819778323], "dtheta": [-0.004920208360999823, -0.001551391906104982, 0.009693468920886517, -0.001271710149012506, -0.0077056908048689365, 0.005358965136110783, -0.0007328210049308836], "tau": [-62.0, 0.05999999865889549, -29.352001190185547, -0.01600000075995922, -4.064000129699707, 4.016000270843506, -0.22800001502037048], "tau_des": [-2.201785087585449, 0.8973372578620911, -0.5605708956718445, -0.544279158115387, -0.006515244022011757, 0.31640979647636414, -0.22417280077934265], "tau_dot": [111.38941955566406, -45.241455078125, 7.375394344329834, 59.35367202758789, 26.91088104248047, 46.59181594848633, 7.652918338775635], "tau_ext": [15.920829772949219, -35.425472259521484, -36.48773956298828, 20.281875610351562, -2.4036052227020264, -7.146491050720215, 0.12953950464725494], "tcp_pose": [0.6359409689903259, 0.03340834006667137, -0.3308453857898712, -0.0065650357864797115, -0.10206189006567001, 0.9945498704910278, 0.02026757039129734], "tcp_vel": [-8.901623368728906e-05, 0.00012683976092375815, -0.00027012586360797286, 0.00031514567672275007, -0.00010475899034645408, 0.0006001546862535179], "flange_pose": [0.6392080783843994, 0.02600325457751751, -0.1410178542137146, -0.0065650357864797115, -0.10206189006567001, 0.9945498704910278, 0.02026757039129734], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.744344711303711, -56.92499923706055, -11.679147720336914, -6.661647319793701, 10.130533218383789, 0.29190391302108765], "ext_wrench_in_world": [-1.714721514660438, -58.94139873285713, 9.41999398606207, 4.4633530663553005, 11.276697538438798, 0.07091000038159234]}
+{"timestamp_ns": 1789729724214307537, "elapsed_ms": 13366, "source_timestamp_ns": 1789729724209191173, "q": [0.04418652504682541, -1.3098610639572144, 0.059732116758823395, 1.1250817775726318, 1.5870918035507202, 0.03407609462738037, -1.0714185237884521], "theta": [0.04241745173931122, -1.3083515167236328, 0.058121755719184875, 1.107712984085083, 1.586549997329712, 0.034459590911865234, -1.0719746351242065], "dq": [-0.004443057347089052, -0.006098641082644463, 0.013154259882867336, 0.0003322438569739461, -0.009852245450019836, 0.004679782781749964, 0.001342730363830924], "dtheta": [-0.005635818000882864, -0.0013390877284109592, 0.010219063609838486, -0.0016632865881547332, -0.010034448467195034, 0.005471099633723497, 0.0003833463997580111], "tau": [-62.04999923706055, 0.04999999701976776, -29.37200164794922, -0.04000000283122063, -4.064000129699707, 3.9800002574920654, -0.22800001502037048], "tau_des": [-2.086945056915283, 0.8302974700927734, -0.5345063805580139, -0.5089219808578491, 0.032402899116277695, 0.31017136573791504, -0.23585200309753418], "tau_dot": [26.846744537353516, -29.0966854095459, -38.43929672241211, -63.319820404052734, 25.672040939331055, 24.31311798095703, -2.8728554248809814], "tau_ext": [15.897418975830078, -35.4023323059082, -36.481170654296875, 20.2784481048584, -2.4071106910705566, -7.146365642547607, 0.12421872466802597], "tcp_pose": [0.6359425187110901, 0.03341307118535042, -0.3308492600917816, -0.0065641324035823345, -0.10206170380115509, 0.9945499897003174, 0.020264839753508568], "tcp_vel": [-0.0001406871306244284, 9.364406287204474e-05, 0.0001647628960199654, -0.0007505753892473876, 0.0010347695788368583, 0.00025643574190326035], "flange_pose": [0.6392092704772949, 0.026008980348706245, -0.14102168381214142, -0.0065641324035823345, -0.10206170380115509, 0.9945499897003174, 0.020264839753508568], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.788213729858398, -56.88003921508789, -11.660932540893555, -6.653414726257324, 10.12113094329834, 0.2872563600540161], "ext_wrench_in_world": [-1.7671468526352183, -58.90556985836662, 9.404364856585149, 4.4572831576563, 11.26564286509032, 0.07518640883479266]}
+{"timestamp_ns": 1789729724247644889, "elapsed_ms": 13400, "source_timestamp_ns": 1789729724239168673, "q": [0.044026557356119156, -1.3099043369293213, 0.06004565209150314, 1.125035047531128, 1.5868141651153564, 0.034263648092746735, -1.0714125633239746], "theta": [0.04225289449095726, -1.3083945512771606, 0.05843475088477135, 1.1076644659042358, 1.5862611532211304, 0.034644365310668945, -1.071966290473938], "dq": [-0.0053126029670238495, -0.00011975722009083256, 0.012544261291623116, -0.003818359225988388, -0.008809282444417477, 0.00764329032972455, 7.627682498423383e-05], "dtheta": [-0.005849117878824472, -0.00098616152536124, 0.010011227801442146, -0.001452527940273285, -0.00895055290311575, 0.0064224055968225, -0.0010414858115836978], "tau": [-61.94999694824219, 0.0, -29.352001190185547, -0.06400000303983688, -4.056000232696533, 4.004000186920166, -0.2200000137090683], "tau_des": [-2.029527187347412, 0.7402469515800476, -0.48326191306114197, -0.45562073588371277, 0.03191789239645004, 0.2748483419418335, -0.2000569999217987], "tau_dot": [52.984066009521484, -199.74949645996094, 2.4246034622192383, -24.452701568603516, -15.085264205932617, 25.88988494873047, -0.2830968201160431], "tau_ext": [15.91403865814209, -35.37565231323242, -36.46086502075195, 20.28111457824707, -2.413198709487915, -7.155041694641113, 0.1249881237745285], "tcp_pose": [0.6359413266181946, 0.033414676785469055, -0.3308534026145935, -0.00656963000074029, -0.10206377506256104, 0.9945499300956726, 0.020255912095308304], "tcp_vel": [0.0003858449636027217, 0.00018728803843259811, 0.0003837985859718174, -0.000949906709138304, -0.0007155997445806861, 0.0017353766597807407], "flange_pose": [0.6392098069190979, 0.0260141771286726, -0.14102573692798615, -0.00656963000074029, -0.10206377506256104, 0.9945499300956726, 0.020255912095308304], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.805970191955566, -56.83939743041992, -11.630982398986816, -6.645666122436523, 10.120187759399414, 0.28597745299339294], "ext_wrench_in_world": [-1.7929387779692318, -58.868081767221874, 9.377418853078261, 4.449860183398429, 11.263116495125056, 0.07624149438455205]}
+{"timestamp_ns": 1789729724280901481, "elapsed_ms": 13433, "source_timestamp_ns": 1789729724279171556, "q": [0.04380331560969353, -1.3099626302719116, 0.060471441596746445, 1.1249767541885376, 1.586455225944519, 0.03450842574238777, -1.0714080333709717], "theta": [0.04202048480510712, -1.308452844619751, 0.05886228382587433, 1.107603669166565, 1.5858875513076782, 0.034884095191955566, -1.0719581842422485], "dq": [-0.005987961310893297, 0.0010786905186250806, 0.009839220903813839, -0.001729420619085431, -0.007665802258998156, 0.005536580923944712, -0.0023026999551802874], "dtheta": [-0.006143968552350998, -0.0011465557618066669, 0.010849214158952236, -0.0015171571867540479, -0.010265948250889778, 0.007046638987958431, -0.000937310978770256], "tau": [-62.05999755859375, 0.04999999701976776, -29.404001235961914, -0.08000000566244125, -4.064000129699707, 3.996000289916992, -0.2240000069141388], "tau_des": [-2.047468423843384, 0.7428073883056641, -0.5398663878440857, -0.4671032428741455, 0.05321508273482323, 0.28461289405822754, -0.1967916190624237], "tau_dot": [-100.71086883544922, -79.95952606201172, 0.7480236887931824, -54.980003356933594, -21.289762496948242, -15.324471473693848, -26.94310760498047], "tau_ext": [15.903103828430176, -35.36898422241211, -36.440391540527344, 20.293027877807617, -2.4187862873077393, -7.160377025604248, 0.1210678294301033], "tcp_pose": [0.635941743850708, 0.03342154249548912, -0.3308579623699188, -0.006569478195160627, -0.10206570476293564, 0.9945497512817383, 0.020252617076039314], "tcp_vel": [0.00020200781000312418, 1.2309166777413338e-05, 0.0003591216227505356, -0.001470260787755251, -0.00019743319717235863, 0.0016050583217293024], "flange_pose": [0.639210045337677, 0.0260222889482975, -0.1410302221775055, -0.006569478195160627, -0.10206570476293564, 0.9945497512817383, 0.020252617076039314], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.853425025939941, -56.78704833984375, -11.656475067138672, -6.6476521492004395, 10.109122276306152, 0.2843397855758667], "ext_wrench_in_world": [-1.8493557698133394, -58.82745207790911, 9.405871589059707, 4.45403224630287, 11.252648492182571, 0.0773308994863447]}
+{"timestamp_ns": 1789729724314234884, "elapsed_ms": 13466, "source_timestamp_ns": 1789729724309170934, "q": [0.04363394156098366, -1.3100051879882812, 0.06078314408659935, 1.1249371767044067, 1.5861872434616089, 0.03468126431107521, -1.0714070796966553], "theta": [0.04184200242161751, -1.3084962368011475, 0.05917733162641525, 1.1075620651245117, 1.5856094360351562, 0.035054922103881836, -1.071954369544983], "dq": [-0.0020745873916894197, -0.0019610163290053606, 0.009386938065290451, -0.0024503867607563734, -0.01123287994414568, 0.005970453843474388, 0.0010092603042721748], "dtheta": [-0.006090390961617231, -0.0012510961387306452, 0.010656672529876232, -0.0015062950551509857, -0.008914417587220669, 0.005097598303109407, -0.00048087522736750543], "tau": [-61.96999740600586, 0.07000000029802322, -29.408000946044922, -0.08800000697374344, -4.056000232696533, 4.019999980926514, -0.22800001502037048], "tau_des": [-2.1236910820007324, 0.6981073021888733, -0.6160070300102234, -0.4758985936641693, 0.015857523307204247, 0.3575037717819214, -0.20379695296287537], "tau_dot": [-8.051188468933105, 75.39664459228516, 57.80138397216797, -28.482559204101562, -8.85537052154541, -13.434853553771973, -34.2947883605957], "tau_ext": [15.905077934265137, -35.34251403808594, -36.415096282958984, 20.288097381591797, -2.4242420196533203, -7.1678571701049805, 0.11888433992862701], "tcp_pose": [0.6359403133392334, 0.033426180481910706, -0.3308575451374054, -0.006570389959961176, -0.1020670235157013, 0.9945496916770935, 0.020250974223017693], "tcp_vel": [8.834722393658012e-05, 0.000562270637601614, 9.528994269203395e-05, 0.0006885997718200088, 5.6886961829150096e-05, 0.0009562793420627713], "flange_pose": [0.6392089128494263, 0.026027590036392212, -0.14102980494499207, -0.006570389959961176, -0.1020670235157013, 0.9945496916770935, 0.020250974223017693], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.881871223449707, -56.749359130859375, -11.655997276306152, -6.648576259613037, 10.104805946350098, 0.28440216183662415], "ext_wrench_in_world": [-1.8846848528947993, -58.79631588248457, 9.40742178204587, 4.455780906259885, 11.248628187623849, 0.07703567318936944]}
+{"timestamp_ns": 1789729724347633159, "elapsed_ms": 13500, "source_timestamp_ns": 1789729724339167952, "q": [0.0434626005589962, -1.3100471496582031, 0.06109461560845375, 1.1248996257781982, 1.5859242677688599, 0.03487132489681244, -1.0714055299758911], "theta": [0.04166223481297493, -1.3085393905639648, 0.05949461832642555, 1.1075217723846436, 1.5853374004364014, 0.03524291515350342, -1.0719499588012695], "dq": [-0.006629848852753639, -0.001465638866648078, 0.013183511793613434, 0.00011815749894594774, -0.00934029184281826, 0.003040529089048505, 0.002310018287971616], "dtheta": [-0.0058387392200529575, -0.0017743295757099986, 0.01080170925706625, -0.0014792041620239615, -0.007594394963234663, 0.006154364440590143, 0.0004277998232282698], "tau": [-61.93000030517578, 0.04999999701976776, -29.408000946044922, -0.08800000697374344, -4.02400016784668, 4.004000186920166, -0.2240000069141388], "tau_des": [-2.118067502975464, 0.7999754548072815, -0.5962985754013062, -0.5282269716262817, -0.01704648695886135, 0.3029700219631195, -0.22922396659851074], "tau_dot": [-23.714988708496094, 69.17849731445312, -6.380177021026611, -49.97163009643555, 18.4345703125, -27.98285484313965, -12.225777626037598], "tau_ext": [15.938859939575195, -35.361976623535156, -36.379634857177734, 20.30267906188965, -2.423428535461426, -7.1747355461120605, 0.11412373930215836], "tcp_pose": [0.6359432935714722, 0.03342780843377113, -0.330854594707489, -0.006563413422554731, -0.10206730663776398, 0.9945498704910278, 0.020243404433131218], "tcp_vel": [0.00027934947866015136, 0.00028202938847243786, -0.00015345742576755583, 0.0008341673528775573, -0.0013058981858193874, -0.000624949112534523], "flange_pose": [0.639208972454071, 0.02603180706501007, -0.14102667570114136, -0.006563413422554731, -0.10206730663776398, 0.9945498704910278, 0.020243404433131218], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.914381980895996, -56.70769119262695, -11.645757675170898, -6.648420333862305, 10.097578048706055, 0.28213027119636536], "ext_wrench_in_world": [-1.9252648841238393, -58.7616330739332, 9.399987858919033, 4.457127739961293, 11.241439257142412, 0.07892156229090819]}
+{"timestamp_ns": 1789729724380905059, "elapsed_ms": 13533, "source_timestamp_ns": 1789729724379192562, "q": [0.04322374612092972, -1.3101109266281128, 0.06152980402112007, 1.124843716621399, 1.5855690240859985, 0.03511366993188858, -1.0713999271392822], "theta": [0.04141542315483093, -1.3086047172546387, 0.059935931116342545, 1.1074612140655518, 1.5849695205688477, 0.03548133373260498, -1.0719408988952637], "dq": [-0.006853120401501656, -0.003642413765192032, 0.008250296115875244, -0.0025585894472897053, -0.008958971127867699, 0.004940782207995653, 0.0005764455418102443], "dtheta": [-0.00603853166103363, -0.0017226377967745066, 0.011273636482656002, -0.0019746003672480583, -0.009593337774276733, 0.004562132526189089, 0.001088047749362886], "tau": [-61.869998931884766, 0.03999999910593033, -29.37200164794922, -0.08400000631809235, -4.0360002517700195, 3.9800002574920654, -0.2160000056028366], "tau_des": [-2.123197317123413, 0.7195427417755127, -0.6792078614234924, -0.502968966960907, -0.01529381051659584, 0.3651101589202881, -0.23928602039813995], "tau_dot": [117.61784362792969, -53.52455520629883, -2.0784833431243896, 39.4346923828125, -19.912282943725586, -59.605220794677734, -9.51595687866211], "tau_ext": [15.876296997070312, -35.33017349243164, -36.38760757446289, 20.299293518066406, -2.4366843700408936, -7.172744274139404, 0.11684369295835495], "tcp_pose": [0.6359453797340393, 0.033435191959142685, -0.330854207277298, -0.006555336527526379, -0.10206488519906998, 0.9945501089096069, 0.020245861262083054], "tcp_vel": [-0.00019243636052124202, 0.0005949451588094234, -0.00021841567649971694, 0.0012358489912003279, 0.0011616627452895045, -0.000571718264836818], "flange_pose": [0.6392080783843994, 0.02603793889284134, -0.1410263031721115, -0.006555336527526379, -0.10206488519906998, 0.9945501089096069, 0.020245861262083054], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.9420804977417, -56.64730453491211, -11.681200981140137, -6.649322032928467, 10.090093612670898, 0.2833866775035858], "ext_wrench_in_world": [-1.9644712130050712, -58.709615570562036, 9.437747000660027, 4.4595639911543845, 11.234325307487932, 0.0774887951377808]}
+{"timestamp_ns": 1789729724414232302, "elapsed_ms": 13566, "source_timestamp_ns": 1789729724409154604, "q": [0.04304126277565956, -1.3101657629013062, 0.0618615448474884, 1.1247947216033936, 1.585263729095459, 0.03529171273112297, -1.071394443511963], "theta": [0.041228312999010086, -1.308660626411438, 0.06027510389685631, 1.1074085235595703, 1.5846574306488037, 0.03565537929534912, -1.0719325542449951], "dq": [-0.005328325089067221, -0.002842039568349719, 0.014287610538303852, -0.0013522465014830232, -0.009078931994736195, 0.004639810882508755, 0.0008698998135514557], "dtheta": [-0.0064442954026162624, -0.00196470832452178, 0.01144419889897108, -0.0015891286311671138, -0.011451644822955132, 0.005471278913319111, -7.043994992272928e-05], "tau": [-61.94999694824219, -0.009999999776482582, -29.420001983642578, -0.1120000034570694, -4.01200008392334, 4.004000186920166, -0.24000000953674316], "tau_des": [-2.0447545051574707, 0.8919890522956848, -0.5547517538070679, -0.6210865378379822, 0.11221764981746674, 0.3321574032306671, -0.22904080152511597], "tau_dot": [-64.6764144897461, -33.77240753173828, 1.59600830078125, 27.13578224182129, 47.68428039550781, -31.838668823242188, -53.24836730957031], "tau_ext": [15.824517250061035, -35.28999328613281, -36.39259719848633, 20.29934310913086, -2.443617582321167, -7.176115036010742, 0.11478610336780548], "tcp_pose": [0.6359393000602722, 0.0334334671497345, -0.33085083961486816, -0.006564924493432045, -0.10206358134746552, 0.9945502877235413, 0.020240740850567818], "tcp_vel": [-0.0005453579360619187, -0.00015779808745719492, 0.0002386669657425955, -0.0005040720570832491, 0.0016003170749172568, 0.00010011609992943704], "flange_pose": [0.6392053961753845, 0.02603851817548275, -0.14102290570735931, -0.006564924493432045, -0.10206358134746552, 0.9945502877235413, 0.020240740850567818], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.965628623962402, -56.62575912475586, -11.725188255310059, -6.655197620391846, 10.08393669128418, 0.28474026918411255], "ext_wrench_in_world": [-1.9910959400564434, -58.694916482729425, 9.48355075816426, 4.466567530927158, 11.229540022533131, 0.07561054943283105]}
+{"timestamp_ns": 1789729724447627358, "elapsed_ms": 13600, "source_timestamp_ns": 1789729724439174509, "q": [0.042860738933086395, -1.3102219104766846, 0.06219380721449852, 1.124739408493042, 1.5849871635437012, 0.035466935485601425, -1.0713911056518555], "theta": [0.041041821241378784, -1.3087173700332642, 0.060616713017225266, 1.1073487997055054, 1.584373950958252, 0.03582870960235596, -1.0719267129898071], "dq": [-0.004111745394766331, -0.0015678399940952659, 0.011277731508016586, -0.00018516423006076366, -0.005736089777201414, 0.007071309257298708, -0.0011006823042407632], "dtheta": [-0.006098601967096329, -0.0019103892846032977, 0.01121185626834631, -0.0022676882799714804, -0.009384820237755775, 0.005712807644158602, 0.0007233922951854765], "tau": [-61.93000030517578, 0.029999999329447746, -29.468002319335938, -0.14000000059604645, -4.01200008392334, 4.028000354766846, -0.2160000056028366], "tau_des": [-2.0821619033813477, 0.7433142066001892, -0.6378956437110901, -0.5190021991729736, 0.02403174340724945, 0.3577987551689148, -0.2293965220451355], "tau_dot": [-38.61067581176758, 14.037288665771484, -33.67520523071289, -30.220970153808594, 28.301794052124023, 7.633386135101318, 31.82956314086914], "tau_ext": [15.873272895812988, -35.29659652709961, -36.3580207824707, 20.30583953857422, -2.448092460632324, -7.183471202850342, 0.11268416047096252], "tcp_pose": [0.635940432548523, 0.033438876271247864, -0.3308521509170532, -0.006564248353242874, -0.10206504166126251, 0.9945500493049622, 0.020245416089892387], "tcp_vel": [0.00016230667824856937, 0.0003167842223774642, -5.725162191083655e-05, 0.000450083171017468, 0.00014741280756425112, -0.00012330540630500764], "flange_pose": [0.6392064690589905, 0.026042139157652855, -0.14102427661418915, -0.006564248353242874, -0.10206504166126251, 0.9945500493049622, 0.020245416089892387], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.99234390258789, -56.579341888427734, -11.722064018249512, -6.652735233306885, 10.079818725585938, 0.28562426567077637], "ext_wrench_in_world": [-2.026553293632791, -58.65490899936326, 9.482042674883006, 4.464944185873481, 11.225057159022558, 0.07468627723111754]}
+{"timestamp_ns": 1789729724480907087, "elapsed_ms": 13633, "source_timestamp_ns": 1789729724479166384, "q": [0.0426250584423542, -1.3102920055389404, 0.06262391060590744, 1.1246678829193115, 1.5846086740493774, 0.03571931645274162, -1.0713865756988525], "theta": [0.04080183058977127, -1.30878746509552, 0.06105997785925865, 1.1072732210159302, 1.5839873552322388, 0.036080121994018555, -1.071918249130249], "dq": [-0.004935633856803179, -0.0005106411408632994, 0.00910105835646391, -0.0032721373718231916, -0.01079931017011404, 0.005207250826060772, 0.0009299836819991469], "dtheta": [-0.006122319959104061, -0.0018700454384088516, 0.01147307176142931, -0.0018898512935265899, -0.009730475023388863, 0.007548707537353039, 0.0009742230176925659], "tau": [-61.869998931884766, 0.03999999910593033, -29.43600082397461, -0.14000000059604645, -3.996000289916992, 4.016000270843506, -0.20800000429153442], "tau_des": [-1.9942837953567505, 0.8047313094139099, -0.541581392288208, -0.5511085987091064, 0.06443672627210617, 0.27344387769699097, -0.2279212474822998], "tau_dot": [11.909553527832031, 106.18220520019531, -20.44527244567871, -5.37300443649292, 45.90458679199219, -8.087865829467773, 0.31681913137435913], "tau_ext": [15.850224494934082, -35.28827667236328, -36.346492767333984, 20.318775177001953, -2.455275058746338, -7.187840938568115, 0.11099016666412354], "tcp_pose": [0.6359438896179199, 0.03343814238905907, -0.3308480381965637, -0.006563595496118069, -0.10206873714923859, 0.9945498704910278, 0.0202350951731205], "tcp_vel": [0.0002603576867841184, -0.00013736222172155976, 4.9224483518628404e-05, -0.0009451497462578118, -0.0007026810199022293, -0.0007080850773490965], "flange_pose": [0.6392093300819397, 0.026045290753245354, -0.1410199999809265, -0.006563595496118069, -0.10206873714923859, 0.9945498704910278, 0.0202350951731205], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.036185264587402, -56.51670837402344, -11.707810401916504, -6.648443222045898, 10.071685791015625, 0.2847554087638855], "ext_wrench_in_world": [-2.0820158879152557, -58.60181205120414, 9.471983993930197, 4.462321522316151, 11.216228997741627, 0.07504194979048204]}
+{"timestamp_ns": 1789729724514284004, "elapsed_ms": 13666, "source_timestamp_ns": 1789729724509173580, "q": [0.04244042932987213, -1.3103389739990234, 0.0629570260643959, 1.1246192455291748, 1.5843161344528198, 0.03589288145303726, -1.0713822841644287], "theta": [0.04061562567949295, -1.3088349103927612, 0.06140115484595299, 1.107222080230713, 1.5836917161941528, 0.03625190258026123, -1.071911334991455], "dq": [-0.00699238944798708, -0.0015024387976154685, 0.01370171271264553, -0.0003748425224330276, -0.008299351669847965, 0.0029523225966840982, -0.0007045718375593424], "dtheta": [-0.0065475814044475555, -0.0015670101856812835, 0.011296681128442287, -0.001350951730273664, -0.01025727391242981, 0.006085505243390799, 0.0001730147923808545], "tau": [-61.90999984741211, 0.019999999552965164, -29.43600082397461, -0.13600000739097595, -4.01200008392334, 4.0320000648498535, -0.2200000137090683], "tau_des": [-1.9418312311172485, 0.7351466417312622, -0.5344574451446533, -0.5553252696990967, 0.08787398040294647, 0.3326128125190735, -0.20673799514770508], "tau_dot": [-99.61360168457031, 8.85594367980957, -31.539962768554688, -18.381004333496094, -27.60221290588379, 12.053693771362305, -50.8493766784668], "tau_ext": [15.797945022583008, -35.271427154541016, -36.35355758666992, 20.3155517578125, -2.4615581035614014, -7.189391136169434, 0.10727233439683914], "tcp_pose": [0.635942816734314, 0.03344542533159256, -0.33084574341773987, -0.006568239536136389, -0.10207156836986542, 0.9945495128631592, 0.020236138254404068], "tcp_vel": [-9.646054968470708e-05, 7.788706716382876e-05, 0.0003148408723063767, -0.0003445632755756378, 0.00017415432375855744, -7.024663500487804e-05], "flange_pose": [0.639210045337677, 0.02605237066745758, -0.14101776480674744, -0.006568239536136389, -0.10207156836986542, 0.9945495128631592, 0.020236138254404068], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.057897567749023, -56.47203063964844, -11.758477210998535, -6.652022361755371, 10.066205024719238, 0.2844569683074951], "ext_wrench_in_world": [-2.1110287107584598, -58.56451078572691, 9.52460755743339, 4.466876973757498, 11.211609082017892, 0.07505172299161872]}
+{"timestamp_ns": 1789729724547626136, "elapsed_ms": 13700, "source_timestamp_ns": 1789729724539176377, "q": [0.04225022345781326, -1.310388207435608, 0.06330940127372742, 1.12457275390625, 1.5840154886245728, 0.036090366542339325, -1.0713766813278198], "theta": [0.04042431712150574, -1.3088841438293457, 0.061757735908031464, 1.107173204421997, 1.5833847522735596, 0.036448001861572266, -1.071901559829712], "dq": [-0.0068120285868644714, -0.0021330052986741066, 0.013772998936474323, -0.0015632814029231668, -0.012194192036986351, 0.007721749134361744, -0.00020951233454979956], "dtheta": [-0.006365735083818436, -0.0015571712283417583, 0.012729572132229805, -0.0017213452374562621, -0.012107598595321178, 0.007675375323742628, 0.0008561358554288745], "tau": [-61.90999984741211, -0.08999999612569809, -29.48400115966797, -0.11600000411272049, -4.048000335693359, 4.048000335693359, -0.2160000056028366], "tau_des": [-2.050416946411133, 0.7087454795837402, -0.6661026477813721, -0.5438647866249084, 0.1134478822350502, 0.34348058700561523, -0.2136448323726654], "tau_dot": [-72.9653091430664, -76.02020263671875, -55.43688201904297, 49.79029846191406, -69.52449035644531, 11.455029487609863, -22.40060806274414], "tau_ext": [15.798368453979492, -35.2791633605957, -36.33251953125, 20.331148147583008, -2.4632985591888428, -7.196986198425293, 0.10329500585794449], "tcp_pose": [0.6359423995018005, 0.033450767397880554, -0.33084607124328613, -0.006568226497620344, -0.10207152366638184, 0.994549572467804, 0.020234178751707077], "tcp_vel": [-0.0002484777069184929, -6.510623734357068e-06, -0.00015906534099485725, -0.0013561290688812733, 0.0011094266083091497, -0.0002917619131039828], "flange_pose": [0.6392095685005188, 0.02605845034122467, -0.14101803302764893, -0.006568226497620344, -0.10207152366638184, 0.994549572467804, 0.020234178751707077], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.089221000671387, -56.45955276489258, -11.778541564941406, -6.659496784210205, 10.058389663696289, 0.2840562164783478], "ext_wrench_in_world": [-2.1438902934114035, -58.55941442166634, 9.545679924230342, 4.475787393587063, 11.205466853814608, 0.07501849936985319]}
+{"timestamp_ns": 1789729724580899146, "elapsed_ms": 13733, "source_timestamp_ns": 1789729724579175521, "q": [0.04199247434735298, -1.3104532957077026, 0.06380800902843475, 1.1245051622390747, 1.5835942029953003, 0.036401938647031784, -1.0713695287704468], "theta": [0.04016277194023132, -1.3089498281478882, 0.06226528063416481, 1.1071038246154785, 1.5829585790634155, 0.03676152229309082, -1.071890115737915], "dq": [-0.004913136828690767, 9.959767339751124e-06, 0.011056417599320412, -0.0016114485915750265, -0.008133992552757263, 0.006829904858022928, 0.0010493677109479904], "dtheta": [-0.006784019060432911, -0.0017256255960091949, 0.012724033556878567, -0.00183783657848835, -0.010973495431244373, 0.007169828750193119, 0.0007517245248891413], "tau": [-61.84000015258789, -0.08999999612569809, -29.45600128173828, -0.15200001001358032, -4.008000373840332, 4.0320000648498535, -0.20000000298023224], "tau_des": [-1.97573721408844, 0.6394814252853394, -0.6376088857650757, -0.4956943094730377, 0.07008899748325348, 0.31517136096954346, -0.20195357501506805], "tau_dot": [14.927579879760742, -115.95684814453125, -34.926734924316406, 25.501296997070312, 11.750751495361328, -11.522176742553711, 22.3387508392334], "tau_ext": [15.774503707885742, -35.24170684814453, -36.33454513549805, 20.320430755615234, -2.4689152240753174, -7.2042622566223145, 0.09900841116905212], "tcp_pose": [0.6359474062919617, 0.033455584198236465, -0.3308510482311249, -0.006563022267073393, -0.10207490622997284, 0.9945495128631592, 0.02022005058825016], "tcp_vel": [3.152203862555325e-05, 0.00024229951668530703, -5.033506022300571e-05, -0.00024263236264232546, 0.00014132875367067754, -0.00032236857805401087], "flange_pose": [0.6392120718955994, 0.026068415492773056, -0.14102278649806976, -0.006563022267073393, -0.10207490622997284, 0.9945495128631592, 0.02022005058825016], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.110177993774414, -56.4007682800293, -11.781999588012695, -6.658757209777832, 10.056385040283203, 0.28209957480430603], "ext_wrench_in_world": [-2.176003585505158, -58.506054754745406, 9.553316979776566, 4.475427144346708, 11.20331129000259, 0.07665404262015654]}
+{"timestamp_ns": 1789729724614226060, "elapsed_ms": 13766, "source_timestamp_ns": 1789729724609208254, "q": [0.041786640882492065, -1.310506820678711, 0.0641740933060646, 1.1244559288024902, 1.583275556564331, 0.03659662976861, -1.071360468864441], "theta": [0.03995344042778015, -1.3090039491653442, 0.06264451146125793, 1.1070542335510254, 1.5826348066329956, 0.036957502365112305, -1.071877360343933], "dq": [-0.007060884032398462, -0.001648019882850349, 0.010281194001436234, -0.001363587798550725, -0.012788907624781132, 0.006684610620141029, -0.0008098314865492284], "dtheta": [-0.007083892356604338, -0.0016645689029246569, 0.012739039957523346, -0.0017302206251770258, -0.010540595278143883, 0.007515864912420511, 0.0008615101687610149], "tau": [-61.79999923706055, -0.09999999403953552, -29.46000099182129, -0.15600000321865082, -4.008000373840332, 4.028000354766846, -0.18800000846385956], "tau_des": [-1.8788442611694336, 0.6104353070259094, -0.6013945937156677, -0.4963931739330292, 0.061745092272758484, 0.31365692615509033, -0.21038275957107544], "tau_dot": [144.63851928710938, -57.608516693115234, 13.299548149108887, -9.582531929016113, -18.124008178710938, 12.041366577148438, 32.6660041809082], "tau_ext": [15.738195419311523, -35.22355270385742, -36.35612869262695, 20.317869186401367, -2.4741671085357666, -7.204577445983887, 0.09691614657640457], "tcp_pose": [0.6359462141990662, 0.03346105292439461, -0.33084648847579956, -0.006564388517290354, -0.10207293927669525, 0.9945497512817383, 0.020220128819346428], "tcp_vel": [0.00025924277724698186, 0.00026492998586036265, 0.00012458670244086534, -0.00021810783073306084, -0.0006978900055401027, -0.00051455432549119], "flange_pose": [0.6392113566398621, 0.02607390098273754, -0.14101821184158325, -0.006564388517290354, -0.10207293927669525, 0.9945497512817383, 0.020220128819346428], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.132523536682129, -56.375423431396484, -11.8430757522583, -6.666975975036621, 10.051287651062012, 0.2805630564689636], "ext_wrench_in_world": [-2.202172824242212, -58.48816618809238, 9.61560620367262, 4.484577917650145, 11.199917938910469, 0.07788958183607689]}
+{"timestamp_ns": 1789729724647566702, "elapsed_ms": 13800, "source_timestamp_ns": 1789729724639168647, "q": [0.04157901182770729, -1.3105652332305908, 0.06454396992921829, 1.1244045495986938, 1.5829541683197021, 0.03680196404457092, -1.0713566541671753], "theta": [0.03974220156669617, -1.3090627193450928, 0.06303227692842484, 1.1070011854171753, 1.5823097229003906, 0.037165164947509766, -1.0718697309494019], "dq": [-0.005765413399785757, -0.00293725379742682, 0.009718860499560833, -0.0011333178263157606, -0.01002960279583931, 0.004593899939209223, 0.00037744338624179363], "dtheta": [-0.007200305815786123, -0.0022532371804118156, 0.012705954723060131, -0.0016628860030323267, -0.010969206690788269, 0.006587708834558725, -4.877606261288747e-05], "tau": [-61.869998931884766, -0.05999999865889549, -29.464000701904297, -0.20000000298023224, -4.01200008392334, 4.064000129699707, -0.20400001108646393], "tau_des": [-1.8529831171035767, 0.7317193746566772, -0.555596649646759, -0.5750923752784729, 0.098861463367939, 0.3207606077194214, -0.203265979886055], "tau_dot": [-135.96762084960938, 30.725690841674805, -11.839094161987305, -36.88800811767578, 4.997109889984131, 29.831958770751953, -22.432865142822266], "tau_ext": [15.769979476928711, -35.19401931762695, -36.31978225708008, 20.318382263183594, -2.472727060317993, -7.213778495788574, 0.09101933240890503], "tcp_pose": [0.6359459757804871, 0.0334625318646431, -0.33084121346473694, -0.006563127506524324, -0.10207237303256989, 0.9945498704910278, 0.0202168058604002], "tcp_vel": [-0.00018413737416267395, -2.099264929711353e-05, 0.0001762971660355106, 0.00016896384477149695, 6.910625234013423e-05, -0.00020779842452611774], "flange_pose": [0.6392105221748352, 0.026076585054397583, -0.14101289212703705, -0.006563127506524324, -0.10207237303256989, 0.9945498704910278, 0.0202168058604002], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.151775360107422, -56.327430725097656, -11.839499473571777, -6.662069797515869, 10.048235893249512, 0.2778785526752472], "ext_wrench_in_world": [-2.23091276860418, -58.44492383804578, 9.614564550838113, 4.480452038574167, 11.19582579969291, 0.08043156323895137]}
+{"timestamp_ns": 1789729724680903414, "elapsed_ms": 13833, "source_timestamp_ns": 1789729724679197376, "q": [0.041308701038360596, -1.3106513023376465, 0.06501990556716919, 1.124328851699829, 1.5825419425964355, 0.037049949169158936, -1.0713555812835693], "theta": [0.03946339711546898, -1.3091504573822021, 0.0635402500629425, 1.106925129890442, 1.5818920135498047, 0.03741800785064697, -1.071864128112793], "dq": [-0.006616248283535242, -0.0033018947578966618, 0.01204103883355856, -0.0007062702206894755, -0.008265388198196888, 0.0070088207721710205, 0.00014487956650555134], "dtheta": [-0.007114665117114782, -0.0021586439106613398, 0.012611485086381435, -0.001935127074830234, -0.010248675011098385, 0.005376102402806282, 0.0009567286469973624], "tau": [-61.71999740600586, -0.05999999865889549, -29.408000946044922, -0.20000000298023224, -3.9840002059936523, 4.056000232696533, -0.18400001525878906], "tau_des": [-1.8580446243286133, 0.6704298257827759, -0.5893664956092834, -0.5620641112327576, 0.0794459879398346, 0.37081179022789, -0.21505117416381836], "tau_dot": [-46.3710823059082, 42.739952087402344, 21.055335998535156, -0.8194236159324646, 18.769336700439453, 44.6791877746582, 44.93827438354492], "tau_ext": [15.697917938232422, -35.20000457763672, -36.35192108154297, 20.332504272460938, -2.4821712970733643, -7.207716464996338, 0.09239941835403442], "tcp_pose": [0.6359446048736572, 0.03346380591392517, -0.3308340609073639, -0.0065636103972792625, -0.10207302123308182, 0.9945497512817383, 0.020219454541802406], "tcp_vel": [-0.00012437150871846825, 0.00048775991308502853, -2.6059715310111642e-05, 0.0014696383150294423, 0.0003868583298753947, -0.0008841422386467457], "flange_pose": [0.6392094492912292, 0.026076877489686012, -0.1410057693719864, -0.0065636103972792625, -0.10207302123308182, 0.9945497512817383, 0.020219454541802406], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.185384750366211, -56.295352935791016, -11.87445068359375, -6.665225982666016, 10.038806915283203, 0.2784269452095032], "ext_wrench_in_world": [-2.2696326016653483, -58.42178504073683, 9.650817697257212, 4.485430237077404, 11.187269380478925, 0.07951504935015508]}
+{"timestamp_ns": 1789729724714292590, "elapsed_ms": 13866, "source_timestamp_ns": 1789729724709176467, "q": [0.041096802800893784, -1.3107131719589233, 0.06538359075784683, 1.124275803565979, 1.5822175741195679, 0.037226054817438126, -1.0713509321212769], "theta": [0.03924252465367317, -1.3092135190963745, 0.06393048912286758, 1.1068713665008545, 1.5815626382827759, 0.03759777545928955, -1.0718562602996826], "dq": [-0.004177538678050041, -0.0012551407562568784, 0.016895228996872902, -0.001552944420836866, -0.010611637495458126, 0.006936897058039904, 0.000505179981701076], "dtheta": [-0.007504258304834366, -0.0019331235671415925, 0.011637170799076557, -0.001522991806268692, -0.011937618255615234, 0.007266657892614603, -0.00017174558888655156], "tau": [-61.71999740600586, -0.009999999776482582, -29.38800048828125, -0.18800000846385956, -4.0, 4.056000232696533, -0.2200000137090683], "tau_des": [-1.570989727973938, 0.7488699555397034, -0.3309895396232605, -0.6119229793548584, 0.18829727172851562, 0.2920907139778137, -0.19841544330120087], "tau_dot": [0.560123860836029, 75.5199203491211, 13.666008949279785, 15.952824592590332, -31.09869956970215, -47.92884063720703, -38.88246536254883], "tau_ext": [15.607829093933105, -35.171958923339844, -36.4055061340332, 20.331710815429688, -2.4944636821746826, -7.206531047821045, 0.09210745245218277], "tcp_pose": [0.6359400153160095, 0.03346722573041916, -0.3308255672454834, -0.006569135934114456, -0.10207155346870422, 0.9945497512817383, 0.020224034786224365], "tcp_vel": [1.2931961464346386e-05, -0.0005618036957457662, 0.0010473947040736675, -0.0019954098388552666, -0.00021528187789954245, 0.0002232048864243552], "flange_pose": [0.639207124710083, 0.026078777387738228, -0.14099739491939545, -0.006569135934114456, -0.10207155346870422, 0.9945497512817383, 0.020224034786224365], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.215953826904297, -56.23017501831055, -11.958976745605469, -6.660933971405029, 10.031432151794434, 0.27913129329681396], "ext_wrench_in_world": [-2.3113697615541966, -58.3675906664808, 9.737811880292115, 4.482743048202911, 11.179196163153781, 0.078578469611503]}
+{"timestamp_ns": 1789729724747565740, "elapsed_ms": 13900, "source_timestamp_ns": 1789729724739187083, "q": [0.04089229553937912, -1.310766577720642, 0.06575766950845718, 1.1242321729660034, 1.5819127559661865, 0.03743823617696762, -1.0713491439819336], "theta": [0.03902823477983475, -1.3092690706253052, 0.06432411819696426, 1.1068267822265625, 1.5812532901763916, 0.03781294822692871, -1.0718510150909424], "dq": [-0.007895134389400482, -0.00038415519520640373, 0.013977664522826672, -0.001704847440123558, -0.00980217382311821, 0.010400271974503994, 0.0005772265722043812], "dtheta": [-0.0074793025851249695, -0.0016236149240285158, 0.01307164877653122, -0.0014483702834695578, -0.010494980961084366, 0.007898819632828236, 0.00048032274935394526], "tau": [-61.709999084472656, -0.05999999865889549, -29.3960018157959, -0.23200000822544098, -3.9880001544952393, 4.056000232696533, -0.17600001394748688], "tau_des": [-1.6730214357376099, 0.5987592339515686, -0.5387171506881714, -0.5509845018386841, 0.07535657286643982, 0.33562177419662476, -0.21226778626441956], "tau_dot": [-87.8449935913086, 34.63215637207031, 26.77556610107422, -1.3788686990737915, -12.876723289489746, 3.376880168914795, 46.85694885253906], "tau_ext": [15.673202514648438, -35.1741943359375, -36.36709976196289, 20.348012924194336, -2.4941928386688232, -7.221276760101318, 0.09018563479185104], "tcp_pose": [0.6359414458274841, 0.03347311168909073, -0.3308252692222595, -0.006561144720762968, -0.10207024216651917, 0.9945499300956726, 0.020224735140800476], "tcp_vel": [0.00032973397173918784, 0.00026509060990065336, 0.0002517156826797873, -0.00016583657998126, -0.0012925447663292289, -0.00037539098411798477], "flange_pose": [0.6392055153846741, 0.026084084063768387, -0.140997052192688, -0.006561144720762968, -0.10207024216651917, 0.9945499300956726, 0.020224735140800476], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.234158515930176, -56.21531295776367, -11.977570533752441, -6.663968086242676, 10.03145980834961, 0.28083160519599915], "ext_wrench_in_world": [-2.332214268384584, -58.35749676765909, 9.756957676753341, 4.485710911368781, 11.179892578366456, 0.07695769802370711]}
+{"timestamp_ns": 1789729724780902633, "elapsed_ms": 13933, "source_timestamp_ns": 1789729724779169078, "q": [0.04062861204147339, -1.3108357191085815, 0.0662580206990242, 1.124162197113037, 1.5814824104309082, 0.03772259131073952, -1.0713499784469604], "theta": [0.03875105082988739, -1.3093408346176147, 0.06483543664216995, 1.1067558526992798, 1.5808178186416626, 0.03810107707977295, -1.0718481540679932], "dq": [-0.006104293745011091, -0.002111689420416951, 0.015833906829357147, -0.00139986805152148, -0.01197915431112051, 0.0053556845523417, 0.0014406717382371426], "dtheta": [-0.006720402278006077, -0.00190653873141855, 0.012386004440486431, -0.0015057289274409413, -0.009690748527646065, 0.006617650855332613, -0.0005454318015836179], "tau": [-61.65999984741211, -0.1599999964237213, -29.39200210571289, -0.24000000953674316, -3.9680001735687256, 4.044000148773193, -0.18800000846385956], "tau_des": [-1.8439230918884277, 0.5710213780403137, -0.6196994781494141, -0.5463843941688538, 0.07848171144723892, 0.39165812730789185, -0.17313167452812195], "tau_dot": [22.31924057006836, -87.06752014160156, -56.07209777832031, 45.88617706298828, 9.734325408935547, 21.543733596801758, 27.67148780822754], "tau_ext": [15.651931762695312, -35.18407440185547, -36.382083892822266, 20.352155685424805, -2.49057674407959, -7.227779865264893, 0.09157868474721909], "tcp_pose": [0.6359413266181946, 0.03348129615187645, -0.3308289349079132, -0.006564174313098192, -0.1020776629447937, 0.9945492744445801, 0.020219888538122177], "tcp_vel": [2.1142561308806762e-05, 0.00029064129921607673, -9.980846516555175e-05, 0.0006780222174711525, -0.0005402541137300432, 0.0004030903219245374], "flange_pose": [0.6392064094543457, 0.026094241067767143, -0.1410006731748581, -0.006564174313098192, -0.1020776629447937, 0.9945492744445801, 0.020219888538122177], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.248308181762695, -56.1805419921875, -12.032291412353516, -6.6705217361450195, 10.032705307006836, 0.2831098735332489], "ext_wrench_in_world": [-2.3512518587422857, -58.328419371391696, 9.81380301116968, 4.491667474505187, 11.182600514899928, 0.07454014187225572]}
+{"timestamp_ns": 1789729724814241455, "elapsed_ms": 13966, "source_timestamp_ns": 1789729724809171325, "q": [0.04043707996606827, -1.3108911514282227, 0.06661996245384216, 1.124104619026184, 1.581167459487915, 0.03792386129498482, -1.0713473558425903], "theta": [0.038548439741134644, -1.309399127960205, 0.06519926339387894, 1.1066964864730835, 1.5804975032806396, 0.03830718994140625, -1.071842908859253], "dq": [-0.0062332917004823685, -0.0026003860402852297, 0.011651860550045967, -0.0032392072025686502, -0.010235575027763844, 0.004759824834764004, -4.940185317536816e-05], "dtheta": [-0.006718950811773539, -0.002375989919528365, 0.012202146463096142, -0.0024008555337786674, -0.0120600126683712, 0.0073163509368896484, -0.0005605038022622466], "tau": [-61.64999771118164, -0.1899999976158142, -29.384000778198242, -0.24400001764297485, -3.9560000896453857, 4.088000297546387, -0.19600000977516174], "tau_des": [-1.7946593761444092, 0.6123856902122498, -0.5463129281997681, -0.5305955410003662, 0.1692083775997162, 0.3628136217594147, -0.15005871653556824], "tau_dot": [3.576760768890381, -91.03617095947266, -60.100189208984375, -14.7542142868042, 24.88868522644043, 27.083675384521484, 5.049808502197266], "tau_ext": [15.59394359588623, -35.15815353393555, -36.40127182006836, 20.340185165405273, -2.4983372688293457, -7.230876922607422, 0.09163294732570648], "tcp_pose": [0.635941207408905, 0.033485885709524155, -0.3308311104774475, -0.00656855246052146, -0.10208235681056976, 0.9945487976074219, 0.0202171690762043], "tcp_vel": [-8.526431338395923e-05, -0.00043951577390544116, 0.00029196118703112006, -0.001524938503280282, 0.0007002956699579954, 0.0010468150721862912], "flange_pose": [0.6392078995704651, 0.026100045070052147, -0.1410028338432312, -0.00656855246052146, -0.10208235681056976, 0.9945487976074219, 0.0202171690762043], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.261932373046875, -56.17510223388672, -12.085676193237305, -6.679819583892822, 10.0298490524292, 0.2851884067058563], "ext_wrench_in_world": [-2.3641352906475745, -58.32790430091496, 9.867869032348942, 4.501206928878264, 11.18182112917327, 0.07215631493424346]}
+{"timestamp_ns": 1789729724847565848, "elapsed_ms": 14000, "source_timestamp_ns": 1789729724839189001, "q": [0.040248025208711624, -1.310949444770813, 0.0669744461774826, 1.1240450143814087, 1.5808707475662231, 0.038133684545755386, -1.0713300704956055], "theta": [0.0383496955037117, -1.3094596862792969, 0.0655534565448761, 1.1066352128982544, 1.5801925659179688, 0.03852105140686035, -1.0718222856521606], "dq": [-0.008441978134214878, -0.0025904534850269556, 0.008163103833794594, -0.0016935216262936592, -0.010669978335499763, 0.00835094042122364, 0.0032475427724421024], "dtheta": [-0.006471996661275625, -0.0020399964414536953, 0.012015772983431816, -0.002384219551458955, -0.011301521211862564, 0.006929921451956034, 0.000270715041551739], "tau": [-61.56999969482422, -0.14999999105930328, -29.308000564575195, -0.2720000147819519, -4.0, 4.060000419616699, -0.20000000298023224], "tau_des": [-1.8092358112335205, 0.5262746810913086, -0.5784590840339661, -0.49527427554130554, 0.12627120316028595, 0.3610270619392395, -0.17151017487049103], "tau_dot": [50.96560287475586, 21.608678817749023, -4.811801433563232, -7.304117202758789, -72.58097839355469, -20.514341354370117, -19.88095474243164], "tau_ext": [15.59289264678955, -35.10793685913086, -36.40077209472656, 20.331863403320312, -2.499166965484619, -7.240419387817383, 0.08862990140914917], "tcp_pose": [0.6359465718269348, 0.033488139510154724, -0.33083221316337585, -0.00656366441398859, -0.10207901895046234, 0.9945492744445801, 0.020212488248944283], "tcp_vel": [4.67100107925944e-05, -6.16107281530276e-05, 0.00010764647595351562, -0.0009224146488122642, 0.0006050436641089618, 0.0004866785020567477], "flange_pose": [0.6392111778259277, 0.02610386535525322, -0.14100381731987, -0.00656366441398859, -0.10207901895046234, 0.9945492744445801, 0.020212488248944283], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.264978408813477, -56.124080657958984, -12.11401653289795, -6.675786018371582, 10.033333778381348, 0.2870875298976898], "ext_wrench_in_world": [-2.3774817645047057, -58.279609540894945, 9.898794243977438, 4.496594597463334, 11.184453795284517, 0.0703935261637886]}
+{"timestamp_ns": 1789729724880902241, "elapsed_ms": 14033, "source_timestamp_ns": 1789729724879203452, "q": [0.03998710587620735, -1.3110241889953613, 0.06743118911981583, 1.123979926109314, 1.5804688930511475, 0.03836427256464958, -1.0713119506835938], "theta": [0.03807813674211502, -1.30953848361969, 0.06600931286811829, 1.106566309928894, 1.5797804594039917, 0.03875398635864258, -1.07179856300354], "dq": [-0.005492870230227709, -0.006587684620171785, 0.012318172492086887, -0.0010954858735203743, -0.00976350624114275, 0.004072162322700024, -0.0006345575675368309], "dtheta": [-0.006576091051101685, -0.0019175698980689049, 0.011877431534230709, -0.0018611442064866424, -0.00958228949457407, 0.005514553282409906, 0.00023070523457136005], "tau": [-61.55999755859375, -0.09999999403953552, -29.2760009765625, -0.25600001215934753, -3.948000192642212, 4.048000335693359, -0.164000004529953], "tau_des": [-1.8186531066894531, 0.5094179511070251, -0.6224964261054993, -0.5519071817398071, 0.09271715581417084, 0.4380718171596527, -0.19858765602111816], "tau_dot": [141.16224670410156, 100.0084228515625, 66.96481323242188, 19.190031051635742, 11.354260444641113, -29.71785545349121, 51.666709899902344], "tau_ext": [15.480514526367188, -35.10502624511719, -36.46559143066406, 20.348283767700195, -2.511169195175171, -7.237755298614502, 0.07759732007980347], "tcp_pose": [0.6359426975250244, 0.03349325805902481, -0.33082443475723267, -0.006568265147507191, -0.10207194834947586, 0.9945498704910278, 0.020216211676597595], "tcp_vel": [5.926237008679891e-06, 0.0004683183506131172, -6.553304410772398e-05, 0.0011069972533732653, 0.00010551496961852536, 7.291520432772813e-06], "flange_pose": [0.6392091512680054, 0.026107730343937874, -0.14099612832069397, -0.006568265147507191, -0.10207194834947586, 0.9945498704910278, 0.020216211676597595], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.302854537963867, -56.071022033691406, -12.227712631225586, -6.677999973297119, 10.026179313659668, 0.2827264964580536], "ext_wrench_in_world": [-2.4240870906078236, -58.239848940711155, 10.014585022305663, 4.500445727289136, 11.177671210761497, 0.07445874462672286]}
+{"timestamp_ns": 1789729724914292776, "elapsed_ms": 14066, "source_timestamp_ns": 1789729724909171564, "q": [0.039787136018276215, -1.311079740524292, 0.06778853386640549, 1.123936414718628, 1.580172061920166, 0.0385621003806591, -1.071310043334961], "theta": [0.037869423627853394, -1.3095964193344116, 0.06636622548103333, 1.1065211296081543, 1.579471230506897, 0.03895556926727295, -1.0717917680740356], "dq": [-0.007400926202535629, -0.005245128180831671, 0.011304984800517559, -0.00047963805263862014, -0.008741876110434532, 0.008704783394932747, 0.0014157101977616549], "dtheta": [-0.007103503681719303, -0.0018357456428930163, 0.011618761345744133, -0.001341060153208673, -0.010897642001509666, 0.007588046602904797, 5.952877472736873e-05], "tau": [-61.57999801635742, -0.10999999940395355, -29.280000686645508, -0.24800001084804535, -3.9760000705718994, 4.076000213623047, -0.18000000715255737], "tau_des": [-1.5582680702209473, 0.6007540822029114, -0.4332832098007202, -0.6082775592803955, 0.13824602961540222, 0.34189772605895996, -0.2066173106431961], "tau_dot": [5.26723051071167, 115.28253936767578, -3.746596097946167, 33.4439697265625, -16.330432891845703, -14.854125022888184, -0.43240901827812195], "tau_ext": [15.504719734191895, -35.111751556396484, -36.46389389038086, 20.35748863220215, -2.511749744415283, -7.244020462036133, 0.08002056181430817], "tcp_pose": [0.6359429955482483, 0.033496662974357605, -0.3308210074901581, -0.006561857648193836, -0.10206982493400574, 0.9945501089096069, 0.020217034965753555], "tcp_vel": [0.00012303020048420876, -0.0004187363665550947, 0.0007323292666114867, -0.0015947894426062703, -0.0008054226054809988, -0.00015419504779856652], "flange_pose": [0.6392070651054382, 0.026110569015145302, -0.140992671251297, -0.006561857648193836, -0.10206982493400574, 0.9945501089096069, 0.020217034965753555], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.323018074035645, -56.054893493652344, -12.262604713439941, -6.681588172912598, 10.023507118225098, 0.281233012676239], "ext_wrench_in_world": [-2.4468892474859674, -58.22954325445865, 10.050096073153043, 4.504576169310157, 11.175707615950097, 0.07589655204099977]}
+{"timestamp_ns": 1789729724947561897, "elapsed_ms": 14100, "source_timestamp_ns": 1789729724939192569, "q": [0.0395851768553257, -1.31112802028656, 0.06814321875572205, 1.1238986253738403, 1.5798581838607788, 0.0387524738907814, -1.0713108777999878], "theta": [0.0376603789627552, -1.309646725654602, 0.06672437489032745, 1.1064817905426025, 1.5791449546813965, 0.03915047645568848, -1.0717898607254028], "dq": [-0.00585434352979064, 0.0010991232702508569, 0.011184210889041424, -0.00030706223333254457, -0.010383496060967445, 0.0072946264408528805, -0.0018841626588255167], "dtheta": [-0.0065662674605846405, -0.0014178440906107426, 0.011177660897374153, -0.0013298565754666924, -0.010409428738057613, 0.005875472445040941, 0.00023720839817542583], "tau": [-61.529998779296875, -0.10999999940395355, -29.26000213623047, -0.29600000381469727, -3.944000244140625, 4.084000110626221, -0.18400001525878906], "tau_des": [-1.6534091234207153, 0.49392375349998474, -0.49712347984313965, -0.5918374061584473, 0.1416069120168686, 0.41169503331184387, -0.20189975202083588], "tau_dot": [-15.032529830932617, 155.63912963867188, -71.34495544433594, -65.08911895751953, 15.070258140563965, 9.689048767089844, 22.420988082885742], "tau_ext": [15.476493835449219, -35.06722640991211, -36.47293472290039, 20.336332321166992, -2.5054636001586914, -7.2495856285095215, 0.08231207728385925], "tcp_pose": [0.6359393000602722, 0.033500876277685165, -0.3308141231536865, -0.006563496310263872, -0.10207054764032364, 0.9945501089096069, 0.02021474577486515], "tcp_vel": [-8.707743836566806e-05, 0.00016580124793108553, 0.00038214854430407286, -0.0003867575724143535, 0.00036205287324264646, 7.31527543393895e-05], "flange_pose": [0.6392039060592651, 0.026115713641047478, -0.14098577201366425, -0.006563496310263872, -0.10207054764032364, 0.9945501089096069, 0.02021474577486515], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.318922996520996, -56.033573150634766, -12.277063369750977, -6.683368682861328, 10.027070045471191, 0.2827089726924896], "ext_wrench_in_world": [-2.4468373188527397, -58.20836880004798, 10.065681773500886, 4.505554703053083, 11.179620007010099, 0.0744870977674299]}
+{"timestamp_ns": 1789729724980903559, "elapsed_ms": 14133, "source_timestamp_ns": 1789729724979169525, "q": [0.03932680934667587, -1.311191201210022, 0.06857776641845703, 1.1238479614257812, 1.5794830322265625, 0.038987115025520325, -1.0713140964508057], "theta": [0.037395402789115906, -1.3097118139266968, 0.06716173142194748, 1.1064293384552002, 1.578753113746643, 0.03938913345336914, -1.0717889070510864], "dq": [-0.005414520390331745, 0.0014608991332352161, 0.012572968378663063, -0.0013326240004971623, -0.01063444186002016, 0.004569661803543568, -0.0006220610812306404], "dtheta": [-0.006383761763572693, -0.0014065474970266223, 0.010396289639174938, -0.001418141182512045, -0.008797215297818184, 0.005326828919351101, -0.00046155089512467384], "tau": [-61.38999938964844, -0.19999998807907104, -29.200000762939453, -0.31200000643730164, -3.952000141143799, 4.0920000076293945, -0.19600000977516174], "tau_des": [-1.5102041959762573, 0.4177354872226715, -0.4053928256034851, -0.544524073600769, 0.09852620959281921, 0.3923840820789337, -0.18047595024108887], "tau_dot": [-4.364866256713867, -9.624248504638672, -34.11101531982422, -0.982571005821228, 23.517908096313477, 32.896610260009766, -5.299736976623535], "tau_ext": [15.373355865478516, -35.063350677490234, -36.53782272338867, 20.341337203979492, -2.5161566734313965, -7.242954730987549, 0.08754155039787292], "tcp_pose": [0.635941207408905, 0.03350604698061943, -0.3307994604110718, -0.006555672734975815, -0.10207253694534302, 0.9945499897003174, 0.020213458687067032], "tcp_vel": [0.00022194883786141872, 0.0003455107216723263, 0.00043028194340877235, 0.0003349078178871423, -0.000562508765142411, 0.0007721065194346011], "flange_pose": [0.6392028331756592, 0.026121074333786964, -0.14097106456756592, -0.006555672734975815, -0.10207253694534302, 0.9945499897003174, 0.020213458687067032], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.32343864440918, -56.00224685668945, -12.372547149658203, -6.688802719116211, 10.024974822998047, 0.2890773415565491], "ext_wrench_in_world": [-2.455917091221656, -58.18234980666471, 10.162436360647067, 4.511148214234553, 11.178939067798607, 0.0680502318658138]}
+{"timestamp_ns": 1789729725014249855, "elapsed_ms": 14166, "source_timestamp_ns": 1789729725009172855, "q": [0.03913932666182518, -1.311244010925293, 0.06890513002872467, 1.123798131942749, 1.5791943073272705, 0.039153970777988434, -1.0713151693344116], "theta": [0.03720204532146454, -1.3097662925720215, 0.06748764961957932, 1.1063787937164307, 1.5784523487091064, 0.039557695388793945, -1.0717874765396118], "dq": [-0.005626131314784288, -0.0025368412025272846, 0.010784801095724106, -0.0009282419923692942, -0.009737835265696049, 0.003984059207141399, -0.0015843181172385812], "dtheta": [-0.006463172379881144, -0.0017247655196115375, 0.010800597257912159, -0.002036911901086569, -0.009479450061917305, 0.006133157294243574, 3.527230364852585e-05], "tau": [-61.34000015258789, -0.20999999344348907, -29.18800163269043, -0.30800002813339233, -3.948000192642212, 4.0960001945495605, -0.20000000298023224], "tau_des": [-1.4615354537963867, 0.40851473808288574, -0.3971150517463684, -0.5182090401649475, 0.11873073875904083, 0.38957762718200684, -0.1721350997686386], "tau_dot": [76.95965576171875, 14.447134017944336, -23.998620986938477, 22.752138137817383, 20.406734466552734, -13.124106407165527, -13.101259231567383], "tau_ext": [15.352782249450684, -35.07926559448242, -36.54782485961914, 20.357603073120117, -2.5140929222106934, -7.2483439445495605, 0.08490173518657684], "tcp_pose": [0.6359404921531677, 0.03351070359349251, -0.3307933509349823, -0.006558300461620092, -0.10207667201757431, 0.9945495128631592, 0.020215388387441635], "tcp_vel": [0.00037703209090977907, 0.0001439089246559888, 0.0004321278538554907, -0.00031414127442985773, -0.0005643161130137742, 0.000612138828728348], "flange_pose": [0.6392032504081726, 0.026125118136405945, -0.14096498489379883, -0.006558300461620092, -0.10207667201757431, 0.9945495128631592, 0.020215388387441635], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.328598976135254, -55.985294342041016, -12.441558837890625, -6.6960062980651855, 10.023994445800781, 0.2928512990474701], "ext_wrench_in_world": [-2.4626775048044554, -58.169551077519024, 10.231953110125318, 4.518241476418803, 11.179628829355801, 0.06418781140355947]}
+{"timestamp_ns": 1789729725047576012, "elapsed_ms": 14200, "source_timestamp_ns": 1789729725039179133, "q": [0.038958095014095306, -1.311307430267334, 0.06924290210008621, 1.12373685836792, 1.578913688659668, 0.03933987021446228, -1.0713125467300415], "theta": [0.03701436147093773, -1.3098310232162476, 0.06781456619501114, 1.1063169240951538, 1.5781606435775757, 0.039746761322021484, -1.0717819929122925], "dq": [-0.00549524649977684, -0.0022154711186885834, 0.009487329982221127, -0.0014406271511688828, -0.010061307810246944, 0.006780374329537153, 0.0007797064608894289], "dtheta": [-0.005781701300293207, -0.002238155109807849, 0.011240005493164062, -0.0020731219556182623, -0.01019594632089138, 0.005135611165314913, 0.0010953863384202123], "tau": [-61.349998474121094, -0.20999999344348907, -29.184001922607422, -0.29600000381469727, -3.944000244140625, 4.088000297546387, -0.17600001394748688], "tau_des": [-1.6855379343032837, 0.5165787935256958, -0.5490623712539673, -0.6014106273651123, 0.12726692855358124, 0.4522687792778015, -0.19247965514659882], "tau_dot": [42.77122116088867, -26.23453140258789, 76.29649353027344, 65.41423797607422, 51.93724822998047, 1.6925500631332397, -3.033306837081909], "tau_ext": [15.289072036743164, -35.07228469848633, -36.577388763427734, 20.36330795288086, -2.5142176151275635, -7.247729301452637, 0.0883764773607254], "tcp_pose": [0.6359434127807617, 0.03351272642612457, -0.3307951092720032, -0.006555719301104546, -0.10207897424697876, 0.9945492148399353, 0.02021731063723564], "tcp_vel": [-0.0003879407304339111, 6.508147635031492e-05, -0.00023311412951443344, 0.0003727866569533944, 0.001456974190659821, -0.0008635324775241315], "flange_pose": [0.639205276966095, 0.026126323267817497, -0.1409667730331421, -0.006555719301104546, -0.10207897424697876, 0.9945492148399353, 0.02021731063723564], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.349109649658203, -55.97072219848633, -12.515621185302734, -6.705156326293945, 10.01667308807373, 0.2951219379901886], "ext_wrench_in_world": [-2.484229490596186, -58.16239985061081, 10.306469437579596, 4.528594936052333, 11.17443470051245, 0.06160438951660912]}
+{"timestamp_ns": 1789729725080905668, "elapsed_ms": 14233, "source_timestamp_ns": 1789729725079168983, "q": [0.03872393071651459, -1.3113930225372314, 0.06968431174755096, 1.1236454248428345, 1.5785377025604248, 0.03957902640104294, -1.0712875127792358], "theta": [0.036770839244127274, -1.309918761253357, 0.0682353749871254, 1.1062251329421997, 1.5777688026428223, 0.039987921714782715, -1.0717519521713257], "dq": [-0.005948014557361603, -0.002106891479343176, 0.015107530169188976, -0.0026748713571578264, -0.011891406960785389, 0.005031149368733168, 0.0010778418509289622], "dtheta": [-0.006405986379832029, -0.0018083517206832767, 0.010821813717484474, -0.002238712040707469, -0.011220610700547695, 0.006770549342036247, 0.0005060960538685322], "tau": [-61.38999938964844, -0.26999998092651367, -29.18800163269043, -0.3360000252723694, -3.9680001735687256, 4.128000259399414, -0.20400001108646393], "tau_des": [-1.439603328704834, 0.4305165410041809, -0.3993920087814331, -0.5259809494018555, 0.1530456691980362, 0.38219499588012695, -0.1796509027481079], "tau_dot": [-9.475738525390625, -62.15040969848633, -24.848621368408203, -10.555773735046387, 32.012718200683594, 76.34043884277344, -45.78238296508789], "tau_ext": [15.285354614257812, -35.03648376464844, -36.58563995361328, 20.360687255859375, -2.5191259384155273, -7.253629684448242, 0.08022847771644592], "tcp_pose": [0.6359478831291199, 0.03351585194468498, -0.33079859614372253, -0.006558433175086975, -0.10207587480545044, 0.9945495128631592, 0.020219041034579277], "tcp_vel": [0.0001746655034366995, -0.00031580147333443165, 0.0006215845351107419, -0.0019006150541827083, 0.00040923553751781583, 0.0004110878217034042], "flange_pose": [0.6392107605934143, 0.02612888813018799, -0.14097028970718384, -0.006558433175086975, -0.10207587480545044, 0.9945495128631592, 0.020219041034579277], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.362526893615723, -55.92342758178711, -12.560792922973633, -6.702150821685791, 10.01446533203125, 0.29480740427970886], "ext_wrench_in_world": [-2.506476873032532, -58.120627446502965, 10.353535098158824, 4.5261743585935506, 11.171623521032352, 0.06185877968747756]}
+{"timestamp_ns": 1789729725114237294, "elapsed_ms": 14266, "source_timestamp_ns": 1789729725109177761, "q": [0.03853907063603401, -1.3114585876464844, 0.07003103196620941, 1.123572587966919, 1.5782222747802734, 0.03976557403802872, -1.0712668895721436], "theta": [0.036578960716724396, -1.3099852800369263, 0.0685621052980423, 1.106151819229126, 1.5774427652359009, 0.04017531871795654, -1.0717273950576782], "dq": [-0.007410427555441856, -0.0026794166769832373, 0.00819091685116291, -0.0025965431705117226, -0.009110991843044758, 0.005550176836550236, 0.0012522052275016904], "dtheta": [-0.006549508310854435, -0.002190136583521962, 0.01091714296489954, -0.002406779211014509, -0.011138183996081352, 0.0037377565167844296, 0.0007098620408214629], "tau": [-61.3599967956543, -0.1899999976158142, -29.128002166748047, -0.3720000088214874, -3.940000295639038, 4.1080002784729, -0.1600000113248825], "tau_des": [-1.5614299774169922, 0.4552881717681885, -0.4777165949344635, -0.5723366141319275, 0.1774797886610031, 0.48393166065216064, -0.18917377293109894], "tau_dot": [-66.99510955810547, 16.816308975219727, 74.61746215820312, -20.621685028076172, 27.30819320678711, -5.53178596496582, 29.631622314453125], "tau_ext": [15.288290023803711, -35.01407241821289, -36.58977508544922, 20.354246139526367, -2.5170071125030518, -7.26067590713501, 0.07341687381267548], "tcp_pose": [0.6359482407569885, 0.03351614624261856, -0.3307988941669464, -0.006568741984665394, -0.10207507014274597, 0.994549572467804, 0.020215244963765144], "tcp_vel": [-0.0003894777037203312, 0.00020598860282916576, 0.0003659318608697504, 0.0005482689011842012, 0.0021842103451490402, 2.0976955056539737e-05], "flange_pose": [0.6392148733139038, 0.02613101340830326, -0.14097057282924652, -0.006568741984665394, -0.10207507014274597, 0.994549572467804, 0.020215244963765144], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.378678321838379, -55.884403228759766, -12.60067367553711, -6.699913501739502, 10.011314392089844, 0.29158928990364075], "ext_wrench_in_world": [-2.529379708447266, -58.08717899036917, 10.39575715502261, 4.52469212872616, 11.167956288368716, 0.06476560331077524]}
+{"timestamp_ns": 1789729725147563460, "elapsed_ms": 14300, "source_timestamp_ns": 1789729725139176280, "q": [0.03835373371839523, -1.311524510383606, 0.07035604119300842, 1.123508334159851, 1.5779545307159424, 0.03993278741836548, -1.071251630783081], "theta": [0.036385029554367065, -1.310052752494812, 0.06886947900056839, 1.106087327003479, 1.5771636962890625, 0.04034137725830078, -1.0717068910598755], "dq": [-0.006567737553268671, -0.003030574880540371, 0.010929127223789692, -0.0011321728816255927, -0.012481878511607647, 0.0049510826356709, 0.0034411344677209854], "dtheta": [-0.006228209473192692, -0.0016232526395469904, 0.009809601120650768, -0.0017198597779497504, -0.010106598027050495, 0.005331373307853937, 0.0010189595632255077], "tau": [-61.22999954223633, -0.22999998927116394, -29.124000549316406, -0.35200002789497375, -3.948000192642212, 4.0960001945495605, -0.20000000298023224], "tau_des": [-1.4034696817398071, 0.430892676115036, -0.3613208830356598, -0.5686402320861816, 0.1436462104320526, 0.4168878495693207, -0.2081127166748047], "tau_dot": [16.88552474975586, -11.143754959106445, 20.931215286254883, 6.517495632171631, 30.607585906982422, -19.773534774780273, -63.81867980957031], "tau_ext": [15.243221282958984, -35.02976989746094, -36.62405776977539, 20.37163543701172, -2.520627498626709, -7.2604522705078125, 0.06817647069692612], "tcp_pose": [0.6359538435935974, 0.03351949155330658, -0.33079490065574646, -0.006563065107911825, -0.10207134485244751, 0.9945498704910278, 0.020221976563334465], "tcp_vel": [3.259462027926929e-05, -0.00016590433369856328, 0.0007488283445127308, -0.001093029510229826, 0.0004618292150553316, -0.0004687757173087448], "flange_pose": [0.6392185688018799, 0.026131583377718925, -0.14096666872501373, -0.006563065107911825, -0.10207134485244751, 0.9945498704910278, 0.020221976563334465], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.418876647949219, -55.88017654418945, -12.645148277282715, -6.706331253051758, 10.00385570526123, 0.2879076898097992], "ext_wrench_in_world": [-2.569383780001096, -58.093076214517055, 10.439859782506783, 4.532637568436548, 11.161784483066658, 0.06828258905496852]}
+{"timestamp_ns": 1789729725180902315, "elapsed_ms": 14333, "source_timestamp_ns": 1789729725179172490, "q": [0.03812895342707634, -1.3116010427474976, 0.07075933367013931, 1.1234359741210938, 1.5776082277297974, 0.04015139862895012, -1.071243405342102], "theta": [0.03614303469657898, -1.310131549835205, 0.06924865394830704, 1.1060149669647217, 1.5768051147460938, 0.04056072235107422, -1.0716915130615234], "dq": [-0.006246382836252451, -0.0019659348763525486, 0.005807304754853249, -0.0021661887876689434, -0.008632482960820198, 0.007436348125338554, 0.00025243262643925846], "dtheta": [-0.005929590668529272, -0.0021459637209773064, 0.009519985876977444, -0.0016276206588372588, -0.00791449286043644, 0.005239376798272133, 0.00028054197900928557], "tau": [-61.23999786376953, -0.17000000178813934, -29.084001541137695, -0.3760000169277191, -3.948000192642212, 4.0920000076293945, -0.19600000977516174], "tau_des": [-1.4214807748794556, 0.5009706616401672, -0.35961535573005676, -0.6027860045433044, 0.09624102711677551, 0.41262751817703247, -0.20276883244514465], "tau_dot": [-21.581275939941406, 22.198806762695312, -43.27526092529297, -16.717008590698242, -9.641505241394043, -16.91050910949707, -8.476029396057129], "tau_ext": [15.226533889770508, -35.01585006713867, -36.624454498291016, 20.35959243774414, -2.516004800796509, -7.261811256408691, 0.07122210413217545], "tcp_pose": [0.6359567046165466, 0.03351997956633568, -0.33079078793525696, -0.006561359390616417, -0.10207156836986542, 0.9945498704910278, 0.020222004503011703], "tcp_vel": [0.0001967880962183699, -0.00019778985006269068, 0.00048115424579009414, 9.858299017651007e-05, -0.0009453982929699123, -0.0005213688709773123], "flange_pose": [0.6392208337783813, 0.026131995022296906, -0.14096254110336304, -0.006561359390616417, -0.10207156836986542, 0.9945498704910278, 0.020222004503011703], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.418774604797363, -55.86757278442383, -12.685510635375977, -6.713249683380127, 10.003564834594727, 0.2876703143119812], "ext_wrench_in_world": [-2.571159731300987, -58.08229931033456, 10.480676240964913, 4.539469878340294, 11.162898842623928, 0.06846586059135379]}
+{"timestamp_ns": 1789729725214235491, "elapsed_ms": 14366, "source_timestamp_ns": 1789729725209177538, "q": [0.037956394255161285, -1.3116562366485596, 0.07106316089630127, 1.1233885288238525, 1.5773425102233887, 0.04031188786029816, -1.0712413787841797], "theta": [0.03595692664384842, -1.310187578201294, 0.06953790783882141, 1.1059662103652954, 1.576532006263733, 0.04072082042694092, -1.0716845989227295], "dq": [-0.004833702929317951, 0.00036448464379645884, 0.011283555999398232, -0.003300038166344166, -0.007844616658985615, 0.004144519567489624, 0.0016334819374606013], "dtheta": [-0.0063657197169959545, -0.0017992682987824082, 0.009740298613905907, -0.001606850535608828, -0.008160294033586979, 0.005378864239901304, -0.00011106987221864983], "tau": [-61.18000030517578, -0.23999999463558197, -29.064001083374023, -0.3920000195503235, -3.940000295639038, 4.104000091552734, -0.1720000058412552], "tau_des": [-1.3059606552124023, 0.4262561500072479, -0.3150537312030792, -0.5669276118278503, 0.10311688482761383, 0.4071933925151825, -0.18903052806854248], "tau_dot": [2.0058951377868652, -64.3915786743164, -1.0187615156173706, -40.38169479370117, 4.2103190422058105, -31.481687545776367, -4.346861839294434], "tau_ext": [15.133784294128418, -35.0067024230957, -36.671260833740234, 20.357542037963867, -2.519437074661255, -7.256655693054199, 0.07068153470754623], "tcp_pose": [0.6359559297561646, 0.033520154654979706, -0.3307855427265167, -0.006561804562807083, -0.10207175463438034, 0.9945498108863831, 0.020222133025527], "tcp_vel": [0.00039688643300905824, 2.4347644284716807e-05, 0.0006854366511106491, 6.558669701917097e-05, -0.0012419945560395718, 0.00021035542886238545], "flange_pose": [0.6392201781272888, 0.026132140308618546, -0.140957310795784, -0.006561804562807083, -0.10207175463438034, 0.9945498108863831, 0.020222133025527], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.421182632446289, -55.84914779663086, -12.753841400146484, -6.719224452972412, 9.999539375305176, 0.2900872826576233], "ext_wrench_in_world": [-2.5760467250363623, -58.06742265837985, 10.549725004562092, 4.54608994362212, 11.160270985398917, 0.06582823270965107]}
+{"timestamp_ns": 1789729725247561147, "elapsed_ms": 14400, "source_timestamp_ns": 1789729725239180916, "q": [0.03777948394417763, -1.3117146492004395, 0.07137994468212128, 1.123336911201477, 1.5770820379257202, 0.04047476500272751, -1.0712448358535767], "theta": [0.035767097026109695, -1.3102474212646484, 0.06983926892280579, 1.1059125661849976, 1.5762639045715332, 0.04088306427001953, -1.071683645248413], "dq": [-0.006131255067884922, -0.0027544081676751375, 0.012529815547168255, -0.0012620679335668683, -0.009622981771826744, 0.006349022965878248, -9.817813406698406e-06], "dtheta": [-0.006588544696569443, -0.0023896764032542706, 0.009981336072087288, -0.001809514476917684, -0.010863978415727615, 0.004576659295707941, 0.0009743320988491178], "tau": [-61.16999816894531, -0.29999998211860657, -29.088001251220703, -0.3880000114440918, -3.9640002250671387, 4.111999988555908, -0.20400001108646393], "tau_des": [-1.2772548198699951, 0.5620021820068359, -0.30588117241859436, -0.6526013016700745, 0.16510483622550964, 0.4359298050403595, -0.20460942387580872], "tau_dot": [67.5406494140625, -92.06724548339844, 17.116300582885742, 3.4373579025268555, 7.583073616027832, 1.953643798828125, -58.85737228393555], "tau_ext": [15.161745071411133, -34.98540496826172, -36.64103698730469, 20.35070037841797, -2.515949249267578, -7.266153335571289, 0.07384144514799118], "tcp_pose": [0.6359574198722839, 0.03352445363998413, -0.3307840824127197, -0.006558026187121868, -0.1020747497677803, 0.9945493936538696, 0.02022901177406311], "tcp_vel": [-0.00037740651168860495, -0.0005494061042554677, 0.0009073656983673573, -0.0008619543514214456, 0.0011957177193835378, -0.0010211756452918053], "flange_pose": [0.6392205357551575, 0.02613370306789875, -0.14095592498779297, -0.006558026187121868, -0.1020747497677803, 0.9945493936538696, 0.02022901177406311], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.421127319335938, -55.84682846069336, -12.776772499084473, -6.728755474090576, 9.996627807617188, 0.29174894094467163], "ext_wrench_in_world": [-2.575797954424163, -58.066202306616994, 10.571872698674513, 4.5559182407281344, 11.15945019544564, 0.06415230191027782]}
+{"timestamp_ns": 1789729725280897552, "elapsed_ms": 14433, "source_timestamp_ns": 1789729725279195413, "q": [0.0375499501824379, -1.3117985725402832, 0.07179111987352371, 1.1232622861862183, 1.57672917842865, 0.04069941118359566, -1.0712475776672363], "theta": [0.035519715398550034, -1.3103313446044922, 0.07022850960493088, 1.105833888053894, 1.5759061574935913, 0.04110550880432129, -1.071681261062622], "dq": [-0.006517981644719839, -0.002242752816528082, 0.010596943087875843, -0.0008098422549664974, -0.008979040198028088, 0.00494642136618495, -0.00023068154405336827], "dtheta": [-0.005996219348162413, -0.001752566546201706, 0.009812107309699059, -0.001904222765006125, -0.008952904492616653, 0.005699787754565477, 0.0005818417412228882], "tau": [-61.19999694824219, -0.22999998927116394, -29.056001663208008, -0.42000001668930054, -3.9720001220703125, 4.084000110626221, -0.1600000113248825], "tau_des": [-1.2909693717956543, 0.4082181751728058, -0.32956454157829285, -0.5503456592559814, 0.10939595103263855, 0.40754780173301697, -0.17620369791984558], "tau_dot": [-126.6349105834961, 8.434354782104492, 54.56521224975586, -14.577082633972168, -9.237556457519531, -51.488059997558594, 36.13496780395508], "tau_ext": [15.131360054016113, -34.98563766479492, -36.65943908691406, 20.364782333374023, -2.518771171569824, -7.271215438842773, 0.07581117004156113], "tcp_pose": [0.6359594464302063, 0.03352118283510208, -0.33077937364578247, -0.00655523082241416, -0.10207817703485489, 0.9945490956306458, 0.020228350535035133], "tcp_vel": [0.00030945311300456524, -5.7809691497823223e-05, 0.0005239975289441645, -0.0006128097884356976, -0.00045597151620313525, -6.862773443572223e-05], "flange_pose": [0.6392214894294739, 0.026130584999918938, -0.14095120131969452, -0.00655523082241416, -0.10207817703485489, 0.9945490956306458, 0.020228350535035133], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.420055389404297, -55.801876068115234, -12.821861267089844, -6.730436325073242, 9.997480392456055, 0.2970351576805115], "ext_wrench_in_world": [-2.5827580255725637, -58.02376960766284, 10.618804923600448, 4.557224311329624, 11.160862572850515, 0.05891022388111122]}
+{"timestamp_ns": 1789729725314235207, "elapsed_ms": 14466, "source_timestamp_ns": 1789729725309172645, "q": [0.037377793341875076, -1.3118617534637451, 0.0720989778637886, 1.1232036352157593, 1.5764572620391846, 0.04084717854857445, -1.0712459087371826], "theta": [0.03533446416258812, -1.3103939294815063, 0.07051914185285568, 1.1057724952697754, 1.5756298303604126, 0.04125368595123291, -1.071676254272461], "dq": [-0.00634132232517004, -0.0005839680670760572, 0.010928060859441757, -0.0014331332640722394, -0.010698948055505753, 0.005310519598424435, 0.0019269927870482206], "dtheta": [-0.005706341937184334, -0.0019614556804299355, 0.00961057934910059, -0.002112672431394458, -0.008167555555701256, 0.004686202388256788, -0.00023202794545795768], "tau": [-61.1099967956543, -0.17000000178813934, -29.04400062561035, -0.4000000059604645, -3.952000141143799, 4.104000091552734, -0.19600000977516174], "tau_des": [-1.384950041770935, 0.3991023600101471, -0.39342886209487915, -0.5526607632637024, 0.1078173816204071, 0.47425389289855957, -0.15353508293628693], "tau_dot": [142.81703186035156, 86.66510772705078, 24.902755737304688, 15.304545402526855, 27.16473960876465, -23.955684661865234, -9.50439739227295], "tau_ext": [15.096908569335938, -34.96809768676758, -36.66473388671875, 20.3582763671875, -2.516120433807373, -7.271072864532471, 0.07366891205310822], "tcp_pose": [0.6359567046165466, 0.03352232277393341, -0.3307769000530243, -0.006561928428709507, -0.10208041220903397, 0.9945486783981323, 0.02023409493267536], "tcp_vel": [0.00023513486667070538, 0.0001649662444833666, 0.0002618575526867062, 0.0004899775958620012, -0.00020684623450506479, 0.0006958176963962615], "flange_pose": [0.6392215490341187, 0.026129821315407753, -0.1409488469362259, -0.006561928428709507, -0.10208041220903397, 0.9945486783981323, 0.02023409493267536], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.439127922058105, -55.784889221191406, -12.862653732299805, -6.7368268966674805, 9.990659713745117, 0.29850372672080994], "ext_wrench_in_world": [-2.6037478300679298, -58.01273504865519, 10.65988794590039, 4.564787119959923, 11.15556700121205, 0.057149429524914856]}
+{"timestamp_ns": 1789729725347564373, "elapsed_ms": 14500, "source_timestamp_ns": 1789729725339179393, "q": [0.037204284220933914, -1.311923861503601, 0.07240220904350281, 1.1231459379196167, 1.5762040615081787, 0.041003767400979996, -1.071229100227356], "theta": [0.035150736570358276, -1.3104547262191772, 0.07080081105232239, 1.105712652206421, 1.5753732919692993, 0.041411399841308594, -1.0716556310653687], "dq": [-0.007255243603140116, -0.002641215454787016, 0.008572692982852459, -0.00275720888748765, -0.01156532485038042, 0.008316111750900745, -2.8028982342220843e-05], "dtheta": [-0.006041624583303928, -0.0018250158755108714, 0.009688811376690865, -0.0017474008491262794, -0.007837899029254913, 0.006478469353169203, 0.0003911175881512463], "tau": [-61.099998474121094, -0.23999999463558197, -29.036001205444336, -0.41600000858306885, -3.9600002765655518, 4.104000091552734, -0.15600000321865082], "tau_des": [-1.2068374156951904, 0.43213599920272827, -0.306222140789032, -0.5748087763786316, 0.08189047873020172, 0.41354307532310486, -0.1859557032585144], "tau_dot": [-42.072147369384766, -79.47509002685547, 1.8645546436309814, -17.330270767211914, 20.21269989013672, -26.36520004272461, 10.421547889709473], "tau_ext": [15.069978713989258, -34.97900390625, -36.67483901977539, 20.368629455566406, -2.516510009765625, -7.270760536193848, 0.06975602358579636], "tcp_pose": [0.6359605193138123, 0.03352389857172966, -0.330772340297699, -0.0065575167536735535, -0.10207466781139374, 0.9945492148399353, 0.02023911662399769], "tcp_vel": [0.0006267221178859472, -0.0001512943854322657, 0.0005810178117826581, -0.0006142529891803861, -0.001883258461020887, -0.0002036912046605721], "flange_pose": [0.6392238736152649, 0.026129309087991714, -0.14094433188438416, -0.0065575167536735535, -0.10207466781139374, 0.9945492148399353, 0.02023911662399769], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.454069137573242, -55.78057861328125, -12.888972282409668, -6.7444586753845215, 9.983389854431152, 0.29864734411239624], "ext_wrench_in_world": [-2.6195620515562483, -58.012664029677964, 10.685849446846827, 4.573861841588288, 11.149957343628044, 0.05679027215514212]}
+{"timestamp_ns": 1789729725380903678, "elapsed_ms": 14533, "source_timestamp_ns": 1789729725379166154, "q": [0.03697919100522995, -1.311995267868042, 0.07281222194433212, 1.1230769157409668, 1.5758448839187622, 0.04123526066541672, -1.0712181329727173], "theta": [0.03491508588194847, -1.310524821281433, 0.07117898762226105, 1.1056411266326904, 1.575012445449829, 0.0416409969329834, -1.0716396570205688], "dq": [-0.006258312612771988, -0.0005067150923423469, 0.011990508995950222, -0.001302488031797111, -0.00855875015258789, 0.004007821436971426, -0.0018322252435609698], "dtheta": [-0.005995965097099543, -0.0018478165147826076, 0.008810510858893394, -0.0015643228543922305, -0.008651457726955414, 0.005336123518645763, 0.0005858663935214281], "tau": [-61.05999755859375, -0.14999999105930328, -29.032001495361328, -0.4520000219345093, -3.944000244140625, 4.124000072479248, -0.19600000977516174], "tau_des": [-1.1301485300064087, 0.4952913820743561, -0.18818746507167816, -0.62871253490448, 0.14461220800876617, 0.3986395299434662, -0.19056107103824615], "tau_dot": [-3.531703472137451, 61.66499328613281, -2.620194911956787, -88.90885162353516, 26.697284698486328, 92.91534423828125, -44.83195495605469], "tau_ext": [15.037025451660156, -34.974273681640625, -36.681209564208984, 20.3635311126709, -2.522282838821411, -7.27360200881958, 0.06641095876693726], "tcp_pose": [0.6359630227088928, 0.0335242860019207, -0.3307686746120453, -0.006557844579219818, -0.10207507014274597, 0.9945492744445801, 0.020233534276485443], "tcp_vel": [0.00024192252021748573, -0.00042984544415958226, 0.0009475431288592517, -0.0011296740267425776, -0.0006892408127896488, -0.0004828953242395073], "flange_pose": [0.6392262578010559, 0.026131821796298027, -0.1409405916929245, -0.006557844579219818, -0.10207507014274597, 0.9945492744445801, 0.020233534276485443], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.467018127441406, -55.76082229614258, -12.923442840576172, -6.753227233886719, 9.97708797454834, 0.2972118854522705], "ext_wrench_in_world": [-2.635608743837696, -57.99719226832559, 10.721872366132198, 4.5837396394069305, 11.145523401769276, 0.057761994282285706]}
+{"timestamp_ns": 1789729725414232114, "elapsed_ms": 14566, "source_timestamp_ns": 1789729725409179531, "q": [0.03680456057190895, -1.3120455741882324, 0.0731220692396164, 1.1230316162109375, 1.575576901435852, 0.04140112176537514, -1.0712077617645264], "theta": [0.034734126180410385, -1.3105731010437012, 0.07146342098712921, 1.105594277381897, 1.5747445821762085, 0.04180419445037842, -1.0716254711151123], "dq": [-0.0060526225715875626, -3.098798333667219e-05, 0.013116138987243176, -5.258441888145171e-05, -0.009378884918987751, 0.006051559932529926, 0.0011844532564282417], "dtheta": [-0.0059850518591701984, -0.002121527213603258, 0.009696200489997864, -0.0016249880427494645, -0.00805871281772852, 0.00449677137658, 0.0008521645795553923], "tau": [-61.03999710083008, -0.19999998807907104, -29.020000457763672, -0.46000000834465027, -3.936000108718872, 4.1080002784729, -0.19600000977516174], "tau_des": [-1.2290449142456055, 0.49085500836372375, -0.317411333322525, -0.6508307456970215, 0.10593325644731522, 0.4611092805862427, -0.2060062289237976], "tau_dot": [-3.1630945205688477, 83.5772476196289, 26.368534088134766, -17.172290802001953, 49.43907165527344, 54.624755859375, -16.24139404296875], "tau_ext": [15.015962600708008, -34.98351287841797, -36.68367004394531, 20.370128631591797, -2.523653268814087, -7.270178318023682, 0.06650073826313019], "tcp_pose": [0.6359636783599854, 0.03352777287364006, -0.3307642936706543, -0.006557172164320946, -0.10207278281450272, 0.9945495128631592, 0.02023373357951641], "tcp_vel": [4.118338256375864e-05, 2.676206895557698e-05, 0.0003746418806258589, 0.0007362590404227376, -0.0003515183343552053, -0.001034060842357576], "flange_pose": [0.6392266154289246, 0.026135200634598732, -0.14093619585037231, -0.006557172164320946, -0.10207278281450272, 0.9945495128631592, 0.02023373357951641], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.473906517028809, -55.7702522277832, -12.97774887084961, -6.767018795013428, 9.97395133972168, 0.29709091782569885], "ext_wrench_in_world": [-2.639789663803668, -58.00992443069008, 10.775766666255661, 4.597932229297296, 11.145232545598551, 0.05764054107497675]}
+{"timestamp_ns": 1789729725447562570, "elapsed_ms": 14600, "source_timestamp_ns": 1789729725439177630, "q": [0.036621734499931335, -1.3121007680892944, 0.07343937456607819, 1.1229841709136963, 1.5753110647201538, 0.04156613349914551, -1.0712032318115234], "theta": [0.034544914960861206, -1.310626745223999, 0.07175462692975998, 1.1055452823638916, 1.5744812488555908, 0.0419691801071167, -1.0716170072555542], "dq": [-0.005993410013616085, -0.0031732211355119944, 0.011560301296412945, -0.0019084654049947858, -0.009252053685486317, 0.007038086652755737, -0.0005367866833694279], "dtheta": [-0.006039672065526247, -0.0016455668956041336, 0.009835075587034225, -0.00142967258580029, -0.00937913078814745, 0.006983789149671793, 5.367910489439964e-05], "tau": [-61.029998779296875, -0.22999998927116394, -29.07600212097168, -0.4320000112056732, -3.9760000705718994, 4.116000175476074, -0.19200000166893005], "tau_des": [-1.0651735067367554, 0.4391099214553833, -0.23398301005363464, -0.6093648672103882, 0.12660911679267883, 0.39162060618400574, -0.18739502131938934], "tau_dot": [203.26771545410156, 31.24778938293457, -44.46223068237305, -10.410289764404297, -26.85148811340332, 2.2419753074645996, -52.367042541503906], "tau_ext": [14.989109992980957, -34.96738052368164, -36.69063949584961, 20.375898361206055, -2.5200347900390625, -7.27482271194458, 0.06538499146699905], "tcp_pose": [0.6359658241271973, 0.0335320308804512, -0.3307585120201111, -0.006552220322191715, -0.10207191854715347, 0.994549572467804, 0.020238129422068596], "tcp_vel": [0.0003049718216061592, -0.0004676334501709789, 0.0007119373185560107, -0.00185597303789109, -0.0009941867319867015, 0.0001322945608990267], "flange_pose": [0.6392270922660828, 0.02613760158419609, -0.14093047380447388, -0.006552220322191715, -0.10207191854715347, 0.994549572467804, 0.020238129422068596], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.488839149475098, -55.76690673828125, -12.992512702941895, -6.775262355804443, 9.967551231384277, 0.2981160283088684], "ext_wrench_in_world": [-2.655046292313262, -58.010361433677105, 10.790200596441645, 4.60730509350569, 11.140677113593906, 0.05642634656865181]}
+{"timestamp_ns": 1789729725480898605, "elapsed_ms": 14633, "source_timestamp_ns": 1789729725479171860, "q": [0.036395031958818436, -1.3121720552444458, 0.073861263692379, 1.1229166984558105, 1.574940800666809, 0.041812963783741, -1.071205735206604], "theta": [0.03431107476353645, -1.3106954097747803, 0.07214124500751495, 1.1054766178131104, 1.574115514755249, 0.042215943336486816, -1.0716146230697632], "dq": [-0.007423511240631342, -0.003804116742685437, 0.006005820818245411, -0.00026110236649401486, -0.010981849394738674, 0.00761709688231349, -0.000924931198824197], "dtheta": [-0.006022599525749683, -0.0017869469011202455, 0.00946707371622324, -0.0022423500195145607, -0.009404904209077358, 0.006321093998849392, 5.3444222430698574e-05], "tau": [-60.96999740600586, -0.2800000011920929, -28.996002197265625, -0.4520000219345093, -3.944000244140625, 4.0960001945495605, -0.18800000846385956], "tau_des": [-1.016052484512329, 0.3740661144256592, -0.17170996963977814, -0.5380748510360718, 0.1493159979581833, 0.3707113564014435, -0.15586908161640167], "tau_dot": [-54.722251892089844, -162.54627990722656, 52.87544250488281, 1.9459218978881836, -26.900075912475586, 30.210716247558594, -7.672948360443115], "tau_ext": [14.96552562713623, -34.94620132446289, -36.66875457763672, 20.360815048217773, -2.5115017890930176, -7.280653476715088, 0.06565462052822113], "tcp_pose": [0.6359675526618958, 0.03353099897503853, -0.33075693249702454, -0.0065527367405593395, -0.10207872837781906, 0.994549036026001, 0.020228911191225052], "tcp_vel": [0.0005245960201136768, -0.0003291147877462208, 0.0008144820458255708, -0.0016813874244689941, -0.0006838758126832545, 0.0008277001325041056], "flange_pose": [0.6392287015914917, 0.02614009566605091, -0.1409287452697754, -0.0065527367405593395, -0.10207872837781906, 0.994549036026001, 0.020228911191225052], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.500038146972656, -55.72956848144531, -13.007545471191406, -6.781963348388672, 9.957496643066406, 0.2991359829902649], "ext_wrench_in_world": [-2.672536124591289, -57.97653232785922, 10.807932201689981, 4.615733451301274, 11.132306942460147, 0.054730588135456316]}
+{"timestamp_ns": 1789729725514235581, "elapsed_ms": 14666, "source_timestamp_ns": 1789729725509169679, "q": [0.03621654585003853, -1.3122284412384033, 0.07418698817491531, 1.1228666305541992, 1.5746694803237915, 0.041979193687438965, -1.0712026357650757], "theta": [0.03412873297929764, -1.3107513189315796, 0.07244385033845901, 1.1054260730743408, 1.5738481283187866, 0.04237926006317139, -1.0716081857681274], "dq": [-0.007364021148532629, -0.0017136969836428761, 0.013187848962843418, -0.0007387925288639963, -0.010979948565363884, 0.0065095373429358006, -2.73623300017789e-06], "dtheta": [-0.005998562090098858, -0.0019051596755161881, 0.010469845496118069, -0.0018886754987761378, -0.00847311969846487, 0.004983002319931984, -0.00020878974464721978], "tau": [-60.96999740600586, -0.23999999463558197, -29.016000747680664, -0.46400001645088196, -3.9560000896453857, 4.0960001945495605, -0.1680000126361847], "tau_des": [-1.1933586597442627, 0.3332962095737457, -0.3920377492904663, -0.5609617233276367, 0.08227483928203583, 0.4862698018550873, -0.15629610419273376], "tau_dot": [109.92387390136719, -14.527189254760742, -4.548567295074463, -53.610923767089844, 45.201805114746094, -60.04026412963867, -46.229644775390625], "tau_ext": [14.927664756774902, -34.95059585571289, -36.687469482421875, 20.362276077270508, -2.515214204788208, -7.277133941650391, 0.06646580994129181], "tcp_pose": [0.6359671950340271, 0.0335368849337101, -0.3307572901248932, -0.006552404724061489, -0.1020793691277504, 0.9945488572120667, 0.020235663279891014], "tcp_vel": [0.0001530474837636575, 0.00033415795769542456, 9.438829147256911e-05, 0.0008877631044015288, -0.0002283495559822768, 0.0005190433003008366], "flange_pose": [0.6392284631729126, 0.02614341676235199, -0.1409292221069336, -0.006552404724061489, -0.1020793691277504, 0.9945488572120667, 0.020235663279891014], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.504964828491211, -55.71250534057617, -13.050948143005371, -6.789573669433594, 9.952019691467285, 0.30135276913642883], "ext_wrench_in_world": [-2.6799971864826384, -57.96267862379214, 10.851267449765775, 4.6242436641789055, 11.128586982218359, 0.05236751842625268]}
+{"timestamp_ns": 1789729725547565057, "elapsed_ms": 14700, "source_timestamp_ns": 1789729725539171838, "q": [0.0360395647585392, -1.312281847000122, 0.07452134788036346, 1.1228216886520386, 1.5743896961212158, 0.04216648265719414, -1.0711966753005981], "theta": [0.03394724801182747, -1.3108047246932983, 0.07275364547967911, 1.105380892753601, 1.5735739469528198, 0.04256260395050049, -1.0715985298156738], "dq": [-0.006403444800525904, -0.0018196266610175371, 0.007751465775072575, -0.0004765765625052154, -0.008260403759777546, 0.006365983281284571, 0.00012044953473377973], "dtheta": [-0.006199585273861885, -0.001709109521470964, 0.010069194249808788, -0.0011562651488929987, -0.007950655184686184, 0.005861570127308369, 0.00019218382658436894], "tau": [-61.029998779296875, -0.3400000035762787, -29.048002243041992, -0.484000027179718, -3.9680001735687256, 4.104000091552734, -0.17600001394748688], "tau_des": [-1.1048316955566406, 0.38054969906806946, -0.3257450461387634, -0.6210136413574219, 0.08058219403028488, 0.45586398243904114, -0.177033469080925], "tau_dot": [-56.25615692138672, -214.53724670410156, 25.326263427734375, -59.20554733276367, -4.548457622528076, -70.8533935546875, 20.249553680419922], "tau_ext": [14.948552131652832, -34.936622619628906, -36.65359878540039, 20.380334854125977, -2.50644588470459, -7.283288955688477, 0.06775634735822678], "tcp_pose": [0.6359663009643555, 0.03354031220078468, -0.3307599127292633, -0.00655118003487587, -0.10207773000001907, 0.994549036026001, 0.020235640928149223], "tcp_vel": [0.00028216795180924237, 2.4837308956193738e-05, 0.00045205678907223046, 0.00012749238521791995, -0.001430778531357646, -0.00045446641161106527], "flange_pose": [0.6392271518707275, 0.02614680305123329, -0.14093181490898132, -0.00655118003487587, -0.10207773000001907, 0.994549036026001, 0.020235640928149223], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.50454330444336, -55.70565414428711, -13.063385009765625, -6.796523571014404, 9.947165489196777, 0.3036285936832428], "ext_wrench_in_world": [-2.680980049516714, -57.95636702577973, 10.863957620221987, 4.632030513553028, 11.125323961233905, 0.049842981775224574]}
+{"timestamp_ns": 1789729725580912321, "elapsed_ms": 14733, "source_timestamp_ns": 1789729725579165477, "q": [0.03580499440431595, -1.3123524188995361, 0.07495652139186859, 1.1227617263793945, 1.5740200281143188, 0.042417220771312714, -1.0711866617202759], "theta": [0.03370639681816101, -1.3108757734298706, 0.07316067814826965, 1.1053202152252197, 1.5732109546661377, 0.042810678482055664, -1.0715839862823486], "dq": [-0.006086044479161501, -0.0004962907405570149, 0.011313293129205704, -0.0015558673767372966, -0.009952454827725887, 0.0070891715586185455, -0.0020123152062296867], "dtheta": [-0.005960462149232626, -0.0016870960826054215, 0.009596606716513634, -0.0013920351630076766, -0.009141231887042522, 0.005594748072326183, 0.00047928019193932414], "tau": [-61.0099983215332, -0.25, -29.052001953125, -0.4880000352859497, -3.9640002250671387, 4.100000381469727, -0.19200000166893005], "tau_des": [-1.0801279544830322, 0.4079470932483673, -0.2720164954662323, -0.6442458033561707, 0.12863275408744812, 0.4366433322429657, -0.18565689027309418], "tau_dot": [-127.75520324707031, -20.205482482910156, 16.003028869628906, 49.49734115600586, 0.9751629829406738, -8.056398391723633, -68.61347961425781], "tau_ext": [14.944254875183105, -34.905792236328125, -36.63761901855469, 20.358001708984375, -2.5034899711608887, -7.282182216644287, 0.0613720677793026], "tcp_pose": [0.6359670758247375, 0.03354188799858093, -0.33075934648513794, -0.0065477462485432625, -0.10207495838403702, 0.9945493936538696, 0.020230965688824654], "tcp_vel": [7.104741962393746e-05, -0.00023181579308584332, 0.000619350525084883, -0.0008829942671582103, -0.00024448332260362804, -0.00035390740958973765], "flange_pose": [0.6392263770103455, 0.02615000121295452, -0.1409311592578888, -0.0065477462485432625, -0.10207495838403702, 0.9945493936538696, 0.020230965688824654], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.51787281036377, -55.66812515258789, -13.043024063110352, -6.796019554138184, 9.937479019165039, 0.3039815127849579], "ext_wrench_in_world": [-2.702401414831721, -57.92145943413899, 10.84577471946886, 4.63355776461133, 11.115732731366375, 0.04903145448801026]}
+{"timestamp_ns": 1789729725614255855, "elapsed_ms": 14766, "source_timestamp_ns": 1789729725609170416, "q": [0.03562929853796959, -1.3124046325683594, 0.07527749985456467, 1.122718095779419, 1.5737566947937012, 0.04259425774216652, -1.071184515953064], "theta": [0.03352591395378113, -1.3109277486801147, 0.07346094399690628, 1.1052765846252441, 1.5729565620422363, 0.042984604835510254, -1.0715789794921875], "dq": [-0.005718902684748173, -0.0003094838175456971, 0.00914047658443451, -0.001706767245195806, -0.009329978376626968, 0.0066726114600896835, -0.0017349292756989598], "dtheta": [-0.0064981901086866856, -0.001866420148871839, 0.009956941939890385, -0.001651255995966494, -0.007500170264393091, 0.005798506550490856, -0.00022969371639192104], "tau": [-60.959999084472656, -0.22999998927116394, -29.048002243041992, -0.4880000352859497, -3.948000192642212, 4.104000091552734, -0.1600000113248825], "tau_des": [-0.9756821393966675, 0.3202052116394043, -0.2879154086112976, -0.5766633749008179, 0.04153667762875557, 0.4365561902523041, -0.17074914276599884], "tau_dot": [16.640029907226562, 14.323978424072266, -7.74416446685791, 55.20378494262695, 37.56543731689453, -13.977962493896484, 7.208517074584961], "tau_ext": [14.877089500427246, -34.953102111816406, -36.673282623291016, 20.379486083984375, -2.5079567432403564, -7.276029109954834, 0.059417013078927994], "tcp_pose": [0.6359686851501465, 0.03354635462164879, -0.3307589292526245, -0.0065422034822404385, -0.10207489132881165, 0.9945493936538696, 0.020233288407325745], "tcp_vel": [0.000644660263787955, 0.00011761276255128905, 0.000645633670501411, 0.0003879642754327506, -0.0021148291416466236, 0.0002738467010203749], "flange_pose": [0.6392260193824768, 0.02615337446331978, -0.14093074202537537, -0.0065422034822404385, -0.10207489132881165, 0.9945493936538696, 0.020233288407325745], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.541157722473145, -55.67311477661133, -13.06760025024414, -6.806275844573975, 9.926167488098145, 0.302852600812912], "ext_wrench_in_world": [-2.723902903988516, -57.9320924523232, 10.869966430715436, 4.645916265576574, 11.106705293303508, 0.049710692831215104]}
+{"timestamp_ns": 1789729725647580561, "elapsed_ms": 14800, "source_timestamp_ns": 1789729725639169875, "q": [0.03544589877128601, -1.3124583959579468, 0.07561379671096802, 1.1226739883422852, 1.5734703540802002, 0.04279610887169838, -1.071179747581482], "theta": [0.03333732485771179, -1.3109805583953857, 0.0737791359424591, 1.1052322387695312, 1.5726773738861084, 0.04318380355834961, -1.0715714693069458], "dq": [-0.005077827256172895, -0.0036329019349068403, 0.011031710542738438, -0.0024467953480780125, -0.007771841250360012, 0.008332917466759682, -0.002269448945298791], "dtheta": [-0.006056752987205982, -0.001615136512555182, 0.010600638575851917, -0.0012824514415115118, -0.011004099622368813, 0.007774990051984787, -7.906556857051328e-05], "tau": [-60.94999694824219, -0.25, -29.036001205444336, -0.492000013589859, -3.996000289916992, 4.0960001945495605, -0.18000000715255737], "tau_des": [-0.9982483386993408, 0.42928004264831543, -0.2558530569076538, -0.6528694033622742, 0.1530768722295761, 0.36779436469078064, -0.17694874107837677], "tau_dot": [-75.84584045410156, -120.5495834350586, -28.523406982421875, -23.944591522216797, -17.764114379882812, -23.4592227935791, -34.03725814819336], "tau_ext": [14.872773170471191, -34.94791030883789, -36.65816879272461, 20.38834571838379, -2.5084125995635986, -7.279459476470947, 0.05928841605782509], "tcp_pose": [0.6359707117080688, 0.03354565054178238, -0.3307562470436096, -0.006536511238664389, -0.10207374393939972, 0.9945496916770935, 0.0202260110527277], "tcp_vel": [-1.4763111721549649e-05, -0.0006864494644105434, 0.0005937315872870386, -0.0027694099117070436, -9.349600441055372e-05, 0.00028202548855915666], "flange_pose": [0.6392256021499634, 0.026155194267630577, -0.14092792570590973, -0.006536511238664389, -0.10207374393939972, 0.9945496916770935, 0.0202260110527277], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.552412986755371, -55.674720764160156, -13.096277236938477, -6.818374156951904, 9.918960571289062, 0.30333495140075684], "ext_wrench_in_world": [-2.734388095353461, -57.936915534282484, 10.899388674987758, 4.659241415754808, 11.102121940197524, 0.048733011581676866]}
+{"timestamp_ns": 1789729725680910267, "elapsed_ms": 14833, "source_timestamp_ns": 1789729725679182282, "q": [0.0352003388106823, -1.3125298023223877, 0.07610958814620972, 1.1226093769073486, 1.573045253753662, 0.043092627078294754, -1.0711709260940552], "theta": [0.03308069333434105, -1.3110504150390625, 0.07424328476190567, 1.105167031288147, 1.5722638368606567, 0.04347717761993408, -1.0715590715408325], "dq": [-0.00902407057583332, 0.0005553928785957396, 0.013105691410601139, -0.001424288609996438, -0.01174385379999876, 0.007070062682032585, -0.00041529297595843673], "dtheta": [-0.006486944388598204, -0.0016326323384419084, 0.011443370953202248, -0.0015277659986168146, -0.009684563614428043, 0.006965952925384045, 0.0010491805151104927], "tau": [-60.87999725341797, -0.26999998092651367, -29.084001541137695, -0.5080000162124634, -3.9680001735687256, 4.116000175476074, -0.1680000126361847], "tau_des": [-1.1208053827285767, 0.3365277945995331, -0.40676149725914, -0.6310702562332153, 0.10701526701450348, 0.43108463287353516, -0.19331054389476776], "tau_dot": [125.8073501586914, 41.311492919921875, -25.03672218322754, 36.81315994262695, -15.954925537109375, -29.896465301513672, 27.614004135131836], "tau_ext": [14.838836669921875, -34.925743103027344, -36.652748107910156, 20.37727928161621, -2.501380443572998, -7.281179428100586, 0.057877495884895325], "tcp_pose": [0.6359671354293823, 0.03354935348033905, -0.33076798915863037, -0.00654200604185462, -0.10207466781139374, 0.9945497512817383, 0.020216291770339012], "tcp_vel": [0.00026008966960944235, 0.00010301901784259826, 0.0002490695333108306, -0.0004943094681948423, -0.0007599598611705005, -0.0007518109632655978], "flange_pose": [0.6392236948013306, 0.026162786409258842, -0.14093954861164093, -0.00654200604185462, -0.10207466781139374, 0.9945497512817383, 0.020216291770339012], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.559816360473633, -55.65199279785156, -13.125652313232422, -6.8282151222229, 9.909584999084473, 0.30419033765792847], "ext_wrench_in_world": [-2.74551858133419, -57.9171099813517, 10.930956161208513, 4.670739199433, 11.094994465425108, 0.04713293990582247]}
+{"timestamp_ns": 1789729725714228385, "elapsed_ms": 14866, "source_timestamp_ns": 1789729725709177781, "q": [0.035018160939216614, -1.3125884532928467, 0.0764782503247261, 1.1225552558898926, 1.5727410316467285, 0.04331168159842491, -1.0711679458618164], "theta": [0.03288738429546356, -1.3111084699630737, 0.07458546757698059, 1.1051113605499268, 1.571968913078308, 0.04369461536407471, -1.071553349494934], "dq": [-0.006250376813113689, -0.0025534622836858034, 0.013787217438220978, -0.00022652148618362844, -0.01308906264603138, 0.006407769862562418, -6.802089046686888e-06], "dtheta": [-0.006562852766364813, -0.001723851659335196, 0.01146257109940052, -0.001818126067519188, -0.010168719105422497, 0.007598515599966049, 0.00011128162441309541], "tau": [-61.0099983215332, -0.2800000011920929, -29.156002044677734, -0.5, -3.992000102996826, 4.124000072479248, -0.1720000058412552], "tau_des": [-1.1313979625701904, 0.30518868565559387, -0.42098936438560486, -0.5944841504096985, 0.11496978253126144, 0.41682639718055725, -0.16393329203128815], "tau_dot": [-45.56298065185547, -18.78900718688965, -25.694181442260742, -0.6956532597541809, -13.77086353302002, -35.17509460449219, -3.124518632888794], "tau_ext": [14.874846458435059, -34.91817855834961, -36.61906051635742, 20.380207061767578, -2.498586654663086, -7.289012432098389, 0.05886438861489296], "tcp_pose": [0.6359674334526062, 0.03355274349451065, -0.33077824115753174, -0.006541490089148283, -0.10207701474428177, 0.9945496320724487, 0.020213115960359573], "tcp_vel": [0.00039966212352737784, -0.00010142094834009185, 0.0003983974165748805, -0.0012404300505295396, -0.0009323407430201769, 0.0004233615181874484], "flange_pose": [0.6392237544059753, 0.026167362928390503, -0.1409497708082199, -0.006541490089148283, -0.10207701474428177, 0.9945496320724487, 0.020213115960359573], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.574837684631348, -55.651424407958984, -13.119270324707031, -6.838062763214111, 9.903051376342773, 0.30603763461112976], "ext_wrench_in_world": [-2.7601965610971075, -57.919305179515014, 10.92508986174366, 4.681621608933144, 11.090698531270272, 0.044868131094719155]}
+{"timestamp_ns": 1789729725747564890, "elapsed_ms": 14900, "source_timestamp_ns": 1789729725739252001, "q": [0.03483333811163902, -1.3126521110534668, 0.07683859765529633, 1.122502326965332, 1.572452187538147, 0.043513018637895584, -1.071168303489685], "theta": [0.03269144892692566, -1.3111704587936401, 0.07491786777973175, 1.1050565242767334, 1.5716885328292847, 0.04389381408691406, -1.0715516805648804], "dq": [-0.00812834408134222, -0.003680282738059759, 0.008920779451727867, -0.0010878279572352767, -0.010904720053076744, 0.006662245374172926, -0.0015783277340233326], "dtheta": [-0.0068327682092785835, -0.0017165504395961761, 0.010889824479818344, -0.00187136500608176, -0.009912744164466858, 0.005648267921060324, -0.0006894700927659869], "tau": [-60.94999694824219, -0.29999998211860657, -29.16400146484375, -0.5400000214576721, -4.008000373840332, 4.136000156402588, -0.15200001001358032], "tau_des": [-1.1209605932235718, 0.24454979598522186, -0.44746747612953186, -0.5740951895713806, 0.0860980898141861, 0.47253918647766113, -0.14427196979522705], "tau_dot": [90.97859191894531, 0.7837691307067871, -7.72102689743042, -53.68339157104492, -8.920350074768066, 17.669723510742188, 65.65929412841797], "tau_ext": [14.898540496826172, -34.910701751708984, -36.58951187133789, 20.372106552124023, -2.491236925125122, -7.28902530670166, 0.06047523394227028], "tcp_pose": [0.6359673738479614, 0.03355644643306732, -0.33078598976135254, -0.006537672597914934, -0.10207775235176086, 0.9945494532585144, 0.02021721936762333], "tcp_vel": [0.0002700544137042016, 0.00019370490917935967, 0.0006304577109403908, -0.00012444097956176847, -0.00031895676511339843, 0.0013058532495051622], "flange_pose": [0.6392223834991455, 0.026169370859861374, -0.1409575343132019, -0.006537672597914934, -0.10207775235176086, 0.9945494532585144, 0.02021721936762333], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.569768905639648, -55.65156555175781, -13.074918746948242, -6.843279838562012, 9.900745391845703, 0.30764198303222656], "ext_wrench_in_world": [-2.7559640971920634, -57.916789831652004, 10.880189890616723, 4.687154960089346, 11.089571195734386, 0.04325422054858215]}
+{"timestamp_ns": 1789729725780900665, "elapsed_ms": 14933, "source_timestamp_ns": 1789729725779170700, "q": [0.03457445278763771, -1.3127458095550537, 0.07731592655181885, 1.1224290132522583, 1.5720579624176025, 0.043777916580438614, -1.0711702108383179], "theta": [0.032417651265859604, -1.3112610578536987, 0.07535979896783829, 1.1049808263778687, 1.5713051557540894, 0.04415559768676758, -1.0715506076812744], "dq": [-0.008174050599336624, -0.0032558171078562737, 0.011583644896745682, -0.002730926964432001, -0.010286599397659302, 0.0057794759050011635, 0.00017658298020251095], "dtheta": [-0.006924557965248823, -0.0021258548367768526, 0.011491320095956326, -0.0016378456493839622, -0.009922375902533531, 0.005315515212714672, 0.0002334863384021446], "tau": [-60.91999816894531, -0.25999999046325684, -29.104001998901367, -0.5600000023841858, -3.9880001544952393, 4.128000259399414, -0.1600000113248825], "tau_des": [-1.1646521091461182, 0.3749501705169678, -0.501939594745636, -0.6747493743896484, 0.07246202230453491, 0.4903360903263092, -0.173639178276062], "tau_dot": [-94.64433288574219, -7.919328212738037, 20.70490264892578, -30.143478393554688, 10.956890106201172, -24.396968841552734, 17.025548934936523], "tau_ext": [14.927347183227539, -34.916603088378906, -36.55158233642578, 20.382930755615234, -2.4873385429382324, -7.288477897644043, 0.06042562052607536], "tcp_pose": [0.635967493057251, 0.033554475754499435, -0.33078616857528687, -0.00653063552454114, -0.1020769327878952, 0.994549572467804, 0.020219391211867332], "tcp_vel": [-6.837193359388039e-05, 0.0001567831786815077, 0.0003732510085683316, 0.0006614727899432182, 1.7592630683793686e-05, -0.00026824328233487904], "flange_pose": [0.6392199397087097, 0.02616630494594574, -0.14095774292945862, -0.00653063552454114, -0.1020769327878952, 0.994549572467804, 0.020219391211867332], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.577899932861328, -55.63338851928711, -13.034904479980469, -6.843774318695068, 9.891019821166992, 0.31150102615356445], "ext_wrench_in_world": [-2.7685569061342847, -57.89916062189199, 10.840669321150273, 4.689566389556289, 11.080297371400517, 0.039117215160925235]}
+{"timestamp_ns": 1789729725814293194, "elapsed_ms": 14966, "source_timestamp_ns": 1789729725809177278, "q": [0.034373749047517776, -1.31281316280365, 0.07767660170793533, 1.1223758459091187, 1.5717519521713257, 0.043965503573417664, -1.0711703300476074], "theta": [0.03220517188310623, -1.3113255500793457, 0.07569278031587601, 1.1049262285232544, 1.5710057020187378, 0.04434370994567871, -1.071549415588379], "dq": [-0.00842714961618185, -0.0035352862905710936, 0.010513671673834324, -0.001177086727693677, -0.009552153758704662, 0.00638558529317379, 0.00013728269550483674], "dtheta": [-0.0071857161819934845, -0.002353276824578643, 0.010898317210376263, -0.001503425999544561, -0.011800840497016907, 0.007150872610509396, 0.0004389822424855083], "tau": [-60.94999694824219, -0.20999999344348907, -29.152002334594727, -0.5800000429153442, -4.004000186920166, 4.131999969482422, -0.19600000977516174], "tau_des": [-0.9588255286216736, 0.5352810621261597, -0.30548959970474243, -0.758331298828125, 0.16076543927192688, 0.4093477129936218, -0.1815773844718933], "tau_dot": [-57.34674835205078, 75.22496032714844, -53.120113372802734, 26.077909469604492, -2.8983423709869385, 18.45744514465332, -41.45119094848633], "tau_ext": [14.827052116394043, -34.892784118652344, -36.59230422973633, 20.365964889526367, -2.489978075027466, -7.283285140991211, 0.06280437111854553], "tcp_pose": [0.6359654664993286, 0.03355589881539345, -0.33078354597091675, -0.0065298075787723064, -0.10207673162221909, 0.9945495128631592, 0.020223641768097878], "tcp_vel": [-9.629967098589987e-05, -0.0010017529129981995, 0.0011962674325332046, -0.0025388221256434917, -0.00014249909145291895, -0.0006599160842597485], "flange_pose": [0.639217734336853, 0.02616608701646328, -0.1409551501274109, -0.0065298075787723064, -0.10207673162221909, 0.9945495128631592, 0.020223641768097878], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.577780723571777, -55.61886978149414, -13.058698654174805, -6.85085916519165, 9.884622573852539, 0.3137328624725342], "ext_wrench_in_world": [-2.7710129282244673, -57.88594969233237, 10.864542912809037, 4.69776725272018, 11.075563284726503, 0.03665791986804354]}
+{"timestamp_ns": 1789729725847608951, "elapsed_ms": 15000, "source_timestamp_ns": 1789729725839171228, "q": [0.034174636006355286, -1.3128812313079834, 0.07804102450609207, 1.1223206520080566, 1.5714579820632935, 0.04417841136455536, -1.0711714029312134], "theta": [0.031996794044971466, -1.3113908767700195, 0.0760326161980629, 1.104870080947876, 1.5707193613052368, 0.04455578327178955, -1.0715491771697998], "dq": [-0.006736368406563997, -0.001824390608817339, 0.012404927983880043, -0.00013782682071905583, -0.0067005460150539875, 0.007870110683143139, 0.001965668983757496], "dtheta": [-0.006663483567535877, -0.0020560247357934713, 0.011174364015460014, -0.0022334116511046886, -0.008891556411981583, 0.005947044584900141, -0.0007601518300361931], "tau": [-60.94999694824219, -0.2199999988079071, -29.148000717163086, -0.5760000348091125, -3.9880001544952393, 4.116000175476074, -0.19600000977516174], "tau_des": [-1.0727006196975708, 0.27498066425323486, -0.4813304841518402, -0.5829019546508789, 0.00991042796522379, 0.4542665481567383, -0.14232341945171356], "tau_dot": [-4.638131618499756, 131.42539978027344, 39.28849792480469, -73.50428771972656, 35.873783111572266, 9.507253646850586, -54.77267074584961], "tau_ext": [14.887798309326172, -34.92880630493164, -36.53848648071289, 20.394359588623047, -2.4815807342529297, -7.289767265319824, 0.06552658975124359], "tcp_pose": [0.635970413684845, 0.03355544060468674, -0.330782413482666, -0.006517832167446613, -0.10207714140415192, 0.994549572467804, 0.02022283524274826], "tcp_vel": [0.0005031323526054621, 0.0003054190892726183, 0.00031762136495672166, 0.000591906369663775, -0.0010807717917487025, 0.001304222154431045], "flange_pose": [0.6392180919647217, 0.026165472343564034, -0.14095395803451538, -0.006517832167446613, -0.10207714140415192, 0.994549572467804, 0.02022283524274826], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.589306831359863, -55.62886047363281, -13.048158645629883, -6.8630146980285645, 9.877211570739746, 0.3179851174354553], "ext_wrench_in_world": [-2.780693851980648, -57.897667456169685, 10.853583753412659, 4.711094014799038, 11.070950972033026, 0.032116226229929844]}
+{"timestamp_ns": 1789729725880900582, "elapsed_ms": 15033, "source_timestamp_ns": 1789729725879208382, "q": [0.03392080217599869, -1.3129634857177734, 0.07851200550794601, 1.1222330331802368, 1.571031928062439, 0.04444362595677376, -1.0711489915847778], "theta": [0.03173300623893738, -1.3114705085754395, 0.07647235691547394, 1.1047816276550293, 1.5703006982803345, 0.04481995105743408, -1.0715240240097046], "dq": [-0.007109824102371931, -0.0018934700638055801, 0.006729350425302982, -0.0023879597429186106, -0.008758087642490864, 0.007997209206223488, 0.0022924698423594236], "dtheta": [-0.006473537068814039, -0.0023587809409946203, 0.01086485292762518, -0.0017461938550695777, -0.00984941329807043, 0.006952171679586172, 0.0010449830442667007], "tau": [-60.93000030517578, -0.29999998211860657, -29.156002044677734, -0.5760000348091125, -4.028000354766846, 4.116000175476074, -0.15600000321865082], "tau_des": [-1.042216181755066, 0.4667237102985382, -0.3649241626262665, -0.7146404981613159, 0.10489041358232498, 0.39818379282951355, -0.18482530117034912], "tau_dot": [-17.31838607788086, -64.61334228515625, -33.85636520385742, 14.008672714233398, -59.609840393066406, -43.97523498535156, 24.903396606445312], "tau_ext": [14.879379272460938, -34.92414855957031, -36.52554702758789, 20.40009307861328, -2.4772732257843018, -7.2866411209106445, 0.05770860239863396], "tcp_pose": [0.635973334312439, 0.0335564985871315, -0.33077970147132874, -0.006525637581944466, -0.10207847505807877, 0.994549572467804, 0.020213408395648003], "tcp_vel": [0.000150470674270764, -0.0005358023336157203, 0.0005465301801450551, -0.0011577685363590717, -0.0007900908822193742, -0.0011950588086619973], "flange_pose": [0.6392236351966858, 0.02617039903998375, -0.14095115661621094, -0.006525637581944466, -0.10207847505807877, 0.994549572467804, 0.020213408395648003], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.599143028259277, -55.611106872558594, -13.007501602172852, -6.86408805847168, 9.865145683288574, 0.31915387511253357], "ext_wrench_in_world": [-2.7942937941991826, -57.8805055769735, 10.815002497774731, 4.714537855487465, 11.059425268636867, 0.030148956400996012]}
+{"timestamp_ns": 1789729725914225579, "elapsed_ms": 15066, "source_timestamp_ns": 1789729725909179165, "q": [0.03373326361179352, -1.3130269050598145, 0.07886127382516861, 1.12216317653656, 1.5707213878631592, 0.04463108256459236, -1.0711266994476318], "theta": [0.031538840383291245, -1.3115323781967163, 0.07680094987154007, 1.1047109365463257, 1.5699975490570068, 0.04500901699066162, -1.0714986324310303], "dq": [-0.005761933512985706, -0.00017023815598804504, 0.009916004724800587, -0.0025514671579003334, -0.011925638653337955, 0.00756375165656209, 0.0005348196136765182], "dtheta": [-0.006766204722225666, -0.00211462564766407, 0.011055228300392628, -0.0023576205130666494, -0.010004253126680851, 0.006280592642724514, 0.0007857273449189961], "tau": [-60.89999771118164, -0.32999998331069946, -29.184001922607422, -0.5920000076293945, -3.992000102996826, 4.116000175476074, -0.15600000321865082], "tau_des": [-1.0067894458770752, 0.30059483647346497, -0.3936837911605835, -0.6076535582542419, 0.09635485708713531, 0.43100085854530334, -0.1684383749961853], "tau_dot": [-76.4405746459961, -74.59599304199219, -51.623600006103516, 30.854591369628906, -21.725168228149414, -21.42294692993164, -10.770477294921875], "tau_ext": [14.862955093383789, -34.89814758300781, -36.517704010009766, 20.386903762817383, -2.4743292331695557, -7.286703109741211, 0.05110763758420944], "tcp_pose": [0.6359760761260986, 0.03356020897626877, -0.3307795822620392, -0.006532004103064537, -0.10207774490118027, 0.9945496320724487, 0.02021183632314205], "tcp_vel": [0.00042004502029158175, -2.3249111109180376e-05, 0.000585098925512284, -0.0005150173092260957, -0.0005391435115598142, -6.380603736033663e-05], "flange_pose": [0.6392287015914917, 0.02617494761943817, -0.1409510225057602, -0.006532004103064537, -0.10207774490118027, 0.9945496320724487, 0.02021183632314205], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.6177339553833, -55.59811019897461, -12.996188163757324, -6.8667120933532715, 9.855464935302734, 0.31529268622398376], "ext_wrench_in_world": [-2.815259713996406, -57.87107895918014, 10.804695429236443, 4.719149627956847, 11.0503321140516, 0.03347387170278255]}
+{"timestamp_ns": 1789729725947626016, "elapsed_ms": 15100, "source_timestamp_ns": 1789729725939183823, "q": [0.03353641927242279, -1.3131004571914673, 0.07923483103513718, 1.1220892667770386, 1.5704129934310913, 0.04483269155025482, -1.0711175203323364], "theta": [0.03133489564061165, -1.3116055727005005, 0.07715275883674622, 1.1046371459960938, 1.5696942806243896, 0.04521322250366211, -1.0714855194091797], "dq": [-0.005520173814147711, -0.0014876862987875938, 0.012837274000048637, -0.0014906554715707898, -0.010059451684355736, 0.007066704332828522, 6.028483767295256e-05], "dtheta": [-0.006771426647901535, -0.002396921394392848, 0.011953364126384258, -0.0022553978487849236, -0.011809680610895157, 0.005817075725644827, 0.00014919351087883115], "tau": [-60.94999694824219, -0.26999998092651367, -29.220001220703125, -0.5920000076293945, -4.019999980926514, 4.1080002784729, -0.15200001001358032], "tau_des": [-1.1162480115890503, 0.3325956165790558, -0.5196781158447266, -0.6340083479881287, 0.11130118370056152, 0.48491349816322327, -0.15254013240337372], "tau_dot": [6.84660005569458, -68.73836517333984, -55.044464111328125, -26.955097198486328, -12.038496017456055, -17.523420333862305, 13.451287269592285], "tau_ext": [14.887757301330566, -34.88086700439453, -36.48450469970703, 20.380584716796875, -2.466691255569458, -7.291127681732178, 0.05017136409878731], "tcp_pose": [0.6359807848930359, 0.03356454148888588, -0.3307839334011078, -0.006530407350510359, -0.10208029299974442, 0.9945492744445801, 0.020216522738337517], "tcp_vel": [-0.00027942267479375005, -0.00014554461813531816, 0.0002923831925727427, -0.0004617289814632386, 0.001338147441856563, 0.0003348606696818024], "flange_pose": [0.6392329931259155, 0.026177456602454185, -0.14095544815063477, -0.006530407350510359, -0.10208029299974442, 0.9945492744445801, 0.020216522738337517], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.636488914489746, -55.59069061279297, -12.998485565185547, -6.872293949127197, 9.845063209533691, 0.31323426961898804], "ext_wrench_in_world": [-2.8348222311628755, -57.86784136765519, 10.806897607786702, 4.7267037095714155, 11.041233842393563, 0.03516688918186713]}
+{"timestamp_ns": 1789729725980920536, "elapsed_ms": 15133, "source_timestamp_ns": 1789729725979207919, "q": [0.03326268121600151, -1.3131980895996094, 0.07976295799016953, 1.122007966041565, 1.5699751377105713, 0.04513726383447647, -1.0711145401000977], "theta": [0.031051987782120705, -1.3117022514343262, 0.07765200734138489, 1.1045565605163574, 1.569262146949768, 0.04552125930786133, -1.0714786052703857], "dq": [-0.005640458781272173, -0.0043698460794985294, 0.013822291977703571, -0.002527589211240411, -0.011166426353156567, 0.006507678888738155, -0.00047025224193930626], "dtheta": [-0.007222750689834356, -0.001971944933757186, 0.012023994699120522, -0.0021604455541819334, -0.011449577286839485, 0.0067806788720190525, -0.00015837600221857429], "tau": [-60.94999694824219, -0.2800000011920929, -29.220001220703125, -0.5960000157356262, -4.028000354766846, 4.100000381469727, -0.1680000126361847], "tau_des": [-1.0089983940124512, 0.2508707642555237, -0.4859634041786194, -0.5849366188049316, 0.08598171174526215, 0.4460527300834656, -0.14033779501914978], "tau_dot": [36.74309539794922, 38.508113861083984, 9.853670120239258, 51.94544219970703, -37.48230743408203, -59.88209915161133, -47.8754768371582], "tau_ext": [14.891315460205078, -34.8799934387207, -36.466251373291016, 20.374208450317383, -2.4624650478363037, -7.293168544769287, 0.054069917649030685], "tcp_pose": [0.635981023311615, 0.033563870936632156, -0.3307908773422241, -0.006526232231408358, -0.10208044946193695, 0.9945493340492249, 0.020214494317770004], "tcp_vel": [0.00021803354320582002, -1.376183809043141e-05, 0.0005997479893267155, -0.0008808111306279898, 1.8702660327107878e-06, 0.0009323381818830967], "flange_pose": [0.6392316222190857, 0.026177387684583664, -0.14096234738826752, -0.006526232231408358, -0.10208044946193695, 0.9945493340492249, 0.020214494317770004], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.633805274963379, -55.586517333984375, -12.955248832702637, -6.87946081161499, 9.839371681213379, 0.31645840406417847], "ext_wrench_in_world": [-2.8338659644644246, -57.86149802628688, 10.764008933180241, 4.73481755343333, 11.0372488852694, 0.03165187880665986]}
diff --git a/episode_0011/left.actions.eef_pose/data.csv b/episode_0011/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ea3220f3666a427c6f149514aa81358f2c8cb891
--- /dev/null
+++ b/episode_0011/left.actions.eef_pose/data.csv
@@ -0,0 +1,526 @@
+timestamp_ns,elapsed_ms,x,y,z,r1,r2,r3,r4,r5,r6,gripper
+1789729880622232203,0,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729880655620396,33,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729880688995631,66,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729880722364587,100,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729880755624062,133,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729880788926453,166,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729880822285489,200,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729880855622638,233,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729880889015611,266,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729880922288895,300,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729880955611794,333,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729880988924525,366,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881022362116,400,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881055621465,433,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881089020002,466,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881122367913,500,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881155628731,533,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881188922837,566,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881222287057,600,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881255622839,633,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881288926114,666,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881322291563,700,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881355622746,733,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881388934600,766,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881422291420,800,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881455617243,833,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881488932607,866,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881522293537,900,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881555615411,933,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881588922015,966,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881622250078,1000,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881655582400,1033,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881688898134,1066,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881722246815,1100,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881755585917,1133,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881788917010,1166,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881822258981,1200,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881855586094,1233,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881888894999,1266,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881922255938,1300,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881955591661,1333,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729881988895345,1366,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882022257598,1400,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882055590154,1433,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882088918920,1466,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882122260125,1500,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882155594362,1533,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882188905939,1566,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882222256124,1600,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882255587820,1633,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882288898828,1666,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882322244433,1700,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882355590558,1733,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882388901966,1766,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882422246211,1800,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882455588076,1833,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882488905654,1866,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882522259658,1900,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882555592364,1933,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882588909342,1966,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882622255187,2000,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882655592782,2033,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882688898851,2066,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882722260335,2100,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882755589241,2133,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882788897309,2166,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882822259993,2200,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882855586449,2233,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882888896758,2266,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882922258371,2300,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882955588257,2333,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729882988906325,2366,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883022260351,2400,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883055586582,2433,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883088913962,2466,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883122269380,2500,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883155600100,2533,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883188918861,2566,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883222262340,2600,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883255585181,2633,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883288899552,2666,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883322261369,2700,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883355583800,2733,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883388892932,2766,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883422255989,2800,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883455598568,2833,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883488921979,2866,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883522267987,2900,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883555591258,2933,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883588900180,2966,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883622262707,3000,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883655590457,3033,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883688901439,3066,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883722257097,3100,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883755587307,3133,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883788904018,3166,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883822255756,3200,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883855586256,3233,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883888892978,3266,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883922263835,3300,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883955586305,3333,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729883988997298,3366,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884022255347,3400,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884055586041,3433,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884088908095,3466,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884122260247,3500,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884155586291,3533,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884188895576,3566,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884222260827,3600,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884255588311,3633,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884288893647,3666,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884322260537,3700,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884355584632,3733,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884388898737,3766,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884422256688,3800,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884455583422,3833,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884488889648,3866,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884522262608,3900,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884555587272,3933,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884588893528,3966,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884622257529,4000,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884655586083,4033,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884688892379,4066,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884722306724,4100,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884755589602,4133,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884788897618,4166,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884822254469,4200,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884855585213,4233,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884888905228,4266,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884922252330,4300,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884955585723,4333,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729884988891349,4366,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885022261712,4400,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885055586890,4433,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885088903868,4466,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885122261143,4500,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885155582231,4533,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885188900090,4566,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885222260605,4600,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885255611890,4633,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885288920989,4666,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885322283504,4700,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885355678035,4733,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885388929960,4766,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885422327081,4800,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885455681356,4833,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885489017743,4866,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885522263578,4900,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885555587456,4933,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885588896115,4966,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885622251050,5000,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885655581958,5033,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885688916625,5066,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885722282259,5100,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885755614516,5133,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885788921645,5166,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885822287190,5200,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885855613298,5233,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885888922457,5266,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885922289311,5300,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885955614159,5333,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729885988943266,5366,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886022326811,5400,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886055624125,5433,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886088925888,5466,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886122285867,5500,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886155587210,5533,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886188922311,5566,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886222262641,5600,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886255585452,5633,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886288894315,5666,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886322248164,5700,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886355661318,5733,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886388900597,5766,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886422248076,5800,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886455585567,5833,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886488894860,5866,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886522255788,5900,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886555590328,5933,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886588963476,5966,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886622266629,6000,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886655588301,6033,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886688914362,6066,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886722257562,6100,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886755587953,6133,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886788950621,6166,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886822260724,6200,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886855587135,6233,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886888903787,6266,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886922254646,6300,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886955581768,6333,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729886988911439,6366,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887022341103,6400,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887055596705,6433,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887088905871,6466,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887122263023,6500,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887155589488,6533,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887188909763,6566,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887222268555,6600,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887255591341,6633,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887288901957,6666,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887322273078,6700,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887355591094,6733,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887388925008,6766,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887422266171,6800,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887455586127,6833,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887488920081,6866,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887522257915,6900,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887555600739,6933,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887588895626,6966,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887622263078,7000,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887655587133,7033,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887688903308,7066,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887722259181,7100,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887755589675,7133,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887788896732,7166,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887822267153,7200,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887855594528,7233,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887888909784,7266,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887922249617,7300,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887955585721,7333,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729887988910946,7366,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888022262011,7400,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888055668673,7433,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888088897600,7466,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888122260795,7500,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888155598253,7533,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888188903043,7566,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888222263928,7600,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888255592247,7633,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888288901687,7666,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888322247173,7700,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888355590220,7733,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888388897311,7766,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888422260976,7800,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888455590064,7833,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888488904293,7866,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888522259070,7900,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888555602606,7933,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888588896538,7966,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888622261613,8000,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888655585681,8033,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888688916859,8066,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888722255967,8100,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888755585495,8133,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888788889226,8166,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888822263810,8200,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888855588329,8233,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888888989470,8266,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888922260924,8300,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888955593102,8333,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729888988904911,8366,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889022259880,8400,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889055665264,8433,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889088983087,8466,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889122273222,8500,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889155586866,8533,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889188896119,8566,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889222277766,8600,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889255588480,8633,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889288900583,8666,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889322261292,8700,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889355585704,8733,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889388892798,8766,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889422264216,8800,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889455583229,8833,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889488918530,8866,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889522257371,8900,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889555621259,8933,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889588934223,8966,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889622259415,9000,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889655585817,9033,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889688891410,9066,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889722253319,9100,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889755550704,9133,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889788971978,9166,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889822262513,9200,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889855590704,9233,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889888888849,9266,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889922256247,9300,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889955571520,9333,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729889988896102,9366,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890022271063,9400,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890055707508,9433,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890088895276,9466,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890122257969,9500,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890155587484,9533,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890188894581,9566,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890222268972,9600,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890255595188,9633,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890288921823,9666,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890322260388,9700,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890355585173,9733,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890388898800,9766,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890422265202,9800,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890455584068,9833,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890488897155,9866,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890522259077,9900,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890555620790,9933,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890588919268,9966,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890622262772,10000,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890655587167,10033,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890688919882,10066,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890722258577,10100,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890755585192,10133,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890788920567,10166,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890822259941,10200,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890855588267,10233,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890888896794,10266,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890922251917,10300,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890955585702,10333,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729890988897858,10366,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891022258763,10400,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891055584482,10433,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891088911451,10466,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891122259898,10500,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891155590866,10533,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891188905297,10566,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891222250944,10600,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891255582812,10633,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891288898332,10666,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891322257608,10700,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891355589067,10733,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891388891168,10766,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891422256724,10800,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891455594212,10833,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891488895943,10866,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891522262838,10900,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891555715446,10933,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891588896168,10966,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891622247945,11000,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891655642338,11033,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891688895213,11066,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891722248380,11100,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891755583998,11133,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891788895258,11166,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891822250095,11200,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891855586913,11233,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891888896643,11266,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891922247560,11300,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891955588178,11333,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729891988902038,11366,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892022256657,11400,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892055723717,11433,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892088900513,11466,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892122257692,11500,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892155590224,11533,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892188900358,11566,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892222253718,11600,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892255589810,11633,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892288901833,11666,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892322249804,11700,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892355587605,11733,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892388896069,11766,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892422255849,11800,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892455621818,11833,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892488902564,11866,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892522249255,11900,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892555605815,11933,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892588901900,11966,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892622248800,12000,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892655586022,12033,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892688896976,12066,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892722251206,12100,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892755588197,12133,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892788895021,12166,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892822251521,12200,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892855589453,12233,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892888910255,12266,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892922285244,12300,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892955623285,12333,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729892988929529,12366,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893022291211,12400,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893055625166,12433,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893088935943,12466,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893122262859,12500,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893155591515,12533,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893188907612,12566,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893222258375,12600,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893255588381,12633,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893288907627,12666,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893322257821,12700,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893355583767,12733,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893388894574,12766,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893422247108,12800,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893455621339,12833,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893488899010,12866,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893522257743,12900,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893555587448,12933,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893588923483,12966,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893622260408,13000,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893655594343,13033,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893688904971,13066,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893722246825,13100,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893755580200,13133,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893788893057,13166,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893822254150,13200,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893855591745,13233,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893888895933,13266,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893922256886,13300,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893955583632,13333,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729893988913557,13366,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894022248924,13400,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894055584133,13433,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894088981016,13466,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894122254920,13500,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894155583569,13533,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894188903209,13566,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894222249396,13600,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894255589004,13633,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894288896275,13666,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894322259241,13700,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894355588390,13733,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894388894981,13766,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894422259147,13800,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894455604575,13833,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894488896147,13866,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894522259393,13900,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894555593022,13933,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894588899743,13966,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894622260659,14000,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894655659972,14033,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894688957514,14066,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894722259475,14100,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894755609852,14133,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894788897375,14166,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894822250012,14200,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894855595209,14233,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894888893751,14266,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894922256827,14300,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894955590406,14333,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729894988896327,14366,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895022249506,14400,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895055586518,14433,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895088896882,14466,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895122254812,14500,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895155584524,14533,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895188920176,14566,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895222249848,14600,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895255580251,14633,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895288891605,14666,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895322326178,14700,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895355581847,14733,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895388915829,14766,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895422246381,14800,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895455580933,14833,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895488898836,14866,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895522323500,14900,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895555585268,14933,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895588903652,14966,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895622246993,15000,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895655576015,15033,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895688890619,15066,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895722305564,15100,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895755638816,15133,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895788895275,15166,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895822305840,15200,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895855657210,15233,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895888891691,15266,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895922300516,15300,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895955583073,15333,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729895988899447,15366,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896022262188,15400,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896055593493,15433,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896088899871,15466,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896122323159,15500,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896155591520,15533,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896188889558,15566,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896222251751,15600,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896255580057,15633,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896288886775,15666,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896322252797,15700,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896355576583,15733,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896388894380,15766,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896422251763,15800,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896455575510,15833,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896488892946,15866,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896522256609,15900,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896555585345,15933,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896588988554,15966,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896622263145,16000,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896655581481,16033,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896688892149,16066,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896722244992,16100,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896755577818,16133,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896788887885,16166,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896822245508,16200,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896855582653,16233,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896888893681,16266,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896922247874,16300,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896955584149,16333,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729896988917785,16366,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897022245603,16400,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897055584321,16433,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897088898441,16466,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897122257848,16500,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897155586387,16533,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897188893478,16566,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897222247955,16600,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897255582943,16633,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897288895684,16666,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897322308316,16700,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897355640044,16733,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897388896790,16766,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897422246667,16800,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897455580206,16833,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897488898816,16866,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897522246383,16900,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897555581042,16933,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897588896402,16966,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897622251209,17000,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897655587987,17033,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897688909047,17066,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897722252675,17100,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897755584544,17133,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897788895234,17166,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897822246351,17200,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897855582140,17233,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897888903500,17266,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897922247567,17300,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897955581926,17333,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729897988908685,17366,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729898022258864,17400,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729898055586537,17433,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
+1789729898088908130,17466,0.6869227886199951,0.03258862346410751,-0.21381595730781555,-0.9998427597666308,-0.0096094650043342,0.014903486993903054,-0.009206501893013176,0.9995964037635809,0.026875079642858145,0.4
diff --git a/episode_0011/left.actions.joint_position/data.csv b/episode_0011/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2c398a0d050cbed68052ac5ec44415a0e6d643dc
--- /dev/null
+++ b/episode_0011/left.actions.joint_position/data.csv
@@ -0,0 +1,526 @@
+timestamp_ns,elapsed_ms,j1,j2,j3,j4,j5,j6,j7,gripper
+1789729880622232203,0,0.8357498645782471,-1.8963412046432495,-1.005455493927002,1.3811860084533691,-0.16261401772499084,0.5945122241973877,0.7044258713722229,0.4
+1789729880655620396,33,0.8357627987861633,-1.8963425159454346,-1.0054564476013184,1.38118577003479,-0.1626087725162506,0.594504177570343,0.7044179439544678,0.4
+1789729880688995631,66,0.8357746601104736,-1.8963443040847778,-1.005455732345581,1.3811864852905273,-0.1626012772321701,0.5944933295249939,0.7044146060943604,0.4
+1789729880722364587,100,0.8357864022254944,-1.8963468074798584,-1.0054570436477661,1.3811867237091064,-0.1625942587852478,0.5944835543632507,0.7044123411178589,0.4
+1789729880755624062,133,0.8357927799224854,-1.8963496685028076,-1.0054595470428467,1.38118577003479,-0.16259333491325378,0.5944784879684448,0.7044122815132141,0.4
+1789729880788926453,166,0.8357983231544495,-1.8963508605957031,-1.005460262298584,1.3811845779418945,-0.1625945121049881,0.5944690704345703,0.7044129371643066,0.4
+1789729880822285489,200,0.8358044028282166,-1.896350622177124,-1.0054599046707153,1.3811794519424438,-0.16259276866912842,0.594455361366272,0.7044126987457275,0.4
+1789729880855622638,233,0.8358139395713806,-1.8963505029678345,-1.0054601430892944,1.3811777830123901,-0.162582129240036,0.5944364666938782,0.704411506652832,0.4
+1789729880889015611,266,0.8358239531517029,-1.8963508605957031,-1.0054603815078735,1.381177544593811,-0.1625724732875824,0.5944318175315857,0.7044039368629456,0.4
+1789729880922288895,300,0.8358362913131714,-1.8963518142700195,-1.0054608583450317,1.3811781406402588,-0.16256572306156158,0.594427764415741,0.7044002413749695,0.4
+1789729880955611794,333,0.8358461856842041,-1.8963550329208374,-1.0054633617401123,1.3811789751052856,-0.16256169974803925,0.5944207310676575,0.7044022679328918,0.4
+1789729880988924525,366,0.8358544111251831,-1.8963572978973389,-1.005464792251587,1.381178855895996,-0.16255894303321838,0.5944153070449829,0.7044012546539307,0.4
+1789729881022362116,400,0.8358608484268188,-1.8963596820831299,-1.0054665803909302,1.3811793327331543,-0.16255778074264526,0.5944046378135681,0.7044001221656799,0.4
+1789729881055621465,433,0.8358667492866516,-1.8963600397109985,-1.0054666996002197,1.381178379058838,-0.1625566929578781,0.5943946242332458,0.7043986916542053,0.4
+1789729881089020002,466,0.8358720541000366,-1.896359920501709,-1.005467414855957,1.3811782598495483,-0.1625518947839737,0.5943869352340698,0.7043963074684143,0.4
+1789729881122367913,500,0.8358859419822693,-1.8963603973388672,-1.0054678916931152,1.3811794519424438,-0.16253943741321564,0.5943801999092102,0.7043840885162354,0.4
+1789729881155628731,533,0.8358951807022095,-1.8963614702224731,-1.0054689645767212,1.3811790943145752,-0.16252991557121277,0.5943750739097595,0.7043780088424683,0.4
+1789729881188922837,566,0.8359068036079407,-1.896363377571106,-1.0054712295532227,1.3811793327331543,-0.16252781450748444,0.5943669080734253,0.7043788433074951,0.4
+1789729881222287057,600,0.8359124660491943,-1.8963654041290283,-1.0054736137390137,1.3811794519424438,-0.16252729296684265,0.5943617820739746,0.7043789625167847,0.4
+1789729881255622839,633,0.8359137773513794,-1.896365761756897,-1.0054746866226196,1.381178617477417,-0.16252680122852325,0.5943561792373657,0.7043789029121399,0.4
+1789729881288926114,666,0.8359140157699585,-1.8963649272918701,-1.0054748058319092,1.3811782598495483,-0.16252778470516205,0.594350278377533,0.7043789029121399,0.4
+1789729881322291563,700,0.8359176516532898,-1.8963656425476074,-1.0054748058319092,1.3811777830123901,-0.16252347826957703,0.5943402051925659,0.7043771743774414,0.4
+1789729881355622746,733,0.8359232544898987,-1.8963661193847656,-1.005475401878357,1.3811784982681274,-0.16251729428768158,0.594334065914154,0.7043755650520325,0.4
+1789729881388934600,766,0.8359314799308777,-1.8963675498962402,-1.0054763555526733,1.3811784982681274,-0.16251517832279205,0.5943288803100586,0.7043722867965698,0.4
+1789729881422291420,800,0.8359364867210388,-1.8963688611984253,-1.005478024482727,1.3811790943145752,-0.16250848770141602,0.5943272709846497,0.7043703198432922,0.4
+1789729881455617243,833,0.8359388709068298,-1.8963719606399536,-1.0054799318313599,1.3811792135238647,-0.162506565451622,0.5943266153335571,0.7043696641921997,0.4
+1789729881488932607,866,0.8359398245811462,-1.8963749408721924,-1.0054831504821777,1.3811792135238647,-0.1625070720911026,0.5943259596824646,0.7043702006340027,0.4
+1789729881522293537,900,0.8359397053718567,-1.8963764905929565,-1.005486249923706,1.3811789751052856,-0.16250646114349365,0.5943208336830139,0.7043694257736206,0.4
+1789729881555615411,933,0.8359408974647522,-1.8963764905929565,-1.005487084388733,1.3811787366867065,-0.1625044196844101,0.5943129062652588,0.7043683528900146,0.4
+1789729881588922015,966,0.8359410762786865,-1.8963773250579834,-1.0054882764816284,1.381178617477417,-0.16249875724315643,0.5943120121955872,0.7043569087982178,0.4
+1789729881622250078,1000,0.8359435796737671,-1.896378993988037,-1.0054911375045776,1.3811789751052856,-0.16249209642410278,0.5943105220794678,0.7043471336364746,0.4
+1789729881655582400,1033,0.8359467387199402,-1.896381139755249,-1.0054975748062134,1.3811795711517334,-0.16249039769172668,0.594310998916626,0.7043474912643433,0.4
+1789729881688898134,1066,0.8359482884407043,-1.8963840007781982,-1.0055030584335327,1.381180763244629,-0.1624889075756073,0.5943127274513245,0.7043493390083313,0.4
+1789729881722246815,1100,0.8359487652778625,-1.896388053894043,-1.005506992340088,1.3811804056167603,-0.16248802840709686,0.5943115949630737,0.7043489217758179,0.4
+1789729881755585917,1133,0.8359483480453491,-1.8963898420333862,-1.0055063962936401,1.381179690361023,-0.1624891459941864,0.5943092703819275,0.7043486833572388,0.4
+1789729881788917010,1166,0.8359490036964417,-1.8963905572891235,-1.005506157875061,1.381179690361023,-0.1624894142150879,0.5943065285682678,0.704348623752594,0.4
+1789729881822258981,1200,0.8359516263008118,-1.8963896036148071,-1.0055068731307983,1.3811798095703125,-0.16248708963394165,0.5943045616149902,0.7043448090553284,0.4
+1789729881855586094,1233,0.8359545469284058,-1.8963911533355713,-1.0055075883865356,1.3811804056167603,-0.16248485445976257,0.5943005681037903,0.7043394446372986,0.4
+1789729881888894999,1266,0.8359571695327759,-1.896393060684204,-1.0055090188980103,1.3811804056167603,-0.16248244047164917,0.5942974090576172,0.7043377757072449,0.4
+1789729881922255938,1300,0.8359593152999878,-1.8963963985443115,-1.0055125951766968,1.3811818361282349,-0.16248159110546112,0.5942994356155396,0.7043365836143494,0.4
+1789729881955591661,1333,0.8359602093696594,-1.8963981866836548,-1.0055172443389893,1.3811821937561035,-0.1624813824892044,0.5942995548248291,0.7043375968933105,0.4
+1789729881988895345,1366,0.8359596133232117,-1.896399736404419,-1.0055207014083862,1.3811815977096558,-0.16248004138469696,0.594298243522644,0.7043377161026001,0.4
+1789729882022257598,1400,0.8359599709510803,-1.8964016437530518,-1.0055216550827026,1.3811805248260498,-0.16247935593128204,0.594292402267456,0.7043366432189941,0.4
+1789729882055590154,1433,0.835962176322937,-1.8964030742645264,-1.0055229663848877,1.3811808824539185,-0.16247844696044922,0.5942894816398621,0.7043346166610718,0.4
+1789729882088918920,1466,0.8359658122062683,-1.8964040279388428,-1.0055255889892578,1.381181001663208,-0.16247372329235077,0.5942850708961487,0.7043269872665405,0.4
+1789729882122260125,1500,0.8359712362289429,-1.8964091539382935,-1.0055298805236816,1.3811802864074707,-0.1624668836593628,0.5942807793617249,0.7043245434761047,0.4
+1789729882155594362,1533,0.835974931716919,-1.8964176177978516,-1.0055326223373413,1.3811804056167603,-0.162465900182724,0.594283938407898,0.7043254375457764,0.4
+1789729882188905939,1566,0.8359758853912354,-1.8964204788208008,-1.0055395364761353,1.3811814785003662,-0.1624622941017151,0.59428471326828,0.7043253779411316,0.4
+1789729882222256124,1600,0.8359742164611816,-1.8964197635650635,-1.0055478811264038,1.3811808824539185,-0.16246095299720764,0.5942838191986084,0.7043254375457764,0.4
+1789729882255587820,1633,0.8359750509262085,-1.896423578262329,-1.005547285079956,1.3811802864074707,-0.16246241331100464,0.5942832827568054,0.7043245434761047,0.4
+1789729882288898828,1666,0.8359758257865906,-1.8964245319366455,-1.005548119544983,1.381179690361023,-0.16246148943901062,0.5942806005477905,0.7043229937553406,0.4
+1789729882322244433,1700,0.8359770178794861,-1.8964245319366455,-1.0055509805679321,1.3811808824539185,-0.16245689988136292,0.5942736268043518,0.7043144702911377,0.4
+1789729882355590558,1733,0.8359827399253845,-1.8964275121688843,-1.0055519342422485,1.381181240081787,-0.16245277225971222,0.594273030757904,0.7043083906173706,0.4
+1789729882388901966,1766,0.8359863758087158,-1.8964301347732544,-1.0055533647537231,1.381182074546814,-0.1624477207660675,0.59427410364151,0.7043102979660034,0.4
+1789729882422246211,1800,0.8359880447387695,-1.8964335918426514,-1.0055561065673828,1.3811849355697632,-0.1624496430158615,0.5942754745483398,0.704311192035675,0.4
+1789729882455588076,1833,0.8359875082969666,-1.8964343070983887,-1.0055583715438843,1.381185531616211,-0.16245004534721375,0.594274640083313,0.704311728477478,0.4
+1789729882488905654,1866,0.8359885811805725,-1.8964369297027588,-1.005560278892517,1.3811854124069214,-0.1624499261379242,0.5942715406417847,0.7043115496635437,0.4
+1789729882522259658,1900,0.8359915614128113,-1.8964422941207886,-1.0055627822875977,1.381184697151184,-0.162448450922966,0.5942643880844116,0.704310417175293,0.4
+1789729882555592364,1933,0.835995614528656,-1.8964430093765259,-1.005563735961914,1.3811849355697632,-0.16244275867938995,0.594261884689331,0.7043094635009766,0.4
+1789729882588909342,1966,0.8360002636909485,-1.8964438438415527,-1.0055654048919678,1.3811858892440796,-0.16243872046470642,0.5942583084106445,0.7043096423149109,0.4
+1789729882622255187,2000,0.8360064029693604,-1.8964495658874512,-1.0055677890777588,1.3811880350112915,-0.16243448853492737,0.5942569971084595,0.7043089270591736,0.4
+1789729882655592782,2033,0.8360093832015991,-1.896453857421875,-1.0055713653564453,1.381188154220581,-0.16243508458137512,0.5942575931549072,0.7043089270591736,0.4
+1789729882688898851,2066,0.8360082507133484,-1.8964567184448242,-1.0055779218673706,1.3811877965927124,-0.16243520379066467,0.5942577719688416,0.7043086290359497,0.4
+1789729882722260335,2100,0.83600914478302,-1.896458625793457,-1.0055818557739258,1.381188154220581,-0.16243098676204681,0.5942564606666565,0.7043071985244751,0.4
+1789729882755589241,2133,0.8360114693641663,-1.8964592218399048,-1.0055817365646362,1.3811897039413452,-0.16242656111717224,0.5942515134811401,0.7043054699897766,0.4
+1789729882788897309,2166,0.836012065410614,-1.8964595794677734,-1.005582571029663,1.3811893463134766,-0.16242165863513947,0.5942524671554565,0.7043001651763916,0.4
+1789729882822259993,2200,0.8360123038291931,-1.8964649438858032,-1.0055838823318481,1.3811869621276855,-0.16242285072803497,0.5942528247833252,0.7042943239212036,0.4
+1789729882855586449,2233,0.8360152244567871,-1.8964663743972778,-1.0055878162384033,1.3811912536621094,-0.1624215841293335,0.5942521095275879,0.7042936086654663,0.4
+1789729882888896758,2266,0.8360233306884766,-1.8964660167694092,-1.0055949687957764,1.3812050819396973,-0.1624199002981186,0.5942540764808655,0.7042945623397827,0.4
+1789729882922258371,2300,0.8360257148742676,-1.8964701890945435,-1.0055962800979614,1.3812047243118286,-0.16241855919361115,0.5942574739456177,0.7042957544326782,0.4
+1789729882955588257,2333,0.8360256552696228,-1.8964786529541016,-1.005598545074463,1.3811993598937988,-0.1624191850423813,0.5942614078521729,0.7042950391769409,0.4
+1789729882988906325,2366,0.8360265493392944,-1.896478533744812,-1.0056021213531494,1.3812000751495361,-0.1624174565076828,0.5942557454109192,0.7042952179908752,0.4
+1789729883022260351,2400,0.836031973361969,-1.8964784145355225,-1.005608081817627,1.3812036514282227,-0.16240720450878143,0.5942472815513611,0.7042908668518066,0.4
+1789729883055586582,2433,0.8360368609428406,-1.8964855670928955,-1.0056072473526,1.381200909614563,-0.1624051034450531,0.5942462086677551,0.7042838335037231,0.4
+1789729883088913962,2466,0.8360379934310913,-1.8964920043945312,-1.0056086778640747,1.381194829940796,-0.1624048501253128,0.5942476987838745,0.7042831182479858,0.4
+1789729883122269380,2500,0.8360376954078674,-1.8964916467666626,-1.0056190490722656,1.3811968564987183,-0.16240194439888,0.594240665435791,0.7042832970619202,0.4
+1789729883155600100,2533,0.8360400199890137,-1.8964914083480835,-1.0056205987930298,1.3811981678009033,-0.16239884495735168,0.5942341089248657,0.7042831182479858,0.4
+1789729883188918861,2566,0.8360421657562256,-1.8964974880218506,-1.005620002746582,1.3811962604522705,-0.16239792108535767,0.5942330360412598,0.7042833566665649,0.4
+1789729883222262340,2600,0.8360399603843689,-1.896510124206543,-1.0056207180023193,1.3811863660812378,-0.1623988300561905,0.5942381620407104,0.7042818069458008,0.4
+1789729883255585181,2633,0.8360389471054077,-1.8965080976486206,-1.0056277513504028,1.381186604499817,-0.16239647567272186,0.5942307114601135,0.7042816281318665,0.4
+1789729883288899552,2666,0.8360438942909241,-1.8965071439743042,-1.0056313276290894,1.3811901807785034,-0.16238251328468323,0.5942227244377136,0.7042741775512695,0.4
+1789729883322261369,2700,0.8360543847084045,-1.8965152502059937,-1.0056301355361938,1.3811932802200317,-0.16237755119800568,0.594223141670227,0.704269289970398,0.4
+1789729883355583800,2733,0.8360529541969299,-1.8965226411819458,-1.0056339502334595,1.3811901807785034,-0.16237850487232208,0.5942330956459045,0.7042703628540039,0.4
+1789729883388892932,2766,0.8360501527786255,-1.8965226411819458,-1.005645513534546,1.3811886310577393,-0.1623801738023758,0.594240665435791,0.7042701840400696,0.4
+1789729883422255989,2800,0.8360514640808105,-1.8965213298797607,-1.0056513547897339,1.381192922592163,-0.16237884759902954,0.594228208065033,0.7042701244354248,0.4
+1789729883455598568,2833,0.8360527753829956,-1.896523118019104,-1.0056482553482056,1.381193995475769,-0.16237761080265045,0.5942288041114807,0.7042680978775024,0.4
+1789729883488921979,2866,0.836052656173706,-1.8965351581573486,-1.0056467056274414,1.3811891078948975,-0.16237781941890717,0.5942325592041016,0.7042638659477234,0.4
+1789729883522267987,2900,0.8360510468482971,-1.8965342044830322,-1.005652904510498,1.381182312965393,-0.1623678356409073,0.5942243337631226,0.7042589783668518,0.4
+1789729883555591258,2933,0.836052656173706,-1.8965301513671875,-1.0056614875793457,1.3811867237091064,-0.16236159205436707,0.5942156910896301,0.7042539715766907,0.4
+1789729883588900180,2966,0.8360562324523926,-1.8965353965759277,-1.005660057067871,1.381188988685608,-0.16235777735710144,0.5942190885543823,0.7042519450187683,0.4
+1789729883622262707,3000,0.8360593318939209,-1.8965559005737305,-1.0056554079055786,1.3811837434768677,-0.16236059367656708,0.5942305326461792,0.7042531967163086,0.4
+1789729883655590457,3033,0.8360570669174194,-1.8965518474578857,-1.0056709051132202,1.3811830282211304,-0.16236215829849243,0.59422767162323,0.7042557597160339,0.4
+1789729883688901439,3066,0.8360567092895508,-1.896548867225647,-1.0056902170181274,1.3811843395233154,-0.16235828399658203,0.5942214131355286,0.7042531967163086,0.4
+1789729883722257097,3100,0.8360653519630432,-1.8965561389923096,-1.0056787729263306,1.3811850547790527,-0.16235031187534332,0.594222366809845,0.7042500972747803,0.4
+1789729883755587307,3133,0.8360689282417297,-1.8965696096420288,-1.0056748390197754,1.3811802864074707,-0.16234683990478516,0.5942210555076599,0.7042460441589355,0.4
+1789729883788904018,3166,0.8360663056373596,-1.8965662717819214,-1.0056787729263306,1.3811753988265991,-0.1623411774635315,0.5942113995552063,0.7042469382286072,0.4
+1789729883822255756,3200,0.836068868637085,-1.8965603113174438,-1.005686640739441,1.3811781406402588,-0.16233105957508087,0.5942047238349915,0.7042444348335266,0.4
+1789729883855586256,3233,0.8360728621482849,-1.896567940711975,-1.0056843757629395,1.3811787366867065,-0.16233165562152863,0.5942061543464661,0.7042427062988281,0.4
+1789729883888892978,3266,0.8360758423805237,-1.8965845108032227,-1.005682349205017,1.3811774253845215,-0.1623336672782898,0.5942087173461914,0.7042421698570251,0.4
+1789729883922263835,3300,0.8360757231712341,-1.896578311920166,-1.0056970119476318,1.3811769485473633,-0.16233304142951965,0.5942044854164124,0.7042427062988281,0.4
+1789729883955586305,3333,0.8360739946365356,-1.8965774774551392,-1.0057088136672974,1.381177306175232,-0.16232915222644806,0.594201385974884,0.7042414546012878,0.4
+1789729883988997298,3366,0.836078405380249,-1.8965816497802734,-1.0057047605514526,1.3811776638031006,-0.16231706738471985,0.5942004919052124,0.7042317986488342,0.4
+1789729884022255347,3400,0.8360845446586609,-1.8965883255004883,-1.0057018995285034,1.3811770677566528,-0.1623115837574005,0.5941984057426453,0.7042221426963806,0.4
+1789729884055586041,3433,0.8360841870307922,-1.8965860605239868,-1.005704402923584,1.3811780214309692,-0.1623104214668274,0.5941978693008423,0.7042235732078552,0.4
+1789729884088908095,3466,0.8360846042633057,-1.8965846300125122,-1.0057096481323242,1.3811801671981812,-0.16230899095535278,0.5941999554634094,0.7042235732078552,0.4
+1789729884122260247,3500,0.8360897302627563,-1.8965953588485718,-1.0057098865509033,1.3811802864074707,-0.16230976581573486,0.5941996574401855,0.7042239904403687,0.4
+1789729884155586291,3533,0.8360954523086548,-1.8966056108474731,-1.005709171295166,1.3811794519424438,-0.1623092144727707,0.5941962599754333,0.7042238712310791,0.4
+1789729884188895576,3566,0.8360941410064697,-1.896601676940918,-1.0057203769683838,1.3811793327331543,-0.1623038351535797,0.5941903591156006,0.7042222023010254,0.4
+1789729884222260827,3600,0.8360965847969055,-1.8966015577316284,-1.0057246685028076,1.381179690361023,-0.1622951775789261,0.5941800475120544,0.7042155265808105,0.4
+1789729884255588311,3633,0.8361003398895264,-1.8966034650802612,-1.0057241916656494,1.3811790943145752,-0.1622944325208664,0.5941810011863708,0.704212486743927,0.4
+1789729884288893647,3666,0.8361020088195801,-1.896607756614685,-1.005723476409912,1.3811781406402588,-0.16229389607906342,0.5941824913024902,0.7042108178138733,0.4
+1789729884322260537,3700,0.8361054062843323,-1.8966054916381836,-1.0057339668273926,1.381179928779602,-0.16228625178337097,0.594180166721344,0.7042120099067688,0.4
+1789729884355584632,3733,0.8361061811447144,-1.8966059684753418,-1.0057412385940552,1.381182074546814,-0.16228081285953522,0.5941802263259888,0.7042117118835449,0.4
+1789729884388898737,3766,0.8361077904701233,-1.8966177701950073,-1.005737543106079,1.3811801671981812,-0.16228273510932922,0.5941826701164246,0.7042113542556763,0.4
+1789729884422256688,3800,0.8361102938652039,-1.8966221809387207,-1.0057371854782104,1.3811793327331543,-0.1622833013534546,0.5941838026046753,0.7042104601860046,0.4
+1789729884455583422,3833,0.8361104726791382,-1.8966219425201416,-1.0057388544082642,1.3811808824539185,-0.16227571666240692,0.5941788554191589,0.704210638999939,0.4
+1789729884488889648,3866,0.8361145257949829,-1.8966212272644043,-1.0057393312454224,1.3811818361282349,-0.16226954758167267,0.5941773056983948,0.7042055130004883,0.4
+1789729884522262608,3900,0.8361166715621948,-1.896623134613037,-1.0057419538497925,1.381181001663208,-0.16226410865783691,0.5941752791404724,0.7041991949081421,0.4
+1789729884555587272,3933,0.8361170291900635,-1.8966305255889893,-1.0057417154312134,1.3811804056167603,-0.1622643917798996,0.5941764712333679,0.7041980624198914,0.4
+1789729884588893528,3966,0.8361190557479858,-1.8966296911239624,-1.005751132965088,1.3811811208724976,-0.16226482391357422,0.5941789746284485,0.7041987776756287,0.4
+1789729884622257529,4000,0.8361189961433411,-1.896630048751831,-1.0057638883590698,1.38118314743042,-0.16226322948932648,0.5941733121871948,0.7041971683502197,0.4
+1789729884655586083,4033,0.8361197710037231,-1.8966422080993652,-1.005757451057434,1.3811814785003662,-0.16226059198379517,0.5941781997680664,0.7041971683502197,0.4
+1789729884688892379,4066,0.8361257314682007,-1.8966457843780518,-1.0057564973831177,1.381180763244629,-0.16225770115852356,0.5941773653030396,0.7041957974433899,0.4
+1789729884722306724,4100,0.836122989654541,-1.8966418504714966,-1.0057636499404907,1.3811827898025513,-0.1622474193572998,0.594169020652771,0.7041890025138855,0.4
+1789729884755589602,4133,0.8361258506774902,-1.8966450691223145,-1.0057604312896729,1.3811817169189453,-0.16224589943885803,0.5941707491874695,0.70418381690979,0.4
+1789729884788897618,4166,0.8361368179321289,-1.8966481685638428,-1.0057592391967773,1.3811821937561035,-0.1622447967529297,0.5941700339317322,0.7041844725608826,0.4
+1789729884822254469,4200,0.8361359238624573,-1.8966467380523682,-1.0057671070098877,1.3811838626861572,-0.16224472224712372,0.5941667556762695,0.704185426235199,0.4
+1789729884855585213,4233,0.836135983467102,-1.8966494798660278,-1.0057671070098877,1.3811829090118408,-0.16224493086338043,0.5941666960716248,0.7041851878166199,0.4
+1789729884888905228,4266,0.8361355662345886,-1.8966495990753174,-1.005768060684204,1.3811814785003662,-0.1622450053691864,0.5941649675369263,0.7041849493980408,0.4
+1789729884922252330,4300,0.8361339569091797,-1.8966548442840576,-1.0057672262191772,1.3811814785003662,-0.16224238276481628,0.5941580533981323,0.704184353351593,0.4
+1789729884955585723,4333,0.8361368775367737,-1.8966578245162964,-1.0057668685913086,1.3811819553375244,-0.16223923861980438,0.5941590666770935,0.7041837573051453,0.4
+1789729884988891349,4366,0.8361406326293945,-1.896654486656189,-1.0057742595672607,1.381181001663208,-0.16223469376564026,0.5941574573516846,0.7041822671890259,0.4
+1789729885022261712,4400,0.8361395001411438,-1.8966618776321411,-1.0057764053344727,1.381179928779602,-0.16223236918449402,0.5941608548164368,0.7041785717010498,0.4
+1789729885055586890,4433,0.8361417055130005,-1.8966662883758545,-1.005774974822998,1.381178855895996,-0.16223269701004028,0.5941614508628845,0.7041788697242737,0.4
+1789729885088903868,4466,0.8361424207687378,-1.8966645002365112,-1.0057870149612427,1.3811804056167603,-0.16223262250423431,0.5941579341888428,0.7041793465614319,0.4
+1789729885122261143,4500,0.8361423015594482,-1.896666407585144,-1.0057878494262695,1.381181001663208,-0.16223250329494476,0.5941566824913025,0.7041780352592468,0.4
+1789729885155582231,4533,0.8361437916755676,-1.8966689109802246,-1.0057858228683472,1.3811782598495483,-0.1622328907251358,0.594156801700592,0.7041727900505066,0.4
+1789729885188900090,4566,0.8361438512802124,-1.896667718887329,-1.0057860612869263,1.381178379058838,-0.16222995519638062,0.5941482782363892,0.7041669487953186,0.4
+1789729885222260605,4600,0.8361449241638184,-1.8966679573059082,-1.0057849884033203,1.3811800479888916,-0.16222557425498962,0.5941436886787415,0.704163670539856,0.4
+1789729885255611890,4633,0.8361519575119019,-1.8966693878173828,-1.0057857036590576,1.381179928779602,-0.16222287714481354,0.5941457748413086,0.704163670539856,0.4
+1789729885288920989,4666,0.836152970790863,-1.8966712951660156,-1.0057880878448486,1.3811800479888916,-0.1622234582901001,0.5941466689109802,0.7041648626327515,0.4
+1789729885322283504,4700,0.8361526727676392,-1.8966728448867798,-1.005789041519165,1.3811806440353394,-0.1622239500284195,0.5941452980041504,0.7041654586791992,0.4
+1789729885355678035,4733,0.8361533880233765,-1.896672248840332,-1.005793571472168,1.3811801671981812,-0.16222523152828217,0.5941412448883057,0.704165518283844,0.4
+1789729885388929960,4766,0.8361533880233765,-1.896673560142517,-1.005792498588562,1.3811802864074707,-0.16222453117370605,0.5941368341445923,0.7041634321212769,0.4
+1789729885422327081,4800,0.8361556529998779,-1.8966768980026245,-1.0057910680770874,1.381178379058838,-0.16222253441810608,0.5941358208656311,0.7041625380516052,0.4
+1789729885455681356,4833,0.8361566066741943,-1.8966766595840454,-1.0057929754257202,1.3811792135238647,-0.16222019493579865,0.5941341519355774,0.7041617631912231,0.4
+1789729885489017743,4866,0.8361570835113525,-1.896676778793335,-1.005793809890747,1.3811798095703125,-0.16221584379673004,0.5941282510757446,0.7041605114936829,0.4
+1789729885522263578,4900,0.8361620306968689,-1.8966792821884155,-1.005794882774353,1.381179928779602,-0.1622140258550644,0.5941286087036133,0.7041611075401306,0.4
+1789729885555587456,4933,0.8361629843711853,-1.8966789245605469,-1.0057982206344604,1.3811795711517334,-0.16221420466899872,0.5941293835639954,0.7041627764701843,0.4
+1789729885588896115,4966,0.8361620903015137,-1.896679162979126,-1.0058038234710693,1.3811790943145752,-0.1622154414653778,0.5941275358200073,0.7041616439819336,0.4
+1789729885622251050,5000,0.836161732673645,-1.8966796398162842,-1.0058050155639648,1.3811793327331543,-0.16221365332603455,0.594118058681488,0.7041612863540649,0.4
+1789729885655581958,5033,0.8361626863479614,-1.896683931350708,-1.0058029890060425,1.3811793327331543,-0.16221265494823456,0.5941197276115417,0.704159140586853,0.4
+1789729885688916625,5066,0.8361644744873047,-1.8966857194900513,-1.0058033466339111,1.3811792135238647,-0.16221223771572113,0.5941186547279358,0.7041488885879517,0.4
+1789729885722282259,5100,0.8361650109291077,-1.896685004234314,-1.005805492401123,1.3811798095703125,-0.16220518946647644,0.5941193699836731,0.7041478157043457,0.4
+1789729885755614516,5133,0.8361667990684509,-1.8966861963272095,-1.0058066844940186,1.3811800479888916,-0.1622050553560257,0.5941193699836731,0.7041478157043457,0.4
+1789729885788921645,5166,0.836168110370636,-1.8966883420944214,-1.0058071613311768,1.381179928779602,-0.16220597922801971,0.5941187143325806,0.7041484117507935,0.4
+1789729885822287190,5200,0.8361684083938599,-1.8966883420944214,-1.0058118104934692,1.3811811208724976,-0.1622082144021988,0.5941174626350403,0.7041482329368591,0.4
+1789729885855613298,5233,0.8361680507659912,-1.8966877460479736,-1.005815029144287,1.3811806440353394,-0.16220678389072418,0.5941157341003418,0.7041478753089905,0.4
+1789729885888922457,5266,0.8361690640449524,-1.89668869972229,-1.005814790725708,1.381181001663208,-0.16220590472221375,0.5941137075424194,0.7041471004486084,0.4
+1789729885922289311,5300,0.8361720442771912,-1.8966912031173706,-1.0058143138885498,1.3811815977096558,-0.16220439970493317,0.5941110253334045,0.7041464447975159,0.4
+1789729885955614159,5333,0.8361729979515076,-1.8966912031173706,-1.0058153867721558,1.381182074546814,-0.1622048169374466,0.5941075682640076,0.7041459083557129,0.4
+1789729885988943266,5366,0.8361742496490479,-1.8966916799545288,-1.0058151483535767,1.3811824321746826,-0.16220404207706451,0.5941046476364136,0.7041451930999756,0.4
+1789729886022326811,5400,0.8361757397651672,-1.8966927528381348,-1.0058157444000244,1.381183385848999,-0.16220350563526154,0.594105064868927,0.704146683216095,0.4
+1789729886055624125,5433,0.8361757397651672,-1.8966925144195557,-1.00581693649292,1.3811826705932617,-0.16220535337924957,0.5941042304039001,0.7041482329368591,0.4
+1789729886088925888,5466,0.8361772298812866,-1.8966929912567139,-1.0058172941207886,1.381182312965393,-0.16220425069332123,0.5941002368927002,0.7041475772857666,0.4
+1789729886122285867,5500,0.8361791968345642,-1.8966951370239258,-1.0058165788650513,1.3811815977096558,-0.16220417618751526,0.5940946340560913,0.7041473388671875,0.4
+1789729886155587210,5533,0.8361808061599731,-1.8966953754425049,-1.0058166980743408,1.381182074546814,-0.16220161318778992,0.5940953493118286,0.704145073890686,0.4
+1789729886188922311,5566,0.8361817002296448,-1.8966954946517944,-1.0058175325393677,1.3811827898025513,-0.16219988465309143,0.5940936803817749,0.7041436433792114,0.4
+1789729886222262641,5600,0.8361817598342896,-1.8966957330703735,-1.0058190822601318,1.3811841011047363,-0.16219837963581085,0.5940924286842346,0.7041428685188293,0.4
+1789729886255585452,5633,0.836182713508606,-1.89669668674469,-1.0058207511901855,1.3811841011047363,-0.1622016429901123,0.5940932631492615,0.7041427493095398,0.4
+1789729886288894315,5666,0.8361824750900269,-1.8966987133026123,-1.0058263540267944,1.381183385848999,-0.16220223903656006,0.5940926671028137,0.7041434049606323,0.4
+1789729886322248164,5700,0.8361825346946716,-1.8967005014419556,-1.0058305263519287,1.381183385848999,-0.1622006595134735,0.5940916538238525,0.7041420340538025,0.4
+1789729886355661318,5733,0.8361830711364746,-1.896700382232666,-1.0058302879333496,1.3811832666397095,-0.1622008979320526,0.5940865278244019,0.7041378617286682,0.4
+1789729886388900597,5766,0.836184024810791,-1.8967012166976929,-1.005828857421875,1.3811835050582886,-0.16219963133335114,0.5940845012664795,0.7041328549385071,0.4
+1789729886422248076,5800,0.8361855745315552,-1.8967024087905884,-1.0058282613754272,1.3811842203140259,-0.16219934821128845,0.594083309173584,0.7041290998458862,0.4
+1789729886455585567,5833,0.8361867666244507,-1.8967008590698242,-1.005828619003296,1.3811850547790527,-0.16219735145568848,0.5940841436386108,0.704129695892334,0.4
+1789729886488894860,5866,0.8361875414848328,-1.8967012166976929,-1.0058293342590332,1.381185531616211,-0.1621968001127243,0.5940860509872437,0.7041333317756653,0.4
+1789729886522255788,5900,0.8361877202987671,-1.8967043161392212,-1.0058308839797974,1.3811849355697632,-0.16219942271709442,0.5940839052200317,0.7041333913803101,0.4
+1789729886555590328,5933,0.8361881375312805,-1.8967037200927734,-1.005832314491272,1.3811839818954468,-0.16220156848430634,0.5940829515457153,0.7041336894035339,0.4
+1789729886588963476,5966,0.8361877202987671,-1.8967041969299316,-1.0058317184448242,1.3811830282211304,-0.16220076382160187,0.5940800309181213,0.7041345238685608,0.4
+1789729886622266629,6000,0.8361893892288208,-1.8967056274414062,-1.0058314800262451,1.381182074546814,-0.16219833493232727,0.5940789580345154,0.7041322588920593,0.4
+1789729886655588301,6033,0.836190938949585,-1.8967056274414062,-1.0058324337005615,1.3811817169189453,-0.16219733655452728,0.5940717458724976,0.7041310667991638,0.4
+1789729886688914362,6066,0.8361911177635193,-1.896705150604248,-1.0058343410491943,1.3811814785003662,-0.16219650208950043,0.5940696001052856,0.7041321396827698,0.4
+1789729886722257562,6100,0.8361923098564148,-1.8967061042785645,-1.0058350563049316,1.3811818361282349,-0.16219758987426758,0.5940709710121155,0.7041306495666504,0.4
+1789729886755587953,6133,0.8361932039260864,-1.8967081308364868,-1.0058388710021973,1.3811817169189453,-0.16219769418239594,0.5940713882446289,0.704130232334137,0.4
+1789729886788950621,6166,0.8361931443214417,-1.896710753440857,-1.0058408975601196,1.3811818361282349,-0.1621987670660019,0.5940713882446289,0.7041301727294922,0.4
+1789729886822260724,6200,0.8361932039260864,-1.8967105150222778,-1.0058434009552002,1.3811804056167603,-0.16219916939735413,0.5940679311752319,0.7041284441947937,0.4
+1789729886855587135,6233,0.8361931443214417,-1.8967106342315674,-1.0058432817459106,1.3811800479888916,-0.16219763457775116,0.5940653085708618,0.7041256427764893,0.4
+1789729886888903787,6266,0.8361942172050476,-1.8967114686965942,-1.0058434009552002,1.3811811208724976,-0.16219612956047058,0.5940642356872559,0.7041196823120117,0.4
+1789729886922254646,6300,0.8361955881118774,-1.8967121839523315,-1.0058423280715942,1.3811817169189453,-0.16219478845596313,0.5940628051757812,0.7041195034980774,0.4
+1789729886955581768,6333,0.8361960649490356,-1.8967127799987793,-1.0058425664901733,1.3811813592910767,-0.16219526529312134,0.594062864780426,0.7041212320327759,0.4
+1789729886988911439,6366,0.836196780204773,-1.8967134952545166,-1.0058472156524658,1.3811819553375244,-0.16219636797904968,0.5940638780593872,0.70412278175354,0.4
+1789729887022341103,6400,0.8361968398094177,-1.8967143297195435,-1.005853533744812,1.3811818361282349,-0.16219881176948547,0.5940626859664917,0.70412278175354,0.4
+1789729887055596705,6433,0.8361973762512207,-1.8967154026031494,-1.0058536529541016,1.381181001663208,-0.1621975153684616,0.5940605401992798,0.7041220664978027,0.4
+1789729887088905871,6466,0.836198091506958,-1.8967177867889404,-1.0058525800704956,1.3811808824539185,-0.16219696402549744,0.5940528512001038,0.7041218280792236,0.4
+1789729887122263023,6500,0.8361985683441162,-1.8967177867889404,-1.005852222442627,1.3811801671981812,-0.16219490766525269,0.594050407409668,0.7041210532188416,0.4
+1789729887155589488,6533,0.8362007141113281,-1.8967193365097046,-1.0058519840240479,1.3811805248260498,-0.1621953248977661,0.5940490365028381,0.7041206955909729,0.4
+1789729887188909763,6566,0.83620285987854,-1.8967199325561523,-1.005852222442627,1.3811814785003662,-0.16219379007816315,0.594048798084259,0.704120934009552,0.4
+1789729887222268555,6600,0.8362041711807251,-1.8967212438583374,-1.0058531761169434,1.3811815977096558,-0.16219623386859894,0.594048023223877,0.7041201591491699,0.4
+1789729887255591341,6633,0.8362036943435669,-1.8967233896255493,-1.005854606628418,1.3811815977096558,-0.16219718754291534,0.5940465927124023,0.704120934009552,0.4
+1789729887288901957,6666,0.8362035751342773,-1.8967247009277344,-1.0058575868606567,1.3811811208724976,-0.16219596564769745,0.5940464735031128,0.7041208148002625,0.4
+1789729887322273078,6700,0.8362061977386475,-1.896725058555603,-1.0058587789535522,1.3811813592910767,-0.16219399869441986,0.594039261341095,0.7041199803352356,0.4
+1789729887355591094,6733,0.8362085223197937,-1.8967262506484985,-1.0058588981628418,1.3811815977096558,-0.16219009459018707,0.5940370559692383,0.7041196227073669,0.4
+1789729887388925008,6766,0.8362115025520325,-1.8967267274856567,-1.0058597326278687,1.381182312965393,-0.16219092905521393,0.5940371751785278,0.7041192650794983,0.4
+1789729887422266171,6800,0.8362125158309937,-1.8967275619506836,-1.0058612823486328,1.3811829090118408,-0.16218969225883484,0.5940364003181458,0.7041189670562744,0.4
+1789729887455586127,6833,0.8362119793891907,-1.8967280387878418,-1.0058647394180298,1.381183385848999,-0.16219185292720795,0.5940375328063965,0.7041196823120117,0.4
+1789729887488920081,6866,0.836211621761322,-1.8967291116714478,-1.0058648586273193,1.3811836242675781,-0.16219204664230347,0.5940371155738831,0.7041200995445251,0.4
+1789729887522257915,6900,0.8362119197845459,-1.8967317342758179,-1.005866289138794,1.3811829090118408,-0.16219407320022583,0.594036340713501,0.7041187286376953,0.4
+1789729887555600739,6933,0.8362126350402832,-1.8967328071594238,-1.0058660507202148,1.3811825513839722,-0.16219276189804077,0.5940335988998413,0.7041183710098267,0.4
+1789729887588895626,6966,0.8362143635749817,-1.8967320919036865,-1.0058655738830566,1.38118314743042,-0.16219021379947662,0.5940291285514832,0.7041168212890625,0.4
+1789729887622263078,7000,0.8362168669700623,-1.8967334032058716,-1.0058656930923462,1.3811829090118408,-0.16219007968902588,0.5940243601799011,0.7041172385215759,0.4
+1789729887655587133,7033,0.836217999458313,-1.8967360258102417,-1.005866289138794,1.3811826705932617,-0.1621892750263214,0.5940226316452026,0.704116940498352,0.4
+1789729887688903308,7066,0.8362202048301697,-1.8967362642288208,-1.0058685541152954,1.3811827898025513,-0.16218964755535126,0.594022810459137,0.7041164636611938,0.4
+1789729887722259181,7100,0.8362195491790771,-1.8967385292053223,-1.0058715343475342,1.3811830282211304,-0.1621912717819214,0.5940219163894653,0.704116940498352,0.4
+1789729887755589675,7133,0.8362197875976562,-1.8967399597167969,-1.0058714151382446,1.3811829090118408,-0.1621914654970169,0.5940197706222534,0.7041173577308655,0.4
+1789729887788896732,7166,0.8362212181091309,-1.896740198135376,-1.0058705806732178,1.381182312965393,-0.16219063103199005,0.5940182209014893,0.7041172385215759,0.4
+1789729887822267153,7200,0.8362205624580383,-1.8967400789260864,-1.0058705806732178,1.381181001663208,-0.1621890664100647,0.594013512134552,0.7041164636611938,0.4
+1789729887855594528,7233,0.8362213969230652,-1.896741271018982,-1.0058703422546387,1.3811801671981812,-0.16219069063663483,0.5940127372741699,0.7041162848472595,0.4
+1789729887888909784,7266,0.8362237811088562,-1.896741509437561,-1.0058714151382446,1.3811808824539185,-0.16218973696231842,0.5940131545066833,0.7041157484054565,0.4
+1789729887922249617,7300,0.8362237811088562,-1.8967418670654297,-1.005874514579773,1.3811818361282349,-0.1621895730495453,0.5940137505531311,0.7041154503822327,0.4
+1789729887955585721,7333,0.8362245559692383,-1.8967431783676147,-1.005879282951355,1.3811821937561035,-0.16219095885753632,0.594012975692749,0.7041152715682983,0.4
+1789729887988910946,7366,0.8362249135971069,-1.8967453241348267,-1.0058820247650146,1.3811818361282349,-0.16219058632850647,0.5940127372741699,0.7041150331497192,0.4
+1789729888022262011,7400,0.8362245559692383,-1.8967461585998535,-1.0058808326721191,1.3811814785003662,-0.16219022870063782,0.594010591506958,0.7041138410568237,0.4
+1789729888055668673,7433,0.8362250924110413,-1.8967461585998535,-1.005880355834961,1.3811815977096558,-0.16218969225883484,0.5940092206001282,0.7041099071502686,0.4
+1789729888088897600,7466,0.8362246155738831,-1.8967468738555908,-1.005880355834961,1.381182074546814,-0.16218945384025574,0.5940078496932983,0.704108476638794,0.4
+1789729888122260795,7500,0.8362249135971069,-1.896747350692749,-1.0058798789978027,1.3811824321746826,-0.16218894720077515,0.5940067768096924,0.7041081190109253,0.4
+1789729888155598253,7533,0.8362261056900024,-1.89674711227417,-1.0058809518814087,1.3811832666397095,-0.16219036281108856,0.5940070748329163,0.7041081190109253,0.4
+1789729888188903043,7566,0.8362270593643188,-1.8967492580413818,-1.005881428718567,1.3811827898025513,-0.16219188272953033,0.5940082669258118,0.7041102647781372,0.4
+1789729888222263928,7600,0.836227297782898,-1.8967503309249878,-1.0058825016021729,1.3811821937561035,-0.16219547390937805,0.594006359577179,0.7041106820106506,0.4
+1789729888255592247,7633,0.8362279534339905,-1.8967509269714355,-1.005882740020752,1.3811813592910767,-0.1621927171945572,0.5940002799034119,0.7041099071502686,0.4
+1789729888288901687,7666,0.8362275958061218,-1.8967515230178833,-1.0058833360671997,1.381178855895996,-0.16219189763069153,0.5939968824386597,0.704109251499176,0.4
+1789729888322247173,7700,0.8362287878990173,-1.8967540264129639,-1.0058847665786743,1.3811771869659424,-0.16218990087509155,0.5939951539039612,0.7041081190109253,0.4
+1789729888355590220,7733,0.8362287282943726,-1.8967534303665161,-1.0058867931365967,1.3811771869659424,-0.16218829154968262,0.5939931273460388,0.7041082978248596,0.4
+1789729888388897311,7766,0.8362300395965576,-1.8967540264129639,-1.005888819694519,1.3811777830123901,-0.1621902734041214,0.5939924716949463,0.7041078209877014,0.4
+1789729888422260976,7800,0.8362312912940979,-1.896755576133728,-1.0058915615081787,1.3811774253845215,-0.1621914505958557,0.593993067741394,0.7041086554527283,0.4
+1789729888455590064,7833,0.8362316489219666,-1.896757960319519,-1.0058932304382324,1.3811781406402588,-0.16219191253185272,0.5939925909042358,0.704108476638794,0.4
+1789729888488904293,7866,0.836231529712677,-1.8967580795288086,-1.0058947801589966,1.381177544593811,-0.16219036281108856,0.5939937233924866,0.7041087746620178,0.4
+1789729888522259070,7900,0.8362320065498352,-1.8967586755752563,-1.0058954954147339,1.3811784982681274,-0.16218769550323486,0.5939930081367493,0.7041079998016357,0.4
+1789729888555602606,7933,0.8362329602241516,-1.8967608213424683,-1.0058954954147339,1.381178855895996,-0.1621888279914856,0.5939921140670776,0.7041062116622925,0.4
+1789729888588896538,7966,0.8362335562705994,-1.8967620134353638,-1.0058951377868652,1.3811793327331543,-0.16218845546245575,0.5939918160438538,0.7041072845458984,0.4
+1789729888622261613,8000,0.8362349271774292,-1.896762490272522,-1.0058976411819458,1.381180763244629,-0.162187397480011,0.5939912796020508,0.7041050791740417,0.4
+1789729888655585681,8033,0.8362376689910889,-1.8967641592025757,-1.005901575088501,1.3811814785003662,-0.16218869388103485,0.5939912796020508,0.7041059732437134,0.4
+1789729888688916859,8066,0.8362385630607605,-1.8967649936676025,-1.0059021711349487,1.381180763244629,-0.1621893048286438,0.5939892530441284,0.7041059732437134,0.4
+1789729888722255967,8100,0.836238443851471,-1.8967673778533936,-1.0059027671813965,1.3811804056167603,-0.16219139099121094,0.5939866900444031,0.7041052579879761,0.4
+1789729888755585495,8133,0.8362382650375366,-1.8967678546905518,-1.0059024095535278,1.3811798095703125,-0.16219060122966766,0.5939801931381226,0.7041049599647522,0.4
+1789729888788889226,8166,0.8362391591072083,-1.8967680931091309,-1.0059030055999756,1.3811801671981812,-0.1621885746717453,0.5939791202545166,0.7041050791740417,0.4
+1789729888822263810,8200,0.8362407088279724,-1.8967690467834473,-1.0059032440185547,1.3811804056167603,-0.16218842566013336,0.5939777493476868,0.7041041851043701,0.4
+1789729888855588329,8233,0.8362419009208679,-1.8967695236206055,-1.0059034824371338,1.3811808824539185,-0.16218893229961395,0.5939779281616211,0.704103410243988,0.4
+1789729888888989470,8266,0.83624267578125,-1.8967688083648682,-1.0059038400650024,1.3811813592910767,-0.16218988597393036,0.593977689743042,0.7041033506393433,0.4
+1789729888922260924,8300,0.8362432718276978,-1.8967713117599487,-1.0059069395065308,1.3811817169189453,-0.1621904820203781,0.5939780473709106,0.7041043639183044,0.4
+1789729888955593102,8333,0.836243212223053,-1.8967719078063965,-1.0059075355529785,1.381182074546814,-0.1621909737586975,0.5939747095108032,0.7041054368019104,0.4
+1789729888988904911,8366,0.8362440466880798,-1.8967732191085815,-1.0059092044830322,1.3811805248260498,-0.16218891739845276,0.5939711332321167,0.7041060924530029,0.4
+1789729889022259880,8400,0.8362469673156738,-1.8967769145965576,-1.0059093236923218,1.3811789751052856,-0.16218744218349457,0.5939629077911377,0.7041037678718567,0.4
+1789729889055665264,8433,0.8362510204315186,-1.8967796564102173,-1.0059102773666382,1.3811793327331543,-0.16218698024749756,0.5939605236053467,0.7041031122207642,0.4
+1789729889088983087,8466,0.8362510800361633,-1.896780014038086,-1.0059151649475098,1.3811795711517334,-0.16218560934066772,0.5939593315124512,0.7041031718254089,0.4
+1789729889122273222,8500,0.8362506031990051,-1.8967819213867188,-1.0059159994125366,1.3811800479888916,-0.16218537092208862,0.593963623046875,0.7041033506393433,0.4
+1789729889155586866,8533,0.8362513184547424,-1.8967829942703247,-1.005919098854065,1.3811804056167603,-0.16218583285808563,0.5939652323722839,0.7041034698486328,0.4
+1789729889188896119,8566,0.8362513184547424,-1.8967852592468262,-1.0059250593185425,1.3811798095703125,-0.16218698024749756,0.593966007232666,0.7041038870811462,0.4
+1789729889222277766,8600,0.8362522721290588,-1.896785855293274,-1.005924105644226,1.3811801671981812,-0.16218754649162292,0.5939630270004272,0.7041026949882507,0.4
+1789729889255588480,8633,0.8362517356872559,-1.8967854976654053,-1.0059218406677246,1.3811792135238647,-0.16218683123588562,0.5939612984657288,0.704103410243988,0.4
+1789729889288900583,8666,0.8362526297569275,-1.8967863321304321,-1.0059216022491455,1.3811802864074707,-0.16218635439872742,0.5939586758613586,0.7041020393371582,0.4
+1789729889322261292,8700,0.8362545967102051,-1.8967877626419067,-1.005921721458435,1.381181001663208,-0.1621861457824707,0.5939592123031616,0.7041010856628418,0.4
+1789729889355585704,8733,0.8362548351287842,-1.8967878818511963,-1.0059218406677246,1.3811808824539185,-0.16218534111976624,0.593959629535675,0.7040997743606567,0.4
+1789729889388892798,8766,0.8362553715705872,-1.8967881202697754,-1.0059220790863037,1.3811804056167603,-0.16218572854995728,0.5939609408378601,0.704102098941803,0.4
+1789729889422264216,8800,0.8362550735473633,-1.8967899084091187,-1.0059233903884888,1.3811804056167603,-0.1621892899274826,0.59395831823349,0.7041016221046448,0.4
+1789729889455583229,8833,0.836254358291626,-1.896790623664856,-1.0059237480163574,1.381179690361023,-0.16218891739845276,0.5939537286758423,0.7041003704071045,0.4
+1789729889488918530,8866,0.8362546563148499,-1.8967911005020142,-1.0059233903884888,1.3811800479888916,-0.1621864140033722,0.5939525961875916,0.7040994167327881,0.4
+1789729889522257371,8900,0.8362560272216797,-1.8967909812927246,-1.0059232711791992,1.3811795711517334,-0.16218465566635132,0.5939514636993408,0.7040990591049194,0.4
+1789729889555621259,8933,0.8362573385238647,-1.8967914581298828,-1.005922794342041,1.3811800479888916,-0.16218529641628265,0.5939524173736572,0.7040996551513672,0.4
+1789729889588934223,8966,0.836258053779602,-1.8967941999435425,-1.0059237480163574,1.381179928779602,-0.16218601167201996,0.5939529538154602,0.7040995359420776,0.4
+1789729889622259415,9000,0.8362583518028259,-1.896794080734253,-1.0059301853179932,1.3811798095703125,-0.16218750178813934,0.5939541459083557,0.7041012048721313,0.4
+1789729889655585817,9033,0.8362584710121155,-1.8967950344085693,-1.0059324502944946,1.3811792135238647,-0.16218701004981995,0.5939551591873169,0.7041007280349731,0.4
+1789729889688891410,9066,0.8362582325935364,-1.8967998027801514,-1.0059326887130737,1.3811792135238647,-0.1621878743171692,0.5939520597457886,0.7041015028953552,0.4
+1789729889722253319,9100,0.8362582921981812,-1.8968008756637573,-1.0059313774108887,1.3811784982681274,-0.16218771040439606,0.5939489603042603,0.7041011452674866,0.4
+1789729889755550704,9133,0.8362588286399841,-1.896801233291626,-1.0059311389923096,1.3811781406402588,-0.16218551993370056,0.5939481258392334,0.7041003108024597,0.4
+1789729889788971978,9166,0.8362597227096558,-1.8968011140823364,-1.0059312582015991,1.3811777830123901,-0.16218556463718414,0.5939446091651917,0.7040979862213135,0.4
+1789729889822262513,9200,0.8362621665000916,-1.8968027830123901,-1.0059313774108887,1.3811780214309692,-0.1621868759393692,0.5939427614212036,0.7040983438491821,0.4
+1789729889855590704,9233,0.8362635970115662,-1.8968030214309692,-1.0059324502944946,1.3811771869659424,-0.1621866673231125,0.593943178653717,0.7040992975234985,0.4
+1789729889888888849,9266,0.8362630605697632,-1.8968045711517334,-1.0059376955032349,1.381177544593811,-0.16218827664852142,0.5939407348632812,0.7040990591049194,0.4
+1789729889922256247,9300,0.836263120174408,-1.8968080282211304,-1.0059388875961304,1.381177306175232,-0.16218788921833038,0.5939395427703857,0.7040985822677612,0.4
+1789729889955571520,9333,0.8362640142440796,-1.8968092203140259,-1.0059374570846558,1.3811755180358887,-0.16218817234039307,0.5939347147941589,0.7040992379188538,0.4
+1789729889988896102,9366,0.8362647294998169,-1.8968099355697632,-1.0059361457824707,1.3811731338500977,-0.16218632459640503,0.5939322710037231,0.7040975093841553,0.4
+1789729890022271063,9400,0.8362652063369751,-1.89681077003479,-1.0059374570846558,1.3811724185943604,-0.1621859222650528,0.5939294099807739,0.7040945291519165,0.4
+1789729890055707508,9433,0.8362653851509094,-1.89681077003479,-1.005938172340393,1.3811724185943604,-0.16218478977680206,0.5939295887947083,0.7040937542915344,0.4
+1789729890088895276,9466,0.8362667560577393,-1.8968104124069214,-1.005938172340393,1.381173014640808,-0.1621856987476349,0.593929648399353,0.7040948867797852,0.4
+1789729890122257969,9500,0.8362680077552795,-1.896811604499817,-1.0059409141540527,1.3811728954315186,-0.1621856689453125,0.593930184841156,0.7040969133377075,0.4
+1789729890155587484,9533,0.836267352104187,-1.8968127965927124,-1.005944848060608,1.3811728954315186,-0.1621861308813095,0.5939297676086426,0.7040972709655762,0.4
+1789729890188894581,9566,0.836267352104187,-1.8968151807785034,-1.0059447288513184,1.381173014640808,-0.16218547523021698,0.5939273834228516,0.7040966153144836,0.4
+1789729890222268972,9600,0.8362693786621094,-1.8968175649642944,-1.005944848060608,1.3811728954315186,-0.16218362748622894,0.5939257144927979,0.7040947675704956,0.4
+1789729890255595188,9633,0.8362703323364258,-1.8968178033828735,-1.0059475898742676,1.3811737298965454,-0.1621849238872528,0.5939222574234009,0.7040944695472717,0.4
+1789729890288921823,9666,0.8362703919410706,-1.8968175649642944,-1.0059502124786377,1.3811742067337036,-0.16218429803848267,0.5939217805862427,0.7040940523147583,0.4
+1789729890322260388,9700,0.8362714052200317,-1.8968185186386108,-1.0059508085250854,1.3811753988265991,-0.16218416392803192,0.5939231514930725,0.704094409942627,0.4
+1789729890355585173,9733,0.8362727165222168,-1.896820306777954,-1.0059521198272705,1.3811757564544678,-0.16218459606170654,0.5939229130744934,0.7040945291519165,0.4
+1789729890388898800,9766,0.8362722396850586,-1.8968217372894287,-1.0059539079666138,1.3811756372451782,-0.16218677163124084,0.5939229130744934,0.7040947675704956,0.4
+1789729890422265202,9800,0.8362717032432556,-1.89682137966156,-1.0059560537338257,1.3811753988265991,-0.16218820214271545,0.5939196944236755,0.7040947079658508,0.4
+1789729890455584068,9833,0.836272120475769,-1.8968228101730347,-1.0059561729431152,1.3811758756637573,-0.16218671202659607,0.5939196944236755,0.7040933966636658,0.4
+1789729890488897155,9866,0.8362739682197571,-1.8968243598937988,-1.005955696105957,1.381176471710205,-0.16218481957912445,0.5939188599586487,0.704093337059021,0.4
+1789729890522259077,9900,0.8362759947776794,-1.896823763847351,-1.0059561729431152,1.3811779022216797,-0.16218450665473938,0.5939186215400696,0.7040935158729553,0.4
+1789729890555620790,9933,0.8362768888473511,-1.896824598312378,-1.0059560537338257,1.3811782598495483,-0.1621822714805603,0.5939172506332397,0.7040938138961792,0.4
+1789729890588919268,9966,0.8362777233123779,-1.8968256711959839,-1.0059565305709839,1.381178855895996,-0.16218265891075134,0.5939183235168457,0.7040942311286926,0.4
+1789729890622262772,10000,0.8362798690795898,-1.8968268632888794,-1.005959153175354,1.3811782598495483,-0.16218513250350952,0.5939183831214905,0.7040952444076538,0.4
+1789729890655587167,10033,0.8362793326377869,-1.8968266248703003,-1.0059587955474854,1.3811780214309692,-0.16218239068984985,0.5939139723777771,0.7040951251983643,0.4
+1789729890688919882,10066,0.8362799882888794,-1.8968278169631958,-1.0059586763381958,1.381177544593811,-0.16218231618404388,0.5939102172851562,0.704094409942627,0.4
+1789729890722258577,10100,0.8362826704978943,-1.896828532218933,-1.0059590339660645,1.3811767101287842,-0.1621818095445633,0.593906819820404,0.7040945887565613,0.4
+1789729890755585192,10133,0.8362833857536316,-1.8968288898468018,-1.0059597492218018,1.3811774253845215,-0.1621822863817215,0.5939017534255981,0.7040935158729553,0.4
+1789729890788920567,10166,0.8362854719161987,-1.8968291282653809,-1.0059599876403809,1.3811776638031006,-0.16218028962612152,0.5939019918441772,0.7040945291519165,0.4
+1789729890822259941,10200,0.8362846374511719,-1.8968299627304077,-1.005961298942566,1.3811777830123901,-0.162181556224823,0.5939036011695862,0.7040954232215881,0.4
+1789729890855588267,10233,0.8362846970558167,-1.896830677986145,-1.0059641599655151,1.3811782598495483,-0.16218380630016327,0.5939022898674011,0.7040942907333374,0.4
+1789729890888896794,10266,0.8362845778465271,-1.89683198928833,-1.0059659481048584,1.3811789751052856,-0.16218455135822296,0.5939027667045593,0.7040956616401672,0.4
+1789729890922251917,10300,0.8362862467765808,-1.8968325853347778,-1.0059653520584106,1.381178379058838,-0.16218358278274536,0.5939024686813354,0.7040961384773254,0.4
+1789729890955585702,10333,0.8362873792648315,-1.8968342542648315,-1.005964756011963,1.381178379058838,-0.1621818095445633,0.5939023494720459,0.7040936946868896,0.4
+1789729890988897858,10366,0.8362884521484375,-1.896834373474121,-1.005965232849121,1.3811793327331543,-0.16218194365501404,0.5939005613327026,0.7040929794311523,0.4
+1789729891022258763,10400,0.83628910779953,-1.8968353271484375,-1.0059653520584106,1.381181001663208,-0.16218319535255432,0.5939012765884399,0.7040933966636658,0.4
+1789729891055584482,10433,0.8362898230552673,-1.8968360424041748,-1.0059658288955688,1.3811824321746826,-0.1621824949979782,0.593904435634613,0.7040928602218628,0.4
+1789729891088911451,10466,0.8362900614738464,-1.896836519241333,-1.0059682130813599,1.3811830282211304,-0.16218243539333344,0.5939034819602966,0.7040932178497314,0.4
+1789729891122259898,10500,0.8362910151481628,-1.8968383073806763,-1.0059689283370972,1.3811808824539185,-0.16218438744544983,0.5939013957977295,0.7040945291519165,0.4
+1789729891155590866,10533,0.8362914323806763,-1.8968394994735718,-1.0059677362442017,1.3811798095703125,-0.16218352317810059,0.5938962697982788,0.704093873500824,0.4
+1789729891188905297,10566,0.8362915515899658,-1.8968403339385986,-1.0059672594070435,1.381179690361023,-0.16218218207359314,0.5938895344734192,0.7040920853614807,0.4
+1789729891222250944,10600,0.8362931609153748,-1.8968400955200195,-1.005967378616333,1.3811802864074707,-0.16218100488185883,0.5938891768455505,0.7040904760360718,0.4
+1789729891255582812,10633,0.8362936973571777,-1.8968403339385986,-1.005967378616333,1.3811802864074707,-0.16217967867851257,0.5938900113105774,0.704091489315033,0.4
+1789729891288898332,10666,0.8362948298454285,-1.8968408107757568,-1.0059678554534912,1.381179928779602,-0.1621822863817215,0.5938898324966431,0.7040926814079285,0.4
+1789729891322257608,10700,0.8362945318222046,-1.8968418836593628,-1.0059692859649658,1.3811802864074707,-0.16218259930610657,0.593890368938446,0.7040929794311523,0.4
+1789729891355589067,10733,0.8362942337989807,-1.8968428373336792,-1.0059700012207031,1.3811793327331543,-0.16218236088752747,0.5938896536827087,0.7040925621986389,0.4
+1789729891388891168,10766,0.8362951874732971,-1.896844506263733,-1.0059702396392822,1.381178855895996,-0.16218173503875732,0.5938881635665894,0.704091489315033,0.4
+1789729891422256724,10800,0.8362959027290344,-1.8968466520309448,-1.0059714317321777,1.3811780214309692,-0.1621817648410797,0.5938866138458252,0.7040906548500061,0.4
+1789729891455594212,10833,0.8362958431243896,-1.896847128868103,-1.0059723854064941,1.381178379058838,-0.16218073666095734,0.5938833355903625,0.7040898203849792,0.4
+1789729891488895943,10866,0.8362974524497986,-1.8968467712402344,-1.005973219871521,1.381178379058838,-0.162180095911026,0.5938833951950073,0.7040903568267822,0.4
+1789729891522262838,10900,0.8362982273101807,-1.8968472480773926,-1.0059736967086792,1.3811789751052856,-0.16218094527721405,0.5938836336135864,0.7040903568267822,0.4
+1789729891555715446,10933,0.8362984657287598,-1.8968466520309448,-1.0059763193130493,1.381178617477417,-0.16218237578868866,0.593885064125061,0.7040913105010986,0.4
+1789729891588896168,10966,0.8362990617752075,-1.8968466520309448,-1.0059781074523926,1.3811789751052856,-0.16218380630016327,0.5938831567764282,0.7040919065475464,0.4
+1789729891622247945,11000,0.836298406124115,-1.8968483209609985,-1.0059806108474731,1.3811777830123901,-0.162183940410614,0.5938829183578491,0.7040904760360718,0.4
+1789729891655642338,11033,0.8362985849380493,-1.8968491554260254,-1.0059796571731567,1.381178617477417,-0.1621825397014618,0.5938805937767029,0.7040895223617554,0.4
+1789729891688895213,11066,0.8362987041473389,-1.8968497514724731,-1.0059791803359985,1.381178855895996,-0.1621800661087036,0.5938770174980164,0.7040872573852539,0.4
+1789729891722248380,11100,0.8362998962402344,-1.8968501091003418,-1.0059791803359985,1.3811784982681274,-0.1621813178062439,0.5938760042190552,0.7040833234786987,0.4
+1789729891755583998,11133,0.8363004922866821,-1.8968507051467896,-1.0059800148010254,1.381178379058838,-0.16218194365501404,0.593875527381897,0.704084575176239,0.4
+1789729891788895258,11166,0.836300790309906,-1.8968511819839478,-1.0059804916381836,1.381178379058838,-0.16218209266662598,0.5938751697540283,0.704086184501648,0.4
+1789729891822250095,11200,0.8363014459609985,-1.8968523740768433,-1.0059833526611328,1.381178855895996,-0.16218280792236328,0.5938740968704224,0.7040879130363464,0.4
+1789729891855586913,11233,0.8363015651702881,-1.8968530893325806,-1.0059832334518433,1.3811779022216797,-0.16218295693397522,0.5938712358474731,0.7040884494781494,0.4
+1789729891888896643,11266,0.8363021612167358,-1.8968552350997925,-1.005983829498291,1.381177544593811,-0.16218127310276031,0.5938684940338135,0.7040868997573853,0.4
+1789729891922247560,11300,0.8363032937049866,-1.8968552350997925,-1.005983829498291,1.3811782598495483,-0.1621813327074051,0.5938668251037598,0.7040870785713196,0.4
+1789729891955588178,11333,0.8363044261932373,-1.8968548774719238,-1.0059833526611328,1.3811782598495483,-0.16218283772468567,0.5938684940338135,0.7040868997573853,0.4
+1789729891988902038,11366,0.8363049626350403,-1.8968545198440552,-1.0059839487075806,1.381178379058838,-0.16218148171901703,0.5938680171966553,0.7040871381759644,0.4
+1789729892022256657,11400,0.8363052606582642,-1.8968552350997925,-1.005985140800476,1.3811790943145752,-0.1621817648410797,0.5938671827316284,0.7040866613388062,0.4
+1789729892055723717,11433,0.8363061547279358,-1.8968557119369507,-1.005989670753479,1.3811794519424438,-0.1621835082769394,0.5938677191734314,0.7040870785713196,0.4
+1789729892088900513,11466,0.8363064527511597,-1.8968573808670044,-1.0059936046600342,1.381178379058838,-0.16218237578868866,0.5938664674758911,0.7040872573852539,0.4
+1789729892122257692,11500,0.8363062739372253,-1.896860122680664,-1.0059928894042969,1.381177544593811,-0.1621810644865036,0.5938628911972046,0.7040855288505554,0.4
+1789729892155590224,11533,0.8363078832626343,-1.8968610763549805,-1.0059924125671387,1.3811780214309692,-0.1621795892715454,0.5938621759414673,0.704084575176239,0.4
+1789729892188900358,11566,0.8363090753555298,-1.8968617916107178,-1.0059925317764282,1.3811781406402588,-0.16217920184135437,0.5938622951507568,0.7040843963623047,0.4
+1789729892222253718,11600,0.8363102078437805,-1.8968629837036133,-1.0059928894042969,1.3811793327331543,-0.16218052804470062,0.5938622355461121,0.7040851712226868,0.4
+1789729892255589810,11633,0.8363105058670044,-1.8968634605407715,-1.005994200706482,1.3811793327331543,-0.16218170523643494,0.5938623547554016,0.704086422920227,0.4
+1789729892288901833,11666,0.8363098502159119,-1.8968647718429565,-1.0059961080551147,1.3811790943145752,-0.1621817797422409,0.5938621759414673,0.704086422920227,0.4
+1789729892322249804,11700,0.8363104462623596,-1.8968677520751953,-1.0059969425201416,1.3811782598495483,-0.16218240559101105,0.5938605666160583,0.7040864825248718,0.4
+1789729892355587605,11733,0.8363102078437805,-1.8968696594238281,-1.0059963464736938,1.3811774253845215,-0.16218096017837524,0.5938592553138733,0.7040867209434509,0.4
+1789729892388896069,11766,0.8363108038902283,-1.896869421005249,-1.005995750427246,1.381177306175232,-0.16217921674251556,0.5938540101051331,0.7040867805480957,0.4
+1789729892422255849,11800,0.8363136053085327,-1.8968684673309326,-1.0059961080551147,1.3811776638031006,-0.16217991709709167,0.5938501954078674,0.7040843963623047,0.4
+1789729892455621818,11833,0.8363163471221924,-1.8968685865402222,-1.005996584892273,1.381178617477417,-0.1621796041727066,0.5938477516174316,0.7040851712226868,0.4
+1789729892488902564,11866,0.8363164067268372,-1.8968693017959595,-1.0059974193572998,1.381178855895996,-0.16217945516109467,0.5938485860824585,0.7040850520133972,0.4
+1789729892522249255,11900,0.8363155722618103,-1.8968700170516968,-1.006000280380249,1.3811781406402588,-0.16218097507953644,0.5938487648963928,0.7040863633155823,0.4
+1789729892555605815,11933,0.8363151550292969,-1.896871566772461,-1.0060006380081177,1.381178855895996,-0.1621829867362976,0.5938488841056824,0.7040871381759644,0.4
+1789729892588901900,11966,0.8363155722618103,-1.8968738317489624,-1.0060014724731445,1.3811782598495483,-0.1621827930212021,0.5938478112220764,0.7040874361991882,0.4
+1789729892622248800,12000,0.8363162279129028,-1.896876573562622,-1.0060008764266968,1.3811777830123901,-0.16218030452728271,0.5938478112220764,0.7040860652923584,0.4
+1789729892655586022,12033,0.8363168835639954,-1.8968762159347534,-1.0060017108917236,1.3811776638031006,-0.1621810495853424,0.5938454866409302,0.7040846943855286,0.4
+1789729892688896976,12066,0.8363174796104431,-1.896878719329834,-1.0060030221939087,1.3811777830123901,-0.16218160092830658,0.5938451290130615,0.7040837407112122,0.4
+1789729892722251206,12100,0.8363203406333923,-1.8968796730041504,-1.006003975868225,1.381178379058838,-0.16218164563179016,0.5938460230827332,0.7040854096412659,0.4
+1789729892755588197,12133,0.8363205194473267,-1.8968806266784668,-1.0060094594955444,1.381178379058838,-0.1621807962656021,0.5938460230827332,0.7040876150131226,0.4
+1789729892788895021,12166,0.8363200426101685,-1.896886944770813,-1.0060110092163086,1.381177544593811,-0.16218121349811554,0.593847930431366,0.7040860652923584,0.4
+1789729892822251521,12200,0.8363223671913147,-1.8968908786773682,-1.0060099363327026,1.381176233291626,-0.1621806025505066,0.593847393989563,0.7040873169898987,0.4
+1789729892855589453,12233,0.8363223671913147,-1.8968881368637085,-1.0060169696807861,1.3811774253845215,-0.16217878460884094,0.5938432812690735,0.7040863633155823,0.4
+1789729892888910255,12266,0.8363233208656311,-1.8968911170959473,-1.0060160160064697,1.3811781406402588,-0.16217638552188873,0.5938435196876526,0.7040851712226868,0.4
+1789729892922285244,12300,0.836325466632843,-1.8969004154205322,-1.006016492843628,1.381174087524414,-0.16217535734176636,0.5938460230827332,0.7040842771530151,0.4
+1789729892955623285,12333,0.8363259434700012,-1.8968995809555054,-1.0060229301452637,1.3811763525009155,-0.16217464208602905,0.5938435196876526,0.7040845155715942,0.4
+1789729892988929529,12366,0.8363267779350281,-1.8968993425369263,-1.006028413772583,1.3811779022216797,-0.16217367351055145,0.5938446521759033,0.7040845155715942,0.4
+1789729893022291211,12400,0.8363293409347534,-1.8969066143035889,-1.0060274600982666,1.3811757564544678,-0.16217458248138428,0.5938475728034973,0.704084575176239,0.4
+1789729893055625166,12433,0.8363299369812012,-1.8969082832336426,-1.0060276985168457,1.3811748027801514,-0.1621730774641037,0.5938451886177063,0.7040855288505554,0.4
+1789729893088935943,12466,0.8363277912139893,-1.8969100713729858,-1.0060293674468994,1.3811713457107544,-0.16217371821403503,0.593845546245575,0.7040852904319763,0.4
+1789729893122262859,12500,0.8363302946090698,-1.8969088792800903,-1.0060296058654785,1.3811718225479126,-0.16216722130775452,0.5938407182693481,0.7040841579437256,0.4
+1789729893155591515,12533,0.8363322615623474,-1.896910548210144,-1.0060290098190308,1.3811720609664917,-0.16216634213924408,0.5938377976417542,0.7040842175483704,0.4
+1789729893188907612,12566,0.836331307888031,-1.8969134092330933,-1.0060287714004517,1.3811715841293335,-0.16216769814491272,0.5938390493392944,0.704084038734436,0.4
+1789729893222258375,12600,0.8363316059112549,-1.8969130516052246,-1.0060324668884277,1.3811719417572021,-0.16216954588890076,0.5938393473625183,0.7040838599205017,0.4
+1789729893255588381,12633,0.8363319635391235,-1.8969143629074097,-1.0060346126556396,1.3811718225479126,-0.16217009723186493,0.5938417315483093,0.704083263874054,0.4
+1789729893288907627,12666,0.8363319635391235,-1.8969162702560425,-1.0060337781906128,1.3811719417572021,-0.16216962039470673,0.593838095664978,0.7040833234786987,0.4
+1789729893322257821,12700,0.8363320231437683,-1.8969194889068604,-1.0060330629348755,1.3811724185943604,-0.16217008233070374,0.5938344597816467,0.7040815949440002,0.4
+1789729893355583767,12733,0.8363324403762817,-1.8969157934188843,-1.0060338973999023,1.3811709880828857,-0.1621682196855545,0.5938372015953064,0.7040785551071167,0.4
+1789729893388894574,12766,0.8363322615623474,-1.8969175815582275,-1.0060406923294067,1.3811711072921753,-0.16216705739498138,0.5938320755958557,0.7040748000144958,0.4
+1789729893422247108,12800,0.8363357782363892,-1.896920084953308,-1.006035566329956,1.381173014640808,-0.162167489528656,0.5938332080841064,0.7040776610374451,0.4
+1789729893455621339,12833,0.8363373875617981,-1.8969186544418335,-1.0060375928878784,1.3811721801757812,-0.16216842830181122,0.593833327293396,0.7040785551071167,0.4
+1789729893488899010,12866,0.8363358378410339,-1.8969216346740723,-1.0060406923294067,1.3811734914779663,-0.1621691882610321,0.5938306450843811,0.7040802836418152,0.4
+1789729893522257743,12900,0.8363373279571533,-1.8969252109527588,-1.006038784980774,1.381170630455017,-0.1621694415807724,0.5938305258750916,0.7040815949440002,0.4
+1789729893555587448,12933,0.836338222026825,-1.8969244956970215,-1.0060415267944336,1.3811697959899902,-0.1621687412261963,0.5938277244567871,0.7040796875953674,0.4
+1789729893588923483,12966,0.8363377451896667,-1.8969271183013916,-1.0060429573059082,1.3811719417572021,-0.1621672362089157,0.5938215851783752,0.7040788531303406,0.4
+1789729893622260408,13000,0.8363391757011414,-1.8969271183013916,-1.0060441493988037,1.3811646699905396,-0.16216623783111572,0.593825101852417,0.704078733921051,0.4
+1789729893655594343,13033,0.8363388776779175,-1.8969281911849976,-1.0060452222824097,1.3811659812927246,-0.16216447949409485,0.5938246250152588,0.7040784358978271,0.4
+1789729893688904971,13066,0.8363398909568787,-1.8969281911849976,-1.0060462951660156,1.3811676502227783,-0.16216370463371277,0.5938236117362976,0.704078197479248,0.4
+1789729893722246825,13100,0.8363399505615234,-1.8969281911849976,-1.00605046749115,1.3811672925949097,-0.16216501593589783,0.5938233137130737,0.7040795683860779,0.4
+1789729893755580200,13133,0.8363404273986816,-1.8969359397888184,-1.0060498714447021,1.3811661005020142,-0.1621660441160202,0.5938234329223633,0.7040788531303406,0.4
+1789729893788893057,13166,0.83633953332901,-1.8969390392303467,-1.0060499906539917,1.3811639547348022,-0.1621658205986023,0.5938241481781006,0.7040790915489197,0.4
+1789729893822254150,13200,0.8363395929336548,-1.896936058998108,-1.006051778793335,1.3811668157577515,-0.16216419637203217,0.5938205718994141,0.7040767669677734,0.4
+1789729893855591745,13233,0.8363412618637085,-1.8969367742538452,-1.0060521364212036,1.3811683654785156,-0.1621638685464859,0.5938175916671753,0.70407634973526,0.4
+1789729893888895933,13266,0.8363438844680786,-1.896936058998108,-1.006051778793335,1.3811683654785156,-0.16216342151165009,0.5938186049461365,0.7040771842002869,0.4
+1789729893922256886,13300,0.8363426327705383,-1.896936058998108,-1.0060534477233887,1.3811687231063843,-0.16216503083705902,0.5938194394111633,0.7040788531303406,0.4
+1789729893955583632,13333,0.8363423347473145,-1.896936297416687,-1.0060538053512573,1.381169080734253,-0.16216564178466797,0.5938196778297424,0.7040793299674988,0.4
+1789729893988913557,13366,0.8363434076309204,-1.8969370126724243,-1.0060538053512573,1.3811694383621216,-0.16216544806957245,0.5938207507133484,0.7040793299674988,0.4
+1789729894022248924,13400,0.8363428115844727,-1.8969370126724243,-1.0060532093048096,1.3811707496643066,-0.162165567278862,0.5938170552253723,0.7040801048278809,0.4
+1789729894055584133,13433,0.8363432884216309,-1.896936058998108,-1.0060542821884155,1.3811708688735962,-0.16216471791267395,0.5938156247138977,0.7040795087814331,0.4
+1789729894088981016,13466,0.836344301700592,-1.8969368934631348,-1.0060539245605469,1.3811694383621216,-0.16216430068016052,0.5938157439231873,0.7040784955024719,0.4
+1789729894122254920,13500,0.8363450169563293,-1.8969413042068481,-1.0060526132583618,1.3811686038970947,-0.16216479241847992,0.5938163995742798,0.7040767669677734,0.4
+1789729894155583569,13533,0.8363458514213562,-1.8969389200210571,-1.0060539245605469,1.3811695575714111,-0.16216565668582916,0.5938163995742798,0.7040780186653137,0.4
+1789729894188903209,13566,0.8363449573516846,-1.8969377279281616,-1.0060557126998901,1.3811689615249634,-0.16216562688350677,0.593815803527832,0.7040783166885376,0.4
+1789729894222249396,13600,0.8363451957702637,-1.8969404697418213,-1.0060564279556274,1.381168246269226,-0.16216683387756348,0.5938144326210022,0.7040781378746033,0.4
+1789729894255589004,13633,0.8363465666770935,-1.8969416618347168,-1.006056785583496,1.381168007850647,-0.16216692328453064,0.5938115119934082,0.7040787935256958,0.4
+1789729894288896275,13666,0.8363462686538696,-1.8969424962997437,-1.006056547164917,1.3811676502227783,-0.16216503083705902,0.5938071608543396,0.7040773034095764,0.4
+1789729894322259241,13700,0.8363470435142517,-1.8969439268112183,-1.0060559511184692,1.3811670541763306,-0.16216467320919037,0.5938073992729187,0.7040759921073914,0.4
+1789729894355588390,13733,0.8363487720489502,-1.8969435691833496,-1.0060559511184692,1.3811677694320679,-0.16216501593589783,0.5938073396682739,0.7040751576423645,0.4
+1789729894388894981,13766,0.8363505005836487,-1.8969435691833496,-1.0060560703277588,1.3811695575714111,-0.16216376423835754,0.5938059687614441,0.7040759325027466,0.4
+1789729894422259147,13800,0.8363502621650696,-1.896944522857666,-1.0060558319091797,1.3811697959899902,-0.16216492652893066,0.5938091278076172,0.704075813293457,0.4
+1789729894455604575,13833,0.8363491892814636,-1.896945595741272,-1.0060561895370483,1.3811676502227783,-0.162167027592659,0.5938099026679993,0.7040759325027466,0.4
+1789729894488896147,13866,0.836348831653595,-1.896945834159851,-1.006056547164917,1.3811686038970947,-0.16216717660427094,0.5938089489936829,0.7040768265724182,0.4
+1789729894522259393,13900,0.8363509178161621,-1.8969453573226929,-1.0060560703277588,1.3811713457107544,-0.16216614842414856,0.5938029885292053,0.7040765881538391,0.4
+1789729894555593022,13933,0.8363521099090576,-1.8969467878341675,-1.006055474281311,1.3811702728271484,-0.16216453909873962,0.5938036441802979,0.7040764093399048,0.4
+1789729894588899743,13966,0.8363520503044128,-1.8969521522521973,-1.0060549974441528,1.3811671733856201,-0.16216342151165009,0.593805193901062,0.7040765285491943,0.4
+1789729894622260659,14000,0.8363519906997681,-1.896949291229248,-1.0060575008392334,1.3811694383621216,-0.16216515004634857,0.5938027501106262,0.7040778398513794,0.4
+1789729894655659972,14033,0.8363537192344666,-1.8969471454620361,-1.0060621500015259,1.381171703338623,-0.16216525435447693,0.5938014984130859,0.7040780782699585,0.4
+1789729894688957514,14066,0.8363551497459412,-1.896950364112854,-1.0060615539550781,1.381170630455017,-0.16216523945331573,0.593802809715271,0.7040790915489197,0.4
+1789729894722259475,14100,0.8363547921180725,-1.8969625234603882,-1.00606107711792,1.3811651468276978,-0.16216598451137543,0.5938055515289307,0.7040773630142212,0.4
+1789729894755609852,14133,0.8363536596298218,-1.8969603776931763,-1.0060701370239258,1.3811665773391724,-0.16216404736042023,0.5938003063201904,0.7040768265724182,0.4
+1789729894788897375,14166,0.8363546133041382,-1.8969573974609375,-1.0060774087905884,1.3811678886413574,-0.16216255724430084,0.5937967896461487,0.7040756940841675,0.4
+1789729894822250012,14200,0.8363602757453918,-1.89696204662323,-1.0060704946517944,1.3811676502227783,-0.1621607393026352,0.5937991142272949,0.704075813293457,0.4
+1789729894855595209,14233,0.8363603353500366,-1.8969703912734985,-1.0060673952102661,1.3811653852462769,-0.1621606945991516,0.5938025116920471,0.7040756344795227,0.4
+1789729894888893751,14266,0.8363574147224426,-1.8969671726226807,-1.006072998046875,1.3811655044555664,-0.16216209530830383,0.5938006043434143,0.7040749788284302,0.4
+1789729894922256827,14300,0.836357593536377,-1.8969646692276,-1.006079912185669,1.3811671733856201,-0.16216221451759338,0.5938007235527039,0.7040751576423645,0.4
+1789729894955590406,14333,0.8363596200942993,-1.8969690799713135,-1.006077766418457,1.381166696548462,-0.16216246783733368,0.5938013792037964,0.7040737867355347,0.4
+1789729894988896327,14366,0.8363595604896545,-1.896971344947815,-1.0060768127441406,1.3811662197113037,-0.16216343641281128,0.5938014984130859,0.7040744423866272,0.4
+1789729895022249506,14400,0.8363575339317322,-1.8969708681106567,-1.0060784816741943,1.3811662197113037,-0.1621612310409546,0.5937976837158203,0.704073965549469,0.4
+1789729895055586518,14433,0.8363578915596008,-1.8969700336456299,-1.0060781240463257,1.3811662197113037,-0.16215986013412476,0.5937989354133606,0.7040740251541138,0.4
+1789729895088896882,14466,0.8363595604896545,-1.8969720602035522,-1.0060760974884033,1.3811668157577515,-0.1621619611978531,0.5937970876693726,0.7040742039680481,0.4
+1789729895122254812,14500,0.8363603949546814,-1.8969738483428955,-1.0060757398605347,1.3811671733856201,-0.1621614247560501,0.5937983989715576,0.7040742039680481,0.4
+1789729895155584524,14533,0.8363600373268127,-1.896971344947815,-1.0060795545578003,1.3811670541763306,-0.16216202080249786,0.5937988758087158,0.7040756344795227,0.4
+1789729895188920176,14566,0.8363597989082336,-1.8969707489013672,-1.0060800313949585,1.3811665773391724,-0.16216355562210083,0.5937966704368591,0.7040742039680481,0.4
+1789729895222249848,14600,0.8363608717918396,-1.8969757556915283,-1.0060787200927734,1.3811659812927246,-0.16216140985488892,0.5937953591346741,0.7040753960609436,0.4
+1789729895255580251,14633,0.8363626003265381,-1.896976113319397,-1.0060783624649048,1.3811659812927246,-0.1621607393026352,0.5937951803207397,0.7040755748748779,0.4
+1789729895288891605,14666,0.8363614082336426,-1.8969755172729492,-1.0060793161392212,1.3811657428741455,-0.162159726023674,0.5937924385070801,0.7040736079216003,0.4
+1789729895322326178,14700,0.8363619446754456,-1.896973967552185,-1.0060795545578003,1.3811653852462769,-0.16215938329696655,0.5937921404838562,0.7040743827819824,0.4
+1789729895355581847,14733,0.8363635540008545,-1.896975040435791,-1.0060794353485107,1.3811651468276978,-0.1621597558259964,0.5937928557395935,0.7040758728981018,0.4
+1789729895388915829,14766,0.8363645672798157,-1.8969749212265015,-1.006080985069275,1.3811659812927246,-0.16216006875038147,0.5937908291816711,0.7040762901306152,0.4
+1789729895422246381,14800,0.8363637328147888,-1.8969745635986328,-1.0060843229293823,1.3811659812927246,-0.1621607393026352,0.593789279460907,0.7040758728981018,0.4
+1789729895455580933,14833,0.8363632559776306,-1.896974802017212,-1.0060842037200928,1.381166934967041,-0.16215947270393372,0.5937883257865906,0.704075038433075,0.4
+1789729895488898836,14866,0.8363640308380127,-1.8969764709472656,-1.0060834884643555,1.3811671733856201,-0.16216102242469788,0.5937860012054443,0.7040735483169556,0.4
+1789729895522323500,14900,0.8363653421401978,-1.896977186203003,-1.0060821771621704,1.3811681270599365,-0.16215910017490387,0.5937832593917847,0.704073429107666,0.4
+1789729895555585268,14933,0.8363657593727112,-1.8969765901565552,-1.006082534790039,1.3811686038970947,-0.16215850412845612,0.5937837958335876,0.7040733695030212,0.4
+1789729895588903652,14966,0.8363651633262634,-1.8969757556915283,-1.0060824155807495,1.381169080734253,-0.16215920448303223,0.593785285949707,0.7040743231773376,0.4
+1789729895622246993,15000,0.8363674879074097,-1.896977186203003,-1.0060830116271973,1.381168246269226,-0.16216136515140533,0.5937864184379578,0.7040752172470093,0.4
+1789729895655576015,15033,0.8363680839538574,-1.8969781398773193,-1.0060843229293823,1.3811686038970947,-0.16216318309307098,0.5937849283218384,0.7040765285491943,0.4
+1789729895688890619,15066,0.8363674879074097,-1.8969775438308716,-1.0060843229293823,1.3811686038970947,-0.1621616780757904,0.5937830805778503,0.704075813293457,0.4
+1789729895722305564,15100,0.8363682627677917,-1.8969777822494507,-1.0060844421386719,1.3811683654785156,-0.16216106712818146,0.5937778353691101,0.7040746212005615,0.4
+1789729895755638816,15133,0.8363698124885559,-1.8969782590866089,-1.0060832500457764,1.3811683654785156,-0.16216078400611877,0.5937777757644653,0.7040746212005615,0.4
+1789729895788895275,15166,0.8363702893257141,-1.8969777822494507,-1.0060832500457764,1.3811684846878052,-0.16216100752353668,0.5937785506248474,0.704075038433075,0.4
+1789729895822305840,15200,0.8363701701164246,-1.8969783782958984,-1.0060837268829346,1.3811678886413574,-0.16216015815734863,0.593778669834137,0.7040749788284302,0.4
+1789729895855657210,15233,0.8363701105117798,-1.8969777822494507,-1.006083607673645,1.381168007850647,-0.1621604710817337,0.593778133392334,0.7040740847587585,0.4
+1789729895888891691,15266,0.8363690972328186,-1.8969775438308716,-1.0060844421386719,1.3811671733856201,-0.16216227412223816,0.5937788486480713,0.7040748000144958,0.4
+1789729895922300516,15300,0.8363686800003052,-1.8969790935516357,-1.0060851573944092,1.3811668157577515,-0.16216322779655457,0.5937779545783997,0.7040752172470093,0.4
+1789729895955583073,15333,0.8363685011863708,-1.8969793319702148,-1.0060855150222778,1.3811659812927246,-0.16216214001178741,0.5937761068344116,0.7040754556655884,0.4
+1789729895988899447,15366,0.8363690972328186,-1.8969789743423462,-1.006084680557251,1.3811649084091187,-0.16216036677360535,0.593774139881134,0.7040732502937317,0.4
+1789729896022262188,15400,0.8363684415817261,-1.8969790935516357,-1.006084680557251,1.3811657428741455,-0.16216003894805908,0.5937714576721191,0.7040721774101257,0.4
+1789729896055593493,15433,0.8363696336746216,-1.8969786167144775,-1.0060847997665405,1.381165862083435,-0.1621604561805725,0.5937716364860535,0.7040720582008362,0.4
+1789729896088899871,15466,0.8363693356513977,-1.8969793319702148,-1.0060851573944092,1.3811655044555664,-0.16216008365154266,0.5937708616256714,0.7040718197822571,0.4
+1789729896122323159,15500,0.8363703489303589,-1.8969790935516357,-1.006085753440857,1.3811653852462769,-0.16216130554676056,0.5937716960906982,0.7040736079216003,0.4
+1789729896155591520,15533,0.8363702893257141,-1.8969799280166626,-1.0060847997665405,1.381165862083435,-0.16216382384300232,0.5937702655792236,0.7040744423866272,0.4
+1789729896188889558,15566,0.8363701701164246,-1.8969802856445312,-1.00608491897583,1.3811649084091187,-0.16216295957565308,0.593766450881958,0.7040734887123108,0.4
+1789729896222251751,15600,0.836371123790741,-1.8969817161560059,-1.0060847997665405,1.3811640739440918,-0.16216132044792175,0.5937635898590088,0.704071581363678,0.4
+1789729896255580057,15633,0.8363712430000305,-1.896981120109558,-1.0060843229293823,1.381164312362671,-0.16216036677360535,0.5937621593475342,0.7040717601776123,0.4
+1789729896288886775,15666,0.8363718390464783,-1.8969805240631104,-1.006084680557251,1.3811644315719604,-0.16216056048870087,0.5937597751617432,0.704071044921875,0.4
+1789729896322252797,15700,0.8363717198371887,-1.8969806432724,-1.0060851573944092,1.3811644315719604,-0.162161186337471,0.5937595963478088,0.7040714621543884,0.4
+1789729896355576583,15733,0.8363724946975708,-1.8969807624816895,-1.0060864686965942,1.3811640739440918,-0.16216209530830383,0.5937601327896118,0.7040718197822571,0.4
+1789729896388894380,15766,0.8363723158836365,-1.8969807624816895,-1.0060875415802002,1.381162405014038,-0.162163645029068,0.5937603712081909,0.7040731906890869,0.4
+1789729896422251763,15800,0.8363721966743469,-1.8969817161560059,-1.006087303161621,1.3811572790145874,-0.16216197609901428,0.5937533974647522,0.7040721774101257,0.4
+1789729896455575510,15833,0.8363723754882812,-1.896981954574585,-1.0060858726501465,1.3811557292938232,-0.16216211020946503,0.593745768070221,0.704071581363678,0.4
+1789729896488892946,15866,0.8363713026046753,-1.8969814777374268,-1.0060851573944092,1.3811533451080322,-0.16216109693050385,0.5937408208847046,0.7040706276893616,0.4
+1789729896522256609,15900,0.8363723158836365,-1.8969814777374268,-1.0060853958129883,1.3811540603637695,-0.1621607095003128,0.5937409996986389,0.7040705680847168,0.4
+1789729896555585345,15933,0.8363720178604126,-1.8969814777374268,-1.0060855150222778,1.3811545372009277,-0.16216041147708893,0.5937430262565613,0.7040706872940063,0.4
+1789729896588988554,15966,0.836371898651123,-1.8969813585281372,-1.006085991859436,1.3811553716659546,-0.16216135025024414,0.5937432050704956,0.7040717601776123,0.4
+1789729896622263145,16000,0.8363725543022156,-1.896982192993164,-1.006087303161621,1.3811542987823486,-0.16216246783733368,0.5937415361404419,0.7040725350379944,0.4
+1789729896655581481,16033,0.8363727927207947,-1.8969827890396118,-1.006087064743042,1.3811542987823486,-0.1621617078781128,0.5937408804893494,0.704071581363678,0.4
+1789729896688892149,16066,0.8363737463951111,-1.8969835042953491,-1.006086826324463,1.381155014038086,-0.16216209530830383,0.5937415957450867,0.7040721774101257,0.4
+1789729896722244992,16100,0.8363745808601379,-1.8969829082489014,-1.0060851573944092,1.3811557292938232,-0.16216081380844116,0.5937411189079285,0.7040709853172302,0.4
+1789729896755577818,16133,0.8363749980926514,-1.896981954574585,-1.0060851573944092,1.38115656375885,-0.162160262465477,0.5937398076057434,0.7040702104568481,0.4
+1789729896788887885,16166,0.8363748788833618,-1.896982192993164,-1.0060858726501465,1.381157636642456,-0.16215990483760834,0.5937387943267822,0.7040706872940063,0.4
+1789729896822245508,16200,0.8363756537437439,-1.8969826698303223,-1.0060858726501465,1.3811575174331665,-0.16216138005256653,0.5937389135360718,0.7040720582008362,0.4
+1789729896855582653,16233,0.8363757133483887,-1.8969829082489014,-1.0060861110687256,1.3811582326889038,-0.16216304898262024,0.5937383770942688,0.704073429107666,0.4
+1789729896888893681,16266,0.8363760113716125,-1.896983027458191,-1.0060867071151733,1.3811583518981934,-0.16216298937797546,0.5937367677688599,0.7040731310844421,0.4
+1789729896922247874,16300,0.8363763689994812,-1.8969836235046387,-1.006087303161621,1.3811571598052979,-0.16216108202934265,0.5937312245368958,0.7040733098983765,0.4
+1789729896955584149,16333,0.8363773822784424,-1.8969841003417969,-1.0060864686965942,1.381157636642456,-0.1621597558259964,0.5937288403511047,0.7040736079216003,0.4
+1789729896988917785,16366,0.8363785147666931,-1.8969839811325073,-1.006085753440857,1.3811575174331665,-0.1621599644422531,0.593727171421051,0.7040722966194153,0.4
+1789729897022245603,16400,0.8363804221153259,-1.896984338760376,-1.0060861110687256,1.3811595439910889,-0.16216081380844116,0.5937280654907227,0.7040738463401794,0.4
+1789729897055584321,16433,0.8363809585571289,-1.8969839811325073,-1.0060864686965942,1.381159782409668,-0.16216187179088593,0.5937296748161316,0.7040736079216003,0.4
+1789729897088898441,16466,0.8363809585571289,-1.8969838619232178,-1.0060877799987793,1.3811607360839844,-0.16216279566287994,0.5937288403511047,0.7040749192237854,0.4
+1789729897122257848,16500,0.836381196975708,-1.8969850540161133,-1.0060898065567017,1.3811612129211426,-0.16216321289539337,0.5937294960021973,0.7040730118751526,0.4
+1789729897155586387,16533,0.8363814949989319,-1.8969858884811401,-1.0060900449752808,1.3811604976654053,-0.1621619462966919,0.5937290191650391,0.7040725350379944,0.4
+1789729897188893478,16566,0.8363816738128662,-1.896986961364746,-1.0060900449752808,1.381160020828247,-0.16216135025024414,0.5937292575836182,0.7040712237358093,0.4
+1789729897222247955,16600,0.8363828659057617,-1.8969874382019043,-1.0060898065567017,1.3811609745025635,-0.16216127574443817,0.5937288999557495,0.7040714025497437,0.4
+1789729897255582943,16633,0.8363840579986572,-1.896986484527588,-1.0060904026031494,1.3811607360839844,-0.16216012835502625,0.593728244304657,0.7040718793869019,0.4
+1789729897288895684,16666,0.836384654045105,-1.8969868421554565,-1.0060902833938599,1.3811620473861694,-0.1621616929769516,0.5937278270721436,0.7040716409683228,0.4
+1789729897322308316,16700,0.8363851308822632,-1.896986484527588,-1.0060908794403076,1.381162405014038,-0.16216358542442322,0.5937290787696838,0.7040721774101257,0.4
+1789729897355640044,16733,0.836385190486908,-1.8969871997833252,-1.0060909986495972,1.3811619281768799,-0.16216738522052765,0.5937280058860779,0.7040735483169556,0.4
+1789729897388896790,16766,0.8363847136497498,-1.896988868713379,-1.006090521812439,1.3811616897583008,-0.16216564178466797,0.593727707862854,0.7040727734565735,0.4
+1789729897422246667,16800,0.8363841772079468,-1.8969902992248535,-1.0060909986495972,1.3811619281768799,-0.16216221451759338,0.5937240123748779,0.7040733695030212,0.4
+1789729897455580206,16833,0.836384654045105,-1.8969917297363281,-1.0060909986495972,1.3811619281768799,-0.16216090321540833,0.5937241315841675,0.7040725946426392,0.4
+1789729897488898816,16866,0.8363847732543945,-1.8969908952713013,-1.0060900449752808,1.3811625242233276,-0.16216112673282623,0.5937232971191406,0.7040715217590332,0.4
+1789729897522246383,16900,0.8363858461380005,-1.8969899415969849,-1.0060911178588867,1.3811622858047485,-0.16216132044792175,0.5937221050262451,0.7040729522705078,0.4
+1789729897555581042,16933,0.8363860249519348,-1.896990418434143,-1.0060923099517822,1.381162405014038,-0.16216138005256653,0.5937238931655884,0.704075038433075,0.4
+1789729897588896402,16966,0.8363860845565796,-1.8969905376434326,-1.0060930252075195,1.3811622858047485,-0.16216318309307098,0.5937240719795227,0.7040746808052063,0.4
+1789729897622251209,17000,0.8363873362541199,-1.8969919681549072,-1.0060937404632568,1.381160855293274,-0.1621631234884262,0.5937215685844421,0.704073429107666,0.4
+1789729897655587987,17033,0.8363878130912781,-1.896992564201355,-1.0060926675796509,1.381160855293274,-0.16216115653514862,0.5937195420265198,0.7040721774101257,0.4
+1789729897688909047,17066,0.836387574672699,-1.8969919681549072,-1.006091833114624,1.3811606168746948,-0.16215969622135162,0.5937166213989258,0.7040716409683228,0.4
+1789729897722252675,17100,0.8363880515098572,-1.8969926834106445,-1.0060920715332031,1.381161093711853,-0.16215988993644714,0.5937167406082153,0.7040712833404541,0.4
+1789729897755584544,17133,0.836388885974884,-1.8969923257827759,-1.0060925483703613,1.3811616897583008,-0.16216032207012177,0.5937185287475586,0.7040721774101257,0.4
+1789729897788895234,17166,0.8363880515098572,-1.8969931602478027,-1.0060930252075195,1.3811620473861694,-0.16216161847114563,0.5937185287475586,0.7040717005729675,0.4
+1789729897822246351,17200,0.836388111114502,-1.8969931602478027,-1.0060949325561523,1.3811619281768799,-0.16216227412223816,0.5937187671661377,0.7040721774101257,0.4
+1789729897855582140,17233,0.8363882303237915,-1.8969937562942505,-1.0060970783233643,1.3811619281768799,-0.16216272115707397,0.5937173366546631,0.7040718793869019,0.4
+1789729897888903500,17266,0.8363878130912781,-1.8969954252243042,-1.0060968399047852,1.3811612129211426,-0.16216179728507996,0.5937178134918213,0.7040706276893616,0.4
+1789729897922247567,17300,0.8363879323005676,-1.8969956636428833,-1.0060957670211792,1.3811607360839844,-0.1621599793434143,0.5937159061431885,0.7040687203407288,0.4
+1789729897955581926,17333,0.8363891243934631,-1.8969950675964355,-1.0060964822769165,1.381160855293274,-0.1621607542037964,0.5937163829803467,0.7040687799453735,0.4
+1789729897988908685,17366,0.8363903164863586,-1.896995186805725,-1.0060968399047852,1.3811619281768799,-0.16216224431991577,0.5937170386314392,0.7040687799453735,0.4
+1789729898022258864,17400,0.8363904356956482,-1.896994948387146,-1.006097435951233,1.3811630010604858,-0.16216282546520233,0.593716561794281,0.7040695548057556,0.4
+1789729898055586537,17433,0.8363902568817139,-1.8969957828521729,-1.0060983896255493,1.381163239479065,-0.16216374933719635,0.5937151312828064,0.7040703296661377,0.4
+1789729898088908130,17466,0.8363901376724243,-1.8969957828521729,-1.0060991048812866,1.3811622858047485,-0.16216449439525604,0.5937139391899109,0.7040703892707825,0.4
diff --git a/episode_0011/left.observation.state.eef_pose/data.csv b/episode_0011/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0350a0cb81fb740460d8506da7e88c779bbd3255
--- /dev/null
+++ b/episode_0011/left.observation.state.eef_pose/data.csv
@@ -0,0 +1,526 @@
+timestamp_ns,elapsed_ms,x,y,z,r1,r2,r3,r4,r5,r6,gripper
+1789729880622232203,0,0.6779797673225403,0.03283669799566269,-0.2150750607252121,-0.99994782702685,-0.009173229276269856,0.004501524846889376,-0.009040837802537494,0.9995500962177908,0.028598398876051714,0.0399399995803833
+1789729880655620396,33,0.6779804229736328,0.032835688441991806,-0.2150679975748062,-0.9999477267373136,-0.009178602614836594,0.004496899573266117,-0.009046357820866836,0.9995501468779813,0.028594881876416334,0.0399399995803833
+1789729880688995631,66,0.6779789328575134,0.032835278660058975,-0.21506263315677643,-0.9999478606466612,-0.009179774072174962,0.004498170096098671,-0.009047509901110029,0.9995502407750082,0.02859123610463967,0.03993000090122223
+1789729880722364587,100,0.6779783368110657,0.032834239304065704,-0.21505720913410187,-0.9999477229193316,-0.009179197760443968,0.004497359079566484,-0.009046979928966515,0.9995503835444829,0.028586411021023307,0.03993000090122223
+1789729880755624062,133,0.6779791116714478,0.03283314406871796,-0.21505412459373474,-0.9999477914716797,-0.009178869411874941,0.004493842761901535,-0.009046780433656603,0.9995505557938944,0.02858045106500056,0.03993000090122223
+1789729880788926453,166,0.6779791116714478,0.03283173218369484,-0.21505117416381836,-0.9999478142631997,-0.009179094696618085,0.004493618775774673,-0.00904704791715245,0.999550769152683,0.02857290374031047,0.03993000090122223
+1789729880822285489,200,0.6779795289039612,0.032830771058797836,-0.21504642069339752,-0.9999476844946995,-0.009177950541330797,0.00449500062119843,-0.009045886382877573,0.9995509094288915,0.02856836287055217,0.03993000090122223
+1789729880855622638,233,0.6779773831367493,0.032828669995069504,-0.21504221856594086,-0.9999477852155711,-0.009173156526995355,0.004504243604940575,-0.009040853434657877,0.9995510918736025,0.028563573048478515,0.03993000090122223
+1789729880889015611,266,0.677977442741394,0.03282871097326279,-0.21503674983978271,-0.9999478635396235,-0.009175598136184867,0.004502573836714707,-0.009043328643567697,0.9995509911526373,0.028566314716944846,0.03993000090122223
+1789729880922288895,300,0.6779780983924866,0.03282841295003891,-0.21502995491027832,-0.9999478678468672,-0.009176001747514678,0.0044972206601758226,-0.009043884184253476,0.9995509824755944,0.02856644233011767,0.0399399995803833
+1789729880955611794,333,0.677977979183197,0.03282703086733818,-0.2150258719921112,-0.9999479189737437,-0.009172457548513629,0.0044949340308753525,-0.009040437902609628,0.9995512015874999,0.02855986568067802,0.0399399995803833
+1789729880988924525,366,0.6779782772064209,0.0328262634575367,-0.21502181887626648,-0.9999477929322007,-0.009172549777314753,0.0044917551656284,-0.009040641800370775,0.9995513262803918,0.028555435639134298,0.0399399995803833
+1789729881022362116,400,0.6779773235321045,0.03282427787780762,-0.2150198072195053,-0.9999477619756689,-0.009173714317809945,0.00449389719900436,-0.009041789622859564,0.9995515851011061,0.028546010844134752,0.0399399995803833
+1789729881055621465,433,0.6779768466949463,0.03282300755381584,-0.21501672267913818,-0.9999478403310893,-0.00917475609705741,0.004495415003548848,-0.009042814365922705,0.9995517357284677,0.028540412152891603,0.0399399995803833
+1789729881089020002,466,0.6779762506484985,0.032821737229824066,-0.21501430869102478,-0.9999477759962194,-0.00917401666450715,0.004498149397977803,-0.009042007980384986,0.9995518071049171,0.02853816731883334,0.0399399995803833
+1789729881122367913,500,0.6779758334159851,0.032821182161569595,-0.21500739455223083,-0.999947832255748,-0.009179664506334789,0.0044967615462619265,-0.009047683721659644,0.9995516992498541,0.028540146821587658,0.0399399995803833
+1789729881155628731,533,0.6779757738113403,0.032820843160152435,-0.21500274538993835,-0.9999478671077946,-0.009180564413297905,0.004495851361776595,-0.009048603410204907,0.9995516561038902,0.028541366617400067,0.0399399995803833
+1789729881188922837,566,0.6779766082763672,0.032818928360939026,-0.2149968147277832,-0.9999479029423854,-0.009178392599045574,0.004491200444531955,-0.009046598877175568,0.9995518777005022,0.028534240553793496,0.0399399995803833
+1789729881222287057,600,0.6779770255088806,0.032817475497722626,-0.21499432623386383,-0.9999477309177671,-0.009177815150096118,0.004489006186171296,-0.009046112877714358,0.9995520545714254,0.028528196750039342,0.0399399995803833
+1789729881255622839,633,0.6779767870903015,0.032816238701343536,-0.2149939239025116,-0.9999478579027947,-0.009177044857772801,0.004491251405384308,-0.009045297464624366,0.9995521732083801,0.028524299331758828,0.0399399995803833
+1789729881288926114,666,0.6779762506484985,0.03281504288315773,-0.2149939388036728,-0.9999477546346955,-0.009177058359548023,0.004494632300265033,-0.00904523181476285,0.9995522767140986,0.028520692170471467,0.0399399995803833
+1789729881322291563,700,0.6779745817184448,0.03281405195593834,-0.21499298512935638,-0.9999478757569205,-0.009177037792660925,0.004500634833356382,-0.009045059775004093,0.999552394865712,0.02851660679161209,0.0399399995803833
+1789729881355622746,733,0.6779736280441284,0.03281320258975029,-0.21499089896678925,-0.9999478372725845,-0.009175339908627959,0.0045034141786107545,-0.009043289811091811,0.9995524491500305,0.028515265034486124,0.0399399995803833
+1789729881388934600,766,0.6779741048812866,0.03281237185001373,-0.21498653292655945,-0.9999477304283961,-0.009177812556189421,0.0044999063944622525,-0.009045879253065894,0.9995525329296477,0.02851150592579033,0.0399399995803833
+1789729881422291420,800,0.6779739260673523,0.0328119657933712,-0.21498464047908783,-0.9999477503312404,-0.009175930330777012,0.004499734459312537,-0.009043999366314285,0.9995525301688548,0.028512199091352112,0.0399399995803833
+1789729881455617243,833,0.677973747253418,0.032811831682920456,-0.21498435735702515,-0.9999476708819997,-0.009176266862528152,0.004498521203272838,-0.009044383595655955,0.9995526063342243,0.028509406303063915,0.0399399995803833
+1789729881488932607,866,0.6779741644859314,0.03281080722808838,-0.21498483419418335,-0.9999477645650781,-0.009175801033428375,0.004496838241818662,-0.00904399006738913,0.9995527549626843,0.028504320351577843,0.0399399995803833
+1789729881522293537,900,0.6779738664627075,0.03280879184603691,-0.21498604118824005,-0.9999478327038958,-0.009175088747729715,0.004499973554389549,-0.009043217218471173,0.9995529319860855,0.028498357895602396,0.0399399995803833
+1789729881555615411,933,0.6779727339744568,0.032807283103466034,-0.21498624980449677,-0.9999477132460894,-0.009174587822134534,0.004505461414195689,-0.009042580198122657,0.9995530566277783,0.028494187256469374,0.0399399995803833
+1789729881588922015,966,0.6779720783233643,0.032807134091854095,-0.2149869054555893,-0.9999477607194429,-0.009182538126824184,0.0045082447789918205,-0.009050440078565643,0.9995529371024894,0.02849588569603477,0.0399399995803833
+1789729881622250078,1000,0.6779717803001404,0.032806213945150375,-0.21498675644397736,-0.9999475199411609,-0.00918784280993448,0.004509693576235131,-0.009055701747021723,0.9995528912955235,0.02849581939719857,0.0399399995803833
+1789729881655582400,1033,0.6779736876487732,0.03280339390039444,-0.2149859517812729,-0.9999476262099867,-0.009183575287269569,0.0045056043373584,-0.009051574513816413,0.9995530617104258,0.02849115301943133,0.0399399995803833
+1789729881688898134,1066,0.6779747009277344,0.032801371067762375,-0.21498653292655945,-0.9999477424164578,-0.009179066856788471,0.004502917765288643,-0.009047164844006932,0.9995532245552946,0.028486840710494395,0.0399399995803833
+1789729881722246815,1100,0.6779748201370239,0.032800380140542984,-0.21498766541481018,-0.999947824285375,-0.009178946847549312,0.004502304758174228,-0.009047088521924335,0.9995533819774395,0.02848134136313183,0.0399399995803833
+1789729881755585917,1133,0.6779741048812866,0.032800931483507156,-0.21498829126358032,-0.9999477466716609,-0.009181391634470404,0.004503470307403583,-0.009049512132796145,0.99955343740022,0.028478625816039736,0.0399399995803833
+1789729881788917010,1166,0.6779734492301941,0.03280080482363701,-0.2149883508682251,-0.9999476781296668,-0.009182308294115246,0.004504866199717912,-0.009050400169961295,0.9995534977146122,0.028476226154726756,0.0399399995803833
+1789729881822258981,1200,0.6779738068580627,0.03279995918273926,-0.21498678624629974,-0.9999476889433314,-0.009183745594186082,0.00450474715974418,-0.009051838465220313,0.9995534737894434,0.028476608981853207,0.0399399995803833
+1789729881855586094,1233,0.6779729723930359,0.03279942274093628,-0.21498622000217438,-0.9999475994168996,-0.009188579640843445,0.004506259702617075,-0.009056642505241705,0.999553519355178,0.028473481651496685,0.0399399995803833
+1789729881888894999,1266,0.6779726147651672,0.03279884532094002,-0.21498560905456543,-0.9999475179029207,-0.009189166836393323,0.0045068338759225186,-0.009057226779550944,0.9995535955243314,0.028470621186968838,0.0399399995803833
+1789729881922255938,1300,0.6779730916023254,0.03279799968004227,-0.21498580276966095,-0.9999476509424374,-0.009189825212460694,0.004503610056684944,-0.00905799425190213,0.9995536943752186,0.028466907276953567,0.0399399995803833
+1789729881955591661,1333,0.6779741644859314,0.03279590979218483,-0.214986190199852,-0.9999477653456947,-0.009186630634833994,0.004501692562029778,-0.009054876271368527,0.9995538471674706,0.0284625345223813,0.0399399995803833
+1789729881988895345,1366,0.6779746413230896,0.03279447928071022,-0.21498721837997437,-0.9999476800486842,-0.00918433643147416,0.0045024457060145965,-0.009052575853922318,0.9995539534198302,0.02845953390820876,0.0399399995803833
+1789729882022257598,1400,0.677973747253418,0.032793834805488586,-0.2149878293275833,-0.9999475444926258,-0.009185546418290537,0.004505739332051114,-0.009053714394400801,0.9995540782652813,0.028454785662701394,0.0399399995803833
+1789729882055590154,1433,0.6779735088348389,0.03279305621981621,-0.2149873822927475,-0.9999476852171885,-0.009187220609320097,0.004506047108268962,-0.009055395531647352,0.9995541606324579,0.028451358360079854,0.0399399995803833
+1789729882088918920,1466,0.6779733300209045,0.03279152512550354,-0.21498632431030273,-0.9999476167409458,-0.009191180333672073,0.0045075217701808215,-0.009059323209108721,0.9995541931209984,0.028448966313481903,0.0399399995803833
+1789729882122260125,1500,0.6779731512069702,0.03279058262705803,-0.21498516201972961,-0.9999477206328449,-0.00919016934679015,0.004507199733116784,-0.009058344343424035,0.9995543367059664,0.028444233486659455,0.0399399995803833
+1789729882155594362,1533,0.6779729723930359,0.0327921025454998,-0.21498507261276245,-0.999947565668494,-0.009192431481007513,0.004500953266792562,-0.00906080906327883,0.9995544700980873,0.02843875915572687,0.0399399995803833
+1789729882188905939,1566,0.6779739856719971,0.03278931975364685,-0.21498633921146393,-0.9999476786595243,-0.00918766299026698,0.00450010244763361,-0.00905608768475828,0.9995546388072444,0.028434333474492528,0.0399399995803833
+1789729882222256124,1600,0.6779764294624329,0.03278461471199989,-0.21498769521713257,-0.9999477990790906,-0.009180496544635687,0.004500154428485894,-0.009048942421284643,0.9995548220481248,0.028430166921400234,0.0399399995803833
+1789729882255587820,1633,0.6779757738113403,0.03278598561882973,-0.2149878740310669,-0.9999477042483749,-0.00918505926225827,0.0044986647626917686,-0.009053561497733783,0.9995548750140221,0.028426833505392185,0.0399399995803833
+1789729882288898828,1666,0.6779754757881165,0.0327855721116066,-0.2149878442287445,-0.9999476428683607,-0.009186193319770743,0.004499720236322398,-0.009054675396700938,0.9995549261411614,0.028424680527026545,0.0399399995803833
+1789729882322244433,1700,0.6779744029045105,0.03278295695781708,-0.2149888575077057,-0.9999475261533872,-0.009190389320583707,0.0045061157149365386,-0.009058707624327906,0.9995550053166073,0.02842061089067018,0.0399399995803833
+1789729882355590558,1733,0.6779743432998657,0.03278341889381409,-0.21498648822307587,-0.999947500283678,-0.009195562358272073,0.00450292523505287,-0.00906397352290161,0.9995549835365451,0.028419698013729865,0.03993000090122223
+1789729882388901966,1766,0.6779740452766418,0.032783783972263336,-0.21498551964759827,-0.9999475157842426,-0.009191724514653998,0.0045015554808407465,-0.009060173529300997,0.9995550029024757,0.02842022837104631,0.03993000090122223
+1789729882422246211,1800,0.6779738068580627,0.03278284892439842,-0.21498653292655945,-0.9999475763867267,-0.009192700838468074,0.004499302295027631,-0.009061243244927016,0.9995551713576961,0.0284139624447433,0.03993000090122223
+1789729882455588076,1833,0.6779738664627075,0.03278153017163277,-0.2149876058101654,-0.9999477256604006,-0.00919140189737053,0.004500144167011694,-0.009059935867833071,0.9995552723761741,0.028410826610554062,0.03993000090122223
+1789729882488905654,1866,0.6779735088348389,0.03278077393770218,-0.21498806774616241,-0.9999475817176906,-0.009191949358624149,0.004500782940739224,-0.009060489104539562,0.9995554112952862,0.028405761187449724,0.03993000090122223
+1789729882522259658,1900,0.6779723167419434,0.03278006613254547,-0.2149883657693863,-0.9999475688791373,-0.009194067983176114,0.004502731979707561,-0.009062593704123333,0.9995556432525982,0.028396926334343993,0.0399399995803833
+1789729882555592364,1933,0.6779719591140747,0.0327797457575798,-0.21498677134513855,-0.9999475855830775,-0.009191832464582925,0.004503607218137671,-0.009060331446520034,0.9995556470793958,0.028397513514578268,0.0399399995803833
+1789729882588909342,1966,0.6779717206954956,0.03277863562107086,-0.21498507261276245,-0.9999475293408115,-0.009189073719852003,0.004504076339707962,-0.009057569939223464,0.9995557285127212,0.028395527410678835,0.0399399995803833
+1789729882622255187,2000,0.6779706478118896,0.032778650522232056,-0.21498417854309082,-0.9999476192694452,-0.009189914012827441,0.004502302432449202,-0.0090584851461427,0.9995558689703058,0.0283902914116968,0.0399399995803833
+1789729882655592782,2033,0.6779714822769165,0.032777972519397736,-0.21498364210128784,-0.9999476976540442,-0.009190590135407002,0.004497624397152247,-0.009059320544887688,0.999556022084578,0.02838463398569235,0.0399399995803833
+1789729882688898851,2066,0.6779729127883911,0.03277529776096344,-0.21498534083366394,-0.9999477667202015,-0.009188178689816508,0.004496154695704982,-0.00905698014798536,0.9995562130971504,0.028378654093150373,0.0399399995803833
+1789729882722260335,2100,0.6779728531837463,0.032773710787296295,-0.21498623490333557,-0.9999476990528704,-0.009185872359848997,0.004497724778961229,-0.009054641568702308,0.9995563019533755,0.028376269904813935,0.0399399995803833
+1789729882755589241,2133,0.6779710650444031,0.032773178070783615,-0.21498644351959229,-0.9999476514091881,-0.009185973149044702,0.0045028154915182856,-0.009054605964680528,0.999556349299737,0.028374613252001565,0.0399399995803833
+1789729882788897309,2166,0.6779710054397583,0.03277339041233063,-0.21498635411262512,-0.9999477356590805,-0.009188158606791836,0.004503525949773235,-0.009056756252216197,0.999556245271375,0.028377592298960915,0.0399399995803833
+1789729882822259993,2200,0.6779712438583374,0.03277463838458061,-0.214986652135849,-0.9999476252116477,-0.009196862216991291,0.004499885032141211,-0.00906557814163494,0.9995562757244281,0.0283737021129815,0.0399399995803833
+1789729882855586449,2233,0.6779707670211792,0.032772090286016464,-0.21498742699623108,-0.9999477009967852,-0.00919585741097543,0.004500493715934268,-0.009064583782558774,0.9995564474647439,0.02836796964816852,0.0399399995803833
+1789729882888896758,2266,0.677969753742218,0.03276580944657326,-0.21498829126358032,-0.9999476589841454,-0.009190746477782692,0.004500779855231117,-0.009059513878901176,0.9995567743481036,0.028358068933369743,0.0399399995803833
+1789729882922258371,2300,0.6779701709747314,0.032767005264759064,-0.21498754620552063,-0.9999476387139425,-0.009190583672541913,0.0044959183516501315,-0.00905949230319944,0.9995567954597433,0.02835733133873667,0.0399399995803833
+1789729882955588257,2333,0.677971601486206,0.03276985138654709,-0.21498729288578033,-0.9999475675611347,-0.00919469690210892,0.004487542362649972,-0.009063853147253024,0.9995568279316739,0.028354792558665225,0.0399399995803833
+1789729882988906325,2366,0.6779714822769165,0.032766953110694885,-0.21498794853687286,-0.9999476616078442,-0.009191202149234811,0.004491438660179651,-0.009060273602258518,0.9995570045741375,0.028349709768771315,0.0399399995803833
+1789729883022260351,2400,0.677970290184021,0.03276229649782181,-0.21498796343803406,-0.9999477614316712,-0.009186302609345366,0.004498968231892504,-0.009055185996683555,0.9995571887147181,0.02834484308467354,0.0399399995803833
+1789729883055586582,2433,0.6779696941375732,0.03276536241173744,-0.21498584747314453,-0.9999476847706308,-0.009197159798036165,0.004494017405100711,-0.009066191920540461,0.9995571655894556,0.028342140311274428,0.0399399995803833
+1789729883088913962,2466,0.677971363067627,0.032767921686172485,-0.21498416364192963,-0.9999476547518888,-0.009200082907423666,0.004486526784921693,-0.009069331033773522,0.9995571679181998,0.028341053548823287,0.0399399995803833
+1789729883122269380,2500,0.6779723167419434,0.03276083990931511,-0.21498678624629974,-0.9999476031959744,-0.009191258714395667,0.0044922123469811285,-0.009060398006763138,0.9995575389531064,0.028330822099642657,0.0399399995803833
+1789729883155600100,2533,0.6779713034629822,0.03275880217552185,-0.21498677134513855,-0.9999477315330718,-0.009188723567574174,0.004497112689708644,-0.009057743637456917,0.9995576726938596,0.02832695299741462,0.0399399995803833
+1789729883188918861,2566,0.677970290184021,0.03276117146015167,-0.21498650312423706,-0.9999476388395916,-0.009192196896561786,0.004495039515484647,-0.009061289822994947,0.9995577333535901,0.028323677654206715,0.0399399995803833
+1789729883222262340,2600,0.6779716610908508,0.03276713564991951,-0.2149866819381714,-0.9999476003522756,-0.009200476066684827,0.004484667686471714,-0.009069865682443955,0.9995576948721978,0.02832229069866081,0.0399399995803833
+1789729883255585181,2633,0.6779724955558777,0.03276163712143898,-0.2149883210659027,-0.9999476538196446,-0.009193332255223468,0.004490665139136861,-0.009062586029233917,0.9995579456707034,0.028315769098822174,0.0399399995803833
+1789729883288899552,2666,0.6779702305793762,0.03275842219591141,-0.21498854458332062,-0.9999476508152421,-0.009190621104735418,0.004501028593544866,-0.009059583231234715,0.9995579747552725,0.02831570344699288,0.0399399995803833
+1789729883322261369,2700,0.6779680848121643,0.032761260867118835,-0.21498551964759827,-0.9999475448777317,-0.009199537253252042,0.004495786904077185,-0.009068661923097434,0.9995579985313292,0.02831195734745227,0.0399399995803833
+1789729883355583800,2733,0.677970290184021,0.032763443887233734,-0.21498629450798035,-0.999947539080561,-0.009200499300770172,0.0044854794180178145,-0.00906991617241758,0.9995579942036559,0.028311708019044316,0.0399399995803833
+1789729883388892932,2766,0.6779758334159851,0.0327584482729435,-0.21498708426952362,-0.9999477065392721,-0.009193013901327603,0.004476730938888832,-0.00906269315386559,0.999558132311902,0.028309145429834533,0.0399399995803833
+1789729883422255989,2800,0.6779741644859314,0.032752178609371185,-0.21498963236808777,-0.999947827488197,-0.009188371231819955,0.004487350154070792,-0.009057811646629747,0.9995585316222851,0.02829660682620601,0.0399399995803833
+1789729883455598568,2833,0.6779724955558777,0.03275434300303459,-0.21498961746692657,-0.9999476226501383,-0.009193160741688671,0.004488061939014425,-0.009062573475836128,0.9995584544736229,0.028297806121887422,0.0399399995803833
+1789729883488921979,2866,0.677971363067627,0.03276028856635094,-0.2149905413389206,-0.9999475415867014,-0.009205852589873513,0.004481665307812511,-0.009075454716318971,0.9995584187150177,0.02829494088586277,0.0399399995803833
+1789729883522267987,2900,0.6779730916023254,0.032757312059402466,-0.21499042212963104,-0.9999475854621223,-0.009199389677935418,0.004487471735064006,-0.009068822851006866,0.9995584346791058,0.02829650332940902,0.0399399995803833
+1789729883555591258,2933,0.677973210811615,0.03274960815906525,-0.21499206125736237,-0.9999476347799705,-0.009192998404488421,0.004496594713925691,-0.009062207969845111,0.9995586831499376,0.028289844943209057,0.0399399995803833
+1789729883588900180,2966,0.677971363067627,0.03275224193930626,-0.21499204635620117,-0.9999476420998223,-0.009197656189574101,0.004494760817988059,-0.009066914506184385,0.9995586330725558,0.028290106585058428,0.0399399995803833
+1789729883622262707,3000,0.6779695749282837,0.0327635183930397,-0.21499185264110565,-0.9999475431031877,-0.009213888763324251,0.004478816760151445,-0.0090836079146283,0.9995585815549256,0.028286571318933296,0.0399399995803833
+1789729883655590457,3033,0.6779752969741821,0.03275332972407341,-0.2149929255247116,-0.9999477568677881,-0.009198449328136477,0.004477035671934917,-0.009068269070148276,0.999558985288327,0.028277225170125663,0.0399399995803833
+1789729883688901439,3066,0.6779802441596985,0.032740794122219086,-0.21499501168727875,-0.9999478784817653,-0.009183586088188131,0.00447933690404375,-0.009053406298918057,0.9995594761369653,0.02826463399642915,0.0399399995803833
+1789729883722257097,3100,0.6779751181602478,0.03274986520409584,-0.21499156951904297,-0.9999475993928457,-0.009195352739269061,0.004478454297267848,-0.00906516002601889,0.9995591711039917,0.02827165177870172,0.0399399995803833
+1789729883755587307,3133,0.677972137928009,0.0327569916844368,-0.21499118208885193,-0.9999475036704197,-0.009208571515266705,0.004475087738109109,-0.0090784846718311,0.9995591455368419,0.0282682799829639,0.0399399995803833
+1789729883788904018,3166,0.6779731512069702,0.032753583043813705,-0.21499158442020416,-0.9999477403782364,-0.009198900789601266,0.004482973717010782,-0.00906859533297601,0.9995592366220285,0.02826823493643741,0.0399399995803833
+1789729883822255756,3200,0.6779742240905762,0.03274664282798767,-0.21499133110046387,-0.9999477360633762,-0.00918688988581173,0.004490680999759147,-0.009056372232753577,0.999559351562084,0.02826808864401145,0.0399399995803833
+1789729883855586256,3233,0.6779724359512329,0.0327502116560936,-0.2149907648563385,-0.9999476244113297,-0.009195672744891248,0.004486446399162413,-0.009065289955762112,0.9995593824276476,0.028264138155884994,0.0399399995803833
+1789729883888892978,3266,0.677969217300415,0.0327567495405674,-0.21499256789684296,-0.9999475824789834,-0.009209594335709323,0.00448021956583812,-0.00907942890064685,0.9995595345262065,0.028254219526987916,0.0399399995803833
+1789729883922263835,3300,0.677975058555603,0.032746318727731705,-0.21499192714691162,-0.9999476289773557,-0.009194298814520146,0.0044788795133345015,-0.009064209511218464,0.9995598658615324,0.02824738276660787,0.0399399995803833
+1789729883955586305,3333,0.6779775619506836,0.03273925930261612,-0.21499431133270264,-0.9999476784658043,-0.009184622689644515,0.004481696065638141,-0.009054489460681294,0.9995601432789882,0.02824068245052966,0.0399399995803833
+1789729883988997298,3366,0.6779741048812866,0.032743316143751144,-0.21499359607696533,-0.9999476154640012,-0.009193257894441698,0.004485915431072414,-0.009062972673039904,0.9995598897736995,0.02824693353253963,0.0399399995803833
+1789729884022255347,3400,0.6779717803001404,0.0327470526099205,-0.2149917334318161,-0.99994759359073,-0.009206356611369801,0.004484621949452068,-0.009076106355989114,0.9995597918077549,0.028246183947339746,0.0399399995803833
+1789729884055586041,3433,0.6779725551605225,0.03274483606219292,-0.2149919718503952,-0.9999475936433093,-0.009201138781826396,0.004485999558877206,-0.00907085171236886,0.9995598396179061,0.02824617968461398,0.0399399995803833
+1789729884088908095,3466,0.6779741048812866,0.03274152800440788,-0.21499240398406982,-0.9999475556819877,-0.009196000978361821,0.004484826839217146,-0.009065755434376151,0.9995599243259328,0.02824481748319502,0.0399399995803833
+1789729884122260247,3500,0.6779724359512329,0.03274446725845337,-0.21499215066432953,-0.9999475437950895,-0.0092030738507571,0.004479663898592365,-0.009073013227918685,0.9995601091433127,0.028235945323782707,0.0399399995803833
+1789729884155586291,3533,0.677970290184021,0.03274751827120781,-0.21499134600162506,-0.9999475403413434,-0.009210135703755234,0.004476506074333433,-0.009080201957843365,0.9995602858424867,0.02822737833574258,0.0399399995803833
+1789729884188895576,3566,0.6779730319976807,0.03273959457874298,-0.21499274671077728,-0.999947647225643,-0.009198317294323098,0.004481620403217743,-0.009068266092285816,0.9995605259272448,0.028222713480204296,0.0399399995803833
+1789729884222260827,3600,0.6779717206954956,0.03273620456457138,-0.21499332785606384,-0.9999475309728845,-0.009197522961767488,0.004490513993050279,-0.009067240825319702,0.9995606504909264,0.028218630286988462,0.0399399995803833
+1789729884255588311,3633,0.6779722571372986,0.03273732587695122,-0.21499097347259521,-0.9999475404279645,-0.009201641063307365,0.004485992513071237,-0.009071483196914953,0.9995606028429971,0.028218954798755247,0.03993000090122223
+1789729884288893647,3666,0.6779717803001404,0.03273943066596985,-0.2149905264377594,-0.9999475143742385,-0.009206139303648463,0.004482880598233572,-0.00907607177956924,0.9995605873658935,0.02821802756387022,0.03993000090122223
+1789729884322260537,3700,0.6779744029045105,0.03273278474807739,-0.21498988568782806,-0.9999476726141179,-0.009192182710021653,0.004483750471283232,-0.009062109690192048,0.9995607950578219,0.02821515798225902,0.0399399995803833
+1789729884355584632,3733,0.6779753565788269,0.03272891789674759,-0.2149912714958191,-0.999947834065587,-0.009184975493441133,0.004485358703452125,-0.009054872943171949,0.999560937907912,0.028212421346684332,0.0399399995803833
+1789729884388898737,3766,0.6779727339744568,0.032735034823417664,-0.2149921953678131,-0.9999476945416641,-0.009196561341738697,0.004480584064408062,-0.00906661224034726,0.9995609709781151,0.028207478608912866,0.0399399995803833
+1789729884422256688,3800,0.6779725551605225,0.032736845314502716,-0.2149912565946579,-0.9999476322705443,-0.009200824756913702,0.004476357109758317,-0.009071003564154405,0.9995609937152338,0.028205260655137586,0.0399399995803833
+1789729884455583422,3833,0.6779707074165344,0.03273531049489975,-0.21499301493167877,-0.9999476247101335,-0.009195492166865375,0.004484838469705804,-0.009065435317692612,0.9995610510665381,0.028205018283308514,0.0399399995803833
+1789729884488889648,3866,0.6779704093933105,0.03273482248187065,-0.21499119699001312,-0.9999476951192436,-0.009196523670699525,0.004485771019707447,-0.009066428281530852,0.999560971412673,0.028207522521156603,0.0399399995803833
+1789729884522262608,3900,0.6779704689979553,0.032734137028455734,-0.2149907797574997,-0.9999476797872728,-0.009199152269497423,0.004486536041918818,-0.00906903685209336,0.9995609628242944,0.0282069883849413,0.0399399995803833
+1789729884555587272,3933,0.6779689788818359,0.03273672237992287,-0.21499226987361908,-0.9999475560396967,-0.009205412011004234,0.004484748357860681,-0.009075365313896288,0.9995610290482109,0.02820260529361519,0.0399399995803833
+1789729884588893528,3966,0.6779730319976807,0.0327315479516983,-0.21499118208885193,-0.9999476705457098,-0.009197836188191234,0.004478260057419962,-0.009067996178576697,0.999561221227752,0.02819816417312196,0.0399399995803833
+1789729884622257529,4000,0.6779751181602478,0.032723478972911835,-0.2149936556816101,-0.9999478041197225,-0.009190270947460477,0.004481063414057701,-0.009060412679382424,0.9995616336102222,0.028185981796880238,0.0399399995803833
+1789729884655586083,4033,0.6779710650444031,0.03273187577724457,-0.2149953544139862,-0.999947586715062,-0.009201109632799971,0.004478857064688148,-0.009071305671583423,0.9995615133822926,0.02818674077784673,0.0399399995803833
+1789729884688892379,4066,0.677970826625824,0.03273366764187813,-0.21499229967594147,-0.999947575959077,-0.009203853984938726,0.0044747867007162295,-0.009074165389318156,0.9995614985286274,0.02818634700387285,0.0399399995803833
+1789729884722306724,4100,0.6779699325561523,0.03272758796811104,-0.2149960845708847,-0.999947526168637,-0.009197752640683739,0.004488659364928787,-0.009067684116070555,0.9995616058085196,0.028184627987971174,0.0399399995803833
+1789729884755589602,4133,0.6779691576957703,0.03273084759712219,-0.2149943709373474,-0.9999475921718124,-0.009206253652535301,0.004485362224476349,-0.00907626350462104,0.9995614617561052,0.028186976178662348,0.0399399995803833
+1789729884788897618,4166,0.6779698729515076,0.03273231163620949,-0.21498814225196838,-0.9999475469448791,-0.009208028403109416,0.004476273116826965,-0.009078301160504563,0.9995614895522106,0.028185333685838077,0.0399399995803833
+1789729884822254469,4200,0.677971363067627,0.03272673487663269,-0.21498987078666687,-0.999947589557947,-0.00920087658428638,0.004478689931822397,-0.009071117036346762,0.9995617508629028,0.028178378678616042,0.0399399995803833
+1789729884855585213,4233,0.6779710650444031,0.032727647572755814,-0.2149902582168579,-0.9999475395718165,-0.009202848804592555,0.0044778291564715154,-0.00907312111710178,0.9995617826792416,0.028176604515208474,0.0399399995803833
+1789729884888905228,4266,0.6779714822769165,0.032727181911468506,-0.21499016880989075,-0.9999475114592808,-0.009202345731607279,0.004478054992284158,-0.009072616612160075,0.9995618153962998,0.028175606067602624,0.0399399995803833
+1789729884922252330,4300,0.6779677867889404,0.032728299498558044,-0.21499377489089966,-0.9999475740654704,-0.009205786597909417,0.004486694412834821,-0.009075842494431462,0.9995619607158794,0.028169412115532103,0.0399399995803833
+1789729884955585723,4333,0.6779671311378479,0.0327296257019043,-0.21499300003051758,-0.9999475842381587,-0.009206908123982192,0.004485186274643206,-0.009077004315146332,0.9995619401043728,0.02816976924919004,0.0399399995803833
+1789729884988891349,4366,0.6779707074165344,0.032724857330322266,-0.2149900197982788,-0.9999475864929475,-0.009198357768758684,0.0044820575465872705,-0.009068545040507222,0.9995620155815022,0.028169814872978798,0.0399399995803833
+1789729885022261712,4400,0.6779699325561523,0.03272677958011627,-0.21499241888523102,-0.9999475149720749,-0.009203991768788538,0.004480297869349263,-0.009074238377477745,0.9995620353458842,0.02816727983807133,0.0399399995803833
+1789729885055586890,4433,0.6779692769050598,0.032729119062423706,-0.21499161422252655,-0.9999474689902899,-0.009207659556349813,0.004477126471785888,-0.009078001710375448,0.9995620473562129,0.028165640749809033,0.0399399995803833
+1789729885088903868,4466,0.677972674369812,0.032721079885959625,-0.21499237418174744,-0.9999476773292979,-0.009197718071674939,0.004476624242358991,-0.009068123464219783,0.9995624063862864,0.028156080606626506,0.0399399995803833
+1789729885122261143,4500,0.6779719591140747,0.0327209010720253,-0.2149934321641922,-0.9999475951523602,-0.009199789817920275,0.004477931861324608,-0.00907017142735164,0.9995624697443957,0.028153171095658517,0.0399399995803833
+1789729885155582231,4533,0.6779720783233643,0.032723259180784225,-0.21499180793762207,-0.9999476171632036,-0.00920788244877872,0.00447440086258921,-0.009078356490867818,0.9995623733355479,0.028153956462930983,0.0399399995803833
+1789729885188900090,4566,0.6779704689979553,0.032721612602472305,-0.2149927020072937,-0.9999475324772162,-0.009211358197626472,0.004482371034618823,-0.009081620899450473,0.9995624271959161,0.028150991135343424,0.0399399995803833
+1789729885222260605,4600,0.6779682040214539,0.032721515744924545,-0.21499358117580414,-0.9999475135079587,-0.009213414633678805,0.004488701057954534,-0.009083501654005456,0.9995624281534632,0.02815035054707758,0.0399399995803833
+1789729885255611890,4633,0.6779696345329285,0.03272208198904991,-0.21498918533325195,-0.9999475576829275,-0.009212336178421755,0.004481227607182631,-0.009082626413450267,0.9995623929166725,0.028151884105936067,0.0399399995803833
+1789729885288920989,4666,0.677970290184021,0.03272143751382828,-0.21498917043209076,-0.9999474775619388,-0.009211136064357724,0.004478760800020491,-0.009081509656598733,0.999562483636132,0.028149022352127052,0.0399399995803833
+1789729885322283504,4700,0.6779696941375732,0.03272099047899246,-0.21499024331569672,-0.9999476243145655,-0.00921126339800256,0.004480046381536037,-0.00908161621797003,0.9995625742104768,0.02814577271422402,0.0399399995803833
+1789729885355678035,4733,0.6779711246490479,0.03271770477294922,-0.21498996019363403,-0.9999474673631417,-0.009208333081946705,0.004479851674112426,-0.009078718970097467,0.9995627578143566,0.02814018494404114,0.0399399995803833
+1789729885388929960,4766,0.6779694557189941,0.0327179841697216,-0.21499092876911163,-0.9999476256673192,-0.009211766172474538,0.004483998143600832,-0.009082047614722095,0.999562806981359,0.028137365869902908,0.0399399995803833
+1789729885422327081,4800,0.6779689192771912,0.03272010758519173,-0.21498969197273254,-0.9999473901561473,-0.009214472424962906,0.004482467235563977,-0.009084795348336137,0.9995627791427996,0.028137466093522096,0.0399399995803833
+1789729885455681356,4833,0.6779688596725464,0.03271869570016861,-0.2149898260831833,-0.9999475968084006,-0.009212577483930777,0.004484109219401816,-0.009082860348024087,0.9995628284107916,0.02813634207941916,0.0399399995803833
+1789729885489017743,4866,0.6779673099517822,0.03271755948662758,-0.21499086916446686,-0.9999475398269144,-0.009211147194359854,0.004490702591875631,-0.009081254865856574,0.9995628992794279,0.02813434226564602,0.0399399995803833
+1789729885522263578,4900,0.6779678463935852,0.03271785005927086,-0.21498847007751465,-0.9999475027492561,-0.009210486185633363,0.004486242019523749,-0.009080725777564132,0.999562941800561,0.02813300181810137,0.0399399995803833
+1789729885555587456,4933,0.6779695153236389,0.03271614760160446,-0.21498768031597137,-0.9999474675061453,-0.009206367311585145,0.004483390793118029,-0.009076694628834809,0.9995630143121608,0.02813172567008138,0.0399399995803833
+1789729885588896115,4966,0.6779711246490479,0.03271275386214256,-0.2149885892868042,-0.9999475501245145,-0.00920424695121428,0.004482926773536764,-0.00907461442175169,0.9995631892925717,0.028126179378016227,0.0399399995803833
+1789729885622251050,5000,0.677969217300415,0.03271084651350975,-0.21499034762382507,-0.9999476116787036,-0.00920333407740137,0.004491233234884545,-0.009073498329001728,0.9995633754086344,0.02811992516535271,0.0399399995803833
+1789729885655581958,5033,0.6779677867889404,0.03271358087658882,-0.2149907350540161,-0.9999476071771349,-0.009209187681310118,0.0044901150533236504,-0.00907938180225649,0.9995633262518357,0.02811977381427545,0.0399399995803833
+1789729885688916625,5066,0.6779676079750061,0.032713811844587326,-0.21499018371105194,-0.9999473156581835,-0.009220178775237755,0.004488921084831774,-0.009090411070377866,0.9995632786105014,0.02811790240209522,0.0399399995803833
+1789729885722282259,5100,0.6779676079750061,0.03271288424730301,-0.21499046683311462,-0.9999474209212398,-0.00921540920583816,0.004491479818337085,-0.009085553704163113,0.9995632174144375,0.028121648125033306,0.0399399995803833
+1789729885755614516,5133,0.67796790599823,0.032712534070014954,-0.2149898111820221,-0.9999473705649093,-0.009215327415475998,0.0044896076760655625,-0.009085533060503454,0.9995632682395319,0.028119847734344797,0.0399399995803833
+1789729885788921645,5166,0.6779678463935852,0.032712798565626144,-0.2149895280599594,-0.999947531020766,-0.00921638903171421,0.0044881023595255455,-0.00908664972390624,0.9995633362116597,0.028117071876233378,0.0399399995803833
+1789729885822287190,5200,0.6779690384864807,0.032709650695323944,-0.21499009430408478,-0.9999473660666609,-0.009214780149331844,0.004487080060289196,-0.009085098050917853,0.9995635156296925,0.02811119292400476,0.0399399995803833
+1789729885855613298,5233,0.6779698729515076,0.03270759433507919,-0.21499043703079224,-0.9999475587778386,-0.009211584655119249,0.00448812223366965,-0.009081882265479718,0.9995635906482605,0.02810956581607454,0.0399399995803833
+1789729885888922457,5266,0.6779690980911255,0.03270765766501427,-0.2149905115365982,-0.9999475140938454,-0.009212781166206198,0.004489493920377417,-0.00908304732448647,0.9995636245288158,0.028107984339146026,0.0399399995803833
+1789729885922289311,5300,0.6779679656028748,0.03270826116204262,-0.21498990058898926,-0.9999474387018843,-0.009214771787033142,0.004490029077200124,-0.009085034869053961,0.9995636817187726,0.02810530768178255,0.0399399995803833
+1789729885955614159,5333,0.6779678463935852,0.03270699456334114,-0.2149898111820221,-0.9999473442235891,-0.009214871995470338,0.004491432604386242,-0.009085111592130095,0.9995637753874298,0.02810195068274897,0.0399399995803833
+1789729885988943266,5366,0.6779671311378479,0.032706763595342636,-0.21498964726924896,-0.9999475304637553,-0.00921577426086517,0.004493148488136176,-0.009085974145548684,0.9995638194679641,0.02810010541363045,0.0399399995803833
+1789729886022326811,5400,0.6779669523239136,0.032706670463085175,-0.21498945355415344,-0.9999474985048433,-0.00921439511413384,0.004492364567943382,-0.009084622959501036,0.999563863921201,0.028098960610610648,0.03993000090122223
+1789729886055624125,5433,0.6779677867889404,0.032705847173929214,-0.21498903632164001,-0.9999474470908507,-0.009212821445173214,0.004491044448746026,-0.009083095670701091,0.9995639295232817,0.028097120074415383,0.03993000090122223
+1789729886088925888,5466,0.6779673099517822,0.03270535171031952,-0.2149885892868042,-0.9999473823443255,-0.009213007990548213,0.0044927800543458855,-0.00908324436400291,0.9995639927360754,0.028094822667587917,0.03993000090122223
+1789729886122285867,5500,0.6779661774635315,0.032705605030059814,-0.21498820185661316,-0.9999474986841923,-0.009215152446274927,0.004494830242035317,-0.009085351080640219,0.999564095341421,0.02809049175010131,0.03993000090122223
+1789729886155587210,5533,0.6779660582542419,0.03270580992102623,-0.21498751640319824,-0.9999475432880125,-0.009216117622439656,0.004494379631863686,-0.009086320976730922,0.9995640418819564,0.028092080679290067,0.03993000090122223
+1789729886188922311,5566,0.6779657006263733,0.03270508348941803,-0.2149876356124878,-0.9999475130115218,-0.009216202407181913,0.004495957411442233,-0.009086366562592978,0.9995640715617868,0.02809100968142152,0.03993000090122223
+1789729886222262641,5600,0.6779652237892151,0.032703958451747894,-0.2149886041879654,-0.9999474623441418,-0.009215439853574987,0.004498206093056159,-0.009085549769450522,0.9995641294569945,0.02808921335551816,0.0399399995803833
+1789729886255585452,5633,0.677966296672821,0.032703202217817307,-0.21498802304267883,-0.9999473682860964,-0.009216782042996675,0.0044943967701105165,-0.009087014272895953,0.999564210669873,0.028085848662922987,0.0399399995803833
+1789729886288894315,5666,0.6779678463935852,0.03270074725151062,-0.21498875319957733,-0.9999474575884884,-0.009213815320780527,0.004492455186776958,-0.009084128445742634,0.9995643865471071,0.028080522713890027,0.0399399995803833
+1789729886322248164,5700,0.6779683828353882,0.03269891068339348,-0.21498972177505493,-0.9999473522182099,-0.00921258263311829,0.0044926609183046345,-0.009082908303460382,0.9995645031395738,0.02807676598997688,0.0399399995803833
+1789729886355661318,5733,0.6779675483703613,0.03269825130701065,-0.2149898111820221,-0.9999475025511111,-0.009217098680280762,0.00449578631733478,-0.009087349808499894,0.9995645502137703,0.028073654330593077,0.0399399995803833
+1789729886388900597,5766,0.6779664158821106,0.03269895911216736,-0.2149897813796997,-0.99994725344638,-0.009223010760140048,0.004497582999544725,-0.009093210966197241,0.9995645070165133,0.02807329307388846,0.0399399995803833
+1789729886422248076,5800,0.6779657006263733,0.0326993502676487,-0.2149895429611206,-0.9999472108581191,-0.00922798117009312,0.004497739520451271,-0.009098182246634206,0.9995645040587048,0.028071787692731446,0.0399399995803833
+1789729886455585567,5833,0.6779660582542419,0.03269876912236214,-0.21498870849609375,-0.9999472740358872,-0.009225041570213033,0.0044975502397463455,-0.00909523840703469,0.9995644678378436,0.028074031564404245,0.0399399995803833
+1789729886488894860,5866,0.6779664158821106,0.03269879147410393,-0.21498839557170868,-0.9999472898703161,-0.009220948469581712,0.004495956982624436,-0.009091188931722729,0.9995644892970167,0.028074578918462476,0.0399399995803833
+1789729886522255788,5900,0.6779663562774658,0.03269841521978378,-0.21498899161815643,-0.9999473623562967,-0.009223223221087429,0.004495013856070127,-0.009093517354708147,0.999564634127177,0.028068668376442698,0.0399399995803833
+1789729886555590328,5933,0.6779675483703613,0.032697346061468124,-0.21498814225196838,-0.9999473084900903,-0.00922262348025039,0.004492954439943754,-0.009092984733589871,0.9995646931796749,0.028066737385683684,0.0399399995803833
+1789729886588963476,5966,0.6779668927192688,0.03269756957888603,-0.21498851478099823,-0.9999472840399157,-0.009221945178193006,0.0044954091215284,-0.009092241995890834,0.9995647241378504,0.028065875300266253,0.0399399995803833
+1789729886622266629,6000,0.6779666543006897,0.03269832581281662,-0.21498768031597137,-0.9999472979889605,-0.009223879660826599,0.004495189256156964,-0.009094179520666941,0.9995646924548091,0.028066376175654065,0.0399399995803833
+1789729886655588301,6033,0.6779659390449524,0.03269680216908455,-0.21498741209506989,-0.9999474112141082,-0.009223952323774043,0.004499029426526984,-0.009094165685246347,0.9995648173571988,0.0280619330109358,0.0399399995803833
+1789729886688914362,6066,0.6779663562774658,0.03269532322883606,-0.21498745679855347,-0.9999473661359357,-0.00922063936590527,0.00450016827638374,-0.009090829741106154,0.999564892885476,0.028060323001222465,0.0399399995803833
+1789729886722257562,6100,0.677966833114624,0.03269529715180397,-0.2149868607521057,-0.9999473333866706,-0.009222939570353807,0.004497351783173571,-0.009093213567064494,0.9995649041843474,0.02805914790038337,0.0399399995803833
+1789729886755587953,6133,0.67796790599823,0.03269386664032936,-0.21498703956604004,-0.9999474664888537,-0.009222103999298107,0.004494886562110733,-0.00909246529553078,0.9995650167329554,0.02805538164338888,0.0399399995803833
+1789729886788950621,6166,0.67796790599823,0.03269342705607414,-0.21498791873455048,-0.9999473559914822,-0.009223064910973897,0.004493872524255094,-0.009093472980449505,0.999565118214334,0.028051438337256075,0.0399399995803833
+1789729886822260724,6200,0.6779688000679016,0.032691724598407745,-0.21498766541481018,-0.999947269473904,-0.009222995780719057,0.004494247980358315,-0.00909340801519365,0.9995652053460883,0.028048353773673824,0.0399399995803833
+1789729886855587135,6233,0.6779682040214539,0.03269152343273163,-0.21498797833919525,-0.9999472542807923,-0.009224988533532019,0.004496766637717291,-0.009095331968755583,0.9995652025982914,0.028047827984282823,0.0399399995803833
+1789729886888903787,6266,0.677967369556427,0.03269147872924805,-0.21498826146125793,-0.999947224052073,-0.00923091498157443,0.0044980748697878775,-0.009101224550030856,0.9995651786653816,0.028046769656201967,0.0399399995803833
+1789729886922254646,6300,0.6779664754867554,0.03269201144576073,-0.21498802304267883,-0.9999472143937465,-0.009231641847743714,0.004499289646697907,-0.009101918723787412,0.9995651818093289,0.028046432356679855,0.0399399995803833
+1789729886955581768,6333,0.6779667139053345,0.03269210457801819,-0.21498768031597137,-0.9999471982619954,-0.009230336334367784,0.004498213372419863,-0.009100646623457753,0.9995652097570912,0.02804584885235055,0.0399399995803833
+1789729886988911439,6366,0.6779683232307434,0.03268972411751747,-0.21498769521713257,-0.9999473287520901,-0.009226649476513221,0.004495212476962468,-0.009097063617032414,0.9995653509807831,0.028041978386633616,0.0399399995803833
+1789729887022341103,6400,0.6779703497886658,0.03268614411354065,-0.21498818695545197,-0.9999473711628226,-0.009224188512701815,0.0044926892930001695,-0.009094707546372626,0.9995655690355962,0.02803496917155989,0.0399399995803833
+1789729887055596705,6433,0.6779699921607971,0.032686296850442886,-0.2149880975484848,-0.9999473457488572,-0.009224648658942574,0.004493776246245801,-0.009095141370309751,0.9995655903544137,0.02803406818625926,0.0399399995803833
+1789729887088905871,6466,0.6779677271842957,0.03268645331263542,-0.2149890959262848,-0.9999471879606396,-0.009227079776797903,0.0044993976690544685,-0.009097440844645727,0.9995657264691465,0.028028467433465203,0.0399399995803833
+1789729887122263023,6500,0.6779671907424927,0.03268658369779587,-0.21498890221118927,-0.9999471956823405,-0.009227003231862858,0.0045014665958482015,-0.009097305071663524,0.9995657197203126,0.028028752307574647,0.0399399995803833
+1789729887155589488,6533,0.677966833114624,0.032686807215213776,-0.21498818695545197,-0.9999473689118863,-0.009228825718689545,0.00450054056108706,-0.009099163854623952,0.9995657680181995,0.02802642787663521,0.0399399995803833
+1789729887188909763,6566,0.6779665946960449,0.0326867550611496,-0.21498747169971466,-0.9999473600952773,-0.00922813225834812,0.0045000929903845355,-0.009098484698172926,0.9995657831252989,0.028026109434109967,0.0399399995803833
+1789729887222268555,6600,0.6779670119285583,0.03268630430102348,-0.21498699486255646,-0.9999472534691065,-0.009230522213711026,0.004497811675587507,-0.009100955705942035,0.999565867472308,0.028022297855537885,0.0399399995803833
+1789729887255591341,6633,0.6779666543006897,0.032685842365026474,-0.214988112449646,-0.9999473798254184,-0.009230652500215382,0.004498444465277834,-0.009101087253533417,0.9995659783128472,0.028018302133042995,0.0399399995803833
+1789729887288901957,6666,0.6779672503471375,0.03268479183316231,-0.21498866379261017,-0.9999473266296868,-0.009228885151060618,0.004498067573556235,-0.009099340182007375,0.9995660476169773,0.02801639650018355,0.0399399995803833
+1789729887322273078,6700,0.6779664754867554,0.03268318995833397,-0.214988112449646,-0.9999471987139463,-0.009228190401834662,0.004501776659360304,-0.009098563605140149,0.9995661822756453,0.028011843091946886,0.0399399995803833
+1789729887355591094,6733,0.6779655814170837,0.0326833613216877,-0.2149876058101654,-0.9999471932390136,-0.009227261003969214,0.004503483381478025,-0.009097587728836828,0.999566196481438,0.028011653085461094,0.0399399995803833
+1789729887388925008,6766,0.677966296672821,0.032682813704013824,-0.21498599648475647,-0.9999473831405055,-0.009227798558524798,0.004500222253158152,-0.00909822460271708,0.9995662395953605,0.02800990910122303,0.0399399995803833
+1789729887422266171,6800,0.6779662370681763,0.03268210589885712,-0.21498607099056244,-0.9999473372075629,-0.009227074201019855,0.004500454079963423,-0.00909750184573778,0.9995662921594781,0.02800826759971723,0.0399399995803833
+1789729887455586127,6833,0.6779674887657166,0.0326802134513855,-0.2149866670370102,-0.9999472399282925,-0.009225401136425235,0.0044982970614738885,-0.009095906331284978,0.9995664044145719,0.028004778447090456,0.0399399995803833
+1789729887488920081,6866,0.6779670119285583,0.032680340111255646,-0.2149873822927475,-0.9999472019790985,-0.00922572474592873,0.004499022865191068,-0.009096215950770727,0.9995664394626754,0.028003426641762343,0.0399399995803833
+1789729887522257915,6900,0.6779672503471375,0.032680246978998184,-0.214987650513649,-0.9999473215833403,-0.009228988075618056,0.004497221079670511,-0.009099548607347801,0.9995665280305667,0.027999183306819088,0.0399399995803833
+1789729887555600739,6933,0.6779664754867554,0.03268041834235191,-0.21498772501945496,-0.9999472815570913,-0.009229478785210443,0.004499051858447737,-0.009099994704227699,0.9995665637631795,0.027997762428879,0.0399399995803833
+1789729887588895626,6966,0.6779654622077942,0.032679811120033264,-0.21498732268810272,-0.9999472577924744,-0.009229661382226098,0.004502727547467588,-0.009100078435891043,0.9995665863071006,0.027996930303215584,0.0399399995803833
+1789729887622263078,7000,0.6779648661613464,0.03267946094274521,-0.21498645842075348,-0.9999471499747983,-0.009230012816596907,0.004503737233393322,-0.009100419828573295,0.9995666909491765,0.027993082289912846,0.0399399995803833
+1789729887655587133,7033,0.6779643297195435,0.032679688185453415,-0.214986652135849,-0.9999473058331103,-0.009231135642490677,0.004503969019891521,-0.009101549783436465,0.9995667631614464,0.0279901375343795,0.03993000090122223
+1789729887688903308,7066,0.677965521812439,0.03267848864197731,-0.21498534083366394,-0.9999472561815528,-0.009230399844325946,0.004500808983016802,-0.009100911102043027,0.9995668191136416,0.02798834647201904,0.03993000090122223
+1789729887722259181,7100,0.6779657006263733,0.03267724812030792,-0.2149866819381714,-0.9999473483986174,-0.00923030538838191,0.004500566129882052,-0.009100848343463997,0.9995669660143555,0.027983120724062734,0.03993000090122223
+1789729887755589675,7133,0.6779650449752808,0.03267740458250046,-0.214987114071846,-0.9999472800089062,-0.009231074725883727,0.004501848110609989,-0.009101593168492537,0.9995670274631538,0.027980682968797636,0.0399399995803833
+1789729887788896732,7166,0.6779648065567017,0.032677870243787766,-0.2149861752986908,-0.9999472840194097,-0.009231496958871502,0.004501845745108894,-0.0091020146201619,0.9995670195849558,0.02798082737256158,0.03993000090122223
+1789729887822267153,7200,0.6779641509056091,0.03267739340662956,-0.21498669683933258,-0.9999472470402226,-0.009231129814235845,0.0045058554037772855,-0.009101541805017493,0.9995670604147618,0.027979522395033603,0.0399399995803833
+1789729887855594528,7233,0.6779643297195435,0.03267781436443329,-0.21498599648475647,-0.9999471999593945,-0.009233036202896592,0.004504063490999938,-0.009103505563636063,0.9995670897522468,0.027977835107646617,0.0399399995803833
+1789729887888909784,7266,0.6779648065567017,0.032677292823791504,-0.21498487889766693,-0.999947187512614,-0.009232597110896069,0.004502111988232968,-0.00910312332024189,0.999567105964891,0.02797738005024796,0.0399399995803833
+1789729887922249617,7300,0.6779654622077942,0.032675616443157196,-0.21498548984527588,-0.9999473631010103,-0.009230947789753453,0.004501536418562437,-0.009101501429695756,0.9995671837706392,0.027975129035155984,0.0399399995803833
+1789729887955585721,7333,0.6779667735099792,0.03267306461930275,-0.21498578786849976,-0.999947205488966,-0.009229445729213056,0.004499451562499524,-0.009100085048875132,0.9995673547601294,0.027969478287096786,0.03993000090122223
+1789729887988910946,7366,0.6779672503471375,0.03267227113246918,-0.21498622000217438,-0.9999473586057965,-0.009229000342925502,0.004498319810999263,-0.009099685980612511,0.9995674439108434,0.027966423020563912,0.0399399995803833
+1789729888022262011,7400,0.6779662370681763,0.03267292678356171,-0.21498677134513855,-0.9999473362212652,-0.009231383233278413,0.004500614931453775,-0.009102007610564254,0.9995674447309103,0.02796563826989385,0.0399399995803833
+1789729888055668673,7433,0.6779658198356628,0.03267301619052887,-0.21498660743236542,-0.999947327892301,-0.009235409522869928,0.004501520760269925,-0.009106008432023041,0.9995674162526227,0.027965353976019562,0.0399399995803833
+1789729888088897600,7466,0.677964985370636,0.03267292678356171,-0.21498756110668182,-0.9999472836982208,-0.009237297241924316,0.004503573017785882,-0.009107845590486194,0.9995674433612985,0.02796378657816862,0.0399399995803833
+1789729888122260795,7500,0.6779643893241882,0.03267311677336693,-0.21498776972293854,-0.9999472673538117,-0.009238077322190409,0.004504774670826302,-0.009108594572441052,0.9995674526911448,0.02796320909286168,0.0399399995803833
+1789729888155598253,7533,0.6779650449752808,0.03267223760485649,-0.2149871587753296,-0.9999472209771121,-0.009238019849059906,0.004502877386283499,-0.009108598034847551,0.9995674993156283,0.027961540856581975,0.0399399995803833
+1789729888188903043,7566,0.6779654026031494,0.032672781497240067,-0.21498669683933258,-0.9999471700231735,-0.00923774509489932,0.004499722301358427,-0.009108420216389756,0.9995675523457956,0.027959702477934795,0.0399399995803833
+1789729888222263928,7600,0.6779658794403076,0.03267202898859978,-0.21498660743236542,-0.9999472772203524,-0.009239183242401815,0.004498220600212988,-0.00910992209106164,0.9995676700572009,0.02795500543985604,0.0399399995803833
+1789729888255592247,7633,0.6779647469520569,0.03267153725028038,-0.2149869054555893,-0.9999472121254316,-0.009238732888137887,0.0045029829949582495,-0.009109349966386052,0.9995677398434235,0.027952696114201685,0.0399399995803833
+1789729888288901687,7666,0.677964985370636,0.032671332359313965,-0.21498671174049377,-0.9999471798661723,-0.009238538271358746,0.004504116572178831,-0.00910912925929723,0.9995677740081824,0.02795154608430285,0.0399399995803833
+1789729888322247173,7700,0.6779651045799255,0.03267150744795799,-0.21498632431030273,-0.999947133560857,-0.009239035880792187,0.004503549484077514,-0.009109650403925565,0.9995678156393926,0.02794988708959767,0.0399399995803833
+1789729888355590220,7733,0.6779652833938599,0.03266998380422592,-0.21498669683933258,-0.9999470985475389,-0.009236244766532243,0.00450545139112225,-0.009106813227920995,0.9995678764724025,0.027948635666639056,0.0399399995803833
+1789729888388897311,7766,0.6779660582542419,0.03266870602965355,-0.21498623490333557,-0.999947234302007,-0.009236833384128316,0.004503302599948871,-0.009107479125211562,0.999567973360752,0.027944954296444394,0.0399399995803833
+1789729888422260976,7800,0.6779671907424927,0.032667726278305054,-0.2149856835603714,-0.9999471491016361,-0.00923571406367317,0.004499903171566286,-0.009106469677911636,0.9995680683254131,0.027941885432022032,0.0399399995803833
+1789729888455590064,7833,0.6779668927192688,0.03266728296875954,-0.21498656272888184,-0.9999472801483784,-0.009236709754872407,0.004499720314689159,-0.009107488376771045,0.9995681664362529,0.027938044495554287,0.0399399995803833
+1789729888488904293,7866,0.6779676079750061,0.03266686573624611,-0.21498650312423706,-0.9999473089076054,-0.009234366248256909,0.004498870498174223,-0.009105164611022398,0.9995681590833813,0.027939064998479,0.0399399995803833
+1789729888522259070,7900,0.6779668927192688,0.03266652673482895,-0.21498709917068481,-0.9999473026668149,-0.009233718568257897,0.004500951063297003,-0.009104460160240736,0.9995681715246759,0.027938849433969678,0.0399399995803833
+1789729888555602606,7933,0.6779663562774658,0.032666854560375214,-0.21498727798461914,-0.9999472154049964,-0.009237643627309717,0.004500359108401877,-0.009108415080986481,0.9995682226446171,0.02793573085321465,0.0399399995803833
+1789729888588896538,7966,0.6779657602310181,0.03266727179288864,-0.21498750150203705,-0.9999471893011542,-0.009237512430944261,0.004500727979457593,-0.009108278086122712,0.9995682499787856,0.027934797262315222,0.0399399995803833
+1789729888622261613,8000,0.6779659986495972,0.032665785402059555,-0.2149876058101654,-0.9999471215496436,-0.009237906518041591,0.004500615244852147,-0.009108686710273964,0.9995683140478079,0.027932370890718178,0.0399399995803833
+1789729888655585681,8033,0.6779673099517822,0.032663874328136444,-0.21498669683933258,-0.9999472208695301,-0.009236167825263255,0.004496570378583309,-0.00910708528078553,0.9995684684471091,0.027927367896324155,0.0399399995803833
+1789729888688916859,8066,0.6779674887657166,0.03266354277729988,-0.21498624980449677,-0.9999471561508773,-0.009236594333363516,0.0044961591169455205,-0.009107534119110612,0.9995685291506031,0.0279250482645199,0.0399399995803833
+1789729888722255967,8100,0.6779669523239136,0.032663408666849136,-0.21498702466487885,-0.9999472574820749,-0.009239565661943845,0.0044966344204951225,-0.009110514377654304,0.9995686389120148,0.027920147822745104,0.0399399995803833
+1789729888755585495,8133,0.6779655814170837,0.032662928104400635,-0.21498779952526093,-0.9999471584825768,-0.009240091665620464,0.004501761761351813,-0.009110914006316684,0.9995687336641103,0.027916624429358574,0.0399399995803833
+1789729888788889226,8166,0.6779652833938599,0.03266254812479019,-0.21498775482177734,-0.9999471538577112,-0.009238675246480633,0.004502942336454097,-0.009109465993791765,0.9995687514321553,0.027916460677489804,0.0399399995803833
+1789729888822263810,8200,0.6779651045799255,0.03266248479485512,-0.21498724818229675,-0.9999471039732679,-0.009240046901778147,0.004502558321495674,-0.009110856335996738,0.9995687886434641,0.027914674222721,0.0399399995803833
+1789729888855588329,8233,0.6779652237892151,0.032662395387887955,-0.21498674154281616,-0.9999470775773771,-0.009241298269770182,0.0045012863884331955,-0.009112147197668152,0.9995688033729162,0.027913725271254776,0.0399399995803833
+1789729888888989470,8266,0.6779655814170837,0.03266175091266632,-0.21498623490333557,-0.99994705289699,-0.009241226990343365,0.0045004671244149915,-0.009112103005857509,0.9995688285832426,0.027912836696697956,0.0399399995803833
+1789729888922260924,8300,0.6779661178588867,0.03266071900725365,-0.21498678624629974,-0.9999471766266246,-0.00924004186149555,0.004498630552402254,-0.009110989116080184,0.9995689538011998,0.027908716704409794,0.0399399995803833
+1789729888955593102,8333,0.6779654026031494,0.03265993669629097,-0.21498756110668182,-0.9999470767327494,-0.009239350166194503,0.004501135440339064,-0.009110244870584629,0.9995690602840211,0.02790514494425818,0.0399399995803833
+1789729888988904911,8366,0.6779654622077942,0.03265928477048874,-0.2149873524904251,-0.9999472551844482,-0.009237131564598386,0.004502397984470684,-0.00910800216089457,0.9995691406974394,0.027902997788321823,0.0399399995803833
+1789729889022259880,8400,0.6779640316963196,0.03265940025448799,-0.21498684585094452,-0.9999470766886955,-0.00924091488217891,0.00450522541742443,-0.009111735649281048,0.9995692847043126,0.027896618368103542,0.0399399995803833
+1789729889055665264,8433,0.6779638528823853,0.03265928477048874,-0.2149854302406311,-0.9999472000178562,-0.009242613928202165,0.004503230888057236,-0.009113509284783688,0.9995693838341885,0.027892487753387908,0.0399399995803833
+1789729889088983087,8466,0.6779649257659912,0.03265659511089325,-0.21498605608940125,-0.9999471072424622,-0.009238648931391683,0.004503463381102447,-0.009109555188215343,0.9995695129507256,0.027889151146480377,0.0399399995803833
+1789729889122273222,8500,0.6779651045799255,0.032657310366630554,-0.21498675644397736,-0.9999471266584439,-0.009239027276451742,0.004500952726608285,-0.009110000041479235,0.9995694897577732,0.027889837173668768,0.0399399995803833
+1789729889155586866,8533,0.677966296672821,0.032656047493219376,-0.2149866670370102,-0.9999473045201495,-0.00923766939596862,0.004498083774416142,-0.009108732975711551,0.9995695623364651,0.02788765089809045,0.0399399995803833
+1789729889188896119,8566,0.6779681444168091,0.0326535739004612,-0.21498726308345795,-0.9999471545118688,-0.009235106351864412,0.004494669415729434,-0.009106291644186089,0.9995697352997498,0.027882246725816406,0.0399399995803833
+1789729889222277766,8600,0.6779673099517822,0.03265371173620224,-0.2149871587753296,-0.9999473293799812,-0.009237772652244916,0.004496134105067262,-0.009108926941025816,0.9995697745103985,0.0278799817266309,0.0399399995803833
+1789729889255588480,8633,0.6779664754867554,0.0326547771692276,-0.21498717367649078,-0.9999471302744958,-0.00923788753441199,0.004498362091520089,-0.009108972997448641,0.9995697344802312,0.027881400377690903,0.0399399995803833
+1789729889288900583,8666,0.6779653429985046,0.032654620707035065,-0.2149876058101654,-0.9999470631715417,-0.00924004493102263,0.004500664521072352,-0.00911107686300424,0.9995697820314082,0.027879007823397063,0.0399399995803833
+1789729889322261292,8700,0.6779652237892151,0.03265491500496864,-0.21498697996139526,-0.9999472710502602,-0.009241804726934408,0.004498967825500233,-0.009112888458254045,0.9995697961600406,0.02787791080409413,0.0399399995803833
+1789729889355585704,8733,0.6779653429985046,0.032655019313097,-0.21498684585094452,-0.9999470500422534,-0.009242630368005288,0.004498663064702405,-0.009113719294422208,0.999569771167677,0.02787853364711409,0.0399399995803833
+1789729889388892798,8766,0.6779659390449524,0.03265523537993431,-0.2149861454963684,-0.9999473047813259,-0.009240458518087854,0.004496531014216148,-0.00911160490200558,0.9995697744979032,0.027879107106313028,0.0399399995803833
+1789729889422264216,8800,0.6779658198356628,0.03265439718961716,-0.21498696506023407,-0.9999471354142822,-0.009243209913816702,0.00449643423643043,-0.009114386815127513,0.9995699184686135,0.027873034105601876,0.0399399995803833
+1789729889455583229,8833,0.677964985370636,0.03265378996729851,-0.21498790383338928,-0.9999470482025989,-0.009244403816853076,0.0045001006659264944,-0.009115493025329345,0.9995699951211702,0.027869922843946147,0.0399399995803833
+1789729889488918530,8866,0.6779641509056091,0.03265409916639328,-0.21498827636241913,-0.9999470640774046,-0.009244637020297814,0.004502369300078073,-0.009115660246456441,0.999569977408001,0.027870503654244254,0.03993000090122223
+1789729889522257371,8900,0.6779641509056091,0.03265414759516716,-0.2149873822927475,-0.9999470865413282,-0.009243971740040996,0.00450254719886336,-0.009114986432447453,0.9995699610917503,0.027871309331162854,0.0399399995803833
+1789729889555621259,8933,0.6779642105102539,0.032654549926519394,-0.2149866819381714,-0.999947082909703,-0.009244374274231951,0.004500709190304593,-0.009115440620596235,0.9995699607902846,0.0278711715387414,0.03993000090122223
+1789729889588934223,8966,0.6779642105102539,0.032654888927936554,-0.2149868905544281,-0.9999472459236873,-0.009246096314478383,0.004498849929236576,-0.009117226649283036,0.9995700200666745,0.027868462648964903,0.03993000090122223
+1789729889622259415,9000,0.6779668927192688,0.032651469111442566,-0.2149866670370102,-0.99994713237719,-0.00924062004733757,0.004494689669901284,-0.009111887727459897,0.9995701832601894,0.027864353731908972,0.0399399995803833
+1789729889655585817,9033,0.6779677867889404,0.03265078738331795,-0.2149866819381714,-0.9999471081553972,-0.009239712537540905,0.00449294173138149,-0.009111033369035466,0.9995702155670503,0.027863473840583172,0.0399399995803833
+1789729889688891410,9066,0.6779661178588867,0.03265144303441048,-0.21498854458332062,-0.9999471716753492,-0.009242442680702878,0.004495059476687456,-0.009113733332649055,0.9995703655236425,0.02785721138563121,0.0399399995803833
+1789729889722253319,9100,0.6779650449752808,0.03265216201543808,-0.2149888277053833,-0.9999471304522893,-0.00924433785357098,0.00449730314703822,-0.009115572352163485,0.9995703896048123,0.027855745451127168,0.0399399995803833
+1789729889755550704,9133,0.6779646873474121,0.03265250101685524,-0.21498866379261017,-0.9999471552895685,-0.009244319062561845,0.004498343441653424,-0.00911552037044916,0.9995703650924492,0.02785664227058374,0.0399399995803833
+1789729889788971978,9166,0.6779643893241882,0.03265191987156868,-0.21498829126358032,-0.9999470958680927,-0.009246578307377434,0.004499754683310283,-0.009117749606252973,0.9995704039049232,0.02785451968547103,0.0399399995803833
+1789729889822262513,9200,0.6779642701148987,0.032651953399181366,-0.21498727798461914,-0.999947002389602,-0.009248067722495076,0.004498127697438683,-0.009119299693363905,0.999570483424582,0.027851157776954957,0.0399399995803833
+1789729889855590704,9233,0.6779652237892151,0.032651662826538086,-0.21498610079288483,-0.9999472387600681,-0.009246274826411877,0.004495561643719587,-0.009117579259686764,0.9995705015861456,0.027851070837126582,0.0399399995803833
+1789729889888888849,9266,0.6779661178588867,0.03264862298965454,-0.21498751640319824,-0.999947273281437,-0.00924480648034868,0.0044957363747749396,-0.009116141431112687,0.9995707188061773,0.027843744710943443,0.0399399995803833
+1789729889922256247,9300,0.6779654622077942,0.03264886885881424,-0.214988574385643,-0.99994717180656,-0.009246433837557258,0.0044961727747638664,-0.009117773344452004,0.9995708053156107,0.027840103852133983,0.0399399995803833
+1789729889955571520,9333,0.6779646873474121,0.03264956176280975,-0.21498797833919525,-0.9999471088449254,-0.009247589117627481,0.004497856116237691,-0.009118892104004055,0.9995708578340686,0.027837851372361513,0.0399399995803833
+1789729889988896102,9366,0.6779643893241882,0.032650746405124664,-0.21498697996139526,-0.9999471424238264,-0.00924941250414978,0.0044984320528693375,-0.009120693026331016,0.9995708076084142,0.02783906521261634,0.0399399995803833
+1789729890022271063,9400,0.6779643893241882,0.03264998272061348,-0.21498708426952362,-0.999947067339686,-0.009251823697444345,0.004499414405175531,-0.009123088791484518,0.9995708606087261,0.02783637670764402,0.0399399995803833
+1789729890055707508,9433,0.6779645681381226,0.03264962509274483,-0.21498703956604004,-0.999947077702833,-0.009251344566516297,0.004499389565965873,-0.009122608765651328,0.9995708546525386,0.027836747948994125,0.0399399995803833
+1789729890088895276,9466,0.6779648661613464,0.03264942020177841,-0.21498620510101318,-0.9999470609146044,-0.009250657231995196,0.004498022476253067,-0.009121962592908262,0.9995708775673424,0.027836136639412562,0.0399399995803833
+1789729890122257969,9500,0.6779658794403076,0.032648369669914246,-0.2149857133626938,-0.9999472399293072,-0.009247447586549572,0.004495465959919144,-0.009118835448804576,0.9995709660572734,0.02783398461995436,0.0399399995803833
+1789729890155587484,9533,0.6779667139053345,0.032646436244249344,-0.21498675644397736,-0.9999471277148575,-0.009245384411530845,0.0044950077656394525,-0.00911680497977112,0.9995710970700167,0.02782994352192894,0.0399399995803833
+1789729890188894581,9566,0.677965521812439,0.032646819949150085,-0.21498781442642212,-0.9999470490811908,-0.009247306167247536,0.004497252111987633,-0.00911867701519833,0.9995711582824771,0.02782713109141059,0.0399399995803833
+1789729890222268972,9600,0.6779648065567017,0.03264738619327545,-0.21498741209506989,-0.9999470023088297,-0.009249735648546531,0.004497366640609388,-0.009121110365846674,0.9995711827193003,0.027825455577476114,0.0399399995803833
+1789729890255595188,9633,0.6779650449752808,0.03264513611793518,-0.21498766541481018,-0.9999470872994385,-0.009249116406892277,0.004498146748566401,-0.009120495904534254,0.9995713417932001,0.027819942684236244,0.0399399995803833
+1789729890288921823,9666,0.6779656410217285,0.03264351934194565,-0.21498800814151764,-0.9999470417301652,-0.00924728229105265,0.004498346441971935,-0.00911866473740075,0.9995714041969493,0.027818300262398843,0.0399399995803833
+1789729890322260388,9700,0.6779655814170837,0.03264344856142998,-0.21498806774616241,-0.9999470168235502,-0.009247231431605406,0.004497186052606132,-0.009118650411429265,0.9995714294029275,0.02781739900305891,0.0399399995803833
+1789729890355585173,9733,0.6779657006263733,0.03264310583472252,-0.21498791873455048,-0.9999471772390951,-0.009247682769535337,0.004495722172433304,-0.009119155600362938,0.9995715029918624,0.027814590176212357,0.0399399995803833
+1789729890388898800,9766,0.6779661178588867,0.0326424315571785,-0.21498854458332062,-0.9999470802191279,-0.009248347371331407,0.004494412319046683,-0.009119872929526311,0.9995715936647714,0.027811095514329143,0.0399399995803833
+1789729890422265202,9800,0.6779665350914001,0.03264051303267479,-0.2149890661239624,-0.9999472081457936,-0.009247374533496175,0.00449575705653803,-0.00911888198731419,0.9995717131548283,0.027807126479406634,0.0399399995803833
+1789729890455584068,9833,0.6779658794403076,0.03264093026518822,-0.2149895280599594,-0.9999471971207923,-0.00924885631135626,0.004496422388619645,-0.00912034659073195,0.9995717106472761,0.027806736327560058,0.0399399995803833
+1789729890488897155,9866,0.6779650449752808,0.03264158219099045,-0.21498923003673553,-0.999947180091874,-0.00924947461838039,0.00449691908216653,-0.009120953769726041,0.9995717220469709,0.02780612730934091,0.0399399995803833
+1789729890522259077,9900,0.6779651641845703,0.03264086693525314,-0.21498839557170868,-0.9999471637879427,-0.00924856119143735,0.004496234968960348,-0.009120062491575381,0.9995717466406158,0.027805535341343095,0.0399399995803833
+1789729890555620790,9933,0.677964448928833,0.0326409786939621,-0.21498851478099823,-0.9999471569559213,-0.009247696551377013,0.00449793114460416,-0.009119152225594132,0.9995717616246775,0.02780529517522672,0.0399399995803833
+1789729890588919268,9966,0.677964448928833,0.03264111280441284,-0.21498844027519226,-0.9999471285415724,-0.009248032488912454,0.004496475827250117,-0.009119533327750203,0.9995717867457997,0.02780426684179134,0.0399399995803833
+1789729890622262772,10000,0.6779660582542419,0.03263992816209793,-0.21498699486255646,-0.9999472621877616,-0.009247143637640237,0.004491629771354424,-0.009118797363056869,0.9995718989593484,0.02780047464953443,0.0399399995803833
+1789729890655587167,10033,0.6779648065567017,0.03263956308364868,-0.2149878889322281,-0.9999472455766458,-0.009245875957555733,0.004496958158351647,-0.00911738499073204,0.9995719278776869,0.027799898079325654,0.0399399995803833
+1789729890688919882,10066,0.6779640316963196,0.032639529556035995,-0.21498802304267883,-0.999947163975204,-0.009247528655293559,0.004498897082070282,-0.00911899715183616,0.9995719944861443,0.02779697373247997,0.0399399995803833
+1789729890722258577,10100,0.6779642105102539,0.03263915330171585,-0.21498648822307587,-0.9999471023012094,-0.009247123746520276,0.004498289258258628,-0.009118619835444802,0.9995720597525399,0.027794749934864804,0.0399399995803833
+1789729890755585192,10133,0.6779633164405823,0.03263794630765915,-0.21498702466487885,-0.9999472103769844,-0.00924848966984606,0.004501502968881979,-0.00911991829752299,0.9995721778373063,0.027790077927949543,0.0399399995803833
+1789729890788920567,10166,0.6779634952545166,0.03263798728585243,-0.2149858921766281,-0.999947236500633,-0.009246346937072526,0.004500433110743813,-0.009117801627777054,0.999572171275289,0.027791008501501017,0.0399399995803833
+1789729890822259941,10200,0.67796391248703,0.03263770043849945,-0.21498653292655945,-0.999947202514198,-0.009245791919350977,0.004499039983927103,-0.009117291329258492,0.9995722101535607,0.02778977718825367,0.0399399995803833
+1789729890855588267,10233,0.6779645681381226,0.03263580799102783,-0.21498708426952362,-0.9999470638940267,-0.009246716166033841,0.004498306186795642,-0.009118259322610511,0.9995723400845394,0.02778478462083992,0.0399399995803833
+1789729890888896794,10266,0.6779647469520569,0.032635144889354706,-0.21498781442642212,-0.9999472291588636,-0.00924552214162664,0.004497646751819746,-0.00911709659135531,0.9995724240392991,0.02778214689696775,0.0399399995803833
+1789729890922251917,10300,0.6779647469520569,0.03263578563928604,-0.21498672664165497,-0.9999472470522501,-0.009245249807398909,0.004496503835407607,-0.009116853029401045,0.9995724085146995,0.02778278545433963,0.0399399995803833
+1789729890955585702,10333,0.6779640913009644,0.032636694610118866,-0.21498659253120422,-0.9999470131073513,-0.00924821936954363,0.004496601302781147,-0.009119817972070555,0.9995723768092467,0.027782951473946833,0.0399399995803833
+1789729890988897858,10366,0.6779637932777405,0.032635997980833054,-0.21498647332191467,-0.9999471935801847,-0.009248920643208338,0.004497383740127418,-0.009120507174399526,0.9995724283471752,0.027780872394394248,0.0399399995803833
+1789729891022258763,10400,0.677963376045227,0.03263590484857559,-0.2149868905544281,-0.9999471334414718,-0.00924997900097451,0.004496768861014844,-0.009121592486328219,0.9995724786386597,0.027778706052464203,0.0399399995803833
+1789729891055584482,10433,0.677963376045227,0.0326361358165741,-0.21498697996139526,-0.9999471589856312,-0.009250417733644585,0.004495071342253398,-0.009122073799556723,0.9995724488677962,0.02777961941236963,0.0399399995803833
+1789729891088911451,10466,0.6779636740684509,0.032634709030389786,-0.21498748660087585,-0.9999470817869431,-0.00924879426433076,0.004495410199084587,-0.009120454758932441,0.9995725409616799,0.027776836434226612,0.0399399995803833
+1789729891122259898,10500,0.6779643893241882,0.03263480216264725,-0.21498651802539825,-0.9999472336309352,-0.009248950868461852,0.004493028365711775,-0.00912069222490734,0.9995726257050758,0.027773709821197357,0.0399399995803833
+1789729891155590866,10533,0.6779630780220032,0.03263528645038605,-0.21498669683933258,-0.9999471693721387,-0.009250773073359345,0.0044964723902471745,-0.009122429145145458,0.9995726736137438,0.027771414806440513,0.0399399995803833
+1789729891188905297,10566,0.6779612898826599,0.03263485059142113,-0.21498771011829376,-0.9999470622171407,-0.009252860966737095,0.004502279953143911,-0.009124373436968439,0.999572762241614,0.027767585362648232,0.0399399995803833
+1789729891222250944,10600,0.6779613494873047,0.03263459727168083,-0.2149869203567505,-0.9999470711073886,-0.009253628792071337,0.004501981896985174,-0.00912514771294884,0.9995727462646277,0.027767906173983826,0.0399399995803833
+1789729891255582812,10633,0.6779613494873047,0.03263486176729202,-0.2149866819381714,-0.9999471010351983,-0.00925197337198567,0.004501572435363996,-0.00912349916234347,0.9995727315195129,0.027768978738682847,0.0399399995803833
+1789729891288898332,10666,0.677962064743042,0.032634563744068146,-0.21498572826385498,-0.9999470389582568,-0.009252153659841673,0.0044987719689715405,-0.00912376772281697,0.9995727915340274,0.027766729565328895,0.03993000090122223
+1789729891322257608,10700,0.6779622435569763,0.032634131610393524,-0.21498635411262512,-0.9999469921325019,-0.009251771429385646,0.004498229857351162,-0.009123408701674897,0.9995728417657549,0.027765038785957735,0.03993000090122223
+1789729891355589067,10733,0.6779623627662659,0.032634101808071136,-0.21498653292655945,-0.999946965568163,-0.009252090919719185,0.004498193933556542,-0.009123733615996993,0.9995728653691305,0.027764082071811733,0.03993000090122223
+1789729891388891168,10766,0.6779620051383972,0.03263437747955322,-0.21498644351959229,-0.9999471572427074,-0.009253750866266685,0.004498322770989417,-0.009125397360155042,0.9995728968184874,0.027762404583010755,0.03993000090122223
+1789729891422256724,10800,0.6779620051383972,0.03263426944613457,-0.21498648822307587,-0.9999470762682228,-0.009255141296984837,0.004497804997417669,-0.009126815490935813,0.9995729648844189,0.0277594870341041,0.0399399995803833
+1789729891455594212,10833,0.6779613494873047,0.032633326947689056,-0.21498730778694153,-0.9999470031039672,-0.009255044955881654,0.004500846351911673,-0.009126647365372652,0.9995730392642855,0.027756863426551006,0.0399399995803833
+1789729891488895943,10866,0.6779620051383972,0.03263281285762787,-0.214986190199852,-0.9999470079090331,-0.0092533244576536,0.004499257638829808,-0.009124970770647101,0.9995730500722734,0.027757025296342542,0.0399399995803833
+1789729891522262838,10900,0.6779621243476868,0.032632600516080856,-0.21498599648475647,-0.9999469707609698,-0.009253934186937207,0.004498186977096369,-0.009125616326807973,0.9995730814513755,0.027755682744400077,0.0399399995803833
+1789729891555715446,10933,0.6779637932777405,0.03263114020228386,-0.21498538553714752,-0.9999471796532906,-0.00925138578995769,0.004495033223589864,-0.009123161439309545,0.9995731339480152,0.027754600481686185,0.0399399995803833
+1789729891588896168,10966,0.6779641509056091,0.032629724591970444,-0.21498535573482513,-0.9999470821712682,-0.009250504087861681,0.0044948533180045255,-0.009122301758674763,0.9995732394306883,0.02775108308573076,0.0399399995803833
+1789729891622247945,11000,0.6779648661613464,0.03262896463274956,-0.2149859070777893,-0.9999470163120305,-0.009251115729668542,0.004493828801601634,-0.009122952852152904,0.9995732994884602,0.02774870521534294,0.0399399995803833
+1789729891655642338,11033,0.6779634356498718,0.032629337161779404,-0.21498672664165497,-0.9999469862511003,-0.009252747628164776,0.004497177663210741,-0.009124496416283406,0.9995733149583963,0.027747640411229818,0.0399399995803833
+1789729891688895213,11066,0.6779620051383972,0.0326293483376503,-0.21498750150203705,-0.9999469573792517,-0.00925448391158113,0.004501397605177063,-0.009126119977194697,0.9995733283892867,0.02774662267238267,0.0399399995803833
+1789729891722248380,11100,0.6779623031616211,0.03262929990887642,-0.2149866819381714,-0.9999469153904654,-0.009259329443536524,0.004499871775390296,-0.00913101315144177,0.9995733256055989,0.02774511304146443,0.0399399995803833
+1789729891755583998,11133,0.677962601184845,0.032628875225782394,-0.2149864286184311,-0.9999471079233047,-0.009258198944036553,0.004498989963956378,-0.009129915404694891,0.9995733817164825,0.027743454104579367,0.0399399995803833
+1789729891788895258,11166,0.6779626607894897,0.032628681510686874,-0.2149864286184311,-0.9999470818960603,-0.009256613346945776,0.004498789436213561,-0.009128340438501912,0.9995734222748548,0.027742510735258463,0.0399399995803833
+1789729891822250095,11200,0.6779631972312927,0.032627131789922714,-0.21498671174049377,-0.999946968501924,-0.009254085904774917,0.004498039809585269,-0.00912585418806236,0.999573558715014,0.027738411322358922,0.0399399995803833
+1789729891855586913,11233,0.6779628396034241,0.03262718766927719,-0.21498675644397736,-0.999947153662808,-0.009254221165580594,0.0044993528040688235,-0.00912596214032015,0.9995736108338771,0.027736499077781973,0.0399399995803833
+1789729891888896643,11266,0.6779619455337524,0.03262723237276077,-0.21498733758926392,-0.999947084689176,-0.00925583005545843,0.004501284296079439,-0.009127528713447635,0.9995736652116614,0.027734023456903463,0.0399399995803833
+1789729891922247560,11300,0.6779616475105286,0.03262685611844063,-0.21498705446720123,-0.9999470431840767,-0.009255867568458849,0.004501963082056097,-0.00912755452346316,0.9995737064256741,0.027732529217771435,0.0399399995803833
+1789729891955588178,11333,0.6779623031616211,0.03262710943818092,-0.21498586237430573,-0.9999470617681723,-0.009256881157608761,0.004498907282683398,-0.009128649218255784,0.9995736781495369,0.02773318816993365,0.0399399995803833
+1789729891988902038,11366,0.6779624223709106,0.032626669853925705,-0.214985653758049,-0.99994707080227,-0.009255249254686683,0.004499382468856981,-0.009127003223882045,0.9995736841838586,0.027733512391955456,0.0399399995803833
+1789729892022256657,11400,0.6779623031616211,0.03262590989470482,-0.21498610079288483,-0.9999470041073204,-0.009255614547544134,0.004499741390562334,-0.009127369870591217,0.9995737475143315,0.027731108586506063,0.0399399995803833
+1789729892055723717,11433,0.6779640913009644,0.03262346610426903,-0.21498586237430573,-0.9999471254879639,-0.009253353913801896,0.004496384278419893,-0.009125223200527102,0.9995738847881079,0.027726867323279038,0.0399399995803833
+1789729892088900513,11466,0.6779650449752808,0.03262189403176308,-0.21498610079288483,-0.9999470353797977,-0.009250770007402535,0.00449558268580975,-0.009122677942329412,0.9995739984648192,0.027723605655028006,0.0399399995803833
+1789729892122257692,11500,0.6779634952545166,0.032622773200273514,-0.2149871289730072,-0.9999469643741705,-0.00925404072669677,0.0044987530833334784,-0.009125871758371547,0.9995740397647848,0.027721065130726762,0.0399399995803833
+1789729892155590224,11533,0.6779628992080688,0.032623209059238434,-0.21498674154281616,-0.9999469569953288,-0.009255215295152632,0.00449900580516624,-0.009127040141645202,0.9995740363747767,0.02772080274242748,0.0399399995803833
+1789729892188900358,11566,0.6779629588127136,0.03262338787317276,-0.2149861752986908,-0.999946947707377,-0.009255644318071445,0.004497894889583479,-0.009127501365885936,0.999574041570548,0.027720463447395254,0.0399399995803833
+1789729892222253718,11600,0.677962601184845,0.032623253762722015,-0.21498627960681915,-0.9999471115423906,-0.009256388114427413,0.004497145981368729,-0.009128278417934291,0.9995741091418143,0.027717772175149247,0.0399399995803833
+1789729892255589810,11633,0.6779632568359375,0.0326225683093071,-0.21498613059520721,-0.9999470606719929,-0.009255106697957071,0.00449565905411605,-0.009127047400325517,0.9995741715615094,0.027715925948660732,0.0399399995803833
+1789729892288901833,11666,0.6779634356498718,0.03262188658118248,-0.21498700976371765,-0.9999469986621352,-0.009254631890247451,0.004495654426045007,-0.00912658353733397,0.9995742378858959,0.027713686109996218,0.0399399995803833
+1789729892322249804,11700,0.6779631972312927,0.032622210681438446,-0.21498727798461914,-0.9999471358480487,-0.009256262480309325,0.004495010333793034,-0.009128248702857316,0.999574323947924,0.027710034523607745,0.0399399995803833
+1789729892355587605,11733,0.6779623031616211,0.03262313827872276,-0.2149878889322281,-0.9999471197552552,-0.009256820176381741,0.004496641733015233,-0.009128763773364468,0.9995743351089256,0.02770946220370144,0.0399399995803833
+1789729892388896069,11766,0.6779611110687256,0.03262272849678993,-0.21498806774616241,-0.9999470733872036,-0.009256139798130036,0.004501066645943668,-0.009127969097569267,0.9995743882581171,0.02770780642197876,0.0399399995803833
+1789729892422255849,11800,0.6779613494873047,0.03262149170041084,-0.2149864286184311,-0.9999469992247814,-0.00925812958829103,0.00450087715160237,-0.009129976107893956,0.9995744440451301,0.027705132055370035,0.0399399995803833
+1789729892455621818,11833,0.6779611706733704,0.032620739191770554,-0.21498537063598633,-0.999946934145173,-0.009257140884870146,0.004500841961323819,-0.00912899993502761,0.9995745181588147,0.027702779105647952,0.0399399995803833
+1789729892488902564,11866,0.6779612898826599,0.0326206348836422,-0.21498560905456543,-0.9999469195520099,-0.0092571421796308,0.004500151388549494,-0.009129022852012676,0.9995745326406634,0.027702248877278575,0.0399399995803833
+1789729892522249255,11900,0.6779624819755554,0.03261928632855415,-0.21498602628707886,-0.9999470824564796,-0.00925496591645032,0.004498524710963188,-0.009126905419755292,0.9995746278719602,0.02769951127013319,0.0399399995803833
+1789729892555605815,11933,0.6779621243476868,0.03261925280094147,-0.21498695015907288,-0.9999469996034327,-0.009256109398673844,0.004498278518928738,-0.009128069503280585,0.9995747001176846,0.02769651987324407,0.0399399995803833
+1789729892588901900,11966,0.6779618263244629,0.03261946141719818,-0.21498726308345795,-0.9999469324820212,-0.0092566560519507,0.0044980836352311575,-0.009128632865489036,0.9995747621361488,0.02769409534563881,0.0399399995803833
+1789729892622248800,12000,0.6779609322547913,0.0326208621263504,-0.21498756110668182,-0.9999469368638079,-0.009258817369071498,0.004498561545007506,-0.009130779376921111,0.9995747379475559,0.027694260973599647,0.0399399995803833
+1789729892655586022,12033,0.6779611110687256,0.032619889825582504,-0.21498724818229675,-0.9999471141198548,-0.009259799236918692,0.004498914121933003,-0.009131761619378093,0.9995747900568949,0.027692057673345098,0.0399399995803833
+1789729892688896976,12066,0.6779610514640808,0.03261978179216385,-0.21498768031597137,-0.9999470218572406,-0.009261804567167528,0.00449787333471107,-0.009133810825799662,0.9995748636710761,0.027688723863054543,0.0399399995803833
+1789729892722251206,12100,0.6779615879058838,0.03261958062648773,-0.21498626470565796,-0.9999469922221678,-0.009260229253262604,0.004494668532734038,-0.009132329872053629,0.9995749073635256,0.02768763456486472,0.0399399995803833
+1789729892755588197,12133,0.677963137626648,0.032616861164569855,-0.21498677134513855,-0.9999471283696975,-0.00925424965514222,0.004493242783593962,-0.00912640956020504,0.999575064325311,0.027683920363484618,0.0399399995803833
+1789729892788895021,12166,0.677962601184845,0.03261827677488327,-0.21498847007751465,-0.9999470097536618,-0.009259001040121694,0.004490971516747499,-0.009131242303360466,0.9995751388796206,0.027679633863922328,0.0399399995803833
+1789729892822251521,12200,0.6779620051383972,0.03262026980519295,-0.21498753130435944,-0.9999469672995664,-0.009260666177926062,0.004488728517916906,-0.009132976122774557,0.9995751657019548,0.02767809289572452,0.0399399995803833
+1789729892855589453,12233,0.6779636144638062,0.03261486440896988,-0.21498821675777435,-0.9999470799924219,-0.009254077113526899,0.00449153149084509,-0.009126333630227728,0.9995753522422544,0.027673547276169358,0.0399399995803833
+1789729892888910255,12266,0.6779621243476868,0.03261631354689598,-0.21498888731002808,-0.9999470696385668,-0.009256668620726312,0.004492564279431318,-0.009128897363653814,0.9995753388987692,0.027673183783170546,0.0399399995803833
+1789729892922285244,12300,0.6779621839523315,0.03262002393603325,-0.21498826146125793,-0.9999469938690979,-0.009262197790762431,0.004485787737454495,-0.009134624795619325,0.9995753629013816,0.027670426260282738,0.0399399995803833
+1789729892955623285,12333,0.6779631972312927,0.032615430653095245,-0.21498937904834747,-0.9999470671504813,-0.009256855662844649,0.004487405933960881,-0.009129268287837417,0.999575577219302,0.02766445154775034,0.03993000090122223
+1789729892988929529,12366,0.6779647469520569,0.03261230140924454,-0.21498967707157135,-0.9999472290251832,-0.009252484503589432,0.004485812537010508,-0.0091249559730587,0.9995756936554009,0.027661667927114823,0.03993000090122223
+1789729893022291211,12400,0.6779645681381226,0.032615795731544495,-0.21498864889144897,-0.9999471661070107,-0.009258104573884774,0.004479060589560817,-0.009130771300600903,0.9995757040074621,0.02765937448083671,0.03993000090122223
+1789729893055625166,12433,0.6779639720916748,0.03261609002947807,-0.21498876810073853,-0.9999471252799048,-0.009257220107165185,0.004480417978931714,-0.009129856647725856,0.9995757531069087,0.02765790164419023,0.03993000090122223
+1789729893088935943,12466,0.6779651045799255,0.032616354525089264,-0.21498923003673553,-0.999947107518478,-0.00925726808028757,0.004478675273281796,-0.00912995580757239,0.9995757701918494,0.027657251249462837,0.03993000090122223
+1789729893122262859,12500,0.6779641509056091,0.03261546790599823,-0.21498842537403107,-0.9999471476238515,-0.009254005839069159,0.004483580765365019,-0.009126552366565953,0.9995757607284325,0.027658716780770705,0.03993000090122223
+1789729893155591515,12533,0.677963137626648,0.032615844160318375,-0.21498805284500122,-0.9999470827561345,-0.009255063470374919,0.004484692675379514,-0.009127589983235313,0.9995758159655497,0.02765637764670633,0.0399399995803833
+1789729893188907612,12566,0.6779626607894897,0.03261701390147209,-0.2149890959262848,-0.9999470353444071,-0.009258014421631003,0.004483726462067739,-0.009130574636687414,0.999575836088899,0.027654664891402718,0.0399399995803833
+1789729893222258375,12600,0.6779642701148987,0.03261474892497063,-0.21498896181583405,-0.9999471839665763,-0.009256420461822248,0.004481253946651373,-0.00912906500058712,0.99957594013402,0.02765140332333915,0.0399399995803833
+1789729893255588381,12633,0.6779652237892151,0.03261430189013481,-0.21498890221118927,-0.9999471522611705,-0.009256626829231063,0.004478118449223023,-0.009129363355165065,0.999575969519,0.027650242216546855,0.0399399995803833
+1789729893288907627,12666,0.6779636740684509,0.03261473774909973,-0.21498987078666687,-0.9999470715109786,-0.009258204575226248,0.0044814471957547695,-0.009130862364602088,0.9995760361226356,0.02764733892927676,0.0399399995803833
+1789729893322257821,12700,0.6779618263244629,0.03261541202664375,-0.21499131619930267,-0.9999469368948513,-0.009262995845855791,0.004484451262655054,-0.009135591901339037,0.9995761269482254,0.027642491770635668,0.0399399995803833
+1789729893355583767,12733,0.6779639720916748,0.032614681869745255,-0.21498923003673553,-0.9999470999192501,-0.009261711685538644,0.0044815016214548985,-0.00913436176393616,0.9995759754904315,0.027648375566531387,0.0399399995803833
+1789729893388894574,12766,0.6779645681381226,0.0326107032597065,-0.21499097347259521,-0.9999471098920116,-0.009261266568674507,0.004484100180848258,-0.009133884205749045,0.999576208159609,0.027640120512260988,0.0399399995803833
+1789729893422247108,12800,0.6779624223709106,0.0326140820980072,-0.21498975157737732,-0.9999471300091554,-0.00926432410556048,0.004482743676965803,-0.009136974592765705,0.9995761597586013,0.02764084978526928,0.0399399995803833
+1789729893455621339,12833,0.6779643297195435,0.03261261060833931,-0.2149878740310669,-0.9999471213654072,-0.009261343019764605,0.00447917944042741,-0.009134094570860403,0.99957619536691,0.02764051355091948,0.0399399995803833
+1789729893488899010,12866,0.677963376045227,0.03261102735996246,-0.2149907797574997,-0.9999471639108455,-0.009260066118012191,0.004482517117384323,-0.009132759561687829,0.9995764032327757,0.02763343698366333,0.0399399995803833
+1789729893522257743,12900,0.6779631972312927,0.03261371701955795,-0.21498948335647583,-0.9999471621105394,-0.00926227326667493,0.004479406334006105,-0.009135052075259015,0.9995763843356826,0.027633362815510563,0.0399399995803833
+1789729893555587448,12933,0.6779642105102539,0.03261171281337738,-0.2149888277053833,-0.9999471008512226,-0.00926127266801283,0.0044794293526001505,-0.009134061722378042,0.9995764547535378,0.027631142348347515,0.0399399995803833
+1789729893588923483,12966,0.6779617071151733,0.0326104499399662,-0.2149917334318161,-0.9999471465483534,-0.009262464046411551,0.004486667600294599,-0.009135085885378107,0.9995766372624283,0.02762420119078791,0.0399399995803833
+1789729893622260408,13000,0.6779657602310181,0.03261176496744156,-0.21498729288578033,-0.9999470801239534,-0.009259966144710896,0.0044768764342379705,-0.009132829735901482,0.99957648715672,0.02763037702196915,0.0399399995803833
+1789729893655594343,13033,0.6779649257659912,0.03261129558086395,-0.21498869359493256,-0.9999470382082454,-0.009259503275138057,0.004479230363534845,-0.009132309235582139,0.9995765335950192,0.02762886876115347,0.0399399995803833
+1789729893688904971,13066,0.6779645681381226,0.03261026367545128,-0.21498897671699524,-0.9999469885809695,-0.009258801839245158,0.00448047630541777,-0.009131582177711204,0.9995765897916133,0.027627075504567486,0.0399399995803833
+1789729893722246825,13100,0.6779662370681763,0.03260789439082146,-0.21498890221118927,-0.9999471316366622,-0.0092551677217969,0.0044782773603881795,-0.009128026498665518,0.9995767181901599,0.027623605485521962,0.0399399995803833
+1789729893755580200,13133,0.6779646873474121,0.03261072188615799,-0.21499022841453552,-0.99994698680276,-0.009261914301233898,0.004476443196236489,-0.009134845954686176,0.9995768006407572,0.027618366487381706,0.0399399995803833
+1789729893788893057,13166,0.6779646277427673,0.03261208534240723,-0.2149907350540161,-0.9999469727681372,-0.009263144600408182,0.004475242402736835,-0.00913611132925067,0.9995768031940329,0.027617855457033005,0.0399399995803833
+1789729893822254150,13200,0.6779640913009644,0.032609231770038605,-0.2149917036294937,-0.9999471589317139,-0.00926184882824542,0.004480372347409613,-0.009134683443812422,0.9995768679583326,0.02761598519477461,0.0399399995803833
+1789729893855591745,13233,0.677963137626648,0.032608505338430405,-0.21499188244342804,-0.9999470659459686,-0.00926259638038037,0.004482341743911794,-0.009135392322259609,0.999576954244042,0.027612626748072557,0.0399399995803833
+1789729893888895933,13266,0.67796391248703,0.03260863572359085,-0.2149897664785385,-0.9999471123603194,-0.009261187824544055,0.004479265444636528,-0.009134061224149219,0.9995769204325161,0.02761429117488968,0.0399399995803833
+1789729893922256886,13300,0.6779643893241882,0.03260773420333862,-0.21499070525169373,-0.9999470652777871,-0.009259376051091037,0.00447893592360099,-0.00913226730756769,0.9995769840989108,0.02761257935796396,0.0399399995803833
+1789729893955583632,13333,0.6779643893241882,0.03260752186179161,-0.21499103307724,-0.9999470416862155,-0.009259187984742076,0.004478818081096165,-0.009132086610163117,0.999577009386376,0.027611723500111814,0.0399399995803833
+1789729893988913557,13366,0.677964448928833,0.032607849687337875,-0.21499058604240417,-0.9999470444102594,-0.00925958109671392,0.0044773880970892365,-0.009132518560528725,0.9995770028679373,0.027611816611543563,0.0399399995803833
+1789729894022248924,13400,0.6779629588127136,0.03260735049843788,-0.21499194204807281,-0.9999469663419958,-0.00925960992203258,0.004481987759776623,-0.009132433861914074,0.999577081193163,0.02760900858827173,0.0399399995803833
+1789729894055584133,13433,0.6779632568359375,0.032606255263090134,-0.21499164402484894,-0.9999471917326987,-0.009258300525716126,0.004482715191210254,-0.009131107134872704,0.9995771063229215,0.02760853924544833,0.0399399995803833
+1789729894088981016,13466,0.6779636740684509,0.032607000321149826,-0.21499061584472656,-0.9999469717381619,-0.009259712950438653,0.00448084820713347,-0.009132567363794359,0.9995770747091851,0.02760919918816207,0.0399399995803833
+1789729894122254920,13500,0.6779627203941345,0.032609257847070694,-0.21499086916446686,-0.999947160693168,-0.009265410303889787,0.004479089910669908,-0.009138319545758212,0.9995770714783904,0.0276074145856119,0.0399399995803833
+1789729894155583569,13533,0.6779637336730957,0.03260756656527519,-0.2149900496006012,-0.9999471561709579,-0.009262266902771873,0.004478177945143697,-0.009135203274908913,0.9995771048022721,0.02760723908347973,0.0399399995803833
+1789729894188903209,13566,0.6779645681381226,0.03260630741715431,-0.21499013900756836,-0.999947150723786,-0.009259835003241691,0.0044784131138183554,-0.009132766747624964,0.9995771326430185,0.027607036981344344,0.0399399995803833
+1789729894222249396,13600,0.6779643297195435,0.03260650485754013,-0.21499058604240417,-0.999947046721114,-0.009261833026384638,0.004477789444001818,-0.00913479905180634,0.9995772181075914,0.027603269216431817,0.0399399995803833
+1789729894255589004,13633,0.6779639720916748,0.03260626643896103,-0.2149902880191803,-0.9999469635394846,-0.009261913026321733,0.004478367009031918,-0.009134877359550653,0.9995773005609777,0.027600256701115183,0.0399399995803833
+1789729894288896275,13666,0.6779626607894897,0.032606180757284164,-0.21499116718769073,-0.9999471527673836,-0.009263067164446555,0.004482762704253998,-0.009135918276429593,0.9995773396325934,0.027598498767334133,0.0399399995803833
+1789729894322259241,13700,0.6779624819755554,0.032607100903987885,-0.2149907797574997,-0.9999469132444434,-0.009265480050670523,0.004481634472251276,-0.009138361545576117,0.9995773184128633,0.027598456710888165,0.0399399995803833
+1789729894355588390,13733,0.6779627203941345,0.032606761902570724,-0.2149898260831833,-0.9999471396161959,-0.009266322397436199,0.00448041291355556,-0.009139239331161998,0.9995773225225654,0.027598018946004648,0.0399399995803833
+1789729894388894981,13766,0.6779619455337524,0.03260631114244461,-0.21498973667621613,-0.9999471057118388,-0.009265204022434142,0.004481856666762674,-0.009138087387632993,0.9995773668751631,0.027596793663569527,0.0399399995803833
+1789729894422259147,13800,0.6779622435569763,0.032607052475214005,-0.2149897664785385,-0.9999471250782335,-0.009266650285494577,0.004479222801445783,-0.009139602409613073,0.9995773338803726,0.027597487203768863,0.0399399995803833
+1789729894455604575,13833,0.677963137626648,0.032607562839984894,-0.21498966217041016,-0.9999471070988055,-0.009267861220891155,0.004476776733157634,-0.00914088342351474,0.9995773403896777,0.02759682702434805,0.0399399995803833
+1789729894488896147,13866,0.6779625415802002,0.03260710835456848,-0.214990496635437,-0.9999470621007291,-0.009267120696027675,0.004478470455415752,-0.009140104194546106,0.9995773923831706,0.027595201487475594,0.0399399995803833
+1789729894522259393,13900,0.6779606342315674,0.032605819404125214,-0.21499089896678925,-0.9999469484359405,-0.009267305807018312,0.004483889321493891,-0.00914015933875687,0.9995775049421047,0.027591105039463323,0.0399399995803833
+1789729894555593022,13933,0.6779606938362122,0.032606955617666245,-0.21499003469944,-0.9999469848499674,-0.00926776588973639,0.004482309397521308,-0.00914065655195755,0.999577464121661,0.027592419401366128,0.0399399995803833
+1789729894588899743,13966,0.6779603958129883,0.03260974958539009,-0.21499021351337433,-0.999946977967634,-0.009270479440231127,0.004479543192928086,-0.009143446521773957,0.9995774456669388,0.027592163609544584,0.0399399995803833
+1789729894622260659,14000,0.6779608726501465,0.0326065756380558,-0.21499070525169373,-0.9999471207845825,-0.009266867585390167,0.004481592999202866,-0.009139795944511668,0.9995775746809258,0.027588700008394917,0.0399399995803833
+1789729894655659972,14033,0.6779622435569763,0.03260276839137077,-0.2149903029203415,-0.9999470249640441,-0.009262409238611612,0.004481195329432332,-0.009135366710752036,0.9995777113981197,0.027585212262138357,0.03993000090122223
+1789729894688957514,14066,0.6779621839523315,0.03260442614555359,-0.214989572763443,-0.9999470096626331,-0.009263649722023613,0.00447803729471008,-0.009136696399415202,0.9995777148747829,0.027584645754825943,0.03993000090122223
+1789729894722259475,14100,0.6779614686965942,0.03260970488190651,-0.21499058604240417,-0.9999468917802139,-0.009273320780010027,0.004471700867465268,-0.009146558649200057,0.9995777428351366,0.02758036342038668,0.03993000090122223
+1789729894755609852,14133,0.6779630184173584,0.03260309621691704,-0.21499262750148773,-0.9999471689364641,-0.009265357520521619,0.004476190659839594,-0.009138508950899607,0.9995780161976517,0.027573125244374674,0.03993000090122223
+1789729894788897375,14166,0.6779650449752808,0.032597556710243225,-0.21499258279800415,-0.9999470471519092,-0.009258855323667717,0.004477482848039994,-0.009131994528351391,0.9995781978630072,0.027568696119811074,0.03993000090122223
+1789729894822250012,14200,0.6779630184173584,0.03260330110788345,-0.2149895280599594,-0.9999471489712854,-0.009265637685962136,0.004473056885530053,-0.009138878778329506,0.9995780331715353,0.02757238708513816,0.03993000090122223
+1789729894855595209,14233,0.6779612302780151,0.03260843828320503,-0.21499042212963104,-0.9999471280828303,-0.009273144581029152,0.004469658835756285,-0.00914648002700122,0.9995779845018976,0.027571631260327557,0.0399399995803833
+1789729894888893751,14266,0.6779631972312927,0.0326039157807827,-0.21499188244342804,-0.9999470360162435,-0.009268434906347902,0.004471545915624032,-0.009141735937183235,0.999578120100424,0.02756828748681413,0.0399399995803833
+1789729894922256827,14300,0.6779655814170837,0.032599106431007385,-0.21499210596084595,-0.9999471806090983,-0.009262050782452484,0.004470376946437078,-0.009135402529369481,0.9995782724308432,0.027564864103147603,0.0399399995803833
+1789729894955590406,14333,0.677964448928833,0.032601721584796906,-0.21499167382717133,-0.999947138433686,-0.009267924709857149,0.004468040665673058,-0.009141345808293296,0.9995782602254217,0.02756333634600191,0.0399399995803833
+1789729894988896327,14366,0.6779638528823853,0.03260298818349838,-0.2149919867515564,-0.9999471054953959,-0.009269934351211043,0.004467411180338693,-0.00914337767012818,0.9995782745573677,0.02756214250499893,0.0399399995803833
+1789729895022249506,14400,0.6779630780220032,0.03260150924324989,-0.2149939388036728,-0.9999470545516047,-0.00926782388481694,0.004473009153041045,-0.009141122568100856,0.9995783455992635,0.02756031367424379,0.0399399995803833
+1789729895055586518,14433,0.677963376045227,0.032601695507764816,-0.21499334275722504,-0.9999471239139832,-0.009266588683079818,0.004472497263282233,-0.009139890031715798,0.9995782875956933,0.027562826479071132,0.0399399995803833
+1789729895088896882,14466,0.6779621839523315,0.03260285407304764,-0.21499307453632355,-0.9999470380841018,-0.00927048262711111,0.004472271131947314,-0.009143803452369925,0.9995783374836648,0.027559718729732285,0.0399399995803833
+1789729895122254812,14500,0.6779617667198181,0.032603777945041656,-0.21499304473400116,-0.999947036647701,-0.009271685957024886,0.0044711953320266985,-0.00914503619903261,0.9995783277022466,0.027559664504732427,0.0399399995803833
+1789729895155584524,14533,0.67796391248703,0.032600969076156616,-0.21499259769916534,-0.9999470190520126,-0.009266180881817805,0.0044695095344624855,-0.009139582654533344,0.9995783957492905,0.027559004967172698,0.0399399995803833
+1789729895188920176,14566,0.6779640913009644,0.032600224018096924,-0.21499252319335938,-0.9999469662673963,-0.009267747339865965,0.004470029948210677,-0.009141143239735857,0.9995784341406692,0.027557094560468468,0.0399399995803833
+1789729895222249848,14600,0.6779623031616211,0.03260244429111481,-0.21499326825141907,-0.9999471471604588,-0.009269513919540631,0.004471139646726726,-0.009142888464331464,0.9995784754783414,0.027555017612512986,0.0399399995803833
+1789729895255580251,14633,0.6779623627662659,0.03260274603962898,-0.2149922400712967,-0.9999471540335281,-0.009269408726045996,0.004470018550246218,-0.009142813000760348,0.9995784694370304,0.027555261810279313,0.0399399995803833
+1789729895288891605,14666,0.6779620051383972,0.0326017327606678,-0.21499322354793549,-0.9999471198739629,-0.009269831455931268,0.004473266187776953,-0.009143152010461595,0.9995785000894359,0.02755403724892463,0.0399399995803833
+1789729895322326178,14700,0.677962601184845,0.032601166516542435,-0.21499234437942505,-0.9999471535206104,-0.009267600949180789,0.004472867528952466,-0.009140927551219523,0.9995784869520414,0.02755525193744545,0.0399399995803833
+1789729895355581847,14733,0.6779628992080688,0.03260170295834541,-0.21499134600162506,-0.999947144339441,-0.009267061191102613,0.004470387322716277,-0.009140457864662263,0.9995785007796846,0.027554905943829897,0.0399399995803833
+1789729895388915829,14766,0.6779630780220032,0.03260032832622528,-0.2149912267923355,-0.9999470666373484,-0.009265809706316585,0.004470894327911884,-0.009139206224743446,0.9995785900025612,0.027552083658077157,0.0399399995803833
+1789729895422246381,14800,0.6779638528823853,0.0325980968773365,-0.21499201655387878,-0.9999469741232632,-0.009264052886547944,0.004471523911061847,-0.00913744861272783,0.999578698689389,0.027548722483265484,0.0399399995803833
+1789729895455580933,14833,0.6779628992080688,0.03259795904159546,-0.21499304473400116,-0.9999469618675325,-0.009264618480537536,0.004474256004688464,-0.009137940886917072,0.9995787060773378,0.027548291171663578,0.0399399995803833
+1789729895488898836,14866,0.677962064743042,0.03259832412004471,-0.21499323844909668,-0.9999471060670786,-0.0092686590335988,0.004474814727791734,-0.009141980713305357,0.9995787630845699,0.027544883552260202,0.0399399995803833
+1789729895522323500,14900,0.6779606342315674,0.03259881213307381,-0.21499335765838623,-0.9999470851482197,-0.009269310725389588,0.004477766421912362,-0.009142554509724368,0.9995787783615175,0.027544138697361997,0.0399399995803833
+1789729895555585268,14933,0.6779608130455017,0.03259845823049545,-0.21499311923980713,-0.9999471006322214,-0.009268438497107144,0.004477502490731977,-0.009141687215228768,0.9995787708858311,0.02754469789443792,0.0399399995803833
+1789729895588903652,14966,0.6779610514640808,0.0325983427464962,-0.21499331295490265,-0.9999471269865148,-0.00926743727832678,0.004477137473920853,-0.009140691893946966,0.999578753722162,0.027545651168933025,0.0399399995803833
+1789729895622246993,15000,0.6779621839523315,0.03259860724210739,-0.2149914801120758,-0.999947082841028,-0.009268109488647404,0.004471913200546122,-0.009141515226228879,0.9995787909833476,0.027544025290234725,0.0399399995803833
+1789729895655576015,15033,0.6779623627662659,0.032597776502370834,-0.21499158442020416,-0.999946980101214,-0.0092675793367105,0.004471322371432093,-0.009141019171473383,0.9995788984470698,0.027540288940981053,0.0399399995803833
+1789729895688890619,15066,0.6779618263244629,0.032597389072179794,-0.21499213576316833,-0.9999469840485442,-0.009267119699341022,0.0044741068688534625,-0.009140482401255865,0.9995788990862224,0.02754044399178413,0.0399399995803833
+1789729895722305564,15100,0.677960991859436,0.03259668126702309,-0.2149922400712967,-0.9999471349897813,-0.00926812173771124,0.004477377560132001,-0.009141409089928502,0.999578977664696,0.027537285568750333,0.0399399995803833
+1789729895755638816,15133,0.6779607534408569,0.03259749338030815,-0.21499130129814148,-0.9999469123846347,-0.009269160993405816,0.004476425230159353,-0.00914247143619716,0.9995789521969232,0.02753785567761434,0.0399399995803833
+1789729895788895275,15166,0.6779611110687256,0.032597433775663376,-0.2149907797574997,-0.9999469305306488,-0.009268556093216041,0.004475401344850283,-0.009141891821947067,0.999578939504122,0.02753850888230276,0.0399399995803833
+1789729895822305840,15200,0.6779612302780151,0.03259756416082382,-0.21499083936214447,-0.9999469360668074,-0.009268157395041644,0.004475227083517862,-0.009141497118940044,0.999578937620391,0.027538708290178633,0.0399399995803833
+1789729895855657210,15233,0.6779612302780151,0.03259733319282532,-0.21499080955982208,-0.9999469346315031,-0.009268923207396782,0.004475656868787128,-0.009142251060960584,0.9995789320593579,0.027538659916239258,0.0399399995803833
+1789729895888891691,15266,0.6779620051383972,0.032596927136182785,-0.21499092876911163,-0.9999471541606073,-0.009268322933088902,0.004474280761224313,-0.009141692130042544,0.9995789562647227,0.027537968454356302,0.0399399995803833
+1789729895922300516,15300,0.6779618859291077,0.032596856355667114,-0.214991495013237,-0.9999470865010347,-0.009268921761187961,0.004474292609074961,-0.009142302028228548,0.9995790183597447,0.02753551145936543,0.0399399995803833
+1789729895955583073,15333,0.6779617667198181,0.0325966514647007,-0.21499162912368774,-0.9999470735848943,-0.00926783418853534,0.004475681203995363,-0.009141178879617119,0.9995790414529908,0.027535045892101342,0.0399399995803833
+1789729895988899447,15366,0.677961528301239,0.032597001641988754,-0.2149909883737564,-0.9999471064394774,-0.009269245180013957,0.004476891830399177,-0.009142550379771602,0.999578995788945,0.02753624860810669,0.0399399995803833
+1789729896022262188,15400,0.6779604554176331,0.03259653225541115,-0.2149921953678131,-0.9999470477532748,-0.009270548247883821,0.0044804429902618945,-0.009143765336458602,0.9995790428815154,0.02753413539422958,0.0399399995803833
+1789729896055593493,15433,0.6779609322547913,0.03259625285863876,-0.2149912416934967,-0.9999470503671486,-0.009270412436528421,0.00447894999586769,-0.009143670204733343,0.9995790413310289,0.027534223233014524,0.0399399995803833
+1789729896088899871,15466,0.6779606938362122,0.03259625658392906,-0.21499162912368774,-0.9999470284313894,-0.009270623581646306,0.004479675829469357,-0.00914386507245081,0.9995790613972756,0.027533429912630532,0.0399399995803833
+1789729896122323159,15500,0.6779615879058838,0.03259596601128578,-0.21499066054821014,-0.9999470173612477,-0.009268970885145243,0.00447707619339531,-0.009142286428266845,0.9995790873451939,0.027533011823607526,0.0399399995803833
+1789729896155591520,15533,0.6779608726501465,0.03259623423218727,-0.21499107778072357,-0.9999469406434633,-0.00927083264721532,0.004477548120544543,-0.009144147692150297,0.9995791469211498,0.02753023026244492,0.0399399995803833
+1789729896188889558,15566,0.6779603362083435,0.032595887780189514,-0.21499136090278625,-0.999946891142327,-0.009271442478408838,0.004480277887341586,-0.009144690713915875,0.9995791911135334,0.027528445037647818,0.0399399995803833
+1789729896222251751,15600,0.6779597401618958,0.032596174627542496,-0.2149912267923355,-0.9999468545566115,-0.009273305972926204,0.00448170852198395,-0.009146520446244855,0.9995792106901348,0.027527126185261538,0.0399399995803833
+1789729896255580057,15633,0.6779592633247375,0.03259607404470444,-0.2149912714958191,-0.9999468637284945,-0.009272639624127606,0.0044835179534228106,-0.009145802999003697,0.9995792078917083,0.02752746626491994,0.0399399995803833
+1789729896288886775,15666,0.6779592037200928,0.03259528428316116,-0.2149910181760788,-0.999947058671188,-0.009272888762444042,0.0044845959349052444,-0.009146029881929463,0.9995792491545424,0.027525894044473028,0.0399399995803833
+1789729896322252797,15700,0.6779593825340271,0.03259500116109848,-0.21499112248420715,-0.9999470340266221,-0.009272577413014214,0.004484324895521856,-0.009145730349625649,0.9995792766126137,0.027524996217729532,0.0399399995803833
+1789729896355576583,15733,0.6779603362083435,0.032594386488199234,-0.21499036252498627,-0.9999470095877931,-0.009271727956644974,0.004481903173210837,-0.009144952029668049,0.9995793085479493,0.02752409473215079,0.03993000090122223
+1789729896388894380,15766,0.677961528301239,0.03259405866265297,-0.21498969197273254,-0.9999469931932141,-0.00927030308891148,0.004479512709345813,-0.009143596268046884,0.9995793377468132,0.02752348443810724,0.03993000090122223
+1789729896422251763,15800,0.6779615879058838,0.03259449079632759,-0.21498869359493256,-0.9999469631203319,-0.00927051704466362,0.004481780857989517,-0.00914375293871241,0.9995793661131409,0.027522402042563718,0.03993000090122223
+1789729896455575510,15833,0.6779603362083435,0.03259439021348953,-0.21498870849609375,-0.9999468695792817,-0.009272215023637733,0.004486500836713996,-0.009145336586612316,0.9995794445423954,0.027519026769941432,0.03993000090122223
+1789729896488892946,15866,0.6779598593711853,0.03259442374110222,-0.2149888426065445,-0.9999468566709104,-0.009272595126889584,0.004490178176466021,-0.009145617651090475,0.9995794544057827,0.02751857514379533,0.03993000090122223
+1789729896522256609,15900,0.6779599189758301,0.032594162970781326,-0.21498849987983704,-0.9999468521120543,-0.009272264842250856,0.004489691232552048,-0.009145301667553672,0.9995794619410048,0.0275184063736209,0.03993000090122223
+1789729896555585345,15933,0.6779599785804749,0.03259440138936043,-0.21498870849609375,-0.9999468843832009,-0.009272063224904495,0.004488983104601274,-0.009145114034039267,0.9995794314624891,0.027519576015638675,0.0399399995803833
+1789729896588988554,15966,0.6779600381851196,0.03259383887052536,-0.2149890512228012,-0.9999468519071624,-0.009271090319461387,0.004489013060717742,-0.009144146272511474,0.9995794728753858,0.027518393037574647,0.0399399995803833
+1789729896622263145,16000,0.6779605746269226,0.032593268901109695,-0.2149886041879654,-0.9999470160304318,-0.009270533524886257,0.004487826722728103,-0.009143635121741003,0.999579552067584,0.027515687343551948,0.03993000090122223
+1789729896655581481,16033,0.677960216999054,0.0325934998691082,-0.21498869359493256,-0.9999470113183992,-0.009271557387248927,0.004488484500502071,-0.009144641323797123,0.9995795474315995,0.027515521430798256,0.0399399995803833
+1789729896688892149,16066,0.6779600381851196,0.03259384632110596,-0.21498847007751465,-0.999946995594764,-0.009272021908183296,0.00448748133797019,-0.009145135961739522,0.9995795587381527,0.02751494616564799,0.0399399995803833
+1789729896722244992,16100,0.6779592633247375,0.0325944647192955,-0.2149880826473236,-0.9999470403081085,-0.009273361550900255,0.004488712402830327,-0.009146433540322569,0.9995795018787909,0.02751658091059694,0.0399399995803833
+1789729896755577818,16133,0.6779589653015137,0.03259380906820297,-0.214988112449646,-0.9999470304228,-0.009273358907780558,0.00449027557259797,-0.009146389622331743,0.9995795119785568,0.027516228595838247,0.0399399995803833
+1789729896788887885,16166,0.6779584288597107,0.03259320557117462,-0.21498891711235046,-0.9999469863246304,-0.009272568118125765,0.0044920401524093795,-0.009145558222895925,0.9995795635480864,0.02751463119984774,0.0399399995803833
+1789729896822245508,16200,0.6779587864875793,0.03259320929646492,-0.2149883210659027,-0.9999469548787265,-0.009272216364910582,0.004490295930381886,-0.00914525998300821,0.9995795979874966,0.02751347883068057,0.0399399995803833
+1789729896855582653,16233,0.6779586672782898,0.03259285166859627,-0.2149886041879654,-0.9999468968557605,-0.009271933322731376,0.004490261039961062,-0.009144988016749987,0.9995796585664386,0.02751136781740667,0.0399399995803833
+1789729896888893681,16266,0.6779585480690002,0.03259224072098732,-0.21498875319957733,-0.9999468522021064,-0.009271889874125624,0.004491174849575248,-0.009144927168468167,0.9995797037004017,0.0275097478159935,0.0399399995803833
+1789729896922247874,16300,0.6779577732086182,0.03259160742163658,-0.21498897671699524,-0.9999470194208906,-0.009270633708183105,0.004494923312369421,-0.009143580734801196,0.9995797868642013,0.027507174771654503,0.0399399995803833
+1789729896955584149,16333,0.6779568195343018,0.032591812312603,-0.21498894691467285,-0.9999469971483559,-0.009270574086684491,0.004497095200227518,-0.009143465286513807,0.999579809942849,0.02750637438371326,0.0399399995803833
+1789729896988917785,16366,0.6779565811157227,0.03259197995066643,-0.21498826146125793,-0.9999469809691792,-0.009272540139157584,0.0044972552844629865,-0.009145428992003088,0.9995798080255178,0.027505791243844932,0.0399399995803833
+1789729897022245603,16400,0.6779565811157227,0.03259152173995972,-0.21498776972293854,-0.9999469378605328,-0.009271631501307047,0.004495658504001189,-0.009144572032437355,0.9995798592652058,0.0275042135817751,0.0399399995803833
+1789729897055584321,16433,0.6779571771621704,0.03259142488241196,-0.21498718857765198,-0.9999469461544042,-0.009272022076150827,0.004493461107352603,-0.009145021420077476,0.9995798471031828,0.027504506182036037,0.0399399995803833
+1789729897088898441,16466,0.6779572367668152,0.032590243965387344,-0.21498768031597137,-0.9999468782702075,-0.009270400570213666,0.004494027446724133,-0.009143396685195482,0.9995799299358219,0.027502035282945383,0.0399399995803833
+1789729897122257848,16500,0.6779577136039734,0.03258947283029556,-0.21498806774616241,-0.99994681607398,-0.009271929971223282,0.004492727256065452,-0.009144971979220594,0.9995799778354588,0.02749977006256796,0.0399399995803833
+1789729897155586387,16533,0.6779576539993286,0.03258969262242317,-0.21498796343803406,-0.9999468195547858,-0.009271939511565016,0.004492857407183522,-0.009144977338435115,0.9995799742860372,0.027499897328538185,0.0399399995803833
+1789729897188893478,16566,0.6779575347900391,0.03259019926190376,-0.21498800814151764,-0.999946819350032,-0.009273585458183813,0.004492464125760151,-0.009146633505971431,0.9995799592824617,0.027499891985907427,0.0399399995803833
+1789729897222247955,16600,0.6779571175575256,0.03259025886654854,-0.21498773992061615,-0.9999467951894818,-0.009274008321323747,0.004492345445533833,-0.00914706364242712,0.9995799795139647,0.02749901335898243,0.0399399995803833
+1789729897255582943,16633,0.6779576539993286,0.032589659094810486,-0.21498677134513855,-0.9999468154085336,-0.009271823774562912,0.004491984639070518,-0.009144886344094175,0.9995799793843276,0.02749974220274988,0.0399399995803833
+1789729897288895684,16666,0.6779572367668152,0.03258941322565079,-0.21498699486255646,-0.9999469910473666,-0.009273511666162108,0.004491947023544624,-0.009146585474695575,0.9995800265442137,0.027497464278167988,0.0399399995803833
+1789729897322308316,16700,0.6779580116271973,0.03258897364139557,-0.21498644351959229,-0.999946973952136,-0.009273360608975885,0.00448953403506103,-0.009146503726301429,0.9995800447117438,0.027496830818109226,0.0399399995803833
+1789729897355640044,16733,0.6779583692550659,0.03258877992630005,-0.214986190199852,-0.9999468811635204,-0.009274395311218576,0.004487806124093369,-0.009147601523174918,0.9995801276775902,0.027493448703683882,0.0399399995803833
+1789729897388896790,16766,0.6779574751853943,0.03258959576487541,-0.21498708426952362,-0.9999468816241086,-0.00927560844306331,0.0044894631025035655,-0.009148768595583879,0.9995801162519045,0.027493475921582508,0.0399399995803833
+1789729897422246667,16800,0.6779558658599854,0.03258940950036049,-0.21498872339725494,-0.999946833724437,-0.009273915755837227,0.004494824258474825,-0.009146937537545495,0.9995801803842215,0.02749175315218914,0.0399399995803833
+1789729897455580206,16833,0.6779554486274719,0.032589979469776154,-0.21498890221118927,-0.9999468300399728,-0.009274958145232314,0.00449492651047702,-0.009147977361261229,0.9995801744770433,0.027491621996447124,0.0399399995803833
+1789729897488898816,16866,0.6779550313949585,0.032589953392744064,-0.2149888277053833,-0.9999468355666759,-0.009276285510666622,0.0044959854478812886,-0.009149274180328841,0.9995801568605812,0.027491831139272064,0.0399399995803833
+1789729897522246383,16900,0.6779558062553406,0.032588932663202286,-0.2149878889322281,-0.99994681463706,-0.009273575377786591,0.00449518511223965,-0.009146590673522881,0.9995802026371171,0.027491059291790566,0.0399399995803833
+1789729897555581042,16933,0.6779563426971436,0.03258868679404259,-0.2149878591299057,-0.9999468135624499,-0.009271019646092886,0.004493498712006709,-0.009144082418232398,0.9995802270334128,0.02749100640163911,0.0399399995803833
+1789729897588896402,16966,0.6779569387435913,0.03258824348449707,-0.2149876207113266,-0.9999470117865206,-0.009271894662889227,0.004491912612331682,-0.009145007620812181,0.9995802589173237,0.027489540818739843,0.0399399995803833
+1789729897622251209,17000,0.6779571175575256,0.0325881727039814,-0.21498693525791168,-0.9999469489534218,-0.009273449302160144,0.004491300500377704,-0.009146589338506959,0.9995803073055899,0.02748725458992119,0.0399399995803833
+1789729897655587987,17033,0.6779561042785645,0.03258873149752617,-0.21498708426952362,-0.9999469538141019,-0.009274703378582534,0.004493673363869192,-0.00914777692715703,0.9995802911978535,0.02748744535342898,0.0399399995803833
+1789729897688909047,17066,0.6779552102088928,0.03258870542049408,-0.2149873971939087,-0.9999469561677055,-0.009274707064161346,0.004497045979449582,-0.009147687569119534,0.9995802892389086,0.027487546462274512,0.0399399995803833
+1789729897722252675,17100,0.6779550313949585,0.03258869796991348,-0.21498751640319824,-0.999946927004004,-0.009275595561787968,0.004496750830054118,-0.009148588880901483,0.9995803101572919,0.02748648561237354,0.0399399995803833
+1789729897755584544,17133,0.677955687046051,0.03258845582604408,-0.2149868756532669,-0.9999469398461267,-0.009274394383197573,0.004494523780898548,-0.009147447103991378,0.9995803081085664,0.027486940054390525,0.0399399995803833
+1789729897788895234,17166,0.6779554486274719,0.03258829936385155,-0.21498776972293854,-0.999946887353411,-0.009275874825088083,0.00449481908461134,-0.009148927949259688,0.99958034695916,0.027485034021528524,0.0399399995803833
+1789729897822246351,17200,0.6779563426971436,0.03258724510669708,-0.21498768031597137,-0.9999468507232312,-0.009274341801176865,0.004493561842932246,-0.00914743636289045,0.9995803975231563,0.02748369110050668,0.0399399995803833
+1789729897855582140,17233,0.6779567003250122,0.03258601576089859,-0.21498803794384003,-0.9999470055282556,-0.00927384119132485,0.004493608535923196,-0.00914694911266084,0.9995804856665174,0.027480648478109906,0.0399399995803833
+1789729897888903500,17266,0.6779563426971436,0.03258686512708664,-0.21498849987983704,-0.999946773273652,-0.009275687380851294,0.004493688988124974,-0.009148791328109284,0.9995804625319374,0.027480875090354,0.0399399995803833
+1789729897922247567,17300,0.6779555082321167,0.032587431371212006,-0.2149886041879654,-0.9999467898473977,-0.0092774808950771,0.004495932345101454,-0.009150519696913245,0.999580429730935,0.027481493052895517,0.0399399995803833
+1789729897955581926,17333,0.6779562830924988,0.032586902379989624,-0.21498757600784302,-0.9999467838112381,-0.009276965857955476,0.004493801933983189,-0.009150064400318049,0.9995804402382664,0.02748126231107269,0.0399399995803833
+1789729897988908685,17366,0.6779565811157227,0.032586559653282166,-0.21498706936836243,-0.9999469837887318,-0.009277822007567105,0.004491983428575486,-0.009150976809338074,0.9995804705093054,0.027479858938834194,0.0399399995803833
+1789729898022258864,17400,0.6779564023017883,0.03258584439754486,-0.21498745679855347,-0.9999469425620855,-0.009276961115553005,0.004492629416356329,-0.009150105627627726,0.9995805197173026,0.027478358697825108,0.03993000090122223
+1789729898055586537,17433,0.677956223487854,0.032585229724645615,-0.21498806774616241,-0.9999468634398372,-0.00927663549163383,0.004493289736292903,-0.009149775670954423,0.9995806018602537,0.027475479698979906,0.03993000090122223
+1789729898088908130,17466,0.6779566407203674,0.03258475661277771,-0.2149878740310669,-0.999946830402235,-0.009276367859198796,0.004492999471705689,-0.009149521818827257,0.9995806373006109,0.027474274577761353,0.03993000090122223
diff --git a/episode_0011/left.observation.state.joint_position/data.csv b/episode_0011/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce1be69c692c880bcdc2cfdecccc82f572e0892b
--- /dev/null
+++ b/episode_0011/left.observation.state.joint_position/data.csv
@@ -0,0 +1,526 @@
+timestamp_ns,elapsed_ms,j1,j2,j3,j4,j5,j6,j7,gripper
+1789729880622232203,0,0.8357498645782471,-1.8963412046432495,-1.005455493927002,1.3811860084533691,-0.16261401772499084,0.5945122241973877,0.7044258713722229,0.0399399995803833
+1789729880655620396,33,0.8357627987861633,-1.8963425159454346,-1.0054564476013184,1.38118577003479,-0.1626087725162506,0.594504177570343,0.7044179439544678,0.0399399995803833
+1789729880688995631,66,0.8357746601104736,-1.8963443040847778,-1.005455732345581,1.3811864852905273,-0.1626012772321701,0.5944933295249939,0.7044146060943604,0.03993000090122223
+1789729880722364587,100,0.8357864022254944,-1.8963468074798584,-1.0054570436477661,1.3811867237091064,-0.1625942587852478,0.5944835543632507,0.7044123411178589,0.03993000090122223
+1789729880755624062,133,0.8357927799224854,-1.8963496685028076,-1.0054595470428467,1.38118577003479,-0.16259333491325378,0.5944784879684448,0.7044122815132141,0.03993000090122223
+1789729880788926453,166,0.8357983231544495,-1.8963508605957031,-1.005460262298584,1.3811845779418945,-0.1625945121049881,0.5944690704345703,0.7044129371643066,0.03993000090122223
+1789729880822285489,200,0.8358044028282166,-1.896350622177124,-1.0054599046707153,1.3811794519424438,-0.16259276866912842,0.594455361366272,0.7044126987457275,0.03993000090122223
+1789729880855622638,233,0.8358139395713806,-1.8963505029678345,-1.0054601430892944,1.3811777830123901,-0.162582129240036,0.5944364666938782,0.704411506652832,0.03993000090122223
+1789729880889015611,266,0.8358239531517029,-1.8963508605957031,-1.0054603815078735,1.381177544593811,-0.1625724732875824,0.5944318175315857,0.7044039368629456,0.03993000090122223
+1789729880922288895,300,0.8358362913131714,-1.8963518142700195,-1.0054608583450317,1.3811781406402588,-0.16256572306156158,0.594427764415741,0.7044002413749695,0.0399399995803833
+1789729880955611794,333,0.8358461856842041,-1.8963550329208374,-1.0054633617401123,1.3811789751052856,-0.16256169974803925,0.5944207310676575,0.7044022679328918,0.0399399995803833
+1789729880988924525,366,0.8358544111251831,-1.8963572978973389,-1.005464792251587,1.381178855895996,-0.16255894303321838,0.5944153070449829,0.7044012546539307,0.0399399995803833
+1789729881022362116,400,0.8358608484268188,-1.8963596820831299,-1.0054665803909302,1.3811793327331543,-0.16255778074264526,0.5944046378135681,0.7044001221656799,0.0399399995803833
+1789729881055621465,433,0.8358667492866516,-1.8963600397109985,-1.0054666996002197,1.381178379058838,-0.1625566929578781,0.5943946242332458,0.7043986916542053,0.0399399995803833
+1789729881089020002,466,0.8358720541000366,-1.896359920501709,-1.005467414855957,1.3811782598495483,-0.1625518947839737,0.5943869352340698,0.7043963074684143,0.0399399995803833
+1789729881122367913,500,0.8358859419822693,-1.8963603973388672,-1.0054678916931152,1.3811794519424438,-0.16253943741321564,0.5943801999092102,0.7043840885162354,0.0399399995803833
+1789729881155628731,533,0.8358951807022095,-1.8963614702224731,-1.0054689645767212,1.3811790943145752,-0.16252991557121277,0.5943750739097595,0.7043780088424683,0.0399399995803833
+1789729881188922837,566,0.8359068036079407,-1.896363377571106,-1.0054712295532227,1.3811793327331543,-0.16252781450748444,0.5943669080734253,0.7043788433074951,0.0399399995803833
+1789729881222287057,600,0.8359124660491943,-1.8963654041290283,-1.0054736137390137,1.3811794519424438,-0.16252729296684265,0.5943617820739746,0.7043789625167847,0.0399399995803833
+1789729881255622839,633,0.8359137773513794,-1.896365761756897,-1.0054746866226196,1.381178617477417,-0.16252680122852325,0.5943561792373657,0.7043789029121399,0.0399399995803833
+1789729881288926114,666,0.8359140157699585,-1.8963649272918701,-1.0054748058319092,1.3811782598495483,-0.16252778470516205,0.594350278377533,0.7043789029121399,0.0399399995803833
+1789729881322291563,700,0.8359176516532898,-1.8963656425476074,-1.0054748058319092,1.3811777830123901,-0.16252347826957703,0.5943402051925659,0.7043771743774414,0.0399399995803833
+1789729881355622746,733,0.8359232544898987,-1.8963661193847656,-1.005475401878357,1.3811784982681274,-0.16251729428768158,0.594334065914154,0.7043755650520325,0.0399399995803833
+1789729881388934600,766,0.8359314799308777,-1.8963675498962402,-1.0054763555526733,1.3811784982681274,-0.16251517832279205,0.5943288803100586,0.7043722867965698,0.0399399995803833
+1789729881422291420,800,0.8359364867210388,-1.8963688611984253,-1.005478024482727,1.3811790943145752,-0.16250848770141602,0.5943272709846497,0.7043703198432922,0.0399399995803833
+1789729881455617243,833,0.8359388709068298,-1.8963719606399536,-1.0054799318313599,1.3811792135238647,-0.162506565451622,0.5943266153335571,0.7043696641921997,0.0399399995803833
+1789729881488932607,866,0.8359398245811462,-1.8963749408721924,-1.0054831504821777,1.3811792135238647,-0.1625070720911026,0.5943259596824646,0.7043702006340027,0.0399399995803833
+1789729881522293537,900,0.8359397053718567,-1.8963764905929565,-1.005486249923706,1.3811789751052856,-0.16250646114349365,0.5943208336830139,0.7043694257736206,0.0399399995803833
+1789729881555615411,933,0.8359408974647522,-1.8963764905929565,-1.005487084388733,1.3811787366867065,-0.1625044196844101,0.5943129062652588,0.7043683528900146,0.0399399995803833
+1789729881588922015,966,0.8359410762786865,-1.8963773250579834,-1.0054882764816284,1.381178617477417,-0.16249875724315643,0.5943120121955872,0.7043569087982178,0.0399399995803833
+1789729881622250078,1000,0.8359435796737671,-1.896378993988037,-1.0054911375045776,1.3811789751052856,-0.16249209642410278,0.5943105220794678,0.7043471336364746,0.0399399995803833
+1789729881655582400,1033,0.8359467387199402,-1.896381139755249,-1.0054975748062134,1.3811795711517334,-0.16249039769172668,0.594310998916626,0.7043474912643433,0.0399399995803833
+1789729881688898134,1066,0.8359482884407043,-1.8963840007781982,-1.0055030584335327,1.381180763244629,-0.1624889075756073,0.5943127274513245,0.7043493390083313,0.0399399995803833
+1789729881722246815,1100,0.8359487652778625,-1.896388053894043,-1.005506992340088,1.3811804056167603,-0.16248802840709686,0.5943115949630737,0.7043489217758179,0.0399399995803833
+1789729881755585917,1133,0.8359483480453491,-1.8963898420333862,-1.0055063962936401,1.381179690361023,-0.1624891459941864,0.5943092703819275,0.7043486833572388,0.0399399995803833
+1789729881788917010,1166,0.8359490036964417,-1.8963905572891235,-1.005506157875061,1.381179690361023,-0.1624894142150879,0.5943065285682678,0.704348623752594,0.0399399995803833
+1789729881822258981,1200,0.8359516263008118,-1.8963896036148071,-1.0055068731307983,1.3811798095703125,-0.16248708963394165,0.5943045616149902,0.7043448090553284,0.0399399995803833
+1789729881855586094,1233,0.8359545469284058,-1.8963911533355713,-1.0055075883865356,1.3811804056167603,-0.16248485445976257,0.5943005681037903,0.7043394446372986,0.0399399995803833
+1789729881888894999,1266,0.8359571695327759,-1.896393060684204,-1.0055090188980103,1.3811804056167603,-0.16248244047164917,0.5942974090576172,0.7043377757072449,0.0399399995803833
+1789729881922255938,1300,0.8359593152999878,-1.8963963985443115,-1.0055125951766968,1.3811818361282349,-0.16248159110546112,0.5942994356155396,0.7043365836143494,0.0399399995803833
+1789729881955591661,1333,0.8359602093696594,-1.8963981866836548,-1.0055172443389893,1.3811821937561035,-0.1624813824892044,0.5942995548248291,0.7043375968933105,0.0399399995803833
+1789729881988895345,1366,0.8359596133232117,-1.896399736404419,-1.0055207014083862,1.3811815977096558,-0.16248004138469696,0.594298243522644,0.7043377161026001,0.0399399995803833
+1789729882022257598,1400,0.8359599709510803,-1.8964016437530518,-1.0055216550827026,1.3811805248260498,-0.16247935593128204,0.594292402267456,0.7043366432189941,0.0399399995803833
+1789729882055590154,1433,0.835962176322937,-1.8964030742645264,-1.0055229663848877,1.3811808824539185,-0.16247844696044922,0.5942894816398621,0.7043346166610718,0.0399399995803833
+1789729882088918920,1466,0.8359658122062683,-1.8964040279388428,-1.0055255889892578,1.381181001663208,-0.16247372329235077,0.5942850708961487,0.7043269872665405,0.0399399995803833
+1789729882122260125,1500,0.8359712362289429,-1.8964091539382935,-1.0055298805236816,1.3811802864074707,-0.1624668836593628,0.5942807793617249,0.7043245434761047,0.0399399995803833
+1789729882155594362,1533,0.835974931716919,-1.8964176177978516,-1.0055326223373413,1.3811804056167603,-0.162465900182724,0.594283938407898,0.7043254375457764,0.0399399995803833
+1789729882188905939,1566,0.8359758853912354,-1.8964204788208008,-1.0055395364761353,1.3811814785003662,-0.1624622941017151,0.59428471326828,0.7043253779411316,0.0399399995803833
+1789729882222256124,1600,0.8359742164611816,-1.8964197635650635,-1.0055478811264038,1.3811808824539185,-0.16246095299720764,0.5942838191986084,0.7043254375457764,0.0399399995803833
+1789729882255587820,1633,0.8359750509262085,-1.896423578262329,-1.005547285079956,1.3811802864074707,-0.16246241331100464,0.5942832827568054,0.7043245434761047,0.0399399995803833
+1789729882288898828,1666,0.8359758257865906,-1.8964245319366455,-1.005548119544983,1.381179690361023,-0.16246148943901062,0.5942806005477905,0.7043229937553406,0.0399399995803833
+1789729882322244433,1700,0.8359770178794861,-1.8964245319366455,-1.0055509805679321,1.3811808824539185,-0.16245689988136292,0.5942736268043518,0.7043144702911377,0.0399399995803833
+1789729882355590558,1733,0.8359827399253845,-1.8964275121688843,-1.0055519342422485,1.381181240081787,-0.16245277225971222,0.594273030757904,0.7043083906173706,0.03993000090122223
+1789729882388901966,1766,0.8359863758087158,-1.8964301347732544,-1.0055533647537231,1.381182074546814,-0.1624477207660675,0.59427410364151,0.7043102979660034,0.03993000090122223
+1789729882422246211,1800,0.8359880447387695,-1.8964335918426514,-1.0055561065673828,1.3811849355697632,-0.1624496430158615,0.5942754745483398,0.704311192035675,0.03993000090122223
+1789729882455588076,1833,0.8359875082969666,-1.8964343070983887,-1.0055583715438843,1.381185531616211,-0.16245004534721375,0.594274640083313,0.704311728477478,0.03993000090122223
+1789729882488905654,1866,0.8359885811805725,-1.8964369297027588,-1.005560278892517,1.3811854124069214,-0.1624499261379242,0.5942715406417847,0.7043115496635437,0.03993000090122223
+1789729882522259658,1900,0.8359915614128113,-1.8964422941207886,-1.0055627822875977,1.381184697151184,-0.162448450922966,0.5942643880844116,0.704310417175293,0.0399399995803833
+1789729882555592364,1933,0.835995614528656,-1.8964430093765259,-1.005563735961914,1.3811849355697632,-0.16244275867938995,0.594261884689331,0.7043094635009766,0.0399399995803833
+1789729882588909342,1966,0.8360002636909485,-1.8964438438415527,-1.0055654048919678,1.3811858892440796,-0.16243872046470642,0.5942583084106445,0.7043096423149109,0.0399399995803833
+1789729882622255187,2000,0.8360064029693604,-1.8964495658874512,-1.0055677890777588,1.3811880350112915,-0.16243448853492737,0.5942569971084595,0.7043089270591736,0.0399399995803833
+1789729882655592782,2033,0.8360093832015991,-1.896453857421875,-1.0055713653564453,1.381188154220581,-0.16243508458137512,0.5942575931549072,0.7043089270591736,0.0399399995803833
+1789729882688898851,2066,0.8360082507133484,-1.8964567184448242,-1.0055779218673706,1.3811877965927124,-0.16243520379066467,0.5942577719688416,0.7043086290359497,0.0399399995803833
+1789729882722260335,2100,0.83600914478302,-1.896458625793457,-1.0055818557739258,1.381188154220581,-0.16243098676204681,0.5942564606666565,0.7043071985244751,0.0399399995803833
+1789729882755589241,2133,0.8360114693641663,-1.8964592218399048,-1.0055817365646362,1.3811897039413452,-0.16242656111717224,0.5942515134811401,0.7043054699897766,0.0399399995803833
+1789729882788897309,2166,0.836012065410614,-1.8964595794677734,-1.005582571029663,1.3811893463134766,-0.16242165863513947,0.5942524671554565,0.7043001651763916,0.0399399995803833
+1789729882822259993,2200,0.8360123038291931,-1.8964649438858032,-1.0055838823318481,1.3811869621276855,-0.16242285072803497,0.5942528247833252,0.7042943239212036,0.0399399995803833
+1789729882855586449,2233,0.8360152244567871,-1.8964663743972778,-1.0055878162384033,1.3811912536621094,-0.1624215841293335,0.5942521095275879,0.7042936086654663,0.0399399995803833
+1789729882888896758,2266,0.8360233306884766,-1.8964660167694092,-1.0055949687957764,1.3812050819396973,-0.1624199002981186,0.5942540764808655,0.7042945623397827,0.0399399995803833
+1789729882922258371,2300,0.8360257148742676,-1.8964701890945435,-1.0055962800979614,1.3812047243118286,-0.16241855919361115,0.5942574739456177,0.7042957544326782,0.0399399995803833
+1789729882955588257,2333,0.8360256552696228,-1.8964786529541016,-1.005598545074463,1.3811993598937988,-0.1624191850423813,0.5942614078521729,0.7042950391769409,0.0399399995803833
+1789729882988906325,2366,0.8360265493392944,-1.896478533744812,-1.0056021213531494,1.3812000751495361,-0.1624174565076828,0.5942557454109192,0.7042952179908752,0.0399399995803833
+1789729883022260351,2400,0.836031973361969,-1.8964784145355225,-1.005608081817627,1.3812036514282227,-0.16240720450878143,0.5942472815513611,0.7042908668518066,0.0399399995803833
+1789729883055586582,2433,0.8360368609428406,-1.8964855670928955,-1.0056072473526,1.381200909614563,-0.1624051034450531,0.5942462086677551,0.7042838335037231,0.0399399995803833
+1789729883088913962,2466,0.8360379934310913,-1.8964920043945312,-1.0056086778640747,1.381194829940796,-0.1624048501253128,0.5942476987838745,0.7042831182479858,0.0399399995803833
+1789729883122269380,2500,0.8360376954078674,-1.8964916467666626,-1.0056190490722656,1.3811968564987183,-0.16240194439888,0.594240665435791,0.7042832970619202,0.0399399995803833
+1789729883155600100,2533,0.8360400199890137,-1.8964914083480835,-1.0056205987930298,1.3811981678009033,-0.16239884495735168,0.5942341089248657,0.7042831182479858,0.0399399995803833
+1789729883188918861,2566,0.8360421657562256,-1.8964974880218506,-1.005620002746582,1.3811962604522705,-0.16239792108535767,0.5942330360412598,0.7042833566665649,0.0399399995803833
+1789729883222262340,2600,0.8360399603843689,-1.896510124206543,-1.0056207180023193,1.3811863660812378,-0.1623988300561905,0.5942381620407104,0.7042818069458008,0.0399399995803833
+1789729883255585181,2633,0.8360389471054077,-1.8965080976486206,-1.0056277513504028,1.381186604499817,-0.16239647567272186,0.5942307114601135,0.7042816281318665,0.0399399995803833
+1789729883288899552,2666,0.8360438942909241,-1.8965071439743042,-1.0056313276290894,1.3811901807785034,-0.16238251328468323,0.5942227244377136,0.7042741775512695,0.0399399995803833
+1789729883322261369,2700,0.8360543847084045,-1.8965152502059937,-1.0056301355361938,1.3811932802200317,-0.16237755119800568,0.594223141670227,0.704269289970398,0.0399399995803833
+1789729883355583800,2733,0.8360529541969299,-1.8965226411819458,-1.0056339502334595,1.3811901807785034,-0.16237850487232208,0.5942330956459045,0.7042703628540039,0.0399399995803833
+1789729883388892932,2766,0.8360501527786255,-1.8965226411819458,-1.005645513534546,1.3811886310577393,-0.1623801738023758,0.594240665435791,0.7042701840400696,0.0399399995803833
+1789729883422255989,2800,0.8360514640808105,-1.8965213298797607,-1.0056513547897339,1.381192922592163,-0.16237884759902954,0.594228208065033,0.7042701244354248,0.0399399995803833
+1789729883455598568,2833,0.8360527753829956,-1.896523118019104,-1.0056482553482056,1.381193995475769,-0.16237761080265045,0.5942288041114807,0.7042680978775024,0.0399399995803833
+1789729883488921979,2866,0.836052656173706,-1.8965351581573486,-1.0056467056274414,1.3811891078948975,-0.16237781941890717,0.5942325592041016,0.7042638659477234,0.0399399995803833
+1789729883522267987,2900,0.8360510468482971,-1.8965342044830322,-1.005652904510498,1.381182312965393,-0.1623678356409073,0.5942243337631226,0.7042589783668518,0.0399399995803833
+1789729883555591258,2933,0.836052656173706,-1.8965301513671875,-1.0056614875793457,1.3811867237091064,-0.16236159205436707,0.5942156910896301,0.7042539715766907,0.0399399995803833
+1789729883588900180,2966,0.8360562324523926,-1.8965353965759277,-1.005660057067871,1.381188988685608,-0.16235777735710144,0.5942190885543823,0.7042519450187683,0.0399399995803833
+1789729883622262707,3000,0.8360593318939209,-1.8965559005737305,-1.0056554079055786,1.3811837434768677,-0.16236059367656708,0.5942305326461792,0.7042531967163086,0.0399399995803833
+1789729883655590457,3033,0.8360570669174194,-1.8965518474578857,-1.0056709051132202,1.3811830282211304,-0.16236215829849243,0.59422767162323,0.7042557597160339,0.0399399995803833
+1789729883688901439,3066,0.8360567092895508,-1.896548867225647,-1.0056902170181274,1.3811843395233154,-0.16235828399658203,0.5942214131355286,0.7042531967163086,0.0399399995803833
+1789729883722257097,3100,0.8360653519630432,-1.8965561389923096,-1.0056787729263306,1.3811850547790527,-0.16235031187534332,0.594222366809845,0.7042500972747803,0.0399399995803833
+1789729883755587307,3133,0.8360689282417297,-1.8965696096420288,-1.0056748390197754,1.3811802864074707,-0.16234683990478516,0.5942210555076599,0.7042460441589355,0.0399399995803833
+1789729883788904018,3166,0.8360663056373596,-1.8965662717819214,-1.0056787729263306,1.3811753988265991,-0.1623411774635315,0.5942113995552063,0.7042469382286072,0.0399399995803833
+1789729883822255756,3200,0.836068868637085,-1.8965603113174438,-1.005686640739441,1.3811781406402588,-0.16233105957508087,0.5942047238349915,0.7042444348335266,0.0399399995803833
+1789729883855586256,3233,0.8360728621482849,-1.896567940711975,-1.0056843757629395,1.3811787366867065,-0.16233165562152863,0.5942061543464661,0.7042427062988281,0.0399399995803833
+1789729883888892978,3266,0.8360758423805237,-1.8965845108032227,-1.005682349205017,1.3811774253845215,-0.1623336672782898,0.5942087173461914,0.7042421698570251,0.0399399995803833
+1789729883922263835,3300,0.8360757231712341,-1.896578311920166,-1.0056970119476318,1.3811769485473633,-0.16233304142951965,0.5942044854164124,0.7042427062988281,0.0399399995803833
+1789729883955586305,3333,0.8360739946365356,-1.8965774774551392,-1.0057088136672974,1.381177306175232,-0.16232915222644806,0.594201385974884,0.7042414546012878,0.0399399995803833
+1789729883988997298,3366,0.836078405380249,-1.8965816497802734,-1.0057047605514526,1.3811776638031006,-0.16231706738471985,0.5942004919052124,0.7042317986488342,0.0399399995803833
+1789729884022255347,3400,0.8360845446586609,-1.8965883255004883,-1.0057018995285034,1.3811770677566528,-0.1623115837574005,0.5941984057426453,0.7042221426963806,0.0399399995803833
+1789729884055586041,3433,0.8360841870307922,-1.8965860605239868,-1.005704402923584,1.3811780214309692,-0.1623104214668274,0.5941978693008423,0.7042235732078552,0.0399399995803833
+1789729884088908095,3466,0.8360846042633057,-1.8965846300125122,-1.0057096481323242,1.3811801671981812,-0.16230899095535278,0.5941999554634094,0.7042235732078552,0.0399399995803833
+1789729884122260247,3500,0.8360897302627563,-1.8965953588485718,-1.0057098865509033,1.3811802864074707,-0.16230976581573486,0.5941996574401855,0.7042239904403687,0.0399399995803833
+1789729884155586291,3533,0.8360954523086548,-1.8966056108474731,-1.005709171295166,1.3811794519424438,-0.1623092144727707,0.5941962599754333,0.7042238712310791,0.0399399995803833
+1789729884188895576,3566,0.8360941410064697,-1.896601676940918,-1.0057203769683838,1.3811793327331543,-0.1623038351535797,0.5941903591156006,0.7042222023010254,0.0399399995803833
+1789729884222260827,3600,0.8360965847969055,-1.8966015577316284,-1.0057246685028076,1.381179690361023,-0.1622951775789261,0.5941800475120544,0.7042155265808105,0.0399399995803833
+1789729884255588311,3633,0.8361003398895264,-1.8966034650802612,-1.0057241916656494,1.3811790943145752,-0.1622944325208664,0.5941810011863708,0.704212486743927,0.03993000090122223
+1789729884288893647,3666,0.8361020088195801,-1.896607756614685,-1.005723476409912,1.3811781406402588,-0.16229389607906342,0.5941824913024902,0.7042108178138733,0.03993000090122223
+1789729884322260537,3700,0.8361054062843323,-1.8966054916381836,-1.0057339668273926,1.381179928779602,-0.16228625178337097,0.594180166721344,0.7042120099067688,0.0399399995803833
+1789729884355584632,3733,0.8361061811447144,-1.8966059684753418,-1.0057412385940552,1.381182074546814,-0.16228081285953522,0.5941802263259888,0.7042117118835449,0.0399399995803833
+1789729884388898737,3766,0.8361077904701233,-1.8966177701950073,-1.005737543106079,1.3811801671981812,-0.16228273510932922,0.5941826701164246,0.7042113542556763,0.0399399995803833
+1789729884422256688,3800,0.8361102938652039,-1.8966221809387207,-1.0057371854782104,1.3811793327331543,-0.1622833013534546,0.5941838026046753,0.7042104601860046,0.0399399995803833
+1789729884455583422,3833,0.8361104726791382,-1.8966219425201416,-1.0057388544082642,1.3811808824539185,-0.16227571666240692,0.5941788554191589,0.704210638999939,0.0399399995803833
+1789729884488889648,3866,0.8361145257949829,-1.8966212272644043,-1.0057393312454224,1.3811818361282349,-0.16226954758167267,0.5941773056983948,0.7042055130004883,0.0399399995803833
+1789729884522262608,3900,0.8361166715621948,-1.896623134613037,-1.0057419538497925,1.381181001663208,-0.16226410865783691,0.5941752791404724,0.7041991949081421,0.0399399995803833
+1789729884555587272,3933,0.8361170291900635,-1.8966305255889893,-1.0057417154312134,1.3811804056167603,-0.1622643917798996,0.5941764712333679,0.7041980624198914,0.0399399995803833
+1789729884588893528,3966,0.8361190557479858,-1.8966296911239624,-1.005751132965088,1.3811811208724976,-0.16226482391357422,0.5941789746284485,0.7041987776756287,0.0399399995803833
+1789729884622257529,4000,0.8361189961433411,-1.896630048751831,-1.0057638883590698,1.38118314743042,-0.16226322948932648,0.5941733121871948,0.7041971683502197,0.0399399995803833
+1789729884655586083,4033,0.8361197710037231,-1.8966422080993652,-1.005757451057434,1.3811814785003662,-0.16226059198379517,0.5941781997680664,0.7041971683502197,0.0399399995803833
+1789729884688892379,4066,0.8361257314682007,-1.8966457843780518,-1.0057564973831177,1.381180763244629,-0.16225770115852356,0.5941773653030396,0.7041957974433899,0.0399399995803833
+1789729884722306724,4100,0.836122989654541,-1.8966418504714966,-1.0057636499404907,1.3811827898025513,-0.1622474193572998,0.594169020652771,0.7041890025138855,0.0399399995803833
+1789729884755589602,4133,0.8361258506774902,-1.8966450691223145,-1.0057604312896729,1.3811817169189453,-0.16224589943885803,0.5941707491874695,0.70418381690979,0.0399399995803833
+1789729884788897618,4166,0.8361368179321289,-1.8966481685638428,-1.0057592391967773,1.3811821937561035,-0.1622447967529297,0.5941700339317322,0.7041844725608826,0.0399399995803833
+1789729884822254469,4200,0.8361359238624573,-1.8966467380523682,-1.0057671070098877,1.3811838626861572,-0.16224472224712372,0.5941667556762695,0.704185426235199,0.0399399995803833
+1789729884855585213,4233,0.836135983467102,-1.8966494798660278,-1.0057671070098877,1.3811829090118408,-0.16224493086338043,0.5941666960716248,0.7041851878166199,0.0399399995803833
+1789729884888905228,4266,0.8361355662345886,-1.8966495990753174,-1.005768060684204,1.3811814785003662,-0.1622450053691864,0.5941649675369263,0.7041849493980408,0.0399399995803833
+1789729884922252330,4300,0.8361339569091797,-1.8966548442840576,-1.0057672262191772,1.3811814785003662,-0.16224238276481628,0.5941580533981323,0.704184353351593,0.0399399995803833
+1789729884955585723,4333,0.8361368775367737,-1.8966578245162964,-1.0057668685913086,1.3811819553375244,-0.16223923861980438,0.5941590666770935,0.7041837573051453,0.0399399995803833
+1789729884988891349,4366,0.8361406326293945,-1.896654486656189,-1.0057742595672607,1.381181001663208,-0.16223469376564026,0.5941574573516846,0.7041822671890259,0.0399399995803833
+1789729885022261712,4400,0.8361395001411438,-1.8966618776321411,-1.0057764053344727,1.381179928779602,-0.16223236918449402,0.5941608548164368,0.7041785717010498,0.0399399995803833
+1789729885055586890,4433,0.8361417055130005,-1.8966662883758545,-1.005774974822998,1.381178855895996,-0.16223269701004028,0.5941614508628845,0.7041788697242737,0.0399399995803833
+1789729885088903868,4466,0.8361424207687378,-1.8966645002365112,-1.0057870149612427,1.3811804056167603,-0.16223262250423431,0.5941579341888428,0.7041793465614319,0.0399399995803833
+1789729885122261143,4500,0.8361423015594482,-1.896666407585144,-1.0057878494262695,1.381181001663208,-0.16223250329494476,0.5941566824913025,0.7041780352592468,0.0399399995803833
+1789729885155582231,4533,0.8361437916755676,-1.8966689109802246,-1.0057858228683472,1.3811782598495483,-0.1622328907251358,0.594156801700592,0.7041727900505066,0.0399399995803833
+1789729885188900090,4566,0.8361438512802124,-1.896667718887329,-1.0057860612869263,1.381178379058838,-0.16222995519638062,0.5941482782363892,0.7041669487953186,0.0399399995803833
+1789729885222260605,4600,0.8361449241638184,-1.8966679573059082,-1.0057849884033203,1.3811800479888916,-0.16222557425498962,0.5941436886787415,0.704163670539856,0.0399399995803833
+1789729885255611890,4633,0.8361519575119019,-1.8966693878173828,-1.0057857036590576,1.381179928779602,-0.16222287714481354,0.5941457748413086,0.704163670539856,0.0399399995803833
+1789729885288920989,4666,0.836152970790863,-1.8966712951660156,-1.0057880878448486,1.3811800479888916,-0.1622234582901001,0.5941466689109802,0.7041648626327515,0.0399399995803833
+1789729885322283504,4700,0.8361526727676392,-1.8966728448867798,-1.005789041519165,1.3811806440353394,-0.1622239500284195,0.5941452980041504,0.7041654586791992,0.0399399995803833
+1789729885355678035,4733,0.8361533880233765,-1.896672248840332,-1.005793571472168,1.3811801671981812,-0.16222523152828217,0.5941412448883057,0.704165518283844,0.0399399995803833
+1789729885388929960,4766,0.8361533880233765,-1.896673560142517,-1.005792498588562,1.3811802864074707,-0.16222453117370605,0.5941368341445923,0.7041634321212769,0.0399399995803833
+1789729885422327081,4800,0.8361556529998779,-1.8966768980026245,-1.0057910680770874,1.381178379058838,-0.16222253441810608,0.5941358208656311,0.7041625380516052,0.0399399995803833
+1789729885455681356,4833,0.8361566066741943,-1.8966766595840454,-1.0057929754257202,1.3811792135238647,-0.16222019493579865,0.5941341519355774,0.7041617631912231,0.0399399995803833
+1789729885489017743,4866,0.8361570835113525,-1.896676778793335,-1.005793809890747,1.3811798095703125,-0.16221584379673004,0.5941282510757446,0.7041605114936829,0.0399399995803833
+1789729885522263578,4900,0.8361620306968689,-1.8966792821884155,-1.005794882774353,1.381179928779602,-0.1622140258550644,0.5941286087036133,0.7041611075401306,0.0399399995803833
+1789729885555587456,4933,0.8361629843711853,-1.8966789245605469,-1.0057982206344604,1.3811795711517334,-0.16221420466899872,0.5941293835639954,0.7041627764701843,0.0399399995803833
+1789729885588896115,4966,0.8361620903015137,-1.896679162979126,-1.0058038234710693,1.3811790943145752,-0.1622154414653778,0.5941275358200073,0.7041616439819336,0.0399399995803833
+1789729885622251050,5000,0.836161732673645,-1.8966796398162842,-1.0058050155639648,1.3811793327331543,-0.16221365332603455,0.594118058681488,0.7041612863540649,0.0399399995803833
+1789729885655581958,5033,0.8361626863479614,-1.896683931350708,-1.0058029890060425,1.3811793327331543,-0.16221265494823456,0.5941197276115417,0.704159140586853,0.0399399995803833
+1789729885688916625,5066,0.8361644744873047,-1.8966857194900513,-1.0058033466339111,1.3811792135238647,-0.16221223771572113,0.5941186547279358,0.7041488885879517,0.0399399995803833
+1789729885722282259,5100,0.8361650109291077,-1.896685004234314,-1.005805492401123,1.3811798095703125,-0.16220518946647644,0.5941193699836731,0.7041478157043457,0.0399399995803833
+1789729885755614516,5133,0.8361667990684509,-1.8966861963272095,-1.0058066844940186,1.3811800479888916,-0.1622050553560257,0.5941193699836731,0.7041478157043457,0.0399399995803833
+1789729885788921645,5166,0.836168110370636,-1.8966883420944214,-1.0058071613311768,1.381179928779602,-0.16220597922801971,0.5941187143325806,0.7041484117507935,0.0399399995803833
+1789729885822287190,5200,0.8361684083938599,-1.8966883420944214,-1.0058118104934692,1.3811811208724976,-0.1622082144021988,0.5941174626350403,0.7041482329368591,0.0399399995803833
+1789729885855613298,5233,0.8361680507659912,-1.8966877460479736,-1.005815029144287,1.3811806440353394,-0.16220678389072418,0.5941157341003418,0.7041478753089905,0.0399399995803833
+1789729885888922457,5266,0.8361690640449524,-1.89668869972229,-1.005814790725708,1.381181001663208,-0.16220590472221375,0.5941137075424194,0.7041471004486084,0.0399399995803833
+1789729885922289311,5300,0.8361720442771912,-1.8966912031173706,-1.0058143138885498,1.3811815977096558,-0.16220439970493317,0.5941110253334045,0.7041464447975159,0.0399399995803833
+1789729885955614159,5333,0.8361729979515076,-1.8966912031173706,-1.0058153867721558,1.381182074546814,-0.1622048169374466,0.5941075682640076,0.7041459083557129,0.0399399995803833
+1789729885988943266,5366,0.8361742496490479,-1.8966916799545288,-1.0058151483535767,1.3811824321746826,-0.16220404207706451,0.5941046476364136,0.7041451930999756,0.0399399995803833
+1789729886022326811,5400,0.8361757397651672,-1.8966927528381348,-1.0058157444000244,1.381183385848999,-0.16220350563526154,0.594105064868927,0.704146683216095,0.03993000090122223
+1789729886055624125,5433,0.8361757397651672,-1.8966925144195557,-1.00581693649292,1.3811826705932617,-0.16220535337924957,0.5941042304039001,0.7041482329368591,0.03993000090122223
+1789729886088925888,5466,0.8361772298812866,-1.8966929912567139,-1.0058172941207886,1.381182312965393,-0.16220425069332123,0.5941002368927002,0.7041475772857666,0.03993000090122223
+1789729886122285867,5500,0.8361791968345642,-1.8966951370239258,-1.0058165788650513,1.3811815977096558,-0.16220417618751526,0.5940946340560913,0.7041473388671875,0.03993000090122223
+1789729886155587210,5533,0.8361808061599731,-1.8966953754425049,-1.0058166980743408,1.381182074546814,-0.16220161318778992,0.5940953493118286,0.704145073890686,0.03993000090122223
+1789729886188922311,5566,0.8361817002296448,-1.8966954946517944,-1.0058175325393677,1.3811827898025513,-0.16219988465309143,0.5940936803817749,0.7041436433792114,0.03993000090122223
+1789729886222262641,5600,0.8361817598342896,-1.8966957330703735,-1.0058190822601318,1.3811841011047363,-0.16219837963581085,0.5940924286842346,0.7041428685188293,0.0399399995803833
+1789729886255585452,5633,0.836182713508606,-1.89669668674469,-1.0058207511901855,1.3811841011047363,-0.1622016429901123,0.5940932631492615,0.7041427493095398,0.0399399995803833
+1789729886288894315,5666,0.8361824750900269,-1.8966987133026123,-1.0058263540267944,1.381183385848999,-0.16220223903656006,0.5940926671028137,0.7041434049606323,0.0399399995803833
+1789729886322248164,5700,0.8361825346946716,-1.8967005014419556,-1.0058305263519287,1.381183385848999,-0.1622006595134735,0.5940916538238525,0.7041420340538025,0.0399399995803833
+1789729886355661318,5733,0.8361830711364746,-1.896700382232666,-1.0058302879333496,1.3811832666397095,-0.1622008979320526,0.5940865278244019,0.7041378617286682,0.0399399995803833
+1789729886388900597,5766,0.836184024810791,-1.8967012166976929,-1.005828857421875,1.3811835050582886,-0.16219963133335114,0.5940845012664795,0.7041328549385071,0.0399399995803833
+1789729886422248076,5800,0.8361855745315552,-1.8967024087905884,-1.0058282613754272,1.3811842203140259,-0.16219934821128845,0.594083309173584,0.7041290998458862,0.0399399995803833
+1789729886455585567,5833,0.8361867666244507,-1.8967008590698242,-1.005828619003296,1.3811850547790527,-0.16219735145568848,0.5940841436386108,0.704129695892334,0.0399399995803833
+1789729886488894860,5866,0.8361875414848328,-1.8967012166976929,-1.0058293342590332,1.381185531616211,-0.1621968001127243,0.5940860509872437,0.7041333317756653,0.0399399995803833
+1789729886522255788,5900,0.8361877202987671,-1.8967043161392212,-1.0058308839797974,1.3811849355697632,-0.16219942271709442,0.5940839052200317,0.7041333913803101,0.0399399995803833
+1789729886555590328,5933,0.8361881375312805,-1.8967037200927734,-1.005832314491272,1.3811839818954468,-0.16220156848430634,0.5940829515457153,0.7041336894035339,0.0399399995803833
+1789729886588963476,5966,0.8361877202987671,-1.8967041969299316,-1.0058317184448242,1.3811830282211304,-0.16220076382160187,0.5940800309181213,0.7041345238685608,0.0399399995803833
+1789729886622266629,6000,0.8361893892288208,-1.8967056274414062,-1.0058314800262451,1.381182074546814,-0.16219833493232727,0.5940789580345154,0.7041322588920593,0.0399399995803833
+1789729886655588301,6033,0.836190938949585,-1.8967056274414062,-1.0058324337005615,1.3811817169189453,-0.16219733655452728,0.5940717458724976,0.7041310667991638,0.0399399995803833
+1789729886688914362,6066,0.8361911177635193,-1.896705150604248,-1.0058343410491943,1.3811814785003662,-0.16219650208950043,0.5940696001052856,0.7041321396827698,0.0399399995803833
+1789729886722257562,6100,0.8361923098564148,-1.8967061042785645,-1.0058350563049316,1.3811818361282349,-0.16219758987426758,0.5940709710121155,0.7041306495666504,0.0399399995803833
+1789729886755587953,6133,0.8361932039260864,-1.8967081308364868,-1.0058388710021973,1.3811817169189453,-0.16219769418239594,0.5940713882446289,0.704130232334137,0.0399399995803833
+1789729886788950621,6166,0.8361931443214417,-1.896710753440857,-1.0058408975601196,1.3811818361282349,-0.1621987670660019,0.5940713882446289,0.7041301727294922,0.0399399995803833
+1789729886822260724,6200,0.8361932039260864,-1.8967105150222778,-1.0058434009552002,1.3811804056167603,-0.16219916939735413,0.5940679311752319,0.7041284441947937,0.0399399995803833
+1789729886855587135,6233,0.8361931443214417,-1.8967106342315674,-1.0058432817459106,1.3811800479888916,-0.16219763457775116,0.5940653085708618,0.7041256427764893,0.0399399995803833
+1789729886888903787,6266,0.8361942172050476,-1.8967114686965942,-1.0058434009552002,1.3811811208724976,-0.16219612956047058,0.5940642356872559,0.7041196823120117,0.0399399995803833
+1789729886922254646,6300,0.8361955881118774,-1.8967121839523315,-1.0058423280715942,1.3811817169189453,-0.16219478845596313,0.5940628051757812,0.7041195034980774,0.0399399995803833
+1789729886955581768,6333,0.8361960649490356,-1.8967127799987793,-1.0058425664901733,1.3811813592910767,-0.16219526529312134,0.594062864780426,0.7041212320327759,0.0399399995803833
+1789729886988911439,6366,0.836196780204773,-1.8967134952545166,-1.0058472156524658,1.3811819553375244,-0.16219636797904968,0.5940638780593872,0.70412278175354,0.0399399995803833
+1789729887022341103,6400,0.8361968398094177,-1.8967143297195435,-1.005853533744812,1.3811818361282349,-0.16219881176948547,0.5940626859664917,0.70412278175354,0.0399399995803833
+1789729887055596705,6433,0.8361973762512207,-1.8967154026031494,-1.0058536529541016,1.381181001663208,-0.1621975153684616,0.5940605401992798,0.7041220664978027,0.0399399995803833
+1789729887088905871,6466,0.836198091506958,-1.8967177867889404,-1.0058525800704956,1.3811808824539185,-0.16219696402549744,0.5940528512001038,0.7041218280792236,0.0399399995803833
+1789729887122263023,6500,0.8361985683441162,-1.8967177867889404,-1.005852222442627,1.3811801671981812,-0.16219490766525269,0.594050407409668,0.7041210532188416,0.0399399995803833
+1789729887155589488,6533,0.8362007141113281,-1.8967193365097046,-1.0058519840240479,1.3811805248260498,-0.1621953248977661,0.5940490365028381,0.7041206955909729,0.0399399995803833
+1789729887188909763,6566,0.83620285987854,-1.8967199325561523,-1.005852222442627,1.3811814785003662,-0.16219379007816315,0.594048798084259,0.704120934009552,0.0399399995803833
+1789729887222268555,6600,0.8362041711807251,-1.8967212438583374,-1.0058531761169434,1.3811815977096558,-0.16219623386859894,0.594048023223877,0.7041201591491699,0.0399399995803833
+1789729887255591341,6633,0.8362036943435669,-1.8967233896255493,-1.005854606628418,1.3811815977096558,-0.16219718754291534,0.5940465927124023,0.704120934009552,0.0399399995803833
+1789729887288901957,6666,0.8362035751342773,-1.8967247009277344,-1.0058575868606567,1.3811811208724976,-0.16219596564769745,0.5940464735031128,0.7041208148002625,0.0399399995803833
+1789729887322273078,6700,0.8362061977386475,-1.896725058555603,-1.0058587789535522,1.3811813592910767,-0.16219399869441986,0.594039261341095,0.7041199803352356,0.0399399995803833
+1789729887355591094,6733,0.8362085223197937,-1.8967262506484985,-1.0058588981628418,1.3811815977096558,-0.16219009459018707,0.5940370559692383,0.7041196227073669,0.0399399995803833
+1789729887388925008,6766,0.8362115025520325,-1.8967267274856567,-1.0058597326278687,1.381182312965393,-0.16219092905521393,0.5940371751785278,0.7041192650794983,0.0399399995803833
+1789729887422266171,6800,0.8362125158309937,-1.8967275619506836,-1.0058612823486328,1.3811829090118408,-0.16218969225883484,0.5940364003181458,0.7041189670562744,0.0399399995803833
+1789729887455586127,6833,0.8362119793891907,-1.8967280387878418,-1.0058647394180298,1.381183385848999,-0.16219185292720795,0.5940375328063965,0.7041196823120117,0.0399399995803833
+1789729887488920081,6866,0.836211621761322,-1.8967291116714478,-1.0058648586273193,1.3811836242675781,-0.16219204664230347,0.5940371155738831,0.7041200995445251,0.0399399995803833
+1789729887522257915,6900,0.8362119197845459,-1.8967317342758179,-1.005866289138794,1.3811829090118408,-0.16219407320022583,0.594036340713501,0.7041187286376953,0.0399399995803833
+1789729887555600739,6933,0.8362126350402832,-1.8967328071594238,-1.0058660507202148,1.3811825513839722,-0.16219276189804077,0.5940335988998413,0.7041183710098267,0.0399399995803833
+1789729887588895626,6966,0.8362143635749817,-1.8967320919036865,-1.0058655738830566,1.38118314743042,-0.16219021379947662,0.5940291285514832,0.7041168212890625,0.0399399995803833
+1789729887622263078,7000,0.8362168669700623,-1.8967334032058716,-1.0058656930923462,1.3811829090118408,-0.16219007968902588,0.5940243601799011,0.7041172385215759,0.0399399995803833
+1789729887655587133,7033,0.836217999458313,-1.8967360258102417,-1.005866289138794,1.3811826705932617,-0.1621892750263214,0.5940226316452026,0.704116940498352,0.03993000090122223
+1789729887688903308,7066,0.8362202048301697,-1.8967362642288208,-1.0058685541152954,1.3811827898025513,-0.16218964755535126,0.594022810459137,0.7041164636611938,0.03993000090122223
+1789729887722259181,7100,0.8362195491790771,-1.8967385292053223,-1.0058715343475342,1.3811830282211304,-0.1621912717819214,0.5940219163894653,0.704116940498352,0.03993000090122223
+1789729887755589675,7133,0.8362197875976562,-1.8967399597167969,-1.0058714151382446,1.3811829090118408,-0.1621914654970169,0.5940197706222534,0.7041173577308655,0.0399399995803833
+1789729887788896732,7166,0.8362212181091309,-1.896740198135376,-1.0058705806732178,1.381182312965393,-0.16219063103199005,0.5940182209014893,0.7041172385215759,0.03993000090122223
+1789729887822267153,7200,0.8362205624580383,-1.8967400789260864,-1.0058705806732178,1.381181001663208,-0.1621890664100647,0.594013512134552,0.7041164636611938,0.0399399995803833
+1789729887855594528,7233,0.8362213969230652,-1.896741271018982,-1.0058703422546387,1.3811801671981812,-0.16219069063663483,0.5940127372741699,0.7041162848472595,0.0399399995803833
+1789729887888909784,7266,0.8362237811088562,-1.896741509437561,-1.0058714151382446,1.3811808824539185,-0.16218973696231842,0.5940131545066833,0.7041157484054565,0.0399399995803833
+1789729887922249617,7300,0.8362237811088562,-1.8967418670654297,-1.005874514579773,1.3811818361282349,-0.1621895730495453,0.5940137505531311,0.7041154503822327,0.0399399995803833
+1789729887955585721,7333,0.8362245559692383,-1.8967431783676147,-1.005879282951355,1.3811821937561035,-0.16219095885753632,0.594012975692749,0.7041152715682983,0.03993000090122223
+1789729887988910946,7366,0.8362249135971069,-1.8967453241348267,-1.0058820247650146,1.3811818361282349,-0.16219058632850647,0.5940127372741699,0.7041150331497192,0.0399399995803833
+1789729888022262011,7400,0.8362245559692383,-1.8967461585998535,-1.0058808326721191,1.3811814785003662,-0.16219022870063782,0.594010591506958,0.7041138410568237,0.0399399995803833
+1789729888055668673,7433,0.8362250924110413,-1.8967461585998535,-1.005880355834961,1.3811815977096558,-0.16218969225883484,0.5940092206001282,0.7041099071502686,0.0399399995803833
+1789729888088897600,7466,0.8362246155738831,-1.8967468738555908,-1.005880355834961,1.381182074546814,-0.16218945384025574,0.5940078496932983,0.704108476638794,0.0399399995803833
+1789729888122260795,7500,0.8362249135971069,-1.896747350692749,-1.0058798789978027,1.3811824321746826,-0.16218894720077515,0.5940067768096924,0.7041081190109253,0.0399399995803833
+1789729888155598253,7533,0.8362261056900024,-1.89674711227417,-1.0058809518814087,1.3811832666397095,-0.16219036281108856,0.5940070748329163,0.7041081190109253,0.0399399995803833
+1789729888188903043,7566,0.8362270593643188,-1.8967492580413818,-1.005881428718567,1.3811827898025513,-0.16219188272953033,0.5940082669258118,0.7041102647781372,0.0399399995803833
+1789729888222263928,7600,0.836227297782898,-1.8967503309249878,-1.0058825016021729,1.3811821937561035,-0.16219547390937805,0.594006359577179,0.7041106820106506,0.0399399995803833
+1789729888255592247,7633,0.8362279534339905,-1.8967509269714355,-1.005882740020752,1.3811813592910767,-0.1621927171945572,0.5940002799034119,0.7041099071502686,0.0399399995803833
+1789729888288901687,7666,0.8362275958061218,-1.8967515230178833,-1.0058833360671997,1.381178855895996,-0.16219189763069153,0.5939968824386597,0.704109251499176,0.0399399995803833
+1789729888322247173,7700,0.8362287878990173,-1.8967540264129639,-1.0058847665786743,1.3811771869659424,-0.16218990087509155,0.5939951539039612,0.7041081190109253,0.0399399995803833
+1789729888355590220,7733,0.8362287282943726,-1.8967534303665161,-1.0058867931365967,1.3811771869659424,-0.16218829154968262,0.5939931273460388,0.7041082978248596,0.0399399995803833
+1789729888388897311,7766,0.8362300395965576,-1.8967540264129639,-1.005888819694519,1.3811777830123901,-0.1621902734041214,0.5939924716949463,0.7041078209877014,0.0399399995803833
+1789729888422260976,7800,0.8362312912940979,-1.896755576133728,-1.0058915615081787,1.3811774253845215,-0.1621914505958557,0.593993067741394,0.7041086554527283,0.0399399995803833
+1789729888455590064,7833,0.8362316489219666,-1.896757960319519,-1.0058932304382324,1.3811781406402588,-0.16219191253185272,0.5939925909042358,0.704108476638794,0.0399399995803833
+1789729888488904293,7866,0.836231529712677,-1.8967580795288086,-1.0058947801589966,1.381177544593811,-0.16219036281108856,0.5939937233924866,0.7041087746620178,0.0399399995803833
+1789729888522259070,7900,0.8362320065498352,-1.8967586755752563,-1.0058954954147339,1.3811784982681274,-0.16218769550323486,0.5939930081367493,0.7041079998016357,0.0399399995803833
+1789729888555602606,7933,0.8362329602241516,-1.8967608213424683,-1.0058954954147339,1.381178855895996,-0.1621888279914856,0.5939921140670776,0.7041062116622925,0.0399399995803833
+1789729888588896538,7966,0.8362335562705994,-1.8967620134353638,-1.0058951377868652,1.3811793327331543,-0.16218845546245575,0.5939918160438538,0.7041072845458984,0.0399399995803833
+1789729888622261613,8000,0.8362349271774292,-1.896762490272522,-1.0058976411819458,1.381180763244629,-0.162187397480011,0.5939912796020508,0.7041050791740417,0.0399399995803833
+1789729888655585681,8033,0.8362376689910889,-1.8967641592025757,-1.005901575088501,1.3811814785003662,-0.16218869388103485,0.5939912796020508,0.7041059732437134,0.0399399995803833
+1789729888688916859,8066,0.8362385630607605,-1.8967649936676025,-1.0059021711349487,1.381180763244629,-0.1621893048286438,0.5939892530441284,0.7041059732437134,0.0399399995803833
+1789729888722255967,8100,0.836238443851471,-1.8967673778533936,-1.0059027671813965,1.3811804056167603,-0.16219139099121094,0.5939866900444031,0.7041052579879761,0.0399399995803833
+1789729888755585495,8133,0.8362382650375366,-1.8967678546905518,-1.0059024095535278,1.3811798095703125,-0.16219060122966766,0.5939801931381226,0.7041049599647522,0.0399399995803833
+1789729888788889226,8166,0.8362391591072083,-1.8967680931091309,-1.0059030055999756,1.3811801671981812,-0.1621885746717453,0.5939791202545166,0.7041050791740417,0.0399399995803833
+1789729888822263810,8200,0.8362407088279724,-1.8967690467834473,-1.0059032440185547,1.3811804056167603,-0.16218842566013336,0.5939777493476868,0.7041041851043701,0.0399399995803833
+1789729888855588329,8233,0.8362419009208679,-1.8967695236206055,-1.0059034824371338,1.3811808824539185,-0.16218893229961395,0.5939779281616211,0.704103410243988,0.0399399995803833
+1789729888888989470,8266,0.83624267578125,-1.8967688083648682,-1.0059038400650024,1.3811813592910767,-0.16218988597393036,0.593977689743042,0.7041033506393433,0.0399399995803833
+1789729888922260924,8300,0.8362432718276978,-1.8967713117599487,-1.0059069395065308,1.3811817169189453,-0.1621904820203781,0.5939780473709106,0.7041043639183044,0.0399399995803833
+1789729888955593102,8333,0.836243212223053,-1.8967719078063965,-1.0059075355529785,1.381182074546814,-0.1621909737586975,0.5939747095108032,0.7041054368019104,0.0399399995803833
+1789729888988904911,8366,0.8362440466880798,-1.8967732191085815,-1.0059092044830322,1.3811805248260498,-0.16218891739845276,0.5939711332321167,0.7041060924530029,0.0399399995803833
+1789729889022259880,8400,0.8362469673156738,-1.8967769145965576,-1.0059093236923218,1.3811789751052856,-0.16218744218349457,0.5939629077911377,0.7041037678718567,0.0399399995803833
+1789729889055665264,8433,0.8362510204315186,-1.8967796564102173,-1.0059102773666382,1.3811793327331543,-0.16218698024749756,0.5939605236053467,0.7041031122207642,0.0399399995803833
+1789729889088983087,8466,0.8362510800361633,-1.896780014038086,-1.0059151649475098,1.3811795711517334,-0.16218560934066772,0.5939593315124512,0.7041031718254089,0.0399399995803833
+1789729889122273222,8500,0.8362506031990051,-1.8967819213867188,-1.0059159994125366,1.3811800479888916,-0.16218537092208862,0.593963623046875,0.7041033506393433,0.0399399995803833
+1789729889155586866,8533,0.8362513184547424,-1.8967829942703247,-1.005919098854065,1.3811804056167603,-0.16218583285808563,0.5939652323722839,0.7041034698486328,0.0399399995803833
+1789729889188896119,8566,0.8362513184547424,-1.8967852592468262,-1.0059250593185425,1.3811798095703125,-0.16218698024749756,0.593966007232666,0.7041038870811462,0.0399399995803833
+1789729889222277766,8600,0.8362522721290588,-1.896785855293274,-1.005924105644226,1.3811801671981812,-0.16218754649162292,0.5939630270004272,0.7041026949882507,0.0399399995803833
+1789729889255588480,8633,0.8362517356872559,-1.8967854976654053,-1.0059218406677246,1.3811792135238647,-0.16218683123588562,0.5939612984657288,0.704103410243988,0.0399399995803833
+1789729889288900583,8666,0.8362526297569275,-1.8967863321304321,-1.0059216022491455,1.3811802864074707,-0.16218635439872742,0.5939586758613586,0.7041020393371582,0.0399399995803833
+1789729889322261292,8700,0.8362545967102051,-1.8967877626419067,-1.005921721458435,1.381181001663208,-0.1621861457824707,0.5939592123031616,0.7041010856628418,0.0399399995803833
+1789729889355585704,8733,0.8362548351287842,-1.8967878818511963,-1.0059218406677246,1.3811808824539185,-0.16218534111976624,0.593959629535675,0.7040997743606567,0.0399399995803833
+1789729889388892798,8766,0.8362553715705872,-1.8967881202697754,-1.0059220790863037,1.3811804056167603,-0.16218572854995728,0.5939609408378601,0.704102098941803,0.0399399995803833
+1789729889422264216,8800,0.8362550735473633,-1.8967899084091187,-1.0059233903884888,1.3811804056167603,-0.1621892899274826,0.59395831823349,0.7041016221046448,0.0399399995803833
+1789729889455583229,8833,0.836254358291626,-1.896790623664856,-1.0059237480163574,1.381179690361023,-0.16218891739845276,0.5939537286758423,0.7041003704071045,0.0399399995803833
+1789729889488918530,8866,0.8362546563148499,-1.8967911005020142,-1.0059233903884888,1.3811800479888916,-0.1621864140033722,0.5939525961875916,0.7040994167327881,0.03993000090122223
+1789729889522257371,8900,0.8362560272216797,-1.8967909812927246,-1.0059232711791992,1.3811795711517334,-0.16218465566635132,0.5939514636993408,0.7040990591049194,0.0399399995803833
+1789729889555621259,8933,0.8362573385238647,-1.8967914581298828,-1.005922794342041,1.3811800479888916,-0.16218529641628265,0.5939524173736572,0.7040996551513672,0.03993000090122223
+1789729889588934223,8966,0.836258053779602,-1.8967941999435425,-1.0059237480163574,1.381179928779602,-0.16218601167201996,0.5939529538154602,0.7040995359420776,0.03993000090122223
+1789729889622259415,9000,0.8362583518028259,-1.896794080734253,-1.0059301853179932,1.3811798095703125,-0.16218750178813934,0.5939541459083557,0.7041012048721313,0.0399399995803833
+1789729889655585817,9033,0.8362584710121155,-1.8967950344085693,-1.0059324502944946,1.3811792135238647,-0.16218701004981995,0.5939551591873169,0.7041007280349731,0.0399399995803833
+1789729889688891410,9066,0.8362582325935364,-1.8967998027801514,-1.0059326887130737,1.3811792135238647,-0.1621878743171692,0.5939520597457886,0.7041015028953552,0.0399399995803833
+1789729889722253319,9100,0.8362582921981812,-1.8968008756637573,-1.0059313774108887,1.3811784982681274,-0.16218771040439606,0.5939489603042603,0.7041011452674866,0.0399399995803833
+1789729889755550704,9133,0.8362588286399841,-1.896801233291626,-1.0059311389923096,1.3811781406402588,-0.16218551993370056,0.5939481258392334,0.7041003108024597,0.0399399995803833
+1789729889788971978,9166,0.8362597227096558,-1.8968011140823364,-1.0059312582015991,1.3811777830123901,-0.16218556463718414,0.5939446091651917,0.7040979862213135,0.0399399995803833
+1789729889822262513,9200,0.8362621665000916,-1.8968027830123901,-1.0059313774108887,1.3811780214309692,-0.1621868759393692,0.5939427614212036,0.7040983438491821,0.0399399995803833
+1789729889855590704,9233,0.8362635970115662,-1.8968030214309692,-1.0059324502944946,1.3811771869659424,-0.1621866673231125,0.593943178653717,0.7040992975234985,0.0399399995803833
+1789729889888888849,9266,0.8362630605697632,-1.8968045711517334,-1.0059376955032349,1.381177544593811,-0.16218827664852142,0.5939407348632812,0.7040990591049194,0.0399399995803833
+1789729889922256247,9300,0.836263120174408,-1.8968080282211304,-1.0059388875961304,1.381177306175232,-0.16218788921833038,0.5939395427703857,0.7040985822677612,0.0399399995803833
+1789729889955571520,9333,0.8362640142440796,-1.8968092203140259,-1.0059374570846558,1.3811755180358887,-0.16218817234039307,0.5939347147941589,0.7040992379188538,0.0399399995803833
+1789729889988896102,9366,0.8362647294998169,-1.8968099355697632,-1.0059361457824707,1.3811731338500977,-0.16218632459640503,0.5939322710037231,0.7040975093841553,0.0399399995803833
+1789729890022271063,9400,0.8362652063369751,-1.89681077003479,-1.0059374570846558,1.3811724185943604,-0.1621859222650528,0.5939294099807739,0.7040945291519165,0.0399399995803833
+1789729890055707508,9433,0.8362653851509094,-1.89681077003479,-1.005938172340393,1.3811724185943604,-0.16218478977680206,0.5939295887947083,0.7040937542915344,0.0399399995803833
+1789729890088895276,9466,0.8362667560577393,-1.8968104124069214,-1.005938172340393,1.381173014640808,-0.1621856987476349,0.593929648399353,0.7040948867797852,0.0399399995803833
+1789729890122257969,9500,0.8362680077552795,-1.896811604499817,-1.0059409141540527,1.3811728954315186,-0.1621856689453125,0.593930184841156,0.7040969133377075,0.0399399995803833
+1789729890155587484,9533,0.836267352104187,-1.8968127965927124,-1.005944848060608,1.3811728954315186,-0.1621861308813095,0.5939297676086426,0.7040972709655762,0.0399399995803833
+1789729890188894581,9566,0.836267352104187,-1.8968151807785034,-1.0059447288513184,1.381173014640808,-0.16218547523021698,0.5939273834228516,0.7040966153144836,0.0399399995803833
+1789729890222268972,9600,0.8362693786621094,-1.8968175649642944,-1.005944848060608,1.3811728954315186,-0.16218362748622894,0.5939257144927979,0.7040947675704956,0.0399399995803833
+1789729890255595188,9633,0.8362703323364258,-1.8968178033828735,-1.0059475898742676,1.3811737298965454,-0.1621849238872528,0.5939222574234009,0.7040944695472717,0.0399399995803833
+1789729890288921823,9666,0.8362703919410706,-1.8968175649642944,-1.0059502124786377,1.3811742067337036,-0.16218429803848267,0.5939217805862427,0.7040940523147583,0.0399399995803833
+1789729890322260388,9700,0.8362714052200317,-1.8968185186386108,-1.0059508085250854,1.3811753988265991,-0.16218416392803192,0.5939231514930725,0.704094409942627,0.0399399995803833
+1789729890355585173,9733,0.8362727165222168,-1.896820306777954,-1.0059521198272705,1.3811757564544678,-0.16218459606170654,0.5939229130744934,0.7040945291519165,0.0399399995803833
+1789729890388898800,9766,0.8362722396850586,-1.8968217372894287,-1.0059539079666138,1.3811756372451782,-0.16218677163124084,0.5939229130744934,0.7040947675704956,0.0399399995803833
+1789729890422265202,9800,0.8362717032432556,-1.89682137966156,-1.0059560537338257,1.3811753988265991,-0.16218820214271545,0.5939196944236755,0.7040947079658508,0.0399399995803833
+1789729890455584068,9833,0.836272120475769,-1.8968228101730347,-1.0059561729431152,1.3811758756637573,-0.16218671202659607,0.5939196944236755,0.7040933966636658,0.0399399995803833
+1789729890488897155,9866,0.8362739682197571,-1.8968243598937988,-1.005955696105957,1.381176471710205,-0.16218481957912445,0.5939188599586487,0.704093337059021,0.0399399995803833
+1789729890522259077,9900,0.8362759947776794,-1.896823763847351,-1.0059561729431152,1.3811779022216797,-0.16218450665473938,0.5939186215400696,0.7040935158729553,0.0399399995803833
+1789729890555620790,9933,0.8362768888473511,-1.896824598312378,-1.0059560537338257,1.3811782598495483,-0.1621822714805603,0.5939172506332397,0.7040938138961792,0.0399399995803833
+1789729890588919268,9966,0.8362777233123779,-1.8968256711959839,-1.0059565305709839,1.381178855895996,-0.16218265891075134,0.5939183235168457,0.7040942311286926,0.0399399995803833
+1789729890622262772,10000,0.8362798690795898,-1.8968268632888794,-1.005959153175354,1.3811782598495483,-0.16218513250350952,0.5939183831214905,0.7040952444076538,0.0399399995803833
+1789729890655587167,10033,0.8362793326377869,-1.8968266248703003,-1.0059587955474854,1.3811780214309692,-0.16218239068984985,0.5939139723777771,0.7040951251983643,0.0399399995803833
+1789729890688919882,10066,0.8362799882888794,-1.8968278169631958,-1.0059586763381958,1.381177544593811,-0.16218231618404388,0.5939102172851562,0.704094409942627,0.0399399995803833
+1789729890722258577,10100,0.8362826704978943,-1.896828532218933,-1.0059590339660645,1.3811767101287842,-0.1621818095445633,0.593906819820404,0.7040945887565613,0.0399399995803833
+1789729890755585192,10133,0.8362833857536316,-1.8968288898468018,-1.0059597492218018,1.3811774253845215,-0.1621822863817215,0.5939017534255981,0.7040935158729553,0.0399399995803833
+1789729890788920567,10166,0.8362854719161987,-1.8968291282653809,-1.0059599876403809,1.3811776638031006,-0.16218028962612152,0.5939019918441772,0.7040945291519165,0.0399399995803833
+1789729890822259941,10200,0.8362846374511719,-1.8968299627304077,-1.005961298942566,1.3811777830123901,-0.162181556224823,0.5939036011695862,0.7040954232215881,0.0399399995803833
+1789729890855588267,10233,0.8362846970558167,-1.896830677986145,-1.0059641599655151,1.3811782598495483,-0.16218380630016327,0.5939022898674011,0.7040942907333374,0.0399399995803833
+1789729890888896794,10266,0.8362845778465271,-1.89683198928833,-1.0059659481048584,1.3811789751052856,-0.16218455135822296,0.5939027667045593,0.7040956616401672,0.0399399995803833
+1789729890922251917,10300,0.8362862467765808,-1.8968325853347778,-1.0059653520584106,1.381178379058838,-0.16218358278274536,0.5939024686813354,0.7040961384773254,0.0399399995803833
+1789729890955585702,10333,0.8362873792648315,-1.8968342542648315,-1.005964756011963,1.381178379058838,-0.1621818095445633,0.5939023494720459,0.7040936946868896,0.0399399995803833
+1789729890988897858,10366,0.8362884521484375,-1.896834373474121,-1.005965232849121,1.3811793327331543,-0.16218194365501404,0.5939005613327026,0.7040929794311523,0.0399399995803833
+1789729891022258763,10400,0.83628910779953,-1.8968353271484375,-1.0059653520584106,1.381181001663208,-0.16218319535255432,0.5939012765884399,0.7040933966636658,0.0399399995803833
+1789729891055584482,10433,0.8362898230552673,-1.8968360424041748,-1.0059658288955688,1.3811824321746826,-0.1621824949979782,0.593904435634613,0.7040928602218628,0.0399399995803833
+1789729891088911451,10466,0.8362900614738464,-1.896836519241333,-1.0059682130813599,1.3811830282211304,-0.16218243539333344,0.5939034819602966,0.7040932178497314,0.0399399995803833
+1789729891122259898,10500,0.8362910151481628,-1.8968383073806763,-1.0059689283370972,1.3811808824539185,-0.16218438744544983,0.5939013957977295,0.7040945291519165,0.0399399995803833
+1789729891155590866,10533,0.8362914323806763,-1.8968394994735718,-1.0059677362442017,1.3811798095703125,-0.16218352317810059,0.5938962697982788,0.704093873500824,0.0399399995803833
+1789729891188905297,10566,0.8362915515899658,-1.8968403339385986,-1.0059672594070435,1.381179690361023,-0.16218218207359314,0.5938895344734192,0.7040920853614807,0.0399399995803833
+1789729891222250944,10600,0.8362931609153748,-1.8968400955200195,-1.005967378616333,1.3811802864074707,-0.16218100488185883,0.5938891768455505,0.7040904760360718,0.0399399995803833
+1789729891255582812,10633,0.8362936973571777,-1.8968403339385986,-1.005967378616333,1.3811802864074707,-0.16217967867851257,0.5938900113105774,0.704091489315033,0.0399399995803833
+1789729891288898332,10666,0.8362948298454285,-1.8968408107757568,-1.0059678554534912,1.381179928779602,-0.1621822863817215,0.5938898324966431,0.7040926814079285,0.03993000090122223
+1789729891322257608,10700,0.8362945318222046,-1.8968418836593628,-1.0059692859649658,1.3811802864074707,-0.16218259930610657,0.593890368938446,0.7040929794311523,0.03993000090122223
+1789729891355589067,10733,0.8362942337989807,-1.8968428373336792,-1.0059700012207031,1.3811793327331543,-0.16218236088752747,0.5938896536827087,0.7040925621986389,0.03993000090122223
+1789729891388891168,10766,0.8362951874732971,-1.896844506263733,-1.0059702396392822,1.381178855895996,-0.16218173503875732,0.5938881635665894,0.704091489315033,0.03993000090122223
+1789729891422256724,10800,0.8362959027290344,-1.8968466520309448,-1.0059714317321777,1.3811780214309692,-0.1621817648410797,0.5938866138458252,0.7040906548500061,0.0399399995803833
+1789729891455594212,10833,0.8362958431243896,-1.896847128868103,-1.0059723854064941,1.381178379058838,-0.16218073666095734,0.5938833355903625,0.7040898203849792,0.0399399995803833
+1789729891488895943,10866,0.8362974524497986,-1.8968467712402344,-1.005973219871521,1.381178379058838,-0.162180095911026,0.5938833951950073,0.7040903568267822,0.0399399995803833
+1789729891522262838,10900,0.8362982273101807,-1.8968472480773926,-1.0059736967086792,1.3811789751052856,-0.16218094527721405,0.5938836336135864,0.7040903568267822,0.0399399995803833
+1789729891555715446,10933,0.8362984657287598,-1.8968466520309448,-1.0059763193130493,1.381178617477417,-0.16218237578868866,0.593885064125061,0.7040913105010986,0.0399399995803833
+1789729891588896168,10966,0.8362990617752075,-1.8968466520309448,-1.0059781074523926,1.3811789751052856,-0.16218380630016327,0.5938831567764282,0.7040919065475464,0.0399399995803833
+1789729891622247945,11000,0.836298406124115,-1.8968483209609985,-1.0059806108474731,1.3811777830123901,-0.162183940410614,0.5938829183578491,0.7040904760360718,0.0399399995803833
+1789729891655642338,11033,0.8362985849380493,-1.8968491554260254,-1.0059796571731567,1.381178617477417,-0.1621825397014618,0.5938805937767029,0.7040895223617554,0.0399399995803833
+1789729891688895213,11066,0.8362987041473389,-1.8968497514724731,-1.0059791803359985,1.381178855895996,-0.1621800661087036,0.5938770174980164,0.7040872573852539,0.0399399995803833
+1789729891722248380,11100,0.8362998962402344,-1.8968501091003418,-1.0059791803359985,1.3811784982681274,-0.1621813178062439,0.5938760042190552,0.7040833234786987,0.0399399995803833
+1789729891755583998,11133,0.8363004922866821,-1.8968507051467896,-1.0059800148010254,1.381178379058838,-0.16218194365501404,0.593875527381897,0.704084575176239,0.0399399995803833
+1789729891788895258,11166,0.836300790309906,-1.8968511819839478,-1.0059804916381836,1.381178379058838,-0.16218209266662598,0.5938751697540283,0.704086184501648,0.0399399995803833
+1789729891822250095,11200,0.8363014459609985,-1.8968523740768433,-1.0059833526611328,1.381178855895996,-0.16218280792236328,0.5938740968704224,0.7040879130363464,0.0399399995803833
+1789729891855586913,11233,0.8363015651702881,-1.8968530893325806,-1.0059832334518433,1.3811779022216797,-0.16218295693397522,0.5938712358474731,0.7040884494781494,0.0399399995803833
+1789729891888896643,11266,0.8363021612167358,-1.8968552350997925,-1.005983829498291,1.381177544593811,-0.16218127310276031,0.5938684940338135,0.7040868997573853,0.0399399995803833
+1789729891922247560,11300,0.8363032937049866,-1.8968552350997925,-1.005983829498291,1.3811782598495483,-0.1621813327074051,0.5938668251037598,0.7040870785713196,0.0399399995803833
+1789729891955588178,11333,0.8363044261932373,-1.8968548774719238,-1.0059833526611328,1.3811782598495483,-0.16218283772468567,0.5938684940338135,0.7040868997573853,0.0399399995803833
+1789729891988902038,11366,0.8363049626350403,-1.8968545198440552,-1.0059839487075806,1.381178379058838,-0.16218148171901703,0.5938680171966553,0.7040871381759644,0.0399399995803833
+1789729892022256657,11400,0.8363052606582642,-1.8968552350997925,-1.005985140800476,1.3811790943145752,-0.1621817648410797,0.5938671827316284,0.7040866613388062,0.0399399995803833
+1789729892055723717,11433,0.8363061547279358,-1.8968557119369507,-1.005989670753479,1.3811794519424438,-0.1621835082769394,0.5938677191734314,0.7040870785713196,0.0399399995803833
+1789729892088900513,11466,0.8363064527511597,-1.8968573808670044,-1.0059936046600342,1.381178379058838,-0.16218237578868866,0.5938664674758911,0.7040872573852539,0.0399399995803833
+1789729892122257692,11500,0.8363062739372253,-1.896860122680664,-1.0059928894042969,1.381177544593811,-0.1621810644865036,0.5938628911972046,0.7040855288505554,0.0399399995803833
+1789729892155590224,11533,0.8363078832626343,-1.8968610763549805,-1.0059924125671387,1.3811780214309692,-0.1621795892715454,0.5938621759414673,0.704084575176239,0.0399399995803833
+1789729892188900358,11566,0.8363090753555298,-1.8968617916107178,-1.0059925317764282,1.3811781406402588,-0.16217920184135437,0.5938622951507568,0.7040843963623047,0.0399399995803833
+1789729892222253718,11600,0.8363102078437805,-1.8968629837036133,-1.0059928894042969,1.3811793327331543,-0.16218052804470062,0.5938622355461121,0.7040851712226868,0.0399399995803833
+1789729892255589810,11633,0.8363105058670044,-1.8968634605407715,-1.005994200706482,1.3811793327331543,-0.16218170523643494,0.5938623547554016,0.704086422920227,0.0399399995803833
+1789729892288901833,11666,0.8363098502159119,-1.8968647718429565,-1.0059961080551147,1.3811790943145752,-0.1621817797422409,0.5938621759414673,0.704086422920227,0.0399399995803833
+1789729892322249804,11700,0.8363104462623596,-1.8968677520751953,-1.0059969425201416,1.3811782598495483,-0.16218240559101105,0.5938605666160583,0.7040864825248718,0.0399399995803833
+1789729892355587605,11733,0.8363102078437805,-1.8968696594238281,-1.0059963464736938,1.3811774253845215,-0.16218096017837524,0.5938592553138733,0.7040867209434509,0.0399399995803833
+1789729892388896069,11766,0.8363108038902283,-1.896869421005249,-1.005995750427246,1.381177306175232,-0.16217921674251556,0.5938540101051331,0.7040867805480957,0.0399399995803833
+1789729892422255849,11800,0.8363136053085327,-1.8968684673309326,-1.0059961080551147,1.3811776638031006,-0.16217991709709167,0.5938501954078674,0.7040843963623047,0.0399399995803833
+1789729892455621818,11833,0.8363163471221924,-1.8968685865402222,-1.005996584892273,1.381178617477417,-0.1621796041727066,0.5938477516174316,0.7040851712226868,0.0399399995803833
+1789729892488902564,11866,0.8363164067268372,-1.8968693017959595,-1.0059974193572998,1.381178855895996,-0.16217945516109467,0.5938485860824585,0.7040850520133972,0.0399399995803833
+1789729892522249255,11900,0.8363155722618103,-1.8968700170516968,-1.006000280380249,1.3811781406402588,-0.16218097507953644,0.5938487648963928,0.7040863633155823,0.0399399995803833
+1789729892555605815,11933,0.8363151550292969,-1.896871566772461,-1.0060006380081177,1.381178855895996,-0.1621829867362976,0.5938488841056824,0.7040871381759644,0.0399399995803833
+1789729892588901900,11966,0.8363155722618103,-1.8968738317489624,-1.0060014724731445,1.3811782598495483,-0.1621827930212021,0.5938478112220764,0.7040874361991882,0.0399399995803833
+1789729892622248800,12000,0.8363162279129028,-1.896876573562622,-1.0060008764266968,1.3811777830123901,-0.16218030452728271,0.5938478112220764,0.7040860652923584,0.0399399995803833
+1789729892655586022,12033,0.8363168835639954,-1.8968762159347534,-1.0060017108917236,1.3811776638031006,-0.1621810495853424,0.5938454866409302,0.7040846943855286,0.0399399995803833
+1789729892688896976,12066,0.8363174796104431,-1.896878719329834,-1.0060030221939087,1.3811777830123901,-0.16218160092830658,0.5938451290130615,0.7040837407112122,0.0399399995803833
+1789729892722251206,12100,0.8363203406333923,-1.8968796730041504,-1.006003975868225,1.381178379058838,-0.16218164563179016,0.5938460230827332,0.7040854096412659,0.0399399995803833
+1789729892755588197,12133,0.8363205194473267,-1.8968806266784668,-1.0060094594955444,1.381178379058838,-0.1621807962656021,0.5938460230827332,0.7040876150131226,0.0399399995803833
+1789729892788895021,12166,0.8363200426101685,-1.896886944770813,-1.0060110092163086,1.381177544593811,-0.16218121349811554,0.593847930431366,0.7040860652923584,0.0399399995803833
+1789729892822251521,12200,0.8363223671913147,-1.8968908786773682,-1.0060099363327026,1.381176233291626,-0.1621806025505066,0.593847393989563,0.7040873169898987,0.0399399995803833
+1789729892855589453,12233,0.8363223671913147,-1.8968881368637085,-1.0060169696807861,1.3811774253845215,-0.16217878460884094,0.5938432812690735,0.7040863633155823,0.0399399995803833
+1789729892888910255,12266,0.8363233208656311,-1.8968911170959473,-1.0060160160064697,1.3811781406402588,-0.16217638552188873,0.5938435196876526,0.7040851712226868,0.0399399995803833
+1789729892922285244,12300,0.836325466632843,-1.8969004154205322,-1.006016492843628,1.381174087524414,-0.16217535734176636,0.5938460230827332,0.7040842771530151,0.0399399995803833
+1789729892955623285,12333,0.8363259434700012,-1.8968995809555054,-1.0060229301452637,1.3811763525009155,-0.16217464208602905,0.5938435196876526,0.7040845155715942,0.03993000090122223
+1789729892988929529,12366,0.8363267779350281,-1.8968993425369263,-1.006028413772583,1.3811779022216797,-0.16217367351055145,0.5938446521759033,0.7040845155715942,0.03993000090122223
+1789729893022291211,12400,0.8363293409347534,-1.8969066143035889,-1.0060274600982666,1.3811757564544678,-0.16217458248138428,0.5938475728034973,0.704084575176239,0.03993000090122223
+1789729893055625166,12433,0.8363299369812012,-1.8969082832336426,-1.0060276985168457,1.3811748027801514,-0.1621730774641037,0.5938451886177063,0.7040855288505554,0.03993000090122223
+1789729893088935943,12466,0.8363277912139893,-1.8969100713729858,-1.0060293674468994,1.3811713457107544,-0.16217371821403503,0.593845546245575,0.7040852904319763,0.03993000090122223
+1789729893122262859,12500,0.8363302946090698,-1.8969088792800903,-1.0060296058654785,1.3811718225479126,-0.16216722130775452,0.5938407182693481,0.7040841579437256,0.03993000090122223
+1789729893155591515,12533,0.8363322615623474,-1.896910548210144,-1.0060290098190308,1.3811720609664917,-0.16216634213924408,0.5938377976417542,0.7040842175483704,0.0399399995803833
+1789729893188907612,12566,0.836331307888031,-1.8969134092330933,-1.0060287714004517,1.3811715841293335,-0.16216769814491272,0.5938390493392944,0.704084038734436,0.0399399995803833
+1789729893222258375,12600,0.8363316059112549,-1.8969130516052246,-1.0060324668884277,1.3811719417572021,-0.16216954588890076,0.5938393473625183,0.7040838599205017,0.0399399995803833
+1789729893255588381,12633,0.8363319635391235,-1.8969143629074097,-1.0060346126556396,1.3811718225479126,-0.16217009723186493,0.5938417315483093,0.704083263874054,0.0399399995803833
+1789729893288907627,12666,0.8363319635391235,-1.8969162702560425,-1.0060337781906128,1.3811719417572021,-0.16216962039470673,0.593838095664978,0.7040833234786987,0.0399399995803833
+1789729893322257821,12700,0.8363320231437683,-1.8969194889068604,-1.0060330629348755,1.3811724185943604,-0.16217008233070374,0.5938344597816467,0.7040815949440002,0.0399399995803833
+1789729893355583767,12733,0.8363324403762817,-1.8969157934188843,-1.0060338973999023,1.3811709880828857,-0.1621682196855545,0.5938372015953064,0.7040785551071167,0.0399399995803833
+1789729893388894574,12766,0.8363322615623474,-1.8969175815582275,-1.0060406923294067,1.3811711072921753,-0.16216705739498138,0.5938320755958557,0.7040748000144958,0.0399399995803833
+1789729893422247108,12800,0.8363357782363892,-1.896920084953308,-1.006035566329956,1.381173014640808,-0.162167489528656,0.5938332080841064,0.7040776610374451,0.0399399995803833
+1789729893455621339,12833,0.8363373875617981,-1.8969186544418335,-1.0060375928878784,1.3811721801757812,-0.16216842830181122,0.593833327293396,0.7040785551071167,0.0399399995803833
+1789729893488899010,12866,0.8363358378410339,-1.8969216346740723,-1.0060406923294067,1.3811734914779663,-0.1621691882610321,0.5938306450843811,0.7040802836418152,0.0399399995803833
+1789729893522257743,12900,0.8363373279571533,-1.8969252109527588,-1.006038784980774,1.381170630455017,-0.1621694415807724,0.5938305258750916,0.7040815949440002,0.0399399995803833
+1789729893555587448,12933,0.836338222026825,-1.8969244956970215,-1.0060415267944336,1.3811697959899902,-0.1621687412261963,0.5938277244567871,0.7040796875953674,0.0399399995803833
+1789729893588923483,12966,0.8363377451896667,-1.8969271183013916,-1.0060429573059082,1.3811719417572021,-0.1621672362089157,0.5938215851783752,0.7040788531303406,0.0399399995803833
+1789729893622260408,13000,0.8363391757011414,-1.8969271183013916,-1.0060441493988037,1.3811646699905396,-0.16216623783111572,0.593825101852417,0.704078733921051,0.0399399995803833
+1789729893655594343,13033,0.8363388776779175,-1.8969281911849976,-1.0060452222824097,1.3811659812927246,-0.16216447949409485,0.5938246250152588,0.7040784358978271,0.0399399995803833
+1789729893688904971,13066,0.8363398909568787,-1.8969281911849976,-1.0060462951660156,1.3811676502227783,-0.16216370463371277,0.5938236117362976,0.704078197479248,0.0399399995803833
+1789729893722246825,13100,0.8363399505615234,-1.8969281911849976,-1.00605046749115,1.3811672925949097,-0.16216501593589783,0.5938233137130737,0.7040795683860779,0.0399399995803833
+1789729893755580200,13133,0.8363404273986816,-1.8969359397888184,-1.0060498714447021,1.3811661005020142,-0.1621660441160202,0.5938234329223633,0.7040788531303406,0.0399399995803833
+1789729893788893057,13166,0.83633953332901,-1.8969390392303467,-1.0060499906539917,1.3811639547348022,-0.1621658205986023,0.5938241481781006,0.7040790915489197,0.0399399995803833
+1789729893822254150,13200,0.8363395929336548,-1.896936058998108,-1.006051778793335,1.3811668157577515,-0.16216419637203217,0.5938205718994141,0.7040767669677734,0.0399399995803833
+1789729893855591745,13233,0.8363412618637085,-1.8969367742538452,-1.0060521364212036,1.3811683654785156,-0.1621638685464859,0.5938175916671753,0.70407634973526,0.0399399995803833
+1789729893888895933,13266,0.8363438844680786,-1.896936058998108,-1.006051778793335,1.3811683654785156,-0.16216342151165009,0.5938186049461365,0.7040771842002869,0.0399399995803833
+1789729893922256886,13300,0.8363426327705383,-1.896936058998108,-1.0060534477233887,1.3811687231063843,-0.16216503083705902,0.5938194394111633,0.7040788531303406,0.0399399995803833
+1789729893955583632,13333,0.8363423347473145,-1.896936297416687,-1.0060538053512573,1.381169080734253,-0.16216564178466797,0.5938196778297424,0.7040793299674988,0.0399399995803833
+1789729893988913557,13366,0.8363434076309204,-1.8969370126724243,-1.0060538053512573,1.3811694383621216,-0.16216544806957245,0.5938207507133484,0.7040793299674988,0.0399399995803833
+1789729894022248924,13400,0.8363428115844727,-1.8969370126724243,-1.0060532093048096,1.3811707496643066,-0.162165567278862,0.5938170552253723,0.7040801048278809,0.0399399995803833
+1789729894055584133,13433,0.8363432884216309,-1.896936058998108,-1.0060542821884155,1.3811708688735962,-0.16216471791267395,0.5938156247138977,0.7040795087814331,0.0399399995803833
+1789729894088981016,13466,0.836344301700592,-1.8969368934631348,-1.0060539245605469,1.3811694383621216,-0.16216430068016052,0.5938157439231873,0.7040784955024719,0.0399399995803833
+1789729894122254920,13500,0.8363450169563293,-1.8969413042068481,-1.0060526132583618,1.3811686038970947,-0.16216479241847992,0.5938163995742798,0.7040767669677734,0.0399399995803833
+1789729894155583569,13533,0.8363458514213562,-1.8969389200210571,-1.0060539245605469,1.3811695575714111,-0.16216565668582916,0.5938163995742798,0.7040780186653137,0.0399399995803833
+1789729894188903209,13566,0.8363449573516846,-1.8969377279281616,-1.0060557126998901,1.3811689615249634,-0.16216562688350677,0.593815803527832,0.7040783166885376,0.0399399995803833
+1789729894222249396,13600,0.8363451957702637,-1.8969404697418213,-1.0060564279556274,1.381168246269226,-0.16216683387756348,0.5938144326210022,0.7040781378746033,0.0399399995803833
+1789729894255589004,13633,0.8363465666770935,-1.8969416618347168,-1.006056785583496,1.381168007850647,-0.16216692328453064,0.5938115119934082,0.7040787935256958,0.0399399995803833
+1789729894288896275,13666,0.8363462686538696,-1.8969424962997437,-1.006056547164917,1.3811676502227783,-0.16216503083705902,0.5938071608543396,0.7040773034095764,0.0399399995803833
+1789729894322259241,13700,0.8363470435142517,-1.8969439268112183,-1.0060559511184692,1.3811670541763306,-0.16216467320919037,0.5938073992729187,0.7040759921073914,0.0399399995803833
+1789729894355588390,13733,0.8363487720489502,-1.8969435691833496,-1.0060559511184692,1.3811677694320679,-0.16216501593589783,0.5938073396682739,0.7040751576423645,0.0399399995803833
+1789729894388894981,13766,0.8363505005836487,-1.8969435691833496,-1.0060560703277588,1.3811695575714111,-0.16216376423835754,0.5938059687614441,0.7040759325027466,0.0399399995803833
+1789729894422259147,13800,0.8363502621650696,-1.896944522857666,-1.0060558319091797,1.3811697959899902,-0.16216492652893066,0.5938091278076172,0.704075813293457,0.0399399995803833
+1789729894455604575,13833,0.8363491892814636,-1.896945595741272,-1.0060561895370483,1.3811676502227783,-0.162167027592659,0.5938099026679993,0.7040759325027466,0.0399399995803833
+1789729894488896147,13866,0.836348831653595,-1.896945834159851,-1.006056547164917,1.3811686038970947,-0.16216717660427094,0.5938089489936829,0.7040768265724182,0.0399399995803833
+1789729894522259393,13900,0.8363509178161621,-1.8969453573226929,-1.0060560703277588,1.3811713457107544,-0.16216614842414856,0.5938029885292053,0.7040765881538391,0.0399399995803833
+1789729894555593022,13933,0.8363521099090576,-1.8969467878341675,-1.006055474281311,1.3811702728271484,-0.16216453909873962,0.5938036441802979,0.7040764093399048,0.0399399995803833
+1789729894588899743,13966,0.8363520503044128,-1.8969521522521973,-1.0060549974441528,1.3811671733856201,-0.16216342151165009,0.593805193901062,0.7040765285491943,0.0399399995803833
+1789729894622260659,14000,0.8363519906997681,-1.896949291229248,-1.0060575008392334,1.3811694383621216,-0.16216515004634857,0.5938027501106262,0.7040778398513794,0.0399399995803833
+1789729894655659972,14033,0.8363537192344666,-1.8969471454620361,-1.0060621500015259,1.381171703338623,-0.16216525435447693,0.5938014984130859,0.7040780782699585,0.03993000090122223
+1789729894688957514,14066,0.8363551497459412,-1.896950364112854,-1.0060615539550781,1.381170630455017,-0.16216523945331573,0.593802809715271,0.7040790915489197,0.03993000090122223
+1789729894722259475,14100,0.8363547921180725,-1.8969625234603882,-1.00606107711792,1.3811651468276978,-0.16216598451137543,0.5938055515289307,0.7040773630142212,0.03993000090122223
+1789729894755609852,14133,0.8363536596298218,-1.8969603776931763,-1.0060701370239258,1.3811665773391724,-0.16216404736042023,0.5938003063201904,0.7040768265724182,0.03993000090122223
+1789729894788897375,14166,0.8363546133041382,-1.8969573974609375,-1.0060774087905884,1.3811678886413574,-0.16216255724430084,0.5937967896461487,0.7040756940841675,0.03993000090122223
+1789729894822250012,14200,0.8363602757453918,-1.89696204662323,-1.0060704946517944,1.3811676502227783,-0.1621607393026352,0.5937991142272949,0.704075813293457,0.03993000090122223
+1789729894855595209,14233,0.8363603353500366,-1.8969703912734985,-1.0060673952102661,1.3811653852462769,-0.1621606945991516,0.5938025116920471,0.7040756344795227,0.0399399995803833
+1789729894888893751,14266,0.8363574147224426,-1.8969671726226807,-1.006072998046875,1.3811655044555664,-0.16216209530830383,0.5938006043434143,0.7040749788284302,0.0399399995803833
+1789729894922256827,14300,0.836357593536377,-1.8969646692276,-1.006079912185669,1.3811671733856201,-0.16216221451759338,0.5938007235527039,0.7040751576423645,0.0399399995803833
+1789729894955590406,14333,0.8363596200942993,-1.8969690799713135,-1.006077766418457,1.381166696548462,-0.16216246783733368,0.5938013792037964,0.7040737867355347,0.0399399995803833
+1789729894988896327,14366,0.8363595604896545,-1.896971344947815,-1.0060768127441406,1.3811662197113037,-0.16216343641281128,0.5938014984130859,0.7040744423866272,0.0399399995803833
+1789729895022249506,14400,0.8363575339317322,-1.8969708681106567,-1.0060784816741943,1.3811662197113037,-0.1621612310409546,0.5937976837158203,0.704073965549469,0.0399399995803833
+1789729895055586518,14433,0.8363578915596008,-1.8969700336456299,-1.0060781240463257,1.3811662197113037,-0.16215986013412476,0.5937989354133606,0.7040740251541138,0.0399399995803833
+1789729895088896882,14466,0.8363595604896545,-1.8969720602035522,-1.0060760974884033,1.3811668157577515,-0.1621619611978531,0.5937970876693726,0.7040742039680481,0.0399399995803833
+1789729895122254812,14500,0.8363603949546814,-1.8969738483428955,-1.0060757398605347,1.3811671733856201,-0.1621614247560501,0.5937983989715576,0.7040742039680481,0.0399399995803833
+1789729895155584524,14533,0.8363600373268127,-1.896971344947815,-1.0060795545578003,1.3811670541763306,-0.16216202080249786,0.5937988758087158,0.7040756344795227,0.0399399995803833
+1789729895188920176,14566,0.8363597989082336,-1.8969707489013672,-1.0060800313949585,1.3811665773391724,-0.16216355562210083,0.5937966704368591,0.7040742039680481,0.0399399995803833
+1789729895222249848,14600,0.8363608717918396,-1.8969757556915283,-1.0060787200927734,1.3811659812927246,-0.16216140985488892,0.5937953591346741,0.7040753960609436,0.0399399995803833
+1789729895255580251,14633,0.8363626003265381,-1.896976113319397,-1.0060783624649048,1.3811659812927246,-0.1621607393026352,0.5937951803207397,0.7040755748748779,0.0399399995803833
+1789729895288891605,14666,0.8363614082336426,-1.8969755172729492,-1.0060793161392212,1.3811657428741455,-0.162159726023674,0.5937924385070801,0.7040736079216003,0.0399399995803833
+1789729895322326178,14700,0.8363619446754456,-1.896973967552185,-1.0060795545578003,1.3811653852462769,-0.16215938329696655,0.5937921404838562,0.7040743827819824,0.0399399995803833
+1789729895355581847,14733,0.8363635540008545,-1.896975040435791,-1.0060794353485107,1.3811651468276978,-0.1621597558259964,0.5937928557395935,0.7040758728981018,0.0399399995803833
+1789729895388915829,14766,0.8363645672798157,-1.8969749212265015,-1.006080985069275,1.3811659812927246,-0.16216006875038147,0.5937908291816711,0.7040762901306152,0.0399399995803833
+1789729895422246381,14800,0.8363637328147888,-1.8969745635986328,-1.0060843229293823,1.3811659812927246,-0.1621607393026352,0.593789279460907,0.7040758728981018,0.0399399995803833
+1789729895455580933,14833,0.8363632559776306,-1.896974802017212,-1.0060842037200928,1.381166934967041,-0.16215947270393372,0.5937883257865906,0.704075038433075,0.0399399995803833
+1789729895488898836,14866,0.8363640308380127,-1.8969764709472656,-1.0060834884643555,1.3811671733856201,-0.16216102242469788,0.5937860012054443,0.7040735483169556,0.0399399995803833
+1789729895522323500,14900,0.8363653421401978,-1.896977186203003,-1.0060821771621704,1.3811681270599365,-0.16215910017490387,0.5937832593917847,0.704073429107666,0.0399399995803833
+1789729895555585268,14933,0.8363657593727112,-1.8969765901565552,-1.006082534790039,1.3811686038970947,-0.16215850412845612,0.5937837958335876,0.7040733695030212,0.0399399995803833
+1789729895588903652,14966,0.8363651633262634,-1.8969757556915283,-1.0060824155807495,1.381169080734253,-0.16215920448303223,0.593785285949707,0.7040743231773376,0.0399399995803833
+1789729895622246993,15000,0.8363674879074097,-1.896977186203003,-1.0060830116271973,1.381168246269226,-0.16216136515140533,0.5937864184379578,0.7040752172470093,0.0399399995803833
+1789729895655576015,15033,0.8363680839538574,-1.8969781398773193,-1.0060843229293823,1.3811686038970947,-0.16216318309307098,0.5937849283218384,0.7040765285491943,0.0399399995803833
+1789729895688890619,15066,0.8363674879074097,-1.8969775438308716,-1.0060843229293823,1.3811686038970947,-0.1621616780757904,0.5937830805778503,0.704075813293457,0.0399399995803833
+1789729895722305564,15100,0.8363682627677917,-1.8969777822494507,-1.0060844421386719,1.3811683654785156,-0.16216106712818146,0.5937778353691101,0.7040746212005615,0.0399399995803833
+1789729895755638816,15133,0.8363698124885559,-1.8969782590866089,-1.0060832500457764,1.3811683654785156,-0.16216078400611877,0.5937777757644653,0.7040746212005615,0.0399399995803833
+1789729895788895275,15166,0.8363702893257141,-1.8969777822494507,-1.0060832500457764,1.3811684846878052,-0.16216100752353668,0.5937785506248474,0.704075038433075,0.0399399995803833
+1789729895822305840,15200,0.8363701701164246,-1.8969783782958984,-1.0060837268829346,1.3811678886413574,-0.16216015815734863,0.593778669834137,0.7040749788284302,0.0399399995803833
+1789729895855657210,15233,0.8363701105117798,-1.8969777822494507,-1.006083607673645,1.381168007850647,-0.1621604710817337,0.593778133392334,0.7040740847587585,0.0399399995803833
+1789729895888891691,15266,0.8363690972328186,-1.8969775438308716,-1.0060844421386719,1.3811671733856201,-0.16216227412223816,0.5937788486480713,0.7040748000144958,0.0399399995803833
+1789729895922300516,15300,0.8363686800003052,-1.8969790935516357,-1.0060851573944092,1.3811668157577515,-0.16216322779655457,0.5937779545783997,0.7040752172470093,0.0399399995803833
+1789729895955583073,15333,0.8363685011863708,-1.8969793319702148,-1.0060855150222778,1.3811659812927246,-0.16216214001178741,0.5937761068344116,0.7040754556655884,0.0399399995803833
+1789729895988899447,15366,0.8363690972328186,-1.8969789743423462,-1.006084680557251,1.3811649084091187,-0.16216036677360535,0.593774139881134,0.7040732502937317,0.0399399995803833
+1789729896022262188,15400,0.8363684415817261,-1.8969790935516357,-1.006084680557251,1.3811657428741455,-0.16216003894805908,0.5937714576721191,0.7040721774101257,0.0399399995803833
+1789729896055593493,15433,0.8363696336746216,-1.8969786167144775,-1.0060847997665405,1.381165862083435,-0.1621604561805725,0.5937716364860535,0.7040720582008362,0.0399399995803833
+1789729896088899871,15466,0.8363693356513977,-1.8969793319702148,-1.0060851573944092,1.3811655044555664,-0.16216008365154266,0.5937708616256714,0.7040718197822571,0.0399399995803833
+1789729896122323159,15500,0.8363703489303589,-1.8969790935516357,-1.006085753440857,1.3811653852462769,-0.16216130554676056,0.5937716960906982,0.7040736079216003,0.0399399995803833
+1789729896155591520,15533,0.8363702893257141,-1.8969799280166626,-1.0060847997665405,1.381165862083435,-0.16216382384300232,0.5937702655792236,0.7040744423866272,0.0399399995803833
+1789729896188889558,15566,0.8363701701164246,-1.8969802856445312,-1.00608491897583,1.3811649084091187,-0.16216295957565308,0.593766450881958,0.7040734887123108,0.0399399995803833
+1789729896222251751,15600,0.836371123790741,-1.8969817161560059,-1.0060847997665405,1.3811640739440918,-0.16216132044792175,0.5937635898590088,0.704071581363678,0.0399399995803833
+1789729896255580057,15633,0.8363712430000305,-1.896981120109558,-1.0060843229293823,1.381164312362671,-0.16216036677360535,0.5937621593475342,0.7040717601776123,0.0399399995803833
+1789729896288886775,15666,0.8363718390464783,-1.8969805240631104,-1.006084680557251,1.3811644315719604,-0.16216056048870087,0.5937597751617432,0.704071044921875,0.0399399995803833
+1789729896322252797,15700,0.8363717198371887,-1.8969806432724,-1.0060851573944092,1.3811644315719604,-0.162161186337471,0.5937595963478088,0.7040714621543884,0.0399399995803833
+1789729896355576583,15733,0.8363724946975708,-1.8969807624816895,-1.0060864686965942,1.3811640739440918,-0.16216209530830383,0.5937601327896118,0.7040718197822571,0.03993000090122223
+1789729896388894380,15766,0.8363723158836365,-1.8969807624816895,-1.0060875415802002,1.381162405014038,-0.162163645029068,0.5937603712081909,0.7040731906890869,0.03993000090122223
+1789729896422251763,15800,0.8363721966743469,-1.8969817161560059,-1.006087303161621,1.3811572790145874,-0.16216197609901428,0.5937533974647522,0.7040721774101257,0.03993000090122223
+1789729896455575510,15833,0.8363723754882812,-1.896981954574585,-1.0060858726501465,1.3811557292938232,-0.16216211020946503,0.593745768070221,0.704071581363678,0.03993000090122223
+1789729896488892946,15866,0.8363713026046753,-1.8969814777374268,-1.0060851573944092,1.3811533451080322,-0.16216109693050385,0.5937408208847046,0.7040706276893616,0.03993000090122223
+1789729896522256609,15900,0.8363723158836365,-1.8969814777374268,-1.0060853958129883,1.3811540603637695,-0.1621607095003128,0.5937409996986389,0.7040705680847168,0.03993000090122223
+1789729896555585345,15933,0.8363720178604126,-1.8969814777374268,-1.0060855150222778,1.3811545372009277,-0.16216041147708893,0.5937430262565613,0.7040706872940063,0.0399399995803833
+1789729896588988554,15966,0.836371898651123,-1.8969813585281372,-1.006085991859436,1.3811553716659546,-0.16216135025024414,0.5937432050704956,0.7040717601776123,0.0399399995803833
+1789729896622263145,16000,0.8363725543022156,-1.896982192993164,-1.006087303161621,1.3811542987823486,-0.16216246783733368,0.5937415361404419,0.7040725350379944,0.03993000090122223
+1789729896655581481,16033,0.8363727927207947,-1.8969827890396118,-1.006087064743042,1.3811542987823486,-0.1621617078781128,0.5937408804893494,0.704071581363678,0.0399399995803833
+1789729896688892149,16066,0.8363737463951111,-1.8969835042953491,-1.006086826324463,1.381155014038086,-0.16216209530830383,0.5937415957450867,0.7040721774101257,0.0399399995803833
+1789729896722244992,16100,0.8363745808601379,-1.8969829082489014,-1.0060851573944092,1.3811557292938232,-0.16216081380844116,0.5937411189079285,0.7040709853172302,0.0399399995803833
+1789729896755577818,16133,0.8363749980926514,-1.896981954574585,-1.0060851573944092,1.38115656375885,-0.162160262465477,0.5937398076057434,0.7040702104568481,0.0399399995803833
+1789729896788887885,16166,0.8363748788833618,-1.896982192993164,-1.0060858726501465,1.381157636642456,-0.16215990483760834,0.5937387943267822,0.7040706872940063,0.0399399995803833
+1789729896822245508,16200,0.8363756537437439,-1.8969826698303223,-1.0060858726501465,1.3811575174331665,-0.16216138005256653,0.5937389135360718,0.7040720582008362,0.0399399995803833
+1789729896855582653,16233,0.8363757133483887,-1.8969829082489014,-1.0060861110687256,1.3811582326889038,-0.16216304898262024,0.5937383770942688,0.704073429107666,0.0399399995803833
+1789729896888893681,16266,0.8363760113716125,-1.896983027458191,-1.0060867071151733,1.3811583518981934,-0.16216298937797546,0.5937367677688599,0.7040731310844421,0.0399399995803833
+1789729896922247874,16300,0.8363763689994812,-1.8969836235046387,-1.006087303161621,1.3811571598052979,-0.16216108202934265,0.5937312245368958,0.7040733098983765,0.0399399995803833
+1789729896955584149,16333,0.8363773822784424,-1.8969841003417969,-1.0060864686965942,1.381157636642456,-0.1621597558259964,0.5937288403511047,0.7040736079216003,0.0399399995803833
+1789729896988917785,16366,0.8363785147666931,-1.8969839811325073,-1.006085753440857,1.3811575174331665,-0.1621599644422531,0.593727171421051,0.7040722966194153,0.0399399995803833
+1789729897022245603,16400,0.8363804221153259,-1.896984338760376,-1.0060861110687256,1.3811595439910889,-0.16216081380844116,0.5937280654907227,0.7040738463401794,0.0399399995803833
+1789729897055584321,16433,0.8363809585571289,-1.8969839811325073,-1.0060864686965942,1.381159782409668,-0.16216187179088593,0.5937296748161316,0.7040736079216003,0.0399399995803833
+1789729897088898441,16466,0.8363809585571289,-1.8969838619232178,-1.0060877799987793,1.3811607360839844,-0.16216279566287994,0.5937288403511047,0.7040749192237854,0.0399399995803833
+1789729897122257848,16500,0.836381196975708,-1.8969850540161133,-1.0060898065567017,1.3811612129211426,-0.16216321289539337,0.5937294960021973,0.7040730118751526,0.0399399995803833
+1789729897155586387,16533,0.8363814949989319,-1.8969858884811401,-1.0060900449752808,1.3811604976654053,-0.1621619462966919,0.5937290191650391,0.7040725350379944,0.0399399995803833
+1789729897188893478,16566,0.8363816738128662,-1.896986961364746,-1.0060900449752808,1.381160020828247,-0.16216135025024414,0.5937292575836182,0.7040712237358093,0.0399399995803833
+1789729897222247955,16600,0.8363828659057617,-1.8969874382019043,-1.0060898065567017,1.3811609745025635,-0.16216127574443817,0.5937288999557495,0.7040714025497437,0.0399399995803833
+1789729897255582943,16633,0.8363840579986572,-1.896986484527588,-1.0060904026031494,1.3811607360839844,-0.16216012835502625,0.593728244304657,0.7040718793869019,0.0399399995803833
+1789729897288895684,16666,0.836384654045105,-1.8969868421554565,-1.0060902833938599,1.3811620473861694,-0.1621616929769516,0.5937278270721436,0.7040716409683228,0.0399399995803833
+1789729897322308316,16700,0.8363851308822632,-1.896986484527588,-1.0060908794403076,1.381162405014038,-0.16216358542442322,0.5937290787696838,0.7040721774101257,0.0399399995803833
+1789729897355640044,16733,0.836385190486908,-1.8969871997833252,-1.0060909986495972,1.3811619281768799,-0.16216738522052765,0.5937280058860779,0.7040735483169556,0.0399399995803833
+1789729897388896790,16766,0.8363847136497498,-1.896988868713379,-1.006090521812439,1.3811616897583008,-0.16216564178466797,0.593727707862854,0.7040727734565735,0.0399399995803833
+1789729897422246667,16800,0.8363841772079468,-1.8969902992248535,-1.0060909986495972,1.3811619281768799,-0.16216221451759338,0.5937240123748779,0.7040733695030212,0.0399399995803833
+1789729897455580206,16833,0.836384654045105,-1.8969917297363281,-1.0060909986495972,1.3811619281768799,-0.16216090321540833,0.5937241315841675,0.7040725946426392,0.0399399995803833
+1789729897488898816,16866,0.8363847732543945,-1.8969908952713013,-1.0060900449752808,1.3811625242233276,-0.16216112673282623,0.5937232971191406,0.7040715217590332,0.0399399995803833
+1789729897522246383,16900,0.8363858461380005,-1.8969899415969849,-1.0060911178588867,1.3811622858047485,-0.16216132044792175,0.5937221050262451,0.7040729522705078,0.0399399995803833
+1789729897555581042,16933,0.8363860249519348,-1.896990418434143,-1.0060923099517822,1.381162405014038,-0.16216138005256653,0.5937238931655884,0.704075038433075,0.0399399995803833
+1789729897588896402,16966,0.8363860845565796,-1.8969905376434326,-1.0060930252075195,1.3811622858047485,-0.16216318309307098,0.5937240719795227,0.7040746808052063,0.0399399995803833
+1789729897622251209,17000,0.8363873362541199,-1.8969919681549072,-1.0060937404632568,1.381160855293274,-0.1621631234884262,0.5937215685844421,0.704073429107666,0.0399399995803833
+1789729897655587987,17033,0.8363878130912781,-1.896992564201355,-1.0060926675796509,1.381160855293274,-0.16216115653514862,0.5937195420265198,0.7040721774101257,0.0399399995803833
+1789729897688909047,17066,0.836387574672699,-1.8969919681549072,-1.006091833114624,1.3811606168746948,-0.16215969622135162,0.5937166213989258,0.7040716409683228,0.0399399995803833
+1789729897722252675,17100,0.8363880515098572,-1.8969926834106445,-1.0060920715332031,1.381161093711853,-0.16215988993644714,0.5937167406082153,0.7040712833404541,0.0399399995803833
+1789729897755584544,17133,0.836388885974884,-1.8969923257827759,-1.0060925483703613,1.3811616897583008,-0.16216032207012177,0.5937185287475586,0.7040721774101257,0.0399399995803833
+1789729897788895234,17166,0.8363880515098572,-1.8969931602478027,-1.0060930252075195,1.3811620473861694,-0.16216161847114563,0.5937185287475586,0.7040717005729675,0.0399399995803833
+1789729897822246351,17200,0.836388111114502,-1.8969931602478027,-1.0060949325561523,1.3811619281768799,-0.16216227412223816,0.5937187671661377,0.7040721774101257,0.0399399995803833
+1789729897855582140,17233,0.8363882303237915,-1.8969937562942505,-1.0060970783233643,1.3811619281768799,-0.16216272115707397,0.5937173366546631,0.7040718793869019,0.0399399995803833
+1789729897888903500,17266,0.8363878130912781,-1.8969954252243042,-1.0060968399047852,1.3811612129211426,-0.16216179728507996,0.5937178134918213,0.7040706276893616,0.0399399995803833
+1789729897922247567,17300,0.8363879323005676,-1.8969956636428833,-1.0060957670211792,1.3811607360839844,-0.1621599793434143,0.5937159061431885,0.7040687203407288,0.0399399995803833
+1789729897955581926,17333,0.8363891243934631,-1.8969950675964355,-1.0060964822769165,1.381160855293274,-0.1621607542037964,0.5937163829803467,0.7040687799453735,0.0399399995803833
+1789729897988908685,17366,0.8363903164863586,-1.896995186805725,-1.0060968399047852,1.3811619281768799,-0.16216224431991577,0.5937170386314392,0.7040687799453735,0.0399399995803833
+1789729898022258864,17400,0.8363904356956482,-1.896994948387146,-1.006097435951233,1.3811630010604858,-0.16216282546520233,0.593716561794281,0.7040695548057556,0.03993000090122223
+1789729898055586537,17433,0.8363902568817139,-1.8969957828521729,-1.0060983896255493,1.381163239479065,-0.16216374933719635,0.5937151312828064,0.7040703296661377,0.03993000090122223
+1789729898088908130,17466,0.8363901376724243,-1.8969957828521729,-1.0060991048812866,1.3811622858047485,-0.16216449439525604,0.5937139391899109,0.7040703892707825,0.03993000090122223
diff --git a/episode_0011/left.observation.state/data.jsonl b/episode_0011/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6cc05700b9eb7d30c19ae6096bea72e58f50d7d5
--- /dev/null
+++ b/episode_0011/left.observation.state/data.jsonl
@@ -0,0 +1,525 @@
+{"timestamp_ns": 1789729880622232203, "elapsed_ms": 0, "source_timestamp_ns": 1789729880621707500, "q": [0.8357498645782471, -1.8963412046432495, -1.005455493927002, 1.3811860084533691, -0.16261401772499084, 0.5945122241973877, 0.7044258713722229], "theta": [0.8377686142921448, -1.8944026231765747, -1.0035974979400635, 1.3627700805664062, -0.16320915520191193, 0.5944494009017944, 0.7044024467468262], "dq": [-0.0022676505614072084, -0.0024583148770034313, 0.000843751011416316, -0.0017170616192743182, -0.0011069833999499679, -0.002211552346125245, 0.0021400158293545246], "dtheta": [0.000488254998344928, -0.00027412144117988646, 5.217483703745529e-06, 3.5606237361207604e-05, -0.001425893628038466, 5.9580293054750655e-06, 0.0002655278949532658], "tau": [55.779998779296875, 23.60999870300293, 5.52400016784668, -26.316001892089844, -2.56000018119812, 2.6440000534057617, -0.5320000052452087], "tau_des": [0.5815641283988953, -0.5252653360366821, -0.20008982717990875, -0.5496063232421875, 0.9878262281417847, -1.1762818098068237, -0.5406230092048645], "tau_dot": [70.18939971923828, -48.326507568359375, 8.759440422058105, 24.349138259887695, -4.418118953704834, -5.39889669418335, -2.0007050037384033], "tau_ext": [-16.859970092773438, -41.67535400390625, 31.79738998413086, 31.359010696411133, 9.479208946228027, -2.987769365310669, -0.12583693861961365], "tcp_pose": [0.6779797673225403, 0.03283669799566269, -0.2150750607252121, -0.002316107740625739, -0.0045540411956608295, 0.999884843826294, 0.014290297403931618], "tcp_vel": [0.0002111383801093325, -2.218615190940909e-05, 0.0003518689190968871, -0.0011025938438251615, -0.0012445161119103432, 0.0007188261952251196], "flange_pose": [0.6786940693855286, 0.028553267940878868, -0.06513793021440506, -0.002316107740625739, -0.0045540411956608295, 0.999884843826294, 0.014290297403931618], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.5156021118164, 15.350561141967773, 28.309968948364258, 0.3659402132034302, -23.95804786682129, 1.7897957563400269], "ext_wrench_in_world": [-107.78357846375152, 15.165814970244016, -27.37511710538784, -0.15784300689566283, -23.899516124563988, -2.472560064959453]}
+{"timestamp_ns": 1789729880655620396, "elapsed_ms": 33, "source_timestamp_ns": 1789729880651671851, "q": [0.8357627987861633, -1.8963425159454346, -1.0054564476013184, 1.38118577003479, -0.1626087725162506, 0.594504177570343, 0.7044179439544678], "theta": [0.8377820253372192, -1.8944034576416016, -1.0035983324050903, 1.3627700805664062, -0.1632033884525299, 0.5944417715072632, 0.704394519329071], "dq": [0.000808991608209908, -0.0012685818364843726, -0.0005765971727669239, -0.0013309651985764503, 0.0009739600354805589, 0.0008131626527756453, -0.0004498423950280994], "dtheta": [0.0005266420776024461, 4.340537270763889e-05, -0.00047926182742230594, -0.00013611277972813696, -0.0002582836023066193, -0.00032864874810911715, -1.85955341294175e-05], "tau": [55.69999694824219, 23.639999389648438, 5.508000373840332, -26.296001434326172, -2.5240001678466797, 2.6600000858306885, -0.5680000185966492], "tau_des": [0.5318880677223206, -0.5975359082221985, -0.12336891889572144, -0.5133954286575317, 0.9768661856651306, -1.1807267665863037, -0.5432053208351135], "tau_dot": [-5.586360931396484, -72.91325378417969, -25.99651527404785, 12.466958045959473, 62.51731491088867, 21.718185424804688, -49.5703010559082], "tau_ext": [-16.879993438720703, -41.672019958496094, 31.79840660095215, 31.360408782958984, 9.47372817993164, -2.986605167388916, -0.12185308337211609], "tcp_pose": [0.6779804229736328, 0.032835688441991806, -0.2150679975748062, -0.0023138257674872875, -0.0045567648485302925, 0.999884843826294, 0.014288542792201042], "tcp_vel": [0.0003119548491667956, -0.00032100858516059816, 0.0003877241397276521, -0.0005709284450858831, -0.0006825795280747116, -0.00021737029601354152], "flange_pose": [0.6786940097808838, 0.02855278179049492, -0.06513085961341858, -0.0023138257674872875, -0.0045567648485302925, 0.999884843826294, 0.014288542792201042], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.50041198730469, 15.355297088623047, 28.322446823120117, 0.36896419525146484, -23.95744514465332, 1.7890857458114624], "ext_wrench_in_world": [-107.7684455789527, 15.170368437957967, -27.38807731699164, -0.1607285820127336, -23.89897114555398, -2.471737192587177]}
+{"timestamp_ns": 1789729880688995631, "elapsed_ms": 66, "source_timestamp_ns": 1789729880681702866, "q": [0.8357746601104736, -1.8963443040847778, -1.005455732345581, 1.3811864852905273, -0.1626012772321701, 0.5944933295249939, 0.7044146060943604], "theta": [0.8377941846847534, -1.8944050073623657, -1.0035983324050903, 1.3627705574035645, -0.16319452226161957, 0.59443199634552, 0.7043914198875427], "dq": [0.0016761095030233264, 0.0006150223198346794, -0.002781360875815153, -0.0007328713545575738, -0.00048496350063942373, -0.00035052583552896976, 0.0015355456853285432], "dtheta": [0.000309194641886279, -0.00013734611275140196, 7.976492634043097e-05, 0.0001698988926364109, 0.0003147754759993404, -0.0002650865644682199, -0.0006783173885196447], "tau": [55.72999954223633, 23.60999870300293, 5.4800004959106445, -26.268001556396484, -2.5440001487731934, 2.6520001888275146, -0.5640000104904175], "tau_des": [0.6294376850128174, -0.4751414656639099, -0.23666222393512726, -0.5917367935180664, 0.9480708837509155, -1.159240961074829, -0.5226300954818726], "tau_dot": [101.53030395507812, 17.245492935180664, -76.09587097167969, 33.05707931518555, -19.22580337524414, 38.93180465698242, -35.271419525146484], "tau_ext": [-16.88412857055664, -41.675262451171875, 31.80461311340332, 31.3703556060791, 9.470983505249023, -2.9928548336029053, -0.11511818319559097], "tcp_pose": [0.6779789328575134, 0.032835278660058975, -0.21506263315677643, -0.0023144609294831753, -0.004557345528155565, 0.9998849034309387, 0.014286714605987072], "tcp_vel": [-0.00015560789324808866, 3.223639942007139e-05, 4.149533197050914e-05, -0.0001233953662449494, 0.0002081108104903251, 0.0006850695353932679], "flange_pose": [0.6786926984786987, 0.02855292335152626, -0.0651254653930664, -0.0023144609294831753, -0.004557345528155565, 0.9998849034309387, 0.014286714605987072], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.48399353027344, 15.364998817443848, 28.331850051879883, 0.3726549446582794, -23.952392578125, 1.7910892963409424], "ext_wrench_in_world": [-107.75221238345021, 15.180256760499917, -27.39719533812253, -0.1644490673345545, -23.893906771340195, -2.4734911559613124]}
+{"timestamp_ns": 1789729880722364587, "elapsed_ms": 100, "source_timestamp_ns": 1789729880721665459, "q": [0.8357864022254944, -1.8963468074798584, -1.0054570436477661, 1.3811867237091064, -0.1625942587852478, 0.5944835543632507, 0.7044123411178589], "theta": [0.837806761264801, -1.8944079875946045, -1.0035998821258545, 1.362770915031433, -0.16318660974502563, 0.5944234132766724, 0.7043895125389099], "dq": [-0.0006590560078620911, -0.0022800927981734276, -0.000984381651505828, -0.0032731550745666027, -0.0036227733362466097, 0.0021919955033808947, 0.0011312342248857021], "dtheta": [0.00011457299115136266, 1.5324305422836915e-05, -9.702226088847965e-05, -1.2352000339888036e-05, 0.0006094545824453235, -0.0005813849857077003, -0.0003965973446611315], "tau": [55.72999954223633, 23.6299991607666, 5.508000373840332, -26.30000114440918, -2.56000018119812, 2.6520001888275146, -0.5600000023841858], "tau_des": [0.6501495838165283, -0.5006598830223083, -0.2000030130147934, -0.5985511541366577, 0.9352071285247803, -1.1508086919784546, -0.5347697138786316], "tau_dot": [22.938732147216797, 58.584774017333984, 37.84071350097656, 29.482900619506836, -88.27222442626953, 26.715097427368164, -17.217931747436523], "tau_ext": [-16.867204666137695, -41.639625549316406, 31.806018829345703, 31.360702514648438, 9.457079887390137, -2.989623785018921, -0.11608104407787323], "tcp_pose": [0.6779783368110657, 0.032834239304065704, -0.21505720913410187, -0.0023140404373407364, -0.0045570689253509045, 0.9998849034309387, 0.014284304343163967], "tcp_vel": [-0.0001253694063052535, -0.00010465834202477708, -3.3935084502445534e-05, -4.389714740682393e-05, 0.0006106192013248801, -7.910199201432988e-06], "flange_pose": [0.6786920428276062, 0.028552604839205742, -0.06512003391981125, -0.0023140404373407364, -0.0045570689253509045, 0.9998849034309387, 0.014284304343163967], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.47576904296875, 15.350499153137207, 28.303207397460938, 0.3700803220272064, -23.946413040161133, 1.788193702697754], "ext_wrench_in_world": [-107.74368904019792, 15.164949237701968, -27.36918141338489, -0.1619260220534954, -23.88800076585398, -2.470322454065534]}
+{"timestamp_ns": 1789729880755624062, "elapsed_ms": 133, "source_timestamp_ns": 1789729880751663127, "q": [0.8357927799224854, -1.8963496685028076, -1.0054595470428467, 1.38118577003479, -0.16259333491325378, 0.5944784879684448, 0.7044122815132141], "theta": [0.8378134369850159, -1.8944109678268433, -1.0036025047302246, 1.3627703189849854, -0.16318517923355103, 0.5944184064865112, 0.7043895125389099], "dq": [-6.967193621676415e-05, 0.0007379746530205011, 0.0004226319142617285, 0.0014682933688163757, -0.0007896235911175609, -0.0004473792505450547, 0.002482511568814516], "dtheta": [-3.299067202533479e-06, 1.6357551430701278e-05, -1.4076978914090432e-05, -0.00013769289944320917, 0.00031344592571258545, 0.000581351516302675, 0.00023178232368081808], "tau": [55.73999786376953, 23.65999984741211, 5.504000186920166, -26.308000564575195, -2.5240001678466797, 2.6640000343322754, -0.5600000023841858], "tau_des": [0.615289568901062, -0.5256799459457397, -0.20036660134792328, -0.5445777773857117, 0.9473732113838196, -1.1902152299880981, -0.5450510382652283], "tau_dot": [118.20025634765625, 23.00566291809082, -2.6615097522735596, -0.21217526495456696, 51.14299392700195, -1.4779661893844604, -52.35601806640625], "tau_ext": [-16.887100219726562, -41.65052032470703, 31.81275177001953, 31.36798667907715, 9.465435028076172, -2.996570587158203, -0.11274467408657074], "tcp_pose": [0.6779791116714478, 0.03283314406871796, -0.21505412459373474, -0.0023122665006667376, -0.004556936677545309, 0.9998849630355835, 0.014281331561505795], "tcp_vel": [0.00012805451115127653, 0.0001274606620427221, 0.00010378296428825706, 0.0006560329929925501, -0.0003708050644490868, -0.0004626195295713842], "flange_pose": [0.6786922216415405, 0.028552399948239326, -0.06511691957712173, -0.0023122665006667376, -0.004556936677545309, 0.9998849630355835, 0.014281331561505795], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.46967315673828, 15.343231201171875, 28.3012752532959, 0.3654349744319916, -23.939523696899414, 1.7864617109298706], "ext_wrench_in_world": [-107.73741621856038, 15.157555567701506, -27.367959895328724, -0.15733340034280302, -23.881135910273986, -2.4682740600921718]}
+{"timestamp_ns": 1789729880788926453, "elapsed_ms": 166, "source_timestamp_ns": 1789729880781753467, "q": [0.8357983231544495, -1.8963508605957031, -1.005460262298584, 1.3811845779418945, -0.1625945121049881, 0.5944690704345703, 0.7044129371643066], "theta": [0.8378189206123352, -1.8944120407104492, -1.0036033391952515, 1.362769365310669, -0.16318686306476593, 0.5944103002548218, 0.7043899893760681], "dq": [0.002477959729731083, -0.0028477332089096308, -0.0005285987863317132, 0.0021255463361740112, -0.0009412138606421649, 0.00014739984180778265, -0.001883684191852808], "dtheta": [0.00011470328172435984, 0.00038002649671398103, -0.000183780663064681, -0.000166617042850703, -0.000499149551615119, -0.00028782457229681313, 0.00015866104513406754], "tau": [55.71999740600586, 23.619998931884766, 5.508000373840332, -26.308000564575195, -2.572000026702881, 2.6520001888275146, -0.527999997138977], "tau_des": [0.5755736231803894, -0.5921696424484253, -0.13064900040626526, -0.5365738272666931, 0.9725710153579712, -1.171996831893921, -0.544413149356842], "tau_dot": [57.833892822265625, 89.43991088867188, -16.731578826904297, -54.03233337402344, -4.741939544677734, 1.8746365308761597, 53.538326263427734], "tau_ext": [-16.87856101989746, -41.65381622314453, 31.804906845092773, 31.365102767944336, 9.474262237548828, -2.995323419570923, -0.11992070078849792], "tcp_pose": [0.6779791116714478, 0.03283173218369484, -0.21505117416381836, -0.0023121389094740152, -0.004557059612125158, 0.9998850226402283, 0.014277556911110878], "tcp_vel": [0.0002670144895091653, -0.0002619294391479343, 0.0002627332869451493, -0.00023865331604611129, -0.000361847021849826, -0.00028507711249403656], "flange_pose": [0.6786922216415405, 0.028552120551466942, -0.06511393934488297, -0.0023121389094740152, -0.004557059612125158, 0.9998850226402283, 0.014277556911110878], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.46712493896484, 15.344182014465332, 28.300745010375977, 0.36516231298446655, -23.934467315673828, 1.787009835243225], "ext_wrench_in_world": [-107.73487011446251, 15.158279715243964, -27.36756017581315, -0.15710219232314257, -23.876082330957644, -2.46849848645657]}
+{"timestamp_ns": 1789729880822285489, "elapsed_ms": 200, "source_timestamp_ns": 1789729880821667655, "q": [0.8358044028282166, -1.896350622177124, -1.0054599046707153, 1.3811794519424438, -0.16259276866912842, 0.594455361366272, 0.7044126987457275], "theta": [0.8378260135650635, -1.8944121599197388, -1.003603219985962, 1.3627641201019287, -0.16318565607070923, 0.5943971872329712, 0.704389750957489], "dq": [0.0017387917032465339, 0.0017010560259222984, -0.0004005169030278921, -0.0032697708811610937, 0.0017290727701038122, 5.579924982157536e-05, 0.002521730260923505], "dtheta": [1.1234881640120875e-05, 0.0001596464280737564, 0.00021173078857827932, -0.0001841375487856567, -1.7714963178150356e-05, -0.0004403825441841036, 0.0007667784811928868], "tau": [55.709999084472656, 23.6299991607666, 5.52400016784668, -26.316001892089844, -2.556000232696533, 2.632000207901001, -0.5520000457763672], "tau_des": [0.6322486996650696, -0.5276626944541931, -0.19714343547821045, -0.5726860165596008, 0.947256863117218, -1.1607184410095215, -0.5544739961624146], "tau_dot": [-13.77847957611084, -59.72150421142578, 27.733142852783203, 18.674196243286133, 38.48816680908203, -43.20064926147461, -9.616189956665039], "tau_ext": [-16.8557071685791, -41.656639099121094, 31.80459976196289, 31.365514755249023, 9.483893394470215, -2.9880411624908447, -0.12730883061885834], "tcp_pose": [0.6779795289039612, 0.032830771058797836, -0.21504642069339752, -0.0023128113243728876, -0.004556483123451471, 0.9998850226402283, 0.014275284484028816], "tcp_vel": [-3.320040923426859e-05, 3.412714067962952e-05, 0.00010017892782343552, 5.642608812195249e-05, 0.0002522118156775832, -0.0007336916751228273], "flange_pose": [0.6786928176879883, 0.028551839292049408, -0.06510916352272034, -0.0023128113243728876, -0.004556483123451471, 0.9998850226402283, 0.014275284484028816], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.50255584716797, 15.329085350036621, 28.287626266479492, 0.359982967376709, -23.945209503173828, 1.786287784576416], "ext_wrench_in_world": [-107.77011988702614, 15.142486812488356, -27.354643551028396, -0.1518526359430307, -23.886803818504614, -2.467997984246544]}
+{"timestamp_ns": 1789729880855622638, "elapsed_ms": 233, "source_timestamp_ns": 1789729880851700279, "q": [0.8358139395713806, -1.8963505029678345, -1.0054601430892944, 1.3811777830123901, -0.162582129240036, 0.5944364666938782, 0.704411506652832], "theta": [0.8378363251686096, -1.8944121599197388, -1.0036033391952515, 1.362762689590454, -0.16317510604858398, 0.5943783521652222, 0.7043880224227905], "dq": [-0.0018099939916282892, -0.002660018391907215, -0.00019352519302628934, 0.0006169730913825333, -0.0011026030406355858, -4.8284429794875905e-05, -0.0008499652030877769], "dtheta": [0.0007436515297740698, 8.79415892995894e-05, -0.0001969108561752364, 0.00012083073670510203, 0.0008613583049736917, -0.0011401914525777102, 0.0006688576540909708], "tau": [55.69999694824219, 23.6299991607666, 5.51200008392334, -26.336000442504883, -2.5280001163482666, 2.6600000858306885, -0.5400000214576721], "tau_des": [0.579264760017395, -0.5605416297912598, -0.15066683292388916, -0.5880265235900879, 0.9306581616401672, -1.126937747001648, -0.5709279775619507], "tau_dot": [-87.10348510742188, -52.02830123901367, 2.016775369644165, -34.66413116455078, 29.243431091308594, 1.5107815265655518, -16.797544479370117], "tau_ext": [-16.877540588378906, -41.668495178222656, 31.806394577026367, 31.37917709350586, 9.481311798095703, -2.990607500076294, -0.12416961044073105], "tcp_pose": [0.6779773831367493, 0.032828669995069504, -0.21504221856594086, -0.002317387145012617, -0.004554025828838348, 0.999885082244873, 0.014272873289883137], "tcp_vel": [-0.000127983235870488, -0.0002770987048279494, 0.00026476476341485977, -0.0003446687769610435, 0.0006491393432952464, -0.0012966173235327005], "flange_pose": [0.6786920428276062, 0.028550466522574425, -0.06510493904352188, -0.002317387145012617, -0.004554025828838348, 0.999885082244873, 0.014272873289883137], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.53251647949219, 15.320724487304688, 28.29375457763672, 0.3581908345222473, -23.95613670349121, 1.7866241931915283], "ext_wrench_in_world": [-107.80021190710744, 15.134410624377832, -27.359955686425508, -0.15010011581067637, -23.897711389237873, -2.4685365603765708]}
+{"timestamp_ns": 1789729880889015611, "elapsed_ms": 266, "source_timestamp_ns": 1789729880881739584, "q": [0.8358239531517029, -1.8963508605957031, -1.0054603815078735, 1.381177544593811, -0.1625724732875824, 0.5944318175315857, 0.7044039368629456], "theta": [0.8378458023071289, -1.8944127559661865, -1.003603219985962, 1.3627620935440063, -0.16316455602645874, 0.5943740606307983, 0.7043801546096802], "dq": [0.0008700243197381496, -0.00042717953328974545, -1.0494055459275842e-05, -0.0015141944168135524, 0.0008500369149260223, -0.00020070801838301122, 0.0008104922599159181], "dtheta": [0.0007850496331229806, -9.28174631553702e-05, -9.572442650096491e-05, -4.8324684030376375e-05, 6.801509880460799e-05, -0.0005670685786753893, -0.00030515959952026606], "tau": [55.689998626708984, 23.639999389648438, 5.528000354766846, -26.32000160217285, -2.5240001678466797, 2.6560001373291016, -0.5440000295639038], "tau_des": [0.5139919519424438, -0.549443244934082, -0.1994391530752182, -0.5266379117965698, 0.9610613584518433, -1.1647971868515015, -0.5418076515197754], "tau_dot": [-103.4416275024414, -19.406352996826172, 22.147991180419922, -18.813669204711914, -11.988447189331055, -23.027660369873047, 27.170690536499023], "tau_ext": [-16.865108489990234, -41.6682243347168, 31.800395965576172, 31.36488151550293, 9.458184242248535, -2.9880809783935547, -0.12244240194559097], "tcp_pose": [0.677977442741394, 0.03282871097326279, -0.21503674983978271, -0.002316575963050127, -0.004555255174636841, 0.999885082244873, 0.014274245128035545], "tcp_vel": [7.987867866177112e-05, -0.00010090991418110207, 0.0004507694684434682, -0.00042968292837031186, -0.00039635365828871727, 0.0002684471837710589], "flange_pose": [0.6786918044090271, 0.028550095856189728, -0.06509948521852493, -0.002316575963050127, -0.004555255174636841, 0.999885082244873, 0.014274245128035545], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.51342010498047, 15.325990676879883, 28.323562622070312, 0.3624281585216522, -23.957733154296875, 1.784824013710022], "ext_wrench_in_world": [-107.78129787825759, 15.140513498829904, -27.38982240129024, -0.15425210233158423, -23.89939091172896, -2.466829779249968]}
+{"timestamp_ns": 1789729880922288895, "elapsed_ms": 300, "source_timestamp_ns": 1789729880921663211, "q": [0.8358362913131714, -1.8963518142700195, -1.0054608583450317, 1.3811781406402588, -0.16256572306156158, 0.594427764415741, 0.7044002413749695], "theta": [0.8378587365150452, -1.8944135904312134, -1.0036033391952515, 1.362762451171875, -0.1631561815738678, 0.5943704843521118, 0.7043768167495728], "dq": [0.00010572795144980773, -0.00183622888289392, 0.000875137688126415, -0.0006149255787022412, -0.00035428066621534526, 0.0004964641993865371, 0.0023327043745666742], "dtheta": [0.00021955212287139148, 0.00016016779409255832, 0.00026281800819560885, -0.00011896991782123223, -0.00029477017233148217, 0.00043817542609758675, -0.000725235091522336], "tau": [55.72999954223633, 23.649999618530273, 5.516000270843506, -26.312002182006836, -2.5160000324249268, 2.6680002212524414, -0.527999997138977], "tau_des": [0.5384847521781921, -0.5450975298881531, -0.2422565370798111, -0.5005198121070862, 0.9587044715881348, -1.2018980979919434, -0.5277031660079956], "tau_dot": [20.262765884399414, 21.52945327758789, 2.6366055011749268, -12.196313858032227, 6.355625629425049, 14.903881072998047, 51.56076431274414], "tau_ext": [-16.873798370361328, -41.661338806152344, 31.798864364624023, 31.361713409423828, 9.453287124633789, -2.9911203384399414, -0.1133539155125618], "tcp_pose": [0.6779780983924866, 0.03282841295003891, -0.21502995491027832, -0.002313902834430337, -0.004555494990199804, 0.999885082244873, 0.01427432056516409], "tcp_vel": [0.00017068955639842898, 0.00016890668484847993, 0.0003381742862984538, 0.00046215669135563076, -0.0007476697792299092, 0.0009359217947348952], "flange_pose": [0.6786916851997375, 0.028549769893288612, -0.06509269028902054, -0.002313902834430337, -0.004555494990199804, 0.999885082244873, 0.01427432056516409], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.47360229492188, 15.348167419433594, 28.325664520263672, 0.37389129400253296, -23.953044891357422, 1.786755919456482], "ext_wrench_in_world": [-107.74155222438262, 15.163067010087506, -27.392043133449324, -0.16574339873086052, -23.894754460623147, -2.468580437242205]}
+{"timestamp_ns": 1789729880955611794, "elapsed_ms": 333, "source_timestamp_ns": 1789729880951700515, "q": [0.8358461856842041, -1.8963550329208374, -1.0054633617401123, 1.3811789751052856, -0.16256169974803925, 0.5944207310676575, 0.7044022679328918], "theta": [0.8378689289093018, -1.8944168090820312, -1.0036060810089111, 1.362763524055481, -0.16315114498138428, 0.5943640470504761, 0.7043782472610474], "dq": [0.0012293143663555384, 0.001005074242129922, -0.0023356506135314703, -0.0002954744268208742, 0.0010599835077300668, 0.0007261655991896987, 0.00033580500166863203], "dtheta": [0.00016966924886219203, 0.00019935553427785635, 0.0001624722935957834, -0.00010567573190201074, -0.0002215836284449324, -0.0008222950273193419, 0.000905462249647826], "tau": [55.66999816894531, 23.649999618530273, 5.5320000648498535, -26.32400131225586, -2.5320000648498535, 2.6560001373291016, -0.5640000104904175], "tau_des": [0.5873440504074097, -0.5639708042144775, -0.190699502825737, -0.5525113344192505, 0.9430640935897827, -1.1607060432434082, -0.5670721530914307], "tau_dot": [-112.84556579589844, 121.74308776855469, 45.38192367553711, -5.4256415367126465, -2.601732015609741, -23.979602813720703, -34.6264533996582], "tau_ext": [-16.884157180786133, -41.64967727661133, 31.80398178100586, 31.361751556396484, 9.451602935791016, -2.98628830909729, -0.11602020263671875], "tcp_pose": [0.677977979183197, 0.03282703086733818, -0.2150258719921112, -0.0023127193562686443, -0.004553746897727251, 0.9998851418495178, 0.014271040447056293], "tcp_vel": [-4.630279363482259e-05, -9.429860801901668e-05, 0.0001548345753690228, -0.00036769462167285383, 0.00032078148797154427, -0.0007985700503922999], "flange_pose": [0.6786912083625793, 0.028549369424581528, -0.06508857011795044, -0.0023127193562686443, -0.004553746897727251, 0.9998851418495178, 0.014271040447056293], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.46168518066406, 15.352850914001465, 28.32533836364746, 0.3731139302253723, -23.94870376586914, 1.786009669303894], "ext_wrench_in_world": [-107.72955893645481, 15.168047463194782, -27.391989230101565, -0.16507996791586876, -23.890445041390823, -2.4675576867841404]}
+{"timestamp_ns": 1789729880988924525, "elapsed_ms": 366, "source_timestamp_ns": 1789729880981735950, "q": [0.8358544111251831, -1.8963572978973389, -1.005464792251587, 1.381178855895996, -0.16255894303321838, 0.5944153070449829, 0.7044012546539307], "theta": [0.8378764390945435, -1.8944194316864014, -1.0036076307296753, 1.3627632856369019, -0.16314755380153656, 0.594359278678894, 0.7043777704238892], "dq": [5.75354861211963e-05, -0.001004886464215815, 0.0008498764364048839, -0.0010065680835396051, -0.0005334780435077846, -0.0010066390968859196, -0.0016653034836053848], "dtheta": [0.0004962635575793684, 0.00015850142517592758, 0.00019497463654261082, -0.00023914834309834987, -0.0002745610545389354, -2.243691596959252e-05, -0.0003993775462731719], "tau": [55.73999786376953, 23.619998931884766, 5.496000289916992, -26.308000564575195, -2.5240001678466797, 2.636000156402588, -0.5520000457763672], "tau_des": [0.47080299258232117, -0.5784960985183716, -0.21454943716526031, -0.465613454580307, 0.9708055853843689, -1.2042449712753296, -0.5417271256446838], "tau_dot": [98.64266967773438, -95.87617492675781, -12.904825210571289, 21.938175201416016, -14.951234817504883, -23.32320785522461, -18.856287002563477], "tau_ext": [-16.863731384277344, -41.625877380371094, 31.80811309814453, 31.351119995117188, 9.456787109375, -2.9870193004608154, -0.11973149329423904], "tcp_pose": [0.6779782772064209, 0.0328262634575367, -0.21502181887626648, -0.002311120741069317, -0.004553820937871933, 0.9998851418495178, 0.01426883228123188], "tcp_vel": [0.0002107896434608847, 8.368389535462484e-05, 0.0005209955270402133, 0.00019612497999332845, -0.0007737215491943061, 0.0005445313290692866], "flange_pose": [0.678691029548645, 0.02854926325380802, -0.06508450210094452, -0.002311120741069317, -0.004553820937871933, 0.9998851418495178, 0.01426883228123188], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.45545196533203, 15.344460487365723, 28.320392608642578, 0.3661436140537262, -23.943050384521484, 1.7832099199295044], "ext_wrench_in_world": [-107.72314022160137, 15.159444269038257, -27.38772667602942, -0.15813718766314666, -23.884820969090722, -2.464524372925507]}
+{"timestamp_ns": 1789729881022362116, "elapsed_ms": 400, "source_timestamp_ns": 1789729881021666978, "q": [0.8358608484268188, -1.8963596820831299, -1.0054665803909302, 1.3811793327331543, -0.16255778074264526, 0.5944046378135681, 0.7044001221656799], "theta": [0.8378830552101135, -1.8944216966629028, -1.003609299659729, 1.3627634048461914, -0.16314586997032166, 0.5943492650985718, 0.7043782472610474], "dq": [-0.0029742661863565445, 0.0009353688801638782, -0.0018517009448260069, 0.000796717475168407, 0.00101100979372859, -0.0005284958169795573, -0.0021205395460128784], "dtheta": [0.00039340072544291615, -2.7835683340526884e-06, -6.217066402314231e-05, 0.0002836040803231299, 0.0010751583613455296, 0.0003056099230889231, 0.0004521211958490312], "tau": [55.64999771118164, 23.6299991607666, 5.500000476837158, -26.312002182006836, -2.5480000972747803, 2.6480002403259277, -0.5360000133514404], "tau_des": [0.6086816787719727, -0.5194649696350098, -0.19137172400951385, -0.5772363543510437, 0.9251734018325806, -1.1657750606536865, -0.5654482841491699], "tau_dot": [-108.72352600097656, -58.03617477416992, -26.502527236938477, -32.83380889892578, -14.517394065856934, 3.0730202198028564, -14.068925857543945], "tau_ext": [-16.86766815185547, -41.63941192626953, 31.800647735595703, 31.358835220336914, 9.465542793273926, -2.989748954772949, -0.12221737205982208], "tcp_pose": [0.6779773235321045, 0.03282427787780762, -0.2150198072195053, -0.0023121784906834364, -0.004554398823529482, 0.9998852014541626, 0.014264112338423729], "tcp_vel": [-9.571161353960633e-05, 3.600282434490509e-05, 8.244482160080224e-05, 0.0006605596863664687, 0.00019249145407229662, -0.001052424660883844], "flange_pose": [0.6786903738975525, 0.028548697009682655, -0.06508244574069977, -0.0023121784906834364, -0.004554398823529482, 0.9998852014541626, 0.014264112338423729], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.46672058105469, 15.330531120300293, 28.30921745300293, 0.3601398468017578, -23.942243576049805, 1.7813162803649902], "ext_wrench_in_world": [-107.73430377313437, 15.144710460972643, -27.376824966560662, -0.15210826103046632, -23.884036894962662, -2.462409497186521]}
+{"timestamp_ns": 1789729881055621465, "elapsed_ms": 433, "source_timestamp_ns": 1789729881051666020, "q": [0.8358667492866516, -1.8963600397109985, -1.0054666996002197, 1.381178379058838, -0.1625566929578781, 0.5943946242332458, 0.7043986916542053], "theta": [0.8378886580467224, -1.8944220542907715, -1.003609299659729, 1.362762451171875, -0.16314396262168884, 0.5943397283554077, 0.7043777704238892], "dq": [-0.001953634899109602, 0.000954395451117307, -0.002347279107198119, -0.0005667462828569114, 0.0005643434124067426, -0.0021493888925760984, 0.003113372717052698], "dtheta": [0.0005583860911428928, 0.00012939152657054365, 4.2211349864373915e-06, -0.00011242991604376584, -3.7877522117923945e-05, -0.001726180431433022, 0.000361234211595729], "tau": [55.68000030517578, 23.649999618530273, 5.516000270843506, -26.32400131225586, -2.5280001163482666, 2.6520001888275146, -0.5440000295639038], "tau_des": [0.5692434906959534, -0.5466738939285278, -0.1676483452320099, -0.5793495178222656, 0.9553918838500977, -1.1277488470077515, -0.5578988194465637], "tau_dot": [-22.25523567199707, -1.50571870803833, 26.156898498535156, -0.8562182188034058, 50.96608352661133, 1.4800379276275635, 2.589953899383545], "tau_ext": [-16.85607147216797, -41.654056549072266, 31.80807113647461, 31.359838485717773, 9.469374656677246, -2.9881508350372314, -0.12420704215765], "tcp_pose": [0.6779768466949463, 0.03282300755381584, -0.21501672267913818, -0.0023129319306463003, -0.004554915241897106, 0.9998852610588074, 0.014261307194828987], "tcp_vel": [-0.0001195142904180102, -0.00028940365882590413, 0.0002737795584835112, -0.0009916848503053188, 0.0006462043966166675, -0.0003997482708655298], "flange_pose": [0.6786901354789734, 0.028548266738653183, -0.06507933884859085, -0.0023129319306463003, -0.004554915241897106, 0.9998852610588074, 0.014261307194828987], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.48583984375, 15.332842826843262, 28.298593521118164, 0.3619311451911926, -23.946762084960938, 1.7822853326797485], "ext_wrench_in_world": [-107.75344871503079, 15.146274296016461, -27.365980638550013, -0.15384134841902708, -23.88855618709864, -2.4633647009761734]}
+{"timestamp_ns": 1789729881089020002, "elapsed_ms": 466, "source_timestamp_ns": 1789729881081738204, "q": [0.8358720541000366, -1.896359920501709, -1.005467414855957, 1.3811782598495483, -0.1625518947839737, 0.5943869352340698, 0.7043963074684143], "theta": [0.8378939032554626, -1.8944215774536133, -1.0036094188690186, 1.3627617359161377, -0.16313914954662323, 0.5943325757980347, 0.7043758034706116], "dq": [-0.0012440169230103493, 0.001573661109432578, 0.0009971056133508682, -4.557164356810972e-05, 0.00025789299979805946, -0.0007066222024150193, -0.001052986248396337], "dtheta": [0.0007720438297837973, -3.185348032275215e-05, -0.00037731105112470686, -0.00012197905743960291, 0.0002843597321771085, 0.00168294133618474, -0.0007105832919478416], "tau": [55.68000030517578, 23.68000030517578, 5.508000373840332, -26.332000732421875, -2.552000045776367, 2.6480002403259277, -0.5320000052452087], "tau_des": [0.4437617361545563, -0.5948595404624939, -0.16409997642040253, -0.4445784091949463, 0.9743226766586304, -1.225379228591919, -0.5443217158317566], "tau_dot": [-38.74079513549805, 59.19041442871094, -22.998693466186523, -37.88994216918945, -37.628807067871094, -40.164329528808594, 23.446863174438477], "tau_ext": [-16.84195899963379, -41.666568756103516, 31.8101863861084, 31.353670120239258, 9.47130012512207, -2.9888997077941895, -0.12520749866962433], "tcp_pose": [0.6779762506484985, 0.032821737229824066, -0.21501430869102478, -0.0023142886348068714, -0.004554528743028641, 0.9998852610588074, 0.014260179363191128], "tcp_vel": [0.0006063441978767514, 0.00011022041871910915, 0.000715823785867542, 0.0010867371456697583, -0.0021235456224530935, 0.0002484990400262177], "flange_pose": [0.6786899566650391, 0.028547335416078568, -0.06507691740989685, -0.0023142886348068714, -0.004554528743028641, 0.9998852610588074, 0.014260179363191128], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.50183868408203, 15.332536697387695, 28.29091453552246, 0.3631334900856018, -23.950674057006836, 1.7830394506454468], "ext_wrench_in_world": [-107.76947064119018, 15.145619153263015, -27.357983578351185, -0.15503594628135284, -23.892461425321986, -2.4641701024932283]}
+{"timestamp_ns": 1789729881122367913, "elapsed_ms": 500, "source_timestamp_ns": 1789729881121691493, "q": [0.8358859419822693, -1.8963603973388672, -1.0054678916931152, 1.3811794519424438, -0.16253943741321564, 0.5943801999092102, 0.7043840885162354], "theta": [0.8379082083702087, -1.8944216966629028, -1.0036098957061768, 1.3627628087997437, -0.16312645375728607, 0.5943268537521362, 0.7043633460998535], "dq": [0.00032741253380663693, 0.0004751432570628822, -0.001169222523458302, 0.0004999465309083462, 0.00025447068037465215, 0.0005357409827411175, -0.0010829265229403973], "dtheta": [0.0006542754708789289, 0.0002973194932565093, 0.0004347468784544617, 0.00040391553193330765, 0.0006862131413072348, -0.00046859137364663184, -0.0009691784507595003], "tau": [55.66999816894531, 23.6299991607666, 5.51200008392334, -26.32400131225586, -2.496000051498413, 2.6440000534057617, -0.5640000104904175], "tau_des": [0.5672407150268555, -0.5054653286933899, -0.2606324851512909, -0.5767478346824646, 0.9328804016113281, -1.1542444229125977, -0.5244148969650269], "tau_dot": [-80.25333404541016, -98.03817749023438, 50.33182907104492, 7.01073694229126, 42.534820556640625, -43.54210662841797, -4.160094261169434], "tau_ext": [-16.870880126953125, -41.680381774902344, 31.804508209228516, 31.37470817565918, 9.464285850524902, -2.9927265644073486, -0.11672686785459518], "tcp_pose": [0.6779758334159851, 0.032821182161569595, -0.21500739455223083, -0.0023136395029723644, -0.004557359963655472, 0.9998852610588074, 0.014261165633797646], "tcp_vel": [-0.0002638660662341863, 4.907508264295757e-05, 0.0002659657329786569, 0.00039009485044516623, 0.0005135133396834135, 0.0007698078989051282], "flange_pose": [0.6786893606185913, 0.028546487912535667, -0.0650700181722641, -0.0023136395029723644, -0.004557359963655472, 0.9998852610588074, 0.014261165633797646], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.5207290649414, 15.331024169921875, 28.30512809753418, 0.36901453137397766, -23.96068000793457, 1.7862192392349243], "ext_wrench_in_world": [-107.78846188344932, 15.143785751874757, -27.372266900543714, -0.1607031766829359, -23.902422225825255, -2.4676554793958663]}
+{"timestamp_ns": 1789729881155628731, "elapsed_ms": 533, "source_timestamp_ns": 1789729881151661327, "q": [0.8358951807022095, -1.8963614702224731, -1.0054689645767212, 1.3811790943145752, -0.16252991557121277, 0.5943750739097595, 0.7043780088424683], "theta": [0.8379180431365967, -1.8944231271743774, -1.0036109685897827, 1.362762689590454, -0.16311615705490112, 0.5943218469619751, 0.7043576240539551], "dq": [-0.00035828916588798165, -0.0008362540975213051, 0.000498884473927319, 0.000689584412612021, 0.00013922118523623794, -0.000971140107139945, -0.0008478917297907174], "dtheta": [0.00041841689380817115, -0.00042229657992720604, -8.506345329806209e-05, -0.00015449360944330692, 0.00048243856872431934, 1.0336195828131167e-06, 0.0006548499222844839], "tau": [55.61000061035156, 23.619998931884766, 5.508000373840332, -26.296001434326172, -2.5360000133514404, 2.636000156402588, -0.5760000348091125], "tau_des": [0.5819925665855408, -0.4966696500778198, -0.23650889098644257, -0.5487396717071533, 0.9396380186080933, -1.176856517791748, -0.5557452440261841], "tau_dot": [-130.8496551513672, -41.58705139160156, -3.2301831245422363, -6.030708312988281, -39.693058013916016, -50.33908462524414, -14.953120231628418], "tau_ext": [-16.87077522277832, -41.68698501586914, 31.811506271362305, 31.36809730529785, 9.448257446289062, -2.9905307292938232, -0.10646546632051468], "tcp_pose": [0.6779757738113403, 0.032820843160152435, -0.21500274538993835, -0.0023131936322897673, -0.0045578149147331715, 0.9998852610588074, 0.014261776581406593], "tcp_vel": [5.785092298538075e-07, 0.00014108981122262776, 0.00018318767251912504, 1.8026839825324714e-05, -0.000283290894003585, -0.0007234792574308813], "flange_pose": [0.678689181804657, 0.028545964509248734, -0.06506536900997162, -0.0023131936322897673, -0.0045578149147331715, 0.9998852610588074, 0.014261776581406593], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.51252746582031, 15.35450553894043, 28.326438903808594, 0.3785366415977478, -23.963523864746094, 1.7910884618759155], "ext_wrench_in_world": [-107.78056347104899, 15.167876450161035, -27.39301380390887, -0.17019862042941228, -23.90521057062568, -2.472590521538683]}
+{"timestamp_ns": 1789729881188922837, "elapsed_ms": 566, "source_timestamp_ns": 1789729881181702354, "q": [0.8359068036079407, -1.896363377571106, -1.0054712295532227, 1.3811793327331543, -0.16252781450748444, 0.5943669080734253, 0.7043788433074951], "theta": [0.8379290699958801, -1.8944249153137207, -1.0036128759384155, 1.3627632856369019, -0.1631135195493698, 0.594314455986023, 0.7043576240539551], "dq": [-0.0012512969551607966, 2.7418900572229177e-05, -0.00016089198470581323, -0.0008268205565400422, 0.0015296009369194508, -0.00012239828356541693, -0.0018185812514275312], "dtheta": [-0.00023534677166026086, -0.0005398027133196592, -4.08852611144539e-05, -2.6800064006238244e-05, 0.0002012535696849227, 0.0004753329558297992, 0.000673323345836252], "tau": [55.619998931884766, 23.600000381469727, 5.492000102996826, -26.292001724243164, -2.5240001678466797, 2.640000104904175, -0.5640000104904175], "tau_des": [0.6928902268409729, -0.44025444984436035, -0.23634645342826843, -0.6083347797393799, 0.9373667240142822, -1.1683282852172852, -0.5548560619354248], "tau_dot": [-171.66119384765625, 7.866656303405762, -27.440149307250977, 22.03082275390625, -6.388028144836426, -26.927553176879883, -24.301767349243164], "tau_ext": [-16.862512588500977, -41.66241455078125, 31.806198120117188, 31.359975814819336, 9.446724891662598, -2.987719774246216, -0.10609893500804901], "tcp_pose": [0.6779766082763672, 0.032818928360939026, -0.2149968147277832, -0.002310836687684059, -0.00455677043646574, 0.9998853206634521, 0.014258225448429585], "tcp_vel": [-0.0001094121253117919, 0.00023079736274667084, -0.0002722934586927295, 2.1569083401118405e-05, -2.651901013450697e-05, -0.0004673177609220147], "flange_pose": [0.6786893010139465, 0.028545109555125237, -0.06505940109491348, -0.002310836687684059, -0.00455677043646574, 0.9998853206634521, 0.014258225448429585], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.50209045410156, 15.35932445526123, 28.303438186645508, 0.3811561167240143, -23.961450576782227, 1.792765498161316], "ext_wrench_in_world": [-107.76989966799474, 15.172170196767267, -27.37054785677036, -0.17288418049812745, -23.90313162913313, -2.4740273322580215]}
+{"timestamp_ns": 1789729881222287057, "elapsed_ms": 600, "source_timestamp_ns": 1789729881221691570, "q": [0.8359124660491943, -1.8963654041290283, -1.0054736137390137, 1.3811794519424438, -0.16252729296684265, 0.5943617820739746, 0.7043789625167847], "theta": [0.8379351496696472, -1.8944272994995117, -1.003615140914917, 1.362763524055481, -0.163112074136734, 0.5943101644515991, 0.7043581008911133], "dq": [0.00015263870591297746, 0.0007829400128684938, 0.0015796194784343243, -0.0001234538503922522, -0.0021258306223899126, -0.0004161605320405215, -0.004174225497990847], "dtheta": [0.00010144800035050139, -6.99527226970531e-05, -6.869495700811967e-05, -0.00011004821135429665, -4.9669677537167445e-05, 0.0006625218666158617, -0.0005421743844635785], "tau": [55.69999694824219, 23.60999870300293, 5.492000102996826, -26.328001022338867, -2.5440001487731934, 2.6720001697540283, -0.5680000185966492], "tau_des": [0.5507886409759521, -0.5312713980674744, -0.20270784199237823, -0.5137232542037964, 0.9650757312774658, -1.1990302801132202, -0.5360010266304016], "tau_dot": [59.866798400878906, -110.01664733886719, -16.27252960205078, -18.21997833251953, -27.523784637451172, 37.36374282836914, -65.59300231933594], "tau_ext": [-16.852680206298828, -41.657806396484375, 31.82095718383789, 31.35874366760254, 9.46088981628418, -2.991870164871216, -0.11510036885738373], "tcp_pose": [0.6779770255088806, 0.032817475497722626, -0.21499432623386383, -0.0023097218945622444, -0.0045565045438706875, 0.9998853206634521, 0.014255208894610405], "tcp_vel": [0.00019944636733271182, 0.00010484486847417429, 0.0001728856732370332, 0.00037272731424309313, -0.0007550396840088069, 0.0005344839300960302], "flange_pose": [0.6786893606185913, 0.028544558212161064, -0.06505688279867172, -0.0023097218945622444, -0.0045565045438706875, 0.9998853206634521, 0.014255208894610405], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.50127410888672, 15.344325065612793, 28.296310424804688, 0.3715527355670929, -23.9548282623291, 1.7903023958206177], "ext_wrench_in_world": [-107.76884392925899, 15.156876336431077, -27.364188427271998, -0.16333708193467622, -23.896509114055984, -2.4712758528690637]}
+{"timestamp_ns": 1789729881255622839, "elapsed_ms": 633, "source_timestamp_ns": 1789729881251663474, "q": [0.8359137773513794, -1.896365761756897, -1.0054746866226196, 1.381178617477417, -0.16252680122852325, 0.5943561792373657, 0.7043789029121399], "theta": [0.8379361033439636, -1.894428014755249, -1.003616452217102, 1.3627636432647705, -0.1631113588809967, 0.5943053960800171, 0.7043583393096924], "dq": [0.0020516321528702974, 0.0005830557201988995, 0.00019135308684781194, -0.001284251338802278, -0.0008727179374545813, 0.00046670562005601823, 0.00023756218433845788], "dtheta": [-0.0003425463510211557, 0.00018301018280908465, -0.00013622382539324462, 3.240423393435776e-05, 0.0005739455809816718, -0.0001252147339982912, 0.00033558139693923295], "tau": [55.66999816894531, 23.649999618530273, 5.508000373840332, -26.304000854492188, -2.5240001678466797, 2.6640000343322754, -0.5400000214576721], "tau_des": [0.679102897644043, -0.5271206498146057, -0.16286714375019073, -0.606647789478302, 0.9229677319526672, -1.1519289016723633, -0.5600388050079346], "tau_dot": [12.670706748962402, 68.32109069824219, -6.487401962280273, -10.486369132995605, 39.28379440307617, 33.892581939697266, 48.010528564453125], "tau_ext": [-16.861495971679688, -41.65678405761719, 31.806703567504883, 31.36604118347168, 9.472064971923828, -2.9941859245300293, -0.11778365075588226], "tcp_pose": [0.6779767870903015, 0.032816238701343536, -0.2149939239025116, -0.002310829935595393, -0.004556107800453901, 0.9998853802680969, 0.014253254979848862], "tcp_vel": [-9.340110409539193e-05, -0.00011472231562947854, -0.0002613919787108898, 0.0003028842620551586, 0.0007474424201063812, -0.0008639963925816119], "flange_pose": [0.6786894202232361, 0.028543910011649132, -0.06505648046731949, -0.002310829935595393, -0.004556107800453901, 0.9998853802680969, 0.014253254979848862], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.50672149658203, 15.338794708251953, 28.2874813079834, 0.3681009113788605, -23.950359344482422, 1.788971185684204], "ext_wrench_in_world": [-107.77424809256011, 15.151020882010739, -27.35531763864636, -0.15994299688187089, -23.89205800240049, -2.469739168754861]}
+{"timestamp_ns": 1789729881288926114, "elapsed_ms": 666, "source_timestamp_ns": 1789729881281710101, "q": [0.8359140157699585, -1.8963649272918701, -1.0054748058319092, 1.3811782598495483, -0.16252778470516205, 0.594350278377533, 0.7043789029121399], "theta": [0.8379363417625427, -1.8944271802902222, -1.0036166906356812, 1.3627632856369019, -0.1631118357181549, 0.594300389289856, 0.7043581008911133], "dq": [0.0017226131167262793, -0.0007449014810845256, 0.001070712343789637, -0.001128872623667121, 0.0009262252133339643, -0.001422187895514071, 0.0007685160380788147], "dtheta": [6.853191734990105e-05, 0.00045548201887868345, 4.84184711240232e-05, 0.0001232039649039507, 5.2510211389744654e-05, 5.658690133714117e-05, -0.00022973815794102848], "tau": [55.66999816894531, 23.670000076293945, 5.51200008392334, -26.308000564575195, -2.56000018119812, 2.6520001888275146, -0.5440000295639038], "tau_des": [0.5731719732284546, -0.5803405046463013, -0.17064648866653442, -0.5471004247665405, 0.9443516731262207, -1.1690750122070312, -0.5469248294830322], "tau_dot": [61.093265533447266, 159.13381958007812, 31.871633529663086, 8.404312133789062, -9.22747802734375, -8.23813247680664, -13.452742576599121], "tau_ext": [-16.82670783996582, -41.65475082397461, 31.805980682373047, 31.352602005004883, 9.477300643920898, -2.987701177597046, -0.12049911171197891], "tcp_pose": [0.6779762506484985, 0.03281504288315773, -0.2149939388036728, -0.0023125121369957924, -0.004556094761937857, 0.9998853802680969, 0.014251443557441235], "tcp_vel": [7.543624087702483e-05, -0.00011846565030282363, 0.00013136724010109901, 0.00036883741267956793, 2.4582383048254997e-05, -5.261547630652785e-05], "flange_pose": [0.6786894202232361, 0.02854325994849205, -0.06505647301673889, -0.0023125121369957924, -0.004556094761937857, 0.9998853802680969, 0.014251443557441235], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.53178405761719, 15.33975601196289, 28.276676177978516, 0.3698522448539734, -23.95753288269043, 1.7900124788284302], "ext_wrench_in_world": [-107.7993587090459, 15.151341266867375, -27.344071250056913, -0.16164184876050447, -23.899223735562874, -2.4708892999921446]}
+{"timestamp_ns": 1789729881322291563, "elapsed_ms": 700, "source_timestamp_ns": 1789729881321659020, "q": [0.8359176516532898, -1.8963656425476074, -1.0054748058319092, 1.3811777830123901, -0.16252347826957703, 0.5943402051925659, 0.7043771743774414], "theta": [0.8379395008087158, -1.8944274187088013, -1.0036168098449707, 1.362762451171875, -0.16310752928256989, 0.5942906141281128, 0.704357385635376], "dq": [0.0019205540884286165, 4.049730341648683e-05, -0.000710242660716176, -0.00048760228673927486, -0.0008842035313136876, -0.00044053359306417406, -0.0013713646912947297], "dtheta": [7.129319419618696e-05, 0.00021106975327711552, -2.51732842571073e-07, -0.0002062801504507661, 0.00015708540740888566, -0.0008424960542470217, 2.3270826204679906e-05], "tau": [55.63999938964844, 23.60999870300293, 5.504000186920166, -26.316001892089844, -2.5480000972747803, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.5914257168769836, -0.5549997687339783, -0.18453748524188995, -0.5694979429244995, 0.9358764886856079, -1.1424063444137573, -0.5529274940490723], "tau_dot": [-60.269126892089844, -37.891624450683594, 15.858946800231934, 15.786311149597168, 1.493562936782837, -13.473466873168945, 19.250749588012695], "tau_ext": [-16.825408935546875, -41.66695785522461, 31.80486488342285, 31.35395622253418, 9.478474617004395, -2.98659348487854, -0.12248516082763672], "tcp_pose": [0.6779745817184448, 0.03281405195593834, -0.21499298512935638, -0.0023155035451054573, -0.004556046333163977, 0.9998854398727417, 0.014249386265873909], "tcp_vel": [-2.592133023426868e-05, -0.0001448575349058956, 9.407278412254527e-05, -0.00017914894851855934, 0.0004869266413152218, -0.0002645032072905451], "flange_pose": [0.678688645362854, 0.02854289300739765, -0.06505550444126129, -0.0023155035451054573, -0.004556046333163977, 0.9998854398727417, 0.014249386265873909], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.55671691894531, 15.334429740905762, 28.271560668945312, 0.36993905901908875, -23.968097686767578, 1.7915605306625366], "ext_wrench_in_world": [-107.82438079215287, 15.145529897147247, -27.33841735437883, -0.1616552680193124, -23.90975076460679, -2.4726376025523558]}
+{"timestamp_ns": 1789729881355622746, "elapsed_ms": 733, "source_timestamp_ns": 1789729881351673780, "q": [0.8359232544898987, -1.8963661193847656, -1.005475401878357, 1.3811784982681274, -0.16251729428768158, 0.594334065914154, 0.7043755650520325], "theta": [0.8379454016685486, -1.8944287300109863, -1.0036170482635498, 1.3627629280090332, -0.16310152411460876, 0.5942853689193726, 0.7043561935424805], "dq": [-0.0008325013914145529, -0.0022827493958175182, 0.0011530938791111112, -0.0008108902256935835, 0.000281285319942981, 0.00042606823262758553, -0.0009904400212690234], "dtheta": [3.791500421357341e-05, 3.595008820411749e-05, -0.0003851217625197023, 0.0001331968087470159, 0.0010498001938685775, -0.00012677061022259295, -0.0004960981314070523], "tau": [55.689998626708984, 23.59000015258789, 5.500000476837158, -26.328001022338867, -2.5400002002716064, 2.6600000858306885, -0.5560000538825989], "tau_des": [0.6359385251998901, -0.5302420854568481, -0.16890528798103333, -0.6032706499099731, 0.912656307220459, -1.1392714977264404, -0.5535363554954529], "tau_dot": [27.865156173706055, -185.5230255126953, -32.34255599975586, -56.61160659790039, -12.045387268066406, -1.1016104221343994, -25.39786148071289], "tau_ext": [-16.85822105407715, -41.68460464477539, 31.806415557861328, 31.376752853393555, 9.47750186920166, -2.994373321533203, -0.12400743365287781], "tcp_pose": [0.6779736280441284, 0.03281320258975029, -0.21499089896678925, -0.002316877944394946, -0.00455517927184701, 0.9998854398727417, 0.014248711057007313], "tcp_vel": [-7.231451309053227e-05, -0.00019472581334412098, -0.00014510970504488796, 0.0002753266890067607, 0.0006108666420914233, -0.0003566944506019354], "flange_pose": [0.6786880493164062, 0.02854224666953087, -0.06505341827869415, -0.002316877944394946, -0.00455517927184701, 0.9998854398727417, 0.014248711057007313], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.56807708740234, 15.32921028137207, 28.269590377807617, 0.37003403902053833, -23.970863342285156, 1.7909393310546875], "ext_wrench_in_world": [-107.83573380697139, 15.14029747279135, -27.336267905628322, -0.16176956189803793, -23.912536847356186, -2.4720619702464424]}
+{"timestamp_ns": 1789729881388934600, "elapsed_ms": 766, "source_timestamp_ns": 1789729881381693079, "q": [0.8359314799308777, -1.8963675498962402, -1.0054763555526733, 1.3811784982681274, -0.16251517832279205, 0.5943288803100586, 0.7043722867965698], "theta": [0.8379539251327515, -1.8944302797317505, -1.0036178827285767, 1.3627632856369019, -0.16309888660907745, 0.5942801237106323, 0.7043530344963074], "dq": [-0.001520954305306077, 0.001113997888751328, 0.0009087763610295951, 0.0015251071890816092, 0.003351821331307292, -0.0005509990151040256, 0.001361940405331552], "dtheta": [0.00035338380257599056, -0.00025524492957629263, -3.643292802735232e-05, -1.8929014913737774e-05, -0.0002945648448076099, 0.00019738409901037812, -0.0001602239499334246], "tau": [55.619998931884766, 23.6299991607666, 5.500000476837158, -26.34400177001953, -2.5440001487731934, 2.636000156402588, -0.5440000295639038], "tau_des": [0.5037657022476196, -0.5389246940612793, -0.22638660669326782, -0.5113810300827026, 0.9653452038764954, -1.17840576171875, -0.5431559085845947], "tau_dot": [-122.33103942871094, 38.717159271240234, 7.599780082702637, -48.98493957519531, -31.88043785095215, -46.629573822021484, 3.33677339553833], "tau_ext": [-16.84589385986328, -41.670326232910156, 31.80859375, 31.359710693359375, 9.471799850463867, -2.988548517227173, -0.11933236569166183], "tcp_pose": [0.6779741048812866, 0.03281237185001373, -0.21498653292655945, -0.0023151333443820477, -0.004556444939225912, 0.9998854398727417, 0.014246836304664612], "tcp_vel": [0.00010423381900181994, 6.923041655682027e-05, 0.00021699279022868723, -0.0002546414325479418, -0.0006965295760892332, 0.0004613081691786647], "flange_pose": [0.6786879897117615, 0.02854197286069393, -0.06504902988672256, -0.0023151333443820477, -0.004556444939225912, 0.9998854398727417, 0.014246836304664612], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.56031799316406, 15.335892677307129, 28.27960968017578, 0.37227174639701843, -23.969654083251953, 1.7905374765396118], "ext_wrench_in_world": [-107.82802412845433, 15.146962928437496, -27.346565803799866, -0.16394788017753592, -23.911369723922647, -2.4715271791497755]}
+{"timestamp_ns": 1789729881422291420, "elapsed_ms": 800, "source_timestamp_ns": 1789729881421689094, "q": [0.8359364867210388, -1.8963688611984253, -1.005478024482727, 1.3811790943145752, -0.16250848770141602, 0.5943272709846497, 0.7043703198432922], "theta": [0.8379592299461365, -1.8944329023361206, -1.00361967086792, 1.3627641201019287, -0.16309146583080292, 0.5942791700363159, 0.7043504118919373], "dq": [0.003480791114270687, 0.0004183300188742578, -0.0007990056183189154, -2.5434710551053286e-06, -0.0005131905782036483, -0.001543185324408114, -0.0028089801780879498], "dtheta": [-6.519263843074441e-05, -3.0850322218611836e-05, -0.0005117752007208765, 0.0001937933557201177, 0.0011263696942478418, 0.0007704454474151134, -0.0009622268262319267], "tau": [55.61000061035156, 23.60999870300293, 5.51200008392334, -26.296001434326172, -2.5360000133514404, 2.6520001888275146, -0.5840000510215759], "tau_des": [0.5904983282089233, -0.5450970530509949, -0.17666803300380707, -0.5529220700263977, 0.9191424250602722, -1.1753240823745728, -0.5454762578010559], "tau_dot": [-128.7150421142578, 18.821056365966797, 28.74466896057129, 4.743569850921631, -0.8020395040512085, 4.263680934906006, -76.62321472167969], "tau_ext": [-16.87053680419922, -41.63859558105469, 31.801902770996094, 31.365371704101562, 9.465919494628906, -2.9938266277313232, -0.11570227146148682], "tcp_pose": [0.6779739260673523, 0.0328119657933712, -0.21498464047908783, -0.002315035555511713, -0.0045555043034255505, 0.9998854398727417, 0.014247185550630093], "tcp_vel": [6.312710320344195e-05, -0.00010947848204523325, -0.00017296928854193538, 0.0007470464333891869, 7.390405517071486e-05, 1.0445337466080673e-05], "flange_pose": [0.6786878108978271, 0.02854146435856819, -0.06504714488983154, -0.002315035555511713, -0.0045555043034255505, 0.9998854398727417, 0.014247185550630093], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.52678680419922, 15.330551147460938, 28.291841506958008, 0.3656443655490875, -23.9591064453125, 1.788709044456482], "ext_wrench_in_world": [-107.7944715103558, 15.142502018696343, -27.359103040712434, -0.15745221083301758, -23.9008160220888, -2.469445238340027]}
+{"timestamp_ns": 1789729881455617243, "elapsed_ms": 833, "source_timestamp_ns": 1789729881451666538, "q": [0.8359388709068298, -1.8963719606399536, -1.0054799318313599, 1.3811792135238647, -0.162506565451622, 0.5943266153335571, 0.7043696641921997], "theta": [0.8379613757133484, -1.894436001777649, -1.0036213397979736, 1.362764596939087, -0.1630897969007492, 0.5942789316177368, 0.704349935054779], "dq": [0.0012744454434141517, 0.0007688002660870552, -0.0012153885327279568, -0.0024519055150449276, -0.0006801114650443196, -0.0010168773587793112, 0.0030190444085747004], "dtheta": [9.623163350624964e-05, -0.0005519331316463649, 4.821174297831021e-05, -5.168417828826932e-06, -7.785329216858372e-05, 2.0744175344589166e-05, -0.00032904112595133483], "tau": [55.63999938964844, 23.60999870300293, 5.51200008392334, -26.312002182006836, -2.5480000972747803, 2.6760001182556152, -0.5400000214576721], "tau_des": [0.5742083191871643, -0.4694681465625763, -0.27533626556396484, -0.5529359579086304, 0.9473748803138733, -1.1700055599212646, -0.5403928160667419], "tau_dot": [-44.215030670166016, 28.99567985534668, 24.897741317749023, 55.30018997192383, -23.649824142456055, 13.010991096496582, 49.26280975341797], "tau_ext": [-16.837831497192383, -41.63542175292969, 31.81026840209961, 31.353103637695312, 9.46766185760498, -2.991732358932495, -0.11975602060556412], "tcp_pose": [0.677973747253418, 0.032811831682920456, -0.21498435735702515, -0.0023144250735640526, -0.0045556845143437386, 0.9998854398727417, 0.014245791360735893], "tcp_vel": [-0.000126372353406623, 0.00018802803242579103, -8.466946019325405e-05, -0.0004089300346095115, -0.00015224289381876588, 0.0007746773189865053], "flange_pose": [0.6786874532699585, 0.028541745617985725, -0.06504684686660767, -0.0023144250735640526, -0.0045556845143437386, 0.9998854398727417, 0.014245791360735893], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.51399993896484, 15.32362174987793, 28.27591323852539, 0.3623202443122864, -23.950653076171875, 1.7876360416412354], "ext_wrench_in_world": [-107.78151825475184, 15.135125851433317, -27.34361212502008, -0.15418820255069748, -23.89237340142057, -2.46808034659322]}
+{"timestamp_ns": 1789729881488932607, "elapsed_ms": 866, "source_timestamp_ns": 1789729881481698336, "q": [0.8359398245811462, -1.8963749408721924, -1.0054831504821777, 1.3811792135238647, -0.1625070720911026, 0.5943259596824646, 0.7043702006340027], "theta": [0.8379622101783752, -1.8944389820098877, -1.0036247968673706, 1.3627647161483765, -0.16309002041816711, 0.5942789316177368, 0.7043504118919373], "dq": [0.0009476508712396026, -0.0027641435153782368, 0.00040939159225672483, -0.001466526766307652, -0.0010895043378695846, 0.001372912316583097, -0.00031656320788897574], "dtheta": [0.00045761148794554174, 0.00021889994968660176, -0.00037239777157083154, 4.333893593866378e-05, -0.00010044392547570169, -0.0002078467805404216, 5.2204500207153615e-06], "tau": [55.68000030517578, 23.600000381469727, 5.484000205993652, -26.30000114440918, -2.5320000648498535, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.4523753821849823, -0.6389511823654175, -0.147322878241539, -0.4772014617919922, 0.958539605140686, -1.1824369430541992, -0.5598313808441162], "tau_dot": [35.61001968383789, -0.23240508139133453, -14.768072128295898, 23.23822021484375, 55.07926940917969, -14.647412300109863, 24.13251495361328], "tau_ext": [-16.81940269470215, -41.63471984863281, 31.812992095947266, 31.350746154785156, 9.473501205444336, -2.9962377548217773, -0.11840306222438812], "tcp_pose": [0.6779741644859314, 0.03281080722808838, -0.21498483419418335, -0.0023135687224566936, -0.004555469378829002, 0.9998854994773865, 0.014243251644074917], "tcp_vel": [0.00023907923605293036, -0.0003179585328325629, 0.00031967696850188076, -0.0002985444152727723, -0.0004391897236928344, -0.0003457631100900471], "flange_pose": [0.6786876320838928, 0.028541482985019684, -0.06504729390144348, -0.0023135687224566936, -0.004555469378829002, 0.9998854994773865, 0.014243251644074917], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.5303955078125, 15.318333625793457, 28.259296417236328, 0.3638480603694916, -23.94972801208496, 1.787035584449768], "ext_wrench_in_world": [-107.79773209596051, 15.129125755285504, -27.32734246104459, -0.15572777401205204, -23.89149231404006, -2.467325943716695]}
+{"timestamp_ns": 1789729881522293537, "elapsed_ms": 900, "source_timestamp_ns": 1789729881521673613, "q": [0.8359397053718567, -1.8963764905929565, -1.005486249923706, 1.3811789751052856, -0.16250646114349365, 0.5943208336830139, 0.7043694257736206], "theta": [0.8379618525505066, -1.89444100856781, -1.0036284923553467, 1.3627649545669556, -0.1630895435810089, 0.5942736864089966, 0.7043504118919373], "dq": [0.00040605495451018214, 0.0004742195305880159, 0.0019525995012372732, 0.00021692464360967278, -0.00020871775632258505, -0.0036486336030066013, -0.0020319833420217037], "dtheta": [0.00020630427752621472, 0.00036921940045431256, -0.0003832399088423699, 0.00015142353367991745, -0.00015300001541618258, -3.3120441003120504e-06, -0.0005041518597863615], "tau": [55.64999771118164, 23.639999389648438, 5.460000038146973, -26.264001846313477, -2.5480000972747803, 2.6520001888275146, -0.5360000133514404], "tau_des": [0.5086219310760498, -0.6282240152359009, -0.1344100683927536, -0.5144650936126709, 0.9515933990478516, -1.1697263717651367, -0.5519306659698486], "tau_dot": [36.04111099243164, -30.683361053466797, -62.165069580078125, 54.07830810546875, 31.850618362426758, 7.01025915145874, 12.307282447814941], "tau_ext": [-16.809629440307617, -41.62717056274414, 31.816436767578125, 31.35348129272461, 9.481431007385254, -2.989877700805664, -0.12452290952205658], "tcp_pose": [0.6779738664627075, 0.03280879184603691, -0.21498604118824005, -0.002315117511898279, -0.004555097781121731, 0.9998855590820312, 0.014240263029932976], "tcp_vel": [0.0002318052138434723, -0.00036029916373081505, 0.00017265162023250014, -0.0001523123646620661, -0.0003029821382369846, 9.641864016884938e-05], "flange_pose": [0.6786877512931824, 0.028540363535284996, -0.06504848599433899, -0.002315117511898279, -0.004555097781121731, 0.9998855590820312, 0.014240263029932976], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.562255859375, 15.308333396911621, 28.237194061279297, 0.35959315299987793, -23.953386306762695, 1.7873728275299072], "ext_wrench_in_world": [-107.82946895694391, 15.11811884327009, -27.305149560242903, -0.15146559357352468, -23.895115019519015, -2.4676427616661845]}
+{"timestamp_ns": 1789729881555615411, "elapsed_ms": 933, "source_timestamp_ns": 1789729881551673144, "q": [0.8359408974647522, -1.8963764905929565, -1.005487084388733, 1.3811787366867065, -0.1625044196844101, 0.5943129062652588, 0.7043683528900146], "theta": [0.8379632234573364, -1.8944414854049683, -1.0036290884017944, 1.3627653121948242, -0.1630876362323761, 0.5942658185958862, 0.7043494582176208], "dq": [0.0005965697346255183, 0.0002813190221786499, 0.001743702800013125, -0.0008666003122925758, 0.0003212214505765587, -0.0007054405868984759, -0.00020524015417322516], "dtheta": [0.0003608429979067296, 0.00014925327559467405, -0.00040378980338573456, 4.320208608987741e-05, -0.00011237664148211479, 0.00015193533909041435, -0.00023953712661750615], "tau": [55.66999816894531, 23.600000381469727, 5.508000373840332, -26.32000160217285, -2.556000232696533, 2.692000150680542, -0.5120000243186951], "tau_des": [0.49019187688827515, -0.6207661032676697, -0.1473623812198639, -0.5057002305984497, 0.9516173005104065, -1.1694029569625854, -0.5578431487083435], "tau_dot": [101.14457702636719, -85.7170181274414, 23.761812210083008, -3.946631908416748, -4.217637062072754, 68.60111236572266, 54.12617492675781], "tau_ext": [-16.801868438720703, -41.631736755371094, 31.810039520263672, 31.346567153930664, 9.48232650756836, -2.9890620708465576, -0.1282660812139511], "tcp_pose": [0.6779727339744568, 0.032807283103466034, -0.21498624980449677, -0.0023178481496870518, -0.004554813262075186, 0.9998855590820312, 0.014238165691494942], "tcp_vel": [0.00027891952777281404, -0.00025877277948893607, 0.0002737042959779501, -0.0001409692340530455, -0.0006377777317538857, -7.861074118409306e-05], "flange_pose": [0.6786874532699585, 0.028539489954710007, -0.06504867225885391, -0.0023178481496870518, -0.004554813262075186, 0.9998855590820312, 0.014238165691494942], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.58580780029297, 15.298108100891113, 28.223983764648438, 0.3554692268371582, -23.960250854492188, 1.7860668897628784], "ext_wrench_in_world": [-107.85300578191134, 15.107242860951727, -27.291606182166948, -0.14729853979399243, -23.901986161614758, -2.4664498750796136]}
+{"timestamp_ns": 1789729881588922015, "elapsed_ms": 966, "source_timestamp_ns": 1789729881581673545, "q": [0.8359410762786865, -1.8963773250579834, -1.0054882764816284, 1.381178617477417, -0.16249875724315643, 0.5943120121955872, 0.7043569087982178], "theta": [0.8379632830619812, -1.8944423198699951, -1.00363028049469, 1.3627656698226929, -0.16308234632015228, 0.594265341758728, 0.7043372392654419], "dq": [0.003008864587172866, -0.0014542993158102036, -0.0005485380534082651, -0.000716020877007395, -0.0006319204112514853, -0.0020876070484519005, -0.001180684077553451], "dtheta": [-0.00037019659066572785, -4.56487869087141e-05, 6.428269989555702e-05, 8.573917875764892e-05, 0.0002982664154842496, -0.00031011138344183564, 6.22426305199042e-05], "tau": [55.69999694824219, 23.65999984741211, 5.500000476837158, -26.32000160217285, -2.5480000972747803, 2.6640000343322754, -0.5760000348091125], "tau_des": [0.6943336725234985, -0.48490890860557556, -0.24273616075515747, -0.6357554197311401, 0.9085303544998169, -1.1280646324157715, -0.5456995964050293], "tau_dot": [106.80319213867188, 86.72061920166016, -15.586226463317871, -77.50338745117188, -32.20742416381836, -30.75116539001465, -40.00425720214844], "tau_ext": [-16.843812942504883, -41.662742614746094, 31.809720993041992, 31.36955451965332, 9.482257843017578, -2.9977505207061768, -0.11759459227323532], "tcp_pose": [0.6779720783233643, 0.032807134091854095, -0.2149869054555893, -0.0023193000815808773, -0.004558766260743141, 0.9998855590820312, 0.014238999225199223], "tcp_vel": [-0.0002452149929013103, 4.496318979363423e-06, -0.0003590185660868883, -6.016704719513655e-05, 0.0008608539355918765, -0.00013072292495053262], "flange_pose": [0.6786872744560242, 0.02853909507393837, -0.06504934281110764, -0.0023193000815808773, -0.004558766260743141, 0.9998855590820312, 0.014238999225199223], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.58512115478516, 15.304908752441406, 28.238468170166016, 0.35929447412490845, -23.961484909057617, 1.7874476909637451], "ext_wrench_in_world": [-107.8526461451768, 15.113647910024794, -27.3055667720507, -0.1509360609813969, -23.903212546531485, -2.467887573391344]}
+{"timestamp_ns": 1789729881622250078, "elapsed_ms": 1000, "source_timestamp_ns": 1789729881621665030, "q": [0.8359435796737671, -1.896378993988037, -1.0054911375045776, 1.3811789751052856, -0.16249209642410278, 0.5943105220794678, 0.7043471336364746], "theta": [0.8379660248756409, -1.8944441080093384, -1.003633975982666, 1.362765908241272, -0.16307494044303894, 0.5942648649215698, 0.7043269276618958], "dq": [0.0010140826925635338, -0.0005063794669695199, 0.0012943028705194592, 0.0014539639232680202, 0.00011619336146395653, 1.4941437257220969e-05, 0.0010247030295431614], "dtheta": [2.884422428905964e-05, 7.094963802956045e-05, -0.00013108951679896563, 3.577752795536071e-05, 0.0003486410132609308, 8.09655903140083e-05, 0.00022913333668839186], "tau": [55.64999771118164, 23.639999389648438, 5.504000186920166, -26.30000114440918, -2.552000045776367, 2.6640000343322754, -0.5680000185966492], "tau_des": [0.5882056951522827, -0.5571743845939636, -0.21994920074939728, -0.5610294938087463, 0.9204668998718262, -1.157240867614746, -0.5461098551750183], "tau_dot": [-27.15780258178711, 56.58051300048828, 35.997825622558594, 13.968018531799316, -67.66243743896484, 2.2888987064361572, 19.911640167236328], "tau_ext": [-16.82888412475586, -41.663143157958984, 31.825300216674805, 31.356847763061523, 9.471263885498047, -2.990046501159668, -0.09770510345697403], "tcp_pose": [0.6779717803001404, 0.032806213945150375, -0.21498675644397736, -0.0023200621362775564, -0.004561408422887325, 0.9998854994773865, 0.014238957315683365], "tcp_vel": [2.2569887732970528e-05, -6.277657666942105e-05, -2.056613993772771e-06, 0.00021670166461262852, 9.689674334367737e-05, -0.0005583344027400017], "flange_pose": [0.6786872148513794, 0.028538191691040993, -0.0650491937994957, -0.0023200621362775564, -0.004561408422887325, 0.9998854994773865, 0.014238957315683365], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.58294677734375, 15.33500862121582, 28.247526168823242, 0.3705550730228424, -23.966007232666016, 1.7990294694900513], "ext_wrench_in_world": [-107.85090740737519, 15.143437649592972, -27.313618012386552, -0.1620870971514227, -23.90750775687744, -2.4795405619224096]}
+{"timestamp_ns": 1789729881655582400, "elapsed_ms": 1033, "source_timestamp_ns": 1789729881651668991, "q": [0.8359467387199402, -1.896381139755249, -1.0054975748062134, 1.3811795711517334, -0.16249039769172668, 0.594310998916626, 0.7043474912643433], "theta": [0.8379694223403931, -1.894445538520813, -1.00364089012146, 1.3627666234970093, -0.16307300329208374, 0.5942655801773071, 0.7043269276618958], "dq": [-0.0012929561780765653, 0.001408791751600802, -0.0005388107965700328, -6.07913316343911e-05, 0.00026764548965729773, 0.001575846690684557, 0.0008922460256144404], "dtheta": [-7.518767233705148e-05, -0.0001463051012251526, -0.0001054954991559498, 3.33248644892592e-05, 9.828457405092195e-05, -8.452678594039753e-05, -0.0003686587733682245], "tau": [55.68000030517578, 23.60999870300293, 5.484000205993652, -26.308000564575195, -2.5360000133514404, 2.680000066757202, -0.5440000295639038], "tau_des": [0.6091450452804565, -0.5218375325202942, -0.21830061078071594, -0.5783114433288574, 0.9331535696983337, -1.1515932083129883, -0.5374396443367004], "tau_dot": [-77.12300109863281, -79.32583618164062, 5.833892345428467, -0.7295305132865906, 4.970637798309326, 21.270557403564453, 17.538742065429688], "tau_ext": [-16.8360595703125, -41.64746856689453, 31.813404083251953, 31.353307723999023, 9.46904182434082, -2.994291305541992, -0.1049940288066864], "tcp_pose": [0.6779736876487732, 0.03280339390039444, -0.2149859517812729, -0.0023179766722023487, -0.004559309221804142, 0.9998855590820312, 0.014236637391149998], "tcp_vel": [-6.222305819392204e-05, -2.7862401111633517e-05, -0.00013278839469421655, -0.00018756886129267514, 0.00017681090685073286, 0.00034537259489297867], "flange_pose": [0.6786884665489197, 0.028536060824990273, -0.06504837423563004, -0.0023179766722023487, -0.004559309221804142, 0.9998855590820312, 0.014236637391149998], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.56764221191406, 15.350598335266113, 28.251239776611328, 0.3746642768383026, -23.96293067932129, 1.8019055128097534], "ext_wrench_in_world": [-107.83558527017995, 15.159598136269722, -27.31747065489728, -0.16632893052263845, -23.90439929125046, -2.4821991762801634]}
+{"timestamp_ns": 1789729881688898134, "elapsed_ms": 1066, "source_timestamp_ns": 1789729881681674542, "q": [0.8359482884407043, -1.8963840007781982, -1.0055030584335327, 1.381180763244629, -0.1624889075756073, 0.5943127274513245, 0.7043493390083313], "theta": [0.8379709124565125, -1.8944482803344727, -1.003646731376648, 1.3627686500549316, -0.16307133436203003, 0.5942679643630981, 0.7043278813362122], "dq": [-0.0005611695814877748, -0.0021477113477885723, 0.0007714684470556676, -0.0006368901231326163, -0.0003207678091712296, 0.0019743770826607943, 0.0006674848264083266], "dtheta": [-2.7637617677100934e-05, -0.00038603958091698587, -0.000256341474596411, 0.0004388508095871657, -0.0001228673936566338, 0.0007460502092726529, 0.0004685256280936301], "tau": [55.69999694824219, 23.53999900817871, 5.520000457763672, -26.316001892089844, -2.5480000972747803, 2.684000015258789, -0.5360000133514404], "tau_des": [0.6326884031295776, -0.5169287323951721, -0.19235068559646606, -0.594578742980957, 0.9370231628417969, -1.159610629081726, -0.5585127472877502], "tau_dot": [101.48696899414062, -152.5680389404297, 34.84310531616211, -49.61635208129883, -40.59218978881836, 29.48494529724121, 18.90703582763672], "tau_ext": [-16.847591400146484, -41.653743743896484, 31.82386589050293, 31.35968017578125, 9.47138500213623, -3.00076961517334, -0.11293355375528336], "tcp_pose": [0.6779747009277344, 0.032801371067762375, -0.21498653292655945, -0.002316591562703252, -0.004557079169899225, 0.999885618686676, 0.014234491623938084], "tcp_vel": [-3.948810990550555e-05, -2.3322156721405918e-06, -0.00024819726240821183, -0.0002921629056800157, -0.00031856613350100815, -0.0002694812137633562], "flange_pose": [0.6786890625953674, 0.028534680604934692, -0.0650489330291748, -0.002316591562703252, -0.004557079169899225, 0.999885618686676, 0.014234491623938084], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.550537109375, 15.350943565368652, 28.256494522094727, 0.3735901713371277, -23.95431900024414, 1.797423005104065], "ext_wrench_in_world": [-107.81836667370507, 15.160616626568425, -27.323149431499537, -0.1654119999269376, -23.895919006119133, -2.47737594323692]}
+{"timestamp_ns": 1789729881722246815, "elapsed_ms": 1100, "source_timestamp_ns": 1789729881721688865, "q": [0.8359487652778625, -1.896388053894043, -1.005506992340088, 1.3811804056167603, -0.16248802840709686, 0.5943115949630737, 0.7043489217758179], "theta": [0.8379709124565125, -1.8944520950317383, -1.0036513805389404, 1.3627687692642212, -0.16307038068771362, 0.594267725944519, 0.7043276429176331], "dq": [0.0009671964216977358, -0.0023019949439913034, 0.0005988127668388188, 0.0006160892080515623, 0.0005539769190363586, -0.0006208221311680973, 0.00044824706856161356], "dtheta": [0.0002908526221290231, -0.00017319007019978017, -9.901168959913775e-05, -8.683492524141911e-06, 0.0005276220617815852, -0.0005273394635878503, -0.00042247833334840834], "tau": [55.63999938964844, 23.59000015258789, 5.488000392913818, -26.308000564575195, -2.56000018119812, 2.680000066757202, -0.5360000133514404], "tau_des": [0.5592456459999084, -0.5380392074584961, -0.20200057327747345, -0.5585846900939941, 0.9331279397010803, -1.14970064163208, -0.5472120046615601], "tau_dot": [26.182607650756836, 31.615253448486328, 26.300321578979492, 26.517393112182617, -20.91590690612793, 9.044330596923828, 22.309457778930664], "tau_ext": [-16.829387664794922, -41.640220642089844, 31.824430465698242, 31.355300903320312, 9.47163200378418, -3.002559185028076, -0.11947184801101685], "tcp_pose": [0.6779748201370239, 0.032800380140542984, -0.21498766541481018, -0.0023162716533988714, -0.004557029809802771, 0.9998856782913208, 0.014231742359697819], "tcp_vel": [-0.00011741603520931676, -4.8091755161294714e-05, 4.0820130379870534e-05, -0.0002023267443291843, 0.0003501532773952931, 0.0001876278402050957], "flange_pose": [0.6786891222000122, 0.028534511104226112, -0.06505004316568375, -0.0023162716533988714, -0.004557029809802771, 0.9998856782913208, 0.014231742359697819], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.52467346191406, 15.336358070373535, 28.227514266967773, 0.36921122670173645, -23.93657875061035, 1.789806604385376], "ext_wrench_in_world": [-107.79221484239086, 15.145310990318139, -27.294867979607965, -0.16115815541094503, -23.878376690960202, -2.469145914835365]}
+{"timestamp_ns": 1789729881755585917, "elapsed_ms": 1133, "source_timestamp_ns": 1789729881751692266, "q": [0.8359483480453491, -1.8963898420333862, -1.0055063962936401, 1.381179690361023, -0.1624891459941864, 0.5943092703819275, 0.7043486833572388], "theta": [0.8379703164100647, -1.8944531679153442, -1.0036513805389404, 1.3627684116363525, -0.16307157278060913, 0.5942662954330444, 0.7043276429176331], "dq": [-0.0012211515568196774, 4.826208169106394e-05, -0.0001379882887704298, 0.0003105370851699263, -0.0029371073469519615, 0.0010950160212814808, -0.0012921837624162436], "dtheta": [-3.8437974581029266e-05, -5.343452357919887e-05, 9.171477722702548e-05, -0.0001413327845511958, -0.00043548422399908304, -0.0010335955303162336, -8.072130003711209e-05], "tau": [55.68000030517578, 23.639999389648438, 5.488000392913818, -26.288002014160156, -2.5320000648498535, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.606627345085144, -0.5272341370582581, -0.21616435050964355, -0.5849317908287048, 0.9416700601577759, -1.1353614330291748, -0.5433667302131653], "tau_dot": [123.98888397216797, -51.078189849853516, -22.3160400390625, 56.53165817260742, 17.825902938842773, 15.765345573425293, 16.2116641998291], "tau_ext": [-16.813884735107422, -41.63275146484375, 31.814472198486328, 31.35255241394043, 9.479148864746094, -3.000437021255493, -0.11642123013734818], "tcp_pose": [0.6779741048812866, 0.032800931483507156, -0.21498829126358032, -0.0023168656043708324, -0.004558247048407793, 0.9998856782913208, 0.014230378903448582], "tcp_vel": [-0.00013133410539012402, -0.00010035570448962972, -5.573854286922142e-05, -0.0008462720434181392, 0.0004915153840556741, 0.0004251117934472859], "flange_pose": [0.6786885261535645, 0.028535475954413414, -0.0650506466627121, -0.0023168656043708324, -0.004558247048407793, 0.9998856782913208, 0.014230378903448582], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.55072021484375, 15.324813842773438, 28.21452522277832, 0.36741384863853455, -23.941797256469727, 1.7893941402435303], "ext_wrench_in_world": [-107.81816225074029, 15.132824104209357, -27.282014131991158, -0.15925581913042125, -23.88359522067998, -2.468825047263612]}
+{"timestamp_ns": 1789729881788917010, "elapsed_ms": 1166, "source_timestamp_ns": 1789729881781665370, "q": [0.8359490036964417, -1.8963905572891235, -1.005506157875061, 1.381179690361023, -0.1624894142150879, 0.5943065285682678, 0.704348623752594], "theta": [0.8379709124565125, -1.894453525543213, -1.0036513805389404, 1.3627681732177734, -0.16307252645492554, 0.5942643880844116, 0.7043276429176331], "dq": [-2.6049594453070313e-05, -0.0025820427108556032, 0.0011843157699331641, -0.0015074328985065222, -0.0005482163396663964, 0.0005642527248710394, 0.0009174766018986702], "dtheta": [0.00026196762337349355, 0.00022682888084091246, -0.00029957693186588585, 4.555819759843871e-05, 0.0002722349890973419, -0.0005903689889237285, 0.00047940193326212466], "tau": [55.66999816894531, 23.65999984741211, 5.5320000648498535, -26.328001022338867, -2.552000045776367, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.5496304631233215, -0.6115724444389343, -0.15183310210704803, -0.5480595231056213, 0.9282264113426208, -1.1485642194747925, -0.5646809935569763], "tau_dot": [49.97991943359375, 73.98524475097656, 60.31613540649414, -57.56087112426758, 57.66498947143555, 2.2353298664093018, 9.34478759765625], "tau_ext": [-16.809337615966797, -41.65000915527344, 31.814416885375977, 31.353734970092773, 9.492709159851074, -2.9986307621002197, -0.12057985365390778], "tcp_pose": [0.6779734492301941, 0.03280080482363701, -0.2149883508682251, -0.0023175645619630814, -0.004558698274195194, 0.9998856782913208, 0.014229174703359604], "tcp_vel": [5.19253226229921e-05, -0.0003147860988974571, 0.00011827831622213125, -0.0002687333326321095, 0.0002902776177506894, -0.0009710356243886054], "flange_pose": [0.678688108921051, 0.028535712510347366, -0.06505070626735687, -0.0023175645619630814, -0.004558698274195194, 0.9998856782913208, 0.014229174703359604], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.5771713256836, 15.31975269317627, 28.209699630737305, 0.36646944284439087, -23.95015525817871, 1.7930432558059692], "ext_wrench_in_world": [-107.84459470600045, 15.127219270289046, -27.277103880710687, -0.15823443732915787, -23.891843163359592, -2.472657068998044]}
+{"timestamp_ns": 1789729881822258981, "elapsed_ms": 1200, "source_timestamp_ns": 1789729881821665164, "q": [0.8359516263008118, -1.8963896036148071, -1.0055068731307983, 1.3811798095703125, -0.16248708963394165, 0.5943045616149902, 0.7043448090553284], "theta": [0.8379735350608826, -1.8944530487060547, -1.0036520957946777, 1.3627684116363525, -0.16307108104228973, 0.594262957572937, 0.7043243050575256], "dq": [0.0019351637456566095, 0.0006691534072160721, -0.00143424014095217, -2.814456820487976e-05, 0.002694136928766966, -0.001115602906793356, 0.0014186277985572815], "dtheta": [0.00029956770595163107, 0.0004362199979368597, 2.800104266498238e-05, 0.00011317563621560112, -0.0002335666213184595, -0.00017604106687940657, -0.000707524421159178], "tau": [55.599998474121094, 23.619998931884766, 5.516000270843506, -26.332000732421875, -2.564000129699707, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.49556511640548706, -0.619680643081665, -0.1978428065776825, -0.5049041509628296, 0.9435878992080688, -1.174148678779602, -0.5343680381774902], "tau_dot": [-140.1248016357422, -32.41312026977539, 47.79133224487305, -41.91972351074219, 18.200342178344727, 15.096409797668457, 32.81697082519531], "tau_ext": [-16.80842399597168, -41.655521392822266, 31.81143569946289, 31.34846305847168, 9.495805740356445, -2.994734048843384, -0.1255486011505127], "tcp_pose": [0.6779738068580627, 0.03279995918273926, -0.21498678624629974, -0.0023175161331892014, -0.004559417255222797, 0.9998856782913208, 0.014229364693164825], "tcp_vel": [0.00012622452049981803, -0.00017891153402160853, 0.0002826134441420436, 1.977617466764059e-05, -0.00021719283540733159, 0.0005863293772563338], "flange_pose": [0.6786884665489197, 0.02853480726480484, -0.06504913419485092, -0.0023175161331892014, -0.004559417255222797, 0.9998856782913208, 0.014229364693164825], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.59403228759766, 15.312324523925781, 28.22015380859375, 0.36565178632736206, -23.959012985229492, 1.7941372394561768], "ext_wrench_in_world": [-107.86145591663335, 15.119792480192523, -27.287695947283662, -0.15730727344951326, -23.900657597688717, -2.4740157050851077]}
+{"timestamp_ns": 1789729881855586094, "elapsed_ms": 1233, "source_timestamp_ns": 1789729881851689913, "q": [0.8359545469284058, -1.8963911533355713, -1.0055075883865356, 1.3811804056167603, -0.16248485445976257, 0.5943005681037903, 0.7043394446372986], "theta": [0.8379765748977661, -1.8944544792175293, -1.0036535263061523, 1.362768530845642, -0.16306917369365692, 0.5942589044570923, 0.7043194770812988], "dq": [-0.0005310139385983348, -0.0007288414635695517, -0.001165216788649559, -0.00265005836263299, -0.002062388928607106, -0.0009159298497252166, -0.0004925043322145939], "dtheta": [0.0008225765195675194, 8.258642628788948e-05, 3.8907764974283054e-06, -8.742605859879404e-05, -0.0005761624779552221, 0.00040512255509383976, -0.0004544667899608612], "tau": [55.63999938964844, 23.649999618530273, 5.504000186920166, -26.272001266479492, -2.568000078201294, 2.6600000858306885, -0.5840000510215759], "tau_des": [0.36840111017227173, -0.6349042057991028, -0.22957198321819305, -0.41853418946266174, 0.9754171371459961, -1.210322618484497, -0.529550313949585], "tau_dot": [-19.97129249572754, 77.25345611572266, 37.73153305053711, 81.96834564208984, -13.402412414550781, -1.1867378950119019, -67.48113250732422], "tau_ext": [-16.80028533935547, -41.64949417114258, 31.811552047729492, 31.347326278686523, 9.490156173706055, -2.992305040359497, -0.11963333934545517], "tcp_pose": [0.6779729723930359, 0.03279942274093628, -0.21498622000217438, -0.0023182996083050966, -0.004561827052384615, 0.9998856782913208, 0.0142277916893363], "tcp_vel": [0.00038576897350139916, 1.8021592040895484e-05, 0.0007148522417992353, 2.3620443243999034e-05, -0.0015300839440897107, 0.0006974869756959379], "flange_pose": [0.6786878705024719, 0.028534745797514915, -0.06504856050014496, -0.0023182996083050966, -0.004561827052384615, 0.9998856782913208, 0.0142277916893363], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.60371398925781, 15.319408416748047, 28.230966567993164, 0.36679407954216003, -23.964834213256836, 1.7947099208831787], "ext_wrench_in_world": [-107.87136659936364, 15.126482960458963, -27.298146331150626, -0.15828730090695964, -23.906478975453332, -2.4746734314588696]}
+{"timestamp_ns": 1789729881888894999, "elapsed_ms": 1266, "source_timestamp_ns": 1789729881881671136, "q": [0.8359571695327759, -1.896393060684204, -1.0055090188980103, 1.3811804056167603, -0.16248244047164917, 0.5942974090576172, 0.7043377757072449], "theta": [0.8379788994789124, -1.8944571018218994, -1.003655195236206, 1.3627690076828003, -0.1630670130252838, 0.5942560434341431, 0.7043173313140869], "dq": [0.0007846048101782799, 0.0013573350152000785, -0.0009143932838924229, -0.0006409041816368699, 0.0013693171786144376, -0.0014352455036714673, 0.0024649202823638916], "dtheta": [-7.476208702428266e-05, 3.2672800443833694e-05, -9.367063285026234e-06, -0.0001245150197064504, 0.00024484534515067935, -0.0005816619377583265, 9.78273747023195e-05], "tau": [55.63999938964844, 23.579999923706055, 5.520000457763672, -26.308000564575195, -2.576000213623047, 2.6440000534057617, -0.5760000348091125], "tau_des": [0.598021924495697, -0.5441484451293945, -0.22971288859844208, -0.568290650844574, 0.921046257019043, -1.1481482982635498, -0.5427730679512024], "tau_dot": [64.57868194580078, -79.03052520751953, 51.44963073730469, -29.022336959838867, -24.963464736938477, -45.25541687011719, -68.35649871826172], "tau_ext": [-16.8358154296875, -41.65056228637695, 31.810152053833008, 31.360877990722656, 9.490533828735352, -2.9957680702209473, -0.11281832307577133], "tcp_pose": [0.6779726147651672, 0.03279884532094002, -0.21498560905456543, -0.0023185843601822853, -0.0045621199533343315, 0.9998856782913208, 0.014226359315216541], "tcp_vel": [-9.725529525894672e-05, -6.560789188370109e-05, -7.232130883494392e-05, -0.00013942205987405032, 0.0005497689126059413, -0.0002678169694263488], "flange_pose": [0.678687572479248, 0.028534598648548126, -0.06504794210195541, -0.0023185843601822853, -0.0045621199533343315, 0.9998856782913208, 0.014226359315216541], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.59537506103516, 15.325624465942383, 28.231460571289062, 0.36692753434181213, -23.9639835357666, 1.797708511352539], "ext_wrench_in_world": [-107.86311080616548, 15.132643904557984, -27.29848496636548, -0.15842974695572207, -23.905551845702856, -2.477577360534388]}
+{"timestamp_ns": 1789729881922255938, "elapsed_ms": 1300, "source_timestamp_ns": 1789729881921730775, "q": [0.8359593152999878, -1.8963963985443115, -1.0055125951766968, 1.3811818361282349, -0.16248159110546112, 0.5942994356155396, 0.7043365836143494], "theta": [0.8379812836647034, -1.8944604396820068, -1.0036591291427612, 1.362770438194275, -0.1630662977695465, 0.5942574739456177, 0.7043168544769287], "dq": [-0.0002590462099760771, 0.001041155424900353, 0.001248593209311366, -0.00020770984701812267, 0.00029463591636158526, 0.0003246217966079712, -8.558895933674648e-05], "dtheta": [-0.0001884460070868954, -0.000424915284384042, -0.0003473383258096874, 0.00020704546477645636, 0.0004671580099966377, -0.00023502028489019722, -0.0005560646532103419], "tau": [55.65999984741211, 23.649999618530273, 5.4720001220703125, -26.316001892089844, -2.572000026702881, 2.6520001888275146, -0.527999997138977], "tau_des": [0.6815640926361084, -0.4625518023967743, -0.22894321382045746, -0.6323747634887695, 0.9212605953216553, -1.136664867401123, -0.5302757024765015], "tau_dot": [23.40483856201172, 137.98814392089844, -44.16696548461914, -50.863929748535156, -21.162357330322266, -52.34400177001953, 19.335010528564453], "tau_ext": [-16.834671020507812, -41.649169921875, 31.82050895690918, 31.348791122436523, 9.491336822509766, -2.99664306640625, -0.11476343870162964], "tcp_pose": [0.6779730916023254, 0.03279799968004227, -0.21498580276966095, -0.002316968748345971, -0.004562476184219122, 0.9998857378959656, 0.014224507845938206], "tcp_vel": [-0.0002265473740408197, -0.00011017190990969539, -0.0004305673355702311, -0.0005169933428987861, 0.0006666512927040458, 0.00037640449590981007], "flange_pose": [0.678687572479248, 0.028534306213259697, -0.06504812091588974, -0.002316968748345971, -0.004562476184219122, 0.9998857378959656, 0.014224507845938206], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.56512451171875, 15.329516410827637, 28.233613967895508, 0.3638975918292999, -23.952241897583008, 1.797325849533081], "ext_wrench_in_world": [-107.83282861404616, 15.13669989796499, -27.30107015470674, -0.15548030072498953, -23.89380772379268, -2.4767866120401902]}
+{"timestamp_ns": 1789729881955591661, "elapsed_ms": 1333, "source_timestamp_ns": 1789729881951806350, "q": [0.8359602093696594, -1.8963981866836548, -1.0055172443389893, 1.3811821937561035, -0.1624813824892044, 0.5942995548248291, 0.7043375968933105], "theta": [0.8379824757575989, -1.8944621086120605, -1.0036643743515015, 1.362770438194275, -0.1630667746067047, 0.5942577123641968, 0.7043173313140869], "dq": [0.0013628712622448802, 0.0004349708033259958, -0.0007334662950597703, -0.0011148094199597836, 0.00401386758312583, -0.0002848336298484355, -0.0029913377948105335], "dtheta": [0.0002659410529304296, 8.395641634706408e-05, -0.00019541083020158112, -3.094467683695257e-05, -0.0002976715040858835, 0.0004128991859033704, -0.00029033521423116326], "tau": [55.57999801635742, 23.579999923706055, 5.500000476837158, -26.30000114440918, -2.568000078201294, 2.6720001697540283, -0.5560000538825989], "tau_des": [0.4832093119621277, -0.6102765798568726, -0.18780389428138733, -0.48237985372543335, 0.9570029377937317, -1.1931321620941162, -0.5396891236305237], "tau_dot": [-173.0269775390625, -33.30162811279297, -2.635054111480713, 33.742698669433594, 25.68490982055664, 41.17830276489258, -19.06070899963379], "tau_ext": [-16.825204849243164, -41.6376838684082, 31.81774139404297, 31.34901237487793, 9.498469352722168, -2.9955148696899414, -0.11702648550271988], "tcp_pose": [0.6779741644859314, 0.03279590979218483, -0.214986190199852, -0.002315977355465293, -0.004560897592455149, 0.9998857975006104, 0.014222328551113605], "tcp_vel": [0.0002744324738159776, -8.228942897403613e-05, 0.0002796199987642467, 4.215838998788968e-05, -0.0008378777420148253, 0.0002468896855134517], "flange_pose": [0.6786883473396301, 0.02853286825120449, -0.06504847854375839, -0.002315977355465293, -0.004560897592455149, 0.9998857975006104, 0.014222328551113605], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.55719757080078, 15.332880973815918, 28.228620529174805, 0.36204060912132263, -23.947284698486328, 1.797247290611267], "ext_wrench_in_world": [-107.82480726194578, 15.14021730656045, -27.296295793678507, -0.153738953139079, -23.888848209529662, -2.476471524762386]}
+{"timestamp_ns": 1789729881988895345, "elapsed_ms": 1366, "source_timestamp_ns": 1789729881981730008, "q": [0.8359596133232117, -1.896399736404419, -1.0055207014083862, 1.3811815977096558, -0.16248004138469696, 0.594298243522644, 0.7043377161026001], "theta": [0.8379818201065063, -1.8944640159606934, -1.0036671161651611, 1.3627701997756958, -0.1630662977695465, 0.5942567586898804, 0.7043180465698242], "dq": [0.001372902188450098, 0.001005865982733667, -0.0002495414228178561, -0.0015010408824309707, 0.00332191726192832, 0.00017917764489538968, 0.0012851153733208776], "dtheta": [-0.0007028536638244987, -0.00017317676974926144, 0.00021678207849618047, 7.56273657316342e-05, -5.373462408897467e-05, 0.0005231406539678574, 0.00010034749720944092], "tau": [55.619998931884766, 23.59000015258789, 5.504000186920166, -26.288002014160156, -2.568000078201294, 2.6520001888275146, -0.5320000052452087], "tau_des": [0.7230192422866821, -0.4708493649959564, -0.25391685962677, -0.6247601509094238, 0.9133318066596985, -1.1555505990982056, -0.5431564450263977], "tau_dot": [-4.686431884765625, -129.68299865722656, 2.0240895748138428, 36.97763442993164, 17.67015838623047, -20.236764907836914, 11.756680488586426], "tau_ext": [-16.81917381286621, -41.64976501464844, 31.825166702270508, 31.3531551361084, 9.49984073638916, -3.0001797676086426, -0.12570136785507202], "tcp_pose": [0.6779746413230896, 0.03279447928071022, -0.21498721837997437, -0.0023163307923823595, -0.0045597488060593605, 0.9998857975006104, 0.014220829121768475], "tcp_vel": [-0.0001944505493156612, 0.00023488754231948406, -0.00048555832472629845, 0.0002749898412730545, 0.00041007387335412204, 0.00019716894894372672], "flange_pose": [0.6786888837814331, 0.028531884774565697, -0.06504949182271957, -0.0023163307923823595, -0.0045597488060593605, 0.9998857975006104, 0.014220829121768475], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.57599639892578, 15.325368881225586, 28.217937469482422, 0.3594941794872284, -23.947864532470703, 1.7954901456832886], "ext_wrench_in_world": [-107.84347151888387, 15.13239611894874, -27.285713588870152, -0.15123531192516124, -23.889461427061796, -2.474671129514494]}
+{"timestamp_ns": 1789729882022257598, "elapsed_ms": 1400, "source_timestamp_ns": 1789729882021803208, "q": [0.8359599709510803, -1.8964016437530518, -1.0055216550827026, 1.3811805248260498, -0.16247935593128204, 0.594292402267456, 0.7043366432189941], "theta": [0.8379828333854675, -1.8944660425186157, -1.0036683082580566, 1.3627688884735107, -0.1630658209323883, 0.594251275062561, 0.7043166160583496], "dq": [0.0019436171278357506, 0.0010463579092174768, -0.001701132976450026, 0.0005264543578960001, 0.0009392540086992085, -1.1321957572363317e-05, 0.00010157837823498994], "dtheta": [-5.3690248023485765e-05, -6.58494172967039e-05, 0.0002872084442060441, -0.00010644405119819567, 0.0008053474593907595, 0.001131720026023686, -0.0007890769047662616], "tau": [55.62999725341797, 23.619998931884766, 5.504000186920166, -26.292001724243164, -2.556000232696533, 2.6520001888275146, -0.5440000295639038], "tau_des": [0.5686484575271606, -0.5170157551765442, -0.28269609808921814, -0.5215822458267212, 0.9155029058456421, -1.1943352222442627, -0.5313223004341125], "tau_dot": [-15.665157318115234, -5.800135612487793, -5.6932692527771, 14.039712905883789, 20.58966636657715, -24.015777587890625, 8.328280448913574], "tau_ext": [-16.79792022705078, -41.64499282836914, 31.8154239654541, 31.345922470092773, 9.496230125427246, -2.9930951595306396, -0.1260596364736557], "tcp_pose": [0.677973747253418, 0.032793834805488586, -0.2149878293275833, -0.002317975275218487, -0.0045603360049426556, 0.9998857975006104, 0.014218445867300034], "tcp_vel": [1.8194625226897188e-05, 0.0004332263197284192, 7.033926522126421e-05, 0.001439737738110125, -0.00037253453047014773, 0.0005432800389826298], "flange_pose": [0.6786885261535645, 0.028531957417726517, -0.06505008786916733, -0.002317975275218487, -0.0045603360049426556, 0.9998857975006104, 0.014218445867300034], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.60108947753906, 15.303234100341797, 28.19626808166504, 0.35796764492988586, -23.954139709472656, 1.7919431924819946], "ext_wrench_in_world": [-107.86836695173288, 15.109161784706428, -27.264291770486658, -0.14961375123590226, -23.895832572216282, -2.471196444413612]}
+{"timestamp_ns": 1789729882055590154, "elapsed_ms": 1433, "source_timestamp_ns": 1789729882051772745, "q": [0.835962176322937, -1.8964030742645264, -1.0055229663848877, 1.3811808824539185, -0.16247844696044922, 0.5942894816398621, 0.7043346166610718], "theta": [0.8379844427108765, -1.8944671154022217, -1.0036695003509521, 1.3627691268920898, -0.1630653440952301, 0.5942484140396118, 0.7043144702911377], "dq": [-0.00013795538689009845, -0.00021167914383113384, 0.0015509738586843014, -0.0005475477082654834, -0.0004187509184703231, -0.0015061874873936176, -0.0006302299443632364], "dtheta": [0.00021271585137583315, 0.00026514363707974553, -5.0135724450228736e-05, 0.00020016159396618605, -0.0004058560589328408, 0.000248635740717873, -0.0005997297121211886], "tau": [55.61000061035156, 23.6299991607666, 5.520000457763672, -26.292001724243164, -2.556000232696533, 2.6560001373291016, -0.5600000023841858], "tau_des": [0.5249611735343933, -0.5971077680587769, -0.19593805074691772, -0.5241147875785828, 0.9483111500740051, -1.172316551208496, -0.5325618386268616], "tau_dot": [-48.045982360839844, -45.038143157958984, 27.902999877929688, 6.180585861206055, 15.693385124206543, -10.091900825500488, -37.55620574951172], "tau_ext": [-16.805776596069336, -41.63932418823242, 31.803373336791992, 31.350778579711914, 9.49836540222168, -2.9918675422668457, -0.12497533857822418], "tcp_pose": [0.6779735088348389, 0.03279305621981621, -0.2149873822927475, -0.002318133134394884, -0.004561174660921097, 0.9998858571052551, 0.014216728508472443], "tcp_vel": [0.00015650931163690984, -0.00013327415217645466, 0.0001923716044984758, -3.6482393625192344e-05, -0.0004981182864867151, 0.0006375477532856166], "flange_pose": [0.6786882877349854, 0.028531696647405624, -0.06504963338375092, -0.002318133134394884, -0.004561174660921097, 0.9998858571052551, 0.014216728508472443], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6086654663086, 15.299412727355957, 28.212642669677734, 0.35695159435272217, -23.962276458740234, 1.792679786682129], "ext_wrench_in_world": [-107.87601901331881, 15.105461893270727, -27.280756266603657, -0.14848790361219466, -23.903944170727137, -2.4720867235247255]}
+{"timestamp_ns": 1789729882088918920, "elapsed_ms": 1466, "source_timestamp_ns": 1789729882081755101, "q": [0.8359658122062683, -1.8964040279388428, -1.0055255889892578, 1.381181001663208, -0.16247372329235077, 0.5942850708961487, 0.7043269872665405], "theta": [0.837988555431366, -1.894467830657959, -1.003671646118164, 1.362769603729248, -0.16306030750274658, 0.5942436456680298, 0.7043065428733826], "dq": [0.002511081052944064, -0.0007819393649697304, 0.0013206262374296784, 0.0015040768776088953, 0.0016196118667721748, -0.0018772156909108162, 0.0003336419176775962], "dtheta": [0.0005088847246952355, 0.0004048324190080166, -7.452133286278695e-05, 6.580651825061068e-05, 0.0004903919762000442, -0.0008132955408655107, 0.0009557796292938292], "tau": [55.68000030517578, 23.619998931884766, 5.52400016784668, -26.352001190185547, -2.564000129699707, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.4903016984462738, -0.6511822938919067, -0.16807283461093903, -0.5172103047370911, 0.923645555973053, -1.152042031288147, -0.5649368166923523], "tau_dot": [141.9448699951172, 22.76673698425293, 38.12403869628906, -22.708894729614258, -5.460947036743164, -50.12716293334961, 66.4817123413086], "tau_ext": [-16.82008934020996, -41.62335968017578, 31.796377182006836, 31.35740852355957, 9.496089935302734, -2.9921340942382812, -0.11490307748317719], "tcp_pose": [0.6779733300209045, 0.03279152512550354, -0.21498632431030273, -0.0023188930936157703, -0.004563146736472845, 0.9998858571052551, 0.014215524308383465], "tcp_vel": [-1.7352759869027068e-06, -0.0002668958331923932, 0.0002986305917147547, -1.7377240510541014e-05, 0.00043316869414411485, -0.0015209336997941136], "flange_pose": [0.6786884069442749, 0.028530526906251907, -0.06504856795072556, -0.0023188930936157703, -0.004563146736472845, 0.9998858571052551, 0.014215524308383465], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61227416992188, 15.288459777832031, 28.22109603881836, 0.3548245131969452, -23.96686553955078, 1.79452383518219], "ext_wrench_in_world": [-107.87966821015947, 15.094226790957347, -27.289381093789828, -0.14623682164153629, -23.90846580909383, -2.474012422866271]}
+{"timestamp_ns": 1789729882122260125, "elapsed_ms": 1500, "source_timestamp_ns": 1789729882121741282, "q": [0.8359712362289429, -1.8964091539382935, -1.0055298805236816, 1.3811802864074707, -0.1624668836593628, 0.5942807793617249, 0.7043245434761047], "theta": [0.8379951119422913, -1.8944737911224365, -1.0036755800247192, 1.3627698421478271, -0.16305336356163025, 0.5942384004592896, 0.7043024897575378], "dq": [0.0012757610529661179, -0.000411608605645597, 0.0022637066431343555, 0.0021312697790563107, 0.00047056828043423593, -0.0012230274733155966, 0.0003783950232900679], "dtheta": [1.5498428183491342e-05, -0.0003708180447574705, 3.562872007023543e-05, -7.626238129887497e-06, 0.0005110263591632247, -0.0007467865943908691, -0.0002611519303172827], "tau": [55.63999938964844, 23.6299991607666, 5.488000392913818, -26.284000396728516, -2.5360000133514404, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.6301326155662537, -0.47728386521339417, -0.25606870651245117, -0.6080067753791809, 0.9202674627304077, -1.1303906440734863, -0.5350985527038574], "tau_dot": [59.25595474243164, -17.858083724975586, 33.49504470825195, -39.74267578125, -25.603349685668945, 24.090356826782227, -23.69045639038086], "tau_ext": [-16.833511352539062, -41.667442321777344, 31.829225540161133, 31.346052169799805, 9.477581977844238, -2.989824056625366, -0.10523982346057892], "tcp_pose": [0.6779731512069702, 0.03279058262705803, -0.21498516201972961, -0.0023187140468508005, -0.004562648944556713, 0.9998859167098999, 0.014213158749043941], "tcp_vel": [-0.0003134254366159439, 4.837556480197236e-05, -0.00022108398843556643, -0.00041828383109532297, 0.0008304944494739175, 0.0002680998877622187], "flange_pose": [0.678688108921051, 0.028530294075608253, -0.06504737585783005, -0.0023187140468508005, -0.004562648944556713, 0.9998859167098999, 0.014213158749043941], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.58805847167969, 15.312772750854492, 28.249130249023438, 0.3617907762527466, -23.964263916015625, 1.8000353574752808], "ext_wrench_in_world": [-107.85578271680626, 15.119525355965544, -27.316932155836245, -0.1532753250538875, -23.905784392656713, -2.479303155511946]}
+{"timestamp_ns": 1789729882155594362, "elapsed_ms": 1533, "source_timestamp_ns": 1789729882151759035, "q": [0.835974931716919, -1.8964176177978516, -1.0055326223373413, 1.3811804056167603, -0.162465900182724, 0.594283938407898, 0.7043254375457764], "theta": [0.8379982709884644, -1.8944826126098633, -1.0036784410476685, 1.3627700805664062, -0.16305167973041534, 0.5942414999008179, 0.7043034434318542], "dq": [-0.0010453033028170466, 0.000993134337477386, 0.0018424812005832791, 0.002676706062629819, 0.0010555488988757133, 0.0020956448279321194, 0.0017068645684048533], "dtheta": [0.00016230056644417346, -0.0002117043623002246, -0.00013886850501876324, -0.0002633191761560738, 0.00018385281146038324, 0.0007361069438047707, 0.0001970034936675802], "tau": [55.66999816894531, 23.529998779296875, 5.492000102996826, -26.312002182006836, -2.5360000133514404, 2.6760001182556152, -0.5480000376701355], "tau_des": [0.4940973222255707, -0.5645909905433655, -0.23106202483177185, -0.47762230038642883, 0.9496467113494873, -1.2007097005844116, -0.5431828498840332], "tau_dot": [123.29483795166016, -138.99339294433594, 35.04869079589844, 0.5887274146080017, 34.97926712036133, 28.288127899169922, -10.400113105773926], "tau_ext": [-16.817676544189453, -41.637901306152344, 31.819543838500977, 31.320104598999023, 9.470541000366211, -2.9917285442352295, -0.10916271805763245], "tcp_pose": [0.6779729723930359, 0.0327921025454998, -0.21498507261276245, -0.0023155948147177696, -0.0045638307929039, 0.9998859167098999, 0.014210432767868042], "tcp_vel": [0.00024004852457437664, 0.00016522782971151173, 0.00022581181838177145, 0.000500286987517029, -0.0008660758030600846, -0.0003143545472994447], "flange_pose": [0.6786870360374451, 0.02853262796998024, -0.06504727154970169, -0.0023155948147177696, -0.0045638307929039, 0.9998859167098999, 0.014210432767868042], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.52461242675781, 15.37450885772705, 28.254186630249023, 0.3750564754009247, -23.948593139648438, 1.8007057905197144], "ext_wrench_in_world": [-107.79278603263995, 15.181566066581622, -27.321277301130458, -0.16661521880063832, -23.89023728571855, -2.4793394025616933]}
+{"timestamp_ns": 1789729882188905939, "elapsed_ms": 1566, "source_timestamp_ns": 1789729882181756469, "q": [0.8359758853912354, -1.8964204788208008, -1.0055395364761353, 1.3811814785003662, -0.1624622941017151, 0.59428471326828, 0.7043253779411316], "theta": [0.8379993438720703, -1.894485592842102, -1.0036852359771729, 1.3627710342407227, -0.16304785013198853, 0.5942419767379761, 0.7043036818504333], "dq": [0.0005654653068631887, -0.0008132234797812998, 0.00022156229533720762, 0.0018482519080862403, 0.0005632617394439876, 0.0005543158622458577, 0.00045112016960047185], "dtheta": [-0.0001876541064120829, -0.000181648982106708, -0.00026581381098367274, 1.0478975127625745e-05, -4.823843846679665e-05, -0.00012386140588205308, 0.0002211418468505144], "tau": [55.709999084472656, 23.549999237060547, 5.516000270843506, -26.336000442504883, -2.5440001487731934, 2.688000202178955, -0.5560000538825989], "tau_des": [0.622477114200592, -0.5328603386878967, -0.18174238502979279, -0.5829890966415405, 0.9382411241531372, -1.1503506898880005, -0.55031418800354], "tau_dot": [147.29666137695312, 30.10870933532715, -34.45126724243164, -22.79611587524414, 41.2155647277832, 6.736331462860107, -16.08819007873535], "tau_ext": [-16.845619201660156, -41.593162536621094, 31.797046661376953, 31.36214828491211, 9.479029655456543, -3.0054688453674316, -0.11574310064315796], "tcp_pose": [0.6779739856719971, 0.03278931975364685, -0.21498633921146393, -0.0023151254281401634, -0.00456145778298378, 0.9998859763145447, 0.014208226464688778], "tcp_vel": [-2.0794494048459455e-05, -0.00011796565377153456, -0.0002106736646965146, -0.0004224917502142489, 0.00018570256361272186, -0.000254462385782972], "flange_pose": [0.6786878705024719, 0.028530508279800415, -0.06504851579666138, -0.0023151254281401634, -0.00456145778298378, 0.9998859763145447, 0.014208226464688778], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.51798248291016, 15.33878231048584, 28.22589874267578, 0.3660140335559845, -23.937137603759766, 1.79429030418396], "ext_wrench_in_world": [-107.78560180011213, 15.145504341157228, -27.294210056993784, -0.15775770661393235, -23.878896089999778, -2.472536078356693]}
+{"timestamp_ns": 1789729882222256124, "elapsed_ms": 1600, "source_timestamp_ns": 1789729882221803265, "q": [0.8359742164611816, -1.8964197635650635, -1.0055478811264038, 1.3811808824539185, -0.16246095299720764, 0.5942838191986084, 0.7043254375457764], "theta": [0.8379985690116882, -1.8944865465164185, -1.003693699836731, 1.3627711534500122, -0.16304567456245422, 0.5942407846450806, 0.7043041586875916], "dq": [0.0005544211016967893, 0.0020679510198533535, 0.00024222114006988704, -0.001994191436097026, -0.0005254142452031374, -0.0015241105575114489, 0.0006163368816487491], "dtheta": [-0.0004710890061687678, 6.17102487012744e-05, -3.410397039260715e-05, 5.9691956266760826e-05, -0.0007770127849653363, -9.501165186520666e-05, -0.00015211018035188317], "tau": [55.53999710083008, 23.53999900817871, 5.508000373840332, -26.268001556396484, -2.568000078201294, 2.684000015258789, -0.5440000295639038], "tau_des": [0.6542588472366333, -0.5530555248260498, -0.15463103353977203, -0.597665548324585, 0.9453772306442261, -1.145529866218567, -0.5484362840652466], "tau_dot": [-108.9066390991211, -121.93224334716797, 13.033163070678711, 71.52919006347656, -18.608884811401367, 61.00960922241211, -22.48069953918457], "tau_ext": [-16.83246612548828, -41.62346649169922, 31.805391311645508, 31.360092163085938, 9.472262382507324, -3.0050032138824463, -0.12196362763643265], "tcp_pose": [0.6779764294624329, 0.03278461471199989, -0.21498769521713257, -0.0023150909692049026, -0.00455787917599082, 0.9998860359191895, 0.01420615054666996], "tcp_vel": [-8.799728675512597e-06, -0.00011792306759161875, -0.00027665161178447306, -0.0005539508420042694, 0.00014512307825498283, 0.0005296301678754389], "flange_pose": [0.6786903142929077, 0.028526419773697853, -0.06504984200000763, -0.0023150909692049026, -0.00455787917599082, 0.9998860359191895, 0.01420615054666996], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.5346908569336, 15.27537727355957, 28.220441818237305, 0.3539499342441559, -23.934123992919922, 1.7867072820663452], "ext_wrench_in_world": [-107.80160168518321, 15.08247591481528, -27.290544504470617, -0.1458561463841478, -23.87599751310597, -2.4648252503828556]}
+{"timestamp_ns": 1789729882255587820, "elapsed_ms": 1633, "source_timestamp_ns": 1789729882251797630, "q": [0.8359750509262085, -1.896423578262329, -1.005547285079956, 1.3811802864074707, -0.16246241331100464, 0.5942832827568054, 0.7043245434761047], "theta": [0.8379993438720703, -1.8944908380508423, -1.0036933422088623, 1.3627705574035645, -0.16304711997509003, 0.5942403078079224, 0.7043034434318542], "dq": [0.002295449608936906, -0.00029276401619426906, -0.00048033540952019393, 0.0009979883907362819, 0.0006086367066018283, -0.0014062435366213322, 0.0013022933853790164], "dtheta": [5.228076406638138e-05, -0.00032234564423561096, 7.211927004391328e-05, 0.0001327477366430685, 0.00047018437180668116, -2.1781323084724136e-05, -0.00019480161427054554], "tau": [55.59000015258789, 23.639999389648438, 5.508000373840332, -26.296001434326172, -2.5360000133514404, 2.6480002403259277, -0.5320000052452087], "tau_des": [0.6105674505233765, -0.49435967206954956, -0.22813212871551514, -0.5831575989723206, 0.9304916858673096, -1.1542603969573975, -0.5447595715522766], "tau_dot": [-7.430515289306641, -26.700069427490234, 22.59359359741211, 14.636425018310547, 71.63349151611328, -14.83173942565918, 26.302230834960938], "tau_ext": [-16.806259155273438, -41.67770004272461, 31.810169219970703, 31.346214294433594, 9.475533485412598, -2.996061325073242, -0.12324123084545135], "tcp_pose": [0.6779757738113403, 0.03278598561882973, -0.2149878740310669, -0.002314371056854725, -0.004560174886137247, 0.9998860359191895, 0.014204481616616249], "tcp_vel": [-0.00021893337543588132, 0.0001389304961776361, -0.00015644394443370402, 9.18055320653366e-06, 0.00034920507459901273, 0.00022231534239836037], "flange_pose": [0.6786894202232361, 0.02852829173207283, -0.06505001336336136, -0.002314371056854725, -0.004560174886137247, 0.9998860359191895, 0.014204481616616249], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.54446411132812, 15.30875015258789, 28.217594146728516, 0.3687944710254669, -23.945871353149414, 1.7885339260101318], "ext_wrench_in_world": [-107.81169058753602, 15.115079193818048, -27.28691930721721, -0.16048918692633224, -23.887832994944343, -2.4668392437404996]}
+{"timestamp_ns": 1789729882288898828, "elapsed_ms": 1666, "source_timestamp_ns": 1789729882281743369, "q": [0.8359758257865906, -1.8964245319366455, -1.005548119544983, 1.381179690361023, -0.16246148943901062, 0.5942806005477905, 0.7043229937553406], "theta": [0.8379998803138733, -1.8944923877716064, -1.0036938190460205, 1.3627705574035645, -0.16304592788219452, 0.5942376852035522, 0.7043024897575378], "dq": [-0.003094370011240244, -0.0013061516219750047, 0.0009117823210544884, 0.0014315039152279496, -4.694029485108331e-05, -0.0013800982851535082, -7.232164352899417e-05], "dtheta": [0.000176965695573017, 0.0004956686170771718, -0.00038728618528693914, -0.0003232646267861128, -0.00048790278378874063, 5.561874422710389e-05, 0.0005365643301047385], "tau": [55.63999938964844, 23.59000015258789, 5.5360002517700195, -26.332000732421875, -2.5360000133514404, 2.6600000858306885, -0.5320000052452087], "tau_des": [0.44842585921287537, -0.7105791568756104, -0.09114570915699005, -0.4481731057167053, 0.9619462490081787, -1.1925643682479858, -0.5659077763557434], "tau_dot": [-98.84324645996094, 55.174415588378906, 20.924619674682617, -51.58772659301758, 37.082298278808594, 19.117942810058594, 23.667327880859375], "tau_ext": [-16.772136688232422, -41.61492919921875, 31.78656578063965, 31.323331832885742, 9.48137092590332, -2.994492530822754, -0.12174020707607269], "tcp_pose": [0.6779754757881165, 0.0327855721116066, -0.2149878442287445, -0.0023149019107222557, -0.0045607369393110275, 0.9998860359191895, 0.014203401282429695], "tcp_vel": [0.0005030115135014057, -0.0003232523740734905, 0.00043607718544080853, 3.711606404976919e-05, -0.0008569980855099857, -0.0009227989939972758], "flange_pose": [0.6786893010139465, 0.028528206050395966, -0.06504997611045837, -0.0023149019107222557, -0.0045607369393110275, 0.9998860359191895, 0.014203401282429695], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.56659698486328, 15.316774368286133, 28.199262619018555, 0.3766089081764221, -23.958768844604492, 1.793195366859436], "ext_wrench_in_world": [-107.83385327840772, 15.12219387225818, -27.268188715608524, -0.16818384158288555, -23.900669746359682, -2.471778370629615]}
+{"timestamp_ns": 1789729882322244433, "elapsed_ms": 1700, "source_timestamp_ns": 1789729882321722500, "q": [0.8359770178794861, -1.8964245319366455, -1.0055509805679321, 1.3811808824539185, -0.16245689988136292, 0.5942736268043518, 0.7043144702911377], "theta": [0.8380019664764404, -1.8944929838180542, -1.0036967992782593, 1.3627718687057495, -0.1630418449640274, 0.5942305326461792, 0.7042938470840454], "dq": [-0.0029628360643982887, 5.280620825942606e-05, 0.000811067468021065, -0.002471837680786848, -0.00044847815297544, -0.0007146027637645602, -0.0003098621964454651], "dtheta": [0.00021241190552245826, 0.00013347236381378025, 0.0002535945677664131, 0.00014169128553476185, -0.0001758250582497567, -0.0009487855713814497, 0.0012921831803396344], "tau": [55.63999938964844, 23.639999389648438, 5.492000102996826, -26.352001190185547, -2.5360000133514404, 2.6720001697540283, -0.5560000538825989], "tau_des": [0.5845621228218079, -0.576184868812561, -0.19608673453330994, -0.58512943983078, 0.9296666979789734, -1.1286505460739136, -0.5648515820503235], "tau_dot": [62.54341125488281, 54.002323150634766, -17.46319007873535, -92.40657043457031, 2.7882978916168213, 28.948810577392578, 12.800065040588379], "tau_ext": [-16.811664581298828, -41.6290397644043, 31.785625457763672, 31.358659744262695, 9.480780601501465, -2.9967103004455566, -0.11772461235523224], "tcp_pose": [0.6779744029045105, 0.03278295695781708, -0.2149888575077057, -0.002318119863048196, -0.004562794230878353, 0.9998860359191895, 0.014201346784830093], "tcp_vel": [-0.00021181796910241246, -8.867464202921838e-05, 4.079768405063078e-05, -0.0005565830506384373, 0.0006374935619533062, -0.001059900620020926], "flange_pose": [0.678689181804657, 0.02852621302008629, -0.06505097448825836, -0.002318119863048196, -0.004562794230878353, 0.9998860359191895, 0.014201346784830093], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.5740966796875, 15.270133972167969, 28.2213191986084, 0.36274218559265137, -23.9616756439209, 1.7919974327087402], "ext_wrench_in_world": [-107.84127229332796, 15.075564138307863, -27.29090473686266, -0.15420077801565882, -23.90349271981416, -2.470626291118477]}
+{"timestamp_ns": 1789729882355590558, "elapsed_ms": 1733, "source_timestamp_ns": 1789729882351763651, "q": [0.8359827399253845, -1.8964275121688843, -1.0055519342422485, 1.381181240081787, -0.16245277225971222, 0.594273030757904, 0.7043083906173706], "theta": [0.8380075097084045, -1.8944965600967407, -1.0036976337432861, 1.3627725839614868, -0.1630380004644394, 0.5942302942276001, 0.7042866945266724], "dq": [-0.00048246304504573345, 5.9517980844248086e-05, -0.0001930636790348217, -0.001709764706902206, 0.0015144909266382456, 0.001392209087498486, -0.0018312472384423018], "dtheta": [0.00043481268221512437, -0.0002875576610676944, -2.5123865270870738e-05, 4.01852885261178e-05, 0.0004630960465874523, -1.7645677871769294e-05, -0.0014030705206096172], "tau": [55.56999969482422, 23.600000381469727, 5.516000270843506, -26.34800148010254, -2.5160000324249268, 2.6560001373291016, -0.5640000104904175], "tau_des": [0.5154756307601929, -0.5137810111045837, -0.24527132511138916, -0.5321054458618164, 0.9518044590950012, -1.1670188903808594, -0.5093814134597778], "tau_dot": [-120.54216766357422, -60.35118865966797, -5.82378625869751, -43.33662796020508, 78.18770599365234, -0.7180142998695374, 3.4728524684906006], "tau_ext": [-16.803768157958984, -41.63297653198242, 31.799036026000977, 31.343711853027344, 9.475011825561523, -2.9931640625, -0.10699578374624252], "tcp_pose": [0.6779743432998657, 0.03278341889381409, -0.21498648822307587, -0.0023165594320744276, -0.004565404262393713, 0.9998860359191895, 0.014200891368091106], "tcp_vel": [-5.6972250604303554e-05, 9.291400056099519e-05, 0.0001501736551290378, 3.0110049920040183e-05, -0.00017978092364501208, 0.0013275552773848176], "flange_pose": [0.678688645362854, 0.028526809066534042, -0.06504860520362854, -0.0023165594320744276, -0.004565404262393713, 0.9998860359191895, 0.014200891368091106], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.5870361328125, 15.286223411560059, 28.22208023071289, 0.366176575422287, -23.966001510620117, 1.7968686819076538], "ext_wrench_in_world": [-107.8543512767061, 15.090966570043017, -27.291508225870395, -0.15748731883447234, -23.90771299219817, -2.475582351395183]}
+{"timestamp_ns": 1789729882388901966, "elapsed_ms": 1766, "source_timestamp_ns": 1789729882381740057, "q": [0.8359863758087158, -1.8964301347732544, -1.0055533647537231, 1.381182074546814, -0.1624477207660675, 0.59427410364151, 0.7043102979660034], "theta": [0.8380110263824463, -1.8945001363754272, -1.0036991834640503, 1.3627736568450928, -0.16303274035453796, 0.5942312479019165, 0.7042878270149231], "dq": [-0.002381199738010764, -0.0016318067209795117, 0.0008957929676398635, -0.001958568813279271, -0.0014820755459368229, -0.0010832864791154861, -0.002195528242737055], "dtheta": [0.00016559868527110666, -0.0003613057197071612, -7.774844561936334e-05, 8.166365296347067e-05, 0.00014758208999410272, 0.0006676065968349576, -2.876272628782317e-05], "tau": [55.65999984741211, 23.559999465942383, 5.496000289916992, -26.308000564575195, -2.51200008392334, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.546698272228241, -0.5312484502792358, -0.2359253615140915, -0.5272427201271057, 0.9419029355049133, -1.1843504905700684, -0.5397642254829407], "tau_dot": [-17.134977340698242, -116.78018188476562, 29.782119750976562, -14.234956741333008, 52.42863082885742, 14.295845985412598, 6.902798175811768], "tau_ext": [-16.844690322875977, -41.631011962890625, 31.799652099609375, 31.341062545776367, 9.46631145477295, -2.9923977851867676, -0.1075873002409935], "tcp_pose": [0.6779740452766418, 0.032783783972263336, -0.21498551964759827, -0.0023158486001193523, -0.004563494585454464, 0.9998860359191895, 0.014201164245605469], "tcp_vel": [3.7496647564694285e-05, 0.00016370380762964487, 2.831916390277911e-05, 0.0001640414702706039, -0.0005474226782098413, 0.00013132728054188192], "flange_pose": [0.6786881685256958, 0.028527092188596725, -0.06504762917757034, -0.0023158486001193523, -0.004563494585454464, 0.9998860359191895, 0.014201164245605469], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.56806945800781, 15.298184394836426, 28.23017120361328, 0.3668283224105835, -23.962146759033203, 1.7983747720718384], "ext_wrench_in_world": [-107.83543728075078, 15.103755201580178, -27.29948029114348, -0.1582695624673695, -23.90382125682741, -2.476988536032188]}
+{"timestamp_ns": 1789729882422246211, "elapsed_ms": 1800, "source_timestamp_ns": 1789729882421719268, "q": [0.8359880447387695, -1.8964335918426514, -1.0055561065673828, 1.3811849355697632, -0.1624496430158615, 0.5942754745483398, 0.704311192035675], "theta": [0.838013231754303, -1.8945038318634033, -1.0037025213241577, 1.3627769947052002, -0.16303442418575287, 0.5942319631576538, 0.7042886018753052], "dq": [-0.0005202622269280255, -0.0006355798104777932, 0.0013719594571739435, 0.0005814552423544228, 0.0006349846953526139, 0.0007415642030537128, 0.0018602460622787476], "dtheta": [0.00010337246203562245, 3.4930049878312275e-05, -0.00017078727250918746, 5.469480674946681e-05, -0.0011661448515951633, -0.00012223699013702571, -4.171623004367575e-05], "tau": [55.66999816894531, 23.619998931884766, 5.500000476837158, -26.288002014160156, -2.556000232696533, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.5272091627120972, -0.5917544364929199, -0.17465448379516602, -0.5248576998710632, 0.973635733127594, -1.1700786352157593, -0.5351847410202026], "tau_dot": [-3.8550350666046143, 39.24032211303711, 33.126434326171875, -0.22992916405200958, -20.798603057861328, 51.594078063964844, 2.395585060119629], "tau_ext": [-16.842748641967773, -41.62097930908203, 31.813074111938477, 31.34649658203125, 9.473681449890137, -3.0027008056640625, -0.11026769876480103], "tcp_pose": [0.6779738068580627, 0.03278284892439842, -0.21498653292655945, -0.002314714714884758, -0.004564005881547928, 0.9998860955238342, 0.014198034070432186], "tcp_vel": [0.00020298112940508872, -0.0002160437434213236, 0.00012836835230700672, -0.0009180560009554029, -0.0006683251704089344, 0.0005570147768594325], "flange_pose": [0.678687572479248, 0.028527092188596725, -0.06504861265420914, -0.002314714714884758, -0.004564005881547928, 0.9998860955238342, 0.014198034070432186], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.50005340576172, 15.338605880737305, 28.24798583984375, 0.36972346901893616, -23.937606811523438, 1.7945054769515991], "ext_wrench_in_world": [-107.76782791205324, 15.145010513750188, -27.316788615624393, -0.16133877916402303, -23.8794442543092, -2.4722615389807117]}
+{"timestamp_ns": 1789729882455588076, "elapsed_ms": 1833, "source_timestamp_ns": 1789729882451754460, "q": [0.8359875082969666, -1.8964343070983887, -1.0055583715438843, 1.381185531616211, -0.16245004534721375, 0.594274640083313, 0.704311728477478], "theta": [0.8380127549171448, -1.8945046663284302, -1.0037051439285278, 1.3627779483795166, -0.16303417086601257, 0.5942312479019165, 0.7042897939682007], "dq": [0.0012757576769217849, 0.0005338541814126074, 0.0006545376963913441, 0.0032796186860650778, 0.0034659835509955883, 0.0012502155732363462, -0.0020029733423143625], "dtheta": [-0.0004584045091178268, 0.0001701308647170663, 4.1205679735867307e-05, 0.0001377293810946867, -0.0005690540419891477, -0.0003505212371237576, 0.00044998867087997496], "tau": [55.64999771118164, 23.60999870300293, 5.52400016784668, -26.304000854492188, -2.568000078201294, 2.6680002212524414, -0.527999997138977], "tau_des": [0.6701858639717102, -0.5456517338752747, -0.18576371669769287, -0.6134239435195923, 0.9315008521080017, -1.138952374458313, -0.547658383846283], "tau_dot": [72.43391418457031, 106.60498809814453, 10.430448532104492, -5.231511116027832, -15.594808578491211, -4.4896063804626465, 51.73792266845703], "tau_ext": [-16.841388702392578, -41.6109504699707, 31.811071395874023, 31.346721649169922, 9.478300094604492, -2.9980950355529785, -0.11950906366109848], "tcp_pose": [0.6779738664627075, 0.03278153017163277, -0.2149876058101654, -0.0023151191417127848, -0.004563353955745697, 0.999886155128479, 0.014196464791893959], "tcp_vel": [-0.00010873907012864947, -0.00014899738016538322, -0.00031272167689166963, -0.0005112236831337214, 0.0005440937820822, -0.0001887635444290936], "flange_pose": [0.6786878108978271, 0.028526246547698975, -0.0650496706366539, -0.0023151191417127848, -0.004563353955745697, 0.999886155128479, 0.014196464791893959], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.49333190917969, 15.326462745666504, 28.23108673095703, 0.3634451627731323, -23.928421020507812, 1.7905882596969604], "ext_wrench_in_world": [-107.7609190545787, 15.132507735900395, -27.300231819119034, -0.15515808734495926, -23.870323539555454, -2.46803794980226]}
+{"timestamp_ns": 1789729882488905654, "elapsed_ms": 1866, "source_timestamp_ns": 1789729882481741345, "q": [0.8359885811805725, -1.8964369297027588, -1.005560278892517, 1.3811854124069214, -0.1624499261379242, 0.5942715406417847, 0.7043115496635437], "theta": [0.8380134105682373, -1.8945072889328003, -1.003706932067871, 1.362777829170227, -0.16303394734859467, 0.5942286252975464, 0.7042897939682007], "dq": [0.0025459937751293182, 0.0034394257236272097, -0.0019108972046524286, 4.7463174269068986e-05, 0.0018933138344436884, -0.0012965959031134844, 0.0004336113343015313], "dtheta": [0.000370552676031366, -1.4540829397446942e-05, 0.00023086275905370712, 0.0001535734481876716, -0.00034009237424470484, 0.0006531852995976806, 0.00019592480384744704], "tau": [55.65999984741211, 23.619998931884766, 5.468000411987305, -26.304000854492188, -2.580000162124634, 2.6520001888275146, -0.5720000267028809], "tau_des": [0.49484574794769287, -0.5717514753341675, -0.23636557161808014, -0.5016086101531982, 0.9545457363128662, -1.1888235807418823, -0.5412782430648804], "tau_dot": [-1.7274255752563477, 22.788793563842773, -88.20645904541016, 6.268216609954834, -47.13413619995117, -11.364070892333984, -55.8895378112793], "tau_ext": [-16.829267501831055, -41.641353607177734, 31.80738639831543, 31.34865379333496, 9.483529090881348, -2.997757911682129, -0.12282431125640869], "tcp_pose": [0.6779735088348389, 0.03278077393770218, -0.21498806774616241, -0.0023154309019446373, -0.004563629161566496, 0.999886155128479, 0.014193929731845856], "tcp_vel": [0.00010669222683645785, 0.0001814300921978429, 0.0002935311058536172, 0.00026383702061139047, -0.0008508297032676637, 0.00017331512935925275], "flange_pose": [0.6786875128746033, 0.028526250272989273, -0.06505011767148972, -0.0023154309019446373, -0.004563629161566496, 0.999886155128479, 0.014193929731845856], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.50677490234375, 15.314340591430664, 28.220609664916992, 0.36048173904418945, -23.931745529174805, 1.7882994413375854], "ext_wrench_in_world": [-107.77422645639791, 15.119770270012323, -27.29005581196702, -0.15214163641619866, -23.873696853406106, -2.465736710069967]}
+{"timestamp_ns": 1789729882522259658, "elapsed_ms": 1900, "source_timestamp_ns": 1789729882521782541, "q": [0.8359915614128113, -1.8964422941207886, -1.0055627822875977, 1.381184697151184, -0.162448450922966, 0.5942643880844116, 0.704310417175293], "theta": [0.8380165696144104, -1.894512414932251, -1.0037094354629517, 1.3627771139144897, -0.16303226351737976, 0.5942214727401733, 0.7042897939682007], "dq": [0.0009976666187867522, -0.0014723466010764241, -0.0012088373769074678, 0.00214583333581686, -0.0025184957776218653, 0.0001440821069991216, -4.888413968728855e-05], "dtheta": [0.00027859845431521535, 0.0003310460306238383, -2.4954386390163563e-05, 3.8409580156439915e-05, 0.00030414731008931994, -0.00016483172657899559, 0.00014351500431075692], "tau": [55.62999725341797, 23.549999237060547, 5.488000392913818, -26.296001434326172, -2.5480000972747803, 2.636000156402588, -0.527999997138977], "tau_des": [0.5195454359054565, -0.6046714782714844, -0.17948396503925323, -0.5304168462753296, 0.9369905591011047, -1.15774667263031, -0.5475710034370422], "tau_dot": [-102.1173095703125, -83.07543182373047, -29.10397720336914, -42.40964889526367, -7.5069451332092285, -22.098739624023438, 28.203969955444336], "tau_ext": [-16.805932998657227, -41.6227912902832, 31.813499450683594, 31.333948135375977, 9.487700462341309, -2.9911794662475586, -0.11932981014251709], "tcp_pose": [0.6779723167419434, 0.03278006613254547, -0.2149883657693863, -0.0023164001759141684, -0.0045646848157048225, 0.9998862147331238, 0.014189504086971283], "tcp_vel": [6.949894304852933e-05, -0.00012331279867794365, 0.00022476527374237776, 0.0002878809755202383, 4.087027264176868e-05, -0.0005415419000200927], "flange_pose": [0.6786866188049316, 0.028526870533823967, -0.06505037099123001, -0.0023164001759141684, -0.0045646848157048225, 0.9998862147331238, 0.014189504086971283], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.53093719482422, 15.330464363098145, 28.230371475219727, 0.3647404611110687, -23.94452667236328, 1.7915416955947876], "ext_wrench_in_world": [-107.79866369511339, 15.135467206724961, -27.299179533391747, -0.15625281683293443, -23.88644170307386, -2.4691096851756895]}
+{"timestamp_ns": 1789729882555592364, "elapsed_ms": 1933, "source_timestamp_ns": 1789729882551739949, "q": [0.835995614528656, -1.8964430093765259, -1.005563735961914, 1.3811849355697632, -0.16244275867938995, 0.594261884689331, 0.7043094635009766], "theta": [0.8380203247070312, -1.894513726234436, -1.0037106275558472, 1.3627772331237793, -0.16302627325057983, 0.5942193269729614, 0.7042890787124634], "dq": [8.145741594489664e-05, -0.00031357823172584176, 0.0013026954839006066, -0.0011126791359856725, 0.0007275107782334089, -0.001269390806555748, 0.0006553834537044168], "dtheta": [-0.00014329057012218982, 0.00035686822957359254, 0.0003480514569673687, -0.00016766756016295403, 0.0009306430001743138, -0.00014392434968613088, -0.00044404572690837085], "tau": [55.64999771118164, 23.600000381469727, 5.516000270843506, -26.316001892089844, -2.5360000133514404, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.5823488235473633, -0.5516504049301147, -0.24535340070724487, -0.5532140731811523, 0.9052769541740417, -1.1565760374069214, -0.5386737585067749], "tau_dot": [-91.36558532714844, 41.974727630615234, 14.675260543823242, -12.136650085449219, 23.88973617553711, 35.66472244262695, -75.97280883789062], "tau_ext": [-16.849435806274414, -41.62948226928711, 31.809221267700195, 31.34486961364746, 9.483268737792969, -2.9959614276885986, -0.12423311173915863], "tcp_pose": [0.6779719591140747, 0.0327797457575798, -0.21498677134513855, -0.0023168232291936874, -0.004563560243695974, 0.9998862147331238, 0.014189798384904861], "tcp_vel": [-0.0001394417486153543, 0.0001613995700608939, 1.0002494491345715e-05, 0.0010687066242098808, 0.0007295589311979711, -9.055573173100129e-05], "flange_pose": [0.6786863803863525, 0.028526462614536285, -0.06504879146814346, -0.0023168232291936874, -0.004563560243695974, 0.9998862147331238, 0.014189798384904861], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.51909637451172, 15.327683448791504, 28.234148025512695, 0.3612992763519287, -23.941009521484375, 1.7899377346038818], "ext_wrench_in_world": [-107.78680644816042, 15.133160550436918, -27.302983120640324, -0.15289167788302743, -23.882938184386315, -2.4674357102613764]}
+{"timestamp_ns": 1789729882588909342, "elapsed_ms": 1966, "source_timestamp_ns": 1789729882581740204, "q": [0.8360002636909485, -1.8964438438415527, -1.0055654048919678, 1.3811858892440796, -0.16243872046470642, 0.5942583084106445, 0.7043096423149109], "theta": [0.8380250930786133, -1.894515037536621, -1.0037119388580322, 1.3627779483795166, -0.16302219033241272, 0.594215989112854, 0.7042893171310425], "dq": [-0.0024257907643914223, -0.00018318512593396008, 9.918564319377765e-05, -0.0029627380426973104, -0.0011751657584682107, -0.002649610862135887, 0.003734840778633952], "dtheta": [-7.421647023875266e-05, -6.538016168633476e-05, -0.0002967926557175815, 0.00017649450455792248, 0.0014071785844862461, -9.555694123264402e-05, 0.00024406879674643278], "tau": [55.63999938964844, 23.600000381469727, 5.484000205993652, -26.316001892089844, -2.5360000133514404, 2.6680002212524414, -0.5680000185966492], "tau_des": [0.6388046145439148, -0.5358371734619141, -0.18464870750904083, -0.6070365309715271, 0.8928788900375366, -1.1355305910110474, -0.5634246468544006], "tau_dot": [-138.58154296875, 49.26934051513672, -39.75395584106445, -22.336790084838867, 31.860219955444336, -18.758914947509766, -44.975345611572266], "tau_ext": [-16.836639404296875, -41.60261917114258, 31.79590606689453, 31.362031936645508, 9.476752281188965, -2.9975764751434326, -0.12396077811717987], "tcp_pose": [0.6779717206954956, 0.03277863562107086, -0.21498507261276245, -0.0023170337080955505, -0.004562180023640394, 0.9998862147331238, 0.01418880745768547], "tcp_vel": [-0.0002127159241354093, -9.443088492844254e-05, -0.0002913523348979652, 0.0004704812017735094, 0.0009812252828851342, -0.0011587700573727489], "flange_pose": [0.6786862015724182, 0.02852565050125122, -0.06504707038402557, -0.0023170337080955505, -0.004562180023640394, 0.9998862147331238, 0.01418880745768547], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.52314758300781, 15.298731803894043, 28.235607147216797, 0.35383787751197815, -23.939523696899414, 1.7850748300552368], "ext_wrench_in_world": [-107.79057286749034, 15.104467946860971, -27.305226988201834, -0.14548774617694685, -23.88152682523073, -2.4625186371609735]}
+{"timestamp_ns": 1789729882622255187, "elapsed_ms": 2000, "source_timestamp_ns": 1789729882621723454, "q": [0.8360064029693604, -1.8964495658874512, -1.0055677890777588, 1.3811880350112915, -0.16243448853492737, 0.5942569971084595, 0.7043089270591736], "theta": [0.8380311131477356, -1.8945202827453613, -1.0037143230438232, 1.3627798557281494, -0.1630171537399292, 0.5942147970199585, 0.7042888402938843], "dq": [-0.0010256512323394418, -0.0014971839264035225, -0.00012078144209226593, 0.00034823399619199336, -0.00190801452845335, 0.0018675324972718954, 0.0006438475684262812], "dtheta": [0.00022230185277294368, -0.00015778449596837163, -0.00023360301565844566, 0.00023103955027181655, 0.0004060307110194117, 0.0004395103023853153, -0.00021068326896056533], "tau": [55.65999984741211, 23.639999389648438, 5.488000392913818, -26.30000114440918, -2.5360000133514404, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.5462661981582642, -0.546958327293396, -0.20808099210262299, -0.5482078194618225, 0.9329707026481628, -1.1639397144317627, -0.5468329787254333], "tau_dot": [11.704583168029785, 49.37734603881836, -10.005027770996094, -4.7661051750183105, -8.355371475219727, 14.512150764465332, -9.447540283203125], "tau_ext": [-16.833797454833984, -41.637367248535156, 31.82319450378418, 31.348703384399414, 9.460729598999023, -2.9946606159210205, -0.1239926740527153], "tcp_pose": [0.6779706478118896, 0.032778650522232056, -0.21498417854309082, -0.002316140802577138, -0.004562618676573038, 0.9998862743377686, 0.014186191372573376], "tcp_vel": [1.98911930056056e-05, -2.861317989300005e-05, 4.595620794134447e-06, 0.00014186181942932308, -0.00022332087974064052, -4.674804222304374e-05], "flange_pose": [0.6786848306655884, 0.02852644771337509, -0.06504616886377335, -0.002316140802577138, -0.004562618676573038, 0.9998862743377686, 0.014186191372573376], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.54148864746094, 15.295928955078125, 28.238910675048828, 0.3567173480987549, -23.946271896362305, 1.782204508781433], "ext_wrench_in_world": [-107.80886659665708, 15.10135574885506, -27.308801455114878, -0.1482671637969123, -23.8883928448568, -2.459703650849178]}
+{"timestamp_ns": 1789729882655592782, "elapsed_ms": 2033, "source_timestamp_ns": 1789729882651733488, "q": [0.8360093832015991, -1.896453857421875, -1.0055713653564453, 1.381188154220581, -0.16243508458137512, 0.5942575931549072, 0.7043089270591736], "theta": [0.8380346298217773, -1.8945250511169434, -1.003718376159668, 1.3627803325653076, -0.1630183607339859, 0.5942157506942749, 0.7042893171310425], "dq": [-0.0006616637692786753, 0.00031397180282510817, -0.0017215899424627423, -0.0010063059162348509, -0.0011445794953033328, -0.00068472366547212, -0.001031895400956273], "dtheta": [0.00032779606408439577, -0.00016940271598286927, -3.329669198137708e-06, 4.776489004143514e-05, -0.00030050118220970035, -0.0001997743092942983, -0.00010648077295627445], "tau": [55.7599983215332, 23.600000381469727, 5.500000476837158, -26.216001510620117, -2.5480000972747803, 2.632000207901001, -0.5360000133514404], "tau_des": [0.49890682101249695, -0.5501666069030762, -0.22261179983615875, -0.5224390029907227, 0.9593327641487122, -1.1649781465530396, -0.5416838526725769], "tau_dot": [120.52965545654297, -20.292476654052734, 19.938201904296875, -22.311737060546875, -11.863997459411621, -37.997867584228516, -24.531044006347656], "tau_ext": [-16.83116340637207, -41.609092712402344, 31.80826759338379, 31.330554962158203, 9.468830108642578, -2.9945716857910156, -0.12613226473331451], "tcp_pose": [0.6779714822769165, 0.032777972519397736, -0.21498364210128784, -0.002313793869689107, -0.004562996327877045, 0.9998863339424133, 0.01418337132781744], "tcp_vel": [1.1253903721808456e-05, -1.3673817193193827e-05, 0.0001524255785625428, -0.00047196607920341194, -0.00030866265296936035, 0.00039684350485913455], "flange_pose": [0.6786849498748779, 0.028526613488793373, -0.06504560261964798, -0.002313793869689107, -0.004562996327877045, 0.9998863339424133, 0.01418337132781744], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.52405548095703, 15.311487197875977, 28.23077392578125, 0.3619289696216583, -23.943246841430664, 1.78109872341156], "ext_wrench_in_world": [-107.79141800205497, 15.116607678484348, -27.300899639613387, -0.15347227424622126, -23.885462293594518, -2.458355514074672]}
+{"timestamp_ns": 1789729882688898851, "elapsed_ms": 2066, "source_timestamp_ns": 1789729882681717474, "q": [0.8360082507133484, -1.8964567184448242, -1.0055779218673706, 1.3811877965927124, -0.16243520379066467, 0.5942577719688416, 0.7043086290359497], "theta": [0.8380341529846191, -1.8945280313491821, -1.003725290298462, 1.3627803325653076, -0.1630185842514038, 0.5942162275314331, 0.7042893171310425], "dq": [0.0012561805779114366, -0.0004859515465795994, -0.00019726228492800146, -0.0003087640507146716, 0.0011929929023608565, 0.0002040895342361182, 0.00019088794942945242], "dtheta": [0.0003467174537945539, -0.00023231921659316868, -0.0005153153906576335, -8.495798101648688e-05, -0.00015160240582190454, -0.00031134026357904077, 0.0005910915206186473], "tau": [55.71999740600586, 23.59000015258789, 5.520000457763672, -26.21200180053711, -2.5440001487731934, 2.6520001888275146, -0.5560000538825989], "tau_des": [0.4981524646282196, -0.5987908244132996, -0.12742213904857635, -0.5194064974784851, 0.9635358452796936, -1.1592886447906494, -0.5664786100387573], "tau_dot": [89.1515884399414, -83.95008087158203, -10.01737117767334, -30.177597045898438, 32.47127914428711, 12.655821800231934, -11.049434661865234], "tau_ext": [-16.83893394470215, -41.60963439941406, 31.80357551574707, 31.332040786743164, 9.477570533752441, -3.002446174621582, -0.1276174932718277], "tcp_pose": [0.6779729127883911, 0.03277529776096344, -0.21498534083366394, -0.002313028322532773, -0.004561807960271835, 0.9998863935470581, 0.014180386438965797], "tcp_vel": [0.0001802854094421491, -0.00025919947074726224, 0.0001524748804513365, -0.0007531454903073609, -0.0004090939764864743, -0.0007188107119873166], "flange_pose": [0.6786861419677734, 0.02852483093738556, -0.06504727900028229, -0.002313028322532773, -0.004561807960271835, 0.9998863935470581, 0.014180386438965797], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.44670867919922, 15.335227966308594, 28.23700714111328, 0.362479031085968, -23.91884422302246, 1.7794959545135498], "ext_wrench_in_world": [-107.71424222665178, 15.141319319333114, -27.307058901808272, -0.15428891647119733, -23.861135283748045, -2.4559160747571056]}
+{"timestamp_ns": 1789729882722260335, "elapsed_ms": 2100, "source_timestamp_ns": 1789729882721771748, "q": [0.83600914478302, -1.896458625793457, -1.0055818557739258, 1.381188154220581, -0.16243098676204681, 0.5942564606666565, 0.7043071985244751], "theta": [0.8380347490310669, -1.8945307731628418, -1.0037299394607544, 1.3627808094024658, -0.1630154848098755, 0.5942147970199585, 0.7042883634567261], "dq": [-0.0004932920564897358, -0.001430469797924161, 0.0007584837730973959, -0.000773500360082835, -0.000860287924297154, -0.0010981684317812324, 0.00016253278590738773], "dtheta": [0.0002202454925281927, 0.00010827346704900265, 0.00018965647905133665, 0.0001238839904544875, 0.0009662382653914392, 0.0001499397330917418, -0.000409699568990618], "tau": [55.59000015258789, 23.56999969482422, 5.4720001220703125, -26.43600082397461, -2.5440001487731934, 2.700000047683716, -0.5560000538825989], "tau_des": [0.5370957255363464, -0.5541982650756836, -0.2161611020565033, -0.5412160754203796, 0.9203325510025024, -1.1625003814697266, -0.5504056811332703], "tau_dot": [57.707427978515625, -11.312755584716797, -8.626558303833008, -56.01984786987305, 3.2690744400024414, 42.840328216552734, -5.866969108581543], "tau_ext": [-16.790929794311523, -41.643516540527344, 31.817962646484375, 31.34821128845215, 9.480329513549805, -3.001950740814209, -0.13331764936447144], "tcp_pose": [0.6779728531837463, 0.032773710787296295, -0.21498623490333557, -0.0023137915413826704, -0.00456064660102129, 0.9998863935470581, 0.014179193414747715], "tcp_vel": [-0.00013900574413128197, 0.00014045799616724253, 7.44156350265257e-05, 0.0008300732588395476, 0.0003493146214168519, -4.9847454647533596e-05], "flange_pose": [0.6786863207817078, 0.028523601591587067, -0.06504815071821213, -0.0023137915413826704, -0.00456064660102129, 0.9998863935470581, 0.014179193414747715], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.4827880859375, 15.335783958435059, 28.211233139038086, 0.3684012293815613, -23.923768997192383, 1.7809724807739258], "ext_wrench_in_world": [-107.75020971525967, 15.140995111996004, -27.28098702223939, -0.16023180659364702, -23.86607597266937, -2.457447641158745]}
+{"timestamp_ns": 1789729882755589241, "elapsed_ms": 2133, "source_timestamp_ns": 1789729882751810019, "q": [0.8360114693641663, -1.8964592218399048, -1.0055817365646362, 1.3811897039413452, -0.16242656111717224, 0.5942515134811401, 0.7043054699897766], "theta": [0.8380369544029236, -1.894531488418579, -1.003730297088623, 1.3627817630767822, -0.16301044821739197, 0.5942102670669556, 0.7042878270149231], "dq": [0.0016877894522622228, 0.002388659631833434, 0.0005434138001874089, -0.0004848840180784464, -0.001621962059289217, 0.0008635427220724523, 0.0014106703456491232], "dtheta": [-0.00032271488453261554, -9.828909969655797e-05, 0.00024277872580569237, -0.0001921059301821515, -9.667436097515747e-05, -0.0008610296645201743, -9.32249313336797e-05], "tau": [55.57999801635742, 23.600000381469727, 5.508000373840332, -26.30000114440918, -2.5480000972747803, 2.692000150680542, -0.5600000023841858], "tau_des": [0.6515799760818481, -0.4974822998046875, -0.2305283546447754, -0.6175358295440674, 0.9228423833847046, -1.1212403774261475, -0.5484333634376526], "tau_dot": [-148.9401397705078, -65.3020248413086, 25.23058319091797, 54.90604782104492, 13.080143928527832, 22.793476104736328, -29.959396362304688], "tau_ext": [-16.782785415649414, -41.63554382324219, 31.818151473999023, 31.381305694580078, 9.482267379760742, -3.003894567489624, -0.1280909925699234], "tcp_pose": [0.6779710650444031, 0.032773178070783615, -0.21498644351959229, -0.0023163335863500834, -0.004560662899166346, 0.9998863935470581, 0.014178353361785412], "tcp_vel": [-0.0002488839963916689, 5.6866370869101956e-05, -0.00023887777933850884, -0.0004307227209210396, 0.0008397853816859424, 0.0003734485653694719], "flange_pose": [0.6786853075027466, 0.02852332592010498, -0.06504835933446884, -0.0023163335863500834, -0.004560662899166346, 0.9998863935470581, 0.014178353361785412], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65694427490234, 15.24858283996582, 28.1768856048584, 0.35648298263549805, -23.965991973876953, 1.7828733921051025], "ext_wrench_in_world": [-107.9235437783089, 15.051201581597127, -27.247822681960944, -0.14795080353087853, -23.90812108156516, -2.460558036314881]}
+{"timestamp_ns": 1789729882788897309, "elapsed_ms": 2166, "source_timestamp_ns": 1789729882781730351, "q": [0.836012065410614, -1.8964595794677734, -1.005582571029663, 1.3811893463134766, -0.16242165863513947, 0.5942524671554565, 0.7043001651763916], "theta": [0.83803790807724, -1.8945320844650269, -1.0037310123443604, 1.3627820014953613, -0.16300541162490845, 0.594211220741272, 0.704282820224762], "dq": [0.0010891841957345605, -0.0007613311754539609, 6.581426714546978e-05, 0.0007093071471899748, -0.0003653024323284626, 0.00165788852609694, 0.0012483374448493123], "dtheta": [0.0002062440908048302, -0.0003230857546441257, 0.00011994451051577926, 7.337728311540559e-05, 0.0005785495741292834, 0.0007801736937835813, 0.00018529647786635906], "tau": [55.62999725341797, 23.6299991607666, 5.5360002517700195, -26.25200080871582, -2.504000186920166, 2.688000202178955, -0.5640000104904175], "tau_des": [0.5539910793304443, -0.5220338702201843, -0.25733286142349243, -0.5394616723060608, 0.9195698499679565, -1.1758484840393066, -0.5548529624938965], "tau_dot": [-131.28033447265625, -22.024864196777344, 32.635311126708984, 9.310325622558594, 105.9799575805664, 66.21482849121094, -33.113014221191406], "tau_ext": [-16.83877182006836, -41.645606994628906, 31.80207633972168, 31.35375213623047, 9.468730926513672, -2.9991636276245117, -0.12326078116893768], "tcp_pose": [0.6779710054397583, 0.03277339041233063, -0.21498635411262512, -0.0023167110048234463, -0.004561746958643198, 0.9998863935470581, 0.014179838821291924], "tcp_vel": [-4.3916847062064335e-05, 0.00031103030778467655, 5.931216219323687e-05, 0.0006634538876824081, -0.00037264873390085995, -0.00021259575441945344], "flange_pose": [0.6786853075027466, 0.028523091226816177, -0.06504828482866287, -0.0023167110048234463, -0.004561746958643198, 0.9998863935470581, 0.014179838821291924], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65196990966797, 15.245055198669434, 28.190603256225586, 0.35683804750442505, -23.968778610229492, 1.7839430570602417], "ext_wrench_in_world": [-107.9186558348959, 15.047956512812418, -27.261532843372024, -0.14823559969076505, -23.910872442399533, -2.4617756882904405]}
+{"timestamp_ns": 1789729882822259993, "elapsed_ms": 2200, "source_timestamp_ns": 1789729882821727900, "q": [0.8360123038291931, -1.8964649438858032, -1.0055838823318481, 1.3811869621276855, -0.16242285072803497, 0.5942528247833252, 0.7042943239212036], "theta": [0.838038444519043, -1.8945378065109253, -1.0037323236465454, 1.362781286239624, -0.16300541162490845, 0.5942119359970093, 0.7042756676673889], "dq": [-0.0013153759064152837, -0.0010370927629992366, -0.0002772008301690221, 0.0030921187717467546, -0.0007221356499940157, 0.00020878922077827156, -0.0008068587048910558], "dtheta": [3.5487571494741132e-06, 0.00010122858657268807, -0.000288596551399678, 9.844718988460954e-06, 9.200794738717377e-05, -0.0005507838213816285, -0.00012502724712248892], "tau": [55.599998474121094, 23.6299991607666, 5.504000186920166, -26.224000930786133, -2.492000102996826, 2.6520001888275146, -0.5800000429153442], "tau_des": [0.5818321704864502, -0.565622866153717, -0.17821265757083893, -0.5688425302505493, 0.9342711567878723, -1.1457964181900024, -0.5416781306266785], "tau_dot": [-64.021484375, -34.451812744140625, 31.39873504638672, 22.998374938964844, 116.8871078491211, 10.87797737121582, -17.960050582885742], "tau_ext": [-16.848241806030273, -41.676605224609375, 31.81674575805664, 31.279739379882812, 9.457930564880371, -2.992124319076538, -0.1109495535492897], "tcp_pose": [0.6779712438583374, 0.03277463838458061, -0.214986652135849, -0.0023149435874074697, -0.004566128831356764, 0.9998863935470581, 0.014177891425788403], "tcp_vel": [5.026523012929829e-06, -0.0002712929854169488, -5.828048597322777e-05, -0.00041744502959772944, 0.00037676384090445936, -0.00018165574874728918], "flange_pose": [0.6786850690841675, 0.02852492593228817, -0.06504856050014496, -0.0023149435874074697, -0.004566128831356764, 0.9998863935470581, 0.014177891425788403], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.42723083496094, 15.41035270690918, 28.23834228515625, 0.39504748582839966, -23.926000595092773, 1.7915518283843994], "ext_wrench_in_world": [-107.69568525147756, 15.215553680789366, -27.30602817757761, -0.1866494587639358, -23.86826003760848, -2.4679039087597627]}
+{"timestamp_ns": 1789729882855586449, "elapsed_ms": 2233, "source_timestamp_ns": 1789729882851732834, "q": [0.8360152244567871, -1.8964663743972778, -1.0055878162384033, 1.3811912536621094, -0.1624215841293335, 0.5942521095275879, 0.7042936086654663], "theta": [0.8380414247512817, -1.8945392370224, -1.0037362575531006, 1.3627848625183105, -0.16300471127033234, 0.5942116975784302, 0.7042748928070068], "dq": [-0.0003333828644827008, 0.000752823194488883, 0.0008347774855792522, -3.731611286639236e-05, -0.0011447672732174397, 0.0003209401329513639, 0.0019449302926659584], "dtheta": [0.00034028899972327054, 0.00016086713003460318, -1.0000770998885855e-05, 0.0006475570844486356, -9.617194154998288e-05, 0.0007608854793943465, 6.129391840659082e-05], "tau": [55.64999771118164, 23.559999465942383, 5.496000289916992, -26.3960018157959, -2.556000232696533, 2.6760001182556152, -0.5520000457763672], "tau_des": [0.5440138578414917, -0.5705276727676392, -0.2036731243133545, -0.5574785470962524, 0.941377580165863, -1.1658408641815186, -0.5419544577598572], "tau_dot": [209.36474609375, 25.002504348754883, -5.107501029968262, 22.619123458862305, 16.878570556640625, -20.400938034057617, 5.533761024475098], "tau_ext": [-16.79729652404785, -41.619998931884766, 31.8065185546875, 31.35182762145996, 9.472804069519043, -3.005115509033203, -0.11282412707805634], "tcp_pose": [0.6779707670211792, 0.032772090286016464, -0.21498742699623108, -0.0023152276407927275, -0.004565628711134195, 0.9998864531517029, 0.014175023883581161], "tcp_vel": [2.094189403578639e-05, -6.338213279377669e-05, 8.345940295839682e-05, 0.0001792526600183919, -0.00045022249105386436, -3.803972140303813e-05], "flange_pose": [0.6786847114562988, 0.028523236513137817, -0.06504930555820465, -0.0023152276407927275, -0.004565628711134195, 0.9998864531517029, 0.014175023883581161], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.41515350341797, 15.412209510803223, 28.223846435546875, 0.39526692032814026, -23.919939041137695, 1.794561505317688], "ext_wrench_in_world": [-107.68355666746682, 15.2170588234574, -27.291567488749468, -0.18696289805208316, -23.862131924111864, -2.470602270186434]}
+{"timestamp_ns": 1789729882888896758, "elapsed_ms": 2266, "source_timestamp_ns": 1789729882881727249, "q": [0.8360233306884766, -1.8964660167694092, -1.0055949687957764, 1.3812050819396973, -0.1624199002981186, 0.5942540764808655, 0.7042945623397827], "theta": [0.8380496501922607, -1.8945387601852417, -1.0037435293197632, 1.3627994060516357, -0.16300205886363983, 0.5942140817642212, 0.7042758464813232], "dq": [0.0009654363384470344, 0.0009238007478415966, -0.00021362374536693096, 0.0014510017354041338, 0.0027351207099854946, -0.0013812100514769554, -0.0008017054060474038], "dtheta": [0.0004684363666456193, 0.0001459501072531566, -0.00010538056812947616, 0.0005301937344484031, -0.0005183672183193266, 0.0005913596251048148, 9.557980229146779e-05], "tau": [55.56999969482422, 23.59000015258789, 5.520000457763672, -26.3960018157959, -2.556000232696533, 2.704000234603882, -0.5200000405311584], "tau_des": [0.5106008052825928, -0.605154275894165, -0.14656123518943787, -0.5545669794082642, 0.961749792098999, -1.152111291885376, -0.5499458909034729], "tau_dot": [-205.25901794433594, -2.2185370922088623, -2.345346689224243, -4.587401390075684, 14.991432189941406, 26.899208068847656, 24.8376407623291], "tau_ext": [-16.78546714782715, -41.607887268066406, 31.798002243041992, 31.403793334960938, 9.481067657470703, -3.012333631515503, -0.11564244329929352], "tcp_pose": [0.677969753742218, 0.03276580944657326, -0.21498829126358032, -0.00231531192548573, -0.004563082940876484, 0.9998865127563477, 0.014170077629387379], "tcp_vel": [0.00014810300490353256, -0.00014552312495652586, 0.00022834881383460015, -0.00019847802468575537, -0.0008075303048826754, 9.036138362716883e-05], "flange_pose": [0.6786836385726929, 0.028518440201878548, -0.06505013257265091, -0.00231531192548573, -0.004563082940876484, 0.9998865127563477, 0.014170077629387379], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62928771972656, 15.257494926452637, 28.19463348388672, 0.36316588521003723, -23.962202072143555, 1.7934695482254028], "ext_wrench_in_world": [-107.89606723114457, 15.059892777797971, -27.265919924893005, -0.15459683746410957, -23.904135634440046, -2.470617334791628]}
+{"timestamp_ns": 1789729882922258371, "elapsed_ms": 2300, "source_timestamp_ns": 1789729882921723899, "q": [0.8360257148742676, -1.8964701890945435, -1.0055962800979614, 1.3812047243118286, -0.16241855919361115, 0.5942574739456177, 0.7042957544326782], "theta": [0.83805251121521, -1.8945435285568237, -1.003745198249817, 1.3628005981445312, -0.16300015151500702, 0.594218373298645, 0.7042768001556396], "dq": [-0.0031803997699171305, -0.0010609006276354194, -0.0011060743127018213, -0.0017774805892258883, -0.0005879862001165748, -0.0003332479391247034, -0.00010333649697713554], "dtheta": [-0.00028102152282372117, -0.0005178404389880598, -3.104342249571346e-05, -7.648456812603399e-05, 0.000449063052656129, -0.00010308479977538809, 0.00010566149285295978], "tau": [55.709999084472656, 23.739999771118164, 5.51200008392334, -26.108001708984375, -2.56000018119812, 2.624000072479248, -0.5480000376701355], "tau_des": [0.6743361353874207, -0.4567100703716278, -0.22187355160713196, -0.6341304183006287, 0.9241116046905518, -1.1305124759674072, -0.5502805709838867], "tau_dot": [8.118192672729492, 6.238204002380371, 80.3144760131836, 7.76306676864624, -20.84033966064453, -38.80538558959961, -1.4138705730438232], "tau_ext": [-16.866634368896484, -41.68512725830078, 31.816377639770508, 31.317480087280273, 9.470503807067871, -3.008911371231079, -0.1228487640619278], "tcp_pose": [0.6779701709747314, 0.032767005264759064, -0.21498754620552063, -0.0023128786124289036, -0.0045630368404090405, 0.9998865127563477, 0.014169720001518726], "tcp_vel": [-0.00023874353792052716, 0.0001653254876146093, -0.00036026976886205375, -0.00014937638479750603, 0.0005405184929259121, -3.907919381163083e-05], "flange_pose": [0.678683340549469, 0.02851973846554756, -0.06504939496517181, -0.0023128786124289036, -0.0045630368404090405, 0.9998865127563477, 0.014169720001518726], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.57259368896484, 15.297121047973633, 28.214468002319336, 0.37456223368644714, -23.94675064086914, 1.7902337312698364], "ext_wrench_in_world": [-107.83969432988474, 15.100582313235412, -27.285413147313918, -0.16610897230661023, -23.888889100863217, -2.4668776360867004]}
+{"timestamp_ns": 1789729882955588257, "elapsed_ms": 2333, "source_timestamp_ns": 1789729882951742652, "q": [0.8360256552696228, -1.8964786529541016, -1.005598545074463, 1.3811993598937988, -0.1624191850423813, 0.5942614078521729, 0.7042950391769409], "theta": [0.8380530476570129, -1.8945523500442505, -1.003747820854187, 1.362797498703003, -0.16300110518932343, 0.594223141670227, 0.7042763233184814], "dq": [-0.001397331478074193, -0.00046862836461514235, 0.001411187695339322, 0.0006244558608159423, 0.0008124884334392846, -0.00017499491514172405, -0.0013859851751476526], "dtheta": [0.00012487199273891747, 6.831937207607552e-05, -7.074098539305851e-05, -0.00017143835430033505, -0.0009778757812455297, -0.0007374476408585906, -0.00036235738662071526], "tau": [55.709999084472656, 23.559999465942383, 5.4800004959106445, -26.172000885009766, -2.556000232696533, 2.6440000534057617, -0.5440000295639038], "tau_des": [0.507175087928772, -0.5745236873626709, -0.17574293911457062, -0.5233895182609558, 0.9812136888504028, -1.1623486280441284, -0.5329639315605164], "tau_dot": [52.98012924194336, -63.49258041381836, -8.500885963439941, 41.742740631103516, -10.50944709777832, -26.947656631469727, -21.85576820373535], "tau_ext": [-16.836668014526367, -41.65119552612305, 31.816347122192383, 31.22722816467285, 9.466614723205566, -2.9952335357666016, -0.1200990229845047], "tcp_pose": [0.677971601486206, 0.03276985138654709, -0.21498729288578033, -0.002308714436367154, -0.004565155599266291, 0.9998865127563477, 0.014168464578688145], "tcp_vel": [0.00013131090963725, -0.00021136939176358283, 0.0001737827406032011, -0.0009838644182309508, -0.0002797214256133884, 0.000799811037722975], "flange_pose": [0.6786835789680481, 0.028522955253720284, -0.06504911929368973, -0.002308714436367154, -0.004565155599266291, 0.9998865127563477, 0.014168464578688145], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.26158905029297, 15.518932342529297, 28.24989128112793, 0.41798803210258484, -23.875795364379883, 1.793189525604248], "ext_wrench_in_world": [-107.5307176778317, 15.325645808124175, -27.31687098289008, -0.21007039842253636, -23.818287630693593, -2.4675679769191423]}
+{"timestamp_ns": 1789729882988906325, "elapsed_ms": 2366, "source_timestamp_ns": 1789729882981741206, "q": [0.8360265493392944, -1.896478533744812, -1.0056021213531494, 1.3812000751495361, -0.1624174565076828, 0.5942557454109192, 0.7042952179908752], "theta": [0.8380537629127502, -1.8945529460906982, -1.003751516342163, 1.3627980947494507, -0.16299967467784882, 0.5942174196243286, 0.7042761445045471], "dq": [-0.0007789693772792816, 0.0021692365407943726, -0.0010334099642932415, -0.000938590441364795, 0.000793924555182457, 9.462038724450395e-05, -0.0006036407430656254], "dtheta": [-5.386788416217314e-06, -2.7892825528397225e-05, -0.0006515451241284609, 6.30074500804767e-05, -0.0006567157688550651, -0.0008358673076145351, -0.0003640993090812117], "tau": [55.689998626708984, 23.529998779296875, 5.572000026702881, -26.356000900268555, -2.576000213623047, 2.6480002403259277, -0.5480000376701355], "tau_des": [0.5871723294258118, -0.5762412548065186, -0.09000767767429352, -0.5925514101982117, 0.9687641859054565, -1.12834894657135, -0.5463250875473022], "tau_dot": [69.13002014160156, -57.565494537353516, -2.6889469623565674, -10.74674129486084, -22.307863235473633, -57.63998031616211, -3.726003885269165], "tau_ext": [-16.83697509765625, -41.59492492675781, 31.785531997680664, 31.330087661743164, 9.481977462768555, -3.0078768730163574, -0.12369406223297119], "tcp_pose": [0.6779714822769165, 0.032766953110694885, -0.21498794853687286, -0.0023106259759515524, -0.0045633865520358086, 0.9998865723609924, 0.014165917411446571], "tcp_vel": [0.00011762071517296135, -0.0005410673329606652, -0.00011747096868930385, -0.001425532391294837, 0.00010797833238029853, 0.0003197886107955128], "flange_pose": [0.6786839365959167, 0.028520822525024414, -0.06504974514245987, -0.0023106259759515524, -0.0045633865520358086, 0.9998865723609924, 0.014165917411446571], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.23051452636719, 15.498311996459961, 28.23187828063965, 0.40542998909950256, -23.861595153808594, 1.790042757987976], "ext_wrench_in_world": [-107.49942432475981, 15.30504379467688, -27.299254126627226, -0.19771892563908935, -23.804079271142633, -2.4639535538134463]}
+{"timestamp_ns": 1789729883022260351, "elapsed_ms": 2400, "source_timestamp_ns": 1789729883021744378, "q": [0.836031973361969, -1.8964784145355225, -1.005608081817627, 1.3812036514282227, -0.16240720450878143, 0.5942472815513611, 0.7042908668518066], "theta": [0.8380594253540039, -1.8945529460906982, -1.0037565231323242, 1.3628002405166626, -0.16298864781856537, 0.594208836555481, 0.704272985458374], "dq": [-0.0014432744355872273, 0.00034773125662468374, -0.0012464211322367191, -0.0004191666084807366, 0.0009545371867716312, 0.0016923208022490144, 0.0022056892048567533], "dtheta": [0.0005741218919865787, -9.847934961726423e-06, 0.00016781296289991587, 3.307517908979207e-05, 0.0007458159816451371, 0.00023104905267246068, 0.00021859505795873702], "tau": [55.68000030517578, 23.649999618530273, 5.504000186920166, -26.288002014160156, -2.51200008392334, 2.6480002403259277, -0.5600000023841858], "tau_des": [0.47607746720314026, -0.5886415243148804, -0.1925118863582611, -0.5185211896896362, 0.932543158531189, -1.1614484786987305, -0.5648488998413086], "tau_dot": [79.88202667236328, 66.35261535644531, -12.151240348815918, 29.382612228393555, 45.92393493652344, -11.698732376098633, -29.100820541381836], "tau_ext": [-16.780784606933594, -41.61417770385742, 31.777936935424805, 31.41232681274414, 9.482400894165039, -3.011552095413208, -0.11834770441055298], "tcp_pose": [0.677970290184021, 0.03276229649782181, -0.21498796343803406, -0.0023143445141613483, -0.004560889210551977, 0.9998866319656372, 0.014163471758365631], "tcp_vel": [-6.522877356474055e-06, 0.0001779111917130649, 0.00034594800672493875, 0.0006938831647858024, -0.00024980728630907834, -0.0005081797717139125], "flange_pose": [0.6786839365959167, 0.02851690538227558, -0.06504975259304047, -0.0023143445141613483, -0.004560889210551977, 0.9998866319656372, 0.014163471758365631], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61701965332031, 15.221563339233398, 28.20600128173828, 0.3550829291343689, -23.957250595092773, 1.79086172580719], "ext_wrench_in_world": [-107.88340977123372, 15.024524328461851, -27.278764317585686, -0.1466467751656488, -23.89921787458124, -2.4675910095124842]}
+{"timestamp_ns": 1789729883055586582, "elapsed_ms": 2433, "source_timestamp_ns": 1789729883051776473, "q": [0.8360368609428406, -1.8964855670928955, -1.0056072473526, 1.381200909614563, -0.1624051034450531, 0.5942462086677551, 0.7042838335037231], "theta": [0.8380639553070068, -1.894559383392334, -1.0037564039230347, 1.3627980947494507, -0.16298551857471466, 0.5942074060440063, 0.7042660713195801], "dq": [-0.0013308958150446415, -0.0006947446963749826, 0.0016714171506464481, 0.0017653738614171743, 0.0001484534004703164, -9.726204734761268e-05, -0.0014655649429187179], "dtheta": [-0.00013924174709245563, -0.0004930400755256414, -0.00021362230472732335, -9.843491716310382e-05, 2.9250186344143003e-05, -0.0001584199198987335, 0.000706871272996068], "tau": [55.68000030517578, 23.739999771118164, 5.504000186920166, -26.18800163269043, -2.5240001678466797, 2.6600000858306885, -0.5640000104904175], "tau_des": [0.6207749843597412, -0.492747038602829, -0.1964195966720581, -0.6013088226318359, 0.9459732174873352, -1.137966275215149, -0.554109513759613], "tau_dot": [84.43256378173828, 125.39160919189453, -0.2378655970096588, -1.8710881471633911, -4.100948810577393, -13.950642585754395, 2.9945573806762695], "tau_ext": [-16.839496612548828, -41.728599548339844, 31.81403350830078, 31.33949851989746, 9.462224006652832, -2.9996206760406494, -0.11279217898845673], "tcp_pose": [0.6779696941375732, 0.03276536241173744, -0.21498584747314453, -0.002311940072104335, -0.004566355608403683, 0.9998866319656372, 0.014162118546664715], "tcp_vel": [-8.531859202776104e-05, 2.3352384232566692e-05, -0.00022896040172781795, -0.0005345402751117945, 0.0001496690820204094, -0.0005541155696846545], "flange_pose": [0.6786826252937317, 0.028520377352833748, -0.06504762172698975, -0.002311940072104335, -0.004566355608403683, 0.9998866319656372, 0.014162118546664715], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64794158935547, 15.254778861999512, 28.22271728515625, 0.372317373752594, -23.977771759033203, 1.7947014570236206], "ext_wrench_in_world": [-107.9147382492391, 15.056668616497555, -27.294969798166736, -0.1634404620783188, -23.91978794840676, -2.471870505010636]}
+{"timestamp_ns": 1789729883088913962, "elapsed_ms": 2466, "source_timestamp_ns": 1789729883081754472, "q": [0.8360379934310913, -1.8964920043945312, -1.0056086778640747, 1.381194829940796, -0.1624048501253128, 0.5942476987838745, 0.7042831182479858], "theta": [0.8380650281906128, -1.8945661783218384, -1.0037575960159302, 1.3627933263778687, -0.16298481822013855, 0.5942074060440063, 0.7042639255523682], "dq": [-0.0028966290410608053, 0.0008745507802814245, -0.0029295573476701975, 0.0007572467438876629, 0.00028348987689241767, 0.003058380214497447, 0.0009219028288498521], "dtheta": [-0.00042784461402334273, 0.00013677930110134184, -0.0002769305428955704, -0.00011317847383907065, 0.001076924498192966, -7.453596481354907e-05, 0.00022906746016815305], "tau": [55.69999694824219, 23.59000015258789, 5.516000270843506, -26.220001220703125, -2.5200002193450928, 2.6640000343322754, -0.5560000538825989], "tau_des": [0.6196414232254028, -0.5446525812149048, -0.1686004251241684, -0.5744863152503967, 0.9194189310073853, -1.156435489654541, -0.5517404675483704], "tau_dot": [-31.298059463500977, 155.26254272460938, -64.35812377929688, -21.977909088134766, -52.760868072509766, 14.948294639587402, 17.80381965637207], "tau_ext": [-16.884174346923828, -41.679710388183594, 31.783472061157227, 31.225109100341797, 9.451618194580078, -2.983086347579956, -0.10902086645364761], "tcp_pose": [0.677971363067627, 0.032767921686172485, -0.21498416364192963, -0.002308213384822011, -0.004567871335893869, 0.9998866319656372, 0.014161588624119759], "tcp_vel": [-7.911618013167754e-05, -0.00010752191883511841, -0.0003112834529019892, 0.0006082904292270541, 0.0009086803765967488, -0.001128827570937574], "flange_pose": [0.6786831617355347, 0.02852308750152588, -0.06504593044519424, -0.002308213384822011, -0.004567871335893869, 0.9998866319656372, 0.014161588624119759], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.33557891845703, 15.485124588012695, 28.267982482910156, 0.42164385318756104, -23.916492462158203, 1.801546573638916], "ext_wrench_in_world": [-107.60453518152525, 15.290723274712036, -27.335914270877918, -0.2132640247076731, -23.858798882999693, -2.4767316376081583]}
+{"timestamp_ns": 1789729883122269380, "elapsed_ms": 2500, "source_timestamp_ns": 1789729883121748926, "q": [0.8360376954078674, -1.8964916467666626, -1.0056190490722656, 1.3811968564987183, -0.16240194439888, 0.594240665435791, 0.7042832970619202], "theta": [0.8380651473999023, -1.894566297531128, -1.003766417503357, 1.362794280052185, -0.16298264265060425, 0.5942000150680542, 0.7042639255523682], "dq": [0.001684889430180192, 0.000796944834291935, -0.00043826166074723005, 0.0003607021935749799, 0.001675326726399362, 0.0009733779588714242, 0.00023732736008241773], "dtheta": [-3.411832221900113e-05, 0.00043361555435694754, 0.00019494489242788404, -0.00020651122031267732, 0.0006432411028072238, 0.00020366089302115142, -0.0005696278531104326], "tau": [55.57999801635742, 23.439998626708984, 5.51200008392334, -26.38800048828125, -2.5440001487731934, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.511076807975769, -0.6028435230255127, -0.1645546704530716, -0.5148425102233887, 0.939531683921814, -1.16725754737854, -0.5450419187545776], "tau_dot": [0.9842128753662109, -141.83091735839844, -15.084207534790039, 47.1687126159668, 50.28505325317383, -34.99931716918945, 49.00392532348633], "tau_ext": [-16.833942413330078, -41.601261138916016, 31.777000427246094, 31.358186721801758, 9.466692924499512, -2.9985296726226807, -0.11605719476938248], "tcp_pose": [0.6779723167419434, 0.03276083990931511, -0.21498678624629974, -0.002310970099642873, -0.00456343125551939, 0.999886691570282, 0.014156469143927097], "tcp_vel": [7.474417361663654e-05, 9.650638821767643e-05, 0.0001787772198440507, 0.001099906861782074, 0.00011522165004862472, 2.087942266371101e-05], "flange_pose": [0.6786848902702332, 0.02851754240691662, -0.06504850834608078, -0.002310970099642873, -0.00456343125551939, 0.999886691570282, 0.014156469143927097], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.22220611572266, 15.462783813476562, 28.29085350036621, 0.40481311082839966, -23.886232376098633, 1.7962385416030884], "ext_wrench_in_world": [-107.49109317022013, 15.27074481280366, -27.35947370285646, -0.19690639540463611, -23.828571246469465, -2.470397518902336]}
+{"timestamp_ns": 1789729883155600100, "elapsed_ms": 2533, "source_timestamp_ns": 1789729883151730746, "q": [0.8360400199890137, -1.8964914083480835, -1.0056205987930298, 1.3811981678009033, -0.16239884495735168, 0.5942341089248657, 0.7042831182479858], "theta": [0.8380677103996277, -1.8945661783218384, -1.0037671327590942, 1.362795352935791, -0.16298000514507294, 0.5941931009292603, 0.7042641043663025], "dq": [-0.0009451999794691801, 0.0001597154332557693, 0.0006492990651167929, 0.0004174884525127709, 0.0012104804627597332, -0.001121546607464552, -0.0004229355836287141], "dtheta": [-1.552685716887936e-05, 6.865450995974243e-05, -9.636833419790491e-05, 7.202372944448143e-05, -0.00024738218053244054, -0.0008668709197081625, 3.040284354938194e-05], "tau": [55.529998779296875, 23.649999618530273, 5.5320000648498535, -26.36800193786621, -2.56000018119812, 2.692000150680542, -0.5440000295639038], "tau_des": [0.594386637210846, -0.5639968514442444, -0.1263553649187088, -0.6099036335945129, 0.950005829334259, -1.110805630683899, -0.5561588406562805], "tau_dot": [-124.81184387207031, 103.36235809326172, -16.6683406829834, -23.658798217773438, 31.475038528442383, 30.179718017578125, 4.484134197235107], "tau_ext": [-16.75824546813965, -41.57776641845703, 31.770299911499023, 31.426172256469727, 9.478300094604492, -3.0053818225860596, -0.11951377987861633], "tcp_pose": [0.6779713034629822, 0.03275880217552185, -0.21498677134513855, -0.0023133931681513786, -0.0045621334575116634, 0.9998867511749268, 0.014154525473713875], "tcp_vel": [-0.00010905739327427, -0.00024130873498506844, -0.00010607790318317711, -0.0007728356868028641, 0.0005618096329271793, 2.5621317035984248e-05], "flange_pose": [0.6786845922470093, 0.028516091406345367, -0.06504847854375839, -0.0023133931681513786, -0.0045621334575116634, 0.9998867511749268, 0.014154525473713875], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.58956146240234, 15.222837448120117, 28.22675895690918, 0.35523301362991333, -23.965839385986328, 1.7904778718948364], "ext_wrench_in_world": [-107.856045752905, 15.02587969087567, -27.300087379310604, -0.14665246156982978, -23.907859584904504, -2.467022923001847]}
+{"timestamp_ns": 1789729883188918861, "elapsed_ms": 2566, "source_timestamp_ns": 1789729883181742733, "q": [0.8360421657562256, -1.8964974880218506, -1.005620002746582, 1.3811962604522705, -0.16239792108535767, 0.5942330360412598, 0.7042833566665649], "theta": [0.8380700349807739, -1.8945720195770264, -1.0037662982940674, 1.3627939224243164, -0.16297905147075653, 0.5941916704177856, 0.7042646408081055], "dq": [-0.0002779205096885562, 2.519613190088421e-05, 0.003111830912530422, 0.001988398376852274, 0.001353136613033712, -0.0005218508886173368, 0.0007911886204965413], "dtheta": [-3.592177017708309e-05, -0.0005404009134508669, -0.00019690292538143694, -0.00029213682864792645, -0.0006975459400564432, -0.00033196964068338275, 0.0007683297735638916], "tau": [55.68000030517578, 23.69999885559082, 5.484000205993652, -26.156002044677734, -2.5440001487731934, 2.6600000858306885, -0.5320000052452087], "tau_des": [0.5759683847427368, -0.5154505968093872, -0.17266179621219635, -0.5743265151977539, 0.9706605076789856, -1.1379504203796387, -0.5603725910186768], "tau_dot": [45.6606330871582, 48.2287483215332, 24.401336669921875, 43.21443176269531, -56.82542419433594, 55.181400299072266, -12.64555835723877], "tau_ext": [-16.768856048583984, -41.696739196777344, 31.805667877197266, 31.36298179626465, 9.476393699645996, -2.998192071914673, -0.11770139634609222], "tcp_pose": [0.677970290184021, 0.03276117146015167, -0.21498650312423706, -0.002312373835593462, -0.004563888534903526, 0.9998867511749268, 0.0141528882086277], "tcp_vel": [6.099987149355002e-05, 5.158829935680842e-06, -4.568035728880204e-05, -0.00101282331161201, -0.00037363002775236964, -0.0001954864856088534], "flange_pose": [0.678683340549469, 0.028518950566649437, -0.0650482028722763, -0.002312373835593462, -0.004563888534903526, 0.9998867511749268, 0.0141528882086277], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7765121459961, 15.164874076843262, 28.193199157714844, 0.3543015718460083, -24.01596450805664, 1.7952241897583008], "ext_wrench_in_world": [-108.04229690552611, 14.964809184183716, -27.267618530561954, -0.14520084125269114, -23.95782828925119, -2.4731136500365087]}
+{"timestamp_ns": 1789729883222262340, "elapsed_ms": 2600, "source_timestamp_ns": 1789729883221739187, "q": [0.8360399603843689, -1.896510124206543, -1.0056207180023193, 1.3811863660812378, -0.1623988300561905, 0.5942381620407104, 0.7042818069458008], "theta": [0.8380690217018127, -1.89458429813385, -1.0037676095962524, 1.3627852201461792, -0.16297905147075653, 0.5941966772079468, 0.7042636275291443], "dq": [-0.0012848235201090574, -0.0009633315494284034, -0.0016708926996216178, 0.000972737732809037, 0.0019538134802132845, 0.0011541249696165323, 0.0010292385704815388], "dtheta": [1.3378256880969275e-05, -0.0002753772132564336, -0.0002802203525789082, 6.930169911356643e-05, -0.0001841057965066284, 0.0011045025894418359, 0.00013172438775654882], "tau": [55.71999740600586, 23.600000381469727, 5.564000129699707, -26.21200180053711, -2.5280001163482666, 2.636000156402588, -0.5440000295639038], "tau_des": [0.5316680669784546, -0.52325040102005, -0.2006046026945114, -0.5140002965927124, 0.9728088974952698, -1.1963725090026855, -0.5407256484031677], "tau_dot": [-3.201033592224121, 6.8250346183776855, 54.67095947265625, 2.55248761177063, 56.192535400390625, -44.37921142578125, 10.179941177368164], "tau_ext": [-16.86117172241211, -41.652854919433594, 31.782373428344727, 31.24652099609375, 9.464877128601074, -2.9900662899017334, -0.11878032982349396], "tcp_pose": [0.6779716610908508, 0.03276713564991951, -0.2149866819381714, -0.0023072438780218363, -0.004568102769553661, 0.9998867511749268, 0.014152208343148232], "tcp_vel": [0.00022675444779451936, 7.478223415091634e-05, 2.18788754864363e-05, 0.00018491243827156723, -0.0009786665905267, -5.735900776926428e-05], "flange_pose": [0.6786831617355347, 0.02852511778473854, -0.06504836678504944, -0.0023072438780218363, -0.004568102769553661, 0.9998867511749268, 0.014152208343148232], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.40384674072266, 15.444048881530762, 28.232444763183594, 0.4120069146156311, -23.932483673095703, 1.7994729280471802], "ext_wrench_in_world": [-107.67221007814452, 15.247468635020125, -27.301753697847918, -0.20345629144383967, -23.874799540532837, -2.474708006271273]}
+{"timestamp_ns": 1789729883255585181, "elapsed_ms": 2633, "source_timestamp_ns": 1789729883251739174, "q": [0.8360389471054077, -1.8965080976486206, -1.0056277513504028, 1.381186604499817, -0.16239647567272186, 0.5942307114601135, 0.7042816281318665], "theta": [0.8380681872367859, -1.8945831060409546, -1.003773808479309, 1.3627846240997314, -0.16297689080238342, 0.5941890478134155, 0.7042626738548279], "dq": [0.0013676043599843979, 0.0017120628617703915, -0.001408313517458737, -0.0005817306227982044, -0.003671388141810894, -0.0019249723991379142, -0.0015471403021365404], "dtheta": [-1.6121410226332955e-05, -2.0646233679144643e-05, -0.0005642239120788872, -5.2068728109588847e-05, -0.00013072915317025036, -0.0003835341485682875, -0.00041460891952738166], "tau": [55.61000061035156, 23.60999870300293, 5.588000297546387, -26.36800193786621, -2.5480000972747803, 2.6720001697540283, -0.5560000538825989], "tau_des": [0.5695379972457886, -0.5658296346664429, -0.1005137637257576, -0.5699441432952881, 0.9663969278335571, -1.1396195888519287, -0.5477306842803955], "tau_dot": [-27.767229080200195, 55.265132904052734, -15.250296592712402, -48.31126403808594, 24.159486770629883, 45.553985595703125, -11.965611457824707], "tau_ext": [-16.870256423950195, -41.59682083129883, 31.74026870727539, 31.322572708129883, 9.475075721740723, -2.995328426361084, -0.12112242728471756], "tcp_pose": [0.6779724955558777, 0.03276163712143898, -0.2149883210659027, -0.002310176845639944, -0.004564496222883463, 0.9998868107795715, 0.01414894126355648], "tcp_vel": [0.0001459643681300804, -0.0003647503908723593, -5.805323598906398e-05, -0.0006756664370186627, 1.938046580107766e-06, 0.00010561460658209398], "flange_pose": [0.6786848902702332, 0.028520600870251656, -0.06504997611045837, -0.002310176845639944, -0.004564496222883463, 0.9998868107795715, 0.01414894126355648], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.259765625, 15.437734603881836, 28.275842666625977, 0.3976821005344391, -23.892860412597656, 1.7932881116867065], "ext_wrench_in_world": [-107.52833898832105, 15.244295203494861, -27.34542060929079, -0.1896464999288327, -23.835251801119025, -2.467309827077961]}
+{"timestamp_ns": 1789729883288899552, "elapsed_ms": 2666, "source_timestamp_ns": 1789729883281747911, "q": [0.8360438942909241, -1.8965071439743042, -1.0056313276290894, 1.3811901807785034, -0.16238251328468323, 0.5942227244377136, 0.7042741775512695], "theta": [0.8380717635154724, -1.8945825099945068, -1.0037771463394165, 1.3627867698669434, -0.16296251118183136, 0.594180703163147, 0.7042552828788757], "dq": [-0.0007320715812966228, 0.00018325979181099683, -0.0005497115780599415, 0.0006084518972784281, -0.0009747975855134428, 0.0009607168613001704, 0.00035499720252119005], "dtheta": [0.00012089891970390454, -0.00018800779071170837, 1.45646617966122e-05, -2.0220657006575493e-06, 0.0012611732818186283, 0.0010261608986184, -0.0007857570890337229], "tau": [55.53999710083008, 23.59000015258789, 5.496000289916992, -26.408000946044922, -2.5360000133514404, 2.688000202178955, -0.5640000104904175], "tau_des": [0.5660037994384766, -0.5115063190460205, -0.21463045477867126, -0.5586724281311035, 0.9207457900047302, -1.1609312295913696, -0.5447850823402405], "tau_dot": [56.18600845336914, 44.21289825439453, -6.26373815536499, -36.70069885253906, -5.530137538909912, 42.55888366699219, -34.826534271240234], "tau_ext": [-16.739715576171875, -41.594993591308594, 31.763980865478516, 31.41372299194336, 9.466543197631836, -3.003572702407837, -0.11369676142930984], "tcp_pose": [0.6779702305793762, 0.03275842219591141, -0.21498854458332062, -0.0023153387010097504, -0.004563067574054003, 0.9998868107795715, 0.014148888178169727], "tcp_vel": [-8.474823516735341e-06, 0.00031428367947228253, 4.125341365579516e-05, 0.0013289880007505417, -0.0002166520425816998, 0.00019684340804815292], "flange_pose": [0.6786841154098511, 0.028517404571175575, -0.06505021452903748, -0.0023153387010097504, -0.004563067574054003, 0.9998868107795715, 0.014148888178169727], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.52958679199219, 15.241355895996094, 28.229127883911133, 0.36333081126213074, -23.95760154724121, 1.7919907569885254], "ext_wrench_in_world": [-107.79638662660318, 15.044489789187459, -27.301959334856242, -0.1547944839694112, -23.89968516983845, -2.4679950361084324]}
+{"timestamp_ns": 1789729883322261369, "elapsed_ms": 2700, "source_timestamp_ns": 1789729883321766913, "q": [0.8360543847084045, -1.8965152502059937, -1.0056301355361938, 1.3811932802200317, -0.16237755119800568, 0.594223141670227, 0.704269289970398], "theta": [0.8380822539329529, -1.8945900201797485, -1.0037767887115479, 1.362788438796997, -0.16295699775218964, 0.5941804647445679, 0.7042492628097534], "dq": [-0.00015196300228126347, -0.0010049332631751895, 0.0005263690836727619, -0.0007492301519960165, 1.804486964829266e-05, -0.00047729918151162565, -0.00035456265322864056], "dtheta": [-0.00024724131799302995, -1.9553903257474303e-05, 4.359445665613748e-05, -5.109098765387898e-06, -0.0003427054325584322, 0.00041793889249674976, 0.00018826140149030834], "tau": [55.68000030517578, 23.69999885559082, 5.500000476837158, -26.18000030517578, -2.496000051498413, 2.6520001888275146, -0.5600000023841858], "tau_des": [0.5916226506233215, -0.5206338763237, -0.21359676122665405, -0.5738440752029419, 0.9506691694259644, -1.1519705057144165, -0.5416653156280518], "tau_dot": [-44.35129928588867, 22.181838989257812, 14.200090408325195, 52.46079635620117, 46.91584777832031, -27.02669334411621, -6.306449890136719], "tau_ext": [-16.779964447021484, -41.723976135253906, 31.819021224975586, 31.384443283081055, 9.44575023651123, -2.9978079795837402, -0.10484717786312103], "tcp_pose": [0.6779680848121643, 0.032761260867118835, -0.21498551964759827, -0.002312772674486041, -0.00456756679341197, 0.9998868107795715, 0.01414701621979475], "tcp_vel": [5.364353637560271e-05, 7.268080662470311e-05, -9.298046643380076e-05, 7.610925968037918e-05, -0.00024347403086721897, 3.4744429285638034e-05], "flange_pose": [0.6786812543869019, 0.02852080762386322, -0.06504716724157333, -0.002312772674486041, -0.00456756679341197, 0.9998868107795715, 0.01414701621979475], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.858642578125, 15.182816505432129, 28.17317771911621, 0.37441515922546387, -24.04909896850586, 1.8016892671585083], "ext_wrench_in_world": [-108.12461863868334, 14.980303423534684, -27.246834535490088, -0.16486807296417186, -23.990980457367673, -2.4801426040776557]}
+{"timestamp_ns": 1789729883355583800, "elapsed_ms": 2733, "source_timestamp_ns": 1789729883351785070, "q": [0.8360529541969299, -1.8965226411819458, -1.0056339502334595, 1.3811901807785034, -0.16237850487232208, 0.5942330956459045, 0.7042703628540039], "theta": [0.8380809426307678, -1.8945977687835693, -1.0037810802459717, 1.3627862930297852, -0.16295675933361053, 0.5941900014877319, 0.7042492628097534], "dq": [-0.00030308502027764916, -0.0018956151325255632, 0.00035073645994998515, -0.0005765353562310338, -0.0007083853124640882, 0.001293791807256639, 0.00012963305925950408], "dtheta": [-0.0007238959078676999, -0.0002852304605767131, -0.0005412205355241895, -0.00012701818195637316, 0.0012893166858702898, 9.676829358795658e-05, 8.732116839382797e-05], "tau": [55.79999923706055, 23.549999237060547, 5.5320000648498535, -26.080001831054688, -2.5320000648498535, 2.632000207901001, -0.5680000185966492], "tau_des": [0.7229450941085815, -0.459212064743042, -0.17353606224060059, -0.6398580074310303, 0.910958468914032, -1.1386001110076904, -0.5523048639297485], "tau_dot": [-10.156915664672852, -74.4926528930664, -28.803972244262695, 50.82246780395508, 5.6864471435546875, -16.52882957458496, -40.77586364746094], "tau_ext": [-16.887313842773438, -41.66667175292969, 31.782636642456055, 31.28305435180664, 9.446176528930664, -2.9972212314605713, -0.10607628524303436], "tcp_pose": [0.677970290184021, 0.032763443887233734, -0.21498629450798035, -0.0023076257202774286, -0.004568120930343866, 0.9998868107795715, 0.014146913774311543], "tcp_vel": [-0.0001588000450283289, -8.431058813584968e-05, -0.0006435245159082115, 0.0003790593473240733, 0.0010951735312119126, -0.0010139867663383484], "flange_pose": [0.6786819100379944, 0.02852301299571991, -0.06504793465137482, -0.0023076257202774286, -0.004568120930343866, 0.9998868107795715, 0.014146913774311543], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.56124114990234, 15.37466812133789, 28.24981689453125, 0.4100492596626282, -23.980144500732422, 1.8027840852737427], "ext_wrench_in_world": [-107.82906996557843, 15.17686468170691, -27.320461579461263, -0.20108223989903506, -23.922353913266505, -2.479122891406032]}
+{"timestamp_ns": 1789729883388892932, "elapsed_ms": 2766, "source_timestamp_ns": 1789729883381754900, "q": [0.8360501527786255, -1.8965226411819458, -1.005645513534546, 1.3811886310577393, -0.1623801738023758, 0.594240665435791, 0.7042701840400696], "theta": [0.8380786776542664, -1.8945976495742798, -1.0037928819656372, 1.3627851009368896, -0.16295795142650604, 0.5941978693008423, 0.7042492628097534], "dq": [-0.0022740312851965427, -0.0021836557425558567, 0.0006578514003194869, -0.0011544737499207258, -0.000667423359118402, -0.0006036641425453126, -0.0023716664873063564], "dtheta": [-0.00020335100998636335, 0.00029295586864463985, -0.00046088473754934967, 0.00012234895257279277, -0.0012042078888043761, 0.00043951719999313354, -0.000505331379827112], "tau": [55.619998931884766, 23.619998931884766, 5.568000316619873, -26.256000518798828, -2.5440001487731934, 2.692000150680542, -0.5600000023841858], "tau_des": [0.5171457529067993, -0.627907395362854, -0.07252538204193115, -0.5042962431907654, 0.9984762072563171, -1.1897797584533691, -0.5414648056030273], "tau_dot": [-138.5225067138672, 120.50749969482422, 22.556800842285156, -17.918203353881836, -14.204445838928223, 21.815088272094727, -15.1455659866333], "tau_ext": [-16.8783016204834, -41.588565826416016, 31.773012161254883, 31.265804290771484, 9.452457427978516, -3.000680923461914, -0.11172884702682495], "tcp_pose": [0.6779758334159851, 0.0327584482729435, -0.21498708426952362, -0.0023031930904835463, -0.00456444313749671, 0.9998868703842163, 0.01414566021412611], "tcp_vel": [0.0003862367884721607, -0.00037896496360190213, 1.7793536244425923e-05, -0.0006044548936188221, -0.0008580536232329905, 0.0006620673811994493], "flange_pose": [0.6786860823631287, 0.02851838432252407, -0.0650487095117569, -0.0023031930904835463, -0.00456444313749671, 0.9998868703842163, 0.01414566021412611], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.18486785888672, 15.497286796569824, 28.28646469116211, 0.4165864586830139, -23.874826431274414, 1.7963885068893433], "ext_wrench_in_world": [-107.45364802710984, 15.304663228067161, -27.356291595315888, -0.20870035093819606, -23.817327918326065, -2.4696615280571605]}
+{"timestamp_ns": 1789729883422255989, "elapsed_ms": 2800, "source_timestamp_ns": 1789729883421751214, "q": [0.8360514640808105, -1.8965213298797607, -1.0056513547897339, 1.381192922592163, -0.16237884759902954, 0.594228208065033, 0.7042701244354248], "theta": [0.8380793333053589, -1.8945971727371216, -1.0037987232208252, 1.3627872467041016, -0.16295747458934784, 0.5941864252090454, 0.7042490243911743], "dq": [-0.0020304739009588957, -0.0006390989874489605, -0.0004886389942839742, 0.0020239076111465693, -0.0006505798082798719, -0.0009947741637006402, 0.0008411644957959652], "dtheta": [0.0001331254024989903, -0.00018091390666086227, -0.0001880720374174416, 0.00010113608004758134, 6.483359902631491e-05, 8.214268018491566e-05, -0.00017981816199608147], "tau": [55.5099983215332, 23.510000228881836, 5.488000392913818, -26.416000366210938, -2.568000078201294, 2.688000202178955, -0.5480000376701355], "tau_des": [0.5596737265586853, -0.5480979084968567, -0.11676371842622757, -0.5714492797851562, 0.965822160243988, -1.1445053815841675, -0.556670069694519], "tau_dot": [-51.78145217895508, -122.28680419921875, -104.3626937866211, 18.774921417236328, -3.519439935684204, -31.119441986083984, -15.969826698303223], "tau_ext": [-16.73820686340332, -41.578792572021484, 31.775310516357422, 31.412094116210938, 9.480939865112305, -3.0102391242980957, -0.11450298130512238], "tcp_pose": [0.6779741644859314, 0.032752178609371185, -0.21498963236808777, -0.002308440627530217, -0.004562061280012131, 0.9998869895935059, 0.014139370061457157], "tcp_vel": [9.9775552371284e-06, -5.2219125791452825e-05, -1.4906234355294146e-05, -0.00021745971753261983, -0.000142146076541394, 0.00014711925177834928], "flange_pose": [0.6786859631538391, 0.028514008969068527, -0.06505121290683746, -0.002308440627530217, -0.004562061280012131, 0.9998869895935059, 0.014139370061457157], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.48220825195312, 15.286942481994629, 28.202577590942383, 0.37227511405944824, -23.930301666259766, 1.7931883335113525], "ext_wrench_in_world": [-107.74888666640082, 15.08945657719857, -27.27612154051774, -0.16400883692241142, -23.87249219273808, -2.4679279987987868]}
+{"timestamp_ns": 1789729883455598568, "elapsed_ms": 2833, "source_timestamp_ns": 1789729883451858862, "q": [0.8360527753829956, -1.896523118019104, -1.0056482553482056, 1.381193995475769, -0.16237761080265045, 0.5942288041114807, 0.7042680978775024], "theta": [0.8380802273750305, -1.8945995569229126, -1.0037965774536133, 1.3627874851226807, -0.16295699775218964, 0.5941866636276245, 0.7042473554611206], "dq": [-0.00018399361579213291, -0.00018769383314065635, 0.0016034675063565373, 0.0004432896967045963, 0.0015540497843176126, 0.0005914210923947394, 0.0018731540767475963], "dtheta": [-0.00021172394917812198, -0.0001886722311610356, 8.341952343471348e-05, -0.0003893060493282974, 0.00020384635718073696, -0.00020749976101797074, 5.0859332986874506e-05], "tau": [55.599998474121094, 23.739999771118164, 5.496000289916992, -26.280000686645508, -2.580000162124634, 2.680000066757202, -0.5400000214576721], "tau_des": [0.5916274785995483, -0.5152936577796936, -0.18088604509830475, -0.5674667954444885, 0.9493454098701477, -1.1491279602050781, -0.5523056983947754], "tau_dot": [73.23519897460938, 18.323225021362305, -27.10795783996582, -11.2247953414917, -38.93913269042969, 7.808944225311279, 38.36902618408203], "tau_ext": [-16.7316951751709, -41.67378616333008, 31.797731399536133, 31.416141510009766, 9.488176345825195, -3.0089011192321777, -0.114353708922863], "tcp_pose": [0.6779724955558777, 0.03275434300303459, -0.21498961746692657, -0.0023088331799954176, -0.004564449656754732, 0.9998869299888611, 0.014139963313937187], "tcp_vel": [-3.777883466682397e-05, 0.00015758417430333793, -6.151607522042468e-05, 0.00012718366633635014, 0.00019691277702804655, -3.585518425097689e-05], "flange_pose": [0.678684413433075, 0.028515996411442757, -0.06505119055509567, -0.0023088331799954176, -0.004564449656754732, 0.9998869299888611, 0.014139963313937187], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.84492492675781, 15.121628761291504, 28.149320602416992, 0.34863534569740295, -24.021934509277344, 1.7973918914794922], "ext_wrench_in_world": [-108.10992535156086, 14.918893543378111, -27.225840577497223, -0.13944737927982948, -23.963746311317696, -2.4748573573147636]}
+{"timestamp_ns": 1789729883488921979, "elapsed_ms": 2866, "source_timestamp_ns": 1789729883481766118, "q": [0.836052656173706, -1.8965351581573486, -1.0056467056274414, 1.3811891078948975, -0.16237781941890717, 0.5942325592041016, 0.7042638659477234], "theta": [0.8380802869796753, -1.89461088180542, -1.003796100616455, 1.362783432006836, -0.16295723617076874, 0.594190239906311, 0.7042428255081177], "dq": [-0.00020066836441401392, 0.0022497090976685286, 0.0008982709259726107, 0.0015510228695347905, -0.0020203355234116316, 0.0010829044040292501, 0.000564061279874295], "dtheta": [2.448278792144265e-05, -0.0001977835054276511, -0.0003060118469875306, -0.0002868407464120537, -0.0013949244748800993, -0.00012446922482922673, -0.0006910695228725672], "tau": [55.66999816894531, 23.619998931884766, 5.51200008392334, -26.104001998901367, -2.552000045776367, 2.6480002403259277, -0.5600000023841858], "tau_des": [0.5164894461631775, -0.5251954197883606, -0.1734992414712906, -0.5194748044013977, 1.014100432395935, -1.1743444204330444, -0.5147091150283813], "tau_dot": [-3.8716561794281006, -64.76045989990234, 1.7207897901535034, 46.85091018676758, 14.39048957824707, 19.388206481933594, -28.122039794921875], "tau_ext": [-16.774921417236328, -41.722984313964844, 31.78957176208496, 31.26630210876465, 9.482754707336426, -2.992427110671997, -0.1130218505859375], "tcp_pose": [0.677971363067627, 0.03276028856635094, -0.2149905413389206, -0.002305718371644616, -0.004570843651890755, 0.9998869299888611, 0.014138530008494854], "tcp_vel": [0.00033340565278194845, -0.00017314344586338848, 0.00016935437452048063, -0.001121441018767655, -0.0010493312729522586, 0.0013397571165114641], "flange_pose": [0.6786823868751526, 0.028522372245788574, -0.0650521069765091, -0.002305718371644616, -0.004570843651890755, 0.9998869299888611, 0.014138530008494854], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.71746063232422, 15.312167167663574, 28.199432373046875, 0.4004669487476349, -24.00867462158203, 1.8106911182403564], "ext_wrench_in_world": [-107.98444916680711, 15.110487021107916, -27.27184802566568, -0.19113928883979459, -23.950602412620654, -2.4874772426179854]}
+{"timestamp_ns": 1789729883522267987, "elapsed_ms": 2900, "source_timestamp_ns": 1789729883521857104, "q": [0.8360510468482971, -1.8965342044830322, -1.005652904510498, 1.381182312965393, -0.1623678356409073, 0.5942243337631226, 0.7042589783668518], "theta": [0.8380788564682007, -1.8946102857589722, -1.0038009881973267, 1.3627761602401733, -0.1629471778869629, 0.5941826105117798, 0.7042368054389954], "dq": [0.00032124214340001345, 0.0002055321674561128, 0.0023804970551282167, -0.0002515893429517746, -4.0586674003861845e-05, 0.002217906527221203, -0.0010386432986706495], "dtheta": [-0.00010540123184910044, 0.0001387509546475485, -0.00047677187831141055, 2.3497048005083343e-06, 0.00048000915558077395, -0.0008098637335933745, 0.00022375477419700474], "tau": [55.68000030517578, 23.559999465942383, 5.640000343322754, -26.328001022338867, -2.5160000324249268, 2.6520001888275146, -0.5680000185966492], "tau_des": [0.6169887781143188, -0.5622298717498779, -0.10952629894018173, -0.5956227779388428, 0.9375128149986267, -1.1321728229522705, -0.5575494766235352], "tau_dot": [1.766159176826477, 95.22999572753906, 29.49408531188965, -32.406211853027344, 49.44242477416992, 22.761980056762695, -33.93442153930664], "tau_ext": [-16.857845306396484, -41.59016799926758, 31.722957611083984, 31.305803298950195, 9.469831466674805, -3.0003225803375244, -0.10532371699810028], "tcp_pose": [0.6779730916023254, 0.032757312059402466, -0.21499042212963104, -0.0023085791617631912, -0.004567569587379694, 0.9998869299888611, 0.014139305800199509], "tcp_vel": [-4.374290074338205e-05, -0.0003983191854786128, -0.00018944969633594155, -0.00043570567504502833, 0.0008408190333284438, -0.0008978138794191182], "flange_pose": [0.6786849498748779, 0.0285191610455513, -0.06505199521780014, -0.0023085791617631912, -0.004567569587379694, 0.9998869299888611, 0.014139305800199509], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.30033111572266, 15.471193313598633, 28.252891540527344, 0.420059472322464, -23.90960693359375, 1.81077241897583], "ext_wrench_in_world": [-107.56909835631232, 15.275530587947767, -27.322005866296433, -0.21179904005638217, -23.85175141791121, -2.48470237601356]}
+{"timestamp_ns": 1789729883555591258, "elapsed_ms": 2933, "source_timestamp_ns": 1789729883551796987, "q": [0.836052656173706, -1.8965301513671875, -1.0056614875793457, 1.3811867237091064, -0.16236159205436707, 0.5942156910896301, 0.7042539715766907], "theta": [0.8380802273750305, -1.8946073055267334, -1.0038092136383057, 1.362778902053833, -0.16294117271900177, 0.5941740274429321, 0.704231321811676], "dq": [-0.0011561746941879392, -0.0020647337660193443, 8.35210521472618e-05, -7.572015601908788e-05, 0.0032266890630126, -0.0006891930243000388, 0.000257901701843366], "dtheta": [-0.00034068201784975827, 0.00021929699869360775, -0.00015094706031959504, 0.0002757539914455265, 5.9517256886465475e-05, -0.0003221365041099489, -0.0006086784414947033], "tau": [55.53999710083008, 23.53999900817871, 5.564000129699707, -26.420001983642578, -2.564000129699707, 2.6720001697540283, -0.5680000185966492], "tau_des": [0.6887851357460022, -0.5346876978874207, -0.10930441319942474, -0.6590758562088013, 0.9345813989639282, -1.1062343120574951, -0.5445770621299744], "tau_dot": [-79.1076431274414, -60.70757293701172, -28.719070434570312, 37.31660079956055, -26.689729690551758, 2.352741241455078, -16.224454879760742], "tau_ext": [-16.7929630279541, -41.55101776123047, 31.718164443969727, 31.43405532836914, 9.471294403076172, -3.012336254119873, -0.10450506955385208], "tcp_pose": [0.677973210811615, 0.03274960815906525, -0.21499206125736237, -0.0023130797781050205, -0.004564317408949137, 0.9998869895935059, 0.014135962352156639], "tcp_vel": [-0.00014042368275113404, -0.0002472288906574249, -0.00033894169609993696, -0.0002628210640978068, 0.000773344945628196, 0.00037410060758702457], "flange_pose": [0.6786864399909973, 0.028512466698884964, -0.06505360454320908, -0.0023130797781050205, -0.004564317408949137, 0.9998869895935059, 0.014135962352156639], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.48406982421875, 15.240621566772461, 28.230525970458984, 0.3711915910243988, -23.948322296142578, 1.804041862487793], "ext_wrench_in_world": [-107.75078200726483, 15.043239753954154, -27.304474410173153, -0.16272511551345653, -23.89020598279582, -2.479126796907218]}
+{"timestamp_ns": 1789729883588900180, "elapsed_ms": 2966, "source_timestamp_ns": 1789729883581756598, "q": [0.8360562324523926, -1.8965353965759277, -1.005660057067871, 1.381188988685608, -0.16235777735710144, 0.5942190885543823, 0.7042519450187683], "theta": [0.8380837440490723, -1.8946114778518677, -1.0038082599639893, 1.362780213356018, -0.16293615102767944, 0.5941776037216187, 0.7042281627655029], "dq": [0.0007530460134148598, -0.0009239108767360449, 0.0037458885926753283, -0.0009064414189197123, -0.0015936816344037652, -0.000630797992926091, -0.0013479909393936396], "dtheta": [-1.4115973499428947e-05, 0.00017925849533639848, 0.0004578746447805315, 0.00010847101657418534, -0.0008645295747555792, 0.0002013907505897805, 0.0004743448516819626], "tau": [55.55999755859375, 23.84000015258789, 5.436000347137451, -26.280000686645508, -2.51200008392334, 2.628000020980835, -0.5680000185966492], "tau_des": [0.5750606060028076, -0.547473132610321, -0.2095772624015808, -0.5673483610153198, 0.9573521018028259, -1.1530355215072632, -0.5466075539588928], "tau_dot": [25.347644805908203, 26.314430236816406, -32.4570198059082, -22.961610794067383, 22.399818420410156, -38.350372314453125, -37.34933090209961], "tau_ext": [-16.735074996948242, -41.6844367980957, 31.794706344604492, 31.42259407043457, 9.462586402893066, -3.0078248977661133, -0.09959957003593445], "tcp_pose": [0.677971363067627, 0.03275224193930626, -0.21499204635620117, -0.0023121964186429977, -0.00456665875390172, 0.9998869895935059, 0.01413609180599451], "tcp_vel": [4.733897185360547e-06, 0.00014999507402535528, 0.00011448002624092624, -4.414753493620083e-05, -0.00037228979635983706, 0.00021923660824541003], "flange_pose": [0.6786842942237854, 0.028515059500932693, -0.06505359709262848, -0.0023121964186429977, -0.00456665875390172, 0.9998869895935059, 0.01413609180599451], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82846069335938, 15.091483116149902, 28.185659408569336, 0.3521004617214203, -24.034008026123047, 1.8061704635620117], "ext_wrench_in_world": [-108.093609394312, 14.889237988064455, -27.262490617787236, -0.14275241119449028, -23.975618240680607, -2.483771326949534]}
+{"timestamp_ns": 1789729883622262707, "elapsed_ms": 3000, "source_timestamp_ns": 1789729883621739404, "q": [0.8360593318939209, -1.8965559005737305, -1.0056554079055786, 1.3811837434768677, -0.16236059367656708, 0.5942305326461792, 0.7042531967163086], "theta": [0.8380867838859558, -1.8946304321289062, -1.003806710243225, 1.3627760410308838, -0.16293878853321075, 0.5941888093948364, 0.7042293548583984], "dq": [-0.0015191847924143076, 0.0017390715656802058, -0.002623053500428796, -0.00337205920368433, -0.0015538689913228154, 0.0015379402320832014, 0.001103877671994269], "dtheta": [0.00021821644622832537, -0.0001663932198425755, -3.607528924476355e-05, 6.582709465874359e-05, -2.7213425255467882e-06, 0.0005442140391096473, -0.000166161815286614], "tau": [55.7599983215332, 23.639999389648438, 5.496000289916992, -26.148000717163086, -2.5400002002716064, 2.620000123977661, -0.5600000023841858], "tau_des": [0.5323733687400818, -0.4755477011203766, -0.26855748891830444, -0.522515594959259, 0.9705331325531006, -1.1945375204086304, -0.5185877680778503], "tau_dot": [143.68206787109375, 11.004501342773438, 46.7198486328125, 12.589604377746582, -24.18739891052246, -18.718952178955078, -38.10057067871094], "tau_ext": [-16.79132080078125, -41.77755355834961, 31.857177734375, 31.2646541595459, 9.452544212341309, -2.9931159019470215, -0.10633721947669983], "tcp_pose": [0.6779695749282837, 0.0327635183930397, -0.21499185264110565, -0.0023043318651616573, -0.004574891179800034, 0.9998869895935059, 0.014134340919554234], "tcp_vel": [9.06125787878409e-05, 0.00010224254219792783, 0.0001294428511755541, 0.00017093979113269597, -0.0005939137772656977, 0.00025115199969150126], "flange_pose": [0.6786801815032959, 0.02852685935795307, -0.06505338847637177, -0.0023043318651616573, -0.004574891179800034, 0.9998869895935059, 0.014134340919554234], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67174530029297, 15.450974464416504, 28.215755462646484, 0.44165632128715515, -24.01295280456543, 1.8172919750213623], "ext_wrench_in_world": [-107.94011663777322, 15.249015807004977, -27.28488485188637, -0.23211826220160237, -23.95509409013659, -2.4938125566995133]}
+{"timestamp_ns": 1789729883655590457, "elapsed_ms": 3033, "source_timestamp_ns": 1789729883651719983, "q": [0.8360570669174194, -1.8965518474578857, -1.0056709051132202, 1.3811830282211304, -0.16236215829849243, 0.59422767162323, 0.7042557597160339], "theta": [0.8380849361419678, -1.8946266174316406, -1.0038211345672607, 1.3627759218215942, -0.16293999552726746, 0.5941864252090454, 0.7042317986488342], "dq": [-0.00011741627531591803, -0.0014725703513249755, -0.001413207734003663, -0.0004890398704446852, -0.0028711454942822456, -0.0003161953645758331, -0.00031713602948002517], "dtheta": [-5.946414967183955e-05, 8.480261021759361e-05, -0.0012260861694812775, -2.521909846109338e-05, 0.0003236587217543274, -0.00010023018694482744, 0.0010320268338546157], "tau": [55.689998626708984, 23.40999984741211, 5.692000389099121, -26.380001068115234, -2.556000232696533, 2.688000202178955, -0.5560000538825989], "tau_des": [0.5786197185516357, -0.6358326077461243, 0.023786479607224464, -0.5550459623336792, 0.9664533734321594, -1.1557129621505737, -0.5840900540351868], "tau_dot": [-3.131093740463257, -69.41513061523438, 21.231735229492188, -22.880422592163086, 29.118112564086914, 0.5427340269088745, 12.13146686553955], "tau_ext": [-16.873136520385742, -41.537288665771484, 31.688095092773438, 31.296873092651367, 9.46967601776123, -3.0032944679260254, -0.11442726105451584], "tcp_pose": [0.6779752969741821, 0.03275332972407341, -0.2149929255247116, -0.002303310902789235, -0.0045671951957046986, 0.9998871088027954, 0.014129688031971455], "tcp_vel": [0.00036622086190618575, -0.0006892613600939512, -0.00010984756227117032, -0.0005746266688220203, -6.390213093254715e-05, -0.002130538458004594], "flange_pose": [0.6786856055259705, 0.028518058359622955, -0.06505440920591354, -0.002303310902789235, -0.0045671951957046986, 0.9998871088027954, 0.014129688031971455], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.37671661376953, 15.476407051086426, 28.2353572845459, 0.42623770236968994, -23.927509307861328, 1.8075275421142578], "ext_wrench_in_world": [-107.64514106251853, 15.279111898647768, -27.305424226144694, -0.21779326043230182, -23.869841847693507, -2.481481882670849]}
+{"timestamp_ns": 1789729883688901439, "elapsed_ms": 3066, "source_timestamp_ns": 1789729883681739749, "q": [0.8360567092895508, -1.896548867225647, -1.0056902170181274, 1.3811843395233154, -0.16235828399658203, 0.5942214131355286, 0.7042531967163086], "theta": [0.8380848169326782, -1.89462411403656, -1.0038392543792725, 1.362776517868042, -0.16293734312057495, 0.594180703163147, 0.7042298316955566], "dq": [-0.0016823039622977376, 0.0029156820382922888, -0.00035729605588130653, -0.0002871260803658515, -0.0027163580525666475, 9.98480390990153e-06, 0.0033586358185857534], "dtheta": [-0.00014030153397470713, 0.00020672082609962672, 0.0001822954072849825, -0.0003151558921672404, -0.0002696019655559212, -2.943795516330283e-05, -0.00031989082344807684], "tau": [55.56999969482422, 23.53999900817871, 5.6080002784729, -26.36800193786621, -2.576000213623047, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.5449076890945435, -0.5983830094337463, -0.06011127680540085, -0.5364935994148254, 0.9833953380584717, -1.155705213546753, -0.5608924031257629], "tau_dot": [-32.77877426147461, 28.855043411254883, -21.16380500793457, 28.71649169921875, -46.18012619018555, -13.12295150756836, 38.10671615600586], "tau_ext": [-16.829410552978516, -41.555728912353516, 31.69132423400879, 31.40169334411621, 9.48134708404541, -3.016395092010498, -0.11981812864542007], "tcp_pose": [0.6779802441596985, 0.032740794122219086, -0.21499501168727875, -0.0023043276742100716, -0.004559762310236692, 0.999887228012085, 0.014123402535915375], "tcp_vel": [0.00011876420467160642, 7.631006155861542e-05, 0.0001356823486275971, 0.00026549643371254206, -0.00019184347183909267, 0.00040929423994384706], "flange_pose": [0.6786907911300659, 0.028507402166724205, -0.0650564506649971, -0.0023043276742100716, -0.004559762310236692, 0.999887228012085, 0.014123402535915375], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.39380645751953, 15.256415367126465, 28.270437240600586, 0.3744255602359772, -23.926170349121094, 1.7972790002822876], "ext_wrench_in_world": [-107.6602379301562, 15.061299683574422, -27.346588776809238, -0.16630627391831704, -23.86834497609498, -2.471130147432945]}
+{"timestamp_ns": 1789729883722257097, "elapsed_ms": 3100, "source_timestamp_ns": 1789729883721724944, "q": [0.8360653519630432, -1.8965561389923096, -1.0056787729263306, 1.3811850547790527, -0.16235031187534332, 0.594222366809845, 0.7042500972747803], "theta": [0.8380926251411438, -1.8946306705474854, -1.0038293600082397, 1.362776517868042, -0.16292919218540192, 0.5941811800003052, 0.7042257785797119], "dq": [-0.00020219467114657164, 0.002507692202925682, -0.0003109534445684403, 0.0004417925956659019, 0.0005502966232597828, 0.0013750140788033605, -0.0015854454832151532], "dtheta": [0.0001278158015338704, 2.589020141385845e-06, 0.0006766963633708656, -0.00012803722347598523, 0.000155523419380188, 0.0013883961364626884, -0.0010242462158203125], "tau": [55.54999923706055, 23.829999923706055, 5.396000385284424, -26.284000396728516, -2.5, 2.6760001182556152, -0.5760000348091125], "tau_des": [0.47596263885498047, -0.514424741268158, -0.25936365127563477, -0.46915674209594727, 0.9719774723052979, -1.2182245254516602, -0.52443528175354], "tau_dot": [-67.81124877929688, 74.4107894897461, 7.171261787414551, -3.0573651790618896, 82.7879638671875, -73.39550018310547, -11.500198364257812], "tau_ext": [-16.681121826171875, -41.74566650390625, 31.829195022583008, 31.375213623046875, 9.468413352966309, -3.00419282913208, -0.11431454867124557], "tcp_pose": [0.6779751181602478, 0.03274986520409584, -0.21499156951904297, -0.002303985645994544, -0.004565643612295389, 0.9998871088027954, 0.014126901514828205], "tcp_vel": [9.023484017234296e-05, 0.0006268618162721395, 0.00032740607275627553, 0.001517120748758316, -0.001009138417430222, 0.001357045490294695], "flange_pose": [0.6786856055259705, 0.02851542830467224, -0.06505303829908371, -0.002303985645994544, -0.004565643612295389, 0.9998871088027954, 0.014126901514828205], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7454605102539, 15.17860221862793, 28.194395065307617, 0.37844792008399963, -24.01772117614746, 1.8046125173568726], "ext_wrench_in_world": [-108.0109624323935, 14.977069319309866, -27.271184939590317, -0.1692510820683407, -23.95966998550579, -2.4811988872419617]}
+{"timestamp_ns": 1789729883755587307, "elapsed_ms": 3133, "source_timestamp_ns": 1789729883751713623, "q": [0.8360689282417297, -1.8965696096420288, -1.0056748390197754, 1.3811802864074707, -0.16234683990478516, 0.5942210555076599, 0.7042460441589355], "theta": [0.8380972743034363, -1.8946435451507568, -1.0038262605667114, 1.3627727031707764, -0.1629248857498169, 0.5941795110702515, 0.7042219638824463], "dq": [-0.0009193518781103194, 0.0008942669373936951, -0.0008399408543482423, -0.0008381244842894375, -0.0032131909392774105, -0.0002827455464284867, 0.0013540078653022647], "dtheta": [0.0002449230814818293, 0.0002394343027845025, -0.00018736632773652673, -0.0006341415573842824, 0.00045373610919341445, 0.0007085444522090256, -0.0008317642495967448], "tau": [55.78999710083008, 23.59000015258789, 5.544000148773193, -26.224000930786133, -2.5, 2.624000072479248, -0.5640000104904175], "tau_des": [0.40013453364372253, -0.59253990650177, -0.1844635307788849, -0.4061295688152313, 0.9848804473876953, -1.2292381525039673, -0.5247000455856323], "tau_dot": [103.70954895019531, 14.602216720581055, 45.60675811767578, -25.577322006225586, 40.0462646484375, 27.0325870513916, -11.80533218383789], "tau_ext": [-16.800926208496094, -41.72796630859375, 31.81563949584961, 31.2877254486084, 9.444114685058594, -2.9879703521728516, -0.10987108200788498], "tcp_pose": [0.677972137928009, 0.0327569916844368, -0.21499118208885193, -0.002302388194948435, -0.004572280216962099, 0.9998871088027954, 0.01412520743906498], "tcp_vel": [0.0004978025099262595, 9.112056432059035e-05, 0.0005530714988708496, 0.0011712652631103992, -0.001121609122492373, 0.00016954664897639304], "flange_pose": [0.6786821484565735, 0.028523067012429237, -0.06505263596773148, -0.002302388194948435, -0.004572280216962099, 0.9998871088027954, 0.01412520743906498], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7221450805664, 15.37535572052002, 28.19992446899414, 0.4287394881248474, -24.02409553527832, 1.8106343746185303], "ext_wrench_in_world": [-107.98956616860985, 15.172586240645295, -27.271671562882048, -0.21918512731951661, -23.966345205315143, -2.4870938975111514]}
+{"timestamp_ns": 1789729883788904018, "elapsed_ms": 3166, "source_timestamp_ns": 1789729883781721900, "q": [0.8360663056373596, -1.8965662717819214, -1.0056787729263306, 1.3811753988265991, -0.1623411774635315, 0.5942113995552063, 0.7042469382286072], "theta": [0.8380956649780273, -1.8946411609649658, -1.0038297176361084, 1.3627676963806152, -0.16291889548301697, 0.5941702127456665, 0.7042222023010254], "dq": [-5.5891308875288814e-05, 0.0021818599198013544, -0.002461341442540288, -0.002327774651348591, -0.0008290990954264998, 0.0013767691561952233, 2.3998378310352564e-05], "dtheta": [-0.0003405194729566574, 0.00029908871510997415, -0.00022144413378555328, 2.5839717636699788e-05, -0.00019985120161436498, -0.0004637401143554598, 0.00012699069338850677], "tau": [55.66999816894531, 23.559999465942383, 5.636000156402588, -26.336000442504883, -2.5360000133514404, 2.6680002212524414, -0.5640000104904175], "tau_des": [0.6295716762542725, -0.550121545791626, -0.12867027521133423, -0.5905201435089111, 0.9499564170837402, -1.1430295705795288, -0.5528415441513062], "tau_dot": [-61.068904876708984, 17.422046661376953, -3.162445545196533, 51.098602294921875, -18.045656204223633, -42.68606948852539, -24.776077270507812], "tau_ext": [-16.91037940979004, -41.6084098815918, 31.72259521484375, 31.29875373840332, 9.44494915008545, -2.993178606033325, -0.11101874709129333], "tcp_pose": [0.6779731512069702, 0.032753583043813705, -0.21499158442020416, -0.0023062622640281916, -0.004567389376461506, 0.9998871684074402, 0.014125177636742592], "tcp_vel": [1.1160591384395957e-05, -0.0003023644967470318, -0.0002023865090450272, -0.00036232080310583115, 0.0005341284559108317, -0.0003567416570149362], "flange_pose": [0.6786843538284302, 0.02851966768503189, -0.06505303084850311, -0.0023062622640281916, -0.004567389376461506, 0.9998871684074402, 0.014125177636742592], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.36701965332031, 15.456791877746582, 28.276975631713867, 0.425197035074234, -23.938440322875977, 1.8024780750274658], "ext_wrench_in_world": [-107.63563143269059, 15.260469295211855, -27.347131444465454, -0.2166323647750645, -23.88092355590147, -2.4765309118214587]}
+{"timestamp_ns": 1789729883822255756, "elapsed_ms": 3200, "source_timestamp_ns": 1789729883821725704, "q": [0.836068868637085, -1.8965603113174438, -1.005686640739441, 1.3811781406402588, -0.16233105957508087, 0.5942047238349915, 0.7042444348335266], "theta": [0.838099479675293, -1.8946363925933838, -1.003835916519165, 1.362769603729248, -0.16290882229804993, 0.5941632986068726, 0.7042205333709717], "dq": [0.0010404553031548858, 0.00023632879310753196, 0.00105055863969028, -0.0009667775011621416, 0.002826390787959099, 0.0009888114873319864, 1.229569170391187e-05], "dtheta": [-3.5732900869334117e-05, 0.0005703957285732031, -2.988555934280157e-05, 4.713004091172479e-05, 5.984297240502201e-05, -0.0003849924250971526, -0.00038972601760178804], "tau": [55.63999938964844, 23.65999984741211, 5.580000400543213, -26.340002059936523, -2.492000102996826, 2.6600000858306885, -0.5680000185966492], "tau_des": [0.5584505200386047, -0.6255301833152771, -0.09906904399394989, -0.5523727536201477, 0.937256395816803, -1.1462129354476929, -0.5633552074432373], "tau_dot": [64.15726470947266, 44.26936721801758, 25.140735626220703, 17.364580154418945, 76.13694763183594, 34.2217903137207, -0.5913988351821899], "tau_ext": [-16.766971588134766, -41.542049407958984, 31.704517364501953, 31.407398223876953, 9.452656745910645, -3.0068271160125732, -0.11342992633581161], "tcp_pose": [0.6779742240905762, 0.03274664282798767, -0.21499133110046387, -0.002310030395165086, -0.004561330191791058, 0.9998871684074402, 0.014125101268291473], "tcp_vel": [5.623514880426228e-05, -0.0002500902337487787, 7.344660116359591e-05, 0.00016420608153566718, 0.0003761453554034233, -3.0200681067071855e-05], "flange_pose": [0.6786864995956421, 0.028512751683592796, -0.06505279242992401, -0.002310030395165086, -0.004561330191791058, 0.9998871684074402, 0.014125101268291473], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.51515197753906, 15.184952735900879, 28.265012741088867, 0.3624460995197296, -23.966552734375, 1.7910188436508179], "ext_wrench_in_world": [-107.78126477273436, 14.988338243148158, -27.34136646726888, -0.15388159909636423, -23.908768470409896, -2.4661460469202434]}
+{"timestamp_ns": 1789729883855586256, "elapsed_ms": 3233, "source_timestamp_ns": 1789729883851792465, "q": [0.8360728621482849, -1.896567940711975, -1.0056843757629395, 1.3811787366867065, -0.16233165562152863, 0.5942061543464661, 0.7042427062988281], "theta": [0.838103711605072, -1.894642949104309, -1.0038344860076904, 1.3627694845199585, -0.16290907561779022, 0.5941649675369263, 0.7042192816734314], "dq": [0.00103959406260401, 0.001434818608686328, 0.0026428066194057465, -0.0013659483520314097, -0.001785610686056316, -0.0029040800873190165, 0.004570574499666691], "dtheta": [-9.975595276046079e-06, -0.0007245580782182515, 0.0004726820334326476, 4.136864845349919e-06, -0.0002853172190953046, -0.0008682518964633346, -0.00010212649067398161], "tau": [55.55999755859375, 23.81999969482422, 5.38800048828125, -26.296001434326172, -2.5240001678466797, 2.692000150680542, -0.5480000376701355], "tau_des": [0.6535888314247131, -0.38126274943351746, -0.29354697465896606, -0.6338874101638794, 0.9512169361114502, -1.1264946460723877, -0.5376021265983582], "tau_dot": [-55.62969207763672, -185.52171325683594, 4.588603496551514, 88.71182250976562, -2.192655563354492, -22.889888763427734, -9.112031936645508], "tau_ext": [-16.774633407592773, -41.74085998535156, 31.79362678527832, 31.36227035522461, 9.445491790771484, -2.995053768157959, -0.11467794328927994], "tcp_pose": [0.6779724359512329, 0.0327502116560936, -0.2149907648563385, -0.0023079663515090942, -0.00456575583666563, 0.9998871684074402, 0.01412312500178814], "tcp_vel": [-0.000478158937767148, 0.00031621113885194063, -0.0002727146493270993, -0.000983109581284225, 0.0006593161378987134, 0.0010996446944773197], "flange_pose": [0.6786841154098511, 0.028516914695501328, -0.06505219638347626, -0.0023079663515090942, -0.00456575583666563, 0.9998871684074402, 0.01412312500178814], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66834259033203, 15.175183296203613, 28.233531951904297, 0.3750927746295929, -24.01180076599121, 1.7968711853027344], "ext_wrench_in_world": [-107.93422458929011, 14.975220389170603, -27.310006358588375, -0.1659242356860682, -23.953958697656482, -2.473125255781878]}
+{"timestamp_ns": 1789729883888892978, "elapsed_ms": 3266, "source_timestamp_ns": 1789729883881742838, "q": [0.8360758423805237, -1.8965845108032227, -1.005682349205017, 1.3811774253845215, -0.1623336672782898, 0.5942087173461914, 0.7042421698570251], "theta": [0.8381073474884033, -1.8946585655212402, -1.0038340091705322, 1.3627684116363525, -0.16291098296642303, 0.5941668748855591, 0.7042192816734314], "dq": [-0.00013862380001228303, -0.0015458414563909173, -0.0016958856722339988, 0.0010542444651946425, 0.004873322788625956, 0.001049600075930357, -0.0015504040056839585], "dtheta": [0.00011172816448379308, 0.00029527590959332883, -0.0001756239653332159, -0.0001327627687714994, -0.00026228956994600594, -0.0003166619862895459, -0.0005606081103906035], "tau": [55.57999801635742, 23.670000076293945, 5.468000411987305, -26.288002014160156, -2.5360000133514404, 2.6720001697540283, -0.5600000023841858], "tau_des": [0.5225552320480347, -0.5360915660858154, -0.18982936441898346, -0.527305543422699, 0.9760875105857849, -1.167076826095581, -0.5248655080795288], "tau_dot": [-6.506944179534912, 71.37763214111328, 59.22038650512695, 36.632625579833984, 22.849937438964844, -0.2114390879869461, -12.087102890014648], "tau_ext": [-16.789321899414062, -41.78183364868164, 31.856117248535156, 31.323848724365234, 9.452214241027832, -2.9965367317199707, -0.11889245361089706], "tcp_pose": [0.677969217300415, 0.0327567495405674, -0.21499256789684296, -0.002304928842931986, -0.004572771489620209, 0.999887228012085, 0.014118161983788013], "tcp_vel": [0.0001900914212455973, -0.00022681013797409832, 0.00019828685617540032, -0.0001841392950154841, -0.00019620188686531037, 0.00037114674341864884], "flange_pose": [0.6786799430847168, 0.028524940833449364, -0.06505395472049713, -0.002304928842931986, -0.004572771489620209, 0.999887228012085, 0.014118161983788013], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66468811035156, 15.405614852905273, 28.26312255859375, 0.43164655566215515, -24.01869773864746, 1.8034439086914062], "ext_wrench_in_world": [-107.93283928774692, 15.204642018420541, -27.33392024636239, -0.22209340190299126, -23.961214754523095, -2.47940149023421]}
+{"timestamp_ns": 1789729883922263835, "elapsed_ms": 3300, "source_timestamp_ns": 1789729883921756470, "q": [0.8360757231712341, -1.896578311920166, -1.0056970119476318, 1.3811769485473633, -0.16233304142951965, 0.5942044854164124, 0.7042427062988281], "theta": [0.8381077647209167, -1.8946534395217896, -1.0038479566574097, 1.3627678155899048, -0.16291098296642303, 0.5941623449325562, 0.7042207717895508], "dq": [-0.00044385582441464067, 0.002769242040812969, -0.0032553139608353376, 0.0008095570374280214, -0.0030695125460624695, 0.0032174026127904654, -0.0021136344876140356], "dtheta": [6.749106978531927e-05, -0.00013211852638050914, -0.0009542141342535615, 3.7485115171875805e-05, -0.000502477923873812, -0.0008750319248065352, 0.0001295567344641313], "tau": [55.72999954223633, 23.510000228881836, 5.672000408172607, -26.34800148010254, -2.5840001106262207, 2.700000047683716, -0.5440000295639038], "tau_des": [0.5786913633346558, -0.5798162221908569, -0.010919838212430477, -0.5856677889823914, 0.9894853234291077, -1.1274827718734741, -0.5662991404533386], "tau_dot": [58.219417572021484, 47.953033447265625, 21.564464569091797, 57.88058090209961, -33.97297668457031, -19.194313049316406, -26.60822868347168], "tau_ext": [-16.861862182617188, -41.55203628540039, 31.697362899780273, 31.345674514770508, 9.47114372253418, -3.001000165939331, -0.11732703447341919], "tcp_pose": [0.677975058555603, 0.032746318727731705, -0.21499192714691162, -0.0023041353560984135, -0.004565141629427671, 0.9998872876167297, 0.014114763587713242], "tcp_vel": [0.00018817551608663052, -0.0006677256897091866, -0.0001213827490573749, -0.001613570493645966, 4.8251204134430736e-05, -0.00040509310201741755], "flange_pose": [0.6786855459213257, 0.028515521436929703, -0.06505328416824341, -0.0023041353560984135, -0.004565141629427671, 0.9998872876167297, 0.014114763587713242], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.4842529296875, 15.367993354797363, 28.248308181762695, 0.4007943868637085, -23.95772933959961, 1.7969762086868286], "ext_wrench_in_world": [-107.75173190832604, 15.169739261187097, -27.32123797052037, -0.1921271390293138, -23.900185478979946, -2.471189182851945]}
+{"timestamp_ns": 1789729883955586305, "elapsed_ms": 3333, "source_timestamp_ns": 1789729883951736290, "q": [0.8360739946365356, -1.8965774774551392, -1.0057088136672974, 1.381177306175232, -0.16232915222644806, 0.594201385974884, 0.7042414546012878], "theta": [0.8381073474884033, -1.8946529626846313, -1.003859281539917, 1.3627679347991943, -0.16290739178657532, 0.5941587686538696, 0.7042200565338135], "dq": [0.00024914403911679983, 6.795809167670086e-05, 0.00020036223577335477, -0.000756739464122802, -0.002050472889095545, 0.00018283349345438182, 0.0016605346463620663], "dtheta": [0.00020753269200213253, -4.9980615585809574e-05, 0.00010248293256154284, -5.6615204812260345e-05, 0.00016411828983109444, 0.0002914807409979403, 0.00036541317240335047], "tau": [55.54999923706055, 23.60999870300293, 5.544000148773193, -26.340002059936523, -2.51200008392334, 2.692000150680542, -0.5360000133514404], "tau_des": [0.5272112488746643, -0.5728643536567688, -0.09977898746728897, -0.5347046256065369, 0.9681398868560791, -1.159856915473938, -0.5774754285812378], "tau_dot": [-65.20449829101562, -20.770668029785156, -16.71993064880371, -11.419262886047363, 74.12388610839844, 49.7019157409668, 41.33781051635742], "tau_ext": [-16.842952728271484, -41.60777282714844, 31.71649932861328, 31.3783016204834, 9.476713180541992, -3.004056453704834, -0.11927639693021774], "tcp_pose": [0.6779775619506836, 0.03273925930261612, -0.21499431133270264, -0.0023054599296301603, -0.004560291767120361, 0.9998873472213745, 0.014111417345702648], "tcp_vel": [5.126734686200507e-05, 0.0001395802537444979, 0.000176540735992603, 0.0003516740398481488, -0.0003396441461518407, -0.00036689714761450887], "flange_pose": [0.6786884665489197, 0.028509465977549553, -0.06505564600229263, -0.0023054599296301603, -0.004560291767120361, 0.9998873472213745, 0.014111417345702648], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.46720886230469, 15.237781524658203, 28.299100875854492, 0.3708036243915558, -23.95375633239746, 1.7946172952651978], "ext_wrench_in_world": [-107.73367937215643, 15.042029132635044, -27.375568767417043, -0.16240009485573198, -23.89602005439523, -2.4686921163503195]}
+{"timestamp_ns": 1789729883988997298, "elapsed_ms": 3366, "source_timestamp_ns": 1789729883981903332, "q": [0.836078405380249, -1.8965816497802734, -1.0057047605514526, 1.3811776638031006, -0.16231706738471985, 0.5942004919052124, 0.7042317986488342], "theta": [0.8381118178367615, -1.8946564197540283, -1.0038563013076782, 1.3627679347991943, -0.16289491951465607, 0.594157338142395, 0.7042102217674255], "dq": [0.0007142515969462693, -0.0014630411751568317, 0.001089195953682065, -0.0011727692326530814, 0.0011974296066910028, 4.135735798627138e-05, -0.0014553361106663942], "dtheta": [0.0002465531579218805, 0.00021753784676548094, 0.00017333828145638108, 5.215514829615131e-05, 0.0006040011066943407, -0.001090611214749515, 8.891636389307678e-05], "tau": [55.48999786376953, 23.729999542236328, 5.456000328063965, -26.36400032043457, -2.5200002193450928, 2.696000099182129, -0.5600000023841858], "tau_des": [0.5731051564216614, -0.5505175590515137, -0.1448175311088562, -0.5884133577346802, 0.9367961883544922, -1.123375415802002, -0.5632709264755249], "tau_dot": [-47.684268951416016, -36.338157653808594, -37.8079719543457, 25.851871490478516, 3.1511940956115723, 27.03024673461914, -27.928926467895508], "tau_ext": [-16.72344970703125, -41.704586029052734, 31.788942337036133, 31.36307716369629, 9.457460403442383, -2.9940125942230225, -0.1136632189154625], "tcp_pose": [0.6779741048812866, 0.032743316143751144, -0.21499359607696533, -0.0023076445795595646, -0.004564572125673294, 0.9998872876167297, 0.014114524237811565], "tcp_vel": [-0.0002527404867578298, -0.0001082196831703186, 4.41736847278662e-05, -9.70002802205272e-05, 0.0010110462317243218, -0.0004134800983592868], "flange_pose": [0.6786856651306152, 0.02851259522140026, -0.06505496799945831, -0.0023076445795595646, -0.004564572125673294, 0.9998872876167297, 0.014114524237811565], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.60063934326172, 15.241788864135742, 28.258771896362305, 0.3817087411880493, -23.994277954101562, 1.799804449081421], "ext_wrench_in_world": [-107.86719443136425, 15.042913370122449, -27.33399031962698, -0.17276687059289106, -23.936463847734217, -2.4751206498381437]}
+{"timestamp_ns": 1789729884022255347, "elapsed_ms": 3400, "source_timestamp_ns": 1789729884021815296, "q": [0.8360845446586609, -1.8965883255004883, -1.0057018995285034, 1.3811770677566528, -0.1623115837574005, 0.5941984057426453, 0.7042221426963806], "theta": [0.8381180167198181, -1.8946620225906372, -1.0038552284240723, 1.3627674579620361, -0.16288845241069794, 0.5941547155380249, 0.7041991949081421], "dq": [0.0010934415040537715, -0.0006030714721418917, -0.0018228861736133695, 0.0002261016343254596, -0.001208767993375659, 0.0012664881069213152, 0.0017162567237392068], "dtheta": [-5.8569974498823285e-05, -7.379746966762468e-05, 0.0001431352720828727, -7.728896889602765e-05, -0.0008263729978352785, 0.00020434589532669634, -0.0007196239312179387], "tau": [55.73999786376953, 23.619998931884766, 5.552000045776367, -26.224000930786133, -2.5160000324249268, 2.6080000400543213, -0.5520000457763672], "tau_des": [0.5590949058532715, -0.4961908757686615, -0.21715818345546722, -0.5475174188613892, 0.9836748242378235, -1.167833685874939, -0.5177496671676636], "tau_dot": [26.699480056762695, 7.715603828430176, 9.05457878112793, -35.35041809082031, -17.269775390625, -54.666709899902344, 34.10139846801758], "tau_ext": [-16.826873779296875, -41.724308013916016, 31.79906463623047, 31.349180221557617, 9.436360359191895, -3.0022261142730713, -0.09671106934547424], "tcp_pose": [0.6779717803001404, 0.0327470526099205, -0.2149917334318161, -0.002307088579982519, -0.004571130964905024, 0.9998872876167297, 0.014114136807620525], "tcp_vel": [0.0001007114551612176, 8.968366455519572e-05, 7.195734360720962e-05, -0.00029490800807252526, -0.0005906790611334145, 0.001310556079261005], "flange_pose": [0.6786831617355347, 0.028516452759504318, -0.06505309045314789, -0.002307088579982519, -0.004571130964905024, 0.9998872876167297, 0.014114136807620525], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67894744873047, 15.341588020324707, 28.231441497802734, 0.4219221770763397, -24.022809982299805, 1.8103864192962646], "ext_wrench_in_world": [-107.94643613641855, 15.139743314871899, -27.30365238391351, -0.21245258354833874, -23.965059172972506, -2.4863063954457165]}
+{"timestamp_ns": 1789729884055586041, "elapsed_ms": 3433, "source_timestamp_ns": 1789729884051745834, "q": [0.8360841870307922, -1.8965860605239868, -1.005704402923584, 1.3811780214309692, -0.1623104214668274, 0.5941978693008423, 0.7042235732078552], "theta": [0.8381181955337524, -1.894660472869873, -1.0038572549819946, 1.3627680540084839, -0.16288605332374573, 0.5941537618637085, 0.7041994333267212], "dq": [-1.330386112385895e-06, -0.00030274695018306375, -0.0007918659830465913, 0.0005567562766373158, 0.00011270674440311268, -0.0005562096484936774, 0.0017657128628343344], "dtheta": [1.662407157709822e-06, 9.675893670646474e-05, 5.5110420362325385e-05, 7.282364822458476e-05, -4.611942858900875e-05, 0.00025123581872321665, -0.0010149026056751609], "tau": [55.689998626708984, 23.5, 5.584000110626221, -26.328001022338867, -2.5440001487731934, 2.688000202178955, -0.5760000348091125], "tau_des": [0.5666980743408203, -0.5219627022743225, -0.18828897178173065, -0.5558655261993408, 0.9586750268936157, -1.1634927988052368, -0.5269002318382263], "tau_dot": [27.32251739501953, -23.424531936645508, -20.470935821533203, -10.569602966308594, 4.3262553215026855, 14.402113914489746, -32.224647521972656], "tau_ext": [-16.85062026977539, -41.6194953918457, 31.745319366455078, 31.346052169799805, 9.444743156433105, -2.999738931655884, -0.09767050296068192], "tcp_pose": [0.6779725551605225, 0.03274483606219292, -0.2149919718503952, -0.00230774050578475, -0.004568512551486492, 0.9998872876167297, 0.0141141377389431], "tcp_vel": [3.243084574933164e-05, 2.4365859644603916e-05, 3.277272844570689e-05, 0.0002057455712929368, -0.00017001933883875608, 0.0010194339556619525], "flange_pose": [0.6786841154098511, 0.028514232486486435, -0.06505333632230759, -0.00230774050578475, -0.004568512551486492, 0.9998872876167297, 0.0141141377389431], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.49137878417969, 15.376669883728027, 28.283767700195312, 0.4162922203540802, -23.973831176757812, 1.8072657585144043], "ext_wrench_in_world": [-107.75940236907162, 15.178574195752715, -27.355659220722682, -0.20738086811252543, -23.91613707043764, -2.481828122552026]}
+{"timestamp_ns": 1789729884088908095, "elapsed_ms": 3466, "source_timestamp_ns": 1789729884081884172, "q": [0.8360846042633057, -1.8965846300125122, -1.0057096481323242, 1.3811801671981812, -0.16230899095535278, 0.5941999554634094, 0.7042235732078552], "theta": [0.8381190299987793, -1.894659399986267, -1.0038611888885498, 1.3627688884735107, -0.16288436949253082, 0.5941563844680786, 0.7041994333267212], "dq": [0.0010587999131530523, -0.0002672548871487379, 0.0008559664129279554, -0.0009640022763051093, -0.00070283462991938, 0.0010844134958460927, 0.002970123430714011], "dtheta": [0.0001573657791595906, -0.0003266508283559233, -0.00016494355804752558, -0.00011925528815481812, -0.0007142756949178874, -0.0002667777007445693, -0.00040814472595229745], "tau": [55.59000015258789, 23.56999969482422, 5.580000400543213, -26.308000564575195, -2.5360000133514404, 2.692000150680542, -0.5680000185966492], "tau_des": [0.5477592945098877, -0.5290199518203735, -0.14967450499534607, -0.5494781136512756, 0.9812669157981873, -1.1570930480957031, -0.5431656241416931], "tau_dot": [-112.11296081542969, -82.7143325805664, 33.4544563293457, 32.288978576660156, -48.26497268676758, 45.746158599853516, -38.20240020751953], "tau_ext": [-16.820064544677734, -41.5752067565918, 31.720508575439453, 31.36905288696289, 9.459485054016113, -3.0034592151641846, -0.10438577830791473], "tcp_pose": [0.6779741048812866, 0.03274152800440788, -0.21499240398406982, -0.002307114889845252, -0.004565953742712736, 0.9998872876167297, 0.014113465324044228], "tcp_vel": [9.573753050062805e-05, -6.414701056201011e-05, 8.219200390158221e-05, -0.0008952079224400222, -0.0005101260612718761, 0.0008948849281296134], "flange_pose": [0.6786854863166809, 0.028511125594377518, -0.06505376100540161, -0.002307114889845252, -0.004565953742712736, 0.9998872876167297, 0.014113465324044228], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.49370574951172, 15.264044761657715, 28.27542495727539, 0.3833352029323578, -23.964998245239258, 1.8030236959457397], "ext_wrench_in_world": [-107.76055830619991, 15.06625797698344, -27.350638728740357, -0.17460532156963735, -23.907126878700204, -2.477454057632454]}
+{"timestamp_ns": 1789729884122260247, "elapsed_ms": 3500, "source_timestamp_ns": 1789729884121801238, "q": [0.8360897302627563, -1.8965953588485718, -1.0057098865509033, 1.3811802864074707, -0.16230976581573486, 0.5941996574401855, 0.7042239904403687], "theta": [0.8381242156028748, -1.894668698310852, -1.0038628578186035, 1.362769603729248, -0.16288484632968903, 0.5941561460494995, 0.7041999101638794], "dq": [0.00029516941867768764, 0.000780891627073288, 0.0014987681061029434, -0.00015847421309445053, 0.002088570035994053, -0.0008818368660286069, -0.0004652065981645137], "dtheta": [-8.68577990331687e-05, -0.000545085349585861, -6.357586971716955e-05, 0.00029009924037382007, 8.231600077124313e-06, 0.00014370563440024853, 0.00022174438345246017], "tau": [55.619998931884766, 23.739999771118164, 5.380000114440918, -26.30000114440918, -2.496000051498413, 2.6560001373291016, -0.5440000295639038], "tau_des": [0.6589557528495789, -0.42642536759376526, -0.20845802128314972, -0.6290667653083801, 0.957461416721344, -1.1424235105514526, -0.5446873307228088], "tau_dot": [-17.67179298400879, 6.404632568359375, -58.16307067871094, 35.285728454589844, 104.83990478515625, 12.44015121459961, -5.1495184898376465], "tau_ext": [-16.78484344482422, -41.77406692504883, 31.839752197265625, 31.36187744140625, 9.459074020385742, -3.0003089904785156, -0.10614106804132462], "tcp_pose": [0.6779724359512329, 0.03274446725845337, -0.21499215066432953, -0.0023045632988214493, -0.004569536540657282, 0.9998873472213745, 0.014109031297266483], "tcp_vel": [-0.00023090628383215517, 9.329016756964847e-05, -0.00033778161741793156, -0.0005134455859661102, 0.00020310647960286587, 0.0001372460537822917], "flange_pose": [0.6786830425262451, 0.028515392914414406, -0.06505346298217773, -0.0023045632988214493, -0.004569536540657282, 0.9998873472213745, 0.014109031297266483], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.59647369384766, 15.286123275756836, 28.24403953552246, 0.395331472158432, -23.98915672302246, 1.8070216178894043], "ext_wrench_in_world": [-107.86333621133683, 15.085488177379926, -27.318880526970204, -0.18621767625322072, -23.93129552877818, -2.4818685850513305]}
+{"timestamp_ns": 1789729884155586291, "elapsed_ms": 3533, "source_timestamp_ns": 1789729884151841995, "q": [0.8360954523086548, -1.8966056108474731, -1.005709171295166, 1.3811794519424438, -0.1623092144727707, 0.5941962599754333, 0.7042238712310791], "theta": [0.8381303548812866, -1.8946783542633057, -1.003864049911499, 1.3627688884735107, -0.16288414597511292, 0.5941530466079712, 0.7041999101638794], "dq": [-0.00392710417509079, -0.0002035650541074574, -0.00038303559995256364, 0.00010098850179929286, -9.978066373150796e-06, 0.0007397335139103234, 0.001834036549553275], "dtheta": [-0.0002875318459700793, 0.00036308704875409603, -5.68249452044256e-05, -4.566333518596366e-05, -0.0007333482499234378, -0.0002037735393969342, -0.000578908366151154], "tau": [55.71999740600586, 23.56999969482422, 5.544000148773193, -26.22800064086914, -2.5440001487731934, 2.628000020980835, -0.5320000052452087], "tau_des": [0.5776516795158386, -0.5261226892471313, -0.1677151322364807, -0.5617043375968933, 0.9835541248321533, -1.1566314697265625, -0.5220429301261902], "tau_dot": [23.769203186035156, -18.077119827270508, -18.64932632446289, -15.786054611206055, 19.795000076293945, 6.516014575958252, 61.53792953491211], "tau_ext": [-16.81028175354004, -41.66730499267578, 31.82265853881836, 31.338844299316406, 9.465261459350586, -3.0001986026763916, -0.11090996116399765], "tcp_pose": [0.677970290184021, 0.03274751827120781, -0.21499134600162506, -0.0023030147422105074, -0.004573099315166473, 0.9998874068260193, 0.014104745350778103], "tcp_vel": [0.00013374959235079587, -0.00021319137886166573, -3.3035383239621297e-05, -0.00032645397004671395, -3.635329630924389e-05, 0.0006998909520916641], "flange_pose": [0.6786804795265198, 0.028519732877612114, -0.06505261361598969, -0.0023030147422105074, -0.004573099315166473, 0.9998874068260193, 0.014104745350778103], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63679504394531, 15.393637657165527, 28.235071182250977, 0.41493508219718933, -23.996337890625, 1.8071147203445435], "ext_wrench_in_world": [-107.90460792106295, 15.191331924211003, -27.307178471773838, -0.20557754141697332, -23.93867398741638, -2.4818727797025026]}
+{"timestamp_ns": 1789729884188895576, "elapsed_ms": 3566, "source_timestamp_ns": 1789729884181758044, "q": [0.8360941410064697, -1.896601676940918, -1.0057203769683838, 1.3811793327331543, -0.1623038351535797, 0.5941903591156006, 0.7042222023010254], "theta": [0.8381299376487732, -1.8946752548217773, -1.0038747787475586, 1.3627691268920898, -0.1628786325454712, 0.5941466093063354, 0.7041994333267212], "dq": [0.003347579389810562, -0.0014055488863959908, -0.0013638342497870326, -0.0012420376297086477, 0.002404395956546068, -0.0001164594796136953, 0.0009840908460319042], "dtheta": [0.00036820454988628626, 0.00019216621876694262, -0.00047478158376179636, 2.5602759706089273e-05, 0.0007692375802434981, 7.743162859696895e-05, -0.00016268242325168103], "tau": [55.709999084472656, 23.510000228881836, 5.584000110626221, -26.34800148010254, -2.56000018119812, 2.696000099182129, -0.5560000538825989], "tau_des": [0.4995819628238678, -0.6022740602493286, -0.07114391028881073, -0.528278648853302, 0.9621599912643433, -1.1561335325241089, -0.5621373057365417], "tau_dot": [98.90914154052734, -49.94358825683594, -44.09003448486328, -24.89282989501953, 41.05316925048828, -4.5491228103637695, -22.239959716796875], "tau_ext": [-16.848655700683594, -41.568702697753906, 31.741596221923828, 31.334930419921875, 9.471719741821289, -2.996028423309326, -0.11446850001811981], "tcp_pose": [0.6779730319976807, 0.03273959457874298, -0.21499274671077728, -0.002305477624759078, -0.004567159805446863, 0.9998874664306641, 0.01410241425037384], "tcp_vel": [0.00018871709471568465, -0.0002570565266069025, 0.00021455036767292768, 0.0003538697783369571, -0.0001349627855233848, -0.0007241666899062693], "flange_pose": [0.6786839365959167, 0.028512505814433098, -0.06505400687456131, -0.002305477624759078, -0.004567159805446863, 0.9998874664306641, 0.01410241425037384], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.52143096923828, 15.328452110290527, 28.245880126953125, 0.38495776057243347, -23.959205627441406, 1.799028754234314], "ext_wrench_in_world": [-107.78866923564166, 15.128685138140225, -27.31986413430336, -0.17619520741678268, -23.90151943957328, -2.4727626175172577]}
+{"timestamp_ns": 1789729884222260827, "elapsed_ms": 3600, "source_timestamp_ns": 1789729884221794739, "q": [0.8360965847969055, -1.8966015577316284, -1.0057246685028076, 1.381179690361023, -0.1622951775789261, 0.5941800475120544, 0.7042155265808105], "theta": [0.8381322622299194, -1.894675612449646, -1.0038788318634033, 1.362769365310669, -0.16287072002887726, 0.5941349267959595, 0.7041924595832825], "dq": [0.0001609276805538684, 0.0005875170463696122, -0.0014798786723986268, 0.0005842737155035138, -0.0011653907131403685, 0.0014017332578077912, -0.0017886401619762182], "dtheta": [0.0006478212308138609, 0.00012192619033157825, 0.0003132111160084605, 0.00017124037549365312, 0.0013408305821940303, -0.0003663313400465995, -1.4275238754635211e-05], "tau": [55.64999771118164, 23.689998626708984, 5.560000419616699, -26.328001022338867, -2.5160000324249268, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.5135987997055054, -0.5406087636947632, -0.17681333422660828, -0.5670768022537231, 0.9329730868339539, -1.1293675899505615, -0.5600404143333435], "tau_dot": [51.398223876953125, 63.82548141479492, 38.33224868774414, 40.90178298950195, -2.939319133758545, 8.942550659179688, 26.7014217376709], "tau_ext": [-16.80016326904297, -41.632564544677734, 31.750900268554688, 31.367464065551758, 9.462359428405762, -3.0006635189056396, -0.10839436948299408], "tcp_pose": [0.6779717206954956, 0.03273620456457138, -0.21499332785606384, -0.002309909090399742, -0.0045667048543691635, 0.9998874664306641, 0.014100353233516216], "tcp_vel": [-0.00025045720394700766, 0.00014032385661266744, 0.0002644536434672773, 0.0007847733795642853, 0.000607605034019798, -0.0005553634837269783], "flange_pose": [0.6786839365959167, 0.02850973978638649, -0.06505457311868668, -0.002309909090399742, -0.0045667048543691635, 0.9998874664306641, 0.014100353233516216], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.54186248779297, 15.236696243286133, 28.253721237182617, 0.36907485127449036, -23.96650505065918, 1.7975131273269653], "ext_wrench_in_world": [-107.80853515138708, 15.036972406644992, -27.329307946889124, -0.1602801773553666, -23.90872243744253, -2.4714238216273072]}
+{"timestamp_ns": 1789729884255588311, "elapsed_ms": 3633, "source_timestamp_ns": 1789729884251734225, "q": [0.8361003398895264, -1.8966034650802612, -1.0057241916656494, 1.3811790943145752, -0.1622944325208664, 0.5941810011863708, 0.704212486743927], "theta": [0.8381367921829224, -1.8946771621704102, -1.0038789510726929, 1.3627691268920898, -0.16287046670913696, 0.5941351652145386, 0.7041881680488586], "dq": [0.0028507255483418703, -2.546265022829175e-06, -0.0006001592264510691, -0.0010876705637201667, 0.001766537199728191, -9.7950332929031e-06, -0.0012570405378937721], "dtheta": [0.00016975322796497494, -5.4440326493931934e-05, 0.0001559156517032534, 3.228770583518781e-05, 3.0830509786028415e-05, -0.0008894148049876094, -0.0002507413737475872], "tau": [55.62999725341797, 23.65999984741211, 5.52400016784668, -26.26000213623047, -2.5360000133514404, 2.6520001888275146, -0.5600000023841858], "tau_des": [0.5732271671295166, -0.5055828094482422, -0.17076262831687927, -0.5969597697257996, 0.9627729058265686, -1.1201682090759277, -0.5419126152992249], "tau_dot": [-101.72331237792969, -114.60281372070312, 42.44553756713867, -7.987253189086914, -16.962608337402344, -31.997316360473633, 73.2611083984375], "tau_ext": [-16.813894271850586, -41.67750930786133, 31.755334854125977, 31.33868408203125, 9.455520629882812, -2.996854305267334, -0.10364192724227905], "tcp_pose": [0.6779722571372986, 0.03273732587695122, -0.21499097347259521, -0.0023076783400028944, -0.004568795207887888, 0.9998874664306641, 0.014100520871579647], "tcp_vel": [-0.00021280131477396935, -4.238532710587606e-05, -1.065293236024445e-05, -0.0005210620001889765, 0.000587795686442405, 0.00040609794086776674], "flange_pose": [0.6786837577819824, 0.02851080894470215, -0.06505221873521805, -0.0023076783400028944, -0.004568795207887888, 0.9998874664306641, 0.014100520871579647], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.57423400878906, 15.261727333068848, 28.2627010345459, 0.38552868366241455, -23.986547470092773, 1.8037241697311401], "ext_wrench_in_world": [-107.84111305589, 15.061513831688778, -27.337914139512755, -0.17647120784078532, -23.92873220220579, -2.4781335495359595]}
+{"timestamp_ns": 1789729884288893647, "elapsed_ms": 3666, "source_timestamp_ns": 1789729884281750265, "q": [0.8361020088195801, -1.896607756614685, -1.005723476409912, 1.3811781406402588, -0.16229389607906342, 0.5941824913024902, 0.7042108178138733], "theta": [0.8381397128105164, -1.8946812152862549, -1.0038787126541138, 1.3627687692642212, -0.16287024319171906, 0.594136118888855, 0.704186201095581], "dq": [-0.000655690673738718, 0.0011753358412533998, -0.0032604848966002464, 0.0007107096025720239, -0.0014935871586203575, 0.0008699864847585559, -0.00025962648214772344], "dtheta": [0.0003779980761464685, -0.00029078155057504773, -0.00014110584743320942, -0.00012570399849209934, -4.9722813855623826e-05, -0.0004917571786791086, 0.00034292408963665366], "tau": [55.59000015258789, 23.619998931884766, 5.516000270843506, -26.34800148010254, -2.5400002002716064, 2.6440000534057617, -0.5560000538825989], "tau_des": [0.5104023814201355, -0.5251253247261047, -0.16495898365974426, -0.5414356589317322, 0.9786696434020996, -1.1492266654968262, -0.5491530895233154], "tau_dot": [-185.7899932861328, -132.61769104003906, 13.755739212036133, -19.649948120117188, -15.85644245147705, -12.209423065185547, -3.5069873332977295], "tau_ext": [-16.849153518676758, -41.72996139526367, 31.77839469909668, 31.313308715820312, 9.455742835998535, -2.9933829307556152, -0.10183105617761612], "tcp_pose": [0.6779717803001404, 0.03273943066596985, -0.2149905264377594, -0.0023061521351337433, -0.004571067169308662, 0.9998874664306641, 0.014100058935582638], "tcp_vel": [1.4955814549466595e-05, -4.919818456983194e-05, 0.00016641580441500992, -0.0005879250238649547, -0.00016914425941649824, -0.0002274949656566605], "flange_pose": [0.6786829233169556, 0.028513051569461823, -0.06505177170038223, -0.0023061521351337433, -0.004571067169308662, 0.9998874664306641, 0.014100058935582638], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.46215057373047, 15.398537635803223, 28.296009063720703, 0.4198184013366699, -23.96908950805664, 1.811380386352539], "ext_wrench_in_world": [-107.73041760883329, 15.199724215391305, -27.368200558110548, -0.210838401483154, -23.911384889810495, -2.4851193249413224]}
+{"timestamp_ns": 1789729884322260537, "elapsed_ms": 3700, "source_timestamp_ns": 1789729884321789959, "q": [0.8361054062843323, -1.8966054916381836, -1.0057339668273926, 1.381179928779602, -0.16228625178337097, 0.594180166721344, 0.7042120099067688], "theta": [0.8381434082984924, -1.8946794271469116, -1.0038883686065674, 1.3627699613571167, -0.16286256909370422, 0.5941332578659058, 0.7041872143745422], "dq": [-0.0016180644743144512, -0.002027225447818637, -0.0016175928758457303, -0.00015259305655490607, -0.0010519451461732388, -0.0010290317004546523, -0.0028908168897032738], "dtheta": [0.0007320758304558694, -0.0002222190232714638, -0.0006995579460635781, 4.573514161165804e-05, -0.00030644575599581003, 6.317403313005343e-05, -5.485970541485585e-05], "tau": [55.63999938964844, 23.439998626708984, 5.640000343322754, -26.296001434326172, -2.5280001163482666, 2.7080001831054688, -0.5400000214576721], "tau_des": [0.4183746874332428, -0.6382351517677307, -0.03429481014609337, -0.4859856367111206, 0.9988521933555603, -1.165880560874939, -0.5691734552383423], "tau_dot": [5.353498935699463, -96.56945037841797, 20.651248931884766, 59.88763427734375, 16.460691452026367, 34.76536560058594, -12.317506790161133], "tau_ext": [-16.840696334838867, -41.5693359375, 31.701614379882812, 31.380359649658203, 9.466658592224121, -3.0063350200653076, -0.10489273816347122], "tcp_pose": [0.6779744029045105, 0.03273278474807739, -0.21498988568782806, -0.002306482056155801, -0.004564086440950632, 0.9998875260353088, 0.014098637737333775], "tcp_vel": [0.0003670903097372502, -0.0003405299212317914, 0.00040367638575844467, -0.0007861883495934308, -0.0011348474072292447, -0.00011164292664034292], "flange_pose": [0.6786856055259705, 0.028506828472018242, -0.0650511234998703, -0.002306482056155801, -0.004564086440950632, 0.9998875260353088, 0.014098637737333775], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.51568603515625, 15.296568870544434, 28.284183502197266, 0.3939952850341797, -23.974090576171875, 1.807654619216919], "ext_wrench_in_world": [-107.78278126906586, 15.098398426487593, -27.358969755224965, -0.18528918102766354, -23.916255568947324, -2.4815829507974634]}
+{"timestamp_ns": 1789729884355584632, "elapsed_ms": 3733, "source_timestamp_ns": 1789729884351961405, "q": [0.8361061811447144, -1.8966059684753418, -1.0057412385940552, 1.381182074546814, -0.16228081285953522, 0.5941802263259888, 0.7042117118835449], "theta": [0.8381446003913879, -1.8946802616119385, -1.00389564037323, 1.3627712726593018, -0.1628565788269043, 0.5941330194473267, 0.7041866779327393], "dq": [0.0011166163021698594, -0.0017168957274407148, 0.0006947199581190944, -0.0007504862151108682, -0.0034864821936935186, 9.692858293419704e-05, -0.0003131357370875776], "dtheta": [7.5665448093786836e-06, -0.0003510738315526396, 0.00010168709559366107, 0.0002911514602601528, -0.0010291265789419413, 0.000740773684810847, 0.0001603516866452992], "tau": [55.63999938964844, 23.689998626708984, 5.564000129699707, -26.240001678466797, -2.504000186920166, 2.6440000534057617, -0.5480000376701355], "tau_des": [0.5793332457542419, -0.5337664484977722, -0.11937294155359268, -0.5784313678741455, 0.9812415242195129, -1.151606798171997, -0.5671858191490173], "tau_dot": [-89.61368560791016, 13.277848243713379, 20.747528076171875, -1.4815846681594849, 30.53940200805664, 14.793689727783203, 9.066112518310547], "tau_ext": [-16.841468811035156, -41.600860595703125, 31.726818084716797, 31.37917137145996, 9.454211235046387, -3.010406017303467, -0.10754622519016266], "tcp_pose": [0.6779753565788269, 0.03272891789674759, -0.2149912714958191, -0.0023072289768606424, -0.004560474772006273, 0.9998875856399536, 0.014097273349761963], "tcp_vel": [3.812840805039741e-05, 0.00014845553960185498, -5.437330764834769e-05, -0.0005176450940780342, -0.000866306887473911, 0.0007459003245458007], "flange_pose": [0.6786867380142212, 0.02850336767733097, -0.06505249440670013, -0.0023072289768606424, -0.004560474772006273, 0.9998875856399536, 0.014097273349761963], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.5397720336914, 15.189019203186035, 28.273876190185547, 0.36831775307655334, -23.971824645996094, 1.801222801208496], "ext_wrench_in_world": [-107.80577793505904, 14.991084628059326, -27.351463831431364, -0.15977902753508105, -23.91394147195407, -2.475138853382924]}
+{"timestamp_ns": 1789729884388898737, "elapsed_ms": 3766, "source_timestamp_ns": 1789729884381785772, "q": [0.8361077904701233, -1.8966177701950073, -1.005737543106079, 1.3811801671981812, -0.16228273510932922, 0.5941826701164246, 0.7042113542556763], "theta": [0.8381459712982178, -1.8946911096572876, -1.0038931369781494, 1.3627701997756958, -0.1628582626581192, 0.5941349267959595, 0.7041869759559631], "dq": [-0.002340435516089201, 0.0018153432756662369, -6.984102219576016e-05, -0.0002880626998376101, 0.0023577960673719645, -0.0009344558930024505, 0.0012114024721086025], "dtheta": [-0.00021322586690075696, -0.0005782685475423932, 0.0003483294858597219, -0.0004241536371409893, 0.00010878849570872262, -0.0008407294517382979, 0.0004398270102683455], "tau": [55.61000061035156, 23.760000228881836, 5.464000225067139, -26.288002014160156, -2.556000232696533, 2.6520001888275146, -0.5480000376701355], "tau_des": [0.640238881111145, -0.42789945006370544, -0.21988405287265778, -0.6130873560905457, 0.9523802995681763, -1.1261330842971802, -0.5586591362953186], "tau_dot": [34.5928840637207, 46.86261749267578, 47.365684509277344, -56.36382293701172, -30.64544105529785, -18.56814956665039, 1.8063886165618896], "tau_ext": [-16.82262420654297, -41.77008819580078, 31.822132110595703, 31.341629028320312, 9.450112342834473, -3.0008976459503174, -0.11181851476430893], "tcp_pose": [0.6779727339744568, 0.032735034823417664, -0.2149921953678131, -0.0023049123119562864, -0.004566306713968515, 0.9998875856399536, 0.01409479882568121], "tcp_vel": [-0.0003221041988581419, 0.0003184779197908938, -0.00021215583547018468, -0.00044803365017287433, 0.0006917773862369359, 8.501388219883665e-05], "flange_pose": [0.6786834597587585, 0.02851022593677044, -0.06505339592695236, -0.0023049123119562864, -0.004566306713968515, 0.9998875856399536, 0.01409479882568121], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.51766967773438, 15.315177917480469, 28.284656524658203, 0.40293803811073303, -23.975048065185547, 1.8030585050582886], "ext_wrench_in_world": [-107.7849138336692, 15.116309334601484, -27.35937324321445, -0.19408743446228652, -23.9174441423982, -2.476793194076308]}
+{"timestamp_ns": 1789729884422256688, "elapsed_ms": 3800, "source_timestamp_ns": 1789729884421781920, "q": [0.8361102938652039, -1.8966221809387207, -1.0057371854782104, 1.3811793327331543, -0.1622833013534546, 0.5941838026046753, 0.7042104601860046], "theta": [0.8381490111351013, -1.8946950435638428, -1.0038936138153076, 1.362769365310669, -0.1628582626581192, 0.5941356420516968, 0.7041869759559631], "dq": [-0.0007417147280648351, -0.0023624671157449484, 0.0004904071683995426, -0.0008657151483930647, 0.0016145034460350871, -0.000831184908747673, -3.095300053246319e-05], "dtheta": [-0.00013842548651155084, -1.9488194084260613e-05, -0.00012023794988635927, 9.777107334230095e-05, -0.0011470342287793756, 0.0017961232224479318, 0.00013177045912016183], "tau": [55.73999786376953, 23.619998931884766, 5.616000175476074, -26.288002014160156, -2.5320000648498535, 2.6680002212524414, -0.5600000023841858], "tau_des": [0.5151333212852478, -0.5642027854919434, -0.14077867567539215, -0.4943104684352875, 0.9998966455459595, -1.2086337804794312, -0.5482247471809387], "tau_dot": [108.89087677001953, 21.08466339111328, -26.271263122558594, -44.024654388427734, 15.410928726196289, 8.48990535736084, -37.9932746887207], "tau_ext": [-16.8302001953125, -41.620418548583984, 31.762256622314453, 31.334732055664062, 9.464427947998047, -2.9990718364715576, -0.11637070775032043], "tcp_pose": [0.6779725551605225, 0.032736845314502716, -0.2149912565946579, -0.002302824053913355, -0.0045684706419706345, 0.9998875856399536, 0.014093694277107716], "tcp_vel": [0.00045793174649588764, 0.00012370436161290854, 0.00014884119445923716, 0.0003152575809508562, -0.0018101992318406701, 0.0004055798926856369], "flange_pose": [0.6786826848983765, 0.028512367978692055, -0.06505244225263596, -0.002302824053913355, -0.0045684706419706345, 0.9998875856399536, 0.014093694277107716], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.5198745727539, 15.363950729370117, 28.24075698852539, 0.4058600664138794, -23.9664249420166, 1.7996437549591064], "ext_wrench_in_world": [-107.78730161533225, 15.163283830135182, -27.314596819509383, -0.19695863246131204, -23.908954088198257, -2.473072228042529]}
+{"timestamp_ns": 1789729884455583422, "elapsed_ms": 3833, "source_timestamp_ns": 1789729884451725247, "q": [0.8361104726791382, -1.8966219425201416, -1.0057388544082642, 1.3811808824539185, -0.16227571666240692, 0.5941788554191589, 0.704210638999939], "theta": [0.8381492495536804, -1.8946937322616577, -1.0038950443267822, 1.3627705574035645, -0.16285082697868347, 0.5941301584243774, 0.7041869759559631], "dq": [-0.0005751810385845602, -0.0013066652463749051, 0.00024568141088820994, -0.0025012369733303785, 0.0014860142255201936, -0.001483706757426262, -0.0017731551779434085], "dtheta": [0.00018737056234385818, -0.00016607499856036156, 6.716473581036553e-05, 0.0001441486965632066, -0.00034756699460558593, -0.00013276614481583238, 0.0012344768038019538], "tau": [55.63999938964844, 23.60999870300293, 5.584000110626221, -26.360000610351562, -2.5240001678466797, 2.684000015258789, -0.5480000376701355], "tau_des": [0.576917290687561, -0.5306000113487244, -0.16121409833431244, -0.5817058682441711, 0.953892707824707, -1.1407896280288696, -0.5801107883453369], "tau_dot": [66.96005249023438, 65.41304779052734, 19.375513076782227, 3.576582193374634, -12.375459671020508, -13.156025886535645, 21.477882385253906], "tau_ext": [-16.871610641479492, -41.600074768066406, 31.71782875061035, 31.37497329711914, 9.467058181762695, -3.007056474685669, -0.11695927381515503], "tcp_pose": [0.6779707074165344, 0.03273531049489975, -0.21499301493167877, -0.00230702618137002, -0.004565745126456022, 0.9998875856399536, 0.014093560166656971], "tcp_vel": [-6.0391073930077255e-05, 1.3022881830693223e-05, 3.060958260903135e-05, -0.00047159017412923276, -0.00010743646271293983, -0.0008565115858800709], "flange_pose": [0.6786820292472839, 0.02851087599992752, -0.06505420058965683, -0.00230702618137002, -0.004565745126456022, 0.9998875856399536, 0.014093560166656971], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.4642562866211, 15.284807205200195, 28.275514602661133, 0.38228660821914673, -23.950769424438477, 1.7950900793075562], "ext_wrench_in_world": [-107.7312843499532, 15.086231293812082, -27.35091285937552, -0.17365517354497526, -23.89321665648363, -2.46817526794662]}
+{"timestamp_ns": 1789729884488889648, "elapsed_ms": 3866, "source_timestamp_ns": 1789729884481758995, "q": [0.8361145257949829, -1.8966212272644043, -1.0057393312454224, 1.3811818361282349, -0.16226954758167267, 0.5941773056983948, 0.7042055130004883], "theta": [0.8381528258323669, -1.8946937322616577, -1.0038954019546509, 1.362770915031433, -0.16284410655498505, 0.5941280126571655, 0.7041816711425781], "dq": [0.000580432650167495, -0.0013976062182337046, -0.0002914101933129132, -0.0001614344510016963, 0.0003743097186088562, -0.002392960013821721, 0.0026845394168049097], "dtheta": [0.00010012619895860553, -0.00013173326442483813, 0.00026229352806694806, 0.0003412735532037914, -0.0006699863006360829, 0.0004142709367442876, -0.00013036619930062443], "tau": [55.619998931884766, 23.6299991607666, 5.5360002517700195, -26.280000686645508, -2.504000186920166, 2.632000207901001, -0.5360000133514404], "tau_des": [0.5768131017684937, -0.5013105869293213, -0.2093987762928009, -0.5782199501991272, 0.9607667326927185, -1.155116081237793, -0.5475670695304871], "tau_dot": [43.28718948364258, 19.530445098876953, 6.1755852699279785, -3.7222204208374023, -36.38734436035156, -21.101701736450195, 47.5225944519043], "tau_ext": [-16.77382469177246, -41.6263427734375, 31.742774963378906, 31.38109588623047, 9.45106029510498, -3.0037596225738525, -0.11245643347501755], "tcp_pose": [0.6779704093933105, 0.03273482248187065, -0.21499119699001312, -0.0023075053468346596, -0.004566251300275326, 0.9998875856399536, 0.01409480907022953], "tcp_vel": [-6.637330079684034e-05, 0.00013648266030941159, -6.74395823807572e-06, -0.00027047633193433285, -0.0004307933559175581, 0.0008188267820514739], "flange_pose": [0.6786819100379944, 0.028510013595223427, -0.06505239009857178, -0.0023075053468346596, -0.004566251300275326, 0.9998875856399536, 0.01409480907022953], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.58467864990234, 15.196617126464844, 28.257469177246094, 0.37149637937545776, -23.98381233215332, 1.7950578927993774], "ext_wrench_in_world": [-107.8508567642689, 14.996422579907804, -27.334681662900643, -0.16254376324209527, -23.926140749111315, -2.4691830149031357]}
+{"timestamp_ns": 1789729884522262608, "elapsed_ms": 3900, "source_timestamp_ns": 1789729884521805019, "q": [0.8361166715621948, -1.896623134613037, -1.0057419538497925, 1.381181001663208, -0.16226410865783691, 0.5941752791404724, 0.7041991949081421], "theta": [0.8381561636924744, -1.8946954011917114, -1.003898024559021, 1.3627703189849854, -0.16283786296844482, 0.5941270589828491, 0.7041745185852051], "dq": [-9.164315997622907e-05, -0.0013132697204127908, 0.0008337374893017113, -0.0034485775977373123, -0.0002037544036284089, -0.0006602167850360274, 0.0011017536744475365], "dtheta": [-0.0003086399519816041, -0.00021790496248286217, 3.0988187063485384e-05, 0.0001839167671278119, 0.00033340591471642256, -4.360366801847704e-06, 0.00022940817871131003], "tau": [55.82999801635742, 23.76999855041504, 5.5320000648498535, -26.18800163269043, -2.508000135421753, 2.616000175476074, -0.5560000538825989], "tau_des": [0.6812633275985718, -0.470100075006485, -0.19259707629680634, -0.6381708979606628, 0.923317015171051, -1.130720615386963, -0.558814525604248], "tau_dot": [168.08363342285156, -30.35085105895996, 39.58716583251953, -21.245847702026367, -2.2157347202301025, -30.64077377319336, 10.690664291381836], "tau_ext": [-16.84016990661621, -41.6805305480957, 31.752628326416016, 31.341449737548828, 9.44816780090332, -3.003411054611206, -0.10509437322616577], "tcp_pose": [0.6779704689979553, 0.032734137028455734, -0.2149907797574997, -0.0023079051170498133, -0.004567560739815235, 0.9998875856399536, 0.014094537124037743], "tcp_vel": [-0.0002530505007598549, 6.880674482090399e-05, -0.0003820857382379472, -4.44485958723817e-05, 0.0006610393174923956, -0.00021709731663577259], "flange_pose": [0.6786820888519287, 0.028509413823485374, -0.06505198031663895, -0.0023079051170498133, -0.004567560739815235, 0.9998875856399536, 0.014094537124037743], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.58977508544922, 15.238852500915527, 28.249507904052734, 0.39137449860572815, -23.995845794677734, 1.8002160787582397], "ext_wrench_in_world": [-107.85635843102646, 15.038069733250104, -27.325435586632203, -0.1822751044784371, -23.938208275450183, -2.474576262269408]}
+{"timestamp_ns": 1789729884555587272, "elapsed_ms": 3933, "source_timestamp_ns": 1789729884551717628, "q": [0.8361170291900635, -1.8966305255889893, -1.0057417154312134, 1.3811804056167603, -0.1622643917798996, 0.5941764712333679, 0.7041980624198914], "theta": [0.8381568789482117, -1.8947018384933472, -1.0038988590240479, 1.3627699613571167, -0.16283763945102692, 0.5941284894943237, 0.7041728496551514], "dq": [-0.0007365164929069579, 0.0024232850410044193, -0.0005879024392925203, 0.00046947156079113483, -0.000401345023419708, 0.0011997849214822054, -0.0008550335187464952], "dtheta": [0.00012122329644626006, -0.0001453467266401276, -7.406670920317993e-05, 7.740766886854544e-05, 0.0005049342289566994, -0.0009979362366721034, 0.00028965904493816197], "tau": [55.65999984741211, 23.670000076293945, 5.500000476837158, -26.32000160217285, -2.5240001678466797, 2.680000066757202, -0.5640000104904175], "tau_des": [0.6222261786460876, -0.4841020703315735, -0.19312269985675812, -0.6207358837127686, 0.9314984679222107, -1.1198859214782715, -0.5549489855766296], "tau_dot": [109.30757141113281, 41.63135528564453, -1.9679162502288818, 8.75399398803711, -1.5006603002548218, 18.213825225830078, -6.471435546875], "tau_ext": [-16.881135940551758, -41.75075912475586, 31.800073623657227, 31.309677124023438, 9.439604759216309, -2.9920952320098877, -0.1014828160405159], "tcp_pose": [0.6779689788818359, 0.03273672237992287, -0.21499226987361908, -0.002307045506313443, -0.004570708144456148, 0.9998875856399536, 0.014092341996729374], "tcp_vel": [-0.00027315286570228636, -0.00013488564582075924, -0.00015466235345229506, -0.0005404251860454679, 0.0009599899058230221, -0.00048789457650855184], "flange_pose": [0.6786803603172302, 0.028512658551335335, -0.06505344063043594, -0.002307045506313443, -0.004570708144456148, 0.9998875856399536, 0.014092341996729374], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.41989135742188, 15.433446884155273, 28.317594528198242, 0.4321414828300476, -23.962709426879883, 1.8075909614562988], "ext_wrench_in_world": [-107.6886170093396, 15.235263213821197, -27.38903107543538, -0.2232207956640618, -23.90526600199527, -2.480726561399131]}
+{"timestamp_ns": 1789729884588893528, "elapsed_ms": 3966, "source_timestamp_ns": 1789729884581759135, "q": [0.8361190557479858, -1.8966296911239624, -1.005751132965088, 1.3811811208724976, -0.16226482391357422, 0.5941789746284485, 0.7041987776756287], "theta": [0.838158905506134, -1.894701600074768, -1.0039085149765015, 1.3627707958221436, -0.16283811628818512, 0.594131350517273, 0.7041733264923096], "dq": [-2.6920410164166242e-05, -0.0013576941564679146, 0.0003055792476516217, -0.0005686244112439454, 0.0007542252424173057, 0.00020327873062342405, -0.003815284464508295], "dtheta": [-0.00042845052666962147, -7.23584889783524e-05, -0.0003073019324801862, -0.0001219200566993095, -0.00028294703224673867, 0.00036876669037155807, 0.00032119074603542686], "tau": [55.59000015258789, 23.51999855041504, 5.580000400543213, -26.308000564575195, -2.5320000648498535, 2.700000047683716, -0.5640000104904175], "tau_des": [0.617995023727417, -0.5481125712394714, -0.10500586777925491, -0.5704237818717957, 0.9579575061798096, -1.1611921787261963, -0.5653627514839172], "tau_dot": [-15.793185234069824, 28.37393569946289, -22.49354362487793, 5.770658016204834, -5.902342319488525, 8.521292686462402, 2.7573211193084717], "tau_ext": [-16.801923751831055, -41.600830078125, 31.755571365356445, 31.363767623901367, 9.455127716064453, -3.0048601627349854, -0.1017322912812233], "tcp_pose": [0.6779730319976807, 0.0327315479516983, -0.21499118208885193, -0.00230373814702034, -0.0045669712126255035, 0.9998876452445984, 0.014090144075453281], "tcp_vel": [0.00014612286759074777, -8.645365596748888e-05, -0.00020929831953253597, -0.00011569662456167862, -0.00019280810374766588, -0.0003596353344619274], "flange_pose": [0.678683340549469, 0.028508134186267853, -0.065052330493927, -0.00230373814702034, -0.0045669712126255035, 0.9998876452445984, 0.014090144075453281], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.45585632324219, 15.391230583190918, 28.276630401611328, 0.41749340295791626, -23.960542678833008, 1.8058732748031616], "ext_wrench_in_world": [-107.72370932777024, 15.192274934598187, -27.349882904195365, -0.20874944324280795, -23.903023025303657, -2.478910730964044]}
+{"timestamp_ns": 1789729884622257529, "elapsed_ms": 4000, "source_timestamp_ns": 1789729884621753774, "q": [0.8361189961433411, -1.896630048751831, -1.0057638883590698, 1.38118314743042, -0.16226322948932648, 0.5941733121871948, 0.7041971683502197], "theta": [0.8381596207618713, -1.8947019577026367, -1.0039210319519043, 1.3627724647521973, -0.16283738613128662, 0.5941265821456909, 0.7041720747947693], "dq": [0.0012946613132953644, -0.0023137852549552917, -0.0006609178381040692, -0.0014814642490819097, -0.00041393598075956106, -0.0003399579436518252, 0.00041305716149508953], "dtheta": [0.00033004782744683325, -0.0005719963228330016, -2.3526843506260775e-05, -0.00015737293870188296, -0.0009917153511196375, -0.0009607181418687105, -0.0012143270578235388], "tau": [55.689998626708984, 23.719999313354492, 5.548000335693359, -26.248001098632812, -2.5480000972747803, 2.6520001888275146, -0.5760000348091125], "tau_des": [0.541124165058136, -0.494469553232193, -0.12049819529056549, -0.5823297500610352, 1.00591242313385, -1.123386263847351, -0.5375393629074097], "tau_dot": [27.62961769104004, -72.11170196533203, 2.3746538162231445, 7.068535327911377, 3.515934705734253, 28.106630325317383, -57.97378921508789], "tau_ext": [-16.826297760009766, -41.59654998779297, 31.735008239746094, 31.3994140625, 9.474136352539062, -3.0160839557647705, -0.10471944510936737], "tcp_pose": [0.6779751181602478, 0.032723478972911835, -0.2149936556816101, -0.002305058529600501, -0.004563183058053255, 0.9998877644538879, 0.014084053225815296], "tcp_vel": [-5.6618129747221246e-05, -3.5620858398033306e-05, 9.51296096900478e-05, -0.0015876202378422022, -0.000320063583785668, 0.002129083499312401], "flange_pose": [0.6786858439445496, 0.02850189246237278, -0.065054751932621, -0.002305058529600501, -0.004563183058053255, 0.9998877644538879, 0.014084053225815296], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.60498046875, 15.181428909301758, 28.22640037536621, 0.36681464314460754, -23.979440689086914, 1.8019412755966187], "ext_wrench_in_world": [-107.87064627620191, 14.980256183396204, -27.304814231066704, -0.1580696911118209, -23.921586366591765, -2.4754475924575665]}
+{"timestamp_ns": 1789729884655586083, "elapsed_ms": 4033, "source_timestamp_ns": 1789729884651718578, "q": [0.8361197710037231, -1.8966422080993652, -1.005757451057434, 1.3811814785003662, -0.16226059198379517, 0.5941781997680664, 0.7041971683502197], "theta": [0.8381607532501221, -1.8947129249572754, -1.0039167404174805, 1.3627715110778809, -0.1628347635269165, 0.594131588935852, 0.7041725516319275], "dq": [-0.0009606719249859452, 0.0007677205721847713, 0.0006841546855866909, 0.0011998629197478294, -0.0012449824716895819, 0.0005916280788369477, 0.003374556079506874], "dtheta": [-2.230382051493507e-05, -0.00042231715633533895, 0.0003419368003960699, 5.5560081818839535e-05, 0.0005430243909358978, 9.177793253911659e-05, 0.0002212466497439891], "tau": [55.53999710083008, 23.739999771118164, 5.448000431060791, -26.2760009765625, -2.5360000133514404, 2.684000015258789, -0.5480000376701355], "tau_des": [0.6444003582000732, -0.4223649203777313, -0.23844455182552338, -0.6183159947395325, 0.9383739233016968, -1.1420724391937256, -0.5535599589347839], "tau_dot": [-37.93817901611328, 23.635387420654297, -4.773360729217529, -54.3339958190918, 17.9365291595459, 33.467742919921875, 38.66371536254883], "tau_ext": [-16.79818344116211, -41.759124755859375, 31.827802658081055, 31.341922760009766, 9.472935676574707, -2.993326425552368, -0.10850242525339127], "tcp_pose": [0.6779710650444031, 0.03273187577724457, -0.2149953544139862, -0.0023040336091071367, -0.004568616859614849, 0.9998877048492432, 0.014084425754845142], "tcp_vel": [-0.0003102008777204901, 0.0003548997628968209, -0.00018035793618764728, 0.0002690267574507743, 0.0004134159244131297, 7.389159236481646e-06], "flange_pose": [0.678681492805481, 0.028510181233286858, -0.0650564655661583, -0.0023040336091071367, -0.004568616859614849, 0.9998877048492432, 0.014084425754845142], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62649536132812, 15.282974243164062, 28.257360458374023, 0.3930025100708008, -23.994863510131836, 1.8091782331466675], "ext_wrench_in_world": [-107.89333010697277, 15.081282793566974, -27.33302861524761, -0.18388589169789246, -23.937039478825184, -2.4830180607617214]}
+{"timestamp_ns": 1789729884688892379, "elapsed_ms": 4066, "source_timestamp_ns": 1789729884681731598, "q": [0.8361257314682007, -1.8966457843780518, -1.0057564973831177, 1.381180763244629, -0.16225770115852356, 0.5941773653030396, 0.7041957974433899], "theta": [0.8381669521331787, -1.8947168588638306, -1.0039165019989014, 1.3627713918685913, -0.1628318876028061, 0.5941311120986938, 0.7041708827018738], "dq": [0.0004404488718137145, -0.0015740616945549846, 0.0012461300939321518, -0.00027530151419341564, -0.0005614925175905228, 0.0016759870341047645, 0.0014896818902343512], "dtheta": [5.056342160969507e-06, -0.00011766981333494186, -0.0003869058273267001, -0.00012916202831547707, -0.000500478723552078, 3.9402144466293976e-05, -0.0004167178994975984], "tau": [55.65999984741211, 23.53999900817871, 5.592000484466553, -26.32000160217285, -2.5320000648498535, 2.6560001373291016, -0.5680000185966492], "tau_des": [0.5435157418251038, -0.5345761775970459, -0.1317235380411148, -0.5391435623168945, 0.9835027456283569, -1.1673636436462402, -0.543327808380127], "tau_dot": [-21.821664810180664, -55.71992111206055, 32.70149612426758, -54.67262268066406, 18.792762756347656, -26.538864135742188, -18.013107299804688], "tau_ext": [-16.769447326660156, -41.641151428222656, 31.7955379486084, 31.32968521118164, 9.464003562927246, -2.9981086254119873, -0.11156065762042999], "tcp_pose": [0.677970826625824, 0.03273366764187813, -0.21499229967594147, -0.0023020170629024506, -0.004570018034428358, 0.9998877048492432, 0.014084234833717346], "tcp_vel": [0.00022478764003608376, -0.0001828617532737553, 5.036013317294419e-05, -0.0005430062301456928, -0.000549498712643981, 0.0004799284797627479], "flange_pose": [0.6786806583404541, 0.028512028977274895, -0.06505340337753296, -0.0023020170629024506, -0.004570018034428358, 0.9998877048492432, 0.014084234833717346], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61067199707031, 15.366546630859375, 28.209640502929688, 0.4095742702484131, -23.990142822265625, 1.8098337650299072], "ext_wrench_in_world": [-107.8779701611984, 15.163315084762518, -27.283488227566558, -0.20042687327144432, -23.932456326685543, -2.483458317015685]}
+{"timestamp_ns": 1789729884722306724, "elapsed_ms": 4100, "source_timestamp_ns": 1789729884721727286, "q": [0.836122989654541, -1.8966418504714966, -1.0057636499404907, 1.3811827898025513, -0.1622474193572998, 0.594169020652771, 0.7041890025138855], "theta": [0.8381659984588623, -1.8947135210037231, -1.0039219856262207, 1.3627722263336182, -0.16282157599925995, 0.5941227674484253, 0.7041639685630798], "dq": [-0.00039854407077655196, -0.0009126074146479368, -0.0024899933487176895, -0.0001215857919305563, 0.0028893800918012857, -3.425273098400794e-05, -0.0011180046712979674], "dtheta": [6.580460467375815e-05, 9.571085684001446e-05, -0.00015600172628182918, -6.509876584459562e-06, 0.00018891658692155033, -0.0005568971973843873, -0.0005143326125107706], "tau": [55.71999740600586, 23.689998626708984, 5.5960001945495605, -26.288002014160156, -2.5160000324249268, 2.636000156402588, -0.5600000023841858], "tau_des": [0.6112629175186157, -0.5368343591690063, -0.12280988693237305, -0.6112494468688965, 0.9404562711715698, -1.119560956954956, -0.5541958212852478], "tau_dot": [69.32584381103516, 15.347723007202148, -27.027719497680664, 36.081607818603516, 26.294078826904297, -12.194303512573242, 18.056692123413086], "tau_ext": [-16.894420623779297, -41.57518768310547, 31.6638240814209, 31.376482009887695, 9.457199096679688, -3.0077860355377197, -0.10536827147006989], "tcp_pose": [0.6779699325561523, 0.03272758796811104, -0.2149960845708847, -0.0023089058231562376, -0.004566872026771307, 0.9998877048492432, 0.014083351008594036], "tcp_vel": [-3.5249002394266427e-05, -0.00018758850637823343, -1.1666378668451216e-05, -0.0002694452996365726, 0.00039060311974026263, 0.00024798765662126243], "flange_pose": [0.6786817908287048, 0.028506219387054443, -0.0650571808218956, -0.0023089058231562376, -0.004566872026771307, 0.9998877048492432, 0.014083351008594036], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.51383972167969, 15.218811988830566, 28.26115608215332, 0.37140199542045593, -23.965248107910156, 1.7997932434082031], "ext_wrench_in_world": [-107.78033348442224, 15.018592611119763, -27.33811447627988, -0.16261492039917255, -23.907507351661483, -2.472844647936276]}
+{"timestamp_ns": 1789729884755589602, "elapsed_ms": 4133, "source_timestamp_ns": 1789729884751719218, "q": [0.8361258506774902, -1.8966450691223145, -1.0057604312896729, 1.3811817169189453, -0.16224589943885803, 0.5941707491874695, 0.70418381690979], "theta": [0.8381689190864563, -1.8947161436080933, -1.0039198398590088, 1.3627721071243286, -0.16282013058662415, 0.5941246747970581, 0.7041586637496948], "dq": [0.0008726560045033693, 0.0012867230689153075, -0.00011519461259013042, -0.0032303344924002886, -0.0029544010758399963, 0.000782628427259624, -0.0024830191396176815], "dtheta": [0.0002103358128806576, 4.6820299758110195e-05, 6.86607017996721e-05, -1.9672670532600023e-05, 0.0004087505803909153, -0.00020452222088351846, -1.5502400856348686e-05], "tau": [55.54999923706055, 23.75, 5.468000411987305, -26.308000564575195, -2.5160000324249268, 2.6760001182556152, -0.5720000267028809], "tau_des": [0.5639575719833374, -0.5264110565185547, -0.19241027534008026, -0.5663272142410278, 0.938048779964447, -1.1497224569320679, -0.5496606826782227], "tau_dot": [77.85784912109375, 29.69930076599121, -2.069204330444336, -74.7848892211914, 37.349552154541016, -9.109315872192383, -1.5195947885513306], "tau_ext": [-16.822092056274414, -41.704681396484375, 31.77296257019043, 31.332965850830078, 9.450551986694336, -2.9959402084350586, -0.10049420595169067], "tcp_pose": [0.6779691576957703, 0.03273084759712219, -0.2149943709373474, -0.0023073225747793913, -0.004571142606437206, 0.9998877048492432, 0.014084522612392902], "tcp_vel": [-5.1243248890386894e-05, 2.4244351152447052e-05, 0.00011220030864933506, 0.00020984673756174743, 0.00017601055151317269, -0.00019266235176473856], "flange_pose": [0.6786805987358093, 0.028509128838777542, -0.0650554820895195, -0.0023073225747793913, -0.004571142606437206, 0.9998877048492432, 0.014084522612392902], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.4691162109375, 15.276240348815918, 28.309913635253906, 0.3915727734565735, -23.968515396118164, 1.804794192314148], "ext_wrench_in_world": [-107.73640276002865, 15.07692970380816, -27.385751394212907, -0.18256762506055005, -23.910813655095648, -2.477902544703485]}
+{"timestamp_ns": 1789729884788897618, "elapsed_ms": 4166, "source_timestamp_ns": 1789729884781734258, "q": [0.8361368179321289, -1.8966481685638428, -1.0057592391967773, 1.3811821937561035, -0.1622447967529297, 0.5941700339317322, 0.7041844725608826], "theta": [0.8381798267364502, -1.8947187662124634, -1.0039196014404297, 1.3627732992172241, -0.16281965374946594, 0.5941234827041626, 0.7041589021682739], "dq": [0.0010433230781927705, -0.001124648260883987, -0.0005331732681952417, -0.0005080996779724956, -0.0018851581262424588, 0.000987962237559259, 0.0025446286890655756], "dtheta": [-9.160608897218481e-05, -6.78516153129749e-05, -7.964271208038554e-05, -0.0003270642482675612, 0.0003683687245938927, -8.881835674401373e-05, -0.000317827652906999], "tau": [55.64999771118164, 23.529998779296875, 5.528000354766846, -26.284000396728516, -2.5440001487731934, 2.6720001697540283, -0.5680000185966492], "tau_des": [0.5349493622779846, -0.5254948735237122, -0.1951901614665985, -0.5211437344551086, 0.9523305892944336, -1.1759999990463257, -0.5420069694519043], "tau_dot": [110.99796295166016, -71.81632232666016, -9.473631858825684, 7.885669231414795, 4.6643805503845215, 58.05851364135742, 0.31065118312835693], "tau_ext": [-16.77261734008789, -41.7242317199707, 31.800596237182617, 31.356229782104492, 9.454545021057129, -3.0012738704681396, -0.09992694854736328], "tcp_pose": [0.6779698729515076, 0.03273231163620949, -0.21498814225196838, -0.0023027872666716576, -0.004572095815092325, 0.9998877048492432, 0.014083719812333584], "tcp_vel": [5.01128779433202e-05, 5.04910021845717e-05, 1.894464367069304e-05, 0.00025861503672786057, 6.608505645999685e-05, 5.2998300816398114e-05], "flange_pose": [0.6786799430847168, 0.02851082943379879, -0.06504923850297928, -0.0023027872666716576, -0.004572095815092325, 0.9998877048492432, 0.014083719812333584], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.56954193115234, 15.375589370727539, 28.251651763916016, 0.4252609610557556, -23.997238159179688, 1.8146249055862427], "ext_wrench_in_world": [-107.8372268849678, 15.173436047610538, -27.3252678565791, -0.21597465921714692, -23.939561546503683, -2.4883523884489986]}
+{"timestamp_ns": 1789729884822254469, "elapsed_ms": 4200, "source_timestamp_ns": 1789729884821730516, "q": [0.8361359238624573, -1.8966467380523682, -1.0057671070098877, 1.3811838626861572, -0.16224472224712372, 0.5941667556762695, 0.704185426235199], "theta": [0.8381800651550293, -1.8947174549102783, -1.0039260387420654, 1.3627756834030151, -0.16282038390636444, 0.5941203832626343, 0.7041598558425903], "dq": [0.0015660703647881746, -0.002916608238592744, 0.0007518138154409826, 0.0008174912072718143, 0.0013313960516825318, 0.00022680585971102118, 0.0008150863577611744], "dtheta": [0.00020326615776866674, -0.00012374571815598756, -4.402191552799195e-05, -0.0002667536318767816, -0.00032898824429139495, 0.0011209368240088224, 0.0002818764478433877], "tau": [55.64999771118164, 23.639999389648438, 5.548000335693359, -26.288002014160156, -2.5360000133514404, 2.684000015258789, -0.5680000185966492], "tau_des": [0.44626280665397644, -0.5916275978088379, -0.15610934793949127, -0.4545324742794037, 0.9790544509887695, -1.209101915359497, -0.5604099035263062], "tau_dot": [-7.548287868499756, -29.271560668945312, -17.695417404174805, 47.327579498291016, 47.2056770324707, -43.74628829956055, -18.822721481323242], "tau_ext": [-16.84747886657715, -41.59120559692383, 31.705467224121094, 31.3616886138916, 9.467920303344727, -3.0037496089935303, -0.10634402185678482], "tcp_pose": [0.677971363067627, 0.03272673487663269, -0.21498987078666687, -0.00230392930097878, -0.00456851115450263, 0.9998877644538879, 0.014080244116485119], "tcp_vel": [0.00038359066820703447, 0.00021703128004446626, 0.00037238301592879, 0.0005610382650047541, -0.001452766009606421, -0.00011661457392619923], "flange_pose": [0.6786817908287048, 0.028506293892860413, -0.06505093723535538, -0.00230392930097878, -0.00456851115450263, 0.9998877644538879, 0.014080244116485119], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.56721496582031, 15.266335487365723, 28.2739315032959, 0.39317888021469116, -23.987272262573242, 1.8096258640289307], "ext_wrench_in_world": [-107.83397074171215, 15.065455510953873, -27.350479734218585, -0.18413730969312742, -23.92946131625986, -2.4830506565969817]}
+{"timestamp_ns": 1789729884855585213, "elapsed_ms": 4233, "source_timestamp_ns": 1789729884851729407, "q": [0.836135983467102, -1.8966494798660278, -1.0057671070098877, 1.3811829090118408, -0.16224493086338043, 0.5941666960716248, 0.7041851878166199], "theta": [0.8381801247596741, -1.8947196006774902, -1.003926396369934, 1.3627750873565674, -0.16282086074352264, 0.5941201448440552, 0.7041598558425903], "dq": [-0.0013007825473323464, 0.0007230070768855512, 0.002241451758891344, -0.0009811791824176908, -0.004132059868425131, -0.00012028404307784513, -0.0009265820262953639], "dtheta": [0.0001044173477566801, 6.325371214188635e-05, -4.9613510782364756e-05, -0.0003478898433968425, 0.000521441746968776, 3.508884765324183e-05, -0.00030798293300904334], "tau": [55.64999771118164, 23.6299991607666, 5.516000270843506, -26.284000396728516, -2.5480000972747803, 2.6760001182556152, -0.5440000295639038], "tau_des": [0.4958188533782959, -0.5687454342842102, -0.15932123363018036, -0.49929988384246826, 0.952610194683075, -1.1786198616027832, -0.5528243184089661], "tau_dot": [123.65406799316406, -66.69343566894531, 22.983434677124023, 22.800500869750977, 30.252769470214844, 25.185426712036133, 35.48384475708008], "tau_ext": [-16.826766967773438, -41.687767028808594, 31.78097915649414, 31.351112365722656, 9.471230506896973, -3.0015578269958496, -0.10923445224761963], "tcp_pose": [0.6779710650444031, 0.032727647572755814, -0.2149902582168579, -0.002303508808836341, -0.004569505341351032, 0.9998877644538879, 0.01407935656607151], "tcp_vel": [0.00012768313172273338, 6.271667371038347e-05, 0.0002032080665230751, 0.0005630688392557204, -0.0001460407511331141, -0.00011486385483294725], "flange_pose": [0.6786813139915466, 0.028507472947239876, -0.06505130976438522, -0.002303508808836341, -0.004569505341351032, 0.9998877644538879, 0.01407935656607151], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.54227447509766, 15.282295227050781, 28.29638671875, 0.38989031314849854, -23.979190826416016, 1.8070859909057617], "ext_wrench_in_world": [-107.80928854019989, 15.082007678246512, -27.372708979388204, -0.18086064448036743, -23.921429366241927, -2.4802567261607065]}
+{"timestamp_ns": 1789729884888905228, "elapsed_ms": 4266, "source_timestamp_ns": 1789729884881727189, "q": [0.8361355662345886, -1.8966495990753174, -1.005768060684204, 1.3811814785003662, -0.1622450053691864, 0.5941649675369263, 0.7041849493980408], "theta": [0.8381798267364502, -1.8947193622589111, -1.0039277076721191, 1.3627737760543823, -0.16282133758068085, 0.5941182374954224, 0.7041598558425903], "dq": [-0.0012965507339686155, 0.0001638070389162749, -0.0017878799699246883, 0.001373013947159052, -0.0020957477390766144, 0.0006227305275388062, 0.001236092415638268], "dtheta": [-2.7683150619850494e-05, -7.693285442655906e-05, -0.00010180649405810982, 9.459561988478526e-05, -0.00041637482354417443, -3.6502671719063073e-05, 0.0008497282397001982], "tau": [55.63999938964844, 23.639999389648438, 5.580000400543213, -26.280000686645508, -2.5440001487731934, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.5689300894737244, -0.552558183670044, -0.14183633029460907, -0.5592698454856873, 0.9590248465538025, -1.1585493087768555, -0.5691855549812317], "tau_dot": [-11.380242347717285, 189.37440490722656, 35.30436706542969, 7.061418533325195, 32.60481262207031, -1.7858484983444214, 18.351133346557617], "tau_ext": [-16.77808952331543, -41.64359664916992, 31.757217407226562, 31.307647705078125, 9.479695320129395, -2.993952512741089, -0.11295349150896072], "tcp_pose": [0.6779714822769165, 0.032727181911468506, -0.21499016880989075, -0.0023036159109324217, -0.004569253418594599, 0.9998877644538879, 0.014078857377171516], "tcp_vel": [2.028908238571603e-05, -8.65594411152415e-05, -5.938094909652136e-05, -0.0004627315211109817, -0.00010745688632596284, -0.0006223627715371549], "flange_pose": [0.6786817908287048, 0.028507156297564507, -0.06505122035741806, -0.0023036159109324217, -0.004569253418594599, 0.9998877644538879, 0.014078857377171516], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.53752899169922, 15.328214645385742, 28.25514793395996, 0.40092021226882935, -23.976411819458008, 1.8093520402908325], "ext_wrench_in_world": [-107.80476304752723, 15.126816809702362, -27.33020614810183, -0.19193837112456694, -23.918691717135026, -2.482370190141343]}
+{"timestamp_ns": 1789729884922252330, "elapsed_ms": 4300, "source_timestamp_ns": 1789729884921737546, "q": [0.8361339569091797, -1.8966548442840576, -1.0057672262191772, 1.3811814785003662, -0.16224238276481628, 0.5941580533981323, 0.704184353351593], "theta": [0.8381786942481995, -1.8947235345840454, -1.0039269924163818, 1.3627736568450928, -0.16281990706920624, 0.5941110849380493, 0.7041593790054321], "dq": [-0.0020871367305517197, -0.0016230837209150195, -0.0017449852311983705, -0.0006079229060560465, -0.0027033230289816856, 0.0003238581703044474, 0.00044172140769660473], "dtheta": [-4.40844742115587e-05, -0.00019864880596287549, 0.00024055335961747915, -0.00014752341667190194, 1.275367321795784e-05, -0.00036893406650051475, 0.00018296969938091934], "tau": [55.64999771118164, 23.729999542236328, 5.452000141143799, -26.336000442504883, -2.5440001487731934, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.6182507276535034, -0.4673975110054016, -0.23207412660121918, -0.601741373538971, 0.9388205409049988, -1.1351618766784668, -0.5496876835823059], "tau_dot": [-41.795379638671875, -19.50132179260254, -37.89762496948242, 39.88173294067383, 25.605674743652344, 45.82620620727539, 3.458137273788452], "tau_ext": [-16.831600189208984, -41.70707321166992, 31.781862258911133, 31.360301971435547, 9.480185508728027, -2.9993951320648193, -0.11551212519407272], "tcp_pose": [0.6779677867889404, 0.032728299498558044, -0.21499377489089966, -0.0023079451639205217, -0.004570920020341873, 0.9998878240585327, 0.014075735583901405], "tcp_vel": [-0.00015561543114017695, 0.00016203186532948166, -5.271721965982579e-05, -0.00014358520274981856, 0.00029302548500709236, 9.752638288773596e-05], "flange_pose": [0.6786794066429138, 0.028509216383099556, -0.06505480408668518, -0.0023079451639205217, -0.004570920020341873, 0.9998878240585327, 0.014075735583901405], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.52191925048828, 15.329659461975098, 28.27189826965332, 0.3967439830303192, -23.975019454956055, 1.8076739311218262], "ext_wrench_in_world": [-107.78953370862439, 15.128330370788435, -27.346148784936496, -0.18770537562267725, -23.917324963242233, -2.480520507772862]}
+{"timestamp_ns": 1789729884955585723, "elapsed_ms": 4333, "source_timestamp_ns": 1789729884951719819, "q": [0.8361368775367737, -1.8966578245162964, -1.0057668685913086, 1.3811819553375244, -0.16223923861980438, 0.5941590666770935, 0.7041837573051453], "theta": [0.8381817936897278, -1.8947263956069946, -1.0039269924163818, 1.3627736568450928, -0.16281679272651672, 0.5941122770309448, 0.7041584253311157], "dq": [-0.002585683949291706, 0.002210858976468444, -0.0016163922846317291, -0.0005043634446337819, -1.2255404726602137e-05, -0.0017604506574571133, -0.0025580415967851877], "dtheta": [0.00028017113800160587, 5.7395529438508675e-05, 0.0003483092878013849, 7.593001646455377e-05, 0.0020867804996669292, 0.00011655051639536396, -0.00038549178862012923], "tau": [55.5099983215332, 23.60999870300293, 5.544000148773193, -26.352001190185547, -2.5440001487731934, 2.700000047683716, -0.5440000295639038], "tau_des": [0.5780357718467712, -0.4739578366279602, -0.2705222964286804, -0.5758398771286011, 0.891431450843811, -1.1534806489944458, -0.549808919429779], "tau_dot": [-21.302274703979492, 154.16835021972656, 42.33096694946289, -55.6491584777832, 13.006528854370117, 35.426536560058594, 31.928478240966797], "tau_ext": [-16.761775970458984, -41.671424865722656, 31.798276901245117, 31.37200164794922, 9.481416702270508, -2.9983835220336914, -0.11186966300010681], "tcp_pose": [0.6779671311378479, 0.0327296257019043, -0.21499300003051758, -0.0023071998730301857, -0.0045714909210801125, 0.9998878240585327, 0.01407591626048088], "tcp_vel": [-0.00033255392918363214, 0.0003254989569541067, 3.423989983275533e-05, 0.0015947973588481545, 0.0009476326522417367, -0.0005570815992541611], "flange_pose": [0.6786785125732422, 0.02851049043238163, -0.0650540292263031, -0.0023071998730301857, -0.0045714909210801125, 0.9998878240585327, 0.01407591626048088], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63604736328125, 15.317715644836426, 28.26351547241211, 0.39611947536468506, -24.002086639404297, 1.8086187839508057], "ext_wrench_in_world": [-107.90348345598233, 15.114994660848636, -27.337750563880434, -0.186809176004037, -23.944347254938954, -2.4822394035530357]}
+{"timestamp_ns": 1789729884988891349, "elapsed_ms": 4366, "source_timestamp_ns": 1789729884981760566, "q": [0.8361406326293945, -1.896654486656189, -1.0057742595672607, 1.381181001663208, -0.16223469376564026, 0.5941574573516846, 0.7041822671890259], "theta": [0.8381852507591248, -1.8947235345840454, -1.0039337873458862, 1.3627729415893555, -0.1628122329711914, 0.5941110849380493, 0.7041565179824829], "dq": [-0.00011758871551137418, -0.0008431660826317966, -0.0005953273503109813, -0.0011101593263447285, -0.0022392079699784517, -0.001836234936490655, 0.0001655572559684515], "dtheta": [-0.00012242671800777316, 0.00030649962718598545, -8.817826164886355e-05, 0.00017256602586712688, 0.00041180543485097587, -0.000645967316813767, 0.0004463719087652862], "tau": [55.709999084472656, 23.56999969482422, 5.600000381469727, -26.280000686645508, -2.5360000133514404, 2.640000104904175, -0.5640000104904175], "tau_des": [0.6095341444015503, -0.5742185115814209, -0.12161874771118164, -0.5959734320640564, 0.9206021428108215, -1.1322451829910278, -0.5758728384971619], "tau_dot": [18.41888427734375, 47.092105865478516, 21.62209129333496, -40.14214324951172, -9.288267135620117, -32.84600067138672, 37.895904541015625], "tau_ext": [-16.79006004333496, -41.56793975830078, 31.708515167236328, 31.357980728149414, 9.470765113830566, -3.0057246685028076, -0.10890062898397446], "tcp_pose": [0.6779707074165344, 0.032724857330322266, -0.2149900197982788, -0.0023055756464600563, -0.004567238036543131, 0.9998878240585327, 0.01407595630735159], "tcp_vel": [-0.0001590950123500079, -0.00024495276738889515, -0.00018138384621124715, -9.698595385998487e-05, 0.0009614936425350606, -0.0008990447968244553], "flange_pose": [0.6786815524101257, 0.028505701571702957, -0.06505105644464493, -0.0023055756464600563, -0.004567238036543131, 0.9998878240585327, 0.01407595630735159], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.70150756835938, 15.201132774353027, 28.192583084106445, 0.3729945719242096, -24.00988006591797, 1.8068675994873047], "ext_wrench_in_world": [-107.96733207258076, 14.9967902717389, -27.27017414226897, -0.16380348597062067, -23.951972028559428, -2.480814506088225]}
+{"timestamp_ns": 1789729885022261712, "elapsed_ms": 4400, "source_timestamp_ns": 1789729885021798183, "q": [0.8361395001411438, -1.8966618776321411, -1.0057764053344727, 1.381179928779602, -0.16223236918449402, 0.5941608548164368, 0.7041785717010498], "theta": [0.838184654712677, -1.8947302103042603, -1.003936529159546, 1.3627722263336182, -0.1628098338842392, 0.5941144227981567, 0.7041524052619934], "dq": [-0.00131036841776222, -0.002240994945168495, -0.00041097792563959956, 0.0014587780460715294, -0.0007428062381222844, 0.0018529105000197887, -0.0006964356871321797], "dtheta": [-0.0005000705714337528, -0.0002518307592254132, -0.00018309619917999953, 5.909608444198966e-05, 0.00021263411326799542, 0.0006410825881175697, 8.332436118507758e-05], "tau": [55.689998626708984, 23.68000030517578, 5.420000076293945, -26.2080020904541, -2.5, 2.6760001182556152, -0.5640000104904175], "tau_des": [0.6851710677146912, -0.4714100956916809, -0.18311047554016113, -0.6141005754470825, 0.928707480430603, -1.1573126316070557, -0.5558725595474243], "tau_dot": [35.929847717285156, -230.45228576660156, -30.954275131225586, 57.66468048095703, 32.517059326171875, 50.139060974121094, -7.722267150878906], "tau_ext": [-16.87327766418457, -41.754547119140625, 31.794198989868164, 31.345678329467773, 9.46195125579834, -3.001094102859497, -0.1085292398929596], "tcp_pose": [0.6779699325561523, 0.03272677958011627, -0.21499241888523102, -0.002304729772731662, -0.0045700701884925365, 0.9998878240585327, 0.014074685983359814], "tcp_vel": [-4.613503915606998e-05, 7.802886830177158e-05, -0.00039465268491767347, 0.00021343831031117588, 0.0001257689145859331, -0.0001670596975600347], "flange_pose": [0.6786805391311646, 0.028508007526397705, -0.06505344063043594, -0.002304729772731662, -0.0045700701884925365, 0.9998878240585327, 0.014074685983359814], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.54165649414062, 15.282877922058105, 28.27928924560547, 0.3878292739391327, -23.977209091186523, 1.8054075241088867], "ext_wrench_in_world": [-107.8086779723862, 15.08173124748362, -27.355488950956207, -0.17878730875749677, -23.91950014080202, -2.4783082513501435]}
+{"timestamp_ns": 1789729885055586890, "elapsed_ms": 4433, "source_timestamp_ns": 1789729885051750602, "q": [0.8361417055130005, -1.8966662883758545, -1.005774974822998, 1.381178855895996, -0.16223269701004028, 0.5941614508628845, 0.7041788697242737], "theta": [0.8381869792938232, -1.8947343826293945, -1.0039366483688354, 1.3627707958221436, -0.1628103107213974, 0.5941156148910522, 0.7041522264480591], "dq": [0.00028164006653241813, 0.0027114786207675934, -0.0016381671885028481, -0.0005658306763507426, 0.00024446932366117835, -0.0005608715582638979, 0.0004823401977773756], "dtheta": [-1.1335369890730362e-05, 0.0005233047413639724, -0.00018732894386630505, 7.32531989342533e-05, 0.0004777762806043029, 0.0005978666595183313, 0.000375270756194368], "tau": [55.57999801635742, 23.529998779296875, 5.52400016784668, -26.30000114440918, -2.5400002002716064, 2.6680002212524414, -0.5640000104904175], "tau_des": [0.5252746343612671, -0.6129326224327087, -0.14344502985477448, -0.5058049559593201, 0.9323641061782837, -1.190773606300354, -0.5648494362831116], "tau_dot": [70.8206787109375, -83.23838806152344, -5.933493137359619, 40.663116455078125, -24.401309967041016, 11.21653938293457, -23.083293914794922], "tau_ext": [-16.772010803222656, -41.671356201171875, 31.81349754333496, 31.302099227905273, 9.458206176757812, -2.9993069171905518, -0.11191902309656143], "tcp_pose": [0.6779692769050598, 0.032729119062423706, -0.21499161422252655, -0.002303166314959526, -0.004571928177028894, 0.9998878240585327, 0.014073869213461876], "tcp_vel": [0.00021767491125501692, -0.0001435357116861269, 0.00013327639317139983, 0.0009127515950240195, -0.00016675445658620447, -0.0011252692202106118], "flange_pose": [0.6786794662475586, 0.02851059101521969, -0.06505263596773148, -0.002303166314959526, -0.004571928177028894, 0.9998878240585327, 0.014073869213461876], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.48494720458984, 15.432974815368652, 28.268798828125, 0.4238238036632538, -23.963111877441406, 1.8071262836456299], "ext_wrench_in_world": [-107.75325283326073, 15.231549250672742, -27.341396922724925, -0.21482025551561454, -23.905696837004964, -2.479430149731753]}
+{"timestamp_ns": 1789729885088903868, "elapsed_ms": 4466, "source_timestamp_ns": 1789729885081755086, "q": [0.8361424207687378, -1.8966645002365112, -1.0057870149612427, 1.3811804056167603, -0.16223262250423431, 0.5941579341888428, 0.7041793465614319], "theta": [0.8381878733634949, -1.8947328329086304, -1.003948450088501, 1.3627713918685913, -0.1628105491399765, 0.5941120386123657, 0.7041524052619934], "dq": [0.001238627708517015, -0.00015133331180550158, 0.001391118741594255, 0.00032982113771140575, -0.0015720222145318985, -0.00018427817849442363, 0.0009482058230787516], "dtheta": [-4.0165257814805955e-05, 3.903251126757823e-06, -0.0005629142979159951, 0.0003639361239038408, -5.966175740468316e-05, -0.0008961154380813241, 0.0002241266774944961], "tau": [55.619998931884766, 23.579999923706055, 5.552000045776367, -26.39200210571289, -2.572000026702881, 2.704000234603882, -0.5480000376701355], "tau_des": [0.6386175751686096, -0.5557990670204163, -0.04937481880187988, -0.6345283389091492, 0.9498476386070251, -1.1136940717697144, -0.5740400552749634], "tau_dot": [-112.87225341796875, 134.75384521484375, -28.500080108642578, -56.07862091064453, -65.16749572753906, 61.869075775146484, 43.413307189941406], "tau_ext": [-16.79939842224121, -41.576820373535156, 31.72477149963379, 31.369626998901367, 9.473658561706543, -3.004405975341797, -0.11232184618711472], "tcp_pose": [0.677972674369812, 0.032721079885959625, -0.21499237418174744, -0.002302823355421424, -0.004566972143948078, 0.9998879432678223, 0.01406909991055727], "tcp_vel": [-0.00012119516031816602, -0.0005267632659524679, -0.00031673649209551513, -0.0011895860079675913, 0.0008053111960180104, -0.0005093896761536598], "flange_pose": [0.6786827445030212, 0.02850397676229477, -0.06505334377288818, -0.002302823355421424, -0.004566972143948078, 0.9998879432678223, 0.01406909991055727], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.5558090209961, 15.29713249206543, 28.205156326293945, 0.3920092284679413, -23.969970703125, 1.8028944730758667], "ext_wrench_in_world": [-107.82241090932827, 15.094130684421925, -27.281497110917933, -0.18316031233450092, -23.912400588877272, -2.4753071732554157]}
+{"timestamp_ns": 1789729885122261143, "elapsed_ms": 4500, "source_timestamp_ns": 1789729885121786725, "q": [0.8361423015594482, -1.896666407585144, -1.0057878494262695, 1.381181001663208, -0.16223250329494476, 0.5941566824913025, 0.7041780352592468], "theta": [0.8381876349449158, -1.894734501838684, -1.0039498805999756, 1.3627707958221436, -0.1628107875585556, 0.5941113233566284, 0.704151451587677], "dq": [0.0011156664695590734, 0.0005578502314165235, 0.00044303853064775467, -0.0017004262190312147, -0.0012189506087452173, -0.0010614884085953236, -0.0010332134552299976], "dtheta": [-0.00012585465447045863, -7.826110231690109e-05, -0.00043829777860082686, -7.57769521442242e-05, -0.00019858147425111383, -0.00014279723109211773, 0.0005480885738506913], "tau": [55.61000061035156, 23.709999084472656, 5.492000102996826, -26.248001098632812, -2.5480000972747803, 2.6520001888275146, -0.5520000457763672], "tau_des": [0.5960803627967834, -0.5667452812194824, -0.07971970736980438, -0.5742337107658386, 0.9560587406158447, -1.1481387615203857, -0.5756871700286865], "tau_dot": [-42.77277755737305, 49.77153778076172, 11.793525695800781, -10.334583282470703, -4.934749603271484, -31.98330307006836, 1.714853286743164], "tau_ext": [-16.806228637695312, -41.660892486572266, 31.778575897216797, 31.387441635131836, 9.48153018951416, -3.00565242767334, -0.11078274250030518], "tcp_pose": [0.6779719591140747, 0.0327209010720253, -0.2149934321641922, -0.002303485060110688, -0.004568002186715603, 0.9998879432678223, 0.014067639596760273], "tcp_vel": [0.00012836999667342752, -0.00024058291455730796, -9.89022955764085e-05, -0.0005135613027960062, -5.994463208480738e-05, -0.0007016118033789098], "flange_pose": [0.6786822080612183, 0.02850423939526081, -0.06505438685417175, -0.002303485060110688, -0.004568002186715603, 0.9998879432678223, 0.014067639596760273], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.68810272216797, 15.190293312072754, 28.240209579467773, 0.36364009976387024, -24.000272750854492, 1.8005571365356445], "ext_wrench_in_world": [-107.95396103197827, 14.986802023610055, -27.31885756232296, -0.15446006515206212, -23.94250170720812, -2.4738808233429492]}
+{"timestamp_ns": 1789729885155582231, "elapsed_ms": 4533, "source_timestamp_ns": 1789729885151772501, "q": [0.8361437916755676, -1.8966689109802246, -1.0057858228683472, 1.3811782598495483, -0.1622328907251358, 0.594156801700592, 0.7041727900505066], "theta": [0.8381891250610352, -1.894736409187317, -1.0039491653442383, 1.362768530845642, -0.1628107875585556, 0.5941118001937866, 0.7041462063789368], "dq": [-0.0002569761127233505, -8.162346784956753e-05, -0.0016773438546806574, 0.002122932579368353, -0.0013123438693583012, 0.0011022608960047364, -0.0006626542890444398], "dtheta": [0.0005499288090504706, 9.986678924178705e-05, -0.00011400432413211092, -0.00024038521223701537, -0.00020245548512320966, 0.00021912842930760235, -2.8651984393945895e-05], "tau": [55.62999725341797, 23.60999870300293, 5.5400004386901855, -26.22800064086914, -2.576000213623047, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.39660194516181946, -0.6198543906211853, -0.1451372355222702, -0.43478697538375854, 0.9841899275779724, -1.206075668334961, -0.5514832735061646], "tau_dot": [143.2175750732422, 11.640474319458008, 30.4990234375, 1.1229768991470337, -55.12256622314453, 1.6637791395187378, 18.448997497558594], "tau_ext": [-16.7553768157959, -41.675132751464844, 31.788394927978516, 31.29827117919922, 9.477355003356934, -2.9911203384399414, -0.10788417607545853], "tcp_pose": [0.6779720783233643, 0.032723259180784225, -0.21499180793762207, -0.0023017784114927053, -0.0045720720663666725, 0.9998879432678223, 0.014068030752241611], "tcp_vel": [0.000345453416230157, -2.5906809241860174e-05, 0.0005449877353385091, 0.00015715445624664426, -0.0010578137589618564, -4.952740709995851e-05], "flange_pose": [0.6786818504333496, 0.028506482020020485, -0.06505276262760162, -0.0023017784114927053, -0.0045720720663666725, 0.9998879432678223, 0.014068030752241611], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64153289794922, 15.30378532409668, 28.226900100708008, 0.39284318685531616, -23.995037078857422, 1.8091161251068115], "ext_wrench_in_world": [-107.90838594999377, 15.099448088795565, -27.302934791751504, -0.1835472623990237, -23.937295844497903, -2.4821783567608056]}
+{"timestamp_ns": 1789729885188900090, "elapsed_ms": 4566, "source_timestamp_ns": 1789729885181743958, "q": [0.8361438512802124, -1.896667718887329, -1.0057860612869263, 1.381178379058838, -0.16222995519638062, 0.5941482782363892, 0.7041669487953186], "theta": [0.8381891846656799, -1.8947360515594482, -1.0039496421813965, 1.3627684116363525, -0.162807434797287, 0.5941029787063599, 0.7041402459144592], "dq": [0.0016872510313987732, -0.0005005983985029161, 0.00028368670609779656, -0.00028029957320541143, 0.001923030475154519, -0.002232252387329936, 0.000236354157095775], "dtheta": [-1.3464158655551728e-05, -0.0002103517617797479, -4.3589108827291057e-05, -6.402232247637585e-05, 0.00011320499470457435, -0.0009599958430044353, 0.0008563905721530318], "tau": [55.7599983215332, 23.6299991607666, 5.564000129699707, -26.340002059936523, -2.5160000324249268, 2.6760001182556152, -0.5800000429153442], "tau_des": [0.6244084239006042, -0.500652015209198, -0.16999486088752747, -0.6124404072761536, 0.9416170120239258, -1.123950719833374, -0.5611681342124939], "tau_dot": [192.26698303222656, 27.930557250976562, 34.538726806640625, 7.148104667663574, 63.87351608276367, 24.33916473388672, -20.09958839416504], "tau_ext": [-16.816123962402344, -41.628509521484375, 31.750843048095703, 31.32975959777832, 9.479259490966797, -2.995940923690796, -0.10192302614450455], "tcp_pose": [0.6779704689979553, 0.032721612602472305, -0.2149927020072937, -0.0023057807702571154, -0.004573757294565439, 0.9998879432678223, 0.014066525734961033], "tcp_vel": [-0.0002139152493327856, -9.339145617559552e-05, -0.00016395587590523064, -0.0007090581930242479, 0.0007610883330926299, -0.0007955341134220362], "flange_pose": [0.6786814332008362, 0.028505293652415276, -0.06505364924669266, -0.0023057807702571154, -0.004573757294565439, 0.9998879432678223, 0.014066525734961033], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.55056762695312, 15.33876895904541, 28.20965003967285, 0.39820364117622375, -23.974609375, 1.812601089477539], "ext_wrench_in_world": [-107.81793094451622, 15.134309931675292, -27.284303457393655, -0.1890456525942705, -23.916836680600206, -2.484988625324239]}
+{"timestamp_ns": 1789729885222260605, "elapsed_ms": 4600, "source_timestamp_ns": 1789729885221783247, "q": [0.8361449241638184, -1.8966679573059082, -1.0057849884033203, 1.3811800479888916, -0.16222557425498962, 0.5941436886787415, 0.704163670539856], "theta": [0.838190495967865, -1.8947361707687378, -1.0039496421813965, 1.362769365310669, -0.16280311346054077, 0.5940974950790405, 0.7041361331939697], "dq": [0.0004199336690362543, -0.0029290185775607824, 0.0003108991077169776, 0.00028075469890609384, -0.00064514932455495, -0.0002073871437460184, -0.0025406889617443085], "dtheta": [0.00014015975466463715, -6.612456490984187e-05, 5.877870717085898e-05, 0.00035921865492127836, -7.268305489560589e-05, 0.000691334658768028, -0.0006335539510473609], "tau": [55.599998474121094, 23.68000030517578, 5.544000148773193, -26.32000160217285, -2.5320000648498535, 2.6760001182556152, -0.5680000185966492], "tau_des": [0.5901108384132385, -0.4939691126346588, -0.21589677035808563, -0.5865601301193237, 0.9479514956474304, -1.156082034111023, -0.5275798439979553], "tau_dot": [-48.23247146606445, -6.483609199523926, 62.59437561035156, 16.586997985839844, 22.470352172851562, 58.59496307373047, 11.050300598144531], "tau_ext": [-16.81998634338379, -41.65951919555664, 31.764677047729492, 31.402820587158203, 9.4739990234375, -3.001462936401367, -0.10053320974111557], "tcp_pose": [0.6779682040214539, 0.032721515744924545, -0.21499358117580414, -0.0023089584428817034, -0.004574741702526808, 0.9998879432678223, 0.014066188596189022], "tcp_vel": [-8.914422323869076e-06, 8.71627707965672e-05, 3.0748537938052323e-06, 0.0001924838579725474, -0.00041351772961206734, 0.0007997053326107562], "flange_pose": [0.6786801218986511, 0.028505301102995872, -0.06505453586578369, -0.0023089584428817034, -0.004574741702526808, 0.9998879432678223, 0.014066188596189022], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62496185302734, 15.260747909545898, 28.26956558227539, 0.37971386313438416, -23.997224807739258, 1.8121119737625122], "ext_wrench_in_world": [-107.8921006336018, 15.057080588618895, -27.345385787211953, -0.17031555369395307, -23.93928773723102, -2.485201429002644]}
+{"timestamp_ns": 1789729885255611890, "elapsed_ms": 4633, "source_timestamp_ns": 1789729885251823068, "q": [0.8361519575119019, -1.8966693878173828, -1.0057857036590576, 1.381179928779602, -0.16222287714481354, 0.5941457748413086, 0.704163670539856], "theta": [0.8381972908973694, -1.894736409187317, -1.003950834274292, 1.3627691268920898, -0.16280023753643036, 0.5940991640090942, 0.7041356563568115], "dq": [-0.0015426051104441285, -0.0012812460772693157, -3.577297320589423e-07, -0.00016471858543809503, 0.002361442195251584, 0.00018549188098404557, 0.00037257143412716687], "dtheta": [0.00034165740362368524, -3.899547300534323e-05, -0.00022686822921968997, 0.00012018038250971586, 0.0007499852799810469, -0.00030661042546853423, -7.251709757838398e-05], "tau": [55.62999725341797, 23.619998931884766, 5.5400004386901855, -26.240001678466797, -2.552000045776367, 2.6600000858306885, -0.5640000104904175], "tau_des": [0.5250327587127686, -0.5496055483818054, -0.1724272221326828, -0.5432037711143494, 0.9375776648521423, -1.1594220399856567, -0.5497671365737915], "tau_dot": [12.260765075683594, -14.550920486450195, 46.63506317138672, 36.67692565917969, -42.57933044433594, -17.357006072998047, -6.490137100219727], "tau_ext": [-16.771806716918945, -41.652626037597656, 31.76528549194336, 31.340526580810547, 9.46523380279541, -2.9923250675201416, -0.1016940250992775], "tcp_pose": [0.6779696345329285, 0.03272208198904991, -0.21498918533325195, -0.002305218018591404, -0.004574253223836422, 0.9998879432678223, 0.014066973701119423], "tcp_vel": [-6.749687599949539e-05, -0.0001323290343862027, 5.739240805269219e-05, 2.2650507162325084e-05, 0.0003284230479039252, -0.0004502978699747473], "flange_pose": [0.678680419921875, 0.028505627065896988, -0.0650501400232315, -0.002305218018591404, -0.004574253223836422, 0.9998879432678223, 0.014066973701119423], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.68157196044922, 15.250951766967773, 28.239683151245117, 0.38429683446884155, -24.015180587768555, 1.8135919570922852], "ext_wrench_in_world": [-107.9482568724198, 15.046088181595138, -27.316318251042276, -0.17474966537782566, -23.957232111418165, -2.4872053837656587]}
+{"timestamp_ns": 1789729885288920989, "elapsed_ms": 4666, "source_timestamp_ns": 1789729885281818443, "q": [0.836152970790863, -1.8966712951660156, -1.0057880878448486, 1.3811800479888916, -0.1622234582901001, 0.5941466689109802, 0.7041648626327515], "theta": [0.8381984829902649, -1.894737720489502, -1.0039535760879517, 1.362769365310669, -0.16280144453048706, 0.5940996408462524, 0.7041366100311279], "dq": [0.0017611897783353925, 0.0014211562229320407, 0.000753388914745301, 0.0011308047687634826, -5.297102325130254e-05, 0.0008590495563112199, -0.0005317151080816984], "dtheta": [-0.00010264222510159016, -0.00010347498027840629, -3.397424370632507e-05, 0.00011205981718376279, -0.0003437231353018433, 0.0005791335133835673, -0.00013348599895834923], "tau": [55.65999984741211, 23.69999885559082, 5.4800004959106445, -26.308000564575195, -2.5440001487731934, 2.6760001182556152, -0.5520000457763672], "tau_des": [0.5629801154136658, -0.524707555770874, -0.19440826773643494, -0.5419238805770874, 0.9580459594726562, -1.18021821975708, -0.540427565574646], "tau_dot": [-104.92927551269531, 17.128236770629883, 18.333251953125, -55.03611373901367, -12.77534008026123, 50.989784240722656, 0.9714761972427368], "tau_ext": [-16.840288162231445, -41.666358947753906, 31.78078269958496, 31.331083297729492, 9.461977005004883, -2.994784116744995, -0.10532689839601517], "tcp_pose": [0.677970290184021, 0.03272143751382828, -0.21498917043209076, -0.0023039698135107756, -0.004573673941195011, 0.9998879432678223, 0.014065549708902836], "tcp_vel": [7.255657692439854e-05, 5.7577399275032803e-05, -5.797102130600251e-05, 3.387321157788392e-06, -0.00044973992044106126, 0.0003735253994818777], "flange_pose": [0.6786807179450989, 0.02850540727376938, -0.06505011022090912, -0.0023039698135107756, -0.004573673941195011, 0.9998879432678223, 0.014065549708902836], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.57633972167969, 15.31177043914795, 28.25281524658203, 0.3953153192996979, -23.99066734313965, 1.8113954067230225], "ext_wrench_in_world": [-107.84355871786468, 15.108269239194605, -27.328516149168827, -0.1860020232343485, -23.93289967609837, -2.4842027758459517]}
+{"timestamp_ns": 1789729885322283504, "elapsed_ms": 4700, "source_timestamp_ns": 1789729885321805966, "q": [0.8361526727676392, -1.8966728448867798, -1.005789041519165, 1.3811806440353394, -0.1622239500284195, 0.5941452980041504, 0.7041654586791992], "theta": [0.8381984829902649, -1.8947399854660034, -1.0039560794830322, 1.3627698421478271, -0.16280192136764526, 0.5940979719161987, 0.7041373252868652], "dq": [-0.0006461230223067105, -0.0029181623831391335, 0.00018657375767361373, 0.0004299486172385514, -0.0011565560707822442, 0.0007503340020775795, 0.002024705521762371], "dtheta": [-3.6108784115640447e-05, 0.0005965743912383914, -0.00023782560310792178, 5.380125003284775e-05, 0.0015619657933712006, 0.0008866479038260877, -0.0007126960554160178], "tau": [55.61000061035156, 23.60999870300293, 5.5360002517700195, -26.328001022338867, -2.56000018119812, 2.6440000534057617, -0.5680000185966492], "tau_des": [0.5259856581687927, -0.6121020317077637, -0.14068318903446198, -0.5062189698219299, 0.9118420481681824, -1.1913762092590332, -0.5488110780715942], "tau_dot": [7.979891777038574, 82.46530151367188, 47.791099548339844, -5.480840682983398, -20.449851989746094, -46.751583099365234, -0.9196082949638367], "tau_ext": [-16.838417053222656, -41.62567138671875, 31.79079818725586, 31.353809356689453, 9.470151901245117, -3.0025205612182617, -0.11121315509080887], "tcp_pose": [0.6779696941375732, 0.03272099047899246, -0.21499024331569672, -0.002304605906829238, -0.004573732148855925, 0.999888002872467, 0.014063920825719833], "tcp_vel": [0.00016275039524771273, -6.753685738658533e-05, 8.793236338533461e-05, 0.0018132388358935714, 0.00017792850849218667, -0.0007338798604905605], "flange_pose": [0.6786803007125854, 0.02850545011460781, -0.06505117565393448, -0.002304605906829238, -0.004573732148855925, 0.999888002872467, 0.014063920825719833], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.51921844482422, 15.354412078857422, 28.27017593383789, 0.3934374451637268, -23.963916778564453, 1.8031007051467896], "ext_wrench_in_world": [-107.78694637388007, 15.151801832468246, -27.34483946245181, -0.18432762861857002, -23.90638476251121, -2.475088575833268]}
+{"timestamp_ns": 1789729885355678035, "elapsed_ms": 4733, "source_timestamp_ns": 1789729885351748746, "q": [0.8361533880233765, -1.896672248840332, -1.005793571472168, 1.3811801671981812, -0.16222523152828217, 0.5941412448883057, 0.704165518283844], "theta": [0.8381990194320679, -1.8947396278381348, -1.003960371017456, 1.3627700805664062, -0.16280359029769897, 0.5940936803817749, 0.7041380405426025], "dq": [-0.0012106663780286908, 0.0001198739992105402, -0.0003969180106651038, 0.001857337891124189, 0.0019851571414619684, 0.0003276900388300419, 0.0029541212134063244], "dtheta": [0.00012179180339444429, -0.00025445144274272025, -4.950022776029073e-05, 5.739989887842967e-07, 0.0003785765147767961, -0.0007812064723111689, 0.00043584706145338714], "tau": [55.599998474121094, 23.59000015258789, 5.508000373840332, -26.328001022338867, -2.56000018119812, 2.684000015258789, -0.5640000104904175], "tau_des": [0.581900954246521, -0.513238251209259, -0.17253848910331726, -0.5836135149002075, 0.9403517246246338, -1.1384685039520264, -0.5605416893959045], "tau_dot": [67.3158187866211, -33.93674850463867, -28.533781051635742, 6.552316665649414, 46.9249267578125, 33.80382537841797, -63.95650100708008], "tau_ext": [-16.785921096801758, -41.598106384277344, 31.775178909301758, 31.361743927001953, 9.483762741088867, -3.003005266189575, -0.11578922718763351], "tcp_pose": [0.6779711246490479, 0.03271770477294922, -0.21498996019363403, -0.002304475288838148, -0.004572275094687939, 0.999888002872467, 0.014061130583286285], "tcp_vel": [-0.00022267647727858275, -4.917252226732671e-05, -0.0001159161256509833, -0.0004989086301065981, 0.0006759623065590858, -0.0004910248680971563], "flange_pose": [0.6786817312240601, 0.028503000736236572, -0.06505086272954941, -0.002304475288838148, -0.004572275094687939, 0.999888002872467, 0.014061130583286285], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.59156036376953, 15.275914192199707, 28.228811264038086, 0.3728661835193634, -23.97072410583496, 1.7994135618209839], "ext_wrench_in_world": [-107.8583251643054, 15.071670199465785, -27.30548757023563, -0.16374700786365137, -23.913116576234053, -2.47155316434641]}
+{"timestamp_ns": 1789729885388929960, "elapsed_ms": 4766, "source_timestamp_ns": 1789729885381805045, "q": [0.8361533880233765, -1.896673560142517, -1.005792498588562, 1.3811802864074707, -0.16222453117370605, 0.5941368341445923, 0.7041634321212769], "theta": [0.8381990790367126, -1.8947404623031616, -1.0039598941802979, 1.362769603729248, -0.16280359029769897, 0.5940884351730347, 0.7041373252868652], "dq": [0.00020432565361261368, 4.7838482714723796e-05, 0.0005034239147789776, -0.0011138131376355886, 0.0016986705595627427, 0.0008522455464117229, -0.0033395260106772184], "dtheta": [-0.00021428892796393484, -8.765991515247151e-05, -0.00011301520135020837, -0.0002858435909729451, -0.0002349946735193953, 0.00012551889813039452, -0.0006369324401021004], "tau": [55.62999725341797, 23.729999542236328, 5.4800004959106445, -26.292001724243164, -2.568000078201294, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.5753878355026245, -0.5234866738319397, -0.17718344926834106, -0.5510196685791016, 0.9572514891624451, -1.1627280712127686, -0.5336266756057739], "tau_dot": [7.143738269805908, 72.3740463256836, -20.893796920776367, 21.58509635925293, -46.46287536621094, 0.0021396316587924957, 14.64562702178955], "tau_ext": [-16.806570053100586, -41.65083694458008, 31.796541213989258, 31.372722625732422, 9.484404563903809, -2.996886730194092, -0.1163771003484726], "tcp_pose": [0.6779694557189941, 0.0327179841697216, -0.21499092876911163, -0.002306565875187516, -0.004573965445160866, 0.9998880624771118, 0.014059706591069698], "tcp_vel": [0.00013550692528951913, 2.1513747924473137e-05, -1.638025241845753e-05, -3.3845804864540696e-05, -0.00029378008912317455, 0.0006979852332733572], "flange_pose": [0.6786806583404541, 0.02850371040403843, -0.06505182385444641, -0.002306565875187516, -0.004573965445160866, 0.9998880624771118, 0.014059706591069698], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67649841308594, 15.227765083312988, 28.20633888244629, 0.36040839552879333, -23.990331649780273, 1.7982056140899658], "ext_wrench_in_world": [-107.94287933397285, 15.021678648521682, -27.28359699085149, -0.15103386836759838, -23.932642361365016, -2.4708841903586234]}
+{"timestamp_ns": 1789729885422327081, "elapsed_ms": 4800, "source_timestamp_ns": 1789729885421764901, "q": [0.8361556529998779, -1.8966768980026245, -1.0057910680770874, 1.381178379058838, -0.16222253441810608, 0.5941358208656311, 0.7041625380516052], "theta": [0.8382017016410828, -1.8947433233261108, -1.0039596557617188, 1.3627684116363525, -0.16280168294906616, 0.5940862894058228, 0.704136848449707], "dq": [-0.0017449735896661878, 0.0014502863632515073, 0.0009614928276278079, -0.0010704912710934877, -0.000873589888215065, 0.001689417869783938, 0.0010396811412647367], "dtheta": [0.0005298756877891719, 0.00016499092453159392, -0.00020991738711018115, -0.0002881890977732837, -4.456932583707385e-05, 0.0003230318834539503, -0.00024252008006442338], "tau": [55.689998626708984, 23.600000381469727, 5.500000476837158, -26.308000564575195, -2.5360000133514404, 2.6640000343322754, -0.5680000185966492], "tau_des": [0.39276182651519775, -0.6276113390922546, -0.16670076549053192, -0.4308699369430542, 0.9704561233520508, -1.2053016424179077, -0.5433298349380493], "tau_dot": [91.54155731201172, 75.41908264160156, -79.79756164550781, -84.41825866699219, -4.222554683685303, 48.32750701904297, -10.302749633789062], "tau_ext": [-16.79269027709961, -41.66547775268555, 31.79033660888672, 31.318702697753906, 9.47896957397461, -2.986126661300659, -0.10924060642719269], "tcp_pose": [0.6779689192771912, 0.03272010758519173, -0.21498969197273254, -0.002305819885805249, -0.00457532936707139, 0.999888002872467, 0.014059757813811302], "tcp_vel": [0.00040715531213209033, -6.13367956248112e-05, 0.0005655930726788938, 0.00033873182837851346, -0.0011036850046366453, -4.4444088416639715e-05], "flange_pose": [0.678679883480072, 0.02850581891834736, -0.06505059450864792, -0.002305819885805249, -0.00457532936707139, 0.999888002872467, 0.014059757813811302], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63911437988281, 15.31757640838623, 28.23741912841797, 0.3839610517024994, -23.995174407958984, 1.8039003610610962], "ext_wrench_in_world": [-107.90645942765457, 15.112379399166064, -27.31246845727781, -0.17449972279031745, -23.93754015114221, -2.4766103507478463]}
+{"timestamp_ns": 1789729885455681356, "elapsed_ms": 4833, "source_timestamp_ns": 1789729885451756266, "q": [0.8361566066741943, -1.8966766595840454, -1.0057929754257202, 1.3811792135238647, -0.16222019493579865, 0.5941341519355774, 0.7041617631912231], "theta": [0.8382037281990051, -1.8947428464889526, -1.0039608478546143, 1.3627692461013794, -0.16279976069927216, 0.594084620475769, 0.704136848449707], "dq": [0.0018089261138811707, 0.0020106795709580183, -0.00012039233843097463, -0.00023872732708696276, 0.0004834377905353904, 0.0016321641160175204, 0.0009341009426862001], "dtheta": [0.00014992857177276164, -0.00010316413681721315, -6.152327841846272e-05, -0.00010125266999239102, -0.0002430814056424424, 0.0004940084763802588, 0.000933422998059541], "tau": [55.66999816894531, 23.56999969482422, 5.5320000648498535, -26.328001022338867, -2.5480000972747803, 2.6760001182556152, -0.5360000133514404], "tau_des": [0.5094080567359924, -0.5705228447914124, -0.1888817548751831, -0.5042924284934998, 0.9515256881713867, -1.1859279870986938, -0.5630580186843872], "tau_dot": [-70.90750885009766, 54.783294677734375, -13.279891014099121, -6.626255035400391, 0.3579390347003937, 32.75860595703125, 25.45806884765625], "tau_ext": [-16.826744079589844, -41.62350845336914, 31.764537811279297, 31.335527420043945, 9.476777076721191, -2.9924237728118896, -0.11383574455976486], "tcp_pose": [0.6779688596725464, 0.03271869570016861, -0.2149898260831833, -0.0023066247813403606, -0.004574371501803398, 0.9998880624771118, 0.014059193432331085], "tcp_vel": [0.0001900619245134294, 7.674170046811923e-05, 0.0001890559506136924, 0.00011019177327398211, -0.000732307496946305, -0.0008002086542546749], "flange_pose": [0.6786800622940063, 0.028504574671387672, -0.06505072861909866, -0.0023066247813403606, -0.004574371501803398, 0.9998880624771118, 0.014059193432331085], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.56521606445312, 15.321845054626465, 28.245807647705078, 0.3824612498283386, -23.97934341430664, 1.8045570850372314], "ext_wrench_in_world": [-107.83265951005666, 15.117735480340324, -27.320906088127234, -0.1731962054064203, -23.921686309731566, -2.4768004835399506]}
+{"timestamp_ns": 1789729885489017743, "elapsed_ms": 4866, "source_timestamp_ns": 1789729885481813176, "q": [0.8361570835113525, -1.896676778793335, -1.005793809890747, 1.3811798095703125, -0.16221584379673004, 0.5941282510757446, 0.7041605114936829], "theta": [0.8382044434547424, -1.8947430849075317, -1.0039618015289307, 1.3627700805664062, -0.16279569268226624, 0.5940781831741333, 0.7041361331939697], "dq": [-0.00043687038123607635, 0.0031914992723613977, -0.0011271723778918386, -0.001049721846356988, 0.0018926732009276748, -0.003264337545260787, -0.0013695033267140388], "dtheta": [-0.0002487746241968125, 5.3289473726181313e-05, 0.0004059440107084811, 0.00012293604959268123, 0.000330757990013808, -0.0004465850652195513, -0.0007115924381650984], "tau": [55.68000030517578, 23.649999618530273, 5.484000205993652, -26.328001022338867, -2.5360000133514404, 2.6480002403259277, -0.5400000214576721], "tau_des": [0.6640334129333496, -0.459728866815567, -0.26106706261634827, -0.6337908506393433, 0.9108504056930542, -1.1262222528457642, -0.5310804843902588], "tau_dot": [9.391283988952637, -61.95960998535156, -23.759660720825195, 3.2342910766601562, 16.00266456604004, 18.283334732055664, 51.17654800415039], "tau_ext": [-16.85866355895996, -41.643943786621094, 31.774293899536133, 31.38905143737793, 9.48019027709961, -3.00199031829834, -0.11541938036680222], "tcp_pose": [0.6779673099517822, 0.03271755948662758, -0.21499086916446686, -0.002309906529262662, -0.0045736124739050865, 0.9998880624771118, 0.014058180153369904], "tcp_vel": [-0.0003511551476549357, 0.00013733522791881114, -0.00026329437969252467, 0.00014453232870437205, 0.000976411800365895, 0.0008074165671132505], "flange_pose": [0.6786794662475586, 0.028503747656941414, -0.06505176424980164, -0.002309906529262662, -0.0045736124739050865, 0.9998880624771118, 0.014058180153369904], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.57408142089844, 15.265755653381348, 28.259113311767578, 0.36775100231170654, -23.976774215698242, 1.7993848323822021], "ext_wrench_in_world": [-107.84123635949366, 15.062059666274326, -27.33506673581686, -0.15853578007023816, -23.919132890886814, -2.4715736929767234]}
+{"timestamp_ns": 1789729885522263578, "elapsed_ms": 4900, "source_timestamp_ns": 1789729885521890691, "q": [0.8361620306968689, -1.8966792821884155, -1.005794882774353, 1.381179928779602, -0.1622140258550644, 0.5941286087036133, 0.7041611075401306], "theta": [0.8382096886634827, -1.8947453498840332, -1.0039631128311157, 1.3627700805664062, -0.16279450058937073, 0.5940779447555542, 0.704136848449707], "dq": [-0.00012286264973226935, 0.0006686277920380235, -0.0007201224216260016, -0.003639408852905035, 0.0032902758102864027, 0.0012235664762556553, 0.002368705114349723], "dtheta": [0.00026770870317704976, -0.00021709688007831573, -1.850269291026052e-05, -0.00012493056419771165, -0.00011795660248026252, 9.87730709312018e-06, 1.7274853234994225e-05], "tau": [55.619998931884766, 23.600000381469727, 5.4800004959106445, -26.264001846313477, -2.556000232696533, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.5037243962287903, -0.5401777625083923, -0.21871329843997955, -0.5145038962364197, 0.9483770132064819, -1.1744601726531982, -0.5487815141677856], "tau_dot": [-71.42318725585938, -130.6457061767578, -16.835613250732422, 21.166940689086914, -13.645426750183105, -13.340534210205078, 15.895267486572266], "tau_ext": [-16.812992095947266, -41.67945098876953, 31.81077003479004, 31.34127426147461, 9.462974548339844, -2.992400646209717, -0.11749143898487091], "tcp_pose": [0.6779678463935852, 0.03271785005927086, -0.21498847007751465, -0.0023076687939465046, -0.004573314916342497, 0.9998880624771118, 0.014057520776987076], "tcp_vel": [7.254769298015162e-05, 7.0923451858107e-05, 0.0001826639345381409, -0.00016805283667054027, -0.00044578788219951093, 0.00016060634516179562], "flange_pose": [0.678679347038269, 0.028504231944680214, -0.06504935026168823, -0.0023076687939465046, -0.004573314916342497, 0.9998880624771118, 0.014057520776987076], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61428833007812, 15.28283405303955, 28.261503219604492, 0.37340229749679565, -23.988203048706055, 1.796003818511963], "ext_wrench_in_world": [-107.88147545378553, 15.078862515609021, -27.337296736570103, -0.16407156979250623, -23.930706863334567, -2.4684598516025362]}
+{"timestamp_ns": 1789729885555587456, "elapsed_ms": 4933, "source_timestamp_ns": 1789729885551752918, "q": [0.8361629843711853, -1.8966789245605469, -1.0057982206344604, 1.3811795711517334, -0.16221420466899872, 0.5941293835639954, 0.7041627764701843], "theta": [0.8382110595703125, -1.8947458267211914, -1.0039665699005127, 1.3627700805664062, -0.16279424726963043, 0.5940786600112915, 0.7041378021240234], "dq": [0.0013194321654736996, 0.003418358974158764, 7.184328569564968e-05, 0.00012140844773966819, 0.0012495866976678371, -3.575691516743973e-05, 0.0018670489080250263], "dtheta": [-6.593276339117438e-05, -8.604035247117281e-05, -0.0005607926286756992, -3.866207043756731e-05, 0.0009880877332761884, 0.0005368083366192877, 0.0005122240399941802], "tau": [55.65999984741211, 23.59000015258789, 5.484000205993652, -26.304000854492188, -2.5480000972747803, 2.6760001182556152, -0.5400000214576721], "tau_des": [0.563491702079773, -0.5842276811599731, -0.12545007467269897, -0.5337231159210205, 0.9153491258621216, -1.17617928981781, -0.5781848430633545], "tau_dot": [-7.910796165466309, 65.18865203857422, 24.586210250854492, 40.619117736816406, 8.754603385925293, 9.037822723388672, 25.156808853149414], "tau_ext": [-16.826955795288086, -41.633033752441406, 31.793668746948242, 31.332204818725586, 9.469158172607422, -2.9913816452026367, -0.12342635542154312], "tcp_pose": [0.6779695153236389, 0.03271614760160446, -0.21498768031597137, -0.002306211506947875, -0.004571277182549238, 0.9998880624771118, 0.01405689399689436], "tcp_vel": [0.00013086017861496657, -0.00012235340545885265, -0.00010398097219876945, 0.0005627269274555147, 1.3815580132359173e-05, -0.001415399950928986], "flange_pose": [0.6786805987358093, 0.02850271202623844, -0.06504855304956436, -0.002306211506947875, -0.004571277182549238, 0.9998880624771118, 0.01405689399689436], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.5695571899414, 15.319451332092285, 28.2491455078125, 0.38030701875686646, -23.975980758666992, 1.7935795783996582], "ext_wrench_in_world": [-107.83688016178066, 15.115938050040842, -27.324442152019397, -0.17116673788496573, -23.918623986779565, -2.4656323731312986]}
+{"timestamp_ns": 1789729885588896115, "elapsed_ms": 4966, "source_timestamp_ns": 1789729885581809677, "q": [0.8361620903015137, -1.896679162979126, -1.0058038234710693, 1.3811790943145752, -0.1622154414653778, 0.5941275358200073, 0.7041616439819336], "theta": [0.8382107019424438, -1.8947460651397705, -1.0039722919464111, 1.3627705574035645, -0.16279664635658264, 0.594077467918396, 0.7041370868682861], "dq": [-0.0002599639701656997, -1.5907062334008515e-06, -0.0004736425180453807, 0.0009095657151192427, -0.003432692028582096, -0.002285253256559372, 0.0012116213329136372], "dtheta": [6.355247751343995e-05, -0.00013336575648281723, 5.0872506108134985e-05, 0.00019235482614021748, -0.0008658315637148917, 0.0013253141660243273, -0.00021078367717564106], "tau": [55.65999984741211, 23.56999969482422, 5.508000373840332, -26.336000442504883, -2.5480000972747803, 2.6520001888275146, -0.5480000376701355], "tau_des": [0.5053350329399109, -0.5660107731819153, -0.18176378309726715, -0.4987638592720032, 0.9693711400032043, -1.201121211051941, -0.548387348651886], "tau_dot": [-9.21329402923584, -65.60062408447266, -44.16984176635742, -29.445632934570312, 44.584930419921875, -3.2301533222198486, -21.15534019470215], "tau_ext": [-16.831836700439453, -41.6197509765625, 31.796354293823242, 31.35659408569336, 9.480216026306152, -2.994180917739868, -0.12407011538743973], "tcp_pose": [0.6779711246490479, 0.03271275386214256, -0.2149885892868042, -0.002305951900780201, -0.004570226650685072, 0.9998881220817566, 0.014054123312234879], "tcp_vel": [0.00025076555903069675, 0.00017890681920107454, 0.0001425511291017756, 0.00015369609172921628, -0.0013799327425658703, 0.0008149123750627041], "flange_pose": [0.6786820888519287, 0.02850015088915825, -0.06504944711923599, -0.002305951900780201, -0.004570226650685072, 0.9998881220817566, 0.014054123312234879], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.55908966064453, 15.291553497314453, 28.251296997070312, 0.36650919914245605, -23.965587615966797, 1.7884234189987183], "ext_wrench_in_world": [-107.82612445695501, 15.088283672398063, -27.327563730032203, -0.15748837630009957, -23.908266503595346, -2.460115302511521]}
+{"timestamp_ns": 1789729885622251050, "elapsed_ms": 5000, "source_timestamp_ns": 1789729885621813299, "q": [0.836161732673645, -1.8966796398162842, -1.0058050155639648, 1.3811793327331543, -0.16221365332603455, 0.594118058681488, 0.7041612863540649], "theta": [0.8382111191749573, -1.8947464227676392, -1.0039736032485962, 1.362770438194275, -0.16279593110084534, 0.5940672159194946, 0.7041366100311279], "dq": [-0.0008938448736444116, -0.0004834620631299913, -0.0015294639160856605, 0.0009946246864274144, -0.002934954594820738, 0.0015077616553753614, 0.0014129540650174022], "dtheta": [5.033052366343327e-05, 1.1714618267433252e-05, 0.00023439239885192364, -0.00017791299615055323, 0.0006671135779470205, -0.0014213068643584847, 6.805837620049715e-05], "tau": [55.61000061035156, 23.60999870300293, 5.492000102996826, -26.288002014160156, -2.564000129699707, 2.6720001697540283, -0.5200000405311584], "tau_des": [0.6046023964881897, -0.5256982445716858, -0.18707948923110962, -0.6082054972648621, 0.9096192717552185, -1.1099085807800293, -0.5648232102394104], "tau_dot": [23.80376625061035, -78.16968536376953, 2.18312406539917, 25.711851119995117, -20.497528076171875, 9.667595863342285, 46.49787521362305], "tau_ext": [-16.82270050048828, -41.624271392822266, 31.797176361083984, 31.36634635925293, 9.48787784576416, -2.9996626377105713, -0.12194762378931046], "tcp_pose": [0.677969217300415, 0.03271084651350975, -0.21499034762382507, -0.002310083946213126, -0.0045697190798819065, 0.9998881816864014, 0.014050977304577827], "tcp_vel": [-0.00035050130099989474, -1.7660857338341884e-05, -8.669526141602546e-05, -0.00025573454331606627, 0.00132648809812963, -0.00027552866959013045], "flange_pose": [0.6786814332008362, 0.028499193489551544, -0.06505118310451508, -0.002310083946213126, -0.0045697190798819065, 0.9998881816864014, 0.014050977304577827], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61428833007812, 15.238935470581055, 28.230257034301758, 0.35062119364738464, -23.97167205810547, 1.789193868637085], "ext_wrench_in_world": [-107.88095495672573, 15.034512206390998, -27.306970165678546, -0.14159110319072257, -23.914195874326317, -2.4609751778937494]}
+{"timestamp_ns": 1789729885655581958, "elapsed_ms": 5033, "source_timestamp_ns": 1789729885651746160, "q": [0.8361626863479614, -1.896683931350708, -1.0058029890060425, 1.3811793327331543, -0.16221265494823456, 0.5941197276115417, 0.704159140586853], "theta": [0.8382124304771423, -1.894749641418457, -1.0039725303649902, 1.3627699613571167, -0.16279497742652893, 0.5940688848495483, 0.7041347026824951], "dq": [0.0007075347239151597, 0.002195668173953891, 0.0005486123263835907, -0.002112650778144598, -0.0007537307683378458, 0.002764448057860136, 0.0014155153185129166], "dtheta": [0.0001345440250588581, -0.00017403239326085895, 1.7946906154975295e-05, 0.00023568433243781328, 0.0009061277378350496, 0.00014367469702847302, 0.0002053332864306867], "tau": [55.61000061035156, 23.65999984741211, 5.500000476837158, -26.2760009765625, -2.568000078201294, 2.6520001888275146, -0.5600000023841858], "tau_des": [0.6075284481048584, -0.5018194317817688, -0.21247898042201996, -0.5975539088249207, 0.9080783724784851, -1.1429976224899292, -0.5606146454811096], "tau_dot": [-99.31243896484375, 34.08676528930664, 42.59859085083008, -20.687646865844727, -39.306976318359375, -34.418861389160156, -22.884796142578125], "tau_ext": [-16.78922462463379, -41.65679168701172, 31.80509376525879, 31.33770751953125, 9.487214088439941, -2.990446090698242, -0.11998581141233444], "tcp_pose": [0.6779677867889404, 0.03271358087658882, -0.2149907350540161, -0.0023095656652003527, -0.00457265367731452, 0.9998881816864014, 0.01405089721083641], "tcp_vel": [-0.0002122576697729528, 0.00010235292575089261, -0.0001226167951244861, 0.00040260134846903384, 0.0004598410159815103, -0.0005447141011245549], "flange_pose": [0.678679883480072, 0.028501952067017555, -0.06505156308412552, -0.0023095656652003527, -0.00457265367731452, 0.9998881816864014, 0.01405089721083641], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62866973876953, 15.267333030700684, 28.223482131958008, 0.36025407910346985, -23.97840690612793, 1.792460322380066], "ext_wrench_in_world": [-107.8956187227622, 15.061939255910898, -27.299457825092162, -0.15103508368123447, -23.92092595616775, -2.4643832022837646]}
+{"timestamp_ns": 1789729885688916625, "elapsed_ms": 5066, "source_timestamp_ns": 1789729885681844695, "q": [0.8361644744873047, -1.8966857194900513, -1.0058033466339111, 1.3811792135238647, -0.16221223771572113, 0.5941186547279358, 0.7041488885879517], "theta": [0.8382144570350647, -1.8947511911392212, -1.0039730072021484, 1.3627703189849854, -0.16279377043247223, 0.5940679311752319, 0.7041248679161072], "dq": [-0.0009405692107975483, 0.0018671528669074178, 0.001549690612591803, 0.0011857622303068638, 0.00010505665704840794, 0.002026762580499053, 0.00018518258002586663], "dtheta": [4.614768477040343e-05, -9.135292930295691e-05, -0.0003447775379754603, 9.828767360886559e-05, -0.0003296476788818836, -0.00024722423404455185, -0.0006676902412436903], "tau": [55.66999816894531, 23.600000381469727, 5.508000373840332, -26.296001434326172, -2.568000078201294, 2.6760001182556152, -0.5640000104904175], "tau_des": [0.5819848775863647, -0.5246117115020752, -0.1695900559425354, -0.5837940573692322, 0.955880880355835, -1.1416887044906616, -0.5257211923599243], "tau_dot": [69.50411224365234, 75.7876205444336, -11.175674438476562, 56.77298355102539, -17.893707275390625, 13.202011108398438, -14.911537170410156], "tau_ext": [-16.809326171875, -41.63234329223633, 31.78695297241211, 31.346506118774414, 9.48373031616211, -2.9961962699890137, -0.11089968681335449], "tcp_pose": [0.6779676079750061, 0.032713811844587326, -0.21499018371105194, -0.0023090417962521315, -0.004578159656375647, 0.9998881220817566, 0.014049951918423176], "tcp_vel": [6.0861948441015556e-05, -0.000244156428379938, -5.9787162172142416e-05, -0.0007074294844642282, -9.036977280629799e-05, 0.0006910152151249349], "flange_pose": [0.6786795258522034, 0.02850246988236904, -0.06505100429058075, -0.0023090417962521315, -0.004578159656375647, 0.9998881220817566, 0.014049951918423176], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6216812133789, 15.295572280883789, 28.227237701416016, 0.37043261528015137, -23.982236862182617, 1.7986916303634644], "ext_wrench_in_world": [-107.88903773226521, 15.08909836186438, -27.302607836578012, -0.16094170808924904, -23.92467937970973, -2.4706297096333603]}
+{"timestamp_ns": 1789729885722282259, "elapsed_ms": 5100, "source_timestamp_ns": 1789729885721783743, "q": [0.8361650109291077, -1.896685004234314, -1.005805492401123, 1.3811798095703125, -0.16220518946647644, 0.5941193699836731, 0.7041478157043457], "theta": [0.8382160067558289, -1.8947505950927734, -1.0039746761322021, 1.3627713918685913, -0.1627856343984604, 0.5940691232681274, 0.7041231989860535], "dq": [0.003623196855187416, 0.0021132344845682383, -0.001378850662149489, 0.0009920289739966393, -0.0006688078283332288, -0.0008944125147536397, 0.0009595491574145854], "dtheta": [5.879023956367746e-05, 0.00019065548258367926, 1.4076615116209723e-05, 0.00013554967881646007, -9.607508400222287e-05, -0.0003465353511273861, 0.0006339414976537228], "tau": [55.62999725341797, 23.59000015258789, 5.504000186920166, -26.332000732421875, -2.5320000648498535, 2.688000202178955, -0.5480000376701355], "tau_des": [0.579473078250885, -0.5716838836669922, -0.18493832647800446, -0.5723845362663269, 0.9231195449829102, -1.1460926532745361, -0.5576240420341492], "tau_dot": [-59.45952224731445, 26.32610321044922, -23.030195236206055, 18.360414505004883, -8.226764678955078, -7.73714542388916, 39.924217224121094], "tau_ext": [-16.843917846679688, -41.61427307128906, 31.777057647705078, 31.369585037231445, 9.474045753479004, -3.0006089210510254, -0.10061193257570267], "tcp_pose": [0.6779676079750061, 0.03271288424730301, -0.21499046683311462, -0.002310296054929495, -0.004575752653181553, 0.9998881220817566, 0.014051824808120728], "tcp_vel": [-4.577193976729177e-05, -0.00013576938363257796, 5.112508915772196e-06, -0.00021672010188922286, 0.0002806867705658078, -0.0006684107356704772], "flange_pose": [0.678679883480072, 0.028500977903604507, -0.06505130976438522, -0.002310296054929495, -0.004575752653181553, 0.9998881220817566, 0.014051824808120728], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.59922790527344, 15.26595687866211, 28.2432861328125, 0.36354920268058777, -23.97536277770996, 1.8033535480499268], "ext_wrench_in_world": [-107.86639130522326, 15.060771532805628, -27.319247508618503, -0.1542641808689084, -23.917603992148873, -2.47521599099539]}
+{"timestamp_ns": 1789729885755614516, "elapsed_ms": 5133, "source_timestamp_ns": 1789729885751752651, "q": [0.8361667990684509, -1.8966861963272095, -1.0058066844940186, 1.3811800479888916, -0.1622050553560257, 0.5941193699836731, 0.7041478157043457], "theta": [0.8382182121276855, -1.8947510719299316, -1.0039762258529663, 1.362771987915039, -0.1627853810787201, 0.5940691232681274, 0.7041229605674744], "dq": [-0.0015340272802859545, 0.0001938723144121468, -0.0005638943985104561, 0.0010529126739129424, 0.0013533785240724683, 0.0021504622418433428, 0.0011404409306123853], "dtheta": [-0.00020367761317174882, 0.0003789343172684312, -0.000253460108069703, 0.00011704161443049088, -0.0001396595616824925, 0.0003126814553979784, -0.0009413976804353297], "tau": [55.62999725341797, 23.649999618530273, 5.4720001220703125, -26.288002014160156, -2.5400002002716064, 2.6680002212524414, -0.5480000376701355], "tau_des": [0.5810288190841675, -0.5843570232391357, -0.15443643927574158, -0.5563641786575317, 0.9328861236572266, -1.163805365562439, -0.5314221978187561], "tau_dot": [7.791778564453125, -38.099693298339844, -17.31723976135254, -7.632924556732178, -5.702494144439697, 26.817062377929688, 41.474365234375], "tau_ext": [-16.827146530151367, -41.642616271972656, 31.792892456054688, 31.354307174682617, 9.464404106140137, -3.0003743171691895, -0.10777490586042404], "tcp_pose": [0.67796790599823, 0.032712534070014954, -0.2149898111820221, -0.0023093554191291332, -0.004575727041810751, 0.9998881220817566, 0.014050928875803947], "tcp_vel": [0.00017349966219626367, -0.0002342041552765295, -4.489161801757291e-05, 0.00017464449047110975, -0.00012325544958002865, 0.0005976053653284907], "flange_pose": [0.6786799430847168, 0.02850089780986309, -0.0650506466627121, -0.0023093554191291332, -0.004575727041810751, 0.9998881220817566, 0.014050928875803947], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.59891510009766, 15.270074844360352, 28.2424373626709, 0.36890745162963867, -23.973817825317383, 1.8017737865447998], "ext_wrench_in_world": [-107.86605920059314, 15.064825965595103, -27.318515256419968, -0.1596257699654738, -23.916157850752025, -2.4735270119261807]}
+{"timestamp_ns": 1789729885788921645, "elapsed_ms": 5166, "source_timestamp_ns": 1789729885781760424, "q": [0.836168110370636, -1.8966883420944214, -1.0058071613311768, 1.381179928779602, -0.16220597922801971, 0.5941187143325806, 0.7041484117507935], "theta": [0.8382201194763184, -1.894752860069275, -1.0039769411087036, 1.362771987915039, -0.1627865880727768, 0.5940688848495483, 0.7041236758232117], "dq": [-0.0005538547411561012, 0.002653498901054263, -0.0021720679942518473, -0.0009973557898774743, -9.796727681532502e-05, 0.0005019586533308029, -0.0019063111394643784], "dtheta": [-0.0002526974421925843, -0.00021623590146191418, -3.74442279280629e-05, -0.00017309264512732625, -0.0003744788118638098, -0.00034147227415814996, -0.00032885486143641174], "tau": [55.619998931884766, 23.65999984741211, 5.468000411987305, -26.292001724243164, -2.5280001163482666, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.6183793544769287, -0.4964264929294586, -0.22138038277626038, -0.5835748314857483, 0.9378463625907898, -1.1503162384033203, -0.5339357256889343], "tau_dot": [10.35680866241455, -1.8970080614089966, -12.384361267089844, 5.016336917877197, 54.50178527832031, -44.571128845214844, 15.59066390991211], "tau_ext": [-16.814340591430664, -41.66923141479492, 31.814666748046875, 31.338619232177734, 9.468372344970703, -3.00312876701355, -0.1127806231379509], "tcp_pose": [0.6779678463935852, 0.032712798565626144, -0.2149895280599594, -0.0023086038418114185, -0.004576271399855614, 0.9998881816864014, 0.014049542136490345], "tcp_vel": [-4.4566775613930076e-05, -4.0223271753347944e-06, -0.00016839426825754344, -0.000539350148756057, 0.00014372443547472358, 0.0006358334794640541], "flange_pose": [0.6786796450614929, 0.02850157581269741, -0.06505034118890762, -0.0023086038418114185, -0.004576271399855614, 0.9998881816864014, 0.014049542136490345], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.5860595703125, 15.320136070251465, 28.23748779296875, 0.3836868107318878, -23.972423553466797, 1.8002965450286865], "ext_wrench_in_world": [-107.85361008583885, 15.1146535303884, -27.31242464601149, -0.17438055429417157, -23.91494888496744, -2.4718789406563064]}
+{"timestamp_ns": 1789729885822287190, "elapsed_ms": 5200, "source_timestamp_ns": 1789729885821776745, "q": [0.8361684083938599, -1.8966883420944214, -1.0058118104934692, 1.3811811208724976, -0.1622082144021988, 0.5941174626350403, 0.7041482329368591], "theta": [0.8382211327552795, -1.894753098487854, -1.0039812326431274, 1.3627722263336182, -0.1627892106771469, 0.5940679311752319, 0.7041239142417908], "dq": [-0.0014107587048783898, -0.0013650807086378336, 0.0012643974041566253, -0.0020584706217050552, 0.001802066690288484, 0.00039020710391923785, -0.002783628646284342], "dtheta": [0.0001730573712848127, 0.00023598968982696533, -0.00010224920697510242, 3.148195173707791e-05, -1.4523234312946443e-06, 0.0006835194653831422, 0.0004998408257961273], "tau": [55.65999984741211, 23.59000015258789, 5.496000289916992, -26.304000854492188, -2.572000026702881, 2.6760001182556152, -0.5600000023841858], "tau_des": [0.4960562586784363, -0.6226028800010681, -0.155193030834198, -0.4964708983898163, 0.9402370452880859, -1.187773585319519, -0.5596324801445007], "tau_dot": [4.221153736114502, -3.6576666831970215, -13.618539810180664, 21.386085510253906, -52.259037017822266, -14.2705078125, -2.210130214691162], "tau_ext": [-16.822872161865234, -41.63546371459961, 31.810604095458984, 31.354167938232422, 9.483864784240723, -3.001887083053589, -0.11459708213806152], "tcp_pose": [0.6779690384864807, 0.032709650695323944, -0.21499009430408478, -0.002308068098500371, -0.0045754811726510525, 0.9998881816864014, 0.014046606607735157], "tcp_vel": [0.00024971243692561984, -2.4127581127686426e-05, 0.0002455492503941059, 0.00053575006313622, -0.0006839681882411242, -0.0007402437040582299], "flange_pose": [0.6786806583404541, 0.028499307110905647, -0.0650508925318718, -0.002308068098500371, -0.0045754811726510525, 0.9998881816864014, 0.014046606607735157], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.57528686523438, 15.328010559082031, 28.233118057250977, 0.3803465962409973, -23.96101188659668, 1.7974640130996704], "ext_wrench_in_world": [-107.84283545925143, 15.122511495508867, -27.308088421720093, -0.17116592178193454, -23.903605157520474, -2.4686015761700015]}
+{"timestamp_ns": 1789729885855613298, "elapsed_ms": 5233, "source_timestamp_ns": 1789729885851738333, "q": [0.8361680507659912, -1.8966877460479736, -1.005815029144287, 1.3811806440353394, -0.16220678389072418, 0.5941157341003418, 0.7041478753089905], "theta": [0.8382211923599243, -1.8947529792785645, -1.0039851665496826, 1.36277174949646, -0.162788987159729, 0.5940662622451782, 0.7041236758232117], "dq": [0.0002899477258324623, -0.0034481168258935213, -0.0009653759771026671, 0.002606507856398821, 0.0013378792209550738, 6.793261127313599e-05, 0.003933040890842676], "dtheta": [-0.00011910018656635657, 0.00028878150624223053, 0.00012487528147175908, -3.301962715340778e-05, 0.00018762046238407493, 0.0003603094373829663, -0.0003700291272252798], "tau": [55.62999725341797, 23.619998931884766, 5.496000289916992, -26.30000114440918, -2.564000129699707, 2.6760001182556152, -0.5600000023841858], "tau_des": [0.5588259100914001, -0.5820460915565491, -0.17718885838985443, -0.5372239947319031, 0.9261063933372498, -1.170762300491333, -0.5461006760597229], "tau_dot": [14.588997840881348, 60.165950775146484, -14.127250671386719, 7.877340316772461, -43.20466995239258, 18.94179916381836, -23.14699935913086], "tau_ext": [-16.811813354492188, -41.62565612792969, 31.80257797241211, 31.349340438842773, 9.486923217773438, -2.9985814094543457, -0.11507347226142883], "tcp_pose": [0.6779698729515076, 0.03270759433507919, -0.21499043703079224, -0.0023085628636181355, -0.004573877900838852, 0.9998882412910461, 0.014045793563127518], "tcp_vel": [6.443345046136528e-05, 6.015303733875044e-05, 5.212721589487046e-05, 0.000666904088575393, -4.7381654439959675e-05, 0.0001459887280361727], "flange_pose": [0.6786816120147705, 0.028497496619820595, -0.06505122035741806, -0.0023085628636181355, -0.004573877900838852, 0.9998882412910461, 0.014045793563127518], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.59387969970703, 15.297369003295898, 28.228609085083008, 0.36988499760627747, -23.963241577148438, 1.7970855236053467], "ext_wrench_in_world": [-107.86110745016765, 15.091884635061783, -27.304273217242343, -0.16076159169078963, -23.90575163158347, -2.4682935026173642]}
+{"timestamp_ns": 1789729885888922457, "elapsed_ms": 5266, "source_timestamp_ns": 1789729885881745337, "q": [0.8361690640449524, -1.89668869972229, -1.005814790725708, 1.381181001663208, -0.16220590472221375, 0.5941137075424194, 0.7041471004486084], "theta": [0.8382222056388855, -1.8947538137435913, -1.0039849281311035, 1.362771987915039, -0.1627887338399887, 0.5940643548965454, 0.7041234374046326], "dq": [0.00018162073683924973, -7.524676766479388e-05, 0.0014725005021318793, 0.0021254040766507387, -0.0003598354524001479, 0.0010354947298765182, -0.0015610314439982176], "dtheta": [0.00013030735135544091, 8.491142943967134e-05, 2.6541241822997108e-05, 0.00014024540723767132, -0.00015755688946228474, 0.00013044453226029873, 0.0006482423632405698], "tau": [55.64999771118164, 23.59000015258789, 5.484000205993652, -26.272001266479492, -2.5480000972747803, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.5506840348243713, -0.583986222743988, -0.1721280962228775, -0.5475454330444336, 0.9322022199630737, -1.161637544631958, -0.5621912479400635], "tau_dot": [33.89385986328125, -96.36589050292969, -8.641478538513184, 51.942657470703125, 26.814105987548828, 47.31486129760742, 8.575257301330566], "tau_ext": [-16.80758285522461, -41.6374397277832, 31.800792694091797, 31.34229850769043, 9.483477592468262, -2.994459867477417, -0.11579947173595428], "tcp_pose": [0.6779690980911255, 0.03270765766501427, -0.2149905115365982, -0.002309253439307213, -0.004574468359351158, 0.9998882412910461, 0.014044998213648796], "tcp_vel": [3.2700194424251094e-05, -2.7686199246090837e-05, 8.020189125090837e-05, -1.6091316865640692e-05, -0.00017710273095872253, -0.0005796836339868605], "flange_pose": [0.6786810755729675, 0.02849780023097992, -0.06505128741264343, -0.002309253439307213, -0.004574468359351158, 0.9998882412910461, 0.014044998213648796], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61367797851562, 15.294673919677734, 28.218538284301758, 0.3687441945075989, -23.970216751098633, 1.7980546951293945], "ext_wrench_in_world": [-107.88088763257903, 15.088552310617285, -27.294071042117483, -0.15953666351013943, -23.912690179488635, -2.4694251345390446]}
+{"timestamp_ns": 1789729885922289311, "elapsed_ms": 5300, "source_timestamp_ns": 1789729885921766067, "q": [0.8361720442771912, -1.8966912031173706, -1.0058143138885498, 1.3811815977096558, -0.16220439970493317, 0.5941110253334045, 0.7041464447975159], "theta": [0.8382249474525452, -1.8947566747665405, -1.0039843320846558, 1.3627723455429077, -0.1627880334854126, 0.5940617322921753, 0.704122006893158], "dq": [-0.000305456604110077, -0.001768368761986494, -0.0015221722424030304, -0.00029183790320530534, -0.00289272447116673, -0.0008820644579827785, 0.0012243482051417232], "dtheta": [0.0002540592977311462, -4.9549966206541285e-05, 0.00034130786661989987, 0.0002063642314169556, -0.0002608703216537833, 0.0012209252454340458, 0.0003799872356466949], "tau": [55.61000061035156, 23.6299991607666, 5.508000373840332, -26.296001434326172, -2.5480000972747803, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.505122721195221, -0.5558438301086426, -0.24791423976421356, -0.5051491856575012, 0.9394243955612183, -1.1962811946868896, -0.5487623810768127], "tau_dot": [-56.40776443481445, 89.49948120117188, 30.82347869873047, 42.81455993652344, 25.174715042114258, -5.486260890960693, 22.162471771240234], "tau_ext": [-16.811683654785156, -41.636009216308594, 31.806955337524414, 31.34532356262207, 9.48237419128418, -2.9891293048858643, -0.11189309507608414], "tcp_pose": [0.6779679656028748, 0.03270826116204262, -0.21498990058898926, -0.0023095288779586554, -0.0045754630118608475, 0.9998882412910461, 0.014043656177818775], "tcp_vel": [0.00010991956514772028, 0.0003376671520527452, 0.00024477875558659434, 0.0006976285367272794, -0.0010370598174631596, 4.124741826672107e-05], "flange_pose": [0.6786800026893616, 0.028498804196715355, -0.06505066156387329, -0.0023095288779586554, -0.0045754630118608475, 0.9998882412910461, 0.014043656177818775], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61468505859375, 15.302261352539062, 28.229061126708984, 0.3688862919807434, -23.97705841064453, 1.7993309497833252], "ext_wrench_in_world": [-107.8820577029814, 15.096133174038025, -27.304357231392654, -0.15957601856290624, -23.91950128937866, -2.4708283130220896]}
+{"timestamp_ns": 1789729885955614159, "elapsed_ms": 5333, "source_timestamp_ns": 1789729885951888011, "q": [0.8361729979515076, -1.8966912031173706, -1.0058153867721558, 1.381182074546814, -0.1622048169374466, 0.5941075682640076, 0.7041459083557129], "theta": [0.8382267355918884, -1.8947561979293823, -1.0039849281311035, 1.3627734184265137, -0.1627882570028305, 0.5940579175949097, 0.7041210532188416], "dq": [0.0020023102406412363, -0.0006525141070596874, 3.9168102375697345e-05, -0.0018299790099263191, -0.0032956204377114773, 0.0007426923839375377, 9.638818301027641e-05], "dtheta": [0.00014807905245106667, -0.0002847548748832196, -0.0001699518907116726, 0.0004002524947281927, -0.000595259596593678, 0.0004983128164894879, 0.00046262791147455573], "tau": [55.63999938964844, 23.51999855041504, 5.508000373840332, -26.312002182006836, -2.568000078201294, 2.6600000858306885, -0.5680000185966492], "tau_des": [0.5846897959709167, -0.5330670475959778, -0.18421785533428192, -0.5820894837379456, 0.9454672336578369, -1.1544939279556274, -0.5526315569877625], "tau_dot": [-48.85811233520508, -117.31236267089844, -28.876182556152344, 15.255265235900879, -20.85084342956543, 23.419757843017578, -9.004870414733887], "tau_ext": [-16.821475982666016, -41.610992431640625, 31.789379119873047, 31.352548599243164, 9.485674858093262, -2.9932682514190674, -0.11033381521701813], "tcp_pose": [0.6779678463935852, 0.03270699456334114, -0.2149898111820221, -0.0023102236445993185, -0.004575507249683142, 0.9998882412910461, 0.01404197420924902], "tcp_vel": [2.9784790967823938e-05, -4.95695203426294e-05, -6.639079947490245e-05, -0.0005951861967332661, -0.0005730277043767273, -8.995692951430101e-06], "flange_pose": [0.6786800622940063, 0.028498046100139618, -0.06505056470632553, -0.0023102236445993185, -0.004575507249683142, 0.9998882412910461, 0.01404197420924902], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61908721923828, 15.274689674377441, 28.227924346923828, 0.35986119508743286, -23.97779083251953, 1.799703598022461], "ext_wrench_in_world": [-107.88624297179038, 15.06839656533327, -27.30387873302747, -0.150547134350917, -23.920148114570345, -2.471181107462159]}
+{"timestamp_ns": 1789729885988943266, "elapsed_ms": 5366, "source_timestamp_ns": 1789729885981778015, "q": [0.8361742496490479, -1.8966916799545288, -1.0058151483535767, 1.3811824321746826, -0.16220404207706451, 0.5941046476364136, 0.7041451930999756], "theta": [0.8382285833358765, -1.8947559595108032, -1.0039849281311035, 1.3627736568450928, -0.1627873033285141, 0.5940555334091187, 0.7041203379631042], "dq": [-0.0016623216215521097, -0.0009238404454663396, 0.0004385500797070563, 0.0021323729306459427, 0.00031888819648884237, 0.00258196284994483, -0.00025282331625930965], "dtheta": [0.00014706999354530126, 8.720019104657695e-05, -2.234496241726447e-05, -2.6535603865340818e-06, -0.00048285172670148313, 4.219144466333091e-05, -0.0007042289362289011], "tau": [55.709999084472656, 23.60999870300293, 5.52400016784668, -26.308000564575195, -2.5440001487731934, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.5268170237541199, -0.5686249732971191, -0.19239933788776398, -0.5372395515441895, 0.9474760890007019, -1.1608140468597412, -0.5317385196685791], "tau_dot": [109.81817626953125, -131.79632568359375, 59.29182052612305, -22.873815536499023, 22.920076370239258, 1.9186513423919678, 9.204977035522461], "tau_ext": [-16.828096389770508, -41.61876678466797, 31.790788650512695, 31.350095748901367, 9.483973503112793, -2.9943082332611084, -0.11705169081687927], "tcp_pose": [0.6779671311378479, 0.032706763595342636, -0.21498964726924896, -0.0023110834881663322, -0.004575948230922222, 0.9998883008956909, 0.014041045680642128], "tcp_vel": [0.0001369563105981797, -6.473883695434779e-05, 0.00016997427155729383, -0.00021683942759409547, -0.0004755151749122888, 0.0008962627034634352], "flange_pose": [0.6786796450614929, 0.028498094528913498, -0.0650503858923912, -0.0023110834881663322, -0.004575948230922222, 0.9998883008956909, 0.014041045680642128], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.60781860351562, 15.261013984680176, 28.239986419677734, 0.35476434230804443, -23.973644256591797, 1.7968095541000366], "ext_wrench_in_world": [-107.87496806767403, 15.055020070772299, -27.316215706028057, -0.14545691334645433, -23.91604232043774, -2.468149765975722]}
+{"timestamp_ns": 1789729886022326811, "elapsed_ms": 5400, "source_timestamp_ns": 1789729886021808287, "q": [0.8361757397651672, -1.8966927528381348, -1.0058157444000244, 1.381183385848999, -0.16220350563526154, 0.594105064868927, 0.704146683216095], "theta": [0.838230550289154, -1.8947566747665405, -1.0039849281311035, 1.3627748489379883, -0.1627873033285141, 0.5940560102462769, 0.704122006893158], "dq": [0.0005441413959488273, 0.00047587358858436346, 5.7599976571509615e-05, 0.0030915657989680767, 0.0013809457886964083, -1.5811676348675974e-05, 0.00101826514583081], "dtheta": [-1.8709573851083405e-05, 8.924620487960055e-05, 0.0002522096619941294, -3.2155799999600276e-05, -5.4866432037670165e-05, -0.0007517272024415433, 0.00010426323569845408], "tau": [55.59000015258789, 23.6299991607666, 5.508000373840332, -26.288002014160156, -2.552000045776367, 2.6600000858306885, -0.5640000104904175], "tau_des": [0.592056930065155, -0.5371061563491821, -0.22325114905834198, -0.5847584009170532, 0.9174619317054749, -1.136215329170227, -0.5487306118011475], "tau_dot": [-55.86524200439453, 3.807525157928467, 27.04255485534668, 12.677189826965332, -28.090333938598633, -5.020944118499756, -57.0056037902832], "tau_ext": [-16.83024787902832, -41.64610290527344, 31.8093318939209, 31.347232818603516, 9.48357105255127, -2.997035264968872, -0.11951249092817307], "tcp_pose": [0.6779669523239136, 0.032706670463085175, -0.21498945355415344, -0.002310679294168949, -0.004575265571475029, 0.9998883008956909, 0.014040476642549038], "tcp_vel": [-0.00018453251686878502, -3.5757589103013743e-06, -3.902834578184411e-05, -0.0002807849377859384, 0.000613114912994206, 5.64554866286926e-05], "flange_pose": [0.678679347038269, 0.028498170897364616, -0.06505019217729568, -0.002310679294168949, -0.004575265571475029, 0.9998883008956909, 0.014040476642549038], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.5713119506836, 15.295498847961426, 28.249128341674805, 0.3630049526691437, -23.96525764465332, 1.7956674098968506], "ext_wrench_in_world": [-107.8387776507181, 15.090199910881465, -27.324651750979577, -0.1537987529143963, -23.90776995061541, -2.466708322703601]}
+{"timestamp_ns": 1789729886055624125, "elapsed_ms": 5433, "source_timestamp_ns": 1789729886051821304, "q": [0.8361757397651672, -1.8966925144195557, -1.00581693649292, 1.3811826705932617, -0.16220535337924957, 0.5941042304039001, 0.7041482329368591], "theta": [0.8382316827774048, -1.8947570323944092, -1.0039863586425781, 1.3627748489379883, -0.1627897024154663, 0.5940552949905396, 0.7041234374046326], "dq": [0.0013674271758645773, -0.0008452978800050914, -0.001450883923098445, 0.0014657388674095273, -0.0018588348757475615, -0.00024178053718060255, -0.00017726871010381728], "dtheta": [-4.7987439756980166e-05, -0.0002478587266523391, -0.00016671439516358078, -2.22371472773375e-05, -0.0020257700234651566, -0.000172040585312061, 0.0008338062325492501], "tau": [55.62999725341797, 23.6299991607666, 5.488000392913818, -26.328001022338867, -2.5840001106262207, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.5598154664039612, -0.5718806385993958, -0.16408170759677887, -0.5517486929893494, 0.9735420942306519, -1.157130479812622, -0.5567061305046082], "tau_dot": [-30.770845413208008, 77.82817840576172, -12.500391006469727, -30.193443298339844, -42.13057327270508, -24.687606811523438, -29.81383514404297], "tau_ext": [-16.815019607543945, -41.62786102294922, 31.801958084106445, 31.34274673461914, 9.490283966064453, -2.9972755908966064, -0.12497934699058533], "tcp_pose": [0.6779677867889404, 0.032705847173929214, -0.21498903632164001, -0.002310004085302353, -0.004574490245431662, 0.9998883008956909, 0.014039561152458191], "tcp_vel": [0.00023134512593969703, -0.00018405164883006364, 4.148162770434283e-05, -0.0016517078038305044, -0.0009905833285301924, 0.00034014240372925997], "flange_pose": [0.6786799430847168, 0.028497621417045593, -0.06504977494478226, -0.002310004085302353, -0.004574490245431662, 0.9998883008956909, 0.014039561152458191], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.57772064208984, 15.297006607055664, 28.229488372802734, 0.36430466175079346, -23.962453842163086, 1.7933316230773926], "ext_wrench_in_world": [-107.84504630215662, 15.091215809522044, -27.305120343081366, -0.15514689376634722, -23.90504914371605, -2.4642453637116537]}
+{"timestamp_ns": 1789729886088925888, "elapsed_ms": 5466, "source_timestamp_ns": 1789729886081769326, "q": [0.8361772298812866, -1.8966929912567139, -1.0058172941207886, 1.381182312965393, -0.16220425069332123, 0.5941002368927002, 0.7041475772857666], "theta": [0.8382325172424316, -1.8947575092315674, -1.0039867162704468, 1.36277437210083, -0.1627892106771469, 0.5940510034561157, 0.7041229605674744], "dq": [-0.0010219207033514977, -1.921506191138178e-05, 5.7877863582689315e-05, -0.000834703678265214, 0.0011053291382268071, 0.0008083513821475208, -0.001041808514855802], "dtheta": [0.0002941910643130541, 0.00010881435446208343, -0.000186996505362913, -4.4254727981751785e-05, -0.0005581784644164145, -9.661079820943996e-05, 0.00019240661640651524], "tau": [55.689998626708984, 23.60999870300293, 5.504000186920166, -26.288002014160156, -2.56000018119812, 2.6760001182556152, -0.527999997138977], "tau_des": [0.4866226017475128, -0.6220976114273071, -0.1567835658788681, -0.5074469447135925, 0.9462013840675354, -1.1678725481033325, -0.5565921068191528], "tau_dot": [55.624629974365234, 32.948280334472656, 22.78172492980957, 16.255970001220703, 14.334368705749512, 50.11547088623047, 27.084413528442383], "tau_ext": [-16.81494140625, -41.61479568481445, 31.797527313232422, 31.35601234436035, 9.49626350402832, -2.9986424446105957, -0.12483800947666168], "tcp_pose": [0.6779673099517822, 0.03270535171031952, -0.2149885892868042, -0.0023108678869903088, -0.004574574064463377, 0.9998883008956909, 0.014038408175110817], "tcp_vel": [0.00022995145991444588, -0.00018112083489540964, 0.00027597389998845756, -0.00042382010724395514, -0.0006197537877596915, -9.160328045254573e-05], "flange_pose": [0.6786797642707825, 0.028497472405433655, -0.06504931300878525, -0.0023108678869903088, -0.004574574064463377, 0.9998883008956909, 0.014038408175110817], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61231994628906, 15.270294189453125, 28.225282669067383, 0.3565337657928467, -23.96657371520996, 1.791080117225647], "ext_wrench_in_world": [-107.8794309683613, 15.063993864854027, -27.30136138337959, -0.1473278011651818, -23.909164518449032, -2.4620898659078496]}
+{"timestamp_ns": 1789729886122285867, "elapsed_ms": 5500, "source_timestamp_ns": 1789729886121902461, "q": [0.8361791968345642, -1.8966951370239258, -1.0058165788650513, 1.3811815977096558, -0.16220417618751526, 0.5940946340560913, 0.7041473388671875], "theta": [0.838234007358551, -1.8947594165802002, -1.0039863586425781, 1.3627735376358032, -0.1627894639968872, 0.5940452814102173, 0.7041227221488953], "dq": [0.0005916756927035749, -0.0002091791102429852, 0.0007971541490405798, 0.0011293875286355615, 0.0002494877262506634, -0.0002165534970117733, -0.0011513009667396545], "dtheta": [0.00022214154887478799, -0.00023593466903548688, -0.00010241886047879234, 0.00018684589304029942, -0.0012719737133011222, -0.0003223397070541978, 0.00035726968781091273], "tau": [55.63999938964844, 23.649999618530273, 5.496000289916992, -26.312002182006836, -2.556000232696533, 2.640000104904175, -0.5320000052452087], "tau_des": [0.5508040189743042, -0.5479366183280945, -0.19662749767303467, -0.5680317878723145, 0.9568700790405273, -1.144208550453186, -0.5484516024589539], "tau_dot": [70.81141662597656, 160.3151397705078, 13.193166732788086, -42.40374755859375, 32.33998107910156, -53.172542572021484, 55.3857307434082], "tau_ext": [-16.83814239501953, -41.64952087402344, 31.80629539489746, 31.347854614257812, 9.500567436218262, -2.9954593181610107, -0.12341339886188507], "tcp_pose": [0.6779661774635315, 0.032705605030059814, -0.21498820185661316, -0.0023118979297578335, -0.004575636703521013, 0.9998883605003357, 0.014036234468221664], "tcp_vel": [5.872756082681008e-05, -0.00016292143845930696, 5.938991307630204e-05, -0.001349940779618919, -0.0005547400214709342, 0.00047226337483152747], "flange_pose": [0.6786789298057556, 0.02849837951362133, -0.06504891067743301, -0.0023118979297578335, -0.004575636703521013, 0.9998883605003357, 0.014036234468221664], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.59196472167969, 15.277433395385742, 28.240623474121094, 0.35485148429870605, -23.962608337402344, 1.7922625541687012], "ext_wrench_in_world": [-107.85930203288846, 15.07139557811604, -27.31643568137671, -0.1456404753264181, -23.905163237706468, -2.4630636210383674]}
+{"timestamp_ns": 1789729886155587210, "elapsed_ms": 5533, "source_timestamp_ns": 1789729886151792538, "q": [0.8361808061599731, -1.8966953754425049, -1.0058166980743408, 1.381182074546814, -0.16220161318778992, 0.5940953493118286, 0.704145073890686], "theta": [0.8382363319396973, -1.894760012626648, -1.0039865970611572, 1.3627737760543823, -0.1627873033285141, 0.5940457582473755, 0.7041210532188416], "dq": [0.0025070488918572664, 0.0013288368936628103, 6.183042569318786e-05, 0.001941279275342822, 0.00037886586505919695, 0.0003263288817834109, -0.0037035425193607807], "dtheta": [0.00013382284669205546, 0.0003334656066726893, 3.7534024158958346e-05, -9.138835594058037e-05, 0.0001874785521067679, 0.00014921608089935035, 0.00028937627212144434], "tau": [55.64999771118164, 23.60999870300293, 5.51200008392334, -26.32000160217285, -2.556000232696533, 2.6480002403259277, -0.5400000214576721], "tau_des": [0.5019599199295044, -0.6205094456672668, -0.19670701026916504, -0.5038597583770752, 0.916006326675415, -1.1752980947494507, -0.5576138496398926], "tau_dot": [59.97542953491211, 48.73397445678711, 54.17087936401367, -48.72358703613281, 25.725990295410156, -34.8708610534668, 18.16974639892578], "tau_ext": [-16.814603805541992, -41.618465423583984, 31.799776077270508, 31.333803176879883, 9.493245124816895, -2.991105556488037, -0.12082971632480621], "tcp_pose": [0.6779660582542419, 0.03270580992102623, -0.21498751640319824, -0.002311683027073741, -0.004576120525598526, 0.9998883605003357, 0.014037028886377811], "tcp_vel": [0.00014338101027533412, -2.3316875740420073e-05, 0.00023404203238897026, 0.0005365059478208423, -0.0001968873548321426, -0.0006085531786084175], "flange_pose": [0.6786787509918213, 0.028498345986008644, -0.06504824012517929, -0.002311683027073741, -0.004576120525598526, 0.9998883605003357, 0.014037028886377811], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.57877349853516, 15.298133850097656, 28.24331283569336, 0.3588833510875702, -23.962753295898438, 1.793967366218567], "ext_wrench_in_world": [-107.84631489611915, 15.092224216583752, -27.318624749480918, -0.14965494197391224, -23.90529368772099, -2.464791835629564]}
+{"timestamp_ns": 1789729886188922311, "elapsed_ms": 5566, "source_timestamp_ns": 1789729886181805225, "q": [0.8361817002296448, -1.8966954946517944, -1.0058175325393677, 1.3811827898025513, -0.16219988465309143, 0.5940936803817749, 0.7041436433792114], "theta": [0.8382378816604614, -1.8947597742080688, -1.003987431526184, 1.3627748489379883, -0.1627868264913559, 0.5940436124801636, 0.7041200995445251], "dq": [0.0015113508561626077, 0.00030669759144075215, 0.0005295767914503813, 0.0016249457839876413, 0.0007070771534927189, 0.0011590066133067012, -0.0016206615837290883], "dtheta": [0.0005804254906252027, 0.00012022870214423165, 2.3160897399066016e-05, 8.933105709729716e-05, -0.0005576992407441139, -0.0008314081933349371, 8.338893167092465e-06], "tau": [55.63999938964844, 23.53999900817871, 5.52400016784668, -26.32400131225586, -2.552000045776367, 2.6720001697540283, -0.5600000023841858], "tau_des": [0.46833932399749756, -0.6046142578125, -0.20390218496322632, -0.5194777250289917, 0.9406999349594116, -1.151888370513916, -0.5470349788665771], "tau_dot": [23.976192474365234, -107.27091979980469, 42.28651809692383, 0.9911305904388428, 38.21466827392578, 36.2370491027832, -30.320541381835938], "tau_ext": [-16.808748245239258, -41.59170150756836, 31.790428161621094, 31.342300415039062, 9.491157531738281, -2.993659019470215, -0.12177018076181412], "tcp_pose": [0.6779657006263733, 0.03270508348941803, -0.2149876356124878, -0.002312469994649291, -0.0045761531218886375, 0.9998883605003357, 0.014036489650607109], "tcp_vel": [3.498583464534022e-05, -0.00021011682110838592, 0.00034171497100032866, -0.0008375150500796735, -0.00018179764447268099, 0.00027093745302408934], "flange_pose": [0.6786786317825317, 0.028497781604528427, -0.06504834443330765, -0.002312469994649291, -0.0045761531218886375, 0.9998883605003357, 0.014036489650607109], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.58927154541016, 15.270780563354492, 28.231321334838867, 0.3515099883079529, -23.9637393951416, 1.792710542678833], "ext_wrench_in_world": [-107.85655104262706, 15.064410422843796, -27.30720657259486, -0.14226875179256787, -23.906249343648316, -2.4635701901004428]}
+{"timestamp_ns": 1789729886222262641, "elapsed_ms": 5600, "source_timestamp_ns": 1789729886221766055, "q": [0.8361817598342896, -1.8966957330703735, -1.0058190822601318, 1.3811841011047363, -0.16219837963581085, 0.5940924286842346, 0.7041428685188293], "theta": [0.8382383584976196, -1.894760012626648, -1.0039899349212646, 1.362776517868042, -0.1627844274044037, 0.5940419435501099, 0.7041189074516296], "dq": [-0.0004030890704598278, -0.0024793969932943583, 0.0018935436382889748, 0.0005970141501165926, 0.0020048595033586025, -0.0016410751268267632, -0.0021936807315796614], "dtheta": [0.0001786191132850945, -6.664977263426408e-05, -0.00018270126020070165, 0.00035975436912849545, -0.00023544953728560358, -0.0003770240000449121, -0.0010780355660244823], "tau": [55.64999771118164, 23.619998931884766, 5.4720001220703125, -26.312002182006836, -2.564000129699707, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.5956354141235352, -0.5268544554710388, -0.20755988359451294, -0.6046720147132874, 0.9231313467025757, -1.1319563388824463, -0.5290040373802185], "tau_dot": [12.623200416564941, -59.99604415893555, -13.445316314697266, -1.4405725002288818, -6.150226593017578, -24.4507999420166, -11.802933692932129], "tau_ext": [-16.82402801513672, -41.622623443603516, 31.804067611694336, 31.35187339782715, 9.487024307250977, -2.9985156059265137, -0.11781042069196701], "tcp_pose": [0.6779652237892151, 0.032703958451747894, -0.2149886041879654, -0.0023135847877711058, -0.004575758241117001, 0.9998883605003357, 0.014035587199032307], "tcp_vel": [-9.752222103998065e-05, -0.00022598238138016313, -9.28721419768408e-05, -0.0007602358818985522, 0.00017714507703203708, 0.0011908554006367922], "flange_pose": [0.6786784529685974, 0.02849692851305008, -0.06504930555820465, -0.0023135847877711058, -0.004575758241117001, 0.9998883605003357, 0.014035587199032307], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.60678100585938, 15.253933906555176, 28.226367950439453, 0.3499898910522461, -23.965192794799805, 1.7931344509124756], "ext_wrench_in_world": [-107.87393255970137, 15.04730256092657, -27.302436255526136, -0.14076107448811553, -23.907680580445607, -2.463997840523666]}
+{"timestamp_ns": 1789729886255585452, "elapsed_ms": 5633, "source_timestamp_ns": 1789729886251749924, "q": [0.836182713508606, -1.89669668674469, -1.0058207511901855, 1.3811841011047363, -0.1622016429901123, 0.5940932631492615, 0.7041427493095398], "theta": [0.8382391333580017, -1.8947609663009644, -1.0039923191070557, 1.3627763986587524, -0.1627868264913559, 0.5940424203872681, 0.7041189074516296], "dq": [-0.0013609164161607623, 0.000662490027025342, -0.002291459357365966, -0.0022141681984066963, -0.0027778043877333403, -0.00031646768911741674, -0.0003937414148822427], "dtheta": [9.082232281798497e-05, -6.165153899928555e-05, -3.467612623353489e-05, -0.0001564714330015704, 0.00014541135169565678, 0.00011895023635588586, -0.0004636874364223331], "tau": [55.619998931884766, 23.579999923706055, 5.456000328063965, -26.26000213623047, -2.580000162124634, 2.684000015258789, -0.5600000023841858], "tau_des": [0.5351075530052185, -0.5583359599113464, -0.22001305222511292, -0.5292149782180786, 0.9228425621986389, -1.169265866279602, -0.5406357049942017], "tau_dot": [-14.29960823059082, -96.04043579101562, 25.942718505859375, 15.705949783325195, -47.612266540527344, 19.353015899658203, -17.068504333496094], "tau_ext": [-16.812225341796875, -41.6604118347168, 31.841794967651367, 31.326175689697266, 9.492194175720215, -2.9972355365753174, -0.11854638159275055], "tcp_pose": [0.677966296672821, 0.032703202217817307, -0.21498802304267883, -0.0023116820957511663, -0.004576459992676973, 0.9998883605003357, 0.014033911749720573], "tcp_vel": [7.828683010302484e-05, 5.796575715066865e-05, 0.00011279839964117855, 0.00019223401613999158, -0.00024972751270979643, 0.00037206834531389177], "flange_pose": [0.6786789894104004, 0.028496671468019485, -0.0650487169623375, -0.0023116820957511663, -0.004576459992676973, 0.9998883605003357, 0.014033911749720573], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.58797454833984, 15.308895111083984, 28.215667724609375, 0.3634965419769287, -23.958158493041992, 1.7948640584945679], "ext_wrench_in_world": [-107.8554912716121, 15.101875703537589, -27.29074559032914, -0.15429723321653652, -23.90073372344634, -2.465389410815593]}
+{"timestamp_ns": 1789729886288894315, "elapsed_ms": 5666, "source_timestamp_ns": 1789729886281760751, "q": [0.8361824750900269, -1.8966987133026123, -1.0058263540267944, 1.381183385848999, -0.16220223903656006, 0.5940926671028137, 0.7041434049606323], "theta": [0.8382391333580017, -1.8947625160217285, -1.0039985179901123, 1.362776517868042, -0.1627877801656723, 0.5940419435501099, 0.7041193842887878], "dq": [0.0013296346878632903, 0.0006277279462665319, 0.001970321871340275, 0.0015943605685606599, -0.0014151952927932143, -6.540646427311003e-05, -0.001591439126059413], "dtheta": [-0.00035621720599010587, -0.0002715753798838705, -0.00025760478456504643, -0.00022276153322309256, -0.0004948943387717009, -0.0008569995407015085, 0.0006453947862610221], "tau": [55.64999771118164, 23.59000015258789, 5.4760003089904785, -26.292001724243164, -2.568000078201294, 2.6600000858306885, -0.5600000023841858], "tau_des": [0.653912365436554, -0.5339988470077515, -0.15836140513420105, -0.6142851114273071, 0.9251430034637451, -1.1248050928115845, -0.5637716054916382], "tau_dot": [37.964786529541016, -20.527179718017578, 26.064746856689453, 5.821708679199219, 18.78545379638672, -21.344669342041016, -4.936916351318359], "tau_ext": [-16.827457427978516, -41.62480545043945, 31.82439422607422, 31.335851669311523, 9.50320053100586, -3.0028085708618164, -0.11713439226150513], "tcp_pose": [0.6779678463935852, 0.03270074725151062, -0.21498875319957733, -0.0023106783628463745, -0.004574996419250965, 0.9998884201049805, 0.01403125561773777], "tcp_vel": [-6.845185998827219e-05, -0.00018942849419545382, -0.00029378896579146385, -0.0011090674670413136, 0.00048822915414348245, -0.0003842376754619181], "flange_pose": [0.6786801815032959, 0.02849501371383667, -0.06504940986633301, -0.0023106783628463745, -0.004574996419250965, 0.9998884201049805, 0.01403125561773777], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.56328582763672, 15.348766326904297, 28.2065372467041, 0.3686816990375519, -23.945444107055664, 1.7959492206573486], "ext_wrench_in_world": [-107.83102390228241, 15.141873532273166, -27.2809050319731, -0.15966820884579, -23.888054863988366, -2.465967185644901]}
+{"timestamp_ns": 1789729886322248164, "elapsed_ms": 5700, "source_timestamp_ns": 1789729886321887256, "q": [0.8361825346946716, -1.8967005014419556, -1.0058305263519287, 1.381183385848999, -0.1622006595134735, 0.5940916538238525, 0.7041420340538025], "theta": [0.838239312171936, -1.894763469696045, -1.0040032863616943, 1.362776517868042, -0.162787064909935, 0.5940407514572144, 0.7041176557540894], "dq": [0.0007399751339107752, 0.003168326336890459, 0.0018904975149780512, -0.0009978183079510927, -0.00228858576156199, 0.0005192323587834835, -0.00032176688546314836], "dtheta": [-0.0001902617368614301, 0.00014788283442612737, -7.659859693376347e-05, 1.3394555026025046e-05, 1.641231392568443e-05, 4.739560608868487e-06, -0.00042852762271650136], "tau": [55.619998931884766, 23.600000381469727, 5.488000392913818, -26.32000160217285, -2.56000018119812, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.6008711457252502, -0.5715224146842957, -0.16124436259269714, -0.5760318636894226, 0.9187904596328735, -1.1488608121871948, -0.5487509965896606], "tau_dot": [-31.377975463867188, -6.411913871765137, -10.381155014038086, -24.18930435180664, 18.612213134765625, -12.222501754760742, 13.514052391052246], "tau_ext": [-16.81016731262207, -41.602027893066406, 31.822690963745117, 31.345083236694336, 9.507599830627441, -2.9978082180023193, -0.12169302254915237], "tcp_pose": [0.6779683828353882, 0.03269891068339348, -0.21498972177505493, -0.002310764044523239, -0.004574383143335581, 0.9998884201049805, 0.014029378071427345], "tcp_vel": [1.7555556041770615e-05, -8.645015623187646e-05, -9.616208262741566e-05, 6.850581121398136e-05, 0.00017002192907966673, 0.0002683493075892329], "flange_pose": [0.6786807775497437, 0.028493739664554596, -0.06505037844181061, -0.002310764044523239, -0.004574383143335581, 0.9998884201049805, 0.014029378071427345], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.59580993652344, 15.311613082885742, 28.19220542907715, 0.3529333770275116, -23.94501495361328, 1.7938035726547241], "ext_wrench_in_world": [-107.86312704896729, 15.104063573170635, -27.26751446039256, -0.14394387614248236, -23.887550040441877, -2.4637913021517996]}
+{"timestamp_ns": 1789729886355661318, "elapsed_ms": 5733, "source_timestamp_ns": 1789729886351931340, "q": [0.8361830711364746, -1.896700382232666, -1.0058302879333496, 1.3811832666397095, -0.1622008979320526, 0.5940865278244019, 0.7041378617286682], "theta": [0.8382395505905151, -1.8947635889053345, -1.0040031671524048, 1.362776517868042, -0.1627868264913559, 0.594035267829895, 0.704114556312561], "dq": [0.0017660176381468773, -0.001994888298213482, 0.0004477687762118876, -0.001748024020344019, -0.0006463871104642749, -0.0007383042830042541, -0.0015258261701092124], "dtheta": [0.00034794650855474174, 5.909237006562762e-05, -0.000281170301605016, -0.0003496086283121258, -4.728041312773712e-05, -0.0002607275382615626, -0.00016278527618851513], "tau": [55.68000030517578, 23.619998931884766, 5.496000289916992, -26.296001434326172, -2.576000213623047, 2.636000156402588, -0.5680000185966492], "tau_des": [0.4710330665111542, -0.630416214466095, -0.14191152155399323, -0.4963245689868927, 0.9421430230140686, -1.1644163131713867, -0.5511558651924133], "tau_dot": [106.11485290527344, -76.02542114257812, 22.81564712524414, -27.833993911743164, -61.661155700683594, -13.258644104003906, 10.67074203491211], "tau_ext": [-16.795669555664062, -41.5933723449707, 31.81231689453125, 31.340747833251953, 9.49824333190918, -2.995270252227783, -0.11752427369356155], "tcp_pose": [0.6779675483703613, 0.03269825130701065, -0.2149898111820221, -0.002312351018190384, -0.004576622508466244, 0.9998884797096252, 0.014027808792889118], "tcp_vel": [0.0002790657745208591, -0.00014999632549006492, 0.0003680779773276299, -0.00013406113430391997, -0.0005514017539098859, -9.740686073200777e-05], "flange_pose": [0.678680419921875, 0.028493551537394524, -0.06505045294761658, -0.002312351018190384, -0.004576622508466244, 0.9998884797096252, 0.014027808792889118], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62525939941406, 15.265226364135742, 28.188785552978516, 0.34187835454940796, -23.953519821166992, 1.7924458980560303], "ext_wrench_in_world": [-107.89229001297369, 15.056755458579232, -27.264979341789456, -0.13270512604657383, -23.895995764661023, -2.462647090963463]}
+{"timestamp_ns": 1789729886388900597, "elapsed_ms": 5766, "source_timestamp_ns": 1789729886381805849, "q": [0.836184024810791, -1.8967012166976929, -1.005828857421875, 1.3811835050582886, -0.16219963133335114, 0.5940845012664795, 0.7041328549385071], "theta": [0.8382402062416077, -1.894765019416809, -1.0040022134780884, 1.362776517868042, -0.1627856343984604, 0.5940331220626831, 0.7041093111038208], "dq": [-0.0017565344460308552, -0.0021006285678595304, 0.001912917592562735, 0.0013960249489173293, -0.00018056987028103322, 0.0018075205152854323, 0.0017506851581856608], "dtheta": [0.00016772662638686597, 2.6944810088025406e-05, -0.00011043601261917502, -7.456813909811899e-05, 0.0010770888766273856, 0.00037153548328205943, -9.42418773774989e-05], "tau": [55.61000061035156, 23.56999969482422, 5.516000270843506, -26.308000564575195, -2.556000232696533, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.5501183271408081, -0.5688664317131042, -0.19955463707447052, -0.5449549555778503, 0.9032334685325623, -1.1611003875732422, -0.5469274520874023], "tau_dot": [-20.405555725097656, -121.42971801757812, 60.433712005615234, -14.557194709777832, 66.65426635742188, 36.83304214477539, 32.04248809814453], "tau_ext": [-16.808500289916992, -41.63954544067383, 31.805530548095703, 31.3421630859375, 9.498929977416992, -2.993006706237793, -0.1107061430811882], "tcp_pose": [0.6779664158821106, 0.03269895911216736, -0.2149897813796997, -0.00231329002417624, -0.004579566419124603, 0.9998884201049805, 0.014027617871761322], "tcp_vel": [3.206923429388553e-05, 7.971595914568752e-05, 0.00010271002975059673, 0.0009045516490004957, 5.0492519221734256e-05, -0.0006197743932716548], "flange_pose": [0.6786795854568481, 0.028494322672486305, -0.06505042314529419, -0.00231329002417624, -0.004579566419124603, 0.9998884201049805, 0.014027617871761322], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63127899169922, 15.2772855758667, 28.196205139160156, 0.35030898451805115, -23.96430206298828, 1.797798752784729], "ext_wrench_in_world": [-107.8985921859567, 15.068313473816518, -27.27184243040025, -0.14092579135134642, -23.90670272954254, -2.46825335589929]}
+{"timestamp_ns": 1789729886422248076, "elapsed_ms": 5800, "source_timestamp_ns": 1789729886421737092, "q": [0.8361855745315552, -1.8967024087905884, -1.0058282613754272, 1.3811842203140259, -0.16219934821128845, 0.594083309173584, 0.7041290998458862], "theta": [0.83824223279953, -1.894766092300415, -1.004002332687378, 1.362776756286621, -0.1627853810787201, 0.5940324068069458, 0.704104483127594], "dq": [-0.001846623606979847, 0.0001718599087325856, -0.0021961922757327557, -0.000666775566060096, 0.00025989380083046854, -0.0009248170536011457, -6.319316889857873e-05], "dtheta": [0.0003977577725891024, -0.00043429291690699756, -0.00017009764269459993, -8.617745334049687e-05, 0.00034346620668657124, 0.00032241048756986856, -0.0003469792427495122], "tau": [55.599998474121094, 23.579999923706055, 5.4800004959106445, -26.30000114440918, -2.572000026702881, 2.6720001697540283, -0.5600000023841858], "tau_des": [0.523794949054718, -0.5216418504714966, -0.23812328279018402, -0.5378249883651733, 0.9339610934257507, -1.1655457019805908, -0.5282964706420898], "tau_dot": [-67.23493194580078, 19.044750213623047, -42.9215087890625, 37.3134880065918, -0.833457350730896, 5.50584602355957, 6.6869988441467285], "tau_ext": [-16.805452346801758, -41.6285285949707, 31.804040908813477, 31.34066390991211, 9.494674682617188, -2.994021415710449, -0.10358984768390656], "tcp_pose": [0.6779657006263733, 0.0326993502676487, -0.2149895429611206, -0.002313399687409401, -0.004582052119076252, 0.9998884201049805, 0.01402685884386301], "tcp_vel": [7.346607890212908e-05, 0.00012562073243316263, 0.0001784569030860439, 4.4473461457528174e-05, -0.0005830462323501706, 0.00030649671680293977], "flange_pose": [0.6786789298057556, 0.02849494107067585, -0.0650501698255539, -0.002313399687409401, -0.004582052119076252, 0.9998884201049805, 0.01402685884386301], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.60364532470703, 15.304328918457031, 28.217737197875977, 0.3628995418548584, -23.968406677246094, 1.8058860301971436], "ext_wrench_in_world": [-107.87138729099313, 15.095625404933799, -27.292738245338185, -0.15339815227711834, -23.910699481996325, -2.476359902343221]}
+{"timestamp_ns": 1789729886455585567, "elapsed_ms": 5833, "source_timestamp_ns": 1789729886451736910, "q": [0.8361867666244507, -1.8967008590698242, -1.005828619003296, 1.3811850547790527, -0.16219735145568848, 0.5940841436386108, 0.704129695892334], "theta": [0.8382431268692017, -1.8947652578353882, -1.0040028095245361, 1.3627772331237793, -0.16278420388698578, 0.594032883644104, 0.7041042447090149], "dq": [0.0012920366134494543, 0.001972839003428817, -2.9495196940843016e-05, 0.0003768527240026742, 0.0002476431545801461, 0.0018302062526345253, 0.0016249683685600758], "dtheta": [3.5291261156089604e-05, 0.0002641624887473881, 2.186727215303108e-05, 0.00010638860112521797, 0.0004451096465345472, 0.0010178450029343367, -3.4142118238378316e-05], "tau": [55.64999771118164, 23.6299991607666, 5.4760003089904785, -26.296001434326172, -2.564000129699707, 2.6680002212524414, -0.5680000185966492], "tau_des": [0.5387781858444214, -0.5992265343666077, -0.21171240508556366, -0.5218254327774048, 0.9081916213035583, -1.1841024160385132, -0.5414291024208069], "tau_dot": [-11.224625587463379, 93.86775207519531, -17.73179054260254, -0.4833970069885254, 9.999741554260254, 13.139755249023438, 4.148285388946533], "tau_ext": [-16.833974838256836, -41.61282730102539, 31.793376922607422, 31.35689926147461, 9.492613792419434, -3.001359462738037, -0.10344655811786652], "tcp_pose": [0.6779660582542419, 0.03269876912236214, -0.21498870849609375, -0.0023132895585149527, -0.004580581095069647, 0.9998884201049805, 0.01402798481285572], "tcp_vel": [0.00015847946633584797, 0.00010580039815977216, 0.00013531757576856762, 0.001091370009817183, -0.0004672550712712109, -0.00038207400939427316], "flange_pose": [0.6786792278289795, 0.02849402278661728, -0.06504934281110764, -0.0023132895585149527, -0.004580581095069647, 0.9998884201049805, 0.01402798481285572], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61756896972656, 15.283059120178223, 28.218196868896484, 0.3602105379104614, -23.969175338745117, 1.8071651458740234], "ext_wrench_in_world": [-107.8850697985781, 15.074628828502986, -27.293716525884225, -0.15077849981836833, -23.911401132501855, -2.4777259009366146]}
+{"timestamp_ns": 1789729886488894860, "elapsed_ms": 5866, "source_timestamp_ns": 1789729886481756865, "q": [0.8361875414848328, -1.8967012166976929, -1.0058293342590332, 1.381185531616211, -0.1621968001127243, 0.5940860509872437, 0.7041333317756653], "theta": [0.8382437825202942, -1.8947656154632568, -1.004003643989563, 1.3627779483795166, -0.16278420388698578, 0.594035267829895, 0.7041071057319641], "dq": [-0.0004683691367972642, -0.0009921216405928135, 0.0012296781642362475, 0.0013505119131878018, 0.000431325810495764, -0.00130734802223742, -0.0033030384220182896], "dtheta": [0.0002633511903695762, 9.650769061408937e-05, -0.0002447270671837032, 0.00012383154535200447, 0.0004279763961676508, 0.0005806854460388422, 0.0009827889734879136], "tau": [55.55999755859375, 23.649999618530273, 5.500000476837158, -26.272001266479492, -2.564000129699707, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.517953097820282, -0.6295961737632751, -0.17363157868385315, -0.5143302083015442, 0.9064450860023499, -1.1803069114685059, -0.5699522495269775], "tau_dot": [-192.8998565673828, 77.42808532714844, 31.277902603149414, 11.144940376281738, 51.72549057006836, -20.421737670898438, 0.7263559103012085], "tau_ext": [-16.81993293762207, -41.61766815185547, 31.80205535888672, 31.343996047973633, 9.490924835205078, -3.004072904586792, -0.10757066309452057], "tcp_pose": [0.6779664158821106, 0.03269879147410393, -0.21498839557170868, -0.0023124655708670616, -0.004578545223921537, 0.9998884201049805, 0.014028267003595829], "tcp_vel": [0.0001656846288824454, -6.534725253004581e-05, 0.00016934909217525274, 0.0004853521822951734, -0.00041572144255042076, -0.0014506453881040215], "flange_pose": [0.678679347038269, 0.028493957594037056, -0.06504903733730316, -0.0023124655708670616, -0.004578545223921537, 0.9998884201049805, 0.014028267003595829], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.59674835205078, 15.288768768310547, 28.217439651489258, 0.3624182641506195, -23.959739685058594, 1.8058034181594849], "ext_wrench_in_world": [-107.8641934978229, 15.080963966629296, -27.293055779305842, -0.15315941841853425, -23.902026106404175, -2.476103584327818]}
+{"timestamp_ns": 1789729886522255788, "elapsed_ms": 5900, "source_timestamp_ns": 1789729886521987512, "q": [0.8361877202987671, -1.8967043161392212, -1.0058308839797974, 1.3811849355697632, -0.16219942271709442, 0.5940839052200317, 0.7041333913803101], "theta": [0.8382441401481628, -1.8947679996490479, -1.0040054321289062, 1.362777829170227, -0.162787064909935, 0.5940333604812622, 0.704107403755188], "dq": [-0.001011999906040728, -0.0010264964075759053, -0.0008243456250056624, -0.00012463930761441588, -0.0018350309692323208, 0.002033729339018464, -0.0009231491712853312], "dtheta": [-0.0004694561648648232, -0.0003483241598587483, -0.00014412235759664327, 0.0004391274997033179, -0.000983773497864604, -0.0015777070075273514, 0.00047780113527551293], "tau": [55.63999938964844, 23.559999465942383, 5.4720001220703125, -26.280000686645508, -2.580000162124634, 2.6520001888275146, -0.5400000214576721], "tau_des": [0.7806271314620972, -0.45003625750541687, -0.20215308666229248, -0.7342721223831177, 0.915772557258606, -1.0774893760681152, -0.542025625705719], "tau_dot": [78.72836303710938, -69.5096206665039, 10.94011116027832, 18.50910758972168, 13.089163780212402, -9.987635612487793, 18.237337112426758], "tau_ext": [-16.7994384765625, -41.627784729003906, 31.816926956176758, 31.343360900878906, 9.501763343811035, -2.9998202323913574, -0.11581631749868393], "tcp_pose": [0.6779663562774658, 0.03269841521978378, -0.21498899161815643, -0.002311996417120099, -0.004579695872962475, 0.9998884797096252, 0.014025310054421425], "tcp_vel": [-0.0004781537863891572, -0.0003789995389524847, -0.00072428525891155, -0.002247757278382778, 0.001438482548110187, 0.00030816186335869133], "flange_pose": [0.6786791682243347, 0.028494469821453094, -0.06504961103200912, -0.002311996417120099, -0.004579695872962475, 0.9998884797096252, 0.014025310054421425], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.59784698486328, 15.314841270446777, 28.19458770751953, 0.36932340264320374, -23.957454681396484, 1.804410696029663], "ext_wrench_in_world": [-107.86542803926561, 15.105965158461933, -27.26967299861489, -0.16002088456499577, -23.899859792114274, -2.474475253591182]}
+{"timestamp_ns": 1789729886555590328, "elapsed_ms": 5933, "source_timestamp_ns": 1789729886551785997, "q": [0.8361881375312805, -1.8967037200927734, -1.005832314491272, 1.3811839818954468, -0.16220156848430634, 0.5940829515457153, 0.7041336894035339], "theta": [0.8382442593574524, -1.8947675228118896, -1.0040063858032227, 1.3627771139144897, -0.162788987159729, 0.5940326452255249, 0.7041081190109253], "dq": [0.0009304762934334576, -0.0012495748233050108, -0.0004598686355166137, 0.0009529580129310489, -0.0006887420313432813, -0.0011076428927481174, 0.0014225990744307637], "dtheta": [7.991051097633317e-05, 4.141331373830326e-05, -0.00020027199934702367, -0.00028766554896719754, 5.075223270978313e-06, 6.367974492604844e-06, 0.00043734037899412215], "tau": [55.619998931884766, 23.639999389648438, 5.51200008392334, -26.312002182006836, -2.5880000591278076, 2.6560001373291016, -0.5440000295639038], "tau_des": [0.5118362903594971, -0.6164566278457642, -0.17429764568805695, -0.5025848150253296, 0.9266358017921448, -1.1779277324676514, -0.5547152161598206], "tau_dot": [-72.73530578613281, 139.90542602539062, 62.6927604675293, 3.745103120803833, 7.490940093994141, -33.39347457885742, -14.755627632141113], "tau_ext": [-16.818038940429688, -41.604671478271484, 31.808170318603516, 31.346996307373047, 9.510581016540527, -3.002986192703247, -0.11751135438680649], "tcp_pose": [0.6779675483703613, 0.032697346061468124, -0.21498814225196838, -0.0023109582252800465, -0.004579412750899792, 0.9998884797096252, 0.014024349860846996], "tcp_vel": [0.00020817120093852282, -6.62063030176796e-05, 0.0001840585027821362, 7.329245272558182e-05, -0.00036409200401976705, -0.0006542468909174204], "flange_pose": [0.6786800622940063, 0.028493685647845268, -0.06504874676465988, -0.0023109582252800465, -0.004579412750899792, 0.9998884797096252, 0.014024349860846996], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61315155029297, 15.291508674621582, 28.19302749633789, 0.35756316781044006, -23.955467224121094, 1.8007457256317139], "ext_wrench_in_world": [-107.88044666053689, 15.082469441782631, -27.268952444169063, -0.14827091455313726, -23.897872084926504, -2.4707634572503405]}
+{"timestamp_ns": 1789729886588963476, "elapsed_ms": 5966, "source_timestamp_ns": 1789729886581857968, "q": [0.8361877202987671, -1.8967041969299316, -1.0058317184448242, 1.3811830282211304, -0.16220076382160187, 0.5940800309181213, 0.7041345238685608], "theta": [0.8382437229156494, -1.8947679996490479, -1.004006266593933, 1.362776279449463, -0.1627892106771469, 0.5940302610397339, 0.7041085958480835], "dq": [0.001038764021359384, -0.0001485932298237458, 0.0014207642525434494, -0.0005860663368366659, 0.0005485400906763971, 9.100189345190302e-05, 0.0003682596143335104], "dtheta": [-0.0004870563861913979, -0.0003841277793981135, -0.00021229939011391252, 5.31420337210875e-05, 0.0005243102787062526, 0.0007206244044937193, 0.0006972852861508727], "tau": [55.64999771118164, 23.670000076293945, 5.51200008392334, -26.288002014160156, -2.5960001945495605, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.6953834295272827, -0.49709776043891907, -0.21888121962547302, -0.616078794002533, 0.8897903561592102, -1.1561156511306763, -0.5589261651039124], "tau_dot": [56.27537536621094, 163.0789031982422, 25.325544357299805, -2.6339969635009766, 15.644728660583496, 16.699203491210938, 28.47734260559082], "tau_ext": [-16.81991195678711, -41.61985397338867, 31.804519653320312, 31.353906631469727, 9.520541191101074, -3.000840902328491, -0.11954706162214279], "tcp_pose": [0.6779668927192688, 0.03269756957888603, -0.21498851478099823, -0.00231217872351408, -0.004579057451337576, 0.9998884797096252, 0.014023914001882076], "tcp_vel": [-9.41364633035846e-05, 0.00013646813749801368, -0.0004405529471114278, 0.0003426634648349136, 0.00022867665393278003, -0.0008883572299964726], "flange_pose": [0.6786797642707825, 0.028494039550423622, -0.06504911184310913, -0.00231217872351408, -0.004579057451337576, 0.9998884797096252, 0.014023914001882076], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62378692626953, 15.276156425476074, 28.197914123535156, 0.3509935736656189, -23.955608367919922, 1.8002736568450928], "ext_wrench_in_world": [-107.8910216619033, 15.067211359876861, -27.273969549598927, -0.1417202982909001, -23.89796789713431, -2.470303574468174]}
+{"timestamp_ns": 1789729886622266629, "elapsed_ms": 6000, "source_timestamp_ns": 1789729886621813419, "q": [0.8361893892288208, -1.8967056274414062, -1.0058314800262451, 1.381182074546814, -0.16219833493232727, 0.5940789580345154, 0.7041322588920593], "theta": [0.8382448554039001, -1.8947691917419434, -1.004006028175354, 1.362775206565857, -0.1627877801656723, 0.5940283536911011, 0.7041069269180298], "dq": [-0.001305810292251408, 0.001124944188632071, -0.0005721288616769016, -0.0015540715539827943, 0.0030451565980911255, -0.00048442799015901983, 0.0003208586131222546], "dtheta": [0.00016730155039113015, -0.0003960372123401612, 0.00023462774697691202, 0.00018414761871099472, 0.00045249442337080836, 0.0001753504475345835, 0.0002965990570373833], "tau": [55.57999801635742, 23.579999923706055, 5.4800004959106445, -26.296001434326172, -2.564000129699707, 2.6560001373291016, -0.5600000023841858], "tau_des": [0.589449942111969, -0.49171382188796997, -0.29565879702568054, -0.5707393288612366, 0.9005677103996277, -1.1652323007583618, -0.54335618019104], "tau_dot": [-110.07294464111328, -79.15984344482422, 9.625532150268555, -38.509586334228516, 44.64963912963867, -5.077991008758545, -32.77256774902344], "tau_ext": [-16.800283432006836, -41.639686584472656, 31.8101863861084, 31.346935272216797, 9.51393985748291, -2.995279550552368, -0.11701613664627075], "tcp_pose": [0.6779666543006897, 0.03269832581281662, -0.21498768031597137, -0.0023120834957808256, -0.004580025561153889, 0.9998884797096252, 0.014024162665009499], "tcp_vel": [-0.0002490141778253019, 0.0002702118654269725, -9.040514123626053e-05, 0.00014435827324632555, 0.0001819195313146338, -9.225310350302607e-05], "flange_pose": [0.6786794662475586, 0.02849472127854824, -0.06504829227924347, -0.0023120834957808256, -0.004580025561153889, 0.9998884797096252, 0.014024162665009499], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65033721923828, 15.272554397583008, 28.195629119873047, 0.352084219455719, -23.968679428100586, 1.803156852722168], "ext_wrench_in_world": [-107.91755018110466, 15.063107211500158, -27.271682873484217, -0.14265901023901845, -23.91096156079028, -2.4735596021458868]}
+{"timestamp_ns": 1789729886655588301, "elapsed_ms": 6033, "source_timestamp_ns": 1789729886651791949, "q": [0.836190938949585, -1.8967056274414062, -1.0058324337005615, 1.3811817169189453, -0.16219733655452728, 0.5940717458724976, 0.7041310667991638], "theta": [0.8382459282875061, -1.8947691917419434, -1.0040067434310913, 1.362775206565857, -0.1627877801656723, 0.5940214395523071, 0.7041056752204895], "dq": [0.0003258743672631681, -0.0012360585387796164, -0.001268746447749436, 0.0023068662267178297, 0.0006548250094056129, 0.0005031131440773606, 0.001700228895060718], "dtheta": [0.00023362180218100548, -0.00023510279424954206, -0.0002769642451312393, -3.067315628868528e-05, 0.00039613444823771715, -8.419417281402275e-05, -0.0006186221144162118], "tau": [55.68000030517578, 23.579999923706055, 5.504000186920166, -26.288002014160156, -2.568000078201294, 2.6520001888275146, -0.5600000023841858], "tau_des": [0.5476024746894836, -0.5485522747039795, -0.21763241291046143, -0.5484848022460938, 0.9152160882949829, -1.1588528156280518, -0.5340351462364197], "tau_dot": [84.8806381225586, 27.416610717773438, -32.651309967041016, 14.367786407470703, 14.528818130493164, -7.305445671081543, -27.73090934753418], "tau_ext": [-16.810598373413086, -41.60496520996094, 31.79553985595703, 31.34963607788086, 9.509576797485352, -2.997070550918579, -0.11305437237024307], "tcp_pose": [0.6779659390449524, 0.03269680216908455, -0.21498741209506989, -0.002313993638381362, -0.004580039996653795, 0.99988853931427, 0.01402193121612072], "tcp_vel": [2.2299756892607547e-05, -6.306378054432571e-05, 4.494683162192814e-05, -0.00013978926290292293, -7.957695197546855e-05, 0.00035883422242477536], "flange_pose": [0.678679347038269, 0.02849387191236019, -0.06504800170660019, -0.002313993638381362, -0.004580039996653795, 0.99988853931427, 0.01402193121612072], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65483856201172, 15.261185646057129, 28.18730926513672, 0.34967121481895447, -23.971445083618164, 1.8041878938674927], "ext_wrench_in_world": [-107.92201331541527, 15.051336599650071, -27.26332271121874, -0.14023307610232208, -23.91368596418303, -2.4745709936420837]}
+{"timestamp_ns": 1789729886688914362, "elapsed_ms": 6066, "source_timestamp_ns": 1789729886681771308, "q": [0.8361911177635193, -1.896705150604248, -1.0058343410491943, 1.3811814785003662, -0.16219650208950043, 0.5940696001052856, 0.7041321396827698], "theta": [0.838246762752533, -1.8947690725326538, -1.0040080547332764, 1.3627749681472778, -0.1627873033285141, 0.5940192937850952, 0.7041066288948059], "dq": [-0.0002541192516218871, 0.0004728863714262843, 0.0016846199287101626, 0.0005112838698551059, -0.00020997104002162814, 8.112345676636323e-05, 0.0013508133124560118], "dtheta": [-0.0002870270691346377, 0.00032145646400749683, -0.00041955066262744367, -0.0002884122950490564, -8.089198672678322e-05, -7.302216545213014e-05, 0.0011884078849107027], "tau": [55.66999816894531, 23.619998931884766, 5.468000411987305, -26.304000854492188, -2.572000026702881, 2.6760001182556152, -0.5560000538825989], "tau_des": [0.5747076272964478, -0.664202868938446, -0.12133172899484634, -0.5341272354125977, 0.9019831418991089, -1.160570502281189, -0.5776219964027405], "tau_dot": [138.8648223876953, 24.668811798095703, -44.52210235595703, -20.132497787475586, -5.909482002258301, 43.69364547729492, 1.7399778366088867], "tau_ext": [-16.83301544189453, -41.60822296142578, 31.787710189819336, 31.3521728515625, 9.509846687316895, -2.9936413764953613, -0.1133774146437645], "tcp_pose": [0.6779663562774658, 0.03269532322883606, -0.21498745679855347, -0.0023145361337810755, -0.004578377585858107, 0.99988853931427, 0.014021127484738827], "tcp_vel": [0.00027442118152976036, -0.0002880060928873718, 4.560520665108925e-06, 3.273977563367225e-05, -3.414760431041941e-05, -0.0016972190933302045], "flange_pose": [0.678679883480072, 0.028492631390690804, -0.06504804641008377, -0.0023145361337810755, -0.004578377585858107, 0.99988853931427, 0.014021127484738827], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63150787353516, 15.255230903625488, 28.211223602294922, 0.34528347849845886, -23.968341827392578, 1.8029781579971313], "ext_wrench_in_world": [-107.89872437505842, 15.046582175433, -27.287402537903798, -0.13594985609669466, -23.91058103973685, -2.473255516981492]}
+{"timestamp_ns": 1789729886722257562, "elapsed_ms": 6100, "source_timestamp_ns": 1789729886721870626, "q": [0.8361923098564148, -1.8967061042785645, -1.0058350563049316, 1.3811818361282349, -0.16219758987426758, 0.5940709710121155, 0.7041306495666504], "theta": [0.8382479548454285, -1.8947707414627075, -1.004009485244751, 1.3627750873565674, -0.1627887338399887, 0.594021201133728, 0.7041056752204895], "dq": [0.002269262447953224, -0.0002006350550800562, 0.00194750155787915, 0.0006230673170648515, 0.0003973793936893344, 0.0009434654493816197, -0.0016224976861849427], "dtheta": [-8.260353206424043e-05, -0.0003205401008017361, -0.0001605691504664719, 0.00011665859346976504, -0.0007241696584969759, 0.0003397120744921267, 0.0002539643901400268], "tau": [55.59000015258789, 23.600000381469727, 5.484000205993652, -26.268001556396484, -2.572000026702881, 2.680000066757202, -0.5640000104904175], "tau_des": [0.5924789905548096, -0.5435753464698792, -0.21828538179397583, -0.5638854503631592, 0.9287194609642029, -1.1657826900482178, -0.5434828400611877], "tau_dot": [6.110868453979492, 23.16197967529297, 17.300138473510742, 37.89966583251953, 58.75780487060547, 21.647418975830078, -70.99248504638672], "tau_ext": [-16.829313278198242, -41.63595962524414, 31.815950393676758, 31.349933624267578, 9.507314682006836, -3.0013134479522705, -0.1144305169582367], "tcp_pose": [0.677966833114624, 0.03269529715180397, -0.2149868607521057, -0.002313141478225589, -0.004579548723995686, 0.99988853931427, 0.014020543545484543], "tcp_vel": [6.646856490988284e-05, -1.3681471500603948e-05, -0.00011380226351320744, -0.0006358130485750735, -0.0005244988133199513, 0.0002604081528261304], "flange_pose": [0.6786800026893616, 0.028492780402302742, -0.06504744291305542, -0.002313141478225589, -0.004579548723995686, 0.99988853931427, 0.014020543545484543], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6308822631836, 15.282722473144531, 28.21065330505371, 0.3531157970428467, -23.966934204101562, 1.802545189857483], "ext_wrench_in_world": [-107.89830361718526, 15.07377143474082, -27.286386241261173, -0.14373038293572113, -23.90926155277652, -2.4727208999959402]}
+{"timestamp_ns": 1789729886755587953, "elapsed_ms": 6133, "source_timestamp_ns": 1789729886751793521, "q": [0.8361932039260864, -1.8967081308364868, -1.0058388710021973, 1.3811817169189453, -0.16219769418239594, 0.5940713882446289, 0.704130232334137], "theta": [0.838248610496521, -1.894771933555603, -1.0040135383605957, 1.3627749681472778, -0.162788987159729, 0.5940216779708862, 0.7041051983833313], "dq": [-0.0011856523342430592, 0.0018240537028759718, -0.001074148458428681, 0.001383696566335857, 0.0011339131742715836, 0.0002173887478420511, 0.0007475875900126994], "dtheta": [-1.4229296994017204e-06, -0.00032784094219096005, -0.00011027669825125486, 2.0759851395268925e-05, -0.0005447398871183395, -0.00042290869168937206, 0.0001490329159423709], "tau": [55.62999725341797, 23.65999984741211, 5.468000411987305, -26.312002182006836, -2.56000018119812, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.5891440510749817, -0.538665771484375, -0.21120724081993103, -0.5734946727752686, 0.9289218187332153, -1.150518774986267, -0.5436927676200867], "tau_dot": [-64.2974853515625, 124.4343032836914, 7.2214884757995605, -29.06191062927246, 50.76241683959961, 5.7769317626953125, 33.80897903442383], "tau_ext": [-16.815826416015625, -41.61765670776367, 31.818038940429688, 31.346717834472656, 9.511119842529297, -3.0079212188720703, -0.12037009000778198], "tcp_pose": [0.67796790599823, 0.03269386664032936, -0.21498703956604004, -0.0023118944372981787, -0.004579152446240187, 0.9998885989189148, 0.014018665999174118], "tcp_vel": [-6.39351419522427e-05, -7.321922748815268e-05, -0.00011692766565829515, -0.0009411657229065895, 6.071122243156424e-06, 0.0003090191457886249], "flange_pose": [0.6786805987358093, 0.02849191054701805, -0.06504759937524796, -0.0023118944372981787, -0.004579152446240187, 0.9998885989189148, 0.014018665999174118], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61161041259766, 15.288952827453613, 28.196386337280273, 0.35481762886047363, -23.95368003845215, 1.8007372617721558], "ext_wrench_in_world": [-107.87894106758706, 15.079763309379063, -27.27236310448984, -0.14555745422095626, -23.89608863924163, -2.4704449787950367]}
+{"timestamp_ns": 1789729886788950621, "elapsed_ms": 6166, "source_timestamp_ns": 1789729886781736524, "q": [0.8361931443214417, -1.896710753440857, -1.0058408975601196, 1.3811818361282349, -0.1621987670660019, 0.5940713882446289, 0.7041301727294922], "theta": [0.8382483124732971, -1.8947746753692627, -1.0040165185928345, 1.3627748489379883, -0.1627901792526245, 0.5940216779708862, 0.7041049599647522], "dq": [0.0011329744011163712, 0.0005648748483508825, -0.0012500396696850657, 0.0006166643579490483, -0.0036533817183226347, -0.0007299399003386497, -0.0022736454848200083], "dtheta": [0.00011434466432547197, -0.0004544896655716002, 3.12922456942033e-05, -0.0001876880560303107, -0.0001357310393359512, 0.0005331984139047563, -0.0008661175379529595], "tau": [55.65999984741211, 23.60999870300293, 5.448000431060791, -26.30000114440918, -2.5960001945495605, 2.6640000343322754, -0.5480000376701355], "tau_des": [0.5311397314071655, -0.5171825289726257, -0.25879690051078796, -0.5170505046844482, 0.9363651871681213, -1.1869503259658813, -0.5230288505554199], "tau_dot": [-7.568173408508301, 113.62179565429688, -11.820780754089355, -15.644266128540039, 17.954700469970703, -13.656661987304688, 4.2591753005981445], "tau_ext": [-16.823200225830078, -41.63522720336914, 31.8387451171875, 31.35821533203125, 9.515543937683105, -3.005117177963257, -0.1220538318157196], "tcp_pose": [0.67796790599823, 0.03269342705607414, -0.21498791873455048, -0.0023113852366805077, -0.004579644650220871, 0.9998885989189148, 0.014016695320606232], "tcp_vel": [8.417006029048935e-05, 0.0002616522542666644, 0.00010010252299252898, 5.9116129705216736e-05, -0.0007567863794974983, 0.0012250657891854644], "flange_pose": [0.6786805391311646, 0.02849206142127514, -0.0650484561920166, -0.0023113852366805077, -0.004579644650220871, 0.9998885989189148, 0.014016695320606232], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62821960449219, 15.28819465637207, 28.185546875, 0.3520362973213196, -23.95020866394043, 1.7970044612884521], "ext_wrench_in_world": [-107.89547712176399, 15.078335759673033, -27.26164725603013, -0.14276411100864045, -23.89270753533849, -2.4665349529647163]}
+{"timestamp_ns": 1789729886822260724, "elapsed_ms": 6200, "source_timestamp_ns": 1789729886821734261, "q": [0.8361932039260864, -1.8967105150222778, -1.0058434009552002, 1.3811804056167603, -0.16219916939735413, 0.5940679311752319, 0.7041284441947937], "theta": [0.8382483720779419, -1.8947745561599731, -1.0040192604064941, 1.3627731800079346, -0.1627904176712036, 0.5940192937850952, 0.7041032910346985], "dq": [-0.0013958123745396733, -0.0007407041266560555, 8.877430809661746e-05, -0.0015370807377621531, 0.0002011675969697535, -0.0002772363950498402, -0.0017567118629813194], "dtheta": [-0.00014239481242839247, 7.215755613287911e-05, -0.0003449865325819701, -4.982583413948305e-05, 9.801449778024107e-05, -0.0005516845267266035, -0.0006361623527482152], "tau": [55.69999694824219, 23.59000015258789, 5.488000392913818, -26.280000686645508, -2.6000001430511475, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.5946043729782104, -0.5828684568405151, -0.1508316695690155, -0.5733417272567749, 0.9178774356842041, -1.1449724435806274, -0.5374935269355774], "tau_dot": [134.61724853515625, 14.167312622070312, -9.860414505004883, 7.03750467300415, -26.26866340637207, -5.321004390716553, 14.701833724975586], "tau_ext": [-16.798189163208008, -41.59674835205078, 31.823165893554688, 31.34797477722168, 9.523734092712402, -3.0024516582489014, -0.11924094706773758], "tcp_pose": [0.6779688000679016, 0.032691724598407745, -0.21498766541481018, -0.0023115654475986958, -0.004579611122608185, 0.9998885989189148, 0.014015152119100094], "tcp_vel": [7.058674327709014e-06, -0.0002821169327944517, -0.00014282898337114602, -0.00043504752102307975, 0.00044671984505839646, 0.0002962214930448681], "flange_pose": [0.6786814332008362, 0.0284908227622509, -0.06504819542169571, -0.0023115654475986958, -0.004579611122608185, 0.9998885989189148, 0.014015152119100094], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66351318359375, 15.269417762756348, 28.164567947387695, 0.3425353765487671, -23.95296859741211, 1.796686053276062], "ext_wrench_in_world": [-107.93050706443388, 15.058575720590557, -27.24105393687812, -0.1332392474752056, -23.895395167567802, -2.4662629575015558]}
+{"timestamp_ns": 1789729886855587135, "elapsed_ms": 6233, "source_timestamp_ns": 1789729886851737978, "q": [0.8361931443214417, -1.8967106342315674, -1.0058432817459106, 1.3811800479888916, -0.16219763457775116, 0.5940653085708618, 0.7041256427764893], "theta": [0.8382483720779419, -1.8947745561599731, -1.0040193796157837, 1.3627724647521973, -0.1627887338399887, 0.5940166711807251, 0.704099714756012], "dq": [-7.14692723704502e-05, 6.036346167093143e-05, -0.001840773387812078, 5.1764160161837935e-05, 0.00014589267084375024, -0.0006443641032092273, -0.0006992068374529481], "dtheta": [-0.000305219175061211, 0.00029527529841288924, 1.3094710084260441e-05, -0.0001280862052226439, 0.00018801470287144184, 9.561133629176766e-05, 0.0005342146032489836], "tau": [55.599998474121094, 23.549999237060547, 5.4720001220703125, -26.292001724243164, -2.5880000591278076, 2.6720001697540283, -0.5400000214576721], "tau_des": [0.5927476286888123, -0.6105428338050842, -0.1819801777601242, -0.5481985807418823, 0.8995147943496704, -1.16474187374115, -0.5552549958229065], "tau_dot": [-148.029052734375, -128.11245727539062, -8.728781700134277, 15.246776580810547, 2.991222620010376, -3.7779672145843506, 49.855289459228516], "tau_ext": [-16.805217742919922, -41.600189208984375, 31.817861557006836, 31.354326248168945, 9.521012306213379, -3.001739740371704, -0.11303472518920898], "tcp_pose": [0.6779682040214539, 0.03269152343273163, -0.21498797833919525, -0.002312837401404977, -0.004580590408295393, 0.9998885989189148, 0.01401488110423088], "tcp_vel": [5.123943992657587e-05, -2.693912392714992e-05, -6.606508395634592e-05, 0.0004777347494382411, 0.00025268536410294473, -0.0008496886002831161], "flange_pose": [0.6786812543869019, 0.028490707278251648, -0.06504850834608078, -0.002312837401404977, -0.004580590408295393, 0.9998885989189148, 0.01401488110423088], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67681121826172, 15.253134727478027, 28.16600227355957, 0.33735495805740356, -23.955825805664062, 1.7994307279586792], "ext_wrench_in_world": [-107.94376163816219, 15.041986952624743, -27.242621554149615, -0.128004683386442, -23.898128098360665, -2.469096502598355]}
+{"timestamp_ns": 1789729886888903787, "elapsed_ms": 6266, "source_timestamp_ns": 1789729886881723927, "q": [0.8361942172050476, -1.8967114686965942, -1.0058434009552002, 1.3811811208724976, -0.16219612956047058, 0.5940642356872559, 0.7041196823120117], "theta": [0.8382502198219299, -1.8947752714157104, -1.0040193796157837, 1.3627731800079346, -0.1627865880727768, 0.5940159559249878, 0.7040936946868896], "dq": [0.001542642479762435, -0.0007258837576955557, 0.00029672004166059196, -0.0018052863888442516, 0.002176715759560466, 0.001740116742439568, 0.0035611996427178383], "dtheta": [0.00041032489389181137, -0.0002814179752022028, -9.931082604452968e-05, 0.00021489009668584913, 0.0003840480640064925, 0.0003608431143220514, 0.00019130150030832738], "tau": [55.64999771118164, 23.59000015258789, 5.492000102996826, -26.296001434326172, -2.572000026702881, 2.6720001697540283, -0.5720000267028809], "tau_des": [0.532178521156311, -0.5549769401550293, -0.23141685128211975, -0.5400545001029968, 0.9177704453468323, -1.1704840660095215, -0.5384898781776428], "tau_dot": [116.46190643310547, -76.62501525878906, 19.61847496032715, -34.319664001464844, 0.2331022173166275, 5.9965739250183105, -8.680346488952637], "tau_ext": [-16.788400650024414, -41.617618560791016, 31.82002067565918, 31.345155715942383, 9.50396728515625, -2.997581720352173, -0.10740847140550613], "tcp_pose": [0.677967369556427, 0.03269147872924805, -0.21498826146125793, -0.0023135305382311344, -0.004583545494824648, 0.9998885989189148, 0.014014341868460178], "tcp_vel": [-2.2829357476439327e-05, 7.09257074049674e-05, 0.00010291994112776592, 7.8072895121295e-05, -0.00032320336322300136, -0.00025991571601480246], "flange_pose": [0.6786805987358093, 0.0284908264875412, -0.06504878401756287, -0.0023135305382311344, -0.004583545494824648, 0.9998885989189148, 0.014014341868460178], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.694580078125, 15.256312370300293, 28.165733337402344, 0.3420656621456146, -23.967321395874023, 1.8032047748565674], "ext_wrench_in_world": [-107.96168179181869, 15.044322219799941, -27.242059639579995, -0.13248991628356072, -23.90955988771724, -2.4731444899462374]}
+{"timestamp_ns": 1789729886922254646, "elapsed_ms": 6300, "source_timestamp_ns": 1789729886921735703, "q": [0.8361955881118774, -1.8967121839523315, -1.0058423280715942, 1.3811817169189453, -0.16219478845596313, 0.5940628051757812, 0.7041195034980774], "theta": [0.838252067565918, -1.8947761058807373, -1.0040191411972046, 1.3627736568450928, -0.1627849042415619, 0.5940142869949341, 0.7040925025939941], "dq": [0.0013163711410015821, 0.0009076549322344363, -0.003160758875310421, -0.0004275242972653359, -0.00022749556228518486, -0.0004603397101163864, 0.001627718098461628], "dtheta": [-2.8964635930606164e-05, -3.395970634301193e-05, 4.8487763706361875e-05, -9.231299918610603e-05, -0.0003416551335249096, -0.00024245095846708864, -0.0007963998359628022], "tau": [55.69999694824219, 23.6299991607666, 5.4720001220703125, -26.280000686645508, -2.564000129699707, 2.640000104904175, -0.5400000214576721], "tau_des": [0.571150541305542, -0.5452892780303955, -0.24616774916648865, -0.5547589659690857, 0.9238761067390442, -1.1598608493804932, -0.5144286751747131], "tau_dot": [88.52908325195312, -7.254775047302246, -22.614402770996094, -15.924771308898926, 5.186707496643066, -10.666025161743164, 33.66953659057617], "tau_ext": [-16.812253952026367, -41.62305450439453, 31.815889358520508, 31.34844970703125, 9.496981620788574, -3.000823497772217, -0.10365837812423706], "tcp_pose": [0.6779664754867554, 0.03269201144576073, -0.21498802304267883, -0.002314142184332013, -0.004583900794386864, 0.9998885989189148, 0.014014169573783875], "tcp_vel": [5.911714197281981e-06, -7.857371201680508e-06, 1.4620763977291062e-05, -0.00030823523411527276, -5.806523404316977e-05, 0.0010335947154089808], "flange_pose": [0.6786799430847168, 0.028491411358118057, -0.06504855304956436, -0.002314142184332013, -0.004583900794386864, 0.9998885989189148, 0.014014169573783875], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66519927978516, 15.279667854309082, 28.181476593017578, 0.35373273491859436, -23.96803092956543, 1.806448221206665], "ext_wrench_in_world": [-107.93263396747987, 15.068291515503224, -27.25714813223285, -0.14415092163565815, -23.910286948085254, -2.476345540564661]}
+{"timestamp_ns": 1789729886955581768, "elapsed_ms": 6333, "source_timestamp_ns": 1789729886951721601, "q": [0.8361960649490356, -1.8967127799987793, -1.0058425664901733, 1.3811813592910767, -0.16219526529312134, 0.594062864780426, 0.7041212320327759], "theta": [0.8382530212402344, -1.8947769403457642, -1.0040197372436523, 1.3627737760543823, -0.1627844274044037, 0.5940138101577759, 0.7040936946868896], "dq": [-0.001958542736247182, -0.0001335362030658871, 0.0010370397940278053, -0.0005525866290554404, 0.0006998624303378165, -0.0014137281104922295, -0.00347560690715909], "dtheta": [0.00026129442267119884, -0.00021827379532624036, -7.552634633611888e-05, 5.864731429028325e-05, 0.0011365764075890183, 0.0002586638438515365, -0.0001748341164784506], "tau": [55.64999771118164, 23.6299991607666, 5.460000038146973, -26.296001434326172, -2.572000026702881, 2.680000066757202, -0.5600000023841858], "tau_des": [0.5551378130912781, -0.5420730710029602, -0.2546045780181885, -0.54281085729599, 0.8907412886619568, -1.1726481914520264, -0.5374912023544312], "tau_dot": [57.1025276184082, 43.93619155883789, 0.9241381287574768, 7.629577159881592, -8.785481452941895, 48.17620086669922, 0.7231999635696411], "tau_ext": [-16.815698623657227, -41.616939544677734, 31.819190979003906, 31.351871490478516, 9.4986572265625, -3.000539779663086, -0.10806383192539215], "tcp_pose": [0.6779667139053345, 0.03269210457801819, -0.21498768031597137, -0.0023135936353355646, -0.00458325631916523, 0.9998885989189148, 0.014013881795108318], "tcp_vel": [-0.0001062298979377374, 0.0001320576702710241, 1.818784403440077e-05, 0.0006318711093626916, 0.00019145682745147496, -0.00035944729461334646], "flange_pose": [0.6786800026893616, 0.028491588309407234, -0.0650482028722763, -0.0023135936353355646, -0.00458325631916523, 0.9998885989189148, 0.014013881795108318], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64474487304688, 15.288785934448242, 28.19154167175293, 0.3563372790813446, -23.964014053344727, 1.8058806657791138], "ext_wrench_in_world": [-107.91226236839144, 15.078001278448884, -27.267170809335006, -0.14681765909480754, -23.906312984907945, -2.4756402862696016]}
+{"timestamp_ns": 1789729886988911439, "elapsed_ms": 6366, "source_timestamp_ns": 1789729886981711800, "q": [0.836196780204773, -1.8967134952545166, -1.0058472156524658, 1.3811819553375244, -0.16219636797904968, 0.5940638780593872, 0.70412278175354], "theta": [0.8382534384727478, -1.8947772979736328, -1.0040245056152344, 1.3627738952636719, -0.1627861112356186, 0.5940150022506714, 0.7040963768959045], "dq": [-0.0018585310317575932, 0.0012171680573374033, -0.0007533319876529276, -0.0006307564326561987, 0.0005946281598880887, -8.590047946199775e-05, 0.0022175104822963476], "dtheta": [8.772937690082472e-06, 0.00019288851763121784, 5.9194037021370605e-05, 3.712247053044848e-05, -0.0004759768780786544, 0.0004222230054438114, 0.0013023108476772904], "tau": [55.599998474121094, 23.619998931884766, 5.464000225067139, -26.284000396728516, -2.5840001106262207, 2.6520001888275146, -0.5879999995231628], "tau_des": [0.5288247466087341, -0.6401758193969727, -0.18870972096920013, -0.5073055624961853, 0.91876220703125, -1.1863270998001099, -0.5637068748474121], "tau_dot": [-87.17903137207031, 81.42634582519531, 45.475990295410156, 6.354920387268066, -11.849678993225098, -31.269983291625977, -62.309593200683594], "tau_ext": [-16.819063186645508, -41.62085723876953, 31.826372146606445, 31.34913444519043, 9.510196685791016, -3.002423048019409, -0.11137610673904419], "tcp_pose": [0.6779683232307434, 0.03268972411751747, -0.21498769521713257, -0.0023120585829019547, -0.00458143837749958, 0.9998886585235596, 0.014011956751346588], "tcp_vel": [0.00016260995471384376, 1.942207745742053e-06, 0.00013700973067898303, 0.00013415458670351654, -0.0005069371545687318, -0.0011296570301055908], "flange_pose": [0.6786811351776123, 0.02848978154361248, -0.0650482028722763, -0.0023120585829019547, -0.00458143837749958, 0.9998886585235596, 0.014011956751346588], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6415023803711, 15.286019325256348, 28.18323516845703, 0.3538706600666046, -23.95942497253418, 1.8040962219238281], "ext_wrench_in_world": [-107.90881726344067, 15.07532440197537, -27.259345499418743, -0.14446465934073324, -23.9017620851679, -2.473647473416954]}
+{"timestamp_ns": 1789729887022341103, "elapsed_ms": 6400, "source_timestamp_ns": 1789729887021725828, "q": [0.8361968398094177, -1.8967143297195435, -1.005853533744812, 1.3811818361282349, -0.16219881176948547, 0.5940626859664917, 0.70412278175354], "theta": [0.8382528424263, -1.8947783708572388, -1.0040309429168701, 1.3627737760543823, -0.1627885103225708, 0.5940142869949341, 0.7040965557098389], "dq": [0.0002330145362066105, 0.0020407107658684254, -0.00040547395474277437, -0.0003061352181248367, 0.0024128633085638285, -0.0012955090496689081, 0.0004855526494793594], "dtheta": [-0.0004733910027425736, 0.00014484288112726063, 0.0002278229221701622, -7.557287608506158e-05, -0.0008014928316697478, 0.0013694659573957324, 0.0003989423275925219], "tau": [55.62999725341797, 23.559999465942383, 5.468000411987305, -26.272001266479492, -2.6120002269744873, 2.6560001373291016, -0.5320000052452087], "tau_des": [0.5733786821365356, -0.6053467988967896, -0.1964305192232132, -0.5114398002624512, 0.9309945702552795, -1.2026138305664062, -0.5450116395950317], "tau_dot": [21.606307983398438, -44.68305969238281, -33.422027587890625, 24.442790985107422, -63.37702941894531, -0.0839078351855278, 18.265756607055664], "tau_ext": [-16.816654205322266, -41.59619140625, 31.824588775634766, 31.345951080322266, 9.515976905822754, -3.0003769397735596, -0.12187447398900986], "tcp_pose": [0.6779703497886658, 0.03268614411354065, -0.21498818695545197, -0.0023107638116925955, -0.004580233711749315, 0.9998887181282043, 0.014008459635078907], "tcp_vel": [0.00025491981068626046, 0.00025728371110744774, -9.946759746526368e-06, 0.0006927158101461828, -0.0009835193632170558, 6.394652154995129e-05], "flange_pose": [0.6786827445030212, 0.028487250208854675, -0.06504865735769272, -0.0023107638116925955, -0.004580233711749315, 0.9998887181282043, 0.014008459635078907], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64005279541016, 15.280168533325195, 28.189361572265625, 0.34534066915512085, -23.952795028686523, 1.7995048761367798], "ext_wrench_in_world": [-107.90723646833911, 15.069732693325083, -27.266024579595513, -0.13602528252168042, -23.89520179943953, -2.4687437594572654]}
+{"timestamp_ns": 1789729887055596705, "elapsed_ms": 6433, "source_timestamp_ns": 1789729887051720209, "q": [0.8361973762512207, -1.8967154026031494, -1.0058536529541016, 1.381181001663208, -0.1621975153684616, 0.5940605401992798, 0.7041220664978027], "theta": [0.8382532000541687, -1.8947798013687134, -1.0040311813354492, 1.3627731800079346, -0.1627873033285141, 0.5940121412277222, 0.7040960788726807], "dq": [0.00012008494377369061, -0.0014904072741046548, 0.0006569199031218886, -0.0001280509604839608, 0.0023511105682700872, -0.0011359038762748241, -0.0012195834424346685], "dtheta": [9.125739597948268e-05, -8.28678093967028e-05, -8.770044223638251e-05, 0.00012520491145551205, 0.0010188940213993192, 4.336076744948514e-05, -0.0002693684946279973], "tau": [55.57999801635742, 23.6299991607666, 5.460000038146973, -26.304000854492188, -2.5880000591278076, 2.6760001182556152, -0.5320000052452087], "tau_des": [0.5799944996833801, -0.5644668936729431, -0.1930418759584427, -0.5625020861625671, 0.8965185880661011, -1.1604571342468262, -0.5450074076652527], "tau_dot": [-69.80696105957031, 63.63722610473633, -38.76651382446289, -44.78440856933594, 13.31591510772705, 30.102399826049805, 63.837554931640625], "tau_ext": [-16.796701431274414, -41.597633361816406, 31.826562881469727, 31.33733558654785, 9.522601127624512, -3.000861406326294, -0.12414359301328659], "tcp_pose": [0.6779699921607971, 0.032686296850442886, -0.2149880975484848, -0.002311308402568102, -0.004580457229167223, 0.9998887181282043, 0.01400800608098507], "tcp_vel": [-0.00015276839258149266, 3.048298276553396e-05, -0.00010216312512056902, 0.0004729146312456578, 0.0005057579255662858, -0.0002832275058608502], "flange_pose": [0.6786825656890869, 0.028487538918852806, -0.06504856050014496, -0.002311308402568102, -0.004580457229167223, 0.9998887181282043, 0.01400800608098507], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63984680175781, 15.27208137512207, 28.177143096923828, 0.33936259150505066, -23.948728561401367, 1.7961366176605225], "ext_wrench_in_world": [-107.90693529640143, 15.06123398849473, -27.253936006030738, -0.13006007142297155, -23.891178548436017, -2.465267808995153]}
+{"timestamp_ns": 1789729887088905871, "elapsed_ms": 6466, "source_timestamp_ns": 1789729887081747518, "q": [0.836198091506958, -1.8967177867889404, -1.0058525800704956, 1.3811808824539185, -0.16219696402549744, 0.5940528512001038, 0.7041218280792236], "theta": [0.8382534384727478, -1.894781231880188, -1.004030704498291, 1.3627727031707764, -0.1627868264913559, 0.5940045118331909, 0.7040960788726807], "dq": [0.000628206180408597, -0.0005820554215461016, -0.0008675564313307405, -0.0018770686583593488, -0.0002329640556126833, -0.0010988967260345817, 0.00030669133411720395], "dtheta": [-2.91212700176402e-06, 0.00010223902063444257, -0.0002538163971621543, 3.9852857298683375e-05, -0.0009684856631793082, -0.0004044462984893471, -6.868995114928111e-05], "tau": [55.619998931884766, 23.549999237060547, 5.496000289916992, -26.2760009765625, -2.6120002269744873, 2.6560001373291016, -0.5560000538825989], "tau_des": [0.5680940747261047, -0.6091155409812927, -0.145996555685997, -0.5646825432777405, 0.940653383731842, -1.1440517902374268, -0.537960410118103], "tau_dot": [-48.44756317138672, -21.6717472076416, 27.697647094726562, -35.883304595947266, -76.08839416503906, -8.5580472946167, -2.191384792327881], "tau_ext": [-16.796083450317383, -41.601112365722656, 31.81576919555664, 31.345596313476562, 9.516938209533691, -2.9997057914733887, -0.11673913896083832], "tcp_pose": [0.6779677271842957, 0.03268645331263542, -0.2149890959262848, -0.0023141230922192335, -0.004581640008836985, 0.9998887181282043, 0.014005189761519432], "tcp_vel": [0.00015210303536150604, -0.0003095241554547101, 3.004432983289007e-05, -0.0009745167335495353, -0.00027803852572105825, 0.0003752674092538655], "flange_pose": [0.6786811351776123, 0.02848854474723339, -0.06504955142736435, -0.0023141230922192335, -0.004581640008836985, 0.9998887181282043, 0.014005189761519432], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65948486328125, 15.260254859924316, 28.164894104003906, 0.3376305103302002, -23.953903198242188, 1.796694040298462], "ext_wrench_in_world": [-107.92659528059346, 15.048469413390151, -27.241419176686133, -0.1282386826741531, -23.896333609601694, -2.4658420723139836]}
+{"timestamp_ns": 1789729887122263023, "elapsed_ms": 6500, "source_timestamp_ns": 1789729887121733770, "q": [0.8361985683441162, -1.8967177867889404, -1.005852222442627, 1.3811801671981812, -0.16219490766525269, 0.594050407409668, 0.7041210532188416], "theta": [0.838254988193512, -1.8947815895080566, -1.0040303468704224, 1.3627722263336182, -0.1627849042415619, 0.5940011739730835, 0.7040951251983643], "dq": [-0.0008394223405048251, -0.00040144918602891266, 0.0008462004479952157, 0.0018646314274519682, 0.0012173689901828766, -0.0014357765903696418, -0.0009672141168266535], "dtheta": [-0.0002648489607963711, -0.00015851632633712143, -0.0002510771155357361, -6.638927152380347e-05, 0.0005500288098119199, 0.0001817331649363041, 0.0004008527612313628], "tau": [55.62999725341797, 23.600000381469727, 5.488000392913818, -26.288002014160156, -2.5840001106262207, 2.680000066757202, -0.5320000052452087], "tau_des": [0.6458649039268494, -0.554133951663971, -0.18729865550994873, -0.5943954586982727, 0.8903907537460327, -1.1474404335021973, -0.5540629029273987], "tau_dot": [11.253562927246094, 1.0374805927276611, 14.111199378967285, 43.47957229614258, -33.47501754760742, 47.26133728027344, 21.82257080078125], "tau_ext": [-16.809768676757812, -41.60783386230469, 31.808916091918945, 31.349267959594727, 9.507305145263672, -2.9966375827789307, -0.1163843423128128], "tcp_pose": [0.6779671907424927, 0.03268658369779587, -0.21498890221118927, -0.0023151575587689877, -0.0045815869234502316, 0.9998887181282043, 0.014005327597260475], "tcp_vel": [-3.0411931220442057e-05, -1.1731927770597395e-05, -0.0002352862647967413, 0.00021874989033676684, 0.00031098880572244525, -0.0007908270345069468], "flange_pose": [0.678680956363678, 0.028488634154200554, -0.06504935771226883, -0.0023151575587689877, -0.0045815869234502316, 0.9998887181282043, 0.014005327597260475], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6593246459961, 15.257962226867676, 28.172088623046875, 0.3415692150592804, -23.96221351623535, 1.798419713973999], "ext_wrench_in_world": [-107.9265037054429, 15.04639624532316, -27.24844821051374, -0.1321167568310792, -23.904627700077963, -2.467788337189525]}
+{"timestamp_ns": 1789729887155589488, "elapsed_ms": 6533, "source_timestamp_ns": 1789729887151724102, "q": [0.8362007141113281, -1.8967193365097046, -1.0058519840240479, 1.3811805248260498, -0.1621953248977661, 0.5940490365028381, 0.7041206955909729], "theta": [0.8382574319839478, -1.8947830200195312, -1.0040302276611328, 1.3627725839614868, -0.1627853810787201, 0.5939992666244507, 0.704094409942627], "dq": [0.00014549278421327472, 0.000268772040726617, -0.0029049008153378963, -0.0024352730251848698, 0.0013496297178789973, 0.00021127272339072078, -0.0033105313777923584], "dtheta": [0.0004114361072424799, -1.749779585225042e-05, -0.0001021612697513774, 1.419251384504605e-05, -0.001016627880744636, -0.0005871214671060443, -3.170943818986416e-05], "tau": [55.65999984741211, 23.60999870300293, 5.484000205993652, -26.296001434326172, -2.556000232696533, 2.6560001373291016, -0.5560000538825989], "tau_des": [0.4928770661354065, -0.6114878058433533, -0.19007225334644318, -0.524010181427002, 0.9476706385612488, -1.155852198600769, -0.5344698429107666], "tau_dot": [8.732876777648926, 104.96405029296875, -6.334531784057617, -0.6008579730987549, 50.502601623535156, -26.626182556152344, -23.408777236938477], "tau_ext": [-16.818628311157227, -41.60674285888672, 31.802701950073242, 31.34825325012207, 9.50333023071289, -2.996797800064087, -0.11844401806592941], "tcp_pose": [0.677966833114624, 0.032686807215213776, -0.21498818695545197, -0.002314701909199357, -0.004582507070153952, 0.9998887777328491, 0.01400416437536478], "tcp_vel": [0.0001411187113262713, -0.00021794890926685184, 0.000278439256362617, -0.001101467409171164, -0.0005523987347260118, 0.0005520666600205004], "flange_pose": [0.678680419921875, 0.028489207848906517, -0.06504862755537033, -0.002314701909199357, -0.004582507070153952, 0.9998887777328491, 0.01400416437536478], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64700317382812, 15.255510330200195, 28.184783935546875, 0.34318289160728455, -23.962841033935547, 1.7974189519882202], "ext_wrench_in_world": [-107.91422270540177, 15.044153451725943, -27.26139978145541, -0.1336737411210517, -23.905303808738278, -2.4667429834868453]}
+{"timestamp_ns": 1789729887188909763, "elapsed_ms": 6566, "source_timestamp_ns": 1789729887181721123, "q": [0.83620285987854, -1.8967199325561523, -1.005852222442627, 1.3811814785003662, -0.16219379007816315, 0.594048798084259, 0.704120934009552], "theta": [0.8382596373558044, -1.8947833776474, -1.0040301084518433, 1.362773060798645, -0.16278420388698578, 0.5939992666244507, 0.7040949463844299], "dq": [0.00020533293718472123, 0.0005641249590553343, 0.004241087939590216, -0.0005997874541208148, -0.0009692864841781557, -0.0005052862106822431, -0.0005152645753696561], "dtheta": [0.00036297502811066806, 0.00028624487458728254, -1.7084663340938278e-05, 0.000309158320305869, -7.372217805823311e-05, -0.00011612659000093117, 0.0004170619649812579], "tau": [55.59000015258789, 23.59000015258789, 5.4760003089904785, -26.25200080871582, -2.556000232696533, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.513380229473114, -0.6346908211708069, -0.18857558071613312, -0.532900869846344, 0.9120807647705078, -1.1606683731079102, -0.5503398180007935], "tau_dot": [-161.49603271484375, 28.89079475402832, -21.653234481811523, 56.56782913208008, 50.74789047241211, -20.684839248657227, -14.68173599243164], "tau_ext": [-16.81839942932129, -41.595584869384766, 31.805400848388672, 31.354000091552734, 9.502059936523438, -2.9978866577148438, -0.11796551197767258], "tcp_pose": [0.6779665946960449, 0.0326867550611496, -0.21498747169971466, -0.002314472571015358, -0.004582163877785206, 0.9998887777328491, 0.01400400698184967], "tcp_vel": [2.7527432393981144e-05, -0.00017639347061049193, 0.0001848975953180343, -9.964899072656408e-05, -6.197191396495327e-05, -0.0005279419128783047], "flange_pose": [0.6786801218986511, 0.02848920226097107, -0.06504791229963303, -0.002314472571015358, -0.004582163877785206, 0.9998887777328491, 0.01400400698184967], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64924621582031, 15.245325088500977, 28.18994140625, 0.34086987376213074, -23.966167449951172, 1.7962478399276733], "ext_wrench_in_world": [-107.91637480111207, 15.034162368960027, -27.266883870839514, -0.13134044052223132, -23.908640890205273, -2.4656685268442544]}
+{"timestamp_ns": 1789729887222268555, "elapsed_ms": 6600, "source_timestamp_ns": 1789729887221812236, "q": [0.8362041711807251, -1.8967212438583374, -1.0058531761169434, 1.3811815977096558, -0.16219623386859894, 0.594048023223877, 0.7041201591491699], "theta": [0.8382614850997925, -1.8947843313217163, -1.0040310621261597, 1.3627735376358032, -0.1627865880727768, 0.5939980745315552, 0.704094648361206], "dq": [0.002299289684742689, 0.0007777946884743869, -0.00016749874339438975, -0.00233134301379323, -0.0010564911644905806, 0.0002057128876913339, 0.0017016176134347916], "dtheta": [-4.062087828060612e-05, -0.0001443060173187405, -1.0635328180796932e-05, -0.00020671325910370797, -0.0005362717201933265, -0.00023850669094827026, -0.00034842651803046465], "tau": [55.64999771118164, 23.65999984741211, 5.456000328063965, -26.26000213623047, -2.56000018119812, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.5545427799224854, -0.5599788427352905, -0.22590315341949463, -0.5402694940567017, 0.9317057728767395, -1.1632035970687866, -0.5265623927116394], "tau_dot": [-31.889720916748047, 139.8414764404297, -67.3966293334961, 69.64144897460938, 35.4401969909668, -29.13471031188965, 0.9261965751647949], "tau_ext": [-16.831533432006836, -41.612579345703125, 31.815296173095703, 31.34405517578125, 9.50383472442627, -2.999424695968628, -0.11959914118051529], "tcp_pose": [0.6779670119285583, 0.03268630430102348, -0.21498699486255646, -0.0023133400827646255, -0.004583379253745079, 0.9998887777328491, 0.014002103358507156], "tcp_vel": [6.56654083286412e-05, 8.925187557906611e-07, 3.821890277322382e-05, -0.00048256799345836043, -0.0002549734781496227, 0.0007079489878378808], "flange_pose": [0.6786801815032959, 0.02848932147026062, -0.06504742056131363, -0.0023133400827646255, -0.004583379253745079, 0.9998887777328491, 0.014002103358507156], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61624145507812, 15.267592430114746, 28.202880859375, 0.3450559079647064, -23.955835342407227, 1.7952964305877686], "ext_wrench_in_world": [-107.88360899452223, 15.05672355812465, -27.279649526874895, -0.1355524898569362, -23.89838819064017, -2.4643188141540846]}
+{"timestamp_ns": 1789729887255591341, "elapsed_ms": 6633, "source_timestamp_ns": 1789729887251796568, "q": [0.8362036943435669, -1.8967233896255493, -1.005854606628418, 1.3811815977096558, -0.16219718754291534, 0.5940465927124023, 0.704120934009552], "theta": [0.8382615447044373, -1.8947863578796387, -1.0040323734283447, 1.3627734184265137, -0.1627877801656723, 0.5939968824386597, 0.7040963768959045], "dq": [-0.0010009872494265437, 0.0016179524827748537, 0.00028706557350233197, -0.002486237557604909, -0.0005105484742671251, 0.0005558818229474127, -0.00038299261359497905], "dtheta": [-0.00026134654763154685, 8.000464731594548e-05, -0.0003282693796791136, 7.66144585213624e-05, 0.00015309220179915428, -0.0007500327774323523, 0.00021341178216971457], "tau": [55.57999801635742, 23.51999855041504, 5.484000205993652, -26.284000396728516, -2.6000001430511475, 2.6640000343322754, -0.5320000052452087], "tau_des": [0.6551542282104492, -0.5673828721046448, -0.1609746664762497, -0.62143474817276, 0.8998657464981079, -1.1233922243118286, -0.5462436676025391], "tau_dot": [-120.37378692626953, -112.1492691040039, 38.45600128173828, 3.7920432090759277, 9.879844665527344, -9.992779731750488, 18.44873809814453], "tau_ext": [-16.844697952270508, -41.616172790527344, 31.81955337524414, 31.350496292114258, 9.512807846069336, -2.998220205307007, -0.12503038346767426], "tcp_pose": [0.6779666543006897, 0.032685842365026474, -0.214988112449646, -0.0023136481177061796, -0.004583444446325302, 0.9998888373374939, 0.014000102877616882], "tcp_vel": [-0.0001159788080258295, -0.00032684867619536817, -0.00030374055495485663, -0.0005907382001169026, 0.000876723206602037, -0.0005522529245354235], "flange_pose": [0.6786799430847168, 0.028489461168646812, -0.06504851579666138, -0.0023136481177061796, -0.004583444446325302, 0.9998888373374939, 0.014000102877616882], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.60002899169922, 15.28758716583252, 28.214698791503906, 0.34644752740859985, -23.950002670288086, 1.7937356233596802], "ext_wrench_in_world": [-107.86765402607551, 15.077064702292564, -27.290971458276744, -0.13698763544996978, -23.892624449249155, -2.462493166983203]}
+{"timestamp_ns": 1789729887288901957, "elapsed_ms": 6666, "source_timestamp_ns": 1789729887281728955, "q": [0.8362035751342773, -1.8967247009277344, -1.0058575868606567, 1.3811811208724976, -0.16219596564769745, 0.5940464735031128, 0.7041208148002625], "theta": [0.838262140750885, -1.8947867155075073, -1.004035234451294, 1.3627727031707764, -0.162787064909935, 0.5939964056015015, 0.7040965557098389], "dq": [0.0003202924272045493, 0.002952044131234288, 0.001439682557247579, -0.000687197782099247, 0.0005197561695240438, -0.0011636719573289156, 0.0006230981089174747], "dtheta": [0.00011593349336180836, -8.972627256298438e-05, -0.00010071328142657876, -0.0002992170338984579, -0.00024330805172212422, 0.0005243911873549223, 0.00019054986478295177], "tau": [55.63999938964844, 23.619998931884766, 5.464000225067139, -26.30000114440918, -2.56000018119812, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.5012096762657166, -0.6079544425010681, -0.20176033675670624, -0.48940959572792053, 0.9300740957260132, -1.1896620988845825, -0.5438274145126343], "tau_dot": [-35.054931640625, 51.13444900512695, 6.929213523864746, -18.834535598754883, 18.58285140991211, -9.28124713897705, 19.49472999572754], "tau_ext": [-16.815725326538086, -41.611915588378906, 31.819665908813477, 31.34313201904297, 9.517745971679688, -2.997394561767578, -0.1280594915151596], "tcp_pose": [0.6779672503471375, 0.03268479183316231, -0.21498866379261017, -0.0023134429939091206, -0.004582565743476152, 0.9998888373374939, 0.013999152928590775], "tcp_vel": [0.00028260776889510453, 9.384467557538301e-05, 0.0002596339036244899, 0.00023201684234663844, -0.0009137368178926408, -0.000126177619677037], "flange_pose": [0.6786804795265198, 0.02848869375884533, -0.06504905968904495, -0.0023134429939091206, -0.004582565743476152, 0.9998888373374939, 0.013999152928590775], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.60031127929688, 15.278878211975098, 28.203636169433594, 0.341075599193573, -23.947216033935547, 1.791716456413269], "ext_wrench_in_world": [-107.86776717885472, 15.068185244315416, -27.28022722205808, -0.13167279202877552, -23.88985037178036, -2.460375518150094]}
+{"timestamp_ns": 1789729887322273078, "elapsed_ms": 6700, "source_timestamp_ns": 1789729887321847056, "q": [0.8362061977386475, -1.896725058555603, -1.0058587789535522, 1.3811813592910767, -0.16219399869441986, 0.594039261341095, 0.7041199803352356], "theta": [0.8382652997970581, -1.8947871923446655, -1.0040369033813477, 1.362772822380066, -0.16278515756130219, 0.5939885377883911, 0.7040960788726807], "dq": [-0.0008538556867279112, 0.0030652356799691916, 8.565192547393963e-05, -0.0001530180306872353, -0.0025243598502129316, -4.645386798074469e-05, -0.003654561936855316], "dtheta": [-1.965000592463184e-05, 0.00019017497834283859, 4.795061977347359e-05, -0.00023230873921420425, 0.00040276124491356313, -0.0001575100759509951, 0.0004236465902067721], "tau": [55.64999771118164, 23.60999870300293, 5.456000328063965, -26.308000564575195, -2.564000129699707, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.5544416308403015, -0.6100822687149048, -0.1958436220884323, -0.5393116474151611, 0.8984602093696594, -1.1560109853744507, -0.5535910129547119], "tau_dot": [0.32689765095710754, 43.74113845825195, -59.05531311035156, -49.89853286743164, 20.995939254760742, 5.042139530181885, -25.371591567993164], "tau_ext": [-16.806795120239258, -41.605045318603516, 31.82522964477539, 31.341007232666016, 9.508655548095703, -2.995961904525757, -0.1282709240913391], "tcp_pose": [0.6779664754867554, 0.03268318995833397, -0.214988112449646, -0.0023152821231633425, -0.004582197871059179, 0.9998888373374939, 0.013996868394315243], "tcp_vel": [3.729892705450766e-05, 1.8310922314412892e-05, 9.834943921305239e-05, 0.00045004155253991485, 0.00020176057296339422, -0.0007738727726973593], "flange_pose": [0.6786801815032959, 0.028487779200077057, -0.06504849344491959, -0.0023152821231633425, -0.004582197871059179, 0.9998888373374939, 0.013996868394315243], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63225555419922, 15.273078918457031, 28.186304092407227, 0.34015846252441406, -23.953449249267578, 1.7893656492233276], "ext_wrench_in_world": [-107.89966442483228, 15.061556433733067, -27.262594310255807, -0.130712919227082, -23.89614936728494, -2.4580943213472324]}
+{"timestamp_ns": 1789729887355591094, "elapsed_ms": 6733, "source_timestamp_ns": 1789729887351802761, "q": [0.8362085223197937, -1.8967262506484985, -1.0058588981628418, 1.3811815977096558, -0.16219009459018707, 0.5940370559692383, 0.7041196227073669], "theta": [0.838267982006073, -1.8947882652282715, -1.0040372610092163, 1.3627731800079346, -0.16278107464313507, 0.5939863920211792, 0.7040949463844299], "dq": [0.0020435426849871874, -0.00022066428209654987, -0.0003404240123927593, -0.0010755708208307624, -0.000690237560775131, -0.0006641350337304175, 0.0023891304153949022], "dtheta": [0.00031439450685866177, 0.00017469421436544508, 0.0003397542459424585, 3.6084118619328365e-05, 0.0005681986804120243, -0.0010665870504453778, 0.0002812930615618825], "tau": [55.619998931884766, 23.59000015258789, 5.460000038146973, -26.292001724243164, -2.552000045776367, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.5529450178146362, -0.578443706035614, -0.24265863001346588, -0.5721524953842163, 0.8875126242637634, -1.1298456192016602, -0.5496748685836792], "tau_dot": [-9.45318603515625, -8.335001945495605, 3.8606486320495605, 1.3103338479995728, 17.371004104614258, -13.252805709838867, 0.7022983431816101], "tau_ext": [-16.824060440063477, -41.61309051513672, 31.824426651000977, 31.341129302978516, 9.4942626953125, -2.993675947189331, -0.12058411538600922], "tcp_pose": [0.6779655814170837, 0.0326833613216877, -0.2149876058101654, -0.0023161284625530243, -0.0045817214995622635, 0.9998888373374939, 0.013996770605444908], "tcp_vel": [-0.00028953151195310056, 5.209793130234175e-07, 9.949794184649363e-05, -2.069628499157261e-05, 0.0009503383771516383, -0.00044363667257130146], "flange_pose": [0.6786795854568481, 0.028487978503108025, -0.0650479793548584, -0.0023161284625530243, -0.0045817214995622635, 0.9998888373374939, 0.013996770605444908], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61286926269531, 15.282845497131348, 28.209491729736328, 0.3427441120147705, -23.952892303466797, 1.789540410041809], "ext_wrench_in_world": [-107.88051087680476, 15.072240778903293, -27.2854054753009, -0.1333307094050747, -23.89561201743565, -2.458236632443415]}
+{"timestamp_ns": 1789729887388925008, "elapsed_ms": 6766, "source_timestamp_ns": 1789729887381738067, "q": [0.8362115025520325, -1.8967267274856567, -1.0058597326278687, 1.381182312965393, -0.16219092905521393, 0.5940371751785278, 0.7041192650794983], "theta": [0.8382710814476013, -1.8947888612747192, -1.0040380954742432, 1.3627736568450928, -0.16278155148029327, 0.5939856767654419, 0.704094409942627], "dq": [-0.0014960612170398235, -0.00015992367116268724, 0.00019180780509486794, 0.0025208587758243084, -0.0003939548914786428, -0.0009223699453286827, -0.0015407963655889034], "dtheta": [0.00026197716942988336, 0.0001252094079973176, 7.542280218331143e-05, 0.00016830353706609458, -0.0006730373715981841, -0.0005109735648147762, -0.00013427059457171708], "tau": [55.65999984741211, 23.53999900817871, 5.520000457763672, -26.30000114440918, -2.576000213623047, 2.6760001182556152, -0.5400000214576721], "tau_des": [0.5197747945785522, -0.6039690375328064, -0.20494554936885834, -0.5439584851264954, 0.9294005632400513, -1.1498939990997314, -0.5362189412117004], "tau_dot": [-39.96670913696289, -7.667199611663818, 108.14743041992188, 7.61300802230835, -19.46492576599121, 38.849769592285156, -12.369077682495117], "tau_ext": [-16.807069778442383, -41.59080123901367, 31.81708335876465, 31.33967399597168, 9.4931640625, -2.9968321323394775, -0.12309809029102325], "tcp_pose": [0.677966296672821, 0.032682813704013824, -0.21498599648475647, -0.0023144977167248726, -0.004582014866173267, 0.9998888969421387, 0.013995904475450516], "tcp_vel": [-5.040001724410104e-06, -0.0001554159534862265, 0.00014091211778577417, -0.0007070873980410397, -9.345715079689398e-05, 0.0005156589904800057], "flange_pose": [0.6786797642707825, 0.028487691655755043, -0.06504637002944946, -0.0023144977167248726, -0.004582014866173267, 0.9998888969421387, 0.013995904475450516], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.60887145996094, 15.276018142700195, 28.202186584472656, 0.3437840938568115, -23.95334815979004, 1.7883340120315552], "ext_wrench_in_world": [-107.87633519583093, 15.065143369914933, -27.27869196439887, -0.1343396827243061, -23.896115307104857, -2.456998206163218]}
+{"timestamp_ns": 1789729887422266171, "elapsed_ms": 6800, "source_timestamp_ns": 1789729887421783984, "q": [0.8362125158309937, -1.8967275619506836, -1.0058612823486328, 1.3811829090118408, -0.16218969225883484, 0.5940364003181458, 0.7041189670562744], "theta": [0.8382735252380371, -1.8947895765304565, -1.0040395259857178, 1.3627748489379883, -0.16277986764907837, 0.5939863920211792, 0.7040939331054688], "dq": [0.0013261144049465656, 0.0010373747209087014, 0.0003452083910815418, -0.0016687955940142274, 0.003316691145300865, 0.0018938214052468538, -0.0011825135443359613], "dtheta": [9.707877325126901e-05, 0.00019588919531088322, 3.765387737075798e-05, -3.716866558534093e-05, 0.0006725162384100258, -0.0005565854953601956, -0.0006383245345205069], "tau": [55.689998626708984, 23.53999900817871, 5.484000205993652, -26.30000114440918, -2.56000018119812, 2.6760001182556152, -0.5480000376701355], "tau_des": [0.5530030131340027, -0.589728057384491, -0.21065716445446014, -0.5550060272216797, 0.8934087753295898, -1.1466718912124634, -0.536892294883728], "tau_dot": [97.26673889160156, -104.64134979248047, 40.90652084350586, -5.0144548416137695, -4.64197301864624, -10.095433235168457, -1.619217038154602], "tau_ext": [-16.842451095581055, -41.605010986328125, 31.815074920654297, 31.35550880432129, 9.489779472351074, -2.9983503818511963, -0.12258069217205048], "tcp_pose": [0.6779662370681763, 0.03268210589885712, -0.21498607099056244, -0.0023146048188209534, -0.004581653047353029, 0.9998888969421387, 0.01399508398026228], "tcp_vel": [-0.00012015918036922812, -7.044035010039806e-05, 2.3949874957907014e-05, 0.0002471457701176405, 0.0006598793552257121, 0.00016751803923398256], "flange_pose": [0.6786797642707825, 0.028487227857112885, -0.06504642963409424, -0.0023146048188209534, -0.004581653047353029, 0.9998888969421387, 0.01399508398026228], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.58937072753906, 15.271007537841797, 28.215211868286133, 0.34263771772384644, -23.948476791381836, 1.7865865230560303], "ext_wrench_in_world": [-107.85684698312522, 15.060711626015038, -27.291941479448948, -0.13324703204686417, -23.891288285422203, -2.4550808395296224]}
+{"timestamp_ns": 1789729887455586127, "elapsed_ms": 6833, "source_timestamp_ns": 1789729887451779706, "q": [0.8362119793891907, -1.8967280387878418, -1.0058647394180298, 1.381183385848999, -0.16219185292720795, 0.5940375328063965, 0.7041196823120117], "theta": [0.8382737636566162, -1.8947906494140625, -1.0040433406829834, 1.3627753257751465, -0.16278131306171417, 0.5939880609512329, 0.704094409942627], "dq": [-0.0006711967289447784, 0.0015952400863170624, 0.00036334761534817517, -0.0012250003637745976, -0.0024105135817080736, 0.002982604783028364, 0.00033725862158462405], "dtheta": [-6.201110954862088e-05, -0.0002528429904486984, -0.00012453475210350007, 0.00010871604172280058, -0.00062344636535272, -0.00027381913969293237, 9.501924796495587e-05], "tau": [55.619998931884766, 23.56999969482422, 5.448000431060791, -26.2760009765625, -2.580000162124634, 2.6600000858306885, -0.5360000133514404], "tau_des": [0.6007689833641052, -0.5572096705436707, -0.1886705607175827, -0.5865268707275391, 0.9251695275306702, -1.142759084701538, -0.5442045331001282], "tau_dot": [-54.97203063964844, -65.82198333740234, -11.327629089355469, 13.80516242980957, -24.816024780273438, -40.67815399169922, 14.00748062133789], "tau_ext": [-16.822540283203125, -41.614158630371094, 31.83150291442871, 31.338825225830078, 9.494394302368164, -3.002293586730957, -0.11965161561965942], "tcp_pose": [0.6779674887657166, 0.0326802134513855, -0.2149866670370102, -0.0023135067895054817, -0.004580835811793804, 0.9998888969421387, 0.013993346132338047], "tcp_vel": [-4.808221274288371e-05, -0.00010200485121458769, -0.00015235194587148726, -0.0008961623534560204, -2.5127454136963934e-05, 0.0003567790554370731], "flange_pose": [0.6786807179450989, 0.028485853224992752, -0.0650470182299614, -0.0023135067895054817, -0.004580835811793804, 0.9998888969421387, 0.013993346132338047], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.58412170410156, 15.277183532714844, 28.20918846130371, 0.3459649384021759, -23.944988250732422, 1.7872377634048462], "ext_wrench_in_world": [-107.8515410789087, 15.066848977835875, -27.286059480329975, -0.1366431189794638, -23.88782203789302, -2.4555365672792964]}
+{"timestamp_ns": 1789729887488920081, "elapsed_ms": 6866, "source_timestamp_ns": 1789729887481727431, "q": [0.836211621761322, -1.8967291116714478, -1.0058648586273193, 1.3811836242675781, -0.16219204664230347, 0.5940371155738831, 0.7041200995445251], "theta": [0.8382735252380371, -1.8947917222976685, -1.0040441751480103, 1.3627760410308838, -0.16278202831745148, 0.593988299369812, 0.7040951251983643], "dq": [0.0006229725549928844, 0.0006906273774802685, 0.0005069471662864089, -0.00018066308984998614, -0.001578223891556263, 0.002441453281790018, -0.0013228794559836388], "dtheta": [-8.671502291690558e-05, 0.00010023693175753579, -0.00021863069559913129, 0.00015678002091590315, -0.0004062242805957794, 0.00017386884428560734, 0.00022392494429368526], "tau": [55.63999938964844, 23.600000381469727, 5.4720001220703125, -26.304000854492188, -2.580000162124634, 2.688000202178955, -0.5360000133514404], "tau_des": [0.5805367827415466, -0.6132431030273438, -0.15727773308753967, -0.5618749260902405, 0.9158506393432617, -1.156352162361145, -0.5515602231025696], "tau_dot": [-31.77880096435547, -15.463554382324219, -38.554893493652344, -5.1329450607299805, 0.7074122428894043, 20.57769012451172, -29.744163513183594], "tau_ext": [-16.81574249267578, -41.61829376220703, 31.841007232666016, 31.343538284301758, 9.503582000732422, -3.000718355178833, -0.12288238108158112], "tcp_pose": [0.6779670119285583, 0.032680340111255646, -0.2149873822927475, -0.0023138688411563635, -0.004580994136631489, 0.9998888969421387, 0.013992668129503727], "tcp_vel": [0.00010742060112534091, -0.00018115043349098414, -5.7932466006604955e-05, -0.0002946041349787265, -0.00020674486586358398, -0.00019842322217300534], "flange_pose": [0.6786803603172302, 0.028486186638474464, -0.0650477185845375, -0.0023138688411563635, -0.004580994136631489, 0.9998888969421387, 0.013992668129503727], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.59217834472656, 15.3014497756958, 28.192705154418945, 0.34916356205940247, -23.942150115966797, 1.7884372472763062], "ext_wrench_in_world": [-107.85976407661717, 15.090496836401758, -27.268810547814976, -0.13986696598208487, -23.884984485201723, -2.4566091527762306]}
+{"timestamp_ns": 1789729887522257915, "elapsed_ms": 6900, "source_timestamp_ns": 1789729887521718903, "q": [0.8362119197845459, -1.8967317342758179, -1.005866289138794, 1.3811829090118408, -0.16219407320022583, 0.594036340713501, 0.7041187286376953], "theta": [0.8382737636566162, -1.8947943449020386, -1.0040457248687744, 1.3627761602401733, -0.16278515756130219, 0.5939875841140747, 0.704094648361206], "dq": [-0.0011569635244086385, 0.0010115179466083646, 0.002083295490592718, 0.0004898388870060444, 0.0008602130110375583, 0.0006548085366375744, 0.0005919347167946398], "dtheta": [-0.00011747438838938251, -0.00016320680151693523, -0.00016243387653958052, 0.00012864824384450912, -0.0005718400934711099, 0.00038355274591594934, 8.636083293822594e-06], "tau": [55.65999984741211, 23.600000381469727, 5.4760003089904785, -26.312002182006836, -2.5920000076293945, 2.6680002212524414, -0.527999997138977], "tau_des": [0.5922241806983948, -0.5654829144477844, -0.19018137454986572, -0.5674239993095398, 0.9275029897689819, -1.1613062620162964, -0.5390325784683228], "tau_dot": [67.06694793701172, 49.1544303894043, 34.633548736572266, -26.15157127380371, 5.525881767272949, -2.681886911392212, 40.48372268676758], "tau_ext": [-16.82235336303711, -41.604209899902344, 31.8193359375, 31.349132537841797, 9.510177612304688, -3.005763053894043, -0.12704315781593323], "tcp_pose": [0.6779672503471375, 0.032680246978998184, -0.214987650513649, -0.0023129810579121113, -0.0045826430432498455, 0.9998889565467834, 0.013990545645356178], "tcp_vel": [8.436887583229691e-05, -4.573028490995057e-05, -0.00010376209684181958, -0.0004027173272334039, -0.0004365385975688696, 0.00031521692289970815], "flange_pose": [0.6786803007125854, 0.02848672866821289, -0.0650479793548584, -0.0023129810579121113, -0.0045826430432498455, 0.9998889565467834, 0.013990545645356178], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61367797851562, 15.281068801879883, 28.182504653930664, 0.3469395935535431, -23.944156646728516, 1.7881397008895874], "ext_wrench_in_world": [-107.88102794565498, 15.06917176296226, -27.259350544857643, -0.1375405309850453, -23.886988790767408, -2.456277123338164]}
+{"timestamp_ns": 1789729887555600739, "elapsed_ms": 6933, "source_timestamp_ns": 1789729887551752341, "q": [0.8362126350402832, -1.8967328071594238, -1.0058660507202148, 1.3811825513839722, -0.16219276189804077, 0.5940335988998413, 0.7041183710098267], "theta": [0.8382745981216431, -1.894795536994934, -1.0040457248687744, 1.3627760410308838, -0.16278420388698578, 0.5939849615097046, 0.704094409942627], "dq": [-0.0016546562546864152, 0.0015576586592942476, -0.002820646623149514, 0.00025493750581517816, 0.0014395425096154213, -0.0013256148668006063, -0.0020899802912026644], "dtheta": [-0.00031472783302888274, -0.00030297841294668615, 0.00012933084508404136, 0.00023881725792307407, -0.0008938671671785414, 0.0011277676094323397, -0.00021456928516272455], "tau": [55.62999725341797, 23.6299991607666, 5.468000411987305, -26.2760009765625, -2.5960001945495605, 2.6760001182556152, -0.5400000214576721], "tau_des": [0.630033552646637, -0.5117952823638916, -0.2524017095565796, -0.5819799900054932, 0.9270830750465393, -1.1716632843017578, -0.5268986225128174], "tau_dot": [6.221164226531982, 95.3124771118164, -13.782350540161133, 52.64592361450195, -26.280160903930664, 70.18465423583984, -5.437113285064697], "tau_ext": [-16.80095863342285, -41.596614837646484, 31.824857711791992, 31.34528160095215, 9.517364501953125, -3.001504898071289, -0.12568782269954681], "tcp_pose": [0.6779664754867554, 0.03268041834235191, -0.21498772501945496, -0.0023138965480029583, -0.004582877270877361, 0.9998889565467834, 0.013989830389618874], "tcp_vel": [4.67735189886298e-05, 0.00023006476112641394, -0.00020080617105122656, -9.547750960336998e-05, -0.0008054533391259611, 0.0010152438189834356], "flange_pose": [0.6786798238754272, 0.02848711609840393, -0.06504804641008377, -0.0023138965480029583, -0.004582877270877361, 0.9998889565467834, 0.013989830389618874], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6349868774414, 15.259538650512695, 28.166791915893555, 0.3393709361553192, -23.94561004638672, 1.7885923385620117], "ext_wrench_in_world": [-107.90212211759346, 15.046922176634839, -27.243976624145322, -0.1299537841362051, -23.88836265173109, -2.4567697313452217]}
+{"timestamp_ns": 1789729887588895626, "elapsed_ms": 6966, "source_timestamp_ns": 1789729887581724964, "q": [0.8362143635749817, -1.8967320919036865, -1.0058655738830566, 1.38118314743042, -0.16219021379947662, 0.5940291285514832, 0.7041168212890625], "theta": [0.8382761478424072, -1.894795298576355, -1.0040453672409058, 1.3627756834030151, -0.16278252005577087, 0.5939799547195435, 0.7040929794311523], "dq": [0.0031073433347046375, 0.003333454020321369, -0.0014957906678318977, 0.00012505777704063803, -0.0026740410830825567, -0.0028699180111289024, -0.0015275808982551098], "dtheta": [-2.2264144718064927e-05, 6.304737325990573e-05, -5.559955297940178e-06, -0.00013573403703048825, 0.0004196380323264748, 0.000663482234813273, -0.001282913493923843], "tau": [55.68000030517578, 23.600000381469727, 5.484000205993652, -26.308000564575195, -2.568000078201294, 2.6520001888275146, -0.5600000023841858], "tau_des": [0.5430030226707458, -0.5745553970336914, -0.2316313087940216, -0.525757908821106, 0.9055705070495605, -1.1766475439071655, -0.5200175642967224], "tau_dot": [120.99623107910156, -0.5039281249046326, 12.333358764648438, -55.89387512207031, 8.477869033813477, -5.717437744140625, -29.245304107666016], "tau_ext": [-16.79749870300293, -41.597328186035156, 31.82244873046875, 31.340797424316406, 9.511343002319336, -2.995417594909668, -0.12318125367164612], "tcp_pose": [0.6779654622077942, 0.032679811120033264, -0.21498732268810272, -0.0023157335817813873, -0.004582943860441446, 0.9998889565467834, 0.013989405706524849], "tcp_vel": [0.00013369365478865802, 0.00013853776908945292, 0.00010492035653442144, 0.0008218777948059142, -0.00039363763062283397, 0.0009659467614255846], "flange_pose": [0.678679347038269, 0.028486641123890877, -0.06504763662815094, -0.0023157335817813873, -0.004582943860441446, 0.9998889565467834, 0.013989405706524849], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64641571044922, 15.24975299835205, 28.17144775390625, 0.3340318500995636, -23.951215744018555, 1.7905263900756836], "ext_wrench_in_world": [-107.9135861899696, 15.037121718352445, -27.24847035002376, -0.12457772710600284, -23.893864727724264, -2.4588628286434115]}
+{"timestamp_ns": 1789729887622263078, "elapsed_ms": 7000, "source_timestamp_ns": 1789729887621728365, "q": [0.8362168669700623, -1.8967334032058716, -1.0058656930923462, 1.3811829090118408, -0.16219007968902588, 0.5940243601799011, 0.7041172385215759], "theta": [0.8382786512374878, -1.8947967290878296, -1.0040453672409058, 1.3627756834030151, -0.16278202831745148, 0.5939749479293823, 0.7040934562683105], "dq": [0.0011485000140964985, 0.00037438812432810664, 0.0012141942279413342, 0.0015634190058335662, 0.00016656602383591235, 0.0006564820068888366, 0.0014022416435182095], "dtheta": [-0.00016164807311724871, -6.928279617568478e-05, 0.00031640587258152664, -5.2561110351234674e-05, -3.7238376535242423e-05, -0.00030322372913360596, -0.00011412677122280002], "tau": [55.62999725341797, 23.56999969482422, 5.484000205993652, -26.2760009765625, -2.556000232696533, 2.6640000343322754, -0.5560000538825989], "tau_des": [0.6134842038154602, -0.5287478566169739, -0.2662530541419983, -0.5904526114463806, 0.897836446762085, -1.1399402618408203, -0.5344647169113159], "tau_dot": [-103.62938690185547, -104.029296875, 32.52764129638672, 40.07430648803711, 61.81925582885742, 6.667930603027344, 2.8084304332733154], "tau_ext": [-16.82758140563965, -41.62314987182617, 31.81127166748047, 31.34559440612793, 9.506444931030273, -2.997004270553589, -0.12103942036628723], "tcp_pose": [0.6779648661613464, 0.03267946094274521, -0.21498645842075348, -0.0023162320721894503, -0.004583117086440325, 0.9998889565467834, 0.01398747880011797], "tcp_vel": [-0.000189771264558658, 0.00015443669690284878, -0.00012067704665241763, -4.033900040667504e-05, 0.00042491042404435575, 0.0004022825451102108], "flange_pose": [0.6786789298057556, 0.028486868366599083, -0.0650467574596405, -0.0023162320721894503, -0.004583117086440325, 0.9998889565467834, 0.01398747880011797], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62757110595703, 15.265754699707031, 28.19651985168457, 0.3423670530319214, -23.95567512512207, 1.7937029600143433], "ext_wrench_in_world": [-107.89503965160658, 15.053846250410574, -27.27312215557922, -0.13288060131468693, -23.898319853500073, -2.4620331301095173]}
+{"timestamp_ns": 1789729887655587133, "elapsed_ms": 7033, "source_timestamp_ns": 1789729887651727226, "q": [0.836217999458313, -1.8967360258102417, -1.005866289138794, 1.3811826705932617, -0.1621892750263214, 0.5940226316452026, 0.704116940498352], "theta": [0.8382804989814758, -1.894798755645752, -1.0040462017059326, 1.3627760410308838, -0.16278131306171417, 0.5939723253250122, 0.7040934562683105], "dq": [0.0019082189537584782, -0.0003652368613984436, 0.0008335451711900532, 0.0013569359434768558, 0.00011451281170593575, -0.00287710502743721, -0.003061323193833232], "dtheta": [9.842928557191044e-05, 0.00023401957878377289, -0.00013144026161171496, 0.0002818751090671867, -0.0005109832272864878, -0.0011535963276401162, -0.00034902163315564394], "tau": [55.64999771118164, 23.59000015258789, 5.464000225067139, -26.2760009765625, -2.5880000591278076, 2.6760001182556152, -0.5320000052452087], "tau_des": [0.594464898109436, -0.5875089764595032, -0.1813194304704666, -0.6110028624534607, 0.9135298132896423, -1.112552523612976, -0.5334974527359009], "tau_dot": [11.500861167907715, -43.46340560913086, -13.104887962341309, -6.018111705780029, -78.5433120727539, 38.36270523071289, 10.218229293823242], "tau_ext": [-16.81717872619629, -41.61009979248047, 31.810291290283203, 31.340272903442383, 9.503745079040527, -2.9929444789886475, -0.12295159697532654], "tcp_pose": [0.6779643297195435, 0.032679688185453415, -0.214986652135849, -0.0023163489531725645, -0.00458368007093668, 0.9998890161514282, 0.013986003585159779], "tcp_vel": [-0.00012847168545704335, -0.0004133050097152591, -8.626910857856274e-05, -0.0011423190589994192, 0.0006652579759247601, 0.0004556468047667295], "flange_pose": [0.6786783933639526, 0.028487537056207657, -0.06504694372415543, -0.0023163489531725645, -0.00458368007093668, 0.9998890161514282, 0.013986003585159779], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61270904541016, 15.281575202941895, 28.215545654296875, 0.34646254777908325, -23.957761764526367, 1.7941551208496094], "ext_wrench_in_world": [-107.88043559743834, 15.07012585383526, -27.29178681218031, -0.1369324093581344, -23.9004381724466, -2.46245453578554]}
+{"timestamp_ns": 1789729887688903308, "elapsed_ms": 7066, "source_timestamp_ns": 1789729887681727637, "q": [0.8362202048301697, -1.8967362642288208, -1.0058685541152954, 1.3811827898025513, -0.16218964755535126, 0.594022810459137, 0.7041164636611938], "theta": [0.8382825255393982, -1.894798755645752, -1.004048228263855, 1.362776279449463, -0.16278252005577087, 0.5939725637435913, 0.7040929794311523], "dq": [-0.00048082199646160007, -0.0012398740509524941, 0.0009101213654503226, 0.000964059610851109, 0.00014761005877517164, -0.0006080738385207951, 0.0003299113886896521], "dtheta": [0.0003511532268021256, 0.0001794973068172112, -0.00026676716515794396, -0.00010168179869651794, -5.260216767055681e-06, -0.0001360060996375978, -0.000628409325145185], "tau": [55.63999938964844, 23.559999465942383, 5.468000411987305, -26.304000854492188, -2.580000162124634, 2.6680002212524414, -0.527999997138977], "tau_des": [0.4631786644458771, -0.6461620330810547, -0.1707065850496292, -0.4939483404159546, 0.9263942837715149, -1.1691336631774902, -0.5349393486976624], "tau_dot": [67.02784729003906, -5.781900882720947, -15.364155769348145, -21.864177703857422, 11.071945190429688, -11.487079620361328, 12.10722827911377], "tau_ext": [-16.812965393066406, -41.593624114990234, 31.81536293029785, 31.335468292236328, 9.50191593170166, -2.99668025970459, -0.12751314043998718], "tcp_pose": [0.677965521812439, 0.03267848864197731, -0.21498534083366394, -0.002314759884029627, -0.004583336412906647, 0.9998890161514282, 0.01398511603474617], "tcp_vel": [0.00022759461717214435, -0.0002023192646447569, 0.00030688237166032195, -6.789595499867573e-05, -0.00043514466960914433, 0.0003105346404481679], "flange_pose": [0.6786791086196899, 0.028486602008342743, -0.06504562497138977, -0.002314759884029627, -0.004583336412906647, 0.9998890161514282, 0.01398511603474617], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.59539031982422, 15.279008865356445, 28.20563507080078, 0.34505465626716614, -23.952497482299805, 1.7908151149749756], "ext_wrench_in_world": [-107.86294962996855, 15.067473931275444, -27.28239920137814, -0.13556618073462595, -23.89526075370547, -2.4589331943908252]}
+{"timestamp_ns": 1789729887722259181, "elapsed_ms": 7100, "source_timestamp_ns": 1789729887721786573, "q": [0.8362195491790771, -1.8967385292053223, -1.0058715343475342, 1.3811830282211304, -0.1621912717819214, 0.5940219163894653, 0.704116940498352], "theta": [0.8382827043533325, -1.8947995901107788, -1.0040514469146729, 1.3627760410308838, -0.16278395056724548, 0.5939732789993286, 0.7040936946868896], "dq": [-0.001812474220059812, -5.4490999900735915e-05, -0.0016690385527908802, 0.0011828948045149446, -0.0006472367094829679, -0.0018841412384063005, 0.001986050046980381], "dtheta": [0.00014267730875872076, -0.00048823884571902454, 2.6326111765229143e-05, 1.0316542102373205e-05, -0.001122036250308156, 0.00027454824885353446, -0.0005247695953585207], "tau": [55.66999816894531, 23.59000015258789, 5.468000411987305, -26.292001724243164, -2.564000129699707, 2.6440000534057617, -0.5480000376701355], "tau_des": [0.5435867309570312, -0.525641918182373, -0.2457800805568695, -0.5491462349891663, 0.9506692886352539, -1.1624927520751953, -0.5213119983673096], "tau_dot": [31.88396644592285, 25.871875762939453, -12.095466613769531, -12.108936309814453, 15.276169776916504, -51.757728576660156, -43.62734603881836], "tau_ext": [-16.835765838623047, -41.60273361206055, 31.827486038208008, 31.34627914428711, 9.506604194641113, -3.0012459754943848, -0.1247594803571701], "tcp_pose": [0.6779657006263733, 0.03267724812030792, -0.2149866819381714, -0.0023146257735788822, -0.004583296831697226, 0.999889075756073, 0.013982502743601799], "tcp_vel": [9.135811706073582e-05, 0.00012086640344932675, 7.22493787179701e-05, -0.0008659574086777866, -0.0009686749544925988, 0.0014878924703225493], "flange_pose": [0.6786792278289795, 0.028486143797636032, -0.06504694372415543, -0.0023146257735788822, -0.004583296831697226, 0.999889075756073, 0.013982502743601799], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.58547973632812, 15.266290664672852, 28.208057403564453, 0.3390098214149475, -23.94186019897461, 1.7877023220062256], "ext_wrench_in_world": [-107.85292632255236, 15.054785498568295, -27.285331232937494, -0.12960465432746296, -23.884672096502026, -2.455426340683185]}
+{"timestamp_ns": 1789729887755589675, "elapsed_ms": 7133, "source_timestamp_ns": 1789729887751743517, "q": [0.8362197875976562, -1.8967399597167969, -1.0058714151382446, 1.3811829090118408, -0.1621914654970169, 0.5940197706222534, 0.7041173577308655], "theta": [0.8382827043533325, -1.8948003053665161, -1.0040521621704102, 1.3627753257751465, -0.16278420388698578, 0.5939713716506958, 0.704094409942627], "dq": [0.00026948112645186484, 0.0005573660600930452, -0.003041896503418684, -0.002141486620530486, -0.00041356636211276054, -0.00042858763481490314, -0.001920098438858986], "dtheta": [1.3535121070162859e-05, 4.030366471852176e-05, -0.00030400496325455606, 0.00012547305959742516, -0.00018198664474766701, -0.0010764511534944177, 0.00036334971082396805], "tau": [55.68000030517578, 23.559999465942383, 5.452000141143799, -26.264001846313477, -2.6040000915527344, 2.6560001373291016, -0.5440000295639038], "tau_des": [0.6126987934112549, -0.5849012732505798, -0.15643368661403656, -0.6147176623344421, 0.908696174621582, -1.1124095916748047, -0.5510866045951843], "tau_dot": [115.79161071777344, -44.10379409790039, -49.97705841064453, 24.9068546295166, -23.2835750579834, -19.996122360229492, -31.036701202392578], "tau_ext": [-16.818504333496094, -41.60103988647461, 31.826223373413086, 31.351696014404297, 9.514331817626953, -2.99849009513855, -0.13043628633022308], "tcp_pose": [0.6779650449752808, 0.03267740458250046, -0.214987114071846, -0.0023152665235102177, -0.004583675414323807, 0.999889075756073, 0.013981279917061329], "tcp_vel": [-0.00011000321683241054, -0.0003861858567688614, -0.00015923682076390833, -0.0010550684528425336, 0.0007141780224628747, -0.0004570164019241929], "flange_pose": [0.6786787509918213, 0.028486670926213264, -0.06504736840724945, -0.0023152665235102177, -0.004583675414323807, 0.999889075756073, 0.013981279917061329], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6047134399414, 15.273200988769531, 28.203479766845703, 0.3379158079624176, -23.944162368774414, 1.7868988513946533], "ext_wrench_in_world": [-107.8722462455574, 15.06123635993182, -27.280376521269798, -0.12847036899409778, -23.886991733827557, -2.454633865358262]}
+{"timestamp_ns": 1789729887788896732, "elapsed_ms": 7166, "source_timestamp_ns": 1789729887781720250, "q": [0.8362212181091309, -1.896740198135376, -1.0058705806732178, 1.381182312965393, -0.16219063103199005, 0.5940182209014893, 0.7041172385215759], "theta": [0.8382841944694519, -1.8948009014129639, -1.0040515661239624, 1.3627746105194092, -0.16278347373008728, 0.5939701795578003, 0.7040939331054688], "dq": [-0.0011147186160087585, 1.6934412997215986e-05, -4.820933099836111e-06, -0.002316761529073119, -0.0017869968432933092, 0.002323177410289645, 0.0029091776814311743], "dtheta": [0.0005209375522099435, 0.00019719031115528196, 5.697240339941345e-05, -0.00011252312833676115, 0.0009119960595853627, 0.00026016795891337097, -0.0007264818996191025], "tau": [55.619998931884766, 23.600000381469727, 5.464000225067139, -26.308000564575195, -2.620000123977661, 2.6600000858306885, -0.5120000243186951], "tau_des": [0.44143956899642944, -0.6238344311714172, -0.23164623975753784, -0.476004958152771, 0.9037246108055115, -1.1822839975357056, -0.5339847803115845], "tau_dot": [14.415255546569824, 88.76738739013672, -10.131404876708984, -3.6224353313446045, -74.65013122558594, -9.67049789428711, 32.145626068115234], "tau_ext": [-16.80652618408203, -41.58332061767578, 31.820093154907227, 31.34587860107422, 9.516704559326172, -2.9949734210968018, -0.1278643012046814], "tcp_pose": [0.6779648065567017, 0.032677870243787766, -0.2149861752986908, -0.0023152686189860106, -0.004583886358886957, 0.999889075756073, 0.013981351628899574], "tcp_vel": [0.0001141194807132706, 9.99865515041165e-05, 0.00041969644371420145, 0.000987167819403112, -0.00030560969025827944, 0.00010392552212579176], "flange_pose": [0.6786785125732422, 0.02848711423575878, -0.06504642963409424, -0.0023152686189860106, -0.004583886358886957, 0.999889075756073, 0.013981351628899574], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63347625732422, 15.261198997497559, 28.190948486328125, 0.33224672079086304, -23.94949722290039, 1.786553978919983], "ext_wrench_in_world": [-107.90084499786872, 15.048582400572208, -27.268054553178285, -0.12274130935546715, -23.89228127887528, -2.4544673749854926]}
+{"timestamp_ns": 1789729887822267153, "elapsed_ms": 7200, "source_timestamp_ns": 1789729887821872298, "q": [0.8362205624580383, -1.8967400789260864, -1.0058705806732178, 1.381181001663208, -0.1621890664100647, 0.594013512134552, 0.7041164636611938], "theta": [0.8382845520973206, -1.8948010206222534, -1.0040514469146729, 1.3627736568450928, -0.16278252005577087, 0.5939661264419556, 0.7040934562683105], "dq": [0.00031997670885175467, 0.0020651977974921465, -0.00038773909909650683, -0.000531921919900924, 0.0026822241488844156, 0.0006338721723295748, 0.00208766246214509], "dtheta": [-9.095446148421615e-05, 0.00010299304267391562, 8.376342884730548e-05, 0.0002611263480503112, 0.00036900548730045557, -0.0008665603236295283, -0.0006445468170568347], "tau": [55.65999984741211, 23.579999923706055, 5.484000205993652, -26.268001556396484, -2.6000001430511475, 2.6520001888275146, -0.5400000214576721], "tau_des": [0.652703046798706, -0.5286009311676025, -0.2352515608072281, -0.6408777236938477, 0.882422924041748, -1.1100140810012817, -0.5303211212158203], "tau_dot": [43.14677047729492, -35.085105895996094, 27.85742950439453, 53.40988540649414, -48.371150970458984, -4.755677700042725, 32.22574234008789], "tau_ext": [-16.833948135375977, -41.60004806518555, 31.808088302612305, 31.354162216186523, 9.513521194458008, -2.995432138442993, -0.128483384847641], "tcp_pose": [0.6779641509056091, 0.03267739340662956, -0.21498669683933258, -0.0023172677028924227, -0.004583676345646381, 0.999889075756073, 0.013980690389871597], "tcp_vel": [-0.00033405449357815087, -0.00014499190729111433, -0.0002719815820455551, -0.000354787043761462, 0.0011683548800647259, 0.0004915830795653164], "flange_pose": [0.6786784529685974, 0.028486840426921844, -0.06504693627357483, -0.0023172677028924227, -0.004583676345646381, 0.999889075756073, 0.013980690389871597], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63814544677734, 15.242781639099121, 28.19486427307129, 0.32816216349601746, -23.95545768737793, 1.7865203619003296], "ext_wrench_in_world": [-107.90546853369061, 15.030241680155548, -27.272051889371838, -0.11862099535601316, -23.898205645565636, -2.454586401515499]}
+{"timestamp_ns": 1789729887855594528, "elapsed_ms": 7233, "source_timestamp_ns": 1789729887851746290, "q": [0.8362213969230652, -1.896741271018982, -1.0058703422546387, 1.3811801671981812, -0.16219069063663483, 0.5940127372741699, 0.7041162848472595], "theta": [0.8382858633995056, -1.894801378250122, -1.0040515661239624, 1.3627732992172241, -0.16278347373008728, 0.5939651727676392, 0.7040932178497314], "dq": [0.000712434877641499, -8.22164656710811e-05, 0.0006973665440455079, 0.0003059649025090039, 0.0005007408908568323, 6.145628867670894e-05, 0.0037401069421321154], "dtheta": [-0.0002520887937862426, -0.00014719822502229363, 5.802596206194721e-05, -3.0040875572012737e-05, -0.000175182125531137, -0.0007960072834976017, 0.0005180012085475028], "tau": [55.61000061035156, 23.53999900817871, 5.484000205993652, -26.296001434326172, -2.5840001106262207, 2.684000015258789, -0.5320000052452087], "tau_des": [0.6525864005088806, -0.5278363227844238, -0.23926874995231628, -0.6212657690048218, 0.8943955898284912, -1.1218675374984741, -0.5459445714950562], "tau_dot": [-49.0887336730957, -134.42564392089844, -46.98605728149414, -18.810976028442383, 5.533672332763672, 15.721437454223633, 18.710418701171875], "tau_ext": [-16.822067260742188, -41.61174011230469, 31.813791275024414, 31.344093322753906, 9.513139724731445, -2.9968349933624268, -0.125393807888031], "tcp_pose": [0.6779643297195435, 0.03267781436443329, -0.21498599648475647, -0.0023163813166320324, -0.004584643989801407, 0.999889075756073, 0.013979848474264145], "tcp_vel": [-0.00022574583999812603, -5.685491851181723e-05, -0.0002741724019870162, -0.0006870048237033188, 0.0007657264941371977, -0.0002668995293788612], "flange_pose": [0.6786783933639526, 0.028487510979175568, -0.06504624336957932, -0.0023163813166320324, -0.004584643989801407, 0.999889075756073, 0.013979848474264145], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61570739746094, 15.258798599243164, 28.207735061645508, 0.33438336849212646, -23.953662872314453, 1.7887617349624634], "ext_wrench_in_world": [-107.88321822959051, 15.046566303420667, -27.28479059035455, -0.12481869908642032, -23.896410763231998, -2.456708918316184]}
+{"timestamp_ns": 1789729887888909784, "elapsed_ms": 7266, "source_timestamp_ns": 1789729887881875010, "q": [0.8362237811088562, -1.896741509437561, -1.0058714151382446, 1.3811808824539185, -0.16218973696231842, 0.5940131545066833, 0.7041157484054565], "theta": [0.8382883071899414, -1.8948017358779907, -1.0040526390075684, 1.3627736568450928, -0.16278226673603058, 0.5939661264419556, 0.7040925025939941], "dq": [0.0013244146248325706, 0.0012133658165112138, 0.00039421627297997475, 2.0303887140471488e-05, -0.0011405423283576965, 0.0018290637526661158, -0.0025721732527017593], "dtheta": [0.0003077925357501954, 0.0001896294270409271, 0.00031515848240815103, -1.0539292816247325e-05, 0.00044961791718378663, 0.00016447537927888334, 5.790858995169401e-05], "tau": [55.59000015258789, 23.60999870300293, 5.488000392913818, -26.304000854492188, -2.5880000591278076, 2.6720001697540283, -0.5560000538825989], "tau_des": [0.4842987060546875, -0.6070706844329834, -0.2633719742298126, -0.49906474351882935, 0.8973818421363831, -1.1778008937835693, -0.5417847633361816], "tau_dot": [-113.31282806396484, 72.41203308105469, 54.68141174316406, -13.36444091796875, -26.02107810974121, -13.52588176727295, -15.8181734085083], "tau_ext": [-16.81197166442871, -41.61533737182617, 31.82411003112793, 31.34200668334961, 9.505515098571777, -3.000281572341919, -0.12435030192136765], "tcp_pose": [0.6779648065567017, 0.032677292823791504, -0.21498487889766693, -0.002315401565283537, -0.004584438633173704, 0.999889075756073, 0.013979625888168812], "tcp_vel": [-1.4752291463082656e-05, 0.00017746961384546012, 0.0002687818487174809, 0.0007343384786508977, -9.077854338102043e-05, -0.0002187433565268293], "flange_pose": [0.678678572177887, 0.028487054631114006, -0.06504511088132858, -0.002315401565283537, -0.004584438633173704, 0.999889075756073, 0.013979625888168812], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6085205078125, 15.27428913116455, 28.20526123046875, 0.34210288524627686, -23.950841903686523, 1.7909349203109741], "ext_wrench_in_world": [-107.87610102593861, 15.06208259918668, -27.282134275720725, -0.13257946840221635, -23.893602598463715, -2.45875735271203]}
+{"timestamp_ns": 1789729887922249617, "elapsed_ms": 7300, "source_timestamp_ns": 1789729887921785259, "q": [0.8362237811088562, -1.8967418670654297, -1.005874514579773, 1.3811818361282349, -0.1621895730495453, 0.5940137505531311, 0.7041154503822327], "theta": [0.8382889628410339, -1.8948026895523071, -1.004056692123413, 1.3627746105194092, -0.16278226673603058, 0.593967080116272, 0.7040925025939941], "dq": [0.0019718604162335396, 0.0010207960149273276, 0.0008552225190214813, -0.002352331532165408, 0.0038636939134448767, -0.0012962525943294168, 0.0010918022599071264], "dtheta": [2.853538899216801e-05, -6.607890099985525e-05, 0.0003735448408406228, 0.00012303916446398944, 0.0004958906210958958, 0.0008982034050859511, 0.0005186428898014128], "tau": [55.63999938964844, 23.60999870300293, 5.4720001220703125, -26.2760009765625, -2.5840001106262207, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.556759238243103, -0.5615515112876892, -0.28017207980155945, -0.5338239669799805, 0.8869295120239258, -1.181419014930725, -0.550121009349823], "tau_dot": [-62.197349548339844, 92.39143371582031, 37.37490463256836, -2.3896520137786865, -5.885565757751465, -0.5662960410118103, -5.542314529418945], "tau_ext": [-16.815778732299805, -41.61725997924805, 31.837738037109375, 31.35194206237793, 9.503927230834961, -3.0005509853363037, -0.12348264455795288], "tcp_pose": [0.6779654622077942, 0.032675616443157196, -0.21498548984527588, -0.0023150970228016376, -0.0045836204662919044, 0.9998891353607178, 0.013978502713143826], "tcp_vel": [-8.426213025813922e-05, 0.0003784636501222849, 2.6989971956936643e-05, 0.0010117469355463982, -0.0002013745397562161, -0.0004889186238870025], "flange_pose": [0.6786791682243347, 0.02848571352660656, -0.06504572182893753, -0.0023150970228016376, -0.0045836204662919044, 0.9998891353607178, 0.013978502713143826], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6228256225586, 15.276389122009277, 28.201679229736328, 0.3452411890029907, -23.951757431030273, 1.790047287940979], "ext_wrench_in_world": [-107.89036647497107, 15.064065143389657, -27.278528813332038, -0.13574276941955934, -23.89457680466267, -2.457827909596179]}
+{"timestamp_ns": 1789729887955585721, "elapsed_ms": 7333, "source_timestamp_ns": 1789729887951747433, "q": [0.8362245559692383, -1.8967431783676147, -1.005879282951355, 1.3811821937561035, -0.16219095885753632, 0.594012975692749, 0.7041152715682983], "theta": [0.8382890820503235, -1.8948041200637817, -1.0040614604949951, 1.36277437210083, -0.16278395056724548, 0.5939668416976929, 0.7040927410125732], "dq": [-0.0012298922520130873, 0.0013789550866931677, -0.000741084513720125, -0.0004791402316186577, 0.0009506495553068817, -0.0006790481274947524, 0.00012544500350486487], "dtheta": [-0.000352787523297593, -0.00033181646722368896, -0.0006711467285640538, 3.2348991226172075e-05, -0.0004943402018398046, 0.0005073623033240438, 0.00039853129419498146], "tau": [55.599998474121094, 23.559999465942383, 5.456000328063965, -26.304000854492188, -2.5880000591278076, 2.6720001697540283, -0.5640000104904175], "tau_des": [0.629887580871582, -0.58366858959198, -0.1259009689092636, -0.5849470496177673, 0.9222165942192078, -1.1528781652450562, -0.5551977157592773], "tau_dot": [-138.30831909179688, 5.315981864929199, 5.861607551574707, -60.81757736206055, 23.553863525390625, 12.997933387756348, -51.19447708129883], "tau_ext": [-16.82015609741211, -41.595455169677734, 31.81268310546875, 31.346664428710938, 9.506654739379883, -3.00203800201416, -0.12366563081741333], "tcp_pose": [0.6779667735099792, 0.03267306461930275, -0.21498578786849976, -0.002314031356945634, -0.004582890775054693, 0.9998891353607178, 0.013975683599710464], "tcp_vel": [0.00020879118528682739, -0.00023313994461204857, -0.0002906602167058736, -0.0006698814104311168, -0.00047873667790554464, -0.0003800003614742309], "flange_pose": [0.6786801218986511, 0.028484003618359566, -0.06504599750041962, -0.002314031356945634, -0.004582890775054693, 0.9998891353607178, 0.013975683599710464], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62419128417969, 15.275589942932129, 28.187692642211914, 0.34446144104003906, -23.949962615966797, 1.7897664308547974], "ext_wrench_in_world": [-107.8915777607738, 15.062868731321654, -27.26487938803282, -0.13500807623317848, -23.89279705278499, -2.4573662082330943]}
+{"timestamp_ns": 1789729887988910946, "elapsed_ms": 7366, "source_timestamp_ns": 1789729887981778761, "q": [0.8362249135971069, -1.8967453241348267, -1.0058820247650146, 1.3811818361282349, -0.16219058632850647, 0.5940127372741699, 0.7041150331497192], "theta": [0.8382888436317444, -1.8948060274124146, -1.0040647983551025, 1.3627737760543823, -0.16278395056724548, 0.5939666032791138, 0.7040925025939941], "dq": [-0.0020679966546595097, 0.00023193011293187737, -0.0012248127022758126, 0.0004227658500894904, -0.0005400133668445051, -0.0033518068958073854, 0.002280022483319044], "dtheta": [-0.00011743193317670375, -0.00012215909373480827, 6.816787936259061e-05, -0.00012909070937894285, 0.0007626368897035718, -0.00079183658817783, 0.0005432614125311375], "tau": [55.65999984741211, 23.559999465942383, 5.460000038146973, -26.292001724243164, -2.6000001430511475, 2.6480002403259277, -0.5400000214576721], "tau_des": [0.617747962474823, -0.5552005171775818, -0.20573709905147552, -0.5956693887710571, 0.8842232823371887, -1.130286693572998, -0.5594174861907959], "tau_dot": [69.83999633789062, -45.060184478759766, -23.417871475219727, -23.320751190185547, -10.671477317810059, -74.33979797363281, -9.233823776245117], "tau_ext": [-16.824142456054688, -41.59761047363281, 31.833303451538086, 31.347824096679688, 9.515585899353027, -3.000678777694702, -0.12354148924350739], "tcp_pose": [0.6779672503471375, 0.03267227113246918, -0.21498622000217438, -0.002313455333933234, -0.0045826793648302555, 0.9998891949653625, 0.013974158093333244], "tcp_vel": [-0.00028153948369435966, 2.683863385755103e-05, -0.0002072637580567971, -2.0228508219588548e-05, 0.0010715702082961798, -0.0008379772771149874], "flange_pose": [0.678680419921875, 0.028483668342232704, -0.06504640728235245, -0.002313455333933234, -0.0045826793648302555, 0.9998891949653625, 0.013974158093333244], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62195587158203, 15.271381378173828, 28.184179306030273, 0.3398474454879761, -23.946420669555664, 1.7899881601333618], "ext_wrench_in_world": [-107.88924931807668, 15.058548054527567, -27.261666310925303, -0.13043508781304963, -23.88921529599166, -2.4574368786543124]}
+{"timestamp_ns": 1789729888022262011, "elapsed_ms": 7400, "source_timestamp_ns": 1789729888021877126, "q": [0.8362245559692383, -1.8967461585998535, -1.0058808326721191, 1.3811814785003662, -0.16219022870063782, 0.594010591506958, 0.7041138410568237], "theta": [0.8382885456085205, -1.8948075771331787, -1.0040643215179443, 1.3627734184265137, -0.1627836972475052, 0.593964695930481, 0.7040908336639404], "dq": [0.000201510832994245, -1.2829204024455976e-05, 0.0006251962622627616, 0.0001658984401728958, 0.0009954231791198254, 0.0012282716343179345, 0.0024382772389799356], "dtheta": [-0.00016249831242021173, 0.00014436026685871184, 0.00042207702063024044, -6.0414990002755076e-05, 0.00014787389955017716, 0.00011647587234620005, -0.0008112136856652796], "tau": [55.62999725341797, 23.579999923706055, 5.4760003089904785, -26.280000686645508, -2.5840001106262207, 2.6560001373291016, -0.5600000023841858], "tau_des": [0.5786256790161133, -0.5528157949447632, -0.26355576515197754, -0.5560527443885803, 0.899637758731842, -1.1607229709625244, -0.5236405730247498], "tau_dot": [-21.921405792236328, -46.73441696166992, -10.599294662475586, 31.451520919799805, 5.135770797729492, 13.698586463928223, 6.313300609588623], "tau_ext": [-16.80363655090332, -41.59165573120117, 31.827289581298828, 31.34892463684082, 9.514274597167969, -2.997706890106201, -0.12442642450332642], "tcp_pose": [0.6779662370681763, 0.03267292678356171, -0.21498677134513855, -0.0023146176245063543, -0.004583855625241995, 0.9998891949653625, 0.01397375762462616], "tcp_vel": [-0.00011200825247215107, 0.00023053049517329782, -1.600690302439034e-05, 0.000582973298151046, 0.00021821875998284668, 0.0009160940535366535], "flange_pose": [0.6786797046661377, 0.028484446927905083, -0.06504695117473602, -0.0023146176245063543, -0.004583855625241995, 0.9998891949653625, 0.01397375762462616], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64334106445312, 15.259766578674316, 28.176786422729492, 0.3339080810546875, -23.94968605041504, 1.7901809215545654], "ext_wrench_in_world": [-107.91059080519281, 15.046254968524742, -27.254270273891297, -0.1244158401402011, -23.89242134539681, -2.4577280575127674]}
+{"timestamp_ns": 1789729888055668673, "elapsed_ms": 7433, "source_timestamp_ns": 1789729888051773869, "q": [0.8362250924110413, -1.8967461585998535, -1.005880355834961, 1.3811815977096558, -0.16218969225883484, 0.5940092206001282, 0.7041099071502686], "theta": [0.838289201259613, -1.8948079347610474, -1.0040639638900757, 1.3627731800079346, -0.16278347373008728, 0.5939632654190063, 0.7040867805480957], "dq": [-0.0014573888620361686, 0.0008169565699063241, -0.0009707509889267385, 0.002013867488130927, -0.002400795929133892, 0.001108702621422708, 0.0018415313679724932], "dtheta": [0.00020865419355686754, 3.291569009888917e-05, 6.099573511164635e-06, -0.0003625172539614141, -0.0005010270397178829, -0.00018787785666063428, 0.0004082877712789923], "tau": [55.619998931884766, 23.529998779296875, 5.468000411987305, -26.288002014160156, -2.6000001430511475, 2.640000104904175, -0.5640000104904175], "tau_des": [0.47649866342544556, -0.635141134262085, -0.20479948818683624, -0.48677554726600647, 0.9287207126617432, -1.1754300594329834, -0.5438212752342224], "tau_dot": [-45.72613525390625, -127.0086898803711, -54.08795928955078, 17.095277786254883, -72.76563262939453, -46.90362548828125, -35.15761184692383], "tau_ext": [-16.788070678710938, -41.593502044677734, 31.8209285736084, 31.351133346557617, 9.505837440490723, -2.9960737228393555, -0.11940743029117584], "tcp_pose": [0.6779658198356628, 0.03267301619052887, -0.21498660743236542, -0.0023150979541242123, -0.004585862625390291, 0.9998891949653625, 0.013973608613014221], "tcp_vel": [0.0002266161609441042, -1.7870752344606444e-06, 0.00033307811827398837, -0.00019955061725340784, -0.0006220717332325876, -0.0002010143653023988], "flange_pose": [0.6786794662475586, 0.028484582901000977, -0.06504679471254349, -0.0023150979541242123, -0.004585862625390291, 0.9998891949653625, 0.013973608613014221], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.674560546875, 15.237371444702148, 28.17122459411621, 0.3315618336200714, -23.960847854614258, 1.7910524606704712], "ext_wrench_in_world": [-107.94166346090333, 15.022983278707565, -27.24910338597149, -0.12187821249952256, -23.90353353802198, -2.458914837145879]}
+{"timestamp_ns": 1789729888088897600, "elapsed_ms": 7466, "source_timestamp_ns": 1789729888081767463, "q": [0.8362246155738831, -1.8967468738555908, -1.005880355834961, 1.381182074546814, -0.16218945384025574, 0.5940078496932983, 0.704108476638794], "theta": [0.8382893204689026, -1.8948087692260742, -1.0040639638900757, 1.3627734184265137, -0.16278274357318878, 0.5939615964889526, 0.7040841579437256], "dq": [-0.0007398623274639249, -0.003687867894768715, -0.00033629886456765234, 0.0016261863056570292, -0.0029833887238055468, -0.0009344806312583387, 0.0016179073136299849], "dtheta": [7.313082460314035e-05, -0.0007428163080476224, -5.587304985965602e-05, 0.00016276983660645783, -0.00043727323645725846, 0.0002798768982756883, 0.00013114615285303444], "tau": [55.59000015258789, 23.56999969482422, 5.496000289916992, -26.288002014160156, -2.564000129699707, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.62196946144104, -0.4782755374908447, -0.270021915435791, -0.6032115817070007, 0.9204607009887695, -1.1476243734359741, -0.5292925238609314], "tau_dot": [-134.17274475097656, -129.2798309326172, 35.50008010864258, 39.63596725463867, 35.08777618408203, -42.417564392089844, 32.57588195800781], "tau_ext": [-16.811235427856445, -41.60190200805664, 31.816417694091797, 31.349441528320312, 9.503144264221191, -2.9953205585479736, -0.11298402398824692], "tcp_pose": [0.677964985370636, 0.03267292678356171, -0.21498756110668182, -0.0023161335848271847, -0.004586793947964907, 0.9998891949653625, 0.013972817920148373], "tcp_vel": [-0.00011595922842388973, 0.0001702652807580307, -0.00017858049250207841, -0.0007693241932429373, -0.00040858681313693523, 0.0005893241614103317], "flange_pose": [0.6786789894104004, 0.028484735637903214, -0.0650477334856987, -0.0023161335848271847, -0.004586793947964907, 0.9998891949653625, 0.013972817920148373], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.68354797363281, 15.227996826171875, 28.16863441467285, 0.33205825090408325, -23.96687889099121, 1.7946655750274658], "ext_wrench_in_world": [-107.95063669708254, 15.013209592671583, -27.24653979381766, -0.1222965844101129, -23.90946980008179, -2.4626547480393164]}
+{"timestamp_ns": 1789729888122260795, "elapsed_ms": 7500, "source_timestamp_ns": 1789729888121968171, "q": [0.8362249135971069, -1.896747350692749, -1.0058798789978027, 1.3811824321746826, -0.16218894720077515, 0.5940067768096924, 0.7041081190109253], "theta": [0.838290274143219, -1.8948090076446533, -1.0040634870529175, 1.3627738952636719, -0.16278252005577087, 0.5939606428146362, 0.7040833830833435], "dq": [0.00022497081954497844, 0.003980095032602549, 0.0023300836328417063, 0.0015136364381760359, -0.0012506527127698064, -0.0017219805158674717, -0.00010930020653177053], "dtheta": [-7.187695882748812e-05, 0.0002803579845931381, 0.00025076119345612824, -9.197433246299624e-05, -0.000253664591582492, 0.0007927646511234343, -0.0001210823465953581], "tau": [55.619998931884766, 23.59000015258789, 5.488000392913818, -26.288002014160156, -2.552000045776367, 2.6560001373291016, -0.5440000295639038], "tau_des": [0.5336333513259888, -0.6098527908325195, -0.24934525787830353, -0.5111339092254639, 0.9065057635307312, -1.1852905750274658, -0.5291568636894226], "tau_dot": [0.23633411526679993, 13.694108963012695, 31.292831420898438, -61.016998291015625, 31.464847564697266, -46.8157958984375, 33.39500427246094], "tau_ext": [-16.800901412963867, -41.608177185058594, 31.809673309326172, 31.34564781188965, 9.507333755493164, -3.0001258850097656, -0.11386740952730179], "tcp_pose": [0.6779643893241882, 0.03267311677336693, -0.21498776972293854, -0.0023167384788393974, -0.004587176255881786, 0.9998891949653625, 0.013972525484859943], "tcp_vel": [0.00019408579100854695, 0.00018061508308164775, 0.00020035375200677663, 0.0007825983921065927, -0.0006664522225037217, 0.0002163630269933492], "flange_pose": [0.678678572177887, 0.02848500944674015, -0.06504794955253601, -0.0023167384788393974, -0.004587176255881786, 0.9998891949653625, 0.013972525484859943], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66316986083984, 15.251277923583984, 28.182472229003906, 0.3431321084499359, -23.96590805053711, 1.8001947402954102], "ext_wrench_in_world": [-107.93058194941757, 15.036954696407758, -27.259692537577873, -0.13338925517906397, -23.908448847753192, -2.468090442955412]}
+{"timestamp_ns": 1789729888155598253, "elapsed_ms": 7533, "source_timestamp_ns": 1789729888151835377, "q": [0.8362261056900024, -1.89674711227417, -1.0058809518814087, 1.3811832666397095, -0.16219036281108856, 0.5940070748329163, 0.7041081190109253], "theta": [0.8382912278175354, -1.8948090076446533, -1.004064679145813, 1.3627742528915405, -0.16278395056724548, 0.5939611196517944, 0.7040836811065674], "dq": [0.0015599452890455723, 0.0007125561241991818, -0.0010959706269204617, -0.0006963606574572623, 0.00017198515706695616, 0.0003145865339320153, -0.0003839867131318897], "dtheta": [-0.00016407051589339972, 0.00016271737695205957, -5.6559812946943566e-05, 0.00018388647004030645, 4.1354152926942334e-05, -0.001118377665989101, -0.00031248555751517415], "tau": [55.68000030517578, 23.6299991607666, 5.4760003089904785, -26.288002014160156, -2.5920000076293945, 2.688000202178955, -0.5240000486373901], "tau_des": [0.6520401239395142, -0.5576044321060181, -0.204715758562088, -0.6340940594673157, 0.8911643028259277, -1.1130329370498657, -0.5295757055282593], "tau_dot": [118.23786163330078, 7.988126754760742, -23.71323585510254, -15.632360458374023, -25.18163299560547, 18.843908309936523, 42.00263214111328], "tau_ext": [-16.808094024658203, -41.5960578918457, 31.80121421813965, 31.340585708618164, 9.509195327758789, -3.005279779434204, -0.11350035667419434], "tcp_pose": [0.6779650449752808, 0.03267223760485649, -0.2149871587753296, -0.002315785735845566, -0.004587162751704454, 0.9998891949653625, 0.013971695676445961], "tcp_vel": [-0.00025915788137353957, -0.0002879241365008056, -0.00027887531905435026, -0.0007254232768900692, 0.001153142424300313, 0.00019661242549773306], "flange_pose": [0.6786789298057556, 0.02848437987267971, -0.06504733115434647, -0.002315785735845566, -0.004587162751704454, 0.9998891949653625, 0.013971695676445961], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63566589355469, 15.264487266540527, 28.183774948120117, 0.34880566596984863, -23.958209991455078, 1.8015748262405396], "ext_wrench_in_world": [-107.90315306987954, 15.050409153243145, -27.260980468129084, -0.13913566983205136, -23.900772067374884, -2.4691899664843593]}
+{"timestamp_ns": 1789729888188903043, "elapsed_ms": 7566, "source_timestamp_ns": 1789729888181873148, "q": [0.8362270593643188, -1.8967492580413818, -1.005881428718567, 1.3811827898025513, -0.16219188272953033, 0.5940082669258118, 0.7041102647781372], "theta": [0.8382923007011414, -1.894810676574707, -1.0040650367736816, 1.3627737760543823, -0.16278515756130219, 0.593962550163269, 0.7040846347808838], "dq": [0.0001808573870221153, 0.002184442710131407, 0.0009826524183154106, -0.003527867840602994, -0.0018998071318492293, 0.0015555234858766198, -0.0010904070222750306], "dtheta": [0.0005019474774599075, 0.0002705665538087487, 0.00021565359202213585, -0.0001576324284542352, 0.00013344520993996412, -0.0003779650724027306, 0.00017298018792644143], "tau": [55.619998931884766, 23.56999969482422, 5.444000244140625, -26.2760009765625, -2.568000078201294, 2.6720001697540283, -0.5360000133514404], "tau_des": [0.4397697150707245, -0.6461820602416992, -0.23578327894210815, -0.47310712933540344, 0.9122704267501831, -1.1801280975341797, -0.5396259427070618], "tau_dot": [24.42874526977539, -80.8138198852539, -39.139305114746094, -14.452752113342285, 83.39220428466797, -2.019240379333496, 56.195621490478516], "tau_ext": [-16.808292388916016, -41.618873596191406, 31.81865119934082, 31.33645248413086, 9.515950202941895, -3.0051510334014893, -0.11920346319675446], "tcp_pose": [0.6779654026031494, 0.032672781497240067, -0.21498669683933258, -0.002314202254638076, -0.004587049596011639, 0.9998891949653625, 0.013970783911645412], "tcp_vel": [8.121394785121083e-05, 1.910180799313821e-05, 0.00044876610627397895, 0.0002635943528730422, -0.00019656193035189062, -0.00029285834170877934], "flange_pose": [0.6786788105964661, 0.028485197573900223, -0.06504686176776886, -0.002314202254638076, -0.004587049596011639, 0.9998891949653625, 0.013970783911645412], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61067199707031, 15.287576675415039, 28.199100494384766, 0.35407623648643494, -23.948745727539062, 1.801294207572937], "ext_wrench_in_world": [-107.87835321473156, 15.074126722905493, -27.276136239936267, -0.14448936525415781, -23.891372849018037, -2.4685783233134346]}
+{"timestamp_ns": 1789729888222263928, "elapsed_ms": 7600, "source_timestamp_ns": 1789729888221750164, "q": [0.836227297782898, -1.8967503309249878, -1.0058825016021729, 1.3811821937561035, -0.16219547390937805, 0.594006359577179, 0.7041106820106506], "theta": [0.8382929563522339, -1.8948121070861816, -1.004066824913025, 1.3627731800079346, -0.1627897024154663, 0.5939611196517944, 0.7040855884552002], "dq": [0.0010566876735538244, -0.0018970542587339878, -5.274623163131764e-06, 3.605296660680324e-05, -0.0002725440135691315, -0.0008864197297953069, 0.0005489414324983954], "dtheta": [3.1513012800132856e-05, -4.713530870503746e-05, 6.835077510913834e-05, -0.00018963577167596668, -0.0009157799067907035, -0.00037680810783058405, -5.473508281284012e-05], "tau": [55.61000061035156, 23.559999465942383, 5.464000225067139, -26.30000114440918, -2.632000207901001, 2.6720001697540283, -0.5360000133514404], "tau_des": [0.5297561883926392, -0.5851109027862549, -0.229357048869133, -0.5270719528198242, 0.9361185431480408, -1.165568470954895, -0.5257911086082458], "tau_dot": [-87.07855987548828, -18.193561553955078, -11.800643920898438, 3.9348714351654053, -11.411723136901855, 30.70088005065918, -1.906287431716919], "tau_ext": [-16.799060821533203, -41.58891677856445, 31.8212947845459, 31.338083267211914, 9.528901100158691, -3.002655267715454, -0.12842652201652527], "tcp_pose": [0.6779658794403076, 0.03267202898859978, -0.21498660743236542, -0.002313450677320361, -0.00458778440952301, 0.9998892545700073, 0.013968436047434807], "tcp_vel": [9.990735270548612e-05, -3.5927107091993093e-05, 0.00012810855696443468, -0.0006973806885071099, -0.000386029394576326, 0.0006212909938767552], "flange_pose": [0.6786791086196899, 0.028485145419836044, -0.06504674255847931, -0.002313450677320361, -0.00458778440952301, 0.9998892545700073, 0.013968436047434807], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61297607421875, 15.28567886352539, 28.18372344970703, 0.3470801115036011, -23.943105697631836, 1.796720266342163], "ext_wrench_in_world": [-107.88054660899685, 15.071494027701155, -27.261045403208364, -0.13748457577535472, -23.885810069021442, -2.463768273461188]}
+{"timestamp_ns": 1789729888255592247, "elapsed_ms": 7633, "source_timestamp_ns": 1789729888251732860, "q": [0.8362279534339905, -1.8967509269714355, -1.005882740020752, 1.3811813592910767, -0.1621927171945572, 0.5940002799034119, 0.7041099071502686], "theta": [0.8382929563522339, -1.8948121070861816, -1.004066824913025, 1.36277174949646, -0.1627875417470932, 0.5939549207687378, 0.7040858268737793], "dq": [-0.0001223248546011746, -0.00020448688883334398, -0.0005460274987854064, 0.0033790217712521553, -0.0004039631749037653, -0.0006857817061245441, 0.0008860798552632332], "dtheta": [-6.077088255551644e-05, -6.282213144004345e-05, -1.7236873190995539e-06, -5.793065793113783e-05, 0.0009967051446437836, 0.0002719869080465287, 0.00045890206820331514], "tau": [55.62999725341797, 23.56999969482422, 5.484000205993652, -26.2760009765625, -2.6080000400543213, 2.6720001697540283, -0.5200000405311584], "tau_des": [0.5962175726890564, -0.561896800994873, -0.24038873612880707, -0.5649109482765198, 0.8765103816986084, -1.158886432647705, -0.5481480956077576], "tau_dot": [-9.187261581420898, 20.59009552001953, -57.04244613647461, 49.37936782836914, 0.9820002317428589, -39.356414794921875, 47.98903274536133], "tau_ext": [-16.810178756713867, -41.60364532470703, 31.815134048461914, 31.357593536376953, 9.548480987548828, -3.0024805068969727, -0.1287686824798584], "tcp_pose": [0.6779647469520569, 0.03267153725028038, -0.2149869054555893, -0.002315823221579194, -0.004587528761476278, 0.9998892545700073, 0.013967270962893963], "tcp_vel": [-9.145782678388059e-05, 0.00014156654651742429, -8.498655370203778e-05, 0.0007801178144291043, 0.00037300828262232244, -0.0009865252068266273], "flange_pose": [0.6786786317825317, 0.02848500944674015, -0.06504704058170319, -0.002315823221579194, -0.004587528761476278, 0.9998892545700073, 0.013967270962893963], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65621185302734, 15.254195213317871, 28.16970443725586, 0.33486437797546387, -23.949050903320312, 1.7963612079620361], "ext_wrench_in_world": [-107.92354920713422, 15.039216549203717, -27.247241371443724, -0.12523580167326254, -23.891655604732573, -2.4635736988702153]}
+{"timestamp_ns": 1789729888288901687, "elapsed_ms": 7666, "source_timestamp_ns": 1789729888281808497, "q": [0.8362275958061218, -1.8967515230178833, -1.0058833360671997, 1.381178855895996, -0.16219189763069153, 0.5939968824386597, 0.704109251499176], "theta": [0.8382928967475891, -1.8948125839233398, -1.0040671825408936, 1.3627687692642212, -0.1627868264913559, 0.5939511060714722, 0.7040848731994629], "dq": [-0.0006513357511721551, 0.0009401064598932862, -0.0009284804109483957, -0.00011780810746131465, 0.0019122016383334994, -0.0015413232613354921, 0.0019974899478256702], "dtheta": [2.8311056667007506e-05, -0.0003646205004770309, -0.00019432613044045866, -0.0002603716857265681, 9.423304618394468e-06, -0.0002086348395096138, -0.0006659919745288789], "tau": [55.68000030517578, 23.60999870300293, 5.488000392913818, -26.30000114440918, -2.6040000915527344, 2.6760001182556152, -0.5480000376701355], "tau_des": [0.5701622366905212, -0.5375009775161743, -0.23964166641235352, -0.5556028485298157, 0.9141033291816711, -1.1549501419067383, -0.5219224095344543], "tau_dot": [99.92959594726562, 27.536069869995117, 21.445486068725586, 0.2588427662849426, 5.700179100036621, 15.598783493041992, 1.651757836341858], "tau_ext": [-16.81817626953125, -41.62175750732422, 31.807443618774414, 31.36203384399414, 9.542935371398926, -2.9980084896087646, -0.12717871367931366], "tcp_pose": [0.677964985370636, 0.032671332359313965, -0.21498671174049377, -0.0023163859732449055, -0.004587424919009209, 0.9998892545700073, 0.013966693542897701], "tcp_vel": [3.530587491695769e-05, 1.7802303773351014e-05, -7.981024282344151e-06, -0.00037261558463796973, -0.0001538020878797397, 0.0007320591248571873], "flange_pose": [0.6786790490150452, 0.028484975919127464, -0.06504683941602707, -0.0023163859732449055, -0.004587424919009209, 0.9998892545700073, 0.013966693542897701], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67977905273438, 15.2324800491333, 28.178619384765625, 0.3280928432941437, -23.958410263061523, 1.7976473569869995], "ext_wrench_in_world": [-107.94698754616749, 15.017530661991927, -27.256549822898002, -0.11839278007575837, -23.900915299750373, -2.465123577198351]}
+{"timestamp_ns": 1789729888322247173, "elapsed_ms": 7700, "source_timestamp_ns": 1789729888321775195, "q": [0.8362287878990173, -1.8967540264129639, -1.0058847665786743, 1.3811771869659424, -0.16218990087509155, 0.5939951539039612, 0.7041081190109253], "theta": [0.8382942080497742, -1.8948150873184204, -1.0040684938430786, 1.3627676963806152, -0.16278468072414398, 0.5939489603042603, 0.7040843963623047], "dq": [-0.000593616277910769, 0.0009720692178234458, 0.001865980913862586, -0.0002669297391548753, -0.0021121487952768803, -0.0009722656104713678, -0.0027571970131248236], "dtheta": [2.3063888875185512e-05, -0.00045465209404937923, -9.631652937969193e-05, -0.00011849894508486614, -2.8961754651390947e-05, 0.00016526268154848367, -0.000485513883177191], "tau": [55.59000015258789, 23.559999465942383, 5.464000225067139, -26.296001434326172, -2.5960001945495605, 2.6440000534057617, -0.5480000376701355], "tau_des": [0.5785526633262634, -0.5187690854072571, -0.2647409737110138, -0.557470440864563, 0.9123209714889526, -1.1631098985671997, -0.5223926305770874], "tau_dot": [-5.068480491638184, 26.668947219848633, -46.61267852783203, -6.6271443367004395, -67.98241424560547, -36.51787567138672, -2.335543632507324], "tau_ext": [-16.79262924194336, -41.61552810668945, 31.811748504638672, 31.338682174682617, 9.52629280090332, -2.9923393726348877, -0.11918970942497253], "tcp_pose": [0.6779651045799255, 0.03267150744795799, -0.21498632431030273, -0.0023161021526902914, -0.004587679635733366, 0.9998892545700073, 0.013965864665806293], "tcp_vel": [-3.1330655474448577e-06, 0.00012752131442539394, -5.04084637213964e-05, -0.00023838962079025805, -0.00030228219111450016, 0.000715711445081979], "flange_pose": [0.6786790490150452, 0.02848539873957634, -0.06504644453525543, -0.0023161021526902914, -0.004587679635733366, 0.9998892545700073, 0.013965864665806293], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67469024658203, 15.254498481750488, 28.188268661499023, 0.33683350682258606, -23.96782112121582, 1.8027366399765015], "ext_wrench_in_world": [-107.94213723469619, 15.039756259328819, -27.26569043002507, -0.1270579641159046, -23.910264953976725, -2.470395030641573]}
+{"timestamp_ns": 1789729888355590220, "elapsed_ms": 7733, "source_timestamp_ns": 1789729888351749472, "q": [0.8362287282943726, -1.8967534303665161, -1.0058867931365967, 1.3811771869659424, -0.16218829154968262, 0.5939931273460388, 0.7041082978248596], "theta": [0.8382949829101562, -1.8948148488998413, -1.0040702819824219, 1.3627678155899048, -0.16278252005577087, 0.5939468145370483, 0.7040846347808838], "dq": [-0.0015027017798274755, -0.0008513603825122118, -0.00041285870247520506, -0.0016087674302980304, -0.001822180231101811, -0.0005564374732784927, 0.001205615815706551], "dtheta": [-8.401771628996357e-05, -2.1583369743893854e-05, -0.0005067185848020017, -5.699343091691844e-05, 0.0015752982581034303, -0.0007739788270555437, 5.984839299344458e-05], "tau": [55.68000030517578, 23.549999237060547, 5.488000392913818, -26.312002182006836, -2.556000232696533, 2.6600000858306885, -0.5640000104904175], "tau_des": [0.6425674557685852, -0.5777798295021057, -0.16902901232242584, -0.6117543578147888, 0.8577303290367126, -1.122756004333496, -0.5550861954689026], "tau_dot": [178.640625, -11.81983757019043, -6.575145721435547, -15.587541580200195, 45.39252853393555, -2.312065601348877, -50.63806915283203], "tau_ext": [-16.81180191040039, -41.58003234863281, 31.802852630615234, 31.356632232666016, 9.517374038696289, -2.9968879222869873, -0.12377627938985825], "tcp_pose": [0.6779652833938599, 0.03266998380422592, -0.21498669683933258, -0.002317030681297183, -0.004586272407323122, 0.9998892545700073, 0.013965237885713577], "tcp_vel": [-0.00019108907144982368, -0.0002736494061537087, -0.0002834036713466048, 0.00016478959878440946, 0.0013372966786846519, -0.0012657332699745893], "flange_pose": [0.6786795258522034, 0.02848406508564949, -0.06504682451486588, -0.002317030681297183, -0.004586272407323122, 0.9998892545700073, 0.013965237885713577], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.68536376953125, 15.233538627624512, 28.176977157592773, 0.33159932494163513, -23.97100830078125, 1.7987914085388184], "ext_wrench_in_world": [-107.95257520278538, 15.018657843624249, -27.25475618489773, -0.12184751522578577, -23.913515287826495, -2.4665334706385753]}
+{"timestamp_ns": 1789729888388897311, "elapsed_ms": 7766, "source_timestamp_ns": 1789729888381798041, "q": [0.8362300395965576, -1.8967540264129639, -1.005888819694519, 1.3811777830123901, -0.1621902734041214, 0.5939924716949463, 0.7041078209877014], "theta": [0.8382962942123413, -1.89481520652771, -1.0040732622146606, 1.3627678155899048, -0.16278420388698578, 0.593946099281311, 0.7040846347808838], "dq": [-0.00021843877038918436, 0.002422714838758111, 0.0006841327995061874, -0.0023015085607767105, -0.0025682190898805857, 0.0018090347293764353, 0.0013171612517908216], "dtheta": [-7.136369094951078e-05, -0.00024171527184080333, -0.0001953765022335574, 4.0681243262952194e-05, -0.00014818045019637793, 0.0009342470439150929, -0.0003068112418986857], "tau": [55.68000030517578, 23.559999465942383, 5.436000347137451, -26.304000854492188, -2.580000162124634, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.5689689517021179, -0.5683181881904602, -0.2186119258403778, -0.5403337478637695, 0.9144214987754822, -1.1780132055282593, -0.5312566161155701], "tau_dot": [30.97369384765625, -89.28036499023438, -63.17048645019531, 35.805110931396484, 22.53260612487793, -9.598482131958008, 31.744348526000977], "tau_ext": [-16.82253646850586, -41.6076545715332, 31.81970977783203, 31.366981506347656, 9.508615493774414, -2.9959793090820312, -0.12172794342041016], "tcp_pose": [0.6779660582542419, 0.03266870602965355, -0.21498623490333557, -0.0023159519769251347, -0.00458658579736948, 0.9998893141746521, 0.013963400386273861], "tcp_vel": [0.0001638315006857738, 9.273714385926723e-05, -3.0451923521468416e-05, 0.00019331944349687546, -0.0007540052174590528, 0.00039782901876606047], "flange_pose": [0.6786799430847168, 0.028483334928750992, -0.06504633277654648, -0.0023159519769251347, -0.00458658579736948, 0.9998893141746521, 0.013963400386273861], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6834716796875, 15.216405868530273, 28.190568923950195, 0.32757511734962463, -23.969684600830078, 1.793934941291809], "ext_wrench_in_world": [-107.95054144691022, 15.001764057525605, -27.26912050806095, -0.11779262002075397, -23.912299609339833, -2.4615727058528374]}
+{"timestamp_ns": 1789729888422260976, "elapsed_ms": 7800, "source_timestamp_ns": 1789729888421770799, "q": [0.8362312912940979, -1.896755576133728, -1.0058915615081787, 1.3811774253845215, -0.1621914505958557, 0.593993067741394, 0.7041086554527283], "theta": [0.8382973074913025, -1.8948172330856323, -1.0040768384933472, 1.3627676963806152, -0.1627858579158783, 0.5939470529556274, 0.7040848731994629], "dq": [0.0009566209628246725, 0.002711922163143754, 0.00023734092246741056, -0.0003298034134786576, 0.0016184300184249878, 0.000746516976505518, 0.0007799971499480307], "dtheta": [-0.000217673004954122, 6.249503348954022e-05, -1.4673469195258804e-05, 2.175516783609055e-05, 0.00023110413167160004, 0.0002947391476482153, -0.000468101556180045], "tau": [55.619998931884766, 23.559999465942383, 5.4120001792907715, -26.288002014160156, -2.6000001430511475, 2.6520001888275146, -0.5200000405311584], "tau_des": [0.589995801448822, -0.5787208080291748, -0.2114119827747345, -0.5566967725753784, 0.8994293212890625, -1.1645209789276123, -0.5320895314216614], "tau_dot": [-20.56930160522461, -113.31438446044922, -39.87697982788086, -16.157190322875977, -13.457602500915527, -31.89889144897461, 43.08134460449219], "tau_ext": [-16.811952590942383, -41.60468673706055, 31.835100173950195, 31.342487335205078, 9.52364444732666, -2.999030113220215, -0.12513063848018646], "tcp_pose": [0.6779671907424927, 0.032667726278305054, -0.2149856835603714, -0.002314237644895911, -0.004586053546518087, 0.9998893141746521, 0.01396187487989664], "tcp_vel": [-1.0194784408668056e-05, 3.209505302947946e-05, -0.00012499546573963016, 0.000363080675015226, 0.00012252268788870424, 0.0002839069929905236], "flange_pose": [0.6786805987358093, 0.02848280966281891, -0.06504576653242111, -0.002314237644895911, -0.004586053546518087, 0.9998893141746521, 0.01396187487989664], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67020416259766, 15.24014949798584, 28.19985580444336, 0.33018043637275696, -23.961990356445312, 1.792188048362732], "ext_wrench_in_world": [-107.93742497612286, 15.02591554300255, -27.27821548683546, -0.12047755171197112, -23.904688834162283, -2.459527569482831]}
+{"timestamp_ns": 1789729888455590064, "elapsed_ms": 7833, "source_timestamp_ns": 1789729888451771373, "q": [0.8362316489219666, -1.896757960319519, -1.0058932304382324, 1.3811781406402588, -0.16219191253185272, 0.5939925909042358, 0.704108476638794], "theta": [0.8382971882820129, -1.8948194980621338, -1.0040786266326904, 1.3627679347991943, -0.162787064909935, 0.5939465761184692, 0.7040855884552002], "dq": [-0.0019278026884421706, 0.002748636994510889, 0.0002937801764346659, -0.0005215702694840729, 0.00044429846457205713, -4.4881016947329044e-07, -0.0009050988592207432], "dtheta": [2.226215656264685e-05, -9.432306251255795e-05, -1.7546374238008866e-06, -0.00014016519708093256, 0.0007347054779529572, -0.0008290334371849895, -0.0003940533788409084], "tau": [55.61000061035156, 23.600000381469727, 5.4720001220703125, -26.30000114440918, -2.6120002269744873, 2.6520001888275146, -0.527999997138977], "tau_des": [0.5884578824043274, -0.5528401136398315, -0.22122713923454285, -0.5783617496490479, 0.8921862840652466, -1.1375514268875122, -0.5347698926925659], "tau_dot": [-6.846358776092529, 118.86705017089844, 15.550889015197754, -16.739049911499023, -18.39252471923828, -7.955948352813721, 4.861344814300537], "tau_ext": [-16.828210830688477, -41.596290588378906, 31.840801239013672, 31.346555709838867, 9.530306816101074, -3.0032594203948975, -0.1283562183380127], "tcp_pose": [0.6779668927192688, 0.03266728296875954, -0.21498656272888184, -0.002314144279807806, -0.004586556926369667, 0.9998893737792969, 0.013959952630102634], "tcp_vel": [-0.00021954414842184633, -2.5624485715525225e-05, -0.00010515845497138798, -7.504319364670664e-05, 0.0008873126935213804, 4.581567191053182e-05], "flange_pose": [0.6786802411079407, 0.028482943773269653, -0.06504663825035095, -0.002314144279807806, -0.004586556926369667, 0.9998893737792969, 0.013959952630102634], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64492797851562, 15.275217056274414, 28.17914390563965, 0.33214014768600464, -23.94584846496582, 1.7906347513198853], "ext_wrench_in_world": [-107.91238024824342, 15.060409563054415, -27.256727239755968, -0.12255204571683523, -23.888624917355767, -2.4574232747789226]}
+{"timestamp_ns": 1789729888488904293, "elapsed_ms": 7866, "source_timestamp_ns": 1789729888481747390, "q": [0.836231529712677, -1.8967580795288086, -1.0058947801589966, 1.381177544593811, -0.16219036281108856, 0.5939937233924866, 0.7041087746620178], "theta": [0.8382971286773682, -1.8948200941085815, -1.0040799379348755, 1.362766981124878, -0.1627861112356186, 0.5939475297927856, 0.7040865421295166], "dq": [-0.0002655405842233449, -0.00022640731185674667, 0.0011120238341391087, 0.001175399636849761, -0.000991793698631227, 0.000416447437601164, 0.0016575903864577413], "dtheta": [0.0003375169762875885, -0.00019576936028897762, -6.297105574049056e-05, -0.00025552287115715444, 6.042590030119754e-06, 0.0003176288737449795, 0.0002890497853513807], "tau": [55.63999938964844, 23.559999465942383, 5.4800004959106445, -26.340002059936523, -2.6040000915527344, 2.680000066757202, -0.5360000133514404], "tau_des": [0.46480703353881836, -0.6231818199157715, -0.21109715104103088, -0.47116750478744507, 0.9212329387664795, -1.1934782266616821, -0.5483881235122681], "tau_dot": [-41.7391242980957, 44.217716217041016, -36.4639892578125, -7.29453706741333, 17.858539581298828, 18.595359802246094, 2.4185421466827393], "tau_ext": [-16.79071807861328, -41.57854461669922, 31.823856353759766, 31.350866317749023, 9.53044605255127, -3.000216484069824, -0.12669993937015533], "tcp_pose": [0.6779676079750061, 0.03266686573624611, -0.21498650312423706, -0.0023137053940445185, -0.004585389979183674, 0.9998893737792969, 0.013960467651486397], "tcp_vel": [0.00019974465249106288, 0.00012240270734764636, 0.00031698428210802376, 0.00017138566181529313, -0.0007909727282822132, -0.00025347236078232527], "flange_pose": [0.6786808371543884, 0.02848237007856369, -0.06504657119512558, -0.0023137053940445185, -0.004585389979183674, 0.9998893737792969, 0.013960467651486397], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.660400390625, 15.250092506408691, 28.168846130371094, 0.3257790803909302, -23.946149826049805, 1.7909083366394043], "ext_wrench_in_world": [-107.92751584370308, 15.03514715463909, -27.247141132342815, -0.11624390282242227, -23.8888569603151, -2.457758461637636]}
+{"timestamp_ns": 1789729888522259070, "elapsed_ms": 7900, "source_timestamp_ns": 1789729888521780992, "q": [0.8362320065498352, -1.8967586755752563, -1.0058954954147339, 1.3811784982681274, -0.16218769550323486, 0.5939930081367493, 0.7041079998016357], "theta": [0.8382976055145264, -1.8948206901550293, -1.004080891609192, 1.362767219543457, -0.1627836972475052, 0.5939465761184692, 0.7040858268737793], "dq": [-0.0008637349237687886, -0.0005425905110314488, 0.0010428924579173326, 0.0011055030627176166, 3.191206997144036e-05, -0.0015793429920449853, 0.0012623682850971818], "dtheta": [0.0007004102226346731, -0.0001424898364348337, 0.0002559675194788724, -0.00019460174371488392, -1.8551128277977114e-07, -0.0005548470071516931, 7.899471529526636e-05], "tau": [55.62999725341797, 23.600000381469727, 5.460000038146973, -26.292001724243164, -2.556000232696533, 2.6600000858306885, -0.5240000486373901], "tau_des": [0.4311785101890564, -0.6149576306343079, -0.25294074416160583, -0.4739668071269989, 0.9177324175834656, -1.178066372871399, -0.5426181554794312], "tau_dot": [28.851318359375, 31.196456909179688, -21.755741119384766, -33.297576904296875, 60.599979400634766, -19.635475158691406, 21.792224884033203], "tau_ext": [-16.775768280029297, -41.57796096801758, 31.8146915435791, 31.350854873657227, 9.5202054977417, -3.0002875328063965, -0.12684859335422516], "tcp_pose": [0.6779668927192688, 0.03266652673482895, -0.21498709917068481, -0.0023147405590862036, -0.0045850519090890884, 0.9998893737792969, 0.013960355892777443], "tcp_vel": [-1.94380561424623e-07, 0.0001327437348663807, 0.0004704137099906802, -0.0001942501257872209, -0.0003540801990311593, 0.0001787531073205173], "flange_pose": [0.6786804795265198, 0.028482068330049515, -0.06504718214273453, -0.0023147405590862036, -0.0045850519090890884, 0.9998893737792969, 0.013960355892777443], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.72052001953125, 15.194486618041992, 28.160125732421875, 0.319203644990921, -23.9642391204834, 1.7901743650436401], "ext_wrench_in_world": [-107.98713146715461, 14.978830283140333, -27.239486393363645, -0.10952118570660843, -23.906898704012757, -2.457553928990438]}
+{"timestamp_ns": 1789729888555602606, "elapsed_ms": 7933, "source_timestamp_ns": 1789729888551714552, "q": [0.8362329602241516, -1.8967608213424683, -1.0058954954147339, 1.381178855895996, -0.1621888279914856, 0.5939921140670776, 0.7041062116622925], "theta": [0.8382983803749084, -1.8948229551315308, -1.0040812492370605, 1.3627676963806152, -0.1627844274044037, 0.593946099281311, 0.7040843963623047], "dq": [-0.00018886264297179878, 0.0013294769451022148, 0.000742187665309757, 0.0030771491583436728, -0.0015917698619887233, -0.0027852575294673443, -0.0005229943199083209], "dtheta": [0.00014622205344494432, 8.10719357104972e-05, -0.00029140684637241066, 0.00016746812616474926, -0.0003903007891494781, 0.0007531755254603922, 5.578359559876844e-05], "tau": [55.619998931884766, 23.600000381469727, 5.464000225067139, -26.272001266479492, -2.5960001945495605, 2.640000104904175, -0.5360000133514404], "tau_des": [0.5173683166503906, -0.6387758851051331, -0.1743699163198471, -0.510208249092102, 0.9209392666816711, -1.1857213973999023, -0.5408410429954529], "tau_dot": [-19.597585678100586, -91.6046371459961, -52.64067840576172, 13.759820938110352, -42.23049545288086, -19.49017906188965, 48.19618606567383], "tau_ext": [-16.794918060302734, -41.596099853515625, 31.812280654907227, 31.347026824951172, 9.509078979492188, -2.997344970703125, -0.12199778854846954], "tcp_pose": [0.6779663562774658, 0.032666854560375214, -0.21498727798461914, -0.0023144648876041174, -0.0045870221219956875, 0.9998893737792969, 0.013958793133497238], "tcp_vel": [0.0002783792151603848, -0.0001251200883416459, 0.00015017285477370024, 2.830882294801995e-05, -0.000887825561221689, -8.959828119259328e-05], "flange_pose": [0.6786798238754272, 0.028482865542173386, -0.06504734605550766, -0.0023144648876041174, -0.0045870221219956875, 0.9998893737792969, 0.013958793133497238], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.71072387695312, 15.205565452575684, 28.16209602355957, 0.3267163336277008, -23.96841049194336, 1.7920538187026978], "ext_wrench_in_world": [-107.97748822707133, 14.989539555872803, -27.241304141791613, -0.11690871561072007, -23.911093332620478, -2.4594409838443765]}
+{"timestamp_ns": 1789729888588896538, "elapsed_ms": 7966, "source_timestamp_ns": 1789729888581687228, "q": [0.8362335562705994, -1.8967620134353638, -1.0058951377868652, 1.3811793327331543, -0.16218845546245575, 0.5939918160438538, 0.7041072845458984], "theta": [0.8382989764213562, -1.8948243856430054, -1.0040810108184814, 1.3627681732177734, -0.16278299689292908, 0.593946099281311, 0.7040846347808838], "dq": [-0.001803653547540307, 0.0002201500756200403, -0.0007752145756967366, -0.0009461346198804677, -0.000371851259842515, 0.0008610051590949297, -0.0010438313474878669], "dtheta": [-0.00015491293743252754, -5.6087999837473035e-05, -9.873970702756196e-05, 0.00018893695960287005, 7.755901606287807e-05, -0.0004750634543597698, 0.0005008232546970248], "tau": [55.63999938964844, 23.600000381469727, 5.4720001220703125, -26.292001724243164, -2.568000078201294, 2.6520001888275146, -0.5720000267028809], "tau_des": [0.6462088823318481, -0.5592952370643616, -0.21000999212265015, -0.6116304993629456, 0.8869646787643433, -1.1358106136322021, -0.5485710501670837], "tau_dot": [-95.53945922851562, 30.465808868408203, -12.119545936584473, -21.968429565429688, 18.17873764038086, -42.63398361206055, -42.9605827331543], "tau_ext": [-16.8059139251709, -41.61027145385742, 31.81610107421875, 31.346431732177734, 9.508979797363281, -2.9985358715057373, -0.11937613785266876], "tcp_pose": [0.6779657602310181, 0.03266727179288864, -0.21498750150203705, -0.0023146462626755238, -0.004586955066770315, 0.9998893737792969, 0.013958325609564781], "tcp_vel": [-0.00018843468569684774, -0.0001436268212273717, -0.000271855213213712, -0.00047810518299229443, 0.0006916260463185608, -0.0005340295028872788], "flange_pose": [0.6786792874336243, 0.028483422473073006, -0.06504755467176437, -0.0023146462626755238, -0.004586955066770315, 0.9998893737792969, 0.013958325609564781], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.68830871582031, 15.239052772521973, 28.16275405883789, 0.3376958668231964, -23.96916389465332, 1.7948105335235596], "ext_wrench_in_world": [-107.95539030450074, 15.023226008138467, -27.241102477091808, -0.1278978398327536, -23.91187323188154, -2.46214578030265]}
+{"timestamp_ns": 1789729888622261613, "elapsed_ms": 8000, "source_timestamp_ns": 1789729888621695623, "q": [0.8362349271774292, -1.896762490272522, -1.0058976411819458, 1.381180763244629, -0.162187397480011, 0.5939912796020508, 0.7041050791740417], "theta": [0.838300347328186, -1.8948251008987427, -1.0040833950042725, 1.3627691268920898, -0.16278155148029327, 0.5939458608627319, 0.7040829062461853], "dq": [0.0016042713541537523, -0.0038431514985859394, -0.0013149866135790944, -0.0027514484245330095, -0.00566066661849618, -0.0011403851676732302, -0.0049825566820800304], "dtheta": [-9.387690079165623e-05, -0.00034937303280457854, -0.00023115619842428714, -0.00017202603339683264, -0.001040805596858263, -0.00024102989118546247, -0.0008478087256662548], "tau": [55.61000061035156, 23.56999969482422, 5.464000225067139, -26.284000396728516, -2.568000078201294, 2.688000202178955, -0.5680000185966492], "tau_des": [0.5808017253875732, -0.5499264597892761, -0.21511073410511017, -0.5595437288284302, 0.9360418915748596, -1.1582832336425781, -0.5160053968429565], "tau_dot": [-25.972816467285156, 15.443120956420898, -11.0392484664917, 1.8919707536697388, -27.709686279296875, 54.9389762878418, -10.942914009094238], "tau_ext": [-16.828746795654297, -41.58635330200195, 31.81055450439453, 31.364259719848633, 9.501633644104004, -3.000558853149414, -0.12014785408973694], "tcp_pose": [0.6779659986495972, 0.032665785402059555, -0.2149876058101654, -0.0023145871236920357, -0.004587155766785145, 0.9998893737792969, 0.013957112096250057], "tcp_vel": [0.00012766494182869792, -0.00010277414548909292, -4.5159267756389454e-05, -0.0011078977258875966, -0.0005344886449165642, 0.001475219032727182], "flange_pose": [0.6786794662475586, 0.02848230116069317, -0.06504765152931213, -0.0023145871236920357, -0.004587155766785145, 0.9998893737792969, 0.013957112096250057], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66414642333984, 15.224786758422852, 28.19102668762207, 0.33360323309898376, -23.963512420654297, 1.7917485237121582], "ext_wrench_in_world": [-107.93123623943578, 15.00986805806853, -27.269922026190603, -0.1238323102064434, -23.90627781250702, -2.4588875806744688]}
+{"timestamp_ns": 1789729888655585681, "elapsed_ms": 8033, "source_timestamp_ns": 1789729888651678399, "q": [0.8362376689910889, -1.8967641592025757, -1.005901575088501, 1.3811814785003662, -0.16218869388103485, 0.5939912796020508, 0.7041059732437134], "theta": [0.8383029699325562, -1.89482581615448, -1.0040867328643799, 1.3627700805664062, -0.16278299689292908, 0.593946099281311, 0.7040833830833435], "dq": [-0.00032247789204120636, 0.00023435516050085425, 0.0019382016034796834, 0.0019694992806762457, 0.0009827036410570145, 0.00018605811055749655, -0.0005250246031209826], "dtheta": [0.00027022272115573287, 6.55354160699062e-05, -0.0004205888544674963, 1.0501106771698687e-05, -0.0005441239336505532, 0.00020322823547758162, 0.00015754233754705638], "tau": [55.599998474121094, 23.53999900817871, 5.468000411987305, -26.32000160217285, -2.6000001430511475, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.47784456610679626, -0.6695971488952637, -0.13416770100593567, -0.491100013256073, 0.9353148341178894, -1.182040810585022, -0.5470224618911743], "tau_dot": [-79.15459442138672, -16.62664031982422, 28.151582717895508, -30.283214569091797, -15.753013610839844, -16.765958786010742, 6.881814956665039], "tau_ext": [-16.811552047729492, -41.58674621582031, 31.82360076904297, 31.351104736328125, 9.504018783569336, -2.997864007949829, -0.11996748298406601], "tcp_pose": [0.6779673099517822, 0.032663874328136444, -0.21498669683933258, -0.002312541240826249, -0.004586320370435715, 0.9998894333839417, 0.01395462080836296], "tcp_vel": [0.000323786458466202, -0.00025933474535122514, 0.00024258083431050181, -0.000431347667472437, -0.0008453550399281085, -0.00019805331248790026], "flange_pose": [0.6786802411079407, 0.0284811332821846, -0.06504671275615692, -0.002312541240826249, -0.004586320370435715, 0.9998894333839417, 0.01395462080836296], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.668212890625, 15.218053817749023, 28.182523727416992, 0.3304000496864319, -23.961069107055664, 1.789900541305542], "ext_wrench_in_world": [-107.9350634300783, 15.002913148856214, -27.262108357574252, -0.12067374589561489, -23.903869503800482, -2.4568682272407254]}
+{"timestamp_ns": 1789729888688916859, "elapsed_ms": 8066, "source_timestamp_ns": 1789729888681713920, "q": [0.8362385630607605, -1.8967649936676025, -1.0059021711349487, 1.381180763244629, -0.1621893048286438, 0.5939892530441284, 0.7041059732437134], "theta": [0.8383035063743591, -1.8948264122009277, -1.0040873289108276, 1.3627703189849854, -0.1627836972475052, 0.5939439535140991, 0.7040836811065674], "dq": [-0.002619243925437331, -0.0005065393052063882, 0.0019718485418707132, -0.000715028727427125, -0.0010267983889207244, 0.0011482691625133157, 0.0024207145906984806], "dtheta": [-0.00013394861889537424, 0.0001653283543419093, 1.1871562492160592e-05, 4.183396231383085e-05, -0.00010269109770888463, -0.0001934853644343093, -0.0004473181033972651], "tau": [55.619998931884766, 23.6299991607666, 5.4800004959106445, -26.292001724243164, -2.580000162124634, 2.6560001373291016, -0.5320000052452087], "tau_des": [0.5734432935714722, -0.5981889963150024, -0.19314387440681458, -0.5551983714103699, 0.9092684388160706, -1.1587483882904053, -0.5318499207496643], "tau_dot": [-51.59960174560547, 48.51814651489258, 52.838836669921875, -67.41964721679688, 7.228699207305908, -4.89102029800415, -27.140504837036133], "tau_ext": [-16.8156681060791, -41.59640884399414, 31.832653045654297, 31.346769332885742, 9.509203910827637, -2.9952404499053955, -0.12443391233682632], "tcp_pose": [0.6779674887657166, 0.03266354277729988, -0.21498624980449677, -0.0023123333230614662, -0.004586539231240749, 0.9998894333839417, 0.013953461311757565], "tcp_vel": [-2.711344677663874e-05, -8.790252468315884e-05, -7.339706644415855e-05, -8.196513226721436e-05, 0.00024788634618744254, 0.00041290748049505055], "flange_pose": [0.6786803007125854, 0.028481146320700645, -0.0650462657213211, -0.0023123333230614662, -0.004586539231240749, 0.9998894333839417, 0.013953461311757565], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66751861572266, 15.229537010192871, 28.18793487548828, 0.32821786403656006, -23.95946502685547, 1.7888447046279907], "ext_wrench_in_world": [-107.93449425793362, 15.01443834944702, -27.267281222947986, -0.11848975288016356, -23.90228114160427, -2.455722525618483]}
+{"timestamp_ns": 1789729888722255967, "elapsed_ms": 8100, "source_timestamp_ns": 1789729888721696387, "q": [0.836238443851471, -1.8967673778533936, -1.0059027671813965, 1.3811804056167603, -0.16219139099121094, 0.5939866900444031, 0.7041052579879761], "theta": [0.83830326795578, -1.89482843875885, -1.0040876865386963, 1.3627700805664062, -0.1627858579158783, 0.593941330909729, 0.7040836811065674], "dq": [-0.0024969952646642923, 0.0027232514694333076, -0.0010923892259597778, -0.002219777787104249, -0.00031501500052399933, -0.000774688902311027, 0.0007572995964437723], "dtheta": [7.2926988650579e-05, 1.9732126474991674e-06, -0.0002266615629196167, 0.00016358836728613824, -0.0005339853814803064, -0.00025048284442164004, -0.0005121805588714778], "tau": [55.62999725341797, 23.53999900817871, 5.496000289916992, -26.30000114440918, -2.5920000076293945, 2.6600000858306885, -0.5320000052452087], "tau_des": [0.5574864745140076, -0.593582272529602, -0.17430177330970764, -0.5599068403244019, 0.9305669069290161, -1.1530506610870361, -0.5258241295814514], "tau_dot": [-4.254483699798584, -46.48737716674805, 54.04096221923828, 12.510472297668457, 37.13485336303711, 27.34958839416504, 9.85971450805664], "tau_ext": [-16.79649543762207, -41.58260726928711, 31.82406997680664, 31.337886810302734, 9.521744728088379, -2.9920504093170166, -0.1266777664422989], "tcp_pose": [0.6779669523239136, 0.032663408666849136, -0.21498702466487885, -0.002312580356374383, -0.004588027019053698, 0.9998894929885864, 0.013951005414128304], "tcp_vel": [5.375502223614603e-05, -0.0002339026686968282, -2.0113613572902977e-05, -0.0007300252327695489, -0.0001337813155259937, 0.0006797197856940329], "flange_pose": [0.678679883480072, 0.028481753543019295, -0.06504702568054199, -0.002312580356374383, -0.004588027019053698, 0.9998894929885864, 0.013951005414128304], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6666259765625, 15.255411148071289, 28.18350601196289, 0.3314697742462158, -23.96027183532715, 1.7898706197738647], "ext_wrench_in_world": [-107.93387299694612, 15.039729228381557, -27.262163050941457, -0.12166853357576582, -23.9031014557923, -2.4566385634800914]}
+{"timestamp_ns": 1789729888755585495, "elapsed_ms": 8133, "source_timestamp_ns": 1789729888751675933, "q": [0.8362382650375366, -1.8967678546905518, -1.0059024095535278, 1.3811798095703125, -0.16219060122966766, 0.5939801931381226, 0.7041049599647522], "theta": [0.8383030295372009, -1.8948289155960083, -1.0040878057479858, 1.3627699613571167, -0.1627849042415619, 0.5939346551895142, 0.7040838599205017], "dq": [-0.00399791169911623, -0.0003048141661565751, -0.0003672502934932709, 0.0010869145626202226, -0.0006039146101102233, -0.0014279844472184777, -0.001391259371303022], "dtheta": [-0.00014932587509974837, -0.00017089216271415353, 7.626313163200393e-06, -0.00018584974168334156, -0.00045596371637657285, -0.0006326806615106761, 0.00023158875410445035], "tau": [55.61000061035156, 23.510000228881836, 5.488000392913818, -26.336000442504883, -2.572000026702881, 2.640000104904175, -0.5600000023841858], "tau_des": [0.6080235242843628, -0.5542735457420349, -0.2141495943069458, -0.5874733924865723, 0.9147037863731384, -1.1356797218322754, -0.5366121530532837], "tau_dot": [-31.366901397705078, -37.374332427978516, 11.757002830505371, -14.551335334777832, 57.98038101196289, -66.57522583007812, -47.166446685791016], "tau_ext": [-16.810867309570312, -41.5900993347168, 31.817487716674805, 31.35651969909668, 9.526642799377441, -2.994431257247925, -0.12449083477258682], "tcp_pose": [0.6779655814170837, 0.032662928104400635, -0.21498779952526093, -0.0023151393979787827, -0.0045882584527134895, 0.9998894929885864, 0.013949231244623661], "tcp_vel": [-6.35096148471348e-05, -4.178625749773346e-05, -0.00010312141967006028, -0.0007134295301511884, 0.00023496367793995887, 0.00012698401405941695], "flange_pose": [0.6786792874336243, 0.028481807559728622, -0.06504777818918228, -0.0023151393979787827, -0.0045882584527134895, 0.9998894929885864, 0.013949231244623661], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.68362426757812, 15.221118927001953, 28.16820526123047, 0.3214687705039978, -23.962825775146484, 1.7912362813949585], "ext_wrench_in_world": [-107.95063221041241, 15.004712354624528, -27.24725301671582, -0.11165083709434508, -23.905532654277447, -2.458034035987012]}
+{"timestamp_ns": 1789729888788889226, "elapsed_ms": 8166, "source_timestamp_ns": 1789729888781713003, "q": [0.8362391591072083, -1.8967680931091309, -1.0059030055999756, 1.3811801671981812, -0.1621885746717453, 0.5939791202545166, 0.7041050791740417], "theta": [0.838303804397583, -1.8948287963867188, -1.0040874481201172, 1.3627699613571167, -0.16278347373008728, 0.5939332246780396, 0.7040838599205017], "dq": [-0.0007919583003968, -0.0005762999644502997, -0.001758895581588149, 0.00016127123672049493, 0.0007255193777382374, 0.0001805836072890088, 0.0008397393394261599], "dtheta": [-2.2235088181332685e-05, 0.00013165154086891562, 0.00019898428581655025, -0.000516459986101836, 0.00014532453496940434, 0.00014767142420168966, 0.0004664530570153147], "tau": [55.64999771118164, 23.59000015258789, 5.4720001220703125, -26.292001724243164, -2.5880000591278076, 2.640000104904175, -0.5480000376701355], "tau_des": [0.5105301737785339, -0.6262938976287842, -0.2255767583847046, -0.49306052923202515, 0.9019052386283875, -1.1792411804199219, -0.5480813384056091], "tau_dot": [55.09931945800781, -48.087276458740234, -5.574437618255615, 43.252567291259766, -13.585110664367676, -60.15768051147461, -16.422046661376953], "tau_ext": [-16.80299186706543, -41.59358215332031, 31.811748504638672, 31.344003677368164, 9.51765251159668, -2.9919638633728027, -0.12347027659416199], "tcp_pose": [0.6779652833938599, 0.03266254812479019, -0.21498775482177734, -0.0023157193791121244, -0.00458754226565361, 0.9998894929885864, 0.01394914835691452], "tcp_vel": [0.00017386274703312665, 0.00020331265113782138, 0.0002702437632251531, 0.0007057008915580809, -0.0003481977037154138, -0.0005809574504382908], "flange_pose": [0.6786791682243347, 0.02848145365715027, -0.0650477409362793, -0.0023157193791121244, -0.00458754226565361, 0.9998894929885864, 0.01394914835691452], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.68956756591797, 15.20719051361084, 28.178396224975586, 0.31932562589645386, -23.967424392700195, 1.7921000719070435], "ext_wrench_in_world": [-107.95650769669683, 14.991167170920608, -27.25767731208836, -0.10950676548647298, -23.91008568218302, -2.4590312079888093]}
+{"timestamp_ns": 1789729888822263810, "elapsed_ms": 8200, "source_timestamp_ns": 1789729888821734997, "q": [0.8362407088279724, -1.8967690467834473, -1.0059032440185547, 1.3811804056167603, -0.16218842566013336, 0.5939777493476868, 0.7041041851043701], "theta": [0.8383057713508606, -1.8948293924331665, -1.0040876865386963, 1.3627703189849854, -0.16278274357318878, 0.5939315557479858, 0.7040814757347107], "dq": [0.0008141948492266238, -0.00039954239036887884, -0.0002404771512374282, -0.003060863818973303, -0.0014567570760846138, 0.0018215408781543374, -0.0005027715815231204], "dtheta": [0.00014958348765503615, 0.00010904335795203224, -0.00028201829991303384, -0.00028474279679358006, -0.0004633950593415648, -0.0003015314578078687, 0.0005952247302047908], "tau": [55.65999984741211, 23.56999969482422, 5.4800004959106445, -26.296001434326172, -2.6000001430511475, 2.680000066757202, -0.5600000023841858], "tau_des": [0.5014973282814026, -0.6594217419624329, -0.1577770709991455, -0.5072726607322693, 0.9222694039344788, -1.1639779806137085, -0.5509887337684631], "tau_dot": [-2.3310325145721436, -43.39091110229492, -14.019567489624023, 24.129854202270508, -53.53518295288086, 50.454437255859375, -11.476432800292969], "tau_ext": [-16.80648422241211, -41.60270309448242, 31.806814193725586, 31.33732032775879, 9.508220672607422, -2.9911446571350098, -0.1176905408501625], "tcp_pose": [0.6779651045799255, 0.03266248479485512, -0.21498724818229675, -0.0023155328817665577, -0.004588232841342688, 0.9998894929885864, 0.01394825428724289], "tcp_vel": [0.0002736386377364397, -0.00021323926921468228, 0.00024897948605939746, -0.00042340136133134365, -0.0004797586880158633, -0.0006470309454016387], "flange_pose": [0.6786788702011108, 0.028481656685471535, -0.06504722684621811, -0.0023155328817665577, -0.004588232841342688, 0.9998894929885864, 0.01394825428724289], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67645263671875, 15.238784790039062, 28.19670867919922, 0.3324744999408722, -23.973360061645508, 1.796725869178772], "ext_wrench_in_world": [-107.94377822409405, 15.023181839562769, -27.275229508975976, -0.12258889892156845, -23.916015892353855, -2.463719055802862]}
+{"timestamp_ns": 1789729888855588329, "elapsed_ms": 8233, "source_timestamp_ns": 1789729888851713243, "q": [0.8362419009208679, -1.8967695236206055, -1.0059034824371338, 1.3811808824539185, -0.16218893229961395, 0.5939779281616211, 0.704103410243988], "theta": [0.838306725025177, -1.8948302268981934, -1.004088044166565, 1.3627711534500122, -0.16278274357318878, 0.5939317941665649, 0.7040812373161316], "dq": [0.0003060688031837344, 0.0006327219889499247, 0.0013321739388629794, 0.0016836306313052773, 0.003037320449948311, 0.0007095535984262824, 0.0018698895582929254], "dtheta": [-0.00013730883074458688, 2.188496910093818e-05, -9.580986079527065e-05, 0.0001893186563393101, 6.347595626721159e-05, 0.00044521098607219756, 0.0007020483608357608], "tau": [55.65999984741211, 23.600000381469727, 5.488000392913818, -26.308000564575195, -2.564000129699707, 2.6640000343322754, -0.5320000052452087], "tau_des": [0.6030585169792175, -0.5908414125442505, -0.20109152793884277, -0.5725810527801514, 0.8953708410263062, -1.1589164733886719, -0.5495030283927917], "tau_dot": [21.200923919677734, 44.1296272277832, 8.19504451751709, 21.543880462646484, 49.73982238769531, -7.481372833251953, 61.11875915527344], "tau_ext": [-16.824071884155273, -41.58732986450195, 31.802412033081055, 31.34506607055664, 9.506375312805176, -2.993823766708374, -0.11637961119413376], "tcp_pose": [0.6779652237892151, 0.032662395387887955, -0.21498674154281616, -0.0023149035405367613, -0.004588868468999863, 0.9998894929885864, 0.013947781175374985], "tcp_vel": [8.610725672042463e-06, -2.0773251890204847e-05, -0.0001308935898123309, 0.00017381174257025123, -2.2729989723302424e-05, -0.0007995066698640585], "flange_pose": [0.6786788105964661, 0.02848171256482601, -0.06504671275615692, -0.0023149035405367613, -0.004588868468999863, 0.9998894929885864, 0.013947781175374985], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63555145263672, 15.247797966003418, 28.206233978271484, 0.33615580201148987, -23.965103149414062, 1.796898365020752], "ext_wrench_in_world": [-107.90299058112338, 15.032673472770849, -27.284835833724916, -0.1263128777249389, -23.907794216216054, -2.4636221689786515]}
+{"timestamp_ns": 1789729888888989470, "elapsed_ms": 8266, "source_timestamp_ns": 1789729888881677770, "q": [0.83624267578125, -1.8967688083648682, -1.0059038400650024, 1.3811813592910767, -0.16218988597393036, 0.593977689743042, 0.7041033506393433], "theta": [0.83830726146698, -1.894830346107483, -1.0040886402130127, 1.3627722263336182, -0.16278395056724548, 0.5939317941665649, 0.7040812373161316], "dq": [-0.0005209180526435375, 0.0020632962696254253, 0.0007456062594428658, 0.0008023724076338112, 0.0011265057837590575, -0.0005680354661308229, -2.8287904569879174e-06], "dtheta": [0.00023751558910589665, -0.0001944430696312338, 0.00015582119522150606, 3.498918886180036e-05, -0.0008076755329966545, -0.00013349394430406392, -3.4419921576045454e-05], "tau": [55.63999938964844, 23.56999969482422, 5.468000411987305, -26.308000564575195, -2.580000162124634, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.5201945900917053, -0.5740938186645508, -0.2470618486404419, -0.5327633619308472, 0.9314547181129456, -1.1652029752731323, -0.5267155766487122], "tau_dot": [87.2720718383789, -62.35744857788086, 19.301321029663086, -29.863889694213867, 29.172256469726562, 19.463703155517578, 3.81400728225708], "tau_ext": [-16.822494506835938, -41.59001159667969, 31.813262939453125, 31.34810447692871, 9.510130882263184, -2.9958534240722656, -0.12123245000839233], "tcp_pose": [0.6779655814170837, 0.03266175091266632, -0.21498623490333557, -0.002314491430297494, -0.00458883959800005, 0.9998894929885864, 0.013947338797152042], "tcp_vel": [1.843890640884638e-05, 5.867978688911535e-05, 0.00014751730486750603, -0.0006536171422339976, -0.0005071155028417706, 0.00073102000169456], "flange_pose": [0.6786790490150452, 0.028481196612119675, -0.06504620611667633, -0.002314491430297494, -0.00458883959800005, 0.9998894929885864, 0.013947338797152042], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62625122070312, 15.239521980285645, 28.20973777770996, 0.33197835087776184, -23.9587459564209, 1.7940772771835327], "ext_wrench_in_world": [-107.89360850957742, 15.024567864157557, -27.28871361522977, -0.12217972410230818, -23.901481946186863, -2.4606226036095653]}
+{"timestamp_ns": 1789729888922260924, "elapsed_ms": 8300, "source_timestamp_ns": 1789729888921698214, "q": [0.8362432718276978, -1.8967713117599487, -1.0059069395065308, 1.3811817169189453, -0.1621904820203781, 0.5939780473709106, 0.7041043639183044], "theta": [0.8383082747459412, -1.8948320150375366, -1.0040919780731201, 1.3627724647521973, -0.16278515756130219, 0.5939322710037231, 0.7040819525718689], "dq": [-0.0010753044625744224, -0.0005193550605326891, -0.0017489830497652292, 0.00025288297911174595, -0.0016306978650391102, -9.465804032515734e-05, 0.002988314488902688], "dtheta": [0.00030873421928845346, 0.00020032479369547218, -0.0001544378319522366, -4.082127634319477e-05, 0.00023405393585562706, -0.00019107565458398312, -0.0003505796194076538], "tau": [55.57999801635742, 23.65999984741211, 5.468000411987305, -26.304000854492188, -2.580000162124634, 2.6520001888275146, -0.5440000295639038], "tau_des": [0.48776838183403015, -0.6432767510414124, -0.17760948836803436, -0.5077922940254211, 0.9131757020950317, -1.1685281991958618, -0.535988986492157], "tau_dot": [-130.7376251220703, 101.86775970458984, 38.57379150390625, -68.31449127197266, 40.71419906616211, -28.051382064819336, -6.59320068359375], "tau_ext": [-16.812524795532227, -41.60389709472656, 31.826202392578125, 31.349653244018555, 9.520573616027832, -3.0017569065093994, -0.12709440290927887], "tcp_pose": [0.6779661178588867, 0.03266071900725365, -0.21498678624629974, -0.0023135554511100054, -0.0045882645063102245, 0.9998895525932312, 0.013945283368229866], "tcp_vel": [0.00011989002814516425, -0.00015005159366410226, 0.00023742084158584476, 9.55383584368974e-05, -0.00012644781963899732, -2.4057841073954478e-05], "flange_pose": [0.6786792874336243, 0.028480781242251396, -0.06504673510789871, -0.0023135554511100054, -0.0045882645063102245, 0.9998895525932312, 0.013945283368229866], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64193725585938, 15.247383117675781, 28.1906681060791, 0.3332858979701996, -23.95467185974121, 1.792161226272583], "ext_wrench_in_world": [-107.9092059718998, 15.031763154408997, -27.26962558200092, -0.12353849575182625, -23.897485041420662, -2.4584898197391905]}
+{"timestamp_ns": 1789729888955593102, "elapsed_ms": 8333, "source_timestamp_ns": 1789729888951700178, "q": [0.836243212223053, -1.8967719078063965, -1.0059075355529785, 1.381182074546814, -0.1621909737586975, 0.5939747095108032, 0.7041054368019104], "theta": [0.8383085131645203, -1.8948326110839844, -1.004092812538147, 1.3627727031707764, -0.1627858579158783, 0.5939291715621948, 0.7040836811065674], "dq": [0.0005305418744683266, 0.0031939619220793247, -0.00036889317561872303, 0.001448971452191472, 0.0006736531504429877, -0.001096075400710106, 0.001994581427425146], "dtheta": [9.725192649057135e-05, -1.2439250895113219e-05, 6.0887432482559234e-05, 8.968522888608277e-05, 2.4021166609600186e-05, -0.0006623258232139051, 0.00016322049486916512], "tau": [55.599998474121094, 23.600000381469727, 5.468000411987305, -26.296001434326172, -2.5920000076293945, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.5857298970222473, -0.5739896297454834, -0.2113126516342163, -0.586962103843689, 0.9013948440551758, -1.1340395212173462, -0.5410425066947937], "tau_dot": [-90.05467987060547, 32.77751922607422, -11.915297508239746, 11.853629112243652, -8.575762748718262, -15.83430004119873, -27.964677810668945], "tau_ext": [-16.812984466552734, -41.59599685668945, 31.823633193969727, 31.354007720947266, 9.525046348571777, -2.997227191925049, -0.1294885277748108], "tcp_pose": [0.6779654026031494, 0.03265993669629097, -0.21498756110668182, -0.002314794808626175, -0.00458790548145771, 0.9998895525932312, 0.01394349243491888], "tcp_vel": [-0.00016464396321680397, -8.279514440800995e-05, -5.1780421927105635e-05, -0.00044105786946602166, 0.0005125540192238986, -9.532213880447671e-05], "flange_pose": [0.6786789894104004, 0.028480535373091698, -0.0650475025177002, -0.002314794808626175, -0.00458790548145771, 0.9998895525932312, 0.01394349243491888], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65963745117188, 15.246578216552734, 28.177932739257812, 0.3312934935092926, -23.95577621459961, 1.7913390398025513], "ext_wrench_in_world": [-107.92689457973856, 15.030415051509177, -27.25662537150803, -0.12155443535181601, -23.898602173641837, -2.4576215419764575]}
+{"timestamp_ns": 1789729888988904911, "elapsed_ms": 8366, "source_timestamp_ns": 1789729888981661755, "q": [0.8362440466880798, -1.8967732191085815, -1.0059092044830322, 1.3811805248260498, -0.16218891739845276, 0.5939711332321167, 0.7041060924530029], "theta": [0.8383093476295471, -1.8948338031768799, -1.0040937662124634, 1.3627713918685913, -0.16278468072414398, 0.5939260721206665, 0.7040841579437256], "dq": [0.00013791648962069303, 0.0008012106409296393, -0.0006457266863435507, -0.0012013142695650458, 0.0015599520411342382, -0.0005764223751612008, -0.0010912222787737846], "dtheta": [3.629371349234134e-05, 0.0004101106896996498, -0.00011297476157778874, 4.426069608598482e-06, -0.00016513452283106744, 0.00044287144555710256, 2.2737584004062228e-05], "tau": [55.689998626708984, 23.51999855041504, 5.496000289916992, -26.32400131225586, -2.5920000076293945, 2.6560001373291016, -0.5200000405311584], "tau_des": [0.5146678686141968, -0.6703672409057617, -0.15776966512203217, -0.5115891695022583, 0.9092199206352234, -1.1729735136032104, -0.5464030504226685], "tau_dot": [77.49720764160156, -54.29920959472656, 70.62833404541016, -23.922842025756836, -15.467801094055176, 29.391952514648438, 18.4302921295166], "tau_ext": [-16.810298919677734, -41.57449722290039, 31.81014633178711, 31.346776962280273, 9.522557258605957, -2.9944612979888916, -0.134602352976799], "tcp_pose": [0.6779654622077942, 0.03265928477048874, -0.2149873524904251, -0.002315405523404479, -0.004586789757013321, 0.999889612197876, 0.013942417688667774], "tcp_vel": [0.00025833482504822314, -0.00012559663446154445, 0.00020196787954773754, 0.0004168538434896618, -0.0004948347341269255, -0.0002951975620817393], "flange_pose": [0.6786792278289795, 0.028480205684900284, -0.06504727154970169, -0.002315405523404479, -0.004586789757013321, 0.999889612197876, 0.013942417688667774], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67012786865234, 15.229692459106445, 28.183570861816406, 0.32407402992248535, -23.95875358581543, 1.7880319356918335], "ext_wrench_in_world": [-107.93725812165283, 15.013776319593367, -27.262583589580068, -0.11434836194709275, -23.901608756408635, -2.4543795292166877]}
+{"timestamp_ns": 1789729889022259880, "elapsed_ms": 8400, "source_timestamp_ns": 1789729889021670892, "q": [0.8362469673156738, -1.8967769145965576, -1.0059093236923218, 1.3811789751052856, -0.16218744218349457, 0.5939629077911377, 0.7041037678718567], "theta": [0.8383122682571411, -1.8948367834091187, -1.0040942430496216, 1.362770438194275, -0.16278347373008728, 0.5939174890518188, 0.7040824294090271], "dq": [0.002072410425171256, 0.0017618151614442468, -0.00018218631157651544, 0.0009694291511550546, -0.0043563987128436565, 0.0010767350904643536, -0.0018936614505946636], "dtheta": [0.00018463605374563485, -0.00028371126973070204, -0.0002742451324593276, -7.67550736782141e-05, -0.0005965691525489092, -0.0013044734951108694, 4.785335113410838e-05], "tau": [55.64999771118164, 23.639999389648438, 5.488000392913818, -26.248001098632812, -2.580000162124634, 2.6560001373291016, -0.5360000133514404], "tau_des": [0.5806906223297119, -0.5623753070831299, -0.18453453481197357, -0.6013453602790833, 0.9252442717552185, -1.1113234758377075, -0.5363858938217163], "tau_dot": [14.370399475097656, 65.64440155029297, 54.67110061645508, -11.644302368164062, 20.602802276611328, -35.76896286010742, -10.35478687286377], "tau_ext": [-16.815298080444336, -41.61541748046875, 31.811092376708984, 31.343204498291016, 9.513614654541016, -2.995832920074463, -0.13151635229587555], "tcp_pose": [0.6779640316963196, 0.03265940025448799, -0.21498684585094452, -0.002316830912604928, -0.004588669165968895, 0.999889612197876, 0.01393921673297882], "tcp_vel": [-7.663039286853746e-05, -0.00030077557312324643, -3.9293390727834776e-05, -0.0015655612805858254, 0.00032462686067447066, 0.0002996981202159077], "flange_pose": [0.6786782145500183, 0.028481286019086838, -0.06504674255847931, -0.002316830912604928, -0.004588669165968895, 0.999889612197876, 0.01393921673297882], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6529312133789, 15.230673789978027, 28.200828552246094, 0.325812965631485, -23.9602108001709, 1.7849799394607544], "ext_wrench_in_world": [-107.9202862094003, 15.014810643948184, -27.279681812108787, -0.11597505621720766, -23.90318258014243, -2.451208148686658]}
+{"timestamp_ns": 1789729889055665264, "elapsed_ms": 8433, "source_timestamp_ns": 1789729889051971912, "q": [0.8362510204315186, -1.8967796564102173, -1.0059102773666382, 1.3811793327331543, -0.16218698024749756, 0.5939605236053467, 0.7041031122207642], "theta": [0.8383163809776306, -1.8948390483856201, -1.0040957927703857, 1.3627707958221436, -0.16278202831745148, 0.593915581703186, 0.7040817141532898], "dq": [0.0009946376085281372, -0.00010306606418453157, -0.00011122745490865782, -0.0013186094583943486, -0.0031637235078960657, -0.00127398781478405, -0.001380845089443028], "dtheta": [0.00034236846840940416, -8.206260827137157e-05, -0.0001794108102330938, -0.0001555650815134868, -0.00032495526829734445, -0.0002897715021390468, 0.0002268805546918884], "tau": [55.65999984741211, 23.559999465942383, 5.51200008392334, -26.332000732421875, -2.572000026702881, 2.6760001182556152, -0.5200000405311584], "tau_des": [0.48466596007347107, -0.6170093417167664, -0.18985199928283691, -0.5183084011077881, 0.9310330748558044, -1.1540486812591553, -0.5398868918418884], "tau_dot": [35.69987869262695, -28.12554931640625, 9.101720809936523, -47.34136962890625, 24.25513458251953, 8.07186508178711, 59.413291931152344], "tau_ext": [-16.812721252441406, -41.616268157958984, 31.816495895385742, 31.355010986328125, 9.509251594543457, -2.9947164058685303, -0.12703755497932434], "tcp_pose": [0.6779638528823853, 0.03265928477048874, -0.2149854302406311, -0.002315836027264595, -0.004589537158608437, 0.9998896718025208, 0.013937152922153473], "tcp_vel": [0.00016262091230601072, -0.00011353680019965395, 0.0002610127266962081, -0.0004785037017427385, -0.00047846193774603307, -0.00013526849215850234], "flange_pose": [0.6786776781082153, 0.02848179079592228, -0.0650453120470047, -0.002315836027264595, -0.004589537158608437, 0.9998896718025208, 0.013937152922153473], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64921569824219, 15.252185821533203, 28.20081901550293, 0.3358858525753021, -23.964941024780273, 1.7887730598449707], "ext_wrench_in_world": [-107.91673721768737, 15.036049905585182, -27.27937018062849, -0.125976326970403, -23.90790851661796, -2.454988189962099]}
+{"timestamp_ns": 1789729889088983087, "elapsed_ms": 8466, "source_timestamp_ns": 1789729889081675356, "q": [0.8362510800361633, -1.896780014038086, -1.0059151649475098, 1.3811795711517334, -0.16218560934066772, 0.5939593315124512, 0.7041031718254089], "theta": [0.8383172154426575, -1.8948396444320679, -1.0041007995605469, 1.3627710342407227, -0.16278034448623657, 0.5939143896102905, 0.7040817141532898], "dq": [0.003625086974352598, -0.0008110724156722426, -0.0009337475057691336, 0.0020377659238874912, 0.000895460310857743, -7.386491051875055e-05, 0.0007983357063494623], "dtheta": [0.00018007926701102406, -0.00016435653378721327, -9.973614214686677e-05, -5.506440720637329e-05, -0.0006414630333893001, -0.0009271943126805127, -0.0006390094640664756], "tau": [55.65999984741211, 23.5, 5.492000102996826, -26.288002014160156, -2.552000045776367, 2.640000104904175, -0.5600000023841858], "tau_des": [0.5502650737762451, -0.5697734951972961, -0.18751594424247742, -0.5797194242477417, 0.9348877668380737, -1.1225045919418335, -0.5252071619033813], "tau_dot": [11.636246681213379, -165.60690307617188, 23.399032592773438, 53.96136474609375, 57.17161560058594, -48.4219970703125, -65.34217834472656], "tau_ext": [-16.84494400024414, -41.58391189575195, 31.801740646362305, 31.348569869995117, 9.50316333770752, -2.995680570602417, -0.12559135258197784], "tcp_pose": [0.6779649257659912, 0.03265659511089325, -0.21498605608940125, -0.0023159170523285866, -0.004587557166814804, 0.9998896718025208, 0.013935488648712635], "tcp_vel": [-3.599765841499902e-05, -0.00018746010027825832, 3.958532033720985e-05, -0.0011558642145246267, 7.23403791198507e-05, 0.0010481703793630004], "flange_pose": [0.6786787509918213, 0.028479596599936485, -0.06504592299461365, -0.0023159170523285866, -0.004587557166814804, 0.9998896718025208, 0.013935488648712635], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62847137451172, 15.238626480102539, 28.219112396240234, 0.3326500654220581, -23.961179733276367, 1.7876251935958862], "ext_wrench_in_world": [-107.89590365384846, 15.023532624771624, -27.298156238795276, -0.1228644334911709, -23.904158611340968, -2.4536706225600917]}
+{"timestamp_ns": 1789729889122273222, "elapsed_ms": 8500, "source_timestamp_ns": 1789729889121701983, "q": [0.8362506031990051, -1.8967819213867188, -1.0059159994125366, 1.3811800479888916, -0.16218537092208862, 0.593963623046875, 0.7041033506393433], "theta": [0.8383172750473022, -1.894840955734253, -1.0041016340255737, 1.3627711534500122, -0.16277916729450226, 0.5939189195632935, 0.7040824294090271], "dq": [0.00033928558696061373, 0.0007904590456746519, 0.0004508315469138324, -0.0002514385269023478, -0.002135309623554349, -0.0019689223263412714, -0.0013907426036894321], "dtheta": [-0.00020162445434834808, -0.0002226962969871238, 2.504010626580566e-05, -0.0002348195994272828, -0.0005263759521767497, 0.00047928656567819417, 0.00039250063127838075], "tau": [55.59000015258789, 23.60999870300293, 5.444000244140625, -26.268001556396484, -2.576000213623047, 2.6560001373291016, -0.527999997138977], "tau_des": [0.5715992450714111, -0.57230544090271, -0.21439217031002045, -0.544340193271637, 0.9210662841796875, -1.1658995151519775, -0.5431810617446899], "tau_dot": [-129.10556030273438, -8.732636451721191, -15.559303283691406, 45.250308990478516, -29.35043716430664, -27.8741397857666, 51.561744689941406], "tau_ext": [-16.82665252685547, -41.602020263671875, 31.822622299194336, 31.354406356811523, 9.493803977966309, -3.0034117698669434, -0.1263907104730606], "tcp_pose": [0.6779651045799255, 0.032657310366630554, -0.21498675644397736, -0.0023146660532802343, -0.004587762989103794, 0.9998896718025208, 0.013935836963355541], "tcp_vel": [0.0001417622115695849, 0.00016302279254887253, 1.236607090504549e-06, -2.962898179248441e-05, -0.0006215095636434853, 1.7815338651416823e-05], "flange_pose": [0.6786786317825317, 0.028480205684900284, -0.06504662334918976, -0.0023146660532802343, -0.004587762989103794, 0.9998896718025208, 0.013935836963355541], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61280059814453, 15.23941707611084, 28.21983528137207, 0.3313024640083313, -23.951446533203125, 1.7834508419036865], "ext_wrench_in_world": [-107.88018161946428, 15.024466673821292, -27.29918686741583, -0.121570605035336, -23.894531702131165, -2.4492498004231797]}
+{"timestamp_ns": 1789729889155586866, "elapsed_ms": 8533, "source_timestamp_ns": 1789729889151675623, "q": [0.8362513184547424, -1.8967829942703247, -1.005919098854065, 1.3811804056167603, -0.16218583285808563, 0.5939652323722839, 0.7041034698486328], "theta": [0.8383176922798157, -1.8948419094085693, -1.0041048526763916, 1.3627712726593018, -0.16277939081192017, 0.5939210653305054, 0.704082190990448], "dq": [-0.0020652737002819777, -0.0008155443938449025, -0.0012579590547829866, 0.0016024308279156685, -0.0005883799167349935, 0.0003609134000726044, -0.0008908531744964421], "dtheta": [-0.00011649001680780202, -0.00038781636976636946, -0.00017703944467939436, -0.0001588877639733255, -6.813764775870368e-05, -0.0017053019255399704, -0.0006600540946237743], "tau": [55.62999725341797, 23.59000015258789, 5.488000392913818, -26.272001266479492, -2.5480000972747803, 2.684000015258789, -0.5480000376701355], "tau_des": [0.6461986899375916, -0.5103070139884949, -0.1899927854537964, -0.6414663791656494, 0.913322925567627, -1.0987299680709839, -0.5288660526275635], "tau_dot": [35.04041290283203, 63.971923828125, -7.161249160766602, 82.65291595458984, 12.937516212463379, 13.381656646728516, -21.879987716674805], "tau_ext": [-16.811002731323242, -41.57994842529297, 31.820175170898438, 31.344757080078125, 9.499957084655762, -3.0058000087738037, -0.12838992476463318], "tcp_pose": [0.677966296672821, 0.032656047493219376, -0.2149866670370102, -0.0023132171481847763, -0.00458710640668869, 0.9998897314071655, 0.01393475104123354], "tcp_vel": [-0.0003161166678182781, -0.00022696182713843882, -0.0003213399031665176, -0.0014644472394138575, 0.0011666027130559087, 0.0008486869046464562], "flange_pose": [0.678679347038269, 0.02847926691174507, -0.065046526491642, -0.0023132171481847763, -0.00458710640668869, 0.9998897314071655, 0.01393475104123354], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.60926818847656, 15.254088401794434, 28.1915225982666, 0.3382844924926758, -23.944902420043945, 1.7830922603607178], "ext_wrench_in_world": [-107.87654929511142, 15.038462416354623, -27.270836433250263, -0.12863532396601618, -23.888070021941736, -2.4486261234582805]}
+{"timestamp_ns": 1789729889188896119, "elapsed_ms": 8566, "source_timestamp_ns": 1789729889181678000, "q": [0.8362513184547424, -1.8967852592468262, -1.0059250593185425, 1.3811798095703125, -0.16218698024749756, 0.593966007232666, 0.7041038870811462], "theta": [0.8383177518844604, -1.8948440551757812, -1.0041106939315796, 1.362770676612854, -0.16278059780597687, 0.5939227342605591, 0.7040829062461853], "dq": [-0.00037673010956496, -0.0011998809641227126, -0.00026854214956983924, -0.00040051687392406166, -0.00418856181204319, 6.499598384834826e-06, -0.00014474004274234176], "dtheta": [6.006883268128149e-05, -0.00017957772070076317, 0.0002718557370826602, -0.00045054289512336254, 2.292255339853e-05, 0.00040259823435917497, 0.0001109767472371459], "tau": [55.64999771118164, 23.53999900817871, 5.468000411987305, -26.30000114440918, -2.5840001106262207, 2.704000234603882, -0.5360000133514404], "tau_des": [0.4915899932384491, -0.5960401892662048, -0.21369770169258118, -0.4884766936302185, 0.9267502427101135, -1.1844836473464966, -0.545301616191864], "tau_dot": [36.17707824707031, -70.41793060302734, 0.3798924684524536, -25.099689483642578, -11.601758003234863, 49.35774230957031, 1.626405119895935], "tau_ext": [-16.81341552734375, -41.585819244384766, 31.821044921875, 31.338346481323242, 9.503874778747559, -3.0079686641693115, -0.1258445680141449], "tcp_pose": [0.6779681444168091, 0.0326535739004612, -0.21498726308345795, -0.002311479998752475, -0.004585855174809694, 0.9998897314071655, 0.0139320595189929], "tcp_vel": [0.00012255138426553458, 0.0003541751648299396, 0.0002474456559866667, 0.0005758673651143909, -0.00062429194804281, 0.00010646772716427222], "flange_pose": [0.6786807179450989, 0.02847759798169136, -0.06504710018634796, -0.002311479998752475, -0.004585855174809694, 0.9998897314071655, 0.0139320595189929], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.60687255859375, 15.244327545166016, 28.17291831970215, 0.33778348565101624, -23.937650680541992, 1.7838798761367798], "ext_wrench_in_world": [-107.8738439019322, 15.028337241291613, -27.25297694524249, -0.12825627169102904, -23.880807676507875, -2.4490855937943943]}
+{"timestamp_ns": 1789729889222277766, "elapsed_ms": 8600, "source_timestamp_ns": 1789729889221740424, "q": [0.8362522721290588, -1.896785855293274, -1.005924105644226, 1.3811801671981812, -0.16218754649162292, 0.5939630270004272, 0.7041026949882507], "theta": [0.8383183479309082, -1.8948452472686768, -1.0041104555130005, 1.3627703189849854, -0.16278034448623657, 0.5939198732376099, 0.7040819525718689], "dq": [0.001873495988547802, -9.696796769276261e-05, 0.0007924378733150661, -0.001688048243522644, -9.037426934810355e-05, -0.0003054303815588355, 0.00011202776659047231], "dtheta": [0.00037148850969970226, 0.0001052152510965243, -5.341448922990821e-05, -0.00020331369887571782, -0.0010463789803907275, -0.00015979984891600907, -0.00010231171472696587], "tau": [55.59000015258789, 23.53999900817871, 5.4720001220703125, -26.268001556396484, -2.572000026702881, 2.6440000534057617, -0.5360000133514404], "tau_des": [0.43242722749710083, -0.6665247678756714, -0.14711593091487885, -0.47546353936195374, 0.9597367644309998, -1.173392415046692, -0.5377271771430969], "tau_dot": [-56.424678802490234, -9.837892532348633, -18.035247802734375, 64.74858856201172, -25.678348541259766, -33.46027755737305, 8.435839653015137], "tau_ext": [-16.790346145629883, -41.56978988647461, 31.817995071411133, 31.35413360595703, 9.504766464233398, -3.00366473197937, -0.12366469204425812], "tcp_pose": [0.6779673099517822, 0.03265371173620224, -0.2149871587753296, -0.0023122255224734545, -0.004587180446833372, 0.9998897910118103, 0.013930919580161572], "tcp_vel": [0.0003179079503752291, -0.00012022803275613114, 0.0004385974316392094, -0.0005930551560595632, -0.0010134174954146147, 0.0005463300622068346], "flange_pose": [0.6786800622940063, 0.028478076681494713, -0.06504698097705841, -0.0023122255224734545, -0.004587180446833372, 0.9998897910118103, 0.013930919580161572], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64613342285156, 15.23344612121582, 28.163715362548828, 0.3352820873260498, -23.943513870239258, 1.7856944799423218], "ext_wrench_in_world": [-107.91303938954559, 15.01649079360273, -27.24378311830161, -0.1256498560617931, -23.88660065407976, -2.4510195050847425]}
+{"timestamp_ns": 1789729889255588480, "elapsed_ms": 8633, "source_timestamp_ns": 1789729889251697435, "q": [0.8362517356872559, -1.8967854976654053, -1.0059218406677246, 1.3811792135238647, -0.16218683123588562, 0.5939612984657288, 0.704103410243988], "theta": [0.8383182883262634, -1.8948453664779663, -1.0041087865829468, 1.362769603729248, -0.16277939081192017, 0.5939186811447144, 0.7040819525718689], "dq": [0.0020974979270249605, -0.0012702298117801547, 0.0019487133249640465, -0.00010333095269743353, -0.0021105571649968624, -0.0009464386384934187, -8.195219561457634e-05], "dtheta": [6.041414508217713e-06, 0.0002208558435086161, 0.0001506813132436946, -3.274163100286387e-05, 0.00046138043398968875, 0.0008890992030501366, -1.688683005340863e-05], "tau": [55.63999938964844, 23.56999969482422, 5.504000186920166, -26.312002182006836, -2.556000232696533, 2.6440000534057617, -0.5480000376701355], "tau_des": [0.520453155040741, -0.6251121759414673, -0.19929547607898712, -0.5091919898986816, 0.9015382528305054, -1.1832401752471924, -0.5453307032585144], "tau_dot": [41.54414367675781, 14.664844512939453, 22.681068420410156, -46.14377975463867, 47.719722747802734, -68.1852035522461, -34.91411209106445], "tau_ext": [-16.782394409179688, -41.579795837402344, 31.814577102661133, 31.330455780029297, 9.505598068237305, -2.997201442718506, -0.12439785152673721], "tcp_pose": [0.6779664754867554, 0.0326547771692276, -0.21498717367649078, -0.0023133435752242804, -0.004587220959365368, 0.9998897314071655, 0.013931624591350555], "tcp_vel": [0.00012585127842612565, 0.0001970580779016018, 0.00015579232422169298, 0.0011470797471702099, -0.00040221275412477553, -0.0003077414585277438], "flange_pose": [0.6786795854568481, 0.02847893536090851, -0.0650470033288002, -0.0023133435752242804, -0.004587220959365368, 0.9998897314071655, 0.013931624591350555], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6606216430664, 15.22265911102295, 28.155410766601562, 0.33297911286354065, -23.952205657958984, 1.7877006530761719], "ext_wrench_in_world": [-107.92745181592748, 15.005369762207051, -27.2354544892877, -0.12328024669501722, -23.895208156370597, -2.453310771237447]}
+{"timestamp_ns": 1789729889288900583, "elapsed_ms": 8666, "source_timestamp_ns": 1789729889281683443, "q": [0.8362526297569275, -1.8967863321304321, -1.0059216022491455, 1.3811802864074707, -0.16218635439872742, 0.5939586758613586, 0.7041020393371582], "theta": [0.8383193612098694, -1.8948464393615723, -1.0041086673736572, 1.3627703189849854, -0.16277916729450226, 0.5939160585403442, 0.7040814757347107], "dq": [-0.0018350658938288689, 0.0002811015001498163, -0.0005479581304825842, -0.00046564635704271495, 0.0002694487338885665, -0.00017087433661799878, 0.0015226365067064762], "dtheta": [-1.731779775582254e-05, 9.978547313949093e-05, -0.00011642622121144086, 9.282866813009605e-05, 0.00034105931990779936, -0.0004826239310204983, 0.0003428371564950794], "tau": [55.62999725341797, 23.600000381469727, 5.468000411987305, -26.296001434326172, -2.5840001106262207, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.6001725196838379, -0.5956206321716309, -0.16625095903873444, -0.5956628918647766, 0.8956106305122375, -1.128248929977417, -0.550891637802124], "tau_dot": [-18.756500244140625, -57.326881408691406, -48.843727111816406, -10.26246452331543, -53.68548583984375, -26.5361270904541, -6.740395545959473], "tau_ext": [-16.819915771484375, -41.60222625732422, 31.795490264892578, 31.351774215698242, 9.50146198272705, -2.997788667678833, -0.12367191910743713], "tcp_pose": [0.6779653429985046, 0.032654620707035065, -0.2149876058101654, -0.002314504235982895, -0.004588286392390728, 0.9998897314071655, 0.013930420391261578], "tcp_vel": [-0.00011098243703600019, -0.0001635759836062789, -0.00011295112199150026, -0.00015913546667434275, 0.000618127582129091, -0.0006543088238686323], "flange_pose": [0.6786788105964661, 0.028479142114520073, -0.06504742801189423, -0.002314504235982895, -0.004588286392390728, 0.9998897314071655, 0.013930420391261578], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6527099609375, 15.219980239868164, 28.16890525817871, 0.3344748616218567, -23.958463668823242, 1.7891110181808472], "ext_wrench_in_world": [-107.91967497363798, 15.00284100017631, -27.248844000942775, -0.1246793839090515, -23.90144422519221, -2.454830348519069]}
+{"timestamp_ns": 1789729889322261292, "elapsed_ms": 8700, "source_timestamp_ns": 1789729889321706651, "q": [0.8362545967102051, -1.8967877626419067, -1.005921721458435, 1.381181001663208, -0.1621861457824707, 0.5939592123031616, 0.7041010856628418], "theta": [0.83832186460495, -1.8948477506637573, -1.0041084289550781, 1.3627707958221436, -0.16277939081192017, 0.5939162969589233, 0.7040805220603943], "dq": [-0.0002839301014319062, 0.0002384016552241519, 0.0003699228691402823, 0.00148249720223248, 0.0020301630720496178, -0.00045286479871720076, -0.0003245323314331472], "dtheta": [6.544277130160481e-05, -0.0006684943218715489, -4.381716644275002e-05, -0.00011297206219751388, -0.0006683231913484633, 7.70886690588668e-05, 0.0007543285610154271], "tau": [55.59000015258789, 23.549999237060547, 5.4760003089904785, -26.304000854492188, -2.580000162124634, 2.6760001182556152, -0.5320000052452087], "tau_des": [0.5751993656158447, -0.5267285108566284, -0.23256312310695648, -0.5667353868484497, 0.931625485420227, -1.154236912727356, -0.544359028339386], "tau_dot": [-120.43730926513672, -47.959869384765625, -54.2680778503418, 26.926313400268555, -25.212238311767578, 47.736724853515625, 16.724271774291992], "tau_ext": [-16.815879821777344, -41.620601654052734, 31.80792808532715, 31.35753059387207, 9.501401901245117, -3.000581979751587, -0.1238015741109848], "tcp_pose": [0.6779652237892151, 0.03265491500496864, -0.21498697996139526, -0.0023136655800044537, -0.004589179065078497, 0.9998897910118103, 0.013929872773587704], "tcp_vel": [-2.4674153564774315e-07, 0.00015955445996951312, -4.2153551476076245e-05, -0.0008273344137705863, -0.0005760701023973525, 1.4282511074270587e-05], "flange_pose": [0.6786783933639526, 0.028479600325226784, -0.06504679471254349, -0.0023136655800044537, -0.004589179065078497, 0.9998897910118103, 0.013929872773587704], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62592315673828, 15.244154930114746, 28.203195571899414, 0.34288474917411804, -23.961130142211914, 1.791285514831543], "ext_wrench_in_world": [-107.89325286431979, 15.027987425469462, -27.28276774149146, -0.13302851916104183, -23.90412962913353, -2.4570147589194957]}
+{"timestamp_ns": 1789729889355585704, "elapsed_ms": 8733, "source_timestamp_ns": 1789729889351680871, "q": [0.8362548351287842, -1.8967878818511963, -1.0059218406677246, 1.3811808824539185, -0.16218534111976624, 0.593959629535675, 0.7040997743606567], "theta": [0.8383223414421082, -1.8948475122451782, -1.0041087865829468, 1.3627711534500122, -0.16277916729450226, 0.5939165353775024, 0.7040793299674988], "dq": [-0.0006549046956934035, 0.0013879096368327737, -0.00029027697746641934, -0.00024315007613040507, -0.0005821426748298109, 0.000212331855436787, -0.0013963669771328568], "dtheta": [-0.0005987309268675745, -0.00011167285265401006, 0.00019521590729709715, 4.723458914668299e-05, -0.0005529358168132603, 0.0003942347248084843, -0.0012098037404939532], "tau": [55.64999771118164, 23.600000381469727, 5.488000392913818, -26.304000854492188, -2.5440001487731934, 2.6640000343322754, -0.5640000104904175], "tau_des": [0.6714452505111694, -0.4997888207435608, -0.2519976794719696, -0.614905059337616, 0.9126648902893066, -1.1486780643463135, -0.5053662061691284], "tau_dot": [-23.767488479614258, 101.3090591430664, -18.423635482788086, -35.11183166503906, 11.751991271972656, 11.294328689575195, -51.19976806640625], "tau_ext": [-16.842390060424805, -41.597320556640625, 31.79073143005371, 31.349225997924805, 9.502819061279297, -2.9989993572235107, -0.12113330513238907], "tcp_pose": [0.6779653429985046, 0.032655019313097, -0.21498684585094452, -0.0023135205265134573, -0.004589593503624201, 0.9998897314071655, 0.0139301847666502], "tcp_vel": [-9.340746328234673e-05, 0.00015487248310819268, -0.0003590378037188202, -6.507054786197841e-05, 6.070863310014829e-05, 0.0017261318862438202], "flange_pose": [0.6786784529685974, 0.02847961150109768, -0.06504667550325394, -0.0023135205265134573, -0.004589593503624201, 0.9998897314071655, 0.0139301847666502], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62254333496094, 15.239649772644043, 28.198707580566406, 0.3435525596141815, -23.96014404296875, 1.7917660474777222], "ext_wrench_in_world": [-107.88981506200146, 15.023318785193977, -27.278445096050486, -0.13368713925001374, -23.903135314872053, -2.45747967593589]}
+{"timestamp_ns": 1789729889388892798, "elapsed_ms": 8766, "source_timestamp_ns": 1789729889381820166, "q": [0.8362553715705872, -1.8967881202697754, -1.0059220790863037, 1.3811804056167603, -0.16218572854995728, 0.5939609408378601, 0.704102098941803], "theta": [0.8383229374885559, -1.8948477506637573, -1.0041090250015259, 1.3627711534500122, -0.16278034448623657, 0.593917965888977, 0.7040817141532898], "dq": [-0.0010940158972516656, -7.263646693900228e-05, 5.193506513023749e-05, -0.0012107966467738152, -0.002094854833558202, 0.002103565726429224, -0.0015746523858979344], "dtheta": [-2.860359199985396e-05, 0.00045018907985650003, 9.269205474993214e-05, -0.0002508644247427583, -9.073939872905612e-05, 0.0007002191850915551, 0.0008701003971509635], "tau": [55.599998474121094, 23.619998931884766, 5.4800004959106445, -26.296001434326172, -2.572000026702881, 2.6680002212524414, -0.5320000052452087], "tau_des": [0.4721890389919281, -0.6952529549598694, -0.17795579135417938, -0.45891308784484863, 0.9079063534736633, -1.2019017934799194, -0.5595182180404663], "tau_dot": [-61.52914047241211, 39.94932174682617, 9.9353666305542, 0.023631548509001732, 11.903130531311035, 16.882112503051758, 8.517550468444824], "tau_ext": [-16.812559127807617, -41.60890197753906, 31.805952072143555, 31.348234176635742, 9.501935005187988, -2.9978082180023193, -0.12405141443014145], "tcp_pose": [0.6779659390449524, 0.03265523537993431, -0.2149861454963684, -0.0023124406579881907, -0.004588521551340818, 0.9998897910118103, 0.013930478133261204], "tcp_vel": [0.0003242330567445606, 7.07160506863147e-05, 0.00031828228384256363, 0.0009348746971227229, -0.0006998629542067647, -0.0011125999735668302], "flange_pose": [0.6786787509918213, 0.028479736298322678, -0.06504597514867783, -0.0023124406579881907, -0.004588521551340818, 0.9998897910118103, 0.013930478133261204], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61466979980469, 15.242327690124512, 28.206859588623047, 0.34311702847480774, -23.9594783782959, 1.791824221611023], "ext_wrench_in_world": [-107.88191436951008, 15.0265460548677, -27.286775240344216, -0.13330475028136468, -23.90246255197614, -2.45753561344299]}
+{"timestamp_ns": 1789729889422264216, "elapsed_ms": 8800, "source_timestamp_ns": 1789729889421828904, "q": [0.8362550735473633, -1.8967899084091187, -1.0059233903884888, 1.3811804056167603, -0.1621892899274826, 0.59395831823349, 0.7041016221046448], "theta": [0.8383228182792664, -1.894849419593811, -1.0041102170944214, 1.3627713918685913, -0.16278420388698578, 0.5939160585403442, 0.7040817141532898], "dq": [-0.0004850261611863971, 0.0010870312107726932, 0.0008329927804879844, 0.0012554910499602556, -0.0007211882621049881, -0.0023129431065171957, -0.0014894431224092841], "dtheta": [0.0003847764746751636, -0.00021604409266728908, -0.00018088625802192837, 0.00018390353943686932, -0.0015919721918180585, 0.000861724722199142, -0.00028894434217363596], "tau": [55.59000015258789, 23.51999855041504, 5.520000457763672, -26.30000114440918, -2.5920000076293945, 2.640000104904175, -0.5200000405311584], "tau_des": [0.4562634527683258, -0.6172069907188416, -0.19024813175201416, -0.4863143265247345, 0.9708945155143738, -1.1931400299072266, -0.52236008644104], "tau_dot": [-88.99700927734375, -62.543827056884766, 72.16606140136719, -3.6318042278289795, -31.243148803710938, -71.64727783203125, 33.07746887207031], "tau_ext": [-16.796276092529297, -41.62234878540039, 31.811609268188477, 31.342166900634766, 9.516752243041992, -2.999478816986084, -0.1283608078956604], "tcp_pose": [0.6779658198356628, 0.03265439718961716, -0.21498696506023407, -0.0023123975843191147, -0.00458990503102541, 0.9998897910118103, 0.013927438296377659], "tcp_vel": [0.0003907680220436305, -4.7095098125282675e-05, 0.0003336627269163728, -0.0008045631693676114, -0.0018347544828429818, 0.0011985140154138207], "flange_pose": [0.6786786317825317, 0.028479808941483498, -0.0650467574596405, -0.0023123975843191147, -0.00458990503102541, 0.9998897910118103, 0.013927438296377659], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62053680419922, 15.266889572143555, 28.201705932617188, 0.35000863671302795, -23.95950698852539, 1.7924060821533203], "ext_wrench_in_world": [-107.88801804199878, 15.050434163475888, -27.281020347524812, -0.1401316865703494, -23.902553949628288, -2.4579419313399278]}
+{"timestamp_ns": 1789729889455583229, "elapsed_ms": 8833, "source_timestamp_ns": 1789729889451774616, "q": [0.836254358291626, -1.896790623664856, -1.0059237480163574, 1.381179690361023, -0.16218891739845276, 0.5939537286758423, 0.7041003704071045], "theta": [0.8383228182792664, -1.8948503732681274, -1.0041110515594482, 1.3627707958221436, -0.16278468072414398, 0.5939115285873413, 0.7040814757347107], "dq": [-0.00032004370586946607, -0.0003672213642857969, 0.0013988780556246638, 0.001577272778376937, 0.0012105414643883705, -0.001311734551563859, -0.0011502598645165563], "dtheta": [-8.034222992137074e-05, -0.0003490113012958318, -0.0004244889132678509, 4.606555376085453e-05, -0.0006772455526515841, -0.0001250789500772953, -0.0003990469267591834], "tau": [55.59000015258789, 23.6299991607666, 5.484000205993652, -26.32000160217285, -2.620000123977661, 2.684000015258789, -0.5240000486373901], "tau_des": [0.6091783046722412, -0.549228847026825, -0.17261537909507751, -0.597108006477356, 0.9327356815338135, -1.1378376483917236, -0.5256642699241638], "tau_dot": [-50.32998275756836, 87.14396667480469, -18.101356506347656, -26.269704818725586, -54.85850143432617, 65.92762756347656, 58.91877746582031], "tau_ext": [-16.819488525390625, -41.583133697509766, 31.79446792602539, 31.345537185668945, 9.52790641784668, -2.9956016540527344, -0.13085004687309265], "tcp_pose": [0.677964985370636, 0.03265378996729851, -0.21498790383338928, -0.00231423182412982, -0.004590480122715235, 0.9998897910118103, 0.01392587274312973], "tcp_vel": [8.201049058698118e-05, -0.0002073925279546529, -0.00016049800615292042, -0.0010567038552835584, -0.00030767120188102126, 0.0007207724265754223], "flange_pose": [0.6786783933639526, 0.028479674831032753, -0.06504768878221512, -0.00231423182412982, -0.004590480122715235, 0.9998897910118103, 0.01392587274312973], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63473510742188, 15.242814064025879, 28.197795867919922, 0.3388284146785736, -23.961692810058594, 1.7924082279205322], "ext_wrench_in_world": [-107.9020949648858, 15.025912778588145, -27.277373799602884, -0.12891219832405565, -23.9046433163262, -2.4579796252346586]}
+{"timestamp_ns": 1789729889488918530, "elapsed_ms": 8866, "source_timestamp_ns": 1789729889481854357, "q": [0.8362546563148499, -1.8967911005020142, -1.0059233903884888, 1.3811800479888916, -0.1621864140033722, 0.5939525961875916, 0.7040994167327881], "theta": [0.8383231163024902, -1.894851565361023, -1.0041106939315796, 1.3627703189849854, -0.16278299689292908, 0.5939105749130249, 0.7040807604789734], "dq": [0.0005025744321756065, -0.00021450332133099437, 0.0020962718408554792, 0.002288470044732094, 0.000922780076507479, 0.0013814065605401993, 0.00043120188638567924], "dtheta": [-0.0002167554630432278, -6.011240839143284e-05, 5.9392805269453675e-05, 6.404238956747577e-05, 0.0004151724569965154, 0.0005474744248203933, -0.0012999423779547215], "tau": [55.59000015258789, 23.579999923706055, 5.488000392913818, -26.288002014160156, -2.6120002269744873, 2.6680002212524414, -0.5240000486373901], "tau_des": [0.6239985227584839, -0.5222886800765991, -0.24953672289848328, -0.5912913680076599, 0.8952091336250305, -1.1537699699401855, -0.5101635456085205], "tau_dot": [-135.46481323242188, 34.385765075683594, -10.653311729431152, 22.61765480041504, -22.877119064331055, 15.702465057373047, 64.0254898071289], "tau_ext": [-16.8175106048584, -41.59430694580078, 31.80209732055664, 31.35824203491211, 9.533469200134277, -3.0010478496551514, -0.13026779890060425], "tcp_pose": [0.6779641509056091, 0.03265409916639328, -0.21498827636241913, -0.0023153689689934254, -0.004590580239892006, 0.9998897910118103, 0.013926157727837563], "tcp_vel": [-6.19020065641962e-05, 0.00015376789087895304, -0.00016186617722269148, 0.0005786770489066839, 6.699513323837891e-05, 0.0011481771944090724], "flange_pose": [0.6786778569221497, 0.02847990021109581, -0.06504806876182556, -0.0023153689689934254, -0.004590580239892006, 0.9998897910118103, 0.013926157727837563], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65799713134766, 15.221572875976562, 28.19082260131836, 0.3292008638381958, -23.9619083404541, 1.7914868593215942], "ext_wrench_in_world": [-107.92519444139606, 15.004262018691266, -27.270636812370793, -0.11927888539373918, -23.90479404408073, -2.45712106941829]}
+{"timestamp_ns": 1789729889522257371, "elapsed_ms": 8900, "source_timestamp_ns": 1789729889521781443, "q": [0.8362560272216797, -1.8967909812927246, -1.0059232711791992, 1.3811795711517334, -0.16218465566635132, 0.5939514636993408, 0.7040990591049194], "theta": [0.8383243680000305, -1.8948512077331543, -1.0041100978851318, 1.362769603729248, -0.16278034448623657, 0.5939091444015503, 0.7040802836418152], "dq": [0.00016726518515497446, -0.0024905214086174965, 0.0006483272882178426, -0.001578044262714684, -0.00409663887694478, -0.0023452755995094776, 0.0009043165482580662], "dtheta": [-0.0004323902539908886, 0.0001488278794568032, 0.0001689061027718708, 3.643957825261168e-05, 0.0005039158859290183, -0.00043950005783699453, -0.0008462066180072725], "tau": [55.62999725341797, 23.600000381469727, 5.500000476837158, -26.308000564575195, -2.576000213623047, 2.680000066757202, -0.5520000457763672], "tau_des": [0.6775636076927185, -0.527446448802948, -0.24367563426494598, -0.6318020224571228, 0.8741024732589722, -1.1266324520111084, -0.520767331123352], "tau_dot": [-75.42276000976562, 34.75229263305664, 27.085378646850586, 22.540504455566406, 9.17936897277832, 17.542770385742188, -16.03272819519043], "tau_ext": [-16.826234817504883, -41.61802291870117, 31.79936408996582, 31.349716186523438, 9.519444465637207, -2.996335029602051, -0.1285519301891327], "tcp_pose": [0.6779641509056091, 0.03265414759516716, -0.2149873822927475, -0.0023154551163315773, -0.004590245429426432, 0.9998897910118103, 0.013926560990512371], "tcp_vel": [-0.0002743992081377655, 8.33905505714938e-06, -0.00034739376860670745, 0.00022665126016363502, 0.0011024525156244636, 0.0006014196551404893], "flange_pose": [0.6786778569221497, 0.02847982756793499, -0.06504718214273453, -0.0023154551163315773, -0.004590245429426432, 0.9998897910118103, 0.013926560990512371], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65960693359375, 15.229413986206055, 28.192293167114258, 0.3323463201522827, -23.964073181152344, 1.792750597000122], "ext_wrench_in_world": [-107.92687764270883, 15.01221993180923, -27.27184893795095, -0.1224269041008037, -23.90694980645347, -2.4584496773484505]}
+{"timestamp_ns": 1789729889555621259, "elapsed_ms": 8933, "source_timestamp_ns": 1789729889551760402, "q": [0.8362573385238647, -1.8967914581298828, -1.005922794342041, 1.3811800479888916, -0.16218529641628265, 0.5939524173736572, 0.7040996551513672], "theta": [0.8383254408836365, -1.8948519229888916, -1.004110336303711, 1.3627698421478271, -0.16278012096881866, 0.5939096212387085, 0.7040802836418152], "dq": [-0.0010929374257102609, -0.0011638642754405737, 0.000350277143297717, 0.0022254681680351496, 0.0007705532480031252, -0.0010601362446323037, 0.0009287239518016577], "dtheta": [0.0004296543193049729, 2.7062042136094533e-05, -0.0004104770196136087, 8.559642446925864e-05, 0.00041465176036581397, -8.227537182392552e-05, -0.0007156012579798698], "tau": [55.66999816894531, 23.6299991607666, 5.4800004959106445, -26.296001434326172, -2.580000162124634, 2.6720001697540283, -0.5200000405311584], "tau_des": [0.4952436685562134, -0.6249139308929443, -0.1797288954257965, -0.5214166045188904, 0.9087997078895569, -1.1648037433624268, -0.5302416682243347], "tau_dot": [34.260963439941406, 31.36920166015625, -8.496109962463379, 0.2854432761669159, 13.788287162780762, -1.2782443761825562, 58.93625259399414], "tau_ext": [-16.8075008392334, -41.60381317138672, 31.78829002380371, 31.34092903137207, 9.50613021850586, -2.9980030059814453, -0.1265062689781189], "tcp_pose": [0.6779642105102539, 0.032654549926519394, -0.2149866819381714, -0.0023145386949181557, -0.004590459633618593, 0.9998897910118103, 0.013926495797932148], "tcp_vel": [0.00013132902677170932, -0.0002345355460420251, 0.00019505959062371403, -8.389382855966687e-05, -0.000218745248275809, 0.00019441980111878365], "flange_pose": [0.6786776781082153, 0.028480250388383865, -0.06504647433757782, -0.0023145386949181557, -0.004590459633618593, 0.9998897910118103, 0.013926495797932148], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63675689697266, 15.240052223205566, 28.21204948425293, 0.340319961309433, -23.964981079101562, 1.7928119897842407], "ext_wrench_in_world": [-107.90417564884541, 15.02356781196613, -27.291604036925413, -0.13037798051151805, -23.90792966355641, -2.4584977960358434]}
+{"timestamp_ns": 1789729889588934223, "elapsed_ms": 8966, "source_timestamp_ns": 1789729889581823394, "q": [0.836258053779602, -1.8967941999435425, -1.0059237480163574, 1.381179928779602, -0.16218601167201996, 0.5939529538154602, 0.7040995359420776], "theta": [0.8383265733718872, -1.894853949546814, -1.004111409187317, 1.3627694845199585, -0.16278059780597687, 0.5939098596572876, 0.7040807604789734], "dq": [0.0025988509878516197, 0.0005701977061107755, 0.0014217424904927611, -0.00026507623260840774, -0.002035974757745862, 0.0012377317762002349, 0.0016713698860257864], "dtheta": [0.00016142016102094203, -0.00016695477825123817, 4.068039561389014e-05, -0.0001611126645002514, -0.00016142736421898007, 0.0006230418221093714, 1.4316259694169275e-05], "tau": [55.59000015258789, 23.5, 5.468000411987305, -26.304000854492188, -2.6080000400543213, 2.6560001373291016, -0.5160000324249268], "tau_des": [0.5031222701072693, -0.5867358446121216, -0.25090914964675903, -0.49751585721969604, 0.9174947738647461, -1.1912462711334229, -0.5315243601799011], "tau_dot": [-23.099239349365234, -186.45358276367188, -41.417816162109375, -3.025723695755005, -65.03520202636719, -44.89400100708008, 48.885597229003906], "tau_ext": [-16.803749084472656, -41.6197395324707, 31.807336807250977, 31.34486198425293, 9.502910614013672, -2.9978599548339844, -0.12385110557079315], "tcp_pose": [0.6779642105102539, 0.032654888927936554, -0.2149868905544281, -0.002313614822924137, -0.004591336473822594, 0.9998898506164551, 0.013925142586231232], "tcp_vel": [0.0001777871511876583, 0.00018944739713333547, 0.00021824901341460645, 0.0003018579736817628, -0.0008376056794077158, 0.00017527375894133002], "flange_pose": [0.6786773800849915, 0.02848099358379841, -0.06504667550325394, -0.002313614822924137, -0.004591336473822594, 0.9998898506164551, 0.013925142586231232], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62521362304688, 15.257532119750977, 28.219829559326172, 0.34924596548080444, -23.965539932250977, 1.7937065362930298], "ext_wrench_in_world": [-107.8928039514097, 15.041102804214583, -27.299189659856893, -0.13925659371175814, -23.908552767607087, -2.459303211626497]}
+{"timestamp_ns": 1789729889622259415, "elapsed_ms": 9000, "source_timestamp_ns": 1789729889621795536, "q": [0.8362583518028259, -1.896794080734253, -1.0059301853179932, 1.3811798095703125, -0.16218750178813934, 0.5939541459083557, 0.7041012048721313], "theta": [0.8383269309997559, -1.8948538303375244, -1.0041178464889526, 1.3627698421478271, -0.16278178989887238, 0.5939112901687622, 0.7040817141532898], "dq": [0.0020029700826853514, -0.0002519692643545568, -6.307759758783504e-05, -0.0014545696321874857, -0.001186070847325027, 0.0005658775917254388, -0.0012082717148587108], "dtheta": [-0.0006314904312603176, -0.0002921318809967488, -0.0005940692499279976, 0.00023137149401009083, 9.668220445746556e-05, -9.534165292279795e-05, -8.93067626748234e-05], "tau": [55.59000015258789, 23.60999870300293, 5.492000102996826, -26.30000114440918, -2.572000026702881, 2.6720001697540283, -0.5320000052452087], "tau_des": [0.7325625419616699, -0.5316298604011536, -0.13823290169239044, -0.6620858907699585, 0.8935120701789856, -1.1253260374069214, -0.5438835620880127], "tau_dot": [-56.99870681762695, 53.387107849121094, 40.112483978271484, 22.1552734375, 8.036401748657227, 8.690918922424316, 27.728607177734375], "tau_ext": [-16.82549285888672, -41.58565902709961, 31.79462242126465, 31.35129737854004, 9.514494895935059, -3.0031776428222656, -0.12467637658119202], "tcp_pose": [0.6779668927192688, 0.032651469111442566, -0.2149866670370102, -0.0023114874493330717, -0.004588632378727198, 0.9998898506164551, 0.013923103921115398], "tcp_vel": [-0.0001369694946333766, -0.00029406516114249825, -0.0006695202318951488, -0.0007305282633751631, 0.0007533624884672463, -0.00014673973782919347], "flange_pose": [0.6786794662475586, 0.02847817912697792, -0.06504642963409424, -0.0023114874493330717, -0.004588632378727198, 0.9998898506164551, 0.013923103921115398], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64363098144531, 15.229683876037598, 28.194005966186523, 0.33800646662712097, -23.961288452148438, 1.791153073310852], "ext_wrench_in_world": [-107.91064723769165, 15.012855589902195, -27.274583663810404, -0.12816445330384854, -23.90427954569559, -2.4565860995950213]}
+{"timestamp_ns": 1789729889655585817, "elapsed_ms": 9033, "source_timestamp_ns": 1789729889651752087, "q": [0.8362584710121155, -1.8967950344085693, -1.0059324502944946, 1.3811792135238647, -0.16218701004981995, 0.5939551591873169, 0.7041007280349731], "theta": [0.8383272290229797, -1.8948546648025513, -1.0041205883026123, 1.3627700805664062, -0.16278178989887238, 0.5939117670059204, 0.7040812373161316], "dq": [-4.58432623418048e-05, -0.00021511460363399237, 0.00018564530182629824, 0.0015441084979102015, 0.0014256722060963511, -5.290432454785332e-05, -0.0011544456938281655], "dtheta": [-8.700949365447741e-06, 0.0004464152443688363, -0.0004178262024652213, -0.0004740396107081324, 0.0006073071854189038, 0.000738315109629184, -0.00016110212891362607], "tau": [55.64999771118164, 23.559999465942383, 5.424000263214111, -26.328001022338867, -2.568000078201294, 2.6680002212524414, -0.5080000162124634], "tau_des": [0.44612640142440796, -0.728365957736969, -0.10937117785215378, -0.431029736995697, 0.9084970355033875, -1.2128210067749023, -0.5535496473312378], "tau_dot": [53.833885192871094, -56.34506607055664, -70.41490936279297, -40.3647346496582, 78.30491638183594, -20.844881057739258, 85.66952514648438], "tau_ext": [-16.8031005859375, -41.590980529785156, 31.819929122924805, 31.342248916625977, 9.51723575592041, -3.0006844997406006, -0.12688103318214417], "tcp_pose": [0.6779677867889404, 0.03265078738331795, -0.2149866819381714, -0.002310605254024267, -0.0045881918631494045, 0.9998898506164551, 0.013922668993473053], "tcp_vel": [0.0004973654286004603, -0.00011188270582351834, 0.0003490755334496498, 0.0011977034155279398, -0.0007313039968721569, -0.0008614094695076346], "flange_pose": [0.6786800622940063, 0.028477627784013748, -0.06504643708467484, -0.002310605254024267, -0.0045881918631494045, 0.9998898506164551, 0.013922668993473053], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64329528808594, 15.240023612976074, 28.187578201293945, 0.3375120759010315, -23.95568084716797, 1.7910176515579224], "ext_wrench_in_world": [-107.91031378956728, 15.023089096343966, -27.268074315885052, -0.12773782041395848, -23.898675556267364, -2.456276284632111]}
+{"timestamp_ns": 1789729889688891410, "elapsed_ms": 9066, "source_timestamp_ns": 1789729889681754014, "q": [0.8362582325935364, -1.8967998027801514, -1.0059326887130737, 1.3811792135238647, -0.1621878743171692, 0.5939520597457886, 0.7041015028953552], "theta": [0.8383272290229797, -1.8948593139648438, -1.0041208267211914, 1.3627700805664062, -0.16278274357318878, 0.5939086675643921, 0.7040817141532898], "dq": [0.0002454137138556689, 0.0015468003693968058, -0.0006132164853625, -0.0029565475415438414, -0.0004512291634455323, 0.0007520692888647318, -0.0024132058024406433], "dtheta": [0.00012620649067685008, -0.000515360152348876, 9.173040598398075e-05, 0.00027856469387188554, 0.0009143127826973796, -0.0020192675292491913, 0.00047703299787826836], "tau": [55.63999938964844, 23.600000381469727, 5.468000411987305, -26.308000564575195, -2.580000162124634, 2.6720001697540283, -0.527999997138977], "tau_des": [0.6992270946502686, -0.45944762229919434, -0.24207469820976257, -0.6961328387260437, 0.875278890132904, -1.081587553024292, -0.5484225153923035], "tau_dot": [110.11143493652344, 32.607139587402344, 13.40721607208252, 4.822328090667725, 17.88707160949707, 10.60303020477295, 6.677734851837158], "tau_ext": [-16.818376541137695, -41.61039352416992, 31.838756561279297, 31.3557071685791, 9.525808334350586, -3.0016112327575684, -0.13020813465118408], "tcp_pose": [0.6779661178588867, 0.03265144303441048, -0.21498854458332062, -0.0023116685915738344, -0.004589549265801907, 0.9998899102210999, 0.01391952857375145], "tcp_vel": [-0.000751122017391026, -0.00010553036554483697, -0.0004914257442578673, -0.0012395349331200123, 0.0021735262125730515, -0.0004819116438739002], "flange_pose": [0.6786786913871765, 0.028479227796196938, -0.06504827737808228, -0.0023116685915738344, -0.004589549265801907, 0.9998899102210999, 0.01391952857375145], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67330932617188, 15.247118949890137, 28.179241180419922, 0.33429279923439026, -23.958309173583984, 1.78941011428833], "ext_wrench_in_world": [-107.94044889571978, 15.029203076552268, -27.259280219773263, -0.1244262673140297, -23.90133350293729, -2.454606602929566]}
+{"timestamp_ns": 1789729889722253319, "elapsed_ms": 9100, "source_timestamp_ns": 1789729889721786081, "q": [0.8362582921981812, -1.8968008756637573, -1.0059313774108887, 1.3811784982681274, -0.16218771040439606, 0.5939489603042603, 0.7041011452674866], "theta": [0.8383277654647827, -1.8948607444763184, -1.0041207075119019, 1.3627691268920898, -0.16278252005577087, 0.5939065217971802, 0.7040812373161316], "dq": [0.000344636122463271, 0.0006547178491018713, -0.000567879353184253, -0.0024166966322809458, -0.00034798550768755376, 0.00037186002009548247, -0.0009624602971598506], "dtheta": [3.281121826148592e-05, 0.00011228697985643521, -0.00023295146820601076, 0.00014614799874834716, -0.001114539336413145, -0.0004914891324006021, 0.00019581126980483532], "tau": [55.57999801635742, 23.549999237060547, 5.460000038146973, -26.336000442504883, -2.6040000915527344, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.5678352117538452, -0.6158651113510132, -0.15775179862976074, -0.569521963596344, 0.9327402114868164, -1.1441434621810913, -0.5379024147987366], "tau_dot": [-28.923175811767578, 43.511138916015625, -34.82719802856445, -46.78541564941406, -60.61326599121094, -21.862117767333984, 9.411307334899902], "tau_ext": [-16.803768157958984, -41.576087951660156, 31.817737579345703, 31.35091209411621, 9.52000904083252, -2.9975106716156006, -0.12633661925792694], "tcp_pose": [0.6779650449752808, 0.03265216201543808, -0.2149888277053833, -0.0023128001485019922, -0.004590482916682959, 0.9998899102210999, 0.01391878817230463], "tcp_vel": [0.00011754123988794163, -0.00034534133737906814, 1.3108393432048615e-05, -0.001163674402050674, -0.00022947060642763972, 0.00021872455545235425], "flange_pose": [0.6786779761314392, 0.02848017029464245, -0.06504855304956436, -0.0023128001485019922, -0.004590482916682959, 0.9998899102210999, 0.01391878817230463], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6911392211914, 15.215889930725098, 28.160551071166992, 0.3217458426952362, -23.958967208862305, 1.7878698110580444], "ext_wrench_in_world": [-107.95799372199677, 14.997056983365251, -27.241168901733595, -0.11182666763566347, -23.901921993977304, -2.4531058587336365]}
+{"timestamp_ns": 1789729889755550704, "elapsed_ms": 9133, "source_timestamp_ns": 1789729889751744402, "q": [0.8362588286399841, -1.896801233291626, -1.0059311389923096, 1.3811781406402588, -0.16218551993370056, 0.5939481258392334, 0.7041003108024597], "theta": [0.8383285403251648, -1.8948609828948975, -1.0041205883026123, 1.3627687692642212, -0.16278059780597687, 0.5939058065414429, 0.7040802836418152], "dq": [-0.0030475135426968336, 0.0027842663694173098, 0.0003259591176174581, -0.0006537006120197475, 0.0009012686205096543, -0.00041407463140785694, -0.001513990806415677], "dtheta": [0.00010766396735562012, 0.00012748516746796668, -2.945765845652204e-05, 0.0002959184639621526, -0.0005628990475088358, 0.00019995875481981784, 0.0003934057313017547], "tau": [55.57999801635742, 23.619998931884766, 5.500000476837158, -26.288002014160156, -2.568000078201294, 2.684000015258789, -0.5560000538825989], "tau_des": [0.5598733425140381, -0.6084620952606201, -0.19926674664020538, -0.555508553981781, 0.9132887721061707, -1.1621975898742676, -0.5424537062644958], "tau_dot": [-188.06549072265625, 206.3489532470703, 21.62193489074707, 68.8368148803711, 71.77571868896484, 40.26403045654297, -35.999229431152344], "tau_ext": [-16.821075439453125, -41.5911750793457, 31.80523109436035, 31.355257034301758, 9.514966011047363, -2.998514413833618, -0.12494488060474396], "tcp_pose": [0.6779646873474121, 0.03265250101685524, -0.21498866379261017, -0.002313322154805064, -0.004590465221554041, 0.9998899102210999, 0.013919234275817871], "tcp_vel": [6.507886428153142e-05, -0.00011840034858323634, 4.613662531482987e-05, -0.0003145715163554996, -0.0003314209170639515, -0.0001448547118343413], "flange_pose": [0.6786777973175049, 0.028480375185608864, -0.06504838913679123, -0.002313322154805064, -0.004590465221554041, 0.9998899102210999, 0.013919234275817871], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6854019165039, 15.208534240722656, 28.16841697692871, 0.3226166367530823, -23.961992263793945, 1.7895841598510742], "ext_wrench_in_world": [-107.95225528171423, 14.990002918181508, -27.249135890168453, -0.11268111046582999, -23.904903936904798, -2.4549209649840504]}
+{"timestamp_ns": 1789729889788971978, "elapsed_ms": 9166, "source_timestamp_ns": 1789729889781868818, "q": [0.8362597227096558, -1.8968011140823364, -1.0059312582015991, 1.3811777830123901, -0.16218556463718414, 0.5939446091651917, 0.7040979862213135], "theta": [0.8383293747901917, -1.8948613405227661, -1.0041205883026123, 1.3627686500549316, -0.16278012096881866, 0.5939022302627563, 0.7040781378746033], "dq": [-0.0017172869993373752, 0.0003471009258646518, 0.0006789049948565662, 0.0001807633088901639, -0.00016584369586780667, 0.0005219575832597911, -0.0012203744845464826], "dtheta": [9.096137364394963e-05, 0.0001977574866032228, -4.7642919525969774e-05, 0.00012249649444129318, -0.0008662163163535297, -0.00027335042250342667, 0.0004233154177200049], "tau": [55.59000015258789, 23.59000015258789, 5.496000289916992, -26.32000160217285, -2.576000213623047, 2.6560001373291016, -0.5320000052452087], "tau_des": [0.5469631552696228, -0.6251682639122009, -0.18776774406433105, -0.549848198890686, 0.9218006134033203, -1.1544045209884644, -0.5394210815429688], "tau_dot": [-77.81248474121094, -37.77000427246094, 6.631659507751465, -28.811307907104492, 9.945296287536621, -1.2519073486328125, 29.806425094604492], "tau_ext": [-16.823299407958984, -41.59365463256836, 31.792631149291992, 31.349441528320312, 9.506705284118652, -2.9989752769470215, -0.12399614602327347], "tcp_pose": [0.6779643893241882, 0.03265191987156868, -0.21498829126358032, -0.002314038574695587, -0.0045915874652564526, 0.9998899102210999, 0.013918166980147362], "tcp_vel": [0.00010717304394347593, -0.00021193891006987542, 0.0001030684943543747, -0.0006726253777742386, -0.000269288953859359, -8.257977606263012e-05], "flange_pose": [0.6786777377128601, 0.02848011627793312, -0.06504801660776138, -0.002314038574695587, -0.0045915874652564526, 0.9998899102210999, 0.013918166980147362], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6527328491211, 15.213813781738281, 28.18710708618164, 0.32904717326164246, -23.960533142089844, 1.7903814315795898], "ext_wrench_in_world": [-107.9197968925825, 14.995798923964458, -27.267700285379668, -0.11907757537421194, -23.903488227408516, -2.455597128836023]}
+{"timestamp_ns": 1789729889822262513, "elapsed_ms": 9200, "source_timestamp_ns": 1789729889821796114, "q": [0.8362621665000916, -1.8968027830123901, -1.0059313774108887, 1.3811780214309692, -0.1621868759393692, 0.5939427614212036, 0.7040983438491821], "theta": [0.8383317589759827, -1.8948628902435303, -1.0041202306747437, 1.362768530845642, -0.16278131306171417, 0.593899130821228, 0.7040781378746033], "dq": [-0.00013406100333668292, -1.4918077795300633e-05, 0.00030707893893122673, -0.001834886148571968, 0.0021859551779925823, -0.000777781184297055, -0.0026172802317887545], "dtheta": [2.5902130801114254e-05, -0.00023681593302171677, -0.00021312943135853857, 1.573081681272015e-05, -0.0006924181943759322, -0.0011506580049172044, 0.00042811513412743807], "tau": [55.59000015258789, 23.579999923706055, 5.4800004959106445, -26.296001434326172, -2.5880000591278076, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.6043983697891235, -0.5566288828849792, -0.19815823435783386, -0.6029577851295471, 0.9206608533859253, -1.1247210502624512, -0.5373983979225159], "tau_dot": [-54.568660736083984, 5.377538681030273, -4.148908615112305, 42.671173095703125, 23.23434829711914, 13.207768440246582, -10.630995750427246], "tau_ext": [-16.791593551635742, -41.618896484375, 31.80845832824707, 31.352645874023438, 9.511527061462402, -2.9966132640838623, -0.12170545756816864], "tcp_pose": [0.6779642701148987, 0.032651953399181366, -0.21498727798461914, -0.0023132278583943844, -0.004592347424477339, 0.9998899102210999, 0.01391648780554533], "tcp_vel": [-0.00011309512774460018, -0.00028105409001000226, -0.00014550209743902087, -0.0015055416151881218, 0.00041810618131421506, -4.780074959853664e-06], "flange_pose": [0.6786773800849915, 0.02848065458238125, -0.06504698842763901, -0.0023132278583943844, -0.004592347424477339, 0.9998899102210999, 0.01391648780554533], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.68119049072266, 15.23343563079834, 28.196176528930664, 0.3423486053943634, -23.975849151611328, 1.7960004806518555], "ext_wrench_in_world": [-107.94845244328594, 15.015147695723527, -27.27632072407934, -0.13222529988344392, -23.91877281070784, -2.4615008703538788]}
+{"timestamp_ns": 1789729889855590704, "elapsed_ms": 9233, "source_timestamp_ns": 1789729889851766544, "q": [0.8362635970115662, -1.8968030214309692, -1.0059324502944946, 1.3811771869659424, -0.1621866673231125, 0.593943178653717, 0.7040992975234985], "theta": [0.8383333683013916, -1.8948630094528198, -1.0041215419769287, 1.3627681732177734, -0.16278178989887238, 0.5938993692398071, 0.7040786147117615], "dq": [-0.002032415708526969, -0.00197954336181283, 0.0006973040872253478, -0.00027566152857616544, -0.002426625695079565, -0.0011222880566492677, 0.002218359149992466], "dtheta": [0.00010722123988671228, 0.00011575587996048853, -6.865523755550385e-05, 0.00012247082486283034, 0.0002493475330993533, -0.00042862765258178115, 0.0003924529592040926], "tau": [55.57999801635742, 23.489999771118164, 5.496000289916992, -26.296001434326172, -2.6040000915527344, 2.684000015258789, -0.5480000376701355], "tau_des": [0.5549083948135376, -0.6057244539260864, -0.19987687468528748, -0.5540907382965088, 0.8979660868644714, -1.1544965505599976, -0.5457025766372681], "tau_dot": [-64.01651000976562, -136.2258758544922, 2.8782026767730713, -20.2232723236084, -16.378665924072266, 27.42576789855957, -10.560596466064453], "tau_ext": [-16.793167114257812, -41.573822021484375, 31.795143127441406, 31.342742919921875, 9.515707015991211, -2.997157096862793, -0.12637431919574738], "tcp_pose": [0.6779652237892151, 0.032651662826538086, -0.21498610079288483, -0.0023119321558624506, -0.004591468721628189, 0.9998899698257446, 0.01391645148396492], "tcp_vel": [-8.493952918797731e-05, -0.0001455343299312517, -2.06924323720159e-05, -0.00015566677029710263, 0.00044222723226994276, -0.0006267730495892465], "flange_pose": [0.6786779165267944, 0.028480373322963715, -0.0650458037853241, -0.0023119321558624506, -0.004591468721628189, 0.9998899698257446, 0.01391645148396492], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69097137451172, 15.224767684936523, 28.184675216674805, 0.33910974860191345, -23.975337982177734, 1.7957154512405396], "ext_wrench_in_world": [-107.95800217672979, 15.006265009924514, -27.265299561471224, -0.1290265033682146, -23.918239766122426, -2.46121502814842]}
+{"timestamp_ns": 1789729889888888849, "elapsed_ms": 9266, "source_timestamp_ns": 1789729889881768021, "q": [0.8362630605697632, -1.8968045711517334, -1.0059376955032349, 1.381177544593811, -0.16218827664852142, 0.5939407348632812, 0.7040990591049194], "theta": [0.8383331894874573, -1.894864797592163, -1.004126787185669, 1.3627676963806152, -0.16278347373008728, 0.5938972234725952, 0.7040783762931824], "dq": [0.0007354759727604687, -0.00018624775111675262, -0.0018212568247690797, -0.0005596554256044328, 0.0005918333190493286, -0.0011544162407517433, -0.00031355221290141344], "dtheta": [0.00015379508840851486, -0.000226807504077442, -0.00010447487147757784, -3.850340362987481e-05, 0.0001433873549103737, -0.0009828025940805674, -0.0007666232413612306], "tau": [55.62999725341797, 23.60999870300293, 5.4800004959106445, -26.32400131225586, -2.5880000591278076, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.5747772455215454, -0.5439607501029968, -0.20419257879257202, -0.5863385796546936, 0.9163351655006409, -1.1313507556915283, -0.5233047008514404], "tau_dot": [-40.55068588256836, 92.19320678710938, 50.90678405761719, 12.712911605834961, 33.162445068359375, -9.592061996459961, -45.4224739074707], "tau_ext": [-16.814590454101562, -41.58808135986328, 31.81043815612793, 31.34209442138672, 9.520670890808105, -2.9958014488220215, -0.1301610916852951], "tcp_pose": [0.6779661178588867, 0.03264862298965454, -0.21498751640319824, -0.002311992458999157, -0.004590741824358702, 0.9998900294303894, 0.013912788592278957], "tcp_vel": [-0.0001803713385015726, -0.00012851468636654317, -7.52003033994697e-05, -0.0007632162305526435, 0.0005836979835294187, 0.0007827283116057515], "flange_pose": [0.6786788105964661, 0.028478428721427917, -0.06504718959331512, -0.002311992458999157, -0.004590741824358702, 0.9998900294303894, 0.013912788592278957], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64946746826172, 15.214643478393555, 28.1894588470459, 0.3305984139442444, -23.962116241455078, 1.7914694547653198], "ext_wrench_in_world": [-107.91641227048916, 14.996616947037793, -27.27064823714093, -0.12065057542585012, -23.905080915945955, -2.4564654950539606]}
+{"timestamp_ns": 1789729889922256247, "elapsed_ms": 9300, "source_timestamp_ns": 1789729889921791739, "q": [0.836263120174408, -1.8968080282211304, -1.0059388875961304, 1.381177306175232, -0.16218788921833038, 0.5939395427703857, 0.7040985822677612], "theta": [0.838333010673523, -1.8948684930801392, -1.0041285753250122, 1.362766981124878, -0.16278322041034698, 0.5938960313796997, 0.7040783762931824], "dq": [0.0014880759408697486, 0.0011121414136141539, 0.0002957543183583766, -5.792200317955576e-05, 0.0009754288475960493, 0.0015095017151907086, -0.0009745908319018781], "dtheta": [-0.0002689418033696711, -0.00014562632713932544, -0.00028437661239877343, 0.00014594776439480484, 0.0002149732899852097, 0.0001261639699805528, -0.0005854092305526137], "tau": [55.56999969482422, 23.579999923706055, 5.460000038146973, -26.312002182006836, -2.6040000915527344, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.6502224206924438, -0.5352338552474976, -0.1847260445356369, -0.6151914000511169, 0.9048407077789307, -1.1399457454681396, -0.5266628861427307], "tau_dot": [-107.32966613769531, -46.94973373413086, 11.809784889221191, -11.042380332946777, -5.8119306564331055, 16.70185661315918, -27.891155242919922], "tau_ext": [-16.813432693481445, -41.60372543334961, 31.84356689453125, 31.364351272583008, 9.53405475616455, -2.9968366622924805, -0.12817269563674927], "tcp_pose": [0.6779654622077942, 0.03264886885881424, -0.214988574385643, -0.002312213648110628, -0.00459155673161149, 0.9998900294303894, 0.01391096506267786], "tcp_vel": [-6.46194166620262e-05, -0.00010683378059184179, -0.00030960296862758696, -0.00015446516044903547, 0.0003040265874005854, 0.0003839701821561903], "flange_pose": [0.6786782145500183, 0.02847922407090664, -0.06504824012517929, -0.002312213648110628, -0.00459155673161149, 0.9998900294303894, 0.01391096506267786], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69259643554688, 15.21749210357666, 28.183456420898438, 0.31963443756103516, -23.9638729095459, 1.7894850969314575], "ext_wrench_in_world": [-107.95957205489033, 14.998621869277999, -27.26438615718351, -0.10962341712193169, -23.906799764669735, -2.4544929474513193]}
+{"timestamp_ns": 1789729889955571520, "elapsed_ms": 9333, "source_timestamp_ns": 1789729889951755409, "q": [0.8362640142440796, -1.8968092203140259, -1.0059374570846558, 1.3811755180358887, -0.16218817234039307, 0.5939347147941589, 0.7040992379188538], "theta": [0.8383334875106812, -1.8948699235916138, -1.0041271448135376, 1.362764835357666, -0.16278347373008728, 0.5938915014266968, 0.7040786147117615], "dq": [0.0021752517204731703, 0.0003364149888511747, -0.001252191374078393, -0.001857512746937573, 0.0006239988724701107, 0.00041910941945388913, 0.001968592870980501], "dtheta": [-0.0003295190108474344, -0.0004305528418626636, -3.918084257747978e-05, -0.00036197039298713207, -0.0005269328830763698, -0.0008089903276413679, -8.824510587146506e-05], "tau": [55.56999969482422, 23.549999237060547, 5.4800004959106445, -26.32400131225586, -2.6040000915527344, 2.6760001182556152, -0.5440000295639038], "tau_des": [0.6429898142814636, -0.5017454028129578, -0.2320469617843628, -0.6084663271903992, 0.9202339053153992, -1.129347801208496, -0.5265464782714844], "tau_dot": [-52.496089935302734, -54.525611877441406, 34.937591552734375, 57.320770263671875, 9.981719970703125, 14.879326820373535, -11.168543815612793], "tau_ext": [-16.79835319519043, -41.595664978027344, 31.830625534057617, 31.360145568847656, 9.529228210449219, -2.9959540367126465, -0.12746906280517578], "tcp_pose": [0.6779646873474121, 0.03264956176280975, -0.21498797833919525, -0.0023130581248551607, -0.004592125304043293, 0.9998900294303894, 0.013909833505749702], "tcp_vel": [-0.00011024450941476971, 9.76357750914758e-06, -0.00024049304192885756, -0.0009928197832778096, 0.00034447648795321584, 0.0006034428952261806], "flange_pose": [0.6786776781082153, 0.028480255976319313, -0.06504763662815094, -0.0023130581248551607, -0.004592125304043293, 0.9998900294303894, 0.013909833505749702], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.73717498779297, 15.20930004119873, 28.160287857055664, 0.31699612736701965, -23.97208023071289, 1.7901201248168945], "ext_wrench_in_world": [-108.00402623197363, 14.989189410799536, -27.241108875669667, -0.10688963466283763, -23.914967209373497, -2.4553136610966453]}
+{"timestamp_ns": 1789729889988896102, "elapsed_ms": 9366, "source_timestamp_ns": 1789729889981754826, "q": [0.8362647294998169, -1.8968099355697632, -1.0059361457824707, 1.3811731338500977, -0.16218632459640503, 0.5939322710037231, 0.7040975093841553], "theta": [0.8383342623710632, -1.8948708772659302, -1.0041263103485107, 1.362762451171875, -0.16278202831745148, 0.5938888788223267, 0.704077422618866], "dq": [0.000592761323787272, -0.0029712384566664696, -7.811101386323571e-05, 0.0001311608066316694, 0.002634637523442507, -2.9517010261770338e-05, -0.0016737448750063777], "dtheta": [-0.0002605352201499045, -8.753092697588727e-05, 0.00014488224405795336, -6.690732698189095e-05, 9.510687232250348e-05, -6.68068605591543e-05, 8.641037857159972e-05], "tau": [55.63999938964844, 23.56999969482422, 5.496000289916992, -26.32000160217285, -2.580000162124634, 2.6680002212524414, -0.5520000457763672], "tau_des": [0.6203078031539917, -0.532856822013855, -0.2537074387073517, -0.58441162109375, 0.8973852396011353, -1.1506762504577637, -0.5306908488273621], "tau_dot": [78.29296875, -58.44796371459961, 33.17848587036133, -21.228530883789062, 11.316059112548828, 15.74614429473877, 6.428701400756836], "tau_ext": [-16.80577278137207, -41.5814323425293, 31.811555862426758, 31.352508544921875, 9.526982307434082, -2.992335557937622, -0.12355157732963562], "tcp_pose": [0.6779643893241882, 0.032650746405124664, -0.21498697996139526, -0.0023133615031838417, -0.004593031480908394, 0.9998900294303894, 0.013910437002778053], "tcp_vel": [-0.0001269483909709379, 0.0001145979476859793, -0.00018016410467680544, 8.080433326540515e-05, 0.0003583095094654709, 1.2235359463375062e-05], "flange_pose": [0.678677499294281, 0.02848125994205475, -0.06504663825035095, -0.0023133615031838417, -0.004593031480908394, 0.9998900294303894, 0.013910437002778053], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7430419921875, 15.194613456726074, 28.157470703125, 0.31544986367225647, -23.97502326965332, 1.7927343845367432], "ext_wrench_in_world": [-108.00978881983862, 14.974213140619929, -27.238593798874852, -0.10528700703534427, -23.91781924329163, -2.458044601260871]}
+{"timestamp_ns": 1789729890022271063, "elapsed_ms": 9400, "source_timestamp_ns": 1789729890021893446, "q": [0.8362652063369751, -1.89681077003479, -1.0059374570846558, 1.3811724185943604, -0.1621859222650528, 0.5939294099807739, 0.7040945291519165], "theta": [0.8383352756500244, -1.8948702812194824, -1.0041263103485107, 1.3627616167068481, -0.16278178989887238, 0.5938867330551147, 0.7040748000144958], "dq": [-0.0001705214672256261, 0.0003398326225578785, -0.0013348659267649055, -0.000533515412826091, 0.002262217691168189, 0.0002429799787933007, 2.8233962439117022e-05], "dtheta": [0.00043853596434928477, 0.0003133321588393301, 0.0003696781350299716, -0.0002209595695603639, -5.701499685528688e-05, -0.0009109972161240876, 0.00034953851718455553], "tau": [55.65999984741211, 23.619998931884766, 5.496000289916992, -26.2760009765625, -2.5960001945495605, 2.6560001373291016, -0.5560000538825989], "tau_des": [0.4568116366863251, -0.630835235118866, -0.245073601603508, -0.4961298108100891, 0.9150702357292175, -1.1605894565582275, -0.5337660312652588], "tau_dot": [-6.3152360916137695, 23.2050724029541, 6.523732662200928, 64.95691680908203, -10.816174507141113, -53.26421356201172, -15.249556541442871], "tau_ext": [-16.809358596801758, -41.58163833618164, 31.7926082611084, 31.344858169555664, 9.517617225646973, -2.995291233062744, -0.11787644028663635], "tcp_pose": [0.6779643893241882, 0.03264998272061348, -0.21498708426952362, -0.002313863253220916, -0.004594233352690935, 0.9998900294303894, 0.013909087516367435], "tcp_vel": [-2.1145575374248438e-05, 6.041424967406783e-06, 0.0004101639788132161, -3.7892259570071474e-05, 0.00016689674521330744, -0.00028153476887382567], "flange_pose": [0.6786776185035706, 0.028480904176831245, -0.06504673510789871, -0.002313863253220916, -0.004594233352690935, 0.9998900294303894, 0.013909087516367435], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.68568420410156, 15.201729774475098, 28.193988800048828, 0.31984421610832214, -23.97028160095215, 1.7954423427581787], "ext_wrench_in_world": [-107.95273500912185, 14.982536783725232, -27.27509432932498, -0.10968164646410646, -23.913051886757454, -2.46053509533327]}
+{"timestamp_ns": 1789729890055707508, "elapsed_ms": 9433, "source_timestamp_ns": 1789729890051762928, "q": [0.8362653851509094, -1.89681077003479, -1.005938172340393, 1.3811724185943604, -0.16218478977680206, 0.5939295887947083, 0.7040937542915344], "theta": [0.8383354544639587, -1.894870400428772, -1.004127025604248, 1.3627610206604004, -0.16278034448623657, 0.5938869714736938, 0.7040733695030212], "dq": [-0.0016171501483768225, -0.0008021170506253839, -0.0018603631760925055, 0.0008189103682525456, 0.00151166005525738, -0.0018391954945400357, 0.002027894137427211], "dtheta": [0.00012464002065826207, -7.476023893104866e-05, 0.00013425368524622172, -6.503597978735343e-05, -0.000944996252655983, -0.0003418350243009627, -0.000752827909309417], "tau": [55.62999725341797, 23.600000381469727, 5.4760003089904785, -26.312002182006836, -2.5880000591278076, 2.6640000343322754, -0.5480000376701355], "tau_des": [0.5280109643936157, -0.5621494054794312, -0.2514234483242035, -0.5379494428634644, 0.9381356239318848, -1.160455584526062, -0.5069491863250732], "tau_dot": [49.222171783447266, 100.46772003173828, -0.6579633355140686, 14.792317390441895, -18.487070083618164, -33.59171676635742, 33.331050872802734], "tau_ext": [-16.812795639038086, -41.614227294921875, 31.803482055664062, 31.364192962646484, 9.514267921447754, -3.000236988067627, -0.11636956036090851], "tcp_pose": [0.6779645681381226, 0.03264962509274483, -0.21498703956604004, -0.002313848352059722, -0.004593993537127972, 0.9998900294303894, 0.013909273780882359], "tcp_vel": [5.229571615927853e-05, -1.1847821042465512e-05, 0.00013748632045462728, -0.0007393256528303027, -0.00042014854261651635, 0.0014190446818247437], "flange_pose": [0.6786778569221497, 0.028480492532253265, -0.06504669040441513, -0.002313848352059722, -0.004593993537127972, 0.9998900294303894, 0.013909273780882359], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67829132080078, 15.216009140014648, 28.20357322692871, 0.3309139013290405, -23.97262954711914, 1.7990431785583496], "ext_wrench_in_world": [-107.945510567341, 14.997206849915361, -27.284307463080445, -0.12075789444801285, -23.915400185461138, -2.464158938054442]}
+{"timestamp_ns": 1789729890088895276, "elapsed_ms": 9466, "source_timestamp_ns": 1789729890081881848, "q": [0.8362667560577393, -1.8968104124069214, -1.005938172340393, 1.381173014640808, -0.1621856987476349, 0.593929648399353, 0.7040948867797852], "theta": [0.8383370637893677, -1.894870638847351, -1.0041276216506958, 1.3627617359161377, -0.16278155148029327, 0.5938876867294312, 0.7040743231773376], "dq": [5.804094689665362e-05, 0.001867820043116808, 0.0007371075917035341, 0.0023460134398192167, 0.00010852712875930592, -0.002229329664260149, 0.00024310129811055958], "dtheta": [-0.00016805627092253417, -0.00046694852062501013, -0.00017909312737174332, 3.054270564462058e-05, -0.001303078606724739, -0.0002011807227972895, 5.722500281990506e-05], "tau": [55.61000061035156, 23.59000015258789, 5.4760003089904785, -26.296001434326172, -2.576000213623047, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.6100178956985474, -0.52547287940979, -0.22770115733146667, -0.5869489908218384, 0.9393712878227234, -1.1494133472442627, -0.5218812227249146], "tau_dot": [-39.010498046875, -54.82084655761719, -16.712501525878906, 9.416375160217285, -25.5263729095459, 17.630268096923828, -0.3701913058757782], "tau_ext": [-16.79822540283203, -41.63116455078125, 31.81245994567871, 31.370635986328125, 9.509151458740234, -3.001120090484619, -0.12113609910011292], "tcp_pose": [0.6779648661613464, 0.03264942020177841, -0.21498620510101318, -0.002313158707693219, -0.004593660123646259, 0.9998900294303894, 0.013908972032368183], "tcp_vel": [2.680200122995302e-05, -9.036707342602313e-05, -0.00019171206804458052, -0.0014193125534802675, -0.0004309906216803938, 0.0008626210619695485], "flange_pose": [0.6786778569221497, 0.028480375185608864, -0.06504585593938828, -0.002313158707693219, -0.004593660123646259, 0.9998900294303894, 0.013908972032368183], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.72689819335938, 15.215909957885742, 28.196413040161133, 0.33911049365997314, -23.98674964904785, 1.7996289730072021], "ext_wrench_in_world": [-107.99403220926999, 14.996516617002348, -27.277091396983764, -0.12884102344533055, -23.92957516311293, -2.4650865293333672]}
+{"timestamp_ns": 1789729890122257969, "elapsed_ms": 9500, "source_timestamp_ns": 1789729890121801649, "q": [0.8362680077552795, -1.896811604499817, -1.0059409141540527, 1.3811728954315186, -0.1621856689453125, 0.593930184841156, 0.7040969133377075], "theta": [0.8383384346961975, -1.8948711156845093, -1.0041309595108032, 1.3627612590789795, -0.16278178989887238, 0.5938886404037476, 0.7040759921073914], "dq": [0.0017251308308914304, 0.0011779876658692956, -0.0003431843942962587, -0.0029689341317862272, -0.00027666735695675015, 0.00019746136968024075, -0.0009410455240868032], "dtheta": [8.152587543008849e-05, -6.209811544977129e-05, -6.318742816802114e-05, -0.0001631105551496148, 0.000513547332957387, 0.00019538811466190964, 0.00011051652836613357], "tau": [55.61000061035156, 23.549999237060547, 5.484000205993652, -26.308000564575195, -2.5880000591278076, 2.6560001373291016, -0.5080000162124634], "tau_des": [0.5210312008857727, -0.5989023447036743, -0.2186734825372696, -0.5102987289428711, 0.9016388058662415, -1.1805484294891357, -0.541084885597229], "tau_dot": [56.44453048706055, -61.15888214111328, 13.553645133972168, 0.6318625211715698, -9.817740440368652, -27.116910934448242, 65.71419525146484], "tau_ext": [-16.830995559692383, -41.60892105102539, 31.810134887695312, 31.351512908935547, 9.513420104980469, -2.9989447593688965, -0.1250450760126114], "tcp_pose": [0.6779658794403076, 0.032648369669914246, -0.2149857133626938, -0.002311853226274252, -0.004592075478285551, 0.9998900890350342, 0.013907904736697674], "tcp_vel": [5.244827480055392e-05, 8.158628770615906e-05, 8.62029119161889e-05, 0.00045339512871578336, -9.26424763747491e-05, -0.000428704428486526], "flange_pose": [0.6786785125732422, 0.028479641303420067, -0.06504534929990768, -0.002311853226274252, -0.004592075478285551, 0.9998900890350342, 0.013907904736697674], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69242095947266, 15.238653182983398, 28.192066192626953, 0.34360507130622864, -23.975093841552734, 1.7970614433288574], "ext_wrench_in_world": [-107.95962525118253, 15.019735642421526, -27.272578462788857, -0.13349969647660537, -23.918042116669046, -2.462124717327055]}
+{"timestamp_ns": 1789729890155587484, "elapsed_ms": 9533, "source_timestamp_ns": 1789729890151746884, "q": [0.836267352104187, -1.8968127965927124, -1.005944848060608, 1.3811728954315186, -0.1621861308813095, 0.5939297676086426, 0.7040972709655762], "theta": [0.8383378982543945, -1.8948720693588257, -1.0041348934173584, 1.3627609014511108, -0.16278226673603058, 0.5938881635665894, 0.7040769457817078], "dq": [0.0014567289035767317, -0.004166507162153721, 0.0021990465465933084, -0.0006421550642699003, -0.0023425815161317587, 0.0004251998907420784, -4.362489562481642e-05], "dtheta": [2.136076545866672e-05, -5.328941188054159e-05, -0.00031711888732388616, 0.0003394192026462406, -0.0005080355331301689, -0.0004576680366881192, -0.00025882915360853076], "tau": [55.63999938964844, 23.56999969482422, 5.4760003089904785, -26.308000564575195, -2.6000001430511475, 2.6560001373291016, -0.527999997138977], "tau_des": [0.5936857461929321, -0.5843567848205566, -0.15807375311851501, -0.5927032828330994, 0.922794759273529, -1.1386183500289917, -0.533196747303009], "tau_dot": [-111.41586303710938, -85.14219665527344, 10.132471084594727, -1.4386588335037231, -38.112884521484375, -18.467548370361328, 9.254016876220703], "tau_ext": [-16.82386589050293, -41.59470748901367, 31.814584732055664, 31.350709915161133, 9.515352249145508, -3.0000717639923096, -0.1330067217350006], "tcp_pose": [0.6779667139053345, 0.032646436244249344, -0.21498675644397736, -0.0023116006050258875, -0.004591051954776049, 0.9998900890350342, 0.013905887492001057], "tcp_vel": [-5.287855674396269e-05, -0.00033205823274329305, -0.00018058954447042197, -0.0010503205703571439, 0.00020864131511189044, 0.0004184084536973387], "flange_pose": [0.6786792278289795, 0.028478313237428665, -0.06504637002944946, -0.0023116006050258875, -0.004591051954776049, 0.9998900890350342, 0.013905887492001057], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6555404663086, 15.236307144165039, 28.19448471069336, 0.3364076614379883, -23.96160316467285, 1.7901060581207275], "ext_wrench_in_world": [-107.92269259248961, 15.01790942961964, -27.27534118093824, -0.12644029973637408, -23.904693620954557, -2.454732525989733]}
+{"timestamp_ns": 1789729890188894581, "elapsed_ms": 9566, "source_timestamp_ns": 1789729890181735066, "q": [0.836267352104187, -1.8968151807785034, -1.0059447288513184, 1.381173014640808, -0.16218547523021698, 0.5939273834228516, 0.7040966153144836], "theta": [0.8383379578590393, -1.8948743343353271, -1.0041347742080688, 1.3627604246139526, -0.16278107464313507, 0.5938862562179565, 0.7040762305259705], "dq": [0.001817234675399959, 0.0012314346386119723, 0.0002346572291571647, 0.00030620762845501304, 0.0021655946038663387, 0.0008725772495381534, -0.0008037077495828271], "dtheta": [-1.3973002751299646e-05, -3.864452810375951e-05, 9.45699357544072e-05, -0.00027682946529239416, -3.42860548698809e-05, -0.0006401012069545686, -0.0005485175061039627], "tau": [55.63999938964844, 23.600000381469727, 5.488000392913818, -26.308000564575195, -2.580000162124634, 2.6680002212524414, -0.5200000405311584], "tau_des": [0.5578275918960571, -0.5652920007705688, -0.2280002236366272, -0.5508792400360107, 0.9124928712844849, -1.1512223482131958, -0.524190366268158], "tau_dot": [8.038768768310547, -7.162991523742676, 49.25201416015625, 18.955476760864258, 24.741283416748047, 6.9208598136901855, 31.570045471191406], "tau_ext": [-16.816158294677734, -41.60602951049805, 31.81594467163086, 31.367218017578125, 9.515209197998047, -3.0037224292755127, -0.131648451089859], "tcp_pose": [0.677965521812439, 0.032646819949150085, -0.21498781442642212, -0.002312729600816965, -0.0045920005068182945, 0.9998900890350342, 0.01390447374433279], "tcp_vel": [-5.127130862092599e-05, 1.3063705409877002e-05, 3.7758611142635345e-05, -0.00024693465093150735, 0.0002711639099288732, 0.0006309400196187198], "flange_pose": [0.6786783933639526, 0.02847912348806858, -0.06504742056131363, -0.002312729600816965, -0.0045920005068182945, 0.9998900890350342, 0.01390447374433279], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66613006591797, 15.226042747497559, 28.199180603027344, 0.3324052393436432, -23.960060119628906, 1.7875884771347046], "ext_wrench_in_world": [-107.93329991616352, 15.007395895665613, -27.28007634593797, -0.1223993885082403, -23.903191375289435, -2.4521230003694745]}
+{"timestamp_ns": 1789729890222268972, "elapsed_ms": 9600, "source_timestamp_ns": 1789729890221790665, "q": [0.8362693786621094, -1.8968175649642944, -1.005944848060608, 1.3811728954315186, -0.16218362748622894, 0.5939257144927979, 0.7040947675704956], "theta": [0.8383399844169617, -1.894876480102539, -1.0041347742080688, 1.362760305404663, -0.16277891397476196, 0.593885064125061, 0.7040757536888123], "dq": [0.0010949501302093267, 0.0019808809738606215, 0.0008039340609684587, 0.0002396827476331964, -0.0015141203766688704, 0.0007138632936403155, 0.0012266970006749034], "dtheta": [7.324733360292157e-06, -0.00037363689625635743, 4.974577677785419e-05, -0.00033996618003584445, 0.00036511861253529787, 0.00032456833287142217, -0.00017457194917369634], "tau": [55.63999938964844, 23.559999465942383, 5.4720001220703125, -26.304000854492188, -2.56000018119812, 2.6600000858306885, -0.5360000133514404], "tau_des": [0.5489797592163086, -0.5362243056297302, -0.2640671133995056, -0.5272144675254822, 0.9077664613723755, -1.1772723197937012, -0.5284867286682129], "tau_dot": [75.51990509033203, -40.2450065612793, -47.01060104370117, -11.619617462158203, 41.38176345825195, 14.004659652709961, 7.860256671905518], "tau_ext": [-16.781354904174805, -41.5988655090332, 31.822336196899414, 31.350614547729492, 9.508322715759277, -2.9966166019439697, -0.132050558924675], "tcp_pose": [0.6779648065567017, 0.03264738619327545, -0.21498741209506989, -0.0023127999156713486, -0.004593216348439455, 0.9998900890350342, 0.013903632760047913], "tcp_vel": [2.914417564170435e-05, 0.00027941580628976226, 5.556497853831388e-05, 0.0003894566325470805, -0.0003119681787211448, 0.00019558142230380327], "flange_pose": [0.6786777377128601, 0.028479943051934242, -0.0650470107793808, -0.0023127999156713486, -0.004593216348439455, 0.9998900890350342, 0.013903632760047913], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.73285675048828, 15.192451477050781, 28.17202377319336, 0.32889100909233093, -23.97908592224121, 1.7862708568572998], "ext_wrench_in_world": [-107.99962688967042, 14.972138523164187, -27.253579374392285, -0.11864752989618545, -23.92221753095181, -2.4513110169086105]}
+{"timestamp_ns": 1789729890255595188, "elapsed_ms": 9633, "source_timestamp_ns": 1789729890251721131, "q": [0.8362703323364258, -1.8968178033828735, -1.0059475898742676, 1.3811737298965454, -0.1621849238872528, 0.5939222574234009, 0.7040944695472717], "theta": [0.8383414149284363, -1.8948758840560913, -1.0041369199752808, 1.3627609014511108, -0.16277964413166046, 0.5938822031021118, 0.704075276851654], "dq": [0.00035442569060251117, 0.0006759960087947547, 0.0002779235946945846, -0.002096369629725814, -0.002487628720700741, -0.0003913638647645712, 0.0018662248039618134], "dtheta": [0.00019303364388179034, 5.063373828306794e-05, -0.00046771951019763947, -4.000685294158757e-05, -0.0001283900492126122, -0.00020534695067908615, 0.0002260401233797893], "tau": [55.62999725341797, 23.60999870300293, 5.504000186920166, -26.332000732421875, -2.56000018119812, 2.6520001888275146, -0.5480000376701355], "tau_des": [0.5215104818344116, -0.6395370364189148, -0.1335000842809677, -0.5353016257286072, 0.9241658449172974, -1.1539030075073242, -0.5441442131996155], "tau_dot": [-55.41408157348633, 139.48770141601562, -13.046557426452637, -45.42353057861328, 29.090089797973633, -12.21530532836914, -4.968976974487305], "tau_ext": [-16.822113037109375, -41.56719207763672, 31.790138244628906, 31.361328125, 9.504751205444336, -2.999749183654785, -0.1307031512260437], "tcp_pose": [0.6779650449752808, 0.03264513611793518, -0.21498766541481018, -0.002313172910362482, -0.00459290761500597, 0.999890148639679, 0.013900874182581902], "tcp_vel": [0.000205939999432303, -0.0003065602504648268, 0.00012513448018580675, -0.00045299381599761546, -0.0002826696145348251, -0.0005185636109672487], "flange_pose": [0.6786780953407288, 0.02847851999104023, -0.0650472417473793, -0.002313172910362482, -0.00459290761500597, 0.999890148639679, 0.013900874182581902], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.71344757080078, 15.18114185333252, 28.16405487060547, 0.3245971202850342, -23.97390365600586, 1.7836942672729492], "ext_wrench_in_world": [-107.98008866561393, 14.960705625976576, -27.24601954877374, -0.11440490108242868, -23.917082810334662, -2.4484783844774554]}
+{"timestamp_ns": 1789729890288921823, "elapsed_ms": 9666, "source_timestamp_ns": 1789729890281807954, "q": [0.8362703919410706, -1.8968175649642944, -1.0059502124786377, 1.3811742067337036, -0.16218429803848267, 0.5939217805862427, 0.7040940523147583], "theta": [0.8383411765098572, -1.8948760032653809, -1.0041391849517822, 1.3627614974975586, -0.16277891397476196, 0.5938817262649536, 0.7040745615959167], "dq": [-0.001857727998867631, 0.00127322762273252, -0.00041685934411361814, 0.0007864086655899882, 0.001024710712954402, 0.0010622342815622687, 0.0009298571385443211], "dtheta": [0.00025217924849130213, -3.2907104468904436e-05, -4.2187013605143875e-05, -0.00017722754273563623, -0.0008998704724945128, 0.00027845537988469005, -7.737184932921082e-05], "tau": [55.65999984741211, 23.579999923706055, 5.468000411987305, -26.280000686645508, -2.568000078201294, 2.6640000343322754, -0.5320000052452087], "tau_des": [0.4701782166957855, -0.6303041577339172, -0.18617185950279236, -0.4903869330883026, 0.9469097852706909, -1.179154872894287, -0.5311472415924072], "tau_dot": [-9.771743774414062, -73.19743347167969, 5.096317291259766, 49.953861236572266, 2.0174365043640137, -22.143110275268555, 32.40239715576172], "tau_ext": [-16.84020233154297, -41.59129333496094, 31.804317474365234, 31.354339599609375, 9.501483917236328, -2.995601177215576, -0.12514254450798035], "tcp_pose": [0.6779656410217285, 0.03264351934194565, -0.21498800814151764, -0.00231325626373291, -0.004591991193592548, 0.999890148639679, 0.01390005461871624], "tcp_vel": [0.0003032434033229947, 1.1135939530504402e-06, 0.0003435922262724489, -0.00032580186962150037, -0.0011187548516318202, 0.000534277583938092], "flange_pose": [0.6786786913871765, 0.028477147221565247, -0.06504757702350616, -0.00231325626373291, -0.004591991193592548, 0.999890148639679, 0.01390005461871624], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65758514404297, 15.196022033691406, 28.19831657409668, 0.3258431851863861, -23.964557647705078, 1.7848682403564453], "ext_wrench_in_world": [-107.92450545283853, 14.977200088973383, -27.280109650867534, -0.11578584130294191, -23.907723538499777, -2.449346956346318]}
+{"timestamp_ns": 1789729890322260388, "elapsed_ms": 9700, "source_timestamp_ns": 1789729890321789110, "q": [0.8362714052200317, -1.8968185186386108, -1.0059508085250854, 1.3811753988265991, -0.16218416392803192, 0.5939231514930725, 0.704094409942627], "theta": [0.8383416533470154, -1.8948771953582764, -1.0041406154632568, 1.362762451171875, -0.16277796030044556, 0.5938829183578491, 0.7040748000144958], "dq": [0.0013536702608689666, 0.00022861536126583815, -0.0007473944569937885, -0.0004253477090969682, 0.0003827259934041649, 0.00014815281610935926, 0.00111900526098907], "dtheta": [-3.609360283007845e-05, 0.00028749805642291903, -0.0002964990271721035, 0.00011851413000840694, 0.0001091966187232174, -0.0001019739720504731, 0.0001904507662402466], "tau": [55.62999725341797, 23.559999465942383, 5.4800004959106445, -26.272001266479492, -2.568000078201294, 2.6760001182556152, -0.5320000052452087], "tau_des": [0.569818377494812, -0.6402140259742737, -0.1332431584596634, -0.5630167126655579, 0.9048789739608765, -1.148402214050293, -0.5469253659248352], "tau_dot": [53.844703674316406, -63.377685546875, 77.64141082763672, 50.09507369995117, 2.820124864578247, -2.0515055656433105, -14.835954666137695], "tau_ext": [-16.810420989990234, -41.61498260498047, 31.81610679626465, 31.365901947021484, 9.499041557312012, -3.000458002090454, -0.11989445984363556], "tcp_pose": [0.6779655814170837, 0.03264344856142998, -0.21498806774616241, -0.002312673721462488, -0.004591974895447493, 0.999890148639679, 0.01389960665255785], "tcp_vel": [8.768288535065949e-05, -0.0002792496234178543, -2.903026143030729e-05, -4.36342234024778e-05, 0.00017987015598919243, -0.0006306234863586724], "flange_pose": [0.6786784529685974, 0.02847721241414547, -0.06504762917757034, -0.002312673721462488, -0.004591974895447493, 0.999890148639679, 0.01389960665255785], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.68805694580078, 15.214634895324707, 28.214214324951172, 0.33313778042793274, -23.977081298828125, 1.7882354259490967], "ext_wrench_in_world": [-107.95518834194982, 14.995945499713766, -27.295485750543126, -0.12298010911633957, -23.920217929722554, -2.4530072191745647]}
+{"timestamp_ns": 1789729890355585173, "elapsed_ms": 9733, "source_timestamp_ns": 1789729890351749533, "q": [0.8362727165222168, -1.896820306777954, -1.0059521198272705, 1.3811757564544678, -0.16218459606170654, 0.5939229130744934, 0.7040945291519165], "theta": [0.8383429646492004, -1.8948785066604614, -1.0041424036026, 1.362762689590454, -0.16277843713760376, 0.59388267993927, 0.704075038433075], "dq": [-0.0010194007772952318, 0.0005329385749064386, -0.00014031426690053195, 0.0011011500610038638, -0.0008769999258220196, -0.002490640850737691, 0.0018741136882454157], "dtheta": [-6.439096614485607e-05, -0.00023951112234499305, 5.4671116231475025e-05, 0.0002427429863018915, 0.0005328949773684144, -0.0003228912828490138, 0.0003779739490710199], "tau": [55.619998931884766, 23.60999870300293, 5.456000328063965, -26.30000114440918, -2.56000018119812, 2.6600000858306885, -0.527999997138977], "tau_des": [0.6450782418251038, -0.5219436287879944, -0.2201894223690033, -0.6261142492294312, 0.8902469873428345, -1.1291100978851318, -0.543533980846405], "tau_dot": [-89.7597427368164, 122.74705505371094, 3.2631609439849854, -4.656491279602051, 38.52056884765625, -14.881096839904785, 34.07924270629883], "tau_ext": [-16.789384841918945, -41.60903549194336, 31.8425235748291, 31.355897903442383, 9.498760223388672, -3.001340389251709, -0.12372793257236481], "tcp_pose": [0.6779657006263733, 0.03264310583472252, -0.21498791873455048, -0.0023119384422898293, -0.0045922137796878815, 0.9998902082443237, 0.013898204080760479], "tcp_vel": [-0.00032375790760852396, 4.0653947507962584e-05, -0.0003004938771482557, -0.00016437051817774773, 0.0008268147357739508, -0.0004283463058527559], "flange_pose": [0.6786783337593079, 0.02847728691995144, -0.06504747271537781, -0.0023119384422898293, -0.0045922137796878815, 0.9998902082443237, 0.013898204080760479], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.71092987060547, 15.233227729797363, 28.17582130432129, 0.340798556804657, -23.975914001464844, 1.7895383834838867], "ext_wrench_in_world": [-107.97801347321422, 15.013126193095468, -27.256690832160338, -0.1306425799968857, -23.91909271301612, -2.454175990093407]}
+{"timestamp_ns": 1789729890388898800, "elapsed_ms": 9766, "source_timestamp_ns": 1789729890381744544, "q": [0.8362722396850586, -1.8968217372894287, -1.0059539079666138, 1.3811756372451782, -0.16218677163124084, 0.5939229130744934, 0.7040947675704956], "theta": [0.8383431434631348, -1.8948792219161987, -1.0041444301605225, 1.3627631664276123, -0.16278034448623657, 0.5938833951950073, 0.704075276851654], "dq": [0.00021160009782761335, 0.0002967148902826011, -0.001939279492944479, 0.001618628273718059, 0.002986669773235917, 0.0004039101186208427, -0.003861177247017622], "dtheta": [-8.1810640040203e-07, -0.00022800127044320107, 8.471316687064245e-05, -8.321324276039377e-05, -0.0006739392993040383, 0.00015281948435585946, 0.0006107346853241324], "tau": [55.68000030517578, 23.619998931884766, 5.520000457763672, -26.32400131225586, -2.5920000076293945, 2.6640000343322754, -0.5480000376701355], "tau_des": [0.5550867319107056, -0.5730867385864258, -0.2075018733739853, -0.5464121699333191, 0.9323493242263794, -1.1635921001434326, -0.54093337059021], "tau_dot": [92.70240783691406, 107.67374420166016, 25.871362686157227, -48.23664474487305, -2.431178331375122, -5.396549224853516, -6.769387722015381], "tau_ext": [-16.813045501708984, -41.59269332885742, 31.815553665161133, 31.356830596923828, 9.50668716430664, -3.0021274089813232, -0.12278154492378235], "tcp_pose": [0.6779661178588867, 0.0326424315571785, -0.21498854458332062, -0.0023112802300602198, -0.004592559300363064, 0.9998902082443237, 0.01389645878225565], "tcp_vel": [6.345196015900001e-05, 0.00010656619269866496, 4.641139094019309e-05, -0.0003887776692863554, -0.0005105510354042053, -4.111541420570575e-05], "flange_pose": [0.678678572177887, 0.028477134183049202, -0.06504808366298676, -0.0023112802300602198, -0.004592559300363064, 0.9998902082443237, 0.01389645878225565], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69633483886719, 15.237255096435547, 28.182758331298828, 0.33827632665634155, -23.96878433227539, 1.7884756326675415], "ext_wrench_in_world": [-107.96346253461314, 15.017311017498983, -27.263775877536357, -0.12816088121679747, -23.911980918527057, -2.452843588465337]}
+{"timestamp_ns": 1789729890422265202, "elapsed_ms": 9800, "source_timestamp_ns": 1789729890421767026, "q": [0.8362717032432556, -1.89682137966156, -1.0059560537338257, 1.3811753988265991, -0.16218820214271545, 0.5939196944236755, 0.7040947079658508], "theta": [0.8383429050445557, -1.8948791027069092, -1.004146695137024, 1.3627629280090332, -0.16278252005577087, 0.5938805341720581, 0.704075038433075], "dq": [-0.0006449487409554422, 0.0006091962568461895, -0.00028512455173768103, 0.0013028118992224336, 0.0012634153245016932, 0.0020646434277296066, 0.0015830168267711997], "dtheta": [-0.0001685254101175815, 0.00013571947056334466, 1.600289215275552e-05, 0.00024155352730304003, -0.001956409076228738, 0.0005910343024879694, 0.000480248243547976], "tau": [55.59000015258789, 23.59000015258789, 5.496000289916992, -26.2760009765625, -2.5880000591278076, 2.6680002212524414, -0.5680000185966492], "tau_des": [0.5614343285560608, -0.6256715655326843, -0.1510806530714035, -0.5523816347122192, 0.9582023620605469, -1.1638545989990234, -0.5353298187255859], "tau_dot": [-39.30902099609375, 64.27775573730469, 34.636009216308594, 64.97019958496094, 21.41765785217285, 1.8214207887649536, -79.56361389160156], "tau_ext": [-16.80093002319336, -41.57963943481445, 31.809598922729492, 31.35639762878418, 9.522826194763184, -3.0026144981384277, -0.12295287847518921], "tcp_pose": [0.6779665350914001, 0.03264051303267479, -0.2149890661239624, -0.00231193657964468, -0.004592068027704954, 0.9998902678489685, 0.01389447133988142], "tcp_vel": [0.0002765463141258806, -0.00012149387475801632, 4.7100678784772754e-05, -0.0008580530411563814, -0.001149413757957518, 0.0005499616381712258], "flange_pose": [0.6786791682243347, 0.028475815430283546, -0.06504859030246735, -0.00231193657964468, -0.004592068027704954, 0.9998902678489685, 0.01389447133988142], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.68789672851562, 15.21147632598877, 28.174760818481445, 0.3295680582523346, -23.96238899230957, 1.7918038368225098], "ext_wrench_in_world": [-107.95477310312357, 14.991393805298504, -27.25645496086705, -0.11955326043905055, -23.905425032984, -2.4559363435828816]}
+{"timestamp_ns": 1789729890455584068, "elapsed_ms": 9833, "source_timestamp_ns": 1789729890451748388, "q": [0.836272120475769, -1.8968228101730347, -1.0059561729431152, 1.3811758756637573, -0.16218671202659607, 0.5939196944236755, 0.7040933966636658], "theta": [0.8383439183235168, -1.8948801755905151, -1.0041463375091553, 1.3627634048461914, -0.16278107464313507, 0.5938810110092163, 0.7040738463401794], "dq": [0.0008342481451109052, 0.0024109098594635725, -0.0018851542845368385, 0.0010369970696046948, -0.0015285933623090386, 0.00027408410096541047, -0.00019865790090989321], "dtheta": [-0.00018189298862125725, 0.00016722605505492538, -0.0001539709628559649, 0.0003398089902475476, -0.00011263731721555814, 4.408516815601615e-06, 6.714243500027806e-05], "tau": [55.59000015258789, 23.56999969482422, 5.4720001220703125, -26.328001022338867, -2.6120002269744873, 2.680000066757202, -0.5240000486373901], "tau_des": [0.6344742178916931, -0.586776077747345, -0.15140274167060852, -0.6151976585388184, 0.9073595404624939, -1.1330763101577759, -0.5380988717079163], "tau_dot": [-88.82413482666016, -29.199169158935547, -33.3203239440918, -17.92487335205078, -63.23131561279297, 31.597793579101562, 25.643293380737305], "tau_ext": [-16.795299530029297, -41.60065460205078, 31.808137893676758, 31.36107063293457, 9.526291847229004, -2.999277114868164, -0.12196166068315506], "tcp_pose": [0.6779658794403076, 0.03264093026518822, -0.2149895280599594, -0.0023122786078602076, -0.004592804703861475, 0.9998902678489685, 0.013894272968173027], "tcp_vel": [-5.991941725369543e-05, -0.00020640513685066253, -0.00022408364748116583, -0.00023652955133002251, 0.0003420482389628887, -0.00017099220713134855], "flange_pose": [0.6786786317825317, 0.0284762904047966, -0.06504905223846436, -0.0023122786078602076, -0.004592804703861475, 0.9998902678489685, 0.013894272968173027], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.71034240722656, 15.202103614807129, 28.174406051635742, 0.32790184020996094, -23.970184326171875, 1.7951549291610718], "ext_wrench_in_world": [-107.97717070331589, 14.981636693194904, -27.25619454472406, -0.11779811634611789, -23.91310972795451, -2.4595008049913134]}
+{"timestamp_ns": 1789729890488897155, "elapsed_ms": 9866, "source_timestamp_ns": 1789729890481868418, "q": [0.8362739682197571, -1.8968243598937988, -1.005955696105957, 1.381176471710205, -0.16218481957912445, 0.5939188599586487, 0.704093337059021], "theta": [0.8383459448814392, -1.8948817253112793, -1.004145622253418, 1.3627638816833496, -0.16277986764907837, 0.5938800573348999, 0.7040738463401794], "dq": [-0.00025753266527317464, -0.0004066235851496458, -0.002519655507057905, 0.00023070690804161131, -0.0014376535546034575, -0.002566601149737835, -0.0015759828966110945], "dtheta": [5.162786692380905e-05, -0.0002892528136726469, 0.0005315528833307326, 0.00012130843242630363, 5.704620707547292e-05, 0.00015789596363902092, -0.00014882248069625348], "tau": [55.65999984741211, 23.59000015258789, 5.504000186920166, -26.296001434326172, -2.580000162124634, 2.6760001182556152, -0.5640000104904175], "tau_des": [0.5978015065193176, -0.49554869532585144, -0.2949051260948181, -0.588607668876648, 0.9064819812774658, -1.1512218713760376, -0.5228989720344543], "tau_dot": [31.74199867248535, 79.32292175292969, 53.92782211303711, 64.25870513916016, -11.98750114440918, 42.919036865234375, -58.696807861328125], "tau_ext": [-16.809125900268555, -41.625362396240234, 31.810739517211914, 31.37169075012207, 9.51833724975586, -3.0034639835357666, -0.11903075128793716], "tcp_pose": [0.6779650449752808, 0.03264158219099045, -0.21498923003673553, -0.00231252983212471, -0.0045931111089885235, 0.9998902678489685, 0.013893966563045979], "tcp_vel": [-0.00026930507738143206, 0.0003839524579234421, -6.230780854821205e-05, 0.00019425003847572953, 0.00012248386337887496, 0.0006997535238042474], "flange_pose": [0.6786778569221497, 0.028477035462856293, -0.06504874676465988, -0.00231252983212471, -0.0045931111089885235, 0.9998902678489685, 0.013893966563045979], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7444076538086, 15.202820777893066, 28.182268142700195, 0.33326223492622375, -23.982540130615234, 1.7989494800567627], "ext_wrench_in_world": [-108.01130074176464, 14.982172949401575, -27.263836555557813, -0.12304991760057737, -23.925406053362295, -2.463598580351129]}
+{"timestamp_ns": 1789729890522259077, "elapsed_ms": 9900, "source_timestamp_ns": 1789729890521743893, "q": [0.8362759947776794, -1.896823763847351, -1.0059561729431152, 1.3811779022216797, -0.16218450665473938, 0.5939186215400696, 0.7040935158729553], "theta": [0.8383474946022034, -1.8948814868927002, -1.0041459798812866, 1.3627653121948242, -0.16277916729450226, 0.5938791036605835, 0.7040745615959167], "dq": [0.0020613567903637886, 0.000605828536208719, 0.0014706470537930727, 0.0009612878202460706, 0.002150868996977806, -0.000402405159547925, -0.0004754257679451257], "dtheta": [-0.00011842205276479945, -0.0003668127756100148, 6.739360287610907e-06, -0.0001032213112921454, -0.000924843770917505, 0.0013123826356604695, 0.0002486919111106545], "tau": [55.65999984741211, 23.56999969482422, 5.51200008392334, -26.26000213623047, -2.580000162124634, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.5471418499946594, -0.5679311752319336, -0.22176222503185272, -0.5200431942939758, 0.9391127824783325, -1.192428708076477, -0.5328124761581421], "tau_dot": [-1.2281867265701294, -106.73529052734375, 14.691986083984375, 103.6578140258789, -34.604801177978516, -2.7738397121429443, -14.414186477661133], "tau_ext": [-16.833942413330078, -41.598419189453125, 31.791555404663086, 31.358068466186523, 9.507126808166504, -2.9992144107818604, -0.12296710163354874], "tcp_pose": [0.6779651641845703, 0.03264086693525314, -0.21498839557170868, -0.002312180120497942, -0.004592659883201122, 0.9998902678489685, 0.013893673196434975], "tcp_vel": [0.0002853933547157794, 0.0002737076429184526, 8.275071013486013e-05, 7.452838326571509e-05, -0.0014588775811716914, 0.0004674872034229338], "flange_pose": [0.6786778569221497, 0.028476407751441002, -0.06504791229963303, -0.002312180120497942, -0.004592659883201122, 0.9998902678489685, 0.013893673196434975], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69259643554688, 15.206241607666016, 28.1989688873291, 0.3338622450828552, -23.974872589111328, 1.7956528663635254], "ext_wrench_in_world": [-107.95957037139844, 14.986617560305842, -27.280751758209306, -0.12372425125998307, -23.917840199285273, -2.4600734522360557]}
+{"timestamp_ns": 1789729890555620790, "elapsed_ms": 9933, "source_timestamp_ns": 1789729890551719845, "q": [0.8362768888473511, -1.896824598312378, -1.0059560537338257, 1.3811782598495483, -0.1621822714805603, 0.5939172506332397, 0.7040938138961792], "theta": [0.8383481502532959, -1.8948814868927002, -1.0041463375091553, 1.362766146659851, -0.16277723014354706, 0.5938774347305298, 0.7040743231773376], "dq": [-0.0004689078195951879, 3.2291172828990966e-05, -0.0014776677126064897, -2.5949593691620976e-05, 0.0013966391561552882, -0.0004560094093903899, -0.0022260777186602354], "dtheta": [-7.267552427947521e-05, -0.00037800593418069184, 1.5020415958133526e-05, -0.00010559823567746207, 0.0009691937593743205, 0.00024407252203673124, -0.00023293541744351387], "tau": [55.689998626708984, 23.59000015258789, 5.484000205993652, -26.296001434326172, -2.5880000591278076, 2.6720001697540283, -0.5600000023841858], "tau_des": [0.6162874698638916, -0.5153252482414246, -0.2448733150959015, -0.5872445106506348, 0.8839794993400574, -1.1521849632263184, -0.5359132289886475], "tau_dot": [129.70274353027344, 15.663911819458008, -16.762250900268555, -27.80497932434082, -16.847379684448242, 1.3907489776611328, -27.981239318847656], "tau_ext": [-16.83902931213379, -41.60887908935547, 31.79078483581543, 31.35875129699707, 9.501835823059082, -2.9996800422668457, -0.12012181431055069], "tcp_pose": [0.677964448928833, 0.0326409786939621, -0.21498851478099823, -0.002313021570444107, -0.004592216107994318, 0.9998902678489685, 0.013893550261855125], "tcp_vel": [-0.00016655567742418498, 0.00024640784249641, -0.0001652479259064421, 0.0005522307474166155, 0.00033907507895492017, -6.357042730087414e-05], "flange_pose": [0.6786773800849915, 0.02847655862569809, -0.06504803895950317, -0.002313021570444107, -0.004592216107994318, 0.9998902678489685, 0.013893550261855125], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63577270507812, 15.222868919372559, 28.223125457763672, 0.3391166925430298, -23.965272903442383, 1.794456958770752], "ext_wrench_in_world": [-107.90304936230292, 15.004520144209737, -27.304512962489106, -0.12908509783712557, -23.908326939861137, -2.4585811393440453]}
+{"timestamp_ns": 1789729890588919268, "elapsed_ms": 9966, "source_timestamp_ns": 1789729890581734965, "q": [0.8362777233123779, -1.8968256711959839, -1.0059565305709839, 1.381178855895996, -0.16218265891075134, 0.5939183235168457, 0.7040942311286926], "theta": [0.838348925113678, -1.8948826789855957, -1.004146695137024, 1.362766981124878, -0.16277818381786346, 0.5938786268234253, 0.704075038433075], "dq": [0.0029711539391428232, 0.0010287670884281397, 0.0010944327805191278, -0.0016247091116383672, -0.003063424024730921, -0.0002746477257460356, -0.001669839839451015], "dtheta": [0.0002007137518376112, -6.236003537196666e-05, 0.00014125909365247935, -1.3010554539505392e-05, 0.0004165553255006671, -0.0016965341055765748, -0.00010335685510654002], "tau": [55.619998931884766, 23.649999618530273, 5.464000225067139, -26.2760009765625, -2.580000162124634, 2.696000099182129, -0.5360000133514404], "tau_des": [0.5961107015609741, -0.5472381114959717, -0.22262372076511383, -0.6131840944290161, 0.8926016688346863, -1.1108657121658325, -0.5361901521682739], "tau_dot": [-2.844871759414673, 123.23766326904297, -57.43625259399414, 45.604347229003906, 56.82454299926758, 45.105995178222656, 13.915244102478027], "tau_ext": [-16.8363094329834, -41.61528015136719, 31.796998977661133, 31.363861083984375, 9.509541511535645, -3.0014491081237793, -0.12367812544107437], "tcp_pose": [0.677964448928833, 0.03264111280441284, -0.21498844027519226, -0.0023122939746826887, -0.0045923953875899315, 0.9998902678489685, 0.013893038965761662], "tcp_vel": [-0.00038867007242515683, -0.00013982411473989487, -9.614368173060939e-05, -0.000799537927377969, 0.0013437921879813075, 5.1520761189749464e-05], "flange_pose": [0.6786772012710571, 0.02847684547305107, -0.06504794955253601, -0.0023122939746826887, -0.0045923953875899315, 0.9998902678489685, 0.013893038965761662], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62509155273438, 15.240771293640137, 28.233474731445312, 0.34269586205482483, -23.964014053344727, 1.7941608428955078], "ext_wrench_in_world": [-107.89254633073251, 15.022736474123795, -27.314581671159285, -0.13266240530528714, -23.90711248914488, -2.4582099687667633]}
+{"timestamp_ns": 1789729890622262772, "elapsed_ms": 10000, "source_timestamp_ns": 1789729890621752497, "q": [0.8362798690795898, -1.8968268632888794, -1.005959153175354, 1.3811782598495483, -0.16218513250350952, 0.5939183831214905, 0.7040952444076538], "theta": [0.8383504748344421, -1.894883394241333, -1.0041487216949463, 1.362767219543457, -0.16278083622455597, 0.5938788652420044, 0.7040769457817078], "dq": [0.0008663818007335067, -0.0008263539639301598, 0.00160272850189358, 0.002219900256022811, 0.00040074632852338254, 0.0016525676473975182, -0.0014785903040319681], "dtheta": [0.00011253178672632203, 0.00012625363888219, -1.239826360688312e-05, 0.00014035047206562012, 1.2118110817027627e-06, 0.0012154377764090896, -0.0001944980613188818], "tau": [55.62999725341797, 23.549999237060547, 5.468000411987305, -26.340002059936523, -2.6040000915527344, 2.6760001182556152, -0.527999997138977], "tau_des": [0.49232327938079834, -0.6315059065818787, -0.18845051527023315, -0.4913523495197296, 0.9215134382247925, -1.2001872062683105, -0.5361133217811584], "tau_dot": [8.29879379272461, -69.70415496826172, -5.950864791870117, -37.42930603027344, -25.949613571166992, -2.539381742477417, -5.129049301147461], "tau_ext": [-16.811368942260742, -41.576393127441406, 31.796110153198242, 31.349628448486328, 9.516550064086914, -3.0001018047332764, -0.131261944770813], "tcp_pose": [0.6779660582542419, 0.03263992816209793, -0.21498699486255646, -0.0023098562378436327, -0.004591988865286112, 0.9998903274536133, 0.01389115396887064], "tcp_vel": [0.0002336497709620744, 0.00012107340444345027, 0.00018865700985770673, 0.0008021250832825899, -0.0009274214971810579, 9.376840171171352e-05], "flange_pose": [0.6786780953407288, 0.02847621962428093, -0.06504648923873901, -0.0023098562378436327, -0.004591988865286112, 0.9998903274536133, 0.01389115396887064], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64250946044922, 15.233399391174316, 28.20660400390625, 0.3396540880203247, -23.961986541748047, 1.7916218042373657], "ext_wrench_in_world": [-107.90962210779337, 15.014452470606395, -27.28843130244509, -0.1296360887908928, -23.905137300710233, -2.4555402123600993]}
+{"timestamp_ns": 1789729890655587167, "elapsed_ms": 10033, "source_timestamp_ns": 1789729890651726520, "q": [0.8362793326377869, -1.8968266248703003, -1.0059587955474854, 1.3811780214309692, -0.16218239068984985, 0.5939139723777771, 0.7040951251983643], "theta": [0.8383504748344421, -1.8948837518692017, -1.0041483640670776, 1.3627667427062988, -0.16277818381786346, 0.5938745737075806, 0.7040771842002869], "dq": [0.001137284911237657, 0.0003670023870654404, -0.001229165238328278, -0.0022300495766103268, 0.0004025213420391083, 7.614104833919555e-05, -0.0014144921442493796], "dtheta": [0.0001191990013467148, -0.00020858904463239014, 2.9812716093147174e-05, 0.0002199785376433283, 0.0013366013299673796, 0.00015693795285187662, 0.000831719720736146], "tau": [55.63999938964844, 23.60999870300293, 5.4760003089904785, -26.296001434326172, -2.5920000076293945, 2.6680002212524414, -0.5320000052452087], "tau_des": [0.6078485250473022, -0.5548275709152222, -0.2193613350391388, -0.5934861898422241, 0.8670241236686707, -1.1462985277175903, -0.5628363490104675], "tau_dot": [9.927576065063477, 59.88742446899414, -13.26958179473877, -37.224449157714844, 33.05202102661133, 18.142744064331055, 15.193532943725586], "tau_ext": [-16.827592849731445, -41.58945083618164, 31.801801681518555, 31.352779388427734, 9.517428398132324, -3.0007669925689697, -0.1366315335035324], "tcp_pose": [0.6779648065567017, 0.03263956308364868, -0.2149878889322281, -0.0023125100415199995, -0.004591318778693676, 0.9998903274536133, 0.013890855014324188], "tcp_vel": [-0.000278676365269348, 0.00015439471462741494, -0.0001694934762781486, 0.0006665947148576379, 0.0007119524525478482, -0.0013810592936351895], "flange_pose": [0.6786776185035706, 0.028475947678089142, -0.06504737585783005, -0.0023125100415199995, -0.004591318778693676, 0.9998903274536133, 0.013890855014324188], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64903259277344, 15.215450286865234, 28.204391479492188, 0.33063560724258423, -23.958248138427734, 1.7864651679992676], "ext_wrench_in_world": [-107.91609699225687, 14.996508756875205, -27.286124301250233, -0.12067097301177124, -23.901461620365193, -2.4503066114691556]}
+{"timestamp_ns": 1789729890688919882, "elapsed_ms": 10066, "source_timestamp_ns": 1789729890681728980, "q": [0.8362799882888794, -1.8968278169631958, -1.0059586763381958, 1.381177544593811, -0.16218231618404388, 0.5939102172851562, 0.704094409942627], "theta": [0.8383508324623108, -1.8948845863342285, -1.0041481256484985, 1.3627665042877197, -0.16277796030044556, 0.5938702821731567, 0.7040759921073914], "dq": [-0.0006181971402838826, -0.0010848644888028502, -0.00021039671264588833, -0.0007931749569252133, 0.0020927090663462877, -0.001553896116092801, -0.000978755997493863], "dtheta": [-0.0002006912836804986, -0.00013425486395135522, -0.00036295189056545496, 6.927825779712293e-06, -8.018203516257927e-05, -0.00021779876260552555, -0.00018505245679989457], "tau": [55.619998931884766, 23.529998779296875, 5.500000476837158, -26.284000396728516, -2.580000162124634, 2.6480002403259277, -0.5], "tau_des": [0.6271198987960815, -0.5704810619354248, -0.16192638874053955, -0.6044101119041443, 0.9057217240333557, -1.1338378190994263, -0.5382153987884521], "tau_dot": [-49.34931564331055, -114.52360534667969, 9.912222862243652, 23.734535217285156, -10.079421997070312, 7.625303268432617, 62.43389892578125], "tau_ext": [-16.830219268798828, -41.60685729980469, 31.799423217773438, 31.352331161499023, 9.509974479675293, -2.997609853744507, -0.13673661649227142], "tcp_pose": [0.6779640316963196, 0.032639529556035995, -0.21498802304267883, -0.0023134842049330473, -0.0045921350829303265, 0.9998903274536133, 0.01388938631862402], "tcp_vel": [9.722826689539943e-06, -0.00020192044030409306, -0.00021715229377150536, -0.000526566116604954, 0.00020692861289717257, 7.085085235303268e-05], "flange_pose": [0.6786771416664124, 0.028476357460021973, -0.0650474950671196, -0.0023134842049330473, -0.0045921350829303265, 0.9998903274536133, 0.01388938631862402], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62857055664062, 15.22582721710205, 28.216102600097656, 0.3319054841995239, -23.9569091796875, 1.7833431959152222], "ext_wrench_in_world": [-107.89586349806416, 15.007135403814065, -27.2974721801992, -0.1219030089601629, -23.90022903696207, -2.447072390799978]}
+{"timestamp_ns": 1789729890722258577, "elapsed_ms": 10100, "source_timestamp_ns": 1789729890721720254, "q": [0.8362826704978943, -1.896828532218933, -1.0059590339660645, 1.3811767101287842, -0.1621818095445633, 0.593906819820404, 0.7040945887565613], "theta": [0.8383537530899048, -1.8948853015899658, -1.004148244857788, 1.362766981124878, -0.16277675330638885, 0.5938669443130493, 0.7040757536888123], "dq": [0.0003643049858510494, 0.0004368661902844906, 0.0017010781448334455, 0.0013801921159029007, -0.0006514440756291151, -0.0005257421871647239, -0.00040211365558207035], "dtheta": [0.0002694727445486933, -0.0002038163656834513, -0.00025954784359782934, -1.1075165275542531e-05, -0.0007402016199193895, -0.0005641611060127616, -9.30703099584207e-05], "tau": [55.63999938964844, 23.579999923706055, 5.496000289916992, -26.292001724243164, -2.556000232696533, 2.680000066757202, -0.5360000133514404], "tau_des": [0.5211912393569946, -0.6017331480979919, -0.17226547002792358, -0.549027681350708, 0.9349820613861084, -1.1451849937438965, -0.5361918807029724], "tau_dot": [-94.3324203491211, 50.973060607910156, 12.245368957519531, 12.570022583007812, 34.20572280883789, 8.17891788482666, 8.19281005859375], "tau_ext": [-16.803192138671875, -41.58536911010742, 31.798254013061523, 31.353534698486328, 9.498741149902344, -2.994202136993408, -0.13277432322502136], "tcp_pose": [0.6779642105102539, 0.03263915330171585, -0.21498648822307587, -0.0023131724447011948, -0.004591939505189657, 0.9998903274536133, 0.013888276182115078], "tcp_vel": [8.99633378139697e-05, -0.00022201477258931845, 0.0001095170300686732, -0.0011387557024136186, -0.0003459966101218015, 0.0004697255208157003], "flange_pose": [0.6786772012710571, 0.02847631275653839, -0.06504596769809723, -0.0023131724447011948, -0.004591939505189657, 0.9998903274536133, 0.013888276182115078], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6412582397461, 15.212387084960938, 28.208845138549805, 0.3315269947052002, -23.967185974121094, 1.7825703620910645], "ext_wrench_in_world": [-107.90837038628804, 14.993364319467116, -27.290635156926673, -0.12143505034668912, -23.910524761102604, -2.446534271040761]}
+{"timestamp_ns": 1789729890755585192, "elapsed_ms": 10133, "source_timestamp_ns": 1789729890751719025, "q": [0.8362833857536316, -1.8968288898468018, -1.0059597492218018, 1.3811774253845215, -0.1621822863817215, 0.5939017534255981, 0.7040935158729553], "theta": [0.8383546471595764, -1.894885778427124, -1.0041487216949463, 1.3627673387527466, -0.16277675330638885, 0.5938616991043091, 0.704075276851654], "dq": [0.0017883350374177098, 0.0005152973462827504, 0.0013781220186501741, 0.0006621102220378816, -6.61301746731624e-05, 9.669943392509595e-05, 0.0018205840606242418], "dtheta": [6.138205208117142e-05, -0.0001933602470671758, -5.0311264203628525e-05, 6.568480603164062e-05, -0.0007108285208232701, 8.413123578066006e-05, -0.00028094855952076614], "tau": [55.66999816894531, 23.639999389648438, 5.4720001220703125, -26.328001022338867, -2.580000162124634, 2.6680002212524414, -0.5480000376701355], "tau_des": [0.5613798499107361, -0.5689382553100586, -0.20385022461414337, -0.5704939365386963, 0.9286432862281799, -1.1456023454666138, -0.527803361415863], "tau_dot": [47.68841552734375, 154.63421630859375, -42.555904388427734, 9.854120254516602, -19.727914810180664, -20.37028694152832, -25.541696548461914], "tau_ext": [-16.82867431640625, -41.58327102661133, 31.793651580810547, 31.36829376220703, 9.499052047729492, -2.9980309009552, -0.1288144588470459], "tcp_pose": [0.6779633164405823, 0.03263794630765915, -0.21498702466487885, -0.002314777811989188, -0.004592605400830507, 0.9998903870582581, 0.013885930180549622], "tcp_vel": [6.507226498797536e-05, -2.0024368495796807e-05, 2.0189596398267895e-05, -0.0005982841830700636, -0.0004891288699582219, 0.0007779120933264494], "flange_pose": [0.6786767840385437, 0.028475815430283546, -0.06504647433757782, -0.002314777811989188, -0.004592605400830507, 0.9998903870582581, 0.013885930180549622], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6576156616211, 15.187943458557129, 28.21867561340332, 0.32618069648742676, -23.97150421142578, 1.781465768814087], "ext_wrench_in_world": [-107.9246580799574, 14.968774624595682, -27.300795856210605, -0.1160190014007423, -23.91483403411216, -2.445461306748886]}
+{"timestamp_ns": 1789729890788920567, "elapsed_ms": 10166, "source_timestamp_ns": 1789729890781729634, "q": [0.8362854719161987, -1.8968291282653809, -1.0059599876403809, 1.3811776638031006, -0.16218028962612152, 0.5939019918441772, 0.7040945291519165], "theta": [0.8383564352989197, -1.894885778427124, -1.004149317741394, 1.3627676963806152, -0.16277460753917694, 0.59386146068573, 0.704075276851654], "dq": [-6.132367707323283e-05, -0.0010104422690346837, 0.0006296971114352345, -0.00026153982616961, 0.00019183490076102316, -0.0009313116315752268, 0.000728013867046684], "dtheta": [0.00028500068583525717, 0.000510715355630964, -0.00018186127999797463, 0.00019771997176576406, 0.0005315585876815021, -0.00010605997522361577, 0.00011674309644149616], "tau": [55.63999938964844, 23.559999465942383, 5.500000476837158, -26.2760009765625, -2.5480000972747803, 2.6720001697540283, -0.5400000214576721], "tau_des": [0.49884235858917236, -0.6857019066810608, -0.13854411244392395, -0.5295166969299316, 0.892992377281189, -1.1522696018218994, -0.5533967614173889], "tau_dot": [-14.462900161743164, -5.708623886108398, 10.891828536987305, 41.63315963745117, 49.83800506591797, 28.507522583007812, 5.125059127807617], "tau_ext": [-16.81344985961914, -41.58625793457031, 31.80243682861328, 31.348785400390625, 9.493860244750977, -2.9964771270751953, -0.12636896967887878], "tcp_pose": [0.6779634952545166, 0.03263798728585243, -0.2149858921766281, -0.0023142301943153143, -0.0045915404334664345, 0.9998903870582581, 0.013886400498449802], "tcp_vel": [8.881140092853457e-05, -0.000267914030700922, 0.00019064953085035086, 0.0004096357151865959, 0.000193097599549219, -0.0008477187366224825], "flange_pose": [0.6786767840385437, 0.02847571112215519, -0.06504535675048828, -0.0023142301943153143, -0.0045915404334664345, 0.9998903870582581, 0.013886400498449802], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65794372558594, 15.194994926452637, 28.218177795410156, 0.3285849094390869, -23.97075080871582, 1.7828459739685059], "ext_wrench_in_world": [-107.92498694138136, 14.976063632181242, -27.30020124316396, -0.1184852721726633, -23.914062335842132, -2.446831825216438]}
+{"timestamp_ns": 1789729890822259941, "elapsed_ms": 10200, "source_timestamp_ns": 1789729890821740957, "q": [0.8362846374511719, -1.8968299627304077, -1.005961298942566, 1.3811777830123901, -0.162181556224823, 0.5939036011695862, 0.7040954232215881], "theta": [0.8383563160896301, -1.8948862552642822, -1.0041508674621582, 1.3627681732177734, -0.16277603805065155, 0.5938636064529419, 0.7040757536888123], "dq": [-1.2806995073333383e-05, -0.0008017771760933101, -0.0016634372295811772, 0.0001249385968549177, 0.0015499887522310019, -0.0006740423268638551, 0.0013952907174825668], "dtheta": [-0.0002504501899238676, -0.00014704378554597497, 0.00022175472986418754, -0.0002544917806517333, -0.0004944297834299505, 0.0007121082744561136, 0.0003787526802625507], "tau": [55.65999984741211, 23.579999923706055, 5.468000411987305, -26.296001434326172, -2.576000213623047, 2.6560001373291016, -0.5360000133514404], "tau_des": [0.5619843006134033, -0.5801935195922852, -0.2351773977279663, -0.5307810306549072, 0.9116194844245911, -1.1771639585494995, -0.5434310436248779], "tau_dot": [17.563594818115234, -123.5130615234375, -8.773117065429688, 3.7511515617370605, -49.841773986816406, -12.409488677978516, 17.429922103881836], "tau_ext": [-16.831340789794922, -41.59784698486328, 31.81247329711914, 31.347200393676758, 9.495561599731445, -3.001629114151001, -0.12339954823255539], "tcp_pose": [0.67796391248703, 0.03263770043849945, -0.21498653292655945, -0.0023135270457714796, -0.0045912740752100945, 0.9998903870582581, 0.01388578861951828], "tcp_vel": [0.0001325901539530605, 0.000291973992716521, 3.404781091376208e-05, 0.0003355127410031855, -0.0006851800717413425, 9.265933476854116e-05], "flange_pose": [0.6786770224571228, 0.028475606814026833, -0.06504598259925842, -0.0023135270457714796, -0.0045912740752100945, 0.9998903870582581, 0.01388578861951828], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.60955810546875, 15.231414794921875, 28.218219757080078, 0.3375452160835266, -23.95525550842285, 1.784773588180542], "ext_wrench_in_world": [-107.87688956244796, 15.012942474689371, -27.299618589847903, -0.12760524535376855, -23.898605939449926, -2.448258781264347]}
+{"timestamp_ns": 1789729890855588267, "elapsed_ms": 10233, "source_timestamp_ns": 1789729890851727509, "q": [0.8362846970558167, -1.896830677986145, -1.0059641599655151, 1.3811782598495483, -0.16218380630016327, 0.5939022898674011, 0.7040942907333374], "theta": [0.8383568525314331, -1.89488685131073, -1.0041544437408447, 1.3627684116363525, -0.16277770698070526, 0.5938624143600464, 0.704075038433075], "dq": [0.0017743001226335764, -0.0005767301772721112, -0.0001328512153122574, 0.000267187220742926, -0.0008364918176084757, 0.000517000094987452, 0.0020252205431461334], "dtheta": [0.00039930242928676307, -0.00023044190311338753, -9.886143743642606e-06, -0.00012266221165191382, -0.0001872398133855313, -0.0011920089600607753, -0.0011816216865554452], "tau": [55.69999694824219, 23.60999870300293, 5.432000160217285, -26.32400131225586, -2.5880000591278076, 2.6720001697540283, -0.5320000052452087], "tau_des": [0.5170594453811646, -0.563037633895874, -0.20471344888210297, -0.5641319155693054, 0.9294613003730774, -1.1282813549041748, -0.5169788599014282], "tau_dot": [113.79814910888672, 44.67719268798828, -43.40973663330078, -31.094602584838867, 0.3113376796245575, 26.60580825805664, 24.69687843322754], "tau_ext": [-16.822240829467773, -41.60115051269531, 31.824851989746094, 31.3485050201416, 9.505098342895508, -2.998793125152588, -0.1241588294506073], "tcp_pose": [0.6779645681381226, 0.03263580799102783, -0.21498708426952362, -0.0023131552152335644, -0.004591747187077999, 0.9998903870582581, 0.01388329267501831], "tcp_vel": [-0.00012122916814405471, -0.0001154369383584708, 0.00013629581371787935, -0.0009974564891308546, 0.00026406586403027177, 0.001441441592760384], "flange_pose": [0.6786775588989258, 0.028474463149905205, -0.0650465115904808, -0.0023131552152335644, -0.004591747187077999, 0.9998903870582581, 0.01388329267501831], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61569213867188, 15.24585247039795, 28.205148696899414, 0.3384374976158142, -23.952880859375, 1.786314606666565], "ext_wrench_in_world": [-107.88308572555296, 15.026716329295507, -27.28628292275499, -0.12850190842099818, -23.89621013217694, -2.4496101435886373]}
+{"timestamp_ns": 1789729890888896794, "elapsed_ms": 10266, "source_timestamp_ns": 1789729890881752127, "q": [0.8362845778465271, -1.89683198928833, -1.0059659481048584, 1.3811789751052856, -0.16218455135822296, 0.5939027667045593, 0.7040956616401672], "theta": [0.8383570313453674, -1.8948884010314941, -1.0041563510894775, 1.362768530845642, -0.16277964413166046, 0.5938628911972046, 0.7040759921073914], "dq": [0.0005996925756335258, -0.0013893910218030214, -0.0009266141569241881, 0.0004936267505399883, 0.0011910151224583387, 0.0016998257488012314, -0.0015011373907327652], "dtheta": [-0.00019880539912264794, -9.323322956333868e-06, 3.131057019345462e-05, 0.00010713800293160602, -0.0017789277480915189, 0.00025049273972399533, 0.00028760675922967494], "tau": [55.59000015258789, 23.549999237060547, 5.468000411987305, -26.292001724243164, -2.616000175476074, 2.684000015258789, -0.5320000052452087], "tau_des": [0.5750705599784851, -0.6056621074676514, -0.1664515733718872, -0.5673830509185791, 0.9468238949775696, -1.1519438028335571, -0.5377371311187744], "tau_dot": [-42.84443283081055, -34.44728088378906, 30.931791305541992, 30.268400192260742, -83.3088150024414, 7.348660469055176, 20.64794921875], "tau_ext": [-16.806068420410156, -41.59772872924805, 31.83905601501465, 31.35401153564453, 9.519109725952148, -3.000117540359497, -0.1239316314458847], "tcp_pose": [0.6779647469520569, 0.032635144889354706, -0.21498781442642212, -0.002312811091542244, -0.0045911576598882675, 0.9998904466629028, 0.013881975784897804], "tcp_vel": [0.00019115122267976403, -8.590710058342665e-05, -8.950386472861283e-06, -0.0009904835605993867, -0.0008716362062841654, 0.0007387927616946399], "flange_pose": [0.6786776185035706, 0.028474193066358566, -0.0650472342967987, -0.002312811091542244, -0.0045911576598882675, 0.9998904466629028, 0.013881975784897804], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65898895263672, 15.250314712524414, 28.185670852661133, 0.3351953625679016, -23.957256317138672, 1.7889913320541382], "ext_wrench_in_world": [-107.92629191941755, 15.030291779831977, -27.266607491349863, -0.12525936637172744, -23.900485794299517, -2.4523590785111105]}
+{"timestamp_ns": 1789729890922251917, "elapsed_ms": 10300, "source_timestamp_ns": 1789729890921733772, "q": [0.8362862467765808, -1.8968325853347778, -1.0059653520584106, 1.381178379058838, -0.16218358278274536, 0.5939024686813354, 0.7040961384773254], "theta": [0.8383577466011047, -1.894888997077942, -1.004156470298767, 1.362768530845642, -0.16277866065502167, 0.5938628911972046, 0.7040757536888123], "dq": [-0.003008847590535879, -0.003314254805445671, 0.0002643439220264554, -7.061204814817756e-05, -0.00015221898502204567, 0.0006393232615664601, 0.003121222835034132], "dtheta": [2.9188362532295287e-05, 0.0001263098238268867, 0.00020881246018689126, -5.757090912084095e-05, -0.00046327378368005157, 0.0003351694322191179, 0.0009156839805655181], "tau": [55.59000015258789, 23.649999618530273, 5.492000102996826, -26.332000732421875, -2.576000213623047, 2.680000066757202, -0.5520000457763672], "tau_des": [0.5162683725357056, -0.638874351978302, -0.19303780794143677, -0.5163030624389648, 0.9136977195739746, -1.172736406326294, -0.5578871369361877], "tau_dot": [-126.64945983886719, 171.4300994873047, 49.94561767578125, -25.38629913330078, 11.644172668457031, 32.537532806396484, -5.407196998596191], "tau_ext": [-16.81851577758789, -41.57674026489258, 31.81255340576172, 31.348674774169922, 9.51720905303955, -3.0020103454589844, -0.12595117092132568], "tcp_pose": [0.6779647469520569, 0.03263578563928604, -0.21498672664165497, -0.00231223925948143, -0.004591028671711683, 0.9998904466629028, 0.013882298022508621], "tcp_vel": [0.00011838189675472677, 0.00010933013254543766, 0.00017063731502275914, 0.000187280384125188, -0.000494188629090786, -0.0006134125287644565], "flange_pose": [0.6786774396896362, 0.02847473695874214, -0.06504613906145096, -0.00231223925948143, -0.004591028671711683, 0.9998904466629028, 0.013882298022508621], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65803527832031, 15.232198715209961, 28.173927307128906, 0.32797136902809143, -23.950132369995117, 1.789279818534851], "ext_wrench_in_world": [-107.92508219564387, 15.011913987368088, -27.25548915529624, -0.11810586513038251, -23.89328847674908, -2.4524976655804402]}
+{"timestamp_ns": 1789729890955585702, "elapsed_ms": 10333, "source_timestamp_ns": 1789729890951725374, "q": [0.8362873792648315, -1.8968342542648315, -1.005964756011963, 1.381178379058838, -0.1621818095445633, 0.5939023494720459, 0.7040936946868896], "theta": [0.8383586406707764, -1.8948900699615479, -1.0041563510894775, 1.3627687692642212, -0.16277700662612915, 0.5938628911972046, 0.7040740847587585], "dq": [0.0029099173843860626, 0.00025587165146134794, 0.0002843951224349439, -0.0022805696353316307, 0.00017152572399936616, -0.0005185111076571047, 0.0013470773119479418], "dtheta": [0.00024012061476241797, -1.1313640015941928e-06, -0.00036691161221824586, 0.0001431696437066421, 0.000932896276935935, -0.00010578284855000675, -0.00020711967954412103], "tau": [55.62999725341797, 23.59000015258789, 5.484000205993652, -26.256000518798828, -2.580000162124634, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.5465079545974731, -0.6109926700592041, -0.1602993607521057, -0.5598483681678772, 0.8908843994140625, -1.1493045091629028, -0.5460473299026489], "tau_dot": [-76.77352905273438, -9.994412422180176, 22.463590621948242, 50.96472930908203, 7.920583248138428, 32.324947357177734, -3.4995434284210205], "tau_ext": [-16.81819725036621, -41.5816764831543, 31.8004150390625, 31.351852416992188, 9.512375831604004, -3.000352621078491, -0.12421704083681107], "tcp_pose": [0.6779640913009644, 0.032636694610118866, -0.21498659253120422, -0.002312309108674526, -0.004592512734234333, 0.9998903870582581, 0.013882378116250038], "tcp_vel": [-2.8912907509948127e-05, -0.00018054916290566325, -1.032401905831648e-05, 0.00019394057744648308, 0.00034974407753907144, -0.000542226480320096], "flange_pose": [0.6786767840385437, 0.028475623577833176, -0.06504601985216141, -0.002312309108674526, -0.004592512734234333, 0.9998903870582581, 0.013882378116250038], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66082763671875, 15.220687866210938, 28.18534278869629, 0.3277321755886078, -23.955381393432617, 1.7895652055740356], "ext_wrench_in_world": [-107.9278709668862, 15.00038295889675, -27.267194103937477, -0.11774945318467778, -23.89852506522208, -2.4529338519335675]}
+{"timestamp_ns": 1789729890988897858, "elapsed_ms": 10366, "source_timestamp_ns": 1789729890981730194, "q": [0.8362884521484375, -1.896834373474121, -1.005965232849121, 1.3811793327331543, -0.16218194365501404, 0.5939005613327026, 0.7040929794311523], "theta": [0.838360071182251, -1.8948904275894165, -1.004156231880188, 1.3627700805664062, -0.16277651488780975, 0.5938616991043091, 0.7040728330612183], "dq": [0.00045069929910823703, 6.15212120465003e-05, 0.002064562402665615, -0.0003468493523541838, 2.9341761546675116e-05, 0.0018611039267852902, -0.00157709582708776], "dtheta": [6.690472218906507e-06, -0.0003141421766486019, -0.00017321579798590392, 5.675407010130584e-05, 0.00045347324339672923, 6.098035737522878e-05, 0.0003788079193327576], "tau": [55.61000061035156, 23.579999923706055, 5.500000476837158, -26.30000114440918, -2.5920000076293945, 2.6720001697540283, -0.5640000104904175], "tau_des": [0.595926821231842, -0.5588846206665039, -0.20046928524971008, -0.5849369168281555, 0.894771933555603, -1.146269679069519, -0.5487228631973267], "tau_dot": [-82.54065704345703, -36.83235549926758, -2.8541464805603027, 6.0895514488220215, -6.908585548400879, -7.305976867675781, -48.7069206237793], "tau_ext": [-16.800565719604492, -41.59022903442383, 31.805145263671875, 31.346010208129883, 9.508111953735352, -2.9986038208007812, -0.12391618639230728], "tcp_pose": [0.6779637932777405, 0.032635997980833054, -0.21498647332191467, -0.0023127002641558647, -0.004592860117554665, 0.9998904466629028, 0.013881335034966469], "tcp_vel": [-9.714280895423144e-05, 2.7609634344116785e-05, -0.00015378178795799613, -5.6554912589490414e-05, 0.00020031450549140573, -0.0005337980110198259], "flange_pose": [0.6786766052246094, 0.028475239872932434, -0.06504588574171066, -0.0023127002641558647, -0.004592860117554665, 0.9998904466629028, 0.013881335034966469], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65458679199219, 15.21947956085205, 28.18191909790039, 0.33158692717552185, -23.958518981933594, 1.7908581495285034], "ext_wrench_in_world": [-107.92163460604604, 14.99900433665476, -27.263782429561456, -0.12156643617071812, -23.901666309407453, -2.4542460848521728]}
+{"timestamp_ns": 1789729891022258763, "elapsed_ms": 10400, "source_timestamp_ns": 1789729891021723260, "q": [0.83628910779953, -1.8968353271484375, -1.0059653520584106, 1.381181001663208, -0.16218319535255432, 0.5939012765884399, 0.7040933966636658], "theta": [0.8383607268333435, -1.8948915004730225, -1.0041561126708984, 1.362771987915039, -0.16277770698070526, 0.5938628911972046, 0.7040726542472839], "dq": [0.0009913962567225099, 0.00011366912804078311, 0.002015409292653203, 0.0022613611072301865, -0.0002179604780394584, -0.0013091567670926452, -0.0008604534086771309], "dtheta": [9.631842840462923e-05, -0.00019983759557362646, 0.0002970513887703419, 0.00022528447152581066, -0.0006039310246706009, 0.00010725800530053675, 0.00047546939458698034], "tau": [55.619998931884766, 23.60999870300293, 5.468000411987305, -26.296001434326172, -2.568000078201294, 2.6680002212524414, -0.5600000023841858], "tau_des": [0.5689300894737244, -0.5536603331565857, -0.24948354065418243, -0.5736185908317566, 0.9158435463905334, -1.1532342433929443, -0.5378291606903076], "tau_dot": [-58.6790885925293, 84.46031951904297, -11.96764850616455, 46.560882568359375, 33.80429458618164, 4.450526714324951, -45.58808135986328], "tau_ext": [-16.819644927978516, -41.60540008544922, 31.80708122253418, 31.35137176513672, 9.503722190856934, -2.9997050762176514, -0.12396648526191711], "tcp_pose": [0.677963376045227, 0.03263590484857559, -0.2149868905544281, -0.002312395256012678, -0.004593396093696356, 0.9998904466629028, 0.013880251906812191], "tcp_vel": [-0.00011776793689932674, 0.00015400229312945157, -1.627150413696654e-05, -0.0003951871767640114, -0.00022336753318086267, 0.0002355414180783555], "flange_pose": [0.6786761283874512, 0.028475472703576088, -0.0650462955236435, -0.002312395256012678, -0.004593396093696356, 0.9998904466629028, 0.013880251906812191], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6594009399414, 15.219085693359375, 28.188291549682617, 0.3347534239292145, -23.963613510131836, 1.7912293672561646], "ext_wrench_in_world": [-107.92647390526191, 14.998568643516998, -27.270242565868614, -0.12466096530377593, -23.90678308622973, -2.4546928678789977]}
+{"timestamp_ns": 1789729891055584482, "elapsed_ms": 10433, "source_timestamp_ns": 1789729891051723484, "q": [0.8362898230552673, -1.8968360424041748, -1.0059658288955688, 1.3811824321746826, -0.1621824949979782, 0.593904435634613, 0.7040928602218628], "theta": [0.8383613228797913, -1.8948923349380493, -1.004157304763794, 1.3627738952636719, -0.16277770698070526, 0.5938657522201538, 0.7040723562240601], "dq": [0.0019407435320317745, -0.0008967324974946678, -0.000926703738514334, 0.0005842322134412825, -0.0010972523596137762, -0.000316441961331293, -0.0014774351147934794], "dtheta": [6.455885795730865e-06, -3.448838469921611e-05, -9.279016376240179e-05, -0.00011759425979107618, 0.000500566849950701, 0.0005996864638291299, -0.00046901265159249306], "tau": [55.64999771118164, 23.6299991607666, 5.4800004959106445, -26.272001266479492, -2.5920000076293945, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.5363191962242126, -0.5942752957344055, -0.21099434792995453, -0.5251370072364807, 0.9000598788261414, -1.1791822910308838, -0.5322176814079285], "tau_dot": [19.263198852539062, 61.883087158203125, 13.450250625610352, 19.49136734008789, -20.423686981201172, 6.803941249847412, -32.925514221191406], "tau_ext": [-16.813007354736328, -41.5972785949707, 31.804960250854492, 31.35093879699707, 9.512767791748047, -3.0087175369262695, -0.12467285245656967], "tcp_pose": [0.677963376045227, 0.0326361358165741, -0.21498697996139526, -0.00231155171059072, -0.004593626130372286, 0.9998904466629028, 0.013880711980164051], "tcp_vel": [0.00011292236013105139, 0.00011133740918012336, 6.863250746391714e-05, 0.000688093772623688, -0.00031930566183291376, 0.00011611913214437664], "flange_pose": [0.6786759495735168, 0.02847556211054325, -0.06504639238119125, -0.00231155171059072, -0.004593626130372286, 0.9998904466629028, 0.013880711980164051], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65097045898438, 15.22984790802002, 28.189701080322266, 0.34044766426086426, -23.959945678710938, 1.7916631698608398], "ext_wrench_in_world": [-107.9181091945241, 15.009421777235143, -27.271558826959417, -0.13037589018916404, -23.903155238733685, -2.4550214282916416]}
+{"timestamp_ns": 1789729891088911451, "elapsed_ms": 10466, "source_timestamp_ns": 1789729891081740786, "q": [0.8362900614738464, -1.896836519241333, -1.0059682130813599, 1.3811830282211304, -0.16218243539333344, 0.5939034819602966, 0.7040932178497314], "theta": [0.8383615612983704, -1.894892692565918, -1.0041595697402954, 1.36277437210083, -0.16277843713760376, 0.5938655138015747, 0.7040728330612183], "dq": [-0.0018966158386319876, 0.0006186924874782562, 0.0010057124309241772, -0.003159973071888089, 0.002790339756757021, -0.0006550547550432384, -0.0004733190289698541], "dtheta": [0.00024573845439590514, 0.00017408531857654452, 0.0001568510488141328, 0.0002965100575238466, -7.454568549292162e-05, 0.000331798626575619, -0.0006759219686500728], "tau": [55.66999816894531, 23.559999465942383, 5.440000057220459, -26.304000854492188, -2.568000078201294, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.5193546414375305, -0.6048179864883423, -0.21475926041603088, -0.5405662655830383, 0.9115045666694641, -1.1665877103805542, -0.5254034399986267], "tau_dot": [-47.79087448120117, -58.766632080078125, -58.596221923828125, 20.97112274169922, 38.22104263305664, 3.503467321395874, -7.091046333312988], "tau_ext": [-16.799680709838867, -41.59095001220703, 31.81597328186035, 31.331829071044922, 9.51033878326416, -3.0051188468933105, -0.13032935559749603], "tcp_pose": [0.6779636740684509, 0.032634709030389786, -0.21498748660087585, -0.0023117035161703825, -0.004592815414071083, 0.9998904466629028, 0.01387932151556015], "tcp_vel": [2.941350430774037e-06, 2.5592782549210824e-05, 0.00013844374916516244, 0.00023308464733418077, -0.0002691475674510002, 0.0007496532634831965], "flange_pose": [0.6786762475967407, 0.028474552556872368, -0.06504687666893005, -0.0023117035161703825, -0.004592815414071083, 0.9998904466629028, 0.01387932151556015], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62397003173828, 15.250025749206543, 28.177322387695312, 0.34493181109428406, -23.9483699798584, 1.7911553382873535], "ext_wrench_in_world": [-107.89121979242475, 15.029595241406923, -27.258753938253662, -0.13500223105594872, -23.891646674367372, -2.454105473928026]}
+{"timestamp_ns": 1789729891122259898, "elapsed_ms": 10500, "source_timestamp_ns": 1789729891121730725, "q": [0.8362910151481628, -1.8968383073806763, -1.0059689283370972, 1.3811808824539185, -0.16218438744544983, 0.5939013957977295, 0.7040945291519165], "theta": [0.8383618593215942, -1.8948941230773926, -1.0041600465774536, 1.3627732992172241, -0.16278083622455597, 0.5938631296157837, 0.7040736079216003], "dq": [0.0003962622722610831, -0.0005865864222869277, -0.00119179324246943, -0.0020798302721232176, -2.960657002404332e-05, -0.000805945775937289, 0.00018488541536498815], "dtheta": [0.00025789006031118333, 8.364164386875927e-06, 0.00013116291665937752, 0.00018456763064023107, -0.00038019780186004937, 3.386337630217895e-05, 0.0001981540845008567], "tau": [55.64999771118164, 23.600000381469727, 5.488000392913818, -26.272001266479492, -2.6040000915527344, 2.640000104904175, -0.5320000052452087], "tau_des": [0.5105706453323364, -0.6079703569412231, -0.2086588442325592, -0.5325697660446167, 0.9203732013702393, -1.1663355827331543, -0.5399734377861023], "tau_dot": [56.30144500732422, 10.839530944824219, 26.694149017333984, 29.394865036010742, 1.985521674156189, -50.67454147338867, -19.150047302246094], "tau_ext": [-16.799863815307617, -41.58530044555664, 31.823087692260742, 31.34288787841797, 9.524337768554688, -2.9996068477630615, -0.13312488794326782], "tcp_pose": [0.6779643893241882, 0.03263480216264725, -0.21498651802539825, -0.002310506533831358, -0.004592913668602705, 0.9998905062675476, 0.013877762481570244], "tcp_vel": [-2.8633812121370283e-07, 1.3157938155927695e-05, 0.00013728727935813367, -0.0002309091796632856, -0.0002988141495734453, 0.00012785993749275804], "flange_pose": [0.6786766052246094, 0.028475111350417137, -0.06504590064287186, -0.002310506533831358, -0.004592913668602705, 0.9998905062675476, 0.013877762481570244], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63668060302734, 15.236607551574707, 28.168838500976562, 0.33510681986808777, -23.945491790771484, 1.786683201789856], "ext_wrench_in_world": [-107.90370385903833, 15.015726898202406, -27.250895813394347, -0.1251728001518792, -23.888810512486454, -2.449525385621386]}
+{"timestamp_ns": 1789729891155590866, "elapsed_ms": 10533, "source_timestamp_ns": 1789729891151724959, "q": [0.8362914323806763, -1.8968394994735718, -1.0059677362442017, 1.3811798095703125, -0.16218352317810059, 0.5938962697982788, 0.704093873500824], "theta": [0.8383618593215942, -1.894895076751709, -1.0041589736938477, 1.3627724647521973, -0.16278059780597687, 0.5938578844070435, 0.7040731310844421], "dq": [-0.00026530955801717937, -0.001105805393308401, -0.0005075184162706137, 0.0005681967595592141, 0.0009019477292895317, -7.078865746734664e-05, -0.0002208875521318987], "dtheta": [0.0002509204496163875, -0.00012601188791450113, 5.9344056353438646e-05, -0.0004132240719627589, 0.0003096183645538986, -0.0001584666024427861, -0.00021492785890586674], "tau": [55.64999771118164, 23.56999969482422, 5.4760003089904785, -26.2760009765625, -2.5920000076293945, 2.6480002403259277, -0.5320000052452087], "tau_des": [0.4819237291812897, -0.5990124940872192, -0.22939807176589966, -0.49919670820236206, 0.9110975861549377, -1.1727113723754883, -0.5349640846252441], "tau_dot": [117.33720397949219, -5.212239742279053, -7.4614691734313965, 71.1703109741211, 28.376733779907227, -16.28976058959961, 13.044386863708496], "tau_ext": [-16.79311752319336, -41.58271789550781, 31.820018768310547, 31.342891693115234, 9.530157089233398, -2.9948112964630127, -0.12749682366847992], "tcp_pose": [0.6779630780220032, 0.03263528645038605, -0.21498669683933258, -0.0023122357670217752, -0.00459380354732275, 0.9998905062675476, 0.013876604847609997], "tcp_vel": [9.053530084202066e-05, 0.00014567110338248312, 0.00027692128787748516, 0.00027110258815810084, -0.0002786086988635361, 0.000107375301013235], "flange_pose": [0.6786758303642273, 0.028475947678089142, -0.06504606455564499, -0.0023122357670217752, -0.00459380354732275, 0.9998905062675476, 0.013876604847609997], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67139434814453, 15.219025611877441, 28.157793045043945, 0.3255900740623474, -23.954242706298828, 1.7881652116775513], "ext_wrench_in_world": [-107.9383236905852, 14.99726387986181, -27.239852525305785, -0.11554836791341107, -23.897434485576873, -2.4512366134435197]}
+{"timestamp_ns": 1789729891188905297, "elapsed_ms": 10566, "source_timestamp_ns": 1789729891181846132, "q": [0.8362915515899658, -1.8968403339385986, -1.0059672594070435, 1.381179690361023, -0.16218218207359314, 0.5938895344734192, 0.7040920853614807], "theta": [0.8383622765541077, -1.8948962688446045, -1.0041584968566895, 1.3627721071243286, -0.16277916729450226, 0.5938507318496704, 0.7040717005729675], "dq": [0.0002769909333437681, -0.0003121446934528649, 0.001571659930050373, 0.0008441443205811083, 0.00034715922083705664, -2.2266256564762443e-05, 0.0006340537802316248], "dtheta": [-5.046857040724717e-05, -7.705684402026236e-05, -0.00024492741795256734, -0.00012571582919918, 7.436073792632669e-05, -0.0005623961915262043, -0.00030319514917209744], "tau": [55.65999984741211, 23.56999969482422, 5.4760003089904785, -26.268001556396484, -2.5880000591278076, 2.6440000534057617, -0.5440000295639038], "tau_des": [0.5991515517234802, -0.5705668926239014, -0.18808570504188538, -0.5978619456291199, 0.9016937017440796, -1.1257718801498413, -0.5321396589279175], "tau_dot": [56.852840423583984, -40.56462097167969, -11.977849006652832, 59.91889953613281, -11.797052383422852, -37.10531234741211, -8.762229919433594], "tau_ext": [-16.813249588012695, -41.601131439208984, 31.796401977539062, 31.35425567626953, 9.529250144958496, -2.997612953186035, -0.12429287284612656], "tcp_pose": [0.6779612898826599, 0.03263485059142113, -0.21498771011829376, -0.0023151449859142303, -0.004594811704009771, 0.9998905062675476, 0.013874674215912819], "tcp_vel": [-1.5494233593926765e-05, -0.00017184075841214508, -8.457604417344555e-05, -0.0004616245278157294, 0.0003301088872831315, 0.00013488746481016278], "flange_pose": [0.6786748766899109, 0.02847609668970108, -0.06504707038402557, -0.0023151449859142303, -0.004594811704009771, 0.9998905062675476, 0.013874674215912819], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.68914794921875, 15.210198402404785, 28.170305252075195, 0.3244589865207672, -23.965591430664062, 1.7934819459915161], "ext_wrench_in_world": [-107.95624414246184, 14.988290010259906, -27.251960162268336, -0.11430290966243073, -23.908630249921522, -2.456778004507241]}
+{"timestamp_ns": 1789729891222250944, "elapsed_ms": 10600, "source_timestamp_ns": 1789729891221794254, "q": [0.8362931609153748, -1.8968400955200195, -1.005967378616333, 1.3811802864074707, -0.16218100488185883, 0.5938891768455505, 0.7040904760360718], "theta": [0.8383637070655823, -1.8948960304260254, -1.0041582584381104, 1.362771987915039, -0.16277796030044556, 0.5938500165939331, 0.7040702104568481], "dq": [0.0017589459894225001, 0.0031758795958012342, 0.0017913259798660874, -0.0015991515247151256, -0.0007801611791364849, -0.0026471163146197796, -0.001381173962727189], "dtheta": [-0.00014571430801879615, 4.391204856801778e-05, 0.0002657437289599329, 0.00020792035502381623, 0.00027105750632472336, 0.00010410577669972554, -0.0008710232796147466], "tau": [55.619998931884766, 23.60999870300293, 5.516000270843506, -26.284000396728516, -2.556000232696533, 2.6560001373291016, -0.5640000104904175], "tau_des": [0.6239045858383179, -0.5274897813796997, -0.2645910978317261, -0.6112525463104248, 0.8873116374015808, -1.1371430158615112, -0.5146693587303162], "tau_dot": [12.983510971069336, 49.49678039550781, 47.537757873535156, -31.722932815551758, 28.93606185913086, -26.230194091796875, -35.204811096191406], "tau_ext": [-16.813491821289062, -41.59081268310547, 31.799375534057617, 31.34781837463379, 9.518722534179688, -2.9945766925811768, -0.12065455317497253], "tcp_pose": [0.6779613494873047, 0.03263459727168083, -0.2149869203567505, -0.002315002027899027, -0.004595197271555662, 0.9998905062675476, 0.013874834403395653], "tcp_vel": [-0.00020712893456220627, 0.00012925112969242036, -0.0001743262546369806, 0.0003233425668440759, 0.0004438910982571542, 0.0009079971932806075], "flange_pose": [0.6786748766899109, 0.028475793078541756, -0.0650462806224823, -0.002315002027899027, -0.004595197271555662, 0.9998905062675476, 0.013874834403395653], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6737289428711, 15.21606159210205, 28.18575096130371, 0.3293362259864807, -23.969329833984375, 1.7961246967315674], "ext_wrench_in_world": [-107.94095637419731, 14.994647697357074, -27.26733337798036, -0.11913930178156847, -23.912338209926475, -2.4595093265021104]}
+{"timestamp_ns": 1789729891255582812, "elapsed_ms": 10633, "source_timestamp_ns": 1789729891251795578, "q": [0.8362936973571777, -1.8968403339385986, -1.005967378616333, 1.3811802864074707, -0.16217967867851257, 0.5938900113105774, 0.704091489315033], "theta": [0.8383645415306091, -1.8948956727981567, -1.0041582584381104, 1.3627721071243286, -0.16277651488780975, 0.5938514471054077, 0.7040711641311646], "dq": [-0.000667230982799083, 0.0013347024796530604, 0.0008167292107827961, -0.00013784770271740854, -0.0007092079613357782, -0.0012354864738881588, -0.0030277331825345755], "dtheta": [-0.00010459090117365122, 0.0004171724431216717, 0.000388456741347909, -6.880721775814891e-05, 0.0012650112621486187, 0.0009287059074267745, 0.0009314341004937887], "tau": [55.599998474121094, 23.56999969482422, 5.468000411987305, -26.288002014160156, -2.576000213623047, 2.6720001697540283, -0.5600000023841858], "tau_des": [0.5504916310310364, -0.6298310160636902, -0.2497214823961258, -0.5236673951148987, 0.8530731797218323, -1.180247187614441, -0.5602854490280151], "tau_dot": [-56.45611572265625, 5.683813571929932, -53.2039909362793, 17.85068702697754, -3.4317429065704346, -54.343353271484375, -3.032665252685547], "tau_ext": [-16.81096839904785, -41.60079574584961, 31.803220748901367, 31.344532012939453, 9.50968074798584, -3.000173568725586, -0.1200166568160057], "tcp_pose": [0.6779613494873047, 0.03263486176729202, -0.2149866819381714, -0.0023147882893681526, -0.004594371188431978, 0.9998905062675476, 0.013875373639166355], "tcp_vel": [-1.2735536984109785e-05, 0.0003399759589228779, 0.0001066234617610462, 0.00198557460680604, 0.00019553791207727045, -0.001672744401730597], "flange_pose": [0.6786748170852661, 0.028475895524024963, -0.0650460496544838, -0.0023147882893681526, -0.004594371188431978, 0.9998905062675476, 0.013875373639166355], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65569305419922, 15.228184700012207, 28.195934295654297, 0.3354123830795288, -23.96626853942871, 1.7975609302520752], "ext_wrench_in_world": [-107.92304469091486, 15.007423420258824, -27.277284211782465, -0.1252886201583528, -23.909291772656967, -2.4608584193973253]}
+{"timestamp_ns": 1789729891288898332, "elapsed_ms": 10666, "source_timestamp_ns": 1789729891281771633, "q": [0.8362948298454285, -1.8968408107757568, -1.0059678554534912, 1.381179928779602, -0.1621822863817215, 0.5938898324966431, 0.7040926814079285], "theta": [0.8383658528327942, -1.8948962688446045, -1.0041587352752686, 1.362771987915039, -0.16277891397476196, 0.5938516855239868, 0.7040721774101257], "dq": [-0.0006186907994560897, 0.0024824736174196005, -0.0007567774737253785, 0.0006987215019762516, 0.007311161607503891, -0.0019110054709017277, 0.0002030430914601311], "dtheta": [3.2162868592422456e-05, -9.540394967189059e-05, 7.520136477978667e-06, -0.000552198791410774, 0.0005343587254174054, 0.00021526958153117448, 0.00023820162459742278], "tau": [55.64999771118164, 23.619998931884766, 5.4760003089904785, -26.2760009765625, -2.580000162124634, 2.680000066757202, -0.5480000376701355], "tau_des": [0.5001503229141235, -0.6107717752456665, -0.2301356941461563, -0.4927446246147156, 0.8958707451820374, -1.1813005208969116, -0.5447743535041809], "tau_dot": [-12.711871147155762, -50.58731460571289, -30.156299591064453, 22.00895881652832, 14.293383598327637, -30.010465621948242, -6.2908854484558105], "tau_ext": [-16.807241439819336, -41.6043701171875, 31.801799774169922, 31.34462547302246, 9.507865905761719, -3.002094030380249, -0.12448287755250931], "tcp_pose": [0.677962064743042, 0.032634563744068146, -0.21498572826385498, -0.00231338432058692, -0.004594483412802219, 0.9998905062675476, 0.013874255120754242], "tcp_vel": [0.00016249289910774678, 0.00020948072778992355, 0.00022090834681876004, 0.0007224389701150358, -0.0003334300999995321, -0.0005581177538260818], "flange_pose": [0.6786751747131348, 0.028475932776927948, -0.0650450810790062, -0.00231338432058692, -0.004594483412802219, 0.9998905062675476, 0.013874255120754242], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64582824707031, 15.238868713378906, 28.197650909423828, 0.34238213300704956, -23.96285057067871, 1.7962315082550049], "ext_wrench_in_world": [-107.91321195539177, 15.018160509314377, -27.279085685892092, -0.1322713660837162, -23.905982101700022, -2.459350456490477]}
+{"timestamp_ns": 1789729891322257608, "elapsed_ms": 10700, "source_timestamp_ns": 1789729891321793029, "q": [0.8362945318222046, -1.8968418836593628, -1.0059692859649658, 1.3811802864074707, -0.16218259930610657, 0.593890368938446, 0.7040929794311523], "theta": [0.8383660316467285, -1.8948968648910522, -1.004159927368164, 1.362771987915039, -0.16277891397476196, 0.593852162361145, 0.7040728330612183], "dq": [-0.00013583889813162386, 0.00018582516349852085, -0.001338438130915165, 4.719221033155918e-05, -0.003072018502280116, 4.756748239742592e-05, 0.0017440797528252006], "dtheta": [-9.44739585975185e-05, 0.0003473222895991057, 0.00019668613094836473, 0.0004414210270624608, -0.00025730824563652277, 0.00011345493112457916, -6.210702122189105e-05], "tau": [55.68000030517578, 23.579999923706055, 5.452000141143799, -26.296001434326172, -2.552000045776367, 2.692000150680542, -0.5040000081062317], "tau_des": [0.5955839157104492, -0.5979253053665161, -0.21690435707569122, -0.5901432037353516, 0.8935141563415527, -1.1465662717819214, -0.5333966612815857], "tau_dot": [113.94783020019531, -5.894672870635986, -66.55724334716797, 18.359769821166992, 62.261260986328125, 26.115087509155273, 56.7933464050293], "tau_ext": [-16.820158004760742, -41.60380172729492, 31.798364639282227, 31.35291862487793, 9.519442558288574, -3.0030980110168457, -0.13090859353542328], "tcp_pose": [0.6779622435569763, 0.032634131610393524, -0.21498635411262512, -0.0023131067864596844, -0.004594298079609871, 0.9998905062675476, 0.01387341134250164], "tcp_vel": [-0.00010982333333231509, -7.850551628507674e-05, -0.00011314407311147079, 4.464218727662228e-05, 0.0002805883123073727, 0.0001775426499079913], "flange_pose": [0.6786752343177795, 0.028475752100348473, -0.06504569947719574, -0.0023131067864596844, -0.004594298079609871, 0.9998905062675476, 0.01387341134250164], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63148498535156, 15.24423599243164, 28.1920166015625, 0.3445015847682953, -23.958311080932617, 1.7934095859527588], "ext_wrench_in_world": [-107.8988708051576, 15.023496420326984, -27.27345459394574, -0.1344262877798585, -23.901546486663648, -2.456353853711631]}
+{"timestamp_ns": 1789729891355589067, "elapsed_ms": 10733, "source_timestamp_ns": 1789729891351731309, "q": [0.8362942337989807, -1.8968428373336792, -1.0059700012207031, 1.3811793327331543, -0.16218236088752747, 0.5938896536827087, 0.7040925621986389], "theta": [0.8383660316467285, -1.8948980569839478, -1.0041602849960327, 1.3627713918685913, -0.16277964413166046, 0.5938509702682495, 0.7040728330612183], "dq": [0.00010522283992031589, 0.0002587952185422182, 0.000741596391890198, 4.300236469134688e-06, -0.00029873830499127507, 0.0002808737917803228, -0.0004389256937429309], "dtheta": [-9.118601883528754e-05, 2.2953683583182283e-05, -0.00012615993910003453, 0.00024064122408162802, -6.994128489168361e-05, -0.0005537958932109177, -0.0001618600799702108], "tau": [55.64999771118164, 23.53999900817871, 5.460000038146973, -26.292001724243164, -2.6000001430511475, 2.6480002403259277, -0.527999997138977], "tau_des": [0.6225912570953369, -0.5693548321723938, -0.19813105463981628, -0.6146336197853088, 0.8940650820732117, -1.1283231973648071, -0.5343719720840454], "tau_dot": [-65.20500183105469, -113.8196792602539, -63.24190139770508, -39.709537506103516, 18.628503799438477, 27.117023468017578, 28.035884857177734], "tau_ext": [-16.820873260498047, -41.59640884399414, 31.803539276123047, 31.350194931030273, 9.523456573486328, -3.003718852996826, -0.131250262260437], "tcp_pose": [0.6779623627662659, 0.032634101808071136, -0.21498653292655945, -0.002313088858500123, -0.004594459198415279, 0.9998905062675476, 0.013872932642698288], "tcp_vel": [-0.00015932784299366176, -0.0002147295163013041, -0.00022661413822788745, -0.000606554327532649, 0.0006199857452884316, 0.00014798075426369905], "flange_pose": [0.6786753535270691, 0.028475863859057426, -0.06504587829113007, -0.002313088858500123, -0.004594459198415279, 0.9998905062675476, 0.013872932642698288], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63745880126953, 15.239983558654785, 28.19094467163086, 0.3403002619743347, -23.955570220947266, 1.7903203964233398], "ext_wrench_in_world": [-107.90480405852385, 15.019099782565755, -27.27249347520185, -0.1302276587888286, -23.89885595631872, -2.4531858341552892]}
+{"timestamp_ns": 1789729891388891168, "elapsed_ms": 10766, "source_timestamp_ns": 1789729891381744141, "q": [0.8362951874732971, -1.896844506263733, -1.0059702396392822, 1.381178855895996, -0.16218173503875732, 0.5938881635665894, 0.704091489315033], "theta": [0.838366687297821, -1.8948999643325806, -1.0041605234146118, 1.3627700805664062, -0.16277916729450226, 0.593849778175354, 0.7040721774101257], "dq": [6.264395778998733e-05, 0.0014428975991904736, -0.0002314360172022134, -0.003607675200328231, 0.0006781797856092453, -0.0006765233702026308, 0.005226205103099346], "dtheta": [0.00043287556036375463, -0.0001979395019588992, 7.755324622849002e-05, -0.00018108662334270775, 0.00014920659305062145, -0.001050341292284429, -0.0013643760466948152], "tau": [55.57999801635742, 23.53999900817871, 5.456000328063965, -26.332000732421875, -2.6120002269744873, 2.6760001182556152, -0.5160000324249268], "tau_des": [0.5033817291259766, -0.5510287880897522, -0.26093727350234985, -0.5445781946182251, 0.9135984182357788, -1.144675612449646, -0.5077829957008362], "tau_dot": [-102.49315643310547, -12.836199760437012, -70.18364715576172, -36.55307388305664, 1.4986917972564697, 14.67281723022461, 80.2222671508789], "tau_ext": [-16.805164337158203, -41.59910583496094, 31.808610916137695, 31.342758178710938, 9.524009704589844, -3.001662254333496, -0.1332189440727234], "tcp_pose": [0.6779620051383972, 0.03263437747955322, -0.21498644351959229, -0.002313160803169012, -0.004595289938151836, 0.9998905658721924, 0.013872090727090836], "tcp_vel": [-0.00013100443175062537, -1.962020542123355e-05, 0.00018805827130563557, -0.0005815612967126071, 0.000285299145616591, 0.0014644141774624586], "flange_pose": [0.6786749958992004, 0.028476394712924957, -0.0650457814335823, -0.002313160803169012, -0.004595289938151836, 0.9998905658721924, 0.013872090727090836], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63716888427734, 15.236444473266602, 28.192609786987305, 0.3350576162338257, -23.95394515991211, 1.7894829511642456], "ext_wrench_in_world": [-107.90451788404661, 15.015385334197557, -27.274270580306126, -0.12495658519130529, -23.897210632628425, -2.452286972274847]}
+{"timestamp_ns": 1789729891422256724, "elapsed_ms": 10800, "source_timestamp_ns": 1789729891421745019, "q": [0.8362959027290344, -1.8968466520309448, -1.0059714317321777, 1.3811780214309692, -0.1621817648410797, 0.5938866138458252, 0.7040906548500061], "theta": [0.838367223739624, -1.8949021100997925, -1.004162311553955, 1.3627686500549316, -0.16277916729450226, 0.5938481092453003, 0.7040714025497437], "dq": [0.0008761350181885064, -0.001798732322640717, 0.001371318125165999, -0.0003163229557685554, -0.001084810122847557, 0.002423658035695553, 0.0009853934170678258], "dtheta": [0.0002385926927672699, 4.064297172590159e-05, 4.44353609054815e-05, -7.517078483942896e-05, -0.0008876325446180999, 0.0003788277681451291, -0.000850664044264704], "tau": [55.62999725341797, 23.600000381469727, 5.4760003089904785, -26.292001724243164, -2.6120002269744873, 2.7320001125335693, -0.5520000457763672], "tau_des": [0.4690506160259247, -0.6114683151245117, -0.23403067886829376, -0.49244585633277893, 0.9378531575202942, -1.1850122213363647, -0.5115019679069519], "tau_dot": [14.730770111083984, 80.09771728515625, 30.30200958251953, 2.996136426925659, -33.66757583618164, 92.48011779785156, -34.431636810302734], "tau_ext": [-16.79845428466797, -41.5786018371582, 31.808570861816406, 31.3453426361084, 9.518060684204102, -2.997946262359619, -0.1292751580476761], "tcp_pose": [0.6779620051383972, 0.03263426944613457, -0.21498648822307587, -0.0023129049222916365, -0.0045959921553730965, 0.9998905658721924, 0.013870631344616413], "tcp_vel": [0.0002681627811398357, 2.4383454729104415e-05, 0.0003258419455960393, -0.00019759716815315187, -0.001086462172679603, 0.0013258421095088124], "flange_pose": [0.6786749362945557, 0.02847672626376152, -0.06504581868648529, -0.0023129049222916365, -0.0045959921553730965, 0.9998905658721924, 0.013870631344616413], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6478042602539, 15.22656536102295, 28.181318283081055, 0.33203887939453125, -23.955821990966797, 1.789131999015808], "ext_wrench_in_world": [-107.91501509262918, 15.004868105941153, -27.2633124473292, -0.1218843250954043, -23.89907576914051, -2.4519322956389313]}
+{"timestamp_ns": 1789729891455594212, "elapsed_ms": 10833, "source_timestamp_ns": 1789729891451726744, "q": [0.8362958431243896, -1.896847128868103, -1.0059723854064941, 1.381178379058838, -0.16218073666095734, 0.5938833355903625, 0.7040898203849792], "theta": [0.8383678793907166, -1.8949024677276611, -1.0041632652282715, 1.3627688884735107, -0.16277796030044556, 0.5938447713851929, 0.7040709257125854], "dq": [0.0007386566721834242, -2.120559656759724e-05, -0.0005973769584670663, 2.2040803742129356e-05, 0.0022625650744885206, -0.0006611943244934082, -0.001588289043866098], "dtheta": [-0.000286214955849573, -4.6664609953950276e-07, -2.744190533121582e-05, -4.058147533214651e-05, 0.00033903992152772844, -0.0009117299923673272, 3.7865102058276534e-05], "tau": [55.57999801635742, 23.600000381469727, 5.436000347137451, -26.316001892089844, -2.580000162124634, 2.6720001697540283, -0.5320000052452087], "tau_des": [0.6637139916419983, -0.54286128282547, -0.21865461766719818, -0.6375781297683716, 0.8774546980857849, -1.113565444946289, -0.5359159111976624], "tau_dot": [-120.64611053466797, 63.860328674316406, -79.89157104492188, 31.181795120239258, 5.555536270141602, 1.2623653411865234, 32.22043228149414], "tau_ext": [-16.809967041015625, -41.593284606933594, 31.817331314086914, 31.36699104309082, 9.52302074432373, -3.0009994506835938, -0.12278374284505844], "tcp_pose": [0.6779613494873047, 0.032633326947689056, -0.21498730778694153, -0.002314418787136674, -0.004595926031470299, 0.9998905658721924, 0.013869312591850758], "tcp_vel": [-0.0002528071927372366, -0.00012734108895529062, -0.00030920683639124036, -0.0003807351167779416, 0.00112289865501225, -0.0002296806196682155], "flange_pose": [0.6786746978759766, 0.028476178646087646, -0.06504661589860916, -0.002314418787136674, -0.004595926031470299, 0.9998905658721924, 0.013869312591850758], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69082641601562, 15.206005096435547, 28.16956329345703, 0.3268754780292511, -23.963891983032227, 1.7903690338134766], "ext_wrench_in_world": [-107.95787241271191, 14.983529459271752, -27.25165335103671, -0.11666283675096545, -23.90706673535685, -2.4533523439421505]}
+{"timestamp_ns": 1789729891488895943, "elapsed_ms": 10866, "source_timestamp_ns": 1789729891481767884, "q": [0.8362974524497986, -1.8968467712402344, -1.005973219871521, 1.381178379058838, -0.162180095911026, 0.5938833951950073, 0.7040903568267822], "theta": [0.8383690714836121, -1.894902229309082, -1.0041640996932983, 1.3627688884735107, -0.16277770698070526, 0.5938454866409302, 0.7040709257125854], "dq": [0.0020956287626177073, -0.0015297401696443558, 0.0011020650854334235, -0.0006155958399176598, 0.0016044268850237131, -0.0005783255328424275, 0.001121865469031036], "dtheta": [0.0002869484596885741, 0.000304627203149721, 0.0001270057837245986, -6.714709888910875e-05, -0.000491765676997602, 4.373369665700011e-05, -0.00016310825594700873], "tau": [55.619998931884766, 23.59000015258789, 5.460000038146973, -26.292001724243164, -2.5920000076293945, 2.6680002212524414, -0.5440000295639038], "tau_des": [0.46045738458633423, -0.6561933159828186, -0.2132885903120041, -0.4899939000606537, 0.9181063175201416, -1.1771118640899658, -0.5314723253250122], "tau_dot": [-48.92282485961914, 40.12710952758789, -20.592683792114258, 53.34885025024414, -60.36735153198242, -23.110288619995117, -37.038368225097656], "tau_ext": [-16.809864044189453, -41.59135818481445, 31.81886100769043, 31.348905563354492, 9.513503074645996, -3.000208854675293, -0.12449081987142563], "tcp_pose": [0.6779620051383972, 0.03263281285762787, -0.214986190199852, -0.002313612960278988, -0.0045950766652822495, 0.9998905658721924, 0.013869399204850197], "tcp_vel": [0.00020196188415866345, -3.445303809712641e-05, 0.00036719211493618786, 6.968619709368795e-05, -0.000611251627560705, 0.0003092193219345063], "flange_pose": [0.67867511510849, 0.02847564034163952, -0.06504550576210022, -0.002313612960278988, -0.0045950766652822495, 0.9998905658721924, 0.013869399204850197], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.70120239257812, 15.20085620880127, 28.171539306640625, 0.32503750920295715, -23.966161727905273, 1.7912700176239014], "ext_wrench_in_world": [-107.96814120777834, 14.97853216462195, -27.253893511275503, -0.11484579476416587, -23.909292899214574, -2.4543286514913327]}
+{"timestamp_ns": 1789729891522262838, "elapsed_ms": 10900, "source_timestamp_ns": 1789729891521791970, "q": [0.8362982273101807, -1.8968472480773926, -1.0059736967086792, 1.3811789751052856, -0.16218094527721405, 0.5938836336135864, 0.7040903568267822], "theta": [0.8383697867393494, -1.8949023485183716, -1.0041651725769043, 1.362769603729248, -0.16277843713760376, 0.5938457250595093, 0.7040709257125854], "dq": [0.001607915386557579, -0.0020624250173568726, -0.0012216485338285565, -0.0011571476934477687, 0.00043636708869598806, -0.00014860063674859703, -0.0030731046572327614], "dtheta": [0.0003703795373439789, 9.715360647533089e-05, 0.0002789063728414476, 0.00024425474111922085, 7.339472358580679e-05, -0.000193429397768341, 0.00011548072507139295], "tau": [55.599998474121094, 23.559999465942383, 5.448000431060791, -26.2760009765625, -2.568000078201294, 2.640000104904175, -0.5520000457763672], "tau_des": [0.5130022168159485, -0.5973138213157654, -0.25205644965171814, -0.5427332520484924, 0.8981265425682068, -1.1582897901535034, -0.53525710105896], "tau_dot": [-41.49567413330078, -61.938907623291016, -38.18187713623047, -5.029401779174805, 69.18406677246094, -63.31767654418945, -28.58196449279785], "tau_ext": [-16.806350708007812, -41.60231018066406, 31.827667236328125, 31.343889236450195, 9.50938606262207, -2.9993419647216797, -0.1205046996474266], "tcp_pose": [0.6779621243476868, 0.032632600516080856, -0.21498599648475647, -0.002313078846782446, -0.004595390520989895, 0.9998905658721924, 0.013868729583919048], "tcp_vel": [-0.0001291800435865298, 5.301923374645412e-05, 0.00015824010188225657, 2.8306501917541027e-05, 0.00010384280176367611, 1.7952190319192596e-05], "flange_pose": [0.6786750555038452, 0.028475627303123474, -0.0650453045964241, -0.002313078846782446, -0.004595390520989895, 0.9998905658721924, 0.013868729583919048], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66647338867188, 15.237109184265137, 28.184736251831055, 0.3339439630508423, -23.959671020507812, 1.7921631336212158], "ext_wrench_in_world": [-107.9337873100613, 15.01535394945491, -27.266372118621057, -0.12379786964013263, -23.902865973168687, -2.4549694570682634]}
+{"timestamp_ns": 1789729891555715446, "elapsed_ms": 10933, "source_timestamp_ns": 1789729891551752807, "q": [0.8362984657287598, -1.8968466520309448, -1.0059763193130493, 1.381178617477417, -0.16218237578868866, 0.593885064125061, 0.7040913105010986], "theta": [0.8383697867393494, -1.8949027061462402, -1.0041676759719849, 1.3627691268920898, -0.16278012096881866, 0.5938471555709839, 0.7040718793869019], "dq": [-0.0003658918139990419, -0.001113266684114933, 0.0022959301713854074, -0.00229044072329998, -0.002961479825899005, -0.001630839891731739, 0.001941675553098321], "dtheta": [-4.271833677194081e-05, -0.00030487350886687636, -1.8625843949848786e-05, -0.0001729014766169712, -0.00014320808986667544, 0.001079387147910893, 0.000622540945187211], "tau": [55.64999771118164, 23.53999900817871, 5.448000431060791, -26.30000114440918, -2.6040000915527344, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.5223487615585327, -0.5981490015983582, -0.22662359476089478, -0.4997422397136688, 0.9101411700248718, -1.1986594200134277, -0.5485889315605164], "tau_dot": [5.150743007659912, -51.65516662597656, 33.72639083862305, -1.1821849346160889, -10.039608001708984, 31.752317428588867, 0.03878830000758171], "tau_ext": [-16.798582077026367, -41.59708786010742, 31.824487686157227, 31.34252166748047, 9.518607139587402, -2.9969825744628906, -0.11964800953865051], "tcp_pose": [0.6779637932777405, 0.03263114020228386, -0.21498538553714752, -0.002311481861397624, -0.004594139289110899, 0.9998906254768372, 0.013868197798728943], "tcp_vel": [0.0002041353436652571, 0.0002729465195443481, 9.138369932770729e-05, 0.00047541389358229935, -0.000979405245743692, -0.00040468439692631364], "flange_pose": [0.6786762475967407, 0.028474319726228714, -0.06504468619823456, -0.002311481861397624, -0.004594139289110899, 0.9998906254768372, 0.013868197798728943], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6683349609375, 15.246103286743164, 28.17904281616211, 0.33561715483665466, -23.960416793823242, 1.7940667867660522], "ext_wrench_in_world": [-107.9355793138484, 15.024415059264589, -27.260780308653224, -0.1255262661718966, -23.9035764311019, -2.4568606803592385]}
+{"timestamp_ns": 1789729891588896168, "elapsed_ms": 10966, "source_timestamp_ns": 1789729891581756620, "q": [0.8362990617752075, -1.8968466520309448, -1.0059781074523926, 1.3811789751052856, -0.16218380630016327, 0.5938831567764282, 0.7040919065475464], "theta": [0.8383700847625732, -1.894903302192688, -1.0041701793670654, 1.362769365310669, -0.16278202831745148, 0.5938459634780884, 0.7040717005729675], "dq": [-6.474959081970155e-05, 0.0009783225832507014, 0.0016525678802281618, -0.0019934314768761396, 0.0019304596353322268, 0.0006091917166486382, -0.002062774496152997], "dtheta": [0.00011605470353970304, -6.303219561232254e-05, 1.2077914107067045e-05, -0.00018644928059075028, -0.00014992422075010836, 0.0010370324598625302, 3.3863143471535295e-05], "tau": [55.62999725341797, 23.510000228881836, 5.484000205993652, -26.308000564575195, -2.6120002269744873, 2.692000150680542, -0.5320000052452087], "tau_des": [0.4681655466556549, -0.6367802023887634, -0.2077762633562088, -0.4691409766674042, 0.9190975427627563, -1.2044843435287476, -0.5404905080795288], "tau_dot": [110.80701446533203, -142.63121032714844, 74.56819915771484, 28.796701431274414, -18.791889190673828, 55.44810104370117, 17.176111221313477], "tau_ext": [-16.808467864990234, -41.591339111328125, 31.831575393676758, 31.35646629333496, 9.526124954223633, -3.0050132274627686, -0.12349457293748856], "tcp_pose": [0.6779641509056091, 0.032629724591970444, -0.21498535573482513, -0.0023113777860999107, -0.004593703895807266, 0.9998906254768372, 0.013866440393030643], "tcp_vel": [0.0002908924361690879, 0.00021410133922472596, 0.000274191697826609, 0.0006531777326017618, -0.0011278623715043068, 4.5823664549971e-05], "flange_pose": [0.6786766052246094, 0.02847343124449253, -0.06504464894533157, -0.0023113777860999107, -0.004593703895807266, 0.9998906254768372, 0.013866440393030643], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6849136352539, 15.238779067993164, 28.174602508544922, 0.33122381567955017, -23.959863662719727, 1.7940723896026611], "ext_wrench_in_world": [-107.95205042005098, 15.016815148616072, -27.256546214235698, -0.1211583979205838, -23.90299126846322, -2.4567866724055145]}
+{"timestamp_ns": 1789729891622247945, "elapsed_ms": 11000, "source_timestamp_ns": 1789729891621750829, "q": [0.836298406124115, -1.8968483209609985, -1.0059806108474731, 1.3811777830123901, -0.162183940410614, 0.5938829183578491, 0.7040904760360718], "theta": [0.8383696675300598, -1.8949049711227417, -1.0041730403900146, 1.3627684116363525, -0.16278178989887238, 0.5938452482223511, 0.7040706872940063], "dq": [-0.0008925400907173753, -0.002087067812681198, -0.00039510810165666044, 0.0002806756237987429, -0.0006116324220784009, -0.0024745266418904066, -0.0016680810367688537], "dtheta": [-1.2911659723613411e-05, -0.000194412175915204, -6.140509503893554e-05, -0.00014882160758133978, -0.0002531561185605824, 9.578726894687861e-05, -4.4959397200727835e-05], "tau": [55.62999725341797, 23.529998779296875, 5.484000205993652, -26.304000854492188, -2.628000020980835, 2.6480002403259277, -0.5640000104904175], "tau_des": [0.5377557873725891, -0.5961472392082214, -0.19697140157222748, -0.5318834781646729, 0.9173235893249512, -1.1698296070098877, -0.537284255027771], "tau_dot": [17.428953170776367, -8.52286434173584, 34.70708465576172, -26.30759620666504, -32.49756622314453, -17.028095245361328, -51.514286041259766], "tau_ext": [-16.805559158325195, -41.58106231689453, 31.828794479370117, 31.346923828125, 9.538783073425293, -3.0023539066314697, -0.1229405328631401], "tcp_pose": [0.6779648661613464, 0.03262896463274956, -0.2149859070777893, -0.002310864394530654, -0.004594019614160061, 0.9998906254768372, 0.013865252956748009], "tcp_vel": [7.637616363354027e-05, 4.9223919631913304e-05, 2.8331831344985403e-05, -0.00019234931096434593, -0.00033948977943509817, 0.00024668380501680076], "flange_pose": [0.6786772012710571, 0.028473028913140297, -0.06504518538713455, -0.002310864394530654, -0.004594019614160061, 0.9998906254768372, 0.013865252956748009], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.70303344726562, 15.232701301574707, 28.15790367126465, 0.32488635182380676, -23.95566749572754, 1.7945127487182617], "ext_wrench_in_world": [-107.97001536025164, 15.00997791649556, -27.24008971900378, -0.11484418873247118, -23.89873195677407, -2.4570824128121735]}
+{"timestamp_ns": 1789729891655642338, "elapsed_ms": 11033, "source_timestamp_ns": 1789729891651722995, "q": [0.8362985849380493, -1.8968491554260254, -1.0059796571731567, 1.381178617477417, -0.1621825397014618, 0.5938805937767029, 0.7040895223617554], "theta": [0.8383698463439941, -1.8949054479599, -1.0041725635528564, 1.3627684116363525, -0.16278059780597687, 0.5938431024551392, 0.7040704488754272], "dq": [-0.0012295296182855964, 9.478993160882965e-05, -0.000685245671775192, 0.0014039144152775407, 0.00028994400054216385, -0.0009331585024483502, -0.0029684037435799837], "dtheta": [-4.5601271267514676e-05, 0.00012293460895307362, -0.00031897518783807755, -0.00023706299543846399, -0.0006940875900909305, -0.0005972003564238548, 0.0007130973390303552], "tau": [55.619998931884766, 23.600000381469727, 5.4800004959106445, -26.292001724243164, -2.5920000076293945, 2.6520001888275146, -0.5520000457763672], "tau_des": [0.5375994443893433, -0.6634877324104309, -0.13273240625858307, -0.5379590392112732, 0.9178752303123474, -1.1508607864379883, -0.55336594581604], "tau_dot": [-36.342952728271484, 132.5947265625, -2.5252785682678223, -2.532426595687866, 2.289567232131958, -4.17273473739624, -38.98294448852539], "tau_ext": [-16.794078826904297, -41.576541900634766, 31.818986892700195, 31.347652435302734, 9.536062240600586, -2.9980409145355225, -0.11954205483198166], "tcp_pose": [0.6779634356498718, 0.032629337161779404, -0.21498672664165497, -0.0023125475272536278, -0.004594813566654921, 0.9998906254768372, 0.013864710927009583], "tcp_vel": [0.0002052874770015478, -0.00030970448278822005, 8.280370093416423e-05, -0.0008012758335098624, -0.0001590540341567248, -0.0006575321312993765], "flange_pose": [0.678676187992096, 0.028473567217588425, -0.06504600495100021, -0.0023125475272536278, -0.004594813566654921, 0.9998906254768372, 0.013864710927009583], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.71833801269531, 15.222391128540039, 28.15107536315918, 0.3211497664451599, -23.960142135620117, 1.7973363399505615], "ext_wrench_in_world": [-107.98530811368886, 14.999134769021406, -27.233137310310376, -0.1110494737846803, -23.903094765998514, -2.460019282969108]}
+{"timestamp_ns": 1789729891688895213, "elapsed_ms": 11066, "source_timestamp_ns": 1789729891681741987, "q": [0.8362987041473389, -1.8968497514724731, -1.0059791803359985, 1.381178855895996, -0.1621800661087036, 0.5938770174980164, 0.7040872573852539], "theta": [0.8383702635765076, -1.8949062824249268, -1.0041719675064087, 1.3627688884735107, -0.16277818381786346, 0.5938392877578735, 0.7040678262710571], "dq": [0.0005793672753497958, 0.0037415369879454374, 0.002251111203804612, -0.0011080029653385282, -0.001255147741176188, -0.0020306487567722797, 0.0011892580660060048], "dtheta": [-0.00013832066906616092, -0.00024293633759953082, 9.246147965313867e-05, -7.343163360928884e-06, 0.0011687219375744462, -0.0001733305398374796, -8.134297240758315e-05], "tau": [55.59000015258789, 23.53999900817871, 5.4800004959106445, -26.316001892089844, -2.5920000076293945, 2.6520001888275146, -0.5640000104904175], "tau_des": [0.6502469778060913, -0.5179778933525085, -0.2545916736125946, -0.6213176846504211, 0.8611908555030823, -1.132420301437378, -0.5375024676322937], "tau_dot": [-17.017894744873047, -69.5555419921875, 4.683059215545654, 13.208282470703125, -7.025432586669922, -10.241997718811035, -44.0399169921875], "tau_ext": [-16.813390731811523, -41.585880279541016, 31.813217163085938, 31.35629653930664, 9.525843620300293, -2.9976916313171387, -0.11679906398057938], "tcp_pose": [0.6779620051383972, 0.0326293483376503, -0.21498750150203705, -0.002314666984602809, -0.004595653619617224, 0.9998906254768372, 0.013864190317690372], "tcp_vel": [-0.0003139161563012749, 0.0001786436914699152, -0.00027318968204781413, 0.0004955737967975438, 0.0009380480623804033, -0.00033642840571701527], "flange_pose": [0.6786754727363586, 0.028473736718297005, -0.0650467798113823, -0.002314666984602809, -0.004595653619617224, 0.9998906254768372, 0.013864190317690372], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.71146392822266, 15.20833683013916, 28.159244537353516, 0.3195783197879791, -23.96380043029785, 1.7983884811401367], "ext_wrench_in_world": [-107.97848576228157, 14.985159612279546, -27.241285349511614, -0.10941846839058036, -23.906710601060983, -2.461153861629354]}
+{"timestamp_ns": 1789729891722248380, "elapsed_ms": 11100, "source_timestamp_ns": 1789729891721748464, "q": [0.8362998962402344, -1.8968501091003418, -1.0059791803359985, 1.3811784982681274, -0.1621813178062439, 0.5938760042190552, 0.7040833234786987], "theta": [0.8383716940879822, -1.8949060440063477, -1.0041722059249878, 1.3627686500549316, -0.16277891397476196, 0.5938383340835571, 0.7040632963180542], "dq": [-0.00034974663867615163, 0.0003363686555530876, 0.000512560538481921, 0.003599907737225294, 0.00022656811052002013, 0.0012144848005846143, -0.0004867044335696846], "dtheta": [-5.045270154369064e-05, 0.00027196170412935317, -6.237996421987191e-05, 5.4039486713008955e-05, -0.0006765498546883464, 0.0004672927607316524, -0.0005895118229091167], "tau": [55.63999938964844, 23.600000381469727, 5.484000205993652, -26.292001724243164, -2.564000129699707, 2.6640000343322754, -0.5640000104904175], "tau_des": [0.5297309160232544, -0.6334875226020813, -0.1934947520494461, -0.5297211408615112, 0.9211548566818237, -1.1715248823165894, -0.5158551931381226], "tau_dot": [35.912899017333984, 49.46171951293945, -5.497339725494385, 29.360843658447266, 34.41544723510742, -9.872208595275879, -21.74931526184082], "tau_ext": [-16.784881591796875, -41.57120132446289, 31.807453155517578, 31.33756446838379, 9.516546249389648, -2.993624210357666, -0.11007454246282578], "tcp_pose": [0.6779623031616211, 0.03262929990887642, -0.2149866819381714, -0.0023139342665672302, -0.004598088562488556, 0.9998906254768372, 0.01386343315243721], "tcp_vel": [0.00024063199816737324, -9.85681326710619e-05, 0.00012764977873302996, 1.9476708985166624e-05, -0.0006705730338580906, 0.0007360403542406857], "flange_pose": [0.6786755323410034, 0.02847391553223133, -0.06504594534635544, -0.0023139342665672302, -0.004598088562488556, 0.9998906254768372, 0.01386343315243721], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69989776611328, 15.218195915222168, 28.172353744506836, 0.32591769099235535, -23.96921730041504, 1.8021693229675293], "ext_wrench_in_world": [-107.96710333865995, 14.994920016633957, -27.25435656193048, -0.11560622163021746, -23.912083332202194, -2.465019375137026]}
+{"timestamp_ns": 1789729891755583998, "elapsed_ms": 11133, "source_timestamp_ns": 1789729891751801053, "q": [0.8363004922866821, -1.8968507051467896, -1.0059800148010254, 1.381178379058838, -0.16218194365501404, 0.593875527381897, 0.704084575176239], "theta": [0.8383721113204956, -1.894906759262085, -1.0041730403900146, 1.3627686500549316, -0.16277891397476196, 0.5938383340835571, 0.7040642499923706], "dq": [0.0025284714065492153, -0.0005530625348910689, 0.00034261145628988743, 0.00019775494001805782, -0.00188511295709759, 0.0006143659120425582, -0.0012908496428281069], "dtheta": [-7.04943886375986e-05, -0.00019607537251431495, 2.8547194233397022e-05, -3.737202496267855e-05, 0.00033236786839552224, -0.0002925950975622982, 0.00010933427256532013], "tau": [55.59000015258789, 23.59000015258789, 5.4720001220703125, -26.284000396728516, -2.6000001430511475, 2.6560001373291016, -0.5440000295639038], "tau_des": [0.6037899851799011, -0.5517513751983643, -0.2347862273454666, -0.5900058746337891, 0.889925479888916, -1.1423285007476807, -0.532544732093811], "tau_dot": [-105.01959991455078, -39.88148880004883, 6.703755855560303, 4.861227512359619, -20.87406349182129, -18.271379470825195, 9.489293098449707], "tau_ext": [-16.816755294799805, -41.59027862548828, 31.809673309326172, 31.34917640686035, 9.514350891113281, -2.9977691173553467, -0.1135658323764801], "tcp_pose": [0.677962601184845, 0.032628875225782394, -0.2149864286184311, -0.002313481643795967, -0.0045975311659276485, 0.9998906850814819, 0.013862606137990952], "tcp_vel": [-0.00016219382814597338, 5.7782606745604426e-05, -0.0001482862571720034, -9.143653733190149e-05, 0.0004581273824442178, -0.00014121645654086024], "flange_pose": [0.6786757111549377, 0.028473736718297005, -0.06504568457603455, -0.002313481643795967, -0.0045975311659276485, 0.9998906850814819, 0.013862606137990952], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.68618774414062, 15.226784706115723, 28.177602767944336, 0.32971635460853577, -23.968021392822266, 1.8021202087402344], "ext_wrench_in_world": [-107.95345609513713, 15.003853748365545, -27.259548619038508, -0.11944003232235831, -23.91092841105434, -2.464880566710185]}
+{"timestamp_ns": 1789729891788895258, "elapsed_ms": 11166, "source_timestamp_ns": 1789729891781752301, "q": [0.836300790309906, -1.8968511819839478, -1.0059804916381836, 1.381178379058838, -0.16218209266662598, 0.5938751697540283, 0.704086184501648], "theta": [0.8383728861808777, -1.8949075937271118, -1.0041738748550415, 1.3627686500549316, -0.16277964413166046, 0.5938385725021362, 0.7040654420852661], "dq": [0.001080172834917903, 0.0009988894453272223, -0.0009990190155804157, 0.0010631203185766935, 0.0004728261847048998, 0.002167254453524947, -0.00011945117148570716], "dtheta": [2.7675578166963533e-05, -6.937549915164709e-05, -0.00011841677041957155, 6.84906481183134e-05, -0.00024036032846197486, 0.000921856495551765, 0.00014613936946261674], "tau": [55.62999725341797, 23.559999465942383, 5.4720001220703125, -26.2760009765625, -2.576000213623047, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.5340284705162048, -0.6128270030021667, -0.20607368648052216, -0.5251950025558472, 0.910492479801178, -1.1824036836624146, -0.5351964831352234], "tau_dot": [-31.4544677734375, 21.877168655395508, -3.2563388347625732, 33.26786422729492, 24.69087028503418, 10.070459365844727, -27.16143035888672], "tau_ext": [-16.81452178955078, -41.59756851196289, 31.81112289428711, 31.347917556762695, 9.525226593017578, -3.0006961822509766, -0.11843721568584442], "tcp_pose": [0.6779626607894897, 0.032628681510686874, -0.2149864286184311, -0.0023133682552725077, -0.004596740938723087, 0.9998906850814819, 0.013862136751413345], "tcp_vel": [0.00020480199600569904, 7.067383558023721e-05, 8.57796985656023e-05, 0.00028685276629403234, -0.0008358078775927424, -6.0423582908697426e-05], "flange_pose": [0.6786757111549377, 0.028473684564232826, -0.06504568457603455, -0.0023133682552725077, -0.004596740938723087, 0.9998906850814819, 0.013862136751413345], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66935729980469, 15.243402481079102, 28.19118309020996, 0.3352647125720978, -23.964139938354492, 1.801965355873108], "ext_wrench_in_world": [-107.93681336470299, 15.021141444799852, -27.272774977026064, -0.12506008523384313, -23.90710639200039, -2.4645706508345504]}
+{"timestamp_ns": 1789729891822250095, "elapsed_ms": 11200, "source_timestamp_ns": 1789729891821777416, "q": [0.8363014459609985, -1.8968523740768433, -1.0059833526611328, 1.381178855895996, -0.16218280792236328, 0.5938740968704224, 0.7040879130363464], "theta": [0.8383737802505493, -1.8949081897735596, -1.0041773319244385, 1.362768530845642, -0.16278059780597687, 0.5938376188278198, 0.7040668725967407], "dq": [0.0026365548837929964, -4.500008071772754e-05, -0.00032793701393529773, 0.0038470602594316006, 9.956774010788649e-05, -0.0014610596699640155, -0.002243299037218094], "dtheta": [0.0002255979779874906, 3.283867408754304e-05, 0.0003038339491467923, 0.00013438359019346535, 0.0002267183444928378, 0.0004818991874344647, -0.001267437357455492], "tau": [55.64999771118164, 23.549999237060547, 5.4720001220703125, -26.32400131225586, -2.6000001430511475, 2.6480002403259277, -0.5320000052452087], "tau_des": [0.5147629380226135, -0.5747237801551819, -0.2591686248779297, -0.5318795442581177, 0.9052038788795471, -1.1730448007583618, -0.5100967884063721], "tau_dot": [-18.389312744140625, 43.25204086303711, 8.98006820678711, -21.334484100341797, -7.110062599182129, 1.0355292558670044, 15.145344734191895], "tau_ext": [-16.79936408996582, -41.588600158691406, 31.830251693725586, 31.353893280029297, 9.525736808776855, -2.9992947578430176, -0.12984521687030792], "tcp_pose": [0.6779631972312927, 0.032627131789922714, -0.21498671174049377, -0.0023129666224122047, -0.004595487378537655, 0.9998906850814819, 0.01386009156703949], "tcp_vel": [-3.76892821805086e-05, 0.00022411980899050832, 0.00015566774527542293, 0.0006031562224961817, -0.0002955143281724304, 0.0013423796044662595], "flange_pose": [0.6786761283874512, 0.028472745791077614, -0.06504595279693604, -0.0023129666224122047, -0.004595487378537655, 0.9998906850814819, 0.01386009156703949], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69538879394531, 15.230191230773926, 28.169530868530273, 0.3302139937877655, -23.96402931213379, 1.796661138534546], "ext_wrench_in_world": [-107.96256085694158, 15.00725441310768, -27.251527112246524, -0.12004346471135985, -23.907105749324888, -2.4591904477689317]}
+{"timestamp_ns": 1789729891855586913, "elapsed_ms": 11233, "source_timestamp_ns": 1789729891851815947, "q": [0.8363015651702881, -1.8968530893325806, -1.0059832334518433, 1.3811779022216797, -0.16218295693397522, 0.5938712358474731, 0.7040884494781494], "theta": [0.8383743166923523, -1.8949090242385864, -1.0041773319244385, 1.3627678155899048, -0.16278083622455597, 0.5938347578048706, 0.7040678262710571], "dq": [0.0006993590504862368, 0.002686596941202879, 0.0013302421430125833, -0.0009279645746573806, -0.0012295700144022703, -0.0002122428413713351, -0.001725554931908846], "dtheta": [0.0001936670596478507, 0.00023972883354872465, 9.37947552301921e-05, -0.0002200853341491893, 0.0008689308888278902, 0.0003019772411789745, 8.221729513024911e-05], "tau": [55.65999984741211, 23.53999900817871, 5.456000328063965, -26.30000114440918, -2.624000072479248, 2.6640000343322754, -0.5160000324249268], "tau_des": [0.489060640335083, -0.6487579941749573, -0.20727390050888062, -0.4979635179042816, 0.8842360377311707, -1.177608847618103, -0.5453104376792908], "tau_dot": [29.528770446777344, -90.29330444335938, -45.54689025878906, 60.53233337402344, -68.71891021728516, 10.477301597595215, 71.3779525756836], "tau_ext": [-16.80937385559082, -41.574302673339844, 31.814300537109375, 31.350086212158203, 9.527203559875488, -2.997051954269409, -0.1330476850271225], "tcp_pose": [0.6779628396034241, 0.03262718766927719, -0.21498675644397736, -0.00231361947953701, -0.004595547914505005, 0.9998907446861267, 0.013859131373465061], "tcp_vel": [9.855216194409877e-05, 0.0001319740549661219, 0.0002687000669538975, 0.0011008012806996703, -8.615396654931828e-05, -0.0007011942798271775], "flange_pose": [0.6786759495735168, 0.02847309224307537, -0.06504599004983902, -0.00231361947953701, -0.004595547914505005, 0.9998907446861267, 0.013859131373465061], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69767761230469, 15.209220886230469, 28.17768669128418, 0.32021334767341614, -23.962390899658203, 1.7892996072769165], "ext_wrench_in_world": [-107.96473438505724, 14.986429723343267, -27.26014019834774, -0.11002306680160087, -23.905584114617454, -2.451785138296799]}
+{"timestamp_ns": 1789729891888896643, "elapsed_ms": 11266, "source_timestamp_ns": 1789729891881736297, "q": [0.8363021612167358, -1.8968552350997925, -1.005983829498291, 1.381177544593811, -0.16218127310276031, 0.5938684940338135, 0.7040868997573853], "theta": [0.8383751511573792, -1.8949108123779297, -1.0041776895523071, 1.3627673387527466, -0.16277916729450226, 0.5938318967819214, 0.7040668725967407], "dq": [0.0014043647097423673, -0.0007817464647814631, -0.0017046937718987465, -0.0020451494492590427, 0.002199956914409995, -0.00048564461758360267, -0.0013642963021993637], "dtheta": [0.00014700308383908123, 0.00024804702843539417, -0.00027761171804741025, -0.00036692930734716356, 0.0010692105861380696, -0.0006930811796337366, -0.0010174382477998734], "tau": [55.63999938964844, 23.549999237060547, 5.456000328063965, -26.284000396728516, -2.5840001106262207, 2.640000104904175, -0.5320000052452087], "tau_des": [0.5224446058273315, -0.6344180703163147, -0.16960017383098602, -0.5379823446273804, 0.8846012353897095, -1.1445298194885254, -0.52805495262146], "tau_dot": [-17.76250648498535, -44.840492248535156, -39.689327239990234, 29.568326950073242, 3.2459187507629395, -26.45128631591797, 7.174415588378906], "tau_ext": [-16.81599235534668, -41.584232330322266, 31.811681747436523, 31.3555965423584, 9.531670570373535, -2.995725154876709, -0.13569816946983337], "tcp_pose": [0.6779619455337524, 0.03262723237276077, -0.21498733758926392, -0.0023145906161516905, -0.004596341866999865, 0.9998907446861267, 0.013857887126505375], "tcp_vel": [5.93088916502893e-05, -0.00019015269936062396, 0.0001548975706100464, 0.0004328842042014003, 0.0005577558767981827, 2.085089909087401e-05], "flange_pose": [0.6786753535270691, 0.028473511338233948, -0.06504655629396439, -0.0023145906161516905, -0.004596341866999865, 0.9998907446861267, 0.013857887126505375], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6957778930664, 15.201101303100586, 28.186025619506836, 0.3164340853691101, -23.965360641479492, 1.7871439456939697], "ext_wrench_in_world": [-107.96287662816599, 14.978319183395246, -27.26854087873156, -0.10617258848299838, -23.908583595202206, -2.4496698842642632]}
+{"timestamp_ns": 1789729891922247560, "elapsed_ms": 11300, "source_timestamp_ns": 1789729891921771402, "q": [0.8363032937049866, -1.8968552350997925, -1.005983829498291, 1.3811782598495483, -0.1621813327074051, 0.5938668251037598, 0.7040870785713196], "theta": [0.8383764028549194, -1.8949111700057983, -1.004177212715149, 1.3627674579620361, -0.16277818381786346, 0.5938304662704468, 0.7040668725967407], "dq": [-0.0010910226264968514, 0.0009349340107291937, -0.0015294969780370593, 0.0010009362595155835, 0.0014181394362822175, 0.000986310187727213, 0.001439475454390049], "dtheta": [-7.474543963326141e-05, -0.00016013493586797267, -0.0001606574805919081, -3.086201104451902e-06, -0.0004643930005840957, -0.0012731347233057022, 0.0009343342389911413], "tau": [55.63999938964844, 23.53999900817871, 5.492000102996826, -26.312002182006836, -2.5880000591278076, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.6331847310066223, -0.5771411061286926, -0.18087942898273468, -0.6307527422904968, 0.8977161645889282, -1.1063059568405151, -0.5513722896575928], "tau_dot": [-6.464576244354248, -19.56052017211914, 14.295635223388672, 14.439587593078613, -28.331649780273438, 17.069252014160156, 20.840394973754883], "tau_ext": [-16.835939407348633, -41.584815979003906, 31.810226440429688, 31.36037254333496, 9.518959999084473, -3.0015039443969727, -0.12686046957969666], "tcp_pose": [0.6779616475105286, 0.03262685611844063, -0.21498705446720123, -0.0023149268236011267, -0.004596357699483633, 0.9998907446861267, 0.013857138343155384], "tcp_vel": [-0.0001782734034350142, -0.0002744455123320222, -0.00021234860469121486, -0.0013453289866447449, 0.0007528975256718695, -0.0006520454189740121], "flange_pose": [0.67867511510849, 0.02847335860133171, -0.0650462731719017, -0.0023149268236011267, -0.004596357699483633, 0.9998907446861267, 0.013857138343155384], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67839050292969, 15.195981979370117, 28.18737030029297, 0.3156340420246124, -23.96013069152832, 1.7860337495803833], "ext_wrench_in_world": [-107.94546862824825, 14.973354498788954, -27.270055954215962, -0.10541560968899519, -23.903382891171546, -2.44838274489991]}
+{"timestamp_ns": 1789729891955588178, "elapsed_ms": 11333, "source_timestamp_ns": 1789729891951747518, "q": [0.8363044261932373, -1.8968548774719238, -1.0059833526611328, 1.3811782598495483, -0.16218283772468567, 0.5938684940338135, 0.7040868997573853], "theta": [0.8383776545524597, -1.8949110507965088, -1.0041770935058594, 1.3627674579620361, -0.16277916729450226, 0.5938321352005005, 0.7040661573410034], "dq": [-0.0005549382767640054, -0.0017143599689006805, 0.0007807014044374228, -0.00212438078597188, 0.0004962653038091958, -0.00016988682909868658, 0.003887027967721224], "dtheta": [0.000663830665871501, -9.298958320869133e-05, -0.00010635030776029453, -1.862436874944251e-05, -0.0006749770836904645, -0.00012487787171266973, 0.00026311897090636194], "tau": [55.63999938964844, 23.600000381469727, 5.4800004959106445, -26.336000442504883, -2.5880000591278076, 2.6600000858306885, -0.5360000133514404], "tau_des": [0.41863709688186646, -0.6560430526733398, -0.19869203865528107, -0.4781421720981598, 0.9354043006896973, -1.1770278215408325, -0.5368621945381165], "tau_dot": [53.45469665527344, -15.904136657714844, 17.826560974121094, -61.476375579833984, -48.248565673828125, -8.418825149536133, 9.79318904876709], "tau_ext": [-16.811750411987305, -41.593727111816406, 31.807025909423828, 31.34939956665039, 9.509284019470215, -2.999786138534546, -0.12152031064033508], "tcp_pose": [0.6779623031616211, 0.03262710943818092, -0.21498586237430573, -0.002313407603651285, -0.004596884828060865, 0.9998907446861267, 0.013857473619282246], "tcp_vel": [0.00022922063362784684, -9.481496090302244e-05, 0.0004661887069232762, -0.0006282363319769502, -0.0009842854924499989, 9.91318011074327e-05], "flange_pose": [0.6786753535270691, 0.028473513200879097, -0.0650450736284256, -0.002313407603651285, -0.004596884828060865, 0.9998907446861267, 0.013857473619282246], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66407012939453, 15.211630821228027, 28.197559356689453, 0.32483696937561035, -23.959877014160156, 1.7890068292617798], "ext_wrench_in_world": [-107.93127226795387, 14.989321026993471, -27.280190331320885, -0.11460287776826787, -23.90313061058776, -2.451322952833464]}
+{"timestamp_ns": 1789729891988902038, "elapsed_ms": 11366, "source_timestamp_ns": 1789729891981785038, "q": [0.8363049626350403, -1.8968545198440552, -1.0059839487075806, 1.381178379058838, -0.16218148171901703, 0.5938680171966553, 0.7040871381759644], "theta": [0.8383785486221313, -1.8949111700057983, -1.0041773319244385, 1.3627676963806152, -0.16277796030044556, 0.5938321352005005, 0.7040661573410034], "dq": [-0.0005267619271762669, 0.0028195353224873543, -0.0012405827874317765, 0.0006722946418449283, 0.0008666043868288398, -0.0001771108654793352, -0.0019398119766265154], "dtheta": [0.0005070717888884246, 5.539425910683349e-05, 0.00048025898286141455, -0.0001869898260338232, -0.0003920113667845726, 0.0007852912531234324, -0.000447912811068818], "tau": [55.62999725341797, 23.649999618530273, 5.468000411987305, -26.284000396728516, -2.580000162124634, 2.6560001373291016, -0.5440000295639038], "tau_des": [0.39457833766937256, -0.6378143429756165, -0.2817998230457306, -0.43420955538749695, 0.9235571622848511, -1.2117207050323486, -0.5211039781570435], "tau_dot": [25.63883399963379, 110.10731506347656, -22.060672760009766, 37.99467086791992, 40.379817962646484, -4.133486747741699, -13.073893547058105], "tau_ext": [-16.794830322265625, -41.587730407714844, 31.80682945251465, 31.33592414855957, 9.50383186340332, -2.9953577518463135, -0.1258244514465332], "tcp_pose": [0.6779624223709106, 0.032626669853925705, -0.214985653758049, -0.0023136346135288477, -0.004596065264195204, 0.9998907446861267, 0.013857636600732803], "tcp_vel": [0.00023650740331504494, 0.0003807211178354919, 0.0005916541558690369, 0.0007273157825693488, -0.0013286928879097104, 0.0009170467383228242], "flange_pose": [0.6786755323410034, 0.0284730214625597, -0.06504487246274948, -0.0023136346135288477, -0.004596065264195204, 0.9998907446861267, 0.013857636600732803], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6637954711914, 15.225356101989746, 28.19413948059082, 0.33361610770225525, -23.96442413330078, 1.7907160520553589], "ext_wrench_in_world": [-107.93109519741604, 15.003133325870104, -27.276335982650345, -0.1233883913527168, -23.907708742512725, -2.4531257030971614]}
+{"timestamp_ns": 1789729892022256657, "elapsed_ms": 11400, "source_timestamp_ns": 1789729892021749192, "q": [0.8363052606582642, -1.8968552350997925, -1.005985140800476, 1.3811790943145752, -0.1621817648410797, 0.5938671827316284, 0.7040866613388062], "theta": [0.8383786082267761, -1.8949118852615356, -1.0041788816452026, 1.362768530845642, -0.16277891397476196, 0.5938316583633423, 0.7040666341781616], "dq": [0.0030111779924482107, -0.00014681194443255663, -0.0004312119272071868, 0.0001489410933572799, -0.0017179202986881137, 0.00011710751277860254, 0.0011050469474866986], "dtheta": [-0.00021787879813928157, -0.000488073390442878, -5.736849198001437e-05, 0.00018911354709416628, -0.000540808541700244, 0.0004677659599110484, -0.0002742996730376035], "tau": [55.62999725341797, 23.60999870300293, 5.460000038146973, -26.316001892089844, -2.5920000076293945, 2.6600000858306885, -0.5320000052452087], "tau_des": [0.6378856301307678, -0.5164705514907837, -0.24334411323070526, -0.6082035899162292, 0.9071727991104126, -1.150662899017334, -0.5235050320625305], "tau_dot": [-54.069820404052734, 99.93710327148438, 6.885749340057373, -49.70258331298828, -34.156532287597656, -11.013437271118164, 4.317117214202881], "tau_ext": [-16.819421768188477, -41.60582733154297, 31.817779541015625, 31.352663040161133, 9.514076232910156, -3.0026021003723145, -0.12555484473705292], "tcp_pose": [0.6779623031616211, 0.03262590989470482, -0.21498610079288483, -0.0023138110991567373, -0.004596248269081116, 0.9998907446861267, 0.0138564333319664], "tcp_vel": [-7.114975596778095e-05, 0.00011172828817507252, -0.0002822765673045069, -0.0005358345224522054, -0.0003079775196965784, 0.0008799675852060318], "flange_pose": [0.6786754727363586, 0.028472624719142914, -0.0650453045964241, -0.0023138110991567373, -0.004596248269081116, 0.9998907446861267, 0.0138564333319664], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65154266357422, 15.244579315185547, 28.18691635131836, 0.3404422402381897, -23.961156845092773, 1.792097806930542], "ext_wrench_in_world": [-107.91899898802468, 15.02215547037022, -27.26863751981934, -0.13024238032583357, -23.904473719403615, -2.4543280026086416]}
+{"timestamp_ns": 1789729892055723717, "elapsed_ms": 11433, "source_timestamp_ns": 1789729892051743789, "q": [0.8363061547279358, -1.8968557119369507, -1.005989670753479, 1.3811794519424438, -0.1621835082769394, 0.5938677191734314, 0.7040870785713196], "theta": [0.8383795619010925, -1.8949130773544312, -1.004183053970337, 1.3627687692642212, -0.16278107464313507, 0.5938321352005005, 0.7040673494338989], "dq": [0.003121255896985531, -0.0001812619302654639, 0.00017332294373773038, -0.0009731371537782252, 0.0024534619878977537, -0.003055586712434888, 0.001874053617939353], "dtheta": [0.00023025067639537156, -0.00027306165429763496, -1.2654492820729502e-05, 0.000264136673649773, -0.00019481920753605664, 0.0008391137816943228, -0.00032825011294335127], "tau": [55.63999938964844, 23.559999465942383, 5.436000347137451, -26.316001892089844, -2.580000162124634, 2.6440000534057617, -0.5440000295639038], "tau_des": [0.5233287811279297, -0.5866742730140686, -0.2143649160861969, -0.5360596179962158, 0.9176207184791565, -1.1769201755523682, -0.529698371887207], "tau_dot": [76.24015045166016, 49.871761322021484, -22.568004608154297, -26.62485694885254, 15.441851615905762, -57.19609832763672, -9.25004768371582], "tau_ext": [-16.80918312072754, -41.597633361816406, 31.833335876464844, 31.34937286376953, 9.518149375915527, -2.9997506141662598, -0.12717097997665405], "tcp_pose": [0.6779640913009644, 0.03262346610426903, -0.21498586237430573, -0.0023121072445064783, -0.004595146048814058, 0.9998908042907715, 0.013854322023689747], "tcp_vel": [6.049111107131466e-05, 0.00014163505693431944, 6.81032397551462e-05, 6.725322600686923e-05, -0.000772748317103833, 0.0006323149427771568], "flange_pose": [0.6786767244338989, 0.028470810502767563, -0.06504504382610321, -0.0023121072445064783, -0.004595146048814058, 0.9998908042907715, 0.013854322023689747], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66546630859375, 15.240030288696289, 28.188440322875977, 0.3357580304145813, -23.9597110748291, 1.7905832529067993], "ext_wrench_in_world": [-107.93276132498895, 15.017648817114368, -27.270654250539156, -0.12560967831061468, -23.903037198420748, -2.452694748535832]}
+{"timestamp_ns": 1789729892088900513, "elapsed_ms": 11466, "source_timestamp_ns": 1789729892081749515, "q": [0.8363064527511597, -1.8968573808670044, -1.0059936046600342, 1.381178379058838, -0.16218237578868866, 0.5938664674758911, 0.7040872573852539], "theta": [0.8383801579475403, -1.8949145078659058, -1.004186987876892, 1.362768530845642, -0.16278034448623657, 0.593830943107605, 0.7040673494338989], "dq": [0.000636988552287221, 0.0020892724860459566, -9.316769865108654e-05, -0.0010312037775292993, 0.0002486168232280761, -0.0013349612709134817, 0.0033370470628142357], "dtheta": [0.00021162231860216707, -3.260823723394424e-05, 0.00014840350195299834, -5.043785131420009e-05, -0.0004856532032135874, -8.025539864320308e-05, -0.0008220419986173511], "tau": [55.599998474121094, 23.56999969482422, 5.464000225067139, -26.304000854492188, -2.6000001430511475, 2.6480002403259277, -0.5520000457763672], "tau_des": [0.4934549033641815, -0.6149497628211975, -0.19933386147022247, -0.5199608206748962, 0.9270806312561035, -1.1662064790725708, -0.5231640934944153], "tau_dot": [-67.31767272949219, -30.3680362701416, -30.640663146972656, -21.903423309326172, -46.245914459228516, -10.808883666992188, -47.68116760253906], "tau_ext": [-16.806503295898438, -41.585453033447266, 31.835554122924805, 31.33541488647461, 9.524991035461426, -2.9964115619659424, -0.12911862134933472], "tcp_pose": [0.6779650449752808, 0.03262189403176308, -0.21498610079288483, -0.0023116811644285917, -0.004593863617628813, 0.9998908042907715, 0.013852695934474468], "tcp_vel": [5.811052324133925e-05, 5.429836892290041e-05, 0.00019525294192135334, -0.0002507423341739923, -0.0004361797182355076, 0.0012111482210457325], "flange_pose": [0.6786775588989258, 0.02846972458064556, -0.06504528224468231, -0.0023116811644285917, -0.004593863617628813, 0.9998908042907715, 0.013852695934474468], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66323852539062, 15.24422550201416, 28.176345825195312, 0.32825490832328796, -23.953886032104492, 1.7887251377105713], "ext_wrench_in_world": [-107.93045322714772, 15.021716593171025, -27.25859684153518, -0.11821063124864925, -23.89720432003288, -2.450631933895454]}
+{"timestamp_ns": 1789729892122257692, "elapsed_ms": 11500, "source_timestamp_ns": 1789729892121741788, "q": [0.8363062739372253, -1.896860122680664, -1.0059928894042969, 1.381177544593811, -0.1621810644865036, 0.5938628911972046, 0.7040855288505554], "theta": [0.8383805155754089, -1.8949167728424072, -1.0041863918304443, 1.3627684116363525, -0.16277866065502167, 0.5938278436660767, 0.7040659189224243], "dq": [0.0016081290086731315, 0.00039185519563034177, 0.00038432309520430863, -0.000794324092566967, 0.0006010560318827629, 0.0006257593631744385, 0.0004015420563519001], "dtheta": [-2.6612111469148658e-05, 3.983997521572746e-05, 0.00018368667224422097, -0.00017625278269406408, 0.0006250878213904798, -0.0005416730418801308, -0.0003877964918501675], "tau": [55.64999771118164, 23.51999855041504, 5.456000328063965, -26.312002182006836, -2.5840001106262207, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.5758113265037537, -0.5825167298316956, -0.21604473888874054, -0.5740280151367188, 0.8844073414802551, -1.1396143436431885, -0.5335489511489868], "tau_dot": [59.90717697143555, -45.40217208862305, -21.15473175048828, 30.965534210205078, -3.8741393089294434, 29.336137771606445, -6.136196613311768], "tau_ext": [-16.810819625854492, -41.57443618774414, 31.817485809326172, 31.351585388183594, 9.517471313476562, -2.998953104019165, -0.1241525188088417], "tcp_pose": [0.6779634952545166, 0.032622773200273514, -0.2149871289730072, -0.0023132830392569304, -0.004595479927957058, 0.9998908042907715, 0.013851414434611797], "tcp_vel": [-0.00017350137932226062, 8.168625208782032e-05, -3.0487139156321064e-05, 0.000283497734926641, 0.000687824678607285, 0.00012801651610061526], "flange_pose": [0.6786764860153198, 0.02847099117934704, -0.0650462955236435, -0.0023132830392569304, -0.004595479927957058, 0.9998908042907715, 0.013851414434611797], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66671752929688, 15.237794876098633, 28.17572593688965, 0.32615330815315247, -23.95487403869629, 1.788699984550476], "ext_wrench_in_world": [-107.93400550255306, 15.014815010912647, -27.25783877443522, -0.11602927368070598, -23.898179839558768, -2.4505818469725766]}
+{"timestamp_ns": 1789729892155590224, "elapsed_ms": 11533, "source_timestamp_ns": 1789729892151963005, "q": [0.8363078832626343, -1.8968610763549805, -1.0059924125671387, 1.3811780214309692, -0.1621795892715454, 0.5938621759414673, 0.704084575176239], "theta": [0.8383819460868835, -1.8949172496795654, -1.0041859149932861, 1.362768530845642, -0.16277723014354706, 0.5938276052474976, 0.7040656805038452], "dq": [-0.0009984649950638413, -2.422650868538767e-05, 0.0012587386881932616, 0.0013257779646664858, -0.0017740647308528423, 1.4163321793603245e-05, 0.0027462253347039223], "dtheta": [0.00034422450698912144, -3.70978050341364e-05, 1.3272743672132492e-05, 0.00023608638730365783, -0.00036908756010234356, 0.0003581948985811323, 0.0006878445856273174], "tau": [55.59000015258789, 23.56999969482422, 5.4800004959106445, -26.32400131225586, -2.576000213623047, 2.6680002212524414, -0.5320000052452087], "tau_des": [0.5051746964454651, -0.633872926235199, -0.19262394309043884, -0.5315799117088318, 0.9131775498390198, -1.165921926498413, -0.5483141541481018], "tau_dot": [-107.6999282836914, 30.842281341552734, 4.067605495452881, -17.604265213012695, -2.552046298980713, 16.254974365234375, 68.5739517211914], "tau_ext": [-16.79701805114746, -41.57017135620117, 31.81096076965332, 31.345888137817383, 9.509452819824219, -2.998225688934326, -0.11752669513225555], "tcp_pose": [0.6779628992080688, 0.032623209059238434, -0.21498674154281616, -0.0023134169168770313, -0.004596065729856491, 0.9998908042907715, 0.013851281255483627], "tcp_vel": [8.431089372606948e-05, 3.658490641100798e-06, 0.00018886000907514244, -0.0001526673586340621, -0.0006063818582333624, -0.0004196553200017661], "flange_pose": [0.6786759495735168, 0.02847146801650524, -0.06504590064287186, -0.0023134169168770313, -0.004596065729856491, 0.9998908042907715, 0.013851281255483627], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67462921142578, 15.217607498168945, 28.172212600708008, 0.3250003159046173, -23.957853317260742, 1.7914725542068481], "ext_wrench_in_world": [-107.94174028982185, 14.99433163653621, -27.25482780323626, -0.1148348441327282, -23.901071223370955, -2.45343473993459]}
+{"timestamp_ns": 1789729892188900358, "elapsed_ms": 11566, "source_timestamp_ns": 1789729892181742161, "q": [0.8363090753555298, -1.8968617916107178, -1.0059925317764282, 1.3811781406402588, -0.16217920184135437, 0.5938622951507568, 0.7040843963623047], "theta": [0.8383836150169373, -1.8949182033538818, -1.0041859149932861, 1.3627687692642212, -0.16277651488780975, 0.5938273668289185, 0.7040649652481079], "dq": [0.0011832487070932984, 0.00015319132944568992, 0.0014907278819009662, 0.0009352068300358951, -0.002489811973646283, -0.002447898965328932, 0.000856733531691134], "dtheta": [0.0003362238348927349, -0.00020985321316402406, 0.0002782438532449305, 5.675701686413959e-05, -0.0005613071843981743, 0.0005738320760428905, -0.0007043496589176357], "tau": [55.59000015258789, 23.529998779296875, 5.484000205993652, -26.328001022338867, -2.5880000591278076, 2.684000015258789, -0.5440000295639038], "tau_des": [0.48027539253234863, -0.5823087096214294, -0.2603989839553833, -0.5076767206192017, 0.9277082681655884, -1.1830931901931763, -0.5153139233589172], "tau_dot": [-91.50267791748047, -144.86843872070312, -6.145589828491211, -40.727108001708984, -75.63286590576172, 29.29477310180664, 16.320667266845703], "tau_ext": [-16.80376434326172, -41.5790901184082, 31.8151912689209, 31.351160049438477, 9.505122184753418, -2.9986512660980225, -0.1210511177778244], "tcp_pose": [0.6779629588127136, 0.03262338787317276, -0.2149861752986908, -0.0023128637112677097, -0.004596288315951824, 0.9998908042907715, 0.013851113617420197], "tcp_vel": [8.460107346763834e-05, 0.00025549475685693324, 0.0002671543334145099, 1.942423295986373e-05, -0.0009663270320743322, 0.0013469246914610267], "flange_pose": [0.6786758899688721, 0.028471698984503746, -0.06504533439874649, -0.0023128637112677097, -0.004596288315951824, 0.9998908042907715, 0.013851113617420197], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.688720703125, 15.204427719116211, 28.165510177612305, 0.32527679204940796, -23.963653564453125, 1.7918288707733154], "ext_wrench_in_world": [-107.95565497758747, 14.980786089242093, -27.248555172983647, -0.11504703298675112, -23.906862553680945, -2.4539427194452976]}
+{"timestamp_ns": 1789729892222253718, "elapsed_ms": 11600, "source_timestamp_ns": 1789729892221780190, "q": [0.8363102078437805, -1.8968629837036133, -1.0059928894042969, 1.3811793327331543, -0.16218052804470062, 0.5938622355461121, 0.7040851712226868], "theta": [0.8383846282958984, -1.8949190378189087, -1.0041857957839966, 1.362770438194275, -0.16277675330638885, 0.5938278436660767, 0.7040656805038452], "dq": [0.0011373133165761828, 0.002593745943158865, 0.0004758186696562916, 0.0013621345860883594, -0.001303332857787609, -0.0010415134020149708, -0.0003035654663108289], "dtheta": [-0.0003832220972981304, 0.000570667558349669, 0.0007061823271214962, 2.562821282481309e-05, -0.0005734352744184434, -0.00015174911823123693, 0.00040017947321757674], "tau": [55.63999938964844, 23.59000015258789, 5.4800004959106445, -26.296001434326172, -2.576000213623047, 2.684000015258789, -0.5480000376701355], "tau_des": [0.5890191793441772, -0.6193806529045105, -0.2435971051454544, -0.5666367411613464, 0.8902925252914429, -1.1531920433044434, -0.5353086590766907], "tau_dot": [4.65214204788208, 90.10968780517578, 0.7913880348205566, 5.116114616394043, 9.327605247497559, 42.72352600097656, -10.710494995117188], "tau_ext": [-16.819961547851562, -41.58503341674805, 31.816457748413086, 31.351913452148438, 9.50153636932373, -3.0006680488586426, -0.11822668462991714], "tcp_pose": [0.677962601184845, 0.032623253762722015, -0.21498627960681915, -0.002312488155439496, -0.004596668295562267, 0.9998908638954163, 0.013849767856299877], "tcp_vel": [-0.00012606175732798874, 0.00015218202315736562, -3.333367931190878e-05, 0.00040206892299465835, 0.0004341057501733303, 3.926571662304923e-05], "flange_pose": [0.6786754131317139, 0.028471967205405235, -0.06504543870687485, -0.002312488155439496, -0.004596668295562267, 0.9998908638954163, 0.013849767856299877], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66214752197266, 15.21733570098877, 28.182270050048828, 0.32961052656173706, -23.959518432617188, 1.7910988330841064], "ext_wrench_in_world": [-107.92927088747527, 14.99424362113537, -27.265194002271514, -0.11939486256633844, -23.902796183835417, -2.45301469886223]}
+{"timestamp_ns": 1789729892255589810, "elapsed_ms": 11633, "source_timestamp_ns": 1789729892251737840, "q": [0.8363105058670044, -1.8968634605407715, -1.005994200706482, 1.3811793327331543, -0.16218170523643494, 0.5938623547554016, 0.704086422920227], "theta": [0.8383851647377014, -1.894919514656067, -1.0041868686676025, 1.3627707958221436, -0.16277796030044556, 0.5938280820846558, 0.7040663957595825], "dq": [0.003744885791093111, -0.0011744062649086118, 0.00038584216963499784, 0.0011421969393268228, -0.0004937669727951288, -0.000658235396258533, 0.0007217367528937757], "dtheta": [-0.00025453337002545595, 0.00012106521899113432, -0.00019405584316700697, 1.08730828287662e-05, 5.793911623186432e-05, -0.00046603678492829204, -0.00027801154647022486], "tau": [55.63999938964844, 23.53999900817871, 5.488000392913818, -26.30000114440918, -2.576000213623047, 2.6520001888275146, -0.5520000457763672], "tau_des": [0.6112179160118103, -0.6048163175582886, -0.15976721048355103, -0.5949230790138245, 0.8945361375808716, -1.1358720064163208, -0.5359906554222107], "tau_dot": [11.471919059753418, -115.82791900634766, 33.96379470825195, 28.271360397338867, 19.083234786987305, -46.22691345214844, -23.659351348876953], "tau_ext": [-16.821516036987305, -41.58324432373047, 31.809396743774414, 31.340364456176758, 9.505807876586914, -3.0003397464752197, -0.12412846088409424], "tcp_pose": [0.6779632568359375, 0.0326225683093071, -0.21498613059520721, -0.0023117316886782646, -0.004596040118485689, 0.9998908638954163, 0.013848849572241306], "tcp_vel": [-5.670698737958446e-05, -0.00021422489953693002, -0.0002100039564538747, -0.00030779626104049385, 0.0005783590604551136, 4.1129787859972566e-05], "flange_pose": [0.6786757707595825, 0.028471553698182106, -0.06504526734352112, -0.0023117316886782646, -0.004596040118485689, 0.9998908638954163, 0.013848849572241306], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63739776611328, 15.235945701599121, 28.190027236938477, 0.33495453000068665, -23.954309463500977, 1.7908354997634888], "ext_wrench_in_world": [-107.90466905634891, 15.013376853654416, -27.272733383213914, -0.12481161232919923, -23.89765052217056, -2.4525394551734396]}
+{"timestamp_ns": 1789729892288901833, "elapsed_ms": 11666, "source_timestamp_ns": 1789729892281746896, "q": [0.8363098502159119, -1.8968647718429565, -1.0059961080551147, 1.3811790943145752, -0.1621817797422409, 0.5938621759414673, 0.704086422920227], "theta": [0.8383849859237671, -1.8949203491210938, -1.0041894912719727, 1.3627707958221436, -0.16277866065502167, 0.5938276052474976, 0.7040666341781616], "dq": [0.0010084270033985376, -0.0007132207392714918, 0.0003607156977523118, 0.00047975764027796686, -0.0016905992524698377, 0.00020801243954338133, -0.0017484133131802082], "dtheta": [5.274248542264104e-05, -0.00018703653768170625, -0.0003468481882009655, -6.834098894614726e-05, 7.582623220514506e-05, 0.0005284297512844205, -0.0003626297402661294], "tau": [55.66999816894531, 23.51999855041504, 5.456000328063965, -26.316001892089844, -2.580000162124634, 2.6680002212524414, -0.5400000214576721], "tau_des": [0.5367825627326965, -0.6119767427444458, -0.1649402379989624, -0.5345349311828613, 0.9123607277870178, -1.1712802648544312, -0.5356085896492004], "tau_dot": [160.7323760986328, -121.06774139404297, 9.142475128173828, -45.30341339111328, 0.5569907426834106, -35.26058578491211, 12.220669746398926], "tau_ext": [-16.82538604736328, -41.57574462890625, 31.801591873168945, 31.34992027282715, 9.516786575317383, -3.0011889934539795, -0.12824341654777527], "tcp_pose": [0.6779634356498718, 0.03262188658118248, -0.21498700976371765, -0.0023117209784686565, -0.004595805425196886, 0.9998908638954163, 0.013847730122506618], "tcp_vel": [0.0001921674847835675, -3.4326942113693804e-05, 4.561212335829623e-05, 7.36835936550051e-05, -0.0005843733088113368, 0.0001788043591659516], "flange_pose": [0.6786760091781616, 0.02847120724618435, -0.06504613161087036, -0.0023117209784686565, -0.004595805425196886, 0.9998908638954163, 0.013847730122506618], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6258544921875, 15.229923248291016, 28.188915252685547, 0.3317125141620636, -23.94973373413086, 1.7884851694107056], "ext_wrench_in_world": [-107.89305848628665, 15.007422059109697, -27.271876980873774, -0.12161140187678805, -23.893117208524615, -2.4500242969525705]}
+{"timestamp_ns": 1789729892322249804, "elapsed_ms": 11700, "source_timestamp_ns": 1789729892321779116, "q": [0.8363104462623596, -1.8968677520751953, -1.0059969425201416, 1.3811782598495483, -0.16218240559101105, 0.5938605666160583, 0.7040864825248718], "theta": [0.8383854627609253, -1.8949230909347534, -1.0041899681091309, 1.3627700805664062, -0.16278012096881866, 0.5938256978988647, 0.7040673494338989], "dq": [0.00024610484251752496, -0.0013224061112850904, -0.0006831251666881144, -0.0008105281158350408, -0.00319855147972703, -0.001170655246824026, -0.0002836680505424738], "dtheta": [-0.00012937141582369804, -0.00013344107719603926, 0.00017935660434886813, 0.000237048021517694, -0.0003421180881559849, -7.401610491797328e-05, 0.0008375424658879638], "tau": [55.65999984741211, 23.51999855041504, 5.456000328063965, -26.288002014160156, -2.5960001945495605, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.6213017702102661, -0.5626815557479858, -0.21633566915988922, -0.6063979864120483, 0.8993352651596069, -1.140313744544983, -0.5469831824302673], "tau_dot": [57.37804412841797, -111.1026840209961, 5.971454620361328, -12.494083404541016, 19.15552520751953, 12.892653465270996, -40.96641540527344], "tau_ext": [-16.808320999145508, -41.58525085449219, 31.83717918395996, 31.346786499023438, 9.525487899780273, -2.9994029998779297, -0.13244864344596863], "tcp_pose": [0.6779631972312927, 0.032622210681438446, -0.21498727798461914, -0.002311401767656207, -0.0045966291800141335, 0.999890923500061, 0.013845902867615223], "tcp_vel": [-0.00018331565661355853, 5.707169839297421e-05, -0.00020347270765341818, -0.0003855144896078855, 0.00026644591707736254, -0.00039264041697606444], "flange_pose": [0.678675651550293, 0.02847208082675934, -0.06504639238119125, -0.002311401767656207, -0.0045966291800141335, 0.999890923500061, 0.013845902867615223], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65253448486328, 15.23086166381836, 28.171344757080078, 0.32615265250205994, -23.949199676513672, 1.7860187292099], "ext_wrench_in_world": [-107.91966839090159, 15.007349836037548, -27.25429541844594, -0.1160039959565003, -23.89260929523865, -2.4474819176743923]}
+{"timestamp_ns": 1789729892355587605, "elapsed_ms": 11733, "source_timestamp_ns": 1789729892351732086, "q": [0.8363102078437805, -1.8968696594238281, -1.0059963464736938, 1.3811774253845215, -0.16218096017837524, 0.5938592553138733, 0.7040867209434509], "theta": [0.8383854627609253, -1.8949240446090698, -1.0041897296905518, 1.362769365310669, -0.16277891397476196, 0.5938242673873901, 0.7040673494338989], "dq": [0.0006411998765543103, 6.328052404569462e-05, 1.1149981219205074e-05, -0.0010732227237895131, -0.0011136878747493029, 0.002924937754869461, 7.142654794733971e-06], "dtheta": [-0.0004272238293197006, 0.00011660994641715661, 0.00020672073878813535, 0.00022782252926845104, -0.0007395015563815832, 0.0001272528461413458, -4.2980922444257885e-05], "tau": [55.59000015258789, 23.489999771118164, 5.468000411987305, -26.292001724243164, -2.5920000076293945, 2.640000104904175, -0.5320000052452087], "tau_des": [0.6528802514076233, -0.5606061816215515, -0.21957901120185852, -0.6171422004699707, 0.9011917114257812, -1.1412467956542969, -0.5280078053474426], "tau_dot": [-121.0352554321289, -127.42933654785156, -17.271583557128906, -29.870018005371094, 15.687983512878418, -54.085575103759766, -25.602428436279297], "tau_ext": [-16.807767868041992, -41.56522750854492, 31.826290130615234, 31.340038299560547, 9.522605895996094, -2.9966037273406982, -0.13361001014709473], "tcp_pose": [0.6779623031616211, 0.03262313827872276, -0.2149878889322281, -0.0023122199345380068, -0.004596897400915623, 0.999890923500061, 0.013845612294971943], "tcp_vel": [-9.451853111386299e-05, 4.162562618148513e-06, -0.00027009175391867757, -0.0002880662214010954, 0.00016849595704115927, 0.0005534078809432685], "flange_pose": [0.6786749958992004, 0.02847309596836567, -0.0650470107793808, -0.0023122199345380068, -0.004596897400915623, 0.999890923500061, 0.013845612294971943], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66568756103516, 15.221920013427734, 28.15455436706543, 0.31919795274734497, -23.947843551635742, 1.7843458652496338], "ext_wrench_in_world": [-107.93271209607344, 14.99774921284147, -27.237533600318937, -0.10904468679431083, -23.891237154809616, -2.4457891860133176]}
+{"timestamp_ns": 1789729892388896069, "elapsed_ms": 11766, "source_timestamp_ns": 1789729892381763060, "q": [0.8363108038902283, -1.896869421005249, -1.005995750427246, 1.381177306175232, -0.16217921674251556, 0.5938540101051331, 0.7040867805480957], "theta": [0.8383861780166626, -1.8949238061904907, -1.0041897296905518, 1.3627690076828003, -0.16277748346328735, 0.5938187837600708, 0.7040671110153198], "dq": [0.00027583303744904697, -0.002436569659039378, 0.000985052203759551, 0.0010136754717677832, 0.001381414127536118, -0.00037452924880199134, 0.003270286601036787], "dtheta": [2.3882288587628864e-05, 0.0004206186276860535, -0.0001860453194240108, -4.857906969846226e-05, -0.00022628628357779235, 0.00036369069130159914, -8.150379289872944e-05], "tau": [55.66999816894531, 23.600000381469727, 5.484000205993652, -26.308000564575195, -2.5920000076293945, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.5176043510437012, -0.6773273348808289, -0.15288208425045013, -0.522501528263092, 0.903481662273407, -1.1663678884506226, -0.5405843257904053], "tau_dot": [94.58584594726562, 128.17453002929688, 20.690914154052734, -9.632192611694336, -17.603052139282227, -36.47148132324219, -19.455778121948242], "tau_ext": [-16.81509017944336, -41.56107711791992, 31.812904357910156, 31.343904495239258, 9.512152671813965, -2.991060256958008, -0.13331250846385956], "tcp_pose": [0.6779611110687256, 0.03262272849678993, -0.21498806774616241, -0.0023144236765801907, -0.004596528597176075, 0.999890923500061, 0.013844775035977364], "tcp_vel": [0.00029713637195527554, -0.00017559689877089113, 0.00021230790298432112, 0.00031919899629428983, -0.0005250178510323167, -0.0002218698209617287], "flange_pose": [0.6786744594573975, 0.028472939506173134, -0.06504717469215393, -0.0023144236765801907, -0.004596528597176075, 0.999890923500061, 0.013844775035977364], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65509796142578, 15.204312324523926, 28.166725158691406, 0.31344106793403625, -23.948925018310547, 1.7811516523361206], "ext_wrench_in_world": [-107.92213023003897, 14.980610141032026, -27.24978463995709, -0.10328989951358489, -23.892357318782402, -2.4426111013895806]}
+{"timestamp_ns": 1789729892422255849, "elapsed_ms": 11800, "source_timestamp_ns": 1789729892421749734, "q": [0.8363136053085327, -1.8968684673309326, -1.0059961080551147, 1.3811776638031006, -0.16217991709709167, 0.5938501954078674, 0.7040843963623047], "theta": [0.838388979434967, -1.8949235677719116, -1.0041892528533936, 1.362769365310669, -0.16277770698070526, 0.5938147306442261, 0.7040654420852661], "dq": [-0.0026412145234644413, -0.0003006728657055646, 0.0015469855861738324, 0.0007610609754920006, 0.0016361341113224626, -0.0011308261891826987, 0.0005316472379490733], "dtheta": [0.00042861179099418223, 0.00026524189161136746, 0.00016893964493647218, 3.528689194354229e-05, -0.0006126035004854202, -2.8020589525112882e-05, -0.0006037314306013286], "tau": [55.61000061035156, 23.559999465942383, 5.488000392913818, -26.296001434326172, -2.556000232696533, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.4495784640312195, -0.651543378829956, -0.20977436006069183, -0.5012896060943604, 0.9261406660079956, -1.1666747331619263, -0.5203204154968262], "tau_dot": [-8.013721466064453, 31.99423599243164, 11.894620895385742, 50.8510627746582, 37.087196350097656, 35.78936767578125, -24.92891502380371], "tau_ext": [-16.812742233276367, -41.57851028442383, 31.803672790527344, 31.35215950012207, 9.505437850952148, -2.989936351776123, -0.1308249533176422], "tcp_pose": [0.6779613494873047, 0.03262149170041084, -0.2149864286184311, -0.002314336597919464, -0.004597527906298637, 0.999890923500061, 0.013843435794115067], "tcp_vel": [0.00017087750893551856, -3.916406421922147e-05, 0.0004099236975889653, -0.0001114764527301304, -0.0006821313290856779, 0.0008905226713977754], "flange_pose": [0.6786746978759766, 0.02847210504114628, -0.06504553556442261, -0.002314336597919464, -0.004597527906298637, 0.999890923500061, 0.013843435794115067], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67169189453125, 15.197823524475098, 28.18775749206543, 0.31727609038352966, -23.964725494384766, 1.7806588411331177], "ext_wrench_in_world": [-107.9387882186727, 14.9742633691632, -27.270976920141923, -0.10692975723462415, -23.908206943628485, -2.4424751411021717]}
+{"timestamp_ns": 1789729892455621818, "elapsed_ms": 11833, "source_timestamp_ns": 1789729892451794746, "q": [0.8363163471221924, -1.8968685865402222, -1.005996584892273, 1.381178617477417, -0.1621796041727066, 0.5938477516174316, 0.7040851712226868], "theta": [0.8383913636207581, -1.894923448562622, -1.0041890144348145, 1.3627703189849854, -0.16277700662612915, 0.5938125848770142, 0.7040663957595825], "dq": [0.004079943057149649, -0.00024528021458536386, 0.0027391144540160894, 0.0012733465991914272, 0.004144961014389992, -0.0008647563518024981, 0.0006499091978184879], "dtheta": [0.00034438399598002434, 0.00011760774214053527, 0.00022280111443251371, 0.00027111536473967135, -0.00077301065903157, -0.0007120506488718092, 0.0005310812266543508], "tau": [55.65999984741211, 23.639999389648438, 5.488000392913818, -26.304000854492188, -2.580000162124634, 2.640000104904175, -0.5600000023841858], "tau_des": [0.5201848149299622, -0.6222957968711853, -0.20706325769424438, -0.5680951476097107, 0.9154865145683289, -1.1322181224822998, -0.5405740141868591], "tau_dot": [73.43038940429688, 118.17032623291016, 35.48243713378906, -4.362834453582764, -16.62209701538086, -34.760005950927734, -32.803688049316406], "tau_ext": [-16.818777084350586, -41.59501266479492, 31.807262420654297, 31.359661102294922, 9.503839492797852, -2.9953951835632324, -0.12550285458564758], "tcp_pose": [0.6779611706733704, 0.032620739191770554, -0.21498537063598633, -0.0023143067955970764, -0.004597036633640528, 0.999890923500061, 0.013842260465025902], "tcp_vel": [-0.00010266708704875782, -0.0001304141478613019, 0.00014213383838068694, -0.0008745805243961513, 6.84983388055116e-05, 3.55759693775326e-05], "flange_pose": [0.6786744594573975, 0.028471704572439194, -0.06504446268081665, -0.0023143067955970764, -0.004597036633640528, 0.999890923500061, 0.013842260465025902], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.68404388427734, 15.189241409301758, 28.197467803955078, 0.31996285915374756, -23.97330665588379, 1.784388542175293], "ext_wrench_in_world": [-107.95109119279934, 14.965880543505762, -27.2809069177979, -0.10957902162970697, -23.91671180247577, -2.446372766579328]}
+{"timestamp_ns": 1789729892488902564, "elapsed_ms": 11866, "source_timestamp_ns": 1789729892481759466, "q": [0.8363164067268372, -1.8968693017959595, -1.0059974193572998, 1.381178855895996, -0.16217945516109467, 0.5938485860824585, 0.7040850520133972], "theta": [0.8383916616439819, -1.8949235677719116, -1.0041897296905518, 1.362770676612854, -0.16277603805065155, 0.5938137769699097, 0.7040663957595825], "dq": [-0.001140630105510354, -0.002264196053147316, 0.0007359712035395205, -0.0012119817547500134, -6.034679245203733e-08, -0.00011940683907596394, -0.0019334231037646532], "dtheta": [-0.00013674277579411864, 0.00017964035214390606, 8.314742444781587e-05, -0.00021549836674239486, 0.0002782628289423883, 0.00015526710194535553, -0.00048682765918783844], "tau": [55.63999938964844, 23.56999969482422, 5.484000205993652, -26.284000396728516, -2.6040000915527344, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.5480636954307556, -0.6135749816894531, -0.20904335379600525, -0.5424350500106812, 0.8923802375793457, -1.1590591669082642, -0.5295231938362122], "tau_dot": [49.182960510253906, -19.563329696655273, 27.460567474365234, 24.866397857666016, -85.70918273925781, -54.69770812988281, -27.894092559814453], "tau_ext": [-16.822391510009766, -41.59446716308594, 31.805011749267578, 31.33954620361328, 9.498297691345215, -2.993696928024292, -0.12562048435211182], "tcp_pose": [0.6779612898826599, 0.0326206348836422, -0.21498560905456543, -0.0023139603435993195, -0.004597042687237263, 0.999890923500061, 0.013841996900737286], "tcp_vel": [6.623563240282238e-05, 7.827400986570865e-05, 5.6081757065840065e-05, 0.0005867401487194002, 1.278265790460864e-05, 0.00023236848937813193], "flange_pose": [0.6786745190620422, 0.028471680358052254, -0.06504469364881516, -0.0023139603435993195, -0.004597042687237263, 0.999890923500061, 0.013841996900737286], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65670013427734, 15.211691856384277, 28.210203170776367, 0.3288162052631378, -23.96938705444336, 1.7863390445709229], "ext_wrench_in_world": [-107.92399547876842, 14.988912125611392, -27.293221302390332, -0.11847516432086407, -23.91282315703055, -2.4481616247179674]}
+{"timestamp_ns": 1789729892522249255, "elapsed_ms": 11900, "source_timestamp_ns": 1789729892521734920, "q": [0.8363155722618103, -1.8968700170516968, -1.006000280380249, 1.3811781406402588, -0.16218097507953644, 0.5938487648963928, 0.7040863633155823], "theta": [0.8383913040161133, -1.8949240446090698, -1.004192590713501, 1.362770438194275, -0.16277700662612915, 0.5938140153884888, 0.704067587852478], "dq": [-0.0024379126261919737, 0.0011778948828577995, 0.0010596801294013858, 0.0009097312577068806, 0.004009505268186331, -0.0012230323627591133, -0.0008836258784867823], "dtheta": [-0.00012594624422490597, 0.0003921235038433224, -0.0004559878434520215, -0.00011724854266503826, 5.502057683770545e-05, 0.00021630252012982965, 0.0003691414895001799], "tau": [55.63999938964844, 23.579999923706055, 5.4760003089904785, -26.272001266479492, -2.576000213623047, 2.6480002403259277, -0.527999997138977], "tau_des": [0.5325716733932495, -0.7039579749107361, -0.0945417582988739, -0.5292872786521912, 0.8995009660720825, -1.159704327583313, -0.5566245317459106], "tau_dot": [-26.58976173400879, 2.94423246383667, -1.8670657873153687, 32.35081100463867, 9.417503356933594, -31.661340713500977, 14.60655403137207], "tau_ext": [-16.83455467224121, -41.59947204589844, 31.803110122680664, 31.332536697387695, 9.505266189575195, -2.999969482421875, -0.12508127093315125], "tcp_pose": [0.6779624819755554, 0.03261928632855415, -0.21498602628707886, -0.0023131256457418203, -0.004595968872308731, 0.9998909831047058, 0.013840633444488049], "tcp_vel": [0.00030851594056002796, -0.00030639846227131784, 7.817379082553089e-05, 0.000241364017711021, -0.00023597579274792224, -0.0010062805376946926], "flange_pose": [0.6786754131317139, 0.028470737859606743, -0.06504510343074799, -0.0023131256457418203, -0.004595968872308731, 0.9998909831047058, 0.013840633444488049], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.5901870727539, 15.272530555725098, 28.21448516845703, 0.3446781635284424, -23.951749801635742, 1.7887355089187622], "ext_wrench_in_world": [-107.85798401615774, 15.050618186966537, -27.29633479805003, -0.13455636664892862, -23.895280345521257, -2.449932266528547]}
+{"timestamp_ns": 1789729892555605815, "elapsed_ms": 11933, "source_timestamp_ns": 1789729892551741286, "q": [0.8363151550292969, -1.896871566772461, -1.0060006380081177, 1.381178855895996, -0.1621829867362976, 0.5938488841056824, 0.7040871381759644], "theta": [0.8383910655975342, -1.894925832748413, -1.0041930675506592, 1.3627707958221436, -0.16277866065502167, 0.593814492225647, 0.7040685415267944], "dq": [0.000725693884305656, 0.000781918119173497, 0.0002901555853895843, -0.0009624313097447157, -0.003860962577164173, -0.0015015228418633342, 0.0009822422871366143], "dtheta": [-6.404532177839428e-05, -0.00012219575000926852, 0.00015863915905356407, 6.134014256531373e-05, 0.00041471674921922386, 0.0005626867059618235, -0.0002626577334012836], "tau": [55.65999984741211, 23.600000381469727, 5.4720001220703125, -26.292001724243164, -2.576000213623047, 2.6680002212524414, -0.5240000486373901], "tau_des": [0.583909273147583, -0.5615298748016357, -0.2316666543483734, -0.5739466547966003, 0.8907387852668762, -1.156670331954956, -0.5326597690582275], "tau_dot": [24.11208724975586, -17.430322647094727, -41.764732360839844, 3.3105478286743164, 32.75049591064453, 7.7921953201293945, 45.19581985473633], "tau_ext": [-16.81291961669922, -41.6046142578125, 31.824665069580078, 31.34079933166504, 9.509872436523438, -2.9990217685699463, -0.13411913812160492], "tcp_pose": [0.6779621243476868, 0.03261925280094147, -0.21498695015907288, -0.0023130036424845457, -0.004596545826643705, 0.9998909831047058, 0.013839136809110641], "tcp_vel": [-7.480744534404948e-05, 0.0002296624588780105, -6.832899816799909e-05, 0.0006022090674377978, -3.925625060219318e-05, 0.0002221361646661535], "flange_pose": [0.6786749958992004, 0.02847115509212017, -0.06504601985216141, -0.0023130036424845457, -0.004596545826643705, 0.9998909831047058, 0.013839136809110641], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.59420776367188, 15.274076461791992, 28.201332092285156, 0.34421688318252563, -23.947498321533203, 1.7868120670318604], "ext_wrench_in_world": [-107.8619660394823, 15.051556064238346, -27.283200508277364, -0.13409645166985348, -23.89108707358758, -2.447822515890388]}
+{"timestamp_ns": 1789729892588901900, "elapsed_ms": 11966, "source_timestamp_ns": 1789729892581796618, "q": [0.8363155722618103, -1.8968738317489624, -1.0060014724731445, 1.3811782598495483, -0.1621827930212021, 0.5938478112220764, 0.7040874361991882], "theta": [0.8383912444114685, -1.8949280977249146, -1.0041933059692383, 1.3627703189849854, -0.16277866065502167, 0.5938133001327515, 0.7040683031082153], "dq": [7.978286157594994e-05, -0.001821123412810266, -0.0013338574208319187, -0.0022765113972127438, -0.0033225773368030787, 0.0003494972479529679, 0.0005549491033889353], "dtheta": [5.8962708862964064e-05, -0.00023830447753425688, -0.0002670263347681612, 0.0001200890910695307, 0.0005313309375196695, -0.0008134542731568217, -0.00011433702456997707], "tau": [55.63999938964844, 23.619998931884766, 5.460000038146973, -26.296001434326172, -2.580000162124634, 2.6480002403259277, -0.5560000538825989], "tau_des": [0.6235235929489136, -0.5546354055404663, -0.17642906308174133, -0.6316090822219849, 0.8891239166259766, -1.1117830276489258, -0.5402436256408691], "tau_dot": [-28.16260528564453, 103.5059585571289, -32.19850158691406, -78.35958862304688, 33.74919891357422, -3.982255220413208, -57.6925163269043], "tau_ext": [-16.800127029418945, -41.58667755126953, 31.811500549316406, 31.34381675720215, 9.518485069274902, -2.9974215030670166, -0.13570719957351685], "tcp_pose": [0.6779618263244629, 0.03261946141719818, -0.21498726308345795, -0.002312904456630349, -0.004596823360770941, 0.9998909831047058, 0.013837924227118492], "tcp_vel": [-0.00023283249174710363, -0.00019115653412882239, -0.00023518511443398893, -0.0006178798503242433, 0.0008595248218625784, -0.00016996555496007204], "flange_pose": [0.6786746978759766, 0.028471725061535835, -0.06504631042480469, -0.002312904456630349, -0.004596823360770941, 0.9998909831047058, 0.013837924227118492], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6368637084961, 15.244820594787598, 28.19161033630371, 0.33485567569732666, -23.955707550048828, 1.7839140892028809], "ext_wrench_in_world": [-107.9043089276973, 15.021522692351807, -27.27416081498835, -0.12463316843114328, -23.89929229646298, -2.4451372816718617]}
+{"timestamp_ns": 1789729892622248800, "elapsed_ms": 12000, "source_timestamp_ns": 1789729892621788921, "q": [0.8363162279129028, -1.896876573562622, -1.0060008764266968, 1.3811777830123901, -0.16218030452728271, 0.5938478112220764, 0.7040860652923584], "theta": [0.8383919596672058, -1.894930124282837, -1.0041930675506592, 1.362769603729248, -0.16277651488780975, 0.5938130617141724, 0.7040673494338989], "dq": [-0.0010816635331138968, 0.003912568558007479, -0.0007522194064222276, 0.0008167694904841483, -0.00055141985649243, -0.001052259118296206, -0.0014378858031705022], "dtheta": [0.00016775698168203235, -4.384779094834812e-05, -0.00017326533270534128, -3.975315121351741e-05, -1.868023900897242e-05, -0.00027993146795779467, -5.754786980105564e-05], "tau": [55.57999801635742, 23.479999542236328, 5.468000411987305, -26.352001190185547, -2.580000162124634, 2.6680002212524414, -0.5320000052452087], "tau_des": [0.5440754294395447, -0.6040005683898926, -0.1889459788799286, -0.5606085658073425, 0.9054622650146484, -1.1458414793014526, -0.5361148715019226], "tau_dot": [-100.60567474365234, -99.55490112304688, -68.98091125488281, -25.24665641784668, 10.95128059387207, -3.409571647644043, 2.078917980194092], "tau_ext": [-16.78754234313965, -41.56343460083008, 31.80511474609375, 31.349063873291016, 9.511421203613281, -3.0011534690856934, -0.1283646672964096], "tcp_pose": [0.6779609322547913, 0.0326208621263504, -0.21498756110668182, -0.002313158707693219, -0.004597900435328484, 0.9998909831047058, 0.013838003389537334], "tcp_vel": [4.8073314246721566e-05, -0.00012051285011693835, 7.861260382924229e-05, -0.0003147306269966066, -5.470195901580155e-05, -2.4064980607363395e-05], "flange_pose": [0.6786738634109497, 0.028473103418946266, -0.06504662334918976, -0.002313158707693219, -0.004597900435328484, 0.9998909831047058, 0.013838003389537334], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69547271728516, 15.204587936401367, 28.169158935546875, 0.3274032175540924, -23.968753814697266, 1.786629319190979], "ext_wrench_in_world": [-107.96248629201995, 14.97991492680423, -27.25251466713638, -0.11702442390287857, -23.91218880697545, -2.448250061654358]}
+{"timestamp_ns": 1789729892655586022, "elapsed_ms": 12033, "source_timestamp_ns": 1789729892651755301, "q": [0.8363168835639954, -1.8968762159347534, -1.0060017108917236, 1.3811776638031006, -0.1621810495853424, 0.5938454866409302, 0.7040846943855286], "theta": [0.8383921980857849, -1.8949298858642578, -1.004193663597107, 1.3627697229385376, -0.16277723014354706, 0.5938109159469604, 0.7040671110153198], "dq": [0.0010421702172607183, -0.0013835954014211893, -0.0008248225203715265, 0.0029529863968491554, 0.0005121280555613339, 0.00013121550728101283, -0.0013748073251917958], "dtheta": [-0.00012885032629128546, -9.223110282619018e-06, 0.00013806413335260004, 2.767524347291328e-05, -0.0004085642867721617, -0.0002673470298759639, 0.000767573423217982], "tau": [55.62999725341797, 23.59000015258789, 5.492000102996826, -26.304000854492188, -2.5840001106262207, 2.6600000858306885, -0.5360000133514404], "tau_des": [0.6015441417694092, -0.5836685299873352, -0.2121243178844452, -0.593916654586792, 0.899617075920105, -1.1363650560379028, -0.5442250967025757], "tau_dot": [-62.3003044128418, 102.25489807128906, -34.370147705078125, -2.206836700439453, -11.051302909851074, -17.79731559753418, 31.589731216430664], "tau_ext": [-16.8016300201416, -41.55830764770508, 31.780385971069336, 31.34987449645996, 9.506814002990723, -3.0019755363464355, -0.12870889902114868], "tcp_pose": [0.6779611110687256, 0.032619889825582504, -0.21498724818229675, -0.0023133365903049707, -0.004598391242325306, 0.9998910427093506, 0.01383689884096384], "tcp_vel": [-8.134842937579378e-05, 2.631363940963638e-06, -9.168951510218903e-05, -0.0003669134166557342, 0.00019182100368198007, -0.000426714337663725], "flange_pose": [0.6786741018295288, 0.02847246453166008, -0.0650462955236435, -0.0023133365903049707, -0.004598391242325306, 0.9998910427093506, 0.01383689884096384], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.70610809326172, 15.168962478637695, 28.155397415161133, 0.3241683840751648, -23.969009399414062, 1.7855627536773682], "ext_wrench_in_world": [-107.97275425170331, 14.943658422155867, -27.23969454939931, -0.11375947338353672, -23.91244934533481, -2.4471526651939484]}
+{"timestamp_ns": 1789729892688896976, "elapsed_ms": 12066, "source_timestamp_ns": 1789729892681765097, "q": [0.8363174796104431, -1.896878719329834, -1.0060030221939087, 1.3811777830123901, -0.16218160092830658, 0.5938451290130615, 0.7040837407112122], "theta": [0.8383925557136536, -1.8949317932128906, -1.004194974899292, 1.3627697229385376, -0.16277748346328735, 0.5938109159469604, 0.7040663957595825], "dq": [-0.0007902466459199786, -0.0003441776498220861, -0.0021549868397414684, 0.0014479304663836956, -0.00423058308660984, 0.0013211066834628582, -0.00019853643607348204], "dtheta": [0.0001126174465753138, -0.0003989830147475004, -0.00023639912251383066, 0.00011281791375949979, -0.0010451010894030333, 0.00019835734565276653, -0.0005343228112906218], "tau": [55.619998931884766, 23.670000076293945, 5.500000476837158, -26.268001556396484, -2.568000078201294, 2.6600000858306885, -0.5400000214576721], "tau_des": [0.561919629573822, -0.5528365969657898, -0.2035248577594757, -0.5773828625679016, 0.941195011138916, -1.148651361465454, -0.5142333507537842], "tau_dot": [-44.9920539855957, 87.44670867919922, -23.147510528564453, -65.1875991821289, -1.0253000259399414, 9.827006340026855, -5.253201961517334], "tau_ext": [-16.82259178161621, -41.6095085144043, 31.796327590942383, 31.35819435119629, 9.51003646850586, -2.996891736984253, -0.12223045527935028], "tcp_pose": [0.6779610514640808, 0.03261978179216385, -0.21498768031597137, -0.002312822500243783, -0.004599404986947775, 0.9998910427093506, 0.013835231773555279], "tcp_vel": [0.0001316610287176445, -7.656222442165017e-05, 3.1711888368590735e-06, -0.0010283022420480847, -0.0008392853196710348, 0.0012285482371225953], "flange_pose": [0.6786738634109497, 0.02847285568714142, -0.06504670530557632, -0.002312822500243783, -0.004599404986947775, 0.9998910427093506, 0.013835231773555279], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67424011230469, 15.182416915893555, 28.186172485351562, 0.32833731174468994, -23.969463348388672, 1.789298415184021], "ext_wrench_in_world": [-107.94115811696146, 14.957944366303108, -27.27039367607211, -0.117890844010343, -23.912846801263903, -2.4508013030012634]}
+{"timestamp_ns": 1789729892722251206, "elapsed_ms": 12100, "source_timestamp_ns": 1789729892721788127, "q": [0.8363203406333923, -1.8968796730041504, -1.006003975868225, 1.381178379058838, -0.16218164563179016, 0.5938460230827332, 0.7040854096412659], "theta": [0.8383952379226685, -1.894932746887207, -1.004196286201477, 1.3627699613571167, -0.16277818381786346, 0.5938118696212769, 0.7040671110153198], "dq": [0.0025639082305133343, 0.00017987278988584876, -0.0006171974237076938, -0.0004748638311866671, 0.001975283259525895, 0.002531858393922448, 0.002076148521155119], "dtheta": [0.00016153123578988016, 0.00010453711729496717, -0.00024336017668247223, -0.00019701562996488065, 0.00023842669907025993, 0.0005066624144092202, 0.00011061299301218241], "tau": [55.619998931884766, 23.600000381469727, 5.508000373840332, -26.312002182006836, -2.6120002269744873, 2.684000015258789, -0.5360000133514404], "tau_des": [0.47914454340934753, -0.656274676322937, -0.16657918691635132, -0.494635671377182, 0.9114122986793518, -1.181050181388855, -0.541602611541748], "tau_dot": [20.729516983032227, 72.1872329711914, 40.51873016357422, 74.3460693359375, -29.617856979370117, 10.157076835632324, 28.3392391204834], "tau_ext": [-16.763641357421875, -41.57870101928711, 31.790624618530273, 31.339462280273438, 9.512848854064941, -2.997321367263794, -0.1250711977481842], "tcp_pose": [0.6779615879058838, 0.03261958062648773, -0.21498626470565796, -0.002311206888407469, -0.004598640836775303, 0.9998910427093506, 0.013834696263074875], "tcp_vel": [0.00028301472775638103, -3.0490946301142685e-05, 0.0002530791680328548, 0.0005144371534697711, -0.0006448380299843848, -0.000527091440744698], "flange_pose": [0.6786739826202393, 0.028472812846302986, -0.06504528224468231, -0.002311206888407469, -0.004598640836775303, 0.9998910427093506, 0.013834696263074875], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6700210571289, 15.225708961486816, 28.180368423461914, 0.34398698806762695, -23.975360870361328, 1.7949494123458862], "ext_wrench_in_world": [-107.93719592324675, 15.001237235457756, -27.263775049260794, -0.13354234394459602, -23.91873292497934, -2.4565180664462094]}
+{"timestamp_ns": 1789729892755588197, "elapsed_ms": 12133, "source_timestamp_ns": 1789729892751773025, "q": [0.8363205194473267, -1.8968806266784668, -1.0060094594955444, 1.381178379058838, -0.1621807962656021, 0.5938460230827332, 0.7040876150131226], "theta": [0.8383952379226685, -1.894933819770813, -1.0042016506195068, 1.3627699613571167, -0.16277770698070526, 0.593812108039856, 0.7040683031082153], "dq": [0.000600178784225136, 0.0012870405334979296, -0.00023191733635030687, 0.0013492609141394496, 0.0035311500541865826, 0.00022602162789553404, -0.0004010316333733499], "dtheta": [0.0001827105734264478, -0.00033754523610696197, 8.205720223486423e-05, -0.00018139461462851614, 2.623011459945701e-05, -0.00011152720981044695, 0.0005847912398166955], "tau": [55.62999725341797, 23.51999855041504, 5.484000205993652, -26.312002182006836, -2.5960001945495605, 2.6720001697540283, -0.527999997138977], "tau_des": [0.5269273519515991, -0.5849552154541016, -0.2056737095117569, -0.5423986911773682, 0.9117435812950134, -1.1569714546203613, -0.5511515736579895], "tau_dot": [32.95656967163086, -149.5928497314453, 43.70675277709961, -8.138871192932129, -11.263166427612305, 12.94096565246582, -3.3225228786468506], "tau_ext": [-16.82366943359375, -41.58667755126953, 31.782197952270508, 31.366615295410156, 9.520613670349121, -3.001657009124756, -0.12875646352767944], "tcp_pose": [0.677963137626648, 0.032616861164569855, -0.21498677134513855, -0.0023104441352188587, -0.004595665261149406, 0.9998911023139954, 0.013832848519086838], "tcp_vel": [-3.1585979741066694e-05, 0.00016359724395442754, 9.44023922784254e-05, -0.0001535158953629434, -0.0001868321851361543, -0.0003413978556636721], "flange_pose": [0.6786752939224243, 0.028470642864704132, -0.06504577398300171, -0.0023104441352188587, -0.004595665261149406, 0.9998911023139954, 0.013832848519086838], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.71365356445312, 15.177438735961914, 28.170331954956055, 0.33320724964141846, -23.981245040893555, 1.7941299676895142], "ext_wrench_in_world": [-107.98020866338872, 14.952849037464514, -27.255095962280976, -0.12284463926341116, -23.92454578804228, -2.4558218897203243]}
+{"timestamp_ns": 1789729892788895021, "elapsed_ms": 12166, "source_timestamp_ns": 1789729892781758843, "q": [0.8363200426101685, -1.896886944770813, -1.0060110092163086, 1.381177544593811, -0.16218121349811554, 0.593847930431366, 0.7040860652923584], "theta": [0.8383950591087341, -1.8949403762817383, -1.0042035579681396, 1.3627688884735107, -0.16277866065502167, 0.5938140153884888, 0.7040671110153198], "dq": [0.0017186939949169755, 0.0017620169091969728, 0.000994554371573031, -0.0005128454067744315, -0.0013299472630023956, -0.0006044099573045969, -0.0016656541265547276], "dtheta": [0.0002542389847803861, -0.0005393417668528855, -0.00019366663764230907, 5.2920531743438914e-05, 0.00019881845219060779, 5.303778380039148e-06, -0.0007458087056875229], "tau": [55.68000030517578, 23.68000030517578, 5.4720001220703125, -26.25200080871582, -2.5840001106262207, 2.636000156402588, -0.5520000457763672], "tau_des": [0.5605996251106262, -0.5214887261390686, -0.21201419830322266, -0.5805962085723877, 0.9230322241783142, -1.1474980115890503, -0.52064448595047], "tau_dot": [162.3434600830078, 128.2735137939453, 37.43981170654297, 15.578100204467773, -26.262067794799805, 41.848548889160156, -36.93035125732422], "tau_ext": [-16.841718673706055, -41.621376037597656, 31.83329963684082, 31.335412979125977, 9.519659996032715, -3.00168514251709, -0.13058684766292572], "tcp_pose": [0.677962601184845, 0.03261827677488327, -0.21498847007751465, -0.0023093316704034805, -0.004598061554133892, 0.9998911023139954, 0.013830704614520073], "tcp_vel": [-7.14367997716181e-05, 5.669005258823745e-05, -3.753625423996709e-05, -0.00042374315671622753, -0.00018638544133864343, 0.0008689339738339186], "flange_pose": [0.6786743998527527, 0.028472701087594032, -0.06504745781421661, -0.0023093316704034805, -0.004598061554133892, 0.9998911023139954, 0.013830704614520073], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65459442138672, 15.22911548614502, 28.199357986450195, 0.33517012000083923, -23.961973190307617, 1.7913987636566162], "ext_wrench_in_world": [-107.9217706221748, 15.005221391356221, -27.283258715605278, -0.12485059792336459, -23.90538684451739, -2.4524477272646923]}
+{"timestamp_ns": 1789729892822251521, "elapsed_ms": 12200, "source_timestamp_ns": 1789729892821798251, "q": [0.8363223671913147, -1.8968908786773682, -1.0060099363327026, 1.381176233291626, -0.1621806025505066, 0.593847393989563, 0.7040873169898987], "theta": [0.8383966088294983, -1.8949451446533203, -1.0042030811309814, 1.362767219543457, -0.16277818381786346, 0.5938135385513306, 0.7040683031082153], "dq": [-0.0001806733343983069, 0.0013717125402763486, 0.0001030402272590436, 0.000385403138352558, 0.0015285240951925516, 0.00116992078255862, 0.0016208968590945005], "dtheta": [3.637569534475915e-05, 0.00010933313023997471, -0.00010953938908642158, 7.391246617771685e-05, 0.0012134892167523503, -0.0005200844025239348, 0.0011192893143743277], "tau": [55.57999801635742, 23.5, 5.5360002517700195, -26.39200210571289, -2.628000020980835, 2.6760001182556152, -0.5440000295639038], "tau_des": [0.5905385613441467, -0.5975137948989868, -0.17491739988327026, -0.5903043746948242, 0.8736932277679443, -1.1360230445861816, -0.5640390515327454], "tau_dot": [-22.663000106811523, -121.3787841796875, 5.951313495635986, -5.926614761352539, -61.7544059753418, -49.47433090209961, -12.386934280395508], "tau_ext": [-16.791711807250977, -41.561038970947266, 31.815322875976562, 31.339672088623047, 9.527383804321289, -3.0011212825775146, -0.12989966571331024], "tcp_pose": [0.6779620051383972, 0.03262026980519295, -0.21498753130435944, -0.0023082182742655277, -0.004598911385983229, 0.9998911023139954, 0.01382993720471859], "tcp_vel": [-0.00021748074505012482, -0.00010361258318880573, -0.0001408354437444359, 0.0003767685848288238, 0.0010841332841664553, -0.0019182822434231639], "flange_pose": [0.6786734461784363, 0.028474923223257065, -0.06504650413990021, -0.0023082182742655277, -0.004598911385983229, 0.9998911023139954, 0.01382993720471859], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61019134521484, 15.277912139892578, 28.169021606445312, 0.337968111038208, -23.941062927246094, 1.7897300720214844], "ext_wrench_in_world": [-107.87763517659162, 15.053348198102768, -27.252049385418474, -0.12778598829212767, -23.884561429095747, -2.450152309976263]}
+{"timestamp_ns": 1789729892855589453, "elapsed_ms": 12233, "source_timestamp_ns": 1789729892851783329, "q": [0.8363223671913147, -1.8968881368637085, -1.0060169696807861, 1.3811774253845215, -0.16217878460884094, 0.5938432812690735, 0.7040863633155823], "theta": [0.838397204875946, -1.8949428796768188, -1.0042088031768799, 1.3627673387527466, -0.16277627646923065, 0.593809962272644, 0.7040671110153198], "dq": [0.002793659456074238, 0.00041478825733065605, -0.0004443249781616032, 0.0014066846342757344, -0.00022148208518046886, -0.000834588601719588, -0.0004967667628079653], "dtheta": [-0.00010754603863460943, 0.0003220421203877777, -0.0002522561699151993, -0.0002590895746834576, -0.0002561794244684279, -5.0270584324607626e-05, 2.44705533987144e-05], "tau": [55.66999816894531, 23.479999542236328, 5.568000316619873, -26.340002059936523, -2.6120002269744873, 2.640000104904175, -0.5440000295639038], "tau_des": [0.5213385224342346, -0.677147626876831, -0.09771167486906052, -0.5288745164871216, 0.9222047924995422, -1.1558167934417725, -0.5484963059425354], "tau_dot": [-77.5356674194336, -72.1682357788086, 2.7081105709075928, -5.880123138427734, -50.88180160522461, -49.68611526489258, -15.985786437988281], "tau_ext": [-16.80719566345215, -41.49742889404297, 31.716224670410156, 31.39701271057129, 9.525843620300293, -3.014592170715332, -0.13060761988162994], "tcp_pose": [0.6779636144638062, 0.03261486440896988, -0.21498821675777435, -0.00230956356972456, -0.004595602862536907, 0.9998911619186401, 0.013827664777636528], "tcp_vel": [0.00027389690512791276, -0.00021021629800088704, 0.00013961194781586528, 3.4724562283372506e-05, -0.000284144509350881, -0.0003152090357616544], "flange_pose": [0.6786754727363586, 0.028470199555158615, -0.06504717469215393, -0.00230956356972456, -0.004595602862536907, 0.9998911619186401, 0.013827664777636528], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.73643493652344, 15.101006507873535, 28.146629333496094, 0.3056977689266205, -23.967927932739258, 1.7876124382019043], "ext_wrench_in_world": [-108.00212766413092, 14.875314723634421, -27.233765533128267, -0.09542579050679578, -23.91118527263909, -2.4488143090395744]}
+{"timestamp_ns": 1789729892888910255, "elapsed_ms": 12266, "source_timestamp_ns": 1789729892881758138, "q": [0.8363233208656311, -1.8968911170959473, -1.0060160160064697, 1.3811781406402588, -0.16217638552188873, 0.5938435196876526, 0.7040851712226868], "theta": [0.8383985161781311, -1.8949452638626099, -1.0042080879211426, 1.3627674579620361, -0.16277387738227844, 0.593809962272644, 0.7040654420852661], "dq": [-0.005202508997172117, -0.0005866374704055488, -0.002003111643716693, 0.0004076110490132123, -0.0008306298987008631, 0.0016909264959394932, -0.0015685886610299349], "dtheta": [0.0005112611106596887, -0.0004627709276974201, 7.459568678314099e-06, -0.00023189881176222116, 5.4990821809042245e-05, 0.00017363247752655298, 0.00011051943874917924], "tau": [55.599998474121094, 23.719999313354492, 5.4720001220703125, -26.280000686645508, -2.5360000133514404, 2.640000104904175, -0.5560000538825989], "tau_des": [0.46951690316200256, -0.5784848928451538, -0.21482911705970764, -0.5115952491760254, 0.9291636943817139, -1.1690547466278076, -0.5399505496025085], "tau_dot": [55.5306396484375, -23.678102493286133, -14.307881355285645, 10.669262886047363, 49.47982406616211, -13.401082992553711, 9.594120979309082], "tau_ext": [-16.802030563354492, -41.60072708129883, 31.76426124572754, 31.365888595581055, 9.509998321533203, -2.9988131523132324, -0.1251888871192932], "tcp_pose": [0.6779621243476868, 0.03261631354689598, -0.21498888731002808, -0.002310096984729171, -0.004596891812980175, 0.9998911619186401, 0.01382747758179903], "tcp_vel": [9.956167923519388e-05, 0.00021604944777209312, 0.0003285369311925024, -5.837605203851126e-05, -0.0007920184871181846, 0.00013349750952329487], "flange_pose": [0.6786741614341736, 0.028471706435084343, -0.06504784524440765, -0.002310096984729171, -0.004596891812980175, 0.9998911619186401, 0.01382747758179903], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7422866821289, 15.067612648010254, 28.184545516967773, 0.30729424953460693, -23.984020233154297, 1.7905175685882568], "ext_wrench_in_world": [-108.00792083984742, 14.842638286602167, -27.272459019107778, -0.09682958507893535, -23.927206408091394, -2.4521474261590455]}
+{"timestamp_ns": 1789729892922285244, "elapsed_ms": 12300, "source_timestamp_ns": 1789729892921782468, "q": [0.836325466632843, -1.8969004154205322, -1.006016492843628, 1.381174087524414, -0.16217535734176636, 0.5938460230827332, 0.7040842771530151], "theta": [0.838400661945343, -1.8949540853500366, -1.0042080879211426, 1.36276376247406, -0.16277314722537994, 0.5938125848770142, 0.7040647268295288], "dq": [-0.00023132270143833011, 0.001368350232951343, -0.0006303915870375931, 0.0010700386483222246, -0.0022203121334314346, 0.002038609469309449, -0.00039976302650757134], "dtheta": [-0.0002415102208033204, 3.973686398239806e-05, -1.0393217053206172e-05, -3.2399500923929736e-05, 0.0003378249239176512, -0.001436277641914785, 0.0004683672159444541], "tau": [55.64999771118164, 23.51999855041504, 5.500000476837158, -26.2760009765625, -2.5400002002716064, 2.6600000858306885, -0.5360000133514404], "tau_des": [0.6504287719726562, -0.5434133410453796, -0.1869002878665924, -0.6399449110031128, 0.8939182162284851, -1.1084985733032227, -0.5424923300743103], "tau_dot": [58.36835479736328, -109.52432250976562, 31.303375244140625, -3.964942693710327, 31.706769943237305, 22.73626708984375, 17.882816314697266], "tau_ext": [-16.805892944335938, -41.64216995239258, 31.784587860107422, 31.262237548828125, 9.499926567077637, -2.9883697032928467, -0.11803296208381653], "tcp_pose": [0.6779621839523315, 0.03262002393603325, -0.21498826146125793, -0.002306740963831544, -0.004599706269800663, 0.9998911619186401, 0.013826107606291771], "tcp_vel": [-0.00033903191797435284, -0.00021425241720862687, -0.00032927756546996534, -0.0006906978087499738, 0.001497782301157713, -0.0006606492097489536], "flange_pose": [0.6786732077598572, 0.028475824743509293, -0.06504719704389572, -0.002306740963831544, -0.004599706269800663, 0.9998911619186401, 0.013826107606291771], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.5795669555664, 15.306888580322266, 28.22176742553711, 0.3730839490890503, -23.96932029724121, 1.8038561344146729], "ext_wrench_in_world": [-107.84746861510212, 15.083676039985406, -27.304550013029754, -0.1626640271824414, -23.912760700435815, -2.4647150335132064]}
+{"timestamp_ns": 1789729892955623285, "elapsed_ms": 12333, "source_timestamp_ns": 1789729892951929642, "q": [0.8363259434700012, -1.8968995809555054, -1.0060229301452637, 1.3811763525009155, -0.16217464208602905, 0.5938435196876526, 0.7040845155715942], "theta": [0.8384010791778564, -1.8949533700942993, -1.0042144060134888, 1.3627654314041138, -0.16277197003364563, 0.5938102006912231, 0.7040654420852661], "dq": [0.0017663449980318546, 0.0006070021772757173, 0.0008600794244557619, 0.0006021704175509512, -0.0008988045156002045, -0.00045342539669945836, -0.0016637095250189304], "dtheta": [-3.992677739006467e-05, 0.00032431361614726484, -0.0003925497585441917, 0.00014331676356960088, 0.0005599808646366, 0.000211996040889062, 0.0003909032966475934], "tau": [55.63999938964844, 23.459999084472656, 5.580000400543213, -26.452001571655273, -2.568000078201294, 2.7360000610351562, -0.5400000214576721], "tau_des": [0.5652334690093994, -0.6520201563835144, -0.08824992924928665, -0.5704016089439392, 0.9040132761001587, -1.146048665046692, -0.5574614405632019], "tau_dot": [20.306137084960938, -118.28213500976562, -28.198266983032227, -9.086566925048828, 47.842166900634766, 86.33602905273438, -0.09546495229005814], "tau_ext": [-16.843107223510742, -41.54951095581055, 31.736385345458984, 31.372962951660156, 9.498431205749512, -3.011148452758789, -0.1196700781583786], "tcp_pose": [0.6779631972312927, 0.032615430653095245, -0.21498937904834747, -0.0023074992932379246, -0.00459703104570508, 0.9998912215232849, 0.013823121786117554], "tcp_vel": [0.0001162574699264951, -0.0002665609063114971, -3.8354890421032906e-05, 0.0003925953060388565, 0.00019094346498604864, -0.001176765887066722], "flange_pose": [0.6786744594573975, 0.02847212739288807, -0.06504829972982407, -0.0023074992932379246, -0.00459703104570508, 0.9998912215232849, 0.013823121786117554], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.5179214477539, 15.285011291503906, 28.213912963867188, 0.3641315698623657, -23.946210861206055, 1.7997668981552124], "ext_wrench_in_world": [-107.7855518915376, 15.062571397826131, -27.29750233412387, -0.1540346683794805, -23.889705057679585, -2.459884728035912]}
+{"timestamp_ns": 1789729892988929529, "elapsed_ms": 12366, "source_timestamp_ns": 1789729892981746715, "q": [0.8363267779350281, -1.8968993425369263, -1.006028413772583, 1.3811779022216797, -0.16217367351055145, 0.5938446521759033, 0.7040845155715942], "theta": [0.8384016156196594, -1.8949533700942993, -1.004219889640808, 1.3627662658691406, -0.16277052462100983, 0.593812108039856, 0.7040656805038452], "dq": [-0.0005229072412475944, 0.0020792477298527956, 0.0010881948983296752, 0.0003921370953321457, -5.6159336963901296e-05, 0.00023385082022286952, 0.00027573577244766057], "dtheta": [0.0001457183825550601, -0.00038740792660973966, 0.0001222160062752664, -5.607845650956733e-06, 0.0003703701077029109, 0.0006314796628430486, -0.00041309837251901627], "tau": [55.599998474121094, 23.44999885559082, 5.492000102996826, -26.360000610351562, -2.576000213623047, 2.6520001888275146, -0.5360000133514404], "tau_des": [0.5442833304405212, -0.5445569753646851, -0.19459658861160278, -0.5574985146522522, 0.9233357906341553, -1.1624592542648315, -0.536006510257721], "tau_dot": [78.40634155273438, -148.6450958251953, 48.33268737792969, -42.28588104248047, -26.506389617919922, -47.744503021240234, 8.664153099060059], "tau_ext": [-16.80652618408203, -41.57938003540039, 31.78116798400879, 31.406536102294922, 9.502890586853027, -3.0121827125549316, -0.12501898407936096], "tcp_pose": [0.6779647469520569, 0.03261230140924454, -0.21498967707157135, -0.0023066659923642874, -0.004594859667122364, 0.9998912811279297, 0.013821737840771675], "tcp_vel": [-4.327603892306797e-05, 0.00030823246925137937, 3.4588942071422935e-05, 0.00043874423136003315, -0.00039449072210118175, 0.000537052343133837], "flange_pose": [0.6786757111549377, 0.02846940979361534, -0.06504858285188675, -0.0023066659923642874, -0.004594859667122364, 0.9998912811279297, 0.013821737840771675], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6818618774414, 15.124147415161133, 28.19971466064453, 0.3332556486129761, -23.975454330444336, 1.7930532693862915], "ext_wrench_in_world": [-107.94783860934307, 14.900261005156379, -27.287240258390284, -0.12296187583628157, -23.91884201128214, -2.454055199425368]}
+{"timestamp_ns": 1789729893022291211, "elapsed_ms": 12400, "source_timestamp_ns": 1789729893021780176, "q": [0.8363293409347534, -1.8969066143035889, -1.0060274600982666, 1.3811757564544678, -0.16217458248138428, 0.5938475728034973, 0.704084575176239], "theta": [0.8384037017822266, -1.8949604034423828, -1.0042192935943604, 1.3627641201019287, -0.16277076303958893, 0.5938152074813843, 0.7040659189224243], "dq": [0.001010994310490787, -0.0012901258887723088, 0.0018628955585882068, -0.0015341180842369795, 0.0004357083234935999, -0.0003989164251834154, 0.0007546889828518033], "dtheta": [6.060580562916584e-05, -8.901336695998907e-05, 4.0105151128955185e-05, -0.00012408572365529835, 0.0007292188820429146, 0.0002435509377392009, -0.000598012178670615], "tau": [55.5, 23.59000015258789, 5.384000301361084, -26.240001678466797, -2.5920000076293945, 2.6760001182556152, -0.5320000052452087], "tau_des": [0.5269680023193359, -0.5649956464767456, -0.18764862418174744, -0.5373799204826355, 0.9204918146133423, -1.1693801879882812, -0.5295846462249756], "tau_dot": [-55.06159973144531, 50.33588790893555, -79.48656463623047, 15.705093383789062, -10.187088012695312, 38.44850540161133, 34.555641174316406], "tau_ext": [-16.782392501831055, -41.66280746459961, 31.79086685180664, 31.31744384765625, 9.49870777130127, -3.0003325939178467, -0.13104866445064545], "tcp_pose": [0.6779645681381226, 0.032615795731544495, -0.21498864889144897, -0.0023033239413052797, -0.0045977188274264336, 0.9998912811279297, 0.013820599764585495], "tcp_vel": [-2.9345686925807968e-05, 0.000161754505825229, 4.005823575425893e-05, 0.0006457267445512116, 5.570894427364692e-05, 0.00025554720195941627], "flange_pose": [0.678674578666687, 0.028473244979977608, -0.06504753977060318, -0.0023033239413052797, -0.0045977188274264336, 0.9998912811279297, 0.013820599764585495], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.73079681396484, 15.174748420715332, 28.181264877319336, 0.3479062616825104, -23.990076065063477, 1.7927031517028809], "ext_wrench_in_world": [-107.99704473626397, 14.949209255378701, -27.267943317414144, -0.1373252517667464, -23.933609017383297, -2.4539914716296662]}
+{"timestamp_ns": 1789729893055625166, "elapsed_ms": 12433, "source_timestamp_ns": 1789729893051730950, "q": [0.8363299369812012, -1.8969082832336426, -1.0060276985168457, 1.3811748027801514, -0.1621730774641037, 0.5938451886177063, 0.7040855288505554], "theta": [0.8384047150611877, -1.8949626684188843, -1.004219651222229, 1.3627631664276123, -0.16276980936527252, 0.5938133001327515, 0.7040663957595825], "dq": [0.0031411168165504932, -6.994186696829274e-05, -0.004330717958509922, -0.0004935203469358385, 0.0016005743527784944, 0.0009638037299737334, -0.0007501249783672392], "dtheta": [0.00010107803245773539, -4.720378274214454e-05, -0.00023289769887924194, -0.0002707050589378923, 0.0002990008215419948, 0.0005792456213384867, -0.0005075812805444002], "tau": [55.64999771118164, 23.549999237060547, 5.640000343322754, -26.376001358032227, -2.6040000915527344, 2.6760001182556152, -0.5360000133514404], "tau_des": [0.4822066128253937, -0.6127640604972839, -0.1487686038017273, -0.4965660870075226, 0.9358412623405457, -1.185657262802124, -0.5346567630767822], "tau_dot": [-38.077545166015625, -101.60799407958984, 62.19184494018555, -21.26368522644043, -98.76739501953125, -18.376636505126953, -36.37669372558594], "tau_ext": [-16.81511116027832, -41.59284210205078, 31.793087005615234, 31.334016799926758, 9.505614280700684, -3.001530885696411, -0.13215041160583496], "tcp_pose": [0.6779639720916748, 0.03261609002947807, -0.21498876810073853, -0.002303993096575141, -0.004597268998622894, 0.9998912811279297, 0.013819861225783825], "tcp_vel": [0.0002601571031846106, 4.978496508556418e-05, 0.00020384805975481868, 0.0005388237768784165, -0.0006783865392208099, 0.000152910259203054], "flange_pose": [0.6786741614341736, 0.028473759070038795, -0.06504765152931213, -0.002303993096575141, -0.004597268998622894, 0.9998912811279297, 0.013819861225783825], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61553192138672, 15.275650978088379, 28.170989990234375, 0.3620621860027313, -23.96330451965332, 1.7924727201461792], "ext_wrench_in_world": [-107.88268204095459, 15.050906579299902, -27.25527522056513, -0.1517480600827059, -23.90698976167926, -2.452921531941578]}
+{"timestamp_ns": 1789729893088935943, "elapsed_ms": 12466, "source_timestamp_ns": 1789729893081730510, "q": [0.8363277912139893, -1.8969100713729858, -1.0060293674468994, 1.3811713457107544, -0.16217371821403503, 0.593845546245575, 0.7040852904319763], "theta": [0.838403046131134, -1.8949644565582275, -1.004220724105835, 1.3627595901489258, -0.16276931762695312, 0.5938133001327515, 0.7040659189224243], "dq": [-0.00045831676106899977, 0.001077782129868865, 0.00037489886744879186, 0.0006106501095928252, 0.0013245241716504097, 0.0015226388350129128, 0.0008372457814402878], "dtheta": [-0.00010944089444819838, 3.293472036602907e-05, -0.0001610548497410491, 5.1384598918957636e-05, -0.0006104523781687021, 0.0005138948909007013, -0.0002474239154253155], "tau": [55.71999740600586, 23.5, 5.5320000648498535, -26.284000396728516, -2.564000129699707, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.538163959980011, -0.6019117832183838, -0.1400369554758072, -0.5369960069656372, 0.9468194246292114, -1.1748095750808716, -0.5329689383506775], "tau_dot": [-8.265469551086426, -11.311003684997559, 24.34458351135254, -2.2785987854003906, 41.65690231323242, 50.90250778198242, -19.294414520263672], "tau_ext": [-16.84690284729004, -41.56062316894531, 31.729782104492188, 31.335203170776367, 9.50024127960205, -3.004878520965576, -0.13494977355003357], "tcp_pose": [0.6779651045799255, 0.032616354525089264, -0.21498923003673553, -0.00230312068015337, -0.004597305785864592, 0.9998912811279297, 0.013819539919495583], "tcp_vel": [0.000197817716980353, -7.007986278040335e-05, 1.2427598448994104e-05, -0.00014945620205253363, -0.0006335353828035295, 0.0004468333791010082], "flange_pose": [0.6786750555038452, 0.028474120423197746, -0.06504812091588974, -0.00230312068015337, -0.004597305785864592, 0.9998912811279297, 0.013819539919495583], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.57515716552734, 15.222770690917969, 28.21605110168457, 0.35387319326400757, -23.95402717590332, 1.789555549621582], "ext_wrench_in_world": [-107.8419929983485, 14.999644059140765, -27.302160183990683, -0.14362488883609104, -23.89772266706162, -2.449770696519025]}
+{"timestamp_ns": 1789729893122262859, "elapsed_ms": 12500, "source_timestamp_ns": 1789729893121885033, "q": [0.8363302946090698, -1.8969088792800903, -1.0060296058654785, 1.3811718225479126, -0.16216722130775452, 0.5938407182693481, 0.7040841579437256], "theta": [0.8384049534797668, -1.8949636220932007, -1.0042200088500977, 1.3627593517303467, -0.1627626270055771, 0.5938090085983276, 0.7040647268295288], "dq": [-0.00212575844489038, -0.001822393387556076, 0.0014391193399205804, -0.0013074808521196246, 0.0019604533445090055, 0.002048735274001956, 0.002334920922294259], "dtheta": [-0.00027631883858703077, 0.00020730668620672077, 4.928002817905508e-05, -5.336479443940334e-05, -0.0006818560068495572, 0.0005457623046822846, -0.0001200309197884053], "tau": [55.57999801635742, 23.579999923706055, 5.468000411987305, -26.088001251220703, -2.5320000648498535, 2.5920000076293945, -0.5600000023841858], "tau_des": [0.5484365224838257, -0.6190279126167297, -0.15571779012680054, -0.5344315767288208, 0.9311617612838745, -1.1745715141296387, -0.5390140414237976], "tau_dot": [-96.46985626220703, 20.433218002319336, -15.930252075195312, 77.63600158691406, 7.622596263885498, 2.6660196781158447, -66.44486999511719], "tau_ext": [-16.732242584228516, -41.57128143310547, 31.738611221313477, 31.37754249572754, 9.488950729370117, -3.0081472396850586, -0.13078486919403076], "tcp_pose": [0.6779641509056091, 0.03261546790599823, -0.21498842537403107, -0.0023055539932101965, -0.004595639184117317, 0.9998912811279297, 0.013820265419781208], "tcp_vel": [0.00019493550644256175, 1.4622605704062153e-05, 1.8786588043440133e-05, 0.00015016424003988504, -0.0005447845323942602, 0.00037258354132063687], "flange_pose": [0.6786747574806213, 0.0284730177372694, -0.06504732370376587, -0.0023055539932101965, -0.004595639184117317, 0.9998912811279297, 0.013820265419781208], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.71649932861328, 15.08349895477295, 28.197734832763672, 0.33292901515960693, -23.993423461914062, 1.7864314317703247], "ext_wrench_in_world": [-107.98205510196017, 14.859008916345303, -27.286517696654613, -0.12239763491194838, -23.93699074847316, -2.4478646079305038]}
+{"timestamp_ns": 1789729893155591515, "elapsed_ms": 12533, "source_timestamp_ns": 1789729893151778342, "q": [0.8363322615623474, -1.896910548210144, -1.0060290098190308, 1.3811720609664917, -0.16216634213924408, 0.5938377976417542, 0.7040842175483704], "theta": [0.8384064435958862, -1.8949649333953857, -1.004219651222229, 1.3627598285675049, -0.16276022791862488, 0.5938063859939575, 0.7040644884109497], "dq": [0.00018193270079791546, -0.0006661897641606629, 0.0019740257412195206, -0.0010384850902482867, 0.001342403469607234, -0.0006492885877378285, -0.0010620284592732787], "dtheta": [0.0002839512308128178, 0.0001768727961461991, 1.3300636965141166e-05, 0.00012967367365490645, 0.0003801517013926059, -0.0008877312066033483, -5.1557173719629645e-05], "tau": [55.57999801635742, 23.619998931884766, 5.52400016784668, -26.356000900268555, -2.5480000972747803, 2.7360000610351562, -0.5320000052452087], "tau_des": [0.5279581546783447, -0.6072309613227844, -0.1606968343257904, -0.5679265856742859, 0.9095897674560547, -1.1348963975906372, -0.5460574626922607], "tau_dot": [-15.13524341583252, -19.59514617919922, 8.380636215209961, 26.860546112060547, -16.687397003173828, 14.668896675109863, 45.74130630493164], "tau_ext": [-16.75892448425293, -41.61574172973633, 31.75523567199707, 31.3409423828125, 9.471097946166992, -2.9967293739318848, -0.12569890916347504], "tcp_pose": [0.677963137626648, 0.032615844160318375, -0.21498805284500122, -0.002306111855432391, -0.004596163053065538, 0.9998912811279297, 0.013819091953337193], "tcp_vel": [-0.00016423674242105335, -0.00018302671378478408, 5.5559266911586747e-05, -0.0002791783772408962, 0.000704169156961143, -0.00022698764223605394], "flange_pose": [0.6786739826202393, 0.02847374603152275, -0.06504694372415543, -0.002306111855432391, -0.004596163053065538, 0.9998912811279297, 0.013819091953337193], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67378997802734, 15.156318664550781, 28.176671981811523, 0.35222291946411133, -23.9941349029541, 1.7902402877807617], "ext_wrench_in_world": [-107.9399584944755, 14.931431905245695, -27.263557895738263, -0.1416791677030475, -23.93778115805092, -2.4515487465785215]}
+{"timestamp_ns": 1789729893188907612, "elapsed_ms": 12566, "source_timestamp_ns": 1789729893181763373, "q": [0.836331307888031, -1.8969134092330933, -1.0060287714004517, 1.3811715841293335, -0.16216769814491272, 0.5938390493392944, 0.704084038734436], "theta": [0.8384056091308594, -1.8949683904647827, -1.0042195320129395, 1.3627594709396362, -0.16276070475578308, 0.593807578086853, 0.7040644884109497], "dq": [-0.0004443743673618883, -0.0011113068321719766, 0.0009984018979594111, -0.001418481464497745, 0.0028635398484766483, 0.0007963100797496736, -0.0010513709858059883], "dtheta": [0.00012607504322659224, -0.0002772969601210207, -1.4945636394259054e-05, -0.00019255552615504712, -0.0001152887343778275, -0.0006151333800517023, -0.0003048855869565159], "tau": [55.599998474121094, 23.60999870300293, 5.51200008392334, -26.34800148010254, -2.56000018119812, 2.6480002403259277, -0.5440000295639038], "tau_des": [0.5452356934547424, -0.5445259809494019, -0.20277398824691772, -0.563019335269928, 0.9290902614593506, -1.146897554397583, -0.5312943458557129], "tau_dot": [-15.049901962280273, 2.2814090251922607, -13.963129997253418, -6.989299774169922, -17.074874877929688, -43.96525192260742, -22.314531326293945], "tau_ext": [-16.838939666748047, -41.655845642089844, 31.772716522216797, 31.342504501342773, 9.47314739227295, -2.999337911605835, -0.12445776164531708], "tcp_pose": [0.6779626607894897, 0.03261701390147209, -0.2149890959262848, -0.002305645262822509, -0.004597647115588188, 0.9998912811279297, 0.013818234205245972], "tcp_vel": [-6.561839109053835e-05, 5.064819561084732e-06, 2.782973024295643e-05, -0.0005774208111688495, 0.00010779041622299701, 0.0005281110061332583], "flange_pose": [0.6786733865737915, 0.02847517468035221, -0.0650479644536972, -0.002305645262822509, -0.004597647115588188, 0.9998912811279297, 0.013818234205245972], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6281509399414, 15.223946571350098, 28.212337493896484, 0.3707575798034668, -23.990022659301758, 1.7922834157943726], "ext_wrench_in_world": [-107.89512573771981, 15.000072617570032, -27.297675255173385, -0.16018683860300614, -23.933790434368746, -2.4533535904517723]}
+{"timestamp_ns": 1789729893222258375, "elapsed_ms": 12600, "source_timestamp_ns": 1789729893221805955, "q": [0.8363316059112549, -1.8969130516052246, -1.0060324668884277, 1.3811719417572021, -0.16216954588890076, 0.5938393473625183, 0.7040838599205017], "theta": [0.8384053707122803, -1.8949671983718872, -1.0042232275009155, 1.3627598285675049, -0.1627616584300995, 0.5938071012496948, 0.7040649652481079], "dq": [-0.00029445235850289464, -0.0010654275538399816, 0.00024580673198215663, -0.0010775119299069047, 0.0006420309655368328, 0.0013931923313066363, 0.00179247185587883], "dtheta": [-0.0001231471833307296, 5.2882889576721936e-05, -0.0007487190305255353, -0.0001075458712875843, 0.00016369280638173223, -0.0001634143409319222, 0.0005546449683606625], "tau": [55.619998931884766, 23.639999389648438, 5.604000091552734, -26.308000564575195, -2.580000162124634, 2.6720001697540283, -0.5320000052452087], "tau_des": [0.5630732178688049, -0.6499385833740234, -0.052660249173641205, -0.5591531991958618, 0.9228041768074036, -1.149755835533142, -0.5633504986763], "tau_dot": [65.2087173461914, 169.97718811035156, 77.66180419921875, 34.5380859375, -32.49114990234375, -65.73603820800781, 45.11692428588867], "tau_ext": [-16.816762924194336, -41.556583404541016, 31.730953216552734, 31.36572265625, 9.484241485595703, -3.0105202198028564, -0.1259879767894745], "tcp_pose": [0.6779642701148987, 0.03261474892497063, -0.21498896181583405, -0.002304390538483858, -0.004596870858222246, 0.9998913407325745, 0.013816609978675842], "tcp_vel": [0.00022685779549647123, -0.0004220796108711511, -9.305853018304333e-05, -0.00038453019806183875, 2.9454366085701622e-05, -0.0012196721509099007], "flange_pose": [0.678674578666687, 0.028473395854234695, -0.06504781544208527, -0.002304390538483858, -0.004596870858222246, 0.9998913407325745, 0.013816609978675842], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61165618896484, 15.195959091186523, 28.220537185668945, 0.35931918025016785, -23.979555130004883, 1.7887006998062134], "ext_wrench_in_world": [-107.87832316153505, 14.972558062732405, -27.307038220836567, -0.1488593142752164, -23.923328080610485, -2.4494569095523975]}
+{"timestamp_ns": 1789729893255588381, "elapsed_ms": 12633, "source_timestamp_ns": 1789729893251763889, "q": [0.8363319635391235, -1.8969143629074097, -1.0060346126556396, 1.3811718225479126, -0.16217009723186493, 0.5938417315483093, 0.704083263874054], "theta": [0.8384049534797668, -1.8949681520462036, -1.004225254058838, 1.3627595901489258, -0.1627623736858368, 0.5938097238540649, 0.7040640115737915], "dq": [0.0021711736917495728, -0.0006209609564393759, -8.725113730179146e-05, -0.0013918718323111534, 0.0009918173309415579, 0.001825145911425352, 0.0014321411726996303], "dtheta": [-0.00013660105469170958, -0.00022888186504133046, -6.962934276089072e-05, -0.00013965758262202144, -0.000781637558247894, 0.0006279813242144883, -0.0008602553280070424], "tau": [55.61000061035156, 23.619998931884766, 5.496000289916992, -26.280000686645508, -2.580000162124634, 2.624000072479248, -0.5360000133514404], "tau_des": [0.5301046371459961, -0.5659289956092834, -0.17354391515254974, -0.5254876613616943, 0.956616222858429, -1.1837164163589478, -0.5192666053771973], "tau_dot": [-35.42196273803711, -17.94283103942871, -18.694854736328125, -33.02854537963867, -11.921415328979492, -11.879195213317871, 1.9665262699127197], "tau_ext": [-16.795747756958008, -41.60816192626953, 31.783849716186523, 31.362855911254883, 9.48878288269043, -3.0033578872680664, -0.12419774383306503], "tcp_pose": [0.6779652237892151, 0.03261430189013481, -0.21498890221118927, -0.0023028217256069183, -0.004596997052431107, 0.9998913407325745, 0.01381603628396988], "tcp_vel": [0.00021091631788294762, 9.998694440582767e-05, 3.3712236472638324e-05, -0.00020455787307582796, -0.0009283640538342297, 0.0013610791647806764], "flange_pose": [0.6786750555038452, 0.02847311832010746, -0.06504776328802109, -0.0023028217256069183, -0.004596997052431107, 0.9998913407325745, 0.01381603628396988], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65322875976562, 15.16102409362793, 28.202003479003906, 0.3510947823524475, -23.983598709106445, 1.7896791696548462], "ext_wrench_in_world": [-107.91940415469999, 14.93668762853208, -27.289647923378066, -0.1405902966647819, -23.927269606346396, -2.450557012117748]}
+{"timestamp_ns": 1789729893288907627, "elapsed_ms": 12666, "source_timestamp_ns": 1789729893281753939, "q": [0.8363319635391235, -1.8969162702560425, -1.0060337781906128, 1.3811719417572021, -0.16216962039470673, 0.593838095664978, 0.7040833234786987], "theta": [0.8384057283401489, -1.8949695825576782, -1.0042246580123901, 1.3627595901489258, -0.1627621352672577, 0.5938061475753784, 0.7040635347366333], "dq": [-0.0015743161784484982, -9.925574704539031e-05, 0.0007965749246068299, 0.0019899634644389153, 0.0009478798601776361, 0.003395846113562584, -0.0006442683516070247], "dtheta": [0.00018717513012234122, -6.727667641825974e-05, -6.283615221036598e-05, 0.00023476079513784498, 0.0003935650165658444, 0.00041677794069983065, -0.0008432260947301984], "tau": [55.55999755859375, 23.6299991607666, 5.464000225067139, -26.216001510620117, -2.556000232696533, 2.640000104904175, -0.5440000295639038], "tau_des": [0.5409811735153198, -0.5600252151489258, -0.18102392554283142, -0.5607582926750183, 0.9240231513977051, -1.1620979309082031, -0.5251959562301636], "tau_dot": [-70.01622009277344, -62.72711181640625, 33.233734130859375, 27.123537063598633, -0.2726427912712097, 1.0814863443374634, 17.179988861083984], "tau_ext": [-16.76959991455078, -41.64209747314453, 31.777782440185547, 31.36066436767578, 9.491609573364258, -3.0069801807403564, -0.1266583949327469], "tcp_pose": [0.6779636740684509, 0.03261473774909973, -0.21498987078666687, -0.002304490189999342, -0.004597766324877739, 0.9998913407325745, 0.013814575038850307], "tcp_vel": [-2.442378900013864e-05, 3.364843360031955e-05, 1.3836560356139671e-05, 0.0002962984435725957, -0.00013870980183128268, 0.0006528509547933936], "flange_pose": [0.678674042224884, 0.02847399190068245, -0.0650487095117569, -0.002304490189999342, -0.004597766324877739, 0.9998913407325745, 0.013814575038850307], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7337646484375, 15.1692533493042, 28.184297561645508, 0.35573258996009827, -24.003217697143555, 1.7929421663284302], "ext_wrench_in_world": [-108.00004095032695, 14.943427217313452, -27.271048004655622, -0.1450341905889964, -23.946840552970485, -2.4542696913730206]}
+{"timestamp_ns": 1789729893322257821, "elapsed_ms": 12700, "source_timestamp_ns": 1789729893321738467, "q": [0.8363320231437683, -1.8969194889068604, -1.0060330629348755, 1.3811724185943604, -0.16217008233070374, 0.5938344597816467, 0.7040815949440002], "theta": [0.8384059071540833, -1.8949724435806274, -1.0042245388031006, 1.3627599477767944, -0.1627631038427353, 0.5938025712966919, 0.7040618062019348], "dq": [-0.00298737152479589, -0.0014404106186702847, 0.0017629379872232676, -0.00037453469121828675, -0.002070994582027197, 0.0004646474844776094, 0.0007412346894852817], "dtheta": [-0.0002887433802243322, -0.00017297238809987903, -0.0001808282540878281, -0.00016045493248384446, 0.00023138237884268165, -0.00027000566478818655, -0.0007205931469798088], "tau": [55.54999923706055, 23.510000228881836, 5.576000213623047, -26.30000114440918, -2.56000018119812, 2.6760001182556152, -0.5400000214576721], "tau_des": [0.63767009973526, -0.5127071738243103, -0.18019738793373108, -0.619900107383728, 0.9183768033981323, -1.1301600933074951, -0.5206556916236877], "tau_dot": [-159.6715850830078, -47.57207489013672, -6.847390651702881, 34.497676849365234, 9.559834480285645, -11.684043884277344, 14.691146850585938], "tau_ext": [-16.783435821533203, -41.609031677246094, 31.774261474609375, 31.372344970703125, 9.495591163635254, -3.0076377391815186, -0.12327798455953598], "tcp_pose": [0.6779618263244629, 0.03261541202664375, -0.21499131619930267, -0.0023060140665620565, -0.004600146785378456, 0.9998913407325745, 0.013812138698995113], "tcp_vel": [-6.69476212351583e-05, -4.441866258275695e-05, -0.00023513328051194549, -0.00018119443848263472, 0.0004153491754550487, 0.0005618129507638514], "flange_pose": [0.6786726117134094, 0.028475401923060417, -0.0650501474738121, -0.0023060140665620565, -0.004600146785378456, 0.9998913407325745, 0.013812138698995113], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66427612304688, 15.255964279174805, 28.186378479003906, 0.3673440217971802, -23.985721588134766, 1.7951583862304688], "ext_wrench_in_world": [-107.93151075485838, 15.030149663085629, -27.27079606883391, -0.15670733542745643, -23.929410911582938, -2.45583216062427]}
+{"timestamp_ns": 1789729893355583767, "elapsed_ms": 12733, "source_timestamp_ns": 1789729893351798711, "q": [0.8363324403762817, -1.8969157934188843, -1.0060338973999023, 1.3811709880828857, -0.1621682196855545, 0.5938372015953064, 0.7040785551071167], "theta": [0.8384062647819519, -1.8949695825576782, -1.0042250156402588, 1.3627593517303467, -0.1627618968486786, 0.593805193901062, 0.7040584683418274], "dq": [0.001010371488519013, 0.0009617972536943853, 0.00020849055727012455, -0.00028361391741782427, -0.0029760494362562895, 6.531139661092311e-05, -0.00039914585067890584], "dtheta": [-0.00027199453325010836, -5.292660353006795e-05, 0.00011732526036212221, -0.0002714218571782112, 0.0002030476462095976, 0.00012245410471223295, 0.00015668327978346497], "tau": [55.59000015258789, 23.510000228881836, 5.568000316619873, -26.340002059936523, -2.552000045776367, 2.6760001182556152, -0.5480000376701355], "tau_des": [0.5783349871635437, -0.563675582408905, -0.19926267862319946, -0.5537271499633789, 0.9133270382881165, -1.1665807962417603, -0.5369621515274048], "tau_dot": [-91.44032287597656, 23.43707275390625, 14.022981643676758, -9.927267074584961, 43.257568359375, -13.677244186401367, 14.613150596618652], "tau_ext": [-16.791101455688477, -41.54022216796875, 31.74675750732422, 31.344627380371094, 9.49510383605957, -2.9917240142822266, -0.11717945337295532], "tcp_pose": [0.6779639720916748, 0.032614681869745255, -0.21498923003673553, -0.002304543973878026, -0.004599518142640591, 0.9998913407325745, 0.013815089128911495], "tcp_vel": [-1.0330792974855285e-05, 0.00016584587865509093, -7.529059803346172e-05, 0.00039680878398939967, 0.00011532138159964234, -0.00019736200920306146], "flange_pose": [0.6786742806434631, 0.028473785147070885, -0.06504808366298676, -0.002304543973878026, -0.004599518142640591, 0.9998913407325745, 0.013815089128911495], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69853210449219, 15.169344902038574, 28.174293518066406, 0.3484061062335968, -23.99379539489746, 1.7961331605911255], "ext_wrench_in_world": [-107.96481781069818, 14.943218860343691, -27.26118087420469, -0.13772555895416896, -23.937264265766586, -2.457256547229723]}
+{"timestamp_ns": 1789729893388894574, "elapsed_ms": 12766, "source_timestamp_ns": 1789729893381738176, "q": [0.8363322615623474, -1.8969175815582275, -1.0060406923294067, 1.3811711072921753, -0.16216705739498138, 0.5938320755958557, 0.7040748000144958], "theta": [0.8384062647819519, -1.8949711322784424, -1.0042312145233154, 1.3627592325210571, -0.16276118159294128, 0.5937999486923218, 0.7040539383888245], "dq": [-1.4116281818132848e-05, -0.0026701807510107756, 0.00281031453050673, -0.001719142310321331, -0.0006854180828668177, 0.0006911042146384716, 0.0008099778788164258], "dtheta": [-0.00029655674006789923, 0.0002712569839786738, 3.1354134989669546e-05, -0.0002912382478825748, 0.001121640088967979, 0.0003076626162510365, -0.0005173982935957611], "tau": [55.61000061035156, 23.68000030517578, 5.448000431060791, -26.22800064086914, -2.564000129699707, 2.6440000534057617, -0.5760000348091125], "tau_des": [0.5812923312187195, -0.594707727432251, -0.14914864301681519, -0.5613982677459717, 0.8989107608795166, -1.1559929847717285, -0.5337744951248169], "tau_dot": [-9.691446304321289, -28.55840301513672, -34.280696868896484, 13.66177749633789, -27.239824295043945, -4.430788516998291, -19.88298225402832], "tau_ext": [-16.822376251220703, -41.59934997558594, 31.718416213989258, 31.377838134765625, 9.49223804473877, -3.0091423988342285, -0.10681488364934921], "tcp_pose": [0.6779645681381226, 0.0326107032597065, -0.21499097347259521, -0.0023058210499584675, -0.004599287174642086, 0.9998914003372192, 0.013810954988002777], "tcp_vel": [1.692310434009414e-05, 0.0001205593507620506, -4.613660348695703e-05, 0.0012887215707451105, 0.0004461370117496699, -0.0003183828084729612], "flange_pose": [0.6786752939224243, 0.028471047058701515, -0.06504978984594345, -0.0023058210499584675, -0.004599287174642086, 0.9998914003372192, 0.013810954988002777], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.70077514648438, 15.100813865661621, 28.201557159423828, 0.3353673815727234, -23.99769401550293, 1.7999823093414307], "ext_wrench_in_world": [-107.96662661250049, 14.875266794802657, -27.290169447541512, -0.12468611847070989, -23.940954544998263, -2.4610718198495976]}
+{"timestamp_ns": 1789729893422247108, "elapsed_ms": 12800, "source_timestamp_ns": 1789729893421779439, "q": [0.8363357782363892, -1.896920084953308, -1.006035566329956, 1.381173014640808, -0.162167489528656, 0.5938332080841064, 0.7040776610374451], "theta": [0.8384091854095459, -1.8949729204177856, -1.004227876663208, 1.3627609014511108, -0.16276118159294128, 0.5938011407852173, 0.7040556073188782], "dq": [0.00023323431378230453, -0.0007968759164214134, -0.0017836831975728273, -0.00130583462305367, 0.0006474683759734035, 0.002506713615730405, 0.0002828592259902507], "dtheta": [0.0001443955407012254, 7.29864914319478e-05, -3.9523620216641575e-05, -6.638257036684081e-05, -0.0003266333951614797, -0.0003479018050711602, 0.0007171126781031489], "tau": [55.52000045776367, 23.6299991607666, 5.560000419616699, -26.452001571655273, -2.56000018119812, 2.7160000801086426, -0.5480000376701355], "tau_des": [0.5211942195892334, -0.6111330986022949, -0.15828029811382294, -0.5463824272155762, 0.9339931607246399, -1.1523768901824951, -0.5446497797966003], "tau_dot": [-80.67298889160156, -115.45664978027344, 22.573762893676758, 4.737001895904541, 22.737382888793945, 50.91755294799805, 18.97709846496582], "tau_ext": [-16.761240005493164, -41.659610748291016, 31.834548950195312, 31.358457565307617, 9.486942291259766, -3.004467725753784, -0.10633782297372818], "tcp_pose": [0.6779624223709106, 0.0326140820980072, -0.21498975157737732, -0.002305165631696582, -0.004600824322551489, 0.9998914003372192, 0.013811319135129452], "tcp_vel": [6.924339686520398e-05, -0.00010843651398317888, 0.00013423096970655024, -0.0003667808196041733, -0.00010844739153981209, -0.0006145619554445148], "flange_pose": [0.6786729693412781, 0.028474317863583565, -0.06504856795072556, -0.002305165631696582, -0.004600824322551489, 0.9998914003372192, 0.013811319135129452], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66615295410156, 15.289310455322266, 28.197460174560547, 0.37372055649757385, -23.98723030090332, 1.8073316812515259], "ext_wrench_in_world": [-107.93371772998985, 15.063581654662908, -27.281153772289905, -0.16309124023825677, -23.9306463066895, -2.4679750729017713]}
+{"timestamp_ns": 1789729893455621339, "elapsed_ms": 12833, "source_timestamp_ns": 1789729893452004239, "q": [0.8363373875617981, -1.8969186544418335, -1.0060375928878784, 1.3811721801757812, -0.16216842830181122, 0.593833327293396, 0.7040785551071167], "theta": [0.8384111523628235, -1.894971489906311, -1.004229187965393, 1.3627601861953735, -0.1627621352672577, 0.5938013792037964, 0.7040558457374573], "dq": [0.0029849361162632704, -0.0003713207843247801, -0.0002931194321718067, 0.0024943563621491194, 0.00048006055294536054, -0.002191006438806653, -0.0004288765776436776], "dtheta": [0.0002820030495058745, 0.0001130634336732328, -5.373448948375881e-05, -0.0002670785179361701, -0.0006695350748486817, 0.0006121963378973305, -0.00027199499891139567], "tau": [55.599998474121094, 23.459999084472656, 5.520000457763672, -26.316001892089844, -2.580000162124634, 2.688000202178955, -0.5600000023841858], "tau_des": [0.40388643741607666, -0.6616716980934143, -0.15060649812221527, -0.4438825249671936, 0.964374840259552, -1.2047104835510254, -0.5291284918785095], "tau_dot": [-103.28640747070312, -73.17268371582031, -28.190441131591797, 18.469106674194336, -25.153980255126953, 46.810211181640625, -55.316646575927734], "tau_ext": [-16.80488395690918, -41.56729507446289, 31.758989334106445, 31.323863983154297, 9.489811897277832, -2.9974467754364014, -0.11399942636489868], "tcp_pose": [0.6779643297195435, 0.03261261060833931, -0.2149878740310669, -0.0023033623583614826, -0.004599358886480331, 0.9998914003372192, 0.013811162672936916], "tcp_vel": [0.00041854113806039095, 3.785915032494813e-05, 0.0004656038654502481, 0.00018900452414527535, -0.0013547521084547043, 0.0004730171349365264], "flange_pose": [0.6786743402481079, 0.028472889214754105, -0.06504669040441513, -0.0023033623583614826, -0.004599358886480331, 0.9998914003372192, 0.013811162672936916], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.73086547851562, 15.229076385498047, 28.16583251953125, 0.36820730566978455, -23.998939514160156, 1.806362271308899], "ext_wrench_in_world": [-107.99758474369406, 15.002214259174432, -27.251303137172805, -0.15752924088663395, -23.94232651321047, -2.467347716184121]}
+{"timestamp_ns": 1789729893488899010, "elapsed_ms": 12866, "source_timestamp_ns": 1789729893481765120, "q": [0.8363358378410339, -1.8969216346740723, -1.0060406923294067, 1.3811734914779663, -0.1621691882610321, 0.5938306450843811, 0.7040802836418152], "theta": [0.8384101986885071, -1.8949741125106812, -1.0042314529418945, 1.3627607822418213, -0.162762850522995, 0.5937987565994263, 0.7040570378303528], "dq": [0.0008893295307643712, 0.0004864534130319953, 0.0019506245153024793, -0.001814620802178979, -0.003463671077042818, -0.00027343048714101315, -0.00015579290629830211], "dtheta": [-0.00011973519576713443, -0.0002374172763666138, 5.193887045606971e-05, -4.7687575715826824e-05, 0.0007280726567842066, 3.144065703963861e-05, -9.831509669311345e-05], "tau": [55.57999801635742, 23.739999771118164, 5.4760003089904785, -26.34400177001953, -2.568000078201294, 2.692000150680542, -0.5480000376701355], "tau_des": [0.6138424873352051, -0.5203995108604431, -0.18745751678943634, -0.6069465279579163, 0.9085683226585388, -1.13783597946167, -0.5374258160591125], "tau_dot": [-14.648773193359375, 60.36016845703125, 18.731651306152344, 7.858051300048828, 3.467064380645752, 9.927817344665527, -7.2061004638671875], "tau_ext": [-16.86463737487793, -41.64576721191406, 31.763769149780273, 31.3909969329834, 9.496315002441406, -3.0134196281433105, -0.11817540228366852], "tcp_pose": [0.677963376045227, 0.03261102735996246, -0.2149907797574997, -0.0023050059098750353, -0.004598705563694239, 0.999891459941864, 0.013807617127895355], "tcp_vel": [-0.00018098211148753762, 0.00016377467545680702, -0.00018368518794886768, 0.00035743264015764, 0.00047495929175056517, -0.00011840833758469671], "flange_pose": [0.6786738634109497, 0.02847237139940262, -0.06504956632852554, -0.0023050059098750353, -0.004598705563694239, 0.999891459941864, 0.013807617127895355], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63530731201172, 15.214212417602539, 28.227705001831055, 0.356233686208725, -23.975431442260742, 1.8006458282470703], "ext_wrench_in_world": [-107.90225942536905, 14.989889321490837, -27.313743762789887, -0.14578176120050193, -23.91889259160529, -2.4608668289587223]}
+{"timestamp_ns": 1789729893522257743, "elapsed_ms": 12900, "source_timestamp_ns": 1789729893521779855, "q": [0.8363373279571533, -1.8969252109527588, -1.006038784980774, 1.381170630455017, -0.1621694415807724, 0.5938305258750916, 0.7040815949440002], "theta": [0.838411271572113, -1.89497709274292, -1.0042306184768677, 1.3627585172653198, -0.1627633273601532, 0.5937989950180054, 0.7040587067604065], "dq": [-0.0003536464355420321, -0.0012413921067491174, -0.0021100726444274187, 0.0008465875289402902, -0.0032466899137943983, -2.398214019194711e-05, -0.002283375710248947], "dtheta": [-0.00022334371169563383, -8.301744674099609e-05, 6.576993473572657e-05, -0.0002641999162733555, 0.001209014211781323, -0.00016517320182174444, 0.00012250777217559516], "tau": [55.54999923706055, 23.559999465942383, 5.5960001945495605, -26.34800148010254, -2.580000162124634, 2.7200000286102295, -0.527999997138977], "tau_des": [0.6015680432319641, -0.5352243781089783, -0.19825991988182068, -0.5824309587478638, 0.8945554494857788, -1.1485161781311035, -0.5426895618438721], "tau_dot": [-121.6252670288086, -50.82889175415039, -23.697879791259766, -12.754622459411621, -5.961134433746338, 54.07276153564453, -2.834213972091675], "tau_ext": [-16.769800186157227, -41.60530090332031, 31.798934936523438, 31.33374786376953, 9.505952835083008, -2.996066093444824, -0.13264134526252747], "tcp_pose": [0.6779631972312927, 0.03261371701955795, -0.21498948335647583, -0.002303465735167265, -0.004599830601364374, 0.999891459941864, 0.013807584531605244], "tcp_vel": [-0.00018404693400952965, 0.0001701481087366119, -0.00017268942610826343, 0.0007740844157524407, 0.0008296925807371736, -0.0007294336101040244], "flange_pose": [0.6786732077598572, 0.028475068509578705, -0.06504826992750168, -0.002303465735167265, -0.004599830601364374, 0.999891459941864, 0.013807584531605244], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63784790039062, 15.282922744750977, 28.207292556762695, 0.3670668601989746, -23.975805282592773, 1.7973238229751587], "ext_wrench_in_world": [-107.9052790353616, 15.057744370328125, -27.291765652135194, -0.15653476575227665, -23.919458705293923, -2.4575072870987738]}
+{"timestamp_ns": 1789729893555587448, "elapsed_ms": 12933, "source_timestamp_ns": 1789729893551745288, "q": [0.836338222026825, -1.8969244956970215, -1.0060415267944336, 1.3811697959899902, -0.1621687412261963, 0.5938277244567871, 0.7040796875953674], "theta": [0.8384117484092712, -1.8949766159057617, -1.00423264503479, 1.3627575635910034, -0.1627623736858368, 0.5937961339950562, 0.704057514667511], "dq": [0.000769104459322989, -0.00016901353956200182, 0.00016126452828757465, 0.0006813391810283065, 0.0005835142219439149, -0.00022262532729655504, 0.001465408131480217], "dtheta": [0.00010803101031342521, 0.0004339654988143593, 0.0004776711284648627, -0.00015400366100948304, 0.0004261443391442299, 0.0011436162749305367, -0.0008930491167120636], "tau": [55.619998931884766, 23.549999237060547, 5.520000457763672, -26.34800148010254, -2.572000026702881, 2.684000015258789, -0.5160000324249268], "tau_des": [0.4395199716091156, -0.6255357265472412, -0.21211935579776764, -0.46134713292121887, 0.9301056861877441, -1.2069982290267944, -0.5191969871520996], "tau_dot": [28.122982025146484, -12.867732048034668, 41.46657943725586, 16.07948875427246, -1.2532954216003418, 10.939862251281738, 4.2751054763793945], "tau_ext": [-16.754735946655273, -41.57664489746094, 31.7418270111084, 31.33368492126465, 9.500898361206055, -2.995006799697876, -0.13047628104686737], "tcp_pose": [0.6779642105102539, 0.03261171281337738, -0.2149888277053833, -0.0023034652695059776, -0.004599332809448242, 0.999891459941864, 0.013806475326418877], "tcp_vel": [0.00019522492948453873, 0.0003755773068405688, 0.00039199349703267217, 0.0017322562634944916, -0.0007347832433879375, 0.000649382418487221], "flange_pose": [0.6786742210388184, 0.028473397716879845, -0.06504759937524796, -0.0023034652695059776, -0.004599332809448242, 0.999891459941864, 0.013806475326418877], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69036865234375, 15.18834400177002, 28.174861907958984, 0.35277295112609863, -23.990402221679688, 1.7959791421890259], "ext_wrench_in_world": [-107.9567647699815, 14.961870821991248, -27.2617589203503, -0.14212561455063852, -23.9339594819038, -2.456577379297021]}
+{"timestamp_ns": 1789729893588923483, "elapsed_ms": 12966, "source_timestamp_ns": 1789729893581724709, "q": [0.8363377451896667, -1.8969271183013916, -1.0060429573059082, 1.3811719417572021, -0.1621672362089157, 0.5938215851783752, 0.7040788531303406], "theta": [0.8384118676185608, -1.8949785232543945, -1.0042332410812378, 1.3627583980560303, -0.16276070475578308, 0.5937904119491577, 0.7040570378303528], "dq": [-0.00016935766325332224, -0.00021204489166848361, 0.0008133412920869887, -0.00013967760605737567, -0.000616203062236309, 0.0022217610385268927, -0.0012340961256995797], "dtheta": [-0.00016619751113466918, -0.0001929100399138406, -0.00021755869966000319, -4.8873567720875144e-05, -0.0002564438327681273, 6.468487117672339e-05, -0.0002208467194577679], "tau": [55.59000015258789, 23.600000381469727, 5.51200008392334, -26.404001235961914, -2.56000018119812, 2.688000202178955, -0.5440000295639038], "tau_des": [0.613240659236908, -0.5396910905838013, -0.14597955346107483, -0.614264726638794, 0.9357708692550659, -1.1277642250061035, -0.5302062630653381], "tau_dot": [60.57510757446289, -54.14584732055664, -44.30009460449219, 26.481586456298828, 14.787886619567871, -0.703109085559845, 13.513955116271973], "tau_ext": [-16.82364273071289, -41.6400146484375, 31.75714111328125, 31.413122177124023, 9.494210243225098, -3.0053648948669434, -0.13124936819076538], "tcp_pose": [0.6779617071151733, 0.0326104499399662, -0.2149917334318161, -0.0023070762399584055, -0.004599886480718851, 0.9998915195465088, 0.013802985660731792], "tcp_vel": [5.147414412931539e-05, -6.159461190691218e-05, -0.00013158933143131435, -0.0003697773499879986, -0.0001384218776365742, 0.000330268288962543], "flange_pose": [0.6786727905273438, 0.02847318723797798, -0.06505048274993896, -0.0023070762399584055, -0.004599886480718851, 0.9998915195465088, 0.013802985660731792], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7371597290039, 15.151612281799316, 28.204261779785156, 0.34628528356552124, -24.009136199951172, 1.792786717414856], "ext_wrench_in_world": [-108.00357104487529, 14.925209052462641, -27.291282491821068, -0.13544038329429084, -23.952730885712008, -2.4537640063360473]}
+{"timestamp_ns": 1789729893622260408, "elapsed_ms": 13000, "source_timestamp_ns": 1789729893621722096, "q": [0.8363391757011414, -1.8969271183013916, -1.0060441493988037, 1.3811646699905396, -0.16216623783111572, 0.593825101852417, 0.704078733921051], "theta": [0.8384130597114563, -1.8949785232543945, -1.004233717918396, 1.3627516031265259, -0.16275997459888458, 0.5937937498092651, 0.7040563225746155], "dq": [0.0005679261521436274, -0.0003480772429611534, -0.0025579873472452164, 0.0018983280751854181, 0.0011403255630284548, 7.276254473254085e-05, -0.0015854504890739918], "dtheta": [0.00031677293009124696, -0.00010985264088958502, -0.0002908361202571541, 7.319362339330837e-05, -0.00035857586772181094, 0.000800133915618062, -8.673425327287987e-05], "tau": [55.63999938964844, 23.60999870300293, 5.588000297546387, -26.316001892089844, -2.5360000133514404, 2.684000015258789, -0.5520000457763672], "tau_des": [0.44300228357315063, -0.6338498592376709, -0.12990149855613708, -0.4785710871219635, 0.9597595930099487, -1.1963258981704712, -0.5378937125205994], "tau_dot": [38.85970687866211, 34.769508361816406, 29.99249839782715, 10.27879524230957, 34.76447677612305, 72.53564453125, -3.129692792892456], "tau_ext": [-16.80869483947754, -41.585105895996094, 31.749042510986328, 31.30192756652832, 9.477322578430176, -2.983187675476074, -0.12323518842458725], "tcp_pose": [0.6779657602310181, 0.03261176496744156, -0.21498729288578033, -0.002302178181707859, -0.004598698113113642, 0.999891459941864, 0.013806100003421307], "tcp_vel": [0.0003052385291084647, -4.088818241143599e-05, 0.0002540618006605655, -7.82341794547392e-06, -0.0011554325465112925, 0.00014770177949685603], "flange_pose": [0.6786754131317139, 0.028473561629652977, -0.06504606455564499, -0.002302178181707859, -0.004598698113113642, 0.999891459941864, 0.013806100003421307], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65045166015625, 15.196563720703125, 28.22078514099121, 0.35564500093460083, -23.997873306274414, 1.7917810678482056], "ext_wrench_in_world": [-107.91705293183803, 14.971844077243073, -27.307903195972486, -0.14493431904141585, -23.941571450776767, -2.4525571341565344]}
+{"timestamp_ns": 1789729893655594343, "elapsed_ms": 13033, "source_timestamp_ns": 1789729893651746643, "q": [0.8363388776779175, -1.8969281911849976, -1.0060452222824097, 1.3811659812927246, -0.16216447949409485, 0.5938246250152588, 0.7040784358978271], "theta": [0.8384125828742981, -1.8949785232543945, -1.0042346715927124, 1.362751841545105, -0.16275806725025177, 0.5937932729721069, 0.7040560841560364], "dq": [0.00043188550625927746, 0.0004656507808249444, 0.001488068257458508, 0.0005006530554965138, -0.001339763286523521, 0.0014280955074355006, -6.727149593643844e-05], "dtheta": [0.0003362152201589197, -0.0002445001155138016, 0.00034910725662484765, 3.194414603058249e-05, 0.00024682158255018294, -0.0003138221218250692, -0.0009955203859135509], "tau": [55.61000061035156, 23.6299991607666, 5.456000328063965, -26.304000854492188, -2.552000045776367, 2.6720001697540283, -0.5320000052452087], "tau_des": [0.5080011487007141, -0.5248968005180359, -0.23694774508476257, -0.5474448800086975, 0.9341223835945129, -1.158104658126831, -0.515708327293396], "tau_dot": [65.26995849609375, 2.286080837249756, -19.049636840820312, -10.792960166931152, -30.51186180114746, -19.03423309326172, 51.7981071472168], "tau_ext": [-16.810331344604492, -41.60250473022461, 31.75444793701172, 31.34906768798828, 9.47256851196289, -2.9980697631835938, -0.11748569458723068], "tcp_pose": [0.6779649257659912, 0.03261129558086395, -0.21498869359493256, -0.0023033483885228634, -0.004598452243953943, 0.999891459941864, 0.013805340975522995], "tcp_vel": [-0.00021410970657598227, 0.0002261381014250219, 0.00010440558253321797, -2.444914025545586e-05, 0.00014670698146801442, 0.0012796998489648104], "flange_pose": [0.6786749362945557, 0.028473319485783577, -0.06504745781421661, -0.0023033483885228634, -0.004598452243953943, 0.999891459941864, 0.013805340975522995], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.58536529541016, 15.209416389465332, 28.22987937927246, 0.3606945872306824, -23.98280143737793, 1.7937977313995361], "ext_wrench_in_world": [-107.85218750337889, 14.98555227094779, -27.316700684635226, -0.1501474776727152, -23.926500774062358, -2.454097006002515]}
+{"timestamp_ns": 1789729893688904971, "elapsed_ms": 13066, "source_timestamp_ns": 1789729893681721125, "q": [0.8363398909568787, -1.8969281911849976, -1.0060462951660156, 1.3811676502227783, -0.16216370463371277, 0.5938236117362976, 0.704078197479248], "theta": [0.8384132385253906, -1.8949785232543945, -1.0042362213134766, 1.3627535104751587, -0.16275686025619507, 0.5937927961349487, 0.7040565609931946], "dq": [-0.0003303821140434593, 0.0004239264235366136, -0.0003590805863495916, 0.0037872500251978636, -0.001533749746158719, -0.0016406092327088118, 0.0005234093987382948], "dtheta": [0.0003643954696599394, 0.00027558280271478, -0.0002712886780500412, 0.00010839570313692093, 0.00034772843355312943, -0.00019756208348553628, -0.001007117796689272], "tau": [55.56999969482422, 23.559999465942383, 5.556000232696533, -26.400001525878906, -2.56000018119812, 2.7080001831054688, -0.5400000214576721], "tau_des": [0.4717225730419159, -0.6434274911880493, -0.11008985340595245, -0.5228760242462158, 0.9347836375236511, -1.1590690612792969, -0.529160737991333], "tau_dot": [42.51953125, -43.72002029418945, 37.875518798828125, 26.01993751525879, -47.34123611450195, -5.654353141784668, 11.59131145477295], "tau_ext": [-16.777740478515625, -41.601844787597656, 31.767955780029297, 31.38945198059082, 9.470449447631836, -3.0071909427642822, -0.1208733543753624], "tcp_pose": [0.6779645681381226, 0.03261026367545128, -0.21498897671699524, -0.0023039623629301786, -0.004598095081746578, 0.999891459941864, 0.013804442249238491], "tcp_vel": [0.00011585697211557999, -0.00025823694886639714, 0.00021440883574541658, 6.070315430406481e-05, -4.953713505528867e-05, 0.00046044704504311085], "flange_pose": [0.6786746978759766, 0.02847255766391754, -0.0650477409362793, -0.0023039623629301786, -0.004598095081746578, 0.999891459941864, 0.013804442249238491], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66581726074219, 15.194197654724121, 28.213796615600586, 0.3599167764186859, -23.99692153930664, 1.792500376701355], "ext_wrench_in_world": [-107.9324432958385, 14.969176916883498, -27.30057865471853, -0.14925422880040667, -23.94064780735951, -2.4531503804737693]}
+{"timestamp_ns": 1789729893722246825, "elapsed_ms": 13100, "source_timestamp_ns": 1789729893721723471, "q": [0.8363399505615234, -1.8969281911849976, -1.00605046749115, 1.3811672925949097, -0.16216501593589783, 0.5938233137130737, 0.7040795683860779], "theta": [0.8384130001068115, -1.8949788808822632, -1.004240870475769, 1.3627538681030273, -0.16275759041309357, 0.5937932729721069, 0.7040582299232483], "dq": [0.002423421945422888, -0.0017329754773527384, -6.902823224663734e-05, -0.0033122047316282988, 0.0018257200717926025, 0.00048211522516794503, -0.0018242858350276947], "dtheta": [-4.629557588486932e-05, -0.00010437914170324802, -8.083733519015368e-06, -0.00014700612518936396, 0.0005950893391855061, 4.3436411942820996e-05, 0.00047552812611684203], "tau": [55.619998931884766, 23.65999984741211, 5.504000186920166, -26.328001022338867, -2.5400002002716064, 2.6640000343322754, -0.5440000295639038], "tau_des": [0.5494201183319092, -0.5936295390129089, -0.13825595378875732, -0.5502502918243408, 0.9158940315246582, -1.1586107015609741, -0.5586041212081909], "tau_dot": [-38.04102325439453, 70.43851470947266, 20.94926643371582, -29.591772079467773, 25.41729164123535, 10.951488494873047, -18.23603630065918], "tau_ext": [-16.79137420654297, -41.587772369384766, 31.769149780273438, 31.36151123046875, 9.474624633789062, -3.001136064529419, -0.12289852648973465], "tcp_pose": [0.6779662370681763, 0.03260789439082146, -0.21498890221118927, -0.0023028298746794462, -0.004596297163516283, 0.9998915195465088, 0.013802715577185154], "tcp_vel": [-5.045436410000548e-05, 0.00010308795754099265, -4.114933108212426e-05, 0.0003974504361394793, 0.00023561596754007041, -0.0007655833032913506], "flange_pose": [0.6786760687828064, 0.028470704331994057, -0.06504764407873154, -0.0023028298746794462, -0.004596297163516283, 0.9998915195465088, 0.013802715577185154], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77985382080078, 15.112168312072754, 28.16952896118164, 0.3482067883014679, -24.01831817626953, 1.790887475013733], "ext_wrench_in_world": [-108.04540049252692, 14.885202295093414, -27.258376101009016, -0.13742309328487223, -23.96197942446327, -2.452099281662632]}
+{"timestamp_ns": 1789729893755580200, "elapsed_ms": 13133, "source_timestamp_ns": 1789729893751735960, "q": [0.8363404273986816, -1.8969359397888184, -1.0060498714447021, 1.3811661005020142, -0.1621660441160202, 0.5938234329223633, 0.7040788531303406], "theta": [0.8384131789207458, -1.8949859142303467, -1.0042412281036377, 1.3627532720565796, -0.16275927424430847, 0.5937937498092651, 0.7040582299232483], "dq": [-0.0006028113421052694, 0.00014665478374809027, -0.0007350078085437417, 0.0017213462851941586, 0.000949379988014698, -0.00038692334783263505, 0.00033836995135061443], "dtheta": [0.00011308304965496063, -0.0007280922727659345, -5.702400812879205e-05, 0.00038718670839443803, 0.0002238704328192398, -0.0007703088340349495, -0.00030038031400181353], "tau": [55.599998474121094, 23.639999389648438, 5.440000057220459, -26.23200035095215, -2.568000078201294, 2.6520001888275146, -0.5400000214576721], "tau_des": [0.6539305448532104, -0.4353373348712921, -0.2044002264738083, -0.6699756383895874, 0.9314868450164795, -1.1088693141937256, -0.5260227918624878], "tau_dot": [-59.018455505371094, -11.173639297485352, -9.004014015197754, -27.75725746154785, -19.128782272338867, 0.6108916997909546, -31.093753814697266], "tau_ext": [-16.82288932800293, -41.67655563354492, 31.824810028076172, 31.342330932617188, 9.47828483581543, -3.000173330307007, -0.12747737765312195], "tcp_pose": [0.6779646873474121, 0.03261072188615799, -0.21499022841453552, -0.002301947446539998, -0.004599689040333033, 0.9998915195465088, 0.013800092041492462], "tcp_vel": [-0.0004766434140037745, 2.8746405860147206e-06, -0.00042113030212931335, -0.00116254563909024, 0.0008793529123067856, 0.0007035737507976592], "flange_pose": [0.6786742210388184, 0.028474321588873863, -0.065048947930336, -0.002301947446539998, -0.004599689040333033, 0.9998915195465088, 0.013800092041492462], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.71086883544922, 15.201484680175781, 28.199129104614258, 0.3614892065525055, -24.000072479248047, 1.7899495363235474], "ext_wrench_in_world": [-107.97742453662718, 14.975062139074346, -27.286087817704907, -0.15070018743534574, -23.943904070559096, -2.450473446411715]}
+{"timestamp_ns": 1789729893788893057, "elapsed_ms": 13166, "source_timestamp_ns": 1789729893781722241, "q": [0.83633953332901, -1.8969390392303467, -1.0060499906539917, 1.3811639547348022, -0.1621658205986023, 0.5938241481781006, 0.7040790915489197], "theta": [0.838412880897522, -1.8949891328811646, -1.0042412281036377, 1.3627514839172363, -0.16275829076766968, 0.5937944650650024, 0.7040591835975647], "dq": [-0.00010968978313030675, 0.0009830044582486153, 0.00020947832672391087, 0.003581630066037178, -0.00022994537721388042, 0.002155789639800787, 0.002167104510590434], "dtheta": [-0.0002700576151255518, 7.438091415679082e-06, -3.7387446354841813e-05, 0.0004087948764208704, 0.0003275544149801135, -0.0001171198528027162, 0.0004133472393732518], "tau": [55.59000015258789, 23.549999237060547, 5.552000045776367, -26.328001022338867, -2.56000018119812, 2.688000202178955, -0.5480000376701355], "tau_des": [0.6609827280044556, -0.5268369317054749, -0.15735045075416565, -0.642350971698761, 0.9119644165039062, -1.1296559572219849, -0.5434731245040894], "tau_dot": [-61.86255645751953, 13.470295906066895, -19.56649398803711, -33.36711883544922, 32.49250411987305, 42.45282745361328, -56.65083312988281], "tau_ext": [-16.80746078491211, -41.565452575683594, 31.7927188873291, 31.300222396850586, 9.480713844299316, -2.9943201541900635, -0.13168074190616608], "tcp_pose": [0.6779646277427673, 0.03261208534240723, -0.2149907350540161, -0.0023013544268906116, -0.004600313026458025, 0.9998915195465088, 0.013799837790429592], "tcp_vel": [-0.0002699805481825024, -9.658149065217003e-05, -0.0004055803583469242, -0.00012815203808713704, 0.0008679248858243227, -0.0005585778271779418], "flange_pose": [0.678674042224884, 0.02847575768828392, -0.06504945456981659, -0.0023013544268906116, -0.004600313026458025, 0.9998915195465088, 0.013799837790429592], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.58621215820312, 15.286767959594727, 28.191974639892578, 0.3674284815788269, -23.962461471557617, 1.7865948677062988], "ext_wrench_in_world": [-107.85350534491822, 15.061120008155195, -27.27727633416462, -0.15693443353150405, -23.906457914053405, -2.446042982745469]}
+{"timestamp_ns": 1789729893822254150, "elapsed_ms": 13200, "source_timestamp_ns": 1789729893821753684, "q": [0.8363395929336548, -1.896936058998108, -1.006051778793335, 1.3811668157577515, -0.16216419637203217, 0.5938205718994141, 0.7040767669677734], "theta": [0.8384130597114563, -1.8949872255325317, -1.0042426586151123, 1.3627526760101318, -0.16275662183761597, 0.5937901735305786, 0.7040572762489319], "dq": [0.001357445027679205, 0.0010724307503551245, 0.00034987233811989427, 0.0006591652054339647, 0.00253374339081347, -0.0005257197772152722, 0.0006780906114727259], "dtheta": [-0.00013887276872992516, -0.0002557972038630396, -0.000625389046035707, 0.00011491259647300467, -0.00016321809380315244, -0.00034812037483789027, -0.0003524522762745619], "tau": [55.56999969482422, 23.549999237060547, 5.52400016784668, -26.41200065612793, -2.5360000133514404, 2.696000099182129, -0.5480000376701355], "tau_des": [0.6306147575378418, -0.5508404970169067, -0.08808952569961548, -0.6301059722900391, 0.9392818212509155, -1.121532917022705, -0.5345492362976074], "tau_dot": [-72.98654174804688, -14.499232292175293, 29.074310302734375, 21.22385597229004, -17.281139373779297, 17.521045684814453, 20.695085525512695], "tau_ext": [-16.807226181030273, -41.540287017822266, 31.752317428588867, 31.383472442626953, 9.475027084350586, -3.0031676292419434, -0.13006938993930817], "tcp_pose": [0.6779640913009644, 0.032609231770038605, -0.2149917036294937, -0.0023039057850837708, -0.004599631763994694, 0.9998915791511536, 0.013798891566693783], "tcp_vel": [2.2901540432940237e-05, -0.0003579308104235679, -0.0002818419598042965, -0.0009821858257055283, 0.00019707086903508753, 0.0002015770151047036], "flange_pose": [0.6786742210388184, 0.02847319096326828, -0.06505041569471359, -0.0023039057850837708, -0.004599631763994694, 0.9998915791511536, 0.013798891566693783], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63955688476562, 15.145040512084961, 28.175113677978516, 0.33371055126190186, -23.96847915649414, 1.7783029079437256], "ext_wrench_in_world": [-107.90559282725113, 14.918580088492742, -27.26357448998815, -0.12316736122126551, -23.912393896889352, -2.4380248072686754]}
+{"timestamp_ns": 1789729893855591745, "elapsed_ms": 13233, "source_timestamp_ns": 1789729893851757924, "q": [0.8363412618637085, -1.8969367742538452, -1.0060521364212036, 1.3811683654785156, -0.1621638685464859, 0.5938175916671753, 0.70407634973526], "theta": [0.8384144306182861, -1.89498770236969, -1.0042423009872437, 1.3627536296844482, -0.16275542974472046, 0.5937873125076294, 0.7040570378303528], "dq": [8.790782885625958e-06, 0.002617021556943655, 0.0003489083319436759, 0.0009987982921302319, -0.003275099443271756, 0.000826858973596245, -0.001449433621019125], "dtheta": [0.0001525611587567255, 0.0003000317083206028, -0.00025667643058113754, 2.152053639292717e-05, -0.0006126089137978852, 0.0006211119471117854, 0.0004682221624534577], "tau": [55.5099983215332, 23.65999984741211, 5.4760003089904785, -26.34400177001953, -2.5320000648498535, 2.6520001888275146, -0.5480000376701355], "tau_des": [0.4851803779602051, -0.6678916215896606, -0.08830530941486359, -0.5154654383659363, 0.9530400037765503, -1.1693789958953857, -0.5475298762321472], "tau_dot": [6.479293346405029, 97.02355194091797, -16.422332763671875, -13.954103469848633, 35.976444244384766, -31.10294532775879, -20.548242568969727], "tau_ext": [-16.7905330657959, -41.602256774902344, 31.775203704833984, 31.399425506591797, 9.47141170501709, -3.004241704940796, -0.1218770369887352], "tcp_pose": [0.677963137626648, 0.032608505338430405, -0.21499188244342804, -0.0023048878647387028, -0.004599995911121368, 0.9998915791511536, 0.013797206804156303], "tcp_vel": [0.0003893291868735105, -0.00017894210759550333, 0.00028968797414563596, 7.034062582533807e-05, -0.0010127860587090254, -0.0005207454087212682], "flange_pose": [0.6786735653877258, 0.02847297303378582, -0.06505057960748672, -0.0023048878647387028, -0.004599995911121368, 0.9998915791511536, 0.013797206804156303], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77284240722656, 15.075761795043945, 28.178987503051758, 0.327631413936615, -24.006128311157227, 1.7800496816635132], "ext_wrench_in_world": [-108.03832098344441, 14.84802851529995, -27.26860354359978, -0.11673935772035368, -23.949930982587382, -2.440756758874803]}
+{"timestamp_ns": 1789729893888895933, "elapsed_ms": 13266, "source_timestamp_ns": 1789729893881752444, "q": [0.8363438844680786, -1.896936058998108, -1.006051778793335, 1.3811683654785156, -0.16216342151165009, 0.5938186049461365, 0.7040771842002869], "theta": [0.8384168744087219, -1.8949872255325317, -1.004242181777954, 1.3627541065216064, -0.16275446116924286, 0.5937880277633667, 0.704057514667511], "dq": [0.0010902512585744262, 0.0005628125509247184, -0.00023690538364462554, 0.0013600188540294766, 0.0008461330435238779, -0.0029254539404064417, 0.0030204684007912874], "dtheta": [-9.069462976185605e-05, -0.0002045597939286381, -9.387215686729178e-05, 6.135052535682917e-05, 0.00047607586020603776, 3.7247878026391845e-06, 0.0006344750872813165], "tau": [55.59000015258789, 23.59000015258789, 5.528000354766846, -26.292001724243164, -2.5200002193450928, 2.6760001182556152, -0.5520000457763672], "tau_des": [0.6014379858970642, -0.5512023568153381, -0.15340444445610046, -0.5985339879989624, 0.9149684309959412, -1.1407239437103271, -0.5526084899902344], "tau_dot": [-61.92231369018555, 91.83485412597656, 23.68366050720215, 27.3618221282959, 46.30295181274414, 9.739839553833008, -20.016677856445312], "tau_ext": [-16.783552169799805, -41.60559844970703, 31.77725601196289, 31.349645614624023, 9.467638969421387, -2.995114326477051, -0.12158440053462982], "tcp_pose": [0.67796391248703, 0.03260863572359085, -0.2149897664785385, -0.002303343964740634, -0.004599310923367739, 0.9998915791511536, 0.013798047788441181], "tcp_vel": [-0.00013085543469060212, 3.074841879424639e-05, -0.000193368861800991, 4.814292333321646e-05, 0.0003889872459694743, -0.0008175651892088354], "flange_pose": [0.6786739230155945, 0.02847285009920597, -0.06504847854375839, -0.002303343964740634, -0.004599310923367739, 0.9998915791511536, 0.013798047788441181], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80744934082031, 15.111444473266602, 28.1619930267334, 0.34180334210395813, -24.02334976196289, 1.7858606576919556], "ext_wrench_in_world": [-108.07306708228721, 14.883106202098379, -27.25078090412183, -0.13080718779958986, -23.967111879311076, -2.447018439483805]}
+{"timestamp_ns": 1789729893922256886, "elapsed_ms": 13300, "source_timestamp_ns": 1789729893921787747, "q": [0.8363426327705383, -1.896936058998108, -1.0060534477233887, 1.3811687231063843, -0.16216503083705902, 0.5938194394111633, 0.7040788531303406], "theta": [0.8384162187576294, -1.8949869871139526, -1.0042427778244019, 1.362755298614502, -0.16275686025619507, 0.593788743019104, 0.7040577530860901], "dq": [0.001289906445890665, -0.00023712632537353784, -0.000652387214358896, -0.00043126422679051757, 0.0016531813889741898, -0.0012025675969198346, -0.0018128177616745234], "dtheta": [-0.00033021075068973005, 3.856138209812343e-05, 0.0005302549689076841, 7.138225919334218e-05, -0.000232660720939748, 0.0013111571315675974, 0.00029339551110751927], "tau": [55.68000030517578, 23.619998931884766, 5.516000270843506, -26.380001068115234, -2.56000018119812, 2.680000066757202, -0.5320000052452087], "tau_des": [0.5806843638420105, -0.5518265962600708, -0.21753765642642975, -0.5542694330215454, 0.9246227145195007, -1.1814008951187134, -0.5382373332977295], "tau_dot": [131.01170349121094, 76.669189453125, 5.17396354675293, 11.17115306854248, -40.73781967163086, -5.489926815032959, -2.7067911624908447], "tau_ext": [-16.844573974609375, -41.61127471923828, 31.76396942138672, 31.332321166992188, 9.467957496643066, -2.9947900772094727, -0.12284985929727554], "tcp_pose": [0.6779643893241882, 0.03260773420333862, -0.21499070525169373, -0.0023031628224998713, -0.004598409403115511, 0.9998915791511536, 0.013797194696962833], "tcp_vel": [1.0611928701109719e-05, 0.00045799624058417976, -4.6815071982564405e-05, 0.0010378684382885695, -0.0005567342741414905, 0.0001626494195079431], "flange_pose": [0.6786742806434631, 0.02847220189869404, -0.06504940241575241, -0.0023031628224998713, -0.004598409403115511, 0.9998915791511536, 0.013797194696962833], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63755798339844, 15.2023344039917, 28.21079444885254, 0.36123085021972656, -23.989025115966797, 1.788596272468567], "ext_wrench_in_world": [-107.90420945121318, 14.977024635573537, -27.297877191638843, -0.1506024668124382, -23.93291016295728, -2.448677274842614]}
+{"timestamp_ns": 1789729893955583632, "elapsed_ms": 13333, "source_timestamp_ns": 1789729893951758210, "q": [0.8363423347473145, -1.896936297416687, -1.0060538053512573, 1.381169080734253, -0.16216564178466797, 0.5938196778297424, 0.7040793299674988], "theta": [0.8384161591529846, -1.8949874639511108, -1.0042433738708496, 1.362755537033081, -0.16275781393051147, 0.5937892198562622, 0.7040584683418274], "dq": [0.0012722586980089545, 4.292374796932563e-06, -0.0017248588846996427, 0.0002142817829735577, 0.0016723998123779893, 0.0009497565915808082, 5.366180630517192e-05], "dtheta": [-0.00012301911192480475, 9.062277240445837e-05, -0.0004009990661870688, -0.00012921438610646874, -0.00032443689997307956, 0.001254078233614564, 0.0004622529377229512], "tau": [55.53999710083008, 23.619998931884766, 5.4760003089904785, -26.360000610351562, -2.5360000133514404, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.5113967657089233, -0.6558557748794556, -0.08332689851522446, -0.5044390559196472, 0.9445024132728577, -1.1905537843704224, -0.554606556892395], "tau_dot": [19.590805053710938, 64.95783996582031, -4.281484603881836, 2.525512218475342, 71.59674835205078, 7.163203716278076, 26.087326049804688], "tau_ext": [-16.82077980041504, -41.63615036010742, 31.775270462036133, 31.344818115234375, 9.480696678161621, -3.000234365463257, -0.12153150141239166], "tcp_pose": [0.6779643893241882, 0.03260752186179161, -0.21499103307724, -0.0023031006567180157, -0.004598317202180624, 0.9998915791511536, 0.013796767219901085], "tcp_vel": [0.00046019660658203065, -4.781449752044864e-05, 0.0001484337408328429, 0.0005024732672609389, -0.0012225736863911152, -0.0006745484424754977], "flange_pose": [0.6786742806434631, 0.028472118079662323, -0.06504973024129868, -0.0023031006567180157, -0.004598317202180624, 0.9998915791511536, 0.013796767219901085], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.59869384765625, 15.247940063476562, 28.243432998657227, 0.37017491459846497, -23.980043411254883, 1.7911105155944824], "ext_wrench_in_world": [-107.86591212169324, 15.0238672149695, -27.329444149356426, -0.15964407756474897, -23.92394782129787, -2.4508820380539125]}
+{"timestamp_ns": 1789729893988913557, "elapsed_ms": 13366, "source_timestamp_ns": 1789729893981728872, "q": [0.8363434076309204, -1.8969370126724243, -1.0060538053512573, 1.3811694383621216, -0.16216544806957245, 0.5938207507133484, 0.7040793299674988], "theta": [0.8384172320365906, -1.8949881792068481, -1.004244089126587, 1.362755537033081, -0.16275876760482788, 0.5937904119491577, 0.7040596604347229], "dq": [2.3128159227780998e-05, -0.0006886310875415802, -0.002655471209436655, -0.000671820598654449, -0.00011630577500909567, -0.0010046021779999137, 0.0018342873081564903], "dtheta": [0.00011285472282906994, -3.946755896322429e-05, 0.00029048623400740325, 0.00014256054419092834, -9.547221270622686e-05, 0.00045793000026606023, 0.00012639214401133358], "tau": [55.57999801635742, 23.619998931884766, 5.488000392913818, -26.332000732421875, -2.5840001106262207, 2.6520001888275146, -0.5080000162124634], "tau_des": [0.5313370227813721, -0.5695929527282715, -0.19280816614627838, -0.5470576882362366, 0.9320681691169739, -1.1693179607391357, -0.5389103889465332], "tau_dot": [57.8848991394043, 112.45416259765625, 6.04587984085083, 4.6720991134643555, -56.156131744384766, -40.37822723388672, 50.7589111328125], "tau_ext": [-16.765783309936523, -41.617767333984375, 31.782012939453125, 31.33173942565918, 9.484719276428223, -2.995699644088745, -0.12767018377780914], "tcp_pose": [0.677964448928833, 0.032607849687337875, -0.21499058604240417, -0.002302388660609722, -0.004598523490130901, 0.9998915791511536, 0.01379681657999754], "tcp_vel": [-4.060358332935721e-05, 0.0002100676210829988, 7.712992373853922e-05, 0.00031390186632052064, -0.0003019453724846244, 0.00016885028162505478], "flange_pose": [0.6786741018295288, 0.028472429141402245, -0.06504928320646286, -0.002302388660609722, -0.004598523490130901, 0.9998915791511536, 0.01379681657999754], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63887023925781, 15.244888305664062, 28.209287643432617, 0.37121111154556274, -23.9881591796875, 1.793456792831421], "ext_wrench_in_world": [-107.90586381377607, 15.019463910497096, -27.295369087630366, -0.16060430651407892, -23.932004868300766, -2.453449617879154]}
+{"timestamp_ns": 1789729894022248924, "elapsed_ms": 13400, "source_timestamp_ns": 1789729894021736409, "q": [0.8363428115844727, -1.8969370126724243, -1.0060532093048096, 1.3811707496643066, -0.162165567278862, 0.5938170552253723, 0.7040801048278809], "theta": [0.8384172320365906, -1.894989013671875, -1.0042437314987183, 1.362755537033081, -0.16275949776172638, 0.5937873125076294, 0.7040596604347229], "dq": [0.0007693952065892518, -0.0006152566056698561, 0.0012084123445674777, -0.0011387468548491597, 9.870545181911439e-05, -0.0005081517156213522, 0.0025227349251508713], "dtheta": [-0.00011842892126878724, -1.771387724147644e-05, 0.0001923629461089149, 0.00012885095202364028, 0.0002542046131566167, -0.0005945528391748667, -0.00013673497596755624], "tau": [55.62999725341797, 23.59000015258789, 5.516000270843506, -26.328001022338867, -2.580000162124634, 2.636000156402588, -0.5480000376701355], "tau_des": [0.6349452137947083, -0.5275381803512573, -0.18130530416965485, -0.6362960934638977, 0.9083002805709839, -1.1181503534317017, -0.5372734069824219], "tau_dot": [-4.2428879737854, 96.00147247314453, 15.210134506225586, -10.361488342285156, 7.20500373840332, -57.10382080078125, -47.28138732910156], "tau_ext": [-16.789621353149414, -41.59443283081055, 31.786746978759766, 31.382896423339844, 9.494293212890625, -3.000267505645752, -0.13291902840137482], "tcp_pose": [0.6779629588127136, 0.03260735049843788, -0.21499194204807281, -0.0023046820424497128, -0.004598509520292282, 0.9998915791511536, 0.013795401901006699], "tcp_vel": [-0.000290299067273736, 1.0581461538095027e-05, -0.00022100038768257946, -0.00019489129772409797, 0.0008691854309290648, 0.00017709002713672817], "flange_pose": [0.6786733269691467, 0.028472358360886574, -0.0650506243109703, -0.0023046820424497128, -0.004598509520292282, 0.9998915791511536, 0.013795401901006699], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.73939514160156, 15.186564445495605, 28.184953689575195, 0.35212159156799316, -24.00717544555664, 1.7885886430740356], "ext_wrench_in_world": [-108.00586098555195, 14.959480776523947, -27.27175365254836, -0.14132929681172246, -23.950977528204405, -2.4491250062889423]}
+{"timestamp_ns": 1789729894055584133, "elapsed_ms": 13433, "source_timestamp_ns": 1789729894051748911, "q": [0.8363432884216309, -1.896936058998108, -1.0060542821884155, 1.3811708688735962, -0.16216471791267395, 0.5938156247138977, 0.7040795087814331], "theta": [0.8384173512458801, -1.8949880599975586, -1.004244089126587, 1.3627554178237915, -0.16275975108146667, 0.5937854051589966, 0.7040587067604065], "dq": [2.007683360716328e-05, -0.0017927803564816713, 0.0004112845635972917, 0.0008244075579568744, -0.0009916342096403241, 7.406147778965533e-05, 0.004495830275118351], "dtheta": [-3.827457476290874e-05, 0.00041354764834977686, -5.2792700444115326e-05, 0.0003332183405291289, -0.0007388417143374681, -8.330601849593222e-05, 0.0007480377680622041], "tau": [55.599998474121094, 23.53999900817871, 5.528000354766846, -26.304000854492188, -2.56000018119812, 2.680000066757202, -0.5480000376701355], "tau_des": [0.5710333585739136, -0.6478368043899536, -0.09336286783218384, -0.5874910950660706, 0.929858922958374, -1.137030839920044, -0.5570232272148132], "tau_dot": [-81.13298797607422, 29.774534225463867, -19.95186424255371, 54.13595199584961, 7.272518634796143, 41.56732940673828, 5.385387420654297], "tau_ext": [-16.809818267822266, -41.55204772949219, 31.758256912231445, 31.375110626220703, 9.50186538696289, -3.0039026737213135, -0.13163460791110992], "tcp_pose": [0.6779632568359375, 0.032606255263090134, -0.21499164402484894, -0.0023050354793667793, -0.004597850143909454, 0.9998916387557983, 0.013795166276395321], "tcp_vel": [7.436151645379141e-05, -0.0002797333290800452, -3.679682322399458e-06, -0.00043484452180564404, -3.702855610754341e-05, -0.0005972234648652375], "flange_pose": [0.6786737442016602, 0.028471332043409348, -0.06505033373832703, -0.0023050354793667793, -0.004597850143909454, 0.9998916387557983, 0.013795166276395321], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7846450805664, 15.114921569824219, 28.18312644958496, 0.33020317554473877, -24.009546279907227, 1.7842752933502197], "ext_wrench_in_world": [-108.05044583040875, 14.887527130186083, -27.271631368086023, -0.11940306737015972, -23.953264323622836, -2.444965475577687]}
+{"timestamp_ns": 1789729894088981016, "elapsed_ms": 13466, "source_timestamp_ns": 1789729894081724406, "q": [0.836344301700592, -1.8969368934631348, -1.0060539245605469, 1.3811694383621216, -0.16216430068016052, 0.5938157439231873, 0.7040784955024719], "theta": [0.8384186625480652, -1.8949885368347168, -1.0042434930801392, 1.3627550601959229, -0.16275829076766968, 0.5937851667404175, 0.704057514667511], "dq": [-0.00040458841249346733, 0.002329612150788307, 0.0006749767926521599, 0.0010441894410178065, -0.0030191109981387854, -0.0013096700422465801, 0.0009696696070022881], "dtheta": [0.00017838233907241374, 0.0003293730260338634, 3.03091510431841e-05, 0.0002866059949155897, 0.000879716535564512, 0.0009437703411094844, 0.0006801261333748698], "tau": [55.619998931884766, 23.639999389648438, 5.520000457763672, -26.292001724243164, -2.5360000133514404, 2.6440000534057617, -0.5440000295639038], "tau_des": [0.5178696513175964, -0.6435023546218872, -0.13919995725154877, -0.5320755243301392, 0.9005273580551147, -1.1759368181228638, -0.561775267124176], "tau_dot": [-18.373607635498047, 0.8363956809043884, 18.387542724609375, -13.596789360046387, 91.97181701660156, -29.461637496948242, 11.983217239379883], "tau_ext": [-16.803237915039062, -41.5847053527832, 31.755250930786133, 31.33924674987793, 9.500672340393066, -2.9969804286956787, -0.12053535878658295], "tcp_pose": [0.6779636740684509, 0.032607000321149826, -0.21499061584472656, -0.00230411347001791, -0.00459856865927577, 0.9998915791511536, 0.013795499689877033], "tcp_vel": [6.032758028595708e-05, 7.56451699999161e-05, 0.00012746833090204746, 0.001259812619537115, -0.000146787308040075, -0.0013442973140627146], "flange_pose": [0.6786738634109497, 0.02847197838127613, -0.06504930555820465, -0.00230411347001791, -0.00459856865927577, 0.9998915791511536, 0.013795499689877033], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7136001586914, 15.131205558776855, 28.191911697387695, 0.3313463628292084, -23.99261474609375, 1.788665533065796], "ext_wrench_in_world": [-107.97956524128604, 14.90457041967624, -27.280472812425256, -0.1206832753959966, -23.9362280165675, -2.4488979239122237]}
+{"timestamp_ns": 1789729894122254920, "elapsed_ms": 13500, "source_timestamp_ns": 1789729894121744605, "q": [0.8363450169563293, -1.8969413042068481, -1.0060526132583618, 1.3811686038970947, -0.16216479241847992, 0.5938163995742798, 0.7040767669677734], "theta": [0.8384199142456055, -1.8949923515319824, -1.0042423009872437, 1.3627550601959229, -0.16275829076766968, 0.5937856435775757, 0.7040570378303528], "dq": [0.0010452346177771688, -0.00046858409768901765, -0.00010390342504251748, 0.0011023414554074407, 0.0007824294152669609, 0.0018122410401701927, -0.0001727708731777966], "dtheta": [0.00011600636935327202, -0.0001425893569830805, -0.00014295031724032015, 0.0004413742572069168, -3.017008930328302e-05, -0.0009684755350463092, -0.0005373290041461587], "tau": [55.619998931884766, 23.59000015258789, 5.504000186920166, -26.332000732421875, -2.6040000915527344, 2.6480002403259277, -0.5680000185966492], "tau_des": [0.6263360977172852, -0.5154722929000854, -0.16819556057453156, -0.6510118842124939, 0.9254077672958374, -1.1106258630752563, -0.522496223449707], "tau_dot": [12.936407089233398, -45.365848541259766, -9.303201675415039, -14.85875129699707, -109.15118408203125, -42.18476486206055, -28.665616989135742], "tau_ext": [-16.804519653320312, -41.65513229370117, 31.7724552154541, 31.327037811279297, 9.489153861999512, -2.9950032234191895, -0.12105309963226318], "tcp_pose": [0.6779627203941345, 0.032609257847070694, -0.21499086916446686, -0.0023032694589346647, -0.004601431079208851, 0.9998916387557983, 0.013794603757560253], "tcp_vel": [-0.0003146645030938089, -0.00027639715699478984, -0.0002761359210126102, -0.0011001857928931713, 0.0008942316635511816, 0.0006419154815375805], "flange_pose": [0.6786726713180542, 0.028474504128098488, -0.06504954397678375, -0.0023032694589346647, -0.004601431079208851, 0.9998916387557983, 0.013794603757560253], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.63394927978516, 15.25438117980957, 28.225431442260742, 0.36965444684028625, -23.98927879333496, 1.8010796308517456], "ext_wrench_in_world": [-107.90123943647463, 15.028691594737904, -27.311153763011735, -0.15893767944656143, -23.932911248257575, -2.4610012734995763]}
+{"timestamp_ns": 1789729894155583569, "elapsed_ms": 13533, "source_timestamp_ns": 1789729894151741148, "q": [0.8363458514213562, -1.8969389200210571, -1.0060539245605469, 1.3811695575714111, -0.16216565668582916, 0.5938163995742798, 0.7040780186653137], "theta": [0.8384207487106323, -1.8949912786483765, -1.0042433738708496, 1.3627557754516602, -0.16275876760482788, 0.5937861204147339, 0.7040579915046692], "dq": [0.0017191170481964946, -0.0007754378602840006, 0.0017834212630987167, 0.0007709214114584029, -0.00042128798668272793, -0.0006545856595039368, 0.001572199398651719], "dtheta": [-0.0001353403349639848, 0.00046902551548555493, -0.000337921577738598, 0.00012521522876340896, -0.0003685786505229771, -0.0008229513186961412, -0.0005033393972553313], "tau": [55.56999969482422, 23.510000228881836, 5.556000232696533, -26.408000946044922, -2.564000129699707, 2.680000066757202, -0.5400000214576721], "tau_des": [0.5717008709907532, -0.6405000686645508, -0.07790674269199371, -0.5868597030639648, 0.931617021560669, -1.1317161321640015, -0.5336651802062988], "tau_dot": [-24.167896270751953, -34.142459869384766, -3.04841947555542, -14.336207389831543, 22.097938537597656, 16.35175132751465, -24.42119026184082], "tau_ext": [-16.813302993774414, -41.58373260498047, 31.73341941833496, 31.36449432373047, 9.489001274108887, -2.9999477863311768, -0.12077681720256805], "tcp_pose": [0.6779637336730957, 0.03260756656527519, -0.2149900496006012, -0.0023027914576232433, -0.0045998659916222095, 0.9998916387557983, 0.013794521801173687], "tcp_vel": [5.651914034388028e-05, -0.0005042026750743389, -9.05037741176784e-05, -0.0007042363868094981, 0.0005322936340235174, 0.00019532071019057184], "flange_pose": [0.678673505783081, 0.028472835198044777, -0.06504873186349869, -0.0023027914576232433, -0.0045998659916222095, 0.9998916387557983, 0.013794521801173687], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6361083984375, 15.231019020080566, 28.222816467285156, 0.3661970794200897, -23.991422653198242, 1.799386978149414], "ext_wrench_in_world": [-107.90310047030614, 15.005581777331226, -27.30927617706356, -0.15552586540043692, -23.93506874684538, -2.459380107157122]}
+{"timestamp_ns": 1789729894188903209, "elapsed_ms": 13566, "source_timestamp_ns": 1789729894181725892, "q": [0.8363449573516846, -1.8969377279281616, -1.0060557126998901, 1.3811689615249634, -0.16216562688350677, 0.593815803527832, 0.7040783166885376], "theta": [0.8384205102920532, -1.89499032497406, -1.0042448043823242, 1.3627557754516602, -0.16275854408740997, 0.5937858819961548, 0.7040589451789856], "dq": [0.0007411264232359827, -0.00039083955925889313, 0.0005675195134244859, 0.0009845106396824121, -0.001967376098036766, -0.0016421430045738816, -0.0008065548609010875], "dtheta": [-0.00031537117320112884, -0.0002681674959603697, 2.5357439881190658e-05, -0.00019579492800403386, -0.0005187274655327201, -2.4812172341626137e-05, 0.00018401783017907292], "tau": [55.619998931884766, 23.51999855041504, 5.556000232696533, -26.328001022338867, -2.5360000133514404, 2.6720001697540283, -0.5320000052452087], "tau_des": [0.6016011238098145, -0.5489234924316406, -0.16950660943984985, -0.579185426235199, 0.9328357577323914, -1.1548378467559814, -0.5400388836860657], "tau_dot": [-40.7789306640625, -109.09944152832031, 103.09139251708984, -19.779987335205078, 53.28194808959961, 19.083660125732422, 34.62875747680664], "tau_ext": [-16.836135864257812, -41.57609176635742, 31.739988327026367, 31.37255096435547, 9.488241195678711, -3.0020906925201416, -0.12509356439113617], "tcp_pose": [0.6779645681381226, 0.03260630741715431, -0.21499013900756836, -0.002302891807630658, -0.004598648753017187, 0.9998916387557983, 0.013794423080980778], "tcp_vel": [-5.268002951197559e-06, 9.007910557556897e-05, -0.00016475259326398373, -0.0004096930206287652, -9.674517787061632e-05, 0.00027093698736280203], "flange_pose": [0.6786743998527527, 0.028471605852246284, -0.06504881381988525, -0.002302891807630658, -0.004598648753017187, 0.9998916387557983, 0.013794423080980778], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66779327392578, 15.152402877807617, 28.228792190551758, 0.34785008430480957, -23.995643615722656, 1.794880986213684], "ext_wrench_in_world": [-107.93406385874394, 14.927126943074228, -27.317255904418655, -0.13717872856969524, -23.939242363957515, -2.455069653741754]}
+{"timestamp_ns": 1789729894222249396, "elapsed_ms": 13600, "source_timestamp_ns": 1789729894221732382, "q": [0.8363451957702637, -1.8969404697418213, -1.0060564279556274, 1.381168246269226, -0.16216683387756348, 0.5938144326210022, 0.7040781378746033], "theta": [0.8384209275245667, -1.8949923515319824, -1.0042459964752197, 1.3627558946609497, -0.16275997459888458, 0.5937846899032593, 0.7040591835975647], "dq": [0.0005225762142799795, -0.001754783559590578, 0.0007686523022130132, -0.0018255867762491107, 0.0018288835417479277, -0.0013631631154567003, 0.0009620222263038158], "dtheta": [-7.678145630052313e-05, 0.00035246770130470395, -6.0688937082886696e-05, -1.0675495104806032e-05, 8.414496551267803e-05, 0.0005334102897904813, -0.0003791905764956027], "tau": [55.57999801635742, 23.649999618530273, 5.4720001220703125, -26.292001724243164, -2.580000162124634, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.5212985873222351, -0.6361119747161865, -0.12788161635398865, -0.5248556137084961, 0.9276393055915833, -1.1766895055770874, -0.5356945395469666], "tau_dot": [36.14512252807617, 95.64464569091797, 5.8017168045043945, 4.55007266998291, -33.815345764160156, -36.363346099853516, -32.04793930053711], "tau_ext": [-16.777019500732422, -41.622859954833984, 31.781352996826172, 31.351741790771484, 9.48992919921875, -2.996042251586914, -0.13361118733882904], "tcp_pose": [0.6779643297195435, 0.03260650485754013, -0.21499058604240417, -0.002302585169672966, -0.004599656444042921, 0.9998916387557983, 0.013792538084089756], "tcp_vel": [0.00019004331261385232, -4.50601291959174e-05, 0.00010764691251097247, 0.0006320503307506442, -0.00031875507556833327, 3.921425377484411e-05], "flange_pose": [0.678674042224884, 0.02847236953675747, -0.06504925340414047, -0.002302585169672966, -0.004599656444042921, 0.9998916387557983, 0.013792538084089756], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65740966796875, 15.168275833129883, 28.2274112701416, 0.3474538028240204, -23.991729736328125, 1.7895221710205078], "ext_wrench_in_world": [-107.9238313639333, 14.942730999483226, -27.31561108939069, -0.1367430019653278, -23.93548367531001, -2.449516700711316]}
+{"timestamp_ns": 1789729894255589004, "elapsed_ms": 13633, "source_timestamp_ns": 1789729894251741044, "q": [0.8363465666770935, -1.8969416618347168, -1.006056785583496, 1.381168007850647, -0.16216692328453064, 0.5938115119934082, 0.7040787935256958], "theta": [0.8384218811988831, -1.894993543624878, -1.004246473312378, 1.3627556562423706, -0.16276022791862488, 0.5937818288803101, 0.704059898853302], "dq": [0.0021461674477905035, -0.0016299211420118809, 0.0005723861977458, -0.0010936682811006904, -0.0006466534687206149, -0.0012209099950268865, 0.0005803002859465778], "dtheta": [0.00026669667568057775, -1.9026396330446005e-05, -1.3082666555419564e-05, -1.5731080566183664e-05, -0.0005692049162462354, -0.000651278649456799, 0.0005357173504307866], "tau": [55.63999938964844, 23.600000381469727, 5.488000392913818, -26.332000732421875, -2.572000026702881, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.5068496465682983, -0.610353410243988, -0.14007480442523956, -0.5472516417503357, 0.9459215402603149, -1.147760033607483, -0.5470541715621948], "tau_dot": [38.54482650756836, 35.02531051635742, -24.693241119384766, 2.637047529220581, 24.231170654296875, 31.58156394958496, -62.6363525390625], "tau_ext": [-16.783597946166992, -41.62263107299805, 31.791494369506836, 31.359697341918945, 9.4981689453125, -2.995694160461426, -0.1339026242494583], "tcp_pose": [0.6779639720916748, 0.03260626643896103, -0.2149902880191803, -0.002302867593243718, -0.004599696025252342, 0.9998916387557983, 0.013791030272841454], "tcp_vel": [1.8750955860014074e-05, -0.00014140811981633306, 0.00015414159861393273, -0.0007955370820127428, -9.15183118195273e-05, -0.00020322075579315424], "flange_pose": [0.6786737442016602, 0.02847258374094963, -0.0650489404797554, -0.002302867593243718, -0.004599696025252342, 0.9998916387557983, 0.013791030272841454], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69815063476562, 15.197222709655762, 28.20656394958496, 0.3537020683288574, -24.000879287719727, 1.7896251678466797], "ext_wrench_in_world": [-107.96475237084528, 14.970621229338395, -27.293776279351807, -0.14290694368451284, -23.944691796375654, -2.4497718996370446]}
+{"timestamp_ns": 1789729894288896275, "elapsed_ms": 13666, "source_timestamp_ns": 1789729894281726108, "q": [0.8363462686538696, -1.8969424962997437, -1.006056547164917, 1.3811676502227783, -0.16216503083705902, 0.5938071608543396, 0.7040773034095764], "theta": [0.8384217619895935, -1.8949942588806152, -1.0042457580566406, 1.3627554178237915, -0.16275902092456818, 0.5937772989273071, 0.7040589451789856], "dq": [-8.187028288375586e-05, -0.0013090738793835044, 0.0010809455998241901, 0.0010133188916370273, 0.0003522076294757426, -0.0005313478177413344, -2.0010164007544518e-05], "dtheta": [0.00012101345782866701, 5.228184090810828e-05, 1.1465761417639442e-05, -0.00011500630353111774, 0.0003468734212219715, -0.0014553775545209646, -0.0008363428642041981], "tau": [55.71999740600586, 23.59000015258789, 5.504000186920166, -26.21200180053711, -2.568000078201294, 2.6480002403259277, -0.527999997138977], "tau_des": [0.576689600944519, -0.5544750094413757, -0.16318587958812714, -0.6092309355735779, 0.9180689454078674, -1.1113929748535156, -0.5245314240455627], "tau_dot": [52.762508392333984, 25.769506454467773, -21.25080680847168, 7.705796718597412, -16.80595588684082, -10.322290420532227, 18.102828979492188], "tau_ext": [-16.80206871032715, -41.578086853027344, 31.77730369567871, 31.36492347717285, 9.500123023986816, -2.9995272159576416, -0.13521602749824524], "tcp_pose": [0.6779626607894897, 0.032606180757284164, -0.21499116718769073, -0.0023050690069794655, -0.004600244574248791, 0.9998916983604431, 0.013790138997137547], "tcp_vel": [-0.00023751109256409109, -0.0001924595853779465, -4.462668948690407e-05, -0.0006207101396284997, 0.001059237401932478, 0.0006327463779598475], "flange_pose": [0.6786731481552124, 0.028472766280174255, -0.06504981219768524, -0.0023050690069794655, -0.004600244574248791, 0.9998916983604431, 0.013790138997137547], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.72859954833984, 15.172135353088379, 28.20223045349121, 0.34142497181892395, -24.00261878967285, 1.786586880683899], "ext_wrench_in_world": [-107.99508684658373, 14.944968461447475, -27.289554577823523, -0.13058313535498067, -23.946405142559684, -2.4467940757492435]}
+{"timestamp_ns": 1789729894322259241, "elapsed_ms": 13700, "source_timestamp_ns": 1789729894321763185, "q": [0.8363470435142517, -1.8969439268112183, -1.0060559511184692, 1.3811670541763306, -0.16216467320919037, 0.5938073992729187, 0.7040759921073914], "theta": [0.8384222984313965, -1.8949953317642212, -1.0042450428009033, 1.362754464149475, -0.16275854408740997, 0.593777060508728, 0.704057514667511], "dq": [0.0010464030783623457, 0.0030294095631688833, -0.0011577708646655083, 0.001304931240156293, -0.0006093575502745807, -0.0013019152684137225, 0.000678497483022511], "dtheta": [0.0002181739400839433, 6.903474422870204e-05, 0.0002843654074240476, -0.0001425486261723563, 0.000577513943426311, 0.0005197692662477493, 4.3052586988778785e-05], "tau": [55.64999771118164, 23.59000015258789, 5.508000373840332, -26.248001098632812, -2.572000026702881, 2.6480002403259277, -0.5480000376701355], "tau_des": [0.49178260564804077, -0.5886997580528259, -0.21428124606609344, -0.5115085244178772, 0.9162768721580505, -1.1802908182144165, -0.5363264083862305], "tau_dot": [-4.28240966796875, -27.969778060913086, -16.9428653717041, -22.583669662475586, -18.47852325439453, 28.056392669677734, -38.400787353515625], "tau_ext": [-16.799686431884766, -41.599308013916016, 31.775577545166016, 31.33576011657715, 9.491049766540527, -2.9933648109436035, -0.12524166703224182], "tcp_pose": [0.6779624819755554, 0.032607100903987885, -0.2149907797574997, -0.0023045216221362352, -0.004601459018886089, 0.9998916387557983, 0.013790118508040905], "tcp_vel": [4.457557588466443e-05, 0.00028639216907322407, 0.00025929469848051667, 0.0010129299480468035, -0.00031489518005400896, -0.0002449223829898983], "flange_pose": [0.6786727905273438, 0.028473693877458572, -0.0650494173169136, -0.0023045216221362352, -0.004601459018886089, 0.9998916387557983, 0.013790118508040905], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64006805419922, 15.203975677490234, 28.221166610717773, 0.3446749448776245, -23.980575561523438, 1.7874892950057983], "ext_wrench_in_world": [-107.90694597662402, 14.97787591810987, -27.308123607525573, -0.13397807773713988, -23.924376862660615, -2.447072673092746]}
+{"timestamp_ns": 1789729894355588390, "elapsed_ms": 13733, "source_timestamp_ns": 1789729894351755378, "q": [0.8363487720489502, -1.8969435691833496, -1.0060559511184692, 1.3811677694320679, -0.16216501593589783, 0.5938073396682739, 0.7040751576423645], "theta": [0.8384237289428711, -1.894994854927063, -1.0042450428009033, 1.3627550601959229, -0.16275876760482788, 0.5937763452529907, 0.7040572762489319], "dq": [-0.0025074013974517584, 0.002010009018704295, -0.00046743382699787617, 0.001087198150344193, -0.0020483320113271475, -0.00040751174674369395, 0.0018749944865703583], "dtheta": [-0.00012165267253294587, 0.00010360363376094028, 3.335099245305173e-05, -0.00019485733355395496, -0.0003965116338804364, 0.000622267834842205, 0.0006410190253518522], "tau": [55.62999725341797, 23.600000381469727, 5.5400004386901855, -26.304000854492188, -2.56000018119812, 2.632000207901001, -0.5240000486373901], "tau_des": [0.5204718708992004, -0.6189739108085632, -0.16300681233406067, -0.5167741179466248, 0.934361457824707, -1.1812312602996826, -0.5441123843193054], "tau_dot": [37.81138610839844, 108.26895904541016, 79.58605194091797, 29.09172821044922, -42.40604019165039, -79.54778289794922, 76.35234069824219], "tau_ext": [-16.79469871520996, -41.60243606567383, 31.768400192260742, 31.364444732666016, 9.48973560333252, -2.998366594314575, -0.11918459832668304], "tcp_pose": [0.6779627203941345, 0.032606761902570724, -0.2149898260831833, -0.002303915563970804, -0.004601888824254274, 0.9998916983604431, 0.013789900578558445], "tcp_vel": [0.00023663694446440786, 9.560136095387861e-05, 0.00014040613314136863, 0.0003678839129861444, -0.0006967991357669234, -0.0005123846931383014], "flange_pose": [0.6786728501319885, 0.028473421931266785, -0.0650484710931778, -0.002303915563970804, -0.004601888824254274, 0.9998916983604431, 0.013789900578558445], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.65603637695312, 15.199174880981445, 28.20427703857422, 0.3478509485721588, -23.987043380737305, 1.7921512126922607], "ext_wrench_in_world": [-107.92276876549155, 14.97236104761182, -27.291440331674607, -0.13709369811389785, -23.930744080925248, -2.451886916672333]}
+{"timestamp_ns": 1789729894388894981, "elapsed_ms": 13766, "source_timestamp_ns": 1789729894381733783, "q": [0.8363505005836487, -1.8969435691833496, -1.0060560703277588, 1.3811695575714111, -0.16216376423835754, 0.5938059687614441, 0.7040759325027466], "theta": [0.8384251594543457, -1.8949947357177734, -1.0042450428009033, 1.3627567291259766, -0.16275854408740997, 0.5937749147415161, 0.704057514667511], "dq": [-0.0011303020874038339, 0.0016399703454226255, -0.0012879513669759035, 0.001414047204889357, -0.002773069543763995, 0.00045518751721829176, -0.0004920688224956393], "dtheta": [0.00012591354607138783, -8.097630779957399e-05, 2.512848914193455e-05, -0.000107981548353564, -0.001195401418954134, -3.6775367334485054e-05, 6.817273970227689e-05], "tau": [55.65999984741211, 23.51999855041504, 5.52400016784668, -26.34400177001953, -2.556000232696533, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.5011922717094421, -0.5970668792724609, -0.1724076122045517, -0.5306621193885803, 0.9590662121772766, -1.1638871431350708, -0.529190182685852], "tau_dot": [43.718753814697266, -126.65586853027344, 32.704036712646484, 17.75003433227539, 35.540653228759766, -0.9346127510070801, -1.316456913948059], "tau_ext": [-16.801097869873047, -41.589866638183594, 31.76519775390625, 31.410160064697266, 9.486371994018555, -3.0048420429229736, -0.11863857507705688], "tcp_pose": [0.6779619455337524, 0.03260631114244461, -0.21498973667621613, -0.002304626861587167, -0.004601321183145046, 0.9998916983604431, 0.013789285905659199], "tcp_vel": [0.00019511878781486303, -3.139952968922444e-05, 0.00020497714285738766, -0.0007487817783840001, -0.0008367347763851285, 0.0006507783546112478], "flange_pose": [0.6786722540855408, 0.028473155573010445, -0.06504836678504944, -0.002304626861587167, -0.004601321183145046, 0.9998916983604431, 0.013789285905659199], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.76287078857422, 15.134660720825195, 28.205856323242188, 0.33980584144592285, -24.014535903930664, 1.794087529182434], "ext_wrench_in_world": [-108.02903789465006, 14.907014116643687, -27.294184515007398, -0.12883709788789802, -23.958099975094804, -2.454587407079623]}
+{"timestamp_ns": 1789729894422259147, "elapsed_ms": 13800, "source_timestamp_ns": 1789729894421741953, "q": [0.8363502621650696, -1.896944522857666, -1.0060558319091797, 1.3811697959899902, -0.16216492652893066, 0.5938091278076172, 0.704075813293457], "theta": [0.8384257555007935, -1.8949949741363525, -1.0042455196380615, 1.362757682800293, -0.16275854408740997, 0.5937787294387817, 0.7040582299232483], "dq": [0.000412645167671144, -0.0023746902588754892, 0.0015630030538886786, 0.001244972227141261, 0.00031791816581971943, -0.0008322011562995613, -0.0003949640959035605], "dtheta": [0.0001512701710453257, -0.00011527423339430243, 0.0001350375678157434, -0.0001675728417467326, 0.0002679795725271106, 0.00036306792753748596, -0.00020845176186412573], "tau": [55.61000061035156, 23.59000015258789, 5.4720001220703125, -26.26000213623047, -2.5480000972747803, 2.6560001373291016, -0.5320000052452087], "tau_des": [0.5044568777084351, -0.5695894360542297, -0.21507605910301208, -0.5192477703094482, 0.9255873560905457, -1.1801308393478394, -0.5286868214607239], "tau_dot": [-23.8004207611084, -105.96614074707031, -61.135257720947266, -17.916597366333008, 40.38713073730469, -28.72450828552246, 29.483991622924805], "tau_ext": [-16.803556442260742, -41.61302947998047, 31.77518653869629, 31.322072982788086, 9.4863920211792, -2.9985806941986084, -0.11793918907642365], "tcp_pose": [0.6779622435569763, 0.032607052475214005, -0.2149897664785385, -0.002303321612998843, -0.0046020615845918655, 0.9998916983604431, 0.013789637014269829], "tcp_vel": [5.351855725166388e-05, 0.00021663287770934403, 0.00016985894762910903, 0.000501700968015939, -0.00037478850572369993, 0.00019661769329104573], "flange_pose": [0.6786722540855408, 0.028473790735006332, -0.06504840403795242, -0.002303321612998843, -0.0046020615845918655, 0.9998916983604431, 0.013789637014269829], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7370834350586, 15.151604652404785, 28.20673370361328, 0.3450995087623596, -24.005962371826172, 1.7950332164764404], "ext_wrench_in_world": [-108.00336071850504, 14.924077721924048, -27.294982588757346, -0.134172298076423, -23.949551487350746, -2.4552899352012507]}
+{"timestamp_ns": 1789729894455604575, "elapsed_ms": 13833, "source_timestamp_ns": 1789729894451746475, "q": [0.8363491892814636, -1.896945595741272, -1.0060561895370483, 1.3811676502227783, -0.162167027592659, 0.5938099026679993, 0.7040759325027466], "theta": [0.8384247422218323, -1.894996166229248, -1.0042461156845093, 1.362756371498108, -0.16276070475578308, 0.5937796831130981, 0.7040591835975647], "dq": [0.0023461885284632444, 0.0002276331651955843, -0.0012433393858373165, -0.00010637211380526423, 0.000614509976003319, -0.0005624243058264256, 0.0025875819846987724], "dtheta": [-0.00017283862689509988, 4.496749534155242e-05, -1.2273431821085978e-05, -0.0001214270741911605, 4.1386985685676336e-05, -0.00016225717263296247, 0.00023176369722932577], "tau": [55.68000030517578, 23.579999923706055, 5.488000392913818, -26.240001678466797, -2.580000162124634, 2.6520001888275146, -0.527999997138977], "tau_des": [0.5698714256286621, -0.5786555409431458, -0.17444944381713867, -0.5602705478668213, 0.9205021262168884, -1.1608095169067383, -0.5365949273109436], "tau_dot": [29.765195846557617, -53.978485107421875, -73.88639831542969, 67.00507354736328, -6.85913610458374, 5.027817249298096, 2.3632726669311523], "tau_ext": [-16.837081909179688, -41.63307189941406, 31.77849006652832, 31.292774200439453, 9.492229461669922, -2.993919610977173, -0.12744778394699097], "tcp_pose": [0.677963137626648, 0.032607562839984894, -0.21498966217041016, -0.002302105538547039, -0.004602684639394283, 0.9998916983604431, 0.013789311051368713], "tcp_vel": [-9.43953637033701e-06, -1.9459554096101783e-05, -7.220869156299159e-05, 1.3687473256140947e-05, 0.0002232676779385656, -0.00030880788108333945], "flange_pose": [0.678672730922699, 0.028474396094679832, -0.06504829227924347, -0.002302105538547039, -0.004602684639394283, 0.9998916983604431, 0.013789311051368713], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.55660247802734, 15.288856506347656, 28.221742630004883, 0.372901052236557, -23.96332359313965, 1.7965967655181885], "ext_wrench_in_world": [-107.82416611372166, 15.06320928211538, -27.307280255750143, -0.16233442783959098, -23.907147037283025, -2.455536770936344]}
+{"timestamp_ns": 1789729894488896147, "elapsed_ms": 13866, "source_timestamp_ns": 1789729894481733459, "q": [0.836348831653595, -1.896945834159851, -1.006056547164917, 1.3811686038970947, -0.16216717660427094, 0.5938089489936829, 0.7040768265724182], "theta": [0.8384245038032532, -1.8949960470199585, -1.0042463541030884, 1.3627567291259766, -0.1627618968486786, 0.5937787294387817, 0.7040594220161438], "dq": [0.0010737994452938437, -0.0013143033720552921, -0.001376962405629456, 0.0021360954269766808, 0.0009746219147928059, 0.0015559643507003784, -0.002856002887710929], "dtheta": [1.4919804698365624e-06, 0.0003093420236837119, -2.8938649847987108e-05, -6.354495417326689e-05, 0.0008179285214282572, -0.00013848859816789627, -0.00021834851941093802], "tau": [55.62999725341797, 23.53999900817871, 5.496000289916992, -26.352001190185547, -2.5920000076293945, 2.6600000858306885, -0.5640000104904175], "tau_des": [0.5441629886627197, -0.607000470161438, -0.1633538007736206, -0.5493960380554199, 0.902859091758728, -1.1607692241668701, -0.5361286997795105], "tau_dot": [-10.360945701599121, 30.33803939819336, -39.11747741699219, 11.789308547973633, -2.3752033710479736, -36.988922119140625, -61.442352294921875], "tau_ext": [-16.82684326171875, -41.57266616821289, 31.770891189575195, 31.361434936523438, 9.507575988769531, -3.0038607120513916, -0.12949109077453613], "tcp_pose": [0.6779625415802002, 0.03260710835456848, -0.214990496635437, -0.0023029434960335493, -0.00460230465978384, 0.9998916983604431, 0.01378849521279335], "tcp_vel": [-1.9713388610398397e-05, -5.926968515268527e-05, 3.6501842259895056e-05, 0.0006659396458417177, 0.0004892150172963738, -0.0004699968849308789], "flange_pose": [0.6786724328994751, 0.02847418747842312, -0.06504912674427032, -0.0023029434960335493, -0.00460230465978384, 0.9998916983604431, 0.01378849521279335], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.52617645263672, 15.282501220703125, 28.229894638061523, 0.363406777381897, -23.94929313659668, 1.7929619550704956], "ext_wrench_in_world": [-107.79375698896912, 15.057397480777679, -27.315584428479042, -0.15297334097362275, -23.893138585167264, -2.451519224431397]}
+{"timestamp_ns": 1789729894522259393, "elapsed_ms": 13900, "source_timestamp_ns": 1789729894521725290, "q": [0.8363509178161621, -1.8969453573226929, -1.0060560703277588, 1.3811713457107544, -0.16216614842414856, 0.5938029885292053, 0.7040765881538391], "theta": [0.8384261727333069, -1.894995927810669, -1.0042458772659302, 1.3627591133117676, -0.16276118159294128, 0.5937727689743042, 0.7040591835975647], "dq": [0.001678898581303656, 0.0021396514493972063, -0.0008611804805696011, -0.00116577313747257, 0.0011531217023730278, -0.002123754471540451, 0.0003977256710641086], "dtheta": [4.582360270433128e-05, -0.00023969441826920956, 0.0003260050143580884, -0.0002502728020772338, 0.0001746716006891802, 0.0008630498195998371, -0.00079365010606125], "tau": [55.55999755859375, 23.529998779296875, 5.492000102996826, -26.380001068115234, -2.6000001430511475, 2.6720001697540283, -0.5320000052452087], "tau_des": [0.525130569934845, -0.5250885486602783, -0.26162225008010864, -0.529256284236908, 0.9256241321563721, -1.182187557220459, -0.5130778551101685], "tau_dot": [51.970027923583984, -25.89805030822754, -18.644819259643555, -38.834312438964844, -55.45008850097656, -26.070541381835938, -0.5197823643684387], "tau_ext": [-16.765153884887695, -41.5640983581543, 31.78058624267578, 31.4341983795166, 9.513572692871094, -3.0074658393859863, -0.13634969294071198], "tcp_pose": [0.6779606342315674, 0.032605819404125214, -0.21499089896678925, -0.002305644564330578, -0.004602364730089903, 0.9998916983604431, 0.013786434195935726], "tcp_vel": [7.222192652989179e-05, 0.00044677851838059723, 0.00017343845684081316, 0.0008505923906341195, -0.0007208785391412675, 0.001025920850224793], "flange_pose": [0.6786713004112244, 0.028473520651459694, -0.06504951417446136, -0.002305644564330578, -0.004602364730089903, 0.9998916983604431, 0.013786434195935726], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82935333251953, 15.06230640411377, 28.1796817779541, 0.3131536543369293, -24.011180877685547, 1.7851136922836304], "ext_wrench_in_world": [-108.09481734810609, 14.832967509836985, -27.269589596457166, -0.10212834904485135, -23.954760872482236, -2.4455070208548797]}
+{"timestamp_ns": 1789729894555593022, "elapsed_ms": 13933, "source_timestamp_ns": 1789729894551753611, "q": [0.8363521099090576, -1.8969467878341675, -1.006055474281311, 1.3811702728271484, -0.16216453909873962, 0.5938036441802979, 0.7040764093399048], "theta": [0.8384271860122681, -1.8949973583221436, -1.004245400428772, 1.3627580404281616, -0.16275997459888458, 0.5937732458114624, 0.7040584683418274], "dq": [0.0008858267101459205, 0.000633229676168412, -0.00024442942230962217, 0.0003153417492285371, -0.00016128539573401213, -0.0006463556201197207, 0.000871399650350213], "dtheta": [0.00025390999508090317, -0.00017726034275256097, -0.00016098792548291385, 6.223500531632453e-05, 6.618272163905203e-05, 0.0010070560965687037, 1.7031958122970536e-05], "tau": [55.619998931884766, 23.709999084472656, 5.500000476837158, -26.25200080871582, -2.56000018119812, 2.680000066757202, -0.5160000324249268], "tau_des": [0.4993305802345276, -0.5858275890350342, -0.1916601061820984, -0.5179927349090576, 0.9298340678215027, -1.1869468688964844, -0.5338548421859741], "tau_dot": [66.6827392578125, 75.17530822753906, 22.923879623413086, 41.66104507446289, 33.69594955444336, 29.121845245361328, 30.672300338745117], "tau_ext": [-16.790010452270508, -41.628326416015625, 31.784828186035156, 31.341955184936523, 9.507722854614258, -2.993891954421997, -0.13380298018455505], "tcp_pose": [0.6779606938362122, 0.032606955617666245, -0.21499003469944, -0.002304860856384039, -0.004602604079991579, 0.9998916983604431, 0.013787094503641129], "tcp_vel": [0.00021548804943449795, 0.00011515594087541103, 0.00019212212646380067, 0.00042992105591110885, -0.0009785644942894578, -6.194636807776988e-05], "flange_pose": [0.67867112159729, 0.028474459424614906, -0.06504865735769272, -0.002304860856384039, -0.004602604079991579, 0.9998916983604431, 0.013787094503641129], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.85519409179688, 15.073348045349121, 28.171619415283203, 0.31726786494255066, -24.02254295349121, 1.786521077156067], "ext_wrench_in_world": [-108.12068346299482, 14.843530042754944, -27.261259650274223, -0.1061304410294257, -23.96611430028634, -2.447240912676121]}
+{"timestamp_ns": 1789729894588899743, "elapsed_ms": 13966, "source_timestamp_ns": 1789729894581733815, "q": [0.8363520503044128, -1.8969521522521973, -1.0060549974441528, 1.3811671733856201, -0.16216342151165009, 0.593805193901062, 0.7040765285491943], "theta": [0.838426947593689, -1.8950022459030151, -1.0042455196380615, 1.3627556562423706, -0.16275927424430847, 0.593774676322937, 0.7040579915046692], "dq": [-0.0017537447856739163, -0.00145566719584167, 0.001336959539912641, -0.0006532261613756418, -0.0013707379112020135, -0.0007040259661152959, 0.000653609458822757], "dtheta": [-2.0593237422872335e-05, 0.00020106234296690673, -0.00017995013331528753, -0.00023446754494216293, 0.0005842264508828521, -9.095542918657884e-05, -0.000530033081304282], "tau": [55.64999771118164, 23.6299991607666, 5.5360002517700195, -26.248001098632812, -2.5960001945495605, 2.6560001373291016, -0.5480000376701355], "tau_des": [0.533964991569519, -0.5920225977897644, -0.18354852497577667, -0.5354539752006531, 0.9103530049324036, -1.1684510707855225, -0.5256810188293457], "tau_dot": [-54.95851135253906, 1.721398115158081, 20.330888748168945, -22.261703491210938, -96.12590026855469, -8.421028137207031, -15.377469062805176], "tau_ext": [-16.821020126342773, -41.65161895751953, 31.784814834594727, 31.26813507080078, 9.498575210571289, -2.9863100051879883, -0.1291341781616211], "tcp_pose": [0.6779603958129883, 0.03260974958539009, -0.21499021351337433, -0.00230349600315094, -0.004603980109095573, 0.9998916983604431, 0.01378696970641613], "tcp_vel": [0.00010458893666509539, -8.682229236001149e-05, 8.200313459383324e-05, 0.00047480815555900335, 0.00015255696780513972, -9.047008643392473e-05], "flange_pose": [0.6786704063415527, 0.02847728691995144, -0.06504883617162704, -0.00230349600315094, -0.004603980109095573, 0.9998916983604431, 0.01378696970641613], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.61498260498047, 15.276623725891113, 28.217451095581055, 0.3646410405635834, -23.978425979614258, 1.7936195135116577], "ext_wrench_in_world": [-107.88252511272141, 15.049909551567058, -27.302843398754288, -0.15386625083729893, -23.92226043268233, -2.452901847878926]}
+{"timestamp_ns": 1789729894622260659, "elapsed_ms": 14000, "source_timestamp_ns": 1789729894621735085, "q": [0.8363519906997681, -1.896949291229248, -1.0060575008392334, 1.3811694383621216, -0.16216515004634857, 0.5938027501106262, 0.7040778398513794], "theta": [0.8384274840354919, -1.8950002193450928, -1.0042475461959839, 1.3627570867538452, -0.16276070475578308, 0.5937725305557251, 0.7040584683418274], "dq": [-0.0009805617155507207, 0.0025965103413909674, 0.0002607761125545949, 0.00012721834355033934, -0.0032933701295405626, -0.000986446044407785, -0.0018472312949597836], "dtheta": [0.0002721476193983108, 0.0003031305386684835, -0.00038330507231876254, 9.846120519796386e-05, -0.00037255699862726033, -0.000157670394401066, -0.00018704391550272703], "tau": [55.529998779296875, 23.439998626708984, 5.552000045776367, -26.468000411987305, -2.564000129699707, 2.7080001831054688, -0.5400000214576721], "tau_des": [0.49288904666900635, -0.6536155343055725, -0.1132785752415657, -0.5321553349494934, 0.9370943307876587, -1.1593868732452393, -0.5356371402740479], "tau_dot": [-84.57115173339844, -11.301692962646484, 56.57194137573242, -24.479907989501953, 16.41913604736328, 46.10252380371094, -1.148384690284729], "tau_ext": [-16.798612594604492, -41.540748596191406, 31.743209838867188, 31.3593807220459, 9.498575210571289, -3.000746726989746, -0.1263798326253891], "tcp_pose": [0.6779608726501465, 0.0326065756380558, -0.21499070525169373, -0.0023044878616929054, -0.004602164030075073, 0.9998917579650879, 0.01378523651510477], "tcp_vel": [0.00025009657838381827, -0.00037050011451356113, 0.00022205103596206754, -0.0004096533521078527, -0.00040706913569010794, -5.931196210440248e-05], "flange_pose": [0.6786711812019348, 0.028474634513258934, -0.06504930555820465, -0.0023044878616929054, -0.004602164030075073, 0.9998917579650879, 0.01378523651510477], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.51155090332031, 15.283108711242676, 28.233842849731445, 0.36156603693962097, -23.9510555267334, 1.7936843633651733], "ext_wrench_in_world": [-107.77923672764304, 15.05809471409007, -27.319348190767663, -0.15113287371137654, -23.894879254719736, -2.4521416549546284]}
+{"timestamp_ns": 1789729894655659972, "elapsed_ms": 14033, "source_timestamp_ns": 1789729894651744427, "q": [0.8363537192344666, -1.8969471454620361, -1.0060621500015259, 1.381171703338623, -0.16216525435447693, 0.5938014984130859, 0.7040780782699585], "theta": [0.838428795337677, -1.8949986696243286, -1.0042518377304077, 1.362758994102478, -0.16276070475578308, 0.5937715768814087, 0.7040587067604065], "dq": [-0.001135079306550324, 0.0008625384652987123, -0.0020759368781000376, 0.00018585573707241565, 8.000816887943074e-05, 0.0023937425576150417, -0.00052727508591488], "dtheta": [-0.00019050286209676415, -8.07813776191324e-05, 0.00010071969882119447, 0.00019934333977289498, -5.578750915447017e-06, 0.00015776614600326866, -0.0005224134656600654], "tau": [55.529998779296875, 23.559999465942383, 5.504000186920166, -26.36400032043457, -2.564000129699707, 2.6560001373291016, -0.5360000133514404], "tau_des": [0.620128870010376, -0.5334303379058838, -0.1860230714082718, -0.6141977310180664, 0.9156298041343689, -1.1407426595687866, -0.5277289748191833], "tau_dot": [-70.10276794433594, -2.115365982055664, 10.288412094116211, 40.02385711669922, 49.36149215698242, -44.498592376708984, 7.47796106338501], "tau_ext": [-16.76529884338379, -41.516944885253906, 31.751047134399414, 31.442977905273438, 9.507804870605469, -3.0124921798706055, -0.12995067238807678], "tcp_pose": [0.6779622435569763, 0.03260276839137077, -0.2149903029203415, -0.0023042503744363785, -0.004599941894412041, 0.9998917579650879, 0.013783498667180538], "tcp_vel": [-0.00014395239122677594, 6.565001967828721e-05, -0.0002180968876928091, -7.898686817497946e-06, 0.0002459192182868719, 0.0006780492840334773], "flange_pose": [0.6786724328994751, 0.028471345081925392, -0.06504888832569122, -0.0023042503744363785, -0.004599941894412041, 0.9998917579650879, 0.013783498667180538], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.76946258544922, 15.0499849319458, 28.185625076293945, 0.3125835955142975, -24.00132942199707, 1.7866692543029785], "ext_wrench_in_world": [-108.03469815152063, 14.821736070342624, -27.276523028433825, -0.10176563500420943, -23.9448793102854, -2.4466524320133476]}
+{"timestamp_ns": 1789729894688957514, "elapsed_ms": 14066, "source_timestamp_ns": 1789729894681744300, "q": [0.8363551497459412, -1.896950364112854, -1.0060615539550781, 1.381170630455017, -0.16216523945331573, 0.593802809715271, 0.7040790915489197], "theta": [0.8384304642677307, -1.8950018882751465, -1.0042520761489868, 1.3627582788467407, -0.16276045143604279, 0.5937727689743042, 0.704059898853302], "dq": [0.0030847445596009493, -0.002038299571722746, 0.00016506368410773575, 0.0008259552414529026, 0.002612919081002474, -0.0012092067627236247, -0.002782156690955162], "dtheta": [6.914546247571707e-05, -9.941063035512343e-05, 0.0002111925568897277, -0.00024135122657753527, -3.5897672205464914e-05, -0.0003010554937645793, 0.00034835582482628524], "tau": [55.62999725341797, 23.65999984741211, 5.440000057220459, -26.292001724243164, -2.580000162124634, 2.6560001373291016, -0.5120000243186951], "tau_des": [0.5248902440071106, -0.5745909214019775, -0.20076078176498413, -0.5400242209434509, 0.9244616627693176, -1.1617205142974854, -0.5428277850151062], "tau_dot": [111.99022674560547, -2.540109634399414, -36.171661376953125, -22.43225860595703, -1.0151641368865967, -29.55406951904297, 94.44386291503906], "tau_ext": [-16.780851364135742, -41.64788818359375, 31.808265686035156, 31.377708435058594, 9.501533508300781, -3.004870653152466, -0.13094253838062286], "tcp_pose": [0.6779621839523315, 0.03260442614555359, -0.214989572763443, -0.002302678767591715, -0.004600584506988525, 0.9998917579650879, 0.013783221133053303], "tcp_vel": [-3.897695569321513e-05, 0.00014188088243827224, 0.00010539273353060707, -2.144487552868668e-05, 2.1208230464253575e-05, -0.0001445158413844183], "flange_pose": [0.6786719560623169, 0.028473084792494774, -0.06504815816879272, -0.002302678767591715, -0.004600584506988525, 0.9998917579650879, 0.013783221133053303], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.89419555664062, 15.026224136352539, 28.164087295532227, 0.31231072545051575, -24.02989959716797, 1.7862260341644287], "ext_wrench_in_world": [-108.15903765869872, 14.796087671479802, -27.255440230584178, -0.10119214163828517, -23.97344854197612, -2.4469861544408182]}
+{"timestamp_ns": 1789729894722259475, "elapsed_ms": 14100, "source_timestamp_ns": 1789729894721741661, "q": [0.8363547921180725, -1.8969625234603882, -1.00606107711792, 1.3811651468276978, -0.16216598451137543, 0.5938055515289307, 0.7040773630142212], "theta": [0.8384304642677307, -1.8950129747390747, -1.004252552986145, 1.3627536296844482, -0.16276118159294128, 0.5937756299972534, 0.7040596604347229], "dq": [-0.0009762895060703158, 0.0008088172762654722, 0.0016643715789541602, 0.0008759554475545883, -0.0038046191912144423, -0.0006860989378765225, 0.001005470403470099], "dtheta": [0.0004625334113370627, 0.0001241232530446723, 1.7142090655397624e-05, -0.00038070764276199043, -0.00031002797186374664, -0.0007627920713275671, 0.00025415193522349], "tau": [55.63999938964844, 23.549999237060547, 5.520000457763672, -26.23200035095215, -2.576000213623047, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.41881561279296875, -0.619892954826355, -0.19044610857963562, -0.47267258167266846, 0.9543357491493225, -1.1807894706726074, -0.5302250385284424], "tau_dot": [-91.98530578613281, 7.876299858093262, 97.56160736083984, -47.73234939575195, 5.8196234703063965, 34.55044174194336, -39.068058013916016], "tau_ext": [-16.810829162597656, -41.65138244628906, 31.80816078186035, 31.261730194091797, 9.501925468444824, -2.986199140548706, -0.13573560118675232], "tcp_pose": [0.6779614686965942, 0.03260970488190651, -0.21499058604240417, -0.002299567684531212, -0.004605468362569809, 0.9998917579650879, 0.013781082816421986], "tcp_vel": [0.00017573105287738144, -9.638303163228557e-05, 0.0004598663654178381, -0.0003712083271238953, -0.0003512768307700753, -0.0001955147017724812], "flange_pose": [0.6786702871322632, 0.02847900427877903, -0.06504914909601212, -0.002299567684531212, -0.004605468362569809, 0.9998917579650879, 0.013781082816421986], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.60438537597656, 15.336491584777832, 28.215490341186523, 0.3793347179889679, -23.972318649291992, 1.7942299842834473], "ext_wrench_in_world": [-107.87229322733172, 15.109163849081046, -27.30031397481378, -0.1685291512413843, -23.9163043481466, -2.4529985201732156]}
+{"timestamp_ns": 1789729894755609852, "elapsed_ms": 14133, "source_timestamp_ns": 1789729894751751033, "q": [0.8363536596298218, -1.8969603776931763, -1.0060701370239258, 1.3811665773391724, -0.16216404736042023, 0.5938003063201904, 0.7040768265724182], "theta": [0.8384298086166382, -1.8950111865997314, -1.0042606592178345, 1.362754225730896, -0.16275949776172638, 0.5937708616256714, 0.7040596604347229], "dq": [0.0003521111502777785, 0.0002816074120346457, 0.0008943986613303423, -0.0017001095693558455, 0.0015909307403489947, -0.0006698549841530621, -0.00043124929652549326], "dtheta": [-0.0001745937770465389, -1.596141191839706e-05, -0.0008359022322110832, 0.00021159369498491287, 0.00048327012336812913, -0.0011851369636133313, 0.00018262462981510907], "tau": [55.599998474121094, 23.510000228881836, 5.588000297546387, -26.464000701904297, -2.572000026702881, 2.696000099182129, -0.5360000133514404], "tau_des": [0.6728285551071167, -0.5736502408981323, -0.0364258699119091, -0.6737344861030579, 0.915420651435852, -1.0925828218460083, -0.5526694059371948], "tau_dot": [62.71706771850586, 152.29006958007812, -5.801864147186279, 17.932571411132812, -3.2157657146453857, -8.023120880126953, 5.054869651794434], "tau_ext": [-16.859678268432617, -41.50980758666992, 31.7249698638916, 31.357858657836914, 9.50890064239502, -3.0036213397979736, -0.13166053593158722], "tcp_pose": [0.6779630184173584, 0.03260309621691704, -0.21499262750148773, -0.0023017406929284334, -0.00460146414116025, 0.9998918771743774, 0.013777460902929306], "tcp_vel": [-0.00013242308341432363, -0.0006498738075606525, -0.00043801742140203714, -0.001142660272307694, 0.001248797052539885, -0.0009654827299527824], "flange_pose": [0.6786724925041199, 0.02847348339855671, -0.06505115330219269, -0.0023017406929284334, -0.00460146414116025, 0.9998918771743774, 0.013777460902929306], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.48294067382812, 15.304256439208984, 28.223791122436523, 0.35746827721595764, -23.93365478515625, 1.7875878810882568], "ext_wrench_in_world": [-107.7506005053853, 15.0789528430025, -27.309677007629016, -0.14718633645135884, -23.877653592569846, -2.4452158335125467]}
+{"timestamp_ns": 1789729894788897375, "elapsed_ms": 14166, "source_timestamp_ns": 1789729894781734997, "q": [0.8363546133041382, -1.8969573974609375, -1.0060774087905884, 1.3811678886413574, -0.16216255724430084, 0.5937967896461487, 0.7040756940841675], "theta": [0.8384307622909546, -1.8950086832046509, -1.0042670965194702, 1.362754225730896, -0.16275854408740997, 0.5937670469284058, 0.7040579915046692], "dq": [0.0006619359483011067, -0.00014697558071929961, 0.0009741521789692342, -0.001670941594056785, 0.0026511065661907196, 0.0009612409630790353, 6.426966865547001e-05], "dtheta": [0.0004946893895976245, 0.00018680583161767572, 8.071157208178192e-05, 0.00013841052714269608, 0.0003105000068899244, -0.00018290879961568862, -0.00030372251057997346], "tau": [55.55999755859375, 23.51999855041504, 5.5400004386901855, -26.404001235961914, -2.572000026702881, 2.684000015258789, -0.5560000538825989], "tau_des": [0.4748706817626953, -0.6303196549415588, -0.10970763117074966, -0.5403309464454651, 0.938809871673584, -1.1477547883987427, -0.5436128377914429], "tau_dot": [15.411319732666016, -2.788715124130249, -1.4175267219543457, -90.5302505493164, -40.07981491088867, 7.5724334716796875, -38.833377838134766], "tau_ext": [-16.791704177856445, -41.49629592895508, 31.739158630371094, 31.416563034057617, 9.499382972717285, -3.011617422103882, -0.13286727666854858], "tcp_pose": [0.6779650449752808, 0.032597556710243225, -0.21499258279800415, -0.0023023318499326706, -0.004598209634423256, 0.9998918771743774, 0.013775250874459743], "tcp_vel": [-1.2532307209767168e-06, -4.4076125050196424e-05, 0.00028711260529235005, 0.0001852685963967815, -5.6544042308814824e-05, 8.907353912945837e-05], "flange_pose": [0.6786746978759766, 0.028468603268265724, -0.06505110114812851, -0.0023023318499326706, -0.004598209634423256, 0.9998918771743774, 0.013775250874459743], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66461181640625, 15.074501991271973, 28.20430564880371, 0.3093116581439972, -23.96765899658203, 1.77969491481781], "ext_wrench_in_world": [-107.93000817775754, 14.847654042921926, -27.29565183622353, -0.09884222909851151, -23.911424752294877, -2.4383728175196]}
+{"timestamp_ns": 1789729894822250012, "elapsed_ms": 14200, "source_timestamp_ns": 1789729894821738737, "q": [0.8363602757453918, -1.89696204662323, -1.0060704946517944, 1.3811676502227783, -0.1621607393026352, 0.5937991142272949, 0.704075813293457], "theta": [0.8384361863136292, -1.895012378692627, -1.00426185131073, 1.3627538681030273, -0.16275662183761597, 0.5937691926956177, 0.7040572762489319], "dq": [-0.00023997051175683737, 0.0008716195588931441, -0.0003475146077107638, -0.00045508897164836526, -0.00037134368903934956, -7.14502893970348e-05, 0.000418777228333056], "dtheta": [0.0002235665451735258, -0.00010610731987981126, 0.0002269641263410449, 1.661315036471933e-05, -0.00016668382158968598, 0.0007222941494546831, 0.001229374553076923], "tau": [55.55999755859375, 23.75, 5.400000095367432, -26.220001220703125, -2.556000232696533, 2.6600000858306885, -0.5240000486373901], "tau_des": [0.4801926612854004, -0.5980761051177979, -0.18843963742256165, -0.5049548745155334, 0.9399114847183228, -1.188473105430603, -0.5561025142669678], "tau_dot": [-68.9441146850586, 12.916261672973633, -8.96707820892334, 38.6046142578125, -21.055686950683594, 59.12379455566406, 57.27333450317383], "tau_ext": [-16.732406616210938, -41.68662643432617, 31.811216354370117, 31.350671768188477, 9.483162879943848, -2.997131109237671, -0.1203458160161972], "tcp_pose": [0.6779630184173584, 0.03260330110788345, -0.2149895280599594, -0.00230017420835793, -0.00460162665694952, 0.9998918771743774, 0.01377709861844778], "tcp_vel": [9.489792864769697e-05, 0.00025552508304826915, 0.00022105952666606754, 0.0004197378293611109, -0.0007426778902299702, -0.000920338265132159], "flange_pose": [0.6786720156669617, 0.02847379446029663, -0.06504806131124496, -0.00230017420835793, -0.00460162665694952, 0.9998918771743774, 0.01377709861844778], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.8386001586914, 15.07910442352295, 28.167322158813477, 0.3298533260822296, -24.02390480041504, 1.7898166179656982], "ext_wrench_in_world": [-108.10383512886538, 14.848995910074064, -27.258196251654333, -0.11874414920662861, -23.967550074138128, -2.4500391573991123]}
+{"timestamp_ns": 1789729894855595209, "elapsed_ms": 14233, "source_timestamp_ns": 1789729894851751169, "q": [0.8363603353500366, -1.8969703912734985, -1.0060673952102661, 1.3811653852462769, -0.1621606945991516, 0.5938025116920471, 0.7040756344795227], "theta": [0.8384365439414978, -1.8950198888778687, -1.0042599439620972, 1.3627516031265259, -0.16275590658187866, 0.5937725305557251, 0.7040572762489319], "dq": [0.002316407160833478, 0.0005253531271591783, 0.00038521073292940855, -0.0002379857760388404, 0.0011130623752251267, -0.0008901423425413668, 5.363006494008005e-06], "dtheta": [0.00012448224879335612, -0.00023480837990064174, -8.83368993527256e-05, -6.564462091773748e-05, 0.0007625092403031886, 0.0009664959507063031, -0.0004100798978470266], "tau": [55.69999694824219, 23.529998779296875, 5.508000373840332, -26.23600196838379, -2.5400002002716064, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.5122191905975342, -0.5282217860221863, -0.22473591566085815, -0.5173497200012207, 0.9306016564369202, -1.1962411403656006, -0.5212641358375549], "tau_dot": [-51.217185974121094, -145.27444458007812, -19.237672805786133, -9.418102264404297, 68.27318572998047, 5.412044525146484, 18.394590377807617], "tau_ext": [-16.799352645874023, -41.6853141784668, 31.81661605834961, 31.298606872558594, 9.4763822555542, -2.9882566928863525, -0.1219012513756752], "tcp_pose": [0.6779612302780151, 0.03260843828320503, -0.21499042212963104, -0.0022985253017395735, -0.0046054041013121605, 0.9998918771743774, 0.013776719570159912], "tcp_vel": [9.578468598192558e-05, 0.00023915786005090922, 8.651827374706045e-05, 0.0009148368844762444, -0.0005243607447482646, 4.893959339824505e-05], "flange_pose": [0.6786697506904602, 0.028479045256972313, -0.065048947930336, -0.0022985253017395735, -0.0046054041013121605, 0.9998918771743774, 0.013776719570159912], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69371795654297, 15.318792343139648, 28.20876121520996, 0.38972148299217224, -24.00697135925293, 1.8000520467758179], "ext_wrench_in_world": [-107.96136734219552, 15.090235302922895, -27.294036996353746, -0.1786240139668384, -23.950899839644627, -2.459519136405124]}
+{"timestamp_ns": 1789729894888893751, "elapsed_ms": 14266, "source_timestamp_ns": 1789729894881739982, "q": [0.8363574147224426, -1.8969671726226807, -1.006072998046875, 1.3811655044555664, -0.16216209530830383, 0.5938006043434143, 0.7040749788284302], "theta": [0.8384345769882202, -1.8950167894363403, -1.0042645931243896, 1.3627517223358154, -0.16275614500045776, 0.5937711000442505, 0.704057514667511], "dq": [0.003276980947703123, -0.0003925170167349279, -0.003464184235781431, -0.0022666018921881914, 0.003553421003744006, 0.0026561070699244738, -0.001812685513868928], "dtheta": [-0.0003132924612145871, -0.00016394525300711393, -0.00011658134462777525, 0.00019765020988415927, 0.0006064890185371041, -0.000152725784573704, 5.677286389982328e-05], "tau": [55.709999084472656, 23.469999313354492, 5.63200044631958, -26.304000854492188, -2.5280001163482666, 2.688000202178955, -0.5400000214576721], "tau_des": [0.6689943671226501, -0.5004273653030396, -0.16478076577186584, -0.6456683874130249, 0.9110437035560608, -1.1306078433990479, -0.5362039804458618], "tau_dot": [-12.707491874694824, 7.7707977294921875, 11.106668472290039, -20.163095474243164, 83.74005889892578, 23.618247985839844, 16.295019149780273], "tau_ext": [-16.877748489379883, -41.54360580444336, 31.72072410583496, 31.353511810302734, 9.48126220703125, -3.0025179386138916, -0.1245412677526474], "tcp_pose": [0.6779631972312927, 0.0326039157807827, -0.21499188244342804, -0.0022994286846369505, -0.004603040404617786, 0.9998918771743774, 0.013775048777461052], "tcp_vel": [-0.0002605534391477704, -3.538162127370015e-05, -0.0004228219040669501, -3.3070948120439425e-05, 0.0008883471600711346, -0.00033032181090675294], "flange_pose": [0.6786719560623169, 0.028475023806095123, -0.0650503933429718, -0.0022994286846369505, -0.004603040404617786, 0.9998918771743774, 0.013775048777461052], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.5402603149414, 15.29803466796875, 28.236833572387695, 0.3760640621185303, -23.966205596923828, 1.794093132019043], "ext_wrench_in_world": [-107.80784053869058, 15.072096500637416, -27.32320715000697, -0.16542882771012352, -23.910196143513183, -2.4524189570478674]}
+{"timestamp_ns": 1789729894922256827, "elapsed_ms": 14300, "source_timestamp_ns": 1789729894921786709, "q": [0.836357593536377, -1.8969646692276, -1.006079912185669, 1.3811671733856201, -0.16216221451759338, 0.5938007235527039, 0.7040751576423645], "theta": [0.8384349346160889, -1.8950139284133911, -1.004270315170288, 1.3627525568008423, -0.16275590658187866, 0.5937711000442505, 0.7040577530860901], "dq": [0.0013725183671340346, 0.0006930814124643803, -5.283776408759877e-05, -0.001016672351397574, 0.0009907134808599949, 0.0012235763715580106, -0.0017842508386820555], "dtheta": [-4.132722460781224e-05, 0.00012025213800370693, 7.31053005438298e-05, 0.00015507516218349338, -0.0002505724551156163, -2.7878779292223044e-05, 1.6033874999266118e-05], "tau": [55.46999740600586, 23.649999618530273, 5.464000225067139, -26.380001068115234, -2.552000045776367, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.5597324967384338, -0.5904161334037781, -0.119911327958107, -0.574449360370636, 0.9424015879631042, -1.1512172222137451, -0.5406956672668457], "tau_dot": [-122.86564636230469, 49.331478118896484, -56.23180389404297, -40.75752258300781, -7.2614946365356445, -16.169025421142578, 26.16547393798828], "tau_ext": [-16.794837951660156, -41.56468963623047, 31.726398468017578, 31.399642944335938, 9.481782913208008, -3.007967472076416, -0.13045774400234222], "tcp_pose": [0.6779655814170837, 0.032599106431007385, -0.21499210596084595, -0.0022987923584878445, -0.004599860403686762, 0.9998919367790222, 0.013773346319794655], "tcp_vel": [-3.2978918170556426e-05, -4.6803186705801636e-05, -4.011838245787658e-05, -0.0001270424691028893, 7.156618812587112e-05, 0.00011899194214493036], "flange_pose": [0.6786741614341736, 0.02847072295844555, -0.06505060195922852, -0.0022987923584878445, -0.004599860403686762, 0.9998919367790222, 0.013773346319794655], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.60185241699219, 15.096510887145996, 28.244876861572266, 0.33123379945755005, -23.975038528442383, 1.7831779718399048], "ext_wrench_in_world": [-107.86749756161895, 14.870901991469303, -27.336707870801327, -0.12061803516690617, -23.918917863587026, -2.4418704867426606]}
+{"timestamp_ns": 1789729894955590406, "elapsed_ms": 14333, "source_timestamp_ns": 1789729894951763074, "q": [0.8363596200942993, -1.8969690799713135, -1.006077766418457, 1.381166696548462, -0.16216246783733368, 0.5938013792037964, 0.7040737867355347], "theta": [0.8384367823600769, -1.8950183391571045, -1.0042697191238403, 1.3627523183822632, -0.16275590658187866, 0.5937718152999878, 0.7040567994117737], "dq": [0.000992156215943396, 0.0016107599949464202, -0.001902679679915309, 7.116960478015244e-05, -0.0010379554005339742, 0.0018734514014795423, -0.0005061211995780468], "dtheta": [0.00034609760041348636, -0.0007464847876690328, 0.0001353552215732634, 0.00016218268137890846, -4.697975600720383e-05, 0.0002692213165573776, -0.0010177408112213016], "tau": [55.56999969482422, 23.709999084472656, 5.452000141143799, -26.280000686645508, -2.572000026702881, 2.680000066757202, -0.5480000376701355], "tau_des": [0.5379821062088013, -0.45466408133506775, -0.2346009463071823, -0.57310950756073, 0.9626988172531128, -1.1640185117721558, -0.5060977339744568], "tau_dot": [86.3441390991211, 72.86725616455078, 3.528529405593872, 14.158270835876465, -12.302261352539062, 60.16328048706055, -18.385181427001953], "tau_ext": [-16.730316162109375, -41.68910598754883, 31.80402374267578, 31.368907928466797, 9.48134708404541, -2.99794602394104, -0.13048984110355377], "tcp_pose": [0.677964448928833, 0.032601721584796906, -0.21499167382717133, -0.002297661267220974, -0.0046028150245547295, 0.9998919367790222, 0.013772580772638321], "tcp_vel": [-0.00017685475177131593, 0.0003025377227459103, -1.7093825590563938e-05, -0.0004090237489435822, -0.00042903522262349725, 0.001658087712712586], "flange_pose": [0.6786726713180542, 0.028473565354943275, -0.0650501623749733, -0.002297661267220974, -0.0046028150245547295, 0.9998919367790222, 0.013772580772638321], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78771209716797, 15.108101844787598, 28.20016860961914, 0.34838107228279114, -24.028099060058594, 1.788571834564209], "ext_wrench_in_world": [-108.05326546769538, 14.87885955003864, -27.291143075425833, -0.13715841786579402, -23.97197088106651, -2.44861239574944]}
+{"timestamp_ns": 1789729894988896327, "elapsed_ms": 14366, "source_timestamp_ns": 1789729894981731449, "q": [0.8363595604896545, -1.896971344947815, -1.0060768127441406, 1.3811662197113037, -0.16216343641281128, 0.5938014984130859, 0.7040744423866272], "theta": [0.8384366035461426, -1.8950204849243164, -1.0042688846588135, 1.3627516031265259, -0.16275662183761597, 0.5937720537185669, 0.7040570378303528], "dq": [-4.7210531192831695e-05, 0.0010664029978215694, -0.00042135821422562003, 0.0001270679640583694, -0.000782071438152343, -0.001526779611594975, 0.0015919603174552321], "dtheta": [4.88336336275097e-05, -9.734753257362172e-05, -0.00036653547431342304, -3.987183663411997e-05, -0.000884491135366261, 0.0009149813558906317, -0.000650769448839128], "tau": [55.71999740600586, 23.60999870300293, 5.4760003089904785, -26.30000114440918, -2.552000045776367, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.4876631796360016, -0.5946187973022461, -0.12022515386343002, -0.5055358409881592, 0.9825026988983154, -1.193864345550537, -0.5169035792350769], "tau_dot": [120.9914779663086, -62.9061279296875, -61.50099182128906, 7.406806945800781, 19.66729736328125, 18.35832977294922, -10.334721565246582], "tau_ext": [-16.776973724365234, -41.679569244384766, 31.80016326904297, 31.334794998168945, 9.48280143737793, -2.9987404346466064, -0.12935622036457062], "tcp_pose": [0.6779638528823853, 0.03260298818349838, -0.2149919867515564, -0.0022973576560616493, -0.004603825509548187, 0.9998919367790222, 0.013771982863545418], "tcp_vel": [0.0004134635382797569, -8.345326932612807e-05, 0.00017870265583042055, -0.00023070475435815752, -0.0013957879273220897, 0.0009211901924572885], "flange_pose": [0.6786720156669617, 0.028475014492869377, -0.06505046039819717, -0.0022973576560616493, -0.004603825509548187, 0.9998919367790222, 0.013771982863545418], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77163696289062, 15.23790454864502, 28.184633255004883, 0.38206997513771057, -24.028331756591797, 1.7956674098968506], "ext_wrench_in_world": [-108.03831717964229, 15.008078827016286, -27.27219483882633, -0.17082703268786525, -23.972323690201847, -2.455532719145827]}
+{"timestamp_ns": 1789729895022249506, "elapsed_ms": 14400, "source_timestamp_ns": 1789729895021790166, "q": [0.8363575339317322, -1.8969708681106567, -1.0060784816741943, 1.3811662197113037, -0.1621612310409546, 0.5937976837158203, 0.704073965549469], "theta": [0.8384350538253784, -1.8950200080871582, -1.0042697191238403, 1.3627512454986572, -0.16275493800640106, 0.5937694311141968, 0.7040565609931946], "dq": [-0.0017513829516246915, 0.0013923969818279147, -7.191528129624203e-05, 0.0006353426724672318, 0.0004945736145600677, 0.0007109534344635904, -0.0014729744289070368], "dtheta": [3.763768108910881e-05, -0.000460310373455286, -0.00015795112994965166, 0.00012844074808526784, -0.00035568594466894865, -0.00023598816187586635, 0.00036156224086880684], "tau": [55.65999984741211, 23.559999465942383, 5.544000148773193, -26.30000114440918, -2.5440001487731934, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.6127081513404846, -0.5063392519950867, -0.15797486901283264, -0.621195375919342, 0.9458653330802917, -1.1335972547531128, -0.5373702645301819], "tau_dot": [-33.39377212524414, 161.32225036621094, -59.60927963256836, -12.23398208618164, 3.524230718612671, 21.58085823059082, 22.016523361206055], "tau_ext": [-16.8458194732666, -41.57514572143555, 31.737476348876953, 31.351097106933594, 9.481894493103027, -2.9994287490844727, -0.122501902282238], "tcp_pose": [0.6779630780220032, 0.03260150924324989, -0.2149939388036728, -0.0023001376539468765, -0.004602733999490738, 0.9998919367790222, 0.013771058060228825], "tcp_vel": [-0.00010792649118229747, -3.841590660158545e-05, -0.00017455255147069693, -0.0008931009215302765, 7.946270670800004e-06, 5.942501957179047e-05], "flange_pose": [0.6786720752716064, 0.028473813086748123, -0.06505242735147476, -0.0023001376539468765, -0.004602733999490738, 0.9998919367790222, 0.013771058060228825], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.60344696044922, 15.248405456542969, 28.23439598083496, 0.370751291513443, -23.983125686645508, 1.7922749519348145], "ext_wrench_in_world": [-107.87058793547016, 15.021679252412433, -27.321826330492144, -0.15997024101776533, -23.92712939283611, -2.4509002969101887]}
+{"timestamp_ns": 1789729895055586518, "elapsed_ms": 14433, "source_timestamp_ns": 1789729895051671053, "q": [0.8363578915596008, -1.8969700336456299, -1.0060781240463257, 1.3811662197113037, -0.16215986013412476, 0.5937989354133606, 0.7040740251541138], "theta": [0.8384355902671814, -1.8950189352035522, -1.0042694807052612, 1.3627512454986572, -0.16275398433208466, 0.5937696695327759, 0.7040560841560364], "dq": [-0.00016784871695563197, -0.0006034276448190212, -0.001571141416206956, -0.0012378841638565063, -0.002094641327857971, -0.000995326554402709, 0.0005851191817782819], "dtheta": [8.978516416391358e-05, -5.616849011857994e-05, 0.00013220659457147121, -0.00016694697842467576, 0.00017107427993323654, -0.00032479260698892176, 0.0001360794121865183], "tau": [55.55999755859375, 23.59000015258789, 5.544000148773193, -26.308000564575195, -2.556000232696533, 2.6680002212524414, -0.5480000376701355], "tau_des": [0.5449281334877014, -0.5610791444778442, -0.1760929673910141, -0.5585260987281799, 0.930097222328186, -1.155997633934021, -0.5383724570274353], "tau_dot": [-7.950582981109619, 13.1671781539917, 38.9313850402832, -35.341522216796875, -53.7337532043457, 18.49697494506836, -19.841527938842773], "tau_ext": [-16.796951293945312, -41.57514572143555, 31.731420516967773, 31.353307723999023, 9.473494529724121, -3.0005178451538086, -0.12017305940389633], "tcp_pose": [0.677963376045227, 0.032601695507764816, -0.21499334275722504, -0.002299878979101777, -0.004602116998285055, 0.9998919367790222, 0.013772317208349705], "tcp_vel": [-5.8341884141555056e-05, 8.214190165745094e-05, 7.49538085074164e-05, 3.15585384669248e-05, 0.0001619733084226027, -0.00011925544822588563], "flange_pose": [0.6786722540855408, 0.0284736230969429, -0.0650518387556076, -0.002299878979101777, -0.004602116998285055, 0.9998919367790222, 0.013772317208349705], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.59707641601562, 15.182886123657227, 28.227275848388672, 0.355358362197876, -23.978927612304688, 1.7910932302474976], "ext_wrench_in_world": [-107.8635531575042, 14.956253909587078, -27.316558263608165, -0.144639545873656, -23.92281660064512, -2.449732486382583]}
+{"timestamp_ns": 1789729895088896882, "elapsed_ms": 14466, "source_timestamp_ns": 1789729895081670159, "q": [0.8363595604896545, -1.8969720602035522, -1.0060760974884033, 1.3811668157577515, -0.1621619611978531, 0.5937970876693726, 0.7040742039680481], "theta": [0.8384369015693665, -1.8950200080871582, -1.0042675733566284, 1.3627521991729736, -0.16275614500045776, 0.593767523765564, 0.7040553689002991], "dq": [-0.0006094629061408341, -0.0006939463200978935, -0.00022833938419353217, -0.0010462005157023668, 0.0019153470639139414, 0.0006401668069884181, -0.00036973145324736834], "dtheta": [1.6796644558780827e-05, 0.00029712499235756695, 0.0005521838902495801, 7.498177728848532e-05, -0.0012737534707412124, -0.00047939957585185766, -6.952808325877413e-05], "tau": [55.56999969482422, 23.729999542236328, 5.4760003089904785, -26.328001022338867, -2.568000078201294, 2.6600000858306885, -0.5320000052452087], "tau_des": [0.5357168316841125, -0.5659797787666321, -0.20880919694900513, -0.563326895236969, 0.958408772945404, -1.152401328086853, -0.5170270204544067], "tau_dot": [-111.00442504882812, -60.019107818603516, -1.3464065790176392, -36.18071746826172, -20.27022933959961, 26.9338321685791, 5.900265216827393], "tau_ext": [-16.75595474243164, -41.65717315673828, 31.777009963989258, 31.36734962463379, 9.471314430236816, -2.997440814971924, -0.11966635286808014], "tcp_pose": [0.6779621839523315, 0.03260285407304764, -0.21499307453632355, -0.002299785614013672, -0.004604069050401449, 0.9998919367790222, 0.013770759105682373], "tcp_vel": [-4.6828656195430085e-05, 3.744283094420098e-05, 0.00014650491357315332, -0.0005745826638303697, -0.00012734068150166422, 0.0009881005389615893], "flange_pose": [0.6786710619926453, 0.02847524918615818, -0.06505154818296432, -0.002299785614013672, -0.004604069050401449, 0.9998919367790222, 0.013770759105682373], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.68707275390625, 15.171961784362793, 28.21046257019043, 0.3626038730144501, -24.008920669555664, 1.7958931922912598], "ext_wrench_in_world": [-107.95341687191991, 14.943530803115982, -27.299724063242426, -0.15153898503509622, -23.952740271957293, -2.455250505351784]}
+{"timestamp_ns": 1789729895122254812, "elapsed_ms": 14500, "source_timestamp_ns": 1789729895121666104, "q": [0.8363603949546814, -1.8969738483428955, -1.0060757398605347, 1.3811671733856201, -0.1621614247560501, 0.5937983989715576, 0.7040742039680481], "theta": [0.8384374380111694, -1.8950212001800537, -1.0042670965194702, 1.362752914428711, -0.16275566816329956, 0.5937684774398804, 0.7040556073188782], "dq": [-0.0019379674922674894, 0.0010205000871792436, -0.0022847268264740705, -0.00011110188643215224, -0.0007224781438708305, -0.0007340704323723912, -0.00026495137717574835], "dtheta": [8.701963088242337e-05, 0.00010576663044048473, 0.0004000611661467701, 3.335572546347976e-05, 0.0013440072070807219, 0.0003743292181752622, -0.00026434753090143204], "tau": [55.68000030517578, 23.600000381469727, 5.568000316619873, -26.284000396728516, -2.5840001106262207, 2.6560001373291016, -0.5600000023841858], "tau_des": [0.5565382242202759, -0.5252071022987366, -0.24293598532676697, -0.5606153011322021, 0.8995176553726196, -1.1700795888900757, -0.5272854566574097], "tau_dot": [127.37610626220703, -8.413352966308594, 41.418006896972656, -4.192093372344971, -88.20897674560547, -30.4677791595459, -59.728031158447266], "tau_ext": [-16.784793853759766, -41.67015075683594, 31.783077239990234, 31.36043930053711, 9.47996997833252, -2.9977219104766846, -0.12608785927295685], "tcp_pose": [0.6779617667198181, 0.032603777945041656, -0.21499304473400116, -0.0022992559242993593, -0.004604678135365248, 0.9998919367790222, 0.013770733028650284], "tcp_vel": [-0.0002126896579284221, 0.0003365534939803183, 2.9582342904177494e-05, 0.0013952971203252673, 0.0005199268343858421, -0.00027496155234985054], "flange_pose": [0.6786705255508423, 0.028476182371377945, -0.06505152583122253, -0.0022992559242993593, -0.004604678135365248, 0.9998919367790222, 0.013770733028650284], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77841186523438, 15.226699829101562, 28.21385383605957, 0.3820646405220032, -24.038000106811523, 1.800118088722229], "ext_wrench_in_world": [-108.04525635202238, 14.997361073852005, -27.301313902566292, -0.1707212796261793, -23.98187191509017, -2.460187259304661]}
+{"timestamp_ns": 1789729895155584524, "elapsed_ms": 14533, "source_timestamp_ns": 1789729895151667529, "q": [0.8363600373268127, -1.896971344947815, -1.0060795545578003, 1.3811670541763306, -0.16216202080249786, 0.5937988758087158, 0.7040756344795227], "theta": [0.8384372591972351, -1.8950189352035522, -1.0042698383331299, 1.3627530336380005, -0.16275614500045776, 0.5937694311141968, 0.7040567994117737], "dq": [0.0003542591875884682, 0.001286099897697568, 0.0029985764995217323, 0.0002551513898652047, 0.000522525398992002, 0.0023677395656704903, 0.001024276134558022], "dtheta": [-0.00038532554754056036, -7.321024895645678e-05, 1.8843295038095675e-05, 3.6140208976576105e-05, -0.00031576622859574854, 0.001127511728554964, 0.00031144896638579667], "tau": [55.68000030517578, 23.510000228881836, 5.568000316619873, -26.312002182006836, -2.5480000972747803, 2.6760001182556152, -0.527999997138977], "tau_des": [0.5981758236885071, -0.5566889047622681, -0.1609223484992981, -0.5631595849990845, 0.9358071684837341, -1.1824802160263062, -0.5396974086761475], "tau_dot": [16.60447120666504, -91.2101058959961, -18.509998321533203, -35.04212951660156, -16.39141845703125, 29.50107192993164, 25.36017417907715], "tau_ext": [-16.831865310668945, -41.575706481933594, 31.727893829345703, 31.35808563232422, 9.488215446472168, -3.0003912448883057, -0.12644410133361816], "tcp_pose": [0.67796391248703, 0.032600969076156616, -0.21499259769916534, -0.002298373728990555, -0.004601938184350729, 0.9998919367790222, 0.01377041358500719], "tcp_vel": [0.0001304577017435804, 0.0001808619126677513, -0.00014378478226717561, 0.0004770727828145027, -0.0005980743444524705, -9.471568773733452e-05], "flange_pose": [0.6786723732948303, 0.028473464772105217, -0.06505107134580612, -0.002298373728990555, -0.004601938184350729, 0.9998919367790222, 0.01377041358500719], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69236755371094, 15.202882766723633, 28.225343704223633, 0.368404358625412, -24.010881423950195, 1.7960929870605469], "ext_wrench_in_world": [-107.95892447819097, 14.975244434985006, -27.314032668000273, -0.15741835330174656, -23.954749487374862, -2.4554622790376035]}
+{"timestamp_ns": 1789729895188920176, "elapsed_ms": 14566, "source_timestamp_ns": 1789729895181662826, "q": [0.8363597989082336, -1.8969707489013672, -1.0060800313949585, 1.3811665773391724, -0.16216355562210083, 0.5937966704368591, 0.7040742039680481], "theta": [0.8384368419647217, -1.8950183391571045, -1.0042705535888672, 1.3627527952194214, -0.16275806725025177, 0.5937670469284058, 0.7040560841560364], "dq": [-0.0008572786464355886, -0.000993664376437664, -0.0009108503581956029, 0.0012126683723181486, -0.0004318630089983344, 0.00022476117010228336, -0.0017682431498542428], "dtheta": [-0.00014329016266856343, 0.0003365991578903049, 3.387972174095921e-05, -6.56697666272521e-05, 0.0004923641681671143, -0.00038339258753694594, -0.0009687736164778471], "tau": [55.61000061035156, 23.639999389648438, 5.5400004386901855, -26.30000114440918, -2.56000018119812, 2.6480002403259277, -0.5480000376701355], "tau_des": [0.5678321123123169, -0.5814927220344543, -0.1406935155391693, -0.5727361440658569, 0.9237059950828552, -1.150492787361145, -0.5211523771286011], "tau_dot": [0.7073827385902405, 50.16067886352539, 21.88580894470215, 37.48417282104492, 36.23305130004883, -36.34574890136719, -34.66465759277344], "tau_ext": [-16.82132339477539, -41.58604049682617, 31.724037170410156, 31.35878562927246, 9.492358207702637, -3.0020840167999268, -0.12553298473358154], "tcp_pose": [0.6779640913009644, 0.032600224018096924, -0.21499252319335938, -0.0022986403200775385, -0.004602720029652119, 0.9998919367790222, 0.013769455254077911], "tcp_vel": [-6.508528895210475e-05, -9.378627146361396e-05, -5.028563100495376e-05, 0.0003686146519612521, 0.0006363139254972339, 0.0004920630599372089], "flange_pose": [0.6786726713180542, 0.028473008424043655, -0.06505098938941956, -0.0022986403200775385, -0.004602720029652119, 0.9998919367790222, 0.013769455254077911], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62409973144531, 15.157454490661621, 28.236167907714844, 0.351549357175827, -23.988399505615234, 1.7925459146499634], "ext_wrench_in_world": [-107.89033345457058, 14.930543445106904, -27.32638408660335, -0.14071649917541548, -23.93222338653576, -2.45132643511033]}
+{"timestamp_ns": 1789729895222249848, "elapsed_ms": 14600, "source_timestamp_ns": 1789729895221662470, "q": [0.8363608717918396, -1.8969757556915283, -1.0060787200927734, 1.3811659812927246, -0.16216140985488892, 0.5937953591346741, 0.7040753960609436], "theta": [0.8384385704994202, -1.8950227499008179, -1.0042698383331299, 1.3627517223358154, -0.16275638341903687, 0.593765377998352, 0.7040572762489319], "dq": [0.0022078303154557943, -7.189781172201037e-05, -0.0014873957261443138, 0.000592004565987736, -0.002016211859881878, -1.0127027053385973e-05, 0.0019712792709469795], "dtheta": [0.00032152608036994934, 8.582503505749628e-05, -0.0003275968483649194, 3.363757787155919e-05, -0.0003882340679410845, -0.00020936001965310425, 0.00015950742817949504], "tau": [55.599998474121094, 23.60999870300293, 5.500000476837158, -26.32400131225586, -2.572000026702881, 2.6440000534057617, -0.5160000324249268], "tau_des": [0.4928554892539978, -0.6193529367446899, -0.11325406283140182, -0.5332416892051697, 0.9540364146232605, -1.1630010604858398, -0.5388740301132202], "tau_dot": [52.000518798828125, -116.17606353759766, 32.05929946899414, 15.649006843566895, -2.7979543209075928, -27.819948196411133, 53.721954345703125], "tau_ext": [-16.761703491210938, -41.689510345458984, 31.792566299438477, 31.358776092529297, 9.49437427520752, -2.9924674034118652, -0.12598073482513428], "tcp_pose": [0.6779623031616211, 0.03260244429111481, -0.21499326825141907, -0.002299202373251319, -0.004603597801178694, 0.999891996383667, 0.013768411241471767], "tcp_vel": [0.0002019812527578324, -0.0002726558886934072, 0.00021850565099157393, -0.0005433871410787106, -0.00045054638758301735, -0.0002213360130554065], "flange_pose": [0.6786710023880005, 0.02847554348409176, -0.06505171954631805, -0.002299202373251319, -0.004603597801178694, 0.999891996383667, 0.013768411241471767], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7165298461914, 15.210488319396973, 28.221988677978516, 0.3692639470100403, -24.017425537109375, 1.8000277280807495], "ext_wrench_in_world": [-107.9832328508598, 14.982059385821255, -27.310249387301972, -0.15816030831920072, -23.961200918141664, -2.4594757555897946]}
+{"timestamp_ns": 1789729895255580251, "elapsed_ms": 14633, "source_timestamp_ns": 1789729895251700912, "q": [0.8363626003265381, -1.896976113319397, -1.0060783624649048, 1.3811659812927246, -0.1621607393026352, 0.5937951803207397, 0.7040755748748779], "theta": [0.8384402990341187, -1.8950234651565552, -1.0042695999145508, 1.3627516031265259, -0.16275566816329956, 0.593765377998352, 0.7040577530860901], "dq": [0.000441899144789204, -0.0003459453000687063, -0.000996137736365199, -0.00025932106655091047, 0.00018584320787340403, -0.0023985039442777634, 0.002236676635220647], "dtheta": [0.00012635640450753272, -6.22436054982245e-05, 0.00019960624922532588, 7.2915805503726e-05, -0.0004346473142504692, -0.00035284075420349836, 0.0008307216339744627], "tau": [55.619998931884766, 23.56999969482422, 5.552000045776367, -26.312002182006836, -2.568000078201294, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.5463799238204956, -0.5578922033309937, -0.19160613417625427, -0.5654749274253845, 0.9390101432800293, -1.1565905809402466, -0.5435926914215088], "tau_dot": [-69.61614990234375, 65.65209197998047, 11.467794418334961, -1.075494408607483, -60.28764724731445, 25.853321075439453, -33.31270217895508], "tau_ext": [-16.778818130493164, -41.61262512207031, 31.771421432495117, 31.354705810546875, 9.484829902648926, -2.9946181774139404, -0.12738817930221558], "tcp_pose": [0.6779623627662659, 0.03260274603962898, -0.2149922400712967, -0.0022986417170614004, -0.004603552632033825, 0.999891996383667, 0.013768536038696766], "tcp_vel": [-9.127123485086486e-05, 2.816831329255365e-05, 4.122309837839566e-05, -0.00046540945186279714, 4.437601091922261e-05, -0.00038745871279388666], "flange_pose": [0.6786708831787109, 0.02847580425441265, -0.06505069136619568, -0.0022986417170614004, -0.004603552632033825, 0.999891996383667, 0.013768536038696766], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.76023864746094, 15.208393096923828, 28.20733070373535, 0.3683434724807739, -24.028703689575195, 1.7985053062438965], "ext_wrench_in_world": [-108.02681879571023, 14.979175042090166, -27.295576478898436, -0.15712937365405127, -23.972507027747056, -2.458275089623669]}
+{"timestamp_ns": 1789729895288891605, "elapsed_ms": 14666, "source_timestamp_ns": 1789729895281662312, "q": [0.8363614082336426, -1.8969755172729492, -1.0060793161392212, 1.3811657428741455, -0.162159726023674, 0.5937924385070801, 0.7040736079216003], "theta": [0.8384394645690918, -1.8950226306915283, -1.0042698383331299, 1.3627516031265259, -0.16275423765182495, 0.5937625169754028, 0.7040563225746155], "dq": [0.0016939503839239478, 0.0004185845609754324, 0.002810141071677208, 0.003309407737106085, -0.0014132570941001177, 0.0011104941368103027, -0.0007509432034566998], "dtheta": [-5.700197289115749e-05, -0.00011518473183969036, 8.091643394436687e-05, -2.3186690668808296e-05, -0.00010639170795911923, 0.000700952485203743, 0.00011936330702155828], "tau": [55.689998626708984, 23.56999969482422, 5.580000400543213, -26.296001434326172, -2.56000018119812, 2.6640000343322754, -0.5320000052452087], "tau_des": [0.5596131086349487, -0.547484278678894, -0.19434493780136108, -0.5533660054206848, 0.9340298771858215, -1.176095962524414, -0.5322030782699585], "tau_dot": [40.147403717041016, 55.51464080810547, 73.54546356201172, 14.23006534576416, 3.690485954284668, -9.727051734924316, -0.993066132068634], "tau_ext": [-16.831331253051758, -41.56735610961914, 31.735380172729492, 31.358213424682617, 9.477691650390625, -2.9979097843170166, -0.1277880072593689], "tcp_pose": [0.6779620051383972, 0.0326017327606678, -0.21499322354793549, -0.0023002654779702425, -0.004603743087500334, 0.999891996383667, 0.013767915777862072], "tcp_vel": [8.428937871940434e-05, 0.00018616513989400119, 3.0498160413117148e-05, 0.00037140908534638584, -0.0005212809192016721, 5.351141226128675e-05], "flange_pose": [0.6786710023880005, 0.02847498282790184, -0.06505167484283447, -0.0023002654779702425, -0.004603743087500334, 0.999891996383667, 0.013767915777862072], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6967544555664, 15.170246124267578, 28.22120475769043, 0.3531996011734009, -24.00716781616211, 1.790731430053711], "ext_wrench_in_world": [-107.96314951442449, 14.941933811055852, -27.31044940349667, -0.14214414952049526, -23.95105687405545, -2.4499480040889043]}
+{"timestamp_ns": 1789729895322326178, "elapsed_ms": 14700, "source_timestamp_ns": 1789729895321688094, "q": [0.8363619446754456, -1.896973967552185, -1.0060795545578003, 1.3811653852462769, -0.16215938329696655, 0.5937921404838562, 0.7040743827819824], "theta": [0.8384398818016052, -1.8950217962265015, -1.0042701959609985, 1.3627513647079468, -0.16275446116924286, 0.5937622785568237, 0.7040572762489319], "dq": [-5.396257620304823e-06, 0.0009975936263799667, -0.0012599107576534152, -0.001330715836957097, -0.0013728453777730465, -0.00017608297639526427, 0.0007288339547812939], "dtheta": [-0.0002115377428708598, -0.000249771517701447, 0.00018897622067015618, -0.00042971796938218176, -0.0002774178865365684, -0.0004184422141406685, 0.0003239002253394574], "tau": [55.54999923706055, 23.65999984741211, 5.504000186920166, -26.304000854492188, -2.556000232696533, 2.6760001182556152, -0.5360000133514404], "tau_des": [0.5802392959594727, -0.5316553115844727, -0.20519454777240753, -0.5649645328521729, 0.9309253096580505, -1.1582541465759277, -0.5371257066726685], "tau_dot": [-139.18048095703125, 12.093448638916016, -14.52115535736084, -43.57102584838867, -5.42317008972168, 5.59397554397583, 4.051218509674072], "tau_ext": [-16.820100784301758, -41.63154220581055, 31.754453659057617, 31.363819122314453, 9.476800918579102, -2.996032476425171, -0.12498815357685089], "tcp_pose": [0.677962601184845, 0.032601166516542435, -0.21499234437942505, -0.0023000536020845175, -0.004602629225701094, 0.999891996383667, 0.01376852672547102], "tcp_vel": [-4.736101982416585e-05, 0.00017448255675844848, -4.016359889646992e-05, -0.00026575964875519276, 9.817752288654447e-05, 7.201478001661599e-05], "flange_pose": [0.6786715984344482, 0.0284742284566164, -0.06505079567432404, -0.0023000536020845175, -0.004602629225701094, 0.999891996383667, 0.01376852672547102], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64271545410156, 15.168874740600586, 28.250497817993164, 0.35227900743484497, -23.99634552001953, 1.789747714996338], "ext_wrench_in_world": [-107.90919529517471, 14.942144454107755, -27.340034163357313, -0.14137048944189395, -23.940254369405512, -2.448699820609034]}
+{"timestamp_ns": 1789729895355581847, "elapsed_ms": 14733, "source_timestamp_ns": 1789729895351702838, "q": [0.8363635540008545, -1.896975040435791, -1.0060794353485107, 1.3811651468276978, -0.1621597558259964, 0.5937928557395935, 0.7040758728981018], "theta": [0.8384414911270142, -1.8950223922729492, -1.0042705535888672, 1.362751841545105, -0.16275446116924286, 0.5937625169754028, 0.7040587067604065], "dq": [-0.0009152139537036419, 0.00022724480368196964, -0.001150522381067276, 0.0012353138299658895, -0.004884343594312668, 0.00010047510295407847, 0.004797624424099922], "dtheta": [-0.00015071153757162392, -0.0002624138433020562, -6.88752334099263e-05, -0.00013814518752042204, -0.000980425626039505, 0.0008162393933162093, 0.000420297757955268], "tau": [55.61000061035156, 23.639999389648438, 5.492000102996826, -26.32000160217285, -2.5200002193450928, 2.696000099182129, -0.5080000162124634], "tau_des": [0.5361255407333374, -0.5701640248298645, -0.17420867085456848, -0.5224599242210388, 0.9559218883514404, -1.1935336589813232, -0.5382351279258728], "tau_dot": [11.456716537475586, 56.74612808227539, -35.10383605957031, 48.56802749633789, 57.424190521240234, 58.131595611572266, 68.68728637695312], "tau_ext": [-16.77884292602539, -41.65917205810547, 31.764863967895508, 31.351451873779297, 9.472755432128906, -2.990713119506836, -0.13108336925506592], "tcp_pose": [0.6779628992080688, 0.03260170295834541, -0.21499134600162506, -0.0022988091222941875, -0.004602376837283373, 0.999891996383667, 0.013768360018730164], "tcp_vel": [0.00026025535771623254, 0.0001257505500689149, 5.133377999300137e-05, -0.00023617909755557775, -0.0011297608725726604, 0.00021018259576521814], "flange_pose": [0.6786714792251587, 0.02847481518983841, -0.06504980474710464, -0.0022988091222941875, -0.004602376837283373, 0.999891996383667, 0.013768360018730164], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66838836669922, 15.203557014465332, 28.241857528686523, 0.3680606484413147, -24.012237548828125, 1.7928251028060913], "ext_wrench_in_world": [-107.93506710979051, 14.976385726526118, -27.33059960228492, -0.1570273762552271, -23.956201997310828, -2.452135978831744]}
+{"timestamp_ns": 1789729895388915829, "elapsed_ms": 14766, "source_timestamp_ns": 1789729895381664238, "q": [0.8363645672798157, -1.8969749212265015, -1.006080985069275, 1.3811659812927246, -0.16216006875038147, 0.5937908291816711, 0.7040762901306152], "theta": [0.8384426236152649, -1.8950223922729492, -1.0042725801467896, 1.3627521991729736, -0.16275423765182495, 0.5937610864639282, 0.7040591835975647], "dq": [0.003616577945649624, -0.00186436646617949, 0.0006089132511988282, -0.0011636652052402496, 0.0009302107500843704, -0.00021669494162779301, -0.0008943615248426795], "dtheta": [0.0006807320169173181, 0.00019486054952722043, -0.00016403243353124708, -1.847197017923463e-05, -0.0006714492337778211, 0.0008602714515291154, 0.0005006090505048633], "tau": [55.64999771118164, 23.6299991607666, 5.508000373840332, -26.328001022338867, -2.576000213623047, 2.6440000534057617, -0.5320000052452087], "tau_des": [0.3497467041015625, -0.7028793096542358, -0.11871597170829773, -0.4177951216697693, 0.9694237112998962, -1.2188290357589722, -0.5497623682022095], "tau_dot": [81.40281677246094, 50.80891418457031, -3.136021375656128, -2.600567579269409, -86.70075225830078, -32.66123962402344, -34.61277770996094], "tau_ext": [-16.79099464416504, -41.635440826416016, 31.767248153686523, 31.36336898803711, 9.474481582641602, -2.994591236114502, -0.14160382747650146], "tcp_pose": [0.6779630780220032, 0.03260032832622528, -0.2149912267923355, -0.002299047540873289, -0.004601750988513231, 0.999891996383667, 0.013766949065029621], "tcp_vel": [0.0005121529684402049, -5.560400677495636e-05, 0.0006715802592225373, 0.00019412113761063665, -0.0017560753040015697, -0.0003968758974224329], "flange_pose": [0.6786717176437378, 0.028473863378167152, -0.0650496706366539, -0.002299047540873289, -0.004601750988513231, 0.999891996383667, 0.013766949065029621], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.70783233642578, 15.195688247680664, 28.23465347290039, 0.3683381676673889, -24.024335861206055, 1.7879374027252197], "ext_wrench_in_world": [-107.97439764203456, 14.968013037479217, -27.32342921773794, -0.15720207038770076, -23.9684389790565, -2.4475144841586647]}
+{"timestamp_ns": 1789729895422246381, "elapsed_ms": 14800, "source_timestamp_ns": 1789729895421698219, "q": [0.8363637328147888, -1.8969745635986328, -1.0060843229293823, 1.3811659812927246, -0.1621607393026352, 0.593789279460907, 0.7040758728981018], "theta": [0.8384420275688171, -1.895021677017212, -1.0042762756347656, 1.3627519607543945, -0.16275542974472046, 0.5937598943710327, 0.704059898853302], "dq": [-0.0004548385040834546, 0.00035738441511057317, 0.003121022367849946, 0.0009868278866633773, 0.0006813947693444788, 0.00015951553359627724, 0.0016920825000852346], "dtheta": [-0.00010768987704068422, 0.0004639458784367889, 0.00022285834711510688, -0.00015627358516212553, -0.00022647572041023523, 0.0003943765477743, 1.1295566764601972e-05], "tau": [55.599998474121094, 23.56999969482422, 5.496000289916992, -26.272001266479492, -2.5440001487731934, 2.6560001373291016, -0.5320000052452087], "tau_des": [0.5017802715301514, -0.6457598805427551, -0.13919246196746826, -0.5070944428443909, 0.9335689544677734, -1.1840088367462158, -0.541766345500946], "tau_dot": [7.763757228851318, -48.314697265625, -8.594752311706543, 41.15726852416992, 18.100366592407227, 10.859027862548828, -29.69418716430664], "tau_ext": [-16.81499481201172, -41.603538513183594, 31.78397560119629, 31.34585952758789, 9.476469039916992, -2.9933719635009766, -0.13874274492263794], "tcp_pose": [0.6779638528823853, 0.0325980968773365, -0.21499201655387878, -0.0022993425372987986, -0.004600872285664082, 0.999891996383667, 0.013765268959105015], "tcp_vel": [0.00019181720563210547, 6.258000212255865e-05, 0.00020998968102503568, 0.0006935332785360515, -0.0003715205530170351, -7.412260310957208e-05], "flange_pose": [0.6786726117134094, 0.028472134843468666, -0.06505044549703598, -0.0022993425372987986, -0.004600872285664082, 0.999891996383667, 0.013765268959105015], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.68289947509766, 15.19558334350586, 28.247802734375, 0.35622915625572205, -24.008544921875, 1.7794743776321411], "ext_wrench_in_world": [-107.94951756222191, 14.968596881840343, -27.33667348647401, -0.14524120510968974, -23.952783267255782, -2.4385930948634034]}
+{"timestamp_ns": 1789729895455580933, "elapsed_ms": 14833, "source_timestamp_ns": 1789729895451740601, "q": [0.8363632559776306, -1.896974802017212, -1.0060842037200928, 1.381166934967041, -0.16215947270393372, 0.5937883257865906, 0.704075038433075], "theta": [0.8384418487548828, -1.8950221538543701, -1.0042760372161865, 1.362751841545105, -0.16275471448898315, 0.5937584638595581, 0.7040587067604065], "dq": [0.002307452727109194, -0.00018535699928179383, 0.0002935703087132424, -0.0018821205012500286, -0.0045044152066111565, -0.0007700984133407474, 0.001314943772740662], "dtheta": [-1.3868192581867334e-05, 0.0002941866987384856, 0.0003876927657984197, -0.0002005854476010427, 0.0007127266144379973, -0.0001583403500262648, -7.475343295482162e-07], "tau": [55.66999816894531, 23.639999389648438, 5.496000289916992, -26.32400131225586, -2.56000018119812, 2.6640000343322754, -0.5040000081062317], "tau_des": [0.5419705510139465, -0.5914285182952881, -0.18498916923999786, -0.5476577281951904, 0.9041380286216736, -1.1612889766693115, -0.5432853698730469], "tau_dot": [200.97393798828125, 100.99217224121094, -10.179041862487793, 21.571229934692383, -19.1209774017334, 2.623875617980957, 52.80060577392578], "tau_ext": [-16.806615829467773, -41.61219787597656, 31.789182662963867, 31.344486236572266, 9.48090648651123, -2.995029926300049, -0.14178231358528137], "tcp_pose": [0.6779628992080688, 0.03259795904159546, -0.21499304473400116, -0.0023007113486528397, -0.004601136781275272, 0.999891996383667, 0.013765046373009682], "tcp_vel": [-0.000101879944850225, 0.00019063169020228088, 0.0001120141168939881, 0.0009197762119583786, 0.0004889648407697678, -0.0003476564306765795], "flange_pose": [0.6786720752716064, 0.028472067788243294, -0.06505148112773895, -0.0023007113486528397, -0.004601136781275272, 0.999891996383667, 0.013765046373009682], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6380386352539, 15.211641311645508, 28.224336624145508, 0.3531920313835144, -23.988239288330078, 1.776929497718811], "ext_wrench_in_world": [-107.90477796599849, 14.9843444899086, -27.3126872136001, -0.14237081736839569, -23.932529245550153, -2.4354920788881884]}
+{"timestamp_ns": 1789729895488898836, "elapsed_ms": 14866, "source_timestamp_ns": 1789729895481658634, "q": [0.8363640308380127, -1.8969764709472656, -1.0060834884643555, 1.3811671733856201, -0.16216102242469788, 0.5937860012054443, 0.7040735483169556], "theta": [0.8384425044059753, -1.8950234651565552, -1.0042753219604492, 1.3627519607543945, -0.16275566816329956, 0.5937563180923462, 0.7040570378303528], "dq": [0.0025272774510085583, -0.0010875656735152006, 0.002817882224917412, -0.0013349995715543628, -0.001432672026567161, 0.0004337553691584617, -0.0002532847865950316], "dtheta": [0.0001232265931321308, -0.00040478730807080865, 0.00023920192325022072, 3.2186075259232894e-05, 0.00012546675861813128, -0.00013547659909818321, -0.0013410670217126608], "tau": [55.61000061035156, 23.59000015258789, 5.492000102996826, -26.30000114440918, -2.56000018119812, 2.6640000343322754, -0.5320000052452087], "tau_des": [0.5831481218338013, -0.4690532386302948, -0.23671555519104004, -0.6019606590270996, 0.9358558058738708, -1.1447279453277588, -0.5039663314819336], "tau_dot": [38.77262878417969, -107.72221374511719, -16.840978622436523, 29.49112892150879, -22.120365142822266, -22.523399353027344, 11.318860054016113], "tau_ext": [-16.800243377685547, -41.63751983642578, 31.80188751220703, 31.365182876586914, 9.48275089263916, -2.9944705963134766, -0.13987430930137634], "tcp_pose": [0.677962064743042, 0.03259832412004471, -0.21499323844909668, -0.002301010536029935, -0.004603156819939613, 0.9998920559883118, 0.013763335533440113], "tcp_vel": [-0.00021631078561767936, 0.00023230942315421999, -6.340668187476695e-05, -0.0001707161864032969, 0.0001140559179475531, 0.0017184850294142962], "flange_pose": [0.6786713004112244, 0.02847294509410858, -0.06505165249109268, -0.002301010536029935, -0.004603156819939613, 0.9998920559883118, 0.013763335533440113], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.67286682128906, 15.203001976013184, 28.2255859375, 0.3500254154205322, -23.995450973510742, 1.7760475873947144], "ext_wrench_in_world": [-107.9396063821989, 14.97488945511337, -27.314012520609413, -0.13903850162868794, -23.93974169501684, -2.4347414887880263]}
+{"timestamp_ns": 1789729895522323500, "elapsed_ms": 14900, "source_timestamp_ns": 1789729895521742231, "q": [0.8363653421401978, -1.896977186203003, -1.0060821771621704, 1.3811681270599365, -0.16215910017490387, 0.5937832593917847, 0.704073429107666], "theta": [0.838444173336029, -1.8950235843658447, -1.0042750835418701, 1.3627526760101318, -0.16275350749492645, 0.5937541723251343, 0.7040565609931946], "dq": [0.0008281886694021523, -0.00022691799676977098, -0.0018642276991158724, 0.004615765530616045, -0.0037973818834871054, 0.00010934638703474775, 0.0014856396010145545], "dtheta": [-0.00011464006820460781, 0.00019897734455298632, -4.248340701451525e-05, 3.523410850903019e-05, 0.0009406809112988412, 0.0007137693464756012, 6.625628157053143e-05], "tau": [55.63999938964844, 23.60999870300293, 5.492000102996826, -26.30000114440918, -2.56000018119812, 2.6640000343322754, -0.5360000133514404], "tau_des": [0.5847611427307129, -0.5809454321861267, -0.1600935310125351, -0.5745355486869812, 0.8983007669448853, -1.161531686782837, -0.5432083010673523], "tau_dot": [19.843936920166016, 57.61960220336914, -55.6574592590332, -16.815200805664062, -4.739223957061768, 13.6780366897583, -9.558869361877441], "tau_ext": [-16.794511795043945, -41.6133918762207, 31.78101348876953, 31.359514236450195, 9.482415199279785, -2.9925410747528076, -0.12961003184318542], "tcp_pose": [0.6779606342315674, 0.03259881213307381, -0.21499335765838623, -0.002302489010617137, -0.004603463225066662, 0.9998920559883118, 0.01376295555382967], "tcp_vel": [3.3988697396125644e-05, 9.002534352475777e-05, -3.288858351879753e-05, 0.0011511835036799312, 0.00011220588203286752, -0.000762609823141247], "flange_pose": [0.6786702871322632, 0.02847355231642723, -0.06505177915096283, -0.002302489010617137, -0.004603463225066662, 0.9998920559883118, 0.01376295555382967], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.71247100830078, 15.199600219726562, 28.21514129638672, 0.3523835837841034, -24.007692337036133, 1.7819666862487793], "ext_wrench_in_world": [-107.97921819676004, 14.970742972967045, -27.30318201936294, -0.14130411658742736, -23.951838946189767, -2.4409660082080515]}
+{"timestamp_ns": 1789729895555585268, "elapsed_ms": 14933, "source_timestamp_ns": 1789729895551739647, "q": [0.8363657593727112, -1.8969765901565552, -1.006082534790039, 1.3811686038970947, -0.16215850412845612, 0.5937837958335876, 0.7040733695030212], "theta": [0.838444709777832, -1.8950234651565552, -1.0042754411697388, 1.3627527952194214, -0.16275230050086975, 0.5937546491622925, 0.7040558457374573], "dq": [-0.0024308746214956045, 0.0017617001431062818, -0.0011087905149906874, 0.0007864190265536308, -0.001450147246941924, 0.0017018570797517896, 0.0030267401598393917], "dtheta": [-5.2547034101735335e-06, -0.000537498970516026, -0.0003047947830054909, 0.0001832258130889386, 0.0006626540562137961, -0.00021509795624297112, 8.9379602286499e-05], "tau": [55.64999771118164, 23.56999969482422, 5.5320000648498535, -26.304000854492188, -2.56000018119812, 2.6560001373291016, -0.5320000052452087], "tau_des": [0.6587127447128296, -0.4849335253238678, -0.17197777330875397, -0.6541987061500549, 0.9070139527320862, -1.122567892074585, -0.5409014225006104], "tau_dot": [12.284719467163086, -74.64141082763672, 2.3836896419525146, 48.296775817871094, -30.411174774169922, -31.996536254882812, 18.584514617919922], "tau_ext": [-16.848880767822266, -41.60911560058594, 31.76837921142578, 31.357894897460938, 9.475333213806152, -2.999519109725952, -0.1219404861330986], "tcp_pose": [0.6779608130455017, 0.03259845823049545, -0.21499311923980713, -0.002302352339029312, -0.004603028297424316, 0.9998920559883118, 0.013763236813247204], "tcp_vel": [-0.0002448396116960794, -3.232072413084097e-05, -0.0003403455193620175, -0.0004281846049707383, 0.0005891022155992687, -0.00027673569275066257], "flange_pose": [0.6786704659461975, 0.028473110869526863, -0.06505154073238373, -0.002302352339029312, -0.004603028297424316, 0.9998920559883118, 0.013763236813247204], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66532135009766, 15.200190544128418, 28.230228424072266, 0.3520101010799408, -23.995515823364258, 1.7854036092758179], "ext_wrench_in_world": [-107.932127647369, 14.972294781983335, -27.318477654260956, -0.14107854923197555, -23.939568081958917, -2.444081357238787]}
+{"timestamp_ns": 1789729895588903652, "elapsed_ms": 14966, "source_timestamp_ns": 1789729895581658560, "q": [0.8363651633262634, -1.8969757556915283, -1.0060824155807495, 1.381169080734253, -0.16215920448303223, 0.593785285949707, 0.7040743231773376], "theta": [0.8384442925453186, -1.8950226306915283, -1.0042754411697388, 1.3627530336380005, -0.16275325417518616, 0.5937556028366089, 0.7040560841560364], "dq": [0.0017165213357657194, 0.0007627943996340036, -0.003954650368541479, -0.0005303854122757912, 0.0012764284620061517, -0.003411482088267803, -0.00234922650270164], "dtheta": [-0.00037114802398718894, 0.00023690615489613265, -0.00019704581063706428, -3.675137122627348e-05, 0.000399530865252018, 0.00037769097252748907, -0.00014657901192549616], "tau": [55.62999725341797, 23.619998931884766, 5.51200008392334, -26.2760009765625, -2.5440001487731934, 2.6760001182556152, -0.5600000023841858], "tau_des": [0.6222154498100281, -0.5885499715805054, -0.1309053748846054, -0.5931270718574524, 0.9031775593757629, -1.153422474861145, -0.5409741401672363], "tau_dot": [-54.20914077758789, -23.555458068847656, -26.584747314453125, 75.94593048095703, 9.693078994750977, 16.962913513183594, -0.3622976839542389], "tau_ext": [-16.85066032409668, -41.612911224365234, 31.765079498291016, 31.36164665222168, 9.473356246948242, -3.0024774074554443, -0.12224841862916946], "tcp_pose": [0.6779610514640808, 0.0325983427464962, -0.21499331295490265, -0.0023021651431918144, -0.0046025291085243225, 0.9998920559883118, 0.013763715513050556], "tcp_vel": [7.966456905705854e-05, -8.36461695143953e-05, -0.00016568269347772002, 0.0005671428516507149, 0.0002105226885760203, -0.0003870412474498153], "flange_pose": [0.6786705851554871, 0.02847285196185112, -0.06505173444747925, -0.0023021651431918144, -0.0046025291085243225, 0.9998920559883118, 0.013763715513050556], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.60304260253906, 15.215824127197266, 28.250343322753906, 0.35646000504493713, -23.978742599487305, 1.7863162755966187], "ext_wrench_in_world": [-107.87006546681214, 14.98918684487903, -27.338457033308938, -0.14570905744299265, -23.922815581439576, -2.444534669653109]}
+{"timestamp_ns": 1789729895622246993, "elapsed_ms": 15000, "source_timestamp_ns": 1789729895621664504, "q": [0.8363674879074097, -1.896977186203003, -1.0060830116271973, 1.381168246269226, -0.16216136515140533, 0.5937864184379578, 0.7040752172470093], "theta": [0.8384459018707275, -1.8950234651565552, -1.0042754411697388, 1.3627535104751587, -0.16275542974472046, 0.5937572717666626, 0.7040567994117737], "dq": [0.0032642593141645193, -0.0008054339559748769, 0.0014201751910150051, -0.002191175241023302, -0.0004650197515729815, 0.0013046541716903448, 0.0014790460700169206], "dtheta": [-0.0003932662948500365, -0.00024159776512533426, -3.0052671718294732e-05, -4.615398574969731e-05, 0.0007338924333453178, 0.00025390469818376005, 0.00016168394358828664], "tau": [55.62999725341797, 23.6299991607666, 5.468000411987305, -26.312002182006836, -2.564000129699707, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.6523934006690979, -0.5109290480613708, -0.18731805682182312, -0.6134156584739685, 0.8995066285133362, -1.1526705026626587, -0.5419887900352478], "tau_dot": [79.27852630615234, -48.73036193847656, -44.703731536865234, -9.737645149230957, -18.24346160888672, -30.25653076171875, -24.761432647705078], "tau_ext": [-16.7929744720459, -41.644935607910156, 31.785186767578125, 31.3597354888916, 9.48538875579834, -2.9967291355133057, -0.12041151523590088], "tcp_pose": [0.6779621839523315, 0.03259860724210739, -0.2149914801120758, -0.00229955418035388, -0.004602903034538031, 0.9998920559883118, 0.013762913644313812], "tcp_vel": [-0.00017343665240332484, 0.00015503850590903312, -0.0003507338697090745, 0.0004490954743232578, 0.0005660097813233733, -0.0004413225397001952], "flange_pose": [0.6786710023880005, 0.028473354876041412, -0.0650499016046524, -0.00229955418035388, -0.004602903034538031, 0.9998920559883118, 0.013762913644313812], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.64348602294922, 15.241935729980469, 28.241344451904297, 0.36791837215423584, -23.993087768554688, 1.7933359146118164], "ext_wrench_in_world": [-107.91056988067584, 15.014548688338225, -27.32915037344079, -0.1570397866118387, -23.937071809672396, -2.451858475683666]}
+{"timestamp_ns": 1789729895655576015, "elapsed_ms": 15033, "source_timestamp_ns": 1789729895651663240, "q": [0.8363680839538574, -1.8969781398773193, -1.0060843229293823, 1.3811686038970947, -0.16216318309307098, 0.5937849283218384, 0.7040765285491943], "theta": [0.838446855545044, -1.895024061203003, -1.0042762756347656, 1.3627541065216064, -0.16275686025619507, 0.5937563180923462, 0.7040579915046692], "dq": [-0.00044851406710222363, -6.295162165770307e-05, -0.0016970925498753786, -0.0020316378213465214, 0.0003203528467565775, -0.0005567364278249443, -0.0013481699861586094], "dtheta": [-0.00013060840137768537, 0.0001196004668599926, -0.00013260093692224473, 0.0003018548304680735, 4.067426561960019e-05, -0.0005864778067916632, 0.0010887234238907695], "tau": [55.63999938964844, 23.639999389648438, 5.5320000648498535, -26.292001724243164, -2.5880000591278076, 2.6720001697540283, -0.5520000457763672], "tau_des": [0.6250846982002258, -0.5842980146408081, -0.11696106940507889, -0.6260863542556763, 0.912821352481842, -1.1277958154678345, -0.5607709288597107], "tau_dot": [29.235414505004883, 94.1626205444336, 68.84073638916016, 52.84627914428711, -18.4666805267334, 28.784122467041016, -34.503753662109375], "tau_ext": [-16.791690826416016, -41.63001251220703, 31.78363609313965, 31.36537742614746, 9.494510650634766, -3.0022449493408203, -0.12533332407474518], "tcp_pose": [0.6779623627662659, 0.032597776502370834, -0.21499158442020416, -0.002299246611073613, -0.004602646455168724, 0.9998920559883118, 0.013761047273874283], "tcp_vel": [-0.0001849475665949285, -0.00025588396238163114, -0.00026512614567764103, -0.0005326716927811503, 0.0008267236407846212, -0.0012224608799442649], "flange_pose": [0.6786710619926453, 0.028473081067204475, -0.06504997611045837, -0.002299246611073613, -0.004602646455168724, 0.9998920559883118, 0.013761047273874283], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.71072387695312, 15.223301887512207, 28.21601676940918, 0.3663025498390198, -24.00704002380371, 1.7962653636932373], "ext_wrench_in_world": [-107.97748938947312, 14.994556500710294, -27.30416856965953, -0.15532109921644185, -23.95093172735769, -2.4550890547849624]}
+{"timestamp_ns": 1789729895688890619, "elapsed_ms": 15066, "source_timestamp_ns": 1789729895681677855, "q": [0.8363674879074097, -1.8969775438308716, -1.0060843229293823, 1.3811686038970947, -0.1621616780757904, 0.5937830805778503, 0.704075813293457], "theta": [0.8384466767311096, -1.895024061203003, -1.0042762756347656, 1.3627536296844482, -0.16275638341903687, 0.5937539339065552, 0.7040572762489319], "dq": [-0.0009459325228817761, -0.00017205026233568788, -0.0007272776565514505, -0.0016590784071013331, -0.001127271563746035, 0.000760514521971345, -0.0024423275608569384], "dtheta": [-0.00034581354702822864, 8.951892232289538e-05, 0.000291409291094169, 8.225816600315738e-06, 0.0011525684967637062, -0.0005161487497389317, -0.000949292560108006], "tau": [55.65999984741211, 23.56999969482422, 5.520000457763672, -26.312002182006836, -2.5920000076293945, 2.6640000343322754, -0.5400000214576721], "tau_des": [0.6633704304695129, -0.49857988953590393, -0.21150584518909454, -0.6413548588752747, 0.8844543695449829, -1.127895712852478, -0.5231947898864746], "tau_dot": [25.44929313659668, -75.27342224121094, 31.922252655029297, 32.09379577636719, -42.53696823120117, -28.649335861206055, -7.334744453430176], "tau_ext": [-16.819690704345703, -41.604976654052734, 31.77178955078125, 31.362794876098633, 9.499902725219727, -2.998302698135376, -0.1318122148513794], "tcp_pose": [0.6779618263244629, 0.032597389072179794, -0.21499213576316833, -0.002300635911524296, -0.004602397326380014, 0.9998920559883118, 0.013761118985712528], "tcp_vel": [-0.00040403203456662595, 0.0001322034513577819, -0.0003490277158562094, 0.0006301146349869668, 0.0014465369749814272, 0.0004675571108236909], "flange_pose": [0.6786709427833557, 0.028472675010561943, -0.06505052745342255, -0.002300635911524296, -0.004602397326380014, 0.9998920559883118, 0.013761118985712528], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7019271850586, 15.211626052856445, 28.22454071044922, 0.35752925276756287, -24.00141143798828, 1.793076515197754], "ext_wrench_in_world": [-107.96869589910094, 14.98325473176061, -27.312747360052388, -0.14660250355993404, -23.9453115064272, -2.4517883549866344]}
+{"timestamp_ns": 1789729895722305564, "elapsed_ms": 15100, "source_timestamp_ns": 1789729895721660711, "q": [0.8363682627677917, -1.8969777822494507, -1.0060844421386719, 1.3811683654785156, -0.16216106712818146, 0.5937778353691101, 0.7040746212005615], "theta": [0.8384471535682678, -1.8950245380401611, -1.004275918006897, 1.36275315284729, -0.16275638341903687, 0.593748927116394, 0.7040563225746155], "dq": [0.0008351522265002131, -0.00045520273852162063, 0.001025397446937859, 0.0011139627313241363, -0.00022545596584677696, 0.00032724571065045893, 0.0012977609876543283], "dtheta": [0.0003548546228557825, -3.946260403608903e-05, -0.0003486603091005236, 0.0002547625917941332, 0.0009556381264701486, -0.0005940052797086537, -0.0003582713252399117], "tau": [55.599998474121094, 23.600000381469727, 5.508000373840332, -26.30000114440918, -2.556000232696533, 2.6560001373291016, -0.5640000104904175], "tau_des": [0.565151572227478, -0.5725535750389099, -0.1269703060388565, -0.6066181659698486, 0.9086276888847351, -1.1262480020523071, -0.5402406454086304], "tau_dot": [-53.00740051269531, -36.870628356933594, 25.661874771118164, 11.327136039733887, 25.812721252441406, -13.118878364562988, -68.54327392578125], "tau_ext": [-16.816614151000977, -41.615821838378906, 31.777246475219727, 31.34686851501465, 9.503061294555664, -2.9915223121643066, -0.13250470161437988], "tcp_pose": [0.677960991859436, 0.03259668126702309, -0.2149922400712967, -0.0023022706154733896, -0.004602879285812378, 0.9998921155929565, 0.013759530149400234], "tcp_vel": [-0.00015839183470234275, -0.00025607532006688416, -5.007436266168952e-05, -0.0001914260647026822, 0.0007079091155901551, -0.0003361153940204531], "flange_pose": [0.6786706447601318, 0.028472445905208588, -0.0650506243109703, -0.0023022706154733896, -0.004602879285812378, 0.9998921155929565, 0.013759530149400234], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6572494506836, 15.206244468688965, 28.229015350341797, 0.34678491950035095, -23.98795509338379, 1.7893441915512085], "ext_wrench_in_world": [-107.92409623800802, 14.978215695889395, -27.317266399745716, -0.1359477206306643, -23.931871841681005, -2.4476581356552782]}
+{"timestamp_ns": 1789729895755638816, "elapsed_ms": 15133, "source_timestamp_ns": 1789729895751695043, "q": [0.8363698124885559, -1.8969782590866089, -1.0060832500457764, 1.3811683654785156, -0.16216078400611877, 0.5937777757644653, 0.7040746212005615], "theta": [0.8384479880332947, -1.8950250148773193, -1.0042744874954224, 1.3627530336380005, -0.16275590658187866, 0.5937486886978149, 0.7040558457374573], "dq": [-0.0004450938431546092, 0.0013170198071748018, -0.0007036696188151836, -0.0003695822670124471, 0.003900410607457161, -0.0001636436500120908, -0.002710163127630949], "dtheta": [0.0003857474948745221, 0.000232580496231094, 0.0003174934536218643, -6.190946442075074e-05, -0.00027913489611819386, 3.85326384275686e-05, 9.105697245104238e-05], "tau": [55.619998931884766, 23.579999923706055, 5.500000476837158, -26.30000114440918, -2.564000129699707, 2.684000015258789, -0.5480000376701355], "tau_des": [0.4501391351222992, -0.6238774061203003, -0.19376985728740692, -0.49989768862724304, 0.9373266696929932, -1.177412748336792, -0.5349488854408264], "tau_dot": [7.071091175079346, 5.222218036651611, 0.8024499416351318, 35.306087493896484, -49.879268646240234, 80.15538024902344, -19.54180145263672], "tau_ext": [-16.801729202270508, -41.62202835083008, 31.785064697265625, 31.35630989074707, 9.495712280273438, -2.9940106868743896, -0.12836427986621857], "tcp_pose": [0.6779607534408569, 0.03259749338030815, -0.21499130129814148, -0.0023018030915409327, -0.004603405017405748, 0.9998920559883118, 0.013759816996753216], "tcp_vel": [0.00010843442578334361, 0.00010491284047020599, 0.0004028656694572419, 0.0002621197490952909, -0.0005167421768419445, 0.00012023354065604508], "flange_pose": [0.6786702275276184, 0.028473174199461937, -0.0650496855378151, -0.0023018030915409327, -0.004603405017405748, 0.9998920559883118, 0.013759816996753216], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66914367675781, 15.21323013305664, 28.22490692138672, 0.349538117647171, -23.993255615234375, 1.7904020547866821], "ext_wrench_in_world": [-107.9360239553524, 14.984879110767821, -27.31300738904216, -0.13863016541756013, -23.937165281671867, -2.4488632845890033]}
+{"timestamp_ns": 1789729895788895275, "elapsed_ms": 15166, "source_timestamp_ns": 1789729895781669622, "q": [0.8363702893257141, -1.8969777822494507, -1.0060832500457764, 1.3811684846878052, -0.16216100752353668, 0.5937785506248474, 0.704075038433075], "theta": [0.8384484648704529, -1.8950247764587402, -1.004274606704712, 1.36275315284729, -0.16275566816329956, 0.5937496423721313, 0.7040558457374573], "dq": [-0.0009107154328376055, -0.0015487915370613337, -0.00036359325167723, 0.0005818998906761408, 0.0015365940053015947, 0.0003993590653408319, -0.0005523132276721299], "dtheta": [2.8368840503389947e-05, 0.0004525869735516608, 0.0002124830352840945, 4.556122439680621e-05, -0.0003408813790883869, 0.00034883106127381325, 1.81111681740731e-05], "tau": [55.619998931884766, 23.579999923706055, 5.51200008392334, -26.328001022338867, -2.576000213623047, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.5002938508987427, -0.6390528678894043, -0.16504769027233124, -0.5196027159690857, 0.9282699227333069, -1.1780177354812622, -0.5362388491630554], "tau_dot": [-26.622243881225586, 5.52715539932251, 0.8384919166564941, -12.22074031829834, -24.084129333496094, -26.611215591430664, -14.417828559875488], "tau_ext": [-16.805051803588867, -41.59075164794922, 31.76853370666504, 31.359024047851562, 9.489688873291016, -3.0001637935638428, -0.12474041432142258], "tcp_pose": [0.6779611110687256, 0.032597433775663376, -0.2149907797574997, -0.0023012885358184576, -0.004603108856827021, 0.9998920559883118, 0.01376014668494463], "tcp_vel": [0.00014959045802243054, 6.316456619970268e-06, 0.000212462866329588, 0.00046176076284609735, -0.00037741076084785163, 1.593867091287393e-05], "flange_pose": [0.6786704063415527, 0.028473014011979103, -0.06504916399717331, -0.0023012885358184576, -0.004603108856827021, 0.9998920559883118, 0.01376014668494463], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69108581542969, 15.200159072875977, 28.2264461517334, 0.34916597604751587, -23.99729347229004, 1.7914060354232788], "ext_wrench_in_world": [-107.95781580669717, 14.97173622314531, -27.314907706515925, -0.13823793721049962, -23.941168676641773, -2.4499957402201447]}
+{"timestamp_ns": 1789729895822305840, "elapsed_ms": 15200, "source_timestamp_ns": 1789729895821695704, "q": [0.8363701701164246, -1.8969783782958984, -1.0060837268829346, 1.3811678886413574, -0.16216015815734863, 0.593778669834137, 0.7040749788284302], "theta": [0.8384483456611633, -1.895025372505188, -1.0042750835418701, 1.362752914428711, -0.16275519132614136, 0.5937498807907104, 0.7040565609931946], "dq": [0.00013983127428218722, -0.00016016057634260505, -0.001050355494953692, -2.339400271011982e-05, -0.0017804779345169663, -0.0007587807485833764, -0.0008692399132996798], "dtheta": [-0.0001361343020107597, -0.0003336105146445334, 0.0001927187986439094, -7.830966205801815e-05, -0.0001717708946671337, -0.0005154872196726501, 0.0006966748624108732], "tau": [55.65999984741211, 23.56999969482422, 5.520000457763672, -26.316001892089844, -2.568000078201294, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.6141116619110107, -0.5174188613891602, -0.21415549516677856, -0.6056389808654785, 0.9151575565338135, -1.141711711883545, -0.5453301668167114], "tau_dot": [63.63203430175781, 86.63799285888672, -2.502462148666382, -48.635189056396484, -43.68497848510742, 31.479154586791992, 3.770719289779663], "tau_ext": [-16.835309982299805, -41.59926223754883, 31.769390106201172, 31.36046028137207, 9.487960815429688, -2.9999501705169678, -0.12318670749664307], "tcp_pose": [0.6779612302780151, 0.03259756416082382, -0.21499083936214447, -0.0023011991288512945, -0.0046029104851186275, 0.9998920559883118, 0.013760247267782688], "tcp_vel": [-0.00022475885634776205, 0.0001260115095647052, -0.00019020440231543034, -0.0005269586690701544, 0.0004485322569962591, -0.00024243374355137348], "flange_pose": [0.6786705255508423, 0.028473112732172012, -0.06504923105239868, -0.0023011991288512945, -0.0046029104851186275, 0.9998920559883118, 0.013760247267782688], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.66023254394531, 15.186356544494629, 28.23137664794922, 0.3464300036430359, -23.986921310424805, 1.7902103662490845], "ext_wrench_in_world": [-107.92685061536689, 14.958409664397026, -27.320370065422384, -0.13560041805972028, -23.930807853379793, -2.448531981943355]}
+{"timestamp_ns": 1789729895855657210, "elapsed_ms": 15233, "source_timestamp_ns": 1789729895851715738, "q": [0.8363701105117798, -1.8969777822494507, -1.006083607673645, 1.381168007850647, -0.1621604710817337, 0.593778133392334, 0.7040740847587585], "theta": [0.8384482264518738, -1.8950246572494507, -1.0042755603790283, 1.36275315284729, -0.16275493800640106, 0.5937501192092896, 0.7040563225746155], "dq": [-0.0012730055022984743, -0.0008848920115269721, -0.0020100772380828857, -0.001477251062169671, 0.0005463517736643553, 0.00033716659527271986, 0.0004742515739053488], "dtheta": [0.00017222411406692117, -5.933909778832458e-05, 0.00012185453670099378, 1.7284952264162712e-05, 0.00032164581352844834, -0.0005863301921635866, -0.00038733132532797754], "tau": [55.62999725341797, 23.619998931884766, 5.492000102996826, -26.296001434326172, -2.5480000972747803, 2.6720001697540283, -0.5200000405311584], "tau_des": [0.5512208342552185, -0.5536146759986877, -0.2010626643896103, -0.5751661658287048, 0.9141915440559387, -1.1480627059936523, -0.5295011401176453], "tau_dot": [-51.924930572509766, 54.951114654541016, -30.887577056884766, 54.179988861083984, 5.623526096343994, -30.480823516845703, 66.49420166015625], "tau_ext": [-16.82044219970703, -41.57073211669922, 31.761106491088867, 31.34796714782715, 9.483960151672363, -2.995896339416504, -0.12686079740524292], "tcp_pose": [0.6779612302780151, 0.03259733319282532, -0.21499080955982208, -0.0023014191538095474, -0.004603290464729071, 0.9998920559883118, 0.013760221190750599], "tcp_vel": [-0.00017937233496923, 1.1359408745192923e-05, 5.003062597097596e-06, -0.00015828343748580664, 0.0004909394192509353, 0.0003506308130454272], "flange_pose": [0.6786705851554871, 0.028472889214754105, -0.0650491937994957, -0.0023014191538095474, -0.004603290464729071, 0.9998920559883118, 0.013760221190750599], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.62850189208984, 15.186767578125, 28.235166549682617, 0.3441982865333557, -23.979801177978516, 1.7880386114120483], "ext_wrench_in_world": [-107.89516651237653, 14.959134732251929, -27.324243638658373, -0.13340636184126556, -23.923729980802133, -2.4461736692275386]}
+{"timestamp_ns": 1789729895888891691, "elapsed_ms": 15266, "source_timestamp_ns": 1789729895881695445, "q": [0.8363690972328186, -1.8969775438308716, -1.0060844421386719, 1.3811671733856201, -0.16216227412223816, 0.5937788486480713, 0.7040748000144958], "theta": [0.8384474515914917, -1.8950244188308716, -1.004276156425476, 1.3627526760101318, -0.16275759041309357, 0.593751072883606, 0.704057514667511], "dq": [-4.538160283118486e-06, -0.00044168339809402823, 0.0004896281752735376, 0.00031079220934771, -0.00217749853618443, 0.00039651672705076635, 0.0016118070343509316], "dtheta": [-0.00027871469501405954, 0.00043186210677959025, -3.1120518542593345e-05, -5.306071398081258e-05, 0.0012797103263437748, 0.0016026595840230584, -0.00015808132593519986], "tau": [55.63999938964844, 23.559999465942383, 5.516000270843506, -26.32000160217285, -2.6000001430511475, 2.684000015258789, -0.5320000052452087], "tau_des": [0.5421836376190186, -0.6354193687438965, -0.1563079059123993, -0.5089698433876038, 0.8865962624549866, -1.206563949584961, -0.5454589128494263], "tau_dot": [28.885805130004883, -137.85374450683594, 58.312679290771484, 12.8369779586792, -14.615346908569336, 31.513273239135742, -0.1554621160030365], "tau_ext": [-16.814756393432617, -41.59838104248047, 31.780317306518555, 31.36376953125, 9.493233680725098, -3.0006089210510254, -0.12900733947753906], "tcp_pose": [0.6779620051383972, 0.032596927136182785, -0.21499092876911163, -0.002300725318491459, -0.004603000357747078, 0.9998921155929565, 0.01375987846404314], "tcp_vel": [0.00021129277592990547, 0.00020880774536635727, 3.82064790755976e-05, 0.002175127388909459, -0.0002819079963956028, -0.0009095179266296327], "flange_pose": [0.67867112159729, 0.02847258746623993, -0.06504931300878525, -0.002300725318491459, -0.004603000357747078, 0.9998921155929565, 0.01375987846404314], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.6442642211914, 15.183283805847168, 28.224863052368164, 0.34274187684059143, -23.98029899597168, 1.786513090133667], "ext_wrench_in_world": [-107.91080071055353, 14.955268945985015, -27.31412897999789, -0.1319491949103209, -23.924257624244987, -2.4446528363507545]}
+{"timestamp_ns": 1789729895922300516, "elapsed_ms": 15300, "source_timestamp_ns": 1789729895921700049, "q": [0.8363686800003052, -1.8969790935516357, -1.0060851573944092, 1.3811668157577515, -0.16216322779655457, 0.5937779545783997, 0.7040752172470093], "theta": [0.838447630405426, -1.8950254917144775, -1.0042768716812134, 1.3627521991729736, -0.16275949776172638, 0.5937501192092896, 0.7040579915046692], "dq": [0.0025145853869616985, 0.0005043995915912092, -0.0002857345389202237, -0.0017936612712219357, -0.0011402597883716226, -0.00011977466056123376, -0.00418131472542882], "dtheta": [0.00010566166747594252, 7.306178304133937e-06, 4.581375469570048e-05, -0.0001005661251838319, -0.0003807638422586024, 0.0005679578753188252, -0.00029783096397295594], "tau": [55.619998931884766, 23.53999900817871, 5.488000392913818, -26.288002014160156, -2.6120002269744873, 2.6520001888275146, -0.5320000052452087], "tau_des": [0.4950350522994995, -0.600884199142456, -0.18110191822052002, -0.5083125829696655, 0.9392269253730774, -1.1904501914978027, -0.5290849804878235], "tau_dot": [18.306467056274414, -21.296062469482422, -12.4307861328125, 56.95738220214844, -91.34524536132812, -31.804229736328125, 5.498270511627197], "tau_ext": [-16.782398223876953, -41.59322738647461, 31.793588638305664, 31.345930099487305, 9.50837230682373, -2.9983599185943604, -0.13483022153377533], "tcp_pose": [0.6779618859291077, 0.032596856355667114, -0.214991495013237, -0.0023007297422736883, -0.004603302571922541, 0.9998921155929565, 0.013758649118244648], "tcp_vel": [0.00020647414203267545, 0.00010530182771617547, 0.0002171045052818954, 0.0002289245749125257, -0.0008202994358725846, 0.0005069205653853714], "flange_pose": [0.6786710619926453, 0.028472885489463806, -0.06504987180233002, -0.0023007297422736883, -0.004603302571922541, 0.9998921155929565, 0.013758649118244648], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.70011901855469, 15.183265686035156, 28.19894027709961, 0.34145426750183105, -23.98740005493164, 1.7872755527496338], "ext_wrench_in_world": [-107.96653866053053, 14.953887467578541, -27.288004791962543, -0.13058571483365772, -23.931328883672638, -2.4455575123401427]}
+{"timestamp_ns": 1789729895955583073, "elapsed_ms": 15333, "source_timestamp_ns": 1789729895951709234, "q": [0.8363685011863708, -1.8969793319702148, -1.0060855150222778, 1.3811659812927246, -0.16216214001178741, 0.5937761068344116, 0.7040754556655884], "theta": [0.8384474515914917, -1.895025610923767, -1.004276990890503, 1.362751841545105, -0.16275902092456818, 0.5937482118606567, 0.704057514667511], "dq": [0.002276140730828047, -0.0016463417559862137, -0.0015939291333779693, -0.001587501261383295, -0.0014378497144207358, -0.0011492246994748712, -0.0007055392488837242], "dtheta": [-0.0002851372992154211, 0.0002492347848601639, -0.00018220725178252906, -3.4489457902964205e-05, 2.3519980459241197e-05, -0.00023480600793845952, -0.0006187038961797953], "tau": [55.65999984741211, 23.579999923706055, 5.488000392913818, -26.312002182006836, -2.5920000076293945, 2.6720001697540283, -0.527999997138977], "tau_des": [0.5995714068412781, -0.5949271321296692, -0.13381513953208923, -0.5853800773620605, 0.9129907488822937, -1.150212287902832, -0.5309204459190369], "tau_dot": [85.53662109375, 108.29096221923828, 5.11737060546875, -16.842422485351562, -34.240779876708984, 56.69228744506836, 10.449158668518066], "tau_ext": [-16.814157485961914, -41.60099792480469, 31.785879135131836, 31.36078453063965, 9.515965461730957, -2.996288299560547, -0.13651904463768005], "tcp_pose": [0.6779617667198181, 0.0325966514647007, -0.21499162912368774, -0.002301415428519249, -0.004602749831974506, 0.9998921155929565, 0.013758414424955845], "tcp_vel": [3.252665919717401e-05, -0.00020264841441530734, -0.00014269443636294454, -4.753557004733011e-05, 0.0003728247247636318, 0.00031050058896653354], "flange_pose": [0.67867112159729, 0.028472749516367912, -0.06505001336336136, -0.002301415428519249, -0.004602749831974506, 0.9998921155929565, 0.013758414424955845], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.70431518554688, 15.186989784240723, 28.203426361083984, 0.33689451217651367, -23.987451553344727, 1.7863273620605469], "ext_wrench_in_world": [-107.97081140533638, 14.957798582518267, -27.29222550173302, -0.12605060694724393, -23.931365197337453, -2.444619892129507]}
+{"timestamp_ns": 1789729895988899447, "elapsed_ms": 15366, "source_timestamp_ns": 1789729895981720579, "q": [0.8363690972328186, -1.8969789743423462, -1.006084680557251, 1.3811649084091187, -0.16216036677360535, 0.593774139881134, 0.7040732502937317], "theta": [0.8384474515914917, -1.895025610923767, -1.0042757987976074, 1.3627511262893677, -0.16275759041309357, 0.5937463045120239, 0.7040560841560364], "dq": [0.0003987874661106616, 0.000952835485804826, 0.0012497617863118649, -0.00047988357255235314, 0.00019119726493954659, 0.001582370838150382, 0.00042906185262836516], "dtheta": [-2.078460602206178e-05, 0.0003291663888376206, 0.0001045946846716106, -2.6709778467193246e-05, -0.00011009633453795686, 0.0004845593066420406, 0.0001779741869540885], "tau": [55.64999771118164, 23.529998779296875, 5.520000457763672, -26.32000160217285, -2.56000018119812, 2.6600000858306885, -0.5320000052452087], "tau_des": [0.514837920665741, -0.6360889077186584, -0.16947565972805023, -0.5163733959197998, 0.9164600968360901, -1.185564637184143, -0.5411688685417175], "tau_dot": [65.01508331298828, -95.70756530761719, 33.034095764160156, -16.207704544067383, 35.13233947753906, 36.70071029663086, 20.122976303100586], "tau_ext": [-16.792774200439453, -41.58335876464844, 31.789945602416992, 31.34697914123535, 9.50833797454834, -2.99436616897583, -0.13293442130088806], "tcp_pose": [0.677961528301239, 0.032597001641988754, -0.2149909883737564, -0.0023020331282168627, -0.004603445529937744, 0.9998921155929565, 0.013759011402726173], "tcp_vel": [0.000164286422659643, 3.465280678938143e-05, 0.0001653401559451595, 0.000574179517570883, -0.000390606903238222, -0.0002796250337269157], "flange_pose": [0.6786710619926453, 0.02847292274236679, -0.06504937261343002, -0.0023020331282168627, -0.004603445529937744, 0.9998921155929565, 0.013759011402726173], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.70693969726562, 15.177289962768555, 28.198476791381836, 0.3312089443206787, -23.987070083618164, 1.7860760688781738], "ext_wrench_in_world": [-107.9733780478286, 14.947823196518163, -27.2873834866003, -0.1203369902463638, -23.930935361055433, -2.4444120026689]}
+{"timestamp_ns": 1789729896022262188, "elapsed_ms": 15400, "source_timestamp_ns": 1789729896021706247, "q": [0.8363684415817261, -1.8969790935516357, -1.006084680557251, 1.3811657428741455, -0.16216003894805908, 0.5937714576721191, 0.7040721774101257], "theta": [0.8384480476379395, -1.895025372505188, -1.0042750835418701, 1.3627514839172363, -0.16275638341903687, 0.5937434434890747, 0.7040553689002991], "dq": [0.0001044521268340759, -0.00022166207781992853, 0.0014021170791238546, 0.00019615760538727045, -0.0005052500637248158, -0.00048422502004541457, -0.0010649497853592038], "dtheta": [-9.23245261219563e-06, -9.137928282143548e-05, 3.381372880539857e-05, 7.590301538584754e-05, -0.0003176750906277448, -0.0003086948418058455, 0.00038637116085737944], "tau": [55.56999969482422, 23.559999465942383, 5.504000186920166, -26.312002182006836, -2.56000018119812, 2.6640000343322754, -0.527999997138977], "tau_des": [0.5949151515960693, -0.5606470108032227, -0.1875007003545761, -0.5965426564216614, 0.9148340821266174, -1.1440082788467407, -0.5398132801055908], "tau_dot": [-99.97262573242188, -9.763300895690918, 2.46999192237854, 52.74057388305664, -5.523313522338867, 18.01041603088379, 28.861587524414062], "tau_ext": [-16.80548858642578, -41.593467712402344, 31.77953338623047, 31.366622924804688, 9.500099182128906, -2.994748115539551, -0.12442044168710709], "tcp_pose": [0.6779604554176331, 0.03259653225541115, -0.2149921953678131, -0.002303812652826309, -0.004604075103998184, 0.9998921155929565, 0.013757945038378239], "tcp_vel": [-8.171316585503519e-05, -4.0051225369097665e-05, -7.436991290887818e-05, -0.0004908894188702106, 0.0001491695875301957, -0.00010566073615336791], "flange_pose": [0.6786705255508423, 0.02847277745604515, -0.06505056470632553, -0.002303812652826309, -0.004604075103998184, 0.9998921155929565, 0.013757945038378239], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.72077941894531, 15.15817642211914, 28.19561767578125, 0.3295435905456543, -23.994482040405273, 1.7888603210449219], "ext_wrench_in_world": [-107.98714472174132, 14.928310482833645, -27.28464051736423, -0.11859434538567003, -23.93825761872752, -2.4473549342680414]}
+{"timestamp_ns": 1789729896055593493, "elapsed_ms": 15433, "source_timestamp_ns": 1789729896051702656, "q": [0.8363696336746216, -1.8969786167144775, -1.0060847997665405, 1.381165862083435, -0.1621604561805725, 0.5937716364860535, 0.7040720582008362], "theta": [0.8384485840797424, -1.8950248956680298, -1.0042755603790283, 1.3627514839172363, -0.16275686025619507, 0.5937434434890747, 0.7040553689002991], "dq": [0.003529713721945882, 0.0011457775253802538, 0.002091497415676713, 0.0009177412139251828, 0.0006061829626560211, 0.001423443085514009, -0.0021794172935187817], "dtheta": [5.00582973472774e-05, 0.0005321265198290348, -0.00035887103877030313, 5.357854024623521e-05, -0.00116327207069844, 1.0131538147106767e-05, 0.00024133222177624702], "tau": [55.709999084472656, 23.6299991607666, 5.468000411987305, -26.340002059936523, -2.564000129699707, 2.6640000343322754, -0.5400000214576721], "tau_des": [0.4923114478588104, -0.7064261436462402, -0.08072828501462936, -0.5150852799415588, 0.943975567817688, -1.172169804573059, -0.5424315333366394], "tau_dot": [236.37200927734375, 9.55489730834961, -76.39152526855469, -38.253143310546875, -33.97666549682617, 9.563650131225586, 21.608436584472656], "tau_ext": [-16.78995704650879, -41.588619232177734, 31.771480560302734, 31.357587814331055, 9.489363670349121, -2.9957871437072754, -0.12104783952236176], "tcp_pose": [0.6779609322547913, 0.03259625285863876, -0.2149912416934967, -0.002303065499290824, -0.004604017361998558, 0.9998921155929565, 0.013757992535829544], "tcp_vel": [0.00041176099330186844, -0.00044489745050668716, 0.00024483719607815146, -0.00058159971376881, -0.0007666056626476347, -0.00019618084479589015], "flange_pose": [0.6786707639694214, 0.028472483158111572, -0.06504961848258972, -0.002303065499290824, -0.004604017361998558, 0.9998921155929565, 0.013757992535829544], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.74102020263672, 15.153484344482422, 28.193052291870117, 0.33405211567878723, -24.003067016601562, 1.7910261154174805], "ext_wrench_in_world": [-108.00728664357028, 14.923379698137193, -27.28227428009694, -0.12303399241083393, -23.946820970478633, -2.449738682006505]}
+{"timestamp_ns": 1789729896088899871, "elapsed_ms": 15466, "source_timestamp_ns": 1789729896081673717, "q": [0.8363693356513977, -1.8969793319702148, -1.0060851573944092, 1.3811655044555664, -0.16216008365154266, 0.5937708616256714, 0.7040718197822571], "theta": [0.8384482860565186, -1.895025372505188, -1.004276156425476, 1.3627516031265259, -0.16275686025619507, 0.5937424898147583, 0.70405513048172], "dq": [-0.0016176371136680245, -0.0003017430426552892, -0.0032384300138801336, -0.0011970908381044865, -0.0010812469990924, 0.001727043418213725, 0.00040959514444693923], "dtheta": [9.488232171861455e-05, 0.000116228278784547, -3.861867753585102e-06, 8.48807321744971e-05, -5.748946568928659e-05, -0.0010172780603170395, -0.0004408317035995424], "tau": [55.62999725341797, 23.529998779296875, 5.520000457763672, -26.296001434326172, -2.576000213623047, 2.6720001697540283, -0.5360000133514404], "tau_des": [0.5793243050575256, -0.5752863883972168, -0.1743994951248169, -0.5995790958404541, 0.9115087985992432, -1.131577968597412, -0.5276833772659302], "tau_dot": [-11.932827949523926, -108.00663757324219, 55.61804962158203, 25.689863204956055, 2.3100833892822266, 21.61611557006836, 17.416873931884766], "tau_ext": [-16.81283950805664, -41.60020065307617, 31.77248191833496, 31.359914779663086, 9.491049766540527, -3.002073049545288, -0.12140064686536789], "tcp_pose": [0.6779606938362122, 0.03259625658392906, -0.21499162912368774, -0.002303428016602993, -0.004604118876159191, 0.9998921155929565, 0.013757593929767609], "tcp_vel": [-0.0001624302676646039, -0.00021726488193962723, -5.03177143400535e-05, -0.000664099061395973, 0.0006968657835386693, 0.0004294079844839871], "flange_pose": [0.6786706447601318, 0.02847260609269142, -0.06505000591278076, -0.002303428016602993, -0.004604118876159191, 0.9998921155929565, 0.013757593929767609], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.71759033203125, 15.178292274475098, 28.208072662353516, 0.34585368633270264, -23.999717712402344, 1.793712854385376], "ext_wrench_in_world": [-107.9841787552183, 14.948762292598785, -27.29664505234611, -0.13487489544523062, -23.943510609088907, -2.4522600446040657]}
+{"timestamp_ns": 1789729896122323159, "elapsed_ms": 15500, "source_timestamp_ns": 1789729896121665937, "q": [0.8363703489303589, -1.8969790935516357, -1.006085753440857, 1.3811653852462769, -0.16216130554676056, 0.5937716960906982, 0.7040736079216003], "theta": [0.8384482860565186, -1.8950258493423462, -1.0042768716812134, 1.3627516031265259, -0.16275806725025177, 0.5937436819076538, 0.7040563225746155], "dq": [-0.002901084255427122, -0.0014622798189520836, 0.00128167902585119, -0.0017821186920627952, -0.0015391637571156025, 0.000343027466442436, 3.995241422671825e-05], "dtheta": [-0.00018392660422250628, -2.9932498364360072e-05, 7.074351742630824e-05, -4.802074727194849e-06, -0.0005782416556030512, 0.000630875350907445, 7.93372091720812e-05], "tau": [55.62999725341797, 23.59000015258789, 5.492000102996826, -26.30000114440918, -2.5840001106262207, 2.6720001697540283, -0.5160000324249268], "tau_des": [0.5616644620895386, -0.5846640467643738, -0.19074644148349762, -0.544494092464447, 0.9243294596672058, -1.182538628578186, -0.5348572134971619], "tau_dot": [14.73507022857666, -71.67884063720703, -6.567427635192871, -9.37729549407959, -9.042059898376465, 22.488487243652344, 61.79555130004883], "tau_ext": [-16.816940307617188, -41.60017013549805, 31.786937713623047, 31.362056732177734, 9.500983238220215, -2.9985833168029785, -0.12496314942836761], "tcp_pose": [0.6779615879058838, 0.03259596601128578, -0.21499066054821014, -0.0023021160159260035, -0.004603310953825712, 0.9998921155929565, 0.013757392764091492], "tcp_vel": [0.00012708954454865307, 0.00010772703535621986, -8.233037078753114e-06, 7.896878378232941e-05, -0.0005923432181589305, 0.0002956255048047751], "flange_pose": [0.67867112159729, 0.02847237139940262, -0.06504902243614197, -0.0023021160159260035, -0.004603310953825712, 0.9998921155929565, 0.013757392764091492], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69066619873047, 15.18968677520752, 28.206993103027344, 0.34467947483062744, -23.98916244506836, 1.793963074684143], "ext_wrench_in_world": [-107.95725937237673, 14.960539390407106, -27.295659737822607, -0.13383157200568246, -23.932942765485677, -2.4522157254000385]}
+{"timestamp_ns": 1789729896155591520, "elapsed_ms": 15533, "source_timestamp_ns": 1789729896151661566, "q": [0.8363702893257141, -1.8969799280166626, -1.0060847997665405, 1.381165862083435, -0.16216382384300232, 0.5937702655792236, 0.7040744423866272], "theta": [0.8384482860565186, -1.895026445388794, -1.0042762756347656, 1.3627516031265259, -0.16276045143604279, 0.5937424898147583, 0.7040570378303528], "dq": [0.0036977094132453203, -0.0004917907644994557, 0.0009071739041246474, -0.0020479047670960426, -0.00035034847678616643, -0.0015269260620698333, -0.002183250617235899], "dtheta": [-0.0003262571117375046, 0.00025928730610758066, 0.00045077563845552504, -3.769401155295782e-05, 0.0003529903187882155, 0.0007907663239166141, 0.00011642095341812819], "tau": [55.619998931884766, 23.56999969482422, 5.504000186920166, -26.292001724243164, -2.5920000076293945, 2.6600000858306885, -0.5360000133514404], "tau_des": [0.584286093711853, -0.5737892389297485, -0.23378075659275055, -0.5515861511230469, 0.8921611905097961, -1.1832040548324585, -0.535599410533905], "tau_dot": [23.67561149597168, -119.34545135498047, 3.8294029235839844, 17.857196807861328, -20.111286163330078, -11.38101577758789, 7.0304765701293945], "tau_ext": [-16.786548614501953, -41.588924407958984, 31.791675567626953, 31.360380172729492, 9.50658893585205, -2.9953255653381348, -0.1307605654001236], "tcp_pose": [0.6779608726501465, 0.03259623423218727, -0.21499107778072357, -0.002302358392626047, -0.00460424181073904, 0.9998921155929565, 0.013755998574197292], "tcp_vel": [-3.717493382282555e-05, 0.00032907331478782, -4.1778796003200114e-05, 0.0012376377126201987, 3.885956175508909e-05, -0.00019405793864279985], "flange_pose": [0.6786705255508423, 0.028473058715462685, -0.0650494322180748, -0.002302358392626047, -0.00460424181073904, 0.9998921155929565, 0.013755998574197292], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.71282958984375, 15.174166679382324, 28.20113182067871, 0.33612769842147827, -23.992511749267578, 1.789717435836792], "ext_wrench_in_world": [-107.97929216723978, 14.94438081603379, -27.29012227379935, -0.12518576621247188, -23.93633516410276, -2.44803549896699]}
+{"timestamp_ns": 1789729896188889558, "elapsed_ms": 15566, "source_timestamp_ns": 1789729896181704701, "q": [0.8363701701164246, -1.8969802856445312, -1.00608491897583, 1.3811649084091187, -0.16216295957565308, 0.593766450881958, 0.7040734887123108], "theta": [0.8384482860565186, -1.8950272798538208, -1.0042767524719238, 1.3627510070800781, -0.16276045143604279, 0.5937381982803345, 0.7040563225746155], "dq": [4.587151488522068e-05, -0.002807430922985077, -0.0005474166828207672, 0.000550548720639199, 0.0006654792232438922, -0.001440071384422481, 0.0013121484080329537], "dtheta": [-0.0004077350895386189, -7.369949162239209e-05, -0.0001654450170462951, 0.00013994306209497154, -0.00018482271116226912, -0.0004564276896417141, -0.0007257168763317168], "tau": [55.59000015258789, 23.56999969482422, 5.500000476837158, -26.32400131225586, -2.5880000591278076, 2.6520001888275146, -0.527999997138977], "tau_des": [0.6804794669151306, -0.519996702671051, -0.17468135058879852, -0.6529579162597656, 0.9068467617034912, -1.1247063875198364, -0.5200918912887573], "tau_dot": [-5.7917094230651855, 26.44099235534668, -21.307960510253906, 32.63241195678711, 22.39665412902832, -25.974605560302734, 20.544992446899414], "tau_ext": [-16.80113983154297, -41.594181060791016, 31.78675651550293, 31.364952087402344, 9.51914119720459, -2.9956932067871094, -0.1328626126050949], "tcp_pose": [0.6779603362083435, 0.032595887780189514, -0.21499136090278625, -0.002303723245859146, -0.004604530055075884, 0.9998921155929565, 0.013755098916590214], "tcp_vel": [-0.00016685757145751268, -0.000181377719854936, -0.0004065444227308035, -0.0006505195633508265, 0.0006907439674250782, 0.0007941336953081191], "flange_pose": [0.6786704063415527, 0.028472986072301865, -0.06504971534013748, -0.002303723245859146, -0.004604530055075884, 0.9998921155929565, 0.013755098916590214], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.74810028076172, 15.160001754760742, 28.186880111694336, 0.33032354712486267, -23.999103546142578, 1.7899199724197388], "ext_wrench_in_world": [-108.0144472726342, 14.929386970398486, -27.275842110260907, -0.1193144478626834, -23.942869316478188, -2.4484017498163997]}
+{"timestamp_ns": 1789729896222251751, "elapsed_ms": 15600, "source_timestamp_ns": 1789729896221697950, "q": [0.836371123790741, -1.8969817161560059, -1.0060847997665405, 1.3811640739440918, -0.16216132044792175, 0.5937635898590088, 0.704071581363678], "theta": [0.8384488821029663, -1.895027756690979, -1.004276156425476, 1.3627501726150513, -0.16275902092456818, 0.5937355756759644, 0.7040548920631409], "dq": [-0.00013146917626727372, -0.0008790040155872703, 0.000858576619066298, -0.0008536563836969435, 0.0024878624826669693, 0.000550454540643841, 0.0016824862686917186], "dtheta": [-2.378467434027698e-05, 3.2826948881847784e-05, 9.144343493971974e-05, -0.00015471145161427557, 0.00020189736096654087, -0.0007502694497816265, -0.0005999483400955796], "tau": [55.61000061035156, 23.56999969482422, 5.488000392913818, -26.32400131225586, -2.6000001430511475, 2.6560001373291016, -0.527999997138977], "tau_des": [0.5810485482215881, -0.5528745651245117, -0.20924006402492523, -0.5877640247344971, 0.905612587928772, -1.1401382684707642, -0.5213468074798584], "tau_dot": [-29.157726287841797, -12.854832649230957, -23.014698028564453, 29.038755416870117, -40.51483917236328, -16.72117805480957, 41.65522384643555], "tau_ext": [-16.808605194091797, -41.58235168457031, 31.79004669189453, 31.365161895751953, 9.516400337219238, -2.9959380626678467, -0.1265324354171753], "tcp_pose": [0.6779597401618958, 0.032596174627542496, -0.2149912267923355, -0.0023044482804834843, -0.004605453461408615, 0.9998921155929565, 0.013754433952271938], "tcp_vel": [-0.00013374652189668268, -3.38911049766466e-05, -3.430015203775838e-05, -0.0001911631115945056, 0.000590754032600671, 0.0005230891983956099], "flange_pose": [0.6786699891090393, 0.028473472222685814, -0.06504956632852554, -0.0023044482804834843, -0.004605453461408615, 0.9998921155929565, 0.013754433952271938], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.75282287597656, 15.142318725585938, 28.181474685668945, 0.32128503918647766, -23.996252059936523, 1.7901889085769653], "ext_wrench_in_world": [-108.01904888366418, 14.911280738233192, -27.270771067242727, -0.11026248256468266, -23.939931306462515, -2.44860053001702]}
+{"timestamp_ns": 1789729896255580057, "elapsed_ms": 15633, "source_timestamp_ns": 1789729896251669361, "q": [0.8363712430000305, -1.896981120109558, -1.0060843229293823, 1.381164312362671, -0.16216036677360535, 0.5937621593475342, 0.7040717601776123], "theta": [0.8384489417076111, -1.8950275182724, -1.0042755603790283, 1.3627499341964722, -0.16275876760482788, 0.5937343835830688, 0.7040544152259827], "dq": [-0.0005507937748916447, -0.0006759380921721458, -0.0009844220476225019, 0.0016550133004784584, 0.0003945239004679024, -0.0009727808064781129, 0.0014762006467208266], "dtheta": [-8.438692020718008e-05, -1.7295133147854358e-05, -3.511280374368653e-05, -5.3070776630192995e-05, -5.3279127314453945e-05, 0.0009977921145036817, -0.0004652632342185825], "tau": [55.63999938964844, 23.53999900817871, 5.520000457763672, -26.292001724243164, -2.5880000591278076, 2.6760001182556152, -0.5160000324249268], "tau_des": [0.5508974194526672, -0.5788866281509399, -0.20623408257961273, -0.5387697219848633, 0.9134978652000427, -1.1845049858093262, -0.5244077444076538], "tau_dot": [64.48794555664062, -56.628238677978516, 8.611631393432617, 63.00204086303711, -29.600723266601562, 35.745880126953125, 90.35163116455078], "tau_ext": [-16.804920196533203, -41.573421478271484, 31.780542373657227, 31.35747718811035, 9.51085376739502, -2.99403715133667, -0.12087342888116837], "tcp_pose": [0.6779592633247375, 0.03259607404470444, -0.2149912714958191, -0.002305349102243781, -0.0046051074750721455, 0.9998921155929565, 0.013754600659012794], "tcp_vel": [0.00020308862440288067, 0.00014970070333220065, 7.731526420684531e-05, 0.0006171668064780533, -0.0007658292888663709, 0.0004496258043218404], "flange_pose": [0.678669810295105, 0.028473325073719025, -0.06504961848258972, -0.002305349102243781, -0.0046051074750721455, 0.9998921155929565, 0.013754600659012794], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.74321746826172, 15.145514488220215, 28.18584442138672, 0.32167768478393555, -23.994457244873047, 1.792658805847168], "ext_wrench_in_world": [-108.00953338129722, 14.914765291868436, -27.27489358944541, -0.11070364921830914, -23.9380721366353, -2.4510258436835386]}
+{"timestamp_ns": 1789729896288886775, "elapsed_ms": 15666, "source_timestamp_ns": 1789729896281675459, "q": [0.8363718390464783, -1.8969805240631104, -1.006084680557251, 1.3811644315719604, -0.16216056048870087, 0.5937597751617432, 0.704071044921875], "theta": [0.8384496569633484, -1.895026683807373, -1.0042754411697388, 1.3627495765686035, -0.16275876760482788, 0.5937319993972778, 0.7040539383888245], "dq": [-0.0017945726867765188, 0.0007074062013998628, -0.0001297640847042203, -0.0010077330516651273, -0.0034515592269599438, 0.0009961746400222182, 0.0011183962924405932], "dtheta": [4.3477491999510676e-05, 0.00016476248856633902, 6.117428711149842e-05, -0.00034531092387624085, 0.0006094463169574738, -0.00016251226770691574, -0.0007879959885030985], "tau": [55.64999771118164, 23.579999923706055, 5.500000476837158, -26.316001892089844, -2.568000078201294, 2.6520001888275146, -0.5520000457763672], "tau_des": [0.5279378890991211, -0.5940065979957581, -0.20459741353988647, -0.536683201789856, 0.8991028666496277, -1.1636910438537598, -0.523076593875885], "tau_dot": [74.78479766845703, -13.617513656616211, -20.233360290527344, 5.068617820739746, 6.593289852142334, 22.284204483032227, -7.645020008087158], "tau_ext": [-16.786088943481445, -41.5754280090332, 31.775665283203125, 31.345909118652344, 9.50893783569336, -2.989687442779541, -0.1219157874584198], "tcp_pose": [0.6779592037200928, 0.03259528428316116, -0.2149910181760788, -0.002305886009708047, -0.004605226218700409, 0.9998921751976013, 0.01375381089746952], "tcp_vel": [5.4786451073596254e-05, 6.85230697854422e-05, 0.00016716643585823476, 0.0006353799253702164, 0.00013672019122168422, 0.0003311891050543636], "flange_pose": [0.6786698698997498, 0.028472771868109703, -0.06504936516284943, -0.002305886009708047, -0.004605226218700409, 0.9998921751976013, 0.01375381089746952], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.72683715820312, 15.148338317871094, 28.187074661254883, 0.32319915294647217, -23.993778228759766, 1.7941848039627075], "ext_wrench_in_world": [-107.99321839395151, 14.917702818680606, -27.276027925481785, -0.11223497024830527, -23.937369489048038, -2.4524876656952737]}
+{"timestamp_ns": 1789729896322252797, "elapsed_ms": 15700, "source_timestamp_ns": 1789729896321693596, "q": [0.8363717198371887, -1.8969806432724, -1.0060851573944092, 1.3811644315719604, -0.162161186337471, 0.5937595963478088, 0.7040714621543884], "theta": [0.8384501338005066, -1.895026683807373, -1.0042760372161865, 1.362749695777893, -0.16276022791862488, 0.5937322378158569, 0.7040541768074036], "dq": [0.0007990649319253862, -0.0004004724614787847, 0.0009745896677486598, 0.00022733432706445456, -0.0013335216790437698, 0.0013245086884126067, -0.003192064817994833], "dtheta": [-0.00033002987038344145, -3.757611193577759e-05, -0.0002272201527375728, -0.00014744138752575964, 0.0004533591272775084, -0.00021839204418938607, -0.0013705684104934335], "tau": [55.65999984741211, 23.65999984741211, 5.488000392913818, -26.30000114440918, -2.580000162124634, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.6388696432113647, -0.5359660983085632, -0.1847909390926361, -0.6145243048667908, 0.8962271809577942, -1.1389552354812622, -0.5122913718223572], "tau_dot": [82.92247772216797, 135.16705322265625, -42.4516716003418, 22.84128189086914, 29.7417049407959, 62.70716857910156, 16.701091766357422], "tau_ext": [-16.81682014465332, -41.600830078125, 31.776296615600586, 31.368999481201172, 9.50969409942627, -2.9945173263549805, -0.12448449432849884], "tcp_pose": [0.6779593825340271, 0.03259500116109848, -0.21499112248420715, -0.0023057463113218546, -0.004605073481798172, 0.9998921751976013, 0.01375336293131113], "tcp_vel": [-4.987514694221318e-05, -8.860567322699353e-05, -0.00024369702441617846, 5.694172432413325e-05, 0.0005182345630601048, 0.0009658869821578264], "flange_pose": [0.6786699891090393, 0.028472622856497765, -0.06504946202039719, -0.0023057463113218546, -0.004605073481798172, 0.9998921751976013, 0.01375336293131113], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.73033905029297, 15.1632661819458, 28.208988189697266, 0.32900118827819824, -24.001949310302734, 1.7953176498413086], "ext_wrench_in_world": [-107.99694824452105, 14.933202928181585, -27.2975498544848, -0.1179740033718026, -23.94556196028988, -2.4537975630660265]}
+{"timestamp_ns": 1789729896355576583, "elapsed_ms": 15733, "source_timestamp_ns": 1789729896351672387, "q": [0.8363724946975708, -1.8969807624816895, -1.0060864686965942, 1.3811640739440918, -0.16216209530830383, 0.5937601327896118, 0.7040718197822571], "theta": [0.8384503722190857, -1.8950268030166626, -1.0042771100997925, 1.3627489805221558, -0.16276118159294128, 0.593732476234436, 0.7040556073188782], "dq": [0.0005648478399962187, 0.0004053603915963322, 0.00041458773193880916, 0.0025278639513999224, -0.0009008162887766957, -0.0008654922712594271, 0.0004452737048268318], "dtheta": [0.00029368902323767543, -2.4588922315160744e-05, -0.0001637200330151245, -8.527836325811222e-05, -0.0009598470060154796, -0.0003733219637069851, -0.0005108185578137636], "tau": [55.64999771118164, 23.6299991607666, 5.484000205993652, -26.336000442504883, -2.5880000591278076, 2.6440000534057617, -0.5440000295639038], "tau_des": [0.4853033423423767, -0.619124710559845, -0.16284382343292236, -0.5255032777786255, 0.9465988874435425, -1.1644175052642822, -0.5225489139556885], "tau_dot": [-4.013045787811279, 61.29072952270508, -35.587154388427734, -54.621192932128906, 29.52311897277832, -18.713844299316406, -13.032588005065918], "tau_ext": [-16.80031394958496, -41.609619140625, 31.792129516601562, 31.356304168701172, 9.512906074523926, -2.99763560295105, -0.12564131617546082], "tcp_pose": [0.6779603362083435, 0.032594386488199234, -0.21499036252498627, -0.0023045276757329702, -0.004604666493833065, 0.9998921751976013, 0.013752918690443039], "tcp_vel": [0.00020556189701892436, -0.00019306452304590493, 0.00025729116168804467, -0.0009116166038438678, -0.0006771695916540921, 0.000939978810492903], "flange_pose": [0.6786706447601318, 0.028472140431404114, -0.0650487020611763, -0.0023045276757329702, -0.004604666493833065, 0.9998921751976013, 0.013752918690443039], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.72604370117188, 15.174684524536133, 28.21087074279785, 0.3333604335784912, -24.000038146972656, 1.7963391542434692], "ext_wrench_in_world": [-107.99268750290676, 14.944775328700711, -27.29941219636477, -0.12236961220622014, -23.943666003319198, -2.454725767044344]}
+{"timestamp_ns": 1789729896388894380, "elapsed_ms": 15766, "source_timestamp_ns": 1789729896381714242, "q": [0.8363723158836365, -1.8969807624816895, -1.0060875415802002, 1.381162405014038, -0.162163645029068, 0.5937603712081909, 0.7040731906890869], "theta": [0.8384507298469543, -1.8950269222259521, -1.0042787790298462, 1.3627471923828125, -0.1627633273601532, 0.5937322378158569, 0.7040570378303528], "dq": [-0.00020175351528450847, -0.0008901182445697486, 0.00028059902251698077, -0.004203930031508207, 0.0002130502980435267, 0.0018777763471007347, 0.002461282769218087], "dtheta": [0.00032488847500644624, 0.00018248846754431725, -1.5642975995433517e-05, -0.00022819708101451397, -4.539346264209598e-05, -0.0005342510994523764, 0.000513445062097162], "tau": [55.599998474121094, 23.59000015258789, 5.460000038146973, -26.288002014160156, -2.6040000915527344, 2.6600000858306885, -0.5320000052452087], "tau_des": [0.4625319540500641, -0.6612801551818848, -0.15592744946479797, -0.4987076222896576, 0.9189502000808716, -1.1722266674041748, -0.5501518249511719], "tau_dot": [-128.73028564453125, 93.3428726196289, -15.471906661987305, 53.05597686767578, -24.04115867614746, -16.489866256713867, 8.879524230957031], "tau_ext": [-16.79269790649414, -41.58218002319336, 31.791589736938477, 31.35500144958496, 9.5252046585083, -2.996659278869629, -0.12715601921081543], "tcp_pose": [0.677961528301239, 0.03259405866265297, -0.21498969197273254, -0.0023033213801681995, -0.004603971261531115, 0.9998921751976013, 0.013752620667219162], "tcp_vel": [0.00011959336552536115, -0.00010617960651870817, 0.0003182631335221231, -0.00012370964395813644, -0.00012071187666151673, -0.0006449076463468373], "flange_pose": [0.6786714196205139, 0.028471896424889565, -0.06504801660776138, -0.0023033213801681995, -0.004603971261531115, 0.9998921751976013, 0.013752620667219162], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.72808074951172, 15.169334411621094, 28.198871612548828, 0.33005180954933167, -23.9936580657959, 1.7953410148620605], "ext_wrench_in_world": [-107.99453207296776, 14.939216357807963, -27.28782339508337, -0.11914294586586008, -23.937286633509302, -2.4535534472745177]}
+{"timestamp_ns": 1789729896422251763, "elapsed_ms": 15800, "source_timestamp_ns": 1789729896421694182, "q": [0.8363721966743469, -1.8969817161560059, -1.006087303161621, 1.3811572790145874, -0.16216197609901428, 0.5937533974647522, 0.7040721774101257], "theta": [0.8384503126144409, -1.8950276374816895, -1.0042786598205566, 1.3627427816390991, -0.16276118159294128, 0.5937250852584839, 0.7040560841560364], "dq": [-0.0007649455219507217, -0.0005052462220191956, 0.0005070071201771498, -0.00032357798772864044, 0.0016022089403122663, 0.0015749880112707615, -0.00045075506204739213], "dtheta": [-0.0001487129193264991, -0.00010898928303504363, 0.00014640508743468672, -0.0004270898352842778, 0.0004753025423269719, -0.0009136482840403914, -0.0004296518163755536], "tau": [55.55999755859375, 23.579999923706055, 5.4720001220703125, -26.304000854492188, -2.572000026702881, 2.6520001888275146, -0.527999997138977], "tau_des": [0.5762243270874023, -0.5531302094459534, -0.21818013489246368, -0.5678621530532837, 0.8963073492050171, -1.1477562189102173, -0.5300294756889343], "tau_dot": [-161.3743133544922, 55.38074493408203, -17.671838760375977, 43.79423522949219, 69.86075592041016, 28.12132453918457, 58.92711639404297], "tau_ext": [-16.799758911132812, -41.60087966918945, 31.81206512451172, 31.3659610748291, 9.536312103271484, -2.9947545528411865, -0.1300402581691742], "tcp_pose": [0.6779615879058838, 0.03259449079632759, -0.21498869359493256, -0.0023044543340802193, -0.004604063928127289, 0.9998921751976013, 0.013752073980867863], "tcp_vel": [-0.00017789022240322083, 8.374810568057e-05, -7.75552325649187e-05, -4.293589518056251e-05, 0.000794071878772229, 0.0002954829833470285], "flange_pose": [0.6786718964576721, 0.028472494333982468, -0.0650470182299614, -0.0023044543340802193, -0.004604063928127289, 0.9998921751976013, 0.013752073980867863], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77404022216797, 15.16285514831543, 28.186336517333984, 0.32080501317977905, -23.99610137939453, 1.7954223155975342], "ext_wrench_in_world": [-108.04043539949485, 14.931915532290958, -27.27503814022601, -0.10987498180418273, -23.9396436956265, -2.453716726280956]}
+{"timestamp_ns": 1789729896455575510, "elapsed_ms": 15833, "source_timestamp_ns": 1789729896451701371, "q": [0.8363723754882812, -1.896981954574585, -1.0060858726501465, 1.3811557292938232, -0.16216211020946503, 0.593745768070221, 0.704071581363678], "theta": [0.8384503126144409, -1.8950278759002686, -1.0042774677276611, 1.3627402782440186, -0.16276118159294128, 0.5937167406082153, 0.7040558457374573], "dq": [-0.0013624923303723335, 0.00021921854931861162, -0.0002853071200661361, -0.0009324791608378291, 0.001399419503286481, -0.0013928258558735251, -0.0013864529319107533], "dtheta": [-0.0003718318766914308, -0.00018762284889817238, 0.00016464774671476334, -0.0002381296653766185, -0.000984808662906289, 0.0003821148129645735, 0.0006743263220414519], "tau": [55.599998474121094, 23.559999465942383, 5.452000141143799, -26.328001022338867, -2.6120002269744873, 2.6480002403259277, -0.5440000295639038], "tau_des": [0.5894858837127686, -0.5663988590240479, -0.21614579856395721, -0.5599377155303955, 0.922308623790741, -1.1671818494796753, -0.5390349626541138], "tau_dot": [-48.29869842529297, -59.4084358215332, -107.83255004882812, -15.333752632141113, -71.30928802490234, 6.178922653198242, -16.255075454711914], "tau_ext": [-16.802770614624023, -41.59660339355469, 31.806907653808594, 31.373878479003906, 9.52341365814209, -2.9897608757019043, -0.12877045571804047], "tcp_pose": [0.6779603362083435, 0.03259439021348953, -0.21498870849609375, -0.0023068180307745934, -0.004604884423315525, 0.9998921751976013, 0.013750373385846615], "tcp_vel": [0.00011349345004418865, 0.00018277796334587038, -6.800106348237023e-05, -0.0002622984175104648, -0.0005825934931635857, 6.69554210617207e-05], "flange_pose": [0.6786713004112244, 0.028472911566495895, -0.06504702568054199, -0.0023068180307745934, -0.004604884423315525, 0.9998921751976013, 0.013750373385846615], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79910278320312, 15.146456718444824, 28.18709945678711, 0.31412187218666077, -24.003816604614258, 1.7933976650238037], "ext_wrench_in_world": [-108.06550374816163, 14.915034184016948, -27.27568409260887, -0.10308252060373962, -23.94735791593692, -2.451852802150519]}
+{"timestamp_ns": 1789729896488892946, "elapsed_ms": 15866, "source_timestamp_ns": 1789729896481674302, "q": [0.8363713026046753, -1.8969814777374268, -1.0060851573944092, 1.3811533451080322, -0.16216109693050385, 0.5937408208847046, 0.7040706276893616], "theta": [0.8384503126144409, -1.8950270414352417, -1.0042773485183716, 1.3627381324768066, -0.16276022791862488, 0.5937114953994751, 0.70405513048172], "dq": [0.0008611054508946836, 0.0003749167372006923, 0.00030983827309682965, 0.0004228473117109388, 0.0009313809568993747, -0.0010754673276096582, -0.0012407482136040926], "dtheta": [-0.0004105744883418083, 0.0001662925787968561, 0.0001529856090201065, -9.297442011302337e-05, -0.00011079439718741924, -0.0009670199360698462, 1.41959503707767e-06], "tau": [55.56999969482422, 23.59000015258789, 5.488000392913818, -26.328001022338867, -2.5880000591278076, 2.640000104904175, -0.527999997138977], "tau_des": [0.6543383598327637, -0.5590845346450806, -0.19965168833732605, -0.6320620179176331, 0.8878315687179565, -1.1168934106826782, -0.5332632064819336], "tau_dot": [-130.16397094726562, 33.82604217529297, -12.138644218444824, 0.7016043663024902, 3.277026653289795, -26.22948455810547, 27.07160758972168], "tau_ext": [-16.81548500061035, -41.59471893310547, 31.79768943786621, 31.377521514892578, 9.520750045776367, -2.9874160289764404, -0.1261133849620819], "tcp_pose": [0.6779598593711853, 0.03259442374110222, -0.2149888426065445, -0.00230865809135139, -0.004605049733072519, 0.9998921751976013, 0.013750138692557812], "tcp_vel": [-0.00022386231285054237, -0.00010726915206760168, -0.0002800819929689169, -0.0004271198995411396, 0.0010535799665376544, 6.412276707123965e-05], "flange_pose": [0.6786713600158691, 0.028473015874624252, -0.06504716724157333, -0.00230865809135139, -0.004605049733072519, 0.9998921751976013, 0.013750138692557812], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80742645263672, 15.137918472290039, 28.196178436279297, 0.3113749027252197, -24.011564254760742, 1.7925525903701782], "ext_wrench_in_world": [-108.07389783894862, 14.906617248080806, -27.284567442798036, -0.10026068263137455, -23.955101285445753, -2.4512215891973743]}
+{"timestamp_ns": 1789729896522256609, "elapsed_ms": 15900, "source_timestamp_ns": 1789729896521742854, "q": [0.8363723158836365, -1.8969814777374268, -1.0060853958129883, 1.3811540603637695, -0.1621607095003128, 0.5937409996986389, 0.7040705680847168], "theta": [0.838451087474823, -1.8950269222259521, -1.004276990890503, 1.3627383708953857, -0.16275975108146667, 0.5937110185623169, 0.7040546536445618], "dq": [-0.0017163174925372005, 0.0008194284746423364, -0.001096399500966072, 0.0029388018883764744, 0.001389815821312368, 0.0017433988396078348, 0.0012144403299316764], "dtheta": [0.00010132746683666483, 0.00013799422595184296, -5.103295188746415e-05, 0.00020422223315108567, 5.4664411436533555e-05, 0.0005416825297288597, -0.0003392792132217437], "tau": [55.61000061035156, 23.56999969482422, 5.500000476837158, -26.312002182006836, -2.5880000591278076, 2.6520001888275146, -0.527999997138977], "tau_des": [0.5366787910461426, -0.6101371645927429, -0.18912899494171143, -0.5485143065452576, 0.9039759039878845, -1.1669009923934937, -0.530718982219696], "tau_dot": [-54.31696701049805, -33.97172546386719, 7.930540084838867, 13.68719482421875, -25.211822509765625, -16.693252563476562, 47.39925765991211], "tau_ext": [-16.81869888305664, -41.603424072265625, 31.79130744934082, 31.383804321289062, 9.52065658569336, -2.995250940322876, -0.12338301539421082], "tcp_pose": [0.6779599189758301, 0.032594162970781326, -0.21498849987983704, -0.0023084119893610477, -0.0046048881486058235, 0.9998921751976013, 0.013750055804848671], "tcp_vel": [8.933037315728143e-05, -1.851279375841841e-05, 7.28222876205109e-05, 0.0003426060429774225, -0.0003421860164962709, 0.00020009107538498938], "flange_pose": [0.6786713600158691, 0.02847277745604515, -0.06504681706428528, -0.0023084119893610477, -0.0046048881486058235, 0.9998921751976013, 0.013750055804848671], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80357360839844, 15.137985229492188, 28.20911979675293, 0.3152867257595062, -24.015466690063477, 1.7943917512893677], "ext_wrench_in_world": [-108.07008895030974, 14.907106408454739, -27.29757447203705, -0.10415202851261283, -23.958988188049943, -2.45314597566553]}
+{"timestamp_ns": 1789729896555585345, "elapsed_ms": 15933, "source_timestamp_ns": 1789729896551662880, "q": [0.8363720178604126, -1.8969814777374268, -1.0060855150222778, 1.3811545372009277, -0.16216041147708893, 0.5937430262565613, 0.7040706872940063], "theta": [0.8384512066841125, -1.8950270414352417, -1.0042777061462402, 1.3627387285232544, -0.16275902092456818, 0.5937131643295288, 0.7040544152259827], "dq": [-0.0017894938355311751, -0.0015674090245738626, -0.000488466932438314, 0.0019698161631822586, -0.0014487040461972356, -0.002657511970028281, 0.00030474469531327486], "dtheta": [5.9284076996846125e-05, -7.789357186993584e-05, -8.314618025906384e-05, 0.00027348086587153375, -1.2513484762166627e-05, 0.00012323386908974499, -0.0006499345181509852], "tau": [55.68000030517578, 23.6299991607666, 5.484000205993652, -26.340002059936523, -2.6000001430511475, 2.6640000343322754, -0.5320000052452087], "tau_des": [0.5816975831985474, -0.5631952881813049, -0.20517288148403168, -0.5878262519836426, 0.9025631546974182, -1.150844693183899, -0.52315354347229], "tau_dot": [107.00231170654297, 21.446317672729492, -4.62804651260376, -48.16267776489258, -9.68652057647705, -23.477294921875, 1.5103086233139038], "tau_ext": [-16.807960510253906, -41.597782135009766, 31.789716720581055, 31.375272750854492, 9.509949684143066, -2.996544599533081, -0.125213623046875], "tcp_pose": [0.6779599785804749, 0.03259440138936043, -0.21498870849609375, -0.002308059250935912, -0.004604790825396776, 0.9998921751976013, 0.013750642538070679], "tcp_vel": [-6.26187029411085e-05, -5.671878898283467e-05, -9.443610179005191e-05, -0.00019188638543710113, 1.6355357729480602e-05, 0.000690872548148036], "flange_pose": [0.6786713004112244, 0.028472840785980225, -0.06504702568054199, -0.002308059250935912, -0.004604790825396776, 0.9998921751976013, 0.013750642538070679], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7974624633789, 15.140652656555176, 28.20778465270996, 0.3195246458053589, -24.01395606994629, 1.7946962118148804], "ext_wrench_in_world": [-108.06397407041231, 14.90984717079937, -27.296251700121033, -0.10840823200859032, -23.957506225012953, -2.453417973967823]}
+{"timestamp_ns": 1789729896588988554, "elapsed_ms": 15966, "source_timestamp_ns": 1789729896581660709, "q": [0.836371898651123, -1.8969813585281372, -1.006085991859436, 1.3811553716659546, -0.16216135025024414, 0.5937432050704956, 0.7040717601776123], "theta": [0.8384513258934021, -1.8950269222259521, -1.0042786598205566, 1.362739086151123, -0.16275997459888458, 0.5937141180038452, 0.7040553689002991], "dq": [0.00015927283675409853, -0.000514826038852334, -0.00030709014390595257, 0.0007179873646236956, -0.0007099630311131477, -0.0027013556100428104, 0.003072491381317377], "dtheta": [-1.0831575309566688e-05, 2.0612827000832112e-08, 3.5509841836756095e-05, -5.841266829520464e-05, -0.0004545183037407696, 0.0008598887943662703, 5.338569462765008e-05], "tau": [55.61000061035156, 23.59000015258789, 5.4800004959106445, -26.32000160217285, -2.6040000915527344, 2.6560001373291016, -0.5440000295639038], "tau_des": [0.5227351784706116, -0.6132990121841431, -0.20430149137973785, -0.5181822776794434, 0.9138167500495911, -1.1866509914398193, -0.5357013940811157], "tau_dot": [-63.81624984741211, -23.046979904174805, -7.15635871887207, 11.885909080505371, -22.645978927612305, -40.46484375, -11.833761215209961], "tau_ext": [-16.806060791015625, -41.59993362426758, 31.798202514648438, 31.374696731567383, 9.509126663208008, -2.9984230995178223, -0.12627950310707092], "tcp_pose": [0.6779600381851196, 0.03259383887052536, -0.2149890512228012, -0.00230806483887136, -0.0046043056063354015, 0.9998921751976013, 0.013750052079558372], "tcp_vel": [0.00023091910406947136, 0.00013460217451211065, 0.00015586629160679877, 0.0003362830902915448, -0.0009250343427993357, 0.00019420238095335662], "flange_pose": [0.6786713600158691, 0.028472453355789185, -0.06504736840724945, -0.00230806483887136, -0.0046043056063354015, 0.9998921751976013, 0.013750052079558372], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78394317626953, 15.14913558959961, 28.20579719543457, 0.3248059153556824, -24.00836181640625, 1.7930238246917725], "ext_wrench_in_world": [-108.05050974092126, 14.918469521182274, -27.29410784473443, -0.11375566976916753, -23.952012035140214, -2.4515402387335397]}
+{"timestamp_ns": 1789729896622263145, "elapsed_ms": 16000, "source_timestamp_ns": 1789729896621705634, "q": [0.8363725543022156, -1.896982192993164, -1.006087303161621, 1.3811542987823486, -0.16216246783733368, 0.5937415361404419, 0.7040725350379944], "theta": [0.8384515047073364, -1.8950273990631104, -1.004280686378479, 1.3627387285232544, -0.1627621352672577, 0.5937131643295288, 0.7040560841560364], "dq": [-0.001426979317329824, 0.0008482382982037961, 0.0011221435852348804, 0.0001387468510074541, -0.002109684282913804, -0.001143408939242363, -0.00024101085728034377], "dtheta": [0.0001559001684654504, -0.0002756458707153797, -0.00018935417756438255, -0.00020220693841110915, -0.0007900729542598128, -0.00028132234001532197, 0.0001767678913893178], "tau": [55.62999725341797, 23.6299991607666, 5.4720001220703125, -26.32400131225586, -2.6080000400543213, 2.6600000858306885, -0.5520000457763672], "tau_des": [0.5176494121551514, -0.6019370555877686, -0.17768748104572296, -0.5357173085212708, 0.9304370880126953, -1.1612019538879395, -0.538618266582489], "tau_dot": [-41.54629898071289, 83.88935852050781, 5.838890075683594, -6.671594619750977, -27.279441833496094, -13.808615684509277, -21.506582260131836], "tau_ext": [-16.78436279296875, -41.58565902709961, 31.811504364013672, 31.36845588684082, 9.515914916992188, -3.001398801803589, -0.12759573757648468], "tcp_pose": [0.6779605746269226, 0.032593268901109695, -0.2149886041879654, -0.0023074615746736526, -0.004604038316756487, 0.9998922348022461, 0.01374870166182518], "tcp_vel": [0.00015730569430161268, -8.443946717306972e-05, 0.00013672260683961213, -0.0008848313591443002, -0.0005975724780000746, 0.0002879990788642317], "flange_pose": [0.6786717176437378, 0.0284722913056612, -0.06504691392183304, -0.0023074615746736526, -0.004604038316756487, 0.9998922348022461, 0.01374870166182518], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80012512207031, 15.157243728637695, 28.174333572387695, 0.32718271017074585, -24.002347946166992, 1.7917709350585938], "ext_wrench_in_world": [-108.06657458553364, 14.925545127382255, -27.262531907937003, -0.11619148059331968, -23.946063700235175, -2.4500472123081654]}
+{"timestamp_ns": 1789729896655581481, "elapsed_ms": 16033, "source_timestamp_ns": 1789729896651747669, "q": [0.8363727927207947, -1.8969827890396118, -1.006087064743042, 1.3811542987823486, -0.1621617078781128, 0.5937408804893494, 0.704071581363678], "theta": [0.8384512662887573, -1.8950281143188477, -1.0042814016342163, 1.3627386093139648, -0.1627616584300995, 0.5937131643295288, 0.7040553689002991], "dq": [0.0032190338242799044, 0.00021757232025265694, -0.0001624621800146997, -0.00023552894708700478, -0.0009239615756087005, 0.0012009191559627652, 0.002990028588101268], "dtheta": [0.00010517250484554097, -0.0003876109258271754, -5.281184712657705e-05, 4.070926661370322e-05, 0.0005008389125578105, 0.00019836259889416397, -0.0005289766704663634], "tau": [55.57999801635742, 23.579999923706055, 5.456000328063965, -26.312002182006836, -2.624000072479248, 2.688000202178955, -0.5480000376701355], "tau_des": [0.5769996643066406, -0.53165602684021, -0.23256033658981323, -0.5774837136268616, 0.8952431678771973, -1.1574760675430298, -0.5275720953941345], "tau_dot": [-92.64308166503906, 36.65481948852539, 0.7820262908935547, 54.438106536865234, -51.375946044921875, 54.94868850708008, -30.655071258544922], "tau_ext": [-16.80643081665039, -41.5855827331543, 31.82381248474121, 31.37723731994629, 9.528745651245117, -3.0012073516845703, -0.12576526403427124], "tcp_pose": [0.677960216999054, 0.0325934998691082, -0.21498869359493256, -0.002307797083631158, -0.004604545887559652, 0.9998922348022461, 0.013748615980148315], "tcp_vel": [-0.00011029004235751927, 0.00014370077406056225, -8.327102841576561e-05, 9.856213728198782e-05, 2.4428527467534877e-05, 0.00047533289762213826], "flange_pose": [0.6786714792251587, 0.028472548350691795, -0.0650469958782196, -0.002307797083631158, -0.004604545887559652, 0.9998922348022461, 0.013748615980148315], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.80204772949219, 15.148676872253418, 28.176494598388672, 0.31721416115760803, -23.996545791625977, 1.790830373764038], "ext_wrench_in_world": [-108.06846218017309, 14.916907994855535, -27.264850841150967, -0.10624913052698388, -23.940197941985414, -2.4489879138241264]}
+{"timestamp_ns": 1789729896688892149, "elapsed_ms": 16066, "source_timestamp_ns": 1789729896681668415, "q": [0.8363737463951111, -1.8969835042953491, -1.006086826324463, 1.381155014038086, -0.16216209530830383, 0.5937415957450867, 0.7040721774101257], "theta": [0.8384515047073364, -1.895028829574585, -1.0042811632156372, 1.3627389669418335, -0.1627618968486786, 0.5937134027481079, 0.7040556073188782], "dq": [0.0015247140545397997, 0.0012647875119000673, -0.002008914016187191, 0.0030662273056805134, -0.0009922115132212639, 0.0007739132270216942, 0.0001581210526637733], "dtheta": [-0.00024017765827011317, -0.00039860937977209687, 0.00023351101845037192, 1.539821460028179e-05, -0.001100944704376161, 0.0006069127703085542, 0.0004372262046672404], "tau": [55.59000015258789, 23.549999237060547, 5.436000347137451, -26.328001022338867, -2.5960001945495605, 2.6640000343322754, -0.5320000052452087], "tau_des": [0.5988972187042236, -0.5312713384628296, -0.25438064336776733, -0.5727619528770447, 0.9205225110054016, -1.1704914569854736, -0.5321854948997498], "tau_dot": [-99.08119201660156, -26.713642120361328, -46.52613830566406, -23.375537872314453, -20.87491798400879, -6.670182228088379, -10.526848793029785], "tau_ext": [-16.793048858642578, -41.59453582763672, 31.830690383911133, 31.373111724853516, 9.527220726013184, -2.9999990463256836, -0.12628555297851562], "tcp_pose": [0.6779600381851196, 0.03259384632110596, -0.21498847007751465, -0.0023072974290698767, -0.004604785703122616, 0.9998922348022461, 0.013748330064117908], "tcp_vel": [2.1032397853559814e-05, 0.00026162868016399443, -0.00011550515773706138, -0.0004444137157406658, -0.0007291118963621557, 0.0005930352490395308], "flange_pose": [0.67867112159729, 0.028472978621721268, -0.0650467723608017, -0.0023072974290698767, -0.004604785703122616, 0.9998922348022461, 0.013748330064117908], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.82032012939453, 15.149577140808105, 28.161134719848633, 0.3146178126335144, -23.995168685913086, 1.7919890880584717], "ext_wrench_in_world": [-108.08664850076876, 14.917150570473277, -27.249507588009184, -0.10365735317878903, -23.938766945055466, -2.4501064933228105]}
+{"timestamp_ns": 1789729896722244992, "elapsed_ms": 16100, "source_timestamp_ns": 1789729896721663363, "q": [0.8363745808601379, -1.8969829082489014, -1.0060851573944092, 1.3811557292938232, -0.16216081380844116, 0.5937411189079285, 0.7040709853172302], "theta": [0.8384522795677185, -1.8950283527374268, -1.0042798519134521, 1.36273992061615, -0.16276045143604279, 0.5937131643295288, 0.7040544152259827], "dq": [0.00405949167907238, 0.0007821607869118452, -0.0006707545835524797, -7.710685895290226e-05, -0.0012922713067382574, 0.00019352749222889543, 0.004984864965081215], "dtheta": [0.0004725627659354359, -0.00017291407857555896, 0.00025639956584200263, 0.00010218220268143341, 0.00020233451505191624, 0.0013009548420086503, -0.00025429893867112696], "tau": [55.61000061035156, 23.600000381469727, 5.460000038146973, -26.34800148010254, -2.6040000915527344, 2.6760001182556152, -0.5440000295639038], "tau_des": [0.4501234292984009, -0.5916969776153564, -0.2757081687450409, -0.47688862681388855, 0.907110333442688, -1.2109121084213257, -0.5270570516586304], "tau_dot": [-18.011167526245117, 42.54191589355469, -29.330799102783203, -47.427921295166016, -60.29582595825195, -3.9617912769317627, -5.024572372436523], "tau_ext": [-16.79159927368164, -41.5610466003418, 31.821125030517578, 31.363754272460938, 9.519973754882812, -2.9966914653778076, -0.12442073225975037], "tcp_pose": [0.6779592633247375, 0.0325944647192955, -0.2149880826473236, -0.0023079258389770985, -0.004605445079505444, 0.9998922348022461, 0.013749143108725548], "tcp_vel": [0.00014501623809337616, 0.00039232350536622107, 0.00036899454426020384, 0.0009545778739266098, -0.0011874164920300245, 0.00042338910861872137], "flange_pose": [0.6786705851554871, 0.028473354876041412, -0.06504639238119125, -0.0023079258389770985, -0.004605445079505444, 0.9998922348022461, 0.013749143108725548], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.81388092041016, 15.13764476776123, 28.15828514099121, 0.3073228597640991, -23.991249084472656, 1.7892889976501465], "ext_wrench_in_world": [-108.08014080774498, 14.90510488264461, -27.246857465257346, -0.09635699725341688, -23.93485168662068, -2.447371070967194]}
+{"timestamp_ns": 1789729896755577818, "elapsed_ms": 16133, "source_timestamp_ns": 1789729896751662212, "q": [0.8363749980926514, -1.896981954574585, -1.0060851573944092, 1.38115656375885, -0.162160262465477, 0.5937398076057434, 0.7040702104568481], "theta": [0.838452160358429, -1.8950275182724, -1.0042800903320312, 1.3627407550811768, -0.16275997459888458, 0.5937122106552124, 0.7040536999702454], "dq": [-0.00011324878869345412, 2.9132337658666074e-05, -0.0014194778632372618, -0.0013067224062979221, 0.002210082719102502, -0.0005486517329700291, 0.0010016681626439095], "dtheta": [4.6499942982336506e-05, 0.000392068614019081, 0.00016714692173991352, 9.293804396293126e-06, 0.0007703895098529756, 0.0006856307154521346, -0.0007272491347976029], "tau": [55.64999771118164, 23.59000015258789, 5.464000225067139, -26.312002182006836, -2.6000001430511475, 2.6640000343322754, -0.5560000538825989], "tau_des": [0.5153011679649353, -0.6285045146942139, -0.22592222690582275, -0.5160833597183228, 0.8774707913398743, -1.1853526830673218, -0.5263649225234985], "tau_dot": [65.33513641357422, 11.404851913452148, 10.57059097290039, -29.60793113708496, -2.0375709533691406, 21.99199676513672, -34.72856140136719], "tau_ext": [-16.797883987426758, -41.573970794677734, 31.807022094726562, 31.36304473876953, 9.51744556427002, -2.9960808753967285, -0.120554618537426], "tcp_pose": [0.6779589653015137, 0.03259380906820297, -0.214988112449646, -0.00230870652012527, -0.004605433437973261, 0.9998922348022461, 0.013748963363468647], "tcp_vel": [7.826981891412288e-05, 0.00013733157538808882, 0.0001674805535003543, 0.001322719850577414, -9.870134090306237e-05, 0.00013946164108347148], "flange_pose": [0.6786705255508423, 0.02847275324165821, -0.06504642218351364, -0.00230870652012527, -0.004605433437973261, 0.9998922348022461, 0.013748963363468647], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.79914855957031, 15.143421173095703, 28.163482666015625, 0.30983173847198486, -23.990694046020508, 1.7904256582260132], "ext_wrench_in_world": [-108.06552920335491, 14.911148387762529, -27.251797053222212, -0.09888005228403218, -23.93428981636446, -2.4484718244438337]}
+{"timestamp_ns": 1789729896788887885, "elapsed_ms": 16166, "source_timestamp_ns": 1789729896781662991, "q": [0.8363748788833618, -1.896982192993164, -1.0060858726501465, 1.381157636642456, -0.16215990483760834, 0.5937387943267822, 0.7040706872940063], "theta": [0.8384527564048767, -1.8950281143188477, -1.0042805671691895, 1.3627417087554932, -0.16276022791862488, 0.5937110185623169, 0.7040534615516663], "dq": [-0.0013611729955300689, -0.0012355158105492592, -0.0015953494003042579, 0.0017886720597743988, 0.0024007384199649096, -0.00042767671402543783, -0.0012595346197485924], "dtheta": [0.0001163057386293076, -7.028979598544538e-05, -0.0004198347742203623, -9.399608097737655e-05, -0.0004661775892600417, -0.0003096580330748111, -0.0006432275986298919], "tau": [55.61000061035156, 23.619998931884766, 5.4720001220703125, -26.296001434326172, -2.576000213623047, 2.6560001373291016, -0.5520000457763672], "tau_des": [0.5400283932685852, -0.6142227053642273, -0.1622064858675003, -0.5556426644325256, 0.914462149143219, -1.1522958278656006, -0.5265433192253113], "tau_dot": [-5.470827102661133, 54.27231979370117, 22.616987228393555, -1.957715392112732, 19.84347152709961, -30.817508697509766, -39.8420524597168], "tau_ext": [-16.812925338745117, -41.60005187988281, 31.811077117919922, 31.36664581298828, 9.521254539489746, -2.996497869491577, -0.12167016416788101], "tcp_pose": [0.6779584288597107, 0.03259320557117462, -0.21498891711235046, -0.002309579635038972, -0.004605027846992016, 0.9998922348022461, 0.013748161494731903], "tcp_vel": [0.00018882165022660047, -0.0002744178054854274, 7.997221109690145e-05, -0.0007550506852567196, -0.0003661086084321141, 0.0006463052122853696], "flange_pose": [0.6786702275276184, 0.02847239188849926, -0.06504721194505692, -0.002309579635038972, -0.004605027846992016, 0.9998922348022461, 0.013748161494731903], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77704620361328, 15.169716835021973, 28.174962997436523, 0.31892308592796326, -23.99053192138672, 1.793939471244812], "ext_wrench_in_world": [-108.04375899065307, 14.93799401493946, -27.262483656423534, -0.10801210796227514, -23.9341194013084, -2.4519001816447212]}
+{"timestamp_ns": 1789729896822245508, "elapsed_ms": 16200, "source_timestamp_ns": 1789729896821686058, "q": [0.8363756537437439, -1.8969826698303223, -1.0060858726501465, 1.3811575174331665, -0.16216138005256653, 0.5937389135360718, 0.7040720582008362], "theta": [0.838453471660614, -1.8950284719467163, -1.0042810440063477, 1.3627426624298096, -0.1627616584300995, 0.5937119722366333, 0.7040541768074036], "dq": [-0.0013575097545981407, 0.0014745385851711035, 0.0005880868993699551, -0.001401528948917985, -0.0019101023208349943, -0.0013074250891804695, 0.0009639457566663623], "dtheta": [1.7542224668432027e-05, -0.00030295588658191264, -0.0003086504293605685, 8.7364787759725e-05, -0.0011318782344460487, -0.0005264054634608328, 0.0002921060658991337], "tau": [55.61000061035156, 23.619998931884766, 5.4760003089904785, -26.30000114440918, -2.6120002269744873, 2.6520001888275146, -0.5440000295639038], "tau_des": [0.5875773429870605, -0.5802491903305054, -0.17743922770023346, -0.5936923623085022, 0.9210538268089294, -1.1395881175994873, -0.5376550555229187], "tau_dot": [-16.89005470275879, 51.93537521362305, -0.8125220537185669, 47.53267288208008, -50.069000244140625, -16.772567749023438, -10.040600776672363], "tau_ext": [-16.8113956451416, -41.594078063964844, 31.811052322387695, 31.370637893676758, 9.516764640808105, -2.999265670776367, -0.1222679540514946], "tcp_pose": [0.6779587864875793, 0.03259320929646492, -0.2149883210659027, -0.0023087025620043278, -0.0046048653312027454, 0.9998922348022461, 0.01374758966267109], "tcp_vel": [4.7573117626598105e-05, -0.0002603534667287022, -0.00010071447468362749, -0.001520561520010233, -0.0002650541136972606, 0.00034854988916777074], "flange_pose": [0.678670346736908, 0.028472566977143288, -0.06504662334918976, -0.0023087025620043278, -0.0046048653312027454, 0.9998922348022461, 0.01374758966267109], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77034759521484, 15.183643341064453, 28.185110092163086, 0.3238476812839508, -23.991037368774414, 1.7954401969909668], "ext_wrench_in_world": [-108.03718321745195, 14.952261985507954, -27.272480282601325, -0.11294292827347066, -23.934631820194287, -2.453365113119176]}
+{"timestamp_ns": 1789729896855582653, "elapsed_ms": 16233, "source_timestamp_ns": 1789729896851663698, "q": [0.8363757133483887, -1.8969829082489014, -1.0060861110687256, 1.3811582326889038, -0.16216304898262024, 0.5937383770942688, 0.704073429107666], "theta": [0.8384535908699036, -1.8950289487838745, -1.0042816400527954, 1.3627434968948364, -0.1627633273601532, 0.5937117338180542, 0.7040553689002991], "dq": [0.0006212695152498782, 0.0012787169544026256, -0.002390494104474783, 0.0003826432803180069, -0.0009961765026673675, 0.0018693495076149702, -0.002627758076414466], "dtheta": [-0.0001308616338064894, -0.00034745564335025847, -0.00031397477141581476, -0.00014998535334598273, -0.00016035142471082509, 0.00016902515199035406, 0.0005204955814406276], "tau": [55.619998931884766, 23.51999855041504, 5.4760003089904785, -26.304000854492188, -2.5880000591278076, 2.6440000534057617, -0.5400000214576721], "tau_des": [0.5940415859222412, -0.577028214931488, -0.18793164193630219, -0.5737981796264648, 0.8976157903671265, -1.1580528020858765, -0.5482913255691528], "tau_dot": [68.71566009521484, -108.25072479248047, 42.537662506103516, 57.647708892822266, 66.48389434814453, -22.30458641052246, 9.27681827545166], "tau_ext": [-16.804813385009766, -41.59748458862305, 31.826644897460938, 31.362607955932617, 9.526664733886719, -2.9990501403808594, -0.12476915866136551], "tcp_pose": [0.6779586672782898, 0.03259285166859627, -0.2149886041879654, -0.0023086783476173878, -0.004604726564139128, 0.9998922348022461, 0.01374653447419405], "tcp_vel": [9.59624521783553e-05, -2.6664918550522998e-05, -0.00010964620014419779, -0.00036352741881273687, -0.0002904444409068674, -0.0004467268008738756], "flange_pose": [0.6786701679229736, 0.028472524136304855, -0.06504689157009125, -0.0023086783476173878, -0.004604726564139128, 0.9998922348022461, 0.01374653447419405], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.76641082763672, 15.192065238952637, 28.185794830322266, 0.3250606060028076, -23.988264083862305, 1.793864369392395], "ext_wrench_in_world": [-108.03332135694384, 14.960707619613201, -27.27298816082203, -0.11418008341457471, -23.931919380400988, -2.451657645146987]}
+{"timestamp_ns": 1789729896888893681, "elapsed_ms": 16266, "source_timestamp_ns": 1789729896881671207, "q": [0.8363760113716125, -1.896983027458191, -1.0060867071151733, 1.3811583518981934, -0.16216298937797546, 0.5937367677688599, 0.7040731310844421], "theta": [0.8384541869163513, -1.895028829574585, -1.0042824745178223, 1.362743854522705, -0.1627633273601532, 0.5937105417251587, 0.70405513048172], "dq": [-0.0007093250751495361, 0.0015561261679977179, 0.0006040142616257071, 0.0007451290148310363, -0.003427363932132721, 0.0008296715677715838, -0.002014914760366082], "dtheta": [0.0003267180291004479, 0.00012045878975186497, 0.00021141499746590853, 0.00023338384926319122, -0.0008020914974622428, -0.0003585844533517957, -0.0004492846492212266], "tau": [55.59000015258789, 23.529998779296875, 5.436000347137451, -26.308000564575195, -2.5920000076293945, 2.6600000858306885, -0.5480000376701355], "tau_des": [0.5142151117324829, -0.6047858595848083, -0.2235574722290039, -0.5548509359359741, 0.9157655835151672, -1.1526254415512085, -0.5228920578956604], "tau_dot": [-91.84773254394531, -78.3875961303711, -5.690509796142578, 23.697364807128906, 51.56523132324219, -3.960146188735962, -4.95558500289917], "tau_ext": [-16.792667388916016, -41.58302307128906, 31.826635360717773, 31.362504959106445, 9.534208297729492, -2.9989027976989746, -0.1299586445093155], "tcp_pose": [0.6779585480690002, 0.03259224072098732, -0.21498875319957733, -0.0023091312032192945, -0.0046047004871070385, 0.9998922348022461, 0.013745722360908985], "tcp_vel": [-1.723782770568505e-05, -7.657470996491611e-05, 0.0001898293849080801, -0.0006402700091712177, -0.00025798793649300933, 0.0010073308367282152], "flange_pose": [0.6786701679229736, 0.028472159057855606, -0.06504704058170319, -0.0023091312032192945, -0.0046047004871070385, 0.9998922348022461, 0.013745722360908985], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78006744384766, 15.177216529846191, 28.1724853515625, 0.31706613302230835, -23.985980987548828, 1.792307734489441], "ext_wrench_in_world": [-108.04680228965262, 14.945332428271234, -27.259958258723948, -0.10620259219736158, -23.92960986421991, -2.4500356402538457]}
+{"timestamp_ns": 1789729896922247874, "elapsed_ms": 16300, "source_timestamp_ns": 1789729896921685274, "q": [0.8363763689994812, -1.8969836235046387, -1.006087303161621, 1.3811571598052979, -0.16216108202934265, 0.5937312245368958, 0.7040733098983765], "theta": [0.8384547233581543, -1.8950294256210327, -1.0042831897735596, 1.3627437353134155, -0.1627621352672577, 0.5937048196792603, 0.70405513048172], "dq": [-0.0026145302690565586, -0.0018102569738402963, -0.001049922313541174, 0.003230838105082512, -0.0019269046606495976, -0.001041369279846549, -0.002417933661490679], "dtheta": [-3.4520053304731846e-05, -0.0004387210647109896, -0.000262231333181262, 0.000285438698483631, 0.0005948761245235801, -0.00037798300036229193, -0.0005728366086259484], "tau": [55.53999710083008, 23.579999923706055, 5.452000141143799, -26.30000114440918, -2.6000001430511475, 2.6480002403259277, -0.5160000324249268], "tau_des": [0.6741936802864075, -0.5009094476699829, -0.21463936567306519, -0.6659795641899109, 0.8729177117347717, -1.1129529476165771, -0.5315529704093933], "tau_dot": [-216.494384765625, 84.26599884033203, 12.551640510559082, 48.871028900146484, -31.233535766601562, -26.578004837036133, 41.12794494628906], "tau_ext": [-16.814912796020508, -41.59376525878906, 31.830984115600586, 31.369394302368164, 9.531487464904785, -2.9970810413360596, -0.12871769070625305], "tcp_pose": [0.6779577732086182, 0.03259160742163658, -0.21498897671699524, -0.0023109905887395144, -0.004604049492627382, 0.9998922944068909, 0.01374442782253027], "tcp_vel": [-0.00030013060313649476, -8.799188071861863e-05, -0.00038712291279807687, -0.0005319004412740469, 0.0007811468094587326, 0.00040656019700691104], "flange_pose": [0.6786699891090393, 0.028471913188695908, -0.0650472491979599, -0.0023109905887395144, -0.004604049492627382, 0.9998922944068909, 0.01374442782253027], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78435516357422, 15.176374435424805, 28.16806983947754, 0.3114704191684723, -23.984697341918945, 1.7901638746261597], "ext_wrench_in_world": [-108.05114402282709, 14.944393054969286, -27.255184994607266, -0.10064765689699862, -23.928340026087678, -2.447819590692645]}
+{"timestamp_ns": 1789729896955584149, "elapsed_ms": 16333, "source_timestamp_ns": 1789729896951672194, "q": [0.8363773822784424, -1.8969841003417969, -1.0060864686965942, 1.381157636642456, -0.1621597558259964, 0.5937288403511047, 0.7040736079216003], "theta": [0.8384557962417603, -1.8950294256210327, -1.0042824745178223, 1.362743616104126, -0.16276022791862488, 0.5937024354934692, 0.7040548920631409], "dq": [-0.0021004655864089727, 0.0010177986696362495, 0.00145212362986058, -0.0008829705766402185, 0.002342350548133254, 0.0005595214897766709, -0.000670345441903919], "dtheta": [0.0002824625407811254, 0.00014713138807564974, -0.0001484733511460945, -5.3833828133065253e-05, -0.00011641837045317516, 0.00020646880147978663, 0.00026287304353900254], "tau": [55.69999694824219, 23.600000381469727, 5.468000411987305, -26.296001434326172, -2.5880000591278076, 2.632000207901001, -0.5520000457763672], "tau_des": [0.4983016550540924, -0.6558218598365784, -0.17942717671394348, -0.5250471234321594, 0.8955122232437134, -1.163756251335144, -0.5486857295036316], "tau_dot": [188.92767333984375, -14.038342475891113, 13.535761833190918, 32.843910217285156, -33.136016845703125, -37.42082214355469, -49.40402603149414], "tau_ext": [-16.809532165527344, -41.58176040649414, 31.819656372070312, 31.365367889404297, 9.522958755493164, -2.9920670986175537, -0.12700404226779938], "tcp_pose": [0.6779568195343018, 0.032591812312603, -0.21498894691467285, -0.0023120741825550795, -0.004604005720466375, 0.9998922944068909, 0.013744022697210312], "tcp_vel": [0.00022496435849461704, -9.043943282449618e-05, 0.0002840379311237484, 0.00010694064985727891, -0.0005862521356903017, -0.00041444809176027775], "flange_pose": [0.6786693334579468, 0.02847224473953247, -0.06504721939563751, -0.0023120741825550795, -0.004604005720466375, 0.9998922944068909, 0.013744022697210312], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78508758544922, 15.179364204406738, 28.179948806762695, 0.31144970655441284, -23.98826789855957, 1.789716124534607], "ext_wrench_in_world": [-108.05201832679109, 14.94768469812749, -27.266752206247713, -0.10059880633517247, -23.93192318973523, -2.447450473446331]}
+{"timestamp_ns": 1789729896988917785, "elapsed_ms": 16366, "source_timestamp_ns": 1789729896981672822, "q": [0.8363785147666931, -1.8969839811325073, -1.006085753440857, 1.3811575174331665, -0.1621599644422531, 0.593727171421051, 0.7040722966194153], "theta": [0.8384574055671692, -1.8950293064117432, -1.0042815208435059, 1.3627437353134155, -0.16275949776172638, 0.5937007665634155, 0.7040541768074036], "dq": [-0.0006704461411572993, -5.2752820920431986e-05, 0.000632251612842083, -0.0016325422329828143, 0.003686420852318406, -0.001078721834346652, -0.00028742337599396706], "dtheta": [0.0005916999652981758, 0.00012014792446279898, -8.490608888678253e-05, -8.492896995448973e-06, -0.0001281204167753458, -0.0005117318942211568, -0.0004317115235608071], "tau": [55.65999984741211, 23.619998931884766, 5.484000205993652, -26.284000396728516, -2.568000078201294, 2.6560001373291016, -0.5560000538825989], "tau_des": [0.4604950547218323, -0.6436452865600586, -0.1991378217935562, -0.5236142873764038, 0.9049249887466431, -1.1519155502319336, -0.5318076014518738], "tau_dot": [-14.967388153076172, 40.432273864746094, 16.114288330078125, 68.70260620117188, 31.573076248168945, -57.235870361328125, -0.3409843444824219], "tau_ext": [-16.797550201416016, -41.59538650512695, 31.82731056213379, 31.35647201538086, 9.512555122375488, -2.9889285564422607, -0.12801919877529144], "tcp_pose": [0.6779565811157227, 0.03259197995066643, -0.21498826146125793, -0.0023121663834899664, -0.004604988265782595, 0.9998922944068909, 0.013743728399276733], "tcp_vel": [0.00011291771079413593, -0.0001703572052065283, 0.00038820222835056484, -0.00037242600228637457, -0.0003215805918443948, 0.00037320726551115513], "flange_pose": [0.6786691546440125, 0.028472499921917915, -0.0650465339422226, -0.0023121663834899664, -0.004604988265782595, 0.9998922944068909, 0.013743728399276733], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7716064453125, 15.18359661102295, 28.199447631835938, 0.31337642669677734, -23.991880416870117, 1.78883695602417], "ext_wrench_in_world": [-108.03870288279134, 14.952347154173015, -27.286179699167842, -0.10244147169477559, -23.93557782983271, -2.446648334832924]}
+{"timestamp_ns": 1789729897022245603, "elapsed_ms": 16400, "source_timestamp_ns": 1789729897021682792, "q": [0.8363804221153259, -1.896984338760376, -1.0060861110687256, 1.3811595439910889, -0.16216081380844116, 0.5937280654907227, 0.7040738463401794], "theta": [0.8384593725204468, -1.895029067993164, -1.0042815208435059, 1.3627455234527588, -0.16275975108146667, 0.5937014818191528, 0.7040558457374573], "dq": [0.0017415876500308514, 0.001501220278441906, -0.00044711018563248217, -0.002177097834646702, -0.0007383738411590457, -0.0008611246012151241, 0.001320878160186112], "dtheta": [0.00045065494487062097, 5.3768490033689886e-05, -5.9400947066023946e-05, 0.0003947188670281321, -0.00019381252059247345, -0.0006628966657444835, -7.462885150744114e-06], "tau": [55.65999984741211, 23.549999237060547, 5.456000328063965, -26.328001022338867, -2.616000175476074, 2.6480002403259277, -0.5200000405311584], "tau_des": [0.5396780967712402, -0.6069411635398865, -0.19887018203735352, -0.5912246704101562, 0.8943124413490295, -1.1281570196151733, -0.5390014052391052], "tau_dot": [40.814273834228516, -58.31376647949219, -37.46641540527344, 6.096165657043457, -76.9189224243164, -21.194412231445312, 38.4908561706543], "tau_ext": [-16.818376541137695, -41.598209381103516, 31.809484481811523, 31.366859436035156, 9.507682800292969, -2.9970943927764893, -0.12633566558361053], "tcp_pose": [0.6779565811157227, 0.03259152173995972, -0.21498776972293854, -0.002311358228325844, -0.004604546818882227, 0.9998922944068909, 0.013742944225668907], "tcp_vel": [-0.00012066844647051767, -0.00024247710825875401, 8.260580216301605e-05, -0.0007785781053826213, 0.00024113833205774426, 0.00011543440632522106], "flange_pose": [0.6786689162254333, 0.028472276404500008, -0.0650460347533226, -0.002311358228325844, -0.004604546818882227, 0.9998922944068909, 0.013742944225668907], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.74676513671875, 15.18767261505127, 28.214258193969727, 0.32027754187583923, -23.991121292114258, 1.7891525030136108], "ext_wrench_in_world": [-108.01391305619593, 14.95711322976994, -27.301181521054634, -0.1093682939782766, -23.93487807436187, -2.4468746141786517]}
+{"timestamp_ns": 1789729897055584321, "elapsed_ms": 16433, "source_timestamp_ns": 1789729897051707632, "q": [0.8363809585571289, -1.8969839811325073, -1.0060864686965942, 1.381159782409668, -0.16216187179088593, 0.5937296748161316, 0.7040736079216003], "theta": [0.8384597301483154, -1.8950291872024536, -1.004281759262085, 1.3627464771270752, -0.16276142001152039, 0.5937031507492065, 0.7040558457374573], "dq": [0.0014163765590637922, 0.0012886699987575412, -0.0019553788006305695, 0.0018824683502316475, 0.0007252274663187563, -0.002146471058949828, -0.0011054821079596877], "dtheta": [-3.3558248105691746e-05, 0.00025733973598107696, 0.00014240542077459395, -0.00012397184036672115, -0.0005004326230846345, 0.000290647178189829, -0.0008067863527685404], "tau": [55.61000061035156, 23.619998931884766, 5.452000141143799, -26.296001434326172, -2.6120002269744873, 2.684000015258789, -0.5520000457763672], "tau_des": [0.5148559808731079, -0.6259065270423889, -0.22128677368164062, -0.5241270065307617, 0.9040065407752991, -1.172937035560608, -0.5205327272415161], "tau_dot": [-107.81499481201172, 40.09372329711914, -30.690189361572266, 2.1394119262695312, -27.634441375732422, 39.59617233276367, -48.62174606323242], "tau_ext": [-16.8094482421875, -41.598777770996094, 31.817707061767578, 31.35579490661621, 9.511282920837402, -2.9960315227508545, -0.13378018140792847], "tcp_pose": [0.6779571771621704, 0.03259142488241196, -0.21498718857765198, -0.002310262992978096, -0.004604756832122803, 0.9998922944068909, 0.013743095099925995], "tcp_vel": [0.00018475453543942422, 3.723918052855879e-05, 0.00019087466353084892, 0.00023622115259058774, -0.000540451321285218, 0.0009851815411821008], "flange_pose": [0.6786692142486572, 0.028472132980823517, -0.06504545360803604, -0.002310262992978096, -0.004604756832122803, 0.9998922944068909, 0.013743095099925995], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.73450469970703, 15.187893867492676, 28.204919815063477, 0.3239784240722656, -23.987655639648438, 1.7857211828231812], "ext_wrench_in_world": [-108.00155687294142, 14.957158120404365, -27.29212814673145, -0.11306970115532229, -23.931541700658354, -2.443340402141332]}
+{"timestamp_ns": 1789729897088898441, "elapsed_ms": 16466, "source_timestamp_ns": 1789729897081679606, "q": [0.8363809585571289, -1.8969838619232178, -1.0060877799987793, 1.3811607360839844, -0.16216279566287994, 0.5937288403511047, 0.7040749192237854], "theta": [0.8384599685668945, -1.895029067993164, -1.00428307056427, 1.362747311592102, -0.162762850522995, 0.5937031507492065, 0.7040565609931946], "dq": [-0.0014668434159830213, -0.0010225387522950768, 0.0012095543788746, 0.00013724340533372015, 0.001372707774862647, -0.0009781853295862675, -0.002326498506590724], "dtheta": [-7.803609332768247e-05, 0.0004048676637466997, 1.9414859707467258e-05, -0.00015087895735632628, -0.0007863679202273488, -2.771968865999952e-06, 0.0011571920476853848], "tau": [55.689998626708984, 23.549999237060547, 5.460000038146973, -26.304000854492188, -2.5880000591278076, 2.6640000343322754, -0.527999997138977], "tau_des": [0.5212491154670715, -0.6920761466026306, -0.15822255611419678, -0.5268864631652832, 0.8983451724052429, -1.162561058998108, -0.5624581575393677], "tau_dot": [123.43437957763672, -84.5484848022461, 11.102350234985352, -9.087029457092285, 19.960369110107422, 17.831228256225586, 25.376543045043945], "tau_ext": [-16.822505950927734, -41.60051345825195, 31.81292152404785, 31.365055084228516, 9.520503997802734, -3.0019683837890625, -0.13287022709846497], "tcp_pose": [0.6779572367668152, 0.032590243965387344, -0.21498768031597137, -0.002310529351234436, -0.004603945184499025, 0.9998922944068909, 0.013741860166192055], "tcp_vel": [0.0002503196883480996, -0.00013526463590096682, 0.00019982553203590214, -9.614694863557816e-05, -0.00043935002759099007, -0.0010019703768193722], "flange_pose": [0.6786693334579468, 0.028471320867538452, -0.06504593789577484, -0.002310529351234436, -0.004603945184499025, 0.9998922944068909, 0.013741860166192055], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.72314453125, 15.202284812927246, 28.204761505126953, 0.3268468379974365, -23.980836868286133, 1.7859442234039307], "ext_wrench_in_world": [-107.99031889133627, 14.971750309450716, -27.29160349290584, -0.11604122857150431, -23.924752127500433, -2.4433036239701034]}
+{"timestamp_ns": 1789729897122257848, "elapsed_ms": 16500, "source_timestamp_ns": 1789729897121661300, "q": [0.836381196975708, -1.8969850540161133, -1.0060898065567017, 1.3811612129211426, -0.16216321289539337, 0.5937294960021973, 0.7040730118751526], "theta": [0.8384596705436707, -1.8950297832489014, -1.004285216331482, 1.3627475500106812, -0.1627631038427353, 0.5937038660049438, 0.7040558457374573], "dq": [-0.001062551629729569, 0.0006520528113469481, -0.0005239712772890925, -0.0032493534963577986, 8.375530887860805e-05, 0.002254324033856392, 0.00035259188734926283], "dtheta": [-0.0002097506367135793, 0.00013880310871172696, 0.0002552976075094193, -0.0001056190812960267, -0.0007675331435166299, 0.0003914347616955638, -0.0008351337164640427], "tau": [55.62999725341797, 23.600000381469727, 5.464000225067139, -26.332000732421875, -2.628000020980835, 2.6600000858306885, -0.5160000324249268], "tau_des": [0.5573291182518005, -0.5925100445747375, -0.23075179755687714, -0.5521403551101685, 0.9087597727775574, -1.1658021211624146, -0.5161404013633728], "tau_dot": [99.86123657226562, 29.907377243041992, 26.927888870239258, -43.589290618896484, -34.80257797241211, -3.1322524547576904, 49.14032745361328], "tau_ext": [-16.832799911499023, -41.61637496948242, 31.843021392822266, 31.35820770263672, 9.529257774353027, -3.0054640769958496, -0.13486462831497192], "tcp_pose": [0.6779577136039734, 0.03258947283029556, -0.21498806774616241, -0.0023098846431821585, -0.004604721441864967, 0.9998922944068909, 0.013740728609263897], "tcp_vel": [0.00012552517000585794, 0.0001280116121051833, 6.771492189727724e-05, 0.0001099225555662997, -0.0005384216201491654, 0.001320969546213746], "flange_pose": [0.6786695718765259, 0.02847089059650898, -0.06504631042480469, -0.0023098846431821585, -0.004604721441864967, 0.9998922944068909, 0.013740728609263897], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.69429779052734, 15.224681854248047, 28.205028533935547, 0.3272245228290558, -23.96365737915039, 1.7855288982391357], "ext_wrench_in_world": [-107.96166677035642, 14.994184953016681, -27.29156049989122, -0.1165339598945796, -23.907600443881314, -2.442360573710171]}
+{"timestamp_ns": 1789729897155586387, "elapsed_ms": 16533, "source_timestamp_ns": 1789729897151673241, "q": [0.8363814949989319, -1.8969858884811401, -1.0060900449752808, 1.3811604976654053, -0.1621619462966919, 0.5937290191650391, 0.7040725350379944], "theta": [0.8384600281715393, -1.8950307369232178, -1.0042856931686401, 1.3627474308013916, -0.1627626270055771, 0.5937036275863647, 0.7040558457374573], "dq": [0.0008206233032979071, 0.002323776949197054, -0.0020512298215180635, -0.0007083644741214812, 0.0017394953174516559, -0.0008481150725856423, 0.0008882186375558376], "dtheta": [-0.00023984214931260794, 8.618086576461792e-05, -0.00036365684354677796, 0.00011245870700804517, 9.16342014534166e-06, 0.0013783429749310017, -0.00032400080817751586], "tau": [55.64999771118164, 23.600000381469727, 5.460000038146973, -26.304000854492188, -2.616000175476074, 2.6720001697540283, -0.5200000405311584], "tau_des": [0.5760126709938049, -0.6274216175079346, -0.1611160784959793, -0.5518866181373596, 0.8916606903076172, -1.1792335510253906, -0.5374384522438049], "tau_dot": [-6.992724895477295, 65.81084442138672, 46.38829040527344, 31.545408248901367, -59.56575393676758, 5.808926582336426, 39.105491638183594], "tau_ext": [-16.81975555419922, -41.598388671875, 31.837512969970703, 31.35677719116211, 9.527853012084961, -3.0027170181274414, -0.13738280534744263], "tcp_pose": [0.6779576539993286, 0.03258969262242317, -0.21498796343803406, -0.002309950068593025, -0.004604725167155266, 0.9998922944068909, 0.01374079193919897], "tcp_vel": [0.00030464917654171586, -2.9133365387679078e-05, -5.114189116284251e-05, 0.0006764837307855487, -0.0008306661038659513, -9.022844096762128e-06], "flange_pose": [0.6786695122718811, 0.028471089899539948, -0.06504621356725693, -0.002309950068593025, -0.004604725167155266, 0.9998922944068909, 0.01374079193919897], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7021255493164, 15.234955787658691, 28.18836784362793, 0.3270550072193146, -23.959169387817383, 1.7838366031646729], "ext_wrench_in_world": [-107.9695127159191, 15.0039270077434, -27.274572510189767, -0.11639757094722332, -23.903158924980318, -2.440549276551094]}
+{"timestamp_ns": 1789729897188893478, "elapsed_ms": 16566, "source_timestamp_ns": 1789729897181674523, "q": [0.8363816738128662, -1.896986961364746, -1.0060900449752808, 1.381160020828247, -0.16216135025024414, 0.5937292575836182, 0.7040712237358093], "theta": [0.8384605050086975, -1.8950324058532715, -1.0042853355407715, 1.3627471923828125, -0.1627616584300995, 0.5937036275863647, 0.7040546536445618], "dq": [-0.0009178584441542625, 0.0004634104552678764, -0.0018718212377279997, 1.5666060789953917e-05, -0.0011520676780492067, 0.0017654795665293932, -0.0018694710452109575], "dtheta": [6.825592572567984e-05, 0.0003906225610990077, -0.0001803561026463285, -0.00022081416682340205, 0.00018365403229836375, 0.0017252115067094564, -0.0006360799889080226], "tau": [55.619998931884766, 23.60999870300293, 5.452000141143799, -26.316001892089844, -2.6040000915527344, 2.680000066757202, -0.527999997138977], "tau_des": [0.443136602640152, -0.6976391673088074, -0.17614193260669708, -0.44658029079437256, 0.9006578922271729, -1.2201930284500122, -0.5315449833869934], "tau_dot": [-89.42575073242188, 153.4202117919922, 8.012582778930664, -40.96223449707031, 19.067420959472656, 27.68303680419922, 48.628753662109375], "tau_ext": [-16.812898635864258, -41.56584548950195, 31.81809425354004, 31.359432220458984, 9.530247688293457, -3.000586748123169, -0.13241243362426758], "tcp_pose": [0.6779575347900391, 0.03259019926190376, -0.21498800814151764, -0.0023097647354006767, -0.004605550784617662, 0.9998922944068909, 0.013740788213908672], "tcp_vel": [0.0005623253528028727, 0.00011317483586026356, 0.0004318745341151953, 0.001547445310279727, -0.0015233294107019901, 6.983162893448025e-05], "flange_pose": [0.6786693334579468, 0.02847159653902054, -0.06504625082015991, -0.0023097647354006767, -0.004605550784617662, 0.9998922944068909, 0.013740788213908672], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.71601867675781, 15.215075492858887, 28.17827033996582, 0.32057487964630127, -23.961929321289062, 1.7842539548873901], "ext_wrench_in_world": [-107.98318931682329, 14.98347120535822, -27.265005717632548, -0.10985421976322844, -23.90584634204104, -2.441071475513818]}
+{"timestamp_ns": 1789729897222247955, "elapsed_ms": 16600, "source_timestamp_ns": 1789729897221663436, "q": [0.8363828659057617, -1.8969874382019043, -1.0060898065567017, 1.3811609745025635, -0.16216127574443817, 0.5937288999557495, 0.7040714025497437], "theta": [0.8384611010551453, -1.8950326442718506, -1.0042845010757446, 1.3627476692199707, -0.16276094317436218, 0.5937033891677856, 0.7040544152259827], "dq": [-0.0022175416816025972, 0.0011997786350548267, -0.0014182685408741236, -0.0023551401682198048, -0.0009215371101163328, -0.0013456401647999883, 0.000670350797008723], "dtheta": [-0.00010735159594332799, -0.0005370741710066795, -9.263450192520395e-05, -6.256975757423788e-05, 0.0004515318723861128, -0.00010783824836835265, -0.0005065304576419294], "tau": [55.55999755859375, 23.549999237060547, 5.464000225067139, -26.332000732421875, -2.568000078201294, 2.6720001697540283, -0.5480000376701355], "tau_des": [0.634270966053009, -0.5007269978523254, -0.25319021940231323, -0.6182880401611328, 0.8799189329147339, -1.1395134925842285, -0.5260975360870361], "tau_dot": [-111.73566436767578, 18.682907104492188, -21.485532760620117, -22.279993057250977, 43.59642791748047, 38.8256950378418, -26.850406646728516], "tau_ext": [-16.826318740844727, -41.58993148803711, 31.829872131347656, 31.368135452270508, 9.521407127380371, -3.0001959800720215, -0.12204450368881226], "tcp_pose": [0.6779571175575256, 0.03259025886654854, -0.21498773992061615, -0.0023097062949091196, -0.004605764057487249, 0.9998922944068909, 0.013740348629653454], "tcp_vel": [-0.0001925675751408562, 0.00013371506065595895, -0.000258556887274608, -0.0002095538511639461, 0.000346472195815295, 0.0005432982579804957], "flange_pose": [0.6786689758300781, 0.02847179025411606, -0.06504599004983902, -0.0023097062949091196, -0.004605764057487249, 0.9998922944068909, 0.013740348629653454], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.73165893554688, 15.182164192199707, 28.175180435180664, 0.31164610385894775, -23.96587371826172, 1.7859681844711304], "ext_wrench_in_world": [-107.9985159804848, 14.950273815274127, -27.262778618112293, -0.10088745778823836, -23.90966139911056, -2.4429126530444725]}
+{"timestamp_ns": 1789729897255582943, "elapsed_ms": 16633, "source_timestamp_ns": 1789729897251662058, "q": [0.8363840579986572, -1.896986484527588, -1.0060904026031494, 1.3811607360839844, -0.16216012835502625, 0.593728244304657, 0.7040718793869019], "theta": [0.8384616374969482, -1.8950316905975342, -1.0042846202850342, 1.3627476692199707, -0.16275975108146667, 0.5937031507492065, 0.7040548920631409], "dq": [-0.0013924342347308993, 0.00019316698308102787, 0.0014856408815830946, 0.0016732967924326658, 0.0010929361451417208, -0.002298592356964946, -0.0031364543829113245], "dtheta": [0.0001796664291759953, 0.000733958266209811, 8.540835551684722e-05, -7.335352711379528e-05, -1.4883873518556356e-05, -0.0008142006699927151, 0.00010630239557940513], "tau": [55.63999938964844, 23.559999465942383, 5.4760003089904785, -26.316001892089844, -2.5920000076293945, 2.6560001373291016, -0.5560000538825989], "tau_des": [0.4819256067276001, -0.7146843671798706, -0.16008378565311432, -0.5182317495346069, 0.8837762475013733, -1.1543471813201904, -0.5471094846725464], "tau_dot": [-20.249317169189453, 47.794761657714844, 25.347671508789062, -49.93232345581055, -2.0824708938598633, -19.341039657592773, -65.85932159423828], "tau_ext": [-16.797292709350586, -41.569786071777344, 31.814714431762695, 31.35325813293457, 9.517670631408691, -2.9991323947906494, -0.12084198743104935], "tcp_pose": [0.6779576539993286, 0.032589659094810486, -0.21498677134513855, -0.0023095125798135996, -0.004604673478752375, 0.9998922944068909, 0.013740716502070427], "tcp_vel": [8.48583658807911e-05, -0.000284532638033852, 0.0002854080521501601, 9.889381180983037e-05, 0.000397060823161155, -0.000522314861882478], "flange_pose": [0.6786693930625916, 0.028471078723669052, -0.06504501402378082, -0.0023095125798135996, -0.004604673478752375, 0.9998922944068909, 0.013740716502070427], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.74319458007812, 15.175549507141113, 28.17204475402832, 0.3142307996749878, -23.973421096801758, 1.7897796630859375], "ext_wrench_in_world": [-108.0099332806914, 14.943725117425744, -27.25980152353736, -0.10347253040377215, -23.917122909871612, -2.4469361397442007]}
+{"timestamp_ns": 1789729897288895684, "elapsed_ms": 16666, "source_timestamp_ns": 1789729897281688238, "q": [0.836384654045105, -1.8969868421554565, -1.0060902833938599, 1.3811620473861694, -0.1621616929769516, 0.5937278270721436, 0.7040716409683228], "theta": [0.8384619355201721, -1.8950320482254028, -1.0042848587036133, 1.3627489805221558, -0.16276070475578308, 0.5937026739120483, 0.7040546536445618], "dq": [0.0004698922857642174, -0.0024857670068740845, -0.0014876147033646703, -0.0009247154230251908, 0.0004257519613020122, -0.0006470056832768023, -0.0023519075475633144], "dtheta": [0.0003280742675997317, 0.000332148396410048, 2.0236211639712565e-05, 0.00019601637904997915, 4.527726196101867e-05, 1.1148964631502167e-06, -0.0008103542495518923], "tau": [55.61000061035156, 23.56999969482422, 5.456000328063965, -26.292001724243164, -2.5960001945495605, 2.6720001697540283, -0.5440000295639038], "tau_des": [0.4890986979007721, -0.6466951966285706, -0.19932551681995392, -0.5312495231628418, 0.8957258462905884, -1.1638516187667847, -0.5244158506393433], "tau_dot": [-50.93159866333008, -0.31730321049690247, -17.404996871948242, 52.81135940551758, -7.076220512390137, 26.26723861694336, -24.651166915893555], "tau_ext": [-16.813913345336914, -41.587989807128906, 31.823204040527344, 31.362518310546875, 9.513425827026367, -3.0003957748413086, -0.12172403931617737], "tcp_pose": [0.6779572367668152, 0.03258941322565079, -0.21498699486255646, -0.0023095000069588423, -0.0046055200509727, 0.9998923540115356, 0.013739574700593948], "tcp_vel": [6.976598524488509e-05, -0.00012081585009582341, 0.00023095191863831133, 0.00017961551202461123, -0.00016289277118630707, 0.0006075784913264215], "flange_pose": [0.6786689758300781, 0.028471175581216812, -0.06504522264003754, -0.0023095000069588423, -0.0046055200509727, 0.9998923540115356, 0.013739574700593948], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.74024963378906, 15.189218521118164, 28.17044448852539, 0.31998875737190247, -23.975130081176758, 1.7912287712097168], "ext_wrench_in_world": [-108.00712967284976, 14.957126257029731, -27.257879724550072, -0.10918068675930834, -23.91885054477719, -2.448351265495042]}
+{"timestamp_ns": 1789729897322308316, "elapsed_ms": 16700, "source_timestamp_ns": 1789729897321724037, "q": [0.8363851308822632, -1.896986484527588, -1.0060908794403076, 1.381162405014038, -0.16216358542442322, 0.5937290787696838, 0.7040721774101257], "theta": [0.8384616374969482, -1.8950320482254028, -1.0042850971221924, 1.3627500534057617, -0.1627621352672577, 0.5937038660049438, 0.7040556073188782], "dq": [0.002331261523067951, -0.0008748891996219754, -0.00124718202278018, -0.001214529387652874, 0.0025370630901306868, -0.0012093730038031936, -0.0015028942143544555], "dtheta": [-0.00014362663205247372, 0.00014046682917978615, 0.00025569909485056996, 9.2390961071942e-05, -2.2060789888200816e-06, 0.00037259876262396574, -0.0005083505529910326], "tau": [55.599998474121094, 23.529998779296875, 5.464000225067139, -26.312002182006836, -2.5840001106262207, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.5672250986099243, -0.5899500250816345, -0.24019989371299744, -0.5606418251991272, 0.8858082294464111, -1.1676260232925415, -0.5251636505126953], "tau_dot": [-52.61237716674805, -161.56622314453125, -0.30998674035072327, 29.88206672668457, 23.120616912841797, 14.312277793884277, 3.738588571548462], "tau_ext": [-16.805204391479492, -41.58430480957031, 31.82396125793457, 31.362483978271484, 9.517218589782715, -3.000445604324341, -0.12732017040252686], "tcp_pose": [0.6779580116271973, 0.03258897364139557, -0.21498644351959229, -0.0023082911502569914, -0.004605461843311787, 0.9998923540115356, 0.013739263638854027], "tcp_vel": [-4.508433266892098e-05, 0.00014060478133615106, -4.033428558614105e-05, 0.0004591437173075974, 1.5854767525524949e-06, 0.0006006739567965269], "flange_pose": [0.6786693930625916, 0.028470827266573906, -0.06504467874765396, -0.0023082911502569914, -0.004605461843311787, 0.9998923540115356, 0.013739263638854027], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.73060607910156, 15.194986343383789, 28.174036026000977, 0.32280951738357544, -23.973072052001953, 1.7900302410125732], "ext_wrench_in_world": [-107.99748827289199, 14.963079033519076, -27.261624946502845, -0.1120120591750246, -23.916853922848865, -2.447069592479589]}
+{"timestamp_ns": 1789729897355640044, "elapsed_ms": 16733, "source_timestamp_ns": 1789729897351672083, "q": [0.836385190486908, -1.8969871997833252, -1.0060909986495972, 1.3811619281768799, -0.16216738522052765, 0.5937280058860779, 0.7040735483169556], "theta": [0.8384616374969482, -1.8950328826904297, -1.004285216331482, 1.3627506494522095, -0.1627669334411621, 0.5937033891677856, 0.7040563225746155], "dq": [0.0028939973562955856, 0.0003679600195027888, -0.0005031807231716812, 0.0014005344128236175, 0.0019705763552337885, 0.0010870029218494892, -0.00031081130146048963], "dtheta": [-0.00010475815361132845, -0.00010396367724752054, 0.00022856847499497235, -0.0003055638517253101, -0.0006349647883325815, -0.00034514963044784963, 0.00017449719598516822], "tau": [55.64999771118164, 23.59000015258789, 5.440000057220459, -26.328001022338867, -2.632000207901001, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.5391165018081665, -0.5912107229232788, -0.2343292236328125, -0.5415531396865845, 0.908916711807251, -1.1631159782409668, -0.5329316854476929], "tau_dot": [70.78671264648438, -26.071870803833008, -24.516035079956055, -22.757984161376953, -8.94622802734375, 31.56509780883789, -15.581628799438477], "tau_ext": [-16.823047637939453, -41.5865478515625, 31.82805824279785, 31.3648681640625, 9.532031059265137, -2.999932050704956, -0.13254040479660034], "tcp_pose": [0.6779583692550659, 0.03258877992630005, -0.214986190199852, -0.0023074266500771046, -0.004605995025485754, 0.9998923540115356, 0.013737575151026249], "tcp_vel": [1.5038524907140527e-05, 0.0001160536558018066, 5.996596155455336e-05, -0.0003769372415263206, -0.00015410852211061865, 0.00036777203786186874], "flange_pose": [0.6786695122718811, 0.028471138328313828, -0.06504441052675247, -0.0023074266500771046, -0.004605995025485754, 0.9998923540115356, 0.013737575151026249], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7367172241211, 15.186644554138184, 28.172962188720703, 0.31742024421691895, -23.97235107421875, 1.7868918180465698], "ext_wrench_in_world": [-108.0034854567709, 14.954449394989446, -27.260993782560963, -0.10658536431960364, -23.91617777297574, -2.4438564397221594]}
+{"timestamp_ns": 1789729897388896790, "elapsed_ms": 16766, "source_timestamp_ns": 1789729897381690963, "q": [0.8363847136497498, -1.896988868713379, -1.006090521812439, 1.3811616897583008, -0.16216564178466797, 0.593727707862854, 0.7040727734565735], "theta": [0.8384612202644348, -1.8950343132019043, -1.004285216331482, 1.36275053024292, -0.1627654880285263, 0.5937026739120483, 0.7040556073188782], "dq": [0.000661048456095159, -0.002295268699526787, -0.0022843284532427788, 0.0009444601600989699, 0.0024134074337780476, 0.003468296956270933, -0.0008160013821907341], "dtheta": [-0.00026956351939588785, -0.00028517734608612955, -8.428040018770844e-05, 1.3077386938675772e-05, 0.0006132894777692854, 1.1545706911419984e-05, -0.0002961890713777393], "tau": [55.63999938964844, 23.549999237060547, 5.444000244140625, -26.30000114440918, -2.616000175476074, 2.6600000858306885, -0.5440000295639038], "tau_des": [0.646466851234436, -0.526060163974762, -0.23500274121761322, -0.618630588054657, 0.8714518547058105, -1.1434040069580078, -0.5307003259658813], "tau_dot": [26.714765548706055, 5.44553279876709, -29.505430221557617, -13.294620513916016, 11.993412971496582, -6.138890743255615, -12.929293632507324], "tau_ext": [-16.81067657470703, -41.58700180053711, 31.830312728881836, 31.360424041748047, 9.550032615661621, -3.000875234603882, -0.1304943710565567], "tcp_pose": [0.6779574751853943, 0.03258959576487541, -0.21498708426952362, -0.0023082634434103966, -0.004606590140610933, 0.9998923540115356, 0.01373758353292942], "tcp_vel": [-0.00019234686624258757, 7.98883629613556e-05, -0.00032685717451386154, 0.0001168776216218248, 0.0005766822141595185, 8.952074858825654e-05], "flange_pose": [0.6786688566207886, 0.02847195416688919, -0.0650452971458435, -0.0023082634434103966, -0.004606590140610933, 0.9998923540115356, 0.01373758353292942], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.74829864501953, 15.186737060546875, 28.1690616607666, 0.3109457194805145, -23.970178604125977, 1.7888108491897583], "ext_wrench_in_world": [-108.01511192583621, 14.95419667218112, -27.256861078073097, -0.10011519814979931, -23.91389358113739, -2.445744170079137]}
+{"timestamp_ns": 1789729897422246667, "elapsed_ms": 16800, "source_timestamp_ns": 1789729897421668838, "q": [0.8363841772079468, -1.8969902992248535, -1.0060909986495972, 1.3811619281768799, -0.16216221451759338, 0.5937240123748779, 0.7040733695030212], "theta": [0.8384615778923035, -1.895034909248352, -1.0042848587036133, 1.3627504110336304, -0.1627631038427353, 0.5936986207962036, 0.70405513048172], "dq": [1.903419615700841e-05, 0.0008748682448640466, -0.0004190125036984682, -0.0011014944175258279, -0.0005293595604598522, 0.000596800004132092, 0.00011221073509659618], "dtheta": [-7.049778105283622e-06, 0.00020391606085468084, -0.00023269656230695546, 3.578263567760587e-05, 0.0007250678609125316, 5.797603080281988e-05, -0.0008420841186307371], "tau": [55.62999725341797, 23.56999969482422, 5.464000225067139, -26.32000160217285, -2.624000072479248, 2.684000015258789, -0.5360000133514404], "tau_des": [0.5793226957321167, -0.6085318326950073, -0.18947875499725342, -0.5811483860015869, 0.8689894676208496, -1.1473685503005981, -0.5298363566398621], "tau_dot": [-7.048434257507324, -18.266756057739258, 33.15129089355469, -28.397329330444336, -43.89589309692383, 61.11520767211914, -7.4271626472473145], "tau_ext": [-16.813705444335938, -41.551513671875, 31.8129825592041, 31.364137649536133, 9.54188346862793, -2.99897837638855, -0.13182681798934937], "tcp_pose": [0.6779558658599854, 0.03258940950036049, -0.21498872339725494, -0.002310928190127015, -0.004605709109455347, 0.9998923540115356, 0.01373671181499958], "tcp_vel": [2.871757715183776e-05, -0.00013508704432751983, -2.6072735636262223e-05, 0.00047457838081754744, 0.0002963070583064109, 0.00014369345444720238], "flange_pose": [0.6786680221557617, 0.02847203239798546, -0.06504693627357483, -0.002310928190127015, -0.004605709109455347, 0.9998923540115356, 0.01373671181499958], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.75382232666016, 15.165167808532715, 28.156694412231445, 0.30150336027145386, -23.966768264770508, 1.7886534929275513], "ext_wrench_in_world": [-108.02049979972954, 14.93237944937492, -27.2445159231487, -0.09075714621881056, -23.91040558995452, -2.4454926529248597]}
+{"timestamp_ns": 1789729897455580206, "elapsed_ms": 16833, "source_timestamp_ns": 1789729897451663290, "q": [0.836384654045105, -1.8969917297363281, -1.0060909986495972, 1.3811619281768799, -0.16216090321540833, 0.5937241315841675, 0.7040725946426392], "theta": [0.8384619951248169, -1.895035743713379, -1.004285216331482, 1.3627502918243408, -0.1627616584300995, 0.5936983823776245, 0.7040553689002991], "dq": [0.0008828419959172606, -0.0008250724640674889, 0.00026379083283245564, -7.55706787458621e-05, 0.00015386578161269426, -9.611230052541941e-05, 0.0008804237586446106], "dtheta": [-0.00012262728705536574, 2.690246947167907e-05, -0.00078534398926422, -5.8672059822129086e-05, -0.0003914260014425963, 1.5598925529047847e-05, 8.692216215422377e-05], "tau": [55.619998931884766, 23.549999237060547, 5.444000244140625, -26.316001892089844, -2.5840001106262207, 2.6480002403259277, -0.5320000052452087], "tau_des": [0.5870088934898376, -0.6464877128601074, -0.11489742994308472, -0.5794155597686768, 0.8964405655860901, -1.1461381912231445, -0.5456849932670593], "tau_dot": [-41.01969528198242, -53.149593353271484, -40.394283294677734, -66.59847259521484, 19.114343643188477, -23.740663528442383, 22.10613250732422], "tau_ext": [-16.808305740356445, -41.568111419677734, 31.811508178710938, 31.36396598815918, 9.536321640014648, -2.998887300491333, -0.12400957942008972], "tcp_pose": [0.6779554486274719, 0.032589979469776154, -0.21498890221118927, -0.002310986164957285, -0.004606229718774557, 0.9998923540115356, 0.013736644759774208], "tcp_vel": [0.0003220572543796152, -0.0004547087009996176, -5.8169585827272385e-05, -0.0006805670564062893, -0.00039897256647236645, -0.00044893010635860264], "flange_pose": [0.6786676049232483, 0.028472624719142914, -0.06504712253808975, -0.002310986164957285, -0.004606229718774557, 0.9998923540115356, 0.013736644759774208], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7710189819336, 15.15113639831543, 28.157798767089844, 0.3002883791923523, -23.97443389892578, 1.7899954319000244], "ext_wrench_in_world": [-108.03759075275829, 14.91810847635666, -27.245919360516194, -0.08945378444266391, -23.918020320041272, -2.447047102408207]}
+{"timestamp_ns": 1789729897488898816, "elapsed_ms": 16866, "source_timestamp_ns": 1789729897481676351, "q": [0.8363847732543945, -1.8969908952713013, -1.0060900449752808, 1.3811625242233276, -0.16216112673282623, 0.5937232971191406, 0.7040715217590332], "theta": [0.8384624123573303, -1.8950352668762207, -1.0042845010757446, 1.3627504110336304, -0.1627621352672577, 0.5936979055404663, 0.7040544152259827], "dq": [0.0011698374291881919, -0.0008095582015812397, -0.0010529676219448447, -0.0018549952656030655, 0.0023195622488856316, -0.001345066586509347, -0.0006003485759720206], "dtheta": [-0.00017131611821241677, 0.0003210283175576478, 0.00021420694247353822, 0.00021820029360242188, -0.0005165778566151857, -0.00020746677182614803, -5.6156775826821104e-05], "tau": [55.62999725341797, 23.53999900817871, 5.456000328063965, -26.304000854492188, -2.6000001430511475, 2.688000202178955, -0.5440000295639038], "tau_des": [0.6145750284194946, -0.5946212410926819, -0.2328861653804779, -0.6088515520095825, 0.8790445923805237, -1.1373779773712158, -0.5291814804077148], "tau_dot": [-10.85079574584961, -23.789871215820312, -24.13534164428711, 50.549747467041016, -15.014965057373047, 25.988985061645508, 1.7176952362060547], "tau_ext": [-16.793500900268555, -41.56221389770508, 31.811861038208008, 31.35624885559082, 9.526145935058594, -3.0043113231658936, -0.12631332874298096], "tcp_pose": [0.6779550313949585, 0.032589953392744064, -0.2149888277053833, -0.0023115251678973436, -0.004606885835528374, 0.9998923540115356, 0.013736745342612267], "tcp_vel": [-7.643511344213039e-05, -8.725458610570058e-05, -8.770128624746576e-05, -0.00020660202426370233, 0.00028297354583628476, 0.0003175183665007353], "flange_pose": [0.678667426109314, 0.028472568839788437, -0.06504704803228378, -0.0023115251678973436, -0.004606885835528374, 0.9998923540115356, 0.013736745342612267], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.76407623291016, 15.167571067810059, 28.156455993652344, 0.309748113155365, -23.97397804260254, 1.7920042276382446], "ext_wrench_in_world": [-108.03084105090826, 14.934425913426706, -27.244038926374035, -0.09889759664209968, -23.91759689754879, -2.449004725272774]}
+{"timestamp_ns": 1789729897522246383, "elapsed_ms": 16900, "source_timestamp_ns": 1789729897521680603, "q": [0.8363858461380005, -1.8969899415969849, -1.0060911178588867, 1.3811622858047485, -0.16216132044792175, 0.5937221050262451, 0.7040729522705078], "theta": [0.8384636044502258, -1.8950351476669312, -1.0042850971221924, 1.3627500534057617, -0.1627635806798935, 0.5936969518661499, 0.7040556073188782], "dq": [-0.0003600471536628902, -0.00035886981640942395, -3.232092421967536e-05, 0.0010128696449100971, -0.000231802900088951, -0.0001652486971579492, -0.0013754834653809667], "dtheta": [-8.940255793277174e-05, 0.00037321620038710535, -0.0003463505127001554, 4.9655031034490094e-05, 0.00019094684103038162, -0.0007386239594779909, -0.0005347891128621995], "tau": [55.68000030517578, 23.600000381469727, 5.460000038146973, -26.304000854492188, -2.5920000076293945, 2.6680002212524414, -0.5480000376701355], "tau_des": [0.5944763422012329, -0.641243577003479, -0.1513366401195526, -0.5995744466781616, 0.8721734881401062, -1.1281826496124268, -0.5363155603408813], "tau_dot": [-28.831398010253906, 5.294714450836182, 3.145914316177368, -25.67648696899414, 40.45646667480469, 7.218844890594482, -18.336009979248047], "tau_ext": [-16.816829681396484, -41.58449935913086, 31.815221786499023, 31.354530334472656, 9.527300834655762, -3.001831293106079, -0.12583380937576294], "tcp_pose": [0.6779558062553406, 0.032588932663202286, -0.2149878889322281, -0.0023111046757549047, -0.0046055372804403305, 0.9998923540115356, 0.013736364431679249], "tcp_vel": [1.279319440072868e-05, -0.0004135514609515667, -9.087038779398426e-05, -0.0003345519071444869, 0.0006684025283902884, -3.942790499422699e-05], "flange_pose": [0.6786680221557617, 0.028471659868955612, -0.06504609435796738, -0.0023111046757549047, -0.0046055372804403305, 0.9998923540115356, 0.013736364431679249], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7349624633789, 15.192724227905273, 28.171838760375977, 0.319385826587677, -23.96953010559082, 1.7923698425292969], "ext_wrench_in_world": [-108.00196951648695, 14.960532316885077, -27.258953739032652, -0.108639976192319, -23.913231771775433, -2.4491864009056354]}
+{"timestamp_ns": 1789729897555581042, "elapsed_ms": 16933, "source_timestamp_ns": 1789729897551661516, "q": [0.8363860249519348, -1.896990418434143, -1.0060923099517822, 1.381162405014038, -0.16216138005256653, 0.5937238931655884, 0.704075038433075], "theta": [0.8384637236595154, -1.8950352668762207, -1.0042860507965088, 1.3627498149871826, -0.1627635806798935, 0.5936993360519409, 0.7040570378303528], "dq": [0.00020053428306709975, -0.0008322503999806941, -0.0010748697677627206, -0.00067852099891752, 0.001057597459293902, 0.0009831864153966308, -0.001943022944033146], "dtheta": [0.0001316109992330894, 0.00010230288899037987, -0.0002046016597887501, 3.955804277211428e-05, -0.0005083048599772155, 0.00026724053896032274, -0.00013483516522683203], "tau": [55.65999984741211, 23.56999969482422, 5.444000244140625, -26.32000160217285, -2.6080000400543213, 2.6520001888275146, -0.5240000486373901], "tau_des": [0.5197916626930237, -0.648622989654541, -0.18226003646850586, -0.5341477990150452, 0.8978313207626343, -1.1697629690170288, -0.5404245853424072], "tau_dot": [33.74205780029297, 61.2338752746582, 13.76553726196289, -32.18644714355469, 9.965914726257324, -33.72903823852539, 25.895681381225586], "tau_ext": [-16.81710433959961, -41.59223937988281, 31.81966781616211, 31.358015060424805, 9.530037879943848, -3.0002601146698, -0.1349872499704361], "tcp_pose": [0.6779563426971436, 0.03258868679404259, -0.2149878591299057, -0.0023102439008653164, -0.004604271147400141, 0.9998923540115356, 0.013736344873905182], "tcp_vel": [0.0002274173020850867, -0.00014401345106307417, 0.00016285279707517475, -0.00021744791592936963, -0.0006518491427414119, 0.0002045362489297986], "flange_pose": [0.6786683201789856, 0.02847141958773136, -0.06504606455564499, -0.0023102439008653164, -0.004604271147400141, 0.9998923540115356, 0.013736344873905182], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.71565246582031, 15.207232475280762, 28.18965721130371, 0.321662575006485, -23.968048095703125, 1.7906925678253174], "ext_wrench_in_world": [-107.98279357111291, 14.97597758140475, -27.276635926101882, -0.11097917453744188, -23.911817343381415, -2.4474581022247537]}
+{"timestamp_ns": 1789729897588896402, "elapsed_ms": 16966, "source_timestamp_ns": 1789729897581670677, "q": [0.8363860845565796, -1.8969905376434326, -1.0060930252075195, 1.3811622858047485, -0.16216318309307098, 0.5937240719795227, 0.7040746808052063], "theta": [0.8384638428688049, -1.8950358629226685, -1.0042872428894043, 1.362749695777893, -0.1627650111913681, 0.5936990976333618, 0.7040577530860901], "dq": [0.0006728178123012185, -0.00023258963483385742, -0.00021797204681206495, -0.0008085809531621635, 0.0008390118018724024, -0.0005068135797046125, 0.0002893520286306739], "dtheta": [7.4039330684172455e-06, -7.153123442549258e-05, 3.7802918086526915e-05, 0.00012136357690906152, 1.129425754697877e-06, 0.00035431483411230147, -0.00017238866712432355], "tau": [55.619998931884766, 23.579999923706055, 5.440000057220459, -26.304000854492188, -2.6080000400543213, 2.6680002212524414, -0.5200000405311584], "tau_des": [0.571167528629303, -0.5872235894203186, -0.23030638694763184, -0.5681941509246826, 0.8818458914756775, -1.1638717651367188, -0.5364983677864075], "tau_dot": [-7.26292610168457, 13.987929344177246, -14.188591003417969, 26.38015365600586, -16.12759780883789, 3.118441104888916, -6.408193111419678], "tau_ext": [-16.81281280517578, -41.581363677978516, 31.82857894897461, 31.357189178466797, 9.534944534301758, -3.0091476440429688, -0.14262232184410095], "tcp_pose": [0.6779569387435913, 0.03258824348449707, -0.2149876207113266, -0.0023094534408301115, -0.00460472097620368, 0.9998924136161804, 0.013735613785684109], "tcp_vel": [-1.1670295862131752e-05, 7.467601972166449e-05, -2.8041034966008738e-05, 0.0001346939243376255, -0.00016973922902252525, 0.0002570623473729938], "flange_pose": [0.6786686778068542, 0.028471190482378006, -0.06504582613706589, -0.0023094534408301115, -0.00460472097620368, 0.9998924136161804, 0.013735613785684109], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7076416015625, 15.206015586853027, 28.17306900024414, 0.3200872540473938, -23.958969116210938, 1.7847845554351807], "ext_wrench_in_world": [-107.97466283701709, 14.97424541684255, -27.260318151471253, -0.10943395684905653, -23.902893382765292, -2.4412752840097207]}
+{"timestamp_ns": 1789729897622251209, "elapsed_ms": 17000, "source_timestamp_ns": 1789729897621669140, "q": [0.8363873362541199, -1.8969919681549072, -1.0060937404632568, 1.381160855293274, -0.1621631234884262, 0.5937215685844421, 0.704073429107666], "theta": [0.8384642601013184, -1.8950369358062744, -1.0042872428894043, 1.362748622894287, -0.1627654880285263, 0.5936969518661499, 0.7040572762489319], "dq": [0.0005963754374533892, -0.00040116487070918083, -0.0005161176668480039, 0.0007361560128629208, 0.0015149145619943738, 0.0014615938998758793, -0.00020842123194597661], "dtheta": [5.949498154222965e-05, 0.00047718026326037943, -0.0002108984481310472, -9.285956912208349e-05, -0.00026384397642686963, -1.411941775586456e-05, -5.618748036795296e-05], "tau": [55.61000061035156, 23.529998779296875, 5.456000328063965, -26.32400131225586, -2.6040000915527344, 2.6600000858306885, -0.5080000162124634], "tau_des": [0.4929393529891968, -0.7017899751663208, -0.14915378391742706, -0.5101218223571777, 0.8944498300552368, -1.1723871231079102, -0.5432308316230774], "tau_dot": [-56.238922119140625, -124.04072570800781, -7.9504876136779785, -67.32514190673828, 15.196789741516113, 19.903051376342773, 30.844701766967773], "tau_ext": [-16.810422897338867, -41.570213317871094, 31.826461791992188, 31.359338760375977, 9.547178268432617, -2.9991722106933594, -0.14231814444065094], "tcp_pose": [0.6779571175575256, 0.0325881727039814, -0.21498693525791168, -0.0023091528564691544, -0.004605505149811506, 0.9998924136161804, 0.013734470121562481], "tcp_vel": [0.00028013045084662735, -0.0002597287530079484, 0.0002317293401574716, 0.0001001373675535433, -0.0003386776661500335, -0.0002797161287162453], "flange_pose": [0.678668737411499, 0.028471464291214943, -0.06504513323307037, -0.0023091528564691544, -0.004605505149811506, 0.9998924136161804, 0.013734470121562481], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.73915100097656, 15.18382453918457, 28.167253494262695, 0.30971962213516235, -23.962942123413086, 1.7808324098587036], "ext_wrench_in_world": [-108.00594617760451, 14.951380702051654, -27.25507587295898, -0.09897282697047449, -23.906882783317, -2.4374259969580216]}
+{"timestamp_ns": 1789729897655587987, "elapsed_ms": 17033, "source_timestamp_ns": 1789729897651663802, "q": [0.8363878130912781, -1.896992564201355, -1.0060926675796509, 1.381160855293274, -0.16216115653514862, 0.5937195420265198, 0.7040721774101257], "theta": [0.8384643197059631, -1.8950380086898804, -1.004286527633667, 1.3627485036849976, -0.1627635806798935, 0.5936950445175171, 0.7040558457374573], "dq": [-0.0005448271986097097, 0.0020174304954707623, 0.000752174062654376, -0.0037984875962138176, 0.00041499713552184403, 0.0021145022474229336, 0.0003505144268274307], "dtheta": [0.00022923914366401732, -0.00018733181059360504, -1.9339695427333936e-05, 1.8595321762404637e-06, 0.0007782485918141901, 0.0005157712148502469, -0.0005849613226018846], "tau": [55.65999984741211, 23.51999855041504, 5.464000225067139, -26.30000114440918, -2.6040000915527344, 2.692000150680542, -0.527999997138977], "tau_des": [0.5318600535392761, -0.5771600008010864, -0.255445271730423, -0.5422533750534058, 0.872960090637207, -1.1739472150802612, -0.5296792387962341], "tau_dot": [71.15007781982422, -57.93486404418945, 29.24481201171875, 16.248449325561523, 14.485447883605957, 54.0677375793457, 22.051132202148438], "tau_ext": [-16.809160232543945, -41.58049774169922, 31.827991485595703, 31.369407653808594, 9.54410171508789, -2.996645927429199, -0.14023961126804352], "tcp_pose": [0.6779561042785645, 0.03258873149752617, -0.21498708426952362, -0.0023103482089936733, -0.004606115631759167, 0.9998924136161804, 0.01373455859720707], "tcp_vel": [-4.679264748119749e-06, 0.00018024341261480004, 9.269471775041893e-05, 0.0006710720481351018, -0.0002085367450490594, 0.00025302969152107835], "flange_pose": [0.6786680817604065, 0.02847200073301792, -0.06504528224468231, -0.0023103482089936733, -0.004606115631759167, 0.9998924136161804, 0.01373455859720707], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.75262451171875, 15.163399696350098, 28.177541732788086, 0.29972177743911743, -23.968090057373047, 1.7806382179260254], "ext_wrench_in_world": [-108.01936442089615, 14.930991067899006, -27.265602018911704, -0.0889033254559397, -23.911940871905372, -2.4374221100537476]}
+{"timestamp_ns": 1789729897688909047, "elapsed_ms": 17066, "source_timestamp_ns": 1789729897681675433, "q": [0.836387574672699, -1.8969919681549072, -1.006091833114624, 1.3811606168746948, -0.16215969622135162, 0.5937166213989258, 0.7040716409683228], "theta": [0.838464081287384, -1.8950377702713013, -1.0042859315872192, 1.3627482652664185, -0.1627616584300995, 0.5936921834945679, 0.7040553689002991], "dq": [0.00026150126359425485, 0.0021636176388710737, 0.002059842925518751, 0.0008691026596352458, 0.00012688784045167267, -0.0015602430794388056, -0.0014766717795282602], "dtheta": [-0.00022237397206481546, 0.00021705364633817226, -2.9766772058792412e-05, -8.875753701431677e-05, -4.3428721255622804e-05, -0.0006255567423067987, -0.00028113063308410347], "tau": [55.619998931884766, 23.549999237060547, 5.488000392913818, -26.328001022338867, -2.5920000076293945, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.6110683679580688, -0.6048043966293335, -0.21132192015647888, -0.5996755957603455, 0.8684385418891907, -1.134027123451233, -0.5338626503944397], "tau_dot": [-28.266775131225586, 13.614051818847656, 46.89274597167969, -17.69462776184082, -51.04692840576172, -23.665512084960938, -0.4760458469390869], "tau_ext": [-16.806325912475586, -41.5649299621582, 31.813596725463867, 31.364871978759766, 9.53145980834961, -2.9972336292266846, -0.13545602560043335], "tcp_pose": [0.6779552102088928, 0.03258870542049408, -0.2149873971939087, -0.0023120346013456583, -0.0046060942113399506, 0.9998924136161804, 0.013734601438045502], "tcp_vel": [-5.598760981229134e-05, -0.0001651312195463106, -0.00011604438623180613, -0.00024185159418266267, 0.0005823175888508558, 0.00013943332305643708], "flange_pose": [0.6786677837371826, 0.028471963480114937, -0.06504558771848679, -0.0023120346013456583, -0.0046060942113399506, 0.9998924136161804, 0.013734601438045502], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.76547241210938, 15.14234447479248, 28.16896629333496, 0.2961494028568268, -23.97412109375, 1.7810500860214233], "ext_wrench_in_world": [-108.03207032442437, 14.909591724734115, -27.25718544629649, -0.08528607078365733, -23.917924770146957, -2.4380170366999185]}
+{"timestamp_ns": 1789729897722252675, "elapsed_ms": 17100, "source_timestamp_ns": 1789729897721703233, "q": [0.8363880515098572, -1.8969926834106445, -1.0060920715332031, 1.381161093711853, -0.16215988993644714, 0.5937167406082153, 0.7040712833404541], "theta": [0.8384647965431213, -1.8950380086898804, -1.004286289215088, 1.3627490997314453, -0.1627616584300995, 0.5936919450759888, 0.70405513048172], "dq": [-0.0014044662239030004, 0.0006591627607122064, -0.003074084408581257, 0.0012668059207499027, -0.0008811264997348189, -0.002122251084074378, -0.0004867353418376297], "dtheta": [-0.0001824637729441747, 0.0001995439233724028, -8.221291500376537e-05, 0.00022231110779102892, -0.000959648983553052, -0.0006265731644816697, -0.0004155126225668937], "tau": [55.66999816894531, 23.53999900817871, 5.4760003089904785, -26.284000396728516, -2.5880000591278076, 2.6560001373291016, -0.5400000214576721], "tau_des": [0.62158203125, -0.5994616746902466, -0.20202112197875977, -0.6204469799995422, 0.8900121450424194, -1.127072811126709, -0.5245727896690369], "tau_dot": [36.93647003173828, -30.535625457763672, 30.558879852294922, 65.68379974365234, 13.273072242736816, -39.92066192626953, 3.5391080379486084], "tau_ext": [-16.833354949951172, -41.597740173339844, 31.816118240356445, 31.377361297607422, 9.51888370513916, -2.9986090660095215, -0.12701959908008575], "tcp_pose": [0.6779550313949585, 0.03258869796991348, -0.21498751640319824, -0.00231189071200788, -0.004606541711837053, 0.9998924136161804, 0.013734070584177971], "tcp_vel": [-3.181346983183175e-05, -0.0003130125696770847, -0.00016065090312622488, -0.0010358482832089067, 0.0002655897114891559, 0.0008063390851020813], "flange_pose": [0.6786675453186035, 0.028472114354372025, -0.06504570692777634, -0.00231189071200788, -0.004606541711837053, 0.9998924136161804, 0.013734070584177971], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.7685775756836, 15.148592948913574, 28.174816131591797, 0.30547070503234863, -23.982919692993164, 1.7846441268920898], "ext_wrench_in_world": [-108.03526528212154, 14.915843956347818, -27.26289602295597, -0.09452134212758559, -23.92671015896609, -2.4417843263797567]}
+{"timestamp_ns": 1789729897755584544, "elapsed_ms": 17133, "source_timestamp_ns": 1789729897751672618, "q": [0.836388885974884, -1.8969923257827759, -1.0060925483703613, 1.3811616897583008, -0.16216032207012177, 0.5937185287475586, 0.7040721774101257], "theta": [0.83846515417099, -1.8950376510620117, -1.0042870044708252, 1.3627490997314453, -0.1627616584300995, 0.5936933755874634, 0.7040556073188782], "dq": [-0.0019106273539364338, 0.000254076614510268, 0.0016014704015105963, -0.0018343537813052535, -0.0014523474965244532, -0.0003338633105158806, -0.003730633296072483], "dtheta": [-0.0004375430289655924, 0.00029657362028956413, -0.00013917380420025438, -0.00015220475324895233, 0.00038146559381857514, -0.0006590168923139572, 0.00012064827024005353], "tau": [55.64999771118164, 23.559999465942383, 5.448000431060791, -26.292001724243164, -2.5880000591278076, 2.6600000858306885, -0.527999997138977], "tau_des": [0.6434416770935059, -0.6175342202186584, -0.1886720061302185, -0.609019935131073, 0.851324737071991, -1.1336121559143066, -0.5465660691261292], "tau_dot": [19.37520980834961, -15.240979194641113, -26.13863182067871, 22.392492294311523, 4.946116924285889, -24.995389938354492, -4.25368595123291], "tau_ext": [-16.815141677856445, -41.57137680053711, 31.810422897338867, 31.361900329589844, 9.515180587768555, -2.9998092651367188, -0.12759485840797424], "tcp_pose": [0.677955687046051, 0.03258845582604408, -0.2149868756532669, -0.002310770098119974, -0.00460595590993762, 0.9998924136161804, 0.0137343043461442], "tcp_vel": [-8.37404077174142e-05, -0.00021213930449448526, -0.0002547773765400052, 2.3861379304435104e-05, 0.0009833222720772028, -0.0006373283104039729], "flange_pose": [0.6786678433418274, 0.028471799567341805, -0.065045066177845, -0.002310770098119974, -0.00460595590993762, 0.9998924136161804, 0.0137343043461442], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.74921417236328, 15.171013832092285, 28.189090728759766, 0.31416767835617065, -23.98126983642578, 1.7866302728652954], "ext_wrench_in_world": [-108.0160972229876, 14.938969726219105, -27.27686887827846, -0.10326573938209899, -23.92508587164762, -2.44369684103095]}
+{"timestamp_ns": 1789729897788895234, "elapsed_ms": 17166, "source_timestamp_ns": 1789729897781683578, "q": [0.8363880515098572, -1.8969931602478027, -1.0060930252075195, 1.3811620473861694, -0.16216161847114563, 0.5937185287475586, 0.7040717005729675], "theta": [0.8384649753570557, -1.89503812789917, -1.0042874813079834, 1.3627495765686035, -0.1627631038427353, 0.5936936140060425, 0.7040556073188782], "dq": [-0.001352087827399373, 0.0023689863737672567, 0.0007797133293934166, -0.0007771864184178412, 0.0028855670243501663, -0.0005308574764057994, 0.002847896656021476], "dtheta": [-0.0003066452918574214, 1.9159135433710617e-07, 0.00031846383353695273, -0.0001483403902966529, 0.0006439637509174645, -0.0008368199341930449, -0.00012532332038972527], "tau": [55.57999801635742, 23.549999237060547, 5.456000328063965, -26.304000854492188, -2.620000123977661, 2.6760001182556152, -0.527999997138977], "tau_des": [0.6594218611717224, -0.5353389382362366, -0.27888059616088867, -0.6307057738304138, 0.8455031514167786, -1.126920461654663, -0.5333424806594849], "tau_dot": [-94.1833267211914, 38.04689025878906, 33.93964385986328, 16.303194046020508, -50.70952606201172, 19.346593856811523, -13.799181938171387], "tau_ext": [-16.83207893371582, -41.59574890136719, 31.823360443115234, 31.37215232849121, 9.526993751525879, -3.003749132156372, -0.1325055956840515], "tcp_pose": [0.6779554486274719, 0.03258829936385155, -0.21498776972293854, -0.002310923533514142, -0.0046066963113844395, 0.9998924136161804, 0.013733348809182644], "tcp_vel": [-0.00035782947088591754, 0.00011705133510986343, -0.0002722953213378787, 0.00014141059364192188, 0.001273792004212737, -1.2288295692997053e-05], "flange_pose": [0.6786676645278931, 0.02847192995250225, -0.06504594534635544, -0.002310923533514142, -0.0046066963113844395, 0.9998924136161804, 0.013733348809182644], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.73948669433594, 15.182999610900879, 28.180227279663086, 0.3177311420440674, -23.974594116210938, 1.7854506969451904], "ext_wrench_in_world": [-108.00646765893873, 14.950584537923271, -27.26772168132345, -0.10684953654601445, -23.918483196012666, -2.442272524822356]}
+{"timestamp_ns": 1789729897822246351, "elapsed_ms": 17200, "source_timestamp_ns": 1789729897821691010, "q": [0.836388111114502, -1.8969931602478027, -1.0060949325561523, 1.3811619281768799, -0.16216227412223816, 0.5937187671661377, 0.7040721774101257], "theta": [0.8384655117988586, -1.8950378894805908, -1.0042898654937744, 1.3627490997314453, -0.1627650111913681, 0.5936940908432007, 0.7040558457374573], "dq": [-0.0026001245714724064, -0.00047291742521338165, -0.00044591777259483933, 0.0006478354916907847, -0.001677767955698073, 0.001845220453105867, 0.0035874638706445694], "dtheta": [0.000508854107465595, 0.00019191209867130965, -7.402167102554813e-05, -0.00031480283359996974, 0.0010773176327347755, 0.0006356523954309523, 9.459724242333323e-05], "tau": [55.64999771118164, 23.579999923706055, 5.444000244140625, -26.336000442504883, -2.6000001430511475, 2.6680002212524414, -0.5360000133514404], "tau_des": [0.41587918996810913, -0.6923865675926208, -0.21116384863853455, -0.44836556911468506, 0.8705345392227173, -1.2048938274383545, -0.5509719848632812], "tau_dot": [65.43032836914062, 29.028976440429688, 1.5702050924301147, -31.863910675048828, 34.40340805053711, 22.83218002319336, -6.932596683502197], "tau_ext": [-16.802017211914062, -41.573570251464844, 31.8264217376709, 31.361886978149414, 9.544391632080078, -3.0023691654205322, -0.12852606177330017], "tcp_pose": [0.6779563426971436, 0.03258724510669708, -0.21498768031597137, -0.0023102813865989447, -0.004605940077453852, 0.9998924136161804, 0.01373268198221922], "tcp_vel": [0.0002804709947668016, 0.0001390541292494163, 0.0005220279563218355, 0.0013603701954707503, -0.0006669958238489926, -0.0009377572569064796], "flange_pose": [0.6786683201789856, 0.028471074998378754, -0.06504585593938828, -0.0023102813865989447, -0.004605940077453852, 0.9998924136161804, 0.01373268198221922], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.76028442382812, 15.180814743041992, 28.167909622192383, 0.3134729266166687, -23.974451065063477, 1.7890477180480957], "ext_wrench_in_world": [-108.02712838662585, 14.947998306097585, -27.255532411443696, -0.10264334899388063, -23.9182050941202, -2.445851651839849]}
+{"timestamp_ns": 1789729897855582140, "elapsed_ms": 17233, "source_timestamp_ns": 1789729897851674404, "q": [0.8363882303237915, -1.8969937562942505, -1.0060970783233643, 1.3811619281768799, -0.16216272115707397, 0.5937173366546631, 0.7040718793869019], "theta": [0.8384654521942139, -1.8950389623641968, -1.0042922496795654, 1.3627488613128662, -0.1627654880285263, 0.5936921834945679, 0.7040556073188782], "dq": [0.000763163436204195, 0.00012888445053249598, 0.00036271108547225595, -0.0005649723461829126, -0.0005759780178777874, 0.0011733395513147116, 0.0020928785670548677], "dtheta": [0.0004707503248937428, -0.0003874687827192247, 0.00012423799489624798, 7.947923586471006e-05, -0.0002360722137382254, -0.0004355963319540024, -0.00033118054852820933], "tau": [55.69999694824219, 23.549999237060547, 5.440000057220459, -26.32400131225586, -2.6080000400543213, 2.6720001697540283, -0.5320000052452087], "tau_des": [0.5233374238014221, -0.5623180270195007, -0.2601088881492615, -0.5641019940376282, 0.8978392481803894, -1.1510114669799805, -0.5278820395469666], "tau_dot": [167.1195526123047, -76.68785095214844, -8.139948844909668, -38.387969970703125, 44.574527740478516, 11.879938125610352, -17.184505462646484], "tau_ext": [-16.80657386779785, -41.59791946411133, 31.85462760925293, 31.36190414428711, 9.546876907348633, -2.999276876449585, -0.13066038489341736], "tcp_pose": [0.6779567003250122, 0.03258601576089859, -0.21498803794384003, -0.0023102941922843456, -0.004605692811310291, 0.9998924732208252, 0.013731160201132298], "tcp_vel": [-0.00012389027688186616, 8.197098213713616e-05, 0.00014548905892297626, -0.0006839890847913921, -0.00017735872825141996, 0.0008318028994835913], "flange_pose": [0.6786686778068542, 0.028470303863286972, -0.06504619866609573, -0.0023102941922843456, -0.004605692811310291, 0.9998924732208252, 0.013731160201132298], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77482604980469, 15.189281463623047, 28.159196853637695, 0.3113230764865875, -23.97340965270996, 1.7910170555114746], "ext_wrench_in_world": [-108.04169853348144, 14.956057211220955, -27.246568583653822, -0.1005241942497739, -23.917097546657875, -2.4477284076783303]}
+{"timestamp_ns": 1789729897888903500, "elapsed_ms": 17266, "source_timestamp_ns": 1789729897881717662, "q": [0.8363878130912781, -1.8969954252243042, -1.0060968399047852, 1.3811612129211426, -0.16216179728507996, 0.5937178134918213, 0.7040706276893616], "theta": [0.8384652137756348, -1.89504075050354, -1.0042917728424072, 1.362748384475708, -0.1627645343542099, 0.5936926603317261, 0.7040548920631409], "dq": [0.00146284990478307, 0.0009941465687006712, -8.436776988673955e-05, 0.0006955205462872982, 2.484756987541914e-05, -0.0007420278852805495, -0.0020055954810231924], "dtheta": [-0.00011424071999499574, -0.00019046747183892876, 0.00024051567015703768, -0.00011212277604499832, 0.000223133058170788, 0.0001456469763070345, 0.00010468250548001379], "tau": [55.66999816894531, 23.529998779296875, 5.464000225067139, -26.34800148010254, -2.6120002269744873, 2.6440000534057617, -0.5480000376701355], "tau_des": [0.6006107330322266, -0.5546441674232483, -0.2727471590042114, -0.5800091028213501, 0.8684389591217041, -1.1598234176635742, -0.5357751846313477], "tau_dot": [15.56590747833252, -21.867454528808594, 29.287261962890625, -89.58186340332031, 9.426440238952637, -40.16020202636719, -13.313441276550293], "tau_ext": [-16.81565284729004, -41.559051513671875, 31.82587242126465, 31.362133026123047, 9.543272972106934, -2.993988275527954, -0.12729577720165253], "tcp_pose": [0.6779563426971436, 0.03258686512708664, -0.21498849987983704, -0.002310347743332386, -0.004606615286320448, 0.9998924136161804, 0.013731271959841251], "tcp_vel": [-0.00011498598178150132, 0.00024882974685169756, -7.24540586816147e-05, 0.00030976050766184926, 0.00011690208339132369, 4.690462810685858e-05], "flange_pose": [0.6786683201789856, 0.028471117839217186, -0.06504666060209274, -0.002310347743332386, -0.004606615286320448, 0.9998924136161804, 0.013731271959841251], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77301788330078, 15.182446479797363, 28.160518646240234, 0.3032909035682678, -23.97138786315918, 1.790524959564209], "ext_wrench_in_world": [-108.03986408101524, 14.949084898838999, -27.248073422803348, -0.09246465532908045, -23.915015228941883, -2.447222502351914]}
+{"timestamp_ns": 1789729897922247567, "elapsed_ms": 17300, "source_timestamp_ns": 1789729897921691686, "q": [0.8363879323005676, -1.8969956636428833, -1.0060957670211792, 1.3811607360839844, -0.1621599793434143, 0.5937159061431885, 0.7040687203407288], "theta": [0.838465690612793, -1.8950411081314087, -1.0042911767959595, 1.3627480268478394, -0.162762850522995, 0.5936905145645142, 0.7040534615516663], "dq": [0.0023149806074798107, 0.0017520316177979112, 0.0009462558664381504, 0.001927102217450738, 0.0025305806193500757, -0.0009912614477798343, 0.0012413731310516596], "dtheta": [-0.00023891865566838533, 0.0001292604865739122, -3.268835644121282e-05, 2.921836858149618e-05, 0.0015787439187988639, 0.00012907691416330636, -0.00021911851945333183], "tau": [55.599998474121094, 23.59000015258789, 5.468000411987305, -26.316001892089844, -2.5840001106262207, 2.6640000343322754, -0.5480000376701355], "tau_des": [0.6503096222877502, -0.5728851556777954, -0.23788368701934814, -0.6136143207550049, 0.8265664577484131, -1.1456177234649658, -0.5402197241783142], "tau_dot": [-53.51555633544922, 101.35255432128906, 16.146690368652344, -15.665241241455078, 62.212623596191406, 9.183807373046875, -19.369586944580078], "tau_ext": [-16.816423416137695, -41.558841705322266, 31.81608009338379, 31.370248794555664, 9.543954849243164, -2.99330472946167, -0.12302598357200623], "tcp_pose": [0.6779555082321167, 0.032587431371212006, -0.2149886041879654, -0.0023114830255508423, -0.004607495851814747, 0.9998924136161804, 0.013731573708355427], "tcp_vel": [-0.00020814176241401583, 6.96235365467146e-05, -0.0002535686653573066, 0.00112420495133847, 0.0010222692508250475, -0.0007649082108400762], "flange_pose": [0.6786678433418274, 0.028471598401665688, -0.0650467798113823, -0.0023114830255508423, -0.004607495851814747, 0.9998924136161804, 0.013731573708355427], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.78409576416016, 15.14373779296875, 28.163864135742188, 0.29198309779167175, -23.976821899414062, 1.7914220094680786], "ext_wrench_in_world": [-108.05069110422143, 14.910204273105146, -27.252179684032253, -0.08107466473356208, -23.920316167672617, -2.4483334492962294]}
+{"timestamp_ns": 1789729897955581926, "elapsed_ms": 17333, "source_timestamp_ns": 1789729897951671180, "q": [0.8363891243934631, -1.8969950675964355, -1.0060964822769165, 1.381160855293274, -0.1621607542037964, 0.5937163829803467, 0.7040687799453735], "theta": [0.8384667038917542, -1.8950409889221191, -1.0042911767959595, 1.362748146057129, -0.1627638041973114, 0.5936907529830933, 0.7040525078773499], "dq": [-0.00037432878161780536, -0.00019730921485461295, 0.00013768536155112088, 0.0018371795304119587, -0.001283272635191679, 0.0014522750861942768, 0.0010099564678967], "dtheta": [0.00010272720828652382, -0.0003038248105440289, -7.629668107256293e-05, -5.7946464949054644e-05, 0.00020391008001752198, 4.1019986383616924e-05, 0.00016394899284932762], "tau": [55.599998474121094, 23.56999969482422, 5.4800004959106445, -26.30000114440918, -2.616000175476074, 2.692000150680542, -0.5520000457763672], "tau_des": [0.5679363012313843, -0.5772594213485718, -0.2436264306306839, -0.5649985671043396, 0.8761254549026489, -1.1625406742095947, -0.5385941863059998], "tau_dot": [-9.49181842803955, 45.6149787902832, 48.30598831176758, 34.70629119873047, -12.918205261230469, 53.28200912475586, -18.382413864135742], "tau_ext": [-16.800029754638672, -41.572723388671875, 31.826457977294922, 31.359878540039062, 9.535482406616211, -2.997189521789551, -0.12288679927587509], "tcp_pose": [0.6779562830924988, 0.032586902379989624, -0.21498757600784302, -0.0023104138672351837, -0.0046072532422840595, 0.9998924136161804, 0.013731463812291622], "tcp_vel": [-3.0954975954955444e-05, 7.927879778435454e-05, -1.0858801942958962e-05, -8.822404925012961e-05, -8.640741725685075e-05, -0.00013714621309190989], "flange_pose": [0.6786683201789856, 0.028471101075410843, -0.06504575163125992, -0.0023104138672351837, -0.0046072532422840595, 0.9998924136161804, 0.013731463812291622], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.792724609375, 15.149187088012695, 28.164506912231445, 0.2977023422718048, -23.982297897338867, 1.7931102514266968], "ext_wrench_in_world": [-108.05930662559402, 14.915638658353677, -27.25286723922044, -0.08675858810533771, -23.925797077202372, -2.4501409475771436]}
+{"timestamp_ns": 1789729897988908685, "elapsed_ms": 17366, "source_timestamp_ns": 1789729897981669412, "q": [0.8363903164863586, -1.896995186805725, -1.0060968399047852, 1.3811619281768799, -0.16216224431991577, 0.5937170386314392, 0.7040687799453735], "theta": [0.8384674787521362, -1.8950413465499878, -1.0042909383773804, 1.3627489805221558, -0.1627650111913681, 0.5936912298202515, 0.7040522694587708], "dq": [-0.0019449283136054873, 0.0023449212312698364, -0.0016403688350692391, 5.545962631003931e-05, 0.0016659669345244765, -0.0002939645492006093, 0.0018347945297136903], "dtheta": [2.4837090677465312e-05, -0.000499425339512527, 0.0002256596926599741, 0.00010843322525033727, -0.0014807356055825949, -0.00047842739149928093, -0.0002497655223123729], "tau": [55.63999938964844, 23.53999900817871, 5.460000038146973, -26.32400131225586, -2.6080000400543213, 2.688000202178955, -0.5480000376701355], "tau_des": [0.5931645035743713, -0.5215199589729309, -0.28476983308792114, -0.5995438098907471, 0.9159392714500427, -1.1469173431396484, -0.5136604905128479], "tau_dot": [16.19287109375, -47.810062408447266, 11.06593132019043, -28.317054748535156, -5.294319152832031, 63.660648345947266, -11.159623146057129], "tau_ext": [-16.799436569213867, -41.584842681884766, 31.833280563354492, 31.357284545898438, 9.533355712890625, -2.9932010173797607, -0.11893939226865768], "tcp_pose": [0.6779565811157227, 0.032586559653282166, -0.21498706936836243, -0.0023095072247087955, -0.004607695154845715, 0.9998924732208252, 0.013730764389038086], "tcp_vel": [-0.00013343682803679258, 7.109401485649869e-05, -9.992597188102081e-05, -0.001520358957350254, -0.0003303757985122502, 0.001592857064679265], "flange_pose": [0.6786683201789856, 0.0284709669649601, -0.06504523009061813, -0.0023095072247087955, -0.004607695154845715, 0.9998924732208252, 0.013730764389038086], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.77960205078125, 15.15998363494873, 28.16012191772461, 0.3030361235141754, -23.98064613342285, 1.7958110570907593], "ext_wrench_in_world": [-108.04622568008884, 14.926301137740497, -27.24846489420265, -0.09209491578361863, -23.92412486957887, -2.452738260120128]}
+{"timestamp_ns": 1789729898022258864, "elapsed_ms": 17400, "source_timestamp_ns": 1789729898021705773, "q": [0.8363904356956482, -1.896994948387146, -1.006097435951233, 1.3811630010604858, -0.16216282546520233, 0.593716561794281, 0.7040695548057556], "theta": [0.838468074798584, -1.8950406312942505, -1.004291296005249, 1.362749695777893, -0.1627657264471054, 0.5936912298202515, 0.7040534615516663], "dq": [-0.002248396398499608, 0.0012675137259066105, -0.0014361949870362878, -0.001524393679574132, 0.0003099209861829877, 0.0021204985678195953, 0.001762918895110488], "dtheta": [0.00015868346963543445, 0.00036620936589315534, -0.00013184678391553462, 5.5952714319573715e-05, -0.0005831726593896747, 0.0004629479954019189, 0.0002375308540649712], "tau": [55.68000030517578, 23.59000015258789, 5.4720001220703125, -26.328001022338867, -2.6000001430511475, 2.6720001697540283, -0.527999997138977], "tau_des": [0.4842492341995239, -0.6995532512664795, -0.1740397959947586, -0.5017367601394653, 0.8970869183540344, -1.1860991716384888, -0.5415089726448059], "tau_dot": [133.60333251953125, 35.024253845214844, -1.4263129234313965, -1.7298434972763062, 21.63323402404785, -4.402897357940674, 45.31064987182617], "tau_ext": [-16.816452026367188, -41.57544708251953, 31.822233200073242, 31.360063552856445, 9.53845500946045, -2.9978559017181396, -0.11922433972358704], "tcp_pose": [0.6779564023017883, 0.03258584439754486, -0.21498745679855347, -0.0023098208475857973, -0.004607262089848518, 0.9998924732208252, 0.013730013743042946], "tcp_vel": [0.0003196612815372646, -0.0001590882457094267, 0.00028454625862650573, 9.521101310383528e-05, -0.0008224439225159585, -0.0002539174456615001], "flange_pose": [0.6786682605743408, 0.0284704752266407, -0.06504561007022858, -0.0023098208475857973, -0.004607262089848518, 0.9998924732208252, 0.013730013743042946], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.76754760742188, 15.170589447021484, 28.169462203979492, 0.30633991956710815, -23.978164672851562, 1.7966525554656982], "ext_wrench_in_world": [-108.03431772599062, 14.937321817723893, -27.257518462671904, -0.0954472160871073, -23.921655627138765, -2.4534603145945026]}
+{"timestamp_ns": 1789729898055586537, "elapsed_ms": 17433, "source_timestamp_ns": 1789729898051667691, "q": [0.8363902568817139, -1.8969957828521729, -1.0060983896255493, 1.381163239479065, -0.16216374933719635, 0.5937151312828064, 0.7040703296661377], "theta": [0.8384682536125183, -1.8950413465499878, -1.0042922496795654, 1.3627499341964722, -0.1627674102783203, 0.593690037727356, 0.7040539383888245], "dq": [1.7499762179795653e-05, 0.0010168805019930005, -0.0014693110715597868, -0.002280764514580369, -0.0002555772662162781, 9.499104635324329e-05, -0.002467109588906169], "dtheta": [0.00012533314293250442, -0.0005102150025777519, -0.0003482406900729984, -0.0001407246891176328, 0.00042905783629976213, -0.00035061108064837754, 0.000612714677117765], "tau": [55.61000061035156, 23.529998779296875, 5.464000225067139, -26.296001434326172, -2.628000020980835, 2.684000015258789, -0.5600000023841858], "tau_des": [0.5904061794281006, -0.571830153465271, -0.20737269520759583, -0.588914692401886, 0.8741713166236877, -1.1452237367630005, -0.5516644716262817], "tau_dot": [-93.2408218383789, 1.3294357061386108, 45.55162048339844, -5.437620162963867, 20.94556999206543, 30.292219161987305, -64.67125701904297], "tau_ext": [-16.822359085083008, -41.588932037353516, 31.828237533569336, 31.36299705505371, 9.546587944030762, -3.002042055130005, -0.12217505276203156], "tcp_pose": [0.677956223487854, 0.032585229724645615, -0.21498806774616241, -0.0023101421538740396, -0.004607098177075386, 0.9998924732208252, 0.013728572987020016], "tcp_vel": [-6.170712731545791e-05, -4.006131712230854e-05, -9.778246021596715e-05, -0.0004859014879912138, 0.00017191247025039047, -0.0007672195206396282], "flange_pose": [0.678668200969696, 0.028470294550061226, -0.06504621356725693, -0.0023101421538740396, -0.004607098177075386, 0.9998924732208252, 0.013728572987020016], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.75141143798828, 15.188302040100098, 28.18259048461914, 0.31014370918273926, -23.971355438232422, 1.7980045080184937], "ext_wrench_in_world": [-108.01841940046101, 14.955491923076806, -27.27020212115372, -0.09932854926357758, -23.914854494807, -2.4545384920156272]}
+{"timestamp_ns": 1789729898088908130, "elapsed_ms": 17466, "source_timestamp_ns": 1789729898081676475, "q": [0.8363901376724243, -1.8969957828521729, -1.0060991048812866, 1.3811622858047485, -0.16216449439525604, 0.5937139391899109, 0.7040703892707825], "theta": [0.8384682536125183, -1.895041584968567, -1.004292607307434, 1.3627495765686035, -0.16276836395263672, 0.5936893224716187, 0.7040546536445618], "dq": [0.0006855922401882708, -0.0010195483919233084, -0.0004378710873425007, -0.001361657283268869, 0.0013710713246837258, 0.0014678345760330558, 0.00022843857004772872], "dtheta": [0.0002455724752508104, -0.0002773274318315089, -4.933073068968952e-05, 3.1060098990565166e-05, 0.0006931084208190441, 0.00040664352127350867, 0.00033625299693085253], "tau": [55.57999801635742, 23.60999870300293, 5.428000450134277, -26.30000114440918, -2.632000207901001, 2.6600000858306885, -0.5320000052452087], "tau_des": [0.5457849502563477, -0.5906838774681091, -0.2364213913679123, -0.552519679069519, 0.8694842457771301, -1.1697591543197632, -0.5461003184318542], "tau_dot": [-82.6162338256836, 152.88209533691406, -40.80936813354492, 12.667394638061523, 12.843537330627441, -8.794785499572754, 14.264178276062012], "tau_ext": [-16.8080997467041, -41.59059143066406, 31.83466911315918, 31.352144241333008, 9.56281852722168, -2.9964599609375, -0.12740962207317352], "tcp_pose": [0.6779566407203674, 0.03258475661277771, -0.2149878740310669, -0.00230999244377017, -0.00460696779191494, 0.9998924732208252, 0.013727971352636814], "tcp_vel": [-3.537093289196491e-05, 0.00016139510262291878, 5.699458415620029e-05, 0.0004397431039251387, -0.0001500855723861605, -0.0005741387722082436], "flange_pose": [0.6786685585975647, 0.028470002114772797, -0.06504600495100021, -0.00230999244377017, -0.00460696779191494, 0.9998924732208252, 0.013727971352636814], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [107.74565887451172, 15.19925594329834, 28.17801856994629, 0.30950668454170227, -23.967613220214844, 1.7995285987854004], "ext_wrench_in_world": [-108.01273352998159, 14.96636470012264, -27.265407407645608, -0.09873855903483979, -23.911069053645036, -2.4559333151000633]}
diff --git a/episode_0011/right.actions.eef_pose/data.csv b/episode_0011/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dc4de7de6fb698471bd85f704fd8d02be6a68c4f
--- /dev/null
+++ b/episode_0011/right.actions.eef_pose/data.csv
@@ -0,0 +1,526 @@
+timestamp_ns,elapsed_ms,x,y,z,r1,r2,r3,r4,r5,r6,gripper
+1789729880622232203,0,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729880655620396,33,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729880688995631,66,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729880722364587,100,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729880755624062,133,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729880788926453,166,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729880822285489,200,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729880855622638,233,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729880889015611,266,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729880922288895,300,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729880955611794,333,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729880988924525,366,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881022362116,400,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881055621465,433,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881089020002,466,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881122367913,500,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881155628731,533,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881188922837,566,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881222287057,600,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881255622839,633,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881288926114,666,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881322291563,700,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881355622746,733,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881388934600,766,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881422291420,800,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881455617243,833,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881488932607,866,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881522293537,900,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881555615411,933,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881588922015,966,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881622250078,1000,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881655582400,1033,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881688898134,1066,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881722246815,1100,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881755585917,1133,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881788917010,1166,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881822258981,1200,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881855586094,1233,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881888894999,1266,0.6398648619651794,-0.11631487309932709,-0.2844713628292084,-0.9987501151361835,-0.0495118642933761,0.006839796024339775,-0.04931775495634275,0.9984417532954829,0.026111765974523717,0.8
+1789729881922255938,1300,0.6398648619651794,-0.11639407309932708,-0.284487166910841,-0.9987501151361837,-0.04951186429337591,0.00683979602433229,-0.04931775495634297,0.9984417532954836,0.026111765974497787,0.8
+1789729881955591661,1333,0.6398648619651794,-0.11654942003810259,-0.28455250568635126,-0.9987501151361835,-0.04951091126695459,0.0068466912429079605,-0.0493177549563433,0.9984453800762528,0.025972717425273677,0.8
+1789729881988895345,1366,0.6398648619651794,-0.11676060371157199,-0.28466755874757577,-0.9987501151361837,-0.04950750445018253,0.006871282163828037,-0.04931775495634364,0.9984581574048165,0.025476792534476156,0.8
+1789729882022257598,1400,0.6398648619651794,-0.11719161595646996,-0.28491268527818797,-0.998750115136184,-0.04950050643437346,0.006921515599931595,-0.049317754956344086,0.9984834955362564,0.024463609459043696,0.8
+1789729882055590154,1433,0.6398648619651794,-0.1177307261605516,-0.2851260403802288,-0.998750115136184,-0.049497203067055906,0.006945099279203373,-0.04931775495634437,0.9984950378678933,0.023987880257754557,0.8
+1789729882088918920,1466,0.6398648619651794,-0.11830902003810262,-0.2853378689516574,-0.9987501151361842,-0.04949427038684739,0.00696596829829263,-0.049317754956344655,0.9985050631879147,0.023566880026096297,0.8
+1789729882122260125,1500,0.6398648619651794,-0.11914039962993936,-0.28566149344145336,-0.9987501151361842,-0.04948981516935923,0.006997550282891775,-0.04931775495634509,0.9985198984463385,0.022929706774832876,0.8
+1789729882155594362,1533,0.6398648619651794,-0.119934309834021,-0.2859162852781881,-0.9987501151361842,-0.049487456331914245,0.007014212803703424,-0.0493177549563454,0.9985275621405896,0.022593509945043704,0.8
+1789729882188905939,1566,0.6398267068631386,-0.12077247309932712,-0.2861898607883921,-0.9987501151361842,-0.04948490820388929,0.007032167198753481,-0.04931775495634569,0.9985356937137622,0.02223122636386696,0.8
+1789729882222256124,1600,0.6397283313529345,-0.12201210575238836,-0.28665740364553494,-0.9987501151361844,-0.049479785482385845,0.007068121679442712,-0.049317754956346056,0.9985515835975227,0.021505672296988906,0.8
+1789729882255587820,1633,0.6396299640059957,-0.12306850575238835,-0.2870996811965553,-0.9987501151361848,-0.04947445597486256,0.007105330495447215,-0.049317754956346334,0.9985674743662544,0.02075471473823814,0.8
+1789729882288898828,1666,0.639508796659057,-0.12422175473198019,-0.2875683260945145,-0.9987501151361848,-0.04946858905404051,0.007146062724355646,-0.0493177549563466,0.9985842242306522,0.019932540323106655,0.8
+1789729882322244433,1700,0.6393263395162,-0.12574179554830672,-0.28818792609451443,-0.9987501151361853,-0.04946017372091198,0.007204077384018041,-0.049317754956346896,0.9986069154244925,0.018761330241911123,0.8
+1789729882355590558,1733,0.6391946333937509,-0.1269062853442251,-0.2886543587475756,-0.9987501151361851,-0.04945392679687522,0.007246836539265268,-0.0493177549563471,0.9986227627113612,0.017897956330098292,0.8
+1789729882388901966,1766,0.6390641272713018,-0.12823666085442917,-0.2891435669108409,-0.9987501151361853,-0.049448510166607916,0.007283704947360978,-0.04931775495634733,0.9986358290093476,0.01715342720504697,0.8
+1789729882422246211,1800,0.6388828701284447,-0.13011356697687812,-0.2898089628292082,-0.9987501151361853,-0.04944143577560566,0.0073315717212442235,-0.04931775495634761,0.9986519669728197,0.016186658314304325,0.8
+1789729882455588076,1833,0.6387438823733427,-0.13157566493606182,-0.2902890118088,-0.9987501151361855,-0.04943654979953564,0.007364445625770492,-0.049317754956347784,0.9986625093350185,0.01552261236872123,0.8
+1789729882488905654,1866,0.6386011803325263,-0.1331598853442251,-0.2907576567067592,-0.9987501151361855,-0.04943288522333106,0.007389003583277447,-0.049317754956347964,0.9986700973604666,0.015026499396126474,0.8
+1789729882522259658,1900,0.6384125435978326,-0.13531241595647,-0.29139537915573877,-0.9987501151361855,-0.04942823699876899,0.007420033871215141,-0.04931775495634819,0.9986793335453232,0.014399576227604575,0.8
+1789729882555592364,1933,0.6382796374753836,-0.1368923996299394,-0.29187537915573875,-0.9987501151361853,-0.049424509256444274,0.007444823719600365,-0.049317754956348395,0.9986864300565699,0.013898685798652022,0.8
+1789729882588909342,1966,0.6381305925774245,-0.13855675881361287,-0.2923879342577796,-0.9987501151361857,-0.04942092029261402,0.0074686111752569175,-0.049317754956348575,0.9986930039032391,0.013418010314143178,0.8
+1789729882622255187,2000,0.6378771395162001,-0.14094161595647003,-0.2930983505843103,-0.9987484394534076,-0.04941683668852036,0.007715629662158904,-0.049314868577926496,0.9987001051384063,0.012889675468294871,0.8
+1789729882655592782,2033,0.6376417435978327,-0.14267884860953126,-0.2936396240536981,-0.9987470568434853,-0.0494130430212848,0.00791628864137986,-0.049312644243970305,0.9987062652303121,0.012412046865409733,0.8
+1789729882688898851,2066,0.6373733680876286,-0.1443727833034088,-0.2941980158904327,-0.9987456382508637,-0.049408516603419265,0.008120871992919467,-0.04931051453297201,0.9987131374909226,0.011855047850223684,0.8
+1789729882722260335,2100,0.636963670128445,-0.14677978738504147,-0.2949549220128816,-0.9987437420423135,-0.04940262231092456,0.00838562103367011,-0.049307893184689866,0.9987213795920284,0.011150677803730268,0.8
+1789729882755589241,2133,0.6366509599243635,-0.1485741873850415,-0.2955232403802285,-0.9987422134091248,-0.049397680634631944,0.00859420168263897,-0.0493059542820138,0.9987277226429075,0.010576336646098987,0.8
+1789729882788897309,2166,0.636343743597833,-0.15022598330340886,-0.2960966362985958,-0.9987404758307061,-0.04939108258098391,0.008830792656031048,-0.04930394373924319,0.9987354740355372,0.009827208900208115,0.8
+1789729882822259993,2200,0.6358923313529351,-0.1524168241197354,-0.29693273425777944,-0.9987382092732713,-0.049381187544628675,0.009137157889727271,-0.04930163384661861,0.9987457267739366,0.008736254967379956,0.8
+1789729882855586449,2233,0.6354740619651801,-0.1541757792217762,-0.2975780975230856,-0.9987382092732717,-0.04937436684595758,0.009173943327715295,-0.049301633846618724,0.9987519579557687,0.007992207428023323,0.8
+1789729882888896758,2266,0.6350188701284454,-0.155934734323817,-0.29827774650267747,-0.998738209273272,-0.049367459719946424,0.009211040029145585,-0.0493016338466188,0.9987576812625473,0.007241755250900832,0.8
+1789729882922258371,2300,0.6343992701284452,-0.15826690575238844,-0.2993039097679836,-0.9987382092732722,-0.049357868286252736,0.009262298626994092,-0.04930163384661886,0.9987646626830473,0.006204633403565297,0.8
+1789729882955588257,2333,0.6339373762508941,-0.16003026085442926,-0.3001151097679836,-0.9987382092732717,-0.04935083442367882,0.009299703183707419,-0.049301633846618946,0.9987690782005642,0.005447690377515067,0.8
+1789729882988906325,2366,0.6334595231896695,-0.16182886493606194,-0.3009263097679836,-0.9987382092732722,-0.04934401000933089,0.009335845640176355,-0.049301633846618995,0.9987728002524107,0.004716182355686244,0.8
+1789729883022260351,2400,0.6327196538019143,-0.16426246493606197,-0.3020501791557387,-0.9987382092732722,-0.04933529982553663,0.009381765758224194,-0.04930163384661904,0.9987767570098,0.003786628717056041,0.8
+1789729883055586582,2433,0.6321312864549755,-0.16610555881361302,-0.30295301997206525,-0.9987382092732724,-0.049328940715478595,0.009415144476125185,-0.049301633846619106,0.9987790904669079,0.0031108433181344748,0.8
+1789729883088913962,2466,0.6315529762508939,-0.16793970575238856,-0.30387471793124887,-0.998738209273272,-0.049322501559095525,0.009448818845245035,-0.04930163384661912,0.9987809814694893,0.0024289822760718517,0.8
+1789729883122269380,2500,0.6308352864549756,-0.17028072616055187,-0.30506906078839174,-0.9987382092732728,-0.04931265858513955,0.00950005478312309,-0.04930163384661918,0.9987829659371774,0.0013913496285911943,0.8
+1789729883155600100,2533,0.6303203231896695,-0.17201787718096007,-0.3059813301761468,-0.9987382092732731,-0.04930482003047023,0.009540652984966197,-0.04930163384661918,0.9987837729629476,0.0005690043523976034,0.8
+1789729883188918861,2566,0.6298489925774244,-0.1737768486095315,-0.3069254362985958,-0.9987382092732731,-0.049296948052056346,0.009581244719199241,-0.04930163384661914,0.998783902913055,-0.0002533413095228851,0.8
+1789729883222262340,2600,0.6293434007406896,-0.17610905269116417,-0.30821853017614687,-0.9987382092732731,-0.04928600835009113,0.009637360558301463,-0.049301633846619106,0.9987829672520634,-0.0013904054148332196,0.8
+1789729883255585181,2633,0.6290817680876283,-0.17782884860953152,-0.3091786771149224,-0.9987382092732735,-0.04927759571247092,0.009680284004818726,-0.04930163384661908,0.9987813773963989,-0.0022603243586088733,0.8
+1789729883288899552,2666,0.62883847829171,-0.17953568942585807,-0.3100908975230857,-0.9987382092732735,-0.049269673450866615,0.009720525482728533,-0.04930163384661903,0.9987791983155168,-0.0030760221500537675,0.8
+1789729883322261369,2700,0.6285004129855876,-0.18176019554830708,-0.31128528935982047,-0.998738209273274,-0.04925809110022953,0.009779048970964453,-0.04930163384661892,0.9987748393656122,-0.00426252862155776,0.8
+1789729883355583800,2733,0.6282251966590569,-0.18339033432381727,-0.3121693709924736,-0.9987382092732735,-0.04924829424347133,0.009828267992032957,-0.04930163384661881,0.9987700811007812,-0.0052606081390528855,0.8
+1789729883388892932,2766,0.6279413027815057,-0.18506287309932748,-0.3130472811965553,-0.9987382092732742,-0.049238303062987925,0.009878200701131155,-0.04930163384661874,0.9987642333793854,-0.006273358123261032,0.8
+1789729883422255989,2800,0.6276432374753833,-0.18728733024218464,-0.31418303629859606,-0.998738209273274,-0.04922437945389663,0.009947351657245234,-0.04930163384661858,0.998754436498073,-0.007676227945455699,0.8
+1789729883455598568,2833,0.6274863068631383,-0.18890068534422547,-0.3150302852781878,-0.9987382092732746,-0.049213433714713595,0.010001363888056112,-0.04930163384661847,0.9987454113213201,-0.008772243992341555,0.8
+1789729883488921979,2866,0.6273448538019137,-0.19053506085442956,-0.3158504730332899,-0.998738209273274,-0.049203487328358796,0.010050182701900025,-0.04930163384661828,0.9987362170450627,-0.009763076491126557,0.8
+1789729883522267987,2900,0.6271623966590567,-0.19277222820136836,-0.3168365873190042,-0.9987382092732751,-0.049193519307728244,0.01009886111070601,-0.0493016338466181,0.9987260683140066,-0.010751249699464286,0.8
+1789729883555591258,2933,0.6270387313529343,-0.19441507718096018,-0.31753605670675933,-0.9987382092732746,-0.04918783267272726,0.010126522333588198,-0.04930163384661789,0.9987198646972385,-0.011312858135044266,0.8
+1789729883588900180,2966,0.626937286454975,-0.19607932207891937,-0.31821368119655524,-0.9987382092732746,-0.04918397110478037,0.010145261158625768,-0.049301633846617704,0.9987154822494473,-0.011693349191228915,0.8
+1789729883622262707,3000,0.6268076864549749,-0.19844230983402145,-0.319049860788392,-0.9987382092732751,-0.04918202065017965,0.010154712323720496,-0.04930163384661751,0.9987132167776548,-0.011885265402306002,0.8
+1789729883655590457,3033,0.6267134986998727,-0.20023204860953167,-0.31963822813533077,-0.9987382092732753,-0.04918202065017986,0.010154712323705708,-0.04930163384661736,0.998713216777655,-0.011885265402287803,0.8
+1789729883688901439,3066,0.6266383803325257,-0.2019648486095317,-0.32022659548226956,-0.9987382092732751,-0.049182020650180056,0.01015471232369092,-0.049301633846617204,0.9987132167776552,-0.011885265402269606,0.8
+1789729883722257097,3100,0.6265637272713013,-0.20428395065034807,-0.32102381180880024,-0.9987382092732755,-0.04918202065018035,0.010154712323671211,-0.04930163384661701,0.9987132167776555,-0.011885265402245344,0.8
+1789729883755587307,3133,0.6265183966590564,-0.2059866200381032,-0.3216533873190043,-0.9987382092732757,-0.04918202065018054,0.010154712323656424,-0.04930163384661686,0.9987132167776557,-0.01188526540222715,0.8
+1789729883788904018,3166,0.6264745027815054,-0.20762942003810322,-0.3223282771149227,-0.9987382092732755,-0.04918202065018075,0.010154712323641634,-0.049301633846616705,0.9987132167776559,-0.011885265402208953,0.8
+1789729883822255756,3200,0.6264134170672196,-0.20983676697687878,-0.32323083221696347,-0.9987382092732757,-0.049182020650181006,0.01015471232362192,-0.04930163384661649,0.9987132167776562,-0.011885265402184696,0.8
+1789729883855586256,3233,0.6263722007406891,-0.21145857922177677,-0.3238948811965553,-0.998738209273276,-0.04918202065018121,0.010154712323607132,-0.04930163384661633,0.9987132167776565,-0.011885265402166495,0.8
+1789729883888892978,3266,0.6263722007406891,-0.212924717997287,-0.32459158323737164,-0.9987382092732762,-0.04918202065018143,0.01015471232359235,-0.04930163384661619,0.9987132167776567,-0.011885265402148302,0.8
+1789729883922263835,3300,0.6263722007406891,-0.21472448126259308,-0.3255548240536981,-0.9987382092732764,-0.049179454706277936,0.010167131965435163,-0.04930163384661598,0.9987101835395155,-0.012137470680561355,0.8
+1789729883955586305,3333,0.6263722007406891,-0.2159755833034094,-0.32630488935982055,-0.9987382092732766,-0.049177004453442266,0.010178976893344998,-0.04930163384661579,0.9987072311743654,-0.012378016807506085,0.8
+1789729883988997298,3366,0.6263722007406891,-0.21712919146667473,-0.32710741180880015,-0.9987382092732768,-0.04917400221987996,0.010193470620357302,-0.04930163384661559,0.9987035395653048,-0.012672369935648676,0.8
+1789729884022255347,3400,0.6263722007406891,-0.218518717997287,-0.32827124038022876,-0.9987382092732766,-0.04916895438970387,0.010217791436102639,-0.04930163384661536,0.9986971494941687,-0.013166339365081152,0.8
+1789729884055586041,3433,0.6263722007406891,-0.21945956697687888,-0.3292640240536982,-0.9987382092732773,-0.04916403415333272,0.01024143951689045,-0.04930163384661519,0.9986907012338992,-0.013646690770912639,0.8
+1789729884088908095,3466,0.6263722007406891,-0.22037178738504218,-0.33030327303329,-0.9987382092732771,-0.04915889136541763,0.010266096499204182,-0.04930163384661496,0.998683731110474,-0.01414758337373139,0.8
+1789729884122260247,3500,0.6263722007406891,-0.2215445873850422,-0.33178559140063696,-0.9987370525334642,-0.04915200574892841,0.010410582482574982,-0.049303279909710944,0.9986740472831983,-0.014809924818880181,0.8
+1789729884155586291,3533,0.6263722007406891,-0.22232343636463403,-0.33306621180880025,-0.9987345856431635,-0.049146235666764564,0.010671221109393279,-0.049306831048639733,0.9986657577770235,-0.015347333826574616,0.8
+1789729884188895576,3566,0.6263722007406891,-0.22311410575238913,-0.3343995505843104,-0.9987315300725337,-0.049140132521446424,0.010980811206423354,-0.049311265263881986,0.998656910600248,-0.015898868778731905,0.8
+1789729884222260827,3600,0.6263722007406891,-0.2242197057523891,-0.33614208119655525,-0.9987267188776208,-0.04913145285943028,0.011447328940137606,-0.04931828542402923,0.9986442527873977,-0.01665422161297599,0.8
+1789729884255588311,3633,0.6263722007406891,-0.22500443228300132,-0.3374188893598205,-0.9987226625805972,-0.049124033799346344,0.011826772645310681,-0.04932423404544655,0.9986333797972378,-0.01727694100748131,0.8
+1789729884288893647,3666,0.6263722007406891,-0.22572342003810336,-0.33871439956390215,-0.9987176965157925,-0.04911532955256696,0.012273836773096274,-0.049331543143332095,0.9986205741982611,-0.017981869731280874,0.8
+1789729884322260537,3700,0.6263722007406891,-0.2266233547319809,-0.34040455466594294,-0.9987110281507912,-0.0491025824871524,0.012853740431558812,-0.04934140489751752,0.998601737606911,-0.01897354503505966,0.8
+1789729884355584632,3733,0.6263722007406891,-0.22724528126259314,-0.34163335466594297,-0.9987065292098489,-0.04909170201248129,0.013239082563952695,-0.0493481251810678,0.9985855125468486,-0.019792338736524952,0.8
+1789729884388898737,3766,0.626346625230485,-0.22783618738504213,-0.3428156322169634,-0.9987022525536495,-0.049081474461074054,0.01359483758614651,-0.04935459851623372,0.9985700639439711,-0.020541445913931904,0.8
+1789729884422256688,3800,0.626281874210077,-0.22863340371157276,-0.34420191793124905,-0.9986960824058504,-0.04907082731055747,0.014077957744814176,-0.04936397306479871,0.9985538891444976,-0.021291515626093015,0.8
+1789729884455583422,3833,0.6262452538019138,-0.2292092077932054,-0.34520119956390216,-0.998690395489972,-0.049063008819649416,0.014502245400150509,-0.04937258528048045,0.9985420385103146,-0.02182075045426009,0.8
+1789729884488889648,3866,0.6262092619651791,-0.2297825384054503,-0.34619719140063687,-0.9986843998045756,-0.04905511404600047,0.014935373209568973,-0.04938161385352504,0.9985301379396061,-0.022338751968998954,0.8
+1789729884522262608,3900,0.6261441354345669,-0.23060823636463398,-0.34748064446186133,-0.9986768825778582,-0.049046125860701145,0.015458387452375646,-0.04939284042634598,0.9985166978996876,-0.02290745141043762,0.8
+1789729884555587272,3933,0.6260700048223221,-0.2312536159564707,-0.3484310689516572,-0.9986719682216532,-0.04903985666591951,0.015792160918492736,-0.04940012485580751,0.9985073981685189,-0.023293850410905582,0.8
+1789729884588893528,3966,0.6259958742100773,-0.23193666085442988,-0.349394424053698,-0.9986670171218519,-0.0490343169490206,0.01611907796017346,-0.04940742258964682,0.9984992235102312,-0.023626409852393736,0.8
+1789729884622257529,4000,0.6259355068631386,-0.23285839146667475,-0.3505798281353306,-0.9986590655296996,-0.04902818332275535,0.016622517120384983,-0.04941901025073647,0.9984902627088144,-0.023978254763860563,0.8
+1789729884655586083,4033,0.6259249272713019,-0.23353866901769516,-0.3514270771149224,-0.9986516330482518,-0.04902383796364395,0.017075688020519248,-0.04942965864989508,0.9984840181983294,-0.024215165666851474,0.8
+1789729884688892379,4066,0.6258907721692611,-0.23428590167075639,-0.3522682689516571,-0.9986442608930428,-0.04902017575436203,0.017511783301528108,-0.04944003707092735,0.9984788466415209,-0.02440646520583309,0.8
+1789729884722306724,4100,0.6258274578835468,-0.23534977105851146,-0.3533350852781877,-0.9986354708306169,-0.049016108044467904,0.018017146030529493,-0.04945217652149686,0.9984732159477696,-0.02461136469611856,0.8
+1789729884755589602,4133,0.6257827068631386,-0.23614328942585838,-0.35414332201288157,-0.9986292914740198,-0.04901317633949477,0.01836427932731893,-0.049460570161446435,0.9984692247936819,-0.02475599198595254,0.8
+1789729884788897618,4166,0.625770290536608,-0.23689630167075634,-0.35494271793124893,-0.9986231546147939,-0.049010351373383894,0.01870242031009452,-0.04946879822713992,0.9984654288009082,-0.024892277745944012,0.8
+1789729884822254469,4200,0.625770290536608,-0.23782635065034818,-0.35599188527818776,-0.9986138690092772,-0.04900651962052479,0.019201605584063176,-0.0494810506691916,0.9984603594428787,-0.025070625159146213,0.8
+1789729884855585213,4233,0.625770290536608,-0.23849308534422575,-0.35680906078839186,-0.9986061492533871,-0.0490045925935248,0.01960378989036393,-0.04949105387077357,0.9984578477161669,-0.025150783700711103,0.8
+1789729884888905228,4266,0.625770290536608,-0.23920642411973594,-0.35763818731900415,-0.9985983617259544,-0.049004592593525506,0.019996546276373654,-0.04950094199985343,0.9984578477161679,-0.025131316621397046,0.8
+1789729884922252330,4300,0.625770290536608,-0.24013391799728698,-0.3587648730332899,-0.9985860142078098,-0.04900459259352646,0.020603934898533103,-0.04951621883729388,0.9984578477161692,-0.02510120327897263,0.8
+1789729884955585723,4333,0.625770290536608,-0.24075058738504207,-0.35963377915573885,-0.9985771205711631,-0.04900459259352723,0.021030553405639377,-0.049526938166862,0.9984578477161702,-0.025080046447502998,0.8
+1789729884988891349,4366,0.625770290536608,-0.24133143636463392,-0.3605618281353307,-0.9985687718911647,-0.049004592593528004,0.021423298264135995,-0.049536798471772295,0.9984578477161712,-0.025060565260147164,0.8
+1789729885022261712,4400,0.625770290536608,-0.24204681595647062,-0.3618290607883919,-0.9985564298111318,-0.04900459259352907,0.021991052443872883,-0.049551039185428136,0.9984578477161725,-0.025032396002631737,0.8
+1789729885055586890,4433,0.625770290536608,-0.24254765677279716,-0.3627924158904327,-0.9985467458864152,-0.049004592593529864,0.022426461700249086,-0.04956194962086004,0.9984578477161735,-0.025010787347977195,0.8
+1789729885088903868,4466,0.625770290536608,-0.24292325677279714,-0.36374930568635105,-0.9985376376515918,-0.04900459259353073,0.0228284055054486,-0.049572013212847814,0.9984578477161745,-0.024990835120292623,0.8
+1789729885122261143,4500,0.625770290536608,-0.24322779554830734,-0.36503593425777964,-0.9985280280687232,-0.049004592593531876,0.02324493635029408,-0.049582433647941376,0.9984578477161759,-0.024970154335310694,0.8
+1789729885155582231,4533,0.625770290536608,-0.24348697922177673,-0.36598971384961637,-0.9985228545808991,-0.049004592593532764,0.02346611992545298,-0.049587963575453115,0.9984578477161768,-0.024959170707763594,0.8
+1789729885188900090,4566,0.625770290536608,-0.24378878330340936,-0.3669114118088,-0.9985215417927422,-0.04900459259353363,0.023521914900507358,-0.04958935815537189,0.9984578477161778,-0.024956399814797057,0.8
+1789729885222260605,4600,0.625770290536608,-0.24413110983402161,-0.3681499179312489,-0.9985215417927435,-0.049004592593534825,0.02352191490046156,-0.04958935815537075,0.9984578477161792,-0.024956399814745997,0.8
+1789729885255611890,4633,0.625770290536608,-0.2442805465687155,-0.36908760772716726,-0.9985215417927444,-0.049004592593535685,0.023521914900427196,-0.04958935815536986,0.9984578477161802,-0.024956399814707715,0.8
+1789729885288920989,4666,0.625770290536608,-0.24439048126259305,-0.36995941180879993,-0.9985215417927451,-0.04900459259353653,0.023521914900392828,-0.04958935815536896,0.9984578477161812,-0.02495639981466941,0.8
+1789729885322283504,4700,0.625770290536608,-0.2445701710585114,-0.37115116691084077,-0.998521541792746,-0.04900694454000084,0.023517014323486244,-0.04958935815536778,0.9984603383638706,-0.024856553905231192,0.8
+1789729885355678035,4733,0.625770290536608,-0.2448013792217767,-0.3721242444618612,-0.9985215417927469,-0.04901195303204275,0.02350657431062817,-0.04958935815536695,0.9984656106631761,-0.02464386091402211,0.8
+1789729885388929960,4766,0.625770290536608,-0.24508702820136855,-0.37309732201288165,-0.9985215417927478,-0.049018675825473465,0.023492551929321412,-0.049589358155366095,0.9984726199604853,-0.024358217237374205,0.8
+1789729885422327081,4800,0.625770290536608,-0.2454825710585114,-0.3744865220128817,-0.9985215417927487,-0.049029486792393266,0.023469980841645723,-0.04958935815536498,0.9984837288561962,-0.023898509726864265,0.8
+1789729885455681356,4833,0.625770290536608,-0.24581974656871547,-0.37557688119655513,-0.9985215417927491,-0.04904006915971073,0.023447861152820326,-0.04958935815536412,0.9984944079300931,-0.023448089262704717,0.8
+1789729885489017743,4866,0.625770290536608,-0.24609719146667466,-0.37662300364553475,-0.99852154179275,-0.049050984801203144,0.023425017947949645,-0.04958935815536331,0.9985052206963032,-0.022983032871358777,0.8
+1789729885522263578,4900,0.625770290536608,-0.2463751261605522,-0.3779423669108409,-0.9985215417927509,-0.049063630978814964,0.02339851899164263,-0.049589358155362286,0.9985174896156805,-0.022443673704151432,0.8
+1789729885555587456,4933,0.625770290536608,-0.24660906085442977,-0.3789024648700246,-0.998521541792752,-0.04907219059608305,0.023380562138831638,-0.04958935815536152,0.9985256362202176,-0.022078255563993038,0.8
+1789729885588896115,4966,0.625770290536608,-0.24686222820136855,-0.37987886487002465,-0.9985215417927527,-0.049079376129824694,0.023365474840707546,-0.049589358155360745,0.998532376520189,-0.021771279215583094,0.8
+1789729885622251050,5000,0.625770290536608,-0.24716030167075628,-0.38118837507410624,-0.9985215417927538,-0.04908652176105742,0.02335045946493885,-0.04958935815535978,0.99853899002993,-0.021465808807191185,0.8
+1789729885655581958,5033,0.625770290536608,-0.24734999962993998,-0.3821452648700246,-0.9985215417927542,-0.049091172770269045,0.0233406797643211,-0.049589358155359045,0.9985432467285055,-0.02126687496165092,0.8
+1789729885688916625,5066,0.625770290536608,-0.24751342003810323,-0.38311184446186136,-0.9985215417927551,-0.0490963769973036,0.02332973085052864,-0.04958935815535831,0.9985479648427782,-0.021044178912123294,0.8
+1789729885722282259,5100,0.625770290536608,-0.24769615473198078,-0.3843100322169634,-0.998521541792756,-0.04910545663507888,0.023310613558588076,-0.04958935815535736,0.99855608264375,-0.02065539573351647,0.8
+1789729885755614516,5133,0.625770290536608,-0.24779544452789912,-0.3850977220128818,-0.9985215417927569,-0.0491141951375828,0.02329219637138932,-0.04958935815535668,0.9985637586198918,-0.020280915380085064,0.8
+1789729885788921645,5166,0.625770290536608,-0.24786729758912363,-0.38594207303329,-0.9985215417927578,-0.049123135719678974,0.023273334803598784,-0.04958935815535597,0.9985714728690992,-0.019897465410896265,0.8
+1789729885822287190,5200,0.625770290536608,-0.24789342003810322,-0.38720012201288184,-0.9985215417927586,-0.04913144259350528,0.02325579335334476,-0.04958935815535508,0.9985785138270179,-0.01954091299719774,0.8
+1789729885855613298,5233,0.625770290536608,-0.24791825269116446,-0.38823279140063693,-0.9985215417927593,-0.04913548456230821,0.023247252152416527,-0.04958935815535445,0.9985818956673828,-0.01936732307460733,0.8
+1789729885888922457,5266,0.625770290536608,-0.24797634248708286,-0.3893543260945144,-0.9985215417927604,-0.04914076943246274,0.023236078743946367,-0.04958935815535375,0.9985862737435279,-0.019140257280297352,0.8
+1789729885922289311,5300,0.625770290536608,-0.24804959146667468,-0.3909276322169634,-0.9985215417927613,-0.049152693969064055,0.023210843401109835,-0.049589358155352835,0.9985959700402459,-0.018627511297017292,0.8
+1789729885955614159,5333,0.625770290536608,-0.24809150167075633,-0.3921419832373716,-0.998521541792762,-0.04916315374756217,0.023188680199600745,-0.04958935815535218,0.998604266893104,-0.018177285293093492,0.8
+1789729885988943266,5366,0.625770290536608,-0.24815080779320534,-0.39338182813533085,-0.9985215417927629,-0.049175539892067535,0.0231624016917061,-0.049589358155351565,0.9986138391057018,-0.01764357969097514,0.8
+1789729886022326811,5400,0.625770290536608,-0.24825699554830738,-0.39498751793124925,-0.9985215417927638,-0.049193529310852815,0.02312417024986017,-0.04958935815535076,0.9986272518832108,-0.01686734578783942,0.8
+1789729886055624125,5433,0.625770290536608,-0.2483501465687155,-0.39620186895165743,-0.9985215417927644,-0.04920649658535745,0.02309656402142846,-0.04958935815535017,0.9986365589832084,-0.016307011372949595,0.8
+1789729886088925888,5466,0.625770290536608,-0.24844240779320528,-0.39757748527818804,-0.9985215417927651,-0.049216028914757716,0.023076244791147407,-0.049589358155349615,0.9986432069885955,-0.01589467499742212,0.8
+1789729886122285867,5500,0.625770290536608,-0.24854128126259306,-0.3993246607883922,-0.9985215417927662,-0.04922700951314118,0.023052811329430416,-0.04958935815534888,0.9986506609780362,-0.015419237525634831,0.8
+1789729886155587210,5533,0.625770290536608,-0.2486190200381033,-0.40045333017614726,-0.9985215417927669,-0.04923544260457766,0.023034794709895594,-0.04958935815534835,0.998656236916783,-0.015053771120582753,0.8
+1789729886188922311,5566,0.625770290536608,-0.24870145269116453,-0.40153333017614734,-0.9985215417927678,-0.04924482073319597,0.023014738902485413,-0.04958935815534783,0.9986622855720836,-0.014647011083590886,0.8
+1789729886222262641,5600,0.625804290536608,-0.24883008126259312,-0.402976815890433,-0.9985215417927691,-0.04925880459156885,0.022984793799418934,-0.049589358155347193,0.9986710063695323,-0.014039821744105981,0.8
+1789729886255585452,5633,0.6258680374753836,-0.2489356894258584,-0.40403634242104525,-0.9985215417927693,-0.049271063013920195,0.022958504421433084,-0.04958935815534666,0.9986783562838266,-0.013506896311696421,0.8
+1789729886288894315,5666,0.6259229925774243,-0.2490489302421849,-0.40511639140063704,-0.9985215417927702,-0.04928509316044295,0.022928370372872264,-0.049589358155346194,0.9986864291629841,-0.012896191818857787,0.8
+1789729886322248164,5700,0.6259785925774243,-0.2491933547319808,-0.406650603645535,-0.9985215417927713,-0.049302143832019286,0.02289168384706592,-0.04958935815534559,0.9986957505006351,-0.012152921036278647,0.8
+1789729886355661318,5733,0.6260164864549752,-0.24931731391565426,-0.40780381997206566,-0.9985215417927722,-0.04931472120106517,0.022864576283999707,-0.04958935815534515,0.998702280712403,-0.011603881143198956,0.8
+1789729886388900597,5766,0.6260500782917099,-0.2494741628952461,-0.4089323914006371,-0.9985215417927729,-0.04932691732781367,0.022838253057516442,-0.04958935815534477,0.9987083316286073,-0.011070857841406455,0.8
+1789729886422248076,5800,0.6260963313529343,-0.24969506901769506,-0.4104138771149227,-0.9985215417927735,-0.04934090837376835,0.02280801036113216,-0.04958935815534425,0.9987149306356713,-0.010458627210456928,0.8
+1789729886455585567,5833,0.6261688946182404,-0.24987205677279709,-0.41142327303329007,-0.9985215417927746,-0.04934925187041713,0.022789952075657028,-0.049589358155343884,0.9987186911892532,-0.010093137617519034,0.8
+1789729886488894860,5866,0.6262724129855874,-0.25006604044626646,-0.41234181180880025,-0.9985215417927755,-0.049356894424668674,0.022773395630235324,-0.049589358155343544,0.9987220209301314,-0.009758097507975216,0.8
+1789729886522255788,5900,0.6264157354345671,-0.25031332207891954,-0.41357715874757583,-0.9985215417927766,-0.04936547416517816,0.02275479150034639,-0.049589358155343106,0.9987256278018156,-0.00938168053230733,0.8
+1789729886555590328,5933,0.6265335966590568,-0.25048203228300125,-0.41456004038022887,-0.9985215417927771,-0.04936979389933794,0.022745417694834732,-0.04958935815534279,0.9987273911685597,-0.009192044787962558,0.8
+1789729886588963476,5966,0.6266701517610976,-0.2506673955483073,-0.4155527424210452,-0.9985215417927777,-0.049373820456937625,0.022736675862143892,-0.0495893581553425,0.998729003067867,-0.009015208749971795,0.8
+1789729886622266629,6000,0.6268793272713018,-0.25088990983402165,-0.41689503629859626,-0.9985215417927789,-0.049373820456938076,0.022736675862098876,-0.049589358155342066,0.9987290030678673,-0.009015208749952649,0.8
+1789729886655588301,6033,0.6270691721692611,-0.251031411874838,-0.41789431793124937,-0.9985215417927797,-0.04937382045693844,0.022736675862065115,-0.04958935815534176,0.9987290030678674,-0.009015208749938287,0.8
+1789729886688914362,6066,0.6273225680876284,-0.25117666085442986,-0.4188576567067596,-0.9985215417927804,-0.04937382045693879,0.02273667586203135,-0.04958935815534146,0.9987290030678675,-0.009015208749923929,0.8
+1789729886722257562,6100,0.6277546660468121,-0.2514071588136136,-0.4200897954822698,-0.9985215417927811,-0.04937382045693925,0.022736675861986338,-0.04958935815534103,0.9987290030678677,-0.009015208749904783,0.8
+1789729886755587953,6133,0.6281132864549753,-0.25158409758912387,-0.42098019548226984,-0.998521541792782,-0.0493738204569396,0.02273667586195257,-0.04958935815534072,0.9987290030678678,-0.009015208749890423,0.8
+1789729886788950621,6166,0.6284981517610978,-0.2517709873850422,-0.4218065873190045,-0.9985215417927826,-0.04937382045693995,0.022736675861918805,-0.049589358155340414,0.998729003067868,-0.009015208749876063,0.8
+1789729886822260724,6200,0.6290894497202815,-0.25208220371157275,-0.4228296730332902,-0.9985215417927837,-0.049373820456940394,0.022736675861873782,-0.04958935815533997,0.9987290030678683,-0.009015208749856916,0.8
+1789729886855587135,6233,0.6296067231896691,-0.252371411874838,-0.4236175424210453,-0.9985215417927844,-0.049373820456940755,0.022736675861840024,-0.04958935815533968,0.9987290030678684,-0.00901520874984256,0.8
+1789729886888903787,6266,0.6301193435978324,-0.2526860567727972,-0.42453292201288206,-0.9985215417927853,-0.0493738204569411,0.022736675861806267,-0.04958935815533936,0.9987290030678685,-0.009015208749828196,0.8
+1789729886922254646,6300,0.6307173435978325,-0.25315645677279724,-0.42578095466594335,-0.9985215417927864,-0.04937382045694157,0.022736675861761244,-0.049589358155338936,0.9987290030678687,-0.009015208749809052,0.8
+1789729886955581768,6333,0.6310740619651795,-0.2535391588136136,-0.4267313791557392,-0.9985215417927871,-0.04937382045694192,0.02273667586172749,-0.04958935815533864,0.9987290030678688,-0.009015208749794692,0.8
+1789729886988911439,6366,0.6314228129855876,-0.2539681139156544,-0.42767859548226983,-0.998521541792788,-0.04937382045694227,0.022736675861693725,-0.04958935815533832,0.9987290030678689,-0.00901520874978033,0.8
+1789729887022341103,6400,0.63188327829171,-0.2546081465687156,-0.42880855466594325,-0.9985215417927886,-0.04937382045694272,0.02273667586164871,-0.04958935815533788,0.9987290030678692,-0.009015208749761182,0.8
+1789729887055596705,6433,0.6322418823733426,-0.25509502820136865,-0.4296168077271677,-0.9985215417927897,-0.04937382045694308,0.022736675861614947,-0.04958935815533759,0.9987290030678694,-0.009015208749746822,0.8
+1789729887088905871,6466,0.6326024211488527,-0.2555819098340217,-0.4304280077271677,-0.9985215417927904,-0.04937382045694342,0.02273667586158118,-0.049589358155337264,0.9987290030678695,-0.009015208749732464,0.8
+1789729887122263023,6500,0.6330325027815058,-0.25624981187483803,-0.43151854650267785,-0.9985215417927913,-0.049375160443020684,0.02273376578952677,-0.04958935815533685,0.998729532678552,-0.008956344869581625,0.8
+1789729887155589488,6533,0.6333255150264038,-0.25682618738504215,-0.4323092811965554,-0.9985215417927922,-0.049380352660154204,0.0227224854913452,-0.04958935815533654,0.9987315526850647,-0.008728185895212305,0.8
+1789729887188909763,6566,0.6335755476794651,-0.2574583996299401,-0.43304235058431045,-0.9985215417927926,-0.04938731362385958,0.022707351865918306,-0.04958935815533623,0.9987341805327568,-0.008422125224946186,0.8
+1789729887222268555,6600,0.6338923803325265,-0.25829438330340954,-0.4339723016047186,-0.998521541792794,-0.04939723803925797,0.022685754336917635,-0.049589358155335855,0.9987377677563447,-0.007985412626500415,0.8
+1789729887255591341,6633,0.634192657883547,-0.258923942487083,-0.43461245670675946,-0.9985215417927946,-0.049404185895283205,0.022670619571703243,-0.0495893581553356,0.998740167354749,-0.007679431616320092,0.8
+1789729887288901957,6666,0.6345692619651796,-0.2595693057523892,-0.43519579548226967,-0.9985215417927955,-0.04941040411344044,0.022657063823134715,-0.0495893581553353,0.9987422367486994,-0.007405409640703519,0.8
+1789729887322273078,6700,0.6351256211488531,-0.2604448730993279,-0.4359601709924737,-0.9985215417927964,-0.04941892337259334,0.022638475841603018,-0.049589358155334974,0.9987449517312911,-0.007029718984645,0.8
+1789729887355591094,6733,0.6356149435978328,-0.2610666853442259,-0.4365186118088002,-0.9985215417927971,-0.04942504504136816,0.022625107699065797,-0.04958935815533472,0.9987468166620694,-0.006759568412595956,0.8
+1789729887388925008,6766,0.636168682373343,-0.26167804860953203,-0.4370383424210451,-0.9985215417927977,-0.04943116309397293,0.022611737901168702,-0.04958935815533448,0.9987486085198074,-0.006489417345985329,0.8
+1789729887422266171,6800,0.6370687803325267,-0.26250110983402186,-0.4376761138496165,-0.9985163730442956,-0.04943827188722325,0.022823453622778787,-0.049590784511817164,0.9987505928323832,-0.0061650148795922635,0.8
+1789729887455586127,6833,0.6377877027815062,-0.26306457922177695,-0.43814249752308587,-0.9985110084568816,-0.04944275681017211,0.023047338011846358,-0.04959219383501894,0.9987517807919039,-0.005957740816006064,0.8
+1789729887488920081,6866,0.6385292048223224,-0.26348979554830754,-0.4386317056863512,-0.9985042722636701,-0.04944275681017237,0.023337353539107986,-0.04959392216292125,0.998751780791904,-0.005943336562804373,0.8
+1789729887522257915,6900,0.639727996659057,-0.26397791799728715,-0.4391740893598206,-0.998489197429115,-0.049442756810172725,0.023973660887989412,-0.04959769957463782,0.9987517807919041,-0.005911730872126056,0.8
+1789729887555600739,6933,0.6407506497202815,-0.2643021384054504,-0.43946536282920834,-0.9984723984267851,-0.04944397687844253,0.024660955583839135,-0.04960175861490913,0.9987520740646423,-0.005827528968919677,0.8
+1789729887588895626,6966,0.6418135966590571,-0.2645913465687157,-0.43977123221696346,-0.9984510525637338,-0.04944833141076766,0.025502120599339907,-0.04960660436252467,0.998753073111375,-0.005611038603010319,0.8
+1789729887622263078,7000,0.6432779150264041,-0.26497752616055237,-0.44023174650267777,-0.9984191623639438,-0.04945627700016135,0.02670679482387486,-0.04961319552874609,0.9987547356255781,-0.005244892268483555,0.8
+1789729887655587133,7033,0.6444346660468121,-0.26524772207891967,-0.440565085278188,-0.9983915721010328,-0.04946477902337051,0.027703869653847597,-0.049618277664109374,0.9987563302045063,-0.004880512070940047,0.8
+1789729887688903308,7066,0.6455563966590571,-0.26548453024218494,-0.4409100811965554,-0.9983621163575258,-0.0494750486322365,0.02872810792517141,-0.04962309661330532,0.9987580431923246,-0.004463120113228479,0.8
+1789729887722259181,7100,0.6468352782917101,-0.2658363914666747,-0.4414628811965554,-0.9983309717104061,-0.04949094083695934,0.02976436961921014,-0.049627491427646116,0.9987603139991422,-0.0038661705774222037,0.8
+1789729887755589675,7133,0.6476584946182407,-0.26618735473198085,-0.4419802852781881,-0.9983146142998987,-0.049507252610672035,0.030281393861375364,-0.049629402222935375,0.9987622662192134,-0.0032951497166604023,0.8
+1789729887788896732,7166,0.648437359924363,-0.2665761547319809,-0.4425240322169636,-0.9982993104921027,-0.049524655660633236,0.0307537827378803,-0.04963085864668363,0.9987639823085686,-0.0026991689688428038,0.8
+1789729887822267153,7200,0.6493895803325264,-0.2670945547319809,-0.4433293383394127,-0.9982782072344663,-0.04954980606057714,0.03139168170231228,-0.04963233733535445,0.9987658336973595,-0.001854866423254305,0.8
+1789729887855594528,7233,0.6500510252304856,-0.2674958445278993,-0.44398534650267796,-0.9982625104371863,-0.04957058335971971,0.03185463107656456,-0.04963303865873702,0.9987668330944321,-0.0011724265516101866,0.8
+1789729887888909784,7266,0.6506780129855877,-0.26798316697687896,-0.4446440240536983,-0.998247898649208,-0.049601474738062645,0.03226184350359624,-0.049633290922510925,0.9987674914533491,-0.00018560222447193007,0.8
+1789729887922249617,7300,0.6514105925774244,-0.26870582003810345,-0.4455441056863514,-0.9982297406790501,-0.04965363992172598,0.03273989716478682,-0.04963282980237376,0.9987664812132706,0.001448520165575914,0.8
+1789729887955585721,7333,0.6518887231896693,-0.26921599962994025,-0.44627995874757587,-0.9982176957060611,-0.049693608923523196,0.033045078475290035,-0.049632011421112,0.9987639706911876,0.002682217639761879,0.8
+1789729887988910946,7366,0.6523031068631387,-0.2697551098340219,-0.44700737915573907,-0.9982072443849281,-0.04973921215031523,0.03329126059666498,-0.04963089173109942,0.9987593240994259,0.004072727640506715,0.8
+1789729888022262011,7400,0.6527698170672204,-0.27048269350749127,-0.4479510526251268,-0.9981958232976296,-0.04980336183917804,0.033536897600767855,-0.049629091768509964,0.9987496383221129,0.00600942606922518,0.8
+1789729888055668673,7433,0.6530253925774244,-0.2709905628952463,-0.4486395995639023,-0.9981890058846721,-0.049850740174018644,0.03366915851448636,-0.04962768920058449,0.9987401588838279,0.00742882879841845,0.8
+1789729888088897600,7466,0.6532038578835468,-0.2715715588136136,-0.4492744485434942,-0.9981856378762346,-0.04990402775708543,0.03369006309337288,-0.04962686799077105,0.9987271512533952,0.009013951558807506,0.8
+1789729888122260795,7500,0.6534064946182406,-0.272384154731981,-0.4500616730332901,-0.9981856378762366,-0.04997234450375979,0.033588645736443774,-0.0496268679907716,0.9987067856532672,0.011042203744972732,0.8
+1789729888155598253,7533,0.6535370497202814,-0.2729499669768789,-0.45058617099247383,-0.9981856378762386,-0.05001593603308561,0.03352370027818529,-0.049626867990772115,0.9986915984698583,0.012339575322742623,0.8
+1789729888188903043,7566,0.6536427395161998,-0.27353076697687895,-0.4510048485434942,-0.9981856378762402,-0.050065273770329814,0.03344997309275121,-0.04962686799077271,0.9986723340456107,0.01381098060669205,0.8
+1789729888222263928,7600,0.6537798415570162,-0.2743026771809606,-0.4514386689516575,-0.9981856378762426,-0.05012695069679495,0.03335747519582892,-0.049626867990773656,0.9986451310048515,0.015654912766580133,0.8
+1789729888255592247,7633,0.6538964374753834,-0.2748710608544299,-0.4517404567067596,-0.9981856378762444,-0.05016331318278932,0.03330276787477585,-0.04962686799077442,0.9986274575060309,0.01674440469132025,0.8
+1789729888288901687,7666,0.6540009762508936,-0.27537893024218496,-0.45197900364553517,-0.9981856378762457,-0.0501916282041226,0.033260078108920337,-0.049626867990775196,0.9986128503655791,0.01759400631350724,0.8
+1789729888322247173,7700,0.6541379150264038,-0.27605133840545026,-0.45222768119655554,-0.9981856378762484,-0.05022467069833672,0.033210160957625676,-0.04962686799077634,0.9985948648002931,0.018586822426394443,0.8
+1789729888355590220,7733,0.6542435231896692,-0.27651382003810326,-0.4524018607883923,-0.9981856378762506,-0.05024338105074301,0.03318184741954799,-0.04962686799077724,0.9985842300431255,0.01914966011720028,0.8
+1789729888388897311,7766,0.6543417925774243,-0.2768815016707563,-0.4525652648700249,-0.9981856378762521,-0.05025635334246204,0.033162196644650685,-0.04962686799077811,0.9985766649975992,0.01954016621470811,0.8
+1789729888422260976,7800,0.6544936129855877,-0.2772965547319808,-0.45266805670675964,-0.9981856378762541,-0.0502598736663241,0.03315686107914059,-0.04962686799077936,0.9985745849224553,0.019646178263770978,0.8
+1789729888455590064,7833,0.6545624048223224,-0.27749234248708277,-0.4527344730332903,-0.9981856378762559,-0.050259873666323174,0.03315686107909011,-0.04962686799078031,0.9985745849224558,0.019646178263742764,0.8
+1789729888488904293,7866,0.6546244701284448,-0.27765052207891955,-0.45276327303329034,-0.9981856378762577,-0.05025987366632226,0.03315686107903963,-0.04962686799078127,0.9985745849224563,0.019646178263714554,0.8
+1789729888522259070,7900,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762601,-0.05025987366632106,0.033156861078972345,-0.04962686799078255,0.998574584922457,0.01964617826367695,0.8
+1789729888555602606,7933,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.8
+1789729888588896538,7966,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.8
+1789729888622261613,8000,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729888655585681,8033,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729888688916859,8066,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729888722255967,8100,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729888755585495,8133,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729888788889226,8166,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729888822263810,8200,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729888855588329,8233,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729888888989470,8266,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729888922260924,8300,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729888955593102,8333,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729888988904911,8366,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729889022259880,8400,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729889055665264,8433,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729889088983087,8466,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729889122273222,8500,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729889155586866,8533,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729889188896119,8566,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729889222277766,8600,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729889255588480,8633,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729889288900583,8666,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729889322261292,8700,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729889355585704,8733,0.6546887884957917,-0.2777604894258583,-0.45276327303329034,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729889388892798,8766,0.6546887884957917,-0.2777604894258583,-0.4527526934414536,-0.9981856378762604,-0.05025987366632073,0.0331568610789555,-0.04962686799078285,0.9985745849224572,0.01964617826366754,0.6
+1789729889422264216,8800,0.6546887884957917,-0.2777604894258583,-0.45252965670675965,-0.9981856378762628,-0.0502598736663195,0.0331568610788882,-0.04962686799078412,0.9985745849224579,0.019646178263629927,0.6
+1789729889455583229,8833,0.6546887884957917,-0.2777604894258583,-0.45202181180880047,-0.9981856378762646,-0.050259873666318566,0.03315686107883771,-0.049626867990785056,0.9985745849224583,0.01964617826360171,0.6
+1789729889488918530,8866,0.6546887884957917,-0.2777604894258583,-0.4510881873190045,-0.9981776075271753,-0.050265130812243375,0.033389825632255545,-0.04962210455537008,0.9985714666769718,0.019815970278978506,0.6
+1789729889522257371,8900,0.6546887884957917,-0.27768485677279703,-0.44928096282920865,-0.9981569357493498,-0.050497584124176716,0.0336559892603232,-0.04982736577439625,0.99854817314932,0.020464103208796495,0.6
+1789729889555621259,8933,0.6546887884957917,-0.2775853792217766,-0.44716795874757603,-0.9981415523797723,-0.05069724389365081,0.033811697302648595,-0.049994036279292345,0.9985217389752521,0.021329161501179084,0.6
+1789729889588934223,8966,0.6546887884957917,-0.2774224241197358,-0.44428435874757605,-0.998123005807698,-0.051030045245691304,0.03385852565645762,-0.050279163270762976,0.9984778741323314,0.022670258246705148,0.6
+1789729889622259415,9000,0.6546887884957917,-0.277163762895246,-0.44028435874757604,-0.9980925291772453,-0.051693313027612105,0.03375062353199477,-0.0508714981950767,0.9983979613290096,0.02477098071263553,0.6
+1789729889655585817,9033,0.6546887884957917,-0.2769653955483073,-0.43728435874757604,-0.998071312549258,-0.05215852889514336,0.03366218842702124,-0.051279358736072075,0.9983334103132281,0.026473179257070274,0.6
+1789729889688891410,9066,0.6546887884957917,-0.2767595914666746,-0.43428435874757604,-0.9980648250616102,-0.05234041926935142,0.03357209384960243,-0.051403311774978984,0.9982799030522593,0.028194586369302586,0.6
+1789729889722253319,9100,0.6546887884957917,-0.2764695098340215,-0.43028435874757603,-0.9980648250616126,-0.052415640955135,0.033454529708181344,-0.051403311774980934,0.9982141048682661,0.030435183268878816,0.6
+1789729889755550704,9133,0.6546887884957917,-0.2762129139156542,-0.42728435874757603,-0.9980648250616146,-0.05247006268477444,0.03336910991599066,-0.051403311774982516,0.9981632074147861,0.03206104960837241,0.6
+1789729889788971978,9166,0.6546887884957917,-0.27590551799728685,-0.42428435874757603,-0.9980648250616164,-0.05252004643174037,0.03329038446058972,-0.051403311774984146,0.998114003882757,0.033557931874531294,0.6
+1789729889822262513,9200,0.6546887884957917,-0.2753655343238175,-0.420284358747576,-0.9980648250616184,-0.05257850328941356,0.03319798136282374,-0.0514033117749865,0.9980534522883303,0.03531297090176747,0.6
+1789729889855590704,9233,0.6546887884957917,-0.27488533840545015,-0.417284358747576,-0.99806482506162,-0.05261857619274646,0.033134429437758975,-0.051403311774988344,0.9980100570748508,0.03651883782400985,0.6
+1789729889888888849,9266,0.6546887884957917,-0.2743217384054501,-0.414284358747576,-0.998064825061622,-0.0526569794203652,0.03307336531164256,-0.05140331177499028,0.9979670206957498,0.03767658612735542,0.6
+1789729889922256247,9300,0.6546887884957917,-0.2734351179972868,-0.410284358747576,-0.9980648250616244,-0.05270463934625191,0.03299736301723044,-0.05140331177499292,0.99791162636753,0.0391163073292228,0.6
+1789729889955571520,9333,0.6546887884957917,-0.2726990037115725,-0.407284358747576,-0.998064825061626,-0.052739061209227237,0.03294231924857734,-0.051403311774994936,0.9978702434811378,0.0401581462901037,0.6
+1789729889988896102,9366,0.6546887884957917,-0.2718722853442256,-0.404284358747576,-0.9980609294060292,-0.05277125511360403,0.03300872349710413,-0.05139846556383752,0.9978305092251251,0.0411396718170024,0.6
+1789729890022271063,9400,0.6546887884957917,-0.27060112616055204,-0.400284358747576,-0.9980513825514914,-0.05281143173999487,0.033232370734409496,-0.051386376418784845,0.997779799784933,0.042366395405862,0.6
+1789729890055707508,9433,0.6546887884957917,-0.26956187718096025,-0.397284358747576,-0.9980419760242552,-0.052840894578766506,0.03346720713946127,-0.05137425583992139,0.9977419237515185,0.04326360393579603,0.6
+1789729890088895276,9466,0.6546887884957917,-0.26850230167075617,-0.3943242199720658,-0.9980323697736602,-0.052870333334561224,0.03370633081581182,-0.0513617079786547,0.9977035585413199,0.04415409638416936,0.6
+1789729890122257969,9500,0.6546887884957917,-0.26696403228300103,-0.39060330568635143,-0.9980181127656225,-0.05290217324069211,0.03407648247924366,-0.05134285766740942,0.9976615382004907,0.04511503254986065,0.6
+1789729890155587484,9533,0.6546887884957917,-0.26567588534422554,-0.3881213383394126,-0.997998555816968,-0.053030860167896904,0.034447212617275305,-0.05143624826239246,0.997633028478028,0.04563609157725445,0.6
+1789729890188894581,9566,0.6546887884957917,-0.2642963588136133,-0.3858179424210452,-0.9979665283095012,-0.0532905348453606,0.034970377032245294,-0.05165661891147168,0.997601616853068,0.04607176765416605,0.6
+1789729890222268972,9600,0.6546887884957917,-0.2623397955483072,-0.3830939669108412,-0.9978980482302164,-0.053856665328715844,0.03604087870732391,-0.052159500823900154,0.9975564847522888,0.04648060028074471,0.6
+1789729890255595188,9633,0.6546887884957917,-0.260780456772797,-0.381250628135331,-0.99784189749039,-0.05431732526194443,0.03689411591523412,-0.052573734144285074,0.9975249284515278,0.04669067996827897,0.6
+1789729890288921823,9666,0.6546887884957917,-0.2592046118748378,-0.379526415890433,-0.9977863302983436,-0.0547719596521626,0.037715666580709885,-0.05298977313061655,0.9975008822801071,0.046734075298154404,0.6
+1789729890322260388,9700,0.6547236701284447,-0.25707714248708263,-0.3773188893598208,-0.9977084856558209,-0.05537317077704211,0.038879166766602746,-0.0535362952459333,0.9974687912039558,0.046796107375074426,0.6
+1789729890355585173,9733,0.6547726986998732,-0.25544695473198054,-0.37578768935982076,-0.9976460104065301,-0.05579850462957499,0.03986182134621852,-0.05391542047633337,0.9974458893743905,0.04684896162127139,0.6
+1789729890388898800,9766,0.654828347679465,-0.2537528730993274,-0.37443774650267786,-0.997587472813027,-0.0561645667332391,0.04080166087534102,-0.054237258917979515,0.99742604921406,0.046899851751319784,0.6
+1789729890422265202,9800,0.654902804822322,-0.2514424730993274,-0.3728138444618615,-0.9975174243751455,-0.056575841020249845,0.041930445750409585,-0.0545953744655083,0.9974036168461258,0.046961369115876166,0.6
+1789729890455584068,9833,0.6549495068631382,-0.24973993432381716,-0.37162125670675944,-0.9974626680586549,-0.05691038494011705,0.0427718822975804,-0.054890254597470683,0.9973852590473943,0.047007499244132486,0.6
+1789729890488897155,9866,0.6549947884957914,-0.24805885677279674,-0.37056485670675937,-0.9974058488382207,-0.05726652789207686,0.04361327190769144,-0.055206705921975276,0.9973656057293205,0.047053885380807105,0.6
+1789729890522259077,9900,0.655054486454975,-0.24581742003810284,-0.3693473383394124,-0.9973302865685334,-0.05774135357277428,0.04470162838993347,-0.055630147824966655,0.9973392252199936,0.047114291786624206,0.6
+1789729890555620790,9933,0.6550862742100769,-0.2441788241197355,-0.36849704446186143,-0.9972728542172251,-0.0581063229989657,0.04550285121802759,-0.055957260526475656,0.9973188093662773,0.04715906570961011,0.6
+1789729890588919268,9966,0.6550862742100769,-0.24257381187483754,-0.3676678689516573,-0.9972136928613657,-0.05850306064514425,0.04628436739276328,-0.05631705163747784,0.9972964783937367,0.04720300708972579,0.6
+1789729890622262772,10000,0.6550862742100769,-0.2405166037115722,-0.3666303750741063,-0.9971329565814211,-0.05909431985664414,0.04726233447339456,-0.056862056695185986,0.9972629278639772,0.04725843011105294,0.6
+1789729890655587167,10033,0.6550862742100769,-0.23898599146667424,-0.3658456975230858,-0.997069236974153,-0.059563646410642664,0.048011547632312794,-0.05729593045721356,0.9972360639640209,0.047301258784407836,0.6
+1789729890688919882,10066,0.6550862742100769,-0.237426652691164,-0.36506684854349397,-0.9970092599902685,-0.0599983937986178,0.04871065833309753,-0.05769757965319803,0.9972109954209812,0.0473415242008396,0.6
+1789729890722258577,10100,0.6550862742100769,-0.23534479146667417,-0.3640524567067593,-0.9969316436387257,-0.06056499539984327,0.049590112361300225,-0.05822252826203623,0.997178058272007,0.047392587011537306,0.6
+1789729890755585192,10133,0.6550862742100769,-0.23381008942585782,-0.3633166689516572,-0.9968734646158302,-0.06099475975374759,0.05022882466685371,-0.05862203223192644,0.9971528745782,0.047429970034055975,0.6
+1789729890788920567,10166,0.6550862742100769,-0.23228355065034761,-0.362597730176147,-0.9968155743027391,-0.061434182755561034,0.050838489519816586,-0.059032569031695334,0.9971269447553064,0.04746590182927473,0.6
+1789729890822259941,10200,0.6550862742100769,-0.23028734656871497,-0.3616344893598205,-0.9967361340645811,-0.06205490629049142,0.05163591439368617,-0.059615511441567674,0.9970900047861718,0.0475132944666236,0.6
+1789729890855588267,10233,0.6550862742100769,-0.22880532207891904,-0.36090153425777965,-0.9966764614371906,-0.0625393031911375,0.05220025644963523,-0.06007317833581027,0.9970609226131518,0.04754713285198539,0.6
+1789729890888896794,10266,0.6550862742100769,-0.22732329758912312,-0.36015133833941226,-0.9966156121028678,-0.06302883701310885,0.05277013755526965,-0.06053571402739873,0.9970313042828142,0.04758156793657971,0.6
+1789729890922251917,10300,0.6550862742100769,-0.22535928942585784,-0.3590606526251265,-0.9965309138202652,-0.06371101836058266,0.05354478443327297,-0.061181194471476505,0.9969896480436239,0.047628805747093536,0.6
+1789729890955585702,10333,0.6550862742100769,-0.22388928942585787,-0.3582315260945142,-0.9964657480192116,-0.06423720736009356,0.05412572600057516,-0.06167986011399995,0.9969572127103582,0.04766456630570582,0.6
+1789729890988897858,10366,0.6550862742100769,-0.2224192894258579,-0.357396375074106,-0.9963985133772559,-0.06479040721792638,0.05470105732186527,-0.06220581371631106,0.9969228257038,0.047700276001744084,0.6
+1789729891022258763,10400,0.6550862742100769,-0.22045928942585793,-0.3563442771149223,-0.9963109714813871,-0.0655481616540487,0.055388506114443334,-0.06293105989961711,0.9968752438785746,0.04774337484869591,0.6
+1789729891055584482,10433,0.6550862742100769,-0.21899727309932734,-0.3555595995639018,-0.9962458329564996,-0.066128968945889,0.055867698923123675,-0.06348923621825318,0.9968383959779701,0.047773729062012854,0.6
+1789729891088911451,10466,0.6550862742100769,-0.21754719962993957,-0.3547923097679834,-0.9961810079199533,-0.06673816091060909,0.05629757843687962,-0.06407818039132111,0.9967993939179747,0.047801203776639004,0.6
+1789729891122259898,10500,0.6550862742100769,-0.21559914248708242,-0.3538318362985957,-0.9961009896356776,-0.06752958211613895,0.056767719577618364,-0.06484753966340691,0.996748181121233,0.04783157985177398,0.6
+1789729891155590866,10533,0.6550862742100769,-0.21410098738504163,-0.35314604038022834,-0.9960432544941935,-0.0680935603660057,0.057106061090718196,-0.06539564126322811,0.9967113105818638,0.04785366717352646,0.6
+1789729891188905297,10566,0.6550862742100769,-0.21261089758912327,-0.3524819914006365,-0.9959846544679367,-0.06869149196462514,0.057411209672493024,-0.06597931781337608,0.9966718783365729,0.04787375642175091,0.6
+1789729891222250944,10600,0.6550862742100769,-0.21063486493606204,-0.3516090771149223,-0.995904264267504,-0.0695344245054577,0.057789793411094866,-0.06680464194853712,0.9966156883146589,0.04789895217253174,0.6
+1789729891255582812,10633,0.6550862742100769,-0.20915284044626611,-0.35097427711492235,-0.9958442568960486,-0.07016657946435796,0.058059169245085376,-0.06742429705451082,0.9965730870623507,0.0479170774330141,0.6
+1789729891288898332,10666,0.6550862742100769,-0.2076748241197355,-0.35033156691084066,-0.9957829315234223,-0.0708105642856614,0.058328528801659785,-0.06805579707492843,0.9965292814356356,0.04793537030077001,0.6
+1789729891322257608,10700,0.6550862742100769,-0.20571482411973555,-0.3495032975230855,-0.9957023950458466,-0.07167108680754733,0.05865147752436026,-0.06890142592912932,0.9964701039136101,0.04795753862878865,0.6
+1789729891355589067,10733,0.6550862742100769,-0.20425280779320495,-0.3489249873190039,-0.9956562007088299,-0.0722571953631772,0.05871650286168613,-0.06948485706747165,0.996429374079729,0.04796203821140857,0.6
+1789729891388891168,10766,0.6550862742100769,-0.20284214656871513,-0.3483837138496161,-0.9956126493341413,-0.0728548198649683,0.05871650286159556,-0.07008294616204255,0.9963874866475704,0.04796203821133987,0.6
+1789729891422256724,10800,0.6550862742100769,-0.201023501670756,-0.3476993791557385,-0.9955506308035007,-0.07369744770662948,0.0587165028614748,-0.0709262307934364,0.9963278138625153,0.04796203821124832,0.6
+1789729891455594212,10833,0.6550862742100769,-0.19969008126259274,-0.34721933017614665,-0.9955027690111886,-0.07434116748333708,0.05871650286138418,-0.07157045368553283,0.9962817438103924,0.04796203821117967,0.6
+1789729891488895943,10866,0.6550862742100769,-0.1984020649360621,-0.3467990118087997,-0.9954513285006075,-0.07502682772259352,0.058716502861293575,-0.07225665112074935,0.9962322115146901,0.04796203821111107,0.6
+1789729891522262838,10900,0.6550862742100769,-0.1966897057523886,-0.34626189344145275,-0.9953874655180213,-0.0758693995057595,0.058716502861172686,-0.0730998848738601,0.9961706930652362,0.04796203821101963,0.6
+1789729891555715446,10933,0.6550862742100769,-0.19542030983402123,-0.3458771587475752,-0.9953399979107707,-0.0764896126984081,0.05871650286108201,-0.07372058663480896,0.9961249509960439,0.04796203821095109,0.6
+1789729891588896168,10966,0.6550862742100769,-0.19416577105851104,-0.345504619972065,-0.9952916937702769,-0.07711560544836794,0.05871650286099131,-0.07434707361984023,0.9960783882480454,0.047962038210882574,0.6
+1789729891622247945,11000,0.6550862742100769,-0.19245710983402123,-0.34505166487002414,-0.9952335771458447,-0.07786205245994593,0.058716502860870365,-0.07509411143088174,0.9960223478010285,0.04796203821079127,0.6
+1789729891655642338,11033,0.6550862742100769,-0.1911653465687151,-0.34473339548226906,-0.9951910473275041,-0.07840377293845992,0.05871650286077964,-0.07563626166823544,0.9959813245294951,0.047962038210722806,0.6
+1789729891688895213,11066,0.6550862742100769,-0.1898697873850416,-0.3444351342577793,-0.9951486060803381,-0.07894063660860048,0.058716502860688934,-0.07617355207143237,0.9959403761548683,0.04796203821065441,0.6
+1789729891722248380,11100,0.6550862742100769,-0.1880664241197355,-0.34409994242104464,-0.9951053366945484,-0.07948421965305362,0.058716502860567954,-0.07671756802906467,0.9958986181566848,0.04796203821056321,0.6
+1789729891755583998,11133,0.6550862742100769,-0.1866753139156539,-0.3438880811965549,-0.9950775898638962,-0.07983083641360023,0.058716502860477186,-0.07706446127843422,0.9958718349760474,0.04796203821049482,0.6
+1789729891788895258,11166,0.6550862742100769,-0.18527252207891923,-0.34369843221696306,-0.9950521140893143,-0.08014775441790671,0.05871650286038637,-0.07738163238201297,0.9958472402234173,0.04796203821042644,0.6
+1789729891822250095,11200,0.6550862742100769,-0.18341505269116415,-0.343451281196555,-0.9950155455068974,-0.08060047451145631,0.058716502860265224,-0.07783471452802752,0.9958119300877304,0.047962038210335296,0.6
+1789729891855586913,11233,0.6550862742100769,-0.1820510690176948,-0.34326591793124894,-0.9949845215649464,-0.08098255452902518,0.058716502860174394,-0.07821710056119006,0.995781968138868,0.04796203821026701,0.6
+1789729891888896643,11266,0.6550862742100769,-0.18068708534422545,-0.3430833791557387,-0.9949533509065591,-0.08136462260523063,0.058716502860083564,-0.07859947506077196,0.9957518593559815,0.047962038210198704,0.6
+1789729891922247560,11300,0.6550862742100769,-0.17889146085442953,-0.3428390526251265,-0.994906921800151,-0.08193039268821313,0.058716502859962404,-0.07916569966509283,0.9957070025299956,0.04796203821010763,0.6
+1789729891955588178,11333,0.6550750986998728,-0.1775581220789193,-0.3426661383394122,-0.9948694883673701,-0.08238369624843304,0.05871650285987155,-0.07961936805519061,0.9956708286985367,0.04796203821003927,0.6
+1789729891988902038,11366,0.6550329272713014,-0.1762361710585111,-0.34250938731900404,-0.9948314325105769,-0.08284197716659489,0.058716502859780625,-0.08007801840652118,0.9956340461529176,0.04796203820997102,0.6
+1789729892022256657,11400,0.6549441925774239,-0.17451255473198046,-0.342301705686351,-0.9947796646699165,-0.08346131469813062,0.058716502859659396,-0.08069785615800598,0.9955839989183514,0.04796203820988006,0.6
+1789729892055723717,11433,0.6548618089039544,-0.17316776289524577,-0.34216516691084076,-0.9947486611455929,-0.08383002708452617,0.05871650285956848,-0.0810668668631814,0.9955540196231181,0.04796203820981188,0.6
+1789729892088900513,11466,0.6547831640059952,-0.17183053024218456,-0.34204053017614694,-0.9947194005765845,-0.0841765193418774,0.05871650285947754,-0.08141363981588852,0.995525721487243,0.047962038209743686,0.6
+1789729892122257692,11500,0.6546861517610975,-0.17011812207891922,-0.3419032811965551,-0.9946865444472748,-0.08463286433921971,0.05861703309857135,-0.08187514984825242,0.9954882653438323,0.04795386741498531,0.6
+1789729892155590224,11533,0.6546147395161996,-0.16885986901769473,-0.341815117931249,-0.994669351448499,-0.08494965964004454,0.058450291838990434,-0.082200236027402,0.9954621367488359,0.0479401240766158,0.6
+1789729892188900358,11566,0.6545406578835467,-0.16763835065034777,-0.34171375466594295,-0.9946466101951748,-0.08528760047582065,0.05834506005075154,-0.08254351602546922,0.9954341499017527,0.04793142154712392,0.6
+1789729892222253718,11600,0.6544418823733427,-0.16602907718096,-0.34157365670675927,-0.9946058936164606,-0.08576112377464609,0.05834506005063089,-0.0830174145684591,0.9953947396419418,0.047931421547033094,0.6
+1789729892255589810,11633,0.6543659884957918,-0.1648293547319804,-0.34146036691084086,-0.99457366150474,-0.0861341152433494,0.05834506005054039,-0.08339070206346012,0.9953635364216686,0.04793142154696502,0.6
+1789729892288901833,11666,0.6542882660468122,-0.1636260159564702,-0.34134487303328986,-0.9945420662741797,-0.08649816401979238,0.05834506005044993,-0.08375504015015348,0.9953329453393672,0.047931421546896974,0.6
+1789729892322249804,11700,0.6541725109447714,-0.161991264936062,-0.3411728240536981,-0.9945107632246166,-0.08685733013461748,0.05834506005032928,-0.08411449206419326,0.9953026328977961,0.04793142154680627,0.6
+1789729892355587605,11733,0.6540783721692611,-0.1607770118748375,-0.3410186689516573,-0.9944895048805855,-0.0871003940869545,0.05834506005023881,-0.08435774963787104,0.9952820449021188,0.047931421546738254,0.6
+1789729892388896069,11766,0.6539758578835468,-0.1595916567727967,-0.3408410934414532,-0.9944700478549564,-0.08732226455552908,0.0583450600501483,-0.08457979699200543,0.9952631997463317,0.047931421546670266,0.6
+1789729892422255849,11800,0.6538248538019141,-0.15807161595647015,-0.3405204403802288,-0.994448854581037,-0.08756328905553366,0.058345060050027674,-0.08482101380668751,0.9952426711336938,0.04793142154657959,0.6
+1789729892455621818,11833,0.6536989354345671,-0.15699844044626607,-0.3402167995639022,-0.9944384243822557,-0.08772702712761635,0.058276829216148976,-0.08498817089115013,0.9952286914293982,0.047925594042268434,0.6
+1789729892488902564,11866,0.6535562333937508,-0.1559490282013681,-0.33988150976798387,-0.9944396738447461,-0.08787619334643108,0.05803024837527268,-0.0851493352156308,0.9952159308193367,0.04790450663285681,0.6
+1789729892522249255,11900,0.6533484701284448,-0.15462961595647012,-0.33936870160471855,-0.994439594172962,-0.08809574188624006,0.05769777987607478,-0.0853850634293418,0.9951971053969546,0.04787601020020421,0.6
+1789729892555605815,11933,0.6531838007406896,-0.15370155065034766,-0.33892457099247364,-0.9944341706308522,-0.0883107843283088,0.05746203662462198,-0.08561161487286367,0.9951786163697832,0.04785575116100771,0.6
+1789729892588901900,11966,0.653027066046812,-0.15280808942585786,-0.33847824446186137,-0.9944246789213311,-0.08858001151091606,0.05721135825109269,-0.08589310194384749,0.9951553997021229,0.04783414556749164,0.6
+1789729892622248800,12000,0.6528020701284446,-0.15170558330340891,-0.33783814650267774,-0.994418565037954,-0.08901073910887243,0.056646322309122116,-0.0863513039959828,0.9951180956793488,0.047785227316606026,0.6
+1789729892655586022,12033,0.6526195150264038,-0.15089140371157217,-0.3373917709924737,-0.9944268232898903,-0.08930711915966733,0.05603152317203819,-0.08667741242161503,0.9950923096064638,0.04773176654982325,0.6
+1789729892688896976,12066,0.6524166660468119,-0.1501037139156538,-0.33697999140063695,-0.9944444782199948,-0.08958381774945653,0.05527132470997144,-0.08699075157505062,0.9950681468107809,0.04766542083068213,0.6
+1789729892722251206,12100,0.6521219558427302,-0.1490979669768783,-0.3364196322169636,-0.994463594589077,-0.08999791950954458,0.05424512439774389,-0.08745423896890453,0.9950318240909759,0.047575467759706155,0.6
+1789729892755588197,12133,0.651886641557016,-0.14831594248708238,-0.33599936282920856,-0.9944816739971252,-0.09026411497345325,0.0534657800086665,-0.087757836208966,0.9950083729455504,0.04750684110913685,0.6
+1789729892788895021,12166,0.6516334905366079,-0.14747468534422523,-0.33556609752308614,-0.9945016353122165,-0.09046906276080534,0.05274320851549381,-0.08799738123020108,0.9949902618085184,0.04744301637588842,0.6
+1789729892822251521,12200,0.6512751640059956,-0.14636903636463341,-0.33491872609451473,-0.994513291877944,-0.09079587272885137,0.05195595994207525,-0.08836187036902277,0.9949612825293316,0.0473732638993307,0.6
+1789729892855589453,12233,0.6509947803325261,-0.1455726200381028,-0.33435784446186173,-0.9945056133731451,-0.091120977017375,0.05153205329407357,-0.08870730103301179,0.9949323396818692,0.04733554899438952,0.6
+1789729892888910255,12266,0.6507126415570158,-0.14472232616055178,-0.33382141997206577,-0.9945035973842427,-0.09139769390976378,0.05107892263720761,-0.08900569085023911,0.9949076148427928,0.04729508350872012,0.6
+1789729892922285244,12300,0.6503300048223218,-0.14359262820136812,-0.33308173017614745,-0.9944920172286507,-0.09181688692676258,0.050549846128040615,-0.08945019501925243,0.9948700024662733,0.0472476539499591,0.6
+1789729892955623285,12333,0.6500390415570158,-0.14275446493606203,-0.33250844854349443,-0.9944769688026276,-0.09217640432368683,0.05019032782413124,-0.0898269194825866,0.9948375961833926,0.047215270372179215,0.6
+1789729892988929529,12366,0.6497462905366076,-0.14189808126259262,-0.3319301383394128,-0.9944588764372926,-0.09254967603446168,0.04986081167604972,-0.09021596209241103,0.9948038057659503,0.04718546616620578,0.6
+1789729893022291211,12400,0.6493529762508933,-0.14075923228300077,-0.33114048935982093,-0.994414665457853,-0.09321485438431466,0.04950216201801561,-0.09089837580004405,0.9947432307463263,0.047152838316214266,0.6
+1789729893055625166,12433,0.6490620129855872,-0.13986577105851097,-0.3305721873190047,-0.994380648386683,-0.09371883246995792,0.04923318550071702,-0.09141526724617989,0.9946970299249737,0.04712820358071846,0.6
+1789729893088935943,12466,0.6487710497202811,-0.1389408812625926,-0.33000139548227003,-0.9943475287236954,-0.09420209450475557,0.048979153851392676,-0.0919107160143202,0.9946524806776433,0.047104808284774355,0.6
+1789729893122262859,12500,0.6484005354345668,-0.1376960567727967,-0.32920670160471893,-0.9942926568070773,-0.09492011666385329,0.0487060989204125,-0.09264188495729588,0.9945858446683871,0.04707949380388749,0.6
+1789729893155591515,12533,0.6481407231896689,-0.13673915065034772,-0.32863589344145366,-0.9942546015222959,-0.09543998061111607,0.04846645698511794,-0.09317324300741432,0.9945372664463933,0.04705711887501254,0.6
+1789729893188907612,12566,0.6478859150264036,-0.13577257105851098,-0.32807745262512716,-0.9942158473355678,-0.09596530317807613,0.04822353670935842,-0.09371020551204755,0.9944878937946009,0.047034311718877155,0.6
+1789729893222258375,12600,0.6475690333937505,-0.13451173840544978,-0.3273741465026781,-0.9941544015350714,-0.09677242091787279,0.04787613662502498,-0.0945339657441089,0.9944114803764399,0.04700145759685425,0.6
+1789729893255588381,12633,0.6473510823733423,-0.13357093840544979,-0.3269031587475761,-0.9941079817696821,-0.09740347255997557,0.04755926949678464,-0.0951801508959433,0.9943512659773437,0.04697125423787754,0.6
+1789729893288907627,12666,0.6471598578835462,-0.1326301384054498,-0.32647204038022914,-0.994058721906756,-0.09807028127953574,0.04721734142092621,-0.09586326646566076,0.9942871904477345,0.04693843898218519,0.6
+1789729893322257821,12700,0.6469580946182402,-0.1313821220789192,-0.32596147711492296,-0.9939738709017425,-0.09913684396468415,0.046774246475265936,-0.09695097443891575,0.9941837442024991,0.04689553623581339,0.6
+1789729893355583767,12733,0.6468738415570158,-0.13047618738504163,-0.3256393383394127,-0.9938740593922584,-0.10022886471183073,0.04656746445460797,-0.09805297337693941,0.9940766168996874,0.046875304214622174,0.6
+1789729893388894574,12766,0.6468268782917097,-0.12956080779320486,-0.32535349344145353,-0.9937510498430866,-0.1014867901673531,0.04646807890683264,-0.09931583908044078,0.993951704601729,0.04686547798823097,0.6
+1789729893422247108,12800,0.6467957191080363,-0.12831917514014365,-0.32503341180880047,-0.9935531811235441,-0.10341277738351969,0.046452919747991414,-0.1012353537273739,0.9937511037742233,0.0470121995146629,0.6
+1789729893455621339,12833,0.6467957191080363,-0.12738795065034775,-0.32480613833941274,-0.9933960208890309,-0.10492297330323631,0.046427527987696005,-0.10273449266089978,0.9935857237260152,0.04725498519265688,0.6
+1789729893488899010,12866,0.6467957191080363,-0.12644715065034776,-0.32458044038022915,-0.9932365821627791,-0.10643309270977407,0.04640138607664719,-0.10423338006142714,0.9934178502619699,0.04750133957959813,0.6
+1789729893522257743,12900,0.6467957191080363,-0.12519275065034777,-0.32427793425778023,-0.9930125102541683,-0.10851891075798814,0.046365941019407414,-0.10630422516610269,0.9931826252446168,0.0478297462260225,0.6
+1789729893555587448,12933,0.6467957191080363,-0.12425195065034778,-0.3240537954822701,-0.9928385498195198,-0.11011015694250943,0.046339694974931456,-0.1078845756982637,0.993000659764852,0.04806878439251667,0.6
+1789729893588923483,12966,0.6467957191080363,-0.12330794248708248,-0.32382652201288237,-0.9926610138155383,-0.1117098991009502,0.04631425367598604,-0.10947391494098035,0.9928156174099856,0.048297119731140384,0.6
+1789729893622260408,13000,0.6467957191080363,-0.12208526493606207,-0.32351928935982105,-0.9924088131642976,-0.11394245500895357,0.046280281982322286,-0.11169282528405171,0.9925538090794335,0.048596798886077326,0.6
+1789729893655594343,13033,0.6467957191080363,-0.12117617105851106,-0.32330434242104555,-0.9922119613636717,-0.11565431930625358,0.04625475275755702,-0.11339461426105585,0.9923499676332569,0.048818062178463774,0.6
+1789729893688904971,13066,0.6467957191080363,-0.12023854656871515,-0.32313947711492313,-0.9920200433338393,-0.11729853268662105,0.04623081065149427,-0.11502951697634317,0.992151701820726,0.049022553976984615,0.6
+1789729893722246825,13100,0.6467957191080363,-0.11896486493606208,-0.322973019972066,-0.9917576687914544,-0.11950723653489731,0.04620332032583989,-0.11722774376226547,0.9918829320180572,0.04925347971129212,0.6
+1789729893755580200,13133,0.6467757191080364,-0.117958889425858,-0.3228984975230864,-0.9915695632869814,-0.12106573986936008,0.04618319816501733,-0.11877869373066492,0.9916901285998667,0.04941974052154305,0.6
+1789729893788893057,13166,0.6467397272713018,-0.11690952616055188,-0.32285034242104566,-0.9913923788927754,-0.12251508894373889,0.04616496566045837,-0.12022128731664791,0.9915088539136051,0.04956848481502376,0.6
+1789729893822254150,13200,0.6466894170672203,-0.11551037514014371,-0.3227905138496171,-0.99114951715782,-0.1244645756165112,0.046164965660360054,-0.12217100749113263,0.9912705030624858,0.04956848481493041,0.6
+1789729893855591745,13233,0.6466475558427306,-0.1144542363646335,-0.3227780975230865,-0.9909606102800064,-0.12595977460706564,0.04616496566028626,-0.12366639162257866,0.9910850563378554,0.049568484814860474,0.6
+1789729893888895933,13266,0.6465972048223225,-0.11336736289524574,-0.3227780975230865,-0.9907694478204758,-0.12745468689342448,0.046164965660212394,-0.12516149426992834,0.99089735374825,0.04956848481479058,0.6
+1789729893922256886,13300,0.6465187395162001,-0.11189630167075594,-0.3227780975230865,-0.9905133812220444,-0.12942966261902483,0.04616496566011387,-0.12713672955003014,0.990645858676297,0.04956848481469747,0.6
+1789729893955583632,13333,0.6464542007406899,-0.1107358363646335,-0.3227780975230865,-0.9903286512700931,-0.13083561601936497,0.046164965660039886,-0.12854287331909245,0.9904643835252501,0.04956848481462769,0.6
+1789729893988913557,13366,0.6463921517610981,-0.10955769758912329,-0.3227780975230865,-0.9901442572934969,-0.13222384692000205,0.046164965659965786,-0.12993129675826492,0.9902832036523211,0.04956848481455793,0.6
+1789729894022248924,13400,0.6463063476794655,-0.10796637514014369,-0.3227780975230865,-0.9899034197562098,-0.13401498237355625,0.04616496565986697,-0.13172268734309917,0.9900465135296979,0.04956848481446502,0.6
+1789729894055584133,13433,0.6462375558427308,-0.10673389350749064,-0.3227780975230865,-0.9897352491605325,-0.13525136788502098,0.04616496565979282,-0.13295925338153194,0.9898812061320442,0.0495684848143954,0.6
+1789729894088981016,13466,0.6461687640059961,-0.105523289425858,-0.3227780975230865,-0.9895575606501734,-0.13654534084221046,0.0461649656597186,-0.13425341913818314,0.98970651445917,0.049568484814325846,0.6
+1789729894122254920,13500,0.6460770415570165,-0.10392124860953146,-0.3227780975230865,-0.9893172322643613,-0.13827584709713484,0.04616496565961958,-0.13598418941556858,0.9894701943677798,0.049568484814233156,0.6
+1789729894155583569,13533,0.6460047231896696,-0.10268511799728658,-0.3227780975230865,-0.9891460288668166,-0.13949526702602216,0.04616496565954527,-0.13720379964098928,0.9893018157656961,0.04956848481416371,0.6
+1789729894188903209,13566,0.6459204129855879,-0.10146359962993964,-0.3227780975230865,-0.9889744768280029,-0.1407063613645027,0.046164965659470876,-0.13841508645678152,0.98913306948782,0.04956848481409429,0.6
+1789729894222249396,13600,0.6458028619651796,-0.09985432616055187,-0.3227780975230865,-0.988738763196239,-0.14235327217468954,0.04616496565937166,-0.14006226457583046,0.9889011716825571,0.04956848481400182,0.6
+1789729894255589004,13633,0.6457146986998733,-0.09864737105851104,-0.3227780975230865,-0.9885601781370437,-0.14358819640671447,0.04616496565929715,-0.14129739345986,0.9887254481981843,0.04956848481393249,0.6
+1789729894288896275,13666,0.645631359924363,-0.09746923228300083,-0.3227780975230865,-0.98838005067119,-0.14482289660443656,0.04616496565922257,-0.14253230188382507,0.9885481820492898,0.049568484813863174,0.6
+1789729894322259241,13700,0.6455333762508937,-0.09587440779320491,-0.3227780975230865,-0.9881458320086185,-0.14641246746669817,0.04616496565912314,-0.14412214613973023,0.9883176474723828,0.049568484813770866,0.6
+1789729894355588390,13733,0.6454688374753835,-0.0946710690176947,-0.3227780975230865,-0.9879729676956626,-0.14757442545483446,0.04616496565904854,-0.14528430776654166,0.988147476457877,0.049568484813701706,0.6
+1789729894388894981,13766,0.6454034415570162,-0.0934677139156539,-0.3227780975230865,-0.9877963449916305,-0.14875206474829622,0.0461649656589739,-0.14646215671584673,0.9879735836364368,0.049568484813632574,0.6
+1789729894422259147,13800,0.6452872456386488,-0.09180714248708248,-0.32279537099247424,-0.9875689291194143,-0.15025447142647155,0.046164965658874305,-0.1479648356485064,0.9877496508350688,0.04956848481354045,0.6
+1789729894455604575,13833,0.6451671966590571,-0.09047761595647025,-0.32289061180880074,-0.9874238224527601,-0.15120512821496226,0.04616496565879954,-0.1489156674776599,0.9876067483026731,0.04956848481347139,0.6
+1789729894488896147,13866,0.6450402415570163,-0.08913282411973554,-0.32299623629859664,-0.9872821599817485,-0.15212735627592644,0.04616496565872469,-0.14983806739751587,0.9874672242013306,0.04956848481340235,0.6
+1789729894522259393,13900,0.6448625844141592,-0.08719978738504165,-0.3231685465026783,-0.987130820137901,-0.1531063025469988,0.04616496565862489,-0.1508171983098595,0.9873181543997239,0.04956848481331038,0.6
+1789729894555593022,13933,0.6446978660468122,-0.0856569057523886,-0.3233641220128824,-0.9870473340803714,-0.1536436013330102,0.04616496565855005,-0.15135459940600243,0.9872359143345465,0.04956848481324144,0.6
+1789729894588899743,13966,0.6445222905366081,-0.08413036697687838,-0.323589819972066,-0.9869626933996432,-0.15418637353240455,0.046164965658475186,-0.15189747565525263,0.9871525323894419,0.04956848481317253,0.6
+1789729894622260659,14000,0.6442807884957917,-0.08212207309932736,-0.323897101604719,-0.9868390284859347,-0.1549758942632624,0.046164965658375294,-0.15268714898974248,0.98703069853309,0.04956848481308065,0.6
+1789729894655659972,14033,0.6440996619651794,-0.08062393432381715,-0.32414037507410676,-0.9867458653239407,-0.15556796974916445,0.04616496565830035,-0.1532793398896469,0.9869389085836754,0.04956848481301176,0.6
+1789729894688957514,14066,0.6439227231896691,-0.07914190983402122,-0.3243852730332904,-0.9866505494347411,-0.15617134579012515,0.04616496565822532,-0.15388283440644074,0.9868449921788066,0.04956848481294286,0.6
+1789729894722259475,14100,0.6436868048223221,-0.07716587718095999,-0.3246973301761476,-0.9865189341231142,-0.1570006005159817,0.046164965658125334,-0.15471225337577293,0.9867153003621403,0.04956848481285105,0.6
+1789729894755609852,14133,0.6435192782917099,-0.07570765677279673,-0.32496284854349455,-0.9864153176514425,-0.15765029986776213,0.04616496565805029,-0.1553620825530686,0.9866131909812166,0.04956848481278224,0.6
+1789729894788897375,14166,0.6433892701284445,-0.07439590167075592,-0.32524159140063735,-0.9863074479711638,-0.15832376329031672,0.04616496565797526,-0.1560356816120465,0.9865068835934374,0.04956848481271343,0.6
+1789729894822250012,14200,0.6432604946182403,-0.07276478330340899,-0.3255981954822699,-0.9861625750533709,-0.1592236524826392,0.046164965657875194,-0.15693575373166901,0.9863640983501244,0.04956848481262177,0.6
+1789729894855595209,14233,0.6431915068631383,-0.07157136289524574,-0.3258667505843107,-0.9860658392154413,-0.15982164020607909,0.04616496565780005,-0.15753386408114595,0.986268749875535,0.049568484812553014,0.6
+1789729894888893751,14266,0.6431679313529343,-0.0707245139156539,-0.32604701997206575,-0.9859936430210559,-0.16026644024214287,0.04616496565772496,-0.1579787558833996,0.9861975856809465,0.049568484812484305,0.6
+1789729894922256827,14300,0.6431679313529343,-0.0698946445278988,-0.32627664446186166,-0.9859039361353779,-0.16081736429440474,0.04616496565762472,-0.15852979425097036,0.9861091570653568,0.04956848481239269,0.6
+1789729894955590406,14333,0.6431679313529343,-0.06946720779320494,-0.3264360811965556,-0.985847648874868,-0.1611620586668354,0.04616496565754956,-0.15887456051516427,0.9860536696014695,0.049568484812324086,0.6
+1789729894988896327,14366,0.6431679313529343,-0.0691791588136131,-0.3265189873190046,-0.9858265907275943,-0.16129082106633622,0.0461649656574744,-0.15900334984301331,0.9860329102277051,0.04956848481225541,0.6
+1789729895022249506,14400,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907275998,-0.16127570046477424,0.04621776123953291,-0.15900334984301812,0.9860490834895023,0.049245707307453,0.6
+1789729895055586518,14433,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.6
+1789729895088896882,14466,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.6
+1789729895122254812,14500,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.6
+1789729895155584524,14533,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.6
+1789729895188920176,14566,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.6
+1789729895222249848,14600,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.6
+1789729895255580251,14633,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.6
+1789729895288891605,14666,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.6
+1789729895322326178,14700,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.6
+1789729895355581847,14733,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895388915829,14766,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895422246381,14800,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895455580933,14833,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895488898836,14866,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895522323500,14900,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895555585268,14933,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895588903652,14966,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895622246993,15000,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895655576015,15033,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895688890619,15066,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895722305564,15100,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895755638816,15133,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895788895275,15166,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895822305840,15200,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895855657210,15233,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895888891691,15266,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895922300516,15300,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895955583073,15333,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729895988899447,15366,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896022262188,15400,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896055593493,15433,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896088899871,15466,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896122323159,15500,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896155591520,15533,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896188889558,15566,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896222251751,15600,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896255580057,15633,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896288886775,15666,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896322252797,15700,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896355576583,15733,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896388894380,15766,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896422251763,15800,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896455575510,15833,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896488892946,15866,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896522256609,15900,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896555585345,15933,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896588988554,15966,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896622263145,16000,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896655581481,16033,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896688892149,16066,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896722244992,16100,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896755577818,16133,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896788887885,16166,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896822245508,16200,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896855582653,16233,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896888893681,16266,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896922247874,16300,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896955584149,16333,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729896988917785,16366,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897022245603,16400,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897055584321,16433,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897088898441,16466,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897122257848,16500,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897155586387,16533,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897188893478,16566,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897222247955,16600,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897255582943,16633,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897288895684,16666,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897322308316,16700,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897355640044,16733,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897388896790,16766,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897422246667,16800,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897455580206,16833,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897488898816,16866,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897522246383,16900,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897555581042,16933,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897588896402,16966,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897622251209,17000,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897655587987,17033,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897688909047,17066,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897722252675,17100,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897755584544,17133,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897788895234,17166,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897822246351,17200,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897855582140,17233,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897888903500,17266,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897922247567,17300,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897955581926,17333,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729897988908685,17366,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729898022258864,17400,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729898055586537,17433,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
+1789729898088908130,17466,0.6431679313529343,-0.06911228534422535,-0.3265189873190046,-0.9858265907276023,-0.16127311767768618,0.04622677285850626,-0.15900334984302053,0.9860518336796544,0.04919060922258497,0.8
diff --git a/episode_0011/right.actions.joint_position/data.csv b/episode_0011/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..990e6eea1551aaa0a71dad3402bd64a63a2c314d
--- /dev/null
+++ b/episode_0011/right.actions.joint_position/data.csv
@@ -0,0 +1,526 @@
+timestamp_ns,elapsed_ms,j1,j2,j3,j4,j5,j6,j7,gripper
+1789729880622232203,0,0.014844095334410667,-1.6885490417480469,-0.028051020577549934,0.7525492310523987,1.6125670671463013,-0.056351035833358765,-0.9192418456077576,0.8
+1789729880655620396,33,0.015318071469664574,-1.6883333921432495,-0.029134143143892288,0.7528497576713562,1.613714575767517,-0.05677548795938492,-0.9192953109741211,0.8
+1789729880688995631,66,0.01576407067477703,-1.6881096363067627,-0.03015594184398651,0.7531745433807373,1.6147890090942383,-0.0571756586432457,-0.9193547368049622,0.8
+1789729880722364587,100,0.016310255974531174,-1.6878108978271484,-0.0314192958176136,0.7536031603813171,1.6161190271377563,-0.057658907026052475,-0.9194445610046387,0.8
+1789729880755624062,133,0.016698073595762253,-1.6875866651535034,-0.032305359840393066,0.7539180517196655,1.617047905921936,-0.057974182069301605,-0.9194943308830261,0.8
+1789729880788926453,166,0.01707655005156994,-1.68736732006073,-0.03319033980369568,0.7542223334312439,1.6179630756378174,-0.058322060853242874,-0.919558584690094,0.8
+1789729880822285489,200,0.01756361871957779,-1.6870859861373901,-0.034304775297641754,0.7546153664588928,1.6191400289535522,-0.05874801427125931,-0.919636607170105,0.8
+1789729880855622638,233,0.01792689971625805,-1.686887502670288,-0.03512262552976608,0.75489342212677,1.6199898719787598,-0.059062324464321136,-0.9196957349777222,0.8
+1789729880889015611,266,0.018288210034370422,-1.6866965293884277,-0.03592684864997864,0.7551596760749817,1.620833396911621,-0.05936158820986748,-0.9197383522987366,0.8
+1789729880922288895,300,0.018762173131108284,-1.6864573955535889,-0.03701503947377205,0.7554961442947388,1.6219717264175415,-0.05977550521492958,-0.9197933077812195,0.8
+1789729880955611794,333,0.019128946587443352,-1.6862863302230835,-0.03784116730093956,0.7557274103164673,1.622839331626892,-0.06009857356548309,-0.9198203682899475,0.8
+1789729880988924525,366,0.019493406638503075,-1.6861298084259033,-0.03868919983506203,0.7559296488761902,1.6237149238586426,-0.06043741852045059,-0.919840931892395,0.8
+1789729881022362116,400,0.019998542964458466,-1.685930609703064,-0.03988349065184593,0.7561789155006409,1.6249209642410278,-0.06093432009220123,-0.919849693775177,0.8
+1789729881055621465,433,0.020375890657305717,-1.6857892274856567,-0.0408037044107914,0.7563567757606506,1.6258721351623535,-0.06133587658405304,-0.9198530912399292,0.8
+1789729881089020002,466,0.02077176421880722,-1.6856440305709839,-0.04174770414829254,0.7565346360206604,1.6268354654312134,-0.06173649802803993,-0.9198558926582336,0.8
+1789729881122367913,500,0.02130032703280449,-1.68545663356781,-0.04301995038986206,0.7567747235298157,1.6281278133392334,-0.062266767024993896,-0.9198582768440247,0.8
+1789729881155628731,533,0.021694475784897804,-1.6853151321411133,-0.043962512165308,0.7569575309753418,1.6290947198867798,-0.06266878545284271,-0.9198597073554993,0.8
+1789729881188922837,566,0.022101566195487976,-1.6851691007614136,-0.04491446539759636,0.7571430802345276,1.6300655603408813,-0.06307000666856766,-0.9198598265647888,0.8
+1789729881222287057,600,0.022646211087703705,-1.684977650642395,-0.04618632793426514,0.7573922872543335,1.6313989162445068,-0.06359542161226273,-0.9198579788208008,0.8
+1789729881255622839,633,0.02304387278854847,-1.684838056564331,-0.04709041118621826,0.7575733065605164,1.6323260068893433,-0.06396222114562988,-0.9198572039604187,0.8
+1789729881288926114,666,0.0234253890812397,-1.6847046613693237,-0.04793756827712059,0.7577546834945679,1.6332323551177979,-0.06430990248918533,-0.9198601841926575,0.8
+1789729881322291563,700,0.023921871557831764,-1.684543490409851,-0.0490340031683445,0.7579652070999146,1.6343867778778076,-0.06474518775939941,-0.9198625683784485,0.8
+1789729881355622746,733,0.024273743852972984,-1.684430718421936,-0.04982313886284828,0.7581114768981934,1.6352299451828003,-0.06507369875907898,-0.9198623895645142,0.8
+1789729881388934600,766,0.02460278384387493,-1.6843260526657104,-0.05056073144078255,0.7582517266273499,1.6360169649124146,-0.06536749750375748,-0.91986083984375,0.8
+1789729881422291420,800,0.025025855749845505,-1.6841851472854614,-0.05151580274105072,0.7584489583969116,1.6370298862457275,-0.06577500700950623,-0.9198611974716187,0.8
+1789729881455617243,833,0.025329792872071266,-1.6840757131576538,-0.05218088626861572,0.7586039304733276,1.6377454996109009,-0.06604216247797012,-0.9198635816574097,0.8
+1789729881488932607,866,0.025618530809879303,-1.6839666366577148,-0.052828285843133926,0.7587570548057556,1.6384254693984985,-0.06630727648735046,-0.9198665618896484,0.8
+1789729881522293537,900,0.0260042492300272,-1.6838183403015137,-0.05369361862540245,0.7589564919471741,1.6393462419509888,-0.06665442883968353,-0.9198704361915588,0.8
+1789729881555615411,933,0.026279734447598457,-1.6837109327316284,-0.05429454147815704,0.7591087222099304,1.6399909257888794,-0.06689644604921341,-0.9198749661445618,0.8
+1789729881588922015,966,0.026551075279712677,-1.683608055114746,-0.05487475171685219,0.7592576146125793,1.6406294107437134,-0.06713168323040009,-0.9198843240737915,0.8
+1789729881622250078,1000,0.026912134140729904,-1.6834654808044434,-0.05564919486641884,0.7594557404518127,1.641452431678772,-0.0674331858754158,-0.9199039936065674,0.8
+1789729881655582400,1033,0.027155356481671333,-1.6833683252334595,-0.05620649829506874,0.7595968246459961,1.642045021057129,-0.06765446066856384,-0.9199174046516418,0.8
+1789729881688898134,1066,0.027385912835597992,-1.6832846403121948,-0.056754082441329956,0.7597124576568604,1.6426211595535278,-0.06789778918027878,-0.9199232459068298,0.8
+1789729881722246815,1100,0.02770085446536541,-1.683200716972351,-0.05748746171593666,0.7598269581794739,1.6434112787246704,-0.06822367012500763,-0.9199216365814209,0.8
+1789729881755585917,1133,0.027942080050706863,-1.6831417083740234,-0.058041512966156006,0.7599117755889893,1.6440038681030273,-0.06846063584089279,-0.9199202656745911,0.8
+1789729881788917010,1166,0.02817940153181553,-1.6830815076828003,-0.05861060321331024,0.7600061297416687,1.6446095705032349,-0.06870881468057632,-0.9199178814888,0.8
+1789729881822258981,1200,0.028505973517894745,-1.6829969882965088,-0.05944366753101349,0.7601408958435059,1.6454756259918213,-0.06909186393022537,-0.9199168086051941,0.8
+1789729881855586094,1233,0.028741072863340378,-1.6829254627227783,-0.060064543038606644,0.7602505087852478,1.6461215019226074,-0.06938911229372025,-0.919916570186615,0.8
+1789729881888894999,1266,0.028984401375055313,-1.6828560829162598,-0.060668911784887314,0.7603598833084106,1.6467660665512085,-0.069667749106884,-0.9199169278144836,0.8
+1789729881922255938,1300,0.02934117056429386,-1.6827747821807861,-0.061503924429416656,0.7604841589927673,1.6476448774337769,-0.07002416998147964,-0.9199158549308777,0.8
+1789729881955591661,1333,0.029607845470309258,-1.6827625036239624,-0.06214381381869316,0.7605240345001221,1.6483242511749268,-0.07028650492429733,-0.9199121594429016,0.8
+1789729881988895345,1366,0.02989647351205349,-1.6827996969223022,-0.06280142813920975,0.7605221271514893,1.6490111351013184,-0.07052449882030487,-0.919908344745636,0.8
+1789729882022257598,1400,0.030382702127099037,-1.6828742027282715,-0.06363946199417114,0.7605202794075012,1.6498377323150635,-0.07061826437711716,-0.9199124574661255,0.8
+1789729882055590154,1433,0.030878691002726555,-1.682953119277954,-0.06431367993354797,0.7605176568031311,1.6504462957382202,-0.07052350789308548,-0.9199195504188538,0.8
+1789729882088918920,1466,0.0315047949552536,-1.6831626892089844,-0.06508616358041763,0.7604003548622131,1.6511982679367065,-0.07022183388471603,-0.9199491143226624,0.8
+1789729882122260125,1500,0.032469380646944046,-1.683843970298767,-0.06622922420501709,0.7597922682762146,1.6523975133895874,-0.06975846737623215,-0.9200169444084167,0.8
+1789729882155594362,1533,0.03324636444449425,-1.6845649480819702,-0.0670812651515007,0.7591558694839478,1.6533511877059937,-0.06933320313692093,-0.9200173616409302,0.8
+1789729882188905939,1566,0.03402695059776306,-1.6855061054229736,-0.06790625303983688,0.7583025097846985,1.6543428897857666,-0.06888595223426819,-0.9200576543807983,0.8
+1789729882222256124,1600,0.035112760961055756,-1.6871776580810547,-0.06901353597640991,0.7567176222801208,1.6557722091674805,-0.06830097734928131,-0.9200922846794128,0.8
+1789729882255587820,1633,0.03595823049545288,-1.6886829137802124,-0.06981268525123596,0.7552892565727234,1.6568310260772705,-0.0678054466843605,-0.9201134443283081,0.8
+1789729882288898828,1666,0.03687232732772827,-1.6903434991836548,-0.07058951258659363,0.7536696195602417,1.6578763723373413,-0.06719543039798737,-0.920131504535675,0.8
+1789729882322244433,1700,0.03823734447360039,-1.6928836107254028,-0.07160266488790512,0.7511551976203918,1.659297227859497,-0.0661572515964508,-0.9201355576515198,0.8
+1789729882355590558,1733,0.03939443826675415,-1.6949355602264404,-0.07238851487636566,0.7490473985671997,1.660308837890625,-0.06517869979143143,-0.9201211333274841,0.8
+1789729882388901966,1766,0.04062086343765259,-1.6970574855804443,-0.07322876155376434,0.7468551993370056,1.661392331123352,-0.06418552994728088,-0.9200329184532166,0.8
+1789729882422246211,1800,0.04234172776341438,-1.7001177072525024,-0.07451923936605453,0.743669867515564,1.663051724433899,-0.0629388839006424,-0.919830858707428,0.8
+1789729882455588076,1833,0.04367908090353012,-1.7026633024215698,-0.07563678920269012,0.7409875392913818,1.664476752281189,-0.062049444764852524,-0.919651448726654,0.8
+1789729882488905654,1866,0.045030660927295685,-1.7054702043533325,-0.07684816420078278,0.7381022572517395,1.66608464717865,-0.061235249042510986,-0.9194695949554443,0.8
+1789729882522259658,1900,0.04680247604846954,-1.7096329927444458,-0.0785849392414093,0.733883261680603,1.6684486865997314,-0.060323186218738556,-0.9193083643913269,0.8
+1789729882555592364,1933,0.048078298568725586,-1.7131328582763672,-0.07993797957897186,0.7302300930023193,1.6703706979751587,-0.059792183339595795,-0.9191126823425293,0.8
+1789729882588909342,1966,0.049318600445985794,-1.7168155908584595,-0.08130234479904175,0.7261079549789429,1.6721490621566772,-0.05927266925573349,-0.9186350703239441,0.8
+1789729882622255187,2000,0.05096415430307388,-1.7219258546829224,-0.08312536031007767,0.7201388478279114,1.6744059324264526,-0.058543648570775986,-0.9176174402236938,0.8
+1789729882655592782,2033,0.052188992500305176,-1.726014494895935,-0.08445657789707184,0.7155664563179016,1.676166296005249,-0.05802616477012634,-0.916969895362854,0.8
+1789729882688898851,2066,0.053387921303510666,-1.7304118871688843,-0.08565808832645416,0.7109100818634033,1.6779944896697998,-0.0574713796377182,-0.9166144728660583,0.8
+1789729882722260335,2100,0.054944176226854324,-1.7364741563796997,-0.08703633397817612,0.7043468356132507,1.6802289485931396,-0.05664525553584099,-0.9161608219146729,0.8
+1789729882755589241,2133,0.05613246187567711,-1.7408992052078247,-0.08798648416996002,0.6991691589355469,1.6815345287322998,-0.055907100439071655,-0.9153597950935364,0.8
+1789729882788897309,2166,0.05736178904771805,-1.745262622833252,-0.08892909437417984,0.6941601037979126,1.6827269792556763,-0.055081356316804886,-0.9145496487617493,0.8
+1789729882822259993,2200,0.05899249389767647,-1.7512162923812866,-0.09005764126777649,0.6878464818000793,1.6845896244049072,-0.05388651043176651,-0.9141387939453125,0.8
+1789729882855586449,2233,0.060223538428545,-1.755529761314392,-0.09081578254699707,0.6831326484680176,1.685855746269226,-0.05289657786488533,-0.9138031005859375,0.8
+1789729882888896758,2266,0.061511799693107605,-1.7595542669296265,-0.09155173599720001,0.6785287261009216,1.686838984489441,-0.05177442729473114,-0.9131840467453003,0.8
+1789729882922258371,2300,0.06332755833864212,-1.7647477388381958,-0.09255149960517883,0.6730607151985168,1.688352108001709,-0.050139062106609344,-0.9127240777015686,0.8
+1789729882955588257,2333,0.06471481174230576,-1.7687182426452637,-0.0932355746626854,0.6692352294921875,1.6897568702697754,-0.04888308048248291,-0.9127616882324219,0.8
+1789729882988906325,2366,0.06612890958786011,-1.772749900817871,-0.09381857514381409,0.6652973294258118,1.6910697221755981,-0.04753374308347702,-0.9128645658493042,0.8
+1789729883022260351,2400,0.06806999444961548,-1.7780543565750122,-0.09453096240758896,0.6598267555236816,1.692673921585083,-0.045655928552150726,-0.9128543734550476,0.8
+1789729883055586582,2433,0.06955598294734955,-1.7819403409957886,-0.09500425308942795,0.6559164524078369,1.693750262260437,-0.044138725847005844,-0.9126720428466797,0.8
+1789729883088913962,2466,0.07102075964212418,-1.7859675884246826,-0.0953962430357933,0.6522024869918823,1.6949766874313354,-0.04262114688754082,-0.9127272367477417,0.8
+1789729883122269380,2500,0.07291606813669205,-1.7915867567062378,-0.09577517211437225,0.6470126509666443,1.6966519355773926,-0.04063603654503822,-0.913310170173645,0.8
+1789729883155600100,2533,0.07435911148786545,-1.7957842350006104,-0.0959949716925621,0.6428064107894897,1.6976909637451172,-0.03908214345574379,-0.9133766293525696,0.8
+1789729883188918861,2566,0.07588355243206024,-1.799817681312561,-0.0962311327457428,0.6386316418647766,1.698583960533142,-0.03741734102368355,-0.9132962822914124,0.8
+1789729883222262340,2600,0.07802687585353851,-1.8051797151565552,-0.09656625241041183,0.6334406733512878,1.7000257968902588,-0.035034604370594025,-0.9131949543952942,0.8
+1789729883255585181,2633,0.07966484874486923,-1.8094053268432617,-0.09687214344739914,0.6293226480484009,1.7014222145080566,-0.03325456753373146,-0.9132827520370483,0.8
+1789729883288899552,2666,0.08134707808494568,-1.8137550354003906,-0.0972784236073494,0.6247169375419617,1.7028141021728516,-0.03149678185582161,-0.9132705330848694,0.8
+1789729883322261369,2700,0.08367180824279785,-1.8194143772125244,-0.098074771463871,0.6180257797241211,1.7045978307724,-0.029068177565932274,-0.9122365117073059,0.8
+1789729883355583800,2733,0.08547261357307434,-1.823691487312317,-0.09885960817337036,0.6130170822143555,1.706112027168274,-0.027282651513814926,-0.9113151431083679,0.8
+1789729883388892932,2766,0.08720691502094269,-1.8281538486480713,-0.09967150539159775,0.6080031991004944,1.7079436779022217,-0.025586871430277824,-0.9107735753059387,0.8
+1789729883422255989,2800,0.08944743871688843,-1.8340859413146973,-0.10074888914823532,0.601029634475708,1.7102510929107666,-0.02335198037326336,-0.9097805023193359,0.8
+1789729883455598568,2833,0.09114544093608856,-1.8383444547653198,-0.10162734985351562,0.5957313776016235,1.7116507291793823,-0.021567916497588158,-0.9086276888847351,0.8
+1789729883488921979,2866,0.09281568229198456,-1.8427038192749023,-0.10260163247585297,0.5904695987701416,1.7132822275161743,-0.01982620730996132,-0.9076223969459534,0.8
+1789729883522267987,2900,0.09500087052583694,-1.8487739562988281,-0.103884756565094,0.5831096768379211,1.7156310081481934,-0.017513619735836983,-0.9063378572463989,0.8
+1789729883555591258,2933,0.09663382172584534,-1.8534014225006104,-0.10493425279855728,0.5771729350090027,1.7173833847045898,-0.015811936929821968,-0.9049204587936401,0.8
+1789729883588900180,2966,0.09824591130018234,-1.8581295013427734,-0.10613635927438736,0.5710346102714539,1.7191741466522217,-0.014204130508005619,-0.9034836292266846,0.8
+1789729883622262707,3000,0.10023479908704758,-1.8647795915603638,-0.10785456746816635,0.5624393224716187,1.721998691558838,-0.012356161139905453,-0.9014981389045715,0.8
+1789729883655590457,3033,0.10165254026651382,-1.8700473308563232,-0.10926399379968643,0.5555659532546997,1.7242130041122437,-0.011159149929881096,-0.8998008966445923,0.8
+1789729883688901439,3066,0.1029629111289978,-1.875641107559204,-0.11079178005456924,0.5482308864593506,1.7266325950622559,-0.010093295946717262,-0.8980503082275391,0.8
+1789729883722257097,3100,0.10455678403377533,-1.8835017681121826,-0.11295195668935776,0.5376260876655579,1.7297942638397217,-0.008901332505047321,-0.8952714204788208,0.8
+1789729883755587307,3133,0.10568056255578995,-1.889782190322876,-0.11462078243494034,0.529456615447998,1.732438564300537,-0.00807864312082529,-0.893192708492279,0.8
+1789729883788904018,3166,0.10670722275972366,-1.8961975574493408,-0.11627756059169769,0.5207390785217285,1.7351356744766235,-0.007341744378209114,-0.8910903930664062,0.8
+1789729883822255756,3200,0.1081332340836525,-1.9047486782073975,-0.11866214871406555,0.5088945031166077,1.738386631011963,-0.006224237382411957,-0.8875423669815063,0.8
+1789729883855586256,3233,0.10914373397827148,-1.9114090204238892,-0.12047236412763596,0.4997711181640625,1.7413123846054077,-0.005480863619595766,-0.8852276802062988,0.8
+1789729883888892978,3266,0.11018400639295578,-1.9178812503814697,-0.12231780588626862,0.4904516935348511,1.743811845779419,-0.004645368549972773,-0.8823778629302979,0.8
+1789729883922263835,3300,0.11162789911031723,-1.9266468286514282,-0.12485729157924652,0.47782501578330994,1.7473206520080566,-0.003397849388420582,-0.8783165216445923,0.8
+1789729883955586305,3333,0.11267617344856262,-1.9332711696624756,-0.1265837699174881,0.46856316924095154,1.7500766515731812,-0.0023961965925991535,-0.8756788372993469,0.8
+1789729883988997298,3366,0.11371532827615738,-1.9395378828048706,-0.12812654674053192,0.4593031108379364,1.7524396181106567,-0.0012581070186570287,-0.8727472424507141,0.8
+1789729884022255347,3400,0.1152430921792984,-1.9475672245025635,-0.13006122410297394,0.4476104974746704,1.7555047273635864,0.00044613314094021916,-0.8689603805541992,0.8
+1789729884055586041,3433,0.11643686145544052,-1.9531089067459106,-0.1312863975763321,0.4392011761665344,1.7576329708099365,0.001878830953501165,-0.866216778755188,0.8
+1789729884088908095,3466,0.11778715252876282,-1.9581432342529297,-0.13252580165863037,0.4313344955444336,1.7593902349472046,0.0034901804756373167,-0.8633008003234863,0.8
+1789729884122260247,3500,0.11973609775304794,-1.9644343852996826,-0.13405446708202362,0.42163440585136414,1.7620949745178223,0.005747012794017792,-0.8599306344985962,0.8
+1789729884155586291,3533,0.12135394662618637,-1.9689087867736816,-0.13516810536384583,0.4147930145263672,1.7641513347625732,0.007539928890764713,-0.8575051426887512,0.8
+1789729884188895576,3566,0.12309983372688293,-1.9731746912002563,-0.13633419573307037,0.40807849168777466,1.7662923336029053,0.009438949637115002,-0.8551162481307983,0.8
+1789729884222260827,3600,0.12564705312252045,-1.9784281253814697,-0.13806229829788208,0.3992983400821686,1.7689878940582275,0.011963671073317528,-0.85154128074646,0.8
+1789729884255588311,3633,0.12766341865062714,-1.9824774265289307,-0.13946741819381714,0.39290928840637207,1.7713621854782104,0.013910630717873573,-0.8491180539131165,0.8
+1789729884288893647,3666,0.12968815863132477,-1.9866604804992676,-0.14095543324947357,0.386297345161438,1.7739677429199219,0.015802806243300438,-0.8468538522720337,0.8
+1789729884322260537,3700,0.13242757320404053,-1.991976022720337,-0.1430879533290863,0.3773016035556793,1.7770508527755737,0.018385516479611397,-0.8431077003479004,0.8
+1789729884355584632,3733,0.13450202345848083,-1.9958739280700684,-0.14486739039421082,0.3706812858581543,1.7794873714447021,0.020328717306256294,-0.8403897881507874,0.8
+1789729884388898737,3766,0.1365751177072525,-1.9996553659439087,-0.14662382006645203,0.3643060028553009,1.7819883823394775,0.022232558578252792,-0.8377657532691956,0.8
+1789729884422256688,3800,0.13955123722553253,-2.004425525665283,-0.14948534965515137,0.35631585121154785,1.7858729362487793,0.02480679750442505,-0.8345123529434204,0.8
+1789729884455583422,3833,0.14178453385829926,-2.0079538822174072,-0.152064710855484,0.3504793643951416,1.7894045114517212,0.026556316763162613,-0.8322527408599854,0.8
+1789729884488889648,3866,0.1439545452594757,-2.0112454891204834,-0.1549328714609146,0.3445481061935425,1.7928825616836548,0.028126556426286697,-0.8295729756355286,0.8
+1789729884522262608,3900,0.14673298597335815,-2.015434980392456,-0.15912361443042755,0.33692076802253723,1.7975481748580933,0.030035851523280144,-0.8259315490722656,0.8
+1789729884555587272,3933,0.14862394332885742,-2.0187454223632812,-0.16244903206825256,0.33134832978248596,1.8014492988586426,0.031233157962560654,-0.8235421776771545,0.8
+1789729884588893528,3966,0.15036560595035553,-2.022183656692505,-0.16577449440956116,0.3256654143333435,1.8053474426269531,0.03231734409928322,-0.8212502002716064,0.8
+1789729884622257529,4000,0.15259383618831635,-2.0269434452056885,-0.1699703484773636,0.31796181201934814,1.8103759288787842,0.033864252269268036,-0.8181061148643494,0.8
+1789729884655586083,4033,0.15421287715435028,-2.0306553840637207,-0.1729736030101776,0.3117925822734833,1.8140578269958496,0.03514911234378815,-0.8157433271408081,0.8
+1789729884688892379,4066,0.1558535099029541,-2.0342936515808105,-0.17605705559253693,0.30528634786605835,1.8174203634262085,0.03653421998023987,-0.8128275871276855,0.8
+1789729884722306724,4100,0.15802140533924103,-2.0393054485321045,-0.18042679131031036,0.29668882489204407,1.8221697807312012,0.0384083092212677,-0.8089999556541443,0.8
+1789729884755589602,4133,0.1594729721546173,-2.043426036834717,-0.18381881713867188,0.29016050696372986,1.8263167142868042,0.03968752175569534,-0.8066107630729675,0.8
+1789729884788897618,4166,0.16084709763526917,-2.0475192070007324,-0.18726149201393127,0.2834564745426178,1.8303219079971313,0.04092298075556755,-0.8039945960044861,0.8
+1789729884822254469,4200,0.16268183290958405,-2.0528385639190674,-0.1918695569038391,0.2746419608592987,1.83551824092865,0.04276968538761139,-0.8004047870635986,0.8
+1789729884855585213,4233,0.16404686868190765,-2.0566391944885254,-0.19529221951961517,0.26825958490371704,1.839484691619873,0.04419434443116188,-0.797821044921875,0.8
+1789729884888905228,4266,0.16546766459941864,-2.060181140899658,-0.19879372417926788,0.2622818052768707,1.8433451652526855,0.045597635209560394,-0.795301079750061,0.8
+1789729884922252330,4300,0.16725090146064758,-2.064862012863159,-0.20357848703861237,0.2548021972179413,1.8489751815795898,0.0473407581448555,-0.7924575805664062,0.8
+1789729884955585723,4333,0.1685333102941513,-2.068190336227417,-0.20709969103336334,0.24928532540798187,1.853088617324829,0.04858890548348427,-0.7903685569763184,0.8
+1789729884988891349,4366,0.169891357421875,-2.0710737705230713,-0.21043142676353455,0.2441922128200531,1.8567430973052979,0.049925144761800766,-0.7881066203117371,0.8
+1789729885022261712,4400,0.17186053097248077,-2.0743772983551025,-0.21427315473556519,0.2386757880449295,1.8613280057907104,0.051881786435842514,-0.7857992053031921,0.8
+1789729885055586890,4433,0.1734016388654709,-2.076587677001953,-0.21677209436893463,0.23518334329128265,1.864560842514038,0.05336526036262512,-0.784580647945404,0.8
+1789729885088903868,4466,0.17498306930065155,-2.0785257816314697,-0.21904954314231873,0.23210787773132324,1.8675603866577148,0.054842475801706314,-0.7834595441818237,0.8
+1789729885122261143,4500,0.17717649042606354,-2.0804951190948486,-0.22164982557296753,0.22887399792671204,1.871113657951355,0.056778084486722946,-0.7822088003158569,0.8
+1789729885155582231,4533,0.1788722574710846,-2.0813889503479004,-0.22317899763584137,0.22730357944965363,1.8733587265014648,0.058222416788339615,-0.7815268635749817,0.8
+1789729885188900090,4566,0.18057911098003387,-2.081878423690796,-0.22436290979385376,0.2264060080051422,1.8753551244735718,0.059613943099975586,-0.7810918092727661,0.8
+1789729885222260605,4600,0.1828564554452896,-2.0822665691375732,-0.22563615441322327,0.22568462789058685,1.8777759075164795,0.061497725546360016,-0.7807653546333313,0.8
+1789729885255611890,4633,0.18454402685165405,-2.082437515258789,-0.2263406217098236,0.22543732821941376,1.8794056177139282,0.06291677802801132,-0.7806763648986816,0.8
+1789729885288920989,4666,0.18618495762348175,-2.0825135707855225,-0.2268248200416565,0.22537893056869507,1.8809117078781128,0.0643562376499176,-0.7806723117828369,0.8
+1789729885322283504,4700,0.18825575709342957,-2.082526922225952,-0.22721092402935028,0.22538398206233978,1.8825936317443848,0.06614144891500473,-0.7806983590126038,0.8
+1789729885355678035,4733,0.189730703830719,-2.0825397968292236,-0.22741428017616272,0.22537490725517273,1.8837664127349854,0.067422054708004,-0.780724823474884,0.8
+1789729885388929960,4766,0.1911657452583313,-2.0826351642608643,-0.22762741148471832,0.22525547444820404,1.8849868774414062,0.06866002827882767,-0.7807601094245911,0.8
+1789729885422327081,4800,0.1930922120809555,-2.083041191101074,-0.22802671790122986,0.22465179860591888,1.886805772781372,0.0703844428062439,-0.7807629704475403,0.8
+1789729885455681356,4833,0.19460181891918182,-2.08354115486145,-0.22838599979877472,0.22396819293498993,1.88834547996521,0.07178393006324768,-0.7807174921035767,0.8
+1789729885489017743,4866,0.196176677942276,-2.0842347145080566,-0.22878222167491913,0.22304998338222504,1.8900434970855713,0.07325603067874908,-0.7805435657501221,0.8
+1789729885522263578,4900,0.1983359307050705,-2.0853207111358643,-0.22933784127235413,0.22159811854362488,1.8924758434295654,0.0752962976694107,-0.7803714275360107,0.8
+1789729885555587456,4933,0.19996492564678192,-2.086038589477539,-0.229751318693161,0.2205791175365448,1.8942588567733765,0.07679794728755951,-0.7802082300186157,0.8
+1789729885588896115,4966,0.2015874981880188,-2.086615800857544,-0.2301810085773468,0.2196965366601944,1.8960130214691162,0.07824991643428802,-0.7800533175468445,0.8
+1789729885622251050,5000,0.20368070900440216,-2.0872652530670166,-0.23076260089874268,0.21870778501033783,1.898262619972229,0.08008651435375214,-0.7798448801040649,0.8
+1789729885655581958,5033,0.20522071421146393,-2.0876893997192383,-0.23118215799331665,0.21807609498500824,1.8998854160308838,0.08144073188304901,-0.7797319293022156,0.8
+1789729885688916625,5066,0.20674169063568115,-2.0880374908447266,-0.2315525859594345,0.21761009097099304,1.901437759399414,0.08277641236782074,-0.7796862721443176,0.8
+1789729885722282259,5100,0.2087501436471939,-2.0884530544281006,-0.23206932842731476,0.21707461774349213,1.903574824333191,0.08448634296655655,-0.7796874046325684,0.8
+1789729885755614516,5133,0.21020671725273132,-2.088719129562378,-0.23243190348148346,0.21671456098556519,1.9051085710525513,0.08570997416973114,-0.7796843647956848,0.8
+1789729885788921645,5166,0.21161623299121857,-2.088930130004883,-0.2327786237001419,0.21639564633369446,1.9066168069839478,0.08681895583868027,-0.7796716094017029,0.8
+1789729885822287190,5200,0.21346770226955414,-2.0891098976135254,-0.2332935631275177,0.2160947471857071,1.9086055755615234,0.08827126026153564,-0.7796558141708374,0.8
+1789729885855613298,5233,0.2148337960243225,-2.0892083644866943,-0.23371320962905884,0.2159026563167572,1.9101513624191284,0.08928152173757553,-0.77964848279953,0.8
+1789729885888922457,5266,0.21626761555671692,-2.0892584323883057,-0.23411959409713745,0.21576055884361267,1.9117121696472168,0.09030420333147049,-0.7796387076377869,0.8
+1789729885922289311,5300,0.2183658927679062,-2.0892975330352783,-0.23462313413619995,0.21555034816265106,1.9138038158416748,0.09194271266460419,-0.7795932292938232,0.8
+1789729885955614159,5333,0.22006863355636597,-2.089402914047241,-0.23507124185562134,0.2152089625597,1.915552020072937,0.09325134754180908,-0.7794743776321411,0.8
+1789729885988943266,5366,0.22184327244758606,-2.0895609855651855,-0.23554669320583344,0.2147684395313263,1.9173862934112549,0.09462158381938934,-0.7792995572090149,0.8
+1789729886022326811,5400,0.2242652326822281,-2.0898077487945557,-0.23614631593227386,0.21415027976036072,1.9199146032333374,0.09650275111198425,-0.7791247963905334,0.8
+1789729886055624125,5433,0.22604775428771973,-2.0900673866271973,-0.23657852411270142,0.21359650790691376,1.9218546152114868,0.0978221744298935,-0.7789830565452576,0.8
+1789729886088925888,5466,0.2278042882680893,-2.0903913974761963,-0.2369745671749115,0.21295975148677826,1.9237982034683228,0.09915565699338913,-0.7788582444190979,0.8
+1789729886122285867,5500,0.23017211258411407,-2.090790033340454,-0.23739466071128845,0.21221165359020233,1.9262608289718628,0.10101351886987686,-0.778722882270813,0.8
+1789729886155587210,5533,0.2320241928100586,-2.0910162925720215,-0.23757663369178772,0.2117401510477066,1.927939772605896,0.10254532843828201,-0.7786496877670288,0.8
+1789729886188922311,5566,0.2339295744895935,-2.091200113296509,-0.237699955701828,0.21129709482192993,1.9295669794082642,0.10412390530109406,-0.7785682678222656,0.8
+1789729886222262641,5600,0.23648212850093842,-2.0913963317871094,-0.2378205507993698,0.21072429418563843,1.9316574335098267,0.10629401355981827,-0.7784414291381836,0.8
+1789729886255585452,5633,0.23831194639205933,-2.0915191173553467,-0.23796305060386658,0.21035027503967285,1.9332287311553955,0.10783739387989044,-0.7783495783805847,0.8
+1789729886288894315,5666,0.24002736806869507,-2.0916836261749268,-0.23817773163318634,0.20993457734584808,1.9348610639572144,0.10925654321908951,-0.7782777547836304,0.8
+1789729886322248164,5700,0.24218404293060303,-2.0919675827026367,-0.2384652942419052,0.20933419466018677,1.9369996786117554,0.1110498458147049,-0.7781756520271301,0.8
+1789729886355661318,5733,0.24377256631851196,-2.092226028442383,-0.23860745131969452,0.20884430408477783,1.93860924243927,0.11237559467554092,-0.7781476378440857,0.8
+1789729886388900597,5766,0.24538180232048035,-2.092484474182129,-0.23866647481918335,0.20833125710487366,1.9401146173477173,0.11376126110553741,-0.7781057953834534,0.8
+1789729886422248076,5800,0.2475646585226059,-2.0928494930267334,-0.2386913150548935,0.20758317410945892,1.9420197010040283,0.11571653932332993,-0.7780036926269531,0.8
+1789729886455585567,5833,0.24918173253536224,-2.093177318572998,-0.23870445787906647,0.20692089200019836,1.9434456825256348,0.11717953532934189,-0.7778974771499634,0.8
+1789729886488894860,5866,0.2508048415184021,-2.093486785888672,-0.23871532082557678,0.20629654824733734,1.944801926612854,0.11872387677431107,-0.7777792811393738,0.8
+1789729886522255788,5900,0.25289541482925415,-2.0939087867736816,-0.23874139785766602,0.2054513692855835,1.9465572834014893,0.12080810964107513,-0.7776399850845337,0.8
+1789729886555590328,5933,0.2543832063674927,-2.0942037105560303,-0.23878297209739685,0.20481954514980316,1.9477927684783936,0.12233006209135056,-0.7774909734725952,0.8
+1789729886588963476,5966,0.2558664381504059,-2.0944528579711914,-0.23884113132953644,0.2042607069015503,1.9490001201629639,0.12389672547578812,-0.7773614525794983,0.8
+1789729886622266629,6000,0.2578105330467224,-2.0947253704071045,-0.23897108435630798,0.2035369575023651,1.9506111145019531,0.1259434074163437,-0.7771543860435486,0.8
+1789729886655588301,6033,0.25934073328971863,-2.094884157180786,-0.23910918831825256,0.2029763013124466,1.951788306236267,0.12760616838932037,-0.7769286632537842,0.8
+1789729886688914362,6066,0.2609028220176697,-2.094996213912964,-0.23926550149917603,0.20241987705230713,1.9529517889022827,0.12933897972106934,-0.7766667604446411,0.8
+1789729886722257562,6100,0.26297205686569214,-2.095095634460449,-0.2395264059305191,0.201631098985672,1.9544806480407715,0.131694495677948,-0.7761903405189514,0.8
+1789729886755587953,6133,0.2644636929035187,-2.095184326171875,-0.23981738090515137,0.2009190022945404,1.9556386470794678,0.13350577652454376,-0.7757132053375244,0.8
+1789729886788950621,6166,0.265874445438385,-2.0952956676483154,-0.24017639458179474,0.20010675489902496,1.956789255142212,0.13527674973011017,-0.7751592397689819,0.8
+1789729886822260724,6200,0.2676261365413666,-2.0954666137695312,-0.24077092111110687,0.1989426463842392,1.958329439163208,0.13761310279369354,-0.7743551731109619,0.8
+1789729886855587135,6233,0.26884084939956665,-2.0956239700317383,-0.2412838190793991,0.1979963332414627,1.9594676494598389,0.13931657373905182,-0.7736905813217163,0.8
+1789729886888903787,6266,0.27000901103019714,-2.095828056335449,-0.24185150861740112,0.1969578117132187,1.9606597423553467,0.14104430377483368,-0.7729889154434204,0.8
+1789729886922254646,6300,0.27159756422042847,-2.096122980117798,-0.24270078539848328,0.1955028772354126,1.9623185396194458,0.14351825416088104,-0.7720208764076233,0.8
+1789729886955581768,6333,0.27288326621055603,-2.0963594913482666,-0.24332799017429352,0.19443126022815704,1.9636048078536987,0.14547966420650482,-0.771314799785614,0.8
+1789729886988911439,6366,0.2742786705493927,-2.096574544906616,-0.24387936294078827,0.19346417486667633,1.9649128913879395,0.14751096069812775,-0.770714521408081,0.8
+1789729887022341103,6400,0.27629414200782776,-2.0967817306518555,-0.24452638626098633,0.1924542784690857,1.9666556119918823,0.15032200515270233,-0.7700793743133545,0.8
+1789729887055596705,6433,0.2778027355670929,-2.0969347953796387,-0.24503545463085175,0.19182440638542175,1.9680113792419434,0.15239091217517853,-0.7697457671165466,0.8
+1789729887088905871,6466,0.279262512922287,-2.097099542617798,-0.24556414783000946,0.19125336408615112,1.9693708419799805,0.15439598262310028,-0.7694748044013977,0.8
+1789729887122263023,6500,0.2810908854007721,-2.0973238945007324,-0.24630820751190186,0.19054798781871796,1.9711449146270752,0.1569618582725525,-0.7691282629966736,0.8
+1789729887155589488,6533,0.28241151571273804,-2.0975191593170166,-0.24688123166561127,0.19001872837543488,1.9724994897842407,0.15883588790893555,-0.7689036726951599,0.8
+1789729887188909763,6566,0.28368428349494934,-2.097761631011963,-0.24745741486549377,0.1894504427909851,1.973857045173645,0.16062642633914948,-0.7687138319015503,0.8
+1789729887222268555,6600,0.285327285528183,-2.098205327987671,-0.24820373952388763,0.18863172829151154,1.9756433963775635,0.16293032467365265,-0.7684781551361084,0.8
+1789729887255591341,6633,0.28651848435401917,-2.098604917526245,-0.24870814383029938,0.18804559111595154,1.9769229888916016,0.16466334462165833,-0.7684015035629272,0.8
+1789729887288901957,6666,0.28760531544685364,-2.099116802215576,-0.24921947717666626,0.18737415969371796,1.9782905578613281,0.16627530753612518,-0.7683958411216736,0.8
+1789729887322273078,6700,0.28891170024871826,-2.099891185760498,-0.249892458319664,0.1863165646791458,1.9799854755401611,0.1683746874332428,-0.7683384418487549,0.8
+1789729887355591094,6733,0.2898179888725281,-2.1004955768585205,-0.2504281997680664,0.185422882437706,1.9812180995941162,0.16996732354164124,-0.768181562423706,0.8
+1789729887388925008,6766,0.29067906737327576,-2.10105037689209,-0.25099632143974304,0.18448781967163086,1.9823960065841675,0.1716195046901703,-0.7679490447044373,0.8
+1789729887422266171,6800,0.2917708456516266,-2.1017062664031982,-0.25177881121635437,0.18319107592105865,1.9838587045669556,0.17382724583148956,-0.7674676179885864,0.8
+1789729887455586127,6833,0.29253697395324707,-2.1021647453308105,-0.25243082642555237,0.18216049671173096,1.9849480390548706,0.1754918247461319,-0.7669814229011536,0.8
+1789729887488920081,6866,0.29326102137565613,-2.102586507797241,-0.2531396448612213,0.181072399020195,1.986009120941162,0.17720991373062134,-0.7664390206336975,0.8
+1789729887522257915,6900,0.29420143365859985,-2.102935791015625,-0.25410589575767517,0.17972373962402344,1.9872028827667236,0.17947538197040558,-0.7655413150787354,0.8
+1789729887555600739,6933,0.29485446214675903,-2.1029915809631348,-0.2548755407333374,0.17882533371448517,1.9879881143569946,0.18107815086841583,-0.76472407579422,0.8
+1789729887588895626,6966,0.2954252362251282,-2.1029324531555176,-0.25570663809776306,0.17788587510585785,1.9886301755905151,0.18260881304740906,-0.7637231349945068,0.8
+1789729887622263078,7000,0.2960365414619446,-2.102682113647461,-0.25704020261764526,0.1765541285276413,1.989353895187378,0.18446794152259827,-0.7620949149131775,0.8
+1789729887655587133,7033,0.29638561606407166,-2.1024045944213867,-0.2581838071346283,0.17553269863128662,1.989870309829712,0.18568938970565796,-0.7607467770576477,0.8
+1789729887688903308,7066,0.29667267203330994,-2.102086305618286,-0.25940683484077454,0.17448435723781586,1.9904067516326904,0.18675754964351654,-0.7592939138412476,0.8
+1789729887722259181,7100,0.29706376791000366,-2.101607084274292,-0.2609894573688507,0.17311853170394897,1.9910861253738403,0.18814334273338318,-0.7573148012161255,0.8
+1789729887755589675,7133,0.29743438959121704,-2.1011784076690674,-0.2620687186717987,0.17227903008460999,1.9916046857833862,0.18921983242034912,-0.7559767961502075,0.8
+1789729887788896732,7166,0.2978888750076294,-2.1007347106933594,-0.2629537880420685,0.17164286971092224,1.9921444654464722,0.19029414653778076,-0.7548454403877258,0.8
+1789729887822267153,7200,0.2986334264278412,-2.100214719772339,-0.26381754875183105,0.17101526260375977,1.9929059743881226,0.19180388748645782,-0.7537062764167786,0.8
+1789729887855594528,7233,0.29927965998649597,-2.0999269485473633,-0.2642611265182495,0.17061495780944824,1.9934921264648438,0.19295519590377808,-0.7530587315559387,0.8
+1789729887888909784,7266,0.2999739348888397,-2.099734306335449,-0.2645604908466339,0.17022563517093658,1.994085431098938,0.1941790133714676,-0.752564013004303,0.8
+1789729887922249617,7300,0.30090728402137756,-2.0996432304382324,-0.2648731470108032,0.1696183830499649,1.994964361190796,0.19572705030441284,-0.7520116567611694,0.8
+1789729887955585721,7333,0.3016103208065033,-2.0997049808502197,-0.26507508754730225,0.16909688711166382,1.9957672357559204,0.1967933475971222,-0.7517320513725281,0.8
+1789729887988910946,7366,0.30233022570610046,-2.0998616218566895,-0.26524507999420166,0.16853438317775726,1.9966671466827393,0.19783209264278412,-0.7514933347702026,0.8
+1789729888022262011,7400,0.3032929301261902,-2.100222110748291,-0.2653331756591797,0.16780155897140503,1.997954249382019,0.19911497831344604,-0.7513554692268372,0.8
+1789729888055668673,7433,0.30400338768959045,-2.1006217002868652,-0.26530829071998596,0.1672316938638687,1.999001383781433,0.20000384747982025,-0.7513643503189087,0.8
+1789729888088897600,7466,0.3047384023666382,-2.1010754108428955,-0.26527658104896545,0.16667209565639496,2.0001232624053955,0.20082302391529083,-0.7514873147010803,0.8
+1789729888122260795,7500,0.3056884706020355,-2.1017212867736816,-0.2651922404766083,0.16610278189182281,2.0017151832580566,0.20170289278030396,-0.7519304156303406,0.8
+1789729888155598253,7533,0.30636563897132874,-2.1022379398345947,-0.26510465145111084,0.16585016250610352,2.003005266189575,0.2022418975830078,-0.7524390816688538,0.8
+1789729888188903043,7566,0.30700916051864624,-2.102816104888916,-0.2650192975997925,0.1656789481639862,2.0043463706970215,0.20276132225990295,-0.753111720085144,0.8
+1789729888222263928,7600,0.3077399432659149,-2.1036758422851562,-0.26489654183387756,0.16551391780376434,2.0062174797058105,0.20328234136104584,-0.7541688680648804,0.8
+1789729888255592247,7633,0.3081711530685425,-2.104356527328491,-0.2648254632949829,0.16537272930145264,2.0075881481170654,0.2035277783870697,-0.7550002932548523,0.8
+1789729888288901687,7666,0.3085383176803589,-2.105004072189331,-0.26478472352027893,0.1652318686246872,2.0088205337524414,0.20377805829048157,-0.7557560801506042,0.8
+1789729888322247173,7700,0.3089391589164734,-2.1057510375976562,-0.26478278636932373,0.16515520215034485,2.0102310180664062,0.20408152043819427,-0.7566626667976379,0.8
+1789729888355590220,7733,0.3092076778411865,-2.1062207221984863,-0.26478639245033264,0.16516616940498352,2.0111382007598877,0.20430238544940948,-0.7572882175445557,0.8
+1789729888388897311,7766,0.3094673454761505,-2.106637716293335,-0.26479965448379517,0.16518829762935638,2.011924982070923,0.20457428693771362,-0.7578612565994263,0.8
+1789729888422260976,7800,0.3098161518573761,-2.1070690155029297,-0.26483625173568726,0.1652422547340393,2.0127294063568115,0.2050236612558365,-0.7584647536277771,0.8
+1789729888455590064,7833,0.3100574016571045,-2.1072750091552734,-0.2648944854736328,0.1653587818145752,2.013152837753296,0.20538704097270966,-0.7588344216346741,0.8
+1789729888488904293,7866,0.31027862429618835,-2.1073787212371826,-0.2649271488189697,0.16555534303188324,2.0134592056274414,0.20573794841766357,-0.7591506242752075,0.8
+1789729888522259070,7900,0.3104921579360962,-2.107396125793457,-0.26494336128234863,0.1659146100282669,2.013688564300537,0.20605427026748657,-0.7595536708831787,0.8
+1789729888555602606,7933,0.3105860948562622,-2.107363224029541,-0.2649462819099426,0.16619078814983368,2.0137901306152344,0.20616646111011505,-0.7597817778587341,0.8
+1789729888588896538,7966,0.31064799427986145,-2.1073110103607178,-0.2649511396884918,0.1664709448814392,2.0138659477233887,0.20621801912784576,-0.7600033283233643,0.8
+1789729888622261613,8000,0.3106890618801117,-2.107245922088623,-0.2649517059326172,0.16682390868663788,2.0139689445495605,0.20621374249458313,-0.7602908611297607,0.6
+1789729888655585681,8033,0.31071826815605164,-2.10721755027771,-0.26496249437332153,0.1670215129852295,2.0140368938446045,0.2061913013458252,-0.7604601979255676,0.6
+1789729888688916859,8066,0.3107498586177826,-2.1072049140930176,-0.2649950087070465,0.1671452820301056,2.014101982116699,0.20616847276687622,-0.7605670094490051,0.6
+1789729888722255967,8100,0.3107864558696747,-2.10719895362854,-0.2650623619556427,0.16724376380443573,2.0141794681549072,0.20614317059516907,-0.7606451511383057,0.6
+1789729888755585495,8133,0.3108011782169342,-2.1072092056274414,-0.26511189341545105,0.1672954112291336,2.0142226219177246,0.20611785352230072,-0.7606903910636902,0.6
+1789729888788889226,8166,0.3108071982860565,-2.107232093811035,-0.2651626765727997,0.16733551025390625,2.0142741203308105,0.20608629286289215,-0.7607375383377075,0.6
+1789729888822263810,8200,0.3108055591583252,-2.1072845458984375,-0.2652175724506378,0.1673552244901657,2.014338731765747,0.20603609085083008,-0.760811448097229,0.6
+1789729888855588329,8233,0.31080305576324463,-2.1073336601257324,-0.26525384187698364,0.1673562228679657,2.0143752098083496,0.20600612461566925,-0.7608650326728821,0.6
+1789729888888989470,8266,0.31079891324043274,-2.107379913330078,-0.2652895152568817,0.167354017496109,2.014444351196289,0.20594044029712677,-0.7609041333198547,0.6
+1789729888922260924,8300,0.3107909858226776,-2.1074271202087402,-0.26532992720603943,0.167352557182312,2.0145645141601562,0.20581625401973724,-0.7609562277793884,0.6
+1789729888955593102,8333,0.3107905685901642,-2.107433795928955,-0.2653711438179016,0.16735190153121948,2.0146167278289795,0.20573987066745758,-0.7609622478485107,0.6
+1789729888988904911,8366,0.31078338623046875,-2.1074349880218506,-0.26540982723236084,0.16735053062438965,2.014665126800537,0.20566198229789734,-0.7609629034996033,0.6
+1789729889022259880,8400,0.310680627822876,-2.1074330806732178,-0.2655613124370575,0.16736260056495667,2.014714002609253,0.20545311272144318,-0.7609589695930481,0.6
+1789729889055665264,8433,0.3106597363948822,-2.1074464321136475,-0.26560771465301514,0.16736426949501038,2.0147621631622314,0.2053283452987671,-0.7609567642211914,0.6
+1789729889088983087,8466,0.31064262986183167,-2.1074588298797607,-0.26563477516174316,0.16736328601837158,2.014812469482422,0.20524956285953522,-0.7609589695930481,0.6
+1789729889122273222,8500,0.31063252687454224,-2.1074583530426025,-0.26567909121513367,0.167362242937088,2.0148396492004395,0.20513322949409485,-0.7609603404998779,0.6
+1789729889155586866,8533,0.31062740087509155,-2.1074578762054443,-0.2657136023044586,0.16736270487308502,2.014878273010254,0.20505601167678833,-0.7609620690345764,0.6
+1789729889188896119,8566,0.3106224834918976,-2.107457399368286,-0.26574617624282837,0.16736333072185516,2.014915704727173,0.2049790769815445,-0.7609632611274719,0.6
+1789729889222277766,8600,0.31060734391212463,-2.1074583530426025,-0.2657875716686249,0.16736218333244324,2.014950752258301,0.20485463738441467,-0.7609546184539795,0.6
+1789729889255588480,8633,0.3105895519256592,-2.1074612140655518,-0.2658178210258484,0.16735786199569702,2.0149686336517334,0.2047518938779831,-0.760948896408081,0.6
+1789729889288900583,8666,0.31057360768318176,-2.1074647903442383,-0.26584580540657043,0.1673547774553299,2.014988422393799,0.20465703308582306,-0.7609465718269348,0.6
+1789729889322261292,8700,0.31055697798728943,-2.107470989227295,-0.2658854126930237,0.16734860837459564,2.015029191970825,0.20454077422618866,-0.7609400749206543,0.6
+1789729889355585704,8733,0.3105437159538269,-2.107475757598877,-0.26591041684150696,0.16734609007835388,2.0150537490844727,0.20445014536380768,-0.7609408497810364,0.6
+1789729889388892798,8766,0.3105286955833435,-2.1074774265289307,-0.2659357786178589,0.1673463135957718,2.015077829360962,0.2043534517288208,-0.7609419822692871,0.6
+1789729889422264216,8800,0.3104984164237976,-2.107478380203247,-0.2659713327884674,0.1673462986946106,2.0151021480560303,0.20422755181789398,-0.7609435319900513,0.6
+1789729889455583229,8833,0.31041666865348816,-2.1074843406677246,-0.2660157084465027,0.167353093624115,2.015105962753296,0.20408205687999725,-0.7609439492225647,0.6
+1789729889488918530,8866,0.31018686294555664,-2.107499837875366,-0.2661055028438568,0.1673891842365265,2.015089750289917,0.20370431244373322,-0.7609407305717468,0.6
+1789729889522257371,8900,0.30948129296302795,-2.1075122356414795,-0.2664124369621277,0.16756774485111237,2.0150306224823,0.2028351128101349,-0.7609550356864929,0.6
+1789729889555621259,8933,0.3084273338317871,-2.107536792755127,-0.2668898403644562,0.1678030639886856,2.0149104595184326,0.20153282582759857,-0.7611019611358643,0.6
+1789729889588934223,8966,0.3067854940891266,-2.107623338699341,-0.2675687074661255,0.16814164817333221,2.0147945880889893,0.1994655877351761,-0.7614591121673584,0.6
+1789729889622259415,9000,0.303504079580307,-2.1078579425811768,-0.2686890661716461,0.16875356435775757,2.0144784450531006,0.19534394145011902,-0.7621179223060608,0.6
+1789729889655585817,9033,0.30027464032173157,-2.108125686645508,-0.26970645785331726,0.1693132072687149,2.014221668243408,0.19143478572368622,-0.7628514766693115,0.6
+1789729889688891410,9066,0.2963751256465912,-2.1084790229797363,-0.2708289325237274,0.16989962756633759,2.013868570327759,0.18673831224441528,-0.7637076377868652,0.6
+1789729889722253319,9100,0.29054561257362366,-2.1091270446777344,-0.2724485993385315,0.17056109011173248,2.0133278369903564,0.17962585389614105,-0.7648965120315552,0.6
+1789729889755550704,9133,0.2860488295555115,-2.109733819961548,-0.2736349403858185,0.17093072831630707,2.0129623413085938,0.1742272526025772,-0.7657151222229004,0.6
+1789729889788971978,9166,0.28132539987564087,-2.1103768348693848,-0.27494463324546814,0.17126916348934174,2.0126187801361084,0.16879922151565552,-0.7664271593093872,0.6
+1789729889822262513,9200,0.27521467208862305,-2.1111130714416504,-0.27680331468582153,0.17173470556735992,2.012249708175659,0.16160117089748383,-0.7671863436698914,0.6
+1789729889855590704,9233,0.27060022950172424,-2.111585855484009,-0.27824124693870544,0.17212849855422974,2.0119521617889404,0.15612518787384033,-0.7676491141319275,0.6
+1789729889888888849,9266,0.2661330997943878,-2.1119422912597656,-0.27957671880722046,0.17259691655635834,2.0115716457366943,0.15089669823646545,-0.7680788636207581,0.6
+1789729889922256247,9300,0.2601546347141266,-2.112152576446533,-0.28138524293899536,0.1734204888343811,2.010876178741455,0.1440403014421463,-0.7685635089874268,0.6
+1789729889955571520,9333,0.2555215060710907,-2.112168550491333,-0.2827594578266144,0.17415612936019897,2.0102405548095703,0.13857196271419525,-0.768844485282898,0.6
+1789729889988896102,9366,0.250934362411499,-2.112121820449829,-0.28404417634010315,0.17489206790924072,2.009493350982666,0.1330951452255249,-0.769068717956543,0.6
+1789729890022271063,9400,0.2447943389415741,-2.111941337585449,-0.28552713990211487,0.17589715123176575,2.0082504749298096,0.12588860094547272,-0.7693368792533875,0.6
+1789729890055707508,9433,0.24035225808620453,-2.111670732498169,-0.286569744348526,0.1766594499349594,2.0071656703948975,0.12072597444057465,-0.7693804502487183,0.6
+1789729890088895276,9466,0.2354286015033722,-2.1112523078918457,-0.2877274751663208,0.1775430142879486,2.0058581829071045,0.11480900645256042,-0.7693833112716675,0.6
+1789729890122257969,9500,0.22935310006141663,-2.110647439956665,-0.2890772223472595,0.17861030995845795,2.004181146621704,0.1073310449719429,-0.7693368792533875,0.6
+1789729890155587484,9533,0.2248612344264984,-2.1100807189941406,-0.29007261991500854,0.179425448179245,2.0028247833251953,0.10189838707447052,-0.7691605091094971,0.6
+1789729890188894581,9566,0.22040140628814697,-2.109377145767212,-0.29109594225883484,0.1802881360054016,2.001436471939087,0.09652837365865707,-0.7689217329025269,0.6
+1789729890222268972,9600,0.21461181342601776,-2.1082277297973633,-0.2925131320953369,0.181431382894516,1.9995442628860474,0.08924347907304764,-0.7684559226036072,0.6
+1789729890255595188,9633,0.2106817066669464,-2.1072299480438232,-0.29346397519111633,0.18218550086021423,1.9980841875076294,0.08409399539232254,-0.7680249214172363,0.6
+1789729890288921823,9666,0.20715633034706116,-2.1060638427734375,-0.29435995221138,0.1828906238079071,1.996573805809021,0.07931990921497345,-0.7674698829650879,0.6
+1789729890322260388,9700,0.20278407633304596,-2.1042418479919434,-0.29561376571655273,0.18390637636184692,1.9945658445358276,0.07318104058504105,-0.7666577100753784,0.6
+1789729890355585173,9733,0.1996823102235794,-2.102734327316284,-0.2966277599334717,0.18476493656635284,1.9931508302688599,0.06855401396751404,-0.7660577893257141,0.6
+1789729890388898800,9766,0.19682887196540833,-2.1011884212493896,-0.2976756691932678,0.18558916449546814,1.9918938875198364,0.06404165178537369,-0.7654260396957397,0.6
+1789729890422265202,9800,0.19345420598983765,-2.0990610122680664,-0.29898932576179504,0.18662545084953308,1.990339994430542,0.05845346674323082,-0.7644474506378174,0.6
+1789729890455584068,9833,0.19116196036338806,-2.097357749938965,-0.2999005615711212,0.18743516504764557,1.9892191886901855,0.054525308310985565,-0.7636324167251587,0.6
+1789729890488897155,9866,0.18889333307743073,-2.0954980850219727,-0.30080074071884155,0.18830804526805878,1.988071322441101,0.050513796508312225,-0.7627224326133728,0.6
+1789729890522259077,9900,0.18621905148029327,-2.093050241470337,-0.30188384652137756,0.18944531679153442,1.9866702556610107,0.045637764036655426,-0.7615090012550354,0.6
+1789729890555620790,9933,0.18436497449874878,-2.091107130050659,-0.3026936948299408,0.19033648073673248,1.985636591911316,0.04208889976143837,-0.7605668902397156,0.6
+1789729890588919268,9966,0.18269339203834534,-2.089177370071411,-0.3034411072731018,0.1912476122379303,1.9847291707992554,0.03870018199086189,-0.7596232891082764,0.6
+1789729890622262772,10000,0.1807446926832199,-2.086730718612671,-0.3043597638607025,0.1923554241657257,1.9836207628250122,0.03451623395085335,-0.7584561109542847,0.6
+1789729890655587167,10033,0.17940907180309296,-2.085015058517456,-0.30501481890678406,0.19307895004749298,1.9829188585281372,0.03156545013189316,-0.7576558589935303,0.6
+1789729890688919882,10066,0.17811332643032074,-2.083402395248413,-0.305603951215744,0.1937243491411209,1.9822101593017578,0.02868122048676014,-0.7569137811660767,0.6
+1789729890722258577,10100,0.1763688027858734,-2.081362724304199,-0.3063076138496399,0.19449332356452942,1.981226921081543,0.024902384728193283,-0.7559785842895508,0.6
+1789729890755585192,10133,0.17505140602588654,-2.0798301696777344,-0.3067622482776642,0.19505928456783295,1.9804182052612305,0.022106684744358063,-0.7552741169929504,0.6
+1789729890788920567,10166,0.17371512949466705,-2.078263759613037,-0.3070964813232422,0.19564218819141388,1.9794988632202148,0.019311625510454178,-0.7545721530914307,0.6
+1789729890822259941,10200,0.17194582521915436,-2.0761191844940186,-0.3074519634246826,0.19643567502498627,1.9781439304351807,0.01562037318944931,-0.7535902261734009,0.6
+1789729890855588267,10233,0.17065955698490143,-2.074477195739746,-0.3076900541782379,0.19709907472133636,1.9771218299865723,0.012896958738565445,-0.7529093623161316,0.6
+1789729890888896794,10266,0.1694043129682541,-2.0728321075439453,-0.30791276693344116,0.1977902054786682,1.9761013984680176,0.010202431119978428,-0.7522626519203186,0.6
+1789729890922251917,10300,0.16775380074977875,-2.0705926418304443,-0.3081558048725128,0.19885040819644928,1.9747681617736816,0.006674772594124079,-0.7514708042144775,0.6
+1789729890955585702,10333,0.1664888560771942,-2.068936586380005,-0.3083188235759735,0.19966131448745728,1.9737513065338135,0.004028600640594959,-0.7509848475456238,0.6
+1789729890988897858,10366,0.16518078744411469,-2.067318916320801,-0.3085002303123474,0.20043717324733734,1.972723126411438,0.001311356551013887,-0.7504706978797913,0.6
+1789729891022258763,10400,0.16334553062915802,-2.0652201175689697,-0.3087315559387207,0.20142784714698792,1.9713356494903564,-0.0023708438966423273,-0.7498602867126465,0.6
+1789729891055584482,10433,0.16195304691791534,-2.0636651515960693,-0.3088808059692383,0.2021673321723938,1.9702825546264648,-0.005140610039234161,-0.7494378685951233,0.6
+1789729891088911451,10466,0.16058866679668427,-2.062112808227539,-0.3089848756790161,0.20293749868869781,1.9692360162734985,-0.00784668605774641,-0.7490622997283936,0.6
+1789729891122259898,10500,0.15881061553955078,-2.0600249767303467,-0.3090357780456543,0.20399118959903717,1.9678010940551758,-0.011442766524851322,-0.7486120462417603,0.6
+1789729891155590866,10533,0.15754319727420807,-2.058408260345459,-0.3090277314186096,0.20484323799610138,1.9667234420776367,-0.014017784968018532,-0.7482864856719971,0.6
+1789729891188905297,10566,0.15628981590270996,-2.0566658973693848,-0.3090185225009918,0.20577183365821838,1.9656227827072144,-0.016625352203845978,-0.7479656338691711,0.6
+1789729891222250944,10600,0.1547843962907791,-2.0543558597564697,-0.30898532271385193,0.20712748169898987,1.9643040895462036,-0.019878612831234932,-0.7475598454475403,0.6
+1789729891255582812,10633,0.1536559909582138,-2.052525043487549,-0.3089585602283478,0.20819951593875885,1.9632776975631714,-0.022357985377311707,-0.7473044395446777,0.6
+1789729891288898332,10666,0.1525430530309677,-2.0506975650787354,-0.30890145897865295,0.20926533639431,1.962267279624939,-0.024761848151683807,-0.7470499873161316,0.6
+1789729891322257608,10700,0.15109114348888397,-2.0482845306396484,-0.30881553888320923,0.21066738665103912,1.9609183073043823,-0.027927005663514137,-0.7466949820518494,0.6
+1789729891355589067,10733,0.15002548694610596,-2.046537399291992,-0.3087257742881775,0.21166333556175232,1.9599474668502808,-0.030237792059779167,-0.746475875377655,0.6
+1789729891388891168,10766,0.14897285401821136,-2.0448381900787354,-0.3085958659648895,0.21263940632343292,1.9590001106262207,-0.03250661864876747,-0.7462500929832458,0.6
+1789729891422256724,10800,0.1476207971572876,-2.042653799057007,-0.3083209991455078,0.2139534205198288,1.9577994346618652,-0.035388268530368805,-0.7460774183273315,0.6
+1789729891455594212,10833,0.14664903283119202,-2.041051149368286,-0.3080439567565918,0.21490389108657837,1.9569061994552612,-0.037446387112140656,-0.7459749579429626,0.6
+1789729891488895943,10866,0.1457313895225525,-2.0394694805145264,-0.3077346086502075,0.21580378711223602,1.9559839963912964,-0.03936919569969177,-0.7458516955375671,0.6
+1789729891522262838,10900,0.1445567011833191,-2.037330150604248,-0.30731624364852905,0.21699920296669006,1.9547661542892456,-0.04191000759601593,-0.7456862330436707,0.6
+1789729891555715446,10933,0.1437937468290329,-2.035822629928589,-0.30701711773872375,0.21785543859004974,1.9539352655410767,-0.04362717270851135,-0.7455942034721375,0.6
+1789729891588896168,10966,0.14305523037910461,-2.0342414379119873,-0.30671456456184387,0.2187989205121994,1.9531127214431763,-0.04535694420337677,-0.7455410957336426,0.6
+1789729891622247945,11000,0.14217278361320496,-2.032095193862915,-0.3062814772129059,0.22015507519245148,1.9520297050476074,-0.04757542163133621,-0.7455059885978699,0.6
+1789729891655642338,11033,0.1415480673313141,-2.0304760932922363,-0.3059154450893402,0.22120589017868042,1.9512165784835815,-0.049194466322660446,-0.745500385761261,0.6
+1789729891688895213,11066,0.1409541815519333,-2.0288212299346924,-0.3054943084716797,0.22234594821929932,1.9503899812698364,-0.05080815777182579,-0.7454572319984436,0.6
+1789729891722248380,11100,0.14019596576690674,-2.026592493057251,-0.30490514636039734,0.2239435315132141,1.9492805004119873,-0.05295378714799881,-0.745448112487793,0.6
+1789729891755583998,11133,0.1396436095237732,-2.0248656272888184,-0.30442965030670166,0.2252042442560196,1.9484784603118896,-0.0546281561255455,-0.7454505562782288,0.6
+1789729891788895258,11166,0.13916939496994019,-2.023224353790283,-0.30390748381614685,0.2264643758535385,1.9477063417434692,-0.056151654571294785,-0.7454468011856079,0.6
+1789729891822250095,11200,0.13857173919677734,-2.020754814147949,-0.3030868470668793,0.22841180860996246,1.9465627670288086,-0.058308932930231094,-0.7453628182411194,0.6
+1789729891855586913,11233,0.1381692886352539,-2.018857717514038,-0.3024747669696808,0.2299000769853592,1.9457125663757324,-0.059869781136512756,-0.7452020049095154,0.6
+1789729891888896643,11266,0.1378091722726822,-2.016946792602539,-0.3018585741519928,0.23136167228221893,1.9448384046554565,-0.061376407742500305,-0.7450622320175171,0.6
+1789729891922247560,11300,0.13734115660190582,-2.0141637325286865,-0.30105558037757874,0.23344431817531586,1.9435569047927856,-0.06344281136989594,-0.7448033094406128,0.6
+1789729891955588178,11333,0.137018620967865,-2.0120925903320312,-0.30047836899757385,0.23504820466041565,1.9426847696304321,-0.06495532393455505,-0.7446047067642212,0.6
+1789729891988902038,11366,0.1366923302412033,-2.010054349899292,-0.29990091919898987,0.23668238520622253,1.941792368888855,-0.0664842501282692,-0.744516134262085,0.6
+1789729892022256657,11400,0.13628125190734863,-2.0074546337127686,-0.2991105616092682,0.2388581931591034,1.9407192468643188,-0.06844731420278549,-0.7445037961006165,0.6
+1789729892055723717,11433,0.13596153259277344,-2.005425214767456,-0.29842233657836914,0.24061116576194763,1.9397954940795898,-0.07000215351581573,-0.7445207834243774,0.6
+1789729892088900513,11466,0.13567142188549042,-2.003479480743408,-0.29767847061157227,0.24236828088760376,1.9388841390609741,-0.07149068266153336,-0.7446466088294983,0.6
+1789729892122257692,11500,0.13532666862010956,-2.000871419906616,-0.2966074049472809,0.24484007060527802,1.937609076499939,-0.07344143837690353,-0.7449362874031067,0.6
+1789729892155590224,11533,0.1350843906402588,-1.9987043142318726,-0.2956702411174774,0.2469474971294403,1.936559796333313,-0.07497011125087738,-0.7451925277709961,0.6
+1789729892188900358,11566,0.1349024474620819,-1.9965169429779053,-0.29473838210105896,0.24908287823200226,1.9354673624038696,-0.07635828107595444,-0.7454873323440552,0.6
+1789729892222253718,11600,0.13472139835357666,-1.9934879541397095,-0.29344069957733154,0.2520401179790497,1.9339433908462524,-0.07811924815177917,-0.7458288073539734,0.6
+1789729892255589810,11633,0.13461224734783173,-1.9911842346191406,-0.29244139790534973,0.2543198764324188,1.932735800743103,-0.07939833402633667,-0.7460761070251465,0.6
+1789729892288901833,11666,0.1344933956861496,-1.98891019821167,-0.2914206087589264,0.25665950775146484,1.931531310081482,-0.0806741714477539,-0.746403694152832,0.6
+1789729892322249804,11700,0.13430137932300568,-1.9859412908554077,-0.28990811109542847,0.2598862946033478,1.9298341274261475,-0.08240482211112976,-0.7469886541366577,0.6
+1789729892355587605,11733,0.13415634632110596,-1.9837703704833984,-0.28869858384132385,0.26240959763526917,1.9285674095153809,-0.08367133885622025,-0.7475152015686035,0.6
+1789729892388896069,11766,0.13398855924606323,-1.9813909530639648,-0.2873079478740692,0.26532474160194397,1.9271162748336792,-0.08507465571165085,-0.7482378482818604,0.6
+1789729892422255849,11800,0.133759006857872,-1.9780621528625488,-0.2854181230068207,0.26937273144721985,1.9250606298446655,-0.08692136406898499,-0.7493676543235779,0.6
+1789729892455621818,11833,0.13359583914279938,-1.9753443002700806,-0.28402599692344666,0.27254560589790344,1.9233916997909546,-0.08828083425760269,-0.7500433921813965,0.6
+1789729892488902564,11866,0.1334332823753357,-1.9724684953689575,-0.2827170491218567,0.2759091854095459,1.9216362237930298,-0.08968749642372131,-0.7506352663040161,0.6
+1789729892522249255,11900,0.1331692337989807,-1.9685271978378296,-0.2809823453426361,0.2808278203010559,1.9193477630615234,-0.09160245954990387,-0.7517632842063904,0.6
+1789729892555605815,11933,0.13292501866817474,-1.9655249118804932,-0.2795458436012268,0.28498467803001404,1.9176101684570312,-0.0930619016289711,-0.7529367804527283,0.6
+1789729892588901900,11966,0.13261571526527405,-1.9625762701034546,-0.27793848514556885,0.2895054817199707,1.915871262550354,-0.09456565231084824,-0.7545516490936279,0.6
+1789729892622248800,12000,0.13213908672332764,-1.9585753679275513,-0.27553004026412964,0.29567402601242065,1.9132089614868164,-0.09649664163589478,-0.7568902969360352,0.6
+1789729892655586022,12033,0.13174261152744293,-1.9554132223129272,-0.27355101704597473,0.3005501627922058,1.9109251499176025,-0.09786622226238251,-0.7587305903434753,0.6
+1789729892688896976,12066,0.1313336193561554,-1.9519692659378052,-0.2712828516960144,0.30597612261772156,1.9083548784255981,-0.09914618730545044,-0.7609485387802124,0.6
+1789729892722251206,12100,0.13084933161735535,-1.946839451789856,-0.2677004039287567,0.3140467405319214,1.9042723178863525,-0.1006280854344368,-0.7643465399742126,0.6
+1789729892755588197,12133,0.1305813491344452,-1.9426556825637817,-0.2646541893482208,0.3208691477775574,1.9008063077926636,-0.10149909555912018,-0.7671031355857849,0.6
+1789729892788895021,12166,0.1303120106458664,-1.938356637954712,-0.2612892985343933,0.3286316990852356,1.8974151611328125,-0.10237149894237518,-0.7707594633102417,0.6
+1789729892822251521,12200,0.12987519800662994,-1.9319515228271484,-0.25625839829444885,0.3399016559123993,1.8922719955444336,-0.10356725752353668,-0.7760564088821411,0.6
+1789729892855589453,12233,0.1295394003391266,-1.926469326019287,-0.25210538506507874,0.3491341173648834,1.8876543045043945,-0.10435236245393753,-0.7800570130348206,0.6
+1789729892888910255,12266,0.1292007714509964,-1.9206032752990723,-0.2476651966571808,0.3589012920856476,1.8825913667678833,-0.10510936379432678,-0.7842347621917725,0.6
+1789729892922285244,12300,0.1287662386894226,-1.91230309009552,-0.2414538562297821,0.3734441101551056,1.8757768869400024,-0.10602301359176636,-0.7909000515937805,0.6
+1789729892955623285,12333,0.12830232083797455,-1.9055641889572144,-0.23655499517917633,0.38504287600517273,1.8702846765518188,-0.10678526759147644,-0.7961241602897644,0.6
+1789729892988929529,12366,0.12795546650886536,-1.8984270095825195,-0.23188631236553192,0.39739808440208435,1.865034580230713,-0.10745050013065338,-0.8017652034759521,0.6
+1789729893022291211,12400,0.12790325284004211,-1.8882447481155396,-0.2270490676164627,0.41523298621177673,1.859622597694397,-0.10854440927505493,-0.8099647164344788,0.6
+1789729893055625166,12433,0.1279667764902115,-1.880128264427185,-0.22401274740695953,0.42893916368484497,1.855664610862732,-0.10946014523506165,-0.8158063888549805,0.6
+1789729893088935943,12466,0.12809523940086365,-1.8719182014465332,-0.22128890454769135,0.442980021238327,1.8522236347198486,-0.11029373109340668,-0.821911096572876,0.6
+1789729893122262859,12500,0.12816685438156128,-1.8608322143554688,-0.21787883341312408,0.46165597438812256,1.8476396799087524,-0.11146802455186844,-0.8300323486328125,0.6
+1789729893155591515,12533,0.12823303043842316,-1.852699637413025,-0.21533358097076416,0.4756905138492584,1.8444349765777588,-0.11221035569906235,-0.8362042903900146,0.6
+1789729893188907612,12566,0.12824687361717224,-1.844468355178833,-0.21276377141475677,0.48924580216407776,1.8409382104873657,-0.1128435805439949,-0.8420623540878296,0.6
+1789729893222258375,12600,0.12826094031333923,-1.8338054418563843,-0.20943191647529602,0.5068713426589966,1.836312174797058,-0.11341604590415955,-0.849448561668396,0.6
+1789729893255588381,12633,0.12816379964351654,-1.8259873390197754,-0.20704369246959686,0.5194540023803711,1.8330655097961426,-0.11376849561929703,-0.8549740314483643,0.6
+1789729893288907627,12666,0.12804096937179565,-1.8185724020004272,-0.20478171110153198,0.5316049456596375,1.8298707008361816,-0.11410084366798401,-0.8601654767990112,0.6
+1789729893322257821,12700,0.12779530882835388,-1.8092005252838135,-0.2018222212791443,0.5468628406524658,1.8259985446929932,-0.11440542340278625,-0.8670666217803955,0.6
+1789729893355583767,12733,0.1275780200958252,-1.802527666091919,-0.1996973603963852,0.55727219581604,1.823047161102295,-0.11451167613267899,-0.8714533448219299,0.6
+1789729893388894574,12766,0.12736748158931732,-1.7964094877243042,-0.19766853749752045,0.5672401785850525,1.8205101490020752,-0.11453796178102493,-0.8761617541313171,0.6
+1789729893422247108,12800,0.12700985372066498,-1.788857102394104,-0.19504182040691376,0.5787327885627747,1.8170795440673828,-0.11455366760492325,-0.8817280530929565,0.6
+1789729893455621339,12833,0.12674903869628906,-1.7837817668914795,-0.19327114522457123,0.586246132850647,1.8146452903747559,-0.11453454941511154,-0.885309100151062,0.6
+1789729893488899010,12866,0.1264611780643463,-1.7792248725891113,-0.19159793853759766,0.592911422252655,1.8124661445617676,-0.11454037576913834,-0.8889145851135254,0.6
+1789729893522257743,12900,0.12599679827690125,-1.773678183555603,-0.18954192101955414,0.6007513999938965,1.8097666501998901,-0.11457772552967072,-0.8931909203529358,0.6
+1789729893555587448,12933,0.12559330463409424,-1.7698506116867065,-0.18814268708229065,0.6058206558227539,1.807821273803711,-0.11476895958185196,-0.8960922360420227,0.6
+1789729893588923483,12966,0.1251780092716217,-1.766295313835144,-0.1868472546339035,0.6103377938270569,1.8058750629425049,-0.11503337323665619,-0.8985415101051331,0.6
+1789729893622260408,13000,0.12463250756263733,-1.762039303779602,-0.18527349829673767,0.6160688400268555,1.8037831783294678,-0.11544620990753174,-0.9021543860435486,0.6
+1789729893655594343,13033,0.12417076528072357,-1.7590491771697998,-0.18417690694332123,0.6201528310775757,1.8024005889892578,-0.11589597165584564,-0.9048869013786316,0.6
+1789729893688904971,13066,0.12369687110185623,-1.756130576133728,-0.18316803872585297,0.6238314509391785,1.8009601831436157,-0.11635211110115051,-0.9074773192405701,0.6
+1789729893722246825,13100,0.12317885458469391,-1.7522720098495483,-0.18198923766613007,0.6281939744949341,1.798991322517395,-0.11686699837446213,-0.9102747440338135,0.6
+1789729893755580200,13133,0.12287086248397827,-1.7494556903839111,-0.18113654851913452,0.6314300894737244,1.7976136207580566,-0.11721578240394592,-0.9124075770378113,0.6
+1789729893788893057,13166,0.1225963681936264,-1.7467409372329712,-0.18022599816322327,0.6348492503166199,1.7964292764663696,-0.11751478165388107,-0.9147378206253052,0.6
+1789729893822254150,13200,0.1222405955195427,-1.743064284324646,-0.17889267206192017,0.6398319602012634,1.7949286699295044,-0.11794435232877731,-0.9182561635971069,0.6
+1789729893855591745,13233,0.12199846655130386,-1.74006986618042,-0.17780420184135437,0.6436854004859924,1.7936489582061768,-0.1181705892086029,-0.9207947850227356,0.6
+1789729893888895933,13266,0.12182625383138657,-1.7367873191833496,-0.17671063542366028,0.6474840641021729,1.79206383228302,-0.11826872080564499,-0.9229340553283691,0.6
+1789729893922256886,13300,0.12169020622968674,-1.7320914268493652,-0.17522963881492615,0.6527506709098816,1.7897720336914062,-0.11825831979513168,-0.925743579864502,0.6
+1789729893955583632,13333,0.12162220478057861,-1.7284977436065674,-0.1740964949131012,0.6571506857872009,1.7881433963775635,-0.11821598559617996,-0.9280734062194824,0.6
+1789729893988913557,13366,0.12153709679841995,-1.724974513053894,-0.17291639745235443,0.6619390249252319,1.7867485284805298,-0.11819159239530563,-0.9308916926383972,0.6
+1789729894022248924,13400,0.1213701069355011,-1.7201178073883057,-0.17118671536445618,0.6683654189109802,1.7847607135772705,-0.11814454942941666,-0.9345896244049072,0.6
+1789729894055584133,13433,0.12124994397163391,-1.716240644454956,-0.16990706324577332,0.6731693744659424,1.7830277681350708,-0.11804890632629395,-0.9371117353439331,0.6
+1789729894088981016,13466,0.12112044543027878,-1.7122124433517456,-0.16861948370933533,0.6780621409416199,1.7812222242355347,-0.1179167851805687,-0.9394438862800598,0.6
+1789729894122254920,13500,0.12098681181669235,-1.7068716287612915,-0.16691914200782776,0.684651792049408,1.7788732051849365,-0.11769265681505203,-0.9425839781761169,0.6
+1789729894155583569,13533,0.12088892608880997,-1.7029356956481934,-0.1656198501586914,0.6896505951881409,1.777240514755249,-0.11751945316791534,-0.9450240135192871,0.6
+1789729894188903209,13566,0.12076536566019058,-1.6990000009536743,-0.16432158648967743,0.6947263479232788,1.7756541967391968,-0.11736848205327988,-0.9475364089012146,0.6
+1789729894222249396,13600,0.12055888026952744,-1.6936124563217163,-0.16259145736694336,0.7014327049255371,1.7734185457229614,-0.11715757101774216,-0.9508134722709656,0.6
+1789729894255589004,13633,0.12042951583862305,-1.68947434425354,-0.1612948328256607,0.7061898112297058,1.7715142965316772,-0.11691883206367493,-0.9527660012245178,0.6
+1789729894288896275,13666,0.12033453583717346,-1.6854445934295654,-0.16000977158546448,0.7109887599945068,1.7696921825408936,-0.11661511659622192,-0.9548458456993103,0.6
+1789729894322259241,13700,0.12010934948921204,-1.680302381515503,-0.15818379819393158,0.7177616953849792,1.7675881385803223,-0.11630091816186905,-0.9582191705703735,0.6
+1789729894355588390,13733,0.1198667585849762,-1.6764769554138184,-0.1567065268754959,0.7225984334945679,1.765893816947937,-0.11601512879133224,-0.9606410264968872,0.6
+1789729894388894981,13766,0.11962354928255081,-1.6725894212722778,-0.15519572794437408,0.7270417809486389,1.7638834714889526,-0.11562096327543259,-0.9626705050468445,0.6
+1789729894422259147,13800,0.11928153783082962,-1.6675364971160889,-0.15316681563854218,0.7329227328300476,1.7611750364303589,-0.1150219589471817,-0.9651203155517578,0.6
+1789729894455604575,13833,0.11894238740205765,-1.6639221906661987,-0.15155592560768127,0.7375675439834595,1.7593847513198853,-0.11466003209352493,-0.9674438834190369,0.6
+1789729894488896147,13866,0.11855258792638779,-1.6602753400802612,-0.14987638592720032,0.7421708703041077,1.757560133934021,-0.11428580433130264,-0.9697663187980652,0.6
+1789729894522259393,13900,0.11804957687854767,-1.655084490776062,-0.14759404957294464,0.7481232285499573,1.7547366619110107,-0.11372189223766327,-0.9721763134002686,0.6
+1789729894555593022,13933,0.11776503920555115,-1.6510117053985596,-0.14591088891029358,0.752678632736206,1.7525849342346191,-0.11320774257183075,-0.9737374186515808,0.6
+1789729894588899743,13966,0.11754249781370163,-1.6468795537948608,-0.14421264827251434,0.7576379776000977,1.7506262063980103,-0.1126834899187088,-0.9754771590232849,0.6
+1789729894622260659,14000,0.11727939546108246,-1.6412807703018188,-0.14188572764396667,0.7646015882492065,1.7483112812042236,-0.11202967911958694,-0.9779684543609619,0.6
+1789729894655659972,14033,0.11714581400156021,-1.6368731260299683,-0.14014898240566254,0.7698289752006531,1.746429204940796,-0.11146537959575653,-0.9795718789100647,0.6
+1789729894688957514,14066,0.1170581504702568,-1.6323471069335938,-0.13842745125293732,0.7751070857048035,1.7445309162139893,-0.11082283407449722,-0.9811272621154785,0.6
+1789729894722259475,14100,0.11699589341878891,-1.6264280080795288,-0.13610675930976868,0.7822166681289673,1.742140293121338,-0.10989689826965332,-0.9832850098609924,0.6
+1789729894755609852,14133,0.1169542521238327,-1.6220351457595825,-0.13433125615119934,0.7875123023986816,1.7403661012649536,-0.1091608852148056,-0.9850538372993469,0.6
+1789729894788897375,14166,0.11688975244760513,-1.6176294088363647,-0.13256467878818512,0.7928547859191895,1.7386205196380615,-0.10843075066804886,-0.9868060946464539,0.6
+1789729894822250012,14200,0.11676818132400513,-1.6118366718292236,-0.1302524209022522,0.7997820973396301,1.736295223236084,-0.1073935329914093,-0.9891189336776733,0.6
+1789729894855595209,14233,0.11671552807092667,-1.6077245473861694,-0.1286298930644989,0.8044701218605042,1.7345752716064453,-0.1066327914595604,-0.9905436635017395,0.6
+1789729894888893751,14266,0.1167050153017044,-1.6038832664489746,-0.12708806991577148,0.8089379668235779,1.733049750328064,-0.10584206879138947,-0.9919272065162659,0.6
+1789729894922256827,14300,0.11666173487901688,-1.5993036031723022,-0.12522296607494354,0.8144964575767517,1.7314127683639526,-0.10489547252655029,-0.9939206838607788,0.6
+1789729894955590406,14333,0.11661326140165329,-1.5963948965072632,-0.12399471551179886,0.8178154230117798,1.73026704788208,-0.10421779006719589,-0.9950685501098633,0.6
+1789729894988896327,14366,0.11659257113933563,-1.5940263271331787,-0.12293196469545364,0.8202300071716309,1.729117512702942,-0.1034930944442749,-0.9957271814346313,0.6
+1789729895022249506,14400,0.11654654145240784,-1.5918567180633545,-0.12175159156322479,0.8224592804908752,1.7278424501419067,-0.10267619043588638,-0.996255099773407,0.6
+1789729895055586518,14433,0.1164286732673645,-1.590972661972046,-0.1209755688905716,0.8235651254653931,1.7271523475646973,-0.10215285420417786,-0.9967895746231079,0.6
+1789729895088896882,14466,0.11622844636440277,-1.5905506610870361,-0.12025763094425201,0.8241679072380066,1.7265143394470215,-0.10172098129987717,-0.997164785861969,0.6
+1789729895122254812,14500,0.11584286391735077,-1.5904079675674438,-0.11933308839797974,0.8243399858474731,1.7256183624267578,-0.10126791894435883,-0.9974023103713989,0.6
+1789729895155584524,14533,0.11550763249397278,-1.5903948545455933,-0.11861973255872726,0.8242800235748291,1.724876880645752,-0.10095511376857758,-0.9974520206451416,0.6
+1789729895188920176,14566,0.11516780406236649,-1.590409517288208,-0.11787895113229752,0.8241803050041199,1.724088191986084,-0.1006099060177803,-0.9974751472473145,0.6
+1789729895222249848,14600,0.11470045894384384,-1.5904277563095093,-0.11678408831357956,0.8240653872489929,1.7229734659194946,-0.10005400329828262,-0.9975032210350037,0.6
+1789729895255580251,14633,0.11435332894325256,-1.5904399156570435,-0.11593152582645416,0.8239863514900208,1.7220882177352905,-0.09959237277507782,-0.9975461363792419,0.6
+1789729895288891605,14666,0.11399759352207184,-1.590454339981079,-0.11505226045846939,0.8239235877990723,1.721217155456543,-0.09913448989391327,-0.997599720954895,0.6
+1789729895322326178,14700,0.11349938064813614,-1.5904682874679565,-0.11385973542928696,0.8238468170166016,1.719995141029358,-0.09852433949708939,-0.9976867437362671,0.6
+1789729895355581847,14733,0.11311489343643188,-1.5904755592346191,-0.112958163022995,0.8238067030906677,1.7190836668014526,-0.09806319326162338,-0.997764527797699,0.8
+1789729895388915829,14766,0.11270490288734436,-1.5904817581176758,-0.11202722787857056,0.8237876892089844,1.7181402444839478,-0.09758411347866058,-0.9978539943695068,0.8
+1789729895422246381,14800,0.11215586960315704,-1.5904932022094727,-0.11078788340091705,0.823756217956543,1.7168691158294678,-0.09695842862129211,-0.9979897737503052,0.8
+1789729895455580933,14833,0.11175519227981567,-1.5905020236968994,-0.10988380014896393,0.8237160444259644,1.7159215211868286,-0.09649819880723953,-0.9980732202529907,0.8
+1789729895488898836,14866,0.11137259751558304,-1.5905171632766724,-0.10902027040719986,0.8236598372459412,1.7150386571884155,-0.09608402848243713,-0.9981269836425781,0.8
+1789729895522323500,14900,0.1108836904168129,-1.590545654296875,-0.10790621489286423,0.8235745429992676,1.713884711265564,-0.09552966803312302,-0.9981992840766907,0.8
+1789729895555585268,14933,0.11054261773824692,-1.5905786752700806,-0.1071370467543602,0.8234957456588745,1.7130855321884155,-0.0951441302895546,-0.9982442855834961,0.8
+1789729895588903652,14966,0.11021460592746735,-1.5906140804290771,-0.10640880465507507,0.8234090209007263,1.7123397588729858,-0.09478408098220825,-0.9982748627662659,0.8
+1789729895622246993,15000,0.10981744527816772,-1.5906496047973633,-0.1055227667093277,0.823320209980011,1.711413025856018,-0.09434637427330017,-0.9983222484588623,0.8
+1789729895655576015,15033,0.10953841358423233,-1.5906805992126465,-0.10487701743841171,0.8232702612876892,1.7107499837875366,-0.09400931745767593,-0.9983739256858826,0.8
+1789729895688890619,15066,0.10926469415426254,-1.5907140970230103,-0.10425462573766708,0.823208212852478,1.7101125717163086,-0.0936937928199768,-0.9984360337257385,0.8
+1789729895722305564,15100,0.1089041605591774,-1.590754747390747,-0.1034722551703453,0.8231176137924194,1.709299087524414,-0.09332461655139923,-0.9984749555587769,0.8
+1789729895755638816,15133,0.10865293443202972,-1.5907855033874512,-0.10291609913110733,0.8230534195899963,1.7087247371673584,-0.09304417669773102,-0.9985061883926392,0.8
+1789729895788895275,15166,0.10841129720211029,-1.590819239616394,-0.10238432884216309,0.8229990601539612,1.7081844806671143,-0.09278331696987152,-0.9985303282737732,0.8
+1789729895822305840,15200,0.10812506079673767,-1.5908620357513428,-0.1016954854130745,0.8229295611381531,1.7074922323226929,-0.09243492782115936,-0.998578667640686,0.8
+1789729895855657210,15233,0.10792535543441772,-1.5908873081207275,-0.10118035972118378,0.8228706121444702,1.7069755792617798,-0.09214646369218826,-0.9986098408699036,0.8
+1789729895888891691,15266,0.10771650075912476,-1.5909085273742676,-0.10066380351781845,0.8228192925453186,1.7064650058746338,-0.09186799824237823,-0.998632550239563,0.8
+1789729895922300516,15300,0.10744120180606842,-1.5909367799758911,-0.10000395774841309,0.8227560520172119,1.7057915925979614,-0.09151401370763779,-0.9986699223518372,0.8
+1789729895955583073,15333,0.10723759979009628,-1.5909653902053833,-0.0995364710688591,0.822702169418335,1.7053132057189941,-0.0912783071398735,-0.9986857175827026,0.8
+1789729895988899447,15366,0.10702981054782867,-1.590993881225586,-0.09904953837394714,0.8226439356803894,1.7048224210739136,-0.09102832525968552,-0.998708188533783,0.8
+1789729896022262188,15400,0.10675225406885147,-1.591020107269287,-0.09837166219949722,0.8225906491279602,1.704138159751892,-0.09066733717918396,-0.9987488389015198,0.8
+1789729896055593493,15433,0.10655241459608078,-1.5910288095474243,-0.09787052124738693,0.822570264339447,1.7036240100860596,-0.09039229899644852,-0.9987974166870117,0.8
+1789729896088899871,15466,0.10633793473243713,-1.591037392616272,-0.09735201299190521,0.8225491642951965,1.703115463256836,-0.09012368321418762,-0.998846173286438,0.8
+1789729896122323159,15500,0.10605800896883011,-1.5910478830337524,-0.09666411578655243,0.8225151896476746,1.702418565750122,-0.0897468626499176,-0.9988963603973389,0.8
+1789729896155591520,15533,0.10585781931877136,-1.5910567045211792,-0.09617938101291656,0.8224942088127136,1.7019370794296265,-0.0894804373383522,-0.9989242553710938,0.8
+1789729896188889558,15566,0.1056550145149231,-1.591076135635376,-0.09569469839334488,0.8224679827690125,1.7014496326446533,-0.08923369646072388,-0.9989665150642395,0.8
+1789729896222251751,15600,0.10537414252758026,-1.5911030769348145,-0.09501107037067413,0.8224310874938965,1.700774908065796,-0.08884835988283157,-0.9990223050117493,0.8
+1789729896255580057,15633,0.10516078025102615,-1.5911211967468262,-0.0944913998246193,0.8224039077758789,1.7002596855163574,-0.08858441561460495,-0.9990759491920471,0.8
+1789729896288886775,15666,0.10495498031377792,-1.591137170791626,-0.09399411082267761,0.8223749399185181,1.6997684240341187,-0.08831439912319183,-0.9991151690483093,0.8
+1789729896322252797,15700,0.10466955602169037,-1.5911601781845093,-0.09333965927362442,0.8223356008529663,1.699100136756897,-0.08798030763864517,-0.9991706013679504,0.8
+1789729896355576583,15733,0.10445708781480789,-1.5911812782287598,-0.0928448736667633,0.8223018646240234,1.6986044645309448,-0.08772676438093185,-0.999212384223938,0.8
+1789729896388894380,15766,0.10425116121768951,-1.5912063121795654,-0.09236554056406021,0.8222571015357971,1.698117733001709,-0.08747699111700058,-0.9992448687553406,0.8
+1789729896422251763,15800,0.10398200154304504,-1.5912492275238037,-0.09173309057950974,0.8221865892410278,1.6974895000457764,-0.08716364204883575,-0.9992662668228149,0.8
+1789729896455575510,15833,0.1037907749414444,-1.5912811756134033,-0.0912885069847107,0.8221300840377808,1.6970256567001343,-0.0869251936674118,-0.9992850422859192,0.8
+1789729896488892946,15866,0.1036076694726944,-1.5913095474243164,-0.09086906164884567,0.8220838308334351,1.6966142654418945,-0.08670446276664734,-0.9993017911911011,0.8
+1789729896522256609,15900,0.10338959842920303,-1.5913362503051758,-0.09034916013479233,0.8220361471176147,1.6960959434509277,-0.08643943071365356,-0.9993394017219543,0.8
+1789729896555585345,15933,0.10323625057935715,-1.5913571119308472,-0.089971624314785,0.8219987750053406,1.6957203149795532,-0.08623502403497696,-0.9993677139282227,0.8
+1789729896588988554,15966,0.10308416932821274,-1.5913740396499634,-0.08960215002298355,0.8219629526138306,1.6953444480895996,-0.08603373169898987,-0.9993920922279358,0.8
+1789729896622263145,16000,0.1028798446059227,-1.5914021730422974,-0.089121013879776,0.8219162225723267,1.6948599815368652,-0.0857892632484436,-0.9994236826896667,0.8
+1789729896655581481,16033,0.10274408012628555,-1.5914292335510254,-0.08880013972520828,0.8218737840652466,1.6945558786392212,-0.08561351895332336,-0.9994337558746338,0.8
+1789729896688892149,16066,0.10262329131364822,-1.5914535522460938,-0.08851301670074463,0.8218271732330322,1.6942570209503174,-0.08546242117881775,-0.9994382858276367,0.8
+1789729896722244992,16100,0.10246817767620087,-1.5914827585220337,-0.08816699683666229,0.8217858672142029,1.6939054727554321,-0.08527688682079315,-0.9994515180587769,0.8
+1789729896755577818,16133,0.10235840082168579,-1.591498613357544,-0.08792010694742203,0.8217626810073853,1.693650484085083,-0.08514433354139328,-0.9994697570800781,0.8
+1789729896788887885,16166,0.10225295275449753,-1.5915131568908691,-0.0876835435628891,0.8217399716377258,1.693410873413086,-0.08501971513032913,-0.9994992017745972,0.8
+1789729896822245508,16200,0.10212492942810059,-1.591525673866272,-0.08739916980266571,0.821716845035553,1.6931266784667969,-0.08486490696668625,-0.9995177388191223,0.8
+1789729896855582653,16233,0.10204688459634781,-1.5915336608886719,-0.08721476793289185,0.821702241897583,1.6929322481155396,-0.08474758267402649,-0.9995287656784058,0.8
+1789729896888893681,16266,0.1019728034734726,-1.5915428400039673,-0.0870448648929596,0.8216890692710876,1.6927597522735596,-0.0846567377448082,-0.9995418190956116,0.8
+1789729896922247874,16300,0.10188993066549301,-1.5915530920028687,-0.08683189004659653,0.8216720819473267,1.6925580501556396,-0.08452524244785309,-0.9995467662811279,0.8
+1789729896955584149,16333,0.10182978957891464,-1.5915578603744507,-0.08667919784784317,0.8216573596000671,1.692380666732788,-0.08443909138441086,-0.9995521903038025,0.8
+1789729896988917785,16366,0.10175712406635284,-1.5915615558624268,-0.08652181923389435,0.8216502070426941,1.6922354698181152,-0.08434782177209854,-0.9995660185813904,0.8
+1789729897022245603,16400,0.10165869444608688,-1.5915650129318237,-0.08630716055631638,0.8216406106948853,1.6920000314712524,-0.08423294872045517,-0.9995867609977722,0.8
+1789729897055584321,16433,0.10157901048660278,-1.591568112373352,-0.08611952513456345,0.8216359615325928,1.6918243169784546,-0.08413369208574295,-0.9996005296707153,0.8
+1789729897088898441,16466,0.10150064527988434,-1.5915732383728027,-0.08592711389064789,0.8216339349746704,1.6916499137878418,-0.0840267762541771,-0.9996287226676941,0.8
+1789729897122257848,16500,0.10140548646450043,-1.5915822982788086,-0.0856892541050911,0.8216304779052734,1.691428780555725,-0.08389579504728317,-0.999656617641449,0.8
+1789729897155586387,16533,0.10134518891572952,-1.5915905237197876,-0.08553790301084518,0.8216217756271362,1.6912868022918701,-0.08381853997707367,-0.9996606111526489,0.8
+1789729897188893478,16566,0.10128431767225266,-1.5916019678115845,-0.08541295677423477,0.8216130137443542,1.6911747455596924,-0.08377006649971008,-0.9996626973152161,0.8
+1789729897222247955,16600,0.10120313614606857,-1.5916152000427246,-0.08526615053415298,0.8215963840484619,1.6910145282745361,-0.08370748907327652,-0.9996723532676697,0.8
+1789729897255582943,16633,0.1011400818824768,-1.5916273593902588,-0.08515334874391556,0.8215804100036621,1.6908975839614868,-0.08366642147302628,-0.9996886849403381,0.8
+1789729897288895684,16666,0.10107927769422531,-1.5916399955749512,-0.08503244817256927,0.8215669393539429,1.6907782554626465,-0.083609938621521,-0.9997069835662842,0.8
+1789729897322308316,16700,0.10101225972175598,-1.5916565656661987,-0.08487360179424286,0.821551501750946,1.6906325817108154,-0.08353174477815628,-0.9997304677963257,0.8
+1789729897355640044,16733,0.1009654700756073,-1.5916681289672852,-0.08475551754236221,0.8215426802635193,1.6905395984649658,-0.0834660530090332,-0.9997319579124451,0.8
+1789729897388896790,16766,0.10092154145240784,-1.5916811227798462,-0.08464997261762619,0.8215304017066956,1.6904455423355103,-0.08340438455343246,-0.9997342228889465,0.8
+1789729897422246667,16800,0.10085912048816681,-1.5916955471038818,-0.08451937884092331,0.8215129971504211,1.6903142929077148,-0.08336082100868225,-0.9997379183769226,0.8
+1789729897455580206,16833,0.10081252455711365,-1.5917048454284668,-0.0844220519065857,0.8215032815933228,1.690223217010498,-0.08332199603319168,-0.9997447729110718,0.8
+1789729897488898816,16866,0.10076811164617538,-1.591714859008789,-0.08433288335800171,0.821491003036499,1.6901367902755737,-0.08329076319932938,-0.9997603297233582,0.8
+1789729897522246383,16900,0.10071464627981186,-1.5917259454727173,-0.08422231674194336,0.8214771747589111,1.690029263496399,-0.08323624730110168,-0.9997712969779968,0.8
+1789729897555581042,16933,0.10067731887102127,-1.591738224029541,-0.08414354920387268,0.8214665651321411,1.689961552619934,-0.08318590372800827,-0.9997853636741638,0.8
+1789729897588896402,16966,0.1006447970867157,-1.5917484760284424,-0.0840698778629303,0.8214597105979919,1.6899055242538452,-0.08314935863018036,-0.9997919797897339,0.8
+1789729897622251209,17000,0.10059913247823715,-1.5917600393295288,-0.08395957946777344,0.8214524984359741,1.6898057460784912,-0.08309303969144821,-0.9997936487197876,0.8
+1789729897655587987,17033,0.1005619615316391,-1.5917677879333496,-0.08386863023042679,0.8214411735534668,1.6897231340408325,-0.08305635303258896,-0.9997956156730652,0.8
+1789729897688909047,17066,0.10051985085010529,-1.5917768478393555,-0.08377183973789215,0.8214277625083923,1.6896302700042725,-0.08300939947366714,-0.9997985363006592,0.8
+1789729897722252675,17100,0.1004621833562851,-1.5917859077453613,-0.08364709466695786,0.8214141130447388,1.689509391784668,-0.082951620221138,-0.999805212020874,0.8
+1789729897755584544,17133,0.10042015463113785,-1.5917937755584717,-0.08356006443500519,0.8214066624641418,1.6894229650497437,-0.08290506899356842,-0.9998177886009216,0.8
+1789729897788895234,17166,0.10038071870803833,-1.5918035507202148,-0.08347927033901215,0.8213997483253479,1.6893540620803833,-0.08286861330270767,-0.9998372197151184,0.8
+1789729897822246351,17200,0.1003294587135315,-1.5918163061141968,-0.08337778598070145,0.8213924169540405,1.6892650127410889,-0.08282522112131119,-0.9998481273651123,0.8
+1789729897855582140,17233,0.10028854012489319,-1.5918259620666504,-0.08329252898693085,0.821385383605957,1.6891916990280151,-0.08278639614582062,-0.9998507499694824,0.8
+1789729897888903500,17266,0.10024705529212952,-1.5918354988098145,-0.08320445567369461,0.8213787078857422,1.6891127824783325,-0.08275103569030762,-0.999856173992157,0.8
+1789729897922247567,17300,0.1001967340707779,-1.5918453931808472,-0.08308802545070648,0.8213669657707214,1.6889986991882324,-0.08269742876291275,-0.9998686909675598,0.8
+1789729897955581926,17333,0.10016290843486786,-1.5918508768081665,-0.08301026374101639,0.8213613033294678,1.6889266967773438,-0.08265888690948486,-0.9998796582221985,0.8
+1789729897988908685,17366,0.10013213753700256,-1.5918551683425903,-0.08294212818145752,0.8213586807250977,1.6888664960861206,-0.08261986821889877,-0.9998897910118103,0.8
+1789729898022258864,17400,0.10009263455867767,-1.591866374015808,-0.08285766839981079,0.8213531970977783,1.6887941360473633,-0.08257735520601273,-0.999906599521637,0.8
+1789729898055586537,17433,0.10006033629179001,-1.591874122619629,-0.08278799057006836,0.8213492035865784,1.6887272596359253,-0.08254416286945343,-0.9999191164970398,0.8
+1789729898088908130,17466,0.10002510249614716,-1.5918809175491333,-0.0827179104089737,0.8213441967964172,1.6886653900146484,-0.08251095563173294,-0.9999223351478577,0.8
diff --git a/episode_0011/right.observation.state.eef_pose/data.csv b/episode_0011/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d50b919664aa7e5e49b542b360efbe990463e2ff
--- /dev/null
+++ b/episode_0011/right.observation.state.eef_pose/data.csv
@@ -0,0 +1,526 @@
+timestamp_ns,elapsed_ms,x,y,z,r1,r2,r3,r4,r5,r6,gripper
+1789729880622232203,0,0.6407943367958069,-0.12193963676691055,-0.2823900580406189,-0.9987080373279129,-0.04952310313977936,0.011391648938345461,-0.049037258352437225,0.9980127449027765,0.03957155993692913,0.08004999905824661
+1789729880655620396,33,0.6407848000526428,-0.12193216383457184,-0.2824021279811859,-0.9987079315346681,-0.049526115499673846,0.011375476525138803,-0.04904110129881916,0.9980131584814042,0.039556360459837486,0.08004999905824661
+1789729880688995631,66,0.6407676339149475,-0.12192404270172119,-0.28241127729415894,-0.9987085842117251,-0.049517662904195806,0.011363412629701683,-0.04903339250506232,0.9980143350720807,0.03953622860855254,0.08004999905824661
+1789729880722364587,100,0.6407505869865417,-0.12190861254930496,-0.2824176549911499,-0.998708963250901,-0.04951972633889738,0.011332685693091524,-0.049037096755130974,0.9980154828639369,0.0395026496633195,0.08004999905824661
+1789729880755624062,133,0.6407425999641418,-0.12189768999814987,-0.28242209553718567,-0.9987096155593744,-0.04950874350609215,0.01130422239289193,-0.04902782363745749,0.9980177145165942,0.03945774726782877,0.08004999905824661
+1789729880788926453,166,0.6407303214073181,-0.12188206613063812,-0.2824227511882782,-0.9987092965223279,-0.04951881605662861,0.011296188062977844,-0.049038552589670215,0.9980182358672206,0.039431221291803716,0.08004999905824661
+1789729880822285489,200,0.6407188177108765,-0.12185937911272049,-0.28243109583854675,-0.9987091774198444,-0.04952533836667006,0.011268701019868932,-0.049046507931153505,0.998018951620308,0.039403198250563404,0.08004999905824661
+1789729880855622638,233,0.640705943107605,-0.12184729427099228,-0.2824396789073944,-0.9987088245588427,-0.04953470829730109,0.011266146866804258,-0.04905633101998954,0.9980195462988918,0.03937590027538569,0.08004999905824661
+1789729880889015611,266,0.6406969428062439,-0.12183678895235062,-0.28245043754577637,-0.998709094482781,-0.049532041749016015,0.01125604260653551,-0.04905445309167292,0.9980208191455696,0.03934596753372396,0.08004999905824661
+1789729880922288895,300,0.6406875252723694,-0.12182725220918655,-0.2824559807777405,-0.9987093809683016,-0.04953112726957913,0.011235559503342957,-0.0490548055384223,0.9980222156150285,0.0393100901865958,0.08004999905824661
+1789729880955611794,333,0.6406826376914978,-0.12181781977415085,-0.28246599435806274,-0.9987094094565574,-0.049530405706267565,0.011230600144814945,-0.04905450963991729,0.9980229275531339,0.039292378849477214,0.08004999905824661
+1789729880988924525,366,0.640681803226471,-0.1218123510479927,-0.28246814012527466,-0.9987090350924437,-0.0495390584126684,0.01123097769257484,-0.04906342815000183,0.9980233452524703,0.03927062947410745,0.08004999905824661
+1789729881022362116,400,0.6406778693199158,-0.12180957943201065,-0.28246545791625977,-0.9987084893145255,-0.04954615239964069,0.01125856040014328,-0.049069867673958795,0.9980242723798987,0.0392390118058351,0.08004999905824661
+1789729881055621465,433,0.6406799554824829,-0.12180311232805252,-0.2824597954750061,-0.9987081323118052,-0.049552109767703315,0.01126209960938257,-0.04907564208389324,0.9980238629502693,0.039242203223806074,0.08004999905824661
+1789729881089020002,466,0.6406811475753784,-0.12179984897375107,-0.28245723247528076,-0.9987073816157741,-0.04956241644118538,0.011277417172511683,-0.04908551769293905,0.998023877009706,0.03922949041412205,0.08004999905824661
+1789729881122367913,500,0.6406810283660889,-0.12180375307798386,-0.2824487090110779,-0.9987069552202286,-0.04956717031543256,0.0112915529008486,-0.04909010481156706,0.9980247881151579,0.03920055998826977,0.08004999905824661
+1789729881155628731,533,0.6406803131103516,-0.12180211395025253,-0.28244563937187195,-0.9987066131039133,-0.04956951549976524,0.01130211904763534,-0.04909215321595389,0.998025021752978,0.039192042867062,0.08004999905824661
+1789729881188922837,566,0.6406781077384949,-0.12180061638355255,-0.2824471592903137,-0.9987062320185556,-0.049573172667415163,0.011323049895566345,-0.04909520401690144,0.9980254756497045,0.03917666074756307,0.08004999905824661
+1789729881222287057,600,0.6406833529472351,-0.12179655581712723,-0.28245189785957336,-0.9987064274081696,-0.04957302898059372,0.011316101680745545,-0.04909542649279992,0.9980257551979154,0.039169262512850314,0.08004999905824661
+1789729881255622839,633,0.6406811475753784,-0.12179750949144363,-0.2824590802192688,-0.9987062435515819,-0.04957332149707238,0.011333587892680443,-0.04909534524450688,0.9980266491628594,0.03914658043578093,0.08004999905824661
+1789729881288926114,666,0.6406810879707336,-0.12179163843393326,-0.28247523307800293,-0.9987064343781251,-0.04956985636286396,0.01133032577328786,-0.0490919444630393,0.9980266278667875,0.039151387530567655,0.08004999905824661
+1789729881322291563,700,0.6406834721565247,-0.12179173529148102,-0.2824948728084564,-0.9987060368728065,-0.049576660002832396,0.011335483067073472,-0.049098759390739544,0.998026927538062,0.03913519925331439,0.08004999905824661
+1789729881355622746,733,0.6406875252723694,-0.12178658694028854,-0.2825081944465637,-0.9987056181365874,-0.04958313259306449,0.011333279194523128,-0.04910521161983203,0.9980263117606489,0.03914280354213638,0.08004999905824661
+1789729881388934600,766,0.640691876411438,-0.12178628891706467,-0.2825191617012024,-0.9987057015461043,-0.049583547570857096,0.011323835310608182,-0.049106046136720476,0.9980264359334315,0.03913859027396322,0.08004999905824661
+1789729881422291420,800,0.6406885385513306,-0.12178131192922592,-0.28253301978111267,-0.9987059157956089,-0.0495775263867614,0.011328923059812292,-0.049099677469707545,0.998026289223864,0.039150318964320883,0.08004999905824661
+1789729881455617243,833,0.6406875252723694,-0.1217767596244812,-0.28254762291908264,-0.9987064495815798,-0.04956957107974923,0.011322416780028613,-0.04909196166267861,0.9980266192825044,0.03915158255671988,0.08004999905824661
+1789729881488932607,866,0.6406843662261963,-0.1217731162905693,-0.28255605697631836,-0.998706725356393,-0.04956281262016021,0.011324938525846477,-0.04908517877901647,0.998027154713029,0.03914643702164067,0.08004999905824661
+1789729881522293537,900,0.6406877636909485,-0.12176452577114105,-0.28256770968437195,-0.9987070099881659,-0.049562018004565916,0.011314185563553285,-0.049084868145647303,0.9980273742500866,0.039141232243882995,0.08004999905824661
+1789729881555615411,933,0.6406857967376709,-0.12175793945789337,-0.2825808823108673,-0.9987072626157509,-0.049554728428657935,0.011309877188537848,-0.049077746666514876,0.9980277158039131,0.03914144929727942,0.08004999905824661
+1789729881588922015,966,0.6406846642494202,-0.12174921482801437,-0.2825986444950104,-0.9987077173730454,-0.04955066622680408,0.011298695665923203,-0.0490739674243746,0.9980274545923548,0.039152849634249864,0.08004999905824661
+1789729881622250078,1000,0.6406821608543396,-0.1217421218752861,-0.2826175093650818,-0.9987074771719198,-0.04955763587012915,0.011297971141302376,-0.049081122730638166,0.9980275845862833,0.039140567468407925,0.08004999905824661
+1789729881655582400,1033,0.6406824588775635,-0.1217389926314354,-0.2826208174228668,-0.9987074924143997,-0.04955840588502354,0.011283047902168344,-0.04908254794738025,0.9980277535957202,0.03913446738958257,0.08004999905824661
+1789729881688898134,1066,0.6406826376914978,-0.12173289805650711,-0.28262102603912354,-0.9987071986194724,-0.04956369642476177,0.01128199496173743,-0.04908773225209073,0.9980270734748399,0.039145307084205085,0.08004999905824661
+1789729881722246815,1100,0.6406881809234619,-0.12172885984182358,-0.28262773156166077,-0.9987068047783891,-0.049574524190197464,0.011274416885547901,-0.04909849458584882,0.9980255035878021,0.03917182718760588,0.08004999905824661
+1789729881755585917,1133,0.640690803527832,-0.12173107266426086,-0.2826334834098816,-0.9987064895079549,-0.049579659647310634,0.011269799210024176,-0.049103670133065117,0.9980248489044191,0.03918201569986036,0.08004999905824661
+1789729881788917010,1166,0.6406918168067932,-0.12173489481210709,-0.28263264894485474,-0.9987069514177949,-0.0495766883688495,0.011259516851935367,-0.04910094463937224,0.998024527678843,0.039193616625459574,0.08004999905824661
+1789729881822258981,1200,0.640690803527832,-0.12174119800329208,-0.2826179265975952,-0.9987069958627972,-0.049574952653888685,0.011251834612351234,-0.049099252084425546,0.9980238525676206,0.039212919998036624,0.08004999905824661
+1789729881855586094,1233,0.6406908631324768,-0.1217399388551712,-0.2826026380062103,-0.9987071997298704,-0.049574240246788547,0.011244065705328515,-0.04909853195406858,0.9980229687504075,0.03923631112299536,0.08004999905824661
+1789729881888894999,1266,0.6406913995742798,-0.12173892557621002,-0.2825974225997925,-0.9987074514916234,-0.049571810289803196,0.011231480593853795,-0.049096267694541985,0.9980221175780292,0.03926078713999099,0.08004999905824661
+1789729881922255938,1300,0.6406928300857544,-0.12174836546182632,-0.28259989619255066,-0.9987071931665894,-0.049578590180480525,0.01122821175246383,-0.04910309615258188,0.9980215629746025,0.03926634629417511,0.08004999905824661
+1789729881955591661,1333,0.6406974196434021,-0.12177475541830063,-0.2825978398323059,-0.9987069525466978,-0.04958656073312764,0.01121097601125555,-0.04911173342689688,0.9980211549753618,0.03926591334235087,0.08004999905824661
+1789729881988895345,1366,0.6406944394111633,-0.12183209508657455,-0.28260132670402527,-0.9987069266056174,-0.049586960344516255,0.011200169532020965,-0.04911296429794399,0.9980223328513239,0.03923441990502219,0.08004999905824661
+1789729882022257598,1400,0.6406718492507935,-0.12197848409414291,-0.28265559673309326,-0.9987079514782529,-0.049563020605926156,0.011216194834446636,-0.049091457827498075,0.9980324448118896,0.039003432433685176,0.08004999905824661
+1789729882055590154,1433,0.6406341791152954,-0.12215667963027954,-0.2827436625957489,-0.998709157226841,-0.04952447402183091,0.011275720910506604,-0.04905527560210621,0.9980478667547904,0.03865275414122693,0.08004999905824661
+1789729882088918920,1466,0.6406109929084778,-0.12244094908237457,-0.28286945819854736,-0.9987111209088013,-0.04949461287436088,0.011247364977296073,-0.04903332040288286,0.9980688793790241,0.038134572557704846,0.08004999905824661
+1789729882122260125,1500,0.6405826210975647,-0.12297620624303818,-0.2830946743488312,-0.998709440828329,-0.049540630247008215,0.011191028803091738,-0.049090812104757804,0.9980932810912594,0.0374151635700236,0.08004999905824661
+1789729882155594362,1533,0.6405428647994995,-0.12347202003002167,-0.28330013155937195,-0.9987124452200444,-0.049495745607664454,0.011125418108027751,-0.04905562873113245,0.9981158583309216,0.036854833894710184,0.08004999905824661
+1789729882188905939,1566,0.6404946446418762,-0.12404279410839081,-0.28352418541908264,-0.9987137091619926,-0.04948795019369517,0.011029079318238114,-0.049058070368684877,0.9981349944543048,0.03632957973085464,0.08004999905824661
+1789729882222256124,1600,0.6404140591621399,-0.12493686378002167,-0.2838687300682068,-0.9987150475703486,-0.049492737922140095,0.010900517756618204,-0.0490753788609411,0.9981567175180316,0.035703985131225274,0.08004999905824661
+1789729882255587820,1633,0.6403246521949768,-0.12571246922016144,-0.2841571867465973,-0.9987165538444374,-0.049477591197290685,0.010824430709731214,-0.049069037602394325,0.9981743403024094,0.03521669873444719,0.08004999905824661
+1789729882288898828,1666,0.6402333378791809,-0.1265590935945511,-0.2844903767108917,-0.998716340771461,-0.04949212011926245,0.010769855730186448,-0.049092407871257085,0.9981926947017101,0.034659479840456406,0.08004999905824661
+1789729882322244433,1700,0.6400973200798035,-0.12784326076507568,-0.28502506017684937,-0.9987159165130961,-0.049516320303056055,0.010710196174328668,-0.04912941059124845,0.9982206999111287,0.03378957433737696,0.08004999905824661
+1789729882355590558,1733,0.6399950981140137,-0.12890559434890747,-0.28548118472099304,-0.9987120632069608,-0.04958740624271613,0.010744219713736847,-0.049209944609159666,0.9982453685772911,0.0329327433333485,0.08004999905824661
+1789729882388901966,1766,0.6398870944976807,-0.12999774515628815,-0.28596732020378113,-0.9987105633403379,-0.04960349518581037,0.010802057775409712,-0.04923498379618212,0.9982725586032085,0.032059555417259564,0.08004999905824661
+1789729882422246211,1800,0.6397342681884766,-0.13153120875358582,-0.2866359353065491,-0.9987104725548663,-0.04958606811002105,0.010896854066053174,-0.04922864748824666,0.9983085288626261,0.030929299613427698,0.08004999905824661
+1789729882455588076,1833,0.6396237015724182,-0.13276977837085724,-0.2871358096599579,-0.9987091022747763,-0.049599636354844774,0.010951721891369351,-0.049251004593809926,0.9983330951920659,0.030089359192385888,0.08004999905824661
+1789729882488905654,1866,0.639480471611023,-0.13410283625125885,-0.2876358926296234,-0.9987108351490663,-0.049563210931016795,0.010958110178990399,-0.049223828840481036,0.9983570195372047,0.029330464586265786,0.08004999905824661
+1789729882522259658,1900,0.6392427682876587,-0.13601242005825043,-0.2882814407348633,-0.9987111898676462,-0.04956208286445826,0.010924112054524537,-0.04923422346222231,0.9983812359027094,0.028476285868797427,0.08004999905824661
+1789729882555592364,1933,0.6390820741653442,-0.13751281797885895,-0.2887560725212097,-0.9987096128340927,-0.049606091500540295,0.010877540007460433,-0.04928523674231977,0.9983919091582214,0.028010018695313308,0.08004999905824661
+1789729882588909342,1966,0.6389841437339783,-0.13903242349624634,-0.28920939564704895,-0.9987065141203779,-0.04964956410872591,0.010972186277509725,-0.04933270382766751,0.9984044414629896,0.027474638037401203,0.08004999905824661
+1789729882622255187,2000,0.6389105916023254,-0.14108812808990479,-0.28981396555900574,-0.9987063497478421,-0.0495954687338903,0.011223102518134465,-0.04928181546966627,0.9984284279673394,0.026682895708144527,0.08004999905824661
+1789729882655592782,2033,0.6387659907341003,-0.14273732900619507,-0.2902877926826477,-0.9987088440297551,-0.049511883170751385,0.011375866710239636,-0.049200523133187464,0.9984455096271844,0.026189176735977048,0.08004999905824661
+1789729882688898851,2066,0.6385208964347839,-0.14451685547828674,-0.2907993793487549,-0.9987093716887618,-0.0494923125092148,0.01141005681133811,-0.049184631482696715,0.9984556348195829,0.025830551495064386,0.08004999905824661
+1789729882722260335,2100,0.6382051706314087,-0.14690472185611725,-0.29153189063072205,-0.9987014601691429,-0.04962374931788641,0.01151974398944975,-0.049318777182932615,0.9984600805851372,0.025399322082084754,0.08004999905824661
+1789729882755589241,2133,0.6380540728569031,-0.14861148595809937,-0.29209887981414795,-0.9986975241658631,-0.04962092295961598,0.011870121914798387,-0.04931425788526708,0.9984737371753195,0.024865639930876343,0.08004999905824661
+1789729882788897309,2166,0.6378358602523804,-0.1503584086894989,-0.2926709055900574,-0.9986985478038599,-0.04949817147183124,0.012290345345329228,-0.04919033530004888,0.9984962202285806,0.024199360225212543,0.08004999905824661
+1789729882822259993,2200,0.637398362159729,-0.15280042588710785,-0.2934776842594147,-0.9986954699026269,-0.04950570497166768,0.012505484088093995,-0.049202264350101936,0.998512171823719,0.023507015681483553,0.08004999905824661
+1789729882855586449,2233,0.6371167302131653,-0.15455205738544464,-0.29410600662231445,-0.9986881326160397,-0.049605033435200514,0.012707919548177151,-0.049304907176355155,0.9985204778115959,0.0229321089412029,0.08004999905824661
+1789729882888896758,2266,0.636877179145813,-0.15621672570705414,-0.2947425842285156,-0.998683576482231,-0.049589884770407835,0.013108448924926838,-0.049292469091167454,0.9985395478780401,0.02211388076244679,0.08004999905824661
+1789729882922258371,2300,0.6364098787307739,-0.15850207209587097,-0.2956235706806183,-0.9986862536420169,-0.049446375867652825,0.01344201180039889,-0.04915813028260657,0.9985704438011421,0.020989209068862952,0.08004999905824661
+1789729882955588257,2333,0.6359613537788391,-0.16027384996414185,-0.29633352160453796,-0.9986898413905401,-0.04937613560399835,0.0134440849881238,-0.04909734234806694,0.9985870179280838,0.020332700329882627,0.08004999905824661
+1789729882988906325,2366,0.635509192943573,-0.16205838322639465,-0.2970857620239258,-0.998687448020035,-0.04941296949806699,0.013477376834487277,-0.049143322383212465,0.9985983399503044,0.019654242380679362,0.08004999905824661
+1789729883022260351,2400,0.6349854469299316,-0.16435077786445618,-0.2981424033641815,-0.9986758578516541,-0.049596137271376545,0.013657241618931046,-0.04933713315615154,0.9986072942835864,0.01869007577800083,0.08004999905824661
+1789729883055586582,2433,0.634540855884552,-0.16608870029449463,-0.2989455759525299,-0.9986805823696803,-0.04945274377333219,0.013831142025475685,-0.0492029363875749,0.9986292244390165,0.01785337492620398,0.08004999905824661
+1789729883088913962,2466,0.6339783072471619,-0.1679181009531021,-0.29976436495780945,-0.9986928271325801,-0.049210009104004644,0.013825496371498401,-0.04897044980875619,0.9986527668867221,0.017162351942788034,0.08004999905824661
+1789729883122269380,2500,0.6332009434700012,-0.17039021849632263,-0.3008866012096405,-0.9986860417650514,-0.04937459516278128,0.013731231436292339,-0.04914701817656944,0.9986561659718416,0.016444844487187252,0.08004999905824661
+1789729883155600100,2533,0.6327010989189148,-0.17217768728733063,-0.3017570376396179,-0.9986810416613461,-0.0494462184450615,0.013833547016654332,-0.049226248868774664,0.9986624529868061,0.01581396522055742,0.08004999905824661
+1789729883188918861,2566,0.6322311758995056,-0.17392076551914215,-0.3026501536369324,-0.9986749462024405,-0.04950020401714982,0.014070069422508213,-0.049288663277991536,0.9986718737588107,0.015003871469239649,0.08004999905824661
+1789729883222262340,2600,0.6315030455589294,-0.17633090913295746,-0.30388712882995605,-0.9986870273574759,-0.04922631990228803,0.014171812771617595,-0.049029733046342464,0.9987005890053261,0.013900312944267489,0.08004999905824661
+1789729883255585181,2633,0.630981981754303,-0.17816276848316193,-0.30485135316848755,-0.9986891865711451,-0.04921211530940948,0.01406826433168826,-0.04902674161117195,0.9987098224946194,0.013231362601792626,0.08004999905824661
+1789729883288899552,2666,0.6305539011955261,-0.17996299266815186,-0.3058337867259979,-0.9986765108783688,-0.04946283408443967,0.014101547700043519,-0.04928742637731861,0.9987060810956211,0.012526504402527143,0.08004999905824661
+1789729883322261369,2700,0.6302245259284973,-0.1822214126586914,-0.30712759494781494,-0.9986718038201872,-0.04947931664848878,0.014371744713423975,-0.04931903270026864,0.9987191390827711,0.011301076107418689,0.08004999905824661
+1789729883355583800,2733,0.6299490928649902,-0.18395160138607025,-0.30808523297309875,-0.9986767687279634,-0.049318632461355,0.01457389527599319,-0.0491706450164127,0.9987368257767164,0.010344105334646548,0.08004999905824661
+1789729883388892932,2766,0.6296349167823792,-0.18572667241096497,-0.3090266287326813,-0.9986752970632373,-0.04936372890060718,0.01452397419047354,-0.049227081162471834,0.9987412795499361,0.009620345568240138,0.08004999905824661
+1789729883422255989,2800,0.6293094754219055,-0.1880102902650833,-0.31025195121765137,-0.9986704830789983,-0.04945293527941508,0.01454458107304063,-0.04933083583418019,0.9987451452993982,0.008637319957983336,0.08004999905824661
+1789729883455598568,2833,0.6291228532791138,-0.18967986106872559,-0.3111274540424347,-0.998670791828083,-0.049370028393486004,0.014810315558608173,-0.04926196972968047,0.9987571697788292,0.00757457676589687,0.08004999905824661
+1789729883488921979,2866,0.6289013028144836,-0.19139760732650757,-0.31197383999824524,-0.9986722878472671,-0.0493071125052991,0.014922533518544882,-0.04921326023035185,0.9987665349417678,0.006592710267003532,0.08004999905824661
+1789729883522267987,2900,0.6286296248435974,-0.19370976090431213,-0.31311851739883423,-0.9986691350743584,-0.04936213864489552,0.014937546615322428,-0.049285678451510724,0.9987698833703291,0.005444432404805105,0.08004999905824661
+1789729883555591258,2933,0.6285221576690674,-0.19538648426532745,-0.313976526260376,-0.9986710375500427,-0.049292805908266686,0.015048273681255915,-0.04922915147523365,0.9987770470324392,0.00457176230228638,0.08004999905824661
+1789729883588900180,2966,0.6284130811691284,-0.19708271324634552,-0.3147950768470764,-0.9986669583067593,-0.04931449975661554,0.015243272711306625,-0.04926386671127588,0.9987790201131181,0.003679728350487129,0.08004999905824661
+1789729883622262707,3000,0.6282938718795776,-0.19932909309864044,-0.3158438205718994,-0.9986649631932221,-0.04934451215650105,0.01527764202970868,-0.049305562927256956,0.9987794846543522,0.002915903896045369,0.08004999905824661
+1789729883655590457,3033,0.6281959414482117,-0.2010408192873001,-0.3165973722934723,-0.9986653716427183,-0.04930973494782373,0.015369499296210834,-0.04927737948131641,0.9987820604199513,0.002477049487042471,0.08004999905824661
+1789729883688901439,3066,0.6281217336654663,-0.2027902752161026,-0.31730419397354126,-0.9986626794600644,-0.04936060230164053,0.015376888289903651,-0.04933255721074225,0.9987799894211197,0.0021980834229991947,0.08004999905824661
+1789729883722257097,3100,0.6280666589736938,-0.20512628555297852,-0.31818488240242004,-0.998657466268349,-0.049402836961358734,0.015582247529976646,-0.049378568848891344,0.9987782531703404,0.0019385673812060827,0.08004999905824661
+1789729883755587307,3133,0.6279274225234985,-0.20700092613697052,-0.31882721185684204,-0.9986641371381768,-0.049270432411222406,0.01556047310889154,-0.04924622465922547,0.9987847935283309,0.0019353111028451025,0.08004999905824661
+1789729883788904018,3166,0.6279236078262329,-0.20875489711761475,-0.3194783627986908,-0.9986525305804925,-0.04951517022475982,0.015529017762022266,-0.04948806586913146,0.9987724541836313,0.002125079997012799,0.08004999905824661
+1789729883822255756,3200,0.6278858184814453,-0.21114963293075562,-0.3203103542327881,-0.9986567664510215,-0.04932669212815309,0.01585390522520096,-0.04930184659835536,0.9987820122584554,0.0019544290077654,0.08004999905824661
+1789729883855586256,3233,0.6278767585754395,-0.21291102468967438,-0.3209732472896576,-0.9986486520164699,-0.049517607155753304,0.01578328457151657,-0.04948852270649136,0.9987722068428799,0.0022282511761875963,0.08004999905824661
+1789729883888892978,3266,0.6279368996620178,-0.21458391845226288,-0.3216322660446167,-0.9986421495232931,-0.04955296816446819,0.016076005674209942,-0.0495239449675553,0.9987705164568781,0.002198722114132891,0.08004999905824661
+1789729883922263835,3300,0.6280073523521423,-0.21683372557163239,-0.32255831360816956,-0.9986444405888906,-0.04939969201151089,0.01639706625439455,-0.049370949247997294,0.9987781897672244,0.0021533606074406013,0.08004999905824661
+1789729883955586305,3333,0.6279803514480591,-0.2185351848602295,-0.3232893645763397,-0.9986435339884048,-0.04941556159623597,0.016403290089062765,-0.04938423167792736,0.99877718351561,0.0023098209650700176,0.08004999905824661
+1789729883988997298,3366,0.6280931830406189,-0.2200341522693634,-0.3240549564361572,-0.9986380999170001,-0.04947199802395506,0.016564394104630252,-0.0494399464093558,0.9987743588856064,0.0023391618014465335,0.08004999905824661
+1789729884022255347,3400,0.6281295418739319,-0.22201602160930634,-0.3251517415046692,-0.9986415362975221,-0.049332719272578804,0.01677332094915936,-0.04930150148599673,0.9987813623279506,0.002269846922810584,0.08004999905824661
+1789729884055586041,3433,0.628272533416748,-0.22327908873558044,-0.326050728559494,-0.9986350056708027,-0.04942400710340413,0.016892330780452353,-0.049393455271424004,0.9987769281662028,0.0022213314590996194,0.08004999905824661
+1789729884088908095,3466,0.6283963322639465,-0.2244778871536255,-0.3269753158092499,-0.9986335772073076,-0.04931602795258989,0.01729014053795614,-0.04929261858069261,0.9987827979193432,0.0017777398281393526,0.08004999905824661
+1789729884122260247,3500,0.6285446882247925,-0.22594396770000458,-0.32832902669906616,-0.9986300469590983,-0.049313083864053954,0.017494981493716005,-0.04929590332470437,0.9987832194976772,0.0014121823189406565,0.08004999905824661
+1789729884155586291,3533,0.6285967230796814,-0.22701291739940643,-0.3294261693954468,-0.9986316909552135,-0.04922229217331495,0.01766394581245416,-0.04921061846102351,0.9987878231342708,0.0010951949526860592,0.08004999905824661
+1789729884188895576,3566,0.6287005543708801,-0.22799400985240936,-0.33059486746788025,-0.998626988268482,-0.04925060278103394,0.017843214959010215,-0.049245333228976666,0.9987864421695121,0.0007348543332568215,0.08004999905824661
+1789729884222260827,3600,0.6288861036300659,-0.2291325181722641,-0.3322494328022003,-0.9986189202270914,-0.04917488350871709,0.018493548158684037,-0.04918223050861096,0.9987898201524555,5.76075077106733e-05,0.08004999905824661
+1789729884255588311,3633,0.6289079785346985,-0.2300834357738495,-0.33353692293167114,-0.9986177593149788,-0.049075146405998554,0.018822717694842905,-0.049090838962739,0.9987942485788203,-0.0003722800863112108,0.08004999905824661
+1789729884288893647,3666,0.6289408802986145,-0.23100659251213074,-0.334858775138855,-0.9986053881932524,-0.04921798418402446,0.019097804605100355,-0.049239033652773594,0.9987868223325114,-0.0006332561311997963,0.08004999905824661
+1789729884322260537,3700,0.62908536195755,-0.23211835324764252,-0.3366108536720276,-0.9985947448035122,-0.04913378588030527,0.019863052093472045,-0.04916973232328635,0.9987895582105286,-0.0013251090868647564,0.08004999905824661
+1789729884355584632,3733,0.6291829347610474,-0.23294934630393982,-0.33790358901023865,-0.9985828978566229,-0.04913700922965478,0.020440263917072737,-0.049186154510640484,0.9987878056440619,-0.0019082803518552377,0.08004999905824661
+1789729884388898737,3766,0.6292514204978943,-0.23374471068382263,-0.33920538425445557,-0.9985737721729375,-0.04910204848506823,0.020967153674312837,-0.04916310616317891,0.998787864812588,-0.0024062883398132465,0.08004999905824661
+1789729884422256688,3800,0.6292891502380371,-0.234823077917099,-0.34096312522888184,-0.9985590706559251,-0.049105280810945146,0.021645897146839135,-0.049185744594534925,0.9987845214288921,-0.003200365310169734,0.08004999905824661
+1789729884455583422,3833,0.6293125748634338,-0.23560181260108948,-0.3422468900680542,-0.9985457524916774,-0.04920661195348689,0.02202151623483277,-0.049297864701967474,0.9987775609850456,-0.0036199615362103865,0.08004999905824661
+1789729884488889648,3866,0.6294384598731995,-0.23623493313789368,-0.3434705138206482,-0.9985297184365516,-0.04924193760445169,0.022660099991523422,-0.04934761012244374,0.9987731349930642,-0.00412772304043077,0.08004999905824661
+1789729884522262608,3900,0.6295681595802307,-0.23708400130271912,-0.34495919942855835,-0.9985095776047554,-0.04917606678035452,0.023671570126294145,-0.049306662730249584,0.9987713462934175,-0.004964960918844161,0.08004999905824661
+1789729884555587272,3933,0.6295692920684814,-0.23779496550559998,-0.3459583818912506,-0.998497705420643,-0.049157842298752814,0.02419986599010553,-0.04930049941569852,0.9987697493923451,-0.005333697567074316,0.08004999905824661
+1789729884588893528,3966,0.6295409798622131,-0.23852071166038513,-0.3468943238258362,-0.9984829147265968,-0.04921157247331936,0.024702369546990892,-0.04936386680940314,0.9987651992724237,-0.005593339627204569,0.08004999905824661
+1789729884622257529,4000,0.6294566988945007,-0.23953203856945038,-0.3481433391571045,-0.9984731623239091,-0.04911490765755629,0.025280763327301572,-0.04927836341171624,0.998767755220376,-0.005883371525926367,0.08004999905824661
+1789729884655586083,4033,0.6294611692428589,-0.24023868143558502,-0.3491204082965851,-0.9984565667827958,-0.04925589061847817,0.025661284924532065,-0.04942582627945398,0.9987595927177599,-0.006030236329667961,0.08004999905824661
+1789729884688892379,4066,0.6295483112335205,-0.24087245762348175,-0.3501145839691162,-0.9984387018488567,-0.04925743292544644,0.02633807156081778,-0.049442741149102125,0.9987562550194675,-0.006431042014215772,0.08004999905824661
+1789729884722306724,4100,0.6295441389083862,-0.24185620248317719,-0.35138946771621704,-0.9984245994652519,-0.04909400074334489,0.02716911248260343,-0.04930149509743067,0.998759269211133,-0.007020312296647048,0.08004999905824661
+1789729884755589602,4133,0.6294567584991455,-0.2426820993423462,-0.3522820472717285,-0.9984156830259405,-0.04915137103105182,0.02739193642737904,-0.049361902787326446,0.9987559841537225,-0.007063051921421058,0.08004999905824661
+1789729884788897618,4166,0.6294060349464417,-0.24344763159751892,-0.35314953327178955,-0.9984042319536655,-0.04918033739684635,0.027753506404613684,-0.049396142100086915,0.9987537150044496,-0.007144081022410258,0.08004999905824661
+1789729884822254469,4200,0.6293536424636841,-0.2444705218076706,-0.3542930781841278,-0.9983930971392945,-0.04912960039371418,0.02824378805623562,-0.04935861270082663,0.998753194838732,-0.007468820519935582,0.08004999905824661
+1789729884855585213,4233,0.6293527483940125,-0.24515941739082336,-0.35516342520713806,-0.9983844001380409,-0.04915004955500261,0.028507918657831345,-0.04938649853804141,0.9987504464539547,-0.007649795399594858,0.08004999905824661
+1789729884888905228,4266,0.6292997598648071,-0.2458454668521881,-0.3560241758823395,-0.9983746726051215,-0.04910713049561793,0.02892343491504964,-0.04935676879292367,0.9987493258291763,-0.007980825085663185,0.08004999905824661
+1789729884922252330,4300,0.6291491389274597,-0.24679873883724213,-0.3570971190929413,-0.9983679302059343,-0.04911424301263524,0.029141270007989446,-0.049371003747213024,0.9987471960089227,-0.008157353725168716,0.08004999905824661
+1789729884955585723,4333,0.6290864944458008,-0.2474028766155243,-0.3579019010066986,-0.9983555164912981,-0.04924133381768199,0.029352518377238956,-0.04950221727329422,0.9987401207446884,-0.008228104908069245,0.08004999905824661
+1789729884988891349,4366,0.6290666460990906,-0.2479095160961151,-0.3587349057197571,-0.9983443495900464,-0.04922301914654605,0.029756732800736135,-0.049496836900001374,0.9987378036769068,-0.008535954718644437,0.08004999905824661
+1789729885022261712,4400,0.6289335489273071,-0.2486005574464798,-0.3599092364311218,-0.9983391172256006,-0.04915925858149765,0.030039561481416777,-0.04944837390360475,0.9987365064711489,-0.008958178424721703,0.08004999905824661
+1789729885055586890,4433,0.6287639141082764,-0.2491086721420288,-0.36082959175109863,-0.998332031704158,-0.049231037973225464,0.03015950084165365,-0.04952871038428498,0.9987302974662206,-0.009203252533245429,0.08004999905824661
+1789729885088903868,4466,0.6285858154296875,-0.24956755340099335,-0.36176902055740356,-0.9983262176971401,-0.04925371727668479,0.030310540111264828,-0.049561071074890745,0.9987261663738913,-0.009473371455626874,0.08004999905824661
+1789729885122261143,4500,0.6283688545227051,-0.2500438988208771,-0.36306053400039673,-0.9983175324329363,-0.04927628034758794,0.03056436164903458,-0.049598297305297044,0.9987204959956265,-0.009868126893012343,0.08004999905824661
+1789729885155582231,4533,0.6282389760017395,-0.2502903342247009,-0.364036500453949,-0.9983119101359568,-0.04928166511696427,0.030737235988488022,-0.049616456000997324,0.9987159973317599,-0.010225656513496457,0.08004999905824661
+1789729885188900090,4566,0.628121018409729,-0.2504579424858093,-0.3650093078613281,-0.9983097455132595,-0.04926406976848117,0.03083308801341001,-0.04960957944262081,0.9987130444244497,-0.010542509589047205,0.08004999905824661
+1789729885222260605,4600,0.6279698610305786,-0.2506502568721771,-0.36629700660705566,-0.9983078860110077,-0.049278264670649885,0.030867791155093312,-0.04963745464262559,0.9987069475524905,-0.010979794152256472,0.08004999905824661
+1789729885255611890,4633,0.6278402805328369,-0.25079360604286194,-0.36724936962127686,-0.9983104072063576,-0.04926308665056936,0.030815749166405948,-0.04963110282281255,0.9987037668808567,-0.011293349180347492,0.08004999905824661
+1789729885288920989,4666,0.6277323365211487,-0.250912606716156,-0.3681849241256714,-0.9983176806008773,-0.0492256102563725,0.03063955468829091,-0.049599449321354856,0.9987022573411279,-0.011562694151733059,0.08004999905824661
+1789729885322283504,4700,0.6275990009307861,-0.25101444125175476,-0.36939147114753723,-0.9983243551063536,-0.04919827737414456,0.030459966022511033,-0.04957847363482687,0.9986998770907403,-0.011854548476211257,0.08004999905824661
+1789729885355678035,4733,0.6275097131729126,-0.2510719895362854,-0.3702649772167206,-0.9983297864124816,-0.049186414123267685,0.030307943399582107,-0.04956959664934696,0.9986982967778049,-0.012023612420880764,0.08004999905824661
+1789729885388929960,4766,0.6274160146713257,-0.2511291801929474,-0.3711303472518921,-0.9983340872940667,-0.04920294251678776,0.030138782074430718,-0.04958673223712189,0.9986962638738008,-0.012121413190442756,0.08004999905824661
+1789729885422327081,4800,0.627288818359375,-0.2512342631816864,-0.3723240792751312,-0.9983355494276323,-0.04932725947133015,0.029882675532897474,-0.049709438353395315,0.998689403317096,-0.012183901477382294,0.08004999905824661
+1789729885455681356,4833,0.6271670460700989,-0.2513597905635834,-0.3732715845108032,-0.9983396968383242,-0.04939337147567378,0.029631373104464166,-0.04977251134405571,0.9986861063475412,-0.01219663969512795,0.08004999905824661
+1789729885489017743,4866,0.6270132064819336,-0.2515197992324829,-0.37427935004234314,-0.998350132362759,-0.04935467593969662,0.02934494831599881,-0.04972840958907037,0.9986889321105805,-0.012145046623298919,0.08004999905824661
+1789729885522263578,4900,0.6267971992492676,-0.2517441511154175,-0.375684916973114,-0.9983604119402489,-0.04940666498091417,0.02890811787326511,-0.04977009553115863,0.9986887290668811,-0.011990002642312425,0.08004999905824661
+1789729885555587456,4933,0.6266523599624634,-0.25187426805496216,-0.3767434358596802,-0.9983668217632795,-0.04943987042027323,0.0286244307410492,-0.049796470741738624,0.9986887095592057,-0.011881619447740452,0.08004999905824661
+1789729885588896115,4966,0.6265332698822021,-0.25195980072021484,-0.3777892291545868,-0.9983712659860504,-0.04949316633812473,0.028373258589514193,-0.04984377483440994,0.9986874892706459,-0.01178544667095639,0.08004999905824661
+1789729885622251050,5000,0.6263746023178101,-0.2520645260810852,-0.3791194260120392,-0.9983790951464746,-0.049507234657084745,0.028071721317079707,-0.049851365275759604,0.9986881833603471,-0.011694172430729073,0.08004999905824661
+1789729885655581958,5033,0.6262547969818115,-0.2521457076072693,-0.3800853490829468,-0.9983848279575092,-0.049519946026371275,0.027848983151980217,-0.04986029378359619,0.998688112594802,-0.011662113965916245,0.08004999905824661
+1789729885688916625,5066,0.6261249780654907,-0.2522357404232025,-0.38102391362190247,-0.9983916605231469,-0.049515236360905455,0.027613920542323953,-0.04985250720472804,0.9986885062350401,-0.01166169659302678,0.08004999905824661
+1789729885722282259,5100,0.6259537935256958,-0.25233355164527893,-0.38226309418678284,-0.9983998443121538,-0.04953296788447148,0.027281420541132625,-0.04986423956601216,0.9986886514819098,-0.011598924086067594,0.08004999905824661
+1789729885755614516,5133,0.6258353590965271,-0.25238779187202454,-0.38316354155540466,-0.9984053083905062,-0.04954746572692503,0.02705152299293543,-0.04987433097720828,0.9986887759150213,-0.011544691539655969,0.08004999905824661
+1789729885788921645,5166,0.6257267594337463,-0.2523989975452423,-0.38404691219329834,-0.9984096833759706,-0.04956482002131715,0.02685780485691594,-0.04988589451667433,0.9986896431288119,-0.01141902691997735,0.08004999905824661
+1789729885822287190,5200,0.6255988478660583,-0.2524052858352661,-0.38518595695495605,-0.9984154736214366,-0.04958025602420389,0.02661058824711504,-0.04989539934060917,0.9986903862115908,-0.011312005617238663,0.08004999905824661
+1789729885855613298,5233,0.625510573387146,-0.2523803114891052,-0.38603147864341736,-0.998419449252032,-0.0495990557524143,0.02643243962374297,-0.04990827471165338,0.9986913453031366,-0.011169647332242336,0.08004999905824661
+1789729885888922457,5266,0.6254154443740845,-0.2523367702960968,-0.3869195878505707,-0.9984226215386736,-0.04961142980940672,0.026286010553062657,-0.04991490470981583,0.998692707650638,-0.01101716659804921,0.08004999905824661
+1789729885922289311,5300,0.6253023743629456,-0.25229060649871826,-0.38820821046829224,-0.9984274542032476,-0.04963541868285921,0.02605716243673359,-0.0499342762602099,0.9986925182320753,-0.010946328263676114,0.08004999905824661
+1789729885955614159,5333,0.6252145171165466,-0.2522343397140503,-0.3892749845981598,-0.9984301454916709,-0.04965925100464397,0.02590366083867649,-0.04995333839778027,0.998692812063015,-0.010831942731137877,0.08004999905824661
+1789729885988943266,5366,0.6251195669174194,-0.2521767318248749,-0.3903951346874237,-0.9984340571997918,-0.04966325864175833,0.025751003948563292,-0.049952126149140824,0.9986943154763245,-0.010698102957274868,0.08004999905824661
+1789729886022326811,5400,0.6249839663505554,-0.25209659337997437,-0.39193519949913025,-0.9984385065854129,-0.049703215901367837,0.025495803893358485,-0.049983180801023264,0.9986952496433702,-0.010463264768207602,0.08004999905824661
+1789729886055624125,5433,0.6248641014099121,-0.25202175974845886,-0.3930942714214325,-0.9984423410706629,-0.04972237672322552,0.025313517039686255,-0.04999281186909291,0.9986978510429366,-0.010164704236791985,0.08004999905824661
+1789729886088925888,5466,0.6247450709342957,-0.2519513666629791,-0.3942508101463318,-0.9984458796735436,-0.04976307179401039,0.02509021476590515,-0.05002274186678281,0.9986997039247353,-0.00982988879646407,0.08004999905824661
+1789729886122285867,5500,0.6245688199996948,-0.2518863379955292,-0.3957952558994293,-0.9984530180759958,-0.04977714926325756,0.024775769677946907,-0.05002448869862024,0.998703140106416,-0.009465119820592043,0.08004999905824661
+1789729886155587210,5533,0.6244359612464905,-0.25184696912765503,-0.39699020981788635,-0.9984578121469172,-0.04979552023487503,0.024547105612573762,-0.05003660509628123,0.9987040233882195,-0.009306552549016248,0.08004999905824661
+1789729886188922311,5566,0.6243035197257996,-0.2517929971218109,-0.3982209861278534,-0.9984621017317454,-0.04981295362598348,0.024337709784669734,-0.050048494373711394,0.9987047246206749,-0.009166317463424053,0.08004999905824661
+1789729886222262641,5600,0.6241468787193298,-0.2517106533050537,-0.3998667895793915,-0.9984672327648969,-0.04984559582561239,0.024052252016176494,-0.050075176987684086,0.9987045496828459,-0.00903875176938471,0.08004999905824661
+1789729886255585452,5633,0.6240351796150208,-0.251650869846344,-0.40103867650032043,-0.9984724431740857,-0.04985087180523994,0.02382874391565553,-0.050075894876165046,0.9987053897361071,-0.00894144026149784,0.08004999905824661
+1789729886288894315,5666,0.623930037021637,-0.2515869140625,-0.402145117521286,-0.9984769938531461,-0.049877009585079096,0.023584129296258964,-0.05009567044870725,0.998705891223689,-0.008773071824471842,0.08004999905824661
+1789729886322248164,5700,0.6237856149673462,-0.2515181303024292,-0.40354427695274353,-0.9984847512351287,-0.04988478334028984,0.023234788605042526,-0.0500940217962606,0.9987082350390458,-0.008511776517902473,0.08004999905824661
+1789729886355661318,5733,0.6236752271652222,-0.2514581084251404,-0.4045950472354889,-0.9984905475102746,-0.04991385490454406,0.02292274850091572,-0.05011385937095589,0.9987095616786262,-0.008234843769038477,0.08004999905824661
+1789729886388900597,5766,0.6235649585723877,-0.25139954686164856,-0.40566352009773254,-0.9984957982249827,-0.04994435711742898,0.022621406500289515,-0.05013624205124853,0.9987103798544189,-0.007995900245897886,0.08004999905824661
+1789729886422248076,5800,0.6234171986579895,-0.25133758783340454,-0.40710970759391785,-0.9985027955523751,-0.04997562772977144,0.022234569502350768,-0.05015887397410317,0.9987110945840856,-0.007761235041834364,0.08004999905824661
+1789729886455585567,5833,0.6233080625534058,-0.25128722190856934,-0.40819475054740906,-0.9985077440267607,-0.05000601895290322,0.02194536657291477,-0.05018233323746093,0.9987114740024776,-0.007558113020933524,0.08004999905824661
+1789729886488894860,5866,0.6232002377510071,-0.251268208026886,-0.4092627465724945,-0.9985141056049995,-0.05001304551376612,0.021644444598116083,-0.05018484027298947,0.9987120277711332,-0.007467765708291468,0.08004999905824661
+1789729886522255788,5900,0.6230766177177429,-0.251262903213501,-0.41063061356544495,-0.9985219134513148,-0.0500483797628342,0.021197890022996463,-0.05021520335797609,0.9987109191919584,-0.00741170487047077,0.08004999905824661
+1789729886555590328,5933,0.6230018138885498,-0.2512594163417816,-0.41160017251968384,-0.9985278377019793,-0.050060497690164726,0.020879907241793068,-0.05022470683911541,0.9987104144832496,-0.007415304414230092,0.08004999905824661
+1789729886588963476,5966,0.6229366064071655,-0.25127121806144714,-0.4125477075576782,-0.9985341497718911,-0.05007482572116588,0.02054024068422676,-0.050237833366920184,0.9987091369809585,-0.007497980038500253,0.08004999905824661
+1789729886622266629,6000,0.6228756904602051,-0.2512587904930115,-0.4137883484363556,-0.9985414384873539,-0.050105009256396535,0.02010655007460138,-0.05026662661973698,0.9987068066457081,-0.007614490903267483,0.08004999905824661
+1789729886655588301,6033,0.6228484511375427,-0.25125110149383545,-0.41474878787994385,-0.9985462055521663,-0.05012904666232835,0.019808211355498997,-0.05029218004244115,0.9987038942089133,-0.007824844795617875,0.08004999905824661
+1789729886688914362,6066,0.6228434443473816,-0.25123268365859985,-0.4157228171825409,-0.9985505846301204,-0.05016253383535649,0.01950968427435021,-0.050328227394969144,0.9986999138654314,-0.008096399695031287,0.08004999905824661
+1789729886722257562,6100,0.6228830814361572,-0.2511800229549408,-0.41701242327690125,-0.9985570731103162,-0.05018341891335743,0.019116890564161784,-0.050353449177344516,0.9986951276996241,-0.008518926205320996,0.08004999905824661
+1789729886755587953,6133,0.6229632496833801,-0.2511327862739563,-0.4179409146308899,-0.9985626278745339,-0.050192611442720414,0.018795372946183164,-0.050366557241578624,0.9986911582787319,-0.008898326410472057,0.08004999905824661
+1789729886788950621,6166,0.6230735182762146,-0.25107231736183167,-0.4188254773616791,-0.9985676425302259,-0.050208254126259844,0.018481778647642853,-0.050386014888063047,0.9986866912875189,-0.009281271755168075,0.08004999905824661
+1789729886822260724,6200,0.6232653260231018,-0.25099849700927734,-0.41991689801216125,-0.9985745902676109,-0.0502372609751133,0.01802536264117687,-0.05042022393881526,0.9986795829730265,-0.009843348529563426,0.08004999905824661
+1789729886855587135,6233,0.6234320402145386,-0.2509452700614929,-0.4206741154193878,-0.9985800395407041,-0.05025088296327957,0.01768022159821795,-0.05043763126665184,0.9986743060954868,-0.010279863261863802,0.08004999905824661
+1789729886888903787,6266,0.6236236691474915,-0.2508946359157562,-0.4214060306549072,-0.9985861428111424,-0.0502697250968564,0.017280958804522635,-0.05045934135493463,0.9986686119703758,-0.010717196904216894,0.08004999905824661
+1789729886922254646,6300,0.6239084005355835,-0.25085514783859253,-0.42238277196884155,-0.9985942663232319,-0.050314084374108954,0.016672742829554894,-0.050507959361195724,0.9986583827511492,-0.011418432443138667,0.08004999905824661
+1789729886955581768,6333,0.6240962147712708,-0.2508516311645508,-0.42316344380378723,-0.9986014385144355,-0.050326342368320155,0.016197069795288982,-0.05052320333873291,0.9986509937168703,-0.011983264075314332,0.08004999905824661
+1789729886988911439,6366,0.6242453455924988,-0.2508627772331238,-0.4240054786205292,-0.998608148112071,-0.05035002695243257,0.01570603970536069,-0.05054907061333097,0.9986427950867409,-0.012544293823425423,0.08004999905824661
+1789729887022341103,6400,0.62437504529953,-0.2509303092956543,-0.42518675327301025,-0.9986184048683064,-0.05034982797119218,0.015033778479165268,-0.05055173024184663,0.9986319992496923,-0.01336609641517627,0.08004999905824661
+1789729887055596705,6433,0.624434232711792,-0.25101953744888306,-0.4260488450527191,-0.9986249979111304,-0.05037557425530586,0.014511569254543583,-0.05057865154758851,0.9986221684576668,-0.013984448152456905,0.08004999905824661
+1789729887088905871,6466,0.6244737505912781,-0.25113344192504883,-0.4268691837787628,-0.9986311662197529,-0.050401491152058484,0.013984491379575158,-0.05060495214857676,0.9986120576306271,-0.014597850185070683,0.08004999905824661
+1789729887122263023,6500,0.6245227456092834,-0.2513091266155243,-0.42787596583366394,-0.998640512718995,-0.05040806184916347,0.013278606489224173,-0.050611105953306194,0.9985992892869888,-0.015426454785751439,0.08004999905824661
+1789729887155589488,6533,0.6245548725128174,-0.25144943594932556,-0.4285997450351715,-0.9986468897251417,-0.05042059447564014,0.012727522850949757,-0.05062181269470849,0.9985894630839867,-0.01601612255753145,0.08004999905824661
+1789729887188909763,6566,0.6245708465576172,-0.25159186124801636,-0.42930272221565247,-0.998651894184639,-0.0504559171860782,0.01219705025831587,-0.050654338485245726,0.9985791656444284,-0.016546542138750994,0.08004999905824661
+1789729887222268555,6600,0.6245392560958862,-0.25182613730430603,-0.43020981550216675,-0.998659804705528,-0.0504559798519332,0.01151434799249193,-0.050649721316765456,0.9985682700655594,-0.01720510388104524,0.08004999905824661
+1789729887255591341,6633,0.6244812607765198,-0.25206029415130615,-0.4308510422706604,-0.998665781748731,-0.050462304873827274,0.010966750697247535,-0.05065161476426441,0.9985589848592927,-0.01773041793039333,0.08004999905824661
+1789729887288901957,6666,0.6244111657142639,-0.25230079889297485,-0.43144717812538147,-0.9986706206731175,-0.050493357270411265,0.010364619287946353,-0.05067532241766337,0.9985508524165289,-0.018116479943868127,0.08004999905824661
+1789729887322273078,6700,0.6243371367454529,-0.2526349723339081,-0.4321657121181488,-0.9986751377944216,-0.050558450688047284,0.009571278362210282,-0.050730235014131576,0.998538287880402,-0.01864753988967418,0.08004999905824661
+1789729887355591094,6733,0.6243202090263367,-0.2528800070285797,-0.4326639473438263,-0.9986802433809108,-0.05057361454275717,0.008951586920426594,-0.050737021755073046,0.9985297641948623,-0.019080478953531984,0.08004999905824661
+1789729887388925008,6766,0.624363362789154,-0.25310224294662476,-0.4331328272819519,-0.998683687710507,-0.05061452098337603,0.008305680741500197,-0.050769058048850804,0.998518269808114,-0.019589985873919604,0.08004999905824661
+1789729887422266171,6800,0.6244881749153137,-0.2533460259437561,-0.43373188376426697,-0.9986885726403094,-0.05064549093745263,0.0074787029718329755,-0.05078826752329768,0.998502572493178,-0.020326446518800525,0.08004999905824661
+1789729887455586127,6833,0.624633252620697,-0.2534997761249542,-0.4341523051261902,-0.9986932328396512,-0.05064403970479406,0.006848995248746822,-0.05077718896921654,0.9984910758190827,-0.020910488161534884,0.08004999905824661
+1789729887488920081,6866,0.6248343586921692,-0.25363269448280334,-0.4345455467700958,-0.9986951685020176,-0.05069158803275642,0.006199092009183869,-0.05081427800428118,0.9984753060536229,-0.021563219436184472,0.08004999905824661
+1789729887522257915,6900,0.6251678466796875,-0.25374341011047363,-0.43504562973976135,-0.9986972786289674,-0.05073523920870568,0.005462897374153952,-0.05084620245217056,0.9984514820443229,-0.02256771643889907,0.08004999905824661
+1789729887555600739,6933,0.6254884004592896,-0.2537400424480438,-0.43539053201675415,-0.9986989838970852,-0.050748594967601965,0.004999727860711706,-0.05085200721804996,0.9984330731849699,-0.023355337573104297,0.08004999905824661
+1789729887588895626,6966,0.6258792877197266,-0.2536669671535492,-0.4356951117515564,-0.9987000078200392,-0.05076374659356432,0.00463980406867795,-0.05086154990593471,0.9984125816812933,-0.024195446547885927,0.08004999905824661
+1789729887622263078,7000,0.6265053749084473,-0.25346213579177856,-0.43601828813552856,-0.9986992035623641,-0.05080042344047015,0.004360149845230872,-0.05089507863956016,0.9983813136717891,-0.025385888082231363,0.08004999905824661
+1789729887655587133,7033,0.6270253658294678,-0.2532431483268738,-0.4362022876739502,-0.9986974995449711,-0.050843870416397374,0.004261371949037945,-0.05093855857694041,0.9983564804262874,-0.026260259007722546,0.08004999905824661
+1789729887688903308,7066,0.6275652050971985,-0.25296977162361145,-0.4363655149936676,-0.998696859054341,-0.050859251656355464,0.004242304956415026,-0.05095572295498291,0.9983343523293521,-0.02705615126670693,0.08004999905824661
+1789729887722259181,7100,0.6282945275306702,-0.25256481766700745,-0.43660300970077515,-0.9986970681431786,-0.05085548338206203,0.004241754806638763,-0.050954818876660424,0.998306360957456,-0.028071626163284718,0.08004999905824661
+1789729887755589675,7133,0.6288185119628906,-0.2522642910480499,-0.43681979179382324,-0.9986963470118368,-0.050873838938338356,0.004191393904071888,-0.05097378213200815,0.9982841918820426,-0.02881572256566895,0.08004999905824661
+1789729887788896732,7166,0.6292816400527954,-0.25198277831077576,-0.43708816170692444,-0.998696542846093,-0.05088112388773047,0.0040697888173639035,-0.050979205261346694,0.998265071502214,-0.029461294184290887,0.08004999905824661
+1789729887822267153,7200,0.6297907829284668,-0.25167566537857056,-0.43752995133399963,-0.9986960666598776,-0.05091145525097644,0.003754732445321901,-0.05100182529309834,0.9982420201219605,-0.030194088801466044,0.08004999905824661
+1789729887855594528,7233,0.6300809383392334,-0.25149667263031006,-0.43792298436164856,-0.9986964218672225,-0.05092773219754047,0.0034635136807239335,-0.0510101015178029,0.9982281614327545,-0.03063506845083429,0.08004999905824661
+1789729887888909784,7266,0.6303214430809021,-0.25136566162109375,-0.4383482336997986,-0.9986958118128084,-0.050960296133722036,0.003087478308498679,-0.051031684594999696,0.9982147512055877,-0.03103348952687941,0.08004999905824661
+1789729887922249617,7300,0.6305667161941528,-0.2512185275554657,-0.43894684314727783,-0.998695911123042,-0.05099039169564681,0.0025714855004145207,-0.051046042044628905,0.9982030246222638,-0.03138508190728789,0.08004999905824661
+1789729887955585721,7333,0.6306936144828796,-0.2511196434497833,-0.4394221901893616,-0.9986940342178512,-0.05104445570505398,0.002161206240438099,-0.051087213938424435,0.9981984148862176,-0.03146460032725537,0.08004999905824661
+1789729887988910946,7366,0.6307790279388428,-0.2510392665863037,-0.4399203062057495,-0.9986943183667085,-0.051057759289610226,0.001715966029132529,-0.05108647312801893,0.998199240465028,-0.03143960498052674,0.08004999905824661
+1789729888022262011,7400,0.6308010220527649,-0.25097814202308655,-0.4406031668186188,-0.9986960442834989,-0.05104047755120959,0.0010698743795556805,-0.051048987083755895,0.9982082141995303,-0.031214773418124998,0.08004999905824661
+1789729888055668673,7433,0.6307561993598938,-0.2509647309780121,-0.4411240518093109,-0.998698794579175,-0.05099262583666206,0.000531981935817518,-0.05098470500040389,0.998221442519282,-0.030895167656280694,0.08004999905824661
+1789729888088897600,7466,0.6306620836257935,-0.25096574425697327,-0.44166499376296997,-0.998699735572925,-0.05097920678654357,1.7563561903799485e-05,-0.0509560420770929,0.9982354062542476,-0.030488612842190156,0.08004999905824661
+1789729888122260795,7500,0.6304508447647095,-0.2510039210319519,-0.44236114621162415,-0.9986979233747979,-0.05100938745803439,-0.0006582639000438859,-0.0509671772860585,0.9982559573594066,-0.029789098300327086,0.08004999905824661
+1789729888155598253,7533,0.6302335262298584,-0.25108328461647034,-0.4428426921367645,-0.9986981723573682,-0.05099521828033096,-0.0012207692376823322,-0.05093796324939301,0.9982754157948821,-0.029180784016689394,0.08004999905824661
+1789729888188903043,7566,0.6299768090248108,-0.25122958421707153,-0.4432790279388428,-0.9986968607316631,-0.051003690174884875,-0.0018474180402809348,-0.050930208654374864,0.9982931636363528,-0.028580998265013778,0.08004999905824661
+1789729888222263928,7600,0.6295979619026184,-0.2514668107032776,-0.44377848505973816,-0.9986942299420054,-0.051011247957738814,-0.0027543542297625567,-0.05091583360802321,0.9983198155312714,-0.02766086984423488,0.08004999905824661
+1789729888255592247,7633,0.629310667514801,-0.251649409532547,-0.44408518075942993,-0.9986906077868147,-0.05104387906706859,-0.0034080655978596386,-0.050934038510189794,0.9983390725123209,-0.026922481962996375,0.08004999905824661
+1789729888288901687,7666,0.6290482878684998,-0.2518453598022461,-0.4443358778953552,-0.99868715998756,-0.05106552229817846,-0.004022443614606772,-0.0509425928187403,0.9983551042674977,-0.026304713395330366,0.08004999905824661
+1789729888322247173,7700,0.6287306547164917,-0.25212499499320984,-0.44457828998565674,-0.9986840087648736,-0.05106330496934942,-0.004749999595911686,-0.05092518397529932,0.9983721109887544,-0.025685666275787958,0.08004999905824661
+1789729888355590220,7733,0.6285173892974854,-0.2523288428783417,-0.44472450017929077,-0.9986816379007795,-0.05106291243991281,-0.005235269691796086,-0.05091477520379604,0.9983816732710867,-0.02533219325707224,0.08004999905824661
+1789729888388897311,7766,0.6283279657363892,-0.25253552198410034,-0.444851815700531,-0.9986785509092047,-0.0510768978517814,-0.00568399016947433,-0.050919167446126325,0.9983873915020068,-0.025096909783390603,0.08004999905824661
+1789729888422260976,7800,0.6281209588050842,-0.25280138850212097,-0.44500136375427246,-0.9986752098621348,-0.051085488593058295,-0.0061775489182313015,-0.050916226035271114,0.9983898729456661,-0.02500399123059016,0.08004999905824661
+1789729888455590064,7833,0.6279995441436768,-0.2529970407485962,-0.4450770914554596,-0.998672708919649,-0.05109748622342322,-0.006467431477337082,-0.05092031258240895,0.9983871938403299,-0.025102448289222395,0.08004999905824661
+1789729888488904293,7866,0.6279081702232361,-0.2531675398349762,-0.4451349675655365,-0.9986709970572742,-0.0510986088850353,-0.0067216598562986445,-0.05091388887619937,0.9983835560617935,-0.02525966967541931,0.08004999905824661
+1789729888522259070,7900,0.6278111338615417,-0.2533498704433441,-0.4451654255390167,-0.9986675712052377,-0.051136063349727125,-0.006947303210485027,-0.05094390713824889,0.9983764355591166,-0.02547962540079266,0.08004999905824661
+1789729888555602606,7933,0.6277561783790588,-0.2534451186656952,-0.44516274333000183,-0.998666805626365,-0.0511366262395687,-0.0070530116012151554,-0.05094086974551361,0.9983736872073895,-0.025593134884977657,0.08004999905824661
+1789729888588896538,7966,0.6277086138725281,-0.25352248549461365,-0.44514667987823486,-0.9986654444604828,-0.05114994789279795,-0.007129403807219523,-0.05095151217906377,0.9983708591169184,-0.025682112889069294,0.08004999905824661
+1789729888622261613,8000,0.6276513338088989,-0.25360485911369324,-0.44511303305625916,-0.9986637394726845,-0.05117018972619733,-0.007220264834111811,-0.0509689648325993,0.9983685007847944,-0.025739096510477462,0.08004999905824661
+1789729888655585681,8033,0.6276078820228577,-0.2536539137363434,-0.4450978636741638,-0.9986630722659102,-0.051182417634717925,-0.007251370139883917,-0.050980218168635016,0.998367375459396,-0.025760456123981396,0.08004999905824661
+1789729888688916859,8066,0.6275708079338074,-0.2536887228488922,-0.4450940191745758,-0.9986626809115404,-0.05118842532307544,-0.007252240008800981,-0.05098609327684733,0.9983667476235878,-0.025773155258139446,0.08004000037908554
+1789729888722255967,8100,0.6275322437286377,-0.25372347235679626,-0.44509270787239075,-0.998662740598192,-0.05118849280629901,-0.007231202038059249,-0.05098652003694736,0.9983661983514432,-0.025793577067271273,0.07996000349521637
+1789729888755585495,8133,0.6275026202201843,-0.25375229120254517,-0.4450855255126953,-0.9986631709385936,-0.05118331452763494,-0.007209504915040188,-0.050981755931635314,0.9983660221760811,-0.025809808091069045,0.07996000349521637
+1789729888788889226,8166,0.6274721622467041,-0.25378307700157166,-0.4450744688510895,-0.9986635854635779,-0.05117662001170285,-0.00719434341575971,-0.050975393661313886,0.9983661798695131,-0.0258162727601928,0.07959999889135361
+1789729888822263810,8200,0.6274304986000061,-0.25382179021835327,-0.44506052136421204,-0.9986635358743838,-0.051184456241397384,-0.007174888755027836,-0.050983821370685974,0.9983660522061417,-0.025804571540615218,0.07885000109672546
+1789729888855588329,8233,0.6273980736732483,-0.25385457277297974,-0.4450494647026062,-0.998663023023453,-0.05119259085605235,-0.007158730380827885,-0.0509923792661274,0.998365661355582,-0.025802776758850107,0.07767999917268753
+1789729888888989470,8266,0.6273661255836487,-0.25387048721313477,-0.4450463652610779,-0.9986636044609531,-0.051184522698367804,-0.007140680160895533,-0.05098521393625079,0.9983673771725882,-0.025750495652292843,0.07475999742746353
+1789729888922260924,8300,0.6273298859596252,-0.25386735796928406,-0.44505175948143005,-0.9986642696600057,-0.05117829359972754,-0.007115919412832392,-0.0509806597302263,0.9983708032241098,-0.025626387725107613,0.06920000165700912
+1789729888955593102,8333,0.6273136138916016,-0.25385794043540955,-0.4450565278530121,-0.9986645683294355,-0.051177880317951084,-0.0070734558340318325,-0.05098177848055566,0.9983721558501018,-0.025571405738590156,0.06419000029563904
+1789729888988904911,8366,0.6273033022880554,-0.25384390354156494,-0.44505858421325684,-0.9986648107407909,-0.0511780802542314,-0.007035586368690373,-0.05098340858520348,0.9983735359891291,-0.025514207152835294,0.06419000029563904
+1789729889022259880,8400,0.6272947788238525,-0.2538381814956665,-0.4449910819530487,-0.9986645934802323,-0.051192543750591894,-0.006939572924045151,-0.05100068089957167,0.9983738958103937,-0.025465556209951022,0.06094000115990639
+1789729889055665264,8433,0.6272716522216797,-0.25382789969444275,-0.44498535990715027,-0.9986660165856205,-0.051176833853137524,-0.00687759549969498,-0.0509871627352161,0.9983765586043395,-0.02538811953778878,0.060440000146627426
+1789729889088983087,8466,0.6272602677345276,-0.25381869077682495,-0.44498157501220703,-0.9986667973331811,-0.05116417962831009,-0.006856548083329722,-0.05097556176625452,0.9983787825554146,-0.025323877539585822,0.0604499988257885
+1789729889122273222,8500,0.6272400617599487,-0.2538022994995117,-0.4449831545352936,-0.9986668994058003,-0.05117136495784548,-0.006776320502831487,-0.05098526534032276,0.9983799181661571,-0.025259487785997424,0.0604499988257885
+1789729889155586866,8533,0.6272283792495728,-0.25378885865211487,-0.44498610496520996,-0.9986670305770677,-0.05117346143318089,-0.0067329186948210384,-0.05098886552452788,0.9983810722396764,-0.025206548745456858,0.060440000146627426
+1789729889188896119,8566,0.6272165179252625,-0.253775417804718,-0.4449893534183502,-0.9986673940103321,-0.05117446664560773,-0.006689793325959516,-0.05099136605042246,0.9983822885260384,-0.02515326344139512,0.060440000146627426
+1789729889222277766,8600,0.6271975636482239,-0.2537561058998108,-0.4449898898601532,-0.9986681341095953,-0.051167946288166746,-0.006615929942218737,-0.050987288569470365,0.9983844425591609,-0.025075909495023134,0.060440000146627426
+1789729889255588480,8633,0.6271824240684509,-0.25374168157577515,-0.4449869990348816,-0.9986685980904189,-0.05116592648937499,-0.006554064742044452,-0.05098726434508207,0.9983859386341487,-0.02501632092392514,0.060440000146627426
+1789729889288900583,8666,0.6271680593490601,-0.2537286877632141,-0.4449845850467682,-0.9986691331643796,-0.051164751267227096,-0.006498789126443805,-0.050987892495345286,0.998387325355322,-0.024959636862253394,0.060440000146627426
+1789729889322261292,8700,0.6271506547927856,-0.2537110447883606,-0.4449843466281891,-0.9986698755371826,-0.051158290921992464,-0.006435985232867113,-0.05098357623544898,0.9983894816514627,-0.024882081363411704,0.060440000146627426
+1789729889355585704,8733,0.6271361112594604,-0.2536981999874115,-0.4449838399887085,-0.9986701219087484,-0.05115707769738035,-0.006385876957972769,-0.05098404265550246,0.9983909237028963,-0.024823189402103374,0.060440000146627426
+1789729889388892798,8766,0.6271221041679382,-0.2536833584308624,-0.44498273730278015,-0.9986705286058442,-0.051156700085324025,-0.00633338368716041,-0.050985422277312176,0.9983923992132713,-0.024760934224417053,0.060440000146627426
+1789729889422264216,8800,0.627108097076416,-0.253665030002594,-0.4449737071990967,-0.9986708955111145,-0.051159831836387885,-0.006269414369568051,-0.050990671696513674,0.9983939644001343,-0.024686907525946204,0.060440000146627426
+1789729889455583229,8833,0.6271039843559265,-0.2536563575267792,-0.4449281394481659,-0.9986711511973365,-0.05115692057473554,-0.006225237807604984,-0.05098927622833193,0.9983954881248928,-0.024628091339565075,0.060440000146627426
+1789729889488918530,8866,0.6270949244499207,-0.25364038348197937,-0.44479691982269287,-0.9986733813756135,-0.05112755296373054,-0.0061280729742514,-0.050963350397465544,0.998400394170679,-0.02448244101855617,0.060440000146627426
+1789729889522257371,8900,0.6271284818649292,-0.2536577582359314,-0.4443438649177551,-0.9986777319882876,-0.051050924227159976,-0.006030542946943163,-0.05089052909900247,0.9984089203652573,-0.024285419603723157,0.060440000146627426
+1789729889555621259,8933,0.6271749138832092,-0.2536853849887848,-0.44366654753685,-0.9986768353919495,-0.051094205007553725,-0.005840612058337205,-0.05094025951487631,0.9984129285329828,-0.0240148749635141,0.060440000146627426
+1789729889588934223,8966,0.6272332668304443,-0.2537130117416382,-0.44263336062431335,-0.9986709811645111,-0.051236346482594036,-0.005591960343079641,-0.05109197561651599,0.9984181859221559,-0.023467768867094188,0.060440000146627426
+1789729889622259415,9000,0.6273365616798401,-0.2537429928779602,-0.44060802459716797,-0.9986638694964227,-0.051415937214055824,-0.0051638448711441715,-0.051289201453357997,0.998436141729429,-0.022241594748379608,0.060440000146627426
+1789729889655585817,9033,0.627468466758728,-0.25377368927001953,-0.4386226236820221,-0.9986532368345082,-0.05164892096856041,-0.004924130284662095,-0.05153476331725251,0.9984499501903126,-0.021020591039914042,0.060440000146627426
+1789729889688891410,9066,0.6276323795318604,-0.2537785470485687,-0.4362534284591675,-0.9986399145011691,-0.05193025082391866,-0.004666047360761039,-0.05183021397224675,0.9984659886667768,-0.019475588569830882,0.060440000146627426
+1789729889722253319,9100,0.6278266906738281,-0.2537483274936676,-0.4327588677406311,-0.9986215093224518,-0.052319702839109035,-0.00419923586388268,-0.05224130819690386,0.9984897652579124,-0.017001009392347704,0.060440000146627426
+1789729889755550704,9133,0.6279670596122742,-0.2537292540073395,-0.4300832748413086,-0.9986119749398363,-0.0525196063310109,-0.003948140781811457,-0.05245481780635556,0.9985101661697433,-0.0150312998648447,0.060440000146627426
+1789729889788971978,9166,0.6281611919403076,-0.253742516040802,-0.4272465109825134,-0.9986066219604022,-0.05263174796419984,-0.0038471718362318667,-0.05257716949153263,0.9985305797538591,-0.013127170627381729,0.060440000146627426
+1789729889822262513,9200,0.628395676612854,-0.25369250774383545,-0.4235806167125702,-0.9986036462014785,-0.052706842948119066,-0.0035641554231630873,-0.052666503782527956,0.99855593572717,-0.010596347110122542,0.060440000146627426
+1789729889855590704,9233,0.6285781860351562,-0.2536153495311737,-0.420811265707016,-0.9986045540027311,-0.052705284804955635,-0.0033035733433585263,-0.05267492508429193,0.9985739268521393,-0.008687044785993095,0.060440000146627426
+1789729889888888849,9266,0.6287849545478821,-0.2535202205181122,-0.41811978816986084,-0.9986052225214563,-0.05270675760608841,-0.0030937511038651878,-0.05268439046427824,0.9985872799030229,-0.006913710427201003,0.060440000146627426
+1789729889922256247,9300,0.6291449069976807,-0.25335198640823364,-0.4144754409790039,-0.9986046940352533,-0.05273114715511565,-0.002823859702691514,-0.052717241042567226,0.9985979852710285,-0.004791265744747658,0.060440000146627426
+1789729889955571520,9333,0.6294224262237549,-0.2531391680240631,-0.41166308522224426,-0.9986064696464765,-0.05271517338985294,-0.0024776965825413794,-0.05270745632736223,0.9986052366291205,-0.0030830766101293218,0.060440000146627426
+1789729889988896102,9366,0.6296931505203247,-0.25287869572639465,-0.40889403223991394,-0.9986084862459113,-0.05269646163700856,-0.002055264903899085,-0.05269374144752362,0.998609799147254,-0.0013559845542562843,0.060440000146627426
+1789729890022271063,9400,0.6301106810569763,-0.2524643540382385,-0.4052053987979889,-0.9986083309997356,-0.05271485599143515,-0.0015517161502889292,-0.052716309858180946,0.9986091126645095,0.0009114179731841325,0.060440000146627426
+1789729890055707508,9433,0.6304539442062378,-0.2521195709705353,-0.4025281071662903,-0.9986099478251151,-0.05269645296634218,-0.0011232549295686995,-0.05269905657590768,0.9986074821512099,0.0024302328361756947,0.060440000146627426
+1789729890088895276,9466,0.6308189034461975,-0.2516547739505768,-0.39957571029663086,-0.9986092939685673,-0.05272052165371091,-0.00044535450451786175,-0.05272192664519823,0.998600458554543,0.004186018053075331,0.060440000146627426
+1789729890122257969,9500,0.6312645673751831,-0.25096774101257324,-0.3959721028804779,-0.9986052081189669,-0.05279334534728155,0.0005216932412220252,-0.052788831978307395,0.9985843994748232,0.006521976831137776,0.060440000146627426
+1789729890155587484,9533,0.6316428780555725,-0.2504281997680664,-0.39329200983047485,-0.9986040649532522,-0.05280628312184345,0.0012404033928851733,-0.05279453039676717,0.9985724098287992,0.00811664802056088,0.060440000146627426
+1789729890188894581,9566,0.6320681571960449,-0.24983777105808258,-0.3906203806400299,-0.9986003704596393,-0.052850884474225764,0.0019719975262734897,-0.052829561677369456,0.9985570662435155,0.009634455204125635,0.060440000146627426
+1789729890222268972,9600,0.6326401233673096,-0.24889901280403137,-0.38717737793922424,-0.9985902212560189,-0.05298270039010203,0.0032529779917863516,-0.05294125717739148,0.9985288109349424,0.011723359273096035,0.060440000146627426
+1789729890255595188,9633,0.6330768465995789,-0.2480974644422531,-0.3848732113838196,-0.9985741968386772,-0.053202067529045556,0.004389783584705043,-0.05314000555142206,0.9984996279453676,0.01321487497694673,0.060440000146627426
+1789729890288921823,9666,0.6335393786430359,-0.24722689390182495,-0.3828171193599701,-0.9985520800061427,-0.05349378108101096,0.0056777661355463405,-0.05340667271628833,0.9984672590764854,0.014521016547876886,0.060440000146627426
+1789729890322260388,9700,0.6341986656188965,-0.2459692656993866,-0.3802565336227417,-0.9985121561054864,-0.05400295847383296,0.0075712892678963944,-0.05387583129672835,0.9984179333743972,0.016094261490659276,0.060440000146627426
+1789729890355585173,9733,0.6346761584281921,-0.2449638545513153,-0.378434956073761,-0.9984750915530758,-0.05444232378174027,0.009139823050112739,-0.05427866321360733,0.9983761302394608,0.017289571918222765,0.060440000146627426
+1789729890388898800,9766,0.6351317763328552,-0.24391646683216095,-0.37677302956581116,-0.9984334098271623,-0.05490419924181186,0.010792148959701878,-0.054698456982920224,0.9983312446487598,0.018514992347794086,0.060440000146627426
+1789729890422265202,9800,0.635746955871582,-0.24248318374156952,-0.3748258054256439,-0.9983755078571188,-0.05547138142691471,0.013003555713423785,-0.05520455729384205,0.9982737099699114,0.020051351139944495,0.060440000146627426
+1789729890455584068,9833,0.6362415552139282,-0.24136753380298615,-0.3735085427761078,-0.9983307120517622,-0.05586959506462663,0.014633519079407686,-0.055554404074172004,0.9982321331476894,0.02112620005978768,0.060440000146627426
+1789729890488897155,9866,0.6367761492729187,-0.24015675485134125,-0.3722136318683624,-0.9982819632582907,-0.056267129644559176,0.01634652488294519,-0.05589757413289307,0.9981886132115559,0.02224755560899505,0.060440000146627426
+1789729890522259077,9900,0.6374786496162415,-0.23858489096164703,-0.37069159746170044,-0.9982170548793949,-0.056752241729817146,0.018494043010079897,-0.05631001438461851,0.9981340242011779,0.023614659392800302,0.060440000146627426
+1789729890555620790,9933,0.6380243301391602,-0.23736357688903809,-0.36963605880737305,-0.9981622120363285,-0.05714852011721251,0.020156437046012304,-0.056648012565914216,0.9980914691001106,0.024584995771925133,0.060440000146627426
+1789729890588919268,9966,0.6385499238967896,-0.23614585399627686,-0.3686956763267517,-0.9981088952610622,-0.057489861326187296,0.021760404256753324,-0.05692879067599175,0.9980504661879805,0.025580846371745965,0.060440000146627426
+1789729890622262772,10000,0.6391952633857727,-0.23458881676197052,-0.36761388182640076,-0.9980325258944007,-0.057983941178067835,0.023850217926514435,-0.05734040507805925,0.9979939570605898,0.02683541519473671,0.060430001467466354
+1789729890655587167,10033,0.6396546959877014,-0.23346005380153656,-0.3668883442878723,-0.9979724060660518,-0.05839351835586727,0.025325955335333356,-0.057686981096985765,0.9979479961403196,0.027785056149456682,0.060430001467466354
+1789729890688919882,10066,0.6400772333145142,-0.2323690801858902,-0.3661954998970032,-0.9979093089700166,-0.05882091262669774,0.026781370821845896,-0.05804894006275409,0.9978998441355341,0.02874407363372846,0.06041000038385391
+1789729890722258577,10100,0.6406185030937195,-0.2309553176164627,-0.3652684688568115,-0.9978221961302778,-0.05940878487692779,0.02866176555364746,-0.05854714393175399,0.9978331769547032,0.03001970926819169,0.06036999821662903
+1789729890755585192,10133,0.641033411026001,-0.2298925369977951,-0.36457011103630066,-0.9977549112412196,-0.05985207068655135,0.03004844827021745,-0.058921437133248655,0.9977825180017178,0.030956599675921376,0.06036999821662903
+1789729890788920567,10166,0.6414626836776733,-0.22880510985851288,-0.36387011408805847,-0.997685260702335,-0.060305278044855304,0.031423535258941704,-0.059303018498282234,0.9977299650000342,0.03190719336838505,0.06032999977469444
+1789729890822259941,10200,0.6420499086380005,-0.22733432054519653,-0.3629443049430847,-0.9975890002406098,-0.06089669989757853,0.03328241891541552,-0.05979586224879183,0.9976607858411047,0.03312719703790972,0.060309998691082
+1789729890855588267,10233,0.6424868106842041,-0.22623680531978607,-0.3622632920742035,-0.9975138014153846,-0.061360882176421265,0.03465534883737281,-0.060184967922895245,0.9976075709032542,0.03401329203226505,0.06030000001192093
+1789729890888896794,10266,0.6429126858711243,-0.22514939308166504,-0.3615945875644684,-0.997436374706925,-0.06183288379058608,0.03602177134111615,-0.060580356772422427,0.9975535847120892,0.03488360991011951,0.06029000133275986
+1789729890922251917,10300,0.6434849500656128,-0.22371309995651245,-0.36069852113723755,-0.9973349926855972,-0.06243957321689347,0.037736193697707615,-0.06108568778838159,0.9974821843576178,0.03602541318100935,0.06027999892830849
+1789729890955585702,10333,0.6439021229743958,-0.2226572185754776,-0.3600026071071625,-0.9972541425459571,-0.06296165974096235,0.03898975169377415,-0.06153067754820762,0.9974237929831224,0.03687483104559176,0.06027999892830849
+1789729890988897858,10366,0.644298255443573,-0.22160950303077698,-0.3592807948589325,-0.9971715972599164,-0.0634530275689607,0.040280283655160204,-0.0619406534173776,0.9973658271953243,0.037746021961571494,0.06027999892830849
+1789729891022258763,10400,0.644817054271698,-0.22022645175457,-0.3582639694213867,-0.9970564028782372,-0.06416570248305438,0.04196830016724258,-0.06254116316078977,0.9972824317963622,0.03894039295618065,0.06027999892830849
+1789729891055584482,10433,0.6451968550682068,-0.21919648349285126,-0.3574909269809723,-0.9969672438420885,-0.06471640190098507,0.04322033660711838,-0.06300520622864622,0.9972174160379211,0.039846819108665235,0.060270000249147415
+1789729891088911451,10466,0.6455753445625305,-0.21817821264266968,-0.3567312955856323,-0.9968782229515352,-0.06527538047384204,0.04441660103163092,-0.06347791578995335,0.9971512190482573,0.04074310268622061,0.060270000249147415
+1789729891122259898,10500,0.6460701823234558,-0.21680568158626556,-0.3557506203651428,-0.9967543731614126,-0.06605445521662047,0.04601660978549357,-0.06413701662917036,0.997058184709325,0.04196926734920643,0.06026000156998634
+1789729891155590866,10533,0.6464609503746033,-0.21577489376068115,-0.3550461232662201,-0.9966624303950447,-0.06663517785507822,0.04715434913709268,-0.06463045742331963,0.9969895358422112,0.04283420434973828,0.06024999916553497
+1789729891188905297,10566,0.6468852162361145,-0.21468541026115417,-0.35434603691101074,-0.9965634389603888,-0.06727419316255286,0.048325137362421305,-0.06517891764507504,0.9969162578809787,0.04369992214086925,0.06024999916553497
+1789729891222250944,10600,0.6474305391311646,-0.2132885456085205,-0.35349202156066895,-0.9964434863042222,-0.06801370255330176,0.049746241538677766,-0.06580330133308242,0.9968264428437021,0.044799203757681774,0.06021999940276146
+1789729891255582812,10633,0.6478627920150757,-0.21219457685947418,-0.3528478741645813,-0.9963432287137142,-0.0686635859258799,0.050849653681661625,-0.06636334065967758,0.9967519571407256,0.045622837326188104,0.060189999639987946
+1789729891288898332,10666,0.6483099460601807,-0.2111022174358368,-0.352213591337204,-0.9962446917390757,-0.06931106158801373,0.05188852175671396,-0.06692274181303756,0.9966771558523888,0.04643267717871835,0.060180000960826874
+1789729891322257608,10700,0.6488916873931885,-0.2096599042415619,-0.3513849973678589,-0.9961125678530971,-0.07014949345693453,0.05327846627573386,-0.06764210794824269,0.9965786516529627,0.047492483081013115,0.060169998556375504
+1789729891355589067,10733,0.6493194103240967,-0.20859567821025848,-0.3507850468158722,-0.9960123787663837,-0.07080973933644776,0.05426971129873806,-0.06821248018138347,0.9965007373513624,0.04830463532910355,0.06015999987721443
+1789729891388891168,10766,0.6497359871864319,-0.20754824578762054,-0.350198358297348,-0.9959164516845609,-0.0714288348253524,0.05521256913087094,-0.06874111958254453,0.9964237155256432,0.04913692876911041,0.06015999987721443
+1789729891422256724,10800,0.6502758264541626,-0.20619633793830872,-0.3494529128074646,-0.9957935619134233,-0.07227590743819134,0.056312931675824185,-0.06947081489797768,0.996316384170301,0.05027393050676146,0.05854000151157379
+1789729891455594212,10833,0.6506847143173218,-0.20519088208675385,-0.3489297330379486,-0.9957031168856103,-0.0729264044844099,0.05707169788165617,-0.07003455789330759,0.9962333334346708,0.05113028761207089,0.05854000151157379
+1789729891488895943,10866,0.6511027812957764,-0.20420286059379578,-0.348440021276474,-0.9956130976634074,-0.07357558352728698,0.057802578612969,-0.07060144554949933,0.9961527573169572,0.05191454391376782,0.05854000151157379
+1789729891522262838,10900,0.6516658067703247,-0.2028624266386032,-0.34782055020332336,-0.9954879694199852,-0.0744727615616023,0.0587997073615395,-0.0713856971789495,0.9960415331641077,0.05296551937061872,0.05854000151157379
+1789729891555715446,10933,0.6520563960075378,-0.20192886888980865,-0.34741973876953125,-0.9953990742556891,-0.07511344883769977,0.059488292458173817,-0.07194783199559984,0.9959627715925421,0.053681165094615915,0.05854000151157379
+1789729891588896168,10966,0.6524553894996643,-0.2009715586900711,-0.34702667593955994,-0.9953066109061874,-0.07578458357205684,0.06017894673633738,-0.07253893364581213,0.9958807134073709,0.05440319741913896,0.05854000151157379
+1789729891622247945,11000,0.6529718637466431,-0.19970989227294922,-0.34655335545539856,-0.995184599347614,-0.07665520441573785,0.06108668724452394,-0.07330442821827483,0.9957737106177691,0.05532791362405179,0.05854000151157379
+1789729891655642338,11033,0.6533559560775757,-0.19876594841480255,-0.3462212383747101,-0.9950940725006225,-0.07730205155192824,0.06174219356465238,-0.07387266334987455,0.9956929658956082,0.056020952332451635,0.05854000151157379
+1789729891688895213,11066,0.6537302136421204,-0.19781887531280518,-0.34590545296669006,-0.9950105545692542,-0.07785886316951411,0.06238580575568717,-0.07434965009722334,0.9956174859701913,0.05672698784455438,0.05854000151157379
+1789729891722248380,11100,0.6542111039161682,-0.19656385481357574,-0.34549805521965027,-0.9948983484451137,-0.07859664097855612,0.06324287051048283,-0.07497955484144603,0.9955160997692409,0.057669411678141436,0.05854000151157379
+1789729891755583998,11133,0.6545729637145996,-0.1955786645412445,-0.3452116847038269,-0.9948123984776238,-0.07915577261153184,0.06389650302325595,-0.07545018293524064,0.995434239995512,0.0584631848762584,0.05854000151157379
+1789729891788895258,11166,0.6549038887023926,-0.19465948641300201,-0.34496983885765076,-0.9947383071354883,-0.07961584842607805,0.06447556487583317,-0.07582785546419957,0.9953613337938376,0.05921107762324773,0.05854000151157379
+1789729891822250095,11200,0.6553840041160583,-0.19330506026744843,-0.3446704149246216,-0.9946378870544277,-0.08017453519886042,0.06532701297254084,-0.0762659220583467,0.9952637677891014,0.06027886776350508,0.05854000151157379
+1789729891855586913,11233,0.6557576060295105,-0.19227708876132965,-0.3444695770740509,-0.9945682892011682,-0.0805125908918426,0.06596615145616695,-0.07651500672187439,0.9951982465827173,0.061040179273927464,0.05854000151157379
+1789729891888896643,11266,0.656137228012085,-0.19124269485473633,-0.3442961275577545,-0.9944921555290112,-0.08090769103482232,0.06662837187905946,-0.07682144533711255,0.9951298822952128,0.0617655486621789,0.05854000151157379
+1789729891922247560,11300,0.6566954851150513,-0.18977010250091553,-0.34405621886253357,-0.9943788177813282,-0.08147099188336954,0.067625263223867,-0.07726357718433446,0.99503955018359,0.06266285216921258,0.05854000151157379
+1789729891955588178,11333,0.6571038961410522,-0.18868480622768402,-0.3438868522644043,-0.9943017139898229,-0.08183483591561291,0.06831772936039915,-0.07753797519640848,0.9949751028469408,0.06334356713603295,0.05854000151157379
+1789729891988902038,11366,0.6574781537055969,-0.18763451278209686,-0.34370648860931396,-0.9942191457304712,-0.08224692930525493,0.06901935520951796,-0.07785978968334603,0.9949069317818797,0.06401601429168191,0.05854000151157379
+1789729892022256657,11400,0.6579418182373047,-0.1862945705652237,-0.34348368644714355,-0.9941179016792443,-0.08278487936016433,0.0698310398267779,-0.07827962714119173,0.9948127447426857,0.0649607817503636,0.05854000151157379
+1789729892055723717,11433,0.6582737565040588,-0.18526330590248108,-0.34331014752388,-0.9940387568665054,-0.083174354267046,0.07049207831279408,-0.07857398545992877,0.9947409653261975,0.06570038906662523,0.05854000151157379
+1789729892088900513,11466,0.6585697531700134,-0.18428418040275574,-0.3431576192378998,-0.9939619092256327,-0.08357892300028413,0.07109236334080682,-0.0788852488470877,0.9946664202506847,0.06645170806924522,0.05854000151157379
+1789729892122257692,11500,0.6589270830154419,-0.18301260471343994,-0.34297043085098267,-0.9938596950728993,-0.08412388130968917,0.07187445103401569,-0.07930673920079823,0.9945665617083845,0.0674373417393479,0.05854000151157379
+1789729892155590224,11533,0.6592201590538025,-0.18197518587112427,-0.3428400158882141,-0.9937823705692748,-0.08453450422974407,0.07245903408654275,-0.07961920294621172,0.9944871260301897,0.06823590047071271,0.05854000151157379
+1789729892188900358,11566,0.659517765045166,-0.180969700217247,-0.34273022413253784,-0.993703985495799,-0.08496941079553455,0.07302538778606774,-0.07996602014182397,0.9944128651807376,0.0689092847060584,0.05854000151157379
+1789729892222253718,11600,0.659936249256134,-0.17960475385189056,-0.34261447191238403,-0.9936034695647704,-0.0854957631235001,0.073774696356593,-0.08037964150042515,0.9943218209593113,0.06973686142604019,0.05854000151157379
+1789729892255589810,11633,0.6602394580841064,-0.1785949170589447,-0.34253472089767456,-0.993529986804365,-0.08584876707187311,0.0743527077797303,-0.08065100691063604,0.9942603400606159,0.07029787875996121,0.05854000151157379
+1789729892288901833,11666,0.6605149507522583,-0.17761997878551483,-0.3424428105354309,-0.9934598251713369,-0.08619332028448126,0.07488928866008526,-0.08091530667083022,0.9941984744897334,0.07086682448638915,0.05854000151157379
+1789729892322249804,11700,0.6608192324638367,-0.17637337744235992,-0.3423058092594147,-0.9933722033445007,-0.08662459890769134,0.07555165644047729,-0.08123693524740952,0.9941133518168831,0.07168824663887335,0.05854000151157379
+1789729892355587605,11733,0.661003589630127,-0.17549611628055573,-0.34219878911972046,-0.9933191255064893,-0.08687561824905923,0.07595805931270666,-0.08140875539865253,0.9940527839913597,0.07233033139778239,0.05854000151157379
+1789729892388896069,11766,0.6611583828926086,-0.17458060383796692,-0.3420632779598236,-0.9932633871306171,-0.08714777388027073,0.07637589738324396,-0.08159546606738666,0.9939861567573484,0.07303218879440693,0.05854000151157379
+1789729892422255849,11800,0.6613895297050476,-0.17332801222801208,-0.34186244010925293,-0.9931747061633591,-0.08766898487728061,0.07693062839678538,-0.08200806224844678,0.9938883612556783,0.07389589708747307,0.05854000151157379
+1789729892455621818,11833,0.661617636680603,-0.17232215404510498,-0.3416944742202759,-0.9931096704473699,-0.08797294998980185,0.07742008155858285,-0.08223680651775236,0.9938317663126308,0.07440112696858206,0.05854000151157379
+1789729892488902564,11866,0.6618413329124451,-0.1713084727525711,-0.3414859175682068,-0.9930461746038493,-0.08817055806331847,0.0780080336703336,-0.08236297175844559,0.9937932390529673,0.07477525602045643,0.05854000151157379
+1789729892522249255,11900,0.6620928049087524,-0.1700197160243988,-0.3411251902580261,-0.9929715069305871,-0.08846522325853837,0.07862381394185441,-0.08257378902461962,0.9937385155255133,0.07526840504347893,0.05854000151157379
+1789729892555605815,11933,0.6621988415718079,-0.16914872825145721,-0.3407885730266571,-0.9929386444021437,-0.08860334433381628,0.0788816943108393,-0.08265923311015683,0.9937002889446646,0.07567818057215495,0.05854000151157379
+1789729892588901900,11966,0.6622034311294556,-0.16838613152503967,-0.34039613604545593,-0.9929206111647813,-0.0887712370986492,0.07891947257554566,-0.08277911716840458,0.9936496961696175,0.07620957237702988,0.05854000151157379
+1789729892622248800,12000,0.6621959209442139,-0.16737981140613556,-0.3398461937904358,-0.9928920797368463,-0.08907866033281558,0.07893366360983792,-0.08303046512990625,0.9935790485890204,0.07685451679283445,0.05854000151157379
+1789729892655586022,12033,0.6621936559677124,-0.16662663221359253,-0.3393951654434204,-0.9928745780842516,-0.0892887308966197,0.07891491210912138,-0.08321166733836693,0.9935364842004599,0.0772079845585743,0.05854000151157379
+1789729892688896976,12066,0.662183940410614,-0.16586659848690033,-0.33891335129737854,-0.9928607890149956,-0.08959500099454279,0.07874274327562591,-0.08350564337334584,0.993489425401721,0.07749561208071942,0.05854000151157379
+1789729892722251206,12100,0.6621710658073425,-0.16479498147964478,-0.33829164505004883,-0.9928404821658792,-0.09010268665482898,0.07841672281854536,-0.08402064462891526,0.9934312879288736,0.07768402093832136,0.05854000151157379
+1789729892755588197,12133,0.6620925068855286,-0.16405335068702698,-0.3378414213657379,-0.9928572653985694,-0.09023377975407088,0.0780534322838726,-0.08418478215313985,0.9934239767471156,0.0775997741804757,0.05854000151157379
+1789729892788895021,12166,0.6618418097496033,-0.16344483196735382,-0.3373631536960602,-0.9929000789574893,-0.09045337873754541,0.07725162779608763,-0.08444916734969346,0.9933901874383404,0.07774493089783896,0.05854000151157379
+1789729892822251521,12200,0.6615124940872192,-0.1624435931444168,-0.33669957518577576,-0.9929457935382402,-0.09088347684114773,0.07614909580861351,-0.08494060596713027,0.9933319903893356,0.07795286904258933,0.05854000151157379
+1789729892855589453,12233,0.6612810492515564,-0.16155719757080078,-0.3361746668815613,-0.9929778396281463,-0.09108589165971542,0.0754876293228447,-0.08520406221438664,0.9933224701214785,0.07778649094526408,0.05854000151157379
+1789729892888910255,12266,0.6610034704208374,-0.16059261560440063,-0.3356586992740631,-0.9930024386541261,-0.09128062248279561,0.07492687070079762,-0.08545958765237466,0.9933203221831268,0.0775331962500781,0.05854000151157379
+1789729892922285244,12300,0.6604068875312805,-0.15941457450389862,-0.33492201566696167,-0.993060970844498,-0.09159455523859483,0.07375951335483544,-0.08588041023877802,0.9933070257778026,0.07723799635695461,0.05854000151157379
+1789729892955623285,12333,0.6599346399307251,-0.1583811640739441,-0.3343013525009155,-0.9931002328922642,-0.09184958378306396,0.07290676371372729,-0.08621383738118071,0.9932955826114925,0.07701337017396548,0.05854000151157379
+1789729892988929529,12366,0.6594014167785645,-0.157333105802536,-0.33368176221847534,-0.9931408476107122,-0.09218434914953927,0.07192646625851054,-0.08664436890067401,0.9932840565820034,0.07667813679157126,0.05854000151157379
+1789729893022291211,12400,0.6585738062858582,-0.15590496361255646,-0.3328424394130707,-0.9931952212078234,-0.09278317315514964,0.07038684189139502,-0.0873883187505475,0.9932554149401354,0.0762034229355458,0.05854000151157379
+1789729893055625166,12433,0.6579552888870239,-0.1547078937292099,-0.3321620523929596,-0.9932209438694963,-0.09310406904835544,0.06959694569062486,-0.0878185818238254,0.9932714203312288,0.0754969009753797,0.05854000151157379
+1789729893088935943,12466,0.6573016047477722,-0.15351997315883636,-0.3314763307571411,-0.9932594819600717,-0.09347892544461542,0.06853738206022417,-0.08831771657486778,0.9932781617098363,0.07482295557933191,0.05854000151157379
+1789729893122262859,12500,0.6564226150512695,-0.15182501077651978,-0.33050259947776794,-0.9932857960404242,-0.09413295434275942,0.06724834192735205,-0.08913087087257948,0.9932768321731078,0.07387030939864753,0.05854000151157379
+1789729893155591515,12533,0.6556602120399475,-0.15063105523586273,-0.32981157302856445,-0.9933299575931658,-0.09448612731837375,0.06608972402396085,-0.08960861383486457,0.9932806317775098,0.07323853134123937,0.05854000151157379
+1789729893188907612,12566,0.6550137996673584,-0.14925681054592133,-0.32915470004081726,-0.9933360523455264,-0.09505225858454755,0.06518265585724997,-0.09028979463424217,0.9932741245456834,0.07248632454900444,0.05854000151157379
+1789729893222258375,12600,0.654099702835083,-0.1475229412317276,-0.32830995321273804,-0.9933714253175434,-0.09548351334151386,0.06400037621313978,-0.09088252511679781,0.9933049126140094,0.07131421315145406,0.05854000151157379
+1789729893255588381,12633,0.6535463929176331,-0.14610853791236877,-0.32768678665161133,-0.9933625625566505,-0.09623293299376212,0.06300942024455547,-0.09174891478651648,0.9932788330699394,0.07056413324084776,0.05854000151157379
+1789729893288907627,12666,0.6528904438018799,-0.14483939111232758,-0.32706061005592346,-0.9933750479025565,-0.0966672796156143,0.062138884851643345,-0.09229453310487298,0.9932848181488656,0.0697638049826945,0.05854000151157379
+1789729893322257821,12700,0.6521133184432983,-0.14312843978405,-0.3262988030910492,-0.9933647067780424,-0.0976343884610722,0.060778191787868474,-0.0934031240150015,0.99323785192376,0.06895234297198816,0.05854000151157379
+1789729893355583767,12733,0.6516534686088562,-0.14180266857147217,-0.3257836699485779,-0.9933546966329527,-0.09821340224324016,0.060002870654004226,-0.09407666626492417,0.9932216770464395,0.06826624589118341,0.05854000151157379
+1789729893388894574,12766,0.6511179208755493,-0.1406610757112503,-0.32531028985977173,-0.9933360147928387,-0.09901000819886924,0.05899500202427632,-0.09496967163471987,0.9931717721232691,0.06775390723574852,0.05854000151157379
+1789729893422247108,12800,0.6506466865539551,-0.13900594413280487,-0.3247913718223572,-0.9932424053906725,-0.10050184122106776,0.05804127931631964,-0.09655669547058887,0.9930569907389727,0.06719090196872468,0.05854000151157379
+1789729893455621339,12833,0.6503560543060303,-0.1378479301929474,-0.32445377111434937,-0.9931667078842021,-0.10153532450488001,0.057536284692416145,-0.09764858293383583,0.9929792542752995,0.06676042745738187,0.05854000151157379
+1789729893488899010,12866,0.6501180529594421,-0.1367446482181549,-0.32416656613349915,-0.9930536580941141,-0.10292112748938559,0.05702260357850386,-0.0990807177438659,0.9928535294480294,0.06651977216207322,0.05854000151157379
+1789729893522257743,12900,0.6499149203300476,-0.1353052854537964,-0.32379063963890076,-0.9928966759569386,-0.10475457253242788,0.05641404847520956,-0.10096533729056172,0.9926792041481347,0.06628723750812122,0.05854000151157379
+1789729893555587448,12933,0.6498464941978455,-0.13418948650360107,-0.32352137565612793,-0.9927467592996813,-0.10630129494705859,0.05616144087690028,-0.10252960474120648,0.9925216749967535,0.06624504182948907,0.05854000151157379
+1789729893588923483,12966,0.6498014330863953,-0.13310202956199646,-0.32326260209083557,-0.9926017700984149,-0.10767361542137152,0.05610944616060448,-0.10390718494311216,0.9923809846093484,0.0662063356629325,0.05854000151157379
+1789729893622260408,13000,0.6496745347976685,-0.1318192481994629,-0.32293272018432617,-0.9923992957930285,-0.10969133911569057,0.0557813546408048,-0.1059325195690975,0.9921544678489406,0.06639136739776882,0.05854000151157379
+1789729893655594343,13033,0.6495687365531921,-0.13088373839855194,-0.32266712188720703,-0.9922412725753311,-0.11125579198626309,0.055491739185829836,-0.10749523974752154,0.9919662969444291,0.06669062051818558,0.05854000151157379
+1789729893688904971,13066,0.6495446562767029,-0.12990739941596985,-0.32239922881126404,-0.9920520168116747,-0.11300355001085283,0.05534632390685343,-0.10923608070771085,0.9917597564597695,0.06693328810514831,0.05854000151157379
+1789729893722246825,13100,0.6496378183364868,-0.12853866815567017,-0.32210275530815125,-0.991796766062583,-0.11518033034260386,0.05543336268913379,-0.11139845396981554,0.9915100522699709,0.0670686328803326,0.05854000151157379
+1789729893755580200,13133,0.6496779918670654,-0.12754938006401062,-0.32192960381507874,-0.9916024951848417,-0.11681070051322594,0.055496052643804056,-0.11301727885209646,0.9913190116939468,0.06718416477740956,0.05854000151157379
+1789729893788893057,13166,0.6496437788009644,-0.126637265086174,-0.32179155945777893,-0.9914260886320618,-0.1183634381788742,0.05535565560170616,-0.11456390988013242,0.9911262212932221,0.06740862935070575,0.05854000151157379
+1789729893822254150,13200,0.6494840383529663,-0.12544961273670197,-0.32163140177726746,-0.9911899946955727,-0.12048206009950455,0.0550133109034783,-0.11667433884803771,0.9908492872229813,0.0678585930389494,0.05854000151157379
+1789729893855591745,13233,0.6494127511978149,-0.12445446103811264,-0.32154175639152527,-0.9910064490097743,-0.12207337753686859,0.05481256296331616,-0.11826079451886712,0.9906431069828998,0.06812209316462252,0.05854000151157379
+1789729893888895933,13266,0.6494309306144714,-0.12333124876022339,-0.32148340344429016,-0.9908153995651579,-0.12358248790020226,0.05488444382080526,-0.11976384984372462,0.9904613057475837,0.06813972788505347,0.05854000151157379
+1789729893922256886,13300,0.6494907140731812,-0.12173202633857727,-0.3214474320411682,-0.9905427991391278,-0.12565268204252766,0.05510424968202354,-0.12182951472712511,0.9902197732197688,0.06798801817289168,0.05854000151157379
+1789729893955583632,13333,0.6494245529174805,-0.12059872597455978,-0.321418821811676,-0.9903618406665176,-0.12706043639372028,0.05512964113640523,-0.12324214232032843,0.9900523806436868,0.06787973905379785,0.05854000151157379
+1789729893988913557,13366,0.6492367386817932,-0.11956228315830231,-0.32138216495513916,-0.9901885119882949,-0.1285149476223881,0.054867472678421736,-0.1247089847676617,0.9898653255114633,0.06792867991291929,0.05854000151157379
+1789729894022248924,13400,0.6490260362625122,-0.1180611401796341,-0.321355402469635,-0.9899489788018636,-0.13049090274229208,0.05452748568728516,-0.12669615999424572,0.9896034433844816,0.06806694074619385,0.05854000151157379
+1789729894055584133,13433,0.6489323377609253,-0.11683374643325806,-0.32132261991500854,-0.9897580316194825,-0.1319539323615399,0.05447040399121861,-0.1281671552893509,0.9894194657802668,0.0679874997087489,0.05854000151157379
+1789729894088981016,13466,0.6488645076751709,-0.11554650962352753,-0.3212806284427643,-0.9895810932944187,-0.13328451185560652,0.05444856784123431,-0.1295077363805035,0.9892548158532506,0.06784287970912573,0.05854000151157379
+1789729894122254920,13500,0.6487298011779785,-0.11386898905038834,-0.3212442398071289,-0.989351989068403,-0.13499564383704746,0.05439433288603934,-0.13123474554831935,0.9890414694082101,0.0676344064937352,0.05854000151157379
+1789729894155583569,13533,0.6485914587974548,-0.11263936012983322,-0.3212362229824066,-0.9891892016503576,-0.13624374815618037,0.05424325941303709,-0.1324956574926853,0.9888778341703055,0.06756870315760222,0.05854000151157379
+1789729894188903209,13566,0.6484292149543762,-0.11141582578420639,-0.3212149441242218,-0.989027986410072,-0.1374905128646191,0.054038554853427456,-0.13375593587392554,0.9887099630455384,0.06754227954675737,0.05854000151157379
+1789729894222249396,13600,0.6482717394828796,-0.10969233512878418,-0.3211672306060791,-0.9887894539077902,-0.13926930173857688,0.053847153621264354,-0.13555099769868928,0.9884713450795761,0.06745611316072098,0.05854000151157379
+1789729894255589004,13633,0.6482389569282532,-0.10831230133771896,-0.32115429639816284,-0.9886169435981564,-0.14044792001619913,0.05395235185951808,-0.13673706253350834,0.9883232027336459,0.06723259842015236,0.05854000151157379
+1789729894288896275,13666,0.6481497883796692,-0.10701669007539749,-0.3211559057235718,-0.9884497031056245,-0.1416071118036616,0.053989286265704206,-0.13790889659178018,0.988176701144871,0.06699212594772186,0.05854000151157379
+1789729894322259241,13700,0.6478585600852966,-0.10543345659971237,-0.32113802433013916,-0.9882442547515096,-0.1431671133127906,0.053630952678969224,-0.13949004721161065,0.9879552534577829,0.06698464550760111,0.05854000151157379
+1789729894355588390,13733,0.6477038264274597,-0.10419361293315887,-0.32113000750541687,-0.9880755641032772,-0.14441926656507853,0.053384775724079236,-0.14075532740022823,0.9877747012734382,0.06700058533070477,0.05854000151157379
+1789729894388894981,13766,0.6476567387580872,-0.10286953300237656,-0.32113775610923767,-0.9878852573135086,-0.1457029636488373,0.053417968282227446,-0.1420471910653108,0.9876010988733854,0.06683311850519194,0.05854000151157379
+1789729894422259147,13800,0.6475462913513184,-0.101193368434906,-0.32113638520240784,-0.9876798338730202,-0.14706970634673772,0.05346793292288876,-0.14342945761454468,0.9874215466272245,0.06653328870392827,0.05854000151157379
+1789729894455604575,13833,0.6473479866981506,-0.10002700239419937,-0.3211239278316498,-0.9875272122304639,-0.14818455586913581,0.053209476014727086,-0.1445568434859673,0.9872547464326059,0.06656864159496104,0.05854000151157379
+1789729894488896147,13866,0.6471784114837646,-0.09881208091974258,-0.3211122751235962,-0.9873648911458774,-0.1493635111036781,0.0529250092196189,-0.14574696245281657,0.9870742757587462,0.06664980646982138,0.05854000151157379
+1789729894522259393,13900,0.6470728516578674,-0.09698904305696487,-0.3211212754249573,-0.9871565584326238,-0.15073446900776605,0.052924666556307676,-0.14712263960897315,0.9868756770162288,0.06656821192520868,0.05854000151157379
+1789729894555593022,13933,0.6470121145248413,-0.09555801749229431,-0.32117241621017456,-0.9870182397714848,-0.15160496351256553,0.05301906903364545,-0.14799785106921975,0.9867560418918141,0.06640143435191403,0.05854000151157379
+1789729894588899743,13966,0.646847128868103,-0.09416024386882782,-0.32126155495643616,-0.9869104073058697,-0.1523258430072137,0.05295879662879316,-0.14872695099989913,0.9866517048004659,0.0663227496078399,0.05854000151157379
+1789729894622260659,14000,0.6465662717819214,-0.0922446995973587,-0.3214453458786011,-0.9867892660765465,-0.15321576736603484,0.052647277116784935,-0.14962565735294417,0.9865061280032722,0.06646669197323296,0.05854000151157379
+1789729894655659972,14033,0.6463949680328369,-0.09071162343025208,-0.3216169476509094,-0.986699395520477,-0.15381222363800467,0.05259179165039729,-0.1502260822534766,0.9864158765217873,0.06645179716677596,0.05854000151157379
+1789729894688957514,14066,0.6462424397468567,-0.08913452178239822,-0.32181113958358765,-0.9866049971867363,-0.15442585900130762,0.052567527860886976,-0.15084623605195052,0.9863269473892565,0.06636690959648722,0.05854000151157379
+1789729894722259475,14100,0.6459648609161377,-0.08710605651140213,-0.322120726108551,-0.986498452811615,-0.15514588074527974,0.0524438132068078,-0.15157737061050253,0.986219364677521,0.06629980417415166,0.05854000151157379
+1789729894755609852,14133,0.6457417011260986,-0.08559700846672058,-0.3223760724067688,-0.9863982516491112,-0.15582144501747053,0.05232592033202957,-0.1522609882546132,0.9861156235306824,0.06627644630461557,0.05854000151157379
+1789729894788897375,14166,0.6455057263374329,-0.08408582210540771,-0.3226187229156494,-0.9863067159351215,-0.1564495095931731,0.052180336793797744,-0.15289810006542853,0.9860179565275613,0.06626282238124054,0.05854000151157379
+1789729894822250012,14200,0.6452295780181885,-0.08209297060966492,-0.3229162096977234,-0.9861700857533311,-0.15737541516322381,0.0519749240087114,-0.15384110614513793,0.9858772938658296,0.06617306436826095,0.05854000151157379
+1789729894855595209,14233,0.645081102848053,-0.08063513040542603,-0.32315593957901,-0.9860641926714697,-0.15803956705367445,0.051968214676914454,-0.15451210818240152,0.985779571750573,0.06606544373672901,0.05854000151157379
+1789729894888893751,14266,0.6449194550514221,-0.07929003238677979,-0.3234141767024994,-0.9859745171838246,-0.15862549974329332,0.05188435024323179,-0.15510859742553984,0.9856923072497288,0.06596966631473311,0.05854000151157379
+1789729894922256827,14300,0.6446777582168579,-0.07770665735006332,-0.3237188458442688,-0.9858593890641933,-0.1594436947668028,0.05156548465340813,-0.15594505093461647,0.985560609915169,0.06596533530418627,0.05854000151157379
+1789729894955590406,14333,0.644589900970459,-0.0766635611653328,-0.3239193856716156,-0.9857696563476073,-0.1600430423092954,0.05142180841103189,-0.1565560549904374,0.9854676853845018,0.06590630618499504,0.05854000151157379
+1789729894988896327,14366,0.6445968151092529,-0.07579227536916733,-0.32410818338394165,-0.9856903377778541,-0.16052113514178323,0.05145344954119224,-0.15704568665182173,0.9854044279502854,0.06568687233384107,0.05854000151157379
+1789729895022249506,14400,0.6445744633674622,-0.07501082867383957,-0.3243148624897003,-0.9856342548861246,-0.16084002543201092,0.051530489780907685,-0.15737591353038527,0.9853688322161721,0.06542999913500158,0.05854000151157379
+1789729895055586518,14433,0.644511342048645,-0.07473087310791016,-0.3244113326072693,-0.9856047073475487,-0.1610595635055119,0.051413238579380294,-0.15760779849927295,0.9853380106748648,0.0653359596948172,0.05854000151157379
+1789729895088896882,14466,0.6444530487060547,-0.07460979372262955,-0.3244587182998657,-0.9855928669817562,-0.161167901030478,0.05130019815432396,-0.15772567613432248,0.9853225937436728,0.06528398043103323,0.05854000151157379
+1789729895122254812,14500,0.6444291472434998,-0.07454655319452286,-0.32446470856666565,-0.9855812468702028,-0.1612614574049392,0.05123010793034061,-0.1578242750591567,0.985308010084068,0.06526580089847864,0.05854000151157379
+1789729895155584524,14533,0.644433319568634,-0.07451053708791733,-0.32445278763771057,-0.9855756924254737,-0.1612943669127287,0.05123012912285535,-0.15785768683575507,0.9853032113782273,0.06525742259011924,0.05854000151157379
+1789729895188920176,14566,0.6444363594055176,-0.07448972761631012,-0.32444339990615845,-0.9855725379649396,-0.16130823773918626,0.05124900301343105,-0.15787258928477174,0.9853030951950028,0.06522312790844251,0.05854000151157379
+1789729895222249848,14600,0.6444396376609802,-0.07446548342704773,-0.3244510889053345,-0.9855748716768087,-0.16129622816767777,0.051241001945755094,-0.15786471540320776,0.9853083356304786,0.06516298744345864,0.05854000151157379
+1789729895255580251,14633,0.6444360017776489,-0.07445751875638962,-0.3244628608226776,-0.985574156367214,-0.1612985822069702,0.05124762999095189,-0.1578714419274591,0.9853123831559695,0.06508544538219607,0.05854000151157379
+1789729895288891605,14666,0.6444295048713684,-0.07444357126951218,-0.3244808614253998,-0.9855760960769253,-0.16129305393319948,0.05122910279005197,-0.1578696457976395,0.985315573349056,0.06504149963869649,0.05854000151157379
+1789729895322326178,14700,0.644414484500885,-0.07442842423915863,-0.3244914412498474,-0.9855756115527239,-0.16129656118679,0.0512265018046113,-0.15787786072570456,0.9853191775852979,0.06496691105664423,0.05854000151157379
+1789729895355581847,14733,0.6444034576416016,-0.07441704720258713,-0.32449448108673096,-0.9855765927904894,-0.1612982841755887,0.05120401753746373,-0.15788403110457025,0.9853216240617588,0.06491480121815085,0.05854000151157379
+1789729895388915829,14766,0.6443888545036316,-0.0744115486741066,-0.3244871497154236,-0.9855799374329641,-0.1612888910346476,0.05116567254641602,-0.15788056242621817,0.9853262446686419,0.06485305261365204,0.05854000151157379
+1789729895422246381,14800,0.6443659067153931,-0.07440460473299026,-0.3244750201702118,-0.9855805099665034,-0.16129670355454875,0.051130457620990166,-0.15789519344648825,0.9853291242372814,0.06477363674804887,0.05854000151157379
+1789729895455580933,14833,0.6443518996238708,-0.07439952343702316,-0.3244648277759552,-0.9855798281927795,-0.16130326141932277,0.05112222035080896,-0.15790652297622382,0.9853319516771101,0.06470296504502787,0.05855000019073486
+1789729895488898836,14866,0.6443422436714172,-0.07438405603170395,-0.3244606852531433,-0.9855814014468454,-0.1612972261584099,0.05111280820577302,-0.15790307973304307,0.9853347257934799,0.0646691244246696,0.05858999863266945
+1789729895522323500,14900,0.6443300247192383,-0.07437355071306229,-0.32445546984672546,-0.9855818945391555,-0.16129574066508162,0.051108219988133974,-0.15790593735086184,0.9853386630334403,0.0646021234454135,0.05860000103712082
+1789729895555585268,14933,0.6443244814872742,-0.07437065988779068,-0.3244498074054718,-0.9855820036455523,-0.16129658847816175,0.05110439368641351,-0.1579100275000377,0.9853412634619948,0.06455244942227512,0.05906999856233597
+1789729895588903652,14966,0.6443252563476562,-0.0743638426065445,-0.32444339990615845,-0.985582911820952,-0.16129464312097064,0.0510911332699886,-0.1579110933248672,0.9853435328664961,0.06451517971801224,0.060339998453855515
+1789729895622246993,15000,0.6443184614181519,-0.07435867935419083,-0.32443395256996155,-0.9855831077603601,-0.16129310826800253,0.051091059453551524,-0.15791297409759747,0.9853468938885952,0.06445921212279399,0.06351999938488007
+1789729895655576015,15033,0.644308865070343,-0.07436386495828629,-0.32443222403526306,-0.985584258361865,-0.16128989024430063,0.051078755062010484,-0.157913430042801,0.9853500282753797,0.06441016147503004,0.06351999938488007
+1789729895688890619,15066,0.6443033218383789,-0.07436498999595642,-0.3244292140007019,-0.9855818025168388,-0.16130954775416645,0.05106630642445295,-0.15793604912116893,0.9853488436080774,0.06437282803844319,0.0695199966430664
+1789729895722305564,15100,0.6442991495132446,-0.07435809075832367,-0.324416846036911,-0.9855819463639979,-0.16131032141298518,0.05106305189693994,-0.15793903884356397,0.9853505478243844,0.06433940933812532,0.07503999769687653
+1789729895755638816,15133,0.6442981958389282,-0.0743575245141983,-0.3244100511074066,-0.9855819714005065,-0.1613124028225859,0.05105246700066368,-0.15794389670950676,0.9853521152970668,0.06430344779507813,0.07874999940395355
+1789729895788895275,15166,0.6442938446998596,-0.07435847818851471,-0.32440346479415894,-0.9855850619869566,-0.16129834387962919,0.051037174799261675,-0.15793222886026112,0.9853556355323457,0.0642781580641732,0.08005999773740768
+1789729895822305840,15200,0.6442834138870239,-0.07435999810695648,-0.3244120478630066,-0.985585532388173,-0.16129741884414472,0.05103047084477766,-0.15793364176083613,0.9853575157505218,0.06424585229993501,0.08008000254631042
+1789729895855657210,15233,0.6442822813987732,-0.0743604525923729,-0.32442620396614075,-0.9855848431632679,-0.16130471939844465,0.05102448199049403,-0.15794391696287097,0.9853587026907942,0.06420239521668475,0.08008000254631042
+1789729895888891691,15266,0.6442824602127075,-0.07435639202594757,-0.3244362473487854,-0.9855860479385934,-0.16130087403095414,0.05100927268971295,-0.157942905527256,0.9853609955524469,0.06416966093271576,0.08005999773740768
+1789729895922300516,15300,0.6442791819572449,-0.0743563324213028,-0.32444122433662415,-0.9855867103837619,-0.16130035735649212,0.05099954349810254,-0.15794616176720272,0.9853639364793543,0.06411647289860989,0.08005999773740768
+1789729895955583073,15333,0.6442761421203613,-0.07435639202594757,-0.3244406282901764,-0.9855886722438099,-0.16129061953702759,0.05099490968518883,-0.15793834767950046,0.9853669716898679,0.0640890843222052,0.08005999773740768
+1789729895988899447,15366,0.644275426864624,-0.07435450702905655,-0.3244433104991913,-0.9855892475512604,-0.16128998116243864,0.05098538564544888,-0.1579398703528303,0.9853684761258615,0.06406219311277175,0.08004999905824661
+1789729896022262188,15400,0.6442686915397644,-0.07435342669487,-0.32445213198661804,-0.9855906883232388,-0.16128446011962694,0.05097442697887025,-0.15793789939516067,0.9853719399358024,0.06401375218164679,0.08004999905824661
+1789729896055593493,15433,0.6442593336105347,-0.07435405999422073,-0.3244597017765045,-0.9855898120066426,-0.16129019158395752,0.05097137665218718,-0.15794662721499297,0.985373564782511,0.06396717853448095,0.08004999905824661
+1789729896088899871,15466,0.6442543864250183,-0.07434631884098053,-0.32446643710136414,-0.9855899365204768,-0.16129662675041506,0.05094955184156369,-0.15795568166537793,0.9853736278663566,0.0639438503658766,0.08004999905824661
+1789729896122323159,15500,0.6442483067512512,-0.07434237003326416,-0.3244746923446655,-0.9855907490400231,-0.16129659498539228,0.050934198677621834,-0.15796009402562594,0.9853767646646767,0.06388458670737707,0.08004999905824661
+1789729896155591520,15533,0.6442455649375916,-0.07433965802192688,-0.32447928190231323,-0.9855937921991849,-0.16128545243579503,0.050912178657363305,-0.15795251234977306,0.985380485875823,0.06384593292909535,0.08004999905824661
+1789729896188889558,15566,0.6442358493804932,-0.07433947175741196,-0.3244830369949341,-0.9855944487071726,-0.1612837213334145,0.0509029922888273,-0.1579528422810882,0.9853820930106563,0.06382029593834046,0.08004999905824661
+1789729896222251751,15600,0.6442310214042664,-0.07434438169002533,-0.3244898319244385,-0.9855974981518836,-0.16127766074966432,0.05086428822799516,-0.15795253258679287,0.9853860088313888,0.06376058105692606,0.08004999905824661
+1789729896255580057,15633,0.6442217826843262,-0.07434087246656418,-0.32449740171432495,-0.985596730366872,-0.16128650640546896,0.05085178730756387,-0.15796337434334992,0.9853856705332573,0.06373895060640919,0.08004999905824661
+1789729896288886775,15666,0.6442190408706665,-0.07433910667896271,-0.32450252771377563,-0.9855978615358478,-0.1612871462379588,0.05082835352121329,-0.15796740544933519,0.9853872703940385,0.0637042204602658,0.08004999905824661
+1789729896322252797,15700,0.6442109942436218,-0.07433729618787766,-0.3244993984699249,-0.9855978191195274,-0.1612910984265013,0.05081273890554955,-0.15797474524946303,0.9853887940967408,0.06366241404981576,0.08004999905824661
+1789729896355576583,15733,0.6442060470581055,-0.07433555275201797,-0.3245001435279846,-0.9855982095730531,-0.16129492703552928,0.05079602990519172,-0.1579811018881665,0.9853894959787248,0.0636357882820362,0.08004999905824661
+1789729896388894380,15766,0.6442033052444458,-0.07433564215898514,-0.32450035214424133,-0.9855982441017961,-0.16129788210817278,0.050784502379824875,-0.15798664021916384,0.9853906899074294,0.06360353405550312,0.08004999905824661
+1789729896422251763,15800,0.6441988348960876,-0.07433295994997025,-0.32450541853904724,-0.9856013198544784,-0.16128331202123541,0.0507709428022986,-0.15797412838555508,0.9853940952178547,0.0635818492559723,0.08004999905824661
+1789729896455575510,15833,0.6441969871520996,-0.07433854043483734,-0.32450413703918457,-0.985601929847193,-0.16128078162709092,0.050768660758285566,-0.15797426549396287,0.9853967846803798,0.06353982218779208,0.08004999905824661
+1789729896488892946,15866,0.6441991925239563,-0.07433845102787018,-0.32450389862060547,-0.9856042562844438,-0.16127345606598834,0.05074356932454127,-0.15796970814384156,0.9853989992337503,0.06351678561777035,0.08004999905824661
+1789729896522256609,15900,0.644195556640625,-0.07433508336544037,-0.3245089650154114,-0.985603837362877,-0.16127995129144584,0.050730958050542896,-0.1579783379795769,0.9853991571191515,0.06349286761841355,0.08004999905824661
+1789729896555585345,15933,0.6441943049430847,-0.0743352621793747,-0.3245149850845337,-0.9856032907466776,-0.16128675236485232,0.0507198315310306,-0.15798731497284227,0.9853993900966879,0.06346690927781246,0.08004999905824661
+1789729896588988554,15966,0.6441934704780579,-0.07433509826660156,-0.32451874017715454,-0.9856026566259182,-0.16129268795207005,0.0507133335137806,-0.1579954847086106,0.985400084118328,0.06343578911845943,0.08004999905824661
+1789729896622263145,16000,0.6441894769668579,-0.07433411478996277,-0.32452136278152466,-0.9856029029434286,-0.16129522987041278,0.05070400260105545,-0.15800002208091846,0.9854009410532907,0.06341119258264283,0.08004999905824661
+1789729896655581481,16033,0.6441938877105713,-0.07433498650789261,-0.3245246410369873,-0.9856051304656048,-0.16128915301198582,0.050677081228749477,-0.15799643363760957,0.9854025982147323,0.06339436208679516,0.08004999905824661
+1789729896688892149,16066,0.6441938281059265,-0.07433722913265228,-0.324526309967041,-0.9856053948918362,-0.16128716178078983,0.050680346695017864,-0.15799567949185933,0.9854042276545057,0.0633709214112178,0.08004999905824661
+1789729896722244992,16100,0.6441940069198608,-0.07434298098087311,-0.3245217800140381,-0.9856075509411,-0.16127836113606797,0.0506642500748177,-0.15798952940679634,0.9854070985377512,0.06334159320592853,0.08004999905824661
+1789729896755577818,16133,0.6441926956176758,-0.07434642314910889,-0.32451850175857544,-0.9856078925406138,-0.16127926064291342,0.05065599410041299,-0.15799226610649209,0.9854081372894637,0.06331861044242709,0.08004999905824661
+1789729896788887885,16166,0.6441925764083862,-0.07434762269258499,-0.3245159685611725,-0.9856062212666128,-0.16129338619915298,0.05064440007657134,-0.15800803219690554,0.9854066861765401,0.06330185508915415,0.08004999905824661
+1789729896822245508,16200,0.6441953182220459,-0.07434720546007156,-0.3245120346546173,-0.9856070800020738,-0.16129461711693113,0.05062391330622984,-0.15801178172046673,0.9854075775712681,0.06327861623021769,0.08004999905824661
+1789729896855582653,16233,0.6441965103149414,-0.07435259968042374,-0.3245101273059845,-0.9856077246606587,-0.1612934371470797,0.050615003985503865,-0.1580131422117755,0.9854095473048489,0.0632445353451564,0.08004999905824661
+1789729896888893681,16266,0.6441954374313354,-0.07435386627912521,-0.32450905442237854,-0.985607891942645,-0.1612937953933713,0.050608231460406716,-0.15801470067928314,0.9854101817445302,0.06323074094572156,0.08004999905824661
+1789729896922247874,16300,0.6441982984542847,-0.07435546815395355,-0.324514240026474,-0.9856104451116467,-0.16128460006719236,0.050588490411106524,-0.15800796575645948,0.9854127344362624,0.06320778901339486,0.08004999905824661
+1789729896955584149,16333,0.6441939473152161,-0.07435870915651321,-0.3245150148868561,-0.9856097312138263,-0.16128429734458685,0.05060570927290803,-0.15800834491318447,0.9854143981550976,0.06318091179386376,0.08004999905824661
+1789729896988917785,16366,0.6441990733146667,-0.07435671985149384,-0.324512243270874,-0.9856106019889133,-0.16128645196442865,0.05057876168631248,-0.158012656875599,0.9854144409537007,0.06316944103420141,0.08004999905824661
+1789729897022245603,16400,0.6441963911056519,-0.07435819506645203,-0.32450583577156067,-0.9856099238378428,-0.16129177524263272,0.05057919416508147,-0.1580196093054539,0.9854150871873485,0.06314198751654712,0.08004999905824661
+1789729897055584321,16433,0.6441969871520996,-0.07435436546802521,-0.32450738549232483,-0.9856110607794788,-0.16128944116025923,0.050561093617228714,-0.1580186446227192,0.9854156496781216,0.06313560306694654,0.08004999905824661
+1789729897088898441,16466,0.6441968679428101,-0.07435252517461777,-0.32451102137565613,-0.9856112182917782,-0.1612964068422036,0.05053728839214677,-0.15802732986126333,0.9854147106007478,0.06312853008086705,0.08004999905824661
+1789729897122257848,16500,0.6441938281059265,-0.07435266673564911,-0.32451605796813965,-0.9856123434275348,-0.16129618471785273,0.050515223890205824,-0.1580289620822563,0.9854151449356598,0.06311765857022575,0.08004999905824661
+1789729897155586387,16533,0.6441918015480042,-0.0743514895439148,-0.3245201110839844,-0.985614373215927,-0.16128665021587527,0.05050722705648997,-0.15802002830067888,0.9854167523748488,0.06311493648661465,0.08004999905824661
+1789729897188893478,16566,0.6441903710365295,-0.07434887439012527,-0.324518084526062,-0.9856170203911656,-0.1612751240662766,0.05049378600460941,-0.15800855537672703,0.9854178679384142,0.0631262499801189,0.08004999905824661
+1789729897222247955,16600,0.644189178943634,-0.07435069978237152,-0.32450637221336365,-0.9856173251755702,-0.16127410374632878,0.0504894738879266,-0.15800820828498163,0.9854183901691275,0.06311895665758632,0.08004999905824661
+1789729897255582943,16633,0.6441888809204102,-0.0743497684597969,-0.32449832558631897,-0.9856159186786795,-0.1612837423911923,0.05048372821858904,-0.15801790726251036,0.9854165675826033,0.06312311610624152,0.08004999905824661
+1789729897288895684,16666,0.6441888809204102,-0.07435107976198196,-0.3244933784008026,-0.9856153614600041,-0.16129151184768353,0.050472257342705246,-0.1580264246737847,0.9854153361105774,0.06312103267741431,0.08004999905824661
+1789729897322308316,16700,0.6441869735717773,-0.07435217499732971,-0.3244958519935608,-0.9856148025146174,-0.1612989886077471,0.05045819032865839,-0.1580345626632838,0.9854139213975326,0.06312273772221094,0.08004999905824661
+1789729897355640044,16733,0.6441888213157654,-0.07435178011655807,-0.32450050115585327,-0.9856179384343016,-0.16128740882899525,0.05043456122630938,-0.158024110280671,0.9854154265360956,0.06312541222814791,0.08004999905824661
+1789729897388896790,16766,0.6441897749900818,-0.07435490190982819,-0.32450202107429504,-0.985620039494667,-0.1612790544703584,0.05041929265418443,-0.15801695395317683,0.9854169636274249,0.06311932611838844,0.08004999905824661
+1789729897422246667,16800,0.6441855430603027,-0.07435265183448792,-0.324500173330307,-0.9856206866215422,-0.1612741356984297,0.0504226258301943,-0.158011187202239,0.9854171763762403,0.06313044176689764,0.08004999905824661
+1789729897455580206,16833,0.6441845297813416,-0.07435096800327301,-0.3244987726211548,-0.9856213445112847,-0.16127278153154767,0.05041547869343321,-0.15800982973225397,0.9854169756839617,0.06313697982579891,0.08004999905824661
+1789729897488898816,16866,0.6441832780838013,-0.07434918731451035,-0.3244965970516205,-0.9856199437412931,-0.16128253425209788,0.050411734611694126,-0.158019276809864,0.9854149194675494,0.063145428802311,0.08004999905824661
+1789729897522246383,16900,0.6441842317581177,-0.07434995472431183,-0.32449349761009216,-0.9856200411001201,-0.16128580468940157,0.05040086400209898,-0.1580233272529209,0.9854144719554965,0.06314228491976126,0.08004999905824661
+1789729897555581042,16933,0.644187331199646,-0.07435398548841476,-0.32449156045913696,-0.9856201963131324,-0.16129077217173504,0.05037983900187948,-0.15802985524183966,0.9854138696064498,0.06313533505982294,0.08004999905824661
+1789729897588896402,16966,0.6441882848739624,-0.07435406744480133,-0.32449284195899963,-0.9856215899031806,-0.16128762092819648,0.05036231173944558,-0.15802729493441092,0.9854138916461384,0.06314139721226403,0.08004999905824661
+1789729897622251209,17000,0.6441860795021057,-0.07435597479343414,-0.324494868516922,-0.9856242243191375,-0.16127505446846152,0.05035188655159273,-0.1580153464730359,0.985415858978626,0.06314060220076723,0.08004999905824661
+1789729897655587987,17033,0.644184947013855,-0.07435272634029388,-0.32449808716773987,-0.985624727662356,-0.16127264110376474,0.05034951302286031,-0.15801256548291973,0.9854157736265134,0.06314889188357486,0.08004999905824661
+1789729897688909047,17066,0.6441852450370789,-0.07435216754674911,-0.32449871301651,-0.985625179733937,-0.16127100000551486,0.05034450827118331,-0.15801124691205182,0.9854160377048868,0.06314806210764878,0.08004999905824661
+1789729897722252675,17100,0.6441856026649475,-0.07435034215450287,-0.3244973123073578,-0.9856256968143715,-0.16127076364748485,0.05033666361249525,-0.15801143243963797,0.9854160027024129,0.06314815299448051,0.08004999905824661
+1789729897755584544,17133,0.6441858410835266,-0.07435240596532822,-0.32449424266815186,-0.9856255868399124,-0.16127471127164011,0.050327143656907575,-0.15801628980607713,0.9854156431339164,0.06314161491692497,0.08004999905824661
+1789729897788895234,17166,0.6441861987113953,-0.07435239106416702,-0.32449275255203247,-0.9856247924522279,-0.16128404629175308,0.050311671017713055,-0.15802612288006102,0.9854137000286296,0.06314732434762238,0.08004999905824661
+1789729897822246351,17200,0.644185483455658,-0.0743529424071312,-0.32448962330818176,-0.985626223297424,-0.1612806902804003,0.05029463090510766,-0.15802329242012478,0.9854137230166342,0.06315404979922648,0.08004999905824661
+1789729897855582140,17233,0.6441857814788818,-0.07435266673564911,-0.32448846101760864,-0.9856282446529276,-0.16127333891393222,0.05028024933424158,-0.15801644112177085,0.9854145175431499,0.06315880492615022,0.08004999905824661
+1789729897888903500,17266,0.6441841721534729,-0.07435188442468643,-0.3244878053665161,-0.9856294401359842,-0.1612682223983885,0.05027126890657846,-0.15801137465405796,0.9854148584602381,0.06316614956044908,0.08004999905824661
+1789729897922247567,17300,0.6441820859909058,-0.07435152679681778,-0.3244885206222534,-0.9856289880733322,-0.1612719280411486,0.05026823962160737,-0.15801522940048013,0.9854142241577589,0.06316640203585255,0.08004999905824661
+1789729897955581926,17333,0.6441819071769714,-0.07435097545385361,-0.32448896765708923,-0.9856287870896265,-0.16127597499839347,0.05026063271939196,-0.158019682082624,0.985413502172403,0.06316653475481482,0.08004999905824661
+1789729897988908685,17366,0.6441830992698669,-0.07435132563114166,-0.3244883716106415,-0.9856288995298079,-0.16127815819368949,0.05024739717091706,-0.15802277171859117,0.9854132044068599,0.06316342715591358,0.08004999905824661
+1789729898022258864,17400,0.6441826224327087,-0.07435346394777298,-0.3244873583316803,-0.9856293202276558,-0.16128165042936274,0.050230941661943196,-0.1580270456070599,0.9854123977287882,0.06316533710239203,0.08004999905824661
+1789729898055586537,17433,0.6441807150840759,-0.07435528188943863,-0.3244861960411072,-0.98562931056,-0.1612840730337217,0.05022463309712266,-0.1580298470436057,0.9854119869861988,0.06316474368429925,0.08004999905824661
+1789729898088908130,17466,0.6441815495491028,-0.0743551254272461,-0.3244839012622833,-0.9856306657116789,-0.1612793417059669,0.050211868764863665,-0.15802570993796308,0.9854125404982584,0.0631664509032574,0.08004999905824661
diff --git a/episode_0011/right.observation.state.joint_position/data.csv b/episode_0011/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e29f941585a454b16b86a4186474424b036676ac
--- /dev/null
+++ b/episode_0011/right.observation.state.joint_position/data.csv
@@ -0,0 +1,526 @@
+timestamp_ns,elapsed_ms,j1,j2,j3,j4,j5,j6,j7,gripper
+1789729880622232203,0,0.014844095334410667,-1.6885490417480469,-0.028051020577549934,0.7525492310523987,1.6125670671463013,-0.056351035833358765,-0.9192418456077576,0.08004999905824661
+1789729880655620396,33,0.015318071469664574,-1.6883333921432495,-0.029134143143892288,0.7528497576713562,1.613714575767517,-0.05677548795938492,-0.9192953109741211,0.08004999905824661
+1789729880688995631,66,0.01576407067477703,-1.6881096363067627,-0.03015594184398651,0.7531745433807373,1.6147890090942383,-0.0571756586432457,-0.9193547368049622,0.08004999905824661
+1789729880722364587,100,0.016310255974531174,-1.6878108978271484,-0.0314192958176136,0.7536031603813171,1.6161190271377563,-0.057658907026052475,-0.9194445610046387,0.08004999905824661
+1789729880755624062,133,0.016698073595762253,-1.6875866651535034,-0.032305359840393066,0.7539180517196655,1.617047905921936,-0.057974182069301605,-0.9194943308830261,0.08004999905824661
+1789729880788926453,166,0.01707655005156994,-1.68736732006073,-0.03319033980369568,0.7542223334312439,1.6179630756378174,-0.058322060853242874,-0.919558584690094,0.08004999905824661
+1789729880822285489,200,0.01756361871957779,-1.6870859861373901,-0.034304775297641754,0.7546153664588928,1.6191400289535522,-0.05874801427125931,-0.919636607170105,0.08004999905824661
+1789729880855622638,233,0.01792689971625805,-1.686887502670288,-0.03512262552976608,0.75489342212677,1.6199898719787598,-0.059062324464321136,-0.9196957349777222,0.08004999905824661
+1789729880889015611,266,0.018288210034370422,-1.6866965293884277,-0.03592684864997864,0.7551596760749817,1.620833396911621,-0.05936158820986748,-0.9197383522987366,0.08004999905824661
+1789729880922288895,300,0.018762173131108284,-1.6864573955535889,-0.03701503947377205,0.7554961442947388,1.6219717264175415,-0.05977550521492958,-0.9197933077812195,0.08004999905824661
+1789729880955611794,333,0.019128946587443352,-1.6862863302230835,-0.03784116730093956,0.7557274103164673,1.622839331626892,-0.06009857356548309,-0.9198203682899475,0.08004999905824661
+1789729880988924525,366,0.019493406638503075,-1.6861298084259033,-0.03868919983506203,0.7559296488761902,1.6237149238586426,-0.06043741852045059,-0.919840931892395,0.08004999905824661
+1789729881022362116,400,0.019998542964458466,-1.685930609703064,-0.03988349065184593,0.7561789155006409,1.6249209642410278,-0.06093432009220123,-0.919849693775177,0.08004999905824661
+1789729881055621465,433,0.020375890657305717,-1.6857892274856567,-0.0408037044107914,0.7563567757606506,1.6258721351623535,-0.06133587658405304,-0.9198530912399292,0.08004999905824661
+1789729881089020002,466,0.02077176421880722,-1.6856440305709839,-0.04174770414829254,0.7565346360206604,1.6268354654312134,-0.06173649802803993,-0.9198558926582336,0.08004999905824661
+1789729881122367913,500,0.02130032703280449,-1.68545663356781,-0.04301995038986206,0.7567747235298157,1.6281278133392334,-0.062266767024993896,-0.9198582768440247,0.08004999905824661
+1789729881155628731,533,0.021694475784897804,-1.6853151321411133,-0.043962512165308,0.7569575309753418,1.6290947198867798,-0.06266878545284271,-0.9198597073554993,0.08004999905824661
+1789729881188922837,566,0.022101566195487976,-1.6851691007614136,-0.04491446539759636,0.7571430802345276,1.6300655603408813,-0.06307000666856766,-0.9198598265647888,0.08004999905824661
+1789729881222287057,600,0.022646211087703705,-1.684977650642395,-0.04618632793426514,0.7573922872543335,1.6313989162445068,-0.06359542161226273,-0.9198579788208008,0.08004999905824661
+1789729881255622839,633,0.02304387278854847,-1.684838056564331,-0.04709041118621826,0.7575733065605164,1.6323260068893433,-0.06396222114562988,-0.9198572039604187,0.08004999905824661
+1789729881288926114,666,0.0234253890812397,-1.6847046613693237,-0.04793756827712059,0.7577546834945679,1.6332323551177979,-0.06430990248918533,-0.9198601841926575,0.08004999905824661
+1789729881322291563,700,0.023921871557831764,-1.684543490409851,-0.0490340031683445,0.7579652070999146,1.6343867778778076,-0.06474518775939941,-0.9198625683784485,0.08004999905824661
+1789729881355622746,733,0.024273743852972984,-1.684430718421936,-0.04982313886284828,0.7581114768981934,1.6352299451828003,-0.06507369875907898,-0.9198623895645142,0.08004999905824661
+1789729881388934600,766,0.02460278384387493,-1.6843260526657104,-0.05056073144078255,0.7582517266273499,1.6360169649124146,-0.06536749750375748,-0.91986083984375,0.08004999905824661
+1789729881422291420,800,0.025025855749845505,-1.6841851472854614,-0.05151580274105072,0.7584489583969116,1.6370298862457275,-0.06577500700950623,-0.9198611974716187,0.08004999905824661
+1789729881455617243,833,0.025329792872071266,-1.6840757131576538,-0.05218088626861572,0.7586039304733276,1.6377454996109009,-0.06604216247797012,-0.9198635816574097,0.08004999905824661
+1789729881488932607,866,0.025618530809879303,-1.6839666366577148,-0.052828285843133926,0.7587570548057556,1.6384254693984985,-0.06630727648735046,-0.9198665618896484,0.08004999905824661
+1789729881522293537,900,0.0260042492300272,-1.6838183403015137,-0.05369361862540245,0.7589564919471741,1.6393462419509888,-0.06665442883968353,-0.9198704361915588,0.08004999905824661
+1789729881555615411,933,0.026279734447598457,-1.6837109327316284,-0.05429454147815704,0.7591087222099304,1.6399909257888794,-0.06689644604921341,-0.9198749661445618,0.08004999905824661
+1789729881588922015,966,0.026551075279712677,-1.683608055114746,-0.05487475171685219,0.7592576146125793,1.6406294107437134,-0.06713168323040009,-0.9198843240737915,0.08004999905824661
+1789729881622250078,1000,0.026912134140729904,-1.6834654808044434,-0.05564919486641884,0.7594557404518127,1.641452431678772,-0.0674331858754158,-0.9199039936065674,0.08004999905824661
+1789729881655582400,1033,0.027155356481671333,-1.6833683252334595,-0.05620649829506874,0.7595968246459961,1.642045021057129,-0.06765446066856384,-0.9199174046516418,0.08004999905824661
+1789729881688898134,1066,0.027385912835597992,-1.6832846403121948,-0.056754082441329956,0.7597124576568604,1.6426211595535278,-0.06789778918027878,-0.9199232459068298,0.08004999905824661
+1789729881722246815,1100,0.02770085446536541,-1.683200716972351,-0.05748746171593666,0.7598269581794739,1.6434112787246704,-0.06822367012500763,-0.9199216365814209,0.08004999905824661
+1789729881755585917,1133,0.027942080050706863,-1.6831417083740234,-0.058041512966156006,0.7599117755889893,1.6440038681030273,-0.06846063584089279,-0.9199202656745911,0.08004999905824661
+1789729881788917010,1166,0.02817940153181553,-1.6830815076828003,-0.05861060321331024,0.7600061297416687,1.6446095705032349,-0.06870881468057632,-0.9199178814888,0.08004999905824661
+1789729881822258981,1200,0.028505973517894745,-1.6829969882965088,-0.05944366753101349,0.7601408958435059,1.6454756259918213,-0.06909186393022537,-0.9199168086051941,0.08004999905824661
+1789729881855586094,1233,0.028741072863340378,-1.6829254627227783,-0.060064543038606644,0.7602505087852478,1.6461215019226074,-0.06938911229372025,-0.919916570186615,0.08004999905824661
+1789729881888894999,1266,0.028984401375055313,-1.6828560829162598,-0.060668911784887314,0.7603598833084106,1.6467660665512085,-0.069667749106884,-0.9199169278144836,0.08004999905824661
+1789729881922255938,1300,0.02934117056429386,-1.6827747821807861,-0.061503924429416656,0.7604841589927673,1.6476448774337769,-0.07002416998147964,-0.9199158549308777,0.08004999905824661
+1789729881955591661,1333,0.029607845470309258,-1.6827625036239624,-0.06214381381869316,0.7605240345001221,1.6483242511749268,-0.07028650492429733,-0.9199121594429016,0.08004999905824661
+1789729881988895345,1366,0.02989647351205349,-1.6827996969223022,-0.06280142813920975,0.7605221271514893,1.6490111351013184,-0.07052449882030487,-0.919908344745636,0.08004999905824661
+1789729882022257598,1400,0.030382702127099037,-1.6828742027282715,-0.06363946199417114,0.7605202794075012,1.6498377323150635,-0.07061826437711716,-0.9199124574661255,0.08004999905824661
+1789729882055590154,1433,0.030878691002726555,-1.682953119277954,-0.06431367993354797,0.7605176568031311,1.6504462957382202,-0.07052350789308548,-0.9199195504188538,0.08004999905824661
+1789729882088918920,1466,0.0315047949552536,-1.6831626892089844,-0.06508616358041763,0.7604003548622131,1.6511982679367065,-0.07022183388471603,-0.9199491143226624,0.08004999905824661
+1789729882122260125,1500,0.032469380646944046,-1.683843970298767,-0.06622922420501709,0.7597922682762146,1.6523975133895874,-0.06975846737623215,-0.9200169444084167,0.08004999905824661
+1789729882155594362,1533,0.03324636444449425,-1.6845649480819702,-0.0670812651515007,0.7591558694839478,1.6533511877059937,-0.06933320313692093,-0.9200173616409302,0.08004999905824661
+1789729882188905939,1566,0.03402695059776306,-1.6855061054229736,-0.06790625303983688,0.7583025097846985,1.6543428897857666,-0.06888595223426819,-0.9200576543807983,0.08004999905824661
+1789729882222256124,1600,0.035112760961055756,-1.6871776580810547,-0.06901353597640991,0.7567176222801208,1.6557722091674805,-0.06830097734928131,-0.9200922846794128,0.08004999905824661
+1789729882255587820,1633,0.03595823049545288,-1.6886829137802124,-0.06981268525123596,0.7552892565727234,1.6568310260772705,-0.0678054466843605,-0.9201134443283081,0.08004999905824661
+1789729882288898828,1666,0.03687232732772827,-1.6903434991836548,-0.07058951258659363,0.7536696195602417,1.6578763723373413,-0.06719543039798737,-0.920131504535675,0.08004999905824661
+1789729882322244433,1700,0.03823734447360039,-1.6928836107254028,-0.07160266488790512,0.7511551976203918,1.659297227859497,-0.0661572515964508,-0.9201355576515198,0.08004999905824661
+1789729882355590558,1733,0.03939443826675415,-1.6949355602264404,-0.07238851487636566,0.7490473985671997,1.660308837890625,-0.06517869979143143,-0.9201211333274841,0.08004999905824661
+1789729882388901966,1766,0.04062086343765259,-1.6970574855804443,-0.07322876155376434,0.7468551993370056,1.661392331123352,-0.06418552994728088,-0.9200329184532166,0.08004999905824661
+1789729882422246211,1800,0.04234172776341438,-1.7001177072525024,-0.07451923936605453,0.743669867515564,1.663051724433899,-0.0629388839006424,-0.919830858707428,0.08004999905824661
+1789729882455588076,1833,0.04367908090353012,-1.7026633024215698,-0.07563678920269012,0.7409875392913818,1.664476752281189,-0.062049444764852524,-0.919651448726654,0.08004999905824661
+1789729882488905654,1866,0.045030660927295685,-1.7054702043533325,-0.07684816420078278,0.7381022572517395,1.66608464717865,-0.061235249042510986,-0.9194695949554443,0.08004999905824661
+1789729882522259658,1900,0.04680247604846954,-1.7096329927444458,-0.0785849392414093,0.733883261680603,1.6684486865997314,-0.060323186218738556,-0.9193083643913269,0.08004999905824661
+1789729882555592364,1933,0.048078298568725586,-1.7131328582763672,-0.07993797957897186,0.7302300930023193,1.6703706979751587,-0.059792183339595795,-0.9191126823425293,0.08004999905824661
+1789729882588909342,1966,0.049318600445985794,-1.7168155908584595,-0.08130234479904175,0.7261079549789429,1.6721490621566772,-0.05927266925573349,-0.9186350703239441,0.08004999905824661
+1789729882622255187,2000,0.05096415430307388,-1.7219258546829224,-0.08312536031007767,0.7201388478279114,1.6744059324264526,-0.058543648570775986,-0.9176174402236938,0.08004999905824661
+1789729882655592782,2033,0.052188992500305176,-1.726014494895935,-0.08445657789707184,0.7155664563179016,1.676166296005249,-0.05802616477012634,-0.916969895362854,0.08004999905824661
+1789729882688898851,2066,0.053387921303510666,-1.7304118871688843,-0.08565808832645416,0.7109100818634033,1.6779944896697998,-0.0574713796377182,-0.9166144728660583,0.08004999905824661
+1789729882722260335,2100,0.054944176226854324,-1.7364741563796997,-0.08703633397817612,0.7043468356132507,1.6802289485931396,-0.05664525553584099,-0.9161608219146729,0.08004999905824661
+1789729882755589241,2133,0.05613246187567711,-1.7408992052078247,-0.08798648416996002,0.6991691589355469,1.6815345287322998,-0.055907100439071655,-0.9153597950935364,0.08004999905824661
+1789729882788897309,2166,0.05736178904771805,-1.745262622833252,-0.08892909437417984,0.6941601037979126,1.6827269792556763,-0.055081356316804886,-0.9145496487617493,0.08004999905824661
+1789729882822259993,2200,0.05899249389767647,-1.7512162923812866,-0.09005764126777649,0.6878464818000793,1.6845896244049072,-0.05388651043176651,-0.9141387939453125,0.08004999905824661
+1789729882855586449,2233,0.060223538428545,-1.755529761314392,-0.09081578254699707,0.6831326484680176,1.685855746269226,-0.05289657786488533,-0.9138031005859375,0.08004999905824661
+1789729882888896758,2266,0.061511799693107605,-1.7595542669296265,-0.09155173599720001,0.6785287261009216,1.686838984489441,-0.05177442729473114,-0.9131840467453003,0.08004999905824661
+1789729882922258371,2300,0.06332755833864212,-1.7647477388381958,-0.09255149960517883,0.6730607151985168,1.688352108001709,-0.050139062106609344,-0.9127240777015686,0.08004999905824661
+1789729882955588257,2333,0.06471481174230576,-1.7687182426452637,-0.0932355746626854,0.6692352294921875,1.6897568702697754,-0.04888308048248291,-0.9127616882324219,0.08004999905824661
+1789729882988906325,2366,0.06612890958786011,-1.772749900817871,-0.09381857514381409,0.6652973294258118,1.6910697221755981,-0.04753374308347702,-0.9128645658493042,0.08004999905824661
+1789729883022260351,2400,0.06806999444961548,-1.7780543565750122,-0.09453096240758896,0.6598267555236816,1.692673921585083,-0.045655928552150726,-0.9128543734550476,0.08004999905824661
+1789729883055586582,2433,0.06955598294734955,-1.7819403409957886,-0.09500425308942795,0.6559164524078369,1.693750262260437,-0.044138725847005844,-0.9126720428466797,0.08004999905824661
+1789729883088913962,2466,0.07102075964212418,-1.7859675884246826,-0.0953962430357933,0.6522024869918823,1.6949766874313354,-0.04262114688754082,-0.9127272367477417,0.08004999905824661
+1789729883122269380,2500,0.07291606813669205,-1.7915867567062378,-0.09577517211437225,0.6470126509666443,1.6966519355773926,-0.04063603654503822,-0.913310170173645,0.08004999905824661
+1789729883155600100,2533,0.07435911148786545,-1.7957842350006104,-0.0959949716925621,0.6428064107894897,1.6976909637451172,-0.03908214345574379,-0.9133766293525696,0.08004999905824661
+1789729883188918861,2566,0.07588355243206024,-1.799817681312561,-0.0962311327457428,0.6386316418647766,1.698583960533142,-0.03741734102368355,-0.9132962822914124,0.08004999905824661
+1789729883222262340,2600,0.07802687585353851,-1.8051797151565552,-0.09656625241041183,0.6334406733512878,1.7000257968902588,-0.035034604370594025,-0.9131949543952942,0.08004999905824661
+1789729883255585181,2633,0.07966484874486923,-1.8094053268432617,-0.09687214344739914,0.6293226480484009,1.7014222145080566,-0.03325456753373146,-0.9132827520370483,0.08004999905824661
+1789729883288899552,2666,0.08134707808494568,-1.8137550354003906,-0.0972784236073494,0.6247169375419617,1.7028141021728516,-0.03149678185582161,-0.9132705330848694,0.08004999905824661
+1789729883322261369,2700,0.08367180824279785,-1.8194143772125244,-0.098074771463871,0.6180257797241211,1.7045978307724,-0.029068177565932274,-0.9122365117073059,0.08004999905824661
+1789729883355583800,2733,0.08547261357307434,-1.823691487312317,-0.09885960817337036,0.6130170822143555,1.706112027168274,-0.027282651513814926,-0.9113151431083679,0.08004999905824661
+1789729883388892932,2766,0.08720691502094269,-1.8281538486480713,-0.09967150539159775,0.6080031991004944,1.7079436779022217,-0.025586871430277824,-0.9107735753059387,0.08004999905824661
+1789729883422255989,2800,0.08944743871688843,-1.8340859413146973,-0.10074888914823532,0.601029634475708,1.7102510929107666,-0.02335198037326336,-0.9097805023193359,0.08004999905824661
+1789729883455598568,2833,0.09114544093608856,-1.8383444547653198,-0.10162734985351562,0.5957313776016235,1.7116507291793823,-0.021567916497588158,-0.9086276888847351,0.08004999905824661
+1789729883488921979,2866,0.09281568229198456,-1.8427038192749023,-0.10260163247585297,0.5904695987701416,1.7132822275161743,-0.01982620730996132,-0.9076223969459534,0.08004999905824661
+1789729883522267987,2900,0.09500087052583694,-1.8487739562988281,-0.103884756565094,0.5831096768379211,1.7156310081481934,-0.017513619735836983,-0.9063378572463989,0.08004999905824661
+1789729883555591258,2933,0.09663382172584534,-1.8534014225006104,-0.10493425279855728,0.5771729350090027,1.7173833847045898,-0.015811936929821968,-0.9049204587936401,0.08004999905824661
+1789729883588900180,2966,0.09824591130018234,-1.8581295013427734,-0.10613635927438736,0.5710346102714539,1.7191741466522217,-0.014204130508005619,-0.9034836292266846,0.08004999905824661
+1789729883622262707,3000,0.10023479908704758,-1.8647795915603638,-0.10785456746816635,0.5624393224716187,1.721998691558838,-0.012356161139905453,-0.9014981389045715,0.08004999905824661
+1789729883655590457,3033,0.10165254026651382,-1.8700473308563232,-0.10926399379968643,0.5555659532546997,1.7242130041122437,-0.011159149929881096,-0.8998008966445923,0.08004999905824661
+1789729883688901439,3066,0.1029629111289978,-1.875641107559204,-0.11079178005456924,0.5482308864593506,1.7266325950622559,-0.010093295946717262,-0.8980503082275391,0.08004999905824661
+1789729883722257097,3100,0.10455678403377533,-1.8835017681121826,-0.11295195668935776,0.5376260876655579,1.7297942638397217,-0.008901332505047321,-0.8952714204788208,0.08004999905824661
+1789729883755587307,3133,0.10568056255578995,-1.889782190322876,-0.11462078243494034,0.529456615447998,1.732438564300537,-0.00807864312082529,-0.893192708492279,0.08004999905824661
+1789729883788904018,3166,0.10670722275972366,-1.8961975574493408,-0.11627756059169769,0.5207390785217285,1.7351356744766235,-0.007341744378209114,-0.8910903930664062,0.08004999905824661
+1789729883822255756,3200,0.1081332340836525,-1.9047486782073975,-0.11866214871406555,0.5088945031166077,1.738386631011963,-0.006224237382411957,-0.8875423669815063,0.08004999905824661
+1789729883855586256,3233,0.10914373397827148,-1.9114090204238892,-0.12047236412763596,0.4997711181640625,1.7413123846054077,-0.005480863619595766,-0.8852276802062988,0.08004999905824661
+1789729883888892978,3266,0.11018400639295578,-1.9178812503814697,-0.12231780588626862,0.4904516935348511,1.743811845779419,-0.004645368549972773,-0.8823778629302979,0.08004999905824661
+1789729883922263835,3300,0.11162789911031723,-1.9266468286514282,-0.12485729157924652,0.47782501578330994,1.7473206520080566,-0.003397849388420582,-0.8783165216445923,0.08004999905824661
+1789729883955586305,3333,0.11267617344856262,-1.9332711696624756,-0.1265837699174881,0.46856316924095154,1.7500766515731812,-0.0023961965925991535,-0.8756788372993469,0.08004999905824661
+1789729883988997298,3366,0.11371532827615738,-1.9395378828048706,-0.12812654674053192,0.4593031108379364,1.7524396181106567,-0.0012581070186570287,-0.8727472424507141,0.08004999905824661
+1789729884022255347,3400,0.1152430921792984,-1.9475672245025635,-0.13006122410297394,0.4476104974746704,1.7555047273635864,0.00044613314094021916,-0.8689603805541992,0.08004999905824661
+1789729884055586041,3433,0.11643686145544052,-1.9531089067459106,-0.1312863975763321,0.4392011761665344,1.7576329708099365,0.001878830953501165,-0.866216778755188,0.08004999905824661
+1789729884088908095,3466,0.11778715252876282,-1.9581432342529297,-0.13252580165863037,0.4313344955444336,1.7593902349472046,0.0034901804756373167,-0.8633008003234863,0.08004999905824661
+1789729884122260247,3500,0.11973609775304794,-1.9644343852996826,-0.13405446708202362,0.42163440585136414,1.7620949745178223,0.005747012794017792,-0.8599306344985962,0.08004999905824661
+1789729884155586291,3533,0.12135394662618637,-1.9689087867736816,-0.13516810536384583,0.4147930145263672,1.7641513347625732,0.007539928890764713,-0.8575051426887512,0.08004999905824661
+1789729884188895576,3566,0.12309983372688293,-1.9731746912002563,-0.13633419573307037,0.40807849168777466,1.7662923336029053,0.009438949637115002,-0.8551162481307983,0.08004999905824661
+1789729884222260827,3600,0.12564705312252045,-1.9784281253814697,-0.13806229829788208,0.3992983400821686,1.7689878940582275,0.011963671073317528,-0.85154128074646,0.08004999905824661
+1789729884255588311,3633,0.12766341865062714,-1.9824774265289307,-0.13946741819381714,0.39290928840637207,1.7713621854782104,0.013910630717873573,-0.8491180539131165,0.08004999905824661
+1789729884288893647,3666,0.12968815863132477,-1.9866604804992676,-0.14095543324947357,0.386297345161438,1.7739677429199219,0.015802806243300438,-0.8468538522720337,0.08004999905824661
+1789729884322260537,3700,0.13242757320404053,-1.991976022720337,-0.1430879533290863,0.3773016035556793,1.7770508527755737,0.018385516479611397,-0.8431077003479004,0.08004999905824661
+1789729884355584632,3733,0.13450202345848083,-1.9958739280700684,-0.14486739039421082,0.3706812858581543,1.7794873714447021,0.020328717306256294,-0.8403897881507874,0.08004999905824661
+1789729884388898737,3766,0.1365751177072525,-1.9996553659439087,-0.14662382006645203,0.3643060028553009,1.7819883823394775,0.022232558578252792,-0.8377657532691956,0.08004999905824661
+1789729884422256688,3800,0.13955123722553253,-2.004425525665283,-0.14948534965515137,0.35631585121154785,1.7858729362487793,0.02480679750442505,-0.8345123529434204,0.08004999905824661
+1789729884455583422,3833,0.14178453385829926,-2.0079538822174072,-0.152064710855484,0.3504793643951416,1.7894045114517212,0.026556316763162613,-0.8322527408599854,0.08004999905824661
+1789729884488889648,3866,0.1439545452594757,-2.0112454891204834,-0.1549328714609146,0.3445481061935425,1.7928825616836548,0.028126556426286697,-0.8295729756355286,0.08004999905824661
+1789729884522262608,3900,0.14673298597335815,-2.015434980392456,-0.15912361443042755,0.33692076802253723,1.7975481748580933,0.030035851523280144,-0.8259315490722656,0.08004999905824661
+1789729884555587272,3933,0.14862394332885742,-2.0187454223632812,-0.16244903206825256,0.33134832978248596,1.8014492988586426,0.031233157962560654,-0.8235421776771545,0.08004999905824661
+1789729884588893528,3966,0.15036560595035553,-2.022183656692505,-0.16577449440956116,0.3256654143333435,1.8053474426269531,0.03231734409928322,-0.8212502002716064,0.08004999905824661
+1789729884622257529,4000,0.15259383618831635,-2.0269434452056885,-0.1699703484773636,0.31796181201934814,1.8103759288787842,0.033864252269268036,-0.8181061148643494,0.08004999905824661
+1789729884655586083,4033,0.15421287715435028,-2.0306553840637207,-0.1729736030101776,0.3117925822734833,1.8140578269958496,0.03514911234378815,-0.8157433271408081,0.08004999905824661
+1789729884688892379,4066,0.1558535099029541,-2.0342936515808105,-0.17605705559253693,0.30528634786605835,1.8174203634262085,0.03653421998023987,-0.8128275871276855,0.08004999905824661
+1789729884722306724,4100,0.15802140533924103,-2.0393054485321045,-0.18042679131031036,0.29668882489204407,1.8221697807312012,0.0384083092212677,-0.8089999556541443,0.08004999905824661
+1789729884755589602,4133,0.1594729721546173,-2.043426036834717,-0.18381881713867188,0.29016050696372986,1.8263167142868042,0.03968752175569534,-0.8066107630729675,0.08004999905824661
+1789729884788897618,4166,0.16084709763526917,-2.0475192070007324,-0.18726149201393127,0.2834564745426178,1.8303219079971313,0.04092298075556755,-0.8039945960044861,0.08004999905824661
+1789729884822254469,4200,0.16268183290958405,-2.0528385639190674,-0.1918695569038391,0.2746419608592987,1.83551824092865,0.04276968538761139,-0.8004047870635986,0.08004999905824661
+1789729884855585213,4233,0.16404686868190765,-2.0566391944885254,-0.19529221951961517,0.26825958490371704,1.839484691619873,0.04419434443116188,-0.797821044921875,0.08004999905824661
+1789729884888905228,4266,0.16546766459941864,-2.060181140899658,-0.19879372417926788,0.2622818052768707,1.8433451652526855,0.045597635209560394,-0.795301079750061,0.08004999905824661
+1789729884922252330,4300,0.16725090146064758,-2.064862012863159,-0.20357848703861237,0.2548021972179413,1.8489751815795898,0.0473407581448555,-0.7924575805664062,0.08004999905824661
+1789729884955585723,4333,0.1685333102941513,-2.068190336227417,-0.20709969103336334,0.24928532540798187,1.853088617324829,0.04858890548348427,-0.7903685569763184,0.08004999905824661
+1789729884988891349,4366,0.169891357421875,-2.0710737705230713,-0.21043142676353455,0.2441922128200531,1.8567430973052979,0.049925144761800766,-0.7881066203117371,0.08004999905824661
+1789729885022261712,4400,0.17186053097248077,-2.0743772983551025,-0.21427315473556519,0.2386757880449295,1.8613280057907104,0.051881786435842514,-0.7857992053031921,0.08004999905824661
+1789729885055586890,4433,0.1734016388654709,-2.076587677001953,-0.21677209436893463,0.23518334329128265,1.864560842514038,0.05336526036262512,-0.784580647945404,0.08004999905824661
+1789729885088903868,4466,0.17498306930065155,-2.0785257816314697,-0.21904954314231873,0.23210787773132324,1.8675603866577148,0.054842475801706314,-0.7834595441818237,0.08004999905824661
+1789729885122261143,4500,0.17717649042606354,-2.0804951190948486,-0.22164982557296753,0.22887399792671204,1.871113657951355,0.056778084486722946,-0.7822088003158569,0.08004999905824661
+1789729885155582231,4533,0.1788722574710846,-2.0813889503479004,-0.22317899763584137,0.22730357944965363,1.8733587265014648,0.058222416788339615,-0.7815268635749817,0.08004999905824661
+1789729885188900090,4566,0.18057911098003387,-2.081878423690796,-0.22436290979385376,0.2264060080051422,1.8753551244735718,0.059613943099975586,-0.7810918092727661,0.08004999905824661
+1789729885222260605,4600,0.1828564554452896,-2.0822665691375732,-0.22563615441322327,0.22568462789058685,1.8777759075164795,0.061497725546360016,-0.7807653546333313,0.08004999905824661
+1789729885255611890,4633,0.18454402685165405,-2.082437515258789,-0.2263406217098236,0.22543732821941376,1.8794056177139282,0.06291677802801132,-0.7806763648986816,0.08004999905824661
+1789729885288920989,4666,0.18618495762348175,-2.0825135707855225,-0.2268248200416565,0.22537893056869507,1.8809117078781128,0.0643562376499176,-0.7806723117828369,0.08004999905824661
+1789729885322283504,4700,0.18825575709342957,-2.082526922225952,-0.22721092402935028,0.22538398206233978,1.8825936317443848,0.06614144891500473,-0.7806983590126038,0.08004999905824661
+1789729885355678035,4733,0.189730703830719,-2.0825397968292236,-0.22741428017616272,0.22537490725517273,1.8837664127349854,0.067422054708004,-0.780724823474884,0.08004999905824661
+1789729885388929960,4766,0.1911657452583313,-2.0826351642608643,-0.22762741148471832,0.22525547444820404,1.8849868774414062,0.06866002827882767,-0.7807601094245911,0.08004999905824661
+1789729885422327081,4800,0.1930922120809555,-2.083041191101074,-0.22802671790122986,0.22465179860591888,1.886805772781372,0.0703844428062439,-0.7807629704475403,0.08004999905824661
+1789729885455681356,4833,0.19460181891918182,-2.08354115486145,-0.22838599979877472,0.22396819293498993,1.88834547996521,0.07178393006324768,-0.7807174921035767,0.08004999905824661
+1789729885489017743,4866,0.196176677942276,-2.0842347145080566,-0.22878222167491913,0.22304998338222504,1.8900434970855713,0.07325603067874908,-0.7805435657501221,0.08004999905824661
+1789729885522263578,4900,0.1983359307050705,-2.0853207111358643,-0.22933784127235413,0.22159811854362488,1.8924758434295654,0.0752962976694107,-0.7803714275360107,0.08004999905824661
+1789729885555587456,4933,0.19996492564678192,-2.086038589477539,-0.229751318693161,0.2205791175365448,1.8942588567733765,0.07679794728755951,-0.7802082300186157,0.08004999905824661
+1789729885588896115,4966,0.2015874981880188,-2.086615800857544,-0.2301810085773468,0.2196965366601944,1.8960130214691162,0.07824991643428802,-0.7800533175468445,0.08004999905824661
+1789729885622251050,5000,0.20368070900440216,-2.0872652530670166,-0.23076260089874268,0.21870778501033783,1.898262619972229,0.08008651435375214,-0.7798448801040649,0.08004999905824661
+1789729885655581958,5033,0.20522071421146393,-2.0876893997192383,-0.23118215799331665,0.21807609498500824,1.8998854160308838,0.08144073188304901,-0.7797319293022156,0.08004999905824661
+1789729885688916625,5066,0.20674169063568115,-2.0880374908447266,-0.2315525859594345,0.21761009097099304,1.901437759399414,0.08277641236782074,-0.7796862721443176,0.08004999905824661
+1789729885722282259,5100,0.2087501436471939,-2.0884530544281006,-0.23206932842731476,0.21707461774349213,1.903574824333191,0.08448634296655655,-0.7796874046325684,0.08004999905824661
+1789729885755614516,5133,0.21020671725273132,-2.088719129562378,-0.23243190348148346,0.21671456098556519,1.9051085710525513,0.08570997416973114,-0.7796843647956848,0.08004999905824661
+1789729885788921645,5166,0.21161623299121857,-2.088930130004883,-0.2327786237001419,0.21639564633369446,1.9066168069839478,0.08681895583868027,-0.7796716094017029,0.08004999905824661
+1789729885822287190,5200,0.21346770226955414,-2.0891098976135254,-0.2332935631275177,0.2160947471857071,1.9086055755615234,0.08827126026153564,-0.7796558141708374,0.08004999905824661
+1789729885855613298,5233,0.2148337960243225,-2.0892083644866943,-0.23371320962905884,0.2159026563167572,1.9101513624191284,0.08928152173757553,-0.77964848279953,0.08004999905824661
+1789729885888922457,5266,0.21626761555671692,-2.0892584323883057,-0.23411959409713745,0.21576055884361267,1.9117121696472168,0.09030420333147049,-0.7796387076377869,0.08004999905824661
+1789729885922289311,5300,0.2183658927679062,-2.0892975330352783,-0.23462313413619995,0.21555034816265106,1.9138038158416748,0.09194271266460419,-0.7795932292938232,0.08004999905824661
+1789729885955614159,5333,0.22006863355636597,-2.089402914047241,-0.23507124185562134,0.2152089625597,1.915552020072937,0.09325134754180908,-0.7794743776321411,0.08004999905824661
+1789729885988943266,5366,0.22184327244758606,-2.0895609855651855,-0.23554669320583344,0.2147684395313263,1.9173862934112549,0.09462158381938934,-0.7792995572090149,0.08004999905824661
+1789729886022326811,5400,0.2242652326822281,-2.0898077487945557,-0.23614631593227386,0.21415027976036072,1.9199146032333374,0.09650275111198425,-0.7791247963905334,0.08004999905824661
+1789729886055624125,5433,0.22604775428771973,-2.0900673866271973,-0.23657852411270142,0.21359650790691376,1.9218546152114868,0.0978221744298935,-0.7789830565452576,0.08004999905824661
+1789729886088925888,5466,0.2278042882680893,-2.0903913974761963,-0.2369745671749115,0.21295975148677826,1.9237982034683228,0.09915565699338913,-0.7788582444190979,0.08004999905824661
+1789729886122285867,5500,0.23017211258411407,-2.090790033340454,-0.23739466071128845,0.21221165359020233,1.9262608289718628,0.10101351886987686,-0.778722882270813,0.08004999905824661
+1789729886155587210,5533,0.2320241928100586,-2.0910162925720215,-0.23757663369178772,0.2117401510477066,1.927939772605896,0.10254532843828201,-0.7786496877670288,0.08004999905824661
+1789729886188922311,5566,0.2339295744895935,-2.091200113296509,-0.237699955701828,0.21129709482192993,1.9295669794082642,0.10412390530109406,-0.7785682678222656,0.08004999905824661
+1789729886222262641,5600,0.23648212850093842,-2.0913963317871094,-0.2378205507993698,0.21072429418563843,1.9316574335098267,0.10629401355981827,-0.7784414291381836,0.08004999905824661
+1789729886255585452,5633,0.23831194639205933,-2.0915191173553467,-0.23796305060386658,0.21035027503967285,1.9332287311553955,0.10783739387989044,-0.7783495783805847,0.08004999905824661
+1789729886288894315,5666,0.24002736806869507,-2.0916836261749268,-0.23817773163318634,0.20993457734584808,1.9348610639572144,0.10925654321908951,-0.7782777547836304,0.08004999905824661
+1789729886322248164,5700,0.24218404293060303,-2.0919675827026367,-0.2384652942419052,0.20933419466018677,1.9369996786117554,0.1110498458147049,-0.7781756520271301,0.08004999905824661
+1789729886355661318,5733,0.24377256631851196,-2.092226028442383,-0.23860745131969452,0.20884430408477783,1.93860924243927,0.11237559467554092,-0.7781476378440857,0.08004999905824661
+1789729886388900597,5766,0.24538180232048035,-2.092484474182129,-0.23866647481918335,0.20833125710487366,1.9401146173477173,0.11376126110553741,-0.7781057953834534,0.08004999905824661
+1789729886422248076,5800,0.2475646585226059,-2.0928494930267334,-0.2386913150548935,0.20758317410945892,1.9420197010040283,0.11571653932332993,-0.7780036926269531,0.08004999905824661
+1789729886455585567,5833,0.24918173253536224,-2.093177318572998,-0.23870445787906647,0.20692089200019836,1.9434456825256348,0.11717953532934189,-0.7778974771499634,0.08004999905824661
+1789729886488894860,5866,0.2508048415184021,-2.093486785888672,-0.23871532082557678,0.20629654824733734,1.944801926612854,0.11872387677431107,-0.7777792811393738,0.08004999905824661
+1789729886522255788,5900,0.25289541482925415,-2.0939087867736816,-0.23874139785766602,0.2054513692855835,1.9465572834014893,0.12080810964107513,-0.7776399850845337,0.08004999905824661
+1789729886555590328,5933,0.2543832063674927,-2.0942037105560303,-0.23878297209739685,0.20481954514980316,1.9477927684783936,0.12233006209135056,-0.7774909734725952,0.08004999905824661
+1789729886588963476,5966,0.2558664381504059,-2.0944528579711914,-0.23884113132953644,0.2042607069015503,1.9490001201629639,0.12389672547578812,-0.7773614525794983,0.08004999905824661
+1789729886622266629,6000,0.2578105330467224,-2.0947253704071045,-0.23897108435630798,0.2035369575023651,1.9506111145019531,0.1259434074163437,-0.7771543860435486,0.08004999905824661
+1789729886655588301,6033,0.25934073328971863,-2.094884157180786,-0.23910918831825256,0.2029763013124466,1.951788306236267,0.12760616838932037,-0.7769286632537842,0.08004999905824661
+1789729886688914362,6066,0.2609028220176697,-2.094996213912964,-0.23926550149917603,0.20241987705230713,1.9529517889022827,0.12933897972106934,-0.7766667604446411,0.08004999905824661
+1789729886722257562,6100,0.26297205686569214,-2.095095634460449,-0.2395264059305191,0.201631098985672,1.9544806480407715,0.131694495677948,-0.7761903405189514,0.08004999905824661
+1789729886755587953,6133,0.2644636929035187,-2.095184326171875,-0.23981738090515137,0.2009190022945404,1.9556386470794678,0.13350577652454376,-0.7757132053375244,0.08004999905824661
+1789729886788950621,6166,0.265874445438385,-2.0952956676483154,-0.24017639458179474,0.20010675489902496,1.956789255142212,0.13527674973011017,-0.7751592397689819,0.08004999905824661
+1789729886822260724,6200,0.2676261365413666,-2.0954666137695312,-0.24077092111110687,0.1989426463842392,1.958329439163208,0.13761310279369354,-0.7743551731109619,0.08004999905824661
+1789729886855587135,6233,0.26884084939956665,-2.0956239700317383,-0.2412838190793991,0.1979963332414627,1.9594676494598389,0.13931657373905182,-0.7736905813217163,0.08004999905824661
+1789729886888903787,6266,0.27000901103019714,-2.095828056335449,-0.24185150861740112,0.1969578117132187,1.9606597423553467,0.14104430377483368,-0.7729889154434204,0.08004999905824661
+1789729886922254646,6300,0.27159756422042847,-2.096122980117798,-0.24270078539848328,0.1955028772354126,1.9623185396194458,0.14351825416088104,-0.7720208764076233,0.08004999905824661
+1789729886955581768,6333,0.27288326621055603,-2.0963594913482666,-0.24332799017429352,0.19443126022815704,1.9636048078536987,0.14547966420650482,-0.771314799785614,0.08004999905824661
+1789729886988911439,6366,0.2742786705493927,-2.096574544906616,-0.24387936294078827,0.19346417486667633,1.9649128913879395,0.14751096069812775,-0.770714521408081,0.08004999905824661
+1789729887022341103,6400,0.27629414200782776,-2.0967817306518555,-0.24452638626098633,0.1924542784690857,1.9666556119918823,0.15032200515270233,-0.7700793743133545,0.08004999905824661
+1789729887055596705,6433,0.2778027355670929,-2.0969347953796387,-0.24503545463085175,0.19182440638542175,1.9680113792419434,0.15239091217517853,-0.7697457671165466,0.08004999905824661
+1789729887088905871,6466,0.279262512922287,-2.097099542617798,-0.24556414783000946,0.19125336408615112,1.9693708419799805,0.15439598262310028,-0.7694748044013977,0.08004999905824661
+1789729887122263023,6500,0.2810908854007721,-2.0973238945007324,-0.24630820751190186,0.19054798781871796,1.9711449146270752,0.1569618582725525,-0.7691282629966736,0.08004999905824661
+1789729887155589488,6533,0.28241151571273804,-2.0975191593170166,-0.24688123166561127,0.19001872837543488,1.9724994897842407,0.15883588790893555,-0.7689036726951599,0.08004999905824661
+1789729887188909763,6566,0.28368428349494934,-2.097761631011963,-0.24745741486549377,0.1894504427909851,1.973857045173645,0.16062642633914948,-0.7687138319015503,0.08004999905824661
+1789729887222268555,6600,0.285327285528183,-2.098205327987671,-0.24820373952388763,0.18863172829151154,1.9756433963775635,0.16293032467365265,-0.7684781551361084,0.08004999905824661
+1789729887255591341,6633,0.28651848435401917,-2.098604917526245,-0.24870814383029938,0.18804559111595154,1.9769229888916016,0.16466334462165833,-0.7684015035629272,0.08004999905824661
+1789729887288901957,6666,0.28760531544685364,-2.099116802215576,-0.24921947717666626,0.18737415969371796,1.9782905578613281,0.16627530753612518,-0.7683958411216736,0.08004999905824661
+1789729887322273078,6700,0.28891170024871826,-2.099891185760498,-0.249892458319664,0.1863165646791458,1.9799854755401611,0.1683746874332428,-0.7683384418487549,0.08004999905824661
+1789729887355591094,6733,0.2898179888725281,-2.1004955768585205,-0.2504281997680664,0.185422882437706,1.9812180995941162,0.16996732354164124,-0.768181562423706,0.08004999905824661
+1789729887388925008,6766,0.29067906737327576,-2.10105037689209,-0.25099632143974304,0.18448781967163086,1.9823960065841675,0.1716195046901703,-0.7679490447044373,0.08004999905824661
+1789729887422266171,6800,0.2917708456516266,-2.1017062664031982,-0.25177881121635437,0.18319107592105865,1.9838587045669556,0.17382724583148956,-0.7674676179885864,0.08004999905824661
+1789729887455586127,6833,0.29253697395324707,-2.1021647453308105,-0.25243082642555237,0.18216049671173096,1.9849480390548706,0.1754918247461319,-0.7669814229011536,0.08004999905824661
+1789729887488920081,6866,0.29326102137565613,-2.102586507797241,-0.2531396448612213,0.181072399020195,1.986009120941162,0.17720991373062134,-0.7664390206336975,0.08004999905824661
+1789729887522257915,6900,0.29420143365859985,-2.102935791015625,-0.25410589575767517,0.17972373962402344,1.9872028827667236,0.17947538197040558,-0.7655413150787354,0.08004999905824661
+1789729887555600739,6933,0.29485446214675903,-2.1029915809631348,-0.2548755407333374,0.17882533371448517,1.9879881143569946,0.18107815086841583,-0.76472407579422,0.08004999905824661
+1789729887588895626,6966,0.2954252362251282,-2.1029324531555176,-0.25570663809776306,0.17788587510585785,1.9886301755905151,0.18260881304740906,-0.7637231349945068,0.08004999905824661
+1789729887622263078,7000,0.2960365414619446,-2.102682113647461,-0.25704020261764526,0.1765541285276413,1.989353895187378,0.18446794152259827,-0.7620949149131775,0.08004999905824661
+1789729887655587133,7033,0.29638561606407166,-2.1024045944213867,-0.2581838071346283,0.17553269863128662,1.989870309829712,0.18568938970565796,-0.7607467770576477,0.08004999905824661
+1789729887688903308,7066,0.29667267203330994,-2.102086305618286,-0.25940683484077454,0.17448435723781586,1.9904067516326904,0.18675754964351654,-0.7592939138412476,0.08004999905824661
+1789729887722259181,7100,0.29706376791000366,-2.101607084274292,-0.2609894573688507,0.17311853170394897,1.9910861253738403,0.18814334273338318,-0.7573148012161255,0.08004999905824661
+1789729887755589675,7133,0.29743438959121704,-2.1011784076690674,-0.2620687186717987,0.17227903008460999,1.9916046857833862,0.18921983242034912,-0.7559767961502075,0.08004999905824661
+1789729887788896732,7166,0.2978888750076294,-2.1007347106933594,-0.2629537880420685,0.17164286971092224,1.9921444654464722,0.19029414653778076,-0.7548454403877258,0.08004999905824661
+1789729887822267153,7200,0.2986334264278412,-2.100214719772339,-0.26381754875183105,0.17101526260375977,1.9929059743881226,0.19180388748645782,-0.7537062764167786,0.08004999905824661
+1789729887855594528,7233,0.29927965998649597,-2.0999269485473633,-0.2642611265182495,0.17061495780944824,1.9934921264648438,0.19295519590377808,-0.7530587315559387,0.08004999905824661
+1789729887888909784,7266,0.2999739348888397,-2.099734306335449,-0.2645604908466339,0.17022563517093658,1.994085431098938,0.1941790133714676,-0.752564013004303,0.08004999905824661
+1789729887922249617,7300,0.30090728402137756,-2.0996432304382324,-0.2648731470108032,0.1696183830499649,1.994964361190796,0.19572705030441284,-0.7520116567611694,0.08004999905824661
+1789729887955585721,7333,0.3016103208065033,-2.0997049808502197,-0.26507508754730225,0.16909688711166382,1.9957672357559204,0.1967933475971222,-0.7517320513725281,0.08004999905824661
+1789729887988910946,7366,0.30233022570610046,-2.0998616218566895,-0.26524507999420166,0.16853438317775726,1.9966671466827393,0.19783209264278412,-0.7514933347702026,0.08004999905824661
+1789729888022262011,7400,0.3032929301261902,-2.100222110748291,-0.2653331756591797,0.16780155897140503,1.997954249382019,0.19911497831344604,-0.7513554692268372,0.08004999905824661
+1789729888055668673,7433,0.30400338768959045,-2.1006217002868652,-0.26530829071998596,0.1672316938638687,1.999001383781433,0.20000384747982025,-0.7513643503189087,0.08004999905824661
+1789729888088897600,7466,0.3047384023666382,-2.1010754108428955,-0.26527658104896545,0.16667209565639496,2.0001232624053955,0.20082302391529083,-0.7514873147010803,0.08004999905824661
+1789729888122260795,7500,0.3056884706020355,-2.1017212867736816,-0.2651922404766083,0.16610278189182281,2.0017151832580566,0.20170289278030396,-0.7519304156303406,0.08004999905824661
+1789729888155598253,7533,0.30636563897132874,-2.1022379398345947,-0.26510465145111084,0.16585016250610352,2.003005266189575,0.2022418975830078,-0.7524390816688538,0.08004999905824661
+1789729888188903043,7566,0.30700916051864624,-2.102816104888916,-0.2650192975997925,0.1656789481639862,2.0043463706970215,0.20276132225990295,-0.753111720085144,0.08004999905824661
+1789729888222263928,7600,0.3077399432659149,-2.1036758422851562,-0.26489654183387756,0.16551391780376434,2.0062174797058105,0.20328234136104584,-0.7541688680648804,0.08004999905824661
+1789729888255592247,7633,0.3081711530685425,-2.104356527328491,-0.2648254632949829,0.16537272930145264,2.0075881481170654,0.2035277783870697,-0.7550002932548523,0.08004999905824661
+1789729888288901687,7666,0.3085383176803589,-2.105004072189331,-0.26478472352027893,0.1652318686246872,2.0088205337524414,0.20377805829048157,-0.7557560801506042,0.08004999905824661
+1789729888322247173,7700,0.3089391589164734,-2.1057510375976562,-0.26478278636932373,0.16515520215034485,2.0102310180664062,0.20408152043819427,-0.7566626667976379,0.08004999905824661
+1789729888355590220,7733,0.3092076778411865,-2.1062207221984863,-0.26478639245033264,0.16516616940498352,2.0111382007598877,0.20430238544940948,-0.7572882175445557,0.08004999905824661
+1789729888388897311,7766,0.3094673454761505,-2.106637716293335,-0.26479965448379517,0.16518829762935638,2.011924982070923,0.20457428693771362,-0.7578612565994263,0.08004999905824661
+1789729888422260976,7800,0.3098161518573761,-2.1070690155029297,-0.26483625173568726,0.1652422547340393,2.0127294063568115,0.2050236612558365,-0.7584647536277771,0.08004999905824661
+1789729888455590064,7833,0.3100574016571045,-2.1072750091552734,-0.2648944854736328,0.1653587818145752,2.013152837753296,0.20538704097270966,-0.7588344216346741,0.08004999905824661
+1789729888488904293,7866,0.31027862429618835,-2.1073787212371826,-0.2649271488189697,0.16555534303188324,2.0134592056274414,0.20573794841766357,-0.7591506242752075,0.08004999905824661
+1789729888522259070,7900,0.3104921579360962,-2.107396125793457,-0.26494336128234863,0.1659146100282669,2.013688564300537,0.20605427026748657,-0.7595536708831787,0.08004999905824661
+1789729888555602606,7933,0.3105860948562622,-2.107363224029541,-0.2649462819099426,0.16619078814983368,2.0137901306152344,0.20616646111011505,-0.7597817778587341,0.08004999905824661
+1789729888588896538,7966,0.31064799427986145,-2.1073110103607178,-0.2649511396884918,0.1664709448814392,2.0138659477233887,0.20621801912784576,-0.7600033283233643,0.08004999905824661
+1789729888622261613,8000,0.3106890618801117,-2.107245922088623,-0.2649517059326172,0.16682390868663788,2.0139689445495605,0.20621374249458313,-0.7602908611297607,0.08004999905824661
+1789729888655585681,8033,0.31071826815605164,-2.10721755027771,-0.26496249437332153,0.1670215129852295,2.0140368938446045,0.2061913013458252,-0.7604601979255676,0.08004999905824661
+1789729888688916859,8066,0.3107498586177826,-2.1072049140930176,-0.2649950087070465,0.1671452820301056,2.014101982116699,0.20616847276687622,-0.7605670094490051,0.08004000037908554
+1789729888722255967,8100,0.3107864558696747,-2.10719895362854,-0.2650623619556427,0.16724376380443573,2.0141794681549072,0.20614317059516907,-0.7606451511383057,0.07996000349521637
+1789729888755585495,8133,0.3108011782169342,-2.1072092056274414,-0.26511189341545105,0.1672954112291336,2.0142226219177246,0.20611785352230072,-0.7606903910636902,0.07996000349521637
+1789729888788889226,8166,0.3108071982860565,-2.107232093811035,-0.2651626765727997,0.16733551025390625,2.0142741203308105,0.20608629286289215,-0.7607375383377075,0.07959999889135361
+1789729888822263810,8200,0.3108055591583252,-2.1072845458984375,-0.2652175724506378,0.1673552244901657,2.014338731765747,0.20603609085083008,-0.760811448097229,0.07885000109672546
+1789729888855588329,8233,0.31080305576324463,-2.1073336601257324,-0.26525384187698364,0.1673562228679657,2.0143752098083496,0.20600612461566925,-0.7608650326728821,0.07767999917268753
+1789729888888989470,8266,0.31079891324043274,-2.107379913330078,-0.2652895152568817,0.167354017496109,2.014444351196289,0.20594044029712677,-0.7609041333198547,0.07475999742746353
+1789729888922260924,8300,0.3107909858226776,-2.1074271202087402,-0.26532992720603943,0.167352557182312,2.0145645141601562,0.20581625401973724,-0.7609562277793884,0.06920000165700912
+1789729888955593102,8333,0.3107905685901642,-2.107433795928955,-0.2653711438179016,0.16735190153121948,2.0146167278289795,0.20573987066745758,-0.7609622478485107,0.06419000029563904
+1789729888988904911,8366,0.31078338623046875,-2.1074349880218506,-0.26540982723236084,0.16735053062438965,2.014665126800537,0.20566198229789734,-0.7609629034996033,0.06419000029563904
+1789729889022259880,8400,0.310680627822876,-2.1074330806732178,-0.2655613124370575,0.16736260056495667,2.014714002609253,0.20545311272144318,-0.7609589695930481,0.06094000115990639
+1789729889055665264,8433,0.3106597363948822,-2.1074464321136475,-0.26560771465301514,0.16736426949501038,2.0147621631622314,0.2053283452987671,-0.7609567642211914,0.060440000146627426
+1789729889088983087,8466,0.31064262986183167,-2.1074588298797607,-0.26563477516174316,0.16736328601837158,2.014812469482422,0.20524956285953522,-0.7609589695930481,0.0604499988257885
+1789729889122273222,8500,0.31063252687454224,-2.1074583530426025,-0.26567909121513367,0.167362242937088,2.0148396492004395,0.20513322949409485,-0.7609603404998779,0.0604499988257885
+1789729889155586866,8533,0.31062740087509155,-2.1074578762054443,-0.2657136023044586,0.16736270487308502,2.014878273010254,0.20505601167678833,-0.7609620690345764,0.060440000146627426
+1789729889188896119,8566,0.3106224834918976,-2.107457399368286,-0.26574617624282837,0.16736333072185516,2.014915704727173,0.2049790769815445,-0.7609632611274719,0.060440000146627426
+1789729889222277766,8600,0.31060734391212463,-2.1074583530426025,-0.2657875716686249,0.16736218333244324,2.014950752258301,0.20485463738441467,-0.7609546184539795,0.060440000146627426
+1789729889255588480,8633,0.3105895519256592,-2.1074612140655518,-0.2658178210258484,0.16735786199569702,2.0149686336517334,0.2047518938779831,-0.760948896408081,0.060440000146627426
+1789729889288900583,8666,0.31057360768318176,-2.1074647903442383,-0.26584580540657043,0.1673547774553299,2.014988422393799,0.20465703308582306,-0.7609465718269348,0.060440000146627426
+1789729889322261292,8700,0.31055697798728943,-2.107470989227295,-0.2658854126930237,0.16734860837459564,2.015029191970825,0.20454077422618866,-0.7609400749206543,0.060440000146627426
+1789729889355585704,8733,0.3105437159538269,-2.107475757598877,-0.26591041684150696,0.16734609007835388,2.0150537490844727,0.20445014536380768,-0.7609408497810364,0.060440000146627426
+1789729889388892798,8766,0.3105286955833435,-2.1074774265289307,-0.2659357786178589,0.1673463135957718,2.015077829360962,0.2043534517288208,-0.7609419822692871,0.060440000146627426
+1789729889422264216,8800,0.3104984164237976,-2.107478380203247,-0.2659713327884674,0.1673462986946106,2.0151021480560303,0.20422755181789398,-0.7609435319900513,0.060440000146627426
+1789729889455583229,8833,0.31041666865348816,-2.1074843406677246,-0.2660157084465027,0.167353093624115,2.015105962753296,0.20408205687999725,-0.7609439492225647,0.060440000146627426
+1789729889488918530,8866,0.31018686294555664,-2.107499837875366,-0.2661055028438568,0.1673891842365265,2.015089750289917,0.20370431244373322,-0.7609407305717468,0.060440000146627426
+1789729889522257371,8900,0.30948129296302795,-2.1075122356414795,-0.2664124369621277,0.16756774485111237,2.0150306224823,0.2028351128101349,-0.7609550356864929,0.060440000146627426
+1789729889555621259,8933,0.3084273338317871,-2.107536792755127,-0.2668898403644562,0.1678030639886856,2.0149104595184326,0.20153282582759857,-0.7611019611358643,0.060440000146627426
+1789729889588934223,8966,0.3067854940891266,-2.107623338699341,-0.2675687074661255,0.16814164817333221,2.0147945880889893,0.1994655877351761,-0.7614591121673584,0.060440000146627426
+1789729889622259415,9000,0.303504079580307,-2.1078579425811768,-0.2686890661716461,0.16875356435775757,2.0144784450531006,0.19534394145011902,-0.7621179223060608,0.060440000146627426
+1789729889655585817,9033,0.30027464032173157,-2.108125686645508,-0.26970645785331726,0.1693132072687149,2.014221668243408,0.19143478572368622,-0.7628514766693115,0.060440000146627426
+1789729889688891410,9066,0.2963751256465912,-2.1084790229797363,-0.2708289325237274,0.16989962756633759,2.013868570327759,0.18673831224441528,-0.7637076377868652,0.060440000146627426
+1789729889722253319,9100,0.29054561257362366,-2.1091270446777344,-0.2724485993385315,0.17056109011173248,2.0133278369903564,0.17962585389614105,-0.7648965120315552,0.060440000146627426
+1789729889755550704,9133,0.2860488295555115,-2.109733819961548,-0.2736349403858185,0.17093072831630707,2.0129623413085938,0.1742272526025772,-0.7657151222229004,0.060440000146627426
+1789729889788971978,9166,0.28132539987564087,-2.1103768348693848,-0.27494463324546814,0.17126916348934174,2.0126187801361084,0.16879922151565552,-0.7664271593093872,0.060440000146627426
+1789729889822262513,9200,0.27521467208862305,-2.1111130714416504,-0.27680331468582153,0.17173470556735992,2.012249708175659,0.16160117089748383,-0.7671863436698914,0.060440000146627426
+1789729889855590704,9233,0.27060022950172424,-2.111585855484009,-0.27824124693870544,0.17212849855422974,2.0119521617889404,0.15612518787384033,-0.7676491141319275,0.060440000146627426
+1789729889888888849,9266,0.2661330997943878,-2.1119422912597656,-0.27957671880722046,0.17259691655635834,2.0115716457366943,0.15089669823646545,-0.7680788636207581,0.060440000146627426
+1789729889922256247,9300,0.2601546347141266,-2.112152576446533,-0.28138524293899536,0.1734204888343811,2.010876178741455,0.1440403014421463,-0.7685635089874268,0.060440000146627426
+1789729889955571520,9333,0.2555215060710907,-2.112168550491333,-0.2827594578266144,0.17415612936019897,2.0102405548095703,0.13857196271419525,-0.768844485282898,0.060440000146627426
+1789729889988896102,9366,0.250934362411499,-2.112121820449829,-0.28404417634010315,0.17489206790924072,2.009493350982666,0.1330951452255249,-0.769068717956543,0.060440000146627426
+1789729890022271063,9400,0.2447943389415741,-2.111941337585449,-0.28552713990211487,0.17589715123176575,2.0082504749298096,0.12588860094547272,-0.7693368792533875,0.060440000146627426
+1789729890055707508,9433,0.24035225808620453,-2.111670732498169,-0.286569744348526,0.1766594499349594,2.0071656703948975,0.12072597444057465,-0.7693804502487183,0.060440000146627426
+1789729890088895276,9466,0.2354286015033722,-2.1112523078918457,-0.2877274751663208,0.1775430142879486,2.0058581829071045,0.11480900645256042,-0.7693833112716675,0.060440000146627426
+1789729890122257969,9500,0.22935310006141663,-2.110647439956665,-0.2890772223472595,0.17861030995845795,2.004181146621704,0.1073310449719429,-0.7693368792533875,0.060440000146627426
+1789729890155587484,9533,0.2248612344264984,-2.1100807189941406,-0.29007261991500854,0.179425448179245,2.0028247833251953,0.10189838707447052,-0.7691605091094971,0.060440000146627426
+1789729890188894581,9566,0.22040140628814697,-2.109377145767212,-0.29109594225883484,0.1802881360054016,2.001436471939087,0.09652837365865707,-0.7689217329025269,0.060440000146627426
+1789729890222268972,9600,0.21461181342601776,-2.1082277297973633,-0.2925131320953369,0.181431382894516,1.9995442628860474,0.08924347907304764,-0.7684559226036072,0.060440000146627426
+1789729890255595188,9633,0.2106817066669464,-2.1072299480438232,-0.29346397519111633,0.18218550086021423,1.9980841875076294,0.08409399539232254,-0.7680249214172363,0.060440000146627426
+1789729890288921823,9666,0.20715633034706116,-2.1060638427734375,-0.29435995221138,0.1828906238079071,1.996573805809021,0.07931990921497345,-0.7674698829650879,0.060440000146627426
+1789729890322260388,9700,0.20278407633304596,-2.1042418479919434,-0.29561376571655273,0.18390637636184692,1.9945658445358276,0.07318104058504105,-0.7666577100753784,0.060440000146627426
+1789729890355585173,9733,0.1996823102235794,-2.102734327316284,-0.2966277599334717,0.18476493656635284,1.9931508302688599,0.06855401396751404,-0.7660577893257141,0.060440000146627426
+1789729890388898800,9766,0.19682887196540833,-2.1011884212493896,-0.2976756691932678,0.18558916449546814,1.9918938875198364,0.06404165178537369,-0.7654260396957397,0.060440000146627426
+1789729890422265202,9800,0.19345420598983765,-2.0990610122680664,-0.29898932576179504,0.18662545084953308,1.990339994430542,0.05845346674323082,-0.7644474506378174,0.060440000146627426
+1789729890455584068,9833,0.19116196036338806,-2.097357749938965,-0.2999005615711212,0.18743516504764557,1.9892191886901855,0.054525308310985565,-0.7636324167251587,0.060440000146627426
+1789729890488897155,9866,0.18889333307743073,-2.0954980850219727,-0.30080074071884155,0.18830804526805878,1.988071322441101,0.050513796508312225,-0.7627224326133728,0.060440000146627426
+1789729890522259077,9900,0.18621905148029327,-2.093050241470337,-0.30188384652137756,0.18944531679153442,1.9866702556610107,0.045637764036655426,-0.7615090012550354,0.060440000146627426
+1789729890555620790,9933,0.18436497449874878,-2.091107130050659,-0.3026936948299408,0.19033648073673248,1.985636591911316,0.04208889976143837,-0.7605668902397156,0.060440000146627426
+1789729890588919268,9966,0.18269339203834534,-2.089177370071411,-0.3034411072731018,0.1912476122379303,1.9847291707992554,0.03870018199086189,-0.7596232891082764,0.060440000146627426
+1789729890622262772,10000,0.1807446926832199,-2.086730718612671,-0.3043597638607025,0.1923554241657257,1.9836207628250122,0.03451623395085335,-0.7584561109542847,0.060430001467466354
+1789729890655587167,10033,0.17940907180309296,-2.085015058517456,-0.30501481890678406,0.19307895004749298,1.9829188585281372,0.03156545013189316,-0.7576558589935303,0.060430001467466354
+1789729890688919882,10066,0.17811332643032074,-2.083402395248413,-0.305603951215744,0.1937243491411209,1.9822101593017578,0.02868122048676014,-0.7569137811660767,0.06041000038385391
+1789729890722258577,10100,0.1763688027858734,-2.081362724304199,-0.3063076138496399,0.19449332356452942,1.981226921081543,0.024902384728193283,-0.7559785842895508,0.06036999821662903
+1789729890755585192,10133,0.17505140602588654,-2.0798301696777344,-0.3067622482776642,0.19505928456783295,1.9804182052612305,0.022106684744358063,-0.7552741169929504,0.06036999821662903
+1789729890788920567,10166,0.17371512949466705,-2.078263759613037,-0.3070964813232422,0.19564218819141388,1.9794988632202148,0.019311625510454178,-0.7545721530914307,0.06032999977469444
+1789729890822259941,10200,0.17194582521915436,-2.0761191844940186,-0.3074519634246826,0.19643567502498627,1.9781439304351807,0.01562037318944931,-0.7535902261734009,0.060309998691082
+1789729890855588267,10233,0.17065955698490143,-2.074477195739746,-0.3076900541782379,0.19709907472133636,1.9771218299865723,0.012896958738565445,-0.7529093623161316,0.06030000001192093
+1789729890888896794,10266,0.1694043129682541,-2.0728321075439453,-0.30791276693344116,0.1977902054786682,1.9761013984680176,0.010202431119978428,-0.7522626519203186,0.06029000133275986
+1789729890922251917,10300,0.16775380074977875,-2.0705926418304443,-0.3081558048725128,0.19885040819644928,1.9747681617736816,0.006674772594124079,-0.7514708042144775,0.06027999892830849
+1789729890955585702,10333,0.1664888560771942,-2.068936586380005,-0.3083188235759735,0.19966131448745728,1.9737513065338135,0.004028600640594959,-0.7509848475456238,0.06027999892830849
+1789729890988897858,10366,0.16518078744411469,-2.067318916320801,-0.3085002303123474,0.20043717324733734,1.972723126411438,0.001311356551013887,-0.7504706978797913,0.06027999892830849
+1789729891022258763,10400,0.16334553062915802,-2.0652201175689697,-0.3087315559387207,0.20142784714698792,1.9713356494903564,-0.0023708438966423273,-0.7498602867126465,0.06027999892830849
+1789729891055584482,10433,0.16195304691791534,-2.0636651515960693,-0.3088808059692383,0.2021673321723938,1.9702825546264648,-0.005140610039234161,-0.7494378685951233,0.060270000249147415
+1789729891088911451,10466,0.16058866679668427,-2.062112808227539,-0.3089848756790161,0.20293749868869781,1.9692360162734985,-0.00784668605774641,-0.7490622997283936,0.060270000249147415
+1789729891122259898,10500,0.15881061553955078,-2.0600249767303467,-0.3090357780456543,0.20399118959903717,1.9678010940551758,-0.011442766524851322,-0.7486120462417603,0.06026000156998634
+1789729891155590866,10533,0.15754319727420807,-2.058408260345459,-0.3090277314186096,0.20484323799610138,1.9667234420776367,-0.014017784968018532,-0.7482864856719971,0.06024999916553497
+1789729891188905297,10566,0.15628981590270996,-2.0566658973693848,-0.3090185225009918,0.20577183365821838,1.9656227827072144,-0.016625352203845978,-0.7479656338691711,0.06024999916553497
+1789729891222250944,10600,0.1547843962907791,-2.0543558597564697,-0.30898532271385193,0.20712748169898987,1.9643040895462036,-0.019878612831234932,-0.7475598454475403,0.06021999940276146
+1789729891255582812,10633,0.1536559909582138,-2.052525043487549,-0.3089585602283478,0.20819951593875885,1.9632776975631714,-0.022357985377311707,-0.7473044395446777,0.060189999639987946
+1789729891288898332,10666,0.1525430530309677,-2.0506975650787354,-0.30890145897865295,0.20926533639431,1.962267279624939,-0.024761848151683807,-0.7470499873161316,0.060180000960826874
+1789729891322257608,10700,0.15109114348888397,-2.0482845306396484,-0.30881553888320923,0.21066738665103912,1.9609183073043823,-0.027927005663514137,-0.7466949820518494,0.060169998556375504
+1789729891355589067,10733,0.15002548694610596,-2.046537399291992,-0.3087257742881775,0.21166333556175232,1.9599474668502808,-0.030237792059779167,-0.746475875377655,0.06015999987721443
+1789729891388891168,10766,0.14897285401821136,-2.0448381900787354,-0.3085958659648895,0.21263940632343292,1.9590001106262207,-0.03250661864876747,-0.7462500929832458,0.06015999987721443
+1789729891422256724,10800,0.1476207971572876,-2.042653799057007,-0.3083209991455078,0.2139534205198288,1.9577994346618652,-0.035388268530368805,-0.7460774183273315,0.05854000151157379
+1789729891455594212,10833,0.14664903283119202,-2.041051149368286,-0.3080439567565918,0.21490389108657837,1.9569061994552612,-0.037446387112140656,-0.7459749579429626,0.05854000151157379
+1789729891488895943,10866,0.1457313895225525,-2.0394694805145264,-0.3077346086502075,0.21580378711223602,1.9559839963912964,-0.03936919569969177,-0.7458516955375671,0.05854000151157379
+1789729891522262838,10900,0.1445567011833191,-2.037330150604248,-0.30731624364852905,0.21699920296669006,1.9547661542892456,-0.04191000759601593,-0.7456862330436707,0.05854000151157379
+1789729891555715446,10933,0.1437937468290329,-2.035822629928589,-0.30701711773872375,0.21785543859004974,1.9539352655410767,-0.04362717270851135,-0.7455942034721375,0.05854000151157379
+1789729891588896168,10966,0.14305523037910461,-2.0342414379119873,-0.30671456456184387,0.2187989205121994,1.9531127214431763,-0.04535694420337677,-0.7455410957336426,0.05854000151157379
+1789729891622247945,11000,0.14217278361320496,-2.032095193862915,-0.3062814772129059,0.22015507519245148,1.9520297050476074,-0.04757542163133621,-0.7455059885978699,0.05854000151157379
+1789729891655642338,11033,0.1415480673313141,-2.0304760932922363,-0.3059154450893402,0.22120589017868042,1.9512165784835815,-0.049194466322660446,-0.745500385761261,0.05854000151157379
+1789729891688895213,11066,0.1409541815519333,-2.0288212299346924,-0.3054943084716797,0.22234594821929932,1.9503899812698364,-0.05080815777182579,-0.7454572319984436,0.05854000151157379
+1789729891722248380,11100,0.14019596576690674,-2.026592493057251,-0.30490514636039734,0.2239435315132141,1.9492805004119873,-0.05295378714799881,-0.745448112487793,0.05854000151157379
+1789729891755583998,11133,0.1396436095237732,-2.0248656272888184,-0.30442965030670166,0.2252042442560196,1.9484784603118896,-0.0546281561255455,-0.7454505562782288,0.05854000151157379
+1789729891788895258,11166,0.13916939496994019,-2.023224353790283,-0.30390748381614685,0.2264643758535385,1.9477063417434692,-0.056151654571294785,-0.7454468011856079,0.05854000151157379
+1789729891822250095,11200,0.13857173919677734,-2.020754814147949,-0.3030868470668793,0.22841180860996246,1.9465627670288086,-0.058308932930231094,-0.7453628182411194,0.05854000151157379
+1789729891855586913,11233,0.1381692886352539,-2.018857717514038,-0.3024747669696808,0.2299000769853592,1.9457125663757324,-0.059869781136512756,-0.7452020049095154,0.05854000151157379
+1789729891888896643,11266,0.1378091722726822,-2.016946792602539,-0.3018585741519928,0.23136167228221893,1.9448384046554565,-0.061376407742500305,-0.7450622320175171,0.05854000151157379
+1789729891922247560,11300,0.13734115660190582,-2.0141637325286865,-0.30105558037757874,0.23344431817531586,1.9435569047927856,-0.06344281136989594,-0.7448033094406128,0.05854000151157379
+1789729891955588178,11333,0.137018620967865,-2.0120925903320312,-0.30047836899757385,0.23504820466041565,1.9426847696304321,-0.06495532393455505,-0.7446047067642212,0.05854000151157379
+1789729891988902038,11366,0.1366923302412033,-2.010054349899292,-0.29990091919898987,0.23668238520622253,1.941792368888855,-0.0664842501282692,-0.744516134262085,0.05854000151157379
+1789729892022256657,11400,0.13628125190734863,-2.0074546337127686,-0.2991105616092682,0.2388581931591034,1.9407192468643188,-0.06844731420278549,-0.7445037961006165,0.05854000151157379
+1789729892055723717,11433,0.13596153259277344,-2.005425214767456,-0.29842233657836914,0.24061116576194763,1.9397954940795898,-0.07000215351581573,-0.7445207834243774,0.05854000151157379
+1789729892088900513,11466,0.13567142188549042,-2.003479480743408,-0.29767847061157227,0.24236828088760376,1.9388841390609741,-0.07149068266153336,-0.7446466088294983,0.05854000151157379
+1789729892122257692,11500,0.13532666862010956,-2.000871419906616,-0.2966074049472809,0.24484007060527802,1.937609076499939,-0.07344143837690353,-0.7449362874031067,0.05854000151157379
+1789729892155590224,11533,0.1350843906402588,-1.9987043142318726,-0.2956702411174774,0.2469474971294403,1.936559796333313,-0.07497011125087738,-0.7451925277709961,0.05854000151157379
+1789729892188900358,11566,0.1349024474620819,-1.9965169429779053,-0.29473838210105896,0.24908287823200226,1.9354673624038696,-0.07635828107595444,-0.7454873323440552,0.05854000151157379
+1789729892222253718,11600,0.13472139835357666,-1.9934879541397095,-0.29344069957733154,0.2520401179790497,1.9339433908462524,-0.07811924815177917,-0.7458288073539734,0.05854000151157379
+1789729892255589810,11633,0.13461224734783173,-1.9911842346191406,-0.29244139790534973,0.2543198764324188,1.932735800743103,-0.07939833402633667,-0.7460761070251465,0.05854000151157379
+1789729892288901833,11666,0.1344933956861496,-1.98891019821167,-0.2914206087589264,0.25665950775146484,1.931531310081482,-0.0806741714477539,-0.746403694152832,0.05854000151157379
+1789729892322249804,11700,0.13430137932300568,-1.9859412908554077,-0.28990811109542847,0.2598862946033478,1.9298341274261475,-0.08240482211112976,-0.7469886541366577,0.05854000151157379
+1789729892355587605,11733,0.13415634632110596,-1.9837703704833984,-0.28869858384132385,0.26240959763526917,1.9285674095153809,-0.08367133885622025,-0.7475152015686035,0.05854000151157379
+1789729892388896069,11766,0.13398855924606323,-1.9813909530639648,-0.2873079478740692,0.26532474160194397,1.9271162748336792,-0.08507465571165085,-0.7482378482818604,0.05854000151157379
+1789729892422255849,11800,0.133759006857872,-1.9780621528625488,-0.2854181230068207,0.26937273144721985,1.9250606298446655,-0.08692136406898499,-0.7493676543235779,0.05854000151157379
+1789729892455621818,11833,0.13359583914279938,-1.9753443002700806,-0.28402599692344666,0.27254560589790344,1.9233916997909546,-0.08828083425760269,-0.7500433921813965,0.05854000151157379
+1789729892488902564,11866,0.1334332823753357,-1.9724684953689575,-0.2827170491218567,0.2759091854095459,1.9216362237930298,-0.08968749642372131,-0.7506352663040161,0.05854000151157379
+1789729892522249255,11900,0.1331692337989807,-1.9685271978378296,-0.2809823453426361,0.2808278203010559,1.9193477630615234,-0.09160245954990387,-0.7517632842063904,0.05854000151157379
+1789729892555605815,11933,0.13292501866817474,-1.9655249118804932,-0.2795458436012268,0.28498467803001404,1.9176101684570312,-0.0930619016289711,-0.7529367804527283,0.05854000151157379
+1789729892588901900,11966,0.13261571526527405,-1.9625762701034546,-0.27793848514556885,0.2895054817199707,1.915871262550354,-0.09456565231084824,-0.7545516490936279,0.05854000151157379
+1789729892622248800,12000,0.13213908672332764,-1.9585753679275513,-0.27553004026412964,0.29567402601242065,1.9132089614868164,-0.09649664163589478,-0.7568902969360352,0.05854000151157379
+1789729892655586022,12033,0.13174261152744293,-1.9554132223129272,-0.27355101704597473,0.3005501627922058,1.9109251499176025,-0.09786622226238251,-0.7587305903434753,0.05854000151157379
+1789729892688896976,12066,0.1313336193561554,-1.9519692659378052,-0.2712828516960144,0.30597612261772156,1.9083548784255981,-0.09914618730545044,-0.7609485387802124,0.05854000151157379
+1789729892722251206,12100,0.13084933161735535,-1.946839451789856,-0.2677004039287567,0.3140467405319214,1.9042723178863525,-0.1006280854344368,-0.7643465399742126,0.05854000151157379
+1789729892755588197,12133,0.1305813491344452,-1.9426556825637817,-0.2646541893482208,0.3208691477775574,1.9008063077926636,-0.10149909555912018,-0.7671031355857849,0.05854000151157379
+1789729892788895021,12166,0.1303120106458664,-1.938356637954712,-0.2612892985343933,0.3286316990852356,1.8974151611328125,-0.10237149894237518,-0.7707594633102417,0.05854000151157379
+1789729892822251521,12200,0.12987519800662994,-1.9319515228271484,-0.25625839829444885,0.3399016559123993,1.8922719955444336,-0.10356725752353668,-0.7760564088821411,0.05854000151157379
+1789729892855589453,12233,0.1295394003391266,-1.926469326019287,-0.25210538506507874,0.3491341173648834,1.8876543045043945,-0.10435236245393753,-0.7800570130348206,0.05854000151157379
+1789729892888910255,12266,0.1292007714509964,-1.9206032752990723,-0.2476651966571808,0.3589012920856476,1.8825913667678833,-0.10510936379432678,-0.7842347621917725,0.05854000151157379
+1789729892922285244,12300,0.1287662386894226,-1.91230309009552,-0.2414538562297821,0.3734441101551056,1.8757768869400024,-0.10602301359176636,-0.7909000515937805,0.05854000151157379
+1789729892955623285,12333,0.12830232083797455,-1.9055641889572144,-0.23655499517917633,0.38504287600517273,1.8702846765518188,-0.10678526759147644,-0.7961241602897644,0.05854000151157379
+1789729892988929529,12366,0.12795546650886536,-1.8984270095825195,-0.23188631236553192,0.39739808440208435,1.865034580230713,-0.10745050013065338,-0.8017652034759521,0.05854000151157379
+1789729893022291211,12400,0.12790325284004211,-1.8882447481155396,-0.2270490676164627,0.41523298621177673,1.859622597694397,-0.10854440927505493,-0.8099647164344788,0.05854000151157379
+1789729893055625166,12433,0.1279667764902115,-1.880128264427185,-0.22401274740695953,0.42893916368484497,1.855664610862732,-0.10946014523506165,-0.8158063888549805,0.05854000151157379
+1789729893088935943,12466,0.12809523940086365,-1.8719182014465332,-0.22128890454769135,0.442980021238327,1.8522236347198486,-0.11029373109340668,-0.821911096572876,0.05854000151157379
+1789729893122262859,12500,0.12816685438156128,-1.8608322143554688,-0.21787883341312408,0.46165597438812256,1.8476396799087524,-0.11146802455186844,-0.8300323486328125,0.05854000151157379
+1789729893155591515,12533,0.12823303043842316,-1.852699637413025,-0.21533358097076416,0.4756905138492584,1.8444349765777588,-0.11221035569906235,-0.8362042903900146,0.05854000151157379
+1789729893188907612,12566,0.12824687361717224,-1.844468355178833,-0.21276377141475677,0.48924580216407776,1.8409382104873657,-0.1128435805439949,-0.8420623540878296,0.05854000151157379
+1789729893222258375,12600,0.12826094031333923,-1.8338054418563843,-0.20943191647529602,0.5068713426589966,1.836312174797058,-0.11341604590415955,-0.849448561668396,0.05854000151157379
+1789729893255588381,12633,0.12816379964351654,-1.8259873390197754,-0.20704369246959686,0.5194540023803711,1.8330655097961426,-0.11376849561929703,-0.8549740314483643,0.05854000151157379
+1789729893288907627,12666,0.12804096937179565,-1.8185724020004272,-0.20478171110153198,0.5316049456596375,1.8298707008361816,-0.11410084366798401,-0.8601654767990112,0.05854000151157379
+1789729893322257821,12700,0.12779530882835388,-1.8092005252838135,-0.2018222212791443,0.5468628406524658,1.8259985446929932,-0.11440542340278625,-0.8670666217803955,0.05854000151157379
+1789729893355583767,12733,0.1275780200958252,-1.802527666091919,-0.1996973603963852,0.55727219581604,1.823047161102295,-0.11451167613267899,-0.8714533448219299,0.05854000151157379
+1789729893388894574,12766,0.12736748158931732,-1.7964094877243042,-0.19766853749752045,0.5672401785850525,1.8205101490020752,-0.11453796178102493,-0.8761617541313171,0.05854000151157379
+1789729893422247108,12800,0.12700985372066498,-1.788857102394104,-0.19504182040691376,0.5787327885627747,1.8170795440673828,-0.11455366760492325,-0.8817280530929565,0.05854000151157379
+1789729893455621339,12833,0.12674903869628906,-1.7837817668914795,-0.19327114522457123,0.586246132850647,1.8146452903747559,-0.11453454941511154,-0.885309100151062,0.05854000151157379
+1789729893488899010,12866,0.1264611780643463,-1.7792248725891113,-0.19159793853759766,0.592911422252655,1.8124661445617676,-0.11454037576913834,-0.8889145851135254,0.05854000151157379
+1789729893522257743,12900,0.12599679827690125,-1.773678183555603,-0.18954192101955414,0.6007513999938965,1.8097666501998901,-0.11457772552967072,-0.8931909203529358,0.05854000151157379
+1789729893555587448,12933,0.12559330463409424,-1.7698506116867065,-0.18814268708229065,0.6058206558227539,1.807821273803711,-0.11476895958185196,-0.8960922360420227,0.05854000151157379
+1789729893588923483,12966,0.1251780092716217,-1.766295313835144,-0.1868472546339035,0.6103377938270569,1.8058750629425049,-0.11503337323665619,-0.8985415101051331,0.05854000151157379
+1789729893622260408,13000,0.12463250756263733,-1.762039303779602,-0.18527349829673767,0.6160688400268555,1.8037831783294678,-0.11544620990753174,-0.9021543860435486,0.05854000151157379
+1789729893655594343,13033,0.12417076528072357,-1.7590491771697998,-0.18417690694332123,0.6201528310775757,1.8024005889892578,-0.11589597165584564,-0.9048869013786316,0.05854000151157379
+1789729893688904971,13066,0.12369687110185623,-1.756130576133728,-0.18316803872585297,0.6238314509391785,1.8009601831436157,-0.11635211110115051,-0.9074773192405701,0.05854000151157379
+1789729893722246825,13100,0.12317885458469391,-1.7522720098495483,-0.18198923766613007,0.6281939744949341,1.798991322517395,-0.11686699837446213,-0.9102747440338135,0.05854000151157379
+1789729893755580200,13133,0.12287086248397827,-1.7494556903839111,-0.18113654851913452,0.6314300894737244,1.7976136207580566,-0.11721578240394592,-0.9124075770378113,0.05854000151157379
+1789729893788893057,13166,0.1225963681936264,-1.7467409372329712,-0.18022599816322327,0.6348492503166199,1.7964292764663696,-0.11751478165388107,-0.9147378206253052,0.05854000151157379
+1789729893822254150,13200,0.1222405955195427,-1.743064284324646,-0.17889267206192017,0.6398319602012634,1.7949286699295044,-0.11794435232877731,-0.9182561635971069,0.05854000151157379
+1789729893855591745,13233,0.12199846655130386,-1.74006986618042,-0.17780420184135437,0.6436854004859924,1.7936489582061768,-0.1181705892086029,-0.9207947850227356,0.05854000151157379
+1789729893888895933,13266,0.12182625383138657,-1.7367873191833496,-0.17671063542366028,0.6474840641021729,1.79206383228302,-0.11826872080564499,-0.9229340553283691,0.05854000151157379
+1789729893922256886,13300,0.12169020622968674,-1.7320914268493652,-0.17522963881492615,0.6527506709098816,1.7897720336914062,-0.11825831979513168,-0.925743579864502,0.05854000151157379
+1789729893955583632,13333,0.12162220478057861,-1.7284977436065674,-0.1740964949131012,0.6571506857872009,1.7881433963775635,-0.11821598559617996,-0.9280734062194824,0.05854000151157379
+1789729893988913557,13366,0.12153709679841995,-1.724974513053894,-0.17291639745235443,0.6619390249252319,1.7867485284805298,-0.11819159239530563,-0.9308916926383972,0.05854000151157379
+1789729894022248924,13400,0.1213701069355011,-1.7201178073883057,-0.17118671536445618,0.6683654189109802,1.7847607135772705,-0.11814454942941666,-0.9345896244049072,0.05854000151157379
+1789729894055584133,13433,0.12124994397163391,-1.716240644454956,-0.16990706324577332,0.6731693744659424,1.7830277681350708,-0.11804890632629395,-0.9371117353439331,0.05854000151157379
+1789729894088981016,13466,0.12112044543027878,-1.7122124433517456,-0.16861948370933533,0.6780621409416199,1.7812222242355347,-0.1179167851805687,-0.9394438862800598,0.05854000151157379
+1789729894122254920,13500,0.12098681181669235,-1.7068716287612915,-0.16691914200782776,0.684651792049408,1.7788732051849365,-0.11769265681505203,-0.9425839781761169,0.05854000151157379
+1789729894155583569,13533,0.12088892608880997,-1.7029356956481934,-0.1656198501586914,0.6896505951881409,1.777240514755249,-0.11751945316791534,-0.9450240135192871,0.05854000151157379
+1789729894188903209,13566,0.12076536566019058,-1.6990000009536743,-0.16432158648967743,0.6947263479232788,1.7756541967391968,-0.11736848205327988,-0.9475364089012146,0.05854000151157379
+1789729894222249396,13600,0.12055888026952744,-1.6936124563217163,-0.16259145736694336,0.7014327049255371,1.7734185457229614,-0.11715757101774216,-0.9508134722709656,0.05854000151157379
+1789729894255589004,13633,0.12042951583862305,-1.68947434425354,-0.1612948328256607,0.7061898112297058,1.7715142965316772,-0.11691883206367493,-0.9527660012245178,0.05854000151157379
+1789729894288896275,13666,0.12033453583717346,-1.6854445934295654,-0.16000977158546448,0.7109887599945068,1.7696921825408936,-0.11661511659622192,-0.9548458456993103,0.05854000151157379
+1789729894322259241,13700,0.12010934948921204,-1.680302381515503,-0.15818379819393158,0.7177616953849792,1.7675881385803223,-0.11630091816186905,-0.9582191705703735,0.05854000151157379
+1789729894355588390,13733,0.1198667585849762,-1.6764769554138184,-0.1567065268754959,0.7225984334945679,1.765893816947937,-0.11601512879133224,-0.9606410264968872,0.05854000151157379
+1789729894388894981,13766,0.11962354928255081,-1.6725894212722778,-0.15519572794437408,0.7270417809486389,1.7638834714889526,-0.11562096327543259,-0.9626705050468445,0.05854000151157379
+1789729894422259147,13800,0.11928153783082962,-1.6675364971160889,-0.15316681563854218,0.7329227328300476,1.7611750364303589,-0.1150219589471817,-0.9651203155517578,0.05854000151157379
+1789729894455604575,13833,0.11894238740205765,-1.6639221906661987,-0.15155592560768127,0.7375675439834595,1.7593847513198853,-0.11466003209352493,-0.9674438834190369,0.05854000151157379
+1789729894488896147,13866,0.11855258792638779,-1.6602753400802612,-0.14987638592720032,0.7421708703041077,1.757560133934021,-0.11428580433130264,-0.9697663187980652,0.05854000151157379
+1789729894522259393,13900,0.11804957687854767,-1.655084490776062,-0.14759404957294464,0.7481232285499573,1.7547366619110107,-0.11372189223766327,-0.9721763134002686,0.05854000151157379
+1789729894555593022,13933,0.11776503920555115,-1.6510117053985596,-0.14591088891029358,0.752678632736206,1.7525849342346191,-0.11320774257183075,-0.9737374186515808,0.05854000151157379
+1789729894588899743,13966,0.11754249781370163,-1.6468795537948608,-0.14421264827251434,0.7576379776000977,1.7506262063980103,-0.1126834899187088,-0.9754771590232849,0.05854000151157379
+1789729894622260659,14000,0.11727939546108246,-1.6412807703018188,-0.14188572764396667,0.7646015882492065,1.7483112812042236,-0.11202967911958694,-0.9779684543609619,0.05854000151157379
+1789729894655659972,14033,0.11714581400156021,-1.6368731260299683,-0.14014898240566254,0.7698289752006531,1.746429204940796,-0.11146537959575653,-0.9795718789100647,0.05854000151157379
+1789729894688957514,14066,0.1170581504702568,-1.6323471069335938,-0.13842745125293732,0.7751070857048035,1.7445309162139893,-0.11082283407449722,-0.9811272621154785,0.05854000151157379
+1789729894722259475,14100,0.11699589341878891,-1.6264280080795288,-0.13610675930976868,0.7822166681289673,1.742140293121338,-0.10989689826965332,-0.9832850098609924,0.05854000151157379
+1789729894755609852,14133,0.1169542521238327,-1.6220351457595825,-0.13433125615119934,0.7875123023986816,1.7403661012649536,-0.1091608852148056,-0.9850538372993469,0.05854000151157379
+1789729894788897375,14166,0.11688975244760513,-1.6176294088363647,-0.13256467878818512,0.7928547859191895,1.7386205196380615,-0.10843075066804886,-0.9868060946464539,0.05854000151157379
+1789729894822250012,14200,0.11676818132400513,-1.6118366718292236,-0.1302524209022522,0.7997820973396301,1.736295223236084,-0.1073935329914093,-0.9891189336776733,0.05854000151157379
+1789729894855595209,14233,0.11671552807092667,-1.6077245473861694,-0.1286298930644989,0.8044701218605042,1.7345752716064453,-0.1066327914595604,-0.9905436635017395,0.05854000151157379
+1789729894888893751,14266,0.1167050153017044,-1.6038832664489746,-0.12708806991577148,0.8089379668235779,1.733049750328064,-0.10584206879138947,-0.9919272065162659,0.05854000151157379
+1789729894922256827,14300,0.11666173487901688,-1.5993036031723022,-0.12522296607494354,0.8144964575767517,1.7314127683639526,-0.10489547252655029,-0.9939206838607788,0.05854000151157379
+1789729894955590406,14333,0.11661326140165329,-1.5963948965072632,-0.12399471551179886,0.8178154230117798,1.73026704788208,-0.10421779006719589,-0.9950685501098633,0.05854000151157379
+1789729894988896327,14366,0.11659257113933563,-1.5940263271331787,-0.12293196469545364,0.8202300071716309,1.729117512702942,-0.1034930944442749,-0.9957271814346313,0.05854000151157379
+1789729895022249506,14400,0.11654654145240784,-1.5918567180633545,-0.12175159156322479,0.8224592804908752,1.7278424501419067,-0.10267619043588638,-0.996255099773407,0.05854000151157379
+1789729895055586518,14433,0.1164286732673645,-1.590972661972046,-0.1209755688905716,0.8235651254653931,1.7271523475646973,-0.10215285420417786,-0.9967895746231079,0.05854000151157379
+1789729895088896882,14466,0.11622844636440277,-1.5905506610870361,-0.12025763094425201,0.8241679072380066,1.7265143394470215,-0.10172098129987717,-0.997164785861969,0.05854000151157379
+1789729895122254812,14500,0.11584286391735077,-1.5904079675674438,-0.11933308839797974,0.8243399858474731,1.7256183624267578,-0.10126791894435883,-0.9974023103713989,0.05854000151157379
+1789729895155584524,14533,0.11550763249397278,-1.5903948545455933,-0.11861973255872726,0.8242800235748291,1.724876880645752,-0.10095511376857758,-0.9974520206451416,0.05854000151157379
+1789729895188920176,14566,0.11516780406236649,-1.590409517288208,-0.11787895113229752,0.8241803050041199,1.724088191986084,-0.1006099060177803,-0.9974751472473145,0.05854000151157379
+1789729895222249848,14600,0.11470045894384384,-1.5904277563095093,-0.11678408831357956,0.8240653872489929,1.7229734659194946,-0.10005400329828262,-0.9975032210350037,0.05854000151157379
+1789729895255580251,14633,0.11435332894325256,-1.5904399156570435,-0.11593152582645416,0.8239863514900208,1.7220882177352905,-0.09959237277507782,-0.9975461363792419,0.05854000151157379
+1789729895288891605,14666,0.11399759352207184,-1.590454339981079,-0.11505226045846939,0.8239235877990723,1.721217155456543,-0.09913448989391327,-0.997599720954895,0.05854000151157379
+1789729895322326178,14700,0.11349938064813614,-1.5904682874679565,-0.11385973542928696,0.8238468170166016,1.719995141029358,-0.09852433949708939,-0.9976867437362671,0.05854000151157379
+1789729895355581847,14733,0.11311489343643188,-1.5904755592346191,-0.112958163022995,0.8238067030906677,1.7190836668014526,-0.09806319326162338,-0.997764527797699,0.05854000151157379
+1789729895388915829,14766,0.11270490288734436,-1.5904817581176758,-0.11202722787857056,0.8237876892089844,1.7181402444839478,-0.09758411347866058,-0.9978539943695068,0.05854000151157379
+1789729895422246381,14800,0.11215586960315704,-1.5904932022094727,-0.11078788340091705,0.823756217956543,1.7168691158294678,-0.09695842862129211,-0.9979897737503052,0.05854000151157379
+1789729895455580933,14833,0.11175519227981567,-1.5905020236968994,-0.10988380014896393,0.8237160444259644,1.7159215211868286,-0.09649819880723953,-0.9980732202529907,0.05855000019073486
+1789729895488898836,14866,0.11137259751558304,-1.5905171632766724,-0.10902027040719986,0.8236598372459412,1.7150386571884155,-0.09608402848243713,-0.9981269836425781,0.05858999863266945
+1789729895522323500,14900,0.1108836904168129,-1.590545654296875,-0.10790621489286423,0.8235745429992676,1.713884711265564,-0.09552966803312302,-0.9981992840766907,0.05860000103712082
+1789729895555585268,14933,0.11054261773824692,-1.5905786752700806,-0.1071370467543602,0.8234957456588745,1.7130855321884155,-0.0951441302895546,-0.9982442855834961,0.05906999856233597
+1789729895588903652,14966,0.11021460592746735,-1.5906140804290771,-0.10640880465507507,0.8234090209007263,1.7123397588729858,-0.09478408098220825,-0.9982748627662659,0.060339998453855515
+1789729895622246993,15000,0.10981744527816772,-1.5906496047973633,-0.1055227667093277,0.823320209980011,1.711413025856018,-0.09434637427330017,-0.9983222484588623,0.06351999938488007
+1789729895655576015,15033,0.10953841358423233,-1.5906805992126465,-0.10487701743841171,0.8232702612876892,1.7107499837875366,-0.09400931745767593,-0.9983739256858826,0.06351999938488007
+1789729895688890619,15066,0.10926469415426254,-1.5907140970230103,-0.10425462573766708,0.823208212852478,1.7101125717163086,-0.0936937928199768,-0.9984360337257385,0.0695199966430664
+1789729895722305564,15100,0.1089041605591774,-1.590754747390747,-0.1034722551703453,0.8231176137924194,1.709299087524414,-0.09332461655139923,-0.9984749555587769,0.07503999769687653
+1789729895755638816,15133,0.10865293443202972,-1.5907855033874512,-0.10291609913110733,0.8230534195899963,1.7087247371673584,-0.09304417669773102,-0.9985061883926392,0.07874999940395355
+1789729895788895275,15166,0.10841129720211029,-1.590819239616394,-0.10238432884216309,0.8229990601539612,1.7081844806671143,-0.09278331696987152,-0.9985303282737732,0.08005999773740768
+1789729895822305840,15200,0.10812506079673767,-1.5908620357513428,-0.1016954854130745,0.8229295611381531,1.7074922323226929,-0.09243492782115936,-0.998578667640686,0.08008000254631042
+1789729895855657210,15233,0.10792535543441772,-1.5908873081207275,-0.10118035972118378,0.8228706121444702,1.7069755792617798,-0.09214646369218826,-0.9986098408699036,0.08008000254631042
+1789729895888891691,15266,0.10771650075912476,-1.5909085273742676,-0.10066380351781845,0.8228192925453186,1.7064650058746338,-0.09186799824237823,-0.998632550239563,0.08005999773740768
+1789729895922300516,15300,0.10744120180606842,-1.5909367799758911,-0.10000395774841309,0.8227560520172119,1.7057915925979614,-0.09151401370763779,-0.9986699223518372,0.08005999773740768
+1789729895955583073,15333,0.10723759979009628,-1.5909653902053833,-0.0995364710688591,0.822702169418335,1.7053132057189941,-0.0912783071398735,-0.9986857175827026,0.08005999773740768
+1789729895988899447,15366,0.10702981054782867,-1.590993881225586,-0.09904953837394714,0.8226439356803894,1.7048224210739136,-0.09102832525968552,-0.998708188533783,0.08004999905824661
+1789729896022262188,15400,0.10675225406885147,-1.591020107269287,-0.09837166219949722,0.8225906491279602,1.704138159751892,-0.09066733717918396,-0.9987488389015198,0.08004999905824661
+1789729896055593493,15433,0.10655241459608078,-1.5910288095474243,-0.09787052124738693,0.822570264339447,1.7036240100860596,-0.09039229899644852,-0.9987974166870117,0.08004999905824661
+1789729896088899871,15466,0.10633793473243713,-1.591037392616272,-0.09735201299190521,0.8225491642951965,1.703115463256836,-0.09012368321418762,-0.998846173286438,0.08004999905824661
+1789729896122323159,15500,0.10605800896883011,-1.5910478830337524,-0.09666411578655243,0.8225151896476746,1.702418565750122,-0.0897468626499176,-0.9988963603973389,0.08004999905824661
+1789729896155591520,15533,0.10585781931877136,-1.5910567045211792,-0.09617938101291656,0.8224942088127136,1.7019370794296265,-0.0894804373383522,-0.9989242553710938,0.08004999905824661
+1789729896188889558,15566,0.1056550145149231,-1.591076135635376,-0.09569469839334488,0.8224679827690125,1.7014496326446533,-0.08923369646072388,-0.9989665150642395,0.08004999905824661
+1789729896222251751,15600,0.10537414252758026,-1.5911030769348145,-0.09501107037067413,0.8224310874938965,1.700774908065796,-0.08884835988283157,-0.9990223050117493,0.08004999905824661
+1789729896255580057,15633,0.10516078025102615,-1.5911211967468262,-0.0944913998246193,0.8224039077758789,1.7002596855163574,-0.08858441561460495,-0.9990759491920471,0.08004999905824661
+1789729896288886775,15666,0.10495498031377792,-1.591137170791626,-0.09399411082267761,0.8223749399185181,1.6997684240341187,-0.08831439912319183,-0.9991151690483093,0.08004999905824661
+1789729896322252797,15700,0.10466955602169037,-1.5911601781845093,-0.09333965927362442,0.8223356008529663,1.699100136756897,-0.08798030763864517,-0.9991706013679504,0.08004999905824661
+1789729896355576583,15733,0.10445708781480789,-1.5911812782287598,-0.0928448736667633,0.8223018646240234,1.6986044645309448,-0.08772676438093185,-0.999212384223938,0.08004999905824661
+1789729896388894380,15766,0.10425116121768951,-1.5912063121795654,-0.09236554056406021,0.8222571015357971,1.698117733001709,-0.08747699111700058,-0.9992448687553406,0.08004999905824661
+1789729896422251763,15800,0.10398200154304504,-1.5912492275238037,-0.09173309057950974,0.8221865892410278,1.6974895000457764,-0.08716364204883575,-0.9992662668228149,0.08004999905824661
+1789729896455575510,15833,0.1037907749414444,-1.5912811756134033,-0.0912885069847107,0.8221300840377808,1.6970256567001343,-0.0869251936674118,-0.9992850422859192,0.08004999905824661
+1789729896488892946,15866,0.1036076694726944,-1.5913095474243164,-0.09086906164884567,0.8220838308334351,1.6966142654418945,-0.08670446276664734,-0.9993017911911011,0.08004999905824661
+1789729896522256609,15900,0.10338959842920303,-1.5913362503051758,-0.09034916013479233,0.8220361471176147,1.6960959434509277,-0.08643943071365356,-0.9993394017219543,0.08004999905824661
+1789729896555585345,15933,0.10323625057935715,-1.5913571119308472,-0.089971624314785,0.8219987750053406,1.6957203149795532,-0.08623502403497696,-0.9993677139282227,0.08004999905824661
+1789729896588988554,15966,0.10308416932821274,-1.5913740396499634,-0.08960215002298355,0.8219629526138306,1.6953444480895996,-0.08603373169898987,-0.9993920922279358,0.08004999905824661
+1789729896622263145,16000,0.1028798446059227,-1.5914021730422974,-0.089121013879776,0.8219162225723267,1.6948599815368652,-0.0857892632484436,-0.9994236826896667,0.08004999905824661
+1789729896655581481,16033,0.10274408012628555,-1.5914292335510254,-0.08880013972520828,0.8218737840652466,1.6945558786392212,-0.08561351895332336,-0.9994337558746338,0.08004999905824661
+1789729896688892149,16066,0.10262329131364822,-1.5914535522460938,-0.08851301670074463,0.8218271732330322,1.6942570209503174,-0.08546242117881775,-0.9994382858276367,0.08004999905824661
+1789729896722244992,16100,0.10246817767620087,-1.5914827585220337,-0.08816699683666229,0.8217858672142029,1.6939054727554321,-0.08527688682079315,-0.9994515180587769,0.08004999905824661
+1789729896755577818,16133,0.10235840082168579,-1.591498613357544,-0.08792010694742203,0.8217626810073853,1.693650484085083,-0.08514433354139328,-0.9994697570800781,0.08004999905824661
+1789729896788887885,16166,0.10225295275449753,-1.5915131568908691,-0.0876835435628891,0.8217399716377258,1.693410873413086,-0.08501971513032913,-0.9994992017745972,0.08004999905824661
+1789729896822245508,16200,0.10212492942810059,-1.591525673866272,-0.08739916980266571,0.821716845035553,1.6931266784667969,-0.08486490696668625,-0.9995177388191223,0.08004999905824661
+1789729896855582653,16233,0.10204688459634781,-1.5915336608886719,-0.08721476793289185,0.821702241897583,1.6929322481155396,-0.08474758267402649,-0.9995287656784058,0.08004999905824661
+1789729896888893681,16266,0.1019728034734726,-1.5915428400039673,-0.0870448648929596,0.8216890692710876,1.6927597522735596,-0.0846567377448082,-0.9995418190956116,0.08004999905824661
+1789729896922247874,16300,0.10188993066549301,-1.5915530920028687,-0.08683189004659653,0.8216720819473267,1.6925580501556396,-0.08452524244785309,-0.9995467662811279,0.08004999905824661
+1789729896955584149,16333,0.10182978957891464,-1.5915578603744507,-0.08667919784784317,0.8216573596000671,1.692380666732788,-0.08443909138441086,-0.9995521903038025,0.08004999905824661
+1789729896988917785,16366,0.10175712406635284,-1.5915615558624268,-0.08652181923389435,0.8216502070426941,1.6922354698181152,-0.08434782177209854,-0.9995660185813904,0.08004999905824661
+1789729897022245603,16400,0.10165869444608688,-1.5915650129318237,-0.08630716055631638,0.8216406106948853,1.6920000314712524,-0.08423294872045517,-0.9995867609977722,0.08004999905824661
+1789729897055584321,16433,0.10157901048660278,-1.591568112373352,-0.08611952513456345,0.8216359615325928,1.6918243169784546,-0.08413369208574295,-0.9996005296707153,0.08004999905824661
+1789729897088898441,16466,0.10150064527988434,-1.5915732383728027,-0.08592711389064789,0.8216339349746704,1.6916499137878418,-0.0840267762541771,-0.9996287226676941,0.08004999905824661
+1789729897122257848,16500,0.10140548646450043,-1.5915822982788086,-0.0856892541050911,0.8216304779052734,1.691428780555725,-0.08389579504728317,-0.999656617641449,0.08004999905824661
+1789729897155586387,16533,0.10134518891572952,-1.5915905237197876,-0.08553790301084518,0.8216217756271362,1.6912868022918701,-0.08381853997707367,-0.9996606111526489,0.08004999905824661
+1789729897188893478,16566,0.10128431767225266,-1.5916019678115845,-0.08541295677423477,0.8216130137443542,1.6911747455596924,-0.08377006649971008,-0.9996626973152161,0.08004999905824661
+1789729897222247955,16600,0.10120313614606857,-1.5916152000427246,-0.08526615053415298,0.8215963840484619,1.6910145282745361,-0.08370748907327652,-0.9996723532676697,0.08004999905824661
+1789729897255582943,16633,0.1011400818824768,-1.5916273593902588,-0.08515334874391556,0.8215804100036621,1.6908975839614868,-0.08366642147302628,-0.9996886849403381,0.08004999905824661
+1789729897288895684,16666,0.10107927769422531,-1.5916399955749512,-0.08503244817256927,0.8215669393539429,1.6907782554626465,-0.083609938621521,-0.9997069835662842,0.08004999905824661
+1789729897322308316,16700,0.10101225972175598,-1.5916565656661987,-0.08487360179424286,0.821551501750946,1.6906325817108154,-0.08353174477815628,-0.9997304677963257,0.08004999905824661
+1789729897355640044,16733,0.1009654700756073,-1.5916681289672852,-0.08475551754236221,0.8215426802635193,1.6905395984649658,-0.0834660530090332,-0.9997319579124451,0.08004999905824661
+1789729897388896790,16766,0.10092154145240784,-1.5916811227798462,-0.08464997261762619,0.8215304017066956,1.6904455423355103,-0.08340438455343246,-0.9997342228889465,0.08004999905824661
+1789729897422246667,16800,0.10085912048816681,-1.5916955471038818,-0.08451937884092331,0.8215129971504211,1.6903142929077148,-0.08336082100868225,-0.9997379183769226,0.08004999905824661
+1789729897455580206,16833,0.10081252455711365,-1.5917048454284668,-0.0844220519065857,0.8215032815933228,1.690223217010498,-0.08332199603319168,-0.9997447729110718,0.08004999905824661
+1789729897488898816,16866,0.10076811164617538,-1.591714859008789,-0.08433288335800171,0.821491003036499,1.6901367902755737,-0.08329076319932938,-0.9997603297233582,0.08004999905824661
+1789729897522246383,16900,0.10071464627981186,-1.5917259454727173,-0.08422231674194336,0.8214771747589111,1.690029263496399,-0.08323624730110168,-0.9997712969779968,0.08004999905824661
+1789729897555581042,16933,0.10067731887102127,-1.591738224029541,-0.08414354920387268,0.8214665651321411,1.689961552619934,-0.08318590372800827,-0.9997853636741638,0.08004999905824661
+1789729897588896402,16966,0.1006447970867157,-1.5917484760284424,-0.0840698778629303,0.8214597105979919,1.6899055242538452,-0.08314935863018036,-0.9997919797897339,0.08004999905824661
+1789729897622251209,17000,0.10059913247823715,-1.5917600393295288,-0.08395957946777344,0.8214524984359741,1.6898057460784912,-0.08309303969144821,-0.9997936487197876,0.08004999905824661
+1789729897655587987,17033,0.1005619615316391,-1.5917677879333496,-0.08386863023042679,0.8214411735534668,1.6897231340408325,-0.08305635303258896,-0.9997956156730652,0.08004999905824661
+1789729897688909047,17066,0.10051985085010529,-1.5917768478393555,-0.08377183973789215,0.8214277625083923,1.6896302700042725,-0.08300939947366714,-0.9997985363006592,0.08004999905824661
+1789729897722252675,17100,0.1004621833562851,-1.5917859077453613,-0.08364709466695786,0.8214141130447388,1.689509391784668,-0.082951620221138,-0.999805212020874,0.08004999905824661
+1789729897755584544,17133,0.10042015463113785,-1.5917937755584717,-0.08356006443500519,0.8214066624641418,1.6894229650497437,-0.08290506899356842,-0.9998177886009216,0.08004999905824661
+1789729897788895234,17166,0.10038071870803833,-1.5918035507202148,-0.08347927033901215,0.8213997483253479,1.6893540620803833,-0.08286861330270767,-0.9998372197151184,0.08004999905824661
+1789729897822246351,17200,0.1003294587135315,-1.5918163061141968,-0.08337778598070145,0.8213924169540405,1.6892650127410889,-0.08282522112131119,-0.9998481273651123,0.08004999905824661
+1789729897855582140,17233,0.10028854012489319,-1.5918259620666504,-0.08329252898693085,0.821385383605957,1.6891916990280151,-0.08278639614582062,-0.9998507499694824,0.08004999905824661
+1789729897888903500,17266,0.10024705529212952,-1.5918354988098145,-0.08320445567369461,0.8213787078857422,1.6891127824783325,-0.08275103569030762,-0.999856173992157,0.08004999905824661
+1789729897922247567,17300,0.1001967340707779,-1.5918453931808472,-0.08308802545070648,0.8213669657707214,1.6889986991882324,-0.08269742876291275,-0.9998686909675598,0.08004999905824661
+1789729897955581926,17333,0.10016290843486786,-1.5918508768081665,-0.08301026374101639,0.8213613033294678,1.6889266967773438,-0.08265888690948486,-0.9998796582221985,0.08004999905824661
+1789729897988908685,17366,0.10013213753700256,-1.5918551683425903,-0.08294212818145752,0.8213586807250977,1.6888664960861206,-0.08261986821889877,-0.9998897910118103,0.08004999905824661
+1789729898022258864,17400,0.10009263455867767,-1.591866374015808,-0.08285766839981079,0.8213531970977783,1.6887941360473633,-0.08257735520601273,-0.999906599521637,0.08004999905824661
+1789729898055586537,17433,0.10006033629179001,-1.591874122619629,-0.08278799057006836,0.8213492035865784,1.6887272596359253,-0.08254416286945343,-0.9999191164970398,0.08004999905824661
+1789729898088908130,17466,0.10002510249614716,-1.5918809175491333,-0.0827179104089737,0.8213441967964172,1.6886653900146484,-0.08251095563173294,-0.9999223351478577,0.08004999905824661
diff --git a/episode_0011/right.observation.state/data.jsonl b/episode_0011/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..200b6220441073ce00a047561ce8b0d6cad1e462
--- /dev/null
+++ b/episode_0011/right.observation.state/data.jsonl
@@ -0,0 +1,525 @@
+{"timestamp_ns": 1789729880622232203, "elapsed_ms": 0, "source_timestamp_ns": 1789729880621707500, "q": [0.014844095334410667, -1.6885490417480469, -0.028051020577549934, 0.7525492310523987, 1.6125670671463013, -0.056351035833358765, -0.9192418456077576], "theta": [0.012417716905474663, -1.687614917755127, -0.029607269912958145, 0.73587566614151, 1.612401008605957, -0.0563279390335083, -0.9203787446022034], "dq": [0.01901097409427166, 0.008324113674461842, -0.03970842808485031, 0.008676440455019474, 0.04184378683567047, -0.014829959720373154, -0.0016980734653770924], "dtheta": [0.015193970873951912, 0.006601895671337843, -0.03697795793414116, 0.009775061160326004, 0.0402345284819603, -0.014034423977136612, -0.001317650661803782], "tau": [-60.939998626708984, 0.8700000047683716, -24.760000228881836, 0.7200000286102295, -3.876000165939331, 3.184000253677368, -0.46000000834465027], "tau_des": [-0.6208354234695435, 1.5365897417068481, -0.964737594127655, -0.2027546465396881, 0.13159975409507751, -0.5094468593597412, -0.4817613959312439], "tau_dot": [121.68029022216797, 52.51800537109375, 16.174591064453125, -1.3573588132858276, 39.802799224853516, 15.709026336669922, 1.5179591178894043], "tau_ext": [14.471379280090332, -36.013160705566406, -35.99836730957031, 19.960128784179688, -2.5717427730560303, -6.346222877502441, 0.3633039891719818], "tcp_pose": [0.6407943367958069, -0.12193963676691055, -0.2823900580406189, -0.006183282472193241, -0.024652812629938126, 0.9994839429855347, 0.019643481820821762], "tcp_vel": [9.62170452112332e-05, -2.1192498024902306e-05, 0.00015627728134859353, -0.0001676612300798297, -0.0026256265118718147, -0.0006887378403916955], "flange_pose": [0.6433268189430237, -0.12934237718582153, -0.09255120903253555, -0.006183282472193241, -0.024652812629938126, 0.9994839429855347, 0.019643481820821762], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.24970531463623, -52.03794479370117, -12.276432991027832, -4.513520240783691, 11.738842964172363, 0.4817824065685272], "ext_wrench_in_world": [-8.51974361482319, -52.96996458402935, 10.334950203363297, 3.9256266162875626, 11.957809533044921, -0.06826587475986515]}
+{"timestamp_ns": 1789729880655620396, "elapsed_ms": 33, "source_timestamp_ns": 1789729880651671851, "q": [0.015318071469664574, -1.6883333921432495, -0.029134143143892288, 0.7528497576713562, 1.613714575767517, -0.05677548795938492, -0.9192953109741211], "theta": [0.012880248948931694, -1.6874009370803833, -0.030699798837304115, 0.7361831068992615, 1.6135509014129639, -0.05674898624420166, -0.920432448387146], "dq": [0.017809825018048286, 0.005683112423866987, -0.035734906792640686, 0.012571181170642376, 0.033340614289045334, -0.012633807957172394, 4.378918310976587e-05], "dtheta": [0.01509693544358015, 0.007241708692163229, -0.03587666526436806, 0.010781459510326385, 0.037808630615472794, -0.014774665236473083, -0.0028763958252966404], "tau": [-61.03999710083008, 0.8299999833106995, -24.91200065612793, 0.7560000419616699, -3.892000198364258, 3.192000150680542, -0.492000013589859], "tau_des": [-0.7783860564231873, 1.5149619579315186, -1.0508166551589966, -0.23437941074371338, 0.17285378277301788, -0.44763484597206116, -0.45474761724472046], "tau_dot": [100.37693786621094, -10.826122283935547, -27.45247459411621, 49.65787124633789, -4.7402448654174805, -25.744644165039062, -37.69739532470703], "tau_ext": [14.444647789001465, -35.97030258178711, -35.953773498535156, 19.953895568847656, -2.5846328735351562, -6.351049423217773, 0.3637852668762207], "tcp_pose": [0.6407848000526428, -0.12193216383457184, -0.2824021279811859, -0.006175042130053043, -0.02465452440083027, 0.9994840621948242, 0.019636068493127823], "tcp_vel": [-0.0006103613995946944, 0.00022224347048904747, -4.879565312876366e-05, -6.217802729224786e-05, -0.0006228307611308992, 0.000504855124745518], "flange_pose": [0.6433140635490417, -0.12933216989040375, -0.09256314486265182, -0.006175042130053043, -0.02465452440083027, 0.9994840621948242, 0.019636068493127823], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.336735725402832, -51.89609909057617, -12.30600357055664, -4.491845607757568, 11.713651657104492, 0.47650545835494995], "ext_wrench_in_world": [-8.613230298932708, -52.83374101799799, 10.371715165089256, 3.905248725151604, 11.931400808268272, -0.06384909487856935]}
+{"timestamp_ns": 1789729880688995631, "elapsed_ms": 66, "source_timestamp_ns": 1789729880681702866, "q": [0.01576407067477703, -1.6881096363067627, -0.03015594184398651, 0.7531745433807373, 1.6147890090942383, -0.0571756586432457, -0.9193547368049622], "theta": [0.013318176381289959, -1.6871755123138428, -0.031723711639642715, 0.7365118265151978, 1.6146259307861328, -0.057146430015563965, -0.9204931259155273], "dq": [0.015727370977401733, 0.009127110242843628, -0.03333234786987305, 0.010410398244857788, 0.037753041833639145, -0.012075150385499, -0.0019342502346262336], "dtheta": [0.013956707902252674, 0.007597402669489384, -0.032544612884521484, 0.011246763169765472, 0.03567560017108917, -0.012172840535640717, -0.001962750218808651], "tau": [-61.03999710083008, 0.85999995470047, -24.952001571655273, 0.7400000095367432, -3.872000217437744, 3.200000047683716, -0.46400001645088196], "tau_des": [-0.7885091304779053, 1.5062940120697021, -1.1626029014587402, -0.2764666974544525, 0.17142565548419952, -0.4490240514278412, -0.48944157361984253], "tau_dot": [30.42984962463379, -56.797027587890625, 35.72422790527344, 73.54222869873047, -9.295974731445312, -29.175920486450195, 34.53262710571289], "tau_ext": [14.51691722869873, -35.98908615112305, -35.85801696777344, 19.984403610229492, -2.5969433784484863, -6.368281364440918, 0.3687155246734619], "tcp_pose": [0.6407676339149475, -0.12192404270172119, -0.28241127729415894, -0.00616868119686842, -0.02465047314763069, 0.9994844198226929, 0.01962617225944996], "tcp_vel": [-0.0001792608672985807, 0.00048040098045021296, -0.00020501068502198905, -0.00013441279588732868, -0.0021854909136891365, -0.0005972191574983299], "flange_pose": [0.6432943344116211, -0.12932035326957703, -0.09257211536169052, -0.00616868119686842, -0.02465047314763069, 0.9994844198226929, 0.01962617225944996], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.438840866088867, -51.764892578125, -12.271479606628418, -4.46727991104126, 11.686420440673828, 0.4743790030479431], "ext_wrench_in_world": [-8.722667080569611, -52.706233495002046, 10.344487686313634, 3.8821774615695106, 11.902891006948645, -0.06270400232370173]}
+{"timestamp_ns": 1789729880722364587, "elapsed_ms": 100, "source_timestamp_ns": 1789729880721665459, "q": [0.016310255974531174, -1.6878108978271484, -0.0314192958176136, 0.7536031603813171, 1.6161190271377563, -0.057658907026052475, -0.9194445610046387], "theta": [0.013858051039278507, -1.6868716478347778, -0.032991908490657806, 0.7369449734687805, 1.6159569025039673, -0.05762791633605957, -0.9205865859985352], "dq": [0.013495109044015408, 0.006258166860789061, -0.029877889901399612, 0.012161320075392723, 0.03301475942134857, -0.011544858105480671, -0.0009305865387432277], "dtheta": [0.01335649099200964, 0.007782820612192154, -0.03058714233338833, 0.010729481466114521, 0.03280755504965782, -0.012143932282924652, -0.0015248770359903574], "tau": [-61.07999801635742, 0.7799999713897705, -25.024002075195312, 0.7320000529289246, -3.8400001525878906, 3.2280001640319824, -0.47600001096725464], "tau_des": [-0.8293221592903137, 1.3965320587158203, -1.2357131242752075, -0.24570521712303162, 0.19999291002750397, -0.4177117347717285, -0.4858420789241791], "tau_dot": [1.150308609008789, -49.13222885131836, 2.760967969894409, 38.853824615478516, -24.346189498901367, 12.654399871826172, -12.222223281860352], "tau_ext": [14.533390045166016, -36.010986328125, -35.78816604614258, 20.012380599975586, -2.6162827014923096, -6.384288787841797, 0.3650365471839905], "tcp_pose": [0.6407505869865417, -0.12190861254930496, -0.2824176549911499, -0.006152930203825235, -0.02465190552175045, 0.9994848370552063, 0.01960974559187889], "tcp_vel": [-0.00026464491384103894, 0.0008554268279112875, -0.00033726051333360374, -5.644349585054442e-05, -0.000824553775601089, -0.0003619102935772389], "flange_pose": [0.6432712078094482, -0.1292988359928131, -0.09257816523313522, -0.006152930203825235, -0.02465190552175045, 0.9994848370552063, 0.01960974559187889], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.595040321350098, -51.63209533691406, -12.251507759094238, -4.450486660003662, 11.65029239654541, 0.4692090153694153], "ext_wrench_in_world": [-8.885648619440751, -52.5803474416668, 10.33295615158111, 3.8672192378673427, 11.865809379049901, -0.059031197670350616]}
+{"timestamp_ns": 1789729880755624062, "elapsed_ms": 133, "source_timestamp_ns": 1789729880751663127, "q": [0.016698073595762253, -1.6875866651535034, -0.032305359840393066, 0.7539180517196655, 1.617047905921936, -0.057974182069301605, -0.9194943308830261], "theta": [0.014243717305362225, -1.6866414546966553, -0.03388750180602074, 0.7372620701789856, 1.6168874502182007, -0.05794167518615723, -0.9206393361091614], "dq": [0.012323558330535889, 0.00554059911519289, -0.02965848706662655, 0.009975140914320946, 0.030578624457120895, -0.01297127828001976, -0.0029146603774279356], "dtheta": [0.012765091843903065, 0.008057181723415852, -0.02917673997581005, 0.010357801802456379, 0.031178060919046402, -0.009898089803755283, -0.0021439355332404375], "tau": [-61.03999710083008, 0.7599999904632568, -25.04400062561035, 0.7480000257492065, -3.824000120162964, 3.2200002670288086, -0.47600001096725464], "tau_des": [-0.7240520715713501, 1.2719268798828125, -1.2031958103179932, -0.1813032478094101, 0.21109522879123688, -0.5064119100570679, -0.48108425736427307], "tau_dot": [-72.03124237060547, -5.8363165855407715, -18.818408966064453, -39.57387161254883, 28.77066421508789, 16.726116180419922, -57.78310775756836], "tau_ext": [14.464095115661621, -35.98252487182617, -35.812278747558594, 20.020952224731445, -2.646149158477783, -6.377406597137451, 0.3639259338378906], "tcp_pose": [0.6407425999641418, -0.12189768999814987, -0.28242209553718567, -0.006138043478131294, -0.024646824225783348, 0.999485433101654, 0.019587669521570206], "tcp_vel": [0.00029682135209441185, 0.0008021809044294059, -0.0001563824334880337, -0.0014045085990801454, -0.001805399893783033, 0.000851422839332372], "flange_pose": [0.6432572603225708, -0.12927968800067902, -0.09258219599723816, -0.006138043478131294, -0.024646824225783348, 0.999485433101654, 0.019587669521570206], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.711505889892578, -51.513519287109375, -12.24548625946045, -4.422353744506836, 11.62621021270752, 0.4641813635826111], "ext_wrench_in_world": [-9.00872595478102, -52.46699592789493, 10.334948875390017, 3.8404962552183495, 11.840143592468179, -0.05503738097206959]}
+{"timestamp_ns": 1789729880788926453, "elapsed_ms": 166, "source_timestamp_ns": 1789729880781753467, "q": [0.01707655005156994, -1.68736732006073, -0.03319033980369568, 0.7542223334312439, 1.6179630756378174, -0.058322060853242874, -0.919558584690094], "theta": [0.014620036818087101, -1.6864128112792969, -0.034781381487846375, 0.7375704050064087, 1.6178040504455566, -0.05828869342803955, -0.9207054376602173], "dq": [0.01159864291548729, 0.007105296943336725, -0.027628915384411812, 0.007988776080310345, 0.03271009400486946, -0.012603981420397758, -0.0029711180832237005], "dtheta": [0.012578437104821205, 0.007620077580213547, -0.029845817014575005, 0.010443126782774925, 0.030997000634670258, -0.01047916617244482, -0.0018371313344687223], "tau": [-61.119998931884766, 0.6699999570846558, -25.000001907348633, 0.8200000524520874, -3.8000001907348633, 3.2080001831054688, -0.46400001645088196], "tau_des": [-0.6813800930976868, 1.363539695739746, -1.0980271100997925, -0.2643301784992218, 0.27049750089645386, -0.49838986992836, -0.47970882058143616], "tau_dot": [-55.227752685546875, -56.30215835571289, 21.795820236206055, 17.95929527282715, -31.99581527709961, -56.04207992553711, 15.971190452575684], "tau_ext": [14.487534523010254, -35.99003219604492, -35.794166564941406, 20.03720474243164, -2.658346176147461, -6.380990028381348, 0.36365801095962524], "tcp_pose": [0.6407303214073181, -0.12188206613063812, -0.2824227511882782, -0.0061337994411587715, -0.02465202286839485, 0.9994856119155884, 0.019574468955397606], "tcp_vel": [-5.590374712483026e-05, 0.0003748388553503901, 0.00021121972531545907, -0.0017582755535840988, -0.0014122204156592488, 6.208859122125432e-05], "flange_pose": [0.6432433724403381, -0.12925907969474792, -0.09258265048265457, -0.0061337994411587715, -0.02465202286839485, 0.9994856119155884, 0.019574468955397606], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.80577278137207, -51.38401794433594, -12.284110069274902, -4.388271331787109, 11.607829093933105, 0.4592781364917755], "ext_wrench_in_world": [-9.108262869505113, -52.3437423507751, 10.380997807482292, 3.8073016951802003, 11.819959223746048, -0.050751481382973807]}
+{"timestamp_ns": 1789729880822285489, "elapsed_ms": 200, "source_timestamp_ns": 1789729880821667655, "q": [0.01756361871957779, -1.6870859861373901, -0.034304775297641754, 0.7546153664588928, 1.6191400289535522, -0.05874801427125931, -0.919636607170105], "theta": [0.015104885213077068, -1.686118483543396, -0.03591692075133324, 0.7379710674285889, 1.6189836263656616, -0.058714866638183594, -0.9207852482795715], "dq": [0.01187161635607481, 0.005100431386381388, -0.02756306529045105, 0.01042404305189848, 0.026471227407455444, -0.013067158870398998, -0.0004988567088730633], "dtheta": [0.012110124342143536, 0.007096085697412491, -0.027727259323000908, 0.009584387764334679, 0.028748592361807823, -0.010184571146965027, -0.001523891114629805], "tau": [-61.09000015258789, 0.6499999761581421, -25.06800079345703, 0.8440000414848328, -3.81600022315979, 3.2400002479553223, -0.46000000834465027], "tau_des": [-0.7675321102142334, 1.287217140197754, -1.228782057762146, -0.23149323463439941, 0.26133009791374207, -0.45316168665885925, -0.47166118025779724], "tau_dot": [-27.610849380493164, -72.88277435302734, 10.638315200805664, 7.901498317718506, -49.559967041015625, -53.779598236083984, 30.08250617980957], "tau_ext": [14.51834774017334, -35.92232131958008, -35.78276443481445, 20.029741287231445, -2.67421555519104, -6.390142440795898, 0.35962167382240295], "tcp_pose": [0.6407188177108765, -0.12185937911272049, -0.28243109583854675, -0.006119780242443085, -0.02465563826262951, 0.9994858503341675, 0.019560769200325012], "tcp_vel": [-0.00019541372603271157, 0.00048754989984445274, -0.0001092936799977906, -0.0013250132324174047, -0.0005702876951545477, 4.219566471874714e-05], "flange_pose": [0.6432263851165771, -0.1292313039302826, -0.09259073436260223, -0.006119780242443085, -0.02465563826262951, 0.9994858503341675, 0.019560769200325012], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.918089866638184, -51.23634719848633, -12.272212028503418, -4.336327075958252, 11.591633796691895, 0.45248106122016907], "ext_wrench_in_world": [-9.227776449840011, -52.20125053641678, 10.377326852888013, 3.75622919628908, 11.8009843941764, -0.04421821357634012]}
+{"timestamp_ns": 1789729880855622638, "elapsed_ms": 233, "source_timestamp_ns": 1789729880851700279, "q": [0.01792689971625805, -1.686887502670288, -0.03512262552976608, 0.75489342212677, 1.6199898719787598, -0.059062324464321136, -0.9196957349777222], "theta": [0.015467185527086258, -1.6859112977981567, -0.036759112030267715, 0.7382556200027466, 1.6198385953903198, -0.05902886390686035, -0.9208449721336365], "dq": [0.010917579755187035, 0.005132649559527636, -0.0277127455919981, 0.007215755060315132, 0.030687490478157997, -0.010683568194508553, 0.0007038441835902631], "dtheta": [0.012255164794623852, 0.006872859783470631, -0.02825380302965641, 0.009233206510543823, 0.0297927875071764, -0.009734301827847958, -0.002134122885763645], "tau": [-61.15999984741211, 0.6399999856948853, -25.09200096130371, 0.8480000495910645, -3.7960002422332764, 3.264000177383423, -0.47600001096725464], "tau_des": [-0.828924298286438, 1.252742886543274, -1.1993213891983032, -0.21890565752983093, 0.27503690123558044, -0.4533984065055847, -0.4432879388332367], "tau_dot": [-46.49821472167969, 15.118427276611328, -20.498506546020508, 47.26296615600586, -30.76062774658203, 0.19001905620098114, -21.540040969848633], "tau_ext": [14.596014022827148, -35.91398620605469, -35.771732330322266, 20.03774070739746, -2.6847565174102783, -6.398849010467529, 0.35786721110343933], "tcp_pose": [0.640705943107605, -0.12184729427099228, -0.2824396789073944, -0.006118258461356163, -0.02466043457388878, 0.9994860291481018, 0.0195471178740263], "tcp_vel": [0.00011219522275496274, 0.0003583719953894615, -4.223836003802717e-05, -0.0015120900934562087, -0.0014819623902440071, 0.0008167714113369584], "flange_pose": [0.6432128548622131, -0.12921404838562012, -0.09259909391403198, -0.006118258461356163, -0.02466043457388878, 0.9994860291481018, 0.0195471178740263], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.997785568237305, -51.15152359008789, -12.249787330627441, -4.300321578979492, 11.584620475769043, 0.4462431073188782], "ext_wrench_in_world": [-9.311361150061439, -52.119480657212044, 10.360540687143109, 3.720582404492706, 11.791994759314532, -0.03816187562924943]}
+{"timestamp_ns": 1789729880889015611, "elapsed_ms": 266, "source_timestamp_ns": 1789729880881739584, "q": [0.018288210034370422, -1.6866965293884277, -0.03592684864997864, 0.7551596760749817, 1.620833396911621, -0.05936158820986748, -0.9197383522987366], "theta": [0.015828056260943413, -1.6857081651687622, -0.03758542239665985, 0.7385302782058716, 1.62068772315979, -0.05932819843292236, -0.9208885431289673], "dq": [0.010890467092394829, 0.00431538000702858, -0.027439281344413757, 0.01025715284049511, 0.02821430005133152, -0.01019435003399849, -0.0018293138127774], "dtheta": [0.01195964589715004, 0.006598731968551874, -0.0277511365711689, 0.009157135151326656, 0.0268450565636158, -0.009381894022226334, -0.0009294910705648363], "tau": [-61.19999694824219, 0.6100000143051147, -25.056001663208008, 0.8440000414848328, -3.756000280380249, 3.260000228881836, -0.46000000834465027], "tau_des": [-0.854930579662323, 1.38604736328125, -1.1439423561096191, -0.31731241941452026, 0.3794710040092468, -0.46626535058021545, -0.47549208998680115], "tau_dot": [43.52939987182617, 54.52727127075195, -23.712268829345703, -30.29852294921875, 42.2731819152832, 46.0922737121582, 8.035013198852539], "tau_ext": [14.65279483795166, -35.89284896850586, -35.77058029174805, 20.02696418762207, -2.6981682777404785, -6.406445503234863, 0.35752856731414795], "tcp_pose": [0.6406969428062439, -0.12183678895235062, -0.28245043754577637, -0.006112813018262386, -0.024659289047122, 0.9994863867759705, 0.019532278180122375], "tcp_vel": [-0.0004789909871760756, -0.00025666196597740054, 0.00027326936833560467, -0.0032004816457629204, 0.00023034619516693056, -0.0006208944832906127], "flange_pose": [0.6432016491889954, -0.12919795513153076, -0.09260959923267365, -0.006112813018262386, -0.024659289047122, 0.9994863867759705, 0.019532278180122375], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.049444198608398, -51.04317092895508, -12.195320129394531, -4.252232551574707, 11.588204383850098, 0.4417378902435303], "ext_wrench_in_world": [-9.369228144700125, -52.011464336555434, 10.312389566734685, 3.672467061799576, 11.793005251652382, -0.033282018080215574]}
+{"timestamp_ns": 1789729880922288895, "elapsed_ms": 300, "source_timestamp_ns": 1789729880921663211, "q": [0.018762173131108284, -1.6864573955535889, -0.03701503947377205, 0.7554961442947388, 1.6219717264175415, -0.05977550521492958, -0.9197933077812195], "theta": [0.01630546525120735, -1.6854536533355713, -0.038704417645931244, 0.7388755083084106, 1.6218323707580566, -0.05974292755126953, -0.9209434390068054], "dq": [0.013730263337492943, 0.006163190118968487, -0.02587929554283619, 0.006287654861807823, 0.026094969362020493, -0.010585755109786987, -0.0028936550952494144], "dtheta": [0.011899644508957863, 0.006169510539621115, -0.02845182828605175, 0.008058576844632626, 0.028755761682987213, -0.011389777064323425, -0.0005718727479688823], "tau": [-61.279998779296875, 0.6200000047683716, -25.024002075195312, 0.9200000166893005, -3.744000196456909, 3.244000196456909, -0.48000001907348633], "tau_des": [-0.8829484581947327, 1.2867567539215088, -1.1278784275054932, -0.2736353278160095, 0.3437592387199402, -0.4412623941898346, -0.47172611951828003], "tau_dot": [-1.0081288814544678, 94.42192077636719, 32.45826721191406, 18.117874145507812, -36.243736267089844, -53.39280700683594, -71.11062622070312], "tau_ext": [14.651851654052734, -35.87867736816406, -35.835723876953125, 20.041545867919922, -2.7298669815063477, -6.404836177825928, 0.35602283477783203], "tcp_pose": [0.6406875252723694, -0.12182725220918655, -0.2824559807777405, -0.0061021242290735245, -0.024659138172864914, 0.9994868040084839, 0.01951458677649498], "tcp_vel": [-0.00017049479356501251, 0.000327642192132771, 0.0002045054716290906, -0.0011236229911446571, 0.00011471051402622834, -0.00021499893045984209], "flange_pose": [0.6431879997253418, -0.12918181717395782, -0.09261483699083328, -0.0061021242290735245, -0.024659138172864914, 0.9994868040084839, 0.01951458677649498], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.11697006225586, -50.97413635253906, -12.199639320373535, -4.203154563903809, 11.59898567199707, 0.435993492603302], "ext_wrench_in_world": [-9.440253066245562, -51.94571373892693, 10.321782119515625, 3.623006056376658, 11.801108885295651, -0.026896574229809025]}
+{"timestamp_ns": 1789729880955611794, "elapsed_ms": 333, "source_timestamp_ns": 1789729880951700515, "q": [0.019128946587443352, -1.6862863302230835, -0.03784116730093956, 0.7557274103164673, 1.622839331626892, -0.06009857356548309, -0.9198203682899475], "theta": [0.01667759008705616, -1.68527352809906, -0.03955928981304169, 0.7391137480735779, 1.6227021217346191, -0.06006789207458496, -0.9209698438644409], "dq": [0.011039366945624352, 0.005003280006349087, -0.025095617398619652, 0.008269526064395905, 0.029183989390730858, -0.01130765676498413, -0.002405555685982108], "dtheta": [0.012382819317281246, 0.005772776901721954, -0.028651122003793716, 0.00750275794416666, 0.028529707342386246, -0.010863548144698143, -0.00040244063711725175], "tau": [-61.29999923706055, 0.5699999928474426, -25.032001495361328, 0.9200000166893005, -3.748000144958496, 3.252000093460083, -0.46800002455711365], "tau_des": [-1.0188024044036865, 1.3119760751724243, -1.143232822418213, -0.28335726261138916, 0.3674710988998413, -0.44064730405807495, -0.4738505482673645], "tau_dot": [22.5616512298584, 84.70343780517578, -28.43416404724121, -8.751365661621094, -39.62326431274414, -14.097299575805664, -42.865726470947266], "tau_ext": [14.744207382202148, -35.868412017822266, -35.85459518432617, 20.035381317138672, -2.745861053466797, -6.411065101623535, 0.3537774085998535], "tcp_pose": [0.6406826376914978, -0.12181781977415085, -0.28246599435806274, -0.006099420133978128, -0.02465887926518917, 0.9994869828224182, 0.01950579136610031], "tcp_vel": [-0.00022110108693595976, -5.731200417358195e-06, 5.008509833714925e-05, -0.001868608989752829, 0.00046837475383654237, -0.00021251480211503804], "flange_pose": [0.6431820392608643, -0.1291690617799759, -0.0926247239112854, -0.006099420133978128, -0.02465887926518917, 0.9994869828224182, 0.01950579136610031], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.148256301879883, -50.9104118347168, -12.149035453796387, -4.154854774475098, 11.613885879516602, 0.43114086985588074], "ext_wrench_in_world": [-9.475378017476936, -51.88152176414274, 10.274927623926901, 3.5741078586857347, 11.813397202420846, -0.02110500864427719]}
+{"timestamp_ns": 1789729880988924525, "elapsed_ms": 366, "source_timestamp_ns": 1789729880981735950, "q": [0.019493406638503075, -1.6861298084259033, -0.03868919983506203, 0.7559296488761902, 1.6237149238586426, -0.06043741852045059, -0.919840931892395], "theta": [0.0170484259724617, -1.6851089000701904, -0.0404311865568161, 0.7393232583999634, 1.623578429222107, -0.060405611991882324, -0.9209890365600586], "dq": [0.013431361876428127, 0.005889137275516987, -0.03157949075102806, 0.0036564182955771685, 0.030015217140316963, -0.009371564723551273, -0.0022931089624762535], "dtheta": [0.012520096264779568, 0.005492399912327528, -0.03028695099055767, 0.0067887804470956326, 0.029417183250188828, -0.011521408334374428, 5.9900496125919744e-05], "tau": [-61.41999816894531, 0.5899999737739563, -24.98400115966797, 0.940000057220459, -3.700000286102295, 3.260000228881836, -0.47200003266334534], "tau_des": [-0.9525145888328552, 1.275808334350586, -0.9993077516555786, -0.25211748480796814, 0.4013935327529907, -0.47270581126213074, -0.4626290798187256], "tau_dot": [-108.72399139404297, 74.33970642089844, -12.921859741210938, -11.792170524597168, 56.585594177246094, 48.17765808105469, -23.465627670288086], "tau_ext": [14.786415100097656, -35.868751525878906, -35.892173767089844, 20.034135818481445, -2.763674736022949, -6.415654182434082, 0.35241055488586426], "tcp_pose": [0.640681803226471, -0.1218123510479927, -0.28246814012527466, -0.0060994247905910015, -0.024663271382451057, 0.9994871020317078, 0.019494881853461266], "tcp_vel": [-6.476267299149185e-05, -0.00022949815320316702, 0.00047679379349574447, -0.0024165234062820673, 0.0005663116462528706, -0.00016736470570322126], "flange_pose": [0.6431810855865479, -0.12915943562984467, -0.09262670576572418, -0.0060994247905910015, -0.024663271382451057, 0.9994871020317078, 0.019494881853461266], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.166230201721191, -50.88291931152344, -12.144893646240234, -4.11769437789917, 11.635055541992188, 0.4269292950630188], "ext_wrench_in_world": [-9.494277167836723, -51.85467464561518, 10.273193034322496, 3.5359069698830408, 11.832552644268324, -0.015902797230860834]}
+{"timestamp_ns": 1789729881022362116, "elapsed_ms": 400, "source_timestamp_ns": 1789729881021666978, "q": [0.019998542964458466, -1.685930609703064, -0.03988349065184593, 0.7561789155006409, 1.6249209642410278, -0.06093432009220123, -0.919849693775177], "theta": [0.017558736726641655, -1.6849013566970825, -0.041641637682914734, 0.7395827770233154, 1.6247856616973877, -0.060901522636413574, -0.9209952354431152], "dq": [0.011839923448860645, 0.006489093881100416, -0.031211623921990395, 0.008065717294812202, 0.03440370410680771, -0.012705240398645401, -0.001425161026418209], "dtheta": [0.012498266063630581, 0.00519262021407485, -0.03119834139943123, 0.006521653383970261, 0.03168231248855591, -0.012207802385091782, -0.00013432132254820317], "tau": [-61.3599967956543, 0.5699999928474426, -24.876001358032227, 1.0120000839233398, -3.6640002727508545, 3.252000093460083, -0.46000000834465027], "tau_des": [-0.9409980773925781, 1.2624194622039795, -0.8710772395133972, -0.24665683507919312, 0.4364146590232849, -0.47531217336654663, -0.44898271560668945], "tau_dot": [3.200047254562378, 39.006797790527344, 29.136045455932617, 24.008520126342773, -27.2110538482666, -14.603752136230469, -13.814911842346191], "tau_ext": [14.792762756347656, -35.84587478637695, -35.982505798339844, 20.02530860900879, -2.802701950073242, -6.4164204597473145, 0.3465407192707062], "tcp_pose": [0.6406778693199158, -0.12180957943201065, -0.28246545791625977, -0.0061128889210522175, -0.02466665208339691, 0.9994872808456421, 0.019478708505630493], "tcp_vel": [0.00027503317687660456, -7.20260213711299e-05, 0.0005789809511043131, -0.0013394361594691873, -0.0006575182196684182, 8.717348100617528e-05], "flange_pose": [0.6431821584701538, -0.129150390625, -0.09262385219335556, -0.0061128889210522175, -0.02466665208339691, 0.9994872808456421, 0.019478708505630493], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.183772087097168, -50.849422454833984, -12.141441345214844, -4.063937664031982, 11.67231559753418, 0.41915053129196167], "ext_wrench_in_world": [-9.512831209759266, -51.821712016235146, 10.273211293496049, 3.4804050461866156, 11.866800992236929, -0.006545119031617953]}
+{"timestamp_ns": 1789729881055621465, "elapsed_ms": 433, "source_timestamp_ns": 1789729881051666020, "q": [0.020375890657305717, -1.6857892274856567, -0.0408037044107914, 0.7563567757606506, 1.6258721351623535, -0.06133587658405304, -0.9198530912399292], "theta": [0.017941398546099663, -1.6847556829452515, -0.042564939707517624, 0.7397695183753967, 1.6257355213165283, -0.06130063533782959, -0.9209964275360107], "dq": [0.012691309675574303, 0.0035620802082121372, -0.032779812812805176, 0.0067883823066949844, 0.03021877445280552, -0.013008642941713333, -0.0007278538541868329], "dtheta": [0.012918788008391857, 0.00466657429933548, -0.03172075003385544, 0.006381826940923929, 0.03251960501074791, -0.013442546129226685, -2.9903299946454354e-05], "tau": [-61.48999786376953, 0.5099999904632568, -24.916000366210938, 1.040000081062317, -3.6640002727508545, 3.2720000743865967, -0.46000000834465027], "tau_des": [-1.0041654109954834, 1.3116718530654907, -0.8622204661369324, -0.2768940031528473, 0.4352813959121704, -0.4294470548629761, -0.44774895906448364], "tau_dot": [-46.72922134399414, 88.64287567138672, -37.804481506347656, -39.1773796081543, 7.689397811889648, -15.841924667358398, -43.57167434692383], "tau_ext": [14.879213333129883, -35.87746810913086, -36.0025634765625, 20.047494888305664, -2.8185360431671143, -6.426626205444336, 0.3435494601726532], "tcp_pose": [0.6406799554824829, -0.12180311232805252, -0.2824597954750061, -0.006114755291491747, -0.02466958947479725, 0.9994871616363525, 0.01948024332523346], "tcp_vel": [-8.727919339435175e-05, -0.00011138042464153841, 0.00032791763078421354, -0.0003859670541714877, -2.6250076189171523e-05, -0.00033760385122150183], "flange_pose": [0.6431849598884583, -0.12914448976516724, -0.09261821955442429, -0.006114755291491747, -0.02466958947479725, 0.9994871616363525, 0.01948024332523346], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.22002124786377, -50.84096145629883, -12.170822143554688, -4.030859470367432, 11.694015502929688, 0.41160234808921814], "ext_wrench_in_world": [-9.548716069218802, -51.81628661380342, 10.303186678633246, 3.4463337562399023, 11.886547932497052, 0.0022437947097691535]}
+{"timestamp_ns": 1789729881089020002, "elapsed_ms": 466, "source_timestamp_ns": 1789729881081738204, "q": [0.02077176421880722, -1.6856440305709839, -0.04174770414829254, 0.7565346360206604, 1.6268354654312134, -0.06173649802803993, -0.9198558926582336], "theta": [0.018342705443501472, -1.6846083402633667, -0.04350225627422333, 0.7399599552154541, 1.6266974210739136, -0.06170010566711426, -0.920996904373169], "dq": [0.012327647767961025, 0.004521287977695465, -0.03448792174458504, 0.005286528263241053, 0.031393736600875854, -0.014697950333356857, 0.0008925651200115681], "dtheta": [0.01366798859089613, 0.004759491886943579, -0.03171078488230705, 0.006162497214972973, 0.03127491474151611, -0.013382324948906898, 0.00015068636275827885], "tau": [-61.54999923706055, 0.44999998807907104, -24.884000778198242, 1.0720000267028809, -3.636000156402588, 3.2920000553131104, -0.4280000329017639], "tau_des": [-1.1518661975860596, 1.2813081741333008, -0.8529987335205078, -0.24826586246490479, 0.5073575377464294, -0.412275105714798, -0.43347224593162537], "tau_dot": [-90.25301361083984, 10.744611740112305, -45.1904296875, -9.183506965637207, 10.06035041809082, 27.735523223876953, 64.5305404663086], "tau_ext": [15.014180183410645, -35.78275680541992, -35.98709487915039, 20.001222610473633, -2.824591636657715, -6.449838638305664, 0.3401918113231659], "tcp_pose": [0.6406811475753784, -0.12179984897375107, -0.28245723247528076, -0.006122354418039322, -0.024674639105796814, 0.9994871020317078, 0.019473666325211525], "tcp_vel": [-0.0004221188719384372, -0.00023014956968836486, -2.8325199309620075e-05, -0.0012192116118967533, 0.00164191541261971, -0.00020249743829481304], "flange_pose": [0.6431890726089478, -0.12913864850997925, -0.09261558204889297, -0.006122354418039322, -0.024674639105796814, 0.9994871020317078, 0.019473666325211525], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.231849670410156, -50.7806396484375, -12.095359802246094, -3.9796013832092285, 11.723187446594238, 0.4046732187271118], "ext_wrench_in_world": [-9.563792337422573, -51.75371684271818, 10.231124439677822, 3.39367700528367, 11.912890238402035, 0.010679081180808618]}
+{"timestamp_ns": 1789729881122367913, "elapsed_ms": 500, "source_timestamp_ns": 1789729881121691493, "q": [0.02130032703280449, -1.68545663356781, -0.04301995038986206, 0.7567747235298157, 1.6281278133392334, -0.062266767024993896, -0.9198582768440247], "theta": [0.018883200362324715, -1.6844197511672974, -0.0447460375726223, 0.740216076374054, 1.6279873847961426, -0.062227487564086914, -0.9209954738616943], "dq": [0.011723315343260765, 0.001126780523918569, -0.03324713557958603, 0.004624735098332167, 0.030967500060796738, -0.015662821009755135, -0.00045517628313973546], "dtheta": [0.013430356979370117, 0.004751625470817089, -0.031055251136422157, 0.006619063206017017, 0.032528456300497055, -0.015281574800610542, 0.0002492345520295203], "tau": [-61.529998779296875, 0.5, -24.792001724243164, 1.1200000047683716, -3.57200026512146, 3.2680001258850098, -0.47600001096725464], "tau_des": [-1.1893895864486694, 1.2909202575683594, -0.8239373564720154, -0.27837303280830383, 0.5188189148902893, -0.37571632862091064, -0.4364849627017975], "tau_dot": [-57.45222854614258, -38.57809066772461, 7.2650370597839355, 26.649585723876953, 7.148976802825928, -15.030359268188477, -43.273719787597656], "tau_ext": [15.011788368225098, -35.82939147949219, -36.06721496582031, 20.02238655090332, -2.8641295433044434, -6.448894500732422, 0.3368377089500427], "tcp_pose": [0.6406810283660889, -0.12180375307798386, -0.2824487090110779, -0.006129108369350433, -0.02467697113752365, 0.9994872808456421, 0.019459009170532227], "tcp_vel": [-0.0005817356868647039, 0.000532042991835624, -0.0004413028946146369, 0.0016751432558521628, 0.0015661129727959633, -0.0006961749750189483], "flange_pose": [0.6431913375854492, -0.12913690507411957, -0.09260688722133636, -0.006129108369350433, -0.02467697113752365, 0.9994872808456421, 0.019459009170532227], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.250748634338379, -50.73968505859375, -12.098367691040039, -3.9293606281280518, 11.762029647827148, 0.3960611820220947], "ext_wrench_in_world": [-9.584244096048714, -51.71364175808465, 10.237602451671291, 3.341647662909641, 11.948850641765977, 0.02097808122265915]}
+{"timestamp_ns": 1789729881155628731, "elapsed_ms": 533, "source_timestamp_ns": 1789729881151661327, "q": [0.021694475784897804, -1.6853151321411133, -0.043962512165308, 0.7569575309753418, 1.6290947198867798, -0.06266878545284271, -0.9198597073554993], "theta": [0.019289465621113777, -1.6842786073684692, -0.04565384238958359, 0.7404102683067322, 1.6289502382278442, -0.06262600421905518, -0.9209945201873779], "dq": [0.010740531608462334, 0.0040611098520457745, -0.037809956818819046, 0.007649692241102457, 0.03255799040198326, -0.012302558869123459, 0.0006214053137227893], "dtheta": [0.013572262600064278, 0.004754501394927502, -0.030107811093330383, 0.006086542271077633, 0.03163772448897362, -0.012571652419865131, -0.00047918231575749815], "tau": [-61.6099967956543, 0.47999998927116394, -24.812000274658203, 1.1360000371932983, -3.56000018119812, 3.2960002422332764, -0.4480000138282776], "tau_des": [-1.1901062726974487, 1.2326338291168213, -0.7942698001861572, -0.2111794501543045, 0.551695704460144, -0.4324131906032562, -0.41256940364837646], "tau_dot": [-100.78948211669922, 38.20674133300781, 46.311073303222656, 4.037184238433838, -4.805605411529541, -43.75931167602539, -16.694786071777344], "tau_ext": [15.000871658325195, -35.820716857910156, -36.10704040527344, 20.016071319580078, -2.890655517578125, -6.451446056365967, 0.3371610939502716], "tcp_pose": [0.6406803131103516, -0.12180211395025253, -0.28244563937187195, -0.006134307011961937, -0.024678070098161697, 0.9994872808456421, 0.01945461332798004], "tcp_vel": [-6.251090235309675e-05, 0.00022375312983058393, -0.0005738559411838651, -6.723865226376802e-06, 0.0005234956624917686, 0.0005183060420677066], "flange_pose": [0.6431925892829895, -0.12913355231285095, -0.09260377287864685, -0.006134307011961937, -0.024678070098161697, 0.9994872808456421, 0.01945461332798004], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.269307136535645, -50.72393798828125, -12.09980583190918, -3.896547794342041, 11.787079811096191, 0.3898405134677887], "ext_wrench_in_world": [-9.603302052657556, -51.69883227566168, 10.240430402965247, 3.3077006528396438, 11.97199316705338, 0.028404434784090285]}
+{"timestamp_ns": 1789729881188922837, "elapsed_ms": 566, "source_timestamp_ns": 1789729881181702354, "q": [0.022101566195487976, -1.6851691007614136, -0.04491446539759636, 0.7571430802345276, 1.6300655603408813, -0.06307000666856766, -0.9198598265647888], "theta": [0.01971084624528885, -1.6841317415237427, -0.04654962942004204, 0.7406072020530701, 1.6299148797988892, -0.06302297115325928, -0.920992374420166], "dq": [0.014583982527256012, 0.005681367591023445, -0.03462818264961243, 0.005217210855334997, 0.033474843949079514, -0.013031230308115482, 0.0008102667634375393], "dtheta": [0.01461784727871418, 0.004758412949740887, -0.03109000064432621, 0.007208224385976791, 0.03232881799340248, -0.01297006569802761, -0.0003579713811632246], "tau": [-61.709999084472656, 0.44999998807907104, -24.852001190185547, 1.156000018119812, -3.5880000591278076, 3.2840001583099365, -0.4240000247955322], "tau_des": [-1.4066436290740967, 1.4108837842941284, -0.7480618953704834, -0.34349843859672546, 0.6318278908729553, -0.40603339672088623, -0.427809476852417], "tau_dot": [-18.026906967163086, 21.430160522460938, 16.123214721679688, 52.302947998046875, -60.346553802490234, -51.38972091674805, 20.466814041137695], "tau_ext": [15.102534294128418, -35.82816696166992, -36.08008575439453, 20.020793914794922, -2.9035415649414062, -6.465980529785156, 0.3332209289073944], "tcp_pose": [0.6406781077384949, -0.12180061638355255, -0.2824471592903137, -0.006144613493233919, -0.024679746478796005, 0.9994873404502869, 0.01944665238261223], "tcp_vel": [-0.0007486130343750119, -0.0001654127991059795, -0.000916533637791872, -0.0002669718232937157, 0.0013506743125617504, -0.0006552565610036254], "flange_pose": [0.6431942582130432, -0.12912893295288086, -0.09260521829128265, -0.006144613493233919, -0.024679746478796005, 0.9994873404502869, 0.01944665238261223], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.288436889648438, -50.68354415893555, -12.0835599899292, -3.8660833835601807, 11.808004379272461, 0.3846071660518646], "ext_wrench_in_world": [-9.624200178697444, -51.65870887100581, 10.227038693233085, 3.2762721776227557, 11.991177538746072, 0.034535114636556785]}
+{"timestamp_ns": 1789729881222287057, "elapsed_ms": 600, "source_timestamp_ns": 1789729881221691570, "q": [0.022646211087703705, -1.684977650642395, -0.04618632793426514, 0.7573922872543335, 1.6313989162445068, -0.06359542161226273, -0.9198579788208008], "theta": [0.020273132249712944, -1.6839383840560913, -0.0477122999727726, 0.7408726811408997, 1.6312391757965088, -0.06354165077209473, -0.9209877848625183], "dq": [0.012490765191614628, 0.0038402380887418985, -0.031653013080358505, 0.006633247714489698, 0.033663444221019745, -0.014308495447039604, -0.0015040318248793483], "dtheta": [0.0133827431127429, 0.005030428059399128, -0.02721043862402439, 0.006361125502735376, 0.03004164807498455, -0.013589516282081604, 0.0008035291684791446], "tau": [-61.73999786376953, 0.3499999940395355, -24.924001693725586, 1.2280000448226929, -3.5200002193450928, 3.2960002422332764, -0.41600000858306885], "tau_des": [-1.4500205516815186, 1.123929500579834, -0.9834054112434387, -0.17857174575328827, 0.5476763844490051, -0.32927367091178894, -0.43725308775901794], "tau_dot": [41.67710876464844, -11.297566413879395, 43.74896240234375, 14.754616737365723, 31.95929718017578, -78.1283187866211, 67.55319213867188], "tau_ext": [15.187125205993652, -35.80183792114258, -36.03327178955078, 19.998348236083984, -2.9271974563598633, -6.473547458648682, 0.32691314816474915], "tcp_pose": [0.6406833529472351, -0.12179655581712723, -0.28245189785957336, -0.006141047924757004, -0.02467976324260235, 0.9994874596595764, 0.01944303698837757], "tcp_vel": [-0.00043017219286412, 0.0012364336289465427, -0.0015768172452226281, 0.0026020188815891743, 0.0019052417483180761, -0.0007818940794095397], "flange_pose": [0.6431980729103088, -0.1291235387325287, -0.09260987490415573, -0.006141047924757004, -0.02467976324260235, 0.9994874596595764, 0.01944303698837757], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.329030990600586, -50.6614990234375, -11.988451957702637, -3.8305470943450928, 11.825867652893066, 0.374664843082428], "ext_wrench_in_world": [-9.667161066811524, -51.6349791779813, 10.13362674509252, 3.240036991656766, 12.006860523576968, 0.04551033338645062]}
+{"timestamp_ns": 1789729881255622839, "elapsed_ms": 633, "source_timestamp_ns": 1789729881251663474, "q": [0.02304387278854847, -1.684838056564331, -0.04709041118621826, 0.7575733065605164, 1.6323260068893433, -0.06396222114562988, -0.9198572039604187], "theta": [0.020681161433458328, -1.6837971210479736, -0.048515819013118744, 0.7410651445388794, 1.6321552991867065, -0.0639040470123291, -0.9209844470024109], "dq": [0.012312146835029125, 0.0046866643242537975, -0.025672489777207375, 0.0052018603309988976, 0.03137990087270737, -0.012405441142618656, 0.00038963189581409097], "dtheta": [0.013257135637104511, 0.004975356161594391, -0.025914816185832024, 0.00670933723449707, 0.0306136142462492, -0.011150280013680458, 0.00040038919541984797], "tau": [-61.80999755859375, 0.3499999940395355, -25.000001907348633, 1.2360000610351562, -3.500000238418579, 3.3360002040863037, -0.3960000276565552], "tau_des": [-1.5266013145446777, 1.1625890731811523, -0.9955039024353027, -0.19465427100658417, 0.5560262799263, -0.3739929497241974, -0.43670743703842163], "tau_dot": [108.35289764404297, 92.00033569335938, -3.678542137145996, 1.4484164714813232, 18.441635131835938, -26.329355239868164, 63.0728759765625], "tau_ext": [15.262527465820312, -35.77789306640625, -35.98197937011719, 19.982614517211914, -2.9412102699279785, -6.483992576599121, 0.3182094991207123], "tcp_pose": [0.6406811475753784, -0.12179750949144363, -0.2824590802192688, -0.00614950992166996, -0.02467981167137623, 0.9994876384735107, 0.019431477412581444], "tcp_vel": [6.437567208195105e-05, 0.001109678065404296, -0.001832960406318307, 0.0023845562245696783, -0.00041411007987335324, -0.0008116371463984251], "flange_pose": [0.6431989669799805, -0.12912002205848694, -0.09261692315340042, -0.00614950992166996, -0.02467981167137623, 0.9994876384735107, 0.019431477412581444], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.345282554626465, -50.607017517089844, -11.915746688842773, -3.8005995750427246, 11.837895393371582, 0.36456671357154846], "ext_wrench_in_world": [-9.686835405836417, -51.57837573174731, 10.064671836488516, 3.2096655608104028, 12.016993632431348, 0.056074849259749364]}
+{"timestamp_ns": 1789729881288926114, "elapsed_ms": 666, "source_timestamp_ns": 1789729881281710101, "q": [0.0234253890812397, -1.6847046613693237, -0.04793756827712059, 0.7577546834945679, 1.6332323551177979, -0.06430990248918533, -0.9198601841926575], "theta": [0.02107221633195877, -1.6836628913879395, -0.04926636070013046, 0.7412561774253845, 1.6330503225326538, -0.06424534320831299, -0.9209851622581482], "dq": [0.015514062717556953, 0.00496699009090662, -0.02426285482943058, 0.00507082836702466, 0.029453884810209274, -0.010649405419826508, -0.0012215792667120695], "dtheta": [0.01273125410079956, 0.0041561727412045, -0.024200469255447388, 0.006285934243351221, 0.02976040728390217, -0.010416833683848381, -0.00031252572080120444], "tau": [-61.91999816894531, 0.29999998211860657, -25.060001373291016, 1.28000009059906, -3.51200008392334, 3.3480000495910645, -0.4320000112056732], "tau_des": [-1.6298911571502686, 1.245514988899231, -1.1188548803329468, -0.2216070294380188, 0.5234799981117249, -0.3419714868068695, -0.4346598982810974], "tau_dot": [-20.73625946044922, -90.83211517333984, -17.723949432373047, -15.07112979888916, -0.5462852716445923, -1.9024230241775513, 15.08182430267334], "tau_ext": [15.309892654418945, -35.80158615112305, -35.93822479248047, 19.992904663085938, -2.9569318294525146, -6.491299629211426, 0.3138686716556549], "tcp_pose": [0.6406810879707336, -0.12179163843393326, -0.28247523307800293, -0.0061479052528738976, -0.024678094312548637, 0.9994876384735107, 0.01943393237888813], "tcp_vel": [-1.3274077900859993e-05, 0.0009387270547449589, -0.002042018109932542, 0.002979074139147997, -0.0009673835011199117, -0.0005401545204222202], "flange_pose": [0.6431983709335327, -0.12911510467529297, -0.09263312816619873, -0.0061479052528738976, -0.024678094312548637, 0.9994876384735107, 0.01943393237888813], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.394693374633789, -50.570247650146484, -11.858383178710938, -3.781693458557129, 11.838927268981934, 0.35434484481811523], "ext_wrench_in_world": [-9.738959636299764, -51.54193248808946, 10.009070059562136, 3.190910867728221, 12.016680706957398, 0.06661219887326525]}
+{"timestamp_ns": 1789729881322291563, "elapsed_ms": 700, "source_timestamp_ns": 1789729881321659020, "q": [0.023921871557831764, -1.684543490409851, -0.0490340031683445, 0.7579652070999146, 1.6343867778778076, -0.06474518775939941, -0.9198625683784485], "theta": [0.02157728187739849, -1.6835005283355713, -0.05024568736553192, 0.7414788603782654, 1.6341863870620728, -0.06467556953430176, -0.92098468542099], "dq": [0.010814933106303215, 0.003078008769080043, -0.025127675384283066, 0.004996499978005886, 0.029963718727231026, -0.01262868195772171, 0.00030298944329842925], "dtheta": [0.012636668048799038, 0.004053011536598206, -0.024239642545580864, 0.005261734593659639, 0.02675299346446991, -0.010710491798818111, 0.00013735040556639433], "tau": [-61.96999740600586, 0.28999999165534973, -25.14000129699707, 1.3000000715255737, -3.5200002193450928, 3.3480000495910645, -0.4400000274181366], "tau_des": [-1.7108808755874634, 1.218653917312622, -1.0774128437042236, -0.17015179991722107, 0.6177173852920532, -0.34810951352119446, -0.42194345593452454], "tau_dot": [-27.398311614990234, -39.49403381347656, 8.399222373962402, -6.404725551605225, 9.02220630645752, 11.182435035705566, -17.929710388183594], "tau_ext": [15.35429573059082, -35.800350189208984, -35.89073181152344, 19.99543571472168, -2.969541311264038, -6.504493713378906, 0.3176766633987427], "tcp_pose": [0.6406834721565247, -0.12179173529148102, -0.2824948728084564, -0.006150349043309689, -0.02468149922788143, 0.9994876980781555, 0.019425751641392708], "tcp_vel": [-0.00034446624340489507, 0.0006339966785162687, -0.0017164243618026376, 0.0012502041645348072, 0.0014899650122970343, -9.95844166027382e-05], "flange_pose": [0.6432015895843506, -0.12911204993724823, -0.09265264868736267, -0.006150349043309689, -0.02468149922788143, 0.9994876980781555, 0.019425751641392708], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.439221382141113, -50.508270263671875, -11.787734031677246, -3.7613558769226074, 11.839970588684082, 0.3484186828136444], "ext_wrench_in_world": [-9.787005108050288, -51.47946663040904, 9.942299215332412, 3.170543103287656, 12.016508801387046, 0.0725934479183193]}
+{"timestamp_ns": 1789729881355622746, "elapsed_ms": 733, "source_timestamp_ns": 1789729881351673780, "q": [0.024273743852972984, -1.684430718421936, -0.04982313886284828, 0.7581114768981934, 1.6352299451828003, -0.06507369875907898, -0.9198623895645142], "theta": [0.021936053410172462, -1.6833858489990234, -0.05095188319683075, 0.7416349053382874, 1.6350138187408447, -0.06499850749969482, -0.9209827780723572], "dq": [0.012321731075644493, 0.0029417122714221478, -0.024848369881510735, 0.005425873678177595, 0.026745861396193504, -0.008539075031876564, -0.0009214633610099554], "dtheta": [0.01132153905928135, 0.003983854316174984, -0.022889690473675728, 0.005179199855774641, 0.027511728927493095, -0.010685151442885399, 0.0005474418867379427], "tau": [-61.96999740600586, 0.2199999988079071, -25.160001754760742, 1.352000117301941, -3.4840002059936523, 3.372000217437744, -0.40800002217292786], "tau_des": [-1.6064187288284302, 1.0786606073379517, -1.159218430519104, -0.09402647614479065, 0.5142142176628113, -0.3226613402366638, -0.42047640681266785], "tau_dot": [32.4566650390625, -103.75556182861328, -5.704784393310547, 56.465511322021484, 48.5362663269043, 17.16779136657715, 82.10941314697266], "tau_ext": [15.37542724609375, -35.76788330078125, -35.84485626220703, 19.981081008911133, -2.9732513427734375, -6.512740135192871, 0.3235597014427185], "tcp_pose": [0.6406875252723694, -0.12178658694028854, -0.2825081944465637, -0.0061494046822190285, -0.024684736505150795, 0.9994875192642212, 0.019429562613368034], "tcp_vel": [0.0002468093007337302, 0.0011980986455455422, -0.0015014810487627983, 0.0030543808825314045, -0.000557999184820801, -0.0004952140152454376], "flange_pose": [0.6432053446769714, -0.12910835444927216, -0.09266602247953415, -0.0061494046822190285, -0.024684736505150795, 0.9994875192642212, 0.019429562613368034], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.472798347473145, -50.45269775390625, -11.735644340515137, -3.7461090087890625, 11.838166236877441, 0.34813404083251953], "ext_wrench_in_world": [-9.823646631119201, -51.42380061537344, 9.892393769357795, 3.155331348231354, 12.013960774384046, 0.07307846804574498]}
+{"timestamp_ns": 1789729881388934600, "elapsed_ms": 766, "source_timestamp_ns": 1789729881381693079, "q": [0.02460278384387493, -1.6843260526657104, -0.05056073144078255, 0.7582517266273499, 1.6360169649124146, -0.06536749750375748, -0.91986083984375], "theta": [0.022271843627095222, -1.683280110359192, -0.05161578580737114, 0.7417842149734497, 1.6357862949371338, -0.06529009342193604, -0.920979917049408], "dq": [0.01072886772453785, 0.00398522661998868, -0.02380751259624958, 0.004550801124423742, 0.024593504145741463, -0.0103234201669693, -0.0009352511260658503], "dtheta": [0.011192026548087597, 0.0036135048139840364, -0.022000793367624283, 0.005242658779025078, 0.02568204514682293, -0.010584448464214802, 0.00039686181116849184], "tau": [-61.96999740600586, 0.28999999165534973, -25.184001922607422, 1.3760000467300415, -3.4720001220703125, 3.3440001010894775, -0.4320000112056732], "tau_des": [-1.6802483797073364, 1.1877012252807617, -1.1902368068695068, -0.14342275261878967, 0.5412995219230652, -0.3243035674095154, -0.4247840642929077], "tau_dot": [-16.080076217651367, 46.74543380737305, 16.281646728515625, -4.441074848175049, 0.020198317244648933, -25.868534088134766, -32.2152214050293], "tau_ext": [15.377476692199707, -35.77785110473633, -35.82740020751953, 19.98725700378418, -2.9781131744384766, -6.515377521514893, 0.31510013341903687], "tcp_pose": [0.640691876411438, -0.12178628891706467, -0.2825191617012024, -0.0061446367762982845, -0.024685047566890717, 0.999487578868866, 0.019427569583058357], "tcp_vel": [-0.0002867761650122702, 0.0008744047954678535, -0.001585517544299364, 0.0026739509776234627, 0.0005344924866221845, -0.0008222452597692609], "flange_pose": [0.6432079076766968, -0.12910734117031097, -0.09267692267894745, -0.0061446367762982845, -0.024685047566890717, 0.999487578868866, 0.019427569583058357], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.501523971557617, -50.40055847167969, -11.710991859436035, -3.7325892448425293, 11.835132598876953, 0.34376978874206543], "ext_wrench_in_world": [-9.85529371042464, -51.37220607763125, 9.870225671131422, 3.1420296355723605, 12.010096322039141, 0.0774588658109878]}
+{"timestamp_ns": 1789729881422291420, "elapsed_ms": 800, "source_timestamp_ns": 1789729881421689094, "q": [0.025025855749845505, -1.6841851472854614, -0.05151580274105072, 0.7584489583969116, 1.6370298862457275, -0.06577500700950623, -0.9198611974716187], "theta": [0.02270490676164627, -1.6831387281417847, -0.05249316617846489, 0.7419925928115845, 1.6367876529693604, -0.06569468975067139, -0.9209781885147095], "dq": [0.011259910650551319, 0.00260824803262949, -0.019888712093234062, 0.0027743023820221424, 0.025378581136465073, -0.011453481391072273, 0.0006583597278222442], "dtheta": [0.010562635958194733, 0.00375932059250772, -0.020816989243030548, 0.005325894337147474, 0.022888099774718285, -0.009405841119587421, 0.0005265608197078109], "tau": [-61.959999084472656, 0.25, -25.23600196838379, 1.4520000219345093, -3.5320000648498535, 3.392000198364258, -0.3960000276565552], "tau_des": [-1.6800976991653442, 1.2105889320373535, -1.2106099128723145, -0.16313329339027405, 0.5901674628257751, -0.3053009510040283, -0.43891364336013794], "tau_dot": [-22.803922653198242, -70.87828063964844, 1.4303594827651978, 67.01304626464844, -42.92764663696289, 64.1426773071289, 33.66035079956055], "tau_ext": [15.390175819396973, -35.727176666259766, -35.79551315307617, 19.959617614746094, -2.9840426445007324, -6.5193939208984375, 0.30666249990463257], "tcp_pose": [0.6406885385513306, -0.12178131192922592, -0.28253301978111267, -0.006147265899926424, -0.024681949988007545, 0.9994875192642212, 0.019433392211794853], "tcp_vel": [-0.0004448298132047057, 0.0005578651907853782, -0.0012749473098665476, 0.001150011201389134, 0.0011475719511508942, -0.0009727905853651464], "flange_pose": [0.6432055830955505, -0.12910455465316772, -0.09269089251756668, -0.006147265899926424, -0.024681949988007545, 0.9994875192642212, 0.019433392211794853], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.543954849243164, -50.35492706298828, -11.701533317565918, -3.7236955165863037, 11.825871467590332, 0.33254125714302063], "ext_wrench_in_world": [-9.900295941997037, -51.328456336999494, 9.862508559308806, 3.133825287074557, 11.999959514856268, 0.08853625142782953]}
+{"timestamp_ns": 1789729881455617243, "elapsed_ms": 833, "source_timestamp_ns": 1789729881451666538, "q": [0.025329792872071266, -1.6840757131576538, -0.05218088626861572, 0.7586039304733276, 1.6377454996109009, -0.06604216247797012, -0.9198635816574097], "theta": [0.02301432564854622, -1.6830295324325562, -0.05311562865972519, 0.7421559691429138, 1.6374967098236084, -0.06596136093139648, -0.9209789633750916], "dq": [0.007734163198620081, 0.0024271896108984947, -0.018676159903407097, 0.006340712774544954, 0.023005411028862, -0.00787001196295023, -0.0003766195150092244], "dtheta": [0.010043103247880936, 0.0034544554073363543, -0.020584991201758385, 0.005383700132369995, 0.02409309335052967, -0.009348445571959019, 2.891590520448517e-05], "tau": [-62.0, 0.3100000023841858, -25.240001678466797, 1.4280000925064087, -3.4760000705718994, 3.3600001335144043, -0.40800002217292786], "tau_des": [-1.6764546632766724, 1.2217981815338135, -1.2484616041183472, -0.1783863604068756, 0.531536877155304, -0.29282283782958984, -0.44593745470046997], "tau_dot": [-115.212646484375, -28.471019744873047, -6.122035503387451, 0.04183942824602127, 54.694984436035156, -28.223037719726562, 21.448745727539062], "tau_ext": [15.421297073364258, -35.75507354736328, -35.77414321899414, 19.95930290222168, -2.981527805328369, -6.528430461883545, 0.3042667806148529], "tcp_pose": [0.6406875252723694, -0.1217767596244812, -0.28254762291908264, -0.006143952254205942, -0.024678027257323265, 0.9994876384735107, 0.0194341279566288], "tcp_vel": [-0.00017480086535215378, 0.0006377912941388786, -0.0011426988057792187, 0.0021073753014206886, -0.00038579091778956354, -0.000806239084340632], "flange_pose": [0.6432032585144043, -0.12910032272338867, -0.09270549565553665, -0.006143952254205942, -0.024678027257323265, 0.9994876384735107, 0.0194341279566288], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.551892280578613, -50.32771682739258, -11.68840503692627, -3.7191457748413086, 11.826207160949707, 0.32495540380477905], "ext_wrench_in_world": [-9.91020608516136, -51.30112376131164, 9.850401482423068, 3.129460644901283, 11.999751455000979, 0.09621960764798929]}
+{"timestamp_ns": 1789729881488932607, "elapsed_ms": 866, "source_timestamp_ns": 1789729881481698336, "q": [0.025618530809879303, -1.6839666366577148, -0.052828285843133926, 0.7587570548057556, 1.6384254693984985, -0.06630727648735046, -0.9198665618896484], "theta": [0.02330739051103592, -1.6829208135604858, -0.053729649633169174, 0.7423192262649536, 1.638166069984436, -0.06622493267059326, -0.9209810495376587], "dq": [0.010582055896520615, 0.00314971711486578, -0.019536323845386505, 0.004593060351908207, 0.024185163900256157, -0.009855691343545914, -0.0022732922807335854], "dtheta": [0.010019811801612377, 0.003611903404816985, -0.02077450416982174, 0.005093509331345558, 0.021962370723485947, -0.008438324555754662, -0.00025338155683130026], "tau": [-61.98999786376953, 0.23999999463558197, -25.264001846313477, 1.4440001249313354, -3.496000051498413, 3.392000198364258, -0.4400000274181366], "tau_des": [-1.6653145551681519, 1.225440263748169, -1.1776803731918335, -0.1741272658109665, 0.6114292144775391, -0.31573137640953064, -0.44592157006263733], "tau_dot": [65.94596862792969, -144.46395874023438, -20.76203155517578, -6.91084098815918, -17.062376022338867, 15.559517860412598, -33.909217834472656], "tau_ext": [15.402166366577148, -35.75616455078125, -35.77259826660156, 19.959630966186523, -2.9860405921936035, -6.534605503082275, 0.3070239722728729], "tcp_pose": [0.6406843662261963, -0.1217731162905693, -0.28255605697631836, -0.006145083345472813, -0.024674637243151665, 0.9994877576828003, 0.019431544467806816], "tcp_vel": [-0.0002862290129996836, 0.000154771376401186, -0.0007564800907857716, -0.00013143073010724038, 0.0006553811253979802, -0.00011826242553070188], "flange_pose": [0.6432004570960999, -0.12909570336341858, -0.09271388500928879, -0.006145083345472813, -0.024674637243151665, 0.9994877576828003, 0.019431544467806816], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.560359001159668, -50.332054138183594, -11.717734336853027, -3.726921319961548, 11.82788372039795, 0.3203827440738678], "ext_wrench_in_world": [-9.918382319282655, -51.30688415532983, 9.879925123007121, 3.1372850920626196, 12.001613372616346, 0.10069576206180131]}
+{"timestamp_ns": 1789729881522293537, "elapsed_ms": 900, "source_timestamp_ns": 1789729881521673613, "q": [0.0260042492300272, -1.6838183403015137, -0.05369361862540245, 0.7589564919471741, 1.6393462419509888, -0.06665442883968353, -0.9198704361915588], "theta": [0.0236962977796793, -1.682774543762207, -0.05456630885601044, 0.7425305843353271, 1.6390700340270996, -0.06657075881958008, -0.9209834933280945], "dq": [0.012753263115882874, 0.0050035202875733376, -0.015269327908754349, 0.001908320002257824, 0.02301480621099472, -0.006642546504735947, -0.0015678186900913715], "dtheta": [0.009112055413424969, 0.0033680074848234653, -0.0206683911383152, 0.0054039317183196545, 0.02225438505411148, -0.0076087480410933495, -7.529614231316373e-05], "tau": [-61.91999816894531, 0.22999998927116394, -25.248001098632812, 1.5040000677108765, -3.504000186920166, 3.392000198364258, -0.4280000329017639], "tau_des": [-1.496762990951538, 1.2398289442062378, -1.112212896347046, -0.19333228468894958, 0.5796343088150024, -0.358556866645813, -0.4589209258556366], "tau_dot": [166.52638244628906, -7.371173858642578, 15.870296478271484, -16.44341468811035, -29.78293228149414, 18.06031036376953, 20.027063369750977], "tau_ext": [15.387950897216797, -35.76747512817383, -35.77880096435547, 19.96412467956543, -2.9912538528442383, -6.536736011505127, 0.32671138644218445], "tcp_pose": [0.6406877636909485, -0.12176452577114105, -0.28256770968437195, -0.006139636971056461, -0.02467435784637928, 0.9994878768920898, 0.019429074600338936], "tcp_vel": [-4.398546298034489e-05, -0.00017498900706414133, -0.0001503925450379029, -0.0004926210967823863, -0.0010396388825029135, -0.0008415449992753565], "flange_pose": [0.6432018280029297, -0.1290862262248993, -0.092725470662117, -0.006139636971056461, -0.02467435784637928, 0.9994878768920898, 0.019429074600338936], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.541738510131836, -50.3209342956543, -11.700614929199219, -3.7237648963928223, 11.840325355529785, 0.3256783187389374], "ext_wrench_in_world": [-9.900705177554737, -51.29415007817309, 9.863175336091144, 3.13345982603777, 12.014076224096112, 0.09590566157162173]}
+{"timestamp_ns": 1789729881555615411, "elapsed_ms": 933, "source_timestamp_ns": 1789729881551673144, "q": [0.026279734447598457, -1.6837109327316284, -0.05429454147815704, 0.7591087222099304, 1.6399909257888794, -0.06689644604921341, -0.9198749661445618], "theta": [0.023971768096089363, -1.6826671361923218, -0.05516669526696205, 0.742691159248352, 1.639699101448059, -0.06681334972381592, -0.9209875464439392], "dq": [0.0073092360980808735, 0.0033183281775563955, -0.014069770462810993, 0.004603477660566568, 0.02091255784034729, -0.0064477394334971905, -0.001158545957878232], "dtheta": [0.008625238202512264, 0.0037323981523513794, -0.0199982188642025, 0.0052152518182992935, 0.021115820854902267, -0.007143236696720123, -0.0008406497072428465], "tau": [-61.90999984741211, 0.20999999344348907, -25.256000518798828, 1.5280001163482666, -3.500000238418579, 3.388000249862671, -0.4320000112056732], "tau_des": [-1.4890204668045044, 1.1005209684371948, -1.159534215927124, -0.11808136105537415, 0.566620409488678, -0.3420570194721222, -0.44828853011131287], "tau_dot": [-0.10166269540786743, -38.3226318359375, 25.765823364257812, 39.66188430786133, -19.90144157409668, 0.3618887960910797, 35.817237854003906], "tau_ext": [15.32866096496582, -35.72456359863281, -35.78581619262695, 19.931983947753906, -2.9843437671661377, -6.537221431732178, 0.33440494537353516], "tcp_pose": [0.6406857967376709, -0.12175793945789337, -0.2825808823108673, -0.006137415766716003, -0.02467075176537037, 0.9994879364967346, 0.01942925900220871], "tcp_vel": [0.00019835808780044317, 1.7637506971368566e-05, 3.513279079925269e-05, -0.0008902635890990496, -0.0010521336225792766, 0.0004384967323858291], "flange_pose": [0.6431989669799805, -0.12907974421977997, -0.09273864328861237, -0.006137415766716003, -0.02467075176537037, 0.9994879364967346, 0.01942925900220871], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.503205299377441, -50.31651306152344, -11.730865478515625, -3.725806474685669, 11.85140609741211, 0.332778662443161], "ext_wrench_in_world": [-9.862455404982136, -51.28892577069139, 9.893073383793102, 3.134948320554742, 12.025486982909893, 0.08924047332768706]}
+{"timestamp_ns": 1789729881588922015, "elapsed_ms": 966, "source_timestamp_ns": 1789729881581673545, "q": [0.026551075279712677, -1.683608055114746, -0.05487475171685219, 0.7592576146125793, 1.6406294107437134, -0.06713168323040009, -0.9198843240737915], "theta": [0.024243135005235672, -1.6825655698776245, -0.05577056109905243, 0.7428480386734009, 1.6403194665908813, -0.06704831123352051, -0.9209966659545898], "dq": [0.00741615891456604, 0.002129535423591733, -0.015221687033772469, 0.003932819701731205, 0.021759675815701485, -0.01049183588474989, 0.0014799896162003279], "dtheta": [0.008932165801525116, 0.0032165327575057745, -0.020326388999819756, 0.005405105650424957, 0.019871365278959274, -0.008177120238542557, -0.00140962318982929], "tau": [-62.0, 0.22999998927116394, -25.280000686645508, 1.540000081062317, -3.5360002517700195, 3.392000198364258, -0.4360000193119049], "tau_des": [-1.6583383083343506, 1.2496157884597778, -1.225926160812378, -0.21051286160945892, 0.5899578928947449, -0.2767864167690277, -0.45434507727622986], "tau_dot": [-76.34764862060547, 20.0067138671875, 25.046512603759766, 12.299101829528809, -45.57205581665039, -48.16905212402344, 14.332788467407227], "tau_ext": [15.35450267791748, -35.780704498291016, -35.79137420654297, 19.960113525390625, -2.985229969024658, -6.546133995056152, 0.33928772807121277], "tcp_pose": [0.6406846642494202, -0.12174921482801437, -0.2825986444950104, -0.006131928414106369, -0.02466879040002823, 0.9994879364967346, 0.019435109570622444], "tcp_vel": [-0.0006930999225005507, -0.0004745252663269639, 9.717324246594217e-06, -0.0012392740463837981, 0.0008705677464604378, 0.00030757783679291606], "flange_pose": [0.6431957483291626, -0.12907329201698303, -0.0927564725279808, -0.006131928414106369, -0.02466879040002823, 0.9994879364967346, 0.019435109570622444], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.483321189880371, -50.32517623901367, -11.7692289352417, -3.7325544357299805, 11.858511924743652, 0.33795857429504395], "ext_wrench_in_world": [-9.841985439917277, -51.29814207210237, 9.930124052522695, 3.141320019096158, 12.033098582023753, 0.08444368441845071]}
+{"timestamp_ns": 1789729881622250078, "elapsed_ms": 1000, "source_timestamp_ns": 1789729881621665030, "q": [0.026912134140729904, -1.6834654808044434, -0.05564919486641884, 0.7594557404518127, 1.641452431678772, -0.0674331858754158, -0.9199039936065674], "theta": [0.024599380791187286, -1.6824246644973755, -0.056600164622068405, 0.7430571913719177, 1.641116738319397, -0.06734979152679443, -0.9210180044174194], "dq": [0.006662787403911352, 0.001371184247545898, -0.018758660182356834, 0.004945483990013599, 0.021220119670033455, -0.005688827950507402, -0.0019043241627514362], "dtheta": [0.008872856386005878, 0.0033775537740439177, -0.0206790529191494, 0.005052905064076185, 0.020072370767593384, -0.007101625204086304, -0.0012291332241147757], "tau": [-61.939998626708984, 0.19999998807907104, -25.264001846313477, 1.5720000267028809, -3.504000186920166, 3.4080002307891846, -0.46800002455711365], "tau_des": [-1.68858802318573, 1.1342871189117432, -1.218508005142212, -0.13703753054141998, 0.5847219824790955, -0.2973176836967468, -0.4403446316719055], "tau_dot": [116.78291320800781, -50.568260192871094, -3.3606529235839844, 17.688308715820312, 40.13349151611328, 17.758934020996094, -32.92415237426758], "tau_ext": [15.394111633300781, -35.734466552734375, -35.757930755615234, 19.925796508789062, -2.9666831493377686, -6.564569473266602, 0.3490058183670044], "tcp_pose": [0.6406821608543396, -0.1217421218752861, -0.2826175093650818, -0.006131482310593128, -0.02467232197523117, 0.9994879961013794, 0.019428953528404236], "tcp_vel": [-0.00021278843632899225, -0.0005922277341596782, 0.0002711311972234398, -0.002271012868732214, 2.2615204215981066e-05, 0.0006521064206026495], "flange_pose": [0.6431930661201477, -0.12906385958194733, -0.09277524799108505, -0.006131482310593128, -0.02467232197523117, 0.9994879961013794, 0.019428953528404236], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.43187427520752, -50.323787689208984, -11.784685134887695, -3.74018931388855, 11.877545356750488, 0.3427641689777374], "ext_wrench_in_world": [-9.790117187928116, -51.294750731401564, 9.945655431473838, 3.147861613042238, 12.052681406807741, 0.08015766995301421]}
+{"timestamp_ns": 1789729881655582400, "elapsed_ms": 1033, "source_timestamp_ns": 1789729881651668991, "q": [0.027155356481671333, -1.6833683252334595, -0.05620649829506874, 0.7595968246459961, 1.642045021057129, -0.06765446066856384, -0.9199174046516418], "theta": [0.0248409453779459, -1.6823292970657349, -0.0571969710290432, 0.7432077527046204, 1.6416898965835571, -0.0675729513168335, -0.9210323691368103], "dq": [0.008006260730326176, 0.003001444973051548, -0.01676165498793125, 0.00581276835873723, 0.016425251960754395, -0.007407335564494133, -0.00017692343681119382], "dtheta": [0.007538125850260258, 0.00318669225089252, -0.019333885982632637, 0.004977753851562738, 0.01853797771036625, -0.007477079518139362, -0.00023739048629067838], "tau": [-61.91999816894531, 0.2199999988079071, -25.256000518798828, 1.6040000915527344, -3.5280001163482666, 3.4160001277923584, -0.45600003004074097], "tau_des": [-1.5048054456710815, 1.1428700685501099, -1.1913251876831055, -0.15432383120059967, 0.5800843834877014, -0.30409419536590576, -0.46145474910736084], "tau_dot": [51.95768737792969, 97.83230590820312, -14.652386665344238, -11.092788696289062, -23.890737533569336, 39.15140151977539, -1.5349714756011963], "tau_ext": [15.349080085754395, -35.742706298828125, -35.78873825073242, 19.926513671875, -2.9648120403289795, -6.560825347900391, 0.34953197836875916], "tcp_pose": [0.6406824588775635, -0.1217389926314354, -0.2826208174228668, -0.0061239562928676605, -0.024672869592905045, 0.9994880557060242, 0.01942608319222927], "tcp_vel": [-0.0002763998054433614, -0.0004548052093014121, 0.0006873952806927264, -0.001650551799684763, -5.435324055724777e-06, -0.0005097422399558127], "flange_pose": [0.6431905031204224, -0.12905971705913544, -0.09277847409248352, -0.0061239562928676605, -0.024672869592905045, 0.9994880557060242, 0.01942608319222927], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.403590202331543, -50.341407775878906, -11.797337532043457, -3.7467129230499268, 11.888663291931152, 0.3459218442440033], "ext_wrench_in_world": [-9.760946268468535, -51.31137669246946, 9.957414798893831, 3.153778135032567, 12.064225436450613, 0.07734734949728195]}
+{"timestamp_ns": 1789729881688898134, "elapsed_ms": 1066, "source_timestamp_ns": 1789729881681674542, "q": [0.027385912835597992, -1.6832846403121948, -0.056754082441329956, 0.7597124576568604, 1.6426211595535278, -0.06789778918027878, -0.9199232459068298], "theta": [0.025069542229175568, -1.6822484731674194, -0.05779073014855385, 0.7433305978775024, 1.6422460079193115, -0.0678178071975708, -0.9210395812988281], "dq": [0.004828708712011576, 0.001764442422427237, -0.01108498778194189, 0.0024086018092930317, 0.018625522032380104, -0.007606897968798876, 0.0011527255410328507], "dtheta": [0.0073065548203885555, 0.0023825359530746937, -0.020006099715828896, 0.0034167952835559845, 0.018400005996227264, -0.009430806152522564, -0.00032809219555929303], "tau": [-61.8599967956543, 0.17999999225139618, -25.2080020904541, 1.6040000915527344, -3.5240001678466797, 3.4000000953674316, -0.4480000138282776], "tau_des": [-1.4567017555236816, 1.0941596031188965, -1.1612898111343384, -0.0931195616722107, 0.5805209279060364, -0.250567227602005, -0.4394560754299164], "tau_dot": [-22.82111358642578, 142.15618896484375, -48.46661376953125, -28.843198776245117, 4.846870422363281, 1.7346417903900146, 26.366413116455078], "tau_ext": [15.253917694091797, -35.743289947509766, -35.85024642944336, 19.92604637145996, -2.968703031539917, -6.553227424621582, 0.3493574559688568], "tcp_pose": [0.6406826376914978, -0.12173289805650711, -0.28262102603912354, -0.006123615428805351, -0.02467549405992031, 0.9994878768920898, 0.019431501626968384], "tcp_vel": [-0.00037713689380325377, -0.0003786249435506761, 0.000904030748642981, -0.0008823720854707062, 0.0012780555989593267, 0.00038556786603294313], "flange_pose": [0.6431906223297119, -0.1290556639432907, -0.0927787646651268, -0.006123615428805351, -0.02467549405992031, 0.9994878768920898, 0.019431501626968384], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.382918357849121, -50.346435546875, -11.8666353225708, -3.752058744430542, 11.893925666809082, 0.34535565972328186], "ext_wrench_in_world": [-9.738879175522618, -51.318199692234955, 10.025661372904471, 3.158803723336755, 12.069736045742363, 0.07819171619681321]}
+{"timestamp_ns": 1789729881722246815, "elapsed_ms": 1100, "source_timestamp_ns": 1789729881721688865, "q": [0.02770085446536541, -1.683200716972351, -0.05748746171593666, 0.7598269581794739, 1.6434112787246704, -0.06822367012500763, -0.9199216365814209], "theta": [0.025381488725543022, -1.6821695566177368, -0.05861480161547661, 0.743453323841095, 1.6430113315582275, -0.0681452751159668, -0.9210398197174072], "dq": [0.007966050878167152, 0.003392772516235709, -0.01492766197770834, 0.0039835721254348755, 0.01848352700471878, -0.005136159714311361, -0.0024497120175510645], "dtheta": [0.007907074876129627, 0.0017527876188978553, -0.021010277792811394, 0.00327172689139843, 0.018724855035543442, -0.006619676947593689, -0.000301613676128909], "tau": [-61.87999725341797, 0.08999999612569809, -25.192001342773438, 1.6760001182556152, -3.516000270843506, 3.388000249862671, -0.42000001668930054], "tau_des": [-1.4247955083847046, 1.2260788679122925, -1.0812429189682007, -0.12772053480148315, 0.5826004147529602, -0.32523423433303833, -0.43033450841903687], "tau_dot": [-79.21216583251953, -85.51800537109375, -40.68904495239258, 21.345300674438477, 26.404603958129883, -60.67073440551758, 82.53368377685547], "tau_ext": [15.29223918914795, -35.72250747680664, -35.83980178833008, 19.909616470336914, -2.9546236991882324, -6.566900253295898, 0.34679633378982544], "tcp_pose": [0.6406881809234619, -0.12172885984182358, -0.28262773156166077, -0.006120260804891586, -0.024680903181433678, 0.9994875192642212, 0.019444825127720833], "tcp_vel": [-0.0002183266042266041, -0.0016409441595897079, 0.00118779216427356, -0.0038347316440194845, -6.775643123546615e-05, -0.00011809663556050509], "flange_pose": [0.6431950330734253, -0.12905670702457428, -0.09278564155101776, -0.006120260804891586, -0.024680903181433678, 0.9994875192642212, 0.019444825127720833], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.370075225830078, -50.33647918701172, -11.94254207611084, -3.752819299697876, 11.901089668273926, 0.341106116771698], "ext_wrench_in_world": [-9.725061940174646, -51.31092591637949, 10.100309952690527, 3.159139955452385, 12.076790888033264, 0.08305395813204342]}
+{"timestamp_ns": 1789729881755585917, "elapsed_ms": 1133, "source_timestamp_ns": 1789729881751692266, "q": [0.027942080050706863, -1.6831417083740234, -0.058041512966156006, 0.7599117755889893, 1.6440038681030273, -0.06846063584089279, -0.9199202656745911], "theta": [0.02562210150063038, -1.6821142435073853, -0.05924346297979355, 0.7435435652732849, 1.643585443496704, -0.06838524341583252, -0.9210383892059326], "dq": [0.007273590192198753, 0.001605552271939814, -0.017469337210059166, 0.0040669129230082035, 0.019022123888134956, -0.007532991003245115, 0.0006766266888007522], "dtheta": [0.00831958930939436, 0.0018709729192778468, -0.02091868966817856, 0.0030761766247451305, 0.020737871527671814, -0.007888334803283215, -0.0005602885503321886], "tau": [-61.869998931884766, 0.14000000059604645, -25.156002044677734, 1.6760001182556152, -3.556000232696533, 3.4120001792907715, -0.4400000274181366], "tau_des": [-1.5809309482574463, 1.0902899503707886, -1.21225106716156, -0.04549197480082512, 0.49283552169799805, -0.2599295675754547, -0.41222119331359863], "tau_dot": [-34.13738250732422, -10.456656455993652, -5.745117664337158, 2.7584197521209717, -90.54612731933594, -7.810135841369629, 45.710445404052734], "tau_ext": [15.275399208068848, -35.67966079711914, -35.85706329345703, 19.890045166015625, -2.9480502605438232, -6.575071811676025, 0.33746057748794556], "tcp_pose": [0.640690803527832, -0.12173107266426086, -0.2826334834098816, -0.0061181290075182915, -0.02468348667025566, 0.9994873404502869, 0.019449962303042412], "tcp_vel": [2.7925327231059782e-05, -0.00082094018580392, 0.0005557362455874681, -0.0014664495829492807, -0.00039043239667080343, 0.0005259477184154093], "flange_pose": [0.6431969404220581, -0.12906087934970856, -0.09279147535562515, -0.0061181290075182915, -0.02468348667025566, 0.9994873404502869, 0.019449962303042412], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.374198913574219, -50.30277633666992, -11.978009223937988, -3.7447166442871094, 11.903738975524902, 0.3352305293083191], "ext_wrench_in_world": [-9.730150922695847, -51.27901639656996, 10.136540401949526, 3.1509341335590255, 12.078821583918947, 0.08925850681175451]}
+{"timestamp_ns": 1789729881788917010, "elapsed_ms": 1166, "source_timestamp_ns": 1789729881781665370, "q": [0.02817940153181553, -1.6830815076828003, -0.05861060321331024, 0.7600061297416687, 1.6446095705032349, -0.06870881468057632, -0.9199178814888], "theta": [0.02585856430232525, -1.68205726146698, -0.059886857867240906, 0.7436410188674927, 1.6441720724105835, -0.0686345100402832, -0.9210364818572998], "dq": [0.011103321798145771, 0.0016533195739611983, -0.016804246231913567, 0.005370235536247492, 0.020359238609671593, -0.00798820424824953, -0.0005858814110979438], "dtheta": [0.007808151189237833, 0.001956257736310363, -0.022190796211361885, 0.003107349155470729, 0.01945333369076252, -0.008245009928941727, -9.516374848317355e-05], "tau": [-61.8599967956543, 0.17000000178813934, -25.132001876831055, 1.6440000534057617, -3.516000270843506, 3.4280002117156982, -0.4400000274181366], "tau_des": [-1.337149739265442, 1.1712385416030884, -1.0045974254608154, -0.09583526104688644, 0.5608125329017639, -0.31073328852653503, -0.42534348368644714], "tau_dot": [-17.564661026000977, -10.542518615722656, 14.394623756408691, -61.564422607421875, 3.902203321456909, 24.985414505004883, 1.9145746231079102], "tau_ext": [15.20114803314209, -35.73100662231445, -35.90543746948242, 19.90260124206543, -2.943094491958618, -6.577681064605713, 0.3327440917491913], "tcp_pose": [0.6406918168067932, -0.12173489481210709, -0.28263264894485474, -0.006113104056566954, -0.0246820617467165, 0.9994873404502869, 0.01945589855313301], "tcp_vel": [-0.00018300832016393542, -0.0013492030557245016, 0.0015022578882053494, -0.0032890394795686007, 0.00046310387551784515, 0.00013468523684423417], "flange_pose": [0.6431961059570312, -0.12906700372695923, -0.09279068559408188, -0.006113104056566954, -0.0246820617467165, 0.9994873404502869, 0.01945589855313301], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.364541053771973, -50.32530212402344, -12.049532890319824, -3.7560181617736816, 11.9105806350708, 0.32692378759384155], "ext_wrench_in_world": [-9.718714900676565, -51.30387127758635, 10.206298292317653, 3.162031367672282, 12.08587856116626, 0.09787590914180203]}
+{"timestamp_ns": 1789729881822258981, "elapsed_ms": 1200, "source_timestamp_ns": 1789729881821665164, "q": [0.028505973517894745, -1.6829969882965088, -0.05944366753101349, 0.7601408958435059, 1.6454756259918213, -0.06909186393022537, -0.9199168086051941], "theta": [0.026182718575000763, -1.681974172592163, -0.06080028787255287, 0.7437795996665955, 1.6450101137161255, -0.06901824474334717, -0.9210349917411804], "dq": [0.006742067635059357, -0.0004749385407194495, -0.021929603070020676, 0.004894035868346691, 0.022403353825211525, -0.007952313870191574, 0.0008307282696478069], "dtheta": [0.008034671656787395, 0.0022559522185474634, -0.023160865530371666, 0.0035220347344875336, 0.02107800357043743, -0.01002193707972765, -0.00011443692346801981], "tau": [-61.62999725341797, 0.14999999105930328, -25.06800079345703, 1.7120001316070557, -3.5440001487731934, 3.4120001792907715, -0.4480000138282776], "tau_des": [-1.2573128938674927, 1.1685951948165894, -0.923755943775177, -0.11975342780351639, 0.5457660555839539, -0.2797577977180481, -0.42885830998420715], "tau_dot": [42.009986877441406, -113.71341705322266, -47.70313262939453, -22.26629066467285, -31.0242862701416, 9.82419204711914, 6.738762855529785], "tau_ext": [15.227334022521973, -35.740230560302734, -35.91785430908203, 19.9034481048584, -2.935725450515747, -6.590803146362305, 0.3358040153980255], "tcp_pose": [0.640690803527832, -0.12174119800329208, -0.2826179265975952, -0.00610948633402586, -0.02468120865523815, 0.9994871616363525, 0.019465653225779533], "tcp_vel": [-0.0002483343123458326, -0.0008767360122874379, 0.001432514749467373, -0.00185607117600739, 0.0006672401214018464, 0.00014559084956999868], "flange_pose": [0.643193781375885, -0.12907704710960388, -0.0927761048078537, -0.00610948633402586, -0.02468120865523815, 0.9994871616363525, 0.019465653225779533], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.359492301940918, -50.34103012084961, -12.107893943786621, -3.763054609298706, 11.92055892944336, 0.3214089274406433], "ext_wrench_in_world": [-9.712300526868923, -51.321752986167695, 10.26286257564513, 3.168664429002337, 12.095964926284012, 0.10395729900732276]}
+{"timestamp_ns": 1789729881855586094, "elapsed_ms": 1233, "source_timestamp_ns": 1789729881851689913, "q": [0.028741072863340378, -1.6829254627227783, -0.060064543038606644, 0.7602505087852478, 1.6461215019226074, -0.06938911229372025, -0.919916570186615], "theta": [0.026416845619678497, -1.6819034814834595, -0.06147324666380882, 0.7438929677009583, 1.645632028579712, -0.06931853294372559, -0.921034038066864], "dq": [0.010668744333088398, 1.7380363715346903e-05, -0.021166441962122917, 0.004833633545786142, 0.021682053804397583, -0.005241150502115488, 0.0004597110382746905], "dtheta": [0.007838748395442963, 0.002513576066121459, -0.021598579362034798, 0.0037516977172344923, 0.02086610347032547, -0.00909855030477047, -0.0005637796712107956], "tau": [-61.55999755859375, 0.20999999344348907, -25.000001907348633, 1.7360000610351562, -3.5440001487731934, 3.4200000762939453, -0.4280000329017639], "tau_des": [-1.1873650550842285, 1.0887120962142944, -0.9812961220741272, -0.08041764050722122, 0.49713292717933655, -0.26101869344711304, -0.4223083555698395], "tau_dot": [48.3411979675293, 79.37291717529297, 5.126510143280029, -22.739421844482422, 8.189593315124512, 29.879867553710938, -17.48497772216797], "tau_ext": [15.090195655822754, -35.71492385864258, -35.983760833740234, 19.883472442626953, -2.9292404651641846, -6.586996555328369, 0.3332597315311432], "tcp_pose": [0.6406908631324768, -0.1217399388551712, -0.2826026380062103, -0.006105885375291109, -0.024680854752659798, 0.9994869828224182, 0.019477449357509613], "tcp_vel": [5.892324679734884e-06, -0.0004988318542018533, 0.0010286804754287004, -0.0011415480403229594, -0.00016517769836355, 0.0005730688571929932], "flange_pose": [0.6431925892829895, -0.12908031046390533, -0.09276097267866135, -0.006105885375291109, -0.024680854752659798, 0.9994869828224182, 0.019477449357509613], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.333532333374023, -50.3519172668457, -12.227836608886719, -3.77646803855896, 11.92945671081543, 0.3186902403831482], "ext_wrench_in_world": [-9.684378476118804, -51.3361997585091, 10.38070268744001, 3.1816706479836863, 12.105399456206268, 0.10718033510028617]}
+{"timestamp_ns": 1789729881888894999, "elapsed_ms": 1266, "source_timestamp_ns": 1789729881881671136, "q": [0.028984401375055313, -1.6828560829162598, -0.060668911784887314, 0.7603598833084106, 1.6467660665512085, -0.069667749106884, -0.9199169278144836], "theta": [0.02665707655251026, -1.6818351745605469, -0.06212642043828964, 0.7440059781074524, 1.646250605583191, -0.06959962844848633, -0.9210336208343506], "dq": [0.009687446057796478, 0.0013360356679186225, -0.020689915865659714, 0.0042211394757032394, 0.023074636235833168, -0.00964857917279005, 0.0002973737719003111], "dtheta": [0.008010433055460453, 0.0024959328584372997, -0.02177354507148266, 0.003896908601745963, 0.02183261513710022, -0.00994962826371193, -0.0006973784766159952], "tau": [-61.56999969482422, 0.14999999105930328, -25.060001373291016, 1.7480000257492065, -3.5480000972747803, 3.448000192642212, -0.4520000219345093], "tau_des": [-1.1819084882736206, 1.0776315927505493, -1.0105416774749756, -0.08666348457336426, 0.44705522060394287, -0.21829602122306824, -0.4253048896789551], "tau_dot": [145.61549377441406, 70.24275207519531, -66.03820037841797, -73.27061462402344, 27.66083526611328, 22.855083465576172, -44.534637451171875], "tau_ext": [15.07126522064209, -35.72771072387695, -36.00664520263672, 19.88357162475586, -2.9195973873138428, -6.589701175689697, 0.32971128821372986], "tcp_pose": [0.6406913995742798, -0.12173892557621002, -0.2825974225997925, -0.0060998741537332535, -0.02467968501150608, 0.9994868040084839, 0.019489852711558342], "tcp_vel": [-4.8365287511842325e-05, -0.000231929196161218, 0.0008181923185475171, -4.782200267072767e-05, -0.0001838678726926446, 0.0005960532580502331], "flange_pose": [0.6431909203529358, -0.12908406555652618, -0.09275590628385544, -0.0060998741537332535, -0.02467968501150608, 0.9994868040084839, 0.019489852711558342], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.297492980957031, -50.386451721191406, -12.33811092376709, -3.7949697971343994, 11.940223693847656, 0.3132839500904083], "ext_wrench_in_world": [-9.645496742789739, -51.373376495433966, 10.487726725990035, 3.199722643231496, 12.116841978098467, 0.11313681032274991]}
+{"timestamp_ns": 1789729881922255938, "elapsed_ms": 1300, "source_timestamp_ns": 1789729881921730775, "q": [0.02934117056429386, -1.6827747821807861, -0.061503924429416656, 0.7604841589927673, 1.6476448774337769, -0.07002416998147964, -0.9199158549308777], "theta": [0.027007408440113068, -1.6817554235458374, -0.06301800906658173, 0.7441338896751404, 1.6470938920974731, -0.06995999813079834, -0.921031653881073], "dq": [0.00855669192969799, 0.003761923173442483, -0.02385856956243515, 0.003447943367063999, 0.020445935428142548, -0.008620976470410824, 0.00019581918604671955], "dtheta": [0.008823572658002377, 0.0011691533727571368, -0.02225128747522831, 0.002236455213278532, 0.02095757983624935, -0.009097287431359291, 5.386516932048835e-05], "tau": [-61.709999084472656, 0.03999999910593033, -25.016000747680664, 1.812000036239624, -3.556000232696533, 3.4200000762939453, -0.4520000219345093], "tau_des": [-1.3546552658081055, 0.9697309136390686, -1.0438051223754883, -0.12981931865215302, 0.5027812123298645, -0.22729206085205078, -0.42054417729377747], "tau_dot": [-59.88028335571289, -170.7317352294922, 39.50016403198242, 46.35792922973633, -7.682995796203613, -54.796180725097656, -41.46106719970703], "tau_ext": [15.083948135375977, -35.755699157714844, -36.00393295288086, 19.88572120666504, -2.9044902324676514, -6.604938507080078, 0.32864364981651306], "tcp_pose": [0.6406928300857544, -0.12174836546182632, -0.28259989619255066, -0.00609837519004941, -0.024683091789484024, 0.9994866847991943, 0.019492652267217636], "tcp_vel": [-0.0002987067273352295, -0.0011649912921711802, 0.0006385323358699679, -0.0017269235104322433, 0.0009237754275090992, 0.00017089719767682254], "flange_pose": [0.6431918740272522, -0.12909457087516785, -0.0927584171295166, -0.00609837519004941, -0.024683091789484024, 0.9994866847991943, 0.019492652267217636], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.285276412963867, -50.391937255859375, -12.363330841064453, -3.804190158843994, 11.946685791015625, 0.3074570596218109], "ext_wrench_in_world": [-9.632380851983239, -51.37934540657107, 10.512250526962397, 3.208608610483569, 12.123543996300336, 0.11918788492206811]}
+{"timestamp_ns": 1789729881955591661, "elapsed_ms": 1333, "source_timestamp_ns": 1789729881951806350, "q": [0.029607845470309258, -1.6827625036239624, -0.06214381381869316, 0.7605240345001221, 1.6483242511749268, -0.07028650492429733, -0.9199121594429016], "theta": [0.027270574122667313, -1.6817452907562256, -0.06369168311357498, 0.7441761493682861, 1.647743821144104, -0.07022404670715332, -0.9210271239280701], "dq": [0.011856944300234318, 0.0015337407821789384, -0.022197498008608818, -0.0017155100358650088, 0.020341943949460983, -0.0075850458815693855, -0.0027228824328631163], "dtheta": [0.009141967631876469, -0.0008154147653840482, -0.022580182179808617, 9.767412620931282e-07, 0.021928030997514725, -0.008833363652229309, -0.0006336022051982582], "tau": [-61.54999923706055, -0.1599999964237213, -25.036001205444336, 1.852000117301941, -3.5880000591278076, 3.452000141143799, -0.41200003027915955], "tau_des": [-0.9911481738090515, 0.5572441816329956, -0.9500492811203003, -0.08416631072759628, 0.4688522219657898, -0.2196205109357834, -0.38523516058921814], "tau_dot": [69.71944427490234, -64.91722869873047, -2.107132911682129, 25.242725372314453, -8.24297046661377, -14.129185676574707, 21.761247634887695], "tau_ext": [15.080360412597656, -35.74302673339844, -36.00823974609375, 19.889915466308594, -2.8940582275390625, -6.612398624420166, 0.31941962242126465], "tcp_pose": [0.6406974196434021, -0.12177475541830063, -0.2825978398323059, -0.006089833565056324, -0.02468724735081196, 0.9994866251945496, 0.01949262246489525], "tcp_vel": [-0.00018713384633883834, -0.0018507654312998056, 0.00046536928857676685, -0.0016005394281819463, 0.0004691796493716538, 0.001146090216934681], "flange_pose": [0.643193244934082, -0.12912102043628693, -0.09275632351636887, -0.006089833565056324, -0.02468724735081196, 0.9994866251945496, 0.01949262246489525], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.298678398132324, -50.42049789428711, -12.396870613098145, -3.816662549972534, 11.944746971130371, 0.30051594972610474], "ext_wrench_in_world": [-9.643693609885785, -51.409892088153825, 10.544603752129364, 3.2211525032628923, 12.121984646848075, 0.1259675872340696]}
+{"timestamp_ns": 1789729881988895345, "elapsed_ms": 1366, "source_timestamp_ns": 1789729881981730008, "q": [0.02989647351205349, -1.6827996969223022, -0.06280142813920975, 0.7605221271514893, 1.6490111351013184, -0.07052449882030487, -0.919908344745636], "theta": [0.027555961161851883, -1.6817858219146729, -0.06437689810991287, 0.7441757321357727, 1.6483997106552124, -0.07046329975128174, -0.9210218787193298], "dq": [0.009649280458688736, 0.00041258675628341734, -0.020635876804590225, -0.0029449830763041973, 0.023722581565380096, -0.007183112669736147, 1.1718009773176163e-05], "dtheta": [0.01025406550616026, -0.002447214676067233, -0.02312924712896347, -0.00024725866387598217, 0.02274893783032894, -0.006655827164649963, 0.0005887666484341025], "tau": [-61.29999923706055, -0.429999977350235, -24.96000099182129, 1.8640000820159912, -3.616000175476074, 3.432000160217285, -0.40400001406669617], "tau_des": [-0.5611446499824524, 0.7439601421356201, -0.7216182947158813, -0.17349059879779816, 0.4832189977169037, -0.21228040754795074, -0.4297662079334259], "tau_dot": [42.044403076171875, -10.011994361877441, 1.7916467189788818, 17.616878509521484, -29.674896240234375, -65.76692962646484, -39.64655685424805], "tau_ext": [15.007315635681152, -35.61347198486328, -36.023284912109375, 19.917871475219727, -2.8815159797668457, -6.614635944366455, 0.3001243770122528], "tcp_pose": [0.6406944394111633, -0.12183209508657455, -0.28260132670402527, -0.006084047723561525, -0.024687647819519043, 0.9994869232177734, 0.019477002322673798], "tcp_vel": [-0.0006132475100457668, -0.0033531514927744865, 0.0001338174333795905, -0.0033394210040569305, -0.0003307481238152832, -0.0014401053776964545], "flange_pose": [0.643187940120697, -0.12917247414588928, -0.09275953471660614, -0.006084047723561525, -0.024687647819519043, 0.9994869232177734, 0.019477002322673798], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.426663398742676, -50.23298645019531, -12.452390670776367, -3.7713282108306885, 11.906510353088379, 0.28664571046829224], "ext_wrench_in_world": [-9.780085468488966, -51.2309237161672, 10.610339663088219, 3.1779260694070373, 12.081046108795544, 0.13849851940440455]}
+{"timestamp_ns": 1789729882022257598, "elapsed_ms": 1400, "source_timestamp_ns": 1789729882021803208, "q": [0.030382702127099037, -1.6828742027282715, -0.06363946199417114, 0.7605202794075012, 1.6498377323150635, -0.07061826437711716, -0.9199124574661255], "theta": [0.028041191399097443, -1.681862235069275, -0.06524364650249481, 0.7441759705543518, 1.6491862535476685, -0.07055747509002686, -0.921023964881897], "dq": [0.011330803856253624, -0.0024573570117354393, -0.021657133474946022, 0.0007157250656746328, 0.01898854225873947, 0.00100035744253546, -0.0018327708821743727], "dtheta": [0.014329858124256134, -0.0023938503582030535, -0.022245172411203384, 0.0002529807388782501, 0.018674112856388092, 0.00038921108352951705, -0.00037169418646954], "tau": [-61.0, -0.07999999821186066, -24.84800148010254, 1.78000009059906, -3.580000162124634, 3.4880001544952393, -0.3840000033378601], "tau_des": [-0.22331537306308746, 0.7506974935531616, -0.7247294783592224, -0.26226505637168884, 0.534956157207489, 0.009410086087882519, -0.45431312918663025], "tau_dot": [-70.9983139038086, 104.29049682617188, 15.283894538879395, 31.01829719543457, 30.822402954101562, 11.578399658203125, 63.29581069946289], "tau_ext": [14.895279884338379, -35.489437103271484, -36.038448333740234, 19.943403244018555, -2.865447998046875, -6.6354265213012695, 0.29105493426322937], "tcp_pose": [0.6406718492507935, -0.12197848409414291, -0.28265559673309326, -0.00608897116035223, -0.024676218628883362, 0.999489426612854, 0.019361348822712898], "tcp_vel": [-0.0015310171293094754, -0.005486341658979654, -0.0017280855681747198, -0.010473690927028656, 0.002163572935387492, -0.0011394985485821962], "flange_pose": [0.6431660652160645, -0.12927494943141937, -0.09281213581562042, -0.00608897116035223, -0.024676218628883362, 0.999489426612854, 0.019361348822712898], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.77403450012207, -49.61048126220703, -12.54472827911377, -3.6141860485076904, 11.803901672363281, 0.2645608186721802], "ext_wrench_in_world": [-10.157401895315774, -50.62773761151941, 10.742689940190909, 3.026572865111139, 11.969966603469404, 0.155512426593252]}
+{"timestamp_ns": 1789729882055590154, "elapsed_ms": 1433, "source_timestamp_ns": 1789729882051772745, "q": [0.030878691002726555, -1.682953119277954, -0.06431367993354797, 0.7605176568031311, 1.6504462957382202, -0.07052350789308548, -0.9199195504188538], "theta": [0.028537340462207794, -1.6819411516189575, -0.06593215465545654, 0.7441736459732056, 1.6497656106948853, -0.07045602798461914, -0.9210302233695984], "dq": [0.01678716577589512, -0.0013868864625692368, -0.026402657851576805, 0.0017531835474073887, 0.022568175569176674, 0.003113697050139308, -0.0025486014783382416], "dtheta": [0.017978733405470848, -0.0038406290113925934, -0.02440635673701763, -0.0004928968846797943, 0.020575057715177536, 0.00863315723836422, -0.00034640435478650033], "tau": [-60.91999816894531, -0.3700000047683716, -24.9320011138916, 1.7880001068115234, -3.6040000915527344, 3.744000196456909, -0.4320000112056732], "tau_des": [-0.04577534273266792, -0.20575430989265442, -0.889072597026825, -0.47656556963920593, 0.5120794773101807, 0.2323632836341858, -0.5115392804145813], "tau_dot": [20.259540557861328, -61.61981201171875, -20.39021110534668, 10.271388053894043, -44.89617156982422, 38.94103240966797, 20.8724365234375], "tau_ext": [14.651725769042969, -35.676456451416016, -36.14034652709961, 20.047651290893555, -2.878413200378418, -6.7133636474609375, 0.30518487095832825], "tcp_pose": [0.6406341791152954, -0.12215667963027954, -0.2827436625957489, -0.006114020943641663, -0.024657435715198517, 0.9994931221008301, 0.019185345619916916], "tcp_vel": [-0.0010513549204915762, -0.008412904106080532, -0.0025394754484295845, -0.017722120508551598, -0.0006720169330947101, -0.0018514302792027593], "flange_pose": [0.6431360840797424, -0.12938612699508667, -0.09289772808551788, -0.006114020943641663, -0.024657435715198517, 0.9994931221008301, 0.019185345619916916], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.914405822753906, -49.522254943847656, -12.741658210754395, -3.63641619682312, 11.778985977172852, 0.2596241235733032], "ext_wrench_in_world": [-10.300626944602195, -50.54997676415881, 10.962773377619738, 3.050482371061188, 11.945962062798325, 0.15487346616355888]}
+{"timestamp_ns": 1789729882088918920, "elapsed_ms": 1466, "source_timestamp_ns": 1789729882081755101, "q": [0.0315047949552536, -1.6831626892089844, -0.06508616358041763, 0.7604003548622131, 1.6511982679367065, -0.07022183388471603, -0.9199491143226624], "theta": [0.02916542999446392, -1.6821538209915161, -0.06671950966119766, 0.7440575957298279, 1.650488018989563, -0.07013058662414551, -0.9210606813430786], "dq": [0.023702777922153473, -0.006160226184874773, -0.02669474110007286, -0.008732639253139496, 0.02458256669342518, 0.009217815473675728, -0.0011634252732619643], "dtheta": [0.022777050733566284, -0.011272075586020947, -0.027135271579027176, -0.008046816103160381, 0.027637464925646782, 0.01223328523337841, -0.002090116497129202], "tau": [-60.98999786376953, -1.25, -25.09600067138672, 1.8720000982284546, -3.6480002403259277, 3.832000255584717, -0.45600003004074097], "tau_des": [-0.5440613627433777, -1.4470397233963013, -1.2388534545898438, -0.5245012044906616, 0.40175947546958923, 0.25437131524086, -0.49781930446624756], "tau_dot": [89.54978942871094, -6.717485427856445, 11.49492359161377, 3.4768197536468506, -42.944541931152344, -93.9911117553711, 4.543373107910156], "tau_ext": [14.707266807556152, -35.55631637573242, -36.04240798950195, 20.120824813842773, -2.850085735321045, -6.9251813888549805, 0.33270591497421265], "tcp_pose": [0.6406109929084778, -0.12244094908237457, -0.28286945819854736, -0.006093171890825033, -0.024644341319799423, 0.9994985461235046, 0.01892661489546299], "tcp_vel": [-0.0007774622063152492, -0.011630297638475895, -0.004938942845910788, -0.018569286912679672, -0.0028951806016266346, 0.00023655875702388585], "flange_pose": [0.6431024670600891, -0.12957239151000977, -0.09301968663930893, -0.006093171890825033, -0.024644341319799423, 0.9994985461235046, 0.01892661489546299], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.129545211791992, -49.3859977722168, -12.999570846557617, -3.715656280517578, 11.788650512695312, 0.26916804909706116], "ext_wrench_in_world": [-10.5205979529356, -50.4283940795764, 11.253651180314515, 3.1293007328274496, 11.959893103532657, 0.13880857204596372]}
+{"timestamp_ns": 1789729882122260125, "elapsed_ms": 1500, "source_timestamp_ns": 1789729882121741282, "q": [0.032469380646944046, -1.683843970298767, -0.06622922420501709, 0.7597922682762146, 1.6523975133895874, -0.06975846737623215, -0.9200169444084167], "theta": [0.030141659080982208, -1.68285071849823, -0.06787874549627304, 0.7434510588645935, 1.6516469717025757, -0.06962108612060547, -0.9211325645446777], "dq": [0.025823792442679405, -0.01970674842596054, -0.02975902333855629, -0.017464574426412582, 0.0293386559933424, 0.011493934318423271, -0.0005470164469443262], "dtheta": [0.026087848469614983, -0.02199464477598667, -0.029183728620409966, -0.01939772441983223, 0.030354928225278854, 0.013487132266163826, 0.00046654045581817627], "tau": [-60.97999954223633, -1.3399999141693115, -25.148000717163086, 1.840000033378601, -3.6560001373291016, 3.864000082015991, -0.46400001645088196], "tau_des": [-0.5980879068374634, -0.49461546540260315, -1.0418201684951782, -0.5080657601356506, 0.413428395986557, 0.23771966993808746, -0.45361801981925964], "tau_dot": [16.240692138671875, -109.31474304199219, 8.993711471557617, -21.777782440185547, 10.639059066772461, -38.848506927490234, -28.76243782043457], "tau_ext": [14.687596321105957, -35.06011199951172, -35.91282653808594, 20.11918067932129, -2.805041790008545, -7.021042346954346, 0.35254812240600586], "tcp_pose": [0.6405826210975647, -0.12297620624303818, -0.2830946743488312, -0.006056571379303932, -0.024670075625181198, 0.9995048642158508, 0.018567359074950218], "tcp_vel": [-0.0015788109740242362, -0.01605384238064289, -0.006544770672917366, -0.01974685862660408, -0.0014090361073613167, -0.0015633655712008476], "flange_pose": [0.6430570483207703, -0.12997153401374817, -0.09323961287736893, -0.006056571379303932, -0.024670075625181198, 0.9995048642158508, 0.018567359074950218], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.706472396850586, -48.35108947753906, -13.126714706420898, -3.5721940994262695, 11.710367202758789, 0.28903213143348694], "ext_wrench_in_world": [-11.144236122161463, -49.421217614991974, 11.461026521193508, 2.9889482954465034, 11.875649009028336, 0.10935713025351962]}
+{"timestamp_ns": 1789729882155594362, "elapsed_ms": 1533, "source_timestamp_ns": 1789729882151759035, "q": [0.03324636444449425, -1.6845649480819702, -0.0670812651515007, 0.7591558694839478, 1.6533511877059937, -0.06933320313692093, -0.9200173616409302], "theta": [0.03092758171260357, -1.6835941076278687, -0.06873681396245956, 0.7428048253059387, 1.6525682210922241, -0.0691603422164917, -0.9211354851722717], "dq": [0.023699941113591194, -0.026598921045660973, -0.02873501367866993, -0.01918753609061241, 0.029626086354255676, 0.014508391730487347, -0.0024326385464519262], "dtheta": [0.026315486058592796, -0.02733134664595127, -0.028117218986153603, -0.02368493750691414, 0.030956029891967773, 0.015490259043872356, 0.0006300120730884373], "tau": [-60.939998626708984, -1.0499999523162842, -25.112001419067383, 1.6360000371932983, -3.6760001182556152, 3.8480002880096436, -0.45600003004074097], "tau_des": [-0.4525967538356781, -0.5471764802932739, -1.051249384880066, -0.8216903805732727, 0.4185086190700531, 0.19969239830970764, -0.525097131729126], "tau_dot": [-38.66086959838867, 60.265262603759766, -11.53502082824707, 32.33838653564453, 1.978197455406189, 15.64465045928955, -25.600435256958008], "tau_ext": [14.569929122924805, -35.06394577026367, -35.90640640258789, 20.25414276123047, -2.799565076828003, -7.015087604522705, 0.3471876084804535], "tcp_pose": [0.6405428647994995, -0.12347202003002167, -0.28330013155937195, -0.006016451399773359, -0.024649903178215027, 0.9995107650756836, 0.018288059160113335], "tcp_vel": [-0.0020052918698638678, -0.01837635412812233, -0.007045302540063858, -0.01983592100441456, -0.0027360618114471436, -0.0028033005073666573], "flange_pose": [0.6429993510246277, -0.13036172091960907, -0.0934409648180008, -0.006016451399773359, -0.024649903178215027, 0.9995107650756836, 0.018288059160113335], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.175357818603516, -47.6461181640625, -13.189169883728027, -3.436302423477173, 11.593114852905273, 0.29307475686073303], "ext_wrench_in_world": [-11.64927732188769, -48.73622657934101, 11.581109804158547, 2.859381168112346, 11.751981490419816, 0.09617450614111764]}
+{"timestamp_ns": 1789729882188905939, "elapsed_ms": 1566, "source_timestamp_ns": 1789729882181756469, "q": [0.03402695059776306, -1.6855061054229736, -0.06790625303983688, 0.7583025097846985, 1.6543428897857666, -0.06888595223426819, -0.9200576543807983], "theta": [0.03171798586845398, -1.684557318687439, -0.06956575065851212, 0.7419313788414001, 1.6535263061523438, -0.06867647171020508, -0.9211776256561279], "dq": [0.02413368411362171, -0.035348985344171524, -0.026396192610263824, -0.028858071193099022, 0.038395848125219345, 0.012049507349729538, -0.0004473498556762934], "dtheta": [0.026671474799513817, -0.0366189144551754, -0.028300896286964417, -0.03534918650984764, 0.03264230489730835, 0.01636013202369213, -0.0026364955119788647], "tau": [-60.82999801635742, -1.3199999332427979, -25.216001510620117, 1.6600000858306885, -3.7120001316070557, 3.8400001525878906, -0.4880000352859497], "tau_des": [-0.3569346070289612, -0.9955300688743591, -1.0694725513458252, -0.7153618931770325, 0.37884587049484253, 0.12818889319896698, -0.42102858424186707], "tau_dot": [41.17705535888672, 11.420848846435547, 36.69129180908203, -15.393564224243164, 42.97121047973633, -16.388193130493164, -61.07643127441406], "tau_ext": [14.466055870056152, -35.13444137573242, -35.89347839355469, 20.389314651489258, -2.7829904556274414, -7.004934787750244, 0.3512873947620392], "tcp_pose": [0.6404946446418762, -0.12404279410839081, -0.28352418541908264, -0.005961752962321043, -0.02464843913912773, 0.9995158314704895, 0.018026569858193398], "tcp_vel": [-0.0014363847440108657, -0.02128203772008419, -0.007514192257076502, -0.019386479631066322, -0.0035236107651144266, 0.0028712262865155935], "flange_pose": [0.6429278254508972, -0.1308337301015854, -0.09366118162870407, -0.005961752962321043, -0.02464843913912773, 0.9995158314704895, 0.018026569858193398], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.657893180847168, -47.23147201538086, -13.320701599121094, -3.3627097606658936, 11.45056438446045, 0.29303574562072754], "ext_wrench_in_world": [-12.151365473500071, -48.344879903734586, 11.756860829174093, 2.7928893686802647, 11.606096261985247, 0.08608215383073245]}
+{"timestamp_ns": 1789729882222256124, "elapsed_ms": 1600, "source_timestamp_ns": 1789729882221803265, "q": [0.035112760961055756, -1.6871776580810547, -0.06901353597640991, 0.7567176222801208, 1.6557722091674805, -0.06830097734928131, -0.9200922846794128], "theta": [0.032816048711538315, -1.6862488985061646, -0.07067692279815674, 0.7403092980384827, 1.654906153678894, -0.06804323196411133, -0.9212161898612976], "dq": [0.028304994106292725, -0.043352920562028885, -0.025419125333428383, -0.03834423050284386, 0.036232102662324905, 0.017509594559669495, 0.0007127556018531322], "dtheta": [0.027952110394835472, -0.046765055507421494, -0.026212915778160095, -0.04592381417751312, 0.03421748802065849, 0.017747770994901657, -0.0012020975118502975], "tau": [-60.869998931884766, -1.1399999856948853, -25.2080020904541, 1.600000023841858, -3.7360000610351562, 3.8480002880096436, -0.46000000834465027], "tau_des": [-0.4026668965816498, -0.44525575637817383, -1.2011263370513916, -0.7217445373535156, 0.2567701041698456, 0.17088185250759125, -0.42921316623687744], "tau_dot": [-80.63787078857422, 56.13629913330078, 59.85871505737305, 45.5802116394043, 54.74024200439453, -25.5382137298584, -8.817490577697754], "tau_ext": [14.516693115234375, -35.006492614746094, -35.771705627441406, 20.45094871520996, -2.7391467094421387, -7.012290000915527, 0.34947657585144043], "tcp_pose": [0.6404140591621399, -0.12493686378002167, -0.2838687300682068, -0.005889824591577053, -0.02465382032096386, 0.9995217323303223, 0.01771525852382183], "tcp_vel": [-0.001902780495584011, -0.024422165006399155, -0.009412778541445732, -0.017271315678954124, -0.0037457989528775215, 0.0018230893183499575], "flange_pose": [0.6428170800209045, -0.13161025941371918, -0.0940011665225029, -0.005889824591577053, -0.02465382032096386, 0.9995217323303223, 0.01771525852382183], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.186419486999512, -46.64208221435547, -13.30710506439209, -3.234398603439331, 11.282637596130371, 0.2922361195087433], "ext_wrench_in_world": [-12.709625332757554, -47.77511269229544, 11.798061131388556, 2.6728466346429007, 11.432184002146936, 0.07554607748980528]}
+{"timestamp_ns": 1789729882255587820, "elapsed_ms": 1633, "source_timestamp_ns": 1789729882251797630, "q": [0.03595823049545288, -1.6886829137802124, -0.06981268525123596, 0.7552892565727234, 1.6568310260772705, -0.0678054466843605, -0.9201134443283081], "theta": [0.03367383033037186, -1.687770962715149, -0.07147209346294403, 0.7388471961021423, 1.6559243202209473, -0.06751537322998047, -0.9212397336959839], "dq": [0.027446815744042397, -0.048363056033849716, -0.024659086018800735, -0.05029172822833061, 0.038131020963191986, 0.017058277502655983, 0.002737700007855892], "dtheta": [0.029783813282847404, -0.05408722162246704, -0.025950053706765175, -0.0529363639652729, 0.036843594163656235, 0.01962375082075596, -0.0007292136433534324], "tau": [-60.82999801635742, -1.0699999332427979, -25.160001754760742, 1.468000054359436, -3.7200002670288086, 3.832000255584717, -0.4440000355243683], "tau_des": [-0.18318045139312744, 0.04217259958386421, -1.0715152025222778, -0.9227443337440491, 0.2434503585100174, 0.16542164981365204, -0.4579020142555237], "tau_dot": [19.838096618652344, 91.58243560791016, 21.757545471191406, -41.502323150634766, 49.98998260498047, -27.037860870361328, 29.715038299560547], "tau_ext": [14.526780128479004, -35.2805061340332, -35.758338928222656, 20.63722038269043, -2.7282803058624268, -7.0015082359313965, 0.34912851452827454], "tcp_pose": [0.6403246521949768, -0.12571246922016144, -0.2841571867465973, -0.0058456528931856155, -0.024648331105709076, 0.9995263814926147, 0.017472539097070694], "tcp_vel": [-0.002298014936968684, -0.02716887928545475, -0.010891790501773357, -0.016706854104995728, -0.004606092814356089, 0.0010806121863424778], "flange_pose": [0.6427085995674133, -0.13229413330554962, -0.09428619593381882, -0.0058456528931856155, -0.024648331105709076, 0.9995263814926147, 0.017472539097070694], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.52237606048584, -46.417232513427734, -13.263554573059082, -3.1858913898468018, 11.173175811767578, 0.2871990203857422], "ext_wrench_in_world": [-13.05838608812335, -47.5599544899836, 11.787908820714065, 2.6299420341715307, 11.320356304846053, 0.07199287540115387]}
+{"timestamp_ns": 1789729882288898828, "elapsed_ms": 1666, "source_timestamp_ns": 1789729882281743369, "q": [0.03687232732772827, -1.6903434991836548, -0.07058951258659363, 0.7536696195602417, 1.6578763723373413, -0.06719543039798737, -0.920131504535675], "theta": [0.034605856984853745, -1.689453125, -0.07224933803081512, 0.7371928691864014, 1.6569290161132812, -0.06687521934509277, -0.9212605953216553], "dq": [0.03166748955845833, -0.055499400943517685, -0.022707685828208923, -0.05292055383324623, 0.03369218483567238, 0.021700207144021988, 0.0020140528213232756], "dtheta": [0.0325278639793396, -0.05710881948471069, -0.025991741567850113, -0.057726290076971054, 0.033358585089445114, 0.02477843500673771, 0.0002283049834659323], "tau": [-60.71999740600586, -0.8499999642372131, -25.088001251220703, 1.4720001220703125, -3.7680001258850098, 3.808000087738037, -0.4480000138282776], "tau_des": [0.061316877603530884, -0.8751648664474487, -1.104622721672058, -0.8015962243080139, 0.279396116733551, 0.14862501621246338, -0.4213918149471283], "tau_dot": [-60.490169525146484, -45.796878814697266, -34.96319580078125, 68.89717864990234, -4.844640731811523, -1.911450743675232, -4.542932510375977], "tau_ext": [14.478310585021973, -35.230194091796875, -35.75336837768555, 20.620027542114258, -2.701881170272827, -7.0008111000061035, 0.34945666790008545], "tcp_pose": [0.6402333378791809, -0.1265590935945511, -0.2844903767108917, -0.005811629351228476, -0.02465769276022911, 0.9995311498641968, 0.01719450019299984], "tcp_vel": [-0.0025375988334417343, -0.029666511341929436, -0.011900432407855988, -0.022823411971330643, -0.0020664725452661514, 0.001748254057019949], "flange_pose": [0.6426018476486206, -0.13303548097610474, -0.09461554884910583, -0.005811629351228476, -0.02465769276022911, 0.9995311498641968, 0.01719450019299984], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.712689399719238, -46.26124572753906, -13.209733963012695, -3.1513924598693848, 11.111618995666504, 0.2838503420352936], "ext_wrench_in_world": [-13.2567758388643, -47.405562520619284, 11.766863314882679, 2.598312906439665, 11.257181410265453, 0.0675195842315682]}
+{"timestamp_ns": 1789729882322244433, "elapsed_ms": 1700, "source_timestamp_ns": 1789729882321722500, "q": [0.03823734447360039, -1.6928836107254028, -0.07160266488790512, 0.7511551976203918, 1.659297227859497, -0.0661572515964508, -0.9201355576515198], "theta": [0.03599526360630989, -1.6920289993286133, -0.07327578216791153, 0.7346418499946594, 1.6582987308502197, -0.06580138206481934, -0.9212682247161865], "dq": [0.03677118569612503, -0.07012428343296051, -0.026115870103240013, -0.06679543852806091, 0.03485506400465965, 0.027367476373910904, 0.00033887545578181744], "dtheta": [0.03757881745696068, -0.06840991973876953, -0.025899922475218773, -0.06821008771657944, 0.032174743711948395, 0.030542947351932526, 0.0007421792251989245], "tau": [-60.82999801635742, -0.9699999690055847, -25.108001708984375, 1.6360000371932983, -3.832000255584717, 3.8480002880096436, -0.42000001668930054], "tau_des": [-0.3326845169067383, 0.4547305703163147, -1.1940977573394775, -0.9966102838516235, 0.2791896462440491, 0.14976276457309723, -0.3935863971710205], "tau_dot": [-26.717864990234375, -68.38626098632812, -29.150026321411133, -28.77312660217285, 10.228530883789062, 37.74013137817383, 53.42586898803711], "tau_ext": [14.561393737792969, -35.375423431396484, -35.77006912231445, 20.657854080200195, -2.687692403793335, -6.979981422424316, 0.34049859642982483], "tcp_pose": [0.6400973200798035, -0.12784326076507568, -0.28502506017684937, -0.005771281663328409, -0.024672821164131165, 0.9995384216308594, 0.01676012948155403], "tcp_vel": [-0.004628550726920366, -0.03570352867245674, -0.014660067856311798, -0.02782386913895607, 0.0010190499015152454, 0.0003205227549187839], "flange_pose": [0.6424465179443359, -0.1341550648212433, -0.09514445066452026, -0.005771281663328409, -0.024672821164131165, 0.9995384216308594, 0.01676012948155403], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.841249465942383, -46.428951263427734, -13.152839660644531, -3.1987574100494385, 11.077757835388184, 0.27507397532463074], "ext_wrench_in_world": [-13.37725523348023, -47.567677915033805, 11.745422571901031, 2.6470050529618354, 11.225575831520304, 0.0651522841741066]}
+{"timestamp_ns": 1789729882355590558, "elapsed_ms": 1733, "source_timestamp_ns": 1789729882351763651, "q": [0.03939443826675415, -1.6949355602264404, -0.07238851487636566, 0.7490473985671997, 1.660308837890625, -0.06517869979143143, -0.9201211333274841], "theta": [0.03717434033751488, -1.6941015720367432, -0.07407204806804657, 0.7325215935707092, 1.659276008605957, -0.06479787826538086, -0.9212533831596375], "dq": [0.038439009338617325, -0.06891324371099472, -0.0275784470140934, -0.07111473381519318, 0.03334198147058487, 0.03459592163562775, 0.0007688188343308866], "dtheta": [0.040364157408475876, -0.06970173120498657, -0.02772102691233158, -0.07138906419277191, 0.03479193150997162, 0.034584660083055496, 0.000995265319943428], "tau": [-61.209999084472656, -0.9899999499320984, -25.06800079345703, 1.6840001344680786, -3.80400013923645, 3.812000274658203, -0.3920000195503235], "tau_des": [-0.5868236422538757, 0.043658558279275894, -1.205100655555725, -0.6230946183204651, 0.22564338147640228, 0.02776915766298771, -0.2499619722366333], "tau_dot": [-29.81342124938965, 76.49480438232422, 19.94248390197754, 2.614292860031128, 34.30157470703125, -1.8318461179733276, -14.229848861694336], "tau_ext": [14.734139442443848, -35.12778091430664, -35.716251373291016, 20.488012313842773, -2.6475274562835693, -6.984712600708008, 0.3251611888408661], "tcp_pose": [0.6399950981140137, -0.12890559434890747, -0.28548118472099304, -0.005778290797024965, -0.02471059188246727, 0.9995445609092712, 0.0163310244679451], "tcp_vel": [-0.0035850561689585447, -0.03667747229337692, -0.0156581811606884, -0.030912550166249275, -0.000247057294473052, 0.002068630652502179], "flange_pose": [0.6423432230949402, -0.1350543051958084, -0.09559522569179535, -0.005778290797024965, -0.02471059188246727, 0.9995445609092712, 0.0163310244679451], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.675386428833008, -46.42052459716797, -12.996896743774414, -3.1779463291168213, 11.131327629089355, 0.2625630795955658], "ext_wrench_in_world": [-13.210224039679726, -47.53697582112921, 11.628760860070031, 2.6228362601742403, 11.277879324817242, 0.07003509703582825]}
+{"timestamp_ns": 1789729882388901966, "elapsed_ms": 1766, "source_timestamp_ns": 1789729882381740057, "q": [0.04062086343765259, -1.6970574855804443, -0.07322876155376434, 0.7468551993370056, 1.661392331123352, -0.06418552994728088, -0.9200329184532166], "theta": [0.03842565417289734, -1.6962378025054932, -0.07492534816265106, 0.7303243279457092, 1.66032874584198, -0.06378376483917236, -0.9211601614952087], "dq": [0.04038876295089722, -0.0750114917755127, -0.02379443123936653, -0.07621115446090698, 0.035174377262592316, 0.032395996153354645, 0.0038487091660499573], "dtheta": [0.042113129049539566, -0.07153017073869705, -0.02946307323873043, -0.07352950423955917, 0.03530389815568924, 0.03401282802224159, 0.0032996581867337227], "tau": [-61.39999771118164, -1.3899999856948853, -25.124000549316406, 1.8720000982284546, -3.8560001850128174, 3.808000087738037, -0.320000022649765], "tau_des": [-0.9950397610664368, -0.6465047001838684, -1.4230051040649414, -0.6157258749008179, 0.2242075651884079, 0.08749714493751526, -0.24597737193107605], "tau_dot": [141.5511474609375, 31.804676055908203, 85.3442153930664, 12.73733139038086, 25.689239501953125, -7.680640697479248, 35.85807418823242], "tau_ext": [14.836689949035645, -34.910621643066406, -35.753501892089844, 20.43376922607422, -2.6358416080474854, -6.969056129455566, 0.2705767750740051], "tcp_pose": [0.6398870944976807, -0.12999774515628815, -0.28596732020378113, -0.005796531680971384, -0.02472071349620819, 0.9995512366294861, 0.015893615782260895], "tcp_vel": [-0.00426856754347682, -0.037614140659570694, -0.016232548281550407, -0.03183615952730179, 0.002029925351962447, 0.0001940281072165817], "flange_pose": [0.6422380805015564, -0.13598015904426575, -0.09607608616352081, -0.005796531680971384, -0.02472071349620819, 0.9995512366294861, 0.015893615782260895], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.582512855529785, -46.285118103027344, -12.748001098632812, -3.091444253921509, 11.173206329345703, 0.23199990391731262], "ext_wrench_in_world": [-13.125833811803654, -47.37949875976707, 11.425146858260781, 2.5344747383886608, 11.31455654768239, 0.09294696563167389]}
+{"timestamp_ns": 1789729882422246211, "elapsed_ms": 1800, "source_timestamp_ns": 1789729882421719268, "q": [0.04234172776341438, -1.7001177072525024, -0.07451923936605453, 0.743669867515564, 1.663051724433899, -0.0629388839006424, -0.919830858707428], "theta": [0.04018795117735863, -1.6992921829223633, -0.07625610381364822, 0.7271602749824524, 1.661953330039978, -0.06251728534698486, -0.9209358096122742], "dq": [0.04442710429430008, -0.08192632347345352, -0.03333784267306328, -0.08922552317380905, 0.04561996087431908, 0.03234139829874039, 0.004102079197764397], "dtheta": [0.044311877340078354, -0.07931046932935715, -0.03591165319085121, -0.0868249461054802, 0.04432931914925575, 0.02918444760143757, 0.005839741788804531], "tau": [-61.78999710083008, -2.169999837875366, -25.1200008392334, 2.140000104904175, -3.9280002117156982, 3.828000068664551, -0.2800000011920929], "tau_des": [-1.3683243989944458, -2.1440067291259766, -1.586236834526062, -0.11635377258062363, 0.06776704639196396, 0.19282957911491394, -0.20531775057315826], "tau_dot": [-14.168086051940918, 24.693559646606445, 69.99868774414062, -26.967987060546875, 24.844158172607422, 36.60342788696289, 44.23403549194336], "tau_ext": [15.201515197753906, -34.655517578125, -35.6862678527832, 20.363521575927734, -2.585287094116211, -6.970810890197754, 0.20395871996879578], "tcp_pose": [0.6397342681884766, -0.13153120875358582, -0.2866359353065491, -0.0058297994546592236, -0.024714551866054535, 0.9995600581169128, 0.015327312052249908], "tcp_vel": [-0.0025937906466424465, -0.03843715041875839, -0.01677088811993599, -0.028352292254567146, 0.0024556820280849934, 0.003710439195856452], "flange_pose": [0.6420925855636597, -0.13729827105998993, -0.09673812240362167, -0.0058297994546592236, -0.024714551866054535, 0.9995600581169128, 0.015327312052249908], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.650702476501465, -45.92103576660156, -12.37900161743164, -2.9057819843292236, 11.181947708129883, 0.16699765622615814], "ext_wrench_in_world": [-13.216239846749358, -46.99515796480034, 11.122581854340382, 2.3494897799963166, 11.31218894141981, 0.14727807814007587]}
+{"timestamp_ns": 1789729882455588076, "elapsed_ms": 1833, "source_timestamp_ns": 1789729882451754460, "q": [0.04367908090353012, -1.7026633024215698, -0.07563678920269012, 0.7409875392913818, 1.664476752281189, -0.062049444764852524, -0.919651448726654], "theta": [0.04155213385820389, -1.7018145322799683, -0.07740480452775955, 0.724510133266449, 1.6633583307266235, -0.061620354652404785, -0.9207292199134827], "dq": [0.047319624572992325, -0.09015355259180069, -0.03757772594690323, -0.09434983879327774, 0.048240214586257935, 0.027051519602537155, 0.004565872717648745], "dtheta": [0.04630156606435776, -0.08780824393033981, -0.04034366458654404, -0.09080039709806442, 0.0487145371735096, 0.028208523988723755, 0.007023475132882595], "tau": [-61.78999710083008, -2.3499999046325684, -25.056001663208008, 2.1680002212524414, -3.9800002574920654, 3.828000068664551, -0.320000022649765], "tau_des": [-1.6437627077102661, -1.347028374671936, -1.3213539123535156, -0.6091794371604919, 0.21837201714515686, 0.09593359380960464, -0.2557297646999359], "tau_dot": [-26.846323013305664, -46.385990142822266, -4.8447489738464355, -56.78013610839844, -44.364837646484375, -2.0071115493774414, -71.58037567138672], "tau_ext": [15.259631156921387, -34.398990631103516, -35.746456146240234, 20.32268714904785, -2.562635898590088, -6.9482622146606445, 0.18474604189395905], "tcp_pose": [0.6396237015724182, -0.13276977837085724, -0.2871358096599579, -0.005846939515322447, -0.024723388254642487, 0.9995660781860352, 0.014906591735780239], "tcp_vel": [-0.00523885153234005, -0.04327298700809479, -0.01677144132554531, -0.02928796038031578, 0.002778552006930113, -0.0016570589505136013], "flange_pose": [0.6419845819473267, -0.1383768916130066, -0.09723322838544846, -0.005846939515322447, -0.024723388254642487, 0.9995660781860352, 0.014906591735780239], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.788071632385254, -45.416744232177734, -12.102948188781738, -2.696256160736084, 11.162113189697266, 0.12755872309207916], "ext_wrench_in_world": [-13.380481166168309, -46.481293204534964, 10.903087781751521, 2.141445329975253, 11.281004739219451, 0.17883887774562762]}
+{"timestamp_ns": 1789729882488905654, "elapsed_ms": 1866, "source_timestamp_ns": 1789729882481741345, "q": [0.045030660927295685, -1.7054702043533325, -0.07684816420078278, 0.7381022572517395, 1.66608464717865, -0.061235249042510986, -0.9194695949554443], "theta": [0.042918749153614044, -1.7045904397964478, -0.07865135371685028, 0.7216564416885376, 1.6649527549743652, -0.06080067157745361, -0.9205122590065002], "dq": [0.047509923577308655, -0.09416919201612473, -0.03956817090511322, -0.09473691880702972, 0.056468576192855835, 0.026457978412508965, 0.005613062065094709], "dtheta": [0.045062653720378876, -0.09697716683149338, -0.0411408469080925, -0.09715501219034195, 0.05282947048544884, 0.026212388649582863, 0.0063847629353404045], "tau": [-61.7599983215332, -2.319999933242798, -24.928001403808594, 1.9880000352859497, -3.936000108718872, 3.828000068664551, -0.2880000174045563], "tau_des": [-1.704372763633728, -0.7853819727897644, -1.2963106632232666, -1.159110426902771, 0.21592755615711212, 0.07484912872314453, -0.31561511754989624], "tau_dot": [-25.245147705078125, -38.71683120727539, -72.4482421875, 26.249271392822266, 36.87588882446289, 27.06432342529297, -33.88903045654297], "tau_ext": [15.309945106506348, -34.50503158569336, -35.79793930053711, 20.453094482421875, -2.5446560382843018, -6.932315349578857, 0.17623557150363922], "tcp_pose": [0.639480471611023, -0.13410283625125885, -0.2876358926296234, -0.005840481258928776, -0.024707332253456116, 0.9995720982551575, 0.014527145773172379], "tcp_vel": [-0.006541460286825895, -0.04656100273132324, -0.016365615651011467, -0.025896988809108734, 0.00043762530549429357, -0.003655168693512678], "flange_pose": [0.6418353319168091, -0.13956594467163086, -0.09772904217243195, -0.005840481258928776, -0.024707332253456116, 0.9995720982551575, 0.014527145773172379], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.992213249206543, -45.04927444458008, -11.958906173706055, -2.5388641357421875, 11.12280559539795, 0.10285879671573639], "ext_wrench_in_world": [-13.605882926285084, -46.11174228914202, 10.806971005729274, 1.9868093149544481, 11.233322828972693, 0.19560754312362724]}
+{"timestamp_ns": 1789729882522259658, "elapsed_ms": 1900, "source_timestamp_ns": 1789729882521782541, "q": [0.04680247604846954, -1.7096329927444458, -0.0785849392414093, 0.733883261680603, 1.6684486865997314, -0.060323186218738556, -0.9193083643913269], "theta": [0.04469625651836395, -1.7087377309799194, -0.08042542636394501, 0.7174471020698547, 1.667312502861023, -0.05988168716430664, -0.920301616191864], "dq": [0.04748496413230896, -0.09802953898906708, -0.04677087813615799, -0.11076246201992035, 0.062214627861976624, 0.018723301589488983, 0.0048874844796955585], "dtheta": [0.04383368045091629, -0.11186478286981583, -0.04639068618416786, -0.11285784095525742, 0.06578228622674942, 0.018698984757065773, 0.006046936381608248], "tau": [-61.84000015258789, -1.5, -24.772001266479492, 1.7440000772476196, -3.9640002250671387, 3.7720000743865967, -0.2800000011920929], "tau_des": [-1.7504545450210571, -0.38809922337532043, -1.0889006853103638, -1.605955958366394, 0.15997231006622314, 0.06615903228521347, -0.258063942193985], "tau_dot": [-40.45014953613281, -8.933756828308105, -52.524497985839844, 14.350557327270508, 13.111637115478516, -6.4046311378479, -27.123199462890625], "tau_ext": [15.248412132263184, -35.18465042114258, -35.922569274902344, 20.832876205444336, -2.550565242767334, -6.9170379638671875, 0.17226500809192657], "tcp_pose": [0.6392427682876587, -0.13601242005825043, -0.2882814407348633, -0.005812922492623329, -0.024709496647119522, 0.9995782971382141, 0.01410045474767685], "tcp_vel": [-0.0062294634990394115, -0.04961642622947693, -0.015885472297668457, -0.01671908237040043, -0.00364649947732687, -0.001892654225230217], "flange_pose": [0.6415831446647644, -0.14131376147270203, -0.09836982935667038, -0.005812922492623329, -0.024709496647119522, 0.9995782971382141, 0.01410045474767685], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.425922393798828, -45.07697677612305, -11.980974197387695, -2.513882875442505, 11.029584884643555, 0.0846332386136055], "ext_wrench_in_world": [-14.03784533423411, -46.1524008978957, 10.871214017429025, 1.9665676677177373, 11.13868528141618, 0.20202582490521467]}
+{"timestamp_ns": 1789729882555592364, "elapsed_ms": 1933, "source_timestamp_ns": 1789729882551739949, "q": [0.048078298568725586, -1.7131328582763672, -0.07993797957897186, 0.7302300930023193, 1.6703706979751587, -0.059792183339595795, -0.9191126823425293], "theta": [0.04596244916319847, -1.7122865915298462, -0.0817854180932045, 0.7137935161590576, 1.6692487001419067, -0.05934596061706543, -0.9200681447982788], "dq": [0.04290942847728729, -0.11940306425094604, -0.04844893142580986, -0.1310713291168213, 0.058239441365003586, 0.016648145392537117, 0.008756335824728012], "dtheta": [0.04139147326350212, -0.121956467628479, -0.04457700252532959, -0.12774161994457245, 0.06295875459909439, 0.016669312492012978, 0.010810457170009613], "tau": [-61.59000015258789, -0.9300000071525574, -24.648000717163086, 1.7200000286102295, -3.9600002765655518, 3.7880001068115234, -0.2840000092983246], "tau_des": [-1.4061774015426636, 0.08933090418577194, -1.113369345664978, -1.543484091758728, 0.08976734429597855, 0.14695848524570465, -0.19399882853031158], "tau_dot": [-15.289992332458496, 29.167903900146484, 8.792920112609863, 50.22650146484375, -9.181753158569336, -28.765317916870117, -18.370359420776367], "tau_ext": [15.18314266204834, -35.66668701171875, -35.9735221862793, 20.92903709411621, -2.553046941757202, -6.908425331115723, 0.16813313961029053], "tcp_pose": [0.6390820741653442, -0.13751281797885895, -0.2887560725212097, -0.005784186534583569, -0.02473319135606289, 0.9995811581611633, 0.013867756351828575], "tcp_vel": [-0.005859321914613247, -0.051645517349243164, -0.01547675859183073, -0.014766309410333633, -0.0012829260667786002, -0.0020229320507496595], "flange_pose": [0.6414095163345337, -0.14272598922252655, -0.09884186089038849, -0.005784186534583569, -0.02473319135606289, 0.9995811581611633, 0.013867756351828575], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.520397186279297, -45.70226287841797, -12.000473022460938, -2.684633255004883, 11.031728744506836, 0.07653860002756119], "ext_wrench_in_world": [-14.099632836095047, -46.77754808514126, 10.89463433038785, 2.136530144087044, 11.149262934886792, 0.20329268486007826]}
+{"timestamp_ns": 1789729882588909342, "elapsed_ms": 1966, "source_timestamp_ns": 1789729882581740204, "q": [0.049318600445985794, -1.7168155908584595, -0.08130234479904175, 0.7261079549789429, 1.6721490621566772, -0.05927266925573349, -0.9186350703239441], "theta": [0.047188349068164825, -1.7160454988479614, -0.08313820511102676, 0.7096830010414124, 1.6710574626922607, -0.058820128440856934, -0.9195458889007568], "dq": [0.04061632230877876, -0.12653009593486786, -0.050778888165950775, -0.14748413860797882, 0.05426284298300743, 0.02045305259525776, 0.016784626990556717], "dtheta": [0.04045744985342026, -0.12712298333644867, -0.04516921192407608, -0.14206789433956146, 0.058369021862745285, 0.018652768805623055, 0.02183692157268524], "tau": [-61.209999084472656, -1.6299999952316284, -24.46000099182129, 2.244000196456909, -3.9840002059936523, 3.7720000743865967, -0.2680000066757202], "tau_des": [-0.771400511264801, -0.4169604480266571, -0.8031355738639832, -0.7557286024093628, 0.13303717970848083, 0.04206389933824539, -0.19713734090328217], "tau_dot": [8.614562034606934, 76.18721771240234, 17.483829498291016, 106.79180908203125, -59.743675231933594, 64.77652740478516, -20.461868286132812], "tau_ext": [15.023828506469727, -35.07169723510742, -35.970035552978516, 20.570621490478516, -2.5367913246154785, -6.908651351928711, 0.16124136745929718], "tcp_pose": [0.6389841437339783, -0.13903242349624634, -0.28920939564704895, -0.005825165193527937, -0.02475586347281933, 0.9995840787887573, 0.013598768040537834], "tcp_vel": [-0.0034380515571683645, -0.052573420107364655, -0.014598114416003227, -0.01922277733683586, 0.0018643323564901948, -0.004015346523374319], "flange_pose": [0.6413246989250183, -0.1441430002450943, -0.09929255396127701, -0.005825165193527937, -0.02475586347281933, 0.9995840787887573, 0.013598768040537834], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.15947151184082, -46.03828811645508, -12.08984375, -2.816450357437134, 11.149123191833496, 0.06663817912340164], "ext_wrench_in_world": [-13.718442800056849, -47.0923323257831, 10.996971282799214, 2.261969809768986, 11.272962061561003, 0.20880648410451483]}
+{"timestamp_ns": 1789729882622255187, "elapsed_ms": 2000, "source_timestamp_ns": 1789729882621723454, "q": [0.05096415430307388, -1.7219258546829224, -0.08312536031007767, 0.7201388478279114, 1.6744059324264526, -0.058543648570775986, -0.9176174402236938], "theta": [0.04880787804722786, -1.7212378978729248, -0.08491270244121552, 0.7037602663040161, 1.6733815670013428, -0.058084964752197266, -0.9184646606445312], "dq": [0.040128160268068314, -0.1332794427871704, -0.054475102573633194, -0.15189608931541443, 0.05308772251009941, 0.018105920404195786, 0.02637728862464428], "dtheta": [0.03966584429144859, -0.1349717527627945, -0.043527837842702866, -0.15183666348457336, 0.05693595111370087, 0.018520412966609, 0.0288058053702116], "tau": [-60.77000045776367, -3.0999999046325684, -24.328001022338867, 2.876000165939331, -3.9680001735687256, 3.7360000610351562, -0.2639999985694885], "tau_des": [-0.3051949739456177, -1.5887850522994995, -0.6208934187889099, -0.4655337631702423, 0.25128546357154846, -0.08086862415075302, -0.3701517581939697], "tau_dot": [-62.19977569580078, -20.99103546142578, 15.781200408935547, 57.64235305786133, -28.51854133605957, 25.158056259155273, -39.63934326171875], "tau_ext": [14.629638671875, -34.13006591796875, -36.01841735839844, 20.139493942260742, -2.5237739086151123, -6.880215167999268, 0.1509077101945877], "tcp_pose": [0.6389105916023254, -0.14108812808990479, -0.28981396555900574, -0.005940418690443039, -0.024729475378990173, 0.9995893836021423, 0.013199964538216591], "tcp_vel": [-0.004002927336841822, -0.054654624313116074, -0.01503797248005867, -0.018091956153512, 0.0034526768140494823, -0.00917873065918684], "flange_pose": [0.641291081905365, -0.1460462361574173, -0.09989356994628906, -0.005940418690443039, -0.024729475378990173, 0.9995893836021423, 0.013199964538216591], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.578658103942871, -45.43562698364258, -12.375049591064453, -2.7191247940063477, 11.317021369934082, 0.052136193960905075], "ext_wrench_in_world": [-13.164309574473425, -46.45978287155952, 11.332350552843454, 2.157230583249144, 11.435452631810582, 0.21933953578078086]}
+{"timestamp_ns": 1789729882655592782, "elapsed_ms": 2033, "source_timestamp_ns": 1789729882651733488, "q": [0.052188992500305176, -1.726014494895935, -0.08445657789707184, 0.7155664563179016, 1.676166296005249, -0.05802616477012634, -0.916969895362854], "theta": [0.05001179873943329, -1.7253576517105103, -0.08616197109222412, 0.6991961598396301, 1.6752089262008667, -0.05756330490112305, -0.9177714586257935], "dq": [0.041490618139505386, -0.14857546985149384, -0.04786541312932968, -0.1489853858947754, 0.05602091923356056, 0.016102159395813942, 0.01916278898715973], "dtheta": [0.03939191624522209, -0.14066128432750702, -0.04049522802233696, -0.15390580892562866, 0.06298798322677612, 0.01853286847472191, 0.01854841597378254], "tau": [-60.66999816894531, -2.509999990463257, -24.260000228881836, 2.5840001106262207, -3.9680001735687256, 3.7360000610351562, -0.25600001215934753], "tau_des": [-0.23975467681884766, -1.023950219154358, -0.5830563902854919, -0.7295821309089661, 0.21004028618335724, -0.04432317242026329, -0.34432587027549744], "tau_dot": [-47.873291015625, 199.90951538085938, -1.7598129510879517, 43.85988235473633, -74.14747619628906, 79.25399017333984, -44.861549377441406], "tau_ext": [14.510622024536133, -34.242088317871094, -35.98621368408203, 20.355451583862305, -2.5427145957946777, -6.878547191619873, 0.1450306922197342], "tcp_pose": [0.6387659907341003, -0.14273732900619507, -0.2902877926826477, -0.006010125856846571, -0.02468814328312874, 0.9995932579040527, 0.01295147743076086], "tcp_vel": [-0.00488340063020587, -0.055620331317186356, -0.01676148921251297, -0.011078095063567162, -0.0016477297758683562, -0.002539875917136669], "flange_pose": [0.6411704421043396, -0.14760050177574158, -0.10036526620388031, -0.006010125856846571, -0.02468814328312874, 0.9995932579040527, 0.01295147743076086], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.620903015136719, -44.71275329589844, -12.596599578857422, -2.5726168155670166, 11.305252075195312, 0.04316377267241478], "ext_wrench_in_world": [-13.241433568931615, -45.73908632404412, 11.598174793451989, 2.012524398021896, 11.41615807287659, 0.22366331209803067]}
+{"timestamp_ns": 1789729882688898851, "elapsed_ms": 2066, "source_timestamp_ns": 1789729882681717474, "q": [0.053387921303510666, -1.7304118871688843, -0.08565808832645416, 0.7109100818634033, 1.6779944896697998, -0.0574713796377182, -0.9166144728660583], "theta": [0.0511886328458786, -1.7297744750976562, -0.08725516498088837, 0.694520115852356, 1.6771119832992554, -0.057002902030944824, -0.9173762202262878], "dq": [0.03925323113799095, -0.15111154317855835, -0.040150634944438934, -0.1575746238231659, 0.06185849383473396, 0.017815666273236275, 0.011879176832735538], "dtheta": [0.03840133175253868, -0.1526654064655304, -0.032992634922266006, -0.1600313037633896, 0.062175970524549484, 0.017572833225131035, 0.010416609235107899], "tau": [-60.619998931884766, -0.26999998092651367, -24.088001251220703, 1.752000093460083, -3.832000255584717, 3.7120001316070557, -0.24400001764297485], "tau_des": [-0.6430833339691162, 1.7991514205932617, -0.7329379916191101, -1.8801668882369995, 0.3064534366130829, 0.06067056581377983, -0.2966068685054779], "tau_dot": [-14.262884140014648, 68.03377532958984, 62.79580307006836, 22.942541122436523, 56.19581985473633, 6.169968128204346, 56.03919219970703], "tau_ext": [14.446379661560059, -35.62662887573242, -36.01245880126953, 20.981292724609375, -2.61676287651062, -6.866798400878906, 0.14426907896995544], "tcp_pose": [0.6385208964347839, -0.14451685547828674, -0.2907993793487549, -0.006022661458700895, -0.024679213762283325, 0.9995957016944885, 0.012771804817020893], "tcp_vel": [-0.008771986700594425, -0.059263717383146286, -0.01923399604856968, -0.0034525699447840452, -0.0019345056498423219, -0.0007014496950432658], "flange_pose": [0.640928328037262, -0.14931170642375946, -0.10087516158819199, -0.006022661458700895, -0.024679213762283325, 0.9995957016944885, 0.012771804817020893], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.088544845581055, -44.905208587646484, -12.793694496154785, -2.681419849395752, 11.195846557617188, 0.037019263952970505], "ext_wrench_in_world": [-13.697026752273835, -45.95497965784428, 11.812237518940561, 2.12682637519917, 11.312199967273706, 0.2215952312567434]}
+{"timestamp_ns": 1789729882722260335, "elapsed_ms": 2100, "source_timestamp_ns": 1789729882721771748, "q": [0.054944176226854324, -1.7364741563796997, -0.08703633397817612, 0.7043468356132507, 1.6802289485931396, -0.05664525553584099, -0.9161608219146729], "theta": [0.05271698907017708, -1.7358511686325073, -0.08847687393426895, 0.6879413723945618, 1.6794546842575073, -0.056168317794799805, -0.9168769717216492], "dq": [0.039977677166461945, -0.15496282279491425, -0.030780112370848656, -0.175384983420372, 0.04917585849761963, 0.021467600017786026, 0.017945317551493645], "dtheta": [0.0380353219807148, -0.1492852419614792, -0.028717566281557083, -0.1694839894771576, 0.050212256610393524, 0.0228766817599535, 0.019493864849209785], "tau": [-60.709999084472656, -1.0299999713897705, -24.136001586914062, 2.076000213623047, -3.8000001907348633, 3.700000286102295, -0.25600001215934753], "tau_des": [-0.3979964554309845, 0.4974204897880554, -1.0364506244659424, -0.7792466878890991, 0.18113093078136444, 0.01606021448969841, -0.0918877124786377], "tau_dot": [-137.07884216308594, -43.89136505126953, -17.91303253173828, 74.03620910644531, -6.900135040283203, -48.379493713378906, -18.159807205200195], "tau_ext": [14.418119430541992, -35.47755432128906, -35.93740463256836, 20.727130889892578, -2.658951759338379, -6.864227771759033, 0.14458031952381134], "tcp_pose": [0.6382051706314087, -0.14690472185611725, -0.29153189063072205, -0.006072990130633116, -0.02474561706185341, 0.9995964765548706, 0.012554447166621685], "tcp_vel": [-0.005268903914839029, -0.05639176443219185, -0.01966836489737034, -0.010102029889822006, 0.004154748283326626, 0.0024586243089288473], "flange_pose": [0.6406300663948059, -0.15161637961864471, -0.10160578787326813, -0.006072990130633116, -0.02474561706185341, 0.9995964765548706, 0.012554447166621685], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.07455062866211, -46.118255615234375, -12.92391586303711, -3.096104145050049, 11.248553276062012, 0.03433769568800926], "ext_wrench_in_world": [-13.61424212572346, -47.16540661704741, 11.932690816875214, 2.5368808489724093, 11.385723225489036, 0.21571497264490674]}
+{"timestamp_ns": 1789729882755589241, "elapsed_ms": 2133, "source_timestamp_ns": 1789729882751810019, "q": [0.05613246187567711, -1.7408992052078247, -0.08798648416996002, 0.6991691589355469, 1.6815345287322998, -0.055907100439071655, -0.9153597950935364], "theta": [0.053888626396656036, -1.7402526140213013, -0.08932273089885712, 0.6827976703643799, 1.6808435916900635, -0.055423855781555176, -0.9160428643226624], "dq": [0.038280121982097626, -0.1500651240348816, -0.028140200302004814, -0.16920776665210724, 0.038093451410532, 0.0260176844894886, 0.03043617121875286], "dtheta": [0.04048497974872589, -0.1450820416212082, -0.027564752846956253, -0.17089806497097015, 0.043378718197345734, 0.026116928085684776, 0.03477281704545021], "tau": [-60.689998626708984, -3.259999990463257, -24.23600196838379, 3.1080000400543213, -3.9000000953674316, 3.7240002155303955, -0.24000000953674316], "tau_des": [-0.6414327621459961, -1.1895039081573486, -1.3649883270263672, 0.12084634602069855, 0.14660245180130005, 0.05885910242795944, -0.31746208667755127], "tau_dot": [-134.3010711669922, -32.61342239379883, 17.041004180908203, -3.4171059131622314, 51.155731201171875, 58.721649169921875, 0.5653402805328369], "tau_ext": [14.504265785217285, -33.94634246826172, -35.74563217163086, 20.03649139404297, -2.605729579925537, -6.870682716369629, 0.1328900158405304], "tcp_pose": [0.6380540728569031, -0.14861148595809937, -0.29209887981414795, -0.006241499446332455, -0.02474372088909149, 0.9995988607406616, 0.012283309362828732], "tcp_vel": [-0.004533266182988882, -0.0547674261033535, -0.02097162976861, -0.015548957511782646, 0.010300245136022568, -0.007446650415658951], "flange_pose": [0.640540361404419, -0.1532185971736908, -0.10217100381851196, -0.006241499446332455, -0.02474372088909149, 0.9995988607406616, 0.012283309362828732], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.692458152770996, -45.49479675292969, -12.856831550598145, -2.961536407470703, 11.372552871704102, 0.02660052850842476], "ext_wrench_in_world": [-13.260235119853906, -46.515785038167785, 11.906964299789704, 2.3965021420087, 11.50279454748557, 0.221041584957641]}
+{"timestamp_ns": 1789729882788897309, "elapsed_ms": 2166, "source_timestamp_ns": 1789729882781730351, "q": [0.05736178904771805, -1.745262622833252, -0.08892909437417984, 0.6941601037979126, 1.6827269792556763, -0.055081356316804886, -0.9145496487617493], "theta": [0.05510875582695007, -1.7445672750473022, -0.09017579257488251, 0.677807629108429, 1.6821221113204956, -0.05459332466125488, -0.9152001142501831], "dq": [0.04274655878543854, -0.14497651159763336, -0.030627422034740448, -0.1576264202594757, 0.04247492551803589, 0.029097389429807663, 0.017944639548659325], "dtheta": [0.04166366159915924, -0.14741389453411102, -0.027842355892062187, -0.16101132333278656, 0.04785078763961792, 0.03028872236609459, 0.020488545298576355], "tau": [-60.7599983215332, -2.700000047683716, -24.056001663208008, 2.7200000286102295, -3.7800002098083496, 3.696000099182129, -0.25200000405311584], "tau_des": [-0.8980993628501892, 0.359439492225647, -0.994898796081543, -0.79212886095047, 0.44001448154449463, -0.053301285952329636, -0.4018635153770447], "tau_dot": [-16.859365463256836, 66.35009765625, 3.7899978160858154, -41.250885009765625, 62.37861251831055, 87.11320495605469, -9.428851127624512], "tau_ext": [14.559198379516602, -33.99507141113281, -35.713191986083984, 20.276010513305664, -2.6457839012145996, -6.859604358673096, 0.1321619153022766], "tcp_pose": [0.6378358602523804, -0.1503584086894989, -0.2926709055900574, -0.00644256453961134, -0.024681920185685158, 0.9996032118797302, 0.011945405043661594], "tcp_vel": [-0.008587292395532131, -0.05904988944530487, -0.021143488585948944, -0.016592442989349365, 0.0044572134502232075, -0.005222334526479244], "flange_pose": [0.6403951048851013, -0.15483543276786804, -0.10274089127779007, -0.00644256453961134, -0.024681920185685158, 0.9996032118797302, 0.011945405043661594], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.675569534301758, -44.26681137084961, -12.71056079864502, -2.6271297931671143, 11.38828182220459, 0.01726553589105606], "ext_wrench_in_world": [-13.306462599854434, -45.275658653621775, 11.827307873838418, 2.0632848511143917, 11.501601310889562, 0.22604163186625215]}
+{"timestamp_ns": 1789729882822259993, "elapsed_ms": 2200, "source_timestamp_ns": 1789729882821727900, "q": [0.05899249389767647, -1.7512162923812866, -0.09005764126777649, 0.6878464818000793, 1.6845896244049072, -0.05388651043176651, -0.9141387939453125], "theta": [0.056728050112724304, -1.7504914999008179, -0.09119413048028946, 0.671488881111145, 1.6841074228286743, -0.05339360237121582, -0.9147531390190125], "dq": [0.0377131924033165, -0.14028353989124298, -0.025343799963593483, -0.15799833834171295, 0.046787798404693604, 0.030695468187332153, 0.009055227041244507], "dtheta": [0.04017649590969086, -0.14776186645030975, -0.023808762431144714, -0.15590721368789673, 0.04934774711728096, 0.03209986910223961, 0.007274807896465063], "tau": [-61.029998779296875, -0.019999999552965164, -23.84800148010254, 1.7880001068115234, -3.6680002212524414, 3.680000066757202, -0.24400001764297485], "tau_des": [-0.8389111757278442, 2.7128729820251465, -0.9032751321792603, -1.540814995765686, 0.38797125220298767, -0.06179726868867874, -0.2028765231370926], "tau_dot": [53.3192253112793, -43.98613357543945, -44.96706008911133, -36.25688171386719, -20.784709930419922, -18.122041702270508, 4.102812767028809], "tau_ext": [14.748619079589844, -35.96429443359375, -35.80349349975586, 21.024824142456055, -2.769512176513672, -6.8294806480407715, 0.13555127382278442], "tcp_pose": [0.637398362159729, -0.15280042588710785, -0.2934776842594147, -0.006541597191244364, -0.024686705321073532, 0.9996065497398376, 0.011596580035984516], "tcp_vel": [-0.010028576478362083, -0.0593804270029068, -0.02157003991305828, -0.013071739114820957, -0.0004934785538353026, 0.0023582985159009695], "flange_pose": [0.6399919390678406, -0.15714402496814728, -0.10354503244161606, -0.006541597191244364, -0.024686705321073532, 0.9996065497398376, 0.011596580035984516], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.124034881591797, -44.93408966064453, -12.54097843170166, -2.7854971885681152, 11.332296371459961, 0.01877731643617153], "ext_wrench_in_world": [-13.720950803600392, -45.95216719165449, 11.681904551632297, 2.2240326561222705, 11.453763137627211, 0.21278382779662433]}
+{"timestamp_ns": 1789729882855586449, "elapsed_ms": 2233, "source_timestamp_ns": 1789729882851732834, "q": [0.060223538428545, -1.755529761314392, -0.09081578254699707, 0.6831326484680176, 1.685855746269226, -0.05289657786488533, -0.9138031005859375], "theta": [0.057959575206041336, -1.7548291683197021, -0.0918811559677124, 0.6667807102203369, 1.685465693473816, -0.052402615547180176, -0.9143931269645691], "dq": [0.04057961702346802, -0.13685095310211182, -0.022002194076776505, -0.15836384892463684, 0.041513048112392426, 0.03619854152202606, 0.015016471035778522], "dtheta": [0.04117706045508385, -0.13840828835964203, -0.022533109411597252, -0.154874786734581, 0.04005735367536545, 0.03533213958144188, 0.018202833831310272], "tau": [-61.1099967956543, -1.2200000286102295, -23.82000160217285, 2.3480000495910645, -3.7200002670288086, 3.688000202178955, -0.24400001764297485], "tau_des": [-0.705873966217041, 0.7374638319015503, -1.2070863246917725, -0.40383192896842957, 0.2480013370513916, -0.036351948976516724, -0.1526767462491989], "tau_dot": [-63.52373504638672, -28.336990356445312, 27.611064910888672, 52.86732864379883, -39.64522171020508, -43.679012298583984, -25.932533264160156], "tau_ext": [14.929814338684082, -35.46186828613281, -35.73408889770508, 20.697185516357422, -2.777165174484253, -6.827155113220215, 0.1349312961101532], "tcp_pose": [0.6371167302131653, -0.15455205738544464, -0.29410600662231445, -0.006636247504502535, -0.024737181141972542, 0.999608039855957, 0.011306324042379856], "tcp_vel": [-0.007655620109289885, -0.05548806115984917, -0.02174440771341324, -0.019833218306303024, 0.005631832871586084, -0.0005340898060239851], "flange_pose": [0.6397437453269958, -0.1587843894958496, -0.10417132079601288, -0.006636247504502535, -0.024737181141972542, 0.999608039855957, 0.011306324042379856], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.914283752441406, -45.94729995727539, -12.31853199005127, -3.0446925163269043, 11.450667381286621, 0.019281337037682533], "ext_wrench_in_world": [-13.457653732044784, -46.94314942645804, 11.462866528952938, 2.475857405661549, 11.585187434958733, 0.20462152746374823]}
+{"timestamp_ns": 1789729882888896758, "elapsed_ms": 2266, "source_timestamp_ns": 1789729882881727249, "q": [0.061511799693107605, -1.7595542669296265, -0.09155173599720001, 0.6785287261009216, 1.686838984489441, -0.05177442729473114, -0.9131840467453003], "theta": [0.05925147235393524, -1.7588772773742676, -0.09256613254547119, 0.6621950268745422, 1.6865383386611938, -0.05128157138824463, -0.9137476682662964], "dq": [0.0436544269323349, -0.1336163431406021, -0.021722985431551933, -0.1403597742319107, 0.02957906201481819, 0.0394212082028389, 0.021040871739387512], "dtheta": [0.043457671999931335, -0.13049854338169098, -0.023589063435792923, -0.14470097422599792, 0.034594133496284485, 0.04124263674020767, 0.022147616371512413], "tau": [-61.029998779296875, -3.4700000286102295, -23.832000732421875, 3.1040000915527344, -3.7400002479553223, 3.680000066757202, -0.24400001764297485], "tau_des": [-0.7121679782867432, -0.8004301190376282, -1.0794423818588257, 0.21451471745967865, 0.4493289887905121, -0.1231159120798111, -0.30559825897216797], "tau_dot": [-7.315373420715332, -153.7653045654297, -35.19847869873047, 59.84577178955078, -3.827465534210205, 42.487545013427734, -18.40741539001465], "tau_ext": [14.984929084777832, -34.26627731323242, -35.694271087646484, 20.234960556030273, -2.7529561519622803, -6.816681385040283, 0.12673619389533997], "tcp_pose": [0.636877179145813, -0.15621672570705414, -0.2947425842285156, -0.006826246622949839, -0.024730196222662926, 0.999611496925354, 0.010892357677221298], "tcp_vel": [-0.0087007787078619, -0.055663179606199265, -0.021376680582761765, -0.02912854216992855, 0.007793203461915255, -0.006734635680913925], "flange_pose": [0.6395725011825562, -0.16029006242752075, -0.10480538755655289, -0.006826246622949839, -0.024730196222662926, 0.999611496925354, 0.010892357677221298], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.566656112670898, -45.42794418334961, -12.067669868469238, -2.871976852416992, 11.583962440490723, 0.012340366840362549], "ext_wrench_in_world": [-13.135718056439378, -46.39226178501335, 11.263148268693099, 2.297019107299663, 11.70973018357494, 0.20618292059920704]}
+{"timestamp_ns": 1789729882922258371, "elapsed_ms": 2300, "source_timestamp_ns": 1789729882921723899, "q": [0.06332755833864212, -1.7647477388381958, -0.09255149960517883, 0.6730607151985168, 1.688352108001709, -0.050139062106609344, -0.9127240777015686], "theta": [0.06107742339372635, -1.7640749216079712, -0.09351766109466553, 0.6567070484161377, 1.6881637573242188, -0.04964792728424072, -0.9132527112960815], "dq": [0.047070324420928955, -0.13058695197105408, -0.02508867159485817, -0.12963849306106567, 0.04175826907157898, 0.04120456054806709, 0.002660054713487625], "dtheta": [0.04528684541583061, -0.130666121840477, -0.023764973506331444, -0.12937256693840027, 0.04706602543592453, 0.04323868826031685, 0.0016295000677928329], "tau": [-61.09000015258789, -2.1499998569488525, -23.552001953125, 2.81600022315979, -3.624000072479248, 3.628000259399414, -0.24800001084804535], "tau_des": [-0.8217202425003052, 0.25122174620628357, -0.7340831160545349, -0.6864293813705444, 0.5602576732635498, -0.18326890468597412, -0.34733423590660095], "tau_dot": [-97.8368148803711, 147.42367553710938, 53.09004211425781, -32.31690216064453, 14.86697006225586, 24.34459686279297, -7.611626625061035], "tau_ext": [15.090246200561523, -34.58001708984375, -35.74965286254883, 20.644222259521484, -2.8268887996673584, -6.800599098205566, 0.12936024367809296], "tcp_pose": [0.6364098787307739, -0.15850207209587097, -0.2956235706806183, -0.006978326477110386, -0.024660542607307434, 0.9996181726455688, 0.010326458141207695], "tcp_vel": [-0.012634100392460823, -0.058041833341121674, -0.022720789536833763, -0.023516280576586723, -0.0027104481123387814, -0.0013468245742842555], "flange_pose": [0.6391574144363403, -0.16235923767089844, -0.10568258911371231, -0.006978326477110386, -0.024660542607307434, 0.9996181726455688, 0.010326458141207695], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.006750106811523, -44.08891296386719, -11.842171669006348, -2.4408066272735596, 11.51416301727295, 0.008531603962182999], "ext_wrench_in_world": [-13.647148436795998, -45.05776737199781, 11.128264202047399, 1.871462073993391, 11.618565118423398, 0.20033487690437585]}
+{"timestamp_ns": 1789729882955588257, "elapsed_ms": 2333, "source_timestamp_ns": 1789729882951742652, "q": [0.06471481174230576, -1.7687182426452637, -0.0932355746626854, 0.6692352294921875, 1.6897568702697754, -0.04888308048248291, -0.9127616882324219], "theta": [0.06246931105852127, -1.7680556774139404, -0.0941719263792038, 0.652842104434967, 1.68964684009552, -0.048392415046691895, -0.9132723808288574], "dq": [0.04544473811984062, -0.1329839825630188, -0.018415044993162155, -0.12802085280418396, 0.046733755618333817, 0.03921768441796303, -0.002194565488025546], "dtheta": [0.04713473841547966, -0.1338365226984024, -0.019665837287902832, -0.13306336104869843, 0.049503572285175323, 0.04285604879260063, -0.001062043709680438], "tau": [-61.03999710083008, -1.0299999713897705, -23.468000411987305, 2.51200008392334, -3.616000175476074, 3.640000104904175, -0.2680000066757202], "tau_des": [-1.210003137588501, 0.7183799743652344, -1.1736761331558228, -0.9151225686073303, 0.36172035336494446, 0.002049545058980584, -0.37664639949798584], "tau_dot": [88.0309066772461, 61.75272750854492, -25.598358154296875, 0.7614536285400391, -39.45292663574219, 9.095785140991211, 12.442004203796387], "tau_ext": [15.162764549255371, -35.28178405761719, -35.785606384277344, 20.781095504760742, -2.877026081085205, -6.786027431488037, 0.1427445411682129], "tcp_pose": [0.6359613537788391, -0.16027384996414185, -0.29633352160453796, -0.006970913149416447, -0.024627668783068657, 0.9996224045753479, 0.009998448193073273], "tcp_vel": [-0.013049177825450897, -0.05719466507434845, -0.0259096659719944, -0.017420070245862007, -0.00281727802939713, 0.0016290992498397827], "flange_pose": [0.6387028694152832, -0.16400659084320068, -0.10638996958732605, -0.006970913149416447, -0.024627668783068657, 0.9996224045753479, 0.009998448193073273], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.176467895507812, -44.566158294677734, -11.7625150680542, -2.5441360473632812, 11.522696495056152, 0.013580622151494026], "ext_wrench_in_world": [-13.79747134786283, -45.53300481400963, 11.070347621423213, 1.9748729312318847, 11.632301538749196, 0.1865073592953244]}
+{"timestamp_ns": 1789729882988906325, "elapsed_ms": 2366, "source_timestamp_ns": 1789729882981741206, "q": [0.06612890958786011, -1.772749900817871, -0.09381857514381409, 0.6652973294258118, 1.6910697221755981, -0.04753374308347702, -0.9128645658493042], "theta": [0.06388351321220398, -1.7721091508865356, -0.09473860263824463, 0.6488671898841858, 1.6910316944122314, -0.04703843593597412, -0.9133656024932861], "dq": [0.04930625110864639, -0.1408184915781021, -0.016551755368709564, -0.13985010981559753, 0.04482632130384445, 0.04617609828710556, -0.0023106534499675035], "dtheta": [0.04699620231986046, -0.1358201652765274, -0.019137978553771973, -0.1356154829263687, 0.04475085064768791, 0.048106804490089417, -0.00239929580129683], "tau": [-60.94999694824219, -1.159999966621399, -23.408000946044922, 2.568000078201294, -3.5880000591278076, 3.6120002269744873, -0.320000022649765], "tau_des": [-0.8441917896270752, 1.054471492767334, -0.893477201461792, -1.1512361764907837, 0.5525428056716919, -0.17210020124912262, -0.2685989737510681], "tau_dot": [4.775200843811035, 14.400408744812012, -5.295348644256592, 52.85028839111328, 11.774377822875977, -32.380374908447266, -41.454185485839844], "tau_ext": [15.078961372375488, -35.62813949584961, -35.82872009277344, 20.756568908691406, -2.909421682357788, -6.781240940093994, 0.17727191746234894], "tcp_pose": [0.635509192943573, -0.16205838322639465, -0.2970857620239258, -0.00697937561199069, -0.024648312479257584, 0.9996251463890076, 0.009658711962401867], "tcp_vel": [-0.013387748040258884, -0.059586115181446075, -0.025088069960474968, -0.023801695555448532, -0.002508411416783929, 0.003391324309632182], "flange_pose": [0.6382508277893066, -0.16566194593906403, -0.1071397066116333, -0.00697937561199069, -0.024648312479257584, 0.9996251463890076, 0.009658711962401867], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.73484992980957, -45.70207595825195, -11.72415542602539, -2.874575614929199, 11.69624137878418, 0.03272801637649536], "ext_wrench_in_world": [-13.299070410718993, -46.637884641770675, 11.034650516110123, 2.2955382993375473, 11.822509268434766, 0.15842030751554392]}
+{"timestamp_ns": 1789729883022260351, "elapsed_ms": 2400, "source_timestamp_ns": 1789729883021744378, "q": [0.06806999444961548, -1.7780543565750122, -0.09453096240758896, 0.6598267555236816, 1.692673921585083, -0.045655928552150726, -0.9128543734550476], "theta": [0.06581275165081024, -1.7774325609207153, -0.0954660177230835, 0.6433799266815186, 1.6927138566970825, -0.04515063762664795, -0.9133497476577759], "dq": [0.05193654075264931, -0.13742676377296448, -0.016596727073192596, -0.1322745382785797, 0.035845544189214706, 0.04490022733807564, -0.0008690973045304418], "dtheta": [0.04991189390420914, -0.1317378133535385, -0.017841605469584465, -0.13634616136550903, 0.03888944908976555, 0.04876706004142761, 0.0018301609670743346], "tau": [-60.939998626708984, -3.809999942779541, -23.57200050354004, 3.5280001163482666, -3.684000253677368, 3.6680002212524414, -0.25600001215934753], "tau_des": [-1.2693754434585571, -1.3074226379394531, -1.4027864933013916, 0.24900837242603302, 0.41179972887039185, 0.046832554042339325, -0.003730566008016467], "tau_dot": [-38.049781799316406, -179.37353515625, 17.05051612854004, -32.97505187988281, 15.379157066345215, -45.18960189819336, -11.84362506866455], "tau_ext": [15.052783012390137, -34.22333526611328, -35.6689567565918, 20.207534790039062, -2.8636538982391357, -6.807257175445557, 0.17657628655433655], "tcp_pose": [0.6349854469299316, -0.16435077786445618, -0.2981424033641815, -0.007058238610625267, -0.024742551147937775, 0.9996268153190613, 0.009173822589218616], "tcp_vel": [-0.013333931565284729, -0.05743599310517311, -0.026986319571733475, -0.02644314058125019, 0.004508579149842262, 0.0037796266842633486], "flange_pose": [0.6377528309822083, -0.1677691638469696, -0.1081933081150055, -0.007058238610625267, -0.024742551147937775, 0.9996268153190613, 0.009173822589218616], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.212841987609863, -45.501670837402344, -11.768742561340332, -2.8769888877868652, 11.8831205368042, 0.054600030183792114], "ext_wrench_in_world": [-12.776363851754, -46.40453622521269, 11.122924806943432, 2.286105288281567, 12.010240727707872, 0.12821930182721508]}
+{"timestamp_ns": 1789729883055586582, "elapsed_ms": 2433, "source_timestamp_ns": 1789729883051776473, "q": [0.06955598294734955, -1.7819403409957886, -0.09500425308942795, 0.6559164524078369, 1.693750262260437, -0.044138725847005844, -0.9126720428466797], "theta": [0.06728455424308777, -1.7813009023666382, -0.09596473723649979, 0.6394513249397278, 1.693838119506836, -0.04362034797668457, -0.9131565690040588], "dq": [0.050004974007606506, -0.13388411700725555, -0.018509887158870697, -0.12089705467224121, 0.03708912059664726, 0.04365492984652519, 0.007053602021187544], "dtheta": [0.04980948939919472, -0.13222788274288177, -0.015776755288243294, -0.1269756555557251, 0.040693752467632294, 0.05468886345624924, 0.00422778120264411], "tau": [-60.72999954223633, -3.869999885559082, -23.43600082397461, 3.4640002250671387, -3.628000259399414, 3.6480002403259277, -0.24000000953674316], "tau_des": [-0.9989631772041321, -0.6278616786003113, -1.092893362045288, -0.49924084544181824, 0.6014869213104248, -0.12781904637813568, -0.4169079661369324], "tau_dot": [-12.051412582397461, -10.291199684143066, 13.626640319824219, -34.66436004638672, 8.277090072631836, -30.112226486206055, -10.835004806518555], "tau_ext": [14.97218132019043, -33.74070358276367, -35.595001220703125, 20.19390296936035, -2.85456919670105, -6.829036235809326, 0.14029519259929657], "tcp_pose": [0.634540855884552, -0.16608870029449463, -0.2989455759525299, -0.007134182844310999, -0.02467300556600094, 0.9996317625045776, 0.008753889240324497], "tcp_vel": [-0.015958914533257484, -0.060595396906137466, -0.02670772187411785, -0.028570162132382393, -0.0019497352186590433, -0.008502377197146416], "flange_pose": [0.6373329162597656, -0.16934706270694733, -0.10899404436349869, -0.007134182844310999, -0.02467300556600094, 0.9996317625045776, 0.008753889240324497], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.36616039276123, -44.08369064331055, -11.752740859985352, -2.5296623706817627, 11.850676536560059, 0.04195535182952881], "ext_wrench_in_world": [-13.00413306548313, -44.98471177754796, 11.175232130890393, 1.9426203146612686, 11.960250174276066, 0.13464181059472116]}
+{"timestamp_ns": 1789729883088913962, "elapsed_ms": 2466, "source_timestamp_ns": 1789729883081754472, "q": [0.07102075964212418, -1.7859675884246826, -0.0953962430357933, 0.6522024869918823, 1.6949766874313354, -0.04262114688754082, -0.9127272367477417], "theta": [0.06873457133769989, -1.7852953672409058, -0.09637544304132462, 0.6357061862945557, 1.6951067447662354, -0.042084455490112305, -0.9132025837898254], "dq": [0.04741628095507622, -0.13348934054374695, -0.011792626231908798, -0.12213348597288132, 0.04481961578130722, 0.04670204222202301, -0.0034724934957921505], "dtheta": [0.047219179570674896, -0.1360045075416565, -0.012203432619571686, -0.1267198771238327, 0.045246198773384094, 0.05039992183446884, -0.008286220021545887], "tau": [-60.39999771118164, -1.9799998998641968, -23.11600112915039, 2.81600022315979, -3.4880001544952393, 3.684000253677368, -0.29600000381469727], "tau_des": [-0.5059226155281067, 0.5071958899497986, -0.9586058259010315, -1.2525385618209839, 0.5546290874481201, -0.043579939752817154, -0.5875996351242065], "tau_dot": [129.50843811035156, -8.999391555786133, 73.8759765625, -16.651409149169922, 41.271934509277344, -18.56112289428711, 2.2975080013275146], "tau_ext": [14.744510650634766, -34.88529586791992, -35.71979522705078, 20.70838165283203, -2.931856870651245, -6.82628870010376, 0.14488151669502258], "tcp_pose": [0.6339783072471619, -0.1679181009531021, -0.29976436495780945, -0.007121811155229807, -0.02455400861799717, 0.9996377825737, 0.008409352973103523], "tcp_vel": [-0.01722741685807705, -0.06015942990779877, -0.027175340801477432, -0.018935617059469223, -0.006106245331466198, -0.0002058135869447142], "flange_pose": [0.6367620825767517, -0.17104603350162506, -0.10981050878763199, -0.007121811155229807, -0.02455400861799717, 0.9996377825737, 0.008409352973103523], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.785840034484863, -43.65613555908203, -11.911887168884277, -2.471734046936035, 11.76096248626709, 0.027797328308224678], "ext_wrench_in_world": [-13.452817472545698, -44.57024578932487, 11.37799920025747, 1.892156025074028, 11.867209403563331, 0.13988224469085875]}
+{"timestamp_ns": 1789729883122269380, "elapsed_ms": 2500, "source_timestamp_ns": 1789729883121748926, "q": [0.07291606813669205, -1.7915867567062378, -0.09577517211437225, 0.6470126509666443, 1.6966519355773926, -0.04063603654503822, -0.913310170173645], "theta": [0.07061301916837692, -1.7909280061721802, -0.09677503257989883, 0.6304857730865479, 1.6968262195587158, -0.040081143379211426, -0.913806140422821], "dq": [0.048541828989982605, -0.1353428214788437, -0.007464544847607613, -0.1410740464925766, 0.0449686199426651, 0.0546913780272007, -0.007458867039531469], "dtheta": [0.046279799193143845, -0.14286111295223236, -0.007712997496128082, -0.1368100494146347, 0.04143177345395088, 0.05235175043344498, -0.010689416900277138], "tau": [-59.96999740600586, -1.1299999952316284, -22.972002029418945, 2.572000026702881, -3.436000108718872, 3.7360000610351562, -0.3800000250339508], "tau_des": [-0.028210695832967758, 1.214296579360962, -0.9858863949775696, -1.3038148880004883, 0.4749145209789276, -0.02616734430193901, -0.2180606573820114], "tau_dot": [5.81597900390625, 32.024051666259766, -18.910137176513672, -29.580900192260742, 71.6999282836914, 36.41170883178711, -57.61863708496094], "tau_ext": [14.429890632629395, -36.07060623168945, -35.858192443847656, 20.9986629486084, -3.007739782333374, -6.844847679138184, 0.21174782514572144], "tcp_pose": [0.6332009434700012, -0.17039021849632263, -0.3008866012096405, -0.007066542748361826, -0.024639297276735306, 0.9996390342712402, 0.008051213808357716], "tcp_vel": [-0.01729271374642849, -0.061472948640584946, -0.02803393267095089, -0.0180048868060112, -0.00538706174120307, 0.0049676490016281605], "flange_pose": [0.6359606385231018, -0.17338241636753082, -0.11093021184206009, -0.007066542748361826, -0.024639297276735306, 0.9996390342712402, 0.008051213808357716], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.529516220092773, -45.624507904052734, -12.388508796691895, -3.1602883338928223, 11.898219108581543, 0.05949705094099045], "ext_wrench_in_world": [-13.086861255383866, -46.52505868475554, 11.848616906001844, 2.570509379920284, 12.039204809156299, 0.09278630908916945]}
+{"timestamp_ns": 1789729883155600100, "elapsed_ms": 2533, "source_timestamp_ns": 1789729883151730746, "q": [0.07435911148786545, -1.7957842350006104, -0.0959949716925621, 0.6428064107894897, 1.6976909637451172, -0.03908214345574379, -0.9133766293525696], "theta": [0.07204978168010712, -1.7951674461364746, -0.09701473265886307, 0.626289963722229, 1.6978861093521118, -0.038518428802490234, -0.9139037132263184], "dq": [0.05031055957078934, -0.14535120129585266, -0.005260213278234005, -0.14542876183986664, 0.031347524374723434, 0.05479133874177933, -9.054343536263332e-05], "dtheta": [0.04862690344452858, -0.13859978318214417, -0.008127528242766857, -0.13966189324855804, 0.030499666929244995, 0.05344317480921745, 8.565937605453655e-05], "tau": [-59.84000015258789, -2.690000057220459, -22.928001403808594, 3.2160000801086426, -3.5440001487731934, 3.7280001640319824, -0.35200002789497375], "tau_des": [0.03916740044951439, 0.18198218941688538, -1.0543508529663086, -0.5010390877723694, 0.5608829259872437, 0.08317834883928299, -0.2030065655708313], "tau_dot": [-7.4960198402404785, 35.890071868896484, 73.27014923095703, 83.77823638916016, -37.2348518371582, -21.476945877075195, -33.50421905517578], "tau_ext": [14.282899856567383, -34.80196762084961, -35.81352233886719, 20.42619514465332, -2.9759600162506104, -6.868313312530518, 0.2304302304983139], "tcp_pose": [0.6327010989189148, -0.17217768728733063, -0.3017570376396179, -0.007110190577805042, -0.024676993489265442, 0.9996402859687805, 0.007734306622296572], "tcp_vel": [-0.017118917778134346, -0.06021491438150406, -0.02844766527414322, -0.02584047056734562, 0.005157548934221268, 0.0011577436234802008], "flange_pose": [0.6354745030403137, -0.17504899203777313, -0.1117989718914032, -0.007110190577805042, -0.024676993489265442, 0.9996402859687805, 0.007734306622296572], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.920843124389648, -46.159584045410156, -12.644604682922363, -3.4150571823120117, 12.105340003967285, 0.08783816546201706], "ext_wrench_in_world": [-12.44432606893099, -47.02670961853071, 12.118255547719208, 2.8133700274631166, 12.259337623488307, 0.05637229212568906]}
+{"timestamp_ns": 1789729883188918861, "elapsed_ms": 2566, "source_timestamp_ns": 1789729883181742733, "q": [0.07588355243206024, -1.799817681312561, -0.0962311327457428, 0.6386316418647766, 1.698583960533142, -0.03741734102368355, -0.9132962822914124], "theta": [0.0735749900341034, -1.7992230653762817, -0.09728109836578369, 0.6221383213996887, 1.6987918615341187, -0.036846280097961426, -0.913848340511322], "dq": [0.05088217929005623, -0.13668270409107208, -0.006786829326301813, -0.13348272442817688, 0.029781749472022057, 0.057121556252241135, 0.0013581750681623816], "dtheta": [0.05239439010620117, -0.13237082958221436, -0.009473095647990704, -0.1363896131515503, 0.031230872496962547, 0.055475812405347824, 0.002854244550690055], "tau": [-59.939998626708984, -3.9700000286102295, -22.968000411987305, 3.580000162124634, -3.5520002841949463, 3.80400013923645, -0.2880000174045563], "tau_des": [-0.346650093793869, -1.4488475322723389, -1.2573643922805786, 0.2811632752418518, 0.5329480767250061, 0.21898457407951355, -0.1104343980550766], "tau_dot": [-18.665302276611328, -42.479068756103516, 17.942890167236328, -23.090133666992188, -31.699745178222656, -11.122566223144531, -18.66481590270996], "tau_ext": [14.39939022064209, -33.67969512939453, -35.69162368774414, 20.10305404663086, -2.926431179046631, -6.915053367614746, 0.21387793123722076], "tcp_pose": [0.6322311758995056, -0.17392076551914215, -0.3026501536369324, -0.007218622136861086, -0.02470606565475464, 0.9996418356895447, 0.007326215971261263], "tcp_vel": [-0.016009921208024025, -0.057697754353284836, -0.030207471922039986, -0.028029069304466248, 0.007148482836782932, 0.0014693517005071044], "flange_pose": [0.6350420713424683, -0.1766359657049179, -0.11269035190343857, -0.007218622136861086, -0.02470606565475464, 0.9996418356895447, 0.007326215971261263], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.688797950744629, -45.03684997558594, -12.74661922454834, -3.176427125930786, 12.195908546447754, 0.09752397239208221], "ext_wrench_in_world": [-12.260954673205251, -45.886289389929665, 12.274867785116651, 2.5696555471901315, 12.338338301123033, 0.040789958234621865]}
+{"timestamp_ns": 1789729883222262340, "elapsed_ms": 2600, "source_timestamp_ns": 1789729883221739187, "q": [0.07802687585353851, -1.8051797151565552, -0.09656625241041183, 0.6334406733512878, 1.7000257968902588, -0.035034604370594025, -0.9131949543952942], "theta": [0.07573305815458298, -1.8045705556869507, -0.09766457229852676, 0.6169540882110596, 1.7002454996109009, -0.03445744514465332, -0.9137625098228455], "dq": [0.052502091974020004, -0.12819108366966248, -0.011706641875207424, -0.12960167229175568, 0.04491620883345604, 0.05727636069059372, -0.00032713773543946445], "dtheta": [0.054978739470243454, -0.1363147795200348, -0.010463972575962543, -0.1300695389509201, 0.04601753130555153, 0.060609444975852966, -0.00136478035710752], "tau": [-60.2599983215332, -2.2100000381469727, -22.676000595092773, 2.9000000953674316, -3.4800002574920654, 3.832000255584717, -0.30000001192092896], "tau_des": [-0.739870548248291, 0.8278840184211731, -1.0539283752441406, -1.781708002090454, 0.6703671216964722, 0.09335684776306152, -0.5352086424827576], "tau_dot": [-80.16732025146484, 28.615787506103516, 54.07402801513672, -2.5518672466278076, 57.03114318847656, 14.4663667678833, 12.78383731842041], "tau_ext": [14.642805099487305, -34.72308349609375, -35.74882125854492, 20.68008804321289, -2.975226402282715, -6.954604625701904, 0.1843671053647995], "tcp_pose": [0.6315030455589294, -0.17633090913295746, -0.30388712882995605, -0.007254916243255138, -0.024572644382715225, 0.9996487498283386, 0.006774263456463814], "tcp_vel": [-0.017620546743273735, -0.060616813600063324, -0.0318303108215332, -0.02409036085009575, -0.005206998437643051, -0.004292601253837347], "flange_pose": [0.6343222260475159, -0.17883647978305817, -0.1139245554804802, -0.007254916243255138, -0.024572644382715225, 0.9996487498283386, 0.006774263456463814], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.199516296386719, -43.8636474609375, -12.635772705078125, -2.8763694763183594, 12.121297836303711, 0.0807252898812294], "ext_wrench_in_world": [-12.84145259077965, -44.72149759193645, 12.238969097481727, 2.2770913045471946, 12.248204919805568, 0.04701708529480506]}
+{"timestamp_ns": 1789729883255585181, "elapsed_ms": 2633, "source_timestamp_ns": 1789729883251739174, "q": [0.07966484874486923, -1.8094053268432617, -0.09687214344739914, 0.6293226480484009, 1.7014222145080566, -0.03325456753373146, -0.9132827520370483], "theta": [0.07739417254924774, -1.8087893724441528, -0.09800178557634354, 0.6128364205360413, 1.7016441822052002, -0.03267800807952881, -0.9138622283935547], "dq": [0.05446130782365799, -0.14516308903694153, -0.009069888852536678, -0.1419544517993927, 0.04853048548102379, 0.06382337212562561, -0.002235498046502471], "dtheta": [0.056029148399829865, -0.14310939610004425, -0.011998769827187061, -0.14205829799175262, 0.04551925137639046, 0.059294648468494415, -0.0021194329019635916], "tau": [-60.459999084472656, -0.9399999976158142, -22.608001708984375, 2.4120001792907715, -3.5200002193450928, 3.884000301361084, -0.3240000009536743], "tau_des": [-0.9004313945770264, 2.1039023399353027, -1.0990480184555054, -2.4291176795959473, 0.6880266070365906, 0.15102609992027283, -0.40630367398262024], "tau_dot": [-28.620275497436523, 140.94808959960938, 2.156693696975708, -18.044620513916016, 1.6800988912582397, -10.915562629699707, 36.61067581176758], "tau_ext": [14.777009963989258, -36.044124603271484, -35.8760986328125, 21.075580596923828, -3.024218797683716, -6.984198093414307, 0.21064868569374084], "tcp_pose": [0.630981981754303, -0.17816276848316193, -0.30485135316848755, -0.007194887846708298, -0.02456827647984028, 0.9996514916419983, 0.006441160105168819], "tcp_vel": [-0.017600582912564278, -0.06189096346497536, -0.03245878592133522, -0.024164045229554176, -0.0013970109866932034, 0.001640058821067214], "flange_pose": [0.6337752342224121, -0.18054239451885223, -0.11488677561283112, -0.007194887846708298, -0.02456827647984028, 0.9996514916419983, 0.006441160105168819], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.197261810302734, -44.99223709106445, -12.530576705932617, -3.1955559253692627, 12.206560134887695, 0.08157558739185333], "ext_wrench_in_world": [-12.787304144805772, -45.839015238025084, 12.146730106865812, 2.591720246404281, 12.34909325499238, 0.0349931297577659]}
+{"timestamp_ns": 1789729883288899552, "elapsed_ms": 2666, "source_timestamp_ns": 1789729883281747911, "q": [0.08134707808494568, -1.8137550354003906, -0.0972784236073494, 0.6247169375419617, 1.7028141021728516, -0.03149678185582161, -0.9132705330848694], "theta": [0.07910925894975662, -1.8131502866744995, -0.0984451025724411, 0.6082444787025452, 1.7030316591262817, -0.03092515468597412, -0.9138658046722412], "dq": [0.05550075322389603, -0.14499683678150177, -0.012228327803313732, -0.1626240611076355, 0.05044389143586159, 0.05847698077559471, 0.000654972973279655], "dtheta": [0.05841212347149849, -0.14401105046272278, -0.016832059249281883, -0.15835487842559814, 0.047680534422397614, 0.057073548436164856, 0.004453433211892843], "tau": [-60.55999755859375, -1.959999918937683, -22.520000457763672, 2.75600004196167, -3.51200008392334, 3.9280002117156982, -0.30000001192092896], "tau_des": [-1.3897711038589478, 0.5189899206161499, -1.4193695783615112, -1.3263062238693237, 0.5269867777824402, 0.37352660298347473, 0.12818486988544464], "tau_dot": [35.30508041381836, -68.33141326904297, 52.34028625488281, 67.88308715820312, -35.50437927246094, 10.536008834838867, 32.06785583496094], "tau_ext": [15.014826774597168, -35.8961067199707, -35.884952545166016, 20.918100357055664, -3.0080275535583496, -7.027294158935547, 0.22538414597511292], "tcp_pose": [0.6305539011955261, -0.17996299266815186, -0.3058337867259979, -0.007203628774732351, -0.024696195498108864, 0.9996505379676819, 0.006087477318942547], "tcp_vel": [-0.012861802242696285, -0.05839666351675987, -0.03364149481058121, -0.024136165156960487, 0.0036288504488766193, 0.010659982450306416], "flange_pose": [0.6333474516868591, -0.18220782279968262, -0.11586757749319077, -0.007203628774732351, -0.024696195498108864, 0.9996505379676819, 0.006087477318942547], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.76445484161377, -46.42510223388672, -12.341012001037598, -3.6025238037109375, 12.417285919189453, 0.0954667404294014], "ext_wrench_in_world": [-12.275290453380956, -47.24113142323712, 11.965473979087177, 2.984335871482513, 12.580537916821571, 0.009294263297159343]}
+{"timestamp_ns": 1789729883322261369, "elapsed_ms": 2700, "source_timestamp_ns": 1789729883321766913, "q": [0.08367180824279785, -1.8194143772125244, -0.098074771463871, 0.6180257797241211, 1.7045978307724, -0.029068177565932274, -0.9122365117073059], "theta": [0.08148881793022156, -1.8188292980194092, -0.09930288791656494, 0.6015793085098267, 1.704798936843872, -0.028508663177490234, -0.9128133654594421], "dq": [0.06367417424917221, -0.14528733491897583, -0.02660779096186161, -0.16570666432380676, 0.04158656299114227, 0.058693576604127884, 0.031888943165540695], "dtheta": [0.06159870699048042, -0.14223894476890564, -0.02615496888756752, -0.16965310275554657, 0.040968865156173706, 0.058961860835552216, 0.03673659637570381], "tau": [-60.69999694824219, -4.759999752044678, -22.556001663208008, 3.9560000896453857, -3.616000175476074, 3.996000289916992, -0.20000000298023224], "tau_des": [-1.5685659646987915, -1.1705951690673828, -1.199384093284607, -0.33324766159057617, 0.7626327276229858, 0.2914394736289978, -0.23413771390914917], "tau_dot": [7.044185161590576, 42.667747497558594, 2.6498820781707764, -12.398910522460938, -56.640377044677734, -36.80768966674805, 43.21738815307617], "tau_ext": [15.077799797058105, -33.393978118896484, -35.771366119384766, 19.98197364807129, -2.896968364715576, -7.094518184661865, 0.1558154821395874], "tcp_pose": [0.6302245259284973, -0.1822214126586914, -0.30712759494781494, -0.007323604542762041, -0.024708162993192673, 0.9996529221534729, 0.005471484269946814], "tcp_vel": [-0.010420610196888447, -0.05841736122965813, -0.0321531780064106, -0.03782719373703003, 0.014545554295182228, -0.007964013144373894], "flange_pose": [0.6330578923225403, -0.18423110246658325, -0.11715935915708542, -0.007323604542762041, -0.024708162993192673, 0.9996529221534729, 0.005471484269946814], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.328125953674316, -45.2225227355957, -12.0792236328125, -3.274944305419922, 12.619175910949707, 0.0754689872264862], "ext_wrench_in_world": [-11.898632021253375, -46.00130997852992, 11.772061661804573, 2.6471033756740536, 12.765852759016763, 0.020087227979066785]}
+{"timestamp_ns": 1789729883355583800, "elapsed_ms": 2733, "source_timestamp_ns": 1789729883351785070, "q": [0.08547261357307434, -1.823691487312317, -0.09885960817337036, 0.6130170822143555, 1.706112027168274, -0.027282651513814926, -0.9113151431083679], "theta": [0.083311527967453, -1.8230983018875122, -0.10012118518352509, 0.5965661406517029, 1.7063004970550537, -0.02673351764678955, -0.9118517637252808], "dq": [0.06237899512052536, -0.14683333039283752, -0.028723986819386482, -0.1664416790008545, 0.058336202055215836, 0.05728394165635109, 0.021375766023993492], "dtheta": [0.0605473592877388, -0.1478790044784546, -0.027808913961052895, -0.16481338441371918, 0.05842628329992294, 0.059131354093551636, 0.024674011394381523], "tau": [-60.59000015258789, -3.359999895095825, -22.25200080871582, 3.6080002784729004, -3.568000078201294, 4.016000270843506, -0.2160000056028366], "tau_des": [-1.8178755044937134, 1.0687862634658813, -0.9193680286407471, -1.4333300590515137, 0.7175715565681458, 0.2759145200252533, -0.36900874972343445], "tau_dot": [58.29432678222656, 2.9830760955810547, -41.958595275878906, -13.718379020690918, -39.84819030761719, -27.63470458984375, 39.406002044677734], "tau_ext": [15.131407737731934, -34.149269104003906, -35.853580474853516, 20.442283630371094, -2.924595832824707, -7.133776664733887, 0.12389636039733887], "tcp_pose": [0.6299490928649902, -0.18395160138607025, -0.30808523297309875, -0.007412429433315992, -0.024630775675177574, 0.9996566772460938, 0.0049911923706531525], "tcp_vel": [-0.011682226322591305, -0.06062411144375801, -0.03212505578994751, -0.028806181624531746, 0.0001061363800545223, -0.00611137505620718], "flange_pose": [0.6328115463256836, -0.18577821552753448, -0.11811558902263641, -0.007412429433315992, -0.024630775675177574, 0.9996566772460938, 0.0049911923706531525], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.617512702941895, -43.965843200683594, -11.96352481842041, -2.932372570037842, 12.592216491699219, 0.03723934292793274], "ext_wrench_in_world": [-12.25610319346984, -44.74623746654808, 11.719860884286653, 2.3087639024347797, 12.721288944931251, 0.05028572737745543]}
+{"timestamp_ns": 1789729883388892932, "elapsed_ms": 2766, "source_timestamp_ns": 1789729883381754900, "q": [0.08720691502094269, -1.8281538486480713, -0.09967150539159775, 0.6080031991004944, 1.7079436779022217, -0.025586871430277824, -0.9107735753059387], "theta": [0.0850539430975914, -1.827561616897583, -0.10095731914043427, 0.5915471315383911, 1.7081166505813599, -0.025046706199645996, -0.9112669229507446], "dq": [0.05860655754804611, -0.13696987926959991, -0.029528876766562462, -0.17492526769638062, 0.06423070281744003, 0.050118666142225266, 0.0181645005941391], "dtheta": [0.055392008274793625, -0.15053758025169373, -0.027300074696540833, -0.17032979428768158, 0.06073714420199394, 0.05248836427927017, 0.019764795899391174], "tau": [-60.56999969482422, -1.4800000190734863, -22.060001373291016, 3.0440001487731934, -3.6040000915527344, 4.0960001945495605, -0.2200000137090683], "tau_des": [-1.1950091123580933, 1.587243914604187, -0.9266229271888733, -1.4448455572128296, 0.46448421478271484, 0.42921945452690125, -0.1387346386909485], "tau_dot": [-55.446205139160156, 15.92881965637207, -21.27494239807129, -49.05460739135742, -40.75310516357422, 72.88583374023438, 13.23282527923584], "tau_ext": [14.918760299682617, -35.82951354980469, -36.07119369506836, 20.972412109375, -2.970796823501587, -7.136905193328857, 0.11957785487174988], "tcp_pose": [0.6296349167823792, -0.18572667241096497, -0.3090266287326813, -0.007378663867712021, -0.024656133726239204, 0.9996580481529236, 0.0046298266388475895], "tcp_vel": [-0.010479365475475788, -0.058610621839761734, -0.030330168083310127, -0.02110295370221138, -0.0019168718717992306, 0.0014972641365602612], "flange_pose": [0.6324812173843384, -0.18741627037525177, -0.11905545741319656, -0.007378663867712021, -0.024656133726239204, 0.9996580481529236, 0.0046298266388475895], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.630553245544434, -45.02498245239258, -12.091593742370605, -3.2684333324432373, 12.655350685119629, 0.018361220136284828], "ext_wrench_in_world": [-12.21358396369923, -45.79805328468568, 11.869096614075834, 2.640842484797963, 12.800926470226242, 0.055919770528361216]}
+{"timestamp_ns": 1789729883422255989, "elapsed_ms": 2800, "source_timestamp_ns": 1789729883421751214, "q": [0.08944743871688843, -1.8340859413146973, -0.10074888914823532, 0.601029634475708, 1.7102510929107666, -0.02335198037326336, -0.9097805023193359], "theta": [0.08728644251823425, -1.8335529565811157, -0.10206639766693115, 0.5845951437950134, 1.7103854417800903, -0.022815227508544922, -0.9102087020874023], "dq": [0.05793634057044983, -0.14436163008213043, -0.024981865659356117, -0.17437711358070374, 0.055692899972200394, 0.06107807531952858, 0.026453910395503044], "dtheta": [0.05785002186894417, -0.14594875276088715, -0.028203699737787247, -0.1769869029521942, 0.05045847222208977, 0.05953323096036911, 0.03492698445916176], "tau": [-60.21999740600586, -3.419999837875366, -22.152000427246094, 3.6480002403259277, -3.7360000610351562, 4.128000259399414, -0.19600000977516174], "tau_des": [-1.3155471086502075, -0.126902237534523, -1.4742311239242554, -0.5392373204231262, 0.23783767223358154, 0.47886335849761963, -0.09646997600793839], "tau_dot": [134.1912078857422, -40.40810775756836, -42.99308395385742, 5.628561973571777, 30.6124324798584, -1.5397967100143433, 60.13251876831055], "tau_ext": [15.01840591430664, -34.99503707885742, -35.866756439208984, 20.52312660217285, -2.8510427474975586, -7.241098403930664, 0.10856297612190247], "tcp_pose": [0.6293094754219055, -0.1880102902650833, -0.31025195121765137, -0.007377028465270996, -0.02470436692237854, 0.99965900182724, 0.004137826152145863], "tcp_vel": [-0.007577664218842983, -0.05722064897418022, -0.030539484694600105, -0.032749589532613754, 0.005042374134063721, -0.002439355943351984], "flange_pose": [0.6321505904197693, -0.18951286375522614, -0.12027912586927414, -0.007377028465270996, -0.02470436692237854, 0.99965900182724, 0.004137826152145863], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.032038688659668, -46.632606506347656, -12.191802978515625, -3.827601194381714, 12.884109497070312, 0.003474930301308632], "ext_wrench_in_world": [-11.530648454867178, -47.364431817050985, 11.991367897827155, 3.186876706720468, 13.057255412348194, 0.05213888890852789]}
+{"timestamp_ns": 1789729883455598568, "elapsed_ms": 2833, "source_timestamp_ns": 1789729883451858862, "q": [0.09114544093608856, -1.8383444547653198, -0.10162734985351562, 0.5957313776016235, 1.7116507291793823, -0.021567916497588158, -0.9086276888847351], "theta": [0.08897106349468231, -1.837843894958496, -0.10296513885259628, 0.5793092250823975, 1.7117472887039185, -0.021036267280578613, -0.9090014100074768], "dq": [0.0557420589029789, -0.1521071344614029, -0.03354688733816147, -0.17272673547267914, 0.04595015570521355, 0.06624915450811386, 0.043062951415777206], "dtheta": [0.05581321939826012, -0.1426849216222763, -0.030897557735443115, -0.1749866008758545, 0.046052251011133194, 0.06073756143450737, 0.04086052253842354], "tau": [-59.8599967956543, -4.440000057220459, -21.86400032043457, 3.8600001335144043, -3.684000253677368, 4.156000137329102, -0.20400001108646393], "tau_des": [-0.611973226070404, -0.5997388958930969, -0.9630582332611084, -0.6116092801094055, 0.5378603935241699, 0.3519212603569031, -0.27832525968551636], "tau_dot": [46.18287658691406, 97.0611343383789, 50.678890228271484, 16.28379249572754, 34.558380126953125, -1.7327394485473633, -25.7371768951416], "tau_ext": [14.666881561279297, -33.95537185668945, -35.85966110229492, 20.309459686279297, -2.801346778869629, -7.266940116882324, 0.1022733598947525], "tcp_pose": [0.6291228532791138, -0.18967986106872559, -0.3111274540424347, -0.007496585603803396, -0.024666357785463333, 0.9996611475944519, 0.003603596007451415], "tcp_vel": [-0.007174200378358364, -0.05739675462245941, -0.027782773599028587, -0.038880202919244766, 0.006311905104666948, -0.00685539236292243], "flange_pose": [0.6320043802261353, -0.1909784972667694, -0.12115374952554703, -0.007496585603803396, -0.024666357785463333, 0.9996611475944519, 0.003603596007451415], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.949345588684082, -45.4363899230957, -12.26589584350586, -3.5938563346862793, 12.915771484375, -0.0075515140779316425], "ext_wrench_in_world": [-11.506494399053947, -46.152436227793494, 12.126631408757431, 2.9529373762545608, 13.077096544655163, 0.05215582432287084]}
+{"timestamp_ns": 1789729883488921979, "elapsed_ms": 2866, "source_timestamp_ns": 1789729883481766118, "q": [0.09281568229198456, -1.8427038192749023, -0.10260163247585297, 0.5904695987701416, 1.7132822275161743, -0.01982620730996132, -0.9076223969459534], "theta": [0.09062735736370087, -1.8421891927719116, -0.10394684970378876, 0.5740578174591064, 1.7133421897888184, -0.019306659698486328, -0.9079427719116211], "dq": [0.05470564216375351, -0.1504044234752655, -0.03416023030877113, -0.1766303926706314, 0.061399590224027634, 0.05424926057457924, 0.03277647867798805], "dtheta": [0.05516570433974266, -0.14671830832958221, -0.03344755247235298, -0.17538338899612427, 0.05738405883312225, 0.05815356597304344, 0.03419782966375351], "tau": [-59.46999740600586, -3.049999952316284, -21.604000091552734, 3.5480000972747803, -3.692000150680542, 4.164000034332275, -0.2120000123977661], "tau_des": [-0.4619150161743164, 0.6270635724067688, -0.7327257394790649, -1.42905855178833, 0.4868801236152649, 0.369204044342041, -0.24776186048984528], "tau_dot": [119.93611907958984, 102.37740325927734, -66.84484100341797, -24.553543090820312, -35.282230377197266, 8.122259140014648, -34.89360809326172], "tau_ext": [14.365338325500488, -34.68079376220703, -36.018157958984375, 20.632476806640625, -2.8297111988067627, -7.25319242477417, 0.10511763393878937], "tcp_pose": [0.6289013028144836, -0.19139760732650757, -0.31197383999824524, -0.007540471851825714, -0.02463839203119278, 0.9996631741523743, 0.0031116181053221226], "tcp_vel": [-0.007584295701235533, -0.05785433202981949, -0.027814345434308052, -0.03192486613988876, -0.0003449978830758482, -0.003631757339462638], "flange_pose": [0.6317948698997498, -0.1925090253353119, -0.12199913710355759, -0.007540471851825714, -0.02463839203119278, 0.9996631741523743, 0.0031116181053221226], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.22669792175293, -44.75971984863281, -12.594557762145996, -3.4983811378479004, 12.853732109069824, -0.009768514893949032], "ext_wrench_in_world": [-11.813230870253774, -45.47966040052609, 12.51009217263555, 2.861310661023828, 13.010315402086272, 0.04230343501294131]}
+{"timestamp_ns": 1789729883522267987, "elapsed_ms": 2900, "source_timestamp_ns": 1789729883521857104, "q": [0.09500087052583694, -1.8487739562988281, -0.103884756565094, 0.5831096768379211, 1.7156310081481934, -0.017513619735836983, -0.9063378572463989], "theta": [0.0927966758608818, -1.84822678565979, -0.10523569583892822, 0.5667262673377991, 1.7156410217285156, -0.017011523246765137, -0.9065887331962585], "dq": [0.0550525039434433, -0.15285129845142365, -0.029606595635414124, -0.19225628674030304, 0.060776107013225555, 0.05319874361157417, 0.03629010543227196], "dtheta": [0.05507589131593704, -0.15452522039413452, -0.03481144830584526, -0.19081494212150574, 0.058148667216300964, 0.059825997799634933, 0.03385875001549721], "tau": [-59.75, -2.7100000381469727, -21.512001037597656, 3.508000135421753, -3.7400002479553223, 4.168000221252441, -0.1680000126361847], "tau_des": [-0.8526670932769775, 0.7241443991661072, -0.9733511209487915, -1.539383888244629, 0.4376150667667389, 0.3399260938167572, 0.019044723361730576], "tau_dot": [-11.976402282714844, 14.184748649597168, -12.456212043762207, 34.03938293457031, 85.54595184326172, -26.883987426757812, 79.95249938964844], "tau_ext": [14.30087661743164, -35.57956314086914, -36.08531188964844, 20.785369873046875, -2.8011021614074707, -7.255496978759766, 0.10077983140945435], "tcp_pose": [0.6286296248435974, -0.19370976090431213, -0.31311851739883423, -0.007533898111432791, -0.02467024326324463, 0.9996640086174011, 0.002537205582484603], "tcp_vel": [-0.005956205539405346, -0.0589013434946537, -0.028073327615857124, -0.032458942383527756, 0.00010986895358655602, 0.004279964603483677], "flange_pose": [0.6315153241157532, -0.19460293650627136, -0.1231425330042839, -0.007533898111432791, -0.02467024326324463, 0.9996640086174011, 0.002537205582484603], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.707279205322266, -46.24504852294922, -12.8860502243042, -4.014113426208496, 13.025053977966309, -0.0079188272356987], "ext_wrench_in_world": [-11.214107064361496, -46.92535943612379, 12.83739658285527, 3.3669432151567964, 13.207139649155389, 0.018870846440563353]}
+{"timestamp_ns": 1789729883555591258, "elapsed_ms": 2933, "source_timestamp_ns": 1789729883551796987, "q": [0.09663382172584534, -1.8534014225006104, -0.10493425279855728, 0.5771729350090027, 1.7173833847045898, -0.015811936929821968, -0.9049204587936401], "theta": [0.09442159533500671, -1.852844476699829, -0.10629469901323318, 0.5607984066009521, 1.7173547744750977, -0.015316367149353027, -0.9051163792610168], "dq": [0.054557763040065765, -0.15663591027259827, -0.03586249798536301, -0.19422473013401031, 0.05763180926442146, 0.05235971510410309, 0.05337893217802048], "dtheta": [0.054189641028642654, -0.1549101322889328, -0.036649808287620544, -0.2033868134021759, 0.055075276643037796, 0.053656209260225296, 0.055052369832992554], "tau": [-59.91999816894531, -4.489999771118164, -21.696001052856445, 4.076000213623047, -3.9000000953674316, 4.228000164031982, -0.1600000113248825], "tau_des": [-1.3432376384735107, -1.1245447397232056, -1.5624595880508423, -0.6982161998748779, 0.22975562512874603, 0.5496320128440857, -0.282978355884552], "tau_dot": [58.21522903442383, 30.5952091217041, 34.07597351074219, -81.17254638671875, -8.63679027557373, -14.839763641357422, 57.49016571044922], "tau_ext": [14.502573013305664, -34.468196868896484, -35.90814208984375, 20.36838722229004, -2.700479507446289, -7.285752296447754, 0.08487089723348618], "tcp_pose": [0.6285221576690674, -0.19538648426532745, -0.313976526260376, -0.007578409742563963, -0.02463873103260994, 0.9996654987335205, 0.0020998611580580473], "tcp_vel": [-0.003325775032863021, -0.055086035281419754, -0.02828526496887207, -0.030018087476491928, 0.0077233449555933475, -0.004789710510522127], "flange_pose": [0.6314206719398499, -0.1961131989955902, -0.12400002777576447, -0.007578409742563963, -0.02463873103260994, 0.9996654987335205, 0.0020998611580580473], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.163799285888672, -46.58583068847656, -12.771780014038086, -4.1448798179626465, 13.180681228637695, -0.01435855496674776], "ext_wrench_in_world": [-10.65808736125289, -47.22658943295457, 12.755313466653671, 3.490716580084884, 13.3688197087375, 0.012242434772833065]}
+{"timestamp_ns": 1789729883588900180, "elapsed_ms": 2966, "source_timestamp_ns": 1789729883581756598, "q": [0.09824591130018234, -1.8581295013427734, -0.10613635927438736, 0.5710346102714539, 1.7191741466522217, -0.014204130508005619, -0.9034836292266846], "theta": [0.0960274413228035, -1.857551097869873, -0.10750991851091385, 0.5546398758888245, 1.7191061973571777, -0.013712048530578613, -0.9036121368408203], "dq": [0.05113615095615387, -0.16522568464279175, -0.040363360196352005, -0.20956894755363464, 0.06635468453168869, 0.05112298205494881, 0.04052889347076416], "dtheta": [0.05172797664999962, -0.159620001912117, -0.04215982183814049, -0.21300211548805237, 0.0681113451719284, 0.052420273423194885, 0.045210178941488266], "tau": [-60.34000015258789, -4.589999675750732, -21.452001571655273, 4.212000370025635, -3.832000255584717, 4.144000053405762, -0.17600001394748688], "tau_des": [-1.3618916273117065, -1.9353476762771606, -1.2744899988174438, -0.13291196525096893, 0.17637817561626434, 0.3225352466106415, 0.055565085262060165], "tau_dot": [73.22991943359375, 66.9131088256836, -54.559783935546875, -24.086519241333008, -8.370680809020996, -35.2100715637207, -33.2256965637207], "tau_ext": [14.751883506774902, -34.30817413330078, -35.842159271240234, 20.44916534423828, -2.673053026199341, -7.2938761711120605, 0.07318182289600372], "tcp_pose": [0.6284130811691284, -0.19708271324634552, -0.3147950768470764, -0.007664914708584547, -0.024652842432260513, 0.9996653199195862, 0.0016514549497514963], "tcp_vel": [0.0003967154771089554, -0.05409831926226616, -0.026930155232548714, -0.024500316008925438, -0.0009705572738312185, 0.010259903967380524], "flange_pose": [0.6313402652740479, -0.19763824343681335, -0.12481844425201416, -0.007664914708584547, -0.024652842432260513, 0.9996653199195862, 0.0016514549497514963], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.391921043395996, -45.62332534790039, -12.505281448364258, -3.87874436378479, 13.12673568725586, -0.023324904963374138], "ext_wrench_in_world": [-10.933829884264501, -46.26460002696464, 12.5399991045723, 3.2272594767762004, 13.301918347024673, 0.012500100280280556]}
+{"timestamp_ns": 1789729883622262707, "elapsed_ms": 3000, "source_timestamp_ns": 1789729883621739404, "q": [0.10023479908704758, -1.8647795915603638, -0.10785456746816635, 0.5624393224716187, 1.721998691558838, -0.012356161139905453, -0.9014981389045715], "theta": [0.09802081435918808, -1.8641605377197266, -0.10924689471721649, 0.546023428440094, 1.7218799591064453, -0.011872649192810059, -0.9015263915061951], "dq": [0.05039246007800102, -0.15920878946781158, -0.042147185653448105, -0.21646560728549957, 0.07277725636959076, 0.04280436038970947, 0.05131702497601509], "dtheta": [0.04905308037996292, -0.17333875596523285, -0.046744998544454575, -0.2241080105304718, 0.07071153074502945, 0.041213929653167725, 0.054303307086229324], "tau": [-60.39999771118164, -4.420000076293945, -21.38800048828125, 4.452000141143799, -3.9880001544952393, 4.176000118255615, -0.15200001001358032], "tau_des": [-1.872281789779663, -0.8545548915863037, -1.3662525415420532, -1.1587646007537842, 0.2681683301925659, 0.38676542043685913, -0.06199672445654869], "tau_dot": [-37.57037353515625, 19.849611282348633, -61.77503204345703, 89.87395477294922, -30.057497024536133, 24.676849365234375, -46.224456787109375], "tau_ext": [14.837258338928223, -34.83880615234375, -35.908546447753906, 20.566923141479492, -2.6562299728393555, -7.250560283660889, 0.05469784885644913], "tcp_pose": [0.6282938718795776, -0.19932909309864044, -0.3158438205718994, -0.007672697771340609, -0.02467077411711216, 0.999665379524231, 0.0012690852163359523], "tcp_vel": [-0.004628153517842293, -0.057992205023765564, -0.02546040527522564, -0.018199389800429344, 0.004766223952174187, -0.0013112975284457207], "flange_pose": [0.6312204003334045, -0.1997392624616623, -0.1258668154478073, -0.007672697771340609, -0.02467077411711216, 0.999665379524231, 0.0012690852163359523], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.273167610168457, -45.712890625, -12.147673606872559, -3.8622426986694336, 13.183600425720215, -0.032370638102293015], "ext_wrench_in_world": [-10.814438511856714, -46.33827897016407, 12.215692510720265, 3.2075602303313255, 13.35802024132596, 0.011802872935911202]}
+{"timestamp_ns": 1789729883655590457, "elapsed_ms": 3033, "source_timestamp_ns": 1789729883651719983, "q": [0.10165254026651382, -1.8700473308563232, -0.10926399379968643, 0.5555659532546997, 1.7242130041122437, -0.011159149929881096, -0.8998008966445923], "theta": [0.09944073855876923, -1.8694660663604736, -0.11067721992731094, 0.5391166806221008, 1.7240632772445679, -0.010683298110961914, -0.8997524976730347], "dq": [0.04372647404670715, -0.18215656280517578, -0.049301840364933014, -0.23421047627925873, 0.07567012310028076, 0.038755275309085846, 0.05930327624082565], "dtheta": [0.045086950063705444, -0.18251964449882507, -0.050431251525878906, -0.23733185231685638, 0.07527028024196625, 0.0390649288892746, 0.059204112738370895], "tau": [-60.71999740600586, -4.130000114440918, -21.284000396728516, 4.160000324249268, -3.9120001792907715, 4.144000053405762, -0.12400000542402267], "tau_des": [-1.8682804107666016, -1.0414092540740967, -1.35066556930542, -1.3091881275177002, 0.2743980884552002, 0.32756882905960083, -0.1141020730137825], "tau_dot": [-190.92312622070312, -37.35337829589844, -14.755327224731445, -28.385284423828125, 78.95179748535156, -31.520925521850586, 31.970096588134766], "tau_ext": [15.076704978942871, -34.98760986328125, -35.806175231933594, 20.647409439086914, -2.6011106967926025, -7.252466678619385, 0.03232026472687721], "tcp_pose": [0.6281959414482117, -0.2010408192873001, -0.3165973722934723, -0.007713183760643005, -0.024655019864439964, 0.9996657371520996, 0.0010487065883353353], "tcp_vel": [-0.003611591411754489, -0.05963505432009697, -0.02316540852189064, -0.015870362520217896, 0.0017254231497645378, -0.0020813571754842997], "flange_pose": [0.6311357617378235, -0.20136693120002747, -0.12662039697170258, -0.007713183760643005, -0.024655019864439964, 0.9996657371520996, 0.0010487065883353353], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.966167449951172, -46.22740936279297, -11.752213478088379, -3.9722535610198975, 13.273831367492676, -0.04386657476425171], "ext_wrench_in_world": [-10.48905459942935, -46.830636623702304, 11.835565191359342, 3.3135308402148596, 13.453460112844892, 0.01568964900143998]}
+{"timestamp_ns": 1789729883688901439, "elapsed_ms": 3066, "source_timestamp_ns": 1789729883681739749, "q": [0.1029629111289978, -1.875641107559204, -0.11079178005456924, 0.5482308864593506, 1.7266325950622559, -0.010093295946717262, -0.8980503082275391], "theta": [0.10075552016496658, -1.8751208782196045, -0.11221621185541153, 0.5317585468292236, 1.7264618873596191, -0.009626507759094238, -0.8979272842407227], "dq": [0.04245582967996597, -0.2022765576839447, -0.04682314023375511, -0.26394519209861755, 0.08479803055524826, 0.03304345905780792, 0.0580965057015419], "dtheta": [0.04127142205834389, -0.1926700323820114, -0.05151424556970596, -0.25702089071273804, 0.08084925264120102, 0.03183993324637413, 0.06377462297677994], "tau": [-60.38999938964844, -4.339999675750732, -21.128000259399414, 4.519999980926514, -4.004000186920166, 4.160000324249268, -0.1120000034570694], "tau_des": [-1.889540195465088, -1.8259170055389404, -1.6986173391342163, -0.6670216917991638, -0.0580335296690464, 0.41342851519584656, 0.0427229180932045], "tau_dot": [65.44121551513672, -39.482051849365234, -3.404196262359619, 63.90782928466797, 8.536076545715332, -76.82050323486328, -13.788553237915039], "tau_ext": [15.164098739624023, -34.852508544921875, -35.7645378112793, 20.627445220947266, -2.589097499847412, -7.243865489959717, 0.01766904629766941], "tcp_pose": [0.6281217336654663, -0.2027902752161026, -0.31730419397354126, -0.007713461294770241, -0.02468155324459076, 0.9996652007102966, 0.0009089658269658685], "tcp_vel": [-0.0013774365652352571, -0.05787276849150658, -0.0230852197855711, -0.005722851492464542, 0.0014620557194575667, 0.00254309200681746], "flange_pose": [0.6310604214668274, -0.2030632197856903, -0.127327099442482, -0.007713461294770241, -0.02468155324459076, 0.9996652007102966, 0.0009089658269658685], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.065324783325195, -46.50742721557617, -11.444772720336914, -4.026752948760986, 13.261361122131348, -0.05529686436057091], "ext_wrench_in_world": [-10.576509526004166, -47.1120410855618, 11.542068771443654, 3.3680061686321063, 13.443865631763263, 0.022520841255820045]}
+{"timestamp_ns": 1789729883722257097, "elapsed_ms": 3100, "source_timestamp_ns": 1789729883721724944, "q": [0.10455678403377533, -1.8835017681121826, -0.11295195668935776, 0.5376260876655579, 1.7297942638397217, -0.008901332505047321, -0.8952714204788208], "theta": [0.10234906524419785, -1.882999062538147, -0.11440951377153397, 0.5211758017539978, 1.7296019792556763, -0.0084458589553833, -0.8950496315956116], "dq": [0.03672153875231743, -0.20678271353244781, -0.056615132838487625, -0.2604807913303375, 0.07765749096870422, 0.029854776337742805, 0.07286939024925232], "dtheta": [0.03946312516927719, -0.20129214227199554, -0.056781258434057236, -0.26907163858413696, 0.08031505346298218, 0.02696666121482849, 0.07464387267827988], "tau": [-60.28999710083008, -5.339999675750732, -20.992000579833984, 4.716000080108643, -4.0, 4.160000324249268, -0.03200000151991844], "tau_des": [-1.9411025047302246, -1.2291687726974487, -1.3446582555770874, -0.8195982575416565, 0.25052934885025024, 0.43665656447410583, -0.023462004959583282], "tau_dot": [-28.78204345703125, 95.67868041992188, -41.1241340637207, -38.579017639160156, 1.988816261291504, 75.22122955322266, 47.763343811035156], "tau_ext": [15.253934860229492, -33.97216796875, -35.6347541809082, 20.24643898010254, -2.5019209384918213, -7.239496231079102, -0.02594824880361557], "tcp_pose": [0.6280666589736938, -0.20512628555297852, -0.31818488240242004, -0.007812932133674622, -0.024703651666641235, 0.9996640086174011, 0.0007765366462990642], "tcp_vel": [-0.003378642024472356, -0.06009349972009659, -0.02151940017938614, -0.006023207679390907, 0.007082382217049599, -0.004711290821433067], "flange_pose": [0.6310418844223022, -0.2053479254245758, -0.12820832431316376, -0.007812932133674622, -0.024703651666641235, 0.9996640086174011, 0.0007765366462990642], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.701176643371582, -45.847652435302734, -11.191986083984375, -3.8535194396972656, 13.354249954223633, -0.08024067431688309], "ext_wrench_in_world": [-10.244977286086195, -46.43216819347278, 11.299640335832857, 3.1901883761188903, 13.528215622779522, 0.04607240260103923]}
+{"timestamp_ns": 1789729883755587307, "elapsed_ms": 3133, "source_timestamp_ns": 1789729883751713623, "q": [0.10568056255578995, -1.889782190322876, -0.11462078243494034, 0.529456615447998, 1.732438564300537, -0.00807864312082529, -0.893192708492279], "theta": [0.10346619784832001, -1.8892767429351807, -0.11610577255487442, 0.5130018591880798, 1.7322393655776978, -0.007629990577697754, -0.8928948640823364], "dq": [0.039752814918756485, -0.21904298663139343, -0.05674343928694725, -0.28301459550857544, 0.08848150819540024, 0.02744729071855545, 0.06390886753797531], "dtheta": [0.03529725596308708, -0.21581991016864777, -0.05539446696639061, -0.27969929575920105, 0.09253662824630737, 0.02637646161019802, 0.06603166460990906], "tau": [-60.22999954223633, -2.440000057220459, -20.408000946044922, 3.632000207901001, -3.8520002365112305, 4.068000316619873, -0.024000000208616257], "tau_des": [-1.75078547000885, 1.9841867685317993, -1.0406606197357178, -2.5001895427703857, 0.30299660563468933, 0.31383514404296875, -0.0874910056591034], "tau_dot": [31.637649536132812, 54.882835388183594, -18.024024963378906, 51.957427978515625, -18.828594207763672, -11.82712173461914, 59.32773971557617], "tau_ext": [15.194731712341309, -36.018028259277344, -35.773441314697266, 21.160625457763672, -2.5789906978607178, -7.219653606414795, -0.05270443484187126], "tcp_pose": [0.6279274225234985, -0.20700092613697052, -0.31882721185684204, -0.007801956031471491, -0.02463740110397339, 0.9996656775474548, 0.0007756949635222554], "tcp_vel": [-0.004449342377483845, -0.06320234388113022, -0.021134693175554276, 0.004573605954647064, -0.004387913271784782, -0.00047414671280421317], "flange_pose": [0.6308984160423279, -0.20722255110740662, -0.1288505643606186, -0.007801956031471491, -0.02463740110397339, 0.9996656775474548, 0.0007756949635222554], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.977639198303223, -46.32231140136719, -11.059974670410156, -3.993640661239624, 13.29142951965332, -0.10103844106197357], "ext_wrench_in_world": [-10.506161380598606, -46.9183348611237, 11.170905036789364, 3.335333345794302, 13.471928247063095, 0.06460612979022731]}
+{"timestamp_ns": 1789729883788904018, "elapsed_ms": 3166, "source_timestamp_ns": 1789729883781721900, "q": [0.10670722275972366, -1.8961975574493408, -0.11627756059169769, 0.5207390785217285, 1.7351356744766235, -0.007341744378209114, -0.8910903930664062], "theta": [0.10448142886161804, -1.8956778049468994, -0.11778900772333145, 0.5042870044708252, 1.7349419593811035, -0.006897449493408203, -0.8907082080841064], "dq": [0.03337673470377922, -0.21586255729198456, -0.056719858199357986, -0.29121363162994385, 0.08264392614364624, 0.02236274629831314, 0.07551052421331406], "dtheta": [0.033879127353429794, -0.20909909904003143, -0.05729081109166145, -0.29976868629455566, 0.08267167955636978, 0.02449287846684456, 0.08539842069149017], "tau": [-59.84000015258789, -5.670000076293945, -20.54800033569336, 4.908000469207764, -4.131999969482422, 4.0920000076293945, 0.04400000348687172], "tau_des": [-0.9577271342277527, -2.559152126312256, -1.7221721410751343, 0.4172225892543793, -0.2857339680194855, 0.5298247337341309, 0.3115890622138977], "tau_dot": [-7.277126789093018, -250.23924255371094, 12.959860801696777, 32.85179901123047, -9.100558280944824, -69.18368530273438, 50.69847869873047], "tau_ext": [15.089786529541016, -33.970890045166016, -35.70110321044922, 20.147579193115234, -2.514329671859741, -7.20258903503418, -0.08485664427280426], "tcp_pose": [0.6279236078262329, -0.20875489711761475, -0.3194783627986908, -0.007788676302880049, -0.024759160354733467, 0.9996626973152161, 0.0008699923637323081], "tcp_vel": [0.004094196483492851, -0.05431518331170082, -0.02133112959563732, 0.001593859400600195, 0.006480355281382799, 0.006712453905493021], "flange_pose": [0.6308904886245728, -0.20901210606098175, -0.12950170040130615, -0.007788676302880049, -0.024759160354733467, 0.9996626973152161, 0.0008699923637323081], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.700596809387207, -46.946800231933594, -11.074870109558105, -4.187160491943359, 13.39293384552002, -0.12047708034515381], "ext_wrench_in_world": [-10.187241987110157, -47.53303535409875, 11.17097175707371, 3.5206097256027897, 13.583658288946141, 0.08390084499783221]}
+{"timestamp_ns": 1789729883822255756, "elapsed_ms": 3200, "source_timestamp_ns": 1789729883821725704, "q": [0.1081332340836525, -1.9047486782073975, -0.11866214871406555, 0.5088945031166077, 1.738386631011963, -0.006224237382411957, -0.8875423669815063], "theta": [0.10588867217302322, -1.9041790962219238, -0.12019664794206619, 0.4924333989620209, 1.7382278442382812, -0.005776762962341309, -0.8870381712913513], "dq": [0.038422804325819016, -0.20679180324077606, -0.06626494228839874, -0.30090463161468506, 0.09063155204057693, 0.03083379939198494, 0.08538367599248886], "dtheta": [0.03387214243412018, -0.22166180610656738, -0.06045181676745415, -0.30022141337394714, 0.09418702870607376, 0.027160825207829475, 0.08331150561571121], "tau": [-59.5, -3.2799999713897705, -19.648000717163086, 4.284000396728516, -3.7720000743865967, 3.9800002574920654, 0.04800000041723251], "tau_des": [-0.8353822231292725, 1.7552827596664429, -0.4776538610458374, -2.047701358795166, 0.531383752822876, 0.19179074466228485, -0.08298196643590927], "tau_dot": [-28.74882698059082, 27.219371795654297, -1.8588820695877075, -41.9354248046875, -29.796417236328125, 5.799725532531738, 13.222475051879883], "tau_ext": [14.984800338745117, -35.069881439208984, -35.808738708496094, 20.701505661010742, -2.56618332862854, -7.202534198760986, -0.13169749081134796], "tcp_pose": [0.6278858184814453, -0.21114963293075562, -0.3203103542327881, -0.00794889871031046, -0.024665426462888718, 0.9996638298034668, 0.0007814142154529691], "tcp_vel": [-0.001406866475008428, -0.06110939756035805, -0.021013176068663597, 0.0040866052731871605, -0.0016879773465916514, -0.0032349450048059225], "flange_pose": [0.630912721157074, -0.21137195825576782, -0.13033458590507507, -0.00794889871031046, -0.024665426462888718, 0.9996638298034668, 0.0007814142154529691], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.50316047668457, -45.67705535888672, -11.06599235534668, -3.879816770553589, 13.456094741821289, -0.1608116626739502], "ext_wrench_in_world": [-10.058111396392455, -46.25111001156398, 11.173531796575654, 3.21375718665823, 13.63089574108769, 0.12557987733496]}
+{"timestamp_ns": 1789729883855586256, "elapsed_ms": 3233, "source_timestamp_ns": 1789729883851792465, "q": [0.10914373397827148, -1.9114090204238892, -0.12047236412763596, 0.4997711181640625, 1.7413123846054077, -0.005480863619595766, -0.8852276802062988], "theta": [0.10688230395317078, -1.9108637571334839, -0.12197897583246231, 0.4833190143108368, 1.741187334060669, -0.0050296783447265625, -0.8846405744552612], "dq": [0.03248513862490654, -0.20045821368694305, -0.0649690255522728, -0.2997515797615051, 0.09501034766435623, 0.025150492787361145, 0.0827738493680954], "dtheta": [0.03346468135714531, -0.22257013618946075, -0.05677184462547302, -0.3077279329299927, 0.09310376644134521, 0.02403956651687622, 0.0869138091802597], "tau": [-59.03999710083008, -3.799999952316284, -19.54800033569336, 3.9880001544952393, -3.8400001525878906, 4.064000129699707, 0.0560000017285347], "tau_des": [-0.7506600618362427, 0.7685889005661011, -1.1953617334365845, -1.3982491493225098, 0.05092930048704147, 0.4450024962425232, 0.2367011457681656], "tau_dot": [-7.8641252517700195, -146.56661987304688, 19.77252960205078, 20.273719787597656, 29.48806381225586, 16.94582176208496, -45.2989387512207], "tau_ext": [14.590234756469727, -35.70832443237305, -36.0477409362793, 20.947998046875, -2.663689136505127, -7.144402027130127, -0.15442676842212677], "tcp_pose": [0.6278767585754395, -0.21291102468967438, -0.3209732472896576, -0.007917060516774654, -0.024759909138083458, 0.9996616840362549, 0.0009184106020256877], "tcp_vel": [-0.0004973289906047285, -0.05733413249254227, -0.023290719836950302, 0.010900842025876045, 0.0013797006104141474, -0.0009391732746735215], "flange_pose": [0.6308928728103638, -0.2131854146718979, -0.13099738955497742, -0.007917060516774654, -0.024759909138083458, 0.9996616840362549, 0.0009184106020256877], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.231104850769043, -47.76150894165039, -11.354220390319824, -4.489922046661377, 13.585824012756348, -0.17844298481941223], "ext_wrench_in_world": [-9.670688900261926, -48.32491987864619, 11.439400239636116, 3.814344397243469, 13.79121591680964, 0.13782722759994348]}
+{"timestamp_ns": 1789729883888892978, "elapsed_ms": 3266, "source_timestamp_ns": 1789729883881742838, "q": [0.11018400639295578, -1.9178812503814697, -0.12231780588626862, 0.4904516935348511, 1.743811845779419, -0.004645368549972773, -0.8823778629302979], "theta": [0.10790722072124481, -1.9173905849456787, -0.12376119941473007, 0.4740108847618103, 1.7437148094177246, -0.004185080528259277, -0.8817161917686462], "dq": [0.03758620470762253, -0.22667603194713593, -0.07498045265674591, -0.32326120138168335, 0.08317846059799194, 0.03191796690225601, 0.09987087547779083], "dtheta": [0.035478826612234116, -0.21503475308418274, -0.060424476861953735, -0.31155121326446533, 0.08248696476221085, 0.03164972737431526, 0.10780484974384308], "tau": [-59.02000045776367, -5.239999771118164, -19.368000030517578, 5.156000137329102, -3.820000171661377, 4.016000270843506, 0.1120000034570694], "tau_des": [-0.37725207209587097, -1.2166666984558105, -0.8851516842842102, -0.3053664267063141, 0.4024644196033478, 0.2896832823753357, 0.06124792620539665], "tau_dot": [32.04757308959961, -41.78953170776367, 0.5834894776344299, 110.00656127929688, -56.861209869384766, 13.661791801452637, 25.693124771118164], "tau_ext": [14.565367698669434, -33.87742233276367, -35.9068603515625, 20.318262100219727, -2.6536056995391846, -7.175464630126953, -0.18229492008686066], "tcp_pose": [0.6279368996620178, -0.21458391845226288, -0.3216322660446167, -0.008063040673732758, -0.024777650833129883, 0.999660074710846, 0.0008998837438412011], "tcp_vel": [0.0026464927941560745, -0.055378034710884094, -0.022716857492923737, -0.003386326367035508, 0.00877748616039753, -0.010154353454709053], "flange_pose": [0.6310082674026489, -0.21484984457492828, -0.13165728747844696, -0.008063040673732758, -0.024777650833129883, 0.999660074710846, 0.0008998837438412011], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.401806831359863, -46.75949478149414, -11.658333778381348, -4.248147487640381, 13.577888488769531, -0.20070701837539673], "ext_wrench_in_world": [-9.880792730528922, -47.33286795924237, 11.7533593989269, 3.573192852605002, 13.771422104394023, 0.1622413576460974]}
+{"timestamp_ns": 1789729883922263835, "elapsed_ms": 3300, "source_timestamp_ns": 1789729883921756470, "q": [0.11162789911031723, -1.9266468286514282, -0.12485729157924652, 0.47782501578330994, 1.7473206520080566, -0.003397849388420582, -0.8783165216445923], "theta": [0.10933143645524979, -1.92617928981781, -0.12613609433174133, 0.4614148437976837, 1.7472630739212036, -0.002923250198364258, -0.8775634765625], "dq": [0.03715454041957855, -0.22564317286014557, -0.0633622258901596, -0.30052030086517334, 0.08711700141429901, 0.030459046363830566, 0.09588350355625153], "dtheta": [0.035270001739263535, -0.22252479195594788, -0.056437332183122635, -0.31317731738090515, 0.08862992376089096, 0.03069051168859005, 0.09355024248361588], "tau": [-58.71999740600586, -4.099999904632568, -19.14000129699707, 4.624000072479248, -3.684000253677368, 3.9840002059936523, 0.09200000762939453], "tau_des": [-0.5343205332756042, 1.646423578262329, -0.5414499044418335, -1.310271978378296, 0.6394942402839661, 0.2869296073913574, 0.03531831130385399], "tau_dot": [115.61573028564453, 155.04441833496094, -24.102245330810547, -117.58123779296875, -13.234004020690918, -14.764287948608398, 29.42826271057129], "tau_ext": [14.388388633728027, -34.60133743286133, -35.938880920410156, 20.46782875061035, -2.7306811809539795, -7.124536514282227, -0.1971256583929062], "tcp_pose": [0.6280073523521423, -0.21683372557163239, -0.32255831360816956, -0.008222908712923527, -0.024701042100787163, 0.9996606707572937, 0.0008738624164834619], "tcp_vel": [-0.0009377606911584735, -0.056482356041669846, -0.02496926672756672, 0.006002600770443678, 0.004700660705566406, -0.002514110179618001], "flange_pose": [0.6311392188072205, -0.2170884907245636, -0.13258428871631622, -0.008222908712923527, -0.024701042100787163, 0.9996606707572937, 0.0008738624164834619], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.636072158813477, -46.70903778076172, -11.646388053894043, -4.266117095947266, 13.814726829528809, -0.21908371150493622], "ext_wrench_in_world": [-9.122257534375027, -47.24240326914032, 11.735011343159563, 3.5818993623202457, 14.008298959813233, 0.17885003267746932]}
+{"timestamp_ns": 1789729883955586305, "elapsed_ms": 3333, "source_timestamp_ns": 1789729883951736290, "q": [0.11267617344856262, -1.9332711696624756, -0.1265837699174881, 0.46856316924095154, 1.7500766515731812, -0.0023961965925991535, -0.8756788372993469], "theta": [0.11036402732133865, -1.9328058958053589, -0.12771204113960266, 0.4521189033985138, 1.750044345855713, -0.0019102096557617188, -0.8748686909675598], "dq": [0.03244377300143242, -0.23061363399028778, -0.05618966370820999, -0.31587284803390503, 0.09583136439323425, 0.036570556461811066, 0.0918276384472847], "dtheta": [0.03294927999377251, -0.2160336822271347, -0.048562128096818924, -0.311871737241745, 0.09145801514387131, 0.037322644144296646, 0.08999460935592651], "tau": [-58.57999801635742, -2.8999998569488525, -18.72800064086914, 4.080000400543213, -3.5840001106262207, 3.944000244140625, 0.07200000435113907], "tau_des": [0.05091642215847969, 1.9900275468826294, -0.780245840549469, -1.0218110084533691, 0.2726897895336151, 0.18050187826156616, 0.19118770956993103], "tau_dot": [-94.45140075683594, 39.53422927856445, 56.95314407348633, -69.99967193603516, -4.408990859985352, 37.166046142578125, -12.285553932189941], "tau_ext": [14.367445945739746, -35.274696350097656, -35.953468322753906, 20.860671997070312, -2.8544886112213135, -7.107450485229492, -0.18656617403030396], "tcp_pose": [0.6279803514480591, -0.2185351848602295, -0.3232893645763397, -0.008227960206568241, -0.02470833994448185, 0.9996603727340698, 0.0009519345476292074], "tcp_vel": [0.00456899031996727, -0.050537578761577606, -0.02641742303967476, 0.01181847881525755, -0.006229639519006014, 0.005218277685344219], "flange_pose": [0.6311148405075073, -0.2188195437192917, -0.13331542909145355, -0.008227960206568241, -0.02470833994448185, 0.9996603727340698, 0.0009519345476292074], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.737247467041016, -47.59756088256836, -11.739006996154785, -4.539226055145264, 13.827454566955566, -0.2133743017911911], "ext_wrench_in_world": [-9.177095200220585, -48.13692937250158, 11.819983908661467, 3.85373091020615, 14.034535197743844, 0.170825725831026]}
+{"timestamp_ns": 1789729883988997298, "elapsed_ms": 3366, "source_timestamp_ns": 1789729883981903332, "q": [0.11371532827615738, -1.9395378828048706, -0.12812654674053192, 0.4593031108379364, 1.7524396181106567, -0.0012581070186570287, -0.8727472424507141], "theta": [0.11139580607414246, -1.939033031463623, -0.12911565601825714, 0.44284316897392273, 1.7524152994155884, -0.0007596015930175781, -0.8719009160995483], "dq": [0.03391463682055473, -0.20608115196228027, -0.04622100293636322, -0.2994218170642853, 0.06664440035820007, 0.03596454858779907, 0.10129689425230026], "dtheta": [0.03638642653822899, -0.20252744853496552, -0.04820641130208969, -0.3008826673030853, 0.0654701367020607, 0.03952660784125328, 0.10658983141183853], "tau": [-58.5, -5.409999847412109, -18.900001525878906, 5.276000022888184, -3.680000066757202, 3.992000102996826, 0.0560000017285347], "tau_des": [-0.005592667032033205, 1.2370891571044922, -0.6963587403297424, -0.7653455138206482, 0.8097177743911743, 0.16910655796527863, -0.014723200350999832], "tau_dot": [108.15847778320312, 0.6173788905143738, -44.10997772216797, -24.77016830444336, -44.272743225097656, 21.5180721282959, -17.065540313720703], "tau_ext": [14.165841102600098, -33.635047912597656, -35.840606689453125, 20.15755844116211, -2.8324241638183594, -7.08544397354126, -0.17870713770389557], "tcp_pose": [0.6280931830406189, -0.2200341522693634, -0.3240549564361572, -0.008308885619044304, -0.024736421182751656, 0.99965900182724, 0.0009643776575103402], "tcp_vel": [0.0013149954611435533, -0.04987288638949394, -0.0259479321539402, -0.006726591382175684, 0.014160516671836376, -0.008483913727104664], "flange_pose": [0.6312585473060608, -0.220322385430336, -0.13408154249191284, -0.008308885619044304, -0.024736421182751656, 0.99965900182724, 0.0009643776575103402], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.408084869384766, -47.11361312866211, -11.803475379943848, -4.431544303894043, 13.936078071594238, -0.20187363028526306], "ext_wrench_in_world": [-8.866610416500142, -47.63815577765851, 11.880585309437462, 3.739873386864752, 14.137928547763181, 0.16103827530638698]}
+{"timestamp_ns": 1789729884022255347, "elapsed_ms": 3400, "source_timestamp_ns": 1789729884021815296, "q": [0.1152430921792984, -1.9475672245025635, -0.13006122410297394, 0.4476104974746704, 1.7555047273635864, 0.00044613314094021916, -0.8689603805541992], "theta": [0.11291667819023132, -1.9470086097717285, -0.13088801503181458, 0.4311283528804779, 1.7554816007614136, 0.0009558200836181641, -0.8680841326713562], "dq": [0.03829711675643921, -0.20128512382507324, -0.0404607430100441, -0.28797677159309387, 0.08689719438552856, 0.04491656646132469, 0.08922907710075378], "dtheta": [0.03803287446498871, -0.19790154695510864, -0.040163617581129074, -0.28455910086631775, 0.0825609639286995, 0.04345107823610306, 0.08887006342411041], "tau": [-58.7599983215332, -2.1599998474121094, -18.356000900268555, 4.004000186920166, -3.492000102996826, 3.880000114440918, 0.020000001415610313], "tau_des": [-0.3232441544532776, 4.825379371643066, -0.6524395942687988, -1.9458327293395996, 0.5703795552253723, 0.16987895965576172, -0.07523492723703384], "tau_dot": [-164.3931884765625, -87.54846954345703, 69.50879669189453, 1.826490044593811, -8.033632278442383, 18.572246551513672, -19.298025131225586], "tau_ext": [14.464204788208008, -36.0858039855957, -35.8515625, 21.15204429626465, -2.962019920349121, -7.050420761108398, -0.14708155393600464], "tcp_pose": [0.6281295418739319, -0.22201602160930634, -0.3251517415046692, -0.008412405848503113, -0.02466694451868534, 0.9996598958969116, 0.0009277306380681694], "tcp_vel": [0.0012131567345932126, -0.046366676688194275, -0.0301194004714489, 0.008723722770810127, -0.003453246783465147, -0.003534031333401799], "flange_pose": [0.6313338279724121, -0.22228959202766418, -0.13517895340919495, -0.008412405848503113, -0.02466694451868534, 0.9996598958969116, 0.0009277306380681694], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.293315887451172, -47.61787796020508, -11.57114315032959, -4.570966720581055, 13.989630699157715, -0.17339877784252167], "ext_wrench_in_world": [-8.735195862475951, -48.13363929369565, 11.650826604183141, 3.8779718185999688, 14.197830965361538, 0.12845796510260948]}
+{"timestamp_ns": 1789729884055586041, "elapsed_ms": 3433, "source_timestamp_ns": 1789729884051745834, "q": [0.11643686145544052, -1.9531089067459106, -0.1312863975763321, 0.4392011761665344, 1.7576329708099365, 0.001878830953501165, -0.866216778755188], "theta": [0.11411254107952118, -1.9525545835494995, -0.13201077282428741, 0.4227219820022583, 1.7575925588607788, 0.0023964643478393555, -0.8653227686882019], "dq": [0.03915848210453987, -0.1800839602947235, -0.03925764188170433, -0.27349209785461426, 0.06007573753595352, 0.05029405653476715, 0.10230658203363419], "dtheta": [0.04226222634315491, -0.1729632318019867, -0.03603721782565117, -0.27531203627586365, 0.05758977308869362, 0.05209435895085335, 0.09954212605953217], "tau": [-58.709999084472656, -4.549999713897705, -18.472000122070312, 5.088000297546387, -3.6560001373291016, 3.892000198364258, -0.012000000104308128], "tau_des": [-0.022972602397203445, 0.41698479652404785, -1.4023773670196533, 0.5440852642059326, 0.32098352909088135, 0.20597583055496216, 0.07429149001836777], "tau_dot": [-25.256290435791016, 1.3322376012802124, -19.199941635131836, 70.2330093383789, -17.72966957092285, 32.04841995239258, -52.81646728515625], "tau_ext": [14.537360191345215, -34.1478271484375, -35.68672180175781, 20.37911033630371, -2.9261271953582764, -7.0276947021484375, -0.12403684854507446], "tcp_pose": [0.628272533416748, -0.22327908873558044, -0.326050728559494, -0.00847134180366993, -0.024712810292840004, 0.9996582865715027, 0.0009016231633722782], "tcp_vel": [0.0071098050102591515, -0.03775282949209213, -0.0316171795129776, -0.008889203891158104, 0.0110282888635993, 0.0015143364435061812], "flange_pose": [0.6314989924430847, -0.22354203462600708, -0.13607831299304962, -0.00847134180366993, -0.024712810292840004, 0.9996582865715027, 0.0009016231633722782], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.737980842590332, -48.49664306640625, -11.288091659545898, -4.786264419555664, 14.15588665008545, -0.1427042931318283], "ext_wrench_in_world": [-8.136218741383207, -48.98366415004009, 11.360115564068778, 4.082946462036098, 14.374931860238735, 0.09327733320797887]}
+{"timestamp_ns": 1789729884088908095, "elapsed_ms": 3466, "source_timestamp_ns": 1789729884081884172, "q": [0.11778715252876282, -1.9581432342529297, -0.13252580165863037, 0.4313344955444336, 1.7593902349472046, 0.0034901804756373167, -0.8633008003234863], "theta": [0.11546933650970459, -1.957579255104065, -0.13317210972309113, 0.4148729741573334, 1.7593250274658203, 0.004018425941467285, -0.862403154373169], "dq": [0.04344382509589195, -0.16863179206848145, -0.04345662146806717, -0.2659745514392853, 0.06782137602567673, 0.05185855180025101, 0.09617643803358078], "dtheta": [0.047893937677145004, -0.16205649077892303, -0.03949936851859093, -0.25322261452674866, 0.0653371587395668, 0.05409964919090271, 0.09255851805210114], "tau": [-58.689998626708984, -4.509999752044678, -17.98000144958496, 5.228000164031982, -3.440000057220459, 3.752000093460083, -0.04800000041723251], "tau_des": [-0.39321258664131165, 1.262988805770874, -0.8240492343902588, -0.2031622976064682, 0.7262016534805298, 0.10288572311401367, -0.11113462597131729], "tau_dot": [13.236593246459961, -79.50411224365234, 54.84804916381836, -68.8771743774414, 32.01238250732422, -42.38508987426758, -5.848226070404053], "tau_ext": [14.668002128601074, -34.3159065246582, -35.698978424072266, 20.513240814208984, -2.961099624633789, -6.987835884094238, -0.08957070857286453], "tcp_pose": [0.6283963322639465, -0.2244778871536255, -0.3269753158092499, -0.008664689026772976, -0.024660592898726463, 0.9996581077575684, 0.0006754244677722454], "tcp_vel": [0.004507620353251696, -0.03701181337237358, -0.03351179137825966, -0.009797575883567333, 0.00863698497414589, -0.0022062247153371572], "flange_pose": [0.6316941380500793, -0.22465325891971588, -0.13700401782989502, -0.008664689026772976, -0.024660592898726463, 0.9996581077575684, 0.0006754244677722454], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.743350982666016, -47.49757766723633, -11.031234741210938, -4.460745811462402, 14.156607627868652, -0.11227769404649734], "ext_wrench_in_world": [-8.195924288630776, -47.979765117908165, 11.130884007705385, 3.7587829796690473, 14.35925880248412, 0.06030057645823417]}
+{"timestamp_ns": 1789729884122260247, "elapsed_ms": 3500, "source_timestamp_ns": 1789729884121801238, "q": [0.11973609775304794, -1.9644343852996826, -0.13405446708202362, 0.42163440585136414, 1.7620949745178223, 0.005747012794017792, -0.8599306344985962], "theta": [0.11744177341461182, -1.9638583660125732, -0.13462774455547333, 0.40520432591438293, 1.7619818449020386, 0.006301403045654297, -0.8590211868286133], "dq": [0.051693275570869446, -0.14780794084072113, -0.03186357021331787, -0.22561725974082947, 0.06432496756315231, 0.05276818946003914, 0.07914828509092331], "dtheta": [0.05206839367747307, -0.15148507058620453, -0.03679494932293892, -0.23391781747341156, 0.06632132828235626, 0.05707676708698273, 0.08343032747507095], "tau": [-58.98999786376953, -4.949999809265137, -17.920000076293945, 5.168000221252441, -3.496000051498413, 3.808000087738037, -0.08400000631809235], "tau_des": [-0.6196146011352539, 0.7017719745635986, -1.1951872110366821, -0.5856694579124451, 0.5879727005958557, 0.0923040509223938, -0.05180967599153519], "tau_dot": [31.88139533996582, -142.44667053222656, 43.815128326416016, -11.5641508102417, 44.7413330078125, 31.358951568603516, -4.460865020751953], "tau_ext": [14.792003631591797, -34.73774719238281, -35.73871612548828, 20.637502670288086, -2.9768035411834717, -6.926815032958984, -0.04676467925310135], "tcp_pose": [0.6285446882247925, -0.22594396770000458, -0.32832902669906616, -0.008762581273913383, -0.02466069720685482, 0.9996573328971863, 0.0004901677602902055], "tcp_vel": [0.0024460123386234045, -0.035267457365989685, -0.0358734168112278, -0.009753972291946411, 0.007148965261876583, -0.001942194881848991], "flange_pose": [0.6318778991699219, -0.2260480523109436, -0.13835830986499786, -0.008762581273913383, -0.02466069720685482, 0.9996573328971863, 0.0004901677602902055], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.056340217590332, -48.34823226928711, -10.650266647338867, -4.608271598815918, 14.35567569732666, -0.05679969862103462], "ext_wrench_in_world": [-7.472353311496244, -48.791146646495854, 10.7562849862109, 3.8952793094491724, 14.565424968195115, -0.0035578487370379747]}
+{"timestamp_ns": 1789729884155586291, "elapsed_ms": 3533, "source_timestamp_ns": 1789729884151841995, "q": [0.12135394662618637, -1.9689087867736816, -0.13516810536384583, 0.4147930145263672, 1.7641513347625732, 0.007539928890764713, -0.8575051426887512], "theta": [0.1190805658698082, -1.9683475494384766, -0.13570944964885712, 0.3983481824398041, 1.7639880180358887, 0.008120417594909668, -0.8565835952758789], "dq": [0.058469925075769424, -0.1454899162054062, -0.032907433807849884, -0.22680546343326569, 0.07404452562332153, 0.06373157352209091, 0.07986337691545486], "dtheta": [0.05557328090071678, -0.146065816283226, -0.03593481704592705, -0.22487370669841766, 0.07053089886903763, 0.06581440567970276, 0.07908502221107483], "tau": [-59.25, -3.619999885559082, -17.64000129699707, 4.8520002365112305, -3.448000192642212, 3.7720000743865967, -0.10000000149011612], "tau_des": [-0.4606848955154419, 1.9984086751937866, -1.0702710151672363, -1.177117109298706, 0.5334985852241516, -0.06490650027990341, -0.14345182478427887], "tau_dot": [-145.50250244140625, -28.018875122070312, 33.79972839355469, -9.927725791931152, 10.895760536193848, 35.849830627441406, 74.44125366210938], "tau_ext": [15.163935661315918, -35.179656982421875, -35.694793701171875, 20.840679168701172, -2.9798583984375, -6.919213771820068, -0.019298698753118515], "tcp_pose": [0.6285967230796814, -0.22701291739940643, -0.3294261693954468, -0.008843122981488705, -0.024616651237010956, 0.9996578097343445, 0.00033002233249135315], "tcp_vel": [0.0032855207100510597, -0.03493892401456833, -0.03754349797964096, -0.012586694210767746, 0.0004522055387496948, -0.0012928979704156518], "flange_pose": [0.631959080696106, -0.22705556452274323, -0.13945592939853668, -0.008843122981488705, -0.024616651237010956, 0.9996578097343445, 0.00033002233249135315], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.771468162536621, -48.8548583984375, -10.198384284973145, -4.668546676635742, 14.441858291625977, -0.018094008788466454], "ext_wrench_in_world": [-7.173444424240048, -49.278900671669724, 10.315884106119137, 3.9517858607363925, 14.654144707100278, -0.04855712857542966]}
+{"timestamp_ns": 1789729884188895576, "elapsed_ms": 3566, "source_timestamp_ns": 1789729884181758044, "q": [0.12309983372688293, -1.9731746912002563, -0.13633419573307037, 0.40807849168777466, 1.7662923336029053, 0.009438949637115002, -0.8551162481307983], "theta": [0.12084490805864334, -1.972625494003296, -0.13686802983283997, 0.3916393518447876, 1.7660675048828125, 0.010040521621704102, -0.8541939854621887], "dq": [0.06337296217679977, -0.14703629910945892, -0.03557681664824486, -0.2360101044178009, 0.07448767870664597, 0.05925564467906952, 0.08458379656076431], "dtheta": [0.06027316674590111, -0.13585971295833588, -0.04145949333906174, -0.22464339435100555, 0.0686049535870552, 0.06142253428697586, 0.08265217393636703], "tau": [-58.79999923706055, -4.769999980926514, -17.43600082397461, 5.384000301361084, -3.628000259399414, 3.7160000801086426, -0.10400000214576721], "tau_des": [-0.35922181606292725, -0.17788544297218323, -1.2140806913375854, -0.09546785801649094, 0.38849708437919617, -0.006312489043921232, 0.007409381680190563], "tau_dot": [16.49787139892578, -203.45193481445312, 26.690582275390625, -25.21248435974121, -112.3336181640625, -8.205434799194336, 41.00450897216797], "tau_ext": [15.075583457946777, -34.561336517333984, -35.77793502807617, 20.549375534057617, -2.978569269180298, -6.870128154754639, 0.0073851472698152065], "tcp_pose": [0.6287005543708801, -0.22799400985240936, -0.33059486746788025, -0.008928307332098484, -0.024632440879940987, 0.9996566772460938, 0.0001475518220104277], "tcp_vel": [0.0053872596472501755, -0.028953449800610542, -0.04007541388273239, -0.0140283377841115, 0.012034036219120026, 0.005505487322807312], "flange_pose": [0.6320935487747192, -0.22796648740768433, -0.14062517881393433, -0.008928307332098484, -0.024632440879940987, 0.9996566772460938, 0.0001475518220104277], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.186169624328613, -49.56140899658203, -9.793174743652344, -4.78382682800293, 14.617878913879395, 0.018124353140592575], "ext_wrench_in_world": [-6.558005242758377, -49.95226922696358, 9.919103385187162, 4.057072900241069, 14.835743009449187, -0.09273830409414874]}
+{"timestamp_ns": 1789729884222260827, "elapsed_ms": 3600, "source_timestamp_ns": 1789729884221794739, "q": [0.12564705312252045, -1.9784281253814697, -0.13806229829788208, 0.3992983400821686, 1.7689878940582275, 0.011963671073317528, -0.85154128074646], "theta": [0.1233934611082077, -1.9778697490692139, -0.1386309415102005, 0.38288605213165283, 1.7686711549758911, 0.012584328651428223, -0.850633442401886], "dq": [0.06857547909021378, -0.13237491250038147, -0.049228232353925705, -0.20874111354351044, 0.0693819597363472, 0.06412962079048157, 0.07919014245271683], "dtheta": [0.06542414426803589, -0.12973758578300476, -0.04647200554609299, -0.2154093235731125, 0.06670047342777252, 0.06475821137428284, 0.08676580339670181], "tau": [-58.71999740600586, -6.460000038146973, -17.336000442504883, 5.872000217437744, -3.616000175476074, 3.7200002670288086, -0.14800000190734863], "tau_des": [-0.4297637939453125, -1.2346782684326172, -1.0340996980667114, -0.2618055045604706, 0.687987208366394, -0.03488690033555031, -0.18441806733608246], "tau_dot": [28.203847885131836, 23.161405563354492, -12.092609405517578, -18.277210235595703, -21.250694274902344, -5.992201805114746, -16.389175415039062], "tau_ext": [14.897425651550293, -33.60240936279297, -35.788902282714844, 20.250032424926758, -2.909482955932617, -6.841419219970703, 0.029551900923252106], "tcp_pose": [0.6288861036300659, -0.2291325181722641, -0.3322494328022003, -0.009245079942047596, -0.0245977733284235, 0.9996546506881714, -0.0001986732386285439], "tcp_vel": [0.0030657253228127956, -0.029918469488620758, -0.04110909253358841, -0.02239888347685337, 0.01750173233449459, -0.0010442965431138873], "flange_pose": [0.6323961615562439, -0.22897063195705414, -0.1422819346189499, -0.009245079942047596, -0.0245977733284235, 0.9996546506881714, -0.0001986732386285439], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.584517478942871, -48.47909164428711, -9.676630020141602, -4.429347991943359, 14.768060684204102, 0.056219957768917084], "ext_wrench_in_world": [-6.009585909424574, -48.83432113740686, 9.830940534558863, 3.6958660824519254, 14.967953449017733, -0.1372739536063865]}
+{"timestamp_ns": 1789729884255588311, "elapsed_ms": 3633, "source_timestamp_ns": 1789729884251734225, "q": [0.12766341865062714, -1.9824774265289307, -0.13946741819381714, 0.39290928840637207, 1.7713621854782104, 0.013910630717873573, -0.8491180539131165], "theta": [0.12539775669574738, -1.9818973541259766, -0.14004962146282196, 0.3765052258968353, 1.7709721326828003, 0.014543771743774414, -0.8482215404510498], "dq": [0.06843674182891846, -0.1324407458305359, -0.052160732448101044, -0.21735452115535736, 0.088065966963768, 0.06982338428497314, 0.07523112744092941], "dtheta": [0.06871643662452698, -0.13864171504974365, -0.04769101366400719, -0.21460962295532227, 0.083031564950943, 0.06450454145669937, 0.07458686083555222], "tau": [-58.80999755859375, -4.389999866485596, -16.95600128173828, 5.204000473022461, -3.5200002193450928, 3.624000072479248, -0.1680000126361847], "tau_des": [-1.2170394659042358, 1.5938849449157715, -1.0231671333312988, -1.8734841346740723, 0.608706533908844, 0.0005140633438713849, -0.2103646993637085], "tau_dot": [7.755926609039307, 50.7602424621582, 35.137210845947266, -1.0157395601272583, 10.749969482421875, -79.60914611816406, 0.0051421248354017735], "tau_ext": [14.801185607910156, -35.36552810668945, -35.93706512451172, 20.96481704711914, -2.9493610858917236, -6.833034515380859, 0.047653429210186005], "tcp_pose": [0.6289079785346985, -0.2300834357738495, -0.33353692293167114, -0.009404368698596954, -0.02454998344182968, 0.9996542930603027, -0.00041716135456226766], "tcp_vel": [-0.0009737560176290572, -0.0328238382935524, -0.04410497471690178, -0.012367620132863522, 0.009983408264815807, 0.000989951891824603], "flange_pose": [0.6324765086174011, -0.22983723878860474, -0.14357058703899384, -0.009404368698596954, -0.02454998344182968, 0.9996542930603027, -0.00041716135456226766], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.333178520202637, -49.14321517944336, -9.765593528747559, -4.623236656188965, 14.838858604431152, 0.08530987799167633], "ext_wrench_in_world": [-5.725763108562537, -49.4802584823931, 9.939010852773308, 3.886791743289004, 15.047742096888241, -0.1778408461255429]}
+{"timestamp_ns": 1789729884288893647, "elapsed_ms": 3666, "source_timestamp_ns": 1789729884281750265, "q": [0.12968815863132477, -1.9866604804992676, -0.14095543324947357, 0.386297345161438, 1.7739677429199219, 0.015802806243300438, -0.8468538522720337], "theta": [0.1274031400680542, -1.9860866069793701, -0.14153726398944855, 0.36991235613822937, 1.7734946012496948, 0.01644754409790039, -0.845965564250946], "dq": [0.07269377261400223, -0.139975443482399, -0.05213978886604309, -0.22135299444198608, 0.08704321086406708, 0.06564047932624817, 0.08185157924890518], "dtheta": [0.06550603359937668, -0.13826511800289154, -0.04998248443007469, -0.22474603354930878, 0.0820574015378952, 0.0642692968249321, 0.08188042789697647], "tau": [-58.849998474121094, -4.509999752044678, -16.96000099182129, 5.28000020980835, -3.700000286102295, 3.7800002098083496, -0.14800000190734863], "tau_des": [-0.3924294412136078, 0.6450667381286621, -1.2738703489303589, -1.0482248067855835, 0.19779276847839355, 0.015232362784445286, 0.04299622029066086], "tau_dot": [-1.1750693321228027, -74.74469757080078, 18.049196243286133, 86.88078308105469, 44.43330764770508, 1.5534483194351196, 6.235239028930664], "tau_ext": [14.625068664550781, -35.555423736572266, -35.97800827026367, 20.909353256225586, -2.902506113052368, -6.843236923217773, 0.04288790747523308], "tcp_pose": [0.6289408802986145, -0.23100659251213074, -0.334858775138855, -0.00953864585608244, -0.02462284453213215, 0.9996511340141296, -0.0005516891251318157], "tcp_vel": [0.0029981830157339573, -0.02968074567615986, -0.042791035026311874, -0.012500912882387638, 0.010278366506099701, 0.004073213320225477], "flange_pose": [0.6325591802597046, -0.23070776462554932, -0.14489346742630005, -0.00953864585608244, -0.02462284453213215, 0.9996511340141296, -0.0005516891251318157], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.381955623626709, -51.42558670043945, -9.769451141357422, -5.280974388122559, 15.112412452697754, 0.1069888100028038], "ext_wrench_in_world": [-4.653470666232454, -51.71115859858584, 9.941212152820935, 4.527451805403859, 15.353829069364018, -0.2173943247284762]}
+{"timestamp_ns": 1789729884322260537, "elapsed_ms": 3700, "source_timestamp_ns": 1789729884321789959, "q": [0.13242757320404053, -1.991976022720337, -0.1430879533290863, 0.3773016035556793, 1.7770508527755737, 0.018385516479611397, -0.8431077003479004], "theta": [0.13012702763080597, -1.9914534091949463, -0.14367373287677765, 0.36090680956840515, 1.7764613628387451, 0.01904475688934326, -0.8422411680221558], "dq": [0.06783279776573181, -0.13658107817173004, -0.05339014157652855, -0.21942570805549622, 0.06975153088569641, 0.07194419205188751, 0.08857978135347366], "dtheta": [0.06703149527311325, -0.13143010437488556, -0.05718391761183739, -0.2230134755373001, 0.07180826365947723, 0.06424009054899216, 0.09609533846378326], "tau": [-58.47999954223633, -5.920000076293945, -16.772001266479492, 6.116000175476074, -3.756000280380249, 3.7920002937316895, -0.10400000214576721], "tau_des": [-0.09933429956436157, 0.16779054701328278, -0.9287095665931702, -0.7014546990394592, 0.5006657242774963, 0.007617642637342215, -0.247235968708992], "tau_dot": [31.157007217407227, 39.976924896240234, 35.84481430053711, 59.11882019042969, 10.529726028442383, -104.21562957763672, 19.360979080200195], "tau_ext": [14.498563766479492, -34.186744689941406, -35.84062194824219, 20.46870994567871, -2.775296688079834, -6.897615909576416, 0.0230471882969141], "tcp_pose": [0.62908536195755, -0.23211835324764252, -0.3366108536720276, -0.009912725538015366, -0.02458452805876732, 0.9996482133865356, -0.0009065731428563595], "tcp_vel": [0.002435472793877125, -0.02928289771080017, -0.041377823799848557, -0.02488689124584198, 0.02241593226790428, -0.004026761744171381], "flange_pose": [0.6328424215316772, -0.23168137669563293, -0.14664849638938904, -0.009912725538015366, -0.02458452805876732, 0.9996482133865356, -0.0009065731428563595], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.555173397064209, -51.31260681152344, -9.698827743530273, -5.3186845779418945, 15.317415237426758, 0.10922534018754959], "ext_wrench_in_world": [-3.8311505518828346, -51.550269956427314, 9.895106291825677, 4.555897119299377, 15.559950290785084, -0.23514624595405195]}
+{"timestamp_ns": 1789729884355584632, "elapsed_ms": 3733, "source_timestamp_ns": 1789729884351961405, "q": [0.13450202345848083, -1.9958739280700684, -0.14486739039421082, 0.3706812858581543, 1.7794873714447021, 0.020328717306256294, -0.8403897881507874], "theta": [0.1321970671415329, -1.995367407798767, -0.14545495808124542, 0.35425904393196106, 1.7788182497024536, 0.020991206169128418, -0.8395367860794067], "dq": [0.06754898279905319, -0.1349935531616211, -0.059031326323747635, -0.21715952455997467, 0.08270687609910965, 0.060345739126205444, 0.08451701700687408], "dtheta": [0.06874200701713562, -0.12731163203716278, -0.05999809503555298, -0.2190999537706375, 0.08458627760410309, 0.06140719726681709, 0.08536621928215027], "tau": [-58.189998626708984, -5.799999713897705, -16.404001235961914, 5.8560004234313965, -3.7280001640319824, 3.7800002098083496, -0.10000000149011612], "tau_des": [-0.293983519077301, -0.2253059297800064, -1.0211511850357056, -0.1829635202884674, 0.1740240603685379, 0.09070134162902832, -0.009137998335063457], "tau_dot": [-90.36318969726562, 56.64244842529297, 17.594032287597656, 2.9614334106445312, -14.607023239135742, 34.05965805053711, -22.25218963623047], "tau_ext": [14.331478118896484, -34.35380935668945, -35.91901779174805, 20.485103607177734, -2.7552952766418457, -6.893320083618164, -0.00025364611065015197], "tcp_pose": [0.6291829347610474, -0.23294934630393982, -0.33790358901023865, -0.010194115340709686, -0.024589521810412407, 0.999644935131073, -0.001205236534588039], "tcp_vel": [0.003999135456979275, -0.025108424946665764, -0.04358130693435669, -0.01568186655640602, 0.018168311566114426, 0.0066267503425478935], "flange_pose": [0.6330440640449524, -0.23239625990390778, -0.1479436457157135, -0.010194115340709686, -0.024589521810412407, 0.999644935131073, -0.001205236534588039], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.248746871948242, -51.21815872192383, -9.823454856872559, -5.351449012756348, 15.396293640136719, 0.10301119834184647], "ext_wrench_in_world": [-3.521037868084164, -51.43452146321801, 10.046849249399571, 4.584487486249746, 15.64028467525828, -0.2417549621613137]}
+{"timestamp_ns": 1789729884388898737, "elapsed_ms": 3766, "source_timestamp_ns": 1789729884381785772, "q": [0.1365751177072525, -1.9996553659439087, -0.14662382006645203, 0.3643060028553009, 1.7819883823394775, 0.022232558578252792, -0.8377657532691956], "theta": [0.13427431881427765, -1.9991353750228882, -0.14722421765327454, 0.34786054491996765, 1.78123939037323, 0.02288997173309326, -0.8369306921958923], "dq": [0.07022813707590103, -0.12205711007118225, -0.05450659245252609, -0.2047121375799179, 0.08087696135044098, 0.06726532429456711, 0.0890946090221405], "dtheta": [0.07251324504613876, -0.12102963030338287, -0.05911454185843468, -0.210341677069664, 0.07586532831192017, 0.06808045506477356, 0.08972220867872238], "tau": [-58.44999694824219, -6.389999866485596, -16.488000869750977, 6.092000484466553, -3.9000000953674316, 3.8520002365112305, -0.04400000348687172], "tau_des": [-0.2516418993473053, 0.6251427531242371, -2.0132765769958496, -0.23098084330558777, 0.46538668870925903, 0.07527279108762741, -0.17245134711265564], "tau_dot": [52.555660247802734, -11.351195335388184, -44.8297119140625, -45.130615234375, 10.309928894042969, 41.7441291809082, 28.414167404174805], "tau_ext": [14.384535789489746, -33.97924041748047, -35.88185119628906, 20.321014404296875, -2.6819581985473633, -6.916615009307861, -0.03270786255598068], "tcp_pose": [0.6292514204978943, -0.23374471068382263, -0.33920538425445557, -0.0104514230042696, -0.02457507885992527, 0.9996423125267029, -0.001460511120967567], "tcp_vel": [0.002457069233059883, -0.026288731023669243, -0.044419825077056885, -0.025919092819094658, 0.022403698414564133, 0.00019104569219052792], "flange_pose": [0.6332079172134399, -0.2330923080444336, -0.14924770593643188, -0.0104514230042696, -0.02457507885992527, 0.9996423125267029, -0.001460511120967567], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.743091583251953, -51.48475646972656, -9.915928840637207, -5.462498664855957, 15.530881881713867, 0.09004488587379456], "ext_wrench_in_world": [-2.9972644295871063, -51.67029954351277, 10.15802369932497, 4.689285908842849, 15.779967030315913, -0.2419296510225726]}
+{"timestamp_ns": 1789729884422256688, "elapsed_ms": 3800, "source_timestamp_ns": 1789729884421781920, "q": [0.13955123722553253, -2.004425525665283, -0.14948534965515137, 0.35631585121154785, 1.7858729362487793, 0.02480679750442505, -0.8345123529434204], "theta": [0.13726718723773956, -2.0038909912109375, -0.150124192237854, 0.3398132622241974, 1.7850439548492432, 0.02545011043548584, -0.8337157964706421], "dq": [0.07299283146858215, -0.11670047789812088, -0.07995495200157166, -0.1968979835510254, 0.11007186025381088, 0.06223643943667412, 0.07887023687362671], "dtheta": [0.07554152607917786, -0.11700836569070816, -0.08277371525764465, -0.19520001113414764, 0.11378084123134613, 0.0622231625020504, 0.07381850481033325], "tau": [-59.13999938964844, -4.21999979019165, -16.284000396728516, 5.556000232696533, -3.9200000762939453, 3.828000068664551, -0.020000001415610313], "tau_des": [-1.4307392835617065, 1.6213362216949463, -1.4925885200500488, -1.1841177940368652, 0.23668619990348816, 0.06665246188640594, 0.024818288162350655], "tau_dot": [-46.70798110961914, 47.86048889160156, -13.611139297485352, -30.847070693969727, -9.372124671936035, -22.21554183959961, -69.45586395263672], "tau_ext": [14.71735954284668, -35.56575012207031, -35.92259979248047, 21.013648986816406, -2.6666598320007324, -6.956691741943359, -0.078125961124897], "tcp_pose": [0.6292891502380371, -0.234823077917099, -0.34096312522888184, -0.010780985467135906, -0.024581655859947205, 0.9996379613876343, -0.001865872647613287], "tcp_vel": [0.0016376642743125558, -0.02618546411395073, -0.04344503581523895, -0.01742156222462654, 0.01132675725966692, 0.006367733236402273], "flange_pose": [0.6333670020103455, -0.23401358723640442, -0.15100860595703125, -0.010780985467135906, -0.024581655859947205, 0.9996379613876343, -0.001865872647613287], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.553872585296631, -52.183895111083984, -9.479743957519531, -5.646965026855469, 15.594907760620117, 0.06202215328812599], "ext_wrench_in_world": [-2.77570755881877, -52.3528034526936, 9.76470037174732, 4.8704496133037685, 15.852984041291606, -0.23415032585856077]}
+{"timestamp_ns": 1789729884455583422, "elapsed_ms": 3833, "source_timestamp_ns": 1789729884451725247, "q": [0.14178453385829926, -2.0079538822174072, -0.152064710855484, 0.3504793643951416, 1.7894045114517212, 0.026556316763162613, -0.8322527408599854], "theta": [0.1395164281129837, -2.0074195861816406, -0.15274640917778015, 0.3339625597000122, 1.7885463237762451, 0.027185440063476562, -0.8314884305000305], "dq": [0.0744074210524559, -0.10900487005710602, -0.07977619022130966, -0.20654964447021484, 0.11775276064872742, 0.053843364119529724, 0.07786371558904648], "dtheta": [0.07436791807413101, -0.11620765924453735, -0.09311383962631226, -0.19367775321006775, 0.11959437280893326, 0.056242793798446655, 0.0795731171965599], "tau": [-59.48999786376953, -4.789999961853027, -16.31599998474121, 5.844000339508057, -4.016000270843506, 3.9640002250671387, 0.02800000086426735], "tau_des": [-2.1422317028045654, 1.8745702505111694, -1.6142648458480835, -1.4795881509780884, 0.08784044533967972, 0.12833110988140106, 0.08859093487262726], "tau_dot": [41.872257232666016, 91.46469116210938, 44.47285079956055, 75.15697479248047, 42.92498016357422, 27.67461585998535, -4.736389636993408], "tau_ext": [14.88843822479248, -35.993263244628906, -35.90977478027344, 21.098501205444336, -2.626922845840454, -6.987364768981934, -0.10926438868045807], "tcp_pose": [0.6293125748634338, -0.23560181260108948, -0.3422468900680542, -0.010963506996631622, -0.024635130539536476, 0.9996342062950134, -0.0020808293484151363], "tcp_vel": [0.00028345928876660764, -0.026369748637080193, -0.04142499715089798, -0.017851144075393677, 0.015131213702261448, 0.0006781629053875804], "flange_pose": [0.6334577202796936, -0.2347087562084198, -0.15229421854019165, -0.010963506996631622, -0.024635130539536476, 0.9996342062950134, -0.0020808293484151363], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [4.8452019691467285, -54.342071533203125, -9.079071044921875, -6.2318830490112305, 15.812009811401367, 0.04101662337779999], "ext_wrench_in_world": [-1.9611347154571597, -54.47138318286027, 9.380224754991962, 5.442427606066948, 16.09913766396451, -0.23548079590410115]}
+{"timestamp_ns": 1789729884488889648, "elapsed_ms": 3866, "source_timestamp_ns": 1789729884481758995, "q": [0.1439545452594757, -2.0112454891204834, -0.1549328714609146, 0.3445481061935425, 1.7928825616836548, 0.028126556426286697, -0.8295729756355286], "theta": [0.14169718325138092, -2.0107390880584717, -0.15568658709526062, 0.32805436849594116, 1.7920172214508057, 0.028740286827087402, -0.8288394212722778], "dq": [0.07179893553256989, -0.10406681150197983, -0.09468912333250046, -0.19394467771053314, 0.10892224311828613, 0.05263521522283554, 0.09160418063402176], "dtheta": [0.07209915667772293, -0.10664091259241104, -0.10207565873861313, -0.19480715692043304, 0.11150232702493668, 0.051744937896728516, 0.09299394488334656], "tau": [-59.68000030517578, -7.929999828338623, -16.420000076293945, 7.0400004386901855, -4.144000053405762, 4.0360002517700195, 0.06800000369548798], "tau_des": [-2.236165761947632, -1.5805103778839111, -1.7786952257156372, 0.31409531831741333, 0.0631202906370163, 0.2526244521141052, 0.06235148012638092], "tau_dot": [142.95301818847656, -9.272336959838867, 28.792869567871094, 82.95016479492188, 25.030046463012695, -10.942708969116211, -10.038667678833008], "tau_ext": [15.166589736938477, -33.99002456665039, -35.67637252807617, 20.26968765258789, -2.4828708171844482, -7.051855087280273, -0.1503063589334488], "tcp_pose": [0.6294384598731995, -0.23623493313789368, -0.3434705138206482, -0.011276462115347385, -0.024656519293785095, 0.9996296167373657, -0.002342767547816038], "tcp_vel": [0.0031627784483134747, -0.0224428940564394, -0.03861382231116295, -0.0262623131275177, 0.026478635147213936, -0.0009072053944692016], "flange_pose": [0.6336999535560608, -0.23523935675621033, -0.15352094173431396, -0.011276462115347385, -0.024656519293785095, 0.9996296167373657, -0.002342767547816038], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [4.375220775604248, -54.196044921875, -8.667800903320312, -6.190546989440918, 15.941178321838379, 0.012954781763255596], "ext_wrench_in_world": [-1.4999324281767734, -54.29957983903507, 8.988350600857306, 5.394495969286106, 16.226387306030457, -0.21903053564730002]}
+{"timestamp_ns": 1789729884522262608, "elapsed_ms": 3900, "source_timestamp_ns": 1789729884521805019, "q": [0.14673298597335815, -2.015434980392456, -0.15912361443042755, 0.33692076802253723, 1.7975481748580933, 0.030035851523280144, -0.8259315490722656], "theta": [0.14447176456451416, -2.014958620071411, -0.1599637269973755, 0.3204602599143982, 1.7967257499694824, 0.03062748908996582, -0.8252463340759277], "dq": [0.0704750120639801, -0.11085161566734314, -0.1259656548500061, -0.18849463760852814, 0.11664878576993942, 0.04441487416625023, 0.08877363801002502], "dtheta": [0.06598019599914551, -0.10570824146270752, -0.10958653688430786, -0.1841914802789688, 0.12698811292648315, 0.04426432400941849, 0.07779254764318466], "tau": [-59.27000045776367, -7.579999923706055, -15.90000057220459, 7.172000408172607, -4.052000045776367, 4.028000354766846, 0.1120000034570694], "tau_des": [-1.7844877243041992, -1.8446279764175415, -1.212032437324524, 0.04660871624946594, 0.13818082213401794, 0.2466336190700531, 0.15505918860435486], "tau_dot": [106.07240295410156, 5.0011210441589355, 12.312583923339844, -37.737022399902344, -29.37021827697754, 53.35485076904297, 20.734512329101562], "tau_ext": [15.087902069091797, -33.58121109008789, -35.68984603881836, 20.221954345703125, -2.451796293258667, -7.134844779968262, -0.19549593329429626], "tcp_pose": [0.6295681595802307, -0.23708400130271912, -0.34495919942855835, -0.011771907098591328, -0.024629956111311913, 0.9996234774589539, -0.0027734662871807814], "tcp_vel": [0.0019856407307088375, -0.022426441311836243, -0.03465838357806206, -0.017283322289586067, 0.017752163112163544, 0.004809491336345673], "flange_pose": [0.634013831615448, -0.23592031002044678, -0.155014768242836, -0.011771907098591328, -0.024629956111311913, 0.9996234774589539, -0.0027734662871807814], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [4.779077053070068, -51.83440017700195, -8.333691596984863, -5.545901775360107, 15.841241836547852, -0.024215275421738625], "ext_wrench_in_world": [-2.0211784577641607, -51.95468827414841, 8.701737688551198, 4.757123853886732, 16.09465238372662, -0.18572315764334435]}
+{"timestamp_ns": 1789729884555587272, "elapsed_ms": 3933, "source_timestamp_ns": 1789729884551717628, "q": [0.14862394332885742, -2.0187454223632812, -0.16244903206825256, 0.33134832978248596, 1.8014492988586426, 0.031233157962560654, -0.8235421776771545], "theta": [0.1463499814271927, -2.018265724182129, -0.16326367855072021, 0.31492456793785095, 1.8007076978683472, 0.03180265426635742, -0.8229043483734131], "dq": [0.06397345662117004, -0.11562176048755646, -0.11844035238027573, -0.1904161423444748, 0.1284913271665573, 0.038846295326948166, 0.07659192383289337], "dtheta": [0.05928005650639534, -0.1150737777352333, -0.10933741182088852, -0.18519620597362518, 0.1366713047027588, 0.03693735972046852, 0.07518719136714935], "tau": [-58.71999740600586, -6.769999980926514, -15.624000549316406, 6.9200005531311035, -3.9640002250671387, 4.056000232696533, 0.13600000739097595], "tau_des": [-0.9834187626838684, 0.45924144983291626, -0.8381182551383972, -1.27219820022583, 0.17639979720115662, 0.27870339155197144, 0.06777848303318024], "tau_dot": [-112.51692199707031, 24.723651885986328, -6.830742359161377, 25.359426498413086, 52.15882110595703, 24.84346580505371, -18.2874698638916], "tau_ext": [14.713482856750488, -34.668922424316406, -35.932289123535156, 20.597524642944336, -2.5439467430114746, -7.1299238204956055, -0.21817748248577118], "tcp_pose": [0.6295692920684814, -0.23779496550559998, -0.3459583818912506, -0.012031514197587967, -0.024623943492770195, 0.9996199607849121, -0.0029642386361956596], "tcp_vel": [-0.0011863650288432837, -0.02451692335307598, -0.03216216340661049, -0.005265207029879093, 0.0104903569445014, -0.0017341184429824352], "flange_pose": [0.634111762046814, -0.23655639588832855, -0.1560167372226715, -0.012031514197587967, -0.024623943492770195, 0.9996199607849121, -0.0029642386361956596], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [4.280717849731445, -52.66238021850586, -8.501395225524902, -5.799937725067139, 16.026321411132812, -0.04211288318037987], "ext_wrench_in_world": [-1.4747550854240499, -52.752604673335526, 8.88326257547638, 5.002126246161894, 16.291991980549145, -0.18373732800200415]}
+{"timestamp_ns": 1789729884588893528, "elapsed_ms": 3966, "source_timestamp_ns": 1789729884581759135, "q": [0.15036560595035553, -2.022183656692505, -0.16577449440956116, 0.3256654143333435, 1.8053474426269531, 0.03231734409928322, -0.8212502002716064], "theta": [0.148077130317688, -2.0216991901397705, -0.16650255024433136, 0.30927059054374695, 1.8047096729278564, 0.03286540508270264, -0.8206620812416077], "dq": [0.05605437234044075, -0.10576962679624557, -0.10438694804906845, -0.1845344752073288, 0.12700673937797546, 0.035441115498542786, 0.07645319402217865], "dtheta": [0.05776522681117058, -0.11401917785406113, -0.10545744001865387, -0.19302837550640106, 0.13542886078357697, 0.03575146198272705, 0.07634840160608292], "tau": [-58.15999984741211, -6.759999752044678, -15.464000701904297, 6.9760003089904785, -3.9160001277923584, 4.060000419616699, 0.12400000542402267], "tau_des": [-0.75603848695755, -1.0132936239242554, -1.0894991159439087, -0.35630160570144653, 0.06748326122760773, 0.4618082046508789, 0.25509077310562134], "tau_dot": [165.1207733154297, -35.91785430908203, -2.455625534057617, -42.65673828125, -35.7559814453125, 7.932376861572266, -60.20720291137695], "tau_ext": [14.47939395904541, -34.54179763793945, -35.92292404174805, 20.451658248901367, -2.5784149169921875, -7.1682820320129395, -0.2406940758228302], "tcp_pose": [0.6295409798622131, -0.23852071166038513, -0.3468943238258362, -0.012279462069272995, -0.024653330445289612, 0.9996158480644226, -0.0031005905475467443], "tcp_vel": [0.0019265124574303627, -0.01962645910680294, -0.03390537202358246, 0.00084013951709494, 0.011160995811223984, 0.0050209760665893555], "flange_pose": [0.6341763734817505, -0.2372279018163681, -0.1569552719593048, -0.012279462069272995, -0.024653330445289612, 0.9996158480644226, -0.0031005905475467443], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [3.3360230922698975, -54.14891815185547, -8.818955421447754, -6.279187202453613, 16.33441734313965, -0.057069048285484314], "ext_wrench_in_world": [-0.44280935055274084, -54.18621951991993, 9.20140727454745, 5.464723085641766, 16.62364457288396, -0.1894239986655035]}
+{"timestamp_ns": 1789729884622257529, "elapsed_ms": 4000, "source_timestamp_ns": 1789729884621753774, "q": [0.15259383618831635, -2.0269434452056885, -0.1699703484773636, 0.31796181201934814, 1.8103759288787842, 0.033864252269268036, -0.8181061148643494], "theta": [0.15028826892375946, -2.0264861583709717, -0.17058145999908447, 0.3015560507774353, 1.809906005859375, 0.03438258171081543, -0.8175860047340393], "dq": [0.05806030333042145, -0.12174540758132935, -0.09936694800853729, -0.2001928836107254, 0.12689261138439178, 0.03724535182118416, 0.08294995129108429], "dtheta": [0.05461226776242256, -0.12395407259464264, -0.09865133464336395, -0.19871312379837036, 0.1295584887266159, 0.03815457597374916, 0.07379241287708282], "tau": [-57.89999771118164, -5.069999694824219, -15.260001182556152, 6.428000450134277, -3.7120001316070557, 4.076000213623047, 0.15200001001358032], "tau_des": [-0.6116233468055725, 1.2213267087936401, -0.9814919233322144, -1.8615052700042725, 0.4411816895008087, 0.479729562997818, 0.10357585549354553], "tau_dot": [-187.74412536621094, 14.804410934448242, -52.35396957397461, -9.274062156677246, -4.8000407218933105, -23.537689208984375, 12.245058059692383], "tau_ext": [14.169468879699707, -35.784523010253906, -35.941219329833984, 21.083200454711914, -2.749824285507202, -7.19297456741333, -0.2525957524776459], "tcp_pose": [0.6294566988945007, -0.23953203856945038, -0.3481433391571045, -0.012565216980874538, -0.024607842788100243, 0.9996129274368286, -0.003252147464081645], "tcp_vel": [-0.0017752741696313024, -0.023593805730342865, -0.033378228545188904, 0.0020098842214792967, 0.009547866880893707, 0.0023743300698697567], "flange_pose": [0.6341992616653442, -0.23817920684814453, -0.15820734202861786, -0.012565216980874538, -0.024607842788100243, 0.9996129274368286, -0.003252147464081645], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.7336666584014893, -55.59111022949219, -9.221757888793945, -6.779372215270996, 16.554128646850586, -0.06696587055921555], "ext_wrench_in_world": [0.24012723952056372, -55.591211555287806, 9.614823203284407, 5.954932208748087, 16.867174954147387, -0.20183848217118605]}
+{"timestamp_ns": 1789729884655586083, "elapsed_ms": 4033, "source_timestamp_ns": 1789729884651718578, "q": [0.15421287715435028, -2.0306553840637207, -0.1729736030101776, 0.3117925822734833, 1.8140578269958496, 0.03514911234378815, -0.8157433271408081], "theta": [0.15190006792545319, -2.030231475830078, -0.17352449893951416, 0.29539796710014343, 1.8137143850326538, 0.035646796226501465, -0.8152763843536377], "dq": [0.054420746862888336, -0.1286420077085495, -0.09510380774736404, -0.22115693986415863, 0.12530416250228882, 0.048446424305438995, 0.08577273786067963], "dtheta": [0.0518297515809536, -0.12510676681995392, -0.09680937975645065, -0.21180188655853271, 0.12029164284467697, 0.045122068375349045, 0.08554597944021225], "tau": [-58.04999923706055, -6.529999732971191, -15.312000274658203, 7.016000270843506, -3.7320001125335693, 4.131999969482422, 0.14800000190734863], "tau_des": [-0.28751999139785767, -0.30062156915664673, -1.5447964668273926, -0.870554506778717, 0.17379410564899445, 0.385833740234375, 0.2825552225112915], "tau_dot": [65.501953125, 43.05482864379883, -53.68499755859375, 84.61058807373047, 32.798255920410156, -0.5675244927406311, -5.850625038146973], "tau_ext": [14.101465225219727, -35.13518142700195, -35.883575439453125, 20.754487991333008, -2.8187451362609863, -7.206448554992676, -0.2511356770992279], "tcp_pose": [0.6294611692428589, -0.24023868143558502, -0.3491204082965851, -0.012753421440720558, -0.024680091068148613, 0.9996085166931152, -0.003331177867949009], "tcp_vel": [0.0021791025064885616, -0.022143010050058365, -0.032562680542469025, -0.004464941099286079, 0.010256794281303883, 0.0022406356874853373], "flange_pose": [0.6342743635177612, -0.23885372281074524, -0.15918642282485962, -0.012753421440720558, -0.024680091068148613, 0.9996085166931152, -0.003331177867949009], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [2.235868215560913, -56.67076110839844, -9.358388900756836, -7.130105018615723, 16.735862731933594, -0.06278067827224731], "ext_wrench_in_world": [0.8056526788218926, -56.64238024694168, 9.754250243986332, 6.293506183241461, 17.06676073017853, -0.22112999008432466]}
+{"timestamp_ns": 1789729884688892379, "elapsed_ms": 4066, "source_timestamp_ns": 1789729884681731598, "q": [0.1558535099029541, -2.0342936515808105, -0.17605705559253693, 0.30528634786605835, 1.8174203634262085, 0.03653421998023987, -0.8128275871276855], "theta": [0.15353600680828094, -2.033893346786499, -0.17659494280815125, 0.28894418478012085, 1.8171864748001099, 0.03701364994049072, -0.8124078512191772], "dq": [0.05388125777244568, -0.12417634576559067, -0.09871895611286163, -0.21246032416820526, 0.11379029601812363, 0.04563185200095177, 0.10592487454414368], "dtheta": [0.056967802345752716, -0.120026133954525, -0.10332435369491577, -0.21543779969215393, 0.11666650325059891, 0.04857843741774559, 0.10328951478004456], "tau": [-58.849998474121094, -9.34000015258789, -15.37600040435791, 8.164000511169434, -3.7760002613067627, 4.232000350952148, 0.12800000607967377], "tau_des": [-1.704416036605835, -2.842682361602783, -1.917399525642395, 0.5355033874511719, 0.2218848317861557, 0.5637360215187073, 0.0803631842136383], "tau_dot": [-30.59775733947754, 13.758674621582031, -4.629881858825684, -56.218807220458984, 2.7889559268951416, 22.180540084838867, -9.40372371673584], "tau_ext": [14.60759162902832, -33.17243194580078, -35.64241409301758, 19.886735916137695, -2.770348072052002, -7.275192737579346, -0.2526420056819916], "tcp_pose": [0.6295483112335205, -0.24087245762348175, -0.3501145839691162, -0.013086843304336071, -0.024684835225343704, 0.9996033310890198, -0.003539971774443984], "tcp_vel": [0.003315208712592721, -0.020246434956789017, -0.034904610365629196, -0.013113811612129211, 0.019706428050994873, -0.006063895765691996], "flange_pose": [0.6344861388206482, -0.2394050508737564, -0.16018442809581757, -0.013086843304336071, -0.024684835225343704, 0.9996033310890198, -0.003539971774443984], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.8687642812728882, -55.585838317871094, -9.164864540100098, -6.827535629272461, 16.867013931274414, -0.05921655893325806], "ext_wrench_in_world": [1.120651022585331, -55.53797189852735, 9.56819011944349, 5.9844639032309574, 17.182799902095905, -0.22910181819571573]}
+{"timestamp_ns": 1789729884722306724, "elapsed_ms": 4100, "source_timestamp_ns": 1789729884721727286, "q": [0.15802140533924103, -2.0393054485321045, -0.18042679131031036, 0.29668882489204407, 1.8221697807312012, 0.0384083092212677, -0.8089999556541443], "theta": [0.15570971369743347, -2.0388858318328857, -0.1809857189655304, 0.2804034650325775, 1.8220551013946533, 0.03887820243835449, -0.8086531758308411], "dq": [0.04911750555038452, -0.13477694988250732, -0.10728669911623001, -0.21347127854824066, 0.13298054039478302, 0.046135302633047104, 0.08307543396949768], "dtheta": [0.05232422426342964, -0.1298283189535141, -0.11201603710651398, -0.21500499546527863, 0.1367611289024353, 0.04710904136300087, 0.08063406497240067], "tau": [-59.05999755859375, -7.269999980926514, -14.748001098632812, 7.656000137329102, -3.556000232696533, 4.200000286102295, 0.08800000697374344], "tau_des": [-1.9259220361709595, -1.0529416799545288, -1.179144263267517, -0.45799967646598816, 0.508529543876648, 0.416123628616333, 0.11906107515096664], "tau_dot": [119.14775085449219, 74.338134765625, -18.834014892578125, -3.969423770904541, 68.20539093017578, 6.354944705963135, -0.946366548538208], "tau_ext": [14.892420768737793, -34.39365005493164, -35.82109451293945, 20.45995330810547, -2.8716511726379395, -7.323176860809326, -0.22162573039531708], "tcp_pose": [0.6295441389083862, -0.24185620248317719, -0.35138946771621704, -0.013495380990207195, -0.024608749896287918, 0.9995986819267273, -0.0038438031915575266], "tcp_vel": [0.0005070403567515314, -0.024466896429657936, -0.031914230436086655, -0.004977365955710411, 0.007602236233651638, 0.006118591409176588], "flange_pose": [0.6346344351768494, -0.24026994407176971, -0.16146427392959595, -0.013495380990207195, -0.024608749896287918, 0.9995986819267273, -0.0038438031915575266], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.846571683883667, -54.43230438232422, -8.571728706359863, -6.428421974182129, 16.948715209960938, -0.031683482229709625], "ext_wrench_in_world": [1.069574427183158, -54.38386108912449, 9.00065464022895, 5.583546271581287, 17.243547882586622, -0.2619687836524033]}
+{"timestamp_ns": 1789729884755589602, "elapsed_ms": 4133, "source_timestamp_ns": 1789729884751719218, "q": [0.1594729721546173, -2.043426036834717, -0.18381881713867188, 0.29016050696372986, 1.8263167142868042, 0.03968752175569534, -0.8066107630729675], "theta": [0.15717661380767822, -2.042973041534424, -0.18440024554729462, 0.2739220857620239, 1.8262724876403809, 0.04015493392944336, -0.8063191175460815], "dq": [0.04435005411505699, -0.14261052012443542, -0.11121709644794464, -0.22212834656238556, 0.14472249150276184, 0.042667314410209656, 0.07911987602710724], "dtheta": [0.04721466824412346, -0.13804130256175995, -0.11543889343738556, -0.22144952416419983, 0.14293533563613892, 0.04055812209844589, 0.08110226690769196], "tau": [-58.69999694824219, -5.87999963760376, -14.460000991821289, 7.26800012588501, -3.5920002460479736, 4.200000286102295, 0.07200000435113907], "tau_des": [-1.4757816791534424, 0.6836280226707458, -1.1763019561767578, -1.0963987112045288, 0.2980257570743561, 0.49155017733573914, 0.1367097795009613], "tau_dot": [91.65230560302734, -39.65009689331055, -3.5261831283569336, -28.888795852661133, 32.83003616333008, 21.538330078125, 20.289945602416992], "tau_ext": [14.832405090332031, -35.72522735595703, -36.073543548583984, 20.916780471801758, -2.9565932750701904, -7.297911167144775, -0.19801050424575806], "tcp_pose": [0.6294567584991455, -0.2426820993423462, -0.3522820472717285, -0.013606151565909386, -0.024638263508677483, 0.999596357345581, -0.0038683193270117044], "tcp_vel": [-0.0018454913515597582, -0.025689439848065376, -0.029948895797133446, 0.0022458124440163374, 0.006723614875227213, 0.0033260053023695946], "flange_pose": [0.6345887780189514, -0.24108535051345825, -0.16235807538032532, -0.013606151565909386, -0.024638263508677483, 0.999596357345581, -0.0038683193270117044], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [0.5984443426132202, -57.214481353759766, -8.258491516113281, -7.1249895095825195, 17.376399993896484, 0.0077018411830067635], "ext_wrench_in_world": [2.449787076836925, -57.10331579852632, 8.675688008716268, 6.2557608956948485, 17.70492174957499, -0.3255964299958546]}
+{"timestamp_ns": 1789729884788897618, "elapsed_ms": 4166, "source_timestamp_ns": 1789729884781734258, "q": [0.16084709763526917, -2.0475192070007324, -0.18726149201393127, 0.2834564745426178, 1.8303219079971313, 0.04092298075556755, -0.8039945960044861], "theta": [0.15856850147247314, -2.0470399856567383, -0.18789532780647278, 0.2672484815120697, 1.8303239345550537, 0.04138505458831787, -0.8037540316581726], "dq": [0.047563955187797546, -0.13305926322937012, -0.11493987590074539, -0.22000791132450104, 0.1347343772649765, 0.04107150062918663, 0.0989396944642067], "dtheta": [0.045791979879140854, -0.1346089094877243, -0.11906009167432785, -0.22261486947536469, 0.12781117856502533, 0.03974475711584091, 0.09039635211229324], "tau": [-58.62999725341797, -6.949999809265137, -14.480000495910645, 7.604000568389893, -3.688000202178955, 4.216000080108643, 0.04000000283122063], "tau_des": [-1.2192329168319702, 0.44906818866729736, -1.0249377489089966, -0.6444970965385437, 0.5524125695228577, 0.6206188797950745, 0.03282984346151352], "tau_dot": [-12.811577796936035, -62.88894271850586, -27.83745765686035, 25.328022003173828, -10.207687377929688, -87.75835418701172, -43.22755432128906], "tau_ext": [14.878724098205566, -34.657718658447266, -35.98341369628906, 20.507553100585938, -2.8987114429473877, -7.311178684234619, -0.1741056740283966], "tcp_pose": [0.6294060349464417, -0.24344763159751892, -0.35314953327178955, -0.013785875402390957, -0.024654146283864975, 0.9995933175086975, -0.00391351105645299], "tcp_vel": [-0.003110084217041731, -0.0264431145042181, -0.02774333953857422, -0.009683232754468918, 0.019245704635977745, -0.00039216704317368567], "flange_pose": [0.634605884552002, -0.2418319433927536, -0.16322755813598633, -0.013785875402390957, -0.024654146283864975, 0.9995933175086975, -0.00391351105645299], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-0.6177462339401245, -58.765045166015625, -8.044278144836426, -7.515979290008545, 17.752656936645508, 0.04460527002811432], "ext_wrench_in_world": [3.739679344783173, -58.59302090327305, 8.443651726102045, 6.625852123130014, 18.0997911611226, -0.3800081503617474]}
+{"timestamp_ns": 1789729884822254469, "elapsed_ms": 4200, "source_timestamp_ns": 1789729884821730516, "q": [0.16268183290958405, -2.0528385639190674, -0.1918695569038391, 0.2746419608592987, 1.83551824092865, 0.04276968538761139, -0.8004047870635986], "theta": [0.1604059934616089, -2.052330732345581, -0.19260123372077942, 0.2584373652935028, 1.8355668783187866, 0.04322338104248047, -0.8002450466156006], "dq": [0.050888847559690475, -0.13706214725971222, -0.10881110280752182, -0.22450998425483704, 0.13585008680820465, 0.05156370997428894, 0.08781804144382477], "dtheta": [0.044357217848300934, -0.13049770891666412, -0.1163131594657898, -0.2158774435520172, 0.13118141889572144, 0.04784189537167549, 0.08641646057367325], "tau": [-58.55999755859375, -7.299999713897705, -14.312000274658203, 8.052000045776367, -3.80400013923645, 4.184000015258789, 0.01600000075995922], "tau_des": [-1.0698573589324951, 0.8693112134933472, -0.9421365857124329, -0.43033015727996826, 0.43353867530822754, 0.42447274923324585, -0.07414546608924866], "tau_dot": [-16.813011169433594, -20.792156219482422, -53.677852630615234, -76.42479705810547, -47.88530349731445, -12.92994213104248, 21.671966552734375], "tau_ext": [14.905858039855957, -34.48733139038086, -35.841033935546875, 20.477222442626953, -2.8144752979278564, -7.333312034606934, -0.12637045979499817], "tcp_pose": [0.6293536424636841, -0.2444705218076706, -0.3542930781841278, -0.014027108438313007, -0.024632155895233154, 0.9995898604393005, -0.004081602208316326], "tcp_vel": [-0.0008369024144485593, -0.025552591308951378, -0.027352362871170044, -0.009786395356059074, 0.008795324712991714, 0.0003678838547784835], "flange_pose": [0.6346435546875, -0.2427888661623001, -0.1643741875886917, -0.014027108438313007, -0.024632155895233154, 0.9995898604393005, -0.004081602208316326], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-0.9944090247154236, -58.469017028808594, -7.766775131225586, -7.433467864990234, 17.84981346130371, 0.10149317979812622], "ext_wrench_in_world": [4.095000116679051, -58.27851975890683, 8.172068668193736, 6.5376545201470275, 18.191863204708124, -0.4447161849033415]}
+{"timestamp_ns": 1789729884855585213, "elapsed_ms": 4233, "source_timestamp_ns": 1789729884851729407, "q": [0.16404686868190765, -2.0566391944885254, -0.19529221951961517, 0.26825958490371704, 1.839484691619873, 0.04419434443116188, -0.797821044921875], "theta": [0.1617615967988968, -2.0560944080352783, -0.19609883427619934, 0.252072274684906, 1.8395549058914185, 0.0446399450302124, -0.7977192997932434], "dq": [0.050291988998651505, -0.12333918362855911, -0.12046454101800919, -0.20472118258476257, 0.13314156234264374, 0.04643184319138527, 0.08499733358621597], "dtheta": [0.04516313597559929, -0.12042202800512314, -0.11915476620197296, -0.2072257101535797, 0.13053902983665466, 0.04483269527554512, 0.08447578549385071], "tau": [-58.529998779296875, -8.109999656677246, -14.260000228881836, 8.460000038146973, -3.9720001220703125, 4.236000061035156, -0.03200000151991844], "tau_des": [-1.1353895664215088, -0.36708807945251465, -1.2685973644256592, 0.2659825384616852, 0.07027649879455566, 0.5416085720062256, -0.003735527629032731], "tau_dot": [18.66119956970215, -139.4209747314453, 86.96797943115234, 20.951616287231445, -9.422079086303711, -13.230191230773926, 3.596712112426758], "tau_ext": [14.937779426574707, -33.76475143432617, -35.76151657104492, 20.103710174560547, -2.694547653198242, -7.339951992034912, -0.09568630903959274], "tcp_pose": [0.6293527483940125, -0.24515941739082336, -0.35516342520713806, -0.01415689941495657, -0.024644307792186737, 0.9995872974395752, -0.004175507929176092], "tcp_vel": [0.0002367792621953413, -0.021715348586440086, -0.027774853631854057, -0.01007666066288948, 0.013233156874775887, 0.004024630878120661], "flange_pose": [0.634691059589386, -0.24344079196453094, -0.16524620354175568, -0.01415689941495657, -0.024644307792186737, 0.9995872974395752, -0.004175507929176092], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.9250096082687378, -58.867130279541016, -7.488739013671875, -7.565138339996338, 18.072959899902344, 0.14998827874660492], "ext_wrench_in_world": [5.0395472093469245, -58.631220105419175, 7.880919630977564, 6.65614235091872, 18.420847011587238, -0.5038437362178182]}
+{"timestamp_ns": 1789729884888905228, "elapsed_ms": 4266, "source_timestamp_ns": 1789729884881727189, "q": [0.16546766459941864, -2.060181140899658, -0.19879372417926788, 0.2622818052768707, 1.8433451652526855, 0.045597635209560394, -0.795301079750061], "theta": [0.1631602942943573, -2.059614658355713, -0.1996365338563919, 0.2460966408252716, 1.8434251546859741, 0.046040892601013184, -0.7952471971511841], "dq": [0.04925678297877312, -0.1140683963894844, -0.14343507587909698, -0.18542039394378662, 0.1353853940963745, 0.04572562873363495, 0.07788717746734619], "dtheta": [0.04645543545484543, -0.11518106609582901, -0.117403544485569, -0.1911044418811798, 0.13344086706638336, 0.047980692237615585, 0.08079894632101059], "tau": [-58.709999084472656, -7.509999752044678, -14.016000747680664, 8.300000190734863, -4.019999980926514, 4.252000331878662, -0.08000000566244125], "tau_des": [-1.5805416107177734, 0.5675202012062073, -1.0161868333816528, -0.4696946144104004, 0.2642269730567932, 0.48419317603111267, -0.20383507013320923], "tau_dot": [-1.7290760278701782, 120.32866668701172, 39.88016128540039, -76.90699005126953, -18.41385269165039, -14.876361846923828, -6.06055212020874], "tau_ext": [15.159524917602539, -34.069114685058594, -35.77397537231445, 20.254058837890625, -2.593916654586792, -7.384172439575195, -0.06514778733253479], "tcp_pose": [0.6292997598648071, -0.2458454668521881, -0.3560241758823395, -0.014360667206346989, -0.024626215919852257, 0.9995841383934021, -0.004345868714153767], "tcp_vel": [-0.0016771095106378198, -0.023095067590475082, -0.027706284075975418, -0.01063974667340517, 0.007731482852250338, -0.003159541403874755], "flange_pose": [0.634713888168335, -0.24406033754348755, -0.16610971093177795, -0.014360667206346989, -0.024626215919852257, 0.9995841383934021, -0.004345868714153767], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.7583813667297363, -59.06591796875, -7.148249626159668, -7.628784656524658, 18.272550582885742, 0.19474661350250244], "ext_wrench_in_world": [5.872892660533413, -58.789428749186996, 7.536644154757239, 6.708961734058234, 18.622495567682694, -0.5611396134612899]}
+{"timestamp_ns": 1789729884922252330, "elapsed_ms": 4300, "source_timestamp_ns": 1789729884921737546, "q": [0.16725090146064758, -2.064862012863159, -0.20357848703861237, 0.2548021972179413, 1.8489751815795898, 0.0473407581448555, -0.7924575805664062], "theta": [0.16490404307842255, -2.0643019676208496, -0.2043488323688507, 0.23860953748226166, 1.849058747291565, 0.04778897762298584, -0.7924600839614868], "dq": [0.04263701289892197, -0.11260180175304413, -0.13004711270332336, -0.18884702026844025, 0.14526604115962982, 0.042578551918268204, 0.06791070848703384], "dtheta": [0.04173463210463524, -0.11690621823072433, -0.11487364023923874, -0.18439072370529175, 0.14165717363357544, 0.04104552045464516, 0.06570833176374435], "tau": [-57.90999984741211, -5.839999675750732, -13.492000579833984, 7.760000228881836, -3.948000192642212, 4.220000267028809, -0.10400000214576721], "tau_des": [-0.6738283038139343, 2.4512157440185547, -0.7471687197685242, -1.3427048921585083, 0.12760339677333832, 0.47966963052749634, -0.11377526074647903], "tau_dot": [75.22559356689453, -104.26355743408203, 13.101706504821777, -4.628934860229492, 27.483230590820312, 26.297592163085938, 18.99782943725586], "tau_ext": [14.676852226257324, -36.10035705566406, -36.09267807006836, 21.003585815429688, -2.5986263751983643, -7.333861827850342, -0.01945221982896328], "tcp_pose": [0.6291491389274597, -0.24679873883724213, -0.3570971190929413, -0.014467393979430199, -0.02463160641491413, 0.999582052230835, -0.00443688640370965], "tcp_vel": [-0.0038403943181037903, -0.022457053884863853, -0.026528334245085716, 0.0019664810970425606, 0.0016742304433137178, 0.0023009618744254112], "flange_pose": [0.634602963924408, -0.24497801065444946, -0.16718411445617676, -0.014467393979430199, -0.02463160641491413, 0.999582052230835, -0.00443688640370965], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-4.866933345794678, -62.92348861694336, -6.952014923095703, -8.719260215759277, 18.851896286010742, 0.26569417119026184], "ext_wrench_in_world": [8.165137604243444, -62.53900247682358, 7.320291559601756, 7.766666435610024, 19.25397233832213, -0.6734443958692398]}
+{"timestamp_ns": 1789729884955585723, "elapsed_ms": 4333, "source_timestamp_ns": 1789729884951719819, "q": [0.1685333102941513, -2.068190336227417, -0.20709969103336334, 0.24928532540798187, 1.853088617324829, 0.04858890548348427, -0.7903685569763184], "theta": [0.16615426540374756, -2.067662000656128, -0.2077917754650116, 0.23311446607112885, 1.8531700372695923, 0.049042463302612305, -0.7904062271118164], "dq": [0.0420578233897686, -0.09963583946228027, -0.11396428197622299, -0.18422266840934753, 0.13354426622390747, 0.03867728263139725, 0.06917639821767807], "dtheta": [0.04210776835680008, -0.1074095293879509, -0.11565178632736206, -0.18121479451656342, 0.1289614737033844, 0.043479979038238525, 0.07326240092515945], "tau": [-57.52000045776367, -7.099999904632568, -13.600000381469727, 8.284000396728516, -4.100000381469727, 4.164000034332275, -0.09200000762939453], "tau_des": [0.13228656351566315, 1.2250676155090332, -0.7408769726753235, -0.24712343513965607, 0.049009911715984344, 0.402638703584671, -0.03887065872550011], "tau_dot": [-42.86779022216797, 66.63580322265625, -0.06715961545705795, 15.489630699157715, -0.04005533829331398, -45.52372360229492, 29.1890869140625], "tau_ext": [14.379171371459961, -35.08110427856445, -36.02873611450195, 20.574359893798828, -2.525433301925659, -7.317171573638916, -0.0034853487741202116], "tcp_pose": [0.6290864944458008, -0.2474028766155243, -0.3579019010066986, -0.014571861363947392, -0.024696290493011475, 0.9995787739753723, -0.004475808702409267], "tcp_vel": [-0.0018192864954471588, -0.020119979977607727, -0.02596268057823181, -0.008210580796003342, 0.009578525088727474, 0.0018422354478389025], "flange_pose": [0.6345794796943665, -0.24556604027748108, -0.16799019277095795, -0.014571861363947392, -0.024696290493011475, 0.9995787739753723, -0.004475808702409267], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-6.784602642059326, -65.42535400390625, -7.01080322265625, -9.46388053894043, 19.35970115661621, 0.3083926737308502], "ext_wrench_in_world": [10.214830442824232, -64.94106551485466, 7.346726495086262, 8.481053388122161, 19.79834295625198, -0.7453317278116589]}
+{"timestamp_ns": 1789729884988891349, "elapsed_ms": 4366, "source_timestamp_ns": 1789729884981760566, "q": [0.169891357421875, -2.0710737705230713, -0.21043142676353455, 0.2441922128200531, 1.8567430973052979, 0.049925144761800766, -0.7881066203117371], "theta": [0.1674838811159134, -2.0705878734588623, -0.21107050776481628, 0.22804807126522064, 1.8568164110183716, 0.05038571357727051, -0.7881702184677124], "dq": [0.04691867157816887, -0.08998367190361023, -0.10498712211847305, -0.15832573175430298, 0.11472973972558975, 0.04799612611532211, 0.06828763335943222], "dtheta": [0.04551003873348236, -0.09009803086519241, -0.10401491075754166, -0.15463152527809143, 0.11202462017536163, 0.04900949448347092, 0.07060316205024719], "tau": [-57.39999771118164, -8.649999618530273, -13.576000213623047, 9.104000091552734, -4.100000381469727, 4.200000286102295, -0.1120000034570694], "tau_des": [0.3164854645729065, 0.503739595413208, -0.5526174902915955, 0.5980469584465027, 0.2178954929113388, 0.3669707179069519, -0.2525044083595276], "tau_dot": [-26.13661003112793, 145.28359985351562, 23.71200180053711, 6.456719875335693, -31.27655601501465, 8.129325866699219, -0.7731503248214722], "tau_ext": [14.312142372131348, -33.450340270996094, -35.763729095458984, 20.024015426635742, -2.4267516136169434, -7.334331512451172, 0.0013683371944352984], "tcp_pose": [0.6290666460990906, -0.2479095160961151, -0.3587349057197571, -0.014770208857953548, -0.024690451100468636, 0.9995752573013306, -0.004634629003703594], "tcp_vel": [-0.0022545375395566225, -0.019155701622366905, -0.0264944639056921, -0.017435802146792412, 0.01083745714277029, -0.004247552715241909], "flange_pose": [0.634633481502533, -0.24601052701473236, -0.16882598400115967, -0.014770208857953548, -0.024690451100468636, 0.9995752573013306, -0.004634629003703594], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-7.200045108795166, -64.30724334716797, -7.119938373565674, -9.216547012329102, 19.417762756347656, 0.3353119194507599], "ext_wrench_in_world": [10.579737470527167, -63.80050544171441, 7.451199860454116, 8.230346322864117, 19.843568680234903, -0.7751547033450283]}
+{"timestamp_ns": 1789729885022261712, "elapsed_ms": 4400, "source_timestamp_ns": 1789729885021798183, "q": [0.17186053097248077, -2.0743772983551025, -0.21427315473556519, 0.2386757880449295, 1.8613280057907104, 0.051881786435842514, -0.7857992053031921], "theta": [0.1694163978099823, -2.073906898498535, -0.21488063037395477, 0.22256158292293549, 1.8613923788070679, 0.05235469341278076, -0.7858793139457703], "dq": [0.050628308206796646, -0.08418524265289307, -0.07358122617006302, -0.12588222324848175, 0.11267898231744766, 0.048541292548179626, 0.04313621297478676], "dtheta": [0.04923759028315544, -0.07561679929494858, -0.08688676357269287, -0.11986911296844482, 0.11473537981510162, 0.05048961937427521, 0.04239455610513687], "tau": [-57.34000015258789, -7.529999732971191, -13.296000480651855, 8.720000267028809, -3.952000141143799, 4.148000240325928, -0.14400000870227814], "tau_des": [0.058755725622177124, 1.0091038942337036, -0.7348273992538452, -0.12644396722316742, 0.0013940868666395545, 0.3677617013454437, -0.1676238626241684], "tau_dot": [-3.3659515380859375, 136.1665802001953, -35.051151275634766, 15.206130981445312, 12.170112609863281, -23.550691604614258, -83.36742401123047], "tau_ext": [14.267945289611816, -34.22758865356445, -35.77491760253906, 20.37074851989746, -2.49401593208313, -7.308801651000977, 0.007790884003043175], "tcp_pose": [0.6289335489273071, -0.2486005574464798, -0.3599092364311218, -0.014906563796103, -0.0246624406427145, 0.9995729327201843, -0.004848792217671871], "tcp_vel": [-0.003720054868608713, -0.01679111272096634, -0.029393045231699944, -0.006712460890412331, -0.0018743642140179873, 0.002366226864978671], "flange_pose": [0.634550154209137, -0.2466191053390503, -0.17000260949134827, -0.014906563796103, -0.0246624406427145, 0.9995729327201843, -0.004848792217671871], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-7.162570953369141, -63.47882080078125, -7.123258590698242, -9.02593994140625, 19.356735229492188, 0.36788833141326904], "ext_wrench_in_world": [10.500171504833437, -62.972222664389555, 7.473252099677151, 8.04291459672023, 19.772150035447243, -0.8122439045969782]}
+{"timestamp_ns": 1789729885055586890, "elapsed_ms": 4433, "source_timestamp_ns": 1789729885051750602, "q": [0.1734016388654709, -2.076587677001953, -0.21677209436893463, 0.23518334329128265, 1.864560842514038, 0.05336526036262512, -0.784580647945404], "theta": [0.17093674838542938, -2.076096534729004, -0.21738307178020477, 0.21910308301448822, 1.8646211624145508, 0.05384814739227295, -0.7846648693084717], "dq": [0.04962805658578873, -0.07440001517534256, -0.08499815315008163, -0.11109567433595657, 0.10558216273784637, 0.04586497321724892, 0.03889777138829231], "dtheta": [0.05030416324734688, -0.06921181082725525, -0.08022748678922653, -0.10910041630268097, 0.10188594460487366, 0.05005621165037155, 0.036612413823604584], "tau": [-57.52000045776367, -7.079999923706055, -13.180000305175781, 8.631999969482422, -3.880000114440918, 4.140000343322754, -0.10400000214576721], "tau_des": [-0.04826478660106659, 1.992200255393982, -0.5438598990440369, -0.5265867710113525, 0.28086379170417786, 0.29459288716316223, -0.05522337928414345], "tau_dot": [93.17594909667969, 10.282919883728027, -24.463905334472656, -25.8714542388916, -4.968641757965088, -7.301769733428955, -2.701169729232788], "tau_ext": [14.190302848815918, -34.689369201660156, -35.88677215576172, 20.462331771850586, -2.5708069801330566, -7.270107746124268, 0.0077708009630441666], "tcp_pose": [0.6287639141082764, -0.2491086721420288, -0.36082959175109863, -0.014963331632316113, -0.024700544774532318, 0.9995705485343933, -0.004973364528268576], "tcp_vel": [-0.005614220630377531, -0.017015628516674042, -0.029409993439912796, -0.011298195458948612, 0.003435340244323015, 0.004062409978359938], "flange_pose": [0.6344008445739746, -0.24707916378974915, -0.17092406749725342, -0.014963331632316113, -0.024700544774532318, 0.9995705485343933, -0.004973364528268576], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-8.28443717956543, -65.05992889404297, -7.014120578765869, -9.448458671569824, 19.663877487182617, 0.38468724489212036], "ext_wrench_in_world": [11.701048478324456, -64.49454824797078, 7.3595411114844635, 8.447358891519464, 20.099958525666757, -0.8504283626598648]}
+{"timestamp_ns": 1789729885088903868, "elapsed_ms": 4466, "source_timestamp_ns": 1789729885081755086, "q": [0.17498306930065155, -2.0785257816314697, -0.21904954314231873, 0.23210787773132324, 1.8675603866577148, 0.054842475801706314, -0.7834595441818237], "theta": [0.1725059300661087, -2.0780019760131836, -0.21965500712394714, 0.2160676270723343, 1.8676141500473022, 0.05534374713897705, -0.78354412317276], "dq": [0.05463508889079094, -0.05865205079317093, -0.07072440534830093, -0.09803836047649384, 0.09768491238355637, 0.04671541973948479, 0.035114534199237823], "dtheta": [0.052094101905822754, -0.05957895144820213, -0.07279827445745468, -0.09442245215177536, 0.09676063060760498, 0.04775123670697212, 0.036265142261981964], "tau": [-57.689998626708984, -6.809999942779541, -13.020000457763672, 8.580000877380371, -3.820000171661377, 4.088000297546387, -0.09200000762939453], "tau_des": [-0.24270445108413696, 2.6289782524108887, -0.5459773540496826, -0.7129436135292053, 0.26022854447364807, 0.31019359827041626, -0.1463714987039566], "tau_dot": [27.477449417114258, 49.72397232055664, 21.581924438476562, -8.479605674743652, -14.4230318069458, -2.010510206222534, 16.9829044342041], "tau_ext": [14.331594467163086, -34.97178268432617, -35.95948028564453, 20.560033798217773, -2.6360390186309814, -7.245596408843994, -0.0010622377740219235], "tcp_pose": [0.6285858154296875, -0.24956755340099335, -0.36176902055740356, -0.015035456977784634, -0.024714363738894463, 0.9995684027671814, -0.005110483150929213], "tcp_vel": [-0.005898690782487392, -0.014345595613121986, -0.03074660897254944, -0.009045765735208988, 0.004385896027088165, -0.0008864427218213677], "flange_pose": [0.6342488527297974, -0.2474852055311203, -0.171864852309227, -0.015035456977784634, -0.024714363738894463, 0.9995684027671814, -0.005110483150929213], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-9.516618728637695, -66.77515411376953, -6.767861843109131, -9.868206977844238, 20.018007278442383, 0.39367347955703735], "ext_wrench_in_world": [13.0118570953973, -66.14719081641789, 7.108580371403499, 8.847842792160819, 20.47423899782983, -0.8822236399034884]}
+{"timestamp_ns": 1789729885122261143, "elapsed_ms": 4500, "source_timestamp_ns": 1789729885121786725, "q": [0.17717649042606354, -2.0804951190948486, -0.22164982557296753, 0.22887399792671204, 1.871113657951355, 0.056778084486722946, -0.7822088003158569], "theta": [0.1746964156627655, -2.0799314975738525, -0.22226932644844055, 0.21287129819393158, 1.871161699295044, 0.05731499195098877, -0.782285749912262], "dq": [0.05593661963939667, -0.036612916737794876, -0.05587145686149597, -0.06909767538309097, 0.08001743257045746, 0.0478641539812088, 0.030322948470711708], "dtheta": [0.056559350341558456, -0.03793632984161377, -0.057088445872068405, -0.06529399007558823, 0.08080147206783295, 0.05177991837263107, 0.02911047451198101], "tau": [-57.91999816894531, -6.889999866485596, -12.964000701904297, 8.672000885009766, -3.7240002155303955, 4.056000232696533, -0.08800000697374344], "tau_des": [-0.8046825528144836, 2.6719369888305664, -0.5738124251365662, -0.2655005156993866, 0.2886781394481659, 0.25088921189308167, -0.16034580767154694], "tau_dot": [77.65160369873047, -73.24493408203125, -78.65188598632812, -48.02926254272461, 35.594478607177734, -25.39296531677246, 1.7515565156936646], "tau_ext": [14.628546714782715, -34.80018615722656, -35.95353698730469, 20.525354385375977, -2.7057292461395264, -7.214548587799072, -0.00896176416426897], "tcp_pose": [0.6283688545227051, -0.2500438988208771, -0.36306053400039673, -0.015157428570091724, -0.024729397147893906, 0.9995651841163635, -0.005311206914484501], "tcp_vel": [-0.0040058474987745285, -0.010086046531796455, -0.03266631066799164, -0.013608605600893497, 0.0038122618570923805, -0.0010404642671346664], "flange_pose": [0.6340762376785278, -0.2478840947151184, -0.17315857112407684, -0.015157428570091724, -0.024729397147893906, 0.9995651841163635, -0.005311206914484501], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-10.302582740783691, -67.87977600097656, -6.3331379890441895, -10.05663776397705, 20.259611129760742, 0.39836204051971436], "ext_wrench_in_world": [13.842209983648154, -67.21325892539855, 6.684824998281287, 9.022908101301445, 20.72471418569529, -0.905455618465575]}
+{"timestamp_ns": 1789729885155582231, "elapsed_ms": 4533, "source_timestamp_ns": 1789729885151772501, "q": [0.1788722574710846, -2.0813889503479004, -0.22317899763584137, 0.22730357944965363, 1.8733587265014648, 0.058222416788339615, -0.7815268635749817], "theta": [0.17640221118927002, -2.080805540084839, -0.22382238507270813, 0.21131213009357452, 1.8734036684036255, 0.05879044532775879, -0.7815892100334167], "dq": [0.05241840332746506, -0.02051120437681675, -0.045414239168167114, -0.04261509329080582, 0.07023888826370239, 0.04710235446691513, 0.01788497157394886], "dtheta": [0.05730700120329857, -0.021880464628338814, -0.04380630701780319, -0.03913794830441475, 0.07085110247135162, 0.04674169048666954, 0.01903844252228737], "tau": [-58.03999710083008, -7.12999963760376, -12.944000244140625, 8.760000228881836, -3.7160000801086426, 3.996000289916992, -0.06000000238418579], "tau_des": [-0.9336388111114502, 2.040266513824463, -0.6249651908874512, -0.18061913549900055, 0.3408183157444, 0.2993464171886444, -0.14425045251846313], "tau_dot": [35.92512512207031, -55.449337005615234, -23.127288818359375, -16.28733253479004, -5.3273396492004395, 37.36709213256836, 36.09556198120117], "tau_ext": [14.865748405456543, -34.845706939697266, -35.94210433959961, 20.582948684692383, -2.7616236209869385, -7.181299209594727, -0.01710563525557518], "tcp_pose": [0.6282389760017395, -0.2502903342247009, -0.364036500453949, -0.015239429660141468, -0.0247353445738554, 0.9995627999305725, -0.005492181982845068], "tcp_vel": [-0.004190901760011911, -0.006316704209893942, -0.0330539308488369, -0.010107006877660751, 0.003741793567314744, -0.0012447091285139322], "flange_pose": [0.6339758038520813, -0.24806097149848938, -0.174136221408844, -0.015239429660141468, -0.0247353445738554, 0.9995627999305725, -0.005492181982845068], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-10.317398071289062, -67.8104476928711, -6.017268657684326, -9.935547828674316, 20.274518966674805, 0.39816099405288696], "ext_wrench_in_world": [13.846179082432151, -67.14431694080672, 6.390388778275602, 8.900803333475364, 20.73345494736933, -0.9106635642851723]}
+{"timestamp_ns": 1789729885188900090, "elapsed_ms": 4566, "source_timestamp_ns": 1789729885181743958, "q": [0.18057911098003387, -2.081878423690796, -0.22436290979385376, 0.2264060080051422, 1.8753551244735718, 0.059613943099975586, -0.7810918092727661], "theta": [0.17813917994499207, -2.0812835693359375, -0.2250368893146515, 0.21042226254940033, 1.8753933906555176, 0.060213685035705566, -0.7811371684074402], "dq": [0.06208621710538864, -0.011710414662957191, -0.03526848182082176, -0.026283862069249153, 0.06596875935792923, 0.04577692598104477, 0.010944830253720284], "dtheta": [0.0582483671605587, -0.012154615484178066, -0.03743971511721611, -0.02357870154082775, 0.06296992301940918, 0.047502998262643814, 0.012178256176412106], "tau": [-58.03999710083008, -7.739999771118164, -13.008000373840332, 9.039999961853027, -3.696000099182129, 3.9840002059936523, -0.06800000369548798], "tau_des": [-1.1880886554718018, 0.7430076599121094, -0.8657747507095337, -0.4212774336338043, 0.4211943745613098, 0.21934539079666138, -0.1132008358836174], "tau_dot": [-23.77358055114746, -111.63453674316406, -19.774324417114258, -0.1287509649991989, -10.231388092041016, 5.169816970825195, 10.179403305053711], "tau_ext": [14.776629447937012, -34.93949508666992, -35.97206497192383, 20.657649993896484, -2.82810115814209, -7.116312503814697, -0.022450147196650505], "tcp_pose": [0.628121018409729, -0.2504579424858093, -0.3650093078613281, -0.015283485874533653, -0.024729259312152863, 0.9995613694190979, -0.005651683080941439], "tcp_vel": [-0.004085584077984095, -0.005513004958629608, -0.032626695930957794, -0.013282175175845623, 0.003433751408010721, 0.00018615993030834943], "flange_pose": [0.6338731050491333, -0.24816763401031494, -0.17511020600795746, -0.015283485874533653, -0.024729259312152863, 0.9995613694190979, -0.005651683080941439], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-10.271008491516113, -67.8565444946289, -5.801156520843506, -9.855502128601074, 20.26025390625, 0.3974835276603699], "ext_wrench_in_world": [13.795607099533042, -67.193295533337, 6.19676716430613, 8.821707826647197, 20.714910618371988, -0.9147419316239112]}
+{"timestamp_ns": 1789729885222260605, "elapsed_ms": 4600, "source_timestamp_ns": 1789729885221783247, "q": [0.1828564554452896, -2.0822665691375732, -0.22563615441322327, 0.22568462789058685, 1.8777759075164795, 0.061497725546360016, -0.7807653546333313], "theta": [0.18045417964458466, -2.0816659927368164, -0.2263621985912323, 0.209711953997612, 1.877799153327942, 0.06213641166687012, -0.7807862758636475], "dq": [0.05742136389017105, -0.008946869522333145, -0.028931085020303726, -0.011161351576447487, 0.0567297637462616, 0.04784666374325752, 0.007294470444321632], "dtheta": [0.055812444537878036, -0.007183458656072617, -0.02867986634373665, -0.011712389998137951, 0.05773966759443283, 0.0480344220995903, 0.006190264597535133], "tau": [-58.18000030517578, -8.220000267028809, -13.108000755310059, 9.32800006866455, -3.620000123977661, 3.9680001735687256, -0.07200000435113907], "tau_des": [-0.9787828326225281, 0.3477877080440521, -0.9261925220489502, -0.38734933733940125, 0.41026005148887634, 0.13516966998577118, -0.11289223283529282], "tau_dot": [123.97447204589844, 12.41673469543457, 12.534461975097656, 16.869197845458984, 82.9760971069336, -5.054419040679932, 28.511194229125977], "tau_ext": [14.841221809387207, -34.891292572021484, -35.898773193359375, 20.590078353881836, -2.8615174293518066, -7.071564197540283, -0.02898135408759117], "tcp_pose": [0.6279698610305786, -0.2506502568721771, -0.36629700660705566, -0.01529538631439209, -0.0247398242354393, 0.9995596408843994, -0.005870887544006109], "tcp_vel": [-0.0037784220185130835, -0.005341524723917246, -0.03101026825606823, -0.012177598662674427, -0.0023570985067635775, -0.0010452884016558528], "flange_pose": [0.6337243318557739, -0.2482765167951584, -0.17639902234077454, -0.01529538631439209, -0.0247398242354393, 0.9995596408843994, -0.005870887544006109], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-10.504112243652344, -68.14495086669922, -5.524268627166748, -9.842803001403809, 20.300533294677734, 0.39475110173225403], "ext_wrench_in_world": [14.036193691469823, -67.47019443510916, 5.945281831949163, 8.806526222071279, 20.754388124903446, -0.9212604766946699]}
+{"timestamp_ns": 1789729885255611890, "elapsed_ms": 4633, "source_timestamp_ns": 1789729885251823068, "q": [0.18454402685165405, -2.082437515258789, -0.2263406217098236, 0.22543732821941376, 1.8794056177139282, 0.06291677802801132, -0.7806763648986816], "theta": [0.18216054141521454, -2.081834554672241, -0.22710683941841125, 0.20947249233722687, 1.8794180154800415, 0.06358051300048828, -0.7806820273399353], "dq": [0.05611305683851242, -0.005402820650488138, -0.024133095517754555, -0.005337839480489492, 0.053345195949077606, 0.0515480600297451, 0.0004417487944010645], "dtheta": [0.056371092796325684, -0.004188003949820995, -0.021394414827227592, -0.004596383776515722, 0.05173364654183388, 0.049861568957567215, 0.0021282334346324205], "tau": [-58.12999725341797, -8.059999465942383, -13.152000427246094, 9.34000015258789, -3.624000072479248, 3.9160001277923584, -0.11600000411272049], "tau_des": [-1.2858483791351318, 0.8461828827857971, -0.906602144241333, -0.5888441205024719, 0.5362851619720459, 0.15422053635120392, -0.13520632684230804], "tau_dot": [152.80856323242188, 65.87934875488281, -33.91566848754883, 24.535947799682617, 1.9295512437820435, -32.43894577026367, -93.3756103515625], "tau_ext": [14.89440631866455, -34.799903869628906, -35.83134460449219, 20.518075942993164, -2.8783113956451416, -7.054178714752197, -0.03033357299864292], "tcp_pose": [0.6278402805328369, -0.25079360604286194, -0.36724936962127686, -0.015265529043972492, -0.02473444677889347, 0.9995593428611755, -0.006026914808899164], "tcp_vel": [-0.004279203712940216, -0.005573321133852005, -0.031279556453228, -0.012916363775730133, -0.004015310201793909, -0.0013384417397901416], "flange_pose": [0.6335819363594055, -0.24836091697216034, -0.17735172808170319, -0.015265529043972492, -0.02473444677889347, 0.9995593428611755, -0.006026914808899164], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-10.793063163757324, -68.34102630615234, -5.311197757720947, -9.854677200317383, 20.354602813720703, 0.39267104864120483], "ext_wrench_in_world": [14.327168486555395, -67.65273790834691, 5.747539240323364, 8.815938503600337, 20.80866266820977, -0.9260103890416678]}
+{"timestamp_ns": 1789729885288920989, "elapsed_ms": 4666, "source_timestamp_ns": 1789729885281818443, "q": [0.18618495762348175, -2.0825135707855225, -0.2268248200416565, 0.22537893056869507, 1.8809117078781128, 0.0643562376499176, -0.7806723117828369], "theta": [0.1838102489709854, -2.081906795501709, -0.2276272475719452, 0.20941908657550812, 1.880913257598877, 0.065041184425354, -0.7806640267372131], "dq": [0.055651985108852386, 0.0002525271847844124, -0.013538079336285591, 0.00020454320474527776, 0.045599304139614105, 0.049560148268938065, 5.548397166421637e-05], "dtheta": [0.05157836899161339, -0.000465701159555465, -0.014255963265895844, 0.0002759679628070444, 0.04550961032509804, 0.047797057777643204, -5.304704245645553e-05], "tau": [-57.96999740600586, -7.929999828338623, -13.176000595092773, 9.288000106811523, -3.632000207901001, 3.884000301361084, -0.09200000762939453], "tau_des": [-0.524041473865509, 0.7676591277122498, -0.9620583653450012, -0.650703489780426, 0.46881604194641113, 0.0037270335014909506, -0.17952615022659302], "tau_dot": [97.9463119506836, 24.72008514404297, -22.139738082885742, 22.36159324645996, 10.69894027709961, -52.6520881652832, 6.713350296020508], "tau_ext": [14.769566535949707, -34.82976531982422, -35.79298400878906, 20.51592445373535, -2.9000723361968994, -7.023911952972412, -0.026287704706192017], "tcp_pose": [0.6277323365211487, -0.250912606716156, -0.3681849241256714, -0.015174212865531445, -0.02471713162958622, 0.9995603561401367, -0.006159117911010981], "tcp_vel": [-0.002571522258222103, -0.00381975038908422, -0.029005711898207664, -0.01065361499786377, -0.007503668777644634, -0.0007734913378953934], "flange_pose": [0.6334381699562073, -0.24843065440654755, -0.1782868355512619, -0.015174212865531445, -0.02471713162958622, 0.9995603561401367, -0.006159117911010981], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-11.068378448486328, -68.52042388916016, -5.177262306213379, -9.883354187011719, 20.402128219604492, 0.3940841853618622], "ext_wrench_in_world": [14.603808683832627, -67.81902405292301, 5.6276358136884514, 8.84295768486779, 20.857017732899507, -0.9325979269811288]}
+{"timestamp_ns": 1789729885322283504, "elapsed_ms": 4700, "source_timestamp_ns": 1789729885321805966, "q": [0.18825575709342957, -2.082526922225952, -0.22721092402935028, 0.22538398206233978, 1.8825936317443848, 0.06614144891500473, -0.7806983590126038], "theta": [0.1858825385570526, -2.081913709640503, -0.2280568778514862, 0.20943091809749603, 1.8825874328613281, 0.06685197353363037, -0.7806769609451294], "dq": [0.047724779695272446, -0.0029734428972005844, -0.008317866362631321, -0.0009817982790991664, 0.0386044979095459, 0.043574824929237366, -0.0006084106862545013], "dtheta": [0.049368925392627716, -0.00018260754586663097, -0.008236442692577839, 0.00034404065809212625, 0.04032515361905098, 0.04455192759633064, -0.00011358925985405222], "tau": [-57.77000045776367, -7.989999771118164, -13.208000183105469, 9.384000778198242, -3.620000123977661, 3.8680002689361572, -0.12800000607967377], "tau_des": [-0.7768834829330444, 0.5829920768737793, -1.197788119316101, -0.7604089975357056, 0.48688700795173645, 0.08170998096466064, -0.22168101370334625], "tau_dot": [-56.0479736328125, -113.22171783447266, -1.4010307788848877, -79.73941802978516, -55.118568420410156, -7.639718532562256, -8.863442420959473], "tau_ext": [14.511317253112793, -35.12571716308594, -35.790611267089844, 20.53166961669922, -2.9232876300811768, -6.988687038421631, -0.0069867027923464775], "tcp_pose": [0.6275990009307861, -0.25101444125175476, -0.36939147114753723, -0.015080895274877548, -0.024705030024051666, 0.9995611310005188, -0.006302614230662584], "tcp_vel": [-0.0026187363546341658, -0.002483960008248687, -0.028771404176950455, -0.007124193478375673, -0.00677566509693861, -0.0011619074502959847], "flange_pose": [0.6332680583000183, -0.24847891926765442, -0.1794929802417755, -0.015080895274877548, -0.024705030024051666, 0.9995611310005188, -0.006302614230662584], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-12.059255599975586, -69.63011169433594, -5.211321830749512, -10.20907974243164, 20.63471031188965, 0.4014195203781128], "ext_wrench_in_world": [15.646695570766784, -68.87674507220929, 5.666646396990672, 9.156959276814563, 21.10479493192447, -0.9567884606581991]}
+{"timestamp_ns": 1789729885355678035, "elapsed_ms": 4733, "source_timestamp_ns": 1789729885351748746, "q": [0.189730703830719, -2.0825397968292236, -0.22741428017616272, 0.22537490725517273, 1.8837664127349854, 0.067422054708004, -0.780724823474884], "theta": [0.18735668063163757, -2.081923246383667, -0.22828929126262665, 0.20942775905132294, 1.883756160736084, 0.06815087795257568, -0.7806971073150635], "dq": [0.04920449107885361, -0.00039582757744938135, -0.00544643634930253, 0.0014077328378334641, 0.03893781825900078, 0.04611595347523689, -0.001249911030754447], "dtheta": [0.04923155531287193, -0.000979628530330956, -0.007660049479454756, -0.0006565319490619004, 0.03991803899407387, 0.04236385226249695, -0.0008438106160610914], "tau": [-57.52000045776367, -8.289999961853027, -13.176000595092773, 9.472000122070312, -3.6080002784729004, 3.8520002365112305, -0.1600000113248825], "tau_des": [-0.6649893522262573, -0.13858672976493835, -1.2948366403579712, -0.993743896484375, 0.5602833032608032, 0.11243319511413574, -0.21620795130729675], "tau_dot": [-49.163238525390625, -5.126222610473633, 21.858366012573242, -7.657678604125977, -41.12187576293945, 60.047447204589844, 26.3255558013916], "tau_ext": [14.417747497558594, -35.203277587890625, -35.75714874267578, 20.53179168701172, -2.9168055057525635, -6.976208686828613, 0.03388762101531029], "tcp_pose": [0.6275097131729126, -0.2510719895362854, -0.3702649772167206, -0.015002830885350704, -0.024699822068214417, 0.9995619654655457, -0.006385170388966799], "tcp_vel": [-0.0032707862555980682, -0.002169040497392416, -0.02907657064497471, -0.005312937777489424, -0.005087335128337145, -0.00043448476935736835], "flange_pose": [0.6331483721733093, -0.2485058754682541, -0.18036599457263947, -0.015002830885350704, -0.024699822068214417, 0.9995619654655457, -0.006385170388966799], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-13.08969783782959, -70.86182403564453, -5.222819805145264, -10.576696395874023, 20.889036178588867, 0.424024760723114], "ext_wrench_in_world": [16.735423621429177, -70.05520893519851, 5.6753360357198375, 9.510984941547221, 21.37634776480415, -0.995518858892161]}
+{"timestamp_ns": 1789729885388929960, "elapsed_ms": 4766, "source_timestamp_ns": 1789729885381805045, "q": [0.1911657452583313, -2.0826351642608643, -0.22762741148471832, 0.22525547444820404, 1.8849868774414062, 0.06866002827882767, -0.7807601094245911], "theta": [0.18879291415214539, -2.082019329071045, -0.2285316288471222, 0.20931227505207062, 1.8849713802337646, 0.06940412521362305, -0.7807299494743347], "dq": [0.04704982414841652, -0.005178768187761307, -0.006408700719475746, -0.00912813562899828, 0.04166669026017189, 0.0416240468621254, 0.00117791339289397], "dtheta": [0.048489347100257874, -0.006362326443195343, -0.008410713635385036, -0.008312310092151165, 0.04339481145143509, 0.041725531220436096, -0.0013452222337946296], "tau": [-57.22999954223633, -8.819999694824219, -13.148000717163086, 9.508000373840332, -3.5920002460479736, 3.7800002098083496, -0.1720000058412552], "tau_des": [-0.32696595788002014, -0.7427639961242676, -1.3660153150558472, -1.0226061344146729, 0.5522130131721497, 0.1285170316696167, -0.16052645444869995], "tau_dot": [63.408695220947266, -57.03070831298828, 63.31875991821289, 44.51925277709961, -0.10394340753555298, -22.212074279785156, 29.060726165771484], "tau_ext": [14.314346313476562, -35.09437561035156, -35.753318786621094, 20.569316864013672, -2.9262044429779053, -6.959004878997803, 0.055272310972213745], "tcp_pose": [0.6274160146713257, -0.2511291801929474, -0.3711303472518921, -0.014916988089680672, -0.024708222597837448, 0.9995627403259277, -0.006432091351598501], "tcp_vel": [-0.003551311558112502, -0.0023333372082561255, -0.029588261619210243, -0.0017373586306348443, -0.005807837937027216, 0.0017099661054089665], "flange_pose": [0.6330215930938721, -0.24854598939418793, -0.18123063445091248, -0.014916988089680672, -0.024708222597837448, 0.9995627403259277, -0.006432091351598501], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-13.484020233154297, -71.24458312988281, -5.300056457519531, -10.69939136505127, 20.976856231689453, 0.4519786536693573], "ext_wrench_in_world": [17.150709359474874, -70.41618757794399, 5.75445226815034, 9.628057450187457, 21.469804489687256, -1.0284758438435488]}
+{"timestamp_ns": 1789729885422327081, "elapsed_ms": 4800, "source_timestamp_ns": 1789729885421764901, "q": [0.1930922120809555, -2.083041191101074, -0.22802671790122986, 0.22465179860591888, 1.886805772781372, 0.0703844428062439, -0.7807629704475403], "theta": [0.19072501361370087, -2.0824317932128906, -0.22896745800971985, 0.2087121307849884, 1.8867757320404053, 0.07114613056182861, -0.7807313799858093], "dq": [0.04695405066013336, -0.013361383229494095, -0.013504788279533386, -0.018015269190073013, 0.052080899477005005, 0.0456913486123085, 0.0042472113855183125], "dtheta": [0.05061350390315056, -0.013134072534739971, -0.01195188146084547, -0.019846424460411072, 0.04659537598490715, 0.04701966792345047, 0.0005417814245447516], "tau": [-57.099998474121094, -9.220000267028809, -13.176000595092773, 9.736000061035156, -3.5960001945495605, 3.764000177383423, -0.14400000870227814], "tau_des": [-0.14585156738758087, -1.0525102615356445, -1.2577540874481201, -0.59438157081604, 0.5765082836151123, 0.05628305673599243, 0.020867427811026573], "tau_dot": [111.518798828125, 25.902217864990234, -49.64506149291992, 1.830457329750061, 9.35235595703125, -3.0592024326324463, -18.5465145111084], "tau_ext": [14.257187843322754, -34.657142639160156, -35.72726821899414, 20.448083877563477, -2.921731472015381, -6.924875259399414, 0.05927834287285805], "tcp_pose": [0.627288818359375, -0.2512342631816864, -0.3723240792751312, -0.014787760563194752, -0.02477000094950199, 0.9995629191398621, -0.006461067590862513], "tcp_vel": [-0.003650035709142685, -0.0039206258952617645, -0.031118640676140785, -0.0038937507197260857, -0.005793994292616844, 0.004366387613117695], "flange_pose": [0.6328449249267578, -0.24864092469215393, -0.18242305517196655, -0.014787760563194752, -0.02477000094950199, 0.9995629191398621, -0.006461067590862513], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-13.267430305480957, -70.60435485839844, -5.4858856201171875, -10.523606300354004, 20.896860122680664, 0.47750648856163025], "ext_wrench_in_world": [16.915471063306622, -69.78249779998902, 5.946798501666046, 9.453355497770136, 21.38205590214376, -1.046336575260736]}
+{"timestamp_ns": 1789729885455681356, "elapsed_ms": 4833, "source_timestamp_ns": 1789729885451756266, "q": [0.19460181891918182, -2.08354115486145, -0.22838599979877472, 0.22396819293498993, 1.88834547996521, 0.07178393006324768, -0.7807174921035767], "theta": [0.19224703311920166, -2.082937002182007, -0.22935083508491516, 0.20802929997444153, 1.8882957696914673, 0.07255673408508301, -0.7806825041770935], "dq": [0.05183602124452591, -0.020826691761612892, -0.01302247028797865, -0.02687882073223591, 0.056186191737651825, 0.04774343967437744, 0.0009447992197237909], "dtheta": [0.05221506953239441, -0.019894441589713097, -0.013402479700744152, -0.026968717575073242, 0.05419831722974777, 0.04761720076203346, 0.0029342223424464464], "tau": [-57.25, -9.279999732971191, -13.100000381469727, 9.756000518798828, -3.556000232696533, 3.7280001640319824, -0.10000000149011612], "tau_des": [-0.2561647295951843, -0.862630307674408, -1.289810299873352, -0.7626559734344482, 0.5290051102638245, 0.05277739465236664, 0.03987134248018265], "tau_dot": [-74.14778137207031, 4.590478420257568, -6.878393650054932, -16.87313461303711, 69.38505554199219, -61.763545989990234, -9.289387702941895], "tau_ext": [14.353842735290527, -34.652400970458984, -35.70851516723633, 20.437644958496094, -2.914055585861206, -6.907918930053711, 0.018841171637177467], "tcp_pose": [0.6271670460700989, -0.2513597905635834, -0.3732715845108032, -0.014661738649010658, -0.02480228617787361, 0.9995639324188232, -0.006464783567935228], "tcp_vel": [-0.004908957052975893, -0.004782653879374266, -0.033009741455316544, 0.0008336867904290557, -0.007635829970240593, 0.0015118001028895378], "flange_pose": [0.6326751112937927, -0.24876604974269867, -0.18336914479732513, -0.014661738649010658, -0.02480228617787361, 0.9995639324188232, -0.006464783567935228], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-13.132444381713867, -70.20726013183594, -5.437719345092773, -10.395782470703125, 20.842178344726562, 0.47069472074508667], "ext_wrench_in_world": [16.762672663205727, -69.39212803536064, 5.902087278617231, 9.327509941912625, 21.321851143049525, -1.0326988761800568]}
+{"timestamp_ns": 1789729885489017743, "elapsed_ms": 4866, "source_timestamp_ns": 1789729885481813176, "q": [0.196176677942276, -2.0842347145080566, -0.22878222167491913, 0.22304998338222504, 1.8900434970855713, 0.07325603067874908, -0.7805435657501221], "theta": [0.19383594393730164, -2.083631992340088, -0.2297663390636444, 0.20710566639900208, 1.8899656534194946, 0.07403874397277832, -0.7804986834526062], "dq": [0.046643611043691635, -0.027478592470288277, -0.01485016755759716, -0.033981312066316605, 0.05772937834262848, 0.04876119643449783, 0.005743791349232197], "dtheta": [0.053680289536714554, -0.025644108653068542, -0.01436465885490179, -0.03393452987074852, 0.056857794523239136, 0.05063264071941376, 0.0059349676594138145], "tau": [-57.48999786376953, -8.920000076293945, -13.128000259399414, 9.616000175476074, -3.5840001106262207, 3.7400002479553223, -0.07600000500679016], "tau_des": [-0.48449084162712097, 0.17010048031806946, -1.1872295141220093, -1.0445904731750488, 0.5900566577911377, 3.5627515899250284e-05, -0.11196916550397873], "tau_dot": [31.357839584350586, -80.73741149902344, -49.667274475097656, 5.58359432220459, 76.26972198486328, 5.504044055938721, -4.177001953125], "tau_ext": [14.503439903259277, -34.744606018066406, -35.71080017089844, 20.479854583740234, -2.914710283279419, -6.892497539520264, -0.023321565240621567], "tcp_pose": [0.6270132064819336, -0.2515197992324829, -0.37427935004234314, -0.01451929286122322, -0.02478150837123394, 0.9995667338371277, -0.006435121409595013], "tcp_vel": [-0.005865328945219517, -0.0063640945591032505, -0.03421449661254883, 0.0008577478583902121, -0.008378250524401665, -0.0006886275368742645], "flange_pose": [0.6324675679206848, -0.24893879890441895, -0.18437519669532776, -0.01451929286122322, -0.02478150837123394, 0.9995667338371277, -0.006435121409595013], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-13.077974319458008, -70.09413146972656, -5.220305442810059, -10.322263717651367, 20.81107521057129, 0.44367605447769165], "ext_wrench_in_world": [16.691926718989222, -69.28585999466348, 5.685196119724617, 9.257595057101412, 21.287215436594188, -0.9991100204037923]}
+{"timestamp_ns": 1789729885522263578, "elapsed_ms": 4900, "source_timestamp_ns": 1789729885521890691, "q": [0.1983359307050705, -2.0853207111358643, -0.22933784127235413, 0.22159811854362488, 1.8924758434295654, 0.0752962976694107, -0.7803714275360107], "theta": [0.1960262954235077, -2.084716320037842, -0.23034103214740753, 0.20564253628253937, 1.892346978187561, 0.07608938217163086, -0.7803093194961548], "dq": [0.05106817185878754, -0.02252778597176075, -0.014402137137949467, -0.04020719602704048, 0.06252523511648178, 0.04860786721110344, 0.00520367594435811], "dtheta": [0.05459357053041458, -0.026028385385870934, -0.01416389923542738, -0.03766213729977608, 0.05864288657903671, 0.050858769565820694, 0.003420587396249175], "tau": [-57.98999786376953, -8.319999694824219, -13.092000961303711, 9.460000038146973, -3.6520001888275146, 3.752000093460083, -0.0560000017285347], "tau_des": [-1.1501675844192505, 1.0117040872573853, -1.20736825466156, -0.5662962794303894, 0.42679548263549805, 0.023082075640559196, -0.015139126218855381], "tau_dot": [-76.86338806152344, 15.171758651733398, 16.735197067260742, -10.598649024963379, 39.06600570678711, -15.252156257629395, 24.403850555419922], "tau_ext": [14.788208961486816, -34.962894439697266, -35.72334671020508, 20.56570816040039, -2.9004499912261963, -6.884262561798096, -0.03540568798780441], "tcp_pose": [0.6267971992492676, -0.2517441511154175, -0.375684916973114, -0.014302638359367847, -0.02480486035346985, 0.999569833278656, -0.006352508906275034], "tcp_vel": [-0.005038961302489042, -0.00480533204972744, -0.0356144979596138, 0.003363278927281499, -0.008117579855024815, 0.004611794836819172], "flange_pose": [0.6321700215339661, -0.24919642508029938, -0.18577797710895538, -0.014302638359367847, -0.02480486035346985, 0.999569833278656, -0.006352508906275034], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-13.152931213378906, -70.47124481201172, -4.838515758514404, -10.361419677734375, 20.822179794311523, 0.4170178174972534], "ext_wrench_in_world": [16.775547542962016, -69.66411534007189, 5.300869562886738, 9.296315950503502, 21.30120760613318, -0.9660006489204668]}
+{"timestamp_ns": 1789729885555587456, "elapsed_ms": 4933, "source_timestamp_ns": 1789729885551752918, "q": [0.19996492564678192, -2.086038589477539, -0.229751318693161, 0.2205791175365448, 1.8942588567733765, 0.07679794728755951, -0.7802082300186157], "theta": [0.19768206775188446, -2.0854337215423584, -0.23076769709587097, 0.20462296903133392, 1.8940805196762085, 0.077597975730896, -0.7801328897476196], "dq": [0.05559888482093811, -0.019094014540314674, -0.012021725066006184, -0.03296486288309097, 0.06341294944286346, 0.048850931227207184, 0.0072083682753145695], "dtheta": [0.05534210428595543, -0.02120456099510193, -0.014371034689247608, -0.031960826367139816, 0.05776682123541832, 0.051305774599313736, 0.006166481878608465], "tau": [-58.28999710083008, -8.539999961853027, -13.112000465393066, 9.688000679016113, -3.680000066757202, 3.8440001010894775, -0.0560000017285347], "tau_des": [-1.5892192125320435, 0.8087638020515442, -1.25799560546875, -0.46967267990112305, 0.4028492867946625, -0.010874751955270767, -0.06963685154914856], "tau_dot": [36.08756637573242, 52.20261001586914, 18.041690826416016, 9.97620677947998, -8.633964538574219, 51.61256790161133, 45.02157974243164], "tau_ext": [14.96156120300293, -34.908905029296875, -35.71064376831055, 20.499711990356445, -2.8671975135803223, -6.8889665603637695, -0.042350318282842636], "tcp_pose": [0.6266523599624634, -0.25187426805496216, -0.3767434358596802, -0.014162039384245872, -0.024819713085889816, 0.9995718002319336, -0.006295002996921539], "tcp_vel": [-0.004315350670367479, -0.003957807552069426, -0.035463254898786545, 0.0014468858717009425, -0.00814596377313137, 0.001318453811109066], "flange_pose": [0.6319722533226013, -0.24934962391853333, -0.18683470785617828, -0.014162039384245872, -0.024819713085889816, 0.9995718002319336, -0.006295002996921539], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-13.43118953704834, -70.92676544189453, -4.475042343139648, -10.436124801635742, 20.89451789855957, 0.40761855244636536], "ext_wrench_in_world": [17.06645565669436, -70.11026095639745, 4.931157302953264, 9.367194547605735, 21.377663501986255, -0.9544115862622289]}
+{"timestamp_ns": 1789729885588896115, "elapsed_ms": 4966, "source_timestamp_ns": 1789729885581809677, "q": [0.2015874981880188, -2.086615800857544, -0.2301810085773468, 0.2196965366601944, 1.8960130214691162, 0.07824991643428802, -0.7800533175468445], "theta": [0.1993153840303421, -2.0860137939453125, -0.23121564090251923, 0.20374682545661926, 1.8957806825637817, 0.07905745506286621, -0.7799648642539978], "dq": [0.05620621144771576, -0.016478460282087326, -0.01347874291241169, -0.02975931204855442, 0.05798513814806938, 0.049423493444919586, 0.003224003594368696], "dtheta": [0.054164934903383255, -0.0175199955701828, -0.015173445455729961, -0.02697208896279335, 0.055844683200120926, 0.04773873835802078, 0.007719655521214008], "tau": [-58.22999954223633, -9.010000228881836, -13.152000427246094, 9.94800090789795, -3.7360000610351562, 3.81600022315979, -0.052000001072883606], "tau_des": [-1.7570220232009888, 0.08397957682609558, -1.4112846851348877, -0.2723957598209381, 0.3247576653957367, 0.08719252049922943, -0.06300051510334015], "tau_dot": [41.782466888427734, -68.55286407470703, 16.355417251586914, 18.4674015045166, 29.506254196166992, 56.23457336425781, -38.225711822509766], "tau_ext": [15.037565231323242, -34.742706298828125, -35.69392395019531, 20.400053024291992, -2.832430601119995, -6.8997802734375, -0.04786241799592972], "tcp_pose": [0.6265332698822021, -0.25195980072021484, -0.3777892291545868, -0.014037485234439373, -0.024844838306307793, 0.9995732307434082, -0.0062441471964120865], "tcp_vel": [-0.004443885292857885, -0.0032492869067937136, -0.0342712476849556, 0.0009421469294466078, -0.005970556288957596, -0.001137017272412777], "flange_pose": [0.6318063139915466, -0.249455526471138, -0.18787893652915955, -0.014037485234439373, -0.024844838306307793, 0.9995732307434082, -0.0062441471964120865], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-13.846116065979004, -71.3014907836914, -4.117945671081543, -10.506319046020508, 21.00167465209961, 0.40190353989601135], "ext_wrench_in_world": [17.491785635652167, -70.46834213235464, 4.56346217615279, 9.431251385576806, 21.488803466574165, -0.9473264599932176]}
+{"timestamp_ns": 1789729885622251050, "elapsed_ms": 5000, "source_timestamp_ns": 1789729885621813299, "q": [0.20368070900440216, -2.0872652530670166, -0.23076260089874268, 0.21870778501033783, 1.898262619972229, 0.08008651435375214, -0.7798448801040649], "theta": [0.20139643549919128, -2.0866715908050537, -0.2318229377269745, 0.20277588069438934, 1.897947907447815, 0.08090615272521973, -0.7797390818595886], "dq": [0.052388712763786316, -0.016086731106042862, -0.016254695132374763, -0.025183185935020447, 0.05720091983675957, 0.04469629004597664, 0.0019233226776123047], "dtheta": [0.052315473556518555, -0.015773175284266472, -0.015467789955437183, -0.022290175780653954, 0.05228835344314575, 0.045930035412311554, 0.005536035168915987], "tau": [-57.98999786376953, -9.550000190734863, -13.112000465393066, 10.096000671386719, -3.7800002098083496, 3.8600001335144043, -0.06400000303983688], "tau_des": [-1.4372611045837402, 0.16521281003952026, -1.2789312601089478, -0.36099427938461304, 0.38912931084632874, 0.10374648123979568, -0.07896559685468674], "tau_dot": [3.340101718902588, -27.672460556030273, -10.260663986206055, -2.8040430545806885, 26.257200241088867, 33.152984619140625, -18.400909423828125], "tau_ext": [14.961286544799805, -34.54701614379883, -35.681758880615234, 20.2990779876709, -2.777529239654541, -6.913196086883545, -0.05151563137769699], "tcp_pose": [0.6263746023178101, -0.2520645260810852, -0.3791194260120392, -0.013887813314795494, -0.02485019899904728, 0.9995754957199097, -0.006194830872118473], "tcp_vel": [-0.005254353862255812, -0.004301052540540695, -0.03221581131219864, -0.001703295623883605, -0.004829292185604572, -0.0013502344954758883], "flange_pose": [0.631591260433197, -0.24958033859729767, -0.1892072856426239, -0.013887813314795494, -0.02485019899904728, 0.9995754957199097, -0.006194830872118473], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-14.428167343139648, -71.661865234375, -3.8970730304718018, -10.607550621032715, 21.14860725402832, 0.39881432056427], "ext_wrench_in_world": [18.084221902478454, -70.8026065027239, 4.328273392306898, 9.525120999343768, 21.640800330289153, -0.9437175624175318]}
+{"timestamp_ns": 1789729885655581958, "elapsed_ms": 5033, "source_timestamp_ns": 1789729885651746160, "q": [0.20522071421146393, -2.0876893997192383, -0.23118215799331665, 0.21807609498500824, 1.8998854160308838, 0.08144073188304901, -0.7797319293022156], "theta": [0.20291273295879364, -2.087101697921753, -0.23225876688957214, 0.20216010510921478, 1.899505615234375, 0.08226871490478516, -0.7796111106872559], "dq": [0.051944926381111145, -0.013867530040442944, -0.011644678190350533, -0.019956421107053757, 0.048598647117614746, 0.04396898299455643, 0.0014589434722438455], "dtheta": [0.050556618720293045, -0.012742282822728157, -0.014049433171749115, -0.017803078517317772, 0.05086755007505417, 0.04779978096485138, 0.004226801451295614], "tau": [-57.779998779296875, -9.469999313354492, -13.076000213623047, 10.160000801086426, -3.812000274658203, 3.8440001010894775, -0.036000002175569534], "tau_des": [-0.83192378282547, 0.3905201852321625, -1.1865296363830566, -0.2986101508140564, 0.2938264310359955, 0.045218244194984436, -0.0830472931265831], "tau_dot": [-75.67369842529297, 60.856143951416016, -22.977537155151367, 35.17539978027344, -22.18814468383789, 1.6556005477905273, 52.57804870605469], "tau_ext": [14.763249397277832, -34.41170120239258, -35.68656539916992, 20.254199981689453, -2.738917589187622, -6.929099082946777, -0.053003422915935516], "tcp_pose": [0.6262547969818115, -0.2521457076072693, -0.3800853490829468, -0.0137768080458045, -0.02485557273030281, 0.9995770454406738, -0.006176099646836519], "tcp_vel": [-0.003871876746416092, -0.0041837128810584545, -0.030641349032521248, -0.0034909085370600224, -0.008584135212004185, -0.0013644648715853691], "flange_pose": [0.6314294338226318, -0.2496696561574936, -0.1901719719171524, -0.0137768080458045, -0.02485557273030281, 0.9995770454406738, -0.006176099646836519], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-14.777366638183594, -71.70687103271484, -3.893761396408081, -10.653334617614746, 21.2349853515625, 0.39678990840911865], "ext_wrench_in_world": [18.434870205177074, -70.83028244650558, 4.316705333976135, 9.566538210098859, 21.729509089187452, -0.9409383640794089]}
+{"timestamp_ns": 1789729885688916625, "elapsed_ms": 5066, "source_timestamp_ns": 1789729885681844695, "q": [0.20674169063568115, -2.0880374908447266, -0.2315525859594345, 0.21761009097099304, 1.901437759399414, 0.08277641236782074, -0.7796862721443176], "theta": [0.20440156757831573, -2.0874531269073486, -0.23264166712760925, 0.20170949399471283, 1.9009946584701538, 0.08360910415649414, -0.7795521020889282], "dq": [0.05165133625268936, -0.013009772635996342, -0.013531656935811043, -0.016998089849948883, 0.05016731470823288, 0.04467424377799034, 0.0004835863073822111], "dtheta": [0.04920355975627899, -0.010879979468882084, -0.012768899090588093, -0.012785576283931732, 0.04957002401351929, 0.042948078364133835, 0.001161245396360755], "tau": [-57.56999969482422, -9.359999656677246, -13.004000663757324, 10.044000625610352, -3.80400013923645, 3.892000198364258, -0.07600000500679016], "tau_des": [-0.7073084115982056, 0.2940112054347992, -1.2155874967575073, -0.6680182814598083, 0.3305579721927643, 0.12760786712169647, -0.08769126236438751], "tau_dot": [-47.35040283203125, 38.936973571777344, -5.553647041320801, -23.23889923095703, 48.271217346191406, 71.72386169433594, -84.32220458984375], "tau_ext": [14.607091903686523, -34.57488250732422, -35.69832229614258, 20.32010841369629, -2.7091269493103027, -6.949326515197754, -0.054082926362752914], "tcp_pose": [0.6261249780654907, -0.2522357404232025, -0.38102391362190247, -0.013659302145242691, -0.02485240437090397, 0.9995787739753723, -0.006172914989292622], "tcp_vel": [-0.004944989457726479, -0.003822717582806945, -0.02976912260055542, -0.001196212717331946, -0.0070325289852917194, -0.0014332709833979607], "flange_pose": [0.631255030632019, -0.24976201355457306, -0.191109299659729, -0.013659302145242691, -0.02485240437090397, 0.9995787739753723, -0.006172914989292622], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-15.242682456970215, -72.11083984375, -4.032862186431885, -10.827497482299805, 21.35470962524414, 0.3964534103870392], "ext_wrench_in_world": [18.92195992638424, -71.20901584461576, 4.4510744607692185, 9.7347920213024, 21.85766747921482, -0.9442970318565631]}
+{"timestamp_ns": 1789729885722282259, "elapsed_ms": 5100, "source_timestamp_ns": 1789729885721783743, "q": [0.2087501436471939, -2.0884530544281006, -0.23206932842731476, 0.21707461774349213, 1.903574824333191, 0.08448634296655655, -0.7796874046325684], "theta": [0.20636174082756042, -2.0878703594207764, -0.2331661880016327, 0.20119594037532806, 1.9030500650405884, 0.08531773090362549, -0.7795396447181702], "dq": [0.051010310649871826, -0.011580187827348709, -0.012736937031149864, -0.012548726983368397, 0.05174776911735535, 0.0431101955473423, 0.0005839872173964977], "dtheta": [0.04920293763279915, -0.010071483440697193, -0.012877154164016247, -0.011851148679852486, 0.04909529164433479, 0.04270414635539055, -0.0006054884288460016], "tau": [-57.29999923706055, -9.359999656677246, -13.008000373840332, 10.044000625610352, -3.8960001468658447, 3.9200000762939453, -0.0560000017285347], "tau_des": [-0.6930732131004333, 0.641430675983429, -1.1705352067947388, -0.761286735534668, 0.30831918120384216, 0.127034530043602, -0.06079770252108574], "tau_dot": [-30.289318084716797, 19.250417709350586, -45.07941818237305, 32.38194274902344, -25.752376556396484, 43.851322174072266, 43.159141540527344], "tau_ext": [14.397377967834473, -34.67264938354492, -35.710426330566406, 20.354541778564453, -2.659087896347046, -6.984043121337891, -0.04618028551340103], "tcp_pose": [0.6259537935256958, -0.25233355164527893, -0.38226309418678284, -0.013493787497282028, -0.02485971711575985, 0.9995810389518738, -0.006137485150247812], "tcp_vel": [-0.004963303450495005, -0.0037020535673946142, -0.02963871695101261, -0.0015449027996510267, -0.006629858631640673, 0.00024528411449864507], "flange_pose": [0.6310213208198547, -0.2498748004436493, -0.19234658777713776, -0.013493787497282028, -0.02485971711575985, 0.9995810389518738, -0.006137485150247812], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-15.88237476348877, -72.85371398925781, -4.185992240905762, -11.115251541137695, 21.525089263916016, 0.401338666677475], "ext_wrench_in_world": [19.601400268724166, -71.9173064298978, 4.595883437473843, 10.013428839185922, 22.042240146711688, -0.9540700000199858]}
+{"timestamp_ns": 1789729885755614516, "elapsed_ms": 5133, "source_timestamp_ns": 1789729885751752651, "q": [0.21020671725273132, -2.088719129562378, -0.23243190348148346, 0.21671456098556519, 1.9051085710525513, 0.08570997416973114, -0.7796843647956848], "theta": [0.20778119564056396, -2.0881361961364746, -0.23353269696235657, 0.20085127651691437, 1.9045252799987793, 0.08653533458709717, -0.7795286178588867], "dq": [0.048660676926374435, -0.005918534938246012, -0.012771531008183956, -0.01249353215098381, 0.049969322979450226, 0.03936577960848808, 0.00254920800216496], "dtheta": [0.046326398849487305, -0.007602781057357788, -0.012147579342126846, -0.010771777480840683, 0.04877535253763199, 0.03688127547502518, 0.0007733850507065654], "tau": [-57.19999694824219, -9.469999313354492, -12.92400074005127, 10.0600004196167, -3.880000114440918, 3.9000000953674316, -0.07600000500679016], "tau_des": [-0.6452454924583435, 0.09907311201095581, -1.276431918144226, -0.5430418252944946, 0.21924032270908356, 0.1802040934562683, -0.07126904278993607], "tau_dot": [104.25634765625, 31.103775024414062, 41.41156005859375, 27.887279510498047, -33.9933967590332, -15.158632278442383, -40.259490966796875], "tau_ext": [14.17412281036377, -34.59584045410156, -35.73904800415039, 20.351886749267578, -2.6381747722625732, -6.993173122406006, -0.04083188250660896], "tcp_pose": [0.6258353590965271, -0.25238779187202454, -0.38316354155540466, -0.01337947603315115, -0.024865828454494476, 0.9995825886726379, -0.0061075869016349316], "tcp_vel": [-0.003987072501331568, -0.0011727729579433799, -0.028701212257146835, 0.002866756869480014, -0.0055325147695839405, -3.2510168239241466e-05], "flange_pose": [0.6308597326278687, -0.24994145333766937, -0.1932457536458969, -0.01337947603315115, -0.024865828454494476, 0.9995825886726379, -0.0061075869016349316], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-16.293241500854492, -73.28642272949219, -4.370683670043945, -11.303628921508789, 21.636995315551758, 0.40680810809135437], "ext_wrench_in_world": [20.03794959657857, -72.32676440062518, 4.774104956535907, 10.19571536183572, 22.16345270549539, -0.9622049412072402]}
+{"timestamp_ns": 1789729885788921645, "elapsed_ms": 5166, "source_timestamp_ns": 1789729885781760424, "q": [0.21161623299121857, -2.088930130004883, -0.2327786237001419, 0.21639564633369446, 1.9066168069839478, 0.08681895583868027, -0.7796716094017029], "theta": [0.20915743708610535, -2.088346481323242, -0.23388297855854034, 0.20054934918880463, 1.9059741497039795, 0.08763980865478516, -0.7795090079307556], "dq": [0.04800059646368027, -0.00724037503823638, -0.010107817128300667, -0.00868587102741003, 0.04637444391846657, 0.03621228039264679, 0.0014206485357135534], "dtheta": [0.046072956174612045, -0.00521134864538908, -0.011799304746091366, -0.008206562139093876, 0.046287741512060165, 0.03849228471517563, 4.173166598775424e-05], "tau": [-57.37999725341797, -9.550000190734863, -13.040000915527344, 10.204000473022461, -3.9800002574920654, 3.9760000705718994, -0.08400000631809235], "tau_des": [-0.921613872051239, 0.04290395975112915, -1.3891710042953491, -0.37677615880966187, 0.13572147488594055, 0.23891966044902802, -0.05249010771512985], "tau_dot": [12.376888275146484, 103.55755615234375, -56.8995246887207, -12.440346717834473, -12.059636116027832, -9.904123306274414, -43.18672180175781], "tau_ext": [14.215763092041016, -34.517127990722656, -35.72728729248047, 20.323196411132812, -2.6015729904174805, -7.032705307006836, -0.040613722056150436], "tcp_pose": [0.6257267594337463, -0.2523989975452423, -0.38404691219329834, -0.01328413374722004, -0.024873023852705956, 0.9995840787887573, -0.006042443215847015], "tcp_vel": [-0.003315356560051441, -0.0012327271979302168, -0.028008384630084038, -2.5515297238598578e-05, -0.005991499871015549, 0.0008490988984704018], "flange_pose": [0.6307154893875122, -0.24997827410697937, -0.19412784278392792, -0.01328413374722004, -0.024873023852705956, 0.9995840787887573, -0.006042443215847015], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-16.531129837036133, -73.42758178710938, -4.533320903778076, -11.394317626953125, 21.706947326660156, 0.4126534163951874], "ext_wrench_in_world": [20.286871272526806, -72.45424530256591, 4.925871579299158, 10.282492175670267, 22.238003303039598, -0.9663762308931468]}
+{"timestamp_ns": 1789729885822287190, "elapsed_ms": 5200, "source_timestamp_ns": 1789729885821776745, "q": [0.21346770226955414, -2.0891098976135254, -0.2332935631275177, 0.2160947471857071, 1.9086055755615234, 0.08827126026153564, -0.7796558141708374], "theta": [0.21097151935100555, -2.088526964187622, -0.2344045341014862, 0.2002716362476349, 1.9078868627548218, 0.08908772468566895, -0.7794850468635559], "dq": [0.046507254242897034, -0.003748577553778887, -0.011384709738194942, -0.0060781147330999374, 0.05174997076392174, 0.0331592820584774, -0.00011913412163266912], "dtheta": [0.04568963125348091, -0.00420380150899291, -0.013689924962818623, -0.0067995451390743256, 0.04820558801293373, 0.03564465045928955, -0.000261844223132357], "tau": [-57.439998626708984, -9.869999885559082, -12.972001075744629, 10.272000312805176, -3.9720001220703125, 4.02400016784668, -0.0560000017285347], "tau_des": [-0.7152689695358276, 0.23750266432762146, -1.1741838455200195, -0.5302152633666992, 0.20415304601192474, 0.21386703848838806, -0.05597401410341263], "tau_dot": [25.337677001953125, -59.42760467529297, 22.775697708129883, -44.93728256225586, 13.149978637695312, 28.79599952697754, -12.121622085571289], "tau_ext": [14.535305976867676, -34.52195358276367, -35.67638397216797, 20.279870986938477, -2.5419762134552, -7.09935998916626, -0.044716838747262955], "tcp_pose": [0.6255988478660583, -0.2524052858352661, -0.38518595695495605, -0.01316181942820549, -0.02487921714782715, 0.9995858669281006, -0.005985937546938658], "tcp_vel": [-0.003534391988068819, -0.0006447824998758733, -0.02772553265094757, 0.0014637819258496165, -0.004866183735430241, 0.0008391476585529745], "flange_pose": [0.6305416822433472, -0.25000712275505066, -0.19526539742946625, -0.01316181942820549, -0.02487921714782715, 0.9995858669281006, -0.005985937546938658], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-16.744298934936523, -73.60397338867188, -4.33237886428833, -11.469930648803711, 21.781166076660156, 0.4140680432319641], "ext_wrench_in_world": [20.50297516200584, -72.62271138509834, 4.717600304121412, 10.354205512507795, 22.316096992507447, -0.9655052136560247]}
+{"timestamp_ns": 1789729885855613298, "elapsed_ms": 5233, "source_timestamp_ns": 1789729885851738333, "q": [0.2148337960243225, -2.0892083644866943, -0.23371320962905884, 0.2159026563167572, 1.9101513624191284, 0.08928152173757553, -0.77964848279953], "theta": [0.212322399020195, -2.0886268615722656, -0.23482663929462433, 0.20009338855743408, 1.9093846082687378, 0.09009325504302979, -0.7794723510742188], "dq": [0.045626454055309296, -0.0031181511003524065, -0.014156906865537167, -0.0034118269104510546, 0.052779681980609894, 0.029503189027309418, 0.004572974983602762], "dtheta": [0.044999074190855026, -0.002905394649133086, -0.014359674416482449, -0.004968185443431139, 0.050358500331640244, 0.031383659690618515, 0.0007055060123093426], "tau": [-57.099998474121094, -9.819999694824219, -12.84000015258789, 10.168000221252441, -3.944000244140625, 4.019999980926514, -0.07200000435113907], "tau_des": [-0.002127861138433218, 0.49344906210899353, -0.9551028609275818, -0.7452349066734314, 0.2137729376554489, 0.23990580439567566, -0.07291298359632492], "tau_dot": [134.25584411621094, -101.17416381835938, -55.200706481933594, -22.548608779907227, -5.084934234619141, 32.03587341308594, -12.911211013793945], "tau_ext": [14.488296508789062, -34.49652862548828, -35.72993087768555, 20.29216194152832, -2.538954257965088, -7.105123519897461, -0.044125769287347794], "tcp_pose": [0.625510573387146, -0.2523803114891052, -0.38603147864341736, -0.013074466958642006, -0.024887103587388992, 0.9995872974395752, -0.005912649445235729], "tcp_vel": [-0.003700260305777192, 0.0006271114107221365, -0.027661146596074104, 0.004998677410185337, -0.003856243332847953, -0.0008213423425331712], "flange_pose": [0.6304208636283875, -0.25001078844070435, -0.19610972702503204, -0.013074466958642006, -0.024887103587388992, 0.9995872974395752, -0.005912649445235729], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-16.85915184020996, -73.64408111572266, -4.1923136711120605, -11.486173629760742, 21.829143524169922, 0.4147781431674957], "ext_wrench_in_world": [20.616298346960043, -72.6592253252954, 4.567537155236939, 10.36784404755693, 22.3651072839203, -0.962038743577236]}
+{"timestamp_ns": 1789729885888922457, "elapsed_ms": 5266, "source_timestamp_ns": 1789729885881745337, "q": [0.21626761555671692, -2.0892584323883057, -0.23411959409713745, 0.21576055884361267, 1.9117121696472168, 0.09030420333147049, -0.7796387076377869], "theta": [0.21374766528606415, -2.0886781215667725, -0.2352292835712433, 0.19996245205402374, 1.9109066724777222, 0.09111356735229492, -0.7794588804244995], "dq": [0.045947179198265076, 0.0008938913233578205, -0.014318705536425114, -0.0026296190917491913, 0.0487060472369194, 0.036952849477529526, -0.0006374982767738402], "dtheta": [0.05004478245973587, -0.0013643023557960987, -0.012071043252944946, -0.0040041059255599976, 0.052002258598804474, 0.0366039015352726, 0.00088213145500049], "tau": [-57.099998474121094, -9.59000015258789, -12.756000518798828, 10.120000839233398, -3.948000192642212, 3.9800002574920654, -0.04400000348687172], "tau_des": [-0.11001614481210709, 0.5542184114456177, -1.0440399646759033, -0.7769099473953247, 0.13428914546966553, 0.35277143120765686, -0.06515656411647797], "tau_dot": [-33.32727813720703, -25.90485191345215, 0.4502035677433014, 29.28968048095703, -13.990405082702637, -12.060218811035156, 51.198387145996094], "tau_ext": [14.592455863952637, -34.58951187133789, -35.7669792175293, 20.348241806030273, -2.532106876373291, -7.121960163116455, -0.0420382060110569], "tcp_pose": [0.6254154443740845, -0.2523367702960968, -0.3869195878505707, -0.013003120198845863, -0.024891825392842293, 0.9995885491371155, -0.005834655370563269], "tcp_vel": [-0.0034002475440502167, 0.0013002133928239346, -0.030971037223935127, 0.004702066071331501, -0.005108866840600967, -0.0008872569305822253], "flange_pose": [0.63029944896698, -0.24999752640724182, -0.1969967782497406, -0.013003120198845863, -0.024891825392842293, 0.9995885491371155, -0.005834655370563269], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-16.946455001831055, -73.75411224365234, -4.126651763916016, -11.509815216064453, 21.872312545776367, 0.4166252315044403], "ext_wrench_in_world": [20.707229577328874, -72.76614946252818, 4.492081965835977, 10.389196216562825, 22.40960800311856, -0.9599740162745993]}
+{"timestamp_ns": 1789729885922289311, "elapsed_ms": 5300, "source_timestamp_ns": 1789729885921766067, "q": [0.2183658927679062, -2.0892975330352783, -0.23462313413619995, 0.21555034816265106, 1.9138038158416748, 0.09194271266460419, -0.7795932292938232], "theta": [0.21585123240947723, -2.088717222213745, -0.2357238531112671, 0.19976608455181122, 1.912962555885315, 0.0927499532699585, -0.7794085741043091], "dq": [0.051325682550668716, 0.00014972372446209192, -0.015274956822395325, -0.009427054785192013, 0.049489784985780716, 0.046355653554201126, 0.0019997484050691128], "dtheta": [0.05650000646710396, -0.002490539336577058, -0.01373110618442297, -0.008963456377387047, 0.05436734855175018, 0.04396132379770279, 0.0012797933304682374], "tau": [-57.21999740600586, -9.979999542236328, -12.708000183105469, 10.224000930786133, -3.9040002822875977, 4.004000186920166, -0.06000000238418579], "tau_des": [-0.631260097026825, -0.49109163880348206, -1.1624972820281982, -0.7497127056121826, 0.23592916131019592, 0.26867562532424927, 0.006727608386427164], "tau_dot": [58.4865608215332, 43.56022644042969, 39.57058334350586, -61.62115478515625, 67.79525756835938, 5.0959014892578125, -6.0820393562316895], "tau_ext": [14.736279487609863, -34.77104187011719, -35.827064514160156, 20.431419372558594, -2.5277109146118164, -7.147581100463867, -0.04673216491937637], "tcp_pose": [0.6253023743629456, -0.25229060649871826, -0.38820821046829224, -0.012889517471194267, -0.02490263432264328, 0.9995899796485901, -0.0057965237647295], "tcp_vel": [-0.0033619387540966272, 0.001095705316402018, -0.034887149930000305, 0.0014828877756372094, -0.003889408428221941, 0.002384959254413843], "flange_pose": [0.6301435232162476, -0.2499668449163437, -0.1982841193675995, -0.012889517471194267, -0.02490263432264328, 0.9995899796485901, -0.0057965237647295], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-17.082115173339844, -74.10807800292969, -3.9386146068573, -11.577323913574219, 21.94137954711914, 0.4159114360809326], "ext_wrench_in_world": [20.85614068791507, -73.11513483059191, 4.303141110301395, 10.452893631624056, 22.482250203760607, -0.9575950368908525]}
+{"timestamp_ns": 1789729885955614159, "elapsed_ms": 5333, "source_timestamp_ns": 1789729885951888011, "q": [0.22006863355636597, -2.089402914047241, -0.23507124185562134, 0.2152089625597, 1.915552020072937, 0.09325134754180908, -0.7794743776321411], "theta": [0.21756502985954285, -2.0888259410858154, -0.23616120219230652, 0.19943563640117645, 1.914699912071228, 0.0940554141998291, -0.7792848944664001], "dq": [0.05680752918124199, -0.0027188858948647976, -0.01641017198562622, -0.012393991462886333, 0.05658889561891556, 0.04881105571985245, 0.005635587498545647], "dtheta": [0.05719287320971489, -0.0045160953886806965, -0.015127204358577728, -0.012467421591281891, 0.06007802486419678, 0.04574261233210564, 0.00786337535828352], "tau": [-57.529998779296875, -10.279999732971191, -12.780000686645508, 10.428000450134277, -3.9800002574920654, 4.048000335693359, -0.0560000017285347], "tau_des": [-0.49072685837745667, -0.39547184109687805, -1.135210633277893, -0.692786693572998, 0.13568826019763947, 0.2745855152606964, -0.10077975690364838], "tau_dot": [-57.73897171020508, -38.87220764160156, 0.916761040687561, 29.89015769958496, 13.115195274353027, -0.12734454870224, -23.642868041992188], "tau_ext": [14.784529685974121, -34.55852508544922, -35.83827590942383, 20.3642635345459, -2.520819902420044, -7.167068958282471, -0.05767825245857239], "tcp_pose": [0.6252145171165466, -0.2522343397140503, -0.3892749845981598, -0.012814129702746868, -0.02491333708167076, 0.9995909929275513, -0.005737560801208019], "tcp_vel": [-0.002660996513441205, 0.0015335569623857737, -0.03582989424467087, 0.003870135871693492, -0.007000587414950132, -0.003318385686725378], "flange_pose": [0.6300275921821594, -0.2499336451292038, -0.19934991002082825, -0.012814129702746868, -0.02491333708167076, 0.9995909929275513, -0.005737560801208019], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-17.032094955444336, -74.02997589111328, -3.769779682159424, -11.525421142578125, 21.951711654663086, 0.4115290343761444], "ext_wrench_in_world": [20.79889906804723, -73.04175573406093, 4.128988339178153, 10.400342935337529, 22.490377281354387, -0.9476971030375818]}
+{"timestamp_ns": 1789729885988943266, "elapsed_ms": 5366, "source_timestamp_ns": 1789729885981778015, "q": [0.22184327244758606, -2.0895609855651855, -0.23554669320583344, 0.2147684395313263, 1.9173862934112549, 0.09462158381938934, -0.7792995572090149], "theta": [0.21935002505779266, -2.088987350463867, -0.23662135004997253, 0.19900821149349213, 1.9165370464324951, 0.09541881084442139, -0.7791032195091248], "dq": [0.06297162920236588, -0.004219274036586285, -0.01686084270477295, -0.015463742427527905, 0.059644199907779694, 0.047993507236242294, 0.004992937669157982], "dtheta": [0.059965282678604126, -0.005747116170823574, -0.014580599032342434, -0.014285010285675526, 0.062466416507959366, 0.046200431883335114, 0.006337530445307493], "tau": [-57.69999694824219, -10.289999961853027, -12.768000602722168, 10.43600082397461, -4.008000373840332, 4.100000381469727, -0.04800000041723251], "tau_des": [-0.8056413531303406, -0.13771109282970428, -1.0912070274353027, -0.6386600136756897, 0.14946472644805908, 0.3770827054977417, -0.09078948944807053], "tau_dot": [-173.28863525390625, -7.569498538970947, 48.44667434692383, 23.874984741210938, 19.74273681640625, -9.99134349822998, -35.82799530029297], "tau_ext": [14.977630615234375, -34.454036712646484, -35.809715270996094, 20.32331657409668, -2.5016958713531494, -7.213263988494873, -0.06360094994306564], "tcp_pose": [0.6251195669174194, -0.2521767318248749, -0.3903951346874237, -0.012739463709294796, -0.024914002045989037, 0.9995923638343811, -0.005668753292411566], "tcp_vel": [-0.003455917816609144, 0.0019514551386237144, -0.03807241469621658, 0.006179387215524912, -0.006028022151440382, -0.0017497610533609986], "flange_pose": [0.6299049258232117, -0.2499028891324997, -0.2004690021276474, -0.012739463709294796, -0.024914002045989037, 0.9995923638343811, -0.005668753292411566], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-16.94449806213379, -73.78240203857422, -3.62587571144104, -11.441280364990234, 21.95159339904785, 0.4068599045276642], "ext_wrench_in_world": [20.694872261917244, -72.8011532644642, 3.9774596492228667, 10.316587352725515, 22.486273629301582, -0.936166540261271]}
+{"timestamp_ns": 1789729886022326811, "elapsed_ms": 5400, "source_timestamp_ns": 1789729886021808287, "q": [0.2242652326822281, -2.0898077487945557, -0.23614631593227386, 0.21415027976036072, 1.9199146032333374, 0.09650275111198425, -0.7791247963905334], "theta": [0.2217777967453003, -2.0892374515533447, -0.2371964156627655, 0.19840843975543976, 1.9190967082977295, 0.09728610515594482, -0.7789183855056763], "dq": [0.06297242641448975, -0.004158902447670698, -0.014556199312210083, -0.015816936269402504, 0.0627635270357132, 0.04637014493346214, 0.005636357236653566], "dtheta": [0.059843260794878006, -0.007357815746217966, -0.0142586724832654, -0.015682438388466835, 0.06345692276954651, 0.04423989728093147, 0.0039757974445819855], "tau": [-57.48999786376953, -10.469999313354492, -12.772000312805176, 10.480000495910645, -3.992000102996826, 4.131999969482422, -0.04400000348687172], "tau_des": [-0.9133402705192566, -0.5629574060440063, -1.104932427406311, -0.7110438346862793, 0.22602219879627228, 0.3984047472476959, -0.02523885667324066], "tau_dot": [54.332767486572266, -54.12552261352539, -75.49203491210938, -7.104433536529541, -43.84026336669922, -54.940956115722656, -35.8575325012207], "tau_ext": [14.735005378723145, -34.50516128540039, -35.865413665771484, 20.390892028808594, -2.520906448364258, -7.23187255859375, -0.07277082651853561], "tcp_pose": [0.6249839663505554, -0.25209659337997437, -0.39193519949913025, -0.012614690698683262, -0.024931717664003372, 0.9995941519737244, -0.005548390094190836], "tcp_vel": [-0.004298192914575338, 0.002048637717962265, -0.038425687700510025, 0.008685991168022156, -0.005175240803509951, -9.582134225638583e-06], "flange_pose": [0.629723072052002, -0.24986955523490906, -0.20200735330581665, -0.012614690698683262, -0.024931717664003372, 0.9995941519737244, -0.005548390094190836], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-16.849891662597656, -73.58432006835938, -3.6261518001556396, -11.396539688110352, 21.958890914916992, 0.4016169607639313], "ext_wrench_in_world": [20.592005225472825, -72.60831390114761, 3.9651051774598964, 10.271152086241747, 22.49197726231117, -0.9217900585495599]}
+{"timestamp_ns": 1789729886055624125, "elapsed_ms": 5433, "source_timestamp_ns": 1789729886051821304, "q": [0.22604775428771973, -2.0900673866271973, -0.23657852411270142, 0.21359650790691376, 1.9218546152114868, 0.0978221744298935, -0.7789830565452576], "theta": [0.2235582023859024, -2.089500904083252, -0.2376069724559784, 0.19786952435970306, 1.9210782051086426, 0.09859919548034668, -0.7787664532661438], "dq": [0.05979388952255249, -0.013139582239091396, -0.015737565234303474, -0.01965044066309929, 0.062361106276512146, 0.04405740648508072, 0.004302085842937231], "dtheta": [0.05963551625609398, -0.01035443227738142, -0.013325086794793606, -0.019934965297579765, 0.06740789115428925, 0.041869595646858215, 0.0034830565564334393], "tau": [-57.48999786376953, -10.75, -12.836000442504883, 10.676000595092773, -3.9720001220703125, 4.223999977111816, -0.03200000151991844], "tau_des": [-1.1293137073516846, -0.6098632216453552, -1.2013081312179565, -0.49521002173423767, 0.1296069622039795, 0.5831947922706604, -0.0214458629488945], "tau_dot": [-1.2650700807571411, 7.153857231140137, -108.66600036621094, 24.179149627685547, 38.830081939697266, 62.10061264038086, -16.50644874572754], "tau_ext": [14.644868850708008, -34.50642776489258, -35.85953903198242, 20.40492820739746, -2.527024507522583, -7.272234916687012, -0.07389882951974869], "tcp_pose": [0.6248641014099121, -0.25202175974845886, -0.3930942714214325, -0.012527226470410824, -0.024938873946666718, 0.9995959401130676, -0.005396947730332613], "tcp_vel": [-0.004583981819450855, 0.003152314806357026, -0.03957964852452278, 0.014742588624358177, -0.005819044075906277, 0.0006948937079869211], "flange_pose": [0.6295713782310486, -0.24985304474830627, -0.2031649649143219, -0.012527226470410824, -0.024938873946666718, 0.9995959401130676, -0.005396947730332613], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-16.99342918395996, -73.71149444580078, -3.8145129680633545, -11.471583366394043, 22.019086837768555, 0.40037283301353455], "ext_wrench_in_world": [20.74650732821634, -72.72701722187502, 4.132185588337572, 10.342998115560215, 22.556239068821295, -0.9144274484253925]}
+{"timestamp_ns": 1789729886088925888, "elapsed_ms": 5466, "source_timestamp_ns": 1789729886081769326, "q": [0.2278042882680893, -2.0903913974761963, -0.2369745671749115, 0.21295975148677826, 1.9237982034683228, 0.09915565699338913, -0.7788582444190979], "theta": [0.2253122478723526, -2.08982515335083, -0.23797862231731415, 0.19724829494953156, 1.9230796098709106, 0.09993302822113037, -0.7786317467689514], "dq": [0.0549764446914196, -0.012913601472973824, -0.01390965934842825, -0.02044445276260376, 0.060392897576093674, 0.038825925439596176, 0.003906870260834694], "dtheta": [0.059496719390153885, -0.010341404937207699, -0.011057483032345772, -0.019871925935149193, 0.0661592110991478, 0.04619898647069931, 0.004053759388625622], "tau": [-57.16999816894531, -10.769999504089355, -12.800000190734863, 10.664000511169434, -3.948000192642212, 4.248000144958496, -0.024000000208616257], "tau_des": [-0.45233774185180664, -0.19281801581382751, -1.0696572065353394, -0.4758622348308563, 0.0972006693482399, 0.5161806344985962, -0.019008846953511238], "tau_dot": [155.8444366455078, 83.48464965820312, 4.216135025024414, -14.769207954406738, 8.576578140258789, 36.90763473510742, 17.94138526916504], "tau_ext": [14.635873794555664, -34.223636627197266, -35.79427719116211, 20.26748275756836, -2.518568754196167, -7.325962066650391, -0.07415900379419327], "tcp_pose": [0.6247450709342957, -0.2519513666629791, -0.3942508101463318, -0.012419655919075012, -0.024956492707133293, 0.9995977282524109, -0.005226998124271631], "tcp_vel": [-0.0036703941877931356, 0.0026763619389384985, -0.03938090056180954, 0.012858896516263485, -0.009473515674471855, -0.0002092908398481086], "flange_pose": [0.6294130682945251, -0.2498481273651123, -0.2043198049068451, -0.012419655919075012, -0.024956492707133293, 0.9995977282524109, -0.005226998124271631], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-17.124326705932617, -73.63700103759766, -3.9085566997528076, -11.504012107849121, 22.079307556152344, 0.4010574519634247], "ext_wrench_in_world": [20.877264676743945, -72.64582552619291, 4.201327844024613, 10.371812325513506, 22.618633309095376, -0.9065870777193474]}
+{"timestamp_ns": 1789729886122285867, "elapsed_ms": 5500, "source_timestamp_ns": 1789729886121902461, "q": [0.23017211258411407, -2.090790033340454, -0.23739466071128845, 0.21221165359020233, 1.9262608289718628, 0.10101351886987686, -0.778722882270813], "theta": [0.22769367694854736, -2.090217351913452, -0.23835666477680206, 0.1965157836675644, 1.9256458282470703, 0.10180497169494629, -0.7784852981567383], "dq": [0.05722961947321892, -0.009794761426746845, -0.010207263752818108, -0.01742122694849968, 0.06054890900850296, 0.04705165699124336, 0.004635411314666271], "dtheta": [0.0588226281106472, -0.008745512925088406, -0.006926064845174551, -0.017086321488022804, 0.0636405423283577, 0.04916215315461159, 0.003423134796321392], "tau": [-56.53999710083008, -10.389999389648438, -12.592000961303711, 10.40000057220459, -3.8560001850128174, 4.196000099182129, -0.020000001415610313], "tau_des": [0.9535923600196838, 0.6256903409957886, -0.7482689023017883, -0.8451490998268127, 0.15025314688682556, 0.4112390875816345, -0.052445605397224426], "tau_dot": [-47.41217803955078, 94.83332824707031, -0.38136744499206543, 17.46734619140625, 32.6662712097168, -20.261030197143555, 6.284877300262451], "tau_ext": [14.197625160217285, -34.377315521240234, -35.87318420410156, 20.40502166748047, -2.5846855640411377, -7.331114292144775, -0.07185246050357819], "tcp_pose": [0.6245688199996948, -0.2518863379955292, -0.3957952558994293, -0.012266966514289379, -0.024960381910204887, 0.9996004700660706, -0.005040762014687061], "tcp_vel": [-0.0027403589338064194, 0.0027348874136805534, -0.038958098739385605, 0.012008646503090858, -0.013260417617857456, -0.0011670858366414905], "flange_pose": [0.6291805505752563, -0.24985526502132416, -0.20586207509040833, -0.012266966514289379, -0.024960381910204887, 0.9996004700660706, -0.005040762014687061], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-17.311283111572266, -73.6298828125, -4.1788763999938965, -11.578227996826172, 22.16118812561035, 0.40190333127975464], "ext_wrench_in_world": [21.06923154179438, -72.62801719941751, 4.445421671482535, 10.441959207035149, 22.704483052931636, -0.8983797585823374]}
+{"timestamp_ns": 1789729886155587210, "elapsed_ms": 5533, "source_timestamp_ns": 1789729886151792538, "q": [0.2320241928100586, -2.0910162925720215, -0.23757663369178772, 0.2117401510477066, 1.927939772605896, 0.10254532843828201, -0.7786496877670288], "theta": [0.2295653522014618, -2.0904335975646973, -0.238504096865654, 0.19605199992656708, 1.927413821220398, 0.10335206985473633, -0.778405487537384], "dq": [0.062293533235788345, -0.003967975731939077, -0.007624353282153606, -0.01657712832093239, 0.05622793734073639, 0.04938667267560959, 0.002326515968888998], "dtheta": [0.06288028508424759, -0.006204952020198107, -0.0045243422500789165, -0.014291386120021343, 0.056351494044065475, 0.054850682616233826, 0.002359985141083598], "tau": [-56.5, -10.210000038146973, -12.512001037597656, 10.288000106811523, -3.7680001258850098, 4.216000080108643, -0.04800000041723251], "tau_des": [0.27206727862358093, 0.5569697618484497, -0.795445442199707, -0.9882111549377441, 0.36187589168548584, 0.36918675899505615, -0.021942902356386185], "tau_dot": [36.18632507324219, 64.42449188232422, -38.626708984375, 48.577415466308594, 77.34271240234375, 32.17707824707031, 2.4587185382843018], "tau_ext": [13.957300186157227, -34.57061004638672, -35.95420455932617, 20.54277801513672, -2.642798662185669, -7.323946952819824, -0.07395410537719727], "tcp_pose": [0.6244359612464905, -0.25184696912765503, -0.39699020981788635, -0.01215458009392023, -0.024967966601252556, 0.9996020793914795, -0.004958724603056908], "tcp_vel": [-0.00350155308842659, 0.001464984379708767, -0.040432531386613846, 0.0045647150836884975, -0.010334226302802563, 0.00023215946566779166], "flange_pose": [0.6290058493614197, -0.24984808266162872, -0.2070556879043579, -0.01215458009392023, -0.024967966601252556, 0.9996020793914795, -0.004958724603056908], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-17.466346740722656, -73.80680084228516, -4.546767711639404, -11.679056167602539, 22.230712890625, 0.4006536602973938], "ext_wrench_in_world": [21.241808840174336, -72.79356911512565, 4.803339290787427, 10.53905812597171, 22.779252004783288, -0.8940938803567392]}
+{"timestamp_ns": 1789729886188922311, "elapsed_ms": 5566, "source_timestamp_ns": 1789729886181805225, "q": [0.2339295744895935, -2.091200113296509, -0.237699955701828, 0.21129709482192993, 1.9295669794082642, 0.10412390530109406, -0.7785682678222656], "theta": [0.23149821162223816, -2.090607166290283, -0.23859670758247375, 0.19561760127544403, 1.9291318655014038, 0.10495340824127197, -0.7783182263374329], "dq": [0.06278303265571594, -0.0070708817802369595, -0.0009950116509571671, -0.01751398853957653, 0.05468384176492691, 0.05631345883011818, 0.005561855621635914], "dtheta": [0.06612836569547653, -0.004919698927551508, -0.002254180144518614, -0.014336495660245419, 0.05624020844697952, 0.05388491973280907, 0.0031207287684082985], "tau": [-57.19999694824219, -10.539999961853027, -12.672000885009766, 10.508000373840332, -3.828000068664551, 4.272000312805176, -0.020000001415610313], "tau_des": [-1.2024435997009277, 0.012214893475174904, -1.190595030784607, -0.569368302822113, 0.26690673828125, 0.6203896999359131, -0.02698284201323986], "tau_dot": [36.60708999633789, -19.19207000732422, -72.33080291748047, 42.585086822509766, -6.60252046585083, 28.59308624267578, 31.329143524169922], "tau_ext": [14.188276290893555, -34.66830825805664, -35.95517349243164, 20.58590316772461, -2.6772210597991943, -7.345810890197754, -0.07402322441339493], "tcp_pose": [0.6243035197257996, -0.2517929971218109, -0.3982209861278534, -0.012051601894199848, -0.024975264444947243, 0.9996035099029541, -0.004886087961494923], "tcp_vel": [-0.004097536206245422, 0.0031576792243868113, -0.04323489964008331, 0.007357235066592693, -0.007400527596473694, 0.00020051552564837039], "flange_pose": [0.6288349032402039, -0.24982264637947083, -0.20828524231910706, -0.012051601894199848, -0.024975264444947243, 0.9996035099029541, -0.004886087961494923], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-17.573043823242188, -74.11814880371094, -4.737770080566406, -11.773016929626465, 22.29164695739746, 0.40049588680267334], "ext_wrench_in_world": [21.36851169725463, -73.09764820318225, 4.987870452110343, 10.62969494922979, 22.845068594813053, -0.891220981838741]}
+{"timestamp_ns": 1789729886222262641, "elapsed_ms": 5600, "source_timestamp_ns": 1789729886221766055, "q": [0.23648212850093842, -2.0913963317871094, -0.2378205507993698, 0.21072429418563843, 1.9316574335098267, 0.10629401355981827, -0.7784414291381836], "theta": [0.23409374058246613, -2.0907959938049316, -0.2386886328458786, 0.19506238400936127, 1.9313515424728394, 0.10715210437774658, -0.7781847715377808], "dq": [0.056458599865436554, -0.0020950285252183676, -0.0010295475367456675, -0.012159199453890324, 0.05280135199427605, 0.0515584796667099, 0.006581204477697611], "dtheta": [0.0627594143152237, -0.003783548017963767, -0.0026047052815556526, -0.01234286930412054, 0.053086936473846436, 0.05306215584278107, 0.0028634550981223583], "tau": [-58.13999938964844, -11.119999885559082, -12.796000480651855, 10.800000190734863, -3.8480002880096436, 4.315999984741211, -0.0], "tau_des": [-1.5946346521377563, -0.4110419452190399, -1.2295513153076172, -0.4570179879665375, 0.34208616614341736, 0.549980103969574, -0.016021594405174255], "tau_dot": [40.65376663208008, 89.79899597167969, -34.03768539428711, -16.55381965637207, -29.753055572509766, -16.234975814819336, 58.14686584472656], "tau_ext": [14.845088958740234, -34.42210388183594, -35.85643768310547, 20.435544967651367, -2.6776492595672607, -7.390543460845947, -0.08027663826942444], "tcp_pose": [0.6241468787193298, -0.2517106533050537, -0.3998667895793915, -0.011910404078662395, -0.024990061298012733, 0.999605119228363, -0.004818920511752367], "tcp_vel": [-0.003539705416187644, 0.0025781961157917976, -0.040564656257629395, 0.004901682026684284, -0.008280881680548191, 3.659825961221941e-05], "flange_pose": [0.6286252737045288, -0.24976707994937897, -0.20992951095104218, -0.011910404078662395, -0.024990061298012733, 0.999605119228363, -0.004818920511752367], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-17.422548294067383, -73.91224670410156, -4.259798526763916, -11.639740943908691, 22.290063858032227, 0.3976651728153229], "ext_wrench_in_world": [21.197419096657796, -72.90448490059498, 4.5074150480369175, 10.49634835327677, 22.837310178999747, -0.8789702275661428]}
+{"timestamp_ns": 1789729886255585452, "elapsed_ms": 5633, "source_timestamp_ns": 1789729886251749924, "q": [0.23831194639205933, -2.0915191173553467, -0.23796305060386658, 0.21035027503967285, 1.9332287311553955, 0.10783739387989044, -0.7783495783805847], "theta": [0.2359635978937149, -2.090916395187378, -0.23881594836711884, 0.1947014182806015, 1.933032751083374, 0.1087183952331543, -0.7780876755714417], "dq": [0.060921356081962585, -0.0027158961165696383, -0.005220841150730848, -0.01152022834867239, 0.05444718897342682, 0.05073142796754837, 0.002778292866423726], "dtheta": [0.05925971269607544, -0.004156268667429686, -0.005528346169739962, -0.012664975598454475, 0.057692937552928925, 0.050179991871118546, 0.0018963580951094627], "tau": [-58.209999084472656, -11.469999313354492, -12.75200080871582, 10.86400032043457, -3.756000280380249, 4.296000003814697, -0.04400000348687172], "tau_des": [-1.659724235534668, -0.7780854105949402, -1.209938645362854, -0.4978483319282532, 0.3231041133403778, 0.4855548143386841, -0.010152709670364857], "tau_dot": [-62.51530075073242, -74.67266082763672, -64.47078704833984, -53.85066223144531, 37.40949630737305, 10.654240608215332, -36.6123046875], "tau_ext": [15.016592979431152, -34.32014465332031, -35.84965896606445, 20.413719177246094, -2.716542959213257, -7.389141082763672, -0.07888694107532501], "tcp_pose": [0.6240351796150208, -0.251650869846344, -0.40103867650032043, -0.011799866333603859, -0.02499152161180973, 0.9996066689491272, -0.004767491947859526], "tcp_vel": [-0.002503369702026248, 0.0031720709521323442, -0.03854810446500778, 0.007808057591319084, -0.011156359687447548, 0.0007956171757541597], "flange_pose": [0.628472089767456, -0.24972788989543915, -0.211100235581398, -0.011799866333603859, -0.02499152161180973, 0.9996066689491272, -0.004767491947859526], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-17.170007705688477, -73.4901123046875, -3.8107268810272217, -11.448019981384277, 22.246788024902344, 0.3957778811454773], "ext_wrench_in_world": [20.912850054464457, -72.5004629636155, 4.057460189782404, 10.307261642463066, 22.784675184189588, -0.8673599224663483]}
+{"timestamp_ns": 1789729886288894315, "elapsed_ms": 5666, "source_timestamp_ns": 1789729886281760751, "q": [0.24002736806869507, -2.0916836261749268, -0.23817773163318634, 0.20993457734584808, 1.9348610639572144, 0.10925654321908951, -0.7782777547836304], "theta": [0.23771913349628448, -2.091078758239746, -0.2390172779560089, 0.19429762661457062, 1.934773325920105, 0.11016130447387695, -0.7780104875564575], "dq": [0.05530057102441788, -0.006315143313258886, -0.009881731122732162, -0.012813110835850239, 0.055009424686431885, 0.04333077371120453, 0.0028645542915910482], "dtheta": [0.05712435394525528, -0.006346769630908966, -0.008037776686251163, -0.01452615112066269, 0.05946335196495056, 0.04643108695745468, 0.002754381624981761], "tau": [-58.0, -11.449999809265137, -12.696001052856445, 10.868000984191895, -3.7280001640319824, 4.284000396728516, -0.04400000348687172], "tau_des": [-1.739357352256775, -0.5127490758895874, -1.0964089632034302, -0.6347339153289795, 0.39029988646507263, 0.5264474153518677, -0.021287089213728905], "tau_dot": [-37.073646545410156, -47.46399688720703, -46.22684097290039, 22.322023391723633, -14.88066577911377, 13.898956298828125, -60.39949417114258], "tau_ext": [15.013298988342285, -34.26383590698242, -35.86505889892578, 20.420795440673828, -2.763352632522583, -7.368138313293457, -0.07705316692590714], "tcp_pose": [0.623930037021637, -0.2515869140625, -0.402145117521286, -0.011679616756737232, -0.025002965703606606, 0.9996082186698914, -0.004680394660681486], "tcp_vel": [-0.003267846070230007, 0.002779596019536257, -0.03729476407170296, 0.009604547172784805, -0.010048802010715008, -0.00037356591201387346], "flange_pose": [0.6283220648765564, -0.24969808757305145, -0.21220526099205017, -0.011679616756737232, -0.025002965703606606, 0.9996082186698914, -0.004680394660681486], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-16.98699951171875, -73.13275146484375, -3.583125352859497, -11.285501480102539, 22.216447830200195, 0.39854711294174194], "ext_wrench_in_world": [20.707587860549665, -72.15522858359782, 3.822966069743054, 10.146151656844399, 22.74662233905474, -0.8594861088855651]}
+{"timestamp_ns": 1789729886322248164, "elapsed_ms": 5700, "source_timestamp_ns": 1789729886321887256, "q": [0.24218404293060303, -2.0919675827026367, -0.2384652942419052, 0.20933419466018677, 1.9369996786117554, 0.1110498458147049, -0.7781756520271301], "theta": [0.23990190029144287, -2.091355800628662, -0.2392815351486206, 0.1937035769224167, 1.9370476007461548, 0.11198699474334717, -0.7779018878936768], "dq": [0.05336610972881317, -0.01044052466750145, -0.006216526031494141, -0.015584684908390045, 0.057005200535058975, 0.050525639206171036, 0.0005151295335963368], "dtheta": [0.054149117320775986, -0.008334187790751457, -0.005396887194365263, -0.015396269038319588, 0.0579240582883358, 0.04468424618244171, 0.002477537840604782], "tau": [-57.47999954223633, -11.199999809265137, -12.584000587463379, 10.680000305175781, -3.6080002784729004, 4.220000267028809, -0.04000000283122063], "tau_des": [-1.1545220613479614, -0.13079190254211426, -0.9702782034873962, -0.9898113012313843, 0.49593159556388855, 0.49910277128219604, -0.0687311664223671], "tau_dot": [130.36489868164062, 94.8541488647461, -38.80534744262695, 10.688045501708984, -19.166292190551758, 61.70268249511719, 3.5160462856292725], "tau_ext": [14.923873901367188, -34.52220916748047, -35.89192581176758, 20.56145477294922, -2.823194980621338, -7.347767353057861, -0.0814681351184845], "tcp_pose": [0.6237856149673462, -0.2515181303024292, -0.40354427695274353, -0.011508218012750149, -0.0250044334679842, 0.9996107816696167, -0.004545413888990879], "tcp_vel": [-0.003469145158305764, 0.0024498384445905685, -0.035900961607694626, 0.011711767874658108, -0.011815113946795464, -0.0017357158940285444], "flange_pose": [0.628113865852356, -0.24968218803405762, -0.2136024534702301, -0.011508218012750149, -0.0250044334679842, 0.9996107816696167, -0.004545413888990879], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-16.991092681884766, -73.09590148925781, -3.5756478309631348, -11.234564781188965, 22.230276107788086, 0.3996182382106781], "ext_wrench_in_world": [20.7084671134478, -72.11933104485536, 3.8019444915157288, 10.094833538624778, 22.758132194788754, -0.8497477387506635]}
+{"timestamp_ns": 1789729886355661318, "elapsed_ms": 5733, "source_timestamp_ns": 1789729886351931340, "q": [0.24377256631851196, -2.092226028442383, -0.23860745131969452, 0.20884430408477783, 1.93860924243927, 0.11237559467554092, -0.7781476378440857], "theta": [0.2414916753768921, -2.091608762741089, -0.23940369486808777, 0.19321416318416595, 1.9387472867965698, 0.11333632469177246, -0.7778704762458801], "dq": [0.05424782261252403, -0.010939858853816986, -0.003569449530914426, -0.018063951283693314, 0.056463904678821564, 0.045245517045259476, 0.0006488793296739459], "dtheta": [0.05091802403330803, -0.008470842614769936, -0.0024989766534417868, -0.016923649236559868, 0.054254401475191116, 0.04757995530962944, 0.0015051321825012565], "tau": [-57.32999801635742, -11.269999504089355, -12.540000915527344, 10.720000267028809, -3.5960001945495605, 4.180000305175781, -0.012000000104308128], "tau_des": [-0.12839432060718536, 0.018895840272307396, -0.8701695799827576, -0.9461261034011841, 0.4674988389015198, 0.34130045771598816, -0.027640949934720993], "tau_dot": [-91.086181640625, -4.21934700012207, 6.442878246307373, -5.527322292327881, 19.490976333618164, -11.563551902770996, 36.49357223510742], "tau_ext": [14.642498016357422, -34.46979522705078, -35.932533264160156, 20.570913314819336, -2.8689284324645996, -7.316669940948486, -0.07801082730293274], "tcp_pose": [0.6236752271652222, -0.2514581084251404, -0.4045950472354889, -0.011355617083609104, -0.02501661330461502, 0.9996128678321838, -0.004403205588459969], "tcp_vel": [-0.0015696766786277294, 0.0024246524553745985, -0.034084171056747437, 0.010053752921521664, -0.015877140685915947, 0.0003466836060397327], "flange_pose": [0.6279468536376953, -0.24967758357524872, -0.21465140581130981, -0.011355617083609104, -0.02501661330461502, 0.9996128678321838, -0.004403205588459969], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-17.11530113220215, -73.30668640136719, -3.67105770111084, -11.283110618591309, 22.26875877380371, 0.4019784927368164], "ext_wrench_in_world": [20.845678509801647, -72.32339597104874, 3.881307939358189, 10.141067346076873, 22.799438826543636, -0.8438788674203619]}
+{"timestamp_ns": 1789729886388900597, "elapsed_ms": 5766, "source_timestamp_ns": 1789729886381805849, "q": [0.24538180232048035, -2.092484474182129, -0.23866647481918335, 0.20833125710487366, 1.9401146173477173, 0.11376126110553741, -0.7781057953834534], "theta": [0.24308717250823975, -2.091860055923462, -0.23944413661956787, 0.19269850850105286, 1.9403318166732788, 0.11474430561065674, -0.7778259515762329], "dq": [0.05542473867535591, -0.006280680187046528, -0.0012079891748726368, -0.018217502161860466, 0.05025768280029297, 0.0451987087726593, 0.0016213759081438184], "dtheta": [0.05460658669471741, -0.008360532112419605, -0.00042516295798122883, -0.01773739606142044, 0.05075846612453461, 0.0472724586725235, 0.0028388788923621178], "tau": [-57.05999755859375, -11.289999961853027, -12.568000793457031, 10.72800064086914, -3.6040000915527344, 4.192000389099121, -0.024000000208616257], "tau_des": [-0.5827054381370544, 0.18322403728961945, -0.9747722148895264, -0.8585078716278076, 0.4891408681869507, 0.5148528218269348, -0.029372336342930794], "tau_dot": [102.16668701171875, 18.45490074157715, -40.3855094909668, -39.18853759765625, 27.494884490966797, 33.205997467041016, -31.641864776611328], "tau_ext": [14.625767707824707, -34.412010192871094, -35.90492248535156, 20.529544830322266, -2.8837831020355225, -7.3151679039001465, -0.07769035547971725], "tcp_pose": [0.6235649585723877, -0.25139954686164856, -0.40566352009773254, -0.011207890696823597, -0.02502979338169098, 0.9996147155761719, -0.0042801303789019585], "tcp_vel": [-0.0032791290432214737, 0.002712790621444583, -0.03665950149297714, 0.009721887297928333, -0.010506503283977509, -0.00021345849381759763], "flange_pose": [0.6277816295623779, -0.24966712296009064, -0.21571820974349976, -0.011207890696823597, -0.02502979338169098, 0.9996147155761719, -0.0042801303789019585], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-17.39101791381836, -73.51476287841797, -3.742957830429077, -11.346022605895996, 22.342775344848633, 0.4047843813896179], "ext_wrench_in_world": [21.133679036698908, -72.5172451732863, 3.936287758843661, 10.199789633511402, 22.876940618975077, -0.8399814446150164]}
+{"timestamp_ns": 1789729886422248076, "elapsed_ms": 5800, "source_timestamp_ns": 1789729886421737092, "q": [0.2475646585226059, -2.0928494930267334, -0.2386913150548935, 0.20758317410945892, 1.9420197010040283, 0.11571653932332993, -0.7780036926269531], "theta": [0.24523985385894775, -2.0922138690948486, -0.2394474744796753, 0.1919441521167755, 1.942327618598938, 0.11672341823577881, -0.7777206897735596], "dq": [0.052219755947589874, -0.009281042031943798, -0.0013946263352409005, -0.019370418041944504, 0.0505266934633255, 0.04760603979229927, 0.005310575477778912], "dtheta": [0.05273622274398804, -0.010264000855386257, -0.0002446486323606223, -0.021260468289256096, 0.05069820582866669, 0.04658299311995506, 0.002540220506489277], "tau": [-56.90999984741211, -11.609999656677246, -12.52400016784668, 10.848000526428223, -3.580000162124634, 4.116000175476074, -0.024000000208616257], "tau_des": [-0.3968643248081207, -0.5006024837493896, -1.0235565900802612, -0.7392446994781494, 0.5272764563560486, 0.44352900981903076, -0.0005553496303036809], "tau_dot": [2.5508975982666016, 80.7113037109375, -34.60547637939453, -19.4708251953125, -21.0747127532959, -91.31443786621094, -16.743289947509766], "tau_ext": [14.309572219848633, -34.4720458984375, -35.9486083984375, 20.569067001342773, -2.914449691772461, -7.275142192840576, -0.08295207470655441], "tcp_pose": [0.6234171986579895, -0.25133758783340454, -0.40710970759391785, -0.011017371900379658, -0.025043217465281487, 0.9996169805526733, -0.0041581206023693085], "tcp_vel": [-0.0028806908521801233, 0.0029458405915647745, -0.03600025177001953, 0.011084077879786491, -0.011181310750544071, 0.001290906802751124], "flange_pose": [0.6275625824928284, -0.24965326488018036, -0.21716241538524628, -0.011017371900379658, -0.025043217465281487, 0.9996169805526733, -0.0041581206023693085], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-17.89168930053711, -73.99559020996094, -3.832273483276367, -11.49449348449707, 22.469646453857422, 0.4027470648288727], "ext_wrench_in_world": [21.66005221303223, -72.9720957984005, 4.0076937901766, 10.341445806620538, 23.011559459948835, -0.8326027111961285]}
+{"timestamp_ns": 1789729886455585567, "elapsed_ms": 5833, "source_timestamp_ns": 1789729886451736910, "q": [0.24918173253536224, -2.093177318572998, -0.23870445787906647, 0.20692089200019836, 1.9434456825256348, 0.11717953532934189, -0.7778974771499634], "theta": [0.24683058261871338, -2.0925354957580566, -0.2394471913576126, 0.19127629697322845, 1.943808913230896, 0.11820173263549805, -0.7776116728782654], "dq": [0.05394396558403969, -0.011197403073310852, -0.002472496358677745, -0.02127593755722046, 0.047221485525369644, 0.051663126796483994, 0.004554007668048143], "dtheta": [0.05461201071739197, -0.010348072275519371, 0.00015805702423676848, -0.02181112952530384, 0.046000104397535324, 0.04999787360429764, 0.0037027529906481504], "tau": [-56.78999710083008, -11.59000015258789, -12.500000953674316, 10.90000057220459, -3.6040000915527344, 4.111999988555908, 0.004000000189989805], "tau_des": [-0.7405718564987183, -0.12889660894870758, -1.0393112897872925, -0.6312188506126404, 0.5645034909248352, 0.47250229120254517, -0.00019532784062903374], "tau_dot": [148.5319366455078, 94.62496185302734, -29.196170806884766, -3.7402758598327637, 22.268163681030273, -32.702579498291016, 49.678279876708984], "tau_ext": [14.256593704223633, -34.29952621459961, -35.93488693237305, 20.4789981842041, -2.908907651901245, -7.249139308929443, -0.08649234473705292], "tcp_pose": [0.6233080625534058, -0.25128722190856934, -0.40819475054740906, -0.010875273495912552, -0.025056643411517143, 0.999618649482727, -0.004053100012242794], "tcp_vel": [-0.0036267158575356007, 0.0015922554302960634, -0.03647331893444061, 0.005856236442923546, -0.008833764120936394, 0.0010722842998802662], "flange_pose": [0.6274004578590393, -0.24964410066604614, -0.21824592351913452, -0.010875273495912552, -0.025056643411517143, 0.999618649482727, -0.004053100012242794], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-18.3553466796875, -74.34442138671875, -3.9373035430908203, -11.599267959594727, 22.57602882385254, 0.40032076835632324], "ext_wrench_in_world": [22.14353930952148, -73.2966986188245, 4.095331571050604, 10.44041898028916, 23.12351023292859, -0.8253952962934903]}
+{"timestamp_ns": 1789729886488894860, "elapsed_ms": 5866, "source_timestamp_ns": 1789729886481756865, "q": [0.2508048415184021, -2.093486785888672, -0.23871532082557678, 0.20629654824733734, 1.944801926612854, 0.11872387677431107, -0.7777792811393738], "theta": [0.2484274059534073, -2.0928356647491455, -0.2394465208053589, 0.19064533710479736, 1.9452097415924072, 0.11976349353790283, -0.7774901390075684], "dq": [0.05670752748847008, -0.009335695765912533, 0.0009517751168459654, -0.02176654152572155, 0.043974053114652634, 0.05474335700273514, 0.0033911431673914194], "dtheta": [0.05331730842590332, -0.009539591148495674, -4.833732600673102e-05, -0.020554549992084503, 0.0460553877055645, 0.053586628288030624, 0.002512998878955841], "tau": [-56.87999725341797, -11.449999809265137, -12.460000991821289, 10.816000938415527, -3.5520002841949463, 4.080000400543213, -0.024000000208616257], "tau_des": [-0.8991891741752625, -0.18096940219402313, -1.1486518383026123, -0.6774421334266663, 0.49092602729797363, 0.3665288984775543, 0.009508585557341576], "tau_dot": [6.562259674072266, 3.4072060585021973, 0.38279131054878235, -13.895588874816895, 82.24009704589844, -36.8914794921875, -29.05335235595703], "tau_ext": [14.206535339355469, -34.42633056640625, -35.95503616333008, 20.527490615844727, -2.920391082763672, -7.211987495422363, -0.09305592626333237], "tcp_pose": [0.6232002377510071, -0.251268208026886, -0.4092627465724945, -0.010725952684879303, -0.025058982893824577, 0.9996204376220703, -0.004004184156656265], "tcp_vel": [-0.0022912623826414347, 0.0009457487612962723, -0.035106007009744644, 0.003138696076348424, -0.01298205554485321, 0.0019248377066105604], "flange_pose": [0.6272364258766174, -0.24964505434036255, -0.21931254863739014, -0.010725952684879303, -0.025058982893824577, 0.9996204376220703, -0.004004184156656265], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-18.85205078125, -74.7802734375, -3.9162328243255615, -11.713107109069824, 22.687328338623047, 0.3953772485256195], "ext_wrench_in_world": [22.66006541828848, -73.70765415114901, 4.065605533485977, 10.548742542672679, 23.24053815528355, -0.8182209254835499]}
+{"timestamp_ns": 1789729886522255788, "elapsed_ms": 5900, "source_timestamp_ns": 1789729886521987512, "q": [0.25289541482925415, -2.0939087867736816, -0.23874139785766602, 0.2054513692855835, 1.9465572834014893, 0.12080810964107513, -0.7776399850845337], "theta": [0.250486820936203, -2.093244791030884, -0.23946082592010498, 0.18979351222515106, 1.9470083713531494, 0.12187540531158447, -0.7773463129997253], "dq": [0.04716458171606064, -0.009762275032699108, -0.0010715071111917496, -0.022375529631972313, 0.04824351891875267, 0.05187844857573509, 0.002800081856548786], "dtheta": [0.050322026014328, -0.01046630647033453, -0.0010331954108551145, -0.022003382444381714, 0.043419137597084045, 0.04971202090382576, 0.0042874193750321865], "tau": [-57.40999984741211, -11.75999927520752, -12.572000503540039, 11.04800033569336, -3.628000259399414, 4.056000232696533, -0.00800000037997961], "tau_des": [-1.3799206018447876, 0.11089960485696793, -1.2287788391113281, -0.5776468515396118, 0.4664652347564697, 0.39467114210128784, -0.002379427198320627], "tau_dot": [15.602685928344727, 94.69093322753906, -33.629451751708984, 42.33207321166992, -24.435232162475586, -40.46091079711914, -20.6767520904541], "tau_ext": [14.315102577209473, -34.5414924621582, -35.96522903442383, 20.563915252685547, -2.9292428493499756, -7.15929651260376, -0.0921383798122406], "tcp_pose": [0.6230766177177429, -0.251262903213501, -0.41063061356544495, -0.010503342375159264, -0.025075361132621765, 0.9996225237846375, -0.003970726393163204], "tcp_vel": [-0.0026755353901535273, 0.0007977028144523501, -0.03329354152083397, 0.003216040786355734, -0.010563736781477928, 0.0009546187939122319], "flange_pose": [0.6270285248756409, -0.24965451657772064, -0.22067853808403015, -0.010503342375159264, -0.025075361132621765, 0.9996225237846375, -0.003970726393163204], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-19.452117919921875, -75.5313491821289, -3.705754041671753, -11.869110107421875, 22.82035255432129, 0.39348104596138], "ext_wrench_in_world": [23.29326417704349, -74.4290662717982, 3.8522917526234863, 10.6974524915273, 23.381634079648844, -0.8141196079651064]}
+{"timestamp_ns": 1789729886555590328, "elapsed_ms": 5933, "source_timestamp_ns": 1789729886551785997, "q": [0.2543832063674927, -2.0942037105560303, -0.23878297209739685, 0.20481954514980316, 1.9477927684783936, 0.12233006209135056, -0.7774909734725952], "theta": [0.2519596815109253, -2.0935287475585938, -0.23949706554412842, 0.18915751576423645, 1.948262095451355, 0.12341940402984619, -0.7771912813186646], "dq": [0.04906988516449928, -0.00857868418097496, -0.0030573795083910227, -0.019194532185792923, 0.041654713451862335, 0.05124424770474434, 0.004887560848146677], "dtheta": [0.04882949963212013, -0.008864317089319229, -0.0014037902001291513, -0.019565004855394363, 0.04295598343014717, 0.05307368189096451, 0.004910286050289869], "tau": [-57.53999710083008, -11.729999542236328, -12.54800033569336, 11.044000625610352, -3.57200026512146, 4.016000270843506, 0.01600000075995922], "tau_des": [-0.9069759249687195, 0.284678190946579, -1.1243067979812622, -0.7277803421020508, 0.45984184741973877, 0.23075534403324127, -0.029053570702672005], "tau_dot": [62.68429946899414, 7.7528510093688965, 28.987043380737305, -30.654075622558594, 8.372173309326172, -8.086465835571289, 94.5328369140625], "tau_ext": [14.689821243286133, -34.38370895385742, -35.86432647705078, 20.4383487701416, -2.90374493598938, -7.150091648101807, -0.09888365119695663], "tcp_pose": [0.6230018138885498, -0.2512594163417816, -0.41160017251968384, -0.010344307869672775, -0.025080731138586998, 0.9996240139007568, -0.0039685871452093124], "tcp_vel": [-0.0012630077544599771, 0.00013003897038288414, -0.03162381798028946, -0.00012922869063913822, -0.014572542160749435, -0.0001994273334275931], "flange_pose": [0.6268933415412903, -0.24965332448482513, -0.22164681553840637, -0.010344307869672775, -0.025080731138586998, 0.9996240139007568, -0.0039685871452093124], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-19.811647415161133, -75.83541107177734, -3.2674498558044434, -11.888442039489746, 22.888633728027344, 0.39129284024238586], "ext_wrench_in_world": [23.658217340978645, -74.71821385630172, 3.4153249712559686, 10.713351789832057, 23.450950593522194, -0.8091525421119423]}
+{"timestamp_ns": 1789729886588963476, "elapsed_ms": 5966, "source_timestamp_ns": 1789729886581857968, "q": [0.2558664381504059, -2.0944528579711914, -0.23884113132953644, 0.2042607069015503, 1.9490001201629639, 0.12389672547578812, -0.7773614525794983], "theta": [0.2534331977367401, -2.0937650203704834, -0.2395494282245636, 0.188593789935112, 1.9494800567626953, 0.12500500679016113, -0.7770556211471558], "dq": [0.04434247314929962, -0.008320938795804977, -0.004391680937260389, -0.017662033438682556, 0.04107184708118439, 0.05324879661202431, 0.00763043062761426], "dtheta": [0.048367731273174286, -0.006644813809543848, -0.0022597750648856163, -0.017296306788921356, 0.03877859190106392, 0.05295877903699875, 0.004507223144173622], "tau": [-57.40999984741211, -11.5, -12.408000946044922, 10.904000282287598, -3.5360002517700195, 3.9840002059936523, -0.01600000075995922], "tau_des": [-0.7076258659362793, 0.34402239322662354, -0.9849279522895813, -0.9530132412910461, 0.6094104051589966, 0.10847191512584686, -0.00489755067974329], "tau_dot": [-54.88383102416992, 36.85523986816406, 14.469082832336426, 0.04529508948326111, -10.348175048828125, 76.00343322753906, 2.238914728164673], "tau_ext": [14.811994552612305, -34.481197357177734, -35.867977142333984, 20.46559715270996, -2.908836841583252, -7.096860408782959, -0.09918147325515747], "tcp_pose": [0.6229366064071655, -0.25127121806144714, -0.4125477075576782, -0.010173437185585499, -0.025087561458349228, 0.9996254444122314, -0.004005717113614082], "tcp_vel": [-0.0012751637259498239, -0.00028202496469020844, -0.030597718432545662, -0.004073970019817352, -0.012212549336254597, 0.0009825506713241339], "flange_pose": [0.626762866973877, -0.24965262413024902, -0.22259312868118286, -0.010173437185585499, -0.025087561458349228, 0.9996254444122314, -0.004005717113614082], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-20.101106643676758, -76.18511199951172, -2.70475697517395, -11.902850151062012, 22.935100555419922, 0.3869369328022003], "ext_wrench_in_world": [23.953487295398098, -75.05716647917859, 2.8624631839440937, 10.725401274197836, 23.498231380017852, -0.8032987703254011]}
+{"timestamp_ns": 1789729886622266629, "elapsed_ms": 6000, "source_timestamp_ns": 1789729886621813419, "q": [0.2578105330467224, -2.0947253704071045, -0.23897108435630798, 0.2035369575023651, 1.9506111145019531, 0.1259434074163437, -0.7771543860435486], "theta": [0.25538164377212524, -2.0940234661102295, -0.23966939747333527, 0.18786318600177765, 1.9510927200317383, 0.1270664930343628, -0.7768408060073853], "dq": [0.04889760538935661, -0.007509445771574974, -0.0057102227583527565, -0.018155958503484726, 0.03956464305520058, 0.04957208037376404, 0.005403837189078331], "dtheta": [0.05013570189476013, -0.006083493120968342, -0.0033754066098481417, -0.018694035708904266, 0.04010495916008949, 0.05322704091668129, 0.006686079315841198], "tau": [-57.14999771118164, -11.609999656677246, -12.344000816345215, 10.928000450134277, -3.576000213623047, 3.884000301361084, -0.004000000189989805], "tau_des": [-0.7393816709518433, 0.40620502829551697, -1.065526008605957, -0.8597226738929749, 0.48401379585266113, 0.18542657792568207, 0.003206107299774885], "tau_dot": [102.48222351074219, 10.918685913085938, 75.87226104736328, -41.772159576416016, -19.04795265197754, -26.12143325805664, 4.652803421020508], "tau_ext": [14.749589920043945, -34.593833923339844, -35.921791076660156, 20.521099090576172, -2.9216742515563965, -7.023606300354004, -0.10346799343824387], "tcp_pose": [0.6228756904602051, -0.2512587904930115, -0.4137883484363556, -0.009955106303095818, -0.025102270767092705, 0.9996270537376404, -0.004058654885739088], "tcp_vel": [-0.001189255272038281, 0.0006159915355965495, -0.03194068744778633, -0.0035752931144088507, -0.010691325180232525, 0.0005998897831887007], "flange_pose": [0.626618504524231, -0.24962212145328522, -0.22383226454257965, -0.009955106303095818, -0.025102270767092705, 0.9996270537376404, -0.004058654885739088], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-20.680837631225586, -76.93606567382812, -2.3260650634765625, -12.013249397277832, 23.048006057739258, 0.3856492340564728], "ext_wrench_in_world": [24.563813436983512, -75.78032194665553, 2.495536068772367, 10.829586107539138, 23.61680252061434, -0.8026039448006166]}
+{"timestamp_ns": 1789729886655588301, "elapsed_ms": 6033, "source_timestamp_ns": 1789729886651791949, "q": [0.25934073328971863, -2.094884157180786, -0.23910918831825256, 0.2029763013124466, 1.951788306236267, 0.12760616838932037, -0.7769286632537842], "theta": [0.25691506266593933, -2.0941720008850098, -0.23979803919792175, 0.18730023503303528, 1.9522610902786255, 0.12873685359954834, -0.7766073942184448], "dq": [0.052431344985961914, -0.0009733376209624112, -0.006594161503016949, -0.016377953812479973, 0.04323217645287514, 0.05540051683783531, 0.010421780869364738], "dtheta": [0.052713196724653244, -0.004085085354745388, -0.004743752535432577, -0.01902015320956707, 0.03797445818781853, 0.056463971734046936, 0.008772408589720726], "tau": [-57.31999969482422, -11.619999885559082, -12.392000198364258, 10.980000495910645, -3.57200026512146, 3.884000301361084, -0.0], "tau_des": [-1.1361072063446045, 0.4004550576210022, -1.0610276460647583, -0.7165102362632751, 0.5220334529876709, 0.17997576296329498, 0.02587249130010605], "tau_dot": [24.65931510925293, -9.933555603027344, -77.47774505615234, -22.3593807220459, -5.151494026184082, -33.10899353027344, 2.418470621109009], "tau_ext": [14.842552185058594, -34.55508804321289, -35.91532516479492, 20.474754333496094, -2.9086976051330566, -6.992415428161621, -0.1052786111831665], "tcp_pose": [0.6228484511375427, -0.25125110149383545, -0.41474878787994385, -0.009803272783756256, -0.025114653632044792, 0.9996278285980225, -0.004160176496952772], "tcp_vel": [-0.0008377113845199347, 0.0007530445582233369, -0.033061012625694275, -0.007821070030331612, -0.008386975154280663, 0.0013535578036680818], "flange_pose": [0.6265326142311096, -0.24957726895809174, -0.22479189932346344, -0.009803272783756256, -0.025114653632044792, 0.9996278285980225, -0.004160176496952772], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-21.149066925048828, -77.44751739501953, -1.980130672454834, -12.087675094604492, 23.143585205078125, 0.38341832160949707], "ext_wrench_in_world": [25.051722499790255, -76.2695103070039, 2.1667711589771854, 10.898727240738987, 23.71615453805428, -0.8038615589018192]}
+{"timestamp_ns": 1789729886688914362, "elapsed_ms": 6066, "source_timestamp_ns": 1789729886681771308, "q": [0.2609028220176697, -2.094996213912964, -0.23926550149917603, 0.20241987705230713, 1.9529517889022827, 0.12933897972106934, -0.7766667604446411], "theta": [0.2584797143936157, -2.0942747592926025, -0.23994119465351105, 0.18674567341804504, 1.9534077644348145, 0.13047361373901367, -0.7763348817825317], "dq": [0.055708497762680054, -0.0016688096802681684, -0.009947068989276886, -0.01878640241920948, 0.03703095018863678, 0.06056239455938339, 0.006855834741145372], "dtheta": [0.05244171619415283, -0.0021117383148521185, -0.006155088543891907, -0.018533553928136826, 0.035737670958042145, 0.058621928095817566, 0.008869350887835026], "tau": [-57.459999084472656, -11.639999389648438, -12.36400032043457, 11.096000671386719, -3.6080002784729004, 3.824000120162964, 0.01600000075995922], "tau_des": [-1.2782213687896729, 0.2706878185272217, -1.0551645755767822, -0.6607482433319092, 0.5520840883255005, 0.10735839605331421, 0.09750916808843613], "tau_dot": [-19.506649017333984, -47.40439987182617, 45.58054733276367, 68.1183090209961, -14.92153549194336, -97.86763763427734, 42.371673583984375], "tau_ext": [14.800335884094238, -34.65998840332031, -35.928096771240234, 20.498811721801758, -2.898332357406616, -6.95418643951416, -0.1112699806690216], "tcp_pose": [0.6228434443473816, -0.25123268365859985, -0.4157228171825409, -0.009650553576648235, -0.025132030248641968, 0.9996283650398254, -0.004292333032935858], "tcp_vel": [0.0001916483452077955, 0.0007198830717243254, -0.03233684226870537, -0.011715121567249298, -0.008186311461031437, 0.0033445884473621845], "flange_pose": [0.626468300819397, -0.2495100349187851, -0.225765198469162, -0.009650553576648235, -0.025132030248641968, 0.9996283650398254, -0.004292333032935858], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-21.73771858215332, -78.10676574707031, -1.6664228439331055, -12.21629810333252, 23.267976760864258, 0.37925541400909424], "ext_wrench_in_world": [25.668976881208767, -76.8996925247831, 1.8743385993942536, 11.020319050323645, 23.84708828928787, -0.8058937365702202]}
+{"timestamp_ns": 1789729886722257562, "elapsed_ms": 6100, "source_timestamp_ns": 1789729886721870626, "q": [0.26297205686569214, -2.095095634460449, -0.2395264059305191, 0.201631098985672, 1.9544806480407715, 0.131694495677948, -0.7761903405189514], "theta": [0.2605395019054413, -2.094364881515503, -0.2401798963546753, 0.18596641719341278, 1.9549046754837036, 0.13283181190490723, -0.7758418321609497], "dq": [0.050613924860954285, -0.004639836959540844, -0.0052250707522034645, -0.021841613575816154, 0.03735855594277382, 0.06408999115228653, 0.012165308929979801], "dtheta": [0.04945332556962967, -0.002316605532541871, -0.007338973227888346, -0.021349472925066948, 0.03689447417855263, 0.059848226606845856, 0.014437754638493061], "tau": [-57.61000061035156, -11.889999389648438, -12.44800090789795, 11.224000930786133, -3.6480002403259277, 3.8680002689361572, 0.01600000075995922], "tau_des": [-1.1789582967758179, -0.010490631684660912, -1.2508082389831543, -0.7531715631484985, 0.4338429272174835, 0.0880427435040474, 0.05787663534283638], "tau_dot": [-46.93860626220703, 41.911956787109375, 7.252758026123047, -27.967016220092773, -23.203086853027344, -10.433613777160645, 30.930240631103516], "tau_ext": [14.807648658752441, -34.57627868652344, -35.887298583984375, 20.402925491333008, -2.8587353229522705, -6.942056655883789, -0.11744359135627747], "tcp_pose": [0.6228830814361572, -0.2511800229549408, -0.41701242327690125, -0.00944883655756712, -0.025143543258309364, 0.9996290802955627, -0.004498708993196487], "tcp_vel": [0.002363018225878477, 0.0014286525547504425, -0.030768197029829025, -0.011730597354471684, -0.011739996261894703, 0.00019113370217382908], "flange_pose": [0.6264293193817139, -0.24938087165355682, -0.22705404460430145, -0.00944883655756712, -0.025143543258309364, 0.9996290802955627, -0.004498708993196487], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-22.641801834106445, -79.0584945678711, -1.2110350131988525, -12.428085327148438, 23.465923309326172, 0.37401068210601807], "ext_wrench_in_world": [26.612601813236616, -77.8076227450741, 1.4514223804894582, 11.221581282369273, 24.055445484425416, -0.8114195692769085]}
+{"timestamp_ns": 1789729886755587953, "elapsed_ms": 6133, "source_timestamp_ns": 1789729886751793521, "q": [0.2644636929035187, -2.095184326171875, -0.23981738090515137, 0.2009190022945404, 1.9556386470794678, 0.13350577652454376, -0.7757132053375244], "theta": [0.2620158791542053, -2.094449281692505, -0.2404496967792511, 0.18526709079742432, 1.9560343027114868, 0.1346430778503418, -0.7753533124923706], "dq": [0.048187050968408585, -3.5424644011072814e-05, -0.012483137659728527, -0.02563551813364029, 0.040334686636924744, 0.05924275144934654, 0.016044575721025467], "dtheta": [0.04748004302382469, -0.003401231486350298, -0.010270129889249802, -0.025255277752876282, 0.03575453534722328, 0.05751875415444374, 0.017576297745108604], "tau": [-57.39999771118164, -12.079999923706055, -12.44800090789795, 11.392000198364258, -3.696000099182129, 3.8440001010894775, 0.004000000189989805], "tau_des": [-1.222463846206665, -0.0039288378320634365, -1.240848422050476, -0.6811950206756592, 0.4486539363861084, 0.11900962889194489, 0.04653218761086464], "tau_dot": [80.62983703613281, 44.93388366699219, 72.39464569091797, 6.712517261505127, -31.212833404541016, -43.10719299316406, -28.491178512573242], "tau_ext": [14.748549461364746, -34.568233489990234, -35.85722351074219, 20.357221603393555, -2.8307371139526367, -6.930813312530518, -0.11832202225923538], "tcp_pose": [0.6229632496833801, -0.2511327862739563, -0.4179409146308899, -0.009283317252993584, -0.025149106979370117, 0.9996296167373657, -0.004684365354478359], "tcp_vel": [0.002598940161988139, 0.0016797396820038557, -0.029682327061891556, -0.012325109913945198, -0.008991015143692493, 0.0002793527382891625], "flange_pose": [0.6264448165893555, -0.2492646723985672, -0.22798198461532593, -0.009283317252993584, -0.025149106979370117, 0.9996296167373657, -0.004684365354478359], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-23.40489959716797, -79.79507446289062, -0.9464820623397827, -12.618833541870117, 23.635570526123047, 0.3727184236049652], "ext_wrench_in_world": [27.40760615286646, -78.5065762760529, 1.2164161984069055, 11.403424205598222, 24.234342890997876, -0.8201305413008312]}
+{"timestamp_ns": 1789729886788950621, "elapsed_ms": 6166, "source_timestamp_ns": 1789729886781736524, "q": [0.265874445438385, -2.0952956676483154, -0.24017639458179474, 0.20010675489902496, 1.956789255142212, 0.13527674973011017, -0.7751592397689819], "theta": [0.2634071111679077, -2.0945587158203125, -0.24077603220939636, 0.1844707727432251, 1.9571558237075806, 0.13641297817230225, -0.7747882008552551], "dq": [0.04309627041220665, -0.003610520390793681, -0.012669217772781849, -0.027412932366132736, 0.03694778308272362, 0.0575893297791481, 0.016272129490971565], "dtheta": [0.04604743793606758, -0.0038342364132404327, -0.011735240928828716, -0.02783665619790554, 0.03826715797185898, 0.05806452035903931, 0.02003931999206543], "tau": [-57.209999084472656, -12.170000076293945, -12.468000411987305, 11.432000160217285, -3.704000234603882, 3.8360002040863037, -0.00800000037997961], "tau_des": [-1.3097598552703857, -0.13235054910182953, -1.3235934972763062, -0.4259403944015503, 0.3169916868209839, 0.15936098992824554, 0.03275166451931], "tau_dot": [-15.062363624572754, -60.32552719116211, -1.4665822982788086, 4.708367824554443, -2.2281570434570312, 35.93862533569336, -52.10432815551758], "tau_ext": [14.60828685760498, -34.54308319091797, -35.84416961669922, 20.31175422668457, -2.8079898357391357, -6.92519998550415, -0.12377044558525085], "tcp_pose": [0.6230735182762146, -0.25107231736183167, -0.4188254773616791, -0.009121697396039963, -0.025157876312732697, 0.9996299743652344, -0.004871921148151159], "tcp_vel": [0.003994847647845745, 0.0024748346768319607, -0.02916630543768406, -0.011193361133337021, -0.01125285867601633, -0.00033687095856294036], "flange_pose": [0.626491904258728, -0.24913448095321655, -0.2288661152124405, -0.009121697396039963, -0.025157876312732697, 0.9996299743652344, -0.004871921148151159], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-24.248245239257812, -80.56208801269531, -0.7445938587188721, -12.835904121398926, 23.825946807861328, 0.370183527469635], "ext_wrench_in_world": [28.28611488785526, -79.23122872572341, 1.044002550787215, 11.610365182593569, 24.435348777160446, -0.8284698027905268]}
+{"timestamp_ns": 1789729886822260724, "elapsed_ms": 6200, "source_timestamp_ns": 1789729886821734261, "q": [0.2676261365413666, -2.0954666137695312, -0.24077092111110687, 0.1989426463842392, 1.958329439163208, 0.13761310279369354, -0.7743551731109619], "theta": [0.26513412594795227, -2.0947279930114746, -0.24131104350090027, 0.18333342671394348, 1.9586561918258667, 0.13874530792236328, -0.7739648818969727], "dq": [0.04331706091761589, -0.006064895074814558, -0.01814238354563713, -0.031141648069024086, 0.03727781027555466, 0.05832735449075699, 0.01838436722755432], "dtheta": [0.04073840007185936, -0.004279916640371084, -0.013971633277833462, -0.02877913974225521, 0.03823927417397499, 0.057939957827329636, 0.022190256044268608], "tau": [-56.93000030517578, -12.229999542236328, -12.396000862121582, 11.504000663757324, -3.7240002155303955, 3.820000171661377, 0.036000002175569534], "tau_des": [-0.6696422696113586, -0.11395008862018585, -1.2072784900665283, -0.5421999096870422, 0.3231872618198395, 0.006534638814628124, 0.027897635474801064], "tau_dot": [11.582107543945312, 41.851768493652344, -16.777114868164062, 12.552993774414062, -29.08061981201172, -29.68160057067871, -25.206708908081055], "tau_ext": [14.28429889678955, -34.563602447509766, -35.87398147583008, 20.315113067626953, -2.7921040058135986, -6.906426429748535, -0.13003584742546082], "tcp_pose": [0.6232653260231018, -0.25099849700927734, -0.41991689801216125, -0.00888639036566019, -0.025173677131533623, 0.999630331993103, -0.0051472801715135574], "tcp_vel": [0.005888449959456921, 0.0020006962586194277, -0.025538504123687744, -0.012699556536972523, -0.015164916403591633, -0.0016157202189788222], "flange_pose": [0.6265916228294373, -0.2489582598209381, -0.2299569696187973, -0.00888639036566019, -0.025173677131533623, 0.999630331993103, -0.0051472801715135574], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-25.40265464782715, -81.65966033935547, -0.6341058015823364, -13.167007446289062, 24.096786499023438, 0.3678779900074005], "ext_wrench_in_world": [29.494846403092065, -80.2688665803575, 0.9798844962817624, 11.926833807606464, 24.72249276242012, -0.8423335583377413]}
+{"timestamp_ns": 1789729886855587135, "elapsed_ms": 6233, "source_timestamp_ns": 1789729886851737978, "q": [0.26884084939956665, -2.0956239700317383, -0.2412838190793991, 0.1979963332414627, 1.9594676494598389, 0.13931657373905182, -0.7736905813217163], "theta": [0.2663348317146301, -2.094883680343628, -0.2417699545621872, 0.18240855634212494, 1.9597651958465576, 0.14044225215911865, -0.7732781767845154], "dq": [0.040210749953985214, -0.006069558206945658, -0.018108326941728592, -0.03403839096426964, 0.039125557988882065, 0.0572434701025486, 0.019365184009075165], "dtheta": [0.038102924823760986, -0.005752928089350462, -0.01586373709142208, -0.031623825430870056, 0.03715598210692406, 0.0563567616045475, 0.021539349108934402], "tau": [-56.91999816894531, -12.289999961853027, -12.372000694274902, 11.53600025177002, -3.752000093460083, 3.808000087738037, 0.020000001415610313], "tau_des": [-0.45800814032554626, -0.1936599165201187, -1.1820131540298462, -0.6530671119689941, 0.38882189989089966, 0.07766963541507721, 0.0787438154220581], "tau_dot": [8.077420234680176, -51.71238708496094, -6.814017295837402, 33.038021087646484, -18.585399627685547, -37.65866470336914, -58.18718338012695], "tau_ext": [14.149197578430176, -34.63090133666992, -35.891700744628906, 20.328353881835938, -2.7762014865875244, -6.902441024780273, -0.14191597700119019], "tcp_pose": [0.6234320402145386, -0.2509452700614929, -0.4206741154193878, -0.00870832521468401, -0.02518143132328987, 0.9996305704116821, -0.00536120031028986], "tcp_vel": [0.006160811986774206, 0.0017061089165508747, -0.02391921542584896, -0.013269872404634953, -0.01436514314264059, 0.0007096157060004771], "flange_pose": [0.6266887187957764, -0.24882543087005615, -0.2307138592004776, -0.00870832521468401, -0.02518143132328987, 0.9996305704116821, -0.00536120031028986], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-26.249378204345703, -82.48274993896484, -0.5850768089294434, -13.412291526794434, 24.299724578857422, 0.3644838333129883], "ext_wrench_in_world": [30.382370303940757, -81.04782085846172, 0.9687710203386908, 12.161379769097966, 24.93742354808683, -0.8513377519497428]}
+{"timestamp_ns": 1789729886888903787, "elapsed_ms": 6266, "source_timestamp_ns": 1789729886881723927, "q": [0.27000901103019714, -2.095828056335449, -0.24185150861740112, 0.1969578117132187, 1.9606597423553467, 0.14104430377483368, -0.7729889154434204], "theta": [0.2674916982650757, -2.0950868129730225, -0.2422817051410675, 0.1813938468694687, 1.9609241485595703, 0.1421670913696289, -0.7725526094436646], "dq": [0.03712045028805733, -0.0077246432192623615, -0.019799014553427696, -0.03313460201025009, 0.03804045543074608, 0.061455775052309036, 0.026667896658182144], "dtheta": [0.03792472556233406, -0.00696547282859683, -0.018157413229346275, -0.03517916426062584, 0.03936096280813217, 0.05967966839671135, 0.024607283994555473], "tau": [-56.79999923706055, -12.469999313354492, -12.344000816345215, 11.636000633239746, -3.7800002098083496, 3.8680002689361572, 0.04800000041723251], "tau_des": [-0.06461415439844131, -0.2517610788345337, -1.1710340976715088, -0.528917133808136, 0.3027699887752533, 0.12420296669006348, 0.05749909579753876], "tau_dot": [5.0166425704956055, -52.25593566894531, 11.686691284179688, -19.325912475585938, 5.505890369415283, -16.70492172241211, -7.753166675567627], "tau_ext": [14.28069019317627, -34.58327102661133, -35.8524055480957, 20.275772094726562, -2.7393975257873535, -6.931297779083252, -0.14917516708374023], "tcp_pose": [0.6236236691474915, -0.2508946359157562, -0.4214060306549072, -0.008503178134560585, -0.025191564112901688, 0.9996309280395508, -0.005574864335358143], "tcp_vel": [0.007312532514333725, 0.0015489787328988314, -0.023763475939631462, -0.014711658470332623, -0.01663649082183838, -9.60393954301253e-05], "flange_pose": [0.6268002986907959, -0.24869555234909058, -0.2314453125, -0.008503178134560585, -0.025191564112901688, 0.9996309280395508, -0.005574864335358143], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-26.94549560546875, -83.20429229736328, -0.36504271626472473, -13.612991333007812, 24.469955444335938, 0.3599400520324707], "ext_wrench_in_world": [31.11193609288952, -81.73474741224258, 0.7910400261461064, 12.35298901337664, 25.117531819799336, -0.8573605065274388]}
+{"timestamp_ns": 1789729886922254646, "elapsed_ms": 6300, "source_timestamp_ns": 1789729886921735703, "q": [0.27159756422042847, -2.096122980117798, -0.24270078539848328, 0.1955028772354126, 1.9623185396194458, 0.14351825416088104, -0.7720208764076233], "theta": [0.26908156275749207, -2.095381021499634, -0.2430504560470581, 0.17997677624225616, 1.9625345468521118, 0.14463937282562256, -0.7715545892715454], "dq": [0.041207194328308105, -0.009226659312844276, -0.025959404185414314, -0.03538244590163231, 0.043638914823532104, 0.0660310611128807, 0.02252284064888954], "dtheta": [0.040596719831228256, -0.008144589141011238, -0.019171683117747307, -0.034863825887441635, 0.041573356837034225, 0.06462369114160538, 0.02648075670003891], "tau": [-56.439998626708984, -12.539999961853027, -12.172000885009766, 11.572000503540039, -3.760000228881836, 3.8680002689361572, 0.07600000500679016], "tau_des": [0.5382737517356873, 0.13526691496372223, -0.953117311000824, -0.6928844451904297, 0.33486607670783997, 0.030812624841928482, 0.021431224420666695], "tau_dot": [-155.14002990722656, -15.314040184020996, 10.386574745178223, 23.077957153320312, 14.72955322265625, 16.39716148376465, 22.7347412109375], "tau_ext": [14.204346656799316, -34.552459716796875, -35.869483947753906, 20.28832244873047, -2.7212116718292236, -6.949677467346191, -0.16050636768341064], "tcp_pose": [0.6239084005355835, -0.25085514783859253, -0.42238277196884155, -0.008190174587070942, -0.025214815512299538, 0.9996309876441956, -0.005917913746088743], "tcp_vel": [0.006649450398981571, -0.00010783286415971816, -0.024685636162757874, -0.01751190610229969, -0.01870585046708584, -0.0034563750959932804], "flange_pose": [0.6269628405570984, -0.24852870404720306, -0.23242157697677612, -0.008190174587070942, -0.025214815512299538, 0.9996309876441956, -0.005917913746088743], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-27.625181198120117, -83.75064849853516, -0.018118688836693764, -13.758101463317871, 24.64099884033203, 0.3536864221096039], "ext_wrench_in_world": [31.816713231945883, -82.24812963075912, 0.5138285696644195, 12.488508878166481, 25.295835620796808, -0.8643610674727897]}
+{"timestamp_ns": 1789729886955581768, "elapsed_ms": 6333, "source_timestamp_ns": 1789729886951721601, "q": [0.27288326621055603, -2.0963594913482666, -0.24332799017429352, 0.19443126022815704, 1.9636048078536987, 0.14547966420650482, -0.771314799785614], "theta": [0.2703753113746643, -2.0956170558929443, -0.24361245334148407, 0.17893289029598236, 1.9637832641601562, 0.14659690856933594, -0.7708223462104797], "dq": [0.040114253759384155, -0.00929560698568821, -0.016542285680770874, -0.03477104753255844, 0.03909727931022644, 0.06414112448692322, 0.020925777032971382], "dtheta": [0.045104946941137314, -0.007762637920677662, -0.017737243324518204, -0.034263063222169876, 0.04304774850606918, 0.0679248720407486, 0.02235889807343483], "tau": [-56.459999084472656, -12.479999542236328, -12.144001007080078, 11.576000213623047, -3.7720000743865967, 3.8680002689361572, 0.07600000500679016], "tau_des": [0.21501626074314117, -0.05300687998533249, -0.9732305407524109, -0.30346885323524475, 0.2780055105686188, 0.09165113419294357, 0.06798269599676132], "tau_dot": [-35.00273895263672, -36.62163162231445, 6.084862232208252, -23.73727798461914, -42.43646240234375, 9.390700340270996, 33.07868576049805], "tau_ext": [14.153975486755371, -34.617881774902344, -35.8951530456543, 20.350688934326172, -2.713881731033325, -6.957545280456543, -0.1715574562549591], "tcp_pose": [0.6240962147712708, -0.2508516311645508, -0.42316344380378723, -0.007945234887301922, -0.02522169053554535, 0.9996311068534851, -0.006194309331476688], "tcp_vel": [0.005835495423525572, 2.6808107577380724e-05, -0.027559472247958183, -0.01735219731926918, -0.018427884206175804, -5.1424340199446306e-05], "flange_pose": [0.6270549297332764, -0.2484225034713745, -0.2332020252943039, -0.007945234887301922, -0.02522169053554535, 0.9996311068534851, -0.006194309331476688], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-27.975393295288086, -84.10882568359375, 0.09039599448442459, -13.854584693908691, 24.73512077331543, 0.34905582666397095], "ext_wrench_in_world": [32.1843088526113, -82.58861879523674, 0.4644012379656858, 12.580075657567994, 25.394540905563236, -0.8697961409768118]}
+{"timestamp_ns": 1789729886988911439, "elapsed_ms": 6366, "source_timestamp_ns": 1789729886981711800, "q": [0.2742786705493927, -2.096574544906616, -0.24387936294078827, 0.19346417486667633, 1.9649128913879395, 0.14751096069812775, -0.770714521408081], "theta": [0.2717912495136261, -2.0958309173583984, -0.24410387873649597, 0.17799265682697296, 1.9650543928146362, 0.1486225128173828, -0.7701900601387024], "dq": [0.05111360549926758, -0.0057558720000088215, -0.01571519859135151, -0.03126021847128868, 0.0440572127699852, 0.07276410609483719, 0.016786856576800346], "dtheta": [0.049347586929798126, -0.006694762501865625, -0.015551501885056496, -0.028482604771852493, 0.04063127934932709, 0.07095585018396378, 0.018011968582868576], "tau": [-56.77000045776367, -12.639999389648438, -12.2160005569458, 11.644001007080078, -3.81600022315979, 3.9560000896453857, 0.08800000697374344], "tau_des": [-0.3148365318775177, 0.09113083779811859, -1.0128440856933594, -0.3295001983642578, 0.3126899302005768, 0.14191146194934845, 0.0856260359287262], "tau_dot": [-11.690179824829102, 1.4470189809799194, -49.4996452331543, -44.90304183959961, 23.796649932861328, -15.308829307556152, 23.924760818481445], "tau_ext": [14.41755199432373, -34.652244567871094, -35.857200622558594, 20.362407684326172, -2.675964832305908, -7.012529373168945, -0.1834016889333725], "tcp_pose": [0.6242453455924988, -0.2508627772331238, -0.4240054786205292, -0.0076926276087760925, -0.025234084576368332, 0.9996310472488403, -0.0064686499536037445], "tcp_vel": [0.003470691619440913, -0.00203594658523798, -0.029051687568426132, -0.021040834486484528, -0.01711706817150116, -1.3704624507226981e-05], "flange_pose": [0.6271054744720459, -0.24833182990550995, -0.23404386639595032, -0.0076926276087760925, -0.025234084576368332, 0.9996310472488403, -0.0064686499536037445], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-28.159252166748047, -84.33100891113281, 0.3216869533061981, -13.898920059204102, 24.790653228759766, 0.343058317899704], "ext_wrench_in_world": [32.37806981001907, -82.80302047514589, 0.29398065598736284, 12.621265988581348, 25.452248428291643, -0.8722672298375775]}
+{"timestamp_ns": 1789729887022341103, "elapsed_ms": 6400, "source_timestamp_ns": 1789729887021725828, "q": [0.27629414200782776, -2.0967817306518555, -0.24452638626098633, 0.1924542784690857, 1.9666556119918823, 0.15032200515270233, -0.7700793743133545], "theta": [0.2738414406776428, -2.0960376262664795, -0.24468544125556946, 0.1770205795764923, 1.9667508602142334, 0.15142583847045898, -0.7695081233978271], "dq": [0.04703861474990845, -0.005021922755986452, -0.011982214637100697, -0.021439068019390106, 0.04041239619255066, 0.07031042873859406, 0.01543195266276598], "dtheta": [0.05371684953570366, -0.004832494538277388, -0.014192654751241207, -0.021379796788096428, 0.04521624371409416, 0.06944750249385834, 0.01587870344519615], "tau": [-57.459999084472656, -12.789999961853027, -12.288000106811523, 11.780000686645508, -3.864000082015991, 4.019999980926514, 0.09200000762939453], "tau_des": [-1.7134956121444702, -0.2843751013278961, -1.4025217294692993, -0.2749135494232178, 0.11555604636669159, 0.37185138463974, 0.009490852244198322], "tau_dot": [-130.4474639892578, 70.90644836425781, -32.92015075683594, 9.413721084594727, 3.5987792015075684, 21.941898345947266, -9.902377128601074], "tau_ext": [14.76469612121582, -34.58213424682617, -35.81035614013672, 20.354042053222656, -2.6258251667022705, -7.072238922119141, -0.19113625586032867], "tcp_pose": [0.62437504529953, -0.2509303092956543, -0.42518675327301025, -0.007346213795244694, -0.025234702974557877, 0.9996309280395508, -0.0068709636107087135], "tcp_vel": [0.0011955105001106858, -0.0019854046404361725, -0.03153614699840546, -0.017573077231645584, -0.01674658991396427, -0.0036245756782591343], "flange_pose": [0.6270996928215027, -0.2482498586177826, -0.23522520065307617, -0.007346213795244694, -0.025234702974557877, 0.9996309280395508, -0.0068709636107087135], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-28.109750747680664, -84.22960662841797, 0.8163413405418396, -13.830933570861816, 24.794662475585938, 0.336802214384079], "ext_wrench_in_world": [32.31716272743254, -82.71057591635032, -0.11295084477736783, 12.553582977620906, 25.45237703550442, -0.8760731236316387]}
+{"timestamp_ns": 1789729887055596705, "elapsed_ms": 6433, "source_timestamp_ns": 1789729887051720209, "q": [0.2778027355670929, -2.0969347953796387, -0.24503545463085175, 0.19182440638542175, 1.9680113792419434, 0.15239091217517853, -0.7697457671165466], "theta": [0.27539050579071045, -2.096190929412842, -0.24515683948993683, 0.1764146089553833, 1.9680774211883545, 0.15349912643432617, -0.7691397666931152], "dq": [0.04814992845058441, -0.0031755638774484396, -0.01588863506913185, -0.02064121887087822, 0.048331327736377716, 0.06548422574996948, 0.008766749873757362], "dtheta": [0.051278214901685715, -0.005694844760000706, -0.016698230057954788, -0.01927744410932064, 0.044471777975559235, 0.06771334260702133, 0.010204758495092392], "tau": [-57.689998626708984, -12.920000076293945, -12.308000564575195, 11.812000274658203, -3.9120001792907715, 4.144000053405762, 0.09200000762939453], "tau_des": [-1.8084884881973267, -0.09749073535203934, -1.3111318349838257, -0.4540586471557617, 0.17971767485141754, 0.3613032102584839, 0.10295093059539795], "tau_dot": [37.463802337646484, -53.7260627746582, 4.445531845092773, 6.911145210266113, -13.701292037963867, 95.23613739013672, 6.50799036026001], "tau_ext": [14.920700073242188, -34.63963317871094, -35.79985046386719, 20.402694702148438, -2.605638265609741, -7.122941493988037, -0.19869856536388397], "tcp_pose": [0.624434232711792, -0.25101953744888306, -0.4260488450527191, -0.007077282760292292, -0.025247886776924133, 0.9996304512023926, -0.007173561491072178], "tcp_vel": [0.0003276390489190817, -0.003944254945963621, -0.02900484763085842, -0.019968055188655853, -0.016501635313034058, -4.81504866911564e-05], "flange_pose": [0.6270537376403809, -0.24822670221328735, -0.23608741164207458, -0.007077282760292292, -0.025247886776924133, 0.9996304512023926, -0.007173561491072178], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-27.971446990966797, -84.11701202392578, 1.1820429563522339, -13.773027420043945, 24.777233123779297, 0.33392804861068726], "ext_wrench_in_world": [32.17121172215033, -82.60941038952434, -0.4113825180130102, 12.496285417626362, 25.432009934895675, -0.880224379135133]}
+{"timestamp_ns": 1789729887088905871, "elapsed_ms": 6466, "source_timestamp_ns": 1789729887081747518, "q": [0.279262512922287, -2.097099542617798, -0.24556414783000946, 0.19125336408615112, 1.9693708419799805, 0.15439598262310028, -0.7694748044013977], "theta": [0.2768856883049011, -2.096355438232422, -0.24565617740154266, 0.1758621484041214, 1.969408392906189, 0.15551793575286865, -0.7688344120979309], "dq": [0.04593316465616226, -0.003561887890100479, -0.01585671864449978, -0.015766313299536705, 0.0460675023496151, 0.06766063719987869, 0.0090675363317132], "dtheta": [0.0498039536178112, -0.005233305972069502, -0.016848145052790642, -0.017354238778352737, 0.044297412037849426, 0.06796196848154068, 0.010280140675604343], "tau": [-57.849998474121094, -12.929999351501465, -12.336000442504883, 11.800000190734863, -3.9640002250671387, 4.196000099182129, 0.10400000214576721], "tau_des": [-1.983415126800537, -0.050254471600055695, -1.383283019065857, -0.5217245221138, 0.13302858173847198, 0.3875482976436615, 0.09848353266716003], "tau_dot": [72.55828857421875, -90.21402740478516, 40.989933013916016, -30.609651565551758, 3.658756732940674, -32.55635452270508, 4.667183876037598], "tau_ext": [15.067895889282227, -34.54130935668945, -35.75872039794922, 20.376461029052734, -2.5725290775299072, -7.178685665130615, -0.20259563624858856], "tcp_pose": [0.6244737505912781, -0.25113344192504883, -0.4268691837787628, -0.0068059745244681835, -0.025260962545871735, 0.9996297955513, -0.007473617326468229], "tcp_vel": [0.0006453957757912576, -0.004511132370680571, -0.027673358097672462, -0.020945832133293152, -0.01837320066988468, -0.0013811745448037982], "flange_pose": [0.6269873380661011, -0.24822919070720673, -0.23690800368785858, -0.0068059745244681835, -0.025260962545871735, 0.9996297955513, -0.007473617326468229], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-27.774076461791992, -83.89383697509766, 1.468085765838623, -13.699551582336426, 24.74883460998535, 0.3312058448791504], "ext_wrench_in_world": [31.96207895258923, -82.39998282739539, -0.6315224453552142, 12.424003412452082, 25.399899804088868, -0.8839991916358844]}
+{"timestamp_ns": 1789729887122263023, "elapsed_ms": 6500, "source_timestamp_ns": 1789729887121733770, "q": [0.2810908854007721, -2.0973238945007324, -0.24630820751190186, 0.19054798781871796, 1.9711449146270752, 0.1569618582725525, -0.7691282629966736], "theta": [0.2787487804889679, -2.096575975418091, -0.2463710606098175, 0.17517387866973877, 1.9711475372314453, 0.15809273719787598, -0.768446147441864], "dq": [0.04694465547800064, -0.005182152148336172, -0.018395137041807175, -0.01656363345682621, 0.04333140701055527, 0.06523824483156204, 0.010950025171041489], "dtheta": [0.045369017869234085, -0.006035481579601765, -0.018516642972826958, -0.017346303910017014, 0.044651005417108536, 0.06219342723488808, 0.01011266652494669], "tau": [-57.46999740600586, -12.719999313354492, -12.256000518798828, 11.700000762939453, -3.9080002307891846, 4.176000118255615, 0.09200000762939453], "tau_des": [-1.3462408781051636, 0.1484568864107132, -1.2456905841827393, -0.6945099830627441, 0.1343703418970108, 0.44498953223228455, 0.06929352134466171], "tau_dot": [-22.884979248046875, -41.406986236572266, -11.452352523803711, 42.62150955200195, -0.5487405061721802, 38.225154876708984, -16.996122360229492], "tau_ext": [14.949296951293945, -34.66007995605469, -35.76215362548828, 20.46483039855957, -2.5569980144500732, -7.229907035827637, -0.21069711446762085], "tcp_pose": [0.6245227456092834, -0.2513091266155243, -0.42787596583366394, -0.006442639045417309, -0.025264164432883263, 0.999629020690918, -0.007878918200731277], "tcp_vel": [0.0006341591360978782, -0.004362570587545633, -0.02508552372455597, -0.018440144136548042, -0.017858173698186874, -0.0018197278259322047], "flange_pose": [0.6268944144248962, -0.24825438857078552, -0.23791533708572388, -0.006442639045417309, -0.025264164432883263, 0.999629020690918, -0.007878918200731277], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-27.69550323486328, -83.73846435546875, 1.6629798412322998, -13.678886413574219, 24.7550048828125, 0.32825809717178345], "ext_wrench_in_world": [31.87518738078099, -82.25183101595482, -0.7386054154226338, 12.403313426644461, 25.40457882916989, -0.8917085817736751]}
+{"timestamp_ns": 1789729887155589488, "elapsed_ms": 6533, "source_timestamp_ns": 1789729887151724102, "q": [0.28241151571273804, -2.0975191593170166, -0.24688123166561127, 0.19001872837543488, 1.9724994897842407, 0.15883588790893555, -0.7689036726951599], "theta": [0.280079185962677, -2.096769094467163, -0.24692828953266144, 0.17465145885944366, 1.9724788665771484, 0.1599639654159546, -0.7681910991668701], "dq": [0.046337950974702835, -0.006694312673062086, -0.020302262157201767, -0.017006412148475647, 0.0469328835606575, 0.05857040733098984, 0.006198269780725241], "dtheta": [0.04268131032586098, -0.00745910732075572, -0.018465429544448853, -0.017978550866246223, 0.043775174766778946, 0.061806824058294296, 0.007610864471644163], "tau": [-57.21999740600586, -12.84000015258789, -12.256000518798828, 11.688000679016113, -3.9280002117156982, 4.196000099182129, 0.10400000214576721], "tau_des": [-0.7882807850837708, -0.10486919432878494, -1.2246174812316895, -0.8031682372093201, 0.14400170743465424, 0.3469085097312927, 0.09833944588899612], "tau_dot": [33.31443786621094, -27.45124053955078, 46.14856719970703, -16.994678497314453, 44.06267547607422, 15.939908027648926, 1.2710776329040527], "tau_ext": [14.796279907226562, -34.8399543762207, -35.76140213012695, 20.567153930664062, -2.5471465587615967, -7.259573459625244, -0.21448209881782532], "tcp_pose": [0.6245548725128174, -0.25144943594932556, -0.4285997450351715, -0.006159677170217037, -0.025269994512200356, 0.9996283054351807, -0.008166751824319363], "tcp_vel": [0.0008493542554788291, -0.005209246650338173, -0.023255547508597374, -0.018872004002332687, -0.019529199227690697, -3.121497138636187e-05], "flange_pose": [0.6268162131309509, -0.24828806519508362, -0.23863950371742249, -0.006159677170217037, -0.025269994512200356, 0.9996283054351807, -0.008166751824319363], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-27.810237884521484, -83.99628448486328, 1.6959506273269653, -13.781963348388672, 24.801511764526367, 0.3267333209514618], "ext_wrench_in_world": [32.00446894063842, -82.50381432304748, -0.7042563183276509, 12.503929634911259, 25.455986696816446, -0.899299272756648]}
+{"timestamp_ns": 1789729887188909763, "elapsed_ms": 6566, "source_timestamp_ns": 1789729887181721123, "q": [0.28368428349494934, -2.097761631011963, -0.24745741486549377, 0.1894504427909851, 1.973857045173645, 0.16062642633914948, -0.7687138319015503], "theta": [0.28135135769844055, -2.0970137119293213, -0.24749048054218292, 0.17408764362335205, 1.9738179445266724, 0.16175365447998047, -0.7679725289344788], "dq": [0.04189598187804222, -0.007870972156524658, -0.01835247315466404, -0.019120406359434128, 0.04583326354622841, 0.06036258116364479, 0.00877086166292429], "dtheta": [0.04103207215666771, -0.00920780934393406, -0.018521826714277267, -0.0195277389138937, 0.04416343942284584, 0.060396287590265274, 0.007959377020597458], "tau": [-57.05999755859375, -13.34000015258789, -12.308000564575195, 11.87600040435791, -3.992000102996826, 4.252000331878662, 0.1120000034570694], "tau_des": [-0.6858212351799011, -0.8924068212509155, -1.368026614189148, -0.5160405039787292, 0.06781336665153503, 0.39346304535865784, 0.10108982026576996], "tau_dot": [-4.159154891967773, -103.20541381835938, 52.66403579711914, -26.708328247070312, -2.6757476329803467, 90.99856567382812, -22.40155029296875], "tau_ext": [14.521049499511719, -34.830970764160156, -35.75779724121094, 20.58997917175293, -2.540240526199341, -7.283164024353027, -0.21964134275913239], "tcp_pose": [0.6245708465576172, -0.25159186124801636, -0.42930272221565247, -0.005887668579816818, -0.02528698556125164, 0.999627411365509, -0.008425291627645493], "tcp_vel": [0.0006535678985528648, -0.005486205220222473, -0.022441644221544266, -0.01755775511264801, -0.020013097673654556, -0.0007844702340662479], "flange_pose": [0.6267263889312744, -0.2483348697423935, -0.23934288322925568, -0.005887668579816818, -0.02528698556125164, 0.999627411365509, -0.008425291627645493], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-28.01677131652832, -84.24740600585938, 1.592166781425476, -13.905025482177734, 24.864864349365234, 0.3255694806575775], "ext_wrench_in_world": [32.22843285926336, -82.74138559974736, -0.5395491159319505, 12.623072094022588, 25.525545347316218, -0.9065284828917014]}
+{"timestamp_ns": 1789729887222268555, "elapsed_ms": 6600, "source_timestamp_ns": 1789729887221812236, "q": [0.285327285528183, -2.098205327987671, -0.24820373952388763, 0.18863172829151154, 1.9756433963775635, 0.16293032467365265, -0.7684781551361084], "theta": [0.28297778964042664, -2.097463846206665, -0.24822624027729034, 0.1732744425535202, 1.9755854606628418, 0.1640636920928955, -0.7677043080329895], "dq": [0.040547385811805725, -0.01243654079735279, -0.015750087797641754, -0.019298886880278587, 0.04107582941651344, 0.05472686141729355, 0.003273852402344346], "dtheta": [0.0406956747174263, -0.01220314484089613, -0.017932245507836342, -0.019900044426321983, 0.042505450546741486, 0.056738030165433884, 0.0051247659139335155], "tau": [-57.05999755859375, -13.479999542236328, -12.344000816345215, 12.0600004196167, -3.9760000705718994, 4.336000442504883, 0.11600000411272049], "tau_des": [-1.0954627990722656, -0.5677018165588379, -1.3950269222259521, -0.3825854957103729, 0.06571649014949799, 0.6194129586219788, 0.06646385043859482], "tau_dot": [-96.5343246459961, -37.6143913269043, 47.48874282836914, -26.392311096191406, 40.41203308105469, 71.29258728027344, 0.5466182231903076], "tau_ext": [14.555718421936035, -34.43008041381836, -35.65928649902344, 20.38017463684082, -2.4969851970672607, -7.345077991485596, -0.2269199788570404], "tcp_pose": [0.6245392560958862, -0.25182613730430603, -0.43020981550216675, -0.0055380952544510365, -0.025285866111516953, 0.999626636505127, -0.00874585285782814], "tcp_vel": [-0.0019314492819830775, -0.006985426880419254, -0.022135986015200615, -0.016508981585502625, -0.016669277101755142, -0.00048644881462678313], "flange_pose": [0.6265588998794556, -0.24845075607299805, -0.24025054275989532, -0.0055380952544510365, -0.025285866111516953, 0.999626636505127, -0.00874585285782814], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-28.35645294189453, -84.30049133300781, 1.5242338180541992, -13.99535846710205, 24.96230697631836, 0.3239332139492035], "ext_wrench_in_world": [32.572047082840335, -82.7761214870868, -0.4000144407174063, 12.708826120661032, 25.62696250042796, -0.914490331386607]}
+{"timestamp_ns": 1789729887255591341, "elapsed_ms": 6633, "source_timestamp_ns": 1789729887251796568, "q": [0.28651848435401917, -2.098604917526245, -0.24870814383029938, 0.18804559111595154, 1.9769229888916016, 0.16466334462165833, -0.7684015035629272], "theta": [0.2841516137123108, -2.097869634628296, -0.24873454868793488, 0.17268545925617218, 1.9768582582473755, 0.16580498218536377, -0.767606258392334], "dq": [0.03910071775317192, -0.014116734266281128, -0.015173403546214104, -0.018544048070907593, 0.042609803378582, 0.05900048464536667, 0.002230758545920253], "dtheta": [0.03780901059508324, -0.01538717932999134, -0.01759164035320282, -0.019745199009776115, 0.04038889333605766, 0.05774698033928871, 0.0010552044259384274], "tau": [-56.939998626708984, -13.359999656677246, -12.344000816345215, 11.980000495910645, -3.9560000896453857, 4.26800012588501, 0.12000000476837158], "tau_des": [-0.944412112236023, -0.41964614391326904, -1.291880488395691, -0.9173218011856079, 0.2844288647174835, 0.41227608919143677, 0.0826982706785202], "tau_dot": [-37.70390319824219, 11.834239959716797, -49.98098373413086, 52.578269958496094, -10.137994766235352, -40.68134307861328, 47.385738372802734], "tau_ext": [14.393685340881348, -34.68510055541992, -35.65864562988281, 20.500364303588867, -2.4969642162323, -7.368509292602539, -0.22824230790138245], "tcp_pose": [0.6244812607765198, -0.25206029415130615, -0.4308510422706604, -0.005257712211459875, -0.025287941098213196, 0.9996258616447449, -0.0090015335008502], "tcp_vel": [-0.002741646720096469, -0.009877079166471958, -0.019465090706944466, -0.0193508081138134, -0.01905825175344944, 0.0006461256998591125], "flange_pose": [0.6263919472694397, -0.24859045445919037, -0.24089235067367554, -0.005257712211459875, -0.025287941098213196, 0.9996258616447449, -0.0090015335008502], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-28.66122817993164, -84.47413635253906, 1.6007415056228638, -14.092941284179688, 25.046913146972656, 0.3217419683933258], "ext_wrench_in_world": [32.885640949127385, -82.93532936393915, -0.41695241611060924, 12.802235731137758, 25.71610672534173, -0.9203180432692468]}
+{"timestamp_ns": 1789729887288901957, "elapsed_ms": 6666, "source_timestamp_ns": 1789729887281728955, "q": [0.28760531544685364, -2.099116802215576, -0.24921947717666626, 0.18737415969371796, 1.9782905578613281, 0.16627530753612518, -0.7683958411216736], "theta": [0.28522032499313354, -2.0983877182006836, -0.24925343692302704, 0.1720062494277954, 1.9782251119613647, 0.16741788387298584, -0.7675825357437134], "dq": [0.037357524037361145, -0.018876109272241592, -0.015145741403102875, -0.024587612599134445, 0.04324325546622276, 0.05498604103922844, 0.00020541029516607523], "dtheta": [0.03326718136668205, -0.01864558458328247, -0.017274504527449608, -0.024780532345175743, 0.04656418785452843, 0.051789600402116776, 1.2976510333828628e-05], "tau": [-56.82999801635742, -13.170000076293945, -12.308000564575195, 11.92400074005127, -3.9640002250671387, 4.296000003814697, 0.10400000214576721], "tau_des": [-0.7055928111076355, -0.0627422034740448, -1.4165343046188354, -0.8251057267189026, 0.020597392693161964, 0.5211586356163025, 0.13186995685100555], "tau_dot": [-90.2656021118164, 64.03521728515625, 13.894564628601074, -8.044347763061523, 26.698394775390625, 9.92582893371582, -14.190751075744629], "tau_ext": [14.186554908752441, -34.64034652709961, -35.67604446411133, 20.49702262878418, -2.5148541927337646, -7.357029438018799, -0.21862640976905823], "tcp_pose": [0.6244111657142639, -0.25230079889297485, -0.43144717812538147, -0.00495171919465065, -0.025301648303866386, 0.9996253848075867, -0.009186968207359314], "tcp_vel": [-0.001647578552365303, -0.007655354216694832, -0.01853840984404087, -0.009524908848106861, -0.02219533920288086, 0.0017962020356208086], "flange_pose": [0.6262037754058838, -0.24876344203948975, -0.24148857593536377, -0.00495171919465065, -0.025301648303866386, 0.9996253848075867, -0.009186968207359314], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-29.094585418701172, -84.99854278564453, 1.5773366689682007, -14.27684497833252, 25.165122985839844, 0.3283623158931732], "ext_wrench_in_world": [33.34835411984204, -83.43565032677677, -0.3386729718563533, 12.979516780643893, 25.84342751366843, -0.9321682922259077]}
+{"timestamp_ns": 1789729887322273078, "elapsed_ms": 6700, "source_timestamp_ns": 1789729887321847056, "q": [0.28891170024871826, -2.099891185760498, -0.249892458319664, 0.1863165646791458, 1.9799854755401611, 0.1683746874332428, -0.7683384418487549], "theta": [0.2865027189254761, -2.099174976348877, -0.249937504529953, 0.17093384265899658, 1.9799286127090454, 0.16951096057891846, -0.7675032019615173], "dq": [0.03130367770791054, -0.01928664557635784, -0.018143802881240845, -0.02925550565123558, 0.03262921795248985, 0.05548472702503204, 0.0015662957448512316], "dtheta": [0.03047153726220131, -0.0201528649777174, -0.01765936240553856, -0.02797878347337246, 0.04001940041780472, 0.05404198169708252, 0.0022918707691133022], "tau": [-56.93000030517578, -12.550000190734863, -12.236001014709473, 11.676000595092773, -3.9040002822875977, 4.328000068664551, 0.1120000034570694], "tau_des": [-0.8300719261169434, 0.5083868503570557, -1.345306396484375, -1.0130176544189453, 0.2041424959897995, 0.5016027688980103, 0.18589265644550323], "tau_dot": [-131.256103515625, 14.215872764587402, 35.37023162841797, 39.46103286743164, 34.99680709838867, 2.940206527709961, 12.10147762298584], "tau_ext": [14.2260160446167, -34.88131332397461, -35.65895080566406, 20.57155990600586, -2.5225489139556885, -7.385443687438965, -0.22113147377967834], "tcp_pose": [0.6243371367454529, -0.2526349723339081, -0.4321657121181488, -0.0045481533743441105, -0.025331692770123482, 0.9996241331100464, -0.009442531503736973], "tcp_vel": [-0.0010981851955875754, -0.009277146309614182, -0.01619347371160984, -0.015325155109167099, -0.02156285010278225, 0.002115781418979168], "flange_pose": [0.6259738802909851, -0.24900437891483307, -0.24220743775367737, -0.0045481533743441105, -0.025331692770123482, 0.9996241331100464, -0.009442531503736973], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-29.779630661010742, -85.762939453125, 1.6794512271881104, -14.517791748046875, 25.351839065551758, 0.33814737200737], "ext_wrench_in_world": [34.076486440411486, -84.16405826403462, -0.3648434948558763, 13.209541358074025, 26.042317616645278, -0.9497763703045721]}
+{"timestamp_ns": 1789729887355591094, "elapsed_ms": 6733, "source_timestamp_ns": 1789729887351802761, "q": [0.2898179888725281, -2.1004955768585205, -0.2504281997680664, 0.185422882437706, 1.9812180995941162, 0.16996732354164124, -0.768181562423706], "theta": [0.28739067912101746, -2.0997910499572754, -0.2504880726337433, 0.17002689838409424, 1.981177806854248, 0.17109715938568115, -0.767328679561615], "dq": [0.029118113219738007, -0.019895287230610847, -0.015204541385173798, -0.032228440046310425, 0.04106379300355911, 0.05527661368250847, 0.010353552177548409], "dtheta": [0.028794605284929276, -0.02020670659840107, -0.019048528745770454, -0.03287779167294502, 0.040995169430971146, 0.05422886088490486, 0.008839846588671207], "tau": [-56.75, -12.609999656677246, -12.244000434875488, 11.744000434875488, -3.948000192642212, 4.3560004234313965, 0.12800000607967377], "tau_des": [-0.6112185120582581, 0.7911859154701233, -1.3681648969650269, -0.8184567093849182, 0.08241143077611923, 0.5892689824104309, 0.12453150004148483], "tau_dot": [-88.88587951660156, 0.5457226634025574, -9.494111061096191, 7.9560017585754395, 3.601630210876465, 18.159313201904297, -15.485064506530762], "tau_ext": [14.278970718383789, -34.92323303222656, -35.649269104003906, 20.56193733215332, -2.5333621501922607, -7.387083530426025, -0.22752678394317627], "tcp_pose": [0.6243202090263367, -0.2528800070285797, -0.4326639473438263, -0.004232855048030615, -0.025337200611829758, 0.9996234178543091, -0.009651122614741325], "tcp_vel": [0.0009535063290968537, -0.007456053514033556, -0.016013097018003464, -0.01397815253585577, -0.02237549051642418, 3.403740265639499e-05], "flange_pose": [0.625835120677948, -0.24917319416999817, -0.24270614981651306, -0.004232855048030615, -0.025337200611829758, 0.9996234178543091, -0.009651122614741325], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-30.29608726501465, -86.59881591796875, 1.9557816982269287, -14.741900444030762, 25.495304107666016, 0.33709263801574707], "ext_wrench_in_world": [34.63427465804645, -84.9774688905648, -0.5741984664165906, 13.426200778717396, 26.196794680658016, -0.9554437710858126]}
+{"timestamp_ns": 1789729887388925008, "elapsed_ms": 6766, "source_timestamp_ns": 1789729887381738067, "q": [0.29067906737327576, -2.10105037689209, -0.25099632143974304, 0.18448781967163086, 1.9823960065841675, 0.1716195046901703, -0.7679490447044373], "theta": [0.28823840618133545, -2.100367784500122, -0.25108546018600464, 0.1690773218870163, 1.9823737144470215, 0.17274320125579834, -0.767078697681427], "dq": [0.029225967824459076, -0.01752551458775997, -0.016962168738245964, -0.0317237451672554, 0.04019535705447197, 0.05544878542423248, 0.009180327877402306], "dtheta": [0.027828101068735123, -0.018292812630534172, -0.020448844879865646, -0.03220686316490173, 0.041124358773231506, 0.05414605513215065, 0.010138866491615772], "tau": [-56.709999084472656, -12.710000038146973, -12.144001007080078, 11.860000610351562, -3.884000301361084, 4.260000228881836, 0.14400000870227814], "tau_des": [-0.6438018083572388, 0.4653513431549072, -1.387736439704895, -0.7853215336799622, 0.08856479823589325, 0.5231887102127075, 0.16161616146564484], "tau_dot": [-35.74778747558594, 96.48209381103516, 8.487970352172852, 37.90505599975586, 6.921850681304932, -18.265783309936523, 34.91699981689453], "tau_ext": [14.249067306518555, -34.885887145996094, -35.65200424194336, 20.523983001708984, -2.5424537658691406, -7.373371601104736, -0.23758700489997864], "tcp_pose": [0.624363362789154, -0.25310224294662476, -0.4331328272819519, -0.0039033552166074514, -0.02535548247396946, 0.9996218681335449, -0.009897707030177116], "tcp_vel": [0.0021446188911795616, -0.006659841630607843, -0.015339973382651806, -0.014667441137135029, -0.022803928703069687, 0.0002503549912944436], "flange_pose": [0.625750720500946, -0.24930492043495178, -0.24317584931850433, -0.0039033552166074514, -0.02535548247396946, 0.9996218681335449, -0.009897707030177116], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-30.921226501464844, -87.28855895996094, 2.206289529800415, -14.91956615447998, 25.65920066833496, 0.3332866132259369], "ext_wrench_in_world": [35.29597375244847, -85.63825238648032, -0.752630192552501, 13.594800848936174, 26.369666340538572, -0.9597917007209367]}
+{"timestamp_ns": 1789729887422266171, "elapsed_ms": 6800, "source_timestamp_ns": 1789729887421783984, "q": [0.2917708456516266, -2.1017062664031982, -0.25177881121635437, 0.18319107592105865, 1.9838587045669556, 0.17382724583148956, -0.7674676179885864], "theta": [0.2893187701702118, -2.1010687351226807, -0.25192564725875854, 0.16776326298713684, 1.983859896659851, 0.1749429702758789, -0.7665746212005615], "dq": [0.029253503307700157, -0.01588374376296997, -0.021197935566306114, -0.03660206496715546, 0.03448823466897011, 0.0564454048871994, 0.010855247266590595], "dtheta": [0.026172447949647903, -0.016957830637693405, -0.022401798516511917, -0.0335221067070961, 0.03561089560389519, 0.05465635657310486, 0.013942786492407322], "tau": [-56.89999771118164, -12.799999237060547, -12.112000465393066, 11.956000328063965, -3.864000082015991, 4.25600004196167, 0.12800000607967377], "tau_des": [-0.962756872177124, 0.6755265593528748, -1.3265570402145386, -0.8332787156105042, 0.2551683485507965, 0.5273735523223877, 0.16758090257644653], "tau_dot": [-76.56944274902344, 1.251758098602295, -8.272690773010254, 53.265716552734375, -10.421740531921387, 28.354660034179688, -15.73799991607666], "tau_ext": [14.26331901550293, -34.81755828857422, -35.67025375366211, 20.459897994995117, -2.562528371810913, -7.343266010284424, -0.25054800510406494], "tcp_pose": [0.6244881749153137, -0.2533460259437561, -0.43373188376426697, -0.003480515442788601, -0.025368092581629753, 0.9996194839477539, -0.01025541964918375], "tcp_vel": [0.003008392173796892, -0.006864319089800119, -0.013799306936562061, -0.019741099327802658, -0.020039943978190422, 0.00028491448028944433], "flange_pose": [0.6257113814353943, -0.24941690266132355, -0.24377647042274475, -0.003480515442788601, -0.025368092581629753, 0.9996194839477539, -0.01025541964918375], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-31.842287063598633, -88.14618682861328, 2.665454864501953, -15.106673240661621, 25.89024543762207, 0.3256513476371765], "ext_wrench_in_world": [36.26016403025357, -86.4566465431238, -1.1112697766881168, 13.769846381413297, 26.609827250525147, -0.9648100072753207]}
+{"timestamp_ns": 1789729887455586127, "elapsed_ms": 6833, "source_timestamp_ns": 1789729887451779706, "q": [0.29253697395324707, -2.1021647453308105, -0.25243082642555237, 0.18216049671173096, 1.9849480390548706, 0.1754918247461319, -0.7669814229011536], "theta": [0.29007500410079956, -2.101564645767212, -0.2526201903820038, 0.1667248010635376, 1.9849683046340942, 0.17660367488861084, -0.7660684585571289], "dq": [0.02701781876385212, -0.016629120334982872, -0.023747794330120087, -0.03501460701227188, 0.03905333951115608, 0.05687575787305832, 0.020862815901637077], "dtheta": [0.024757055565714836, -0.016416145488619804, -0.02425553649663925, -0.03623400256037712, 0.035151977092027664, 0.05462716147303581, 0.02049296535551548], "tau": [-57.07999801635742, -12.729999542236328, -12.168000221252441, 11.984000205993652, -3.888000249862671, 4.260000228881836, 0.13199999928474426], "tau_des": [-1.2707655429840088, 0.9751837849617004, -1.3958319425582886, -0.8236639499664307, 0.21253037452697754, 0.5620816349983215, 0.07468242943286896], "tau_dot": [-69.7711181640625, 100.73274230957031, -16.812196731567383, 32.93220520019531, -6.891597270965576, -19.76995086669922, -37.38862609863281], "tau_ext": [14.448087692260742, -34.848777770996094, -35.67436599731445, 20.427400588989258, -2.5785999298095703, -7.3320488929748535, -0.25442999601364136], "tcp_pose": [0.624633252620697, -0.2534997761249542, -0.4341523051261902, -0.003158373525366187, -0.025365004315972328, 0.9996176958084106, -0.010539385490119457], "tcp_vel": [0.004383104853332043, -0.0058857412077486515, -0.013201814144849777, -0.02032896690070629, -0.01973775401711464, -0.002823034767061472], "flange_pose": [0.6257314085960388, -0.2494659125804901, -0.2441982924938202, -0.003158373525366187, -0.025365004315972328, 0.9996176958084106, -0.010539385490119457], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-32.584144592285156, -88.92074584960938, 3.0917015075683594, -15.257827758789062, 26.078012466430664, 0.32312819361686707], "ext_wrench_in_world": [37.03884293361456, -87.20201815017957, -1.4547453895625921, 13.911854313361964, 26.804520461426574, -0.972854738619062]}
+{"timestamp_ns": 1789729887488920081, "elapsed_ms": 6866, "source_timestamp_ns": 1789729887481727431, "q": [0.29326102137565613, -2.102586507797241, -0.2531396448612213, 0.181072399020195, 1.986009120941162, 0.17720991373062134, -0.7664390206336975], "theta": [0.2907932996749878, -2.1020185947418213, -0.2533726394176483, 0.16562826931476593, 1.9860483407974243, 0.17831575870513916, -0.7655078172683716], "dq": [0.024500230327248573, -0.016147863119840622, -0.020741429179906845, -0.03529529273509979, 0.032176412642002106, 0.054978515952825546, 0.01834794506430626], "dtheta": [0.023998869583010674, -0.013247211463749409, -0.024909205734729767, -0.035827942192554474, 0.03563510626554489, 0.05727415904402733, 0.019681822508573532], "tau": [-57.099998474121094, -12.670000076293945, -12.096000671386719, 12.040000915527344, -3.888000249862671, 4.236000061035156, 0.15600000321865082], "tau_des": [-1.01180899143219, 1.2023487091064453, -1.3371014595031738, -0.6687666773796082, 0.10303840041160583, 0.4084490239620209, 0.1874546855688095], "tau_dot": [-17.05744171142578, -19.140552520751953, 38.18814468383789, 7.156045913696289, -35.5441780090332, 49.96994400024414, 20.20269012451172], "tau_ext": [14.709736824035645, -34.820716857910156, -35.647674560546875, 20.341442108154297, -2.577147960662842, -7.318525314331055, -0.25709325075149536], "tcp_pose": [0.6248343586921692, -0.25363269448280334, -0.4345455467700958, -0.002825002884492278, -0.025386245921254158, 0.9996147751808167, -0.010857508517801762], "tcp_vel": [0.007021707016974688, -0.004292353987693787, -0.01284348126500845, -0.021409528329968452, -0.022526511922478676, 0.0007619766984134912], "flange_pose": [0.625802755355835, -0.2494811862707138, -0.24459338188171387, -0.002825002884492278, -0.025386245921254158, 0.9996147751808167, -0.010857508517801762], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-33.403411865234375, -89.8241195678711, 3.7562081813812256, -15.421159744262695, 26.284008026123047, 0.32153815031051636], "ext_wrench_in_world": [37.90502817907159, -88.07596679491422, -2.0254362909048664, 14.063795320182141, 27.018630379874924, -0.9838222121891135]}
+{"timestamp_ns": 1789729887522257915, "elapsed_ms": 6900, "source_timestamp_ns": 1789729887521718903, "q": [0.29420143365859985, -2.102935791015625, -0.25410589575767517, 0.17972373962402344, 1.9872028827667236, 0.17947538197040558, -0.7655413150787354], "theta": [0.29173561930656433, -2.102397918701172, -0.2544095814228058, 0.16426613926887512, 1.987269639968872, 0.1805654764175415, -0.7645850777626038], "dq": [0.023684773594141006, -0.006819515954703093, -0.027575764805078506, -0.03252783045172691, 0.026820393279194832, 0.056096289306879044, 0.02685236930847168], "dtheta": [0.023221420124173164, -0.005554032977670431, -0.026843836531043053, -0.03199474513530731, 0.029466649517416954, 0.053297724574804306, 0.024330569431185722], "tau": [-57.0099983215332, -12.269999504089355, -11.884000778198242, 11.884000778198242, -3.7720000743865967, 4.148000240325928, 0.14800000190734863], "tau_des": [-1.2380067110061646, 1.733949065208435, -1.1548278331756592, -0.7375713586807251, 0.23119889199733734, 0.38482263684272766, 0.23158380389213562], "tau_dot": [-52.773563385009766, 2.9368791580200195, 18.587472915649414, -24.23367691040039, 75.4552001953125, 27.53335952758789, -92.41692352294922], "tau_ext": [14.606515884399414, -34.72172164916992, -35.7169189453125, 20.26667022705078, -2.6121578216552734, -7.2508649826049805, -0.26964071393013], "tcp_pose": [0.6251678466796875, -0.25374341011047363, -0.43504562973976135, -0.0024440428242087364, -0.025405272841453552, 0.9996098279953003, -0.011350378394126892], "tcp_vel": [0.008808843791484833, -0.0013268677284941077, -0.012308905832469463, -0.024183133617043495, -0.01623104326426983, 0.0015053779352456331], "flange_pose": [0.625986635684967, -0.24940834939479828, -0.2450968474149704, -0.0024440428242087364, -0.025405272841453552, 0.9996098279953003, -0.011350378394126892], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-34.69474792480469, -91.02113342285156, 4.559340000152588, -15.631722450256348, 26.600360870361328, 0.31644555926322937], "ext_wrench_in_world": [39.25797802279878, -89.22396557969532, -2.6935055556040646, 14.25746641596109, 27.345028833426934, -1.002064111754846]}
+{"timestamp_ns": 1789729887555600739, "elapsed_ms": 6933, "source_timestamp_ns": 1789729887551752341, "q": [0.29485446214675903, -2.1029915809631348, -0.2548755407333374, 0.17882533371448517, 1.9879881143569946, 0.18107815086841583, -0.76472407579422], "theta": [0.29239094257354736, -2.1024692058563232, -0.2552321255207062, 0.16336043179035187, 1.988076090812683, 0.18215501308441162, -0.763748824596405], "dq": [0.020053701475262642, 0.0027183915954083204, -0.02987723797559738, -0.032359637320041656, 0.022842606529593468, 0.04830443859100342, 0.029210485517978668], "dtheta": [0.020028207451105118, -0.00012703110405709594, -0.02829045057296753, -0.030705073848366737, 0.02462674491107464, 0.04999631270766258, 0.030102238059043884], "tau": [-57.31999969482422, -12.119999885559082, -11.940000534057617, 11.87600040435791, -3.8440001010894775, 4.104000091552734, 0.14400000870227814], "tau_des": [-1.6280012130737305, 1.7448692321777344, -1.3493317365646362, -0.8410217761993408, 0.16804173588752747, 0.35429123044013977, 0.22778962552547455], "tau_dot": [-125.69648742675781, -15.118667602539062, 27.64568328857422, -17.66191864013672, -38.75162887573242, 5.928971290588379, -68.7280502319336], "tau_ext": [14.524246215820312, -34.96076965332031, -35.81398391723633, 20.363630294799805, -2.6531758308410645, -7.190814018249512, -0.2736751437187195], "tcp_pose": [0.6254884004592896, -0.2537400424480438, -0.43539053201675415, -0.0022024610079824924, -0.02541016787290573, 0.9996057748794556, -0.011738261207938194], "tcp_vel": [0.011419649235904217, 0.0013356059789657593, -0.010589031502604485, -0.02567978762090206, -0.013470429927110672, 0.0009060105076059699], "flange_pose": [0.6262116432189941, -0.24926000833511353, -0.24544471502304077, -0.0022024610079824924, -0.02541016787290573, 0.9996057748794556, -0.011738261207938194], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-35.74729537963867, -92.16268157958984, 4.966959476470947, -15.855700492858887, 26.858356475830078, 0.3123670220375061], "ext_wrench_in_world": [40.36853600182808, -90.32126134074412, -2.99177877307454, 14.468080975331855, 27.61356054083043, -1.018838067407495]}
+{"timestamp_ns": 1789729887588895626, "elapsed_ms": 6966, "source_timestamp_ns": 1789729887581724964, "q": [0.2954252362251282, -2.1029324531555176, -0.25570663809776306, 0.17788587510585785, 1.9886301755905151, 0.18260881304740906, -0.7637231349945068], "theta": [0.2929624319076538, -2.1024210453033447, -0.256108820438385, 0.1624191552400589, 1.9887362718582153, 0.1836763620376587, -0.7627269625663757], "dq": [0.020384524017572403, 0.0014510510955005884, -0.032583583146333694, -0.033429816365242004, 0.021901780739426613, 0.048464398831129074, 0.03840594366192818], "dtheta": [0.01742727681994438, 0.0036575410049408674, -0.031093740835785866, -0.032979726791381836, 0.02022191882133484, 0.051677536219358444, 0.03597506508231163], "tau": [-57.84000015258789, -12.319999694824219, -11.992000579833984, 12.196001052856445, -3.8680002689361572, 4.148000240325928, 0.18000000715255737], "tau_des": [-2.0697507858276367, 1.5882407426834106, -1.4469213485717773, -0.6839153170585632, 0.17495952546596527, 0.27820873260498047, 0.2379385381937027], "tau_dot": [-4.750246524810791, -59.047367095947266, 11.544471740722656, -19.065860748291016, -24.798860549926758, 27.887666702270508, 27.732772827148438], "tau_ext": [14.824615478515625, -35.094234466552734, -35.7923583984375, 20.304304122924805, -2.643756151199341, -7.187000751495361, -0.27736973762512207], "tcp_pose": [0.6258792877197266, -0.2536669671535492, -0.4356951117515564, -0.002011800417676568, -0.025416463613510132, 0.9996010661125183, -0.012153704650700092], "tcp_vel": [0.014786319807171822, 0.003132833167910576, -0.008952985517680645, -0.03027312643826008, -0.012730710208415985, 0.0021835926454514265], "flange_pose": [0.6265260577201843, -0.2490309625864029, -0.24575276672840118, -0.002011800417676568, -0.025416463613510132, 0.9996010661125183, -0.012153704650700092], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-36.906639099121094, -93.59463500976562, 5.636786460876465, -16.140539169311523, 27.142486572265625, 0.310111939907074], "ext_wrench_in_world": [41.59983652111008, -91.7100794523809, -3.5417512708315417, 14.73799050185197, 27.91118757084181, -1.0416313021309112]}
+{"timestamp_ns": 1789729887622263078, "elapsed_ms": 7000, "source_timestamp_ns": 1789729887621728365, "q": [0.2960365414619446, -2.102682113647461, -0.25704020261764526, 0.1765541285276413, 1.989353895187378, 0.18446794152259827, -0.7620949149131775], "theta": [0.29357296228408813, -2.1021814346313477, -0.25748640298843384, 0.16109278798103333, 1.9894803762435913, 0.18552625179290771, -0.7610621452331543], "dq": [0.010751649737358093, 0.0094271469861269, -0.039285581558942795, -0.03405096381902695, 0.019672619178891182, 0.04543210193514824, 0.04341422766447067], "dtheta": [0.01313805766403675, 0.007916179485619068, -0.036636367440223694, -0.03365059569478035, 0.01854844205081463, 0.04395020008087158, 0.04499223455786705], "tau": [-57.72999954223633, -12.34000015258789, -11.85200023651123, 12.26400089263916, -3.81600022315979, 4.072000026702881, 0.18000000715255737], "tau_des": [-1.632819652557373, 1.3116017580032349, -1.2770379781723022, -0.5951239466667175, 0.21974597871303558, 0.2025628536939621, 0.1861712634563446], "tau_dot": [49.93124008178711, 36.65264129638672, 6.836721897125244, 12.644705772399902, -17.010046005249023, -24.132326126098633, 23.192522048950195], "tau_ext": [15.13371467590332, -35.10621643066406, -35.785972595214844, 20.176647186279297, -2.635772943496704, -7.160478591918945, -0.2861151397228241], "tcp_pose": [0.6265053749084473, -0.25346213579177856, -0.43601828813552856, -0.001856661750935018, -0.025434214621782303, 0.9995934963226318, -0.012745347805321217], "tcp_vel": [0.016849784180521965, 0.006209053099155426, -0.006803041789680719, -0.029435377568006516, -0.007405100390315056, -0.0006400628481060266], "flange_pose": [0.6270874738693237, -0.24860292673110962, -0.24608132243156433, -0.001856661750935018, -0.025434214621782303, 0.9995934963226318, -0.012745347805321217], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-38.8017463684082, -95.68248748779297, 6.959744930267334, -16.551116943359375, 27.606067657470703, 0.30530089139938354], "ext_wrench_in_world": [43.599724157697146, -93.73445624548646, -4.697632203570323, 15.123640681668531, 28.394377880279393, -1.0781695319279812]}
+{"timestamp_ns": 1789729887655587133, "elapsed_ms": 7033, "source_timestamp_ns": 1789729887651727226, "q": [0.29638561606407166, -2.1024045944213867, -0.2581838071346283, 0.17553269863128662, 1.989870309829712, 0.18568938970565796, -0.7607467770576477], "theta": [0.2939271628856659, -2.1019127368927, -0.25865551829338074, 0.1600801646709442, 1.990009069442749, 0.18674218654632568, -0.7596875429153442], "dq": [0.011396791785955429, 0.009844093583524227, -0.03809559717774391, -0.03405869007110596, 0.015622692182660103, 0.03445003926753998, 0.045975033193826675], "dtheta": [0.01029695849865675, 0.00967107992619276, -0.04162135720252991, -0.03375120088458061, 0.016626613214612007, 0.03688311576843262, 0.04354947805404663], "tau": [-57.279998779296875, -12.5, -11.700000762939453, 12.284000396728516, -3.7840001583099365, 3.996000289916992, 0.20400001108646393], "tau_des": [-1.1229983568191528, 1.2631179094314575, -0.9772056341171265, -0.7434929609298706, 0.3986275792121887, 0.12357468903064728, 0.3124716877937317], "tau_dot": [55.06513977050781, -19.860414505004883, 31.98155403137207, -8.64654541015625, 7.347596168518066, -48.56680679321289, 33.9479866027832], "tau_ext": [14.946890830993652, -35.26736068725586, -35.88331985473633, 20.267683029174805, -2.6739537715911865, -7.100725173950195, -0.29356440901756287], "tcp_pose": [0.6270253658294678, -0.2532431483268738, -0.4362022876739502, -0.0017958827083930373, -0.025456110015511513, 0.9995874166488647, -0.013181284070014954], "tcp_vel": [0.01681540347635746, 0.007180851884186268, -0.004982596263289452, -0.029729554429650307, -0.0011048710439354181, 0.004005916882306337], "flange_pose": [0.6275799870491028, -0.24821895360946655, -0.24626953899860382, -0.0017958827083930373, -0.025456110015511513, 0.9995874166488647, -0.013181284070014954], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-40.03852844238281, -97.05269622802734, 7.6378326416015625, -16.817020416259766, 27.9052677154541, 0.3022902309894562], "ext_wrench_in_world": [44.90780734578211, -95.05944260118522, -5.257119379323035, 15.37278005127564, 28.706453779809305, -1.1066463837143614]}
+{"timestamp_ns": 1789729887688903308, "elapsed_ms": 7066, "source_timestamp_ns": 1789729887681727637, "q": [0.29667267203330994, -2.102086305618286, -0.25940683484077454, 0.17448435723781586, 1.9904067516326904, 0.18675754964351654, -0.7592939138412476], "theta": [0.29422447085380554, -2.1015985012054443, -0.25990673899650574, 0.15904143452644348, 1.99055814743042, 0.1878035068511963, -0.758208692073822], "dq": [0.008217588067054749, 0.008920992724597454, -0.035237010568380356, -0.03520694375038147, 0.01950625143945217, 0.03432082012295723, 0.05160623416304588], "dtheta": [0.00912324246019125, 0.011259765364229679, -0.04201914370059967, -0.03548426926136017, 0.017427265644073486, 0.034081075340509415, 0.05003383383154869], "tau": [-57.23999786376953, -12.5, -11.668000221252441, 12.288000106811523, -3.760000228881836, 3.9800002574920654, 0.18800000846385956], "tau_des": [-0.974231481552124, 1.0897371768951416, -1.026871681213379, -0.5268183350563049, 0.2961827218532562, 0.1823417693376541, 0.23117128014564514], "tau_dot": [-59.345584869384766, 120.68285369873047, -12.022342681884766, 5.780973434448242, -9.423166275024414, -18.226163864135742, -35.168975830078125], "tau_ext": [14.78430461883545, -35.24555587768555, -35.94211196899414, 20.26868438720703, -2.697026014328003, -7.055325508117676, -0.302306205034256], "tcp_pose": [0.6275652050971985, -0.25296977162361145, -0.4363655149936676, -0.001776114571839571, -0.025464389473199844, 0.9995819330215454, -0.013578980229794979], "tcp_vel": [0.018178768455982208, 0.009694280102849007, -0.005290593020617962, -0.026413053274154663, -0.00028310579364188015, 0.0004788213118445128], "flange_pose": [0.6281084418296814, -0.2477947473526001, -0.24643677473068237, -0.001776114571839571, -0.025464389473199844, 0.9995819330215454, -0.013578980229794979], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-41.10693359375, -98.10615539550781, 7.942211151123047, -17.024715423583984, 28.15949058532715, 0.3005794584751129], "ext_wrench_in_world": [46.029725626688546, -96.0683997622595, -5.459245349679115, 15.566782580166974, 28.970264164598305, -1.1345781706015428]}
+{"timestamp_ns": 1789729887722259181, "elapsed_ms": 7100, "source_timestamp_ns": 1789729887721786573, "q": [0.29706376791000366, -2.101607084274292, -0.2609894573688507, 0.17311853170394897, 1.9910861253738403, 0.18814334273338318, -0.7573148012161255], "theta": [0.29463088512420654, -2.101116180419922, -0.261536180973053, 0.15769168734550476, 1.9912511110305786, 0.18917953968048096, -0.7561996579170227], "dq": [0.012079822830855846, 0.013484716415405273, -0.033429693430662155, -0.028643352910876274, 0.01656818389892578, 0.038682859390974045, 0.04739378020167351], "dtheta": [0.011170001700520515, 0.01426068227738142, -0.03833368048071861, -0.03119508922100067, 0.018057461827993393, 0.03595809265971184, 0.045159682631492615], "tau": [-57.32999801635742, -12.519999504089355, -11.660000801086426, 12.36400032043457, -3.756000280380249, 3.9880001544952393, 0.1600000113248825], "tau_des": [-0.8457775712013245, 0.735365092754364, -0.9994921684265137, -0.23907838761806488, 0.2478087693452835, 0.1753854602575302, 0.23119617998600006], "tau_dot": [7.836342811584473, -12.252715110778809, -8.732463836669922, -11.01477336883545, 26.88939094543457, 9.823040962219238, -41.10112380981445], "tau_ext": [15.07020092010498, -35.41795349121094, -35.900699615478516, 20.30467987060547, -2.6885786056518555, -7.061075687408447, -0.2995504140853882], "tcp_pose": [0.6282945275306702, -0.25256481766700745, -0.43660300970077515, -0.001762931700795889, -0.025463398545980453, 0.9995749592781067, -0.014086690731346607], "tcp_vel": [0.01873752661049366, 0.010871518403291702, -0.006792345084249973, -0.024862829595804214, -0.0027718208730220795, 0.003430432640016079], "flange_pose": [0.6288278698921204, -0.24719710648059845, -0.24667958915233612, -0.001762931700795889, -0.025463398545980453, 0.9995749592781067, -0.014086690731346607], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-42.19021987915039, -99.23372650146484, 8.48451042175293, -17.22574234008789, 28.413726806640625, 0.30443036556243896], "ext_wrench_in_world": [47.16786726889105, -97.15975390859832, -5.874399002477481, 15.754626660819644, 29.233027121835477, -1.1749945230525216]}
+{"timestamp_ns": 1789729887755589675, "elapsed_ms": 7133, "source_timestamp_ns": 1789729887751743517, "q": [0.29743438959121704, -2.1011784076690674, -0.2620687186717987, 0.17227903008460999, 1.9916046857833862, 0.18921983242034912, -0.7559767961502075], "theta": [0.2950114607810974, -2.10068416595459, -0.2626551389694214, 0.15686599910259247, 1.9917776584625244, 0.1902468204498291, -0.7548421025276184], "dq": [0.011424028314650059, 0.0167551189661026, -0.03369497135281563, -0.029042977839708328, 0.019257444888353348, 0.03805059194564819, 0.042970962822437286], "dtheta": [0.013636516407132149, 0.015174197033047676, -0.034886088222265244, -0.024392984807491302, 0.018213709816336632, 0.03509517014026642, 0.0440073199570179], "tau": [-57.18000030517578, -12.789999961853027, -11.568000793457031, 12.432000160217285, -3.696000099182129, 3.948000192642212, 0.18400001525878906], "tau_des": [-0.5153530836105347, 0.6055604219436646, -0.7797020673751831, -0.19571396708488464, 0.35468390583992004, 0.10799697041511536, 0.10981305688619614], "tau_dot": [-200.70132446289062, -51.29249572753906, 55.409873962402344, -51.12239074707031, 37.225379943847656, 55.964969635009766, -16.91250228881836], "tau_ext": [15.083216667175293, -35.61505126953125, -35.8973503112793, 20.407732009887695, -2.7053050994873047, -7.0400776863098145, -0.30229640007019043], "tcp_pose": [0.6288185119628906, -0.2522642910480499, -0.43681979179382324, -0.0017281514592468739, -0.025472871959209442, 0.9995694756507874, -0.014458106830716133], "tcp_vel": [0.016538232564926147, 0.009778276085853577, -0.007796754594892263, -0.02375676855444908, -0.003000705037266016, -0.0014799443306401372], "flange_pose": [0.6293349862098694, -0.24675583839416504, -0.24690036475658417, -0.0017281514592468739, -0.025472871959209442, 0.9995694756507874, -0.014458106830716133], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-42.75123596191406, -99.94840240478516, 8.975530624389648, -17.33936882019043, 28.5394229888916, 0.31052955985069275], "ext_wrench_in_world": [47.765851200767415, -97.8622075356044, -6.270826488901592, 15.861156974319412, 29.363572236555218, -1.205458076255311]}
+{"timestamp_ns": 1789729887788896732, "elapsed_ms": 7166, "source_timestamp_ns": 1789729887781720250, "q": [0.2978888750076294, -2.1007347106933594, -0.2629537880420685, 0.17164286971092224, 1.9921444654464722, 0.19029414653778076, -0.7548454403877258], "theta": [0.2954753041267395, -2.1002326011657715, -0.2635818123817444, 0.15624430775642395, 1.9923241138458252, 0.19131076335906982, -0.7536945343017578], "dq": [0.018024753779172897, 0.015781594440340996, -0.025591205805540085, -0.0181795135140419, 0.014149858616292477, 0.03473488986492157, 0.03501667082309723], "dtheta": [0.0162766482681036, 0.014492766931653023, -0.02741004340350628, -0.018586723133921623, 0.018695617094635963, 0.03571933135390282, 0.033006299287080765], "tau": [-56.959999084472656, -13.130000114440918, -11.608000755310059, 12.648000717163086, -3.704000234603882, 3.892000198364258, 0.19600000977516174], "tau_des": [-0.31939613819122314, 0.09367036074399948, -0.8227516412734985, -0.13390164077281952, 0.3654526472091675, 0.11166486144065857, 0.1535341739654541], "tau_dot": [-38.19050598144531, 3.0297605991363525, 17.209749221801758, 19.62846565246582, 1.1688728332519531, -10.808070182800293, -14.927252769470215], "tau_ext": [14.945387840270996, -35.624820709228516, -35.89256286621094, 20.436357498168945, -2.7279298305511475, -7.008725643157959, -0.2988847494125366], "tcp_pose": [0.6292816400527954, -0.25198277831077576, -0.43708816170692444, -0.001659095287322998, -0.02547616884112358, 0.9995648264884949, -0.014779346063733101], "tcp_vel": [0.014355696737766266, 0.008773268200457096, -0.009519209153950214, -0.020089032128453255, -0.005915114656090736, 0.0017759731272235513], "flange_pose": [0.6297687292098999, -0.24635300040245056, -0.24717220664024353, -0.001659095287322998, -0.02547616884112358, 0.9995648264884949, -0.014779346063733101], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-43.18655776977539, -100.42111206054688, 9.252542495727539, -17.4110164642334, 28.628591537475586, 0.3181605041027069], "ext_wrench_in_world": [48.22592823138584, -98.32366433922145, -6.465673920299039, 15.928041462823998, 29.455387803480427, -1.2323142249167314]}
+{"timestamp_ns": 1789729887822267153, "elapsed_ms": 7200, "source_timestamp_ns": 1789729887821872298, "q": [0.2986334264278412, -2.100214719772339, -0.26381754875183105, 0.17101526260375977, 1.9929059743881226, 0.19180388748645782, -0.7537062764167786], "theta": [0.29622870683670044, -2.099693775177002, -0.26450613141059875, 0.15563547611236572, 1.9930953979492188, 0.19280660152435303, -0.7525349259376526], "dq": [0.022295866161584854, 0.01030005980283022, -0.01665065996348858, -0.011788749136030674, 0.016233837231993675, 0.038111042231321335, 0.024861464276909828], "dtheta": [0.020213056355714798, 0.011892675422132015, -0.01929665543138981, -0.013797752559185028, 0.017040614038705826, 0.037352047860622406, 0.02447054348886013], "tau": [-57.21999740600586, -13.309999465942383, -11.696000099182129, 12.736001014709473, -3.696000099182129, 3.888000249862671, 0.19200000166893005], "tau_des": [-0.7754631042480469, 0.05924652889370918, -0.9488664865493774, -0.28968435525894165, 0.4368866980075836, 0.11037879437208176, 0.16225719451904297], "tau_dot": [-129.62423706054688, 36.85340118408203, -29.02113151550293, -51.068119049072266, 17.43387794494629, -14.112183570861816, -0.250645250082016], "tau_ext": [14.903030395507812, -35.37895202636719, -35.8474235534668, 20.33445167541504, -2.738455295562744, -6.985107898712158, -0.29399314522743225], "tcp_pose": [0.6297907829284668, -0.25167566537857056, -0.43752995133399963, -0.0014920673565939069, -0.025489553809165955, 0.9995592832565308, -0.015141749754548073], "tcp_vel": [0.010700484737753868, 0.006334032863378525, -0.011720173060894012, -0.018292726948857307, -0.0070970370434224606, 0.0018768955487757921], "flange_pose": [0.6302108764648438, -0.2459098845720291, -0.2476179301738739, -0.0014920673565939069, -0.025489553809165955, 0.9995592832565308, -0.015141749754548073], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-43.6752815246582, -100.56539916992188, 9.426371574401855, -17.395618438720703, 28.716352462768555, 0.3309667110443115], "ext_wrench_in_world": [48.72651209021145, -98.45108975249326, -6.549515523423114, 15.907618351693346, 29.541462373953397, -1.2631934849806314]}
+{"timestamp_ns": 1789729887855594528, "elapsed_ms": 7233, "source_timestamp_ns": 1789729887851746290, "q": [0.29927965998649597, -2.0999269485473633, -0.2642611265182495, 0.17061495780944824, 1.9934921264648438, 0.19295519590377808, -0.7530587315559387], "theta": [0.29687875509262085, -2.099386215209961, -0.26499706506729126, 0.1552412211894989, 1.9936882257461548, 0.19395017623901367, -0.7518793940544128], "dq": [0.023912375792860985, 0.010029437951743603, -0.012188799679279327, -0.012326499447226524, 0.021597910672426224, 0.04152766615152359, 0.018090669065713882], "dtheta": [0.02227211557328701, 0.008781606331467628, -0.013509023003280163, -0.012196469120681286, 0.021562887355685234, 0.0403577946126461, 0.018649892881512642], "tau": [-57.39999771118164, -13.029999732971191, -11.7160005569458, 12.648000717163086, -3.7080001831054688, 3.880000114440918, 0.18800000846385956], "tau_des": [-0.7470250725746155, 0.4743005037307739, -1.0430740118026733, -0.5484322905540466, 0.34081146121025085, 0.13671927154064178, 0.15307317674160004], "tau_dot": [-51.044132232666016, -2.325120449066162, -40.32200241088867, 61.66459655761719, -15.4973783493042, -2.4803361892700195, 37.339351654052734], "tau_ext": [15.064756393432617, -35.42506790161133, -35.793792724609375, 20.34209442138672, -2.743940591812134, -6.98490571975708, -0.29493892192840576], "tcp_pose": [0.6300809383392334, -0.25149667263031006, -0.43792298436164856, -0.001340774237178266, -0.025495776906609535, 0.9995560646057129, -0.015358536504209042], "tcp_vel": [0.009425709024071693, 0.005286495666950941, -0.013402669690549374, -0.013581137172877789, -0.013336589559912682, 0.0010988349094986916], "flange_pose": [0.630441427230835, -0.2456500232219696, -0.24801330268383026, -0.001340774237178266, -0.025495776906609535, 0.9995560646057129, -0.015358536504209042], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-43.87223815917969, -100.55154418945312, 9.690340042114258, -17.3455867767334, 28.743452072143555, 0.3397737741470337], "ext_wrench_in_world": [48.925803195931444, -98.43725883299722, -6.757282381965802, 15.856122985370687, 29.565439225585283, -1.2802465158798755]}
+{"timestamp_ns": 1789729887888909784, "elapsed_ms": 7266, "source_timestamp_ns": 1789729887881875010, "q": [0.2999739348888397, -2.099734306335449, -0.2645604908466339, 0.17022563517093658, 1.994085431098938, 0.1941790133714676, -0.752564013004303], "theta": [0.2975749373435974, -2.0991716384887695, -0.2653425931930542, 0.154854416847229, 1.9942876100540161, 0.19516968727111816, -0.7513808012008667], "dq": [0.025470759719610214, 0.005887504667043686, -0.007487670052796602, -0.01276340615004301, 0.020397214218974113, 0.04119453206658363, 0.01836617849767208], "dtheta": [0.023375647142529488, 0.005812815856188536, -0.010352914221584797, -0.013887676410377026, 0.018679125234484673, 0.04016295447945595, 0.015617597848176956], "tau": [-57.2599983215332, -12.859999656677246, -11.7160005569458, 12.504000663757324, -3.6680002212524414, 3.872000217437744, 0.1720000058412552], "tau_des": [-1.0068057775497437, 0.4464297294616699, -1.0734028816223145, -0.6749738454818726, 0.4841366708278656, 0.043271321803331375, 0.18001629412174225], "tau_dot": [64.56615447998047, -14.78354263305664, -8.135161399841309, -11.68371295928955, 2.129971981048584, 34.2786979675293, -35.928287506103516], "tau_ext": [15.012256622314453, -35.618927001953125, -35.79808807373047, 20.443361282348633, -2.7657790184020996, -6.9686408042907715, -0.2960428297519684], "tcp_pose": [0.6303214430809021, -0.25136566162109375, -0.4383482336997986, -0.0011475052451714873, -0.02550940029323101, 0.9995529055595398, -0.015552970580756664], "tcp_vel": [0.007446016184985638, 0.004105102736502886, -0.014302737079560757, -0.013137616217136383, -0.011364997364580631, 0.0024924888275563717], "flange_pose": [0.6306065320968628, -0.245447039604187, -0.24844065308570862, -0.0011475052451714873, -0.02550940029323101, 0.9995529055595398, -0.015552970580756664], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-44.046783447265625, -100.76301574707031, 9.962047576904297, -17.361980438232422, 28.77010154724121, 0.3450426757335663], "ext_wrench_in_world": [49.11650108856588, -98.64881500754106, -6.966167155904757, 15.870634256506598, 29.592763183224378, -1.2913162672300669]}
+{"timestamp_ns": 1789729887922249617, "elapsed_ms": 7300, "source_timestamp_ns": 1789729887921785259, "q": [0.30090728402137756, -2.0996432304382324, -0.2648731470108032, 0.1696183830499649, 1.994964361190796, 0.19572705030441284, -0.7520116567611694], "theta": [0.2985032796859741, -2.099053144454956, -0.26571327447891235, 0.15424387156963348, 1.9951726198196411, 0.19671881198883057, -0.7508273720741272], "dq": [0.024029072374105453, 0.002495734253898263, -0.005738330073654652, -0.014828704297542572, 0.022046450525522232, 0.0371730662882328, 0.01473989523947239], "dtheta": [0.023002466186881065, 0.0002279892796650529, -0.008049273863434792, -0.016565445810556412, 0.0253645870834589, 0.03709721565246582, 0.012015340849757195], "tau": [-57.369998931884766, -13.130000114440918, -11.712000846862793, 12.592000961303711, -3.640000104904175, 3.8680002689361572, 0.18400001525878906], "tau_des": [-1.148474097251892, -0.16501256823539734, -1.2006617784500122, -0.5486326813697815, 0.430071622133255, 0.045154549181461334, 0.13916130363941193], "tau_dot": [13.385093688964844, 1.6524560451507568, 22.09410285949707, -39.99107360839844, -14.772436141967773, 40.536441802978516, -22.66107749938965], "tau_ext": [14.87336540222168, -35.821746826171875, -35.81074523925781, 20.57309341430664, -2.7955987453460693, -6.942727565765381, -0.29774874448776245], "tcp_pose": [0.6305667161941528, -0.2512185275554657, -0.43894684314727783, -0.0008849010919220746, -0.025520585477352142, 0.9995502829551697, -0.01572219468653202], "tcp_vel": [0.005563212092965841, 0.003707956988364458, -0.015206755138933659, -0.0047605931758880615, -0.014124548994004726, 0.0012225076789036393], "flange_pose": [0.6307503581047058, -0.24523818492889404, -0.24904108047485352, -0.0008849010919220746, -0.025520585477352142, 0.9995502829551697, -0.01572219468653202], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-44.309329986572266, -101.171875, 10.059906005859375, -17.437448501586914, 28.818124771118164, 0.351346492767334], "ext_wrench_in_world": [49.40624365090478, -99.0473613357582, -6.99357022217463, 15.943316426021019, 29.644422831044707, -1.300471561093721]}
+{"timestamp_ns": 1789729887955585721, "elapsed_ms": 7333, "source_timestamp_ns": 1789729887951747433, "q": [0.3016103208065033, -2.0997049808502197, -0.26507508754730225, 0.16909688711166382, 1.9957672357559204, 0.1967933475971222, -0.7517320513725281], "theta": [0.29919785261154175, -2.0991005897521973, -0.26595446467399597, 0.15371954441070557, 1.9959807395935059, 0.19779014587402344, -0.7505467534065247], "dq": [0.02470000647008419, -0.0006619892665185034, -0.0058232699520885944, -0.017266834154725075, 0.026895711198449135, 0.033679697662591934, 0.009644820354878902], "dtheta": [0.023662034422159195, -0.003427824005484581, -0.007295783143490553, -0.017850574105978012, 0.0281265489757061, 0.03520820662379265, 0.008176025003194809], "tau": [-57.37999725341797, -13.460000038146973, -11.75200080871582, 12.7160005569458, -3.6480002403259277, 3.872000217437744, 0.17600001394748688], "tau_des": [-1.0397483110427856, -0.2369733303785324, -1.1391336917877197, -0.529843270778656, 0.47077152132987976, 0.09493512660264969, 0.19836802780628204], "tau_dot": [-39.55409622192383, 62.17110061645508, -5.759920597076416, 37.216373443603516, -25.03860855102539, -12.582101821899414, -9.969278335571289], "tau_ext": [14.94336986541748, -35.530677795410156, -35.76251220703125, 20.468286514282227, -2.8006701469421387, -6.952177047729492, -0.2959238886833191], "tcp_pose": [0.6306936144828796, -0.2511196434497833, -0.4394221901893616, -0.0006784121505916119, -0.025544431060552597, 0.9995492696762085, -0.01575673185288906], "tcp_vel": [0.0035159927792847157, 0.0026939071249216795, -0.01591777428984642, -0.001379487686790526, -0.013757087290287018, 0.0019318627892062068], "flange_pose": [0.63079833984375, -0.24512818455696106, -0.24951671063899994, -0.0006784121505916119, -0.025544431060552597, 0.9995492696762085, -0.01575673185288906], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-44.35173416137695, -101.11807250976562, 10.119333267211914, -17.405014038085938, 28.820749282836914, 0.35854920744895935], "ext_wrench_in_world": [49.4540753862884, -98.9910917907235, -7.028512698460871, 15.909714417855515, 29.645949260301276, -1.3028200267872052]}
+{"timestamp_ns": 1789729887988910946, "elapsed_ms": 7366, "source_timestamp_ns": 1789729887981778761, "q": [0.30233022570610046, -2.0998616218566895, -0.26524507999420166, 0.16853438317775726, 1.9966671466827393, 0.19783209264278412, -0.7514933347702026], "theta": [0.2999047636985779, -2.0992515087127686, -0.2661607563495636, 0.15315210819244385, 1.9968860149383545, 0.19883668422698975, -0.7503077387809753], "dq": [0.022672539576888084, -0.0049770791083574295, -0.005430235061794519, -0.019100958481431007, 0.027858546003699303, 0.036060892045497894, 0.006697873584926128], "dtheta": [0.024144617840647697, -0.006599048618227243, -0.00541366683319211, -0.01893165148794651, 0.030944082885980606, 0.03406306356191635, 0.006769860163331032], "tau": [-57.11000061035156, -13.619999885559082, -11.720000267028809, 12.724000930786133, -3.616000175476074, 3.9000000953674316, 0.18000000715255737], "tau_des": [-0.799530029296875, -0.3108308017253876, -1.0986038446426392, -0.4357892572879791, 0.45810267329216003, 0.08611521869897842, 0.1456332951784134], "tau_dot": [-37.62479782104492, 12.14768123626709, 9.142132759094238, 39.5391731262207, 40.32376480102539, -11.17849063873291, 21.321714401245117], "tau_ext": [14.90989875793457, -35.20317077636719, -35.725013732910156, 20.381282806396484, -2.8052260875701904, -6.961405277252197, -0.2925356924533844], "tcp_pose": [0.6307790279388428, -0.2510392665863037, -0.4399203062057495, -0.00045610699453391135, -0.025547564029693604, 0.9995496273040771, -0.01573854312300682], "tcp_vel": [0.002053459407761693, 0.002113667316734791, -0.016702847555279732, 0.0025466769002377987, -0.014854580163955688, 0.00020407509873621166], "flange_pose": [0.6307994723320007, -0.2450568675994873, -0.2500145137310028, -0.00045610699453391135, -0.025547564029693604, 0.9995496273040771, -0.01573854312300682], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-44.03528594970703, -100.3990478515625, 10.064833641052246, -17.200611114501953, 28.73493766784668, 0.3674142062664032], "ext_wrench_in_world": [49.10573555015119, -98.28681388679122, -6.978900089322385, 15.710144933877437, 29.54984909733069, -1.300162746689238]}
+{"timestamp_ns": 1789729888022262011, "elapsed_ms": 7400, "source_timestamp_ns": 1789729888021877126, "q": [0.3032929301261902, -2.100222110748291, -0.2653331756591797, 0.16780155897140503, 1.997954249382019, 0.19911497831344604, -0.7513554692268372], "theta": [0.30084866285324097, -2.0996155738830566, -0.2662888169288635, 0.15240518748760223, 1.9981787204742432, 0.20012760162353516, -0.7501701712608337], "dq": [0.024929039180278778, -0.009681643918156624, -7.826938235666603e-05, -0.01797528751194477, 0.03701945021748543, 0.03019900433719158, 0.0012519130250439048], "dtheta": [0.022202076390385628, -0.011748665012419224, -0.0009867832995951176, -0.019411833956837654, 0.034526798874139786, 0.029755359515547752, -8.191757660824805e-05], "tau": [-56.98999786376953, -13.649999618530273, -11.640000343322754, 12.648000717163086, -3.580000162124634, 3.8560001850128174, 0.20000000298023224], "tau_des": [-0.45914408564567566, -0.3276326060295105, -1.0536730289459229, -0.4595559537410736, 0.47496944665908813, 0.06455686688423157, 0.08471119403839111], "tau_dot": [-150.72389221191406, -54.74625015258789, 49.52574920654297, 21.239627838134766, -14.726324081420898, -71.21708679199219, 102.44955444335938], "tau_ext": [14.550745964050293, -35.31418228149414, -35.78597640991211, 20.52424430847168, -2.8565146923065186, -6.9353485107421875, -0.2894246578216553], "tcp_pose": [0.6308010220527649, -0.25097814202308655, -0.4406031668186188, -0.00013621474499814212, -0.025533806532621384, 0.9995519518852234, -0.015617862343788147], "tcp_vel": [-2.3401294129143935e-06, 0.001207405119203031, -0.0164021048694849, 0.010335135273635387, -0.017694463953375816, 0.0006077124271541834], "flange_pose": [0.6307012438774109, -0.24504469335079193, -0.2506958544254303, -0.00013621474499814212, -0.025533806532621384, 0.9995519518852234, -0.015617862343788147], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-43.733421325683594, -99.75914001464844, 9.761090278625488, -17.040252685546875, 28.658113479614258, 0.37922289967536926], "ext_wrench_in_world": [48.77412355910425, -97.65304434914064, -6.689158476629583, 15.555263955596747, 29.464664267834298, -1.2918253213555442]}
+{"timestamp_ns": 1789729888055668673, "elapsed_ms": 7433, "source_timestamp_ns": 1789729888051773869, "q": [0.30400338768959045, -2.1006217002868652, -0.26530829071998596, 0.1672316938638687, 1.999001383781433, 0.20000384747982025, -0.7513643503189087], "theta": [0.30153992772102356, -2.100024700164795, -0.26628759503364563, 0.15182164311408997, 1.99922513961792, 0.20102274417877197, -0.7501814365386963], "dq": [0.023557478561997414, -0.011630130931735039, 0.0014681379543617368, -0.020100293681025505, 0.03173599764704704, 0.029677780345082283, 0.0005414790939539671], "dtheta": [0.023215018212795258, -0.01502640824764967, 0.0003429438511375338, -0.020108094438910484, 0.03568742051720619, 0.03031296096742153, -0.0009363445569761097], "tau": [-56.98999786376953, -13.429999351501465, -11.584000587463379, 12.584000587463379, -3.57200026512146, 3.932000160217285, 0.12000000476837158], "tau_des": [-0.4984779357910156, 0.3968610465526581, -0.931969940662384, -0.6361021995544434, 0.5296629071235657, 0.02038303203880787, -0.06468361616134644], "tau_dot": [2.815093517303467, -42.49898910522461, 37.243499755859375, -28.867382049560547, -4.045804500579834, 78.01087188720703, -28.113290786743164], "tau_ext": [14.542457580566406, -35.25432586669922, -35.809669494628906, 20.520679473876953, -2.8705639839172363, -6.944493293762207, -0.2755259573459625], "tcp_pose": [0.6307561993598938, -0.2509647309780121, -0.4411240518093109, 0.00012815902300644666, -0.025505676865577698, 0.999555230140686, -0.015451187267899513], "tcp_vel": [-0.0017888910369947553, -0.00041785830399021506, -0.016910910606384277, 0.011248663067817688, -0.01833675429224968, -0.0016403418267145753], "flange_pose": [0.6305577754974365, -0.24509713053703308, -0.25121477246284485, 0.00012815902300644666, -0.025505676865577698, 0.999555230140686, -0.015451187267899513], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-43.7484245300293, -99.66651153564453, 9.566506385803223, -17.028196334838867, 28.671937942504883, 0.39184439182281494], "ext_wrench_in_world": [48.78296202006206, -97.5538355095949, -6.505997916548104, 15.544619616281272, 29.477154760032686, -1.2865403461530438]}
+{"timestamp_ns": 1789729888088897600, "elapsed_ms": 7466, "source_timestamp_ns": 1789729888081767463, "q": [0.3047384023666382, -2.1010754108428955, -0.26527658104896545, 0.16667209565639496, 2.0001232624053955, 0.20082302391529083, -0.7514873147010803], "theta": [0.30225470662117004, -2.100496768951416, -0.2662738561630249, 0.15124991536140442, 2.0003416538238525, 0.20184993743896484, -0.7503128051757812], "dq": [0.023155320435762405, -0.01759105548262596, 0.0023510633036494255, -0.01909423992037773, 0.04076555371284485, 0.024208392947912216, -0.0037243759725242853], "dtheta": [0.023841267451643944, -0.016220560297369957, 0.0006452025845646858, -0.017964189872145653, 0.037905897945165634, 0.02545555680990219, -0.007814805954694748], "tau": [-56.94999694824219, -13.539999961853027, -11.480000495910645, 12.60400104522705, -3.5440001487731934, 3.892000198364258, 0.04000000283122063], "tau_des": [-0.7127402424812317, -0.1246567964553833, -0.927516520023346, -0.19867226481437683, 0.4788362979888916, 0.06280291825532913, -0.056634191423654556], "tau_dot": [0.5409510135650635, 105.77992248535156, 11.8942289352417, 0.661382794380188, 36.19715881347656, -45.485443115234375, -20.522422790527344], "tau_ext": [14.550528526306152, -35.33494567871094, -35.88010787963867, 20.572799682617188, -2.883786678314209, -6.958562850952148, -0.21067985892295837], "tcp_pose": [0.6306620836257935, -0.25096574425697327, -0.44166499376296997, 0.0003799649712163955, -0.02549506351351738, 0.999558687210083, -0.015241345390677452], "tcp_vel": [-0.004046493675559759, -0.0008003741968423128, -0.0174314696341753, 0.015026086010038853, -0.015842217952013016, 0.0015556878643110394], "flange_pose": [0.6303700804710388, -0.24518026411533356, -0.2517533302307129, 0.0003799649712163955, -0.02549506351351738, 0.999558687210083, -0.015241345390677452], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-44.0178337097168, -99.9014663696289, 9.62413501739502, -17.081663131713867, 28.767953872680664, 0.4255859851837158], "ext_wrench_in_world": [49.065971155631345, -97.77424024367826, -6.5745769033196755, 15.59420506460401, 29.575040714501757, -1.302783149822738]}
+{"timestamp_ns": 1789729888122260795, "elapsed_ms": 7500, "source_timestamp_ns": 1789729888121968171, "q": [0.3056884706020355, -2.1017212867736816, -0.2651922404766083, 0.16610278189182281, 2.0017151832580566, 0.20170289278030396, -0.7519304156303406], "theta": [0.3031792938709259, -2.1011719703674316, -0.2662090063095093, 0.15067283809185028, 2.001920223236084, 0.20275092124938965, -0.7507941126823425], "dq": [0.02068151906132698, -0.01518248487263918, 0.0020803718362003565, -0.01259666122496128, 0.045825567096471786, 0.018066780641674995, -0.010364361107349396], "dtheta": [0.022125156596302986, -0.01746201701462269, 0.0024995103012770414, -0.010865534655749798, 0.039670929312705994, 0.019605664536356926, -0.014776675030589104], "tau": [-56.88999938964844, -14.380000114440918, -11.380000114440918, 13.008000373840332, -3.580000162124634, 3.944000244140625, 0.03200000151991844], "tau_des": [-0.6443573832511902, -0.7622146010398865, -0.8643263578414917, 0.012549880892038345, 0.518436849117279, 0.11454848200082779, -0.06736684590578079], "tau_dot": [-16.193288803100586, 38.69240951538086, -19.890270233154297, -12.992589950561523, -26.295936584472656, -26.886503219604492, 37.97747039794922], "tau_ext": [14.341571807861328, -34.9265022277832, -36.013145446777344, 20.424959182739258, -2.9047963619232178, -6.966088771820068, -0.1450132578611374], "tcp_pose": [0.6304508447647095, -0.2510039210319519, -0.44236114621162415, 0.000709035259205848, -0.025505270808935165, 0.9995636343955994, -0.014882959425449371], "tcp_vel": [-0.006725147366523743, -0.002863909350708127, -0.01567634753882885, 0.018287645652890205, -0.01655738614499569, 7.864799408707768e-05], "flange_pose": [0.630037248134613, -0.24535773694515228, -0.2524454891681671, 0.000709035259205848, -0.025505270808935165, 0.9995636343955994, -0.014882959425449371], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-44.85727310180664, -100.49055480957031, 9.61398696899414, -17.22650146484375, 29.042715072631836, 0.5009765028953552], "ext_wrench_in_world": [49.94151318895573, -98.31284949685877, -6.5866672688596175, 15.724937028934669, 29.855889241146336, -1.3545707885656506]}
+{"timestamp_ns": 1789729888155598253, "elapsed_ms": 7533, "source_timestamp_ns": 1789729888151835377, "q": [0.30636563897132874, -2.1022379398345947, -0.26510465145111084, 0.16585016250610352, 2.003005266189575, 0.2022418975830078, -0.7524390816688538], "theta": [0.3038395643234253, -2.101714611053467, -0.266133189201355, 0.15042059123516083, 2.0031955242156982, 0.20331156253814697, -0.7513549327850342], "dq": [0.021353330463171005, -0.017067909240722656, 0.0011973994551226497, -0.006806767079979181, 0.044060882180929184, 0.01902814768254757, -0.018178492784500122], "dtheta": [0.021551532670855522, -0.0196408499032259, 0.0027869490440934896, -0.006963157560676336, 0.044301681220531464, 0.018741663545370102, -0.021472778171300888], "tau": [-56.849998474121094, -14.399999618530273, -11.304000854492188, 12.976000785827637, -3.580000162124634, 3.9560000896453857, -0.004000000189989805], "tau_des": [-0.6822192668914795, -0.42063477635383606, -0.8162078857421875, -0.2656489908695221, 0.49636363983154297, 0.14774063229560852, -0.08156417310237885], "tau_dot": [29.46851348876953, -17.992523193359375, 10.969743728637695, -21.084604263305664, -4.909997940063477, -15.790939331054688, -2.143763780593872], "tau_ext": [14.353042602539062, -34.66975402832031, -36.08539962768555, 20.301414489746094, -2.9011189937591553, -6.984616279602051, -0.126932755112648], "tcp_pose": [0.6302335262298584, -0.25108328461647034, -0.4428426921367645, 0.0009823024738579988, -0.025494301691651344, 0.9995682835578918, -0.014571639709174633], "tcp_vel": [-0.008242501877248287, -0.004960326012223959, -0.014625457115471363, 0.020209189504384995, -0.02027818001806736, 0.0002605020999908447], "flange_pose": [0.6297192573547363, -0.2455579787492752, -0.25292372703552246, 0.0009823024738579988, -0.025494301691651344, 0.9995682835578918, -0.014571639709174633], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-45.4892692565918, -100.66519927978516, 9.61181640625, -17.264368057250977, 29.250736236572266, 0.5424817204475403], "ext_wrench_in_world": [50.58374600935549, -98.45137597446968, -6.614694744253021, 15.753387910377995, 30.064915387672933, -1.3747338986120128]}
+{"timestamp_ns": 1789729888188903043, "elapsed_ms": 7566, "source_timestamp_ns": 1789729888181873148, "q": [0.30700916051864624, -2.102816104888916, -0.2650192975997925, 0.1656789481639862, 2.0043463706970215, 0.20276132225990295, -0.753111720085144], "theta": [0.3044676184654236, -2.1023170948028564, -0.266055166721344, 0.1502476930618286, 2.004521608352661, 0.2038511037826538, -0.7520866990089417], "dq": [0.02011183276772499, -0.021692082285881042, 0.0015857320977374911, -0.00540074473246932, 0.042420826852321625, 0.017846740782260895, -0.025121916085481644], "dtheta": [0.020013079047203064, -0.020908314734697342, 0.002231715014204383, -0.004885591100901365, 0.04528852924704552, 0.01811061054468155, -0.025247778743505478], "tau": [-56.78999710083008, -13.899999618530273, -11.204000473022461, 12.72800064086914, -3.5280001163482666, 3.940000295639038, -0.00800000037997961], "tau_des": [-0.7597923278808594, 0.011010471731424332, -0.6777933835983276, -0.5156816244125366, 0.5872364044189453, 0.06189582869410515, -0.07178908586502075], "tau_dot": [-16.703283309936523, 87.17117309570312, -36.519615173339844, -29.448280334472656, -29.874637603759766, -9.42624282836914, -0.9707840085029602], "tau_ext": [14.294214248657227, -34.753135681152344, -36.17213821411133, 20.36162757873535, -2.918009042739868, -6.985798358917236, -0.10837394744157791], "tcp_pose": [0.6299768090248108, -0.25122958421707153, -0.4432790279388428, 0.0012879054993391037, -0.025494376197457314, 0.9995723962783813, -0.014263764023780823], "tcp_vel": [-0.008895749226212502, -0.006617546081542969, -0.012976194731891155, 0.019586706534028053, -0.02207271195948124, 0.0009068471263162792], "flange_pose": [0.629349410533905, -0.24582414329051971, -0.2533569633960724, 0.0012879054993391037, -0.025494376197457314, 0.9995723962783813, -0.014263764023780823], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-45.97856903076172, -100.94463348388672, 9.631552696228027, -17.33307647705078, 29.420629501342773, 0.5721709132194519], "ext_wrench_in_world": [51.091582120243096, -98.70127534841879, -6.657561693220765, 15.813977841129294, 30.238186052292278, -1.3807856733522805]}
+{"timestamp_ns": 1789729888222263928, "elapsed_ms": 7600, "source_timestamp_ns": 1789729888221750164, "q": [0.3077399432659149, -2.1036758422851562, -0.26489654183387756, 0.16551391780376434, 2.0062174797058105, 0.20328234136104584, -0.7541688680648804], "theta": [0.30518001317977905, -2.1032049655914307, -0.2659362554550171, 0.15007659792900085, 2.006370782852173, 0.20439493656158447, -0.7532201409339905], "dq": [0.01917492225766182, -0.023363647982478142, 0.0010550166480243206, -0.003955964930355549, 0.04972819238901138, 0.009555717930197716, -0.030918171629309654], "dtheta": [0.01579216681420803, -0.023023907095193863, 0.002962280297651887, -0.004440357442945242, 0.04664085432887077, 0.011464443989098072, -0.03126657009124756], "tau": [-56.96999740600586, -13.679999351501465, -11.196000099182129, 12.632000923156738, -3.5240001678466797, 3.944000244140625, -0.06400000303983688], "tau_des": [-1.1085100173950195, 0.09476857632398605, -0.8380516767501831, -0.5422594547271729, 0.4818427264690399, 0.11688422411680222, -0.021798284724354744], "tau_dot": [-83.55304718017578, 149.86122131347656, 3.564361572265625, -6.010373592376709, 51.59380340576172, -17.677967071533203, -31.056537628173828], "tau_ext": [14.155118942260742, -35.01325988769531, -36.26597213745117, 20.522212982177734, -2.9520316123962402, -6.979550361633301, -0.08120767027139664], "tcp_pose": [0.6295979619026184, -0.2514668107032776, -0.44377848505973816, 0.0017295032739639282, -0.02549251914024353, 0.9995783567428589, -0.013792160898447037], "tcp_vel": [-0.009560287930071354, -0.006697303149849176, -0.010839637368917465, 0.024568073451519012, -0.022439099848270416, 0.0039022164419293404], "flange_pose": [0.6288074254989624, -0.24624474346637726, -0.25385189056396484, 0.0017295032739639282, -0.02549251914024353, 0.9995783567428589, -0.013792160898447037], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-46.47943115234375, -101.68569946289062, 9.542580604553223, -17.5374698638916, 29.600683212280273, 0.605853796005249], "ext_wrench_in_world": [51.635858556084884, -99.40614805845314, -6.598157277154061, 16.009948150287283, 30.428905252742407, -1.3760959368989172]}
+{"timestamp_ns": 1789729888255592247, "elapsed_ms": 7633, "source_timestamp_ns": 1789729888251732860, "q": [0.3081711530685425, -2.104356527328491, -0.2648254632949829, 0.16537272930145264, 2.0075881481170654, 0.2035277783870697, -0.7550002932548523], "theta": [0.3055974841117859, -2.1039071083068848, -0.2658655047416687, 0.14992916584014893, 2.0077195167541504, 0.204656720161438, -0.7541007995605469], "dq": [0.010619617998600006, -0.023251716047525406, 0.0029682270251214504, -0.006300870329141617, 0.04572279751300812, 0.008552840910851955, -0.026216277852654457], "dtheta": [0.013019551523029804, -0.023104999214410782, 0.001856692717410624, -0.005583308171480894, 0.04408534988760948, 0.009784314781427383, -0.02955840528011322], "tau": [-57.02000045776367, -13.84000015258789, -11.256000518798828, 12.672000885009766, -3.5840001106262207, 3.9800002574920654, -0.06400000303983688], "tau_des": [-0.9814058542251587, 0.22181974351406097, -0.9090481400489807, -0.4665488302707672, 0.4092614948749542, 0.18768304586410522, 0.013274066150188446], "tau_dot": [145.47512817382812, -73.7188720703125, 27.61292266845703, 21.43772315979004, -26.11322593688965, -25.564027786254883, -41.911685943603516], "tau_ext": [14.324427604675293, -34.81939697265625, -36.23103332519531, 20.42434310913086, -2.9301905632019043, -7.004928112030029, -0.06679603457450867], "tcp_pose": [0.629310667514801, -0.251649409532547, -0.44408518075942993, 0.0020470290910452604, -0.025505125522613525, 0.9995825886726379, -0.01341463066637516], "tcp_vel": [-0.008936459198594093, -0.006775614805519581, -0.009028341621160507, 0.02324729971587658, -0.02156686596572399, 0.0038396783638745546], "flange_pose": [0.6284031271934509, -0.24657383561134338, -0.25415512919425964, 0.0020470290910452604, -0.025505125522613525, 0.9995825886726379, -0.01341463066637516], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-46.59315872192383, -101.92407989501953, 9.5471773147583, -17.609426498413086, 29.65683364868164, 0.6276777386665344], "ext_wrench_in_world": [51.76915781928054, -99.63153572956756, -6.640819502325865, 16.078824541176587, 30.489661671350504, -1.3658680583583402]}
+{"timestamp_ns": 1789729888288901687, "elapsed_ms": 7666, "source_timestamp_ns": 1789729888281808497, "q": [0.3085383176803589, -2.105004072189331, -0.26478472352027893, 0.1652318686246872, 2.0088205337524414, 0.20377805829048157, -0.7557560801506042], "theta": [0.30595409870147705, -2.104576826095581, -0.26582562923431396, 0.1497831642627716, 2.008927345275879, 0.20491981506347656, -0.7548926472663879], "dq": [0.010366883128881454, -0.022331925109028816, 0.0020831350702792406, -0.0024718199856579304, 0.0366627462208271, 0.011505353264510632, -0.024972623214125633], "dtheta": [0.011192107573151588, -0.021897876635193825, 0.0009353851201012731, -0.004526272416114807, 0.03846807777881622, 0.0072474246844649315, -0.024792920798063278], "tau": [-56.82999801635742, -13.75999927520752, -11.172000885009766, 12.608000755310059, -3.5360002517700195, 3.9760000705718994, -0.06000000238418579], "tau_des": [-0.8297086954116821, 0.6268059611320496, -0.898288369178772, -0.5684924721717834, 0.4292205572128296, 0.25146573781967163, -0.02823306992650032], "tau_dot": [-50.12100601196289, 0.8971899151802063, 19.005708694458008, -18.60363006591797, 37.17665100097656, 18.560230255126953, -32.49520492553711], "tau_ext": [14.398947715759277, -34.59455108642578, -36.20162582397461, 20.325420379638672, -2.9129247665405273, -7.022712707519531, -0.05145543813705444], "tcp_pose": [0.6290482878684998, -0.2518453598022461, -0.4443358778953552, 0.0023463552352041006, -0.025512592867016792, 0.9995859265327454, -0.013097918592393398], "tcp_vel": [-0.009178314357995987, -0.007281575817614794, -0.007359516806900501, 0.01985090784728527, -0.017795966938138008, 0.0005342421354725957], "flange_pose": [0.6280300617218018, -0.24689297378063202, -0.25440317392349243, 0.0023463552352041006, -0.025512592867016792, 0.9995859265327454, -0.013097918592393398], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-46.51215362548828, -101.72760009765625, 9.617621421813965, -17.566707611083984, 29.655168533325195, 0.642320990562439], "ext_wrench_in_world": [51.6849022112225, -99.43578720333063, -6.7512076692503316, 16.036377162514416, 30.486699722760484, -1.3515031646192852]}
+{"timestamp_ns": 1789729888322247173, "elapsed_ms": 7700, "source_timestamp_ns": 1789729888321775195, "q": [0.3089391589164734, -2.1057510375976562, -0.26478278636932373, 0.16515520215034485, 2.0102310180664062, 0.20408152043819427, -0.7566626667976379], "theta": [0.30634576082229614, -2.1053531169891357, -0.2658217251300812, 0.14970000088214874, 2.0102992057800293, 0.20523738861083984, -0.7558355927467346], "dq": [0.008907618001103401, -0.016276495531201363, -0.0010808572405949235, 0.0018352206097915769, 0.03145577758550644, 0.005646937992423773, -0.02483374997973442], "dtheta": [0.00972913671284914, -0.017263656482100487, -6.184553058119491e-05, -0.00015069630171637982, 0.032026953995227814, 0.00689030671492219, -0.023304039612412453], "tau": [-56.5099983215332, -13.609999656677246, -11.168000221252441, 12.516000747680664, -3.516000270843506, 3.952000141143799, -0.07600000500679016], "tau_des": [-0.7275899648666382, 0.44053414463996887, -0.887653112411499, -0.5361653566360474, 0.4776715934276581, 0.21127460896968842, -0.043957632035017014], "tau_dot": [89.26852416992188, 21.44987678527832, -17.50666046142578, -0.3952607810497284, 12.017936706542969, -37.2591667175293, -11.729164123535156], "tau_ext": [14.160107612609863, -34.65840148925781, -36.24372863769531, 20.416372299194336, -2.9339399337768555, -6.999757289886475, -0.04131770133972168], "tcp_pose": [0.6287306547164917, -0.25212499499320984, -0.44457828998565674, 0.0027020752895623446, -0.025507599115371704, 0.9995892643928528, -0.012779158540070057], "tcp_vel": [-0.008092029020190239, -0.007284120656549931, -0.005439964588731527, 0.01400395855307579, -0.015403670258820057, 0.0010684877634048462], "flange_pose": [0.6275804042816162, -0.24729709327220917, -0.25464311242103577, 0.0027020752895623446, -0.025507599115371704, 0.9995892643928528, -0.012779158540070057], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-46.373783111572266, -101.47344207763672, 9.427349090576172, -17.531436920166016, 29.63486099243164, 0.6541250348091125], "ext_wrench_in_world": [51.537386759024315, -99.17980449725964, -6.59744374544622, 16.00316684211194, 30.46521058591487, -1.331818706528759]}
+{"timestamp_ns": 1789729888355590220, "elapsed_ms": 7733, "source_timestamp_ns": 1789729888351749472, "q": [0.3092076778411865, -2.1062207221984863, -0.26478639245033264, 0.16516616940498352, 2.0111382007598877, 0.20430238544940948, -0.7572882175445557], "theta": [0.3066108524799347, -2.105844497680664, -0.2658248543739319, 0.14970704913139343, 2.011173725128174, 0.2054692506790161, -0.7564858794212341], "dq": [0.009392048232257366, -0.012678802944719791, 0.0004612303455360234, -0.0001961447997018695, 0.028539983555674553, 0.0075045982375741005, -0.02074100822210312], "dtheta": [0.008892129175364971, -0.015283641405403614, 0.00010695416858652607, 0.0004908340633846819, 0.026881396770477295, 0.009072787128388882, -0.01951528899371624], "tau": [-56.599998474121094, -13.699999809265137, -11.184000968933105, 12.588000297546387, -3.516000270843506, 3.9720001220703125, -0.07200000435113907], "tau_des": [-0.6602653861045837, 0.21706567704677582, -0.9863739013671875, -0.3882245719432831, 0.45288434624671936, 0.20360974967479706, -0.09616463631391525], "tau_dot": [-181.9762725830078, 94.31952667236328, 17.51848030090332, -28.767419815063477, -16.706388473510742, -7.471363067626953, -1.354238510131836], "tau_ext": [14.186100959777832, -34.67763900756836, -36.22247314453125, 20.40926742553711, -2.929065227508545, -7.006865501403809, -0.03804357722401619], "tcp_pose": [0.6285173892974854, -0.2523288428783417, -0.44472450017929077, 0.002940103178843856, -0.025504853576421738, 0.9995909929275513, -0.01259626168757677], "tcp_vel": [-0.007012668997049332, -0.007524651940912008, -0.004368333145976067, 0.009224697947502136, -0.014942544512450695, -0.00044170627370476723], "flange_pose": [0.6272785067558289, -0.24757272005081177, -0.2547881007194519, 0.002940103178843856, -0.025504853576421738, 0.9995909929275513, -0.01259626168757677], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-46.33769607543945, -101.50570678710938, 9.326159477233887, -17.567298889160156, 29.630510330200195, 0.6568143367767334], "ext_wrench_in_world": [51.505559964864744, -99.20875429610184, -6.509086129913624, 16.03979202395336, 30.46315442321005, -1.3152308459597308]}
+{"timestamp_ns": 1789729888388897311, "elapsed_ms": 7766, "source_timestamp_ns": 1789729888381798041, "q": [0.3094673454761505, -2.106637716293335, -0.26479965448379517, 0.16518829762935638, 2.011924982070923, 0.20457428693771362, -0.7578612565994263], "theta": [0.3068670630455017, -2.1062874794006348, -0.26583898067474365, 0.14972813427448273, 2.0119259357452393, 0.20575082302093506, -0.7570827007293701], "dq": [0.007444125134497881, -0.012371517717838287, -0.0013082469813525677, 0.001273078960366547, 0.025028886273503304, 0.010384832508862019, -0.021434329450130463], "dtheta": [0.008665196597576141, -0.013399692252278328, -0.0006441937293857336, 0.000708559702616185, 0.023579692468047142, 0.010034948587417603, -0.01910994201898575], "tau": [-56.599998474121094, -13.969999313354492, -11.300000190734863, 12.75200080871582, -3.5480000972747803, 3.9880001544952393, -0.06000000238418579], "tau_des": [-0.5904935598373413, 0.19396397471427917, -1.0264166593551636, -0.318058580160141, 0.42583218216896057, 0.220575749874115, -0.04506264999508858], "tau_dot": [-55.71604919433594, 5.763212203979492, -17.925228118896484, -43.04453659057617, -29.69087791442871, -6.2762451171875, 57.23704528808594], "tau_ext": [14.291521072387695, -34.575355529785156, -36.16118240356445, 20.28426170349121, -2.9168701171875, -7.023721218109131, -0.03568573296070099], "tcp_pose": [0.6283279657363892, -0.25253552198410034, -0.444851815700531, 0.0031614622566848993, -0.025509430095553398, 0.9995917677879333, -0.012472899630665779], "tcp_vel": [-0.006227357313036919, -0.007287043612450361, -0.003917509224265814, 0.00598681066185236, -0.013468649238348007, 0.0015841455897316337], "flange_pose": [0.6270061731338501, -0.247828409075737, -0.2549147307872772, 0.0031614622566848993, -0.025509430095553398, 0.9995917677879333, -0.012472899630665779], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-46.56855392456055, -101.84123229980469, 9.445085525512695, -17.678543090820312, 29.69266700744629, 0.6565457582473755], "ext_wrench_in_world": [51.75839317433093, -99.53242057858039, -6.621362498134145, 16.14782325765585, 30.53148402319465, -1.3010378713441029]}
+{"timestamp_ns": 1789729888422260976, "elapsed_ms": 7800, "source_timestamp_ns": 1789729888421770799, "q": [0.3098161518573761, -2.1070690155029297, -0.26483625173568726, 0.1652422547340393, 2.0127294063568115, 0.2050236612558365, -0.7584647536277771], "theta": [0.30721515417099, -2.1067543029785156, -0.26587894558906555, 0.14978334307670593, 2.012683868408203, 0.20621562004089355, -0.7577149868011475], "dq": [0.007585805840790272, -0.010008764453232288, -0.0048474096693098545, 0.002576395170763135, 0.01690305583178997, 0.01523949671536684, -0.014933226630091667], "dtheta": [0.008355050347745419, -0.009231628850102425, -0.0015500530134886503, 0.0029418598860502243, 0.01609036698937416, 0.014009267091751099, -0.012333405204117298], "tau": [-56.52000045776367, -13.829999923706055, -11.336000442504883, 12.760000228881836, -3.5400002002716064, 3.9880001544952393, -0.07600000500679016], "tau_des": [-0.6947177648544312, 0.7002652287483215, -1.0276833772659302, -0.35099339485168457, 0.43042439222335815, 0.15829500555992126, -0.10859309881925583], "tau_dot": [42.90401077270508, -107.21314239501953, 31.65857696533203, -18.351049423217773, 36.2210807800293, 27.514625549316406, 19.650453567504883], "tau_ext": [14.278060913085938, -34.37324905395508, -36.06562805175781, 20.129819869995117, -2.9037044048309326, -7.037553310394287, -0.031084883958101273], "tcp_pose": [0.6281209588050842, -0.25280138850212097, -0.44500136375427246, 0.0034070145338773727, -0.025510847568511963, 0.999591588973999, -0.012420152314007282], "tcp_vel": [-0.004585122689604759, -0.007695105392485857, -0.0025580348446965218, -0.0025530350394546986, -0.012202349491417408, -0.0014797067269682884], "flange_pose": [0.6267064213752747, -0.24811668694019318, -0.2550643980503082, 0.0034070145338773727, -0.025510847568511963, 0.999591588973999, -0.012420152314007282], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-47.02104949951172, -102.14530181884766, 9.757172584533691, -17.792078018188477, 29.79615020751953, 0.6516212821006775], "ext_wrench_in_world": [52.23224975972416, -99.81931770112925, -6.909420761699792, 16.25625046774519, 30.64102501705408, -1.2865163519593057]}
+{"timestamp_ns": 1789729888455590064, "elapsed_ms": 7833, "source_timestamp_ns": 1789729888451771373, "q": [0.3100574016571045, -2.1072750091552734, -0.2648944854736328, 0.1653587818145752, 2.013152837753296, 0.20538704097270966, -0.7588344216346741], "theta": [0.30745646357536316, -2.106983184814453, -0.2659405469894409, 0.14990027248859406, 2.0130739212036133, 0.2065868377685547, -0.7581032514572144], "dq": [0.007899461314082146, -0.005238401237875223, -0.0009653077577240765, 0.006982376333326101, 0.010805265977978706, 0.011848321184515953, -0.01484308298677206], "dtheta": [0.00769481947645545, -0.005673292558640242, -0.0012103926856070757, 0.005354608409106731, 0.01178726926445961, 0.01269252598285675, -0.011710858903825283], "tau": [-56.65999984741211, -13.719999313354492, -11.452000617980957, 12.828001022338867, -3.56000018119812, 4.0320000648498535, -0.06400000303983688], "tau_des": [-0.7714324593544006, 0.6650813221931458, -1.0437321662902832, -0.27199840545654297, 0.4413338303565979, 0.19722801446914673, -0.08276607096195221], "tau_dot": [-2.677356481552124, -127.43815612792969, -62.767669677734375, 33.5937614440918, -38.08561706542969, 69.8750228881836, 18.624027252197266], "tau_ext": [14.284262657165527, -34.47548294067383, -36.00225830078125, 20.12726402282715, -2.9071221351623535, -7.036761283874512, -0.02842883951961994], "tcp_pose": [0.6279995441436768, -0.2529970407485962, -0.4450770914554596, 0.003553231479600072, -0.02551490068435669, 0.9995903968811035, -0.01246566977351904], "tcp_vel": [-0.003734203055500984, -0.006680764723569155, -0.002018290339037776, -0.00455457391217351, -0.009824061766266823, -0.00013033552386332303], "flange_pose": [0.6265290379524231, -0.24829646944999695, -0.25514093041419983, 0.003553231479600072, -0.02551490068435669, 0.9995903968811035, -0.01246566977351904], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-47.390380859375, -102.55958557128906, 9.896425247192383, -17.935482025146484, 29.878721237182617, 0.6480788588523865], "ext_wrench_in_world": [52.6264422714024, -100.2174831331824, -7.012108921679575, 16.395258854057406, 30.73095735985933, -1.281893640623672]}
+{"timestamp_ns": 1789729888488904293, "elapsed_ms": 7866, "source_timestamp_ns": 1789729888481747390, "q": [0.31027862429618835, -2.1073787212371826, -0.2649271488189697, 0.16555534303188324, 2.0134592056274414, 0.20573794841766357, -0.7591506242752075], "theta": [0.3076784908771515, -2.1071062088012695, -0.26597803831100464, 0.15009787678718567, 2.013349771499634, 0.20694494247436523, -0.758433997631073], "dq": [0.00615804735571146, -0.0024355363566428423, -0.0023547587916254997, 0.007850758731365204, 0.006849309895187616, 0.010195671580731869, -0.011469491757452488], "dtheta": [0.0068769874051213264, -0.0028750919736921787, -0.0009527490474283695, 0.007908879779279232, 0.008111848495900631, 0.011682940647006035, -0.010750088840723038], "tau": [-56.62999725341797, -13.75, -11.480000495910645, 12.868000984191895, -3.5520002841949463, 3.9880001544952393, -0.09200000762939453], "tau_des": [-0.8393171429634094, 0.6835055351257324, -1.0625264644622803, -0.295146107673645, 0.44774776697158813, 0.1348612755537033, -0.1027546375989914], "tau_dot": [33.39139175415039, -43.63078689575195, -45.486995697021484, -26.333087921142578, -8.21540641784668, -16.10480499267578, -22.671586990356445], "tau_ext": [14.358780860900879, -34.59688186645508, -35.942604064941406, 20.111886978149414, -2.898155450820923, -7.051236152648926, -0.028645401820540428], "tcp_pose": [0.6279081702232361, -0.2531675398349762, -0.4451349675655365, 0.0036823104601353407, -0.025513609871268272, 0.9995890259742737, -0.01254103984683752], "tcp_vel": [-0.003142095170915127, -0.00623316178098321, -0.0012172952992841601, -0.006641044281423092, -0.008238337934017181, -5.829915244248696e-05], "flange_pose": [0.626387894153595, -0.24843959510326385, -0.2551998794078827, 0.0036823104601353407, -0.025513609871268272, 0.9995890259742737, -0.01254103984683752], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-47.747718811035156, -103.09999084472656, 10.17757797241211, -18.102624893188477, 29.955562591552734, 0.6433769464492798], "ext_wrench_in_world": [53.01491938648891, -100.74675104932481, -7.248884926273946, 16.55856018828064, 30.816150340701057, -1.2781450487094537]}
+{"timestamp_ns": 1789729888522259070, "elapsed_ms": 7900, "source_timestamp_ns": 1789729888521780992, "q": [0.3104921579360962, -2.107396125793457, -0.26494336128234863, 0.1659146100282669, 2.013688564300537, 0.20605427026748657, -0.7595536708831787], "theta": [0.3078973591327667, -2.107145071029663, -0.2660018801689148, 0.15046636760234833, 2.0135421752929688, 0.20726561546325684, -0.7588536739349365], "dq": [0.0037926051300019026, 0.0015975676942616701, -0.0002264611830469221, 0.005293858703225851, 0.004410153720527887, 0.006630594376474619, -0.010991238057613373], "dtheta": [0.004335097968578339, -0.00024747959105297923, -0.0002741644566413015, 0.009641878306865692, 0.0036463760770857334, 0.004751027561724186, -0.008499156683683395], "tau": [-56.65999984741211, -14.00999927520752, -11.492000579833984, 13.064001083374023, -3.5320000648498535, 3.996000289916992, -0.1120000034570694], "tau_des": [-0.9763224720954895, 0.4847172498703003, -1.1236172914505005, -0.25772932171821594, 0.47947821021080017, 0.209584578871727, -0.08823070675134659], "tau_dot": [49.46731948852539, -86.92646026611328, 21.63237953186035, 38.57260513305664, 58.343467712402344, -2.3936407566070557, -31.143630981445312], "tau_ext": [14.311762809753418, -34.60734176635742, -35.92750930786133, 20.067441940307617, -2.898365020751953, -7.0455756187438965, -0.020120175555348396], "tcp_pose": [0.6278111338615417, -0.2533498704433441, -0.4451654255390167, 0.0037981329951435328, -0.025530541315674782, 0.999586820602417, -0.012648070231080055], "tcp_vel": [-0.003029133891686797, -0.004525674507021904, -0.00018400918634142727, -0.004808821249753237, -0.003433662699535489, -0.0007616763468831778], "flange_pose": [0.6262457370758057, -0.24858243763446808, -0.25523167848587036, 0.0037981329951435328, -0.025530541315674782, 0.999586820602417, -0.012648070231080055], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-48.304264068603516, -103.87857055664062, 10.463024139404297, -18.33306121826172, 30.084056854248047, 0.6420712471008301], "ext_wrench_in_world": [53.618084643032546, -101.5023627484158, -7.4770032729502125, 16.781323613988086, 30.956583319347768, -1.2810124446701237]}
+{"timestamp_ns": 1789729888555602606, "elapsed_ms": 7933, "source_timestamp_ns": 1789729888551714552, "q": [0.3105860948562622, -2.107363224029541, -0.2649462819099426, 0.16619078814983368, 2.0137901306152344, 0.20616646111011505, -0.7597817778587341], "theta": [0.30799609422683716, -2.107125997543335, -0.26601094007492065, 0.1507529467344284, 2.0136191844940186, 0.20737731456756592, -0.7590926885604858], "dq": [0.0013155968626961112, 0.0013423620257526636, 0.001127181458286941, 0.009516730904579163, 0.005259552504867315, 0.0029846704564988613, -0.009017611853778362], "dtheta": [0.0028976197354495525, 0.0014658671570941806, -0.0005697791348211467, 0.009747665375471115, 0.002619575709104538, 0.003660246729850769, -0.00812001246958971], "tau": [-56.65999984741211, -14.069999694824219, -11.532000541687012, 13.128000259399414, -3.5480000972747803, 3.992000102996826, -0.08800000697374344], "tau_des": [-0.8060901165008545, 0.2693305015563965, -1.1230911016464233, -0.15722914040088654, 0.4564734399318695, 0.17823617160320282, -0.08285968005657196], "tau_dot": [91.7689208984375, -23.91221046447754, -20.094453811645508, -17.632160186767578, 34.092899322509766, -38.191341400146484, -15.114086151123047], "tau_ext": [14.418418884277344, -34.52069091796875, -35.892539978027344, 19.94854736328125, -2.8812496662139893, -7.055834770202637, -0.021281853318214417], "tcp_pose": [0.6277561783790588, -0.2534451186656952, -0.44516274333000183, 0.0038524200208485126, -0.025529945269227028, 0.9995859265327454, -0.012703475542366505], "tcp_vel": [-0.0018305572448298335, -0.0033999979496002197, 0.00045674300054088235, -0.004624905996024609, -0.003261693986132741, 0.0006539165624417365], "flange_pose": [0.6261696219444275, -0.24865718185901642, -0.2552297115325928, 0.0038524200208485126, -0.025529945269227028, 0.9995859265327454, -0.012703475542366505], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-48.78987503051758, -104.38569641113281, 10.7100248336792, -18.472946166992188, 30.201053619384766, 0.643717885017395], "ext_wrench_in_world": [54.131756326589354, -101.99087276445286, -7.69057750839796, 16.915224649445193, 31.080359869114805, -1.2861407349726726]}
+{"timestamp_ns": 1789729888588896538, "elapsed_ms": 7966, "source_timestamp_ns": 1789729888581687228, "q": [0.31064799427986145, -2.1073110103607178, -0.2649511396884918, 0.1664709448814392, 2.0138659477233887, 0.20621801912784576, -0.7600033283233643], "theta": [0.3080632984638214, -2.1070849895477295, -0.2660212218761444, 0.15104344487190247, 2.0136735439300537, 0.20742785930633545, -0.7593220472335815], "dq": [0.0019369743531569839, 0.00081539066741243, 6.137717718956992e-05, 0.009621493518352509, 0.0019773533567786217, 5.2171664719935507e-05, -0.008712376467883587], "dtheta": [0.0017220203299075365, 0.001759471371769905, -6.776108875783393e-06, 0.00998664740473032, 0.0015650982968509197, 0.0005521841230802238, -0.008344012312591076], "tau": [-56.599998474121094, -13.84000015258789, -11.520000457763672, 13.132000923156738, -3.556000232696533, 3.9880001544952393, -0.08400000631809235], "tau_des": [-0.6928960680961609, 0.3642562925815582, -1.0796136856079102, -0.2646031081676483, 0.49542000889778137, 0.13769911229610443, -0.07226540893316269], "tau_dot": [-61.905059814453125, 131.79661560058594, -15.627513885498047, 49.947364807128906, 6.833354949951172, 32.96992874145508, -1.5360586643218994], "tau_ext": [14.427742004394531, -34.64445495605469, -35.885581970214844, 19.93482208251953, -2.880368232727051, -7.050486087799072, -0.018245793879032135], "tcp_pose": [0.6277086138725281, -0.25352248549461365, -0.44514667987823486, 0.0038918228819966316, -0.025535961613059044, 0.9995850324630737, -0.012746964581310749], "tcp_vel": [-0.0019749021157622337, -0.00278970948420465, 0.0008330852724611759, -0.0029372344724833965, -0.0017343831714242697, 0.0009548052912577987], "flange_pose": [0.6261066198348999, -0.24871841073036194, -0.2552141845226288, 0.0038918228819966316, -0.025535961613059044, 0.9995850324630737, -0.012746964581310749], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-49.405723571777344, -105.09749603271484, 11.049830436706543, -18.661439895629883, 30.35112953186035, 0.6437484622001648], "ext_wrench_in_world": [54.787835894750906, -102.67856750773588, -7.994545590996705, 17.0955285904765, 31.23993807109346, -1.2899559864597572]}
+{"timestamp_ns": 1789729888622261613, "elapsed_ms": 8000, "source_timestamp_ns": 1789729888621695623, "q": [0.3106890618801117, -2.107245922088623, -0.2649517059326172, 0.16682390868663788, 2.0139689445495605, 0.20621374249458313, -0.7602908611297607], "theta": [0.3081126809120178, -2.1070303916931152, -0.2660273313522339, 0.1514095515012741, 2.0137529373168945, 0.2074207067489624, -0.7596192955970764], "dq": [-0.001383960829116404, -3.2474457839271054e-05, 0.00010591804311843589, 0.010335338301956654, 0.003343554912135005, 0.0007310479995794594, -0.008551254868507385], "dtheta": [0.0011048794258385897, 0.0012249485589563847, -0.0001548141153762117, 0.007474503014236689, 0.002451770007610321, -0.00014745097723789513, -0.008149534463882446], "tau": [-56.5099983215332, -13.75999927520752, -11.480000495910645, 13.052000999450684, -3.5280001163482666, 3.9280002117156982, -0.09200000762939453], "tau_des": [-0.5263351798057556, 0.27576979994773865, -1.0951403379440308, -0.2793314456939697, 0.4625869691371918, 0.003422861685976386, -0.034644465893507004], "tau_dot": [-84.96998596191406, 11.181781768798828, 11.992119789123535, 19.71430015563965, 20.901004791259766, -10.818390846252441, -27.37504768371582], "tau_ext": [14.387360572814941, -34.85588455200195, -35.901451110839844, 19.98223114013672, -2.8881266117095947, -7.016639232635498, -0.017582332715392113], "tcp_pose": [0.6276513338088989, -0.25360485911369324, -0.44511303305625916, 0.003938093315809965, -0.025545408949255943, 0.9995842576026917, -0.012774258852005005], "tcp_vel": [-0.0013923582155257463, -0.0018271594308316708, 0.0005872843903489411, -0.001050537102855742, -0.0017551142955198884, 0.002320273546501994], "flange_pose": [0.6260314583778381, -0.2487908899784088, -0.2551809549331665, 0.003938093315809965, -0.025545408949255943, 0.9995842576026917, -0.012774258852005005], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-50.243873596191406, -106.27867889404297, 11.374055862426758, -18.971847534179688, 30.550996780395508, 0.644182562828064], "ext_wrench_in_world": [55.69062482388602, -103.82247762846491, -8.271699582723805, 17.394837494759166, 31.455624481978038, -1.2933256704529905]}
+{"timestamp_ns": 1789729888655585681, "elapsed_ms": 8033, "source_timestamp_ns": 1789729888651678399, "q": [0.31071826815605164, -2.10721755027771, -0.26496249437332153, 0.1670215129852295, 2.0140368938446045, 0.2061913013458252, -0.7604601979255676], "theta": [0.3081476390361786, -2.107008934020996, -0.2660413384437561, 0.15161344408988953, 2.013806104660034, 0.20739269256591797, -0.7597954273223877], "dq": [0.0015423084842041135, 0.00019354044343344867, 0.0012080218875780702, 0.00445941649377346, 0.001303559634834528, -0.001826243824325502, -0.005219444632530212], "dtheta": [0.001156599959358573, 0.00034956232411786914, -0.0009348249877803028, 0.005284701474010944, 0.0012489008950069547, -0.0018970371456816792, -0.006078965961933136], "tau": [-56.46999740600586, -13.75999927520752, -11.508000373840332, 13.052000999450684, -3.5480000972747803, 3.8360002040863037, -0.1080000028014183], "tau_des": [-0.6443277597427368, 0.3826304078102112, -1.0781968832015991, -0.3351518511772156, 0.5181393027305603, -0.00043112406274303794, -0.04054491966962814], "tau_dot": [60.221012115478516, -20.087541580200195, 7.590919017791748, 19.49750518798828, -10.091251373291016, -6.231698513031006, -24.874492645263672], "tau_ext": [14.383395195007324, -34.934722900390625, -35.90666580200195, 20.002487182617188, -2.8900489807128906, -6.952366352081299, -0.013155191205441952], "tcp_pose": [0.6276078820228577, -0.2536539137363434, -0.4450978636741638, 0.003953990992158651, -0.025551289319992065, 0.9995839595794678, -0.012784517370164394], "tcp_vel": [-0.0019956151954829693, -0.0016544386744499207, 0.0002836752391885966, -0.0007730085053481162, 0.001231972360983491, 0.0017473191255703568], "flange_pose": [0.625981867313385, -0.2488362193107605, -0.2551659047603607, 0.003953990992158651, -0.025551289319992065, 0.9995839595794678, -0.012784517370164394], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-50.67998123168945, -106.9267349243164, 11.57766342163086, -19.121374130249023, 30.64056396484375, 0.6449137330055237], "ext_wrench_in_world": [56.162451716223735, -104.45180698841877, -8.451536168113915, 17.53926536594873, 31.552864898979294, -1.295341470519852]}
+{"timestamp_ns": 1789729888688916859, "elapsed_ms": 8066, "source_timestamp_ns": 1789729888681713920, "q": [0.3107498586177826, -2.1072049140930176, -0.2649950087070465, 0.1671452820301056, 2.014101982116699, 0.20616847276687622, -0.7605670094490051], "theta": [0.3081836998462677, -2.1070022583007812, -0.26607683300971985, 0.1517433375120163, 2.0138587951660156, 0.20736289024353027, -0.7599071264266968], "dq": [-0.0013233507052063942, 0.0022516532335430384, 0.0010423552012071013, 0.0026378738693892956, 0.0013035490410402417, -0.0005977405235171318, -0.001789464382454753], "dtheta": [0.0011334230657666922, -0.00018334876222070307, -0.001350220525637269, 0.0033179332967847586, 0.001692355377599597, -0.001344230491667986, -0.002482995390892029], "tau": [-56.53999710083008, -13.829999923706055, -11.556000709533691, 13.128000259399414, -3.564000129699707, 3.7720000743865967, -0.1120000034570694], "tau_des": [-0.7242403030395508, 0.2959575951099396, -1.1263710260391235, -0.2584656774997711, 0.48907846212387085, -0.018261099234223366, -0.08578129857778549], "tau_dot": [40.11345291137695, 156.0814971923828, -29.451732635498047, -31.500337600708008, -59.74468231201172, -42.409732818603516, -63.9364013671875], "tau_ext": [14.391202926635742, -34.86314010620117, -35.8857421875, 19.970279693603516, -2.8909854888916016, -6.889910697937012, -0.011880717240273952], "tcp_pose": [0.6275708079338074, -0.2536887228488922, -0.4450940191745758, 0.003954626619815826, -0.025554265826940536, 0.9995837807655334, -0.012790843844413757], "tcp_vel": [-0.0016398306470364332, -0.0013157421490177512, 3.774474316742271e-05, -0.00044930141302756965, 0.001066088560037315, -0.0005934666842222214], "flange_pose": [0.6259444952011108, -0.24886862933635712, -0.2551621198654175, 0.003954626619815826, -0.025554265826940536, 0.9995837807655334, -0.012790843844413757], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-50.95759963989258, -107.29537200927734, 11.747203826904297, -19.175811767578125, 30.6682071685791, 0.6452767848968506], "ext_wrench_in_world": [56.46057724653599, -104.80970623635146, -8.608095553447654, 17.592038880457636, 31.583327876667155, -1.2963943354579535]}
+{"timestamp_ns": 1789729888722255967, "elapsed_ms": 8100, "source_timestamp_ns": 1789729888721696387, "q": [0.3107864558696747, -2.10719895362854, -0.2650623619556427, 0.16724376380443573, 2.0141794681549072, 0.20614317059516907, -0.7606451511383057], "theta": [0.3082273304462433, -2.107003688812256, -0.26614969968795776, 0.1518525332212448, 2.0139222145080566, 0.20732462406158447, -0.7599881291389465], "dq": [-0.0008379350765608251, -0.00044441246427595615, -0.002374103758484125, 0.005069455597549677, 0.0037832811940461397, 0.0004424365470185876, -0.002256166422739625], "dtheta": [0.0006512672989629209, -5.309523476171307e-05, -0.0014029917074367404, 0.002344460692256689, 0.0011294594733044505, 0.000588029739446938, -0.0015589239774271846], "tau": [-56.61000061035156, -14.069999694824219, -11.612000465393066, 13.212000846862793, -3.5520002841949463, 3.760000228881836, -0.09200000762939453], "tau_des": [-0.6401869058609009, -0.028237629681825638, -1.163582682609558, -0.1378943920135498, 0.47634559869766235, -0.0999416783452034, -0.08716145902872086], "tau_dot": [-44.41200256347656, -99.115234375, 23.431114196777344, 12.542030334472656, 19.533594131469727, -20.905364990234375, -4.812555313110352], "tau_ext": [14.441266059875488, -34.76203918457031, -35.83184051513672, 19.917966842651367, -2.8810646533966064, -6.851284503936768, -0.014734768308699131], "tcp_pose": [0.6275322437286377, -0.25372347235679626, -0.44509270787239075, 0.003944373223930597, -0.025554392486810684, 0.9995836615562439, -0.012801322154700756], "tcp_vel": [-0.0007680354756303132, -0.0012845912715420127, 0.00038092181785032153, -0.0017121067503467202, -0.0002969169581774622, -0.000389622786315158], "flange_pose": [0.625909686088562, -0.24889928102493286, -0.2551608979701996, 0.003944373223930597, -0.025554392486810684, 0.9995836615562439, -0.012801322154700756], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-50.99960708618164, -107.2796630859375, 11.898465156555176, -19.124216079711914, 30.62379264831543, 0.6445469260215759], "ext_wrench_in_world": [56.502838458720746, -104.79590296848366, -8.758280366989244, 17.542747313114134, 31.53633398372128, -1.2959217359804456]}
+{"timestamp_ns": 1789729888755585495, "elapsed_ms": 8133, "source_timestamp_ns": 1789729888751675933, "q": [0.3108011782169342, -2.1072092056274414, -0.26511189341545105, 0.1672954112291336, 2.0142226219177246, 0.20611785352230072, -0.7606903910636902], "theta": [0.30824631452560425, -2.10701847076416, -0.26620280742645264, 0.15191081166267395, 2.0139570236206055, 0.20728838443756104, -0.7600348591804504], "dq": [-0.0003809972549788654, -0.0010516837937757373, -0.0015726079000160098, 0.001329441205598414, 0.002704972168430686, -0.0004298557760193944, -0.0009970796527341008], "dtheta": [0.0008628537179902196, -0.0006161273922771215, -0.001351478393189609, 0.0015467151533812284, 0.0011962910648435354, -0.0011051502078771591, -0.0016666438896209002], "tau": [-56.61000061035156, -14.029999732971191, -11.608000755310059, 13.168000221252441, -3.5440001487731934, 3.7280001640319824, -0.08800000697374344], "tau_des": [-0.807826817035675, -0.08501018583774567, -1.1957108974456787, -0.1073748916387558, 0.4819929301738739, -0.05180598795413971, -0.08976581692695618], "tau_dot": [-64.38765716552734, 102.10714721679688, 7.099893569946289, 17.703214645385742, 30.37771987915039, -52.685306549072266, 35.44032287597656], "tau_ext": [14.4592924118042, -34.728981018066406, -35.80963134765625, 19.927492141723633, -2.8731260299682617, -6.832415580749512, -0.017988307401537895], "tcp_pose": [0.6275026202201843, -0.25375229120254517, -0.4450855255126953, 0.003933703061193228, -0.02555190585553646, 0.9995836615562439, -0.012809723615646362], "tcp_vel": [-0.001336288871243596, -0.0010171103058382869, -4.6180601202649996e-05, -0.0003543794446159154, 0.001310853403992951, -0.0001676554820733145], "flange_pose": [0.6258840560913086, -0.2489248365163803, -0.25515374541282654, 0.003933703061193228, -0.02555190585553646, 0.9995836615562439, -0.012809723615646362], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-50.86203384399414, -107.09341430664062, 11.927892684936523, -19.05405616760254, 30.557849884033203, 0.6414996981620789], "ext_wrench_in_world": [56.3554654752886, -104.61819942518672, -8.792858386222543, 17.476157570393404, 31.4668697554549, -1.2925912749284905]}
+{"timestamp_ns": 1789729888788889226, "elapsed_ms": 8166, "source_timestamp_ns": 1789729888781713003, "q": [0.3108071982860565, -2.107232093811035, -0.2651626765727997, 0.16733551025390625, 2.0142741203308105, 0.20608629286289215, -0.7607375383377075], "theta": [0.3082561790943146, -2.107046127319336, -0.26625725626945496, 0.1519562005996704, 2.014000415802002, 0.20724475383758545, -0.7600834965705872], "dq": [0.0012246486730873585, -9.58711370913079e-06, -0.0063341641798615456, 0.00374727975577116, 0.0007177884690463543, 0.0004095358890481293, -0.0019077868200838566], "dtheta": [-2.14561714528827e-05, -0.0012767332373186946, -0.0013046812964603305, 0.0010878954781219363, 0.00045938711264170706, -0.0018763846019282937, -0.0019200127571821213], "tau": [-56.48999786376953, -14.119999885559082, -11.636000633239746, 13.140000343322754, -3.5520002841949463, 3.7320001125335693, -0.08800000697374344], "tau_des": [-0.6582099795341492, -0.01131991483271122, -1.162337064743042, -0.20229993760585785, 0.5164357423782349, -0.08695410192012787, -0.09493438154459], "tau_dot": [87.44659423828125, 58.433536529541016, 4.674621105194092, -19.467453002929688, 0.24595104157924652, -15.425649642944336, 19.36246681213379], "tau_ext": [14.43270206451416, -34.66648483276367, -35.80280685424805, 19.946699142456055, -2.884334087371826, -6.801119327545166, -0.018737489357590675], "tcp_pose": [0.6274721622467041, -0.25378307700157166, -0.4450744688510895, 0.00392616493627429, -0.02554863877594471, 0.9995837211608887, -0.012813162058591843], "tcp_vel": [-0.0014855563640594482, -0.0013029100373387337, 0.000505005125887692, -0.0003714978229254484, 0.0015695708571001887, -2.4545201085857116e-05], "flange_pose": [0.6258563995361328, -0.24895423650741577, -0.2551427185535431, 0.00392616493627429, -0.02554863877594471, 0.9995837211608887, -0.012813162058591843], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-50.49461364746094, -106.64315032958984, 11.847091674804688, -18.912921905517578, 30.436777114868164, 0.6394524574279785], "ext_wrench_in_world": [55.964059868289354, -104.1858651119499, -8.726431957574716, 17.341559627895553, 31.33869665725757, -1.2889208999064994]}
+{"timestamp_ns": 1789729888822263810, "elapsed_ms": 8200, "source_timestamp_ns": 1789729888821734997, "q": [0.3108055591583252, -2.1072845458984375, -0.2652175724506378, 0.1673552244901657, 2.014338731765747, 0.20603609085083008, -0.760811448097229], "theta": [0.3082593083381653, -2.1071038246154785, -0.2663155198097229, 0.15198186039924622, 2.0140562057495117, 0.20717620849609375, -0.7601594924926758], "dq": [-0.0009947412181645632, -0.0033331471495330334, -0.0026274907868355513, -0.0005719160544686019, -0.0011574304662644863, -0.0006595613085664809, -0.0018784779822453856], "dtheta": [0.00023703482293058187, -0.0016626882134005427, -0.001385822193697095, 0.0002793117891997099, 0.0008643874316476285, -0.0008671752875670791, -0.002586433896794915], "tau": [-56.57999801635742, -14.279999732971191, -11.644001007080078, 13.180000305175781, -3.5480000972747803, 3.7200002670288086, -0.09200000762939453], "tau_des": [-0.6975027918815613, -0.11501643806695938, -1.1933382749557495, -0.13787096738815308, 0.4943142831325531, -0.10636086761951447, -0.06221010163426399], "tau_dot": [-12.960404396057129, -17.170446395874023, -0.8419217467308044, 27.849205017089844, 19.84815788269043, 50.19843673706055, -2.1341049671173096], "tau_ext": [14.42858600616455, -34.585792541503906, -35.78794479370117, 19.956649780273438, -2.885352373123169, -6.770592212677002, -0.017490467056632042], "tcp_pose": [0.6274304986000061, -0.25382179021835327, -0.44506052136421204, 0.003916341811418533, -0.02555270493030548, 0.9995837807655334, -0.012807543389499187], "tcp_vel": [-0.0013454314321279526, -0.0013607727596536279, 0.0003174038138240576, -0.000578259234316647, 0.001041838200762868, 0.0009440529393032193], "flange_pose": [0.6258185505867004, -0.24899499118328094, -0.2551286816596985, 0.003916341811418533, -0.02555270493030548, 0.9995837807655334, -0.012807543389499187], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-49.8902702331543, -105.86830139160156, 11.66843032836914, -18.68372344970703, 30.254474639892578, 0.6401722431182861], "ext_wrench_in_world": [55.32015383791916, -103.43813993318935, -8.574401222187603, 17.12169412611323, 31.145093477520053, -1.2865926745681964]}
+{"timestamp_ns": 1789729888855588329, "elapsed_ms": 8233, "source_timestamp_ns": 1789729888851713243, "q": [0.31080305576324463, -2.1073336601257324, -0.26525384187698364, 0.1673562228679657, 2.0143752098083496, 0.20600612461566925, -0.7608650326728821], "theta": [0.30826008319854736, -2.107156276702881, -0.26635435223579407, 0.1519874781370163, 2.014085531234741, 0.20713067054748535, -0.760214626789093], "dq": [0.00019142573000863194, -7.446118979714811e-05, -0.004017827101051807, -0.0010771224042400718, 0.00020081833645235747, -0.0010165212443098426, -0.0012746044667437673], "dtheta": [0.0004415269650053233, -0.0018773298943415284, -0.0017682487377896905, 0.00022563617676496506, 0.0010847871890291572, -0.0009939490118995309, -0.0027349083684384823], "tau": [-56.55999755859375, -14.279999732971191, -11.648000717163086, 13.200000762939453, -3.556000232696533, 3.684000253677368, -0.09200000762939453], "tau_des": [-0.7384026050567627, 0.028063708916306496, -1.1328492164611816, -0.23082582652568817, 0.5451120734214783, -0.14544819295406342, -0.046256717294454575], "tau_dot": [118.08750915527344, 64.65779876708984, -26.184776306152344, 21.994455337524414, -22.697818756103516, -24.003196716308594, -21.999393463134766], "tau_ext": [14.445661544799805, -34.500125885009766, -35.7861213684082, 19.935096740722656, -2.8859939575195312, -6.753483772277832, -0.024295927956700325], "tcp_pose": [0.6273980736732483, -0.25385457277297974, -0.4450494647026062, 0.003908295184373856, -0.025556882843375206, 0.9995836615562439, -0.012806836515665054], "tcp_vel": [-0.0015794772189110518, -0.0015249440912157297, 0.00025539242778904736, -0.0006900143926031888, 0.0014104993315413594, 0.00099191814661026], "flange_pose": [0.6257891654968262, -0.24902795255184174, -0.25511759519577026, 0.003908295184373856, -0.025556882843375206, 0.9995836615562439, -0.012806836515665054], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-49.50364685058594, -105.33209991455078, 11.560089111328125, -18.522302627563477, 30.138702392578125, 0.637607216835022], "ext_wrench_in_world": [54.90649237028667, -102.9193952447957, -8.483699795222565, 16.966095923133096, 31.021452969133854, -1.2824446612864138]}
+{"timestamp_ns": 1789729888888989470, "elapsed_ms": 8266, "source_timestamp_ns": 1789729888881677770, "q": [0.31079891324043274, -2.107379913330078, -0.2652895152568817, 0.167354017496109, 2.014444351196289, 0.20594044029712677, -0.7609041333198547], "theta": [0.30825889110565186, -2.107206106185913, -0.26639115810394287, 0.15198776125907898, 2.014148712158203, 0.20704948902130127, -0.7602553963661194], "dq": [-0.0008354639867320657, -0.003999386448413134, -0.0006152644637040794, 0.0007006658706814051, 0.0021786761935800314, -0.00433149142190814, -0.0026295525021851063], "dtheta": [-0.00020820107602048665, -0.001347977900877595, -0.0011616598349064589, -7.498774357372895e-05, 0.002435165224596858, -0.0024719955399632454, -0.0011550461640581489], "tau": [-56.59000015258789, -14.139999389648438, -11.620000839233398, 13.108000755310059, -3.5280001163482666, 3.6720001697540283, -0.08800000697374344], "tau_des": [-0.6877952814102173, 0.11045044660568237, -1.1455323696136475, -0.28782889246940613, 0.5124678611755371, -0.17048145830631256, -0.0782233402132988], "tau_dot": [-64.86669158935547, 18.586994171142578, -22.095178604125977, 0.2651343047618866, 35.66343307495117, 45.148433685302734, 35.40479278564453], "tau_ext": [14.475177764892578, -34.46773910522461, -35.7819709777832, 19.926986694335938, -2.892209768295288, -6.744136810302734, -0.026164116337895393], "tcp_pose": [0.6273661255836487, -0.25387048721313477, -0.4450463652610779, 0.0038985535502433777, -0.025553060695528984, 0.9995841383934021, -0.01278094295412302], "tcp_vel": [-0.0009568789973855019, -0.0003016612899955362, 5.79015031689778e-05, 0.0020751524716615677, 0.0007338558207266033, -0.0002542118600104004], "flange_pose": [0.6257612109184265, -0.24905361235141754, -0.25511422753334045, 0.0038985535502433777, -0.025553060695528984, 0.9995841383934021, -0.01278094295412302], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-49.248619079589844, -104.958984375, 11.513102531433105, -18.40619659423828, 30.061832427978516, 0.6345513463020325], "ext_wrench_in_world": [54.63141562854552, -102.55873914039374, -8.454576543571447, 16.8542511791943, 30.938778060964918, -1.2769990946303849]}
+{"timestamp_ns": 1789729888922260924, "elapsed_ms": 8300, "source_timestamp_ns": 1789729888921698214, "q": [0.3107909858226776, -2.1074271202087402, -0.26532992720603943, 0.167352557182312, 2.0145645141601562, 0.20581625401973724, -0.7609562277793884], "theta": [0.30825334787368774, -2.107255697250366, -0.26643359661102295, 0.15198776125907898, 2.0142602920532227, 0.20690178871154785, -0.7603093385696411], "dq": [0.0008647289942018688, -0.0004496531910263002, 0.0003377716348040849, 9.350951586384326e-06, 0.0034915029536932707, -0.0035502882674336433, -0.0017710271058604121], "dtheta": [0.000286418100586161, -0.00046478319563902915, -0.0015728354919701815, -4.928242924506776e-05, 0.0010873964056372643, -0.0038412411231547594, -0.0003761308325920254], "tau": [-56.61000061035156, -14.130000114440918, -11.652000427246094, 13.072000503540039, -3.556000232696533, 3.640000104904175, -0.14400000870227814], "tau_des": [-0.8947868347167969, 0.11019857972860336, -1.2155064344406128, -0.25605061650276184, 0.4862636923789978, -0.10031309723854065, -0.0786040872335434], "tau_dot": [30.744232177734375, 50.38698959350586, -1.139602780342102, -21.21205711364746, -8.029166221618652, -53.767826080322266, -51.92930221557617], "tau_ext": [14.442731857299805, -34.57483673095703, -35.78189468383789, 20.001596450805664, -2.883408546447754, -6.730381965637207, -0.003960654605180025], "tcp_pose": [0.6273298859596252, -0.25386735796928406, -0.44505175948143005, 0.003884551813825965, -0.025550339370965958, 0.9995850920677185, -0.01271921955049038], "tcp_vel": [-0.0012041224399581552, 0.0002040312101598829, -0.0003516875149216503, 0.0018958818400278687, 0.0033190122339874506, 0.00012773078924510628], "flange_pose": [0.6257308721542358, -0.24907375872135162, -0.2551189959049225, 0.003884551813825965, -0.025550339370965958, 0.9995850920677185, -0.01271921955049038], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-49.08146286010742, -104.81887817382812, 11.445116996765137, -18.354015350341797, 30.007408142089844, 0.6421594619750977], "ext_wrench_in_world": [54.45595450784895, -102.42495540545858, -8.40567962787532, 16.805104621590885, 30.881646031102903, -1.2803080598813887]}
+{"timestamp_ns": 1789729888955593102, "elapsed_ms": 8333, "source_timestamp_ns": 1789729888951700178, "q": [0.3107905685901642, -2.107433795928955, -0.2653711438179016, 0.16735190153121948, 2.0146167278289795, 0.20573987066745758, -0.7609622478485107], "theta": [0.3082531690597534, -2.1072657108306885, -0.26647669076919556, 0.15198814868927002, 2.0143048763275146, 0.20680809020996094, -0.7603152990341187], "dq": [-0.00012562517076730728, 0.0006528276717290282, -0.0013306752080097795, -0.0010354366386309266, 0.0017452851170673966, 0.0004236842505633831, -0.0016522574005648494], "dtheta": [0.00010927067341981456, -0.000245552568230778, -0.0012263812823221087, 0.0003916462592314929, 0.0022537559270858765, -0.0015681380173191428, -0.0009650678257457912], "tau": [-56.79999923706055, -14.210000038146973, -11.708000183105469, 13.116000175476074, -3.6080002784729004, 3.6560001373291016, -0.10000000149011612], "tau_des": [-0.8081501722335815, 0.09865063428878784, -1.2246078252792358, -0.2852081060409546, 0.45197629928588867, -0.19017727673053741, -0.0695948451757431], "tau_dot": [-61.958335876464844, -97.80742645263672, 0.7338721752166748, 53.30806350708008, -35.84504318237305, 22.935251235961914, 40.26226043701172], "tau_ext": [14.554274559020996, -34.51838302612305, -35.7421760559082, 19.99053382873535, -2.8719213008880615, -6.733016014099121, 0.004883148241788149], "tcp_pose": [0.6273136138916016, -0.25385794043540955, -0.4450565278530121, 0.003862622892484069, -0.02555050514638424, 0.9995855093002319, -0.01269227173179388], "tcp_vel": [-0.0004097219498362392, 8.737088501220569e-05, -0.00010481154458830133, 0.0014407067792490125, 0.0004078817437402904, 0.0002600120205897838], "flange_pose": [0.6257232427597046, -0.24907438457012177, -0.25512340664863586, 0.003862622892484069, -0.02555050514638424, 0.9995855093002319, -0.01269227173179388], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-48.851688385009766, -104.56150817871094, 11.42120361328125, -18.280887603759766, 29.939762115478516, 0.6541630029678345], "ext_wrench_in_world": [54.21278129675425, -102.17872006232314, -8.397848125826798, 16.735567032886532, 30.810132273582017, -1.2902254529084032]}
+{"timestamp_ns": 1789729888988904911, "elapsed_ms": 8366, "source_timestamp_ns": 1789729888981661755, "q": [0.31078338623046875, -2.1074349880218506, -0.26540982723236084, 0.16735053062438965, 2.014665126800537, 0.20566198229789734, -0.7609629034996033], "theta": [0.30824658274650574, -2.107269525527954, -0.2665170431137085, 0.1519884318113327, 2.0143449306488037, 0.20671367645263672, -0.7603155374526978], "dq": [-0.00036499655107036233, -0.0008933849167078733, 2.05473588721361e-05, -7.751047814963385e-05, 0.0010556129273027182, -0.0012275525368750095, -0.001392187550663948], "dtheta": [-0.0005609991494566202, -0.00019207703007850796, -0.0012184999650344253, 0.00024000632402021438, 0.0019829263910651207, -0.001797625096514821, 0.0007196493097580969], "tau": [-56.459999084472656, -14.239999771118164, -11.696000099182129, 13.112000465393066, -3.624000072479248, 3.556000232696533, -0.13199999928474426], "tau_des": [-0.6607645153999329, 0.06426993012428284, -1.236728310585022, -0.27734291553497314, 0.42558878660202026, -0.2315828949213028, -0.09460023790597916], "tau_dot": [5.726707458496094, -8.463191986083984, -3.144098997116089, 33.37545394897461, 27.550338745117188, -61.660945892333984, -35.89181900024414], "tau_ext": [14.512421607971191, -34.51481246948242, -35.736846923828125, 19.996747970581055, -2.8493404388427734, -6.728676795959473, -0.002906719921156764], "tcp_pose": [0.6273033022880554, -0.25384390354156494, -0.44505858421325684, 0.0038429656997323036, -0.025550952181220055, 0.9995859265327454, -0.012664156034588814], "tcp_vel": [-0.00013040908379480243, 0.00018032087245956063, 0.00026987295132130384, 0.0014900175156071782, 7.376319263130426e-05, -0.0011942274868488312], "flange_pose": [0.6257206201553345, -0.24907082319259644, -0.25512516498565674, 0.0038429656997323036, -0.025550952181220055, 0.9995859265327454, -0.012664156034588814], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-48.61581039428711, -104.34584045410156, 11.428232192993164, -18.222658157348633, 29.8686580657959, 0.6570681929588318], "ext_wrench_in_world": [53.96599930987623, -101.97515557858462, -8.419886853928636, 16.680993912081274, 30.73617190828924, -1.2907060511270771]}
+{"timestamp_ns": 1789729889022259880, "elapsed_ms": 8400, "source_timestamp_ns": 1789729889021670892, "q": [0.310680627822876, -2.1074330806732178, -0.2655613124370575, 0.16736260056495667, 2.014714002609253, 0.20545311272144318, -0.7609589695930481], "theta": [0.3081457018852234, -2.1072702407836914, -0.2666662931442261, 0.15199854969978333, 2.0143866539001465, 0.20648205280303955, -0.7603095173835754], "dq": [-0.002245951211079955, -0.0020748761016875505, -0.002576827770099044, -0.0009149173856712878, 0.0013031619600951672, -0.005687602795660496, 0.0007359934388659894], "dtheta": [-0.0023340340703725815, 2.779815076792147e-05, -0.002730433363467455, -0.0004968215944245458, 0.001276955590583384, -0.00986104179173708, -0.0003673227329272777], "tau": [-55.87999725341797, -13.929999351501465, -11.464000701904297, 12.848000526428223, -3.4760000705718994, 3.564000129699707, -0.08800000697374344], "tau_des": [-0.12339620292186737, -0.03901244327425957, -0.9949904084205627, -0.3216491639614105, 0.5791844129562378, -0.17894022166728973, -0.024369658902287483], "tau_dot": [54.9378662109375, 0.03142516687512398, -98.92962646484375, -22.126955032348633, -43.757843017578125, 59.30134963989258, -43.872596740722656], "tau_ext": [13.813417434692383, -34.62138748168945, -35.938148498535156, 20.15542221069336, -2.9443917274475098, -6.613681316375732, -0.009358717128634453], "tcp_pose": [0.6272947788238525, -0.2538381814956665, -0.4449910819530487, 0.003794447286054492, -0.02555888332426548, 0.9995861649513245, -0.012641027569770813], "tcp_vel": [-0.0010152565082535148, 0.0016042869538068771, 0.0006026351475156844, 0.005349571816623211, 0.0058320737443864346, 0.0011611210647970438], "flange_pose": [0.6257307529449463, -0.24907343089580536, -0.25505727529525757, 0.003794447286054492, -0.02555888332426548, 0.9995861649513245, -0.012641027569770813], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-48.777565002441406, -104.40921020507812, 10.84424877166748, -18.256385803222656, 29.896270751953125, 0.6564719676971436], "ext_wrench_in_world": [54.126642122410146, -102.014330249404, -7.84313655086221, 16.71268168696993, 30.765784411951145, -1.2908769352396205]}
+{"timestamp_ns": 1789729889055665264, "elapsed_ms": 8433, "source_timestamp_ns": 1789729889051971912, "q": [0.3106597363948822, -2.1074464321136475, -0.26560771465301514, 0.16736426949501038, 2.0147621631622314, 0.2053283452987671, -0.7609567642211914], "theta": [0.3081212639808655, -2.1072843074798584, -0.26671111583709717, 0.15199825167655945, 2.014430284500122, 0.2063378095626831, -0.7603049874305725], "dq": [0.00042424420826137066, 0.0005093139479868114, -0.0022517358884215355, -0.0002674164716154337, 0.004573226440697908, -0.002424796111881733, 0.0005808178684674203], "dtheta": [-0.00012107403017580509, -0.0002951785863842815, -0.0005580456927418709, -4.1572257032385096e-05, 0.0023790705017745495, -0.0025257631205022335, 0.00025386663037352264], "tau": [-56.369998931884766, -13.90999984741211, -11.504000663757324, 12.860000610351562, -3.492000102996826, 3.516000270843506, -0.08400000631809235], "tau_des": [-0.4123106598854065, 0.2607898414134979, -1.0684572458267212, -0.4493121802806854, 0.5491183996200562, -0.2785610854625702, -0.07734159380197525], "tau_dot": [13.650813102722168, -8.584954261779785, 14.139225006103516, -17.375368118286133, -61.9843635559082, 40.97034454345703, 0.8300482034683228], "tau_ext": [14.246089935302734, -34.758522033691406, -35.90882873535156, 20.210840225219727, -2.9661080837249756, -6.577509880065918, -0.021063510328531265], "tcp_pose": [0.6272716522216797, -0.25382789969444275, -0.44498535990715027, 0.00376238115131855, -0.025551551952958107, 0.9995869994163513, -0.01260313019156456], "tcp_vel": [-0.00034716297523118556, 0.0006109286332502961, -0.0003094455460086465, 0.0028836282435804605, 0.0005502913263626397, -0.0008372500305995345], "flange_pose": [0.6257201433181763, -0.2490772157907486, -0.2550511062145233, 0.00376238115131855, -0.025551551952958107, 0.9995869994163513, -0.01260313019156456], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-48.67695617675781, -104.4568099975586, 10.776741981506348, -18.22398567199707, 29.860544204711914, 0.647175133228302], "ext_wrench_in_world": [54.02597339924937, -102.06555523768208, -7.786271092332183, 16.682453805303354, 30.728531512686672, -1.279717052914215]}
+{"timestamp_ns": 1789729889088983087, "elapsed_ms": 8466, "source_timestamp_ns": 1789729889081675356, "q": [0.31064262986183167, -2.1074588298797607, -0.26563477516174316, 0.16736328601837158, 2.014812469482422, 0.20524956285953522, -0.7609589695930481], "theta": [0.3081008195877075, -2.1072967052459717, -0.26673734188079834, 0.15199577808380127, 2.014476776123047, 0.20624315738677979, -0.7603052258491516], "dq": [0.0022685015574097633, -0.000577102939132601, -0.001737645361572504, -0.0007881504716351628, 0.002077859127894044, -0.0035374935250729322, -0.0013445507502183318], "dtheta": [-0.0011392467422410846, -0.00013659986143466085, -0.0012227752013131976, -7.27245569578372e-05, 0.00025896832812577486, -0.004789869766682386, -0.0005563489394262433], "tau": [-56.13999938964844, -13.920000076293945, -11.460000991821289, 12.856000900268555, -3.4560000896453857, 3.5360002517700195, -0.06000000238418579], "tau_des": [-0.19332656264305115, 0.27381327748298645, -1.025585651397705, -0.5087971687316895, 0.5843437314033508, -0.30182382464408875, -0.06529002636671066], "tau_dot": [6.660473823547363, 47.1830940246582, 43.99330520629883, 20.79561424255371, 11.255410194396973, 15.138446807861328, 89.29234313964844], "tau_ext": [14.075547218322754, -34.824974060058594, -35.94074249267578, 20.260940551757812, -2.9722230434417725, -6.567933082580566, -0.025127675384283066], "tcp_pose": [0.6272602677345276, -0.25381869077682495, -0.44498157501220703, 0.003750960808247328, -0.025545470416545868, 0.9995875954627991, -0.01257130317389965], "tcp_vel": [-0.0006677742348983884, 0.0005488084862008691, 0.0003819621924776584, 0.002295380225405097, 0.0029779276810586452, 0.0006919972947798669], "flange_pose": [0.6257134675979614, -0.24907997250556946, -0.2550469636917114, 0.003750960808247328, -0.025545470416545868, 0.9995875954627991, -0.01257130317389965], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-48.4566764831543, -104.3803482055664, 10.788104057312012, -18.154376983642578, 29.792688369750977, 0.6398760676383972], "ext_wrench_in_world": [53.800743882539955, -102.00094071722451, -7.808830062586247, 16.616682422404136, 30.65728282325416, -1.2696458211695922]}
+{"timestamp_ns": 1789729889122273222, "elapsed_ms": 8500, "source_timestamp_ns": 1789729889121701983, "q": [0.31063252687454224, -2.1074583530426025, -0.26567909121513367, 0.167362242937088, 2.0148396492004395, 0.20513322949409485, -0.7609603404998779], "theta": [0.3080854117870331, -2.10729718208313, -0.2667813003063202, 0.15199320018291473, 2.0144975185394287, 0.2061065435409546, -0.7603035569190979], "dq": [-0.002992776455357671, 0.0005443195695988834, -1.3857606973033398e-05, 0.0028241402469575405, 0.000644017884042114, -0.00448876665905118, -0.0013399682939052582], "dtheta": [-0.000325123721268028, -0.0002566289622336626, -0.001020811963826418, -0.00014097242092248052, 5.1012033509323373e-05, -0.003311439184471965, -0.0001200998667627573], "tau": [-56.23999786376953, -13.929999351501465, -11.492000579833984, 12.836000442504883, -3.4680001735687256, 3.4840002059936523, -0.07200000435113907], "tau_des": [-0.37959718704223633, 0.35606658458709717, -1.008733868598938, -0.5230891704559326, 0.6244357228279114, -0.3201768696308136, -0.0591360442340374], "tau_dot": [-13.265071868896484, 37.31013107299805, -7.612542152404785, -58.73616409301758, -43.82865905761719, -36.12739181518555, 6.72675895690918], "tau_ext": [14.184179306030273, -34.765464782714844, -35.94020080566406, 20.25296401977539, -2.9795846939086914, -6.540793418884277, -0.0224627498537302], "tcp_pose": [0.6272400617599487, -0.2538022994995117, -0.4449831545352936, 0.003710084827616811, -0.02554968371987343, 0.9995880126953125, -0.012540118768811226], "tcp_vel": [-0.0007756280829198658, 0.00022788449132349342, 3.177344115101732e-05, 0.001338681555353105, 0.0027062944136559963, 0.00020919104281347245], "flange_pose": [0.625709056854248, -0.2490750402212143, -0.25504815578460693, 0.003710084827616811, -0.02554968371987343, 0.9995880126953125, -0.012540118768811226], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-48.26033020019531, -104.17182922363281, 10.734198570251465, -18.070554733276367, 29.735239028930664, 0.6351207494735718], "ext_wrench_in_world": [53.59371775073127, -101.80058568247989, -7.772172549179025, 16.53552353003218, 30.595958450303616, -1.2635485496953571]}
+{"timestamp_ns": 1789729889155586866, "elapsed_ms": 8533, "source_timestamp_ns": 1789729889151675623, "q": [0.31062740087509155, -2.1074578762054443, -0.2657136023044586, 0.16736270487308502, 2.014878273010254, 0.20505601167678833, -0.7609620690345764], "theta": [0.3080769181251526, -2.10729718208313, -0.266815721988678, 0.1519930064678192, 2.0145323276519775, 0.206015944480896, -0.7603030800819397], "dq": [-0.0007020719349384308, 0.0017033638432621956, -0.0013236161321401596, -0.001241422607563436, 0.003044105600565672, -0.0009528915397822857, -0.0004191937914583832], "dtheta": [0.00015638511104043573, 0.00017017203208524734, -0.0012316134525462985, 2.3544936993857846e-05, 0.0011235924903303385, -0.001965334638953209, 3.820246274699457e-05], "tau": [-56.34000015258789, -13.9399995803833, -11.480000495910645, 12.85200023651123, -3.4560000896453857, 3.4720001220703125, -0.08400000631809235], "tau_des": [-0.4327510595321655, 0.22429412603378296, -1.0402512550354004, -0.45533958077430725, 0.583428144454956, -0.36112329363822937, -0.052713293582201004], "tau_dot": [-58.689231872558594, 36.66415023803711, 57.637786865234375, 2.4137396812438965, 29.640539169311523, 4.002162933349609, 57.538902282714844], "tau_ext": [14.159738540649414, -34.80899429321289, -35.93561935424805, 20.2535400390625, -2.978508710861206, -6.544081687927246, -0.02105761505663395], "tcp_pose": [0.6272283792495728, -0.25378885865211487, -0.44498610496520996, 0.0036877288948744535, -0.025551099330186844, 0.9995883703231812, -0.012514200061559677], "tcp_vel": [-0.0003483041364233941, 0.00039005480357445776, -0.00022697492386214435, 0.0011469562305137515, 0.0015445088502019644, 0.00018520433513913304], "flange_pose": [0.625706136226654, -0.24907122552394867, -0.25505080819129944, 0.0036877288948744535, -0.025551099330186844, 0.9995883703231812, -0.012514200061559677], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-48.258243560791016, -104.21266174316406, 10.734368324279785, -18.068361282348633, 29.728256225585938, 0.6369214653968811], "ext_wrench_in_world": [53.5936078653449, -101.84093811545362, -7.778953800418535, 16.533570540792674, 30.588934403610082, -1.2643986004895282]}
+{"timestamp_ns": 1789729889188896119, "elapsed_ms": 8566, "source_timestamp_ns": 1789729889181678000, "q": [0.3106224834918976, -2.107457399368286, -0.26574617624282837, 0.16736333072185516, 2.014915704727173, 0.2049790769815445, -0.7609632611274719], "theta": [0.30807021260261536, -2.107297658920288, -0.26684844493865967, 0.15199263393878937, 2.0145673751831055, 0.20592725276947021, -0.7603021264076233], "dq": [-0.00021702754020225257, -0.0008405651315115392, -0.001440695719793439, -0.0006330651231110096, 0.0008127365144900978, -0.0038224072195589542, -0.002252165460959077], "dtheta": [-0.00014436985657084733, 6.828651385148987e-05, -0.0009884204482659698, -0.00014932181511539966, 0.0018292960012331605, -0.0009285217965953052, -0.000713516550604254], "tau": [-56.25, -14.00999927520752, -11.484000205993652, 12.86400032043457, -3.4600002765655518, 3.4600002765655518, -0.09200000762939453], "tau_des": [-0.354580819606781, 0.16606755554676056, -1.0588791370391846, -0.4327109456062317, 0.5483939051628113, -0.41643211245536804, -0.03339896723628044], "tau_dot": [-56.12704849243164, -59.03446578979492, -5.308358669281006, -35.90485763549805, -40.569129943847656, -32.89278030395508, -0.8093847632408142], "tau_ext": [14.131087303161621, -34.783687591552734, -35.93098068237305, 20.250598907470703, -2.975849151611328, -6.538705348968506, -0.017679573968052864], "tcp_pose": [0.6272165179252625, -0.253775417804718, -0.4449893534183502, 0.003665499622002244, -0.025551965460181236, 0.9995887875556946, -0.0124881062656641], "tcp_vel": [0.0001251707726623863, 0.0004072527517564595, -6.110891990829259e-05, 0.0012301739770919085, -6.24607564532198e-05, 0.0008098619291558862], "flange_pose": [0.625702977180481, -0.249067485332489, -0.25505372881889343, 0.003665499622002244, -0.025551965460181236, 0.9995887875556946, -0.0124881062656641], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-48.278663635253906, -104.25159454345703, 10.735221862792969, -18.074220657348633, 29.72830581665039, 0.6389574408531189], "ext_wrench_in_world": [53.6157734329842, -101.8783147551186, -7.786343014703813, 16.539336725838357, 30.58932008257029, -1.2655920612248643]}
+{"timestamp_ns": 1789729889222277766, "elapsed_ms": 8600, "source_timestamp_ns": 1789729889221740424, "q": [0.31060734391212463, -2.1074583530426025, -0.2657875716686249, 0.16736218333244324, 2.014950752258301, 0.20485463738441467, -0.7609546184539795], "theta": [0.3080524802207947, -2.107299327850342, -0.26689183712005615, 0.15199033915996552, 2.014598846435547, 0.2057887315750122, -0.760291337966919], "dq": [-0.0014446208951994777, -8.0578749475535e-05, -0.0011817275080829859, 0.0001323962351307273, 0.0029435467440634966, -0.003971005789935589, 0.0003564937796909362], "dtheta": [-0.00048465319559909403, -0.0001775770215317607, -0.0011072036577388644, -0.0005496560479514301, 0.0006757931550964713, -0.004628319758921862, 0.0005073270294815302], "tau": [-56.29999923706055, -13.969999313354492, -11.484000205993652, 12.824000358581543, -3.4600002765655518, 3.4680001735687256, -0.052000001072883606], "tau_des": [-0.46372732520103455, 0.20008030533790588, -1.0725098848342896, -0.42143577337265015, 0.5685427188873291, -0.3084908425807953, -0.05633179098367691], "tau_dot": [-66.99507904052734, -101.59922790527344, 8.860690116882324, -93.31224060058594, 18.563379287719727, 14.215012550354004, 72.45816040039062], "tau_ext": [14.112335205078125, -34.788841247558594, -35.93000030517578, 20.248666763305664, -2.970757007598877, -6.529764652252197, -0.027434634044766426], "tcp_pose": [0.6271975636482239, -0.2537561058998108, -0.4449898898601532, 0.0036275528836995363, -0.025549298152327538, 0.9995894432067871, -0.01245038490742445], "tcp_vel": [-0.000750004081055522, 0.0008099597762338817, -0.00018038773851003498, 0.0027910827193409204, 0.003264573635533452, -9.780375694390386e-05], "flange_pose": [0.6256987452507019, -0.24906213581562042, -0.2550537884235382, 0.0036275528836995363, -0.025549298152327538, 0.9995894432067871, -0.01245038490742445], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-48.31866455078125, -104.28378295898438, 10.704145431518555, -18.084932327270508, 29.728862762451172, 0.6370469927787781], "ext_wrench_in_world": [53.65589640632168, -101.90738754801112, -7.765861549121835, 16.550076999857993, 30.590464566102067, -1.2626623580527585]}
+{"timestamp_ns": 1789729889255588480, "elapsed_ms": 8633, "source_timestamp_ns": 1789729889251697435, "q": [0.3105895519256592, -2.1074612140655518, -0.2658178210258484, 0.16735786199569702, 2.0149686336517334, 0.2047518938779831, -0.760948896408081], "theta": [0.30803191661834717, -2.107302665710449, -0.26692378520965576, 0.15198452770709991, 2.014615058898926, 0.2056751251220703, -0.7602831721305847], "dq": [-0.0019470114493742585, -0.0013270946219563484, 0.0008097960380837321, 0.0009969007223844528, 0.002487164456397295, -0.00021720516087953, -0.0005373959429562092], "dtheta": [-0.0013271374627947807, 0.00013826768554281443, -0.0009602329810149968, -3.92124020436313e-05, 0.0003412808873690665, -0.004152001813054085, 0.00023839011555537581], "tau": [-56.30999755859375, -13.949999809265137, -11.500000953674316, 12.848000526428223, -3.4720001220703125, 3.440000057220459, -0.06400000303983688], "tau_des": [-0.2634655833244324, 0.16683803498744965, -1.0385923385620117, -0.46095436811447144, 0.5855776071548462, -0.34738290309906006, -0.050937626510858536], "tau_dot": [-11.379611015319824, -22.93634796142578, -24.04006576538086, 23.711711883544922, -37.90587615966797, -72.7293930053711, 39.2376823425293], "tau_ext": [14.103435516357422, -34.76665115356445, -35.94182205200195, 20.272254943847656, -2.974912405014038, -6.51114559173584, -0.03485190495848656], "tcp_pose": [0.6271824240684509, -0.25374168157577515, -0.4449869990348816, 0.0035958581138402224, -0.025548774749040604, 0.9995899200439453, -0.012421384453773499], "tcp_vel": [-0.00025585066759958863, 0.0007036975584924221, 0.000469200691441074, 0.0022323396988213062, 0.002093372866511345, 5.484644862008281e-05], "flange_pose": [0.6256960034370422, -0.24905841052532196, -0.25505053997039795, 0.0035958581138402224, -0.025548774749040604, 0.9995899200439453, -0.012421384453773499], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-48.18497085571289, -104.14738464355469, 10.661453247070312, -18.043434143066406, 29.68635368347168, 0.6308881044387817], "ext_wrench_in_world": [53.5144202172016, -101.77664809872793, -7.736695703099724, 16.510721918063297, 30.546096477306676, -1.255062643506798]}
+{"timestamp_ns": 1789729889288900583, "elapsed_ms": 8666, "source_timestamp_ns": 1789729889281683443, "q": [0.31057360768318176, -2.1074647903442383, -0.26584580540657043, 0.1673547774553299, 2.014988422393799, 0.20465703308582306, -0.7609465718269348], "theta": [0.3080140948295593, -2.107306718826294, -0.2669535279273987, 0.15198013186454773, 2.0146334171295166, 0.20556962490081787, -0.7602779269218445], "dq": [-0.0017885076813399792, 0.0009509730734862387, -0.004973262548446655, -0.001411982229910791, -0.0002567125775385648, -0.0012215283932164311, -0.0011879521189257503], "dtheta": [-0.0004088031710125506, -8.794091991148889e-05, -0.0010000367183238268, -0.00028278035460971296, 0.0006470301887020469, -0.0032363550271838903, -0.00019926852837670594], "tau": [-56.36000061035156, -13.960000038146973, -11.504000663757324, 12.84000015258789, -3.4720001220703125, 3.432000160217285, -0.06400000303983688], "tau_des": [-0.4494274854660034, 0.22492094337940216, -1.0442298650741577, -0.4562588632106781, 0.5949532389640808, -0.3417876958847046, -0.040657442063093185], "tau_dot": [1.8750905990600586, 29.009077072143555, -18.963716506958008, 6.537491798400879, -68.94882202148438, -44.902347564697266, 12.737656593322754], "tau_ext": [14.235090255737305, -34.801918029785156, -35.93193435668945, 20.281068801879883, -2.9768505096435547, -6.516958236694336, -0.04281514883041382], "tcp_pose": [0.6271680593490601, -0.2537286877632141, -0.4449845850467682, 0.0035674991086125374, -0.025548625737428665, 0.9995903968811035, -0.012393750250339508], "tcp_vel": [-0.0004937636549584568, 0.0005271241534501314, -3.87057734769769e-05, 0.0018598526949062943, 0.002206303644925356, 0.0004568988806568086], "flange_pose": [0.6256926655769348, -0.24905560910701752, -0.2550477981567383, 0.0035674991086125374, -0.025548625737428665, 0.9995903968811035, -0.012393750250339508], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-47.94655227661133, -103.92411804199219, 10.6392183303833, -17.97035026550293, 29.621349334716797, 0.6234849095344543], "ext_wrench_in_world": [53.26422832105387, -101.56502108421577, -7.73017633865885, 16.44094464149131, 30.47769356748373, -1.2458300881680604]}
+{"timestamp_ns": 1789729889322261292, "elapsed_ms": 8700, "source_timestamp_ns": 1789729889321706651, "q": [0.31055697798728943, -2.107470989227295, -0.2658854126930237, 0.16734860837459564, 2.015029191970825, 0.20454077422618866, -0.7609400749206543], "theta": [0.3079938590526581, -2.107314348220825, -0.26699578762054443, 0.15197356045246124, 2.0146734714508057, 0.2054377794265747, -0.7602671384811401], "dq": [-0.00031702013802714646, -0.0003498864243738353, -0.0020755468867719173, 0.0002691846457310021, 0.0013000095495954156, -0.0029974207282066345, -0.0010705838212743402], "dtheta": [-0.00044604597496800125, -0.0008090919000096619, -0.0010499609634280205, -2.9223743695183657e-05, 0.0012966671492904425, -0.004039404913783073, 0.0001382687914883718], "tau": [-56.36000061035156, -13.920000076293945, -11.508000373840332, 12.816000938415527, -3.4560000896453857, 3.432000160217285, -0.04800000041723251], "tau_des": [-0.4865242540836334, 0.4686889052391052, -1.036124348640442, -0.587982177734375, 0.5912990570068359, -0.33851659297943115, -0.06649354100227356], "tau_dot": [-33.6026725769043, 35.83802032470703, -10.424677848815918, 56.359130859375, -17.258014678955078, 11.288226127624512, 12.154426574707031], "tau_ext": [14.219188690185547, -34.835269927978516, -35.93596267700195, 20.310388565063477, -2.985431432723999, -6.506605625152588, -0.0433235727250576], "tcp_pose": [0.6271506547927856, -0.2537110447883606, -0.4449843466281891, 0.003535078139975667, -0.025545913726091385, 0.999591052532196, -0.012355786748230457], "tcp_vel": [-0.00104682391975075, 0.0001570318272570148, 3.066015415242873e-05, 0.0024999782908707857, 0.0023181834258139133, -0.0009107273072004318], "flange_pose": [0.6256879568099976, -0.24905207753181458, -0.25504711270332336, 0.003535078139975667, -0.025545913726091385, 0.999591052532196, -0.012355786748230457], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-47.74589157104492, -103.74150848388672, 10.63476848602295, -17.904033660888672, 29.566457748413086, 0.6191709041595459], "ext_wrench_in_world": [53.05336609161139, -101.39260634307054, -7.742659135349437, 16.377581061378475, 30.41959756486396, -1.2394112703974012]}
+{"timestamp_ns": 1789729889355585704, "elapsed_ms": 8733, "source_timestamp_ns": 1789729889351680871, "q": [0.3105437159538269, -2.107475757598877, -0.26591041684150696, 0.16734609007835388, 2.0150537490844727, 0.20445014536380768, -0.7609408497810364], "theta": [0.30797797441482544, -2.1073193550109863, -0.2670223116874695, 0.15197011828422546, 2.014697313308716, 0.20533597469329834, -0.7602649927139282], "dq": [-0.0027582691982388496, 0.0012785765575245023, 0.0006142494385130703, -0.00032395782181993127, -0.00011473229096736759, -0.003844697494059801, 0.0029350200202316046], "dtheta": [-0.0007666738238185644, -0.0006570601253770292, -0.000966222898568958, -0.0004088161513209343, 0.000905380817130208, -0.003879736876115203, -5.4965064919088036e-05], "tau": [-56.32999801635742, -13.9399995803833, -11.496000289916992, 12.824000358581543, -3.4680001735687256, 3.452000141143799, -0.08400000631809235], "tau_des": [-0.43029940128326416, 0.3765261173248291, -1.0425078868865967, -0.5364701151847839, 0.5872036814689636, -0.35198718309402466, -0.051815733313560486], "tau_dot": [32.97834014892578, 18.212312698364258, 35.5477294921875, 26.146665573120117, -32.362857818603516, 2.9932854175567627, -17.859127044677734], "tau_ext": [14.238863945007324, -34.84381103515625, -35.930458068847656, 20.313161849975586, -2.9827115535736084, -6.504990100860596, -0.043562762439250946], "tcp_pose": [0.6271361112594604, -0.2536981999874115, -0.4449838399887085, 0.0035092737525701523, -0.025545716285705566, 0.9995914697647095, -0.012326983734965324], "tcp_vel": [-0.0007330002845264971, 0.0003436325932852924, 0.00015635300951544195, 0.002378994133323431, 0.002176499692723155, -0.000185235810931772], "flange_pose": [0.6256834864616394, -0.24904993176460266, -0.2550462484359741, 0.0035092737525701523, -0.025545716285705566, 0.9995914697647095, -0.012326983734965324], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-47.614158630371094, -103.62739562988281, 10.61306381225586, -17.86764907836914, 29.530641555786133, 0.6164234280586243], "ext_wrench_in_world": [52.9153272307229, -101.28449431616075, -7.733156262389305, 16.343010032616483, 30.382100693330262, -1.2351650338581468]}
+{"timestamp_ns": 1789729889388892798, "elapsed_ms": 8766, "source_timestamp_ns": 1789729889381820166, "q": [0.3105286955833435, -2.1074774265289307, -0.2659357786178589, 0.1673463135957718, 2.015077829360962, 0.2043534517288208, -0.7609419822692871], "theta": [0.3079611659049988, -2.1073215007781982, -0.2670501470565796, 0.15196983516216278, 2.014720916748047, 0.2052297592163086, -0.7602646946907043], "dq": [0.0014721264597028494, -0.001150165917351842, -0.0009666206315159798, -0.002032747259363532, 0.002842726418748498, -0.002910587005317211, -0.0013616470387205482], "dtheta": [-0.000607751018833369, -0.0004104314430151135, -0.0007883774233050644, 4.301952867535874e-05, 0.0008821913506835699, -0.0033623739145696163, -9.731269528856501e-05], "tau": [-56.349998474121094, -13.960000038146973, -11.52400016784668, 12.860000610351562, -3.4760000705718994, 3.4240002632141113, -0.0560000017285347], "tau_des": [-0.4483514130115509, 0.34979382157325745, -1.0571907758712769, -0.5426692962646484, 0.5807415246963501, -0.35941487550735474, -0.05009109526872635], "tau_dot": [36.218475341796875, -57.15287780761719, -35.77946472167969, 41.20838928222656, -21.905065536499023, -63.89656066894531, 36.43630599975586], "tau_ext": [14.266645431518555, -34.78779602050781, -35.91661834716797, 20.28451156616211, -2.975598096847534, -6.501718044281006, -0.04223800450563431], "tcp_pose": [0.6271221041679382, -0.2536833584308624, -0.44498273730278015, 0.003482239320874214, -0.025545954704284668, 0.9995919466018677, -0.012296527624130249], "tcp_vel": [-0.0006507046637125313, 0.00027631933335214853, 0.00014330909471027553, 0.0020552745554596186, 0.0017670593224465847, -0.0003396168176550418], "flange_pose": [0.6256800293922424, -0.24904638528823853, -0.2550448179244995, 0.003482239320874214, -0.025545954704284668, 0.9995919466018677, -0.012296527624130249], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-47.56467056274414, -103.57715606689453, 10.619709968566895, -17.849681854248047, 29.51274299621582, 0.6170815825462341], "ext_wrench_in_world": [52.86296355939475, -101.23656887455347, -7.750328424691368, 16.325915605036037, 30.363369179165122, -1.2345942187788441]}
+{"timestamp_ns": 1789729889422264216, "elapsed_ms": 8800, "source_timestamp_ns": 1789729889421828904, "q": [0.3104984164237976, -2.107478380203247, -0.2659713327884674, 0.1673462986946106, 2.0151021480560303, 0.20422755181789398, -0.7609435319900513], "theta": [0.3079278767108917, -2.107323169708252, -0.2670885920524597, 0.15197011828422546, 2.0147430896759033, 0.2050929069519043, -0.7602637410163879], "dq": [-0.001800062949769199, 0.001628376543521881, -0.0002984078018926084, -1.2520118616521358e-05, 0.001911496976390481, -0.0026795004960149527, -0.0023100990802049637], "dtheta": [-0.0012978303711861372, -0.00017253246915061027, -0.001134570804424584, 3.2648731576045975e-05, 0.00013450651022139937, -0.0033437791280448437, 0.0007387727964669466], "tau": [-56.54999923706055, -13.960000038146973, -11.54800033569336, 12.88800048828125, -3.492000102996826, 3.4640002250671387, -0.036000002175569534], "tau_des": [-0.8793171644210815, 0.2019777148962021, -1.149402141571045, -0.3719584047794342, 0.5458059310913086, -0.3827876150608063, -0.052173882722854614], "tau_dot": [-184.8599090576172, 87.92151641845703, -42.0360107421875, -1.6507688760757446, -22.58226203918457, 4.444427013397217, 53.26533889770508], "tau_ext": [14.2188138961792, -34.76389694213867, -35.91876983642578, 20.2729434967041, -2.9673759937286377, -6.50184965133667, -0.04209871590137482], "tcp_pose": [0.627108097076416, -0.253665030002594, -0.4449737071990967, 0.0034493401180952787, -0.025548037141561508, 0.9995924830436707, -0.01226032618433237], "tcp_vel": [-0.0003440646396484226, 0.00020890742598567158, 0.0006772307679057121, 0.0012874805834144354, 0.0017023328691720963, -0.0007081913063302636], "flange_pose": [0.6256788372993469, -0.24904149770736694, -0.2550353705883026, 0.0034493401180952787, -0.025548037141561508, 0.9995924830436707, -0.01226032618433237], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-47.592220306396484, -103.5759048461914, 10.610755920410156, -17.855331420898438, 29.515335083007812, 0.6175205707550049], "ext_wrench_in_world": [52.890182956887585, -101.23295488707214, -7.751969505962079, 16.331236610299303, 30.366381116212704, -1.23402007722752]}
+{"timestamp_ns": 1789729889455583229, "elapsed_ms": 8833, "source_timestamp_ns": 1789729889451774616, "q": [0.31041666865348816, -2.1074843406677246, -0.2660157084465027, 0.167353093624115, 2.015105962753296, 0.20408205687999725, -0.7609439492225647], "theta": [0.3078415095806122, -2.107330799102783, -0.26713550090789795, 0.1519785225391388, 2.014744520187378, 0.20493948459625244, -0.7602613568305969], "dq": [-0.003764329943805933, -0.0029326819349080324, -0.0017133457586169243, -0.000889437913428992, 0.0014775781892240047, -0.0040894257836043835, -0.001653484650887549], "dtheta": [-0.005107095930725336, -0.0007443738868460059, -0.002308029681444168, 0.0006235269829630852, -0.0005793119198642671, -0.006063478533178568, -0.00018961995374411345], "tau": [-56.959999084472656, -14.119999885559082, -11.656000137329102, 12.972001075744629, -3.5280001163482666, 3.4640002250671387, -0.07200000435113907], "tau_des": [-1.682462215423584, 0.1658904105424881, -1.3069634437561035, -0.1651349812746048, 0.46177026629447937, -0.41545814275741577, -0.050256188958883286], "tau_dot": [-64.96875, -47.5225715637207, -39.30620574951172, -27.39529800415039, 0.4059295654296875, -45.77986145019531, -22.786046981811523], "tau_ext": [14.130663871765137, -34.806060791015625, -35.93482208251953, 20.3039608001709, -2.9710094928741455, -6.490884780883789, -0.04480347782373428], "tcp_pose": [0.6271039843559265, -0.2536563575267792, -0.4449281394481659, 0.0034264910500496626, -0.025546949356794357, 0.9995929002761841, -0.012231488712131977], "tcp_vel": [5.149483695277013e-05, -0.0004147535655647516, 0.0033057420514523983, 0.0011370556894689798, 0.0008985517197288573, -0.0004415745206642896], "flange_pose": [0.6256836652755737, -0.2490435540676117, -0.25498947501182556, 0.0034264910500496626, -0.025546949356794357, 0.9995929002761841, -0.012231488712131977], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-47.61546325683594, -103.61443328857422, 10.566904067993164, -17.87356185913086, 29.517330169677734, 0.6158978939056396], "ext_wrench_in_world": [52.91440733721827, -101.26886486520807, -7.715250710173244, 16.349348487577902, 30.369372943122002, -1.2313874966742977]}
+{"timestamp_ns": 1789729889488918530, "elapsed_ms": 8866, "source_timestamp_ns": 1789729889481854357, "q": [0.31018686294555664, -2.107499837875366, -0.2661055028438568, 0.1673891842365265, 2.015089750289917, 0.20370431244373322, -0.7609407305717468], "theta": [0.3076004385948181, -2.107346773147583, -0.26723238825798035, 0.15201923251152039, 2.014721632003784, 0.20455265045166016, -0.7602563500404358], "dq": [-0.007597076240926981, -0.0021088197827339172, -0.0018233151640743017, 0.00035660588764585555, 0.0013377967989072204, -0.013875216245651245, 0.0010866206139326096], "dtheta": [-0.01097365003079176, -0.0007602078258059919, -0.004849430173635483, 0.0023886808194220066, -0.0016376711428165436, -0.014294079504907131, -0.0008931197808124125], "tau": [-58.14999771118164, -14.329999923706055, -11.988000869750977, 13.404000282287598, -3.7240002155303955, 3.6720001697540283, -0.04400000348687172], "tau_des": [-3.615583896636963, -0.2699269652366638, -1.773250937461853, 0.44014227390289307, 0.23054352402687073, -0.1149604469537735, -0.09890014678239822], "tau_dot": [-21.239990234375, 3.625352144241333, -32.424232482910156, -23.23906898498535, 28.40194320678711, -65.54387664794922, 39.181182861328125], "tau_ext": [14.49896240234375, -34.77989959716797, -35.823692321777344, 20.214927673339844, -2.90089750289917, -6.5802741050720215, -0.04770063981413841], "tcp_pose": [0.6270949244499207, -0.25364038348197937, -0.44479691982269287, 0.0033758871722966433, -0.025533083826303482, 0.9995943307876587, -0.012159956619143486], "tcp_vel": [7.011114121269202e-06, -0.0005464367568492889, 0.007063004188239574, 0.0028781690634787083, 0.002863307949155569, -0.0005592860979959369], "flange_pose": [0.6256946325302124, -0.2490542083978653, -0.2548574209213257, 0.0033758871722966433, -0.025533083826303482, 0.9995943307876587, -0.012159956619143486], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-47.53062438964844, -103.56551361083984, 10.614686965942383, -17.876222610473633, 29.497228622436523, 0.6159408688545227], "ext_wrench_in_world": [52.8238425800387, -101.22593879467617, -7.784498310591687, 16.353768686655886, 30.34914481258148, -1.2283620255178416]}
+{"timestamp_ns": 1789729889522257371, "elapsed_ms": 8900, "source_timestamp_ns": 1789729889521781443, "q": [0.30948129296302795, -2.1075122356414795, -0.2664124369621277, 0.16756774485111237, 2.0150306224823, 0.2028351128101349, -0.7609550356864929], "theta": [0.3068629503250122, -2.107362985610962, -0.2675590217113495, 0.15221187472343445, 2.0146448612213135, 0.20367014408111572, -0.760269045829773], "dq": [-0.02260207198560238, 0.00020387893891893327, -0.007607593666762114, 0.007966014556586742, -0.003136011306196451, -0.031140631064772606, 0.0037793926894664764], "dtheta": [-0.026785416528582573, -0.0004239008412696421, -0.013784985058009624, 0.006777421571314335, -0.00337231089361012, -0.03257923945784569, -0.0007156493375077844], "tau": [-59.39999771118164, -14.75999927520752, -12.304000854492188, 13.872000694274902, -3.9800002574920654, 3.760000228881836, -0.08000000566244125], "tau_des": [-4.9850921630859375, -0.6184250712394714, -2.0724854469299316, 0.6771906018257141, 0.013120564632117748, -0.19779464602470398, -0.2679825723171234], "tau_dot": [17.579851150512695, 138.2534637451172, -5.17418098449707, 59.250797271728516, -9.60077953338623, -13.16881275177002, 5.910943031311035], "tau_ext": [15.307167053222656, -34.4754753112793, -35.599456787109375, 19.847816467285156, -2.706641674041748, -6.671782970428467, -0.03214412182569504], "tcp_pose": [0.6271284818649292, -0.2536577582359314, -0.4443438649177551, 0.003324161982163787, -0.02549564838409424, 0.9995965957641602, -0.012062824331223965], "tcp_vel": [0.0010047613177448511, -0.0014852563617751002, 0.017781097441911697, 0.004437179304659367, 0.005576213821768761, -0.0018822589190676808], "flange_pose": [0.6257489323616028, -0.2491079419851303, -0.25440335273742676, 0.003324161982163787, -0.02549564838409424, 0.9995965957641602, -0.012062824331223965], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-47.7874641418457, -103.89189910888672, 11.576552391052246, -17.96440887451172, 29.549560546875, 0.6201915144920349], "ext_wrench_in_world": [53.09545000662284, -101.56422138706485, -8.761684624292123, 16.44136731255548, 30.404793204780454, -1.2292856896927291]}
+{"timestamp_ns": 1789729889555621259, "elapsed_ms": 8933, "source_timestamp_ns": 1789729889551760402, "q": [0.3084273338317871, -2.107536792755127, -0.2668898403644562, 0.1678030639886856, 2.0149104595184326, 0.20153282582759857, -0.7611019611358643], "theta": [0.30577805638313293, -2.1073899269104004, -0.26805657148361206, 0.15245755016803741, 2.0145037174224854, 0.20235323905944824, -0.7604188323020935], "dq": [-0.04005327448248863, 0.00044894826714880764, -0.01827147603034973, 0.010139783844351768, -0.0034843210596591234, -0.05080351606011391, -0.008928022347390652], "dtheta": [-0.045897241681814194, -0.0018710850272327662, -0.0210442952811718, 0.009945673868060112, -0.0050804042257368565, -0.05251021310687065, -0.011429584585130215], "tau": [-59.529998779296875, -14.84999942779541, -12.284000396728516, 13.824000358581543, -4.0, 3.692000150680542, -0.12000000476837158], "tau_des": [-4.734492778778076, -0.9296398162841797, -1.8868093490600586, 0.6084147691726685, 0.08013821393251419, -0.4643297493457794, -0.13271775841712952], "tau_dot": [-66.23174285888672, -33.27781677246094, 81.81118774414062, -40.57576370239258, 2.7601373195648193, -14.039445877075195, -1.9093111753463745], "tau_ext": [15.380492210388184, -34.464820861816406, -35.56053161621094, 19.818540573120117, -2.6264562606811523, -6.655003547668457, -0.012633138336241245], "tcp_pose": [0.6271749138832092, -0.2536853849887848, -0.44366654753685, 0.0032260408625006676, -0.02551887556910515, 0.99959796667099, -0.011929908767342567], "tcp_vel": [0.00251576560549438, -0.0024649633560329676, 0.03010084293782711, 0.00836277287453413, 0.005892706103622913, 0.0065719494596123695], "flange_pose": [0.6258338093757629, -0.24918511509895325, -0.2537245750427246, 0.0032260408625006676, -0.02551887556910515, 0.99959796667099, -0.011929908767342567], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-48.08829116821289, -104.1603012084961, 12.227568626403809, -18.03158950805664, 29.59107208251953, 0.6345012187957764], "ext_wrench_in_world": [53.41691798006372, -101.8275754442755, -9.441572034804286, 16.50483108205116, 30.45039010823575, -1.2396177579378085]}
+{"timestamp_ns": 1789729889588934223, "elapsed_ms": 8966, "source_timestamp_ns": 1789729889581823394, "q": [0.3067854940891266, -2.107623338699341, -0.2675687074661255, 0.16814164817333221, 2.0147945880889893, 0.1994655877351761, -0.7614591121673584], "theta": [0.3041045367717743, -2.10748028755188, -0.26875609159469604, 0.15280687808990479, 2.01436185836792, 0.2002553939819336, -0.760786235332489], "dq": [-0.06379150599241257, -0.0021461588330566883, -0.02328280545771122, 0.016263466328382492, -0.0028961917851120234, -0.07896244525909424, -0.011546076275408268], "dtheta": [-0.06670503318309784, -0.0043570417910814285, -0.024922290816903114, 0.013372264802455902, -0.005628775339573622, -0.08474873006343842, -0.012652389705181122], "tau": [-59.529998779296875, -14.969999313354492, -12.2760009765625, 13.884000778198242, -3.996000289916992, 3.624000072479248, -0.12800000607967377], "tau_des": [-5.731366157531738, -1.1414614915847778, -2.1092119216918945, 0.8159051537513733, -0.06413722038269043, -0.3071359694004059, -0.1490858644247055], "tau_dot": [-41.49809646606445, -60.04737091064453, 42.93442916870117, 17.463685989379883, -3.5593507289886475, -37.828712463378906, -7.81438684463501], "tau_ext": [15.112747192382812, -34.47360610961914, -35.612064361572266, 19.87879180908203, -2.6279988288879395, -6.581568241119385, 0.012069419957697392], "tcp_pose": [0.6272332668304443, -0.2537130117416382, -0.44263336062431335, 0.0030956086702644825, -0.025592325255274773, 0.9995996952056885, -0.011659327894449234], "tcp_vel": [0.0018856493989005685, -0.0009347865707240999, 0.0415336936712265, 0.02361692301928997, 0.011074652895331383, 0.00303731975145638], "flange_pose": [0.6259440183639526, -0.2493143379688263, -0.2526886463165283, 0.0030956086702644825, -0.025592325255274773, 0.9995996952056885, -0.011659327894449234], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-48.200870513916016, -104.36833953857422, 12.289628028869629, -18.09330940246582, 29.582576751708984, 0.6609819531440735], "ext_wrench_in_world": [53.552582675402526, -102.01812744728538, -9.567221873146167, 16.56231446495984, 30.447515340256604, -1.2538495584056348]}
+{"timestamp_ns": 1789729889622259415, "elapsed_ms": 9000, "source_timestamp_ns": 1789729889621795536, "q": [0.303504079580307, -2.1078579425811768, -0.2686890661716461, 0.16875356435775757, 2.0144784450531006, 0.19534394145011902, -0.7621179223060608], "theta": [0.30078843235969543, -2.107719898223877, -0.26990383863449097, 0.1534309685230255, 2.014005422592163, 0.1960824728012085, -0.7614607214927673], "dq": [-0.09913446009159088, -0.007298024371266365, -0.03202195465564728, 0.017595529556274414, -0.008817416615784168, -0.11978255212306976, -0.020763522014021873], "dtheta": [-0.09818326681852341, -0.007506817579269409, -0.03295040503144264, 0.017779169604182243, -0.009893546812236309, -0.1225646585226059, -0.020833807066082954], "tau": [-60.5, -14.84999942779541, -12.432000160217285, 13.984000205993652, -4.0360002517700195, 3.7280001640319824, -0.15600000321865082], "tau_des": [-6.111456394195557, -1.1813937425613403, -2.0158660411834717, 0.8562280535697937, -0.006183382589370012, -0.2000133991241455, -0.17238791286945343], "tau_dot": [-57.57483673095703, 71.42237091064453, -12.97735595703125, 16.94322395324707, -1.475260615348816, 44.74779510498047, -31.959701538085938], "tau_ext": [15.42125415802002, -34.41007614135742, -35.58112335205078, 19.831823348999023, -2.6103341579437256, -6.567278861999512, 0.027822859585285187], "tcp_pose": [0.6273365616798401, -0.2537429928779602, -0.44060802459716797, 0.002866929629817605, -0.025686435401439667, 0.9996048212051392, -0.011051523499190807], "tcp_vel": [0.0029774224385619164, -0.001086933072656393, 0.06060102954506874, 0.03575780987739563, 0.014204406179487705, 0.00660757115110755], "flange_pose": [0.6261397004127502, -0.24957303702831268, -0.2506575584411621, 0.002866929629817605, -0.025686435401439667, 0.9996048212051392, -0.011051523499190807], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-47.94899368286133, -104.11322784423828, 11.844414710998535, -18.03556251525879, 29.487077713012695, 0.6947174668312073], "ext_wrench_in_world": [53.29942927034867, -101.74501666185525, -9.278081220024239, 16.503474074412054, 30.353032513416256, -1.2572431620347821]}
+{"timestamp_ns": 1789729889655585817, "elapsed_ms": 9033, "source_timestamp_ns": 1789729889651752087, "q": [0.30027464032173157, -2.108125686645508, -0.26970645785331726, 0.1693132072687149, 2.014221668243408, 0.19143478572368622, -0.7628514766693115], "theta": [0.2975708246231079, -2.107990264892578, -0.27094390988349915, 0.153997540473938, 2.013721466064453, 0.19212639331817627, -0.7622057199478149], "dq": [-0.12909826636314392, -0.010897627100348473, -0.03272441402077675, 0.020744558423757553, -0.01186919491738081, -0.14369484782218933, -0.02863612398505211], "dtheta": [-0.11648587137460709, -0.010654183104634285, -0.03599380701780319, 0.01959729567170143, -0.013187449425458908, -0.14882892370224, -0.027924558147788048], "tau": [-60.2599983215332, -14.65999984741211, -12.356000900268555, 13.984000205993652, -4.064000129699707, 3.704000234603882, -0.15600000321865082], "tau_des": [-5.895358562469482, -0.9759899377822876, -1.9087218046188354, 0.6361908912658691, 0.07018709927797318, -0.14914672076702118, -0.15577432513237], "tau_dot": [229.1846466064453, 115.06360626220703, 35.17796325683594, -38.021366119384766, -78.82830810546875, -2.28666353225708, -26.240190505981445], "tau_ext": [16.127626419067383, -34.30936813354492, -35.49837112426758, 19.714946746826172, -2.5689830780029297, -6.6087846755981445, 0.038260720670223236], "tcp_pose": [0.627468466758728, -0.25377368927001953, -0.4386226236820221, 0.002732648979872465, -0.025806019082665443, 0.9996086955070496, -0.010443863458931446], "tcp_vel": [0.001961846137419343, -0.0007448052056133747, 0.07104318588972092, 0.046318862587213516, 0.019126594066619873, 0.010067278519272804], "flange_pose": [0.6263280510902405, -0.2498333603143692, -0.2486668974161148, 0.002732648979872465, -0.025806019082665443, 0.9996086955070496, -0.010443863458931446], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-47.1541748046875, -103.4636001586914, 11.99555778503418, -17.81720542907715, 29.28483009338379, 0.7163791656494141], "ext_wrench_in_world": [52.49463741532812, -101.11653432811502, -9.585702581817237, 16.288321686459668, 30.144819911148872, -1.2440623666359543]}
+{"timestamp_ns": 1789729889688891410, "elapsed_ms": 9066, "source_timestamp_ns": 1789729889681754014, "q": [0.2963751256465912, -2.1084790229797363, -0.2708289325237274, 0.16989962756633759, 2.013868570327759, 0.18673831224441528, -0.7637076377868652], "theta": [0.2937318980693817, -2.1083459854125977, -0.2720866799354553, 0.15458662807941437, 2.013345956802368, 0.187391996383667, -0.7630733847618103], "dq": [-0.1253669410943985, -0.013279466889798641, -0.04155370220541954, 0.02171674743294716, -0.01404603011906147, -0.16651418805122375, -0.029838381335139275], "dtheta": [-0.13736066222190857, -0.013743408024311066, -0.04115627333521843, 0.01870482973754406, -0.013718747533857822, -0.16951772570610046, -0.03155869245529175], "tau": [-58.82999801635742, -14.539999961853027, -12.0600004196167, 13.7160005569458, -3.9120001792907715, 3.632000207901001, -0.14000000059604645], "tau_des": [-3.2635810375213623, -0.9460535645484924, -1.4524801969528198, 0.1700039952993393, 0.14927469193935394, -0.33044901490211487, -0.15790458023548126], "tau_dot": [138.9860076904297, -106.3252944946289, 48.693077087402344, -26.837820053100586, 20.921836853027344, -55.01075744628906, 24.903060913085938], "tau_ext": [15.619424819946289, -34.263179779052734, -35.65479278564453, 19.77862548828125, -2.613391160964966, -6.580014228820801, 0.04428746551275253], "tcp_pose": [0.6276323795318604, -0.2537785470485687, -0.4362534284591675, 0.0025850774254649878, -0.025950156152248383, 0.9996131062507629, -0.009674454107880592], "tcp_vel": [0.004083636682480574, -0.00017845453112386167, 0.08324107527732849, 0.05476802960038185, 0.017061617225408554, 0.012621176429092884], "flange_pose": [0.6265550255775452, -0.25012919306755066, -0.24629153311252594, 0.0025850774254649878, -0.025950156152248383, 0.9996131062507629, -0.009674454107880592], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-46.39942932128906, -102.79135131835938, 11.700539588928223, -17.63808250427246, 29.112627029418945, 0.7349323034286499], "ext_wrench_in_world": [51.730360031997485, -100.4488695942554, -9.479769093387585, 16.109345070746667, 29.96980190201074, -1.219470302239194]}
+{"timestamp_ns": 1789729889722253319, "elapsed_ms": 9100, "source_timestamp_ns": 1789729889721786081, "q": [0.29054561257362366, -2.1091270446777344, -0.2724485993385315, 0.17056109011173248, 2.0133278369903564, 0.17962585389614105, -0.7648965120315552], "theta": [0.2879149317741394, -2.1089930534362793, -0.27371862530708313, 0.15524256229400635, 2.0127880573272705, 0.18023955821990967, -0.7642854452133179], "dq": [-0.14343811571598053, -0.018180178478360176, -0.043147217482328415, 0.0159683208912611, -0.012618601322174072, -0.1830650418996811, -0.027468446642160416], "dtheta": [-0.150168776512146, -0.01894676499068737, -0.03979925438761711, 0.01394510269165039, -0.013716762885451317, -0.18471406400203705, -0.030307458713650703], "tau": [-57.65999984741211, -13.899999618530273, -11.844000816345215, 13.404000282287598, -3.876000165939331, 3.752000093460083, -0.15600000321865082], "tau_des": [-2.0706899166107178, -0.49404144287109375, -1.3405663967132568, 0.021198192611336708, 0.1742267906665802, 0.11978372931480408, -0.15369467437267303], "tau_dot": [-110.91790771484375, 119.3007583618164, 69.34974670410156, 15.685968399047852, 30.64801597595215, 15.963765144348145, 50.3855094909668], "tau_ext": [14.985857009887695, -34.21723556518555, -35.763885498046875, 19.76101303100586, -2.6296699047088623, -6.666518688201904, 0.06056809797883034], "tcp_pose": [0.6278266906738281, -0.2537483274936676, -0.4327588677406311, 0.002321287291124463, -0.02615019865334034, 0.9996196627616882, -0.00844301376491785], "tcp_vel": [0.00407509645447135, 0.0013306097825989127, 0.08915910124778748, 0.06649981439113617, 0.015976501628756523, 0.010033105500042439], "flange_pose": [0.626861035823822, -0.2505642771720886, -0.24278800189495087, 0.002321287291124463, -0.02615019865334034, 0.9996196627616882, -0.00844301376491785], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-46.03387451171875, -102.38009643554688, 10.116997718811035, -17.71792221069336, 29.09061622619629, 0.7582170963287354], "ext_wrench_in_world": [51.37030820613028, -99.98654244465017, -8.181574196102476, 16.177620736987695, 29.96097265842211, -1.1782689424107098]}
+{"timestamp_ns": 1789729889755550704, "elapsed_ms": 9133, "source_timestamp_ns": 1789729889751744402, "q": [0.2860488295555115, -2.109733819961548, -0.2736349403858185, 0.17093072831630707, 2.0129623413085938, 0.1742272526025772, -0.7657151222229004], "theta": [0.28339940309524536, -2.1095895767211914, -0.2749081254005432, 0.15560677647590637, 2.01241135597229, 0.17482483386993408, -0.7651207447052002], "dq": [-0.15937353670597076, -0.023163555189967155, -0.03851229324936867, 0.007459468208253384, -0.015950597822666168, -0.17784252762794495, -0.024934209883213043], "dtheta": [-0.14887821674346924, -0.021070750430226326, -0.039669450372457504, 0.01102191861718893, -0.013060558587312698, -0.17338545620441437, -0.026372220367193222], "tau": [-58.06999969482422, -13.5, -11.940000534057617, 13.36400032043457, -3.9200000762939453, 3.936000108718872, -0.19600000977516174], "tau_des": [-2.5214335918426514, 0.22243385016918182, -1.3543916940689087, -0.0035370299592614174, 0.18671640753746033, 0.11387055367231369, -0.17641039192676544], "tau_dot": [11.935523986816406, -37.644256591796875, 10.313231468200684, 0.9838923215866089, 17.080486297607422, 85.46961212158203, -8.629190444946289], "tau_ext": [15.453714370727539, -34.27785110473633, -35.66191101074219, 19.64988136291504, -2.563962697982788, -6.8581318855285645, 0.07311121374368668], "tcp_pose": [0.6279670596122742, -0.2537292540073395, -0.4300832748413086, 0.002170773223042488, -0.02625344879925251, 0.9996250867843628, -0.007461457047611475], "tcp_vel": [0.005114446859806776, -0.0008115462260320783, 0.08927381783723831, 0.06046908721327782, 0.008712850511074066, 0.0065957531332969666], "flange_pose": [0.627068042755127, -0.25091663002967834, -0.24010621011257172, 0.002170773223042488, -0.02625344879925251, 0.9996250867843628, -0.007461457047611475], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-45.819522857666016, -102.40299987792969, 9.355664253234863, -17.908212661743164, 29.124195098876953, 0.774761974811554], "ext_wrench_in_world": [51.171728578215934, -99.9825080513774, -7.634382135861269, 16.359319147763845, 30.009868153095553, -1.1417387918035753]}
+{"timestamp_ns": 1789729889788971978, "elapsed_ms": 9166, "source_timestamp_ns": 1789729889781868818, "q": [0.28132539987564087, -2.1103768348693848, -0.27494463324546814, 0.17126916348934174, 2.0126187801361084, 0.16879922151565552, -0.7664271593093872], "theta": [0.27873605489730835, -2.110211133956909, -0.27619969844818115, 0.15594112873077393, 2.0120599269866943, 0.16938185691833496, -0.7658506035804749], "dq": [-0.16735100746154785, -0.022113965824246407, -0.04602237790822983, 0.011696137487888336, -0.013136466033756733, -0.17634347081184387, -0.020024096593260765], "dtheta": [-0.15274453163146973, -0.01953740604221821, -0.044229451566934586, 0.010701334103941917, -0.01231252308934927, -0.18167532980442047, -0.021533450111746788], "tau": [-58.07999801635742, -13.039999961853027, -11.748000144958496, 13.120000839233398, -3.864000082015991, 3.7800002098083496, -0.2240000069141388], "tau_des": [-1.6961067914962769, 0.44454294443130493, -1.0570340156555176, -0.1482892483472824, 0.248338982462883, -0.07540993392467499, -0.20155394077301025], "tau_dot": [13.56299114227295, -8.641627311706543, -4.502511501312256, -79.79801940917969, 9.203847885131836, -24.796072006225586, -41.98634338378906], "tau_ext": [15.872828483581543, -34.27244567871094, -35.6887321472168, 19.602886199951172, -2.5510220527648926, -6.957956790924072, 0.08818752318620682], "tcp_pose": [0.6281611919403076, -0.253742516040802, -0.4272465109825134, 0.0020956736989319324, -0.026311954483389854, 0.9996303915977478, -0.006510850507766008], "tcp_vel": [0.005121834110468626, 0.0010287680197507143, 0.09127233177423477, 0.06344214081764221, 0.012879380956292152, 0.004385523032397032], "flange_pose": [0.6273000240325928, -0.2512902617454529, -0.23726430535316467, 0.0020956736989319324, -0.026311954483389854, 0.9996303915977478, -0.006510850507766008], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-45.29533386230469, -102.20503234863281, 9.047957420349121, -17.985820770263672, 29.093950271606445, 0.7896838784217834], "ext_wrench_in_world": [50.646878743334106, -99.78765607908933, -7.531189040422002, 16.4346606010608, 29.987632059962216, -1.102336690336707]}
+{"timestamp_ns": 1789729889822262513, "elapsed_ms": 9200, "source_timestamp_ns": 1789729889821796114, "q": [0.27521467208862305, -2.1111130714416504, -0.27680331468582153, 0.17173470556735992, 2.012249708175659, 0.16160117089748383, -0.7671863436698914], "theta": [0.27275270223617554, -2.1109137535095215, -0.27798640727996826, 0.15639737248420715, 2.0116841793060303, 0.16217684745788574, -0.7666357755661011], "dq": [-0.14375704526901245, -0.016418490558862686, -0.05385642871260643, 0.010763483121991158, -0.00866046454757452, -0.18364645540714264, -0.018111558631062508], "dtheta": [-0.15414027869701385, -0.01709238439798355, -0.04685758426785469, 0.01274311076849699, -0.010268298909068108, -0.18506433069705963, -0.016963839530944824], "tau": [-56.93000030517578, -12.479999542236328, -11.468000411987305, 12.804000854492188, -3.7880001068115234, 3.7960002422332764, -0.2160000056028366], "tau_des": [-1.0368051528930664, 1.0454281568527222, -0.7798157334327698, -0.3729669749736786, 0.2865069508552551, -0.032823022454977036, -0.23252268135547638], "tau_dot": [-4.438939094543457, 2.6648874282836914, 78.79014587402344, 29.06137466430664, 40.83867263793945, 29.178997039794922, 4.144852161407471], "tau_ext": [15.00717830657959, -34.46648025512695, -36.01580810546875, 19.84946060180664, -2.6426823139190674, -6.854024887084961, 0.10438341647386551], "tcp_pose": [0.628395676612854, -0.25369250774383545, -0.4235806167125702, 0.0019211132312193513, -0.0263529010117054, 0.9996370673179626, -0.005249451845884323], "tcp_vel": [0.005292750429362059, 0.0024150863755494356, 0.09216978400945663, 0.06509917229413986, 0.01343337632715702, 0.0005775090539827943], "flange_pose": [0.627613365650177, -0.2517176866531372, -0.23359248042106628, 0.0019211132312193513, -0.0263529010117054, 0.9996370673179626, -0.005249451845884323], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-44.69293975830078, -101.84234619140625, 7.813190460205078, -18.004934310913086, 29.03998565673828, 0.8107061386108398], "ext_wrench_in_world": [50.0263848175851, -99.42086456234374, -6.574252728316392, 16.45369700076624, 29.93860695624529, -1.0542008601204886]}
+{"timestamp_ns": 1789729889855590704, "elapsed_ms": 9233, "source_timestamp_ns": 1789729889851766544, "q": [0.27060022950172424, -2.111585855484009, -0.27824124693870544, 0.17212849855422974, 2.0119521617889404, 0.15612518787384033, -0.7676491141319275], "theta": [0.2681274712085724, -2.111358880996704, -0.2793346047401428, 0.15678255259990692, 2.0113837718963623, 0.15669655799865723, -0.7671177983283997], "dq": [-0.14168818295001984, -0.015545859932899475, -0.04691162332892418, 0.01621049828827381, -0.011144474148750305, -0.18585272133350372, -0.017872996628284454], "dtheta": [-0.1518365889787674, -0.013226361945271492, -0.04278568550944328, 0.014040586538612843, -0.01120669487863779, -0.17972904443740845, -0.015925079584121704], "tau": [-57.32999801635742, -12.15999984741211, -11.600000381469727, 12.848000526428223, -3.8440001010894775, 3.688000202178955, -0.24400001764297485], "tau_des": [-1.5207879543304443, 0.9567923545837402, -1.0203773975372314, -0.011665411293506622, 0.12517763674259186, 0.0892837643623352, -0.23718443512916565], "tau_dot": [-47.45452880859375, -105.16666412353516, -16.61811637878418, -10.608616828918457, 68.72903442382812, -66.01337432861328, -20.041881561279297], "tau_ext": [15.030619621276855, -34.42911911010742, -36.001731872558594, 19.767276763916016, -2.6212027072906494, -6.820835113525391, 0.12017451971769333], "tcp_pose": [0.6285781860351562, -0.2536153495311737, -0.420811265707016, 0.0017657045973464847, -0.026354491710662842, 0.9996418356895447, -0.004298527725040913], "tcp_vel": [0.007218099664896727, 0.004603194538503885, 0.09029838442802429, 0.06495130807161331, 0.009852522052824497, 0.0013147431891411543], "flange_pose": [0.627864420413971, -0.25200018286705017, -0.2308194637298584, 0.0017657045973464847, -0.026354491710662842, 0.9996418356895447, -0.004298527725040913], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-44.6111946105957, -101.9133071899414, 6.84970235824585, -18.109046936035156, 29.049985885620117, 0.8237210512161255], "ext_wrench_in_world": [49.94295465573927, -99.47495421760132, -5.816704654119588, 16.556666990750333, 29.955998622130092, -1.0162194471704522]}
+{"timestamp_ns": 1789729889888888849, "elapsed_ms": 9266, "source_timestamp_ns": 1789729889881768021, "q": [0.2661330997943878, -2.1119422912597656, -0.27957671880722046, 0.17259691655635834, 2.0115716457366943, 0.15089669823646545, -0.7680788636207581], "theta": [0.2636162042617798, -2.111685037612915, -0.2805773615837097, 0.15724050998687744, 2.0109949111938477, 0.1514732837677002, -0.7675645351409912], "dq": [-0.15364746749401093, -0.010370049625635147, -0.047656018286943436, 0.016762971878051758, -0.017046721652150154, -0.16274239122867584, -0.011846012435853481], "dtheta": [-0.14882759749889374, -0.008318490348756313, -0.04022222012281418, 0.016574067994952202, -0.015078774653375149, -0.1693962961435318, -0.015315180644392967], "tau": [-58.189998626708984, -11.979999542236328, -11.828001022338867, 13.032000541687012, -3.932000160217285, 3.7080001831054688, -0.24400001764297485], "tau_des": [-2.251413583755493, 0.8756963610649109, -1.2078605890274048, 0.28205662965774536, 0.05215441435575485, -0.10066919773817062, -0.20924466848373413], "tau_dot": [27.984283447265625, -21.448400497436523, -9.954282760620117, 6.4097900390625, 27.833837509155273, -18.93486976623535, -16.790462493896484], "tau_ext": [15.557734489440918, -34.4083137512207, -35.842994689941406, 19.588560104370117, -2.5454840660095215, -6.831618309020996, 0.13205429911613464], "tcp_pose": [0.6287849545478821, -0.2535202205181122, -0.41811978816986084, 0.0016374633414670825, -0.02635713294148445, 0.9996454119682312, -0.0034149072598665953], "tcp_vel": [0.009625104255974293, 0.005065196193754673, 0.08926267176866531, 0.05785026773810387, 0.0056005194783210754, 0.003196030855178833], "flange_pose": [0.6281287670135498, -0.2522394061088562, -0.22812524437904358, 0.0016374633414670825, -0.02635713294148445, 0.9996454119682312, -0.0034149072598665953], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-44.6768684387207, -102.31775665283203, 6.651321887969971, -18.25861358642578, 29.05767822265625, 0.8343364000320435], "ext_wrench_in_world": [50.028075844650076, -99.86327446442137, -5.805516630058986, 16.705142746652005, 29.97335586111286, -0.9787212347410935]}
+{"timestamp_ns": 1789729889922256247, "elapsed_ms": 9300, "source_timestamp_ns": 1789729889921791739, "q": [0.2601546347141266, -2.112152576446533, -0.28138524293899536, 0.1734204888343811, 2.010876178741455, 0.1440403014421463, -0.7685635089874268], "theta": [0.25766733288764954, -2.1118593215942383, -0.2822405695915222, 0.15804684162139893, 2.010284900665283, 0.14460444450378418, -0.7680719494819641], "dq": [-0.15415790677070618, 0.0011180003639310598, -0.04006382077932358, 0.025870222598314285, -0.02090480923652649, -0.1764724999666214, -0.00974726490676403], "dtheta": [-0.14935559034347534, -0.0010342270834371448, -0.043494775891304016, 0.02232230268418789, -0.02028942108154297, -0.17564180493354797, -0.011005155742168427], "tau": [-58.06999969482422, -11.719999313354492, -11.700000762939453, 12.92400074005127, -3.892000198364258, 3.4280002117156982, -0.25200000405311584], "tau_des": [-2.047982931137085, 0.7929182648658752, -0.9211166501045227, 0.1636175811290741, 0.23682978749275208, -0.49020805954933167, -0.20243138074874878], "tau_dot": [-5.852057933807373, 151.49728393554688, 2.82368540763855, 19.202068328857422, -35.49542999267578, 10.48034381866455, -4.021672248840332], "tau_ext": [15.769065856933594, -34.36438751220703, -35.89387512207031, 19.539287567138672, -2.5635433197021484, -6.654238700866699, 0.13971847295761108], "tcp_pose": [0.6291449069976807, -0.25335198640823364, -0.4144754409790039, 0.0014746208908036351, -0.026371371001005173, 0.9996483325958252, -0.0023575741797685623], "tcp_vel": [0.009506129659712315, 0.0071771033108234406, 0.09027878195047379, 0.055159930139780045, 0.01339136902242899, 0.0021655955351889133], "flange_pose": [0.6285610795021057, -0.2524711787700653, -0.22447837889194489, 0.0014746208908036351, -0.026371371001005173, 0.9996483325958252, -0.0023575741797685623], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-44.54280471801758, -102.50505065917969, 6.813412666320801, -18.253095626831055, 28.969890594482422, 0.8420770764350891], "ext_wrench_in_world": [49.90537465287914, -100.04412884293902, -6.196395707442345, 16.70300261479377, 29.887877450537335, -0.9293223192368134]}
+{"timestamp_ns": 1789729889955571520, "elapsed_ms": 9333, "source_timestamp_ns": 1789729889951755409, "q": [0.2555215060710907, -2.112168550491333, -0.2827594578266144, 0.17415612936019897, 2.0102405548095703, 0.13857196271419525, -0.768844485282898], "theta": [0.25307685136795044, -2.1118526458740234, -0.28351524472236633, 0.1587616205215454, 2.0096395015716553, 0.13913047313690186, -0.7683701515197754], "dq": [-0.13871176540851593, -0.0010441610356792808, -0.0412580743432045, 0.0246793944388628, -0.02222389355301857, -0.18604284524917603, -0.011640666984021664], "dtheta": [-0.1520228087902069, 0.0008127805776894093, -0.04214918985962868, 0.02414104901254177, -0.023445526137948036, -0.18752609193325043, -0.010927877388894558], "tau": [-57.189998626708984, -11.550000190734863, -11.656000137329102, 12.84000015258789, -3.824000120162964, 3.2960002422332764, -0.24400001764297485], "tau_des": [-1.627064824104309, 1.019008755683899, -0.9394781589508057, -0.008469955995678902, 0.21059994399547577, -0.24251528084278107, -0.21290798485279083], "tau_dot": [24.985681533813477, -7.072504997253418, -8.449467658996582, -4.608335018157959, 8.564522743225098, -88.82160949707031, 67.23784637451172], "tau_ext": [15.092079162597656, -34.49673843383789, -36.03177261352539, 19.661794662475586, -2.623826265335083, -6.482059001922607, 0.15138454735279083], "tcp_pose": [0.6294224262237549, -0.2531391680240631, -0.41166308522224426, 0.0012790627079084516, -0.026364874094724655, 0.9996504187583923, -0.0015083432663232088], "tcp_vel": [0.007810903247445822, 0.009706864133477211, 0.09089402854442596, 0.06157882511615753, 0.020556097850203514, 0.002287154085934162], "flange_pose": [0.6289214491844177, -0.2525790333747864, -0.22166456282138824, 0.0012790627079084516, -0.026364874094724655, 0.9996504187583923, -0.0015083432663232088], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-44.501651763916016, -102.61493682861328, 6.16035270690918, -18.25147247314453, 28.899505615234375, 0.8498254418373108], "ext_wrench_in_world": [49.86445520123718, -100.14406280235546, -5.733673207670637, 16.705060642382932, 29.818821755598602, -0.893696574155937]}
+{"timestamp_ns": 1789729889988896102, "elapsed_ms": 9366, "source_timestamp_ns": 1789729889981754826, "q": [0.250934362411499, -2.112121820449829, -0.28404417634010315, 0.17489206790924072, 2.009493350982666, 0.1330951452255249, -0.769068717956543], "theta": [0.24846479296684265, -2.111785888671875, -0.2847139239311218, 0.15947191417217255, 2.0088822841644287, 0.13365495204925537, -0.7686095833778381], "dq": [-0.1480703502893448, 0.0014443084364756942, -0.03658154606819153, 0.024788619950413704, -0.02501942776143551, -0.17842668294906616, -0.005822469014674425], "dtheta": [-0.15294249355793, 0.003031098283827305, -0.036648642271757126, 0.024159494787454605, -0.02551599033176899, -0.17635129392147064, -0.006554785650223494], "tau": [-57.5, -11.09999942779541, -11.904000282287598, 12.956000328063965, -3.9040002822875977, 3.4280002117156982, -0.2680000066757202], "tau_des": [-1.460245966911316, 1.1690740585327148, -1.1026076078414917, 0.043293386697769165, 0.11651776731014252, -0.3189082741737366, -0.29972654581069946], "tau_dot": [-92.24740600585938, 106.28433990478516, -34.928672790527344, 6.50040864944458, -64.8448257446289, 59.97147750854492, 14.216052055358887], "tau_ext": [15.04164981842041, -34.58045959472656, -35.92388153076172, 19.551902770996094, -2.607171058654785, -6.463039398193359, 0.15753602981567383], "tcp_pose": [0.6296931505203247, -0.25287869572639465, -0.40889403223991394, 0.0010451459093019366, -0.02635672688484192, 0.9996518492698669, -0.0006506721838377416], "tcp_vel": [0.011695310473442078, 0.010242020711302757, 0.091582290828228, 0.05789864808320999, 0.009668657556176186, -0.0009332160116173327], "flange_pose": [0.6292895674705505, -0.2526420056819916, -0.2188946008682251, 0.0010451459093019366, -0.02635672688484192, 0.9996518492698669, -0.0006506721838377416], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-44.9012336730957, -103.20214080810547, 5.435833930969238, -18.451801300048828, 28.943269729614258, 0.8550465106964111], "ext_wrench_in_world": [50.288403691063735, -100.69930494886641, -5.203593017028035, 16.902811752733804, 29.874312183775576, -0.8563672057619344]}
+{"timestamp_ns": 1789729890022271063, "elapsed_ms": 9400, "source_timestamp_ns": 1789729890021893446, "q": [0.2447943389415741, -2.111941337585449, -0.28552713990211487, 0.17589715123176575, 2.0082504749298096, 0.12588860094547272, -0.7693368792533875], "theta": [0.2422816902399063, -2.1115849018096924, -0.28611600399017334, 0.16044028103351593, 2.0076193809509277, 0.1264665126800537, -0.7688965201377869], "dq": [-0.16742642223834991, 0.007219258695840836, -0.03298578038811684, 0.025458037853240967, -0.03394925221800804, -0.17579230666160583, -0.005639268551021814], "dtheta": [-0.14819225668907166, 0.007071767933666706, -0.03387592360377312, 0.02452322468161583, -0.03699464350938797, -0.17728617787361145, -0.004624239634722471], "tau": [-58.73999786376953, -10.670000076293945, -12.144001007080078, 13.004000663757324, -3.9600002765655518, 3.576000213623047, -0.25600001215934753], "tau_des": [-3.1619811058044434, 1.5505996942520142, -1.437896966934204, 0.2641682028770447, 0.17311899363994598, -0.04987462982535362, -0.2272510528564453], "tau_dot": [59.92539596557617, 108.57884979248047, -20.46147346496582, 4.121208667755127, 4.362878322601318, -41.98500061035156, 15.845226287841797], "tau_ext": [15.9513521194458, -34.714595794677734, -35.60295867919922, 19.32600212097168, -2.5100772380828857, -6.628285884857178, 0.1620107889175415], "tcp_pose": [0.6301106810569763, -0.2524643540382385, -0.4052053987979889, 0.0007635729853063822, -0.02636696957051754, 0.9996519088745117, 0.00047600778634659946], "tcp_vel": [0.00963518489152193, 0.011495362035930157, 0.08870216459035873, 0.05317400023341179, 0.02104390226304531, 0.001541223144158721], "flange_pose": [0.6298254132270813, -0.2526528239250183, -0.21520571410655975, 0.0007635729853063822, -0.02636696957051754, 0.9996519088745117, 0.00047600778634659946], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-45.155296325683594, -104.08670043945312, 5.468398571014404, -18.795318603515625, 28.980398178100586, 0.8560847043991089], "ext_wrench_in_world": [50.58773601242012, -101.5561481558523, -5.493188004109239, 17.242708751783937, 29.931731449055395, -0.8005050610734837]}
+{"timestamp_ns": 1789729890055707508, "elapsed_ms": 9433, "source_timestamp_ns": 1789729890051762928, "q": [0.24035225808620453, -2.111670732498169, -0.286569744348526, 0.1766594499349594, 2.0071656703948975, 0.12072597444057465, -0.7693804502487183], "theta": [0.23789918422698975, -2.11130428314209, -0.28711241483688354, 0.16117461025714874, 2.006521224975586, 0.12131786346435547, -0.7689518332481384], "dq": [-0.1635574996471405, 0.014302888885140419, -0.03448712080717087, 0.02803466096520424, -0.03884486109018326, -0.18254588544368744, -0.0008071144111454487], "dtheta": [-0.1525602638721466, 0.012149619869887829, -0.03587021678686142, 0.026384348049759865, -0.04101388528943062, -0.18730199337005615, -0.001702852314338088], "tau": [-58.279998779296875, -10.359999656677246, -12.032000541687012, 12.804000854492188, -3.888000249862671, 3.5320000648498535, -0.25200000405311584], "tau_des": [-2.3104474544525146, 1.328659176826477, -1.290092945098877, 0.1669633388519287, 0.21387484669685364, -0.16742265224456787, -0.23563160002231598], "tau_dot": [66.75210571289062, 88.295654296875, 11.645106315612793, 27.466703414916992, 45.36406326293945, -121.51500701904297, 57.397708892822266], "tau_ext": [15.933015823364258, -34.73641586303711, -35.63226318359375, 19.350067138671875, -2.5334742069244385, -6.666682720184326, 0.16401785612106323], "tcp_pose": [0.6304539442062378, -0.2521195709705353, -0.4025281071662903, 0.0005294046713970602, -0.02635805867612362, 0.9996516704559326, 0.0012294987682253122], "tcp_vel": [0.010413981042802334, 0.014863241463899612, 0.09092572331428528, 0.05563102290034294, 0.027405548840761185, 0.0026715018320828676], "flange_pose": [0.6302651762962341, -0.25259193778038025, -0.212528795003891, 0.0005294046713970602, -0.02635805867612362, 0.9996516704559326, 0.0012294987682253122], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-44.637569427490234, -103.85136413574219, 5.4022536277771, -18.79239845275879, 28.8646183013916, 0.8537672162055969], "ext_wrench_in_world": [50.053757475184796, -101.34107741524714, -5.604477891795811, 17.24598615906291, 29.81683905229403, -0.7625077591434021]}
+{"timestamp_ns": 1789729890088895276, "elapsed_ms": 9466, "source_timestamp_ns": 1789729890081881848, "q": [0.2354286015033722, -2.1112523078918457, -0.2877274751663208, 0.1775430142879486, 2.0058581829071045, 0.11480900645256042, -0.7693833112716675], "theta": [0.2330615222454071, -2.1108763217926025, -0.28823068737983704, 0.16202327609062195, 2.0052034854888916, 0.11539673805236816, -0.7689638137817383], "dq": [-0.13932178914546967, 0.013530516996979713, -0.033793531358242035, 0.028282783925533295, -0.04541424661874771, -0.1959739774465561, -0.0018851468339562416], "dtheta": [-0.1561083048582077, 0.015310957096517086, -0.03675925359129906, 0.027389133349061012, -0.044327691197395325, -0.19948804378509521, 0.0005612704553641379], "tau": [-57.279998779296875, -10.010000228881836, -11.904000282287598, 12.572000503540039, -3.7960002422332764, 3.5960001945495605, -0.2639999985694885], "tau_des": [-1.42652428150177, 1.3067160844802856, -1.1145464181900024, 0.007985571399331093, 0.3131665587425232, 0.08622107654809952, -0.19255146384239197], "tau_dot": [65.99708557128906, 40.49897384643555, -46.85037612915039, -39.216392517089844, 49.19573974609375, -8.56637191772461, 22.051395416259766], "tau_ext": [15.099303245544434, -35.02324676513672, -35.80728530883789, 19.58358383178711, -2.618276357650757, -6.662612438201904, 0.1584605723619461], "tcp_pose": [0.6308189034461975, -0.2516547739505768, -0.39957571029663086, 0.00016740775026846677, -0.026369839906692505, 0.9996500611305237, 0.0020981577690690756], "tcp_vel": [0.009630256332457066, 0.018062947317957878, 0.09225546568632126, 0.060771770775318146, 0.0354059673845768, 0.0030051739886403084], "flange_pose": [0.6307763457298279, -0.252453476190567, -0.20957739651203156, 0.00016740775026846677, -0.026369839906692505, 0.9996500611305237, 0.0020981577690690756], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-44.0142936706543, -103.41278076171875, 4.318305969238281, -18.80560302734375, 28.748472213745117, 0.8497770428657532], "ext_wrench_in_world": [49.40616719045235, -100.92944111479619, -4.73155349180639, 17.263963936651983, 29.703250882960326, -0.7210527352376408]}
+{"timestamp_ns": 1789729890122257969, "elapsed_ms": 9500, "source_timestamp_ns": 1789729890121801649, "q": [0.22935310006141663, -2.110647439956665, -0.2890772223472595, 0.17861030995845795, 2.004181146621704, 0.1073310449719429, -0.7693368792533875], "theta": [0.22696305811405182, -2.1102559566497803, -0.289558470249176, 0.16305363178253174, 2.0035204887390137, 0.10788881778717041, -0.768923819065094], "dq": [-0.15541721880435944, 0.01695210486650467, -0.0312819667160511, 0.024946967139840126, -0.04521501436829567, -0.1851670742034912, -4.2981446313206106e-05], "dtheta": [-0.15201160311698914, 0.017496971413493156, -0.03310423344373703, 0.025882935151457787, -0.046931829303503036, -0.1858680248260498, 0.003661313559859991], "tau": [-58.099998474121094, -9.819999694824219, -12.268000602722168, 12.78800106048584, -3.9880001544952393, 3.876000165939331, -0.19600000977516174], "tau_des": [-1.9628993272781372, 1.4114187955856323, -1.4285788536071777, 0.2666386663913727, 0.17189057171344757, 0.2386987954378128, -0.09159475564956665], "tau_dot": [-39.26382827758789, -80.77192687988281, -50.6784553527832, -3.0475008487701416, -25.799957275390625, -16.600109100341797, 35.35314178466797], "tau_ext": [15.279220581054688, -35.127403259277344, -35.65606689453125, 19.472431182861328, -2.5689237117767334, -6.855275630950928, 0.13976556062698364], "tcp_pose": [0.6312645673751831, -0.25096774101257324, -0.3959721028804779, -0.00034686404978856444, -0.026404893025755882, 0.9996459484100342, 0.0032529812306165695], "tcp_vel": [0.011948194354772568, 0.018081633374094963, 0.09025677293539047, 0.05392102897167206, 0.02943207137286663, 0.0027082001324743032], "flange_pose": [0.6314290165901184, -0.2521999776363373, -0.20597617328166962, -0.00034686404978856444, -0.026404893025755882, 0.9996459484100342, 0.0032529812306165695], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-43.40210723876953, -103.22251892089844, 2.8846702575683594, -18.996667861938477, 28.6708984375, 0.8389441967010498], "ext_wrench_in_world": [48.7880757939524, -100.76634642116576, -3.5804660156127723, 17.455944395777223, 29.638650440263664, -0.6618457273543964]}
+{"timestamp_ns": 1789729890155587484, "elapsed_ms": 9533, "source_timestamp_ns": 1789729890151746884, "q": [0.2248612344264984, -2.1100807189941406, -0.29007261991500854, 0.179425448179245, 2.0028247833251953, 0.10189838707447052, -0.7691605091094971], "theta": [0.22243507206439972, -2.1096765995025635, -0.29055631160736084, 0.16384375095367432, 2.0021626949310303, 0.10241949558258057, -0.7687411904335022], "dq": [-0.16014604270458221, 0.020303430035710335, -0.03144831582903862, 0.026768773794174194, -0.049030035734176636, -0.17358563840389252, 0.0021377792581915855], "dtheta": [-0.1481483429670334, 0.022079169750213623, -0.03307601436972618, 0.026579618453979492, -0.045990753918886185, -0.1779952347278595, 0.008350236341357231], "tau": [-58.529998779296875, -9.429999351501465, -12.212000846862793, 12.74000072479248, -3.9600002765655518, 3.8360002040863037, -0.1720000058412552], "tau_des": [-1.9206141233444214, 1.5927760601043701, -1.4125317335128784, 0.2420726716518402, 0.1130245253443718, 0.03455929085612297, -0.10234641283750534], "tau_dot": [-35.20420837402344, 78.18865203857422, 74.70277404785156, -36.69828414916992, 11.566143989562988, -15.200161933898926, 11.574569702148438], "tau_ext": [16.002994537353516, -34.934791564941406, -35.463138580322266, 19.224693298339844, -2.475548267364502, -6.983484745025635, 0.09459076821804047], "tcp_pose": [0.6316428780555725, -0.2504281997680664, -0.39329200983047485, -0.0007271712529473007, -0.026409637182950974, 0.9996427893638611, 0.004040563013404608], "tcp_vel": [0.01435776799917221, 0.01975030079483986, 0.08823920041322708, 0.05017766356468201, 0.026600247249007225, 0.0015171733684837818], "flange_pose": [0.6319596171379089, -0.2519557774066925, -0.2032984346151352, -0.0007271712529473007, -0.026409637182950974, 0.9996427893638611, 0.004040563013404608], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-42.67576217651367, -102.68197631835938, 2.722644805908203, -18.983928680419922, 28.53215980529785, 0.8089199066162109], "ext_wrench_in_world": [48.03269425640383, -100.25995062808866, -3.608921619218598, 17.449736605229628, 29.500401836930696, -0.6008548754645916]}
+{"timestamp_ns": 1789729890188894581, "elapsed_ms": 9566, "source_timestamp_ns": 1789729890181735066, "q": [0.22040140628814697, -2.109377145767212, -0.29109594225883484, 0.1802881360054016, 2.001436471939087, 0.09652837365865707, -0.7689217329025269], "theta": [0.2179933786392212, -2.1089611053466797, -0.2915881872177124, 0.16468146443367004, 2.000781774520874, 0.09699249267578125, -0.7684763073921204], "dq": [-0.14936280250549316, 0.026020117104053497, -0.032877642661333084, 0.02826138772070408, -0.04866595193743706, -0.1800094097852707, 0.006453298963606358], "dtheta": [-0.1480690836906433, 0.025496993213891983, -0.03587627783417702, 0.02868461422622204, -0.04673796892166138, -0.18344281613826752, 0.011773494072258472], "tau": [-57.59000015258789, -8.84999942779541, -11.928000450134277, 12.284000396728516, -3.832000255584717, 3.6120002269744873, -0.1600000113248825], "tau_des": [-0.2798589766025543, 2.4808127880096436, -0.915820300579071, -0.530266523361206, 0.2584424912929535, -0.26315081119537354, -0.1019827201962471], "tau_dot": [0.9548189043998718, 44.722145080566406, 8.25362491607666, -15.963127136230469, 60.8629035949707, -51.65775680541992, -16.3870849609375], "tau_ext": [15.845342636108398, -35.110469818115234, -35.5998420715332, 19.3580322265625, -2.5072717666625977, -6.898966312408447, 0.05293652042746544], "tcp_pose": [0.6320681571960449, -0.24983777105808258, -0.3906203806400299, -0.0011129870545119047, -0.026429664343595505, 0.999638557434082, 0.004789542872458696], "tcp_vel": [0.013703683391213417, 0.02141587622463703, 0.08839651197195053, 0.05073799192905426, 0.032227884978055954, -4.199125760351308e-05], "flange_pose": [0.6325390934944153, -0.25164595246315, -0.2006295770406723, -0.0011129870545119047, -0.026429664343595505, 0.999638557434082, 0.004789542872458696], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-41.706050872802734, -101.86582946777344, 2.5070085525512695, -18.80533218383789, 28.30147933959961, 0.7657753229141235], "ext_wrench_in_world": [47.0229960855924, -99.49078335297013, -3.5705533733021415, 17.28196084793304, 29.261808389625934, -0.5301530145003204]}
+{"timestamp_ns": 1789729890222268972, "elapsed_ms": 9600, "source_timestamp_ns": 1789729890221790665, "q": [0.21461181342601776, -2.1082277297973633, -0.2925131320953369, 0.181431382894516, 1.9995442628860474, 0.08924347907304764, -0.7684559226036072], "theta": [0.2122081071138382, -2.1077938079833984, -0.2930317521095276, 0.16580288112163544, 1.998909831047058, 0.08963227272033691, -0.7679533362388611], "dq": [-0.12874004244804382, 0.028506172820925713, -0.035963673144578934, 0.02700776793062687, -0.0462995283305645, -0.18002797663211823, 0.010280193760991096], "dtheta": [-0.14140091836452484, 0.031792718917131424, -0.03398331254720688, 0.027010170742869377, -0.04682536795735359, -0.179701566696167, 0.013494199141860008], "tau": [-56.349998474121094, -8.019999504089355, -11.744000434875488, 11.832000732421875, -3.824000120162964, 3.432000160217285, -0.12400000542402267], "tau_des": [1.2348579168319702, 2.5083694458007812, -0.7520140409469604, -0.703625500202179, 0.1899380385875702, -0.3544222414493561, -0.03192700073122978], "tau_dot": [33.59212875366211, -46.408409118652344, -42.12041473388672, 0.8949207663536072, -28.970256805419922, 35.87260818481445, -14.585501670837402], "tau_ext": [14.823722839355469, -35.49162292480469, -35.89641571044922, 19.691749572753906, -2.5842947959899902, -6.6546244621276855, 0.028986716642975807], "tcp_pose": [0.6326401233673096, -0.24889901280403137, -0.38717737793922424, -0.0017812344012781978, -0.026490775868296623, 0.9996305704116821, 0.005816642194986343], "tcp_vel": [0.015713240951299667, 0.026259658858180046, 0.08328241854906082, 0.051528215408325195, 0.03563077747821808, 0.005251826252788305], "flange_pose": [0.6333752870559692, -0.2510905861854553, -0.19719146192073822, -0.0017812344012781978, -0.026490775868296623, 0.9996305704116821, 0.005816642194986343], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-40.92975997924805, -101.38406372070312, 1.1234735250473022, -18.6992244720459, 28.065122604370117, 0.7203709483146667], "ext_wrench_in_world": [46.23510688763215, -99.05338065516864, -2.4450957272514193, 17.184270876774193, 29.02287806880219, -0.4521282943518856]}
+{"timestamp_ns": 1789729890255595188, "elapsed_ms": 9633, "source_timestamp_ns": 1789729890251721131, "q": [0.2106817066669464, -2.1072299480438232, -0.29346397519111633, 0.18218550086021423, 1.9980841875076294, 0.08409399539232254, -0.7680249214172363], "theta": [0.20822365581989288, -2.106778144836426, -0.2940080463886261, 0.16655781865119934, 1.9974634647369385, 0.08444535732269287, -0.7674703598022461], "dq": [-0.12161590903997421, 0.0331713929772377, -0.031063318252563477, 0.023410027846693993, -0.04610396549105644, -0.17376242578029633, 0.013479840010404587], "dtheta": [-0.12682148814201355, 0.03668311983346939, -0.031435005366802216, 0.02383277378976345, -0.049054235219955444, -0.16573551297187805, 0.017361527308821678], "tau": [-57.09000015258789, -7.699999809265137, -11.968000411987305, 11.976000785827637, -3.9080002307891846, 3.384000062942505, -0.06400000303983688], "tau_des": [0.35201627016067505, 2.5673537254333496, -0.980799674987793, -0.36119160056114197, 0.09300754964351654, -0.3207518458366394, -0.009622828103601933], "tau_dot": [36.515708923339844, 103.05633544921875, -93.13313293457031, 17.21136474609375, 10.78276252746582, 21.370391845703125, 51.913875579833984], "tau_ext": [15.16439437866211, -35.519710540771484, -35.780250549316406, 19.566951751708984, -2.500066041946411, -6.61388635635376, 0.005626201163977385], "tcp_pose": [0.6330768465995789, -0.2480974644422531, -0.3848732113838196, -0.002369905589148402, -0.026595570147037506, 0.9996220469474792, 0.006546882912516594], "tcp_vel": [0.01638413779437542, 0.0284886471927166, 0.07415995746850967, 0.04473389312624931, 0.04070346802473068, 0.008529050275683403], "flange_pose": [0.6340432167053223, -0.25056037306785583, -0.19489163160324097, -0.002369905589148402, -0.026595570147037506, 0.9996220469474792, 0.006546882912516594], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-40.78377914428711, -101.59639739990234, 0.44226330518722534, -18.766136169433594, 27.967504501342773, 0.6895397305488586], "ext_wrench_in_world": [46.12220975179522, -99.2684507709313, -1.9638360192693096, 17.24967742050169, 28.932878382390268, -0.4022650877280436]}
+{"timestamp_ns": 1789729890288921823, "elapsed_ms": 9666, "source_timestamp_ns": 1789729890281807954, "q": [0.20715633034706116, -2.1060638427734375, -0.29435995221138, 0.1828906238079071, 1.996573805809021, 0.07931990921497345, -0.7674698829650879], "theta": [0.2046491801738739, -2.1055846214294434, -0.29493463039398193, 0.16727440059185028, 1.995962381362915, 0.07965421676635742, -0.7668584585189819], "dq": [-0.12218027561903, 0.03793366998434067, -0.028471119701862335, 0.024151509627699852, -0.04797123000025749, -0.15274837613105774, 0.020046597346663475], "dtheta": [-0.11486320942640305, 0.04256543144583702, -0.03005526401102543, 0.023755552247166634, -0.04843953624367714, -0.1533311903476715, 0.02023577131330967], "tau": [-57.68000030517578, -7.789999961853027, -12.028000831604004, 12.10400104522705, -4.019999980926514, 3.3400001525878906, -0.07200000435113907], "tau_des": [-0.2968110144138336, 2.3546814918518066, -1.120102882385254, -0.0651649758219719, -0.014796246774494648, -0.47543203830718994, -0.03513846546411514], "tau_dot": [1.3117510080337524, 31.841882705688477, 26.226322174072266, -62.81618118286133, 6.897680759429932, -50.49280548095703, 13.510910987854004], "tau_ext": [15.714925765991211, -35.476768493652344, -35.66067886352539, 19.40995216369629, -2.413142681121826, -6.589300632476807, -0.017451724037528038], "tcp_pose": [0.6335393786430359, -0.24722689390182495, -0.3828171193599701, -0.0030320794321596622, -0.02673548273742199, 0.9996121525764465, 0.0071822297759354115], "tcp_vel": [0.017949484288692474, 0.03074502758681774, 0.06700395047664642, 0.0391991026699543, 0.042299654334783554, 0.010887911543250084], "flange_pose": [0.6347640752792358, -0.24992427229881287, -0.19284020364284515, -0.0030320794321596622, -0.02673548273742199, 0.9996121525764465, 0.0071822297759354115], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-40.60200881958008, -101.66040802001953, 0.5949757695198059, -18.744054794311523, 27.848657608032227, 0.6578412055969238], "ext_wrench_in_world": [45.96872768327151, -99.32418729848958, -2.3016445912032895, 17.225369712898573, 28.818002389434046, -0.3597947885602979]}
+{"timestamp_ns": 1789729890322260388, "elapsed_ms": 9700, "source_timestamp_ns": 1789729890321789110, "q": [0.20278407633304596, -2.1042418479919434, -0.29561376571655273, 0.18390637636184692, 1.9945658445358276, 0.07318104058504105, -0.7666577100753784], "theta": [0.2003123015165329, -2.103708505630493, -0.2962213158607483, 0.16831056773662567, 1.9939662218093872, 0.07349836826324463, -0.7659689784049988], "dq": [-0.1166025921702385, 0.04736936837434769, -0.037222638726234436, 0.03018941357731819, -0.05039847269654274, -0.15399233996868134, 0.021611429750919342], "dtheta": [-0.10359122604131699, 0.05061032250523567, -0.03396931663155556, 0.026808002963662148, -0.048562221229076385, -0.15668000280857086, 0.023145286366343498], "tau": [-57.78999710083008, -7.71999979019165, -11.832000732421875, 12.04800033569336, -3.9800002574920654, 3.192000150680542, -0.04800000041723251], "tau_des": [-0.4155586063861847, 1.7119606733322144, -0.9443522095680237, 0.08634641021490097, 0.06963629275560379, -0.46823850274086, -0.041857339441776276], "tau_dot": [-277.245361328125, 79.77132415771484, -13.84229850769043, 7.424896717071533, -18.506662368774414, 3.279757022857666, -50.958927154541016], "tau_ext": [15.640259742736816, -35.413917541503906, -35.785484313964844, 19.41409683227539, -2.3934218883514404, -6.466306686401367, -0.04797869548201561], "tcp_pose": [0.6341986656188965, -0.2459692656993866, -0.3802565336227417, -0.004001549445092678, -0.026980586349964142, 0.9995964169502258, 0.007942372001707554], "tcp_vel": [0.016029663383960724, 0.03462725505232811, 0.06022755801677704, 0.03817436471581459, 0.05751119181513786, 0.013495607301592827], "flange_pose": [0.6358000636100769, -0.24894511699676514, -0.1902865767478943, -0.004001549445092678, -0.026980586349964142, 0.9995964169502258, 0.007942372001707554], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-40.154911041259766, -101.33621215820312, 0.5371504426002502, -18.576833724975586, 27.649551391601562, 0.6178526282310486], "ext_wrench_in_world": [45.55020848592422, -98.99899455709206, -2.4720213339529624, 17.054342676977807, 28.618688956203325, -0.3134063763196891]}
+{"timestamp_ns": 1789729890355585173, "elapsed_ms": 9733, "source_timestamp_ns": 1789729890351749533, "q": [0.1996823102235794, -2.102734327316284, -0.2966277599334717, 0.18476493656635284, 1.9931508302688599, 0.06855401396751404, -0.7660577893257141], "theta": [0.19730831682682037, -2.1021552085876465, -0.29724928736686707, 0.16918042302131653, 1.992566704750061, 0.0688638687133789, -0.7653122544288635], "dq": [-0.0944540873169899, 0.053047291934490204, -0.03249280899763107, 0.028799159452319145, -0.046343546360731125, -0.15407489240169525, 0.023951128125190735], "dtheta": [-0.09651144593954086, 0.05268673971295357, -0.03525695204734802, 0.029210085049271584, -0.04325227066874504, -0.14987722039222717, 0.022620508447289467], "tau": [-57.48999786376953, -7.579999923706055, -11.820000648498535, 11.91200065612793, -4.004000186920166, 3.2720000743865967, -0.03200000151991844], "tau_des": [-0.17773021757602692, 2.041994333267212, -0.7709051966667175, -0.35962942242622375, 0.10442891716957092, -0.557827353477478, -0.025013599544763565], "tau_dot": [131.46192932128906, -138.4010467529297, 1.451562762260437, 52.49421691894531, -2.999361753463745, -11.757989883422852, 1.664092779159546], "tau_ext": [15.371712684631348, -35.769920349121094, -35.946571350097656, 19.639965057373047, -2.4121906757354736, -6.410024166107178, -0.07007456570863724], "tcp_pose": [0.6346761584281921, -0.2449638545513153, -0.378434956073761, -0.00480352807790041, -0.02719160169363022, 0.9995824098587036, 0.008517727255821228], "tcp_vel": [0.015920786187052727, 0.034579645842313766, 0.05664599686861038, 0.03593675047159195, 0.056054022163152695, 0.013322875835001469], "flange_pose": [0.6365887522697449, -0.24814960360527039, -0.18847128748893738, -0.00480352807790041, -0.02719160169363022, 0.9995824098587036, 0.008517727255821228], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-39.6536979675293, -101.05522918701172, 0.03394029289484024, -18.46017074584961, 27.484779357910156, 0.5920379757881165], "ext_wrench_in_world": [45.07803056512419, -98.73172011834198, -2.143563231186946, 16.934223880477077, 28.45508901139763, -0.285447373466716]}
+{"timestamp_ns": 1789729890388898800, "elapsed_ms": 9766, "source_timestamp_ns": 1789729890381744544, "q": [0.19682887196540833, -2.1011884212493896, -0.2976756691932678, 0.18558916449546814, 1.9918938875198364, 0.06404165178537369, -0.7654260396957397], "theta": [0.19453246891498566, -2.100559949874878, -0.298317015171051, 0.17001526057720184, 1.991328477859497, 0.06434416770935059, -0.764629602432251], "dq": [-0.07266544550657272, 0.04933810979127884, -0.035370126366615295, 0.025819525122642517, -0.03795786574482918, -0.15036895871162415, 0.024259621277451515], "dtheta": [-0.0880281999707222, 0.05332058295607567, -0.03560619801282883, 0.02659866027534008, -0.04080624505877495, -0.14957566559314728, 0.024155113846063614], "tau": [-57.69999694824219, -7.349999904632568, -11.940000534057617, 11.932000160217285, -4.0920000076293945, 3.380000114440918, -0.00800000037997961], "tau_des": [-1.0245428085327148, 2.3170788288116455, -0.9009798765182495, -0.29722338914871216, 0.06459769606590271, -0.09024976938962936, 0.02407328598201275], "tau_dot": [91.78418731689453, 61.47791290283203, -80.60968017578125, 29.58272933959961, -39.998268127441406, 52.449798583984375, -19.16103744506836], "tau_ext": [15.354662895202637, -35.91958999633789, -35.973846435546875, 19.695240020751953, -2.3782665729522705, -6.457150936126709, -0.09131606668233871], "tcp_pose": [0.6351317763328552, -0.24391646683216095, -0.37677302956581116, -0.005648156628012657, -0.02741253934800625, 0.9995667934417725, 0.009106610901653767], "tcp_vel": [0.013977435417473316, 0.03637903183698654, 0.05072540417313576, 0.03794404864311218, 0.0636092871427536, 0.014406273141503334], "flange_pose": [0.6373719573020935, -0.2473166435956955, -0.18681667745113373, -0.005648156628012657, -0.02741253934800625, 0.9995667934417725, 0.009106610901653767], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-39.109317779541016, -100.76979064941406, -0.5498318672180176, -18.393253326416016, 27.337825775146484, 0.5678852796554565], "ext_wrench_in_world": [44.56647995275017, -98.46420448096477, -1.7381197720372432, 16.862404089600467, 28.31223511308904, -0.260097968120276]}
+{"timestamp_ns": 1789729890422265202, "elapsed_ms": 9800, "source_timestamp_ns": 1789729890421767026, "q": [0.19345420598983765, -2.0990610122680664, -0.29898932576179504, 0.18662545084953308, 1.990339994430542, 0.05845346674323082, -0.7644474506378174], "theta": [0.19115568697452545, -2.098342180252075, -0.2996721863746643, 0.17106401920318604, 1.9898003339767456, 0.05874514579772949, -0.7635917663574219], "dq": [-0.07145601511001587, 0.054559413343667984, -0.02850758098065853, 0.028205247595906258, -0.03485206142067909, -0.1342054009437561, 0.025198034942150116], "dtheta": [-0.07936424016952515, 0.05675845220685005, -0.03323499858379364, 0.02648010663688183, -0.03599268198013306, -0.13786645233631134, 0.027360321953892708], "tau": [-58.21999740600586, -7.009999752044678, -12.052000999450684, 11.920001029968262, -4.176000118255615, 3.5440001487731934, 0.020000001415610313], "tau_des": [-1.1373028755187988, 2.5644328594207764, -0.959027111530304, -0.29562294483184814, -0.07027736306190491, 0.014312449842691422, 0.019589217379689217], "tau_dot": [78.00979614257812, 64.7003173828125, 10.121953010559082, 11.64652156829834, -72.83769226074219, -5.855474472045898, 38.1843376159668], "tau_ext": [15.669914245605469, -35.94627380371094, -35.84660339355469, 19.634563446044922, -2.291436195373535, -6.632461071014404, -0.1202269196510315], "tcp_pose": [0.635746955871582, -0.24248318374156952, -0.3748258054256439, -0.006777316331863403, -0.027681570500135422, 0.9995453357696533, 0.009842543862760067], "tcp_vel": [0.01619184948503971, 0.038227975368499756, 0.04531405493617058, 0.0361979678273201, 0.05921554192900658, 0.013556121848523617], "flange_pose": [0.6384246945381165, -0.24615035951137543, -0.1848800629377365, -0.006777316331863403, -0.027681570500135422, 0.9995453357696533, 0.009842543862760067], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-38.077884674072266, -99.87669372558594, -1.0740801095962524, -18.238367080688477, 27.098896026611328, 0.5349950790405273], "ext_wrench_in_world": [43.544817183431476, -97.61277535773847, -1.4240373272809972, 16.70521810958612, 28.074148832528866, -0.22863640524568826]}
+{"timestamp_ns": 1789729890455584068, "elapsed_ms": 9833, "source_timestamp_ns": 1789729890451748388, "q": [0.19116196036338806, -2.097357749938965, -0.2999005615711212, 0.18743516504764557, 1.9892191886901855, 0.054525308310985565, -0.7636324167251587], "theta": [0.18883129954338074, -2.0965681076049805, -0.30062299966812134, 0.1718778908252716, 1.9886972904205322, 0.05479609966278076, -0.7627349495887756], "dq": [-0.07484220713376999, 0.06101604551076889, -0.027851950377225876, 0.028341732919216156, -0.03930114954710007, -0.12453518062829971, 0.03407007455825806], "dtheta": [-0.07693459838628769, 0.05972997099161148, -0.031210074201226234, 0.02747858129441738, -0.03600047156214714, -0.13200370967388153, 0.029468752443790436], "tau": [-58.099998474121094, -6.960000038146973, -12.056000709533691, 11.820000648498535, -4.148000240325928, 3.576000213623047, 0.03200000151991844], "tau_des": [-0.6143288016319275, 2.3818349838256836, -0.8735737204551697, -0.3401821255683899, -0.06216738745570183, -0.13380777835845947, 0.03335975483059883], "tau_dot": [28.45586395263672, 25.052217483520508, 17.389677047729492, -45.62615966796875, 33.05040740966797, -28.315805435180664, 24.59552001953125], "tau_ext": [15.462523460388184, -36.0125732421875, -35.855224609375, 19.69917869567871, -2.2697441577911377, -6.717531204223633, -0.13751216232776642], "tcp_pose": [0.6362415552139282, -0.24136753380298615, -0.3735085427761078, -0.007608954329043627, -0.027869127690792084, 0.9995289444923401, 0.01035592332482338], "tcp_vel": [0.01811804063618183, 0.03929588571190834, 0.04401938617229462, 0.033994536846876144, 0.0560101643204689, 0.012938400730490685], "flange_pose": [0.6392412781715393, -0.245220348238945, -0.18357130885124207, -0.007608954329043627, -0.027869127690792084, 0.9995289444923401, 0.01035592332482338], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-37.160743713378906, -99.0605697631836, -1.4645901918411255, -18.118606567382812, 26.896589279174805, 0.5118799209594727], "ext_wrench_in_world": [42.625090293474585, -96.83898696093107, -1.1724595608334691, 16.58605793166874, 27.87169885162602, -0.20862708670534114]}
+{"timestamp_ns": 1789729890488897155, "elapsed_ms": 9866, "source_timestamp_ns": 1789729890481868418, "q": [0.18889333307743073, -2.0954980850219727, -0.30080074071884155, 0.18830804526805878, 1.988071322441101, 0.050513796508312225, -0.7627224326133728], "theta": [0.18653103709220886, -2.0946459770202637, -0.30156582593917847, 0.17275087535381317, 1.9875656366348267, 0.050740599632263184, -0.7617802619934082], "dq": [-0.07546879351139069, 0.06296943873167038, -0.02672417461872101, 0.02932949736714363, -0.031826239079236984, -0.12481443583965302, 0.03031914122402668], "dtheta": [-0.07126213610172272, 0.06284302473068237, -0.0300286952406168, 0.028724035248160362, -0.037003591656684875, -0.1317412406206131, 0.032528314739465714], "tau": [-58.029998779296875, -7.190000057220459, -12.0600004196167, 11.844000816345215, -4.196000099182129, 3.640000104904175, 0.036000002175569534], "tau_des": [-0.8879072666168213, 1.7273403406143188, -0.9561004638671875, -0.07822571694850922, -0.05930202826857567, 0.05231639742851257, 0.035439975559711456], "tau_dot": [-69.91033935546875, 61.27363204956055, 21.50811195373535, -32.413818359375, 2.280229330062866, 24.430891036987305, -55.18058776855469], "tau_ext": [15.183282852172852, -36.08127975463867, -35.92298889160156, 19.829818725585938, -2.2798707485198975, -6.761892318725586, -0.1497633010149002], "tcp_pose": [0.6367761492729187, -0.24015675485134125, -0.3722136318683624, -0.008482959121465683, -0.028054893016815186, 0.9995110630989075, 0.010891114361584187], "tcp_vel": [0.017355281859636307, 0.04097410663962364, 0.04039936140179634, 0.03387053683400154, 0.061329372227191925, 0.011537790298461914], "flange_pose": [0.6401142477989197, -0.24420292675495148, -0.18228603899478912, -0.008482959121465683, -0.028054893016815186, 0.9995110630989075, 0.010891114361584187], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-36.0605583190918, -97.91207122802734, -2.2264211177825928, -17.916641235351562, 26.645790100097656, 0.4923829734325409], "ext_wrench_in_world": [41.510766093563994, -95.75310350437695, -0.5421965013937478, 16.387773560598962, 27.616127816071742, -0.19226643027591955]}
+{"timestamp_ns": 1789729890522259077, "elapsed_ms": 9900, "source_timestamp_ns": 1789729890521743893, "q": [0.18621905148029327, -2.093050241470337, -0.30188384652137756, 0.18944531679153442, 1.9866702556610107, 0.045637764036655426, -0.7615090012550354], "theta": [0.183847114443779, -2.092144727706909, -0.3027094602584839, 0.17388556897640228, 1.9861772060394287, 0.04579448699951172, -0.7605156898498535], "dq": [-0.07523009181022644, 0.07022428512573242, -0.027544939890503883, 0.027961572632193565, -0.036085810512304306, -0.12105978280305862, 0.031044302508234978], "dtheta": [-0.06461270153522491, 0.06508684903383255, -0.028852635994553566, 0.029589533805847168, -0.03578587993979454, -0.12407686561346054, 0.0336751788854599], "tau": [-58.1099967956543, -7.789999961853027, -12.120000839233398, 12.064000129699707, -4.252000331878662, 3.6600000858306885, 0.04800000041723251], "tau_des": [-0.38308343291282654, 0.8601168394088745, -0.9503269195556641, 0.12159405648708344, -0.1090376004576683, -0.01411031186580658, 0.05643115192651749], "tau_dot": [8.530204772949219, 59.4594841003418, 33.92171096801758, 53.37955093383789, -51.71617889404297, 62.74655532836914, 8.520051956176758], "tau_ext": [15.297499656677246, -35.64146423339844, -35.888126373291016, 19.681060791015625, -2.2372777462005615, -6.82659912109375, -0.16162602603435516], "tcp_pose": [0.6374786496162415, -0.23858489096164703, -0.37069159746170044, -0.009578349068760872, -0.02828005701303482, 0.9994875192642212, 0.011542368680238724], "tcp_vel": [0.017798632383346558, 0.04128236323595047, 0.03675466403365135, 0.030523568391799927, 0.060621440410614014, 0.011300955899059772], "flange_pose": [0.6412405967712402, -0.24286581575870514, -0.18077708780765533, -0.009578349068760872, -0.02828005701303482, 0.9994875192642212, 0.011542368680238724], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-34.37998580932617, -95.84378051757812, -3.002718687057495, -17.43816566467285, 26.237548828125, 0.47418415546417236], "ext_wrench_in_world": [39.77510331634717, -93.78145186536862, 0.1022245675863398, 15.920247778927932, 27.188929074329913, -0.17688221705411955]}
+{"timestamp_ns": 1789729890555620790, "elapsed_ms": 9933, "source_timestamp_ns": 1789729890551719845, "q": [0.18436497449874878, -2.091107130050659, -0.3026936948299408, 0.19033648073673248, 1.985636591911316, 0.04208889976143837, -0.7605668902397156], "theta": [0.18202932178974152, -2.090186834335327, -0.30356985330581665, 0.17477582395076752, 1.985150694847107, 0.0421905517578125, -0.7595375180244446], "dq": [-0.06521441787481308, 0.06710896641016006, -0.024941129609942436, 0.03088000789284706, -0.031413111835718155, -0.12200042605400085, 0.029882896691560745], "dtheta": [-0.05643390491604805, 0.06510507315397263, -0.0279731135815382, 0.030583038926124573, -0.03320788964629173, -0.11697105318307877, 0.03307570144534111], "tau": [-58.16999816894531, -7.980000019073486, -12.116000175476074, 12.208000183105469, -4.176000118255615, 3.6120002269744873, 0.07200000435113907], "tau_des": [-0.5807884335517883, 0.5301154255867004, -0.8833929300308228, 0.18492741882801056, -0.04915083572268486, -0.05494345352053642, 0.09384945034980774], "tau_dot": [90.67981719970703, -12.667638778686523, -26.794063568115234, -17.28597068786621, 31.60249137878418, -57.08881759643555, -0.8841001987457275], "tau_ext": [15.453104019165039, -35.2548942565918, -35.862667083740234, 19.528255462646484, -2.2166147232055664, -6.830450534820557, -0.16518639028072357], "tcp_pose": [0.6380243301391602, -0.23736357688903809, -0.36963605880737305, -0.010425392538309097, -0.028464265167713165, 0.9994683861732483, 0.01200212724506855], "tcp_vel": [0.01648898795247078, 0.040335528552532196, 0.032197464257478714, 0.02801997773349285, 0.06103837117552757, 0.010505205020308495], "flange_pose": [0.6421137452125549, -0.2418092042207718, -0.179732084274292, -0.010425392538309097, -0.028464265167713165, 0.9994683861732483, 0.01200212724506855], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-33.04477310180664, -93.92628479003906, -3.2870585918426514, -16.915733337402344, 25.89142608642578, 0.46291056275367737], "ext_wrench_in_world": [38.37552776180891, -91.93547427925739, 0.3101548746163667, 15.407984470617272, 26.819551795354425, -0.16709688681042034]}
+{"timestamp_ns": 1789729890588919268, "elapsed_ms": 9966, "source_timestamp_ns": 1789729890581734965, "q": [0.18269339203834534, -2.089177370071411, -0.3034411072731018, 0.1912476122379303, 1.9847291707992554, 0.03870018199086189, -0.7596232891082764], "theta": [0.1804157942533493, -2.0882654190063477, -0.3043699860572815, 0.17568866908550262, 1.9842511415481567, 0.03876018524169922, -0.7585625052452087], "dq": [-0.052190471440553665, 0.06637834757566452, -0.024406690150499344, 0.03220044821500778, -0.030391156673431396, -0.11690523475408554, 0.029432330280542374], "dtheta": [-0.050466038286685944, 0.06116210296750069, -0.02541547827422619, 0.02955814078450203, -0.031694550067186356, -0.11092796176671982, 0.03177151456475258], "tau": [-58.48999786376953, -7.960000038146973, -12.204000473022461, 12.268000602722168, -4.26800012588501, 3.5920002460479736, 0.08800000697374344], "tau_des": [-0.987214982509613, 0.9954870343208313, -0.9453607797622681, -0.050788652151823044, -0.043512940406799316, -0.063630111515522, 0.018539268523454666], "tau_dot": [-10.82249927520752, -73.81659698486328, 51.80292510986328, 22.862890243530273, -16.67203712463379, -37.75433349609375, 30.76673126220703], "tau_ext": [15.482810974121094, -35.325347900390625, -35.86573028564453, 19.543350219726562, -2.2107667922973633, -6.808845520019531, -0.1767778992652893], "tcp_pose": [0.6385499238967896, -0.23614585399627686, -0.3686956763267517, -0.011243448592722416, -0.02862042561173439, 0.9994492530822754, 0.012475501745939255], "tcp_vel": [0.013987929560244083, 0.03785701096057892, 0.02871449664235115, 0.02680964767932892, 0.0604047030210495, 0.00821403507143259], "flange_pose": [0.6429557800292969, -0.2407616525888443, -0.17880284786224365, -0.011243448592722416, -0.02862042561173439, 0.9994492530822754, 0.012475501745939255], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-32.08631896972656, -92.60841369628906, -3.4939870834350586, -16.5317440032959, 25.62567138671875, 0.4539607763290405], "ext_wrench_in_world": [37.37874670849047, -90.66811421250685, 0.4248032010128975, 15.031115804569666, 26.537149328423, -0.15791576123364276]}
+{"timestamp_ns": 1789729890622262772, "elapsed_ms": 10000, "source_timestamp_ns": 1789729890621752497, "q": [0.1807446926832199, -2.086730718612671, -0.3043597638607025, 0.1923554241657257, 1.9836207628250122, 0.03451623395085335, -0.7584561109542847], "theta": [0.17853519320487976, -2.08583927154541, -0.30536144971847534, 0.1767948418855667, 1.9831562042236328, 0.03453099727630615, -0.7573602199554443], "dq": [-0.04362998530268669, 0.05663962662220001, -0.02375771291553974, 0.028409449383616447, -0.02401953935623169, -0.10501538962125778, 0.031946517527103424], "dtheta": [-0.04455205053091049, 0.057720210403203964, -0.02436671406030655, 0.025568896904587746, -0.02372818812727928, -0.09969780594110489, 0.028352605178952217], "tau": [-59.25, -7.859999656677246, -12.396000862121582, 12.432000160217285, -4.288000106811523, 3.56000018119812, 0.06400000303983688], "tau_des": [-1.6431517601013184, 0.7258331775665283, -1.0559532642364502, 0.2149287313222885, -0.15774664282798767, -0.19083835184574127, 0.042710911482572556], "tau_dot": [-104.94058990478516, -66.17716979980469, 16.036165237426758, -3.8374431133270264, 13.715459823608398, 32.1247673034668, -31.892871856689453], "tau_ext": [15.817949295043945, -35.34697723388672, -35.780460357666016, 19.42479705810547, -2.171941041946411, -6.768709182739258, -0.18107469379901886], "tcp_pose": [0.6391952633857727, -0.23458881676197052, -0.36761388182640076, -0.012309261597692966, -0.028847744688391685, 0.999422550201416, 0.013070160523056984], "tcp_vel": [0.01466003805398941, 0.03692344203591347, 0.024796199053525925, 0.026921136304736137, 0.05306870490312576, 0.010947697795927525], "flange_pose": [0.6440133452415466, -0.2394176721572876, -0.17773637175559998, -0.012309261597692966, -0.028847744688391685, 0.999422550201416, 0.013070160523056984], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-31.519807815551758, -91.89095306396484, -3.4620234966278076, -16.27852439880371, 25.4361629486084, 0.44308486580848694], "ext_wrench_in_world": [36.8146510747233, -89.96696058939573, 0.24210530105946892, 14.776741845718467, 26.340290957376993, -0.14845556450172798]}
+{"timestamp_ns": 1789729890655587167, "elapsed_ms": 10033, "source_timestamp_ns": 1789729890651726520, "q": [0.17940907180309296, -2.085015058517456, -0.30501481890678406, 0.19307895004749298, 1.9829188585281372, 0.03156545013189316, -0.7576558589935303], "theta": [0.177230566740036, -2.084134101867676, -0.30607059597969055, 0.17751124501228333, 1.9824661016464233, 0.031554579734802246, -0.7565380930900574], "dq": [-0.03421580418944359, 0.05508962273597717, -0.026150668039917946, 0.022385861724615097, -0.025610871613025665, -0.10046938061714172, 0.02850949950516224], "dtheta": [-0.043814461678266525, 0.05668271332979202, -0.023087965324521065, 0.023159082978963852, -0.02467495948076248, -0.09679961949586868, 0.028329212218523026], "tau": [-59.5099983215332, -7.419999599456787, -12.472000122070312, 12.460000991821289, -4.3480000495910645, 3.51200008392334, 0.08400000631809235], "tau_des": [-1.7582732439041138, 0.40558233857154846, -1.1580533981323242, 0.4611009657382965, -0.21878767013549805, -0.26230236887931824, 0.04638499394059181], "tau_dot": [-48.870933532714844, 155.7633819580078, 9.042549133300781, 25.57505226135254, -44.791690826416016, -5.872907638549805, -4.8508687019348145], "tau_ext": [15.801187515258789, -35.44752883911133, -35.75389862060547, 19.38443946838379, -2.163283348083496, -6.704744815826416, -0.18445828557014465], "tcp_pose": [0.6396546959877014, -0.23346005380153656, -0.3668883442878723, -0.013063420541584492, -0.02903750352561474, 0.9994015097618103, 0.013521291315555573], "tcp_vel": [0.014920597895979881, 0.03671843931078911, 0.024200445041060448, 0.0257839635014534, 0.0522238127887249, 0.01194524485617876], "flange_pose": [0.6447650194168091, -0.23845092952251434, -0.17702266573905945, -0.013063420541584492, -0.02903750352561474, 0.9994015097618103, 0.013521291315555573], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-31.67473030090332, -92.09757232666016, -3.3250205516815186, -16.285804748535156, 25.42914390563965, 0.4367310702800751], "ext_wrench_in_world": [37.0127667452368, -90.14632964539348, -0.03845900691090909, 14.774105676329691, 26.339420551104922, -0.14232570239752135]}
+{"timestamp_ns": 1789729890688919882, "elapsed_ms": 10066, "source_timestamp_ns": 1789729890681728980, "q": [0.17811332643032074, -2.083402395248413, -0.305603951215744, 0.1937243491411209, 1.9822101593017578, 0.02868122048676014, -0.7569137811660767], "theta": [0.17592956125736237, -2.0825278759002686, -0.3067071735858917, 0.17814114689826965, 1.9817701578140259, 0.028657078742980957, -0.7557775974273682], "dq": [-0.03674572333693504, 0.05290015786886215, -0.019398903474211693, 0.022161763161420822, -0.02254553698003292, -0.10358569771051407, 0.02426881529390812], "dtheta": [-0.04345669969916344, 0.051397889852523804, -0.02115963026881218, 0.019771311432123184, -0.023366892710328102, -0.09618650376796722, 0.02480599656701088], "tau": [-59.68000030517578, -6.96999979019165, -12.5600004196167, 12.296000480651855, -4.372000217437744, 3.452000141143799, 0.10000000149011612], "tau_des": [-2.2272047996520996, 1.420053243637085, -1.2219984531402588, 0.12959827482700348, -0.23142637312412262, -0.2084072232246399, 0.058169279247522354], "tau_dot": [-138.57379150390625, -42.09047317504883, -12.493987083435059, -64.9822006225586, -17.18044662475586, -33.01200485229492, 83.05486297607422], "tau_ext": [15.83576488494873, -35.763484954833984, -35.72212219238281, 19.439010620117188, -2.1506385803222656, -6.645117282867432, -0.18742887675762177], "tcp_pose": [0.6400772333145142, -0.2323690801858902, -0.3661954998970032, -0.013807880692183971, -0.029235605150461197, 0.9993794560432434, 0.01397702842950821], "tcp_vel": [0.013047910295426846, 0.03504155948758125, 0.023510849103331566, 0.028056936338543892, 0.05113908275961876, 0.012894894927740097], "flange_pose": [0.645476222038269, -0.2375236600637436, -0.1763421893119812, -0.013807880692183971, -0.029235605150461197, 0.9993794560432434, 0.01397702842950821], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-32.09901809692383, -92.74280548095703, -3.293903112411499, -16.432100296020508, 25.486600875854492, 0.4308578372001648], "ext_wrench_in_world": [37.5091274009102, -90.74929909971304, -0.23410150008278696, 14.90603145720104, 26.411315038760343, -0.1380106508420444]}
+{"timestamp_ns": 1789729890722258577, "elapsed_ms": 10100, "source_timestamp_ns": 1789729890721720254, "q": [0.1763688027858734, -2.081362724304199, -0.3063076138496399, 0.19449332356452942, 1.981226921081543, 0.024902384728193283, -0.7559785842895508], "theta": [0.17414148151874542, -2.080495595932007, -0.30746933817863464, 0.17887595295906067, 1.980804204940796, 0.024881958961486816, -0.7548198103904724], "dq": [-0.03717231750488281, 0.050939805805683136, -0.019812164828181267, 0.017378810793161392, -0.023786410689353943, -0.09638629108667374, 0.019335918128490448], "dtheta": [-0.04539208486676216, 0.052426476031541824, -0.017588140442967415, 0.018104633316397667, -0.024416834115982056, -0.09447531402111053, 0.02578222006559372], "tau": [-59.44999694824219, -6.389999866485596, -12.540000915527344, 12.092000961303711, -4.320000171661377, 3.4000000953674316, 0.08800000697374344], "tau_des": [-1.8882789611816406, 1.4494646787643433, -1.2731401920318604, 0.30866897106170654, -0.34906673431396484, -0.3010879158973694, 0.0464017391204834], "tau_dot": [22.297101974487305, -18.23924446105957, 43.15177536010742, -13.179719924926758, 6.589354991912842, -4.449078559875488, 8.50092601776123], "tau_ext": [15.656051635742188, -35.9283332824707, -35.69761276245117, 19.466190338134766, -2.140036106109619, -6.563993453979492, -0.18828724324703217], "tcp_pose": [0.6406185030937195, -0.2309553176164627, -0.3652684688568115, -0.014770830981433392, -0.029508192092180252, 0.9993489980697632, 0.014583487994968891], "tcp_vel": [0.015272112563252449, 0.03680131211876869, 0.023995205760002136, 0.029638301581144333, 0.047339484095573425, 0.013902682811021805], "flange_pose": [0.6463912725448608, -0.23632779717445374, -0.17543219029903412, -0.014770830981433392, -0.029508192092180252, 0.9993489980697632, 0.014583487994968891], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-32.64169692993164, -93.76262664794922, -3.408672571182251, -16.690214157104492, 25.55482292175293, 0.42501604557037354], "ext_wrench_in_world": [38.163709105293606, -91.71664063145735, -0.3445601433624733, 15.144790661717648, 26.503013343752393, -0.13587245778649693]}
+{"timestamp_ns": 1789729890755585192, "elapsed_ms": 10133, "source_timestamp_ns": 1789729890751719025, "q": [0.17505140602588654, -2.0798301696777344, -0.3067622482776642, 0.19505928456783295, 1.9804182052612305, 0.022106684744358063, -0.7552741169929504], "theta": [0.17276598513126373, -2.0789568424224854, -0.3079637289047241, 0.17941057682037354, 1.9800080060958862, 0.022095680236816406, -0.7541000247001648], "dq": [-0.04417824745178223, 0.05101699382066727, -0.013907244428992271, 0.018327780067920685, -0.023706691339612007, -0.09560447186231613, 0.023753639310598373], "dtheta": [-0.044984862208366394, 0.05298612266778946, -0.01434448640793562, 0.018746983259916306, -0.02717224508523941, -0.09415688365697861, 0.024303818121552467], "tau": [-59.22999954223633, -6.179999828338623, -12.544000625610352, 12.040000915527344, -4.320000171661377, 3.3360002040863037, 0.07600000500679016], "tau_des": [-1.8886361122131348, 1.6093521118164062, -1.2292031049728394, 0.3535672128200531, -0.2975563108921051, -0.31452181935310364, 0.08170703798532486], "tau_dot": [161.3818817138672, 25.877058029174805, -54.590721130371094, 38.14699935913086, -2.5734028816223145, 2.3541436195373535, -4.092246055603027], "tau_ext": [15.543367385864258, -36.10643005371094, -35.69454574584961, 19.538524627685547, -2.1455440521240234, -6.510171413421631, -0.19001735746860504], "tcp_pose": [0.641033411026001, -0.2298925369977951, -0.36457011103630066, -0.015481211245059967, -0.02971341647207737, 0.9993255734443665, 0.015028435736894608], "tcp_vel": [0.015156462788581848, 0.037136148661375046, 0.023556359112262726, 0.029871512204408646, 0.047519296407699585, 0.01499339658766985], "flange_pose": [0.6470820307731628, -0.2354246824979782, -0.17474700510501862, -0.015481211245059967, -0.02971341647207737, 0.9993255734443665, 0.015028435736894608], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-32.83192825317383, -94.1151123046875, -3.6731081008911133, -16.788314819335938, 25.551862716674805, 0.4215717315673828], "ext_wrench_in_world": [38.42054662307693, -92.04830329167554, -0.2303440340306333, 15.231650167707851, 26.512292052020403, -0.13464325727152815]}
+{"timestamp_ns": 1789729890788920567, "elapsed_ms": 10166, "source_timestamp_ns": 1789729890781729634, "q": [0.17371512949466705, -2.078263759613037, -0.3070964813232422, 0.19564218819141388, 1.9794988632202148, 0.019311625510454178, -0.7545721530914307], "theta": [0.17136694490909576, -2.0773842334747314, -0.30833613872528076, 0.17996065318584442, 1.979095220565796, 0.019317269325256348, -0.7533828616142273], "dq": [-0.04420933499932289, 0.052040692418813705, -0.012511467561125755, 0.01992705464363098, -0.033935584127902985, -0.09669635444879532, 0.02331869676709175], "dtheta": [-0.04749040678143501, 0.0536104217171669, -0.010856020264327526, 0.017804889008402824, -0.03459498658776283, -0.09223448485136032, 0.024194415658712387], "tau": [-59.209999084472656, -6.37999963760376, -12.584000587463379, 12.072000503540039, -4.3560004234313965, 3.244000196456909, 0.07200000435113907], "tau_des": [-1.1522563695907593, 1.414666771888733, -1.1995991468429565, 0.3425562381744385, -0.22444069385528564, -0.4567650556564331, 0.12573419511318207], "tau_dot": [-149.833984375, -61.3901481628418, -26.147937774658203, 31.195720672607422, -24.898576736450195, -46.081512451171875, 6.244368553161621], "tau_ext": [15.291389465332031, -36.01884460449219, -35.70355987548828, 19.527650833129883, -2.1414284706115723, -6.456786155700684, -0.19258970022201538], "tcp_pose": [0.6414626836776733, -0.22880510985851288, -0.36387011408805847, -0.016186287626624107, -0.029922982677817345, 0.9993012547492981, 0.015480071306228638], "tcp_vel": [0.01610388793051243, 0.036866169422864914, 0.025246065109968185, 0.026175614446401596, 0.04688271880149841, 0.01652182638645172], "flange_pose": [0.6477851867675781, -0.23449937999248505, -0.17406074702739716, -0.016186287626624107, -0.029922982677817345, 0.9993012547492981, 0.015480071306228638], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-32.83220291137695, -94.20001983642578, -3.9846384525299072, -16.815378189086914, 25.50089454650879, 0.41751807928085327], "ext_wrench_in_world": [38.47514396775708, -92.12564631064494, -0.056721252985024506, 15.250281105694885, 26.469575613595712, -0.13183586057334684]}
+{"timestamp_ns": 1789729890822259941, "elapsed_ms": 10200, "source_timestamp_ns": 1789729890821740957, "q": [0.17194582521915436, -2.0761191844940186, -0.3074519634246826, 0.19643567502498627, 1.9781439304351807, 0.01562037318944931, -0.7535902261734009], "theta": [0.16951262950897217, -2.075230121612549, -0.30873924493789673, 0.18071101605892181, 1.977738380432129, 0.015656113624572754, -0.7523860931396484], "dq": [-0.04551854357123375, 0.05805686488747597, -0.0077977050095796585, 0.01998125948011875, -0.035195816308259964, -0.09160210937261581, 0.025766128674149513], "dtheta": [-0.046113770455121994, 0.05602720007300377, -0.00934526789933443, 0.019888054579496384, -0.03465086221694946, -0.09204640984535217, 0.024082524701952934], "tau": [-59.0099983215332, -6.639999866485596, -12.60400104522705, 12.148000717163086, -4.3480000495910645, 3.1760001182556152, 0.07600000500679016], "tau_des": [-0.9558975100517273, 0.6173080801963806, -1.2812325954437256, 0.6746107339859009, -0.3254154324531555, -0.4333535134792328, 0.09936445206403732], "tau_dot": [26.5273380279541, 39.15948486328125, 19.98649787902832, -18.362520217895508, 44.460845947265625, -27.557758331298828, -35.70467758178711], "tau_ext": [15.124059677124023, -35.74824142456055, -35.68824005126953, 19.448827743530273, -2.127610445022583, -6.411830425262451, -0.190681591629982], "tcp_pose": [0.6420499086380005, -0.22733432054519653, -0.3629443049430847, -0.01713862456381321, -0.030195241793990135, 0.9992680549621582, 0.016057847067713737], "tcp_vel": [0.01655196212232113, 0.03807266801595688, 0.024384045973420143, 0.026835186406970024, 0.046921633183956146, 0.01680152676999569], "flange_pose": [0.6487420797348022, -0.2332351803779602, -0.17315389215946198, -0.01713862456381321, -0.030195241793990135, 0.9992680549621582, 0.016057847067713737], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-32.421993255615234, -93.49578857421875, -4.46426248550415, -16.627256393432617, 25.3299617767334, 0.4122041165828705], "ext_wrench_in_world": [38.091725988021985, -91.44133686992745, 0.28300179424974314, 15.058023033391473, 26.29605652487926, -0.12603405752172764]}
+{"timestamp_ns": 1789729890855588267, "elapsed_ms": 10233, "source_timestamp_ns": 1789729890851727509, "q": [0.17065955698490143, -2.074477195739746, -0.3076900541782379, 0.19709907472133636, 1.9771218299865723, 0.012896958738565445, -0.7529093623161316], "theta": [0.16816799342632294, -2.073587417602539, -0.30901211500167847, 0.18134406208992004, 1.9767121076583862, 0.012953639030456543, -0.751698911190033], "dq": [-0.04628468677401543, 0.055507101118564606, -0.006764973513782024, 0.02325945533812046, -0.03530772775411606, -0.09010792523622513, 0.020027853548526764], "dtheta": [-0.043388474732637405, 0.05406784638762474, -0.00852754432708025, 0.021672111004590988, -0.03235810622572899, -0.08877664059400558, 0.022287359461188316], "tau": [-59.07999801635742, -6.909999847412109, -12.644001007080078, 12.280000686645508, -4.400000095367432, 3.1680002212524414, 0.07600000500679016], "tau_des": [-1.3056272268295288, 0.9991006255149841, -1.2721127271652222, 0.4871326684951782, -0.31679365038871765, -0.4543693959712982, 0.06785232573747635], "tau_dot": [46.12696075439453, 103.60150909423828, 17.625192642211914, 49.753761291503906, -51.35220718383789, -55.072757720947266, -43.39751434326172], "tau_ext": [15.123302459716797, -35.656009674072266, -35.683815002441406, 19.43205451965332, -2.121734619140625, -6.396395683288574, -0.18997715413570404], "tcp_pose": [0.6424868106842041, -0.22623680531978607, -0.3622632920742035, -0.017842235043644905, -0.030409500002861023, 0.9992424249649048, 0.016476554796099663], "tcp_vel": [0.01509939506649971, 0.036123935133218765, 0.023202266544103622, 0.026215801015496254, 0.044774506241083145, 0.014688529074192047], "flange_pose": [0.6494520902633667, -0.2322869747877121, -0.17248743772506714, -0.017842235043644905, -0.030409500002861023, 0.9992424249649048, 0.016476554796099663], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-31.874589920043945, -92.64689636230469, -4.759263515472412, -16.389265060424805, 25.147624969482422, 0.41017428040504456], "ext_wrench_in_world": [37.54576730865298, -90.62094146207052, 0.49779823299725523, 14.81997280398935, 26.106182016590726, -0.1223126017789063]}
+{"timestamp_ns": 1789729890888896794, "elapsed_ms": 10266, "source_timestamp_ns": 1789729890881752127, "q": [0.1694043129682541, -2.0728321075439453, -0.30791276693344116, 0.1977902054786682, 1.9761013984680176, 0.010202431119978428, -0.7522626519203186], "theta": [0.16686375439167023, -2.0719504356384277, -0.3092658817768097, 0.18200771510601044, 1.9756883382797241, 0.010280728340148926, -0.7510500550270081], "dq": [-0.04436662793159485, 0.054850589483976364, -0.007954292930662632, 0.024928806349635124, -0.03380388393998146, -0.09211120009422302, 0.02083854377269745], "dtheta": [-0.0428028367459774, 0.05441364273428917, -0.007735115475952625, 0.024266382679343224, -0.032353561371564865, -0.08777066320180893, 0.02205635979771614], "tau": [-59.32999801635742, -6.989999771118164, -12.672000885009766, 12.288000106811523, -4.392000198364258, 3.200000047683716, 0.08400000631809235], "tau_des": [-1.3445322513580322, 0.9377308487892151, -1.2037827968597412, 0.5102771520614624, -0.2699275612831116, -0.42009612917900085, 0.03685954958200455], "tau_dot": [-36.18191146850586, -71.75078582763672, -7.937017917633057, 52.202720642089844, -31.443359375, -17.87176513671875, 26.01285743713379], "tau_ext": [15.17867660522461, -35.528995513916016, -35.667388916015625, 19.38629722595215, -2.111372232437134, -6.398229122161865, -0.18873587250709534], "tcp_pose": [0.6429126858711243, -0.22514939308166504, -0.3615945875644684, -0.01854262687265873, -0.030627315863966942, 0.9992161989212036, 0.016887130215764046], "tcp_vel": [0.014653077349066734, 0.035372499376535416, 0.023332249373197556, 0.025372996926307678, 0.04353851452469826, 0.012707211077213287], "flange_pose": [0.6501498818397522, -0.23134566843509674, -0.17183361947536469, -0.01854262687265873, -0.030627315863966942, 0.9992161989212036, 0.016887130215764046], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-31.228622436523438, -91.65727233886719, -4.980101585388184, -16.10935401916504, 24.94988441467285, 0.409309446811676], "ext_wrench_in_world": [36.890885945723966, -89.66449580716173, 0.6515899569887287, 14.5409904325394, 25.898282790602035, -0.11873997800656244]}
+{"timestamp_ns": 1789729890922251917, "elapsed_ms": 10300, "source_timestamp_ns": 1789729890921733772, "q": [0.16775380074977875, -2.0705926418304443, -0.3081558048725128, 0.19885040819644928, 1.9747681617736816, 0.006674772594124079, -0.7514708042144775], "theta": [0.16517412662506104, -2.069751739501953, -0.3095448315143585, 0.18303559720516205, 1.9743502140045166, 0.006783246994018555, -0.750257670879364], "dq": [-0.04304904118180275, 0.05533556640148163, -0.0020624243188649416, 0.02499142289161682, -0.03768758103251457, -0.08436309546232224, 0.019300326704978943], "dtheta": [-0.04146401211619377, 0.055453140288591385, -0.006179995834827423, 0.026256293058395386, -0.03505673632025719, -0.08783185482025146, 0.018108444288372993], "tau": [-59.64999771118164, -6.869999885559082, -12.708000183105469, 12.268000602722168, -4.372000217437744, 3.244000196456909, 0.07600000500679016], "tau_des": [-1.83409583568573, 0.415264368057251, -1.364488124847412, 0.689366340637207, -0.284056693315506, -0.3804009258747101, 0.06447432190179825], "tau_dot": [-13.153633117675781, 45.16624450683594, 4.284950256347656, -20.025789260864258, 0.3345041275024414, 15.151341438293457, -11.332234382629395], "tau_ext": [15.215834617614746, -35.40052795410156, -35.68466567993164, 19.356069564819336, -2.1207661628723145, -6.413510799407959, -0.1878785640001297], "tcp_pose": [0.6434849500656128, -0.22371309995651245, -0.36069852113723755, -0.019422592595219612, -0.030906610190868378, 0.9991815686225891, 0.017426682636141777], "tcp_vel": [0.0138335470110178, 0.035141684114933014, 0.02283274568617344, 0.024202240630984306, 0.0452808141708374, 0.015725357457995415], "flange_pose": [0.6510641574859619, -0.23010170459747314, -0.1709572821855545, -0.019422592595219612, -0.030906610190868378, 0.9991815686225891, 0.017426682636141777], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-30.24282455444336, -90.36761474609375, -5.157447814941406, -15.730646133422852, 24.67499351501465, 0.40841951966285706], "ext_wrench_in_world": [35.888131929532236, -88.42515200416716, 0.7536441743470126, 14.16514423478809, 25.608814113241667, -0.11255117108221963]}
+{"timestamp_ns": 1789729890955585702, "elapsed_ms": 10333, "source_timestamp_ns": 1789729890951725374, "q": [0.1664888560771942, -2.068936586380005, -0.3083188235759735, 0.19966131448745728, 1.9737513065338135, 0.004028600640594959, -0.7509848475456238], "theta": [0.16390807926654816, -2.0681376457214355, -0.3097332715988159, 0.18382418155670166, 1.9733344316482544, 0.004150032997131348, -0.7497725486755371], "dq": [-0.04979576915502548, 0.055575884878635406, -0.007499203085899353, 0.024883920326828957, -0.03442658111453056, -0.08652029931545258, 0.015472907572984695], "dtheta": [-0.04149579629302025, 0.053282108157873154, -0.006354633718729019, 0.02523580566048622, -0.035041920840740204, -0.08997252583503723, 0.015529806725680828], "tau": [-59.96999740600586, -6.699999809265137, -12.744000434875488, 12.208000183105469, -4.380000114440918, 3.2680001258850098, 0.08400000631809235], "tau_des": [-2.230050563812256, 0.7213854789733887, -1.4068739414215088, 0.6154255867004395, -0.285570353269577, -0.34950414299964905, 0.12946413457393646], "tau_dot": [-126.25763702392578, 41.193756103515625, 17.831125259399414, -73.53351593017578, -6.607298851013184, 14.732281684875488, 14.767730712890625], "tau_ext": [15.455552101135254, -35.43688201904297, -35.6702880859375, 19.340303421020508, -2.1165122985839844, -6.446849346160889, -0.19044755399227142], "tcp_pose": [0.6439021229743958, -0.2226572185754776, -0.3600026071071625, -0.020067160949110985, -0.031149428337812424, 0.999154269695282, 0.017827412113547325], "tcp_vel": [0.012248885817825794, 0.03436239808797836, 0.022797202691435814, 0.025325194001197815, 0.047178708016872406, 0.017055818811058998], "flange_pose": [0.6517322063446045, -0.22918838262557983, -0.17027640342712402, -0.020067160949110985, -0.031149428337812424, 0.999154269695282, 0.017827412113547325], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-29.542938232421875, -89.57369232177734, -5.230682849884033, -15.491897583007812, 24.49560546875, 0.40622735023498535], "ext_wrench_in_world": [35.18890604032046, -87.66266176921249, 0.7682589793476406, 13.92538535654077, 25.421859122511943, -0.10639591220316003]}
+{"timestamp_ns": 1789729890988897858, "elapsed_ms": 10366, "source_timestamp_ns": 1789729890981730194, "q": [0.16518078744411469, -2.067318916320801, -0.3085002303123474, 0.20043717324733734, 1.972723126411438, 0.001311356551013887, -0.7504706978797913], "theta": [0.16263587772846222, -2.066554069519043, -0.3099362254142761, 0.18458369374275208, 1.9723097085952759, 0.0014281272888183594, -0.7492591142654419], "dq": [-0.05110777169466019, 0.04865073412656784, -0.004424694925546646, 0.023087583482265472, -0.03119741380214691, -0.08699282258749008, 0.021373635157942772], "dtheta": [-0.04181823134422302, 0.05174977704882622, -0.00608447752892971, 0.024679450318217278, -0.034844379872083664, -0.0893699899315834, 0.017513183876872063], "tau": [-60.28999710083008, -6.579999923706055, -12.804000854492188, 12.208000183105469, -4.392000198364258, 3.3440001010894775, 0.08400000631809235], "tau_des": [-2.4390227794647217, 1.2192445993423462, -1.3870328664779663, 0.4289948046207428, -0.2518046200275421, -0.3116341829299927, 0.032912787050008774], "tau_dot": [70.0437240600586, -26.882476806640625, 13.767127990722656, -18.653629302978516, 9.487972259521484, -37.32518005371094, -2.9876904487609863], "tau_ext": [15.661965370178223, -35.44978713989258, -35.652347564697266, 19.315908432006836, -2.1201729774475098, -6.501214027404785, -0.19210541248321533], "tcp_pose": [0.644298255443573, -0.22160950303077698, -0.3592807948589325, -0.020730504766106606, -0.031375836580991745, 0.9991261959075928, 0.018238510936498642], "tcp_vel": [0.011724398471415043, 0.03350218012928963, 0.02312261424958706, 0.025010904297232628, 0.04637661948800087, 0.013959071598947048], "flange_pose": [0.6523864269256592, -0.22828692197799683, -0.16957049071788788, -0.020730504766106606, -0.031375836580991745, 0.9991261959075928, 0.018238510936498642], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-28.835540771484375, -88.8329849243164, -5.208658695220947, -15.264910697937012, 24.326269149780273, 0.40369975566864014], "ext_wrench_in_world": [34.47808449910653, -86.95233564903744, 0.6861209810737541, 13.697765297341476, 25.244982091487095, -0.09973923858442701]}
+{"timestamp_ns": 1789729891022258763, "elapsed_ms": 10400, "source_timestamp_ns": 1789729891021723260, "q": [0.16334553062915802, -2.0652201175689697, -0.3087315559387207, 0.20142784714698792, 1.9713356494903564, -0.0023708438966423273, -0.7498602867126465], "theta": [0.16089393198490143, -2.0644755363464355, -0.3101908564567566, 0.18556807935237885, 1.9709328413009644, -0.0022641420364379883, -0.7486589550971985], "dq": [-0.04745672270655632, 0.04906096309423447, -0.006225262302905321, 0.02388349361717701, -0.03619219735264778, -0.09241676330566406, 0.016488078981637955], "dtheta": [-0.044300928711891174, 0.05225948244333267, -0.006053788121789694, 0.024658670648932457, -0.03486119583249092, -0.0954340472817421, 0.014264783822000027], "tau": [-60.3599967956543, -6.099999904632568, -12.800000190734863, 12.100000381469727, -4.3560004234313965, 3.448000192642212, 0.06400000303983688], "tau_des": [-1.9576951265335083, 1.1983474493026733, -1.2975395917892456, 0.4443720281124115, -0.2706208825111389, -0.1598193347454071, 0.08209764212369919], "tau_dot": [-68.20523834228516, -1.933362603187561, -67.98798370361328, -6.2743449211120605, 20.971799850463867, 86.65308380126953, -22.591901779174805], "tau_ext": [15.794295310974121, -35.58285903930664, -35.65223693847656, 19.33661460876465, -2.135857105255127, -6.572917461395264, -0.18970414996147156], "tcp_pose": [0.644817054271698, -0.22022645175457, -0.3582639694213867, -0.021600019186735153, -0.031705666333436966, 0.9990869164466858, 0.018802521750330925], "tcp_vel": [0.011414634995162487, 0.034967005252838135, 0.02422614023089409, 0.02890181355178356, 0.048506125807762146, 0.01763233169913292], "flange_pose": [0.653244137763977, -0.22710463404655457, -0.16857559978961945, -0.021600019186735153, -0.031705666333436966, 0.9990869164466858, 0.018802521750330925], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-28.047378540039062, -88.13555908203125, -5.157393932342529, -15.061600685119629, 24.16020965576172, 0.40058404207229614], "ext_wrench_in_world": [33.70566333074002, -86.2830678894192, 0.5398007674261092, 13.48849039859727, 25.07549236742039, -0.09122873183401436]}
+{"timestamp_ns": 1789729891055584482, "elapsed_ms": 10433, "source_timestamp_ns": 1789729891051723484, "q": [0.16195304691791534, -2.0636651515960693, -0.3088808059692383, 0.2021673321723938, 1.9702825546264648, -0.005140610039234161, -0.7494378685951233], "theta": [0.1595798283815384, -2.0629265308380127, -0.31035420298576355, 0.18631242215633392, 1.9698922634124756, -0.00504612922668457, -0.7482459545135498], "dq": [-0.04737885668873787, 0.048312097787857056, -0.004834106657654047, 0.023176752030849457, -0.03415762260556221, -0.08745209872722626, 0.012412059120833874], "dtheta": [-0.04250510409474373, 0.0519106350839138, -0.0048692370764911175, 0.025769779458642006, -0.03316011279821396, -0.09215932339429855, 0.013751823455095291], "tau": [-60.189998626708984, -5.71999979019165, -12.732000350952148, 11.828001022338867, -4.320000171661377, 3.444000244140625, 0.10400000214576721], "tau_des": [-2.03901743888855, 1.6959689855575562, -1.229259729385376, 0.23301422595977783, -0.24180440604686737, -0.1415545642375946, 0.05476214736700058], "tau_dot": [6.198770999908447, 46.66988754272461, -15.344350814819336, -38.087074279785156, -46.425148010253906, 39.538917541503906, 32.56630325317383], "tau_ext": [15.881165504455566, -35.894405364990234, -35.66338348388672, 19.451553344726562, -2.155644655227661, -6.635164737701416, -0.18578308820724487], "tcp_pose": [0.6451968550682068, -0.21919648349285126, -0.3574909269809723, -0.022245777770876884, -0.03196055814623833, 0.9990564584732056, 0.019230566918849945], "tcp_vel": [0.011370070278644562, 0.03438573703169823, 0.02329384721815586, 0.028666643425822258, 0.04584359750151634, 0.016452068462967873], "flange_pose": [0.6538758277893066, -0.2262270301580429, -0.16781951487064362, -0.022245777770876884, -0.03196055814623833, 0.9990564584732056, 0.019230566918849945], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-27.5972900390625, -87.95233154296875, -5.257322788238525, -15.030012130737305, 24.084407806396484, 0.4019068479537964], "ext_wrench_in_world": [33.29519884484186, -86.11613546172741, 0.5508459530772931, 13.448628804895977, 25.00495095575195, -0.09112693299010133]}
+{"timestamp_ns": 1789729891088911451, "elapsed_ms": 10466, "source_timestamp_ns": 1789729891081740786, "q": [0.16058866679668427, -2.062112808227539, -0.3089848756790161, 0.20293749868869781, 1.9692360162734985, -0.00784668605774641, -0.7490622997283936], "theta": [0.15829022228717804, -2.0613644123077393, -0.3104703724384308, 0.18709366023540497, 1.9688581228256226, -0.007773637771606445, -0.7478792667388916], "dq": [-0.043937474489212036, 0.04684655740857124, -0.0051287016831338406, 0.02575744315981865, -0.03399171307682991, -0.09077832102775574, 0.01196350809186697], "dtheta": [-0.04325497895479202, 0.05258200690150261, -0.0027553706895560026, 0.025819217786192894, -0.033238403499126434, -0.089053675532341, 0.012937108986079693], "tau": [-60.18000030517578, -5.46999979019165, -12.708000183105469, 11.720000267028809, -4.28000020980835, 3.504000186920166, 0.08400000631809235], "tau_des": [-1.6827363967895508, 1.803515911102295, -1.2144250869750977, 0.06788898259401321, -0.2524248957633972, -0.24004535377025604, 0.047481197863817215], "tau_dot": [-62.807987213134766, 43.94275665283203, 13.302138328552246, -10.54713249206543, 37.93971633911133, 47.66084289550781, 33.05075454711914], "tau_ext": [15.748300552368164, -36.01188659667969, -35.71536636352539, 19.53244972229004, -2.1892430782318115, -6.667957305908203, -0.18195071816444397], "tcp_pose": [0.6455753445625305, -0.21817821264266968, -0.3567312955856323, -0.02286381833255291, -0.03221970796585083, 0.9990259408950806, 0.019654029980301857], "tcp_vel": [0.01284873578697443, 0.03481641784310341, 0.02366678975522518, 0.028482109308242798, 0.04173106327652931, 0.01753947325050831], "flange_pose": [0.6544957756996155, -0.22535952925682068, -0.1670767366886139, -0.02286381833255291, -0.03221970796585083, 0.9990259408950806, 0.019654029980301857], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-27.062631607055664, -87.70214080810547, -5.497597694396973, -14.992034912109375, 23.986412048339844, 0.40204787254333496], "ext_wrench_in_world": [32.80340865032937, -85.89356262448156, 0.7123151178839029, 13.403750397857047, 24.91188679895797, -0.08993129775856545]}
+{"timestamp_ns": 1789729891122259898, "elapsed_ms": 10500, "source_timestamp_ns": 1789729891121730725, "q": [0.15881061553955078, -2.0600249767303467, -0.3090357780456543, 0.20399118959903717, 1.9678010940551758, -0.011442766524851322, -0.7486120462417603], "theta": [0.15658141672611237, -2.0592336654663086, -0.3105325400829315, 0.18816159665584564, 1.9674365520477295, -0.011404752731323242, -0.747444748878479], "dq": [-0.03950539231300354, 0.050388433039188385, 0.0011692991247400641, 0.0242963545024395, -0.035567935556173325, -0.08824475854635239, 0.007884540595114231], "dtheta": [-0.041182808578014374, 0.055096786469221115, 0.00020243125618435442, 0.027465542778372765, -0.03482937812805176, -0.08798038214445114, 0.012083623558282852], "tau": [-60.38999938964844, -5.269999980926514, -12.72800064086914, 11.584000587463379, -4.276000022888184, 3.56000018119812, 0.10000000149011612], "tau_des": [-2.0221779346466064, 1.6623083353042603, -1.2842344045639038, 0.2561464309692383, -0.23809796571731567, 0.00507447449490428, 0.07267821580171585], "tau_dot": [44.044593811035156, 44.41611099243164, 41.796749114990234, -16.45733642578125, -20.20041275024414, -56.93667984008789, 46.23383712768555], "tau_ext": [15.77015495300293, -36.08688735961914, -35.72549057006836, 19.620718002319336, -2.2128381729125977, -6.733824729919434, -0.17910003662109375], "tcp_pose": [0.6460701823234558, -0.21680568158626556, -0.3557506203651428, -0.023691611364483833, -0.032580990344285965, 0.9989833831787109, 0.020233307033777237], "tcp_vel": [0.013317949138581753, 0.03618347644805908, 0.022166665643453598, 0.028948308899998665, 0.042162951081991196, 0.01897701993584633], "flange_pose": [0.6553143262863159, -0.22419320046901703, -0.16611947119235992, -0.023691611364483833, -0.032580990344285965, 0.9989833831787109, 0.020233307033777237], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-26.097692489624023, -86.98531341552734, -5.931288719177246, -14.841033935546875, 23.782373428344727, 0.40341824293136597], "ext_wrench_in_world": [31.88054553684317, -85.23616831658663, 1.068136756468953, 13.247907291250295, 24.70841207016317, -0.08744034236726006]}
+{"timestamp_ns": 1789729891155590866, "elapsed_ms": 10533, "source_timestamp_ns": 1789729891151724959, "q": [0.15754319727420807, -2.058408260345459, -0.3090277314186096, 0.20484323799610138, 1.9667234420776367, -0.014017784968018532, -0.7482864856719971], "theta": [0.15533988177776337, -2.0575761795043945, -0.31053149700164795, 0.1890268623828888, 1.9663655757904053, -0.014003396034240723, -0.7471264004707336], "dq": [-0.03127376735210419, 0.0562865287065506, -0.0007270982605405152, 0.026048798114061356, -0.03629891201853752, -0.08689551055431366, 0.008861139416694641], "dtheta": [-0.04006636515259743, 0.05513022467494011, 0.00045465302537195385, 0.028874559327960014, -0.03346240520477295, -0.0861959308385849, 0.009500677697360516], "tau": [-60.38999938964844, -5.359999656677246, -12.712000846862793, 11.564000129699707, -4.236000061035156, 3.57200026512146, 0.06000000238418579], "tau_des": [-2.0257678031921387, 2.071943521499634, -1.1651779413223267, 0.03084595873951912, -0.17630255222320557, 0.011269197799265385, 0.07516336441040039], "tau_dot": [-183.71197509765625, -23.426820755004883, 63.80442810058594, 6.382713317871094, 34.35676193237305, -2.7147865295410156, -14.008228302001953], "tau_ext": [15.747642517089844, -36.115013122558594, -35.74814224243164, 19.67927360534668, -2.228118896484375, -6.778148651123047, -0.17638301849365234], "tcp_pose": [0.6464609503746033, -0.21577489376068115, -0.3550461232662201, -0.024280697107315063, -0.03285083547234535, 0.9989520311355591, 0.020641092211008072], "tcp_vel": [0.013167752884328365, 0.03570696711540222, 0.021764522418379784, 0.028708983212709427, 0.040463730692863464, 0.020133452489972115], "flange_pose": [0.6559356451034546, -0.22330719232559204, -0.16543205082416534, -0.024280697107315063, -0.03285083547234535, 0.9989520311355591, 0.020641092211008072], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-25.064809799194336, -86.0301284790039, -6.12994384765625, -14.595929145812988, 23.542325973510742, 0.40243685245513916], "ext_wrench_in_world": [30.847003702857982, -84.34395299355089, 1.2505454556594078, 13.005596261601184, 24.460009091729646, -0.08146413673468078]}
+{"timestamp_ns": 1789729891188905297, "elapsed_ms": 10566, "source_timestamp_ns": 1789729891181846132, "q": [0.15628981590270996, -2.0566658973693848, -0.3090185225009918, 0.20577183365821838, 1.9656227827072144, -0.016625352203845978, -0.7479656338691711], "theta": [0.1540774554014206, -2.05578875541687, -0.3105284571647644, 0.18997041881084442, 1.9652670621871948, -0.016632556915283203, -0.7468119859695435], "dq": [-0.0367765836417675, 0.05952468514442444, -0.001888164784759283, 0.028973795473575592, -0.03355368971824646, -0.08266116678714752, 0.01008660439401865], "dtheta": [-0.039824049919843674, 0.05894501879811287, 0.0006745660211890936, 0.03156564384698868, -0.03458509221673012, -0.08370350301265717, 0.010696349665522575], "tau": [-60.099998474121094, -5.589999675750732, -12.684000968933105, 11.54800033569336, -4.212000370025635, 3.5840001106262207, 0.07200000435113907], "tau_des": [-1.6169227361679077, 1.4997553825378418, -1.0200228691101074, 0.31824514269828796, -0.14205637574195862, -0.06078198552131653, 0.08739796280860901], "tau_dot": [47.54807662963867, -141.84825134277344, 24.94874382019043, -65.01004028320312, 3.0982437133789062, -11.288362503051758, 15.638537406921387], "tau_ext": [15.55215835571289, -35.869022369384766, -35.79441833496094, 19.65793800354004, -2.2554736137390137, -6.790932655334473, -0.17525479197502136], "tcp_pose": [0.6468852162361145, -0.21468541026115417, -0.35434603691101074, -0.024887191131711006, -0.0331491194665432, 0.9989187717437744, 0.02104772999882698], "tcp_vel": [0.014887047000229359, 0.036668743938207626, 0.02214924804866314, 0.026106299832463264, 0.03873796388506889, 0.02021942473948002], "flange_pose": [0.6565972566604614, -0.22236140072345734, -0.16474974155426025, -0.024887191131711006, -0.0331491194665432, 0.9989187717437744, 0.02104772999882698], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-23.999418258666992, -84.77269744873047, -6.457620143890381, -14.272194862365723, 23.28743553161621, 0.4019731879234314], "ext_wrench_in_world": [29.77242549174699, -83.15762638889385, 1.5795635836310147, 12.684751681754179, 24.192013223784677, -0.07316573508857771]}
+{"timestamp_ns": 1789729891222250944, "elapsed_ms": 10600, "source_timestamp_ns": 1789729891221794254, "q": [0.1547843962907791, -2.0543558597564697, -0.30898532271385193, 0.20712748169898987, 1.9643040895462036, -0.019878612831234932, -0.7475598454475403], "theta": [0.1525297909975052, -2.0534250736236572, -0.31050145626068115, 0.19134639203548431, 1.9639497995376587, -0.019912362098693848, -0.746414303779602], "dq": [-0.036485034972429276, 0.06438986212015152, 0.004894716665148735, 0.03568054735660553, -0.032084979116916656, -0.0891747921705246, 0.009935460984706879], "dtheta": [-0.038941409438848495, 0.06293600052595139, 0.0010586109710857272, 0.035349778831005096, -0.03220847621560097, -0.0835779458284378, 0.00970716867595911], "tau": [-60.06999969482422, -5.809999942779541, -12.648000717163086, 11.588000297546387, -4.212000370025635, 3.576000213623047, 0.0560000017285347], "tau_des": [-1.500515341758728, 0.555571436882019, -1.125583529472351, 0.45326125621795654, -0.24207204580307007, -0.01778237707912922, 0.06092638149857521], "tau_dot": [51.20276641845703, -26.065105438232422, 11.996346473693848, 0.5622223615646362, 37.78279495239258, 72.12406158447266, -29.274391174316406], "tau_ext": [15.426935195922852, -35.630558013916016, -35.86621856689453, 19.61800765991211, -2.275695323944092, -6.800339221954346, -0.16998256742954254], "tcp_pose": [0.6474305391311646, -0.2132885456085205, -0.35349202156066895, -0.025624150410294533, -0.0334918387234211, 0.9988777041435242, 0.021565604954957962], "tcp_vel": [0.016275594010949135, 0.03861498087644577, 0.02172047831118107, 0.027659041807055473, 0.03683234751224518, 0.021426010876893997], "flange_pose": [0.6574312448501587, -0.22114816308021545, -0.16391825675964355, -0.025624150410294533, -0.0334918387234211, 0.9988777041435242, 0.021565604954957962], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-22.70915985107422, -83.1109848022461, -6.939714431762695, -13.826972007751465, 22.967702865600586, 0.40234822034835815], "ext_wrench_in_world": [28.46264351367821, -81.58976439604606, 2.071145177481241, 12.2452666549793, 23.85188076977049, -0.060350718159608796]}
+{"timestamp_ns": 1789729891255582812, "elapsed_ms": 10633, "source_timestamp_ns": 1789729891251795578, "q": [0.1536559909582138, -2.052525043487549, -0.3089585602283478, 0.20819951593875885, 1.9632776975631714, -0.022357985377311707, -0.7473044395446777], "theta": [0.15136243402957916, -2.0515711307525635, -0.3104783892631531, 0.1924349069595337, 1.9629238843917847, -0.022400856018066406, -0.7461667656898499], "dq": [-0.03961670771241188, 0.06492561846971512, 0.002233527833595872, 0.03586585074663162, -0.036642663180828094, -0.08275909721851349, 0.006854858715087175], "dtheta": [-0.03863836079835892, 0.06291526556015015, 0.0013174935011193156, 0.03641147166490555, -0.033722102642059326, -0.07973504811525345, 0.007204633671790361], "tau": [-60.02000045776367, -5.96999979019165, -12.664000511169434, 11.664000511169434, -4.200000286102295, 3.564000129699707, 0.06000000238418579], "tau_des": [-1.1955474615097046, 0.41300511360168457, -0.977567732334137, 0.4416655898094177, -0.1432136744260788, -0.11348201334476471, 0.09297313541173935], "tau_dot": [79.28607940673828, 60.34004211425781, -8.250752449035645, 7.781074523925781, -30.278396606445312, 14.649116516113281, -13.598525047302246], "tau_ext": [15.220727920532227, -35.523929595947266, -35.942726135253906, 19.61996841430664, -2.297121047973633, -6.781212329864502, -0.17005686461925507], "tcp_pose": [0.6478627920150757, -0.21219457685947418, -0.3528478741645813, -0.026196971535682678, -0.0337957926094532, 0.9988442063331604, 0.02195144258439541], "tcp_vel": [0.016430113464593887, 0.0372171550989151, 0.02225394919514656, 0.024025162681937218, 0.03461240604519844, 0.02292957715690136], "flange_pose": [0.6580880880355835, -0.22019004821777344, -0.16329175233840942, -0.026196971535682678, -0.0337957926094532, 0.9988442063331604, 0.02195144258439541], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-21.917760848999023, -82.03699493408203, -7.302548885345459, -13.530001640319824, 22.771066665649414, 0.4013703763484955], "ext_wrench_in_world": [27.67486125368458, -80.5728851068902, 2.428217208684803, 11.947759560768562, 23.643013897152215, -0.049547902557425805]}
+{"timestamp_ns": 1789729891288898332, "elapsed_ms": 10666, "source_timestamp_ns": 1789729891281771633, "q": [0.1525430530309677, -2.0506975650787354, -0.30890145897865295, 0.20926533639431, 1.962267279624939, -0.024761848151683807, -0.7470499873161316], "theta": [0.1502092033624649, -2.049738883972168, -0.310423344373703, 0.19351647794246674, 1.961912989616394, -0.02480792999267578, -0.7459210157394409], "dq": [-0.03650737181305885, 0.06180186942219734, 0.002165453042834997, 0.03553132340312004, -0.03593623638153076, -0.07491960376501083, 0.006307669915258884], "dtheta": [-0.03777723386883736, 0.061009157449007034, 0.0021936900448054075, 0.03549062833189964, -0.03578012436628342, -0.07828833162784576, 0.00903003104031086], "tau": [-60.0, -6.019999980926514, -12.60400104522705, 11.720000267028809, -4.172000408172607, 3.5280001163482666, 0.01600000075995922], "tau_des": [-1.1169798374176025, 0.593991219997406, -0.9164230823516846, 0.35973691940307617, -0.07111800462007523, -0.18937267363071442, 0.046337198466062546], "tau_dot": [-53.58626937866211, 124.96839904785156, -3.828497886657715, -3.713754177093506, 33.94660949707031, 41.17621994018555, -92.86688995361328], "tau_ext": [15.152689933776855, -35.429439544677734, -35.98107147216797, 19.55314826965332, -2.310868740081787, -6.760929584503174, -0.1665782332420349], "tcp_pose": [0.6483099460601807, -0.2111022174358368, -0.352213591337204, -0.0267375186085701, -0.03409899026155472, 0.9988111257553101, 0.02233116514980793], "tcp_vel": [0.015239696949720383, 0.035756610333919525, 0.021925168111920357, 0.022063998505473137, 0.035581231117248535, 0.02001829259097576], "flange_pose": [0.6587474942207336, -0.2192315310239792, -0.16267473995685577, -0.0267375186085701, -0.03409899026155472, 0.9988111257553101, 0.02233116514980793], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-21.46953773498535, -81.40130615234375, -7.600407600402832, -13.348535537719727, 22.656587600708008, 0.4005299210548401], "ext_wrench_in_world": [27.25403632916585, -79.96793524594716, 2.68825702311471, 11.76016429195823, 23.52364146378836, -0.040187526300233034]}
+{"timestamp_ns": 1789729891322257608, "elapsed_ms": 10700, "source_timestamp_ns": 1789729891321793029, "q": [0.15109114348888397, -2.0482845306396484, -0.30881553888320923, 0.21066738665103912, 1.9609183073043823, -0.027927005663514137, -0.7466949820518494], "theta": [0.1487128883600235, -2.047339677810669, -0.310340940952301, 0.19493773579597473, 1.960563063621521, -0.027979254722595215, -0.7455728054046631], "dq": [-0.03564687818288803, 0.057910434901714325, 0.0016644515562802553, 0.03757135197520256, -0.03491062670946121, -0.07886060327291489, 0.0068724690936505795], "dtheta": [-0.03688228502869606, 0.06061131879687309, 0.0018207591492682695, 0.03544800728559494, -0.03346433863043785, -0.07783323526382446, 0.0077431416139006615], "tau": [-60.09000015258789, -6.009999752044678, -12.564000129699707, 11.828001022338867, -4.144000053405762, 3.4680001735687256, 0.06800000369548798], "tau_des": [-1.1114736795425415, 0.2977375388145447, -0.8283405303955078, 0.4727083146572113, -0.0388600118458271, -0.217302605509758, 0.06753404438495636], "tau_dot": [-29.159936904907227, -13.068341255187988, -27.063892364501953, -11.740923881530762, -23.152542114257812, -18.142576217651367, -23.115293502807617], "tau_ext": [15.124282836914062, -35.332923889160156, -36.05800247192383, 19.431087493896484, -2.3350911140441895, -6.700809478759766, -0.16206753253936768], "tcp_pose": [0.6488916873931885, -0.2096599042415619, -0.3513849973678589, -0.02746041864156723, -0.0344904325902462, 0.9987668395042419, 0.0228272695094347], "tcp_vel": [0.015053944662213326, 0.03583472967147827, 0.021349530667066574, 0.023150797933340073, 0.03482402488589287, 0.020817747339606285], "flange_pose": [0.6596129536628723, -0.21796366572380066, -0.16186954081058502, -0.02746041864156723, -0.0344904325902462, 0.9987668395042419, 0.0228272695094347], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-21.493310928344727, -81.1563720703125, -7.902631759643555, -13.247220993041992, 22.661758422851562, 0.3991268277168274], "ext_wrench_in_world": [27.345275513683017, -79.71633949078426, 2.883029010750064, 11.640313662296633, 23.530953977669306, -0.027637346818008335]}
+{"timestamp_ns": 1789729891355589067, "elapsed_ms": 10733, "source_timestamp_ns": 1789729891351731309, "q": [0.15002548694610596, -2.046537399291992, -0.3087257742881775, 0.21166333556175232, 1.9599474668502808, -0.030237792059779167, -0.746475875377655], "theta": [0.14762231707572937, -2.0456011295318604, -0.3102533221244812, 0.19594386219978333, 1.9595940113067627, -0.0302962064743042, -0.7453587651252747], "dq": [-0.04072069376707077, 0.0590599924325943, 0.004264326300472021, 0.03469434753060341, -0.03191114217042923, -0.08070381730794907, 0.004417348653078079], "dtheta": [-0.036221254616975784, 0.05636293441057205, 0.0040115430019795895, 0.032673172652721405, -0.028698354959487915, -0.07664145529270172, 0.007991698570549488], "tau": [-60.099998474121094, -5.940000057220459, -12.60400104522705, 11.744000434875488, -4.180000305175781, 3.376000165939331, 0.18400001525878906], "tau_des": [-1.1966700553894043, 0.9927743077278137, -0.8352401256561279, 0.36206817626953125, -0.1256115436553955, -0.24171921610832214, 0.03376998007297516], "tau_dot": [89.3431396484375, 67.95054626464844, 43.40480422973633, 26.330068588256836, -33.515785217285156, -17.678325653076172, -25.74244499206543], "tau_ext": [15.21905517578125, -35.335182189941406, -36.07058334350586, 19.314695358276367, -2.341989517211914, -6.658773422241211, -0.17074014246463776], "tcp_pose": [0.6493194103240967, -0.20859567821025848, -0.3507850468158722, -0.02797793783247471, -0.03479964658617973, 0.9987329840660095, 0.023208100348711014], "tcp_vel": [0.014376754872500896, 0.03542044386267662, 0.019990533590316772, 0.028075983747839928, 0.03134658932685852, 0.018364939838647842], "flange_pose": [0.6602444052696228, -0.21703360974788666, -0.16128717362880707, -0.02797793783247471, -0.03479964658617973, 0.9987329840660095, 0.023208100348711014], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-21.91383934020996, -81.50443267822266, -7.974055767059326, -13.302154541015625, 22.76654815673828, 0.3937680423259735], "ext_wrench_in_world": [27.844586419748023, -80.02164294521961, 2.826682448490258, 11.673506867339022, 23.646291443597395, -0.014901675897521005]}
+{"timestamp_ns": 1789729891388891168, "elapsed_ms": 10766, "source_timestamp_ns": 1789729891381744141, "q": [0.14897285401821136, -2.0448381900787354, -0.3085958659648895, 0.21263940632343292, 1.9590001106262207, -0.03250661864876747, -0.7462500929832458], "theta": [0.14655964076519012, -2.043910503387451, -0.3101220726966858, 0.19692157208919525, 1.958648443222046, -0.03256702423095703, -0.7451394200325012], "dq": [-0.03566505387425423, 0.05330703407526016, 0.00043101844494231045, 0.03280637040734291, -0.029646549373865128, -0.07629918307065964, 0.004373045638203621], "dtheta": [-0.03450560197234154, 0.055994439870119095, 0.005131127778440714, 0.032975658774375916, -0.03157589212059975, -0.07371774315834045, 0.0036053252406418324], "tau": [-60.23999786376953, -5.210000038146973, -12.532000541687012, 11.672000885009766, -4.076000213623047, 3.2840001583099365, 0.06400000303983688], "tau_des": [-1.1806929111480713, 1.2765614986419678, -0.637910008430481, 0.28997519612312317, 0.05155183747410774, -0.31324127316474915, 0.0396171472966671], "tau_dot": [44.60638427734375, 102.19597625732422, -10.096292495727539, 25.18814468383789, 18.17975616455078, 13.942444801330566, 72.92204284667969], "tau_ext": [15.231380462646484, -35.73404312133789, -36.102455139160156, 19.44045639038086, -2.366753339767456, -6.608207702636719, -0.14542429149150848], "tcp_pose": [0.6497359871864319, -0.20754824578762054, -0.350198358297348, -0.028471387922763824, -0.03508811071515083, 0.9986997842788696, 0.02360014244914055], "tcp_vel": [0.013693228363990784, 0.03417406603693962, 0.019345026463270187, 0.02503303810954094, 0.03182300552725792, 0.022064674645662308], "flange_pose": [0.6608557105064392, -0.2161250114440918, -0.16071805357933044, -0.028471387922763824, -0.03508811071515083, 0.9986997842788696, 0.02360014244914055], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-22.43292999267578, -82.14079284667969, -8.014046669006348, -13.433165550231934, 22.889118194580078, 0.3995235562324524], "ext_wrench_in_world": [28.456794353827153, -80.60643726473566, 2.717400990041038, 11.781504343120867, 23.784810393621008, -0.01540940951570513]}
+{"timestamp_ns": 1789729891422256724, "elapsed_ms": 10800, "source_timestamp_ns": 1789729891421745019, "q": [0.1476207971572876, -2.042653799057007, -0.3083209991455078, 0.2139534205198288, 1.9577994346618652, -0.035388268530368805, -0.7460774183273315], "theta": [0.1452157199382782, -2.041733980178833, -0.30983874201774597, 0.1982208490371704, 1.9574484825134277, -0.03544151782989502, -0.7449735999107361], "dq": [-0.0344853512942791, 0.05057002976536751, 0.009075351059436798, 0.03317561745643616, -0.025772858411073685, -0.06889662891626358, 0.00531724514439702], "dtheta": [-0.03298145905137062, 0.05301512032747269, 0.009430049918591976, 0.03160221129655838, -0.028987353667616844, -0.06984265148639679, 0.005127651616930962], "tau": [-60.38999938964844, -4.909999847412109, -12.544000625610352, 11.492000579833984, -4.072000026702881, 3.2160000801086426, 0.07200000435113907], "tau_des": [-1.2471452951431274, 1.7737067937850952, -0.6815112233161926, 0.01693502999842167, 0.05119127780199051, -0.37946075201034546, 0.011539466679096222], "tau_dot": [-19.0429630279541, -106.01934814453125, 38.67103958129883, -53.163787841796875, -52.91673278808594, -91.2745132446289, 27.862428665161133], "tau_ext": [15.278672218322754, -36.20160675048828, -36.1949577331543, 19.596073150634766, -2.431990385055542, -6.523452281951904, -0.14830489456653595], "tcp_pose": [0.6502758264541626, -0.20619633793830872, -0.3494529128074646, -0.029052047058939934, -0.03548436611890793, 0.998656153678894, 0.02413851022720337], "tcp_vel": [0.013542324304580688, 0.0337221585214138, 0.01758495904505253, 0.028185581788420677, 0.027229594066739082, 0.018161237239837646], "flange_pose": [0.6616262197494507, -0.21496491134166718, -0.15999504923820496, -0.029052047058939934, -0.03548436611890793, 0.998656153678894, 0.02413851022720337], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-22.89267921447754, -83.21839904785156, -8.024982452392578, -13.651391983032227, 22.991308212280273, 0.4041794538497925], "ext_wrench_in_world": [29.057040707135577, -81.62762098258415, 2.52921393581002, 11.972599487713392, 23.911936887514376, -0.015912627419043757]}
+{"timestamp_ns": 1789729891455594212, "elapsed_ms": 10833, "source_timestamp_ns": 1789729891451726744, "q": [0.14664903283119202, -2.041051149368286, -0.3080439567565918, 0.21490389108657837, 1.9569061994552612, -0.037446387112140656, -0.7459749579429626], "theta": [0.14426839351654053, -2.040132761001587, -0.3095514178276062, 0.1991538256406784, 1.956549882888794, -0.03748750686645508, -0.7448757886886597], "dq": [-0.03749941289424896, 0.051498718559741974, 0.008209616877138615, 0.0316624753177166, -0.029857471585273743, -0.06758616119623184, -0.0004004733054898679], "dtheta": [-0.029828866943717003, 0.05293452739715576, 0.010123800486326218, 0.030050402507185936, -0.030645126476883888, -0.06520616263151169, 0.002721994649618864], "tau": [-60.619998931884766, -4.889999866485596, -12.532000541687012, 11.460000991821289, -4.0, 3.200000047683716, 0.04400000348687172], "tau_des": [-1.5750118494033813, 1.6444063186645508, -0.7162652015686035, 0.17490357160568237, 0.08966461569070816, -0.4055117070674896, 0.08025258034467697], "tau_dot": [-150.67701721191406, 28.89337158203125, -1.4827414751052856, -56.177268981933594, 55.65535354614258, 45.50541305541992, 17.393108367919922], "tau_ext": [15.522342681884766, -36.09645462036133, -36.1685676574707, 19.502042770385742, -2.428515911102295, -6.494483470916748, -0.14866644144058228], "tcp_pose": [0.6506847143173218, -0.20519088208675385, -0.3489297330379486, -0.029454834759235382, -0.035789500921964645, 0.9986236095428467, 0.02454475313425064], "tcp_vel": [0.013551157899200916, 0.03322761878371239, 0.015733083710074425, 0.025114811956882477, 0.027823593467473984, 0.021892046555876732], "flange_pose": [0.6621959209442139, -0.21410445868968964, -0.15948836505413055, -0.029454834759235382, -0.035789500921964645, 0.9986236095428467, 0.02454475313425064], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-22.933897018432617, -83.51509857177734, -7.958657741546631, -13.66102123260498, 22.984533309936523, 0.4029480516910553], "ext_wrench_in_world": [29.166473037881502, -81.90140767125472, 2.35623151458173, 11.968196118783112, 23.91311110580642, -0.006215249779851106]}
+{"timestamp_ns": 1789729891488895943, "elapsed_ms": 10866, "source_timestamp_ns": 1789729891481767884, "q": [0.1457313895225525, -2.0394694805145264, -0.3077346086502075, 0.21580378711223602, 1.9559839963912964, -0.03936919569969177, -0.7458516955375671], "theta": [0.1433933973312378, -2.038546562194824, -0.3092281222343445, 0.20003359019756317, 1.9556195735931396, -0.03939831256866455, -0.7447564005851746], "dq": [-0.03145899996161461, 0.05763085559010506, 0.008468515239655972, 0.029689589515328407, -0.031758468598127365, -0.0641627088189125, 0.004438776057213545], "dtheta": [-0.02853604592382908, 0.051181014627218246, 0.011196340434253216, 0.029028302058577538, -0.03176528587937355, -0.062064845114946365, 0.0034222090616822243], "tau": [-60.7599983215332, -4.989999771118164, -12.556000709533691, 11.476000785827637, -4.0360002517700195, 3.180000066757202, 0.01600000075995922], "tau_des": [-1.5040158033370972, 1.8805572986602783, -0.6380664706230164, -0.01431414857506752, 0.19269081950187683, -0.5224039554595947, 0.02368262968957424], "tau_dot": [58.11055374145508, 61.290977478027344, -16.444725036621094, 26.189598083496094, 16.91965675354004, -21.379058837890625, -62.263648986816406], "tau_ext": [15.60016918182373, -36.163124084472656, -36.198795318603516, 19.55567169189453, -2.4571774005889893, -6.452569007873535, -0.1466703861951828], "tcp_pose": [0.6511027812957764, -0.20420286059379578, -0.348440021276474, -0.029842626303434372, -0.03609508275985718, 0.9985918998718262, 0.02491518296301365], "tcp_vel": [0.01293694693595171, 0.0318717285990715, 0.015056823380291462, 0.023157766088843346, 0.027214620262384415, 0.020303500816226006], "flange_pose": [0.6627687215805054, -0.21324796974658966, -0.15901432931423187, -0.029842626303434372, -0.03609508275985718, 0.9985918998718262, 0.02491518296301365], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-22.61403465270996, -83.2502670288086, -7.812164783477783, -13.508212089538574, 22.876890182495117, 0.4005276560783386], "ext_wrench_in_world": [28.872084673012974, -81.63804701934201, 2.15950173609213, 11.809219381400801, 23.801819295592963, 0.007516852219968118]}
+{"timestamp_ns": 1789729891522262838, "elapsed_ms": 10900, "source_timestamp_ns": 1789729891521791970, "q": [0.1445567011833191, -2.037330150604248, -0.30731624364852905, 0.21699920296669006, 1.9547661542892456, -0.04191000759601593, -0.7456862330436707], "theta": [0.1422903686761856, -2.0364038944244385, -0.3087877929210663, 0.20119412243366241, 1.954389214515686, -0.041921377182006836, -0.7445955872535706], "dq": [-0.030135074630379677, 0.05135663226246834, 0.0131248589605093, 0.027008075267076492, -0.03076181374490261, -0.06177748367190361, 0.004475478548556566], "dtheta": [-0.02534654177725315, 0.05054854974150658, 0.01161299180239439, 0.029154116287827492, -0.027202410623431206, -0.058549948036670685, 0.003562212223187089], "tau": [-61.0, -5.130000114440918, -12.556000709533691, 11.500000953674316, -4.016000270843506, 3.124000072479248, 0.036000002175569534], "tau_des": [-1.6532622575759888, 1.5937024354934692, -0.702839195728302, 0.13047288358211517, 0.09608665853738785, -0.518354058265686, -0.008646305650472641], "tau_dot": [-46.294166564941406, 158.0333251953125, 10.765378952026367, 35.235443115234375, -76.24483489990234, -67.50984191894531, -36.726619720458984], "tau_ext": [15.741106033325195, -35.948490142822266, -36.212196350097656, 19.495227813720703, -2.4800236225128174, -6.410449504852295, -0.14898207783699036], "tcp_pose": [0.6516658067703247, -0.2028624266386032, -0.34782055020332336, -0.030371883884072304, -0.036517634987831116, 0.9985480904579163, 0.025410544127225876], "tcp_vel": [0.013009323738515377, 0.03191118314862251, 0.012856327928602695, 0.024697016924619675, 0.024637045338749886, 0.019148919731378555], "flange_pose": [0.6635429859161377, -0.21208295226097107, -0.15841645002365112, -0.030371883884072304, -0.036517634987831116, 0.9985480904579163, 0.025410544127225876], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-21.75257682800293, -82.29414367675781, -7.669551372528076, -13.130772590637207, 22.615510940551758, 0.3960699141025543], "ext_wrench_in_world": [28.008489359495677, -80.72060681602285, 2.007700041574941, 11.432343873108756, 23.523094019939748, 0.03092898592422877]}
+{"timestamp_ns": 1789729891555715446, "elapsed_ms": 10933, "source_timestamp_ns": 1789729891551752807, "q": [0.1437937468290329, -2.035822629928589, -0.30701711773872375, 0.21785543859004974, 1.9539352655410767, -0.04362717270851135, -0.7455942034721375], "theta": [0.1415841281414032, -2.034893751144409, -0.30847489833831787, 0.20202524960041046, 1.9535505771636963, -0.0436244010925293, -0.7445069551467896], "dq": [-0.02378108724951744, 0.05133780837059021, 0.012918283231556416, 0.029933836311101913, -0.03255181759595871, -0.05976621434092522, 0.0023232451640069485], "dtheta": [-0.023987291380763054, 0.051687370985746384, 0.01067106332629919, 0.028995493426918983, -0.029347922652959824, -0.059579622000455856, 0.0014558201655745506], "tau": [-61.05999755859375, -5.309999942779541, -12.54800033569336, 11.540000915527344, -3.9760000705718994, 3.1080000400543213, 0.04800000041723251], "tau_des": [-1.7361364364624023, 1.2082955837249756, -0.6393471360206604, 0.39681509137153625, 0.16053906083106995, -0.4514073431491852, 0.013424098491668701], "tau_dot": [-31.84119415283203, -23.988920211791992, -8.417044639587402, 6.54226016998291, -15.408720970153809, 3.074888229370117, 58.46319580078125], "tau_ext": [15.752257347106934, -35.7480354309082, -36.23707580566406, 19.45132064819336, -2.493685483932495, -6.380010604858398, -0.14766617119312286], "tcp_pose": [0.6520563960075378, -0.20192886888980865, -0.34741973876953125, -0.030737726017832756, -0.03681991621851921, 0.9985172152519226, 0.02574699930846691], "tcp_vel": [0.012428549118340015, 0.03219907730817795, 0.012217376381158829, 0.023125024512410164, 0.028530720621347427, 0.022718874737620354], "flange_pose": [0.6640796661376953, -0.21126815676689148, -0.1580306589603424, -0.030737726017832756, -0.03681991621851921, 0.9985172152519226, 0.02574699930846691], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-20.99445915222168, -81.39082336425781, -7.609398365020752, -12.811491966247559, 22.392295837402344, 0.3920005261898041], "ext_wrench_in_world": [27.235281048356903, -79.85929716902079, 1.9668524018690978, 11.116662968355527, 23.283476767411475, 0.04917065088059813]}
+{"timestamp_ns": 1789729891588896168, "elapsed_ms": 10966, "source_timestamp_ns": 1789729891581756620, "q": [0.14305523037910461, -2.0342414379119873, -0.30671456456184387, 0.2187989205121994, 1.9531127214431763, -0.04535694420337677, -0.7455410957336426], "theta": [0.14089585840702057, -2.0333211421966553, -0.3081565499305725, 0.20294325053691864, 1.9527232646942139, -0.045348405838012695, -0.744458019733429], "dq": [-0.017938684672117233, 0.054364416748285294, 0.00853945966809988, 0.032409779727458954, -0.02723340131342411, -0.054867908358573914, 0.0038686508778482676], "dtheta": [-0.02123078517615795, 0.05144021660089493, 0.010958409868180752, 0.03151112049818039, -0.027497777715325356, -0.05653737485408783, 0.002160822506994009], "tau": [-61.21999740600586, -5.389999866485596, -12.572000503540039, 11.576000213623047, -3.9760000705718994, 3.140000104904175, 0.04400000348687172], "tau_des": [-2.0080666542053223, 1.314996600151062, -0.6274257302284241, 0.32004836201667786, 0.16849179565906525, -0.48338115215301514, -0.005186870228499174], "tau_dot": [16.138090133666992, -34.43247985839844, 39.20270919799805, -35.153785705566406, 42.37395477294922, 29.539201736450195, 40.43251419067383], "tau_ext": [15.86059856414795, -35.6020393371582, -36.23691940307617, 19.407621383666992, -2.4929301738739014, -6.360952854156494, -0.14563819766044617], "tcp_pose": [0.6524553894996643, -0.2009715586900711, -0.34702667593955994, -0.031105346977710724, -0.03713713213801384, 0.998485267162323, 0.026085948571562767], "tcp_vel": [0.011709480546414852, 0.031033866107463837, 0.010941917076706886, 0.022139590233564377, 0.027007944881916046, 0.0193183533847332], "flange_pose": [0.6646256446838379, -0.21043023467063904, -0.15765291452407837, -0.031105346977710724, -0.03713713213801384, 0.998485267162323, 0.026085948571562767], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-20.23128890991211, -80.3853530883789, -7.603515625, -12.472634315490723, 22.167245864868164, 0.38990339636802673], "ext_wrench_in_world": [26.454438116604194, -78.89952534811934, 1.9877363345109549, 10.78113180932203, 23.040576393980416, 0.06676079049744776]}
+{"timestamp_ns": 1789729891622247945, "elapsed_ms": 11000, "source_timestamp_ns": 1789729891621750829, "q": [0.14217278361320496, -2.032095193862915, -0.3062814772129059, 0.22015507519245148, 1.9520297050476074, -0.04757542163133621, -0.7455059885978699], "theta": [0.14005757868289948, -2.0312106609344482, -0.3076987862586975, 0.20426809787750244, 1.9516383409500122, -0.047569990158081055, -0.7444280385971069], "dq": [-0.01961967721581459, 0.05862095579504967, 0.010744758881628513, 0.03100670501589775, -0.02531827986240387, -0.05204536020755768, 7.614520291099325e-05], "dtheta": [-0.02030109614133835, 0.05172659829258919, 0.012049009092152119, 0.03420863300561905, -0.02848026528954506, -0.05554286763072014, 7.152056787163019e-05], "tau": [-61.37999725341797, -5.359999656677246, -12.608000755310059, 11.496000289916992, -3.9760000705718994, 3.0960001945495605, 0.01600000075995922], "tau_des": [-2.021190881729126, 1.3895423412322998, -0.5496742129325867, 0.2694167494773865, 0.2264031320810318, -0.491388201713562, -0.01490328460931778], "tau_dot": [-90.05209350585938, -121.37079620361328, 4.6428093910217285, -9.838818550109863, 6.21289587020874, 8.349493026733398, -25.402671813964844], "tau_ext": [15.865436553955078, -35.582908630371094, -36.27471160888672, 19.434720993041992, -2.512543201446533, -6.344474792480469, -0.13894402980804443], "tcp_pose": [0.6529718637466431, -0.19970989227294922, -0.34655335545539856, -0.03158826753497124, -0.037548359483480453, 0.9984433054924011, 0.026519151404500008], "tcp_vel": [0.010976660996675491, 0.030130337923765182, 0.010790400207042694, 0.02113965153694153, 0.02649048902094364, 0.019071228802204132], "flange_pose": [0.6653351187705994, -0.2093207687139511, -0.15719975531101227, -0.03158826753497124, -0.037548359483480453, 0.9984433054924011, 0.026519151404500008], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-19.269065856933594, -79.22306060791016, -7.523353099822998, -12.07943344116211, 21.889463424682617, 0.3882215917110443], "ext_wrench_in_world": [25.473221102904233, -77.7917248488979, 1.9374273209551878, 10.391410124095453, 22.74254129090807, 0.08630497344991683]}
+{"timestamp_ns": 1789729891655642338, "elapsed_ms": 11033, "source_timestamp_ns": 1789729891651722995, "q": [0.1415480673313141, -2.0304760932922363, -0.3059154450893402, 0.22120589017868042, 1.9512165784835815, -0.049194466322660446, -0.745500385761261], "theta": [0.13945786654949188, -2.0296366214752197, -0.30730703473091125, 0.20530998706817627, 1.9508273601531982, -0.049191951751708984, -0.7444275617599487], "dq": [-0.0192596185952425, 0.056322891265153885, 0.012425730004906654, 0.03259498253464699, -0.029647264629602432, -0.04944009706377983, -0.0020841360092163086], "dtheta": [-0.020103998482227325, 0.05180642753839493, 0.013968144543468952, 0.03577381372451782, -0.02839733473956585, -0.052782680839300156, 0.0002839693916030228], "tau": [-61.44999694824219, -5.239999771118164, -12.608000755310059, 11.472000122070312, -3.9720001220703125, 3.124000072479248, 0.024000000208616257], "tau_des": [-1.83217453956604, 1.4470958709716797, -0.5011595487594604, 0.34246110916137695, 0.20204447209835052, -0.5820039510726929, 0.09475146234035492], "tau_dot": [-60.67494583129883, 0.7870804071426392, -39.73544692993164, -4.434146404266357, 1.1896284818649292, 12.77936840057373, -7.36037015914917], "tau_ext": [15.862875938415527, -35.5990104675293, -36.29193115234375, 19.447420120239258, -2.5228147506713867, -6.342314720153809, -0.13394640386104584], "tcp_pose": [0.6533559560775757, -0.19876594841480255, -0.3462212383747101, -0.031937967985868454, -0.03785379230976105, 0.9984119534492493, 0.02684413269162178], "tcp_vel": [0.011369939893484116, 0.02966836281120777, 0.010775497183203697, 0.020757675170898438, 0.02324318140745163, 0.01723303273320198], "flange_pose": [0.6658592224121094, -0.20849110186100006, -0.15688268840312958, -0.031937967985868454, -0.03785379230976105, 0.9984119534492493, 0.02684413269162178], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-18.70344352722168, -78.61003112792969, -7.548978805541992, -11.874994277954102, 21.731895446777344, 0.3897097110748291], "ext_wrench_in_world": [24.915593199763787, -77.21203538807511, 1.9640981266442836, 10.185698319823558, 22.576204183727956, 0.09590027204484797]}
+{"timestamp_ns": 1789729891688895213, "elapsed_ms": 11066, "source_timestamp_ns": 1789729891681741987, "q": [0.1409541815519333, -2.0288212299346924, -0.3054943084716797, 0.22234594821929932, 1.9503899812698364, -0.05080815777182579, -0.7454572319984436], "theta": [0.13888390362262726, -2.028029441833496, -0.3068579435348511, 0.20645038783550262, 1.9500072002410889, -0.05081033706665039, -0.7443873286247253], "dq": [-0.019370319321751595, 0.05511502921581268, 0.011424241587519646, 0.03868279606103897, -0.027243031188845634, -0.05125163868069649, 0.0021328928414732218], "dtheta": [-0.018697647377848625, 0.055034488439559937, 0.01518814917653799, 0.04105549678206444, -0.03014790266752243, -0.055715855211019516, 0.0014609050704166293], "tau": [-61.46999740600586, -5.089999675750732, -12.612000465393066, 11.428000450134277, -3.9800002574920654, 3.076000213623047, 0.02800000086426735], "tau_des": [-1.9983588457107544, 1.3343034982681274, -0.5432302951812744, 0.25414448976516724, 0.20667022466659546, -0.4765622615814209, -0.027524717152118683], "tau_dot": [8.601272583007812, -36.146087646484375, 22.406850814819336, -8.844393730163574, 20.443723678588867, -39.77180480957031, -7.480794906616211], "tau_ext": [15.882732391357422, -35.529579162597656, -36.30445861816406, 19.4072208404541, -2.5235419273376465, -6.351933002471924, -0.1351161152124405], "tcp_pose": [0.6537302136421204, -0.19781887531280518, -0.34590545296669006, -0.03228095546364784, -0.0381137952208519, 0.998382031917572, 0.02717711590230465], "tcp_vel": [0.010465375147759914, 0.03042006492614746, 0.010232708416879177, 0.021260160952806473, 0.02617635577917099, 0.014263066463172436], "flange_pose": [0.6663707494735718, -0.2076619416475296, -0.15658210217952728, -0.03228095546364784, -0.0381137952208519, 0.998382031917572, 0.02717711590230465], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-18.29974937438965, -78.17394256591797, -7.590549468994141, -11.731683731079102, 21.62203025817871, 0.3897843062877655], "ext_wrench_in_world": [24.525641511802302, -76.79977936719285, 1.987300251904842, 10.039626780015801, 22.46087997217549, 0.10626594282991186]}
+{"timestamp_ns": 1789729891722248380, "elapsed_ms": 11100, "source_timestamp_ns": 1789729891721748464, "q": [0.14019596576690674, -2.026592493057251, -0.30490514636039734, 0.2239435315132141, 1.9492805004119873, -0.05295378714799881, -0.745448112487793], "theta": [0.13814222812652588, -2.0258476734161377, -0.30622127652168274, 0.20805028080940247, 1.9489129781723022, -0.05295670032501221, -0.7443820238113403], "dq": [-0.01631266251206398, 0.05419999733567238, 0.013782927766442299, 0.037054505199193954, -0.02843293733894825, -0.052876364439725876, -0.002229530131444335], "dtheta": [-0.018639085814356804, 0.054926373064517975, 0.0156906396150589, 0.04095807299017906, -0.027448631823062897, -0.0544448122382164, 0.0011021086247637868], "tau": [-61.41999816894531, -4.679999828338623, -12.552000999450684, 11.212000846862793, -3.952000141143799, 3.116000175476074, -0.004000000189989805], "tau_des": [-1.7089695930480957, 1.773107647895813, -0.40732696652412415, 0.0795593112707138, 0.20376043021678925, -0.5106877088546753, -0.10002075880765915], "tau_dot": [52.36170959472656, -20.443042755126953, 54.526268005371094, -15.451189994812012, -61.46836853027344, 36.647491455078125, -8.20367431640625], "tau_ext": [15.826170921325684, -35.65324783325195, -36.34418487548828, 19.45935821533203, -2.530109167098999, -6.367706298828125, -0.13220326602458954], "tcp_pose": [0.6542111039161682, -0.19656385481357574, -0.34549805521965027, -0.032737985253334045, -0.03845782205462456, 0.9983417391777039, 0.027621477842330933], "tcp_vel": [0.011147953569889069, 0.030937086790800095, 0.009929625317454338, 0.023060685023665428, 0.02339940331876278, 0.014410149306058884], "flange_pose": [0.6670345664024353, -0.20656417310237885, -0.1561952382326126, -0.032737985253334045, -0.03845782205462456, 0.9983417391777039, 0.027621477842330933], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-17.846038818359375, -77.70552825927734, -7.727279186248779, -11.595026016235352, 21.509431838989258, 0.3826040029525757], "ext_wrench_in_world": [24.10285128826613, -76.3611777449033, 2.089057291934198, 9.897282920660784, 22.344453533585863, 0.12593351497256666]}
+{"timestamp_ns": 1789729891755583998, "elapsed_ms": 11133, "source_timestamp_ns": 1789729891751801053, "q": [0.1396436095237732, -2.0248656272888184, -0.30442965030670166, 0.2252042442560196, 1.9484784603118896, -0.0546281561255455, -0.7454505562782288], "theta": [0.1375879943370819, -2.0241434574127197, -0.3057108521461487, 0.2093147486448288, 1.9481220245361328, -0.05462515354156494, -0.7443880438804626], "dq": [-0.013891391456127167, 0.05414680019021034, 0.017695285379886627, 0.04310065135359764, -0.026964159682393074, -0.05395609512925148, -0.001169000519439578], "dtheta": [-0.01712988130748272, 0.05428273603320122, 0.017637209966778755, 0.04102744534611702, -0.026644079014658928, -0.053623735904693604, -0.0006799483671784401], "tau": [-61.40999984741211, -4.380000114440918, -12.5600004196167, 11.020000457763672, -3.936000108718872, 3.136000156402588, 0.03200000151991844], "tau_des": [-1.8164178133010864, 2.3671860694885254, -0.37740907073020935, -0.022662905976176262, 0.1960195004940033, -0.41891032457351685, 0.0064785354770720005], "tau_dot": [-17.69428825378418, -74.39092254638672, -7.9009270668029785, 24.523284912109375, 12.484457969665527, -23.220705032348633, 36.325069427490234], "tau_ext": [15.794968605041504, -35.98867416381836, -36.3929328918457, 19.593992233276367, -2.541398048400879, -6.382981300354004, -0.12224041670560837], "tcp_pose": [0.6545729637145996, -0.1955786645412445, -0.3452116847038269, -0.03308816999197006, -0.03871693089604378, 0.9983097314834595, 0.02799784392118454], "tcp_vel": [0.010730407200753689, 0.03107224404811859, 0.008584975264966488, 0.024929672479629517, 0.022841034457087517, 0.015197276137769222], "flange_pose": [0.6675370931625366, -0.20571304857730865, -0.15592558681964874, -0.03308816999197006, -0.03871693089604378, 0.9983097314834595, 0.02799784392118454], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-17.64980125427246, -77.75379943847656, -7.90486478805542, -11.61735725402832, 21.473052978515625, 0.38606134057044983], "ext_wrench_in_world": [23.964146800578778, -76.42334738734995, 2.2016677733789085, 9.910602760776284, 22.315185123915068, 0.1284638005018044]}
+{"timestamp_ns": 1789729891788895258, "elapsed_ms": 11166, "source_timestamp_ns": 1789729891781752301, "q": [0.13916939496994019, -2.023224353790283, -0.30390748381614685, 0.2264643758535385, 1.9477063417434692, -0.056151654571294785, -0.7454468011856079], "theta": [0.1370997130870819, -2.0225088596343994, -0.30516135692596436, 0.21057341992855072, 1.9473613500595093, -0.056142568588256836, -0.7443870902061462], "dq": [-0.016672220081090927, 0.05167549476027489, 0.0163604523986578, 0.04469233378767967, -0.025383003056049347, -0.0512843132019043, 0.002095564967021346], "dtheta": [-0.015846749767661095, 0.05917627736926079, 0.019971122965216637, 0.044716399163007736, -0.027754632756114006, -0.05185747146606445, -0.00023289052478503436], "tau": [-61.3599967956543, -4.130000114440918, -12.568000793457031, 10.968000411987305, -3.9600002765655518, 3.136000156402588, 0.01600000075995922], "tau_des": [-1.6671080589294434, 2.220562696456909, -0.3519893288612366, 0.04931851476430893, 0.1715746372938156, -0.4578867256641388, 0.0710025206208229], "tau_dot": [177.6869354248047, 19.680192947387695, -49.18635940551758, 26.685928344726562, -52.156951904296875, -45.79502487182617, -10.516081809997559], "tau_ext": [15.763627052307129, -36.15473556518555, -36.4355354309082, 19.682592391967773, -2.553069591522217, -6.3988518714904785, -0.12039810419082642], "tcp_pose": [0.6549038887023926, -0.19465948641300201, -0.34496983885765076, -0.033398956060409546, -0.0389278382062912, 0.9982811212539673, 0.02835412696003914], "tcp_vel": [0.012491692788898945, 0.03320588171482086, 0.007778813596814871, 0.024743137881159782, 0.021494923159480095, 0.015920864418148994], "flange_pose": [0.6679931282997131, -0.20492148399353027, -0.155699223279953, -0.033398956060409546, -0.0389278382062912, 0.9982811212539673, 0.02835412696003914], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-17.383651733398438, -77.7944564819336, -8.09327220916748, -11.637154579162598, 21.418731689453125, 0.38791584968566895], "ext_wrench_in_world": [23.748720834641077, -76.48670133564927, 2.335088749641216, 9.925062749774638, 22.26683078197874, 0.13148737698279667]}
+{"timestamp_ns": 1789729891822250095, "elapsed_ms": 11200, "source_timestamp_ns": 1789729891821777416, "q": [0.13857173919677734, -2.020754814147949, -0.3030868470668793, 0.22841180860996246, 1.9465627670288086, -0.058308932930231094, -0.7453628182411194], "theta": [0.1364755779504776, -2.0200159549713135, -0.3042932152748108, 0.21251490712165833, 1.9462331533432007, -0.05829334259033203, -0.7443057894706726], "dq": [-0.014180822297930717, 0.06026960909366608, 0.017504513263702393, 0.05178258195519447, -0.02730356901884079, -0.05013689398765564, 0.0032414726447314024], "dtheta": [-0.014347724616527557, 0.06398960202932358, 0.021552633494138718, 0.04830597713589668, -0.028348712250590324, -0.05322463810443878, 0.006387661676853895], "tau": [-61.37999725341797, -3.7899999618530273, -12.508000373840332, 10.720000267028809, -3.9280002117156982, 3.196000099182129, 0.04800000041723251], "tau_des": [-1.7005600929260254, 2.061012029647827, -0.36782410740852356, 0.08271243423223495, 0.15651680529117584, -0.35884401202201843, 0.0666908398270607], "tau_dot": [8.3968505859375, 120.69400024414062, -20.08184242248535, 30.526342391967773, 12.11713695526123, -16.74923324584961, 25.308523178100586], "tau_ext": [15.666557312011719, -36.182308197021484, -36.50349807739258, 19.732791900634766, -2.560823917388916, -6.431493759155273, -0.13153114914894104], "tcp_pose": [0.6553840041160583, -0.19330506026744843, -0.3446704149246216, -0.03385389968752861, -0.03917901590466499, 0.9982413649559021, 0.028863832354545593], "tcp_vel": [0.013398146256804466, 0.0358135886490345, 0.0066629755310714245, 0.02583017759025097, 0.02323128841817379, 0.010567526333034039], "flange_pose": [0.6686555743217468, -0.20374999940395355, -0.15542252361774445, -0.03385389968752861, -0.03917901590466499, 0.9982413649559021, 0.028863832354545593], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-16.82542610168457, -77.43299865722656, -8.328664779663086, -11.54729175567627, 21.294816970825195, 0.3814348876476288], "ext_wrench_in_world": [23.22246518462823, -76.17514247864766, 2.528968301848929, 9.834661085522823, 22.14072728011309, 0.14935235427508453]}
+{"timestamp_ns": 1789729891855586913, "elapsed_ms": 11233, "source_timestamp_ns": 1789729891851815947, "q": [0.1381692886352539, -2.018857717514038, -0.3024747669696808, 0.2299000769853592, 1.9457125663757324, -0.059869781136512756, -0.7452020049095154], "theta": [0.1360514909029007, -2.0180904865264893, -0.30364176630973816, 0.21400092542171478, 1.945393681526184, -0.0598524808883667, -0.7441433072090149], "dq": [-0.012529094703495502, 0.06213881075382233, 0.024436552077531815, 0.0459112673997879, -0.028879933059215546, -0.049105409532785416, 0.004607906099408865], "dtheta": [-0.013843484222888947, 0.06522223353385925, 0.02239951677620411, 0.04955752193927765, -0.028255529701709747, -0.05035802349448204, 0.004141242243349552], "tau": [-61.459999084472656, -4.009999752044678, -12.516000747680664, 10.804000854492188, -3.9200000762939453, 3.2280001640319824, 0.052000001072883606], "tau_des": [-1.5613501071929932, 1.9843860864639282, -0.3666386902332306, -0.024043818935751915, 0.142788827419281, -0.4367493987083435, 0.06340887397527695], "tau_dot": [23.30130386352539, -108.5387191772461, 20.538272857666016, 30.79240608215332, 6.6571879386901855, 19.935489654541016, -7.631440162658691], "tau_ext": [15.592906951904297, -36.274879455566406, -36.56418228149414, 19.801898956298828, -2.568378448486328, -6.454594612121582, -0.14608511328697205], "tcp_pose": [0.6557576060295105, -0.19227708876132965, -0.3444695770740509, -0.034193605184555054, -0.03932716324925423, 0.9982133507728577, 0.029227571561932564], "tcp_vel": [0.014285760000348091, 0.03597428277134895, 0.006505780387669802, 0.024908553808927536, 0.02066206745803356, 0.012740491889417171], "flange_pose": [0.6691647171974182, -0.20285272598266602, -0.15523849427700043, -0.034193605184555054, -0.03932716324925423, 0.9982133507728577, 0.029227571561932564], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-16.262197494506836, -77.01892852783203, -8.540033340454102, -11.438549995422363, 21.165409088134766, 0.3655983805656433], "ext_wrench_in_world": [22.669588896055696, -75.81513969220778, 2.731468673910992, 9.731150204641489, 22.00507498685428, 0.17326442038985246]}
+{"timestamp_ns": 1789729891888896643, "elapsed_ms": 11266, "source_timestamp_ns": 1789729891881736297, "q": [0.1378091722726822, -2.016946792602539, -0.3018585741519928, 0.23136167228221893, 1.9448384046554565, -0.061376407742500305, -0.7450622320175171], "theta": [0.13566948473453522, -2.01615571975708, -0.30298975110054016, 0.21547578275203705, 1.9445271492004395, -0.06135702133178711, -0.7440023422241211], "dq": [-0.01145586371421814, 0.06920189410448074, 0.02036418206989765, 0.04896213114261627, -0.030512111261487007, -0.05018870532512665, 0.006656752899289131], "dtheta": [-0.013150549493730068, 0.06574898213148117, 0.021737251430749893, 0.05070988088846207, -0.03127346560359001, -0.05254669860005379, 0.005893154535442591], "tau": [-61.47999954223633, -4.579999923706055, -12.580000877380371, 11.032000541687012, -3.9680001735687256, 3.260000228881836, 0.04800000041723251], "tau_des": [-1.681219220161438, 1.8239508867263794, -0.36461055278778076, 0.03905915468931198, 0.1991235315799713, -0.2923779785633087, 0.049994733184576035], "tau_dot": [-60.09885025024414, -49.14448547363281, 14.430068016052246, -14.10915470123291, -12.3391752243042, -17.130617141723633, 6.028349876403809], "tau_ext": [15.554486274719238, -36.03741455078125, -36.587135314941406, 19.692514419555664, -2.559412717819214, -6.489633560180664, -0.14692792296409607], "tcp_pose": [0.656137228012085, -0.19124269485473633, -0.3442961275577545, -0.03454511985182762, -0.03950401768088341, 0.9981841444969177, 0.02957180142402649], "tcp_vel": [0.012856240384280682, 0.03544896841049194, 0.0064886175096035, 0.022967079654335976, 0.025076715275645256, 0.010617026127874851], "flange_pose": [0.6696844696998596, -0.20194101333618164, -0.15508189797401428, -0.03454511985182762, -0.03950401768088341, 0.9981841444969177, 0.02957180142402649], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-15.775148391723633, -76.47024536132812, -8.700383186340332, -11.291903495788574, 21.05653190612793, 0.35210156440734863], "ext_wrench_in_world": [22.18316339371673, -75.31138674324467, 2.890101840572017, 9.587010752705355, 21.887411682911278, 0.19756172178513498]}
+{"timestamp_ns": 1789729891922247560, "elapsed_ms": 11300, "source_timestamp_ns": 1789729891921771402, "q": [0.13734115660190582, -2.0141637325286865, -0.30105558037757874, 0.23344431817531586, 1.9435569047927856, -0.06344281136989594, -0.7448033094406128], "theta": [0.1351681500673294, -2.013359785079956, -0.3021402060985565, 0.21758635342121124, 1.9432547092437744, -0.06341540813446045, -0.743742823600769], "dq": [-0.01029717456549406, 0.06623390316963196, 0.020929183810949326, 0.054481592029333115, -0.029846791177988052, -0.05110379308462143, 0.006635640747845173], "dtheta": [-0.012615101411938667, 0.06757406145334244, 0.020115358754992485, 0.05271800234913826, -0.031175309792160988, -0.05025402829051018, 0.004798179492354393], "tau": [-61.56999969482422, -5.150000095367432, -12.616000175476074, 11.32800006866455, -3.9680001735687256, 3.2920000553131104, 0.06800000369548798], "tau_des": [-1.5239601135253906, 0.9981630444526672, -0.22674596309661865, 0.39290085434913635, 0.25307315587997437, -0.3465685546398163, 0.08947838842868805], "tau_dot": [-75.40972137451172, -22.533166885375977, -12.769567489624023, 59.07697296142578, -14.331317901611328, -32.91593551635742, 59.59714889526367], "tau_ext": [15.497903823852539, -35.679019927978516, -36.62424850463867, 19.525836944580078, -2.545865058898926, -6.539215564727783, -0.14891725778579712], "tcp_pose": [0.6566954851150513, -0.18977010250091553, -0.34405621886253357, -0.03507018834352493, -0.039757464081048965, 0.998143196105957, 0.029992815107107162], "tcp_vel": [0.013437694869935513, 0.035151612013578415, 0.006889095529913902, 0.0200088769197464, 0.02392559126019478, 0.011808713898062706], "flange_pose": [0.6704505681991577, -0.20061637461185455, -0.15486541390419006, -0.03507018834352493, -0.039757464081048965, 0.998143196105957, 0.029992815107107162], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-15.234267234802246, -75.41780853271484, -8.924120903015137, -11.015408515930176, 20.94268035888672, 0.337750643491745], "ext_wrench_in_world": [21.621744819943284, -74.31199059633215, 3.1299968853235685, 9.310931380290313, 21.755512228981917, 0.23109602040953992]}
+{"timestamp_ns": 1789729891955588178, "elapsed_ms": 11333, "source_timestamp_ns": 1789729891951747518, "q": [0.137018620967865, -2.0120925903320312, -0.30047836899757385, 0.23504820466041565, 1.9426847696304321, -0.06495532393455505, -0.7446047067642212], "theta": [0.13481862843036652, -2.011296033859253, -0.3015272915363312, 0.21919654309749603, 1.9423880577087402, -0.0649183988571167, -0.7435436248779297], "dq": [-0.012983356602489948, 0.06917507946491241, 0.0191311277449131, 0.056486211717128754, -0.028065739199519157, -0.05011555925011635, 0.006105248816311359], "dtheta": [-0.011507008224725723, 0.06769048422574997, 0.021176418289542198, 0.05377981811761856, -0.030783314257860184, -0.050708334892988205, 0.004926256835460663], "tau": [-61.529998779296875, -5.349999904632568, -12.652000427246094, 11.37600040435791, -4.008000373840332, 3.308000087738037, 0.04000000283122063], "tau_des": [-1.7241182327270508, 0.6406857371330261, -0.38983675837516785, 0.6084904074668884, 0.1250922977924347, -0.24816349148750305, -0.007217382080852985], "tau_dot": [-62.03376007080078, 27.637067794799805, 10.083568572998047, -52.461185455322266, 5.1795525550842285, -32.63210678100586, 14.301926612854004], "tau_ext": [15.479339599609375, -35.365028381347656, -36.63153076171875, 19.34018325805664, -2.527327537536621, -6.568894386291504, -0.14550286531448364], "tcp_pose": [0.6571038961410522, -0.18868480622768402, -0.3438868522644043, -0.03543579578399658, -0.039918482303619385, 0.9981141686439514, 0.030314408242702484], "tcp_vel": [0.012847403064370155, 0.03534529730677605, 0.006026275921612978, 0.021303491666913033, 0.024479495361447334, 0.010639652609825134], "flange_pose": [0.6710039973258972, -0.1996450275182724, -0.1547132134437561, -0.03543579578399658, -0.039918482303619385, 0.9981141686439514, 0.030314408242702484], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-15.04654598236084, -74.7894058227539, -9.039716720581055, -10.851763725280762, 20.913761138916016, 0.33313602209091187], "ext_wrench_in_world": [21.421153125457412, -73.70372479406869, 3.235026733138409, 9.143944207538558, 21.715940996421704, 0.2516972457552604]}
+{"timestamp_ns": 1789729891988902038, "elapsed_ms": 11366, "source_timestamp_ns": 1789729891981785038, "q": [0.1366923302412033, -2.010054349899292, -0.29990091919898987, 0.23668238520622253, 1.941792368888855, -0.0664842501282692, -0.744516134262085], "theta": [0.13446451723575592, -2.009277105331421, -0.30091139674186707, 0.22082637250423431, 1.9415016174316406, -0.06643939018249512, -0.7434554100036621], "dq": [-0.009522409178316593, 0.06810982525348663, 0.01840727962553501, 0.05833878740668297, -0.030852042138576508, -0.048184093087911606, 0.0037106710951775312], "dtheta": [-0.011612105183303356, 0.06828903406858444, 0.02015797607600689, 0.054394472390413284, -0.02794354408979416, -0.05035950616002083, 0.0014677882427349687], "tau": [-61.57999801635742, -4.989999771118164, -12.628000259399414, 11.336000442504883, -4.01200008392334, 3.3680002689361572, 0.01600000075995922], "tau_des": [-1.4882029294967651, 0.34550175070762634, -0.2553943991661072, 0.824813187122345, 0.10672440379858017, -0.22345753014087677, 0.009516263380646706], "tau_dot": [-67.60108947753906, 23.779144287109375, -14.09520435333252, 13.275557518005371, 1.2698729038238525, -20.216829299926758, 2.7919273376464844], "tau_ext": [15.435853958129883, -35.448543548583984, -36.65742874145508, 19.319286346435547, -2.5182743072509766, -6.600648880004883, -0.13887815177440643], "tcp_pose": [0.6574781537055969, -0.18763451278209686, -0.34370648860931396, -0.03580668941140175, -0.040103524923324585, 0.9980838298797607, 0.030630726367235184], "tcp_vel": [0.013449522666633129, 0.03586805239319801, 0.006117621436715126, 0.0226102527230978, 0.02247232012450695, 0.01410265639424324], "flange_pose": [0.6715254187583923, -0.19870620965957642, -0.154550239443779, -0.03580668941140175, -0.040103524923324585, 0.9980838298797607, 0.030630726367235184], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-15.086769104003906, -74.60033416748047, -9.225672721862793, -10.822903633117676, 20.948102951049805, 0.32899028062820435], "ext_wrench_in_world": [21.49000283465309, -73.51714860297788, 3.367808860738931, 9.10500019782244, 21.750734395987212, 0.26649491018288995]}
+{"timestamp_ns": 1789729892022256657, "elapsed_ms": 11400, "source_timestamp_ns": 1789729892021749192, "q": [0.13628125190734863, -2.0074546337127686, -0.2991105616092682, 0.2388581931591034, 1.9407192468643188, -0.06844731420278549, -0.7445037961006165], "theta": [0.13401533663272858, -2.0066940784454346, -0.3000706434249878, 0.22298653423786163, 1.940440058708191, -0.06839871406555176, -0.7434467673301697], "dq": [-0.00819858256727457, 0.06340307742357254, 0.018436521291732788, 0.05751940235495567, -0.029551774263381958, -0.04958154633641243, -0.0013909097760915756], "dtheta": [-0.011201883666217327, 0.06560605019330978, 0.02274823747575283, 0.05441465601325035, -0.026940977200865746, -0.0494426004588604, -0.0005621769814752042], "tau": [-61.3599967956543, -5.009999752044678, -12.612000465393066, 11.292000770568848, -3.9840002059936523, 3.3600001335144043, 0.036000002175569534], "tau_des": [-1.3914419412612915, 0.8458155393600464, -0.3216254413127899, 0.6531726121902466, 0.00126530637498945, -0.20923684537410736, -0.10266315191984177], "tau_dot": [152.67388916015625, -95.40373229980469, 57.85662078857422, -12.06428050994873, 12.22554874420166, -39.25822448730469, 73.50096130371094], "tau_ext": [15.316412925720215, -35.44036102294922, -36.68074035644531, 19.24721336364746, -2.5050511360168457, -6.629681587219238, -0.12733213603496552], "tcp_pose": [0.6579418182373047, -0.1862945705652237, -0.34348368644714355, -0.036240268498659134, -0.04034501686692238, 0.9980446100234985, 0.031079048290848732], "tcp_vel": [0.012388521805405617, 0.03483865037560463, 0.00544923497363925, 0.024984324350953102, 0.020395424216985703, 0.013067318126559258], "flange_pose": [0.672162652015686, -0.19752590358257294, -0.15434981882572174, -0.036240268498659134, -0.04034501686692238, 0.9980446100234985, 0.031079048290848732], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-15.380382537841797, -74.86322784423828, -9.483156204223633, -10.938485145568848, 21.057331085205078, 0.33140361309051514], "ext_wrench_in_world": [21.8599599218913, -73.76220149969564, 3.5027252238785147, 9.200978878228844, 21.87323252191685, 0.27416197965723965]}
+{"timestamp_ns": 1789729892055723717, "elapsed_ms": 11433, "source_timestamp_ns": 1789729892051743789, "q": [0.13596153259277344, -2.005425214767456, -0.29842233657836914, 0.24061116576194763, 1.9397954940795898, -0.07000215351581573, -0.7445207834243774], "theta": [0.13366825878620148, -2.004662275314331, -0.2993423342704773, 0.22472994029521942, 1.939527153968811, -0.06995344161987305, -0.7434681057929993], "dq": [-0.010567826218903065, 0.0647505447268486, 0.021769929677248, 0.05762086436152458, -0.0300680510699749, -0.04802777245640755, -0.0013715960085391998], "dtheta": [-0.010488680563867092, 0.06618430465459824, 0.024406438693404198, 0.05601466819643974, -0.027678653597831726, -0.04925514757633209, -0.001865015714429319], "tau": [-61.459999084472656, -4.420000076293945, -12.652000427246094, 11.0600004196167, -3.9720001220703125, 3.432000160217285, -0.06800000369548798], "tau_des": [-1.334814190864563, 1.0717061758041382, -0.2710670232772827, 0.6233770847320557, 0.006302461493760347, -0.1771678924560547, -0.1905907392501831], "tau_dot": [-76.9172592163086, -26.663026809692383, -35.8365592956543, -10.619359970092773, 58.51301956176758, 58.59733200073242, -10.978594779968262], "tau_ext": [15.249252319335938, -35.760589599609375, -36.715946197509766, 19.370378494262695, -2.508439779281616, -6.6598968505859375, -0.10660673677921295], "tcp_pose": [0.6582737565040588, -0.18526330590248108, -0.34331014752388, -0.036592185497283936, -0.04051756113767624, 0.9980137944221497, 0.031429994851350784], "tcp_vel": [0.012062259018421173, 0.03495246544480324, 0.004926100838929415, 0.025596726685762405, 0.0202825665473938, 0.013245907612144947], "flange_pose": [0.6726350784301758, -0.19661958515644073, -0.15419434010982513, -0.036592185497283936, -0.04051756113767624, 0.9980137944221497, 0.031429994851350784], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-15.563390731811523, -75.05567932128906, -9.719326972961426, -11.030681610107422, 21.1264705657959, 0.33499568700790405], "ext_wrench_in_world": [22.102680470177493, -73.94740702213346, 3.6458136258880836, 9.279612281543734, 21.952858165738284, 0.277004910636901]}
+{"timestamp_ns": 1789729892088900513, "elapsed_ms": 11466, "source_timestamp_ns": 1789729892081749515, "q": [0.13567142188549042, -2.003479480743408, -0.29767847061157227, 0.24236828088760376, 1.9388841390609741, -0.07149068266153336, -0.7446466088294983], "theta": [0.13335272669792175, -2.0027098655700684, -0.29855430126190186, 0.22648680210113525, 1.938629388809204, -0.0714423656463623, -0.7436044812202454], "dq": [-0.009463263675570488, 0.06263215094804764, 0.02293282188475132, 0.06288500130176544, -0.03028586506843567, -0.04982631653547287, -0.003029408399015665], "dtheta": [-0.010126802138984203, 0.06495441496372223, 0.02768157795071602, 0.061321813613176346, -0.030476843938231468, -0.0507318377494812, -0.006905020214617252], "tau": [-61.43000030517578, -4.039999961853027, -12.688000679016113, 10.792000770568848, -3.9760000705718994, 3.4280002117156982, -0.12400000542402267], "tau_des": [-1.2497129440307617, 2.6276307106018066, -0.084690622985363, -0.10977156460285187, 0.13294421136379242, -0.15792274475097656, -0.2310863882303238], "tau_dot": [40.90228271484375, -39.58720016479492, -65.5560302734375, 12.975802421569824, 23.970882415771484, 18.664657592773438, -29.421157836914062], "tau_ext": [15.230472564697266, -36.16069030761719, -36.739749908447266, 19.573955535888672, -2.5102574825286865, -6.682855129241943, -0.029054658487439156], "tcp_pose": [0.6585697531700134, -0.18428418040275574, -0.3431576192378998, -0.03691432625055313, -0.04069812223315239, 0.9979832172393799, 0.03178761899471283], "tcp_vel": [0.009378373622894287, 0.032709717750549316, 0.005118554458022118, 0.026196183636784554, 0.020513657480478287, 0.011771893128752708], "flange_pose": [0.6730604767799377, -0.19576822221279144, -0.15405939519405365, -0.03691432625055313, -0.04069812223315239, 0.9979832172393799, 0.03178761899471283], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-15.559967994689941, -75.40312957763672, -9.918229103088379, -11.159907341003418, 21.1466064453125, 0.3674888610839844], "ext_wrench_in_world": [22.170646730013285, -74.29995646724944, 3.7542928997066647, 9.396341005722507, 21.988764288195522, 0.2460992850252144]}
+{"timestamp_ns": 1789729892122257692, "elapsed_ms": 11500, "source_timestamp_ns": 1789729892121741788, "q": [0.13532666862010956, -2.000871419906616, -0.2966074049472809, 0.24484007060527802, 1.937609076499939, -0.07344143837690353, -0.7449362874031067], "theta": [0.1329786479473114, -2.000075101852417, -0.29741495847702026, 0.22895796597003937, 1.9373747110366821, -0.07339227199554443, -0.7439285516738892], "dq": [-0.008711406029760838, 0.06857278943061829, 0.028889836743474007, 0.06654585897922516, -0.03456254303455353, -0.05104288458824158, -0.006270332727581263], "dtheta": [-0.009042943827807903, 0.06998385488986969, 0.03153927996754646, 0.06647352129220963, -0.03367107734084129, -0.04779777303338051, -0.007385022472590208], "tau": [-61.46999740600586, -3.509999990463257, -12.680000305175781, 10.380000114440918, -4.0320000648498535, 3.452000141143799, -0.19600000977516174], "tau_des": [-1.0725599527359009, 2.2983362674713135, -0.1300002485513687, -0.09895133227109909, 0.11367299407720566, -0.20109736919403076, -0.20818935334682465], "tau_dot": [-16.979036331176758, -47.59401321411133, -8.079322814941406, 18.481962203979492, -86.504150390625, -7.359217643737793, -49.708526611328125], "tau_ext": [15.178628921508789, -36.4220085144043, -36.75817108154297, 19.803815841674805, -2.5039846897125244, -6.709096431732178, 0.03364415094256401], "tcp_pose": [0.6589270830154419, -0.18301260471343994, -0.34297043085098267, -0.03733468055725098, -0.04094189032912254, 0.9979425668716431, 0.032256484031677246], "tcp_vel": [0.010858969762921333, 0.03420065715909004, 0.004579473752528429, 0.024881280958652496, 0.018368203192949295, 0.012028579600155354], "flange_pose": [0.6735869646072388, -0.19466400146484375, -0.15389549732208252, -0.03733468055725098, -0.04094189032912254, 0.9979425668716431, 0.032256484031677246], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-14.92232608795166, -75.15988159179688, -10.116576194763184, -11.118928909301758, 20.985158920288086, 0.43034523725509644], "ext_wrench_in_world": [21.571949725451965, -74.11656112613782, 3.9262045986662533, 9.35318734608202, 21.83289495823764, 0.18776643665433135]}
+{"timestamp_ns": 1789729892155590224, "elapsed_ms": 11533, "source_timestamp_ns": 1789729892151963005, "q": [0.1350843906402588, -1.9987043142318726, -0.2956702411174774, 0.2469474971294403, 1.936559796333313, -0.07497011125087738, -0.7451925277709961], "theta": [0.13271595537662506, -1.9978797435760498, -0.29642122983932495, 0.23107321560382843, 1.9363386631011963, -0.07491588592529297, -0.7442255020141602], "dq": [-0.005842697340995073, 0.0695536807179451, 0.03254302218556404, 0.06796331703662872, -0.03598478063941002, -0.050704456865787506, -0.006447535008192062], "dtheta": [-0.007944890297949314, 0.07367139309644699, 0.03278380259871483, 0.07118438184261322, -0.034926414489746094, -0.04766583815217018, -0.010717270895838737], "tau": [-61.39999771118164, -3.859999895095825, -12.75200080871582, 10.416000366210938, -4.048000335693359, 3.4640002250671387, -0.1600000113248825], "tau_des": [-0.8982566595077515, 1.783406376838684, -0.2233845740556717, 0.05862876772880554, -0.007546756416559219, -0.11972198635339737, -0.2141892910003662], "tau_dot": [42.797508239746094, -80.47062683105469, 89.57499694824219, 23.042219161987305, -9.185338973999023, -9.811370849609375, -11.348734855651855], "tau_ext": [15.117720603942871, -36.287315368652344, -36.7587776184082, 19.851593017578125, -2.4838950634002686, -6.722506999969482, 0.05445177108049393], "tcp_pose": [0.6592201590538025, -0.18197518587112427, -0.3428400158882141, -0.03765038400888443, -0.04112434387207031, 0.9979107975959778, 0.032637789845466614], "tcp_vel": [0.011146371252834797, 0.03512057289481163, 0.004208809696137905, 0.02461298182606697, 0.018269997090101242, 0.01445993036031723], "flange_pose": [0.6740074753761292, -0.19376325607299805, -0.15378347039222717, -0.03765038400888443, -0.04112434387207031, 0.9979107975959778, 0.032637789845466614], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-13.859914779663086, -74.33038330078125, -10.253939628601074, -10.896492004394531, 20.69390106201172, 0.46317625045776367], "ext_wrench_in_world": [20.48990884023167, -73.38514835551997, 4.126746152224102, 9.145062762939876, 21.529684403775494, 0.16164139590031568]}
+{"timestamp_ns": 1789729892188900358, "elapsed_ms": 11566, "source_timestamp_ns": 1789729892181742161, "q": [0.1349024474620819, -1.9965169429779053, -0.29473838210105896, 0.24908287823200226, 1.9354673624038696, -0.07635828107595444, -0.7454873323440552], "theta": [0.1325150728225708, -1.9956672191619873, -0.2954403758049011, 0.23322470486164093, 1.9352575540542603, -0.07629728317260742, -0.7445647120475769], "dq": [-0.00732978992164135, 0.07216368615627289, 0.0346553660929203, 0.07260432839393616, -0.03692412003874779, -0.0449490062892437, -0.006527538411319256], "dtheta": [-0.006061017047613859, 0.07465765625238419, 0.03391815349459648, 0.0745224580168724, -0.03467964008450508, -0.04215426370501518, -0.010644969530403614], "tau": [-61.39999771118164, -4.119999885559082, -12.832000732421875, 10.508000373840332, -4.019999980926514, 3.444000244140625, -0.17600001394748688], "tau_des": [-0.9570524096488953, 1.5646655559539795, -0.224748894572258, 0.09055867791175842, -0.014337638393044472, -0.2157217264175415, -0.18921923637390137], "tau_dot": [25.61636734008789, 88.04273223876953, 8.713541984558105, -34.52732467651367, -0.7366818785667419, 20.425569534301758, 4.617340564727783], "tau_ext": [15.105554580688477, -36.18838882446289, -36.72907257080078, 19.860912322998047, -2.46531343460083, -6.73436164855957, 0.05734817683696747], "tcp_pose": [0.659517765045166, -0.180969700217247, -0.34273022413253784, -0.03795492649078369, -0.04132143035531044, 0.9978806972503662, 0.03295613452792168], "tcp_vel": [0.01154126413166523, 0.03400344029068947, 0.0035837884061038494, 0.021840807050466537, 0.014413953758776188, 0.012062876485288143], "flange_pose": [0.6744275689125061, -0.19287051260471344, -0.153690367937088, -0.03795492649078369, -0.04132143035531044, 0.9978806972503662, 0.03295613452792168], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-12.727148056030273, -73.05663299560547, -10.324609756469727, -10.547440528869629, 20.37139320373535, 0.4739544689655304], "ext_wrench_in_world": [19.2992636017139, -72.21372848117916, 4.308750653749933, 8.814821450617801, 21.18347182035308, 0.1619877770818704]}
+{"timestamp_ns": 1789729892222253718, "elapsed_ms": 11600, "source_timestamp_ns": 1789729892221780190, "q": [0.13472139835357666, -1.9934879541397095, -0.29344069957733154, 0.2520401179790497, 1.9339433908462524, -0.07811924815177917, -0.7458288073539734], "theta": [0.13231207430362701, -1.9926315546035767, -0.2940791845321655, 0.23620827496051788, 1.93373703956604, -0.07805263996124268, -0.7449671030044556], "dq": [-0.0019496899330988526, 0.08072284609079361, 0.03164384141564369, 0.07715665549039841, -0.04206797480583191, -0.046527471393346786, -0.008378846570849419], "dtheta": [-0.004038683604449034, 0.07750245928764343, 0.032979365438222885, 0.07543974369764328, -0.040373753756284714, -0.044878311455249786, -0.008233987726271152], "tau": [-61.64999771118164, -5.049999713897705, -13.120000839233398, 10.972000122070312, -4.111999988555908, 3.4720001220703125, -0.1720000058412552], "tau_des": [-1.425027847290039, 0.2570510804653168, -0.4111873507499695, 0.772733211517334, -0.033774763345718384, -0.025580793619155884, -0.21119315922260284], "tau_dot": [-19.65123748779297, -44.09724044799805, 4.409460067749023, -12.609445571899414, 57.797969818115234, 15.62911319732666, 30.04096031188965], "tau_ext": [15.05005931854248, -35.43696594238281, -36.6458854675293, 19.487810134887695, -2.4107160568237305, -6.7421674728393555, 0.061843667179346085], "tcp_pose": [0.659936249256134, -0.17960475385189056, -0.34261447191238403, -0.03835592418909073, -0.041558511555194855, 0.99784255027771, 0.03334635868668556], "tcp_vel": [0.01025012880563736, 0.034624721854925156, 0.002707534469664097, 0.01828479766845703, 0.0225343257188797, 0.011852148920297623], "flange_pose": [0.6750066876411438, -0.19164329767227173, -0.15359607338905334, -0.03835592418909073, -0.041558511555194855, 0.99784255027771, 0.03334635868668556], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-11.789834976196289, -71.51570892333984, -10.380754470825195, -10.127838134765625, 20.08625602722168, 0.4743306040763855], "ext_wrench_in_world": [18.286207980303807, -70.75938191953985, 4.470051791997427, 8.410905697984038, 20.868143869477773, 0.1816941921814954]}
+{"timestamp_ns": 1789729892255589810, "elapsed_ms": 11633, "source_timestamp_ns": 1789729892251737840, "q": [0.13461224734783173, -1.9911842346191406, -0.29244139790534973, 0.2543198764324188, 1.932735800743103, -0.07939833402633667, -0.7460761070251465], "theta": [0.13218800723552704, -1.9903541803359985, -0.29303377866744995, 0.23849518597126007, 1.9325226545333862, -0.07932817935943604, -0.745257556438446], "dq": [-0.005786778870970011, 0.07846777141094208, 0.034839529544115067, 0.07724546641111374, -0.03712063655257225, -0.04000290483236313, -0.008686070330440998], "dtheta": [-0.004125383682549, 0.07439609616994858, 0.036653757095336914, 0.07689937204122543, -0.0401633158326149, -0.04308416321873665, -0.010205589234828949], "tau": [-61.82999801635742, -5.25, -13.256000518798828, 11.204000473022461, -4.180000305175781, 3.492000102996826, -0.18800000846385956], "tau_des": [-1.5646060705184937, 0.659634530544281, -0.5153533220291138, 0.6405969262123108, -0.10163423418998718, -0.05120242387056351, -0.26534855365753174], "tau_dot": [17.954395294189453, -2.982126235961914, -8.157976150512695, 16.672481536865234, -10.071881294250488, 55.16903305053711, -21.422636032104492], "tau_ext": [15.181718826293945, -35.39787673950195, -36.56633377075195, 19.36705780029297, -2.367955446243286, -6.7574381828308105, 0.06862325966358185], "tcp_pose": [0.6602394580841064, -0.1785949170589447, -0.34253472089767456, -0.038662876933813095, -0.0417160801589489, 0.9978153109550476, 0.033609502017498016], "tcp_vel": [0.008943818509578705, 0.03274763375520706, 0.0024787220172584057, 0.02016398124396801, 0.019007772207260132, 0.008866950869560242], "flange_pose": [0.675432026386261, -0.19072572886943817, -0.153532013297081, -0.038662876933813095, -0.0417160801589489, 0.9978153109550476, 0.033609502017498016], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-11.59145736694336, -70.83061981201172, -10.319028854370117, -9.9464111328125, 20.005685806274414, 0.47060367465019226], "ext_wrench_in_world": [18.054139214305575, -70.08779694145997, 4.423767677430995, 8.230948329746266, 20.774793434296257, 0.19868109187509264]}
+{"timestamp_ns": 1789729892288901833, "elapsed_ms": 11666, "source_timestamp_ns": 1789729892281746896, "q": [0.1344933956861496, -1.98891019821167, -0.2914206087589264, 0.25665950775146484, 1.931531310081482, -0.0806741714477539, -0.746403694152832], "theta": [0.132055401802063, -1.9881088733673096, -0.2919671833515167, 0.24082748591899872, 1.9313048124313354, -0.08060121536254883, -0.7456231117248535], "dq": [-0.005185273010283709, 0.07038228213787079, 0.03427589312195778, 0.0844883993268013, -0.041268207132816315, -0.040550101548433304, -0.011810620315372944], "dtheta": [-0.0050886222161352634, 0.07438575476408005, 0.036071062088012695, 0.07798151671886444, -0.0406794473528862, -0.042888376861810684, -0.013408062048256397], "tau": [-61.80999755859375, -4.980000019073486, -13.2760009765625, 11.100000381469727, -4.156000137329102, 3.496000051498413, -0.19200000166893005], "tau_des": [-1.2953702211380005, 0.5463405847549438, -0.4052009582519531, 0.7831636071205139, -0.11704643070697784, -0.14389896392822266, -0.21322724223136902], "tau_dot": [-40.27545928955078, -101.98811340332031, 51.55889129638672, 0.3185277283191681, 18.62310791015625, 95.55223846435547, -17.173583984375], "tau_ext": [15.155853271484375, -35.41196060180664, -36.52098846435547, 19.29645347595215, -2.3384852409362793, -6.749897480010986, 0.07298973202705383], "tcp_pose": [0.6605149507522583, -0.17761997878551483, -0.3424428105354309, -0.03894921764731407, -0.041869744658470154, 0.997788667678833, 0.03387753292918205], "tcp_vel": [0.008771060965955257, 0.03206976130604744, 0.0034434772096574306, 0.019215526059269905, 0.018072599545121193, 0.011063279584050179], "flange_pose": [0.6758219599723816, -0.1898452788591385, -0.15345542132854462, -0.03894921764731407, -0.041869744658470154, 0.997788667678833, 0.03387753292918205], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-11.771245002746582, -70.74874877929688, -10.282970428466797, -9.939699172973633, 20.028017044067383, 0.4673091471195221], "ext_wrench_in_world": [18.247342413487637, -69.98533928338004, 4.332888622915011, 8.216470266631278, 20.798628019633483, 0.21012630518052344]}
+{"timestamp_ns": 1789729892322249804, "elapsed_ms": 11700, "source_timestamp_ns": 1789729892321779116, "q": [0.13430137932300568, -1.9859412908554077, -0.28990811109542847, 0.2598862946033478, 1.9298341274261475, -0.08240482211112976, -0.7469886541366577], "theta": [0.13184472918510437, -1.985159158706665, -0.2903965711593628, 0.24402783811092377, 1.9295793771743774, -0.0823286771774292, -0.746256411075592], "dq": [-0.004049463197588921, 0.06927668303251266, 0.03717890381813049, 0.08147981017827988, -0.04212970659136772, -0.045393023639917374, -0.016780152916908264], "dtheta": [-0.005665811710059643, 0.07261670380830765, 0.04025501012802124, 0.08305543661117554, -0.04640601575374603, -0.04382266476750374, -0.01693386398255825], "tau": [-61.7599983215332, -4.309999942779541, -13.38800048828125, 10.824000358581543, -4.232000350952148, 3.4280002117156982, -0.17600001394748688], "tau_des": [-1.2526497840881348, 2.334317445755005, -0.17944863438606262, 0.10902268439531326, 0.06212615966796875, -0.16821768879890442, -0.2585921287536621], "tau_dot": [17.093578338623047, 45.655723571777344, -13.874951362609863, -2.7732975482940674, -17.619504928588867, 35.833045959472656, 65.4092788696289], "tau_ext": [15.027917861938477, -35.615081787109375, -36.501808166503906, 19.315610885620117, -2.308426856994629, -6.728468418121338, 0.08619650453329086], "tcp_pose": [0.6608192324638367, -0.17637337744235992, -0.3423058092594147, -0.0393054373562336, -0.04205987602472305, 0.997753381729126, 0.03426792845129967], "tcp_vel": [0.0057641263119876385, 0.029078248888254166, 0.004275009036064148, 0.01807401143014431, 0.018688596785068512, 0.007658648304641247], "flange_pose": [0.6762694716453552, -0.18873773515224457, -0.15333910286426544, -0.0393054373562336, -0.04205987602472305, 0.997753381729126, 0.03426792845129967], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-12.17580795288086, -71.0601577758789, -10.374890327453613, -10.059186935424805, 20.09939956665039, 0.4672856628894806], "ext_wrench_in_world": [18.711470663191992, -70.26227856486364, 4.304387092135249, 8.321703898222554, 20.8828633225901, 0.21615807354305494]}
+{"timestamp_ns": 1789729892355587605, "elapsed_ms": 11733, "source_timestamp_ns": 1789729892351732086, "q": [0.13415634632110596, -1.9837703704833984, -0.28869858384132385, 0.26240959763526917, 1.9285674095153809, -0.08367133885622025, -0.7475152015686035], "theta": [0.13168466091156006, -1.9829849004745483, -0.289141446352005, 0.24653437733650208, 1.9282832145690918, -0.08359158039093018, -0.7468150854110718], "dq": [-0.005097311455756426, 0.06963073462247849, 0.043679673224687576, 0.09282903373241425, -0.04554510489106178, -0.040528904646635056, -0.02170521393418312], "dtheta": [-0.00562450522556901, 0.07523299008607864, 0.045085012912750244, 0.08918391913175583, -0.04499569907784462, -0.04377024993300438, -0.020322002470493317], "tau": [-61.849998474121094, -3.5999999046325684, -13.40000057220459, 10.320000648498535, -4.203999996185303, 3.388000249862671, -0.19200000166893005], "tau_des": [-1.368003249168396, 2.9741289615631104, -0.34629449248313904, -0.11130993813276291, -0.1513701230287552, -0.18361030519008636, -0.294099897146225], "tau_dot": [-48.89273452758789, 26.234481811523438, 5.128816604614258, 8.207542419433594, 45.29388427734375, -23.199546813964844, -7.281495571136475], "tau_ext": [15.031298637390137, -36.19526290893555, -36.515377044677734, 19.608726501464844, -2.3056740760803223, -6.717686176300049, 0.08827725797891617], "tcp_pose": [0.661003589630127, -0.17549611628055573, -0.34219878911972046, -0.03952677920460701, -0.04216683655977249, 0.9977294206619263, 0.03457695618271828], "tcp_vel": [0.006231146398931742, 0.03043501451611519, 0.0037458492442965508, 0.022844204679131508, 0.014222045429050922, 0.007204491179436445], "flange_pose": [0.676543653011322, -0.18797215819358826, -0.15324680507183075, -0.03952677920460701, -0.04216683655977249, 0.9977294206619263, 0.03457695618271828], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-12.092989921569824, -71.4122543334961, -10.489258766174316, -10.173441886901855, 20.05051612854004, 0.4651440382003784], "ext_wrench_in_world": [18.683698940303962, -70.62572519783369, 4.347569192899577, 8.435143212463915, 20.84563841899941, 0.21492722686166477]}
+{"timestamp_ns": 1789729892388896069, "elapsed_ms": 11766, "source_timestamp_ns": 1789729892381763060, "q": [0.13398855924606323, -1.9813909530639648, -0.2873079478740692, 0.26532474160194397, 1.9271162748336792, -0.08507465571165085, -0.7482378482818604], "theta": [0.13150151073932648, -1.9805699586868286, -0.2877013087272644, 0.2494296282529831, 1.9268008470535278, -0.08499157428741455, -0.747567892074585], "dq": [-0.005528667941689491, 0.08042783290147781, 0.048491932451725006, 0.09882361441850662, -0.04857076704502106, -0.037862468510866165, -0.029585381969809532], "dtheta": [-0.005595962051302195, 0.07800068706274033, 0.04767090827226639, 0.09766450524330139, -0.0481889508664608, -0.044851746410131454, -0.026738550513982773], "tau": [-61.90999984741211, -2.809999942779541, -13.37600040435791, 9.788000106811523, -4.192000389099121, 3.380000114440918, -0.2200000137090683], "tau_des": [-1.4346204996109009, 4.335307598114014, -0.1867266297340393, -0.9298281073570251, -0.014510377310216427, -0.2000061720609665, -0.34376728534698486], "tau_dot": [51.014896392822266, -155.2571258544922, 7.4812517166137695, 6.554681777954102, -33.56903839111328, -66.7811050415039, -25.105426788330078], "tau_ext": [15.028432846069336, -36.77408981323242, -36.568824768066406, 19.994165420532227, -2.3072898387908936, -6.7005295753479, 0.09839779883623123], "tcp_pose": [0.6611583828926086, -0.17458060383796692, -0.3420632779598236, -0.03975556045770645, -0.04228290542960167, 0.9977036714553833, 0.034915290772914886], "tcp_vel": [0.00486196530982852, 0.029528824612498283, 0.00447488110512495, 0.02240619994699955, 0.013599022291600704, 0.008096677251160145], "flange_pose": [0.6767918467521667, -0.18717917799949646, -0.15312710404396057, -0.03975556045770645, -0.04228290542960167, 0.9977036714553833, 0.034915290772914886], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-11.255512237548828, -71.24645233154297, -10.590794563293457, -10.119709014892578, 19.794567108154297, 0.46303457021713257], "ext_wrench_in_world": [17.86449750590371, -70.53935175721091, 4.468561018532607, 8.398289712347298, 20.588138783575893, 0.21229671273533057]}
+{"timestamp_ns": 1789729892422255849, "elapsed_ms": 11800, "source_timestamp_ns": 1789729892421749734, "q": [0.133759006857872, -1.9780621528625488, -0.2854181230068207, 0.26937273144721985, 1.9250606298446655, -0.08692136406898499, -0.7493676543235779], "theta": [0.13125412166118622, -1.9771841764450073, -0.2857576012611389, 0.25345927476882935, 1.9247030019760132, -0.0868368148803711, -0.7487332820892334], "dq": [-0.006969662848860025, 0.08780277520418167, 0.050157103687524796, 0.09798789769411087, -0.05024532228708267, -0.04715024307370186, -0.02643592655658722], "dtheta": [-0.006825675722211599, 0.08802887052297592, 0.04690144583582878, 0.10523485392332077, -0.05619944632053375, -0.04465891420841217, -0.02655620686709881], "tau": [-62.0099983215332, -3.169999837875366, -13.428000450134277, 9.956000328063965, -4.216000080108643, 3.388000249862671, -0.2240000069141388], "tau_des": [-1.1101548671722412, 2.864004611968994, -0.20913678407669067, -0.2685299515724182, -0.08114127814769745, -0.27785059809684753, -0.16336689889431], "tau_dot": [-3.178192615509033, -16.525732040405273, 27.88675880432129, -12.488816261291504, 43.8658447265625, 7.584286212921143, -37.67439270019531], "tau_ext": [14.960906982421875, -36.717838287353516, -36.64044952392578, 20.089290618896484, -2.2732901573181152, -6.6705708503723145, 0.0994991809129715], "tcp_pose": [0.6613895297050476, -0.17332801222801208, -0.34186244010925293, -0.04006082937121391, -0.042518459260463715, 0.9976669549942017, 0.03532704338431358], "tcp_vel": [0.007041453383862972, 0.03176591172814369, 0.0066687921062111855, 0.015085980296134949, 0.015801602974534035, 0.010961024090647697], "flange_pose": [0.6771478652954102, -0.18607370555400848, -0.15294654667377472, -0.04006082937121391, -0.042518459260463715, 0.9976669549942017, 0.03532704338431358], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-9.657597541809082, -70.3780288696289, -10.652853012084961, -9.835840225219727, 19.323593139648438, 0.4559333026409149], "ext_wrench_in_world": [16.246781482014285, -69.81585309014861, 4.648458230578085, 8.146201955483752, 20.098377604672255, 0.21792498630735635]}
+{"timestamp_ns": 1789729892455621818, "elapsed_ms": 11833, "source_timestamp_ns": 1789729892451794746, "q": [0.13359583914279938, -1.9753443002700806, -0.28402599692344666, 0.27254560589790344, 1.9233916997909546, -0.08828083425760269, -0.7500433921813965], "theta": [0.1310771256685257, -1.974442720413208, -0.28434303402900696, 0.25664016604423523, 1.9229905605316162, -0.08819818496704102, -0.7494300007820129], "dq": [-0.006330298259854317, 0.09756655991077423, 0.046506837010383606, 0.11056454479694366, -0.05965431034564972, -0.044436097145080566, -0.021013744175434113], "dtheta": [-0.0056793889962136745, 0.09224718809127808, 0.044723015278577805, 0.10712730139493942, -0.06161363050341606, -0.046147990971803665, -0.019401563331484795], "tau": [-62.14999771118164, -4.480000019073486, -13.584000587463379, 10.540000915527344, -4.3480000495910645, 3.3600001335144043, -0.1680000126361847], "tau_des": [-1.616673231124878, 1.3396919965744019, -0.43936076760292053, 0.6468714475631714, -0.1946186125278473, -0.23342248797416687, -0.17911651730537415], "tau_dot": [101.6094970703125, -122.95049285888672, -71.78936004638672, -81.3636703491211, 27.15018081665039, -61.92662811279297, 64.12191772460938], "tau_ext": [15.066839218139648, -35.98659896850586, -36.64949417114258, 19.716678619384766, -2.210972785949707, -6.656223773956299, 0.09511714428663254], "tcp_pose": [0.661617636680603, -0.17232215404510498, -0.3416944742202759, -0.04032204672694206, -0.042653005570173264, 0.9976422190666199, 0.03556456044316292], "tcp_vel": [0.0066949729807674885, 0.03249909728765488, 0.006747640203684568, 0.009494232013821602, 0.022530779242515564, 0.006561768241226673], "flange_pose": [0.6774802803993225, -0.18515127897262573, -0.15279293060302734, -0.04032204672694206, -0.042653005570173264, 0.9976422190666199, 0.03556456044316292], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-8.944503784179688, -69.39222717285156, -10.612316131591797, -9.515742301940918, 19.10380744934082, 0.44367727637290955], "ext_wrench_in_world": [15.47546798784501, -68.8938869433995, 4.6956177461503215, 7.842098254675716, 19.85305648054618, 0.24352307542179785]}
+{"timestamp_ns": 1789729892488902564, "elapsed_ms": 11866, "source_timestamp_ns": 1789729892481759466, "q": [0.1334332823753357, -1.9724684953689575, -0.2827170491218567, 0.2759091854095459, 1.9216362237930298, -0.08968749642372131, -0.7506352663040161], "theta": [0.13089878857135773, -1.9715712070465088, -0.28302067518234253, 0.26001065969467163, 1.9211821556091309, -0.08960878849029541, -0.7500333189964294], "dq": [-0.006554837338626385, 0.10354805737733841, 0.04637916386127472, 0.11823587864637375, -0.05588275566697121, -0.04563571512699127, -0.023245876654982567], "dtheta": [-0.006848423276096582, 0.09629053622484207, 0.042345885187387466, 0.11635103076696396, -0.060732364654541016, -0.04746400564908981, -0.024117549881339073], "tau": [-62.30999755859375, -5.339999675750732, -13.644001007080078, 11.052000999450684, -4.380000114440918, 3.328000068664551, -0.20400001108646393], "tau_des": [-1.5214594602584839, 0.27394047379493713, -0.2961324453353882, 1.1781953573226929, -0.2381197214126587, -0.24648085236549377, -0.2418411374092102], "tau_dot": [11.904315948486328, 72.03166961669922, 14.913087844848633, -26.137672424316406, 56.06049728393555, -7.57438325881958, -9.34338665008545], "tau_ext": [15.083828926086426, -35.457664489746094, -36.69247055053711, 19.41969108581543, -2.1660308837890625, -6.633385181427002, 0.08868096023797989], "tcp_pose": [0.6618413329124451, -0.1713084727525711, -0.3414859175682068, -0.04062790423631668, -0.042735084891319275, 0.997620165348053, 0.035736437886953354], "tcp_vel": [0.006356767378747463, 0.03180195763707161, 0.008985857479274273, 0.007819284684956074, 0.020308608189225197, 0.006762948352843523], "flange_pose": [0.6778234839439392, -0.18419623374938965, -0.15259844064712524, -0.04062790423631668, -0.042735084891319275, 0.997620165348053, 0.035736437886953354], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-8.738313674926758, -68.36982727050781, -10.503800392150879, -9.173210144042969, 19.020845413208008, 0.42656901478767395], "ext_wrench_in_world": [15.192237505010496, -67.88748612272053, 4.648266030189616, 7.506926231317942, 19.740528937126587, 0.2826332328733622]}
+{"timestamp_ns": 1789729892522249255, "elapsed_ms": 11900, "source_timestamp_ns": 1789729892521734920, "q": [0.1331692337989807, -1.9685271978378296, -0.2809823453426361, 0.2808278203010559, 1.9193477630615234, -0.09160245954990387, -0.7517632842063904], "theta": [0.1306166797876358, -1.9676679372787476, -0.28128355741500854, 0.26494544744491577, 1.9188265800476074, -0.09153401851654053, -0.751173734664917], "dq": [-0.006384619511663914, 0.09510581940412521, 0.04578058049082756, 0.12172231823205948, -0.05898816138505936, -0.04429352283477783, -0.03304820507764816], "dtheta": [-0.007599596865475178, 0.09679120779037476, 0.04463501274585724, 0.129923015832901, -0.061190053820610046, -0.049464743584394455, -0.03191245347261429], "tau": [-62.23999786376953, -5.62999963760376, -13.692000389099121, 11.148000717163086, -4.456000328063965, 3.264000177383423, -0.19600000977516174], "tau_des": [-1.6578547954559326, 0.5861930251121521, -0.09967117011547089, 1.3338878154754639, -0.2482772171497345, -0.25589698553085327, -0.26176899671554565], "tau_dot": [28.68376922607422, -30.689285278320312, -20.069068908691406, -22.281373977661133, -7.021872043609619, -36.728328704833984, 23.768686294555664], "tau_ext": [15.110746383666992, -35.138267517089844, -36.72291564941406, 19.207408905029297, -2.110727310180664, -6.603025436401367, 0.07991565763950348], "tcp_pose": [0.6620928049087524, -0.1700197160243988, -0.3411251902580261, -0.04095205292105675, -0.0428629145026207, 0.9975932240486145, 0.035965438932180405], "tcp_vel": [0.0028348069172352552, 0.028258709236979485, 0.010829836130142212, 0.008693082258105278, 0.01682298257946968, 0.0018449071794748306], "flange_pose": [0.6782029271125793, -0.18298666179180145, -0.15225403010845184, -0.04095205292105675, -0.0428629145026207, 0.9975932240486145, 0.035965438932180405], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-8.763350486755371, -67.58804321289062, -10.462648391723633, -8.89129638671875, 18.996557235717773, 0.4042103588581085], "ext_wrench_in_world": [15.169886384396309, -67.10363548960156, 4.624236113491175, 7.2259123431579715, 19.69176725808545, 0.32896401471701375]}
+{"timestamp_ns": 1789729892555605815, "elapsed_ms": 11933, "source_timestamp_ns": 1789729892551741286, "q": [0.13292501866817474, -1.9655249118804932, -0.2795458436012268, 0.28498467803001404, 1.9176101684570312, -0.0930619016289711, -0.7529367804527283], "theta": [0.13036152720451355, -1.9646847248077393, -0.27985894680023193, 0.2691320776939392, 1.9170430898666382, -0.09300601482391357, -0.7523524761199951], "dq": [-0.009287250228226185, 0.09853824228048325, 0.05014551430940628, 0.14558842778205872, -0.058003563433885574, -0.04724998399615288, -0.05070551112294197], "dtheta": [-0.009127828292548656, 0.09904363006353378, 0.05061640217900276, 0.14886003732681274, -0.060418255627155304, -0.04775075986981392, -0.048371654003858566], "tau": [-62.209999084472656, -4.569999694824219, -13.700000762939453, 10.452000617980957, -4.396000385284424, 3.2360000610351562, -0.1720000058412552], "tau_des": [-1.5448824167251587, 1.5042309761047363, -0.014144922606647015, 0.3149769604206085, -0.22557087242603302, -0.3964546024799347, -0.27935791015625], "tau_dot": [-62.46799087524414, 111.86973571777344, 30.337549209594727, -79.04837799072266, 12.711400985717773, -34.51968765258789, 65.31163787841797], "tau_ext": [14.855542182922363, -35.605934143066406, -36.827186584472656, 19.47843360900879, -2.1262435913085938, -6.548947811126709, 0.08165888488292694], "tcp_pose": [0.6621988415718079, -0.16914872825145721, -0.3407885730266571, -0.04109248146414757, -0.04291960224509239, 0.9975778460502625, 0.03616300970315933], "tcp_vel": [0.000606392219197005, 0.02466803975403309, 0.013196999207139015, 0.011350598186254501, 0.005494530312716961, 0.001776588149368763], "flange_pose": [0.67836594581604, -0.18218718469142914, -0.151927188038826, -0.04109248146414757, -0.04291960224509239, 0.9975778460502625, 0.03616300970315933], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-8.494007110595703, -67.21367645263672, -10.595305442810059, -8.753421783447266, 18.893659591674805, 0.390433669090271], "ext_wrench_in_world": [14.89141432805854, -66.7647391018192, 4.775180465399177, 7.096653203327293, 19.57701035590371, 0.35125912303761286]}
+{"timestamp_ns": 1789729892588901900, "elapsed_ms": 11966, "source_timestamp_ns": 1789729892581796618, "q": [0.13261571526527405, -1.9625762701034546, -0.27793848514556885, 0.2895054817199707, 1.915871262550354, -0.09456565231084824, -0.7545516490936279], "theta": [0.1300414800643921, -1.961735486984253, -0.2782752811908722, 0.2736901640892029, 1.9152578115463257, -0.09453070163726807, -0.7539680004119873], "dq": [-0.012426207773387432, 0.09012088179588318, 0.05588901787996292, 0.14982472360134125, -0.05863640084862709, -0.04753095284104347, -0.05545354634523392], "dtheta": [-0.011039290577173233, 0.09799983352422714, 0.05587731674313545, 0.1522396057844162, -0.060715217143297195, -0.052342429757118225, -0.05767194926738739], "tau": [-62.29999923706055, -3.0999999046325684, -13.804000854492188, 9.976000785827637, -4.380000114440918, 3.2320001125335693, -0.1720000058412552], "tau_des": [-1.7446531057357788, 2.6577584743499756, -0.1581944227218628, 0.042542748153209686, -0.3831476867198944, -0.2517494857311249, -0.21289794147014618], "tau_dot": [57.193912506103516, 72.4837875366211, -61.10907745361328, 42.88857650756836, -72.40345764160156, 28.443653106689453, 42.45679473876953], "tau_ext": [14.94461441040039, -36.54716110229492, -36.85431671142578, 19.930660247802734, -2.156043291091919, -6.52182149887085, 0.08052759617567062], "tcp_pose": [0.6622034311294556, -0.16838613152503967, -0.34039613604545593, -0.04112594202160835, -0.042992327362298965, 0.9975637793540955, 0.036425426602363586], "tcp_vel": [-0.0011023045517504215, 0.025177380070090294, 0.013284777291119099, 0.019041625782847404, 0.004182342905551195, 0.006032311823219061], "flange_pose": [0.6783882975578308, -0.1815221905708313, -0.1515430361032486, -0.04112594202160835, -0.042992327362298965, 0.9975637793540955, 0.036425426602363586], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-7.771012783050537, -67.31427764892578, -10.789250373840332, -8.750747680664062, 18.671369552612305, 0.37952572107315063], "ext_wrench_in_world": [14.207281894141033, -66.94290737588449, 4.980846508835479, 7.110869083481385, 19.355854723027566, 0.3550979195398023]}
+{"timestamp_ns": 1789729892622248800, "elapsed_ms": 12000, "source_timestamp_ns": 1789729892621788921, "q": [0.13213908672332764, -1.9585753679275513, -0.27553004026412964, 0.29567402601242065, 1.9132089614868164, -0.09649664163589478, -0.7568902969360352], "theta": [0.12955372035503387, -1.9576998949050903, -0.27593886852264404, 0.2798921763896942, 1.9125217199325562, -0.09648942947387695, -0.7562984228134155], "dq": [-0.009941796772181988, 0.09966981410980225, 0.06840761005878448, 0.161504328250885, -0.06935606896877289, -0.049447111785411835, -0.054118819534778595], "dtheta": [-0.013217638246715069, 0.1041775569319725, 0.05914629250764847, 0.15659199655056, -0.07268013805150986, -0.04961100593209267, -0.05518723279237747], "tau": [-62.48999786376953, -3.3899998664855957, -14.096000671386719, 9.816000938415527, -4.36400032043457, 3.188000202178955, -0.17600001394748688], "tau_des": [-1.6219850778579712, 2.1114535331726074, -0.3011818826198578, 0.3428681492805481, -0.38771361112594604, -0.2993175983428955, -0.23631808161735535], "tau_dot": [-112.30085754394531, 6.036430358886719, 25.7786922454834, -10.987987518310547, -9.180266380310059, -79.36309051513672, 31.421409606933594], "tau_ext": [15.075230598449707, -36.29402160644531, -36.75100326538086, 19.736040115356445, -2.1384334564208984, -6.496022701263428, 0.07194173336029053], "tcp_pose": [0.6621959209442139, -0.16737981140613556, -0.3398461937904358, -0.041152678430080414, -0.043133173137903214, 0.9975450038909912, 0.03674241527915001], "tcp_vel": [9.572868293616921e-05, 0.025839773938059807, 0.015315474011003971, 0.011141878552734852, 0.0056411693803966045, 0.005227247718721628], "flange_pose": [0.6783977746963501, -0.18063314259052277, -0.15100273489952087, -0.041152678430080414, -0.043133173137903214, 0.9975450038909912, 0.03674241527915001], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-7.07344388961792, -67.3165512084961, -10.70317554473877, -8.709577560424805, 18.446083068847656, 0.3558605909347534], "ext_wrench_in_world": [13.525181026063722, -67.00081490112625, 4.906110741144017, 7.0857376007641495, 19.128301949084356, 0.3764914631658356]}
+{"timestamp_ns": 1789729892655586022, "elapsed_ms": 12033, "source_timestamp_ns": 1789729892651755301, "q": [0.13174261152744293, -1.9554132223129272, -0.27355101704597473, 0.3005501627922058, 1.9109251499176025, -0.09786622226238251, -0.7587305903434753], "theta": [0.12915165722370148, -1.9545034170150757, -0.2740534543991089, 0.2847685217857361, 1.9101709127426147, -0.09787321090698242, -0.758142352104187], "dq": [-0.01497246790677309, 0.12009634077548981, 0.07249827682971954, 0.1686393767595291, -0.0777098536491394, -0.04729544371366501, -0.06473685055971146], "dtheta": [-0.013684175908565521, 0.1098402887582779, 0.06703158468008041, 0.17253755033016205, -0.0837034285068512, -0.04473711550235748, -0.06938590109348297], "tau": [-62.23999786376953, -3.419999837875366, -14.220000267028809, 9.836000442504883, -4.340000152587891, 3.180000066757202, -0.19600000977516174], "tau_des": [-1.3736950159072876, 2.8700287342071533, -0.08605531603097916, 0.06398896872997284, -0.20941635966300964, -0.3840304911136627, -0.2958358824253082], "tau_dot": [92.27392578125, 33.60906982421875, -61.28628158569336, 10.672269821166992, -103.73319244384766, -20.64510726928711, -19.327896118164062], "tau_ext": [15.116291046142578, -36.38154983520508, -36.68266677856445, 19.84718132019043, -2.162926435470581, -6.468293190002441, 0.07661177217960358], "tcp_pose": [0.6621936559677124, -0.16662663221359253, -0.3393951654434204, -0.04115486890077591, -0.043231699615716934, 0.9975342154502869, 0.03691582381725311], "tcp_vel": [-0.0014062444679439068, 0.023079635575413704, 0.017052054405212402, 0.005556522868573666, 0.0007479871273972094, 0.009009746834635735], "flange_pose": [0.6784003973007202, -0.17994394898414612, -0.15055663883686066, -0.04115486890077591, -0.043231699615716934, 0.9975342154502869, 0.03691582381725311], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-6.279338836669922, -66.63630676269531, -10.585739135742188, -8.486422538757324, 18.189781188964844, 0.3370268940925598], "ext_wrench_in_world": [12.682463467682476, -66.38689495368138, 4.880640024372053, 6.883603359170498, 18.853575775493166, 0.39972441436962547]}
+{"timestamp_ns": 1789729892688896976, "elapsed_ms": 12066, "source_timestamp_ns": 1789729892681765097, "q": [0.1313336193561554, -1.9519692659378052, -0.2712828516960144, 0.30597612261772156, 1.9083548784255981, -0.09914618730545044, -0.7609485387802124], "theta": [0.1287408024072647, -1.951055884361267, -0.2718992829322815, 0.290195107460022, 1.9075276851654053, -0.09916341304779053, -0.7603709101676941], "dq": [-0.010517827235162258, 0.12484844028949738, 0.07756175845861435, 0.1898019164800644, -0.08851255476474762, -0.044547948986291885, -0.07707125693559647], "dtheta": [-0.01277211308479309, 0.11892630904912949, 0.07718779146671295, 0.1899622529745102, -0.09163863956928253, -0.04325185343623161, -0.08089406788349152], "tau": [-61.959999084472656, -3.4800000190734863, -14.340001106262207, 9.668000221252441, -4.304000377655029, 3.06000018119812, -0.18400001525878906], "tau_des": [-1.134469747543335, 2.7843117713928223, -0.029118092730641365, 0.8542246222496033, -0.35598576068878174, -0.306506484746933, -0.29621243476867676], "tau_dot": [103.3343276977539, 42.7120246887207, -54.30463409423828, 1.5154402256011963, -38.31269073486328, -14.709025382995605, 10.880814552307129], "tau_ext": [14.9779052734375, -36.3413200378418, -36.6192512512207, 20.00580406188965, -2.1888351440429688, -6.441821098327637, 0.0828680694103241], "tcp_pose": [0.662183940410614, -0.16586659848690033, -0.33891335129737854, -0.04108066484332085, -0.04338251054286957, 0.9975255131721497, 0.03705732151865959], "tcp_vel": [-0.0021196207962930202, 0.024253370240330696, 0.016618158668279648, 0.006608816795051098, -0.0028519013430923223, 0.011720675975084305], "flange_pose": [0.6783668994903564, -0.1792363077402115, -0.1500764787197113, -0.04108066484332085, -0.04338251054286957, 0.9975255131721497, 0.03705732151865959], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-4.730005741119385, -65.21638488769531, -10.589102745056152, -8.06602954864502, 17.719303131103516, 0.3224904537200928], "ext_wrench_in_world": [11.044081344047065, -65.11312603520558, 5.0978421185729506, 6.501314235740039, 18.34930882317688, 0.4175106515252134]}
+{"timestamp_ns": 1789729892722251206, "elapsed_ms": 12100, "source_timestamp_ns": 1789729892721788127, "q": [0.13084933161735535, -1.946839451789856, -0.2677004039287567, 0.3140467405319214, 1.9042723178863525, -0.1006280854344368, -0.7643465399742126], "theta": [0.12825347483158112, -1.945935845375061, -0.26845473051071167, 0.29828283190727234, 1.9033420085906982, -0.10065698623657227, -0.7637907266616821], "dq": [-0.008751659654080868, 0.13451234996318817, 0.08958566933870316, 0.2162056714296341, -0.10985935479402542, -0.032664600759744644, -0.08112196624279022], "dtheta": [-0.010792779736220837, 0.13614000380039215, 0.09468081593513489, 0.21331565082073212, -0.1136779636144638, -0.032994743436574936, -0.08524962514638901], "tau": [-62.18000030517578, -5.440000057220459, -14.744000434875488, 10.908000946044922, -4.320000171661377, 3.132000207901001, -0.2120000123977661], "tau_des": [-1.1305252313613892, 0.19944843649864197, -0.3595767021179199, 2.4176981449127197, -0.40276914834976196, -0.3276822566986084, -0.2679281234741211], "tau_dot": [-20.65448570251465, 0.3513111472129822, 42.465553283691406, -65.86253356933594, 9.262693405151367, -2.3854966163635254, 0.029331842437386513], "tau_ext": [14.9407320022583, -34.768001556396484, -36.44319534301758, 19.079694747924805, -2.1629385948181152, -6.409355163574219, 0.10064385086297989], "tcp_pose": [0.6621710658073425, -0.16479498147964478, -0.33829164505004883, -0.0409311018884182, -0.04363918676972389, 0.9975170493125916, 0.03714804723858833], "tcp_vel": [-0.0008177713607437909, 0.026434525847434998, 0.015812547877430916, -0.002492982894182205, -0.006427962798625231, 0.00894895289093256], "flange_pose": [0.6783022880554199, -0.17819742858409882, -0.14945267140865326, -0.0409311018884182, -0.04363918676972389, 0.9975170493125916, 0.03714804723858833], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.5267436504364014, -63.22758865356445, -10.576821327209473, -7.497274875640869, 17.323143005371094, 0.30742886662483215], "ext_wrench_in_world": [9.71190141069063, -63.2405764874528, 5.323860782516403, 5.961995630271883, 17.90656268313081, 0.45226942546848026]}
+{"timestamp_ns": 1789729892755588197, "elapsed_ms": 12133, "source_timestamp_ns": 1789729892751773025, "q": [0.1305813491344452, -1.9426556825637817, -0.2646541893482208, 0.3208691477775574, 1.9008063077926636, -0.10149909555912018, -0.7671031355857849], "theta": [0.12798115611076355, -1.9417312145233154, -0.2654779255390167, 0.3050932288169861, 1.8997867107391357, -0.10153567790985107, -0.7665725350379944], "dq": [-0.006999928038567305, 0.12993130087852478, 0.09641831368207932, 0.24172553420066833, -0.11640767753124237, -0.02967352792620659, -0.09413573890924454], "dtheta": [-0.008469249121844769, 0.1418287754058838, 0.10388115793466568, 0.24360857903957367, -0.11870139837265015, -0.029463350772857666, -0.10671435296535492], "tau": [-62.56999969482422, -4.730000019073486, -14.792000770568848, 10.360000610351562, -4.203999996185303, 3.0960001945495605, -0.25200000405311584], "tau_des": [-1.5903326272964478, 2.497838258743286, 0.2154555767774582, 0.9267762899398804, 0.13856975734233856, -0.4879145920276642, -0.5330113768577576], "tau_dot": [-60.25844192504883, 88.31625366210938, 48.91592025756836, -53.30620193481445, 9.262674331665039, 10.94461727142334, 17.677627563476562], "tau_ext": [15.21740436553955, -35.06193161010742, -36.41126251220703, 19.0848331451416, -2.217916250228882, -6.412107467651367, 0.1232139840722084], "tcp_pose": [0.6620925068855286, -0.16405335068702698, -0.3378414213657379, -0.04074987769126892, -0.043712932616472244, 0.9975226521492004, 0.037110526114702225], "tcp_vel": [-0.006661124061793089, 0.020792407914996147, 0.016414683312177658, -0.0033668773248791695, -0.014835522510111332, 0.005903312936425209], "flange_pose": [0.6781555414199829, -0.1774435192346573, -0.1489957571029663, -0.04074987769126892, -0.043712932616472244, 0.9975226521492004, 0.037110526114702225], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-3.9249143600463867, -62.59300231933594, -10.37378215789795, -7.303352355957031, 17.41176414489746, 0.30098026990890503], "ext_wrench_in_world": [10.043281036052713, -62.558317441806345, 5.147200522873293, 5.759935246515104, 17.97748452411342, 0.48194557461376886]}
+{"timestamp_ns": 1789729892788895021, "elapsed_ms": 12166, "source_timestamp_ns": 1789729892781758843, "q": [0.1303120106458664, -1.938356637954712, -0.2612892985343933, 0.3286316990852356, 1.8974151611328125, -0.10237149894237518, -0.7707594633102417], "theta": [0.127704456448555, -1.937378168106079, -0.2621299624443054, 0.31283077597618103, 1.8963185548782349, -0.10241436958312988, -0.770272970199585], "dq": [-0.010969741269946098, 0.15022510290145874, 0.10936550796031952, 0.2652401328086853, -0.11695779114961624, -0.03151924908161163, -0.1271047741174698], "dtheta": [-0.010152812115848064, 0.14916984736919403, 0.11724787205457687, 0.26917216181755066, -0.11254309117794037, -0.03036331571638584, -0.13669253885746002], "tau": [-62.29999923706055, -1.6999999284744263, -14.53600025177002, 8.648000717163086, -3.9200000762939453, 2.996000051498413, -0.3320000171661377], "tau_des": [-1.4481546878814697, 5.033243656158447, 0.34917598962783813, -0.19103650748729706, -0.057939521968364716, -0.5697407126426697, -0.3575166165828705], "tau_dot": [30.333709716796875, 120.32123565673828, 59.99525451660156, 20.97646713256836, 37.41830062866211, -69.54326629638672, -18.65978240966797], "tau_ext": [15.086640357971191, -36.88501739501953, -36.69874572753906, 20.191892623901367, -2.4200193881988525, -6.356060981750488, 0.1719372719526291], "tcp_pose": [0.6618418097496033, -0.16344483196735382, -0.3373631536960602, -0.040355902165174484, -0.0438338965177536, 0.9975302219390869, 0.03719537332653999], "tcp_vel": [-0.007924124598503113, 0.02275109849870205, 0.016057321801781654, 0.01323850266635418, -0.03144695609807968, 0.01667018048465252], "flange_pose": [0.6777587532997131, -0.17687197029590607, -0.1485077291727066, -0.040355902165174484, -0.0438338965177536, 0.9975302219390869, 0.03719537332653999], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-2.893763542175293, -62.63795471191406, -10.411953926086426, -7.24716854095459, 17.15516471862793, 0.3133232891559601], "ext_wrench_in_world": [9.035184331025706, -62.697982346154205, 5.255899191811913, 5.720726081417081, 17.719445425109292, 0.4624357206721902]}
+{"timestamp_ns": 1789729892822251521, "elapsed_ms": 12200, "source_timestamp_ns": 1789729892821798251, "q": [0.12987519800662994, -1.9319515228271484, -0.25625839829444885, 0.3399016559123993, 1.8922719955444336, -0.10356725752353668, -0.7760564088821411], "theta": [0.1272599846124649, -1.9309455156326294, -0.2570532560348511, 0.3240770697593689, 1.8910940885543823, -0.10361576080322266, -0.775654137134552], "dq": [-0.007333245128393173, 0.18306618928909302, 0.1250470131635666, 0.29319727420806885, -0.146395742893219, -0.027975767850875854, -0.12648925185203552], "dtheta": [-0.01117820292711258, 0.17317958176136017, 0.1340484470129013, 0.2949952781200409, -0.14884786307811737, -0.026554228737950325, -0.13018876314163208], "tau": [-62.3599967956543, -2.5899999141693115, -15.04800033569336, 8.855999946594238, -3.9120001792907715, 2.9720001220703125, -0.40400001406669617], "tau_des": [-1.1980921030044556, 3.8490493297576904, 0.08059152960777283, 0.38934046030044556, 0.13847488164901733, -0.5829015970230103, -0.4665728807449341], "tau_dot": [-127.74339294433594, -23.845657348632812, -18.73930549621582, 36.32722473144531, 75.2803726196289, -17.529523849487305, -15.399725914001465], "tau_ext": [14.99486255645752, -36.423240661621094, -36.804290771484375, 19.919479370117188, -2.5203661918640137, -6.316734790802002, 0.2540992200374603], "tcp_pose": [0.6615124940872192, -0.1624435931444168, -0.33669957518577576, -0.03981682285666466, -0.044064540416002274, 0.9975372552871704, 0.03731381893157959], "tcp_vel": [-0.008048396557569504, 0.026996580883860588, 0.017392341047525406, -0.003068439196795225, -0.021758727729320526, 0.007317633833736181], "flange_pose": [0.6772304773330688, -0.1759212166070938, -0.14783111214637756, -0.03981682285666466, -0.044064540416002274, 0.9975372552871704, 0.03731381893157959], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-1.6673818826675415, -62.386661529541016, -10.726305961608887, -7.076204299926758, 16.88059425354004, 0.3476475775241852], "ext_wrench_in_world": [7.842125010775204, -62.57999789556895, 5.672237427344479, 5.563680416123186, 17.43580468219667, 0.43146702845668894]}
+{"timestamp_ns": 1789729892855589453, "elapsed_ms": 12233, "source_timestamp_ns": 1789729892851783329, "q": [0.1295394003391266, -1.926469326019287, -0.25210538506507874, 0.3491341173648834, 1.8876543045043945, -0.10435236245393753, -0.7800570130348206], "theta": [0.12691757082939148, -1.9254894256591797, -0.2528429627418518, 0.33329594135284424, 1.8864455223083496, -0.10440051555633545, -0.779723048210144], "dq": [-0.01190429087728262, 0.18647806346416473, 0.1365690380334854, 0.31324249505996704, -0.1666637808084488, -0.023623758926987648, -0.1411677747964859], "dtheta": [-0.012264863587915897, 0.19058246910572052, 0.14610598981380463, 0.31688517332077026, -0.15550647675991058, -0.025999411940574646, -0.14153775572776794], "tau": [-62.19999694824219, -3.3299999237060547, -15.420001029968262, 9.480000495910645, -3.884000301361084, 2.9560000896453857, -0.4480000138282776], "tau_des": [-1.3734201192855835, 1.3173456192016602, -0.4951959550380707, 1.4595563411712646, -0.2610951364040375, -0.5592101216316223, -0.4150572121143341], "tau_dot": [30.89600372314453, -216.55116271972656, -11.275108337402344, 61.6923942565918, 118.56884765625, 25.787927627563477, 16.889062881469727], "tau_ext": [14.850642204284668, -35.89646911621094, -36.70491027832031, 19.784881591796875, -2.5800254344940186, -6.294478416442871, 0.3118099868297577], "tcp_pose": [0.6612810492515564, -0.16155719757080078, -0.3361746668815613, -0.03948592767119408, -0.044180817902088165, 0.9975480437278748, 0.03724003583192825], "tcp_vel": [-0.0061520482413470745, 0.033999960869550705, 0.016609111800789833, 0.002647951478138566, -0.027014415711164474, 0.013091977685689926], "flange_pose": [0.6768741607666016, -0.1750107854604721, -0.14729413390159607, -0.03948592767119408, -0.044180817902088165, 0.9975480437278748, 0.03724003583192825], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-0.6244193315505981, -61.00592041015625, -10.85889720916748, -6.651463508605957, 16.60367202758789, 0.3772770166397095], "ext_wrench_in_world": [6.7091635501838, -61.31057699216302, 6.002345086391936, 5.159092849748671, 17.12536937966415, 0.4143840381089843]}
+{"timestamp_ns": 1789729892888910255, "elapsed_ms": 12266, "source_timestamp_ns": 1789729892881758138, "q": [0.1292007714509964, -1.9206032752990723, -0.2476651966571808, 0.3589012920856476, 1.8825913667678833, -0.10510936379432678, -0.7842347621917725], "theta": [0.1265755444765091, -1.9196456670761108, -0.24831798672676086, 0.34304630756378174, 1.8813890218734741, -0.10515642166137695, -0.7839812636375427], "dq": [-0.006264530122280121, 0.19628071784973145, 0.14859779179096222, 0.3379931151866913, -0.17858938872814178, -0.022597424685955048, -0.13082145154476166], "dtheta": [-0.0101171238347888, 0.20183347165584564, 0.15118065476417542, 0.33929023146629333, -0.17758186161518097, -0.02247786521911621, -0.1457296460866928], "tau": [-63.119998931884766, -4.949999809265137, -15.992000579833984, 9.724000930786133, -4.104000091552734, 3.056000232696533, -0.45600003004074097], "tau_des": [-2.1197824478149414, 1.7665023803710938, -0.2604059875011444, 1.4714882373809814, 0.25528863072395325, -0.5114843845367432, -0.6752919554710388], "tau_dot": [90.25840759277344, 83.67709350585938, -12.380864143371582, -34.64478302001953, -59.441375732421875, -14.622034072875977, 64.07772827148438], "tau_ext": [15.273466110229492, -35.18625259399414, -36.40630340576172, 19.18324089050293, -2.496443510055542, -6.335026741027832, 0.34748271107673645], "tcp_pose": [0.6610034704208374, -0.16059261560440063, -0.3356586992740631, -0.03920334205031395, -0.04429318755865097, 0.9975586533546448, 0.03712078183889389], "tcp_vel": [-0.011755649000406265, 0.03051275759935379, 0.01763177663087845, -0.013083936646580696, -0.018189411610364914, 0.006043779663741589], "flange_pose": [0.6764891147613525, -0.1740042269229889, -0.14676633477210999, -0.03920334205031395, -0.04429318755865097, 0.9975586533546448, 0.03712078183889389], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [-0.6231827139854431, -60.144142150878906, -10.703286170959473, -6.418059825897217, 16.576955795288086, 0.39923959970474243], "ext_wrench_in_world": [6.631072501176708, -60.441031638565306, 5.931028457837436, 4.92394967378735, 17.080252861719288, 0.40746707283290046]}
+{"timestamp_ns": 1789729892922285244, "elapsed_ms": 12300, "source_timestamp_ns": 1789729892921782468, "q": [0.1287662386894226, -1.91230309009552, -0.2414538562297821, 0.3734441101551056, 1.8757768869400024, -0.10602301359176636, -0.7909000515937805], "theta": [0.12613379955291748, -1.9113743305206299, -0.2419687956571579, 0.35755008459091187, 1.874611496925354, -0.10606598854064941, -0.7908093929290771], "dq": [-0.01625051163136959, 0.22180311381816864, 0.17224083840847015, 0.3725009560585022, -0.17166906595230103, -0.026805516332387924, -0.1759595274925232], "dtheta": [-0.013768421486020088, 0.21507202088832855, 0.16469554603099823, 0.3736768662929535, -0.16556692123413086, -0.026378290727734566, -0.18249817192554474], "tau": [-62.959999084472656, -2.309999942779541, -15.78800106048584, 8.476000785827637, -4.0360002517700195, 2.940000057220459, -0.492000013589859], "tau_des": [-2.274614095687866, 3.0215678215026855, -0.664605438709259, 0.8695881366729736, -0.44783711433410645, -0.4726090133190155, -0.32000893354415894], "tau_dot": [49.34321212768555, -151.8867950439453, 24.349613189697266, -50.03239440917969, -27.283340454101562, -69.4507827758789, -16.302959442138672], "tau_ext": [15.594157218933105, -36.70988082885742, -36.6302375793457, 20.077510833740234, -2.5481178760528564, -6.297640800476074, 0.3832372725009918], "tcp_pose": [0.6604068875312805, -0.15941457450389862, -0.33492201566696167, -0.03861851245164871, -0.0444764569401741, 0.9975781440734863, 0.036990970373153687], "tcp_vel": [-0.013355263508856297, 0.03634454682469368, 0.016944050788879395, 0.011307165957987309, -0.03773537650704384, 0.02023337036371231], "flange_pose": [0.6756715774536133, -0.17278440296649933, -0.14600870013237, -0.03861851245164871, -0.0444764569401741, 0.9975781440734863, 0.036990970373153687], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.1379724740982056, -59.215492248535156, -10.251534461975098, -6.072322845458984, 16.084787368774414, 0.4178425371646881], "ext_wrench_in_world": [4.7789872176537305, -59.64477179517567, 5.703151855607049, 4.615248714149224, 16.56272654801535, 0.3790124354738453]}
+{"timestamp_ns": 1789729892955623285, "elapsed_ms": 12333, "source_timestamp_ns": 1789729892951929642, "q": [0.12830232083797455, -1.9055641889572144, -0.23655499517917633, 0.38504287600517273, 1.8702846765518188, -0.10678526759147644, -0.7961241602897644], "theta": [0.12567588686943054, -1.9046474695205688, -0.23704659938812256, 0.3691602051258087, 1.8691644668579102, -0.10682392120361328, -0.7961766719818115], "dq": [-0.017715876922011375, 0.21349824965000153, 0.18217171728610992, 0.38260817527770996, -0.193962961435318, -0.023568395525217056, -0.17562136054039001], "dtheta": [-0.015407252125442028, 0.23454120755195618, 0.1649187207221985, 0.40090131759643555, -0.19364629685878754, -0.022326635196805, -0.17949403822422028], "tau": [-62.54999923706055, -3.799999952316284, -16.148000717163086, 8.992000579833984, -4.128000259399414, 2.9680001735687256, -0.3840000033378601], "tau_des": [-1.4401346445083618, 2.762723445892334, -0.0664694756269455, 0.8318970203399658, 0.10816008597612381, -0.5341468453407288, -0.6634958386421204], "tau_dot": [-4.335043907165527, 34.086795806884766, -50.35402297973633, -127.135498046875, -41.26250457763672, -18.82798194885254, 42.3916130065918], "tau_ext": [14.999181747436523, -35.351783752441406, -36.800113677978516, 19.556547164916992, -2.4463064670562744, -6.264801979064941, 0.3570568561553955], "tcp_pose": [0.6599346399307251, -0.1583811640739441, -0.3343013525009155, -0.038191571831703186, -0.044623322784900665, 0.9975916743278503, 0.03689129650592804], "tcp_vel": [-0.01696832850575447, 0.0344279482960701, 0.022030867636203766, -0.013641448691487312, -0.026933439075946808, 0.009899445809423923], "flange_pose": [0.6750380396842957, -0.17171847820281982, -0.14537277817726135, -0.038191571831703186, -0.044623322784900665, 0.9975916743278503, 0.03689129650592804], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.636644721031189, -58.330448150634766, -10.474308013916016, -5.790577411651611, 15.94286823272705, 0.4024015963077545], "ext_wrench_in_world": [4.236159273711599, -58.8249606771034, 6.042339920274389, 4.344140845910043, 16.39608989172335, 0.40550938899310784]}
+{"timestamp_ns": 1789729892988929529, "elapsed_ms": 12366, "source_timestamp_ns": 1789729892981746715, "q": [0.12795546650886536, -1.8984270095825195, -0.23188631236553192, 0.39739808440208435, 1.865034580230713, -0.10745050013065338, -0.8017652034759521], "theta": [0.12534357607364655, -1.8974494934082031, -0.23246733844280243, 0.38156455755233765, 1.8639684915542603, -0.10748589038848877, -0.8019571304321289], "dq": [-0.0075030033476650715, 0.2513936161994934, 0.14736898243427277, 0.43107306957244873, -0.1614839732646942, -0.024085089564323425, -0.195543572306633], "dtheta": [-0.004969990346580744, 0.24672813713550568, 0.13496695458889008, 0.4286276400089264, -0.1500403881072998, -0.02542477287352085, -0.20383162796497345], "tau": [-62.48999786376953, -3.0399999618530273, -16.736000061035156, 8.404000282287598, -4.308000087738037, 3.0480000972747803, -0.320000022649765], "tau_des": [-1.093924880027771, 3.198082208633423, -1.7590179443359375, 0.819037914276123, -0.10868870466947556, -0.5348464846611023, -0.29311856627464294], "tau_dot": [53.199554443359375, 25.06953239440918, -44.28915786743164, -67.60442352294922, -21.350963592529297, 40.87924575805664, 94.0793685913086], "tau_ext": [15.241549491882324, -36.166744232177734, -36.703704833984375, 19.674497604370117, -2.3135735988616943, -6.263262748718262, 0.29806214570999146], "tcp_pose": [0.6594014167785645, -0.157333105802536, -0.33368176221847534, -0.03769979625940323, -0.044814396649599075, 0.9976075291633606, 0.03673746809363365], "tcp_vel": [-0.018604231998324394, 0.035934217274188995, 0.020209401845932007, -0.006623464170843363, -0.03746124729514122, 0.022172244265675545], "flange_pose": [0.6743186712265015, -0.170617938041687, -0.1447347104549408, -0.03769979625940323, -0.044814396649599075, 0.9976075291633606, 0.03673746809363365], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [1.916973352432251, -58.00202941894531, -10.647648811340332, -5.7111639976501465, 15.828757286071777, 0.35028451681137085], "ext_wrench_in_world": [3.957692158911715, -58.5336913298594, 6.2790350242533615, 4.273015766874408, 16.273424121323995, 0.454592450109479]}
+{"timestamp_ns": 1789729893022291211, "elapsed_ms": 12400, "source_timestamp_ns": 1789729893021780176, "q": [0.12790325284004211, -1.8882447481155396, -0.2270490676164627, 0.41523298621177673, 1.859622597694397, -0.10854440927505493, -0.8099647164344788], "theta": [0.12531158328056335, -1.8872363567352295, -0.22776754200458527, 0.3994264006614685, 1.8586466312408447, -0.1085730791091919, -0.8103103637695312], "dq": [-0.0002903035783674568, 0.27294909954071045, 0.11010344326496124, 0.4435829818248749, -0.1214950680732727, -0.030414175242185593, -0.20144124329090118], "dtheta": [0.0003302291443105787, 0.26796790957450867, 0.10577302426099777, 0.44872918725013733, -0.12635064125061035, -0.02882632240653038, -0.196311816573143], "tau": [-62.79999923706055, -3.379999876022339, -17.211999893188477, 8.836000442504883, -4.452000141143799, 2.996000051498413, -0.22800001502037048], "tau_des": [-1.1153632402420044, 0.8271182179450989, -1.480179786682129, 1.4202319383621216, -0.6735804677009583, -0.5434817671775818, -0.15498663485050201], "tau_dot": [108.15096282958984, -86.57036590576172, -142.79356384277344, 121.53070831298828, 5.197144508361816, 20.233736038208008, -27.14947509765625], "tau_ext": [15.367226600646973, -35.65571594238281, -36.613162994384766, 19.61385726928711, -2.2213644981384277, -6.254203796386719, 0.19152463972568512], "tcp_pose": [0.6585738062858582, -0.15590496361255646, -0.3328424394130707, -0.0369298942387104, -0.045149918645620346, 0.9976291060447693, 0.03652091696858406], "tcp_vel": [-0.016151748597621918, 0.04258463904261589, 0.021794071421027184, -0.013365940190851688, -0.036214470863342285, 0.018897822126746178], "flange_pose": [0.6732004880905151, -0.16911639273166656, -0.14386752247810364, -0.0369298942387104, -0.045149918645620346, 0.9976291060447693, 0.03652091696858406], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [3.923725128173828, -57.41878128051758, -10.620360374450684, -5.556078910827637, 15.212735176086426, 0.2378867119550705], "ext_wrench_in_world": [1.9382875740607373, -58.13404616932766, 6.463732232023704, 4.170543112552725, 15.642183435791386, 0.5315844205752306]}
+{"timestamp_ns": 1789729893055625166, "elapsed_ms": 12433, "source_timestamp_ns": 1789729893051730950, "q": [0.1279667764902115, -1.880128264427185, -0.22401274740695953, 0.42893916368484497, 1.855664610862732, -0.10946014523506165, -0.8158063888549805], "theta": [0.12538835406303406, -1.879119873046875, -0.2248174399137497, 0.4131709337234497, 1.854754090309143, -0.10948145389556885, -0.816235363483429], "dq": [0.006910975556820631, 0.2695405185222626, 0.08577831089496613, 0.4505852162837982, -0.12779955565929413, -0.026620859280228615, -0.21030087769031525], "dtheta": [0.005228749942034483, 0.27281248569488525, 0.0922093614935875, 0.4606122672557831, -0.12382587045431137, -0.029009703546762466, -0.200888991355896], "tau": [-63.16999816894531, -3.3399999141693115, -17.280000686645508, 8.712000846862793, -4.340000152587891, 3.0240001678466797, -0.2240000069141388], "tau_des": [-1.833267092704773, 1.4263025522232056, -0.7730354070663452, 0.6478143334388733, -0.05091577395796776, -0.4173169732093811, -0.25239741802215576], "tau_dot": [87.34315490722656, -122.68148803710938, 35.13945007324219, -15.596558570861816, -63.15985107421875, -49.737152099609375, -61.50269317626953], "tau_ext": [15.492721557617188, -35.80819320678711, -36.51642990112305, 19.634855270385742, -2.099221706390381, -6.315789699554443, 0.11676998436450958], "tcp_pose": [0.6579552888870239, -0.1547078937292099, -0.3321620523929596, -0.03652457147836685, -0.04533729329705238, 0.9976480603218079, 0.0361776128411293], "tcp_vel": [-0.021274887025356293, 0.03959328681230545, 0.022305041551589966, -0.02369873784482479, -0.029207130894064903, 0.017766140401363373], "flange_pose": [0.6724252104759216, -0.16779381036758423, -0.14316634833812714, -0.03652457147836685, -0.04533729329705238, 0.9976480603218079, 0.0361776128411293], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [4.500461578369141, -56.08174133300781, -10.566390037536621, -5.204157829284668, 14.990825653076172, 0.12826770544052124], "ext_wrench_in_world": [1.2597784852359948, -56.851143260253686, 6.589759628118133, 3.842637048134126, 15.38332117092305, 0.6419776832790083]}
+{"timestamp_ns": 1789729893088935943, "elapsed_ms": 12466, "source_timestamp_ns": 1789729893081730510, "q": [0.12809523940086365, -1.8719182014465332, -0.22128890454769135, 0.442980021238327, 1.8522236347198486, -0.11029373109340668, -0.821911096572876], "theta": [0.12552769482135773, -1.8709369897842407, -0.22214333713054657, 0.42724382877349854, 1.85139000415802, -0.11030840873718262, -0.8223933577537537], "dq": [0.005163238849490881, 0.2740529477596283, 0.0878998413681984, 0.47263529896736145, -0.1169072613120079, -0.030563317239284515, -0.21503393352031708], "dtheta": [0.002961346646770835, 0.27362072467803955, 0.08830820769071579, 0.48063522577285767, -0.10911581665277481, -0.03376065194606781, -0.20763345062732697], "tau": [-62.349998474121094, -2.629999876022339, -17.368000030517578, 7.520000457763672, -4.2920002937316895, 2.9880001544952393, -0.24400001764297485], "tau_des": [-1.1983461380004883, 3.8628361225128174, -0.3247186243534088, -1.2748147249221802, -0.09489075839519501, -0.49894899129867554, -0.4734363555908203], "tau_dot": [0.21536527574062347, 160.1082763671875, 93.91952514648438, 38.34324645996094, 11.13431453704834, 1.6225054264068604, -21.159143447875977], "tau_ext": [15.194477081298828, -36.648155212402344, -36.72629928588867, 20.13943862915039, -2.1607508659362793, -6.285770416259766, 0.10042060166597366], "tcp_pose": [0.6573016047477722, -0.15351997315883636, -0.3314763307571411, -0.035985980182886124, -0.04555533453822136, 0.9976693391799927, 0.03585569187998772], "tcp_vel": [-0.026523923501372337, 0.03755174204707146, 0.02450350672006607, -0.014762267470359802, -0.03909386694431305, 0.005869155749678612], "flange_pose": [0.6715651154518127, -0.16649043560028076, -0.14245697855949402, -0.035985980182886124, -0.04555533453822136, 0.9976693391799927, 0.03585569187998772], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.182405471801758, -55.829994201660156, -10.47054672241211, -5.117056846618652, 14.787118911743164, 0.04404545575380325], "ext_wrench_in_world": [0.5693393041447281, -56.65393723518231, 6.594329094499469, 3.7732939367587353, 15.169066044280488, 0.7118881195863531]}
+{"timestamp_ns": 1789729893122262859, "elapsed_ms": 12500, "source_timestamp_ns": 1789729893121885033, "q": [0.12816685438156128, -1.8608322143554688, -0.21787883341312408, 0.46165597438812256, 1.8476396799087524, -0.11146802455186844, -0.8300323486328125], "theta": [0.12561441957950592, -1.8598448038101196, -0.21876934170722961, 0.4459329843521118, 1.8469074964523315, -0.11147713661193848, -0.8305167555809021], "dq": [0.0005752338911406696, 0.267935186624527, 0.0765073299407959, 0.47093284130096436, -0.11871322989463806, -0.03178487345576286, -0.19518055021762848], "dtheta": [0.002539454959332943, 0.27752241492271423, 0.08598768711090088, 0.4763869345188141, -0.1171003058552742, -0.027830084785819054, -0.19723820686340332], "tau": [-61.94999694824219, -3.43999981880188, -17.9320011138916, 7.728000164031982, -4.25600004196167, 2.9760000705718994, -0.3400000035762787], "tau_des": [-0.9496049284934998, 2.4341330528259277, -0.17391811311244965, -0.951870858669281, 0.12271978706121445, -0.535672128200531, -0.4980628788471222], "tau_dot": [-25.998889923095703, 332.4119567871094, -39.02779769897461, -84.93104553222656, -0.24995627999305725, 33.39667892456055, -46.810569763183594], "tau_ext": [14.559759140014648, -35.92875671386719, -36.8786506652832, 19.702878952026367, -2.1701338291168213, -6.237046718597412, 0.14725801348686218], "tcp_pose": [0.6564226150512695, -0.15182501077651978, -0.33050259947776794, -0.03533107787370682, -0.0459219254553318, 0.9976924061775208, 0.03539435938000679], "tcp_vel": [-0.02641388401389122, 0.03957964852452278, 0.02448415383696556, -0.02412833459675312, -0.033529236912727356, 0.0028484798967838287], "flange_pose": [0.6704351305961609, -0.1646272838115692, -0.14145299792289734, -0.03533107787370682, -0.0459219254553318, 0.9976924061775208, 0.03539435938000679], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [5.846044540405273, -54.79982376098633, -11.315220832824707, -4.87965726852417, 14.583910942077637, -0.006521737203001976], "ext_wrench_in_world": [-0.08794110767740171, -55.744125174361585, 7.603677952533331, 3.5474984952465234, 14.944757976402988, 0.75565826319287]}
+{"timestamp_ns": 1789729893155591515, "elapsed_ms": 12533, "source_timestamp_ns": 1789729893151778342, "q": [0.12823303043842316, -1.852699637413025, -0.21533358097076416, 0.4756905138492584, 1.8444349765777588, -0.11221035569906235, -0.8362042903900146], "theta": [0.12568672001361847, -1.8516709804534912, -0.21623829007148743, 0.4599590599536896, 1.8437765836715698, -0.11221539974212646, -0.8366526365280151], "dq": [-0.00031289528124034405, 0.2782706320285797, 0.08927005529403687, 0.45234277844429016, -0.10345397889614105, -0.023531612008810043, -0.21564823389053345], "dtheta": [0.0012387296883389354, 0.273165225982666, 0.08777488023042679, 0.4599955976009369, -0.10449893772602081, -0.023084355518221855, -0.20053087174892426], "tau": [-62.16999816894531, -2.700000047683716, -18.3960018157959, 7.3520002365112305, -4.192000389099121, 3.0320000648498535, -0.40800002217292786], "tau_des": [-1.3974955081939697, 1.990204095840454, -0.7559984922409058, -0.7593973875045776, -0.40276527404785156, -0.5113627314567566, -0.3545127511024475], "tau_dot": [185.5884552001953, -254.2918243408203, -59.95507049560547, -82.7474365234375, 49.771400451660156, 123.3780288696289, -41.85194778442383], "tau_ext": [14.86771011352539, -36.5426025390625, -36.783382415771484, 19.955373764038086, -2.237327814102173, -6.248774528503418, 0.23610341548919678], "tcp_pose": [0.6556602120399475, -0.15063105523586273, -0.32981157302856445, -0.03474327176809311, -0.04612913727760315, 0.9977139830589294, 0.03509682044386864], "tcp_vel": [-0.02176179736852646, 0.045409832149744034, 0.020964914932847023, -0.01209633145481348, -0.042150162160396576, 0.01678953319787979], "flange_pose": [0.669447660446167, -0.1633283495903015, -0.1407383531332016, -0.03474327176809311, -0.04612913727760315, 0.9977139830589294, 0.03509682044386864], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [6.56712007522583, -55.04343795776367, -11.689506530761719, -4.9692702293396, 14.38569164276123, 0.007817800156772137], "ext_wrench_in_world": [-0.7426942889244692, -56.0752668735591, 8.035206374304114, 3.646476044671864, 14.759078440424998, 0.7173895844146536]}
+{"timestamp_ns": 1789729893188907612, "elapsed_ms": 12566, "source_timestamp_ns": 1789729893181763373, "q": [0.12824687361717224, -1.844468355178833, -0.21276377141475677, 0.48924580216407776, 1.8409382104873657, -0.1128435805439949, -0.8420623540878296], "theta": [0.1257043033838272, -1.843435525894165, -0.21368920803070068, 0.4735456705093384, 1.840342402458191, -0.11284184455871582, -0.8424438834190369], "dq": [0.0020592750515788794, 0.27154552936553955, 0.08555565029382706, 0.44010695815086365, -0.1140427365899086, -0.01615915820002556, -0.18695659935474396], "dtheta": [0.0012647955445572734, 0.27094167470932007, 0.08109556883573532, 0.4372718930244446, -0.11579194664955139, -0.014945512637495995, -0.1819939911365509], "tau": [-62.6099967956543, -3.75, -18.880001068115234, 8.680000305175781, -4.264000415802002, 2.9880001544952393, -0.46400001645088196], "tau_des": [-1.5377933979034424, -0.3881405293941498, -0.7399910688400269, 0.5660097002983093, -0.21801871061325073, -0.5143827795982361, -0.24721916019916534], "tau_dot": [-77.40568542480469, -139.0771942138672, -25.52779769897461, -30.41678810119629, -15.772177696228027, -1.344502329826355, -17.75731086730957], "tau_ext": [14.832133293151855, -35.38949203491211, -36.58973693847656, 19.44913673400879, -2.2256336212158203, -6.2915802001953125, 0.3161254823207855], "tcp_pose": [0.6550137996673584, -0.14925681054592133, -0.32915470004081726, -0.034282099455595016, -0.046441011130809784, 0.9977283477783203, 0.034729961305856705], "tcp_vel": [-0.01885385438799858, 0.046286147087812424, 0.021115005016326904, -0.028293022885918617, -0.0307158213108778, 0.01814611442387104], "flange_pose": [0.6686242818832397, -0.1618192195892334, -0.14005964994430542, -0.034282099455595016, -0.046441011130809784, 0.9977283477783203, 0.034729961305856705], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.4169745445251465, -53.60482406616211, -11.793996810913086, -4.583657741546631, 14.142718315124512, 0.04681893810629845], "ext_wrench_in_world": [-1.6827252216166582, -54.729079625129216, 8.335665213344132, 3.2728150750798317, 14.486378726694207, 0.6797826981291453]}
+{"timestamp_ns": 1789729893222258375, "elapsed_ms": 12600, "source_timestamp_ns": 1789729893221805955, "q": [0.12826094031333923, -1.8338054418563843, -0.20943191647529602, 0.5068713426589966, 1.836312174797058, -0.11341604590415955, -0.849448561668396], "theta": [0.12571823596954346, -1.8327908515930176, -0.21034877002239227, 0.49120190739631653, 1.8357727527618408, -0.11340153217315674, -0.8497312664985657], "dq": [-0.0003790621121879667, 0.27279314398765564, 0.07674109190702438, 0.4522763192653656, -0.10739780217409134, -0.01183475460857153, -0.19757631421089172], "dtheta": [-0.0008408097783103585, 0.25924548506736755, 0.08267047256231308, 0.4321835935115814, -0.10432741791009903, -0.012414463795721531, -0.19955822825431824], "tau": [-62.7599983215332, -1.6100000143051147, -19.04800033569336, 7.264000415802002, -3.944000244140625, 2.9880001544952393, -0.527999997138977], "tau_des": [-2.2688634395599365, 1.866983413696289, -0.5886569619178772, -1.1384012699127197, 0.12851347029209137, -0.5054957270622253, -0.3518455922603607], "tau_dot": [-44.3603401184082, -76.3445053100586, -35.89183807373047, 51.33472442626953, -14.297042846679688, -7.966468334197998, -17.672542572021484], "tau_ext": [15.238670349121094, -37.3148078918457, -36.48365783691406, 20.47186279296875, -2.390896797180176, -6.3252272605896, 0.38929590582847595], "tcp_pose": [0.654099702835083, -0.1475229412317276, -0.32830995321273804, -0.033670928329229355, -0.0466962568461895, 0.997756838798523, 0.03416142985224724], "tcp_vel": [-0.022185012698173523, 0.04352034255862236, 0.019876256585121155, -0.01767432875931263, -0.04043053463101387, 0.028125131502747536], "flange_pose": [0.6674721240997314, -0.1598776876926422, -0.13918423652648926, -0.033670928329229355, -0.0466962568461895, 0.997756838798523, 0.03416142985224724], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [7.902637481689453, -53.53266906738281, -11.596475601196289, -4.564489841461182, 14.004070281982422, 0.10044620931148529], "ext_wrench_in_world": [-2.1688961757440484, -54.682895464677486, 8.231246320701759, 3.254439105157113, 14.352676853314073, 0.6065761878257709]}
+{"timestamp_ns": 1789729893255588381, "elapsed_ms": 12633, "source_timestamp_ns": 1789729893251763889, "q": [0.12816379964351654, -1.8259873390197754, -0.20704369246959686, 0.5194540023803711, 1.8330655097961426, -0.11376849561929703, -0.8549740314483643], "theta": [0.12562152743339539, -1.8250138759613037, -0.20793330669403076, 0.5037761330604553, 1.832549810409546, -0.11374616622924805, -0.8551848530769348], "dq": [-0.005439728032797575, 0.2304917275905609, 0.08080342411994934, 0.4092272222042084, -0.10786180198192596, -0.013888587243855, -0.165042906999588], "dtheta": [-0.004789251368492842, 0.2547653615474701, 0.07952254265546799, 0.41273123025894165, -0.1147250309586525, -0.010710835456848145, -0.16049286723136902], "tau": [-62.459999084472656, -5.089999675750732, -19.56800079345703, 8.392000198364258, -4.176000118255615, 3.008000135421753, -0.46000000834465027], "tau_des": [-1.3799911737442017, -0.25550657510757446, -0.6093430519104004, -0.3372129201889038, 0.07356800138950348, -0.5768746137619019, -0.5895814299583435], "tau_dot": [-18.73222541809082, -73.19331359863281, 49.5699348449707, -37.44668197631836, 89.25260925292969, 8.994820594787598, -29.454130172729492], "tau_ext": [14.723411560058594, -35.23616409301758, -36.628074645996094, 19.37804412841797, -2.4044227600097656, -6.282270908355713, 0.3855289816856384], "tcp_pose": [0.6535463929176331, -0.14610853791236877, -0.32768678665161133, -0.03317055106163025, -0.04710063338279724, 0.9977670907974243, 0.03379517421126366], "tcp_vel": [-0.020821060985326767, 0.04407161474227905, 0.021695498377084732, -0.02801799774169922, -0.029403651133179665, 0.003317465540021658], "flange_pose": [0.6667279601097107, -0.1583283394575119, -0.1385389119386673, -0.03317055106163025, -0.04710063338279724, 0.9977670907974243, 0.03379517421126366], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.204693794250488, -52.845436096191406, -11.685380935668945, -4.348790168762207, 13.94108772277832, 0.11778824031352997], "ext_wrench_in_world": [-2.491032824388751, -54.03135677604568, 8.420955080822951, 3.032673670041065, 14.273459683209335, 0.5924660146512584]}
+{"timestamp_ns": 1789729893288907627, "elapsed_ms": 12666, "source_timestamp_ns": 1789729893281753939, "q": [0.12804096937179565, -1.8185724020004272, -0.20478171110153198, 0.5316049456596375, 1.8298707008361816, -0.11410084366798401, -0.8601654767990112], "theta": [0.12549807131290436, -1.8175828456878662, -0.20564797520637512, 0.5159311890602112, 1.8293542861938477, -0.11406862735748291, -0.8603081107139587], "dq": [-0.005622260272502899, 0.25151363015174866, 0.07544304430484772, 0.405191034078598, -0.0904642790555954, -0.006390406284481287, -0.1733899861574173], "dtheta": [-0.004663481842726469, 0.23970890045166016, 0.07381916791200638, 0.3909059464931488, -0.09502564370632172, -0.007132984697818756, -0.16751733422279358], "tau": [-62.88999938964844, -3.0899999141693115, -19.608001708984375, 7.544000148773193, -3.9600002765655518, 2.996000051498413, -0.40400001406669617], "tau_des": [-1.713584542274475, 0.5804457664489746, -0.33135971426963806, -0.9779055714607239, 0.1609131395816803, -0.6269688606262207, -0.4542366862297058], "tau_dot": [-32.80466842651367, -19.407028198242188, -12.030348777770996, -35.34346008300781, 1.893869400024414, -77.76656341552734, 23.415422439575195], "tau_ext": [15.236247062683105, -36.31062698364258, -36.69282531738281, 19.781360626220703, -2.489410400390625, -6.282055377960205, 0.34389883279800415], "tcp_pose": [0.6528904438018799, -0.14483939111232758, -0.32706061005592346, -0.03272363170981407, -0.04734540358185768, 0.9977833032608032, 0.03340664133429527], "tcp_vel": [-0.01869034394621849, 0.04324498400092125, 0.019280577078461647, -0.01823011226952076, -0.038545992225408554, 0.016947738826274872], "flange_pose": [0.6658989191055298, -0.1569170355796814, -0.13789162039756775, -0.03272363170981407, -0.04734540358185768, 0.9977833032608032, 0.03340664133429527], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [8.694119453430176, -52.338294982910156, -11.850071907043457, -4.1664719581604, 13.833630561828613, 0.09257552772760391], "ext_wrench_in_world": [-2.9946624839150555, -53.58053895370831, 8.687167606781294, 2.8557629487677785, 14.14938145037065, 0.6140161886968367]}
+{"timestamp_ns": 1789729893322257821, "elapsed_ms": 12700, "source_timestamp_ns": 1789729893321738467, "q": [0.12779530882835388, -1.8092005252838135, -0.2018222212791443, 0.5468628406524658, 1.8259985446929932, -0.11440542340278625, -0.8670666217803955], "theta": [0.12525427341461182, -1.8082325458526611, -0.20266759395599365, 0.5311790704727173, 1.8254584074020386, -0.11436045169830322, -0.8671494126319885], "dq": [-0.006436693482100964, 0.2236287146806717, 0.0824834555387497, 0.36987438797950745, -0.09308862686157227, -0.006267688237130642, -0.17194655537605286], "dtheta": [-0.007343407720327377, 0.2286279946565628, 0.07170682400465012, 0.357222318649292, -0.09807475656270981, -0.00314978021197021, -0.1606004536151886], "tau": [-62.65999984741211, -3.559999942779541, -19.772001266479492, 8.056000709533691, -3.9800002574920654, 3.004000186920166, -0.2840000092983246], "tau_des": [-1.2839142084121704, -1.0908045768737793, -0.41545602679252625, 0.06416956335306168, 0.05755481868982315, -0.5914485454559326, 0.018099237233400345], "tau_dot": [-46.214569091796875, -124.39006805419922, 11.837092399597168, 46.31249237060547, -42.1213264465332, 15.934296607971191, 3.996429204940796], "tau_ext": [15.329034805297852, -35.6204833984375, -36.77981185913086, 19.67523956298828, -2.5495152473449707, -6.30307674407959, 0.25052955746650696], "tcp_pose": [0.6521133184432983, -0.14312843978405, -0.3262988030910492, -0.0320400670170784, -0.04786498099565506, 0.9977937340736389, 0.0330154150724411], "tcp_vel": [-0.014597704634070396, 0.04516896605491638, 0.01807568036019802, -0.020018769428133965, -0.03240922465920448, 0.03130565956234932], "flange_pose": [0.6648621559143066, -0.15506385266780853, -0.1371031105518341, -0.0320400670170784, -0.04786498099565506, 0.9977937340736389, 0.0330154150724411], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.991443634033203, -51.86794662475586, -11.783622741699219, -3.9170467853546143, 13.549381256103516, 0.010387447662651539], "ext_wrench_in_world": [-4.289846491265775, -53.232939484926156, 8.764586057244284, 2.6248046619355367, 13.840849326466927, 0.68584710373133]}
+{"timestamp_ns": 1789729893355583767, "elapsed_ms": 12733, "source_timestamp_ns": 1789729893351798711, "q": [0.1275780200958252, -1.802527666091919, -0.1996973603963852, 0.55727219581604, 1.823047161102295, -0.11451167613267899, -0.8714533448219299], "theta": [0.12504418194293976, -1.801555871963501, -0.20055191218852997, 0.5415664911270142, 1.822490930557251, -0.11445784568786621, -0.871491014957428], "dq": [-0.0056503042578697205, 0.21049629151821136, 0.07865801453590393, 0.3504031002521515, -0.09873741120100021, -0.00245409132912755, -0.13919271528720856], "dtheta": [-0.006773422937840223, 0.21500292420387268, 0.06842540949583054, 0.33999738097190857, -0.09799318015575409, -0.0008067517774179578, -0.14037615060806274], "tau": [-62.88999938964844, -4.569999694824219, -20.21200180053711, 7.8520002365112305, -3.9800002574920654, 3.064000129699707, -0.24800001084804535], "tau_des": [-1.4604976177215576, -0.21991752088069916, -0.3019004762172699, -0.9704878330230713, 0.40758633613586426, -0.5242300629615784, -0.4875529706478119], "tau_dot": [-34.490966796875, 105.59284210205078, -14.226436614990234, -81.02074432373047, 6.9966044425964355, 14.000011444091797, 3.7731966972351074], "tau_ext": [15.332093238830566, -35.29570007324219, -36.75297546386719, 19.233158111572266, -2.492525339126587, -6.305032730102539, 0.18323925137519836], "tcp_pose": [0.6516534686088562, -0.14180266857147217, -0.3257836699485779, -0.03164546936750412, -0.048178400844335556, 0.9978022575378418, 0.032680317759513855], "tcp_vel": [-0.017032597213983536, 0.04037417843937874, 0.017221983522176743, -0.024056365713477135, -0.026843387633562088, 0.0143765639513731], "flange_pose": [0.6642506122589111, -0.15361453592777252, -0.1365700662136078, -0.03164546936750412, -0.048178400844335556, 0.9978022575378418, 0.032680317759513855], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [9.624390602111816, -51.1698112487793, -11.740068435668945, -3.6793980598449707, 13.662038803100586, -0.07044719904661179], "ext_wrench_in_world": [-3.9681730591873725, -52.49806341007632, 8.775797703676552, 2.3743393340453256, 13.926419766100405, 0.7820373221552219]}
+{"timestamp_ns": 1789729893388894574, "elapsed_ms": 12766, "source_timestamp_ns": 1789729893381738176, "q": [0.12736748158931732, -1.7964094877243042, -0.19766853749752045, 0.5672401785850525, 1.8205101490020752, -0.11453796178102493, -0.8761617541313171], "theta": [0.12484285235404968, -1.7954367399215698, -0.1985551118850708, 0.5514917969703674, 1.819952130317688, -0.11447417736053467, -0.8761550784111023], "dq": [-0.008882669731974602, 0.20531465113162994, 0.07143404334783554, 0.3147042989730835, -0.0780307874083519, -0.0008977152756415308, -0.17056144773960114], "dtheta": [-0.00814720056951046, 0.19448986649513245, 0.06570574641227722, 0.31122615933418274, -0.07643016427755356, 0.00045073541696183383, -0.16121795773506165], "tau": [-62.66999816894531, -1.6200000047683716, -20.18800163269043, 6.672000408172607, -3.81600022315979, 2.996000051498413, -0.22800001502037048], "tau_des": [-1.5624721050262451, 1.2129157781600952, -0.3820304274559021, -1.823854684829712, 0.1256730705499649, -0.5853806138038635, 0.02830909937620163], "tau_dot": [70.01689147949219, -116.69105529785156, -35.482200622558594, -44.00782775878906, 7.430304050445557, 35.76687240600586, 34.96134948730469], "tau_ext": [15.505203247070312, -36.99641799926758, -36.82735824584961, 20.321409225463867, -2.6243515014648438, -6.303124904632568, 0.15056073665618896], "tcp_pose": [0.6511179208755493, -0.1406610757112503, -0.32531028985977173, -0.031142210587859154, -0.04860157147049904, 0.9978055953979492, 0.03243456780910492], "tcp_vel": [-0.014106221497058868, 0.03928682208061218, 0.014303586445748806, -0.007901210337877274, -0.038199104368686676, 0.04303371161222458], "flange_pose": [0.6635250449180603, -0.15238401293754578, -0.1360785961151123, -0.031142210587859154, -0.04860157147049904, 0.9978055953979492, 0.03243456780910492], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [10.866533279418945, -51.18023681640625, -11.795454025268555, -3.6455907821655273, 13.34489631652832, -0.13814547657966614], "ext_wrench_in_world": [-5.1633003811039355, -52.634437678263154, 8.921167032731365, 2.362957420492583, 13.606200778115769, 0.8266841217428249]}
+{"timestamp_ns": 1789729893422247108, "elapsed_ms": 12800, "source_timestamp_ns": 1789729893421779439, "q": [0.12700985372066498, -1.788857102394104, -0.19504182040691376, 0.5787327885627747, 1.8170795440673828, -0.11455366760492325, -0.8817280530929565], "theta": [0.12450926005840302, -1.787927269935608, -0.1960320770740509, 0.5629552006721497, 1.8165136575698853, -0.11447656154632568, -0.8816366195678711], "dq": [-0.008273575454950333, 0.1743825376033783, 0.062308769673109055, 0.25955596566200256, -0.09627600014209747, -0.0012834847439080477, -0.12046626955270767], "dtheta": [-0.007342507131397724, 0.18274885416030884, 0.05804217979311943, 0.26763784885406494, -0.0936136543750763, 2.4549659428885207e-05, -0.11529988050460815], "tau": [-62.939998626708984, -4.269999980926514, -20.832000732421875, 7.440000534057617, -4.01200008392334, 3.1120002269744873, -0.2200000137090683], "tau_des": [-1.67899751663208, -0.8899602293968201, -0.6154258251190186, -0.6882308721542358, 0.3339097201824188, -0.2801836133003235, -0.26519322395324707], "tau_dot": [52.80274963378906, 89.52288818359375, 51.08251953125, 36.18888473510742, 23.354469299316406, 12.428918838500977, 68.89944458007812], "tau_ext": [15.354619026184082, -35.23030471801758, -36.671142578125, 19.418153762817383, -2.50780987739563, -6.337453365325928, 0.11725915968418121], "tcp_pose": [0.6506466865539551, -0.13900594413280487, -0.3247913718223572, -0.030675850808620453, -0.04937368631362915, 0.9977912902832031, 0.03215188533067703], "tcp_vel": [-0.011314400471746922, 0.039633627980947495, 0.013251719065010548, -0.023641331121325493, -0.01083589531481266, 0.028156008571386337], "flange_pose": [0.6628810167312622, -0.15062113106250763, -0.13554178178310394, -0.030675850808620453, -0.04937368631362915, 0.9977912902832031, 0.03215188533067703], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.294096946716309, -50.8753547668457, -11.879405975341797, -3.583580732345581, 13.223214149475098, -0.20760957896709442], "ext_wrench_in_world": [-5.540492252253741, -52.383423056075614, 9.069651004980537, 2.295942863542536, 13.478870010506348, 0.8872737191061616]}
+{"timestamp_ns": 1789729893455621339, "elapsed_ms": 12833, "source_timestamp_ns": 1789729893452004239, "q": [0.12674903869628906, -1.7837817668914795, -0.19327114522457123, 0.586246132850647, 1.8146452903747559, -0.11453454941511154, -0.885309100151062], "theta": [0.12427088618278503, -1.7828271389007568, -0.19436395168304443, 0.5704945921897888, 1.8140828609466553, -0.11444628238677979, -0.8851626515388489], "dq": [-0.011117123998701572, 0.15843996405601501, 0.06103993207216263, 0.2400270402431488, -0.07410692423582077, 0.00044483377132564783, -0.11999419331550598], "dtheta": [-0.00905864592641592, 0.15804213285446167, 0.05276475474238396, 0.23398223519325256, -0.0714699774980545, 0.0003267617430537939, -0.12309180200099945], "tau": [-63.07999801635742, -3.2100000381469727, -21.064001083374023, 7.324000358581543, -4.048000335693359, 3.252000093460083, -0.2680000066757202], "tau_des": [-1.8849135637283325, 0.3500015139579773, -0.6034177541732788, -1.2039278745651245, 0.10127913951873779, -0.35730984807014465, -0.2308102250099182], "tau_dot": [-68.6793441772461, -47.57000732421875, 5.473583698272705, -26.6315860748291, 5.9947509765625, 61.916587829589844, -55.223876953125], "tau_ext": [15.51750659942627, -36.33036422729492, -36.62080383300781, 19.75554847717285, -2.4895269870758057, -6.404442310333252, 0.13408911228179932], "tcp_pose": [0.6503560543060303, -0.1378479301929474, -0.32445377111434937, -0.030429363250732422, -0.04990680143237114, 0.997779369354248, 0.031932491809129715], "tcp_vel": [-0.008286282420158386, 0.03643454611301422, 0.01132199913263321, -0.009926141239702702, -0.020655116066336632, 0.04489849880337715], "flange_pose": [0.6624991297721863, -0.14937824010849, -0.1351931244134903, -0.030429363250732422, -0.04990680143237114, 0.997779369354248, 0.031932491809129715], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.577713966369629, -50.39676284790039, -11.83692455291748, -3.490882635116577, 13.13298511505127, -0.23238448798656464], "ext_wrench_in_world": [-5.820919530529169, -51.93682135659452, 9.092493183848738, 2.199462988054473, 13.381127208369563, 0.9073915098697499]}
+{"timestamp_ns": 1789729893488899010, "elapsed_ms": 12866, "source_timestamp_ns": 1789729893481765120, "q": [0.1264611780643463, -1.7792248725891113, -0.19159793853759766, 0.592911422252655, 1.8124661445617676, -0.11454037576913834, -0.8889145851135254], "theta": [0.12400791049003601, -1.7782424688339233, -0.19279234111309052, 0.5771607756614685, 1.8119112253189087, -0.11443984508514404, -0.8887205123901367], "dq": [-0.00956031121313572, 0.15267646312713623, 0.051066815853118896, 0.2119608372449875, -0.07429308444261551, -0.0012689398135989904, -0.11068445444107056], "dtheta": [-0.009134183637797832, 0.14726625382900238, 0.050636500120162964, 0.20841863751411438, -0.07114522159099579, 0.00113412004429847, -0.10942523926496506], "tau": [-63.44999694824219, -3.2699999809265137, -21.284000396728516, 7.116000175476074, -4.044000148773193, 3.2200002670288086, -0.2680000066757202], "tau_des": [-2.2293293476104736, 0.07912836968898773, -0.7380626797676086, -0.7493227124214172, 0.07231997698545456, -0.41347888112068176, -0.2168387621641159], "tau_dot": [-77.91893768310547, 31.218385696411133, -48.50135803222656, -9.887321472167969, -24.66555404663086, -9.437721252441406, 78.42371368408203], "tau_ext": [15.816315650939941, -36.30680465698242, -36.47084426879883, 19.838830947875977, -2.4540963172912598, -6.486671447753906, 0.16228438913822174], "tcp_pose": [0.6501180529594421, -0.1367446482181549, -0.32416656613349915, -0.03018876537680626, -0.05061408132314682, 0.9977551698684692, 0.031803302466869354], "tcp_vel": [-0.0056944843381643295, 0.0364871546626091, 0.009637151844799519, -0.010028757154941559, -0.014827334322035313, 0.04549907147884369], "flange_pose": [0.662175714969635, -0.14822213351726532, -0.13489723205566406, -0.03018876537680626, -0.05061408132314682, 0.9977551698684692, 0.031803302466869354], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.660608291625977, -50.8149528503418, -11.705327987670898, -3.672208070755005, 13.126004219055176, -0.23104237020015717], "ext_wrench_in_world": [-5.8019918347294865, -52.3590221566741, 8.945032798083576, 2.3608281530504596, 13.396190641526196, 0.8938938292943418]}
+{"timestamp_ns": 1789729893522257743, "elapsed_ms": 12900, "source_timestamp_ns": 1789729893521779855, "q": [0.12599679827690125, -1.773678183555603, -0.18954192101955414, 0.6007513999938965, 1.8097666501998901, -0.11457772552967072, -0.8931909203529358], "theta": [0.12358099967241287, -1.7727221250534058, -0.1908382624387741, 0.5849818587303162, 1.809227466583252, -0.11446547508239746, -0.8929439783096313], "dq": [-0.01274249330163002, 0.1326209306716919, 0.0434998981654644, 0.17907707393169403, -0.06661136448383331, -0.0003232642775401473, -0.09830035269260406], "dtheta": [-0.011374074034392834, 0.13246913254261017, 0.04757346212863922, 0.18103644251823425, -0.06536049395799637, -0.0023994012735784054, -0.10647943615913391], "tau": [-63.19999694824219, -2.93999981880188, -21.30000114440918, 6.78000020980835, -4.076000213623047, 3.064000129699707, -0.3440000116825104], "tau_des": [-1.945984125137329, 0.31876540184020996, -0.6151382923126221, -0.5257456302642822, -0.09711481630802155, -0.6834587454795837, -0.18458054959774017], "tau_dot": [61.86260986328125, -35.162776947021484, -4.8044328689575195, -10.653635025024414, -11.959980010986328, -38.88607406616211, 52.9958610534668], "tau_ext": [15.679866790771484, -36.288604736328125, -36.520912170410156, 19.99664878845215, -2.4137816429138184, -6.452500820159912, 0.21965141594409943], "tcp_pose": [0.6499149203300476, -0.1353052854537964, -0.32379063963890076, -0.029907939955592155, -0.05154750868678093, 0.997719943523407, 0.031674157828092575], "tcp_vel": [-0.0035604885779321194, 0.03608338534832001, 0.008820961229503155, -0.0036550024524331093, -0.012100044637918472, 0.054772213101387024], "flange_pose": [0.6618744730949402, -0.14672818779945374, -0.1345117688179016, -0.029907939955592155, -0.05154750868678093, 0.997719943523407, 0.031674157828092575], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.343208312988281, -50.39319610595703, -11.630172729492188, -3.5905373096466064, 12.929611206054688, -0.20327970385551453], "ext_wrench_in_world": [-6.435504480859366, -52.01649737933601, 8.941935216241433, 2.2723856174705444, 13.198860090323903, 0.8570196446212627]}
+{"timestamp_ns": 1789729893555587448, "elapsed_ms": 12933, "source_timestamp_ns": 1789729893551745288, "q": [0.12559330463409424, -1.7698506116867065, -0.18814268708229065, 0.6058206558227539, 1.807821273803711, -0.11476895958185196, -0.8960922360420227], "theta": [0.1232123076915741, -1.7689305543899536, -0.18949683010578156, 0.5900571942329407, 1.8072850704193115, -0.11465609073638916, -0.8958317041397095], "dq": [-0.014032194390892982, 0.12117207795381546, 0.042444489896297455, 0.15922294557094574, -0.05942196398973465, -0.009314998053014278, -0.08823461830615997], "dtheta": [-0.013245035894215107, 0.123177669942379, 0.043112993240356445, 0.15773312747478485, -0.06433645635843277, -0.009380138479173183, -0.08429665118455887], "tau": [-62.98999786376953, -3.93999981880188, -21.440000534057617, 7.760000228881836, -4.25600004196167, 2.9760000705718994, -0.41200003027915955], "tau_des": [-1.7153693437576294, -0.7965425848960876, -0.64515221118927, 0.35047587752342224, -0.2591402232646942, -0.576751172542572, -0.32754844427108765], "tau_dot": [-71.7202377319336, 34.13408660888672, -12.400260925292969, -20.649999618530273, -7.445197105407715, -28.391103744506836, -42.35685348510742], "tau_ext": [15.575997352600098, -35.50984191894531, -36.584251403808594, 19.380352020263672, -2.3325390815734863, -6.312788486480713, 0.2645491063594818], "tcp_pose": [0.6498464941978455, -0.13418948650360107, -0.32352137565612793, -0.029805246740579605, -0.052328940480947495, 0.997683584690094, 0.03163612633943558], "tcp_vel": [-0.00158778578042984, 0.03739020973443985, 0.008736105635762215, -0.0008951317286118865, -0.0028813553508371115, 0.04652128741145134], "flange_pose": [0.6617753505706787, -0.14559069275856018, -0.13423927128314972, -0.029805246740579605, -0.052328940480947495, 0.997683584690094, 0.03163612633943558], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.259647369384766, -50.067081451416016, -11.622797012329102, -3.47691011428833, 12.898669242858887, -0.16893333196640015], "ext_wrench_in_world": [-6.307647698265426, -51.69332129172206, 8.95070519118783, 2.139801711829051, 13.161671766536191, 0.8274996037347488]}
+{"timestamp_ns": 1789729893588923483, "elapsed_ms": 12966, "source_timestamp_ns": 1789729893581724709, "q": [0.1251780092716217, -1.766295313835144, -0.1868472546339035, 0.6103377938270569, 1.8058750629425049, -0.11503337323665619, -0.8985415101051331], "theta": [0.12283098697662354, -1.7653971910476685, -0.1882442682981491, 0.5945693254470825, 1.805330753326416, -0.11492288112640381, -0.8982800841331482], "dq": [-0.012456588447093964, 0.10617164522409439, 0.03999166935682297, 0.1504640430212021, -0.06358654052019119, -0.00702199200168252, -0.08556406944990158], "dtheta": [-0.01203435380011797, 0.11217831820249557, 0.03924648091197014, 0.1465529054403305, -0.061857886612415314, -0.008938702754676342, -0.08491311967372894], "tau": [-63.44999694824219, -4.059999942779541, -21.580001831054688, 7.452000141143799, -4.264000415802002, 3.0280001163482666, -0.4480000138282776], "tau_des": [-2.0927627086639404, 0.3600004017353058, -0.36882099509239197, -0.09316699951887131, 0.05779094249010086, -0.5997002720832825, -0.5573071241378784], "tau_dot": [-9.259208679199219, 4.600367546081543, -15.736245155334473, -14.805412292480469, -38.130409240722656, -3.225062131881714, -21.717172622680664], "tau_ext": [15.67552661895752, -35.511775970458984, -36.5922966003418, 19.27700424194336, -2.2679038047790527, -6.277527332305908, 0.3050912022590637], "tcp_pose": [0.6498014330863953, -0.13310202956199646, -0.32326260209083557, -0.029800092801451683, -0.05301987752318382, 0.9976484775543213, 0.03159747272729874], "tcp_vel": [-0.003486962988972664, 0.032667700201272964, 0.008434615097939968, -0.002572320168837905, -0.0006601221393793821, 0.047529373317956924], "flange_pose": [0.6617354154586792, -0.14448042213916779, -0.1339794546365738, -0.029800092801451683, -0.05301987752318382, 0.9976484775543213, 0.03159747272729874], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.337862968444824, -50.34749984741211, -11.642988204956055, -3.532573699951172, 13.076029777526855, -0.1341962069272995], "ext_wrench_in_world": [-5.291211902554321, -51.88194613673967, 8.90189831349764, 2.156174194348955, 13.348731756500866, 0.8011951366042858]}
+{"timestamp_ns": 1789729893622260408, "elapsed_ms": 13000, "source_timestamp_ns": 1789729893621722096, "q": [0.12463250756263733, -1.762039303779602, -0.18527349829673767, 0.6160688400268555, 1.8037831783294678, -0.11544620990753174, -0.9021543860435486], "theta": [0.12233087420463562, -1.7611268758773804, -0.18670280277729034, 0.6002610325813293, 1.803222417831421, -0.11533677577972412, -0.9019225835800171], "dq": [-0.013295848853886127, 0.09927580505609512, 0.03632958605885506, 0.14231231808662415, -0.05093647539615631, -0.011320589110255241, -0.0913950577378273], "dtheta": [-0.013529940508306026, 0.10272890329360962, 0.03652569651603699, 0.1390073448419571, -0.04898211732506752, -0.012860733084380627, -0.09362978488206863], "tau": [-63.53999710083008, -2.609999895095825, -21.536001205444336, 6.492000102996826, -4.236000061035156, 3.008000135421753, -0.4960000216960907], "tau_des": [-2.089643955230713, 2.000375509262085, -0.21846438944339752, -0.9180837273597717, -0.038159482181072235, -0.6668913960456848, -0.5012394785881042], "tau_dot": [-26.92019271850586, -73.70115661621094, -66.45374298095703, -69.58501434326172, 49.52946472167969, 38.88326644897461, 5.8757219314575195], "tau_ext": [15.800423622131348, -36.340965270996094, -36.674991607666016, 19.89809226989746, -2.256028175354004, -6.276651859283447, 0.36291182041168213], "tcp_pose": [0.6496745347976685, -0.1318192481994629, -0.32293272018432617, -0.02967325784265995, -0.05403589457273483, 0.997595489025116, 0.03166840970516205], "tcp_vel": [-0.0036339100915938616, 0.031299129128456116, 0.008317109197378159, 0.007400772999972105, -0.006853302475064993, 0.05468330532312393], "flange_pose": [0.6615735292434692, -0.14321500062942505, -0.13364839553833008, -0.02967325784265995, -0.05403589457273483, 0.997595489025116, 0.03166840970516205], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.531805038452148, -50.770198822021484, -11.45899772644043, -3.5973117351531982, 12.989174842834473, -0.08126876503229141], "ext_wrench_in_world": [-5.348305268397175, -52.324102824587314, 8.688391055027239, 2.1990830122916614, 13.276987475118801, 0.7426687824013056]}
+{"timestamp_ns": 1789729893655594343, "elapsed_ms": 13033, "source_timestamp_ns": 1789729893651746643, "q": [0.12417076528072357, -1.7590491771697998, -0.18417690694332123, 0.6201528310775757, 1.8024005889892578, -0.11589597165584564, -0.9048869013786316], "theta": [0.12190191447734833, -1.7581144571304321, -0.18561232089996338, 0.6043140888214111, 1.8018285036087036, -0.11578643321990967, -0.9046986103057861], "dq": [-0.017401760444045067, 0.10270895808935165, 0.031229116022586823, 0.1257244199514389, -0.044031430035829544, -0.016457753255963326, -0.08091111481189728], "dtheta": [-0.015040195547044277, 0.09710511565208435, 0.03543863072991371, 0.12672705948352814, -0.04605104774236679, -0.014093808829784393, -0.09029580652713776], "tau": [-63.34000015258789, -1.6799999475479126, -21.452001571655273, 6.256000518798828, -4.264000415802002, 2.9880001544952393, -0.5240000486373901], "tau_des": [-1.8671283721923828, 2.3812146186828613, -0.3008028268814087, -1.0297783613204956, -0.1967962235212326, -0.6110759973526001, -0.5389444828033447], "tau_dot": [8.872332572937012, 84.6678695678711, 0.04203479737043381, -52.8239631652832, 15.293911933898926, 29.769695281982422, 31.48848533630371], "tau_ext": [15.767024040222168, -36.69312286376953, -36.78671646118164, 20.24323844909668, -2.2553367614746094, -6.264608860015869, 0.39629337191581726], "tcp_pose": [0.6495687365531921, -0.13088373839855194, -0.32266712188720703, -0.0295617263764143, -0.054821982979774475, 0.9975516200065613, 0.03180254250764847], "tcp_vel": [-0.0017235398991033435, 0.03183756023645401, 0.008176103234291077, 0.010440971702337265, -0.006752890069037676, 0.05785495787858963], "flange_pose": [0.6614372134208679, -0.14232328534126282, -0.13338354229927063, -0.0295617263764143, -0.054821982979774475, 0.9975516200065613, 0.03180254250764847], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.464325904846191, -50.5435791015625, -11.511906623840332, -3.499565839767456, 12.730335235595703, -0.04509155824780464], "ext_wrench_in_world": [-6.2153260207964625, -52.21736539419835, 8.789384308251119, 2.1067799999176535, 13.01469560018206, 0.6997185096099084]}
+{"timestamp_ns": 1789729893688904971, "elapsed_ms": 13066, "source_timestamp_ns": 1789729893681721125, "q": [0.12369687110185623, -1.756130576133728, -0.18316803872585297, 0.6238314509391785, 1.8009601831436157, -0.11635211110115051, -0.9074773192405701], "theta": [0.1214589774608612, -1.755201816558838, -0.18459126353263855, 0.6079866886138916, 1.800376057624817, -0.11623680591583252, -0.9073553085327148], "dq": [-0.013616309501230717, 0.10470669716596603, 0.032898128032684326, 0.11190266907215118, -0.046436578035354614, -0.012683994136750698, -0.06979747116565704], "dtheta": [-0.013591800816357136, 0.09752101451158524, 0.03160221502184868, 0.11543989181518555, -0.04931768774986267, -0.014839003793895245, -0.07496979832649231], "tau": [-63.28999710083008, -2.619999885559082, -21.516000747680664, 6.700000286102295, -4.324000358581543, 3.008000135421753, -0.5160000324249268], "tau_des": [-1.6609344482421875, 1.0316009521484375, -0.276079922914505, -0.08021145313978195, -0.26426348090171814, -0.5261430144309998, -0.532318651676178], "tau_dot": [91.3179931640625, -14.854042053222656, -19.43439483642578, -0.330779105424881, 9.26111888885498, -5.752889156341553, 45.57978820800781], "tau_ext": [15.773818016052246, -36.410606384277344, -36.824337005615234, 19.96458625793457, -2.1980056762695312, -6.272060871124268, 0.4196586310863495], "tcp_pose": [0.6495446562767029, -0.12990739941596985, -0.32239922881126404, -0.029523849487304688, -0.055699098855257034, 0.997501015663147, 0.03190191462635994], "tcp_vel": [0.00065651471959427, 0.03398697078227997, 0.007563184481114149, 0.005930181592702866, 0.0014092630008235574, 0.054313402622938156], "flange_pose": [0.661410927772522, -0.14137493073940277, -0.1331171989440918, -0.029523849487304688, -0.055699098855257034, 0.997501015663147, 0.03190191462635994], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.690451622009277, -50.65152359008789, -11.612306594848633, -3.53070068359375, 12.667280197143555, -0.016992056742310524], "ext_wrench_in_world": [-6.331378668106496, -52.36907503729984, 8.880523223282433, 2.119975598324659, 12.96085485448874, 0.669379222452138]}
+{"timestamp_ns": 1789729893722246825, "elapsed_ms": 13100, "source_timestamp_ns": 1789729893721723471, "q": [0.12317885458469391, -1.7522720098495483, -0.18198923766613007, 0.6281939744949341, 1.798991322517395, -0.11686699837446213, -0.9102747440338135], "theta": [0.12097299098968506, -1.7513761520385742, -0.18339259922504425, 0.6123674511909485, 1.7983818054199219, -0.1167442798614502, -0.910264790058136], "dq": [-0.009260996244847775, 0.09819135069847107, 0.029128937050700188, 0.10921795666217804, -0.046386584639549255, -0.011689484119415283, -0.06663630157709122], "dtheta": [-0.011234157718718052, 0.09284429252147675, 0.028424078598618507, 0.1061171218752861, -0.048960451036691666, -0.011180996894836426, -0.07127218693494797], "tau": [-63.23999786376953, -3.93999981880188, -21.648000717163086, 7.62000036239624, -4.452000141143799, 3.01200008392334, -0.5440000295639038], "tau_des": [-1.514312505722046, 0.4087105393409729, -0.02765832282602787, 0.6802123188972473, -0.22094233334064484, -0.6141967177391052, -0.5970157384872437], "tau_dot": [0.008889514021575451, -58.08518600463867, -18.948820114135742, -15.179929733276367, -21.31618309020996, 29.233417510986328, 1.6951541900634766], "tau_ext": [15.802197456359863, -35.43681335449219, -36.78154754638672, 19.273645401000977, -2.105546712875366, -6.294870853424072, 0.42890068888664246], "tcp_pose": [0.6496378183364868, -0.12853866815567017, -0.32210275530815125, -0.029606182128190994, -0.0567903071641922, 0.997435986995697, 0.03193485364317894], "tcp_vel": [0.0012581058545038104, 0.03205965459346771, 0.006660582032054663, 0.0012512257089838386, 0.00363732548430562, 0.05540477856993675], "flange_pose": [0.6615484952926636, -0.14000388979911804, -0.13282336294651031, -0.029606182128190994, -0.0567903071641922, 0.997435986995697, 0.03193485364317894], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.930855751037598, -50.504329681396484, -11.538040161132812, -3.512242078781128, 12.868227005004883, 0.0012638475745916367], "ext_wrench_in_world": [-5.48358559956014, -52.14599330324038, 8.768390825566133, 2.0498502467478144, 13.163593883720184, 0.6670999175542638]}
+{"timestamp_ns": 1789729893755580200, "elapsed_ms": 13133, "source_timestamp_ns": 1789729893751735960, "q": [0.12287086248397827, -1.7494556903839111, -0.18113654851913452, 0.6314300894737244, 1.7976136207580566, -0.11721578240394592, -0.9124075770378113], "theta": [0.12067902088165283, -1.7485686540603638, -0.18252846598625183, 0.6156027317047119, 1.796974778175354, -0.11708569526672363, -0.9124988913536072], "dq": [-0.007084731012582779, 0.07931265980005264, 0.028106721118092537, 0.11023959517478943, -0.04418334737420082, -0.009946114383637905, -0.06685283780097961], "dtheta": [-0.009161864407360554, 0.09050202369689941, 0.0294065922498703, 0.11056065559387207, -0.04358328878879547, -0.009956283494830132, -0.08123749494552612], "tau": [-63.3599967956543, -3.7699999809265137, -21.73200035095215, 7.584000587463379, -4.444000244140625, 3.000000238418579, -0.5360000133514404], "tau_des": [-1.8184796571731567, 1.2141276597976685, 0.017478786408901215, 0.4321392774581909, -0.18353548645973206, -0.5823938846588135, -0.5406162738800049], "tau_dot": [-78.18418884277344, 12.4717378616333, 24.329975128173828, 1.6536426544189453, 34.89984130859375, -61.09314727783203, -27.105113983154297], "tau_ext": [15.834020614624023, -35.34724426269531, -36.76325225830078, 19.226852416992188, -2.0848610401153564, -6.305260181427002, 0.431043803691864], "tcp_pose": [0.6496779918670654, -0.12754938006401062, -0.32192960381507874, -0.0296670850366354, -0.05760756507515907, 0.9973862767219543, 0.03196658566594124], "tcp_vel": [-0.0007926574326120317, 0.030294125899672508, 0.005056031048297882, 0.004871890414506197, -0.000391236855648458, 0.05866481363773346], "flange_pose": [0.6616218090057373, -0.13901549577713013, -0.13265235722064972, -0.0296670850366354, -0.05760756507515907, 0.9973862767219543, 0.03196658566594124], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.39766788482666, -50.351829528808594, -11.497514724731445, -3.494206190109253, 13.006654739379883, 0.007970456033945084], "ext_wrench_in_world": [-4.888570744429354, -51.939947112530795, 8.703458219618227, 1.9943857286423974, 13.302385790877684, 0.671986437841849]}
+{"timestamp_ns": 1789729893788893057, "elapsed_ms": 13166, "source_timestamp_ns": 1789729893781722241, "q": [0.1225963681936264, -1.7467409372329712, -0.18022599816322327, 0.6348492503166199, 1.7964292764663696, -0.11751478165388107, -0.9147378206253052], "theta": [0.12041294574737549, -1.7458200454711914, -0.18159767985343933, 0.6190081238746643, 1.7957566976547241, -0.11737942695617676, -0.9149477481842041], "dq": [-0.010832680389285088, 0.08446542918682098, 0.027707194909453392, 0.12078490108251572, -0.03802616521716118, -0.01043759286403656, -0.08251434564590454], "dtheta": [-0.009108457714319229, 0.09049250185489655, 0.032781701534986496, 0.11542119085788727, -0.03836197033524513, -0.009136220440268517, -0.08717719465494156], "tau": [-63.37999725341797, -2.359999895095825, -21.70800018310547, 6.688000202178955, -4.360000133514404, 2.992000102996826, -0.5080000162124634], "tau_des": [-1.7650760412216187, 2.5943193435668945, 0.02081478200852871, -0.10391537845134735, -0.29700785875320435, -0.6396228075027466, -0.5719833970069885], "tau_dot": [-75.70894622802734, 117.9140396118164, 6.4118123054504395, -25.61663246154785, -2.1961097717285156, -6.549707889556885, 56.527427673339844], "tau_ext": [15.81312370300293, -35.98799514770508, -36.78960418701172, 19.61663246154785, -2.1014761924743652, -6.299020767211914, 0.4251458942890167], "tcp_pose": [0.6496437788009644, -0.126637265086174, -0.32179155945777893, -0.029628543183207512, -0.05838720127940178, 0.9973390698432922, 0.032059695571660995], "tcp_vel": [-0.0012951401295140386, 0.03077908232808113, 0.003745216643437743, 0.010980682447552681, -0.006272968836128712, 0.059534475207328796], "flange_pose": [0.6615839600563049, -0.13813015818595886, -0.13251571357250214, -0.029628543183207512, -0.05838720127940178, 0.9973390698432922, 0.032059695571660995], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [11.462440490722656, -50.4745979309082, -11.502488136291504, -3.5485353469848633, 12.982983589172363, 0.008936041966080666], "ext_wrench_in_world": [-4.858743210444932, -52.07920451622684, 8.690735468744922, 2.03016781069392, 13.28833285369583, 0.6698316715236882]}
+{"timestamp_ns": 1789729893822254150, "elapsed_ms": 13200, "source_timestamp_ns": 1789729893821753684, "q": [0.1222405955195427, -1.743064284324646, -0.17889267206192017, 0.6398319602012634, 1.7949286699295044, -0.11794435232877731, -0.9182561635971069], "theta": [0.12006504088640213, -1.742059350013733, -0.18022291362285614, 0.6239510774612427, 1.794207215309143, -0.11780142784118652, -0.9186336398124695], "dq": [-0.005940325558185577, 0.09832316637039185, 0.036914534866809845, 0.12470727413892746, -0.03614748641848564, -0.007439148146659136, -0.09450004249811172], "dtheta": [-0.00863767322152853, 0.09853001683950424, 0.03544841334223747, 0.1259767711162567, -0.03914069011807442, -0.009460669942200184, -0.09526705741882324], "tau": [-63.30999755859375, -0.5, -21.780000686645508, 5.584000110626221, -4.312000274658203, 2.9640002250671387, -0.5080000162124634], "tau_des": [-1.6088943481445312, 3.8728015422821045, 0.05099698156118393, -0.7196334004402161, -0.3134814202785492, -0.5707137584686279, -0.3360496461391449], "tau_dot": [-11.570838928222656, -48.20338439941406, -23.776451110839844, 42.79956817626953, -24.52240562438965, -79.5655746459961, -20.429458618164062], "tau_ext": [15.719705581665039, -37.026344299316406, -36.87245559692383, 20.311403274536133, -2.158229112625122, -6.287805080413818, 0.402922660112381], "tcp_pose": [0.6494840383529663, -0.12544961273670197, -0.32163140177726746, -0.029505189508199692, -0.05945120379328728, 0.997273325920105, 0.032263148576021194], "tcp_vel": [-0.0015306567074730992, 0.03387661650776863, 0.003007366321980953, 0.013347095809876919, -0.007533366326242685, 0.06491845101118088], "flange_pose": [0.6613942980766296, -0.1370096057653427, -0.13235774636268616, -0.029505189508199692, -0.05945120379328728, 0.997273325920105, 0.032263148576021194], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.65389347076416, -50.74205017089844, -11.668383598327637, -3.639993906021118, 12.660177230834961, -0.0031642604153603315], "ext_wrench_in_world": [-5.890677333250538, -52.51222055808058, 8.876624579657031, 2.1310060906781154, 12.982689029796232, 0.6620058622612245]}
+{"timestamp_ns": 1789729893855591745, "elapsed_ms": 13233, "source_timestamp_ns": 1789729893851757924, "q": [0.12199846655130386, -1.74006986618042, -0.17780420184135437, 0.6436854004859924, 1.7936489582061768, -0.1181705892086029, -0.9207947850227356], "theta": [0.11982657760381699, -1.7390186786651611, -0.17910516262054443, 0.627789318561554, 1.7928919792175293, -0.11802268028259277, -0.9212938547134399], "dq": [-0.0073862080462276936, 0.10986869037151337, 0.034874651581048965, 0.12556295096874237, -0.04214925691485405, -0.006171761080622673, -0.08291424065828323], "dtheta": [-0.007903959602117538, 0.10599604994058609, 0.03745428845286369, 0.12730218470096588, -0.04911714047193527, -0.004515914712101221, -0.08515870571136475], "tau": [-63.31999969482422, -1.0299999713897705, -21.940000534057617, 5.892000198364258, -4.36400032043457, 3.052000045776367, -0.47200003266334534], "tau_des": [-1.3604036569595337, 3.054457902908325, -0.11379442363977432, -0.2820518910884857, -0.36812692880630493, -0.5632729530334473, -0.30210065841674805], "tau_dot": [-54.947303771972656, -60.605770111083984, 25.286823272705078, -31.4537353515625, -33.80891799926758, 57.304439544677734, -35.07761001586914], "tau_ext": [15.675287246704102, -36.93497848510742, -36.87348556518555, 20.233047485351562, -2.156456708908081, -6.290193557739258, 0.37230461835861206], "tcp_pose": [0.6494127511978149, -0.12445446103811264, -0.32154175639152527, -0.029438769444823265, -0.06025082245469093, 0.9972236156463623, 0.032377228140830994], "tcp_vel": [8.322863868670538e-05, 0.036181218922138214, 0.0028164596296846867, 0.005035289563238621, -0.0027818360831588507, 0.060472480952739716], "flange_pose": [0.6613097190856934, -0.13604964315891266, -0.13226944208145142, -0.029438769444823265, -0.06025082245469093, 0.9972236156463623, 0.032377228140830994], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.37295913696289, -50.90974807739258, -11.789365768432617, -3.7068030834198, 12.46900463104248, -0.025239869952201843], "ext_wrench_in_world": [-6.493862956520584, -52.785345855539205, 9.009141880189635, 2.2004516144662194, 12.80329513189897, 0.6713785051144558]}
+{"timestamp_ns": 1789729893888895933, "elapsed_ms": 13266, "source_timestamp_ns": 1789729893881752444, "q": [0.12182625383138657, -1.7367873191833496, -0.17671063542366028, 0.6474840641021729, 1.79206383228302, -0.11826872080564499, -0.9229340553283691], "theta": [0.11965835094451904, -1.7357374429702759, -0.17798860371112823, 0.6315799355506897, 1.791266918182373, -0.11811327934265137, -0.9235407114028931], "dq": [-0.004894736688584089, 0.11989826709032059, 0.04017412289977074, 0.12557578086853027, -0.054306745529174805, -0.002342728665098548, -0.07550216466188431], "dtheta": [-0.003875600639730692, 0.11102055758237839, 0.03778427094221115, 0.12622128427028656, -0.05574962869286537, -0.001963295042514801, -0.07693297415971756], "tau": [-63.47999954223633, -2.7200000286102295, -22.148000717163086, 6.940000534057617, -4.420000076293945, 3.0920002460479736, -0.4240000247955322], "tau_des": [-1.9421911239624023, 1.3535988330841064, -0.47731924057006836, 0.7485281825065613, -0.3809559643268585, -0.36597537994384766, -0.3640962243080139], "tau_dot": [-107.1617202758789, -53.12105941772461, 77.3644027709961, 72.30194854736328, -42.93228530883789, 28.337100982666016, -23.04525375366211], "tau_ext": [15.818107604980469, -36.1230583190918, -36.70940017700195, 19.712282180786133, -2.0920801162719727, -6.326701641082764, 0.33402180671691895], "tcp_pose": [0.6494309306144714, -0.12333124876022339, -0.32148340344429016, -0.029499860480427742, -0.06100885942578316, 0.9971762299537659, 0.03236149251461029], "tcp_vel": [0.0004450234700925648, 0.03822672739624977, 0.00046130968257784843, -0.0006801276467740536, 0.005150984972715378, 0.058092281222343445], "flange_pose": [0.6613594889640808, -0.134909987449646, -0.13221204280853271, -0.029499860480427742, -0.06100885942578316, 0.9971762299537659, 0.03236149251461029], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.262462615966797, -50.704593658447266, -11.756966590881348, -3.6812057495117188, 12.489635467529297, -0.06003506854176521], "ext_wrench_in_world": [-6.329950950222045, -52.576424094189605, 8.984784168969776, 2.155357497000332, 12.82177463091801, 0.7088042505025417]}
+{"timestamp_ns": 1789729893922256886, "elapsed_ms": 13300, "source_timestamp_ns": 1789729893921787747, "q": [0.12169020622968674, -1.7320914268493652, -0.17522963881492615, 0.6527506709098816, 1.7897720336914062, -0.11825831979513168, -0.925743579864502], "theta": [0.11952793598175049, -1.7311055660247803, -0.17649395763874054, 0.6368327736854553, 1.7889137268066406, -0.11809122562408447, -0.9264801740646362], "dq": [-0.00481781642884016, 0.11525994539260864, 0.03952478617429733, 0.13966555893421173, -0.054814185947179794, -0.00013222094275988638, -0.07344178110361099], "dtheta": [-0.0030992364045232534, 0.117037832736969, 0.03771886229515076, 0.13634692132472992, -0.05859771743416786, 0.00227061053737998, -0.07508010417222977], "tau": [-63.459999084472656, -4.409999847412109, -22.472000122070312, 7.648000240325928, -4.484000205993652, 3.2240002155303955, -0.3680000305175781], "tau_des": [-1.817771315574646, -0.21806174516677856, -0.4387078285217285, 1.6110806465148926, -0.3817542493343353, -0.30690300464630127, -0.35467544198036194], "tau_dot": [-55.48286819458008, 73.2280502319336, -3.444286823272705, -58.87548065185547, 47.001129150390625, 99.35108184814453, -26.62227439880371], "tau_ext": [15.73614501953125, -34.97492599487305, -36.60396957397461, 19.07634735107422, -2.042745351791382, -6.373952388763428, 0.29104459285736084], "tcp_pose": [0.6494907140731812, -0.12173202633857727, -0.3214474320411682, -0.02963872067630291, -0.06204977631568909, 0.9971115589141846, 0.032248079776763916], "tcp_vel": [-0.00039478091639466584, 0.037889763712882996, 0.0011892208131030202, -0.006426698993891478, 0.0038161217235028744, 0.05226382985711098], "flange_pose": [0.6614812612533569, -0.13325205445289612, -0.13217641413211823, -0.02963872067630291, -0.06204977631568909, 0.9971115589141846, 0.032248079776763916], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.745269775390625, -49.87495803833008, -11.58713436126709, -3.506157398223877, 12.613478660583496, -0.10879954695701599], "ext_wrench_in_world": [-5.817249617305272, -51.69119473692551, 8.854096071194062, 1.9431709691776868, 12.92407734778745, 0.7727433315698174]}
+{"timestamp_ns": 1789729893955583632, "elapsed_ms": 13333, "source_timestamp_ns": 1789729893951758210, "q": [0.12162220478057861, -1.7284977436065674, -0.1740964949131012, 0.6571506857872009, 1.7881433963775635, -0.11821598559617996, -0.9280734062194824], "theta": [0.1194629892706871, -1.727555274963379, -0.17534931004047394, 0.6412156224250793, 1.787229061126709, -0.11803591251373291, -0.9288935661315918], "dq": [-0.001955644227564335, 0.11588084697723389, 0.030853886157274246, 0.15384866297245026, -0.05226660147309303, -0.0009421848808415234, -0.08935902267694473], "dtheta": [-0.00243562925606966, 0.11833969503641129, 0.03833291307091713, 0.1535271853208542, -0.054873064160346985, 0.001694791135378182, -0.08853218704462051], "tau": [-63.52000045776367, -3.2799999713897705, -22.584001541137695, 6.848000526428223, -4.420000076293945, 3.324000120162964, -0.36400002241134644], "tau_des": [-2.0205862522125244, 1.5335426330566406, -0.19083043932914734, 0.3933619260787964, -0.10772412270307541, -0.27318134903907776, -0.43193063139915466], "tau_dot": [35.59938430786133, 173.44642639160156, 8.985416412353516, -31.17414665222168, -3.7458879947662354, -41.9107551574707, -48.64793014526367], "tau_ext": [15.772693634033203, -35.42964172363281, -36.55213165283203, 19.4079532623291, -2.0737648010253906, -6.490621566772461, 0.25718817114830017], "tcp_pose": [0.6494245529174805, -0.12059872597455978, -0.321418821811676, -0.029670901596546173, -0.06275961548089981, 0.9970686435699463, 0.03217204287648201], "tcp_vel": [-0.005373566411435604, 0.03474986553192139, 0.0016730991192162037, -0.004154385533183813, -0.0013146005803719163, 0.05018754303455353], "flange_pose": [0.661433756351471, -0.13208064436912537, -0.1321466565132141, -0.029670901596546173, -0.06275961548089981, 0.9970686435699463, 0.03217204287648201], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [12.771286964416504, -49.353851318359375, -11.607328414916992, -3.4420886039733887, 12.617267608642578, -0.14398455619812012], "ext_wrench_in_world": [-5.832066417559078, -51.187067994163684, 8.916813056018494, 1.8630345356968159, 12.920407937761073, 0.8101286680335613]}
+{"timestamp_ns": 1789729893988913557, "elapsed_ms": 13366, "source_timestamp_ns": 1789729893981728872, "q": [0.12153709679841995, -1.724974513053894, -0.17291639745235443, 0.6619390249252319, 1.7867485284805298, -0.11819159239530563, -0.9308916926383972], "theta": [0.11937863379716873, -1.7240445613861084, -0.17413756251335144, 0.645986795425415, 1.785776138305664, -0.11799585819244385, -0.9317752718925476], "dq": [-0.0031921477057039738, 0.11522294580936432, 0.04093091934919357, 0.1630617380142212, -0.045130860060453415, -0.0007167923613451421, -0.10059942305088043], "dtheta": [-0.003395635634660721, 0.11668475717306137, 0.04169785976409912, 0.1617128700017929, -0.0476212240755558, 0.0010447860695421696, -0.10282937437295914], "tau": [-63.6099967956543, -1.0399999618530273, -22.59200096130371, 5.772000312805176, -4.264000415802002, 3.3360002040863037, -0.35200002789497375], "tau_des": [-2.1638245582580566, 4.072934627532959, -0.14004138112068176, -0.9343076944351196, -0.09157563000917435, -0.28486907482147217, -0.25581201910972595], "tau_dot": [-67.68047332763672, 95.78964233398438, -24.256702423095703, 33.279327392578125, -3.8160362243652344, 9.851126670837402, -79.20201110839844], "tau_ext": [15.765209197998047, -36.7334098815918, -36.57302474975586, 20.095510482788086, -2.1519901752471924, -6.565339088439941, 0.22192047536373138], "tcp_pose": [0.6492367386817932, -0.11956228315830231, -0.32138216495513916, -0.029565144330263138, -0.06349489092826843, 0.9970248341560364, 0.032182853668928146], "tcp_vel": [-0.007504679262638092, 0.03388530761003494, 0.0010174316121265292, 0.0043306127190589905, -0.009460929781198502, 0.05452890694141388], "flange_pose": [0.6612145304679871, -0.13104203343391418, -0.1321078985929489, -0.029565144330263138, -0.06349489092826843, 0.9970248341560364, 0.032182853668928146], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [13.594682693481445, -49.623191833496094, -11.772059440612793, -3.6103272438049316, 12.442541122436523, -0.17832759022712708], "ext_wrench_in_world": [-6.530716202107579, -51.57866170031944, 9.102161932488864, 2.0344501403970154, 12.769646543548687, 0.8247623290341984]}
+{"timestamp_ns": 1789729894022248924, "elapsed_ms": 13400, "source_timestamp_ns": 1789729894021736409, "q": [0.1213701069355011, -1.7201178073883057, -0.17118671536445618, 0.6683654189109802, 1.7847607135772705, -0.11814454942941666, -0.9345896244049072], "theta": [0.119209885597229, -1.7191895246505737, -0.17236530780792236, 0.6523926258087158, 1.783703088760376, -0.1179271936416626, -0.9355258941650391], "dq": [-0.003111922647804022, 0.13095256686210632, 0.04082594811916351, 0.16091249883174896, -0.053422000259160995, 0.001611719955690205, -0.09538732469081879], "dtheta": [-0.0040373969823122025, 0.12383659929037094, 0.04431527480483055, 0.15919896960258484, -0.05501615256071091, 0.002309369156137109, -0.08926786482334137], "tau": [-63.71999740600586, -1.350000023841858, -22.816001892089844, 6.0320000648498535, -4.340000152587891, 3.4080002307891846, -0.2600000202655792], "tau_des": [-2.180352210998535, 3.14892840385437, -0.5772167444229126, -0.46095922589302063, -0.2788069248199463, -0.10713595896959305, -0.2323591411113739], "tau_dot": [9.388790130615234, -73.56568145751953, -2.9526734352111816, 8.605798721313477, -33.91704177856445, 42.88593673706055, 64.2256851196289], "tau_ext": [15.83088207244873, -36.60960388183594, -36.51852035522461, 19.925874710083008, -2.1713292598724365, -6.630852222442627, 0.18093599379062653], "tcp_pose": [0.6490260362625122, -0.1180611401796341, -0.321355402469635, -0.02943192794919014, -0.0644926205277443, 0.9969631433486938, 0.03223321586847305], "tcp_vel": [-0.004795556887984276, 0.03869489207863808, 0.00042462319834157825, 0.0014860429801046848, -0.004259193781763315, 0.05001705884933472], "flange_pose": [0.660966157913208, -0.12955127656459808, -0.1320793777704239, -0.02943192794919014, -0.0644926205277443, 0.9969631433486938, 0.03223321586847305], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.259917259216309, -50.18760681152344, -11.940179824829102, -3.8572311401367188, 12.325927734375, -0.22616082429885864], "ext_wrench_in_world": [-7.007659730159518, -52.24869281645338, 9.25612316443651, 2.2710267149522636, 12.687437159205844, 0.853962113385961]}
+{"timestamp_ns": 1789729894055584133, "elapsed_ms": 13433, "source_timestamp_ns": 1789729894051748911, "q": [0.12124994397163391, -1.716240644454956, -0.16990706324577332, 0.6731693744659424, 1.7830277681350708, -0.11804890632629395, -0.9371117353439331], "theta": [0.11908700317144394, -1.7153475284576416, -0.17103993892669678, 0.6571857929229736, 1.7818999290466309, -0.11781191825866699, -0.9380665421485901], "dq": [-0.0041294340044260025, 0.13763505220413208, 0.04206429421901703, 0.15055489540100098, -0.04949590563774109, 0.005459773354232311, -0.0867123231291771], "dtheta": [-0.004497762303799391, 0.12963640689849854, 0.043518200516700745, 0.16274994611740112, -0.06252960115671158, 0.006809694692492485, -0.08301499485969543], "tau": [-63.56999969482422, -2.2200000286102295, -22.86400032043457, 6.148000240325928, -4.264000415802002, 3.4640002250671387, -0.25600001215934753], "tau_des": [-1.7480639219284058, 2.4610095024108887, -0.2526976466178894, -0.10959726572036743, -0.06348348408937454, -0.2130986899137497, -0.18276426196098328], "tau_dot": [119.00118255615234, -242.5157928466797, -0.9820525646209717, 1.2199918031692505, -45.288360595703125, 4.763164043426514, 20.736665725708008], "tau_ext": [15.802044868469238, -36.370765686035156, -36.538570404052734, 19.873058319091797, -2.199843406677246, -6.6812920570373535, 0.1588779240846634], "tcp_pose": [0.6489323377609253, -0.11683374643325806, -0.32132261991500854, -0.0294246356934309, -0.06523136794567108, 0.996917188167572, 0.0321735255420208], "tcp_vel": [-0.004131009802222252, 0.03897987678647041, 0.0020521762780845165, -0.007742599584162235, -0.002088230336084962, 0.045966435223817825], "flange_pose": [0.6608767509460449, -0.12829262018203735, -0.1320449709892273, -0.0294246356934309, -0.06523136794567108, 0.996917188167572, 0.0321735255420208], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.447237014770508, -50.054298400878906, -11.971317291259766, -3.872328996658325, 12.31505012512207, -0.259319007396698], "ext_wrench_in_world": [-7.131372366853905, -52.153055514125874, 9.309683784048529, 2.270586218054812, 12.680079876545511, 0.8846752743421347]}
+{"timestamp_ns": 1789729894088981016, "elapsed_ms": 13466, "source_timestamp_ns": 1789729894081724406, "q": [0.12112044543027878, -1.7122124433517456, -0.16861948370933533, 0.6780621409416199, 1.7812222242355347, -0.1179167851805687, -0.9394438862800598], "theta": [0.11895687133073807, -1.7113536596298218, -0.16971853375434875, 0.6620972752571106, 1.7800133228302002, -0.11765635013580322, -0.9403921961784363], "dq": [-0.005392061080783606, 0.12602068483829498, 0.04339098557829857, 0.15477049350738525, -0.06270767003297806, 0.004922325722873211, -0.07840289175510406], "dtheta": [-0.004373758099973202, 0.13653229176998138, 0.045368801802396774, 0.16840393841266632, -0.06613308936357498, 0.005002043675631285, -0.076190285384655], "tau": [-63.38999938964844, -2.8999998569488525, -22.928001403808594, 6.51200008392334, -4.244000434875488, 3.51200008392334, -0.25200000405311584], "tau_des": [-1.7411617040634155, 1.1923391819000244, -0.41151681542396545, 0.3701510429382324, -0.09037427604198456, -0.059753961861133575, -0.29464757442474365], "tau_dot": [-72.37421417236328, 37.115562438964844, -39.99885940551758, -5.475590229034424, 6.6766767501831055, 68.4100112915039, 3.4626567363739014], "tau_ext": [15.662138938903809, -35.80656051635742, -36.57694625854492, 19.72181510925293, -2.220733404159546, -6.724479675292969, 0.1504068225622177], "tcp_pose": [0.6488645076751709, -0.11554650962352753, -0.3212806284427643, -0.0294305682182312, -0.06590396165847778, 0.9968757629394531, 0.03208208084106445], "tcp_vel": [-0.004332992248237133, 0.04232671484351158, 0.0014905743300914764, -0.007302549667656422, 0.0015531443059444427, 0.040132272988557816], "flange_pose": [0.6608166694641113, -0.1269625723361969, -0.1320008933544159, -0.0294305682182312, -0.06590396165847778, 0.9968757629394531, 0.03208208084106445], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.730104446411133, -49.39970397949219, -12.109842300415039, -3.7376911640167236, 12.273359298706055, -0.2834661304950714], "ext_wrench_in_world": [-7.4172075161904125, -51.559803771924635, 9.514550880990322, 2.12708500568874, 12.62262419710222, 0.9115396410165449]}
+{"timestamp_ns": 1789729894122254920, "elapsed_ms": 13500, "source_timestamp_ns": 1789729894121744605, "q": [0.12098681181669235, -1.7068716287612915, -0.16691914200782776, 0.684651792049408, 1.7788732051849365, -0.11769265681505203, -0.9425839781761169], "theta": [0.11882159113883972, -1.705971598625183, -0.16796748340129852, 0.6687589883804321, 1.7775534391403198, -0.11739850044250488, -0.9434992074966431], "dq": [-0.0029080284293740988, 0.12718366086483002, 0.04516321420669556, 0.16588455438613892, -0.05637585371732712, 0.006993335671722889, -0.08277701586484909], "dtheta": [-0.0028055247385054827, 0.1342936009168625, 0.04323123022913933, 0.16463075578212738, -0.05600862205028534, 0.008564556017518044, -0.07874955981969833], "tau": [-63.63999938964844, -2.879999876022339, -22.93600082397461, 6.616000175476074, -4.200000286102295, 3.448000192642212, -0.2600000202655792], "tau_des": [-2.0281307697296143, 0.8205065131187439, -0.34196737408638, 0.5256294012069702, -0.1396622657775879, -0.18453924357891083, -0.24035927653312683], "tau_dot": [-23.25857162475586, -11.028630256652832, 13.085817337036133, -74.8832778930664, -7.35999059677124, 21.660478591918945, 28.506855010986328], "tau_ext": [15.816439628601074, -35.59465408325195, -36.572818756103516, 19.348995208740234, -2.229121208190918, -6.732544422149658, 0.15280738472938538], "tcp_pose": [0.6487298011779785, -0.11386898905038834, -0.3212442398071289, -0.029424231499433517, -0.06676976382732391, 0.9968224167823792, 0.0319540910422802], "tcp_vel": [-0.0021973554976284504, 0.0427088625729084, 9.606486855773255e-05, -0.004301160108298063, -0.005330782849341631, 0.04459350183606148], "flange_pose": [0.6606862545013428, -0.12522639334201813, -0.13196122646331787, -0.029424231499433517, -0.06676976382732391, 0.9968224167823792, 0.0319540910422802], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.575035095214844, -49.02926254272461, -12.227042198181152, -3.6703357696533203, 12.349872589111328, -0.29719579219818115], "ext_wrench_in_world": [-7.216066911582888, -51.190421514231055, 9.657635215163944, 2.029223829604621, 12.692250359897267, 0.9317051138813963]}
+{"timestamp_ns": 1789729894155583569, "elapsed_ms": 13533, "source_timestamp_ns": 1789729894151741148, "q": [0.12088892608880997, -1.7029356956481934, -0.1656198501586914, 0.6896505951881409, 1.777240514755249, -0.11751945316791534, -0.9450240135192871], "theta": [0.11872121691703796, -1.7019675970077515, -0.1666407287120819, 0.6737979054450989, 1.7758363485336304, -0.11720073223114014, -0.9459056854248047], "dq": [-0.0034831103403121233, 0.13322366774082184, 0.04346521943807602, 0.17272010445594788, -0.06040818244218826, 0.00692042475566268, -0.0861210897564888], "dtheta": [-0.0036640004254877567, 0.13167233765125275, 0.04396558552980423, 0.17118330299854279, -0.05920838564634323, 0.00581479724496603, -0.08134304732084274], "tau": [-63.75, -2.2899999618530273, -23.060001373291016, 6.02400016784668, -4.12000036239624, 3.500000238418579, -0.2720000147819519], "tau_des": [-2.140836715698242, 2.8712098598480225, -0.14107181131839752, -0.7269241809844971, 0.19381092488765717, -0.15674833953380585, -0.38640207052230835], "tau_dot": [-32.130496978759766, 26.08693504333496, -23.275270462036133, 6.473041534423828, -11.864404678344727, 31.778865814208984, 13.952564239501953], "tau_ext": [15.770819664001465, -36.12492370605469, -36.7002067565918, 19.665136337280273, -2.315197706222534, -6.718942165374756, 0.16449108719825745], "tcp_pose": [0.6485914587974548, -0.11263936012983322, -0.3212362229824066, -0.02936672791838646, -0.06740167737007141, 0.9967830777168274, 0.03190762922167778], "tcp_vel": [-0.0070345960557460785, 0.03923233970999718, 0.0011205235496163368, -0.0046755000948905945, -0.002873303834348917, 0.03794999048113823], "flange_pose": [0.6605321168899536, -0.12397309392690659, -0.13195082545280457, -0.02936672791838646, -0.06740167737007141, 0.9967830777168274, 0.03190762922167778], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.388426780700684, -49.44503402709961, -12.258672714233398, -3.7764766216278076, 12.432639122009277, -0.29763269424438477], "ext_wrench_in_world": [-6.911218554963736, -51.58667635425838, 9.652106126946467, 2.10708420465658, 12.791128422575452, 0.9317222033253019]}
+{"timestamp_ns": 1789729894188903209, "elapsed_ms": 13566, "source_timestamp_ns": 1789729894181725892, "q": [0.12076536566019058, -1.6990000009536743, -0.16432158648967743, 0.6947263479232788, 1.7756541967391968, -0.11736848205327988, -0.9475364089012146], "theta": [0.1185947135090828, -1.697987675666809, -0.1653144657611847, 0.6788898706436157, 1.7741767168045044, -0.11702871322631836, -0.9483731985092163], "dq": [-0.004699230194091797, 0.146422877907753, 0.044956475496292114, 0.17035900056362152, -0.056069135665893555, 0.006531112361699343, -0.08329257369041443], "dtheta": [-0.004962298087775707, 0.132123664021492, 0.0446302704513073, 0.16939805448055267, -0.056986283510923386, 0.005802587140351534, -0.08026549965143204], "tau": [-63.66999816894531, -1.5799999237060547, -23.036001205444336, 5.588000297546387, -4.076000213623047, 3.4640002250671387, -0.31200000643730164], "tau_des": [-2.0227866172790527, 3.0139760971069336, -0.1866186112165451, -0.7974106073379517, 0.09158852696418762, -0.1411716341972351, -0.3658249080181122], "tau_dot": [-0.056407179683446884, -243.46310424804688, -25.4528865814209, -31.829978942871094, -30.45597267150879, 9.651532173156738, 16.144325256347656], "tau_ext": [15.77782154083252, -36.60607147216797, -36.76958465576172, 20.07697868347168, -2.38613224029541, -6.716681003570557, 0.18596650660037994], "tcp_pose": [0.6484292149543762, -0.11141582578420639, -0.3212149441242218, -0.02928372286260128, -0.06803316622972488, 0.9967434406280518, 0.03188270330429077], "tcp_vel": [-0.005696252919733524, 0.040833473205566406, 0.0011104457080364227, -0.0020534826908260584, -0.005066226236522198, 0.03899317607283592], "flange_pose": [0.6603450775146484, -0.12273474037647247, -0.13192707300186157, -0.02928372286260128, -0.06803316622972488, 0.9967434406280518, 0.03188270330429077], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.91049861907959, -49.577056884765625, -12.345565795898438, -3.7885565757751465, 12.32188892364502, -0.2889572083950043], "ext_wrench_in_world": [-7.3414231884770045, -51.802847222581654, 9.756488018097192, 2.1169843693172723, 12.686450801972583, 0.9153944898096765]}
+{"timestamp_ns": 1789729894222249396, "elapsed_ms": 13600, "source_timestamp_ns": 1789729894221732382, "q": [0.12055888026952744, -1.6936124563217163, -0.16259145736694336, 0.7014327049255371, 1.7734185457229614, -0.11715757101774216, -0.9508134722709656], "theta": [0.11838319152593613, -1.692612886428833, -0.16356131434440613, 0.6856261491775513, 1.7718597650527954, -0.11679399013519287, -0.9515684247016907], "dq": [-0.004633083939552307, 0.1382066011428833, 0.0439017079770565, 0.1574849635362625, -0.06131463497877121, 0.00624499935656786, -0.07701262831687927], "dtheta": [-0.005344314035028219, 0.13607075810432434, 0.04459274187684059, 0.1620255559682846, -0.06134682148694992, 0.005923231597989798, -0.07028458267450333], "tau": [-63.38999938964844, -2.3299999237060547, -23.136001586914062, 6.320000171661377, -4.0960001945495605, 3.4840002059936523, -0.3240000009536743], "tau_des": [-1.780422568321228, 0.8456327319145203, -0.38874295353889465, 0.4498712122440338, -0.11454806476831436, -0.03908856213092804, -0.20525453984737396], "tau_dot": [5.686149597167969, -22.507905960083008, 14.710807800292969, 83.82490539550781, -13.20751953125, 7.485823154449463, 56.230812072753906], "tau_ext": [15.641088485717773, -36.19742202758789, -36.862789154052734, 19.88393211364746, -2.429471015930176, -6.704549789428711, 0.21932700276374817], "tcp_pose": [0.6482717394828796, -0.10969233512878418, -0.3211672306060791, -0.02921384759247303, -0.06893354654312134, 0.9966856241226196, 0.03181970492005348], "tcp_vel": [-0.0026058212388306856, 0.04493794962763786, 0.0006820584530942142, -0.004049479495733976, 1.1004030056938063e-05, 0.040011584758758545], "flange_pose": [0.6601697206497192, -0.12097850441932678, -0.13187627494335175, -0.02921384759247303, -0.06893354654312134, 0.9966856241226196, 0.03181970492005348], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.610617637634277, -49.401771545410156, -12.565532684326172, -3.721632480621338, 12.163165092468262, -0.266164630651474], "ext_wrench_in_world": [-7.9522890461573414, -51.75271877010192, 10.02677542000875, 2.0478492066146643, 12.525438905696598, 0.8852518538211239]}
+{"timestamp_ns": 1789729894255589004, "elapsed_ms": 13633, "source_timestamp_ns": 1789729894251741044, "q": [0.12042951583862305, -1.68947434425354, -0.1612948328256607, 0.7061898112297058, 1.7715142965316772, -0.11691883206367493, -0.9527660012245178], "theta": [0.11825110763311386, -1.6885017156600952, -0.16227714717388153, 0.6904178261756897, 1.7699077129364014, -0.11653828620910645, -0.953449010848999], "dq": [-0.005293292924761772, 0.13024398684501648, 0.0447591170668602, 0.16118767857551575, -0.06866278499364853, 0.011164861731231213, -0.061873890459537506], "dtheta": [-0.00327562028542161, 0.13538257777690887, 0.04227425158023834, 0.1597057282924652, -0.06539081037044525, 0.008548557758331299, -0.06266705691814423], "tau": [-63.529998779296875, -4.019999980926514, -23.38800048828125, 7.188000202178955, -4.12000036239624, 3.51200008392334, -0.3680000305175781], "tau_des": [-2.0521137714385986, -0.08489950746297836, -0.3612523078918457, 0.9069743752479553, 0.06383302062749863, -0.03212779760360718, -0.43687349557876587], "tau_dot": [60.19317626953125, -81.50287628173828, 3.068281650543213, 61.95896911621094, 25.284034729003906, 37.333274841308594, 22.70246696472168], "tau_ext": [15.722683906555176, -35.155338287353516, -36.74198913574219, 19.13592529296875, -2.3785626888275146, -6.729130744934082, 0.24325361847877502], "tcp_pose": [0.6482389569282532, -0.10831230133771896, -0.32115429639816284, -0.029277527704834938, -0.06952940672636032, 0.9966465830802917, 0.03168690949678421], "tcp_vel": [-0.0034891432151198387, 0.04316849261522293, 0.0005720508634112775, -0.011072053574025631, 0.004732584580779076, 0.03416302427649498], "flange_pose": [0.6601642966270447, -0.11953940242528915, -0.13186156749725342, -0.029277527704834938, -0.06952940672636032, 0.9966465830802917, 0.03168690949678421], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.806595802307129, -49.076480865478516, -12.596009254455566, -3.644049644470215, 12.378562927246094, -0.24755728244781494], "ext_wrench_in_world": [-7.13688898517903, -51.327278577915166, 10.04843231201908, 1.9254989215713592, 12.731191995911887, 0.8822736704132672]}
+{"timestamp_ns": 1789729894288896275, "elapsed_ms": 13666, "source_timestamp_ns": 1789729894281726108, "q": [0.12033453583717346, -1.6854445934295654, -0.16000977158546448, 0.7109887599945068, 1.7696921825408936, -0.11661511659622192, -0.9548458456993103], "theta": [0.11815311759710312, -1.6844836473464966, -0.16101476550102234, 0.6952256560325623, 1.7680538892745972, -0.11621952056884766, -0.9554630517959595], "dq": [-0.0011295538861304522, 0.12490054219961166, 0.045164767652750015, 0.172443225979805, -0.060392480343580246, 0.008775890804827213, -0.07900213450193405], "dtheta": [-0.00388602027669549, 0.12948554754257202, 0.042545564472675323, 0.16705502569675446, -0.05482963100075722, 0.010317649692296982, -0.07576063275337219], "tau": [-63.68000030517578, -3.169999837875366, -23.440000534057617, 6.404000282287598, -4.019999980926514, 3.4560000896453857, -0.40400001406669617], "tau_des": [-2.21806263923645, 1.5193411111831665, -0.1177561804652214, -0.1258651167154312, 0.1804690659046173, -0.18793804943561554, -0.4712257385253906], "tau_dot": [-5.602738857269287, -79.78795623779297, -1.2728193998336792, -32.1879997253418, 21.481210708618164, 11.505488395690918, 8.09244441986084], "tau_ext": [15.741242408752441, -35.67173767089844, -36.731040954589844, 19.447284698486328, -2.4403281211853027, -6.726285457611084, 0.27436572313308716], "tcp_pose": [0.6481497883796692, -0.10701669007539749, -0.3211559057235718, -0.0293060764670372, -0.07011676579713821, 0.9966090321540833, 0.03154819458723068], "tcp_vel": [-0.006316657643765211, 0.0388946495950222, 0.0008187346393242478, -0.00555377546697855, -0.006328136660158634, 0.03436105325818062], "flange_pose": [0.6600888967514038, -0.11818350851535797, -0.13186047971248627, -0.0293060764670372, -0.07011676579713821, 0.9966090321540833, 0.03154819458723068], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.29751205444336, -49.0022087097168, -12.521801948547363, -3.63183856010437, 12.51533031463623, -0.22269652783870697], "ext_wrench_in_world": [-6.58769086235004, -51.1834107814772, 9.964518216798819, 1.8779077264538586, 12.86856348801396, 0.8642188846026879]}
+{"timestamp_ns": 1789729894322259241, "elapsed_ms": 13700, "source_timestamp_ns": 1789729894321763185, "q": [0.12010934948921204, -1.680302381515503, -0.15818379819393158, 0.7177616953849792, 1.7675881385803223, -0.11630091816186905, -0.9582191705703735], "theta": [0.11792194843292236, -1.679349660873413, -0.15924303233623505, 0.7019748091697693, 1.7659263610839844, -0.11588823795318604, -0.9587541818618774], "dq": [-0.0063829184509813786, 0.13077189028263092, 0.047744523733854294, 0.16510537266731262, -0.057221919298172, 0.005352319683879614, -0.09168389439582825], "dtheta": [-0.007599812000989914, 0.12625785171985626, 0.04730532690882683, 0.1685013324022293, -0.05165037140250206, 0.006300907116383314, -0.0913362130522728], "tau": [-63.599998474121094, -0.9799999594688416, -23.50400161743164, 5.188000202178955, -3.884000301361084, 3.4600002765655518, -0.47200003266334534], "tau_des": [-2.1961560249328613, 3.1393625736236572, -0.3209878206253052, -1.202313780784607, 0.12157360464334488, -0.03072246164083481, -0.3310013711452484], "tau_dot": [83.93020629882812, 86.07746887207031, -0.42380744218826294, -23.481040954589844, 25.619844436645508, -8.780704498291016, -43.55949783325195], "tau_ext": [15.564460754394531, -37.032745361328125, -36.834320068359375, 20.443323135375977, -2.5719516277313232, -6.697237014770508, 0.32881712913513184], "tcp_pose": [0.6478585600852966, -0.10543345659971237, -0.32113802433013916, -0.029151825234293938, -0.07090836018323898, 0.9965579509735107, 0.031533755362033844], "tcp_vel": [-0.00781471561640501, 0.039350416511297226, 0.000784034316893667, 0.004869108088314533, -0.01067317370325327, 0.04468947649002075], "flange_pose": [0.659747838973999, -0.11658953130245209, -0.1318388134241104, -0.029151825234293938, -0.07090836018323898, 0.9965579509735107, 0.031533755362033844], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.331558227539062, -49.16730880737305, -12.700090408325195, -3.6740994453430176, 12.237767219543457, -0.17784781754016876], "ext_wrench_in_world": [-7.498267301578366, -51.51577729546154, 10.182038427649339, 1.9349900348570896, 12.605934094149829, 0.799888916763319]}
+{"timestamp_ns": 1789729894355588390, "elapsed_ms": 13733, "source_timestamp_ns": 1789729894351755378, "q": [0.1198667585849762, -1.6764769554138184, -0.1567065268754959, 0.7225984334945679, 1.765893816947937, -0.11601512879133224, -0.9606410264968872], "theta": [0.11767084151506424, -1.6755616664886475, -0.15782305598258972, 0.7068102359771729, 1.7642271518707275, -0.11558961868286133, -0.9611210823059082], "dq": [-0.00761439697816968, 0.12796151638031006, 0.05414197966456413, 0.1464487463235855, -0.06042927876114845, 0.01156626082956791, -0.07633096724748611], "dtheta": [-0.009018268436193466, 0.1261938065290451, 0.04720110073685646, 0.15179137885570526, -0.06101381778717041, 0.013311411254107952, -0.0757472813129425], "tau": [-63.599998474121094, -1.3299999237060547, -23.768001556396484, 5.624000072479248, -3.9640002250671387, 3.444000244140625, -0.492000013589859], "tau_des": [-1.7403074502944946, 1.7512761354446411, -0.4043540358543396, -0.15568269789218903, -0.0005449858726933599, -0.17107634246349335, -0.3253941833972931], "tau_dot": [-30.260587692260742, -40.13258743286133, -35.41793441772461, -12.551992416381836, 9.938733100891113, 2.223250389099121, 8.187171936035156], "tau_ext": [15.656753540039062, -36.58477783203125, -36.71799087524414, 20.029651641845703, -2.5468802452087402, -6.704591751098633, 0.3633142113685608], "tcp_pose": [0.6477038264274597, -0.10419361293315887, -0.32113000750541687, -0.02904948778450489, -0.07154292613267899, 0.996515691280365, 0.03153187409043312], "tcp_vel": [-0.002564906608313322, 0.040900763124227524, 0.0015866740141063929, -0.005314626265317202, -0.006081811152398586, 0.04524629935622215], "flange_pose": [0.6595614552497864, -0.11534422636032104, -0.13182848691940308, -0.02904948778450489, -0.07154292613267899, 0.996515691280365, 0.03153187409043312], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.823683738708496, -49.38812255859375, -12.79634952545166, -3.7510786056518555, 12.098735809326172, -0.14109614491462708], "ext_wrench_in_world": [-7.884754311990164, -51.82056774188255, 10.285017571758708, 2.0121929009138233, 12.484272581434196, 0.7509493016992607]}
+{"timestamp_ns": 1789729894388894981, "elapsed_ms": 13766, "source_timestamp_ns": 1789729894381733783, "q": [0.11962354928255081, -1.6725894212722778, -0.15519572794437408, 0.7270417809486389, 1.7638834714889526, -0.11562096327543259, -0.9626705050468445], "theta": [0.11741682887077332, -1.671717643737793, -0.156401127576828, 0.711275041103363, 1.762222170829773, -0.11518645286560059, -0.9631008505821228], "dq": [-0.00734337605535984, 0.11930663883686066, 0.04805693402886391, 0.14837969839572906, -0.07264189422130585, 0.016301419585943222, -0.06363047659397125], "dtheta": [-0.007884110324084759, 0.12943203747272491, 0.046556297689676285, 0.1452852189540863, -0.06865262985229492, 0.01592535711824894, -0.057398516684770584], "tau": [-63.65999984741211, -3.419999837875366, -24.052001953125, 6.680000305175781, -4.080000400543213, 3.4800002574920654, -0.5160000324249268], "tau_des": [-1.9786360263824463, -0.34497854113578796, -0.6200697422027588, 1.0561772584915161, 0.015621969476342201, -0.11982335895299911, -0.4190613627433777], "tau_dot": [-94.45435333251953, -137.79078674316406, -7.6921234130859375, -15.860517501831055, -36.996849060058594, -26.428049087524414, -57.736995697021484], "tau_ext": [15.707132339477539, -35.395286560058594, -36.53709030151367, 19.247032165527344, -2.4812417030334473, -6.724095821380615, 0.38605204224586487], "tcp_pose": [0.6476567387580872, -0.10286953300237656, -0.32113775610923767, -0.0290804672986269, -0.07219228893518448, 0.9964712262153625, 0.031428076326847076], "tcp_vel": [-0.0006356355734169483, 0.04281383380293846, 0.0011970831546932459, -0.012806740589439869, 0.00143856939394027, 0.03644474968314171], "flange_pose": [0.659530520439148, -0.11397229135036469, -0.1318344622850418, -0.0290804672986269, -0.07219228893518448, 0.9964712262153625, 0.031428076326847076], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.213614463806152, -49.32415771484375, -12.710681915283203, -3.7716317176818848, 12.24183177947998, -0.11147522181272507], "ext_wrench_in_world": [-7.22861266063968, -51.67201703332961, 10.18026761894564, 1.9939878546739291, 12.633070306567793, 0.7277533378254971]}
+{"timestamp_ns": 1789729894422259147, "elapsed_ms": 13800, "source_timestamp_ns": 1789729894421741953, "q": [0.11928153783082962, -1.6675364971160889, -0.15316681563854218, 0.7329227328300476, 1.7611750364303589, -0.1150219589471817, -0.9651203155517578], "theta": [0.11705901473760605, -1.666645884513855, -0.15448987483978271, 0.7171676754951477, 1.7595534324645996, -0.11457812786102295, -0.9654917120933533], "dq": [-0.009885112755000591, 0.11783306300640106, 0.05558515340089798, 0.15510860085487366, -0.06644845008850098, 0.016717903316020966, -0.06742619723081589], "dtheta": [-0.010206448845565319, 0.12451095879077911, 0.04814153537154198, 0.15059517323970795, -0.06082024425268173, 0.013632193207740784, -0.07074721902608871], "tau": [-63.66999816894531, -2.7300000190734863, -24.196001052856445, 6.064000129699707, -4.0, 3.432000160217285, -0.5560000538825989], "tau_des": [-2.070390224456787, 1.3193044662475586, -0.32071787118911743, 0.10654564201831818, 0.22967974841594696, -0.20664438605308533, -0.608414351940155], "tau_dot": [-8.653361320495605, -6.439198970794678, -44.20342254638672, -43.80476379394531, 10.13102912902832, -31.904693603515625, -0.7756878733634949], "tau_ext": [15.62392807006836, -35.679046630859375, -36.48187255859375, 19.476097106933594, -2.5080175399780273, -6.715107440948486, 0.4237512946128845], "tcp_pose": [0.6475462913513184, -0.101193368434906, -0.32113638520240784, -0.029116176068782806, -0.07288534939289093, 0.9964250922203064, 0.031256239861249924], "tcp_vel": [-0.003271333407610655, 0.040554530918598175, 0.001644396805204451, -0.0044657220132648945, -0.006184300407767296, 0.039616908878088], "flange_pose": [0.6594365239143372, -0.1122218668460846, -0.13182976841926575, -0.029116176068782806, -0.07288534939289093, 0.9964250922203064, 0.031256239861249924], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.511387825012207, -48.95097351074219, -12.596364974975586, -3.721482038497925, 12.380036354064941, -0.07406635582447052], "ext_wrench_in_world": [-6.52330891871058, -51.200584100980535, 10.06942020722037, 1.904606287549736, 12.767332776021242, 0.6985006740562636]}
+{"timestamp_ns": 1789729894455604575, "elapsed_ms": 13833, "source_timestamp_ns": 1789729894451746475, "q": [0.11894238740205765, -1.6639221906661987, -0.15155592560768127, 0.7375675439834595, 1.7593847513198853, -0.11466003209352493, -0.9674438834190369], "theta": [0.11670820415019989, -1.6629656553268433, -0.15294483304023743, 0.7217956781387329, 1.7578139305114746, -0.11421096324920654, -0.967776358127594], "dq": [-0.011089913547039032, 0.11583336442708969, 0.047834474593400955, 0.15596848726272583, -0.06224612146615982, 0.013226499781012535, -0.08098806440830231], "dtheta": [-0.013035574927926064, 0.1235729232430458, 0.051444508135318756, 0.15440256893634796, -0.056644000113010406, 0.012612087652087212, -0.08082492649555206], "tau": [-63.56999969482422, -0.8199999928474426, -24.192001342773438, 5.13200044631958, -3.9720001220703125, 3.4600002765655518, -0.5720000267028809], "tau_des": [-1.6186728477478027, 3.0582287311553955, -0.15598143637180328, -0.7390626668930054, 0.18547630310058594, -0.21700339019298553, -0.5090886354446411], "tau_dot": [-85.10250091552734, 137.72813415527344, -46.587154388427734, 40.792633056640625, 18.110504150390625, 15.528233528137207, 35.27119827270508], "tau_ext": [15.632274627685547, -36.67291259765625, -36.47653579711914, 20.195655822753906, -2.5663108825683594, -6.714974880218506, 0.4518739879131317], "tcp_pose": [0.6473479866981506, -0.10002700239419937, -0.3211239278316498, -0.029006121680140495, -0.07345076650381088, 0.9963864684104919, 0.03126678243279457], "tcp_vel": [-0.0038396886084228754, 0.04095575585961342, 0.0018726499984040856, 0.002563703339546919, -0.012361923232674599, 0.04467293992638588], "flange_pose": [0.6592031717300415, -0.11105585098266602, -0.1318151205778122, -0.029006121680140495, -0.07345076650381088, 0.9963864684104919, 0.03126678243279457], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.190202713012695, -49.0656623840332, -12.625957489013672, -3.769683837890625, 12.170607566833496, -0.042933184653520584], "ext_wrench_in_world": [-7.120155669850808, -51.42415489856222, 10.122053268309744, 1.9659997424981195, 12.571606898683255, 0.6523749223720461]}
+{"timestamp_ns": 1789729894488896147, "elapsed_ms": 13866, "source_timestamp_ns": 1789729894481733459, "q": [0.11855258792638779, -1.6602753400802612, -0.14987638592720032, 0.7421708703041077, 1.757560133934021, -0.11428580433130264, -0.9697663187980652], "theta": [0.11630880832672119, -1.6592543125152588, -0.1512998342514038, 0.7263835072517395, 1.7560467720031738, -0.11383390426635742, -0.9700624942779541], "dq": [-0.015276297926902771, 0.13227325677871704, 0.06098274886608124, 0.15314990282058716, -0.060618024319410324, 0.013408643193542957, -0.07223731279373169], "dtheta": [-0.013690977357327938, 0.1270638108253479, 0.05736870318651199, 0.1477223038673401, -0.06401610374450684, 0.014248006977140903, -0.06782390922307968], "tau": [-63.22999954223633, -0.8399999737739563, -24.132001876831055, 5.228000164031982, -4.044000148773193, 3.444000244140625, -0.5560000538825989], "tau_des": [-1.338492751121521, 2.431485414505005, -0.45845770835876465, -0.11123434454202652, -0.009340931661427021, -0.16709189116954803, -0.44865694642066956], "tau_dot": [12.984515190124512, -86.1484146118164, -8.511343955993652, -30.33647346496582, -73.34742736816406, 60.712825775146484, 64.19200897216797], "tau_ext": [15.644909858703613, -36.560760498046875, -36.46809387207031, 19.994606018066406, -2.5411458015441895, -6.712703227996826, 0.46739789843559265], "tcp_pose": [0.6471784114837646, -0.09881208091974258, -0.3211122751235962, -0.02888583019375801, -0.07404828816652298, 0.9963446855545044, 0.031300369650125504], "tcp_vel": [-0.0014350322308018804, 0.04536428675055504, -0.00014557543909177184, 0.0028326469473540783, -0.007002435624599457, 0.04086499288678169], "flange_pose": [0.6589956879615784, -0.1098499447107315, -0.13180162012577057, -0.02888583019375801, -0.07404828816652298, 0.9963446855545044, 0.031300369650125504], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.72828483581543, -49.37794494628906, -12.665148735046387, -3.874481678009033, 12.008363723754883, -0.016334882006049156], "ext_wrench_in_world": [-7.545149948970253, -51.82470054902991, 10.160586042501405, 2.07636069209081, 12.430904159848836, 0.6115737638119472]}
+{"timestamp_ns": 1789729894522259393, "elapsed_ms": 13900, "source_timestamp_ns": 1789729894521725290, "q": [0.11804957687854767, -1.655084490776062, -0.14759404957294464, 0.7481232285499573, 1.7547366619110107, -0.11372189223766327, -0.9721763134002686], "theta": [0.11579901725053787, -1.6540541648864746, -0.14904387295246124, 0.7323005199432373, 1.7533023357391357, -0.11326634883880615, -0.9724178910255432], "dq": [-0.010349564254283905, 0.13978256285190582, 0.05430968850851059, 0.14648309350013733, -0.07455486059188843, 0.016847625374794006, -0.05054339021444321], "dtheta": [-0.011224720627069473, 0.13247449696063995, 0.05620141699910164, 0.14753155410289764, -0.07285653054714203, 0.017033938318490982, -0.04948921129107475], "tau": [-62.89999771118164, -2.7100000381469727, -24.248001098632812, 5.968000411987305, -4.084000110626221, 3.5200002193450928, -0.5920000076293945], "tau_des": [-0.9671457409858704, 1.2701258659362793, -0.2308449149131775, 0.5990964770317078, 0.15449044108390808, -0.18393918871879578, -0.6294982433319092], "tau_dot": [-63.19801330566406, -138.64764404296875, 4.3674635887146, 19.78692626953125, -55.1461181640625, 55.68977737426758, -68.99212646484375], "tau_ext": [15.3281888961792, -35.68222427368164, -36.55068588256836, 19.438743591308594, -2.472442626953125, -6.717310905456543, 0.4721328914165497], "tcp_pose": [0.6470728516578674, -0.09698904305696487, -0.3211212754249573, -0.028904324397444725, -0.07474124431610107, 0.9962943196296692, 0.031239524483680725], "tcp_vel": [-0.0015208831755444407, 0.046499013900756836, -0.0006335381185635924, -0.006642322987318039, 0.0019318140111863613, 0.028109997510910034], "flange_pose": [0.6589030623435974, -0.10799513757228851, -0.13180959224700928, -0.028904324397444725, -0.07474124431610107, 0.9962943196296692, 0.031239524483680725], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.1466646194458, -49.54254150390625, -12.907065391540527, -3.986933946609497, 12.125051498413086, 0.0015475915279239416], "ext_wrench_in_world": [-6.859652021664633, -51.92311905231884, 10.363980258672091, 2.151762096336364, 12.566976428025098, 0.594593867331187]}
+{"timestamp_ns": 1789729894555593022, "elapsed_ms": 13933, "source_timestamp_ns": 1789729894551753611, "q": [0.11776503920555115, -1.6510117053985596, -0.14591088891029358, 0.752678632736206, 1.7525849342346191, -0.11320774257183075, -0.9737374186515808], "theta": [0.1155100092291832, -1.6499954462051392, -0.14736202359199524, 0.7368267178535461, 1.7512181997299194, -0.11275136470794678, -0.9739367365837097], "dq": [-0.008218090049922466, 0.1398480236530304, 0.054603975266218185, 0.15852917730808258, -0.0749252513051033, 0.015604333020746708, -0.047343503683805466], "dtheta": [-0.008548960089683533, 0.13816340267658234, 0.055696334689855576, 0.15422944724559784, -0.06940999627113342, 0.0178641676902771, -0.04914572462439537], "tau": [-62.959999084472656, -3.069999933242798, -24.224000930786133, 6.192000389099121, -4.131999969482422, 3.440000057220459, -0.5840000510215759], "tau_des": [-0.9875420928001404, 0.6012182831764221, -0.11966308206319809, 1.1572459936141968, 0.1021503433585167, -0.19064493477344513, -0.6305540204048157], "tau_dot": [-58.74829864501953, 22.776172637939453, -64.38578033447266, 28.21314239501953, -43.78156661987305, 4.210853099822998, -21.849334716796875], "tau_ext": [15.318012237548828, -35.26011276245117, -36.56098937988281, 19.27427101135254, -2.4149482250213623, -6.736950874328613, 0.4683479070663452], "tcp_pose": [0.6470121145248413, -0.09555801749229431, -0.32117241621017456, -0.028958912938833237, -0.07518167793750763, 0.9962627291679382, 0.0311399158090353], "tcp_vel": [-0.0016088539268821478, 0.048866670578718185, -0.002323741326108575, -0.005459654610604048, 0.0011383815435692668, 0.02698405086994171], "flange_pose": [0.6588650345802307, -0.10651963204145432, -0.13185957074165344, -0.028958912938833237, -0.07518167793750763, 0.9962627291679382, 0.0311399158090353], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.708348274230957, -49.125267028808594, -12.988154411315918, -3.9073338508605957, 12.207540512084961, 0.005903113633394241], "ext_wrench_in_world": [-6.436724794673818, -51.45383449936029, 10.459015912124732, 2.049551620803449, 12.638576119477145, 0.5975532184426926]}
+{"timestamp_ns": 1789729894588899743, "elapsed_ms": 13966, "source_timestamp_ns": 1789729894581733815, "q": [0.11754249781370163, -1.6468795537948608, -0.14421264827251434, 0.7576379776000977, 1.7506262063980103, -0.1126834899187088, -0.9754771590232849], "theta": [0.11528193950653076, -1.6458609104156494, -0.1456458866596222, 0.7417568564414978, 1.7493373155593872, -0.11222779750823975, -0.9756397008895874], "dq": [-0.006285048555582762, 0.13107651472091675, 0.05295105651021004, 0.1663820445537567, -0.06427980959415436, 0.01502824854105711, -0.06468982994556427], "dtheta": [-0.006948202848434448, 0.13657790422439575, 0.05808202177286148, 0.16919420659542084, -0.057449426501989365, 0.01616162247955799, -0.06359222531318665], "tau": [-62.939998626708984, -1.409999966621399, -24.104001998901367, 5.408000469207764, -4.060000419616699, 3.380000114440918, -0.5640000104904175], "tau_des": [-1.2775672674179077, 3.0237879753112793, 0.028537586331367493, -0.2657524049282074, 0.1638953685760498, -0.1939905732870102, -0.5566054582595825], "tau_dot": [66.73997497558594, -42.61256790161133, -32.50483322143555, -73.21215057373047, -33.72227096557617, -43.54507827758789, -14.852801322937012], "tau_ext": [15.304811477661133, -36.19017791748047, -36.6665153503418, 19.893707275390625, -2.4321768283843994, -6.728315830230713, 0.46751290559768677], "tcp_pose": [0.646847128868103, -0.09416024386882782, -0.32126155495643616, -0.02893722429871559, -0.0755474716424942, 0.9962371587753296, 0.031092235818505287], "tcp_vel": [-0.006354948505759239, 0.047023430466651917, -0.0044930768199265, 0.005252571776509285, -0.00748751824721694, 0.025067463517189026], "flange_pose": [0.6586945056915283, -0.1051001027226448, -0.1319471150636673, -0.02893722429871559, -0.0755474716424942, 0.9962371587753296, 0.031092235818505287], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.938726425170898, -48.93290328979492, -13.08117961883545, -3.854046583175659, 12.113123893737793, 0.005724676884710789], "ext_wrench_in_world": [-6.649872205025034, -51.30847752600868, 10.579752615947848, 2.0016938153811967, 12.538834857154907, 0.5935660003037054]}
+{"timestamp_ns": 1789729894622260659, "elapsed_ms": 14000, "source_timestamp_ns": 1789729894621735085, "q": [0.11727939546108246, -1.6412807703018188, -0.14188572764396667, 0.7646015882492065, 1.7483112812042236, -0.11202967911958694, -0.9779684543609619], "theta": [0.11500627547502518, -1.640250563621521, -0.1432671844959259, 0.7487033009529114, 1.747130036354065, -0.1115729808807373, -0.978092610836029], "dq": [-0.006496430840343237, 0.15562750399112701, 0.05977783724665642, 0.17020657658576965, -0.057854171842336655, 0.015679119154810905, -0.05851869285106659], "dtheta": [-0.006074480712413788, 0.14273720979690552, 0.060722220689058304, 0.17692603170871735, -0.059046871960163116, 0.015973886474967003, -0.05494875833392143], "tau": [-62.87999725341797, -1.1799999475479126, -24.360000610351562, 5.148000240325928, -4.131999969482422, 3.496000051498413, -0.5320000052452087], "tau_des": [-1.1402013301849365, 3.1863479614257812, -0.22691243886947632, -0.6310775876045227, -0.017390936613082886, -0.07659221440553665, -0.5624122023582458], "tau_dot": [80.21353149414062, -75.43525695800781, 0.5730057954788208, 13.629764556884766, -37.66005325317383, 42.59983825683594, -10.955069541931152], "tau_ext": [15.205527305603027, -36.67626953125, -36.796226501464844, 19.966548919677734, -2.3993425369262695, -6.704546928405762, 0.4476996660232544], "tcp_pose": [0.6465662717819214, -0.0922446995973587, -0.3214453458786011, -0.028801284730434418, -0.07599880546331406, 0.9962045550346375, 0.03116275928914547], "tcp_vel": [-0.0076387058943510056, 0.049651969224214554, -0.005904958583414555, 0.006357185542583466, -0.005286454688757658, 0.014605947770178318], "flange_pose": [0.6583691835403442, -0.10320983082056046, -0.13212957978248596, -0.028801284730434418, -0.07599880546331406, 0.9962045550346375, 0.03116275928914547], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.336446762084961, -49.735679626464844, -13.31452465057373, -4.0674638748168945, 11.97433853149414, 0.00014752330025658011], "ext_wrench_in_world": [-6.865001699392078, -52.1827359904336, 10.768231520700192, 2.2220524706078306, 12.435966468609788, 0.5816068010326747]}
+{"timestamp_ns": 1789729894655659972, "elapsed_ms": 14033, "source_timestamp_ns": 1789729894651744427, "q": [0.11714581400156021, -1.6368731260299683, -0.14014898240566254, 0.7698289752006531, 1.746429204940796, -0.11146537959575653, -0.9795718789100647], "theta": [0.11486274749040604, -1.6358885765075684, -0.14148542284965515, 0.7539246678352356, 1.7453181743621826, -0.11100828647613525, -0.9796687960624695], "dq": [-0.002282221568748355, 0.14661242067813873, 0.05496920272707939, 0.17374654114246368, -0.06353561580181122, 0.020145930349826813, -0.0536554716527462], "dtheta": [-0.003638347378000617, 0.14928679168224335, 0.05983087420463562, 0.17485851049423218, -0.06102965399622917, 0.019692368805408478, -0.05276906490325928], "tau": [-62.87999725341797, -1.709999918937683, -24.48000144958496, 5.28000020980835, -4.131999969482422, 3.4840002059936523, -0.5200000405311584], "tau_des": [-1.192330241203308, 1.2547802925109863, -0.43309104442596436, 0.3960014283657074, -0.17477357387542725, -0.037426840513944626, -0.4720296859741211], "tau_dot": [-21.00164794921875, -83.35005187988281, -29.85106086730957, 2.8680789470672607, 59.68329620361328, 48.32040786743164, -5.403592586517334], "tau_ext": [15.185685157775879, -36.30818557739258, -36.74268341064453, 19.79199981689453, -2.346553325653076, -6.728789329528809, 0.42794352769851685], "tcp_pose": [0.6463949680328369, -0.09071162343025208, -0.3216169476509094, -0.028782445937395096, -0.07630085945129395, 0.9961824417114258, 0.03114868514239788], "tcp_vel": [-0.004862240981310606, 0.05333233252167702, -0.007315905299037695, 0.0024592410773038864, -0.002806958742439747, 0.02104003168642521], "flange_pose": [0.6581937074661255, -0.10166841000318527, -0.13230042159557343, -0.028782445937395096, -0.07630085945129395, 0.9961824417114258, 0.03114868514239788], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.173646926879883, -50.07759094238281, -13.401309967041016, -4.179676532745361, 11.98102855682373, -0.014432454481720924], "ext_wrench_in_world": [-6.616668140742713, -52.504040568847415, 10.82336413260915, 2.3251178978721416, 12.460329871352656, 0.590724768078777]}
+{"timestamp_ns": 1789729894688957514, "elapsed_ms": 14066, "source_timestamp_ns": 1789729894681744300, "q": [0.1170581504702568, -1.6323471069335938, -0.13842745125293732, 0.7751070857048035, 1.7445309162139893, -0.11082283407449722, -0.9811272621154785], "theta": [0.11476451903581619, -1.6314103603363037, -0.13972517848014832, 0.7592214941978455, 1.7434804439544678, -0.11036396026611328, -0.9811975359916687], "dq": [-0.0039026665035635233, 0.1343918740749359, 0.055397551506757736, 0.16921435296535492, -0.058125875890254974, 0.021601295098662376, -0.0495431162416935], "dtheta": [-0.0030782741960138083, 0.14961659908294678, 0.05806373432278633, 0.17883071303367615, -0.06099696457386017, 0.022433919832110405, -0.05143119767308235], "tau": [-62.69999694824219, -2.4700000286102295, -24.608001708984375, 5.508000373840332, -4.260000228881836, 3.4240002632141113, -0.4960000216960907], "tau_des": [-0.8756875991821289, 1.1823314428329468, -0.1747364103794098, 0.28925666213035583, -0.11543704569339752, -0.15941743552684784, -0.4807216227054596], "tau_dot": [72.98827362060547, -51.865787506103516, 32.784488677978516, 94.65452575683594, -3.3314318656921387, -38.961483001708984, 20.280513763427734], "tau_ext": [15.038045883178711, -35.72112274169922, -36.73598098754883, 19.65325355529785, -2.2982101440429688, -6.726927280426025, 0.4086000323295593], "tcp_pose": [0.6462424397468567, -0.08913452178239822, -0.32181113958358765, -0.028776759281754494, -0.076612189412117, 0.9961603283882141, 0.03109821118414402], "tcp_vel": [-0.0061931605450809, 0.051375772804021835, -0.006580869667232037, -0.001657893997617066, -0.003872259985655546, 0.016340317204594612], "flange_pose": [0.6580410003662109, -0.10006870329380035, -0.13249331712722778, -0.028776759281754494, -0.076612189412117, 0.9961603283882141, 0.03109821118414402], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.22896671295166, -49.627933502197266, -13.456199645996094, -4.07701301574707, 11.913145065307617, -0.03330230712890625], "ext_wrench_in_world": [-6.703190231761497, -52.07549586873677, 10.914783117295803, 2.227416136763725, 12.377935738746297, 0.6095028485955682]}
+{"timestamp_ns": 1789729894722259475, "elapsed_ms": 14100, "source_timestamp_ns": 1789729894721741661, "q": [0.11699589341878891, -1.6264280080795288, -0.13610675930976868, 0.7822166681289673, 1.742140293121338, -0.10989689826965332, -0.9832850098609924], "theta": [0.11468788981437683, -1.6254620552062988, -0.1373765766620636, 0.7663967609405518, 1.7411584854125977, -0.10943233966827393, -0.9833186864852905], "dq": [-0.0009261757368221879, 0.14700835943222046, 0.05874253436923027, 0.17760653793811798, -0.055812474340200424, 0.026465967297554016, -0.05828637257218361], "dtheta": [-0.0012819308321923018, 0.14989016950130463, 0.05911831185221672, 0.1783086210489273, -0.057323481887578964, 0.024690238758921623, -0.05564165487885475], "tau": [-63.06999969482422, -1.96999990940094, -24.968000411987305, 5.4800004959106445, -4.37600040435791, 3.4680001735687256, -0.46000000834465027], "tau_des": [-1.4919157028198242, 1.0167863368988037, -0.5657298564910889, 0.29344531893730164, -0.2535642385482788, -0.12175925821065903, -0.48780205845832825], "tau_dot": [57.37142562866211, 40.52134704589844, -14.496646881103516, -43.76337432861328, -13.130023002624512, 9.598063468933105, -8.623384475708008], "tau_ext": [15.12063980102539, -35.991600036621094, -36.64472961425781, 19.59972381591797, -2.237940788269043, -6.718586444854736, 0.37980377674102783], "tcp_pose": [0.6459648609161377, -0.08710605651140213, -0.322120726108551, -0.028723787516355515, -0.07697834819555283, 0.9961348176002502, 0.031058840453624725], "tcp_vel": [-0.005890886764973402, 0.052401766180992126, -0.008676297031342983, 0.0007767209317535162, -0.005703170318156481, 0.02126038260757923], "flange_pose": [0.6577461957931519, -0.09802258014678955, -0.13280081748962402, -0.028723787516355515, -0.07697834819555283, 0.9961348176002502, 0.031058840453624725], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.29058837890625, -49.375083923339844, -13.474580764770508, -4.032189846038818, 11.811139106750488, -0.05700867250561714], "ext_wrench_in_world": [-6.764475873977448, -51.841122786210235, 10.954687882900636, 2.1909829063373714, 12.2706763205505, 0.6284174430017544]}
+{"timestamp_ns": 1789729894755609852, "elapsed_ms": 14133, "source_timestamp_ns": 1789729894751751033, "q": [0.1169542521238327, -1.6220351457595825, -0.13433125615119934, 0.7875123023986816, 1.7403661012649536, -0.1091608852148056, -0.9850538372993469], "theta": [0.11463439464569092, -1.6210358142852783, -0.13558447360992432, 0.7717260718345642, 1.739430546760559, -0.10869228839874268, -0.9850583076477051], "dq": [-0.0007774713449180126, 0.15212944149971008, 0.05885501950979233, 0.18101543188095093, -0.0601232573390007, 0.02575441636145115, -0.05907493084669113], "dtheta": [-0.002250287216156721, 0.1474265456199646, 0.06033521518111229, 0.1777857542037964, -0.05677422508597374, 0.02481045015156269, -0.05387258902192116], "tau": [-63.28999710083008, -1.9799998998641968, -25.26000213623047, 5.28000020980835, -4.3520002365112305, 3.500000238418579, -0.4400000274181366], "tau_des": [-1.7312055826187134, 1.6262601613998413, -0.7233663201332092, -0.054279882460832596, -0.26430073380470276, -0.08333709090948105, -0.49700456857681274], "tau_dot": [83.82979583740234, -90.67305755615234, -8.361641883850098, -14.257326126098633, 16.08061408996582, 36.487213134765625, -14.65544319152832], "tau_ext": [15.21203899383545, -36.18035125732422, -36.51789474487305, 19.66586685180664, -2.197101354598999, -6.7322587966918945, 0.3533157706260681], "tcp_pose": [0.6457417011260986, -0.08559700846672058, -0.3223760724067688, -0.028674693778157234, -0.0773213729262352, 0.996110200881958, 0.03104180283844471], "tcp_vel": [-0.006875348277390003, 0.051426928490400314, -0.008698717691004276, 0.0020828540436923504, -0.006419658660888672, 0.017417343333363533], "flange_pose": [0.6575077772140503, -0.09650448709726334, -0.1330546885728836, -0.028674693778157234, -0.0773213729262352, 0.996110200881958, 0.03104180283844471], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.119330406188965, -49.78043746948242, -13.375068664550781, -4.167062759399414, 11.799100875854492, -0.0801432803273201], "ext_wrench_in_world": [-6.505789510084609, -52.213016140375096, 10.819159705883376, 2.318803937876125, 12.27999463008361, 0.6438141405353095]}
+{"timestamp_ns": 1789729894788897375, "elapsed_ms": 14166, "source_timestamp_ns": 1789729894781734997, "q": [0.11688975244760513, -1.6176294088363647, -0.13256467878818512, 0.7928547859191895, 1.7386205196380615, -0.10843075066804886, -0.9868060946464539], "theta": [0.11455752700567245, -1.6166356801986694, -0.13379724323749542, 0.7770745754241943, 1.7377301454544067, -0.1079568862915039, -0.9867830872535706], "dq": [-0.0017836252227425575, 0.1529116928577423, 0.054151907563209534, 0.179567351937294, -0.061071526259183884, 0.0289135854691267, -0.06166517361998558], "dtheta": [-0.003308017272502184, 0.14564180374145508, 0.060109950602054596, 0.1773601621389389, -0.05515173450112343, 0.025015302002429962, -0.0629744604229927], "tau": [-63.23999786376953, -1.5499999523162842, -25.356000900268555, 4.8560004234313965, -4.3560004234313965, 3.5400002002716064, -0.41200003027915955], "tau_des": [-1.4622961282730103, 1.7928580045700073, -0.6750962138175964, -0.38861963152885437, -0.29215434193611145, -0.053752534091472626, -0.37466269731521606], "tau_dot": [-50.538692474365234, 21.345903396606445, -36.518741607666016, -40.762664794921875, -9.629701614379883, 11.386994361877441, 9.775619506835938], "tau_ext": [15.281518936157227, -36.48200988769531, -36.40672302246094, 19.964895248413086, -2.181028127670288, -6.751011848449707, 0.33092090487480164], "tcp_pose": [0.6455057263374329, -0.08408582210540771, -0.3226187229156494, -0.028611408546566963, -0.07764066755771637, 0.9960875511169434, 0.03103141114115715], "tcp_vel": [-0.007256810553371906, 0.050631340593099594, -0.008198893629014492, 0.003353539854288101, -0.008638860657811165, 0.025172311812639236], "flange_pose": [0.6572510600090027, -0.09498748183250427, -0.13329572975635529, -0.028611408546566963, -0.07764066755771637, 0.9960875511169434, 0.03103141114115715], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.41606330871582, -49.85639572143555, -13.24777889251709, -4.208800315856934, 11.661012649536133, -0.10329686850309372], "ext_wrench_in_world": [-6.763072587152067, -52.33125715098408, 10.701365428496581, 2.374606607180822, 12.15050570389307, 0.6560037768464396]}
+{"timestamp_ns": 1789729894822250012, "elapsed_ms": 14200, "source_timestamp_ns": 1789729894821738737, "q": [0.11676818132400513, -1.6118366718292236, -0.1302524209022522, 0.7997820973396301, 1.736295223236084, -0.1073935329914093, -0.9891189336776733], "theta": [0.11442115157842636, -1.610855221748352, -0.1314338892698288, 0.7840138673782349, 1.735454797744751, -0.10691499710083008, -0.9890658855438232], "dq": [-0.0030018941033631563, 0.13923324644565582, 0.053244948387145996, 0.16038408875465393, -0.057505231350660324, 0.026688704267144203, -0.0480465292930603], "dtheta": [-0.0031851876992732286, 0.14181466400623322, 0.05609433725476265, 0.16523446142673492, -0.058041974902153015, 0.02561105228960514, -0.04962543770670891], "tau": [-62.81999969482422, -2.3999998569488525, -25.296001434326172, 5.508000373840332, -4.400000095367432, 3.5280001163482666, -0.3960000276565552], "tau_des": [-0.8819351196289062, 0.21287286281585693, -0.4655784070491791, -0.09806877374649048, -0.2344728261232376, -0.13334138691425323, -0.35837042331695557], "tau_dot": [-38.3652229309082, -49.108882904052734, 48.355045318603516, 81.64444732666016, -44.4374885559082, 19.5765438079834, -54.608455657958984], "tau_ext": [15.104395866394043, -36.05336380004883, -36.47795867919922, 19.760122299194336, -2.152937889099121, -6.751645565032959, 0.2933293581008911], "tcp_pose": [0.6452295780181885, -0.08209297060966492, -0.3229162096977234, -0.028519975021481514, -0.07811229676008224, 0.9960548281669617, 0.030980996787548065], "tcp_vel": [-0.005605006590485573, 0.04965678229928017, -0.007265167776495218, -0.0026406734250485897, -0.0034696771763265133, 0.02040824480354786], "flange_pose": [0.6569439768791199, -0.0929727554321289, -0.13359001278877258, -0.028519975021481514, -0.07811229676008224, 0.9960548281669617, 0.030980996787548065], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.956997871398926, -49.6456184387207, -13.251748085021973, -4.179957866668701, 11.451513290405273, -0.1365298628807068], "ext_wrench_in_world": [-7.281742616473822, -52.214549100986716, 10.748912744451662, 2.368853916664948, 11.939791580305705, 0.6765744240470004]}
+{"timestamp_ns": 1789729894855595209, "elapsed_ms": 14233, "source_timestamp_ns": 1789729894851751169, "q": [0.11671552807092667, -1.6077245473861694, -0.1286298930644989, 0.8044701218605042, 1.7345752716064453, -0.1066327914595604, -0.9905436635017395], "theta": [0.11435791850090027, -1.6067255735397339, -0.12977302074432373, 0.7887181639671326, 1.733757495880127, -0.10615348815917969, -0.9904694557189941], "dq": [-0.0018210227135568857, 0.13185803592205048, 0.05264246463775635, 0.15505728125572205, -0.054072439670562744, 0.026043029502034187, -0.04381594806909561], "dtheta": [-0.0012843775330111384, 0.1348542422056198, 0.05545954778790474, 0.15062236785888672, -0.055427126586437225, 0.025636140257120132, -0.045326538383960724], "tau": [-62.90999984741211, -2.8999998569488525, -25.376001358032227, 5.8480000495910645, -4.464000225067139, 3.516000270843506, -0.3440000116825104], "tau_des": [-1.3553396463394165, -0.7064253091812134, -0.8186097741127014, 0.5674994587898254, -0.3493559956550598, 0.04529983550310135, -0.3356882333755493], "tau_dot": [62.33689498901367, 148.4130859375, 45.5572395324707, -29.933597564697266, -40.78635787963867, 9.279838562011719, 49.26494598388672], "tau_ext": [15.142970085144043, -35.482688903808594, -36.46156311035156, 19.29665184020996, -2.0820136070251465, -6.767181873321533, 0.27036696672439575], "tcp_pose": [0.645081102848053, -0.08063513040542603, -0.32315593957901, -0.028522823005914688, -0.07844934612512589, 0.9960302114486694, 0.030917862430214882], "tcp_vel": [-0.0038148819003254175, 0.04947376251220703, -0.009459222666919231, -0.0007345079793594778, -0.0008604926988482475, 0.023711321875452995], "flange_pose": [0.6567984223365784, -0.09148699045181274, -0.1338283270597458, -0.028522823005914688, -0.07844934612512589, 0.9960302114486694, 0.030917862430214882], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.382660865783691, -49.69843292236328, -13.325913429260254, -4.215737819671631, 11.5653076171875, -0.16263464093208313], "ext_wrench_in_world": [-6.667471376765297, -52.183879414438906, 10.794814202838728, 2.3800380972526547, 12.05780850893508, 0.7070419282438568]}
+{"timestamp_ns": 1789729894888893751, "elapsed_ms": 14266, "source_timestamp_ns": 1789729894881739982, "q": [0.1167050153017044, -1.6038832664489746, -0.12708806991577148, 0.8089379668235779, 1.733049750328064, -0.10584206879138947, -0.9919272065162659], "theta": [0.1143365129828453, -1.6028581857681274, -0.12820008397102356, 0.7931719422340393, 1.7322419881820679, -0.10536110401153564, -0.9918298721313477], "dq": [-0.0021252832375466824, 0.13157211244106293, 0.047174952924251556, 0.1544572114944458, -0.045739687979221344, 0.028067877516150475, -0.04979170113801956], "dtheta": [-0.0009378245449624956, 0.12245196104049683, 0.05126480013132095, 0.1461062729358673, -0.04452335089445114, 0.026742182672023773, -0.04734492301940918], "tau": [-63.06999969482422, -2.200000047683716, -25.472002029418945, 5.208000183105469, -4.468000411987305, 3.5200002193450928, -0.3400000035762787], "tau_des": [-1.5178686380386353, 0.6603879928588867, -0.6173287034034729, -0.6313250660896301, -0.25349074602127075, -0.07603112608194351, -0.4367825984954834], "tau_dot": [5.797512531280518, 101.5095443725586, -95.90694427490234, -124.39151763916016, -21.68391227722168, -10.74588680267334, 53.212093353271484], "tau_ext": [15.164076805114746, -36.00249099731445, -36.536705017089844, 19.671541213989258, -2.0978522300720215, -6.774816989898682, 0.2547318637371063], "tcp_pose": [0.6449194550514221, -0.07929003238677979, -0.3234141767024994, -0.028486385941505432, -0.07874777913093567, 0.996009349822998, 0.030864764004945755], "tcp_vel": [-0.005345038138329983, 0.042992789298295975, -0.00879979133605957, 0.0009193169535137713, -0.008297580294311047, 0.018513768911361694], "flange_pose": [0.6566246747970581, -0.09011941403150558, -0.1340845227241516, -0.028486385941505432, -0.07874777913093567, 0.996009349822998, 0.030864764004945755], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.212706565856934, -49.74863815307617, -13.344490051269531, -4.229866027832031, 11.585665702819824, -0.18237628042697906], "ext_wrench_in_world": [-6.460793689249644, -52.210565239493995, 10.804808010811595, 2.384739677748359, 12.080471349553063, 0.7265714972153241]}
+{"timestamp_ns": 1789729894922256827, "elapsed_ms": 14300, "source_timestamp_ns": 1789729894921786709, "q": [0.11666173487901688, -1.5993036031723022, -0.12522296607494354, 0.8144964575767517, 1.7314127683639526, -0.10489547252655029, -0.9939206838607788], "theta": [0.11427833884954453, -1.5982868671417236, -0.12630274891853333, 0.7986794114112854, 1.7306218147277832, -0.10441362857818604, -0.9937914609909058], "dq": [-0.001102769747376442, 0.1156005710363388, 0.04743170365691185, 0.12652651965618134, -0.035689108073711395, 0.022583192214369774, -0.04904280975461006], "dtheta": [-0.0023097654338926077, 0.10236302763223648, 0.044163137674331665, 0.12602142989635468, -0.036424875259399414, 0.020794453099370003, -0.04324495047330856], "tau": [-63.1099967956543, -1.909999966621399, -25.476001739501953, 4.564000129699707, -4.380000114440918, 3.628000259399414, -0.3240000009536743], "tau_des": [-1.502143383026123, 0.4462697505950928, -0.6859019994735718, -1.4856972694396973, -0.269965261220932, 0.04206155613064766, -0.29815244674682617], "tau_dot": [75.9443359375, 13.536056518554688, 39.85520935058594, -3.9033420085906982, -21.97506332397461, 56.55373001098633, 21.723224639892578], "tau_ext": [15.000904083251953, -37.01839065551758, -36.76093673706055, 20.363893508911133, -2.1533541679382324, -6.769625186920166, 0.23636168241500854], "tcp_pose": [0.6446777582168579, -0.07770665735006332, -0.3237188458442688, -0.028339950367808342, -0.07916539162397385, 0.9959805011749268, 0.03086317889392376], "tcp_vel": [-0.0059312013909220695, 0.03579682111740112, -0.0069619836285710335, 0.0036014642100781202, -0.008260736241936684, 0.015141571871936321], "flange_pose": [0.6563321352005005, -0.08853498101234436, -0.13438598811626434, -0.028339950367808342, -0.07916539162397385, 0.9959805011749268, 0.03086317889392376], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.026588439941406, -50.12295150756836, -13.578935623168945, -4.321923732757568, 11.356277465820312, -0.20388343930244446], "ext_wrench_in_world": [-7.150622497020282, -52.72842443981356, 11.051296372437882, 2.5023597166617684, 11.869783676502987, 0.7294260831261548]}
+{"timestamp_ns": 1789729894955590406, "elapsed_ms": 14333, "source_timestamp_ns": 1789729894951763074, "q": [0.11661326140165329, -1.5963948965072632, -0.12399471551179886, 0.8178154230117798, 1.73026704788208, -0.10421779006719589, -0.9950685501098633], "theta": [0.11421973258256912, -1.5954148769378662, -0.12506791949272156, 0.8019778728485107, 1.7294902801513672, -0.1037365198135376, -0.9949127435684204], "dq": [-0.001584793208166957, 0.09085633605718613, 0.04339223355054855, 0.09293612837791443, -0.04426433518528938, 0.023975661024451256, -0.030648859217762947], "dtheta": [-0.0015466882614418864, 0.08947160094976425, 0.03821836784482002, 0.09666094928979874, -0.039161402732133865, 0.022778641432523727, -0.029017163440585136], "tau": [-63.03999710083008, -3.0399999618530273, -25.612001419067383, 5.308000087738037, -4.4720001220703125, 3.620000123977661, -0.30400002002716064], "tau_des": [-1.194604754447937, -1.9088935852050781, -0.7677880525588989, -0.11747686564922333, -0.41489067673683167, 0.08602283149957657, -0.1974678784608841], "tau_dot": [55.0804557800293, -68.47870635986328, 16.19277572631836, 25.92650604248047, -18.366918563842773, 16.765439987182617, 50.69283676147461], "tau_ext": [15.108113288879395, -36.2425537109375, -36.722225189208984, 19.88389778137207, -2.100656032562256, -6.802443027496338, 0.2200714498758316], "tcp_pose": [0.644589900970459, -0.0766635611653328, -0.3239193856716156, -0.02827530726790428, -0.0794709175825119, 0.9959589838981628, 0.03083067573606968], "tcp_vel": [-0.0012959334999322891, 0.0325891450047493, -0.006205968093127012, -0.004446945618838072, -0.0019611853640526533, 0.017750686034560204], "flange_pose": [0.6562221646308899, -0.08747798949480057, -0.13458439707756042, -0.02827530726790428, -0.0794709175825119, 0.9959589838981628, 0.03083067573606968], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.307573318481445, -50.19082260131836, -13.654139518737793, -4.336218357086182, 11.281365394592285, -0.21961943805217743], "ext_wrench_in_world": [-7.381896122546571, -52.84851452631217, 11.137022444527858, 2.5217923998036236, 11.7989023386687, 0.7393877190330347]}
+{"timestamp_ns": 1789729894988896327, "elapsed_ms": 14366, "source_timestamp_ns": 1789729894981731449, "q": [0.11659257113933563, -1.5940263271331787, -0.12293196469545364, 0.8202300071716309, 1.729117512702942, -0.1034930944442749, -0.9957271814346313], "theta": [0.11419083923101425, -1.5930798053741455, -0.12401854991912842, 0.8043954968452454, 1.7283549308776855, -0.10301220417022705, -0.9955445528030396], "dq": [0.0011380207724869251, 0.06382352113723755, 0.03895241394639015, 0.06452005356550217, -0.03672618791460991, 0.025531994178891182, -0.01839517056941986], "dtheta": [-0.000575899553950876, 0.06733663380146027, 0.032953646034002304, 0.06864867359399796, -0.036852169781923294, 0.022416124120354652, -0.016250209882855415], "tau": [-63.03999710083008, -4.279999732971191, -25.676000595092773, 6.104000091552734, -4.544000148773193, 3.616000175476074, -0.30400002002716064], "tau_des": [-1.5561537742614746, -2.421490430831909, -0.7814837694168091, 0.49656951427459717, -0.3681699335575104, 0.020436769351363182, -0.22861693799495697], "tau_dot": [39.09086990356445, -91.64202117919922, 19.823917388916016, 22.853431701660156, -23.70918083190918, -26.666845321655273, -12.074198722839355], "tau_ext": [15.129276275634766, -35.413265228271484, -36.672183990478516, 19.26732635498047, -2.041969060897827, -6.826268196105957, 0.200966477394104], "tcp_pose": [0.6445968151092529, -0.07579227536916733, -0.32410818338394165, -0.028289789333939552, -0.07971513271331787, 0.9959427118301392, 0.030712923035025597], "tcp_vel": [-0.0005417602369561791, 0.024419138208031654, -0.005961832124739885, -0.007872720248997211, 0.0019426532089710236, 0.011296549811959267], "flange_pose": [0.6562336683273315, -0.08655888587236404, -0.1347707360982895, -0.028289789333939552, -0.07971513271331787, 0.9959427118301392, 0.030712923035025597], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.73674488067627, -50.01588439941406, -13.602185249328613, -4.295900821685791, 11.427766799926758, -0.23892736434936523], "ext_wrench_in_world": [-6.823691398809974, -52.582740680558615, 11.079074576291436, 2.4543800456551392, 11.937015743363892, 0.7677095302758095]}
+{"timestamp_ns": 1789729895022249506, "elapsed_ms": 14400, "source_timestamp_ns": 1789729895021790166, "q": [0.11654654145240784, -1.5918567180633545, -0.12175159156322479, 0.8224592804908752, 1.7278424501419067, -0.10267619043588638, -0.996255099773407], "theta": [0.1141345202922821, -1.5909138917922974, -0.12288191169500351, 0.8066390156745911, 1.7270996570587158, -0.10219871997833252, -0.9960396885871887], "dq": [-0.0015683051897212863, 0.03875840827822685, 0.03280545026063919, 0.04784692823886871, -0.028585808351635933, 0.016594937071204185, -0.0169213879853487], "dtheta": [-0.002897951053455472, 0.03951166570186615, 0.02525685727596283, 0.045853227376937866, -0.026165727525949478, 0.01583774946630001, -0.014516396448016167], "tau": [-63.28999710083008, -3.4800000190734863, -25.772001266479492, 5.8480000495910645, -4.508000373840332, 3.6480002403259277, -0.3440000116825104], "tau_des": [-1.9443453550338745, -1.1810798645019531, -0.627035915851593, -0.09924802929162979, -0.24089542031288147, 0.08423483371734619, -0.3853929042816162], "tau_dot": [-109.11280059814453, 82.8923110961914, -43.994781494140625, -9.78734302520752, -6.249185085296631, -4.299229145050049, -61.34142303466797], "tau_ext": [15.049092292785645, -35.786224365234375, -36.74144744873047, 19.356191635131836, -2.074059247970581, -6.824934482574463, 0.19661341607570648], "tcp_pose": [0.6445744633674622, -0.07501082867383957, -0.3243148624897003, -0.028322892263531685, -0.07987886667251587, 0.9959328174591064, 0.030576961115002632], "tcp_vel": [-0.002316250465810299, 0.013134220615029335, -0.003241564380005002, -0.004111315589398146, -0.0008129558991640806, 0.00539083406329155], "flange_pose": [0.6562215089797974, -0.08572310209274292, -0.13497495651245117, -0.028322892263531685, -0.07987886667251587, 0.9959328174591064, 0.030576961115002632], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.906107902526855, -50.120426177978516, -13.643045425415039, -4.346744537353516, 11.638919830322266, -0.250884085893631], "ext_wrench_in_world": [-5.967901003781771, -52.553805033561986, 11.084385217382161, 2.4679943037405407, 12.153614426307787, 0.7875571138550573]}
+{"timestamp_ns": 1789729895055586518, "elapsed_ms": 14433, "source_timestamp_ns": 1789729895051671053, "q": [0.1164286732673645, -1.590972661972046, -0.1209755688905716, 0.8235651254653931, 1.7271523475646973, -0.10215285420417786, -0.9967895746231079], "theta": [0.11400768160820007, -1.5900136232376099, -0.12214992195367813, 0.8077352643013, 1.7264244556427002, -0.10167527198791504, -0.9965521693229675], "dq": [-0.003703655209392309, 0.017831627279520035, 0.02657831273972988, 0.032800909131765366, -0.023476695641875267, 0.01888873614370823, -0.016553577035665512], "dtheta": [-0.005756000522524118, 0.02106243185698986, 0.02395584248006344, 0.028450552374124527, -0.02109963819384575, 0.016217852011322975, -0.015331613831222057], "tau": [-63.44999694824219, -2.619999885559082, -25.812000274658203, 5.252000331878662, -4.452000141143799, 3.6760001182556152, -0.29600000381469727], "tau_des": [-1.922268271446228, 0.013388027437031269, -0.6157960295677185, -0.5113345384597778, -0.3023018538951874, 0.01024867407977581, -0.2818948030471802], "tau_dot": [-13.52808952331543, -2.4563093185424805, 33.64826202392578, -39.96705627441406, 50.1483154296875, 4.542865753173828, 9.129770278930664], "tau_ext": [15.187148094177246, -36.25627517700195, -36.686790466308594, 19.60163688659668, -2.096534252166748, -6.845181941986084, 0.1985923796892166], "tcp_pose": [0.644511342048645, -0.07473087310791016, -0.3244113326072693, -0.028264034539461136, -0.07999266684055328, 0.9959267973899841, 0.030531425029039383], "tcp_vel": [-0.0018510741647332907, 0.006056452635675669, -0.0017535644583404064, -0.0023320165928453207, -0.005596611183136702, 0.005257987417280674], "flange_pose": [0.6561360359191895, -0.08542640507221222, -0.1350691169500351, -0.028264034539461136, -0.07999266684055328, 0.9959267973899841, 0.030531425029039383], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [14.877203941345215, -50.63549041748047, -13.663490295410156, -4.49754524230957, 11.653368949890137, -0.25102904438972473], "ext_wrench_in_world": [-5.8465282033347545, -53.05833854643089, 11.072753616144391, 2.6114982397700857, 12.192749031163602, 0.780310628371171]}
+{"timestamp_ns": 1789729895088896882, "elapsed_ms": 14466, "source_timestamp_ns": 1789729895081670159, "q": [0.11622844636440277, -1.5905506610870361, -0.12025763094425201, 0.8241679072380066, 1.7265143394470215, -0.10172098129987717, -0.997164785861969], "theta": [0.11379983276128769, -1.5895700454711914, -0.12147767096757889, 0.8083155155181885, 1.7258001565933228, -0.10124433040618896, -0.996905505657196], "dq": [-0.008138202130794525, 0.008197489194571972, 0.025461645796895027, 0.01540691964328289, -0.02143140323460102, 0.007814891636371613, -0.0088794631883502], "dtheta": [-0.008433311246335506, 0.009727993980050087, 0.02182815410196781, 0.01196061447262764, -0.02082621306180954, 0.01286184974014759, -0.010195812210440636], "tau": [-63.279998779296875, -1.909999966621399, -25.700000762939453, 4.872000217437744, -4.380000114440918, 3.6560001373291016, -0.328000009059906], "tau_des": [-1.6397258043289185, 0.7742069959640503, -0.4255392551422119, -0.4760618507862091, -0.2976239323616028, -0.0019468063255771995, -0.2636173665523529], "tau_dot": [24.119327545166016, 6.83493709564209, 40.541996002197266, -50.50819778442383, 34.97187423706055, 48.995418548583984, -2.431044578552246], "tau_ext": [15.199533462524414, -36.32292175292969, -36.67411422729492, 19.73782730102539, -2.1202454566955566, -6.859646320343018, 0.19929906725883484], "tcp_pose": [0.6444530487060547, -0.07460979372262955, -0.3244587182998657, -0.028207238763570786, -0.08004963397979736, 0.9959245324134827, 0.03050834685564041], "tcp_vel": [-0.0004030794952996075, 0.0031615113839507103, -0.00013922950893174857, -0.0014603493036702275, -0.003922107629477978, 0.00536753935739398], "flange_pose": [0.6560561060905457, -0.08529768884181976, -0.13511474430561066, -0.028207238763570786, -0.08004963397979736, 0.9959245324134827, 0.03050834685564041], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.119708061218262, -50.81087112426758, -13.588072776794434, -4.545705795288086, 11.59939956665039, -0.24886111915111542], "ext_wrench_in_world": [-6.057887855523632, -53.26626801363143, 10.999663843988316, 2.6658895637297335, 12.14777336294036, 0.772061200542845]}
+{"timestamp_ns": 1789729895122254812, "elapsed_ms": 14500, "source_timestamp_ns": 1789729895121666104, "q": [0.11584286391735077, -1.5904079675674438, -0.11933308839797974, 0.8243399858474731, 1.7256183624267578, -0.10126791894435883, -0.9974023103713989], "theta": [0.11340796947479248, -1.5893967151641846, -0.12061989307403564, 0.8084514737129211, 1.724920392036438, -0.1007918119430542, -0.9971151947975159], "dq": [-0.009703144431114197, 0.002374943345785141, 0.024551497772336006, -0.001271998742595315, -0.025865189731121063, 0.012529856525361538, -0.0036228506360203028], "dtheta": [-0.010480034165084362, 0.0018443716689944267, 0.02177843637764454, -0.0018893417436629534, -0.02309085987508297, 0.011218460276722908, -0.0018757575890049338], "tau": [-62.91999816894531, -1.7999999523162842, -25.57600212097168, 4.832000255584717, -4.400000095367432, 3.5880000591278076, -0.29200002551078796], "tau_des": [-1.2811704874038696, 1.1922600269317627, -0.28915679454803467, -0.2231554388999939, -0.3022822439670563, -0.005593861918896437, -0.2720319926738739], "tau_dot": [-9.324198722839355, 11.753888130187988, -21.805068969726562, -38.918949127197266, 8.076382637023926, -40.3204231262207, 1.8702712059020996], "tau_ext": [15.078445434570312, -36.233638763427734, -36.6899299621582, 19.75715446472168, -2.1309449672698975, -6.856261253356934, 0.19054751098155975], "tcp_pose": [0.6444291472434998, -0.07454655319452286, -0.32446470856666565, -0.028172994032502174, -0.08009808510541916, 0.9959218502044678, 0.030500683933496475], "tcp_vel": [0.0010836123256012797, 0.0016401862958446145, 0.0006322763510979712, -0.0016013986896723509, -0.0010746278567239642, 0.0028817870188504457], "flange_pose": [0.6560196280479431, -0.08523203432559967, -0.13511981070041656, -0.028172994032502174, -0.08009808510541916, 0.9959218502044678, 0.030500683933496475], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.438833236694336, -50.717411041259766, -13.657203674316406, -4.541305065155029, 11.516558647155762, -0.24713484942913055], "ext_wrench_in_world": [-6.378664169303753, -53.23003278244409, 11.090934137189938, 2.67330806211621, 12.065796219628341, 0.7652685759981059]}
+{"timestamp_ns": 1789729895155584524, "elapsed_ms": 14533, "source_timestamp_ns": 1789729895151667529, "q": [0.11550763249397278, -1.5903948545455933, -0.11861973255872726, 0.8242800235748291, 1.724876880645752, -0.10095511376857758, -0.9974520206451416], "theta": [0.11307351291179657, -1.5893633365631104, -0.11996319144964218, 0.8083692789077759, 1.72419011592865, -0.10048043727874756, -0.9971466064453125], "dq": [-0.013363728299736977, 0.002154488116502762, 0.027739671990275383, -0.006007533520460129, -0.025598110631108284, 0.009351911023259163, -0.0018283583922311664], "dtheta": [-0.011685273610055447, 4.423481732374057e-05, 0.022309131920337677, -0.003499333281069994, -0.02587033621966839, 0.011191747151315212, -0.00044197874376550317], "tau": [-62.82999801635742, -1.8299999237060547, -25.552001953125, 4.740000247955322, -4.400000095367432, 3.628000259399414, -0.2800000011920929], "tau_des": [-0.9492168426513672, 1.3877674341201782, -0.16517245769500732, -0.2314658910036087, -0.2471465766429901, 0.014783083461225033, -0.28160759806632996], "tau_dot": [-75.05116271972656, 17.800487518310547, 10.780489921569824, -49.72464370727539, 5.390106678009033, 1.3906385898590088, 25.78424644470215], "tau_ext": [14.972025871276855, -36.075782775878906, -36.70285415649414, 19.803062438964844, -2.133596420288086, -6.851810455322266, 0.1841926872730255], "tcp_pose": [0.644433319568634, -0.07451053708791733, -0.32445278763771057, -0.028173178434371948, -0.08011483401060104, 0.9959205985069275, 0.030496027320623398], "tcp_vel": [0.000646804051939398, 0.0005064391298219562, 0.0014442497631534934, -0.003021941287443042, 5.986618998576887e-05, 0.0011743278009817004], "flange_pose": [0.6560238599777222, -0.08519406616687775, -0.13510780036449432, -0.028173178434371948, -0.08011483401060104, 0.9959205985069275, 0.030496027320623398], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.649105072021484, -50.34995651245117, -13.729011535644531, -4.455013751983643, 11.447977066040039, -0.25074657797813416], "ext_wrench_in_world": [-6.637741724823601, -52.90605591558876, 11.19767834677729, 2.5988986209675256, 11.984197965159012, 0.7687167040733925]}
+{"timestamp_ns": 1789729895188920176, "elapsed_ms": 14566, "source_timestamp_ns": 1789729895181662826, "q": [0.11516780406236649, -1.590409517288208, -0.11787895113229752, 0.8241803050041199, 1.724088191986084, -0.1006099060177803, -0.9974751472473145], "theta": [0.11273901164531708, -1.5893610715866089, -0.11928479373455048, 0.8082535266876221, 1.7234128713607788, -0.10013353824615479, -0.9971530437469482], "dq": [-0.01267241034656763, 0.0024327102582901716, 0.026200827211141586, -0.003947804216295481, -0.028621194884181023, 0.013259013183414936, 0.000676719646435231], "dtheta": [-0.011106079444289207, -7.995990745257586e-05, 0.02327413484454155, -0.0038029730785638094, -0.025282200425863266, 0.012038075365126133, 0.00023381986829917878], "tau": [-62.75, -1.8700000047683716, -25.57200050354004, 4.656000137329102, -4.380000114440918, 3.632000207901001, -0.2680000066757202], "tau_des": [-1.0707120895385742, 1.269819974899292, -0.28713616728782654, -0.12054701894521713, -0.2741623818874359, 0.07021616399288177, -0.2855335474014282], "tau_dot": [-87.48090362548828, -65.40181732177734, 47.568233489990234, -18.391712188720703, -8.475505828857422, 6.251952648162842, 39.32498550415039], "tau_ext": [14.964177131652832, -35.979957580566406, -36.656776428222656, 19.876209259033203, -2.1368143558502197, -6.867037296295166, 0.181367889046669], "tcp_pose": [0.6444363594055176, -0.07448972761631012, -0.32444339990615845, -0.028181428089737892, -0.08012207597494125, 0.9959203600883484, 0.030477948486804962], "tcp_vel": [0.0007757210987620056, 0.0007466337410733104, 0.0006558248423971236, -0.0023184665478765965, -0.00031007741927169263, 0.0005970759084448218], "flange_pose": [0.6560295820236206, -0.0851660743355751, -0.1350981891155243, -0.028181428089737892, -0.08012207597494125, 0.9959203600883484, 0.030477948486804962], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [15.982150077819824, -49.88926696777344, -13.766555786132812, -4.345254421234131, 11.346259117126465, -0.2522926926612854], "ext_wrench_in_world": [-7.035428674321957, -52.50766240262266, 11.284248769198983, 2.5066941614269638, 11.866252898705001, 0.7687717906138339]}
+{"timestamp_ns": 1789729895222249848, "elapsed_ms": 14600, "source_timestamp_ns": 1789729895221662470, "q": [0.11470045894384384, -1.5904277563095093, -0.11678408831357956, 0.8240653872489929, 1.7229734659194946, -0.10005400329828262, -0.9975032210350037], "theta": [0.11227881908416748, -1.589361548423767, -0.11827924102544785, 0.8081269860267639, 1.7223111391067505, -0.09957361221313477, -0.9971609711647034], "dq": [-0.011379345320165157, 1.803133636713028e-05, 0.03220149129629135, -0.0017432381864637136, -0.025091921910643578, 0.014047306962311268, -0.0002008185547310859], "dtheta": [-0.011425078846514225, -0.00016657794185448438, 0.025997577235102654, -0.0029875950422137976, -0.029012858867645264, 0.013557272031903267, -0.0010311153018847108], "tau": [-62.68000030517578, -1.959999918937683, -25.672000885009766, 4.624000072479248, -4.36400032043457, 3.6680002212524414, -0.2840000092983246], "tau_des": [-1.1631652116775513, 1.3016530275344849, -0.4590291976928711, -0.13373695313930511, -0.23985655605793, 0.1024051085114479, -0.3046586215496063], "tau_dot": [50.74313735961914, -7.437950611114502, -5.747622966766357, 14.690123558044434, 36.523860931396484, 8.158499717712402, -11.858226776123047], "tau_ext": [14.873641014099121, -35.85809326171875, -36.62411880493164, 19.907386779785156, -2.1493868827819824, -6.887826442718506, 0.1754145622253418], "tcp_pose": [0.6444396376609802, -0.07446548342704773, -0.3244510889053345, -0.028174834325909615, -0.08011696487665176, 0.9959218502044678, 0.03044838458299637], "tcp_vel": [-8.728847024030983e-05, 0.00025741016725078225, 0.00029468530556187034, -0.003264780854806304, 0.0009109288803301752, 0.0006548506207764149], "flange_pose": [0.6560294032096863, -0.08513092249631882, -0.13510502874851227, -0.028174834325909615, -0.08011696487665176, 0.9959218502044678, 0.03044838458299637], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.389461517333984, -49.33063888549805, -13.81315803527832, -4.226677894592285, 11.225452423095703, -0.2520562410354614], "ext_wrench_in_world": [-7.522889412220627, -52.02483392011175, 11.390895797234089, 2.408979880557725, 11.728130163829984, 0.7660935137400339]}
+{"timestamp_ns": 1789729895255580251, "elapsed_ms": 14633, "source_timestamp_ns": 1789729895251700912, "q": [0.11435332894325256, -1.5904399156570435, -0.11593152582645416, 0.8239863514900208, 1.7220882177352905, -0.09959237277507782, -0.9975461363792419], "theta": [0.11193406581878662, -1.5893630981445312, -0.11749832332134247, 0.8080421686172485, 1.721435546875, -0.09910869598388672, -0.9971916675567627], "dq": [-0.009664994664490223, -0.0012124913046136498, 0.029182542115449905, -0.0017711262917146087, -0.03017483279109001, 0.016215160489082336, 0.0008272845880128443], "dtheta": [-0.011604915373027325, -0.0002509036276023835, 0.025820111855864525, -0.0025000206660479307, -0.02818308025598526, 0.015386185608804226, -0.0018220458878204226], "tau": [-62.78999710083008, -1.8499999046325684, -25.692001342773438, 4.576000213623047, -4.3520002365112305, 3.6480002403259277, -0.2840000092983246], "tau_des": [-1.1176048517227173, 1.3162894248962402, -0.3787490427494049, -0.14052073657512665, -0.20549827814102173, 0.020230622962117195, -0.2945100963115692], "tau_dot": [48.973628997802734, 39.9476318359375, 22.162073135375977, 19.385597229003906, -33.89832305908203, 31.476362228393555, 17.413244247436523], "tau_ext": [14.89137077331543, -35.86627197265625, -36.564510345458984, 19.93549156188965, -2.1598405838012695, -6.898673057556152, 0.18317215144634247], "tcp_pose": [0.6444360017776489, -0.07445751875638962, -0.3244628608226776, -0.02817505970597267, -0.08011916279792786, 0.995922863483429, 0.030409343540668488], "tcp_vel": [0.0003125259536318481, -0.00022283470025286078, 0.000598917540628463, -0.004260714165866375, -0.0012101558968424797, 0.0009441613801755011], "flange_pose": [0.656024694442749, -0.08510815352201462, -0.13511592149734497, -0.02817505970597267, -0.08011916279792786, 0.995922863483429, 0.030409343540668488], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.55767822265625, -49.050079345703125, -13.843559265136719, -4.180910110473633, 11.175933837890625, -0.24859927594661713], "ext_wrench_in_world": [-7.730851380459395, -51.77639512782729, 11.45207271949062, 2.371399058887648, 11.672225400553936, 0.7608737102442107]}
+{"timestamp_ns": 1789729895288891605, "elapsed_ms": 14666, "source_timestamp_ns": 1789729895281662312, "q": [0.11399759352207184, -1.590454339981079, -0.11505226045846939, 0.8239235877990723, 1.721217155456543, -0.09913448989391327, -0.997599720954895], "theta": [0.11157529056072235, -1.5893685817718506, -0.11668936908245087, 0.807974100112915, 1.7205734252929688, -0.09864771366119385, -0.9972350001335144], "dq": [-0.009678604081273079, -0.000484126852825284, 0.029259730130434036, -0.00191546103451401, -0.03353525325655937, 0.015787582844495773, -0.002514949534088373], "dtheta": [-0.012476829811930656, -4.310612894187216e-06, 0.027829641476273537, -0.0022062999196350574, -0.028480812907218933, 0.01707194559276104, -0.0016402138862758875], "tau": [-62.75, -1.8899999856948853, -25.740001678466797, 4.528000354766846, -4.360000133514404, 3.696000099182129, -0.29600000381469727], "tau_des": [-1.1295746564865112, 1.1703685522079468, -0.550441563129425, -0.08088000863790512, -0.2834823727607727, 0.03426916152238846, -0.30853068828582764], "tau_dot": [-1.5083286762237549, -43.04800796508789, -22.82927131652832, -12.056074142456055, -31.5721378326416, -30.835412979125977, -5.547171115875244], "tau_ext": [14.92104721069336, -35.891937255859375, -36.508880615234375, 19.963237762451172, -2.1707370281219482, -6.911197185516357, 0.1901254653930664], "tcp_pose": [0.6444295048713684, -0.07444357126951218, -0.3244808614253998, -0.028163965791463852, -0.08011723309755325, 0.9959239959716797, 0.03038819320499897], "tcp_vel": [0.0007817239966243505, 7.457393076037988e-05, 0.0004923162050545216, -0.0037311597261577845, -0.0030465482268482447, 0.0005233156261965632], "flange_pose": [0.6560133695602417, -0.08508657664060593, -0.13513320684432983, -0.028163965791463852, -0.08011723309755325, 0.9959239959716797, 0.03038819320499897], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.675020217895508, -48.95418167114258, -13.811568260192871, -4.176523208618164, 11.142682075500488, -0.23899684846401215], "ext_wrench_in_world": [-7.864063500804581, -51.698548810666374, 11.434341970173964, 2.371761041164918, 11.63931474177794, 0.7489535011099218]}
+{"timestamp_ns": 1789729895322326178, "elapsed_ms": 14700, "source_timestamp_ns": 1789729895321688094, "q": [0.11349938064813614, -1.5904682874679565, -0.11385973542928696, 0.8238468170166016, 1.719995141029358, -0.09852433949708939, -0.9976867437362671], "theta": [0.1110672652721405, -1.589372992515564, -0.11558730155229568, 0.8078906536102295, 1.7193657159805298, -0.09803462028503418, -0.9973105192184448], "dq": [-0.01414651982486248, 0.0029509435407817364, 0.026302503421902657, -0.0009502051980234683, -0.031617581844329834, 0.016603481024503708, -0.0025931738782674074], "dtheta": [-0.013045437633991241, -0.0002860791573766619, 0.027472976595163345, -0.0018424656009301543, -0.029172440990805626, 0.014778746291995049, -0.002201148308813572], "tau": [-62.869998931884766, -1.9199999570846558, -25.852001190185547, 4.568000316619873, -4.344000339508057, 3.700000286102295, -0.30800002813339233], "tau_des": [-1.1339077949523926, 1.1983097791671753, -0.5352249145507812, -0.13486213982105255, -0.21151567995548248, 0.10819365084171295, -0.3007197976112366], "tau_dot": [-58.01100540161133, 145.84393310546875, -40.33290481567383, 17.42038345336914, -21.743589401245117, -8.668733596801758, -14.790594100952148], "tau_ext": [14.865742683410645, -35.826019287109375, -36.46551513671875, 19.958337783813477, -2.1916561126708984, -6.930089473724365, 0.18939563632011414], "tcp_pose": [0.644414484500885, -0.07442842423915863, -0.3244914412498474, -0.028159724548459053, -0.08012009412050247, 0.9959250092506409, 0.030350975692272186], "tcp_vel": [0.00012889511708635837, 4.197000089334324e-05, 0.0009299349039793015, -0.00288391369394958, -0.0016326745972037315, 0.00048790755681693554], "flange_pose": [0.6559956073760986, -0.08505745977163315, -0.13514280319213867, -0.028159724548459053, -0.08012009412050247, 0.9959250092506409, 0.030350975692272186], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.749725341796875, -48.8149528503418, -13.843868255615234, -4.181980133056641, 11.120194435119629, -0.2278604507446289], "ext_wrench_in_world": [-7.9574895824104175, -51.5744397226124, 11.483080419905065, 2.379913951608767, 11.618732815851518, 0.73529574318947]}
+{"timestamp_ns": 1789729895355581847, "elapsed_ms": 14733, "source_timestamp_ns": 1789729895351702838, "q": [0.11311489343643188, -1.5904755592346191, -0.112958163022995, 0.8238067030906677, 1.7190836668014526, -0.09806319326162338, -0.997764527797699], "theta": [0.11067287623882294, -1.5893759727478027, -0.11474506556987762, 0.8078452348709106, 1.7184659242630005, -0.09757471084594727, -0.9973816871643066], "dq": [-0.013150693848729134, -0.0015613340074196458, 0.02890140376985073, -0.0019569697324186563, -0.028642505407333374, 0.015166351571679115, -0.002202287781983614], "dtheta": [-0.013542483560740948, -0.0001564821577630937, 0.028639361262321472, -0.001173316384665668, -0.03151635453104973, 0.016459345817565918, -0.0025309750344604254], "tau": [-62.79999923706055, -1.9399999380111694, -25.796001434326172, 4.488000392913818, -4.276000022888184, 3.7280001640319824, -0.2880000174045563], "tau_des": [-1.0541601181030273, 1.2462420463562012, -0.5291823148727417, -0.19073019921779633, -0.1537957638502121, 0.07707618176937103, -0.300876259803772], "tau_dot": [-98.7938461303711, 80.54763793945312, 0.5049114227294922, -46.337310791015625, 25.7960147857666, 34.99884033203125, 27.668996810913086], "tau_ext": [14.913578033447266, -35.75492477416992, -36.402381896972656, 19.946638107299805, -2.2032055854797363, -6.945534706115723, 0.18836162984371185], "tcp_pose": [0.6444034576416016, -0.07441704720258713, -0.32449448108673096, -0.028146440163254738, -0.08012199401855469, 0.995926022529602, 0.03032579831779003], "tcp_vel": [-0.00012574001448228955, -0.0005099803674966097, 0.0011893064947798848, -0.004581407178193331, -0.001625250792130828, 0.00017038275836966932], "flange_pose": [0.655978798866272, -0.08503694087266922, -0.13514497876167297, -0.028146440163254738, -0.08012199401855469, 0.995926022529602, 0.03032579831779003], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.812973022460938, -48.676055908203125, -13.76980972290039, -4.163949966430664, 11.107001304626465, -0.2223280817270279], "ext_wrench_in_world": [-8.046400339073855, -51.443126591171705, 11.423760700637635, 2.3638180484230538, 11.603179671396402, 0.7293646735886324]}
+{"timestamp_ns": 1789729895388915829, "elapsed_ms": 14766, "source_timestamp_ns": 1789729895381664238, "q": [0.11270490288734436, -1.5904817581176758, -0.11202722787857056, 0.8237876892089844, 1.7181402444839478, -0.09758411347866058, -0.9978539943695068], "theta": [0.11025401949882507, -1.5893776416778564, -0.1138656809926033, 0.8078212141990662, 1.717534065246582, -0.09709560871124268, -0.997464656829834], "dq": [-0.015465672127902508, -0.0012712099123746157, 0.028410030528903008, -0.0010343113681301475, -0.033696290105581284, 0.018713900819420815, -0.00398880522698164], "dtheta": [-0.013762182556092739, -0.0004044027009513229, 0.03036661446094513, -0.0009100654278881848, -0.03131008893251419, 0.01568225398659706, -0.002612935146316886], "tau": [-62.69999694824219, -1.8499999046325684, -25.772001266479492, 4.452000141143799, -4.28000020980835, 3.7200002670288086, -0.29600000381469727], "tau_des": [-1.1127616167068481, 1.2942614555358887, -0.6484563946723938, -0.2590332627296448, -0.18023881316184998, 0.11375703662633896, -0.31900301575660706], "tau_dot": [-121.24288940429688, 63.5882453918457, -17.385133743286133, 40.922183990478516, -1.7885504961013794, 23.95599937438965, 8.506771087646484], "tau_ext": [14.886970520019531, -35.79661560058594, -36.40438461303711, 19.96961212158203, -2.2328078746795654, -6.955844402313232, 0.18697558343410492], "tcp_pose": [0.6443888545036316, -0.0744115486741066, -0.3244871497154236, -0.02812468819320202, -0.08011862635612488, 0.9959277510643005, 0.03029659017920494], "tcp_vel": [-0.0004355033452156931, 1.0290764294040855e-05, 0.0005397607455961406, -0.0022011264227330685, -0.001538530457764864, -0.000427733117248863], "flange_pose": [0.6559550762176514, -0.08502110838890076, -0.13513651490211487, -0.02812468819320202, -0.08011862635612488, 0.9959277510643005, 0.03029659017920494], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.869281768798828, -48.59596633911133, -13.809233665466309, -4.167961597442627, 11.098808288574219, -0.2191675901412964], "ext_wrench_in_world": [-8.1130316352552, -51.37481381985058, 11.473568273020184, 2.368915307600225, 11.595954738597184, 0.7249535865636301]}
+{"timestamp_ns": 1789729895422246381, "elapsed_ms": 14800, "source_timestamp_ns": 1789729895421698219, "q": [0.11215586960315704, -1.5904932022094727, -0.11078788340091705, 0.823756217956543, 1.7168691158294678, -0.09695842862129211, -0.9979897737503052], "theta": [0.10969502478837967, -1.589383840560913, -0.11267983913421631, 0.8077829480171204, 1.7162775993347168, -0.09647524356842041, -0.9975941181182861], "dq": [-0.012808035127818584, 0.0007002467173151672, 0.03025788627564907, -0.0010340147418901324, -0.03013244830071926, 0.013783163391053677, -0.0016660524997860193], "dtheta": [-0.013674119487404823, -0.00020632031373679638, 0.030720671638846397, -0.0017162213334813714, -0.030614608898758888, 0.015177479945123196, -0.0030958836432546377], "tau": [-62.689998626708984, -1.809999942779541, -25.772001266479492, 4.372000217437744, -4.228000164031982, 3.688000202178955, -0.30000001192092896], "tau_des": [-1.0951011180877686, 1.1097252368927002, -0.6654601097106934, -0.17079836130142212, -0.18008355796337128, 0.12966430187225342, -0.27864792943000793], "tau_dot": [119.69876861572266, 4.991633415222168, -40.902854919433594, -55.95545196533203, 6.670266628265381, -38.69805908203125, -4.295815467834473], "tau_ext": [14.871273040771484, -35.835201263427734, -36.42056655883789, 19.978599548339844, -2.2627432346343994, -6.9614057540893555, 0.1935393512248993], "tcp_pose": [0.6443659067153931, -0.07440460473299026, -0.3244750201702118, -0.02810405008494854, -0.0801241546869278, 0.9959290623664856, 0.030258184298872948], "tcp_vel": [-3.299897434771992e-05, 0.0007418236928060651, 0.00014623370952904224, -0.0008632949902676046, -0.0015698549104854465, 0.0010420881444588304], "flange_pose": [0.6559232473373413, -0.08500021696090698, -0.13512305915355682, -0.02810405008494854, -0.0801241546869278, 0.9959290623664856, 0.030258184298872948], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.882490158081055, -48.62931442260742, -13.86519718170166, -4.206411838531494, 11.111433029174805, -0.21099819242954254], "ext_wrench_in_world": [-8.117325284577174, -51.412181784756726, 11.531217732463416, 2.4041504571494174, 11.615132346553487, 0.71493070001109]}
+{"timestamp_ns": 1789729895455580933, "elapsed_ms": 14833, "source_timestamp_ns": 1789729895451740601, "q": [0.11175519227981567, -1.5905020236968994, -0.10988380014896393, 0.8237160444259644, 1.7159215211868286, -0.09649819880723953, -0.9980732202529907], "theta": [0.10928785800933838, -1.589389681816101, -0.1118033155798912, 0.8077377676963806, 1.7153375148773193, -0.09601914882659912, -0.9976724982261658], "dq": [-0.014422256499528885, -0.0010517302434891462, 0.02686798945069313, -0.0034880887251347303, -0.03224346041679382, 0.012877626344561577, -0.0035737049765884876], "dtheta": [-0.013149882666766644, -7.757111598039046e-05, 0.028809834271669388, -0.00170140468981117, -0.029395608231425285, 0.013604998588562012, -0.0025379774160683155], "tau": [-62.65999984741211, -1.9799998998641968, -25.724000930786133, 4.3480000495910645, -4.203999996185303, 3.7160000801086426, -0.30000001192092896], "tau_des": [-1.0425996780395508, 1.0867574214935303, -0.5128983855247498, -0.1926301270723343, -0.10458651930093765, 0.12180894613265991, -0.2732594609260559], "tau_dot": [22.27981185913086, -137.8687286376953, 60.771820068359375, -29.759450912475586, 20.508838653564453, -48.06390380859375, 8.377840042114258], "tau_ext": [14.791834831237793, -35.76204299926758, -36.485111236572266, 19.967830657958984, -2.2898647785186768, -6.964081287384033, 0.19231881201267242], "tcp_pose": [0.6443518996238708, -0.07439952343702316, -0.3244648277759552, -0.028097201138734818, -0.08012857288122177, 0.9959299564361572, 0.030223103240132332], "tcp_vel": [-0.00010806989303091541, 0.0008105597808025777, 0.00035366311203688383, -0.0007985222619026899, -0.0008368017734028399, 0.0008321685600094497], "flange_pose": [0.6559056639671326, -0.08498203009366989, -0.1351119428873062, -0.028097201138734818, -0.08012857288122177, 0.9959299564361572, 0.030223103240132332], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.88558578491211, -48.63266372680664, -13.86923885345459, -4.212624549865723, 11.125937461853027, -0.20394305884838104], "ext_wrench_in_world": [-8.119302308715275, -51.41549833863478, 11.538554304937426, 2.407421584004735, 11.63089267500339, 0.70777091906143]}
+{"timestamp_ns": 1789729895488898836, "elapsed_ms": 14866, "source_timestamp_ns": 1789729895481658634, "q": [0.11137259751558304, -1.5905171632766724, -0.10902027040719986, 0.8236598372459412, 1.7150386571884155, -0.09608402848243713, -0.9981269836425781], "theta": [0.10890281200408936, -1.5894025564193726, -0.11095897853374481, 0.8076770901679993, 1.714462161064148, -0.09560859203338623, -0.9977205991744995], "dq": [-0.011722526513040066, -0.0018928798381239176, 0.027548786252737045, -0.0016426366055384278, -0.03163870424032211, 0.014065221883356571, -0.001488824374973774], "dtheta": [-0.012316438369452953, -0.00039789671427570283, 0.027795035392045975, -0.002282804809510708, -0.028952501714229584, 0.01301999855786562, -0.002173250773921609], "tau": [-62.79999923706055, -1.9799998998641968, -25.72800064086914, 4.328000068664551, -4.200000286102295, 3.752000093460083, -0.2800000011920929], "tau_des": [-1.139357089996338, 1.0399830341339111, -0.5495773553848267, -0.17658835649490356, -0.08850852400064468, 0.1778254359960556, -0.2824757695198059], "tau_dot": [-133.22698974609375, -13.442030906677246, -59.72776412963867, -27.008089065551758, -9.521645545959473, -17.639785766601562, 37.66707229614258], "tau_ext": [14.91362190246582, -35.75935745239258, -36.45859909057617, 20.00092315673828, -2.303643226623535, -6.987460613250732, 0.18858398497104645], "tcp_pose": [0.6443422436714172, -0.07438405603170395, -0.3244606852531433, -0.028091052547097206, -0.08012612164020538, 0.9959308505058289, 0.030206650495529175], "tcp_vel": [-0.00027177241281606257, 0.0006583626964129508, 0.00012618668552022427, -0.001067132456228137, 0.00015822320710867643, 0.0008574912790209055], "flange_pose": [0.6558931469917297, -0.08496056497097015, -0.13510726392269135, -0.028091052547097206, -0.08012612164020538, 0.9959308505058289, 0.030206650495529175], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.927976608276367, -48.546653747558594, -13.865216255187988, -4.189450263977051, 11.13662052154541, -0.20067019760608673], "ext_wrench_in_world": [-8.175308301892713, -51.33695799822144, 11.543798404194263, 2.382737141588231, 11.637875162597187, 0.706048225938168]}
+{"timestamp_ns": 1789729895522323500, "elapsed_ms": 14900, "source_timestamp_ns": 1789729895521742231, "q": [0.1108836904168129, -1.590545654296875, -0.10790621489286423, 0.8235745429992676, 1.713884711265564, -0.09552966803312302, -0.9981992840766907], "theta": [0.10841262340545654, -1.5894293785095215, -0.10986082255840302, 0.8075870871543884, 1.7133140563964844, -0.09506046772003174, -0.9977867603302002], "dq": [-0.01356758363544941, -0.0032661857549101114, 0.02730165421962738, -0.002202581148594618, -0.028256306424736977, 0.012384280562400818, -0.005053611472249031], "dtheta": [-0.011885012499988079, -0.0010009537218138576, 0.026268068701028824, -0.0026735502760857344, -0.029859201982617378, 0.014348295517265797, -0.0015502633759751916], "tau": [-62.869998931884766, -1.9499999284744263, -25.660001754760742, 4.315999984741211, -4.160000324249268, 3.7720000743865967, -0.29200002551078796], "tau_des": [-1.0292741060256958, 1.198257565498352, -0.35186946392059326, -0.2681249976158142, 0.04887793958187103, 0.1087154895067215, -0.29717549681663513], "tau_dot": [-147.40248107910156, -91.37422180175781, -52.02984619140625, 92.28932189941406, -41.048641204833984, 29.485118865966797, 7.198426723480225], "tau_ext": [14.938032150268555, -35.735389709472656, -36.51323699951172, 20.003055572509766, -2.327956438064575, -6.994501113891602, 0.1914149522781372], "tcp_pose": [0.6443300247192383, -0.07437355071306229, -0.32445546984672546, -0.028086047619581223, -0.08012637495994568, 0.9959319829940796, 0.030173374339938164], "tcp_vel": [-0.0003932469116989523, -0.0005813560565002263, 0.0007114261388778687, -0.004236871376633644, 0.00047379868919961154, 0.00022579295909963548], "flange_pose": [0.6558780670166016, -0.08493762463331223, -0.13510116934776306, -0.028086047619581223, -0.08012637495994568, 0.9959319829940796, 0.030173374339938164], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [16.995281219482422, -48.435245513916016, -13.844840049743652, -4.149154186248779, 11.150053024291992, -0.1956765204668045], "ext_wrench_in_world": [-8.260553509285185, -51.236165020571086, 11.537367005978625, 2.340564622846444, 11.644939541716072, 0.7032727227099992]}
+{"timestamp_ns": 1789729895555585268, "elapsed_ms": 14933, "source_timestamp_ns": 1789729895551739647, "q": [0.11054261773824692, -1.5905786752700806, -0.1071370467543602, 0.8234957456588745, 1.7130855321884155, -0.0951441302895546, -0.9982442855834961], "theta": [0.10807248950004578, -1.5894616842269897, -0.10909497737884521, 0.8075042963027954, 1.7125165462493896, -0.09467887878417969, -0.9978282451629639], "dq": [-0.012087455950677395, 0.003054393222555518, 0.02325618453323841, -0.003281436627730727, -0.02195579744875431, 0.014693371951580048, -0.0018317194189876318], "dtheta": [-0.011329565197229385, -0.0012427001493051648, 0.024583209306001663, -0.0027950890362262726, -0.026621563360095024, 0.011124072596430779, -0.0008218465372920036], "tau": [-62.82999801635742, -1.8899999856948853, -25.608001708984375, 4.272000312805176, -4.144000053405762, 3.752000093460083, -0.29200002551078796], "tau_des": [-1.0964559316635132, 1.1497128009796143, -0.3392504155635834, -0.2680239677429199, 0.02390587143599987, 0.17599409818649292, -0.3061082661151886], "tau_dot": [78.59872436523438, 49.74765396118164, -20.270946502685547, 6.621564865112305, 52.583892822265625, -16.332029342651367, -7.883106231689453], "tau_ext": [14.980093955993652, -35.739933013916016, -36.562503814697266, 20.0130672454834, -2.344165563583374, -7.005378246307373, 0.19346387684345245], "tcp_pose": [0.6443244814872742, -0.07437065988779068, -0.3244498074054718, -0.02808215469121933, -0.08012755215167999, 0.9959327578544617, 0.030148692429065704], "tcp_vel": [-0.0004851712437812239, 9.82440760708414e-05, 0.00045688386308029294, -0.0014078306267037988, 0.0008596739498898387, -0.00042349370778538287], "flange_pose": [0.6558703184127808, -0.08492550998926163, -0.13509488105773926, -0.02808215469121933, -0.08012755215167999, 0.9959327578544617, 0.030148692429065704], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.007143020629883, -48.42304611206055, -13.818796157836914, -4.130858421325684, 11.174341201782227, -0.18994006514549255], "ext_wrench_in_world": [-8.275716970807338, -51.22407893578224, 11.515193508864359, 2.318301130723012, 11.666281313693915, 0.699521262205245]}
+{"timestamp_ns": 1789729895588903652, "elapsed_ms": 14966, "source_timestamp_ns": 1789729895581658560, "q": [0.11021460592746735, -1.5906140804290771, -0.10640880465507507, 0.8234090209007263, 1.7123397588729858, -0.09478408098220825, -0.9982748627662659], "theta": [0.10774561762809753, -1.5894972085952759, -0.10835921764373779, 0.8074138760566711, 1.7117682695388794, -0.09432244300842285, -0.9978557825088501], "dq": [-0.009044290520250797, -0.0023938564117997885, 0.0197070874273777, -0.0008658304577693343, -0.025608377531170845, 0.012779226526618004, -0.0002617303980514407], "dtheta": [-0.010382714681327343, -0.0012882753508165479, 0.023573948070406914, -0.002978731645271182, -0.023043133318424225, 0.010379902087152004, -0.0002054462383966893], "tau": [-62.849998474121094, -2.009999990463257, -25.560001373291016, 4.26800012588501, -4.136000156402588, 3.764000177383423, -0.30400002002716064], "tau_des": [-1.1881266832351685, 0.9991969466209412, -0.40887758135795593, -0.19358575344085693, -0.07109658420085907, 0.2035156786441803, -0.31341972947120667], "tau_dot": [18.20441246032715, -54.19778823852539, -8.861868858337402, 34.72440719604492, 74.63153839111328, -43.764549255371094, -0.48340484499931335], "tau_ext": [15.017241477966309, -35.669349670410156, -36.59091567993164, 19.994508743286133, -2.355583429336548, -7.018924713134766, 0.19569942355155945], "tcp_pose": [0.6443252563476562, -0.0743638426065445, -0.32444339990615845, -0.02807401306927204, -0.08012726902961731, 0.9959335327148438, 0.030130621045827866], "tcp_vel": [-6.0335347370710224e-05, 0.0006677385536022484, -0.00017437551287002861, 0.000513389939442277, -0.0002877365332096815, -0.0007593848276883364], "flange_pose": [0.6558673977851868, -0.08491211384534836, -0.13508787751197815, -0.02807401306927204, -0.08012726902961731, 0.9959335327148438, 0.030130621045827866], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.00517463684082, -48.416561126708984, -13.821778297424316, -4.117997169494629, 11.201801300048828, -0.18456526100635529], "ext_wrench_in_world": [-8.274848671358523, -51.21713548668776, 11.520105167633549, 2.3009510650930842, 11.691586811258613, 0.6962323033028158]}
+{"timestamp_ns": 1789729895622246993, "elapsed_ms": 15000, "source_timestamp_ns": 1789729895621664504, "q": [0.10981744527816772, -1.5906496047973633, -0.1055227667093277, 0.823320209980011, 1.711413025856018, -0.09434637427330017, -0.9983222484588623], "theta": [0.10735122859477997, -1.5895323753356934, -0.10744917392730713, 0.8073201775550842, 1.710837721824646, -0.09388971328735352, -0.9979009032249451], "dq": [-0.01138096209615469, 0.0011915756622329354, 0.02169378474354744, 8.338056068168953e-05, -0.016911081969738007, 0.011292338371276855, 0.00031616719206795096], "dtheta": [-0.009531313553452492, -0.0008371781441383064, 0.022368310019373894, -0.0014771985588595271, -0.01991141587495804, 0.01205154974013567, -0.001830289140343666], "tau": [-62.81999969482422, -1.899999976158142, -25.50400161743164, 4.192000389099121, -4.104000091552734, 3.80400013923645, -0.31200000643730164], "tau_des": [-1.1688944101333618, 0.9971019625663757, -0.329052597284317, -0.23121851682662964, -0.07388310879468918, 0.1564306765794754, -0.29574117064476013], "tau_dot": [-130.4660186767578, 126.69767761230469, 36.46394729614258, 70.85906982421875, 56.80685043334961, 27.103694915771484, 4.788755893707275], "tau_ext": [15.055425643920898, -35.67158126831055, -36.64192581176758, 20.027095794677734, -2.381235122680664, -7.027575969696045, 0.19476743042469025], "tcp_pose": [0.6443184614181519, -0.07435867935419083, -0.32443395256996155, -0.028071703389286995, -0.0801272839307785, 0.9959344267845154, 0.0301026813685894], "tcp_vel": [0.0003729861637111753, 0.00042233255226165056, -0.0003092419938184321, 0.00014950058539398015, -0.0031129098497331142, 7.1300773925031535e-06], "flange_pose": [0.6558589339256287, -0.08489645272493362, -0.13507775962352753, -0.028071703389286995, -0.0801272839307785, 0.9959344267845154, 0.0301026813685894], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.052305221557617, -48.29436492919922, -13.827216148376465, -4.0657877922058105, 11.225430488586426, -0.17782673239707947], "ext_wrench_in_world": [-8.340303639546393, -51.10400662376051, 11.538567757592919, 2.2453319924459763, 11.706864014478308, 0.693081209023818]}
+{"timestamp_ns": 1789729895655576015, "elapsed_ms": 15033, "source_timestamp_ns": 1789729895651663240, "q": [0.10953841358423233, -1.5906805992126465, -0.10487701743841171, 0.8232702612876892, 1.7107499837875366, -0.09400931745767593, -0.9983739256858826], "theta": [0.1070762351155281, -1.5895636081695557, -0.10678231716156006, 0.8072672486305237, 1.710171103477478, -0.09355425834655762, -0.9979512691497803], "dq": [-0.009770005010068417, -0.003967400640249252, 0.01987490803003311, -0.0006528371595777571, -0.02096164971590042, 0.009439969435334206, -0.003139908192679286], "dtheta": [-0.008984855376183987, -0.0008385077235288918, 0.021777132526040077, -0.001934719504788518, -0.024180704727768898, 0.01259419322013855, -0.002465946367010474], "tau": [-62.89999771118164, -1.9399999380111694, -25.46000099182129, 4.176000118255615, -4.0920000076293945, 3.7840001583099365, -0.29200002551078796], "tau_des": [-1.179682731628418, 1.165341854095459, -0.18432113528251648, -0.30264368653297424, 0.12678740918636322, 0.10364828258752823, -0.28326210379600525], "tau_dot": [41.94719696044922, 9.58542251586914, 29.214557647705078, 0.9920042157173157, -10.547675132751465, -2.6857690811157227, -4.3119072914123535], "tau_ext": [15.071959495544434, -35.6861457824707, -36.683082580566406, 20.04216957092285, -2.4030075073242188, -7.036405563354492, 0.194206103682518], "tcp_pose": [0.644308865070343, -0.07436386495828629, -0.32443222403526306, -0.028063545003533363, -0.08012650907039642, 0.9959354400634766, 0.03007870353758335], "tcp_vel": [-0.00043322614510543644, -0.0005877313087694347, 5.4853149777045473e-05, -0.003605606034398079, 0.00026710121892392635, 0.00115040538366884], "flange_pose": [0.6558455228805542, -0.08489283174276352, -0.13507528603076935, -0.028063545003533363, -0.08012650907039642, 0.9959354400634766, 0.03007870353758335], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.108198165893555, -48.29794692993164, -13.801224708557129, -4.0561065673828125, 11.235112190246582, -0.17590294778347015], "ext_wrench_in_world": [-8.396678846702066, -51.11456642604225, 11.517500119779704, 2.234140679175827, 11.714979349839174, 0.6917821325574778]}
+{"timestamp_ns": 1789729895688890619, "elapsed_ms": 15066, "source_timestamp_ns": 1789729895681677855, "q": [0.10926469415426254, -1.5907140970230103, -0.10425462573766708, 0.823208212852478, 1.7101125717163086, -0.0936937928199768, -0.9984360337257385], "theta": [0.106810063123703, -1.5895979404449463, -0.10613758116960526, 0.8072018027305603, 1.7095311880111694, -0.09323740005493164, -0.9980130195617676], "dq": [-0.007896160706877708, 6.900347216287628e-05, 0.02004336006939411, -0.00409519299864769, -0.02224617451429367, 0.00881718285381794, -0.0015956328716129065], "dtheta": [-0.00891825370490551, -0.000987962237559259, 0.02095298282802105, -0.0022349392529577017, -0.022405635565519333, 0.010428890585899353, -0.0010786307975649834], "tau": [-62.84000015258789, -1.9799998998641968, -25.37200164794922, 4.180000305175781, -4.068000316619873, 3.7720000743865967, -0.2680000066757202], "tau_des": [-1.1805763244628906, 1.10907781124115, -0.17479246854782104, -0.27859044075012207, 0.1056160181760788, 0.14690330624580383, -0.2744004726409912], "tau_dot": [0.3941574990749359, -71.99523162841797, 33.84756088256836, 22.766727447509766, 31.439340591430664, -35.51499557495117, 16.854352951049805], "tau_ext": [14.991833686828613, -35.69991683959961, -36.780853271484375, 20.04534339904785, -2.4292378425598145, -7.025511264801025, 0.18314824998378754], "tcp_pose": [0.6443033218383789, -0.07436498999595642, -0.3244292140007019, -0.028056133538484573, -0.08013712614774704, 0.9959353804588318, 0.030060259625315666], "tcp_vel": [-0.00040944883949123323, -4.243832154315896e-05, -2.3895343474578112e-05, -0.0016960533102974296, 0.0005835579358972609, 8.11313384474488e-06], "flange_pose": [0.6558367609977722, -0.08488709479570389, -0.13507170975208282, -0.028056133538484573, -0.08013712614774704, 0.9959353804588318, 0.030060259625315666], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.104795455932617, -48.325164794921875, -13.848108291625977, -4.0539631843566895, 11.260608673095703, -0.17682917416095734], "ext_wrench_in_world": [-8.38528041561561, -51.14321303405225, 11.563931693299251, 2.2277901531299222, 11.73977799186921, 0.6940875166668878]}
+{"timestamp_ns": 1789729895722305564, "elapsed_ms": 15100, "source_timestamp_ns": 1789729895721660711, "q": [0.1089041605591774, -1.590754747390747, -0.1034722551703453, 0.8231176137924194, 1.709299087524414, -0.09332461655139923, -0.9984749555587769], "theta": [0.10646145045757294, -1.5896414518356323, -0.10532228648662567, 0.8071072697639465, 1.7087150812149048, -0.0928642749786377, -0.9980491995811462], "dq": [-0.009800738655030727, -0.0007582196849398315, 0.020281631499528885, -0.0016301833093166351, -0.019605625420808792, 0.006822978612035513, -0.0023484902922064066], "dtheta": [-0.00821125227957964, -0.0006255790940485895, 0.01985604502260685, -0.0023611795622855425, -0.02068338170647621, 0.009292791597545147, -0.00023847287229727954], "tau": [-62.869998931884766, -2.0, -25.34400177001953, 4.160000324249268, -4.088000297546387, 3.7800002098083496, -0.2760000228881836], "tau_des": [-1.2049782276153564, 0.9387929439544678, -0.18954820930957794, -0.20536057651042938, 0.08366875350475311, 0.2075028121471405, -0.2795551121234894], "tau_dot": [45.18000411987305, 60.505733489990234, 89.260986328125, -2.5306038856506348, -39.35206604003906, -22.410884857177734, 8.436429977416992], "tau_ext": [15.073015213012695, -35.61506271362305, -36.78960037231445, 20.01286506652832, -2.438019275665283, -7.037099838256836, 0.17468777298927307], "tcp_pose": [0.6442991495132446, -0.07435809075832367, -0.324416846036911, -0.028053177520632744, -0.08013802766799927, 0.9959359169006348, 0.030043678358197212], "tcp_vel": [-0.00023145947488956153, 0.00047938068746589124, -0.0003175561432726681, -0.0007879587356001139, 0.0008472468471154571, -0.0002120189747074619], "flange_pose": [0.6558309197425842, -0.08487400412559509, -0.13505889475345612, -0.028053177520632744, -0.08013802766799927, 0.9959359169006348, 0.030043678358197212], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.10053062438965, -48.286521911621094, -13.91517448425293, -4.031075954437256, 11.287984848022461, -0.18307876586914062], "ext_wrench_in_world": [-8.38308367092736, -51.10780457481461, 11.634631347539381, 2.2012535622062366, 11.762743341525228, 0.702883312091939]}
+{"timestamp_ns": 1789729895755638816, "elapsed_ms": 15133, "source_timestamp_ns": 1789729895751695043, "q": [0.10865293443202972, -1.5907855033874512, -0.10291609913110733, 0.8230534195899963, 1.7087247371673584, -0.09304417669773102, -0.9985061883926392], "theta": [0.1062210276722908, -1.5896753072738647, -0.10473758727312088, 0.8070399761199951, 1.7081385850906372, -0.09257662296295166, -0.9980782866477966], "dq": [-0.007280099205672741, 0.002680795965716243, 0.017659714445471764, -0.002190813422203064, -0.01713896356523037, 0.007645037956535816, -0.00220380537211895], "dtheta": [-0.007755644153803587, -0.0011456534266471863, 0.019592009484767914, -0.002055279677733779, -0.017905551940202713, 0.008021598681807518, -0.0014880076050758362], "tau": [-62.87999725341797, -1.96999990940094, -25.304000854492188, 4.128000259399414, -4.052000045776367, 3.808000087738037, -0.2639999985694885], "tau_des": [-1.288711667060852, 0.9849738478660583, -0.2393742948770523, -0.23332345485687256, 0.030097801238298416, 0.24351893365383148, -0.26014161109924316], "tau_dot": [-53.35759353637695, 66.61569213867188, 8.053071975708008, -45.39574432373047, 20.881282806396484, 21.986068725585938, 8.903196334838867], "tau_ext": [15.05665111541748, -35.59799575805664, -36.83090591430664, 20.017784118652344, -2.455045700073242, -7.041133880615234, 0.16182677447795868], "tcp_pose": [0.6442981958389282, -0.0743575245141983, -0.3244100511074066, -0.028046485036611557, -0.08013972640037537, 0.9959364533424377, 0.03002609871327877], "tcp_vel": [-0.00034937073360197246, 0.0007817358709871769, -0.0008528722682967782, 0.0017371755093336105, -1.0865827789530158e-05, 0.0002536652609705925], "flange_pose": [0.6558269262313843, -0.0848669707775116, -0.13505154848098755, -0.028046485036611557, -0.08013972640037537, 0.9959364533424377, 0.03002609871327877], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.121553421020508, -48.23189926147461, -13.90003490447998, -4.003666877746582, 11.302576065063477, -0.18772684037685394], "ext_wrench_in_world": [-8.413340344880554, -51.056174180721996, 11.625723656299325, 2.172160007041297, 11.772474658349164, 0.7094905661429239]}
+{"timestamp_ns": 1789729895788895275, "elapsed_ms": 15166, "source_timestamp_ns": 1789729895781669622, "q": [0.10841129720211029, -1.590819239616394, -0.10238432884216309, 0.8229990601539612, 1.7081844806671143, -0.09278331696987152, -0.9985303282737732], "theta": [0.10599248111248016, -1.589712381362915, -0.10417363792657852, 0.8069813847541809, 1.707596778869629, -0.0923084020614624, -0.998100757598877], "dq": [-0.00797018501907587, 9.9643410067074e-05, 0.017295077443122864, -0.003948607947677374, -0.018756121397018433, 0.007777628488838673, -0.0012796324444934726], "dtheta": [-0.007147585041821003, -0.0012060970766469836, 0.018759891390800476, -0.0021763432305306196, -0.017129505053162575, 0.00782040599733591, -0.00046448258217424154], "tau": [-62.90999984741211, -1.9299999475479126, -25.36800193786621, 4.080000400543213, -4.052000045776367, 3.820000171661377, -0.2720000147819519], "tau_des": [-1.307853102684021, 1.037481427192688, -0.21918247640132904, -0.2794009745121002, 0.03922830522060394, 0.2461194396018982, -0.2978258728981018], "tau_dot": [27.36285972595215, -7.146234512329102, -41.98741149902344, -28.448881149291992, -16.752344131469727, -28.00558090209961, 14.040105819702148], "tau_ext": [15.062647819519043, -35.580116271972656, -36.83657455444336, 20.029756546020508, -2.4658780097961426, -7.047191619873047, 0.16954120993614197], "tcp_pose": [0.6442938446998596, -0.07435847818851471, -0.32440346479415894, -0.028037626296281815, -0.08013317734003067, 0.9959375858306885, 0.030014265328645706], "tcp_vel": [-0.0003609226841945201, 0.0007090481230989099, -0.0009945565834641457, 0.0015234758611768484, 0.0002364033425692469, -0.000606716435868293], "flange_pose": [0.6558188199996948, -0.0848638042807579, -0.13504451513290405, -0.028037626296281815, -0.08013317734003067, 0.9959375858306885, 0.030014265328645706], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.15167236328125, -48.21416091918945, -13.9169282913208, -3.993821144104004, 11.310564994812012, -0.18970397114753723], "ext_wrench_in_world": [-8.445693794468164, -51.04411502998713, 11.646228926143007, 2.1614549443584967, 11.778636754347367, 0.7122528780381974]}
+{"timestamp_ns": 1789729895822305840, "elapsed_ms": 15200, "source_timestamp_ns": 1789729895821695704, "q": [0.10812506079673767, -1.5908620357513428, -0.1016954854130745, 0.8229295611381531, 1.7074922323226929, -0.09243492782115936, -0.998578667640686], "theta": [0.10572254657745361, -1.589760661125183, -0.10344307124614716, 0.8069058060646057, 1.7069015502929688, -0.09194612503051758, -0.9981480240821838], "dq": [-0.008319626562297344, -0.0009978479938581586, 0.0171400997787714, -0.002995849121361971, -0.01981263980269432, 0.008579950779676437, -0.005220895633101463], "dtheta": [-0.00647991755977273, -0.001316869049333036, 0.01820705272257328, -0.001763522974215448, -0.016773955896496773, 0.009415674954652786, -0.0008524020086042583], "tau": [-63.04999923706055, -1.8899999856948853, -25.36400032043457, 4.052000045776367, -4.048000335693359, 3.8400001525878906, -0.29600000381469727], "tau_des": [-1.4317086935043335, 1.1775988340377808, -0.2293182760477066, -0.35731813311576843, 0.08189203590154648, 0.23556208610534668, -0.2980239987373352], "tau_dot": [-148.47891235351562, -9.117217063903809, 12.1342191696167, 10.828271865844727, 0.49478018283843994, 38.80898666381836, -40.1607551574707], "tau_ext": [15.139267921447754, -35.658267974853516, -36.810394287109375, 20.064119338989258, -2.4715116024017334, -7.064553737640381, 0.18494459986686707], "tcp_pose": [0.6442834138870239, -0.07435999810695648, -0.3244120478630066, -0.028032969683408737, -0.08013325184583664, 0.9959381818771362, 0.029998401179909706], "tcp_vel": [-0.00036119823926128447, 6.750513421138749e-05, -0.0010543826501816511, -6.641414529440226e-06, -0.0004835438448935747, -0.0006524118944071233], "flange_pose": [0.6558061242103577, -0.0848594680428505, -0.1350526362657547, -0.028032969683408737, -0.08013325184583664, 0.9959381818771362, 0.029998401179909706], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.1796875, -48.22148895263672, -13.86562728881836, -3.9951741695404053, 11.319262504577637, -0.17800401151180267], "ext_wrench_in_world": [-8.475363210594262, -51.05266550606707, 11.597536061314056, 2.1606890313362723, 11.788095119896523, 0.700743943783482]}
+{"timestamp_ns": 1789729895855657210, "elapsed_ms": 15233, "source_timestamp_ns": 1789729895851715738, "q": [0.10792535543441772, -1.5908873081207275, -0.10118035972118378, 0.8228706121444702, 1.7069755792617798, -0.09214646369218826, -0.9986098408699036], "theta": [0.10553662478923798, -1.5897918939590454, -0.1029033437371254, 0.8068428635597229, 1.7063833475112915, -0.09164762496948242, -0.998177707195282], "dq": [-0.005947945639491081, 0.0005326498067006469, 0.017500249668955803, -0.004304117988795042, -0.016358450055122375, 0.010491346940398216, -0.0023976131342351437], "dtheta": [-0.006408854853361845, -0.0009272554307244718, 0.018436908721923828, -0.002108350396156311, -0.016744906082749367, 0.009743137285113335, -0.0007299856515601277], "tau": [-63.099998474121094, -1.9399999380111694, -25.3960018157959, 4.028000354766846, -4.044000148773193, 3.820000171661377, -0.29200002551078796], "tau_des": [-1.527961254119873, 1.0110876560211182, -0.30425384640693665, -0.24647502601146698, 0.06288304179906845, 0.236717090010643, -0.2782503366470337], "tau_dot": [-67.3980941772461, -22.126428604125977, 16.318038940429688, -42.46090316772461, -41.82429885864258, -38.67847442626953, -34.385929107666016], "tau_ext": [15.20421314239502, -35.63047790527344, -36.786590576171875, 20.061487197875977, -2.477287530899048, -7.076854228973389, 0.1833530068397522], "tcp_pose": [0.6442822813987732, -0.0743604525923729, -0.32442620396614075, -0.028028344735503197, -0.08013762533664703, 0.9959386587142944, 0.029976818710565567], "tcp_vel": [-2.1247449694783427e-05, 0.000438536488218233, -0.0012154612923040986, 7.058312621666119e-05, -0.0006155285518616438, -5.959613554296084e-05], "flange_pose": [0.6558026671409607, -0.08485185354948044, -0.1350662112236023, -0.028028344735503197, -0.08013762533664703, 0.9959386587142944, 0.029976818710565567], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.178815841674805, -48.226619720458984, -13.795769691467285, -3.994317054748535, 11.332155227661133, -0.1704293191432953], "ext_wrench_in_world": [-8.477591331788352, -51.05331674008716, 11.529575873008975, 2.157226801588081, 11.80112919439793, 0.6935987702736366]}
+{"timestamp_ns": 1789729895888891691, "elapsed_ms": 15266, "source_timestamp_ns": 1789729895881695445, "q": [0.10771650075912476, -1.5909085273742676, -0.10066380351781845, 0.8228192925453186, 1.7064650058746338, -0.09186799824237823, -0.998632550239563], "theta": [0.10534078627824783, -1.589818000793457, -0.10236365348100662, 0.8067880868911743, 1.7058671712875366, -0.091361403465271, -0.9981995224952698], "dq": [-0.008640865795314312, -0.0003194012679159641, 0.015620553866028786, -0.0011064204154536128, -0.018638283014297485, 0.008803407661616802, -0.0012597102904692292], "dtheta": [-0.006251597311347723, -0.0009905939223244786, 0.017780771479010582, -0.0012628452386707067, -0.017268924042582512, 0.010321925394237041, -0.001473204349167645], "tau": [-63.21999740600586, -1.9799998998641968, -25.46000099182129, 4.056000232696533, -4.060000419616699, 3.8560001850128174, -0.2800000011920929], "tau_des": [-1.5198136568069458, 1.1277313232421875, -0.26460501551628113, -0.3253383934497833, 0.09530093520879745, 0.206764817237854, -0.2816789448261261], "tau_dot": [-145.27685546875, -11.183822631835938, 32.68096160888672, 78.58003997802734, -30.501750946044922, 26.22257423400879, 9.485494613647461], "tau_ext": [15.222496032714844, -35.610172271728516, -36.78144836425781, 20.05828094482422, -2.4800734519958496, -7.07778263092041, 0.18200255930423737], "tcp_pose": [0.6442824602127075, -0.07435639202594757, -0.3244362473487854, -0.028019385412335396, -0.08013634383678436, 0.9959394335746765, 0.0299611184746027], "tcp_vel": [-0.00038692893576808274, -0.00027767138089984655, -0.0008697683224454522, -0.0014155777171254158, -0.0005715642473660409, -0.00013635317736770958], "flange_pose": [0.6557989716529846, -0.08484214544296265, -0.13507568836212158, -0.028019385412335396, -0.08013634383678436, 0.9959394335746765, 0.0299611184746027], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.19828224182129, -48.20563507080078, -13.757831573486328, -3.9886703491210938, 11.335105895996094, -0.16753257811069489], "ext_wrench_in_world": [-8.50274461843969, -51.033320319106, 11.495461948703893, 2.1510333136935538, 11.8033014528505, 0.6908795037120676]}
+{"timestamp_ns": 1789729895922300516, "elapsed_ms": 15300, "source_timestamp_ns": 1789729895921700049, "q": [0.10744120180606842, -1.5909367799758911, -0.10000395774841309, 0.8227560520172119, 1.7057915925979614, -0.09151401370763779, -0.9986699223518372], "theta": [0.10508257895708084, -1.58985435962677, -0.10167024284601212, 0.8067208528518677, 1.7051870822906494, -0.09099507331848145, -0.9982354640960693], "dq": [-0.008475644513964653, -0.0012639905326068401, 0.016619030386209488, -0.001126123359426856, -0.01715490035712719, 0.0091641740873456, -0.0006220146315172315], "dtheta": [-0.006507405079901218, -0.0010466380044817924, 0.017190920189023018, -0.0016689386684447527, -0.015264896675944328, 0.008884989656507969, -0.0003629084094427526], "tau": [-63.18000030517578, -1.9499999284744263, -25.3960018157959, 4.02400016784668, -4.056000232696533, 3.8520002365112305, -0.2880000174045563], "tau_des": [-1.4936586618423462, 1.028775930404663, -0.2657544016838074, -0.2810087502002716, 0.05238179862499237, 0.22819089889526367, -0.2953929007053375], "tau_dot": [-115.77877807617188, -25.59088706970215, 46.627723693847656, 67.62244415283203, -102.6723403930664, 20.0767765045166, 36.71842956542969], "tau_ext": [15.296333312988281, -35.628475189208984, -36.749515533447266, 20.08333969116211, -2.4884071350097656, -7.093471050262451, 0.18107089400291443], "tcp_pose": [0.6442791819572449, -0.0743563324213028, -0.32444122433662415, -0.028012385591864586, -0.08013695478439331, 0.9959403872489929, 0.02993493340909481], "tcp_vel": [4.8078418330987915e-06, 0.00031984219094738364, -0.0008138557313941419, 0.00037668837467208505, -0.0012455632677301764, -0.0008302679634653032], "flange_pose": [0.655792236328125, -0.08483239263296127, -0.13507993519306183, -0.028012385591864586, -0.08013695478439331, 0.9959403872489929, 0.02993493340909481], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.244382858276367, -48.1627197265625, -13.667920112609863, -3.9751675128936768, 11.334081649780273, -0.16404198110103607], "ext_wrench_in_world": [-8.560509082359768, -50.99294262394496, 11.413406092346245, 2.1376378416726136, 11.800346450718008, 0.6874601602208822]}
+{"timestamp_ns": 1789729895955583073, "elapsed_ms": 15333, "source_timestamp_ns": 1789729895951709234, "q": [0.10723759979009628, -1.5909653902053833, -0.0995364710688591, 0.822702169418335, 1.7053132057189941, -0.0912783071398735, -0.9986857175827026], "theta": [0.10489360988140106, -1.5898886919021606, -0.10118043422698975, 0.8066638112068176, 1.7047032117843628, -0.09075236320495605, -0.9982503056526184], "dq": [-0.008712048642337322, -3.341482806717977e-05, 0.013386750593781471, -0.0013992764288559556, -0.01403385866433382, 0.007484493777155876, 0.002016885671764612], "dtheta": [-0.006065748166292906, -0.0006557522574439645, 0.016217583790421486, -0.0022448678500950336, -0.016118254512548447, 0.007408704608678818, -0.0006110821268521249], "tau": [-63.1099967956543, -1.9399999380111694, -25.440000534057617, 4.019999980926514, -4.019999980926514, 3.8400001525878906, -0.30000001192092896], "tau_des": [-1.5392544269561768, 0.9130666255950928, -0.25545698404312134, -0.2141801118850708, 0.09575603157281876, 0.2723037302494049, -0.2905518710613251], "tau_dot": [40.86930465698242, 65.10945129394531, -19.148731231689453, 29.42171287536621, -7.903237819671631, -22.88197898864746, -50.035423278808594], "tau_ext": [15.269832611083984, -35.59136199951172, -36.76154708862305, 20.064918518066406, -2.502030611038208, -7.094188690185547, 0.18029941618442535], "tcp_pose": [0.6442761421203613, -0.07435639202594757, -0.3244406282901764, -0.028008824214339256, -0.08013247698545456, 0.9959412813186646, 0.02992156893014908], "tcp_vel": [-0.00018886856560129672, 0.0005926685989834368, -0.0007797788130119443, 5.543076986214146e-05, 0.0008787053520791233, 0.00047027767868712544], "flange_pose": [0.6557874083518982, -0.08482755720615387, -0.13507893681526184, -0.028008824214339256, -0.08013247698545456, 0.9959412813186646, 0.02992156893014908], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.25989532470703, -48.16009521484375, -13.653007507324219, -3.9759788513183594, 11.338159561157227, -0.1615743190050125], "ext_wrench_in_world": [-8.577653739076519, -50.99166287317193, 11.400769512580998, 2.137738347708876, 11.804631432970673, 0.6849290542891708]}
+{"timestamp_ns": 1789729895988899447, "elapsed_ms": 15366, "source_timestamp_ns": 1789729895981720579, "q": [0.10702981054782867, -1.590993881225586, -0.09904953837394714, 0.8226439356803894, 1.7048224210739136, -0.09102832525968552, -0.998708188533783], "theta": [0.1047019213438034, -1.5899240970611572, -0.10067246109247208, 0.8066038489341736, 1.7042053937911987, -0.09049451351165771, -0.9982712268829346], "dq": [-0.007862092927098274, -0.0033019378315657377, 0.01790332794189453, -0.0007518237107433379, -0.018074560910463333, 0.008800857700407505, 0.0002829642326105386], "dtheta": [-0.006438347976654768, -0.0014058983651921153, 0.017379002645611763, -0.002122923731803894, -0.017434248700737953, 0.0095562394708395, -0.0006183391669765115], "tau": [-63.189998626708984, -1.9199999570846558, -25.468000411987305, 3.9840002059936523, -4.028000354766846, 3.8520002365112305, -0.2800000011920929], "tau_des": [-1.4929293394088745, 1.1211804151535034, -0.2507205605506897, -0.3147737979888916, 0.13021287322044373, 0.22565233707427979, -0.30512070655822754], "tau_dot": [-25.0258731842041, 174.69540405273438, -43.38077163696289, -16.64225196838379, -1.3589667081832886, 1.2381565570831299, -5.3710408210754395], "tau_ext": [15.310851097106934, -35.62008285522461, -36.73242950439453, 20.08213233947754, -2.50846791267395, -7.100471019744873, 0.18012939393520355], "tcp_pose": [0.644275426864624, -0.07435450702905655, -0.3244433104991913, -0.028002982959151268, -0.08013265579938889, 0.9959418177604675, 0.029908517375588417], "tcp_vel": [-0.0003485136548988521, -0.0003016251721419394, -0.0006646918482147157, -0.001357964356429875, 1.289755164179951e-05, -0.000489520956762135], "flange_pose": [0.6557841300964355, -0.08482091873884201, -0.1350812166929245, -0.028002982959151268, -0.08013265579938889, 0.9959418177604675, 0.029908517375588417], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.26203155517578, -48.1439323425293, -13.640501022338867, -3.976778268814087, 11.343013763427734, -0.16061438620090485], "ext_wrench_in_world": [-8.583193223482368, -50.97511171333186, 11.390610293397557, 2.1376843060872415, 11.809614998207069, 0.683975890882632]}
+{"timestamp_ns": 1789729896022262188, "elapsed_ms": 15400, "source_timestamp_ns": 1789729896021706247, "q": [0.10675225406885147, -1.591020107269287, -0.09837166219949722, 0.8225906491279602, 1.704138159751892, -0.09066733717918396, -0.9987488389015198], "theta": [0.1044469103217125, -1.589958906173706, -0.09997393935918808, 0.8065486550331116, 1.7035119533538818, -0.09012126922607422, -0.9983105063438416], "dq": [-0.007993162609636784, -0.0022677434608340263, 0.019410185515880585, 0.00210326979868114, -0.020815284922719002, 0.009373174048960209, 0.0011667391518130898], "dtheta": [-0.005887547507882118, -0.0003803803992923349, 0.016822677105665207, -0.0008654813282191753, -0.01764620654284954, 0.009332439862191677, 1.7419448340660892e-05], "tau": [-63.16999816894531, -1.9499999284744263, -25.500001907348633, 3.9560000896453857, -4.016000270843506, 3.8680002689361572, -0.2840000092983246], "tau_des": [-1.613747477531433, 1.0720138549804688, -0.2894086539745331, -0.34082189202308655, 0.16179825365543365, 0.2509332597255707, -0.3294825255870819], "tau_dot": [119.90271759033203, -53.71865463256836, -23.709577560424805, 20.660144805908203, -31.153894424438477, -13.545292854309082, 22.69224739074707], "tau_ext": [15.357614517211914, -35.55728530883789, -36.69304275512695, 20.06593894958496, -2.508425235748291, -7.114250183105469, 0.18161675333976746], "tcp_pose": [0.6442686915397644, -0.07435342669487, -0.32445213198661804, -0.027995485812425613, -0.0801306888461113, 0.9959428906440735, 0.0298848245292902], "tcp_vel": [-0.0006158791948109865, -0.00012916057312395424, -0.0007422905182465911, -0.001950825098901987, 0.0007940939976833761, -0.0012803726131096482], "flange_pose": [0.6557737588882446, -0.08481112867593765, -0.13508933782577515, -0.027995485812425613, -0.0801306888461113, 0.9959428906440735, 0.0298848245292902], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.2863712310791, -48.08913803100586, -13.566533088684082, -3.9635465145111084, 11.343770027160645, -0.15677890181541443], "ext_wrench_in_world": [-8.620691691627401, -50.920419834642495, 11.323831753069552, 2.124316677534509, 11.808461930064464, 0.680370873584965]}
+{"timestamp_ns": 1789729896055593493, "elapsed_ms": 15433, "source_timestamp_ns": 1789729896051702656, "q": [0.10655241459608078, -1.5910288095474243, -0.09787052124738693, 0.822570264339447, 1.7036240100860596, -0.09039229899644852, -0.9987974166870117], "theta": [0.10426384955644608, -1.589974045753479, -0.09946510940790176, 0.8065257668495178, 1.702992558479309, -0.08984005451202393, -0.9983586668968201], "dq": [-0.0030453400686383247, 0.0008194998954422772, 0.02053454890847206, 0.0014658980071544647, -0.016401519998908043, 0.008595340885221958, -0.0014099481049925089], "dtheta": [-0.0053061628714203835, -0.0003791067283600569, 0.01694931834936142, -0.0006282261456362903, -0.016988348215818405, 0.0086325379088521, -0.0030557592399418354], "tau": [-63.279998779296875, -1.8600000143051147, -25.496000289916992, 3.892000198364258, -4.0, 3.892000198364258, -0.29200002551078796], "tau_des": [-1.849351167678833, 1.0561373233795166, -0.3886984586715698, -0.3175604045391083, 0.17579402029514313, 0.3012196123600006, -0.26351478695869446], "tau_dot": [26.09769058227539, 74.42327117919922, -25.518598556518555, -32.677364349365234, -33.74626541137695, 52.566383361816406, 45.50633239746094], "tau_ext": [15.398697853088379, -35.59658432006836, -36.66158676147461, 20.081758499145508, -2.515247344970703, -7.122748374938965, 0.1875620186328888], "tcp_pose": [0.6442593336105347, -0.07435405999422073, -0.3244597017765045, -0.02799217961728573, -0.08013428002595901, 0.9959433674812317, 0.02986159361898899], "tcp_vel": [-0.000890203460585326, 0.00012933340622112155, -0.0012839705450460315, -0.0007039743941277266, 0.0011603109305724502, 0.0015384710859507322], "flange_pose": [0.6557625532150269, -0.0848030373454094, -0.13509631156921387, -0.02799217961728573, -0.08013428002595901, 0.9959433674812317, 0.02986159361898899], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.297277450561523, -48.08058547973633, -13.532705307006836, -3.970081090927124, 11.34536361694336, -0.15274842083454132], "ext_wrench_in_world": [-8.634542591984651, -50.9114455234467, 11.293449833533987, 2.1301576022646502, 11.811356198959226, 0.675607045617687]}
+{"timestamp_ns": 1789729896088899871, "elapsed_ms": 15466, "source_timestamp_ns": 1789729896081673717, "q": [0.10633793473243713, -1.591037392616272, -0.09735201299190521, 0.8225491642951965, 1.703115463256836, -0.09012368321418762, -0.998846173286438], "theta": [0.10406691581010818, -1.5899882316589355, -0.09894067794084549, 0.8065029382705688, 1.7024803161621094, -0.08956325054168701, -0.9984073638916016], "dq": [-0.006577222608029842, 0.0014432227471843362, 0.016359122470021248, -0.001985733862966299, -0.012830034829676151, 0.011349848471581936, -0.0017025369452312589], "dtheta": [-0.006312482990324497, -0.0005844644038006663, 0.017416857182979584, -0.0007937008631415665, -0.016099685803055763, 0.011603821069002151, -0.002863123081624508], "tau": [-63.23999786376953, -1.9299999475479126, -25.516000747680664, 3.9200000762939453, -3.9880001544952393, 3.9080002307891846, -0.2800000011920929], "tau_des": [-1.5981236696243286, 1.0042059421539307, -0.3406076729297638, -0.2847959101200104, 0.11005180329084396, 0.2214248776435852, -0.25543907284736633], "tau_dot": [42.64358901977539, -15.209235191345215, 54.82002639770508, 25.11600112915039, 18.840564727783203, 18.965068817138672, 46.39982986450195], "tau_ext": [15.366108894348145, -35.63422393798828, -36.67978286743164, 20.099748611450195, -2.522132635116577, -7.120761394500732, 0.18790559470653534], "tcp_pose": [0.6442543864250183, -0.07434631884098053, -0.32446643710136414, -0.02798045240342617, -0.08013813942670822, 0.9959437251091003, 0.029850706458091736], "tcp_vel": [0.00017256237333640456, -0.00028440181631594896, -0.0006734025082550943, -0.0018685944378376007, -0.002476488472893834, 0.0012927452335134149], "flange_pose": [0.6557528972625732, -0.08479149639606476, -0.1351025551557541, -0.02798045240342617, -0.08013813942670822, 0.9959437251091003, 0.029850706458091736], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.30389976501465, -48.116519927978516, -13.516976356506348, -3.985548496246338, 11.346654891967773, -0.14636963605880737], "ext_wrench_in_world": [-8.63624783279517, -50.94690145029918, 11.276592697425187, 2.144705947198168, 11.815503406663165, 0.6683664944411872]}
+{"timestamp_ns": 1789729896122323159, "elapsed_ms": 15500, "source_timestamp_ns": 1789729896121665937, "q": [0.10605800896883011, -1.5910478830337524, -0.09666411578655243, 0.8225151896476746, 1.702418565750122, -0.0897468626499176, -0.9988963603973389], "theta": [0.10380842536687851, -1.5900057554244995, -0.09823591262102127, 0.8064673542976379, 1.7017751932144165, -0.08917832374572754, -0.9984560012817383], "dq": [-0.006719494238495827, 0.0006891592056490481, 0.012397789396345615, -0.002522903261706233, -0.019671544432640076, 0.008432897739112377, -0.00135910720564425], "dtheta": [-0.006541596259921789, -0.0005776951438747346, 0.016920244321227074, -0.001047869911417365, -0.018668843433260918, 0.008701714687049389, -0.0007275140378624201], "tau": [-63.32999801635742, -1.96999990940094, -25.560001373291016, 3.9200000762939453, -3.9840002059936523, 3.9240002632141113, -0.30800002813339233], "tau_des": [-1.6289805173873901, 1.0380092859268188, -0.3195696771144867, -0.3325384259223938, 0.20695236325263977, 0.28161731362342834, -0.29362744092941284], "tau_dot": [-106.28500366210938, 0.7648612856864929, 4.698853492736816, -30.000110626220703, 49.306427001953125, 29.314937591552734, -35.590248107910156], "tau_ext": [15.407980918884277, -35.557098388671875, -36.632965087890625, 20.059917449951172, -2.519533157348633, -7.126271724700928, 0.1883220374584198], "tcp_pose": [0.6442483067512512, -0.07434237003326416, -0.3244746923446655, -0.027970410883426666, -0.0801391527056694, 0.9959447979927063, 0.02982170134782791], "tcp_vel": [-0.0007654972723685205, -0.00023427342239301652, -0.0003109584213234484, -0.0020227665081620216, 0.001297883689403534, -0.0005450533353723586], "flange_pose": [0.6557421088218689, -0.08477688580751419, -0.13510993123054504, -0.027970410883426666, -0.0801391527056694, 0.9959447979927063, 0.02982170134782791], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.291156768798828, -48.143402099609375, -13.442535400390625, -3.9992406368255615, 11.352045059204102, -0.14173467457294464], "ext_wrench_in_world": [-8.624078501211885, -50.96663820495354, 11.202682098895373, 2.157018517215998, 11.82332147515083, 0.6627833937554508]}
+{"timestamp_ns": 1789729896155591520, "elapsed_ms": 15533, "source_timestamp_ns": 1789729896151661566, "q": [0.10585781931877136, -1.5910567045211792, -0.09617938101291656, 0.8224942088127136, 1.7019370794296265, -0.0894804373383522, -0.9989242553710938], "theta": [0.10362178832292557, -1.590019941329956, -0.09772755950689316, 0.8064460158348083, 1.701286792755127, -0.08890676498413086, -0.9984833002090454], "dq": [-0.00714969914406538, 0.0009773318888619542, 0.016047172248363495, -0.0012201748322695494, -0.016539838165044785, 0.00941078644245863, 0.00028926797676831484], "dtheta": [-0.0060465033166110516, -0.0007719628047198057, 0.016331223770976067, -0.0005959892296232283, -0.015335329808294773, 0.008464636281132698, -0.0007852244889363647], "tau": [-63.349998474121094, -1.909999966621399, -25.59600067138672, 3.9040002822875977, -3.9800002574920654, 3.9080002307891846, -0.30800002813339233], "tau_des": [-1.7209028005599976, 1.052958607673645, -0.38879555463790894, -0.36636069416999817, 0.1174577921628952, 0.2859742343425751, -0.3139827847480774], "tau_dot": [-118.88875579833984, 49.57449722290039, -2.1313424110412598, 5.121947288513184, 43.24967575073242, 39.51052474975586, -44.494483947753906], "tau_ext": [15.441679000854492, -35.58094024658203, -36.601802825927734, 20.08506965637207, -2.531162977218628, -7.136739253997803, 0.18598413467407227], "tcp_pose": [0.6442455649375916, -0.07433965802192688, -0.32447928190231323, -0.027957703918218613, -0.08013434708118439, 0.9959461092948914, 0.029803413897752762], "tcp_vel": [-0.0004741811426356435, 2.5725894374772906e-05, -0.0007109615835361183, -0.00026975569198839366, -0.0005653623375110328, -0.0010561031522229314], "flange_pose": [0.6557340025901794, -0.08476769924163818, -0.13511382043361664, -0.027957703918218613, -0.08013434708118439, 0.9959461092948914, 0.029803413897752762], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.295623779296875, -48.107643127441406, -13.399608612060547, -3.995434522628784, 11.352048873901367, -0.1393735557794571], "ext_wrench_in_world": [-8.637524039699237, -50.92929520685526, 11.163937851191001, 2.153217821040731, 11.822843439466396, 0.6602739349154993]}
+{"timestamp_ns": 1789729896188889558, "elapsed_ms": 15566, "source_timestamp_ns": 1789729896181704701, "q": [0.1056550145149231, -1.591076135635376, -0.09569469839334488, 0.8224679827690125, 1.7014496326446533, -0.08923369646072388, -0.9989665150642395], "theta": [0.10343191027641296, -1.5900452136993408, -0.0972159132361412, 0.8064180016517639, 1.7007944583892822, -0.0886540412902832, -0.9985255002975464], "dq": [-0.005118968430906534, -0.004199652001261711, 0.014028890058398247, -0.0021641897037625313, -0.014483028091490269, 0.006566643714904785, -0.001700895605608821], "dtheta": [-0.006764463614672422, -0.0009696783381514251, 0.01713251881301403, -0.0007507483242079616, -0.016132701188325882, 0.008764803409576416, 4.8759586206870154e-05], "tau": [-63.34000015258789, -1.959999918937683, -25.628002166748047, 3.884000301361084, -3.9760000705718994, 3.9040002822875977, -0.2720000147819519], "tau_des": [-1.661767840385437, 1.1165666580200195, -0.39813801646232605, -0.41439175605773926, 0.13772715628147125, 0.3009168207645416, -0.3338424861431122], "tau_dot": [69.64525604248047, -40.7603759765625, 4.936956882476807, -15.330409049987793, 36.17286682128906, 0.8824426531791687, 22.892038345336914], "tau_ext": [15.448172569274902, -35.58396530151367, -36.585208892822266, 20.097034454345703, -2.533876419067383, -7.141669273376465, 0.18935449421405792], "tcp_pose": [0.6442358493804932, -0.07433947175741196, -0.3244830369949341, -0.02795206569135189, -0.08013395220041275, 0.9959466457366943, 0.02979099191725254], "tcp_vel": [-0.00041376566514372826, -2.6927809813059866e-05, -0.00048028171295300126, -0.0002829468867275864, -0.0008443575352430344, -0.0020062318071722984], "flange_pose": [0.6557217836380005, -0.08476299047470093, -0.13511718809604645, -0.02795206569135189, -0.08013395220041275, 0.9959466457366943, 0.02979099191725254], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.330297470092773, -48.08978271484375, -13.365280151367188, -3.9989359378814697, 11.346057891845703, -0.136819526553154], "ext_wrench_in_world": [-8.67676843055633, -50.91513369545564, 11.133731443846553, 2.1574580376777948, 11.817659536552686, 0.6569138429239992]}
+{"timestamp_ns": 1789729896222251751, "elapsed_ms": 15600, "source_timestamp_ns": 1789729896221697950, "q": [0.10537414252758026, -1.5911030769348145, -0.09501107037067413, 0.8224310874938965, 1.700774908065796, -0.08884835988283157, -0.9990223050117493], "theta": [0.10316698253154755, -1.5900784730911255, -0.09649617224931717, 0.8063793778419495, 1.700116515159607, -0.08826124668121338, -0.9985811114311218], "dq": [-0.006436055060476065, -0.0017880472587421536, 0.01879185065627098, -0.0011734017170965672, -0.01670580729842186, 0.010055877268314362, -0.00046201053191907704], "dtheta": [-0.006799662951380014, -0.0009544541244395077, 0.01788954809308052, -0.0010491888970136642, -0.017832785844802856, 0.00909596960991621, -0.0014973240904510021], "tau": [-63.439998626708984, -1.8600000143051147, -25.6200008392334, 3.864000082015991, -3.9840002059936523, 3.9160001277923584, -0.29600000381469727], "tau_des": [-1.6902613639831543, 1.1331274509429932, -0.4229024350643158, -0.4043140113353729, 0.16526322066783905, 0.26219743490219116, -0.3071702718734741], "tau_dot": [-119.4766616821289, 26.693405151367188, 7.999893665313721, 52.99880599975586, -14.91675090789795, 50.099327087402344, 4.326217174530029], "tau_ext": [15.520459175109863, -35.58184814453125, -36.52170944213867, 20.090980529785156, -2.526341676712036, -7.159353256225586, 0.1871614009141922], "tcp_pose": [0.6442310214042664, -0.07434438169002533, -0.3244898319244385, -0.02793026715517044, -0.08013222366571426, 0.9959482550621033, 0.029762767255306244], "tcp_vel": [-0.0006160608609206975, -9.170373232336715e-05, -0.0005924904253333807, -0.0007843821658752859, 9.462042362429202e-05, -0.00022241681290324777], "flange_pose": [0.6557077765464783, -0.08475792407989502, -0.1351228952407837, -0.02793026715517044, -0.08013222366571426, 0.9959482550621033, 0.029762767255306244], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.348834991455078, -48.06420135498047, -13.3057861328125, -4.005395412445068, 11.341320991516113, -0.1335783302783966], "ext_wrench_in_world": [-8.703381217790108, -50.88903617065784, 11.079288111800501, 2.1643858681872863, 11.814238641109016, 0.6525308862251175]}
+{"timestamp_ns": 1789729896255580057, "elapsed_ms": 15633, "source_timestamp_ns": 1789729896251669361, "q": [0.10516078025102615, -1.5911211967468262, -0.0944913998246193, 0.8224039077758789, 1.7002596855163574, -0.08858441561460495, -0.9990759491920471], "theta": [0.10296317934989929, -1.5901023149490356, -0.09595710784196854, 0.8063501715660095, 1.6996004581451416, -0.08799183368682861, -0.9986364245414734], "dq": [-0.008522734977304935, 0.0008804438402876258, 0.02032213658094406, -0.0019432994304224849, -0.01924358308315277, 0.010965992696583271, -0.0007662256830371916], "dtheta": [-0.007025271654129028, -0.00032756326254457235, 0.01755845919251442, -0.0011673914268612862, -0.016672588884830475, 0.008539846166968346, -0.0015526431379839778], "tau": [-63.43000030517578, -1.9499999284744263, -25.656002044677734, 3.8600001335144043, -3.9760000705718994, 3.936000108718872, -0.2800000011920929], "tau_des": [-1.6846258640289307, 0.9057837128639221, -0.48239123821258545, -0.2920073866844177, 0.1088351234793663, 0.3112885057926178, -0.27966317534446716], "tau_dot": [-33.29401397705078, -40.36935043334961, 42.714046478271484, 32.742027282714844, 12.102628707885742, 27.291088104248047, -8.682778358459473], "tau_ext": [15.506035804748535, -35.54690933227539, -36.50520706176758, 20.081661224365234, -2.5250144004821777, -7.162625789642334, 0.1871596723794937], "tcp_pose": [0.6442217826843262, -0.07434087246656418, -0.32449740171432495, -0.02792329527437687, -0.08013715595006943, 0.9959483742713928, 0.029752327129244804], "tcp_vel": [-6.616503378609195e-05, 0.0006101643666625023, -0.0005141731235198677, 0.0001572607143316418, -0.0006070062518119812, 0.0006114874267950654], "flange_pose": [0.6556956171989441, -0.08475062251091003, -0.13513006269931793, -0.02792329527437687, -0.08013715595006943, 0.9959483742713928, 0.029752327129244804], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.348907470703125, -48.08264923095703, -13.2833890914917, -4.021225452423096, 11.34046459197998, -0.1311146467924118], "ext_wrench_in_world": [-8.701559277752533, -50.90587078739831, 11.056643195956834, 2.1798462236637017, 11.816117159651393, 0.6490208489266746]}
+{"timestamp_ns": 1789729896288886775, "elapsed_ms": 15666, "source_timestamp_ns": 1789729896281675459, "q": [0.10495498031377792, -1.591137170791626, -0.09399411082267761, 0.8223749399185181, 1.6997684240341187, -0.08831439912319183, -0.9991151690483093], "theta": [0.10276620090007782, -1.5901238918304443, -0.09543955326080322, 0.8063192963600159, 1.6991112232208252, -0.08771824836730957, -0.9986764788627625], "dq": [-0.005801311694085598, 0.0001515210315119475, 0.014901254326105118, -0.00231843045912683, -0.019943874329328537, 0.009747887961566448, -0.001201818697154522], "dtheta": [-0.0063884980045259, -0.0006351782358251512, 0.01704881154000759, -0.0009248605347238481, -0.015815934166312218, 0.009817274287343025, -0.0008392136078327894], "tau": [-63.46999740600586, -1.8899999856948853, -25.70400047302246, 3.832000255584717, -3.9880001544952393, 3.952000141143799, -0.30000001192092896], "tau_des": [-1.7505989074707031, 1.0189812183380127, -0.48822256922721863, -0.3575266897678375, 0.10186217725276947, 0.2672852575778961, -0.2978026568889618], "tau_dot": [-60.60753631591797, 24.611806869506836, -27.936054229736328, -27.51191520690918, -15.16257381439209, 26.292247772216797, -4.199225902557373], "tau_ext": [15.57158088684082, -35.5577278137207, -36.471336364746094, 20.087406158447266, -2.522430419921875, -7.168150901794434, 0.18677324056625366], "tcp_pose": [0.6442190408706665, -0.07433910667896271, -0.32450252771377563, -0.027910219505429268, -0.08013826608657837, 0.9959491491317749, 0.02973588928580284], "tcp_vel": [-3.7174329918343574e-05, 6.250150909181684e-05, -0.0006563972565345466, -0.0008274816791526973, -0.0014378961641341448, -0.0005731043056584895], "flange_pose": [0.6556875109672546, -0.08474303781986237, -0.13513454794883728, -0.027910219505429268, -0.08013826608657837, 0.9959491491317749, 0.02973588928580284], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.35544204711914, -48.073570251464844, -13.230490684509277, -4.024572849273682, 11.336810111999512, -0.12938685715198517], "ext_wrench_in_world": [-8.71283185306631, -50.89476251849813, 11.006140032372555, 2.1835734139470686, 11.813175313115865, 0.646596675635121]}
+{"timestamp_ns": 1789729896322252797, "elapsed_ms": 15700, "source_timestamp_ns": 1789729896321693596, "q": [0.10466955602169037, -1.5911601781845093, -0.09333965927362442, 0.8223356008529663, 1.699100136756897, -0.08798030763864517, -0.9991706013679504], "theta": [0.1024937853217125, -1.5901540517807007, -0.09474484622478485, 0.8062769174575806, 1.6984498500823975, -0.08738183975219727, -0.9987330436706543], "dq": [-0.005803700536489487, -0.00199787225574255, 0.017653269693255424, -8.977104153018445e-05, -0.017594294622540474, 0.005454933270812035, -0.0006156334420666099], "dtheta": [-0.006933101452887058, -0.0005470670876093209, 0.017429107800126076, -0.001122911344282329, -0.0169069804251194, 0.00836335401982069, -0.0017799027264118195], "tau": [-63.31999969482422, -1.8799999952316284, -25.696001052856445, 3.80400013923645, -3.9760000705718994, 3.940000295639038, -0.31200000643730164], "tau_des": [-1.6828222274780273, 0.9579154849052429, -0.48469364643096924, -0.33048853278160095, 0.13036338984966278, 0.3145110011100769, -0.268915593624115], "tau_dot": [1.4310284852981567, 48.22703170776367, -12.051298141479492, 4.480984687805176, -5.526612758636475, -21.87765121459961, -44.610904693603516], "tau_ext": [15.537149429321289, -35.54900360107422, -36.49058532714844, 20.099693298339844, -2.529118061065674, -7.172155857086182, 0.1883704960346222], "tcp_pose": [0.6442109942436218, -0.07433729618787766, -0.3244993984699249, -0.027900811284780502, -0.08014105260372162, 0.9959497451782227, 0.029715562239289284], "tcp_vel": [-0.00028410457889549434, 0.0004063983797095716, -0.0004947880515828729, -9.633684385335073e-06, -0.00023762125056236982, 0.0006050192750990391], "flange_pose": [0.6556752920150757, -0.08473379909992218, -0.13513074815273285, -0.027900811284780502, -0.08014105260372162, 0.9959497451782227, 0.029715562239289284], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.381561279296875, -48.047950744628906, -13.182317733764648, -4.023523330688477, 11.331757545471191, -0.12450647354125977], "ext_wrench_in_world": [-8.745466259117745, -50.870718986041524, 10.962869781767521, 2.182957131191308, 11.808332626031554, 0.6410535705159274]}
+{"timestamp_ns": 1789729896355576583, "elapsed_ms": 15733, "source_timestamp_ns": 1789729896351672387, "q": [0.10445708781480789, -1.5911812782287598, -0.0928448736667633, 0.8223018646240234, 1.6986044645309448, -0.08772676438093185, -0.999212384223938], "theta": [0.10229003429412842, -1.5901788473129272, -0.0942172259092331, 0.806239902973175, 1.6979619264602661, -0.08712470531463623, -0.9987750053405762], "dq": [-0.007619887124747038, -0.003271918511018157, 0.014109943993389606, -0.0021013685036450624, -0.017621198669075966, 0.0104569336399436, -0.002237004693597555], "dtheta": [-0.0068444497883319855, -0.0012296444037929177, 0.01774626597762108, -0.001381093985401094, -0.017123719677329063, 0.00904865749180317, -0.0008837378118187189], "tau": [-63.39999771118164, -1.909999966621399, -25.676000595092773, 3.7960002422332764, -4.004000186920166, 3.9560000896453857, -0.30800002813339233], "tau_des": [-1.7107954025268555, 1.1052138805389404, -0.5030978322029114, -0.40482839941978455, 0.14466792345046997, 0.30734899640083313, -0.285492867231369], "tau_dot": [-76.29661560058594, -18.308067321777344, -17.600439071655273, -2.422436475753784, 28.89467430114746, 49.1111946105957, -38.439720153808594], "tau_ext": [15.539005279541016, -35.58022689819336, -36.48953628540039, 20.115154266357422, -2.5286262035369873, -7.177659511566162, 0.1909753829240799], "tcp_pose": [0.6442060470581055, -0.07433555275201797, -0.3245001435279846, -0.027891462668776512, -0.08014357089996338, 0.9959502220153809, 0.029702862724661827], "tcp_vel": [-0.00043548003304749727, -6.958227459108457e-05, -0.0005892864428460598, -0.00044590834295377135, -0.0003804904408752918, -0.0007305056205950677], "flange_pose": [0.6556664705276489, -0.08472750335931778, -0.13513101637363434, -0.027891462668776512, -0.08014357089996338, 0.9959502220153809, 0.029702862724661827], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.390514373779297, -48.04787063598633, -13.178966522216797, -4.032330513000488, 11.330573081970215, -0.12107019126415253], "ext_wrench_in_world": [-8.754474534882347, -50.87168570889537, 10.961012279177488, 2.1915438363573676, 11.808800265823324, 0.6368717440510009]}
+{"timestamp_ns": 1789729896388894380, "elapsed_ms": 15766, "source_timestamp_ns": 1789729896381714242, "q": [0.10425116121768951, -1.5912063121795654, -0.09236554056406021, 0.8222571015357971, 1.698117733001709, -0.08747699111700058, -0.9992448687553406], "theta": [0.10209118574857712, -1.5902080535888672, -0.09370476752519608, 0.8061917424201965, 1.6974819898605347, -0.08687329292297363, -0.9988066554069519], "dq": [-0.007015482522547245, 0.0011423842515796423, 0.01750950515270233, -0.003213991178199649, -0.01220448687672615, 0.007610808592289686, 0.0005225348868407309], "dtheta": [-0.0066328952088952065, -0.0012560168979689479, 0.016730042174458504, -0.0017481930553913116, -0.015124024823307991, 0.008019449189305305, -0.0005571710062213242], "tau": [-63.47999954223633, -1.8899999856948853, -25.672000885009766, 3.748000144958496, -4.004000186920166, 3.940000295639038, -0.29600000381469727], "tau_des": [-1.7037827968597412, 1.0193811655044556, -0.49097582697868347, -0.35750940442085266, 0.10631699115037918, 0.32053738832473755, -0.2785954177379608], "tau_dot": [-68.16493225097656, 78.82817840576172, 47.31801223754883, 8.13709545135498, -16.96511459350586, -54.12286376953125, -3.7293343544006348], "tau_ext": [15.553401947021484, -35.53416061401367, -36.48402404785156, 20.093767166137695, -2.5255351066589355, -7.182509899139404, 0.18493683636188507], "tcp_pose": [0.6442033052444458, -0.07433564215898514, -0.32450035214424133, -0.027884460985660553, -0.08014566451311111, 0.9959506988525391, 0.02968716062605381], "tcp_vel": [-0.0001023413278744556, 0.00030771223828196526, -0.0006154967122711241, 0.0006611288408748806, -0.0009004516759887338, -0.000616174191236496], "flange_pose": [0.6556606292724609, -0.08472184836864471, -0.13513073325157166, -0.027884460985660553, -0.08014566451311111, 0.9959506988525391, 0.02968716062605381], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.387941360473633, -48.05282211303711, -13.16367244720459, -4.037585258483887, 11.333429336547852, -0.119722381234169], "ext_wrench_in_world": [-8.752029032568156, -50.87502407583818, 10.946707412538244, 2.1961260253580694, 11.812565172145781, 0.6351245776788206]}
+{"timestamp_ns": 1789729896422251763, "elapsed_ms": 15800, "source_timestamp_ns": 1789729896421694182, "q": [0.10398200154304504, -1.5912492275238037, -0.09173309057950974, 0.8221865892410278, 1.6974895000457764, -0.08716364204883575, -0.9992662668228149], "theta": [0.1018313616514206, -1.590257167816162, -0.09303319454193115, 0.8061162233352661, 1.6968615055084229, -0.08655643463134766, -0.998826801776886], "dq": [-0.008035412058234215, -0.0023853029124438763, 0.016788283362984657, -0.0017453735927119851, -0.018153371289372444, 0.006710269022732973, -0.0007215536315925419], "dtheta": [-0.006211360916495323, -0.0011101209092885256, 0.01744692586362362, -0.0018407702445983887, -0.015232107602059841, 0.007943695411086082, -0.0007422726484946907], "tau": [-63.40999984741211, -1.9799998998641968, -25.660001754760742, 3.7280001640319824, -4.01200008392334, 3.9640002250671387, -0.2840000092983246], "tau_des": [-1.8877216577529907, 0.9615292549133301, -0.6676541566848755, -0.3322416841983795, 0.07119078934192657, 0.39555099606513977, -0.2935532331466675], "tau_dot": [70.2230453491211, -38.12595748901367, -58.229984283447266, -32.9908561706543, -13.299134254455566, -0.043870650231838226, -6.059404373168945], "tau_ext": [15.653060913085938, -35.52433776855469, -36.44274139404297, 20.102331161499023, -2.5119149684906006, -7.194186210632324, 0.18335901200771332], "tcp_pose": [0.6441988348960876, -0.07433295994997025, -0.32450541853904724, -0.027876606211066246, -0.08013878017663956, 0.995951771736145, 0.029677066951990128], "tcp_vel": [-0.00020368910918477923, 0.0006611701683141291, -0.0011995704844594002, 0.0013947990955784917, -0.0003626720863394439, -0.00026059377705678344], "flange_pose": [0.6556528210639954, -0.08471567183732986, -0.13513541221618652, -0.027876606211066246, -0.08013878017663956, 0.995951771736145, 0.029677066951990128], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.40598487854004, -48.033504486083984, -13.125301361083984, -4.030267238616943, 11.33072566986084, -0.11747431755065918], "ext_wrench_in_world": [-8.776064249555066, -50.85646999964459, 10.911441430389466, 2.1893570963041125, 11.80882553820172, 0.6328928414621898]}
+{"timestamp_ns": 1789729896455575510, "elapsed_ms": 15833, "source_timestamp_ns": 1789729896451701371, "q": [0.1037907749414444, -1.5912811756134033, -0.0912885069847107, 0.8221300840377808, 1.6970256567001343, -0.0869251936674118, -0.9992850422859192], "theta": [0.10164649039506912, -1.5902941226959229, -0.09255959838628769, 0.8060558438301086, 1.6964054107666016, -0.08631408214569092, -0.998843789100647], "dq": [-0.004137641284614801, -0.0030818667728453875, 0.01589949056506157, -0.0021606157533824444, -0.013583147898316383, 0.008680370636284351, 0.0005591015797108412], "dtheta": [-0.005634346976876259, -0.0011795475147664547, 0.015407768078148365, -0.0018045820761471987, -0.01416254136711359, 0.007962929084897041, -0.00047054438618943095], "tau": [-63.3599967956543, -1.909999966621399, -25.624000549316406, 3.7240002155303955, -4.0, 3.932000160217285, -0.2680000066757202], "tau_des": [-1.8295176029205322, 1.0590225458145142, -0.49424517154693604, -0.3859703838825226, 0.13645754754543304, 0.33194515109062195, -0.301192969083786], "tau_dot": [94.75545501708984, -40.95227813720703, -10.11618709564209, -1.8590811491012573, -3.8921144008636475, -6.678610801696777, 25.731624603271484], "tau_ext": [15.581160545349121, -35.54759979248047, -36.50288772583008, 20.124805450439453, -2.516657590866089, -7.195745944976807, 0.17817026376724243], "tcp_pose": [0.6441969871520996, -0.07433854043483734, -0.32450413703918457, -0.02787373960018158, -0.08013811707496643, 0.9959525465965271, 0.029656194150447845], "tcp_vel": [-0.0001169809911516495, 0.0001558842050144449, -0.000808544282335788, 3.9820122765377164e-05, -0.0005490245530381799, -0.0004202177806291729], "flange_pose": [0.6556492447853088, -0.08471345901489258, -0.13513357937335968, -0.02787373960018158, -0.08013811707496643, 0.9959525465965271, 0.029656194150447845], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.423622131347656, -48.00532913208008, -13.114336967468262, -4.027519226074219, 11.327067375183105, -0.12012440711259842], "ext_wrench_in_world": [-8.798681236814627, -50.83049838132021, 10.905214814535233, 2.1873859002173006, 11.804657834379011, 0.6349745256968403]}
+{"timestamp_ns": 1789729896488892946, "elapsed_ms": 15866, "source_timestamp_ns": 1789729896481674302, "q": [0.1036076694726944, -1.5913095474243164, -0.09086906164884567, 0.8220838308334351, 1.6966142654418945, -0.08670446276664734, -0.9993017911911011], "theta": [0.10146700590848923, -1.5903270244598389, -0.09211117774248123, 0.8060065507888794, 1.6960002183914185, -0.08609163761138916, -0.9988594055175781], "dq": [-0.005603397265076637, 0.0028163136448711157, 0.014465218409895897, 0.0005960738053545356, -0.014209035784006119, 0.00725850323215127, -0.0009030297514982522], "dtheta": [-0.005589389707893133, -0.000817516352981329, 0.014551892876625061, -0.0018906270852312446, -0.013476737774908543, 0.006872976198792458, -0.0009900083532556891], "tau": [-63.37999725341797, -1.8700000047683716, -25.61600112915039, 3.7240002155303955, -4.004000186920166, 3.940000295639038, -0.30000001192092896], "tau_des": [-1.752453327178955, 0.9294041395187378, -0.4786149561405182, -0.3209713399410248, 0.09327197819948196, 0.3367868959903717, -0.29257500171661377], "tau_dot": [128.32814025878906, 63.67066955566406, -12.06020736694336, 34.20587921142578, 11.542292594909668, -59.261878967285156, -59.70908737182617], "tau_ext": [15.570303916931152, -35.52895736694336, -36.51673126220703, 20.111995697021484, -2.509197950363159, -7.19572114944458, 0.183445543050766], "tcp_pose": [0.6441991925239563, -0.07433845102787018, -0.32450389862060547, -0.027860188856720924, -0.08013506233692169, 0.9959534406661987, 0.029645778238773346], "tcp_vel": [2.8249409297131933e-05, 0.0005229980451986194, -0.0006619971827603877, 0.0005350748542696238, -0.0002913446514867246, 0.0006257227505557239], "flange_pose": [0.6556459665298462, -0.08470988273620605, -0.1351328343153, -0.027860188856720924, -0.08013506233692169, 0.9959534406661987, 0.029645778238773346], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.427021026611328, -48.01942443847656, -13.150898933410645, -4.0354228019714355, 11.328044891357422, -0.11891284584999084], "ext_wrench_in_world": [-8.798240897275509, -50.84667004587999, 10.941637463387925, 2.195006328840978, 11.806959673874307, 0.633268499170849]}
+{"timestamp_ns": 1789729896522256609, "elapsed_ms": 15900, "source_timestamp_ns": 1789729896521742854, "q": [0.10338959842920303, -1.5913362503051758, -0.09034916013479233, 0.8220361471176147, 1.6960959434509277, -0.08643943071365356, -0.9993394017219543], "theta": [0.10125252604484558, -1.590358853340149, -0.09155957400798798, 0.8059552311897278, 1.695492148399353, -0.08582448959350586, -0.9988948702812195], "dq": [-0.004090387839823961, -0.004658057354390621, 0.01603671722114086, 2.6866373445955105e-05, -0.011419739574193954, 0.006627821363508701, -0.000842692272271961], "dtheta": [-0.004982685204595327, -0.0007643999415449798, 0.01360369473695755, -0.0015536410501226783, -0.011454323306679726, 0.006634451448917389, -0.001307924510911107], "tau": [-63.40999984741211, -1.9799998998641968, -25.6200008392334, 3.692000150680542, -4.02400016784668, 3.9640002250671387, -0.30800002813339233], "tau_des": [-1.8524606227874756, 0.889559805393219, -0.5386165976524353, -0.30610761046409607, 0.04501254856586456, 0.3752894103527069, -0.2777019143104553], "tau_dot": [39.93765640258789, -168.79708862304688, -40.75050354003906, -17.454856872558594, -15.736551284790039, -3.2403175830841064, -65.9517822265625], "tau_ext": [15.604860305786133, -35.54792404174805, -36.532657623291016, 20.122859954833984, -2.5046045780181885, -7.196267127990723, 0.1826540231704712], "tcp_pose": [0.644195556640625, -0.07433508336544037, -0.3245089650154114, -0.02785303443670273, -0.08013883978128433, 0.9959536790847778, 0.029634233564138412], "tcp_vel": [0.00015972518303897232, 0.0006092425319366157, -0.0008631989476270974, 0.0011096649104729295, -0.0010624337010085583, 0.000760699505917728], "flange_pose": [0.6556393504142761, -0.08470232784748077, -0.13513746857643127, -0.02785303443670273, -0.08013883978128433, 0.9959536790847778, 0.029634233564138412], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.403047561645508, -48.04282760620117, -13.132513046264648, -4.0382080078125, 11.33750057220459, -0.11448885500431061], "ext_wrench_in_world": [-8.771809745716933, -50.86469271498045, 10.921567494546395, 2.195889867520455, 11.816998506512498, 0.6290984214119449]}
+{"timestamp_ns": 1789729896555585345, "elapsed_ms": 15933, "source_timestamp_ns": 1789729896551662880, "q": [0.10323625057935715, -1.5913571119308472, -0.089971624314785, 0.8219987750053406, 1.6957203149795532, -0.08623502403497696, -0.9993677139282227], "theta": [0.10110218077898026, -1.5903831720352173, -0.09116270393133163, 0.8059161305427551, 1.695120930671692, -0.0856170654296875, -0.9989221692085266], "dq": [-0.006564334500581026, -0.0024127550423145294, 0.013309377245604992, -0.0008611874654889107, -0.013194813393056393, 0.005879015661776066, 0.0003839160781353712], "dtheta": [-0.004982604179531336, -0.0006935829878784716, 0.012974731624126434, -0.0011412621242925525, -0.013489390723407269, 0.006962473038583994, -0.001246921718120575], "tau": [-63.37999725341797, -1.9199999570846558, -25.604001998901367, 3.680000066757202, -4.044000148773193, 3.9800002574920654, -0.29600000381469727], "tau_des": [-1.8000365495681763, 0.996549665927887, -0.44986817240715027, -0.3672381043434143, 0.1298799365758896, 0.34721919894218445, -0.2741042375564575], "tau_dot": [164.73098754882812, -11.519889831542969, -55.91181945800781, -10.300721168518066, 8.629849433898926, 43.5255126953125, -30.708019256591797], "tau_ext": [15.589792251586914, -35.51396942138672, -36.54930877685547, 20.11655044555664, -2.498575210571289, -7.2039289474487305, 0.18398481607437134], "tcp_pose": [0.6441943049430847, -0.0743352621793747, -0.3245149850845337, -0.02784654311835766, -0.0801427811384201, 0.9959539175033569, 0.029621606692671776], "tcp_vel": [-0.00031851843232288957, -0.00012962904293090105, -0.0003287515137344599, -0.0011581529397517443, 0.00020996264356654137, 0.00043661583913490176], "flange_pose": [0.6556352972984314, -0.08469788730144501, -0.13514308631420135, -0.02784654311835766, -0.0801427811384201, 0.9959539175033569, 0.029621606692671776], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.397741317749023, -48.04388427734375, -13.126394271850586, -4.039863586425781, 11.340897560119629, -0.11258444935083389], "ext_wrench_in_world": [-8.766533830073465, -50.86435463658945, 10.916215369972319, 2.1967646071356843, 11.820749676759082, 0.6270828211074042]}
+{"timestamp_ns": 1789729896588988554, "elapsed_ms": 15966, "source_timestamp_ns": 1789729896581660709, "q": [0.10308416932821274, -1.5913740396499634, -0.08960215002298355, 0.8219629526138306, 1.6953444480895996, -0.08603373169898987, -0.9993920922279358], "theta": [0.10095255076885223, -1.5904031991958618, -0.09077880531549454, 0.8058788776397705, 1.694748878479004, -0.08541381359100342, -0.9989461302757263], "dq": [-0.005293314810842276, -0.0029824101366102695, 0.014001640491187572, 0.0008786850958131254, -0.010557669214904308, 0.005533673334866762, -0.0014577209949493408], "dtheta": [-0.005160409025847912, -0.0007995664491318166, 0.012319219298660755, -0.0009198522311635315, -0.011894838884472847, 0.00790091697126627, 0.00032173749059438705], "tau": [-63.40999984741211, -1.9299999475479126, -25.52800178527832, 3.6600000858306885, -4.028000354766846, 3.9640002250671387, -0.2760000228881836], "tau_des": [-1.699730396270752, 1.0297447443008423, -0.3799302875995636, -0.39682087302207947, 0.11001160740852356, 0.2994898855686188, -0.2981954514980316], "tau_dot": [90.74551391601562, -148.9070587158203, 25.676647186279297, -7.003307342529297, -26.050628662109375, -24.261693954467773, 43.4111328125], "tau_ext": [15.579824447631836, -35.530487060546875, -36.57097625732422, 20.131620407104492, -2.4944281578063965, -7.205146312713623, 0.18569961190223694], "tcp_pose": [0.6441934704780579, -0.07433509826660156, -0.32451874017715454, -0.027842139825224876, -0.08014629781246185, 0.9959542155265808, 0.029606230556964874], "tcp_vel": [0.00016822831821627915, -0.0003654758329503238, -2.783337777145789e-06, -0.00157124490942806, -0.0017056623473763466, -0.00137414806522429], "flange_pose": [0.6556323766708374, -0.08469200134277344, -0.13514640927314758, -0.027842139825224876, -0.08014629781246185, 0.9959542155265808, 0.029606230556964874], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.395132064819336, -48.03376770019531, -13.133030891418457, -4.038123607635498, 11.34298324584961, -0.10979573428630829], "ext_wrench_in_world": [-8.764901917126831, -50.85406816713745, 10.924751926660289, 2.1944557943056062, 11.822711516612424, 0.624197445712561]}
+{"timestamp_ns": 1789729896622263145, "elapsed_ms": 16000, "source_timestamp_ns": 1789729896621705634, "q": [0.1028798446059227, -1.5914021730422974, -0.089121013879776, 0.8219162225723267, 1.6948599815368652, -0.0857892632484436, -0.9994236826896667], "theta": [0.10074908286333084, -1.590434193611145, -0.09029457718133926, 0.8058302998542786, 1.6942681074142456, -0.08516860008239746, -0.9989763498306274], "dq": [-0.006063722539693117, -0.00012823526049032807, 0.010617966763675213, -0.002877939725294709, -0.012922600843012333, 0.007309434469789267, -0.0030604135245084763], "dtheta": [-0.004781582858413458, -0.00046309022582136095, 0.011436528526246548, -0.0014811375876888633, -0.011292924173176289, 0.006735935807228088, -0.0009422869770787656], "tau": [-63.439998626708984, -1.959999918937683, -25.52800178527832, 3.6560001373291016, -4.039999961853027, 3.992000102996826, -0.2840000092983246], "tau_des": [-1.760887622833252, 0.8459126353263855, -0.4229131042957306, -0.2787000834941864, 0.09005483984947205, 0.35741153359413147, -0.25454577803611755], "tau_dot": [-61.56620407104492, -86.96492004394531, 17.53443145751953, 9.652202606201172, -20.487533569335938, 20.87250518798828, 17.164569854736328], "tau_ext": [15.54664421081543, -35.495018005371094, -36.61653518676758, 20.122127532958984, -2.4847464561462402, -7.215854167938232, 0.17928725481033325], "tcp_pose": [0.6441894769668579, -0.07433411478996277, -0.32452136278152466, -0.02783653326332569, -0.08014804124832153, 0.9959546327590942, 0.02959427237510681], "tcp_vel": [0.00034101647906936705, 0.00010838409070856869, -8.718892786419019e-05, -0.0010115604382008314, -0.0009992654668167233, 0.0008600252913311124], "flange_pose": [0.6556258797645569, -0.08468664437532425, -0.13514861464500427, -0.02783653326332569, -0.08014804124832153, 0.9959546327590942, 0.02959427237510681], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.4086971282959, -48.05916213989258, -13.182964324951172, -4.050487518310547, 11.343301773071289, -0.11008790880441666], "ext_wrench_in_world": [-8.771207933457074, -50.883783727953286, 10.974644167402106, 2.2065564997339164, 11.825026179616845, 0.6236408128682543]}
+{"timestamp_ns": 1789729896655581481, "elapsed_ms": 16033, "source_timestamp_ns": 1789729896651747669, "q": [0.10274408012628555, -1.5914292335510254, -0.08880013972520828, 0.8218737840652466, 1.6945558786392212, -0.08561351895332336, -0.9994337558746338], "theta": [0.10061127692461014, -1.5904642343521118, -0.08998090773820877, 0.8057862520217896, 1.6939678192138672, -0.08499157428741455, -0.9989859461784363], "dq": [-0.004218423273414373, -0.0005697215674445033, 0.007477167993783951, -0.0009084735647775233, -0.01126423291862011, 0.005604498088359833, 0.0008510970510542393], "dtheta": [-0.004314788617193699, -0.0014407853595912457, 0.009585459716618061, -0.0015763061819598079, -0.010313666425645351, 0.0052062999457120895, 6.654021126450971e-05], "tau": [-63.39999771118164, -1.959999918937683, -25.57600212097168, 3.6480002403259277, -4.056000232696533, 4.028000354766846, -0.2760000228881836], "tau_des": [-1.747081995010376, 1.0876513719558716, -0.3487655520439148, -0.4131321310997009, 0.09294821321964264, 0.34897756576538086, -0.29154157638549805], "tau_dot": [62.157840728759766, -45.92757797241211, -21.35079574584961, -2.7427895069122314, 5.9179887771606445, 73.626708984375, 46.19358444213867], "tau_ext": [15.5899076461792, -35.538238525390625, -36.61180114746094, 20.14726448059082, -2.4779767990112305, -7.223024368286133, 0.18174733221530914], "tcp_pose": [0.6441938877105713, -0.07433498650789261, -0.3245246410369873, -0.027822338044643402, -0.08014555275440216, 0.9959554076194763, 0.02958701178431511], "tcp_vel": [-0.00021758655202575028, -0.0005951892235316336, 0.0002040844119619578, -0.001212377450428903, -0.00014616413682233542, -0.0008476165821775794], "flange_pose": [0.6556246876716614, -0.08468524366617203, -0.1351514458656311, -0.027822338044643402, -0.08014555275440216, 0.9959554076194763, 0.02958701178431511], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.39468002319336, -48.06184387207031, -13.185759544372559, -4.053159713745117, 11.350859642028809, -0.10879383236169815], "ext_wrench_in_world": [-8.757403407901878, -50.884133609523275, 10.97692200090761, 2.20796520427566, 11.832970755340831, 0.6226131512273723]}
+{"timestamp_ns": 1789729896688892149, "elapsed_ms": 16066, "source_timestamp_ns": 1789729896681668415, "q": [0.10262329131364822, -1.5914535522460938, -0.08851301670074463, 0.8218271732330322, 1.6942570209503174, -0.08546242117881775, -0.9994382858276367], "theta": [0.10048829764127731, -1.5904911756515503, -0.08970143646001816, 0.8057387471199036, 1.693670392036438, -0.0848395824432373, -0.9989885687828064], "dq": [-0.0028109820559620857, -0.0034266444854438305, 0.00645947502925992, -0.0023806001991033554, -0.01004845555871725, 0.005199371371418238, 0.00021371350158005953], "dtheta": [-0.004148304928094149, -0.0008950014598667622, 0.008897869847714901, -0.001385684940032661, -0.008833612315356731, 0.005358703434467316, 0.00039975307299755514], "tau": [-63.369998931884766, -1.8499999046325684, -25.468000411987305, 3.632000207901001, -4.0360002517700195, 3.9680001735687256, -0.25600001215934753], "tau_des": [-1.7371031045913696, 0.9657713770866394, -0.338853120803833, -0.35519275069236755, 0.06683177500963211, 0.35053545236587524, -0.29491543769836426], "tau_dot": [-23.283222198486328, 40.6943473815918, 49.27607345581055, -46.90338897705078, 8.051085472106934, -6.394967079162598, 64.22840881347656], "tau_ext": [15.590643882751465, -35.49580001831055, -36.62733459472656, 20.129819869995117, -2.4721288681030273, -7.222005367279053, 0.17709662020206451], "tcp_pose": [0.6441938281059265, -0.07433722913265228, -0.324526309967041, -0.02782299369573593, -0.08014483004808426, 0.9959558248519897, 0.029575198888778687], "tcp_vel": [0.000273907498922199, -0.0002445990976411849, 0.00023354790755547583, -0.0010050644632428885, -0.0011691709514707327, -0.0007547410205006599], "flange_pose": [0.6556245684623718, -0.08468300104141235, -0.13515284657478333, -0.02782299369573593, -0.08014483004808426, 0.9959558248519897, 0.029575198888778687], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.39914894104004, -48.01921463012695, -13.171231269836426, -4.040618896484375, 11.351469993591309, -0.10907860100269318], "ext_wrench_in_world": [-8.769464743955936, -50.84178900162391, 10.96657056463314, 2.1955348415894016, 11.831546983085637, 0.6232920420086692]}
+{"timestamp_ns": 1789729896722244992, "elapsed_ms": 16100, "source_timestamp_ns": 1789729896721663363, "q": [0.10246817767620087, -1.5914827585220337, -0.08816699683666229, 0.8217858672142029, 1.6939054727554321, -0.08527688682079315, -0.9994515180587769], "theta": [0.10032865405082703, -1.5905228853225708, -0.08936093002557755, 0.8056963086128235, 1.693320870399475, -0.08465540409088135, -0.999000072479248], "dq": [-0.0020224666222929955, -0.002373230177909136, 0.00783162098377943, -0.0015778960660099983, -0.006471861619502306, 0.0026651937514543533, 0.001194142154417932], "dtheta": [-0.0034818442072719336, -8.610772056272253e-05, 0.007993599399924278, -0.0014840872026979923, -0.00901094637811184, 0.0036446957383304834, -0.00028173575992695987], "tau": [-63.38999938964844, -1.8700000047683716, -25.45600128173828, 3.640000104904175, -4.060000419616699, 3.9880001544952393, -0.29600000381469727], "tau_des": [-1.8017081022262573, 0.808053195476532, -0.3561592996120453, -0.27238065004348755, 0.07402783632278442, 0.3944697380065918, -0.2807644307613373], "tau_dot": [0.6169214844703674, 77.45264434814453, 37.34843826293945, 89.17216491699219, -25.832063674926758, -0.8435277938842773, -31.160703659057617], "tau_ext": [15.545050621032715, -35.467926025390625, -36.667232513427734, 20.116947174072266, -2.466846227645874, -7.216774940490723, 0.1732373684644699], "tcp_pose": [0.6441940069198608, -0.07434298098087311, -0.3245217800140381, -0.027813654392957687, -0.08014100044965744, 0.9959567785263062, 0.029561305418610573], "tcp_vel": [0.00010645273141562939, 0.00037729868199676275, 1.581530705152545e-05, -0.0006143311620689929, 0.0007640807889401913, 0.0009061784367077053], "flange_pose": [0.6556206941604614, -0.08468383550643921, -0.135147824883461, -0.027813654392957687, -0.08014100044965744, 0.9959567785263062, 0.029561305418610573], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.402023315429688, -48.039859771728516, -13.21407699584961, -4.045705318450928, 11.350171089172363, -0.11281901597976685], "ext_wrench_in_world": [-8.767070194306184, -50.8645719947408, 11.009276507122435, 2.201054800664648, 11.830883670507106, 0.6264126012400721]}
+{"timestamp_ns": 1789729896755577818, "elapsed_ms": 16133, "source_timestamp_ns": 1789729896751662212, "q": [0.10235840082168579, -1.591498613357544, -0.08792010694742203, 0.8217626810073853, 1.693650484085083, -0.08514433354139328, -0.9994697570800781], "theta": [0.10021468997001648, -1.5905405282974243, -0.08911249786615372, 0.8056729435920715, 1.6930649280548096, -0.08452415466308594, -0.999017059803009], "dq": [-0.003619080875068903, 0.0012441901490092278, 0.00493457168340683, 6.501983443740755e-05, -0.006990621332079172, 0.005229581147432327, -0.0017672948306426406], "dtheta": [-0.003603169461712241, -0.0006134359864518046, 0.007744086440652609, -0.0010187638690695167, -0.008280531503260136, 0.003315836191177368, -0.0004888848052360117], "tau": [-63.38999938964844, -1.8499999046325684, -25.464000701904297, 3.6120002269744873, -4.068000316619873, 3.992000102996826, -0.2680000066757202], "tau_des": [-1.7557315826416016, 0.9964203834533691, -0.3020312786102295, -0.38507768511772156, 0.08930943161249161, 0.38854214549064636, -0.2885820269584656], "tau_dot": [75.15514373779297, 79.72848510742188, 25.778884887695312, 37.87316131591797, -21.918731689453125, -13.00035572052002, 47.532169342041016], "tau_ext": [15.53719425201416, -35.51021957397461, -36.68501663208008, 20.133270263671875, -2.461911678314209, -7.2192816734313965, 0.1783989518880844], "tcp_pose": [0.6441926956176758, -0.07434642314910889, -0.32451850175857544, -0.027808625251054764, -0.08014187961816788, 0.9959571957588196, 0.029550135135650635], "tcp_vel": [-0.00015591333794873208, 2.561799919931218e-05, 0.00014935449871700257, -0.00021987366199027747, 0.00026961590629070997, 0.00014956228551454842], "flange_pose": [0.6556171774864197, -0.08468319475650787, -0.1351441890001297, -0.027808625251054764, -0.08014187961816788, 0.9959571957588196, 0.029550135135650635], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.377696990966797, -48.0703125, -13.2332124710083, -4.055535316467285, 11.356127738952637, -0.11016970127820969], "ext_wrench_in_world": [-8.737160762975286, -50.89147985636355, 11.026173801080299, 2.209611716327561, 11.838500745821975, 0.623423967972959]}
+{"timestamp_ns": 1789729896788887885, "elapsed_ms": 16166, "source_timestamp_ns": 1789729896781662991, "q": [0.10225295275449753, -1.5915131568908691, -0.0876835435628891, 0.8217399716377258, 1.693410873413086, -0.08501971513032913, -0.9994992017745972], "theta": [0.10010463744401932, -1.5905565023422241, -0.08887407928705215, 0.8056492209434509, 1.6928268671035767, -0.08440053462982178, -0.9990466237068176], "dq": [-0.0047021410427987576, -0.0008554519154131413, 0.008837811648845673, -0.003183644963428378, -0.006931030657142401, 0.002909597009420395, -0.0024029165506362915], "dtheta": [-0.0033597685396671295, -0.00026926450664177537, 0.007268592715263367, -0.0008927033632062376, -0.006515973713248968, 0.004516164772212505, -0.0009970642859116197], "tau": [-63.349998474121094, -1.8899999856948853, -25.48000144958496, 3.6000001430511475, -4.064000129699707, 3.9800002574920654, -0.29600000381469727], "tau_des": [-1.7050225734710693, 0.8742600083351135, -0.2904255986213684, -0.3045651614665985, 0.034404054284095764, 0.3594580888748169, -0.2518753707408905], "tau_dot": [-38.793399810791016, 74.0151138305664, -5.670435428619385, 5.485960483551025, 65.0116958618164, -19.35797882080078, -46.214805603027344], "tau_ext": [15.569863319396973, -35.52748107910156, -36.68641662597656, 20.144254684448242, -2.4572105407714844, -7.224261283874512, 0.18579967319965363], "tcp_pose": [0.6441925764083862, -0.07434762269258499, -0.3245159685611725, -0.027802379801869392, -0.08014939725399017, 0.9959570169448853, 0.029542021453380585], "tcp_vel": [0.0005070015322417021, 0.00015337695367634296, 0.00010466172534506768, -0.0003544257488101721, -0.0016326784389093518, 0.0009300716919824481], "flange_pose": [0.6556144952774048, -0.084681436419487, -0.13514132797718048, -0.027802379801869392, -0.08014939725399017, 0.9959570169448853, 0.029542021453380585], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.36616325378418, -48.098751068115234, -13.218313217163086, -4.061622142791748, 11.360803604125977, -0.1052631363272667], "ext_wrench_in_world": [-8.721583784056259, -50.91680210373733, 11.009565141419753, 2.2143897214203414, 11.844399514547488, 0.6183781946855762]}
+{"timestamp_ns": 1789729896822245508, "elapsed_ms": 16200, "source_timestamp_ns": 1789729896821686058, "q": [0.10212492942810059, -1.591525673866272, -0.08739916980266571, 0.821716845035553, 1.6931266784667969, -0.08486490696668625, -0.9995177388191223], "theta": [0.0999702662229538, -1.5905712842941284, -0.08858773857355118, 0.8056257367134094, 1.6925443410873413, -0.08424437046051025, -0.9990647435188293], "dq": [-0.00396076450124383, 0.0017606233013793826, 0.0092811593785882, 0.00067067303461954, -0.0070695942267775536, 0.004827639553695917, -0.001987787429243326], "dtheta": [-0.0035378921311348677, -9.272581519326195e-05, 0.0065825446508824825, -0.00047663479926995933, -0.007138967514038086, 0.0037501221522688866, -0.0006348499446175992], "tau": [-63.28999710083008, -1.9299999475479126, -25.440000534057617, 3.6040000915527344, -4.088000297546387, 3.9640002250671387, -0.2880000174045563], "tau_des": [-1.5717867612838745, 0.892527163028717, -0.2172515094280243, -0.3318745493888855, 0.04885043203830719, 0.3589172661304474, -0.2596035301685333], "tau_dot": [116.80876922607422, -76.81187438964844, -0.03626697510480881, 18.121009826660156, -30.954477310180664, -43.121829986572266, 0.24008755385875702], "tau_ext": [15.551534652709961, -35.472618103027344, -36.697052001953125, 20.120573043823242, -2.451361894607544, -7.228126049041748, 0.1819494217634201], "tcp_pose": [0.6441953182220459, -0.07434720546007156, -0.3245120346546173, -0.02779124490916729, -0.08015060424804688, 0.9959575533866882, 0.029531201347708702], "tcp_vel": [0.00022406184871215373, -1.9886936570401303e-05, 0.00052943843184039, -0.0009299271623604, -0.0008391394512727857, 0.0003983879869338125], "flange_pose": [0.6556127071380615, -0.08467724919319153, -0.1351369321346283, -0.02779124490916729, -0.08015060424804688, 0.9959575533866882, 0.029531201347708702], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.332504272460938, -48.1064338684082, -13.225086212158203, -4.065240383148193, 11.371877670288086, -0.10084964334964752], "ext_wrench_in_world": [-8.686937515785736, -50.91911449512967, 11.014921009164581, 2.2158991971443434, 11.85615275089653, 0.6143162596278016]}
+{"timestamp_ns": 1789729896855582653, "elapsed_ms": 16233, "source_timestamp_ns": 1789729896851663698, "q": [0.10204688459634781, -1.5915336608886719, -0.08721476793289185, 0.821702241897583, 1.6929322481155396, -0.08474758267402649, -0.9995287656784058], "theta": [0.09988787025213242, -1.5905801057815552, -0.08840105682611465, 0.8056107759475708, 1.6923482418060303, -0.08412671089172363, -0.9990750551223755], "dq": [-0.003957514651119709, -0.0009734550840221345, 0.0029395108576864004, -0.002006188267841935, -0.004968944005668163, 0.005513123236596584, -0.0009131981059908867], "dtheta": [-0.0022491677664220333, -3.3478856494184583e-05, 0.006130597088485956, -0.00041651242645457387, -0.0069428556598722935, 0.003982305992394686, -0.00015351767069660127], "tau": [-63.31999969482422, -1.8899999856948853, -25.404001235961914, 3.57200026512146, -4.080000400543213, 3.9800002574920654, -0.2840000092983246], "tau_des": [-1.7859374284744263, 0.9529094696044922, -0.26165902614593506, -0.35523325204849243, 0.07763784378767014, 0.35322070121765137, -0.27041250467300415], "tau_dot": [2.9551663398742676, -29.957977294921875, 1.3724007606506348, 25.226667404174805, -5.294651508331299, 26.97130012512207, 8.670591354370117], "tau_ext": [15.546870231628418, -35.487491607666016, -36.71049118041992, 20.128782272338867, -2.4462215900421143, -7.22346305847168, 0.1814609169960022], "tcp_pose": [0.6441965103149414, -0.07435259968042374, -0.3245101273059845, -0.027785412967205048, -0.08015059679746628, 0.9959582090377808, 0.02951454184949398], "tcp_vel": [-8.522168354829773e-05, -0.00015451200306415558, -0.00010792031389428303, -0.0014502336271107197, 0.00017733410641085356, -3.343307616887614e-05], "flange_pose": [0.6556112170219421, -0.08467653393745422, -0.1351345181465149, -0.027785412967205048, -0.08015059679746628, 0.9959582090377808, 0.02951454184949398], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.322296142578125, -48.11014938354492, -13.241793632507324, -4.068143844604492, 11.37287425994873, -0.10067984461784363], "ext_wrench_in_world": [-8.6754197422989, -50.92168544617727, 11.032341527509255, 2.218578926657421, 11.857633187952315, 0.6137120092303152]}
+{"timestamp_ns": 1789729896888893681, "elapsed_ms": 16266, "source_timestamp_ns": 1789729896881671207, "q": [0.1019728034734726, -1.5915428400039673, -0.0870448648929596, 0.8216890692710876, 1.6927597522735596, -0.0846567377448082, -0.9995418190956116], "theta": [0.0998096689581871, -1.590590000152588, -0.08823148906230927, 0.8055972456932068, 1.6921749114990234, -0.08403682708740234, -0.9990867972373962], "dq": [-0.0021002888679504395, -0.0004249108023941517, 0.00552283925935626, -0.0015923554310575128, -0.005425294395536184, 0.004029638599604368, 0.000761552422773093], "dtheta": [-0.0026036626659333706, -0.00034835279802791774, 0.005448495037853718, -0.0003056680434383452, -0.006027142982929945, 0.002914861310273409, 0.0007371240062639117], "tau": [-63.34000015258789, -1.8700000047683716, -25.424001693725586, 3.580000162124634, -4.084000110626221, 3.9640002250671387, -0.29200002551078796], "tau_des": [-1.6922619342803955, 1.0364115238189697, -0.20702825486660004, -0.41724035143852234, 0.07044000178575516, 0.37306341528892517, -0.2917344570159912], "tau_dot": [-85.56278991699219, 45.362937927246094, -55.2556266784668, -22.418622970581055, 12.706805229187012, -49.32274627685547, -34.770851135253906], "tau_ext": [15.484432220458984, -35.52960205078125, -36.74999237060547, 20.149349212646484, -2.4488255977630615, -7.219541549682617, 0.18035021424293518], "tcp_pose": [0.6441954374313354, -0.07435386627912521, -0.32450905442237854, -0.02778148651123047, -0.08015105873346329, 0.9959584474563599, 0.029507912695407867], "tcp_vel": [-0.00013451522681862116, -0.0002059645194094628, 0.00024353814660571516, -0.0008204589248634875, -9.532901458442211e-05, -0.001286505488678813], "flange_pose": [0.6556084752082825, -0.08467540144920349, -0.13513320684432983, -0.02778148651123047, -0.08015105873346329, 0.9959584474563599, 0.029507912695407867], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.326833724975586, -48.127540588378906, -13.280184745788574, -4.075197696685791, 11.369041442871094, -0.100983627140522], "ext_wrench_in_world": [-8.67488444703823, -50.941510580244035, 11.070298845772204, 2.2261375951290776, 11.85498750033993, 0.6132862823192744]}
+{"timestamp_ns": 1789729896922247874, "elapsed_ms": 16300, "source_timestamp_ns": 1789729896921685274, "q": [0.10188993066549301, -1.5915530920028687, -0.08683189004659653, 0.8216720819473267, 1.6925580501556396, -0.08452524244785309, -0.9995467662811279], "theta": [0.09972135722637177, -1.5906013250350952, -0.08802440017461777, 0.8055804371833801, 1.6919732093811035, -0.08390688896179199, -0.999091386795044], "dq": [-0.0032321687322109938, 0.0024754933547228575, 0.00564691424369812, -0.001566188526339829, -0.006371805910021067, 0.0044032814912498, 0.000774427258875221], "dtheta": [-0.0021458384580910206, -0.0003638621128629893, 0.0045553832314908504, -0.0001961058733286336, -0.006715499795973301, 0.0033282386139035225, -0.0005673136911354959], "tau": [-63.41999816894531, -1.909999966621399, -25.3960018157959, 3.5880000591278076, -4.088000297546387, 3.992000102996826, -0.2840000092983246], "tau_des": [-1.703652024269104, 1.098921537399292, -0.17460450530052185, -0.4375006854534149, 0.09358694404363632, 0.35063260793685913, -0.2808825373649597], "tau_dot": [-110.9549560546875, -50.61661148071289, 44.1273078918457, -29.784379959106445, 32.04938888549805, -12.724371910095215, -13.934294700622559], "tau_ext": [15.50764274597168, -35.51591491699219, -36.736358642578125, 20.140663146972656, -2.4398345947265625, -7.225625991821289, 0.17629718780517578], "tcp_pose": [0.6441982984542847, -0.07435546815395355, -0.324514240026474, -0.027770578861236572, -0.08014698326587677, 0.9959594011306763, 0.029497353360056877], "tcp_vel": [-0.00036590598756447434, -0.0007600314565934241, 0.0004446773382369429, -0.002410309389233589, 0.0005338364862836897, -1.3117200978740584e-05], "flange_pose": [0.6556068062782288, -0.08467338979244232, -0.13513794541358948, -0.027770578861236572, -0.08014698326587677, 0.9959594011306763, 0.029497353360056877], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.31648826599121, -48.14881896972656, -13.283971786499023, -4.083908557891846, 11.371319770812988, -0.10183607786893845], "ext_wrench_in_world": [-8.661779738697739, -50.96072678726777, 11.073000385710658, 2.234498783911926, 11.858584688648344, 0.6136590200685985]}
+{"timestamp_ns": 1789729896955584149, "elapsed_ms": 16333, "source_timestamp_ns": 1789729896951672194, "q": [0.10182978957891464, -1.5915578603744507, -0.08667919784784317, 0.8216573596000671, 1.692380666732788, -0.08443909138441086, -0.9995521903038025], "theta": [0.0996573194861412, -1.5906070470809937, -0.08788006007671356, 0.8055654764175415, 1.6917957067489624, -0.08382213115692139, -0.9990962147712708], "dq": [-0.0038796926382929087, -0.0009780543623492122, 0.003976599313318729, 0.001437043072655797, -0.004621999803930521, 0.004385499749332666, 0.0003534332208801061], "dtheta": [-0.002399490913376212, -0.0007263212464749813, 0.005337194539606571, -0.0002949804475065321, -0.005307481158524752, 0.0031234691850841045, -0.0004071020521223545], "tau": [-63.40999984741211, -1.8600000143051147, -25.39200210571289, 3.564000129699707, -4.1080002784729, 4.0, -0.2800000011920929], "tau_des": [-1.7910549640655518, 1.1411834955215454, -0.24179700016975403, -0.45919954776763916, 0.07904519885778427, 0.3980979919433594, -0.2891777455806732], "tau_dot": [-130.81622314453125, 20.922100067138672, 7.471982955932617, 0.2751029133796692, -49.04182815551758, -0.25582000613212585, 16.18099021911621], "tau_ext": [15.536575317382812, -35.52070617675781, -36.72268295288086, 20.140077590942383, -2.436342239379883, -7.234458923339844, 0.17308439314365387], "tcp_pose": [0.6441939473152161, -0.07435870915651321, -0.3245150148868561, -0.027778081595897675, -0.08014698326587677, 0.9959596395492554, 0.0294832494109869], "tcp_vel": [-0.00016713942750357091, -0.0004039799387101084, 0.00011975348024861887, -0.0005764510133303702, -0.0006285051349550486, -0.0005197011050768197], "flange_pose": [0.655604898929596, -0.08467107266187668, -0.13513855636119843, -0.027778081595897675, -0.08014698326587677, 0.9959596395492554, 0.0294832494109869], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.303966522216797, -48.15153503417969, -13.280367851257324, -4.086462497711182, 11.374616622924805, -0.10394436120986938], "ext_wrench_in_world": [-8.649024627228197, -50.960873777803684, 11.07020643957931, 2.236615348279109, 11.862151571495096, 0.6154635429196854]}
+{"timestamp_ns": 1789729896988917785, "elapsed_ms": 16366, "source_timestamp_ns": 1789729896981672822, "q": [0.10175712406635284, -1.5915615558624268, -0.08652181923389435, 0.8216502070426941, 1.6922354698181152, -0.08434782177209854, -0.9995660185813904], "theta": [0.09958206862211227, -1.5906115770339966, -0.08773071318864822, 0.8055571913719177, 1.691648244857788, -0.0837322473526001, -0.999108612537384], "dq": [-0.005309432744979858, 0.0025058090686798096, 0.009460458531975746, -0.001543545862659812, -0.0034874447155743837, 0.004791984800249338, -0.0016074123559519649], "dtheta": [-0.0027177762240171432, 6.0851529269712046e-05, 0.005407250951975584, -0.0004379477759357542, -0.0049083419144153595, 0.002397877164185047, -0.0009174022125080228], "tau": [-63.369998931884766, -1.9299999475479126, -25.400001525878906, 3.564000129699707, -4.100000381469727, 3.9840002059936523, -0.3160000145435333], "tau_des": [-1.6764410734176636, 0.8462052345275879, -0.2913367450237274, -0.29680824279785156, -0.015032287687063217, 0.4202083349227905, -0.26077187061309814], "tau_dot": [-60.3130989074707, -153.53353881835938, 18.72765350341797, -43.40153503417969, 0.08294258266687393, -70.29010772705078, -44.70292663574219], "tau_ext": [15.512144088745117, -35.54244613647461, -36.74699783325195, 20.154129028320312, -2.4375271797180176, -7.23313045501709, 0.17645476758480072], "tcp_pose": [0.6441990733146667, -0.07435671985149384, -0.324512243270874, -0.0277642123401165, -0.08014857769012451, 0.995959997177124, 0.02947855181992054], "tcp_vel": [0.000275237689493224, 0.0004265035386197269, 0.00014463932893704623, 0.00042472369386814535, -0.0007734775426797569, 0.0008994307136163116], "flange_pose": [0.6556046605110168, -0.08466771245002747, -0.13513539731502533, -0.0277642123401165, -0.08014857769012451, 0.995959997177124, 0.02947855181992054], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.309099197387695, -48.1824951171875, -13.286616325378418, -4.097903251647949, 11.375393867492676, -0.10410654544830322], "ext_wrench_in_world": [-8.649001146502815, -50.99249314481563, 11.074851970312778, 2.2477304744416617, 11.864763995586394, 0.6150755372838748]}
+{"timestamp_ns": 1789729897022245603, "elapsed_ms": 16400, "source_timestamp_ns": 1789729897021682792, "q": [0.10165869444608688, -1.5915650129318237, -0.08630716055631638, 0.8216406106948853, 1.6920000314712524, -0.08423294872045517, -0.9995867609977722], "theta": [0.09948079288005829, -1.59061598777771, -0.08753178268671036, 0.8055468201637268, 1.691408395767212, -0.08361804485321045, -0.9991289973258972], "dq": [-0.0012596159940585494, 0.002920669736340642, 0.007244746200740337, -0.0030779626686125994, -0.007776780519634485, 0.0028660427778959274, 7.773220568196848e-05], "dtheta": [-0.0024059766437858343, -0.00039073845255188644, 0.005403042770922184, -6.47022679913789e-05, -0.00649198517203331, 0.003986604977399111, -0.00074578239582479], "tau": [-63.28999710083008, -1.8799999952316284, -25.34800148010254, 3.57200026512146, -4.068000316619873, 4.004000186920166, -0.31200000643730164], "tau_des": [-1.6663994789123535, 1.094889760017395, -0.1883191466331482, -0.427574098110199, 0.09873264282941818, 0.3698245882987976, -0.2698860466480255], "tau_dot": [-16.803804397583008, 44.96059036254883, 5.737545967102051, 22.836429595947266, 72.46836853027344, 38.5150260925293, -33.0795783996582], "tau_ext": [15.514921188354492, -35.51195526123047, -36.74063491821289, 20.136262893676758, -2.4288241863250732, -7.233356475830078, 0.17695103585720062], "tcp_pose": [0.6441963911056519, -0.07435819506645203, -0.32450583577156067, -0.027763402089476585, -0.08015163987874985, 0.9959602355957031, 0.02946474216878414], "tcp_vel": [-0.00019570393487811089, -0.0006402800790965557, 0.0002946703170891851, -0.0019127875566482544, -0.0003686081909108907, -6.970820686547086e-05], "flange_pose": [0.6556013226509094, -0.08466396480798721, -0.1351286619901657, -0.027763402089476585, -0.08015163987874985, 0.9959602355957031, 0.02946474216878414], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.288515090942383, -48.18167495727539, -13.299266815185547, -4.101113796234131, 11.379926681518555, -0.10244952887296677], "ext_wrench_in_world": [-8.627782281325715, -50.988808220220605, 11.087824978208413, 2.249996159862089, 11.869870390948261, 0.613233833917971]}
+{"timestamp_ns": 1789729897055584321, "elapsed_ms": 16433, "source_timestamp_ns": 1789729897051707632, "q": [0.10157901048660278, -1.591568112373352, -0.08611952513456345, 0.8216359615325928, 1.6918243169784546, -0.08413369208574295, -0.9996005296707153], "theta": [0.09939929842948914, -1.5906188488006592, -0.08735949546098709, 0.8055417537689209, 1.6912304162979126, -0.08351790904998779, -0.9991429448127747], "dq": [-0.00036289566196501255, 0.0007975880871526897, 0.004791880492120981, -0.0013872130075469613, -0.004572645761072636, 0.004173923749476671, -0.0013936687028035522], "dtheta": [-0.002602530410513282, -0.00031586631666868925, 0.005687654949724674, -0.00011512830678839236, -0.0053956774063408375, 0.0027151471003890038, -0.0011067974846810102], "tau": [-63.2599983215332, -1.8899999856948853, -25.34400177001953, 3.5320000648498535, -4.084000110626221, 4.0320000648498535, -0.2800000011920929], "tau_des": [-1.6837180852890015, 0.9727625846862793, -0.2677435874938965, -0.37039637565612793, 0.028828652575612068, 0.40915176272392273, -0.26294007897377014], "tau_dot": [65.43656158447266, -40.08661651611328, -5.391361713409424, -30.975427627563477, 16.244688034057617, 70.35713195800781, 9.996109962463379], "tau_ext": [15.496380805969238, -35.53437423706055, -36.76205825805664, 20.142820358276367, -2.42818284034729, -7.232522964477539, 0.1788681596517563], "tcp_pose": [0.6441969871520996, -0.07435436546802521, -0.32450738549232483, -0.027754083275794983, -0.0801507830619812, 0.9959605932235718, 0.0294623002409935], "tcp_vel": [-0.00010241835116175935, 8.45341583044501e-06, 6.79693985148333e-05, 8.23636437417008e-05, -0.0005513466312550008, 0.00037157745100557804], "flange_pose": [0.6555982828140259, -0.08465950191020966, -0.13512994349002838, -0.027754083275794983, -0.0801507830619812, 0.9959605932235718, 0.0294623002409935], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.266685485839844, -48.200801849365234, -13.320263862609863, -4.110459804534912, 11.3834810256958, -0.0993410050868988], "ext_wrench_in_world": [-8.602305258237633, -51.005217184076336, 11.106453988899199, 2.2584737478789494, 11.875046117839805, 0.6098891142532017]}
+{"timestamp_ns": 1789729897088898441, "elapsed_ms": 16466, "source_timestamp_ns": 1789729897081679606, "q": [0.10150064527988434, -1.5915732383728027, -0.08592711389064789, 0.8216339349746704, 1.6916499137878418, -0.0840267762541771, -0.9996287226676941], "theta": [0.09931900352239609, -1.5906239748001099, -0.08718159049749374, 0.8055394291877747, 1.691055178642273, -0.08340978622436523, -0.9991711974143982], "dq": [-0.0030550826340913773, -0.003980214707553387, 0.0030800001695752144, -0.0002336876787012443, -0.006223305594176054, 0.006546615622937679, 0.000642905943095684], "dtheta": [-0.0026296544820070267, -7.336585986195132e-05, 0.006209635641425848, -0.000129496562294662, -0.006294997874647379, 0.003132070880383253, -0.000895331206265837], "tau": [-63.30999755859375, -1.9199999570846558, -25.376001358032227, 3.5880000591278076, -4.111999988555908, 4.0, -0.29600000381469727], "tau_des": [-1.6934385299682617, 0.9026882648468018, -0.30953943729400635, -0.32831376791000366, 0.0177091583609581, 0.39560577273368835, -0.2527630627155304], "tau_dot": [9.206087112426758, -33.162620544433594, -58.17245101928711, 27.4097900390625, 2.6691982746124268, -21.707605361938477, 41.53431701660156], "tau_ext": [15.482390403747559, -35.51847457885742, -36.77098083496094, 20.13545036315918, -2.425217866897583, -7.239680290222168, 0.18204982578754425], "tcp_pose": [0.6441968679428101, -0.07435252517461777, -0.32451102137565613, -0.02774202823638916, -0.08015470206737518, 0.9959607124328613, 0.029459606856107712], "tcp_vel": [-0.00011530622577993199, 7.815945718903095e-05, -1.782162144081667e-05, -0.0002954277442768216, -0.00018341299437452108, 0.0003713624319061637], "flange_pose": [0.6555935740470886, -0.0846569687128067, -0.13513325154781342, -0.02774202823638916, -0.08015470206737518, 0.9959607124328613, 0.029459606856107712], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.259124755859375, -48.238304138183594, -13.329362869262695, -4.123067855834961, 11.386404991149902, -0.09777133166790009], "ext_wrench_in_world": [-8.588286693685513, -51.04147282520675, 11.112725654286686, 2.2702432975386166, 11.880064484716643, 0.6078894706722996]}
+{"timestamp_ns": 1789729897122257848, "elapsed_ms": 16500, "source_timestamp_ns": 1789729897121661300, "q": [0.10140548646450043, -1.5915822982788086, -0.0856892541050911, 0.8216304779052734, 1.691428780555725, -0.08389579504728317, -0.999656617641449], "theta": [0.09922125190496445, -1.5906333923339844, -0.08696220070123672, 0.805535614490509, 1.6908336877822876, -0.08327960968017578, -0.9991992712020874], "dq": [-0.0009367065504193306, -0.0008557402761653066, 0.0038927365094423294, -0.00038849940756335855, -0.0033675727900117636, 0.002283676527440548, -0.0013490947894752026], "dtheta": [-0.001855757087469101, -0.0002783099771477282, 0.004573472775518894, 4.927434247292695e-07, -0.005411155056208372, 0.0023969949688762426, 0.0004022299835924059], "tau": [-63.28999710083008, -1.8700000047683716, -25.352001190185547, 3.5440001487731934, -4.1080002784729, 4.01200008392334, -0.2680000066757202], "tau_des": [-1.7715386152267456, 1.0171806812286377, -0.25992363691329956, -0.40722668170928955, 0.04331531375646591, 0.3802378177642822, -0.28025004267692566], "tau_dot": [14.954427719116211, 29.97757339477539, -29.566001892089844, -5.4830474853515625, -34.40753173828125, 54.986141204833984, 40.082252502441406], "tau_ext": [15.459967613220215, -35.507049560546875, -36.79103469848633, 20.1268367767334, -2.4199366569519043, -7.233592510223389, 0.18596799671649933], "tcp_pose": [0.6441938281059265, -0.07435266673564911, -0.32451605796813965, -0.027730582281947136, -0.08015502244234085, 0.9959611296653748, 0.029455048963427544], "tcp_vel": [-0.00039609201485291123, -0.00029161424026824534, 4.063863889314234e-05, -0.000898053462151438, 0.0005113957449793816, -0.0010983969550579786], "flange_pose": [0.6555860638618469, -0.08465573191642761, -0.13513797521591187, -0.027730582281947136, -0.08015502244234085, 0.9959611296653748, 0.029455048963427544], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.206748962402344, -48.25954818725586, -13.348942756652832, -4.133730411529541, 11.399765968322754, -0.09179698675870895], "ext_wrench_in_world": [-8.532387603709745, -51.054941478100055, 11.128422451607321, 2.278266698349492, 11.895279140073509, 0.6022067464214715]}
+{"timestamp_ns": 1789729897155586387, "elapsed_ms": 16533, "source_timestamp_ns": 1789729897151673241, "q": [0.10134518891572952, -1.5915905237197876, -0.08553790301084518, 0.8216217756271362, 1.6912868022918701, -0.08381853997707367, -0.9996606111526489], "theta": [0.09915759414434433, -1.5906420946121216, -0.08682448416948318, 0.805526852607727, 1.690691590309143, -0.08320438861846924, -0.9992038607597351], "dq": [-0.0011808325070887804, 0.002559640910476446, 0.0023883648682385683, 0.00047767822979949415, -0.002799309091642499, 0.0021662358194589615, 0.0025710174813866615], "dtheta": [-0.002154038054868579, -0.00030172173865139484, 0.003987303003668785, -0.00019215063366573304, -0.004047766327857971, 0.0016596306813880801, -0.000873549550306052], "tau": [-63.30999755859375, -1.8499999046325684, -25.37200164794922, 3.5360002517700195, -4.0960001945495605, 3.9760000705718994, -0.2840000092983246], "tau_des": [-1.7135696411132812, 0.9482113122940063, -0.23943446576595306, -0.3708159029483795, 0.0077303312718868256, 0.3884143829345703, -0.265166699886322], "tau_dot": [37.12613296508789, -32.88789367675781, -47.05059814453125, -23.966773986816406, -5.543315887451172, -70.654296875, -9.15418529510498], "tau_ext": [15.48068618774414, -35.499271392822266, -36.77536392211914, 20.131221771240234, -2.415782928466797, -7.238221168518066, 0.18222664296627045], "tcp_pose": [0.6441918015480042, -0.0743514895439148, -0.3245201110839844, -0.027726341038942337, -0.08015034347772598, 0.9959616661071777, 0.02945413812994957], "tcp_vel": [-6.283844413701445e-05, -1.5027633708086796e-05, 0.00026347683160565794, 7.139845547499135e-05, -0.0003515778516884893, 0.0003889641084242612], "flange_pose": [0.6555823683738708, -0.08465439826250076, -0.13514190912246704, -0.027726341038942337, -0.08015034347772598, 0.9959616661071777, 0.02945413812994957], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.204463958740234, -48.249290466308594, -13.345274925231934, -4.131779670715332, 11.398275375366211, -0.09112820774316788], "ext_wrench_in_world": [-8.532559594229005, -51.04416809232439, 11.125300174525456, 2.2766487024440303, 11.893510895561043, 0.6015466674277374]}
+{"timestamp_ns": 1789729897188893478, "elapsed_ms": 16566, "source_timestamp_ns": 1789729897181674523, "q": [0.10128431767225266, -1.5916019678115845, -0.08541295677423477, 0.8216130137443542, 1.6911747455596924, -0.08377006649971008, -0.9996626973152161], "theta": [0.09909331053495407, -1.5906533002853394, -0.08671323955059052, 0.8055172562599182, 1.6905808448791504, -0.08315932750701904, -0.9992049932479858], "dq": [-0.0032399985939264297, -0.0022113483864814043, 0.0013070289278402925, -0.0008211669628508389, -0.0034821592271327972, 0.0019935837481170893, -0.0020139224361628294], "dtheta": [-0.0021200343035161495, -0.00021245946118142456, 0.0036580555606633425, -0.0005763453664258122, -0.0031253909692168236, 0.0017719612224027514, -0.00018121828907169402], "tau": [-63.29999923706055, -1.8600000143051147, -25.384000778198242, 3.5360002517700195, -4.128000259399414, 3.992000102996826, -0.29200002551078796], "tau_des": [-1.6732257604599, 0.8692836761474609, -0.25536012649536133, -0.33549314737319946, -0.03731931746006012, 0.39732474088668823, -0.287645548582077], "tau_dot": [41.30231857299805, 138.3524627685547, 13.261734962463379, 4.80000638961792, 20.201387405395508, -34.53908157348633, -33.43965148925781], "tau_ext": [15.487470626831055, -35.49481964111328, -36.77874755859375, 20.137258529663086, -2.4206817150115967, -7.232814311981201, 0.17231933772563934], "tcp_pose": [0.6441903710365295, -0.07434887439012527, -0.324518084526062, -0.02771991863846779, -0.08014453202486038, 0.9959621429443359, 0.02946048229932785], "tcp_vel": [0.0003461905871517956, 0.00020263699116185308, 0.00026565289590507746, 0.000283069908618927, -0.001003199489787221, 0.00019977177726104856], "flange_pose": [0.65557861328125, -0.08465445041656494, -0.13513988256454468, -0.02771991863846779, -0.08014453202486038, 0.9959621429443359, 0.02946048229932785], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.238910675048828, -48.23134994506836, -13.34783935546875, -4.125537872314453, 11.388386726379395, -0.0950552225112915], "ext_wrench_in_world": [-8.569951457898128, -51.032226157389616, 11.129950569327224, 2.2724349262889745, 11.882510593565565, 0.6053362374631837]}
+{"timestamp_ns": 1789729897222247955, "elapsed_ms": 16600, "source_timestamp_ns": 1789729897221663436, "q": [0.10120313614606857, -1.5916152000427246, -0.08526615053415298, 0.8215963840484619, 1.6910145282745361, -0.08370748907327652, -0.9996723532676697], "theta": [0.09900891035795212, -1.5906667709350586, -0.08658206462860107, 0.8054991364479065, 1.6904220581054688, -0.08310043811798096, -0.9992136359214783], "dq": [-0.004201741423457861, -0.0007166847353801131, 0.0036434584762901068, -0.0006983045605011284, -0.005040702875703573, -0.0005076501402072608, 0.0015125034842640162], "dtheta": [-0.0022330584470182657, -0.00038427909021265805, 0.0032824568916112185, -0.00027842645067721605, -0.0036550655495375395, 0.0013986221747472882, -2.6988489480572753e-05], "tau": [-63.28999710083008, -1.8600000143051147, -25.316001892089844, 3.496000051498413, -4.12000036239624, 3.996000289916992, -0.29200002551078796], "tau_des": [-1.5598751306533813, 0.9944949746131897, -0.12851008772850037, -0.41848623752593994, 0.03303093463182449, 0.3746110796928406, -0.29947787523269653], "tau_dot": [-66.22594451904297, -16.415834426879883, 73.8548812866211, -38.4473762512207, 6.2505879402160645, 33.21430206298828, -35.171165466308594], "tau_ext": [15.437302589416504, -35.524208068847656, -36.806575775146484, 20.151676177978516, -2.418996810913086, -7.225317478179932, 0.17617569863796234], "tcp_pose": [0.644189178943634, -0.07435069978237152, -0.32450637221336365, -0.027717459946870804, -0.08014417439699173, 0.9959623217582703, 0.02945702336728573], "tcp_vel": [2.015116660913918e-05, -0.0001403153728460893, 0.000548620882909745, -0.00022361974697560072, -0.0004831575497519225, -0.00038344200584106147], "flange_pose": [0.6555764079093933, -0.0846550464630127, -0.13512803614139557, -0.027717459946870804, -0.08014417439699173, 0.9959623217582703, 0.02945702336728573], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.25861358642578, -48.21261215209961, -13.347305297851562, -4.119970798492432, 11.379117965698242, -0.09838781505823135], "ext_wrench_in_world": [-8.592459700786646, -51.01683161133027, 11.131882176879603, 2.268617148267858, 11.87230079667778, 0.6082887863900813]}
+{"timestamp_ns": 1789729897255582943, "elapsed_ms": 16633, "source_timestamp_ns": 1789729897251662058, "q": [0.1011400818824768, -1.5916273593902588, -0.08515334874391556, 0.8215804100036621, 1.6908975839614868, -0.08366642147302628, -0.9996886849403381], "theta": [0.09894382208585739, -1.5906790494918823, -0.08647758513689041, 0.8054823279380798, 1.690307378768921, -0.08306229114532471, -0.9992294907569885], "dq": [-0.002294493606314063, 0.0009019732824526727, 0.004524902440607548, -0.00024900451535359025, -0.0019342404557392001, 0.0023119100369513035, -0.0005654531996697187], "dtheta": [-0.0017083988059312105, -0.00044113644980825484, 0.003527728607878089, -0.001150280237197876, -0.0035658914130181074, 0.0017381551442667842, -0.0002306986862095073], "tau": [-63.25, -1.8600000143051147, -25.30000114440918, 3.5320000648498535, -4.080000400543213, 3.996000289916992, -0.2840000092983246], "tau_des": [-1.6342847347259521, 0.8769130110740662, -0.18255145847797394, -0.3179381787776947, 0.020734092220664024, 0.3906070590019226, -0.26883864402770996], "tau_dot": [-64.0506820678711, 42.506935119628906, -17.04137420654297, 29.793764114379883, 42.75813674926758, 4.976802349090576, 17.815183639526367], "tau_ext": [15.451704978942871, -35.49544143676758, -36.79359436035156, 20.142589569091797, -2.4122257232666016, -7.231203079223633, 0.17754797637462616], "tcp_pose": [0.6441888809204102, -0.0743497684597969, -0.32449832558631897, -0.027714906260371208, -0.08014906197786331, 0.9959619045257568, 0.029459193348884583], "tcp_vel": [0.0002332344593014568, 8.851215534377843e-05, 7.38209200790152e-05, -7.684237789362669e-05, -0.00019353360403329134, 0.0006056468118913472], "flange_pose": [0.6555752158164978, -0.08465494960546494, -0.1351199746131897, -0.027714906260371208, -0.08014906197786331, 0.9959619045257568, 0.029459193348884583], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.272075653076172, -48.20649719238281, -13.3633451461792, -4.119951248168945, 11.372802734375, -0.09697520732879639], "ext_wrench_in_world": [-8.605302578670816, -51.01398487004803, 11.148635684636133, 2.2693949350143923, 11.866169692024574, 0.6065541873083369]}
+{"timestamp_ns": 1789729897288895684, "elapsed_ms": 16666, "source_timestamp_ns": 1789729897281688238, "q": [0.10107927769422531, -1.5916399955749512, -0.08503244817256927, 0.8215669393539429, 1.6907782554626465, -0.083609938621521, -0.9997069835662842], "theta": [0.09888212382793427, -1.5906915664672852, -0.08636457473039627, 0.8054675459861755, 1.6901874542236328, -0.08300817012786865, -0.9992481470108032], "dq": [-0.0014990858035162091, -0.0008163572056218982, 0.0055077048018574715, 0.0005026175058446825, -0.0032297319266945124, 0.0002801842347253114, -0.0014067902229726315], "dtheta": [-0.0022063059732317924, -0.0002560417342465371, 0.003812092123553157, -0.0004215326625853777, -0.00423527043312788, 0.00219833105802536, -0.0007967663113959134], "tau": [-63.23999786376953, -1.8700000047683716, -25.30000114440918, 3.516000270843506, -4.1080002784729, 4.01200008392334, -0.2840000092983246], "tau_des": [-1.4871007204055786, 0.9225202798843384, -0.10122520476579666, -0.3559204638004303, 0.04680854454636574, 0.3554075062274933, -0.25466418266296387], "tau_dot": [-86.68170166015625, 36.65058898925781, -6.737575531005859, 3.4782984256744385, 30.921958923339844, 20.800752639770508, 11.703184127807617], "tau_ext": [15.415826797485352, -35.49357986450195, -36.81523513793945, 20.153799057006836, -2.4113011360168457, -7.236386299133301, 0.17978523671627045], "tcp_pose": [0.6441888809204102, -0.07435107976198196, -0.3244933784008026, -0.027709215879440308, -0.08015315979719162, 0.9959617853164673, 0.02945849485695362], "tcp_vel": [0.00013351169764064252, -0.00013013690477237105, 0.0004215280059725046, -0.0006050551892258227, -0.0005976780084893107, 0.0006102306651882827], "flange_pose": [0.6555730700492859, -0.08465613424777985, -0.1351148933172226, -0.027709215879440308, -0.08015315979719162, 0.9959617853164673, 0.02945849485695362], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.277626037597656, -48.192771911621094, -13.398609161376953, -4.12307596206665, 11.37137508392334, -0.09474337100982666], "ext_wrench_in_world": [-8.610557147695081, -51.00333273695463, 11.184842815601401, 2.272465930779714, 11.865405944179344, 0.6041054277803479]}
+{"timestamp_ns": 1789729897322308316, "elapsed_ms": 16700, "source_timestamp_ns": 1789729897321724037, "q": [0.10101225972175598, -1.5916565656661987, -0.08487360179424286, 0.821551501750946, 1.6906325817108154, -0.08353174477815628, -0.9997304677963257], "theta": [0.09881388396024704, -1.5907090902328491, -0.0862172320485115, 0.8054502606391907, 1.6900416612625122, -0.08293139934539795, -0.9992728233337402], "dq": [-0.0016728270566090941, 0.00025119769270531833, 0.0015252911252900958, 0.0006770893814973533, -0.005202343687415123, 0.0010552741587162018, -0.002321261679753661], "dtheta": [-0.0020300038158893585, -0.0003836267569568008, 0.0038068012800067663, -0.0008653171244077384, -0.00519492058083415, 0.0027007916942238808, -0.00024338487128261477], "tau": [-63.2599983215332, -1.9299999475479126, -25.356000900268555, 3.500000238418579, -4.0920000076293945, 4.008000373840332, -0.2639999985694885], "tau_des": [-1.515846610069275, 0.9424925446510315, -0.09912170469760895, -0.34728729724884033, 0.07662355899810791, 0.34353893995285034, -0.2495415359735489], "tau_dot": [38.64531326293945, -109.28656768798828, -51.04271697998047, -22.040435791015625, 29.661054611206055, 3.950841188430786, 102.76036834716797], "tau_ext": [15.417315483093262, -35.473976135253906, -36.80785369873047, 20.13833236694336, -2.4075093269348145, -7.240611553192139, 0.18389956653118134], "tcp_pose": [0.6441869735717773, -0.07435217499732971, -0.3244958519935608, -0.02770237997174263, -0.0801570937037468, 0.995961606502533, 0.029459796845912933], "tcp_vel": [7.955930777825415e-05, -0.0003907608916051686, 0.0004327891510911286, -0.0016252475325018167, 2.4485425456077792e-05, 0.00038085447158664465], "flange_pose": [0.6555687189102173, -0.08465788513422012, -0.13511726260185242, -0.02770237997174263, -0.0801570937037468, 0.995961606502533, 0.029459796845912933], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.26884651184082, -48.18758773803711, -13.40733528137207, -4.127129077911377, 11.372969627380371, -0.09055948257446289], "ext_wrench_in_world": [-8.601976006999992, -50.99738881056938, 11.193107454423666, 2.2758622005564235, 11.867872355260891, 0.5999088216179018]}
+{"timestamp_ns": 1789729897355640044, "elapsed_ms": 16733, "source_timestamp_ns": 1789729897351672083, "q": [0.1009654700756073, -1.5916681289672852, -0.08475551754236221, 0.8215426802635193, 1.6905395984649658, -0.0834660530090332, -0.9997319579124451], "theta": [0.09876615554094315, -1.590720534324646, -0.08610846847295761, 0.8054394125938416, 1.689949631690979, -0.08286619186401367, -0.9992740154266357], "dq": [0.0003069026570301503, -0.0035497895441949368, 0.004552592057734728, -0.0017999861156567931, -0.0035698185674846172, 0.0017051214817911386, 0.0016242347192019224], "dtheta": [-0.0015761287650093436, -0.000340570870321244, 0.0038690082728862762, -0.0009467992349527776, -0.002811342477798462, 0.0029972379561513662, 0.00029327403171919286], "tau": [-63.34000015258789, -1.8199999332427979, -25.336000442504883, 3.496000051498413, -4.12000036239624, 4.028000354766846, -0.2720000147819519], "tau_des": [-1.6238213777542114, 0.8619726300239563, -0.22293758392333984, -0.30875009298324585, -0.03420967236161232, 0.3497491180896759, -0.27292266488075256], "tau_dot": [-218.5782470703125, 126.68299102783203, -21.18370819091797, 15.39481258392334, 17.616531372070312, 39.14970779418945, 38.104278564453125], "tau_ext": [15.425910949707031, -35.489315032958984, -36.80568313598633, 20.145322799682617, -2.4070723056793213, -7.241694450378418, 0.1781177669763565], "tcp_pose": [0.6441888213157654, -0.07435178011655807, -0.32450050115585327, -0.027690527960658073, -0.0801515057682991, 0.9959623217582703, 0.02946222759783268], "tcp_vel": [0.0005571176880039275, 8.322372013935819e-05, -0.00011886546417372301, -0.00021214503794908524, -0.0014595661778002977, -4.2671035771491006e-05], "flange_pose": [0.6555660963058472, -0.08465883135795593, -0.13512171804904938, -0.027690527960658073, -0.0801515057682991, 0.9959623217582703, 0.02946222759783268], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.26392364501953, -48.173580169677734, -13.410697937011719, -4.127537250518799, 11.374480247497559, -0.08971681445837021], "ext_wrench_in_world": [-8.600008724936531, -50.982941577313696, 11.19657193959102, 2.2761049170398415, 11.869441166028457, 0.5992717036078647]}
+{"timestamp_ns": 1789729897388896790, "elapsed_ms": 16766, "source_timestamp_ns": 1789729897381690963, "q": [0.10092154145240784, -1.5916811227798462, -0.08464997261762619, 0.8215304017066956, 1.6904455423355103, -0.08340438455343246, -0.9997342228889465], "theta": [0.09872099757194519, -1.5907342433929443, -0.08601133525371552, 0.8054260611534119, 1.689856767654419, -0.08280360698699951, -0.9992756843566895], "dq": [-0.00043026014463976026, -0.00033313140738755465, 0.004962147679179907, -0.00015550338139291853, -0.004603606183081865, 0.003857887350022793, 0.00010823756747413427], "dtheta": [-0.001774418749846518, -0.00020951931946910918, 0.0028355715330690145, -0.0005002238904125988, -0.0024428358301520348, 0.0008761856588535011, -4.384120984468609e-05], "tau": [-63.27000045776367, -1.8499999046325684, -25.296001434326172, 3.5200002193450928, -4.0920000076293945, 3.992000102996826, -0.2840000092983246], "tau_des": [-1.5539864301681519, 0.8976513743400574, -0.1494389921426773, -0.35512062907218933, -0.02283349446952343, 0.3605645000934601, -0.2819807827472687], "tau_dot": [-45.49574661254883, 3.215656042098999, 44.55380630493164, 34.77944564819336, 44.09349822998047, 10.360391616821289, -7.569906234741211], "tau_ext": [15.420246124267578, -35.50609588623047, -36.813636779785156, 20.15938949584961, -2.4051461219787598, -7.246654510498047, 0.17367911338806152], "tcp_pose": [0.6441897749900818, -0.07435490190982819, -0.32450202107429504, -0.02768254280090332, -0.08014756441116333, 0.995962917804718, 0.029459906741976738], "tcp_vel": [0.00020990254415664822, 0.0002469644241500646, 0.0002483416174072772, 0.0005711039411835372, -0.0005520094418898225, 6.425331957871094e-05], "flange_pose": [0.6555638909339905, -0.08466136455535889, -0.13512301445007324, -0.02768254280090332, -0.08014756441116333, 0.995962917804718, 0.029459906741976738], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.279329299926758, -48.18667984008789, -13.409323692321777, -4.133471488952637, 11.372374534606934, -0.09295043349266052], "ext_wrench_in_world": [-8.613807739262878, -50.998148729360466, 11.195197155965882, 2.2825688803621453, 11.868131112399638, 0.6020565536070006]}
+{"timestamp_ns": 1789729897422246667, "elapsed_ms": 16800, "source_timestamp_ns": 1789729897421668838, "q": [0.10085912048816681, -1.5916955471038818, -0.08451937884092331, 0.8215129971504211, 1.6903142929077148, -0.08336082100868225, -0.9997379183769226], "theta": [0.09865710139274597, -1.5907483100891113, -0.08589313179254532, 0.8054068088531494, 1.689727783203125, -0.08275914192199707, -0.9992786049842834], "dq": [0.0009425057796761394, 0.0006762598641216755, 0.0039804112166166306, -0.0015493896789848804, -0.0032628588378429413, -0.0006431261426769197, -0.0020652099046856165], "dtheta": [-0.0018326716963201761, -0.00045421227696351707, 0.003032239153981209, -0.0003042489697691053, -0.004106420092284679, 0.0022432287223637104, -0.0006969220121391118], "tau": [-63.2599983215332, -1.8899999856948853, -25.30000114440918, 3.500000238418579, -4.111999988555908, 4.0, -0.29200002551078796], "tau_des": [-1.5267499685287476, 1.0441715717315674, -0.09767112135887146, -0.4338796138763428, 0.05731187388300896, 0.35036787390708923, -0.2854284942150116], "tau_dot": [-75.29449462890625, -14.083467483520508, 77.04573059082031, -2.5181965827941895, 37.68483352661133, 7.06587028503418, -39.068580627441406], "tau_ext": [15.383421897888184, -35.49156188964844, -36.82484817504883, 20.155298233032227, -2.4022669792175293, -7.233654022216797, 0.17289987206459045], "tcp_pose": [0.6441855430603027, -0.07435265183448792, -0.324500173330307, -0.02768457867205143, -0.08014488220214844, 0.995962917804718, 0.02946539781987667], "tcp_vel": [-5.23223279742524e-05, -0.0005329775740392506, 0.000519450637511909, -0.0013660552212968469, -0.00034138470073230565, 0.0002770537103060633], "flange_pose": [0.6555605530738831, -0.08466116338968277, -0.13512134552001953, -0.02768457867205143, -0.08014488220214844, 0.995962917804718, 0.02946539781987667], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.274133682250977, -48.176368713378906, -13.446513175964355, -4.135116100311279, 11.368935585021973, -0.0945197120308876], "ext_wrench_in_world": [-8.6083144568124, -50.98923730201807, 11.232164308013774, 2.2848958463550537, 11.864903488524078, 0.6034332230773066]}
+{"timestamp_ns": 1789729897455580206, "elapsed_ms": 16833, "source_timestamp_ns": 1789729897451663290, "q": [0.10081252455711365, -1.5917048454284668, -0.0844220519065857, 0.8215032815933228, 1.690223217010498, -0.08332199603319168, -0.9997447729110718], "theta": [0.09860865771770477, -1.5907567739486694, -0.0858045294880867, 0.805395245552063, 1.689638376235962, -0.08271956443786621, -0.9992855787277222], "dq": [0.00047103402903303504, 0.00022828952933195978, 0.003966818563640118, -0.0006652901065535843, -0.0036026432644575834, 0.0010110834846273065, 0.00022744077432435006], "dtheta": [-0.0014648647047579288, -0.00027785016573034227, 0.002921522129327059, -0.0004740062286145985, -0.0029413013253360987, 0.00042656416189856827, 0.00015020414139144123], "tau": [-63.22999954223633, -1.899999976158142, -25.308000564575195, 3.4880001544952393, -4.124000072479248, 4.019999980926514, -0.2840000092983246], "tau_des": [-1.6598777770996094, 0.9335577487945557, -0.21159984171390533, -0.3878747820854187, 0.0068522291257977486, 0.4343906044960022, -0.2982173562049866], "tau_dot": [-55.63397216796875, 21.24659538269043, 7.519495964050293, -1.2036398649215698, 7.173035621643066, 63.775184631347656, -12.418603897094727], "tau_ext": [15.4138822555542, -35.490745544433594, -36.81083297729492, 20.15219497680664, -2.39827036857605, -7.238001823425293, 0.17291665077209473], "tcp_pose": [0.6441845297813416, -0.07435096800327301, -0.3244987726211548, -0.0276812557131052, -0.08014419674873352, 0.9959629774093628, 0.029468964785337448], "tcp_vel": [-0.00013038335600867867, 0.00022202692343853414, 3.089327219640836e-05, 0.0006371441995725036, 0.0004356950521469116, -0.00023329899704549462], "flange_pose": [0.6555584073066711, -0.08466093987226486, -0.1351199597120285, -0.0276812557131052, -0.08014419674873352, 0.9959629774093628, 0.029468964785337448], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.28474235534668, -48.16756820678711, -13.436054229736328, -4.131525993347168, 11.36204719543457, -0.0957798883318901], "ext_wrench_in_world": [-8.620944925330134, -50.98177858914219, 11.222390965954078, 2.282538584050521, 11.857459560461363, 0.6045392264682311]}
+{"timestamp_ns": 1789729897488898816, "elapsed_ms": 16866, "source_timestamp_ns": 1789729897481676351, "q": [0.10076811164617538, -1.591714859008789, -0.08433288335800171, 0.821491003036499, 1.6901367902755737, -0.08329076319932938, -0.9997603297233582], "theta": [0.09856288135051727, -1.5907666683197021, -0.08572155982255936, 0.8053820133209229, 1.6895536184310913, -0.0826880931854248, -0.9993013739585876], "dq": [-0.001215028460137546, -0.0006498559378087521, 0.0024528815411031246, 0.0012195042800158262, -0.003223625011742115, -0.00026836333563551307, 0.0009026071056723595], "dtheta": [-0.0012966495705768466, -0.000560753105673939, 0.002655638149008155, -0.0001506826956756413, -0.0025231842882931232, 0.0009463175083510578, -0.0011783917434513569], "tau": [-63.19999694824219, -1.8799999952316284, -25.288002014160156, 3.504000186920166, -4.136000156402588, 3.992000102996826, -0.30800002813339233], "tau_des": [-1.659298300743103, 1.006395697593689, -0.18810473382472992, -0.41773226857185364, 0.017138293012976646, 0.43141087889671326, -0.26599016785621643], "tau_dot": [9.97413444519043, 30.495786666870117, 34.5089225769043, 35.636077880859375, -19.07352638244629, -6.430501937866211, -72.0163345336914], "tau_ext": [15.429636001586914, -35.481285095214844, -36.80177688598633, 20.15537452697754, -2.39851450920105, -7.238973617553711, 0.17651021480560303], "tcp_pose": [0.6441832780838013, -0.07434918731451035, -0.3244965970516205, -0.027679873630404472, -0.08014905452728271, 0.9959625005722046, 0.0294731967151165], "tcp_vel": [-0.00022783069289289415, -0.00017686575301922858, 6.978479359531775e-05, 0.0002832559694070369, -0.00015009738854132593, 0.0005188856739550829], "flange_pose": [0.6555567979812622, -0.08466074615716934, -0.13511784374713898, -0.027679873630404472, -0.08014905452728271, 0.9959625005722046, 0.0294731967151165], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.290327072143555, -48.156097412109375, -13.441010475158691, -4.1293110847473145, 11.36024284362793, -0.09459506720304489], "ext_wrench_in_world": [-8.627510337765782, -50.971826569064795, 11.227860544401032, 2.2804564135196728, 11.855404730814806, 0.603467432565079]}
+{"timestamp_ns": 1789729897522246383, "elapsed_ms": 16900, "source_timestamp_ns": 1789729897521680603, "q": [0.10071464627981186, -1.5917259454727173, -0.08422231674194336, 0.8214771747589111, 1.690029263496399, -0.08323624730110168, -0.9997712969779968], "theta": [0.09850780665874481, -1.5907785892486572, -0.0856194719672203, 0.8053672313690186, 1.6894458532333374, -0.08263254165649414, -0.9993128776550293], "dq": [-0.002037731697782874, -0.00204672128893435, 0.003270923625677824, 0.0004449404077604413, -0.003452067030593753, 0.0004683856968767941, 7.268389890668914e-05], "dtheta": [-0.001373441074974835, -0.0004621887637767941, 0.0026107672601938248, -0.0006714010960422456, -0.0025537407491356134, 0.001468017348088324, -0.0005453290068544447], "tau": [-63.23999786376953, -1.899999976158142, -25.30000114440918, 3.4800002574920654, -4.12000036239624, 3.992000102996826, -0.2840000092983246], "tau_des": [-1.5883272886276245, 0.9238830804824829, -0.152714803814888, -0.35736459493637085, 0.014456686563789845, 0.40249088406562805, -0.2639354169368744], "tau_dot": [-61.706695556640625, 23.57805633544922, 15.433444023132324, -63.92067337036133, 21.279640197753906, -8.228487014770508, -25.402935028076172], "tau_ext": [15.390661239624023, -35.48643493652344, -36.82482147216797, 20.157255172729492, -2.3992092609405518, -7.2402215003967285, 0.17914362251758575], "tcp_pose": [0.6441842317581177, -0.07434995472431183, -0.32449349761009216, -0.027674373239278793, -0.08015088737010956, 0.9959625601768494, 0.02947200834751129], "tcp_vel": [0.00013573859177995473, -9.867533663054928e-05, 0.00014949131582397968, -0.00014466421271208674, -0.000473811145639047, 0.0005117118707858026], "flange_pose": [0.6555556654930115, -0.08466121554374695, -0.13511459529399872, -0.027674373239278793, -0.08015088737010956, 0.9959625601768494, 0.02947200834751129], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.283945083618164, -48.152286529541016, -13.436841011047363, -4.129538536071777, 11.361659049987793, -0.09158991277217865], "ext_wrench_in_world": [-8.622025845345688, -50.96682927761123, 11.223597272787899, 2.280230043328664, 11.857008606557393, 0.6005592849321619]}
+{"timestamp_ns": 1789729897555581042, "elapsed_ms": 16933, "source_timestamp_ns": 1789729897551661516, "q": [0.10067731887102127, -1.591738224029541, -0.08414354920387268, 0.8214665651321411, 1.689961552619934, -0.08318590372800827, -0.9997853636741638], "theta": [0.09846870601177216, -1.5907913446426392, -0.08554651588201523, 0.8053554892539978, 1.689377784729004, -0.0825810432434082, -0.9993279576301575], "dq": [0.00018701405497267842, -0.0011266772635281086, 0.0012121460167691112, -0.001085922122001648, -0.004126311745494604, 0.0026193265803158283, 0.0012588122626766562], "dtheta": [-0.0010572801111266017, -0.0005089029436931014, 0.002686385763809085, -0.0005281681078486145, -0.003070568898692727, 0.0013513702433556318, -0.00029583604191429913], "tau": [-63.22999954223633, -1.909999966621399, -25.332000732421875, 3.492000102996826, -4.128000259399414, 4.019999980926514, -0.30000001192092896], "tau_des": [-1.621815800666809, 0.9811064600944519, -0.15011288225650787, -0.3828001022338867, 0.027737047523260117, 0.3791578710079193, -0.26367923617362976], "tau_dot": [-104.0960693359375, 1.7084401845932007, -44.14653015136719, -0.6681995987892151, 18.114761352539062, 16.985546112060547, -20.34263801574707], "tau_ext": [15.388691902160645, -35.49274444580078, -36.820655822753906, 20.162097930908203, -2.396230936050415, -7.244832992553711, 0.1778167337179184], "tcp_pose": [0.644187331199646, -0.07435398548841476, -0.32449156045913696, -0.027663681656122208, -0.08015376329421997, 0.9959626793861389, 0.02946929633617401], "tcp_vel": [-0.00017984387523029, -0.00022148730931803584, -3.0785664421273395e-05, -0.00036188436206430197, 0.00030517057166434824, 6.823303556302562e-05], "flange_pose": [0.6555546522140503, -0.08466450870037079, -0.13511238992214203, -0.027663681656122208, -0.08015376329421997, 0.9959626793861389, 0.02946929633617401], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.293807983398438, -48.14699935913086, -13.458354949951172, -4.13284969329834, 11.358962059020996, -0.09061075747013092], "ext_wrench_in_world": [-8.631274666495623, -50.96438289590387, 11.245862949764705, 2.28378604855621, 11.85495219586648, 0.5992542642188876]}
+{"timestamp_ns": 1789729897588896402, "elapsed_ms": 16966, "source_timestamp_ns": 1789729897581670677, "q": [0.1006447970867157, -1.5917484760284424, -0.0840698778629303, 0.8214597105979919, 1.6899055242538452, -0.08314935863018036, -0.9997919797897339], "theta": [0.09843399375677109, -1.5908021926879883, -0.08547866344451904, 0.8053469061851501, 1.689321756362915, -0.08254432678222656, -0.9993358850479126], "dq": [-0.001742075546644628, -3.490760354907252e-05, 0.0012772843474522233, 0.0011929984902963042, 0.0006833433290012181, 0.003551366040483117, 0.002158460905775428], "dtheta": [-0.0016839916352182627, -0.0006215922185219824, 0.0025279242545366287, -9.193069126922637e-05, -0.0016135337064042687, 0.0016225543804466724, 0.00021691806614398956], "tau": [-63.18000030517578, -1.909999966621399, -25.288002014160156, 3.4760000705718994, -4.104000091552734, 4.0, -0.29600000381469727], "tau_des": [-1.4621933698654175, 1.0192573070526123, -0.10221913456916809, -0.4249746799468994, -0.02702564373612404, 0.3490123748779297, -0.2844216227531433], "tau_dot": [-31.638242721557617, -56.258262634277344, 22.06810760498047, 3.2603001594543457, 50.76259231567383, 9.633418083190918, -49.31869125366211], "tau_ext": [15.358552932739258, -35.50163650512695, -36.82892990112305, 20.15652084350586, -2.395293712615967, -7.241200923919678, 0.18045532703399658], "tcp_pose": [0.6441882848739624, -0.07435406744480133, -0.32449284195899963, -0.027655135840177536, -0.08015231043100357, 0.995962917804718, 0.029473060742020607], "tcp_vel": [0.00018513995746616274, -0.00024492861120961607, 0.0003426762414164841, 0.00016490973939653486, -0.0015938628930598497, -0.0009749250602908432], "flange_pose": [0.6555525064468384, -0.08466629683971405, -0.13511356711387634, -0.027655135840177536, -0.08015231043100357, 0.995962917804718, 0.029473060742020607], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.276268005371094, -48.16609573364258, -13.454489707946777, -4.142360687255859, 11.362105369567871, -0.08930756896734238], "ext_wrench_in_world": [-8.611569874489252, -50.98022917508158, 11.239332954852191, 2.292619019348089, 11.859640812772065, 0.5978161577903999]}
+{"timestamp_ns": 1789729897622251209, "elapsed_ms": 17000, "source_timestamp_ns": 1789729897621669140, "q": [0.10059913247823715, -1.5917600393295288, -0.08395957946777344, 0.8214524984359741, 1.6898057460784912, -0.08309303969144821, -0.9997936487197876], "theta": [0.09838440269231796, -1.5908143520355225, -0.08537618815898895, 0.8053378462791443, 1.6892212629318237, -0.0824880599975586, -0.9993385076522827], "dq": [-0.0010031894780695438, 0.002146647311747074, 0.0015282111708074808, -0.0003518961020745337, -0.00264453305862844, -8.761956269154325e-05, -0.0005440093227662146], "dtheta": [-0.0016159974038600922, -0.0003745660651475191, 0.0025594173930585384, -8.433498442173004e-05, -0.002449600724503398, 0.0017793558072298765, -0.0004625710134860128], "tau": [-63.19999694824219, -1.8899999856948853, -25.288002014160156, 3.4880001544952393, -4.128000259399414, 4.004000186920166, -0.2680000066757202], "tau_des": [-1.4816402196884155, 1.0149117708206177, -0.1014890968799591, -0.42553281784057617, 0.0004809546226169914, 0.3476971387863159, -0.28744280338287354], "tau_dot": [-11.717262268066406, -54.12194061279297, 49.264163970947266, 68.01836395263672, 14.421821594238281, 2.7106709480285645, 12.333392143249512], "tau_ext": [15.334921836853027, -35.51553726196289, -36.84062194824219, 20.162586212158203, -2.3969855308532715, -7.233809947967529, 0.17691251635551453], "tcp_pose": [0.6441860795021057, -0.07435597479343414, -0.324494868516922, -0.027649715542793274, -0.08014610409736633, 0.9959635734558105, 0.02947325073182583], "tcp_vel": [0.00011578297562664375, -0.0002679810277186334, 0.00037636252818629146, -0.00041374683496542275, -0.0010455718729645014, -5.748333205701783e-05], "flange_pose": [0.6555481553077698, -0.08466851711273193, -0.13511548936367035, -0.027649715542793274, -0.08014610409736633, 0.9959635734558105, 0.02947325073182583], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.26202392578125, -48.181480407714844, -13.477790832519531, -4.149741172790527, 11.361917495727539, -0.08870887011289597], "ext_wrench_in_world": [-8.594475860106138, -50.99425648021477, 11.260735355141243, 2.300032825019377, 11.860648603894715, 0.5968701226170492]}
+{"timestamp_ns": 1789729897655587987, "elapsed_ms": 17033, "source_timestamp_ns": 1789729897651663802, "q": [0.1005619615316391, -1.5917677879333496, -0.08386863023042679, 0.8214411735534668, 1.6897231340408325, -0.08305635303258896, -0.9997956156730652], "theta": [0.0983438715338707, -1.590822458267212, -0.08529192954301834, 0.8053260445594788, 1.6891380548477173, -0.08245205879211426, -0.9993409514427185], "dq": [0.00021705316612496972, 0.001074986532330513, 0.0030421591363847256, 2.055870027106721e-06, -0.0045209298841655254, 0.0004835443396586925, -0.0007747317431494594], "dtheta": [-0.0014804437523707747, -0.0004504733660724014, 0.0034310908522456884, -0.0004429904220160097, -0.0025221961550414562, -0.000660718244034797, -0.0005272648995742202], "tau": [-63.22999954223633, -1.9299999475479126, -25.34400177001953, 3.4600002765655518, -4.124000072479248, 4.016000270843506, -0.2840000092983246], "tau_des": [-1.7054213285446167, 0.9208918213844299, -0.30340775847435, -0.3767123222351074, -0.04004698246717453, 0.48107022047042847, -0.2868257462978363], "tau_dot": [-59.39900588989258, -178.70106506347656, -63.13440704345703, -35.91532516479492, 72.85458374023438, 15.295331001281738, 30.502134323120117], "tau_ext": [15.37996768951416, -35.49304962158203, -36.81945037841797, 20.156747817993164, -2.395557403564453, -7.238178730010986, 0.1747194528579712], "tcp_pose": [0.644184947013855, -0.07435272634029388, -0.32449808716773987, -0.02764882892370224, -0.08014480024576187, 0.9959635734558105, 0.029477519914507866], "tcp_vel": [-0.0003537024895194918, 0.0005815192125737667, -0.0003040861338376999, 0.0022527300752699375, 0.000785541080404073, 0.00017843682144302875], "flange_pose": [0.6555468440055847, -0.08466692268848419, -0.1351187825202942, -0.02764882892370224, -0.08014480024576187, 0.9959635734558105, 0.029477519914507866], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.25775146484375, -48.196556091308594, -13.48410415649414, -4.154672145843506, 11.36192798614502, -0.08991005271673203], "ext_wrench_in_world": [-8.587663597702916, -51.008837732859604, 11.265415068413626, 2.3049967105764915, 11.861377211047907, 0.5979237751066239]}
+{"timestamp_ns": 1789729897688909047, "elapsed_ms": 17066, "source_timestamp_ns": 1789729897681675433, "q": [0.10051985085010529, -1.5917768478393555, -0.08377183973789215, 0.8214277625083923, 1.6896302700042725, -0.08300939947366714, -0.9997985363006592], "theta": [0.09829823672771454, -1.5908315181732178, -0.08520276099443436, 0.805311918258667, 1.6890455484390259, -0.08240532875061035, -0.999343991279602], "dq": [-0.0027507864870131016, -0.0009134345455095172, 0.0035077419597655535, 0.00022324852761812508, -0.0022782457526773214, 0.0012223541270941496, -7.621051918249577e-05], "dtheta": [-0.0014980167616158724, -0.0001362132461508736, 0.0029387210961431265, -0.0003872264642268419, -0.00421873340383172, 0.0015372316120192409, -0.0005134409293532372], "tau": [-63.18000030517578, -1.909999966621399, -25.32000160217285, 3.4720001220703125, -4.148000240325928, 4.0320000648498535, -0.2840000092983246], "tau_des": [-1.5692812204360962, 0.9372153878211975, -0.171663299202919, -0.3768514096736908, 0.031379371881484985, 0.39654746651649475, -0.28696125745773315], "tau_dot": [81.30169677734375, 4.437004089355469, -5.209604740142822, -23.848520278930664, -16.48058319091797, 43.388511657714844, -35.10327911376953], "tau_ext": [15.377748489379883, -35.479679107666016, -36.81708526611328, 20.150001525878906, -2.390442132949829, -7.243293285369873, 0.17568664252758026], "tcp_pose": [0.6441852450370789, -0.07435216754674911, -0.32449871301651, -0.027646275237202644, -0.08014404773712158, 0.9959636926651001, 0.029477326199412346], "tcp_vel": [-0.0001500434591434896, -0.00019284636073280126, 0.000274777616141364, -0.0009793282952159643, 0.0005678709712810814, 0.0004984801635146141], "flange_pose": [0.6555461287498474, -0.08466637879610062, -0.13511933386325836, -0.027646275237202644, -0.08014404773712158, 0.9959636926651001, 0.029477326199412346], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.27124786376953, -48.19377517700195, -13.471697807312012, -4.155911445617676, 11.358315467834473, -0.09069181978702545], "ext_wrench_in_world": [-8.602289028639705, -51.007585949244714, 11.253861981243036, 2.3068523867706294, 11.857970995814972, 0.5984238839665876]}
+{"timestamp_ns": 1789729897722252675, "elapsed_ms": 17100, "source_timestamp_ns": 1789729897721703233, "q": [0.1004621833562851, -1.5917859077453613, -0.08364709466695786, 0.8214141130447388, 1.689509391784668, -0.082951620221138, -0.999805212020874], "theta": [0.0982370600104332, -1.5908414125442505, -0.08508861064910889, 0.8052976727485657, 1.6889266967773438, -0.08234822750091553, -0.9993512630462646], "dq": [-0.002253469079732895, -0.0005955108208581805, 0.003622138872742653, -0.0008955380762927234, -0.004427935462445021, 0.0029817051254212856, -0.002465992933139205], "dtheta": [-0.0014111276250332594, -0.00017911235045176, 0.002986265579238534, 3.4514225262682885e-05, -0.0028683184646070004, 0.001680151792243123, -9.824921289691702e-05], "tau": [-63.16999816894531, -1.8700000047683716, -25.272001266479492, 3.4800002574920654, -4.140000343322754, 3.996000289916992, -0.2840000092983246], "tau_des": [-1.588709831237793, 0.949259877204895, -0.19971957802772522, -0.3993798792362213, -0.0037394929677248, 0.40336892008781433, -0.30161765217781067], "tau_dot": [80.11444854736328, 73.05076599121094, 47.64669418334961, 33.38496398925781, 8.930818557739258, 10.785859107971191, 17.000804901123047], "tau_ext": [15.380141258239746, -35.47365188598633, -36.81969451904297, 20.152921676635742, -2.3835253715515137, -7.243983745574951, 0.17730629444122314], "tcp_pose": [0.6441856026649475, -0.07435034215450287, -0.3244973123073578, -0.02764236181974411, -0.08014402538537979, 0.9959638118743896, 0.029477683827280998], "tcp_vel": [-3.67806242138613e-05, -9.130189573625103e-05, 9.691321611171588e-05, -0.00020897702779620886, -0.00045985777978785336, -0.0003849889908451587], "flange_pose": [0.6555450558662415, -0.08466480672359467, -0.13511787354946136, -0.02764236181974411, -0.08014402538537979, 0.9959638118743896, 0.029477683827280998], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.27138328552246, -48.165618896484375, -13.469952583312988, -4.152015209197998, 11.356488227844238, -0.08979981392621994], "ext_wrench_in_world": [-8.607079021569586, -50.97977967791497, 11.25377277099565, 2.3032466420045465, 11.855588957924443, 0.5976491780235885]}
+{"timestamp_ns": 1789729897755584544, "elapsed_ms": 17133, "source_timestamp_ns": 1789729897751672618, "q": [0.10042015463113785, -1.5917937755584717, -0.08356006443500519, 0.8214066624641418, 1.6894229650497437, -0.08290506899356842, -0.9998177886009216], "theta": [0.09819333255290985, -1.5908491611480713, -0.08500883728265762, 0.805289089679718, 1.6888427734375, -0.08230173587799072, -0.9993643760681152], "dq": [-0.0016695805825293064, 0.002821908565238118, 0.004714692942798138, -0.00015263610112015158, -0.004942400846630335, 0.001038950402289629, -0.0019986992701888084], "dtheta": [-0.0011401589727029204, -0.00013825450150761753, 0.0027393882628530264, -0.00016100199718493968, -0.0031377782579511404, 0.0010214055655524135, -0.00042387263965792954], "tau": [-63.22999954223633, -1.8899999856948853, -25.308000564575195, 3.4760000705718994, -4.152000427246094, 4.01200008392334, -0.2880000174045563], "tau_des": [-1.618990421295166, 0.9281956553459167, -0.18755820393562317, -0.37772423028945923, 0.01701616868376732, 0.40716713666915894, -0.2856045663356781], "tau_dot": [-133.99188232421875, 2.7974023818969727, -4.339949607849121, 34.510093688964844, -32.1306266784668, -17.41408348083496, -2.9894962310791016], "tau_ext": [15.365697860717773, -35.48076629638672, -36.81907272338867, 20.164073944091797, -2.3823442459106445, -7.25055456161499, 0.17866890132427216], "tcp_pose": [0.6441858410835266, -0.07435240596532822, -0.32449424266815186, -0.027637409046292305, -0.08014623075723648, 0.9959638714790344, 0.029474737122654915], "tcp_vel": [-0.0002118364500347525, 2.0923378087900346e-06, -1.527845779492054e-05, -0.00010097576887346804, 0.00045507546747103333, 0.0001941234222613275], "flange_pose": [0.655543327331543, -0.08466588705778122, -0.1351146250963211, -0.027637409046292305, -0.08014623075723648, 0.9959638714790344, 0.029474737122654915], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.272598266601562, -48.15296936035156, -13.487140655517578, -4.152344226837158, 11.35560131072998, -0.08857619762420654], "ext_wrench_in_world": [-8.609148889306095, -50.968424394468386, 11.27192717804718, 2.303581239067834, 11.854847219099872, 0.5963223423624506]}
+{"timestamp_ns": 1789729897788895234, "elapsed_ms": 17166, "source_timestamp_ns": 1789729897781683578, "q": [0.10038071870803833, -1.5918035507202148, -0.08347927033901215, 0.8213997483253479, 1.6893540620803833, -0.08286861330270767, -0.9998372197151184], "theta": [0.0981522724032402, -1.5908591747283936, -0.08493530750274658, 0.8052820563316345, 1.6887755393981934, -0.08226680755615234, -0.9993842840194702], "dq": [-0.0019410614622756839, 0.002242536284029484, 0.003922886680811644, 0.002161863725632429, -0.0027999684680253267, 0.00039004659629426897, 0.0012616035528481007], "dtheta": [-0.0010494171874597669, -0.0007647377788089216, 0.0023455717600882053, -0.00023550445621367544, -0.002218589186668396, 0.0008279370958916843, -0.0004069870337843895], "tau": [-63.099998474121094, -1.909999966621399, -25.328001022338867, 3.4560000896453857, -4.152000427246094, 3.996000289916992, -0.29200002551078796], "tau_des": [-1.60416579246521, 1.0377448797225952, -0.16588470339775085, -0.42686575651168823, 0.001986276125535369, 0.39983999729156494, -0.2777636647224426], "tau_dot": [139.29180908203125, -62.87745666503906, -43.74056625366211, -60.97198486328125, -33.224952697753906, -24.132783889770508, -12.965868949890137], "tau_ext": [15.33873176574707, -35.49462127685547, -36.834991455078125, 20.165788650512695, -2.384948492050171, -7.2401123046875, 0.18070782721042633], "tcp_pose": [0.6441861987113953, -0.07435239106416702, -0.32449275255203247, -0.02763006091117859, -0.08015106618404388, 0.9959635734558105, 0.02947806939482689], "tcp_vel": [-0.00030979886651039124, -0.0003049358492717147, 4.091938535566442e-06, 0.0002084666193695739, 3.1515191949438304e-06, -0.0003384708834346384], "flange_pose": [0.6555410623550415, -0.08466730266809464, -0.13511306047439575, -0.02763006091117859, -0.08015106618404388, 0.9959635734558105, 0.02947806939482689], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.27374267578125, -48.16667556762695, -13.489895820617676, -4.157266139984131, 11.351704597473145, -0.08631245791912079], "ext_wrench_in_world": [-8.60764635404473, -50.98243415004986, 11.273328829444548, 2.3087968920547874, 11.851940110839315, 0.5937014297269421]}
+{"timestamp_ns": 1789729897822246351, "elapsed_ms": 17200, "source_timestamp_ns": 1789729897821691010, "q": [0.1003294587135315, -1.5918163061141968, -0.08337778598070145, 0.8213924169540405, 1.6892650127410889, -0.08282522112131119, -0.9998481273651123], "theta": [0.09809886664152145, -1.590873122215271, -0.08484308421611786, 0.8052743077278137, 1.6886874437332153, -0.08222532272338867, -0.9993957877159119], "dq": [-0.00011730225378414616, 0.0028642485849559307, 0.0034987409599125385, -0.00018531581736169755, -0.00043112135608680546, -0.0015560004394501448, -0.0021086009219288826], "dtheta": [-0.0009147949749603868, -0.0005559426499530673, 0.002057488774880767, -0.00011139525304315612, -0.0031092201825231314, 0.000866214104462415, -6.529525853693485e-05], "tau": [-63.14999771118164, -1.899999976158142, -25.280000686645508, 3.4680001735687256, -4.144000053405762, 4.02400016784668, -0.2840000092983246], "tau_des": [-1.569463849067688, 1.0551108121871948, -0.13305336236953735, -0.44555938243865967, 0.029352720826864243, 0.39339128136634827, -0.2884116470813751], "tau_dot": [51.286766052246094, -20.050243377685547, 38.85254669189453, -1.8762834072113037, -12.064557075500488, 54.404563903808594, -16.361684799194336], "tau_ext": [15.338876724243164, -35.459617614746094, -36.81193542480469, 20.15166664123535, -2.3794546127319336, -7.247227668762207, 0.17998318374156952], "tcp_pose": [0.644185483455658, -0.0743529424071312, -0.32448962330818176, -0.027621781453490257, -0.08014949411153793, 0.9959638118743896, 0.029482148587703705], "tcp_vel": [-0.00048518215771764517, -0.00047475623432546854, 0.00013531347212847322, -0.0007131202728487551, 0.0007892801659181714, -0.0005611743545159698], "flange_pose": [0.6555373072624207, -0.08466967195272446, -0.13510984182357788, -0.027621781453490257, -0.08014949411153793, 0.9959638118743896, 0.029482148587703705], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.267051696777344, -48.143226623535156, -13.516936302185059, -4.159348011016846, 11.349469184875488, -0.08522050827741623], "ext_wrench_in_world": [-8.603517077420214, -50.959788368623784, 11.300812994877333, 2.311173512199489, 11.850117843020735, 0.5925143823134086]}
+{"timestamp_ns": 1789729897855582140, "elapsed_ms": 17233, "source_timestamp_ns": 1789729897851674404, "q": [0.10028854012489319, -1.5918259620666504, -0.08329252898693085, 0.821385383605957, 1.6891916990280151, -0.08278639614582062, -0.9998507499694824], "theta": [0.09805666655302048, -1.5908827781677246, -0.08476603031158447, 0.8052673935890198, 1.6886135339736938, -0.08218741416931152, -0.999398410320282], "dq": [-0.00041191314812749624, -0.001045414013788104, 0.0027864102739840746, 0.0007295725517906249, -0.003080295864492655, 0.0019214448984712362, -0.0007495990139432251], "dtheta": [-0.0014885158743709326, -0.0004149868618696928, 0.002577384002506733, -0.000298532861052081, -0.0026672775857150555, 0.001399919856339693, -0.00018781052494887263], "tau": [-63.1099967956543, -1.8700000047683716, -25.264001846313477, 3.4560000896453857, -4.144000053405762, 4.0, -0.2840000092983246], "tau_des": [-1.4491406679153442, 0.9658815264701843, -0.13711442053318024, -0.39797207713127136, -0.02099420689046383, 0.37778255343437195, -0.2917476296424866], "tau_dot": [76.41675567626953, -31.493961334228516, 51.09857940673828, 36.55305099487305, 4.554596900939941, -35.70079803466797, -20.73626708984375], "tau_ext": [15.330079078674316, -35.4754753112793, -36.824562072753906, 20.14919090270996, -2.377657413482666, -7.244340896606445, 0.17469391226768494], "tcp_pose": [0.6441857814788818, -0.07435266673564911, -0.32448846101760864, -0.027614688500761986, -0.08014589548110962, 0.9959642291069031, 0.029485194012522697], "tcp_vel": [1.5862135114730336e-05, -0.00018873925728257746, 0.0002652379625942558, -0.000257443985901773, -0.0004702383594121784, -0.0001620726106921211], "flange_pose": [0.6555350422859192, -0.08467080444097519, -0.1351085901260376, -0.027614688500761986, -0.08014589548110962, 0.9959642291069031, 0.029485194012522697], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.268943786621094, -48.15372085571289, -13.520084381103516, -4.166746139526367, 11.3469877243042, -0.08683837205171585], "ext_wrench_in_world": [-8.604086263038687, -50.97061722181516, 11.30291170596964, 2.3190387822053777, 11.848755623491652, 0.5937120607087567]}
+{"timestamp_ns": 1789729897888903500, "elapsed_ms": 17266, "source_timestamp_ns": 1789729897881717662, "q": [0.10024705529212952, -1.5918354988098145, -0.08320445567369461, 0.8213787078857422, 1.6891127824783325, -0.08275103569030762, -0.999856173992157], "theta": [0.09801346808671951, -1.590893268585205, -0.08468744903802872, 0.8052604794502258, 1.6885329484939575, -0.08215248584747314, -0.9994041919708252], "dq": [-0.0019493675790727139, -2.7433598006609827e-05, 0.0035273388493806124, -0.0009578298195265234, -0.0021001941058784723, 5.141628935234621e-05, 0.00064732605824247], "dtheta": [-0.0015350781613960862, -4.586283830576576e-05, 0.0025466461665928364, -0.0003169668198097497, -0.00385971087962389, 0.0008103472646325827, 0.00014916453801561147], "tau": [-63.14999771118164, -1.8600000143051147, -25.284000396728516, 3.4600002765655518, -4.156000137329102, 3.9880001544952393, -0.25200000405311584], "tau_des": [-1.441163182258606, 0.9142858982086182, -0.1446935385465622, -0.3821653127670288, 0.001751796342432499, 0.4064522087574005, -0.3014552593231201], "tau_dot": [78.25791931152344, 30.35993194580078, 23.68097496032715, 36.32756423950195, -9.350959777832031, -17.613611221313477, 82.55744171142578], "tau_ext": [15.310497283935547, -35.47431564331055, -36.82923126220703, 20.156782150268555, -2.3790066242218018, -7.244326591491699, 0.17590275406837463], "tcp_pose": [0.6441841721534729, -0.07435188442468643, -0.3244878053665161, -0.027610428631305695, -0.08014332503080368, 0.9959644079208374, 0.029489289969205856], "tcp_vel": [-0.00017542731075081974, -4.930073919240385e-05, 0.00036503421142697334, -0.000626619381364435, 0.0007864407962188125, -0.00010908970580203459], "flange_pose": [0.6555318832397461, -0.0846717357635498, -0.13510793447494507, -0.027610428631305695, -0.08014332503080368, 0.9959644079208374, 0.029489289969205856], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.270999908447266, -48.17412567138672, -13.539612770080566, -4.176793575286865, 11.34539794921875, -0.08746220171451569], "ext_wrench_in_world": [-8.602095973837312, -50.99216650255311, 11.320681792041835, 2.329292390621005, 11.848757277267053, 0.5938491195830302]}
+{"timestamp_ns": 1789729897922247567, "elapsed_ms": 17300, "source_timestamp_ns": 1789729897921691686, "q": [0.1001967340707779, -1.5918453931808472, -0.08308802545070648, 0.8213669657707214, 1.6889986991882324, -0.08269742876291275, -0.9998686909675598], "theta": [0.09796111285686493, -1.590903639793396, -0.08458402007818222, 0.8052482008934021, 1.6884191036224365, -0.08209872245788574, -0.9994171857833862], "dq": [-0.0012370009208098054, -0.0023037749342620373, 0.0023760455660521984, -0.0016316112596541643, -0.0044317664578557014, 0.00047789470409043133, -0.0010707619367167354], "dtheta": [-0.0010056955507025123, -0.000545521208550781, 0.002319586928933859, -0.0002817091881297529, -0.0030330251902341843, 0.0018182755447924137, -0.0003272292378824204], "tau": [-63.119998931884766, -1.8600000143051147, -25.288002014160156, 3.4680001735687256, -4.116000175476074, 4.01200008392334, -0.2680000066757202], "tau_des": [-1.5358701944351196, 1.034278392791748, -0.15065191686153412, -0.43276911973953247, 0.014826291240751743, 0.39267709851264954, -0.29381057620048523], "tau_dot": [93.55679321289062, -6.507235050201416, 31.51639175415039, 59.41413497924805, 79.88346862792969, -13.390034675598145, 35.798011779785156], "tau_ext": [15.340453147888184, -35.472747802734375, -36.814422607421875, 20.158748626708984, -2.3712518215179443, -7.24820613861084, 0.1752685308456421], "tcp_pose": [0.6441820859909058, -0.07435152679681778, -0.3244885206222534, -0.02760898321866989, -0.08014523237943649, 0.9959642887115479, 0.029489483684301376], "tcp_vel": [-0.00019172091560903937, -0.0005276600713841617, 0.0001456183090340346, -0.0010756142437458038, 6.076213594496949e-07, -0.00013815559213981032], "flange_pose": [0.655529260635376, -0.08467146754264832, -0.13510861992835999, -0.02760898321866989, -0.08014523237943649, 0.9959642887115479, 0.029489483684301376], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.272438049316406, -48.16563034057617, -13.527396202087402, -4.174594402313232, 11.341958999633789, -0.08764529228210449], "ext_wrench_in_world": [-8.605429061511451, -50.98340374931626, 11.309051378530997, 2.3276333021012925, 11.845012115078875, 0.5939404642233321]}
+{"timestamp_ns": 1789729897955581926, "elapsed_ms": 17333, "source_timestamp_ns": 1789729897951671180, "q": [0.10016290843486786, -1.5918508768081665, -0.08301026374101639, 0.8213613033294678, 1.6889266967773438, -0.08265888690948486, -0.9998796582221985], "theta": [0.09792568534612656, -1.5909104347229004, -0.0845160260796547, 0.8052425980567932, 1.6883485317230225, -0.08205950260162354, -0.9994286298751831], "dq": [-0.0002096441894536838, 0.00024508743081241846, 0.002514398656785488, -0.0013423507334664464, -0.003730583703145385, 0.0018979693995788693, -0.0001865657395683229], "dtheta": [-0.0011172931408509612, -0.0003608355764299631, 0.002205448690801859, -0.0002801096416078508, -0.001742083579301834, 0.0030678673647344112, -0.0013610520400106907], "tau": [-63.12999725341797, -1.8799999952316284, -25.296001434326172, 3.4560000896453857, -4.172000408172607, 4.019999980926514, -0.2720000147819519], "tau_des": [-1.4630693197250366, 0.9355888962745667, -0.12958961725234985, -0.36572277545928955, -0.028079763054847717, 0.3548066020011902, -0.2636304199695587], "tau_dot": [25.6347599029541, -17.354873657226562, -12.213150024414062, -42.40325927734375, -15.317380905151367, 27.087417602539062, 43.25299072265625], "tau_ext": [15.314244270324707, -35.465965270996094, -36.8270149230957, 20.155529022216797, -2.372689962387085, -7.24860954284668, 0.1768045425415039], "tcp_pose": [0.6441819071769714, -0.07435097545385361, -0.32448896765708923, -0.02760525420308113, -0.08014737069606781, 0.9959642291069031, 0.02948979288339615], "tcp_vel": [0.00045580603182315826, -0.0004604024288710207, 0.00022974370222073048, -0.0011770426062867045, -0.0019611625466495752, 0.001091276528313756], "flange_pose": [0.6555277109146118, -0.08467112481594086, -0.13510902225971222, -0.02760525420308113, -0.08014737069606781, 0.9959642291069031, 0.02948979288339615], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.28019142150879, -48.161190032958984, -13.538351058959961, -4.177759647369385, 11.340096473693848, -0.08763568848371506], "ext_wrench_in_world": [-8.612997766851722, -50.98092346929453, 11.320508029084086, 2.330994587161596, 11.843696348140488, 0.5936874307534208]}
+{"timestamp_ns": 1789729897988908685, "elapsed_ms": 17366, "source_timestamp_ns": 1789729897981669412, "q": [0.10013213753700256, -1.5918551683425903, -0.08294212818145752, 0.8213586807250977, 1.6888664960861206, -0.08261986821889877, -0.9998897910118103], "theta": [0.09789406508207321, -1.5909160375595093, -0.08445698767900467, 0.8052404522895813, 1.6882896423339844, -0.08201968669891357, -0.9994396567344666], "dq": [-0.0009060044540092349, 0.00025288539472967386, 0.002743746852502227, -0.0014392273733392358, -0.003179219551384449, 0.0013101906515657902, 0.00027510192012414336], "dtheta": [-0.0007760087610222399, -0.00040159685886465013, 0.0020109531469643116, -0.00029292641556821764, -0.0019652657210826874, 0.001991460332646966, -2.7195137590751983e-05], "tau": [-63.15999984741211, -1.8899999856948853, -25.32400131225586, 3.4560000896453857, -4.168000221252441, 3.996000289916992, -0.30400002002716064], "tau_des": [-1.5404345989227295, 0.9612427949905396, -0.15944883227348328, -0.3893939256668091, -0.02019651234149933, 0.37968677282333374, -0.28652623295783997], "tau_dot": [48.688262939453125, 56.618309020996094, -13.757512092590332, -5.1530866622924805, -16.423824310302734, -96.41381072998047, -43.19049835205078], "tau_ext": [15.294768333435059, -35.48859405517578, -36.82731628417969, 20.15733528137207, -2.3697729110717773, -7.245537757873535, 0.18245089054107666], "tcp_pose": [0.6441830992698669, -0.07435132563114166, -0.3244883716106415, -0.027598561719059944, -0.08014868944883347, 0.9959642887115479, 0.029488733038306236], "tcp_vel": [7.872448622947559e-05, -0.0003561734047252685, 2.4103588657453656e-05, -0.0008012061007320881, -0.0006574952858500183, -0.00025523273507133126], "flange_pose": [0.655526340007782, -0.0846712663769722, -0.13510826230049133, -0.027598561719059944, -0.08014868944883347, 0.9959642887115479, 0.029488733038306236], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.2552490234375, -48.17497634887695, -13.544452667236328, -4.185055732727051, 11.343863487243652, -0.08397914469242096], "ext_wrench_in_world": [-8.585908450486155, -50.99082611134473, 11.3243980720025, 2.33733716584936, 11.848789611754015, 0.5899343264499594]}
+{"timestamp_ns": 1789729898022258864, "elapsed_ms": 17400, "source_timestamp_ns": 1789729898021705773, "q": [0.10009263455867767, -1.591866374015808, -0.08285766839981079, 0.8213531970977783, 1.6887941360473633, -0.08257735520601273, -0.999906599521637], "theta": [0.09785372763872147, -1.5909284353256226, -0.08438484370708466, 0.8052347302436829, 1.688219666481018, -0.08197629451751709, -0.999458372592926], "dq": [0.000377623742679134, 0.0013686252059414983, 0.0018236094620078802, 0.0012994800927117467, 3.915016714017838e-05, 0.0010283307638019323, -0.0024788433220237494], "dtheta": [-0.0016645767027512193, -0.00016742314619477838, 0.0019642822444438934, -0.00044561814866028726, -0.0014505377039313316, 0.0020401158835738897, 0.00024139096785802394], "tau": [-63.119998931884766, -1.8799999952316284, -25.340002059936523, 3.4680001735687256, -4.164000034332275, 4.052000045776367, -0.29600000381469727], "tau_des": [-1.3193979263305664, 0.8642323017120361, -0.080019012093544, -0.33905163407325745, -0.05271381139755249, 0.34736475348472595, -0.27958253026008606], "tau_dot": [-30.432584762573242, 16.247236251831055, -33.53658676147461, 47.59980010986328, -16.339683532714844, 77.24174499511719, -16.277584075927734], "tau_ext": [15.292893409729004, -35.457183837890625, -36.82139587402344, 20.14473533630371, -2.3688554763793945, -7.247976779937744, 0.18208904564380646], "tcp_pose": [0.6441826224327087, -0.07435346394777298, -0.3244873583316803, -0.02759048156440258, -0.08015063405036926, 0.9959643483161926, 0.029490286484360695], "tcp_vel": [0.0006506548961624503, -8.045404683798552e-05, 0.0005461579421535134, -0.0005174434627406299, -0.0019332933006808162, -0.00013574444164987653], "flange_pose": [0.655522882938385, -0.08467421680688858, -0.1351071149110794, -0.02759048156440258, -0.08015063405036926, 0.9959643483161926, 0.029490286484360695], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.23611068725586, -48.19677734375, -13.545276641845703, -4.195890426635742, 11.3467378616333, -0.0814928263425827], "ext_wrench_in_world": [-8.563563245646197, -51.009346409722006, 11.322514766661907, 2.3473649919924773, 11.85350961540399, 0.5871839963714529]}
+{"timestamp_ns": 1789729898055586537, "elapsed_ms": 17433, "source_timestamp_ns": 1789729898051667691, "q": [0.10006033629179001, -1.591874122619629, -0.08278799057006836, 0.8213492035865784, 1.6887272596359253, -0.08254416286945343, -0.9999191164970398], "theta": [0.09782092273235321, -1.5909373760223389, -0.08432319015264511, 0.8052307367324829, 1.6881558895111084, -0.08194279670715332, -0.9994713068008423], "dq": [-0.004311705473810434, 0.002691281959414482, 0.000843279471155256, 0.001912551699206233, -0.002251800149679184, 0.0019175680354237556, 3.2640164135955274e-06], "dtheta": [-0.0011830257717519999, -0.00012084963964298368, 0.0022889068350195885, -0.0004682457947637886, -0.0024927332997322083, 0.0006504767807200551, 0.0009790793992578983], "tau": [-63.04999923706055, -1.8399999141693115, -25.288002014160156, 3.440000057220459, -4.168000221252441, 3.9880001544952393, -0.30000001192092896], "tau_des": [-1.4953224658966064, 0.8924696445465088, -0.1650695651769638, -0.36113259196281433, -0.018874501809477806, 0.41114839911460876, -0.2907477915287018], "tau_dot": [96.86637878417969, 80.07929229736328, -14.634566307067871, -24.1584415435791, -9.268911361694336, -16.01011848449707, -41.36233901977539], "tau_ext": [15.298025131225586, -35.47629165649414, -36.815086364746094, 20.15745735168457, -2.370603084564209, -7.2515387535095215, 0.18470165133476257], "tcp_pose": [0.6441807150840759, -0.07435528188943863, -0.3244861960411072, -0.027587346732616425, -0.08015194535255432, 0.9959643483161926, 0.02949020452797413], "tcp_vel": [1.093152241082862e-05, 0.00016167780268006027, 8.401669765589759e-05, 0.00010662521526683122, 0.00028922141063958406, -0.0008419470395892859], "flange_pose": [0.6555197834968567, -0.08467608690261841, -0.13510586321353912, -0.027587346732616425, -0.08015194535255432, 0.9959643483161926, 0.02949020452797413], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.24100685119629, -48.18179702758789, -13.553338050842285, -4.197116851806641, 11.344874382019043, -0.08002257347106934], "ext_wrench_in_world": [-8.570222973826397, -50.99583767986823, 11.331666774067862, 2.3487479906528024, 11.85195645348301, 0.5855589850075124]}
+{"timestamp_ns": 1789729898088908130, "elapsed_ms": 17466, "source_timestamp_ns": 1789729898081676475, "q": [0.10002510249614716, -1.5918809175491333, -0.0827179104089737, 0.8213441967964172, 1.6886653900146484, -0.08251095563173294, -0.9999223351478577], "theta": [0.09778501838445663, -1.5909442901611328, -0.08425991237163544, 0.8052257895469666, 1.6880966424942017, -0.0819091796875, -0.9994744062423706], "dq": [0.00019084286759607494, 0.00014913242193870246, 0.002756400965154171, -0.0006594649166800082, -0.0032452282030135393, -0.00022628427541349083, -6.49274661554955e-05], "dtheta": [-0.0014086808077991009, -0.00038971047615632415, 0.0022357171401381493, -0.00013111023872625083, -0.0033833004999905825, 0.0008899483364075422, -0.0005902079865336418], "tau": [-63.09000015258789, -1.8499999046325684, -25.30000114440918, 3.444000244140625, -4.172000408172607, 3.9800002574920654, -0.29200002551078796], "tau_des": [-1.405043601989746, 1.0110129117965698, -0.0937763899564743, -0.42400482296943665, 0.017248662188649178, 0.38368135690689087, -0.276189923286438], "tau_dot": [-1.929573655128479, 32.11573791503906, -36.79650115966797, 46.89339828491211, -15.74211597442627, -33.511417388916016, -50.31572341918945], "tau_ext": [15.25533390045166, -35.469886779785156, -36.840152740478516, 20.1608943939209, -2.3672401905059814, -7.247546672821045, 0.1830606609582901], "tcp_pose": [0.6441815495491028, -0.0743551254272461, -0.3244839012622833, -0.027580978348851204, -0.08014969527721405, 0.9959646463394165, 0.02949162758886814], "tcp_vel": [-0.00030602060724049807, -0.00035773206036537886, 0.00039976931293495, -0.000686129555106163, 0.00045399152440950274, 0.0001321876625297591], "flange_pose": [0.6555182337760925, -0.08467669039964676, -0.13510346412658691, -0.027580978348851204, -0.08014969527721405, 0.9959646463394165, 0.02949162758886814], "ft_sensor_raw": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "ext_wrench_in_tcp": [17.244653701782227, -48.16506576538086, -13.570662498474121, -4.195043087005615, 11.342399597167969, -0.07820551842451096], "ext_wrench_in_world": [-8.57582169553011, -50.98087914841286, 11.3498795423892, 2.347038528220065, 11.849268142967567, 0.5837686612745544]}
diff --git a/episode_0014/camera_overview/images/000000_1789730072713971643.jpg b/episode_0014/camera_overview/images/000000_1789730072713971643.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6fc0eb16261a684524aa3b382e5e226ead66453f
--- /dev/null
+++ b/episode_0014/camera_overview/images/000000_1789730072713971643.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4196b6773df5abe40fc6ed5d42c8cc06bc4af34d09a77905ae7a9453f6d737c
+size 44381
diff --git a/episode_0014/camera_overview/images/000001_1789730072747439386.jpg b/episode_0014/camera_overview/images/000001_1789730072747439386.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e1f3276cce21198d9e52554efcc0740ae7be5335
--- /dev/null
+++ b/episode_0014/camera_overview/images/000001_1789730072747439386.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c6b7281a0c4a1248233b9bb6277cd1e68e367b9d14f690a4c8d2eff5fb4ac3f
+size 44274
diff --git a/episode_0014/camera_overview/images/000003_1789730072814103633.jpg b/episode_0014/camera_overview/images/000003_1789730072814103633.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..49eeb9e52705cb1455f39f0f49dc3eebfc6e8096
--- /dev/null
+++ b/episode_0014/camera_overview/images/000003_1789730072814103633.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e99ab06c94bf06e4577c288e1114e7c824003911ac5e0337f980d48f94c960a4
+size 44378
diff --git a/episode_0014/camera_overview/images/000004_1789730072847436117.jpg b/episode_0014/camera_overview/images/000004_1789730072847436117.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..25c73fb5e9b59c78df97cb91a83659ec71730e19
--- /dev/null
+++ b/episode_0014/camera_overview/images/000004_1789730072847436117.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a2d5df0a3c9e95fe4ac5b33b97bebdc5962a9e38cfe159235a344c1d9ccb8f3
+size 44303
diff --git a/episode_0014/camera_overview/images/000005_1789730072880767670.jpg b/episode_0014/camera_overview/images/000005_1789730072880767670.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a75027d6d2ef5ba6d3fe3e2947fb2cd16cc4a086
--- /dev/null
+++ b/episode_0014/camera_overview/images/000005_1789730072880767670.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b1136ad98dec8e441a0c946e6211084adee4c6386014d541d0d5c3267ad471e
+size 44403
diff --git a/episode_0014/camera_overview/images/000006_1789730072914106123.jpg b/episode_0014/camera_overview/images/000006_1789730072914106123.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..89e2b7ff9dcd7e1d6f2be4440f2f6ede9cc5a0f0
--- /dev/null
+++ b/episode_0014/camera_overview/images/000006_1789730072914106123.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f7738444f1ad0a39b9ad67d60079923da84013f76fc6e3c6cff7a3759927412
+size 44217
diff --git a/episode_0014/camera_overview/images/000008_1789730072980765711.jpg b/episode_0014/camera_overview/images/000008_1789730072980765711.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ebad6262f79ca5cdf9d1b6806d9af072c9bdacd9
--- /dev/null
+++ b/episode_0014/camera_overview/images/000008_1789730072980765711.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80be5d0fcfab4f312785fcc5a645c96451794e428df2d59dfbca92e3d93ed6ee
+size 44484
diff --git a/episode_0014/camera_overview/images/000009_1789730073014093505.jpg b/episode_0014/camera_overview/images/000009_1789730073014093505.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..670dc121ef240bc9fec6127a02bf50ca85e8d19d
--- /dev/null
+++ b/episode_0014/camera_overview/images/000009_1789730073014093505.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:644cfd0424e2af0fba5e96c3c4ed7baad70e482ada5598084372eb73dc9ea6ce
+size 44509
diff --git a/episode_0014/camera_overview/images/000012_1789730073114098037.jpg b/episode_0014/camera_overview/images/000012_1789730073114098037.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..42e41e77e4da4a3946158355375abef1daada1f3
--- /dev/null
+++ b/episode_0014/camera_overview/images/000012_1789730073114098037.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a4fda606e7c5e52177b457bc97033b2397e988dfe89ed8671e34ac765faf5ad
+size 44316
diff --git a/episode_0014/camera_overview/images/000016_1789730073247427905.jpg b/episode_0014/camera_overview/images/000016_1789730073247427905.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..08146f2b69d68e35cbfd171d8e599a3f2bba9993
--- /dev/null
+++ b/episode_0014/camera_overview/images/000016_1789730073247427905.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83ecd1fa673609b05e8023608a36a8806cbbeedc7952cf3afe1aac9933578776
+size 44412
diff --git a/episode_0014/camera_overview/images/000017_1789730073280662027.jpg b/episode_0014/camera_overview/images/000017_1789730073280662027.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9f04a7410f3c52ba0dce8d927a0d1751e52bb799
--- /dev/null
+++ b/episode_0014/camera_overview/images/000017_1789730073280662027.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96411fbbaf6b942dc11da039170069aedc493173335cde5317749abf0080d103
+size 44454
diff --git a/episode_0014/camera_overview/images/000019_1789730073347437477.jpg b/episode_0014/camera_overview/images/000019_1789730073347437477.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ac17a1bbe78b0bcc115aafda58baa91c7f236911
--- /dev/null
+++ b/episode_0014/camera_overview/images/000019_1789730073347437477.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57ddeb55627438b2edaa621693ddbe0b9356ba435155e11da47cd4a035eda4c1
+size 44443
diff --git a/episode_0014/camera_overview/images/000024_1789730073514088849.jpg b/episode_0014/camera_overview/images/000024_1789730073514088849.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..31e97c82659e19b0ed646a9faab3bac390ce9a77
--- /dev/null
+++ b/episode_0014/camera_overview/images/000024_1789730073514088849.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06286d9080e53d35d11e9d4132840e41294ffab30044f3fbdd03304ea0f835e5
+size 44347
diff --git a/episode_0014/camera_overview/images/000026_1789730073580767967.jpg b/episode_0014/camera_overview/images/000026_1789730073580767967.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c4ac65f6bf51321cec23ddbfc289531879e7f315
--- /dev/null
+++ b/episode_0014/camera_overview/images/000026_1789730073580767967.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a18ba444608be349e8e665bcb2f348997a1cd0a3cdcc0738b8aa60569605032e
+size 44353
diff --git a/episode_0014/camera_overview/images/000027_1789730073614085402.jpg b/episode_0014/camera_overview/images/000027_1789730073614085402.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9025cb6d6fa87e0169e735fcbe41a03caaefd338
--- /dev/null
+++ b/episode_0014/camera_overview/images/000027_1789730073614085402.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa02a80547fef882499ef7739049286f6f5ebb76b371576ff5e131b9a174e411
+size 44544
diff --git a/episode_0014/camera_overview/images/000028_1789730073647423536.jpg b/episode_0014/camera_overview/images/000028_1789730073647423536.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..45a77e8fa1c5adc5bc2a1820d1e29e7d540178c9
--- /dev/null
+++ b/episode_0014/camera_overview/images/000028_1789730073647423536.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f29a1eb4c6e6ce0f70ec61e1cb2e9402892cd16929aae6795ec9165767fc472
+size 44299
diff --git a/episode_0014/camera_overview/images/000029_1789730073680771649.jpg b/episode_0014/camera_overview/images/000029_1789730073680771649.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c0da90964fd6884896de665db10608c1afb3aea5
--- /dev/null
+++ b/episode_0014/camera_overview/images/000029_1789730073680771649.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8c1841111aed5e3678f03f181ad89285da9fbe7097261398634c647215306e9
+size 44308
diff --git a/episode_0014/camera_overview/images/000030_1789730073714088245.jpg b/episode_0014/camera_overview/images/000030_1789730073714088245.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b96d56ecdb893784f148e28b52b339abcffca2d9
--- /dev/null
+++ b/episode_0014/camera_overview/images/000030_1789730073714088245.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:747805a5d1df12c1ab72f3b8fd1039c0a00f3a16769aff804995fa468916c2e0
+size 44327
diff --git a/episode_0014/camera_overview/images/000031_1789730073747429218.jpg b/episode_0014/camera_overview/images/000031_1789730073747429218.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..34780f3d8c3454be1536283bf3e072776c84d979
--- /dev/null
+++ b/episode_0014/camera_overview/images/000031_1789730073747429218.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c9fcaeed8066610f62455d53bdc3d2a7dabc8589de2176cc606f939b85fb581
+size 44305
diff --git a/episode_0014/camera_overview/images/000032_1789730073780733135.jpg b/episode_0014/camera_overview/images/000032_1789730073780733135.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8210789affcd3abae2b82fceaa7f9324dade3943
--- /dev/null
+++ b/episode_0014/camera_overview/images/000032_1789730073780733135.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08ae712b3ecf3672b386d4d4ff1c94945778dfd528bd7acf2d757de178f5e28b
+size 44236
diff --git a/episode_0014/camera_overview/images/000034_1789730073847426461.jpg b/episode_0014/camera_overview/images/000034_1789730073847426461.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fa8556f1a78d46e8950345a6a3128fa820c787ce
--- /dev/null
+++ b/episode_0014/camera_overview/images/000034_1789730073847426461.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d63fe1abcf006e3ab4df3be2cc6ed9214f486ed190490cc9e4d18d395005061b
+size 44376
diff --git a/episode_0014/camera_overview/images/000035_1789730073880770175.jpg b/episode_0014/camera_overview/images/000035_1789730073880770175.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..74269babeb94d36f9b2b051feeb42c250d8b9b1e
--- /dev/null
+++ b/episode_0014/camera_overview/images/000035_1789730073880770175.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c5a6d900b4fda4610cd9b383f3b5f261505dccb793289a9f8eed24572f709f1
+size 44283
diff --git a/episode_0014/camera_overview/images/000036_1789730073914089820.jpg b/episode_0014/camera_overview/images/000036_1789730073914089820.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..08fa4b6c4878e949c86db948eb3806e7d9a1182f
--- /dev/null
+++ b/episode_0014/camera_overview/images/000036_1789730073914089820.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f613dbd188a79174cb66f60fb4b5d9e01891274920cc1beb1163c318e9ef4ac
+size 44318
diff --git a/episode_0014/camera_overview/images/000037_1789730073947424804.jpg b/episode_0014/camera_overview/images/000037_1789730073947424804.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0f44c70ed5b093b723b99683b99cf2522bd0aeb4
--- /dev/null
+++ b/episode_0014/camera_overview/images/000037_1789730073947424804.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69bac8566c95592f7c1305e73a47f879d60c6b932c6ff03f2fda98d85b959fb3
+size 44296
diff --git a/episode_0014/camera_overview/images/000040_1789730074047429778.jpg b/episode_0014/camera_overview/images/000040_1789730074047429778.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6011bc88cf3518ecc7b7223d9617d5c4de8ca415
--- /dev/null
+++ b/episode_0014/camera_overview/images/000040_1789730074047429778.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eed996f53f9cced46c11e8efb6daef4791abcfbdd6adc114d2b8516dacc8df9a
+size 43869
diff --git a/episode_0014/camera_overview/images/000041_1789730074080762613.jpg b/episode_0014/camera_overview/images/000041_1789730074080762613.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..728ce5b60cd20d22e0459a9f30c6b1a1f2157329
--- /dev/null
+++ b/episode_0014/camera_overview/images/000041_1789730074080762613.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59ebbe75c95994357268d8482821569036048ec5036d4ba3099683cd528ce2fc
+size 43736
diff --git a/episode_0014/camera_overview/images/000045_1789730074214087084.jpg b/episode_0014/camera_overview/images/000045_1789730074214087084.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..340bd9139465c88e1d4babb4714b5cf8ef7cf5b2
--- /dev/null
+++ b/episode_0014/camera_overview/images/000045_1789730074214087084.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e54715260d7de11a2e9915d3674d2c3e3e6da9074e9d5b724cf0712f2cc047c
+size 43360
diff --git a/episode_0014/camera_overview/images/000048_1789730074314101518.jpg b/episode_0014/camera_overview/images/000048_1789730074314101518.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7a2c471b3fc8fa8cf2aeba500b2b73b42f04f0d2
--- /dev/null
+++ b/episode_0014/camera_overview/images/000048_1789730074314101518.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80a620f2899417208241d4faa197e0e29714d7d80c53ca0b06d7b0984b5f2177
+size 43004
diff --git a/episode_0014/camera_overview/images/000049_1789730074347430844.jpg b/episode_0014/camera_overview/images/000049_1789730074347430844.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b52ea2fd7b44932052c3b872958fd542140f0545
--- /dev/null
+++ b/episode_0014/camera_overview/images/000049_1789730074347430844.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ccfd23e2e2043e366c263da135aeafd4cfb8582b675acefd0b13b1c44714bab
+size 42933
diff --git a/episode_0014/camera_overview/images/000050_1789730074380765899.jpg b/episode_0014/camera_overview/images/000050_1789730074380765899.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5bb3a9dd634f6155e238c8bf48cffcd89015f33b
--- /dev/null
+++ b/episode_0014/camera_overview/images/000050_1789730074380765899.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98c5fc198da750f0212e52b44aec53501ccf64a913d298f2c51af900eba7954f
+size 42967
diff --git a/episode_0014/camera_overview/images/000051_1789730074414091915.jpg b/episode_0014/camera_overview/images/000051_1789730074414091915.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..923b3d09b4c8ac929831f7fc2a4c1d815a88f4a3
--- /dev/null
+++ b/episode_0014/camera_overview/images/000051_1789730074414091915.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c811ef3abf7858494fd9588e685d5e363b96c265117cd8462181ffb36dd0dee
+size 42960
diff --git a/episode_0014/camera_overview/images/000053_1789730074480702609.jpg b/episode_0014/camera_overview/images/000053_1789730074480702609.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..efefd072f003da40e9e7e9bdf341c059b5b8c2d4
--- /dev/null
+++ b/episode_0014/camera_overview/images/000053_1789730074480702609.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e32724080a9a38c81f7e972df1cb2912ab4ff4d6a39abc7cc2633f5c76e2a818
+size 42876
diff --git a/episode_0014/camera_overview/images/000057_1789730074613999252.jpg b/episode_0014/camera_overview/images/000057_1789730074613999252.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5b0ccb07e8837701e7c2e2c8b796c29895283640
--- /dev/null
+++ b/episode_0014/camera_overview/images/000057_1789730074613999252.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7bfc8d5bbf45c95962ab116235bb8db3f02496d7ee02bb0790cece88ae0d24a
+size 43436
diff --git a/episode_0014/camera_overview/images/000058_1789730074647325848.jpg b/episode_0014/camera_overview/images/000058_1789730074647325848.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e34d0342795b409933ec49cc15ba71aa94938e33
--- /dev/null
+++ b/episode_0014/camera_overview/images/000058_1789730074647325848.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d0c2085a3a4f194b9b792b4f7e490799f1b58ed81f9d2400822640b11bb59fc
+size 43464
diff --git a/episode_0014/camera_overview/images/000059_1789730074680662103.jpg b/episode_0014/camera_overview/images/000059_1789730074680662103.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4722ec59c978a36ecf875564e8c3f9896fbd697f
--- /dev/null
+++ b/episode_0014/camera_overview/images/000059_1789730074680662103.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:351d58301482c124049a7a615e46e59e638129b45ee7349a056d1eb316e81d1a
+size 43402
diff --git a/episode_0014/camera_overview/images/000060_1789730074713995698.jpg b/episode_0014/camera_overview/images/000060_1789730074713995698.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5394c99de0b46a6d767d74011baa24fd81e574fa
--- /dev/null
+++ b/episode_0014/camera_overview/images/000060_1789730074713995698.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5a691c694e31d5c2ec0b00e8e3d52f98a095b103c940d4072bda40cfb58985d
+size 43652
diff --git a/episode_0014/camera_overview/images/000062_1789730074780662328.jpg b/episode_0014/camera_overview/images/000062_1789730074780662328.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c6f6f0abfbe2d8fe3e011ab81bb4d9e5834fd01e
--- /dev/null
+++ b/episode_0014/camera_overview/images/000062_1789730074780662328.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d83e5202452e61e0cc4979bbcbb41b88227ce83a8ce29eda10aade58ba4a86b
+size 43759
diff --git a/episode_0014/camera_overview/images/000066_1789730074913985719.jpg b/episode_0014/camera_overview/images/000066_1789730074913985719.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..965ccad11db45be8be3f4ae278926f286676765f
--- /dev/null
+++ b/episode_0014/camera_overview/images/000066_1789730074913985719.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c00e46b28c86bd9c932617da5ba9eb3b9303579f055f271418fb9ecd5292a5cf
+size 43686
diff --git a/episode_0014/camera_overview/images/000067_1789730074947319314.jpg b/episode_0014/camera_overview/images/000067_1789730074947319314.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f6382c0396af5e4bee59420ffd1783883803fdf1
--- /dev/null
+++ b/episode_0014/camera_overview/images/000067_1789730074947319314.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f184023b2ee373bb1450d1fa5b8ea2a0567929a8dc3b3e75aa1cacafe1c89cf5
+size 43614
diff --git a/episode_0014/camera_overview/images/000068_1789730074980669898.jpg b/episode_0014/camera_overview/images/000068_1789730074980669898.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2d82cf6c01974fcaa2aeb041293d112456ef679c
--- /dev/null
+++ b/episode_0014/camera_overview/images/000068_1789730074980669898.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9101ec2ec50d478e9f3e3069d070dfdeb80d162dd5ebe16330bd734b0e3725fc
+size 43630
diff --git a/episode_0014/camera_overview/images/000069_1789730075013985615.jpg b/episode_0014/camera_overview/images/000069_1789730075013985615.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d408c04ec9f936f331531b9091ec6a5ed87b66d5
--- /dev/null
+++ b/episode_0014/camera_overview/images/000069_1789730075013985615.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10190daea5aa7afae56e45e30fff4576d37f8a2ca84734823e45cfc990535e32
+size 43615
diff --git a/episode_0014/camera_overview/images/000071_1789730075080718622.jpg b/episode_0014/camera_overview/images/000071_1789730075080718622.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c7eedcc5f4563aff593a8ec861e8f06ca44c5ea1
--- /dev/null
+++ b/episode_0014/camera_overview/images/000071_1789730075080718622.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da3d06cdb2ec6c0ed94ff5226c724902aebc51d00614bc0b4be370801a74b02b
+size 43552
diff --git a/episode_0014/camera_overview/images/000072_1789730075114066986.jpg b/episode_0014/camera_overview/images/000072_1789730075114066986.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9d8440499c5ae69e549d203e0b23341ca143d3b0
--- /dev/null
+++ b/episode_0014/camera_overview/images/000072_1789730075114066986.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60f45483d8996e551351e2c3bd101c4b5d2c4a28008dde13cc770a6b4f540eab
+size 43620
diff --git a/episode_0014/camera_overview/images/000073_1789730075147327958.jpg b/episode_0014/camera_overview/images/000073_1789730075147327958.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7638504a7405c6115c4e5ee9721b9479ebe604ca
--- /dev/null
+++ b/episode_0014/camera_overview/images/000073_1789730075147327958.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc332b8f746d2d28c205abbf1e9f1d43ab32f7d306735aa819fe96d2111b45fa
+size 43685
diff --git a/episode_0014/camera_overview/images/000074_1789730075180660254.jpg b/episode_0014/camera_overview/images/000074_1789730075180660254.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..38a70dfdd4b26d9736b929fe9aad1e9ffa180f61
--- /dev/null
+++ b/episode_0014/camera_overview/images/000074_1789730075180660254.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab65c1ca2c340f5d0a1c7f156808db3ecbbe928973505dea6fe0820b73e6c8e9
+size 43750
diff --git a/episode_0014/camera_overview/images/000076_1789730075247322586.jpg b/episode_0014/camera_overview/images/000076_1789730075247322586.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0faa78829b8c8f1942aac3c7d477e1407dcb8510
--- /dev/null
+++ b/episode_0014/camera_overview/images/000076_1789730075247322586.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e6261682354004a28d6f0113c77ceb25317c062291214660751f61729c1b94f
+size 43755
diff --git a/episode_0014/camera_overview/images/000079_1789730075347332783.jpg b/episode_0014/camera_overview/images/000079_1789730075347332783.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f19e8c2cb4ed20e527fa260873eed03be918e9bb
--- /dev/null
+++ b/episode_0014/camera_overview/images/000079_1789730075347332783.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6236d451548fbdf8b98e830afc35910c08a73d2425e536b26ec6edf588a0862
+size 43976
diff --git a/episode_0014/camera_overview/images/000080_1789730075380656390.jpg b/episode_0014/camera_overview/images/000080_1789730075380656390.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7ae5d2c2eead680edc18900f6beb78c1340023f1
--- /dev/null
+++ b/episode_0014/camera_overview/images/000080_1789730075380656390.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f9d23d5037c8ac372b459e34bc9c791d2d2323c06691bc0ed091bba186f9f4d
+size 43920
diff --git a/episode_0014/camera_overview/images/000081_1789730075413986716.jpg b/episode_0014/camera_overview/images/000081_1789730075413986716.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..437186ba1323fa4b852aacf0c77f3865acb18e74
--- /dev/null
+++ b/episode_0014/camera_overview/images/000081_1789730075413986716.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd14a8db456db1e7cae0c388a18ba3ffe472c33633e812b2808e170272652ab3
+size 44015
diff --git a/episode_0014/camera_overview/images/000084_1789730075513989423.jpg b/episode_0014/camera_overview/images/000084_1789730075513989423.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4134d023aac3ef6758dda8e81e50e37a6384a43c
--- /dev/null
+++ b/episode_0014/camera_overview/images/000084_1789730075513989423.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:690c2ac30199099b87aa58e2ba07b2e63069a21c00b5eb3608c4503579d01e85
+size 44172
diff --git a/episode_0014/camera_overview/images/000085_1789730075547323429.jpg b/episode_0014/camera_overview/images/000085_1789730075547323429.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8ecb0fecff85a1b5a1334958b2beefd58a9e50a4
--- /dev/null
+++ b/episode_0014/camera_overview/images/000085_1789730075547323429.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:088dc855c0c139d139e4910758ed7290620c10d1efd4d3bb05f84338bef7975c
+size 44163
diff --git a/episode_0014/camera_overview/images/000086_1789730075580661745.jpg b/episode_0014/camera_overview/images/000086_1789730075580661745.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..86c5b4df13477c8ab36493ad98ab44aaf5b8c94e
--- /dev/null
+++ b/episode_0014/camera_overview/images/000086_1789730075580661745.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:000c68a2a3bbb5f15c6cb556d69abb0e0349aef4ffebd167729e2893da69421b
+size 43897
diff --git a/episode_0014/camera_overview/images/000088_1789730075647327807.jpg b/episode_0014/camera_overview/images/000088_1789730075647327807.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..01b8ed54956a418b8f0d736c8220ffcb3cf71b34
--- /dev/null
+++ b/episode_0014/camera_overview/images/000088_1789730075647327807.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9f8d278f49041c51eef7b0f11c82cf8a66050b0ff6485008970b0aa0d29304d
+size 44209
diff --git a/episode_0014/camera_overview/images/000090_1789730075713999058.jpg b/episode_0014/camera_overview/images/000090_1789730075713999058.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4069b2d80ecde4915cf8104465dc4fd29182d613
--- /dev/null
+++ b/episode_0014/camera_overview/images/000090_1789730075713999058.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ddcbe1eaa8c2a3d34cc601b83acf89f462064e4c172c638ba43b2ee366fda64
+size 44382
diff --git a/episode_0014/camera_overview/images/000091_1789730075747329264.jpg b/episode_0014/camera_overview/images/000091_1789730075747329264.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..35aaa2bd786c656498f1df26ede85367e30c9230
--- /dev/null
+++ b/episode_0014/camera_overview/images/000091_1789730075747329264.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb24145c52efaf8f0c7454518f66b7e157b1c4b7179be5250ece5b04e0b16d4f
+size 44417
diff --git a/episode_0014/camera_overview/images/000093_1789730075813989306.jpg b/episode_0014/camera_overview/images/000093_1789730075813989306.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..760ef7a2c8bd77ef0054d4b884f0e8587b10f15c
--- /dev/null
+++ b/episode_0014/camera_overview/images/000093_1789730075813989306.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3892a226b64306973088c2401b808bbd110d43edf7f4e51f03cf09242816b5d4
+size 44399
diff --git a/episode_0014/camera_overview/images/000094_1789730075847324882.jpg b/episode_0014/camera_overview/images/000094_1789730075847324882.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..00f3b8d665b4300c4a135ba5d5cc5f55b95eff5f
--- /dev/null
+++ b/episode_0014/camera_overview/images/000094_1789730075847324882.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c95476d225ac46e42126979aee7836c88769b870a5ff7782da854b0ee3b5e90
+size 44400
diff --git a/episode_0014/camera_overview/images/000095_1789730075880650669.jpg b/episode_0014/camera_overview/images/000095_1789730075880650669.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3d87a0870703aba57b290c4639b98758d5b3ff2c
--- /dev/null
+++ b/episode_0014/camera_overview/images/000095_1789730075880650669.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:006cbbda3b252f0c56b27b7f34cd7fbd015696aca04514c368086cedd4994558
+size 44454
diff --git a/episode_0014/camera_overview/images/000099_1789730076013993882.jpg b/episode_0014/camera_overview/images/000099_1789730076013993882.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..93e3137640ee796d91edc62af9007ba8bb6a767d
--- /dev/null
+++ b/episode_0014/camera_overview/images/000099_1789730076013993882.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a689b965d3283643c5e9f57b47fe16a86816e566591357d9b6fe333d95f9234
+size 44681
diff --git a/episode_0014/camera_overview/images/000100_1789730076047328548.jpg b/episode_0014/camera_overview/images/000100_1789730076047328548.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2c7e2503f997923af0ddb3d65fab188a87f123e1
--- /dev/null
+++ b/episode_0014/camera_overview/images/000100_1789730076047328548.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02c917d872dcd0e85fe57838fe703a1f4a47e8b7b729ad984dc736b686060f80
+size 44711
diff --git a/episode_0014/camera_overview/images/000102_1789730076113995792.jpg b/episode_0014/camera_overview/images/000102_1789730076113995792.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8ac89d7bcebb2b5fa2e7863cc7cf830753c2b26c
--- /dev/null
+++ b/episode_0014/camera_overview/images/000102_1789730076113995792.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70a479b098e2b225b0967c5da0a7fa7632527e75d4220532c8d8fb95a34ea6e3
+size 44770
diff --git a/episode_0014/camera_overview/images/000104_1789730076180659606.jpg b/episode_0014/camera_overview/images/000104_1789730076180659606.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c4d92631c523c69d86974ef03c069a38ef4bed9b
--- /dev/null
+++ b/episode_0014/camera_overview/images/000104_1789730076180659606.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be2c74e404cf1e4c37b9185631159b0447e04b8ea6c4f0236da1d52813f56c0f
+size 44688
diff --git a/episode_0014/camera_overview/images/000107_1789730076280664265.jpg b/episode_0014/camera_overview/images/000107_1789730076280664265.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2600f2f49b3aa763fa76f196b8e7725c1cad3bfe
--- /dev/null
+++ b/episode_0014/camera_overview/images/000107_1789730076280664265.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0539a22b92dc3cf068519ab51955caef4330ae309daedaef6097472fc14c130
+size 44733
diff --git a/episode_0014/camera_overview/images/000108_1789730076313997262.jpg b/episode_0014/camera_overview/images/000108_1789730076313997262.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ce4972d7556daa7d4edef9fc31e0dc5fb6f063e5
--- /dev/null
+++ b/episode_0014/camera_overview/images/000108_1789730076313997262.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85e7fd2149a0940993753dab00dc40221f9a26f160ca767c56518bef6f2cd56e
+size 44563
diff --git a/episode_0014/camera_overview/images/000109_1789730076347335858.jpg b/episode_0014/camera_overview/images/000109_1789730076347335858.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e9a96199980c31fd361b37756df42ad8b6f1f36f
--- /dev/null
+++ b/episode_0014/camera_overview/images/000109_1789730076347335858.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67247bb5101eb20234e14cab3b5b0c78553a5f0efd6d236f051de6201188332b
+size 44447
diff --git a/episode_0014/camera_overview/images/000111_1789730076414043179.jpg b/episode_0014/camera_overview/images/000111_1789730076414043179.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8332285a057f68445924a09f7c6d3bcac86e4ffe
--- /dev/null
+++ b/episode_0014/camera_overview/images/000111_1789730076414043179.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3303e87472a8a8b85737ef83157612376ba16e72ab0a60d2275adecb73574540
+size 44855
diff --git a/episode_0014/camera_overview/images/000112_1789730076447358287.jpg b/episode_0014/camera_overview/images/000112_1789730076447358287.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fd618bf493ac481720476589ebba088cf515b203
--- /dev/null
+++ b/episode_0014/camera_overview/images/000112_1789730076447358287.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32ffc2e15c286bce6448d3172c4a1e5ecbce88ed4b0bdb8df2d34342cc603924
+size 44945
diff --git a/episode_0014/camera_overview/images/000113_1789730076480663636.jpg b/episode_0014/camera_overview/images/000113_1789730076480663636.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..389973d36dc7f0293ffb811f69ef8f2789bb340a
--- /dev/null
+++ b/episode_0014/camera_overview/images/000113_1789730076480663636.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edb8362aff5a5ff72a97f0fdf59896da7e8e158bf2604bb8bf59a15f73b1436b
+size 44880
diff --git a/episode_0014/camera_overview/images/000115_1789730076547349478.jpg b/episode_0014/camera_overview/images/000115_1789730076547349478.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..749a4ad025feb73faf9ef353e8ea24c741b091b9
--- /dev/null
+++ b/episode_0014/camera_overview/images/000115_1789730076547349478.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f2bf093d048904eca91cdff9637bdd48c5b327e35ef53482ec926779a77b2fc
+size 44954
diff --git a/episode_0014/camera_overview/images/000116_1789730076580701823.jpg b/episode_0014/camera_overview/images/000116_1789730076580701823.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..aefd8103f18e2e7911df776c18e7dfa1a08554e1
--- /dev/null
+++ b/episode_0014/camera_overview/images/000116_1789730076580701823.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18a24d013c1e70419643833114dbb9f30a3085c096fc0a62bec83f5f07bb0d4a
+size 45098
diff --git a/episode_0014/camera_overview/images/000123_1789730076813994133.jpg b/episode_0014/camera_overview/images/000123_1789730076813994133.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5aee2c114fbc11df27aa867e36a1c5da2e6cf9f5
--- /dev/null
+++ b/episode_0014/camera_overview/images/000123_1789730076813994133.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7dc24b6fdf591416f28eed2cec8c452a109eec428db84f031a53529434da595
+size 45493
diff --git a/episode_0014/camera_overview/images/000127_1789730076947328960.jpg b/episode_0014/camera_overview/images/000127_1789730076947328960.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4f59faed9738f689ffc1e1a3e5bda785e8be6a38
--- /dev/null
+++ b/episode_0014/camera_overview/images/000127_1789730076947328960.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:227f9965703dd334abe330dd8e7e967e410339d28e6fcf0f11049e558592fd73
+size 45456
diff --git a/episode_0014/camera_overview/images/000128_1789730076980670056.jpg b/episode_0014/camera_overview/images/000128_1789730076980670056.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4ba751ebc11083833a3436742a6af35a723a8cd7
--- /dev/null
+++ b/episode_0014/camera_overview/images/000128_1789730076980670056.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16308a6ce08669515951bf2c88b140a1e636171f74b62a8bf1653da34ab8a772
+size 45489
diff --git a/episode_0014/camera_overview/images/000129_1789730077013998484.jpg b/episode_0014/camera_overview/images/000129_1789730077013998484.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..926ccc4f07b58a61060c6262982ecbf5a7490624
--- /dev/null
+++ b/episode_0014/camera_overview/images/000129_1789730077013998484.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bd3accd3bb3263cffcc2f42957502c06395d72004e7a114ba70c30424f0f22c
+size 45688
diff --git a/episode_0014/camera_overview/images/000132_1789730077114000446.jpg b/episode_0014/camera_overview/images/000132_1789730077114000446.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e9d9c552c4bd3165c619faabe176032870abe7cf
--- /dev/null
+++ b/episode_0014/camera_overview/images/000132_1789730077114000446.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94df3db0ea30381a34ff62f51cba3964fbbfb1b0b17bf9290f3276de4ce67f46
+size 45581
diff --git a/episode_0014/camera_overview/images/000133_1789730077147348472.jpg b/episode_0014/camera_overview/images/000133_1789730077147348472.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f9a86348c823f396bac0e88eb249221f05320247
--- /dev/null
+++ b/episode_0014/camera_overview/images/000133_1789730077147348472.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e298de2febbc71e91a275e69f48afd41eb1009668091566b8aba21a3771200cb
+size 45700
diff --git a/episode_0014/camera_overview/images/000134_1789730077180731026.jpg b/episode_0014/camera_overview/images/000134_1789730077180731026.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9df566d73d42b0aa51d892dacbeabccd5659cf7a
--- /dev/null
+++ b/episode_0014/camera_overview/images/000134_1789730077180731026.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fefee7843ac1185e35661d6501d2425a09c4b141da81ee8f2f7ab3ee5d7879f3
+size 45735
diff --git a/episode_0014/camera_overview/images/000141_1789730077414032341.jpg b/episode_0014/camera_overview/images/000141_1789730077414032341.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ccaa2d8a67d027182a020fd22f68e9fa72354572
--- /dev/null
+++ b/episode_0014/camera_overview/images/000141_1789730077414032341.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7626c64028fc7a52eb6bc8ff373da05a8f0501c47dc30fa2bd7a3d861c5550a1
+size 45946
diff --git a/episode_0014/camera_overview/images/000145_1789730077547436826.jpg b/episode_0014/camera_overview/images/000145_1789730077547436826.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..61e81ba3f4252d46706324174087e910ce31493b
--- /dev/null
+++ b/episode_0014/camera_overview/images/000145_1789730077547436826.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:129ae7f6bb35591bdae557fc7af672da3153006852c56a1fd07f67ed38e164a7
+size 45525
diff --git a/episode_0014/camera_overview/images/000146_1789730077580769383.jpg b/episode_0014/camera_overview/images/000146_1789730077580769383.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f410b42a741dcf380fb8770e2eb13849cff227c5
--- /dev/null
+++ b/episode_0014/camera_overview/images/000146_1789730077580769383.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c05489c628b20af227dbeb10b764e2c9e8b18481ced2a33b1573375410f4e6a6
+size 45618
diff --git a/episode_0014/camera_overview/images/000147_1789730077614021118.jpg b/episode_0014/camera_overview/images/000147_1789730077614021118.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..27307de1fe4954fe27638b68fb6965483c9aeda4
--- /dev/null
+++ b/episode_0014/camera_overview/images/000147_1789730077614021118.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc2eeb2b5b630f2e2a31a471d39dbd846aa06a1636ce5cc84973173a103bbc1f
+size 45624
diff --git a/episode_0014/camera_overview/images/000149_1789730077680691312.jpg b/episode_0014/camera_overview/images/000149_1789730077680691312.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7a811ba2050f1c9d7677807f736cbc22c45f9079
--- /dev/null
+++ b/episode_0014/camera_overview/images/000149_1789730077680691312.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce26a000c1016071d8ed09a0355489f7e60385fde275bb6e4636771e4b840d9f
+size 45868
diff --git a/episode_0014/camera_overview/images/000150_1789730077714017450.jpg b/episode_0014/camera_overview/images/000150_1789730077714017450.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1b149e94e0d8b939d51413323c2cc2a7b1bd4490
--- /dev/null
+++ b/episode_0014/camera_overview/images/000150_1789730077714017450.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54308207fba6f9970f7a0737788d35123084db09b878cb80eb2c94b40294fa76
+size 45736
diff --git a/episode_0014/camera_overview/images/000151_1789730077747432812.jpg b/episode_0014/camera_overview/images/000151_1789730077747432812.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bd4026a6f14e52cadd1d1e4465ffdccf68d4abd9
--- /dev/null
+++ b/episode_0014/camera_overview/images/000151_1789730077747432812.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2967651f33c98e24689c51bac23e967f26a933070ee7e0ca3bc38a9c4284b7f6
+size 45748
diff --git a/episode_0014/camera_overview/images/000152_1789730077780770139.jpg b/episode_0014/camera_overview/images/000152_1789730077780770139.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fe9ef9a61de88b8f08b92b173c516c98aeb6bd73
--- /dev/null
+++ b/episode_0014/camera_overview/images/000152_1789730077780770139.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a606cfc7910e7683661f585d60651078af2428bf087a6f33edb4b74744c3cc5
+size 45757
diff --git a/episode_0014/camera_overview/images/000153_1789730077814028502.jpg b/episode_0014/camera_overview/images/000153_1789730077814028502.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cb393d7279f2566abed62f41ed5246e24e156fdf
--- /dev/null
+++ b/episode_0014/camera_overview/images/000153_1789730077814028502.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5b29ac1a0ec45822800ca32af43feab15b0dea038b71ee3f9fa475078e10751
+size 45906
diff --git a/episode_0014/camera_overview/images/000154_1789730077847357910.jpg b/episode_0014/camera_overview/images/000154_1789730077847357910.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..596a7ea08054c6ba9d750bec0a72ee947a1c1df3
--- /dev/null
+++ b/episode_0014/camera_overview/images/000154_1789730077847357910.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5b75b687d68f9e9a64455d2d2df8473a8c4a8b25abd2d6bde10c3ec98ba5b31
+size 45708
diff --git a/episode_0014/camera_overview/images/000155_1789730077880753023.jpg b/episode_0014/camera_overview/images/000155_1789730077880753023.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6ab21000047272d5f8627a7af57fb76346f8b1df
--- /dev/null
+++ b/episode_0014/camera_overview/images/000155_1789730077880753023.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6fdfab87ce5d7cdf9c39d921fa327724668aaa17c2a44b24d1a6331d62da18a
+size 45675
diff --git a/episode_0014/camera_overview/images/000156_1789730077914091330.jpg b/episode_0014/camera_overview/images/000156_1789730077914091330.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0c0ad2910c90c2fc080088c6f34d5240c6874f9a
--- /dev/null
+++ b/episode_0014/camera_overview/images/000156_1789730077914091330.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:608e76697d7f09cab51a583f7fd1c2bdb1ecc8dd2df99b1ea40bafeb2d1df2ac
+size 45723
diff --git a/episode_0014/camera_overview/images/000158_1789730077980756415.jpg b/episode_0014/camera_overview/images/000158_1789730077980756415.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fd700e34451bfb99d905c6c07149b3d5c9907867
--- /dev/null
+++ b/episode_0014/camera_overview/images/000158_1789730077980756415.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0341be279d3636824dbe706e76a6826105869dba37a772ab80087893c2a7546
+size 45921
diff --git a/episode_0014/camera_overview/images/000160_1789730078047420531.jpg b/episode_0014/camera_overview/images/000160_1789730078047420531.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0d0df33333b7ba0973ac8f69e44a5f35d9dd04fd
--- /dev/null
+++ b/episode_0014/camera_overview/images/000160_1789730078047420531.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dadcee85cbc1616a4cef9f093a91d5d51d7fa9dc95d01ee2f37b6f6469254cc1
+size 45829
diff --git a/episode_0014/camera_overview/images/000162_1789730078114080019.jpg b/episode_0014/camera_overview/images/000162_1789730078114080019.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..082be4bf80b6ad7fa697396ae09da5951536c913
--- /dev/null
+++ b/episode_0014/camera_overview/images/000162_1789730078114080019.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e67822dd9ecd6d0c1ad98a9c3fd06c9b8a9a03d0db133e4bd01018bbf0feff1
+size 45879
diff --git a/episode_0014/camera_overview/images/000163_1789730078147420926.jpg b/episode_0014/camera_overview/images/000163_1789730078147420926.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..33733fe684c91dd796c31de056d9330aeb44fa08
--- /dev/null
+++ b/episode_0014/camera_overview/images/000163_1789730078147420926.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7204cd96c07627f25b02bab2798cc162cb66929258a3114c5499e6a6be5fc9ae
+size 45923
diff --git a/episode_0014/camera_overview/images/000164_1789730078180752975.jpg b/episode_0014/camera_overview/images/000164_1789730078180752975.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7eb2c53b9c59499c9efb53bafd8d45d1e8f4a542
--- /dev/null
+++ b/episode_0014/camera_overview/images/000164_1789730078180752975.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edc6574f836188bfdbd46906d4768c3f6c45c8a02580c4e6c145717744a88f35
+size 45781
diff --git a/episode_0014/camera_overview/images/000168_1789730078314024743.jpg b/episode_0014/camera_overview/images/000168_1789730078314024743.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..50de2d4d6176ded047c49d866f9bafd98ce0caf4
--- /dev/null
+++ b/episode_0014/camera_overview/images/000168_1789730078314024743.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5090f94160a392f57176266d42b2b3f0ad18722289ac110ab0cd8580c2617d0f
+size 45856
diff --git a/episode_0014/camera_overview/images/000170_1789730078380774333.jpg b/episode_0014/camera_overview/images/000170_1789730078380774333.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ae3afdc0ffe915f0e81904ddb36826681a83ae01
--- /dev/null
+++ b/episode_0014/camera_overview/images/000170_1789730078380774333.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d49fed107c4e72d5d3282755862b4d98a04d505ae8a780b56c7620a37c6d9804
+size 45824
diff --git a/episode_0014/camera_overview/images/000176_1789730078580768284.jpg b/episode_0014/camera_overview/images/000176_1789730078580768284.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..48d91d942307e67a3994adb3100f4334c78c8ccf
--- /dev/null
+++ b/episode_0014/camera_overview/images/000176_1789730078580768284.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:747b6c9c508f2d5862426f82bca2ae75a0d912a882ee2d451cba0c1b664ca66d
+size 45795
diff --git a/episode_0014/camera_overview/images/000177_1789730078614107572.jpg b/episode_0014/camera_overview/images/000177_1789730078614107572.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b8c527020df0100ae4622ac02296328b44c7e1dc
--- /dev/null
+++ b/episode_0014/camera_overview/images/000177_1789730078614107572.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcd2c266b90cb2b64718e3b14b94dded60dcf46182c2ba20cac9417a5aefe5ab
+size 45837
diff --git a/episode_0014/camera_overview/images/000178_1789730078647425111.jpg b/episode_0014/camera_overview/images/000178_1789730078647425111.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..17ea39134b8d107243af673dbc4b81177be2d628
--- /dev/null
+++ b/episode_0014/camera_overview/images/000178_1789730078647425111.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f383af879b3650516fd9ac48ba3698434fc4e478940a9dbb3897142c5161947
+size 45842
diff --git a/episode_0014/camera_overview/images/000181_1789730078747329714.jpg b/episode_0014/camera_overview/images/000181_1789730078747329714.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e21ae501b3afbf5909b0ba72ddc0a1101706820a
--- /dev/null
+++ b/episode_0014/camera_overview/images/000181_1789730078747329714.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ace2375edd8728bff56e8908242c6dcff408ac1cc4d4bcc6fe2cbdf9aab2ffc
+size 45892
diff --git a/episode_0014/camera_overview/images/000182_1789730078780656902.jpg b/episode_0014/camera_overview/images/000182_1789730078780656902.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a8d386c1d24e7220c6613a52df21c49ece469f73
--- /dev/null
+++ b/episode_0014/camera_overview/images/000182_1789730078780656902.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77e5f2928748d2a7613a813d128c70932191e774d6da3f09292bcb7ccdea3d77
+size 46022
diff --git a/episode_0014/camera_overview/images/000183_1789730078813990921.jpg b/episode_0014/camera_overview/images/000183_1789730078813990921.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..25d478974f0d8b6be237357bf44fbe078eb297e4
--- /dev/null
+++ b/episode_0014/camera_overview/images/000183_1789730078813990921.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16af491c9fe5fd9c8f2a8bb984b23b15e01acdeff30b497e387f0012a64a6bea
+size 46056
diff --git a/episode_0014/camera_overview/images/000184_1789730078847405183.jpg b/episode_0014/camera_overview/images/000184_1789730078847405183.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e290e04b14d017adf41d312e8fe4283fd7dd80da
--- /dev/null
+++ b/episode_0014/camera_overview/images/000184_1789730078847405183.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfad4b82a7912ebec10ae9788fb4ee7e68836a0ddf5a0e94f7cfe7858006c076
+size 45957
diff --git a/episode_0014/camera_overview/images/000185_1789730078880659627.jpg b/episode_0014/camera_overview/images/000185_1789730078880659627.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1c6a00e1a1af2f4816fae5d74a53eef5622e0587
--- /dev/null
+++ b/episode_0014/camera_overview/images/000185_1789730078880659627.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:445346b530b90a5432fa525e6a54dc36af7a11faf82211c134c79f86718ba205
+size 45901
diff --git a/episode_0014/camera_overview/images/000187_1789730078947330434.jpg b/episode_0014/camera_overview/images/000187_1789730078947330434.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e83fa6ade4537d30b218db924b51c801a12dc60f
--- /dev/null
+++ b/episode_0014/camera_overview/images/000187_1789730078947330434.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39fe35ec9630703f3a2f5b6b2468895a393f428832eb6e7b53cbde1e88377cda
+size 45906
diff --git a/episode_0014/camera_overview/images/000188_1789730078980661362.jpg b/episode_0014/camera_overview/images/000188_1789730078980661362.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e0191d17e667f979b978c635423a798bd37f3bf0
--- /dev/null
+++ b/episode_0014/camera_overview/images/000188_1789730078980661362.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:474ab787144112fa0f6216e32b366e2f9f8305dd2a61a9458114684928aa44bd
+size 45971
diff --git a/episode_0014/camera_overview/images/000189_1789730079014002860.jpg b/episode_0014/camera_overview/images/000189_1789730079014002860.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..957776691f6a2a6a5a67d5186ce725ad25b8e0cc
--- /dev/null
+++ b/episode_0014/camera_overview/images/000189_1789730079014002860.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8007c111238beacb13b709c8084258612a6397733590e090371e693dea5200fa
+size 46119
diff --git a/episode_0014/camera_overview/images/000191_1789730079080658949.jpg b/episode_0014/camera_overview/images/000191_1789730079080658949.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..01d9b64ab1876c96642b4647137dfce9fb03e6ab
--- /dev/null
+++ b/episode_0014/camera_overview/images/000191_1789730079080658949.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04d4910096c26fab30a27faf7c9348a06a913dc57632a756f36ee80c984796e4
+size 46003
diff --git a/episode_0014/camera_overview/images/000192_1789730079114053344.jpg b/episode_0014/camera_overview/images/000192_1789730079114053344.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0562a49e02a0a8b92033252bcda52fc269513192
--- /dev/null
+++ b/episode_0014/camera_overview/images/000192_1789730079114053344.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8014c5846c1bc266cf2250b3bb761ba0039679c711698fe4da568e036c51328f
+size 45928
diff --git a/episode_0014/camera_overview/images/000198_1789730079313992683.jpg b/episode_0014/camera_overview/images/000198_1789730079313992683.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b450e7bcc6a43cc142b0290ae357b8db3b72f9e7
--- /dev/null
+++ b/episode_0014/camera_overview/images/000198_1789730079313992683.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa53eab186cc84ea3cca69aec49086a0b1ca9db4d16ba310d4dd3ca8c6b8abfd
+size 45966
diff --git a/episode_0014/camera_overview/images/000200_1789730079380664351.jpg b/episode_0014/camera_overview/images/000200_1789730079380664351.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9c2269d0357b59e11cffac1a5f9468e45f32f419
--- /dev/null
+++ b/episode_0014/camera_overview/images/000200_1789730079380664351.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebd8f85254558214a27f193a160ebb9afc06d66bd915fbe04fa9458f1f000bc6
+size 45852
diff --git a/episode_0014/camera_overview/images/000201_1789730079413993100.jpg b/episode_0014/camera_overview/images/000201_1789730079413993100.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5d93a8a6316610a74b05a06f8b30476535372822
--- /dev/null
+++ b/episode_0014/camera_overview/images/000201_1789730079413993100.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8652e054d55fa41e91ea6bc481459de4976c3b2b6d3f114ba819da87dc11140
+size 46006
diff --git a/episode_0014/camera_overview/images/000204_1789730079513996418.jpg b/episode_0014/camera_overview/images/000204_1789730079513996418.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..80dd74233df61b1451517b442967de0f588ccba5
--- /dev/null
+++ b/episode_0014/camera_overview/images/000204_1789730079513996418.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb8c66b1952a7dec8ef722d68ed0dc84c1a87347264cf189cf19dd30ef63cae2
+size 45833
diff --git a/episode_0014/camera_overview/images/000205_1789730079547331507.jpg b/episode_0014/camera_overview/images/000205_1789730079547331507.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..87459af5c9e4803c9d7f4a1cb463cb5595053bf7
--- /dev/null
+++ b/episode_0014/camera_overview/images/000205_1789730079547331507.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:593f28f985bb15d6579099dcc3abe3243abf2997a036b7f8621dd57d458545cf
+size 45902
diff --git a/episode_0014/camera_overview/images/000207_1789730079613999275.jpg b/episode_0014/camera_overview/images/000207_1789730079613999275.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9d9c8d380fd1b529eb43e329a63517c3ebd95c89
--- /dev/null
+++ b/episode_0014/camera_overview/images/000207_1789730079613999275.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35dd93e6583435dab69023b002ebdc7afc3aab8923bd3f8a457b8127a38cc010
+size 45977
diff --git a/episode_0014/camera_overview/images/000208_1789730079647329054.jpg b/episode_0014/camera_overview/images/000208_1789730079647329054.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7479abac95436e89601700262c554fb14f3f7b08
--- /dev/null
+++ b/episode_0014/camera_overview/images/000208_1789730079647329054.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffcdc28824d13edaec6b4296f4a7a28a1698d3f5163cf6002fe63efd622f09fa
+size 45873
diff --git a/episode_0014/camera_overview/images/000209_1789730079680662883.jpg b/episode_0014/camera_overview/images/000209_1789730079680662883.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..59a7bf2d9a4531735976be25d3a88823d1a03a0e
--- /dev/null
+++ b/episode_0014/camera_overview/images/000209_1789730079680662883.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21447a08c468fc6498b3610e7964702f48f23611192ae3719869659768a7d0e8
+size 45885
diff --git a/episode_0014/camera_overview/images/000210_1789730079713992553.jpg b/episode_0014/camera_overview/images/000210_1789730079713992553.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3a7714ff726513fde4e9fef073a5a14050af825f
--- /dev/null
+++ b/episode_0014/camera_overview/images/000210_1789730079713992553.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:999926776d89ffb14991d573a71f2f7e64b714046eb0eb57e770536eb8f533a3
+size 45900
diff --git a/episode_0014/camera_overview/images/000212_1789730079780654281.jpg b/episode_0014/camera_overview/images/000212_1789730079780654281.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..93c2994850d9f7ee84e2f30e37886055fe2cc248
--- /dev/null
+++ b/episode_0014/camera_overview/images/000212_1789730079780654281.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1828f3d3c34611e2ab17aa22b0976e51e0eec6a1cf8f32de6828c55cb215b341
+size 45962
diff --git a/episode_0014/camera_overview/images/000215_1789730079880659638.jpg b/episode_0014/camera_overview/images/000215_1789730079880659638.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fd2575e29a0b8320b78ce0baef60b9cf86b6e6f2
--- /dev/null
+++ b/episode_0014/camera_overview/images/000215_1789730079880659638.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69ea8082c268449d51cb56f295ed1af73311742c1796da1dc01e5976fc3ec8d8
+size 45605
diff --git a/episode_0014/camera_overview/images/000220_1789730080047321125.jpg b/episode_0014/camera_overview/images/000220_1789730080047321125.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ac4d7a2e52ba30f8164c4dfa7b4e9950855a2375
--- /dev/null
+++ b/episode_0014/camera_overview/images/000220_1789730080047321125.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65a5d56e81a64f9494431c712363e47ac8597809b1bbea12475b2d9cdd63d968
+size 44971
diff --git a/episode_0014/camera_overview/images/000223_1789730080147331714.jpg b/episode_0014/camera_overview/images/000223_1789730080147331714.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..391ca4afd9faf1b5fb03ec042aa4d67c796e39bb
--- /dev/null
+++ b/episode_0014/camera_overview/images/000223_1789730080147331714.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:687b4646ef55f71da4570af7a20d0e4a95bfafe5ecf29a904745a4d016da1c79
+size 44977
diff --git a/episode_0014/camera_overview/images/000224_1789730080180661534.jpg b/episode_0014/camera_overview/images/000224_1789730080180661534.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..23a23405183ad1942e1aee6c577f88b104b0431a
--- /dev/null
+++ b/episode_0014/camera_overview/images/000224_1789730080180661534.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f209742260b0b2f265b4cfd4b04e11f9aad9fb43ca089b8cc336d861c992e37
+size 44754
diff --git a/episode_0014/camera_overview/images/000225_1789730080213996264.jpg b/episode_0014/camera_overview/images/000225_1789730080213996264.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e67041f1db4f92a2dfbc347f30bf55f682323045
--- /dev/null
+++ b/episode_0014/camera_overview/images/000225_1789730080213996264.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b8f7e505e07fdd6503ae93a74f2609e9edbcbe8d752663e4875a4a0bcb3037c
+size 44727
diff --git a/episode_0014/camera_overview/images/000231_1789730080413999753.jpg b/episode_0014/camera_overview/images/000231_1789730080413999753.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c50ed5b01fbb0f84bc2756196b33a253f3acc42b
--- /dev/null
+++ b/episode_0014/camera_overview/images/000231_1789730080413999753.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5c03ed0033f581088431ba02d92604898ccc352b262b5b0d465198c420bea6a
+size 44591
diff --git a/episode_0014/camera_overview/images/000232_1789730080447329914.jpg b/episode_0014/camera_overview/images/000232_1789730080447329914.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..835192ead448949ab4285729a3c932c6fbc95623
--- /dev/null
+++ b/episode_0014/camera_overview/images/000232_1789730080447329914.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c06e023625b89d680ff41500cb5a3d129183e70fe48c39072a6edb1cac27dbc1
+size 44419
diff --git a/episode_0014/camera_overview/images/000234_1789730080513994214.jpg b/episode_0014/camera_overview/images/000234_1789730080513994214.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..64d65fe9207bd4c96f63e1beb8d868f1d3cf460e
--- /dev/null
+++ b/episode_0014/camera_overview/images/000234_1789730080513994214.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20a1fc5740cda32f92affea0f8d324b24bddebfe185d9d04f544487940428453
+size 44341
diff --git a/episode_0014/camera_overview/images/000238_1789730080647331803.jpg b/episode_0014/camera_overview/images/000238_1789730080647331803.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1c54f3c5418d5d2ba129864e010bf4aa526b310b
--- /dev/null
+++ b/episode_0014/camera_overview/images/000238_1789730080647331803.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5687c92fa7389bda31cbbfb9937549250adb24fe9659176b01bb542f3bf6a210
+size 44291
diff --git a/episode_0014/camera_overview/images/000240_1789730080713998193.jpg b/episode_0014/camera_overview/images/000240_1789730080713998193.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bf107466560d7fb00de60ac3c2ea99bebb942d9a
--- /dev/null
+++ b/episode_0014/camera_overview/images/000240_1789730080713998193.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6a290eedf8ee3678c823ca5f8764b12e554d7d50ffb8e82b977ed46f2a7f797
+size 44056
diff --git a/episode_0014/camera_overview/images/000242_1789730080780663673.jpg b/episode_0014/camera_overview/images/000242_1789730080780663673.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f9614628e9fa28c6865fa3a3bb6c82c5f9f5e056
--- /dev/null
+++ b/episode_0014/camera_overview/images/000242_1789730080780663673.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6a584482750ea98a59fdbe3a4d42968abc7483575671b2993e062d5206feb10
+size 44001
diff --git a/episode_0014/camera_overview/images/000244_1789730080847334392.jpg b/episode_0014/camera_overview/images/000244_1789730080847334392.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9b5587bf08ef25cb808e4bd6bfb449fcd612affc
--- /dev/null
+++ b/episode_0014/camera_overview/images/000244_1789730080847334392.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fda737779bb36b9a265687ed8ad75b4f089d85c9c62c963c01aa70ea165b324
+size 43851
diff --git a/episode_0014/camera_overview/images/000245_1789730080880662253.jpg b/episode_0014/camera_overview/images/000245_1789730080880662253.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..92477ca9598be2406a0895eec43d9cb4adeb5b43
--- /dev/null
+++ b/episode_0014/camera_overview/images/000245_1789730080880662253.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42eee28f2974063e9b7df775df852b55dcf1ecd8d2098584de8ce7749fc3e5ce
+size 43949
diff --git a/episode_0014/camera_overview/images/000246_1789730080913996053.jpg b/episode_0014/camera_overview/images/000246_1789730080913996053.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..187da0d8cf2652b06fdc3c283e7b7af34173fbc0
--- /dev/null
+++ b/episode_0014/camera_overview/images/000246_1789730080913996053.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1191d0f5b85b39080797ce702279d82a293beef7659f9e55015c08b117fbe13d
+size 43919
diff --git a/episode_0014/camera_overview/images/000253_1789730081147329396.jpg b/episode_0014/camera_overview/images/000253_1789730081147329396.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..53e5b24638fe9f1c91412cec305861f3664e6762
--- /dev/null
+++ b/episode_0014/camera_overview/images/000253_1789730081147329396.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c42570ba22bb16f78b3584b7f80aa6a2d520d15afc6d8e046c40f073f6a5fcfe
+size 43004
diff --git a/episode_0014/camera_overview/images/000256_1789730081247331907.jpg b/episode_0014/camera_overview/images/000256_1789730081247331907.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5eaa1b083a6bd9682a7d397ae35ac01505d1e44c
--- /dev/null
+++ b/episode_0014/camera_overview/images/000256_1789730081247331907.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2062401831e9cce46040ef17cc6a383dfd577ec285eb164aeb30b2779999f2c5
+size 43378
diff --git a/episode_0014/camera_overview/images/000260_1789730081380657121.jpg b/episode_0014/camera_overview/images/000260_1789730081380657121.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..331166c27e5da7222763385ac18b83080e01e1e0
--- /dev/null
+++ b/episode_0014/camera_overview/images/000260_1789730081380657121.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdff7bdcef21322901a0484dd3f0ce2566a7208bf9ebbfa78c8395fd34c31088
+size 43132
diff --git a/episode_0014/camera_overview/images/000261_1789730081413999141.jpg b/episode_0014/camera_overview/images/000261_1789730081413999141.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a493c23dfd0eeee0b7c6d3bbeea41f8f6eab689b
--- /dev/null
+++ b/episode_0014/camera_overview/images/000261_1789730081413999141.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08321368e56241b29da42f3cc5fafb506e1de4e7c416ffb83f9a64c51411f51b
+size 43002
diff --git a/episode_0014/camera_overview/images/000262_1789730081447333152.jpg b/episode_0014/camera_overview/images/000262_1789730081447333152.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d6ce3220ac683aafb8958ca8d4dbf753ea04b7ff
--- /dev/null
+++ b/episode_0014/camera_overview/images/000262_1789730081447333152.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4df7306f3fb4c92d0e32f5411a5562e156f40ee38fd9349fee7c2ab391b481e
+size 42786
diff --git a/episode_0014/camera_overview/images/000263_1789730081480651993.jpg b/episode_0014/camera_overview/images/000263_1789730081480651993.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..125604571996cc16afd3563704396cf58e66b517
--- /dev/null
+++ b/episode_0014/camera_overview/images/000263_1789730081480651993.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49594a61e80af20bd9a16a6ed186c7e29bdb08f76aabffff7dcf741d37a63f1b
+size 42870
diff --git a/episode_0014/camera_overview/images/000266_1789730081580660305.jpg b/episode_0014/camera_overview/images/000266_1789730081580660305.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8adc9e5273c3c19447dbc9c429dbbd2f48d414cc
--- /dev/null
+++ b/episode_0014/camera_overview/images/000266_1789730081580660305.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67e8b854c146c5ddc13151f2bb482dfd207ebb3a1ab4afe69894269e7b1e8284
+size 42817
diff --git a/episode_0014/camera_overview/images/000269_1789730081680660907.jpg b/episode_0014/camera_overview/images/000269_1789730081680660907.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9bbcaa71fb81957bbee9d88b42bbab1b1f00b86e
--- /dev/null
+++ b/episode_0014/camera_overview/images/000269_1789730081680660907.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4720724af15cebd4ccc536387410bf9db7f34b134da059fb3f7c120d31cd3f91
+size 42505
diff --git a/episode_0014/camera_overview/images/000272_1789730081780657580.jpg b/episode_0014/camera_overview/images/000272_1789730081780657580.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..76d66222f9bb08554721ae6d0cd59e3d41a797e6
--- /dev/null
+++ b/episode_0014/camera_overview/images/000272_1789730081780657580.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a25c2a25b7fc2950e64ad37f201f71d98818b49382eca15df27aa5c4d94ea23a
+size 42301
diff --git a/episode_0014/camera_overview/images/000276_1789730081913998262.jpg b/episode_0014/camera_overview/images/000276_1789730081913998262.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e43960c0f9abb4378c7125637b0fcdcee38e0f86
--- /dev/null
+++ b/episode_0014/camera_overview/images/000276_1789730081913998262.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c11959283092ff7bc46836eaafd5062fb441ee996e36dbca96fa4b3564c74e57
+size 42316
diff --git a/episode_0014/camera_overview/images/000277_1789730081947322193.jpg b/episode_0014/camera_overview/images/000277_1789730081947322193.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..58325a892b46ecf51bb50a3cb846e2036b59d820
--- /dev/null
+++ b/episode_0014/camera_overview/images/000277_1789730081947322193.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94aeff989b2a5dec19bb311e5e0afa6be0eb67c4bc94003e6a7fc5f7303bcdc7
+size 42245
diff --git a/episode_0014/camera_overview/images/000278_1789730081980721299.jpg b/episode_0014/camera_overview/images/000278_1789730081980721299.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..33640a4b669a914f9f06abfe4a6aa8937e7ed7f5
--- /dev/null
+++ b/episode_0014/camera_overview/images/000278_1789730081980721299.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c971db17b9c74206e00af2acdbb8102f9a8e079778ef2fff5bc6d26203cacc1c
+size 42030
diff --git a/episode_0014/camera_overview/images/000281_1789730082080659677.jpg b/episode_0014/camera_overview/images/000281_1789730082080659677.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2f4898f2b06ea02736d62de5f7f232907c275ad1
--- /dev/null
+++ b/episode_0014/camera_overview/images/000281_1789730082080659677.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89bdef20de0427fcfbfc92015207dd5dd542983d1529d507e4f4f2601f1c174e
+size 42020
diff --git a/episode_0014/camera_overview/images/000282_1789730082113994019.jpg b/episode_0014/camera_overview/images/000282_1789730082113994019.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..647f8d85d01da3aa2fe34c1a1d8ca9464025e634
--- /dev/null
+++ b/episode_0014/camera_overview/images/000282_1789730082113994019.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d26230c8ab2a617e3e0d2da6e3e188eb5b32349e6da978900c43ad37672082b9
+size 42094
diff --git a/episode_0014/camera_overview/images/000286_1789730082247334304.jpg b/episode_0014/camera_overview/images/000286_1789730082247334304.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c7024196a8375d30ba801cfbe1c744e121f6ee85
--- /dev/null
+++ b/episode_0014/camera_overview/images/000286_1789730082247334304.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:742743730f3015c083a1553e983f7c5aa73d7137f6cd16bb60550266b039edac
+size 41457
diff --git a/episode_0014/camera_overview/images/000287_1789730082280658357.jpg b/episode_0014/camera_overview/images/000287_1789730082280658357.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fceaff73106b86e67d559368029139e313152e31
--- /dev/null
+++ b/episode_0014/camera_overview/images/000287_1789730082280658357.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1ae63b09140903ad0dc896d45b5899fb889e78e61928a40b5c02df751c6aea5
+size 41425
diff --git a/episode_0014/camera_overview/images/000288_1789730082313996378.jpg b/episode_0014/camera_overview/images/000288_1789730082313996378.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..43b57779d33fd366f8ce873501b0d3acad981db7
--- /dev/null
+++ b/episode_0014/camera_overview/images/000288_1789730082313996378.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5414e491b65b47a00346538362f43d39e91b2c9deabe8aad26caffd4d7a7349
+size 41439
diff --git a/episode_0014/camera_overview/images/000289_1789730082347326479.jpg b/episode_0014/camera_overview/images/000289_1789730082347326479.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fb7956fabe7e4a789ca6aebaadb0bb06ba2ebeff
--- /dev/null
+++ b/episode_0014/camera_overview/images/000289_1789730082347326479.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6957da705bd6bc6c5072f2199ac9214ee1f98e214c84b42a80f60eba3a869947
+size 41398
diff --git a/episode_0014/camera_overview/images/000290_1789730082380663371.jpg b/episode_0014/camera_overview/images/000290_1789730082380663371.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..eafc1d3f9801a0bda8cb681f9c7f84433a67fd58
--- /dev/null
+++ b/episode_0014/camera_overview/images/000290_1789730082380663371.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff79d5d0bb1f6b15d6bdde76f17541ee760bd851c283880504af57631767e4db
+size 41390
diff --git a/episode_0014/camera_overview/images/000291_1789730082414050578.jpg b/episode_0014/camera_overview/images/000291_1789730082414050578.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5fae1f299ed774b27fad3ee990f243e7823c40a9
--- /dev/null
+++ b/episode_0014/camera_overview/images/000291_1789730082414050578.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:070871e939a077e2a6b311f3a9a5e77ac70591aff0d0c0179d2b2485053d08e7
+size 41308
diff --git a/episode_0014/camera_overview/images/000292_1789730082447343962.jpg b/episode_0014/camera_overview/images/000292_1789730082447343962.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..48f73d635e27ed62b16285a8481fa328c6bbaaeb
--- /dev/null
+++ b/episode_0014/camera_overview/images/000292_1789730082447343962.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b735e4248ffa540355e624942f30c50bf7d53ce53dca76778a27430ff8aa792d
+size 41169
diff --git a/episode_0014/camera_overview/images/000293_1789730082480657746.jpg b/episode_0014/camera_overview/images/000293_1789730082480657746.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1952f220818cbfc9340eff2024c108e008178f0a
--- /dev/null
+++ b/episode_0014/camera_overview/images/000293_1789730082480657746.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fb5a762236fd4da9c39c10efe19c2b68bdd0e779e3ddd34bf28267990ec56be
+size 41139
diff --git a/episode_0014/camera_overview/images/000294_1789730082513995767.jpg b/episode_0014/camera_overview/images/000294_1789730082513995767.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..695d1ba82e56451ecd2d3e82d4c266f46b408a44
--- /dev/null
+++ b/episode_0014/camera_overview/images/000294_1789730082513995767.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efe550ae54659e216b20908aea6b3a03aae8ea0169d271e74e51600c47964791
+size 41196
diff --git a/episode_0014/camera_overview/images/000296_1789730082580656780.jpg b/episode_0014/camera_overview/images/000296_1789730082580656780.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..70d781ea0b2dcee6e876e35d3797227b2cc49973
--- /dev/null
+++ b/episode_0014/camera_overview/images/000296_1789730082580656780.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d54d057a32eb054dea115266fae2840d69809aecb708ba89a145fc8423369b40
+size 41114
diff --git a/episode_0014/camera_overview/images/000297_1789730082613990082.jpg b/episode_0014/camera_overview/images/000297_1789730082613990082.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..94948f4cb9c73ddb362eaae0bed357d7b7083260
--- /dev/null
+++ b/episode_0014/camera_overview/images/000297_1789730082613990082.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:051d0f6983ca399727d06df239b2f5fbeba946b2a618efd50e17635e9d0fcfa1
+size 41289
diff --git a/episode_0014/camera_overview/images/000300_1789730082713992526.jpg b/episode_0014/camera_overview/images/000300_1789730082713992526.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a1825ee29e59578f99b2e640f45c9148180e7dd3
--- /dev/null
+++ b/episode_0014/camera_overview/images/000300_1789730082713992526.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc7b8b76dda0dd934202ae80add352825e006548d36ecba2fae7ec61811f9a67
+size 41276
diff --git a/episode_0014/camera_overview/images/000303_1789730082813993680.jpg b/episode_0014/camera_overview/images/000303_1789730082813993680.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e69eaaf556be55084a08efb4e0a42b0e6cf25d15
--- /dev/null
+++ b/episode_0014/camera_overview/images/000303_1789730082813993680.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9742f686fe91de1d3bc14ef8200da840e1a70a8c7eb2a6adf942c5c207e671d
+size 41320
diff --git a/episode_0014/camera_overview/images/000305_1789730082880663763.jpg b/episode_0014/camera_overview/images/000305_1789730082880663763.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7c3e456d029dc268acbc5f0688e9e54ea83b4135
--- /dev/null
+++ b/episode_0014/camera_overview/images/000305_1789730082880663763.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63971be3d5ea494174cb071c5ccc504dd07a84512900b4e36419e3b87c62e7d8
+size 41619
diff --git a/episode_0014/camera_overview/images/000306_1789730082913996974.jpg b/episode_0014/camera_overview/images/000306_1789730082913996974.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..67e73bbc573fa3d313ab5b5b55e2b63a5de8907f
--- /dev/null
+++ b/episode_0014/camera_overview/images/000306_1789730082913996974.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:290cdaf2f2cdf190798637176db40046388e4d97e4c0178685373b3940ac7c1b
+size 41525
diff --git a/episode_0014/camera_overview/images/000309_1789730083013993729.jpg b/episode_0014/camera_overview/images/000309_1789730083013993729.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..de7e1f234e034ff3083e89eed8d9887982a160b3
--- /dev/null
+++ b/episode_0014/camera_overview/images/000309_1789730083013993729.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5992e5b236e0125cc3330033548acd27b722e69487f4aab4d92e795bb200f374
+size 41786
diff --git a/episode_0014/camera_overview/images/000310_1789730083047329771.jpg b/episode_0014/camera_overview/images/000310_1789730083047329771.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dad9c824f63853f5db5933d37e0799d536ce4ca2
--- /dev/null
+++ b/episode_0014/camera_overview/images/000310_1789730083047329771.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01f8f5eb039e3b349acaaf779da920e5764edd52a9354f451eece2d4ab95b7da
+size 41679
diff --git a/episode_0014/camera_overview/images/000313_1789730083147323089.jpg b/episode_0014/camera_overview/images/000313_1789730083147323089.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4e41d6cf9e9387622d893d375e1fa0d82538d67b
--- /dev/null
+++ b/episode_0014/camera_overview/images/000313_1789730083147323089.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:712377bbfe09a30f2eef05cab4b6b17fadea2583234ea9b5bcf141990771c588
+size 42222
diff --git a/episode_0014/camera_overview/images/000314_1789730083180654291.jpg b/episode_0014/camera_overview/images/000314_1789730083180654291.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f7e33e7203b3b5485eb7291d144a5444343b8ca4
--- /dev/null
+++ b/episode_0014/camera_overview/images/000314_1789730083180654291.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e4cdff2392085f2fae83db0396888cad56a329980489ed077857b675d07408b
+size 42221
diff --git a/episode_0014/camera_overview/images/000317_1789730083280646209.jpg b/episode_0014/camera_overview/images/000317_1789730083280646209.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c9d73942f649c0e88a290a5d11a3172ce8b7f37c
--- /dev/null
+++ b/episode_0014/camera_overview/images/000317_1789730083280646209.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f10a229d788f1c4fbd33dbe1bfa4e1c25790b89b5371e82b063b87c722543cb
+size 42763
diff --git a/episode_0014/camera_overview/images/000318_1789730083313995730.jpg b/episode_0014/camera_overview/images/000318_1789730083313995730.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e3005d33f5c6347597e634648ea02118cbdd73ed
--- /dev/null
+++ b/episode_0014/camera_overview/images/000318_1789730083313995730.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd23bec38e487db0e0dee443180793083083dff9fd0f17cc1ea73a37b36c38f7
+size 42947
diff --git a/episode_0014/camera_overview/images/000321_1789730083414040863.jpg b/episode_0014/camera_overview/images/000321_1789730083414040863.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f3fb186b42ee97ef48ebc18d4e55e689e4d20e7b
--- /dev/null
+++ b/episode_0014/camera_overview/images/000321_1789730083414040863.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1c87cf74b4a1157dee4bdbdef6914415bc162223e4d1292e3ae4b0b751fc4f7
+size 43455
diff --git a/episode_0014/camera_overview/images/000324_1789730083514054559.jpg b/episode_0014/camera_overview/images/000324_1789730083514054559.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..72fe71556df5b2140957fa9fe148d9095d1bd78b
--- /dev/null
+++ b/episode_0014/camera_overview/images/000324_1789730083514054559.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d59e447f2a0ffb29a6f947f431a7c033642803cbd86baacc11db44e1a1534d0
+size 43452
diff --git a/episode_0014/camera_overview/images/000326_1789730083580685956.jpg b/episode_0014/camera_overview/images/000326_1789730083580685956.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0b084c0a4c506b744dad52dde4d82d87e042efe5
--- /dev/null
+++ b/episode_0014/camera_overview/images/000326_1789730083580685956.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:113e656833f8cf6144e3fa4264a30da3e3aa884396219efc9efa842e778e35ed
+size 43512
diff --git a/episode_0014/camera_overview/images/000329_1789730083680684733.jpg b/episode_0014/camera_overview/images/000329_1789730083680684733.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cd01b5955e12bf9c5f29fc753444aa24bcbc767f
--- /dev/null
+++ b/episode_0014/camera_overview/images/000329_1789730083680684733.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d73853520a31c9f52ad84923c69a660a760595e85869fcbfcf8729cfe0722cc6
+size 43630
diff --git a/episode_0014/camera_overview/images/000331_1789730083747355377.jpg b/episode_0014/camera_overview/images/000331_1789730083747355377.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..67db64d6cc3b369a759be29dcd8440f60ccac5b6
--- /dev/null
+++ b/episode_0014/camera_overview/images/000331_1789730083747355377.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc7cd48f9bc7f5407839f286fc19dabcf75a218932d20f7c6382884acf2d4a62
+size 43868
diff --git a/episode_0014/camera_overview/images/000332_1789730083780685379.jpg b/episode_0014/camera_overview/images/000332_1789730083780685379.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8756094b1cb2e2495f331d4f008f16f4932aa9ac
--- /dev/null
+++ b/episode_0014/camera_overview/images/000332_1789730083780685379.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2e1e3d285b2a2d573650618f4dde75b7f4246b323db37c1f4f539bc7b419f56
+size 43813
diff --git a/episode_0014/camera_overview/images/000333_1789730083814022201.jpg b/episode_0014/camera_overview/images/000333_1789730083814022201.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9e43ca7aa507a560701a85dae90ab2ccc1356502
--- /dev/null
+++ b/episode_0014/camera_overview/images/000333_1789730083814022201.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c52830663f80ba49d38e6d57d8318823ed5fddb6a18bfa814b0ca539a1e3f74
+size 44019
diff --git a/episode_0014/camera_overview/images/000334_1789730083847374142.jpg b/episode_0014/camera_overview/images/000334_1789730083847374142.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2c8e7447a36ed580812da1d7340aa314aa18471c
--- /dev/null
+++ b/episode_0014/camera_overview/images/000334_1789730083847374142.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccf686694fe9c13a33eac449f99acf21326de1eb1f598228da69f4848e11cb5c
+size 43851
diff --git a/episode_0014/camera_overview/images/000335_1789730083880668408.jpg b/episode_0014/camera_overview/images/000335_1789730083880668408.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6b02778394ae3c8941eb7bdead7f3727a8ca8a32
--- /dev/null
+++ b/episode_0014/camera_overview/images/000335_1789730083880668408.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2f8cd9df8947bc865b06bbf3b1882977f31c216a357b60edabcc22649d537b6
+size 43925
diff --git a/episode_0014/camera_overview/images/000336_1789730083913994860.jpg b/episode_0014/camera_overview/images/000336_1789730083913994860.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e18591ed434870214b267c6cf51228594187e488
--- /dev/null
+++ b/episode_0014/camera_overview/images/000336_1789730083913994860.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13eced8e70738c1e495384805133f0d9fdcaf78135a8be16cd8f4784de085733
+size 43791
diff --git a/episode_0014/camera_overview/images/000337_1789730083947322003.jpg b/episode_0014/camera_overview/images/000337_1789730083947322003.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a67147b7fb421af80725d5128bcaa7718f285f77
--- /dev/null
+++ b/episode_0014/camera_overview/images/000337_1789730083947322003.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a86a2dfc42ea2d25d3efa177843dd2c613c4a94ffcebf77d3ef7cdb9fe6f0ca4
+size 43877
diff --git a/episode_0014/camera_overview/images/000338_1789730083980654115.jpg b/episode_0014/camera_overview/images/000338_1789730083980654115.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dc4d51cdff399799854411707c03638bb2329bcf
--- /dev/null
+++ b/episode_0014/camera_overview/images/000338_1789730083980654115.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa238a94821ffbd487f9291e6ef6912ca5bdf815c6f356b5dbe5e288e4d49e90
+size 43884
diff --git a/episode_0014/camera_overview/images/000340_1789730084047324061.jpg b/episode_0014/camera_overview/images/000340_1789730084047324061.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..559dad581bbb2eaffe6b643ddaf18427fe82861e
--- /dev/null
+++ b/episode_0014/camera_overview/images/000340_1789730084047324061.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18fd9cb238eacb1c838df4cee958c2227be4941198a3885797f68b359beb5f0a
+size 43824
diff --git a/episode_0014/camera_overview/images/000342_1789730084114056782.jpg b/episode_0014/camera_overview/images/000342_1789730084114056782.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..da43a3854714b9e4e57712e5e84501b0205e026d
--- /dev/null
+++ b/episode_0014/camera_overview/images/000342_1789730084114056782.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:475922f89be3d8f242806429ca1363442617d49b785bf3d5cf0aa27a9b1b254b
+size 43693
diff --git a/episode_0014/camera_overview/images/000343_1789730084147401424.jpg b/episode_0014/camera_overview/images/000343_1789730084147401424.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e1c5ac142bb78bbd438bc2f29596b9817d945c9a
--- /dev/null
+++ b/episode_0014/camera_overview/images/000343_1789730084147401424.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61de6db25f08ac722f59784a24d9d23e16e57724e4b974b8b32c933f25d70784
+size 43687
diff --git a/episode_0014/camera_overview/images/000344_1789730084180668362.jpg b/episode_0014/camera_overview/images/000344_1789730084180668362.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4b7c76f3a1b074ba56fa87457bf5734f1bd892b5
--- /dev/null
+++ b/episode_0014/camera_overview/images/000344_1789730084180668362.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:825bd46608d951acc9ef5347f1e7bd497b6a06a6bb040031221b0ec6948e5ace
+size 43911
diff --git a/episode_0014/camera_overview/images/000346_1789730084247321729.jpg b/episode_0014/camera_overview/images/000346_1789730084247321729.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..76284996ba425215f6fd2d057f35f557d9e9a75e
--- /dev/null
+++ b/episode_0014/camera_overview/images/000346_1789730084247321729.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4090ce0747d00e9b19921d047be320b616ce34cac414f9f718abd32f7a1ca105
+size 43741
diff --git a/episode_0014/camera_overview/images/000349_1789730084347318409.jpg b/episode_0014/camera_overview/images/000349_1789730084347318409.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0a0411a312efee32e68e6a4d1382a246385f2e47
--- /dev/null
+++ b/episode_0014/camera_overview/images/000349_1789730084347318409.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:884c885b03fedb3261b91d45c990353eef2f2ca6fc5a0bca6a09298bb76d5e9a
+size 43802
diff --git a/episode_0014/camera_overview/images/000351_1789730084413990874.jpg b/episode_0014/camera_overview/images/000351_1789730084413990874.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e08fc90689c80a71a0eb81e2cda8f7d8eb9bbbf9
--- /dev/null
+++ b/episode_0014/camera_overview/images/000351_1789730084413990874.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94579c53ccb2445b5c48f81c1f30b58a8e29b5e0b6719e5cae33410b55007c08
+size 43838
diff --git a/episode_0014/camera_overview/images/000354_1789730084514059328.jpg b/episode_0014/camera_overview/images/000354_1789730084514059328.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..49b22cdabfa7fcf4d9d463a0a728909579d6d0d7
--- /dev/null
+++ b/episode_0014/camera_overview/images/000354_1789730084514059328.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bc4356563842dda2e370e02ea55be549be9681fcc01ea543909043211f809fc
+size 43350
diff --git a/episode_0014/camera_overview/images/000356_1789730084580698986.jpg b/episode_0014/camera_overview/images/000356_1789730084580698986.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ff81192761a731fcb848a8f92c184e0a938885de
--- /dev/null
+++ b/episode_0014/camera_overview/images/000356_1789730084580698986.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:019bb4744824e5e6ce0748611a3c2c25da30284a2879ca0f93fa5ce579e49b10
+size 43286
diff --git a/episode_0014/camera_overview/images/000357_1789730084613986763.jpg b/episode_0014/camera_overview/images/000357_1789730084613986763.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6f51d1bf1ed7d186cb9e315ddd1ed5eadeff04dc
--- /dev/null
+++ b/episode_0014/camera_overview/images/000357_1789730084613986763.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1053578aae3e7bfb6169178bb81dac1bb3bb99bd022599609f056fc2453093ea
+size 43603
diff --git a/episode_0014/camera_overview/images/000359_1789730084680732923.jpg b/episode_0014/camera_overview/images/000359_1789730084680732923.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..560bb6649cc2ad85a4e08130988c4233e677df3f
--- /dev/null
+++ b/episode_0014/camera_overview/images/000359_1789730084680732923.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:885abe5a7a3e21905e5ce85d574f6dc097dd27e124c8142db3a2cf5cad9b06ce
+size 43446
diff --git a/episode_0014/camera_overview/images/000362_1789730084780727472.jpg b/episode_0014/camera_overview/images/000362_1789730084780727472.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b95b9b02aa8a827852cb05e32c8e0ed1555aee1d
--- /dev/null
+++ b/episode_0014/camera_overview/images/000362_1789730084780727472.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26472400e8e165af797bcf0f3e1127a5fb84abbb6cf564a944dc6fc884afec9a
+size 43787
diff --git a/episode_0014/camera_overview/images/000363_1789730084813999950.jpg b/episode_0014/camera_overview/images/000363_1789730084813999950.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..06ab4a34323edb8b7eb835ee3faec3f0350602f4
--- /dev/null
+++ b/episode_0014/camera_overview/images/000363_1789730084813999950.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9c364c47409fa7e58ad7a9a8ed68491f16b45c6e035fcfe9fa7db7b08ba8e44
+size 43712
diff --git a/episode_0014/camera_overview/images/000366_1789730084914069454.jpg b/episode_0014/camera_overview/images/000366_1789730084914069454.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1988149e49bc17664a88a078120b23817f8bf6ee
--- /dev/null
+++ b/episode_0014/camera_overview/images/000366_1789730084914069454.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0282091f01eca8e648f1d40d8c804f17b8734f67926c7979bf2fb7d6f1fbd784
+size 44018
diff --git a/episode_0014/camera_overview/images/000367_1789730084947347751.jpg b/episode_0014/camera_overview/images/000367_1789730084947347751.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f49ece274c5ae0d51ad4ea97a3800f2af36bf425
--- /dev/null
+++ b/episode_0014/camera_overview/images/000367_1789730084947347751.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f161303bc8bf2a1c4d6a141b41199ceb78cdd38623fd8fceace6663b925f5c48
+size 44134
diff --git a/episode_0014/camera_overview/images/000368_1789730084980655446.jpg b/episode_0014/camera_overview/images/000368_1789730084980655446.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..37ce63708b8b74fd09c232ddc68cae0dc8292b9c
--- /dev/null
+++ b/episode_0014/camera_overview/images/000368_1789730084980655446.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91a8886e6cb6de6348268f1e99d3238accfcb846b3cd86e5b77c85c09ae46959
+size 44194
diff --git a/episode_0014/camera_overview/images/000369_1789730085014062813.jpg b/episode_0014/camera_overview/images/000369_1789730085014062813.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3d9b18f85ef5b196e9b3401419279ee1957d5124
--- /dev/null
+++ b/episode_0014/camera_overview/images/000369_1789730085014062813.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b388cee3028ee15ef62f5e44c4ece5623088f89534ce49a7e039af24475283d
+size 44256
diff --git a/episode_0014/camera_overview/images/000370_1789730085047330552.jpg b/episode_0014/camera_overview/images/000370_1789730085047330552.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a6eff25eb44402ca875603863c9d6ccd23c8dc77
--- /dev/null
+++ b/episode_0014/camera_overview/images/000370_1789730085047330552.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a52d41f4656a158d1d3781eb5e2d60f9515c7f7f926bc65ee2cb2c0c8a3ce94
+size 44215
diff --git a/episode_0014/camera_overview/images/000373_1789730085147321554.jpg b/episode_0014/camera_overview/images/000373_1789730085147321554.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1c4fca635eaa96d323c57a0a5a00c5a07cbd5cf4
--- /dev/null
+++ b/episode_0014/camera_overview/images/000373_1789730085147321554.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0b7fbd4a3329dc030ab23335a985ceb7139010fcf70cc7574da64ea4e4ccf9c
+size 44118
diff --git a/episode_0014/camera_overview/images/000374_1789730085180651318.jpg b/episode_0014/camera_overview/images/000374_1789730085180651318.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a2186f6d05529e6d1255f337801ba8ddea11b0bc
--- /dev/null
+++ b/episode_0014/camera_overview/images/000374_1789730085180651318.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa7d63834dadec933ec4608811a68c0f56797448b77166ab9226949871ec5a10
+size 44220
diff --git a/episode_0014/camera_overview/images/000375_1789730085213998431.jpg b/episode_0014/camera_overview/images/000375_1789730085213998431.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e6b137c8cac7dff09b196da8fbb5fbcfda0f8531
--- /dev/null
+++ b/episode_0014/camera_overview/images/000375_1789730085213998431.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83214603c8153f5dac408af9bd3d40cbde208d300cbe4281af2461b58cba16a3
+size 44332
diff --git a/episode_0014/camera_overview/images/000376_1789730085247342884.jpg b/episode_0014/camera_overview/images/000376_1789730085247342884.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..517a874cbb81854b6f6498926572f5270fa2ba78
--- /dev/null
+++ b/episode_0014/camera_overview/images/000376_1789730085247342884.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ebd82c50ce9169ae2191c203b321743de7917081d13f1395d43f2ec75694bfa
+size 44153
diff --git a/episode_0014/camera_overview/images/000379_1789730085347322907.jpg b/episode_0014/camera_overview/images/000379_1789730085347322907.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1fbbf03cb3b672d95022ab6a9a8751d16320767b
--- /dev/null
+++ b/episode_0014/camera_overview/images/000379_1789730085347322907.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6a415e8efaa87b7c47c1680a13c3831fd1e00d520785e011b92444990102bfd
+size 43996
diff --git a/episode_0014/camera_overview/images/000382_1789730085447328078.jpg b/episode_0014/camera_overview/images/000382_1789730085447328078.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..07a11f68bdb5acaecaa9bcdad24522352b73a31f
--- /dev/null
+++ b/episode_0014/camera_overview/images/000382_1789730085447328078.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c186bf2c06628b72a860c3764ad7fc3fc136bdbec8ed9c6b9e184444594ffe67
+size 43837
diff --git a/episode_0014/camera_overview/images/000383_1789730085480657162.jpg b/episode_0014/camera_overview/images/000383_1789730085480657162.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..566ea87a7a91cef6aecbad7067ac33d76156aea2
--- /dev/null
+++ b/episode_0014/camera_overview/images/000383_1789730085480657162.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4f02bba16fc9504ee6090634b7e9efed3a5ec530676241af4d421e23f622f11
+size 44011
diff --git a/episode_0014/camera_overview/images/000384_1789730085513993436.jpg b/episode_0014/camera_overview/images/000384_1789730085513993436.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a3068388f39910bcdc8db17740a26fd217abb40c
--- /dev/null
+++ b/episode_0014/camera_overview/images/000384_1789730085513993436.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1752527f091f0f1587a7517a1dfbd315825c6ad27bd9248350768c696d74b884
+size 44025
diff --git a/episode_0014/camera_overview/images/000385_1789730085547323509.jpg b/episode_0014/camera_overview/images/000385_1789730085547323509.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..158c4722091f39964aa5d89c8626ad3b65992926
--- /dev/null
+++ b/episode_0014/camera_overview/images/000385_1789730085547323509.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae8ecb63b05c5007702f8cab81185162c99a9e67ee299259d2ffed86ebbd748b
+size 44033
diff --git a/episode_0014/camera_overview/images/000386_1789730085580651614.jpg b/episode_0014/camera_overview/images/000386_1789730085580651614.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..53c8819cd8540f54ea4e6b4cf59cde07683cbd72
--- /dev/null
+++ b/episode_0014/camera_overview/images/000386_1789730085580651614.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28c8e29b86cafa682b1fe359951d7daa3cb1917f627834e828453b74b2d5a93b
+size 43889
diff --git a/episode_0014/camera_overview/images/000387_1789730085614047473.jpg b/episode_0014/camera_overview/images/000387_1789730085614047473.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6f036b95aab84efbf9794c336422425ba10d7087
--- /dev/null
+++ b/episode_0014/camera_overview/images/000387_1789730085614047473.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0fb3390775cf3379c684e51bc884d50e844695b9a7eb7a8943c952959df0b73
+size 44099
diff --git a/episode_0014/camera_overview/images/000388_1789730085647322421.jpg b/episode_0014/camera_overview/images/000388_1789730085647322421.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0fe51892456f058d6c63572a39b6b1718130b738
--- /dev/null
+++ b/episode_0014/camera_overview/images/000388_1789730085647322421.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e024f2157c5290c3aa0a17649d07749fd5aeaf023369c4d8d3bb1e8f44d5bc0
+size 44035
diff --git a/episode_0014/camera_overview/images/000391_1789730085747329222.jpg b/episode_0014/camera_overview/images/000391_1789730085747329222.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9c3450ab910e820a3c8f6594acb207796983aebb
--- /dev/null
+++ b/episode_0014/camera_overview/images/000391_1789730085747329222.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4be1b07b232efdaf2008fbb1288bee2c51da8bef78361b43df42725615b3ee8
+size 44094
diff --git a/episode_0014/camera_overview/images/000395_1789730085880710343.jpg b/episode_0014/camera_overview/images/000395_1789730085880710343.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..677e8004abf6860f4659b66efdbd17c69ce5c58a
--- /dev/null
+++ b/episode_0014/camera_overview/images/000395_1789730085880710343.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64d8a38e1876be4120f189d7460f60b4c77de4993bc0789b6dab2016928da583
+size 44157
diff --git a/episode_0014/camera_overview/images/000396_1789730085914066815.jpg b/episode_0014/camera_overview/images/000396_1789730085914066815.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..486255fc279350fb4a3dcde98db8e7a5abc1957c
--- /dev/null
+++ b/episode_0014/camera_overview/images/000396_1789730085914066815.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69220bebbdf9eacdeceab21ad0c3de5308dacfb98e66f7ce79082e2fa2583660
+size 44163
diff --git a/episode_0014/camera_overview/images/000398_1789730085980655609.jpg b/episode_0014/camera_overview/images/000398_1789730085980655609.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e5f21b1ea1de635cbc7c5e4525586373d4fcfdf2
--- /dev/null
+++ b/episode_0014/camera_overview/images/000398_1789730085980655609.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df38b559b86af0f63e93d728a65ad0ebf095f6ded4ef7a049e91c1d672bf8c49
+size 44009
diff --git a/episode_0014/camera_overview/images/000402_1789730086114008175.jpg b/episode_0014/camera_overview/images/000402_1789730086114008175.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..14357273ea5d7e2bea2417448d5ee4bbb722453a
--- /dev/null
+++ b/episode_0014/camera_overview/images/000402_1789730086114008175.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c71cb7d4010cb38e88397094741c3027b4142b20e5f328519e1954ce69a3dfcc
+size 44167
diff --git a/episode_0014/camera_overview/images/000403_1789730086147328351.jpg b/episode_0014/camera_overview/images/000403_1789730086147328351.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e674ba7fcf48fc8728b096c1d6c4db965f70d4ee
--- /dev/null
+++ b/episode_0014/camera_overview/images/000403_1789730086147328351.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2180a435886881b68c8c421a22385ca85773a38bfe98e291eaaf4b5b59ad79f0
+size 44125
diff --git a/episode_0014/camera_right/images/000002_1789730072780773030.jpg b/episode_0014/camera_right/images/000002_1789730072780773030.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2f459919c04699d6b38ee6fbcf608383c1261f6d
--- /dev/null
+++ b/episode_0014/camera_right/images/000002_1789730072780773030.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2fb7f6892064e02f951c1cd955e912dec000a9870cc273c41264c19c90ae5f2
+size 51026
diff --git a/episode_0014/camera_right/images/000007_1789730072947435677.jpg b/episode_0014/camera_right/images/000007_1789730072947435677.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..42e8437f68f2056afaadbe2031ea07bdf63e42d8
--- /dev/null
+++ b/episode_0014/camera_right/images/000007_1789730072947435677.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca6f205f91247956462e23afd9a917fee73ad9d53a28cf63f21d717b2b36cba0
+size 50926
diff --git a/episode_0014/camera_right/images/000010_1789730073047427139.jpg b/episode_0014/camera_right/images/000010_1789730073047427139.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..93b35fbac4111fc02c5b4b34a8a81fe5a256c287
--- /dev/null
+++ b/episode_0014/camera_right/images/000010_1789730073047427139.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51d3258c4ff98ae3b343a262ed782ae35747a2ed90deb89af285fee8120b8698
+size 50939
diff --git a/episode_0014/camera_right/images/000011_1789730073080758673.jpg b/episode_0014/camera_right/images/000011_1789730073080758673.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..53e024582f89c52877e24bea8cf32b4b89066b97
--- /dev/null
+++ b/episode_0014/camera_right/images/000011_1789730073080758673.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f944ed7ec6fb322e15de846835f9e67d76763e2508b5a4cde5e4cc9f0119c59d
+size 51057
diff --git a/episode_0014/camera_right/images/000013_1789730073147436131.jpg b/episode_0014/camera_right/images/000013_1789730073147436131.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a9043a5213560a80fd5098dccecb4d8311f52467
--- /dev/null
+++ b/episode_0014/camera_right/images/000013_1789730073147436131.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbfa55002164c161638b36965a1f42e665490521cbbea9bd9f86575d140f7d71
+size 51058
diff --git a/episode_0014/camera_right/images/000018_1789730073314089603.jpg b/episode_0014/camera_right/images/000018_1789730073314089603.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..797ba30e625d4eaffa9152e5f3393d902b179008
--- /dev/null
+++ b/episode_0014/camera_right/images/000018_1789730073314089603.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56b2248d30b1a6a915133e9d36dcb4f4c984487b3a6d766f2aa787e0b350beba
+size 51000
diff --git a/episode_0014/camera_right/images/000020_1789730073380764851.jpg b/episode_0014/camera_right/images/000020_1789730073380764851.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..32841c98b69e651f41885d05fe5e250da67ed99f
--- /dev/null
+++ b/episode_0014/camera_right/images/000020_1789730073380764851.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec9ebb6538f732f8853dc9a5a65bb77c06dfb3f77d97ac3daa0f9612e573ed3a
+size 50922
diff --git a/episode_0014/camera_right/images/000021_1789730073414082377.jpg b/episode_0014/camera_right/images/000021_1789730073414082377.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c84f70ff23bdc32224c78290024af28082b6fe44
--- /dev/null
+++ b/episode_0014/camera_right/images/000021_1789730073414082377.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eeb80f47c2dc25193e5a1f75b099f71e11b3971e45abc423ee8d1d07db66383
+size 50939
diff --git a/episode_0014/camera_right/images/000022_1789730073447430330.jpg b/episode_0014/camera_right/images/000022_1789730073447430330.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..95d74725f9811c14a845c840f646ce9a7fc05c2e
--- /dev/null
+++ b/episode_0014/camera_right/images/000022_1789730073447430330.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:010cf1168d7a6b219a6ba59c31653962bdd8eb645dab3bfc8d17dd911c100389
+size 50819
diff --git a/episode_0014/camera_right/images/000033_1789730073814088118.jpg b/episode_0014/camera_right/images/000033_1789730073814088118.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9ae26817918ba7031d257c654376096be3368d2d
--- /dev/null
+++ b/episode_0014/camera_right/images/000033_1789730073814088118.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aee6a4ccc189613187608a24a78caee2c137bc8f2b72ab0edd577854591e2947
+size 50735
diff --git a/episode_0014/camera_right/images/000038_1789730073980766958.jpg b/episode_0014/camera_right/images/000038_1789730073980766958.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..abec921b1527cabb645aef40a9b43bfab8591e97
--- /dev/null
+++ b/episode_0014/camera_right/images/000038_1789730073980766958.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60b81c8c9930fb3d5df669eeca154a797635001647144e34286eaaee4e36da14
+size 50841
diff --git a/episode_0014/camera_right/images/000042_1789730074114091729.jpg b/episode_0014/camera_right/images/000042_1789730074114091729.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c28b754796ae633b1501edf96ee004953f1a89fb
--- /dev/null
+++ b/episode_0014/camera_right/images/000042_1789730074114091729.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fac7804d5fb3d5970759bad2ff9caae59b27a46a544be6d3563f435ca82af9b9
+size 50718
diff --git a/episode_0014/camera_right/images/000047_1789730074280696309.jpg b/episode_0014/camera_right/images/000047_1789730074280696309.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b55872acf66ae6290314da489ea72752a2b46528
--- /dev/null
+++ b/episode_0014/camera_right/images/000047_1789730074280696309.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:887a5f52de652d910591701c9769ea556f1a80abf0d5ff29a335551ff6f39333
+size 50811
diff --git a/episode_0014/camera_right/images/000052_1789730074447435309.jpg b/episode_0014/camera_right/images/000052_1789730074447435309.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..33420e2a0830d517d457dcbccc99aac7bb4f88c8
--- /dev/null
+++ b/episode_0014/camera_right/images/000052_1789730074447435309.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2389252f7fbac6ec3e2aeccf251b643ea2d094bb1ebf70c03fbe2022cc91442c
+size 50755
diff --git a/episode_0014/camera_right/images/000054_1789730074514104589.jpg b/episode_0014/camera_right/images/000054_1789730074514104589.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d9178f57ae2005764d8040b53ea0db57f638cd2f
--- /dev/null
+++ b/episode_0014/camera_right/images/000054_1789730074514104589.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d3d2f682f4b93d304d5c32acbea9644ef2b9e80f2181724b9be4a14964d75e2
+size 50739
diff --git a/episode_0014/camera_right/images/000061_1789730074747328423.jpg b/episode_0014/camera_right/images/000061_1789730074747328423.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e6f2e6d38f6b1c8d9e4935f4e5f16059a1f10ea1
--- /dev/null
+++ b/episode_0014/camera_right/images/000061_1789730074747328423.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35a55af82291c67871938e62b04f518da2b37bac250abf6991e782c237a7d84f
+size 50731
diff --git a/episode_0014/camera_right/images/000065_1789730074880658424.jpg b/episode_0014/camera_right/images/000065_1789730074880658424.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cb7ddd3e56a3b82b85e72e77b6b9d40de11a956e
--- /dev/null
+++ b/episode_0014/camera_right/images/000065_1789730074880658424.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c57bcfc58e5f7d302c81916de109aa0848fd3f548c5a390f8fcba72bf729aea
+size 50721
diff --git a/episode_0014/camera_right/images/000070_1789730075047321201.jpg b/episode_0014/camera_right/images/000070_1789730075047321201.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ce423d5eaeaba701cf456e03648fa24ea608c59e
--- /dev/null
+++ b/episode_0014/camera_right/images/000070_1789730075047321201.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1902ebdd9ddf82c7f2dbf6b318fb1672a387c003cf6a44db1f8e66ed06f0e9bc
+size 50768
diff --git a/episode_0014/camera_right/images/000075_1789730075214051305.jpg b/episode_0014/camera_right/images/000075_1789730075214051305.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..89e8b91b77808d8b1e33959c10c5c99660fd9c71
--- /dev/null
+++ b/episode_0014/camera_right/images/000075_1789730075214051305.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a2ffea1b76029ffd3cabdc84b318b912e63f1d404490c0d9716d3516d1ebf66
+size 50796
diff --git a/episode_0014/camera_right/images/000077_1789730075280655942.jpg b/episode_0014/camera_right/images/000077_1789730075280655942.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b57ba56f71be50850b066f77d654b3f995ba41d8
--- /dev/null
+++ b/episode_0014/camera_right/images/000077_1789730075280655942.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:044870e61f0c2ce76171e3910004cef9971c45bfbf2c4afe5034d7bfb6f38ff8
+size 50818
diff --git a/episode_0014/camera_right/images/000078_1789730075313987838.jpg b/episode_0014/camera_right/images/000078_1789730075313987838.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7478dd897aaa828e4e0db63ce9e0dc6a67efb9bc
--- /dev/null
+++ b/episode_0014/camera_right/images/000078_1789730075313987838.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fde4224ed967b0ef69e59d6fe1c257f0dce366962e0cd981a0d1b77f8e1d008
+size 50895
diff --git a/episode_0014/camera_right/images/000082_1789730075447325041.jpg b/episode_0014/camera_right/images/000082_1789730075447325041.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8e4c23315b37190b31bfdcce624af77ff9d07d79
--- /dev/null
+++ b/episode_0014/camera_right/images/000082_1789730075447325041.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e7998661248d1274c70ca75ed86a38e8e50c973d75aba3962ad9c1b06244822
+size 50840
diff --git a/episode_0014/camera_right/images/000083_1789730075480660717.jpg b/episode_0014/camera_right/images/000083_1789730075480660717.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..eaaf4bbe8d7a6c6ccb56360bc09fb73206a650ed
--- /dev/null
+++ b/episode_0014/camera_right/images/000083_1789730075480660717.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c38bf6ddab24e23574af304713106ce14e7cf1af96d9fdc134f71a1034d3c9fa
+size 50681
diff --git a/episode_0014/camera_right/images/000087_1789730075613991721.jpg b/episode_0014/camera_right/images/000087_1789730075613991721.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..11e5b2da53e80dbc597b88c368b17dafc83fc5a2
--- /dev/null
+++ b/episode_0014/camera_right/images/000087_1789730075613991721.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eae32fb9bb0be9befd33268f46606a072f48c27d53fc4b219f2319eaf653ce6
+size 50951
diff --git a/episode_0014/camera_right/images/000089_1789730075680659083.jpg b/episode_0014/camera_right/images/000089_1789730075680659083.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e3eff106b70860c6e7a8a61bc5d12baf5b9933b0
--- /dev/null
+++ b/episode_0014/camera_right/images/000089_1789730075680659083.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:227c494961de750b58e873dbefb6b04b0d6c1f9f451f01fc78e0467bd2c0f8a6
+size 50997
diff --git a/episode_0014/camera_right/images/000092_1789730075780656270.jpg b/episode_0014/camera_right/images/000092_1789730075780656270.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..288eee4c4874af39182364f1072247d8aaf1c181
--- /dev/null
+++ b/episode_0014/camera_right/images/000092_1789730075780656270.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d784f02f9e5443b162fc11373cf8d0978558faf12aeb85d1664a2ace40d8ae66
+size 50817
diff --git a/episode_0014/camera_right/images/000096_1789730075914050529.jpg b/episode_0014/camera_right/images/000096_1789730075914050529.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bd9771263b7640756102a952185442221eb10f56
--- /dev/null
+++ b/episode_0014/camera_right/images/000096_1789730075914050529.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bb4ab89f6ed849f5e7f285d72e6eb52b2cedbb3d343b2bf4963fc88b5e741f0
+size 50766
diff --git a/episode_0014/camera_right/images/000097_1789730075947323550.jpg b/episode_0014/camera_right/images/000097_1789730075947323550.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0638a0933389f9689255ae84ad9a845b41774fa1
--- /dev/null
+++ b/episode_0014/camera_right/images/000097_1789730075947323550.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:019165a0717a2c98d0e7113c03e10403aaa490648b406544f1d822cf9639c131
+size 50721
diff --git a/episode_0014/camera_right/images/000098_1789730075980654346.jpg b/episode_0014/camera_right/images/000098_1789730075980654346.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9b5ae6838ede511a08b08ec85cc9f76853c180c3
--- /dev/null
+++ b/episode_0014/camera_right/images/000098_1789730075980654346.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6e99b18f71654c617183822d41185aedf89f72cc1a4be07fc13ba348dc2986c
+size 50763
diff --git a/episode_0014/camera_right/images/000105_1789730076214012111.jpg b/episode_0014/camera_right/images/000105_1789730076214012111.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7d1cac7f612c781bf2d48e473eb56d9ec28933b2
--- /dev/null
+++ b/episode_0014/camera_right/images/000105_1789730076214012111.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd8b3acc7d80d526a8b73ce96e715e81beba1a652c12570e560169e15e70a88a
+size 50805
diff --git a/episode_0014/camera_right/images/000106_1789730076247337738.jpg b/episode_0014/camera_right/images/000106_1789730076247337738.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8bcf77f6f20d8428f5fb4eca7fd45ee74796dcc4
--- /dev/null
+++ b/episode_0014/camera_right/images/000106_1789730076247337738.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de0ef3d946e8e73c98f0ba2148450720f27aa83fbc9d3f3f971d82957ce1f50c
+size 50801
diff --git a/episode_0014/camera_right/images/000114_1789730076513995823.jpg b/episode_0014/camera_right/images/000114_1789730076513995823.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6a66c062f69d8eba445b2a24493c14ac45c81bad
--- /dev/null
+++ b/episode_0014/camera_right/images/000114_1789730076513995823.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65f4fff09a3c056256a5f8a7e0b1d9e6a8794b4069276d8c8c9cc6b845cbd52c
+size 50824
diff --git a/episode_0014/camera_right/images/000119_1789730076680774967.jpg b/episode_0014/camera_right/images/000119_1789730076680774967.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..72c59b0cd025ff0122fd762dcdb8497b7e529bb7
--- /dev/null
+++ b/episode_0014/camera_right/images/000119_1789730076680774967.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adead2261ed19e4b415ad5472dd1e664b82990a61e89f32e123dfb2852e6aa66
+size 50792
diff --git a/episode_0014/camera_right/images/000120_1789730076714001803.jpg b/episode_0014/camera_right/images/000120_1789730076714001803.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d144a6d1354810b0ff31b7f52b8c10f643506ed4
--- /dev/null
+++ b/episode_0014/camera_right/images/000120_1789730076714001803.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72a91a7d9e29495ca614a12b7b763d6ade3728fa85b7d12edab3f33655530ae3
+size 50902
diff --git a/episode_0014/camera_right/images/000121_1789730076747330590.jpg b/episode_0014/camera_right/images/000121_1789730076747330590.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a925dcf1ac8b42a7b562000aad7531f9a3f558d7
--- /dev/null
+++ b/episode_0014/camera_right/images/000121_1789730076747330590.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e5f833cf5c5c68e946340f3c0ed6702cd0ee068d6e1d2073681c9f02e737367
+size 50825
diff --git a/episode_0014/camera_right/images/000124_1789730076847324840.jpg b/episode_0014/camera_right/images/000124_1789730076847324840.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..62f8bfbd5fdeef39932aeb879c4275556bec33b8
--- /dev/null
+++ b/episode_0014/camera_right/images/000124_1789730076847324840.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31c4b81be6fb1734159f7119f55ac7043e1ebbc33f132766621b3aa7408af642
+size 50959
diff --git a/episode_0014/camera_right/images/000131_1789730077080663179.jpg b/episode_0014/camera_right/images/000131_1789730077080663179.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3651e48b7beb3b69b9a2bc81effcc3316a4cb9cd
--- /dev/null
+++ b/episode_0014/camera_right/images/000131_1789730077080663179.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a63744173a43964bcfc9c54982acfa46827706d4242dd183efc343bdd5f87d4d
+size 50891
diff --git a/episode_0014/camera_right/images/000136_1789730077247376773.jpg b/episode_0014/camera_right/images/000136_1789730077247376773.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1259d2772eddb30ceb435d3d4324083cb8aaf71e
--- /dev/null
+++ b/episode_0014/camera_right/images/000136_1789730077247376773.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:674aa0f81f4160ab9e4fcdeae212ff2f9b1b4c267b96c55cb1339acbcc9e0ba3
+size 50895
diff --git a/episode_0014/camera_right/images/000137_1789730077280683272.jpg b/episode_0014/camera_right/images/000137_1789730077280683272.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1e52f98c5e57ad2368de6094206d2593172b78ac
--- /dev/null
+++ b/episode_0014/camera_right/images/000137_1789730077280683272.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd0edeb75a9b2f2a9ea31f2cd6cca8ea96812bb1f9f75204a1076b7cf3208c6d
+size 51082
diff --git a/episode_0014/camera_right/images/000138_1789730077314023820.jpg b/episode_0014/camera_right/images/000138_1789730077314023820.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..589fa6de68e922d525a04670a4593f540536d579
--- /dev/null
+++ b/episode_0014/camera_right/images/000138_1789730077314023820.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:610759902615e2a5483d72da0c85817e3147ddde8fd17fd867a8d1ba63fc81fc
+size 50739
diff --git a/episode_0014/camera_right/images/000139_1789730077347362567.jpg b/episode_0014/camera_right/images/000139_1789730077347362567.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ea499259bbf4d025884140c74366c3fab06dcc5a
--- /dev/null
+++ b/episode_0014/camera_right/images/000139_1789730077347362567.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39f737830b6203bfb382ee88bf0cc112f39052bd8c887bf003ee0f66917c4f6b
+size 50882
diff --git a/episode_0014/camera_right/images/000142_1789730077447361469.jpg b/episode_0014/camera_right/images/000142_1789730077447361469.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0afb06fdda4102984908a483b2655871621c24f2
--- /dev/null
+++ b/episode_0014/camera_right/images/000142_1789730077447361469.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e333bf3d67b5f5cd73348e042fb687fe854e96a6652746482dbbf96ebeffacdd
+size 50845
diff --git a/episode_0014/camera_right/images/000143_1789730077480683948.jpg b/episode_0014/camera_right/images/000143_1789730077480683948.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ad446cfe4aab5f7b353d9aac7c5f47dfcabe1eb3
--- /dev/null
+++ b/episode_0014/camera_right/images/000143_1789730077480683948.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ef0e4c7ea1329b25892dbc2394faa79052347547e18ca0fd2fcd9962ce17838
+size 50857
diff --git a/episode_0014/camera_right/images/000144_1789730077514021885.jpg b/episode_0014/camera_right/images/000144_1789730077514021885.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..912552380919ac4ba7d66ac63df47442dd2d28d4
--- /dev/null
+++ b/episode_0014/camera_right/images/000144_1789730077514021885.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b88a3860e9838fd2d54010f54d1c87d60f35081a733211f55f8a49d9cdc9eaa1
+size 50857
diff --git a/episode_0014/camera_right/images/000148_1789730077647432259.jpg b/episode_0014/camera_right/images/000148_1789730077647432259.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..667be2ad43ac11de85dab9c702b6e6fc39d7166d
--- /dev/null
+++ b/episode_0014/camera_right/images/000148_1789730077647432259.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d7c39552af25d7b84ca59e98d2447d7a9d30dd778d7d126e2de42aa82c9a412
+size 50935
diff --git a/episode_0014/camera_right/images/000157_1789730077947425107.jpg b/episode_0014/camera_right/images/000157_1789730077947425107.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..06717b6eb3c0e27ad873b2f1f41971d472f4bbd9
--- /dev/null
+++ b/episode_0014/camera_right/images/000157_1789730077947425107.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f51511e9ba78b38883c6798afbef51284c38819543bde5cea4e834b2b3a9a9ed
+size 50917
diff --git a/episode_0014/camera_right/images/000159_1789730078014089033.jpg b/episode_0014/camera_right/images/000159_1789730078014089033.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..15e1f1b07f0b73b1771a9f93247f69dec827a987
--- /dev/null
+++ b/episode_0014/camera_right/images/000159_1789730078014089033.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba031ff424b854d38ad66f02398919141b774c646268bbf148a39f2e86f9b299
+size 51121
diff --git a/episode_0014/camera_right/images/000161_1789730078080760319.jpg b/episode_0014/camera_right/images/000161_1789730078080760319.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6b2e46dc522eb5918e487b9dce38a20c9ef33208
--- /dev/null
+++ b/episode_0014/camera_right/images/000161_1789730078080760319.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b291ab070daea6abbd8ce859ee484efb8e99670427556c4be2c9f962c9a2433
+size 50938
diff --git a/episode_0014/camera_right/images/000169_1789730078347436525.jpg b/episode_0014/camera_right/images/000169_1789730078347436525.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..62a405cabb9a0ef9b3d1bb028779d854db700245
--- /dev/null
+++ b/episode_0014/camera_right/images/000169_1789730078347436525.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:765e04f4db49ca871f38733bc88e93c181857883852cb9745b5d205eea5e0b5c
+size 50829
diff --git a/episode_0014/camera_right/images/000172_1789730078447437850.jpg b/episode_0014/camera_right/images/000172_1789730078447437850.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7fbc1a7802a736717b41f99acf22ee8373ac9d3f
--- /dev/null
+++ b/episode_0014/camera_right/images/000172_1789730078447437850.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f43292e5ce85f1f0a20b731e0ac9ee6ef27b67d75f309e18e161ec87e340b56c
+size 50945
diff --git a/episode_0014/camera_right/images/000174_1789730078514099707.jpg b/episode_0014/camera_right/images/000174_1789730078514099707.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4bbe5051e1e3ebf7303422889b901c66bf2d9940
--- /dev/null
+++ b/episode_0014/camera_right/images/000174_1789730078514099707.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07e918497f26ce067746c9b2947f82965aadd03371aa2156992e2430a9e1cdb8
+size 51035
diff --git a/episode_0014/camera_right/images/000175_1789730078547441795.jpg b/episode_0014/camera_right/images/000175_1789730078547441795.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..548b5120260c3ab767afeeec6f97c703f2a0d514
--- /dev/null
+++ b/episode_0014/camera_right/images/000175_1789730078547441795.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3ca4f39b739a4290984b4e0ef83cc535f88e8af6707fbd4c20282325f76d069
+size 50853
diff --git a/episode_0014/camera_right/images/000179_1789730078680682175.jpg b/episode_0014/camera_right/images/000179_1789730078680682175.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8a9176a0459acb84b6b6e7b9afba00726a2fd496
--- /dev/null
+++ b/episode_0014/camera_right/images/000179_1789730078680682175.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a3143128d6aaccce7b27f066f99a78e96f1230a8f8174a998dc1a91ef50d17c
+size 51074
diff --git a/episode_0014/camera_right/images/000190_1789730079047335419.jpg b/episode_0014/camera_right/images/000190_1789730079047335419.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4cd7a6c46243bf16c2f75c14803647b736449402
--- /dev/null
+++ b/episode_0014/camera_right/images/000190_1789730079047335419.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6796b7dce3d8143497a6c65d3b9aece5d4982fb94b1bb2a5f9acb4c35cd3eeef
+size 50936
diff --git a/episode_0014/camera_right/images/000199_1789730079347333682.jpg b/episode_0014/camera_right/images/000199_1789730079347333682.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..245d3c89dca1e28f84eabac1197dabd10973e369
--- /dev/null
+++ b/episode_0014/camera_right/images/000199_1789730079347333682.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af0340702dd4689899c078d5806117da63ae575d723b4b20c7f1f38be4676f64
+size 50971
diff --git a/episode_0014/camera_right/images/000202_1789730079447333539.jpg b/episode_0014/camera_right/images/000202_1789730079447333539.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..96aa385c492b90001676886835665d322a9858fd
--- /dev/null
+++ b/episode_0014/camera_right/images/000202_1789730079447333539.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb9e45e6303c3853fab9597af2635a2f4dbebf3e4554b313304c4b8da6946cf4
+size 51057
diff --git a/episode_0014/camera_right/images/000203_1789730079480668168.jpg b/episode_0014/camera_right/images/000203_1789730079480668168.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fc6aa4ee3a4d57be094b18bfd88c182102c4053f
--- /dev/null
+++ b/episode_0014/camera_right/images/000203_1789730079480668168.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a425a08d480c82a6bec16ab520ff06c62e0ef76b225df5ce768ec6b1b3b38f2
+size 50939
diff --git a/episode_0014/camera_right/images/000206_1789730079580665366.jpg b/episode_0014/camera_right/images/000206_1789730079580665366.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..897e76f9b5d951b3980151bb5233bb3ad829dd87
--- /dev/null
+++ b/episode_0014/camera_right/images/000206_1789730079580665366.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2968daa0c6d9b19a04f354b8d4262169819ceb809f9774f4954fdb5c0e204098
+size 50947
diff --git a/episode_0014/camera_right/images/000211_1789730079747321052.jpg b/episode_0014/camera_right/images/000211_1789730079747321052.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6e8b539d64f4b36a1b989ccdc5830bf83cb368da
--- /dev/null
+++ b/episode_0014/camera_right/images/000211_1789730079747321052.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31ef76e1924a6e1746e05490eb8082ea9e3c6a6ed20776e2367712a6ced50412
+size 50927
diff --git a/episode_0014/camera_right/images/000216_1789730079913989278.jpg b/episode_0014/camera_right/images/000216_1789730079913989278.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..acbaba070cb6754efce4d7bea2c5a626b02442ba
--- /dev/null
+++ b/episode_0014/camera_right/images/000216_1789730079913989278.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18b6d8abd8fe9acffb9b8e5f86951fb2cc085475c3277a506ffc33be5ead52f0
+size 51038
diff --git a/episode_0014/camera_right/images/000217_1789730079947320717.jpg b/episode_0014/camera_right/images/000217_1789730079947320717.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1539f23e86b021fdc7e11f370fb977edf9f6b714
--- /dev/null
+++ b/episode_0014/camera_right/images/000217_1789730079947320717.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf47daa088a587b0ce4e2b0b5eea029da40a1547499c0672bff34c854ea29fdc
+size 50961
diff --git a/episode_0014/camera_right/images/000218_1789730079980665895.jpg b/episode_0014/camera_right/images/000218_1789730079980665895.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9d6cecda5336cc47c2e6aa3b31731056e1a9209e
--- /dev/null
+++ b/episode_0014/camera_right/images/000218_1789730079980665895.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26bf0e4a870d8468704d433b91f25b5369c0181d9ea520013772fb9c3fdd41f9
+size 50985
diff --git a/episode_0014/camera_right/images/000219_1789730080014000524.jpg b/episode_0014/camera_right/images/000219_1789730080014000524.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d12584ad3c89f45826683e8a9cefc2b8a6b0bea9
--- /dev/null
+++ b/episode_0014/camera_right/images/000219_1789730080014000524.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:535dccd5feb3ab92c5e226a118b52c0869bf0ac0c46691ae85ef70b88d4cd239
+size 51007
diff --git a/episode_0014/camera_right/images/000221_1789730080080664184.jpg b/episode_0014/camera_right/images/000221_1789730080080664184.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6e6206292c6395f2a1ddc668343cadb45b504b95
--- /dev/null
+++ b/episode_0014/camera_right/images/000221_1789730080080664184.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:552092f013d84663ffeaf0523172c4387472e3e41566597b4fa468eb13384267
+size 50850
diff --git a/episode_0014/camera_right/images/000222_1789730080113994245.jpg b/episode_0014/camera_right/images/000222_1789730080113994245.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fead85b4e419ca0fb5f823307a4fbdbab7833a08
--- /dev/null
+++ b/episode_0014/camera_right/images/000222_1789730080113994245.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cb036ac1d13a50e49b82ac1fc118f251db279f107a2d70fa7c5f8628be378b6
+size 51042
diff --git a/episode_0014/camera_right/images/000226_1789730080247330654.jpg b/episode_0014/camera_right/images/000226_1789730080247330654.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..43640253a8b3b9a53df7bdb2bfc5083f047598ac
--- /dev/null
+++ b/episode_0014/camera_right/images/000226_1789730080247330654.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ffb0df8a04ad9c90ed956fe403db09026dd13fd4ba0f331cac1f26404262f57
+size 50905
diff --git a/episode_0014/camera_right/images/000227_1789730080280657924.jpg b/episode_0014/camera_right/images/000227_1789730080280657924.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7446733c00a72d79412ffd0807ebf991f58c293d
--- /dev/null
+++ b/episode_0014/camera_right/images/000227_1789730080280657924.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccbc6d178fbc82a6a7eefe9a9a613452f5b9132bfeb90c1293652ebe48356e27
+size 50898
diff --git a/episode_0014/camera_right/images/000228_1789730080313994244.jpg b/episode_0014/camera_right/images/000228_1789730080313994244.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5fa5408d30310f31eaade5a9b3cb553ee1760f36
--- /dev/null
+++ b/episode_0014/camera_right/images/000228_1789730080313994244.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bad826c40a536ef650482cb79737b22b2915072444853aaf2beff55fbb0d2328
+size 50904
diff --git a/episode_0014/camera_right/images/000229_1789730080347331264.jpg b/episode_0014/camera_right/images/000229_1789730080347331264.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8afc36827fed0b57b82f9933426901de68c2aa55
--- /dev/null
+++ b/episode_0014/camera_right/images/000229_1789730080347331264.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2685424c75f39bcb4e12b23a5705cda9b783ba493d24cbff2ca59e2381eb1be
+size 50733
diff --git a/episode_0014/camera_right/images/000233_1789730080480660954.jpg b/episode_0014/camera_right/images/000233_1789730080480660954.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b83829f237a23b45e2a4751ac2ec40f08124ac22
--- /dev/null
+++ b/episode_0014/camera_right/images/000233_1789730080480660954.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d85a896d46503d17da1c440b587f5c7f9a303b0885559cd34b84ff0332d188e
+size 50934
diff --git a/episode_0014/camera_right/images/000237_1789730080613996503.jpg b/episode_0014/camera_right/images/000237_1789730080613996503.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b9bbf43622ca59e251e16d8e978c79d29230f537
--- /dev/null
+++ b/episode_0014/camera_right/images/000237_1789730080613996503.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b36f7a16ec6d5ec96ff90e821d4da92034e819a4224f843a367ae96b6b60a14b
+size 50910
diff --git a/episode_0014/camera_right/images/000239_1789730080680661863.jpg b/episode_0014/camera_right/images/000239_1789730080680661863.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2734c861b41a6737f956e95313eeb9ffe64c3fb8
--- /dev/null
+++ b/episode_0014/camera_right/images/000239_1789730080680661863.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76827f8870e41c5bd2306ddd4a4c6d1e96e102e4e3ae97aba8a748bdf28d7b9b
+size 50985
diff --git a/episode_0014/camera_right/images/000247_1789730080947334802.jpg b/episode_0014/camera_right/images/000247_1789730080947334802.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..781c773d39b91f2f655d682e5b7720c947a2c01d
--- /dev/null
+++ b/episode_0014/camera_right/images/000247_1789730080947334802.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ed2b1bab5a2ee334aa50dfe6b4c36bdd85753d581a7ccac8e7bd47c7366f262
+size 50920
diff --git a/episode_0014/camera_right/images/000249_1789730081014023981.jpg b/episode_0014/camera_right/images/000249_1789730081014023981.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..84051e5378e13cfef719489771c88c79e017167b
--- /dev/null
+++ b/episode_0014/camera_right/images/000249_1789730081014023981.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbd18b1dbe5c6c8d5906287355b86a0d7be80bcdd20a789b553d8bb8abb5b74b
+size 50926
diff --git a/episode_0014/camera_right/images/000250_1789730081047328413.jpg b/episode_0014/camera_right/images/000250_1789730081047328413.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cee186f84063c9061df20e2461e553c60f757ffa
--- /dev/null
+++ b/episode_0014/camera_right/images/000250_1789730081047328413.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e98bd6824e48f36a49f60fa057007fb51a52a636834d18969bbcd22d308a61
+size 50911
diff --git a/episode_0014/camera_right/images/000251_1789730081080664914.jpg b/episode_0014/camera_right/images/000251_1789730081080664914.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ec0d3a1fc4250c284fd27adcc82c85d42b0322d5
--- /dev/null
+++ b/episode_0014/camera_right/images/000251_1789730081080664914.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e7a171d187cc6c8a74306a4ab7edfa7981e18ddb26c6e3c6418f06a450ed4e7
+size 50647
diff --git a/episode_0014/camera_right/images/000252_1789730081113997065.jpg b/episode_0014/camera_right/images/000252_1789730081113997065.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..565e20c7c29a9169b5a8e17589b95c7655bd106b
--- /dev/null
+++ b/episode_0014/camera_right/images/000252_1789730081113997065.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:330d71f6f8ac4a01685bc534b2b38552941969956a80f9c62c2659512f0f6257
+size 50904
diff --git a/episode_0014/camera_right/images/000254_1789730081180661256.jpg b/episode_0014/camera_right/images/000254_1789730081180661256.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..42f33ca1b764af7504722c5c0801ec7dbc71d53c
--- /dev/null
+++ b/episode_0014/camera_right/images/000254_1789730081180661256.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c4afaa4e93ce378220d01fbf504aec1671088a9ca56d8fc342f2754de4599dd
+size 50905
diff --git a/episode_0014/camera_right/images/000255_1789730081214010996.jpg b/episode_0014/camera_right/images/000255_1789730081214010996.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c15cfa6fbf002d2264c542e0dcc942c1652f614b
--- /dev/null
+++ b/episode_0014/camera_right/images/000255_1789730081214010996.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b82f3a4e47ff5581eaf0c4bb18c98c250681480b82b4d9217f6c514bd95779ba
+size 50743
diff --git a/episode_0014/camera_right/images/000257_1789730081280664198.jpg b/episode_0014/camera_right/images/000257_1789730081280664198.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..04c331ca8dba26cf828426df1bf677a22f4ee074
--- /dev/null
+++ b/episode_0014/camera_right/images/000257_1789730081280664198.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7c8f4654d752da0086c5c1fd96cfe0c8d9f1ddff114ec2a2dd3dd09b726c065
+size 50885
diff --git a/episode_0014/camera_right/images/000259_1789730081347329850.jpg b/episode_0014/camera_right/images/000259_1789730081347329850.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4d170be946ed06bf7a7b38c8cb2948127bb948dc
--- /dev/null
+++ b/episode_0014/camera_right/images/000259_1789730081347329850.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:921f9c241f94f1983505df97021e3b8e04fb454626490fa072a957a09d31efb4
+size 50830
diff --git a/episode_0014/camera_right/images/000265_1789730081547329334.jpg b/episode_0014/camera_right/images/000265_1789730081547329334.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d95d1df69ac6c6bde88d7dc351fd70ca998bbbc6
--- /dev/null
+++ b/episode_0014/camera_right/images/000265_1789730081547329334.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76556610f2d5b2ff111e6b15cc9f561b6a54e8887de883d1d9ee5202c5fbce07
+size 50892
diff --git a/episode_0014/camera_right/images/000267_1789730081614053111.jpg b/episode_0014/camera_right/images/000267_1789730081614053111.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..675e765437200f68ddbf508013dc1e5c708b0f8c
--- /dev/null
+++ b/episode_0014/camera_right/images/000267_1789730081614053111.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a052276aab4adf20f12ca1b26aa5db3b29fdf6150041d8438b380344cb142da6
+size 50887
diff --git a/episode_0014/camera_right/images/000268_1789730081647333496.jpg b/episode_0014/camera_right/images/000268_1789730081647333496.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3c07d5992d45d1e4ead519654e162c848de115cd
--- /dev/null
+++ b/episode_0014/camera_right/images/000268_1789730081647333496.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87e9da4f82b510d06211db99bb9eb6748325ac7991096b7394e5930bee50fca7
+size 50873
diff --git a/episode_0014/camera_right/images/000270_1789730081713996038.jpg b/episode_0014/camera_right/images/000270_1789730081713996038.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..91c673a3d371651c6221a5c787cf503b2ad9b4cb
--- /dev/null
+++ b/episode_0014/camera_right/images/000270_1789730081713996038.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d463300e950f2dfc8f5040861322dbf92936d358f0ad23414b803350e8445af
+size 50758
diff --git a/episode_0014/camera_right/images/000271_1789730081747332128.jpg b/episode_0014/camera_right/images/000271_1789730081747332128.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ae2ddc8ddcc8ae345de0d5351f961d4c8b45aa68
--- /dev/null
+++ b/episode_0014/camera_right/images/000271_1789730081747332128.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1cee624f2ea8a0b0e98d594f5ed7f6f83969a555853d8fe81d05f520c4d051d
+size 50863
diff --git a/episode_0014/camera_right/images/000273_1789730081813992700.jpg b/episode_0014/camera_right/images/000273_1789730081813992700.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..355a87aef4a9cfe0464324944657fb693de64052
--- /dev/null
+++ b/episode_0014/camera_right/images/000273_1789730081813992700.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74d6384021964fefda21fc196aa7a7f26860f8870b6282302e2715d9c1099de9
+size 50908
diff --git a/episode_0014/camera_right/images/000274_1789730081847359798.jpg b/episode_0014/camera_right/images/000274_1789730081847359798.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a4785b80b6793340a27b2dca8497692cea44bec2
--- /dev/null
+++ b/episode_0014/camera_right/images/000274_1789730081847359798.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab1c4cd435d971a5aa2a751d97ac5c62147ff6945b7fd8600c30348b4f53ac34
+size 50738
diff --git a/episode_0014/camera_right/images/000275_1789730081880661731.jpg b/episode_0014/camera_right/images/000275_1789730081880661731.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..345a246b8825a863a5884a9ced8529139975c700
--- /dev/null
+++ b/episode_0014/camera_right/images/000275_1789730081880661731.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:357a97b8c11c99e235e855df4d6454bb54b220b34c47d3c368edf305b6c40312
+size 50765
diff --git a/episode_0014/camera_right/images/000280_1789730082047323966.jpg b/episode_0014/camera_right/images/000280_1789730082047323966.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3f61d35c693b7e1a00972121e57322147cdec98b
--- /dev/null
+++ b/episode_0014/camera_right/images/000280_1789730082047323966.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d288a618481941d8c8b2a226912b6961789e8c45af9bf44a58ee445dc79ba025
+size 50669
diff --git a/episode_0014/camera_right/images/000285_1789730082214072187.jpg b/episode_0014/camera_right/images/000285_1789730082214072187.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9d520e0c7029a556f446fda0646ea627ddfa7c08
--- /dev/null
+++ b/episode_0014/camera_right/images/000285_1789730082214072187.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:621c2d953c256c33b8c1df7961c8e18945f9f5d13c477a413fa71639ebc8bfcf
+size 50747
diff --git a/episode_0014/camera_right/images/000299_1789730082680680903.jpg b/episode_0014/camera_right/images/000299_1789730082680680903.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c2338bdb375e2a01ad826509af50b692f518ab1d
--- /dev/null
+++ b/episode_0014/camera_right/images/000299_1789730082680680903.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3038502d54e3635ffddaf53ee2cab2d186e936db5a9d1e10adc4c82b6acc2fc8
+size 50815
diff --git a/episode_0014/camera_right/images/000301_1789730082747349365.jpg b/episode_0014/camera_right/images/000301_1789730082747349365.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..762e6bbf9b1b5db529a0b14d9f43fc5bb3a8db22
--- /dev/null
+++ b/episode_0014/camera_right/images/000301_1789730082747349365.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:385811e815aadfb7592d71f9e9fc250b5726f5e907c4ffc322276f52d3f8db34
+size 50707
diff --git a/episode_0014/camera_right/images/000302_1789730082780659169.jpg b/episode_0014/camera_right/images/000302_1789730082780659169.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a729f94aace29a7eae2a6666b031f1b3a8c1642b
--- /dev/null
+++ b/episode_0014/camera_right/images/000302_1789730082780659169.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0626e92fd0a3302d5d301f40049e631a0ddd082a32f87a552e64f70032345cc
+size 50727
diff --git a/episode_0014/camera_right/images/000304_1789730082847351620.jpg b/episode_0014/camera_right/images/000304_1789730082847351620.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8bbc38ec347692ad540a290523cced3a521d3003
--- /dev/null
+++ b/episode_0014/camera_right/images/000304_1789730082847351620.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f9fcfa6a60d628f0a46f853cfece64c221697c91c086c9f26da10bc6ab80106
+size 50725
diff --git a/episode_0014/camera_right/images/000307_1789730082947351234.jpg b/episode_0014/camera_right/images/000307_1789730082947351234.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1283a5424289c22bc287476153cccf31335e0ae2
--- /dev/null
+++ b/episode_0014/camera_right/images/000307_1789730082947351234.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab165e0101c8280b29d3b5d903c8d3ed9aca9097aa061ab64aaa4df2d6a1f083
+size 50672
diff --git a/episode_0014/camera_right/images/000319_1789730083347329722.jpg b/episode_0014/camera_right/images/000319_1789730083347329722.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6f22b2d4dbf16d163e6ab40b0e1a8c32f4b41a03
--- /dev/null
+++ b/episode_0014/camera_right/images/000319_1789730083347329722.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b4ecb6994245e88729a76b66990dd72f1b8b9494eb29f62dcc744fc2c1f825f
+size 50649
diff --git a/episode_0014/camera_right/images/000320_1789730083380665914.jpg b/episode_0014/camera_right/images/000320_1789730083380665914.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7c34991c33507edf48110e1f52f5016c995cd987
--- /dev/null
+++ b/episode_0014/camera_right/images/000320_1789730083380665914.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40c39ecea0a5bea8a7d411a97cb93477919b884a2d0fd076a5eb19f6cbd5e6de
+size 50618
diff --git a/episode_0014/camera_right/images/000322_1789730083447334628.jpg b/episode_0014/camera_right/images/000322_1789730083447334628.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6c850b4ed5966e8e141112b9c8827731ca4c7114
--- /dev/null
+++ b/episode_0014/camera_right/images/000322_1789730083447334628.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9efdb74a6ec9a1793cc5b2a326d8529dfe1e5b7343598bed4570f32147b48e3
+size 50683
diff --git a/episode_0014/camera_right/images/000323_1789730083480668340.jpg b/episode_0014/camera_right/images/000323_1789730083480668340.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a4d4e19d70651af440c13b30ed677b85446358d1
--- /dev/null
+++ b/episode_0014/camera_right/images/000323_1789730083480668340.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:200c2d69a4101c3b3d0a4f8e394109661f145fa8ac2386e26ec2208ee98b4f7a
+size 50800
diff --git a/episode_0014/camera_right/images/000325_1789730083547358013.jpg b/episode_0014/camera_right/images/000325_1789730083547358013.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0caa6b7e973574adb6d8ba9c6fc8b0bbcfb429e8
--- /dev/null
+++ b/episode_0014/camera_right/images/000325_1789730083547358013.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bfaea08fc34a7d4fb57143770c3f2f3c0df3a86a9408737a55164d9deb38c7e
+size 50516
diff --git a/episode_0014/camera_right/images/000327_1789730083614021008.jpg b/episode_0014/camera_right/images/000327_1789730083614021008.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2c9c454ce12bc6e80231ef77987170c2b4a45628
--- /dev/null
+++ b/episode_0014/camera_right/images/000327_1789730083614021008.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e07edaefa45a4611d3049312bc033614fb422421e8f88bbcb0b8cc7ca3cbf5f
+size 50839
diff --git a/episode_0014/camera_right/images/000328_1789730083647366939.jpg b/episode_0014/camera_right/images/000328_1789730083647366939.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8cb12a2a24e7c434c7330793ea6fbb34ea1c1908
--- /dev/null
+++ b/episode_0014/camera_right/images/000328_1789730083647366939.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:657b16f4a611e57590126d3e3f45f59443aaa9038232d99d54206bd3f9d3c162
+size 50690
diff --git a/episode_0014/camera_right/images/000330_1789730083714018485.jpg b/episode_0014/camera_right/images/000330_1789730083714018485.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..22cce27f692019d31934435a5e8fb4426826ffe4
--- /dev/null
+++ b/episode_0014/camera_right/images/000330_1789730083714018485.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82a1b0de3dd53e3da451341fba220691431ed14fdf29af67b294da0e9c8aa4a2
+size 50711
diff --git a/episode_0014/camera_right/images/000341_1789730084080656444.jpg b/episode_0014/camera_right/images/000341_1789730084080656444.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..849b666648e77c704eab7c36f5ee785c08f8da60
--- /dev/null
+++ b/episode_0014/camera_right/images/000341_1789730084080656444.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25b26eddfc07bdcd87ce5fed9467347b4442519d812c40c14722ab03bc9422ff
+size 50775
diff --git a/episode_0014/camera_right/images/000347_1789730084280653382.jpg b/episode_0014/camera_right/images/000347_1789730084280653382.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dcd66a2830f9b9b5ec64afd9c2843ea613f8b8b5
--- /dev/null
+++ b/episode_0014/camera_right/images/000347_1789730084280653382.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b352a9b20825759f115c2b62ac16fb65aae702326217bbefe56e7407a51413a5
+size 50629
diff --git a/episode_0014/camera_right/images/000348_1789730084313989665.jpg b/episode_0014/camera_right/images/000348_1789730084313989665.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..90fc9404f2ad362fe27ec6b926427d541bb2bb73
--- /dev/null
+++ b/episode_0014/camera_right/images/000348_1789730084313989665.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50b188c6c127bbece8613f0512096ce502055ad8dcbb7967b42928830a7800f6
+size 50784
diff --git a/episode_0014/camera_right/images/000353_1789730084480745473.jpg b/episode_0014/camera_right/images/000353_1789730084480745473.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c5a23ffbe8866174dc162e301a5d3c5025dfb42c
--- /dev/null
+++ b/episode_0014/camera_right/images/000353_1789730084480745473.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7df7543f4ceed4db985e505ee24cd3246a02283dff810a7b3777eff0715bb8af
+size 50687
diff --git a/episode_0014/camera_right/images/000355_1789730084547325726.jpg b/episode_0014/camera_right/images/000355_1789730084547325726.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9842544c01e8d395433bc8dfe9387132c7e8f2e0
--- /dev/null
+++ b/episode_0014/camera_right/images/000355_1789730084547325726.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be6a447eee6f11e177c3375496b7127f340cdbf373390c1097598c4cafcc744d
+size 50652
diff --git a/episode_0014/camera_right/images/000360_1789730084714058056.jpg b/episode_0014/camera_right/images/000360_1789730084714058056.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3ca41786bc96f8a9c9a6c9f8b56a32a80d9a1988
--- /dev/null
+++ b/episode_0014/camera_right/images/000360_1789730084714058056.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06d9c64c7eb48740560eaa5518a4a934bfb06b9b2896c9b66648330c0234c667
+size 50851
diff --git a/episode_0014/camera_right/images/000365_1789730084880664546.jpg b/episode_0014/camera_right/images/000365_1789730084880664546.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..17720f7f04078e1a8cb9bb061b31d25cb5d15ce2
--- /dev/null
+++ b/episode_0014/camera_right/images/000365_1789730084880664546.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4aec5a80e127410d41740304e6def504da268825276b0d41b62bfa0fe7e999e
+size 50805
diff --git a/episode_0014/camera_right/images/000377_1789730085280653869.jpg b/episode_0014/camera_right/images/000377_1789730085280653869.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f383fb4e06751c12d3dbda5a2ea717f104247346
--- /dev/null
+++ b/episode_0014/camera_right/images/000377_1789730085280653869.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d7a69cba9ff40093dc052890de6e277af811b24bb0b734a7c746b3f2962574f
+size 51079
diff --git a/episode_0014/camera_right/images/000380_1789730085380653001.jpg b/episode_0014/camera_right/images/000380_1789730085380653001.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..946aac1b69116d9e0c45d9691215772017eb93a9
--- /dev/null
+++ b/episode_0014/camera_right/images/000380_1789730085380653001.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b1118f37973e61a60b9916edc1cbedd463bf54d6a5530cfc4e3925fb3d19292
+size 50280
diff --git a/episode_0014/camera_right/images/000381_1789730085414053769.jpg b/episode_0014/camera_right/images/000381_1789730085414053769.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7c278498bc0949f8b82c27d00fef5d56c986a2c9
--- /dev/null
+++ b/episode_0014/camera_right/images/000381_1789730085414053769.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f30a9dc415165cf0a6cc2bad03b4174d1a899fc58c0d662f13322660f38ce977
+size 50195
diff --git a/episode_0014/camera_right/images/000389_1789730085680659004.jpg b/episode_0014/camera_right/images/000389_1789730085680659004.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8a031073719dbd13535231dd761db9cab84553b3
--- /dev/null
+++ b/episode_0014/camera_right/images/000389_1789730085680659004.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e6f77f89510a4fab6fd1691ae219f79c77bce91a7ed783c7105604dfa9fe18f
+size 50213
diff --git a/episode_0014/camera_right/images/000393_1789730085814051295.jpg b/episode_0014/camera_right/images/000393_1789730085814051295.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..68ab1f33c8b95c7c1de245e9df35103c6911a217
--- /dev/null
+++ b/episode_0014/camera_right/images/000393_1789730085814051295.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9dd743e1203294ca40fbacfcd2eaaab6d11821b73e0c70437a501605c4c0ca2
+size 50170
diff --git a/episode_0014/camera_right/images/000394_1789730085847284767.jpg b/episode_0014/camera_right/images/000394_1789730085847284767.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..07e9858791dff54b23ae38863dac7669b0cdb8a4
--- /dev/null
+++ b/episode_0014/camera_right/images/000394_1789730085847284767.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77f7f7ea4fe960061d7843a1be72ff6cad6eac03d445525e3f2c967a56908631
+size 50210
diff --git a/episode_0014/camera_right/images/000399_1789730086014055278.jpg b/episode_0014/camera_right/images/000399_1789730086014055278.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..05d1a58a1ba45ad25726a8c87159647c2aabf678
--- /dev/null
+++ b/episode_0014/camera_right/images/000399_1789730086014055278.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d56d2e0c97f95c549dcbdd498acdcf90b00a9b592daeef9404cc06260633b1c9
+size 50228
diff --git a/episode_0014/camera_right/images/000401_1789730086080655642.jpg b/episode_0014/camera_right/images/000401_1789730086080655642.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b943bff9a92fcfcc4eab3d11a752320d9444f84d
--- /dev/null
+++ b/episode_0014/camera_right/images/000401_1789730086080655642.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:727ce6e031dd0eafd00b2fd15f59aadd599fe0e2a9fb321b209099ddd929b97f
+size 50212